Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 4 * 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 4 ESCAPE_HEADING 0 C_ROLL_DIVE 2150 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 6 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2200 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 1 HEAD_ERRBAND 10 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 380 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 410 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 16 ALTIM_SENSITIVITY 2

D_NO_BLEED 100 SM_CC 552.7182 R_STBD_OVSHOOT 26 XPDR_VALID 6

D_BOOST 110 N_FILEKB 8 ROLL_AD_RATE 300 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0.5

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 9 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2794 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 20

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 -1

T_DIVE 130 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 1500 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 5 UNCOM_BLEED 20 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY -2 T_GPS_CHARGE -611.12079 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 2550 FG_AHR_10V 0 SEABIRD_T_G 0.0042877649

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00062881736

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY -2 SEABIRD_T_I 2.2009486e-05

RHO 1.0275 P_OVSHOOT 0.039999999 PRESSURE_YINT -62.7798 SEABIRD_T_J 2.217299e-06

MASS 52018 PITCH_GAIN 26 PRESSURE_SLOPE 0.0001164018 SEABIRD_C_G -9.8550158

MASS_COMP 0 PITCH_TIMEOUT 18 AD7714Ch0Gain 128 SEABIRD_C_H 1.1245382

NAV_MODE 2 PITCH_AD_RATE 175 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0013153109

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00017883891

KALMAN_USE 2 PITCH_ADJ_GAIN 0.029999999 COMPASS_USE 4

HD_A 0.0033904 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0092102997 ROLL_MIN 318 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY -2 SM_CC 552.7182

AH0_10V 0 D_PITCH 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

AH0_24V 350 D_SAFE 0 PITCH_ADJ_GAIN 0.029999999 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 380 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 26 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3924 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 145 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 18 TGT_DEFAULT_LON -12218

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 130

CALL_NDIVES 1 HD_A 0.0033904 PRESSURE_SLOPE 0.0001164018 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0092102997 PRESSURE_YINT -62.7798 T_GPS 5

CALL_WAIT 60 HD_C 1.6100001e-05 PROTOCOL 9 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -611.12079

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE 32 T_MISSION 1500

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 192 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 225

COMPASS_USE 4 INT_PRESSURE_YINT 0.5 RHO 1.0275 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2550 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 20

C_ROLL_CLIMB 2200 LOGGERDEVICE2 -1 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2150 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 16 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 12 R_STBD_OVSHOOT 26 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 4 NOCOMM_ACTION 163 SEABIRD_C_J 0.00017883891 W_ADJ_DBAND 0

D_ABORT 410 N_DIVES 6 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 180913,214634,6634.544,-6045.951,3,1.3,3,-33.7 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.83 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 180913,215047,6634.467,-6046.076,4,1.3,4,-33.7 MHEAD_RNG_PITCHd_Wd 68.6,179863,-17.0,-9.744,-20.10,2276

SPEED_LIMITS 0.169,0.266 D_GRID 421

Post-dive calculations and measurements:

FINISH 0.1,1.025037 _10V_AH 13.0,0.000

SM_CCo 7188,56.83,0.180,0,0,537,552.91 FG_AHR_24Vo 0.000

SM_GC 0.87,8.15,0.10,56.83,0.103,0.185,0.180,141,2138,537,-7.48,0.31,552.91,0,0,0,0,0,0,14.51,14.51,14.40 FG_AHR_10Vo 0.000

RAFOS_CLK 340 MEM 150840

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 36726,846

IRIDIUM_FIX 6609.62,-6046.20,180913,212123 CAP_FILE_SIZE 102064,0

TT8_MAMPS 0.024717,0.024717 CFSIZE 259252224,250372096

HUMID 51.85 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.62531 SOUNDSPEED 1449.0

TCM_TEMP 12.40 CURRENT 0.129,326.7,1

XPDR_PINGS 44 GPS 180913,235353,6635.580,-6045.541,38,1.2,38,-33.7

_24V_AH 12.9,5.916

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 419 117.70 SBE_CT 590 23 176.98

Roll_motor 71 192 176.55 SBE_O2 0 0 0.00

VBD_pump_during_apogee 538 2119 14733.82 nil 0 0 0.00

VBD_pump_during_surface 56 179 131.78 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 0 0 0.00 nil 0 0 0.00

Transponder_ping 11 420 59.60 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 18 1.43

TT8 2010 14 390.98

LPSleep 2765 2 83.05

TT8_Active 653 14 120.80

TT8_Sampling 1540 33 674.49

TT8_CF8 372 39 192.34

TT8_Kalman 0 0 0.00

Analog_circuits 1520 12 237.15

GPS_charging 0 0 0.00

Compass 1516 6 132.87

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 -0.84 -146.0 132 2162 552 508 0.0 0.0 0 134 0.00 0.00 -111.18 0.000 16386 0.000 0.000 128 2163 2687 2744 2631 0 0 0 0 0 0 28.83 28.83 28.83

141 -0.84 -146.0 128 2163 2744 2629 3.3 -7.7 19 173 9.90 2.50 -14.05 0.000 18948 0.420 0.132 2273 735 3391 3568 3215 0 0 0 0 0 0 14.31 14.46 14.71

211 -0.70 -146.0 2273 735 3568 3215 23.6 -25.8 30 218 0.22 2.50 0.00 0.000 3078 0.277 0.117 2320 2150 3391 3569 3214 0 0 0 0 0 0 14.38 14.47 28.83

529 -0.70 -146.0 1424 2148 3562 3210 70.4 -13.2 91 535 0.00 2.53 0.00 0.000 260 0.000 0.139 2311 3559 3392 3570 3214 0 0 0 0 0 0 28.83 14.52 28.83

692 -0.70 -146.0 2311 3559 3570 3214 92.5 -14.3 121 700 0.00 2.40 0.00 0.000 1030 0.000 0.096 2311 2144 3392 3570 3214 0 0 0 0 0 0 28.83 14.57 28.83

1011 -0.70 -146.0 2311 2143 3570 3214 137.5 -13.4 156 1019 0.00 2.53 0.00 0.000 260 0.000 0.143 2301 3557 3391 3569 3214 0 0 0 0 0 0 28.83 14.54 28.83

1116 -0.70 -146.0 2302 3556 3570 3213 152.7 -14.6 166 1125 0.00 2.38 0.00 0.000 1030 0.000 0.097 2301 2147 3391 3569 3213 0 0 0 0 0 0 28.83 14.59 28.83

1426 -0.70 -146.0 2301 2147 3569 3213 199.1 -15.1 197 1436 0.00 2.53 0.00 0.000 260 0.000 0.145 2291 3559 3391 3569 3213 0 0 0 0 0 0 28.83 14.57 28.83

1570 -0.66 -146.0 1384 3558 3562 3208 220.5 -15.6 210 1578 0.17 2.40 0.00 0.000 3078 0.272 0.099 2333 2144 3390 3569 3212 0 0 0 0 0 0 14.52 14.64 28.83

1879 -0.71 -146.0 2333 2144 3569 3212 261.5 -12.3 241 1889 0.00 2.55 0.00 0.000 260 0.000 0.149 2325 3564 3390 3569 3211 0 0 0 0 0 0 28.83 14.58 28.83

2011 -0.74 -146.0 2325 3563 3569 3211 276.9 -11.8 253 2020 0.00 2.40 0.00 0.000 1030 0.000 0.102 2324 2145 3391 3570 3212 0 0 0 0 0 0 28.83 14.62 28.83

2322 -0.80 -146.0 2325 2145 3569 3211 312.5 -11.2 284 2331 0.00 2.55 0.00 0.000 260 0.000 0.151 2315 3559 3390 3569 3211 0 0 0 0 0 0 28.83 14.59 28.83

2553 -0.86 -146.0 2315 3559 3569 3210 340.2 -12.3 306 2561 0.12 2.40 0.00 0.000 5126 0.180 0.101 2273 2146 3390 3570 3210 0 0 0 0 0 0 14.66 14.66 28.83

2816 end dive: TARGET_DEPTH_EXCEEDED

state 2816 begin apogee

2830 -0.19 0.0 2273 2205 3569 3210 380.1 -14.4 333 2984 0.73 0.00 141.82 2.120 10246 0.247 0.000 2478 2205 2793 2914 2673 0 0 0 0 0 0 14.56 28.83 12.96

2985 end apogee: CONTROL_FINISHED_OK

state 2985 begin climb

2991 0.84 146.0 2478 2205 2914 2674 389.6 0.0 349 3157 1.10 2.80 151.35 2.086 11012 0.159 0.147 2810 3626 2198 2287 2109 0 0 0 0 0 0 13.80 13.59 12.88

3393 0.61 146.0 2810 3626 2282 2104 371.7 10.0 389 3403 0.25 2.50 0.00 0.000 5126 0.263 0.105 2754 2208 2192 2283 2101 0 0 0 0 0 0 14.14 14.21 28.83

3705 0.66 213.6 2754 2208 2283 2097 350.7 6.7 420 3781 0.00 2.72 68.07 2.059 8452 0.000 0.147 2754 3613 1921 2025 1818 0 0 0 0 0 0 28.83 13.78 13.09

4012 0.66 213.6 1792 3611 1976 1812 321.2 10.5 450 4020 0.00 2.50 0.00 0.000 1030 0.000 0.104 2762 2196 1918 2020 1816 0 0 0 0 0 0 28.83 14.26 28.83

4322 0.71 261.3 2762 2196 2020 1813 295.4 7.6 481 4379 0.00 2.72 47.65 2.007 8452 0.000 0.149 2762 3610 1727 1826 1629 0 0 0 0 0 0 28.83 13.92 13.25

4478 0.73 270.3 2762 3609 1824 1629 281.6 9.3 496 4496 0.00 2.47 9.75 1.829 9222 0.000 0.104 2772 2207 1692 1788 1596 0 0 0 0 0 0 28.83 14.16 13.37

4799 0.80 299.2 2772 2207 1787 1595 254.0 8.4 528 4836 0.10 2.75 30.60 1.956 10500 0.202 0.151 2805 3610 1574 1669 1479 0 0 0 0 0 0 14.37 14.01 13.35

5036 0.75 299.2 2805 3610 1665 1480 224.6 13.2 551 5045 0.00 2.47 0.00 0.000 1030 0.000 0.106 2816 2196 1572 1665 1480 0 0 0 0 0 0 28.83 14.28 28.83

5346 0.75 299.2 2816 2196 1665 1477 187.0 11.6 582 5356 0.00 2.60 0.00 0.000 260 0.000 0.154 2816 3610 1571 1665 1477 0 0 0 0 0 0 28.83 14.39 28.83

5490 0.68 299.2 1792 3609 1630 1474 169.5 13.3 595 5497 0.22 2.47 0.00 0.000 5126 0.263 0.107 2770 2191 1570 1664 1477 0 0 0 0 0 0 14.40 14.47 28.83

5800 0.79 306.1 2770 2191 1664 1475 138.8 9.4 626 5813 0.12 2.67 7.12 1.717 10500 0.165 0.155 2818 3605 1547 1641 1453 0 0 0 0 0 0 14.54 14.42 13.75

5928 0.74 306.1 2818 3605 1641 1454 122.3 13.5 638 5938 0.12 2.42 0.00 0.000 5126 0.250 0.109 2792 2202 1547 1641 1454 0 0 0 0 0 0 14.42 14.47 28.83

6244 0.84 332.3 1792 2200 1608 1451 91.4 8.6 678 6269 0.00 2.65 15.93 0.506 8452 0.000 0.154 2792 3607 1439 1534 1344 0 0 0 0 0 0 28.83 14.45 14.28

6325 0.88 332.3 1792 3606 1506 1341 83.4 10.2 692 6332 0.00 2.45 0.00 0.000 1030 0.000 0.108 2801 2196 1438 1533 1344 0 0 0 0 0 0 28.83 14.50 28.83

6644 1.00 367.6 2801 2196 1533 1341 56.2 8.2 753 6671 0.20 2.70 19.83 0.376 10500 0.159 0.158 2874 3614 1295 1385 1205 0 0 0 0 0 0 14.53 14.45 14.35

6763 0.90 367.6 2874 3614 1382 1206 41.6 14.0 773 6770 0.17 2.47 0.00 0.000 5126 0.278 0.110 2843 2194 1294 1382 1206 0 0 0 0 0 0 14.44 14.51 28.83

7087 1.07 460.7 1808 2191 1358 1202 8.9 5.5 834 7136 0.12 0.00 46.67 0.200 10498 0.181 0.000 2892 2194 950 1031 870 0 0 0 0 0 0 14.54 28.83 28.83

7137 end climb: SURFACE_DEPTH_REACHED

state 7137 begin surface coast

7159 end surface coast: CONTROL_FINISHED_OK

state 7159 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	4	ESCAPE_HEADING	0	C_ROLL_DIVE	2150	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	6	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2200	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	1	HEAD_ERRBAND	10	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	380	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	410	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	16	ALTIM_SENSITIVITY	2
D_NO_BLEED	100	SM_CC	552.7182	R_STBD_OVSHOOT	26	XPDR_VALID	6
D_BOOST	110	N_FILEKB	8	ROLL_AD_RATE	300	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0.5
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	9	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2794	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	20
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	-1
T_DIVE	130	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	1500	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	5	UNCOM_BLEED	20	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	-2	T_GPS_CHARGE	-611.12079	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	2550	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	180913,214634,6634.544,-6045.951,3,1.3,3,-33.7	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.83	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	180913,215047,6634.467,-6046.076,4,1.3,4,-33.7	MHEAD_RNG_PITCHd_Wd	68.6,179863,-17.0,-9.744,-20.10,2276
SPEED_LIMITS	0.169,0.266	D_GRID	421

FINISH	0.1,1.025037	_10V_AH	13.0,0.000
SM_CCo	7188,56.83,0.180,0,0,537,552.91	FG_AHR_24Vo	0.000
SM_GC	0.87,8.15,0.10,56.83,0.103,0.185,0.180,141,2138,537,-7.48,0.31,552.91,0,0,0,0,0,0,14.51,14.51,14.40	FG_AHR_10Vo	0.000
RAFOS_CLK	340	MEM	150840
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	36726,846
IRIDIUM_FIX	6609.62,-6046.20,180913,212123	CAP_FILE_SIZE	102064,0
TT8_MAMPS	0.024717,0.024717	CFSIZE	259252224,250372096
HUMID	51.85	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.62531	SOUNDSPEED	1449.0
TCM_TEMP	12.40	CURRENT	0.129,326.7,1
XPDR_PINGS	44	GPS	180913,235353,6635.580,-6045.541,38,1.2,38,-33.7
_24V_AH	12.9,5.916

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	419	117.70	SBE_CT	590	23	176.98
Roll_motor	71	192	176.55	SBE_O2	0	0	0.00
VBD_pump_during_apogee	538	2119	14733.82	nil	0	0	0.00
VBD_pump_during_surface	56	179	131.78	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	0	0	0.00	nil	0	0	0.00
Transponder_ping	11	420	59.60	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	18	1.43
TT8	2010	14	390.98
LPSleep	2765	2	83.05
TT8_Active	653	14	120.80
TT8_Sampling	1540	33	674.49
TT8_CF8	372	39	192.34
TT8_Kalman	0	0	0.00
Analog_circuits	1520	12	237.15
GPS_charging	0	0	0.00
Compass	1516	6	132.87
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	-0.84	-146.0	132	2162	552	508	0.0	0.0	0	134	0.00	0.00	-111.18	0.000	16386	0.000	0.000	128	2163	2687	2744	2631	0	0	0	0	0	0	28.83	28.83	28.83
141	-0.84	-146.0	128	2163	2744	2629	3.3	-7.7	19	173	9.90	2.50	-14.05	0.000	18948	0.420	0.132	2273	735	3391	3568	3215	0	0	0	0	0	0	14.31	14.46	14.71
211	-0.70	-146.0	2273	735	3568	3215	23.6	-25.8	30	218	0.22	2.50	0.00	0.000	3078	0.277	0.117	2320	2150	3391	3569	3214	0	0	0	0	0	0	14.38	14.47	28.83
529	-0.70	-146.0	1424	2148	3562	3210	70.4	-13.2	91	535	0.00	2.53	0.00	0.000	260	0.000	0.139	2311	3559	3392	3570	3214	0	0	0	0	0	0	28.83	14.52	28.83
692	-0.70	-146.0	2311	3559	3570	3214	92.5	-14.3	121	700	0.00	2.40	0.00	0.000	1030	0.000	0.096	2311	2144	3392	3570	3214	0	0	0	0	0	0	28.83	14.57	28.83
1011	-0.70	-146.0	2311	2143	3570	3214	137.5	-13.4	156	1019	0.00	2.53	0.00	0.000	260	0.000	0.143	2301	3557	3391	3569	3214	0	0	0	0	0	0	28.83	14.54	28.83
1116	-0.70	-146.0	2302	3556	3570	3213	152.7	-14.6	166	1125	0.00	2.38	0.00	0.000	1030	0.000	0.097	2301	2147	3391	3569	3213	0	0	0	0	0	0	28.83	14.59	28.83
1426	-0.70	-146.0	2301	2147	3569	3213	199.1	-15.1	197	1436	0.00	2.53	0.00	0.000	260	0.000	0.145	2291	3559	3391	3569	3213	0	0	0	0	0	0	28.83	14.57	28.83
1570	-0.66	-146.0	1384	3558	3562	3208	220.5	-15.6	210	1578	0.17	2.40	0.00	0.000	3078	0.272	0.099	2333	2144	3390	3569	3212	0	0	0	0	0	0	14.52	14.64	28.83
1879	-0.71	-146.0	2333	2144	3569	3212	261.5	-12.3	241	1889	0.00	2.55	0.00	0.000	260	0.000	0.149	2325	3564	3390	3569	3211	0	0	0	0	0	0	28.83	14.58	28.83
2011	-0.74	-146.0	2325	3563	3569	3211	276.9	-11.8	253	2020	0.00	2.40	0.00	0.000	1030	0.000	0.102	2324	2145	3391	3570	3212	0	0	0	0	0	0	28.83	14.62	28.83
2322	-0.80	-146.0	2325	2145	3569	3211	312.5	-11.2	284	2331	0.00	2.55	0.00	0.000	260	0.000	0.151	2315	3559	3390	3569	3211	0	0	0	0	0	0	28.83	14.59	28.83
2553	-0.86	-146.0	2315	3559	3569	3210	340.2	-12.3	306	2561	0.12	2.40	0.00	0.000	5126	0.180	0.101	2273	2146	3390	3570	3210	0	0	0	0	0	0	14.66	14.66	28.83
2816	end dive: TARGET_DEPTH_EXCEEDED
state	2816	begin apogee
2830	-0.19	0.0	2273	2205	3569	3210	380.1	-14.4	333	2984	0.73	0.00	141.82	2.120	10246	0.247	0.000	2478	2205	2793	2914	2673	0	0	0	0	0	0	14.56	28.83	12.96
2985	end apogee: CONTROL_FINISHED_OK
state	2985	begin climb
2991	0.84	146.0	2478	2205	2914	2674	389.6	0.0	349	3157	1.10	2.80	151.35	2.086	11012	0.159	0.147	2810	3626	2198	2287	2109	0	0	0	0	0	0	13.80	13.59	12.88
3393	0.61	146.0	2810	3626	2282	2104	371.7	10.0	389	3403	0.25	2.50	0.00	0.000	5126	0.263	0.105	2754	2208	2192	2283	2101	0	0	0	0	0	0	14.14	14.21	28.83
3705	0.66	213.6	2754	2208	2283	2097	350.7	6.7	420	3781	0.00	2.72	68.07	2.059	8452	0.000	0.147	2754	3613	1921	2025	1818	0	0	0	0	0	0	28.83	13.78	13.09
4012	0.66	213.6	1792	3611	1976	1812	321.2	10.5	450	4020	0.00	2.50	0.00	0.000	1030	0.000	0.104	2762	2196	1918	2020	1816	0	0	0	0	0	0	28.83	14.26	28.83
4322	0.71	261.3	2762	2196	2020	1813	295.4	7.6	481	4379	0.00	2.72	47.65	2.007	8452	0.000	0.149	2762	3610	1727	1826	1629	0	0	0	0	0	0	28.83	13.92	13.25
4478	0.73	270.3	2762	3609	1824	1629	281.6	9.3	496	4496	0.00	2.47	9.75	1.829	9222	0.000	0.104	2772	2207	1692	1788	1596	0	0	0	0	0	0	28.83	14.16	13.37
4799	0.80	299.2	2772	2207	1787	1595	254.0	8.4	528	4836	0.10	2.75	30.60	1.956	10500	0.202	0.151	2805	3610	1574	1669	1479	0	0	0	0	0	0	14.37	14.01	13.35
5036	0.75	299.2	2805	3610	1665	1480	224.6	13.2	551	5045	0.00	2.47	0.00	0.000	1030	0.000	0.106	2816	2196	1572	1665	1480	0	0	0	0	0	0	28.83	14.28	28.83
5346	0.75	299.2	2816	2196	1665	1477	187.0	11.6	582	5356	0.00	2.60	0.00	0.000	260	0.000	0.154	2816	3610	1571	1665	1477	0	0	0	0	0	0	28.83	14.39	28.83
5490	0.68	299.2	1792	3609	1630	1474	169.5	13.3	595	5497	0.22	2.47	0.00	0.000	5126	0.263	0.107	2770	2191	1570	1664	1477	0	0	0	0	0	0	14.40	14.47	28.83
5800	0.79	306.1	2770	2191	1664	1475	138.8	9.4	626	5813	0.12	2.67	7.12	1.717	10500	0.165	0.155	2818	3605	1547	1641	1453	0	0	0	0	0	0	14.54	14.42	13.75
5928	0.74	306.1	2818	3605	1641	1454	122.3	13.5	638	5938	0.12	2.42	0.00	0.000	5126	0.250	0.109	2792	2202	1547	1641	1454	0	0	0	0	0	0	14.42	14.47	28.83
6244	0.84	332.3	1792	2200	1608	1451	91.4	8.6	678	6269	0.00	2.65	15.93	0.506	8452	0.000	0.154	2792	3607	1439	1534	1344	0	0	0	0	0	0	28.83	14.45	14.28
6325	0.88	332.3	1792	3606	1506	1341	83.4	10.2	692	6332	0.00	2.45	0.00	0.000	1030	0.000	0.108	2801	2196	1438	1533	1344	0	0	0	0	0	0	28.83	14.50	28.83
6644	1.00	367.6	2801	2196	1533	1341	56.2	8.2	753	6671	0.20	2.70	19.83	0.376	10500	0.159	0.158	2874	3614	1295	1385	1205	0	0	0	0	0	0	14.53	14.45	14.35
6763	0.90	367.6	2874	3614	1382	1206	41.6	14.0	773	6770	0.17	2.47	0.00	0.000	5126	0.278	0.110	2843	2194	1294	1382	1206	0	0	0	0	0	0	14.44	14.51	28.83
7087	1.07	460.7	1808	2191	1358	1202	8.9	5.5	834	7136	0.12	0.00	46.67	0.200	10498	0.181	0.000	2892	2194	950	1031	870	0	0	0	0	0	0	14.54	28.83	28.83
7137	end climb: SURFACE_DEPTH_REACHED
state	7137	begin surface coast
7159	end surface coast: CONTROL_FINISHED_OK
state	7159	begin surface