Glider dive log

DavisStrait Sep12 * SG193 * Dive index * Mission links * Dive 306 * 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 306 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 360 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 14 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 20 INT_PRESSURE_YINT 0.93000001

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 200 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 720 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 -2 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -1647.8354 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 360 RAFOS_DEVICE 32 T_GPS_CHARGE -1647.8354

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 20 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 -2

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 200 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 14 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 306 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 720

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 011112,110534,6638.516,-5949.187,30,0.8,31,-33.7 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 3.36 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 011112,111358,6638.489,-5949.073,5,0.7,5,-33.7 MHEAD_RNG_PITCHd_Wd 65.2,138417,-17.3,-8.919,-19.96

SPEED_LIMITS 0.075,0.246 D_GRID 722

Post-dive calculations and measurements:

FINISH 2.6,1.014135 _24V_AH 12.4,98.530

SM_CCo 13778,13.80,0.206,0,0,1587,290.19 _10V_AH 12.7,0.000

SM_GC 3.32,8.73,14.85,13.80,0.109,0.080,0.206,134,1960,1587,-11.62,-4.52,290.19,0,0,6,1,0,0,14.57,14.57,14.39 FG_AHR_24Vo 0.000

RAFOS_CLK 608 FG_AHR_10Vo 0.000

RAFOS 0,1351771269,12.033333,12.019167,60,56,54,52,52,50,184,207,221,146,121,174 MEM 188648

RAFOS_FIX 6634.927246,-5928.026855,011112,121228,2,96,3.29 DATA_FILE_SIZE 50084,1111

IRIDIUM_FIX 6604.29,-6105.66,011112,070722 CAP_FILE_SIZE 101676,32

TT8_MAMPS 0.023968,0.023968 CFSIZE 259252224,229720064

HUMID 46.81 ERRORS 0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0

INTERNAL_PRESSURE 8.67444 SOUNDSPEED 1451.6

TCM_TEMP 12.50 CURRENT 0.197,349.8,1

XPDR_PINGS 7 GPS 011112,150628,6640.064,-5949.712,38,0.9,39,-33.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 455 127.28 SBE_CT 812 23 241.58

Roll_motor 59 79 58.60 SBE_O2 788 3 36.55

VBD_pump_during_apogee 395 2504 12279.23 nil 0 0 0.00

VBD_pump_during_surface 13 205 35.21 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 290 165 595.59 nil 0 0 0.00

Transponder_ping 1 420 9.11 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 21 1.64

TT8 2755 14 523.55

LPSleep 8530 2 250.27

TT8_Active 566 14 107.64

TT8_Sampling 1866 33 798.80

TT8_CF8 558 38 271.01

TT8_Kalman 0 0 0.00

Analog_circuits 1724 12 262.81

GPS_charging 0 0 0.00

Compass 1636 6 140.10

RAFOS 2520 1 48.01

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 27 0.00 0.00 -5.55 0.000 2 0.000 0.000 139 1961 1682 0 0 0 0 0 0 28.83 28.83 28.83

33 -1.50 -136.9 3.4 0.0 1 147 11.40 0.00 -96.18 0.000 6 0.455 0.000 2350 1960 3331 0 0 0 0 0 0 14.16 28.83 14.72

460 -1.50 -136.9 58.0 -14.9 80 466 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1960 3332 0 0 0 0 0 0 28.83 28.83 28.83

777 -1.50 -136.9 105.9 -14.0 137 784 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1960 3332 0 0 0 0 0 0 28.83 28.83 28.83

1091 -1.50 -136.9 149.2 -13.8 168 1097 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1960 3332 0 0 0 0 0 0 28.83 28.83 28.83

1404 -1.50 -136.9 193.3 -14.4 199 1410 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1960 3332 0 0 0 0 0 0 28.83 28.83 28.83

1716 -1.50 -136.9 234.7 -13.0 230 1722 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1961 3332 0 0 0 0 0 0 28.83 28.83 28.83

2028 -1.50 -136.9 272.8 -12.2 261 2034 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1960 3332 0 0 0 0 0 0 28.83 28.83 28.83

2341 -1.50 -136.9 311.1 -12.3 292 2347 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1960 3332 0 0 0 0 0 0 28.83 28.83 28.83

2653 -1.50 -136.9 347.8 -11.4 323 2659 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1960 3332 0 0 0 0 0 0 28.83 28.83 28.83

2965 -1.50 -136.9 383.1 -11.3 354 2971 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1960 3332 0 0 0 0 0 0 28.83 28.83 28.83

3273 -1.50 -136.9 416.8 -10.6 375 3274 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1960 3332 0 0 0 0 0 0 28.83 28.83 28.83

3571 -1.50 -136.9 447.9 -10.5 385 3572 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1960 3332 0 0 0 0 0 0 28.83 28.83 28.83

3871 -1.50 -136.9 478.1 -9.9 395 3872 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1960 3332 0 0 0 0 0 0 28.83 28.83 28.83

4172 -1.50 -136.9 507.8 -10.1 405 4173 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1960 3333 0 0 0 0 0 0 28.83 28.83 28.83

4471 -1.50 -136.9 538.2 -10.5 415 4472 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1960 3333 0 0 0 0 0 0 28.83 28.83 28.83

4771 -1.50 -136.9 569.0 -10.3 425 4772 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1960 3333 0 0 0 0 0 0 28.83 28.83 28.83

5072 -1.50 -136.9 599.7 -10.4 435 5073 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 1959 3333 0 0 0 0 0 0 28.83 28.83 28.83

5371 -1.50 -136.9 630.4 -10.4 445 5372 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1960 3333 0 0 0 0 0 0 28.83 28.83 28.83

5674 -1.50 -136.9 660.8 -10.0 455 5675 0.00 0.00 0.00 0.000 6 0.000 0.000 2349 1960 3334 0 0 0 0 0 0 28.83 28.83 28.83

5971 -1.50 -136.9 691.8 -10.6 465 5972 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1960 3334 0 0 0 0 0 0 28.83 28.83 28.83

6266 end dive: TARGET_DEPTH_EXCEEDED

state 6266 begin apogee

6293 -0.38 0.0 723.5 -11.1 475 6461 0.90 14.85 141.62 2.505 6 0.273 0.075 2590 1960 2773 0 0 6 1 0 0 14.26 13.70 12.85

6462 end apogee: CONTROL_FINISHED_OK

state 6462 begin climb

6468 1.50 136.9 730.5 0.0 481 6630 1.42 0.00 156.70 2.474 6 0.170 0.000 3005 1960 2214 0 0 0 0 0 0 13.71 28.83 12.38

6926 1.50 136.9 686.5 12.0 497 6927 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1960 2206 0 0 0 0 0 0 28.83 28.83 28.83

7227 1.50 136.9 651.8 11.5 507 7228 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1960 2203 0 0 0 0 0 0 28.83 28.83 28.83

7526 1.50 136.9 617.3 11.5 517 7527 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1960 2202 0 0 0 0 0 0 28.83 28.83 28.83

7827 1.50 136.9 583.2 11.3 527 7828 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1960 2202 0 0 0 0 0 0 28.83 28.83 28.83

8126 1.50 136.9 548.5 11.6 537 8127 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1960 2202 0 0 0 0 0 0 28.83 28.83 28.83

8427 1.50 136.9 513.6 11.7 547 8428 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1960 2202 0 0 0 0 0 0 28.83 28.83 28.83

8726 1.50 136.9 479.4 11.4 557 8727 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1960 2202 0 0 0 0 0 0 28.83 28.83 28.83

9027 1.50 136.9 446.8 10.8 567 9028 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1960 2202 0 0 0 0 0 0 28.83 28.83 28.83

9327 1.50 136.9 414.1 11.0 577 9328 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1960 2201 0 0 0 0 0 0 28.83 28.83 28.83

9626 1.50 136.9 381.9 10.6 597 9632 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1960 2202 0 0 0 0 0 0 28.83 28.83 28.83

9942 1.50 136.9 351.2 9.3 628 9948 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1960 2201 0 0 0 0 0 0 28.83 28.83 28.83

10255 1.50 136.9 319.3 10.3 659 10260 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1960 2201 0 0 0 0 0 0 28.83 28.83 28.83

10567 1.50 136.9 286.1 11.0 690 10573 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1960 2202 0 0 0 0 0 0 28.83 28.83 28.83

10880 1.50 136.9 250.8 10.6 721 10886 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1960 2201 0 0 0 0 0 0 28.83 28.83 28.83

11192 1.50 136.9 219.8 9.0 752 11198 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1960 2202 0 0 0 0 0 0 28.83 28.83 28.83

11504 1.52 157.7 192.9 8.0 783 11525 0.00 0.00 19.42 1.963 6 0.000 0.000 3005 1960 2127 0 0 0 0 0 0 28.83 28.83 13.83

11829 1.53 161.7 163.5 8.7 816 11836 0.00 0.00 4.90 1.570 6 0.000 0.000 3005 1960 2112 0 0 0 0 0 0 28.83 28.83 13.71

12139 1.57 198.2 139.0 7.3 847 12185 0.00 0.00 38.28 1.930 6 0.000 0.000 3005 1960 1963 0 0 0 0 0 0 28.83 28.83 13.65

12489 1.57 198.2 108.3 9.0 882 12496 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1960 1957 0 0 0 0 0 0 28.83 28.83 28.83

12804 1.58 204.3 83.1 8.7 934 12812 0.00 0.00 2.53 0.490 6 0.000 0.000 3005 1960 1938 0 0 0 0 0 0 28.83 28.83 14.27

13124 1.62 231.4 54.9 7.7 995 13142 0.10 0.00 15.68 0.358 6 0.179 0.000 3045 1960 1827 0 0 0 0 0 0 14.59 28.83 14.28

13460 1.65 262.0 26.9 7.6 1058 13480 0.00 0.00 16.25 0.272 6 0.000 0.000 3045 1960 1702 0 0 0 0 0 0 28.83 28.83 14.37

13703 end climb: SURFACE_DEPTH_REACHED

state 13703 begin surface coast

13735 end surface coast: CONTROL_FINISHED_OK

state 13735 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	306	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	360	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	14	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	20	INT_PRESSURE_YINT	0.93000001
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	200	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	720	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	-2	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-1647.8354	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	011112,110534,6638.516,-5949.187,30,0.8,31,-33.7	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	3.36	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	011112,111358,6638.489,-5949.073,5,0.7,5,-33.7	MHEAD_RNG_PITCHd_Wd	65.2,138417,-17.3,-8.919,-19.96
SPEED_LIMITS	0.075,0.246	D_GRID	722

FINISH	2.6,1.014135	_24V_AH	12.4,98.530
SM_CCo	13778,13.80,0.206,0,0,1587,290.19	_10V_AH	12.7,0.000
SM_GC	3.32,8.73,14.85,13.80,0.109,0.080,0.206,134,1960,1587,-11.62,-4.52,290.19,0,0,6,1,0,0,14.57,14.57,14.39	FG_AHR_24Vo	0.000
RAFOS_CLK	608	FG_AHR_10Vo	0.000
RAFOS	0,1351771269,12.033333,12.019167,60,56,54,52,52,50,184,207,221,146,121,174	MEM	188648
RAFOS_FIX	6634.927246,-5928.026855,011112,121228,2,96,3.29	DATA_FILE_SIZE	50084,1111
IRIDIUM_FIX	6604.29,-6105.66,011112,070722	CAP_FILE_SIZE	101676,32
TT8_MAMPS	0.023968,0.023968	CFSIZE	259252224,229720064
HUMID	46.81	ERRORS	0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0
INTERNAL_PRESSURE	8.67444	SOUNDSPEED	1451.6
TCM_TEMP	12.50	CURRENT	0.197,349.8,1
XPDR_PINGS	7	GPS	011112,150628,6640.064,-5949.712,38,0.9,39,-33.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	455	127.28	SBE_CT	812	23	241.58
Roll_motor	59	79	58.60	SBE_O2	788	3	36.55
VBD_pump_during_apogee	395	2504	12279.23	nil	0	0	0.00
VBD_pump_during_surface	13	205	35.21	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	290	165	595.59	nil	0	0	0.00
Transponder_ping	1	420	9.11	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	21	1.64
TT8	2755	14	523.55
LPSleep	8530	2	250.27
TT8_Active	566	14	107.64
TT8_Sampling	1866	33	798.80
TT8_CF8	558	38	271.01
TT8_Kalman	0	0	0.00
Analog_circuits	1724	12	262.81
GPS_charging	0	0	0.00
Compass	1636	6	140.10
RAFOS	2520	1	48.01
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	27	0.00	0.00	-5.55	0.000	2	0.000	0.000	139	1961	1682	0	0	0	0	0	0	28.83	28.83	28.83
33	-1.50	-136.9	3.4	0.0	1	147	11.40	0.00	-96.18	0.000	6	0.455	0.000	2350	1960	3331	0	0	0	0	0	0	14.16	28.83	14.72
460	-1.50	-136.9	58.0	-14.9	80	466	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1960	3332	0	0	0	0	0	0	28.83	28.83	28.83
777	-1.50	-136.9	105.9	-14.0	137	784	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1960	3332	0	0	0	0	0	0	28.83	28.83	28.83
1091	-1.50	-136.9	149.2	-13.8	168	1097	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1960	3332	0	0	0	0	0	0	28.83	28.83	28.83
1404	-1.50	-136.9	193.3	-14.4	199	1410	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1960	3332	0	0	0	0	0	0	28.83	28.83	28.83
1716	-1.50	-136.9	234.7	-13.0	230	1722	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1961	3332	0	0	0	0	0	0	28.83	28.83	28.83
2028	-1.50	-136.9	272.8	-12.2	261	2034	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1960	3332	0	0	0	0	0	0	28.83	28.83	28.83
2341	-1.50	-136.9	311.1	-12.3	292	2347	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1960	3332	0	0	0	0	0	0	28.83	28.83	28.83
2653	-1.50	-136.9	347.8	-11.4	323	2659	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1960	3332	0	0	0	0	0	0	28.83	28.83	28.83
2965	-1.50	-136.9	383.1	-11.3	354	2971	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1960	3332	0	0	0	0	0	0	28.83	28.83	28.83
3273	-1.50	-136.9	416.8	-10.6	375	3274	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1960	3332	0	0	0	0	0	0	28.83	28.83	28.83
3571	-1.50	-136.9	447.9	-10.5	385	3572	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1960	3332	0	0	0	0	0	0	28.83	28.83	28.83
3871	-1.50	-136.9	478.1	-9.9	395	3872	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1960	3332	0	0	0	0	0	0	28.83	28.83	28.83
4172	-1.50	-136.9	507.8	-10.1	405	4173	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1960	3333	0	0	0	0	0	0	28.83	28.83	28.83
4471	-1.50	-136.9	538.2	-10.5	415	4472	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1960	3333	0	0	0	0	0	0	28.83	28.83	28.83
4771	-1.50	-136.9	569.0	-10.3	425	4772	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1960	3333	0	0	0	0	0	0	28.83	28.83	28.83
5072	-1.50	-136.9	599.7	-10.4	435	5073	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	1959	3333	0	0	0	0	0	0	28.83	28.83	28.83
5371	-1.50	-136.9	630.4	-10.4	445	5372	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1960	3333	0	0	0	0	0	0	28.83	28.83	28.83
5674	-1.50	-136.9	660.8	-10.0	455	5675	0.00	0.00	0.00	0.000	6	0.000	0.000	2349	1960	3334	0	0	0	0	0	0	28.83	28.83	28.83
5971	-1.50	-136.9	691.8	-10.6	465	5972	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1960	3334	0	0	0	0	0	0	28.83	28.83	28.83
6266	end dive: TARGET_DEPTH_EXCEEDED
state	6266	begin apogee
6293	-0.38	0.0	723.5	-11.1	475	6461	0.90	14.85	141.62	2.505	6	0.273	0.075	2590	1960	2773	0	0	6	1	0	0	14.26	13.70	12.85
6462	end apogee: CONTROL_FINISHED_OK
state	6462	begin climb
6468	1.50	136.9	730.5	0.0	481	6630	1.42	0.00	156.70	2.474	6	0.170	0.000	3005	1960	2214	0	0	0	0	0	0	13.71	28.83	12.38
6926	1.50	136.9	686.5	12.0	497	6927	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1960	2206	0	0	0	0	0	0	28.83	28.83	28.83
7227	1.50	136.9	651.8	11.5	507	7228	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1960	2203	0	0	0	0	0	0	28.83	28.83	28.83
7526	1.50	136.9	617.3	11.5	517	7527	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1960	2202	0	0	0	0	0	0	28.83	28.83	28.83
7827	1.50	136.9	583.2	11.3	527	7828	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1960	2202	0	0	0	0	0	0	28.83	28.83	28.83
8126	1.50	136.9	548.5	11.6	537	8127	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1960	2202	0	0	0	0	0	0	28.83	28.83	28.83
8427	1.50	136.9	513.6	11.7	547	8428	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1960	2202	0	0	0	0	0	0	28.83	28.83	28.83
8726	1.50	136.9	479.4	11.4	557	8727	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1960	2202	0	0	0	0	0	0	28.83	28.83	28.83
9027	1.50	136.9	446.8	10.8	567	9028	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1960	2202	0	0	0	0	0	0	28.83	28.83	28.83
9327	1.50	136.9	414.1	11.0	577	9328	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1960	2201	0	0	0	0	0	0	28.83	28.83	28.83
9626	1.50	136.9	381.9	10.6	597	9632	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1960	2202	0	0	0	0	0	0	28.83	28.83	28.83
9942	1.50	136.9	351.2	9.3	628	9948	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1960	2201	0	0	0	0	0	0	28.83	28.83	28.83
10255	1.50	136.9	319.3	10.3	659	10260	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1960	2201	0	0	0	0	0	0	28.83	28.83	28.83
10567	1.50	136.9	286.1	11.0	690	10573	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1960	2202	0	0	0	0	0	0	28.83	28.83	28.83
10880	1.50	136.9	250.8	10.6	721	10886	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1960	2201	0	0	0	0	0	0	28.83	28.83	28.83
11192	1.50	136.9	219.8	9.0	752	11198	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1960	2202	0	0	0	0	0	0	28.83	28.83	28.83
11504	1.52	157.7	192.9	8.0	783	11525	0.00	0.00	19.42	1.963	6	0.000	0.000	3005	1960	2127	0	0	0	0	0	0	28.83	28.83	13.83
11829	1.53	161.7	163.5	8.7	816	11836	0.00	0.00	4.90	1.570	6	0.000	0.000	3005	1960	2112	0	0	0	0	0	0	28.83	28.83	13.71
12139	1.57	198.2	139.0	7.3	847	12185	0.00	0.00	38.28	1.930	6	0.000	0.000	3005	1960	1963	0	0	0	0	0	0	28.83	28.83	13.65
12489	1.57	198.2	108.3	9.0	882	12496	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1960	1957	0	0	0	0	0	0	28.83	28.83	28.83
12804	1.58	204.3	83.1	8.7	934	12812	0.00	0.00	2.53	0.490	6	0.000	0.000	3005	1960	1938	0	0	0	0	0	0	28.83	28.83	14.27
13124	1.62	231.4	54.9	7.7	995	13142	0.10	0.00	15.68	0.358	6	0.179	0.000	3045	1960	1827	0	0	0	0	0	0	14.59	28.83	14.28
13460	1.65	262.0	26.9	7.6	1058	13480	0.00	0.00	16.25	0.272	6	0.000	0.000	3045	1960	1702	0	0	0	0	0	0	28.83	28.83	14.37
13703	end climb: SURFACE_DEPTH_REACHED
state	13703	begin surface coast
13735	end surface coast: CONTROL_FINISHED_OK
state	13735	begin surface