Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 579 * 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 579 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 20 ALTIM_SENSITIVITY 5

D_NO_BLEED 200 SM_CC 549.71729 R_STBD_OVSHOOT 14 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 20 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 10 R_STBD_OVSHOOT 14 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 579 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 020114,055812,6359.083,-6007.537,149,1.2,150,-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 12.20 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -3.2 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 8.88,-1.749,-1.819,2,3,0 ALTIM_TOP_PING 19.5,19.0

FINISH1 8.9,1.026615,44 _24V_AH 11.7,238.942

FINISH2 6.9 _10V_AH 11.9,0.000

RAFOS_CLK 412 FG_AHR_24Vo 0.000

RAFOS 0,1388649702,8.033334,8.028334,60,58,55,54,52,51,225,201,150,184,167,122 FG_AHR_10Vo 0.000

RAFOS_FIX 6632.709473,-5809.086426,281213,202044,2,98,0.12 MEM 238564

IRIDIUM_FIX 6332.30,-6008.62,020114,050535 DATA_FILE_SIZE 13489,346

TT8_MAMPS 0.024717,0.024717 CAP_FILE_SIZE 69040,0

HUMID 45.90 CFSIZE 259252224,206454784

INTERNAL_PRESSURE 8.7718 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 12.00 SOUNDSPEED 1448.5

XPDR_PINGS 22 GPS 020114,055812,6359.083,-6007.537,149,1.2,150,-30.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 299 15.79 SBE_CT 242 23 65.89

Roll_motor 40 160 76.26 SBE_O2 0 0 0.00

VBD_pump_during_apogee 532 2280 14210.54 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 0 0 0.00 nil 0 0 0.00

Transponder_ping 6 420 30.71 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 958 14 170.72

LPSleep 4972 2 136.68

TT8_Active 445 14 75.30

TT8_Sampling 887 33 355.69

TT8_CF8 296 39 140.12

TT8_Kalman 0 0 0.00

Analog_circuits 1027 12 146.73

GPS_charging 0 0 0.00

Compass 871 6 69.91

RAFOS 2520 1 44.98

Transponder 6 30 2.20

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 -0.89 -146.0 2540 2508 2665 2460 0.0 0.0 0 28 0.00 0.00 -6.78 0.000 16386 0.000 0.000 2540 2509 2908 3017 2799 0 0 0 0 0 0 28.83 28.83 28.83

35 -0.89 -146.0 2539 2509 3019 2799 14.9 0.0 1 52 0.98 1.60 -8.12 0.000 20740 0.122 0.161 2216 3348 3340 3511 3170 0 0 0 0 0 0 14.15 14.13 14.72

100 -0.78 -146.0 2216 3348 3514 3170 22.9 -15.2 7 104 0.17 1.50 0.00 0.000 3078 0.292 0.084 2253 2478 3342 3514 3170 0 0 0 0 0 0 13.88 14.27 28.83

418 -0.72 -146.0 2253 2478 3514 3170 80.5 -17.5 38 424 0.00 0.00 0.00 0.000 6 0.000 0.000 2253 2478 3342 3514 3170 0 0 0 0 0 0 28.83 28.83 28.83

747 -0.65 -146.0 2253 2478 3514 3169 136.7 -16.9 57 751 0.15 1.45 0.00 0.000 2564 0.300 0.093 2292 1655 3341 3514 3169 0 0 0 0 0 0 13.96 14.18 28.83

843 -0.61 -146.0 2293 1653 3514 3169 150.8 -15.0 60 847 0.00 1.58 0.00 0.000 1030 0.000 0.116 2288 2508 3341 3514 3169 0 0 0 0 0 0 28.83 14.12 28.83

1180 -0.57 -146.0 2289 2508 3514 3169 197.2 -13.3 71 1182 0.15 0.00 0.00 0.000 2054 0.292 0.000 2320 2509 3341 3514 3169 0 0 0 0 0 0 14.02 28.83 28.83

1479 -0.57 -146.0 2321 2509 3515 3168 230.3 -10.6 81 1482 0.00 1.52 0.00 0.000 516 0.000 0.100 2321 1651 3341 3514 3168 0 0 0 0 0 0 28.83 14.12 28.83

1573 -0.57 -146.0 2321 1651 3514 3168 240.3 -10.7 84 1577 0.00 1.60 0.00 0.000 1030 0.000 0.117 2317 2497 3340 3514 3167 0 0 0 0 0 0 28.83 14.04 28.83

1909 -0.57 -146.0 2317 2497 3514 3167 273.1 -9.3 95 1911 0.00 0.00 0.00 0.000 6 0.000 0.000 2317 2497 3340 3514 3167 0 0 0 0 0 0 28.83 28.83 28.83

2209 -0.57 -146.0 2317 2497 3514 3167 302.8 -10.0 105 2213 0.00 1.50 0.00 0.000 516 0.000 0.097 2317 1649 3340 3514 3167 0 0 0 0 0 0 28.83 14.09 28.83

2253 -0.57 -146.0 2317 1649 3514 3167 306.5 -10.2 106 2257 0.00 1.58 0.00 0.000 1030 0.000 0.119 2312 2504 3340 3514 3167 0 0 0 0 0 0 28.83 14.06 28.83

2578 -0.57 -146.0 2312 2505 3515 3167 342.3 -11.3 117 2579 0.00 0.00 0.00 0.000 6 0.000 0.000 2312 2505 3341 3515 3167 0 0 0 0 0 0 28.83 28.83 28.83

2842 end dive: TARGET_DEPTH_EXCEEDED

state 2842 begin apogee

2855 -0.22 0.0 2312 2504 3516 3167 375.3 -12.1 126 3019 0.43 0.00 153.23 2.280 10246 0.224 0.000 2427 2505 2740 2863 2618 0 0 0 0 0 0 13.85 28.83 12.30

3020 end apogee: CONTROL_FINISHED_OK

state 3021 begin climb

3027 0.89 146.0 2427 2505 2862 2620 385.3 0.0 131 3209 1.27 1.77 167.73 2.183 10500 0.173 0.125 2787 3355 2146 2243 2050 0 0 0 0 0 0 13.45 12.79 11.65

3295 0.92 191.8 2787 3355 2240 2046 379.0 6.5 140 3355 0.00 1.60 53.15 2.125 9222 0.000 0.088 2793 2510 1959 2058 1860 0 0 0 0 0 0 28.83 13.37 11.95

3687 0.90 191.8 2792 2510 2057 1851 339.5 10.1 154 3690 0.00 1.58 0.00 0.000 260 0.000 0.135 2792 3357 1953 2057 1850 0 0 0 0 0 0 28.83 14.07 28.83

3745 0.87 191.8 2793 3357 2055 1851 336.0 10.0 155 3752 0.00 1.50 0.00 0.000 1030 0.000 0.090 2800 2508 1952 2055 1850 0 0 0 0 0 0 28.83 14.22 28.83

4052 0.85 191.8 2799 2508 2055 1850 304.8 8.9 166 4054 0.00 0.00 0.00 0.000 6 0.000 0.000 2799 2508 1952 2055 1850 0 0 0 0 0 0 28.83 28.83 28.83

4354 0.82 193.4 2798 2508 2055 1850 280.0 8.2 176 4357 0.00 1.50 0.00 0.000 516 0.000 0.102 2805 1653 1952 2055 1849 0 0 0 0 0 0 28.83 14.25 28.83

4407 0.80 193.4 2806 1653 2055 1849 276.9 8.4 177 4411 0.15 1.58 0.00 0.000 5126 0.247 0.119 2772 2516 1951 2055 1848 0 0 0 0 0 0 14.07 14.23 28.83

4724 0.80 194.8 2772 2516 2055 1848 250.6 8.2 188 4728 0.00 1.58 0.00 0.000 260 0.000 0.133 2771 3352 1951 2055 1848 0 0 0 0 0 0 28.83 14.12 28.83

4790 0.82 211.3 2771 3353 2055 1848 245.3 7.6 190 4816 0.00 1.50 20.48 2.079 9222 0.000 0.090 2776 2488 1878 1983 1774 0 0 0 0 0 0 28.83 14.29 13.17

5120 0.84 222.2 2776 2488 1985 1770 216.3 7.8 201 5138 0.00 1.50 12.45 1.981 8708 0.000 0.104 2782 1664 1835 1941 1730 0 0 0 0 0 0 28.83 14.35 13.21

5267 0.87 234.9 2781 1664 1940 1729 207.0 7.8 205 5286 0.00 1.55 14.98 1.993 9222 0.000 0.117 2781 2517 1782 1883 1682 0 0 0 0 0 0 28.83 14.28 13.16

5610 0.93 271.2 2782 2517 1879 1682 180.4 6.9 217 5652 0.00 0.00 40.35 2.065 8198 0.000 0.000 2782 2517 1635 1728 1542 0 0 0 0 0 0 28.83 28.83 13.07

5935 1.00 295.5 2781 2517 1724 1539 157.8 7.3 228 5968 0.12 1.60 26.00 1.968 10756 0.149 0.105 2842 1660 1537 1628 1447 0 0 0 0 0 0 14.46 14.30 13.14

6031 1.00 295.5 2842 1659 1627 1445 148.7 9.5 231 6035 0.00 1.60 0.00 0.000 1030 0.000 0.119 2842 2511 1536 1627 1445 0 0 0 0 0 0 28.83 14.24 28.83

6367 0.98 295.5 2842 2511 1626 1442 109.1 11.7 242 6371 0.00 1.55 0.00 0.000 260 0.000 0.135 2842 3358 1534 1626 1442 0 0 0 0 0 0 28.83 14.23 28.83

6441 0.96 295.5 2842 3358 1625 1442 101.0 12.1 244 6445 0.08 1.52 0.00 0.000 5126 0.245 0.091 2826 2503 1533 1625 1442 0 0 0 0 0 0 14.07 14.31 28.83

6757 0.96 295.5 2826 2503 1625 1441 68.5 8.7 274 6763 0.00 0.00 0.00 0.000 6 0.000 0.000 2826 2503 1533 1625 1441 0 0 0 0 0 0 28.83 28.83 28.83

7073 0.97 303.9 2826 2503 1624 1439 41.8 7.9 305 7083 0.00 1.67 4.32 0.308 8452 0.000 0.135 2826 3366 1501 1593 1410 0 0 0 0 0 0 28.83 14.17 13.84

7123 1.07 372.2 2826 3366 1593 1410 38.9 5.7 309 7168 0.00 1.50 39.92 0.278 9222 0.000 0.093 2831 2510 1221 1305 1138 0 0 0 0 0 0 28.83 14.28 13.98

7425 end climb: FINISH_DEPTH_REACHED

state 7425 begin subsurface finish

7440 0.07 43.6 2831 2510 1292 1134 8.9 9.9 340 7489 1.00 1.52 -41.80 0.000 20996 0.190 0.137 2539 1670 2565 2674 2457 0 0 0 0 0 0 13.99 14.22 14.76

7490 end subsurface finish: CONTROL_FINISHED_OK

state 7490 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	579	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	20	ALTIM_SENSITIVITY	5
D_NO_BLEED	200	SM_CC	549.71729	R_STBD_OVSHOOT	14	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	020114,055812,6359.083,-6007.537,149,1.2,150,-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	12.20	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-3.2	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	8.88,-1.749,-1.819,2,3,0	ALTIM_TOP_PING	19.5,19.0
FINISH1	8.9,1.026615,44	_24V_AH	11.7,238.942
FINISH2	6.9	_10V_AH	11.9,0.000
RAFOS_CLK	412	FG_AHR_24Vo	0.000
RAFOS	0,1388649702,8.033334,8.028334,60,58,55,54,52,51,225,201,150,184,167,122	FG_AHR_10Vo	0.000
RAFOS_FIX	6632.709473,-5809.086426,281213,202044,2,98,0.12	MEM	238564
IRIDIUM_FIX	6332.30,-6008.62,020114,050535	DATA_FILE_SIZE	13489,346
TT8_MAMPS	0.024717,0.024717	CAP_FILE_SIZE	69040,0
HUMID	45.90	CFSIZE	259252224,206454784
INTERNAL_PRESSURE	8.7718	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	12.00	SOUNDSPEED	1448.5
XPDR_PINGS	22	GPS	020114,055812,6359.083,-6007.537,149,1.2,150,-30.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	299	15.79	SBE_CT	242	23	65.89
Roll_motor	40	160	76.26	SBE_O2	0	0	0.00
VBD_pump_during_apogee	532	2280	14210.54	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	0	0	0.00	nil	0	0	0.00
Transponder_ping	6	420	30.71	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	958	14	170.72
LPSleep	4972	2	136.68
TT8_Active	445	14	75.30
TT8_Sampling	887	33	355.69
TT8_CF8	296	39	140.12
TT8_Kalman	0	0	0.00
Analog_circuits	1027	12	146.73
GPS_charging	0	0	0.00
Compass	871	6	69.91
RAFOS	2520	1	44.98
Transponder	6	30	2.20

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	-0.89	-146.0	2540	2508	2665	2460	0.0	0.0	0	28	0.00	0.00	-6.78	0.000	16386	0.000	0.000	2540	2509	2908	3017	2799	0	0	0	0	0	0	28.83	28.83	28.83
35	-0.89	-146.0	2539	2509	3019	2799	14.9	0.0	1	52	0.98	1.60	-8.12	0.000	20740	0.122	0.161	2216	3348	3340	3511	3170	0	0	0	0	0	0	14.15	14.13	14.72
100	-0.78	-146.0	2216	3348	3514	3170	22.9	-15.2	7	104	0.17	1.50	0.00	0.000	3078	0.292	0.084	2253	2478	3342	3514	3170	0	0	0	0	0	0	13.88	14.27	28.83
418	-0.72	-146.0	2253	2478	3514	3170	80.5	-17.5	38	424	0.00	0.00	0.00	0.000	6	0.000	0.000	2253	2478	3342	3514	3170	0	0	0	0	0	0	28.83	28.83	28.83
747	-0.65	-146.0	2253	2478	3514	3169	136.7	-16.9	57	751	0.15	1.45	0.00	0.000	2564	0.300	0.093	2292	1655	3341	3514	3169	0	0	0	0	0	0	13.96	14.18	28.83
843	-0.61	-146.0	2293	1653	3514	3169	150.8	-15.0	60	847	0.00	1.58	0.00	0.000	1030	0.000	0.116	2288	2508	3341	3514	3169	0	0	0	0	0	0	28.83	14.12	28.83
1180	-0.57	-146.0	2289	2508	3514	3169	197.2	-13.3	71	1182	0.15	0.00	0.00	0.000	2054	0.292	0.000	2320	2509	3341	3514	3169	0	0	0	0	0	0	14.02	28.83	28.83
1479	-0.57	-146.0	2321	2509	3515	3168	230.3	-10.6	81	1482	0.00	1.52	0.00	0.000	516	0.000	0.100	2321	1651	3341	3514	3168	0	0	0	0	0	0	28.83	14.12	28.83
1573	-0.57	-146.0	2321	1651	3514	3168	240.3	-10.7	84	1577	0.00	1.60	0.00	0.000	1030	0.000	0.117	2317	2497	3340	3514	3167	0	0	0	0	0	0	28.83	14.04	28.83
1909	-0.57	-146.0	2317	2497	3514	3167	273.1	-9.3	95	1911	0.00	0.00	0.00	0.000	6	0.000	0.000	2317	2497	3340	3514	3167	0	0	0	0	0	0	28.83	28.83	28.83
2209	-0.57	-146.0	2317	2497	3514	3167	302.8	-10.0	105	2213	0.00	1.50	0.00	0.000	516	0.000	0.097	2317	1649	3340	3514	3167	0	0	0	0	0	0	28.83	14.09	28.83
2253	-0.57	-146.0	2317	1649	3514	3167	306.5	-10.2	106	2257	0.00	1.58	0.00	0.000	1030	0.000	0.119	2312	2504	3340	3514	3167	0	0	0	0	0	0	28.83	14.06	28.83
2578	-0.57	-146.0	2312	2505	3515	3167	342.3	-11.3	117	2579	0.00	0.00	0.00	0.000	6	0.000	0.000	2312	2505	3341	3515	3167	0	0	0	0	0	0	28.83	28.83	28.83
2842	end dive: TARGET_DEPTH_EXCEEDED
state	2842	begin apogee
2855	-0.22	0.0	2312	2504	3516	3167	375.3	-12.1	126	3019	0.43	0.00	153.23	2.280	10246	0.224	0.000	2427	2505	2740	2863	2618	0	0	0	0	0	0	13.85	28.83	12.30
3020	end apogee: CONTROL_FINISHED_OK
state	3021	begin climb
3027	0.89	146.0	2427	2505	2862	2620	385.3	0.0	131	3209	1.27	1.77	167.73	2.183	10500	0.173	0.125	2787	3355	2146	2243	2050	0	0	0	0	0	0	13.45	12.79	11.65
3295	0.92	191.8	2787	3355	2240	2046	379.0	6.5	140	3355	0.00	1.60	53.15	2.125	9222	0.000	0.088	2793	2510	1959	2058	1860	0	0	0	0	0	0	28.83	13.37	11.95
3687	0.90	191.8	2792	2510	2057	1851	339.5	10.1	154	3690	0.00	1.58	0.00	0.000	260	0.000	0.135	2792	3357	1953	2057	1850	0	0	0	0	0	0	28.83	14.07	28.83
3745	0.87	191.8	2793	3357	2055	1851	336.0	10.0	155	3752	0.00	1.50	0.00	0.000	1030	0.000	0.090	2800	2508	1952	2055	1850	0	0	0	0	0	0	28.83	14.22	28.83
4052	0.85	191.8	2799	2508	2055	1850	304.8	8.9	166	4054	0.00	0.00	0.00	0.000	6	0.000	0.000	2799	2508	1952	2055	1850	0	0	0	0	0	0	28.83	28.83	28.83
4354	0.82	193.4	2798	2508	2055	1850	280.0	8.2	176	4357	0.00	1.50	0.00	0.000	516	0.000	0.102	2805	1653	1952	2055	1849	0	0	0	0	0	0	28.83	14.25	28.83
4407	0.80	193.4	2806	1653	2055	1849	276.9	8.4	177	4411	0.15	1.58	0.00	0.000	5126	0.247	0.119	2772	2516	1951	2055	1848	0	0	0	0	0	0	14.07	14.23	28.83
4724	0.80	194.8	2772	2516	2055	1848	250.6	8.2	188	4728	0.00	1.58	0.00	0.000	260	0.000	0.133	2771	3352	1951	2055	1848	0	0	0	0	0	0	28.83	14.12	28.83
4790	0.82	211.3	2771	3353	2055	1848	245.3	7.6	190	4816	0.00	1.50	20.48	2.079	9222	0.000	0.090	2776	2488	1878	1983	1774	0	0	0	0	0	0	28.83	14.29	13.17
5120	0.84	222.2	2776	2488	1985	1770	216.3	7.8	201	5138	0.00	1.50	12.45	1.981	8708	0.000	0.104	2782	1664	1835	1941	1730	0	0	0	0	0	0	28.83	14.35	13.21
5267	0.87	234.9	2781	1664	1940	1729	207.0	7.8	205	5286	0.00	1.55	14.98	1.993	9222	0.000	0.117	2781	2517	1782	1883	1682	0	0	0	0	0	0	28.83	14.28	13.16
5610	0.93	271.2	2782	2517	1879	1682	180.4	6.9	217	5652	0.00	0.00	40.35	2.065	8198	0.000	0.000	2782	2517	1635	1728	1542	0	0	0	0	0	0	28.83	28.83	13.07
5935	1.00	295.5	2781	2517	1724	1539	157.8	7.3	228	5968	0.12	1.60	26.00	1.968	10756	0.149	0.105	2842	1660	1537	1628	1447	0	0	0	0	0	0	14.46	14.30	13.14
6031	1.00	295.5	2842	1659	1627	1445	148.7	9.5	231	6035	0.00	1.60	0.00	0.000	1030	0.000	0.119	2842	2511	1536	1627	1445	0	0	0	0	0	0	28.83	14.24	28.83
6367	0.98	295.5	2842	2511	1626	1442	109.1	11.7	242	6371	0.00	1.55	0.00	0.000	260	0.000	0.135	2842	3358	1534	1626	1442	0	0	0	0	0	0	28.83	14.23	28.83
6441	0.96	295.5	2842	3358	1625	1442	101.0	12.1	244	6445	0.08	1.52	0.00	0.000	5126	0.245	0.091	2826	2503	1533	1625	1442	0	0	0	0	0	0	14.07	14.31	28.83
6757	0.96	295.5	2826	2503	1625	1441	68.5	8.7	274	6763	0.00	0.00	0.00	0.000	6	0.000	0.000	2826	2503	1533	1625	1441	0	0	0	0	0	0	28.83	28.83	28.83
7073	0.97	303.9	2826	2503	1624	1439	41.8	7.9	305	7083	0.00	1.67	4.32	0.308	8452	0.000	0.135	2826	3366	1501	1593	1410	0	0	0	0	0	0	28.83	14.17	13.84
7123	1.07	372.2	2826	3366	1593	1410	38.9	5.7	309	7168	0.00	1.50	39.92	0.278	9222	0.000	0.093	2831	2510	1221	1305	1138	0	0	0	0	0	0	28.83	14.28	13.98
7425	end climb: FINISH_DEPTH_REACHED
state	7425	begin subsurface finish
7440	0.07	43.6	2831	2510	1292	1134	8.9	9.9	340	7489	1.00	1.52	-41.80	0.000	20996	0.190	0.137	2539	1670	2565	2674	2457	0	0	0	0	0	0	13.99	14.22	14.76
7490	end subsurface finish: CONTROL_FINISHED_OK
state	7490	begin surface