Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 587 * 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 587 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 16 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 16 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 587 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 10.66 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -5.7 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 1.25,-1.790,-1.790,2,11,0 ALTIM_TOP_PING 19.6,999.0

FINISH 1.2,1.026284 _24V_AH 11.7,241.522

SM_CCo 7305,143.32,0.172,0,0,499,549.72 _10V_AH 12.0,0.000

SM_GC 1.77,8.05,1.60,143.32,0.089,0.113,0.172,138,2503,499,-7.36,-0.45,549.72,0,0,0,0,0,0,14.30,14.23,14.07 FG_AHR_24Vo 0.000

RAFOS_CLK 406 FG_AHR_10Vo 0.000

RAFOS 1,1388707742,0.166667,0.150556,65,56,54,51,50,47,205,1688,166,130,182,56 MEM 238588

RAFOS_FIX 6632.709473,-5809.086426,281213,202044,2,98,0.12 DATA_FILE_SIZE 13500,329

IRIDIUM_FIX 6332.30,-6008.62,020114,050535 CAP_FILE_SIZE 69437,0

TT8_MAMPS 0.024717,0.024717 CFSIZE 259252224,206147584

HUMID 44.40 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.59601 SOUNDSPEED 1449.4

TCM_TEMP 12.10 GPS 020114,055812,6359.083,-6007.537,181,99.0,181,-30.8

XPDR_PINGS 14

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 11 320 43.60 SBE_CT 231 23 62.93

Roll_motor 44 132 69.60 SBE_O2 0 0 0.00

VBD_pump_during_apogee 480 2296 12908.73 nil 0 0 0.00

VBD_pump_during_surface 143 172 288.64 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 20.88 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 973 14 174.73

LPSleep 4864 2 134.84

TT8_Active 565 14 96.43

TT8_Sampling 804 33 325.30

TT8_CF8 320 39 152.81

TT8_Kalman 0 0 0.00

Analog_circuits 1073 12 154.57

GPS_charging 0 0 0.00

Compass 793 6 64.22

RAFOS 1800 1 32.40

Transponder 6 30 2.29

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

20 -0.89 -146.0 2535 2507 2679 2482 0.0 0.0 0 27 0.00 0.00 -5.38 0.000 16386 0.000 0.000 2535 2507 2853 2949 2757 0 0 0 0 0 0 28.83 28.83 28.83

34 -0.89 -146.0 2535 2507 2952 2756 14.7 0.0 1 51 0.98 1.48 -8.93 0.000 20996 0.135 0.120 2224 1657 3340 3510 3171 0 0 0 0 0 0 14.16 14.29 14.73

285 -0.81 -146.0 2224 1656 3513 3169 59.6 -18.3 25 292 0.12 1.52 0.00 0.000 3078 0.308 0.108 2241 2504 3341 3513 3169 0 0 0 0 0 0 13.96 14.21 28.83

595 -0.73 -146.0 2242 2504 3513 3169 117.9 -18.4 50 597 0.12 0.00 0.00 0.000 2054 0.321 0.000 2268 2504 3340 3512 3169 0 0 0 0 0 0 14.12 28.83 28.83

894 -0.68 -146.0 2268 2504 3514 3168 162.7 -15.2 60 898 0.00 1.50 0.00 0.000 516 0.000 0.096 2269 1647 3340 3513 3168 0 0 0 0 0 0 28.83 14.21 28.83

938 -0.63 -146.0 2269 1647 3513 3168 168.5 -15.9 61 942 0.15 1.55 0.00 0.000 3078 0.269 0.116 2297 2499 3340 3513 3168 0 0 0 0 0 0 13.98 14.17 28.83

1270 -0.61 -146.0 2297 2500 3513 3168 212.1 -12.9 72 1274 0.00 1.52 0.00 0.000 516 0.000 0.096 2297 1657 3340 3513 3167 0 0 0 0 0 0 28.83 14.16 28.83

1319 -0.59 -146.0 2298 1657 3513 3167 217.1 -12.6 73 1322 0.00 1.58 0.00 0.000 1030 0.000 0.116 2294 2497 3339 3512 3167 0 0 0 0 0 0 28.83 14.11 28.83

1641 -0.58 -146.0 2294 2497 3513 3166 254.3 -10.9 84 1645 0.00 1.50 0.00 0.000 516 0.000 0.095 2293 1645 3339 3513 3165 0 0 0 0 0 0 28.83 14.17 28.83

1680 -0.56 -146.0 2294 1644 3513 3166 258.3 -10.7 85 1684 0.17 1.58 0.00 0.000 3078 0.257 0.119 2327 2503 3339 3513 3166 0 0 0 0 0 0 13.93 14.14 28.83

2012 -0.57 -146.0 2328 2504 3513 3166 286.3 -8.7 96 2016 0.00 1.60 0.00 0.000 260 0.000 0.130 2322 3350 3339 3512 3166 0 0 0 0 0 0 28.83 14.04 28.83

2042 -0.58 -146.0 2323 3350 3512 3165 286.3 -8.7 96 2049 0.00 1.50 0.00 0.000 1030 0.000 0.084 2323 2485 3339 3513 3165 0 0 0 0 0 0 28.83 14.25 28.83

2347 -0.58 -146.0 2323 2486 3513 3166 319.0 -9.9 107 2351 0.00 1.50 0.00 0.000 516 0.000 0.096 2323 1630 3339 3513 3166 0 0 0 0 0 0 28.83 14.16 28.83

2422 -0.59 -146.0 2323 1630 3513 3166 325.5 -10.0 109 2425 0.00 1.62 0.00 0.000 1030 0.000 0.114 2317 2496 3339 3513 3166 0 0 0 0 0 0 28.83 14.08 28.83

2747 -0.59 -146.0 2317 2496 3514 3166 359.4 -10.2 120 2750 0.00 1.50 0.00 0.000 516 0.000 0.094 2317 1641 3340 3514 3166 0 0 0 0 0 0 28.83 14.16 28.83

2782 -0.59 -146.0 2317 1641 3514 3166 362.8 -10.0 121 2785 0.00 1.58 0.00 0.000 1030 0.000 0.116 2312 2501 3340 3514 3166 0 0 0 0 0 0 28.83 14.13 28.83

2871 end dive: TARGET_DEPTH_EXCEEDED

state 2871 begin apogee

2885 -0.22 0.0 2312 2501 3514 3166 372.1 -9.8 124 3050 0.45 0.00 155.38 2.297 10246 0.223 0.000 2433 2502 2741 2863 2620 0 0 0 0 0 0 13.90 28.83 12.30

3051 end apogee: CONTROL_FINISHED_OK

state 3051 begin climb

3057 0.89 146.0 2433 2501 2862 2621 379.6 0.0 129 3233 1.25 0.00 170.23 2.181 10758 0.169 0.000 2789 2502 2145 2242 2048 0 0 0 0 0 0 13.47 28.83 11.68

3544 0.87 149.3 2789 2501 2242 2037 351.2 8.1 146 3548 0.00 1.65 0.00 0.000 260 0.000 0.132 2789 3361 2139 2241 2037 0 0 0 0 0 0 28.83 13.98 28.83

3582 0.84 149.3 1824 3359 2196 2033 347.5 8.3 147 3586 0.00 1.55 0.00 0.000 1030 0.000 0.090 2795 2509 2139 2241 2037 0 0 0 0 0 0 28.83 14.14 28.83

3914 0.80 149.3 2795 2508 2241 2034 318.8 8.7 158 3915 0.00 0.00 0.00 0.000 6 0.000 0.000 2795 2508 2137 2241 2034 0 0 0 0 0 0 28.83 28.83 28.83

4213 0.77 149.3 2795 2509 2241 2034 292.9 8.4 168 4217 0.12 1.50 0.00 0.000 4612 0.261 0.100 2767 1663 2137 2241 2033 0 0 0 0 0 0 14.23 14.29 28.83

4315 0.76 155.3 2767 1663 2241 2032 285.2 8.0 171 4334 0.00 1.58 9.25 1.942 9222 0.000 0.118 2767 2504 2108 2213 2003 0 0 0 0 0 0 28.83 14.21 13.24

4639 0.78 171.5 2767 2504 2213 2002 259.8 7.6 182 4665 0.00 1.55 18.75 2.084 8452 0.000 0.132 2767 3356 2041 2147 1935 0 0 0 0 0 0 28.83 14.31 13.17

4721 0.78 182.7 2767 3356 2146 1935 254.7 7.8 184 4740 0.00 1.52 13.32 1.992 9222 0.000 0.090 2773 2507 1995 2100 1890 0 0 0 0 0 0 28.83 14.35 13.09

5062 0.88 247.7 2773 2507 2100 1888 230.5 5.8 196 5137 0.00 1.58 69.45 2.110 8708 0.000 0.102 2779 1667 1730 1826 1635 0 0 0 0 0 0 28.83 14.06 12.91

5189 0.94 287.3 1792 1666 1788 1630 222.7 6.8 200 5238 0.00 1.58 44.05 2.048 9222 0.000 0.118 2779 2504 1569 1659 1480 0 0 0 0 0 0 28.83 14.14 12.88

5547 0.96 287.3 2779 2504 1654 1473 190.1 9.4 212 5549 0.12 0.00 0.00 0.000 2054 0.151 0.000 2825 2504 1563 1654 1472 0 0 0 0 0 0 14.47 28.83 28.83

5842 0.95 287.3 2826 2504 1653 1472 154.7 11.3 222 5844 0.00 0.00 0.00 0.000 6 0.000 0.000 2825 2504 1562 1653 1472 0 0 0 0 0 0 28.83 28.83 28.83

6141 0.95 287.3 2826 2504 1653 1471 119.3 11.0 232 6145 0.00 1.52 0.00 0.000 516 0.000 0.105 2832 1661 1561 1652 1471 0 0 0 0 0 0 28.83 14.29 28.83

6176 0.95 287.3 2832 1661 1652 1471 115.5 10.9 233 6180 0.00 1.55 0.00 0.000 1030 0.000 0.118 2832 2513 1561 1652 1471 0 0 0 0 0 0 28.83 14.28 28.83

6498 0.94 287.3 2832 2513 1651 1471 81.4 8.6 254 6501 0.00 1.60 0.00 0.000 260 0.000 0.132 2832 3356 1560 1651 1470 0 0 0 0 0 0 28.83 14.17 28.83

6533 0.92 287.3 2832 3356 1651 1470 76.7 10.9 257 6538 0.08 1.52 0.00 0.000 5126 0.233 0.091 2816 2507 1560 1650 1471 0 0 0 0 0 0 14.07 14.30 28.83

6850 0.92 287.3 2815 2507 1650 1470 43.6 10.4 288 6856 0.00 0.00 0.00 0.000 6 0.000 0.000 2815 2508 1560 1650 1470 0 0 0 0 0 0 28.83 28.83 28.83

7165 0.92 287.3 2815 2507 1650 1468 11.2 11.5 319 7168 0.00 1.52 0.00 0.000 516 0.000 0.104 2820 1651 1559 1650 1468 0 0 0 0 0 0 28.83 14.21 28.83

7262 end climb: SURFACE_DEPTH_REACHED

state 7263 begin surface coast

7275 end surface coast: FINISH_DEPTH_REACHED

state 7275 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	587	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	16	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	10.66	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-5.7	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	1.25,-1.790,-1.790,2,11,0	ALTIM_TOP_PING	19.6,999.0
FINISH	1.2,1.026284	_24V_AH	11.7,241.522
SM_CCo	7305,143.32,0.172,0,0,499,549.72	_10V_AH	12.0,0.000
SM_GC	1.77,8.05,1.60,143.32,0.089,0.113,0.172,138,2503,499,-7.36,-0.45,549.72,0,0,0,0,0,0,14.30,14.23,14.07	FG_AHR_24Vo	0.000
RAFOS_CLK	406	FG_AHR_10Vo	0.000
RAFOS	1,1388707742,0.166667,0.150556,65,56,54,51,50,47,205,1688,166,130,182,56	MEM	238588
RAFOS_FIX	6632.709473,-5809.086426,281213,202044,2,98,0.12	DATA_FILE_SIZE	13500,329
IRIDIUM_FIX	6332.30,-6008.62,020114,050535	CAP_FILE_SIZE	69437,0
TT8_MAMPS	0.024717,0.024717	CFSIZE	259252224,206147584
HUMID	44.40	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.59601	SOUNDSPEED	1449.4
TCM_TEMP	12.10	GPS	020114,055812,6359.083,-6007.537,181,99.0,181,-30.8
XPDR_PINGS	14

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	11	320	43.60	SBE_CT	231	23	62.93
Roll_motor	44	132	69.60	SBE_O2	0	0	0.00
VBD_pump_during_apogee	480	2296	12908.73	nil	0	0	0.00
VBD_pump_during_surface	143	172	288.64	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	20.88	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	973	14	174.73
LPSleep	4864	2	134.84
TT8_Active	565	14	96.43
TT8_Sampling	804	33	325.30
TT8_CF8	320	39	152.81
TT8_Kalman	0	0	0.00
Analog_circuits	1073	12	154.57
GPS_charging	0	0	0.00
Compass	793	6	64.22
RAFOS	1800	1	32.40
Transponder	6	30	2.29

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
20	-0.89	-146.0	2535	2507	2679	2482	0.0	0.0	0	27	0.00	0.00	-5.38	0.000	16386	0.000	0.000	2535	2507	2853	2949	2757	0	0	0	0	0	0	28.83	28.83	28.83
34	-0.89	-146.0	2535	2507	2952	2756	14.7	0.0	1	51	0.98	1.48	-8.93	0.000	20996	0.135	0.120	2224	1657	3340	3510	3171	0	0	0	0	0	0	14.16	14.29	14.73
285	-0.81	-146.0	2224	1656	3513	3169	59.6	-18.3	25	292	0.12	1.52	0.00	0.000	3078	0.308	0.108	2241	2504	3341	3513	3169	0	0	0	0	0	0	13.96	14.21	28.83
595	-0.73	-146.0	2242	2504	3513	3169	117.9	-18.4	50	597	0.12	0.00	0.00	0.000	2054	0.321	0.000	2268	2504	3340	3512	3169	0	0	0	0	0	0	14.12	28.83	28.83
894	-0.68	-146.0	2268	2504	3514	3168	162.7	-15.2	60	898	0.00	1.50	0.00	0.000	516	0.000	0.096	2269	1647	3340	3513	3168	0	0	0	0	0	0	28.83	14.21	28.83
938	-0.63	-146.0	2269	1647	3513	3168	168.5	-15.9	61	942	0.15	1.55	0.00	0.000	3078	0.269	0.116	2297	2499	3340	3513	3168	0	0	0	0	0	0	13.98	14.17	28.83
1270	-0.61	-146.0	2297	2500	3513	3168	212.1	-12.9	72	1274	0.00	1.52	0.00	0.000	516	0.000	0.096	2297	1657	3340	3513	3167	0	0	0	0	0	0	28.83	14.16	28.83
1319	-0.59	-146.0	2298	1657	3513	3167	217.1	-12.6	73	1322	0.00	1.58	0.00	0.000	1030	0.000	0.116	2294	2497	3339	3512	3167	0	0	0	0	0	0	28.83	14.11	28.83
1641	-0.58	-146.0	2294	2497	3513	3166	254.3	-10.9	84	1645	0.00	1.50	0.00	0.000	516	0.000	0.095	2293	1645	3339	3513	3165	0	0	0	0	0	0	28.83	14.17	28.83
1680	-0.56	-146.0	2294	1644	3513	3166	258.3	-10.7	85	1684	0.17	1.58	0.00	0.000	3078	0.257	0.119	2327	2503	3339	3513	3166	0	0	0	0	0	0	13.93	14.14	28.83
2012	-0.57	-146.0	2328	2504	3513	3166	286.3	-8.7	96	2016	0.00	1.60	0.00	0.000	260	0.000	0.130	2322	3350	3339	3512	3166	0	0	0	0	0	0	28.83	14.04	28.83
2042	-0.58	-146.0	2323	3350	3512	3165	286.3	-8.7	96	2049	0.00	1.50	0.00	0.000	1030	0.000	0.084	2323	2485	3339	3513	3165	0	0	0	0	0	0	28.83	14.25	28.83
2347	-0.58	-146.0	2323	2486	3513	3166	319.0	-9.9	107	2351	0.00	1.50	0.00	0.000	516	0.000	0.096	2323	1630	3339	3513	3166	0	0	0	0	0	0	28.83	14.16	28.83
2422	-0.59	-146.0	2323	1630	3513	3166	325.5	-10.0	109	2425	0.00	1.62	0.00	0.000	1030	0.000	0.114	2317	2496	3339	3513	3166	0	0	0	0	0	0	28.83	14.08	28.83
2747	-0.59	-146.0	2317	2496	3514	3166	359.4	-10.2	120	2750	0.00	1.50	0.00	0.000	516	0.000	0.094	2317	1641	3340	3514	3166	0	0	0	0	0	0	28.83	14.16	28.83
2782	-0.59	-146.0	2317	1641	3514	3166	362.8	-10.0	121	2785	0.00	1.58	0.00	0.000	1030	0.000	0.116	2312	2501	3340	3514	3166	0	0	0	0	0	0	28.83	14.13	28.83
2871	end dive: TARGET_DEPTH_EXCEEDED
state	2871	begin apogee
2885	-0.22	0.0	2312	2501	3514	3166	372.1	-9.8	124	3050	0.45	0.00	155.38	2.297	10246	0.223	0.000	2433	2502	2741	2863	2620	0	0	0	0	0	0	13.90	28.83	12.30
3051	end apogee: CONTROL_FINISHED_OK
state	3051	begin climb
3057	0.89	146.0	2433	2501	2862	2621	379.6	0.0	129	3233	1.25	0.00	170.23	2.181	10758	0.169	0.000	2789	2502	2145	2242	2048	0	0	0	0	0	0	13.47	28.83	11.68
3544	0.87	149.3	2789	2501	2242	2037	351.2	8.1	146	3548	0.00	1.65	0.00	0.000	260	0.000	0.132	2789	3361	2139	2241	2037	0	0	0	0	0	0	28.83	13.98	28.83
3582	0.84	149.3	1824	3359	2196	2033	347.5	8.3	147	3586	0.00	1.55	0.00	0.000	1030	0.000	0.090	2795	2509	2139	2241	2037	0	0	0	0	0	0	28.83	14.14	28.83
3914	0.80	149.3	2795	2508	2241	2034	318.8	8.7	158	3915	0.00	0.00	0.00	0.000	6	0.000	0.000	2795	2508	2137	2241	2034	0	0	0	0	0	0	28.83	28.83	28.83
4213	0.77	149.3	2795	2509	2241	2034	292.9	8.4	168	4217	0.12	1.50	0.00	0.000	4612	0.261	0.100	2767	1663	2137	2241	2033	0	0	0	0	0	0	14.23	14.29	28.83
4315	0.76	155.3	2767	1663	2241	2032	285.2	8.0	171	4334	0.00	1.58	9.25	1.942	9222	0.000	0.118	2767	2504	2108	2213	2003	0	0	0	0	0	0	28.83	14.21	13.24
4639	0.78	171.5	2767	2504	2213	2002	259.8	7.6	182	4665	0.00	1.55	18.75	2.084	8452	0.000	0.132	2767	3356	2041	2147	1935	0	0	0	0	0	0	28.83	14.31	13.17
4721	0.78	182.7	2767	3356	2146	1935	254.7	7.8	184	4740	0.00	1.52	13.32	1.992	9222	0.000	0.090	2773	2507	1995	2100	1890	0	0	0	0	0	0	28.83	14.35	13.09
5062	0.88	247.7	2773	2507	2100	1888	230.5	5.8	196	5137	0.00	1.58	69.45	2.110	8708	0.000	0.102	2779	1667	1730	1826	1635	0	0	0	0	0	0	28.83	14.06	12.91
5189	0.94	287.3	1792	1666	1788	1630	222.7	6.8	200	5238	0.00	1.58	44.05	2.048	9222	0.000	0.118	2779	2504	1569	1659	1480	0	0	0	0	0	0	28.83	14.14	12.88
5547	0.96	287.3	2779	2504	1654	1473	190.1	9.4	212	5549	0.12	0.00	0.00	0.000	2054	0.151	0.000	2825	2504	1563	1654	1472	0	0	0	0	0	0	14.47	28.83	28.83
5842	0.95	287.3	2826	2504	1653	1472	154.7	11.3	222	5844	0.00	0.00	0.00	0.000	6	0.000	0.000	2825	2504	1562	1653	1472	0	0	0	0	0	0	28.83	28.83	28.83
6141	0.95	287.3	2826	2504	1653	1471	119.3	11.0	232	6145	0.00	1.52	0.00	0.000	516	0.000	0.105	2832	1661	1561	1652	1471	0	0	0	0	0	0	28.83	14.29	28.83
6176	0.95	287.3	2832	1661	1652	1471	115.5	10.9	233	6180	0.00	1.55	0.00	0.000	1030	0.000	0.118	2832	2513	1561	1652	1471	0	0	0	0	0	0	28.83	14.28	28.83
6498	0.94	287.3	2832	2513	1651	1471	81.4	8.6	254	6501	0.00	1.60	0.00	0.000	260	0.000	0.132	2832	3356	1560	1651	1470	0	0	0	0	0	0	28.83	14.17	28.83
6533	0.92	287.3	2832	3356	1651	1470	76.7	10.9	257	6538	0.08	1.52	0.00	0.000	5126	0.233	0.091	2816	2507	1560	1650	1471	0	0	0	0	0	0	14.07	14.30	28.83
6850	0.92	287.3	2815	2507	1650	1470	43.6	10.4	288	6856	0.00	0.00	0.00	0.000	6	0.000	0.000	2815	2508	1560	1650	1470	0	0	0	0	0	0	28.83	28.83	28.83
7165	0.92	287.3	2815	2507	1650	1468	11.2	11.5	319	7168	0.00	1.52	0.00	0.000	516	0.000	0.104	2820	1651	1559	1650	1468	0	0	0	0	0	0	28.83	14.21	28.83
7262	end climb: SURFACE_DEPTH_REACHED
state	7263	begin surface coast
7275	end surface coast: FINISH_DEPTH_REACHED
state	7275	begin surface