Glider dive log

DavisStrait Sep12 * SG193 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 193 HD_B 0.0099999998 PITCH_ADJ_GAIN 0.029999999 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 9.9999997e-06 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 5 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 450 TGT_DEFAULT_LAT 6000 C_ROLL_CLIMB 2070 ALTIM_FREQUENCY 13

D_ABORT 520 TGT_DEFAULT_LON -5500 HEAD_ERRBAND 10 ALTIM_PULSE 5

D_NO_BLEED 50 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 1

D_BOOST 100 SM_CC 349.6098 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 13 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 300 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 150 UPLOAD_DIVES_MAX -1 C_VBD 2960 DEVICE3 -1

T_MISSION 180 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 4 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 -748.44574 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 150 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 2720 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 0.003 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00022276744

AD7714Ch0Gain 128 D_NO_BLEED 50 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 349.6098

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 0.029999999 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 450 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 0.003 PRESSURE_YINT -48.048229 T_DIVE 150

CALL_WAIT 60 HD_B 0.0099999998 PROTOCOL 9 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 9.9999997e-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 -748.44574

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 180

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 2720 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2070 LOGGERDEVICE1 -1 ROLL_AD_RATE 300 T_WATCHDOG 10

C_ROLL_DIVE 2120 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 20

C_VBD 2960 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 1 USE_ICE 0

DEVICE1 2 MASS 52000 ROLL_MIN 300 VBD_BLEED_AD_RATE 8

DEVICE2 20 MAX_BUOY 150 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 13 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 5 NAV_MODE 2 SEABIRD_C_I -0.0018439521 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 520 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 090912,002358,6652.487,-5859.513,36,1.0,36,-33.8 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 1.73 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 090912,003348,6652.510,-5859.246,4,1.0,4,-33.8 MHEAD_RNG_PITCHd_Wd 125.8,96749,-17.5,-10.000,-21.03

SPEED_LIMITS 0.084,0.260 D_GRID 1027

Post-dive calculations and measurements:

FINISH 1.1,1.024429 _24V_AH 13.0,5.806

SM_CCo 8877,0.00,0.000,0,0,1266,415.54 _10V_AH 13.1,0.000

SM_GC 1.96,8.75,0.15,0.00,0.116,0.221,0.000,145,2129,1266,-11.78,-0.20,415.54,0,0,0,0,0,0,14.65,14.60,28.83 FG_AHR_24Vo 0.000

RAFOS_CLK 359 FG_AHR_10Vo 0.000

RAFOS 2,1347149834,0.300000,0.287222,61,56,54,53,50,49,191,162,132,215,229,581 MEM 188740

RAFOS_FIX 6655.652344,-5906.568359,090912,000050,3,100,133.58 DATA_FILE_SIZE 46736,1020

IRIDIUM_FIX 6625.71,-5904.05,090912,000039 CAP_FILE_SIZE 106493,0

TT8_MAMPS 0.025466,0.025466 CFSIZE 259252224,250241024

HUMID 49.09 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.72327 SOUNDSPEED 1459.2

TCM_TEMP 13.40 CURRENT 0.093, 53.8,1

XPDR_PINGS 6 GPS 090912,030411,6652.756,-5855.104,14,1.0,14,-33.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 452 138.06 SBE_CT 735 23 229.16

Roll_motor 90 221 260.32 SBE_O2 702 3 34.18

VBD_pump_during_apogee 482 2200 13799.45 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 374 153 748.65 nil 0 0 0.00

Transponder_ping 1 420 8.19 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 21 1.66

TT8 2509 14 491.87

LPSleep 3926 2 118.82

TT8_Active 601 14 117.92

TT8_Sampling 1949 33 860.31

TT8_CF8 514 38 257.29

TT8_Kalman 0 0 0.00

Analog_circuits 1901 12 298.87

GPS_charging 0 0 0.00

Compass 1626 6 143.58

RAFOS 720 1 14.15

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

18 -1.52 -146.6 0.0 0.0 0 98 0.00 0.00 -77.00 0.000 2 0.000 0.000 145 2129 2724 0 0 0 0 0 0 28.83 28.83 28.83

104 -1.52 -146.6 3.2 -3.3 13 143 11.07 2.80 -18.12 0.000 4 0.453 0.200 2373 3522 3558 0 0 0 0 0 0 14.34 14.41 14.72

378 -1.52 -146.6 48.8 -11.4 64 385 0.00 2.60 0.00 0.000 6 0.000 0.122 2373 2113 3560 0 0 0 0 0 0 28.83 14.57 28.83

695 -1.52 -146.6 89.3 -12.7 125 701 0.00 0.00 0.00 0.000 6 0.000 0.000 2373 2113 3560 0 0 0 0 0 0 28.83 28.83 28.83

1012 -1.52 -146.6 130.4 -13.2 164 1021 0.00 2.60 0.00 0.000 4 0.000 0.161 2373 706 3559 0 0 0 0 0 0 28.83 14.62 28.83

1100 -1.52 -146.6 141.9 -13.6 172 1107 0.10 2.70 0.00 0.000 6 0.313 0.164 2383 2119 3559 0 0 0 0 0 0 14.60 14.64 28.83

1409 -1.57 -146.6 179.4 -11.8 203 1417 0.00 2.60 0.00 0.000 4 0.000 0.157 2384 714 3559 0 0 0 0 0 0 28.83 14.66 28.83

1446 -1.60 -146.6 183.7 -12.2 206 1453 0.00 2.65 0.00 0.000 6 0.000 0.160 2376 2122 3559 0 0 0 0 0 0 28.83 14.67 28.83

1754 -1.60 -146.6 221.6 -12.1 237 1764 0.00 2.67 0.00 0.000 4 0.000 0.171 2365 3533 3558 0 0 0 0 0 0 28.83 14.67 28.83

1810 -1.60 -146.6 228.6 -12.6 242 1819 0.00 2.53 0.00 0.000 6 0.000 0.118 2365 2115 3558 0 0 0 0 0 0 28.83 14.72 28.83

2120 -1.60 -146.6 265.3 -11.3 273 2126 0.00 0.00 0.00 0.000 6 0.000 0.000 2365 2115 3558 0 0 0 0 0 0 28.83 28.83 28.83

2436 -1.60 -146.6 300.6 -11.2 304 2444 0.00 2.70 0.00 0.000 4 0.000 0.175 2357 3524 3558 0 0 0 0 0 0 28.83 14.71 28.83

2463 -1.60 -146.6 304.0 -11.2 306 2470 0.00 2.53 0.00 0.000 6 0.000 0.119 2356 2115 3557 0 0 0 0 0 0 28.83 14.76 28.83

2770 -1.60 -146.6 339.3 -11.6 337 2780 0.00 2.58 0.00 0.000 4 0.000 0.158 2356 709 3557 0 0 0 0 0 0 28.83 14.72 28.83

2808 -1.60 -146.6 343.6 -11.8 340 2816 0.10 2.67 0.00 0.000 6 0.329 0.164 2367 2119 3557 0 0 0 0 0 0 14.69 14.73 28.83

3117 -1.60 -146.6 377.9 -10.7 371 3123 0.00 0.00 0.00 0.000 6 0.000 0.000 2367 2120 3557 0 0 0 0 0 0 28.83 28.83 28.83

3434 -1.60 -146.6 412.3 -11.1 402 3442 0.00 2.67 0.00 0.000 4 0.000 0.177 2358 3531 3557 0 0 0 0 0 0 28.83 14.73 28.83

3479 -1.60 -146.6 418.3 -11.6 406 3487 0.00 2.50 0.00 0.000 6 0.000 0.119 2358 2126 3557 0 0 0 0 0 0 28.83 14.76 28.83

3753 end dive: TARGET_DEPTH_EXCEEDED

state 3753 begin apogee

3766 -0.38 0.0 450.1 -11.2 434 3921 0.95 0.00 143.25 2.201 6 0.249 0.000 2629 2065 2961 0 0 0 0 0 0 14.72 28.83 13.07

3922 end apogee: CONTROL_FINISHED_OK

state 3922 begin climb

3927 1.52 146.6 457.0 0.0 450 4093 1.38 2.85 151.93 2.145 4 0.149 0.162 3061 663 2363 0 0 0 0 0 0 13.85 13.66 13.02

4137 1.30 146.6 450.1 10.8 471 4146 0.25 2.78 0.00 0.000 6 0.297 0.144 3004 2076 2358 0 0 0 0 0 0 13.89 13.97 28.83

4447 1.18 148.9 418.9 9.9 502 4457 0.12 2.70 0.00 0.000 4 0.331 0.161 2974 3479 2355 0 0 0 0 0 0 14.30 14.34 28.83

4610 1.08 150.2 403.0 9.9 517 4618 0.12 2.60 0.00 0.000 6 0.314 0.120 2958 2065 2354 0 0 0 0 0 0 14.38 14.47 28.83

4920 1.08 186.9 376.8 8.3 548 4966 0.00 2.90 39.47 2.077 4 0.000 0.164 2957 3482 2198 0 0 0 0 0 0 28.83 14.13 13.51

5013 1.03 186.9 368.0 10.1 557 5022 0.08 2.62 0.00 0.000 6 0.288 0.119 2948 2070 2197 0 0 0 0 0 0 14.15 14.23 28.83

5324 1.06 214.1 339.8 8.7 588 5359 0.00 0.00 27.85 2.035 6 0.000 0.000 2946 2070 2087 0 0 0 0 0 0 28.83 28.83 13.54

5663 1.07 220.1 307.8 9.7 622 5672 0.00 0.00 6.88 1.764 6 0.000 0.000 2948 2070 2061 0 0 0 0 0 0 28.83 28.83 13.74

5973 1.08 226.9 278.0 9.7 653 5991 0.00 2.72 8.00 1.809 4 0.000 0.164 2948 3479 2037 0 0 0 0 0 0 28.83 14.42 13.81

6016 1.08 226.9 273.5 10.3 657 6025 0.00 2.58 0.00 0.000 6 0.000 0.121 2956 2072 2037 0 0 0 0 0 0 28.83 14.46 28.83

6327 1.08 234.2 242.2 9.7 688 6344 0.00 2.75 9.20 1.834 4 0.000 0.168 2956 3483 2006 0 0 0 0 0 0 28.83 14.45 13.84

6370 1.08 234.2 237.9 10.0 692 6379 0.00 2.58 0.00 0.000 6 0.000 0.120 2965 2069 2006 0 0 0 0 0 0 28.83 14.48 28.83

6680 1.08 234.2 205.9 10.8 723 6686 0.00 0.00 0.00 0.000 6 0.000 0.000 2965 2068 2005 0 0 0 0 0 0 28.83 28.83 28.83

6996 1.08 234.2 173.2 10.1 754 7004 0.00 2.70 0.00 0.000 4 0.000 0.170 2965 3477 2004 0 0 0 0 0 0 28.83 14.62 28.83

7061 1.08 234.2 165.3 11.3 760 7070 0.00 2.55 0.00 0.000 6 0.000 0.122 2975 2065 2003 0 0 0 0 0 0 28.83 14.64 28.83

7370 1.08 234.2 133.0 10.3 791 7380 0.00 2.58 0.00 0.000 4 0.000 0.158 2986 663 2003 0 0 0 0 0 0 28.83 14.64 28.83

7426 1.08 234.2 127.2 10.9 796 7435 0.10 2.60 0.00 0.000 6 0.262 0.151 2958 2068 2003 0 0 0 0 0 0 14.61 14.66 28.83

7737 1.16 267.4 99.6 8.5 827 7763 0.00 2.62 19.23 0.503 4 0.000 0.158 2966 660 1869 0 0 0 0 0 0 28.83 14.63 14.49

7835 1.21 267.4 90.7 10.2 844 7842 0.00 2.65 0.00 0.000 6 0.000 0.149 2967 2076 1867 0 0 0 0 0 0 28.83 14.66 28.83

8152 1.29 298.3 61.4 8.6 905 8179 0.12 2.72 16.80 0.372 4 0.164 0.168 3017 3481 1742 0 0 0 0 0 0 14.70 14.61 14.54

8241 1.26 298.3 50.5 13.5 920 8248 0.15 2.58 0.00 0.000 6 0.297 0.121 2994 2059 1740 0 0 0 0 0 0 14.58 14.66 28.83

8565 1.51 411.7 21.3 4.8 981 8633 0.15 2.85 59.70 0.239 4 0.150 0.173 3055 3487 1278 0 0 0 0 0 0 14.69 14.57 14.54

8745 1.60 411.7 5.4 10.4 1012 8752 0.00 2.58 0.00 0.000 6 0.000 0.122 3063 2068 1270 0 0 0 0 0 0 28.83 14.63 28.83

8762 end climb: SURFACE_DEPTH_REACHED

state 8762 begin surface coast

8789 end surface coast: CONTROL_FINISHED_OK

state 8789 begin surface

ID	193	HD_B	0.0099999998	PITCH_ADJ_GAIN	0.029999999	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	9.9999997e-06	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	5	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	450	TGT_DEFAULT_LAT	6000	C_ROLL_CLIMB	2070	ALTIM_FREQUENCY	13
D_ABORT	520	TGT_DEFAULT_LON	-5500	HEAD_ERRBAND	10	ALTIM_PULSE	5
D_NO_BLEED	50	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	1
D_BOOST	100	SM_CC	349.6098	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	13	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	300	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	150	UPLOAD_DIVES_MAX	-1	C_VBD	2960	DEVICE3	-1
T_MISSION	180	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	4	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	-748.44574	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	150	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	2720	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	0.003	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00022276744

GPS1	090912,002358,6652.487,-5859.513,36,1.0,36,-33.8	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	1.73	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	090912,003348,6652.510,-5859.246,4,1.0,4,-33.8	MHEAD_RNG_PITCHd_Wd	125.8,96749,-17.5,-10.000,-21.03
SPEED_LIMITS	0.084,0.260	D_GRID	1027

FINISH	1.1,1.024429	_24V_AH	13.0,5.806
SM_CCo	8877,0.00,0.000,0,0,1266,415.54	_10V_AH	13.1,0.000
SM_GC	1.96,8.75,0.15,0.00,0.116,0.221,0.000,145,2129,1266,-11.78,-0.20,415.54,0,0,0,0,0,0,14.65,14.60,28.83	FG_AHR_24Vo	0.000
RAFOS_CLK	359	FG_AHR_10Vo	0.000
RAFOS	2,1347149834,0.300000,0.287222,61,56,54,53,50,49,191,162,132,215,229,581	MEM	188740
RAFOS_FIX	6655.652344,-5906.568359,090912,000050,3,100,133.58	DATA_FILE_SIZE	46736,1020
IRIDIUM_FIX	6625.71,-5904.05,090912,000039	CAP_FILE_SIZE	106493,0
TT8_MAMPS	0.025466,0.025466	CFSIZE	259252224,250241024
HUMID	49.09	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.72327	SOUNDSPEED	1459.2
TCM_TEMP	13.40	CURRENT	0.093, 53.8,1
XPDR_PINGS	6	GPS	090912,030411,6652.756,-5855.104,14,1.0,14,-33.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	452	138.06	SBE_CT	735	23	229.16
Roll_motor	90	221	260.32	SBE_O2	702	3	34.18
VBD_pump_during_apogee	482	2200	13799.45	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	374	153	748.65	nil	0	0	0.00
Transponder_ping	1	420	8.19	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	21	1.66
TT8	2509	14	491.87
LPSleep	3926	2	118.82
TT8_Active	601	14	117.92
TT8_Sampling	1949	33	860.31
TT8_CF8	514	38	257.29
TT8_Kalman	0	0	0.00
Analog_circuits	1901	12	298.87
GPS_charging	0	0	0.00
Compass	1626	6	143.58
RAFOS	720	1	14.15
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
18	-1.52	-146.6	0.0	0.0	0	98	0.00	0.00	-77.00	0.000	2	0.000	0.000	145	2129	2724	0	0	0	0	0	0	28.83	28.83	28.83
104	-1.52	-146.6	3.2	-3.3	13	143	11.07	2.80	-18.12	0.000	4	0.453	0.200	2373	3522	3558	0	0	0	0	0	0	14.34	14.41	14.72
378	-1.52	-146.6	48.8	-11.4	64	385	0.00	2.60	0.00	0.000	6	0.000	0.122	2373	2113	3560	0	0	0	0	0	0	28.83	14.57	28.83
695	-1.52	-146.6	89.3	-12.7	125	701	0.00	0.00	0.00	0.000	6	0.000	0.000	2373	2113	3560	0	0	0	0	0	0	28.83	28.83	28.83
1012	-1.52	-146.6	130.4	-13.2	164	1021	0.00	2.60	0.00	0.000	4	0.000	0.161	2373	706	3559	0	0	0	0	0	0	28.83	14.62	28.83
1100	-1.52	-146.6	141.9	-13.6	172	1107	0.10	2.70	0.00	0.000	6	0.313	0.164	2383	2119	3559	0	0	0	0	0	0	14.60	14.64	28.83
1409	-1.57	-146.6	179.4	-11.8	203	1417	0.00	2.60	0.00	0.000	4	0.000	0.157	2384	714	3559	0	0	0	0	0	0	28.83	14.66	28.83
1446	-1.60	-146.6	183.7	-12.2	206	1453	0.00	2.65	0.00	0.000	6	0.000	0.160	2376	2122	3559	0	0	0	0	0	0	28.83	14.67	28.83
1754	-1.60	-146.6	221.6	-12.1	237	1764	0.00	2.67	0.00	0.000	4	0.000	0.171	2365	3533	3558	0	0	0	0	0	0	28.83	14.67	28.83
1810	-1.60	-146.6	228.6	-12.6	242	1819	0.00	2.53	0.00	0.000	6	0.000	0.118	2365	2115	3558	0	0	0	0	0	0	28.83	14.72	28.83
2120	-1.60	-146.6	265.3	-11.3	273	2126	0.00	0.00	0.00	0.000	6	0.000	0.000	2365	2115	3558	0	0	0	0	0	0	28.83	28.83	28.83
2436	-1.60	-146.6	300.6	-11.2	304	2444	0.00	2.70	0.00	0.000	4	0.000	0.175	2357	3524	3558	0	0	0	0	0	0	28.83	14.71	28.83
2463	-1.60	-146.6	304.0	-11.2	306	2470	0.00	2.53	0.00	0.000	6	0.000	0.119	2356	2115	3557	0	0	0	0	0	0	28.83	14.76	28.83
2770	-1.60	-146.6	339.3	-11.6	337	2780	0.00	2.58	0.00	0.000	4	0.000	0.158	2356	709	3557	0	0	0	0	0	0	28.83	14.72	28.83
2808	-1.60	-146.6	343.6	-11.8	340	2816	0.10	2.67	0.00	0.000	6	0.329	0.164	2367	2119	3557	0	0	0	0	0	0	14.69	14.73	28.83
3117	-1.60	-146.6	377.9	-10.7	371	3123	0.00	0.00	0.00	0.000	6	0.000	0.000	2367	2120	3557	0	0	0	0	0	0	28.83	28.83	28.83
3434	-1.60	-146.6	412.3	-11.1	402	3442	0.00	2.67	0.00	0.000	4	0.000	0.177	2358	3531	3557	0	0	0	0	0	0	28.83	14.73	28.83
3479	-1.60	-146.6	418.3	-11.6	406	3487	0.00	2.50	0.00	0.000	6	0.000	0.119	2358	2126	3557	0	0	0	0	0	0	28.83	14.76	28.83
3753	end dive: TARGET_DEPTH_EXCEEDED
state	3753	begin apogee
3766	-0.38	0.0	450.1	-11.2	434	3921	0.95	0.00	143.25	2.201	6	0.249	0.000	2629	2065	2961	0	0	0	0	0	0	14.72	28.83	13.07
3922	end apogee: CONTROL_FINISHED_OK
state	3922	begin climb
3927	1.52	146.6	457.0	0.0	450	4093	1.38	2.85	151.93	2.145	4	0.149	0.162	3061	663	2363	0	0	0	0	0	0	13.85	13.66	13.02
4137	1.30	146.6	450.1	10.8	471	4146	0.25	2.78	0.00	0.000	6	0.297	0.144	3004	2076	2358	0	0	0	0	0	0	13.89	13.97	28.83
4447	1.18	148.9	418.9	9.9	502	4457	0.12	2.70	0.00	0.000	4	0.331	0.161	2974	3479	2355	0	0	0	0	0	0	14.30	14.34	28.83
4610	1.08	150.2	403.0	9.9	517	4618	0.12	2.60	0.00	0.000	6	0.314	0.120	2958	2065	2354	0	0	0	0	0	0	14.38	14.47	28.83
4920	1.08	186.9	376.8	8.3	548	4966	0.00	2.90	39.47	2.077	4	0.000	0.164	2957	3482	2198	0	0	0	0	0	0	28.83	14.13	13.51
5013	1.03	186.9	368.0	10.1	557	5022	0.08	2.62	0.00	0.000	6	0.288	0.119	2948	2070	2197	0	0	0	0	0	0	14.15	14.23	28.83
5324	1.06	214.1	339.8	8.7	588	5359	0.00	0.00	27.85	2.035	6	0.000	0.000	2946	2070	2087	0	0	0	0	0	0	28.83	28.83	13.54
5663	1.07	220.1	307.8	9.7	622	5672	0.00	0.00	6.88	1.764	6	0.000	0.000	2948	2070	2061	0	0	0	0	0	0	28.83	28.83	13.74
5973	1.08	226.9	278.0	9.7	653	5991	0.00	2.72	8.00	1.809	4	0.000	0.164	2948	3479	2037	0	0	0	0	0	0	28.83	14.42	13.81
6016	1.08	226.9	273.5	10.3	657	6025	0.00	2.58	0.00	0.000	6	0.000	0.121	2956	2072	2037	0	0	0	0	0	0	28.83	14.46	28.83
6327	1.08	234.2	242.2	9.7	688	6344	0.00	2.75	9.20	1.834	4	0.000	0.168	2956	3483	2006	0	0	0	0	0	0	28.83	14.45	13.84
6370	1.08	234.2	237.9	10.0	692	6379	0.00	2.58	0.00	0.000	6	0.000	0.120	2965	2069	2006	0	0	0	0	0	0	28.83	14.48	28.83
6680	1.08	234.2	205.9	10.8	723	6686	0.00	0.00	0.00	0.000	6	0.000	0.000	2965	2068	2005	0	0	0	0	0	0	28.83	28.83	28.83
6996	1.08	234.2	173.2	10.1	754	7004	0.00	2.70	0.00	0.000	4	0.000	0.170	2965	3477	2004	0	0	0	0	0	0	28.83	14.62	28.83
7061	1.08	234.2	165.3	11.3	760	7070	0.00	2.55	0.00	0.000	6	0.000	0.122	2975	2065	2003	0	0	0	0	0	0	28.83	14.64	28.83
7370	1.08	234.2	133.0	10.3	791	7380	0.00	2.58	0.00	0.000	4	0.000	0.158	2986	663	2003	0	0	0	0	0	0	28.83	14.64	28.83
7426	1.08	234.2	127.2	10.9	796	7435	0.10	2.60	0.00	0.000	6	0.262	0.151	2958	2068	2003	0	0	0	0	0	0	14.61	14.66	28.83
7737	1.16	267.4	99.6	8.5	827	7763	0.00	2.62	19.23	0.503	4	0.000	0.158	2966	660	1869	0	0	0	0	0	0	28.83	14.63	14.49
7835	1.21	267.4	90.7	10.2	844	7842	0.00	2.65	0.00	0.000	6	0.000	0.149	2967	2076	1867	0	0	0	0	0	0	28.83	14.66	28.83
8152	1.29	298.3	61.4	8.6	905	8179	0.12	2.72	16.80	0.372	4	0.164	0.168	3017	3481	1742	0	0	0	0	0	0	14.70	14.61	14.54
8241	1.26	298.3	50.5	13.5	920	8248	0.15	2.58	0.00	0.000	6	0.297	0.121	2994	2059	1740	0	0	0	0	0	0	14.58	14.66	28.83
8565	1.51	411.7	21.3	4.8	981	8633	0.15	2.85	59.70	0.239	4	0.150	0.173	3055	3487	1278	0	0	0	0	0	0	14.69	14.57	14.54
8745	1.60	411.7	5.4	10.4	1012	8752	0.00	2.58	0.00	0.000	6	0.000	0.122	3063	2068	1270	0	0	0	0	0	0	28.83	14.63	28.83
8762	end climb: SURFACE_DEPTH_REACHED
state	8762	begin surface coast
8789	end surface coast: CONTROL_FINISHED_OK
state	8789	begin surface