Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 22 * 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 22 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 15 ALTIM_SENSITIVITY 2

D_NO_BLEED 100 SM_CC 450 R_STBD_OVSHOOT 13 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 -1057.0167 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 -1057.0167

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 15 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 12 R_STBD_OVSHOOT 13 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 22 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 200913,132328,6626.083,-6041.775,38,1.0,41,-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 -61.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200913,132909,6626.062,-6041.832,5,1.0,5,-33.5 MHEAD_RNG_PITCHd_Wd 146.4,182191,-18.6,-12.500,-21.21,2254

SPEED_LIMITS 0.217,0.322 D_GRID 418

Post-dive calculations and measurements:

FINISH 0.7,1.024923 _10V_AH 12.9,0.000

SM_CCo 6380,0.00,0.000,0,0,887,467.79 FG_AHR_24Vo 0.000

SM_GC 1.29,8.30,0.12,0.00,0.105,0.176,0.000,147,2344,887,-7.42,0.40,467.79,0,0,0,0,0,0,14.37,14.37,28.83 FG_AHR_10Vo 0.000

RAFOS_CLK 298 MEM 150796

RAFOS_FIX 6634.940430,-6037.093262,190913,080828,2,104,1.05 DATA_FILE_SIZE 30078,720

IRIDIUM_FIX 6558.99,-6047.32,200913,111156 CAP_FILE_SIZE 83887,0

TT8_MAMPS 0.023968,0.023968 CFSIZE 259252224,249446400

HUMID 46.65 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.63508 SOUNDSPEED 1450.3

TCM_TEMP 12.20 CURRENT 0.225,344.3,1

XPDR_PINGS 30 GPS 200913,151758,6626.348,-6040.022,44,1.5,49,-33.5

_24V_AH 12.6,12.921

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 450 124.33 SBE_CT 500 23 146.38

Roll_motor 73 210 194.50 SBE_O2 0 0 0.00

VBD_pump_during_apogee 622 2271 17823.41 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 193 138 336.76 nil 0 0 0.00

Transponder_ping 7 420 39.69 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 18 1.42

TT8 1689 14 325.98

LPSleep 2555 2 76.15

TT8_Active 639 14 117.16

TT8_Sampling 1402 33 609.43

TT8_CF8 440 39 225.45

TT8_Kalman 0 0 0.00

Analog_circuits 1609 12 249.13

GPS_charging 0 0 0.00

Compass 1236 6 107.50

RAFOS 0 0 0.00

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

21 -1.04 -184.9 121 2344 992 915 0.0 0.0 0 111 0.00 0.00 -87.95 0.000 16386 0.000 0.000 117 2344 2704 2768 2640 0 0 0 0 0 0 28.83 28.83 28.83

118 -1.04 -184.9 117 2344 2771 2640 4.0 -8.5 15 151 10.23 2.62 -15.93 0.000 18948 0.451 0.146 2191 931 3552 3761 3344 0 0 0 0 0 0 14.19 14.31 14.55

333 -0.94 -184.9 2191 931 3763 3344 64.3 -22.4 54 340 0.17 2.62 0.00 0.000 3078 0.315 0.139 2225 2355 3553 3763 3344 0 0 0 0 0 0 14.30 14.38 28.83

651 -0.86 -184.9 2225 2355 3763 3344 136.3 -22.2 99 661 0.12 2.58 0.00 0.000 2308 0.330 0.155 2248 3758 3553 3763 3344 0 0 0 0 0 0 14.39 14.42 28.83

690 -0.79 -184.9 1408 3757 3760 3341 144.1 -21.3 102 698 0.12 2.47 0.00 0.000 3078 0.305 0.109 2273 2347 3553 3763 3344 0 0 0 0 0 0 14.39 14.46 28.83

1000 -0.76 -184.9 2274 2346 3763 3344 197.3 -16.9 133 1009 0.00 2.62 0.00 0.000 260 0.000 0.161 2265 3764 3553 3763 3343 0 0 0 0 0 0 28.83 14.46 28.83

1046 -0.76 -184.9 2266 3763 3763 3343 205.4 -17.5 137 1055 0.00 2.45 0.00 0.000 1030 0.000 0.109 2265 2351 3553 3763 3344 0 0 0 0 0 0 28.83 14.50 28.83

1356 -0.76 -184.9 2266 2351 3763 3343 262.2 -17.7 168 1366 0.00 2.62 0.00 0.000 260 0.000 0.164 2256 3764 3553 3763 3343 0 0 0 0 0 0 28.83 14.50 28.83

1445 -0.76 -184.9 1408 3763 3760 3340 278.0 -18.3 176 1452 0.12 2.47 0.00 0.000 3078 0.310 0.109 2282 2343 3552 3763 3342 0 0 0 0 0 0 14.47 14.54 28.83

1754 -0.76 -184.9 2282 2343 3762 3342 323.3 -13.6 207 1763 0.00 2.47 0.00 0.000 516 0.000 0.133 2282 944 3552 3763 3342 0 0 0 0 0 0 28.83 14.53 28.83

1812 -0.81 -184.9 1416 944 3759 3339 330.6 -13.0 212 1819 0.00 2.58 0.00 0.000 1030 0.000 0.145 2275 2350 3552 3763 3342 0 0 0 0 0 0 28.83 14.54 28.83

2120 -0.81 -184.9 2276 2350 3763 3341 371.8 -12.8 243 2129 0.00 2.58 0.00 0.000 260 0.000 0.161 2266 3759 3552 3763 3341 0 0 0 0 0 0 28.83 14.54 28.83

2208 -0.81 -184.9 2266 3759 3763 3341 383.9 -14.3 251 2215 0.00 2.45 0.00 0.000 1030 0.000 0.109 2266 2349 3552 3763 3341 0 0 0 0 0 0 28.83 14.59 28.83

2440 end dive: TARGET_DEPTH_EXCEEDED

state 2440 begin apogee

2459 -0.22 0.0 2266 2402 3763 3341 419.0 -15.5 275 2656 0.68 0.00 188.95 2.271 10246 0.254 0.000 2454 2402 2793 2919 2668 0 0 0 0 0 0 14.52 28.83 12.84

2657 end apogee: CONTROL_FINISHED_OK

state 2657 begin climb

2663 1.04 184.9 2454 2402 2920 2668 430.4 0.0 296 2875 1.42 2.78 198.05 2.183 10756 0.189 0.132 2869 991 2040 2122 1958 0 0 0 0 0 0 13.57 13.22 12.56

3085 0.91 184.9 2869 991 2121 1944 392.9 14.1 338 3095 0.12 2.70 0.00 0.000 5126 0.275 0.140 2837 2397 2032 2121 1943 0 0 0 0 0 0 13.74 13.78 28.83

3397 0.84 205.7 2837 2397 2120 1940 351.6 11.6 369 3426 0.12 2.83 21.25 2.079 12548 0.313 0.158 2805 3818 1955 2053 1858 0 0 0 0 0 0 14.00 13.83 13.21

3510 0.75 205.7 2806 3817 2051 1857 337.3 13.1 380 3519 0.12 2.58 0.00 0.000 5126 0.266 0.111 2783 2403 1954 2051 1857 0 0 0 0 0 0 13.89 13.96 28.83

3821 0.79 239.9 2783 2402 2050 1856 305.1 10.9 411 3867 0.00 2.70 36.83 2.082 8708 0.000 0.135 2791 988 1814 1913 1716 0 0 0 0 0 0 28.83 13.80 13.18

3907 0.84 281.2 2791 988 1911 1714 296.5 10.6 419 3960 0.00 2.72 44.97 2.102 9222 0.000 0.139 2791 2411 1647 1738 1557 0 0 0 0 0 0 28.83 13.88 12.95

4264 0.91 335.4 2792 2411 1734 1553 256.5 10.0 455 4332 0.12 2.80 58.00 2.080 10500 0.178 0.157 2837 3809 1427 1513 1341 0 0 0 0 0 0 14.08 13.57 12.95

4354 0.88 335.4 2836 3809 1511 1341 246.0 13.6 463 4364 0.10 2.62 0.00 0.000 5126 0.269 0.111 2821 2399 1426 1511 1341 0 0 0 0 0 0 13.64 13.69 28.83

4666 0.90 335.4 2822 2399 1506 1337 204.5 13.3 494 4672 0.00 0.00 0.00 0.000 6 0.000 0.000 2821 2399 1421 1506 1337 0 0 0 0 0 0 28.83 28.83 28.83

4983 0.93 338.8 2821 2399 1505 1335 165.3 12.3 525 4992 0.00 2.67 0.00 0.000 260 0.000 0.161 2821 3807 1420 1505 1335 0 0 0 0 0 0 28.83 14.21 28.83

5059 0.93 338.8 2821 3808 1504 1335 154.2 13.6 532 5067 0.00 2.53 0.00 0.000 1030 0.000 0.112 2830 2393 1419 1504 1335 0 0 0 0 0 0 28.83 14.25 28.83

5369 0.96 348.7 2830 2393 1503 1334 116.5 12.0 563 5387 0.00 2.70 7.43 1.801 8452 0.000 0.163 2829 3813 1372 1454 1290 0 0 0 0 0 0 28.83 14.23 13.65

5404 0.97 355.5 2830 3813 1454 1289 112.1 12.2 566 5414 0.00 2.53 4.62 1.473 9222 0.000 0.112 2840 2399 1343 1425 1262 0 0 0 0 0 0 28.83 14.27 13.60

5722 1.00 363.5 2840 2399 1425 1262 74.0 12.1 618 5735 0.00 2.70 4.57 0.441 8452 0.000 0.164 2840 3810 1312 1392 1232 0 0 0 0 0 0 28.83 14.31 14.20

5762 1.00 363.5 2840 3810 1391 1232 68.8 14.0 624 5769 0.00 2.53 0.00 0.000 1030 0.000 0.113 2850 2394 1311 1391 1232 0 0 0 0 0 0 28.83 14.35 28.83

6081 1.13 443.5 2851 2393 1391 1230 29.0 8.9 685 6137 0.12 2.60 46.12 0.266 10756 0.185 0.142 2905 985 983 1057 910 0 0 0 0 0 0 14.40 14.32 14.27

6204 1.16 466.1 1872 985 1045 907 14.7 11.5 705 6224 0.00 2.60 12.00 0.228 9222 0.000 0.135 2905 2400 891 962 821 0 0 0 0 0 0 28.83 14.35 14.29

6268 end climb: SURFACE_DEPTH_REACHED

state 6269 begin surface coast

6291 end surface coast: CONTROL_FINISHED_OK

state 6291 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	22	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	15	ALTIM_SENSITIVITY	2
D_NO_BLEED	100	SM_CC	450	R_STBD_OVSHOOT	13	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	-1057.0167	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	200913,132328,6626.083,-6041.775,38,1.0,41,-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	-61.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200913,132909,6626.062,-6041.832,5,1.0,5,-33.5	MHEAD_RNG_PITCHd_Wd	146.4,182191,-18.6,-12.500,-21.21,2254
SPEED_LIMITS	0.217,0.322	D_GRID	418

FINISH	0.7,1.024923	_10V_AH	12.9,0.000
SM_CCo	6380,0.00,0.000,0,0,887,467.79	FG_AHR_24Vo	0.000
SM_GC	1.29,8.30,0.12,0.00,0.105,0.176,0.000,147,2344,887,-7.42,0.40,467.79,0,0,0,0,0,0,14.37,14.37,28.83	FG_AHR_10Vo	0.000
RAFOS_CLK	298	MEM	150796
RAFOS_FIX	6634.940430,-6037.093262,190913,080828,2,104,1.05	DATA_FILE_SIZE	30078,720
IRIDIUM_FIX	6558.99,-6047.32,200913,111156	CAP_FILE_SIZE	83887,0
TT8_MAMPS	0.023968,0.023968	CFSIZE	259252224,249446400
HUMID	46.65	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.63508	SOUNDSPEED	1450.3
TCM_TEMP	12.20	CURRENT	0.225,344.3,1
XPDR_PINGS	30	GPS	200913,151758,6626.348,-6040.022,44,1.5,49,-33.5
_24V_AH	12.6,12.921

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	450	124.33	SBE_CT	500	23	146.38
Roll_motor	73	210	194.50	SBE_O2	0	0	0.00
VBD_pump_during_apogee	622	2271	17823.41	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	193	138	336.76	nil	0	0	0.00
Transponder_ping	7	420	39.69	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	18	1.42
TT8	1689	14	325.98
LPSleep	2555	2	76.15
TT8_Active	639	14	117.16
TT8_Sampling	1402	33	609.43
TT8_CF8	440	39	225.45
TT8_Kalman	0	0	0.00
Analog_circuits	1609	12	249.13
GPS_charging	0	0	0.00
Compass	1236	6	107.50
RAFOS	0	0	0.00
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
21	-1.04	-184.9	121	2344	992	915	0.0	0.0	0	111	0.00	0.00	-87.95	0.000	16386	0.000	0.000	117	2344	2704	2768	2640	0	0	0	0	0	0	28.83	28.83	28.83
118	-1.04	-184.9	117	2344	2771	2640	4.0	-8.5	15	151	10.23	2.62	-15.93	0.000	18948	0.451	0.146	2191	931	3552	3761	3344	0	0	0	0	0	0	14.19	14.31	14.55
333	-0.94	-184.9	2191	931	3763	3344	64.3	-22.4	54	340	0.17	2.62	0.00	0.000	3078	0.315	0.139	2225	2355	3553	3763	3344	0	0	0	0	0	0	14.30	14.38	28.83
651	-0.86	-184.9	2225	2355	3763	3344	136.3	-22.2	99	661	0.12	2.58	0.00	0.000	2308	0.330	0.155	2248	3758	3553	3763	3344	0	0	0	0	0	0	14.39	14.42	28.83
690	-0.79	-184.9	1408	3757	3760	3341	144.1	-21.3	102	698	0.12	2.47	0.00	0.000	3078	0.305	0.109	2273	2347	3553	3763	3344	0	0	0	0	0	0	14.39	14.46	28.83
1000	-0.76	-184.9	2274	2346	3763	3344	197.3	-16.9	133	1009	0.00	2.62	0.00	0.000	260	0.000	0.161	2265	3764	3553	3763	3343	0	0	0	0	0	0	28.83	14.46	28.83
1046	-0.76	-184.9	2266	3763	3763	3343	205.4	-17.5	137	1055	0.00	2.45	0.00	0.000	1030	0.000	0.109	2265	2351	3553	3763	3344	0	0	0	0	0	0	28.83	14.50	28.83
1356	-0.76	-184.9	2266	2351	3763	3343	262.2	-17.7	168	1366	0.00	2.62	0.00	0.000	260	0.000	0.164	2256	3764	3553	3763	3343	0	0	0	0	0	0	28.83	14.50	28.83
1445	-0.76	-184.9	1408	3763	3760	3340	278.0	-18.3	176	1452	0.12	2.47	0.00	0.000	3078	0.310	0.109	2282	2343	3552	3763	3342	0	0	0	0	0	0	14.47	14.54	28.83
1754	-0.76	-184.9	2282	2343	3762	3342	323.3	-13.6	207	1763	0.00	2.47	0.00	0.000	516	0.000	0.133	2282	944	3552	3763	3342	0	0	0	0	0	0	28.83	14.53	28.83
1812	-0.81	-184.9	1416	944	3759	3339	330.6	-13.0	212	1819	0.00	2.58	0.00	0.000	1030	0.000	0.145	2275	2350	3552	3763	3342	0	0	0	0	0	0	28.83	14.54	28.83
2120	-0.81	-184.9	2276	2350	3763	3341	371.8	-12.8	243	2129	0.00	2.58	0.00	0.000	260	0.000	0.161	2266	3759	3552	3763	3341	0	0	0	0	0	0	28.83	14.54	28.83
2208	-0.81	-184.9	2266	3759	3763	3341	383.9	-14.3	251	2215	0.00	2.45	0.00	0.000	1030	0.000	0.109	2266	2349	3552	3763	3341	0	0	0	0	0	0	28.83	14.59	28.83
2440	end dive: TARGET_DEPTH_EXCEEDED
state	2440	begin apogee
2459	-0.22	0.0	2266	2402	3763	3341	419.0	-15.5	275	2656	0.68	0.00	188.95	2.271	10246	0.254	0.000	2454	2402	2793	2919	2668	0	0	0	0	0	0	14.52	28.83	12.84
2657	end apogee: CONTROL_FINISHED_OK
state	2657	begin climb
2663	1.04	184.9	2454	2402	2920	2668	430.4	0.0	296	2875	1.42	2.78	198.05	2.183	10756	0.189	0.132	2869	991	2040	2122	1958	0	0	0	0	0	0	13.57	13.22	12.56
3085	0.91	184.9	2869	991	2121	1944	392.9	14.1	338	3095	0.12	2.70	0.00	0.000	5126	0.275	0.140	2837	2397	2032	2121	1943	0	0	0	0	0	0	13.74	13.78	28.83
3397	0.84	205.7	2837	2397	2120	1940	351.6	11.6	369	3426	0.12	2.83	21.25	2.079	12548	0.313	0.158	2805	3818	1955	2053	1858	0	0	0	0	0	0	14.00	13.83	13.21
3510	0.75	205.7	2806	3817	2051	1857	337.3	13.1	380	3519	0.12	2.58	0.00	0.000	5126	0.266	0.111	2783	2403	1954	2051	1857	0	0	0	0	0	0	13.89	13.96	28.83
3821	0.79	239.9	2783	2402	2050	1856	305.1	10.9	411	3867	0.00	2.70	36.83	2.082	8708	0.000	0.135	2791	988	1814	1913	1716	0	0	0	0	0	0	28.83	13.80	13.18
3907	0.84	281.2	2791	988	1911	1714	296.5	10.6	419	3960	0.00	2.72	44.97	2.102	9222	0.000	0.139	2791	2411	1647	1738	1557	0	0	0	0	0	0	28.83	13.88	12.95
4264	0.91	335.4	2792	2411	1734	1553	256.5	10.0	455	4332	0.12	2.80	58.00	2.080	10500	0.178	0.157	2837	3809	1427	1513	1341	0	0	0	0	0	0	14.08	13.57	12.95
4354	0.88	335.4	2836	3809	1511	1341	246.0	13.6	463	4364	0.10	2.62	0.00	0.000	5126	0.269	0.111	2821	2399	1426	1511	1341	0	0	0	0	0	0	13.64	13.69	28.83
4666	0.90	335.4	2822	2399	1506	1337	204.5	13.3	494	4672	0.00	0.00	0.00	0.000	6	0.000	0.000	2821	2399	1421	1506	1337	0	0	0	0	0	0	28.83	28.83	28.83
4983	0.93	338.8	2821	2399	1505	1335	165.3	12.3	525	4992	0.00	2.67	0.00	0.000	260	0.000	0.161	2821	3807	1420	1505	1335	0	0	0	0	0	0	28.83	14.21	28.83
5059	0.93	338.8	2821	3808	1504	1335	154.2	13.6	532	5067	0.00	2.53	0.00	0.000	1030	0.000	0.112	2830	2393	1419	1504	1335	0	0	0	0	0	0	28.83	14.25	28.83
5369	0.96	348.7	2830	2393	1503	1334	116.5	12.0	563	5387	0.00	2.70	7.43	1.801	8452	0.000	0.163	2829	3813	1372	1454	1290	0	0	0	0	0	0	28.83	14.23	13.65
5404	0.97	355.5	2830	3813	1454	1289	112.1	12.2	566	5414	0.00	2.53	4.62	1.473	9222	0.000	0.112	2840	2399	1343	1425	1262	0	0	0	0	0	0	28.83	14.27	13.60
5722	1.00	363.5	2840	2399	1425	1262	74.0	12.1	618	5735	0.00	2.70	4.57	0.441	8452	0.000	0.164	2840	3810	1312	1392	1232	0	0	0	0	0	0	28.83	14.31	14.20
5762	1.00	363.5	2840	3810	1391	1232	68.8	14.0	624	5769	0.00	2.53	0.00	0.000	1030	0.000	0.113	2850	2394	1311	1391	1232	0	0	0	0	0	0	28.83	14.35	28.83
6081	1.13	443.5	2851	2393	1391	1230	29.0	8.9	685	6137	0.12	2.60	46.12	0.266	10756	0.185	0.142	2905	985	983	1057	910	0	0	0	0	0	0	14.40	14.32	14.27
6204	1.16	466.1	1872	985	1045	907	14.7	11.5	705	6224	0.00	2.60	12.00	0.228	9222	0.000	0.135	2905	2400	891	962	821	0	0	0	0	0	0	28.83	14.35	14.29
6268	end climb: SURFACE_DEPTH_REACHED
state	6269	begin surface coast
6291	end surface coast: CONTROL_FINISHED_OK
state	6291	begin surface