Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 5 * 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 5 ESCAPE_HEADING 0 C_ROLL_DIVE 2150 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 6 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2200 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 380 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 410 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 17 ALTIM_SENSITIVITY 2

D_NO_BLEED 100 SM_CC 552.7182 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 130 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 1500 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 -612.3728 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 2550 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 26 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 0.029999999 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 552.7182

AH0_10V 0 D_PITCH 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

AH0_24V 350 D_SAFE 0 PITCH_ADJ_GAIN 0.029999999 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 380 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 26 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 130

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 -612.3728

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE 32 T_MISSION 1500

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 2550 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 20

C_ROLL_CLIMB 2200 LOGGERDEVICE2 -1 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2150 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 17 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 5 NOCOMM_ACTION 163 SEABIRD_C_J 0.00017883891 W_ADJ_DBAND 0

D_ABORT 410 N_DIVES 6 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 180913,235353,6635.580,-6045.541,38,1.2,38,-33.7 TGT_NAME TARGET_E

_CALLS 2 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.92 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 190913,000146,6635.530,-6045.843,5,1.2,5,-33.7 MHEAD_RNG_PITCHd_Wd 135.0,179133,-17.0,-9.744,-20.10,2276

SPEED_LIMITS 0.169,0.266 D_GRID 417

Post-dive calculations and measurements:

FINISH 0.3,1.024685 _24V_AH 12.8,6.263

SM_CCo 7073,64.30,0.181,0,0,539,552.91 _10V_AH 12.9,0.000

SM_GC 0.98,8.15,2.65,64.30,0.100,0.118,0.181,145,2149,539,-7.47,0.45,552.91,0,0,0,0,0,0,14.52,14.49,14.40 FG_AHR_24Vo 0.000

RAFOS_CLK 340 FG_AHR_10Vo 0.000

RAFOS 1,1379549341,0.166667,0.150278,64,63,63,59,58,57,175,194,211,155,116,139 MEM 150824

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 36662,832

IRIDIUM_FIX 6604.29,-6044.13,180913,212115 CAP_FILE_SIZE 94871,0

TT8_MAMPS 0.024717,0.024717 CFSIZE 259252224,250322944

HUMID 50.43 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.60578 SOUNDSPEED 1448.7

TCM_TEMP 12.30 CURRENT 0.148,324.4,1

XPDR_PINGS 59 GPS 190913,020336,6635.945,-6045.284,35,1.2,35,-33.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 428 118.31 SBE_CT 580 23 172.63

Roll_motor 82 225 237.66 SBE_O2 0 0 0.00

VBD_pump_during_apogee 542 2143 14888.10 nil 0 0 0.00

VBD_pump_during_surface 64 180 148.59 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 255 130 427.86 nil 0 0 0.00

Transponder_ping 14 420 79.30 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 18 1.41

TT8 2050 14 395.69

LPSleep 2742 2 81.71

TT8_Active 679 14 124.53

TT8_Sampling 1703 33 740.25

TT8_CF8 473 39 242.28

TT8_Kalman 0 0 0.00

Analog_circuits 1800 12 278.70

GPS_charging 0 0 0.00

Compass 1468 6 127.69

RAFOS 2160 1 41.80

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 -0.84 -146.0 127 2136 552 508 0.0 0.0 0 136 0.00 0.00 -113.70 0.000 16386 0.000 0.000 124 2136 2716 2775 2657 0 0 0 0 0 0 28.83 28.83 28.83

143 -0.84 -146.0 124 2137 2775 2658 3.2 -7.1 19 175 10.12 2.53 -13.60 0.000 18948 0.428 0.148 2271 734 3393 3570 3216 0 0 0 0 0 0 14.23 14.38 14.63

269 -0.71 -146.0 2271 735 3571 3216 31.1 -18.3 40 277 0.22 2.58 0.00 0.000 3078 0.287 0.131 2316 2161 3393 3570 3216 0 0 0 0 0 0 14.33 14.40 28.83

587 -0.71 -146.0 1416 2159 3564 3212 81.4 -13.7 101 595 0.00 2.58 0.00 0.000 260 0.000 0.153 2311 3567 3393 3571 3216 0 0 0 0 0 0 28.83 14.45 28.83

765 -0.71 -146.0 2311 3568 3571 3216 104.6 -13.2 131 772 0.00 2.47 0.00 0.000 1030 0.000 0.105 2311 2138 3393 3571 3216 0 0 0 0 0 0 28.83 14.50 28.83

1074 -0.71 -146.0 2311 2138 3571 3216 147.1 -13.8 162 1082 0.00 2.58 0.00 0.000 260 0.000 0.154 2301 3554 3393 3571 3216 0 0 0 0 0 0 28.83 14.50 28.83

1181 -0.71 -146.0 1432 3552 3563 3212 162.3 -14.4 172 1188 0.00 2.42 0.00 0.000 1030 0.000 0.106 2301 2146 3393 3571 3215 0 0 0 0 0 0 28.83 14.56 28.83

1490 -0.71 -146.0 2301 2145 3571 3215 207.8 -15.0 203 1498 0.00 2.58 0.00 0.000 260 0.000 0.155 2291 3561 3393 3571 3215 0 0 0 0 0 0 28.83 14.54 28.83

1630 -0.67 -146.0 2291 3561 3571 3214 228.6 -15.4 216 1640 0.12 2.40 0.00 0.000 3078 0.258 0.106 2326 2158 3392 3571 3214 0 0 0 0 0 0 14.47 14.57 28.83

1941 -0.71 -146.0 2326 2158 3571 3214 270.9 -13.6 247 1950 0.00 2.55 0.00 0.000 260 0.000 0.158 2317 3558 3392 3571 3214 0 0 0 0 0 0 28.83 14.54 28.83

2050 -0.75 -146.0 2317 3557 3570 3214 285.4 -13.6 257 2058 0.00 2.45 0.00 0.000 1030 0.000 0.107 2317 2140 3392 3571 3213 0 0 0 0 0 0 28.83 14.60 28.83

2360 -0.75 -146.0 2317 2140 3571 3213 323.8 -10.6 288 2368 0.00 2.58 0.00 0.000 772 0.000 0.157 2308 3554 3392 3571 3213 0 0 0 0 0 0 28.83 14.57 28.83

2395 -0.75 -146.0 2308 3555 3571 3213 327.6 -10.8 291 2403 0.00 2.40 0.00 0.000 1030 0.000 0.107 2307 2148 3392 3571 3213 0 0 0 0 0 0 28.83 14.59 28.83

2705 -0.75 -146.0 2307 2149 3570 3212 362.9 -11.8 322 2714 0.00 2.50 0.00 0.000 516 0.000 0.134 2307 736 3391 3571 3212 0 0 0 0 0 0 28.83 14.57 28.83

2815 -0.82 -146.0 2307 736 3571 3213 375.8 -11.7 332 2822 0.00 2.55 0.00 0.000 1030 0.000 0.140 2299 2154 3391 3571 3212 0 0 0 0 0 0 28.83 14.60 28.83

2847 end dive: TARGET_DEPTH_EXCEEDED

state 2847 begin apogee

2861 -0.19 0.0 2299 2202 3572 3212 380.6 -11.3 336 3015 0.65 0.00 144.05 2.144 10246 0.245 0.000 2482 2202 2793 2915 2672 0 0 0 0 0 0 14.52 28.83 12.90

3016 end apogee: CONTROL_FINISHED_OK

state 3016 begin climb

3022 0.84 146.0 2483 2202 2915 2673 386.6 0.0 352 3189 1.10 2.83 151.93 2.067 11012 0.168 0.156 2810 3616 2196 2284 2109 0 0 0 0 0 0 13.71 13.52 12.83

3424 0.64 181.6 2810 3616 2281 2105 366.1 8.1 391 3468 0.25 2.55 36.72 2.009 13318 0.288 0.113 2763 2199 2052 2148 1956 0 0 0 0 0 0 14.07 14.15 13.09

3771 0.75 270.3 2763 2199 2148 1950 343.4 5.7 426 3869 0.00 2.78 90.55 2.023 8964 0.000 0.141 2772 797 1692 1787 1597 0 0 0 0 0 0 28.83 13.59 12.92

3975 0.86 321.4 2772 797 1786 1592 329.8 7.4 446 4040 0.12 2.65 54.35 1.983 11270 0.116 0.140 2822 2192 1482 1579 1386 0 0 0 0 0 0 13.97 13.95 12.91

4344 0.82 321.4 2822 2192 1578 1379 286.5 12.2 483 4353 0.00 2.67 0.00 0.000 260 0.000 0.160 2822 3610 1478 1578 1379 0 0 0 0 0 0 28.83 14.12 28.83

4545 0.74 321.4 2822 3610 1574 1378 258.3 14.2 502 4555 0.12 2.50 0.00 0.000 5126 0.258 0.114 2796 2201 1476 1573 1379 0 0 0 0 0 0 14.20 14.26 28.83

4856 0.74 321.4 2797 2201 1574 1376 222.3 11.2 533 4866 0.00 2.65 0.00 0.000 260 0.000 0.161 2796 3611 1475 1574 1376 0 0 0 0 0 0 28.83 14.35 28.83

4963 0.74 321.4 2796 3612 1573 1376 209.2 12.6 543 4971 0.00 2.47 0.00 0.000 1030 0.000 0.114 2806 2196 1474 1573 1376 0 0 0 0 0 0 28.83 14.39 28.83

5273 0.74 321.4 2806 2196 1573 1376 175.4 10.6 574 5282 0.00 2.65 0.00 0.000 260 0.000 0.163 2806 3617 1474 1573 1376 0 0 0 0 0 0 28.83 14.42 28.83

5414 0.74 321.4 2806 3617 1573 1376 159.7 11.6 587 5423 0.00 2.47 0.00 0.000 1030 0.000 0.116 2816 2202 1474 1573 1376 0 0 0 0 0 0 28.83 14.45 28.83

5725 0.75 325.7 2816 2202 1572 1375 127.5 9.6 618 5734 0.00 2.60 0.00 0.000 260 0.000 0.163 2816 3607 1473 1572 1375 0 0 0 0 0 0 28.83 14.47 28.83

5814 0.72 325.7 1824 3606 1544 1373 118.3 10.7 626 5821 0.17 2.47 0.00 0.000 5126 0.275 0.115 2784 2195 1473 1572 1375 0 0 0 0 0 0 14.46 14.53 28.83

6128 0.85 358.5 2784 2195 1572 1375 93.5 8.3 664 6155 0.12 2.72 20.83 0.509 10500 0.168 0.165 2831 3614 1330 1424 1236 0 0 0 0 0 0 14.56 14.45 14.29

6217 0.80 358.5 2831 3614 1425 1239 84.0 12.6 678 6225 0.15 2.50 0.00 0.000 5126 0.275 0.117 2807 2193 1332 1425 1239 0 0 0 0 0 0 14.44 14.50 28.83

6537 0.88 358.5 2807 2193 1422 1236 52.1 9.9 739 6544 0.00 2.65 0.00 0.000 260 0.000 0.166 2806 3614 1329 1422 1236 0 0 0 0 0 0 28.83 14.49 28.83

6605 0.92 358.5 1800 3613 1399 1234 44.2 11.6 751 6612 0.00 2.47 0.00 0.000 1030 0.000 0.117 2815 2199 1328 1421 1236 0 0 0 0 0 0 28.83 14.54 28.83

6924 1.11 438.7 2816 2199 1421 1234 17.0 6.1 812 6975 0.25 2.72 44.20 0.232 10500 0.152 0.168 2904 3613 1003 1083 924 0 0 0 0 0 0 14.54 14.45 14.43

7026 end climb: SURFACE_DEPTH_REACHED

state 7026 begin surface coast

7041 end surface coast: CONTROL_FINISHED_OK

state 7041 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	5	ESCAPE_HEADING	0	C_ROLL_DIVE	2150	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	6	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2200	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	380	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	410	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	17	ALTIM_SENSITIVITY	2
D_NO_BLEED	100	SM_CC	552.7182	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	130	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	1500	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	-612.3728	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	2550	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	26	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	0.029999999	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	180913,235353,6635.580,-6045.541,38,1.2,38,-33.7	TGT_NAME	TARGET_E
_CALLS	2	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.92	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	190913,000146,6635.530,-6045.843,5,1.2,5,-33.7	MHEAD_RNG_PITCHd_Wd	135.0,179133,-17.0,-9.744,-20.10,2276
SPEED_LIMITS	0.169,0.266	D_GRID	417

FINISH	0.3,1.024685	_24V_AH	12.8,6.263
SM_CCo	7073,64.30,0.181,0,0,539,552.91	_10V_AH	12.9,0.000
SM_GC	0.98,8.15,2.65,64.30,0.100,0.118,0.181,145,2149,539,-7.47,0.45,552.91,0,0,0,0,0,0,14.52,14.49,14.40	FG_AHR_24Vo	0.000
RAFOS_CLK	340	FG_AHR_10Vo	0.000
RAFOS	1,1379549341,0.166667,0.150278,64,63,63,59,58,57,175,194,211,155,116,139	MEM	150824
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	36662,832
IRIDIUM_FIX	6604.29,-6044.13,180913,212115	CAP_FILE_SIZE	94871,0
TT8_MAMPS	0.024717,0.024717	CFSIZE	259252224,250322944
HUMID	50.43	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.60578	SOUNDSPEED	1448.7
TCM_TEMP	12.30	CURRENT	0.148,324.4,1
XPDR_PINGS	59	GPS	190913,020336,6635.945,-6045.284,35,1.2,35,-33.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	428	118.31	SBE_CT	580	23	172.63
Roll_motor	82	225	237.66	SBE_O2	0	0	0.00
VBD_pump_during_apogee	542	2143	14888.10	nil	0	0	0.00
VBD_pump_during_surface	64	180	148.59	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	255	130	427.86	nil	0	0	0.00
Transponder_ping	14	420	79.30	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	18	1.41
TT8	2050	14	395.69
LPSleep	2742	2	81.71
TT8_Active	679	14	124.53
TT8_Sampling	1703	33	740.25
TT8_CF8	473	39	242.28
TT8_Kalman	0	0	0.00
Analog_circuits	1800	12	278.70
GPS_charging	0	0	0.00
Compass	1468	6	127.69
RAFOS	2160	1	41.80
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	-0.84	-146.0	127	2136	552	508	0.0	0.0	0	136	0.00	0.00	-113.70	0.000	16386	0.000	0.000	124	2136	2716	2775	2657	0	0	0	0	0	0	28.83	28.83	28.83
143	-0.84	-146.0	124	2137	2775	2658	3.2	-7.1	19	175	10.12	2.53	-13.60	0.000	18948	0.428	0.148	2271	734	3393	3570	3216	0	0	0	0	0	0	14.23	14.38	14.63
269	-0.71	-146.0	2271	735	3571	3216	31.1	-18.3	40	277	0.22	2.58	0.00	0.000	3078	0.287	0.131	2316	2161	3393	3570	3216	0	0	0	0	0	0	14.33	14.40	28.83
587	-0.71	-146.0	1416	2159	3564	3212	81.4	-13.7	101	595	0.00	2.58	0.00	0.000	260	0.000	0.153	2311	3567	3393	3571	3216	0	0	0	0	0	0	28.83	14.45	28.83
765	-0.71	-146.0	2311	3568	3571	3216	104.6	-13.2	131	772	0.00	2.47	0.00	0.000	1030	0.000	0.105	2311	2138	3393	3571	3216	0	0	0	0	0	0	28.83	14.50	28.83
1074	-0.71	-146.0	2311	2138	3571	3216	147.1	-13.8	162	1082	0.00	2.58	0.00	0.000	260	0.000	0.154	2301	3554	3393	3571	3216	0	0	0	0	0	0	28.83	14.50	28.83
1181	-0.71	-146.0	1432	3552	3563	3212	162.3	-14.4	172	1188	0.00	2.42	0.00	0.000	1030	0.000	0.106	2301	2146	3393	3571	3215	0	0	0	0	0	0	28.83	14.56	28.83
1490	-0.71	-146.0	2301	2145	3571	3215	207.8	-15.0	203	1498	0.00	2.58	0.00	0.000	260	0.000	0.155	2291	3561	3393	3571	3215	0	0	0	0	0	0	28.83	14.54	28.83
1630	-0.67	-146.0	2291	3561	3571	3214	228.6	-15.4	216	1640	0.12	2.40	0.00	0.000	3078	0.258	0.106	2326	2158	3392	3571	3214	0	0	0	0	0	0	14.47	14.57	28.83
1941	-0.71	-146.0	2326	2158	3571	3214	270.9	-13.6	247	1950	0.00	2.55	0.00	0.000	260	0.000	0.158	2317	3558	3392	3571	3214	0	0	0	0	0	0	28.83	14.54	28.83
2050	-0.75	-146.0	2317	3557	3570	3214	285.4	-13.6	257	2058	0.00	2.45	0.00	0.000	1030	0.000	0.107	2317	2140	3392	3571	3213	0	0	0	0	0	0	28.83	14.60	28.83
2360	-0.75	-146.0	2317	2140	3571	3213	323.8	-10.6	288	2368	0.00	2.58	0.00	0.000	772	0.000	0.157	2308	3554	3392	3571	3213	0	0	0	0	0	0	28.83	14.57	28.83
2395	-0.75	-146.0	2308	3555	3571	3213	327.6	-10.8	291	2403	0.00	2.40	0.00	0.000	1030	0.000	0.107	2307	2148	3392	3571	3213	0	0	0	0	0	0	28.83	14.59	28.83
2705	-0.75	-146.0	2307	2149	3570	3212	362.9	-11.8	322	2714	0.00	2.50	0.00	0.000	516	0.000	0.134	2307	736	3391	3571	3212	0	0	0	0	0	0	28.83	14.57	28.83
2815	-0.82	-146.0	2307	736	3571	3213	375.8	-11.7	332	2822	0.00	2.55	0.00	0.000	1030	0.000	0.140	2299	2154	3391	3571	3212	0	0	0	0	0	0	28.83	14.60	28.83
2847	end dive: TARGET_DEPTH_EXCEEDED
state	2847	begin apogee
2861	-0.19	0.0	2299	2202	3572	3212	380.6	-11.3	336	3015	0.65	0.00	144.05	2.144	10246	0.245	0.000	2482	2202	2793	2915	2672	0	0	0	0	0	0	14.52	28.83	12.90
3016	end apogee: CONTROL_FINISHED_OK
state	3016	begin climb
3022	0.84	146.0	2483	2202	2915	2673	386.6	0.0	352	3189	1.10	2.83	151.93	2.067	11012	0.168	0.156	2810	3616	2196	2284	2109	0	0	0	0	0	0	13.71	13.52	12.83
3424	0.64	181.6	2810	3616	2281	2105	366.1	8.1	391	3468	0.25	2.55	36.72	2.009	13318	0.288	0.113	2763	2199	2052	2148	1956	0	0	0	0	0	0	14.07	14.15	13.09
3771	0.75	270.3	2763	2199	2148	1950	343.4	5.7	426	3869	0.00	2.78	90.55	2.023	8964	0.000	0.141	2772	797	1692	1787	1597	0	0	0	0	0	0	28.83	13.59	12.92
3975	0.86	321.4	2772	797	1786	1592	329.8	7.4	446	4040	0.12	2.65	54.35	1.983	11270	0.116	0.140	2822	2192	1482	1579	1386	0	0	0	0	0	0	13.97	13.95	12.91
4344	0.82	321.4	2822	2192	1578	1379	286.5	12.2	483	4353	0.00	2.67	0.00	0.000	260	0.000	0.160	2822	3610	1478	1578	1379	0	0	0	0	0	0	28.83	14.12	28.83
4545	0.74	321.4	2822	3610	1574	1378	258.3	14.2	502	4555	0.12	2.50	0.00	0.000	5126	0.258	0.114	2796	2201	1476	1573	1379	0	0	0	0	0	0	14.20	14.26	28.83
4856	0.74	321.4	2797	2201	1574	1376	222.3	11.2	533	4866	0.00	2.65	0.00	0.000	260	0.000	0.161	2796	3611	1475	1574	1376	0	0	0	0	0	0	28.83	14.35	28.83
4963	0.74	321.4	2796	3612	1573	1376	209.2	12.6	543	4971	0.00	2.47	0.00	0.000	1030	0.000	0.114	2806	2196	1474	1573	1376	0	0	0	0	0	0	28.83	14.39	28.83
5273	0.74	321.4	2806	2196	1573	1376	175.4	10.6	574	5282	0.00	2.65	0.00	0.000	260	0.000	0.163	2806	3617	1474	1573	1376	0	0	0	0	0	0	28.83	14.42	28.83
5414	0.74	321.4	2806	3617	1573	1376	159.7	11.6	587	5423	0.00	2.47	0.00	0.000	1030	0.000	0.116	2816	2202	1474	1573	1376	0	0	0	0	0	0	28.83	14.45	28.83
5725	0.75	325.7	2816	2202	1572	1375	127.5	9.6	618	5734	0.00	2.60	0.00	0.000	260	0.000	0.163	2816	3607	1473	1572	1375	0	0	0	0	0	0	28.83	14.47	28.83
5814	0.72	325.7	1824	3606	1544	1373	118.3	10.7	626	5821	0.17	2.47	0.00	0.000	5126	0.275	0.115	2784	2195	1473	1572	1375	0	0	0	0	0	0	14.46	14.53	28.83
6128	0.85	358.5	2784	2195	1572	1375	93.5	8.3	664	6155	0.12	2.72	20.83	0.509	10500	0.168	0.165	2831	3614	1330	1424	1236	0	0	0	0	0	0	14.56	14.45	14.29
6217	0.80	358.5	2831	3614	1425	1239	84.0	12.6	678	6225	0.15	2.50	0.00	0.000	5126	0.275	0.117	2807	2193	1332	1425	1239	0	0	0	0	0	0	14.44	14.50	28.83
6537	0.88	358.5	2807	2193	1422	1236	52.1	9.9	739	6544	0.00	2.65	0.00	0.000	260	0.000	0.166	2806	3614	1329	1422	1236	0	0	0	0	0	0	28.83	14.49	28.83
6605	0.92	358.5	1800	3613	1399	1234	44.2	11.6	751	6612	0.00	2.47	0.00	0.000	1030	0.000	0.117	2815	2199	1328	1421	1236	0	0	0	0	0	0	28.83	14.54	28.83
6924	1.11	438.7	2816	2199	1421	1234	17.0	6.1	812	6975	0.25	2.72	44.20	0.232	10500	0.152	0.168	2904	3613	1003	1083	924	0	0	0	0	0	0	14.54	14.45	14.43
7026	end climb: SURFACE_DEPTH_REACHED
state	7026	begin surface coast
7041	end surface coast: CONTROL_FINISHED_OK
state	7041	begin surface