Glider dive log

OKMC Jun13 * SG167 * Dive index * Mission links * Dive 77 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 167 HD_C 9.8500004e-06 ROLL_MAX 3764 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 16 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 77 ESCAPE_HEADING 0 C_ROLL_DIVE 1900 ALTIM_TOP_MIN_OBSTACLE 0

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 3300 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1010 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 48 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 550 R_STBD_OVSHOOT 43 XPDR_VALID 0

D_BOOST 120 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 4 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 1 VBD_MIN 460 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2763 DEVICE1 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 -1

T_DIVE 350 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 370 CALL_WAIT 60 PITCH_VBD_SHIFT 0.003 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_NO_W 120 T_GPS 5 UNCOM_BLEED 50 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY -7 T_GPS_CHARGE -974967.19 DBDW 0 COMPASS_DEVICE 97

USE_ICE 0 T_RSLEEP 2 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 48

D_OFFGRID 1000 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 0 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 150 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 100 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 150 MINV_24V 22 SIM_W 0

MAX_BUOY 180 PITCH_MAX 3944 MINV_10V 9.5 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 3085 FG_AHR_10V 0 SEABIRD_T_G 0.0043557216

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00062581268

SPEED_FACTOR 1 PITCH_CNV 0.0031256729 PHONE_SUPPLY -2 SEABIRD_T_I 2.3904395e-05

RHO 1.0275 P_OVSHOOT 0.039999999 PRESSURE_YINT -15.330984 SEABIRD_T_J 2.614597e-06

MASS 52152 PITCH_GAIN 27 PRESSURE_SLOPE 0.0001158971 SEABIRD_C_G -10.14994

MASS_COMP 0 PITCH_TIMEOUT 19 AD7714Ch0Gain 128 SEABIRD_C_H 1.1477706

NAV_MODE 2 PITCH_AD_RATE 165 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0022030354

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00024289287

KALMAN_USE 2 PITCH_ADJ_GAIN 0 COMPASS_USE 4 SC_RECORDABOVE 2000.0

HD_A 0.0038360001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0 SC_PROFILE 3.0

HD_B 0.010078 ROLL_MIN 187 ALTIM_TOP_PING_RANGE 0 SC_XMITPROFILE 3.0

AD7714Ch0Gain 128 D_OFFGRID 1000 PHONE_SUPPLY -2 SEABIRD_T_J 2.614597e-06

AH0_10V 100 D_PITCH 0 PITCH_ADJ_DBAND 0 SIM_PITCH 0

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 165 SM_CC 550

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 990 PITCH_CNV 0.0031256729 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 27 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3944 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MIN 150 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_TIMEOUT 19 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.003 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 4736

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 TGT_DEFAULT_LON -12218

CALL_NDIVES 1 HD_A 0.0038360001 PRESSURE_SLOPE 0.0001158971 T_ABORT 1440

CALL_TRIES 5 HD_B 0.010078 PRESSURE_YINT -15.330984 T_BOOST 4

CALL_WAIT 60 HD_C 9.8500004e-06 PROTOCOL 1 T_DIVE 350

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_EPIRB 0

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_GPS 5

CF8_MAXERRORS 0 HEAPDBG 0 RAFOS_DEVICE -1 T_GPS_ALMANAC 0

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_GPS_CHARGE -974967.19

COMPASS2_DEVICE -1 ID 167 RAFOS_PEAK_OFFSET 1.5 T_LOITER 0

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_MISSION 370

COMPASS_USE 4 INT_PRESSURE_YINT 0 RHO 1.0275 T_NO_W 120

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_DBAND 0 T_RSLEEP 2

C_PITCH 3085 LOGGERDEVICE1 53 ROLL_ADJ_GAIN 0 T_TURN 225

C_ROLL_CLIMB 3300 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 T_TURN_SAMPINT 5

C_ROLL_DIVE 1900 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 T_WATCHDOG 10

C_VBD 2763 LOGGERDEVICE4 -1 ROLL_DEG 40 UNCOM_BLEED 50

DBDW 0 LOGGERS 1 ROLL_MAX 3764 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MASS 52152 ROLL_MAXERRORS 2 USE_BATHY -7

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 187 USE_ICE 0

DEVICE1 -1 MAX_BUOY 180 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 9.5 R_PORT_OVSHOOT 48 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 22 R_STBD_OVSHOOT 43 VBD_DBAND 2

DEVICE4 -1 MISSION 16 SC_PROFILE 3.0 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 SC_XMITPROFILE 3.0 VBD_MIN 460

DIVE 77 NOCOMM_ACTION 163 SEABIRD_C_G -10.14994 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1010 N_DIVES 0 SEABIRD_C_H 1.1477706 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 120 N_FILEKB 4 SEABIRD_C_I -0.0022030354 VBD_TIMEOUT 720

D_CALL 0 N_GPS 20 SEABIRD_C_J 0.00024289287 W_ADJ_DBAND 0

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_G 0.0043557216 XPDR_DEVICE 24

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_H 0.00062581268 XPDR_INHIBIT 90

D_NO_BLEED 500 PHONE_DEVICE 48 SEABIRD_T_I 2.3904395e-05 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 290613,074706,2142.943,12028.348,27,0.8,27,-3.1 TGT_NAME T4

_CALLS 1 TGT_LATLONG 2100.000,12030.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.63 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 290613,075405,2142.996,12028.449,40,0.8,40,-3.1 MHEAD_RNG_PITCHd_Wd 191.1,79674,-15.7,-9.429,-18.82,2841

SPEED_LIMITS 0.163,0.277 D_GRID 662

Post-dive calculations and measurements:

FINISH 0.9,1.020455 _10V_AH 10.3,5.959

SM_CCo 7145,95.20,0.129,0,0,517,550.21 FG_AHR_24Vo 0.000

SM_GC 1.71,8.82,2.03,95.20,0.031,0.021,0.129,142,1917,517,-9.13,2.32,550.21,0,0,0,0,0,0,26.44,26.46,26.13 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2134.17,12026.40,290613,050551 MEM 324152

TT8_MAMPS 0.026964,0.026964 DATA_FILE_SIZE 13452,384

HUMID 53.38 CAP_FILE_SIZE 95375,0

INTERNAL_PRESSURE 9.45349 CFSIZE 260034560,244510720

TCM_TEMP 24.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 1 CURRENT 0.198, 80.1,1

SC_FREEKB 7686624 GPS 290613,095636,2142.328,12029.099,36,1.0,36,-3.1

_24V_AH 24.2,8.408

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 240 127.42 nil 0 0 0.00

Roll_motor 50 45 55.96 nil 0 0 0.00

VBD_pump_during_apogee 355 983 8474.36 nil 0 0 0.00

VBD_pump_during_surface 95 128 296.09 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 7115 8 1403.81

Iridium_during_xfer 219 112 596.94 nil 0 0 0.00

Transponder_ping 0 420 2.54 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 41 50 21.63

TT8 1370 13 197.00

LPSleep 4085 2 92.15

TT8_Active 517 13 74.46

TT8_Sampling 1377 40 570.03

TT8_CF8 315 47 154.83

TT8_Kalman 0 0 0.00

Analog_circuits 1366 16 225.19

GPS_charging 0 0 0.00

Compass 1108 5 57.11

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

25 -1.11 -175.2 141 1881 450 585 0.0 0.0 0 127 0.00 0.00 -99.05 0.000 16386 0.000 0.000 141 1882 2951 2929 2974 0 0 0 0 0 0 28.83 28.83 28.83

135 -1.11 -175.2 141 1881 2928 2974 3.4 -5.3 17 162 10.23 2.12 -9.27 0.000 18692 0.241 0.036 2710 3332 3479 3473 3485 0 0 0 0 0 0 26.02 26.28 26.53

302 -1.11 -175.2 1664 3331 3455 3483 63.9 -29.7 34 308 0.00 2.08 0.00 0.000 1030 0.000 0.018 2709 1873 3481 3475 3487 0 0 0 0 0 0 28.83 26.39 28.83

622 -1.11 -175.2 2709 1872 3479 3487 150.9 -27.8 50 623 0.00 0.00 0.00 0.000 6 0.000 0.000 2710 1872 3483 3479 3487 0 0 0 0 0 0 28.83 28.83 28.83

925 -1.11 -175.2 2709 1872 3480 3487 220.2 -20.8 65 930 0.00 2.10 0.00 0.000 260 0.000 0.028 2700 3320 3483 3480 3487 0 0 0 0 0 0 28.83 26.57 28.83

973 -1.11 -175.2 1664 3318 3461 3483 230.1 -21.2 67 978 0.00 2.00 0.00 0.000 1030 0.000 0.016 2699 1887 3484 3481 3487 0 0 0 0 0 0 28.83 26.61 28.83

1293 -1.11 -175.2 2699 1887 3481 3487 297.6 -20.9 83 1294 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 1887 3484 3481 3487 0 0 0 0 0 0 28.83 28.83 28.83

1595 -1.11 -175.2 2699 1887 3480 3485 352.8 -17.9 98 1601 0.00 1.98 0.00 0.000 516 0.000 0.031 2699 518 3482 3480 3484 0 0 0 0 0 0 28.83 26.65 28.83

1695 -1.11 -175.2 2699 518 3480 3482 371.9 -21.8 102 1702 0.15 1.98 0.00 0.000 3078 0.179 0.018 2728 1927 3481 3481 3482 0 0 0 0 0 0 26.51 26.68 28.83

2001 -1.11 -175.2 2728 1929 3483 3476 428.7 -15.7 118 2006 0.00 1.98 0.00 0.000 260 0.000 0.031 2719 3293 3479 3483 3475 0 0 0 0 0 0 28.83 26.67 28.83

2238 -1.11 -175.2 2719 3294 3483 3472 466.1 -16.8 129 2243 0.00 1.95 0.00 0.000 1030 0.000 0.018 2719 1907 3477 3483 3472 0 0 0 0 0 0 28.83 26.71 28.83

2553 -1.11 -175.2 2719 1907 3483 3466 523.1 -17.5 145 2558 0.00 2.03 0.00 0.000 260 0.000 0.031 2710 3291 3474 3482 3466 0 0 0 0 0 0 28.83 26.69 28.83

2586 -1.11 -175.2 2710 3291 3483 3465 527.2 -17.1 146 2593 0.00 1.98 0.00 0.000 1030 0.000 0.018 2710 1887 3474 3483 3465 0 0 0 0 0 0 28.83 26.72 28.83

2902 -1.11 -175.2 2710 1887 3483 3460 578.1 -14.5 162 2908 0.00 2.00 0.00 0.000 516 0.000 0.032 2710 510 3472 3484 3460 0 0 0 0 0 0 28.83 26.70 28.83

2956 -1.11 -175.2 2710 510 3483 3459 585.1 -15.1 164 2961 0.00 1.98 0.00 0.000 1030 0.000 0.018 2701 1910 3470 3483 3458 0 0 0 0 0 0 28.83 26.72 28.83

3294 -1.11 -175.2 2701 1910 3483 3453 637.9 -15.7 177 3299 0.00 2.00 0.00 0.000 260 0.000 0.033 2697 3285 3468 3483 3453 0 0 0 0 0 0 28.83 26.70 28.83

3353 -1.11 -175.2 2696 3285 3483 3452 644.1 -16.1 178 3361 0.12 1.95 0.00 0.000 3078 0.180 0.018 2726 1896 3467 3483 3451 0 0 0 0 0 0 26.57 26.74 28.83

3446 end dive: TARGET_DEPTH_EXCEEDED

state 3446 begin apogee

3456 -0.19 0.0 2722 3272 3483 3450 663.4 -16.0 182 3605 0.93 0.00 139.45 0.984 10246 0.142 0.000 3019 3272 2757 2822 2693 0 0 0 0 0 0 26.56 28.83 24.37

3607 end apogee: CONTROL_FINISHED_OK

state 3607 begin climb

3611 1.11 175.2 3019 3272 2818 2679 671.3 0.0 187 3765 1.12 0.80 145.07 0.943 10500 0.044 0.044 3446 3764 2045 2137 1953 0 0 0 0 0 0 25.22 24.89 24.25

3996 1.11 175.2 3445 3765 2122 1916 595.2 26.2 200 4001 0.00 0.65 0.00 0.000 1030 0.000 0.031 3449 3316 2019 2122 1916 0 0 0 0 0 0 28.83 25.98 28.83

4321 1.11 175.2 3448 3316 2122 1910 520.1 23.3 216 4326 0.00 2.10 0.00 0.000 516 0.000 0.025 3459 1882 2016 2122 1910 0 0 0 0 0 0 28.83 26.27 28.83

4476 1.11 175.2 3458 1881 2123 1909 489.8 20.8 223 4482 0.00 2.15 0.00 0.000 1030 0.000 0.033 3459 3307 2015 2122 1909 0 0 0 0 0 0 28.83 26.34 28.83

4792 1.11 175.2 3458 3307 2122 1906 412.2 22.6 239 4797 0.00 2.08 0.00 0.000 516 0.000 0.024 3468 1886 2014 2122 1906 0 0 0 0 0 0 28.83 26.47 28.83

4831 1.11 175.2 3468 1886 2122 1905 407.3 21.2 240 4838 0.00 2.12 0.00 0.000 1030 0.000 0.034 3468 3303 2013 2122 1905 0 0 0 0 0 0 28.83 26.45 28.83

5137 1.11 175.2 3468 3304 2122 1903 334.8 24.2 256 5143 0.00 2.10 0.00 0.000 516 0.000 0.024 3478 1874 2012 2122 1903 0 0 0 0 0 0 28.83 26.53 28.83

5374 1.11 175.2 3478 1873 2122 1901 286.7 20.5 267 5380 0.15 2.12 0.00 0.000 5126 0.187 0.032 3443 3302 2011 2122 1901 0 0 0 0 0 0 26.39 26.55 28.83

5689 1.11 175.2 3442 3302 2117 1902 214.4 21.8 283 5694 0.00 0.68 0.00 0.000 260 0.000 0.046 3442 3764 2009 2115 1903 0 0 0 0 0 0 28.83 26.58 28.83

5870 1.11 175.2 3442 3764 2115 1904 180.5 19.1 291 5877 0.00 0.65 0.00 0.000 1030 0.000 0.030 3444 3293 2008 2115 1902 0 0 0 0 0 0 28.83 26.64 28.83

6176 1.11 175.2 3444 3293 2115 1900 125.8 13.8 307 6182 0.00 0.70 0.00 0.000 260 0.000 0.045 3445 3761 2007 2115 1900 0 0 0 0 0 0 28.83 26.61 28.83

6412 1.11 175.2 3444 3761 2115 1900 83.0 18.0 318 6418 0.00 0.62 0.00 0.000 1030 0.000 0.030 3448 3299 2007 2115 1900 0 0 0 0 0 0 28.83 26.67 28.83

6727 1.24 218.5 3448 3300 2115 1899 42.4 7.9 337 6750 0.10 0.73 17.15 0.197 11012 0.102 0.044 3504 3769 1870 1967 1774 0 0 0 0 0 0 26.67 26.57 26.36

6984 1.62 347.1 3505 3769 1967 1794 26.2 4.8 361 7046 0.22 0.65 54.28 0.181 11270 0.037 0.028 3617 3287 1343 1413 1274 0 0 0 0 0 0 26.63 26.66 26.24

7109 end climb: SURFACE_DEPTH_REACHED

state 7109 begin surface coast

7121 end surface coast: CONTROL_FINISHED_OK

state 7121 begin surface

ID	167	HD_C	9.8500004e-06	ROLL_MAX	3764	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	16	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	77	ESCAPE_HEADING	0	C_ROLL_DIVE	1900	ALTIM_TOP_MIN_OBSTACLE	0
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	3300	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1010	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	48	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	550	R_STBD_OVSHOOT	43	XPDR_VALID	0
D_BOOST	120	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	4	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	1	VBD_MIN	460	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2763	DEVICE1	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	-1
T_DIVE	350	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	370	CALL_WAIT	60	PITCH_VBD_SHIFT	0.003	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_NO_W	120	T_GPS	5	UNCOM_BLEED	50	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	-7	T_GPS_CHARGE	-974967.19	DBDW	0	COMPASS_DEVICE	97
USE_ICE	0	T_RSLEEP	2	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	48
D_OFFGRID	1000	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	0	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	150	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	100	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	150	MINV_24V	22	SIM_W	0
MAX_BUOY	180	PITCH_MAX	3944	MINV_10V	9.5	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	3085	FG_AHR_10V	0	SEABIRD_T_G	0.0043557216
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00062581268
SPEED_FACTOR	1	PITCH_CNV	0.0031256729	PHONE_SUPPLY	-2	SEABIRD_T_I	2.3904395e-05
RHO	1.0275	P_OVSHOOT	0.039999999	PRESSURE_YINT	-15.330984	SEABIRD_T_J	2.614597e-06
MASS	52152	PITCH_GAIN	27	PRESSURE_SLOPE	0.0001158971	SEABIRD_C_G	-10.14994
MASS_COMP	0	PITCH_TIMEOUT	19	AD7714Ch0Gain	128	SEABIRD_C_H	1.1477706
NAV_MODE	2	PITCH_AD_RATE	165	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0022030354
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00024289287
KALMAN_USE	2	PITCH_ADJ_GAIN	0	COMPASS_USE	4	SC_RECORDABOVE	2000.0
HD_A	0.0038360001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0	SC_PROFILE	3.0
HD_B	0.010078	ROLL_MIN	187	ALTIM_TOP_PING_RANGE	0	SC_XMITPROFILE	3.0

GPS1	290613,074706,2142.943,12028.348,27,0.8,27,-3.1	TGT_NAME	T4
_CALLS	1	TGT_LATLONG	2100.000,12030.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.63	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	290613,075405,2142.996,12028.449,40,0.8,40,-3.1	MHEAD_RNG_PITCHd_Wd	191.1,79674,-15.7,-9.429,-18.82,2841
SPEED_LIMITS	0.163,0.277	D_GRID	662

FINISH	0.9,1.020455	_10V_AH	10.3,5.959
SM_CCo	7145,95.20,0.129,0,0,517,550.21	FG_AHR_24Vo	0.000
SM_GC	1.71,8.82,2.03,95.20,0.031,0.021,0.129,142,1917,517,-9.13,2.32,550.21,0,0,0,0,0,0,26.44,26.46,26.13	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2134.17,12026.40,290613,050551	MEM	324152
TT8_MAMPS	0.026964,0.026964	DATA_FILE_SIZE	13452,384
HUMID	53.38	CAP_FILE_SIZE	95375,0
INTERNAL_PRESSURE	9.45349	CFSIZE	260034560,244510720
TCM_TEMP	24.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	1	CURRENT	0.198, 80.1,1
SC_FREEKB	7686624	GPS	290613,095636,2142.328,12029.099,36,1.0,36,-3.1
_24V_AH	24.2,8.408

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	240	127.42	nil	0	0	0.00
Roll_motor	50	45	55.96	nil	0	0	0.00
VBD_pump_during_apogee	355	983	8474.36	nil	0	0	0.00
VBD_pump_during_surface	95	128	296.09	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	7115	8	1403.81
Iridium_during_xfer	219	112	596.94	nil	0	0	0.00
Transponder_ping	0	420	2.54	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	41	50	21.63
TT8	1370	13	197.00
LPSleep	4085	2	92.15
TT8_Active	517	13	74.46
TT8_Sampling	1377	40	570.03
TT8_CF8	315	47	154.83
TT8_Kalman	0	0	0.00
Analog_circuits	1366	16	225.19
GPS_charging	0	0	0.00
Compass	1108	5	57.11
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	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	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
25	-1.11	-175.2	141	1881	450	585	0.0	0.0	0	127	0.00	0.00	-99.05	0.000	16386	0.000	0.000	141	1882	2951	2929	2974	0	0	0	0	0	0	28.83	28.83	28.83
135	-1.11	-175.2	141	1881	2928	2974	3.4	-5.3	17	162	10.23	2.12	-9.27	0.000	18692	0.241	0.036	2710	3332	3479	3473	3485	0	0	0	0	0	0	26.02	26.28	26.53
302	-1.11	-175.2	1664	3331	3455	3483	63.9	-29.7	34	308	0.00	2.08	0.00	0.000	1030	0.000	0.018	2709	1873	3481	3475	3487	0	0	0	0	0	0	28.83	26.39	28.83
622	-1.11	-175.2	2709	1872	3479	3487	150.9	-27.8	50	623	0.00	0.00	0.00	0.000	6	0.000	0.000	2710	1872	3483	3479	3487	0	0	0	0	0	0	28.83	28.83	28.83
925	-1.11	-175.2	2709	1872	3480	3487	220.2	-20.8	65	930	0.00	2.10	0.00	0.000	260	0.000	0.028	2700	3320	3483	3480	3487	0	0	0	0	0	0	28.83	26.57	28.83
973	-1.11	-175.2	1664	3318	3461	3483	230.1	-21.2	67	978	0.00	2.00	0.00	0.000	1030	0.000	0.016	2699	1887	3484	3481	3487	0	0	0	0	0	0	28.83	26.61	28.83
1293	-1.11	-175.2	2699	1887	3481	3487	297.6	-20.9	83	1294	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	1887	3484	3481	3487	0	0	0	0	0	0	28.83	28.83	28.83
1595	-1.11	-175.2	2699	1887	3480	3485	352.8	-17.9	98	1601	0.00	1.98	0.00	0.000	516	0.000	0.031	2699	518	3482	3480	3484	0	0	0	0	0	0	28.83	26.65	28.83
1695	-1.11	-175.2	2699	518	3480	3482	371.9	-21.8	102	1702	0.15	1.98	0.00	0.000	3078	0.179	0.018	2728	1927	3481	3481	3482	0	0	0	0	0	0	26.51	26.68	28.83
2001	-1.11	-175.2	2728	1929	3483	3476	428.7	-15.7	118	2006	0.00	1.98	0.00	0.000	260	0.000	0.031	2719	3293	3479	3483	3475	0	0	0	0	0	0	28.83	26.67	28.83
2238	-1.11	-175.2	2719	3294	3483	3472	466.1	-16.8	129	2243	0.00	1.95	0.00	0.000	1030	0.000	0.018	2719	1907	3477	3483	3472	0	0	0	0	0	0	28.83	26.71	28.83
2553	-1.11	-175.2	2719	1907	3483	3466	523.1	-17.5	145	2558	0.00	2.03	0.00	0.000	260	0.000	0.031	2710	3291	3474	3482	3466	0	0	0	0	0	0	28.83	26.69	28.83
2586	-1.11	-175.2	2710	3291	3483	3465	527.2	-17.1	146	2593	0.00	1.98	0.00	0.000	1030	0.000	0.018	2710	1887	3474	3483	3465	0	0	0	0	0	0	28.83	26.72	28.83
2902	-1.11	-175.2	2710	1887	3483	3460	578.1	-14.5	162	2908	0.00	2.00	0.00	0.000	516	0.000	0.032	2710	510	3472	3484	3460	0	0	0	0	0	0	28.83	26.70	28.83
2956	-1.11	-175.2	2710	510	3483	3459	585.1	-15.1	164	2961	0.00	1.98	0.00	0.000	1030	0.000	0.018	2701	1910	3470	3483	3458	0	0	0	0	0	0	28.83	26.72	28.83
3294	-1.11	-175.2	2701	1910	3483	3453	637.9	-15.7	177	3299	0.00	2.00	0.00	0.000	260	0.000	0.033	2697	3285	3468	3483	3453	0	0	0	0	0	0	28.83	26.70	28.83
3353	-1.11	-175.2	2696	3285	3483	3452	644.1	-16.1	178	3361	0.12	1.95	0.00	0.000	3078	0.180	0.018	2726	1896	3467	3483	3451	0	0	0	0	0	0	26.57	26.74	28.83
3446	end dive: TARGET_DEPTH_EXCEEDED
state	3446	begin apogee
3456	-0.19	0.0	2722	3272	3483	3450	663.4	-16.0	182	3605	0.93	0.00	139.45	0.984	10246	0.142	0.000	3019	3272	2757	2822	2693	0	0	0	0	0	0	26.56	28.83	24.37
3607	end apogee: CONTROL_FINISHED_OK
state	3607	begin climb
3611	1.11	175.2	3019	3272	2818	2679	671.3	0.0	187	3765	1.12	0.80	145.07	0.943	10500	0.044	0.044	3446	3764	2045	2137	1953	0	0	0	0	0	0	25.22	24.89	24.25
3996	1.11	175.2	3445	3765	2122	1916	595.2	26.2	200	4001	0.00	0.65	0.00	0.000	1030	0.000	0.031	3449	3316	2019	2122	1916	0	0	0	0	0	0	28.83	25.98	28.83
4321	1.11	175.2	3448	3316	2122	1910	520.1	23.3	216	4326	0.00	2.10	0.00	0.000	516	0.000	0.025	3459	1882	2016	2122	1910	0	0	0	0	0	0	28.83	26.27	28.83
4476	1.11	175.2	3458	1881	2123	1909	489.8	20.8	223	4482	0.00	2.15	0.00	0.000	1030	0.000	0.033	3459	3307	2015	2122	1909	0	0	0	0	0	0	28.83	26.34	28.83
4792	1.11	175.2	3458	3307	2122	1906	412.2	22.6	239	4797	0.00	2.08	0.00	0.000	516	0.000	0.024	3468	1886	2014	2122	1906	0	0	0	0	0	0	28.83	26.47	28.83
4831	1.11	175.2	3468	1886	2122	1905	407.3	21.2	240	4838	0.00	2.12	0.00	0.000	1030	0.000	0.034	3468	3303	2013	2122	1905	0	0	0	0	0	0	28.83	26.45	28.83
5137	1.11	175.2	3468	3304	2122	1903	334.8	24.2	256	5143	0.00	2.10	0.00	0.000	516	0.000	0.024	3478	1874	2012	2122	1903	0	0	0	0	0	0	28.83	26.53	28.83
5374	1.11	175.2	3478	1873	2122	1901	286.7	20.5	267	5380	0.15	2.12	0.00	0.000	5126	0.187	0.032	3443	3302	2011	2122	1901	0	0	0	0	0	0	26.39	26.55	28.83
5689	1.11	175.2	3442	3302	2117	1902	214.4	21.8	283	5694	0.00	0.68	0.00	0.000	260	0.000	0.046	3442	3764	2009	2115	1903	0	0	0	0	0	0	28.83	26.58	28.83
5870	1.11	175.2	3442	3764	2115	1904	180.5	19.1	291	5877	0.00	0.65	0.00	0.000	1030	0.000	0.030	3444	3293	2008	2115	1902	0	0	0	0	0	0	28.83	26.64	28.83
6176	1.11	175.2	3444	3293	2115	1900	125.8	13.8	307	6182	0.00	0.70	0.00	0.000	260	0.000	0.045	3445	3761	2007	2115	1900	0	0	0	0	0	0	28.83	26.61	28.83
6412	1.11	175.2	3444	3761	2115	1900	83.0	18.0	318	6418	0.00	0.62	0.00	0.000	1030	0.000	0.030	3448	3299	2007	2115	1900	0	0	0	0	0	0	28.83	26.67	28.83
6727	1.24	218.5	3448	3300	2115	1899	42.4	7.9	337	6750	0.10	0.73	17.15	0.197	11012	0.102	0.044	3504	3769	1870	1967	1774	0	0	0	0	0	0	26.67	26.57	26.36
6984	1.62	347.1	3505	3769	1967	1794	26.2	4.8	361	7046	0.22	0.65	54.28	0.181	11270	0.037	0.028	3617	3287	1343	1413	1274	0	0	0	0	0	0	26.63	26.66	26.24
7109	end climb: SURFACE_DEPTH_REACHED
state	7109	begin surface coast
7121	end surface coast: CONTROL_FINISHED_OK
state	7121	begin surface