Glider dive log

DavisStrait Sep12 * SG193 * Dive index * Mission links * Dive 240 * 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 240 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 17 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 11 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 -1267.4457 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 -1267.4457

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 17 VBD_DBAND 2

DEVICE4 -1 MINV_24V 12 R_STBD_OVSHOOT 11 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 240 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 201012,212759,6703.568,-5651.305,15,0.8,15,-33.5 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.98 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 201012,213409,6703.587,-5651.286,5,0.7,14,-33.5 MHEAD_RNG_PITCHd_Wd 149.2,2610,-17.3,-8.919,-19.96

SPEED_LIMITS 0.075,0.246 D_GRID 515

Post-dive calculations and measurements:

FINISH 2.1,1.018790 _24V_AH 12.7,77.313

SM_CCo 9706,32.22,0.184,0,0,1586,290.19 _10V_AH 13.0,0.000

SM_GC 3.27,8.52,0.05,32.22,0.106,0.253,0.184,136,2120,1586,-11.60,0.57,290.19,0,0,0,0,0,0,14.73,14.72,14.57 FG_AHR_24Vo 0.000

RAFOS_CLK 390 FG_AHR_10Vo 0.000

RAFOS 0,1350777663,0.033333,0.017500,64,58,53,52,51,51,171,190,126,206,95,141 MEM 188716

RAFOS_FIX 6708.268555,-5715.671387,201012,202053,3,79,2.91 DATA_FILE_SIZE 43438,965

IRIDIUM_FIX 6636.54,-5655.33,201012,181835 CAP_FILE_SIZE 100650,0

TT8_MAMPS 0.025466,0.025466 CFSIZE 259252224,234115072

HUMID 46.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.78186 SOUNDSPEED 1463.9

TCM_TEMP 14.00 CURRENT 0.063,149.4,1

XPDR_PINGS 7 GPS 211012,001852,6702.795,-5648.052,41,0.9,41,-33.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 435 121.48 SBE_CT 711 23 216.50

Roll_motor 84 253 270.69 SBE_O2 659 3 31.34

VBD_pump_during_apogee 329 2379 9962.13 nil 0 0 0.00

VBD_pump_during_surface 32 183 75.14 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 212 146 393.72 nil 0 0 0.00

Transponder_ping 1 420 9.33 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 21 4.29

TT8 2397 14 466.32

LPSleep 4898 2 147.10

TT8_Active 501 14 97.59

TT8_Sampling 1815 33 795.02

TT8_CF8 502 38 249.55

TT8_Kalman 0 0 0.00

Analog_circuits 1621 12 252.95

GPS_charging 0 0 0.00

Compass 1632 6 143.04

RAFOS 720 1 14.04

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 27 0.00 0.00 -5.47 0.000 2 0.000 0.000 131 2122 1689 0 0 0 0 0 0 28.83 28.83 28.83

33 -1.50 -136.9 3.1 0.0 1 150 10.80 2.67 -98.72 0.000 4 0.435 0.154 2352 705 3330 0 0 0 0 0 0 14.31 14.50 14.82

380 -1.50 -136.9 40.9 -17.1 65 388 0.00 2.70 0.00 0.000 6 0.000 0.137 2343 2126 3331 0 0 0 0 0 0 28.83 14.52 28.83

699 -1.50 -136.9 87.8 -14.6 126 706 0.00 2.60 0.00 0.000 4 0.000 0.132 2344 710 3330 0 0 0 0 0 0 28.83 14.58 28.83

789 -1.50 -136.9 101.3 -15.4 142 796 0.00 2.62 0.00 0.000 6 0.000 0.129 2336 2121 3331 0 0 0 0 0 0 28.83 14.57 28.83

1102 -1.50 -136.9 138.6 -10.5 173 1112 0.00 2.67 0.00 0.000 4 0.000 0.148 2325 3524 3330 0 0 0 0 0 0 28.83 14.53 28.83

1207 -1.50 -136.9 151.2 -11.2 183 1216 0.08 2.50 0.00 0.000 6 0.273 0.101 2345 2114 3330 0 0 0 0 0 0 14.45 14.62 28.83

1518 -1.50 -136.9 183.4 -10.5 214 1524 0.00 0.00 0.00 0.000 6 0.000 0.000 2345 2115 3330 0 0 0 0 0 0 28.83 28.83 28.83

1833 -1.50 -136.9 217.5 -11.7 245 1843 0.00 2.75 0.00 0.000 4 0.000 0.158 2336 3530 3330 0 0 0 0 0 0 28.83 14.60 28.83

1862 -1.50 -136.9 221.2 -12.2 247 1869 0.00 2.55 0.00 0.000 6 0.000 0.105 2337 2109 3330 0 0 0 0 0 0 28.83 14.69 28.83

2170 -1.50 -136.9 261.0 -12.6 278 2179 0.00 2.53 0.00 0.000 4 0.000 0.131 2336 705 3330 0 0 0 0 0 0 28.83 14.59 28.83

2237 -1.50 -136.9 269.5 -13.3 284 2245 0.12 2.65 0.00 0.000 6 0.311 0.134 2353 2125 3330 0 0 0 0 0 0 14.50 14.63 28.83

2545 -1.50 -136.9 303.8 -10.5 315 2551 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 2125 3329 0 0 0 0 0 0 28.83 28.83 28.83

2862 -1.50 -136.9 334.9 -9.7 346 2871 0.00 2.70 0.00 0.000 4 0.000 0.152 2344 3533 3329 0 0 0 0 0 0 28.83 14.59 28.83

2896 -1.50 -136.9 339.0 -9.9 349 2906 0.00 2.50 0.00 0.000 6 0.000 0.101 2344 2120 3329 0 0 0 0 0 0 28.83 14.66 28.83

3206 -1.50 -136.9 370.9 -10.7 380 3212 0.00 0.00 0.00 0.000 6 0.000 0.000 2344 2119 3330 0 0 0 0 0 0 28.83 28.83 28.83

3516 -1.50 -136.9 403.9 -10.8 409 3518 0.00 0.00 0.00 0.000 6 0.000 0.000 2344 2119 3330 0 0 0 0 0 0 28.83 28.83 28.83

3816 -1.50 -136.9 436.1 -10.6 419 3822 0.00 2.53 0.00 0.000 4 0.000 0.129 2344 709 3330 0 0 0 0 0 0 28.83 14.66 28.83

3892 -1.50 -136.9 442.9 -11.0 421 3898 0.00 2.62 0.00 0.000 6 0.000 0.135 2337 2114 3329 0 0 0 0 0 0 28.83 14.62 28.83

4208 -1.50 -136.9 477.5 -10.1 432 4214 0.00 2.70 0.00 0.000 4 0.000 0.154 2326 3527 3330 0 0 0 0 0 0 28.83 14.62 28.83

4248 -1.50 -136.9 480.7 -9.9 433 4253 0.08 2.47 0.00 0.000 6 0.275 0.097 2347 2116 3330 0 0 0 0 0 0 14.51 14.72 28.83

4570 -1.50 -136.9 511.7 -8.5 444 4576 0.00 2.53 0.00 0.000 4 0.000 0.131 2347 711 3331 0 0 0 0 0 0 28.83 14.67 28.83

4781 end dive: NO_VERTICAL_VELOCITY

state 4781 begin apogee

4795 -0.38 0.0 511.7 0.0 451 4941 0.80 0.00 136.15 2.380 6 0.184 0.000 2593 2152 2773 0 0 0 0 0 0 14.62 28.83 13.19

4942 end apogee: CONTROL_FINISHED_OK

state 4942 begin climb

4948 1.50 136.9 511.7 0.0 456 5114 1.33 3.05 146.82 2.272 4 0.135 0.148 3009 3556 2214 0 0 0 0 0 0 13.95 13.33 12.66

5150 1.50 136.9 496.0 10.3 463 5156 0.00 2.72 0.00 0.000 6 0.000 0.103 3019 2147 2211 0 0 0 0 0 0 28.83 13.67 28.83

5482 1.50 136.9 454.7 12.4 474 5483 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 2146 2207 0 0 0 0 0 0 28.83 28.83 28.83

5781 1.50 136.9 416.6 12.9 484 5782 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 2147 2205 0 0 0 0 0 0 28.83 28.83 28.83

6081 1.50 136.9 376.3 13.5 504 6087 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 2146 2205 0 0 0 0 0 0 28.83 28.83 28.83

6396 1.50 136.9 335.8 12.7 535 6405 0.00 2.72 0.00 0.000 4 0.000 0.146 3019 3558 2205 0 0 0 0 0 0 28.83 14.54 28.83

6444 1.50 136.9 329.0 13.9 539 6451 0.12 2.55 0.00 0.000 6 0.297 0.107 3003 2144 2205 0 0 0 0 0 0 14.52 14.66 28.83

6753 1.50 136.9 290.9 12.5 570 6759 0.00 0.00 0.00 0.000 6 0.000 0.000 3003 2145 2204 0 0 0 0 0 0 28.83 28.83 28.83

7068 1.50 136.9 252.2 11.5 601 7078 0.00 2.53 0.00 0.000 4 0.000 0.131 3012 739 2203 0 0 0 0 0 0 28.83 14.62 28.83

7103 1.50 136.9 247.3 12.0 604 7112 0.00 2.58 0.00 0.000 6 0.000 0.122 3012 2150 2202 0 0 0 0 0 0 28.83 14.64 28.83

7413 1.50 136.9 214.1 9.9 635 7422 0.00 2.70 0.00 0.000 4 0.000 0.148 3012 3562 2203 0 0 0 0 0 0 28.83 14.59 28.83

7458 1.50 136.9 209.2 11.1 639 7466 0.00 2.50 0.00 0.000 6 0.000 0.106 3023 2153 2203 0 0 0 0 0 0 28.83 14.66 28.83

7768 1.50 136.9 175.1 10.9 670 7774 0.00 0.00 0.00 0.000 6 0.000 0.000 3023 2153 2202 0 0 0 0 0 0 28.83 28.83 28.83

8085 1.50 136.9 141.4 10.6 701 8094 0.00 2.72 0.00 0.000 4 0.000 0.149 3022 3565 2203 0 0 0 0 0 0 28.83 14.64 28.83

8227 1.50 136.9 124.8 12.1 714 8234 0.12 2.55 0.00 0.000 6 0.291 0.105 3006 2140 2203 0 0 0 0 0 0 14.58 14.73 28.83

8540 1.51 148.3 94.8 8.4 750 8547 0.00 0.00 4.90 0.469 6 0.000 0.000 3006 2140 2167 0 0 0 0 0 0 28.83 28.83 14.41

8857 1.54 166.2 68.3 8.1 811 8876 0.00 2.58 9.75 0.373 4 0.000 0.129 3015 742 2094 0 0 0 0 0 0 28.83 14.64 14.45

9030 1.54 166.2 52.5 9.2 843 9037 0.00 2.60 0.00 0.000 6 0.000 0.118 3015 2158 2090 0 0 0 0 0 0 28.83 14.66 28.83

9349 1.60 215.0 28.9 6.8 904 9386 0.00 2.75 26.30 0.259 4 0.000 0.148 3015 3560 1894 0 0 0 0 0 0 28.83 14.55 14.50

9433 1.61 226.4 22.7 8.4 918 9446 0.00 2.53 5.68 0.252 6 0.000 0.100 3025 2148 1847 0 0 0 0 0 0 28.83 14.66 14.50

9646 end climb: SURFACE_DEPTH_REACHED

state 9646 begin surface coast

9678 end surface coast: CONTROL_FINISHED_OK

state 9678 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	240	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	17	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	11	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	-1267.4457	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	201012,212759,6703.568,-5651.305,15,0.8,15,-33.5	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.98	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	201012,213409,6703.587,-5651.286,5,0.7,14,-33.5	MHEAD_RNG_PITCHd_Wd	149.2,2610,-17.3,-8.919,-19.96
SPEED_LIMITS	0.075,0.246	D_GRID	515

FINISH	2.1,1.018790	_24V_AH	12.7,77.313
SM_CCo	9706,32.22,0.184,0,0,1586,290.19	_10V_AH	13.0,0.000
SM_GC	3.27,8.52,0.05,32.22,0.106,0.253,0.184,136,2120,1586,-11.60,0.57,290.19,0,0,0,0,0,0,14.73,14.72,14.57	FG_AHR_24Vo	0.000
RAFOS_CLK	390	FG_AHR_10Vo	0.000
RAFOS	0,1350777663,0.033333,0.017500,64,58,53,52,51,51,171,190,126,206,95,141	MEM	188716
RAFOS_FIX	6708.268555,-5715.671387,201012,202053,3,79,2.91	DATA_FILE_SIZE	43438,965
IRIDIUM_FIX	6636.54,-5655.33,201012,181835	CAP_FILE_SIZE	100650,0
TT8_MAMPS	0.025466,0.025466	CFSIZE	259252224,234115072
HUMID	46.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.78186	SOUNDSPEED	1463.9
TCM_TEMP	14.00	CURRENT	0.063,149.4,1
XPDR_PINGS	7	GPS	211012,001852,6702.795,-5648.052,41,0.9,41,-33.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	435	121.48	SBE_CT	711	23	216.50
Roll_motor	84	253	270.69	SBE_O2	659	3	31.34
VBD_pump_during_apogee	329	2379	9962.13	nil	0	0	0.00
VBD_pump_during_surface	32	183	75.14	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	212	146	393.72	nil	0	0	0.00
Transponder_ping	1	420	9.33	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	21	4.29
TT8	2397	14	466.32
LPSleep	4898	2	147.10
TT8_Active	501	14	97.59
TT8_Sampling	1815	33	795.02
TT8_CF8	502	38	249.55
TT8_Kalman	0	0	0.00
Analog_circuits	1621	12	252.95
GPS_charging	0	0	0.00
Compass	1632	6	143.04
RAFOS	720	1	14.04
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	27	0.00	0.00	-5.47	0.000	2	0.000	0.000	131	2122	1689	0	0	0	0	0	0	28.83	28.83	28.83
33	-1.50	-136.9	3.1	0.0	1	150	10.80	2.67	-98.72	0.000	4	0.435	0.154	2352	705	3330	0	0	0	0	0	0	14.31	14.50	14.82
380	-1.50	-136.9	40.9	-17.1	65	388	0.00	2.70	0.00	0.000	6	0.000	0.137	2343	2126	3331	0	0	0	0	0	0	28.83	14.52	28.83
699	-1.50	-136.9	87.8	-14.6	126	706	0.00	2.60	0.00	0.000	4	0.000	0.132	2344	710	3330	0	0	0	0	0	0	28.83	14.58	28.83
789	-1.50	-136.9	101.3	-15.4	142	796	0.00	2.62	0.00	0.000	6	0.000	0.129	2336	2121	3331	0	0	0	0	0	0	28.83	14.57	28.83
1102	-1.50	-136.9	138.6	-10.5	173	1112	0.00	2.67	0.00	0.000	4	0.000	0.148	2325	3524	3330	0	0	0	0	0	0	28.83	14.53	28.83
1207	-1.50	-136.9	151.2	-11.2	183	1216	0.08	2.50	0.00	0.000	6	0.273	0.101	2345	2114	3330	0	0	0	0	0	0	14.45	14.62	28.83
1518	-1.50	-136.9	183.4	-10.5	214	1524	0.00	0.00	0.00	0.000	6	0.000	0.000	2345	2115	3330	0	0	0	0	0	0	28.83	28.83	28.83
1833	-1.50	-136.9	217.5	-11.7	245	1843	0.00	2.75	0.00	0.000	4	0.000	0.158	2336	3530	3330	0	0	0	0	0	0	28.83	14.60	28.83
1862	-1.50	-136.9	221.2	-12.2	247	1869	0.00	2.55	0.00	0.000	6	0.000	0.105	2337	2109	3330	0	0	0	0	0	0	28.83	14.69	28.83
2170	-1.50	-136.9	261.0	-12.6	278	2179	0.00	2.53	0.00	0.000	4	0.000	0.131	2336	705	3330	0	0	0	0	0	0	28.83	14.59	28.83
2237	-1.50	-136.9	269.5	-13.3	284	2245	0.12	2.65	0.00	0.000	6	0.311	0.134	2353	2125	3330	0	0	0	0	0	0	14.50	14.63	28.83
2545	-1.50	-136.9	303.8	-10.5	315	2551	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	2125	3329	0	0	0	0	0	0	28.83	28.83	28.83
2862	-1.50	-136.9	334.9	-9.7	346	2871	0.00	2.70	0.00	0.000	4	0.000	0.152	2344	3533	3329	0	0	0	0	0	0	28.83	14.59	28.83
2896	-1.50	-136.9	339.0	-9.9	349	2906	0.00	2.50	0.00	0.000	6	0.000	0.101	2344	2120	3329	0	0	0	0	0	0	28.83	14.66	28.83
3206	-1.50	-136.9	370.9	-10.7	380	3212	0.00	0.00	0.00	0.000	6	0.000	0.000	2344	2119	3330	0	0	0	0	0	0	28.83	28.83	28.83
3516	-1.50	-136.9	403.9	-10.8	409	3518	0.00	0.00	0.00	0.000	6	0.000	0.000	2344	2119	3330	0	0	0	0	0	0	28.83	28.83	28.83
3816	-1.50	-136.9	436.1	-10.6	419	3822	0.00	2.53	0.00	0.000	4	0.000	0.129	2344	709	3330	0	0	0	0	0	0	28.83	14.66	28.83
3892	-1.50	-136.9	442.9	-11.0	421	3898	0.00	2.62	0.00	0.000	6	0.000	0.135	2337	2114	3329	0	0	0	0	0	0	28.83	14.62	28.83
4208	-1.50	-136.9	477.5	-10.1	432	4214	0.00	2.70	0.00	0.000	4	0.000	0.154	2326	3527	3330	0	0	0	0	0	0	28.83	14.62	28.83
4248	-1.50	-136.9	480.7	-9.9	433	4253	0.08	2.47	0.00	0.000	6	0.275	0.097	2347	2116	3330	0	0	0	0	0	0	14.51	14.72	28.83
4570	-1.50	-136.9	511.7	-8.5	444	4576	0.00	2.53	0.00	0.000	4	0.000	0.131	2347	711	3331	0	0	0	0	0	0	28.83	14.67	28.83
4781	end dive: NO_VERTICAL_VELOCITY
state	4781	begin apogee
4795	-0.38	0.0	511.7	0.0	451	4941	0.80	0.00	136.15	2.380	6	0.184	0.000	2593	2152	2773	0	0	0	0	0	0	14.62	28.83	13.19
4942	end apogee: CONTROL_FINISHED_OK
state	4942	begin climb
4948	1.50	136.9	511.7	0.0	456	5114	1.33	3.05	146.82	2.272	4	0.135	0.148	3009	3556	2214	0	0	0	0	0	0	13.95	13.33	12.66
5150	1.50	136.9	496.0	10.3	463	5156	0.00	2.72	0.00	0.000	6	0.000	0.103	3019	2147	2211	0	0	0	0	0	0	28.83	13.67	28.83
5482	1.50	136.9	454.7	12.4	474	5483	0.00	0.00	0.00	0.000	6	0.000	0.000	3019	2146	2207	0	0	0	0	0	0	28.83	28.83	28.83
5781	1.50	136.9	416.6	12.9	484	5782	0.00	0.00	0.00	0.000	6	0.000	0.000	3019	2147	2205	0	0	0	0	0	0	28.83	28.83	28.83
6081	1.50	136.9	376.3	13.5	504	6087	0.00	0.00	0.00	0.000	6	0.000	0.000	3019	2146	2205	0	0	0	0	0	0	28.83	28.83	28.83
6396	1.50	136.9	335.8	12.7	535	6405	0.00	2.72	0.00	0.000	4	0.000	0.146	3019	3558	2205	0	0	0	0	0	0	28.83	14.54	28.83
6444	1.50	136.9	329.0	13.9	539	6451	0.12	2.55	0.00	0.000	6	0.297	0.107	3003	2144	2205	0	0	0	0	0	0	14.52	14.66	28.83
6753	1.50	136.9	290.9	12.5	570	6759	0.00	0.00	0.00	0.000	6	0.000	0.000	3003	2145	2204	0	0	0	0	0	0	28.83	28.83	28.83
7068	1.50	136.9	252.2	11.5	601	7078	0.00	2.53	0.00	0.000	4	0.000	0.131	3012	739	2203	0	0	0	0	0	0	28.83	14.62	28.83
7103	1.50	136.9	247.3	12.0	604	7112	0.00	2.58	0.00	0.000	6	0.000	0.122	3012	2150	2202	0	0	0	0	0	0	28.83	14.64	28.83
7413	1.50	136.9	214.1	9.9	635	7422	0.00	2.70	0.00	0.000	4	0.000	0.148	3012	3562	2203	0	0	0	0	0	0	28.83	14.59	28.83
7458	1.50	136.9	209.2	11.1	639	7466	0.00	2.50	0.00	0.000	6	0.000	0.106	3023	2153	2203	0	0	0	0	0	0	28.83	14.66	28.83
7768	1.50	136.9	175.1	10.9	670	7774	0.00	0.00	0.00	0.000	6	0.000	0.000	3023	2153	2202	0	0	0	0	0	0	28.83	28.83	28.83
8085	1.50	136.9	141.4	10.6	701	8094	0.00	2.72	0.00	0.000	4	0.000	0.149	3022	3565	2203	0	0	0	0	0	0	28.83	14.64	28.83
8227	1.50	136.9	124.8	12.1	714	8234	0.12	2.55	0.00	0.000	6	0.291	0.105	3006	2140	2203	0	0	0	0	0	0	14.58	14.73	28.83
8540	1.51	148.3	94.8	8.4	750	8547	0.00	0.00	4.90	0.469	6	0.000	0.000	3006	2140	2167	0	0	0	0	0	0	28.83	28.83	14.41
8857	1.54	166.2	68.3	8.1	811	8876	0.00	2.58	9.75	0.373	4	0.000	0.129	3015	742	2094	0	0	0	0	0	0	28.83	14.64	14.45
9030	1.54	166.2	52.5	9.2	843	9037	0.00	2.60	0.00	0.000	6	0.000	0.118	3015	2158	2090	0	0	0	0	0	0	28.83	14.66	28.83
9349	1.60	215.0	28.9	6.8	904	9386	0.00	2.75	26.30	0.259	4	0.000	0.148	3015	3560	1894	0	0	0	0	0	0	28.83	14.55	14.50
9433	1.61	226.4	22.7	8.4	918	9446	0.00	2.53	5.68	0.252	6	0.000	0.100	3025	2148	1847	0	0	0	0	0	0	28.83	14.66	14.50
9646	end climb: SURFACE_DEPTH_REACHED
state	9646	begin surface coast
9678	end surface coast: CONTROL_FINISHED_OK
state	9678	begin surface