Glider dive log

DavisStrait Sep12 * SG193 * Dive index * Mission links * Dive 6 * 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 6 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 2200 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 15 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 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 2772 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 -749.79199 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 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 0.003 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 -749.79199

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 2680 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2200 LOGGERDEVICE1 -1 ROLL_AD_RATE 300 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 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 15 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 6 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 090912,030411,6652.756,-5855.104,14,1.0,14,-33.8 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 1.81 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 090912,030959,6652.749,-5854.918,4,1.3,5,-33.8 MHEAD_RNG_PITCHd_Wd 120.5,93599,-17.5,-10.000,-21.03

SPEED_LIMITS 0.084,0.260 D_GRID 1021

Post-dive calculations and measurements:

FINISH 1.1,1.012360 _24V_AH 13.0,6.088

SM_CCo 9026,0.35,0.531,0,0,1345,349.80 _10V_AH 13.3,0.000

SM_GC 3.32,8.88,0.20,0.35,0.125,0.167,0.531,143,2113,1345,-11.60,0.28,349.80,0,0,0,0,0,0,14.64,14.62,14.56 FG_AHR_24Vo 0.000

RAFOS_CLK 372 FG_AHR_10Vo 0.000

RAFOS 0,1347163263,4.033333,4.017500,65,63,58,56,50,50,218,198,141,184,121,234 MEM 188832

RAFOS_FIX 6652.581543,-5907.515625,090912,040456,5,126,1.89 DATA_FILE_SIZE 50005,1047

IRIDIUM_FIX 6625.71,-5904.05,090912,000017 CAP_FILE_SIZE 104018,0

TT8_MAMPS 0.024717,0.024717 CFSIZE 259252224,250175488

HUMID 48.81 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,1,0,1,0

INTERNAL_PRESSURE 8.72327 SOUNDSPEED 1459.4

TCM_TEMP 13.60 CURRENT 0.080, 32.3,1

XPDR_PINGS 5 GPS 090912,054304,6653.020,-5851.548,32,1.0,32,-33.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 456 137.74 SBE_CT 754 23 235.10

Roll_motor 80 212 222.01 SBE_O2 723 3 35.18

VBD_pump_during_apogee 422 2210 12145.97 nil 0 0 0.00

VBD_pump_during_surface 0 530 2.42 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 200 150 393.16 nil 0 0 0.00

Transponder_ping 1 420 6.83 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 21 1.73

TT8 2570 14 511.49

LPSleep 3945 2 121.23

TT8_Active 562 14 111.88

TT8_Sampling 1842 33 825.41

TT8_CF8 483 38 245.53

TT8_Kalman 0 0 0.00

Analog_circuits 1685 12 269.00

GPS_charging 0 0 0.00

Compass 1660 6 148.87

RAFOS 2520 1 50.27

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 -1.52 -146.6 0.0 0.0 0 92 0.00 0.00 -70.70 0.000 2 0.000 0.000 144 2130 2639 0 0 0 0 0 0 28.83 28.83 28.83

98 -1.52 -146.6 3.2 -3.6 12 137 10.88 2.83 -16.95 0.000 4 0.457 0.203 2331 3531 3371 0 0 0 0 0 0 14.38 14.46 14.76

371 -1.40 -146.6 50.9 -13.5 63 379 0.17 2.58 0.00 0.000 6 0.296 0.121 2370 2121 3373 0 0 0 0 0 0 14.50 14.59 28.83

689 -1.35 -146.6 86.3 -11.9 124 696 0.00 2.78 0.00 0.000 4 0.000 0.185 2361 3531 3373 0 0 0 0 0 0 28.83 14.59 28.83

835 -1.29 -146.6 103.1 -12.2 148 842 0.15 2.58 0.00 0.000 6 0.290 0.120 2394 2112 3373 0 0 0 0 0 0 14.58 14.65 28.83

1143 -1.29 -146.6 136.7 -10.4 179 1152 0.00 2.58 0.00 0.000 4 0.000 0.157 2394 711 3373 0 0 0 0 0 0 28.83 14.64 28.83

1271 -1.29 -146.6 150.7 -11.4 191 1278 0.00 2.67 0.00 0.000 6 0.000 0.163 2386 2127 3372 0 0 0 0 0 0 28.83 14.67 28.83

1579 -1.29 -146.6 184.7 -10.9 222 1588 0.00 2.67 0.00 0.000 4 0.000 0.175 2376 3531 3373 0 0 0 0 0 0 28.83 14.66 28.83

1626 -1.29 -146.6 189.5 -10.8 226 1634 0.10 2.58 0.00 0.000 6 0.302 0.118 2395 2112 3372 0 0 0 0 0 0 14.65 14.73 28.83

1935 -1.29 -146.6 220.2 -9.2 257 1941 0.00 0.00 0.00 0.000 6 0.000 0.000 2395 2112 3372 0 0 0 0 0 0 28.83 28.83 28.83

2251 -1.29 -146.6 249.3 -9.4 288 2257 0.00 0.00 0.00 0.000 6 0.000 0.000 2395 2111 3372 0 0 0 0 0 0 28.83 28.83 28.83

2563 -1.29 -146.6 279.0 -9.6 319 2569 0.00 0.00 0.00 0.000 6 0.000 0.000 2395 2112 3372 0 0 0 0 0 0 28.83 28.83 28.83

2874 -1.29 -146.6 309.7 -10.2 350 2883 0.00 2.58 0.00 0.000 4 0.000 0.158 2395 708 3372 0 0 0 0 0 0 28.83 14.73 28.83

2911 -1.29 -146.6 313.9 -10.4 353 2920 0.00 2.65 0.00 0.000 6 0.000 0.166 2387 2116 3372 0 0 0 0 0 0 28.83 14.73 28.83

3221 -1.29 -146.6 345.0 -10.1 384 3227 0.00 0.00 0.00 0.000 6 0.000 0.000 2387 2116 3372 0 0 0 0 0 0 28.83 28.83 28.83

3530 -1.29 -146.6 377.0 -10.5 415 3539 0.00 2.60 0.00 0.000 4 0.000 0.161 2387 712 3372 0 0 0 0 0 0 28.83 14.74 28.83

3565 -1.29 -146.6 380.6 -10.9 418 3574 0.00 2.62 0.00 0.000 6 0.000 0.165 2379 2115 3372 0 0 0 0 0 0 28.83 14.73 28.83

3876 -1.29 -146.6 414.1 -10.7 449 3882 0.00 0.00 0.00 0.000 6 0.000 0.000 2379 2115 3372 0 0 0 0 0 0 28.83 28.83 28.83

4189 -1.29 -146.6 445.8 -10.1 480 4195 0.00 0.00 0.00 0.000 6 0.000 0.000 2379 2115 3372 0 0 0 0 0 0 28.83 28.83 28.83

4221 end dive: TARGET_DEPTH_EXCEEDED

state 4221 begin apogee

4233 -0.38 0.0 450.0 -10.2 484 4388 0.75 0.00 144.20 2.211 6 0.261 0.000 2589 2201 2772 0 0 0 0 0 0 14.71 28.83 13.06

4389 end apogee: CONTROL_FINISHED_OK

state 4389 begin climb

4394 1.52 146.6 456.4 0.0 500 4569 1.45 3.03 155.45 2.147 4 0.180 0.172 3010 3614 2174 0 0 0 0 0 0 13.81 13.62 13.00

4578 1.38 146.6 445.9 10.3 518 4586 0.17 2.75 0.00 0.000 6 0.301 0.118 2985 2200 2172 0 0 0 0 0 0 13.75 13.83 28.83

4887 1.33 146.6 410.4 10.8 549 4897 0.00 2.67 0.00 0.000 4 0.000 0.155 2994 784 2165 0 0 0 0 0 0 28.83 14.29 28.83

4954 1.25 146.6 403.0 11.3 555 4963 0.12 2.67 0.00 0.000 6 0.275 0.151 2961 2196 2164 0 0 0 0 0 0 14.29 14.34 28.83

5264 1.28 165.4 373.2 9.1 586 5289 0.00 0.00 18.25 2.039 6 0.000 0.000 2961 2197 2097 0 0 0 0 0 0 28.83 28.83 13.65

5594 1.29 176.0 341.6 9.5 619 5611 0.00 2.75 11.62 1.959 4 0.000 0.156 2969 788 2055 0 0 1 0 0 0 28.83 14.34 13.70

5697 1.29 176.0 330.6 10.8 629 5706 0.00 2.67 0.00 0.000 6 0.000 0.150 2969 2201 2053 0 0 0 0 0 0 28.83 14.39 28.83

6007 1.29 176.0 298.5 10.2 660 6016 0.00 2.70 0.00 0.000 4 0.000 0.171 2969 3609 2052 0 0 0 0 0 0 28.83 14.50 28.83

6044 1.26 176.0 294.7 11.0 663 6052 0.12 2.58 0.00 0.000 6 0.305 0.116 2954 2198 2053 0 0 0 0 0 0 14.47 14.55 28.83

6353 1.26 176.5 264.1 10.0 694 6363 0.00 2.60 0.00 0.000 4 0.000 0.151 2962 788 2051 0 0 0 0 0 0 28.83 14.57 28.83

6459 1.26 176.5 252.9 10.9 704 6467 0.00 2.62 0.00 0.000 6 0.000 0.148 2962 2201 2051 0 0 0 0 0 0 28.83 14.58 28.83

6769 1.26 176.5 220.0 10.5 735 6775 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 2201 2051 0 0 0 0 0 0 28.83 28.83 28.83

7085 1.26 176.5 188.2 10.2 766 7094 0.00 2.62 0.00 0.000 4 0.000 0.154 2972 784 2051 0 0 0 0 0 0 28.83 14.66 28.83

7140 1.26 176.5 181.8 10.6 771 7148 0.00 2.62 0.00 0.000 6 0.000 0.153 2972 2199 2051 0 0 0 0 0 0 28.83 14.66 28.83

7450 1.26 176.5 147.4 11.0 802 7459 0.00 2.67 0.00 0.000 4 0.000 0.173 2972 3610 2051 0 0 0 0 0 0 28.83 14.66 28.83

7508 1.26 176.5 141.2 11.8 807 7515 0.12 2.55 0.00 0.000 6 0.303 0.118 2956 2195 2052 0 0 0 0 0 0 14.65 14.73 28.83

7817 1.33 206.8 112.8 8.6 838 7843 0.00 2.62 18.77 1.742 4 0.000 0.153 2965 782 1928 0 0 0 0 0 0 28.83 14.53 14.00

8012 1.42 236.4 94.9 8.6 862 8039 0.10 2.70 16.77 0.492 6 0.182 0.153 3000 2208 1807 0 0 0 0 0 0 14.62 14.57 14.39

8354 1.42 236.4 57.3 11.0 926 8360 0.00 0.00 0.00 0.000 6 0.000 0.000 3000 2207 1803 0 0 0 0 0 0 28.83 28.83 28.83

8670 1.52 267.2 26.8 8.6 987 8696 0.00 2.72 16.12 0.268 4 0.000 0.155 3010 787 1681 0 0 0 0 0 0 28.83 14.59 14.55

8768 1.75 345.1 20.7 6.4 1004 8818 0.17 2.65 41.40 0.243 6 0.144 0.155 3072 2200 1363 0 0 0 0 0 0 14.66 14.62 14.52

8972 end climb: SURFACE_DEPTH_REACHED

state 8973 begin surface coast

8998 end surface coast: CONTROL_FINISHED_OK

state 8998 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	6	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	2200	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	15	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	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	2772	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	-749.79199	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	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	0.003	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00022276744

GPS1	090912,030411,6652.756,-5855.104,14,1.0,14,-33.8	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	1.81	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	090912,030959,6652.749,-5854.918,4,1.3,5,-33.8	MHEAD_RNG_PITCHd_Wd	120.5,93599,-17.5,-10.000,-21.03
SPEED_LIMITS	0.084,0.260	D_GRID	1021

FINISH	1.1,1.012360	_24V_AH	13.0,6.088
SM_CCo	9026,0.35,0.531,0,0,1345,349.80	_10V_AH	13.3,0.000
SM_GC	3.32,8.88,0.20,0.35,0.125,0.167,0.531,143,2113,1345,-11.60,0.28,349.80,0,0,0,0,0,0,14.64,14.62,14.56	FG_AHR_24Vo	0.000
RAFOS_CLK	372	FG_AHR_10Vo	0.000
RAFOS	0,1347163263,4.033333,4.017500,65,63,58,56,50,50,218,198,141,184,121,234	MEM	188832
RAFOS_FIX	6652.581543,-5907.515625,090912,040456,5,126,1.89	DATA_FILE_SIZE	50005,1047
IRIDIUM_FIX	6625.71,-5904.05,090912,000017	CAP_FILE_SIZE	104018,0
TT8_MAMPS	0.024717,0.024717	CFSIZE	259252224,250175488
HUMID	48.81	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,1,0,1,0
INTERNAL_PRESSURE	8.72327	SOUNDSPEED	1459.4
TCM_TEMP	13.60	CURRENT	0.080, 32.3,1
XPDR_PINGS	5	GPS	090912,054304,6653.020,-5851.548,32,1.0,32,-33.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	456	137.74	SBE_CT	754	23	235.10
Roll_motor	80	212	222.01	SBE_O2	723	3	35.18
VBD_pump_during_apogee	422	2210	12145.97	nil	0	0	0.00
VBD_pump_during_surface	0	530	2.42	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	200	150	393.16	nil	0	0	0.00
Transponder_ping	1	420	6.83	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	21	1.73
TT8	2570	14	511.49
LPSleep	3945	2	121.23
TT8_Active	562	14	111.88
TT8_Sampling	1842	33	825.41
TT8_CF8	483	38	245.53
TT8_Kalman	0	0	0.00
Analog_circuits	1685	12	269.00
GPS_charging	0	0	0.00
Compass	1660	6	148.87
RAFOS	2520	1	50.27
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	-1.52	-146.6	0.0	0.0	0	92	0.00	0.00	-70.70	0.000	2	0.000	0.000	144	2130	2639	0	0	0	0	0	0	28.83	28.83	28.83
98	-1.52	-146.6	3.2	-3.6	12	137	10.88	2.83	-16.95	0.000	4	0.457	0.203	2331	3531	3371	0	0	0	0	0	0	14.38	14.46	14.76
371	-1.40	-146.6	50.9	-13.5	63	379	0.17	2.58	0.00	0.000	6	0.296	0.121	2370	2121	3373	0	0	0	0	0	0	14.50	14.59	28.83
689	-1.35	-146.6	86.3	-11.9	124	696	0.00	2.78	0.00	0.000	4	0.000	0.185	2361	3531	3373	0	0	0	0	0	0	28.83	14.59	28.83
835	-1.29	-146.6	103.1	-12.2	148	842	0.15	2.58	0.00	0.000	6	0.290	0.120	2394	2112	3373	0	0	0	0	0	0	14.58	14.65	28.83
1143	-1.29	-146.6	136.7	-10.4	179	1152	0.00	2.58	0.00	0.000	4	0.000	0.157	2394	711	3373	0	0	0	0	0	0	28.83	14.64	28.83
1271	-1.29	-146.6	150.7	-11.4	191	1278	0.00	2.67	0.00	0.000	6	0.000	0.163	2386	2127	3372	0	0	0	0	0	0	28.83	14.67	28.83
1579	-1.29	-146.6	184.7	-10.9	222	1588	0.00	2.67	0.00	0.000	4	0.000	0.175	2376	3531	3373	0	0	0	0	0	0	28.83	14.66	28.83
1626	-1.29	-146.6	189.5	-10.8	226	1634	0.10	2.58	0.00	0.000	6	0.302	0.118	2395	2112	3372	0	0	0	0	0	0	14.65	14.73	28.83
1935	-1.29	-146.6	220.2	-9.2	257	1941	0.00	0.00	0.00	0.000	6	0.000	0.000	2395	2112	3372	0	0	0	0	0	0	28.83	28.83	28.83
2251	-1.29	-146.6	249.3	-9.4	288	2257	0.00	0.00	0.00	0.000	6	0.000	0.000	2395	2111	3372	0	0	0	0	0	0	28.83	28.83	28.83
2563	-1.29	-146.6	279.0	-9.6	319	2569	0.00	0.00	0.00	0.000	6	0.000	0.000	2395	2112	3372	0	0	0	0	0	0	28.83	28.83	28.83
2874	-1.29	-146.6	309.7	-10.2	350	2883	0.00	2.58	0.00	0.000	4	0.000	0.158	2395	708	3372	0	0	0	0	0	0	28.83	14.73	28.83
2911	-1.29	-146.6	313.9	-10.4	353	2920	0.00	2.65	0.00	0.000	6	0.000	0.166	2387	2116	3372	0	0	0	0	0	0	28.83	14.73	28.83
3221	-1.29	-146.6	345.0	-10.1	384	3227	0.00	0.00	0.00	0.000	6	0.000	0.000	2387	2116	3372	0	0	0	0	0	0	28.83	28.83	28.83
3530	-1.29	-146.6	377.0	-10.5	415	3539	0.00	2.60	0.00	0.000	4	0.000	0.161	2387	712	3372	0	0	0	0	0	0	28.83	14.74	28.83
3565	-1.29	-146.6	380.6	-10.9	418	3574	0.00	2.62	0.00	0.000	6	0.000	0.165	2379	2115	3372	0	0	0	0	0	0	28.83	14.73	28.83
3876	-1.29	-146.6	414.1	-10.7	449	3882	0.00	0.00	0.00	0.000	6	0.000	0.000	2379	2115	3372	0	0	0	0	0	0	28.83	28.83	28.83
4189	-1.29	-146.6	445.8	-10.1	480	4195	0.00	0.00	0.00	0.000	6	0.000	0.000	2379	2115	3372	0	0	0	0	0	0	28.83	28.83	28.83
4221	end dive: TARGET_DEPTH_EXCEEDED
state	4221	begin apogee
4233	-0.38	0.0	450.0	-10.2	484	4388	0.75	0.00	144.20	2.211	6	0.261	0.000	2589	2201	2772	0	0	0	0	0	0	14.71	28.83	13.06
4389	end apogee: CONTROL_FINISHED_OK
state	4389	begin climb
4394	1.52	146.6	456.4	0.0	500	4569	1.45	3.03	155.45	2.147	4	0.180	0.172	3010	3614	2174	0	0	0	0	0	0	13.81	13.62	13.00
4578	1.38	146.6	445.9	10.3	518	4586	0.17	2.75	0.00	0.000	6	0.301	0.118	2985	2200	2172	0	0	0	0	0	0	13.75	13.83	28.83
4887	1.33	146.6	410.4	10.8	549	4897	0.00	2.67	0.00	0.000	4	0.000	0.155	2994	784	2165	0	0	0	0	0	0	28.83	14.29	28.83
4954	1.25	146.6	403.0	11.3	555	4963	0.12	2.67	0.00	0.000	6	0.275	0.151	2961	2196	2164	0	0	0	0	0	0	14.29	14.34	28.83
5264	1.28	165.4	373.2	9.1	586	5289	0.00	0.00	18.25	2.039	6	0.000	0.000	2961	2197	2097	0	0	0	0	0	0	28.83	28.83	13.65
5594	1.29	176.0	341.6	9.5	619	5611	0.00	2.75	11.62	1.959	4	0.000	0.156	2969	788	2055	0	0	1	0	0	0	28.83	14.34	13.70
5697	1.29	176.0	330.6	10.8	629	5706	0.00	2.67	0.00	0.000	6	0.000	0.150	2969	2201	2053	0	0	0	0	0	0	28.83	14.39	28.83
6007	1.29	176.0	298.5	10.2	660	6016	0.00	2.70	0.00	0.000	4	0.000	0.171	2969	3609	2052	0	0	0	0	0	0	28.83	14.50	28.83
6044	1.26	176.0	294.7	11.0	663	6052	0.12	2.58	0.00	0.000	6	0.305	0.116	2954	2198	2053	0	0	0	0	0	0	14.47	14.55	28.83
6353	1.26	176.5	264.1	10.0	694	6363	0.00	2.60	0.00	0.000	4	0.000	0.151	2962	788	2051	0	0	0	0	0	0	28.83	14.57	28.83
6459	1.26	176.5	252.9	10.9	704	6467	0.00	2.62	0.00	0.000	6	0.000	0.148	2962	2201	2051	0	0	0	0	0	0	28.83	14.58	28.83
6769	1.26	176.5	220.0	10.5	735	6775	0.00	0.00	0.00	0.000	6	0.000	0.000	2962	2201	2051	0	0	0	0	0	0	28.83	28.83	28.83
7085	1.26	176.5	188.2	10.2	766	7094	0.00	2.62	0.00	0.000	4	0.000	0.154	2972	784	2051	0	0	0	0	0	0	28.83	14.66	28.83
7140	1.26	176.5	181.8	10.6	771	7148	0.00	2.62	0.00	0.000	6	0.000	0.153	2972	2199	2051	0	0	0	0	0	0	28.83	14.66	28.83
7450	1.26	176.5	147.4	11.0	802	7459	0.00	2.67	0.00	0.000	4	0.000	0.173	2972	3610	2051	0	0	0	0	0	0	28.83	14.66	28.83
7508	1.26	176.5	141.2	11.8	807	7515	0.12	2.55	0.00	0.000	6	0.303	0.118	2956	2195	2052	0	0	0	0	0	0	14.65	14.73	28.83
7817	1.33	206.8	112.8	8.6	838	7843	0.00	2.62	18.77	1.742	4	0.000	0.153	2965	782	1928	0	0	0	0	0	0	28.83	14.53	14.00
8012	1.42	236.4	94.9	8.6	862	8039	0.10	2.70	16.77	0.492	6	0.182	0.153	3000	2208	1807	0	0	0	0	0	0	14.62	14.57	14.39
8354	1.42	236.4	57.3	11.0	926	8360	0.00	0.00	0.00	0.000	6	0.000	0.000	3000	2207	1803	0	0	0	0	0	0	28.83	28.83	28.83
8670	1.52	267.2	26.8	8.6	987	8696	0.00	2.72	16.12	0.268	4	0.000	0.155	3010	787	1681	0	0	0	0	0	0	28.83	14.59	14.55
8768	1.75	345.1	20.7	6.4	1004	8818	0.17	2.65	41.40	0.243	6	0.144	0.155	3072	2200	1363	0	0	0	0	0	0	14.66	14.62	14.52
8972	end climb: SURFACE_DEPTH_REACHED
state	8973	begin surface coast
8998	end surface coast: CONTROL_FINISHED_OK
state	8998	begin surface