Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 7 * 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 7 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 16 ALTIM_SENSITIVITY 2

D_NO_BLEED 100 SM_CC 552.7182 R_STBD_OVSHOOT 13 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 -614.88043 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 -614.88043

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 16 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 12 R_STBD_OVSHOOT 13 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 7 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 190913,041746,6634.384,-6044.521,27,1.2,38,-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 0.94 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 190913,042524,6634.227,-6044.423,4,1.2,5,-33.7 MHEAD_RNG_PITCHd_Wd 61.4,178855,-17.0,-9.744,-20.10,2276

SPEED_LIMITS 0.169,0.266 D_GRID 427

Post-dive calculations and measurements:

FINISH 0.2,1.013164 _24V_AH 12.7,6.951

SM_CCo 7159,95.82,0.183,0,0,540,552.91 _10V_AH 13.0,0.000

SM_GC 0.91,8.18,0.12,95.82,0.107,0.185,0.183,140,2244,540,-7.44,0.40,552.91,0,0,0,0,0,0,14.50,14.48,14.34 FG_AHR_24Vo 0.000

RAFOS_CLK 347 FG_AHR_10Vo 0.000

RAFOS 1,1379563745,4.166667,4.151389,61,57,54,49,48,48,159,196,205,109,140,122 MEM 150828

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 36753,838

IRIDIUM_FIX 6604.29,-6048.85,190913,020253 CAP_FILE_SIZE 92771,0

TT8_MAMPS 0.024717,0.024717 CFSIZE 259252224,250220544

HUMID 48.97 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.61555 SOUNDSPEED 1450.1

TCM_TEMP 12.50 CURRENT 0.644,186.5,1

XPDR_PINGS 55 GPS 190913,062835,6632.566,-6043.933,30,1.8,30,-33.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 437 118.93 SBE_CT 585 23 172.57

Roll_motor 72 207 191.21 SBE_O2 0 0 0.00

VBD_pump_during_apogee 506 2122 13662.24 nil 0 0 0.00

VBD_pump_during_surface 95 182 222.51 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 240 136 416.21 nil 0 0 0.00

Transponder_ping 13 420 73.34 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 18 1.66

TT8 2029 14 394.74

LPSleep 2896 2 86.97

TT8_Active 702 14 129.76

TT8_Sampling 1634 33 715.78

TT8_CF8 458 39 236.63

TT8_Kalman 0 0 0.00

Analog_circuits 1756 12 274.08

GPS_charging 0 0 0.00

Compass 1417 6 124.19

RAFOS 1080 1 21.06

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 -146.0 125 2237 552 508 0.0 0.0 0 124 0.00 0.00 -101.53 0.000 16386 0.000 0.000 120 2238 2508 2589 2428 0 0 0 0 0 0 28.83 28.83 28.83

131 -0.84 -146.0 121 2238 2589 2430 3.0 -6.3 17 170 10.30 2.58 -19.00 0.000 18948 0.438 0.151 2257 844 3393 3581 3205 0 0 0 0 0 0 14.17 14.31 14.57

217 -0.66 -146.0 1376 843 3574 3202 25.0 -22.4 31 224 0.28 2.60 0.00 0.000 3078 0.285 0.141 2315 2256 3393 3581 3205 0 0 0 0 0 0 14.26 14.32 28.83

536 -0.63 -146.0 2315 2256 3581 3205 84.3 -19.0 92 543 0.00 2.60 0.00 0.000 260 0.000 0.156 2310 3664 3393 3581 3205 0 0 0 0 0 0 28.83 14.39 28.83

609 -0.63 -146.0 2310 3664 3581 3205 97.9 -17.9 105 617 0.00 2.47 0.00 0.000 1030 0.000 0.110 2310 2249 3392 3581 3204 0 0 0 0 0 0 28.83 14.44 28.83

928 -0.63 -146.0 2310 2248 3581 3205 150.6 -14.9 137 938 0.00 2.60 0.00 0.000 260 0.000 0.158 2300 3660 3393 3581 3205 0 0 0 0 0 0 28.83 14.45 28.83

1055 -0.63 -146.0 2300 3660 3581 3204 170.0 -15.5 149 1065 0.10 2.45 0.00 0.000 3078 0.263 0.112 2327 2243 3393 3581 3205 0 0 0 0 0 0 14.41 14.48 28.83

1367 -0.63 -146.0 2327 2243 3581 3204 209.0 -11.8 180 1376 0.00 2.60 0.00 0.000 260 0.000 0.158 2319 3656 3392 3581 3204 0 0 0 0 0 0 28.83 14.48 28.83

1456 -0.66 -146.0 2319 3656 3581 3204 219.3 -12.2 188 1463 0.00 2.45 0.00 0.000 1030 0.000 0.111 2318 2248 3392 3581 3204 0 0 0 0 0 0 28.83 14.54 28.83

1764 -0.66 -146.0 2318 2247 3581 3204 256.7 -12.2 219 1774 0.00 2.62 0.00 0.000 260 0.000 0.161 2308 3662 3392 3581 3204 0 0 0 0 0 0 28.83 14.50 28.83

1870 -0.66 -146.0 2308 3663 3581 3203 270.3 -12.9 229 1880 0.00 2.42 0.00 0.000 1030 0.000 0.111 2308 2253 3392 3581 3203 0 0 0 0 0 0 28.83 14.55 28.83

2181 -0.66 -146.0 2308 2254 3581 3203 310.5 -12.3 260 2190 0.00 2.58 0.00 0.000 260 0.000 0.159 2298 3660 3391 3581 3202 0 0 0 0 0 0 28.83 14.53 28.83

2277 -0.66 -146.0 2298 3660 3581 3202 323.2 -13.4 269 2286 0.00 2.42 0.00 0.000 1030 0.000 0.111 2298 2252 3390 3579 3202 0 0 0 0 0 0 28.83 14.57 28.83

2588 -0.66 -146.0 2298 2251 3581 3202 362.7 -12.1 300 2597 0.00 2.58 0.00 0.000 260 0.000 0.160 2289 3659 3391 3581 3202 0 0 0 0 0 0 28.83 14.54 28.83

2706 -0.66 -146.0 2289 3659 3581 3201 377.5 -12.8 311 2714 0.12 2.45 0.00 0.000 3078 0.291 0.111 2315 2242 3391 3581 3201 0 0 0 0 0 0 14.52 14.60 28.83

2719 end dive: TARGET_DEPTH_EXCEEDED

state 2719 begin apogee

2732 -0.19 0.0 2315 2300 3581 3201 380.3 -13.0 313 2887 0.52 0.00 143.77 2.123 10246 0.239 0.000 2465 2300 2793 2920 2667 0 0 0 0 0 0 14.52 28.83 12.90

2888 end apogee: CONTROL_FINISHED_OK

state 2889 begin climb

2895 0.84 146.0 2465 2300 2920 2668 387.6 0.0 329 3053 1.12 0.00 153.20 2.067 10758 0.177 0.000 2793 2300 2197 2280 2114 0 0 0 0 0 0 13.67 28.83 12.68

3356 0.74 175.5 2793 2300 2280 2103 361.6 8.4 376 3393 0.00 2.83 30.35 2.089 8452 0.000 0.159 2793 3711 2078 2173 1983 0 0 0 0 0 0 28.83 13.81 13.14

3556 0.58 175.5 1792 3710 2123 1976 340.9 11.2 395 3564 0.32 2.55 0.00 0.000 5126 0.269 0.112 2726 2301 2076 2171 1982 0 0 0 0 0 0 14.03 14.11 28.83

3866 0.72 243.6 2726 2301 2171 1978 319.1 6.7 426 3945 0.12 2.85 70.62 2.036 10500 0.172 0.160 2770 3709 1799 1897 1702 0 0 0 0 0 0 14.30 13.65 13.02

4040 0.66 243.6 2771 3709 1891 1702 301.9 11.4 443 4049 0.10 2.55 0.00 0.000 5126 0.256 0.112 2754 2301 1796 1891 1702 0 0 0 0 0 0 13.91 13.97 28.83

4352 0.75 285.0 2754 2301 1890 1698 274.3 7.9 474 4401 0.00 2.83 42.35 1.994 8452 0.000 0.160 2754 3708 1631 1721 1541 0 0 0 0 0 0 28.83 13.81 13.17

4578 0.81 286.0 1792 3707 1683 1538 254.3 9.7 496 4586 0.10 2.55 0.00 0.000 3078 0.206 0.112 2792 2292 1629 1717 1542 0 0 0 0 0 0 14.12 14.12 28.83

4888 0.82 292.4 2792 2291 1716 1539 223.5 9.5 527 4902 0.00 0.00 7.65 1.779 8198 0.000 0.000 2792 2291 1603 1690 1517 0 0 0 0 0 0 28.83 28.83 13.54

5208 0.86 300.9 2792 2291 1690 1517 192.7 9.4 559 5226 0.00 2.72 10.38 1.843 8452 0.000 0.159 2792 3721 1567 1654 1481 0 0 0 0 0 0 28.83 14.22 13.57

5328 0.86 300.9 2792 3721 1654 1482 179.9 11.5 570 5338 0.00 2.53 0.00 0.000 1030 0.000 0.114 2803 2307 1568 1654 1482 0 0 0 0 0 0 28.83 14.29 28.83

5639 0.86 300.9 2802 2306 1654 1481 146.5 10.1 601 5645 0.00 0.00 0.00 0.000 6 0.000 0.000 2803 2306 1568 1654 1482 0 0 0 0 0 0 28.83 28.83 28.83

5954 0.87 309.1 2803 2306 1654 1480 116.7 9.4 632 5966 0.00 2.70 5.28 1.557 8452 0.000 0.164 2803 3712 1534 1622 1447 0 0 0 0 0 0 28.83 14.38 13.74

6021 0.87 309.1 1824 3711 1592 1448 109.5 11.0 638 6029 0.00 2.50 0.00 0.000 1030 0.000 0.114 2813 2297 1537 1623 1451 0 0 0 0 0 0 28.83 14.43 28.83

6336 0.93 324.2 2813 2297 1622 1449 78.3 9.1 691 6355 0.00 2.70 9.18 0.456 8452 0.000 0.162 2813 3707 1472 1559 1386 0 0 0 0 0 0 28.83 14.40 14.28

6486 0.95 343.5 2814 3707 1559 1386 63.8 8.9 718 6505 0.00 2.47 11.50 0.405 9222 0.000 0.116 2824 2301 1392 1478 1307 0 0 0 0 0 0 28.83 14.47 14.29

6822 1.05 383.2 2824 2301 1478 1304 37.0 8.0 781 6854 0.12 2.58 22.48 0.305 10756 0.179 0.143 2880 884 1233 1315 1151 0 0 0 0 0 0 14.48 14.41 14.34

6901 1.11 383.2 2880 884 1314 1149 28.4 12.0 794 6909 0.00 2.60 0.00 0.000 1030 0.000 0.145 2880 2301 1231 1314 1149 0 0 0 0 0 0 28.83 14.42 28.83

7108 end climb: SURFACE_DEPTH_REACHED

state 7108 begin surface coast

7130 end surface coast: CONTROL_FINISHED_OK

state 7130 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	7	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	16	ALTIM_SENSITIVITY	2
D_NO_BLEED	100	SM_CC	552.7182	R_STBD_OVSHOOT	13	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	-614.88043	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	190913,041746,6634.384,-6044.521,27,1.2,38,-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	0.94	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	190913,042524,6634.227,-6044.423,4,1.2,5,-33.7	MHEAD_RNG_PITCHd_Wd	61.4,178855,-17.0,-9.744,-20.10,2276
SPEED_LIMITS	0.169,0.266	D_GRID	427

FINISH	0.2,1.013164	_24V_AH	12.7,6.951
SM_CCo	7159,95.82,0.183,0,0,540,552.91	_10V_AH	13.0,0.000
SM_GC	0.91,8.18,0.12,95.82,0.107,0.185,0.183,140,2244,540,-7.44,0.40,552.91,0,0,0,0,0,0,14.50,14.48,14.34	FG_AHR_24Vo	0.000
RAFOS_CLK	347	FG_AHR_10Vo	0.000
RAFOS	1,1379563745,4.166667,4.151389,61,57,54,49,48,48,159,196,205,109,140,122	MEM	150828
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	36753,838
IRIDIUM_FIX	6604.29,-6048.85,190913,020253	CAP_FILE_SIZE	92771,0
TT8_MAMPS	0.024717,0.024717	CFSIZE	259252224,250220544
HUMID	48.97	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.61555	SOUNDSPEED	1450.1
TCM_TEMP	12.50	CURRENT	0.644,186.5,1
XPDR_PINGS	55	GPS	190913,062835,6632.566,-6043.933,30,1.8,30,-33.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	437	118.93	SBE_CT	585	23	172.57
Roll_motor	72	207	191.21	SBE_O2	0	0	0.00
VBD_pump_during_apogee	506	2122	13662.24	nil	0	0	0.00
VBD_pump_during_surface	95	182	222.51	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	240	136	416.21	nil	0	0	0.00
Transponder_ping	13	420	73.34	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	18	1.66
TT8	2029	14	394.74
LPSleep	2896	2	86.97
TT8_Active	702	14	129.76
TT8_Sampling	1634	33	715.78
TT8_CF8	458	39	236.63
TT8_Kalman	0	0	0.00
Analog_circuits	1756	12	274.08
GPS_charging	0	0	0.00
Compass	1417	6	124.19
RAFOS	1080	1	21.06
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	125	2237	552	508	0.0	0.0	0	124	0.00	0.00	-101.53	0.000	16386	0.000	0.000	120	2238	2508	2589	2428	0	0	0	0	0	0	28.83	28.83	28.83
131	-0.84	-146.0	121	2238	2589	2430	3.0	-6.3	17	170	10.30	2.58	-19.00	0.000	18948	0.438	0.151	2257	844	3393	3581	3205	0	0	0	0	0	0	14.17	14.31	14.57
217	-0.66	-146.0	1376	843	3574	3202	25.0	-22.4	31	224	0.28	2.60	0.00	0.000	3078	0.285	0.141	2315	2256	3393	3581	3205	0	0	0	0	0	0	14.26	14.32	28.83
536	-0.63	-146.0	2315	2256	3581	3205	84.3	-19.0	92	543	0.00	2.60	0.00	0.000	260	0.000	0.156	2310	3664	3393	3581	3205	0	0	0	0	0	0	28.83	14.39	28.83
609	-0.63	-146.0	2310	3664	3581	3205	97.9	-17.9	105	617	0.00	2.47	0.00	0.000	1030	0.000	0.110	2310	2249	3392	3581	3204	0	0	0	0	0	0	28.83	14.44	28.83
928	-0.63	-146.0	2310	2248	3581	3205	150.6	-14.9	137	938	0.00	2.60	0.00	0.000	260	0.000	0.158	2300	3660	3393	3581	3205	0	0	0	0	0	0	28.83	14.45	28.83
1055	-0.63	-146.0	2300	3660	3581	3204	170.0	-15.5	149	1065	0.10	2.45	0.00	0.000	3078	0.263	0.112	2327	2243	3393	3581	3205	0	0	0	0	0	0	14.41	14.48	28.83
1367	-0.63	-146.0	2327	2243	3581	3204	209.0	-11.8	180	1376	0.00	2.60	0.00	0.000	260	0.000	0.158	2319	3656	3392	3581	3204	0	0	0	0	0	0	28.83	14.48	28.83
1456	-0.66	-146.0	2319	3656	3581	3204	219.3	-12.2	188	1463	0.00	2.45	0.00	0.000	1030	0.000	0.111	2318	2248	3392	3581	3204	0	0	0	0	0	0	28.83	14.54	28.83
1764	-0.66	-146.0	2318	2247	3581	3204	256.7	-12.2	219	1774	0.00	2.62	0.00	0.000	260	0.000	0.161	2308	3662	3392	3581	3204	0	0	0	0	0	0	28.83	14.50	28.83
1870	-0.66	-146.0	2308	3663	3581	3203	270.3	-12.9	229	1880	0.00	2.42	0.00	0.000	1030	0.000	0.111	2308	2253	3392	3581	3203	0	0	0	0	0	0	28.83	14.55	28.83
2181	-0.66	-146.0	2308	2254	3581	3203	310.5	-12.3	260	2190	0.00	2.58	0.00	0.000	260	0.000	0.159	2298	3660	3391	3581	3202	0	0	0	0	0	0	28.83	14.53	28.83
2277	-0.66	-146.0	2298	3660	3581	3202	323.2	-13.4	269	2286	0.00	2.42	0.00	0.000	1030	0.000	0.111	2298	2252	3390	3579	3202	0	0	0	0	0	0	28.83	14.57	28.83
2588	-0.66	-146.0	2298	2251	3581	3202	362.7	-12.1	300	2597	0.00	2.58	0.00	0.000	260	0.000	0.160	2289	3659	3391	3581	3202	0	0	0	0	0	0	28.83	14.54	28.83
2706	-0.66	-146.0	2289	3659	3581	3201	377.5	-12.8	311	2714	0.12	2.45	0.00	0.000	3078	0.291	0.111	2315	2242	3391	3581	3201	0	0	0	0	0	0	14.52	14.60	28.83
2719	end dive: TARGET_DEPTH_EXCEEDED
state	2719	begin apogee
2732	-0.19	0.0	2315	2300	3581	3201	380.3	-13.0	313	2887	0.52	0.00	143.77	2.123	10246	0.239	0.000	2465	2300	2793	2920	2667	0	0	0	0	0	0	14.52	28.83	12.90
2888	end apogee: CONTROL_FINISHED_OK
state	2889	begin climb
2895	0.84	146.0	2465	2300	2920	2668	387.6	0.0	329	3053	1.12	0.00	153.20	2.067	10758	0.177	0.000	2793	2300	2197	2280	2114	0	0	0	0	0	0	13.67	28.83	12.68
3356	0.74	175.5	2793	2300	2280	2103	361.6	8.4	376	3393	0.00	2.83	30.35	2.089	8452	0.000	0.159	2793	3711	2078	2173	1983	0	0	0	0	0	0	28.83	13.81	13.14
3556	0.58	175.5	1792	3710	2123	1976	340.9	11.2	395	3564	0.32	2.55	0.00	0.000	5126	0.269	0.112	2726	2301	2076	2171	1982	0	0	0	0	0	0	14.03	14.11	28.83
3866	0.72	243.6	2726	2301	2171	1978	319.1	6.7	426	3945	0.12	2.85	70.62	2.036	10500	0.172	0.160	2770	3709	1799	1897	1702	0	0	0	0	0	0	14.30	13.65	13.02
4040	0.66	243.6	2771	3709	1891	1702	301.9	11.4	443	4049	0.10	2.55	0.00	0.000	5126	0.256	0.112	2754	2301	1796	1891	1702	0	0	0	0	0	0	13.91	13.97	28.83
4352	0.75	285.0	2754	2301	1890	1698	274.3	7.9	474	4401	0.00	2.83	42.35	1.994	8452	0.000	0.160	2754	3708	1631	1721	1541	0	0	0	0	0	0	28.83	13.81	13.17
4578	0.81	286.0	1792	3707	1683	1538	254.3	9.7	496	4586	0.10	2.55	0.00	0.000	3078	0.206	0.112	2792	2292	1629	1717	1542	0	0	0	0	0	0	14.12	14.12	28.83
4888	0.82	292.4	2792	2291	1716	1539	223.5	9.5	527	4902	0.00	0.00	7.65	1.779	8198	0.000	0.000	2792	2291	1603	1690	1517	0	0	0	0	0	0	28.83	28.83	13.54
5208	0.86	300.9	2792	2291	1690	1517	192.7	9.4	559	5226	0.00	2.72	10.38	1.843	8452	0.000	0.159	2792	3721	1567	1654	1481	0	0	0	0	0	0	28.83	14.22	13.57
5328	0.86	300.9	2792	3721	1654	1482	179.9	11.5	570	5338	0.00	2.53	0.00	0.000	1030	0.000	0.114	2803	2307	1568	1654	1482	0	0	0	0	0	0	28.83	14.29	28.83
5639	0.86	300.9	2802	2306	1654	1481	146.5	10.1	601	5645	0.00	0.00	0.00	0.000	6	0.000	0.000	2803	2306	1568	1654	1482	0	0	0	0	0	0	28.83	28.83	28.83
5954	0.87	309.1	2803	2306	1654	1480	116.7	9.4	632	5966	0.00	2.70	5.28	1.557	8452	0.000	0.164	2803	3712	1534	1622	1447	0	0	0	0	0	0	28.83	14.38	13.74
6021	0.87	309.1	1824	3711	1592	1448	109.5	11.0	638	6029	0.00	2.50	0.00	0.000	1030	0.000	0.114	2813	2297	1537	1623	1451	0	0	0	0	0	0	28.83	14.43	28.83
6336	0.93	324.2	2813	2297	1622	1449	78.3	9.1	691	6355	0.00	2.70	9.18	0.456	8452	0.000	0.162	2813	3707	1472	1559	1386	0	0	0	0	0	0	28.83	14.40	14.28
6486	0.95	343.5	2814	3707	1559	1386	63.8	8.9	718	6505	0.00	2.47	11.50	0.405	9222	0.000	0.116	2824	2301	1392	1478	1307	0	0	0	0	0	0	28.83	14.47	14.29
6822	1.05	383.2	2824	2301	1478	1304	37.0	8.0	781	6854	0.12	2.58	22.48	0.305	10756	0.179	0.143	2880	884	1233	1315	1151	0	0	0	0	0	0	14.48	14.41	14.34
6901	1.11	383.2	2880	884	1314	1149	28.4	12.0	794	6909	0.00	2.60	0.00	0.000	1030	0.000	0.145	2880	2301	1231	1314	1149	0	0	0	0	0	0	28.83	14.42	28.83
7108	end climb: SURFACE_DEPTH_REACHED
state	7108	begin surface coast
7130	end surface coast: CONTROL_FINISHED_OK
state	7130	begin surface