Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 6 * 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 6 ESCAPE_HEADING 0 C_ROLL_DIVE 2250 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 8 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2300 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 12 ALTIM_SENSITIVITY 2

D_NO_BLEED 100 SM_CC 552.7182 R_STBD_OVSHOOT 20 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 -613.6283 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 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 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 -613.6283

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 2535 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 20

C_ROLL_CLIMB 2300 LOGGERDEVICE2 -1 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2250 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 12 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 12 R_STBD_OVSHOOT 20 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 6 NOCOMM_ACTION 163 SEABIRD_C_J 0.00017883891 W_ADJ_DBAND 0

D_ABORT 410 N_DIVES 8 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 190913,020336,6635.945,-6045.284,35,1.2,35,-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 0.86 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 190913,021141,6635.901,-6045.451,5,1.2,5,-33.7 MHEAD_RNG_PITCHd_Wd 139.0,178667,-17.0,-9.744,-20.10,2276

SPEED_LIMITS 0.169,0.266 D_GRID 417

Post-dive calculations and measurements:

FINISH 2.0,1.024681 _24V_AH 12.8,6.615

SM_CCo 7322,103.25,0.185,0,0,538,552.91 _10V_AH 12.9,0.000

SM_GC 0.93,8.15,2.65,103.25,0.108,0.113,0.185,143,2241,538,-7.43,0.34,552.91,0,0,0,0,0,0,14.48,14.47,14.33 FG_AHR_24Vo 0.000

RAFOS_CLK 352 FG_AHR_10Vo 0.000

RAFOS 0,1379563263,4.033333,4.017500,69,66,61,60,51,50,216,159,198,139,168,122 MEM 150752

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 36810,851

IRIDIUM_FIX 6609.62,-6041.48,180913,232328 CAP_FILE_SIZE 95652,0

TT8_MAMPS 0.026964,0.026964 CFSIZE 259252224,250269696

HUMID 50.11 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.61555 SOUNDSPEED 1449.3

TCM_TEMP 12.30 CURRENT 0.319,198.9,1

XPDR_PINGS 48 GPS 190913,041746,6634.384,-6044.521,27,1.2,38,-33.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 432 118.47 SBE_CT 594 23 176.74

Roll_motor 78 209 210.82 SBE_O2 0 0 0.00

VBD_pump_during_apogee 514 2134 14054.61 nil 0 0 0.00

VBD_pump_during_surface 103 185 244.67 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 268 139 481.72 nil 0 0 0.00

Transponder_ping 12 420 64.51 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 18 1.41

TT8 2068 14 399.26

LPSleep 2929 2 87.28

TT8_Active 697 14 127.77

TT8_Sampling 1713 33 744.85

TT8_CF8 505 39 258.58

TT8_Kalman 0 0 0.00

Analog_circuits 1823 12 282.26

GPS_charging 0 0 0.00

Compass 1468 6 127.67

RAFOS 720 1 13.93

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

20 -0.84 -146.0 129 2264 557 503 0.0 0.0 0 143 0.00 0.00 -120.20 0.000 16386 0.000 0.000 126 2266 2852 2907 2798 0 0 0 0 0 0 28.83 28.83 28.83

150 -0.84 -146.0 125 2266 2913 2797 3.5 -7.6 20 177 10.15 2.65 -10.55 0.000 18948 0.433 0.151 2257 834 3391 3557 3226 0 0 0 0 0 0 14.20 14.34 14.59

309 -0.73 -146.0 2257 833 3559 3225 42.3 -18.5 48 317 0.20 2.60 0.00 0.000 3078 0.288 0.145 2296 2245 3392 3559 3225 0 0 0 0 0 0 14.31 14.38 28.83

629 -0.67 -146.0 2296 2245 3561 3223 97.3 -15.6 109 637 0.00 2.62 0.00 0.000 260 0.000 0.161 2287 3663 3392 3561 3223 0 0 0 0 0 0 28.83 14.43 28.83

794 -0.62 -146.0 2287 3663 3561 3222 126.0 -18.2 125 804 0.15 2.45 0.00 0.000 3078 0.256 0.112 2329 2248 3392 3561 3223 0 0 0 0 0 0 14.40 14.48 28.83

1106 -0.62 -146.0 2329 2248 3561 3222 172.9 -14.4 156 1115 0.00 2.62 0.00 0.000 260 0.000 0.165 2320 3661 3391 3561 3222 0 0 0 0 0 0 28.83 14.47 28.83

1193 -0.62 -146.0 2320 3661 3561 3222 185.4 -14.7 164 1201 0.00 2.45 0.00 0.000 1030 0.000 0.112 2320 2241 3391 3561 3222 0 0 0 0 0 0 28.83 14.52 28.83

1503 -0.62 -146.0 2320 2241 3562 3221 231.1 -13.8 195 1512 0.00 2.60 0.00 0.000 260 0.000 0.162 2310 3656 3391 3562 3221 0 0 0 0 0 0 28.83 14.51 28.83

1647 -0.62 -146.0 2311 3656 3562 3221 250.1 -13.7 208 1654 0.00 2.45 0.00 0.000 1030 0.000 0.111 2310 2242 3391 3562 3221 0 0 0 0 0 0 28.83 14.58 28.83

1955 -0.62 -146.0 2310 2242 3562 3221 292.7 -13.1 239 1964 0.00 2.60 0.00 0.000 260 0.000 0.162 2300 3660 3390 3561 3220 0 0 0 0 0 0 28.83 14.54 28.83

2099 -0.62 -146.0 2300 3660 3562 3220 311.0 -13.3 252 2106 0.15 2.45 0.00 0.000 3078 0.285 0.111 2335 2246 3391 3562 3220 0 0 0 0 0 0 14.51 14.60 28.83

2408 -0.68 -146.0 2335 2245 3562 3220 347.4 -11.5 283 2414 0.00 0.00 0.00 0.000 6 0.000 0.000 2335 2245 3391 3562 3220 0 0 0 0 0 0 28.83 28.83 28.83

2707 end dive: TARGET_DEPTH_EXCEEDED

state 2707 begin apogee

2720 -0.19 0.0 2335 2301 3561 3219 380.2 -10.7 313 2880 0.45 0.00 143.98 2.134 10246 0.237 0.000 2464 2301 2794 2914 2674 0 0 0 0 0 0 14.55 28.83 12.89

2881 end apogee: CONTROL_FINISHED_OK

state 2881 begin climb

2887 0.84 146.0 2464 2301 2914 2674 389.7 0.0 330 3054 1.12 2.85 152.15 2.054 11012 0.166 0.158 2796 3711 2197 2286 2109 0 0 0 0 0 0 13.72 13.49 12.81

3288 0.63 149.5 1808 3710 2230 2099 370.0 9.6 369 3298 0.28 2.55 3.62 1.393 13318 0.282 0.112 2743 2299 2183 2274 2093 0 0 0 0 0 0 14.03 14.12 13.34

3600 0.71 214.5 2743 2300 2274 2093 348.9 6.8 400 3676 0.00 2.83 67.53 2.040 8452 0.000 0.161 2743 3714 1918 2019 1818 0 0 0 0 0 0 28.83 13.69 13.02

3718 0.71 215.1 2743 3715 2018 1818 339.6 9.7 411 3727 0.00 2.60 0.00 0.000 1030 0.000 0.111 2751 2302 1917 2017 1818 0 0 0 0 0 0 28.83 13.89 28.83

4030 0.75 215.1 2751 2301 2017 1812 308.7 10.2 442 4039 0.00 2.58 0.00 0.000 516 0.000 0.138 2761 890 1914 2017 1811 0 0 0 0 0 0 28.83 14.20 28.83

4076 0.79 215.1 2761 890 2017 1809 303.7 10.8 446 4085 0.00 2.60 0.00 0.000 1030 0.000 0.141 2761 2303 1913 2017 1810 0 0 0 0 0 0 28.83 14.21 28.83

4386 0.79 215.1 2760 2302 2017 1809 271.0 10.1 477 4396 0.00 2.62 0.00 0.000 260 0.000 0.161 2761 3710 1912 2015 1809 0 0 0 0 0 0 28.83 14.31 28.83

4435 0.79 215.1 1792 3709 1972 1804 266.0 10.8 481 4444 0.00 2.50 0.00 0.000 1030 0.000 0.111 2771 2293 1912 2017 1808 0 0 0 0 0 0 28.83 14.38 28.83

4745 0.83 246.4 2771 2291 2016 1808 236.1 8.3 512 4782 0.00 2.80 31.17 1.950 8452 0.000 0.161 2771 3712 1789 1892 1687 0 0 0 0 0 0 28.83 14.09 13.43

4894 0.84 252.4 2771 3712 1890 1688 222.6 9.5 526 4911 0.00 2.50 7.25 1.732 9222 0.000 0.112 2781 2302 1765 1862 1668 0 0 0 0 0 0 28.83 14.23 13.48

5213 0.89 292.4 2781 2302 1862 1667 197.5 7.9 558 5262 0.12 2.78 41.97 1.924 10500 0.180 0.164 2827 3712 1602 1695 1509 0 0 0 0 0 0 14.35 13.92 13.30

5347 0.78 292.4 2828 3713 1693 1509 182.7 12.9 571 5356 0.17 2.53 0.00 0.000 5126 0.257 0.114 2791 2304 1601 1693 1509 0 0 0 0 0 0 14.04 14.09 28.83

5659 0.87 332.9 2791 2304 1693 1506 156.1 7.9 602 5707 0.00 2.78 42.17 1.885 8452 0.000 0.164 2791 3717 1436 1530 1342 0 0 0 0 0 0 28.83 13.90 13.29

5789 0.88 340.4 1800 3716 1501 1341 145.4 9.4 614 5804 0.00 2.58 8.48 1.716 9222 0.000 0.114 2800 2298 1406 1497 1316 0 0 0 0 0 0 28.83 14.09 13.37

6107 0.94 340.4 2800 2298 1497 1313 116.8 9.8 646 6114 0.12 0.00 0.00 0.000 2054 0.190 0.000 2846 2298 1405 1497 1313 0 0 0 0 0 0 14.28 28.83 28.83

6421 0.91 340.4 2845 2298 1495 1313 79.9 10.2 693 6428 0.00 2.65 0.00 0.000 260 0.000 0.159 2845 3714 1404 1495 1313 0 0 0 0 0 0 28.83 14.35 28.83

6445 0.86 340.4 2846 3714 1494 1313 77.1 11.1 696 6453 0.17 2.50 0.00 0.000 5126 0.277 0.116 2815 2299 1403 1494 1313 0 0 0 0 0 0 14.32 14.39 28.83

6770 0.93 359.3 2815 2298 1495 1311 49.9 8.9 757 6790 0.00 2.70 10.38 0.352 8452 0.000 0.161 2815 3711 1329 1418 1241 0 0 0 0 0 0 28.83 14.38 14.30

6877 0.97 359.3 2815 3711 1417 1241 39.8 10.4 775 6884 0.00 2.50 0.00 0.000 1030 0.000 0.116 2824 2294 1329 1417 1241 0 0 0 0 0 0 28.83 14.44 28.83

7203 1.05 369.9 2824 2294 1416 1239 12.7 9.3 836 7218 0.12 2.65 5.75 0.230 10500 0.177 0.161 2870 3712 1284 1371 1198 0 0 0 0 0 0 14.47 14.42 14.39

7279 end climb: SURFACE_DEPTH_REACHED

state 7280 begin surface coast

7290 end surface coast: CONTROL_FINISHED_OK

state 7290 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	6	ESCAPE_HEADING	0	C_ROLL_DIVE	2250	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	8	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2300	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	12	ALTIM_SENSITIVITY	2
D_NO_BLEED	100	SM_CC	552.7182	R_STBD_OVSHOOT	20	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	-613.6283	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	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	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	190913,020336,6635.945,-6045.284,35,1.2,35,-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	0.86	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	190913,021141,6635.901,-6045.451,5,1.2,5,-33.7	MHEAD_RNG_PITCHd_Wd	139.0,178667,-17.0,-9.744,-20.10,2276
SPEED_LIMITS	0.169,0.266	D_GRID	417

FINISH	2.0,1.024681	_24V_AH	12.8,6.615
SM_CCo	7322,103.25,0.185,0,0,538,552.91	_10V_AH	12.9,0.000
SM_GC	0.93,8.15,2.65,103.25,0.108,0.113,0.185,143,2241,538,-7.43,0.34,552.91,0,0,0,0,0,0,14.48,14.47,14.33	FG_AHR_24Vo	0.000
RAFOS_CLK	352	FG_AHR_10Vo	0.000
RAFOS	0,1379563263,4.033333,4.017500,69,66,61,60,51,50,216,159,198,139,168,122	MEM	150752
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	36810,851
IRIDIUM_FIX	6609.62,-6041.48,180913,232328	CAP_FILE_SIZE	95652,0
TT8_MAMPS	0.026964,0.026964	CFSIZE	259252224,250269696
HUMID	50.11	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.61555	SOUNDSPEED	1449.3
TCM_TEMP	12.30	CURRENT	0.319,198.9,1
XPDR_PINGS	48	GPS	190913,041746,6634.384,-6044.521,27,1.2,38,-33.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	432	118.47	SBE_CT	594	23	176.74
Roll_motor	78	209	210.82	SBE_O2	0	0	0.00
VBD_pump_during_apogee	514	2134	14054.61	nil	0	0	0.00
VBD_pump_during_surface	103	185	244.67	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	268	139	481.72	nil	0	0	0.00
Transponder_ping	12	420	64.51	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	18	1.41
TT8	2068	14	399.26
LPSleep	2929	2	87.28
TT8_Active	697	14	127.77
TT8_Sampling	1713	33	744.85
TT8_CF8	505	39	258.58
TT8_Kalman	0	0	0.00
Analog_circuits	1823	12	282.26
GPS_charging	0	0	0.00
Compass	1468	6	127.67
RAFOS	720	1	13.93
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
20	-0.84	-146.0	129	2264	557	503	0.0	0.0	0	143	0.00	0.00	-120.20	0.000	16386	0.000	0.000	126	2266	2852	2907	2798	0	0	0	0	0	0	28.83	28.83	28.83
150	-0.84	-146.0	125	2266	2913	2797	3.5	-7.6	20	177	10.15	2.65	-10.55	0.000	18948	0.433	0.151	2257	834	3391	3557	3226	0	0	0	0	0	0	14.20	14.34	14.59
309	-0.73	-146.0	2257	833	3559	3225	42.3	-18.5	48	317	0.20	2.60	0.00	0.000	3078	0.288	0.145	2296	2245	3392	3559	3225	0	0	0	0	0	0	14.31	14.38	28.83
629	-0.67	-146.0	2296	2245	3561	3223	97.3	-15.6	109	637	0.00	2.62	0.00	0.000	260	0.000	0.161	2287	3663	3392	3561	3223	0	0	0	0	0	0	28.83	14.43	28.83
794	-0.62	-146.0	2287	3663	3561	3222	126.0	-18.2	125	804	0.15	2.45	0.00	0.000	3078	0.256	0.112	2329	2248	3392	3561	3223	0	0	0	0	0	0	14.40	14.48	28.83
1106	-0.62	-146.0	2329	2248	3561	3222	172.9	-14.4	156	1115	0.00	2.62	0.00	0.000	260	0.000	0.165	2320	3661	3391	3561	3222	0	0	0	0	0	0	28.83	14.47	28.83
1193	-0.62	-146.0	2320	3661	3561	3222	185.4	-14.7	164	1201	0.00	2.45	0.00	0.000	1030	0.000	0.112	2320	2241	3391	3561	3222	0	0	0	0	0	0	28.83	14.52	28.83
1503	-0.62	-146.0	2320	2241	3562	3221	231.1	-13.8	195	1512	0.00	2.60	0.00	0.000	260	0.000	0.162	2310	3656	3391	3562	3221	0	0	0	0	0	0	28.83	14.51	28.83
1647	-0.62	-146.0	2311	3656	3562	3221	250.1	-13.7	208	1654	0.00	2.45	0.00	0.000	1030	0.000	0.111	2310	2242	3391	3562	3221	0	0	0	0	0	0	28.83	14.58	28.83
1955	-0.62	-146.0	2310	2242	3562	3221	292.7	-13.1	239	1964	0.00	2.60	0.00	0.000	260	0.000	0.162	2300	3660	3390	3561	3220	0	0	0	0	0	0	28.83	14.54	28.83
2099	-0.62	-146.0	2300	3660	3562	3220	311.0	-13.3	252	2106	0.15	2.45	0.00	0.000	3078	0.285	0.111	2335	2246	3391	3562	3220	0	0	0	0	0	0	14.51	14.60	28.83
2408	-0.68	-146.0	2335	2245	3562	3220	347.4	-11.5	283	2414	0.00	0.00	0.00	0.000	6	0.000	0.000	2335	2245	3391	3562	3220	0	0	0	0	0	0	28.83	28.83	28.83
2707	end dive: TARGET_DEPTH_EXCEEDED
state	2707	begin apogee
2720	-0.19	0.0	2335	2301	3561	3219	380.2	-10.7	313	2880	0.45	0.00	143.98	2.134	10246	0.237	0.000	2464	2301	2794	2914	2674	0	0	0	0	0	0	14.55	28.83	12.89
2881	end apogee: CONTROL_FINISHED_OK
state	2881	begin climb
2887	0.84	146.0	2464	2301	2914	2674	389.7	0.0	330	3054	1.12	2.85	152.15	2.054	11012	0.166	0.158	2796	3711	2197	2286	2109	0	0	0	0	0	0	13.72	13.49	12.81
3288	0.63	149.5	1808	3710	2230	2099	370.0	9.6	369	3298	0.28	2.55	3.62	1.393	13318	0.282	0.112	2743	2299	2183	2274	2093	0	0	0	0	0	0	14.03	14.12	13.34
3600	0.71	214.5	2743	2300	2274	2093	348.9	6.8	400	3676	0.00	2.83	67.53	2.040	8452	0.000	0.161	2743	3714	1918	2019	1818	0	0	0	0	0	0	28.83	13.69	13.02
3718	0.71	215.1	2743	3715	2018	1818	339.6	9.7	411	3727	0.00	2.60	0.00	0.000	1030	0.000	0.111	2751	2302	1917	2017	1818	0	0	0	0	0	0	28.83	13.89	28.83
4030	0.75	215.1	2751	2301	2017	1812	308.7	10.2	442	4039	0.00	2.58	0.00	0.000	516	0.000	0.138	2761	890	1914	2017	1811	0	0	0	0	0	0	28.83	14.20	28.83
4076	0.79	215.1	2761	890	2017	1809	303.7	10.8	446	4085	0.00	2.60	0.00	0.000	1030	0.000	0.141	2761	2303	1913	2017	1810	0	0	0	0	0	0	28.83	14.21	28.83
4386	0.79	215.1	2760	2302	2017	1809	271.0	10.1	477	4396	0.00	2.62	0.00	0.000	260	0.000	0.161	2761	3710	1912	2015	1809	0	0	0	0	0	0	28.83	14.31	28.83
4435	0.79	215.1	1792	3709	1972	1804	266.0	10.8	481	4444	0.00	2.50	0.00	0.000	1030	0.000	0.111	2771	2293	1912	2017	1808	0	0	0	0	0	0	28.83	14.38	28.83
4745	0.83	246.4	2771	2291	2016	1808	236.1	8.3	512	4782	0.00	2.80	31.17	1.950	8452	0.000	0.161	2771	3712	1789	1892	1687	0	0	0	0	0	0	28.83	14.09	13.43
4894	0.84	252.4	2771	3712	1890	1688	222.6	9.5	526	4911	0.00	2.50	7.25	1.732	9222	0.000	0.112	2781	2302	1765	1862	1668	0	0	0	0	0	0	28.83	14.23	13.48
5213	0.89	292.4	2781	2302	1862	1667	197.5	7.9	558	5262	0.12	2.78	41.97	1.924	10500	0.180	0.164	2827	3712	1602	1695	1509	0	0	0	0	0	0	14.35	13.92	13.30
5347	0.78	292.4	2828	3713	1693	1509	182.7	12.9	571	5356	0.17	2.53	0.00	0.000	5126	0.257	0.114	2791	2304	1601	1693	1509	0	0	0	0	0	0	14.04	14.09	28.83
5659	0.87	332.9	2791	2304	1693	1506	156.1	7.9	602	5707	0.00	2.78	42.17	1.885	8452	0.000	0.164	2791	3717	1436	1530	1342	0	0	0	0	0	0	28.83	13.90	13.29
5789	0.88	340.4	1800	3716	1501	1341	145.4	9.4	614	5804	0.00	2.58	8.48	1.716	9222	0.000	0.114	2800	2298	1406	1497	1316	0	0	0	0	0	0	28.83	14.09	13.37
6107	0.94	340.4	2800	2298	1497	1313	116.8	9.8	646	6114	0.12	0.00	0.00	0.000	2054	0.190	0.000	2846	2298	1405	1497	1313	0	0	0	0	0	0	14.28	28.83	28.83
6421	0.91	340.4	2845	2298	1495	1313	79.9	10.2	693	6428	0.00	2.65	0.00	0.000	260	0.000	0.159	2845	3714	1404	1495	1313	0	0	0	0	0	0	28.83	14.35	28.83
6445	0.86	340.4	2846	3714	1494	1313	77.1	11.1	696	6453	0.17	2.50	0.00	0.000	5126	0.277	0.116	2815	2299	1403	1494	1313	0	0	0	0	0	0	14.32	14.39	28.83
6770	0.93	359.3	2815	2298	1495	1311	49.9	8.9	757	6790	0.00	2.70	10.38	0.352	8452	0.000	0.161	2815	3711	1329	1418	1241	0	0	0	0	0	0	28.83	14.38	14.30
6877	0.97	359.3	2815	3711	1417	1241	39.8	10.4	775	6884	0.00	2.50	0.00	0.000	1030	0.000	0.116	2824	2294	1329	1417	1241	0	0	0	0	0	0	28.83	14.44	28.83
7203	1.05	369.9	2824	2294	1416	1239	12.7	9.3	836	7218	0.12	2.65	5.75	0.230	10500	0.177	0.161	2870	3712	1284	1371	1198	0	0	0	0	0	0	14.47	14.42	14.39
7279	end climb: SURFACE_DEPTH_REACHED
state	7280	begin surface coast
7290	end surface coast: CONTROL_FINISHED_OK
state	7290	begin surface