Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 19 * 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 19 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 16 ALTIM_SENSITIVITY 2

D_NO_BLEED 100 SM_CC 450 R_STBD_OVSHOOT 11 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 120 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 150 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 -1053.2589 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 190 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 120

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 -1053.2589

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE 32 T_MISSION 150

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 190 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 20 MINV_10V 12 R_PORT_OVSHOOT 16 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 12 R_STBD_OVSHOOT 11 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 19 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 200913,074429,6624.476,-6043.361,38,2.0,38,-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 1.22 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200913,075002,6624.333,-6043.383,5,1.9,5,-33.5 MHEAD_RNG_PITCHd_Wd 55.7,184450,-18.6,-12.500,-21.21,2254

SPEED_LIMITS 0.217,0.322 D_GRID 407

Post-dive calculations and measurements:

FINISH 0.3,1.024910 _24V_AH 12.7,11.746

SM_CCo 6399,0.00,0.000,0,0,721,508.51 _10V_AH 12.7,0.000

SM_GC 1.23,8.40,0.15,0.00,0.104,0.170,0.000,143,2342,721,-7.43,0.40,508.51,0,0,0,0,0,0,14.35,14.35,28.83 FG_AHR_24Vo 0.000

RAFOS_CLK 297 FG_AHR_10Vo 0.000

RAFOS 0,1379664070,8.033334,8.019444,94,61,54,54,50,50,593,221,115,191,161,209 MEM 150716

RAFOS_FIX 6634.940430,-6037.093262,190913,080828,2,104,1.05 DATA_FILE_SIZE 30072,723

IRIDIUM_FIX 6558.99,-6044.69,200913,050532 CAP_FILE_SIZE 83496,0

TT8_MAMPS 0.023968,0.023968 CFSIZE 259252224,249593856

HUMID 46.92 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0

INTERNAL_PRESSURE 8.61555 SOUNDSPEED 1450.7

TCM_TEMP 12.30 CURRENT 0.355,205.7,1

XPDR_PINGS 39 GPS 200913,093906,6624.035,-6043.722,41,1.0,41,-33.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 443 123.41 SBE_CT 501 23 148.02

Roll_motor 68 211 182.68 SBE_O2 0 0 0.00

VBD_pump_during_apogee 648 2197 18103.43 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 183 140 327.63 nil 0 0 0.00

Transponder_ping 9 420 52.01 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 18 1.38

TT8 1691 14 321.40

LPSleep 2542 2 74.59

TT8_Active 664 14 119.93

TT8_Sampling 1388 33 593.92

TT8_CF8 451 39 227.55

TT8_Kalman 0 0 0.00

Analog_circuits 1622 12 247.29

GPS_charging 0 0 0.00

Compass 1230 6 105.35

RAFOS 2520 1 48.01

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

19 -1.04 -184.9 129 2346 987 914 0.0 0.0 0 102 0.00 0.00 -80.20 0.000 16386 0.000 0.000 126 2347 2545 2629 2461 0 0 0 0 0 0 28.83 28.83 28.83

109 -1.04 -184.9 126 2347 2629 2461 3.3 -5.7 14 148 10.05 2.55 -20.73 0.000 18948 0.444 0.145 2193 934 3549 3766 3333 0 0 0 0 0 0 14.17 14.31 14.54

215 -0.90 -184.9 1312 932 3763 3330 31.6 -27.0 31 223 0.25 2.65 0.00 0.000 3078 0.303 0.148 2242 2354 3549 3766 3333 0 0 0 0 0 0 14.27 14.33 28.83

540 -0.82 -184.9 2242 2354 3766 3333 113.0 -24.4 88 546 0.00 0.00 0.00 0.000 6 0.000 0.000 2242 2354 3549 3766 3333 0 0 0 0 0 0 28.83 28.83 28.83

854 -0.76 -184.9 2242 2354 3766 3333 176.3 -17.7 119 865 0.15 2.60 0.00 0.000 2308 0.317 0.155 2273 3761 3549 3766 3333 0 0 0 0 0 0 14.40 14.45 28.83

902 -0.73 -184.9 2273 3761 3766 3333 184.6 -15.6 123 911 0.00 2.45 0.00 0.000 1030 0.000 0.108 2273 2347 3549 3766 3333 0 0 0 0 0 0 28.83 14.47 28.83

1212 -0.73 -184.9 2273 2346 3766 3333 226.8 -13.3 154 1221 0.00 2.62 0.00 0.000 260 0.000 0.163 2263 3764 3549 3766 3333 0 0 0 0 0 0 28.83 14.49 28.83

1308 -0.73 -184.9 2263 3763 3766 3333 240.1 -13.8 163 1317 0.10 2.45 0.00 0.000 3078 0.278 0.109 2290 2344 3549 3766 3333 0 0 0 0 0 0 14.45 14.55 28.83

1619 -0.75 -184.9 2290 2344 3767 3332 281.0 -13.2 194 1628 0.00 2.62 0.00 0.000 260 0.000 0.164 2282 3762 3549 3766 3332 0 0 0 0 0 0 28.83 14.52 28.83

1743 -0.78 -184.9 2282 3762 3766 3332 297.1 -14.1 205 1750 0.00 2.47 0.00 0.000 1030 0.000 0.109 2281 2339 3549 3766 3332 0 0 0 0 0 0 28.83 14.57 28.83

2052 -0.78 -184.9 2281 2339 3766 3332 342.7 -14.0 236 2057 0.00 2.62 0.00 0.000 260 0.000 0.161 2272 3765 3549 3766 3332 0 0 0 0 0 0 28.83 14.54 28.83

2122 -0.81 -184.9 2272 3765 3766 3331 352.4 -14.5 242 2129 0.00 2.45 0.00 0.000 1030 0.000 0.109 2271 2350 3548 3766 3331 0 0 0 0 0 0 28.83 14.58 28.83

2431 -0.81 -184.9 2271 2349 3766 3331 397.6 -14.9 273 2440 0.00 2.62 0.00 0.000 260 0.000 0.167 2262 3768 3548 3766 3331 0 0 0 0 0 0 28.83 14.54 28.83

2469 -0.81 -184.9 1408 3767 3763 3328 403.2 -15.2 276 2476 0.00 2.45 0.00 0.000 1030 0.000 0.107 2262 2349 3548 3766 3331 0 0 0 0 0 0 28.83 14.59 28.83

2491 end dive: TARGET_DEPTH_EXCEEDED

state 2491 begin apogee

2505 -0.22 0.0 2262 2400 3766 3331 408.0 -15.7 279 2702 0.70 0.00 185.43 2.198 10246 0.264 0.000 2455 2400 2792 2922 2663 0 0 0 0 0 0 14.50 28.83 12.87

2703 end apogee: CONTROL_FINISHED_OK

state 2703 begin climb

2709 1.04 184.9 2455 2398 2921 2663 417.9 0.0 299 2921 1.42 0.00 200.02 2.150 10758 0.188 0.000 2861 2400 2040 2120 1960 0 0 0 0 1 0 13.61 28.83 12.66

3223 0.90 184.9 2861 2400 2119 1949 370.7 12.9 351 3232 0.12 2.72 0.00 0.000 4356 0.324 0.157 2832 3815 2034 2120 1949 0 0 0 0 0 0 13.89 13.92 28.83

3335 0.75 184.9 2832 3815 2120 1948 357.3 12.7 361 3345 0.22 2.55 0.00 0.000 5126 0.275 0.111 2783 2404 2033 2119 1947 0 0 0 0 0 0 13.95 14.02 28.83

3647 0.84 277.4 2784 2405 2119 1945 329.2 8.3 392 3753 0.00 2.85 96.70 2.098 8452 0.000 0.156 2782 3810 1663 1749 1577 0 0 0 0 0 0 28.83 13.47 12.85

3812 0.85 281.5 2783 3810 1744 1577 312.5 12.3 408 3823 0.00 2.60 5.50 1.651 9222 0.000 0.110 2791 2405 1646 1728 1564 0 0 0 0 0 0 28.83 13.74 13.06

4125 0.86 287.7 2791 2405 1728 1561 274.5 12.2 439 4143 0.00 2.65 7.57 1.816 8708 0.000 0.135 2802 984 1621 1704 1538 0 0 0 0 0 0 28.83 13.98 13.35

4160 0.88 289.5 2802 984 1704 1538 270.1 12.4 442 4169 0.00 2.67 0.00 0.000 1030 0.000 0.138 2802 2405 1621 1704 1538 0 0 0 0 0 0 28.83 14.01 28.83

4472 0.91 312.2 2802 2405 1703 1538 231.2 11.5 473 4508 0.00 2.75 27.23 2.003 8452 0.000 0.161 2802 3817 1520 1604 1437 0 0 0 0 0 0 28.83 13.91 13.32

4610 0.91 312.2 2802 3817 1602 1437 214.2 13.4 486 4617 0.00 2.58 0.00 0.000 1030 0.000 0.111 2812 2401 1519 1602 1437 0 0 0 0 0 0 28.83 14.07 28.83

4919 0.97 347.3 2813 2399 1601 1436 178.1 10.9 517 4965 0.12 2.80 36.72 1.983 10500 0.188 0.161 2856 3825 1378 1459 1298 0 0 0 0 0 0 14.26 13.87 13.29

5064 0.93 347.3 2856 3824 1454 1298 156.1 17.1 531 5074 0.10 2.58 0.00 0.000 5126 0.285 0.112 2840 2402 1376 1454 1298 0 0 0 0 0 0 13.98 14.04 28.83

5375 0.93 350.0 2840 2401 1453 1295 113.9 12.4 562 5381 0.00 0.00 0.00 0.000 6 0.000 0.000 2840 2401 1374 1454 1295 0 0 0 0 0 0 28.83 28.83 28.83

5690 0.95 367.4 2841 2401 1453 1294 75.5 11.7 612 5709 0.00 2.72 11.30 0.441 8452 0.000 0.163 2840 3826 1295 1373 1218 0 0 0 0 0 0 28.83 14.28 14.18

5736 0.95 367.4 2840 3826 1373 1219 69.9 13.4 619 5742 0.00 2.55 0.00 0.000 1030 0.000 0.112 2849 2396 1295 1373 1218 0 0 0 0 0 0 28.83 14.33 28.83

6054 1.07 446.1 1856 2393 1350 1216 37.1 8.9 680 6111 0.00 2.62 45.17 0.299 8708 0.000 0.138 2860 991 973 1045 901 0 0 0 0 0 0 28.83 14.29 14.24

6173 1.26 506.5 2860 991 1043 899 26.6 9.7 699 6213 0.25 2.62 32.92 0.265 11270 0.148 0.139 2941 2413 728 789 667 0 0 0 0 0 0 14.35 14.33 14.23

6298 end climb: SURFACE_DEPTH_REACHED

state 6298 begin surface coast

6309 end surface coast: CONTROL_FINISHED_OK

state 6309 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	19	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	16	ALTIM_SENSITIVITY	2
D_NO_BLEED	100	SM_CC	450	R_STBD_OVSHOOT	11	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	120	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	150	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	-1053.2589	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	190	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	200913,074429,6624.476,-6043.361,38,2.0,38,-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	1.22	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200913,075002,6624.333,-6043.383,5,1.9,5,-33.5	MHEAD_RNG_PITCHd_Wd	55.7,184450,-18.6,-12.500,-21.21,2254
SPEED_LIMITS	0.217,0.322	D_GRID	407

FINISH	0.3,1.024910	_24V_AH	12.7,11.746
SM_CCo	6399,0.00,0.000,0,0,721,508.51	_10V_AH	12.7,0.000
SM_GC	1.23,8.40,0.15,0.00,0.104,0.170,0.000,143,2342,721,-7.43,0.40,508.51,0,0,0,0,0,0,14.35,14.35,28.83	FG_AHR_24Vo	0.000
RAFOS_CLK	297	FG_AHR_10Vo	0.000
RAFOS	0,1379664070,8.033334,8.019444,94,61,54,54,50,50,593,221,115,191,161,209	MEM	150716
RAFOS_FIX	6634.940430,-6037.093262,190913,080828,2,104,1.05	DATA_FILE_SIZE	30072,723
IRIDIUM_FIX	6558.99,-6044.69,200913,050532	CAP_FILE_SIZE	83496,0
TT8_MAMPS	0.023968,0.023968	CFSIZE	259252224,249593856
HUMID	46.92	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
INTERNAL_PRESSURE	8.61555	SOUNDSPEED	1450.7
TCM_TEMP	12.30	CURRENT	0.355,205.7,1
XPDR_PINGS	39	GPS	200913,093906,6624.035,-6043.722,41,1.0,41,-33.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	443	123.41	SBE_CT	501	23	148.02
Roll_motor	68	211	182.68	SBE_O2	0	0	0.00
VBD_pump_during_apogee	648	2197	18103.43	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	183	140	327.63	nil	0	0	0.00
Transponder_ping	9	420	52.01	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	18	1.38
TT8	1691	14	321.40
LPSleep	2542	2	74.59
TT8_Active	664	14	119.93
TT8_Sampling	1388	33	593.92
TT8_CF8	451	39	227.55
TT8_Kalman	0	0	0.00
Analog_circuits	1622	12	247.29
GPS_charging	0	0	0.00
Compass	1230	6	105.35
RAFOS	2520	1	48.01
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
19	-1.04	-184.9	129	2346	987	914	0.0	0.0	0	102	0.00	0.00	-80.20	0.000	16386	0.000	0.000	126	2347	2545	2629	2461	0	0	0	0	0	0	28.83	28.83	28.83
109	-1.04	-184.9	126	2347	2629	2461	3.3	-5.7	14	148	10.05	2.55	-20.73	0.000	18948	0.444	0.145	2193	934	3549	3766	3333	0	0	0	0	0	0	14.17	14.31	14.54
215	-0.90	-184.9	1312	932	3763	3330	31.6	-27.0	31	223	0.25	2.65	0.00	0.000	3078	0.303	0.148	2242	2354	3549	3766	3333	0	0	0	0	0	0	14.27	14.33	28.83
540	-0.82	-184.9	2242	2354	3766	3333	113.0	-24.4	88	546	0.00	0.00	0.00	0.000	6	0.000	0.000	2242	2354	3549	3766	3333	0	0	0	0	0	0	28.83	28.83	28.83
854	-0.76	-184.9	2242	2354	3766	3333	176.3	-17.7	119	865	0.15	2.60	0.00	0.000	2308	0.317	0.155	2273	3761	3549	3766	3333	0	0	0	0	0	0	14.40	14.45	28.83
902	-0.73	-184.9	2273	3761	3766	3333	184.6	-15.6	123	911	0.00	2.45	0.00	0.000	1030	0.000	0.108	2273	2347	3549	3766	3333	0	0	0	0	0	0	28.83	14.47	28.83
1212	-0.73	-184.9	2273	2346	3766	3333	226.8	-13.3	154	1221	0.00	2.62	0.00	0.000	260	0.000	0.163	2263	3764	3549	3766	3333	0	0	0	0	0	0	28.83	14.49	28.83
1308	-0.73	-184.9	2263	3763	3766	3333	240.1	-13.8	163	1317	0.10	2.45	0.00	0.000	3078	0.278	0.109	2290	2344	3549	3766	3333	0	0	0	0	0	0	14.45	14.55	28.83
1619	-0.75	-184.9	2290	2344	3767	3332	281.0	-13.2	194	1628	0.00	2.62	0.00	0.000	260	0.000	0.164	2282	3762	3549	3766	3332	0	0	0	0	0	0	28.83	14.52	28.83
1743	-0.78	-184.9	2282	3762	3766	3332	297.1	-14.1	205	1750	0.00	2.47	0.00	0.000	1030	0.000	0.109	2281	2339	3549	3766	3332	0	0	0	0	0	0	28.83	14.57	28.83
2052	-0.78	-184.9	2281	2339	3766	3332	342.7	-14.0	236	2057	0.00	2.62	0.00	0.000	260	0.000	0.161	2272	3765	3549	3766	3332	0	0	0	0	0	0	28.83	14.54	28.83
2122	-0.81	-184.9	2272	3765	3766	3331	352.4	-14.5	242	2129	0.00	2.45	0.00	0.000	1030	0.000	0.109	2271	2350	3548	3766	3331	0	0	0	0	0	0	28.83	14.58	28.83
2431	-0.81	-184.9	2271	2349	3766	3331	397.6	-14.9	273	2440	0.00	2.62	0.00	0.000	260	0.000	0.167	2262	3768	3548	3766	3331	0	0	0	0	0	0	28.83	14.54	28.83
2469	-0.81	-184.9	1408	3767	3763	3328	403.2	-15.2	276	2476	0.00	2.45	0.00	0.000	1030	0.000	0.107	2262	2349	3548	3766	3331	0	0	0	0	0	0	28.83	14.59	28.83
2491	end dive: TARGET_DEPTH_EXCEEDED
state	2491	begin apogee
2505	-0.22	0.0	2262	2400	3766	3331	408.0	-15.7	279	2702	0.70	0.00	185.43	2.198	10246	0.264	0.000	2455	2400	2792	2922	2663	0	0	0	0	0	0	14.50	28.83	12.87
2703	end apogee: CONTROL_FINISHED_OK
state	2703	begin climb
2709	1.04	184.9	2455	2398	2921	2663	417.9	0.0	299	2921	1.42	0.00	200.02	2.150	10758	0.188	0.000	2861	2400	2040	2120	1960	0	0	0	0	1	0	13.61	28.83	12.66
3223	0.90	184.9	2861	2400	2119	1949	370.7	12.9	351	3232	0.12	2.72	0.00	0.000	4356	0.324	0.157	2832	3815	2034	2120	1949	0	0	0	0	0	0	13.89	13.92	28.83
3335	0.75	184.9	2832	3815	2120	1948	357.3	12.7	361	3345	0.22	2.55	0.00	0.000	5126	0.275	0.111	2783	2404	2033	2119	1947	0	0	0	0	0	0	13.95	14.02	28.83
3647	0.84	277.4	2784	2405	2119	1945	329.2	8.3	392	3753	0.00	2.85	96.70	2.098	8452	0.000	0.156	2782	3810	1663	1749	1577	0	0	0	0	0	0	28.83	13.47	12.85
3812	0.85	281.5	2783	3810	1744	1577	312.5	12.3	408	3823	0.00	2.60	5.50	1.651	9222	0.000	0.110	2791	2405	1646	1728	1564	0	0	0	0	0	0	28.83	13.74	13.06
4125	0.86	287.7	2791	2405	1728	1561	274.5	12.2	439	4143	0.00	2.65	7.57	1.816	8708	0.000	0.135	2802	984	1621	1704	1538	0	0	0	0	0	0	28.83	13.98	13.35
4160	0.88	289.5	2802	984	1704	1538	270.1	12.4	442	4169	0.00	2.67	0.00	0.000	1030	0.000	0.138	2802	2405	1621	1704	1538	0	0	0	0	0	0	28.83	14.01	28.83
4472	0.91	312.2	2802	2405	1703	1538	231.2	11.5	473	4508	0.00	2.75	27.23	2.003	8452	0.000	0.161	2802	3817	1520	1604	1437	0	0	0	0	0	0	28.83	13.91	13.32
4610	0.91	312.2	2802	3817	1602	1437	214.2	13.4	486	4617	0.00	2.58	0.00	0.000	1030	0.000	0.111	2812	2401	1519	1602	1437	0	0	0	0	0	0	28.83	14.07	28.83
4919	0.97	347.3	2813	2399	1601	1436	178.1	10.9	517	4965	0.12	2.80	36.72	1.983	10500	0.188	0.161	2856	3825	1378	1459	1298	0	0	0	0	0	0	14.26	13.87	13.29
5064	0.93	347.3	2856	3824	1454	1298	156.1	17.1	531	5074	0.10	2.58	0.00	0.000	5126	0.285	0.112	2840	2402	1376	1454	1298	0	0	0	0	0	0	13.98	14.04	28.83
5375	0.93	350.0	2840	2401	1453	1295	113.9	12.4	562	5381	0.00	0.00	0.00	0.000	6	0.000	0.000	2840	2401	1374	1454	1295	0	0	0	0	0	0	28.83	28.83	28.83
5690	0.95	367.4	2841	2401	1453	1294	75.5	11.7	612	5709	0.00	2.72	11.30	0.441	8452	0.000	0.163	2840	3826	1295	1373	1218	0	0	0	0	0	0	28.83	14.28	14.18
5736	0.95	367.4	2840	3826	1373	1219	69.9	13.4	619	5742	0.00	2.55	0.00	0.000	1030	0.000	0.112	2849	2396	1295	1373	1218	0	0	0	0	0	0	28.83	14.33	28.83
6054	1.07	446.1	1856	2393	1350	1216	37.1	8.9	680	6111	0.00	2.62	45.17	0.299	8708	0.000	0.138	2860	991	973	1045	901	0	0	0	0	0	0	28.83	14.29	14.24
6173	1.26	506.5	2860	991	1043	899	26.6	9.7	699	6213	0.25	2.62	32.92	0.265	11270	0.148	0.139	2941	2413	728	789	667	0	0	0	0	0	0	14.35	14.33	14.23
6298	end climb: SURFACE_DEPTH_REACHED
state	6298	begin surface coast
6309	end surface coast: CONTROL_FINISHED_OK
state	6309	begin surface