Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 12 * 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 12 ESCAPE_HEADING 0 C_ROLL_DIVE 2350 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2400 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 18 ALTIM_SENSITIVITY 2

D_NO_BLEED 100 SM_CC 450 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 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 -1044.4772 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 23 PRESSURE_SLOPE 0.0001164018 SEABIRD_C_G -9.8550158

MASS_COMP 0 PITCH_TIMEOUT 18 AD7714Ch0Gain 128 SEABIRD_C_H 1.1245382

NAV_MODE 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 0.02 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 450

AH0_10V 0 D_PITCH 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

AH0_24V 350 D_SAFE 0 PITCH_ADJ_GAIN 0.02 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 23 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 -1044.4772

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 2400 LOGGERDEVICE2 -1 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2350 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 18 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 12 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 190913,181624,6626.945,-6046.499,55,1.3,55,-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 1.08 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 190913,182210,6626.773,-6046.522,5,1.3,5,-33.6 MHEAD_RNG_PITCHd_Wd 57.3,184853,-17.4,-10.000,-20.41,2219

SPEED_LIMITS 0.173,0.269 D_GRID 400

Post-dive calculations and measurements:

FINISH 0.4,1.024863 _24V_AH 12.8,8.931

SM_CCo 7432,0.00,0.000,0,0,915,461.16 _10V_AH 12.9,0.000

SM_GC 1.12,8.18,2.58,0.00,0.104,0.145,0.000,147,2352,915,-7.42,-0.42,461.16,0,0,0,0,0,0,14.43,14.41,28.83 FG_AHR_24Vo 0.000

RAFOS_CLK 354 FG_AHR_10Vo 0.000

RAFOS 0,1379620861,20.033333,20.016945,66,60,58,58,52,44,220,140,195,121,162,1419 MEM 150772

RAFOS_FIX 6634.940430,-6037.093262,190913,080828,2,104,1.05 DATA_FILE_SIZE 36743,846

IRIDIUM_FIX 6604.29,-6049.40,190913,161643 CAP_FILE_SIZE 93230,0

TT8_MAMPS 0.027713,0.027713 CFSIZE 259252224,249929728

HUMID 47.32 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.64484 SOUNDSPEED 1450.8

TCM_TEMP 12.40 CURRENT 0.410,202.2,1

XPDR_PINGS 63 GPS 190913,202929,6626.031,-6047.238,106,0.8,106,-33.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 449 126.09 SBE_CT 589 23 175.25

Roll_motor 82 218 231.42 SBE_O2 0 0 0.00

VBD_pump_during_apogee 581 2212 16472.14 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 196 138 347.56 nil 0 0 0.00

Transponder_ping 15 420 84.67 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 18 1.40

TT8 1997 14 385.46

LPSleep 3057 2 91.11

TT8_Active 647 14 118.66

TT8_Sampling 1602 33 696.59

TT8_CF8 477 39 244.32

TT8_Kalman 0 0 0.00

Analog_circuits 1697 12 262.75

GPS_charging 0 0 0.00

Compass 1430 6 124.42

RAFOS 1440 1 27.86

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

20 -0.94 -146.0 120 2340 987 913 0.0 0.0 0 117 0.00 0.00 -93.93 0.000 16386 0.000 0.000 118 2340 2780 2844 2717 0 0 0 0 0 0 28.83 28.83 28.83

124 -0.94 -146.0 118 2340 2845 2718 3.8 -7.9 16 156 10.35 2.70 -11.40 0.000 18692 0.450 0.177 2217 3762 3393 3568 3219 0 0 0 0 0 0 14.21 14.31 14.58

192 -0.73 -146.0 1360 3762 3562 3216 27.9 -28.9 27 200 0.32 2.47 0.00 0.000 3078 0.318 0.106 2293 2349 3394 3570 3219 0 0 0 0 0 0 14.26 14.37 28.83

511 -0.67 -146.0 2293 2349 3570 3219 88.7 -13.7 88 517 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 2349 3394 3570 3219 0 0 0 0 0 0 28.83 28.83 28.83

825 -0.62 -146.0 2293 2349 3570 3219 132.8 -14.3 126 834 0.12 2.62 0.00 0.000 2308 0.306 0.163 2316 3764 3394 3570 3218 0 0 0 0 0 0 14.42 14.45 28.83

871 -0.62 -146.0 2316 3764 3570 3219 139.1 -13.7 130 879 0.00 2.45 0.00 0.000 1030 0.000 0.109 2316 2347 3394 3570 3218 0 0 0 0 0 0 28.83 14.50 28.83

1181 -0.62 -146.0 2317 2347 3570 3218 182.6 -14.7 161 1191 0.00 2.62 0.00 0.000 260 0.000 0.163 2307 3761 3394 3570 3218 0 0 0 0 0 0 28.83 14.50 28.83

1278 -0.62 -146.0 2307 3761 3570 3218 196.6 -14.5 170 1286 0.00 2.45 0.00 0.000 1030 0.000 0.109 2306 2345 3394 3570 3218 0 0 0 0 0 0 28.83 14.54 28.83

1588 -0.62 -146.0 2307 2345 3570 3218 239.6 -12.8 201 1597 0.00 2.62 0.00 0.000 260 0.000 0.164 2297 3762 3393 3570 3217 0 0 0 0 0 0 28.83 14.52 28.83

1624 -0.62 -146.0 2297 3762 3570 3217 244.5 -13.3 204 1632 0.00 2.42 0.00 0.000 1030 0.000 0.109 2296 2349 3393 3570 3217 0 0 0 0 0 0 28.83 14.55 28.83

1934 -0.62 -146.0 2296 2348 3570 3217 282.8 -11.3 235 1943 0.12 2.62 0.00 0.000 2308 0.308 0.164 2319 3764 3393 3570 3217 0 0 0 0 0 0 14.50 14.54 28.83

2022 -0.66 -146.0 2319 3764 3570 3217 291.6 -10.0 243 2031 0.00 2.42 0.00 0.000 1030 0.000 0.109 2318 2349 3393 3570 3217 0 0 0 0 0 0 28.83 14.58 28.83

2334 -0.69 -146.0 2319 2349 3570 3217 320.2 -8.6 274 2343 0.00 2.62 0.00 0.000 260 0.000 0.166 2309 3764 3393 3570 3217 0 0 0 0 0 0 28.83 14.56 28.83

2424 -0.72 -146.0 1424 3763 3564 3213 328.8 -10.1 282 2430 0.00 2.45 0.00 0.000 1030 0.000 0.109 2308 2346 3393 3570 3217 0 0 0 0 0 0 28.83 14.61 28.83

2732 -0.74 -146.0 2308 2346 3570 3217 362.3 -10.7 313 2742 0.00 2.60 0.00 0.000 260 0.000 0.164 2298 3758 3393 3570 3216 0 0 0 0 0 0 28.83 14.57 28.83

2792 -0.74 -146.0 2298 3758 3570 3216 368.6 -11.1 318 2798 0.00 2.42 0.00 0.000 1030 0.000 0.109 2298 2350 3393 3570 3216 0 0 0 0 0 0 28.83 14.62 28.83

3059 end dive: TARGET_DEPTH_EXCEEDED

state 3059 begin apogee

3072 -0.22 0.0 2298 2401 3570 3216 401.0 -12.3 345 3232 0.57 0.00 148.88 2.212 10246 0.254 0.000 2459 2401 2794 2918 2670 0 0 0 0 0 0 14.54 28.83 12.87

3233 end apogee: CONTROL_FINISHED_OK

state 3234 begin climb

3240 0.94 146.0 2459 2401 2918 2670 410.0 0.0 362 3405 1.27 0.00 155.43 2.124 10758 0.181 0.000 2828 2401 2198 2283 2113 0 0 0 0 0 0 13.66 28.83 12.76

3713 0.82 155.5 2828 2401 2283 2100 379.4 9.6 410 3730 0.00 2.70 9.73 1.920 8452 0.000 0.157 2828 3810 2159 2253 2066 0 0 0 0 0 0 28.83 14.00 13.30

3949 0.63 155.5 2828 3810 2252 2065 349.6 12.8 433 3960 0.35 2.53 0.00 0.000 5126 0.282 0.112 2748 2401 2158 2252 2065 0 0 0 0 0 0 14.08 14.17 28.83

4262 0.67 189.1 2748 2401 2252 2064 322.4 8.4 464 4308 0.00 2.80 35.67 2.052 8452 0.000 0.160 2748 3807 2023 2121 1925 0 0 0 0 0 0 28.83 13.91 13.27

4438 0.67 209.1 2748 3807 2119 1925 306.3 9.1 481 4466 0.00 2.53 22.08 2.002 9222 0.000 0.109 2757 2397 1940 2039 1842 0 0 0 0 0 0 28.83 14.12 13.24

4778 0.75 275.8 2757 2396 2039 1838 281.1 6.9 515 4854 0.00 2.90 69.62 2.023 8452 0.000 0.160 2756 3810 1669 1760 1578 0 0 0 0 0 0 28.83 13.65 13.02

4897 0.81 303.6 2757 3810 1757 1579 272.9 8.7 526 4938 0.00 2.60 30.67 1.957 9222 0.000 0.109 2767 2399 1557 1643 1471 0 0 0 0 0 0 28.83 13.85 13.00

5241 0.92 351.8 2767 2399 1639 1464 244.0 7.8 561 5300 0.17 2.90 50.25 1.994 10500 0.156 0.161 2828 3815 1361 1446 1276 0 0 0 0 0 0 14.16 13.68 13.00

5375 0.88 351.8 2828 3814 1440 1275 227.6 14.3 574 5383 0.00 2.58 0.00 0.000 1030 0.000 0.109 2839 2399 1357 1440 1275 0 0 0 0 0 0 28.83 13.91 28.83

5685 0.86 351.8 2839 2398 1437 1272 187.1 12.9 605 5695 0.00 2.60 0.00 0.000 516 0.000 0.136 2849 990 1354 1437 1272 0 0 0 0 0 0 28.83 14.16 28.83

5711 0.86 351.8 2849 989 1437 1272 183.6 13.4 607 5721 0.10 2.62 0.00 0.000 5126 0.243 0.142 2820 2396 1354 1437 1271 0 0 0 0 0 0 14.14 14.17 28.83

6023 0.86 351.8 2820 2396 1436 1271 148.8 10.9 638 6032 0.00 2.62 0.00 0.000 260 0.000 0.161 2820 3804 1353 1436 1271 0 0 0 0 0 0 28.83 14.28 28.83

6109 0.86 351.8 2820 3804 1434 1271 137.9 13.2 646 6117 0.00 2.50 0.00 0.000 1030 0.000 0.112 2829 2400 1352 1434 1271 0 0 0 0 0 0 28.83 14.33 28.83

6420 0.86 351.8 2829 2399 1435 1271 100.8 11.5 677 6429 0.00 2.62 0.00 0.000 260 0.000 0.164 2829 3809 1352 1434 1271 0 0 0 0 0 0 28.83 14.37 28.83

6451 0.86 351.8 2829 3809 1434 1269 97.0 12.3 681 6458 0.00 2.50 0.00 0.000 1030 0.000 0.112 2839 2392 1352 1434 1270 0 0 0 0 0 0 28.83 14.42 28.83

6771 0.86 351.8 2839 2392 1434 1270 59.2 10.9 742 6778 0.00 2.65 0.00 0.000 260 0.000 0.162 2839 3812 1352 1434 1270 0 0 0 0 0 0 28.83 14.42 28.83

6870 0.86 351.8 2839 3812 1433 1270 46.5 13.9 760 6877 0.15 2.50 0.00 0.000 5126 0.288 0.114 2815 2392 1352 1434 1270 0 0 0 0 0 0 14.39 14.46 28.83

7195 1.07 459.2 2815 2391 1433 1268 17.4 5.0 821 7263 0.17 2.55 59.35 0.231 10756 0.164 0.137 2887 991 919 992 847 0 0 0 0 0 0 14.47 14.38 14.33

7318 end climb: SURFACE_DEPTH_REACHED

state 7318 begin surface coast

7340 end surface coast: CONTROL_FINISHED_OK

state 7341 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	12	ESCAPE_HEADING	0	C_ROLL_DIVE	2350	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2400	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	18	ALTIM_SENSITIVITY	2
D_NO_BLEED	100	SM_CC	450	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	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	-1044.4772	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	23	PRESSURE_SLOPE	0.0001164018	SEABIRD_C_G	-9.8550158
MASS_COMP	0	PITCH_TIMEOUT	18	AD7714Ch0Gain	128	SEABIRD_C_H	1.1245382
NAV_MODE	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	0.02	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	190913,181624,6626.945,-6046.499,55,1.3,55,-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	1.08	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	190913,182210,6626.773,-6046.522,5,1.3,5,-33.6	MHEAD_RNG_PITCHd_Wd	57.3,184853,-17.4,-10.000,-20.41,2219
SPEED_LIMITS	0.173,0.269	D_GRID	400

FINISH	0.4,1.024863	_24V_AH	12.8,8.931
SM_CCo	7432,0.00,0.000,0,0,915,461.16	_10V_AH	12.9,0.000
SM_GC	1.12,8.18,2.58,0.00,0.104,0.145,0.000,147,2352,915,-7.42,-0.42,461.16,0,0,0,0,0,0,14.43,14.41,28.83	FG_AHR_24Vo	0.000
RAFOS_CLK	354	FG_AHR_10Vo	0.000
RAFOS	0,1379620861,20.033333,20.016945,66,60,58,58,52,44,220,140,195,121,162,1419	MEM	150772
RAFOS_FIX	6634.940430,-6037.093262,190913,080828,2,104,1.05	DATA_FILE_SIZE	36743,846
IRIDIUM_FIX	6604.29,-6049.40,190913,161643	CAP_FILE_SIZE	93230,0
TT8_MAMPS	0.027713,0.027713	CFSIZE	259252224,249929728
HUMID	47.32	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.64484	SOUNDSPEED	1450.8
TCM_TEMP	12.40	CURRENT	0.410,202.2,1
XPDR_PINGS	63	GPS	190913,202929,6626.031,-6047.238,106,0.8,106,-33.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	449	126.09	SBE_CT	589	23	175.25
Roll_motor	82	218	231.42	SBE_O2	0	0	0.00
VBD_pump_during_apogee	581	2212	16472.14	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	196	138	347.56	nil	0	0	0.00
Transponder_ping	15	420	84.67	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	18	1.40
TT8	1997	14	385.46
LPSleep	3057	2	91.11
TT8_Active	647	14	118.66
TT8_Sampling	1602	33	696.59
TT8_CF8	477	39	244.32
TT8_Kalman	0	0	0.00
Analog_circuits	1697	12	262.75
GPS_charging	0	0	0.00
Compass	1430	6	124.42
RAFOS	1440	1	27.86
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
20	-0.94	-146.0	120	2340	987	913	0.0	0.0	0	117	0.00	0.00	-93.93	0.000	16386	0.000	0.000	118	2340	2780	2844	2717	0	0	0	0	0	0	28.83	28.83	28.83
124	-0.94	-146.0	118	2340	2845	2718	3.8	-7.9	16	156	10.35	2.70	-11.40	0.000	18692	0.450	0.177	2217	3762	3393	3568	3219	0	0	0	0	0	0	14.21	14.31	14.58
192	-0.73	-146.0	1360	3762	3562	3216	27.9	-28.9	27	200	0.32	2.47	0.00	0.000	3078	0.318	0.106	2293	2349	3394	3570	3219	0	0	0	0	0	0	14.26	14.37	28.83
511	-0.67	-146.0	2293	2349	3570	3219	88.7	-13.7	88	517	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	2349	3394	3570	3219	0	0	0	0	0	0	28.83	28.83	28.83
825	-0.62	-146.0	2293	2349	3570	3219	132.8	-14.3	126	834	0.12	2.62	0.00	0.000	2308	0.306	0.163	2316	3764	3394	3570	3218	0	0	0	0	0	0	14.42	14.45	28.83
871	-0.62	-146.0	2316	3764	3570	3219	139.1	-13.7	130	879	0.00	2.45	0.00	0.000	1030	0.000	0.109	2316	2347	3394	3570	3218	0	0	0	0	0	0	28.83	14.50	28.83
1181	-0.62	-146.0	2317	2347	3570	3218	182.6	-14.7	161	1191	0.00	2.62	0.00	0.000	260	0.000	0.163	2307	3761	3394	3570	3218	0	0	0	0	0	0	28.83	14.50	28.83
1278	-0.62	-146.0	2307	3761	3570	3218	196.6	-14.5	170	1286	0.00	2.45	0.00	0.000	1030	0.000	0.109	2306	2345	3394	3570	3218	0	0	0	0	0	0	28.83	14.54	28.83
1588	-0.62	-146.0	2307	2345	3570	3218	239.6	-12.8	201	1597	0.00	2.62	0.00	0.000	260	0.000	0.164	2297	3762	3393	3570	3217	0	0	0	0	0	0	28.83	14.52	28.83
1624	-0.62	-146.0	2297	3762	3570	3217	244.5	-13.3	204	1632	0.00	2.42	0.00	0.000	1030	0.000	0.109	2296	2349	3393	3570	3217	0	0	0	0	0	0	28.83	14.55	28.83
1934	-0.62	-146.0	2296	2348	3570	3217	282.8	-11.3	235	1943	0.12	2.62	0.00	0.000	2308	0.308	0.164	2319	3764	3393	3570	3217	0	0	0	0	0	0	14.50	14.54	28.83
2022	-0.66	-146.0	2319	3764	3570	3217	291.6	-10.0	243	2031	0.00	2.42	0.00	0.000	1030	0.000	0.109	2318	2349	3393	3570	3217	0	0	0	0	0	0	28.83	14.58	28.83
2334	-0.69	-146.0	2319	2349	3570	3217	320.2	-8.6	274	2343	0.00	2.62	0.00	0.000	260	0.000	0.166	2309	3764	3393	3570	3217	0	0	0	0	0	0	28.83	14.56	28.83
2424	-0.72	-146.0	1424	3763	3564	3213	328.8	-10.1	282	2430	0.00	2.45	0.00	0.000	1030	0.000	0.109	2308	2346	3393	3570	3217	0	0	0	0	0	0	28.83	14.61	28.83
2732	-0.74	-146.0	2308	2346	3570	3217	362.3	-10.7	313	2742	0.00	2.60	0.00	0.000	260	0.000	0.164	2298	3758	3393	3570	3216	0	0	0	0	0	0	28.83	14.57	28.83
2792	-0.74	-146.0	2298	3758	3570	3216	368.6	-11.1	318	2798	0.00	2.42	0.00	0.000	1030	0.000	0.109	2298	2350	3393	3570	3216	0	0	0	0	0	0	28.83	14.62	28.83
3059	end dive: TARGET_DEPTH_EXCEEDED
state	3059	begin apogee
3072	-0.22	0.0	2298	2401	3570	3216	401.0	-12.3	345	3232	0.57	0.00	148.88	2.212	10246	0.254	0.000	2459	2401	2794	2918	2670	0	0	0	0	0	0	14.54	28.83	12.87
3233	end apogee: CONTROL_FINISHED_OK
state	3234	begin climb
3240	0.94	146.0	2459	2401	2918	2670	410.0	0.0	362	3405	1.27	0.00	155.43	2.124	10758	0.181	0.000	2828	2401	2198	2283	2113	0	0	0	0	0	0	13.66	28.83	12.76
3713	0.82	155.5	2828	2401	2283	2100	379.4	9.6	410	3730	0.00	2.70	9.73	1.920	8452	0.000	0.157	2828	3810	2159	2253	2066	0	0	0	0	0	0	28.83	14.00	13.30
3949	0.63	155.5	2828	3810	2252	2065	349.6	12.8	433	3960	0.35	2.53	0.00	0.000	5126	0.282	0.112	2748	2401	2158	2252	2065	0	0	0	0	0	0	14.08	14.17	28.83
4262	0.67	189.1	2748	2401	2252	2064	322.4	8.4	464	4308	0.00	2.80	35.67	2.052	8452	0.000	0.160	2748	3807	2023	2121	1925	0	0	0	0	0	0	28.83	13.91	13.27
4438	0.67	209.1	2748	3807	2119	1925	306.3	9.1	481	4466	0.00	2.53	22.08	2.002	9222	0.000	0.109	2757	2397	1940	2039	1842	0	0	0	0	0	0	28.83	14.12	13.24
4778	0.75	275.8	2757	2396	2039	1838	281.1	6.9	515	4854	0.00	2.90	69.62	2.023	8452	0.000	0.160	2756	3810	1669	1760	1578	0	0	0	0	0	0	28.83	13.65	13.02
4897	0.81	303.6	2757	3810	1757	1579	272.9	8.7	526	4938	0.00	2.60	30.67	1.957	9222	0.000	0.109	2767	2399	1557	1643	1471	0	0	0	0	0	0	28.83	13.85	13.00
5241	0.92	351.8	2767	2399	1639	1464	244.0	7.8	561	5300	0.17	2.90	50.25	1.994	10500	0.156	0.161	2828	3815	1361	1446	1276	0	0	0	0	0	0	14.16	13.68	13.00
5375	0.88	351.8	2828	3814	1440	1275	227.6	14.3	574	5383	0.00	2.58	0.00	0.000	1030	0.000	0.109	2839	2399	1357	1440	1275	0	0	0	0	0	0	28.83	13.91	28.83
5685	0.86	351.8	2839	2398	1437	1272	187.1	12.9	605	5695	0.00	2.60	0.00	0.000	516	0.000	0.136	2849	990	1354	1437	1272	0	0	0	0	0	0	28.83	14.16	28.83
5711	0.86	351.8	2849	989	1437	1272	183.6	13.4	607	5721	0.10	2.62	0.00	0.000	5126	0.243	0.142	2820	2396	1354	1437	1271	0	0	0	0	0	0	14.14	14.17	28.83
6023	0.86	351.8	2820	2396	1436	1271	148.8	10.9	638	6032	0.00	2.62	0.00	0.000	260	0.000	0.161	2820	3804	1353	1436	1271	0	0	0	0	0	0	28.83	14.28	28.83
6109	0.86	351.8	2820	3804	1434	1271	137.9	13.2	646	6117	0.00	2.50	0.00	0.000	1030	0.000	0.112	2829	2400	1352	1434	1271	0	0	0	0	0	0	28.83	14.33	28.83
6420	0.86	351.8	2829	2399	1435	1271	100.8	11.5	677	6429	0.00	2.62	0.00	0.000	260	0.000	0.164	2829	3809	1352	1434	1271	0	0	0	0	0	0	28.83	14.37	28.83
6451	0.86	351.8	2829	3809	1434	1269	97.0	12.3	681	6458	0.00	2.50	0.00	0.000	1030	0.000	0.112	2839	2392	1352	1434	1270	0	0	0	0	0	0	28.83	14.42	28.83
6771	0.86	351.8	2839	2392	1434	1270	59.2	10.9	742	6778	0.00	2.65	0.00	0.000	260	0.000	0.162	2839	3812	1352	1434	1270	0	0	0	0	0	0	28.83	14.42	28.83
6870	0.86	351.8	2839	3812	1433	1270	46.5	13.9	760	6877	0.15	2.50	0.00	0.000	5126	0.288	0.114	2815	2392	1352	1434	1270	0	0	0	0	0	0	14.39	14.46	28.83
7195	1.07	459.2	2815	2391	1433	1268	17.4	5.0	821	7263	0.17	2.55	59.35	0.231	10756	0.164	0.137	2887	991	919	992	847	0	0	0	0	0	0	14.47	14.38	14.33
7318	end climb: SURFACE_DEPTH_REACHED
state	7318	begin surface coast
7340	end surface coast: CONTROL_FINISHED_OK
state	7341	begin surface