Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 578 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 192 HD_C 3.62024e-06 ROLL_MAX 3873 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 2 HEADING 90 ROLL_DEG 24 ALTIM_TOP_TURN_MARGIN 5

DIVE 578 ESCAPE_HEADING 100 C_ROLL_DIVE 2500 ALTIM_TOP_MIN_OBSTACLE 2.8

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2510 ALTIM_PING_DEPTH 300

D_SURF 3 FIX_MISSING_TIMEOUT 5 HEAD_ERRBAND 10 ALTIM_PING_DELTA 50

D_FLARE 3 TGT_DEFAULT_LAT 6000 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 23 ALTIM_SENSITIVITY 5

D_NO_BLEED 200 SM_CC 549.71729 R_STBD_OVSHOOT 16 XPDR_VALID 6

D_BOOST 110 N_FILEKB 4 ROLL_AD_RATE 300 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 2 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 9 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0.5

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 500 PROTOCOL 1 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 3 N_NOCOMM 6 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 10 NOCOMM_ACTION 161 C_VBD 2741 DEVICE1 2

SURFACE_URGENCY_TRY 10 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 20

SURFACE_URGENCY_FORCE 20 UPLOAD_DIVES_MAX 3 VBD_CNV -0.24529999 DEVICE3 -1

T_DIVE 400 CALL_TRIES 3 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 430 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0015 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 3 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 3 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 -4 T_GPS_CHARGE -12444.111 DBDW 0 COMPASS_DEVICE 97

USE_ICE 2 T_RSLEEP 3 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.1 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 48

D_OFFGRID 250 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 10 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3924 MINV_10V 9.5 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2510 FG_AHR_10V 0 SEABIRD_T_G 0.0042877649

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00062281737

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 0 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 0.0099999998 COMPASS_USE 4

HD_A 0.0041718199 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099987797 ROLL_MIN 318 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 128 D_OFFGRID 250 PHONE_SUPPLY -2 SM_CC 549.71729

AH0_10V 0 D_PITCH 1.75 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

AH0_24V 350 D_SAFE 500 PITCH_ADJ_GAIN 0.0099999998 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 10

ALTIM_BOTTOM_TURN_MARGIN 15 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 20

ALTIM_FREQUENCY 13 ESCAPE_HEADING 100 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 23 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 300 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 5 FG_AHR_24V 0 PITCH_MIN 145 TGT_DEFAULT_LAT 6000

ALTIM_TOP_MIN_OBSTACLE 2.8 FILEMGR 2 PITCH_TIMEOUT 18 TGT_DEFAULT_LON -5500

ALTIM_TOP_PING_RANGE 20 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.0015 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 5 GLIDE_SLOPE 30 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 400

CALL_NDIVES 1 HD_A 0.0041718199 PRESSURE_SLOPE 0.0001164018 T_EPIRB 0

CALL_TRIES 3 HD_B 0.0099987797 PRESSURE_YINT -62.7798 T_GPS 3

CALL_WAIT 60 HD_C 3.62024e-06 PROTOCOL 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING 90 P_OVSHOOT 0.039999999 T_GPS_CHARGE -12444.111

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE 32 T_MISSION 430

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.1 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 2510 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 20

C_ROLL_CLIMB 2510 LOGGERDEVICE2 -1 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX 3

C_ROLL_DIVE 2500 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY -4

C_VBD 2741 LOGGERDEVICE4 -1 ROLL_DEG 24 USE_ICE 2

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 9.5 R_PORT_OVSHOOT 23 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 10 R_STBD_OVSHOOT 16 VBD_MIN 500

DEVICE4 -1 MISSION 2 SEABIRD_C_G -9.8550158 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1245382 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 0 SEABIRD_C_I -0.0013153109 VBD_TIMEOUT 720

DIVE 578 NOCOMM_ACTION 161 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 4 SEABIRD_T_H 0.00062281737 XPDR_INHIBIT 90

D_CALL 3 N_GPS 20 SEABIRD_T_I 2.2009486e-05 XPDR_VALID 6

D_FINISH 9 N_NOCOMM 6 SEABIRD_T_J 2.217299e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 200 PHONE_DEVICE 48 SIM_W 0

Pre-dive calculations and measurements:

GPS1 020114,054259,6359.492,-6006.506,42,1.0,42,-30.8 TGT_NAME HEADING

_CALLS 3 TGT_LATLONG 6359.083,-5942.916

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.68 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -28.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 020114,055812,6359.083,-6007.537,149,1.2,150,-30.8 MHEAD_RNG_PITCHd_Wd 120.8,20000,-15.5,-8.250,-18.49,2720

SPEED_LIMITS 0.143,0.247 D_GRID 372

Post-dive calculations and measurements:

FREEZE 8.80,-1.759,-1.817,2,2,0 _24V_AH 11.6,238.613

FINISH1 8.8,1.026596,45 _10V_AH 11.7,0.000

FINISH2 7.1 FG_AHR_24Vo 0.000

RAFOS_CLK 346 FG_AHR_10Vo 0.000

RAFOS_FIX 6632.709473,-5809.086426,281213,202044,2,98,0.12 MEM 238536

IRIDIUM_FIX 6332.30,-6008.62,020114,050535 DATA_FILE_SIZE 13498,340

TT8_MAMPS 0.024717,0.024717 CAP_FILE_SIZE 80396,0

HUMID 46.45 CFSIZE 259252224,206483456

INTERNAL_PRESSURE 8.76204 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 12.00 SOUNDSPEED 1446.8

XPDR_PINGS 24 GPS 020114,055812,6359.083,-6007.537,149,1.2,150,-30.8

ALTIM_TOP_PING 19.6,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 419 68.69 SBE_CT 237 23 64.01

Roll_motor 48 136 76.40 SBE_O2 0 0 0.00

VBD_pump_during_apogee 522 2293 13909.37 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 489 109 621.26 nil 0 0 0.00

Transponder_ping 6 420 32.89 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 151 18 33.22

TT8 952 14 166.73

LPSleep 4771 2 128.97

TT8_Active 521 14 86.63

TT8_Sampling 1403 33 553.29

TT8_CF8 464 39 215.48

TT8_Kalman 0 0 0.00

Analog_circuits 1591 12 223.43

GPS_charging 0 0 0.00

Compass 846 6 66.75

RAFOS 0 0 0.00

Transponder 6 30 2.23

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 -0.89 -146.0 122 2529 1134 1047 0.0 0.0 0 100 0.00 0.00 -76.60 0.000 16386 0.000 0.000 121 2529 2504 2587 2422 0 0 0 0 0 0 28.83 28.83 28.83

107 -0.89 -146.0 120 2529 2589 2423 3.3 -3.4 8 150 10.43 1.60 -23.02 0.000 18948 0.420 0.134 2210 1660 3339 3507 3172 0 0 0 0 0 0 13.74 14.16 14.71

178 -0.77 -146.0 2209 1660 3509 3172 15.5 -18.5 15 182 0.22 1.55 0.00 0.000 3078 0.292 0.113 2255 2509 3340 3509 3172 0 0 0 0 0 0 13.87 14.16 28.83

495 -0.70 -146.0 2255 2509 3509 3171 76.5 -19.5 46 500 0.12 1.50 0.00 0.000 2564 0.307 0.094 2287 1659 3340 3510 3170 0 0 0 0 0 0 14.00 14.15 28.83

552 -0.65 -146.0 2287 1658 3510 3171 86.7 -16.8 51 556 0.00 1.55 0.00 0.000 1030 0.000 0.119 2283 2501 3339 3509 3170 0 0 0 0 0 0 28.83 14.09 28.83

878 -0.60 -146.0 2283 2502 3510 3170 139.8 -16.4 67 880 0.12 0.00 0.00 0.000 2054 0.301 0.000 2309 2502 3340 3510 3171 0 0 0 0 0 0 14.09 28.83 28.83

1179 -0.57 -146.0 2309 2502 3510 3170 181.0 -13.2 77 1182 0.00 1.50 0.00 0.000 516 0.000 0.100 2309 1658 3340 3510 3170 0 0 0 0 0 0 28.83 14.08 28.83

1309 -0.56 -146.0 2309 1658 3510 3170 196.8 -12.5 81 1313 0.00 1.60 0.00 0.000 1030 0.000 0.119 2306 2503 3340 3510 3170 0 0 0 0 0 0 28.83 14.00 28.83

1646 -0.54 -146.0 2306 2503 3510 3170 235.8 -11.3 92 1647 0.00 0.00 0.00 0.000 6 0.000 0.000 2306 2503 3340 3510 3170 0 0 0 0 0 0 28.83 28.83 28.83

1945 -0.53 -146.0 2306 2503 3510 3169 273.1 -12.7 102 1949 0.12 1.52 0.00 0.000 2564 0.295 0.096 2337 1648 3339 3510 3169 0 0 0 0 0 0 14.03 14.09 28.83

1989 -0.53 -146.0 2337 1649 3510 3169 277.5 -12.5 103 1993 0.00 1.58 0.00 0.000 1030 0.000 0.121 2332 2499 3339 3510 3169 0 0 0 0 0 0 28.83 14.02 28.83

2315 -0.54 -146.0 2332 2500 3510 3169 308.8 -8.8 114 2319 0.00 1.52 0.00 0.000 516 0.000 0.100 2332 1662 3339 3510 3169 0 0 0 0 0 0 28.83 14.01 28.83

2376 -0.56 -146.0 2333 1661 3510 3169 312.3 -9.0 115 2383 0.00 1.55 0.00 0.000 1030 0.000 0.117 2327 2502 3339 3510 3169 0 0 0 0 0 0 28.83 14.01 28.83

2681 -0.57 -146.0 2327 2502 3510 3169 344.8 -10.5 126 2683 0.00 0.00 0.00 0.000 6 0.000 0.000 2327 2502 3340 3511 3169 0 0 0 0 0 0 28.83 28.83 28.83

2945 end dive: TARGET_DEPTH_EXCEEDED

state 2945 begin apogee

2959 -0.22 0.0 2327 2501 3511 3169 372.8 -10.8 135 3124 0.40 0.00 153.65 2.293 10246 0.217 0.000 2435 2502 2741 2863 2620 0 0 0 0 0 0 13.80 28.83 12.26

3125 end apogee: CONTROL_FINISHED_OK

state 3125 begin climb

3132 0.89 146.0 2435 2501 2862 2621 382.4 0.0 140 3310 1.25 1.85 169.50 2.216 10500 0.172 0.130 2788 3353 2144 2244 2045 0 0 0 0 0 0 13.45 12.74 11.61

3366 0.98 234.9 2788 3353 2240 2044 379.6 4.9 148 3476 0.00 1.62 104.38 2.156 9222 0.000 0.088 2794 2507 1783 1875 1691 0 0 0 0 0 0 28.83 13.18 11.61

3802 0.97 234.9 2794 2507 1869 1686 331.5 11.0 163 3805 0.00 1.52 0.00 0.000 516 0.000 0.103 2800 1660 1777 1869 1685 0 0 0 0 0 0 28.83 14.00 28.83

3845 0.96 234.9 2800 1659 1868 1684 327.7 11.0 164 3849 0.00 1.58 0.00 0.000 1030 0.000 0.116 2800 2512 1777 1869 1685 0 0 0 0 0 0 28.83 14.06 28.83

4171 0.94 234.9 2800 2512 1868 1684 291.4 10.7 175 4175 0.00 1.55 0.00 0.000 260 0.000 0.132 2799 3359 1776 1868 1684 0 0 0 0 0 0 28.83 14.18 28.83

4220 0.92 234.9 2800 3359 1867 1684 287.4 10.8 176 4224 0.00 1.50 0.00 0.000 1030 0.000 0.091 2807 2498 1775 1867 1684 0 0 0 0 0 0 28.83 14.28 28.83

4541 0.90 234.9 2807 2497 1867 1684 251.5 9.9 187 4545 0.00 1.50 0.00 0.000 516 0.000 0.104 2813 1671 1775 1867 1684 0 0 0 0 0 0 28.83 14.21 28.83

4625 0.88 234.9 2813 1671 1867 1683 245.4 9.2 189 4629 0.00 1.52 0.00 0.000 1030 0.000 0.120 2813 2509 1774 1867 1682 0 0 0 0 0 0 28.83 14.19 28.83

4941 0.87 234.9 2813 2509 1866 1682 208.6 11.3 200 4944 0.00 1.55 0.00 0.000 260 0.000 0.133 2813 3357 1775 1867 1683 0 0 0 0 0 0 28.83 14.16 28.83

4995 0.85 234.9 2813 3356 1867 1682 204.7 11.0 201 4999 0.15 1.50 0.00 0.000 5126 0.259 0.090 2785 2497 1774 1867 1682 0 0 0 0 0 0 14.04 14.28 28.83

5312 0.87 243.3 2785 2496 1867 1682 175.4 7.9 212 5325 0.00 1.58 8.55 1.933 8452 0.000 0.130 2785 3362 1748 1840 1656 0 0 0 0 0 0 28.83 14.35 13.28

5375 0.88 252.8 2785 3362 1840 1656 170.9 7.9 214 5393 0.00 1.52 11.55 1.904 9222 0.000 0.091 2789 2510 1710 1802 1618 0 0 0 0 0 0 28.83 14.35 13.20

5697 0.98 306.0 2789 2509 1802 1617 149.9 6.2 225 5760 0.12 1.50 57.90 2.016 10756 0.159 0.103 2849 1667 1494 1582 1406 0 0 0 0 0 0 14.45 14.12 12.95

5849 0.96 306.0 2849 1667 1581 1401 135.1 10.7 230 5853 0.00 1.55 0.00 0.000 1030 0.000 0.120 2849 2514 1491 1581 1401 0 0 0 0 0 0 28.83 14.20 28.83

6180 0.95 306.0 2849 2514 1578 1398 99.4 11.0 241 6184 0.12 1.55 0.00 0.000 4612 0.265 0.103 2819 1669 1488 1578 1398 0 0 0 0 0 0 14.18 14.22 28.83

6220 0.95 306.0 2819 1669 1578 1397 95.6 11.0 244 6226 0.00 1.55 0.00 0.000 1030 0.000 0.122 2819 2514 1487 1578 1397 0 0 0 0 0 0 28.83 14.23 28.83

6528 1.00 336.7 1824 2512 1552 1393 64.4 7.1 275 6554 0.00 1.52 17.30 0.367 8452 0.000 0.133 2819 3353 1370 1459 1281 0 0 0 0 0 0 28.83 14.18 13.85

6601 1.00 336.7 2819 3353 1454 1280 58.3 9.6 282 6605 0.00 1.50 0.00 0.000 1030 0.000 0.093 2825 2515 1367 1454 1280 0 0 0 0 0 0 28.83 14.28 28.83

6917 1.02 336.7 2825 2514 1451 1278 29.0 10.6 313 6921 0.00 1.50 0.00 0.000 516 0.000 0.108 2831 1664 1364 1452 1277 0 0 0 0 0 0 28.83 14.19 28.83

6956 1.02 336.7 2831 1664 1451 1277 26.0 8.8 316 6963 0.00 1.58 0.00 0.000 1030 0.000 0.124 2831 2516 1364 1451 1277 0 0 0 0 0 0 28.83 14.17 28.83

7129 end climb: FINISH_DEPTH_REACHED

state 7129 begin subsurface finish

7149 0.07 44.6 2831 2516 1450 1277 8.8 9.7 334 7194 1.02 1.58 -37.65 0.000 20996 0.205 0.137 2540 1660 2561 2665 2458 0 0 0 0 0 0 13.93 14.20 14.76

7195 end subsurface finish: CONTROL_FINISHED_OK

state 7195 begin surface

ID	192	HD_C	3.62024e-06	ROLL_MAX	3873	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	2	HEADING	90	ROLL_DEG	24	ALTIM_TOP_TURN_MARGIN	5
DIVE	578	ESCAPE_HEADING	100	C_ROLL_DIVE	2500	ALTIM_TOP_MIN_OBSTACLE	2.8
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2510	ALTIM_PING_DEPTH	300
D_SURF	3	FIX_MISSING_TIMEOUT	5	HEAD_ERRBAND	10	ALTIM_PING_DELTA	50
D_FLARE	3	TGT_DEFAULT_LAT	6000	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	23	ALTIM_SENSITIVITY	5
D_NO_BLEED	200	SM_CC	549.71729	R_STBD_OVSHOOT	16	XPDR_VALID	6
D_BOOST	110	N_FILEKB	4	ROLL_AD_RATE	300	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	2	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	9	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0.5
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	500	PROTOCOL	1	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	3	N_NOCOMM	6	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	10	NOCOMM_ACTION	161	C_VBD	2741	DEVICE1	2
SURFACE_URGENCY_TRY	10	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	20
SURFACE_URGENCY_FORCE	20	UPLOAD_DIVES_MAX	3	VBD_CNV	-0.24529999	DEVICE3	-1
T_DIVE	400	CALL_TRIES	3	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	430	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0015	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	3	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	3	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	-4	T_GPS_CHARGE	-12444.111	DBDW	0	COMPASS_DEVICE	97
USE_ICE	2	T_RSLEEP	3	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.1	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	48
D_OFFGRID	250	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	10	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3924	MINV_10V	9.5	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2510	FG_AHR_10V	0	SEABIRD_T_G	0.0042877649
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00062281737
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	0	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	0.0099999998	COMPASS_USE	4
HD_A	0.0041718199	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099987797	ROLL_MIN	318	ALTIM_TOP_PING_RANGE	20

GPS1	020114,054259,6359.492,-6006.506,42,1.0,42,-30.8	TGT_NAME	HEADING
_CALLS	3	TGT_LATLONG	6359.083,-5942.916
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.68	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-28.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	020114,055812,6359.083,-6007.537,149,1.2,150,-30.8	MHEAD_RNG_PITCHd_Wd	120.8,20000,-15.5,-8.250,-18.49,2720
SPEED_LIMITS	0.143,0.247	D_GRID	372

FREEZE	8.80,-1.759,-1.817,2,2,0	_24V_AH	11.6,238.613
FINISH1	8.8,1.026596,45	_10V_AH	11.7,0.000
FINISH2	7.1	FG_AHR_24Vo	0.000
RAFOS_CLK	346	FG_AHR_10Vo	0.000
RAFOS_FIX	6632.709473,-5809.086426,281213,202044,2,98,0.12	MEM	238536
IRIDIUM_FIX	6332.30,-6008.62,020114,050535	DATA_FILE_SIZE	13498,340
TT8_MAMPS	0.024717,0.024717	CAP_FILE_SIZE	80396,0
HUMID	46.45	CFSIZE	259252224,206483456
INTERNAL_PRESSURE	8.76204	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	12.00	SOUNDSPEED	1446.8
XPDR_PINGS	24	GPS	020114,055812,6359.083,-6007.537,149,1.2,150,-30.8
ALTIM_TOP_PING	19.6,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	419	68.69	SBE_CT	237	23	64.01
Roll_motor	48	136	76.40	SBE_O2	0	0	0.00
VBD_pump_during_apogee	522	2293	13909.37	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	489	109	621.26	nil	0	0	0.00
Transponder_ping	6	420	32.89	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	151	18	33.22
TT8	952	14	166.73
LPSleep	4771	2	128.97
TT8_Active	521	14	86.63
TT8_Sampling	1403	33	553.29
TT8_CF8	464	39	215.48
TT8_Kalman	0	0	0.00
Analog_circuits	1591	12	223.43
GPS_charging	0	0	0.00
Compass	846	6	66.75
RAFOS	0	0	0.00
Transponder	6	30	2.23

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	-0.89	-146.0	122	2529	1134	1047	0.0	0.0	0	100	0.00	0.00	-76.60	0.000	16386	0.000	0.000	121	2529	2504	2587	2422	0	0	0	0	0	0	28.83	28.83	28.83
107	-0.89	-146.0	120	2529	2589	2423	3.3	-3.4	8	150	10.43	1.60	-23.02	0.000	18948	0.420	0.134	2210	1660	3339	3507	3172	0	0	0	0	0	0	13.74	14.16	14.71
178	-0.77	-146.0	2209	1660	3509	3172	15.5	-18.5	15	182	0.22	1.55	0.00	0.000	3078	0.292	0.113	2255	2509	3340	3509	3172	0	0	0	0	0	0	13.87	14.16	28.83
495	-0.70	-146.0	2255	2509	3509	3171	76.5	-19.5	46	500	0.12	1.50	0.00	0.000	2564	0.307	0.094	2287	1659	3340	3510	3170	0	0	0	0	0	0	14.00	14.15	28.83
552	-0.65	-146.0	2287	1658	3510	3171	86.7	-16.8	51	556	0.00	1.55	0.00	0.000	1030	0.000	0.119	2283	2501	3339	3509	3170	0	0	0	0	0	0	28.83	14.09	28.83
878	-0.60	-146.0	2283	2502	3510	3170	139.8	-16.4	67	880	0.12	0.00	0.00	0.000	2054	0.301	0.000	2309	2502	3340	3510	3171	0	0	0	0	0	0	14.09	28.83	28.83
1179	-0.57	-146.0	2309	2502	3510	3170	181.0	-13.2	77	1182	0.00	1.50	0.00	0.000	516	0.000	0.100	2309	1658	3340	3510	3170	0	0	0	0	0	0	28.83	14.08	28.83
1309	-0.56	-146.0	2309	1658	3510	3170	196.8	-12.5	81	1313	0.00	1.60	0.00	0.000	1030	0.000	0.119	2306	2503	3340	3510	3170	0	0	0	0	0	0	28.83	14.00	28.83
1646	-0.54	-146.0	2306	2503	3510	3170	235.8	-11.3	92	1647	0.00	0.00	0.00	0.000	6	0.000	0.000	2306	2503	3340	3510	3170	0	0	0	0	0	0	28.83	28.83	28.83
1945	-0.53	-146.0	2306	2503	3510	3169	273.1	-12.7	102	1949	0.12	1.52	0.00	0.000	2564	0.295	0.096	2337	1648	3339	3510	3169	0	0	0	0	0	0	14.03	14.09	28.83
1989	-0.53	-146.0	2337	1649	3510	3169	277.5	-12.5	103	1993	0.00	1.58	0.00	0.000	1030	0.000	0.121	2332	2499	3339	3510	3169	0	0	0	0	0	0	28.83	14.02	28.83
2315	-0.54	-146.0	2332	2500	3510	3169	308.8	-8.8	114	2319	0.00	1.52	0.00	0.000	516	0.000	0.100	2332	1662	3339	3510	3169	0	0	0	0	0	0	28.83	14.01	28.83
2376	-0.56	-146.0	2333	1661	3510	3169	312.3	-9.0	115	2383	0.00	1.55	0.00	0.000	1030	0.000	0.117	2327	2502	3339	3510	3169	0	0	0	0	0	0	28.83	14.01	28.83
2681	-0.57	-146.0	2327	2502	3510	3169	344.8	-10.5	126	2683	0.00	0.00	0.00	0.000	6	0.000	0.000	2327	2502	3340	3511	3169	0	0	0	0	0	0	28.83	28.83	28.83
2945	end dive: TARGET_DEPTH_EXCEEDED
state	2945	begin apogee
2959	-0.22	0.0	2327	2501	3511	3169	372.8	-10.8	135	3124	0.40	0.00	153.65	2.293	10246	0.217	0.000	2435	2502	2741	2863	2620	0	0	0	0	0	0	13.80	28.83	12.26
3125	end apogee: CONTROL_FINISHED_OK
state	3125	begin climb
3132	0.89	146.0	2435	2501	2862	2621	382.4	0.0	140	3310	1.25	1.85	169.50	2.216	10500	0.172	0.130	2788	3353	2144	2244	2045	0	0	0	0	0	0	13.45	12.74	11.61
3366	0.98	234.9	2788	3353	2240	2044	379.6	4.9	148	3476	0.00	1.62	104.38	2.156	9222	0.000	0.088	2794	2507	1783	1875	1691	0	0	0	0	0	0	28.83	13.18	11.61
3802	0.97	234.9	2794	2507	1869	1686	331.5	11.0	163	3805	0.00	1.52	0.00	0.000	516	0.000	0.103	2800	1660	1777	1869	1685	0	0	0	0	0	0	28.83	14.00	28.83
3845	0.96	234.9	2800	1659	1868	1684	327.7	11.0	164	3849	0.00	1.58	0.00	0.000	1030	0.000	0.116	2800	2512	1777	1869	1685	0	0	0	0	0	0	28.83	14.06	28.83
4171	0.94	234.9	2800	2512	1868	1684	291.4	10.7	175	4175	0.00	1.55	0.00	0.000	260	0.000	0.132	2799	3359	1776	1868	1684	0	0	0	0	0	0	28.83	14.18	28.83
4220	0.92	234.9	2800	3359	1867	1684	287.4	10.8	176	4224	0.00	1.50	0.00	0.000	1030	0.000	0.091	2807	2498	1775	1867	1684	0	0	0	0	0	0	28.83	14.28	28.83
4541	0.90	234.9	2807	2497	1867	1684	251.5	9.9	187	4545	0.00	1.50	0.00	0.000	516	0.000	0.104	2813	1671	1775	1867	1684	0	0	0	0	0	0	28.83	14.21	28.83
4625	0.88	234.9	2813	1671	1867	1683	245.4	9.2	189	4629	0.00	1.52	0.00	0.000	1030	0.000	0.120	2813	2509	1774	1867	1682	0	0	0	0	0	0	28.83	14.19	28.83
4941	0.87	234.9	2813	2509	1866	1682	208.6	11.3	200	4944	0.00	1.55	0.00	0.000	260	0.000	0.133	2813	3357	1775	1867	1683	0	0	0	0	0	0	28.83	14.16	28.83
4995	0.85	234.9	2813	3356	1867	1682	204.7	11.0	201	4999	0.15	1.50	0.00	0.000	5126	0.259	0.090	2785	2497	1774	1867	1682	0	0	0	0	0	0	14.04	14.28	28.83
5312	0.87	243.3	2785	2496	1867	1682	175.4	7.9	212	5325	0.00	1.58	8.55	1.933	8452	0.000	0.130	2785	3362	1748	1840	1656	0	0	0	0	0	0	28.83	14.35	13.28
5375	0.88	252.8	2785	3362	1840	1656	170.9	7.9	214	5393	0.00	1.52	11.55	1.904	9222	0.000	0.091	2789	2510	1710	1802	1618	0	0	0	0	0	0	28.83	14.35	13.20
5697	0.98	306.0	2789	2509	1802	1617	149.9	6.2	225	5760	0.12	1.50	57.90	2.016	10756	0.159	0.103	2849	1667	1494	1582	1406	0	0	0	0	0	0	14.45	14.12	12.95
5849	0.96	306.0	2849	1667	1581	1401	135.1	10.7	230	5853	0.00	1.55	0.00	0.000	1030	0.000	0.120	2849	2514	1491	1581	1401	0	0	0	0	0	0	28.83	14.20	28.83
6180	0.95	306.0	2849	2514	1578	1398	99.4	11.0	241	6184	0.12	1.55	0.00	0.000	4612	0.265	0.103	2819	1669	1488	1578	1398	0	0	0	0	0	0	14.18	14.22	28.83
6220	0.95	306.0	2819	1669	1578	1397	95.6	11.0	244	6226	0.00	1.55	0.00	0.000	1030	0.000	0.122	2819	2514	1487	1578	1397	0	0	0	0	0	0	28.83	14.23	28.83
6528	1.00	336.7	1824	2512	1552	1393	64.4	7.1	275	6554	0.00	1.52	17.30	0.367	8452	0.000	0.133	2819	3353	1370	1459	1281	0	0	0	0	0	0	28.83	14.18	13.85
6601	1.00	336.7	2819	3353	1454	1280	58.3	9.6	282	6605	0.00	1.50	0.00	0.000	1030	0.000	0.093	2825	2515	1367	1454	1280	0	0	0	0	0	0	28.83	14.28	28.83
6917	1.02	336.7	2825	2514	1451	1278	29.0	10.6	313	6921	0.00	1.50	0.00	0.000	516	0.000	0.108	2831	1664	1364	1452	1277	0	0	0	0	0	0	28.83	14.19	28.83
6956	1.02	336.7	2831	1664	1451	1277	26.0	8.8	316	6963	0.00	1.58	0.00	0.000	1030	0.000	0.124	2831	2516	1364	1451	1277	0	0	0	0	0	0	28.83	14.17	28.83
7129	end climb: FINISH_DEPTH_REACHED
state	7129	begin subsurface finish
7149	0.07	44.6	2831	2516	1450	1277	8.8	9.7	334	7194	1.02	1.58	-37.65	0.000	20996	0.205	0.137	2540	1660	2561	2665	2458	0	0	0	0	0	0	13.93	14.20	14.76
7195	end subsurface finish: CONTROL_FINISHED_OK
state	7195	begin surface