Glider dive log

DavisStrait Sep12 * SG193 * Dive index * Mission links * Dive 239 * 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 239 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 10 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 16 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 15 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 260 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 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 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 3 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

USE_BATHY -3 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -1266.1915 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 10 RAFOS_DEVICE 32 T_GPS_CHARGE -1266.1915

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 260 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 -3

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 140 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 -1 MINV_10V 12 R_PORT_OVSHOOT 16 VBD_DBAND 2

DEVICE4 -1 MINV_24V 12 R_STBD_OVSHOOT 15 VBD_MAX 3960

DEVICE5 -1 MISSION 2 SEABIRD_C_G -9.8788214 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1391871 VBD_MIN 500

DIVE 239 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 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 201012,184759,6704.139,-5651.872,37,0.8,37,-33.5 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 2.98 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 201012,185421,6704.178,-5652.105,5,1.1,5,-33.5 MHEAD_RNG_PITCHd_Wd 172.8,3680,-17.3,-8.919,-19.96

SPEED_LIMITS 0.075,0.246 D_GRID 491

Post-dive calculations and measurements:

FINISH 2.1,1.004219 _24V_AH 12.7,77.059

SM_CCo 9049,40.10,0.178,0,0,1587,290.19 _10V_AH 13.0,0.000

SM_GC 3.01,8.48,2.65,40.10,0.099,0.104,0.178,132,2123,1587,-11.62,0.74,290.19,0,0,0,0,0,0,14.73,14.69,14.56 FG_AHR_24Vo 0.000

RAFOS_CLK 354 FG_AHR_10Vo 0.000

RAFOS 0,1350763270,20.033333,20.019444,68,67,57,55,50,49,200,158,217,170,121,110 MEM 188728

RAFOS_FIX 6708.268555,-5715.671387,201012,202053,3,79,2.91 DATA_FILE_SIZE 43364,930

IRIDIUM_FIX 6636.54,-5647.69,201012,151520 CAP_FILE_SIZE 98166,0

TT8_MAMPS 0.025466,0.025466 CFSIZE 259252224,234176512

HUMID 45.74 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.78186 SOUNDSPEED 1464.5

TCM_TEMP 14.00 CURRENT 0.108,297.0,1

XPDR_PINGS 5 GPS 201012,212759,6703.568,-5651.305,15,0.8,15,-33.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 440 124.09 SBE_CT 685 23 208.60

Roll_motor 94 234 281.31 SBE_O2 635 3 30.20

VBD_pump_during_apogee 321 2345 9589.41 nil 0 0 0.00

VBD_pump_during_surface 40 178 90.77 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 231 146 430.19 nil 0 0 0.00

Transponder_ping 1 420 6.67 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 11 21 3.16

TT8 2326 14 452.50

LPSleep 4426 2 132.91

TT8_Active 540 14 105.06

TT8_Sampling 1703 33 745.97

TT8_CF8 490 38 243.66

TT8_Kalman 0 0 0.00

Analog_circuits 1619 12 252.64

GPS_charging 0 0 0.00

Compass 1509 6 132.30

RAFOS 2520 1 49.14

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 -1.50 -136.9 0.0 0.0 0 38 0.00 0.00 -17.12 0.000 2 0.000 0.000 134 2114 1920 0 0 0 0 0 0 28.83 28.83 28.83

45 -1.50 -136.9 3.1 -3.6 3 146 10.88 2.67 -82.93 0.000 4 0.441 0.156 2348 702 3330 0 0 0 0 0 0 14.32 14.49 14.81

380 -1.50 -136.9 43.3 -17.7 65 388 0.00 2.70 0.00 0.000 6 0.000 0.139 2340 2124 3331 0 0 0 0 0 0 28.83 14.52 28.83

699 -1.50 -136.9 91.2 -14.5 126 706 0.00 2.75 0.00 0.000 4 0.000 0.157 2329 3533 3332 0 0 0 0 0 0 28.83 14.53 28.83

770 -1.50 -136.9 101.1 -14.5 138 778 0.12 2.55 0.00 0.000 6 0.298 0.103 2354 2112 3331 0 0 0 0 0 0 14.45 14.64 28.83

1078 -1.50 -136.9 141.8 -12.4 169 1088 0.00 2.53 0.00 0.000 4 0.000 0.129 2354 706 3331 0 0 0 0 0 0 28.83 14.56 28.83

1166 -1.50 -136.9 152.8 -13.2 177 1174 0.00 2.65 0.00 0.000 6 0.000 0.132 2346 2123 3332 0 0 0 0 0 0 28.83 14.60 28.83

1474 -1.50 -136.9 189.1 -11.0 208 1483 0.00 2.67 0.00 0.000 4 0.000 0.151 2336 3523 3331 0 0 0 0 0 0 28.83 14.55 28.83

1501 -1.50 -136.9 191.7 -10.6 210 1508 0.00 2.50 0.00 0.000 6 0.000 0.099 2336 2119 3331 0 0 0 0 0 0 28.83 14.69 28.83

1808 -1.50 -136.9 222.6 -9.3 241 1815 0.00 0.00 0.00 0.000 6 0.000 0.000 2336 2119 3331 0 0 0 0 0 0 28.83 28.83 28.83

2124 -1.50 -136.9 252.8 -10.2 272 2133 0.00 2.72 0.00 0.000 4 0.000 0.155 2326 3533 3330 0 0 0 0 0 0 28.83 14.56 28.83

2162 -1.50 -136.9 257.0 -10.4 275 2170 0.12 2.53 0.00 0.000 6 0.298 0.099 2351 2112 3330 0 0 0 0 0 0 14.50 14.71 28.83

2471 -1.50 -136.9 289.4 -10.7 306 2480 0.00 2.50 0.00 0.000 4 0.000 0.125 2351 711 3331 0 0 0 0 0 0 28.83 14.61 28.83

2516 -1.50 -136.9 294.6 -11.5 310 2524 0.00 2.60 0.00 0.000 6 0.000 0.133 2344 2126 3330 0 0 0 0 0 0 28.83 14.58 28.83

2825 -1.50 -136.9 329.7 -11.9 341 2835 0.00 2.65 0.00 0.000 4 0.000 0.149 2334 3524 3331 0 0 0 0 0 0 28.83 14.57 28.83

2881 -1.50 -136.9 336.3 -11.9 346 2890 0.00 2.47 0.00 0.000 6 0.000 0.099 2334 2123 3331 0 0 0 0 0 0 28.83 14.66 28.83

3191 -1.50 -136.9 370.9 -10.5 377 3198 0.00 0.00 0.00 0.000 6 0.000 0.000 2333 2123 3331 0 0 0 0 0 0 28.83 28.83 28.83

3521 -1.50 -136.9 406.9 -10.9 406 3527 0.00 2.53 0.00 0.000 4 0.000 0.127 2334 709 3331 0 0 0 0 0 0 28.83 14.64 28.83

3556 -1.50 -136.9 410.5 -11.0 407 3563 0.08 2.60 0.00 0.000 6 0.283 0.132 2346 2118 3331 0 0 0 0 0 0 14.49 14.62 28.83

3884 -1.50 -136.9 443.7 -9.8 418 3890 0.00 2.67 0.00 0.000 4 0.000 0.153 2337 3525 3331 0 0 0 0 0 0 28.83 14.60 28.83

3908 -1.50 -136.9 443.7 -9.8 418 3915 0.00 2.50 0.00 0.000 6 0.000 0.100 2337 2117 3331 0 0 0 0 0 0 28.83 14.73 28.83

4216 -1.50 -136.9 477.4 -10.3 429 4222 0.00 2.72 0.00 0.000 4 0.000 0.157 2326 3532 3331 0 0 0 0 0 0 28.83 14.60 28.83

4256 -1.50 -136.9 481.0 -10.4 430 4262 0.08 2.50 0.00 0.000 6 0.271 0.103 2347 2121 3331 0 0 0 0 0 0 14.51 14.70 28.83

4364 end dive: TARGET_DEPTH_EXCEEDED

state 4364 begin apogee

4377 -0.38 0.0 492.1 -9.2 434 4522 0.88 0.00 135.48 2.345 6 0.259 0.000 2590 2148 2772 0 0 0 0 0 0 14.52 28.83 13.19

4523 end apogee: CONTROL_FINISHED_OK

state 4523 begin climb

4528 1.50 136.9 495.8 0.0 439 4690 1.38 3.03 147.73 2.282 4 0.162 0.151 3005 3566 2213 0 0 0 0 0 0 13.94 13.34 12.66

4699 1.50 136.9 482.8 8.9 445 4704 0.00 2.75 0.00 0.000 6 0.000 0.103 3016 2156 2212 0 0 0 0 0 0 28.83 13.51 28.83

5026 1.50 136.9 440.2 12.9 456 5031 0.00 2.78 0.00 0.000 4 0.000 0.147 3016 3559 2206 0 0 0 0 0 0 28.83 14.19 28.83

5065 1.50 136.9 436.1 13.0 457 5070 0.00 2.58 0.00 0.000 6 0.000 0.101 3026 2149 2206 0 0 0 0 0 0 28.83 14.28 28.83

5377 1.50 136.9 394.3 12.8 469 5384 0.00 0.00 0.00 0.000 6 0.000 0.000 3026 2149 2204 0 0 0 0 0 0 28.83 28.83 28.83

5691 1.50 136.9 354.0 12.6 500 5700 0.00 2.72 0.00 0.000 4 0.000 0.142 3026 3565 2204 0 0 0 0 0 0 28.83 14.53 28.83

5726 1.50 136.9 348.8 13.2 503 5735 0.10 2.55 0.00 0.000 6 0.273 0.104 3009 2147 2204 0 0 0 0 0 0 14.45 14.57 28.83

6036 1.50 136.9 310.6 11.8 534 6042 0.00 0.00 0.00 0.000 6 0.000 0.000 3009 2147 2204 0 0 0 0 0 0 28.83 28.83 28.83

6352 1.50 136.9 273.1 11.8 565 6359 0.00 0.00 0.00 0.000 6 0.000 0.000 3009 2146 2203 0 0 0 0 0 0 28.83 28.83 28.83

6664 1.50 136.9 237.2 11.1 596 6670 0.00 0.00 0.00 0.000 6 0.000 0.000 3009 2147 2203 0 0 0 0 0 0 28.83 28.83 28.83

6970 1.50 136.9 204.4 11.0 627 6979 0.00 2.70 0.00 0.000 4 0.000 0.142 3009 3559 2203 0 0 0 0 0 0 28.83 14.62 28.83

7058 1.50 136.9 194.1 12.6 635 7065 0.00 2.55 0.00 0.000 6 0.000 0.109 3018 2142 2203 0 0 0 0 0 0 28.83 14.71 28.83

7366 1.50 136.9 158.0 11.3 666 7372 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 2142 2202 0 0 0 0 0 0 28.83 28.83 28.83

7681 1.50 136.9 123.8 10.7 697 7690 0.00 2.53 0.00 0.000 4 0.000 0.132 3029 736 2202 0 0 0 0 0 0 28.83 14.64 28.83

7786 1.50 136.9 110.9 12.1 707 7795 0.08 2.58 0.00 0.000 6 0.263 0.119 3008 2154 2201 0 0 0 0 0 0 14.55 14.66 28.83

8101 1.50 136.9 81.4 9.6 758 8108 0.00 2.70 0.00 0.000 4 0.000 0.147 3008 3572 2202 0 0 0 0 0 0 28.83 14.65 28.83

8174 1.50 136.9 74.2 10.1 771 8181 0.00 2.55 0.00 0.000 6 0.000 0.103 3017 2141 2202 0 0 0 0 0 0 28.83 14.72 28.83

8492 1.59 209.9 48.8 5.7 832 8541 0.00 2.58 38.72 0.317 4 0.000 0.128 3027 745 1913 0 0 0 0 0 0 28.83 14.60 14.48

8587 1.59 209.9 41.9 9.1 848 8593 0.00 2.58 0.00 0.000 6 0.000 0.118 3028 2151 1908 0 0 0 0 0 0 28.83 14.64 28.83

8904 1.59 209.9 12.2 9.7 909 8912 0.00 2.72 0.00 0.000 4 0.000 0.148 3027 3564 1904 0 0 0 0 0 0 28.83 14.59 28.83

8987 end climb: SURFACE_DEPTH_REACHED

state 8987 begin surface coast

9019 end surface coast: CONTROL_FINISHED_OK

state 9019 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	239	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	10	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	16	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	15	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	260	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	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	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	3	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
USE_BATHY	-3	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-1266.1915	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	201012,184759,6704.139,-5651.872,37,0.8,37,-33.5	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	2.98	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	201012,185421,6704.178,-5652.105,5,1.1,5,-33.5	MHEAD_RNG_PITCHd_Wd	172.8,3680,-17.3,-8.919,-19.96
SPEED_LIMITS	0.075,0.246	D_GRID	491

FINISH	2.1,1.004219	_24V_AH	12.7,77.059
SM_CCo	9049,40.10,0.178,0,0,1587,290.19	_10V_AH	13.0,0.000
SM_GC	3.01,8.48,2.65,40.10,0.099,0.104,0.178,132,2123,1587,-11.62,0.74,290.19,0,0,0,0,0,0,14.73,14.69,14.56	FG_AHR_24Vo	0.000
RAFOS_CLK	354	FG_AHR_10Vo	0.000
RAFOS	0,1350763270,20.033333,20.019444,68,67,57,55,50,49,200,158,217,170,121,110	MEM	188728
RAFOS_FIX	6708.268555,-5715.671387,201012,202053,3,79,2.91	DATA_FILE_SIZE	43364,930
IRIDIUM_FIX	6636.54,-5647.69,201012,151520	CAP_FILE_SIZE	98166,0
TT8_MAMPS	0.025466,0.025466	CFSIZE	259252224,234176512
HUMID	45.74	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.78186	SOUNDSPEED	1464.5
TCM_TEMP	14.00	CURRENT	0.108,297.0,1
XPDR_PINGS	5	GPS	201012,212759,6703.568,-5651.305,15,0.8,15,-33.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	440	124.09	SBE_CT	685	23	208.60
Roll_motor	94	234	281.31	SBE_O2	635	3	30.20
VBD_pump_during_apogee	321	2345	9589.41	nil	0	0	0.00
VBD_pump_during_surface	40	178	90.77	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	231	146	430.19	nil	0	0	0.00
Transponder_ping	1	420	6.67	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	11	21	3.16
TT8	2326	14	452.50
LPSleep	4426	2	132.91
TT8_Active	540	14	105.06
TT8_Sampling	1703	33	745.97
TT8_CF8	490	38	243.66
TT8_Kalman	0	0	0.00
Analog_circuits	1619	12	252.64
GPS_charging	0	0	0.00
Compass	1509	6	132.30
RAFOS	2520	1	49.14
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	-1.50	-136.9	0.0	0.0	0	38	0.00	0.00	-17.12	0.000	2	0.000	0.000	134	2114	1920	0	0	0	0	0	0	28.83	28.83	28.83
45	-1.50	-136.9	3.1	-3.6	3	146	10.88	2.67	-82.93	0.000	4	0.441	0.156	2348	702	3330	0	0	0	0	0	0	14.32	14.49	14.81
380	-1.50	-136.9	43.3	-17.7	65	388	0.00	2.70	0.00	0.000	6	0.000	0.139	2340	2124	3331	0	0	0	0	0	0	28.83	14.52	28.83
699	-1.50	-136.9	91.2	-14.5	126	706	0.00	2.75	0.00	0.000	4	0.000	0.157	2329	3533	3332	0	0	0	0	0	0	28.83	14.53	28.83
770	-1.50	-136.9	101.1	-14.5	138	778	0.12	2.55	0.00	0.000	6	0.298	0.103	2354	2112	3331	0	0	0	0	0	0	14.45	14.64	28.83
1078	-1.50	-136.9	141.8	-12.4	169	1088	0.00	2.53	0.00	0.000	4	0.000	0.129	2354	706	3331	0	0	0	0	0	0	28.83	14.56	28.83
1166	-1.50	-136.9	152.8	-13.2	177	1174	0.00	2.65	0.00	0.000	6	0.000	0.132	2346	2123	3332	0	0	0	0	0	0	28.83	14.60	28.83
1474	-1.50	-136.9	189.1	-11.0	208	1483	0.00	2.67	0.00	0.000	4	0.000	0.151	2336	3523	3331	0	0	0	0	0	0	28.83	14.55	28.83
1501	-1.50	-136.9	191.7	-10.6	210	1508	0.00	2.50	0.00	0.000	6	0.000	0.099	2336	2119	3331	0	0	0	0	0	0	28.83	14.69	28.83
1808	-1.50	-136.9	222.6	-9.3	241	1815	0.00	0.00	0.00	0.000	6	0.000	0.000	2336	2119	3331	0	0	0	0	0	0	28.83	28.83	28.83
2124	-1.50	-136.9	252.8	-10.2	272	2133	0.00	2.72	0.00	0.000	4	0.000	0.155	2326	3533	3330	0	0	0	0	0	0	28.83	14.56	28.83
2162	-1.50	-136.9	257.0	-10.4	275	2170	0.12	2.53	0.00	0.000	6	0.298	0.099	2351	2112	3330	0	0	0	0	0	0	14.50	14.71	28.83
2471	-1.50	-136.9	289.4	-10.7	306	2480	0.00	2.50	0.00	0.000	4	0.000	0.125	2351	711	3331	0	0	0	0	0	0	28.83	14.61	28.83
2516	-1.50	-136.9	294.6	-11.5	310	2524	0.00	2.60	0.00	0.000	6	0.000	0.133	2344	2126	3330	0	0	0	0	0	0	28.83	14.58	28.83
2825	-1.50	-136.9	329.7	-11.9	341	2835	0.00	2.65	0.00	0.000	4	0.000	0.149	2334	3524	3331	0	0	0	0	0	0	28.83	14.57	28.83
2881	-1.50	-136.9	336.3	-11.9	346	2890	0.00	2.47	0.00	0.000	6	0.000	0.099	2334	2123	3331	0	0	0	0	0	0	28.83	14.66	28.83
3191	-1.50	-136.9	370.9	-10.5	377	3198	0.00	0.00	0.00	0.000	6	0.000	0.000	2333	2123	3331	0	0	0	0	0	0	28.83	28.83	28.83
3521	-1.50	-136.9	406.9	-10.9	406	3527	0.00	2.53	0.00	0.000	4	0.000	0.127	2334	709	3331	0	0	0	0	0	0	28.83	14.64	28.83
3556	-1.50	-136.9	410.5	-11.0	407	3563	0.08	2.60	0.00	0.000	6	0.283	0.132	2346	2118	3331	0	0	0	0	0	0	14.49	14.62	28.83
3884	-1.50	-136.9	443.7	-9.8	418	3890	0.00	2.67	0.00	0.000	4	0.000	0.153	2337	3525	3331	0	0	0	0	0	0	28.83	14.60	28.83
3908	-1.50	-136.9	443.7	-9.8	418	3915	0.00	2.50	0.00	0.000	6	0.000	0.100	2337	2117	3331	0	0	0	0	0	0	28.83	14.73	28.83
4216	-1.50	-136.9	477.4	-10.3	429	4222	0.00	2.72	0.00	0.000	4	0.000	0.157	2326	3532	3331	0	0	0	0	0	0	28.83	14.60	28.83
4256	-1.50	-136.9	481.0	-10.4	430	4262	0.08	2.50	0.00	0.000	6	0.271	0.103	2347	2121	3331	0	0	0	0	0	0	14.51	14.70	28.83
4364	end dive: TARGET_DEPTH_EXCEEDED
state	4364	begin apogee
4377	-0.38	0.0	492.1	-9.2	434	4522	0.88	0.00	135.48	2.345	6	0.259	0.000	2590	2148	2772	0	0	0	0	0	0	14.52	28.83	13.19
4523	end apogee: CONTROL_FINISHED_OK
state	4523	begin climb
4528	1.50	136.9	495.8	0.0	439	4690	1.38	3.03	147.73	2.282	4	0.162	0.151	3005	3566	2213	0	0	0	0	0	0	13.94	13.34	12.66
4699	1.50	136.9	482.8	8.9	445	4704	0.00	2.75	0.00	0.000	6	0.000	0.103	3016	2156	2212	0	0	0	0	0	0	28.83	13.51	28.83
5026	1.50	136.9	440.2	12.9	456	5031	0.00	2.78	0.00	0.000	4	0.000	0.147	3016	3559	2206	0	0	0	0	0	0	28.83	14.19	28.83
5065	1.50	136.9	436.1	13.0	457	5070	0.00	2.58	0.00	0.000	6	0.000	0.101	3026	2149	2206	0	0	0	0	0	0	28.83	14.28	28.83
5377	1.50	136.9	394.3	12.8	469	5384	0.00	0.00	0.00	0.000	6	0.000	0.000	3026	2149	2204	0	0	0	0	0	0	28.83	28.83	28.83
5691	1.50	136.9	354.0	12.6	500	5700	0.00	2.72	0.00	0.000	4	0.000	0.142	3026	3565	2204	0	0	0	0	0	0	28.83	14.53	28.83
5726	1.50	136.9	348.8	13.2	503	5735	0.10	2.55	0.00	0.000	6	0.273	0.104	3009	2147	2204	0	0	0	0	0	0	14.45	14.57	28.83
6036	1.50	136.9	310.6	11.8	534	6042	0.00	0.00	0.00	0.000	6	0.000	0.000	3009	2147	2204	0	0	0	0	0	0	28.83	28.83	28.83
6352	1.50	136.9	273.1	11.8	565	6359	0.00	0.00	0.00	0.000	6	0.000	0.000	3009	2146	2203	0	0	0	0	0	0	28.83	28.83	28.83
6664	1.50	136.9	237.2	11.1	596	6670	0.00	0.00	0.00	0.000	6	0.000	0.000	3009	2147	2203	0	0	0	0	0	0	28.83	28.83	28.83
6970	1.50	136.9	204.4	11.0	627	6979	0.00	2.70	0.00	0.000	4	0.000	0.142	3009	3559	2203	0	0	0	0	0	0	28.83	14.62	28.83
7058	1.50	136.9	194.1	12.6	635	7065	0.00	2.55	0.00	0.000	6	0.000	0.109	3018	2142	2203	0	0	0	0	0	0	28.83	14.71	28.83
7366	1.50	136.9	158.0	11.3	666	7372	0.00	0.00	0.00	0.000	6	0.000	0.000	3018	2142	2202	0	0	0	0	0	0	28.83	28.83	28.83
7681	1.50	136.9	123.8	10.7	697	7690	0.00	2.53	0.00	0.000	4	0.000	0.132	3029	736	2202	0	0	0	0	0	0	28.83	14.64	28.83
7786	1.50	136.9	110.9	12.1	707	7795	0.08	2.58	0.00	0.000	6	0.263	0.119	3008	2154	2201	0	0	0	0	0	0	14.55	14.66	28.83
8101	1.50	136.9	81.4	9.6	758	8108	0.00	2.70	0.00	0.000	4	0.000	0.147	3008	3572	2202	0	0	0	0	0	0	28.83	14.65	28.83
8174	1.50	136.9	74.2	10.1	771	8181	0.00	2.55	0.00	0.000	6	0.000	0.103	3017	2141	2202	0	0	0	0	0	0	28.83	14.72	28.83
8492	1.59	209.9	48.8	5.7	832	8541	0.00	2.58	38.72	0.317	4	0.000	0.128	3027	745	1913	0	0	0	0	0	0	28.83	14.60	14.48
8587	1.59	209.9	41.9	9.1	848	8593	0.00	2.58	0.00	0.000	6	0.000	0.118	3028	2151	1908	0	0	0	0	0	0	28.83	14.64	28.83
8904	1.59	209.9	12.2	9.7	909	8912	0.00	2.72	0.00	0.000	4	0.000	0.148	3027	3564	1904	0	0	0	0	0	0	28.83	14.59	28.83
8987	end climb: SURFACE_DEPTH_REACHED
state	8987	begin surface coast
9019	end surface coast: CONTROL_FINISHED_OK
state	9019	begin surface