Glider dive log

NASCAR Dec16 * SG528 * Dive index * Mission links * Dive 6 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 528 HD_C 9.8500004e-06 ROLL_DEG 40 ALTIM_BOTTOM_PING_RANGE 0

MISSION 3 HEADING -1 C_ROLL_DIVE 2300 ALTIM_TOP_PING_RANGE 0

DIVE 6 ESCAPE_HEADING 0 C_ROLL_CLIMB 2400 ALTIM_BOTTOM_TURN_MARGIN 12

N_DIVES 0 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_TOP_TURN_MARGIN 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 TGT_DEFAULT_LAT 4212 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 0

D_TGT 360 TGT_DEFAULT_LON -7043 R_PORT_OVSHOOT 28 ALTIM_PING_DELTA 10

D_ABORT 500 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 19 ALTIM_FREQUENCY 13

D_NO_BLEED 50 SM_CC 500 ROLL_AD_RATE 350 ALTIM_PULSE 3

D_BOOST 20 N_FILEKB 8 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 2

T_BOOST 5 FILEMGR 0 ROLL_ADJ_GAIN 0 XPDR_VALID 2

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_PITCH 0 COMM_SEQ 0 VBD_MIN 500 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 PROTOCOL 9 VBD_MAX 3959 INT_PRESSURE_YINT 0.85000002

D_CALL 0 N_NOCOMM 1 C_VBD 2967 DEEPGLIDER 0

SURFACE_URGENCY 0 NOCOMM_ACTION 161 VBD_DBAND 2 MOTHERBOARD 4

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_CNV -0.245296 DEVICE1 2

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_LP_IGNORE 0 DEVICE2 -1

T_DIVE 120 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE3 -1

T_MISSION 150 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE5 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 DEVICE6 -1

T_TURN_SAMPINT -5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERS 0

T_NO_W 120 T_GPS 5 UNCOM_BLEED 50 LOGGERDEVICE1 -1

T_LOITER 0 N_GPS 100440 VBD_MAXERRORS 1 LOGGERDEVICE2 -1

T_EPIRB 0 T_RSLEEP 1 W_ADJ_DBAND 0 LOGGERDEVICE3 -1

USE_BATHY -6 STROBE 0 DBDW 0 LOGGERDEVICE4 -1

USE_ICE 0 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 COMPASS2_DEVICE -1

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 PHONE_DEVICE 49

T_WATCHDOG 10 PITCH_MIN 200 AH0_24V 350 GPS_DEVICE 32

RELAUNCH 1 PITCH_MAX 3970 AH0_10V 0 RAFOS_DEVICE -1

APOGEE_PITCH -5 C_PITCH 3320 MINV_24V 11 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_DBAND 0.1 MINV_10V 11 SIM_W 0

COURSE_BIAS 0 PITCH_CNV 0.003125763 MAXI_24V 0.60000002 SIM_PITCH 0

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 MAXI_10V 0.80000001 SEABIRD_T_G 0.0043548695

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 FG_AHR_10V 0 SEABIRD_T_H 0.0006268858

RHO 1.0275 PITCH_GAIN 30 FG_AHR_24V 0 SEABIRD_T_I 2.3578436e-05

MASS 52309 PITCH_TIMEOUT 16 PHONE_SUPPLY -2 SEABIRD_T_J 2.4722265e-06

MASS_COMP 0 PITCH_AD_RATE 120 PRESSURE_YINT -56.708107 SEABIRD_C_G -10.467909

NAV_MODE 2 PITCH_MAXERRORS 1 PRESSURE_SLOPE 0.00011645618 SEABIRD_C_H 1.2025218

FERRY_MAX 45 PITCH_ADJ_GAIN 0.029999999 AD7714Ch0Gain 128 SEABIRD_C_I -0.00091677177

KALMAN_USE 2 PITCH_ADJ_DBAND 1 TCM_PITCH_OFFSET 0 SEABIRD_C_J 0.00016246161

HD_A 0.0038360001 ROLL_MIN 300 TCM_ROLL_OFFSET 0

HD_B 0.010078 ROLL_MAX 3830 COMPASS_USE 4

AD7714Ch0Gain 128 D_PITCH 0 PHONE_DEVICE 49 SIM_PITCH 0

AH0_10V 0 D_SAFE 0 PHONE_SUPPLY -2 SIM_W 0

AH0_24V 350 D_SURF 3 PITCH_ADJ_DBAND 1 SM_CC 500

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 360 PITCH_ADJ_GAIN 0.029999999 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 12 ESCAPE_HEADING 0 PITCH_AD_RATE 120 STROBE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.003125763 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 FERRY_MAX 45 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 FG_AHR_10V 0 PITCH_GAIN 30 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FG_AHR_24V 0 PITCH_MAX 3970 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_MIN 200 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_TIMEOUT 16 TGT_DEFAULT_LAT 4212

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 32 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -7043

APOGEE_PITCH -5 HD_A 0.0038360001 PITCH_W_DBAND 0 T_ABORT 1440

CALL_NDIVES 1 HD_B 0.010078 PITCH_W_GAIN 0 T_BOOST 5

CALL_TRIES 5 HD_C 9.8500004e-06 PRESSURE_SLOPE 0.00011645618 T_DIVE 120

CALL_WAIT 60 HEADING -1 PRESSURE_YINT -56.708107 T_EPIRB 0

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PROTOCOL 9 T_GPS 5

CAPUPLOAD 0 HEAPDBG 0 P_OVSHOOT 0.039999999 T_LOITER 0

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 P_OVSHOOT_WITHG 0 T_MISSION 150

COMM_SEQ 0 ID 528 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_DEVICE -1 T_RSLEEP 1

COMPASS_DEVICE 33 INT_PRESSURE_YINT 0.85000002 RAFOS_HIT_WINDOW 3600 T_TURN 225

COMPASS_USE 4 KALMAN_USE 2 RAFOS_PEAK_OFFSET 1.5 T_TURN_SAMPINT -5

COURSE_BIAS 0 LOGGERDEVICE1 -1 RELAUNCH 1 T_WATCHDOG 10

C_PITCH 3320 LOGGERDEVICE2 -1 RHO 1.0275 UNCOM_BLEED 50

C_ROLL_CLIMB 2400 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2300 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 USE_BATHY -6

C_VBD 2967 LOGGERS 0 ROLL_AD_RATE 350 USE_ICE 0

DBDW 0 MASS 52309 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS_COMP 0 ROLL_DEG 40 VBD_CNV -0.245296

DEVICE1 2 MAXI_10V 0.80000001 ROLL_MAX 3830 VBD_DBAND 2

DEVICE2 -1 MAXI_24V 0.60000002 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE3 -1 MAX_BUOY 150 ROLL_MIN 300 VBD_MAX 3959

DEVICE4 -1 MINV_10V 11 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DEVICE5 -1 MINV_24V 11 R_PORT_OVSHOOT 28 VBD_MIN 500

DEVICE6 -1 MISSION 3 R_STBD_OVSHOOT 19 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 6 MOTHERBOARD 4 SEABIRD_C_G -10.467909 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 500 NAV_MODE 2 SEABIRD_C_H 1.2025218 VBD_TIMEOUT 720

D_BOOST 20 NOCOMM_ACTION 161 SEABIRD_C_I -0.00091677177 W_ADJ_DBAND 0

D_CALL 0 N_DIVES 0 SEABIRD_C_J 0.00016246161 XPDR_DEVICE 24

D_FINISH 0 N_FILEKB 8 SEABIRD_T_G 0.0043548695 XPDR_INHIBIT 90

D_FLARE 3 N_GPS 100440 SEABIRD_T_H 0.0006268858 XPDR_VALID 2

D_NO_BLEED 50 N_NOCOMM 1 SEABIRD_T_I 2.3578436e-05

D_OFFGRID 1000 N_NOSURFACE 0 SEABIRD_T_J 2.4722265e-06

Pre-dive calculations and measurements:

GPS1 201216,072926,-339.7617,5542.2622,6,1.0,14,-4.7,0.0,343.2,8,9.3 SPEED_LIMITS 0.173,0.260

_CALLS 1 TGT_NAME S

_XMS_NAKs 0 TGT_LATLONG -300.000,5600.000

_XMS_TOUTs 0 TGT_RADIUS 5000.000

_SM_DEPTHo 0.80 MHEAD_RNG_PITCHd_Wd 15.4,80619,-18.2,-10.000,-21.02,2236

_SM_ANGLEo -69.2 D_GRID 1000

GPS2 201216,073259,-339.7551,5542.2422,19,1.0,19,-4.7,0.0,295.7,8,6.5

Post-dive calculations and measurements:

FINISH 0.0,1.022741 FG_AHR_24Vo 0.000

SM_CCo 6743,61.10,0.076,0,0,927,500.16 FG_AHR_10Vo 0.000

SM_GC 0.70,9.25,0.17,61.10,0.084,0.153,0.076,190,2294,927,-9.72,0.65,500.16,0,0,0,0,0,0,14.62,14.62,14.64 MEM 311180

IRIDIUM_FIX -335.81,5540.84,201216,053253 DATA_FILE_SIZE 33397,771

TT8_MAMPS 0.025466,0.113099 CAP_FILE_SIZE 83267,0

HUMID 52.59 CFSIZE 2097872896,2094628864

INTERNAL_PRESSURE 9.67846 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,6,0

TCM_TEMP 24.40 INTR 0,6547.82,0x2344d0,1,24

XPDR_PINGS 112 CURRENT 0.090,94.07,1

_24V_AH 13.69,2.741 GPS 201216,092808,-338.978,5542.820,42,0.9,46,-4.7,0.7,211.2,7,9.1

_10V_AH 13.86,0.000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 387 129.30 SBE_CT 399 23 127.06

Roll_motor 75 2201 2266.59 nil 0 0 0.00

VBD_pump_during_apogee 405 1222 6778.76 nil 0 0 0.00

VBD_pump_during_surface 61 76 63.99 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 141 161 312.90 nil 0 0 0.00

Transponder_ping 28 420 160.99 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 44 12.74

TT8 1544 11 245.33

LPSleep 3567 2 108.28

TT8_Active 598 11 95.00

TT8_Sampling 1276 31 560.58

TT8_CF8 45 37 23.61

TT8_Kalman 0 0 0.00

Analog_circuits 1362 15 292.77

GPS_charging 0 0 0.00

Compass 1104 16 252.36

RAFOS 0 0 0.00

Transponder 0 5 0.04

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_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

15 -0.79 -146.0 227 2316 591 480 0.0 0.0 0 122 0.00 0.00 -104.62 0.000 16386 0.000 0.000 227 2314 3192 3029 3356 0 0 0 0 0 0 14.90 28.83 14.92

124 -0.79 -146.0 227 2314 3030 3357 3.7 -6.1 18 150 11.65 2.78 -6.57 0.000 18948 0.387 2.202 3057 895 3564 3345 3783 0 0 0 0 0 0 14.47 13.81 14.71

183 -0.51 -146.0 3056 895 3347 3785 26.0 -31.1 28 191 0.32 2.47 0.00 0.000 3078 0.245 0.107 3148 2305 3565 3347 3784 0 0 0 0 0 0 14.54 14.60 14.69

498 -0.71 -146.0 3147 2305 3347 3788 62.2 -7.6 75 503 0.17 2.45 0.00 0.000 4356 0.134 0.120 3081 3720 3567 3347 3788 0 0 0 0 0 0 14.74 14.71 14.80

624 -0.81 -146.0 3080 3720 3350 3789 76.8 -11.8 100 631 0.00 2.40 0.00 0.000 1030 0.000 0.095 3081 2304 3569 3350 3789 0 0 0 0 0 0 14.85 14.76 14.88

930 -0.89 -146.0 3080 2303 3353 3788 107.1 -10.3 131 936 0.12 2.50 0.00 0.000 4612 0.159 0.132 3026 888 3570 3353 3788 0 0 0 0 0 0 14.83 14.77 14.88

1052 -0.89 -146.0 3024 887 3354 3788 124.7 -14.6 155 1057 0.00 2.42 0.00 0.000 1030 0.000 0.101 3024 2301 3571 3354 3789 0 0 0 0 0 0 14.90 14.81 14.93

1363 -0.89 -146.0 3024 2301 3354 3789 168.7 -12.9 187 1368 0.00 2.42 0.00 0.000 260 0.000 0.125 3024 3711 3571 3354 3789 0 0 0 0 0 0 15.11 14.81 15.14

1428 -0.89 -146.0 3023 3711 3354 3788 177.3 -12.6 200 1435 0.00 2.40 0.00 0.000 1030 0.000 0.101 3024 2300 3571 3354 3788 0 0 0 0 0 0 14.93 14.83 14.95

1735 -0.89 -146.0 3024 2300 3354 3788 211.0 -9.9 231 1739 0.00 2.50 0.00 0.000 516 0.000 0.136 3024 891 3571 3354 3789 0 0 0 0 0 0 15.13 14.81 15.15

1769 -0.89 -146.0 3023 891 3354 3788 214.9 -10.4 238 1776 0.00 2.45 0.00 0.000 1030 0.000 0.106 3024 2307 3571 3354 3788 0 0 0 0 0 0 14.95 14.83 14.97

2076 -0.89 -146.0 3023 2307 3354 3788 247.7 -11.7 269 2080 0.00 2.45 0.00 0.000 260 0.000 0.130 3024 3717 3571 3354 3788 0 0 0 0 0 0 15.14 14.82 15.16

2193 -0.93 -146.0 3023 3717 3354 3788 262.3 -12.6 292 2199 0.00 2.42 0.00 0.000 1030 0.000 0.104 3023 2296 3571 3354 3788 0 0 0 0 0 0 14.96 14.85 14.97

2522 -0.93 -146.0 3023 2297 3353 3787 304.8 -12.8 308 2528 0.00 2.50 0.00 0.000 516 0.000 0.145 3024 893 3570 3354 3786 0 0 0 0 0 0 15.16 14.83 15.18

2545 -0.93 -146.0 3023 893 3353 3786 308.0 -13.5 313 2552 0.00 2.45 0.00 0.000 1030 0.000 0.109 3024 2306 3569 3353 3786 0 0 0 0 0 0 14.97 14.86 15.00

2853 -0.96 -146.0 3023 2307 3353 3783 344.5 -11.5 324 2859 0.00 2.45 0.00 0.000 260 0.000 0.138 3024 3709 3567 3353 3782 0 0 0 0 0 0 15.16 14.85 15.19

2975 -1.02 -146.0 3023 3708 3353 3781 358.1 -10.2 349 2979 0.00 2.42 0.00 0.000 1030 0.000 0.112 3024 2303 3567 3353 3781 0 0 0 0 0 0 14.97 14.85 15.00

2994 end dive: TARGET_DEPTH_EXCEEDED

state 2994 begin apogee

2998 -0.17 0.0 3024 2399 3353 3781 360.3 -11.1 353 3131 0.75 0.00 129.90 1.179 10246 0.207 0.000 3257 2400 2966 2854 3079 0 0 0 0 0 0 14.81 14.33 13.85

3132 end apogee: CONTROL_FINISHED_OK

state 3132 begin climb

3133 0.79 146.0 3257 2400 2851 3075 363.1 0.0 357 3246 0.95 0.00 109.00 1.222 10246 0.134 0.000 3577 2400 2369 2300 2439 0 0 0 0 0 0 14.30 14.18 13.69

3537 0.74 146.0 3576 2400 2281 2429 322.2 12.0 371 3542 0.00 2.55 0.00 0.000 260 0.000 0.148 3576 3808 2354 2281 2428 0 0 0 0 0 0 14.90 14.60 14.92

3599 0.64 146.0 3575 3808 2281 2427 314.6 12.6 383 3604 0.20 2.47 0.00 0.000 5126 0.265 0.113 3530 2402 2354 2281 2427 0 0 0 0 0 0 14.57 14.64 14.75

3932 0.70 168.7 3529 2401 2277 2427 284.5 9.0 399 3955 0.00 2.60 17.23 1.123 8708 0.000 0.144 3529 981 2273 2198 2348 0 0 0 0 0 0 15.02 14.62 14.23

4016 0.77 168.7 3530 981 2194 2348 276.0 10.2 416 4023 0.12 2.53 0.00 0.000 3078 0.148 0.119 3574 2396 2270 2193 2347 0 0 0 0 0 0 14.72 14.67 14.80

4322 0.72 168.7 3573 2396 2192 2345 240.3 10.2 433 4331 0.00 2.55 0.00 0.000 260 0.000 0.148 3575 3810 2268 2192 2344 0 0 0 0 0 0 15.03 14.72 15.05

4413 0.63 168.7 3574 3810 2192 2343 230.5 10.4 451 4418 0.20 2.47 0.00 0.000 5126 0.268 0.115 3528 2393 2267 2192 2343 0 0 0 0 0 0 14.67 14.76 14.85

4726 0.73 214.8 3527 2392 2189 2343 207.4 7.9 483 4770 0.00 2.58 38.58 1.075 8708 0.000 0.144 3527 987 2085 2000 2170 0 0 0 0 0 0 15.07 14.53 14.16

4867 0.84 214.8 3527 986 1998 2166 193.7 11.1 511 4873 0.20 2.55 0.00 0.000 3078 0.123 0.122 3603 2404 2081 1997 2166 0 0 0 0 0 0 14.68 14.64 14.76

5179 0.77 214.8 3602 2404 1993 2164 150.3 12.7 543 5181 0.15 0.00 0.00 0.000 4102 0.266 0.000 3567 2404 2078 1993 2164 0 0 0 0 0 0 14.66 14.86 14.83

5479 0.77 214.8 3566 2404 1990 2164 119.7 10.8 573 5483 0.00 2.50 0.00 0.000 260 0.000 0.140 3567 3810 2077 1990 2164 0 0 0 0 0 0 15.06 14.73 15.08

5515 0.77 214.8 3566 3810 1990 2161 115.5 11.9 580 5524 0.00 2.45 0.00 0.000 1030 0.000 0.110 3566 2396 2075 1989 2161 0 0 0 0 0 0 14.88 14.77 14.90

5826 0.82 251.4 3566 2396 1988 2161 89.1 8.3 612 5860 0.00 2.55 28.98 0.952 8708 0.000 0.138 3567 981 1937 1840 2034 0 0 0 0 0 0 15.08 14.61 14.27

6032 0.90 251.4 3566 981 1836 2030 66.6 10.2 653 6042 0.15 2.50 0.00 0.000 3078 0.128 0.107 3621 2408 1933 1835 2031 0 0 0 0 0 0 14.76 14.71 14.83

6343 1.00 309.2 3621 2408 1830 2031 38.2 7.3 699 6397 0.00 2.50 46.47 0.856 8452 0.000 0.132 3621 3811 1698 1599 1797 0 0 0 0 0 0 15.02 14.49 14.19

6529 1.10 357.0 3621 3811 1593 1794 25.1 7.8 734 6574 0.15 2.45 34.90 0.817 11270 0.126 0.102 3687 2395 1502 1407 1597 0 0 0 0 0 0 14.69 14.64 14.16

6705 end climb: SURFACE_DEPTH_REACHED

state 6705 begin surface coast

6726 end surface coast: CONTROL_FINISHED_OK

state 6727 begin surface

ID	528	HD_C	9.8500004e-06	ROLL_DEG	40	ALTIM_BOTTOM_PING_RANGE	0
MISSION	3	HEADING	-1	C_ROLL_DIVE	2300	ALTIM_TOP_PING_RANGE	0
DIVE	6	ESCAPE_HEADING	0	C_ROLL_CLIMB	2400	ALTIM_BOTTOM_TURN_MARGIN	12
N_DIVES	0	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	TGT_DEFAULT_LAT	4212	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	0
D_TGT	360	TGT_DEFAULT_LON	-7043	R_PORT_OVSHOOT	28	ALTIM_PING_DELTA	10
D_ABORT	500	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	19	ALTIM_FREQUENCY	13
D_NO_BLEED	50	SM_CC	500	ROLL_AD_RATE	350	ALTIM_PULSE	3
D_BOOST	20	N_FILEKB	8	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	2
T_BOOST	5	FILEMGR	0	ROLL_ADJ_GAIN	0	XPDR_VALID	2
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_PITCH	0	COMM_SEQ	0	VBD_MIN	500	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	PROTOCOL	9	VBD_MAX	3959	INT_PRESSURE_YINT	0.85000002
D_CALL	0	N_NOCOMM	1	C_VBD	2967	DEEPGLIDER	0
SURFACE_URGENCY	0	NOCOMM_ACTION	161	VBD_DBAND	2	MOTHERBOARD	4
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_CNV	-0.245296	DEVICE1	2
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_LP_IGNORE	0	DEVICE2	-1
T_DIVE	120	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE3	-1
T_MISSION	150	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE5	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	DEVICE6	-1
T_TURN_SAMPINT	-5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERS	0
T_NO_W	120	T_GPS	5	UNCOM_BLEED	50	LOGGERDEVICE1	-1
T_LOITER	0	N_GPS	100440	VBD_MAXERRORS	1	LOGGERDEVICE2	-1
T_EPIRB	0	T_RSLEEP	1	W_ADJ_DBAND	0	LOGGERDEVICE3	-1
USE_BATHY	-6	STROBE	0	DBDW	0	LOGGERDEVICE4	-1
USE_ICE	0	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	COMPASS2_DEVICE	-1
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	PHONE_DEVICE	49
T_WATCHDOG	10	PITCH_MIN	200	AH0_24V	350	GPS_DEVICE	32
RELAUNCH	1	PITCH_MAX	3970	AH0_10V	0	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	C_PITCH	3320	MINV_24V	11	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_DBAND	0.1	MINV_10V	11	SIM_W	0
COURSE_BIAS	0	PITCH_CNV	0.003125763	MAXI_24V	0.60000002	SIM_PITCH	0
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	MAXI_10V	0.80000001	SEABIRD_T_G	0.0043548695
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	FG_AHR_10V	0	SEABIRD_T_H	0.0006268858
RHO	1.0275	PITCH_GAIN	30	FG_AHR_24V	0	SEABIRD_T_I	2.3578436e-05
MASS	52309	PITCH_TIMEOUT	16	PHONE_SUPPLY	-2	SEABIRD_T_J	2.4722265e-06
MASS_COMP	0	PITCH_AD_RATE	120	PRESSURE_YINT	-56.708107	SEABIRD_C_G	-10.467909
NAV_MODE	2	PITCH_MAXERRORS	1	PRESSURE_SLOPE	0.00011645618	SEABIRD_C_H	1.2025218
FERRY_MAX	45	PITCH_ADJ_GAIN	0.029999999	AD7714Ch0Gain	128	SEABIRD_C_I	-0.00091677177
KALMAN_USE	2	PITCH_ADJ_DBAND	1	TCM_PITCH_OFFSET	0	SEABIRD_C_J	0.00016246161
HD_A	0.0038360001	ROLL_MIN	300	TCM_ROLL_OFFSET	0
HD_B	0.010078	ROLL_MAX	3830	COMPASS_USE	4

GPS1	201216,072926,-339.7617,5542.2622,6,1.0,14,-4.7,0.0,343.2,8,9.3	SPEED_LIMITS	0.173,0.260
_CALLS	1	TGT_NAME	S
_XMS_NAKs	0	TGT_LATLONG	-300.000,5600.000
_XMS_TOUTs	0	TGT_RADIUS	5000.000
_SM_DEPTHo	0.80	MHEAD_RNG_PITCHd_Wd	15.4,80619,-18.2,-10.000,-21.02,2236
_SM_ANGLEo	-69.2	D_GRID	1000
GPS2	201216,073259,-339.7551,5542.2422,19,1.0,19,-4.7,0.0,295.7,8,6.5

FINISH	0.0,1.022741	FG_AHR_24Vo	0.000
SM_CCo	6743,61.10,0.076,0,0,927,500.16	FG_AHR_10Vo	0.000
SM_GC	0.70,9.25,0.17,61.10,0.084,0.153,0.076,190,2294,927,-9.72,0.65,500.16,0,0,0,0,0,0,14.62,14.62,14.64	MEM	311180
IRIDIUM_FIX	-335.81,5540.84,201216,053253	DATA_FILE_SIZE	33397,771
TT8_MAMPS	0.025466,0.113099	CAP_FILE_SIZE	83267,0
HUMID	52.59	CFSIZE	2097872896,2094628864
INTERNAL_PRESSURE	9.67846	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,6,0
TCM_TEMP	24.40	INTR	0,6547.82,0x2344d0,1,24
XPDR_PINGS	112	CURRENT	0.090,94.07,1
_24V_AH	13.69,2.741	GPS	201216,092808,-338.978,5542.820,42,0.9,46,-4.7,0.7,211.2,7,9.1
_10V_AH	13.86,0.000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	387	129.30	SBE_CT	399	23	127.06
Roll_motor	75	2201	2266.59	nil	0	0	0.00
VBD_pump_during_apogee	405	1222	6778.76	nil	0	0	0.00
VBD_pump_during_surface	61	76	63.99	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	141	161	312.90	nil	0	0	0.00
Transponder_ping	28	420	160.99	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	44	12.74
TT8	1544	11	245.33
LPSleep	3567	2	108.28
TT8_Active	598	11	95.00
TT8_Sampling	1276	31	560.58
TT8_CF8	45	37	23.61
TT8_Kalman	0	0	0.00
Analog_circuits	1362	15	292.77
GPS_charging	0	0	0.00
Compass	1104	16	252.36
RAFOS	0	0	0.00
Transponder	0	5	0.04

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	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	vbd_pot1_ad	vbd_pot2_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
15	-0.79	-146.0	227	2316	591	480	0.0	0.0	0	122	0.00	0.00	-104.62	0.000	16386	0.000	0.000	227	2314	3192	3029	3356	0	0	0	0	0	0	14.90	28.83	14.92
124	-0.79	-146.0	227	2314	3030	3357	3.7	-6.1	18	150	11.65	2.78	-6.57	0.000	18948	0.387	2.202	3057	895	3564	3345	3783	0	0	0	0	0	0	14.47	13.81	14.71
183	-0.51	-146.0	3056	895	3347	3785	26.0	-31.1	28	191	0.32	2.47	0.00	0.000	3078	0.245	0.107	3148	2305	3565	3347	3784	0	0	0	0	0	0	14.54	14.60	14.69
498	-0.71	-146.0	3147	2305	3347	3788	62.2	-7.6	75	503	0.17	2.45	0.00	0.000	4356	0.134	0.120	3081	3720	3567	3347	3788	0	0	0	0	0	0	14.74	14.71	14.80
624	-0.81	-146.0	3080	3720	3350	3789	76.8	-11.8	100	631	0.00	2.40	0.00	0.000	1030	0.000	0.095	3081	2304	3569	3350	3789	0	0	0	0	0	0	14.85	14.76	14.88
930	-0.89	-146.0	3080	2303	3353	3788	107.1	-10.3	131	936	0.12	2.50	0.00	0.000	4612	0.159	0.132	3026	888	3570	3353	3788	0	0	0	0	0	0	14.83	14.77	14.88
1052	-0.89	-146.0	3024	887	3354	3788	124.7	-14.6	155	1057	0.00	2.42	0.00	0.000	1030	0.000	0.101	3024	2301	3571	3354	3789	0	0	0	0	0	0	14.90	14.81	14.93
1363	-0.89	-146.0	3024	2301	3354	3789	168.7	-12.9	187	1368	0.00	2.42	0.00	0.000	260	0.000	0.125	3024	3711	3571	3354	3789	0	0	0	0	0	0	15.11	14.81	15.14
1428	-0.89	-146.0	3023	3711	3354	3788	177.3	-12.6	200	1435	0.00	2.40	0.00	0.000	1030	0.000	0.101	3024	2300	3571	3354	3788	0	0	0	0	0	0	14.93	14.83	14.95
1735	-0.89	-146.0	3024	2300	3354	3788	211.0	-9.9	231	1739	0.00	2.50	0.00	0.000	516	0.000	0.136	3024	891	3571	3354	3789	0	0	0	0	0	0	15.13	14.81	15.15
1769	-0.89	-146.0	3023	891	3354	3788	214.9	-10.4	238	1776	0.00	2.45	0.00	0.000	1030	0.000	0.106	3024	2307	3571	3354	3788	0	0	0	0	0	0	14.95	14.83	14.97
2076	-0.89	-146.0	3023	2307	3354	3788	247.7	-11.7	269	2080	0.00	2.45	0.00	0.000	260	0.000	0.130	3024	3717	3571	3354	3788	0	0	0	0	0	0	15.14	14.82	15.16
2193	-0.93	-146.0	3023	3717	3354	3788	262.3	-12.6	292	2199	0.00	2.42	0.00	0.000	1030	0.000	0.104	3023	2296	3571	3354	3788	0	0	0	0	0	0	14.96	14.85	14.97
2522	-0.93	-146.0	3023	2297	3353	3787	304.8	-12.8	308	2528	0.00	2.50	0.00	0.000	516	0.000	0.145	3024	893	3570	3354	3786	0	0	0	0	0	0	15.16	14.83	15.18
2545	-0.93	-146.0	3023	893	3353	3786	308.0	-13.5	313	2552	0.00	2.45	0.00	0.000	1030	0.000	0.109	3024	2306	3569	3353	3786	0	0	0	0	0	0	14.97	14.86	15.00
2853	-0.96	-146.0	3023	2307	3353	3783	344.5	-11.5	324	2859	0.00	2.45	0.00	0.000	260	0.000	0.138	3024	3709	3567	3353	3782	0	0	0	0	0	0	15.16	14.85	15.19
2975	-1.02	-146.0	3023	3708	3353	3781	358.1	-10.2	349	2979	0.00	2.42	0.00	0.000	1030	0.000	0.112	3024	2303	3567	3353	3781	0	0	0	0	0	0	14.97	14.85	15.00
2994	end dive: TARGET_DEPTH_EXCEEDED
state	2994	begin apogee
2998	-0.17	0.0	3024	2399	3353	3781	360.3	-11.1	353	3131	0.75	0.00	129.90	1.179	10246	0.207	0.000	3257	2400	2966	2854	3079	0	0	0	0	0	0	14.81	14.33	13.85
3132	end apogee: CONTROL_FINISHED_OK
state	3132	begin climb
3133	0.79	146.0	3257	2400	2851	3075	363.1	0.0	357	3246	0.95	0.00	109.00	1.222	10246	0.134	0.000	3577	2400	2369	2300	2439	0	0	0	0	0	0	14.30	14.18	13.69
3537	0.74	146.0	3576	2400	2281	2429	322.2	12.0	371	3542	0.00	2.55	0.00	0.000	260	0.000	0.148	3576	3808	2354	2281	2428	0	0	0	0	0	0	14.90	14.60	14.92
3599	0.64	146.0	3575	3808	2281	2427	314.6	12.6	383	3604	0.20	2.47	0.00	0.000	5126	0.265	0.113	3530	2402	2354	2281	2427	0	0	0	0	0	0	14.57	14.64	14.75
3932	0.70	168.7	3529	2401	2277	2427	284.5	9.0	399	3955	0.00	2.60	17.23	1.123	8708	0.000	0.144	3529	981	2273	2198	2348	0	0	0	0	0	0	15.02	14.62	14.23
4016	0.77	168.7	3530	981	2194	2348	276.0	10.2	416	4023	0.12	2.53	0.00	0.000	3078	0.148	0.119	3574	2396	2270	2193	2347	0	0	0	0	0	0	14.72	14.67	14.80
4322	0.72	168.7	3573	2396	2192	2345	240.3	10.2	433	4331	0.00	2.55	0.00	0.000	260	0.000	0.148	3575	3810	2268	2192	2344	0	0	0	0	0	0	15.03	14.72	15.05
4413	0.63	168.7	3574	3810	2192	2343	230.5	10.4	451	4418	0.20	2.47	0.00	0.000	5126	0.268	0.115	3528	2393	2267	2192	2343	0	0	0	0	0	0	14.67	14.76	14.85
4726	0.73	214.8	3527	2392	2189	2343	207.4	7.9	483	4770	0.00	2.58	38.58	1.075	8708	0.000	0.144	3527	987	2085	2000	2170	0	0	0	0	0	0	15.07	14.53	14.16
4867	0.84	214.8	3527	986	1998	2166	193.7	11.1	511	4873	0.20	2.55	0.00	0.000	3078	0.123	0.122	3603	2404	2081	1997	2166	0	0	0	0	0	0	14.68	14.64	14.76
5179	0.77	214.8	3602	2404	1993	2164	150.3	12.7	543	5181	0.15	0.00	0.00	0.000	4102	0.266	0.000	3567	2404	2078	1993	2164	0	0	0	0	0	0	14.66	14.86	14.83
5479	0.77	214.8	3566	2404	1990	2164	119.7	10.8	573	5483	0.00	2.50	0.00	0.000	260	0.000	0.140	3567	3810	2077	1990	2164	0	0	0	0	0	0	15.06	14.73	15.08
5515	0.77	214.8	3566	3810	1990	2161	115.5	11.9	580	5524	0.00	2.45	0.00	0.000	1030	0.000	0.110	3566	2396	2075	1989	2161	0	0	0	0	0	0	14.88	14.77	14.90
5826	0.82	251.4	3566	2396	1988	2161	89.1	8.3	612	5860	0.00	2.55	28.98	0.952	8708	0.000	0.138	3567	981	1937	1840	2034	0	0	0	0	0	0	15.08	14.61	14.27
6032	0.90	251.4	3566	981	1836	2030	66.6	10.2	653	6042	0.15	2.50	0.00	0.000	3078	0.128	0.107	3621	2408	1933	1835	2031	0	0	0	0	0	0	14.76	14.71	14.83
6343	1.00	309.2	3621	2408	1830	2031	38.2	7.3	699	6397	0.00	2.50	46.47	0.856	8452	0.000	0.132	3621	3811	1698	1599	1797	0	0	0	0	0	0	15.02	14.49	14.19
6529	1.10	357.0	3621	3811	1593	1794	25.1	7.8	734	6574	0.15	2.45	34.90	0.817	11270	0.126	0.102	3687	2395	1502	1407	1597	0	0	0	0	0	0	14.69	14.64	14.16
6705	end climb: SURFACE_DEPTH_REACHED
state	6705	begin surface coast
6726	end surface coast: CONTROL_FINISHED_OK
state	6727	begin surface