Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 580 * 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 580 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 22 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 22 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 580 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 13.06 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -2.8 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 7.83,-1.735,-1.823,2,4,0 _24V_AH 11.5,239.277

FINISH1 7.8,1.026678,41 _10V_AH 11.8,0.000

FINISH2 4.9 FG_AHR_24Vo 0.000

RAFOS_CLK 355 FG_AHR_10Vo 0.000

RAFOS_FIX 6632.709473,-5809.086426,281213,202044,2,98,0.12 MEM 238568

IRIDIUM_FIX 6332.30,-6008.62,020114,050535 DATA_FILE_SIZE 13542,317

TT8_MAMPS 0.024717,0.024717 CAP_FILE_SIZE 61343,0

HUMID 46.45 CFSIZE 259252224,206422016

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

TCM_TEMP 12.10 SOUNDSPEED 1447.2

XPDR_PINGS 13 GPS 020114,055812,6359.083,-6007.537,149,1.2,150,-30.8

ALTIM_TOP_PING 19.7,19.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 290 15.80 SBE_CT 222 23 59.35

Roll_motor 44 218 113.04 SBE_O2 0 0 0.00

VBD_pump_during_apogee 520 2255 13489.46 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 4 420 19.32 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 884 14 156.22

LPSleep 4156 2 113.30

TT8_Active 492 14 82.56

TT8_Sampling 802 33 319.18

TT8_CF8 254 39 119.36

TT8_Kalman 0 0 0.00

Analog_circuits 1004 12 142.27

GPS_charging 0 0 0.00

Compass 792 6 63.04

RAFOS 0 0 0.00

Transponder 6 30 2.18

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 2539 2502 2675 2458 0.0 0.0 0 27 0.00 0.00 -5.45 0.000 16386 0.000 0.000 2539 2503 2869 2977 2761 0 0 0 0 0 0 28.83 28.83 28.83

34 -0.89 -146.0 2539 2503 2979 2761 17.2 0.0 1 51 1.00 1.60 -8.02 0.000 20740 0.155 0.165 2223 3346 3339 3511 3168 0 0 0 0 0 0 14.07 14.14 14.74

276 -0.80 -146.0 1384 3345 3507 3165 65.7 -20.5 24 283 0.00 1.50 0.00 0.000 1030 0.000 0.084 2223 2479 3341 3514 3168 0 0 0 0 0 0 28.83 14.27 28.83

595 -0.71 -146.0 2223 2479 3514 3167 134.7 -22.2 46 599 0.20 1.45 0.00 0.000 2564 0.291 0.091 2273 1652 3340 3514 3166 0 0 0 0 0 0 13.90 14.23 28.83

680 -0.64 -146.0 2273 1651 3514 3167 147.5 -20.7 48 684 0.15 1.55 0.00 0.000 3078 0.271 0.117 2301 2500 3341 3515 3167 0 0 0 0 0 0 13.97 14.16 28.83

996 -0.61 -146.0 2301 2500 3514 3166 192.3 -12.3 59 999 0.00 1.48 0.00 0.000 516 0.000 0.098 2301 1653 3340 3514 3166 0 0 0 0 0 0 28.83 14.17 28.83

1062 -0.60 -146.0 2302 1653 3514 3165 200.2 -12.3 61 1066 0.00 1.60 0.00 0.000 1030 0.000 0.119 2298 2499 3340 3514 3166 0 0 0 0 0 0 28.83 14.08 28.83

1398 -0.58 -146.0 2298 2498 3514 3165 246.3 -14.1 72 1402 0.00 1.58 0.00 0.000 260 0.000 0.133 2291 3348 3339 3514 3165 0 0 0 0 0 0 28.83 14.07 28.83

1437 -0.56 -146.0 2291 3348 3514 3164 251.1 -13.7 73 1441 0.15 1.50 0.00 0.000 3078 0.265 0.086 2323 2485 3339 3514 3165 0 0 0 0 0 0 13.93 14.23 28.83

1768 -0.56 -146.0 2323 2485 3514 3164 285.3 -9.8 84 1772 0.00 1.50 0.00 0.000 516 0.000 0.097 2324 1660 3338 3514 3163 0 0 0 0 0 0 28.83 14.11 28.83

1834 -0.57 -146.0 2324 1660 3514 3164 291.1 -9.2 86 1838 0.00 1.55 0.00 0.000 1030 0.000 0.119 2321 2502 3339 3515 3164 0 0 0 0 0 0 28.83 14.10 28.83

2170 -0.57 -146.0 2321 2502 3515 3164 323.8 -10.3 97 2174 0.00 1.60 0.00 0.000 260 0.000 0.132 2315 3346 3339 3514 3164 0 0 0 0 0 0 28.83 14.00 28.83

2206 -0.57 -146.0 2315 3346 3514 3164 327.8 -10.5 98 2209 0.00 1.50 0.00 0.000 1030 0.000 0.084 2315 2479 3339 3514 3164 0 0 0 0 0 0 28.83 14.21 28.83

2541 -0.57 -146.0 2315 2479 3515 3164 364.1 -10.7 109 2542 0.00 0.00 0.00 0.000 6 0.000 0.000 2315 2479 3339 3515 3164 0 0 0 0 0 0 28.83 28.83 28.83

2624 end dive: TARGET_DEPTH_EXCEEDED

state 2624 begin apogee

2639 -0.22 0.0 2315 2512 3515 3164 373.4 -10.3 112 2804 0.43 0.00 152.85 2.255 10246 0.221 0.000 2430 2511 2741 2863 2619 0 0 0 0 0 0 13.88 28.83 12.34

2805 end apogee: CONTROL_FINISHED_OK

state 2805 begin climb

2811 0.89 146.0 2430 2512 2863 2619 382.2 0.0 117 2988 1.27 1.80 168.35 2.149 10500 0.175 0.130 2790 3353 2145 2242 2048 0 0 0 0 0 0 13.49 12.85 11.71

3004 1.08 304.2 2790 3353 2241 2047 381.0 2.3 124 3207 0.20 1.62 189.40 2.093 11270 0.119 0.087 2858 2512 1500 1582 1419 0 0 0 0 0 0 13.07 13.05 11.49

3506 1.03 304.2 2858 2512 1581 1409 311.8 15.5 141 3509 0.00 1.60 0.00 0.000 260 0.000 0.135 2858 3354 1495 1581 1409 0 0 0 0 0 0 28.83 13.91 28.83

3604 0.98 304.2 2858 3354 1581 1409 296.4 15.7 144 3608 0.15 1.50 0.00 0.000 5126 0.278 0.091 2832 2503 1494 1579 1409 0 0 0 0 0 0 13.96 14.19 28.83

3936 0.95 304.2 2832 2503 1580 1407 251.1 13.3 155 3940 0.00 1.50 0.00 0.000 516 0.000 0.103 2837 1670 1493 1580 1406 0 0 0 0 0 0 28.83 14.24 28.83

3990 0.92 304.2 2837 1670 1579 1406 246.4 13.1 156 3995 0.08 1.58 0.00 0.000 5126 0.229 0.122 2815 2509 1492 1580 1405 0 0 0 0 0 0 14.07 14.21 28.83

4307 0.92 304.2 2815 2509 1579 1406 208.7 11.7 167 4311 0.00 1.55 0.00 0.000 260 0.000 0.132 2815 3360 1492 1579 1406 0 0 0 0 0 0 28.83 14.22 28.83

4350 0.92 304.2 2815 3360 1579 1406 204.8 11.4 168 4354 0.00 1.50 0.00 0.000 1030 0.000 0.090 2820 2496 1492 1579 1406 0 0 0 0 0 0 28.83 14.33 28.83

4675 0.92 304.2 2820 2496 1579 1406 166.6 11.1 179 4679 0.00 1.50 0.00 0.000 516 0.000 0.103 2826 1669 1492 1579 1406 0 0 0 0 0 0 28.83 14.23 28.83

4734 0.92 304.2 2826 1669 1579 1405 162.9 10.9 180 4741 0.00 1.55 0.00 0.000 1030 0.000 0.121 2826 2521 1492 1579 1406 0 0 0 0 0 0 28.83 14.22 28.83

5040 0.92 304.2 2826 2521 1579 1405 127.9 10.5 191 5044 0.00 1.58 0.00 0.000 260 0.000 0.133 2826 3351 1492 1579 1405 0 0 0 0 0 0 28.83 14.12 28.83

5108 0.92 304.2 2826 3350 1579 1404 120.5 10.7 193 5112 0.00 1.50 0.00 0.000 1030 0.000 0.091 2832 2488 1492 1579 1405 0 0 0 0 0 0 28.83 14.29 28.83

5420 0.92 304.2 2832 2488 1579 1405 90.9 12.7 208 5424 0.00 1.50 0.00 0.000 516 0.000 0.105 2838 1667 1492 1579 1405 0 0 0 0 0 0 28.83 14.18 28.83

5475 0.92 304.2 2838 1667 1579 1404 83.7 13.4 213 5479 0.12 1.55 0.00 0.000 5126 0.256 0.122 2811 2518 1491 1579 1404 0 0 0 0 0 0 14.04 14.18 28.83

5793 0.97 322.1 2810 2518 1579 1404 66.4 7.6 244 5810 0.00 1.55 9.52 0.373 8452 0.000 0.130 2810 3354 1427 1515 1340 0 0 0 0 0 0 28.83 14.11 13.55

5877 0.97 322.1 2810 3355 1515 1340 58.8 11.7 252 5880 0.00 1.50 0.00 0.000 1030 0.000 0.093 2815 2495 1427 1515 1339 0 0 0 0 0 0 28.83 14.23 28.83

6192 0.97 322.1 2815 2495 1513 1338 32.7 10.4 283 6198 0.00 0.00 0.00 0.000 6 0.000 0.000 2815 2495 1425 1513 1338 0 0 0 0 0 0 28.83 28.83 28.83

6462 end climb: FINISH_DEPTH_REACHED

state 6463 begin subsurface finish

6477 0.06 40.5 2815 2495 1513 1337 7.8 12.1 310 6528 0.98 0.00 -42.67 0.000 20486 0.198 0.000 2537 2495 2578 2682 2475 0 0 0 0 0 0 13.89 28.83 14.75

6529 end subsurface finish: CONTROL_FINISHED_OK

state 6529 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	580	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	22	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	020114,055812,6359.083,-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	13.06	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-2.8	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	7.83,-1.735,-1.823,2,4,0	_24V_AH	11.5,239.277
FINISH1	7.8,1.026678,41	_10V_AH	11.8,0.000
FINISH2	4.9	FG_AHR_24Vo	0.000
RAFOS_CLK	355	FG_AHR_10Vo	0.000
RAFOS_FIX	6632.709473,-5809.086426,281213,202044,2,98,0.12	MEM	238568
IRIDIUM_FIX	6332.30,-6008.62,020114,050535	DATA_FILE_SIZE	13542,317
TT8_MAMPS	0.024717,0.024717	CAP_FILE_SIZE	61343,0
HUMID	46.45	CFSIZE	259252224,206422016
INTERNAL_PRESSURE	8.7718	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	12.10	SOUNDSPEED	1447.2
XPDR_PINGS	13	GPS	020114,055812,6359.083,-6007.537,149,1.2,150,-30.8
ALTIM_TOP_PING	19.7,19.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	290	15.80	SBE_CT	222	23	59.35
Roll_motor	44	218	113.04	SBE_O2	0	0	0.00
VBD_pump_during_apogee	520	2255	13489.46	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	4	420	19.32	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	884	14	156.22
LPSleep	4156	2	113.30
TT8_Active	492	14	82.56
TT8_Sampling	802	33	319.18
TT8_CF8	254	39	119.36
TT8_Kalman	0	0	0.00
Analog_circuits	1004	12	142.27
GPS_charging	0	0	0.00
Compass	792	6	63.04
RAFOS	0	0	0.00
Transponder	6	30	2.18

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	2539	2502	2675	2458	0.0	0.0	0	27	0.00	0.00	-5.45	0.000	16386	0.000	0.000	2539	2503	2869	2977	2761	0	0	0	0	0	0	28.83	28.83	28.83
34	-0.89	-146.0	2539	2503	2979	2761	17.2	0.0	1	51	1.00	1.60	-8.02	0.000	20740	0.155	0.165	2223	3346	3339	3511	3168	0	0	0	0	0	0	14.07	14.14	14.74
276	-0.80	-146.0	1384	3345	3507	3165	65.7	-20.5	24	283	0.00	1.50	0.00	0.000	1030	0.000	0.084	2223	2479	3341	3514	3168	0	0	0	0	0	0	28.83	14.27	28.83
595	-0.71	-146.0	2223	2479	3514	3167	134.7	-22.2	46	599	0.20	1.45	0.00	0.000	2564	0.291	0.091	2273	1652	3340	3514	3166	0	0	0	0	0	0	13.90	14.23	28.83
680	-0.64	-146.0	2273	1651	3514	3167	147.5	-20.7	48	684	0.15	1.55	0.00	0.000	3078	0.271	0.117	2301	2500	3341	3515	3167	0	0	0	0	0	0	13.97	14.16	28.83
996	-0.61	-146.0	2301	2500	3514	3166	192.3	-12.3	59	999	0.00	1.48	0.00	0.000	516	0.000	0.098	2301	1653	3340	3514	3166	0	0	0	0	0	0	28.83	14.17	28.83
1062	-0.60	-146.0	2302	1653	3514	3165	200.2	-12.3	61	1066	0.00	1.60	0.00	0.000	1030	0.000	0.119	2298	2499	3340	3514	3166	0	0	0	0	0	0	28.83	14.08	28.83
1398	-0.58	-146.0	2298	2498	3514	3165	246.3	-14.1	72	1402	0.00	1.58	0.00	0.000	260	0.000	0.133	2291	3348	3339	3514	3165	0	0	0	0	0	0	28.83	14.07	28.83
1437	-0.56	-146.0	2291	3348	3514	3164	251.1	-13.7	73	1441	0.15	1.50	0.00	0.000	3078	0.265	0.086	2323	2485	3339	3514	3165	0	0	0	0	0	0	13.93	14.23	28.83
1768	-0.56	-146.0	2323	2485	3514	3164	285.3	-9.8	84	1772	0.00	1.50	0.00	0.000	516	0.000	0.097	2324	1660	3338	3514	3163	0	0	0	0	0	0	28.83	14.11	28.83
1834	-0.57	-146.0	2324	1660	3514	3164	291.1	-9.2	86	1838	0.00	1.55	0.00	0.000	1030	0.000	0.119	2321	2502	3339	3515	3164	0	0	0	0	0	0	28.83	14.10	28.83
2170	-0.57	-146.0	2321	2502	3515	3164	323.8	-10.3	97	2174	0.00	1.60	0.00	0.000	260	0.000	0.132	2315	3346	3339	3514	3164	0	0	0	0	0	0	28.83	14.00	28.83
2206	-0.57	-146.0	2315	3346	3514	3164	327.8	-10.5	98	2209	0.00	1.50	0.00	0.000	1030	0.000	0.084	2315	2479	3339	3514	3164	0	0	0	0	0	0	28.83	14.21	28.83
2541	-0.57	-146.0	2315	2479	3515	3164	364.1	-10.7	109	2542	0.00	0.00	0.00	0.000	6	0.000	0.000	2315	2479	3339	3515	3164	0	0	0	0	0	0	28.83	28.83	28.83
2624	end dive: TARGET_DEPTH_EXCEEDED
state	2624	begin apogee
2639	-0.22	0.0	2315	2512	3515	3164	373.4	-10.3	112	2804	0.43	0.00	152.85	2.255	10246	0.221	0.000	2430	2511	2741	2863	2619	0	0	0	0	0	0	13.88	28.83	12.34
2805	end apogee: CONTROL_FINISHED_OK
state	2805	begin climb
2811	0.89	146.0	2430	2512	2863	2619	382.2	0.0	117	2988	1.27	1.80	168.35	2.149	10500	0.175	0.130	2790	3353	2145	2242	2048	0	0	0	0	0	0	13.49	12.85	11.71
3004	1.08	304.2	2790	3353	2241	2047	381.0	2.3	124	3207	0.20	1.62	189.40	2.093	11270	0.119	0.087	2858	2512	1500	1582	1419	0	0	0	0	0	0	13.07	13.05	11.49
3506	1.03	304.2	2858	2512	1581	1409	311.8	15.5	141	3509	0.00	1.60	0.00	0.000	260	0.000	0.135	2858	3354	1495	1581	1409	0	0	0	0	0	0	28.83	13.91	28.83
3604	0.98	304.2	2858	3354	1581	1409	296.4	15.7	144	3608	0.15	1.50	0.00	0.000	5126	0.278	0.091	2832	2503	1494	1579	1409	0	0	0	0	0	0	13.96	14.19	28.83
3936	0.95	304.2	2832	2503	1580	1407	251.1	13.3	155	3940	0.00	1.50	0.00	0.000	516	0.000	0.103	2837	1670	1493	1580	1406	0	0	0	0	0	0	28.83	14.24	28.83
3990	0.92	304.2	2837	1670	1579	1406	246.4	13.1	156	3995	0.08	1.58	0.00	0.000	5126	0.229	0.122	2815	2509	1492	1580	1405	0	0	0	0	0	0	14.07	14.21	28.83
4307	0.92	304.2	2815	2509	1579	1406	208.7	11.7	167	4311	0.00	1.55	0.00	0.000	260	0.000	0.132	2815	3360	1492	1579	1406	0	0	0	0	0	0	28.83	14.22	28.83
4350	0.92	304.2	2815	3360	1579	1406	204.8	11.4	168	4354	0.00	1.50	0.00	0.000	1030	0.000	0.090	2820	2496	1492	1579	1406	0	0	0	0	0	0	28.83	14.33	28.83
4675	0.92	304.2	2820	2496	1579	1406	166.6	11.1	179	4679	0.00	1.50	0.00	0.000	516	0.000	0.103	2826	1669	1492	1579	1406	0	0	0	0	0	0	28.83	14.23	28.83
4734	0.92	304.2	2826	1669	1579	1405	162.9	10.9	180	4741	0.00	1.55	0.00	0.000	1030	0.000	0.121	2826	2521	1492	1579	1406	0	0	0	0	0	0	28.83	14.22	28.83
5040	0.92	304.2	2826	2521	1579	1405	127.9	10.5	191	5044	0.00	1.58	0.00	0.000	260	0.000	0.133	2826	3351	1492	1579	1405	0	0	0	0	0	0	28.83	14.12	28.83
5108	0.92	304.2	2826	3350	1579	1404	120.5	10.7	193	5112	0.00	1.50	0.00	0.000	1030	0.000	0.091	2832	2488	1492	1579	1405	0	0	0	0	0	0	28.83	14.29	28.83
5420	0.92	304.2	2832	2488	1579	1405	90.9	12.7	208	5424	0.00	1.50	0.00	0.000	516	0.000	0.105	2838	1667	1492	1579	1405	0	0	0	0	0	0	28.83	14.18	28.83
5475	0.92	304.2	2838	1667	1579	1404	83.7	13.4	213	5479	0.12	1.55	0.00	0.000	5126	0.256	0.122	2811	2518	1491	1579	1404	0	0	0	0	0	0	14.04	14.18	28.83
5793	0.97	322.1	2810	2518	1579	1404	66.4	7.6	244	5810	0.00	1.55	9.52	0.373	8452	0.000	0.130	2810	3354	1427	1515	1340	0	0	0	0	0	0	28.83	14.11	13.55
5877	0.97	322.1	2810	3355	1515	1340	58.8	11.7	252	5880	0.00	1.50	0.00	0.000	1030	0.000	0.093	2815	2495	1427	1515	1339	0	0	0	0	0	0	28.83	14.23	28.83
6192	0.97	322.1	2815	2495	1513	1338	32.7	10.4	283	6198	0.00	0.00	0.00	0.000	6	0.000	0.000	2815	2495	1425	1513	1338	0	0	0	0	0	0	28.83	28.83	28.83
6462	end climb: FINISH_DEPTH_REACHED
state	6463	begin subsurface finish
6477	0.06	40.5	2815	2495	1513	1337	7.8	12.1	310	6528	0.98	0.00	-42.67	0.000	20486	0.198	0.000	2537	2495	2578	2682	2475	0	0	0	0	0	0	13.89	28.83	14.75
6529	end subsurface finish: CONTROL_FINISHED_OK
state	6529	begin surface