Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 23 * 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 23 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 14 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 -1058.2661 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 -1058.2661

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 14 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 23 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 200913,151758,6626.348,-6040.022,44,1.5,49,-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 1.32 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200913,152342,6626.271,-6040.080,4,1.5,6,-33.5 MHEAD_RNG_PITCHd_Wd 145.4,180874,-18.6,-12.500,-21.21,2254

SPEED_LIMITS 0.217,0.322 D_GRID 425

Post-dive calculations and measurements:

FINISH 0.5,1.015242 _24V_AH 12.5,13.311

SM_CCo 6402,17.62,0.188,0,0,957,450.13 _10V_AH 12.8,0.000

SM_GC 1.42,8.30,0.15,17.62,0.108,0.179,0.188,141,2343,957,-7.44,0.37,450.13,0,0,0,0,0,0,14.43,14.42,14.37 FG_AHR_24Vo 0.000

RAFOS_CLK 303 FG_AHR_10Vo 0.000

RAFOS 0,1379692863,16.033333,16.017500,62,59,58,56,52,46,217,616,120,193,172,148 MEM 150716

RAFOS_FIX 6621.393066,-6026.824219,200913,161644,2,90,2.78 DATA_FILE_SIZE 33414,736

IRIDIUM_FIX 6558.99,-6047.32,200913,131300 CAP_FILE_SIZE 87619,0

TT8_MAMPS 0.024717,0.024717 CFSIZE 259252224,249389056

HUMID 46.77 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.64484 SOUNDSPEED 1451.0

TCM_TEMP 12.40 CURRENT 0.168,223.4,1

XPDR_PINGS 29 GPS 200913,171335,6625.464,-6038.750,54,2.0,54,-33.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 453 124.61 SBE_CT 511 23 148.59

Roll_motor 78 208 204.31 SBE_O2 0 0 0.00

VBD_pump_during_apogee 587 2306 16925.20 nil 0 0 0.00

VBD_pump_during_surface 17 188 41.46 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 193 134 325.49 nil 0 0 0.00

Transponder_ping 7 420 38.06 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 7 18 1.89

TT8 1761 14 337.32

LPSleep 2493 2 73.73

TT8_Active 633 14 115.20

TT8_Sampling 1453 33 626.60

TT8_CF8 444 39 225.84

TT8_Kalman 0 0 0.00

Analog_circuits 1620 12 248.98

GPS_charging 0 0 0.00

Compass 1280 6 110.44

RAFOS 2520 1 48.38

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 -184.9 131 2342 923 841 0.0 0.0 0 110 0.00 0.00 -88.05 0.000 16386 0.000 0.000 129 2343 2618 2692 2544 0 0 0 0 0 0 28.83 28.83 28.83

117 -1.04 -184.9 129 2343 2692 2545 3.4 -5.7 15 155 10.25 2.58 -19.42 0.000 18948 0.454 0.152 2193 934 3550 3763 3338 0 0 0 0 0 0 14.16 14.30 14.54

381 -0.94 -184.9 2194 932 3764 3338 75.3 -25.1 64 389 0.17 2.62 0.00 0.000 3078 0.312 0.140 2224 2355 3551 3764 3338 0 0 0 0 0 0 14.30 14.37 28.83

701 -0.85 -184.9 2223 2354 3764 3338 144.7 -19.7 105 711 0.12 2.60 0.00 0.000 2308 0.324 0.158 2246 3762 3551 3764 3338 0 0 0 0 0 0 14.38 14.42 28.83

791 -0.80 -184.9 2247 3762 3764 3338 160.8 -17.4 113 800 0.12 2.47 0.00 0.000 3078 0.306 0.108 2272 2347 3551 3764 3338 0 0 0 0 0 0 14.40 14.47 28.83

1102 -0.78 -184.9 2272 2346 3764 3338 209.6 -15.6 144 1111 0.00 2.62 0.00 0.000 260 0.000 0.164 2264 3760 3550 3764 3337 0 0 0 0 0 0 28.83 14.47 28.83

1177 -0.78 -184.9 2264 3760 3764 3337 222.4 -17.2 151 1186 0.00 2.45 0.00 0.000 1030 0.000 0.109 2264 2350 3551 3764 3338 0 0 0 0 0 0 28.83 14.50 28.83

1488 -0.75 -184.9 2264 2350 3764 3337 278.7 -17.6 182 1497 0.00 2.47 0.00 0.000 516 0.000 0.132 2264 945 3550 3764 3337 0 0 0 0 0 0 28.83 14.52 28.83

1596 -0.75 -184.9 2264 945 3765 3337 296.9 -16.5 192 1604 0.12 2.58 0.00 0.000 3078 0.314 0.144 2284 2352 3550 3764 3337 0 0 0 0 0 0 14.48 14.53 28.83

1906 -0.78 -184.9 2284 2351 3764 3336 343.9 -14.4 223 1914 0.00 2.58 0.00 0.000 260 0.000 0.160 2276 3761 3550 3764 3337 0 0 0 0 0 0 28.83 14.52 28.83

1954 -0.80 -184.9 1412 3760 3761 3334 350.5 -14.5 227 1961 0.00 2.45 0.00 0.000 1030 0.000 0.108 2276 2349 3550 3764 3336 0 0 0 0 0 0 28.83 14.57 28.83

2262 -0.80 -184.9 2276 2348 3764 3336 394.8 -14.1 258 2271 0.00 2.60 0.00 0.000 260 0.000 0.163 2266 3761 3549 3763 3336 0 0 0 0 0 0 28.83 14.54 28.83

2352 -0.83 -184.9 1392 3760 3761 3333 407.1 -14.1 266 2359 0.00 2.45 0.00 0.000 1030 0.000 0.108 2266 2346 3550 3764 3336 0 0 0 0 0 0 28.83 14.59 28.83

2474 end dive: TARGET_DEPTH_EXCEEDED

state 2474 begin apogee

2488 -0.22 0.0 2266 2401 3764 3336 426.4 -14.5 279 2684 0.68 0.00 189.98 2.306 10246 0.259 0.000 2453 2401 2794 2924 2665 0 0 0 0 0 0 14.52 28.83 12.81

2685 end apogee: CONTROL_FINISHED_OK

state 2685 begin climb

2691 1.04 184.9 2453 2401 2925 2665 435.9 0.0 299 2903 1.38 2.90 200.43 2.215 10756 0.157 0.132 2871 990 2039 2120 1959 0 0 0 0 0 0 13.56 13.18 12.52

3100 0.91 184.9 2871 990 2119 1947 402.6 12.9 340 3109 0.15 2.70 0.00 0.000 5126 0.270 0.138 2833 2396 2033 2119 1947 0 0 0 0 0 0 13.71 13.76 28.83

3412 0.85 211.6 2833 2396 2119 1943 365.2 11.3 371 3447 0.00 2.78 28.05 2.172 8452 0.000 0.156 2833 3813 1930 2025 1835 0 0 0 0 0 0 28.83 13.74 13.10

3593 0.73 211.6 2833 3813 2023 1835 339.7 15.7 388 3601 0.30 2.58 0.00 0.000 5126 0.283 0.109 2772 2402 1929 2023 1835 0 0 0 0 0 0 13.90 13.97 28.83

3903 0.82 274.0 2772 2402 2023 1831 307.9 9.7 419 3979 0.00 2.75 66.35 2.118 8708 0.000 0.133 2781 985 1676 1766 1587 0 0 0 0 0 0 28.83 13.59 12.96

4023 0.93 312.4 2781 985 1765 1584 296.5 10.8 430 4073 0.12 2.75 42.75 2.062 11270 0.124 0.137 2829 2403 1520 1607 1433 0 0 0 0 0 0 13.77 13.74 12.86

4376 0.93 312.4 2829 2403 1604 1425 246.8 14.2 466 4384 0.00 2.65 0.00 0.000 516 0.000 0.135 2840 990 1514 1603 1425 0 0 0 0 0 0 28.83 13.99 28.83

4421 0.93 312.4 2839 990 1603 1424 240.4 14.3 470 4430 0.00 2.65 0.00 0.000 1030 0.000 0.138 2839 2402 1513 1603 1424 0 0 0 0 0 0 28.83 14.02 28.83

4731 0.93 312.4 2840 2402 1602 1423 196.7 12.8 501 4740 0.00 2.65 0.00 0.000 260 0.000 0.160 2839 3807 1512 1601 1424 0 0 0 0 0 0 28.83 14.17 28.83

4780 0.89 312.4 1856 3807 1572 1421 190.5 14.0 505 4788 0.00 2.53 0.00 0.000 1030 0.000 0.110 2850 2400 1511 1599 1423 0 0 0 0 0 0 28.83 14.22 28.83

5092 0.87 312.4 2850 2399 1599 1423 149.4 13.9 536 5101 0.12 2.67 0.00 0.000 4356 0.310 0.161 2819 3817 1511 1599 1423 0 0 0 0 0 0 14.26 14.28 28.83

5138 0.87 312.4 2819 3817 1598 1423 142.7 13.6 540 5146 0.00 2.50 0.00 0.000 1030 0.000 0.112 2828 2402 1510 1598 1423 0 0 0 0 0 0 28.83 14.31 28.83

5448 0.91 346.8 2828 2402 1598 1422 106.1 10.9 571 5475 0.00 2.70 19.58 0.552 8452 0.000 0.161 2827 3823 1380 1465 1296 0 0 0 0 0 0 28.83 14.30 14.14

5547 0.91 346.8 2828 3823 1462 1295 94.2 13.8 584 5554 0.00 2.55 0.00 0.000 1030 0.000 0.111 2838 2389 1378 1462 1295 0 0 0 0 0 0 28.83 14.35 28.83

5866 1.01 405.5 2838 2390 1460 1292 57.6 9.8 645 5910 0.00 2.75 33.50 0.370 8452 0.000 0.161 2839 3807 1140 1219 1062 0 0 0 0 0 0 28.83 14.31 14.23

5957 1.07 416.9 2839 3807 1214 1062 47.6 12.0 660 5971 0.00 2.50 6.43 0.350 9222 0.000 0.112 2848 2401 1093 1170 1016 0 0 0 0 0 0 28.83 14.36 14.23

6289 1.13 416.9 2848 2401 1164 1012 13.4 12.7 722 6296 0.12 2.58 0.00 0.000 2564 0.186 0.135 2903 983 1088 1164 1012 0 0 0 0 0 0 14.41 14.40 28.83

6324 1.16 416.9 1888 982 1151 1011 7.8 16.0 727 6331 0.00 2.62 0.00 0.000 1030 0.000 0.142 2904 2410 1087 1163 1012 0 0 0 0 0 0 28.83 14.40 28.83

6351 end climb: SURFACE_DEPTH_REACHED

state 6351 begin surface coast

6373 end surface coast: CONTROL_FINISHED_OK

state 6373 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	23	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	14	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	-1058.2661	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	200913,151758,6626.348,-6040.022,44,1.5,49,-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	1.32	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200913,152342,6626.271,-6040.080,4,1.5,6,-33.5	MHEAD_RNG_PITCHd_Wd	145.4,180874,-18.6,-12.500,-21.21,2254
SPEED_LIMITS	0.217,0.322	D_GRID	425

FINISH	0.5,1.015242	_24V_AH	12.5,13.311
SM_CCo	6402,17.62,0.188,0,0,957,450.13	_10V_AH	12.8,0.000
SM_GC	1.42,8.30,0.15,17.62,0.108,0.179,0.188,141,2343,957,-7.44,0.37,450.13,0,0,0,0,0,0,14.43,14.42,14.37	FG_AHR_24Vo	0.000
RAFOS_CLK	303	FG_AHR_10Vo	0.000
RAFOS	0,1379692863,16.033333,16.017500,62,59,58,56,52,46,217,616,120,193,172,148	MEM	150716
RAFOS_FIX	6621.393066,-6026.824219,200913,161644,2,90,2.78	DATA_FILE_SIZE	33414,736
IRIDIUM_FIX	6558.99,-6047.32,200913,131300	CAP_FILE_SIZE	87619,0
TT8_MAMPS	0.024717,0.024717	CFSIZE	259252224,249389056
HUMID	46.77	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.64484	SOUNDSPEED	1451.0
TCM_TEMP	12.40	CURRENT	0.168,223.4,1
XPDR_PINGS	29	GPS	200913,171335,6625.464,-6038.750,54,2.0,54,-33.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	453	124.61	SBE_CT	511	23	148.59
Roll_motor	78	208	204.31	SBE_O2	0	0	0.00
VBD_pump_during_apogee	587	2306	16925.20	nil	0	0	0.00
VBD_pump_during_surface	17	188	41.46	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	134	325.49	nil	0	0	0.00
Transponder_ping	7	420	38.06	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	7	18	1.89
TT8	1761	14	337.32
LPSleep	2493	2	73.73
TT8_Active	633	14	115.20
TT8_Sampling	1453	33	626.60
TT8_CF8	444	39	225.84
TT8_Kalman	0	0	0.00
Analog_circuits	1620	12	248.98
GPS_charging	0	0	0.00
Compass	1280	6	110.44
RAFOS	2520	1	48.38
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	131	2342	923	841	0.0	0.0	0	110	0.00	0.00	-88.05	0.000	16386	0.000	0.000	129	2343	2618	2692	2544	0	0	0	0	0	0	28.83	28.83	28.83
117	-1.04	-184.9	129	2343	2692	2545	3.4	-5.7	15	155	10.25	2.58	-19.42	0.000	18948	0.454	0.152	2193	934	3550	3763	3338	0	0	0	0	0	0	14.16	14.30	14.54
381	-0.94	-184.9	2194	932	3764	3338	75.3	-25.1	64	389	0.17	2.62	0.00	0.000	3078	0.312	0.140	2224	2355	3551	3764	3338	0	0	0	0	0	0	14.30	14.37	28.83
701	-0.85	-184.9	2223	2354	3764	3338	144.7	-19.7	105	711	0.12	2.60	0.00	0.000	2308	0.324	0.158	2246	3762	3551	3764	3338	0	0	0	0	0	0	14.38	14.42	28.83
791	-0.80	-184.9	2247	3762	3764	3338	160.8	-17.4	113	800	0.12	2.47	0.00	0.000	3078	0.306	0.108	2272	2347	3551	3764	3338	0	0	0	0	0	0	14.40	14.47	28.83
1102	-0.78	-184.9	2272	2346	3764	3338	209.6	-15.6	144	1111	0.00	2.62	0.00	0.000	260	0.000	0.164	2264	3760	3550	3764	3337	0	0	0	0	0	0	28.83	14.47	28.83
1177	-0.78	-184.9	2264	3760	3764	3337	222.4	-17.2	151	1186	0.00	2.45	0.00	0.000	1030	0.000	0.109	2264	2350	3551	3764	3338	0	0	0	0	0	0	28.83	14.50	28.83
1488	-0.75	-184.9	2264	2350	3764	3337	278.7	-17.6	182	1497	0.00	2.47	0.00	0.000	516	0.000	0.132	2264	945	3550	3764	3337	0	0	0	0	0	0	28.83	14.52	28.83
1596	-0.75	-184.9	2264	945	3765	3337	296.9	-16.5	192	1604	0.12	2.58	0.00	0.000	3078	0.314	0.144	2284	2352	3550	3764	3337	0	0	0	0	0	0	14.48	14.53	28.83
1906	-0.78	-184.9	2284	2351	3764	3336	343.9	-14.4	223	1914	0.00	2.58	0.00	0.000	260	0.000	0.160	2276	3761	3550	3764	3337	0	0	0	0	0	0	28.83	14.52	28.83
1954	-0.80	-184.9	1412	3760	3761	3334	350.5	-14.5	227	1961	0.00	2.45	0.00	0.000	1030	0.000	0.108	2276	2349	3550	3764	3336	0	0	0	0	0	0	28.83	14.57	28.83
2262	-0.80	-184.9	2276	2348	3764	3336	394.8	-14.1	258	2271	0.00	2.60	0.00	0.000	260	0.000	0.163	2266	3761	3549	3763	3336	0	0	0	0	0	0	28.83	14.54	28.83
2352	-0.83	-184.9	1392	3760	3761	3333	407.1	-14.1	266	2359	0.00	2.45	0.00	0.000	1030	0.000	0.108	2266	2346	3550	3764	3336	0	0	0	0	0	0	28.83	14.59	28.83
2474	end dive: TARGET_DEPTH_EXCEEDED
state	2474	begin apogee
2488	-0.22	0.0	2266	2401	3764	3336	426.4	-14.5	279	2684	0.68	0.00	189.98	2.306	10246	0.259	0.000	2453	2401	2794	2924	2665	0	0	0	0	0	0	14.52	28.83	12.81
2685	end apogee: CONTROL_FINISHED_OK
state	2685	begin climb
2691	1.04	184.9	2453	2401	2925	2665	435.9	0.0	299	2903	1.38	2.90	200.43	2.215	10756	0.157	0.132	2871	990	2039	2120	1959	0	0	0	0	0	0	13.56	13.18	12.52
3100	0.91	184.9	2871	990	2119	1947	402.6	12.9	340	3109	0.15	2.70	0.00	0.000	5126	0.270	0.138	2833	2396	2033	2119	1947	0	0	0	0	0	0	13.71	13.76	28.83
3412	0.85	211.6	2833	2396	2119	1943	365.2	11.3	371	3447	0.00	2.78	28.05	2.172	8452	0.000	0.156	2833	3813	1930	2025	1835	0	0	0	0	0	0	28.83	13.74	13.10
3593	0.73	211.6	2833	3813	2023	1835	339.7	15.7	388	3601	0.30	2.58	0.00	0.000	5126	0.283	0.109	2772	2402	1929	2023	1835	0	0	0	0	0	0	13.90	13.97	28.83
3903	0.82	274.0	2772	2402	2023	1831	307.9	9.7	419	3979	0.00	2.75	66.35	2.118	8708	0.000	0.133	2781	985	1676	1766	1587	0	0	0	0	0	0	28.83	13.59	12.96
4023	0.93	312.4	2781	985	1765	1584	296.5	10.8	430	4073	0.12	2.75	42.75	2.062	11270	0.124	0.137	2829	2403	1520	1607	1433	0	0	0	0	0	0	13.77	13.74	12.86
4376	0.93	312.4	2829	2403	1604	1425	246.8	14.2	466	4384	0.00	2.65	0.00	0.000	516	0.000	0.135	2840	990	1514	1603	1425	0	0	0	0	0	0	28.83	13.99	28.83
4421	0.93	312.4	2839	990	1603	1424	240.4	14.3	470	4430	0.00	2.65	0.00	0.000	1030	0.000	0.138	2839	2402	1513	1603	1424	0	0	0	0	0	0	28.83	14.02	28.83
4731	0.93	312.4	2840	2402	1602	1423	196.7	12.8	501	4740	0.00	2.65	0.00	0.000	260	0.000	0.160	2839	3807	1512	1601	1424	0	0	0	0	0	0	28.83	14.17	28.83
4780	0.89	312.4	1856	3807	1572	1421	190.5	14.0	505	4788	0.00	2.53	0.00	0.000	1030	0.000	0.110	2850	2400	1511	1599	1423	0	0	0	0	0	0	28.83	14.22	28.83
5092	0.87	312.4	2850	2399	1599	1423	149.4	13.9	536	5101	0.12	2.67	0.00	0.000	4356	0.310	0.161	2819	3817	1511	1599	1423	0	0	0	0	0	0	14.26	14.28	28.83
5138	0.87	312.4	2819	3817	1598	1423	142.7	13.6	540	5146	0.00	2.50	0.00	0.000	1030	0.000	0.112	2828	2402	1510	1598	1423	0	0	0	0	0	0	28.83	14.31	28.83
5448	0.91	346.8	2828	2402	1598	1422	106.1	10.9	571	5475	0.00	2.70	19.58	0.552	8452	0.000	0.161	2827	3823	1380	1465	1296	0	0	0	0	0	0	28.83	14.30	14.14
5547	0.91	346.8	2828	3823	1462	1295	94.2	13.8	584	5554	0.00	2.55	0.00	0.000	1030	0.000	0.111	2838	2389	1378	1462	1295	0	0	0	0	0	0	28.83	14.35	28.83
5866	1.01	405.5	2838	2390	1460	1292	57.6	9.8	645	5910	0.00	2.75	33.50	0.370	8452	0.000	0.161	2839	3807	1140	1219	1062	0	0	0	0	0	0	28.83	14.31	14.23
5957	1.07	416.9	2839	3807	1214	1062	47.6	12.0	660	5971	0.00	2.50	6.43	0.350	9222	0.000	0.112	2848	2401	1093	1170	1016	0	0	0	0	0	0	28.83	14.36	14.23
6289	1.13	416.9	2848	2401	1164	1012	13.4	12.7	722	6296	0.12	2.58	0.00	0.000	2564	0.186	0.135	2903	983	1088	1164	1012	0	0	0	0	0	0	14.41	14.40	28.83
6324	1.16	416.9	1888	982	1151	1011	7.8	16.0	727	6331	0.00	2.62	0.00	0.000	1030	0.000	0.142	2904	2410	1087	1163	1012	0	0	0	0	0	0	28.83	14.40	28.83
6351	end climb: SURFACE_DEPTH_REACHED
state	6351	begin surface coast
6373	end surface coast: CONTROL_FINISHED_OK
state	6373	begin surface