Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 21 * 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 21 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 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 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 -1055.7681 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 -1055.7681

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 18 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 21 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 200913,113223,6624.888,-6043.606,68,0.9,68,-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 1.24 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200913,113755,6624.853,-6043.653,4,0.9,4,-33.5 MHEAD_RNG_PITCHd_Wd 115.2,184258,-18.6,-12.500,-21.21,2254

SPEED_LIMITS 0.217,0.322 D_GRID 407

Post-dive calculations and measurements:

FINISH 0.4,1.024984 _24V_AH 12.6,12.523

SM_CCo 6178,2.58,0.229,0,0,957,450.13 _10V_AH 12.9,0.000

SM_GC 1.75,8.15,0.12,2.58,0.094,0.177,0.229,141,2347,957,-7.44,0.51,450.13,0,0,0,0,0,0,14.42,14.42,14.38 FG_AHR_24Vo 0.000

RAFOS_CLK 293 FG_AHR_10Vo 0.000

RAFOS 0,1379678465,12.033333,12.018056,91,63,59,52,49,49,604,215,170,145,179,88 MEM 150768

RAFOS_FIX 6634.940430,-6037.093262,190913,080828,2,104,1.05 DATA_FILE_SIZE 30089,712

IRIDIUM_FIX 6553.70,-6045.26,200913,090939 CAP_FILE_SIZE 80838,0

TT8_MAMPS 0.024717,0.024717 CFSIZE 259252224,249499648

HUMID 46.96 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.63508 SOUNDSPEED 1450.0

TCM_TEMP 12.40 CURRENT 0.341,349.3,1

XPDR_PINGS 30 GPS 200913,132328,6626.083,-6041.775,38,1.0,41,-33.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 453 125.04 SBE_CT 495 23 144.88

Roll_motor 68 201 172.38 SBE_O2 0 0 0.00

VBD_pump_during_apogee 602 2264 17177.35 nil 0 0 0.00

VBD_pump_during_surface 2 228 7.42 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 183 135 313.50 nil 0 0 0.00

Transponder_ping 7 420 39.69 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 18 1.42

TT8 1678 14 323.91

LPSleep 2440 2 72.72

TT8_Active 640 14 117.35

TT8_Sampling 1341 33 582.92

TT8_CF8 427 39 218.69

TT8_Kalman 0 0 0.00

Analog_circuits 1561 12 241.65

GPS_charging 0 0 0.00

Compass 1182 6 102.85

RAFOS 2520 1 48.76

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 2343 988 912 0.0 0.0 0 104 0.00 0.00 -82.05 0.000 16386 0.000 0.000 118 2343 2544 2623 2466 0 0 0 0 0 0 28.83 28.83 28.83

111 -1.04 -184.9 118 2343 2623 2467 3.2 -5.9 14 150 10.30 2.62 -21.00 0.000 19204 0.454 0.150 2194 935 3550 3766 3334 0 0 0 0 0 0 14.17 14.31 14.53

347 -0.94 -184.9 2195 935 3767 3334 63.1 -23.7 57 354 0.17 2.62 0.00 0.000 3078 0.316 0.142 2224 2354 3550 3767 3334 0 0 0 0 0 0 14.29 14.36 28.83

666 -0.85 -184.9 2224 2353 3767 3334 138.5 -23.1 102 675 0.12 2.60 0.00 0.000 2308 0.330 0.156 2247 3760 3550 3767 3334 0 0 0 0 0 0 14.38 14.42 28.83

705 -0.78 -184.9 1408 3761 3764 3331 146.7 -23.1 105 712 0.15 2.47 0.00 0.000 3078 0.310 0.108 2279 2348 3550 3767 3334 0 0 0 0 0 0 14.37 14.45 28.83

1013 -0.78 -184.9 2279 2347 3767 3334 202.9 -16.7 136 1023 0.00 2.62 0.00 0.000 260 0.000 0.162 2271 3758 3550 3767 3334 0 0 0 0 0 0 28.83 14.46 28.83

1043 -0.78 -184.9 2271 3758 3767 3334 207.4 -16.9 138 1049 0.00 2.47 0.00 0.000 1030 0.000 0.108 2271 2343 3550 3767 3334 0 0 0 0 0 0 28.83 14.51 28.83

1353 -0.78 -184.9 2271 2341 3767 3334 259.6 -17.4 169 1362 0.00 2.65 0.00 0.000 260 0.000 0.163 2261 3762 3550 3767 3334 0 0 0 0 0 0 28.83 14.48 28.83

1448 -0.78 -184.9 2261 3762 3767 3334 276.5 -17.3 178 1456 0.00 2.45 0.00 0.000 1030 0.000 0.109 2261 2349 3550 3767 3333 0 0 0 0 0 0 28.83 14.52 28.83

1760 -0.78 -184.9 2261 2348 3767 3333 328.6 -16.0 209 1769 0.00 2.53 0.00 0.000 516 0.000 0.131 2261 935 3550 3767 3333 0 0 0 0 0 0 28.83 14.52 28.83

1785 -0.78 -184.9 2261 935 3767 3333 332.8 -16.3 211 1794 0.00 2.58 0.00 0.000 1030 0.000 0.145 2261 2348 3550 3767 3333 0 0 0 0 0 0 28.83 14.52 28.83

2097 -0.78 -184.9 2261 2348 3767 3333 379.5 -14.2 242 2106 0.00 2.58 0.00 0.000 260 0.000 0.161 2252 3758 3549 3767 3331 0 0 0 0 0 0 28.83 14.52 28.83

2175 -0.78 -184.9 1408 3757 3764 3329 391.2 -15.4 249 2182 0.12 2.45 0.00 0.000 3078 0.305 0.107 2278 2346 3549 3767 3332 0 0 0 0 0 0 14.50 14.58 28.83

2288 end dive: TARGET_DEPTH_EXCEEDED

state 2288 begin apogee

2302 -0.22 0.0 2278 2412 3767 3332 408.0 -13.5 261 2498 0.62 0.00 189.52 2.264 10246 0.252 0.000 2453 2411 2793 2924 2663 0 0 0 0 0 0 14.51 28.83 12.83

2499 end apogee: CONTROL_FINISHED_OK

state 2499 begin climb

2505 1.04 184.9 2453 2412 2924 2663 418.7 0.0 281 2714 1.40 2.95 197.75 2.191 11012 0.174 0.158 2860 3806 2039 2120 1959 0 0 0 0 0 0 13.56 13.21 12.59

2775 0.84 184.9 2860 3806 2117 1958 406.7 15.6 308 2783 0.28 2.67 0.00 0.000 5126 0.306 0.109 2811 2395 2037 2117 1957 0 0 0 0 0 0 13.46 13.55 28.83

3086 0.81 210.7 2811 2395 2117 1948 370.0 11.3 339 3122 0.00 2.83 26.85 2.075 8452 0.000 0.161 2811 3806 1934 2027 1842 0 0 0 0 0 0 28.83 13.69 13.07

3276 0.73 210.7 2811 3807 2023 1841 346.7 12.6 357 3285 0.17 2.55 0.00 0.000 5126 0.270 0.111 2776 2404 1932 2023 1841 0 0 0 0 0 0 13.87 13.93 28.83

3587 0.87 323.2 2776 2403 2023 1839 322.1 7.4 388 3713 0.12 0.00 120.72 2.109 10502 0.184 0.000 2819 2403 1476 1557 1395 0 0 0 0 0 0 14.16 28.83 12.75

4017 0.87 323.2 2819 2403 1552 1387 271.3 12.6 431 4023 0.00 0.00 0.00 0.000 6 0.000 0.000 2819 2403 1469 1552 1387 0 0 0 0 0 0 28.83 28.83 28.83

4327 0.87 323.2 2819 2403 1552 1385 230.0 13.6 462 4336 0.00 2.67 0.00 0.000 260 0.000 0.161 2819 3804 1467 1551 1384 0 0 0 0 0 0 28.83 14.12 28.83

4395 0.87 323.2 2819 3805 1551 1385 220.1 15.4 468 4402 0.00 2.55 0.00 0.000 1030 0.000 0.111 2830 2391 1468 1552 1384 0 0 0 0 0 0 28.83 14.19 28.83

4704 0.87 323.2 2829 2390 1551 1384 178.1 12.7 499 4712 0.00 2.67 0.00 0.000 260 0.000 0.161 2830 3810 1467 1551 1384 0 0 0 0 0 0 28.83 14.26 28.83

4759 0.87 323.2 2830 3810 1550 1384 170.1 14.8 504 4767 0.00 2.50 0.00 0.000 1030 0.000 0.113 2839 2401 1467 1550 1384 0 0 0 0 0 0 28.83 14.29 28.83

5070 0.87 325.1 2840 2400 1550 1383 129.6 12.4 535 5078 0.00 2.65 0.00 0.000 260 0.000 0.164 2840 3810 1466 1549 1383 0 0 0 0 0 0 28.83 14.34 28.83

5115 0.87 325.1 2840 3810 1548 1383 123.1 14.2 539 5124 0.10 2.50 0.00 0.000 5126 0.271 0.113 2822 2395 1466 1549 1383 0 0 0 0 0 0 14.31 14.37 28.83

5431 0.92 345.3 2822 2394 1549 1383 85.6 11.6 582 5451 0.00 2.58 11.52 0.474 8708 0.000 0.138 2832 982 1386 1467 1305 0 0 0 0 0 0 28.83 14.38 14.24

5499 1.00 355.5 2832 982 1467 1304 77.6 12.0 593 5513 0.00 2.62 5.93 0.454 9222 0.000 0.142 2831 2407 1344 1425 1263 0 0 0 0 0 0 28.83 14.39 14.24

5831 1.12 422.1 2832 2407 1423 1261 40.8 9.5 655 5881 0.15 2.70 37.92 0.308 11012 0.176 0.139 2896 977 1071 1147 996 0 0 0 0 0 0 14.43 14.35 14.29

6022 1.19 444.2 2897 976 1141 994 18.5 11.5 689 6042 0.00 2.62 11.82 0.243 9222 0.000 0.140 2897 2403 981 1054 908 0 0 0 0 0 0 28.83 14.39 14.33

6127 end climb: SURFACE_DEPTH_REACHED

state 6128 begin surface coast

6149 end surface coast: CONTROL_FINISHED_OK

state 6149 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	21	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	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	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	-1055.7681	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	200913,113223,6624.888,-6043.606,68,0.9,68,-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	1.24	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200913,113755,6624.853,-6043.653,4,0.9,4,-33.5	MHEAD_RNG_PITCHd_Wd	115.2,184258,-18.6,-12.500,-21.21,2254
SPEED_LIMITS	0.217,0.322	D_GRID	407

FINISH	0.4,1.024984	_24V_AH	12.6,12.523
SM_CCo	6178,2.58,0.229,0,0,957,450.13	_10V_AH	12.9,0.000
SM_GC	1.75,8.15,0.12,2.58,0.094,0.177,0.229,141,2347,957,-7.44,0.51,450.13,0,0,0,0,0,0,14.42,14.42,14.38	FG_AHR_24Vo	0.000
RAFOS_CLK	293	FG_AHR_10Vo	0.000
RAFOS	0,1379678465,12.033333,12.018056,91,63,59,52,49,49,604,215,170,145,179,88	MEM	150768
RAFOS_FIX	6634.940430,-6037.093262,190913,080828,2,104,1.05	DATA_FILE_SIZE	30089,712
IRIDIUM_FIX	6553.70,-6045.26,200913,090939	CAP_FILE_SIZE	80838,0
TT8_MAMPS	0.024717,0.024717	CFSIZE	259252224,249499648
HUMID	46.96	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.63508	SOUNDSPEED	1450.0
TCM_TEMP	12.40	CURRENT	0.341,349.3,1
XPDR_PINGS	30	GPS	200913,132328,6626.083,-6041.775,38,1.0,41,-33.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	453	125.04	SBE_CT	495	23	144.88
Roll_motor	68	201	172.38	SBE_O2	0	0	0.00
VBD_pump_during_apogee	602	2264	17177.35	nil	0	0	0.00
VBD_pump_during_surface	2	228	7.42	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	183	135	313.50	nil	0	0	0.00
Transponder_ping	7	420	39.69	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	18	1.42
TT8	1678	14	323.91
LPSleep	2440	2	72.72
TT8_Active	640	14	117.35
TT8_Sampling	1341	33	582.92
TT8_CF8	427	39	218.69
TT8_Kalman	0	0	0.00
Analog_circuits	1561	12	241.65
GPS_charging	0	0	0.00
Compass	1182	6	102.85
RAFOS	2520	1	48.76
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	2343	988	912	0.0	0.0	0	104	0.00	0.00	-82.05	0.000	16386	0.000	0.000	118	2343	2544	2623	2466	0	0	0	0	0	0	28.83	28.83	28.83
111	-1.04	-184.9	118	2343	2623	2467	3.2	-5.9	14	150	10.30	2.62	-21.00	0.000	19204	0.454	0.150	2194	935	3550	3766	3334	0	0	0	0	0	0	14.17	14.31	14.53
347	-0.94	-184.9	2195	935	3767	3334	63.1	-23.7	57	354	0.17	2.62	0.00	0.000	3078	0.316	0.142	2224	2354	3550	3767	3334	0	0	0	0	0	0	14.29	14.36	28.83
666	-0.85	-184.9	2224	2353	3767	3334	138.5	-23.1	102	675	0.12	2.60	0.00	0.000	2308	0.330	0.156	2247	3760	3550	3767	3334	0	0	0	0	0	0	14.38	14.42	28.83
705	-0.78	-184.9	1408	3761	3764	3331	146.7	-23.1	105	712	0.15	2.47	0.00	0.000	3078	0.310	0.108	2279	2348	3550	3767	3334	0	0	0	0	0	0	14.37	14.45	28.83
1013	-0.78	-184.9	2279	2347	3767	3334	202.9	-16.7	136	1023	0.00	2.62	0.00	0.000	260	0.000	0.162	2271	3758	3550	3767	3334	0	0	0	0	0	0	28.83	14.46	28.83
1043	-0.78	-184.9	2271	3758	3767	3334	207.4	-16.9	138	1049	0.00	2.47	0.00	0.000	1030	0.000	0.108	2271	2343	3550	3767	3334	0	0	0	0	0	0	28.83	14.51	28.83
1353	-0.78	-184.9	2271	2341	3767	3334	259.6	-17.4	169	1362	0.00	2.65	0.00	0.000	260	0.000	0.163	2261	3762	3550	3767	3334	0	0	0	0	0	0	28.83	14.48	28.83
1448	-0.78	-184.9	2261	3762	3767	3334	276.5	-17.3	178	1456	0.00	2.45	0.00	0.000	1030	0.000	0.109	2261	2349	3550	3767	3333	0	0	0	0	0	0	28.83	14.52	28.83
1760	-0.78	-184.9	2261	2348	3767	3333	328.6	-16.0	209	1769	0.00	2.53	0.00	0.000	516	0.000	0.131	2261	935	3550	3767	3333	0	0	0	0	0	0	28.83	14.52	28.83
1785	-0.78	-184.9	2261	935	3767	3333	332.8	-16.3	211	1794	0.00	2.58	0.00	0.000	1030	0.000	0.145	2261	2348	3550	3767	3333	0	0	0	0	0	0	28.83	14.52	28.83
2097	-0.78	-184.9	2261	2348	3767	3333	379.5	-14.2	242	2106	0.00	2.58	0.00	0.000	260	0.000	0.161	2252	3758	3549	3767	3331	0	0	0	0	0	0	28.83	14.52	28.83
2175	-0.78	-184.9	1408	3757	3764	3329	391.2	-15.4	249	2182	0.12	2.45	0.00	0.000	3078	0.305	0.107	2278	2346	3549	3767	3332	0	0	0	0	0	0	14.50	14.58	28.83
2288	end dive: TARGET_DEPTH_EXCEEDED
state	2288	begin apogee
2302	-0.22	0.0	2278	2412	3767	3332	408.0	-13.5	261	2498	0.62	0.00	189.52	2.264	10246	0.252	0.000	2453	2411	2793	2924	2663	0	0	0	0	0	0	14.51	28.83	12.83
2499	end apogee: CONTROL_FINISHED_OK
state	2499	begin climb
2505	1.04	184.9	2453	2412	2924	2663	418.7	0.0	281	2714	1.40	2.95	197.75	2.191	11012	0.174	0.158	2860	3806	2039	2120	1959	0	0	0	0	0	0	13.56	13.21	12.59
2775	0.84	184.9	2860	3806	2117	1958	406.7	15.6	308	2783	0.28	2.67	0.00	0.000	5126	0.306	0.109	2811	2395	2037	2117	1957	0	0	0	0	0	0	13.46	13.55	28.83
3086	0.81	210.7	2811	2395	2117	1948	370.0	11.3	339	3122	0.00	2.83	26.85	2.075	8452	0.000	0.161	2811	3806	1934	2027	1842	0	0	0	0	0	0	28.83	13.69	13.07
3276	0.73	210.7	2811	3807	2023	1841	346.7	12.6	357	3285	0.17	2.55	0.00	0.000	5126	0.270	0.111	2776	2404	1932	2023	1841	0	0	0	0	0	0	13.87	13.93	28.83
3587	0.87	323.2	2776	2403	2023	1839	322.1	7.4	388	3713	0.12	0.00	120.72	2.109	10502	0.184	0.000	2819	2403	1476	1557	1395	0	0	0	0	0	0	14.16	28.83	12.75
4017	0.87	323.2	2819	2403	1552	1387	271.3	12.6	431	4023	0.00	0.00	0.00	0.000	6	0.000	0.000	2819	2403	1469	1552	1387	0	0	0	0	0	0	28.83	28.83	28.83
4327	0.87	323.2	2819	2403	1552	1385	230.0	13.6	462	4336	0.00	2.67	0.00	0.000	260	0.000	0.161	2819	3804	1467	1551	1384	0	0	0	0	0	0	28.83	14.12	28.83
4395	0.87	323.2	2819	3805	1551	1385	220.1	15.4	468	4402	0.00	2.55	0.00	0.000	1030	0.000	0.111	2830	2391	1468	1552	1384	0	0	0	0	0	0	28.83	14.19	28.83
4704	0.87	323.2	2829	2390	1551	1384	178.1	12.7	499	4712	0.00	2.67	0.00	0.000	260	0.000	0.161	2830	3810	1467	1551	1384	0	0	0	0	0	0	28.83	14.26	28.83
4759	0.87	323.2	2830	3810	1550	1384	170.1	14.8	504	4767	0.00	2.50	0.00	0.000	1030	0.000	0.113	2839	2401	1467	1550	1384	0	0	0	0	0	0	28.83	14.29	28.83
5070	0.87	325.1	2840	2400	1550	1383	129.6	12.4	535	5078	0.00	2.65	0.00	0.000	260	0.000	0.164	2840	3810	1466	1549	1383	0	0	0	0	0	0	28.83	14.34	28.83
5115	0.87	325.1	2840	3810	1548	1383	123.1	14.2	539	5124	0.10	2.50	0.00	0.000	5126	0.271	0.113	2822	2395	1466	1549	1383	0	0	0	0	0	0	14.31	14.37	28.83
5431	0.92	345.3	2822	2394	1549	1383	85.6	11.6	582	5451	0.00	2.58	11.52	0.474	8708	0.000	0.138	2832	982	1386	1467	1305	0	0	0	0	0	0	28.83	14.38	14.24
5499	1.00	355.5	2832	982	1467	1304	77.6	12.0	593	5513	0.00	2.62	5.93	0.454	9222	0.000	0.142	2831	2407	1344	1425	1263	0	0	0	0	0	0	28.83	14.39	14.24
5831	1.12	422.1	2832	2407	1423	1261	40.8	9.5	655	5881	0.15	2.70	37.92	0.308	11012	0.176	0.139	2896	977	1071	1147	996	0	0	0	0	0	0	14.43	14.35	14.29
6022	1.19	444.2	2897	976	1141	994	18.5	11.5	689	6042	0.00	2.62	11.82	0.243	9222	0.000	0.140	2897	2403	981	1054	908	0	0	0	0	0	0	28.83	14.39	14.33
6127	end climb: SURFACE_DEPTH_REACHED
state	6128	begin surface coast
6149	end surface coast: CONTROL_FINISHED_OK
state	6149	begin surface