Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 8 * 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 8 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 17 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 -616.13605 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 -616.13605

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 17 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 8 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 190913,062835,6632.566,-6043.933,30,1.8,30,-33.7 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.97 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 190913,063405,6632.367,-6043.893,5,1.8,5,-33.7 MHEAD_RNG_PITCHd_Wd 60.3,179548,-17.0,-9.744,-20.10,2276

SPEED_LIMITS 0.169,0.266 D_GRID 432

Post-dive calculations and measurements:

FINISH 0.3,1.024498 _24V_AH 12.8,7.299

SM_CCo 7132,97.97,0.184,0,0,538,552.91 _10V_AH 13.1,0.000

SM_GC 1.02,8.10,0.12,97.97,0.097,0.190,0.184,144,2246,538,-7.42,0.45,552.91,0,0,0,0,0,0,14.49,14.47,14.34 FG_AHR_24Vo 0.000

RAFOS_CLK 348 FG_AHR_10Vo 0.000

RAFOS 0,1379577663,8.033334,8.017500,65,64,62,60,60,57,211,228,175,141,193,154 MEM 150772

RAFOS_FIX 6634.940430,-6037.093262,190913,080828,2,104,1.05 DATA_FILE_SIZE 36756,836

IRIDIUM_FIX 6604.29,-6041.48,190913,040407 CAP_FILE_SIZE 96210,0

TT8_MAMPS 0.027713,0.027713 CFSIZE 259252224,250163200

HUMID 48.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.61555 SOUNDSPEED 1450.0

TCM_TEMP 12.40 CURRENT 0.564,186.2,1

XPDR_PINGS 53 GPS 190913,083705,6630.994,-6043.117,35,1.0,35,-33.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 441 123.31 SBE_CT 583 23 173.40

Roll_motor 83 200 214.09 SBE_O2 0 0 0.00

VBD_pump_during_apogee 514 2178 14339.81 nil 0 0 0.00

VBD_pump_during_surface 97 183 230.25 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 180 139 323.04 nil 0 0 0.00

Transponder_ping 13 420 71.23 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 18 1.43

TT8 2026 14 397.22

LPSleep 2748 2 83.17

TT8_Active 712 14 132.67

TT8_Sampling 1601 33 706.68

TT8_CF8 487 39 253.61

TT8_Kalman 0 0 0.00

Analog_circuits 1741 12 273.74

GPS_charging 0 0 0.00

Compass 1446 6 127.68

RAFOS 1800 1 35.37

Transponder 0 5 0.04

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 14 begin dive

20 -0.84 -146.0 131 2242 553 508 0.0 0.0 0 133 0.00 0.00 -110.12 0.000 16386 0.000 0.000 129 2243 2658 2719 2597 0 0 0 0 0 0 28.83 28.83 28.83

140 -0.84 -146.0 129 2243 2719 2596 3.1 -5.9 19 174 10.32 2.55 -15.05 0.000 18948 0.441 0.149 2258 831 3391 3571 3211 0 0 0 0 0 0 14.19 14.32 14.57

211 -0.66 -146.0 2258 831 3572 3211 23.3 -24.5 30 218 0.28 2.62 0.00 0.000 3078 0.284 0.144 2317 2252 3391 3572 3211 0 0 0 0 0 0 14.26 14.33 28.83

530 -0.62 -146.0 2317 2253 3573 3209 78.1 -15.1 91 537 0.00 0.00 0.00 0.000 6 0.000 0.000 2317 2253 3391 3573 3209 0 0 0 0 0 0 28.83 28.83 28.83

844 -0.62 -146.0 2317 2253 3573 3209 122.4 -13.5 136 852 0.00 2.58 0.00 0.000 260 0.000 0.158 2310 3661 3391 3573 3209 0 0 0 0 0 0 28.83 14.44 28.83

1021 -0.62 -146.0 2310 3661 3573 3209 145.9 -12.6 153 1030 0.00 2.45 0.00 0.000 1030 0.000 0.111 2310 2248 3391 3573 3209 0 0 0 0 0 0 28.83 14.49 28.83

1332 -0.62 -146.0 2310 2247 3573 3209 186.8 -14.0 184 1341 0.00 2.62 0.00 0.000 260 0.000 0.161 2300 3666 3390 3573 3208 0 0 0 0 0 0 28.83 14.49 28.83

1410 -0.62 -146.0 1440 3665 3567 3205 197.8 -14.4 191 1419 0.15 2.47 0.00 0.000 3078 0.288 0.111 2334 2242 3391 3574 3208 0 0 0 0 0 0 14.46 14.54 28.83

1721 -0.66 -146.0 2334 2242 3573 3208 238.3 -12.8 222 1730 0.00 2.60 0.00 0.000 260 0.000 0.161 2325 3654 3390 3573 3208 0 0 0 0 0 0 28.83 14.51 28.83

1797 -0.70 -146.0 2325 3655 3573 3208 248.1 -12.8 229 1805 0.00 2.42 0.00 0.000 1030 0.000 0.112 2325 2250 3390 3573 3208 0 0 0 0 0 0 28.83 14.55 28.83

2108 -0.74 -146.0 2325 2250 3573 3208 286.0 -11.4 260 2117 0.00 2.58 0.00 0.000 260 0.000 0.162 2317 3656 3390 3573 3207 0 0 0 0 0 0 28.83 14.54 28.83

2265 -0.79 -146.0 1412 3655 3566 3203 305.5 -12.5 275 2275 0.08 2.42 0.00 0.000 5126 0.143 0.112 2284 2249 3389 3573 3206 0 0 0 0 0 0 14.57 14.58 28.83

2577 -0.75 -146.0 2283 2248 3574 3206 349.3 -14.2 306 2586 0.00 2.58 0.00 0.000 260 0.000 0.161 2273 3657 3389 3573 3206 0 0 0 0 0 0 28.83 14.55 28.83

2711 -0.70 -146.0 1376 3656 3566 3203 368.0 -14.3 318 2719 0.15 2.45 0.00 0.000 3078 0.296 0.110 2307 2241 3389 3573 3206 0 0 0 0 0 0 14.52 14.60 28.83

2794 end dive: TARGET_DEPTH_EXCEEDED

state 2794 begin apogee

2808 -0.19 0.0 2307 2310 3573 3206 380.9 -12.7 327 2964 0.55 0.00 144.82 2.179 10246 0.244 0.000 2463 2309 2794 2919 2669 0 0 0 0 0 0 14.52 28.83 12.88

2965 end apogee: CONTROL_FINISHED_OK

state 2965 begin climb

2971 0.84 146.0 2463 2310 2918 2670 389.5 0.0 343 3143 1.15 2.85 152.85 2.079 10756 0.177 0.138 2808 892 2198 2284 2113 0 0 0 0 0 0 13.66 13.47 12.80

3211 0.74 195.2 2808 892 2283 2105 384.5 7.5 367 3271 0.10 2.67 51.72 2.032 13318 0.263 0.140 2782 2297 1997 2094 1901 0 0 0 0 0 0 13.78 13.82 12.86

3583 0.71 224.8 2782 2297 2094 1891 352.2 8.4 404 3620 0.00 2.85 30.62 2.001 8452 0.000 0.161 2782 3713 1876 1981 1772 0 0 0 0 0 0 28.83 13.79 13.16

3723 0.59 224.8 2782 3714 1977 1773 337.7 12.2 417 3730 0.28 2.58 0.00 0.000 5126 0.265 0.112 2726 2299 1874 1976 1773 0 0 0 0 0 0 13.95 14.02 28.83

4033 0.76 282.6 2726 2299 1976 1770 314.3 7.1 448 4100 0.15 2.88 60.20 2.005 10500 0.162 0.158 2779 3712 1641 1736 1547 0 0 0 0 0 0 14.25 13.68 13.05

4160 0.70 282.6 2779 3712 1732 1548 300.8 12.3 460 4169 0.00 2.58 0.00 0.000 1030 0.000 0.112 2789 2302 1639 1732 1547 0 0 0 0 0 0 28.83 13.89 28.83

4471 0.70 282.6 2789 2301 1729 1546 266.8 9.9 491 4480 0.00 2.67 0.00 0.000 260 0.000 0.160 2789 3715 1637 1729 1546 0 0 0 0 0 0 28.83 14.16 28.83

4681 0.67 282.6 2789 3715 1726 1546 243.8 10.5 511 4691 0.15 2.50 0.00 0.000 5126 0.246 0.112 2757 2299 1636 1726 1546 0 0 0 0 0 0 14.22 14.28 28.83

4993 0.82 326.0 2758 2299 1726 1545 220.0 7.8 542 5049 0.12 2.75 44.28 1.947 10500 0.167 0.158 2802 3714 1463 1553 1374 0 0 0 0 0 0 14.40 13.92 13.28

5091 0.82 326.0 2802 3714 1553 1375 209.9 12.8 551 5100 0.00 2.55 0.00 0.000 1030 0.000 0.112 2813 2302 1463 1552 1375 0 0 0 0 0 0 28.83 14.03 28.83

5401 0.82 326.0 2813 2302 1551 1373 171.5 12.6 582 5410 0.00 2.67 0.00 0.000 260 0.000 0.161 2813 3715 1461 1551 1372 0 0 0 0 0 0 28.83 14.23 28.83

5457 0.79 326.0 2813 3715 1551 1372 164.0 14.2 587 5466 0.10 2.50 0.00 0.000 5126 0.262 0.113 2795 2302 1461 1551 1372 0 0 0 0 0 0 14.21 14.28 28.83

5769 0.84 326.0 2795 2302 1551 1371 130.2 9.8 618 5777 0.00 2.62 0.00 0.000 260 0.000 0.163 2795 3712 1461 1551 1371 0 0 0 0 0 0 28.83 14.35 28.83

5834 0.84 326.0 2795 3712 1550 1370 122.9 11.5 624 5843 0.00 2.50 0.00 0.000 1030 0.000 0.113 2803 2299 1460 1550 1371 0 0 0 0 0 0 28.83 14.38 28.83

6151 0.89 338.8 2803 2299 1550 1369 93.8 9.2 661 6164 0.00 2.72 7.07 0.511 8452 0.000 0.161 2803 3718 1412 1501 1324 0 0 0 0 0 0 28.83 14.40 14.24

6195 0.89 338.8 2803 3718 1501 1326 89.4 10.3 668 6203 0.00 2.53 0.00 0.000 1030 0.000 0.116 2814 2285 1413 1501 1326 0 0 0 0 0 0 28.83 14.43 28.83

6522 0.95 349.9 2814 2285 1500 1324 58.3 9.2 729 6536 0.00 2.70 6.20 0.387 8452 0.000 0.164 2814 3715 1367 1454 1281 0 0 0 0 0 0 28.83 14.42 14.32

6592 0.95 349.9 2814 3715 1454 1281 50.0 11.9 741 6599 0.00 2.50 0.00 0.000 1030 0.000 0.116 2824 2298 1367 1453 1281 0 0 0 0 0 0 28.83 14.47 28.83

6912 1.07 379.7 1824 2294 1429 1276 21.5 8.4 802 6938 0.15 2.60 16.42 0.256 10756 0.169 0.140 2889 889 1245 1329 1162 0 0 0 0 0 0 14.47 14.42 14.39

7069 1.04 379.7 1888 889 1308 1157 4.0 13.4 830 7076 0.00 2.60 0.00 0.000 1030 0.000 0.148 2890 2302 1243 1328 1159 0 0 0 0 0 0 28.83 14.45 28.83

7080 end climb: SURFACE_DEPTH_REACHED

state 7081 begin surface coast

7102 end surface coast: CONTROL_FINISHED_OK

state 7103 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	8	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	17	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	-616.13605	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	190913,062835,6632.566,-6043.933,30,1.8,30,-33.7	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.97	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	190913,063405,6632.367,-6043.893,5,1.8,5,-33.7	MHEAD_RNG_PITCHd_Wd	60.3,179548,-17.0,-9.744,-20.10,2276
SPEED_LIMITS	0.169,0.266	D_GRID	432

FINISH	0.3,1.024498	_24V_AH	12.8,7.299
SM_CCo	7132,97.97,0.184,0,0,538,552.91	_10V_AH	13.1,0.000
SM_GC	1.02,8.10,0.12,97.97,0.097,0.190,0.184,144,2246,538,-7.42,0.45,552.91,0,0,0,0,0,0,14.49,14.47,14.34	FG_AHR_24Vo	0.000
RAFOS_CLK	348	FG_AHR_10Vo	0.000
RAFOS	0,1379577663,8.033334,8.017500,65,64,62,60,60,57,211,228,175,141,193,154	MEM	150772
RAFOS_FIX	6634.940430,-6037.093262,190913,080828,2,104,1.05	DATA_FILE_SIZE	36756,836
IRIDIUM_FIX	6604.29,-6041.48,190913,040407	CAP_FILE_SIZE	96210,0
TT8_MAMPS	0.027713,0.027713	CFSIZE	259252224,250163200
HUMID	48.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.61555	SOUNDSPEED	1450.0
TCM_TEMP	12.40	CURRENT	0.564,186.2,1
XPDR_PINGS	53	GPS	190913,083705,6630.994,-6043.117,35,1.0,35,-33.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	441	123.31	SBE_CT	583	23	173.40
Roll_motor	83	200	214.09	SBE_O2	0	0	0.00
VBD_pump_during_apogee	514	2178	14339.81	nil	0	0	0.00
VBD_pump_during_surface	97	183	230.25	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	180	139	323.04	nil	0	0	0.00
Transponder_ping	13	420	71.23	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	18	1.43
TT8	2026	14	397.22
LPSleep	2748	2	83.17
TT8_Active	712	14	132.67
TT8_Sampling	1601	33	706.68
TT8_CF8	487	39	253.61
TT8_Kalman	0	0	0.00
Analog_circuits	1741	12	273.74
GPS_charging	0	0	0.00
Compass	1446	6	127.68
RAFOS	1800	1	35.37
Transponder	0	5	0.04

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	14	begin dive
20	-0.84	-146.0	131	2242	553	508	0.0	0.0	0	133	0.00	0.00	-110.12	0.000	16386	0.000	0.000	129	2243	2658	2719	2597	0	0	0	0	0	0	28.83	28.83	28.83
140	-0.84	-146.0	129	2243	2719	2596	3.1	-5.9	19	174	10.32	2.55	-15.05	0.000	18948	0.441	0.149	2258	831	3391	3571	3211	0	0	0	0	0	0	14.19	14.32	14.57
211	-0.66	-146.0	2258	831	3572	3211	23.3	-24.5	30	218	0.28	2.62	0.00	0.000	3078	0.284	0.144	2317	2252	3391	3572	3211	0	0	0	0	0	0	14.26	14.33	28.83
530	-0.62	-146.0	2317	2253	3573	3209	78.1	-15.1	91	537	0.00	0.00	0.00	0.000	6	0.000	0.000	2317	2253	3391	3573	3209	0	0	0	0	0	0	28.83	28.83	28.83
844	-0.62	-146.0	2317	2253	3573	3209	122.4	-13.5	136	852	0.00	2.58	0.00	0.000	260	0.000	0.158	2310	3661	3391	3573	3209	0	0	0	0	0	0	28.83	14.44	28.83
1021	-0.62	-146.0	2310	3661	3573	3209	145.9	-12.6	153	1030	0.00	2.45	0.00	0.000	1030	0.000	0.111	2310	2248	3391	3573	3209	0	0	0	0	0	0	28.83	14.49	28.83
1332	-0.62	-146.0	2310	2247	3573	3209	186.8	-14.0	184	1341	0.00	2.62	0.00	0.000	260	0.000	0.161	2300	3666	3390	3573	3208	0	0	0	0	0	0	28.83	14.49	28.83
1410	-0.62	-146.0	1440	3665	3567	3205	197.8	-14.4	191	1419	0.15	2.47	0.00	0.000	3078	0.288	0.111	2334	2242	3391	3574	3208	0	0	0	0	0	0	14.46	14.54	28.83
1721	-0.66	-146.0	2334	2242	3573	3208	238.3	-12.8	222	1730	0.00	2.60	0.00	0.000	260	0.000	0.161	2325	3654	3390	3573	3208	0	0	0	0	0	0	28.83	14.51	28.83
1797	-0.70	-146.0	2325	3655	3573	3208	248.1	-12.8	229	1805	0.00	2.42	0.00	0.000	1030	0.000	0.112	2325	2250	3390	3573	3208	0	0	0	0	0	0	28.83	14.55	28.83
2108	-0.74	-146.0	2325	2250	3573	3208	286.0	-11.4	260	2117	0.00	2.58	0.00	0.000	260	0.000	0.162	2317	3656	3390	3573	3207	0	0	0	0	0	0	28.83	14.54	28.83
2265	-0.79	-146.0	1412	3655	3566	3203	305.5	-12.5	275	2275	0.08	2.42	0.00	0.000	5126	0.143	0.112	2284	2249	3389	3573	3206	0	0	0	0	0	0	14.57	14.58	28.83
2577	-0.75	-146.0	2283	2248	3574	3206	349.3	-14.2	306	2586	0.00	2.58	0.00	0.000	260	0.000	0.161	2273	3657	3389	3573	3206	0	0	0	0	0	0	28.83	14.55	28.83
2711	-0.70	-146.0	1376	3656	3566	3203	368.0	-14.3	318	2719	0.15	2.45	0.00	0.000	3078	0.296	0.110	2307	2241	3389	3573	3206	0	0	0	0	0	0	14.52	14.60	28.83
2794	end dive: TARGET_DEPTH_EXCEEDED
state	2794	begin apogee
2808	-0.19	0.0	2307	2310	3573	3206	380.9	-12.7	327	2964	0.55	0.00	144.82	2.179	10246	0.244	0.000	2463	2309	2794	2919	2669	0	0	0	0	0	0	14.52	28.83	12.88
2965	end apogee: CONTROL_FINISHED_OK
state	2965	begin climb
2971	0.84	146.0	2463	2310	2918	2670	389.5	0.0	343	3143	1.15	2.85	152.85	2.079	10756	0.177	0.138	2808	892	2198	2284	2113	0	0	0	0	0	0	13.66	13.47	12.80
3211	0.74	195.2	2808	892	2283	2105	384.5	7.5	367	3271	0.10	2.67	51.72	2.032	13318	0.263	0.140	2782	2297	1997	2094	1901	0	0	0	0	0	0	13.78	13.82	12.86
3583	0.71	224.8	2782	2297	2094	1891	352.2	8.4	404	3620	0.00	2.85	30.62	2.001	8452	0.000	0.161	2782	3713	1876	1981	1772	0	0	0	0	0	0	28.83	13.79	13.16
3723	0.59	224.8	2782	3714	1977	1773	337.7	12.2	417	3730	0.28	2.58	0.00	0.000	5126	0.265	0.112	2726	2299	1874	1976	1773	0	0	0	0	0	0	13.95	14.02	28.83
4033	0.76	282.6	2726	2299	1976	1770	314.3	7.1	448	4100	0.15	2.88	60.20	2.005	10500	0.162	0.158	2779	3712	1641	1736	1547	0	0	0	0	0	0	14.25	13.68	13.05
4160	0.70	282.6	2779	3712	1732	1548	300.8	12.3	460	4169	0.00	2.58	0.00	0.000	1030	0.000	0.112	2789	2302	1639	1732	1547	0	0	0	0	0	0	28.83	13.89	28.83
4471	0.70	282.6	2789	2301	1729	1546	266.8	9.9	491	4480	0.00	2.67	0.00	0.000	260	0.000	0.160	2789	3715	1637	1729	1546	0	0	0	0	0	0	28.83	14.16	28.83
4681	0.67	282.6	2789	3715	1726	1546	243.8	10.5	511	4691	0.15	2.50	0.00	0.000	5126	0.246	0.112	2757	2299	1636	1726	1546	0	0	0	0	0	0	14.22	14.28	28.83
4993	0.82	326.0	2758	2299	1726	1545	220.0	7.8	542	5049	0.12	2.75	44.28	1.947	10500	0.167	0.158	2802	3714	1463	1553	1374	0	0	0	0	0	0	14.40	13.92	13.28
5091	0.82	326.0	2802	3714	1553	1375	209.9	12.8	551	5100	0.00	2.55	0.00	0.000	1030	0.000	0.112	2813	2302	1463	1552	1375	0	0	0	0	0	0	28.83	14.03	28.83
5401	0.82	326.0	2813	2302	1551	1373	171.5	12.6	582	5410	0.00	2.67	0.00	0.000	260	0.000	0.161	2813	3715	1461	1551	1372	0	0	0	0	0	0	28.83	14.23	28.83
5457	0.79	326.0	2813	3715	1551	1372	164.0	14.2	587	5466	0.10	2.50	0.00	0.000	5126	0.262	0.113	2795	2302	1461	1551	1372	0	0	0	0	0	0	14.21	14.28	28.83
5769	0.84	326.0	2795	2302	1551	1371	130.2	9.8	618	5777	0.00	2.62	0.00	0.000	260	0.000	0.163	2795	3712	1461	1551	1371	0	0	0	0	0	0	28.83	14.35	28.83
5834	0.84	326.0	2795	3712	1550	1370	122.9	11.5	624	5843	0.00	2.50	0.00	0.000	1030	0.000	0.113	2803	2299	1460	1550	1371	0	0	0	0	0	0	28.83	14.38	28.83
6151	0.89	338.8	2803	2299	1550	1369	93.8	9.2	661	6164	0.00	2.72	7.07	0.511	8452	0.000	0.161	2803	3718	1412	1501	1324	0	0	0	0	0	0	28.83	14.40	14.24
6195	0.89	338.8	2803	3718	1501	1326	89.4	10.3	668	6203	0.00	2.53	0.00	0.000	1030	0.000	0.116	2814	2285	1413	1501	1326	0	0	0	0	0	0	28.83	14.43	28.83
6522	0.95	349.9	2814	2285	1500	1324	58.3	9.2	729	6536	0.00	2.70	6.20	0.387	8452	0.000	0.164	2814	3715	1367	1454	1281	0	0	0	0	0	0	28.83	14.42	14.32
6592	0.95	349.9	2814	3715	1454	1281	50.0	11.9	741	6599	0.00	2.50	0.00	0.000	1030	0.000	0.116	2824	2298	1367	1453	1281	0	0	0	0	0	0	28.83	14.47	28.83
6912	1.07	379.7	1824	2294	1429	1276	21.5	8.4	802	6938	0.15	2.60	16.42	0.256	10756	0.169	0.140	2889	889	1245	1329	1162	0	0	0	0	0	0	14.47	14.42	14.39
7069	1.04	379.7	1888	889	1308	1157	4.0	13.4	830	7076	0.00	2.60	0.00	0.000	1030	0.000	0.148	2890	2302	1243	1328	1159	0	0	0	0	0	0	28.83	14.45	28.83
7080	end climb: SURFACE_DEPTH_REACHED
state	7081	begin surface coast
7102	end surface coast: CONTROL_FINISHED_OK
state	7103	begin surface