Glider dive log

DavisStrait Sep12 * SG193 * Dive index * Mission links * Dive 135 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 193 HD_B 0.0099999998 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 6.0000002e-06 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 135 HEADING -1 ROLL_MIN 300 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 0 ROLL_MAX 3841 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 3 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_PING_DEPTH 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0.5 C_ROLL_DIVE 2120 ALTIM_PING_DELTA 10

D_TGT 990 TGT_DEFAULT_LAT 6000 C_ROLL_CLIMB 2200 ALTIM_FREQUENCY 13

D_ABORT 1015 TGT_DEFAULT_LON -5500 HEAD_ERRBAND 10 ALTIM_PULSE 5

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 1

D_BOOST 100 SM_CC 290 ROLL_TIMEOUT 15 XPDR_VALID 6

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 18 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 14 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 260 INT_PRESSURE_YINT 0.93000001

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_CALL 0 PROTOCOL 9 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 1 MOTHERBOARD 4

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 161 VBD_MIN 500 DEVICE1 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

T_DIVE 370 UPLOAD_DIVES_MAX -1 C_VBD 2772 DEVICE3 -1

T_MISSION 420 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_ABORT 1440 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_TURN 225 CAPUPLOAD 0 VBD_TIMEOUT 360 DEVICE6 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_NO_W 120 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_LOITER 0 T_GPS 5 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

USE_BATHY -3 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -1011.1857 VBD_MAXERRORS 1 COMPASS_DEVICE 97

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 AH0_24V 350 PHONE_DEVICE 49

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 0 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 MINV_24V 12 RAFOS_DEVICE 32

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_10V 12 XPDR_DEVICE 24

MAX_BUOY 140 PITCH_MIN 149 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3928 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 50 C_PITCH 2680 PHONE_SUPPLY -2 SEABIRD_T_G 0.0043053469

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -48.048229 SEABIRD_T_H 0.00061871461

RHO 1.023 PITCH_CNV 0.0046000001 PRESSURE_SLOPE 0.0001163556 SEABIRD_T_I 2.1533233e-05

MASS 52000 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.1546668e-06

NAV_MODE 2 PITCH_GAIN 13 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.8788214

FERRY_MAX 45 PITCH_TIMEOUT 15 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1391871

KALMAN_USE 2 PITCH_AD_RATE 175 COMPASS_USE 4 SEABIRD_C_I -0.0018439521

HD_A 0.0043000001 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00022276744

AD7714Ch0Gain 128 D_NO_BLEED 200 N_NOSURFACE 0 SIM_PITCH 0

AH0_10V 0 D_OFFGRID 100 PHONE_DEVICE 49 SIM_W 0

AH0_24V 350 D_PITCH 0 PHONE_SUPPLY -2 SM_CC 290

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 3 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PITCH_CNV 0.0046000001 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 FERRY_MAX 45 PITCH_GAIN 13 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 1 FG_AHR_10V 0 PITCH_MAX 3928 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_MIN 149 TGT_DEFAULT_LAT 6000

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0.5 PITCH_TIMEOUT 15 TGT_DEFAULT_LON -5500

APOGEE_PITCH -5 GLIDE_SLOPE 50 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_SLOPE 0.0001163556 T_BOOST 0

CALL_TRIES 5 HD_A 0.0043000001 PRESSURE_YINT -48.048229 T_DIVE 370

CALL_WAIT 60 HD_B 0.0099999998 PROTOCOL 9 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 6.0000002e-06 P_OVSHOOT 0.039999999 T_GPS 5

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_DEVICE 32 T_GPS_CHARGE -1011.1857

COMM_SEQ 0 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 T_MISSION 420

COMPASS_DEVICE 97 ID 193 RELAUNCH 1 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.023 T_RSLEEP 3

COURSE_BIAS 0 INT_PRESSURE_YINT 0.93000001 ROLL_ADJ_DBAND 1 T_TURN 225

C_PITCH 2680 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2200 LOGGERDEVICE1 -1 ROLL_AD_RATE 260 T_WATCHDOG 10

C_ROLL_DIVE 2120 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 20

C_VBD 2772 LOGGERDEVICE3 -1 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3841 USE_BATHY -3

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 1 USE_ICE 0

DEVICE1 2 MASS 52000 ROLL_MIN 300 VBD_BLEED_AD_RATE 8

DEVICE2 20 MAX_BUOY 140 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 -1 MINV_10V 12 R_PORT_OVSHOOT 18 VBD_DBAND 2

DEVICE4 -1 MINV_24V 12 R_STBD_OVSHOOT 14 VBD_MAX 3960

DEVICE5 -1 MISSION 2 SEABIRD_C_G -9.8788214 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1391871 VBD_MIN 500

DIVE 135 NAV_MODE 2 SEABIRD_C_I -0.0018439521 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 1015 NOCOMM_ACTION 161 SEABIRD_C_J 0.00022276744 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_DIVES 0 SEABIRD_T_G 0.0043053469 VBD_TIMEOUT 360

D_CALL 0 N_FILEKB 8 SEABIRD_T_H 0.00061871461 XPDR_DEVICE 24

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.1533233e-05 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_J 2.1546668e-06 XPDR_VALID 6

Pre-dive calculations and measurements:

GPS1 021012,085504,6702.006,-5647.074,35,0.9,35,-33.5 TGT_NAME TARGET_W

_CALLS 1 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.66 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 021012,090159,6702.051,-5646.969,4,0.7,4,-33.5 MHEAD_RNG_PITCHd_Wd 336.7,163684,-17.3,-8.919,-19.96

SPEED_LIMITS 0.075,0.246 D_GRID 532

Post-dive calculations and measurements:

FINISH 1.9,1.012123 _24V_AH 12.9,45.207

SM_CCo 9770,0.00,0.000,0,0,1500,312.02 _10V_AH 13.2,0.000

SM_GC 2.78,8.60,0.20,0.00,0.106,0.144,0.000,136,2118,1500,-11.61,0.51,312.02,0,0,0,0,0,0,14.72,14.70,28.83 FG_AHR_24Vo 0.000

RAFOS_CLK 393 FG_AHR_10Vo 0.000

RAFOS 6,1349167745,8.833333,8.818055,116,63,57,55,54,54,802,208,174,159,127,228 MEM 188724

RAFOS_FIX 6704.032227,-5708.014648,021012,080856,6,104,0.00 DATA_FILE_SIZE 43380,942

IRIDIUM_FIX 6631.12,-5649.11,021012,060601 CAP_FILE_SIZE 96743,0

TT8_MAMPS 0.025466,0.025466 CFSIZE 259252224,241270784

HUMID 47.28 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.7721 SOUNDSPEED 1463.4

TCM_TEMP 13.70 CURRENT 0.105,138.9,1

XPDR_PINGS 10 GPS 021012,114711,6702.191,-5648.803,16,0.8,16,-33.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 463 135.45 SBE_CT 694 23 214.79

Roll_motor 72 200 188.36 SBE_O2 642 3 31.02

VBD_pump_during_apogee 361 2213 10332.09 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 nil 0 0 0.00

Iridium_during_xfer 265 146 500.30 nil 0 0 0.00

Transponder_ping 2 420 13.54 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 21 1.59

TT8 2380 14 470.16

LPSleep 5065 2 154.46

TT8_Active 489 14 96.68

TT8_Sampling 1791 33 796.51

TT8_CF8 487 38 245.60

TT8_Kalman 0 0 0.00

Analog_circuits 1631 12 258.42

GPS_charging 0 0 0.00

Compass 1566 6 139.37

RAFOS 0 0 0.00

Transponder 0 5 0.04

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

19 -1.50 -136.9 0.0 0.0 0 57 0.00 0.00 -35.80 0.000 2 0.000 0.000 130 2110 2264 0 0 0 0 0 0 28.83 28.83 28.83

64 -1.50 -136.9 3.0 -1.3 6 131 11.18 2.65 -49.53 0.000 4 0.464 0.155 2347 704 3331 0 0 0 0 0 0 14.39 14.54 14.79

366 -1.50 -136.9 46.7 -15.3 62 373 0.00 2.65 0.00 0.000 6 0.000 0.136 2339 2126 3332 0 0 0 0 0 0 28.83 14.60 28.83

684 -1.50 -136.9 89.0 -13.0 123 691 0.00 2.60 0.00 0.000 4 0.000 0.132 2339 702 3332 0 0 0 0 0 0 28.83 14.66 28.83

837 -1.50 -136.9 109.6 -13.7 145 847 0.08 2.62 0.00 0.000 6 0.299 0.129 2348 2123 3332 0 0 0 0 0 0 14.58 14.66 28.83

1148 -1.50 -136.9 149.3 -12.3 176 1156 0.00 2.62 0.00 0.000 4 0.000 0.145 2339 3529 3332 0 0 0 0 0 0 28.83 14.68 28.83

1182 -1.50 -136.9 153.7 -12.5 179 1191 0.00 2.47 0.00 0.000 6 0.000 0.097 2339 2117 3332 0 0 0 0 0 0 28.83 14.73 28.83

1493 -1.50 -136.9 192.5 -13.1 210 1502 0.00 2.50 0.00 0.000 4 0.000 0.127 2339 713 3332 0 0 0 0 0 0 28.83 14.72 28.83

1610 -1.50 -136.9 208.6 -13.9 221 1618 0.10 2.60 0.00 0.000 6 0.324 0.132 2348 2131 3332 0 0 0 0 0 0 14.66 14.75 28.83

1919 -1.50 -136.9 246.7 -11.9 252 1928 0.00 2.62 0.00 0.000 4 0.000 0.148 2340 3533 3331 0 0 0 0 0 0 28.83 14.72 28.83

1977 -1.50 -136.9 253.6 -12.6 257 1984 0.00 2.50 0.00 0.000 6 0.000 0.099 2340 2118 3331 0 0 0 0 0 0 28.83 14.80 28.83

2285 -1.50 -136.9 290.4 -11.2 288 2291 0.00 0.00 0.00 0.000 6 0.000 0.000 2340 2118 3331 0 0 0 0 0 0 28.83 28.83 28.83

2601 -1.50 -136.9 325.9 -11.4 319 2607 0.00 0.00 0.00 0.000 6 0.000 0.000 2340 2118 3331 0 0 0 0 0 0 28.83 28.83 28.83

2913 -1.50 -136.9 359.8 -10.4 350 2919 0.00 0.00 0.00 0.000 6 0.000 0.000 2340 2118 3331 0 0 0 0 0 0 28.83 28.83 28.83

3225 -1.50 -136.9 392.6 -10.6 381 3231 0.00 0.00 0.00 0.000 6 0.000 0.000 2340 2118 3330 0 0 0 0 0 0 28.83 28.83 28.83

3532 -1.50 -136.9 425.4 -10.3 396 3533 0.00 0.00 0.00 0.000 6 0.000 0.000 2340 2118 3330 0 0 0 0 0 0 28.83 28.83 28.83

3832 -1.50 -136.9 456.8 -10.3 406 3834 0.00 0.00 0.00 0.000 6 0.000 0.000 2340 2118 3330 0 0 0 0 0 0 28.83 28.83 28.83

4132 -1.50 -136.9 488.8 -10.3 416 4138 0.00 2.67 0.00 0.000 4 0.000 0.155 2330 3526 3330 0 0 0 0 0 0 28.83 14.81 28.83

4182 -1.50 -136.9 492.1 -10.4 417 4192 0.08 2.47 0.00 0.000 6 0.282 0.105 2349 2117 3331 0 0 0 0 0 0 14.73 14.83 28.83

4494 -1.50 -136.9 525.7 -10.1 428 4499 0.00 2.50 0.00 0.000 4 0.000 0.134 2349 709 3331 0 0 0 0 0 0 28.83 14.83 28.83

4732 -1.50 -136.9 527.2 -0.0 435 4739 0.00 2.60 0.00 0.000 6 0.000 0.139 2349 2126 3332 0 0 0 0 0 0 28.83 14.83 28.83

4764 end dive: NO_VERTICAL_VELOCITY

state 4764 begin apogee

4776 -0.38 0.0 527.3 0.0 437 4916 0.80 0.00 132.80 2.214 6 0.194 0.000 2595 2202 2773 0 0 0 0 0 0 14.81 28.83 13.26

4922 end apogee: CONTROL_FINISHED_OK

state 4922 begin climb

4928 1.50 136.9 527.2 0.0 442 5083 1.35 2.97 140.43 2.170 4 0.164 0.148 3005 3611 2214 0 0 0 0 0 0 14.00 13.57 12.93

5122 1.50 136.9 512.0 10.1 448 5131 0.00 2.70 0.00 0.000 6 0.000 0.101 3015 2198 2210 0 0 0 0 0 0 28.83 13.82 28.83

5434 1.50 136.9 470.4 12.7 459 5435 0.00 0.00 0.00 0.000 6 0.000 0.000 3015 2198 2206 0 0 0 0 0 0 28.83 28.83 28.83

5734 1.50 136.9 431.9 12.9 469 5735 0.00 0.00 0.00 0.000 6 0.000 0.000 3015 2198 2205 0 0 0 0 0 0 28.83 28.83 28.83

6034 1.50 136.9 393.3 13.1 481 6040 0.00 0.00 0.00 0.000 6 0.000 0.000 3015 2198 2204 0 0 0 0 0 0 28.83 28.83 28.83

6349 1.50 136.9 353.6 12.5 512 6355 0.00 0.00 0.00 0.000 6 0.000 0.000 3015 2198 2204 0 0 0 0 0 0 28.83 28.83 28.83

6662 1.50 136.9 314.8 12.4 543 6672 0.00 2.65 0.00 0.000 4 0.000 0.142 3015 3608 2203 0 0 0 0 0 0 28.83 14.68 28.83

6707 1.50 136.9 308.2 13.0 547 6717 0.00 2.50 0.00 0.000 6 0.000 0.103 3025 2199 2203 0 0 0 0 0 0 28.83 14.72 28.83

7017 1.50 136.9 269.4 13.0 578 7023 0.00 0.00 0.00 0.000 6 0.000 0.000 3026 2199 2203 0 0 0 0 0 0 28.83 28.83 28.83

7334 1.50 136.9 231.8 11.9 609 7339 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 2199 2203 0 0 0 0 0 0 28.83 28.83 28.83

7646 1.50 136.9 195.7 11.0 640 7654 0.00 2.53 0.00 0.000 4 0.000 0.129 3036 785 2203 0 0 0 0 0 0 28.83 14.76 28.83

7673 1.50 136.9 192.2 11.2 642 7681 0.12 2.55 0.00 0.000 6 0.288 0.122 3009 2198 2201 0 0 0 0 0 0 14.71 14.77 28.83

7982 1.50 136.9 158.0 10.8 673 7988 0.00 0.00 0.00 0.000 6 0.000 0.000 3009 2198 2201 0 0 0 0 0 0 28.83 28.83 28.83

8298 1.50 136.9 124.6 10.5 704 8307 0.00 2.60 0.00 0.000 4 0.000 0.145 3009 3606 2202 0 0 0 0 0 0 28.83 14.76 28.83

8353 1.50 136.9 117.7 11.7 709 8361 0.00 2.47 0.00 0.000 6 0.000 0.103 3018 2199 2202 0 0 0 0 0 0 28.83 14.81 28.83

8667 1.50 136.9 85.1 9.4 754 8674 0.00 2.67 0.00 0.000 4 0.000 0.147 3018 3616 2202 0 0 0 0 0 0 28.83 14.78 28.83

8700 1.50 136.9 81.9 10.7 759 8708 0.10 2.53 0.00 0.000 6 0.306 0.103 3008 2190 2202 0 0 0 0 0 0 14.73 14.83 28.83

9018 1.50 136.9 52.6 9.0 820 9025 0.00 2.50 0.00 0.000 4 0.000 0.127 3017 791 2201 0 0 0 0 0 0 28.83 14.78 28.83

9076 1.50 137.4 47.3 8.9 830 9084 0.00 2.55 0.00 0.000 6 0.000 0.118 3017 2210 2200 0 0 0 0 0 0 28.83 14.78 28.83

9394 1.71 306.6 29.3 1.6 891 9492 0.12 2.60 88.55 0.263 4 0.154 0.128 3081 791 1518 0 0 0 0 0 0 14.81 14.64 14.57

9601 1.71 306.6 11.1 14.2 927 9609 0.12 2.58 0.00 0.000 6 0.281 0.120 3054 2207 1508 0 0 0 0 0 0 14.60 14.66 28.83

9659 end climb: SURFACE_DEPTH_REACHED

state 9660 begin surface coast

9681 end surface coast: CONTROL_FINISHED_OK

state 9681 begin surface

ID	193	HD_B	0.0099999998	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	6.0000002e-06	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	135	HEADING	-1	ROLL_MIN	300	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	0	ROLL_MAX	3841	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	3	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_PING_DEPTH	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0.5	C_ROLL_DIVE	2120	ALTIM_PING_DELTA	10
D_TGT	990	TGT_DEFAULT_LAT	6000	C_ROLL_CLIMB	2200	ALTIM_FREQUENCY	13
D_ABORT	1015	TGT_DEFAULT_LON	-5500	HEAD_ERRBAND	10	ALTIM_PULSE	5
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	1
D_BOOST	100	SM_CC	290	ROLL_TIMEOUT	15	XPDR_VALID	6
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	18	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	14	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	260	INT_PRESSURE_YINT	0.93000001
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_CALL	0	PROTOCOL	9	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	1	MOTHERBOARD	4
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	161	VBD_MIN	500	DEVICE1	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
T_DIVE	370	UPLOAD_DIVES_MAX	-1	C_VBD	2772	DEVICE3	-1
T_MISSION	420	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_ABORT	1440	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_TURN	225	CAPUPLOAD	0	VBD_TIMEOUT	360	DEVICE6	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_NO_W	120	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_LOITER	0	T_GPS	5	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
USE_BATHY	-3	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-1011.1857	VBD_MAXERRORS	1	COMPASS_DEVICE	97
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	AH0_24V	350	PHONE_DEVICE	49
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	0	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	MINV_24V	12	RAFOS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	12	XPDR_DEVICE	24
MAX_BUOY	140	PITCH_MIN	149	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3928	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	50	C_PITCH	2680	PHONE_SUPPLY	-2	SEABIRD_T_G	0.0043053469
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-48.048229	SEABIRD_T_H	0.00061871461
RHO	1.023	PITCH_CNV	0.0046000001	PRESSURE_SLOPE	0.0001163556	SEABIRD_T_I	2.1533233e-05
MASS	52000	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.1546668e-06
NAV_MODE	2	PITCH_GAIN	13	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.8788214
FERRY_MAX	45	PITCH_TIMEOUT	15	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1391871
KALMAN_USE	2	PITCH_AD_RATE	175	COMPASS_USE	4	SEABIRD_C_I	-0.0018439521
HD_A	0.0043000001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00022276744

GPS1	021012,085504,6702.006,-5647.074,35,0.9,35,-33.5	TGT_NAME	TARGET_W
_CALLS	1	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.66	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	021012,090159,6702.051,-5646.969,4,0.7,4,-33.5	MHEAD_RNG_PITCHd_Wd	336.7,163684,-17.3,-8.919,-19.96
SPEED_LIMITS	0.075,0.246	D_GRID	532

FINISH	1.9,1.012123	_24V_AH	12.9,45.207
SM_CCo	9770,0.00,0.000,0,0,1500,312.02	_10V_AH	13.2,0.000
SM_GC	2.78,8.60,0.20,0.00,0.106,0.144,0.000,136,2118,1500,-11.61,0.51,312.02,0,0,0,0,0,0,14.72,14.70,28.83	FG_AHR_24Vo	0.000
RAFOS_CLK	393	FG_AHR_10Vo	0.000
RAFOS	6,1349167745,8.833333,8.818055,116,63,57,55,54,54,802,208,174,159,127,228	MEM	188724
RAFOS_FIX	6704.032227,-5708.014648,021012,080856,6,104,0.00	DATA_FILE_SIZE	43380,942
IRIDIUM_FIX	6631.12,-5649.11,021012,060601	CAP_FILE_SIZE	96743,0
TT8_MAMPS	0.025466,0.025466	CFSIZE	259252224,241270784
HUMID	47.28	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.7721	SOUNDSPEED	1463.4
TCM_TEMP	13.70	CURRENT	0.105,138.9,1
XPDR_PINGS	10	GPS	021012,114711,6702.191,-5648.803,16,0.8,16,-33.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	463	135.45	SBE_CT	694	23	214.79
Roll_motor	72	200	188.36	SBE_O2	642	3	31.02
VBD_pump_during_apogee	361	2213	10332.09	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	nil	0	0	0.00
Iridium_during_xfer	265	146	500.30	nil	0	0	0.00
Transponder_ping	2	420	13.54	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	21	1.59
TT8	2380	14	470.16
LPSleep	5065	2	154.46
TT8_Active	489	14	96.68
TT8_Sampling	1791	33	796.51
TT8_CF8	487	38	245.60
TT8_Kalman	0	0	0.00
Analog_circuits	1631	12	258.42
GPS_charging	0	0	0.00
Compass	1566	6	139.37
RAFOS	0	0	0.00
Transponder	0	5	0.04

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
19	-1.50	-136.9	0.0	0.0	0	57	0.00	0.00	-35.80	0.000	2	0.000	0.000	130	2110	2264	0	0	0	0	0	0	28.83	28.83	28.83
64	-1.50	-136.9	3.0	-1.3	6	131	11.18	2.65	-49.53	0.000	4	0.464	0.155	2347	704	3331	0	0	0	0	0	0	14.39	14.54	14.79
366	-1.50	-136.9	46.7	-15.3	62	373	0.00	2.65	0.00	0.000	6	0.000	0.136	2339	2126	3332	0	0	0	0	0	0	28.83	14.60	28.83
684	-1.50	-136.9	89.0	-13.0	123	691	0.00	2.60	0.00	0.000	4	0.000	0.132	2339	702	3332	0	0	0	0	0	0	28.83	14.66	28.83
837	-1.50	-136.9	109.6	-13.7	145	847	0.08	2.62	0.00	0.000	6	0.299	0.129	2348	2123	3332	0	0	0	0	0	0	14.58	14.66	28.83
1148	-1.50	-136.9	149.3	-12.3	176	1156	0.00	2.62	0.00	0.000	4	0.000	0.145	2339	3529	3332	0	0	0	0	0	0	28.83	14.68	28.83
1182	-1.50	-136.9	153.7	-12.5	179	1191	0.00	2.47	0.00	0.000	6	0.000	0.097	2339	2117	3332	0	0	0	0	0	0	28.83	14.73	28.83
1493	-1.50	-136.9	192.5	-13.1	210	1502	0.00	2.50	0.00	0.000	4	0.000	0.127	2339	713	3332	0	0	0	0	0	0	28.83	14.72	28.83
1610	-1.50	-136.9	208.6	-13.9	221	1618	0.10	2.60	0.00	0.000	6	0.324	0.132	2348	2131	3332	0	0	0	0	0	0	14.66	14.75	28.83
1919	-1.50	-136.9	246.7	-11.9	252	1928	0.00	2.62	0.00	0.000	4	0.000	0.148	2340	3533	3331	0	0	0	0	0	0	28.83	14.72	28.83
1977	-1.50	-136.9	253.6	-12.6	257	1984	0.00	2.50	0.00	0.000	6	0.000	0.099	2340	2118	3331	0	0	0	0	0	0	28.83	14.80	28.83
2285	-1.50	-136.9	290.4	-11.2	288	2291	0.00	0.00	0.00	0.000	6	0.000	0.000	2340	2118	3331	0	0	0	0	0	0	28.83	28.83	28.83
2601	-1.50	-136.9	325.9	-11.4	319	2607	0.00	0.00	0.00	0.000	6	0.000	0.000	2340	2118	3331	0	0	0	0	0	0	28.83	28.83	28.83
2913	-1.50	-136.9	359.8	-10.4	350	2919	0.00	0.00	0.00	0.000	6	0.000	0.000	2340	2118	3331	0	0	0	0	0	0	28.83	28.83	28.83
3225	-1.50	-136.9	392.6	-10.6	381	3231	0.00	0.00	0.00	0.000	6	0.000	0.000	2340	2118	3330	0	0	0	0	0	0	28.83	28.83	28.83
3532	-1.50	-136.9	425.4	-10.3	396	3533	0.00	0.00	0.00	0.000	6	0.000	0.000	2340	2118	3330	0	0	0	0	0	0	28.83	28.83	28.83
3832	-1.50	-136.9	456.8	-10.3	406	3834	0.00	0.00	0.00	0.000	6	0.000	0.000	2340	2118	3330	0	0	0	0	0	0	28.83	28.83	28.83
4132	-1.50	-136.9	488.8	-10.3	416	4138	0.00	2.67	0.00	0.000	4	0.000	0.155	2330	3526	3330	0	0	0	0	0	0	28.83	14.81	28.83
4182	-1.50	-136.9	492.1	-10.4	417	4192	0.08	2.47	0.00	0.000	6	0.282	0.105	2349	2117	3331	0	0	0	0	0	0	14.73	14.83	28.83
4494	-1.50	-136.9	525.7	-10.1	428	4499	0.00	2.50	0.00	0.000	4	0.000	0.134	2349	709	3331	0	0	0	0	0	0	28.83	14.83	28.83
4732	-1.50	-136.9	527.2	-0.0	435	4739	0.00	2.60	0.00	0.000	6	0.000	0.139	2349	2126	3332	0	0	0	0	0	0	28.83	14.83	28.83
4764	end dive: NO_VERTICAL_VELOCITY
state	4764	begin apogee
4776	-0.38	0.0	527.3	0.0	437	4916	0.80	0.00	132.80	2.214	6	0.194	0.000	2595	2202	2773	0	0	0	0	0	0	14.81	28.83	13.26
4922	end apogee: CONTROL_FINISHED_OK
state	4922	begin climb
4928	1.50	136.9	527.2	0.0	442	5083	1.35	2.97	140.43	2.170	4	0.164	0.148	3005	3611	2214	0	0	0	0	0	0	14.00	13.57	12.93
5122	1.50	136.9	512.0	10.1	448	5131	0.00	2.70	0.00	0.000	6	0.000	0.101	3015	2198	2210	0	0	0	0	0	0	28.83	13.82	28.83
5434	1.50	136.9	470.4	12.7	459	5435	0.00	0.00	0.00	0.000	6	0.000	0.000	3015	2198	2206	0	0	0	0	0	0	28.83	28.83	28.83
5734	1.50	136.9	431.9	12.9	469	5735	0.00	0.00	0.00	0.000	6	0.000	0.000	3015	2198	2205	0	0	0	0	0	0	28.83	28.83	28.83
6034	1.50	136.9	393.3	13.1	481	6040	0.00	0.00	0.00	0.000	6	0.000	0.000	3015	2198	2204	0	0	0	0	0	0	28.83	28.83	28.83
6349	1.50	136.9	353.6	12.5	512	6355	0.00	0.00	0.00	0.000	6	0.000	0.000	3015	2198	2204	0	0	0	0	0	0	28.83	28.83	28.83
6662	1.50	136.9	314.8	12.4	543	6672	0.00	2.65	0.00	0.000	4	0.000	0.142	3015	3608	2203	0	0	0	0	0	0	28.83	14.68	28.83
6707	1.50	136.9	308.2	13.0	547	6717	0.00	2.50	0.00	0.000	6	0.000	0.103	3025	2199	2203	0	0	0	0	0	0	28.83	14.72	28.83
7017	1.50	136.9	269.4	13.0	578	7023	0.00	0.00	0.00	0.000	6	0.000	0.000	3026	2199	2203	0	0	0	0	0	0	28.83	28.83	28.83
7334	1.50	136.9	231.8	11.9	609	7339	0.00	0.00	0.00	0.000	6	0.000	0.000	3025	2199	2203	0	0	0	0	0	0	28.83	28.83	28.83
7646	1.50	136.9	195.7	11.0	640	7654	0.00	2.53	0.00	0.000	4	0.000	0.129	3036	785	2203	0	0	0	0	0	0	28.83	14.76	28.83
7673	1.50	136.9	192.2	11.2	642	7681	0.12	2.55	0.00	0.000	6	0.288	0.122	3009	2198	2201	0	0	0	0	0	0	14.71	14.77	28.83
7982	1.50	136.9	158.0	10.8	673	7988	0.00	0.00	0.00	0.000	6	0.000	0.000	3009	2198	2201	0	0	0	0	0	0	28.83	28.83	28.83
8298	1.50	136.9	124.6	10.5	704	8307	0.00	2.60	0.00	0.000	4	0.000	0.145	3009	3606	2202	0	0	0	0	0	0	28.83	14.76	28.83
8353	1.50	136.9	117.7	11.7	709	8361	0.00	2.47	0.00	0.000	6	0.000	0.103	3018	2199	2202	0	0	0	0	0	0	28.83	14.81	28.83
8667	1.50	136.9	85.1	9.4	754	8674	0.00	2.67	0.00	0.000	4	0.000	0.147	3018	3616	2202	0	0	0	0	0	0	28.83	14.78	28.83
8700	1.50	136.9	81.9	10.7	759	8708	0.10	2.53	0.00	0.000	6	0.306	0.103	3008	2190	2202	0	0	0	0	0	0	14.73	14.83	28.83
9018	1.50	136.9	52.6	9.0	820	9025	0.00	2.50	0.00	0.000	4	0.000	0.127	3017	791	2201	0	0	0	0	0	0	28.83	14.78	28.83
9076	1.50	137.4	47.3	8.9	830	9084	0.00	2.55	0.00	0.000	6	0.000	0.118	3017	2210	2200	0	0	0	0	0	0	28.83	14.78	28.83
9394	1.71	306.6	29.3	1.6	891	9492	0.12	2.60	88.55	0.263	4	0.154	0.128	3081	791	1518	0	0	0	0	0	0	14.81	14.64	14.57
9601	1.71	306.6	11.1	14.2	927	9609	0.12	2.58	0.00	0.000	6	0.281	0.120	3054	2207	1508	0	0	0	0	0	0	14.60	14.66	28.83
9659	end climb: SURFACE_DEPTH_REACHED
state	9660	begin surface coast
9681	end surface coast: CONTROL_FINISHED_OK
state	9681	begin surface