Glider dive log

DavisStrait Sep12 * SG193 * Dive index * Mission links * Dive 325 * 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 325 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 0 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 0 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 -1672.1841 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 -1672.1841

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 0 VBD_DBAND 2

DEVICE4 -1 MINV_24V 12 R_STBD_OVSHOOT 0 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 325 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 041112,145901,6632.952,-5951.232,117,0.9,117,-33.6 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 3.35 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 041112,150934,6632.887,-5951.331,59,1.0,59,-33.6 MHEAD_RNG_PITCHd_Wd 124.7,143658,-17.3,-8.919,-19.96

SPEED_LIMITS 0.075,0.246 D_GRID 667

Post-dive calculations and measurements:

FINISH 2.5,1.025790 _24V_AH 12.4,104.713

SM_CCo 12896,32.25,0.198,0,0,1588,290.19 _10V_AH 12.7,0.000

SM_GC 3.48,8.82,14.85,32.25,0.118,0.080,0.198,135,2028,1588,-11.62,-2.60,290.19,0,0,6,1,0,0,14.58,14.57,14.39 FG_AHR_24Vo 0.000

RAFOS_CLK 575 FG_AHR_10Vo 0.000

RAFOS 0,1352044862,16.033333,16.017221,61,59,59,56,52,51,135,179,220,195,234,165 MEM 188744

RAFOS_FIX 6649.052246,-5944.512207,021112,161656,2,104,5.84 DATA_FILE_SIZE 50136,1079

IRIDIUM_FIX 6604.29,-5955.89,041112,111122 CAP_FILE_SIZE 98074,32

TT8_MAMPS 0.025466,0.025466 CFSIZE 259252224,228634624

HUMID 47.00 ERRORS 0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0

INTERNAL_PRESSURE 8.67444 SOUNDSPEED 1450.6

TCM_TEMP 12.50 CURRENT 0.146,355.6,1

XPDR_PINGS 2 GPS 041112,184828,6633.880,-5951.460,94,0.8,94,-33.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 455 129.53 SBE_CT 790 23 235.08

Roll_motor 59 79 58.60 SBE_O2 763 3 35.43

VBD_pump_during_apogee 390 2529 12234.38 nil 0 0 0.00

VBD_pump_during_surface 32 198 79.23 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 385 174 834.63 nil 0 0 0.00

Transponder_ping 0 420 2.60 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 60 21 16.82

TT8 2656 14 504.65

LPSleep 7788 2 228.48

TT8_Active 590 14 112.10

TT8_Sampling 1967 33 841.92

TT8_CF8 573 38 277.86

TT8_Kalman 0 0 0.00

Analog_circuits 1824 12 278.09

GPS_charging 0 0 0.00

Compass 1592 6 136.28

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

18 -1.50 -136.9 0.0 0.0 0 26 0.00 0.00 -5.53 0.000 2 0.000 0.000 91 2027 1676 0 0 0 0 0 0 28.83 28.83 28.83

32 -1.50 -136.9 3.2 0.0 1 157 11.68 0.00 -104.32 0.000 6 0.455 0.000 2347 2027 3330 0 0 0 0 0 0 14.13 28.83 14.73

472 -1.50 -136.9 57.7 -15.7 82 478 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2027 3331 0 0 0 0 0 0 28.83 28.83 28.83

788 -1.50 -136.9 104.7 -15.2 140 795 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2027 3331 0 0 0 0 0 0 28.83 28.83 28.83

1103 -1.50 -136.9 148.9 -13.8 171 1109 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2027 3331 0 0 0 0 0 0 28.83 28.83 28.83

1417 -1.50 -136.9 190.2 -13.7 202 1423 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2027 3331 0 0 0 0 0 0 28.83 28.83 28.83

1728 -1.50 -136.9 230.8 -12.7 233 1735 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2027 3331 0 0 0 0 0 0 28.83 28.83 28.83

2041 -1.50 -136.9 270.7 -12.4 264 2046 0.00 0.00 0.00 0.000 6 0.000 0.000 2346 2027 3331 0 0 0 0 0 0 28.83 28.83 28.83

2353 -1.50 -136.9 309.0 -12.7 295 2359 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2027 3330 0 0 0 0 0 0 28.83 28.83 28.83

2666 -1.50 -136.9 347.5 -11.6 326 2672 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2027 3330 0 0 0 0 0 0 28.83 28.83 28.83

2977 -1.50 -136.9 382.8 -11.1 357 2983 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2027 3330 0 0 0 0 0 0 28.83 28.83 28.83

3285 -1.50 -136.9 417.0 -10.6 378 3286 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2027 3330 0 0 0 0 0 0 28.83 28.83 28.83

3584 -1.50 -136.9 448.3 -10.5 388 3585 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2027 3330 0 0 0 0 0 0 28.83 28.83 28.83

3885 -1.50 -136.9 480.5 -10.9 398 3886 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2027 3331 0 0 0 0 0 0 28.83 28.83 28.83

4184 -1.50 -136.9 513.1 -10.6 408 4185 0.00 0.00 0.00 0.000 6 0.000 0.000 2346 2027 3331 0 0 0 0 0 0 28.83 28.83 28.83

4488 -1.50 -136.9 543.6 -10.0 418 4489 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2027 3331 0 0 0 0 0 0 28.83 28.83 28.83

4784 -1.50 -136.9 573.3 -9.8 428 4785 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2027 3332 0 0 0 0 0 0 28.83 28.83 28.83

5085 -1.50 -136.9 603.0 -9.9 438 5086 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2027 3332 0 0 0 0 0 0 28.83 28.83 28.83

5385 -1.50 -136.9 632.7 -10.0 448 5386 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2027 3332 0 0 0 0 0 0 28.83 28.83 28.83

5685 -1.50 -136.9 661.4 -9.4 458 5686 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2027 3332 0 0 0 0 0 0 28.83 28.83 28.83

5739 end dive: TARGET_DEPTH_EXCEEDED

state 5739 begin apogee

5766 -0.38 0.0 667.0 -9.5 460 5938 0.93 14.85 144.10 2.530 6 0.270 0.079 2593 2027 2772 0 0 6 1 0 0 14.22 13.62 12.78

5939 end apogee: CONTROL_FINISHED_OK

state 5940 begin climb

5945 1.50 136.9 673.0 0.0 466 6110 1.42 0.00 160.02 2.499 6 0.171 0.000 3007 2027 2214 0 0 0 0 0 0 13.64 28.83 12.36

6410 1.50 136.9 629.1 11.7 482 6411 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 2027 2206 0 0 0 0 0 0 28.83 28.83 28.83

6704 1.50 136.9 596.8 10.6 492 6705 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 2027 2204 0 0 0 0 0 0 28.83 28.83 28.83

7005 1.50 136.9 563.8 10.8 502 7006 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 2027 2204 0 0 0 0 0 0 28.83 28.83 28.83

7305 1.50 136.9 532.1 10.7 512 7306 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 2027 2203 0 0 0 0 0 0 28.83 28.83 28.83

7605 1.50 136.9 500.0 10.9 522 7606 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 2027 2203 0 0 0 0 0 0 28.83 28.83 28.83

7904 1.50 136.9 467.7 10.7 532 7905 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 2027 2203 0 0 0 0 0 0 28.83 28.83 28.83

8205 1.50 136.9 436.1 10.4 542 8206 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 2027 2203 0 0 0 0 0 0 28.83 28.83 28.83

8505 1.50 136.9 404.1 10.8 552 8506 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 2027 2202 0 0 0 0 0 0 28.83 28.83 28.83

8805 1.50 136.9 371.6 10.8 578 8811 0.00 0.00 0.00 0.000 6 0.000 0.000 3007 2027 2202 0 0 0 0 0 0 28.83 28.83 28.83

9121 1.50 136.9 338.4 10.6 609 9127 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 2027 2202 0 0 0 0 0 0 28.83 28.83 28.83

9433 1.50 136.9 307.9 9.4 640 9439 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 2027 2202 0 0 0 0 0 0 28.83 28.83 28.83

9745 1.51 143.0 280.0 8.7 671 9752 0.00 0.00 5.00 1.688 6 0.000 0.000 3006 2027 2190 0 0 0 0 0 0 28.83 28.83 13.71

10053 1.51 147.5 252.6 8.7 702 10062 0.00 0.00 6.68 1.825 6 0.000 0.000 3006 2027 2170 0 0 0 0 0 0 28.83 28.83 13.76

10363 1.51 147.5 223.5 9.5 733 10370 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 2027 2170 0 0 0 0 0 0 28.83 28.83 28.83

10680 1.51 147.5 194.9 9.3 764 10686 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 2027 2169 0 0 0 0 0 0 28.83 28.83 28.83

10992 1.52 154.0 166.3 8.6 795 11004 0.00 0.00 8.10 1.845 6 0.000 0.000 3006 2027 2144 0 0 0 0 0 0 28.83 28.83 13.79

11307 1.58 203.4 141.7 6.8 827 11363 0.00 0.00 51.42 2.003 6 0.000 0.000 3007 2027 1942 0 0 0 0 0 0 28.83 28.83 13.54

11667 1.61 225.5 113.0 8.0 863 11684 0.10 0.00 13.00 1.753 6 0.176 0.000 3043 2027 1852 0 0 0 0 0 0 14.49 28.83 13.68

11991 1.61 225.5 80.6 10.0 913 11997 0.00 0.00 0.00 0.000 6 0.000 0.000 3044 2027 1846 0 0 0 0 0 0 28.83 28.83 28.83

12309 1.61 230.1 48.7 8.7 974 12316 0.00 0.00 1.67 0.392 6 0.000 0.000 3044 2027 1833 0 0 0 0 0 0 28.83 28.83 14.25

12628 1.62 232.3 21.5 8.8 1035 12633 0.00 0.00 0.00 0.000 6 0.000 0.000 3044 2027 1831 0 0 0 0 0 0 28.83 28.83 28.83

12797 end climb: SURFACE_DEPTH_REACHED

state 12797 begin surface coast

12854 end surface coast: CONTROL_FINISHED_OK

state 12854 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	325	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	0	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	0	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	-1672.1841	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	041112,145901,6632.952,-5951.232,117,0.9,117,-33.6	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	3.35	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	041112,150934,6632.887,-5951.331,59,1.0,59,-33.6	MHEAD_RNG_PITCHd_Wd	124.7,143658,-17.3,-8.919,-19.96
SPEED_LIMITS	0.075,0.246	D_GRID	667

FINISH	2.5,1.025790	_24V_AH	12.4,104.713
SM_CCo	12896,32.25,0.198,0,0,1588,290.19	_10V_AH	12.7,0.000
SM_GC	3.48,8.82,14.85,32.25,0.118,0.080,0.198,135,2028,1588,-11.62,-2.60,290.19,0,0,6,1,0,0,14.58,14.57,14.39	FG_AHR_24Vo	0.000
RAFOS_CLK	575	FG_AHR_10Vo	0.000
RAFOS	0,1352044862,16.033333,16.017221,61,59,59,56,52,51,135,179,220,195,234,165	MEM	188744
RAFOS_FIX	6649.052246,-5944.512207,021112,161656,2,104,5.84	DATA_FILE_SIZE	50136,1079
IRIDIUM_FIX	6604.29,-5955.89,041112,111122	CAP_FILE_SIZE	98074,32
TT8_MAMPS	0.025466,0.025466	CFSIZE	259252224,228634624
HUMID	47.00	ERRORS	0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0
INTERNAL_PRESSURE	8.67444	SOUNDSPEED	1450.6
TCM_TEMP	12.50	CURRENT	0.146,355.6,1
XPDR_PINGS	2	GPS	041112,184828,6633.880,-5951.460,94,0.8,94,-33.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	455	129.53	SBE_CT	790	23	235.08
Roll_motor	59	79	58.60	SBE_O2	763	3	35.43
VBD_pump_during_apogee	390	2529	12234.38	nil	0	0	0.00
VBD_pump_during_surface	32	198	79.23	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	385	174	834.63	nil	0	0	0.00
Transponder_ping	0	420	2.60	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	60	21	16.82
TT8	2656	14	504.65
LPSleep	7788	2	228.48
TT8_Active	590	14	112.10
TT8_Sampling	1967	33	841.92
TT8_CF8	573	38	277.86
TT8_Kalman	0	0	0.00
Analog_circuits	1824	12	278.09
GPS_charging	0	0	0.00
Compass	1592	6	136.28
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
18	-1.50	-136.9	0.0	0.0	0	26	0.00	0.00	-5.53	0.000	2	0.000	0.000	91	2027	1676	0	0	0	0	0	0	28.83	28.83	28.83
32	-1.50	-136.9	3.2	0.0	1	157	11.68	0.00	-104.32	0.000	6	0.455	0.000	2347	2027	3330	0	0	0	0	0	0	14.13	28.83	14.73
472	-1.50	-136.9	57.7	-15.7	82	478	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2027	3331	0	0	0	0	0	0	28.83	28.83	28.83
788	-1.50	-136.9	104.7	-15.2	140	795	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2027	3331	0	0	0	0	0	0	28.83	28.83	28.83
1103	-1.50	-136.9	148.9	-13.8	171	1109	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2027	3331	0	0	0	0	0	0	28.83	28.83	28.83
1417	-1.50	-136.9	190.2	-13.7	202	1423	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2027	3331	0	0	0	0	0	0	28.83	28.83	28.83
1728	-1.50	-136.9	230.8	-12.7	233	1735	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2027	3331	0	0	0	0	0	0	28.83	28.83	28.83
2041	-1.50	-136.9	270.7	-12.4	264	2046	0.00	0.00	0.00	0.000	6	0.000	0.000	2346	2027	3331	0	0	0	0	0	0	28.83	28.83	28.83
2353	-1.50	-136.9	309.0	-12.7	295	2359	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2027	3330	0	0	0	0	0	0	28.83	28.83	28.83
2666	-1.50	-136.9	347.5	-11.6	326	2672	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2027	3330	0	0	0	0	0	0	28.83	28.83	28.83
2977	-1.50	-136.9	382.8	-11.1	357	2983	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2027	3330	0	0	0	0	0	0	28.83	28.83	28.83
3285	-1.50	-136.9	417.0	-10.6	378	3286	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2027	3330	0	0	0	0	0	0	28.83	28.83	28.83
3584	-1.50	-136.9	448.3	-10.5	388	3585	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2027	3330	0	0	0	0	0	0	28.83	28.83	28.83
3885	-1.50	-136.9	480.5	-10.9	398	3886	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2027	3331	0	0	0	0	0	0	28.83	28.83	28.83
4184	-1.50	-136.9	513.1	-10.6	408	4185	0.00	0.00	0.00	0.000	6	0.000	0.000	2346	2027	3331	0	0	0	0	0	0	28.83	28.83	28.83
4488	-1.50	-136.9	543.6	-10.0	418	4489	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2027	3331	0	0	0	0	0	0	28.83	28.83	28.83
4784	-1.50	-136.9	573.3	-9.8	428	4785	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2027	3332	0	0	0	0	0	0	28.83	28.83	28.83
5085	-1.50	-136.9	603.0	-9.9	438	5086	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2027	3332	0	0	0	0	0	0	28.83	28.83	28.83
5385	-1.50	-136.9	632.7	-10.0	448	5386	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2027	3332	0	0	0	0	0	0	28.83	28.83	28.83
5685	-1.50	-136.9	661.4	-9.4	458	5686	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2027	3332	0	0	0	0	0	0	28.83	28.83	28.83
5739	end dive: TARGET_DEPTH_EXCEEDED
state	5739	begin apogee
5766	-0.38	0.0	667.0	-9.5	460	5938	0.93	14.85	144.10	2.530	6	0.270	0.079	2593	2027	2772	0	0	6	1	0	0	14.22	13.62	12.78
5939	end apogee: CONTROL_FINISHED_OK
state	5940	begin climb
5945	1.50	136.9	673.0	0.0	466	6110	1.42	0.00	160.02	2.499	6	0.171	0.000	3007	2027	2214	0	0	0	0	0	0	13.64	28.83	12.36
6410	1.50	136.9	629.1	11.7	482	6411	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	2027	2206	0	0	0	0	0	0	28.83	28.83	28.83
6704	1.50	136.9	596.8	10.6	492	6705	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	2027	2204	0	0	0	0	0	0	28.83	28.83	28.83
7005	1.50	136.9	563.8	10.8	502	7006	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	2027	2204	0	0	0	0	0	0	28.83	28.83	28.83
7305	1.50	136.9	532.1	10.7	512	7306	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	2027	2203	0	0	0	0	0	0	28.83	28.83	28.83
7605	1.50	136.9	500.0	10.9	522	7606	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	2027	2203	0	0	0	0	0	0	28.83	28.83	28.83
7904	1.50	136.9	467.7	10.7	532	7905	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	2027	2203	0	0	0	0	0	0	28.83	28.83	28.83
8205	1.50	136.9	436.1	10.4	542	8206	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	2027	2203	0	0	0	0	0	0	28.83	28.83	28.83
8505	1.50	136.9	404.1	10.8	552	8506	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	2027	2202	0	0	0	0	0	0	28.83	28.83	28.83
8805	1.50	136.9	371.6	10.8	578	8811	0.00	0.00	0.00	0.000	6	0.000	0.000	3007	2027	2202	0	0	0	0	0	0	28.83	28.83	28.83
9121	1.50	136.9	338.4	10.6	609	9127	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	2027	2202	0	0	0	0	0	0	28.83	28.83	28.83
9433	1.50	136.9	307.9	9.4	640	9439	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	2027	2202	0	0	0	0	0	0	28.83	28.83	28.83
9745	1.51	143.0	280.0	8.7	671	9752	0.00	0.00	5.00	1.688	6	0.000	0.000	3006	2027	2190	0	0	0	0	0	0	28.83	28.83	13.71
10053	1.51	147.5	252.6	8.7	702	10062	0.00	0.00	6.68	1.825	6	0.000	0.000	3006	2027	2170	0	0	0	0	0	0	28.83	28.83	13.76
10363	1.51	147.5	223.5	9.5	733	10370	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	2027	2170	0	0	0	0	0	0	28.83	28.83	28.83
10680	1.51	147.5	194.9	9.3	764	10686	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	2027	2169	0	0	0	0	0	0	28.83	28.83	28.83
10992	1.52	154.0	166.3	8.6	795	11004	0.00	0.00	8.10	1.845	6	0.000	0.000	3006	2027	2144	0	0	0	0	0	0	28.83	28.83	13.79
11307	1.58	203.4	141.7	6.8	827	11363	0.00	0.00	51.42	2.003	6	0.000	0.000	3007	2027	1942	0	0	0	0	0	0	28.83	28.83	13.54
11667	1.61	225.5	113.0	8.0	863	11684	0.10	0.00	13.00	1.753	6	0.176	0.000	3043	2027	1852	0	0	0	0	0	0	14.49	28.83	13.68
11991	1.61	225.5	80.6	10.0	913	11997	0.00	0.00	0.00	0.000	6	0.000	0.000	3044	2027	1846	0	0	0	0	0	0	28.83	28.83	28.83
12309	1.61	230.1	48.7	8.7	974	12316	0.00	0.00	1.67	0.392	6	0.000	0.000	3044	2027	1833	0	0	0	0	0	0	28.83	28.83	14.25
12628	1.62	232.3	21.5	8.8	1035	12633	0.00	0.00	0.00	0.000	6	0.000	0.000	3044	2027	1831	0	0	0	0	0	0	28.83	28.83	28.83
12797	end climb: SURFACE_DEPTH_REACHED
state	12797	begin surface coast
12854	end surface coast: CONTROL_FINISHED_OK
state	12854	begin surface