Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 11 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 192 HD_C 1.6100001e-05 ROLL_MAX 3873 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 2 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 11 ESCAPE_HEADING 0 C_ROLL_DIVE 2350 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2400 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 1 HEAD_ERRBAND 10 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 450 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 20 ALTIM_SENSITIVITY 2

D_NO_BLEED 100 SM_CC 450 R_STBD_OVSHOOT 23 XPDR_VALID 6

D_BOOST 110 N_FILEKB 8 ROLL_AD_RATE 300 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0.5

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 9 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2794 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 20

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 -1

T_DIVE 150 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 170 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 5 UNCOM_BLEED 20 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY -2 T_GPS_CHARGE -1043.2203 DBDW 0 COMPASS_DEVICE 97

USE_ICE 0 T_RSLEEP 3 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 49

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 350 RAFOS_DEVICE 32

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 0 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 145 MINV_24V 12 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3924 MINV_10V 12 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2535 FG_AHR_10V 0 SEABIRD_T_G 0.0042877649

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00062881736

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY -2 SEABIRD_T_I 2.2009486e-05

RHO 1.0275 P_OVSHOOT 0.039999999 PRESSURE_YINT -62.7798 SEABIRD_T_J 2.217299e-06

MASS 52018 PITCH_GAIN 23 PRESSURE_SLOPE 0.0001164018 SEABIRD_C_G -9.8550158

MASS_COMP 0 PITCH_TIMEOUT 18 AD7714Ch0Gain 128 SEABIRD_C_H 1.1245382

NAV_MODE 2 PITCH_AD_RATE 175 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0013153109

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00017883891

KALMAN_USE 2 PITCH_ADJ_GAIN 0.02 COMPASS_USE 4

HD_A 0.0033904 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0092102997 ROLL_MIN 318 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY -2 SM_CC 450

AH0_10V 0 D_PITCH 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

AH0_24V 350 D_SAFE 0 PITCH_ADJ_GAIN 0.02 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 450 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 23 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3924 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 145 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 18 TGT_DEFAULT_LON -12218

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 150

CALL_NDIVES 1 HD_A 0.0033904 PRESSURE_SLOPE 0.0001164018 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0092102997 PRESSURE_YINT -62.7798 T_GPS 5

CALL_WAIT 60 HD_C 1.6100001e-05 PROTOCOL 9 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -1043.2203

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE 32 T_MISSION 170

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 192 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 225

COMPASS_USE 4 INT_PRESSURE_YINT 0.5 RHO 1.0275 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2535 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 20

C_ROLL_CLIMB 2400 LOGGERDEVICE2 -1 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2350 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY -2

C_VBD 2794 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3873 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 52018 ROLL_MAXERRORS 2 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 318 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 20 MINV_10V 12 R_PORT_OVSHOOT 20 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 12 R_STBD_OVSHOOT 23 VBD_MIN 500

DEVICE4 -1 MISSION 2 SEABIRD_C_G -9.8550158 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1245382 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 2 SEABIRD_C_I -0.0013153109 VBD_TIMEOUT 720

DIVE 11 NOCOMM_ACTION 163 SEABIRD_C_J 0.00017883891 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0042877649 XPDR_DEVICE 24

D_BOOST 110 N_FILEKB 8 SEABIRD_T_H 0.00062881736 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.2009486e-05 XPDR_VALID 6

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 2.217299e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 100 PHONE_DEVICE 49 SIM_W 0

Pre-dive calculations and measurements:

GPS1 190913,160959,6628.096,-6046.907,124,1.9,128,-33.6 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.02 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 190913,161802,6627.958,-6046.958,4,1.7,4,-33.6 MHEAD_RNG_PITCHd_Wd 94.5,184362,-17.4,-10.000,-20.41,2219

SPEED_LIMITS 0.173,0.269 D_GRID 402

Post-dive calculations and measurements:

FINISH 0.4,1.024833 _24V_AH 12.7,8.561

SM_CCo 6920,18.05,0.190,0,0,957,450.13 _10V_AH 12.9,0.000

SM_GC 1.47,8.18,0.12,18.05,0.106,0.176,0.190,141,2342,957,-7.44,0.40,450.13,0,0,0,0,0,0,14.49,14.48,14.41 FG_AHR_24Vo 0.000

RAFOS_CLK 327 FG_AHR_10Vo 0.000

RAFOS 0,1379606464,16.033333,16.017778,64,59,58,54,53,53,132,187,200,167,158,215 MEM 150800

RAFOS_FIX 6634.940430,-6037.093262,190913,080828,2,104,1.05 DATA_FILE_SIZE 33400,800

IRIDIUM_FIX 6558.99,-6052.02,190913,131333 CAP_FILE_SIZE 89639,0

TT8_MAMPS 0.024717,0.024717 CFSIZE 259252224,249987072

HUMID 48.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0

INTERNAL_PRESSURE 8.64484 SOUNDSPEED 1450.9

TCM_TEMP 12.40 CURRENT 0.397,205.0,1

XPDR_PINGS 42 GPS 190913,181624,6626.945,-6046.499,55,1.3,55,-33.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 439 119.83 SBE_CT 557 23 164.36

Roll_motor 73 198 185.35 SBE_O2 0 0 0.00

VBD_pump_during_apogee 551 2200 15406.40 nil 0 0 0.00

VBD_pump_during_surface 18 189 43.49 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 330 130 549.57 nil 0 0 0.00

Transponder_ping 10 420 56.01 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 18 1.41

TT8 1900 14 366.69

LPSleep 2790 2 83.16

TT8_Active 632 14 115.95

TT8_Sampling 1543 33 670.81

TT8_CF8 563 39 288.68

TT8_Kalman 0 0 0.00

Analog_circuits 1772 12 274.37

GPS_charging 0 0 0.00

Compass 1346 6 117.04

RAFOS 1440 1 27.86

Transponder 0 5 0.03

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

20 -0.94 -146.0 116 2363 551 505 0.0 0.0 0 127 0.00 0.00 -103.97 0.000 16386 0.000 0.000 112 2363 2587 2662 2512 0 0 0 0 0 0 28.83 28.83 28.83

134 -0.94 -146.0 112 2363 2660 2515 3.2 -6.1 18 168 10.25 2.65 -17.27 0.000 19204 0.440 0.148 2226 939 3393 3573 3213 0 0 0 0 0 0 14.16 14.31 14.54

329 -0.83 -146.0 2225 938 3574 3212 53.2 -21.0 53 337 0.20 2.58 0.00 0.000 3078 0.309 0.142 2262 2342 3393 3574 3212 0 0 0 0 0 0 14.29 14.35 28.83

652 -0.76 -146.0 2262 2342 3574 3212 118.6 -20.1 106 662 0.12 2.60 0.00 0.000 2308 0.314 0.155 2285 3761 3393 3575 3211 0 0 0 0 0 0 14.36 14.41 28.83

878 -0.72 -146.0 1424 3760 3568 3208 158.7 -17.1 127 885 0.00 2.45 0.00 0.000 1030 0.000 0.106 2285 2350 3392 3574 3211 0 0 0 0 0 0 28.83 14.48 28.83

1187 -0.69 -146.0 2285 2350 3574 3211 208.1 -15.2 158 1196 0.00 2.60 0.00 0.000 260 0.000 0.164 2275 3757 3393 3575 3211 0 0 0 0 0 0 28.83 14.47 28.83

1254 -0.64 -146.0 2275 3757 3574 3211 218.6 -15.7 164 1263 0.15 2.42 0.00 0.000 3078 0.262 0.107 2317 2349 3393 3575 3211 0 0 0 0 0 0 14.44 14.52 28.83

1565 -0.64 -146.0 2317 2349 3575 3211 255.5 -11.7 195 1571 0.00 0.00 0.00 0.000 6 0.000 0.000 2317 2349 3393 3575 3211 0 0 0 0 0 0 28.83 28.83 28.83

1874 -0.64 -146.0 2317 2349 3575 3210 295.8 -13.5 226 1884 0.00 2.60 0.00 0.000 260 0.000 0.166 2309 3761 3392 3575 3210 0 0 0 0 0 0 28.83 14.54 28.83

1953 -0.64 -146.0 2310 3761 3575 3210 306.6 -14.4 233 1960 0.00 2.45 0.00 0.000 1030 0.000 0.109 2309 2347 3392 3575 3210 0 0 0 0 0 0 28.83 14.58 28.83

2262 -0.64 -146.0 2309 2346 3575 3210 351.3 -14.2 264 2270 0.00 2.60 0.00 0.000 260 0.000 0.166 2299 3759 3392 3575 3209 0 0 0 0 0 0 28.83 14.54 28.83

2320 -0.64 -146.0 2299 3759 3575 3209 359.0 -13.8 269 2327 0.00 2.45 0.00 0.000 1030 0.000 0.109 2298 2343 3392 3575 3209 0 0 0 0 0 0 28.83 14.60 28.83

2628 -0.64 -146.0 2299 2343 3575 3209 400.0 -12.8 300 2634 0.00 0.00 0.00 0.000 6 0.000 0.000 2298 2343 3392 3575 3209 0 0 0 0 0 0 28.83 28.83 28.83

2642 end dive: TARGET_DEPTH_EXCEEDED

state 2642 begin apogee

2655 -0.22 0.0 2298 2410 3575 3209 402.7 -13.2 302 2813 0.57 0.00 146.93 2.160 10246 0.248 0.000 2460 2410 2793 2919 2668 0 0 0 0 0 0 14.53 28.83 12.89

2814 end apogee: CONTROL_FINISHED_OK

state 2814 begin climb

2820 0.94 146.0 2460 2410 2919 2669 411.2 0.0 318 2989 1.27 2.78 153.98 2.083 10756 0.180 0.132 2841 991 2198 2282 2114 0 0 0 0 0 0 13.66 13.47 12.78

3016 0.87 210.3 2841 991 2282 2111 408.5 7.0 337 3092 0.00 2.72 68.25 2.044 9222 0.000 0.138 2841 2402 1936 2030 1842 0 0 0 0 0 0 28.83 13.68 12.75

3396 0.75 210.3 2841 2402 2029 1830 363.5 12.4 375 3404 0.22 0.00 0.00 0.000 4102 0.285 0.000 2784 2402 1929 2029 1829 0 0 0 0 0 0 13.99 28.83 28.83

3706 0.76 234.3 2784 2402 2029 1827 335.2 8.9 406 3741 0.00 2.72 24.20 1.990 8452 0.000 0.160 2784 3814 1837 1939 1736 0 0 0 0 0 0 28.83 13.97 13.31

3788 0.71 234.3 2784 3814 1938 1736 327.3 10.7 414 3797 0.00 2.53 0.00 0.000 1030 0.000 0.110 2793 2405 1837 1938 1736 0 0 0 0 0 0 28.83 14.05 28.83

4099 0.73 271.3 2793 2405 1937 1735 300.2 8.3 445 4145 0.00 2.83 39.05 2.020 8452 0.000 0.160 2793 3812 1686 1780 1592 0 0 0 0 0 0 28.83 13.85 13.20

4234 0.69 271.3 2793 3812 1778 1593 286.9 10.7 458 4243 0.15 2.55 0.00 0.000 5126 0.249 0.110 2764 2395 1685 1777 1593 0 0 0 0 0 0 13.97 14.06 28.83

4545 0.82 339.4 2763 2395 1776 1591 264.2 6.8 489 4634 0.12 2.90 75.93 2.200 10500 0.181 0.160 2808 3815 1411 1499 1323 0 0 0 0 1 0 14.28 13.62 12.91

4689 0.82 339.4 2808 3815 1496 1323 249.3 12.2 503 4699 0.00 2.58 0.00 0.000 1030 0.000 0.110 2818 2405 1409 1496 1323 0 0 0 0 0 0 28.83 13.86 28.83

5000 0.82 339.4 2819 2404 1492 1320 212.4 12.0 534 5009 0.00 2.58 0.00 0.000 516 0.000 0.135 2829 994 1406 1492 1320 0 0 0 0 0 0 28.83 14.16 28.83

5045 0.82 339.4 2829 994 1491 1318 206.9 12.4 538 5055 0.08 2.60 0.00 0.000 5126 0.241 0.140 2807 2402 1404 1491 1318 0 0 0 0 0 0 14.15 14.19 28.83

5356 0.85 339.4 2807 2402 1491 1317 173.3 10.1 569 5365 0.00 2.62 0.00 0.000 260 0.000 0.161 2807 3810 1403 1489 1317 0 0 0 0 0 0 28.83 14.30 28.83

5411 0.85 339.4 2807 3810 1489 1317 167.3 11.3 574 5420 0.00 2.50 0.00 0.000 1030 0.000 0.112 2815 2396 1403 1489 1317 0 0 0 0 0 0 28.83 14.34 28.83

5722 0.87 339.4 2815 2396 1489 1316 135.2 11.0 605 5731 0.00 2.65 0.00 0.000 260 0.000 0.163 2815 3812 1403 1489 1317 0 0 0 0 0 0 28.83 14.37 28.83

5770 0.87 339.4 2815 3812 1488 1316 129.1 13.4 609 5777 0.00 2.50 0.00 0.000 1030 0.000 0.113 2826 2399 1402 1488 1316 0 0 0 0 0 0 28.83 14.42 28.83

6083 0.89 339.4 1824 2395 1463 1314 86.4 13.7 649 6090 0.00 2.55 0.00 0.000 516 0.000 0.138 2836 989 1401 1487 1316 0 0 0 0 0 0 28.83 14.45 28.83

6171 0.93 339.4 1832 988 1463 1313 75.9 10.9 665 6178 0.00 2.60 0.00 0.000 1030 0.000 0.145 2836 2406 1401 1487 1315 0 0 0 0 0 0 28.83 14.45 28.83

6489 1.03 416.0 2836 2406 1487 1315 51.2 6.5 726 6539 0.00 2.67 43.05 0.352 8708 0.000 0.141 2846 987 1097 1177 1017 0 0 0 0 0 0 28.83 14.40 14.29

6561 1.09 416.0 2847 987 1176 1017 45.4 10.0 737 6568 0.12 2.60 0.00 0.000 3078 0.188 0.143 2886 2400 1096 1176 1017 0 0 0 0 0 0 14.42 14.40 28.83

6868 end climb: SURFACE_DEPTH_REACHED

state 6868 begin surface coast

6890 end surface coast: CONTROL_FINISHED_OK

state 6891 begin surface

ID	192	HD_C	1.6100001e-05	ROLL_MAX	3873	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	2	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	11	ESCAPE_HEADING	0	C_ROLL_DIVE	2350	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2400	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	1	HEAD_ERRBAND	10	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	450	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	20	ALTIM_SENSITIVITY	2
D_NO_BLEED	100	SM_CC	450	R_STBD_OVSHOOT	23	XPDR_VALID	6
D_BOOST	110	N_FILEKB	8	ROLL_AD_RATE	300	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0.5
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	9	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2794	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	20
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	-1
T_DIVE	150	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	170	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	5	UNCOM_BLEED	20	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	-2	T_GPS_CHARGE	-1043.2203	DBDW	0	COMPASS_DEVICE	97
USE_ICE	0	T_RSLEEP	3	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	49
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	350	RAFOS_DEVICE	32
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	0	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	145	MINV_24V	12	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3924	MINV_10V	12	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2535	FG_AHR_10V	0	SEABIRD_T_G	0.0042877649
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00062881736
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	-2	SEABIRD_T_I	2.2009486e-05
RHO	1.0275	P_OVSHOOT	0.039999999	PRESSURE_YINT	-62.7798	SEABIRD_T_J	2.217299e-06
MASS	52018	PITCH_GAIN	23	PRESSURE_SLOPE	0.0001164018	SEABIRD_C_G	-9.8550158
MASS_COMP	0	PITCH_TIMEOUT	18	AD7714Ch0Gain	128	SEABIRD_C_H	1.1245382
NAV_MODE	2	PITCH_AD_RATE	175	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0013153109
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00017883891
KALMAN_USE	2	PITCH_ADJ_GAIN	0.02	COMPASS_USE	4
HD_A	0.0033904	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0092102997	ROLL_MIN	318	ALTIM_TOP_PING_RANGE	0

GPS1	190913,160959,6628.096,-6046.907,124,1.9,128,-33.6	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.02	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	190913,161802,6627.958,-6046.958,4,1.7,4,-33.6	MHEAD_RNG_PITCHd_Wd	94.5,184362,-17.4,-10.000,-20.41,2219
SPEED_LIMITS	0.173,0.269	D_GRID	402

FINISH	0.4,1.024833	_24V_AH	12.7,8.561
SM_CCo	6920,18.05,0.190,0,0,957,450.13	_10V_AH	12.9,0.000
SM_GC	1.47,8.18,0.12,18.05,0.106,0.176,0.190,141,2342,957,-7.44,0.40,450.13,0,0,0,0,0,0,14.49,14.48,14.41	FG_AHR_24Vo	0.000
RAFOS_CLK	327	FG_AHR_10Vo	0.000
RAFOS	0,1379606464,16.033333,16.017778,64,59,58,54,53,53,132,187,200,167,158,215	MEM	150800
RAFOS_FIX	6634.940430,-6037.093262,190913,080828,2,104,1.05	DATA_FILE_SIZE	33400,800
IRIDIUM_FIX	6558.99,-6052.02,190913,131333	CAP_FILE_SIZE	89639,0
TT8_MAMPS	0.024717,0.024717	CFSIZE	259252224,249987072
HUMID	48.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
INTERNAL_PRESSURE	8.64484	SOUNDSPEED	1450.9
TCM_TEMP	12.40	CURRENT	0.397,205.0,1
XPDR_PINGS	42	GPS	190913,181624,6626.945,-6046.499,55,1.3,55,-33.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	439	119.83	SBE_CT	557	23	164.36
Roll_motor	73	198	185.35	SBE_O2	0	0	0.00
VBD_pump_during_apogee	551	2200	15406.40	nil	0	0	0.00
VBD_pump_during_surface	18	189	43.49	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	330	130	549.57	nil	0	0	0.00
Transponder_ping	10	420	56.01	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	18	1.41
TT8	1900	14	366.69
LPSleep	2790	2	83.16
TT8_Active	632	14	115.95
TT8_Sampling	1543	33	670.81
TT8_CF8	563	39	288.68
TT8_Kalman	0	0	0.00
Analog_circuits	1772	12	274.37
GPS_charging	0	0	0.00
Compass	1346	6	117.04
RAFOS	1440	1	27.86
Transponder	0	5	0.03

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
20	-0.94	-146.0	116	2363	551	505	0.0	0.0	0	127	0.00	0.00	-103.97	0.000	16386	0.000	0.000	112	2363	2587	2662	2512	0	0	0	0	0	0	28.83	28.83	28.83
134	-0.94	-146.0	112	2363	2660	2515	3.2	-6.1	18	168	10.25	2.65	-17.27	0.000	19204	0.440	0.148	2226	939	3393	3573	3213	0	0	0	0	0	0	14.16	14.31	14.54
329	-0.83	-146.0	2225	938	3574	3212	53.2	-21.0	53	337	0.20	2.58	0.00	0.000	3078	0.309	0.142	2262	2342	3393	3574	3212	0	0	0	0	0	0	14.29	14.35	28.83
652	-0.76	-146.0	2262	2342	3574	3212	118.6	-20.1	106	662	0.12	2.60	0.00	0.000	2308	0.314	0.155	2285	3761	3393	3575	3211	0	0	0	0	0	0	14.36	14.41	28.83
878	-0.72	-146.0	1424	3760	3568	3208	158.7	-17.1	127	885	0.00	2.45	0.00	0.000	1030	0.000	0.106	2285	2350	3392	3574	3211	0	0	0	0	0	0	28.83	14.48	28.83
1187	-0.69	-146.0	2285	2350	3574	3211	208.1	-15.2	158	1196	0.00	2.60	0.00	0.000	260	0.000	0.164	2275	3757	3393	3575	3211	0	0	0	0	0	0	28.83	14.47	28.83
1254	-0.64	-146.0	2275	3757	3574	3211	218.6	-15.7	164	1263	0.15	2.42	0.00	0.000	3078	0.262	0.107	2317	2349	3393	3575	3211	0	0	0	0	0	0	14.44	14.52	28.83
1565	-0.64	-146.0	2317	2349	3575	3211	255.5	-11.7	195	1571	0.00	0.00	0.00	0.000	6	0.000	0.000	2317	2349	3393	3575	3211	0	0	0	0	0	0	28.83	28.83	28.83
1874	-0.64	-146.0	2317	2349	3575	3210	295.8	-13.5	226	1884	0.00	2.60	0.00	0.000	260	0.000	0.166	2309	3761	3392	3575	3210	0	0	0	0	0	0	28.83	14.54	28.83
1953	-0.64	-146.0	2310	3761	3575	3210	306.6	-14.4	233	1960	0.00	2.45	0.00	0.000	1030	0.000	0.109	2309	2347	3392	3575	3210	0	0	0	0	0	0	28.83	14.58	28.83
2262	-0.64	-146.0	2309	2346	3575	3210	351.3	-14.2	264	2270	0.00	2.60	0.00	0.000	260	0.000	0.166	2299	3759	3392	3575	3209	0	0	0	0	0	0	28.83	14.54	28.83
2320	-0.64	-146.0	2299	3759	3575	3209	359.0	-13.8	269	2327	0.00	2.45	0.00	0.000	1030	0.000	0.109	2298	2343	3392	3575	3209	0	0	0	0	0	0	28.83	14.60	28.83
2628	-0.64	-146.0	2299	2343	3575	3209	400.0	-12.8	300	2634	0.00	0.00	0.00	0.000	6	0.000	0.000	2298	2343	3392	3575	3209	0	0	0	0	0	0	28.83	28.83	28.83
2642	end dive: TARGET_DEPTH_EXCEEDED
state	2642	begin apogee
2655	-0.22	0.0	2298	2410	3575	3209	402.7	-13.2	302	2813	0.57	0.00	146.93	2.160	10246	0.248	0.000	2460	2410	2793	2919	2668	0	0	0	0	0	0	14.53	28.83	12.89
2814	end apogee: CONTROL_FINISHED_OK
state	2814	begin climb
2820	0.94	146.0	2460	2410	2919	2669	411.2	0.0	318	2989	1.27	2.78	153.98	2.083	10756	0.180	0.132	2841	991	2198	2282	2114	0	0	0	0	0	0	13.66	13.47	12.78
3016	0.87	210.3	2841	991	2282	2111	408.5	7.0	337	3092	0.00	2.72	68.25	2.044	9222	0.000	0.138	2841	2402	1936	2030	1842	0	0	0	0	0	0	28.83	13.68	12.75
3396	0.75	210.3	2841	2402	2029	1830	363.5	12.4	375	3404	0.22	0.00	0.00	0.000	4102	0.285	0.000	2784	2402	1929	2029	1829	0	0	0	0	0	0	13.99	28.83	28.83
3706	0.76	234.3	2784	2402	2029	1827	335.2	8.9	406	3741	0.00	2.72	24.20	1.990	8452	0.000	0.160	2784	3814	1837	1939	1736	0	0	0	0	0	0	28.83	13.97	13.31
3788	0.71	234.3	2784	3814	1938	1736	327.3	10.7	414	3797	0.00	2.53	0.00	0.000	1030	0.000	0.110	2793	2405	1837	1938	1736	0	0	0	0	0	0	28.83	14.05	28.83
4099	0.73	271.3	2793	2405	1937	1735	300.2	8.3	445	4145	0.00	2.83	39.05	2.020	8452	0.000	0.160	2793	3812	1686	1780	1592	0	0	0	0	0	0	28.83	13.85	13.20
4234	0.69	271.3	2793	3812	1778	1593	286.9	10.7	458	4243	0.15	2.55	0.00	0.000	5126	0.249	0.110	2764	2395	1685	1777	1593	0	0	0	0	0	0	13.97	14.06	28.83
4545	0.82	339.4	2763	2395	1776	1591	264.2	6.8	489	4634	0.12	2.90	75.93	2.200	10500	0.181	0.160	2808	3815	1411	1499	1323	0	0	0	0	1	0	14.28	13.62	12.91
4689	0.82	339.4	2808	3815	1496	1323	249.3	12.2	503	4699	0.00	2.58	0.00	0.000	1030	0.000	0.110	2818	2405	1409	1496	1323	0	0	0	0	0	0	28.83	13.86	28.83
5000	0.82	339.4	2819	2404	1492	1320	212.4	12.0	534	5009	0.00	2.58	0.00	0.000	516	0.000	0.135	2829	994	1406	1492	1320	0	0	0	0	0	0	28.83	14.16	28.83
5045	0.82	339.4	2829	994	1491	1318	206.9	12.4	538	5055	0.08	2.60	0.00	0.000	5126	0.241	0.140	2807	2402	1404	1491	1318	0	0	0	0	0	0	14.15	14.19	28.83
5356	0.85	339.4	2807	2402	1491	1317	173.3	10.1	569	5365	0.00	2.62	0.00	0.000	260	0.000	0.161	2807	3810	1403	1489	1317	0	0	0	0	0	0	28.83	14.30	28.83
5411	0.85	339.4	2807	3810	1489	1317	167.3	11.3	574	5420	0.00	2.50	0.00	0.000	1030	0.000	0.112	2815	2396	1403	1489	1317	0	0	0	0	0	0	28.83	14.34	28.83
5722	0.87	339.4	2815	2396	1489	1316	135.2	11.0	605	5731	0.00	2.65	0.00	0.000	260	0.000	0.163	2815	3812	1403	1489	1317	0	0	0	0	0	0	28.83	14.37	28.83
5770	0.87	339.4	2815	3812	1488	1316	129.1	13.4	609	5777	0.00	2.50	0.00	0.000	1030	0.000	0.113	2826	2399	1402	1488	1316	0	0	0	0	0	0	28.83	14.42	28.83
6083	0.89	339.4	1824	2395	1463	1314	86.4	13.7	649	6090	0.00	2.55	0.00	0.000	516	0.000	0.138	2836	989	1401	1487	1316	0	0	0	0	0	0	28.83	14.45	28.83
6171	0.93	339.4	1832	988	1463	1313	75.9	10.9	665	6178	0.00	2.60	0.00	0.000	1030	0.000	0.145	2836	2406	1401	1487	1315	0	0	0	0	0	0	28.83	14.45	28.83
6489	1.03	416.0	2836	2406	1487	1315	51.2	6.5	726	6539	0.00	2.67	43.05	0.352	8708	0.000	0.141	2846	987	1097	1177	1017	0	0	0	0	0	0	28.83	14.40	14.29
6561	1.09	416.0	2847	987	1176	1017	45.4	10.0	737	6568	0.12	2.60	0.00	0.000	3078	0.188	0.143	2886	2400	1096	1176	1017	0	0	0	0	0	0	14.42	14.40	28.83
6868	end climb: SURFACE_DEPTH_REACHED
state	6868	begin surface coast
6890	end surface coast: CONTROL_FINISHED_OK
state	6891	begin surface