Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 10 * 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 10 ESCAPE_HEADING 0 C_ROLL_DIVE 2250 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 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 450 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 19 ALTIM_SENSITIVITY 2

D_NO_BLEED 100 SM_CC 552.7182 R_STBD_OVSHOOT 14 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 150 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 170 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 -1041.9648 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 450 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 150

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 -1041.9648

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE 32 T_MISSION 170

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 19 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 12 R_STBD_OVSHOOT 14 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 10 NOCOMM_ACTION 163 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 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 190913,135153,6628.963,-6047.420,39,1.3,39,-33.6 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 0.91 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 190913,135753,6628.912,-6047.559,5,1.3,5,-33.6 MHEAD_RNG_PITCHd_Wd 146.8,184156,-17.4,-10.000,-20.41,2219

SPEED_LIMITS 0.173,0.269 D_GRID 401

Post-dive calculations and measurements:

FINISH 0.1,1.018624 _10V_AH 13.0,0.000

SM_CCo 7611,75.57,0.183,0,0,538,552.91 FG_AHR_24Vo 0.000

SM_GC 0.89,8.27,0.12,75.57,0.110,0.178,0.183,146,2241,538,-7.42,0.40,552.91,0,0,0,0,0,0,14.49,14.49,14.37 FG_AHR_10Vo 0.000

RAFOS_CLK 368 MEM 150760

RAFOS_FIX 6634.940430,-6037.093262,190913,080828,2,104,1.05 DATA_FILE_SIZE 40095,889

IRIDIUM_FIX 6558.99,-6047.32,190913,111130 CAP_FILE_SIZE 99351,0

TT8_MAMPS 0.026964,0.026964 CFSIZE 259252224,250036224

HUMID 47.08 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.61555 SOUNDSPEED 1450.5

TCM_TEMP 12.60 CURRENT 0.132,231.8,1

XPDR_PINGS 47 GPS 190913,160959,6628.096,-6046.907,124,1.9,128,-33.6

_24V_AH 12.8,8.192

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 441 124.02 SBE_CT 620 23 184.36

Roll_motor 87 178 199.81 SBE_O2 0 0 0.00

VBD_pump_during_apogee 548 2187 15354.51 nil 0 0 0.00

VBD_pump_during_surface 75 182 176.87 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 202 141 367.69 nil 0 0 0.00

Transponder_ping 11 420 63.17 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 18 1.43

TT8 2135 14 415.33

LPSleep 2972 2 89.27

TT8_Active 709 14 130.98

TT8_Sampling 1734 33 759.82

TT8_CF8 502 39 259.27

TT8_Kalman 0 0 0.00

Analog_circuits 1820 12 284.05

GPS_charging 0 0 0.00

Compass 1550 6 135.83

RAFOS 360 1 7.02

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 -0.85 -146.0 117 2246 552 507 0.0 0.0 0 134 0.00 0.00 -111.22 0.000 16386 0.000 0.000 116 2246 2763 2818 2708 0 0 0 0 0 0 28.83 28.83 28.83

141 -0.85 -146.0 116 2246 2819 2709 4.0 -8.8 19 173 10.30 2.58 -11.45 0.000 18948 0.441 0.145 2251 838 3393 3562 3224 0 0 0 0 0 0 14.21 14.33 14.59

324 -0.71 -146.0 2251 838 3564 3222 50.1 -20.3 52 332 0.25 2.58 0.00 0.000 3078 0.288 0.136 2302 2254 3393 3564 3222 0 0 0 0 0 0 14.33 14.40 28.83

648 -0.65 -146.0 2302 2254 3566 3221 101.8 -14.2 113 658 0.00 2.58 0.00 0.000 260 0.000 0.152 2294 3659 3393 3566 3221 0 0 0 0 0 0 28.83 14.44 28.83

819 -0.61 -146.0 2294 3659 3566 3221 130.5 -17.4 129 828 0.17 2.45 0.00 0.000 3078 0.284 0.106 2334 2247 3393 3566 3221 0 0 0 0 0 0 14.42 14.52 28.83

1129 -0.65 -146.0 2334 2246 3567 3221 174.6 -11.8 160 1138 0.00 2.60 0.00 0.000 260 0.000 0.156 2326 3660 3394 3567 3221 0 0 0 0 0 0 28.83 14.50 28.83

1253 -0.69 -146.0 1408 3659 3559 3217 188.4 -11.9 171 1260 0.00 2.45 0.00 0.000 1030 0.000 0.106 2326 2243 3394 3567 3221 0 0 0 0 0 0 28.83 14.57 28.83

1562 -0.69 -146.0 2326 2243 3567 3220 229.1 -13.8 202 1570 0.00 2.58 0.00 0.000 260 0.000 0.157 2316 3657 3393 3567 3220 0 0 0 0 0 0 28.83 14.54 28.83

1649 -0.69 -146.0 1448 3656 3560 3217 241.2 -13.8 210 1656 0.00 2.42 0.00 0.000 1030 0.000 0.107 2316 2250 3393 3567 3220 0 0 0 0 0 0 28.83 14.60 28.83

1957 -0.69 -146.0 2316 2250 3567 3220 282.6 -12.8 241 1967 0.00 2.58 0.00 0.000 260 0.000 0.160 2307 3659 3392 3567 3218 0 0 0 0 0 0 28.83 14.56 28.83

2156 -0.69 -146.0 2307 3658 3567 3218 307.9 -12.3 260 2165 0.00 2.40 0.00 0.000 1030 0.000 0.109 2306 2253 3392 3567 3218 0 0 0 0 0 0 28.83 14.62 28.83

2466 -0.69 -146.0 2306 2253 3566 3218 345.7 -12.1 291 2476 0.00 2.58 0.00 0.000 260 0.000 0.160 2297 3662 3392 3567 3217 0 0 0 0 0 0 28.83 14.57 28.83

2515 -0.69 -146.0 2297 3661 3567 3218 351.3 -12.3 295 2522 0.00 2.45 0.00 0.000 1030 0.000 0.107 2297 2237 3392 3567 3218 0 0 0 0 0 0 28.83 14.63 28.83

2824 -0.69 -146.0 2296 2236 3566 3218 389.6 -13.1 326 2833 0.00 2.60 0.00 0.000 260 0.000 0.156 2286 3663 3392 3567 3217 0 0 0 0 0 0 28.83 14.59 28.83

2914 end dive: TARGET_DEPTH_EXCEEDED

state 2914 begin apogee

2929 -0.19 0.0 2287 2300 3567 3217 401.7 -11.9 335 3091 0.62 0.00 146.20 2.188 10246 0.252 0.000 2462 2299 2794 2915 2673 0 0 0 0 0 0 14.56 28.83 12.90

3092 end apogee: CONTROL_FINISHED_OK

state 3092 begin climb

3098 0.85 146.0 2462 2300 2914 2673 412.6 0.0 352 3272 1.15 2.85 153.88 2.105 11012 0.170 0.153 2803 3717 2197 2290 2105 0 0 0 0 0 0 13.71 13.47 12.78

3507 0.63 149.1 2803 3716 2283 2102 392.7 9.9 392 3515 0.30 2.55 0.00 0.000 5126 0.289 0.109 2744 2302 2192 2283 2102 0 0 0 0 0 0 14.00 14.09 28.83

3816 0.74 234.9 2744 2302 2283 2097 372.1 6.0 423 3915 0.00 2.85 91.25 2.066 8452 0.000 0.155 2744 3706 1835 1936 1735 0 0 0 0 0 0 28.83 13.56 12.90

4081 0.76 251.8 2744 3707 1928 1735 350.2 9.2 449 4107 0.00 2.53 17.60 1.958 9222 0.000 0.108 2752 2301 1766 1860 1673 0 0 0 0 0 0 28.83 14.01 13.17

4410 0.90 308.6 2752 2301 1860 1669 323.7 7.4 482 4479 0.20 2.85 60.80 2.026 10500 0.146 0.158 2823 3708 1535 1626 1444 0 0 0 0 0 0 14.20 13.64 13.00

4543 0.80 308.6 2823 3708 1623 1444 307.3 14.2 495 4553 0.12 2.58 0.00 0.000 5126 0.268 0.109 2800 2297 1533 1623 1444 0 0 0 0 0 0 13.81 13.88 28.83

4855 0.83 326.8 2801 2297 1622 1439 274.3 9.2 526 4880 0.00 0.00 18.27 1.936 8710 0.000 0.000 2801 2297 1463 1553 1373 0 0 0 0 0 0 28.83 28.83 13.33

5184 0.83 326.8 2801 2297 1552 1369 241.4 10.9 559 5193 0.00 2.65 0.00 0.000 260 0.000 0.156 2801 3713 1461 1553 1370 0 0 0 0 0 0 28.83 14.21 28.83

5210 0.83 326.8 2801 3712 1552 1370 238.3 11.5 561 5220 0.00 2.53 0.00 0.000 1030 0.000 0.111 2810 2297 1461 1552 1370 0 0 0 0 0 0 28.83 14.24 28.83

5521 0.83 326.8 2810 2295 1552 1367 200.7 11.8 592 5530 0.00 2.62 0.00 0.000 260 0.000 0.158 2810 3712 1459 1552 1367 0 0 0 0 0 0 28.83 14.33 28.83

5587 0.83 326.8 2810 3712 1551 1367 192.6 12.9 598 5596 0.00 2.50 0.00 0.000 1030 0.000 0.111 2820 2297 1459 1552 1367 0 0 0 0 0 0 28.83 14.35 28.83

5897 0.84 339.6 2821 2295 1552 1367 160.4 9.4 629 5918 0.00 2.72 13.93 1.871 8452 0.000 0.158 2820 3714 1410 1501 1319 0 0 0 0 0 0 28.83 14.27 13.64

5960 0.84 339.6 2820 3714 1501 1320 154.1 10.9 635 5968 0.00 2.50 0.00 0.000 1030 0.000 0.112 2830 2294 1410 1501 1319 0 0 0 0 0 0 28.83 14.29 28.83

6270 0.84 339.6 2830 2292 1500 1317 122.0 11.2 666 6279 0.00 2.62 0.00 0.000 260 0.000 0.160 2830 3712 1409 1501 1318 0 0 0 0 0 0 28.83 14.37 28.83

6309 0.84 339.6 2830 3712 1500 1318 117.6 12.3 669 6317 0.15 2.50 0.00 0.000 5126 0.280 0.111 2807 2290 1409 1500 1318 0 0 0 0 0 0 14.35 14.42 28.83

6624 0.96 384.2 2807 2289 1501 1317 86.9 7.9 714 6662 0.12 2.70 26.83 0.488 10500 0.177 0.160 2853 3705 1228 1314 1142 0 0 0 0 0 0 14.47 14.35 14.21

6689 0.92 384.2 2853 3705 1314 1142 79.9 12.5 724 6696 0.12 2.47 0.00 0.000 5126 0.298 0.112 2835 2301 1228 1314 1142 0 0 0 0 0 0 14.34 14.41 28.83

7012 0.97 384.2 1800 2298 1290 1139 49.5 10.4 785 7020 0.00 2.62 0.00 0.000 260 0.000 0.161 2836 3715 1224 1308 1141 0 0 0 0 0 0 28.83 14.43 28.83

7176 1.03 384.8 2836 3715 1306 1141 32.8 10.0 815 7183 0.00 2.50 0.00 0.000 1030 0.000 0.112 2845 2288 1223 1306 1141 0 0 0 0 0 0 28.83 14.48 28.83

7500 1.15 420.1 2845 2287 1304 1140 5.6 8.4 876 7527 0.15 2.53 19.52 0.204 10756 0.181 0.142 2910 892 1079 1159 1000 0 0 0 0 0 0 14.50 14.45 14.42

7548 1.11 420.1 1920 891 1145 999 3.2 10.3 883 7555 0.00 2.55 0.00 0.000 1030 0.000 0.136 2909 2300 1079 1157 1001 0 0 0 0 0 0 28.83 14.46 28.83

7560 end climb: SURFACE_DEPTH_REACHED

state 7560 begin surface coast

7582 end surface coast: CONTROL_FINISHED_OK

state 7582 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	10	ESCAPE_HEADING	0	C_ROLL_DIVE	2250	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	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	450	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	19	ALTIM_SENSITIVITY	2
D_NO_BLEED	100	SM_CC	552.7182	R_STBD_OVSHOOT	14	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	150	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	170	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	-1041.9648	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	190913,135153,6628.963,-6047.420,39,1.3,39,-33.6	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	0.91	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	190913,135753,6628.912,-6047.559,5,1.3,5,-33.6	MHEAD_RNG_PITCHd_Wd	146.8,184156,-17.4,-10.000,-20.41,2219
SPEED_LIMITS	0.173,0.269	D_GRID	401

FINISH	0.1,1.018624	_10V_AH	13.0,0.000
SM_CCo	7611,75.57,0.183,0,0,538,552.91	FG_AHR_24Vo	0.000
SM_GC	0.89,8.27,0.12,75.57,0.110,0.178,0.183,146,2241,538,-7.42,0.40,552.91,0,0,0,0,0,0,14.49,14.49,14.37	FG_AHR_10Vo	0.000
RAFOS_CLK	368	MEM	150760
RAFOS_FIX	6634.940430,-6037.093262,190913,080828,2,104,1.05	DATA_FILE_SIZE	40095,889
IRIDIUM_FIX	6558.99,-6047.32,190913,111130	CAP_FILE_SIZE	99351,0
TT8_MAMPS	0.026964,0.026964	CFSIZE	259252224,250036224
HUMID	47.08	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.61555	SOUNDSPEED	1450.5
TCM_TEMP	12.60	CURRENT	0.132,231.8,1
XPDR_PINGS	47	GPS	190913,160959,6628.096,-6046.907,124,1.9,128,-33.6
_24V_AH	12.8,8.192

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	441	124.02	SBE_CT	620	23	184.36
Roll_motor	87	178	199.81	SBE_O2	0	0	0.00
VBD_pump_during_apogee	548	2187	15354.51	nil	0	0	0.00
VBD_pump_during_surface	75	182	176.87	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	202	141	367.69	nil	0	0	0.00
Transponder_ping	11	420	63.17	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	18	1.43
TT8	2135	14	415.33
LPSleep	2972	2	89.27
TT8_Active	709	14	130.98
TT8_Sampling	1734	33	759.82
TT8_CF8	502	39	259.27
TT8_Kalman	0	0	0.00
Analog_circuits	1820	12	284.05
GPS_charging	0	0	0.00
Compass	1550	6	135.83
RAFOS	360	1	7.02
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	-0.85	-146.0	117	2246	552	507	0.0	0.0	0	134	0.00	0.00	-111.22	0.000	16386	0.000	0.000	116	2246	2763	2818	2708	0	0	0	0	0	0	28.83	28.83	28.83
141	-0.85	-146.0	116	2246	2819	2709	4.0	-8.8	19	173	10.30	2.58	-11.45	0.000	18948	0.441	0.145	2251	838	3393	3562	3224	0	0	0	0	0	0	14.21	14.33	14.59
324	-0.71	-146.0	2251	838	3564	3222	50.1	-20.3	52	332	0.25	2.58	0.00	0.000	3078	0.288	0.136	2302	2254	3393	3564	3222	0	0	0	0	0	0	14.33	14.40	28.83
648	-0.65	-146.0	2302	2254	3566	3221	101.8	-14.2	113	658	0.00	2.58	0.00	0.000	260	0.000	0.152	2294	3659	3393	3566	3221	0	0	0	0	0	0	28.83	14.44	28.83
819	-0.61	-146.0	2294	3659	3566	3221	130.5	-17.4	129	828	0.17	2.45	0.00	0.000	3078	0.284	0.106	2334	2247	3393	3566	3221	0	0	0	0	0	0	14.42	14.52	28.83
1129	-0.65	-146.0	2334	2246	3567	3221	174.6	-11.8	160	1138	0.00	2.60	0.00	0.000	260	0.000	0.156	2326	3660	3394	3567	3221	0	0	0	0	0	0	28.83	14.50	28.83
1253	-0.69	-146.0	1408	3659	3559	3217	188.4	-11.9	171	1260	0.00	2.45	0.00	0.000	1030	0.000	0.106	2326	2243	3394	3567	3221	0	0	0	0	0	0	28.83	14.57	28.83
1562	-0.69	-146.0	2326	2243	3567	3220	229.1	-13.8	202	1570	0.00	2.58	0.00	0.000	260	0.000	0.157	2316	3657	3393	3567	3220	0	0	0	0	0	0	28.83	14.54	28.83
1649	-0.69	-146.0	1448	3656	3560	3217	241.2	-13.8	210	1656	0.00	2.42	0.00	0.000	1030	0.000	0.107	2316	2250	3393	3567	3220	0	0	0	0	0	0	28.83	14.60	28.83
1957	-0.69	-146.0	2316	2250	3567	3220	282.6	-12.8	241	1967	0.00	2.58	0.00	0.000	260	0.000	0.160	2307	3659	3392	3567	3218	0	0	0	0	0	0	28.83	14.56	28.83
2156	-0.69	-146.0	2307	3658	3567	3218	307.9	-12.3	260	2165	0.00	2.40	0.00	0.000	1030	0.000	0.109	2306	2253	3392	3567	3218	0	0	0	0	0	0	28.83	14.62	28.83
2466	-0.69	-146.0	2306	2253	3566	3218	345.7	-12.1	291	2476	0.00	2.58	0.00	0.000	260	0.000	0.160	2297	3662	3392	3567	3217	0	0	0	0	0	0	28.83	14.57	28.83
2515	-0.69	-146.0	2297	3661	3567	3218	351.3	-12.3	295	2522	0.00	2.45	0.00	0.000	1030	0.000	0.107	2297	2237	3392	3567	3218	0	0	0	0	0	0	28.83	14.63	28.83
2824	-0.69	-146.0	2296	2236	3566	3218	389.6	-13.1	326	2833	0.00	2.60	0.00	0.000	260	0.000	0.156	2286	3663	3392	3567	3217	0	0	0	0	0	0	28.83	14.59	28.83
2914	end dive: TARGET_DEPTH_EXCEEDED
state	2914	begin apogee
2929	-0.19	0.0	2287	2300	3567	3217	401.7	-11.9	335	3091	0.62	0.00	146.20	2.188	10246	0.252	0.000	2462	2299	2794	2915	2673	0	0	0	0	0	0	14.56	28.83	12.90
3092	end apogee: CONTROL_FINISHED_OK
state	3092	begin climb
3098	0.85	146.0	2462	2300	2914	2673	412.6	0.0	352	3272	1.15	2.85	153.88	2.105	11012	0.170	0.153	2803	3717	2197	2290	2105	0	0	0	0	0	0	13.71	13.47	12.78
3507	0.63	149.1	2803	3716	2283	2102	392.7	9.9	392	3515	0.30	2.55	0.00	0.000	5126	0.289	0.109	2744	2302	2192	2283	2102	0	0	0	0	0	0	14.00	14.09	28.83
3816	0.74	234.9	2744	2302	2283	2097	372.1	6.0	423	3915	0.00	2.85	91.25	2.066	8452	0.000	0.155	2744	3706	1835	1936	1735	0	0	0	0	0	0	28.83	13.56	12.90
4081	0.76	251.8	2744	3707	1928	1735	350.2	9.2	449	4107	0.00	2.53	17.60	1.958	9222	0.000	0.108	2752	2301	1766	1860	1673	0	0	0	0	0	0	28.83	14.01	13.17
4410	0.90	308.6	2752	2301	1860	1669	323.7	7.4	482	4479	0.20	2.85	60.80	2.026	10500	0.146	0.158	2823	3708	1535	1626	1444	0	0	0	0	0	0	14.20	13.64	13.00
4543	0.80	308.6	2823	3708	1623	1444	307.3	14.2	495	4553	0.12	2.58	0.00	0.000	5126	0.268	0.109	2800	2297	1533	1623	1444	0	0	0	0	0	0	13.81	13.88	28.83
4855	0.83	326.8	2801	2297	1622	1439	274.3	9.2	526	4880	0.00	0.00	18.27	1.936	8710	0.000	0.000	2801	2297	1463	1553	1373	0	0	0	0	0	0	28.83	28.83	13.33
5184	0.83	326.8	2801	2297	1552	1369	241.4	10.9	559	5193	0.00	2.65	0.00	0.000	260	0.000	0.156	2801	3713	1461	1553	1370	0	0	0	0	0	0	28.83	14.21	28.83
5210	0.83	326.8	2801	3712	1552	1370	238.3	11.5	561	5220	0.00	2.53	0.00	0.000	1030	0.000	0.111	2810	2297	1461	1552	1370	0	0	0	0	0	0	28.83	14.24	28.83
5521	0.83	326.8	2810	2295	1552	1367	200.7	11.8	592	5530	0.00	2.62	0.00	0.000	260	0.000	0.158	2810	3712	1459	1552	1367	0	0	0	0	0	0	28.83	14.33	28.83
5587	0.83	326.8	2810	3712	1551	1367	192.6	12.9	598	5596	0.00	2.50	0.00	0.000	1030	0.000	0.111	2820	2297	1459	1552	1367	0	0	0	0	0	0	28.83	14.35	28.83
5897	0.84	339.6	2821	2295	1552	1367	160.4	9.4	629	5918	0.00	2.72	13.93	1.871	8452	0.000	0.158	2820	3714	1410	1501	1319	0	0	0	0	0	0	28.83	14.27	13.64
5960	0.84	339.6	2820	3714	1501	1320	154.1	10.9	635	5968	0.00	2.50	0.00	0.000	1030	0.000	0.112	2830	2294	1410	1501	1319	0	0	0	0	0	0	28.83	14.29	28.83
6270	0.84	339.6	2830	2292	1500	1317	122.0	11.2	666	6279	0.00	2.62	0.00	0.000	260	0.000	0.160	2830	3712	1409	1501	1318	0	0	0	0	0	0	28.83	14.37	28.83
6309	0.84	339.6	2830	3712	1500	1318	117.6	12.3	669	6317	0.15	2.50	0.00	0.000	5126	0.280	0.111	2807	2290	1409	1500	1318	0	0	0	0	0	0	14.35	14.42	28.83
6624	0.96	384.2	2807	2289	1501	1317	86.9	7.9	714	6662	0.12	2.70	26.83	0.488	10500	0.177	0.160	2853	3705	1228	1314	1142	0	0	0	0	0	0	14.47	14.35	14.21
6689	0.92	384.2	2853	3705	1314	1142	79.9	12.5	724	6696	0.12	2.47	0.00	0.000	5126	0.298	0.112	2835	2301	1228	1314	1142	0	0	0	0	0	0	14.34	14.41	28.83
7012	0.97	384.2	1800	2298	1290	1139	49.5	10.4	785	7020	0.00	2.62	0.00	0.000	260	0.000	0.161	2836	3715	1224	1308	1141	0	0	0	0	0	0	28.83	14.43	28.83
7176	1.03	384.8	2836	3715	1306	1141	32.8	10.0	815	7183	0.00	2.50	0.00	0.000	1030	0.000	0.112	2845	2288	1223	1306	1141	0	0	0	0	0	0	28.83	14.48	28.83
7500	1.15	420.1	2845	2287	1304	1140	5.6	8.4	876	7527	0.15	2.53	19.52	0.204	10756	0.181	0.142	2910	892	1079	1159	1000	0	0	0	0	0	0	14.50	14.45	14.42
7548	1.11	420.1	1920	891	1145	999	3.2	10.3	883	7555	0.00	2.55	0.00	0.000	1030	0.000	0.136	2909	2300	1079	1157	1001	0	0	0	0	0	0	28.83	14.46	28.83
7560	end climb: SURFACE_DEPTH_REACHED
state	7560	begin surface coast
7582	end surface coast: CONTROL_FINISHED_OK
state	7582	begin surface