Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 586 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 192 HD_C 3.62024e-06 ROLL_MAX 3873 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 2 HEADING 90 ROLL_DEG 24 ALTIM_TOP_TURN_MARGIN 5

DIVE 586 ESCAPE_HEADING 100 C_ROLL_DIVE 2500 ALTIM_TOP_MIN_OBSTACLE 2.8

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2510 ALTIM_PING_DEPTH 300

D_SURF 3 FIX_MISSING_TIMEOUT 5 HEAD_ERRBAND 10 ALTIM_PING_DELTA 50

D_FLARE 3 TGT_DEFAULT_LAT 6000 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 23 ALTIM_SENSITIVITY 5

D_NO_BLEED 200 SM_CC 549.71729 R_STBD_OVSHOOT 14 XPDR_VALID 6

D_BOOST 110 N_FILEKB 4 ROLL_AD_RATE 300 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 2 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 9 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0.5

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 500 PROTOCOL 1 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 3 N_NOCOMM 6 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 10 NOCOMM_ACTION 161 C_VBD 2741 DEVICE1 2

SURFACE_URGENCY_TRY 10 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 20

SURFACE_URGENCY_FORCE 20 UPLOAD_DIVES_MAX 3 VBD_CNV -0.24529999 DEVICE3 -1

T_DIVE 400 CALL_TRIES 3 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 430 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0015 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 3 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 3 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 -4 T_GPS_CHARGE -12444.111 DBDW 0 COMPASS_DEVICE 97

USE_ICE 2 T_RSLEEP 3 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.1 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 48

D_OFFGRID 250 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 10 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3924 MINV_10V 9.5 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2510 FG_AHR_10V 0 SEABIRD_T_G 0.0042877649

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00062281737

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 0 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 0.0099999998 COMPASS_USE 4

HD_A 0.0041718199 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099987797 ROLL_MIN 318 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 128 D_OFFGRID 250 PHONE_SUPPLY -2 SM_CC 549.71729

AH0_10V 0 D_PITCH 1.75 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

AH0_24V 350 D_SAFE 500 PITCH_ADJ_GAIN 0.0099999998 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 10

ALTIM_BOTTOM_TURN_MARGIN 15 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 20

ALTIM_FREQUENCY 13 ESCAPE_HEADING 100 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 23 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 300 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 5 FG_AHR_24V 0 PITCH_MIN 145 TGT_DEFAULT_LAT 6000

ALTIM_TOP_MIN_OBSTACLE 2.8 FILEMGR 2 PITCH_TIMEOUT 18 TGT_DEFAULT_LON -5500

ALTIM_TOP_PING_RANGE 20 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.0015 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 5 GLIDE_SLOPE 30 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 400

CALL_NDIVES 1 HD_A 0.0041718199 PRESSURE_SLOPE 0.0001164018 T_EPIRB 0

CALL_TRIES 3 HD_B 0.0099987797 PRESSURE_YINT -62.7798 T_GPS 3

CALL_WAIT 60 HD_C 3.62024e-06 PROTOCOL 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING 90 P_OVSHOOT 0.039999999 T_GPS_CHARGE -12444.111

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE 32 T_MISSION 430

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.1 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 2510 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 20

C_ROLL_CLIMB 2510 LOGGERDEVICE2 -1 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX 3

C_ROLL_DIVE 2500 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY -4

C_VBD 2741 LOGGERDEVICE4 -1 ROLL_DEG 24 USE_ICE 2

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 9.5 R_PORT_OVSHOOT 23 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 10 R_STBD_OVSHOOT 14 VBD_MIN 500

DEVICE4 -1 MISSION 2 SEABIRD_C_G -9.8550158 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1245382 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 0 SEABIRD_C_I -0.0013153109 VBD_TIMEOUT 720

DIVE 586 NOCOMM_ACTION 161 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 4 SEABIRD_T_H 0.00062281737 XPDR_INHIBIT 90

D_CALL 3 N_GPS 20 SEABIRD_T_I 2.2009486e-05 XPDR_VALID 6

D_FINISH 9 N_NOCOMM 6 SEABIRD_T_J 2.217299e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 200 PHONE_DEVICE 48 SIM_W 0

Pre-dive calculations and measurements:

GPS1 020114,055812,6359.083,-6007.537,149,1.2,150,-30.8 TGT_NAME HEADING

_CALLS 3 TGT_LATLONG 6359.083,-5942.916

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 10.72 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -1.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 020114,055812,6359.083,-6007.537,149,1.2,150,-30.8 MHEAD_RNG_PITCHd_Wd 120.8,20000,-15.5,-8.250,-18.49,2720

SPEED_LIMITS 0.143,0.247 D_GRID 372

Post-dive calculations and measurements:

FREEZE 8.01,-1.725,-1.823,2,10,0 ALTIM_TOP_PING 19.6,19.3

FINISH1 8.0,1.026686,40 _24V_AH 11.7,241.193

FINISH2 4.8 _10V_AH 12.0,0.000

RAFOS_CLK 369 FG_AHR_24Vo 0.000

RAFOS 0,1388707262,0.033333,0.017222,62,57,56,54,51,49,210,155,134,188,171,223 FG_AHR_10Vo 0.000

RAFOS_FIX 6632.709473,-5809.086426,281213,202044,2,98,0.12 MEM 238568

IRIDIUM_FIX 6332.30,-6008.62,020114,050535 DATA_FILE_SIZE 13528,301

TT8_MAMPS 0.026964,0.026964 CAP_FILE_SIZE 64037,0

HUMID 46.88 CFSIZE 259252224,206188544

INTERNAL_PRESSURE 8.78157 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 12.00 SOUNDSPEED 1449.1

XPDR_PINGS 15 GPS 020114,055812,6359.083,-6007.537,149,1.2,150,-30.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 315 16.73 SBE_CT 210 23 57.27

Roll_motor 49 153 89.06 SBE_O2 0 0 0.00

VBD_pump_during_apogee 524 2304 14133.18 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 0 0 0.00 nil 0 0 0.00

Transponder_ping 4 420 22.11 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 851 14 152.91

LPSleep 4370 2 121.15

TT8_Active 452 14 77.13

TT8_Sampling 829 33 335.25

TT8_CF8 270 39 128.79

TT8_Kalman 0 0 0.00

Analog_circuits 1000 12 144.13

GPS_charging 0 0 0.00

Compass 815 6 65.94

RAFOS 720 1 12.96

Transponder 6 30 2.22

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 -0.89 -146.0 2533 2502 2676 2491 0.0 0.0 0 29 0.00 0.00 -7.55 0.000 16386 0.000 0.000 2533 2501 2923 3032 2815 0 0 0 0 0 0 28.83 28.83 28.83

35 -0.89 -146.0 2532 2502 3034 2815 12.0 0.0 1 53 0.95 1.55 -8.73 0.000 20740 0.119 0.153 2215 3355 3339 3509 3169 0 0 0 0 0 0 14.19 14.21 14.76

288 -0.79 -146.0 2215 3354 3510 3168 57.6 -20.7 25 295 0.15 1.50 0.00 0.000 3078 0.301 0.083 2246 2487 3339 3511 3168 0 0 0 0 0 0 13.90 14.28 28.83

625 -0.72 -146.0 2246 2487 3511 3168 124.9 -19.5 50 629 0.12 1.62 0.00 0.000 2308 0.316 0.127 2273 3357 3339 3510 3168 0 0 0 0 0 0 14.04 14.14 28.83

654 -0.65 -146.0 2273 3358 3511 3168 124.9 -19.5 50 661 0.00 1.50 0.00 0.000 1030 0.000 0.084 2273 2499 3339 3511 3167 0 0 0 0 0 0 28.83 14.26 28.83

961 -0.60 -146.0 2273 2499 3510 3166 183.3 -15.0 61 965 0.12 1.52 0.00 0.000 2564 0.292 0.094 2305 1660 3338 3510 3166 0 0 0 0 0 0 14.07 14.16 28.83

1028 -0.57 -146.0 2305 1659 3510 3166 192.3 -14.5 63 1032 0.00 1.55 0.00 0.000 1030 0.000 0.116 2300 2509 3338 3510 3166 0 0 0 0 0 0 28.83 14.15 28.83

1364 -0.55 -146.0 2301 2509 3510 3165 235.3 -12.2 74 1368 0.12 1.55 0.00 0.000 2564 0.299 0.095 2331 1663 3337 3511 3164 0 0 0 0 0 0 14.07 14.14 28.83

1424 -0.54 -146.0 2331 1663 3510 3165 239.8 -12.2 75 1431 0.00 1.55 0.00 0.000 1030 0.000 0.116 2327 2507 3338 3511 3165 0 0 0 0 0 0 28.83 14.12 28.83

1729 -0.54 -146.0 2327 2507 3511 3164 274.3 -9.6 86 1731 0.00 0.00 0.00 0.000 6 0.000 0.000 2327 2507 3336 3510 3163 0 0 0 0 0 0 28.83 28.83 28.83

2030 -0.55 -146.0 2327 2507 3510 3163 299.4 -8.9 96 2033 0.00 1.55 0.00 0.000 260 0.000 0.127 2321 3356 3337 3511 3164 0 0 0 0 0 0 28.83 14.08 28.83

2069 -0.56 -146.0 2321 3356 3511 3163 302.8 -9.2 97 2072 0.00 1.50 0.00 0.000 1030 0.000 0.084 2321 2489 3336 3510 3163 0 0 0 0 0 0 28.83 14.23 28.83

2403 -0.56 -146.0 2321 2489 3511 3164 336.6 -9.9 108 2407 0.00 1.50 0.00 0.000 516 0.000 0.097 2321 1635 3337 3511 3164 0 0 0 0 0 0 28.83 14.14 28.83

2446 -0.56 -146.0 2321 1634 3511 3164 340.0 -9.8 109 2450 0.00 1.58 0.00 0.000 1030 0.000 0.113 2316 2502 3337 3511 3164 0 0 0 0 0 0 28.83 14.13 28.83

2765 end dive: TARGET_DEPTH_EXCEEDED

state 2765 begin apogee

2779 -0.22 0.0 2316 2502 3512 3164 372.2 -9.5 120 2945 0.43 0.00 153.57 2.305 10246 0.223 0.000 2431 2501 2741 2862 2620 0 0 0 0 0 0 13.89 28.83 12.32

2946 end apogee: CONTROL_FINISHED_OK

state 2946 begin climb

2952 0.89 146.0 2431 2502 2862 2620 379.7 0.0 125 3135 1.25 1.85 166.70 2.180 10500 0.172 0.128 2785 3356 2146 2243 2049 0 0 0 0 0 0 13.48 12.83 11.67

3172 0.95 210.7 2785 3356 2240 2048 372.7 5.8 133 3258 0.00 1.62 76.90 2.121 9222 0.000 0.085 2791 2508 1881 1981 1781 0 0 0 0 0 0 28.83 13.19 11.70

3562 0.93 210.7 2791 2508 1980 1770 334.7 10.5 146 3565 0.00 1.52 0.00 0.000 516 0.000 0.101 2797 1659 1875 1980 1770 0 0 0 0 0 0 28.83 14.06 28.83

3605 0.92 210.7 2797 1659 1979 1769 330.9 10.6 147 3609 0.00 1.58 0.00 0.000 1030 0.000 0.115 2797 2517 1874 1979 1769 0 0 0 0 0 0 28.83 14.11 28.83

3931 0.90 210.7 2797 2517 1978 1768 294.1 11.0 158 3935 0.00 1.60 0.00 0.000 260 0.000 0.131 2797 3360 1874 1979 1769 0 0 0 0 0 0 28.83 14.18 28.83

3967 0.87 210.7 2797 3360 1978 1768 290.0 10.9 159 3971 0.00 1.50 0.00 0.000 1030 0.000 0.089 2803 2495 1873 1979 1768 0 0 0 0 0 0 28.83 14.33 28.83

4302 0.85 210.7 2804 2495 1978 1768 254.6 10.3 170 4306 0.00 1.62 0.00 0.000 260 0.000 0.132 2804 3354 1872 1978 1767 0 0 0 0 0 0 28.83 14.17 28.83

4372 0.82 210.7 2804 3353 1977 1766 247.6 10.3 172 4376 0.15 1.50 0.00 0.000 5126 0.262 0.090 2777 2491 1872 1977 1767 0 0 0 0 0 0 14.11 14.33 28.83

4703 0.82 210.7 2777 2491 1977 1767 217.2 9.4 183 4706 0.00 1.50 0.00 0.000 516 0.000 0.100 2781 1670 1872 1977 1767 0 0 0 0 0 0 28.83 14.23 28.83

4757 0.82 210.7 2781 1670 1977 1766 214.2 9.2 184 4760 0.00 1.58 0.00 0.000 1030 0.000 0.116 2781 2510 1871 1977 1766 0 0 0 0 0 0 28.83 14.19 28.83

5072 0.89 260.8 2781 2510 1977 1766 190.7 6.4 195 5129 0.00 1.62 52.17 2.082 8452 0.000 0.130 2781 3355 1677 1773 1581 0 0 0 0 0 0 28.83 14.14 12.99

5153 0.98 321.9 2781 3355 1772 1581 187.3 5.9 197 5229 0.12 1.50 67.47 2.016 11270 0.155 0.088 2832 2496 1428 1518 1339 0 0 0 0 0 0 14.26 14.25 12.78

5556 0.98 321.9 2832 2496 1510 1334 138.9 12.4 211 5560 0.00 1.50 0.00 0.000 516 0.000 0.102 2838 1639 1422 1510 1334 0 0 0 0 0 0 28.83 14.28 28.83

5664 0.98 321.9 2838 1639 1509 1331 127.1 12.4 214 5668 0.00 1.58 0.00 0.000 1030 0.000 0.116 2838 2512 1420 1509 1331 0 0 0 0 0 0 28.83 14.29 28.83

5975 0.98 321.9 2838 2512 1507 1330 86.7 11.6 230 5979 0.00 1.58 0.00 0.000 260 0.000 0.130 2838 3353 1418 1507 1330 0 0 0 0 0 0 28.83 14.21 28.83

6060 0.96 321.9 2838 3354 1506 1330 76.4 12.6 238 6065 0.00 1.50 0.00 0.000 1030 0.000 0.090 2845 2488 1418 1506 1330 0 0 0 0 0 0 28.83 14.35 28.83

6379 0.93 321.9 2845 2487 1505 1328 40.3 14.0 269 6383 0.12 1.45 0.00 0.000 4612 0.268 0.098 2816 1660 1417 1505 1329 0 0 0 0 0 0 14.20 14.28 28.83

6445 0.96 337.4 2816 1660 1505 1327 33.6 7.7 275 6458 0.00 1.55 7.25 0.272 9222 0.000 0.117 2815 2517 1364 1452 1277 0 0 0 0 0 0 28.83 14.24 13.91

6645 end climb: FINISH_DEPTH_REACHED

state 6645 begin subsurface finish

6659 0.06 40.1 2815 2517 1451 1277 8.0 11.1 295 6709 0.98 1.55 -43.95 0.000 20996 0.203 0.128 2536 1665 2578 2679 2478 0 0 0 0 0 0 13.98 14.22 14.78

6710 end subsurface finish: CONTROL_FINISHED_OK

state 6710 begin surface

ID	192	HD_C	3.62024e-06	ROLL_MAX	3873	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	2	HEADING	90	ROLL_DEG	24	ALTIM_TOP_TURN_MARGIN	5
DIVE	586	ESCAPE_HEADING	100	C_ROLL_DIVE	2500	ALTIM_TOP_MIN_OBSTACLE	2.8
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2510	ALTIM_PING_DEPTH	300
D_SURF	3	FIX_MISSING_TIMEOUT	5	HEAD_ERRBAND	10	ALTIM_PING_DELTA	50
D_FLARE	3	TGT_DEFAULT_LAT	6000	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	23	ALTIM_SENSITIVITY	5
D_NO_BLEED	200	SM_CC	549.71729	R_STBD_OVSHOOT	14	XPDR_VALID	6
D_BOOST	110	N_FILEKB	4	ROLL_AD_RATE	300	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	2	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	9	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0.5
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	500	PROTOCOL	1	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	3	N_NOCOMM	6	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	10	NOCOMM_ACTION	161	C_VBD	2741	DEVICE1	2
SURFACE_URGENCY_TRY	10	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	20
SURFACE_URGENCY_FORCE	20	UPLOAD_DIVES_MAX	3	VBD_CNV	-0.24529999	DEVICE3	-1
T_DIVE	400	CALL_TRIES	3	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	430	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0015	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	3	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	3	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	-4	T_GPS_CHARGE	-12444.111	DBDW	0	COMPASS_DEVICE	97
USE_ICE	2	T_RSLEEP	3	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.1	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	48
D_OFFGRID	250	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	10	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3924	MINV_10V	9.5	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2510	FG_AHR_10V	0	SEABIRD_T_G	0.0042877649
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00062281737
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	0	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	0.0099999998	COMPASS_USE	4
HD_A	0.0041718199	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099987797	ROLL_MIN	318	ALTIM_TOP_PING_RANGE	20

GPS1	020114,055812,6359.083,-6007.537,149,1.2,150,-30.8	TGT_NAME	HEADING
_CALLS	3	TGT_LATLONG	6359.083,-5942.916
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	10.72	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-1.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	020114,055812,6359.083,-6007.537,149,1.2,150,-30.8	MHEAD_RNG_PITCHd_Wd	120.8,20000,-15.5,-8.250,-18.49,2720
SPEED_LIMITS	0.143,0.247	D_GRID	372

FREEZE	8.01,-1.725,-1.823,2,10,0	ALTIM_TOP_PING	19.6,19.3
FINISH1	8.0,1.026686,40	_24V_AH	11.7,241.193
FINISH2	4.8	_10V_AH	12.0,0.000
RAFOS_CLK	369	FG_AHR_24Vo	0.000
RAFOS	0,1388707262,0.033333,0.017222,62,57,56,54,51,49,210,155,134,188,171,223	FG_AHR_10Vo	0.000
RAFOS_FIX	6632.709473,-5809.086426,281213,202044,2,98,0.12	MEM	238568
IRIDIUM_FIX	6332.30,-6008.62,020114,050535	DATA_FILE_SIZE	13528,301
TT8_MAMPS	0.026964,0.026964	CAP_FILE_SIZE	64037,0
HUMID	46.88	CFSIZE	259252224,206188544
INTERNAL_PRESSURE	8.78157	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	12.00	SOUNDSPEED	1449.1
XPDR_PINGS	15	GPS	020114,055812,6359.083,-6007.537,149,1.2,150,-30.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	315	16.73	SBE_CT	210	23	57.27
Roll_motor	49	153	89.06	SBE_O2	0	0	0.00
VBD_pump_during_apogee	524	2304	14133.18	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	0	0	0.00	nil	0	0	0.00
Transponder_ping	4	420	22.11	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	851	14	152.91
LPSleep	4370	2	121.15
TT8_Active	452	14	77.13
TT8_Sampling	829	33	335.25
TT8_CF8	270	39	128.79
TT8_Kalman	0	0	0.00
Analog_circuits	1000	12	144.13
GPS_charging	0	0	0.00
Compass	815	6	65.94
RAFOS	720	1	12.96
Transponder	6	30	2.22

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	-0.89	-146.0	2533	2502	2676	2491	0.0	0.0	0	29	0.00	0.00	-7.55	0.000	16386	0.000	0.000	2533	2501	2923	3032	2815	0	0	0	0	0	0	28.83	28.83	28.83
35	-0.89	-146.0	2532	2502	3034	2815	12.0	0.0	1	53	0.95	1.55	-8.73	0.000	20740	0.119	0.153	2215	3355	3339	3509	3169	0	0	0	0	0	0	14.19	14.21	14.76
288	-0.79	-146.0	2215	3354	3510	3168	57.6	-20.7	25	295	0.15	1.50	0.00	0.000	3078	0.301	0.083	2246	2487	3339	3511	3168	0	0	0	0	0	0	13.90	14.28	28.83
625	-0.72	-146.0	2246	2487	3511	3168	124.9	-19.5	50	629	0.12	1.62	0.00	0.000	2308	0.316	0.127	2273	3357	3339	3510	3168	0	0	0	0	0	0	14.04	14.14	28.83
654	-0.65	-146.0	2273	3358	3511	3168	124.9	-19.5	50	661	0.00	1.50	0.00	0.000	1030	0.000	0.084	2273	2499	3339	3511	3167	0	0	0	0	0	0	28.83	14.26	28.83
961	-0.60	-146.0	2273	2499	3510	3166	183.3	-15.0	61	965	0.12	1.52	0.00	0.000	2564	0.292	0.094	2305	1660	3338	3510	3166	0	0	0	0	0	0	14.07	14.16	28.83
1028	-0.57	-146.0	2305	1659	3510	3166	192.3	-14.5	63	1032	0.00	1.55	0.00	0.000	1030	0.000	0.116	2300	2509	3338	3510	3166	0	0	0	0	0	0	28.83	14.15	28.83
1364	-0.55	-146.0	2301	2509	3510	3165	235.3	-12.2	74	1368	0.12	1.55	0.00	0.000	2564	0.299	0.095	2331	1663	3337	3511	3164	0	0	0	0	0	0	14.07	14.14	28.83
1424	-0.54	-146.0	2331	1663	3510	3165	239.8	-12.2	75	1431	0.00	1.55	0.00	0.000	1030	0.000	0.116	2327	2507	3338	3511	3165	0	0	0	0	0	0	28.83	14.12	28.83
1729	-0.54	-146.0	2327	2507	3511	3164	274.3	-9.6	86	1731	0.00	0.00	0.00	0.000	6	0.000	0.000	2327	2507	3336	3510	3163	0	0	0	0	0	0	28.83	28.83	28.83
2030	-0.55	-146.0	2327	2507	3510	3163	299.4	-8.9	96	2033	0.00	1.55	0.00	0.000	260	0.000	0.127	2321	3356	3337	3511	3164	0	0	0	0	0	0	28.83	14.08	28.83
2069	-0.56	-146.0	2321	3356	3511	3163	302.8	-9.2	97	2072	0.00	1.50	0.00	0.000	1030	0.000	0.084	2321	2489	3336	3510	3163	0	0	0	0	0	0	28.83	14.23	28.83
2403	-0.56	-146.0	2321	2489	3511	3164	336.6	-9.9	108	2407	0.00	1.50	0.00	0.000	516	0.000	0.097	2321	1635	3337	3511	3164	0	0	0	0	0	0	28.83	14.14	28.83
2446	-0.56	-146.0	2321	1634	3511	3164	340.0	-9.8	109	2450	0.00	1.58	0.00	0.000	1030	0.000	0.113	2316	2502	3337	3511	3164	0	0	0	0	0	0	28.83	14.13	28.83
2765	end dive: TARGET_DEPTH_EXCEEDED
state	2765	begin apogee
2779	-0.22	0.0	2316	2502	3512	3164	372.2	-9.5	120	2945	0.43	0.00	153.57	2.305	10246	0.223	0.000	2431	2501	2741	2862	2620	0	0	0	0	0	0	13.89	28.83	12.32
2946	end apogee: CONTROL_FINISHED_OK
state	2946	begin climb
2952	0.89	146.0	2431	2502	2862	2620	379.7	0.0	125	3135	1.25	1.85	166.70	2.180	10500	0.172	0.128	2785	3356	2146	2243	2049	0	0	0	0	0	0	13.48	12.83	11.67
3172	0.95	210.7	2785	3356	2240	2048	372.7	5.8	133	3258	0.00	1.62	76.90	2.121	9222	0.000	0.085	2791	2508	1881	1981	1781	0	0	0	0	0	0	28.83	13.19	11.70
3562	0.93	210.7	2791	2508	1980	1770	334.7	10.5	146	3565	0.00	1.52	0.00	0.000	516	0.000	0.101	2797	1659	1875	1980	1770	0	0	0	0	0	0	28.83	14.06	28.83
3605	0.92	210.7	2797	1659	1979	1769	330.9	10.6	147	3609	0.00	1.58	0.00	0.000	1030	0.000	0.115	2797	2517	1874	1979	1769	0	0	0	0	0	0	28.83	14.11	28.83
3931	0.90	210.7	2797	2517	1978	1768	294.1	11.0	158	3935	0.00	1.60	0.00	0.000	260	0.000	0.131	2797	3360	1874	1979	1769	0	0	0	0	0	0	28.83	14.18	28.83
3967	0.87	210.7	2797	3360	1978	1768	290.0	10.9	159	3971	0.00	1.50	0.00	0.000	1030	0.000	0.089	2803	2495	1873	1979	1768	0	0	0	0	0	0	28.83	14.33	28.83
4302	0.85	210.7	2804	2495	1978	1768	254.6	10.3	170	4306	0.00	1.62	0.00	0.000	260	0.000	0.132	2804	3354	1872	1978	1767	0	0	0	0	0	0	28.83	14.17	28.83
4372	0.82	210.7	2804	3353	1977	1766	247.6	10.3	172	4376	0.15	1.50	0.00	0.000	5126	0.262	0.090	2777	2491	1872	1977	1767	0	0	0	0	0	0	14.11	14.33	28.83
4703	0.82	210.7	2777	2491	1977	1767	217.2	9.4	183	4706	0.00	1.50	0.00	0.000	516	0.000	0.100	2781	1670	1872	1977	1767	0	0	0	0	0	0	28.83	14.23	28.83
4757	0.82	210.7	2781	1670	1977	1766	214.2	9.2	184	4760	0.00	1.58	0.00	0.000	1030	0.000	0.116	2781	2510	1871	1977	1766	0	0	0	0	0	0	28.83	14.19	28.83
5072	0.89	260.8	2781	2510	1977	1766	190.7	6.4	195	5129	0.00	1.62	52.17	2.082	8452	0.000	0.130	2781	3355	1677	1773	1581	0	0	0	0	0	0	28.83	14.14	12.99
5153	0.98	321.9	2781	3355	1772	1581	187.3	5.9	197	5229	0.12	1.50	67.47	2.016	11270	0.155	0.088	2832	2496	1428	1518	1339	0	0	0	0	0	0	14.26	14.25	12.78
5556	0.98	321.9	2832	2496	1510	1334	138.9	12.4	211	5560	0.00	1.50	0.00	0.000	516	0.000	0.102	2838	1639	1422	1510	1334	0	0	0	0	0	0	28.83	14.28	28.83
5664	0.98	321.9	2838	1639	1509	1331	127.1	12.4	214	5668	0.00	1.58	0.00	0.000	1030	0.000	0.116	2838	2512	1420	1509	1331	0	0	0	0	0	0	28.83	14.29	28.83
5975	0.98	321.9	2838	2512	1507	1330	86.7	11.6	230	5979	0.00	1.58	0.00	0.000	260	0.000	0.130	2838	3353	1418	1507	1330	0	0	0	0	0	0	28.83	14.21	28.83
6060	0.96	321.9	2838	3354	1506	1330	76.4	12.6	238	6065	0.00	1.50	0.00	0.000	1030	0.000	0.090	2845	2488	1418	1506	1330	0	0	0	0	0	0	28.83	14.35	28.83
6379	0.93	321.9	2845	2487	1505	1328	40.3	14.0	269	6383	0.12	1.45	0.00	0.000	4612	0.268	0.098	2816	1660	1417	1505	1329	0	0	0	0	0	0	14.20	14.28	28.83
6445	0.96	337.4	2816	1660	1505	1327	33.6	7.7	275	6458	0.00	1.55	7.25	0.272	9222	0.000	0.117	2815	2517	1364	1452	1277	0	0	0	0	0	0	28.83	14.24	13.91
6645	end climb: FINISH_DEPTH_REACHED
state	6645	begin subsurface finish
6659	0.06	40.1	2815	2517	1451	1277	8.0	11.1	295	6709	0.98	1.55	-43.95	0.000	20996	0.203	0.128	2536	1665	2578	2679	2478	0	0	0	0	0	0	13.98	14.22	14.78
6710	end subsurface finish: CONTROL_FINISHED_OK
state	6710	begin surface