Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 18 * 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 18 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 16 ALTIM_SENSITIVITY 2

D_NO_BLEED 100 SM_CC 450 R_STBD_OVSHOOT 11 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 120 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 150 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 -1052.0065 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 190 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 120

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 -1052.0065

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE 32 T_MISSION 150

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 190 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 11 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 18 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 200913,054858,6625.843,-6042.429,50,1.1,53,-33.5 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 1.33 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200913,055451,6625.686,-6042.484,4,0.9,5,-33.5 MHEAD_RNG_PITCHd_Wd 56.3,182890,-18.6,-12.500,-21.21,2254

SPEED_LIMITS 0.217,0.322 D_GRID 416

Post-dive calculations and measurements:

FINISH 0.2,1.021414 _10V_AH 12.9,0.000

SM_CCo 6410,20.95,0.189,0,0,957,450.13 FG_AHR_24Vo 0.000

SM_GC 1.47,8.12,0.10,20.95,0.103,0.205,0.189,144,2348,957,-7.43,0.54,450.13,0,0,0,0,0,0,14.42,14.42,14.37 FG_AHR_10Vo 0.000

RAFOS_CLK 298 MEM 150852

RAFOS_FIX 6634.940430,-6037.093262,190913,080828,2,104,1.05 DATA_FILE_SIZE 33462,736

IRIDIUM_FIX 6558.99,-6042.63,200913,030305 CAP_FILE_SIZE 84711,0

TT8_MAMPS 0.024717,0.024717 CFSIZE 259252224,249638912

HUMID 47.36 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.64484 SOUNDSPEED 1451.1

TCM_TEMP 12.40 CURRENT 0.560,202.4,1

XPDR_PINGS 29 GPS 200913,074429,6624.476,-6043.361,38,2.0,38,-33.5

_24V_AH 12.6,11.353

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 449 121.86 SBE_CT 512 23 149.83

Roll_motor 73 214 198.44 SBE_O2 0 0 0.00

VBD_pump_during_apogee 585 2229 16432.21 nil 0 0 0.00

VBD_pump_during_surface 20 188 49.88 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 204 135 348.34 nil 0 0 0.00

Transponder_ping 7 420 38.37 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 18 1.42

TT8 1768 14 341.36

LPSleep 2488 2 74.14

TT8_Active 621 14 113.98

TT8_Sampling 1475 33 641.32

TT8_CF8 444 39 227.39

TT8_Kalman 0 0 0.00

Analog_circuits 1619 12 250.71

GPS_charging 0 0 0.00

Compass 1294 6 112.52

RAFOS 0 0 0.00

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 -1.04 -184.9 120 2346 992 914 0.0 0.0 0 106 0.00 0.00 -83.50 0.000 16386 0.000 0.000 120 2347 2574 2657 2492 0 0 0 0 0 0 28.83 28.83 28.83

113 -1.04 -184.9 120 2346 2652 2499 3.0 -5.6 14 151 10.20 2.62 -21.33 0.000 18948 0.450 0.152 2192 940 3550 3762 3338 0 0 0 0 0 0 14.17 14.31 14.54

172 -0.79 -184.9 1344 939 3760 3335 19.3 -27.8 23 180 0.38 2.62 0.00 0.000 3078 0.311 0.143 2272 2352 3550 3763 3338 0 0 0 0 0 0 14.24 14.32 28.83

491 -0.76 -184.9 2273 2351 3763 3338 87.2 -18.5 84 498 0.00 2.55 0.00 0.000 516 0.000 0.131 2273 940 3550 3763 3338 0 0 0 0 0 0 28.83 14.40 28.83

684 -0.76 -184.9 2273 940 3763 3338 119.5 -16.4 109 692 0.00 2.60 0.00 0.000 1030 0.000 0.143 2273 2353 3551 3764 3338 0 0 0 0 0 0 28.83 14.43 28.83

999 -0.76 -184.9 2273 2353 3763 3338 173.6 -17.2 140 1008 0.00 2.60 0.00 0.000 260 0.000 0.159 2266 3768 3550 3763 3338 0 0 0 0 0 0 28.83 14.46 28.83

1084 -0.76 -184.9 2266 3768 3763 3337 190.3 -17.7 148 1093 0.00 2.47 0.00 0.000 1030 0.000 0.108 2266 2349 3550 3763 3338 0 0 0 0 0 0 28.83 14.47 28.83

1395 -0.74 -184.9 2266 2347 3763 3338 246.2 -17.8 179 1405 0.12 2.62 0.00 0.000 2308 0.311 0.163 2288 3765 3551 3764 3338 0 0 0 0 0 0 14.46 14.50 28.83

1451 -0.74 -184.9 2289 3765 3763 3338 255.6 -16.1 184 1460 0.00 2.45 0.00 0.000 1030 0.000 0.109 2288 2348 3550 3763 3338 0 0 0 0 0 0 28.83 14.53 28.83

1762 -0.76 -184.9 2289 2347 3763 3338 304.8 -16.4 215 1770 0.00 2.62 0.00 0.000 260 0.000 0.165 2279 3764 3550 3763 3338 0 0 0 0 0 0 28.83 14.52 28.83

1850 -0.79 -184.9 1416 3763 3760 3334 318.6 -15.7 223 1857 0.00 2.45 0.00 0.000 1030 0.000 0.109 2279 2348 3550 3764 3337 0 0 0 0 0 0 28.83 14.57 28.83

2159 -0.81 -184.9 2279 2349 3764 3337 366.9 -15.2 254 2168 0.00 2.62 0.00 0.000 260 0.000 0.167 2269 3766 3550 3764 3337 0 0 0 0 0 0 28.83 14.54 28.83

2188 -0.81 -184.9 2269 3766 3763 3337 371.1 -15.6 256 2194 0.00 2.45 0.00 0.000 1030 0.000 0.108 2268 2350 3550 3763 3337 0 0 0 0 0 0 28.83 14.59 28.83

2477 end dive: TARGET_DEPTH_EXCEEDED

state 2477 begin apogee

2490 -0.22 0.0 2269 2402 3764 3337 416.4 -16.0 285 2688 0.68 0.00 187.93 2.229 10246 0.262 0.000 2455 2403 2794 2920 2668 0 0 0 0 0 0 14.52 28.83 12.87

2689 end apogee: CONTROL_FINISHED_OK

state 2689 begin climb

2695 1.04 184.9 2455 2402 2920 2669 427.1 0.0 306 2905 1.40 2.80 197.00 2.131 10756 0.177 0.131 2870 994 2039 2120 1959 0 0 0 0 0 0 13.59 13.29 12.64

3138 0.91 184.9 2871 994 2120 1946 394.9 12.7 350 3146 0.17 2.70 0.00 0.000 5126 0.293 0.139 2833 2405 2033 2120 1946 0 0 0 0 0 0 13.83 13.88 28.83

3448 0.87 221.5 2834 2405 2120 1942 359.3 10.8 381 3494 0.00 2.72 37.45 2.075 8708 0.000 0.135 2843 993 1890 1990 1791 0 0 0 0 0 0 28.83 13.75 13.12

3556 0.81 226.9 2843 993 1989 1790 347.0 12.3 391 3570 0.15 2.67 7.15 1.781 13318 0.256 0.142 2803 2396 1867 1966 1768 0 0 0 0 0 0 13.83 13.87 13.19

3882 0.81 246.2 2803 2396 1966 1766 309.2 11.6 423 3909 0.00 2.83 20.80 1.998 8452 0.000 0.158 2803 3820 1789 1887 1691 0 0 0 0 0 0 28.83 13.91 13.30

4042 0.76 246.2 2803 3820 1884 1693 287.3 14.4 438 4050 0.15 2.58 0.00 0.000 5126 0.293 0.110 2780 2398 1788 1884 1693 0 0 0 0 0 0 14.02 14.09 28.83

4352 0.84 290.0 2780 2398 1884 1691 253.0 10.5 469 4407 0.00 2.80 46.35 2.004 8452 0.000 0.161 2780 3811 1611 1700 1522 0 0 0 0 0 0 28.83 13.79 13.20

4499 0.90 316.5 1800 3811 1663 1518 237.2 11.3 483 4536 0.12 2.58 28.80 1.950 11270 0.183 0.110 2827 2399 1502 1588 1417 0 0 0 0 0 0 14.01 14.01 13.14

4848 0.91 326.4 2827 2399 1586 1411 193.7 12.0 518 4866 0.00 2.75 10.62 1.841 8452 0.000 0.160 2827 3821 1463 1549 1377 0 0 0 0 0 0 28.83 14.03 13.44

4980 0.91 326.4 2827 3821 1548 1378 176.7 13.8 530 4988 0.00 2.55 0.00 0.000 1030 0.000 0.112 2838 2397 1463 1548 1378 0 0 0 0 0 0 28.83 14.14 28.83

5290 0.91 326.4 2838 2396 1546 1377 134.3 13.4 561 5299 0.00 2.58 0.00 0.000 516 0.000 0.136 2849 987 1461 1546 1376 0 0 0 0 0 0 28.83 14.26 28.83

5326 0.91 326.4 2848 987 1546 1376 129.8 13.1 564 5335 0.00 2.62 0.00 0.000 1030 0.000 0.142 2849 2403 1461 1546 1376 0 0 0 0 0 0 28.83 14.28 28.83

5642 0.97 374.7 2849 2403 1546 1375 93.9 10.3 600 5679 0.00 2.65 28.83 0.507 8452 0.000 0.161 2849 3812 1265 1346 1185 0 0 0 0 0 0 28.83 14.28 14.14

5795 0.97 374.7 2849 3812 1342 1186 74.5 14.0 627 5802 0.00 2.53 0.00 0.000 1030 0.000 0.112 2859 2391 1264 1342 1186 0 0 0 0 0 0 28.83 14.35 28.83

6115 1.01 388.9 2859 2390 1339 1182 35.2 11.9 688 6129 0.00 2.75 7.62 0.303 8452 0.000 0.163 2859 3812 1206 1285 1128 0 0 0 0 0 0 28.83 14.37 14.31

6183 1.07 411.6 2859 3812 1284 1128 27.0 11.5 699 6202 0.00 2.50 12.48 0.271 9222 0.000 0.112 2869 2399 1115 1191 1039 0 0 0 0 0 0 28.83 14.41 14.31

6358 end climb: SURFACE_DEPTH_REACHED

state 6358 begin surface coast

6381 end surface coast: CONTROL_FINISHED_OK

state 6381 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	18	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	16	ALTIM_SENSITIVITY	2
D_NO_BLEED	100	SM_CC	450	R_STBD_OVSHOOT	11	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	120	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	150	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	-1052.0065	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	190	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	200913,054858,6625.843,-6042.429,50,1.1,53,-33.5	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	1.33	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200913,055451,6625.686,-6042.484,4,0.9,5,-33.5	MHEAD_RNG_PITCHd_Wd	56.3,182890,-18.6,-12.500,-21.21,2254
SPEED_LIMITS	0.217,0.322	D_GRID	416

FINISH	0.2,1.021414	_10V_AH	12.9,0.000
SM_CCo	6410,20.95,0.189,0,0,957,450.13	FG_AHR_24Vo	0.000
SM_GC	1.47,8.12,0.10,20.95,0.103,0.205,0.189,144,2348,957,-7.43,0.54,450.13,0,0,0,0,0,0,14.42,14.42,14.37	FG_AHR_10Vo	0.000
RAFOS_CLK	298	MEM	150852
RAFOS_FIX	6634.940430,-6037.093262,190913,080828,2,104,1.05	DATA_FILE_SIZE	33462,736
IRIDIUM_FIX	6558.99,-6042.63,200913,030305	CAP_FILE_SIZE	84711,0
TT8_MAMPS	0.024717,0.024717	CFSIZE	259252224,249638912
HUMID	47.36	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.64484	SOUNDSPEED	1451.1
TCM_TEMP	12.40	CURRENT	0.560,202.4,1
XPDR_PINGS	29	GPS	200913,074429,6624.476,-6043.361,38,2.0,38,-33.5
_24V_AH	12.6,11.353

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	449	121.86	SBE_CT	512	23	149.83
Roll_motor	73	214	198.44	SBE_O2	0	0	0.00
VBD_pump_during_apogee	585	2229	16432.21	nil	0	0	0.00
VBD_pump_during_surface	20	188	49.88	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	204	135	348.34	nil	0	0	0.00
Transponder_ping	7	420	38.37	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	18	1.42
TT8	1768	14	341.36
LPSleep	2488	2	74.14
TT8_Active	621	14	113.98
TT8_Sampling	1475	33	641.32
TT8_CF8	444	39	227.39
TT8_Kalman	0	0	0.00
Analog_circuits	1619	12	250.71
GPS_charging	0	0	0.00
Compass	1294	6	112.52
RAFOS	0	0	0.00
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	-1.04	-184.9	120	2346	992	914	0.0	0.0	0	106	0.00	0.00	-83.50	0.000	16386	0.000	0.000	120	2347	2574	2657	2492	0	0	0	0	0	0	28.83	28.83	28.83
113	-1.04	-184.9	120	2346	2652	2499	3.0	-5.6	14	151	10.20	2.62	-21.33	0.000	18948	0.450	0.152	2192	940	3550	3762	3338	0	0	0	0	0	0	14.17	14.31	14.54
172	-0.79	-184.9	1344	939	3760	3335	19.3	-27.8	23	180	0.38	2.62	0.00	0.000	3078	0.311	0.143	2272	2352	3550	3763	3338	0	0	0	0	0	0	14.24	14.32	28.83
491	-0.76	-184.9	2273	2351	3763	3338	87.2	-18.5	84	498	0.00	2.55	0.00	0.000	516	0.000	0.131	2273	940	3550	3763	3338	0	0	0	0	0	0	28.83	14.40	28.83
684	-0.76	-184.9	2273	940	3763	3338	119.5	-16.4	109	692	0.00	2.60	0.00	0.000	1030	0.000	0.143	2273	2353	3551	3764	3338	0	0	0	0	0	0	28.83	14.43	28.83
999	-0.76	-184.9	2273	2353	3763	3338	173.6	-17.2	140	1008	0.00	2.60	0.00	0.000	260	0.000	0.159	2266	3768	3550	3763	3338	0	0	0	0	0	0	28.83	14.46	28.83
1084	-0.76	-184.9	2266	3768	3763	3337	190.3	-17.7	148	1093	0.00	2.47	0.00	0.000	1030	0.000	0.108	2266	2349	3550	3763	3338	0	0	0	0	0	0	28.83	14.47	28.83
1395	-0.74	-184.9	2266	2347	3763	3338	246.2	-17.8	179	1405	0.12	2.62	0.00	0.000	2308	0.311	0.163	2288	3765	3551	3764	3338	0	0	0	0	0	0	14.46	14.50	28.83
1451	-0.74	-184.9	2289	3765	3763	3338	255.6	-16.1	184	1460	0.00	2.45	0.00	0.000	1030	0.000	0.109	2288	2348	3550	3763	3338	0	0	0	0	0	0	28.83	14.53	28.83
1762	-0.76	-184.9	2289	2347	3763	3338	304.8	-16.4	215	1770	0.00	2.62	0.00	0.000	260	0.000	0.165	2279	3764	3550	3763	3338	0	0	0	0	0	0	28.83	14.52	28.83
1850	-0.79	-184.9	1416	3763	3760	3334	318.6	-15.7	223	1857	0.00	2.45	0.00	0.000	1030	0.000	0.109	2279	2348	3550	3764	3337	0	0	0	0	0	0	28.83	14.57	28.83
2159	-0.81	-184.9	2279	2349	3764	3337	366.9	-15.2	254	2168	0.00	2.62	0.00	0.000	260	0.000	0.167	2269	3766	3550	3764	3337	0	0	0	0	0	0	28.83	14.54	28.83
2188	-0.81	-184.9	2269	3766	3763	3337	371.1	-15.6	256	2194	0.00	2.45	0.00	0.000	1030	0.000	0.108	2268	2350	3550	3763	3337	0	0	0	0	0	0	28.83	14.59	28.83
2477	end dive: TARGET_DEPTH_EXCEEDED
state	2477	begin apogee
2490	-0.22	0.0	2269	2402	3764	3337	416.4	-16.0	285	2688	0.68	0.00	187.93	2.229	10246	0.262	0.000	2455	2403	2794	2920	2668	0	0	0	0	0	0	14.52	28.83	12.87
2689	end apogee: CONTROL_FINISHED_OK
state	2689	begin climb
2695	1.04	184.9	2455	2402	2920	2669	427.1	0.0	306	2905	1.40	2.80	197.00	2.131	10756	0.177	0.131	2870	994	2039	2120	1959	0	0	0	0	0	0	13.59	13.29	12.64
3138	0.91	184.9	2871	994	2120	1946	394.9	12.7	350	3146	0.17	2.70	0.00	0.000	5126	0.293	0.139	2833	2405	2033	2120	1946	0	0	0	0	0	0	13.83	13.88	28.83
3448	0.87	221.5	2834	2405	2120	1942	359.3	10.8	381	3494	0.00	2.72	37.45	2.075	8708	0.000	0.135	2843	993	1890	1990	1791	0	0	0	0	0	0	28.83	13.75	13.12
3556	0.81	226.9	2843	993	1989	1790	347.0	12.3	391	3570	0.15	2.67	7.15	1.781	13318	0.256	0.142	2803	2396	1867	1966	1768	0	0	0	0	0	0	13.83	13.87	13.19
3882	0.81	246.2	2803	2396	1966	1766	309.2	11.6	423	3909	0.00	2.83	20.80	1.998	8452	0.000	0.158	2803	3820	1789	1887	1691	0	0	0	0	0	0	28.83	13.91	13.30
4042	0.76	246.2	2803	3820	1884	1693	287.3	14.4	438	4050	0.15	2.58	0.00	0.000	5126	0.293	0.110	2780	2398	1788	1884	1693	0	0	0	0	0	0	14.02	14.09	28.83
4352	0.84	290.0	2780	2398	1884	1691	253.0	10.5	469	4407	0.00	2.80	46.35	2.004	8452	0.000	0.161	2780	3811	1611	1700	1522	0	0	0	0	0	0	28.83	13.79	13.20
4499	0.90	316.5	1800	3811	1663	1518	237.2	11.3	483	4536	0.12	2.58	28.80	1.950	11270	0.183	0.110	2827	2399	1502	1588	1417	0	0	0	0	0	0	14.01	14.01	13.14
4848	0.91	326.4	2827	2399	1586	1411	193.7	12.0	518	4866	0.00	2.75	10.62	1.841	8452	0.000	0.160	2827	3821	1463	1549	1377	0	0	0	0	0	0	28.83	14.03	13.44
4980	0.91	326.4	2827	3821	1548	1378	176.7	13.8	530	4988	0.00	2.55	0.00	0.000	1030	0.000	0.112	2838	2397	1463	1548	1378	0	0	0	0	0	0	28.83	14.14	28.83
5290	0.91	326.4	2838	2396	1546	1377	134.3	13.4	561	5299	0.00	2.58	0.00	0.000	516	0.000	0.136	2849	987	1461	1546	1376	0	0	0	0	0	0	28.83	14.26	28.83
5326	0.91	326.4	2848	987	1546	1376	129.8	13.1	564	5335	0.00	2.62	0.00	0.000	1030	0.000	0.142	2849	2403	1461	1546	1376	0	0	0	0	0	0	28.83	14.28	28.83
5642	0.97	374.7	2849	2403	1546	1375	93.9	10.3	600	5679	0.00	2.65	28.83	0.507	8452	0.000	0.161	2849	3812	1265	1346	1185	0	0	0	0	0	0	28.83	14.28	14.14
5795	0.97	374.7	2849	3812	1342	1186	74.5	14.0	627	5802	0.00	2.53	0.00	0.000	1030	0.000	0.112	2859	2391	1264	1342	1186	0	0	0	0	0	0	28.83	14.35	28.83
6115	1.01	388.9	2859	2390	1339	1182	35.2	11.9	688	6129	0.00	2.75	7.62	0.303	8452	0.000	0.163	2859	3812	1206	1285	1128	0	0	0	0	0	0	28.83	14.37	14.31
6183	1.07	411.6	2859	3812	1284	1128	27.0	11.5	699	6202	0.00	2.50	12.48	0.271	9222	0.000	0.112	2869	2399	1115	1191	1039	0	0	0	0	0	0	28.83	14.41	14.31
6358	end climb: SURFACE_DEPTH_REACHED
state	6358	begin surface coast
6381	end surface coast: CONTROL_FINISHED_OK
state	6381	begin surface