Glider dive log

OKMC Oct12 * SG167 * Dive index * Mission links * Dive 57 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 167 HD_C 9.8500004e-06 ROLL_MIN 187 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 14 HEADING -1 ROLL_MAX 3764 ALTIM_PING_DEPTH 400

DIVE 57 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DELTA 50

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2325 ALTIM_FREQUENCY 13

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2300 ALTIM_PULSE 3

D_FLARE 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_TGT 990 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 XPDR_VALID 0

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_NO_BLEED 500 SM_CC 425 R_PORT_OVSHOOT 73 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 120 N_FILEKB 8 R_STBD_OVSHOOT 40 INT_PRESSURE_YINT 0

T_BOOST 4 FILEMGR 0 ROLL_AD_RATE 350 DEEPGLIDER 0

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 2 DEEPGLIDERMB 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_SAFE 0 PROTOCOL 9 ROLL_ADJ_DBAND 0.02 DEVICE1 -1

D_CALL 0 N_NOCOMM 1 VBD_MIN 460 DEVICE2 -1

SURFACE_URGENCY 0 NOCOMM_ACTION 163 VBD_MAX 3960 DEVICE3 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 C_VBD 2968 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE5 -1

T_DIVE 330 CALL_TRIES 5 VBD_CNV -0.24529999 DEVICE6 -1

T_MISSION 380 CALL_WAIT 60 VBD_TIMEOUT 720 LOGGERS 1

T_ABORT 1440 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.00039999999 LOGGERDEVICE1 53

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 -1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE3 -1

T_NO_W 120 T_GPS 5 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_LOITER 0 N_GPS 20 UNCOM_BLEED 50 COMPASS_DEVICE 97

T_EPIRB 0 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

USE_BATHY -8 T_GPS_CHARGE -968561.5 CF8_MAXERRORS 0 PHONE_DEVICE 49

USE_ICE 0 T_RSLEEP 3 AH0_24V 150 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_10V 110 RAFOS_DEVICE -1

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 MINV_24V 22 XPDR_DEVICE 24

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_10V 9.5 SIM_W 0

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 FG_AHR_10V 0 SIM_PITCH 0

APOGEE_PITCH -8 PITCH_MIN 134 FG_AHR_24V 0 SEABIRD_T_G 0.0043364335

MAX_BUOY 200 PITCH_MAX 3944 PHONE_SUPPLY -2 SEABIRD_T_H 0.00062881975

COURSE_BIAS 0 C_PITCH 2740 PRESSURE_YINT -16.305099 SEABIRD_T_I 2.1970176e-05

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001158971 SEABIRD_T_J 2.0625448e-06

SPEED_FACTOR 1 PITCH_CNV 0.0031256729 AD7714Ch0Gain 128 SEABIRD_C_G -9.8829851

RHO 1.023 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.104416

MASS 52251 PITCH_GAIN 40 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0016111456

NAV_MODE 2 PITCH_TIMEOUT 19 COMPASS_USE 4 SEABIRD_C_J 0.00020720487

FERRY_MAX 45 PITCH_AD_RATE 165 ALTIM_BOTTOM_PING_RANGE 0 SC_RECORDABOVE 2000.0

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SC_PROFILE 3.0

HD_A 0.0038360001 PITCH_ADJ_GAIN 0.015 ALTIM_BOTTOM_TURN_MARGIN 25 SC_XMITPROFILE 3.0

HD_B 0.010078 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY -2 SIM_PITCH 0

AH0_10V 110 D_PITCH 0 PITCH_ADJ_DBAND 1 SIM_W 0

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0.015 SM_CC 425

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 165 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 25 D_TGT 990 PITCH_CNV 0.0031256729 STROBE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 50 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 40 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 400 FERRY_MAX 45 PITCH_MAX 3944 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 134 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_TIMEOUT 19 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00039999999 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001158971 TGT_DEFAULT_LON -12218

APOGEE_PITCH -8 GPS_DEVICE 32 PRESSURE_YINT -16.305099 T_ABORT 1440

CALL_NDIVES 1 HD_A 0.0038360001 PROTOCOL 9 T_BOOST 4

CALL_TRIES 5 HD_B 0.010078 P_OVSHOOT 0.039999999 T_DIVE 330

CALL_WAIT 60 HD_C 9.8500004e-06 RAFOS_CORR_THRESH 60 T_EPIRB 0

CAPMAXSIZE 100000 HEADING -1 RAFOS_DEVICE -1 T_GPS 5

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_GPS_CHARGE -968561.5

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_LOITER 0

COMPASS2_DEVICE -1 ID 167 RHO 1.023 T_MISSION 380

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.02 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COURSE_BIAS 0 KALMAN_USE 2 ROLL_AD_RATE 350 T_TURN 225

C_PITCH 2740 LOGGERDEVICE1 53 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2300 LOGGERDEVICE2 -1 ROLL_DEG 40 T_WATCHDOG 10

C_ROLL_DIVE 2325 LOGGERDEVICE3 -1 ROLL_MAX 3764 UNCOM_BLEED 50

C_VBD 2968 LOGGERDEVICE4 -1 ROLL_MAXERRORS 2 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERS 1 ROLL_MIN 187 USE_BATHY -8

DEEPGLIDERMB 0 MASS 52251 ROLL_TIMEOUT 15 USE_ICE 0

DEVICE1 -1 MAX_BUOY 200 R_PORT_OVSHOOT 73 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 9.5 R_STBD_OVSHOOT 40 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 22 SC_PROFILE 3.0 VBD_DBAND 2

DEVICE4 -1 MISSION 14 SC_RECORDABOVE 2000.0 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 SC_XMITPROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 SEABIRD_C_G -9.8829851 VBD_MIN 460

DIVE 57 NOCOMM_ACTION 163 SEABIRD_C_H 1.104416 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 1050 N_DIVES 0 SEABIRD_C_I -0.0016111456 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 120 N_FILEKB 8 SEABIRD_C_J 0.00020720487 VBD_TIMEOUT 720

D_CALL 0 N_GPS 20 SEABIRD_T_G 0.0043364335 XPDR_DEVICE 24

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_H 0.00062881975 XPDR_INHIBIT 90

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_I 2.1970176e-05 XPDR_VALID 0

D_NO_BLEED 500 PHONE_DEVICE 49 SEABIRD_T_J 2.0625448e-06

Pre-dive calculations and measurements:

GPS1 231012,110205,2303.401,12126.170,31,1.9,31,-3.4 TGT_NAME N2

_CALLS 1 TGT_LATLONG 2350.000,12355.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.53 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 231012,110757,2303.582,12126.266,21,1.9,21,-3.4 MHEAD_RNG_PITCHd_Wd 113.2,266228,-15.7,-10.000,-18.65

SPEED_LIMITS 0.173,0.296 D_GRID 471

Post-dive calculations and measurements:

FINISH 0.7,1.000070 _10V_AH 9.9,9.668

SM_CCo 9081,0.00,0.000,0,0,472,612.27 FG_AHR_24Vo 0.000

SM_GC 1.48,7.28,0.00,0.00,0.025,0.000,0.000,112,2318,472,-8.11,-0.23,612.27,0,0,0,0,0,0,26.47,28.83,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2253.38,12124.33,231012,090941 MEM 323840

TT8_MAMPS 0.028462,0.028462 DATA_FILE_SIZE 20093,519

HUMID 55.94 CAP_FILE_SIZE 114263,0

INTERNAL_PRESSURE 9.44372 CFSIZE 260165632,244899840

TCM_TEMP 25.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 2 CURRENT 0.107, 29.0,1

_24V_AH 24.5,17.719 GPS 231012,134105,2303.549,12127.927,36,0.9,36,-3.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 220 108.50 nil 0 0 0.00

Roll_motor 59 52 77.08 nil 0 0 0.00

VBD_pump_during_apogee 552 865 11724.77 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 9014 16 3718.55

Iridium_during_xfer 193 119 564.96 nil 0 0 0.00

Transponder_ping 1 420 10.29 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 26 5.77

TT8 1518 14 221.12

LPSleep 5757 2 124.83

TT8_Active 552 14 80.47

TT8_Sampling 1399 37 525.49

TT8_CF8 221 44 97.98

TT8_Kalman 0 0 0.00

Analog_circuits 1430 16 226.58

GPS_charging 0 0 0.00

Compass 1141 8 93.08

RAFOS 0 0 0.00

Transponder 6 30 2.07

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -0.47 -195.5 0.0 0.0 0 72 0.00 0.00 -51.72 0.000 2 0.000 0.000 110 2291 2629 0 0 0 0 0 0 28.83 28.83 28.83

75 -0.47 -195.5 3.1 -4.0 9 119 9.43 2.03 -24.65 0.000 4 0.220 0.047 2583 945 3766 0 0 0 0 0 0 25.84 26.35 26.70

214 -0.49 -195.5 23.0 -13.2 34 221 0.00 2.05 0.00 0.000 6 0.000 0.035 2583 2320 3767 0 0 0 0 0 0 28.83 26.39 28.83

529 -0.54 -195.5 67.8 -9.8 59 534 0.00 2.15 0.00 0.000 4 0.000 0.049 2581 3733 3767 0 0 0 0 0 0 28.83 26.46 28.83

654 -0.67 -195.5 78.5 -8.6 65 660 0.17 1.98 0.00 0.000 6 0.060 0.018 2480 2313 3768 0 0 0 0 0 0 26.63 26.67 28.83

979 -0.67 -195.5 127.3 -10.7 81 985 0.12 2.20 0.00 0.000 4 0.148 0.047 2520 3739 3770 0 0 0 0 0 0 26.53 26.51 28.83

1107 -0.74 -195.5 139.6 -9.4 87 1112 0.00 2.00 0.00 0.000 6 0.000 0.020 2519 2333 3770 0 0 0 0 0 0 28.83 26.72 28.83

1425 -0.80 -195.5 171.1 -10.3 103 1432 0.12 2.17 0.00 0.000 4 0.079 0.047 2425 3736 3770 0 0 0 0 0 0 26.82 26.53 28.83

1495 -0.78 -195.5 181.8 -15.1 106 1501 0.20 2.00 0.00 0.000 6 0.141 0.021 2482 2314 3770 0 0 0 0 0 0 26.34 26.73 28.83

1814 -0.80 -195.5 222.8 -11.3 122 1815 0.00 0.00 0.00 0.000 6 0.000 0.000 2483 2314 3770 0 0 0 0 0 0 28.83 28.83 28.83

2117 -0.83 -195.5 257.6 -10.0 137 2118 0.00 0.00 0.00 0.000 6 0.000 0.000 2483 2313 3769 0 0 0 0 0 0 28.83 28.83 28.83

2416 -0.87 -195.5 290.7 -10.8 152 2421 0.00 2.20 0.00 0.000 4 0.000 0.051 2483 3731 3767 0 0 0 0 0 0 28.83 26.52 28.83

2474 -0.91 -195.5 295.1 -10.4 154 2482 0.12 2.00 0.00 0.000 6 0.079 0.021 2413 2320 3767 0 0 0 0 0 0 26.67 26.74 28.83

2780 -0.85 -195.5 340.7 -15.5 170 2782 0.17 0.00 0.00 0.000 6 0.145 0.000 2462 2320 3766 0 0 0 0 0 0 26.44 28.83 28.83

3082 -0.87 -195.5 373.3 -10.2 185 3083 0.00 0.00 0.00 0.000 6 0.000 0.000 2462 2320 3764 0 0 0 0 0 0 28.83 28.83 28.83

3383 -0.90 -195.5 401.7 -9.4 200 3389 0.00 2.20 0.00 0.000 4 0.000 0.052 2462 3726 3762 0 0 0 0 0 0 28.83 26.48 28.83

3436 -0.93 -195.5 406.5 -9.9 202 3442 0.00 2.00 0.00 0.000 6 0.000 0.021 2462 2328 3760 0 0 0 0 0 0 28.83 26.72 28.83

3751 -0.96 -195.5 440.7 -10.3 218 3752 0.00 0.00 0.00 0.000 6 0.000 0.000 2463 2328 3759 0 0 0 0 0 0 28.83 28.83 28.83

4011 end dive: TARGET_DEPTH_EXCEEDED

state 4011 begin apogee

4016 -0.20 0.0 471.1 -11.9 231 4176 0.60 0.00 151.30 0.845 6 0.103 0.000 2671 2326 2961 0 0 0 0 0 0 26.27 28.83 24.60

4178 end apogee: CONTROL_FINISHED_OK

state 4178 begin climb

4180 0.47 195.5 482.0 0.0 239 4346 0.57 2.30 156.38 0.806 4 0.041 0.047 2908 3716 2164 0 0 0 0 0 0 25.46 25.18 24.53

4404 0.37 195.5 472.6 11.5 250 4410 0.17 2.12 0.00 0.000 6 0.145 0.025 2861 2308 2154 0 0 0 0 0 0 25.57 25.75 28.83

4718 0.39 223.9 440.9 9.0 266 4743 0.00 0.00 22.95 0.862 6 0.000 0.000 2861 2308 2054 0 0 0 0 0 0 28.83 28.83 25.20

5038 0.40 252.3 411.5 9.0 282 5068 0.00 2.33 24.12 0.866 4 0.000 0.053 2861 3702 1932 0 0 0 0 0 0 28.83 25.86 25.25

5121 0.40 256.3 403.3 9.9 286 5126 0.00 2.12 0.00 0.000 6 0.000 0.028 2861 2310 1925 0 0 0 0 0 0 28.83 26.08 28.83

5445 0.41 291.3 372.8 8.8 302 5483 0.00 0.00 33.85 0.832 6 0.000 0.000 2861 2310 1771 0 0 0 0 0 0 28.83 28.83 25.17

5785 0.45 318.3 341.8 9.1 319 5818 0.00 2.22 23.50 0.840 4 0.000 0.038 2867 887 1659 0 0 0 0 0 0 28.83 25.91 25.26

5841 0.50 350.9 338.2 8.9 321 5875 0.10 2.17 28.38 0.809 6 0.093 0.034 2930 2315 1536 0 0 0 0 0 0 26.00 26.01 24.97

6189 0.46 350.9 287.0 14.6 339 6195 0.12 2.15 0.00 0.000 4 0.143 0.043 2889 3716 1518 0 0 0 0 0 0 26.17 26.23 28.83

6267 0.45 350.9 278.5 13.4 342 6276 0.00 2.10 0.00 0.000 6 0.000 0.025 2894 2284 1516 0 0 0 0 0 0 28.83 26.38 28.83

6573 0.45 350.9 244.2 10.7 358 6574 0.00 0.00 0.00 0.000 6 0.000 0.000 2894 2285 1516 0 0 0 0 0 0 28.83 28.83 28.83

6877 0.47 350.9 212.0 10.6 373 6878 0.00 0.00 0.00 0.000 6 0.000 0.000 2894 2285 1513 0 0 0 0 0 0 28.83 28.83 28.83

7175 0.49 350.9 181.7 10.2 388 7181 0.00 2.22 0.00 0.000 4 0.000 0.050 2894 3710 1514 0 0 0 0 0 0 28.83 26.49 28.83

7233 0.51 350.9 176.8 10.6 390 7240 0.00 2.05 0.00 0.000 6 0.000 0.024 2894 2289 1514 0 0 0 0 0 0 28.83 26.63 28.83

7540 0.55 372.5 144.0 9.3 406 7559 0.00 0.00 17.42 0.749 6 0.000 0.000 2894 2289 1447 0 0 0 0 0 0 28.83 28.83 25.72

7860 0.63 422.6 117.0 8.3 422 7884 0.12 2.22 18.25 0.389 4 0.078 0.048 2978 3711 1244 0 0 0 0 0 0 26.58 26.29 25.78

8007 0.58 422.6 97.9 14.5 429 8013 0.20 2.08 0.00 0.000 6 0.133 0.027 2928 2307 1250 0 0 0 0 0 0 26.17 26.41 28.83

8327 0.73 538.6 72.5 6.0 445 8380 0.12 2.22 46.47 0.290 4 0.076 0.048 3019 3707 773 0 0 0 0 0 0 26.63 26.18 25.81

8468 0.73 538.6 52.9 15.6 452 8475 0.15 2.10 0.00 0.000 6 0.135 0.025 2976 2288 780 0 0 0 0 0 0 26.13 26.33 28.83

8784 0.86 609.6 28.2 7.6 481 8823 0.12 2.10 30.00 0.184 4 0.076 0.034 3072 881 477 0 0 0 0 0 0 26.59 26.35 25.98

8901 0.86 609.6 11.9 15.1 500 8909 0.17 2.10 0.00 0.000 6 0.116 0.030 3017 2313 478 0 0 0 0 0 0 26.20 26.42 28.83

8975 end climb: SURFACE_DEPTH_REACHED

state 8975 begin surface coast

9003 end surface coast: CONTROL_FINISHED_OK

state 9003 begin surface

ID	167	HD_C	9.8500004e-06	ROLL_MIN	187	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	14	HEADING	-1	ROLL_MAX	3764	ALTIM_PING_DEPTH	400
DIVE	57	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DELTA	50
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2325	ALTIM_FREQUENCY	13
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2300	ALTIM_PULSE	3
D_FLARE	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_TGT	990	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	XPDR_VALID	0
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_NO_BLEED	500	SM_CC	425	R_PORT_OVSHOOT	73	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	120	N_FILEKB	8	R_STBD_OVSHOOT	40	INT_PRESSURE_YINT	0
T_BOOST	4	FILEMGR	0	ROLL_AD_RATE	350	DEEPGLIDER	0
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	2	DEEPGLIDERMB	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_SAFE	0	PROTOCOL	9	ROLL_ADJ_DBAND	0.02	DEVICE1	-1
D_CALL	0	N_NOCOMM	1	VBD_MIN	460	DEVICE2	-1
SURFACE_URGENCY	0	NOCOMM_ACTION	163	VBD_MAX	3960	DEVICE3	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	C_VBD	2968	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE5	-1
T_DIVE	330	CALL_TRIES	5	VBD_CNV	-0.24529999	DEVICE6	-1
T_MISSION	380	CALL_WAIT	60	VBD_TIMEOUT	720	LOGGERS	1
T_ABORT	1440	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.00039999999	LOGGERDEVICE1	53
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	-1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE3	-1
T_NO_W	120	T_GPS	5	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_LOITER	0	N_GPS	20	UNCOM_BLEED	50	COMPASS_DEVICE	97
T_EPIRB	0	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
USE_BATHY	-8	T_GPS_CHARGE	-968561.5	CF8_MAXERRORS	0	PHONE_DEVICE	49
USE_ICE	0	T_RSLEEP	3	AH0_24V	150	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_10V	110	RAFOS_DEVICE	-1
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	MINV_24V	22	XPDR_DEVICE	24
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_10V	9.5	SIM_W	0
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	FG_AHR_10V	0	SIM_PITCH	0
APOGEE_PITCH	-8	PITCH_MIN	134	FG_AHR_24V	0	SEABIRD_T_G	0.0043364335
MAX_BUOY	200	PITCH_MAX	3944	PHONE_SUPPLY	-2	SEABIRD_T_H	0.00062881975
COURSE_BIAS	0	C_PITCH	2740	PRESSURE_YINT	-16.305099	SEABIRD_T_I	2.1970176e-05
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001158971	SEABIRD_T_J	2.0625448e-06
SPEED_FACTOR	1	PITCH_CNV	0.0031256729	AD7714Ch0Gain	128	SEABIRD_C_G	-9.8829851
RHO	1.023	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.104416
MASS	52251	PITCH_GAIN	40	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0016111456
NAV_MODE	2	PITCH_TIMEOUT	19	COMPASS_USE	4	SEABIRD_C_J	0.00020720487
FERRY_MAX	45	PITCH_AD_RATE	165	ALTIM_BOTTOM_PING_RANGE	0	SC_RECORDABOVE	2000.0
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SC_PROFILE	3.0
HD_A	0.0038360001	PITCH_ADJ_GAIN	0.015	ALTIM_BOTTOM_TURN_MARGIN	25	SC_XMITPROFILE	3.0
HD_B	0.010078	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0

GPS1	231012,110205,2303.401,12126.170,31,1.9,31,-3.4	TGT_NAME	N2
_CALLS	1	TGT_LATLONG	2350.000,12355.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.53	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	231012,110757,2303.582,12126.266,21,1.9,21,-3.4	MHEAD_RNG_PITCHd_Wd	113.2,266228,-15.7,-10.000,-18.65
SPEED_LIMITS	0.173,0.296	D_GRID	471

FINISH	0.7,1.000070	_10V_AH	9.9,9.668
SM_CCo	9081,0.00,0.000,0,0,472,612.27	FG_AHR_24Vo	0.000
SM_GC	1.48,7.28,0.00,0.00,0.025,0.000,0.000,112,2318,472,-8.11,-0.23,612.27,0,0,0,0,0,0,26.47,28.83,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2253.38,12124.33,231012,090941	MEM	323840
TT8_MAMPS	0.028462,0.028462	DATA_FILE_SIZE	20093,519
HUMID	55.94	CAP_FILE_SIZE	114263,0
INTERNAL_PRESSURE	9.44372	CFSIZE	260165632,244899840
TCM_TEMP	25.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	2	CURRENT	0.107, 29.0,1
_24V_AH	24.5,17.719	GPS	231012,134105,2303.549,12127.927,36,0.9,36,-3.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	220	108.50	nil	0	0	0.00
Roll_motor	59	52	77.08	nil	0	0	0.00
VBD_pump_during_apogee	552	865	11724.77	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	9014	16	3718.55
Iridium_during_xfer	193	119	564.96	nil	0	0	0.00
Transponder_ping	1	420	10.29	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	26	5.77
TT8	1518	14	221.12
LPSleep	5757	2	124.83
TT8_Active	552	14	80.47
TT8_Sampling	1399	37	525.49
TT8_CF8	221	44	97.98
TT8_Kalman	0	0	0.00
Analog_circuits	1430	16	226.58
GPS_charging	0	0	0.00
Compass	1141	8	93.08
RAFOS	0	0	0.00
Transponder	6	30	2.07

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-0.47	-195.5	0.0	0.0	0	72	0.00	0.00	-51.72	0.000	2	0.000	0.000	110	2291	2629	0	0	0	0	0	0	28.83	28.83	28.83
75	-0.47	-195.5	3.1	-4.0	9	119	9.43	2.03	-24.65	0.000	4	0.220	0.047	2583	945	3766	0	0	0	0	0	0	25.84	26.35	26.70
214	-0.49	-195.5	23.0	-13.2	34	221	0.00	2.05	0.00	0.000	6	0.000	0.035	2583	2320	3767	0	0	0	0	0	0	28.83	26.39	28.83
529	-0.54	-195.5	67.8	-9.8	59	534	0.00	2.15	0.00	0.000	4	0.000	0.049	2581	3733	3767	0	0	0	0	0	0	28.83	26.46	28.83
654	-0.67	-195.5	78.5	-8.6	65	660	0.17	1.98	0.00	0.000	6	0.060	0.018	2480	2313	3768	0	0	0	0	0	0	26.63	26.67	28.83
979	-0.67	-195.5	127.3	-10.7	81	985	0.12	2.20	0.00	0.000	4	0.148	0.047	2520	3739	3770	0	0	0	0	0	0	26.53	26.51	28.83
1107	-0.74	-195.5	139.6	-9.4	87	1112	0.00	2.00	0.00	0.000	6	0.000	0.020	2519	2333	3770	0	0	0	0	0	0	28.83	26.72	28.83
1425	-0.80	-195.5	171.1	-10.3	103	1432	0.12	2.17	0.00	0.000	4	0.079	0.047	2425	3736	3770	0	0	0	0	0	0	26.82	26.53	28.83
1495	-0.78	-195.5	181.8	-15.1	106	1501	0.20	2.00	0.00	0.000	6	0.141	0.021	2482	2314	3770	0	0	0	0	0	0	26.34	26.73	28.83
1814	-0.80	-195.5	222.8	-11.3	122	1815	0.00	0.00	0.00	0.000	6	0.000	0.000	2483	2314	3770	0	0	0	0	0	0	28.83	28.83	28.83
2117	-0.83	-195.5	257.6	-10.0	137	2118	0.00	0.00	0.00	0.000	6	0.000	0.000	2483	2313	3769	0	0	0	0	0	0	28.83	28.83	28.83
2416	-0.87	-195.5	290.7	-10.8	152	2421	0.00	2.20	0.00	0.000	4	0.000	0.051	2483	3731	3767	0	0	0	0	0	0	28.83	26.52	28.83
2474	-0.91	-195.5	295.1	-10.4	154	2482	0.12	2.00	0.00	0.000	6	0.079	0.021	2413	2320	3767	0	0	0	0	0	0	26.67	26.74	28.83
2780	-0.85	-195.5	340.7	-15.5	170	2782	0.17	0.00	0.00	0.000	6	0.145	0.000	2462	2320	3766	0	0	0	0	0	0	26.44	28.83	28.83
3082	-0.87	-195.5	373.3	-10.2	185	3083	0.00	0.00	0.00	0.000	6	0.000	0.000	2462	2320	3764	0	0	0	0	0	0	28.83	28.83	28.83
3383	-0.90	-195.5	401.7	-9.4	200	3389	0.00	2.20	0.00	0.000	4	0.000	0.052	2462	3726	3762	0	0	0	0	0	0	28.83	26.48	28.83
3436	-0.93	-195.5	406.5	-9.9	202	3442	0.00	2.00	0.00	0.000	6	0.000	0.021	2462	2328	3760	0	0	0	0	0	0	28.83	26.72	28.83
3751	-0.96	-195.5	440.7	-10.3	218	3752	0.00	0.00	0.00	0.000	6	0.000	0.000	2463	2328	3759	0	0	0	0	0	0	28.83	28.83	28.83
4011	end dive: TARGET_DEPTH_EXCEEDED
state	4011	begin apogee
4016	-0.20	0.0	471.1	-11.9	231	4176	0.60	0.00	151.30	0.845	6	0.103	0.000	2671	2326	2961	0	0	0	0	0	0	26.27	28.83	24.60
4178	end apogee: CONTROL_FINISHED_OK
state	4178	begin climb
4180	0.47	195.5	482.0	0.0	239	4346	0.57	2.30	156.38	0.806	4	0.041	0.047	2908	3716	2164	0	0	0	0	0	0	25.46	25.18	24.53
4404	0.37	195.5	472.6	11.5	250	4410	0.17	2.12	0.00	0.000	6	0.145	0.025	2861	2308	2154	0	0	0	0	0	0	25.57	25.75	28.83
4718	0.39	223.9	440.9	9.0	266	4743	0.00	0.00	22.95	0.862	6	0.000	0.000	2861	2308	2054	0	0	0	0	0	0	28.83	28.83	25.20
5038	0.40	252.3	411.5	9.0	282	5068	0.00	2.33	24.12	0.866	4	0.000	0.053	2861	3702	1932	0	0	0	0	0	0	28.83	25.86	25.25
5121	0.40	256.3	403.3	9.9	286	5126	0.00	2.12	0.00	0.000	6	0.000	0.028	2861	2310	1925	0	0	0	0	0	0	28.83	26.08	28.83
5445	0.41	291.3	372.8	8.8	302	5483	0.00	0.00	33.85	0.832	6	0.000	0.000	2861	2310	1771	0	0	0	0	0	0	28.83	28.83	25.17
5785	0.45	318.3	341.8	9.1	319	5818	0.00	2.22	23.50	0.840	4	0.000	0.038	2867	887	1659	0	0	0	0	0	0	28.83	25.91	25.26
5841	0.50	350.9	338.2	8.9	321	5875	0.10	2.17	28.38	0.809	6	0.093	0.034	2930	2315	1536	0	0	0	0	0	0	26.00	26.01	24.97
6189	0.46	350.9	287.0	14.6	339	6195	0.12	2.15	0.00	0.000	4	0.143	0.043	2889	3716	1518	0	0	0	0	0	0	26.17	26.23	28.83
6267	0.45	350.9	278.5	13.4	342	6276	0.00	2.10	0.00	0.000	6	0.000	0.025	2894	2284	1516	0	0	0	0	0	0	28.83	26.38	28.83
6573	0.45	350.9	244.2	10.7	358	6574	0.00	0.00	0.00	0.000	6	0.000	0.000	2894	2285	1516	0	0	0	0	0	0	28.83	28.83	28.83
6877	0.47	350.9	212.0	10.6	373	6878	0.00	0.00	0.00	0.000	6	0.000	0.000	2894	2285	1513	0	0	0	0	0	0	28.83	28.83	28.83
7175	0.49	350.9	181.7	10.2	388	7181	0.00	2.22	0.00	0.000	4	0.000	0.050	2894	3710	1514	0	0	0	0	0	0	28.83	26.49	28.83
7233	0.51	350.9	176.8	10.6	390	7240	0.00	2.05	0.00	0.000	6	0.000	0.024	2894	2289	1514	0	0	0	0	0	0	28.83	26.63	28.83
7540	0.55	372.5	144.0	9.3	406	7559	0.00	0.00	17.42	0.749	6	0.000	0.000	2894	2289	1447	0	0	0	0	0	0	28.83	28.83	25.72
7860	0.63	422.6	117.0	8.3	422	7884	0.12	2.22	18.25	0.389	4	0.078	0.048	2978	3711	1244	0	0	0	0	0	0	26.58	26.29	25.78
8007	0.58	422.6	97.9	14.5	429	8013	0.20	2.08	0.00	0.000	6	0.133	0.027	2928	2307	1250	0	0	0	0	0	0	26.17	26.41	28.83
8327	0.73	538.6	72.5	6.0	445	8380	0.12	2.22	46.47	0.290	4	0.076	0.048	3019	3707	773	0	0	0	0	0	0	26.63	26.18	25.81
8468	0.73	538.6	52.9	15.6	452	8475	0.15	2.10	0.00	0.000	6	0.135	0.025	2976	2288	780	0	0	0	0	0	0	26.13	26.33	28.83
8784	0.86	609.6	28.2	7.6	481	8823	0.12	2.10	30.00	0.184	4	0.076	0.034	3072	881	477	0	0	0	0	0	0	26.59	26.35	25.98
8901	0.86	609.6	11.9	15.1	500	8909	0.17	2.10	0.00	0.000	6	0.116	0.030	3017	2313	478	0	0	0	0	0	0	26.20	26.42	28.83
8975	end climb: SURFACE_DEPTH_REACHED
state	8975	begin surface coast
9003	end surface coast: CONTROL_FINISHED_OK
state	9003	begin surface