Glider dive log

PortSusan 26Feb13 * SG144 * Dive index * Mission links * Dive 8 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 144 ESCAPE_HEADING 0 C_ROLL_CLIMB 2026 ALTIM_PING_DELTA 5

MISSION 20 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 15 ALTIM_FREQUENCY 13

DIVE 8 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 3

N_DIVES 0 TGT_DEFAULT_LAT 4808 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 3

D_SURF 2 TGT_DEFAULT_LON -12223 R_PORT_OVSHOOT 18 XPDR_VALID 0

D_FLARE 2 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 27 XPDR_INHIBIT 90

D_TGT 150 SM_CC 300 ROLL_AD_RATE 400 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1090 N_FILEKB 4 ROLL_MAXERRORS 1 INT_PRESSURE_YINT 0

D_NO_BLEED 500 FILEMGR 0 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

D_BOOST 0 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

T_BOOST 0 COMM_SEQ 0 VBD_MIN 480 MOTHERBOARD 4

D_FINISH 0 PROTOCOL 0 VBD_MAX 3950 DEVICE1 -1

D_PITCH 0 N_NOCOMM 1 C_VBD 2930 DEVICE2 -1

D_SAFE 0 NOCOMM_ACTION 0 VBD_DBAND 2 DEVICE3 -1

D_CALL 0 N_NOSURFACE 0 VBD_CNV -0.24529999 DEVICE4 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE5 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 4 LOGGERS 3

T_DIVE 60 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 53

T_MISSION 75 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 67

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 20 LOGGERDEVICE3 -1

T_TURN 225 T_GPS 10 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

T_TURN_SAMPINT 5 N_GPS 20 W_ADJ_DBAND 1 COMPASS_DEVICE 33

T_NO_W 300 T_GPS_ALMANAC 0 DBDW 1 COMPASS2_DEVICE -1

T_LOITER 0 T_GPS_CHARGE -86634.883 PITCH_W_GAIN 1 PHONE_DEVICE 48

T_EPIRB 0 T_RSLEEP 2 PITCH_W_DBAND 1 GPS_DEVICE 32

USE_BATHY 0 STROBE 0 CF8_MAXERRORS 0 RAFOS_DEVICE -1

USE_ICE 0 RAFOS_PEAK_OFFSET 1.5 AH0_24V 350 XPDR_DEVICE 24

ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 AH0_10V 0 SIM_W 0

D_OFFGRID 1001 RAFOS_HIT_WINDOW 3600 MINV_24V 12 SIM_PITCH 0

T_WATCHDOG 10 PITCH_MIN 50 MINV_10V 12 SEABIRD_T_G 0.0043491465

RELAUNCH 1 PITCH_MAX 3920 FG_AHR_10V 0 SEABIRD_T_H 0.00063627562

APOGEE_PITCH -5 C_PITCH 3200 FG_AHR_24V 0 SEABIRD_T_I 2.5639563e-05

MAX_BUOY 150 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_J 2.8485167e-06

COURSE_BIAS 0 PITCH_CNV 0.0046000001 PRESSURE_YINT -46.800083 SEABIRD_C_G -10.038045

GLIDE_SLOPE 45 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.00011159377 SEABIRD_C_H 1.1273739

SPEED_FACTOR 1 PITCH_GAIN 28 AD7714Ch0Gain 128 SEABIRD_C_I -0.0018486013

RHO 1.023 PITCH_TIMEOUT 24 TCM_PITCH_OFFSET 0 SEABIRD_C_J 0.00022594928

MASS 56256 PITCH_AD_RATE 175 TCM_ROLL_OFFSET 0 SC_RECORDABOVE 2000.0

NAV_MODE 1 PITCH_MAXERRORS 1 COMPASS_USE 4 SC_PROFILE 3.0

FERRY_MAX 45 PITCH_ADJ_GAIN 0.02 ALTIM_BOTTOM_PING_RANGE 0 SC_XMITPROFILE 3.0

KALMAN_USE 1 PITCH_ADJ_DBAND 1 ALTIM_TOP_PING_RANGE 20 TM_RECORDABOVE 2000.0

HD_A 0.0037098001 ROLL_MIN 364 ALTIM_BOTTOM_TURN_MARGIN 10 TM_PROFILE 3.0

HD_B 0.012019 ROLL_MAX 3945 ALTIM_TOP_TURN_MARGIN 0 TM_XMITPROFILE 3.0

HD_C 1.6100001e-05 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 1 TM_LOGSAMPLE 0.0

HEADING -1 C_ROLL_DIVE 2026 ALTIM_PING_DEPTH 75 TM_XMITRAW 0.0

AD7714Ch0Gain 128 D_PITCH 0 PITCH_AD_RATE 175 SPEED_FACTOR 1

AH0_10V 0 D_SAFE 0 PITCH_CNV 0.0046000001 STROBE 0

AH0_24V 350 D_SURF 2 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 150 PITCH_GAIN 28 SURFACE_URGENCY_FORCE 0

ALTIM_BOTTOM_TURN_MARGIN 10 ESCAPE_HEADING 0 PITCH_MAX 3920 SURFACE_URGENCY_TRY 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_PING_DELTA 5 FERRY_MAX 45 PITCH_MIN 50 TCM_ROLL_OFFSET 0

ALTIM_PING_DEPTH 75 FG_AHR_10V 0 PITCH_TIMEOUT 24 TGT_AUTO_DEFAULT 0

ALTIM_PULSE 3 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LAT 4808

ALTIM_SENSITIVITY 3 FILEMGR 0 PITCH_W_DBAND 1 TGT_DEFAULT_LON -12223

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_W_GAIN 1 TM_LOGSAMPLE 0.0

ALTIM_TOP_PING_RANGE 20 GLIDE_SLOPE 45 PRESSURE_SLOPE 0.00011159377 TM_PROFILE 3.0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 32 PRESSURE_YINT -46.800083 TM_RECORDABOVE 2000.0

APOGEE_PITCH -5 HD_A 0.0037098001 PROTOCOL 0 TM_XMITPROFILE 3.0

CALL_NDIVES 1 HD_B 0.012019 P_OVSHOOT 0.039999999 TM_XMITRAW 0.0

CALL_TRIES 5 HD_C 1.6100001e-05 RAFOS_CORR_THRESH 60 T_ABORT 1440

CALL_WAIT 60 HEADING -1 RAFOS_DEVICE -1 T_BOOST 0

CAPMAXSIZE 100000 HEAD_ERRBAND 15 RAFOS_HIT_WINDOW 3600 T_DIVE 60

CAPUPLOAD 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_EPIRB 0

CF8_MAXERRORS 0 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_GPS 10

COMM_SEQ 0 ID 144 RHO 1.023 T_GPS_ALMANAC 0

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_GPS_CHARGE -86634.883

COMPASS_DEVICE 33 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_LOITER 0

COMPASS_USE 4 KALMAN_USE 1 ROLL_AD_RATE 400 T_MISSION 75

COURSE_BIAS 0 LOGGERDEVICE1 53 ROLL_CNV 0.028270001 T_NO_W 300

C_PITCH 3200 LOGGERDEVICE2 67 ROLL_DEG 40 T_RSLEEP 2

C_ROLL_CLIMB 2026 LOGGERDEVICE3 -1 ROLL_MAX 3945 T_TURN 225

C_ROLL_DIVE 2026 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 T_TURN_SAMPINT 5

C_VBD 2930 LOGGERS 3 ROLL_MIN 364 T_WATCHDOG 10

DBDW 1 MASS 56256 ROLL_TIMEOUT 15 UNCOM_BLEED 20

DEEPGLIDER 0 MAX_BUOY 150 R_PORT_OVSHOOT 18 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 MINV_10V 12 R_STBD_OVSHOOT 27 USE_BATHY 0

DEVICE1 -1 MINV_24V 12 SC_PROFILE 3.0 USE_ICE 0

DEVICE2 -1 MISSION 20 SC_RECORDABOVE 2000.0 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MOTHERBOARD 4 SC_XMITPROFILE 3.0 VBD_CNV -0.24529999

DEVICE4 -1 NAV_MODE 1 SEABIRD_C_G -10.038045 VBD_DBAND 2

DEVICE5 -1 NOCOMM_ACTION 0 SEABIRD_C_H 1.1273739 VBD_MAX 3950

DEVICE6 -1 N_DIVES 0 SEABIRD_C_I -0.0018486013 VBD_MAXERRORS 1

DIVE 8 N_FILEKB 4 SEABIRD_C_J 0.00022594928 VBD_MIN 480

D_ABORT 1090 N_GPS 20 SEABIRD_T_G 0.0043491465 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 0 N_NOCOMM 1 SEABIRD_T_H 0.00063627562 VBD_PUMP_AD_RATE_SURFACE 4

D_CALL 0 N_NOSURFACE 0 SEABIRD_T_I 2.5639563e-05 VBD_TIMEOUT 720

D_FINISH 0 PHONE_DEVICE 48 SEABIRD_T_J 2.8485167e-06 W_ADJ_DBAND 1

D_FLARE 2 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_DEVICE 24

D_NO_BLEED 500 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_INHIBIT 90

D_OFFGRID 1001 PITCH_ADJ_GAIN 0.02 SM_CC 300 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 270213,053052,4744.327,-12224.050,39,1.1,39,16.3 TGT_NAME SOUTH

_CALLS 1 TGT_LATLONG 4743.000,-12223.750

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.022,-0.223

_SM_DEPTHo 1.32 KALMAN_X 40.5,47.1,-23.4,853.9,-37.4

_SM_ANGLEo -77.5 KALMAN_Y 238.8,-229.7,203.2,-1077.3,389.6

GPS2 270213,054219,4744.490,-12223.974,5,1.1,5,16.3 MHEAD_RNG_PITCHd_Wd 158.1,2774,-16.5,-8.333,-20.39,2655

SPEED_LIMITS 0.083,0.224 D_GRID 150

Post-dive calculations and measurements:

FINISH 0.4,1.022585 TM_FREEKB 7835520

SM_CCo 3938,84.55,1.273,0,0,1706,300.00 _24V_AH 13.4,12.329

SM_GC 1.39,9.90,0.00,84.55,0.112,0.000,1.273,46,2020,1706,-14.44,-0.17,300.00,0,0,0,0,0,0,14.59,28.83,13.71 _10V_AH 13.5,0.000

IRIDIUM_FIX 4726.11,-12223.37,270213,040431 FG_AHR_24Vo 0.000

TT8_MAMPS 0.027713,0.027713 FG_AHR_10Vo 0.000

HUMID 34.87 MEM 322696

INTERNAL_PRESSURE 7.7835 DATA_FILE_SIZE 13474,406

TCM_TEMP 14.90 CAP_FILE_SIZE 199377,0

XPDR_PINGS 0 CFSIZE 260165632,252866560

ALTIM_TOP_PING 19.7,20.1 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0

ALTIM_BOTTOM_PING 140.6,35.5 GPS 270213,065110,4744.296,-12223.983,3,1.1,3,16.3

SC_FREEKB 4016928

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 486 189.72 nil 0 0 0.00

Roll_motor 49 98 65.29 nil 0 0 0.00

VBD_pump_during_apogee 226 1426 4337.42 nil 0 0 0.00

VBD_pump_during_surface 84 1272 1442.23 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 36.71 nil 0 0 0.00

Iridium_during_connect 31 160 66.65 SciCon 3937 1597 84263.04

Iridium_during_xfer 351 223 1049.03 TMICL 3935 21 1144.80

Transponder_ping 4 420 25.33 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 50 3.97

TT8 1392 19 372.12

LPSleep 1201 2 35.51

TT8_Active 440 19 117.72

TT8_Sampling 1304 39 701.10

TT8_CF8 369 45 228.34

TT8_Kalman 33 81 36.69

Analog_circuits 906 12 146.84

GPS_charging 0 0 0.00

Compass 793 15 160.68

RAFOS 0 0 0.00

Transponder 33 30 13.37

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

18 end surface: CONTROL_FINISHED_OK

state 19 begin dive

22 -0.77 -146.6 38 2018 1612 1784 0.0 0.0 0 75 0.00 0.00 -50.62 0.000 16386 0.000 0.000 38 2018 2943 3004 2882 0 0 0 0 0 0 28.83 28.83 28.83

79 -0.77 -146.6 41 2018 3008 2883 2.3 -3.3 7 119 16.62 2.47 -13.43 0.000 18692 0.487 0.099 3017 3438 3528 3633 3424 0 0 0 0 0 0 14.26 14.47 14.66

237 -0.64 -146.6 3017 3440 3632 3430 24.0 -14.4 31 246 0.17 2.47 0.00 0.000 3078 0.314 0.083 3053 2025 3531 3632 3430 0 0 0 0 0 0 14.36 14.47 28.83

365 -0.59 -146.6 3053 2023 3633 3430 40.9 -12.1 44 366 0.00 0.00 0.00 0.000 6 0.000 0.000 3053 2022 3531 3632 3430 0 0 0 0 0 0 28.83 28.83 28.83

488 -0.56 -146.6 3054 2023 3632 3434 54.1 -11.1 56 494 0.10 2.47 0.00 0.000 2308 0.335 0.081 3071 3437 3531 3632 3430 0 0 0 0 0 0 14.45 14.54 28.83

597 -0.62 -146.6 3071 3438 3631 3430 65.5 -9.9 66 603 0.00 2.45 0.00 0.000 1030 0.000 0.080 3071 2025 3531 3632 3431 0 0 0 0 0 0 28.83 14.54 28.83

732 -0.65 -146.6 3071 2022 3631 3431 79.0 -10.1 79 738 0.00 2.45 0.00 0.000 260 0.000 0.084 3071 3434 3531 3632 3431 0 0 0 0 0 0 28.83 14.60 28.83

889 -0.71 -146.6 3070 3435 3631 3430 93.7 -9.1 93 898 0.10 2.45 0.00 0.000 5126 0.209 0.079 3042 2021 3531 3631 3431 0 0 0 0 0 0 14.57 14.59 28.83

1017 -0.67 -146.6 3041 2018 3631 3431 108.2 -11.3 106 1023 0.00 2.45 0.00 0.000 260 0.000 0.080 3038 3439 3531 3631 3431 0 0 0 0 0 0 28.83 14.62 28.83

1146 -0.67 -146.6 3038 3440 3631 3431 121.8 -10.4 117 1154 0.00 2.42 0.00 0.000 1030 0.000 0.076 3039 2024 3531 3631 3431 0 0 0 0 0 0 28.83 14.63 28.83

1276 -0.63 -146.6 3038 2021 3631 3431 135.7 -10.1 130 1282 0.10 2.45 0.00 0.000 2308 0.335 0.081 3055 3438 3531 3631 3431 0 0 0 0 0 0 14.52 14.64 28.83

1374 -0.69 -146.6 3056 3438 3631 3431 144.5 -8.5 138 1382 0.00 2.45 0.00 0.000 1030 0.000 0.079 3056 2021 3531 3631 3431 0 0 0 0 0 0 28.83 14.64 28.83

1438 end dive: TARGET_DEPTH_EXCEEDED

state 1438 begin apogee

1444 -0.18 0.0 3058 2018 3630 3431 150.6 -8.5 145 1566 0.38 0.00 112.30 1.427 10246 0.272 0.000 3154 2018 2927 2960 2894 0 0 0 0 0 0 14.52 28.83 13.52

1570 end apogee: CONTROL_FINISHED_OK

state 1570 begin climb

1573 0.77 146.6 3154 2017 2960 2893 154.4 0.0 155 1701 0.75 2.62 114.57 1.384 10756 0.226 0.096 3368 620 2329 2326 2333 0 0 1 0 0 0 14.02 13.93 13.40

1792 0.68 146.6 3368 620 2320 2334 137.9 10.7 173 1800 0.00 2.47 0.00 0.000 1030 0.000 0.069 3367 2029 2326 2320 2332 0 0 0 0 0 0 28.83 14.24 28.83

1920 0.53 146.6 3368 2028 2320 2328 125.1 9.4 186 1928 0.22 0.00 0.00 0.000 4102 0.297 0.000 3318 2030 2323 2320 2327 0 0 0 0 0 0 14.30 28.83 28.83

2050 0.53 146.6 3318 2030 2320 2325 115.0 7.1 199 2055 0.00 2.45 0.00 0.000 260 0.000 0.077 3318 3443 2322 2320 2324 0 0 0 0 0 0 28.83 14.49 28.83

2133 0.47 146.6 3318 3444 2318 2325 108.0 9.4 206 2141 0.00 2.50 0.00 0.000 1030 0.000 0.086 3318 2027 2320 2319 2322 0 0 0 0 0 0 28.83 14.50 28.83

2260 0.47 146.6 3318 2027 2316 2323 97.1 7.7 219 2261 0.00 0.00 0.00 0.000 6 0.000 0.000 3318 2027 2321 2319 2323 0 0 0 0 0 0 28.83 28.83 28.83

2382 0.47 146.6 3318 2027 2319 2322 87.9 7.7 231 2388 0.00 2.45 0.00 0.000 260 0.000 0.075 3318 3444 2320 2319 2322 0 0 0 0 0 0 28.83 14.58 28.83

2450 0.43 146.6 3318 3445 2319 2321 81.9 9.0 237 2457 0.12 2.47 0.00 0.000 5126 0.335 0.086 3293 2026 2320 2319 2321 0 0 0 0 0 0 14.48 14.58 28.83

2587 0.49 146.7 3293 2026 2319 2321 74.1 5.3 250 2594 0.00 0.00 0.00 0.000 6 0.000 0.000 3293 2029 2318 2319 2317 0 0 0 0 0 0 28.83 28.83 28.83

2716 0.56 146.7 3293 2026 2319 2321 68.1 4.2 263 2723 0.12 2.42 0.00 0.000 2308 0.191 0.073 3337 3440 2320 2319 2321 0 0 0 0 0 0 14.60 14.61 28.83

2775 0.47 146.7 3337 3441 2319 2320 63.9 7.9 268 2781 0.15 2.47 0.00 0.000 5126 0.324 0.086 3306 2025 2319 2318 2321 0 0 0 0 0 0 14.52 14.62 28.83

2911 0.51 146.7 3306 2025 2316 2320 56.1 5.1 281 2918 0.00 0.00 0.00 0.000 6 0.000 0.000 3306 2025 2320 2319 2321 0 0 0 0 0 0 28.83 28.83 28.83

3041 0.55 146.8 3306 2025 2318 2321 50.6 4.2 294 3049 0.00 0.00 0.00 0.000 6 0.000 0.000 3306 2025 2320 2319 2321 0 0 0 0 0 0 28.83 28.83 28.83

3171 0.59 146.8 3307 2025 2319 2320 45.1 4.0 307 3178 0.00 0.00 0.00 0.000 6 0.000 0.000 3306 2025 2319 2318 2321 0 0 0 0 0 0 28.83 28.83 28.83

3301 0.62 146.9 3307 2025 2319 2321 39.3 4.7 320 3309 0.12 0.00 0.00 0.000 2054 0.186 0.000 3344 2024 2319 2319 2320 0 0 0 0 0 0 14.60 28.83 28.83

3431 0.58 146.9 3344 2025 2319 2321 29.4 7.6 333 3438 0.00 0.00 0.00 0.000 6 0.000 0.000 3344 2024 2319 2317 2321 0 0 0 0 0 0 28.83 28.83 28.83

3561 0.53 146.9 3344 2024 2319 2321 21.6 4.4 346 3568 0.12 2.45 0.00 0.000 4356 0.282 0.076 3313 3446 2320 2319 2321 0 0 0 0 0 0 14.50 14.60 28.83

3790 0.56 146.9 2304 3446 2268 2310 7.3 7.1 385 3798 0.00 2.50 0.00 0.000 1030 0.000 0.086 3313 2023 2318 2318 2319 0 0 0 0 0 0 28.83 14.57 28.83

3865 0.63 146.9 2304 2021 2269 2310 3.0 5.7 398 3873 0.10 0.00 0.00 0.000 2054 0.210 0.000 3344 2022 2319 2318 2320 0 0 0 0 0 0 14.56 28.83 28.83

3879 end climb: SURFACE_DEPTH_REACHED

state 3879 begin surface coast

3914 end surface coast: CONTROL_FINISHED_OK

state 3914 begin surface

ID	144	ESCAPE_HEADING	0	C_ROLL_CLIMB	2026	ALTIM_PING_DELTA	5
MISSION	20	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	15	ALTIM_FREQUENCY	13
DIVE	8	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	3
N_DIVES	0	TGT_DEFAULT_LAT	4808	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	3
D_SURF	2	TGT_DEFAULT_LON	-12223	R_PORT_OVSHOOT	18	XPDR_VALID	0
D_FLARE	2	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	27	XPDR_INHIBIT	90
D_TGT	150	SM_CC	300	ROLL_AD_RATE	400	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1090	N_FILEKB	4	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	0
D_NO_BLEED	500	FILEMGR	0	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
D_BOOST	0	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
T_BOOST	0	COMM_SEQ	0	VBD_MIN	480	MOTHERBOARD	4
D_FINISH	0	PROTOCOL	0	VBD_MAX	3950	DEVICE1	-1
D_PITCH	0	N_NOCOMM	1	C_VBD	2930	DEVICE2	-1
D_SAFE	0	NOCOMM_ACTION	0	VBD_DBAND	2	DEVICE3	-1
D_CALL	0	N_NOSURFACE	0	VBD_CNV	-0.24529999	DEVICE4	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE5	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	4	LOGGERS	3
T_DIVE	60	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	53
T_MISSION	75	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	67
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	20	LOGGERDEVICE3	-1
T_TURN	225	T_GPS	10	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
T_TURN_SAMPINT	5	N_GPS	20	W_ADJ_DBAND	1	COMPASS_DEVICE	33
T_NO_W	300	T_GPS_ALMANAC	0	DBDW	1	COMPASS2_DEVICE	-1
T_LOITER	0	T_GPS_CHARGE	-86634.883	PITCH_W_GAIN	1	PHONE_DEVICE	48
T_EPIRB	0	T_RSLEEP	2	PITCH_W_DBAND	1	GPS_DEVICE	32
USE_BATHY	0	STROBE	0	CF8_MAXERRORS	0	RAFOS_DEVICE	-1
USE_ICE	0	RAFOS_PEAK_OFFSET	1.5	AH0_24V	350	XPDR_DEVICE	24
ICE_FREEZE_MARGIN	0.30000001	RAFOS_CORR_THRESH	60	AH0_10V	0	SIM_W	0
D_OFFGRID	1001	RAFOS_HIT_WINDOW	3600	MINV_24V	12	SIM_PITCH	0
T_WATCHDOG	10	PITCH_MIN	50	MINV_10V	12	SEABIRD_T_G	0.0043491465
RELAUNCH	1	PITCH_MAX	3920	FG_AHR_10V	0	SEABIRD_T_H	0.00063627562
APOGEE_PITCH	-5	C_PITCH	3200	FG_AHR_24V	0	SEABIRD_T_I	2.5639563e-05
MAX_BUOY	150	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_J	2.8485167e-06
COURSE_BIAS	0	PITCH_CNV	0.0046000001	PRESSURE_YINT	-46.800083	SEABIRD_C_G	-10.038045
GLIDE_SLOPE	45	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.00011159377	SEABIRD_C_H	1.1273739
SPEED_FACTOR	1	PITCH_GAIN	28	AD7714Ch0Gain	128	SEABIRD_C_I	-0.0018486013
RHO	1.023	PITCH_TIMEOUT	24	TCM_PITCH_OFFSET	0	SEABIRD_C_J	0.00022594928
MASS	56256	PITCH_AD_RATE	175	TCM_ROLL_OFFSET	0	SC_RECORDABOVE	2000.0
NAV_MODE	1	PITCH_MAXERRORS	1	COMPASS_USE	4	SC_PROFILE	3.0
FERRY_MAX	45	PITCH_ADJ_GAIN	0.02	ALTIM_BOTTOM_PING_RANGE	0	SC_XMITPROFILE	3.0
KALMAN_USE	1	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	20	TM_RECORDABOVE	2000.0
HD_A	0.0037098001	ROLL_MIN	364	ALTIM_BOTTOM_TURN_MARGIN	10	TM_PROFILE	3.0
HD_B	0.012019	ROLL_MAX	3945	ALTIM_TOP_TURN_MARGIN	0	TM_XMITPROFILE	3.0
HD_C	1.6100001e-05	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	1	TM_LOGSAMPLE	0.0
HEADING	-1	C_ROLL_DIVE	2026	ALTIM_PING_DEPTH	75	TM_XMITRAW	0.0

GPS1	270213,053052,4744.327,-12224.050,39,1.1,39,16.3	TGT_NAME	SOUTH
_CALLS	1	TGT_LATLONG	4743.000,-12223.750
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.022,-0.223
_SM_DEPTHo	1.32	KALMAN_X	40.5,47.1,-23.4,853.9,-37.4
_SM_ANGLEo	-77.5	KALMAN_Y	238.8,-229.7,203.2,-1077.3,389.6
GPS2	270213,054219,4744.490,-12223.974,5,1.1,5,16.3	MHEAD_RNG_PITCHd_Wd	158.1,2774,-16.5,-8.333,-20.39,2655
SPEED_LIMITS	0.083,0.224	D_GRID	150

FINISH	0.4,1.022585	TM_FREEKB	7835520
SM_CCo	3938,84.55,1.273,0,0,1706,300.00	_24V_AH	13.4,12.329
SM_GC	1.39,9.90,0.00,84.55,0.112,0.000,1.273,46,2020,1706,-14.44,-0.17,300.00,0,0,0,0,0,0,14.59,28.83,13.71	_10V_AH	13.5,0.000
IRIDIUM_FIX	4726.11,-12223.37,270213,040431	FG_AHR_24Vo	0.000
TT8_MAMPS	0.027713,0.027713	FG_AHR_10Vo	0.000
HUMID	34.87	MEM	322696
INTERNAL_PRESSURE	7.7835	DATA_FILE_SIZE	13474,406
TCM_TEMP	14.90	CAP_FILE_SIZE	199377,0
XPDR_PINGS	0	CFSIZE	260165632,252866560
ALTIM_TOP_PING	19.7,20.1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
ALTIM_BOTTOM_PING	140.6,35.5	GPS	270213,065110,4744.296,-12223.983,3,1.1,3,16.3
SC_FREEKB	4016928

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	486	189.72	nil	0	0	0.00
Roll_motor	49	98	65.29	nil	0	0	0.00
VBD_pump_during_apogee	226	1426	4337.42	nil	0	0	0.00
VBD_pump_during_surface	84	1272	1442.23	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	36.71	nil	0	0	0.00
Iridium_during_connect	31	160	66.65	SciCon	3937	1597	84263.04
Iridium_during_xfer	351	223	1049.03	TMICL	3935	21	1144.80
Transponder_ping	4	420	25.33	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	50	3.97
TT8	1392	19	372.12
LPSleep	1201	2	35.51
TT8_Active	440	19	117.72
TT8_Sampling	1304	39	701.10
TT8_CF8	369	45	228.34
TT8_Kalman	33	81	36.69
Analog_circuits	906	12	146.84
GPS_charging	0	0	0.00
Compass	793	15	160.68
RAFOS	0	0	0.00
Transponder	33	30	13.37

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
18	end surface: CONTROL_FINISHED_OK
state	19	begin dive
22	-0.77	-146.6	38	2018	1612	1784	0.0	0.0	0	75	0.00	0.00	-50.62	0.000	16386	0.000	0.000	38	2018	2943	3004	2882	0	0	0	0	0	0	28.83	28.83	28.83
79	-0.77	-146.6	41	2018	3008	2883	2.3	-3.3	7	119	16.62	2.47	-13.43	0.000	18692	0.487	0.099	3017	3438	3528	3633	3424	0	0	0	0	0	0	14.26	14.47	14.66
237	-0.64	-146.6	3017	3440	3632	3430	24.0	-14.4	31	246	0.17	2.47	0.00	0.000	3078	0.314	0.083	3053	2025	3531	3632	3430	0	0	0	0	0	0	14.36	14.47	28.83
365	-0.59	-146.6	3053	2023	3633	3430	40.9	-12.1	44	366	0.00	0.00	0.00	0.000	6	0.000	0.000	3053	2022	3531	3632	3430	0	0	0	0	0	0	28.83	28.83	28.83
488	-0.56	-146.6	3054	2023	3632	3434	54.1	-11.1	56	494	0.10	2.47	0.00	0.000	2308	0.335	0.081	3071	3437	3531	3632	3430	0	0	0	0	0	0	14.45	14.54	28.83
597	-0.62	-146.6	3071	3438	3631	3430	65.5	-9.9	66	603	0.00	2.45	0.00	0.000	1030	0.000	0.080	3071	2025	3531	3632	3431	0	0	0	0	0	0	28.83	14.54	28.83
732	-0.65	-146.6	3071	2022	3631	3431	79.0	-10.1	79	738	0.00	2.45	0.00	0.000	260	0.000	0.084	3071	3434	3531	3632	3431	0	0	0	0	0	0	28.83	14.60	28.83
889	-0.71	-146.6	3070	3435	3631	3430	93.7	-9.1	93	898	0.10	2.45	0.00	0.000	5126	0.209	0.079	3042	2021	3531	3631	3431	0	0	0	0	0	0	14.57	14.59	28.83
1017	-0.67	-146.6	3041	2018	3631	3431	108.2	-11.3	106	1023	0.00	2.45	0.00	0.000	260	0.000	0.080	3038	3439	3531	3631	3431	0	0	0	0	0	0	28.83	14.62	28.83
1146	-0.67	-146.6	3038	3440	3631	3431	121.8	-10.4	117	1154	0.00	2.42	0.00	0.000	1030	0.000	0.076	3039	2024	3531	3631	3431	0	0	0	0	0	0	28.83	14.63	28.83
1276	-0.63	-146.6	3038	2021	3631	3431	135.7	-10.1	130	1282	0.10	2.45	0.00	0.000	2308	0.335	0.081	3055	3438	3531	3631	3431	0	0	0	0	0	0	14.52	14.64	28.83
1374	-0.69	-146.6	3056	3438	3631	3431	144.5	-8.5	138	1382	0.00	2.45	0.00	0.000	1030	0.000	0.079	3056	2021	3531	3631	3431	0	0	0	0	0	0	28.83	14.64	28.83
1438	end dive: TARGET_DEPTH_EXCEEDED
state	1438	begin apogee
1444	-0.18	0.0	3058	2018	3630	3431	150.6	-8.5	145	1566	0.38	0.00	112.30	1.427	10246	0.272	0.000	3154	2018	2927	2960	2894	0	0	0	0	0	0	14.52	28.83	13.52
1570	end apogee: CONTROL_FINISHED_OK
state	1570	begin climb
1573	0.77	146.6	3154	2017	2960	2893	154.4	0.0	155	1701	0.75	2.62	114.57	1.384	10756	0.226	0.096	3368	620	2329	2326	2333	0	0	1	0	0	0	14.02	13.93	13.40
1792	0.68	146.6	3368	620	2320	2334	137.9	10.7	173	1800	0.00	2.47	0.00	0.000	1030	0.000	0.069	3367	2029	2326	2320	2332	0	0	0	0	0	0	28.83	14.24	28.83
1920	0.53	146.6	3368	2028	2320	2328	125.1	9.4	186	1928	0.22	0.00	0.00	0.000	4102	0.297	0.000	3318	2030	2323	2320	2327	0	0	0	0	0	0	14.30	28.83	28.83
2050	0.53	146.6	3318	2030	2320	2325	115.0	7.1	199	2055	0.00	2.45	0.00	0.000	260	0.000	0.077	3318	3443	2322	2320	2324	0	0	0	0	0	0	28.83	14.49	28.83
2133	0.47	146.6	3318	3444	2318	2325	108.0	9.4	206	2141	0.00	2.50	0.00	0.000	1030	0.000	0.086	3318	2027	2320	2319	2322	0	0	0	0	0	0	28.83	14.50	28.83
2260	0.47	146.6	3318	2027	2316	2323	97.1	7.7	219	2261	0.00	0.00	0.00	0.000	6	0.000	0.000	3318	2027	2321	2319	2323	0	0	0	0	0	0	28.83	28.83	28.83
2382	0.47	146.6	3318	2027	2319	2322	87.9	7.7	231	2388	0.00	2.45	0.00	0.000	260	0.000	0.075	3318	3444	2320	2319	2322	0	0	0	0	0	0	28.83	14.58	28.83
2450	0.43	146.6	3318	3445	2319	2321	81.9	9.0	237	2457	0.12	2.47	0.00	0.000	5126	0.335	0.086	3293	2026	2320	2319	2321	0	0	0	0	0	0	14.48	14.58	28.83
2587	0.49	146.7	3293	2026	2319	2321	74.1	5.3	250	2594	0.00	0.00	0.00	0.000	6	0.000	0.000	3293	2029	2318	2319	2317	0	0	0	0	0	0	28.83	28.83	28.83
2716	0.56	146.7	3293	2026	2319	2321	68.1	4.2	263	2723	0.12	2.42	0.00	0.000	2308	0.191	0.073	3337	3440	2320	2319	2321	0	0	0	0	0	0	14.60	14.61	28.83
2775	0.47	146.7	3337	3441	2319	2320	63.9	7.9	268	2781	0.15	2.47	0.00	0.000	5126	0.324	0.086	3306	2025	2319	2318	2321	0	0	0	0	0	0	14.52	14.62	28.83
2911	0.51	146.7	3306	2025	2316	2320	56.1	5.1	281	2918	0.00	0.00	0.00	0.000	6	0.000	0.000	3306	2025	2320	2319	2321	0	0	0	0	0	0	28.83	28.83	28.83
3041	0.55	146.8	3306	2025	2318	2321	50.6	4.2	294	3049	0.00	0.00	0.00	0.000	6	0.000	0.000	3306	2025	2320	2319	2321	0	0	0	0	0	0	28.83	28.83	28.83
3171	0.59	146.8	3307	2025	2319	2320	45.1	4.0	307	3178	0.00	0.00	0.00	0.000	6	0.000	0.000	3306	2025	2319	2318	2321	0	0	0	0	0	0	28.83	28.83	28.83
3301	0.62	146.9	3307	2025	2319	2321	39.3	4.7	320	3309	0.12	0.00	0.00	0.000	2054	0.186	0.000	3344	2024	2319	2319	2320	0	0	0	0	0	0	14.60	28.83	28.83
3431	0.58	146.9	3344	2025	2319	2321	29.4	7.6	333	3438	0.00	0.00	0.00	0.000	6	0.000	0.000	3344	2024	2319	2317	2321	0	0	0	0	0	0	28.83	28.83	28.83
3561	0.53	146.9	3344	2024	2319	2321	21.6	4.4	346	3568	0.12	2.45	0.00	0.000	4356	0.282	0.076	3313	3446	2320	2319	2321	0	0	0	0	0	0	14.50	14.60	28.83
3790	0.56	146.9	2304	3446	2268	2310	7.3	7.1	385	3798	0.00	2.50	0.00	0.000	1030	0.000	0.086	3313	2023	2318	2318	2319	0	0	0	0	0	0	28.83	14.57	28.83
3865	0.63	146.9	2304	2021	2269	2310	3.0	5.7	398	3873	0.10	0.00	0.00	0.000	2054	0.210	0.000	3344	2022	2319	2318	2320	0	0	0	0	0	0	14.56	28.83	28.83
3879	end climb: SURFACE_DEPTH_REACHED
state	3879	begin surface coast
3914	end surface coast: CONTROL_FINISHED_OK
state	3914	begin surface