Glider dive log

DavisStrait Sep12 * SG193 * Dive index * Mission links * Dive 234 * 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 234 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 2150 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 15 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 -1241.1467 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 -1241.1467

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 2150 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 15 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 234 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 201012,034022,6703.410,-5656.004,45,0.8,45,-33.5 TGT_NAME TARGET_E

_CALLS 2 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.95 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 201012,035046,6703.435,-5656.256,5,0.8,5,-33.5 MHEAD_RNG_PITCHd_Wd 157.7,6017,-17.3,-8.919,-19.96

SPEED_LIMITS 0.075,0.246 D_GRID 564

Post-dive calculations and measurements:

FINISH 2.1,1.025679 _24V_AH 12.6,75.762

SM_CCo 9995,39.85,0.179,0,0,1587,290.19 _10V_AH 12.9,0.000

SM_GC 2.97,8.45,2.65,39.85,0.095,0.129,0.179,130,2130,1587,-11.62,-0.14,290.19,0,0,0,0,0,0,14.74,14.60,14.57 FG_AHR_24Vo 0.000

RAFOS_CLK 404 FG_AHR_10Vo 0.000

RAFOS 0,1350705664,4.033333,4.017778,60,59,59,57,55,52,211,197,186,222,171,139 MEM 188732

RAFOS_FIX 6708.529297,-5715.985352,201012,040428,4,86,5.85 DATA_FILE_SIZE 43399,937

IRIDIUM_FIX 6636.54,-5652.31,201012,030356 CAP_FILE_SIZE 99506,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 259252224,234463232

HUMID 46.37 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.7721 SOUNDSPEED 1464.0

TCM_TEMP 14.20 CURRENT 0.251,306.3,1

XPDR_PINGS 3 GPS 201012,064034,6703.478,-5656.260,32,0.8,32,-33.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 441 123.19 SBE_CT 688 23 207.80

Roll_motor 74 236 220.93 SBE_O2 645 3 30.42

VBD_pump_during_apogee 339 2426 10374.07 nil 0 0 0.00

VBD_pump_during_surface 39 179 89.88 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 410 144 748.47 nil 0 0 0.00

Transponder_ping 0 420 3.97 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 21 1.85

TT8 2375 14 458.42

LPSleep 5396 2 160.80

TT8_Active 517 14 99.89

TT8_Sampling 1849 33 803.94

TT8_CF8 541 38 266.80

TT8_Kalman 0 0 0.00

Analog_circuits 1782 12 275.86

GPS_charging 0 0 0.00

Compass 1516 6 131.88

RAFOS 2520 1 48.76

Transponder 0 5 0.03

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 38 0.00 0.00 -17.35 0.000 2 0.000 0.000 131 2128 1916 0 0 0 0 0 0 28.83 28.83 28.83

45 -1.50 -136.9 3.1 -1.5 3 153 10.98 2.83 -85.93 0.000 4 0.441 0.177 2338 3528 3331 0 0 0 0 0 0 14.24 14.40 14.78

389 -1.50 -136.9 42.6 -16.9 66 395 0.00 2.55 0.00 0.000 6 0.000 0.106 2338 2122 3332 0 0 0 0 0 0 28.83 14.57 28.83

707 -1.50 -136.9 88.7 -14.0 127 713 0.00 2.80 0.00 0.000 4 0.000 0.161 2327 3534 3332 0 0 0 0 0 0 28.83 14.51 28.83

759 -1.50 -136.9 96.2 -14.3 136 766 0.12 2.55 0.00 0.000 6 0.296 0.105 2352 2119 3332 0 0 0 0 0 0 14.42 14.62 28.83

1077 -1.50 -136.9 135.6 -11.7 169 1084 0.00 0.00 0.00 0.000 6 0.000 0.000 2352 2119 3332 0 0 0 0 0 0 28.83 28.83 28.83

1392 -1.50 -136.9 172.5 -11.6 200 1400 0.00 2.55 0.00 0.000 4 0.000 0.132 2352 709 3332 0 0 0 0 0 0 28.83 14.56 28.83

1476 -1.50 -136.9 183.5 -12.4 208 1485 0.00 2.62 0.00 0.000 6 0.000 0.133 2345 2116 3331 0 0 0 0 0 0 28.83 14.54 28.83

1786 -1.50 -136.9 220.1 -11.9 239 1795 0.00 2.55 0.00 0.000 4 0.000 0.129 2344 710 3331 0 0 0 0 0 0 28.83 14.58 28.83

1824 -1.50 -136.9 224.1 -11.7 242 1830 0.00 2.65 0.00 0.000 6 0.000 0.132 2337 2130 3331 0 0 0 0 0 0 28.83 14.61 28.83

2132 -1.50 -136.9 261.1 -11.1 273 2138 0.00 0.00 0.00 0.000 6 0.000 0.000 2337 2130 3331 0 0 0 0 0 0 28.83 28.83 28.83

2446 -1.50 -136.9 296.0 -11.1 304 2452 0.00 0.00 0.00 0.000 6 0.000 0.000 2336 2130 3331 0 0 0 0 0 0 28.83 28.83 28.83

2757 -1.50 -136.9 329.1 -10.5 335 2763 0.00 0.00 0.00 0.000 6 0.000 0.000 2337 2130 3331 0 0 0 0 0 0 28.83 28.83 28.83

3066 -1.50 -136.9 361.6 -10.7 366 3072 0.00 0.00 0.00 0.000 6 0.000 0.000 2336 2130 3331 0 0 0 0 0 0 28.83 28.83 28.83

3378 -1.50 -136.9 393.6 -10.8 397 3385 0.00 0.00 0.00 0.000 6 0.000 0.000 2337 2130 3331 0 0 0 0 0 0 28.83 28.83 28.83

3706 -1.50 -136.9 428.9 -10.7 412 3712 0.00 2.67 0.00 0.000 4 0.000 0.152 2326 3527 3331 0 0 0 0 0 0 28.83 14.60 28.83

3745 -1.50 -136.9 432.5 -10.9 413 3751 0.08 2.50 0.00 0.000 6 0.274 0.105 2346 2121 3331 0 0 0 0 0 0 14.53 14.69 28.83

4067 -1.50 -136.9 466.3 -10.2 424 4068 0.00 0.00 0.00 0.000 6 0.000 0.000 2346 2121 3332 0 0 0 0 0 0 28.83 28.83 28.83

4368 -1.50 -136.9 495.7 -9.7 434 4370 0.00 0.00 0.00 0.000 6 0.000 0.000 2346 2121 3332 0 0 0 0 0 0 28.83 28.83 28.83

4667 -1.50 -136.9 524.8 -9.7 444 4668 0.00 0.00 0.00 0.000 6 0.000 0.000 2346 2121 3332 0 0 0 0 0 0 28.83 28.83 28.83

4968 -1.50 -136.9 554.1 -10.2 454 4973 0.00 2.75 0.00 0.000 4 0.000 0.163 2337 3524 3332 0 0 0 0 0 0 28.83 14.63 28.83

4999 -1.50 -136.9 557.4 -10.1 455 5005 0.00 2.50 0.00 0.000 6 0.000 0.109 2338 2122 3332 0 0 0 0 0 0 28.83 14.72 28.83

5086 end dive: TARGET_DEPTH_EXCEEDED

state 5086 begin apogee

5098 -0.38 0.0 566.8 -10.4 458 5246 0.93 0.00 137.25 2.427 6 0.262 0.000 2591 2149 2773 0 0 0 0 0 0 14.52 28.83 13.15

5247 end apogee: CONTROL_FINISHED_OK

state 5247 begin climb

5252 1.50 136.9 570.9 0.0 463 5418 1.38 2.92 148.82 2.350 4 0.168 0.138 3012 730 2214 0 0 0 0 0 0 13.90 13.31 12.62

5437 1.53 160.3 560.0 7.9 469 5470 0.00 2.88 26.83 2.224 6 0.000 0.128 3012 2149 2117 0 0 0 0 0 0 28.83 13.52 12.74

5781 1.53 160.3 511.5 13.4 481 5787 0.00 2.80 0.00 0.000 4 0.000 0.145 3012 3564 2111 0 0 0 0 0 0 28.83 14.14 28.83

5850 1.53 160.3 503.0 13.6 483 5856 0.00 2.60 0.00 0.000 6 0.000 0.103 3022 2149 2111 0 0 0 0 0 0 28.83 14.26 28.83

6173 1.53 160.3 458.9 13.3 494 6174 0.00 0.00 0.00 0.000 6 0.000 0.000 3022 2150 2110 0 0 0 0 0 0 28.83 28.83 28.83

6473 1.53 160.3 419.2 13.3 504 6478 0.00 2.75 0.00 0.000 4 0.000 0.147 3022 3573 2108 0 0 0 0 0 0 28.83 14.53 28.83

6522 1.53 160.3 414.7 13.5 505 6532 0.00 2.55 0.00 0.000 6 0.000 0.105 3033 2154 2109 0 0 0 0 0 0 28.83 14.54 28.83

6840 1.53 160.3 368.9 14.0 530 6846 0.00 0.00 0.00 0.000 6 0.000 0.000 3033 2154 2108 0 0 0 0 0 0 28.83 28.83 28.83

7151 1.53 160.3 324.3 14.4 561 7158 0.00 0.00 0.00 0.000 6 0.000 0.000 3033 2154 2108 0 0 0 0 0 0 28.83 28.83 28.83

7464 1.53 160.3 280.7 13.7 592 7470 0.00 0.00 0.00 0.000 6 0.000 0.000 3033 2154 2107 0 0 0 0 0 0 28.83 28.83 28.83

7776 1.53 160.3 238.1 14.4 623 7782 0.00 0.00 0.00 0.000 6 0.000 0.000 3033 2154 2107 0 0 0 0 0 0 28.83 28.83 28.83

8089 1.53 160.3 194.7 13.8 654 8097 0.00 2.53 0.00 0.000 4 0.000 0.129 3043 740 2107 0 0 0 0 0 0 28.83 14.64 28.83

8127 1.53 160.3 189.1 13.7 657 8135 0.12 2.58 0.00 0.000 6 0.293 0.114 3016 2157 2106 0 0 0 0 0 0 14.57 14.69 28.83

8436 1.53 160.3 147.9 13.1 688 8445 0.00 2.65 0.00 0.000 4 0.000 0.143 3016 3558 2107 0 0 0 0 0 0 28.83 14.61 28.83

8463 1.53 160.3 144.8 12.8 690 8470 0.00 2.53 0.00 0.000 6 0.000 0.105 3025 2145 2107 0 0 0 0 0 0 28.83 14.73 28.83

8771 1.53 160.3 109.6 10.8 721 8778 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 2145 2107 0 0 0 0 0 0 28.83 28.83 28.83

9086 1.53 160.3 76.3 9.8 773 9094 0.00 2.75 0.00 0.000 4 0.000 0.148 3025 3570 2107 0 0 0 0 0 0 28.83 14.65 28.83

9135 1.53 160.3 71.3 9.9 781 9143 0.10 2.55 0.00 0.000 6 0.304 0.106 3015 2146 2107 0 0 0 0 0 0 14.57 14.72 28.83

9454 1.59 207.4 45.0 6.9 842 9486 0.00 2.72 24.70 0.308 4 0.000 0.145 3015 3562 1924 0 0 0 0 0 0 28.83 14.62 14.48

9587 1.59 207.4 33.5 10.1 865 9595 0.00 2.53 0.00 0.000 6 0.000 0.103 3024 2150 1919 0 0 0 0 0 0 28.83 14.69 28.83

9905 1.59 213.2 3.3 8.7 926 9913 0.00 2.60 1.70 0.228 4 0.000 0.125 3034 741 1901 0 0 0 0 0 0 28.83 14.65 14.60

9918 end climb: SURFACE_DEPTH_REACHED

state 9918 begin surface coast

9965 end surface coast: CONTROL_FINISHED_OK

state 9965 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	234	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	2150	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	15	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	-1241.1467	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	201012,034022,6703.410,-5656.004,45,0.8,45,-33.5	TGT_NAME	TARGET_E
_CALLS	2	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.95	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	201012,035046,6703.435,-5656.256,5,0.8,5,-33.5	MHEAD_RNG_PITCHd_Wd	157.7,6017,-17.3,-8.919,-19.96
SPEED_LIMITS	0.075,0.246	D_GRID	564

FINISH	2.1,1.025679	_24V_AH	12.6,75.762
SM_CCo	9995,39.85,0.179,0,0,1587,290.19	_10V_AH	12.9,0.000
SM_GC	2.97,8.45,2.65,39.85,0.095,0.129,0.179,130,2130,1587,-11.62,-0.14,290.19,0,0,0,0,0,0,14.74,14.60,14.57	FG_AHR_24Vo	0.000
RAFOS_CLK	404	FG_AHR_10Vo	0.000
RAFOS	0,1350705664,4.033333,4.017778,60,59,59,57,55,52,211,197,186,222,171,139	MEM	188732
RAFOS_FIX	6708.529297,-5715.985352,201012,040428,4,86,5.85	DATA_FILE_SIZE	43399,937
IRIDIUM_FIX	6636.54,-5652.31,201012,030356	CAP_FILE_SIZE	99506,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	259252224,234463232
HUMID	46.37	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.7721	SOUNDSPEED	1464.0
TCM_TEMP	14.20	CURRENT	0.251,306.3,1
XPDR_PINGS	3	GPS	201012,064034,6703.478,-5656.260,32,0.8,32,-33.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	441	123.19	SBE_CT	688	23	207.80
Roll_motor	74	236	220.93	SBE_O2	645	3	30.42
VBD_pump_during_apogee	339	2426	10374.07	nil	0	0	0.00
VBD_pump_during_surface	39	179	89.88	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	410	144	748.47	nil	0	0	0.00
Transponder_ping	0	420	3.97	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	21	1.85
TT8	2375	14	458.42
LPSleep	5396	2	160.80
TT8_Active	517	14	99.89
TT8_Sampling	1849	33	803.94
TT8_CF8	541	38	266.80
TT8_Kalman	0	0	0.00
Analog_circuits	1782	12	275.86
GPS_charging	0	0	0.00
Compass	1516	6	131.88
RAFOS	2520	1	48.76
Transponder	0	5	0.03

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	38	0.00	0.00	-17.35	0.000	2	0.000	0.000	131	2128	1916	0	0	0	0	0	0	28.83	28.83	28.83
45	-1.50	-136.9	3.1	-1.5	3	153	10.98	2.83	-85.93	0.000	4	0.441	0.177	2338	3528	3331	0	0	0	0	0	0	14.24	14.40	14.78
389	-1.50	-136.9	42.6	-16.9	66	395	0.00	2.55	0.00	0.000	6	0.000	0.106	2338	2122	3332	0	0	0	0	0	0	28.83	14.57	28.83
707	-1.50	-136.9	88.7	-14.0	127	713	0.00	2.80	0.00	0.000	4	0.000	0.161	2327	3534	3332	0	0	0	0	0	0	28.83	14.51	28.83
759	-1.50	-136.9	96.2	-14.3	136	766	0.12	2.55	0.00	0.000	6	0.296	0.105	2352	2119	3332	0	0	0	0	0	0	14.42	14.62	28.83
1077	-1.50	-136.9	135.6	-11.7	169	1084	0.00	0.00	0.00	0.000	6	0.000	0.000	2352	2119	3332	0	0	0	0	0	0	28.83	28.83	28.83
1392	-1.50	-136.9	172.5	-11.6	200	1400	0.00	2.55	0.00	0.000	4	0.000	0.132	2352	709	3332	0	0	0	0	0	0	28.83	14.56	28.83
1476	-1.50	-136.9	183.5	-12.4	208	1485	0.00	2.62	0.00	0.000	6	0.000	0.133	2345	2116	3331	0	0	0	0	0	0	28.83	14.54	28.83
1786	-1.50	-136.9	220.1	-11.9	239	1795	0.00	2.55	0.00	0.000	4	0.000	0.129	2344	710	3331	0	0	0	0	0	0	28.83	14.58	28.83
1824	-1.50	-136.9	224.1	-11.7	242	1830	0.00	2.65	0.00	0.000	6	0.000	0.132	2337	2130	3331	0	0	0	0	0	0	28.83	14.61	28.83
2132	-1.50	-136.9	261.1	-11.1	273	2138	0.00	0.00	0.00	0.000	6	0.000	0.000	2337	2130	3331	0	0	0	0	0	0	28.83	28.83	28.83
2446	-1.50	-136.9	296.0	-11.1	304	2452	0.00	0.00	0.00	0.000	6	0.000	0.000	2336	2130	3331	0	0	0	0	0	0	28.83	28.83	28.83
2757	-1.50	-136.9	329.1	-10.5	335	2763	0.00	0.00	0.00	0.000	6	0.000	0.000	2337	2130	3331	0	0	0	0	0	0	28.83	28.83	28.83
3066	-1.50	-136.9	361.6	-10.7	366	3072	0.00	0.00	0.00	0.000	6	0.000	0.000	2336	2130	3331	0	0	0	0	0	0	28.83	28.83	28.83
3378	-1.50	-136.9	393.6	-10.8	397	3385	0.00	0.00	0.00	0.000	6	0.000	0.000	2337	2130	3331	0	0	0	0	0	0	28.83	28.83	28.83
3706	-1.50	-136.9	428.9	-10.7	412	3712	0.00	2.67	0.00	0.000	4	0.000	0.152	2326	3527	3331	0	0	0	0	0	0	28.83	14.60	28.83
3745	-1.50	-136.9	432.5	-10.9	413	3751	0.08	2.50	0.00	0.000	6	0.274	0.105	2346	2121	3331	0	0	0	0	0	0	14.53	14.69	28.83
4067	-1.50	-136.9	466.3	-10.2	424	4068	0.00	0.00	0.00	0.000	6	0.000	0.000	2346	2121	3332	0	0	0	0	0	0	28.83	28.83	28.83
4368	-1.50	-136.9	495.7	-9.7	434	4370	0.00	0.00	0.00	0.000	6	0.000	0.000	2346	2121	3332	0	0	0	0	0	0	28.83	28.83	28.83
4667	-1.50	-136.9	524.8	-9.7	444	4668	0.00	0.00	0.00	0.000	6	0.000	0.000	2346	2121	3332	0	0	0	0	0	0	28.83	28.83	28.83
4968	-1.50	-136.9	554.1	-10.2	454	4973	0.00	2.75	0.00	0.000	4	0.000	0.163	2337	3524	3332	0	0	0	0	0	0	28.83	14.63	28.83
4999	-1.50	-136.9	557.4	-10.1	455	5005	0.00	2.50	0.00	0.000	6	0.000	0.109	2338	2122	3332	0	0	0	0	0	0	28.83	14.72	28.83
5086	end dive: TARGET_DEPTH_EXCEEDED
state	5086	begin apogee
5098	-0.38	0.0	566.8	-10.4	458	5246	0.93	0.00	137.25	2.427	6	0.262	0.000	2591	2149	2773	0	0	0	0	0	0	14.52	28.83	13.15
5247	end apogee: CONTROL_FINISHED_OK
state	5247	begin climb
5252	1.50	136.9	570.9	0.0	463	5418	1.38	2.92	148.82	2.350	4	0.168	0.138	3012	730	2214	0	0	0	0	0	0	13.90	13.31	12.62
5437	1.53	160.3	560.0	7.9	469	5470	0.00	2.88	26.83	2.224	6	0.000	0.128	3012	2149	2117	0	0	0	0	0	0	28.83	13.52	12.74
5781	1.53	160.3	511.5	13.4	481	5787	0.00	2.80	0.00	0.000	4	0.000	0.145	3012	3564	2111	0	0	0	0	0	0	28.83	14.14	28.83
5850	1.53	160.3	503.0	13.6	483	5856	0.00	2.60	0.00	0.000	6	0.000	0.103	3022	2149	2111	0	0	0	0	0	0	28.83	14.26	28.83
6173	1.53	160.3	458.9	13.3	494	6174	0.00	0.00	0.00	0.000	6	0.000	0.000	3022	2150	2110	0	0	0	0	0	0	28.83	28.83	28.83
6473	1.53	160.3	419.2	13.3	504	6478	0.00	2.75	0.00	0.000	4	0.000	0.147	3022	3573	2108	0	0	0	0	0	0	28.83	14.53	28.83
6522	1.53	160.3	414.7	13.5	505	6532	0.00	2.55	0.00	0.000	6	0.000	0.105	3033	2154	2109	0	0	0	0	0	0	28.83	14.54	28.83
6840	1.53	160.3	368.9	14.0	530	6846	0.00	0.00	0.00	0.000	6	0.000	0.000	3033	2154	2108	0	0	0	0	0	0	28.83	28.83	28.83
7151	1.53	160.3	324.3	14.4	561	7158	0.00	0.00	0.00	0.000	6	0.000	0.000	3033	2154	2108	0	0	0	0	0	0	28.83	28.83	28.83
7464	1.53	160.3	280.7	13.7	592	7470	0.00	0.00	0.00	0.000	6	0.000	0.000	3033	2154	2107	0	0	0	0	0	0	28.83	28.83	28.83
7776	1.53	160.3	238.1	14.4	623	7782	0.00	0.00	0.00	0.000	6	0.000	0.000	3033	2154	2107	0	0	0	0	0	0	28.83	28.83	28.83
8089	1.53	160.3	194.7	13.8	654	8097	0.00	2.53	0.00	0.000	4	0.000	0.129	3043	740	2107	0	0	0	0	0	0	28.83	14.64	28.83
8127	1.53	160.3	189.1	13.7	657	8135	0.12	2.58	0.00	0.000	6	0.293	0.114	3016	2157	2106	0	0	0	0	0	0	14.57	14.69	28.83
8436	1.53	160.3	147.9	13.1	688	8445	0.00	2.65	0.00	0.000	4	0.000	0.143	3016	3558	2107	0	0	0	0	0	0	28.83	14.61	28.83
8463	1.53	160.3	144.8	12.8	690	8470	0.00	2.53	0.00	0.000	6	0.000	0.105	3025	2145	2107	0	0	0	0	0	0	28.83	14.73	28.83
8771	1.53	160.3	109.6	10.8	721	8778	0.00	0.00	0.00	0.000	6	0.000	0.000	3025	2145	2107	0	0	0	0	0	0	28.83	28.83	28.83
9086	1.53	160.3	76.3	9.8	773	9094	0.00	2.75	0.00	0.000	4	0.000	0.148	3025	3570	2107	0	0	0	0	0	0	28.83	14.65	28.83
9135	1.53	160.3	71.3	9.9	781	9143	0.10	2.55	0.00	0.000	6	0.304	0.106	3015	2146	2107	0	0	0	0	0	0	14.57	14.72	28.83
9454	1.59	207.4	45.0	6.9	842	9486	0.00	2.72	24.70	0.308	4	0.000	0.145	3015	3562	1924	0	0	0	0	0	0	28.83	14.62	14.48
9587	1.59	207.4	33.5	10.1	865	9595	0.00	2.53	0.00	0.000	6	0.000	0.103	3024	2150	1919	0	0	0	0	0	0	28.83	14.69	28.83
9905	1.59	213.2	3.3	8.7	926	9913	0.00	2.60	1.70	0.228	4	0.000	0.125	3034	741	1901	0	0	0	0	0	0	28.83	14.65	14.60
9918	end climb: SURFACE_DEPTH_REACHED
state	9918	begin surface coast
9965	end surface coast: CONTROL_FINISHED_OK
state	9965	begin surface