Glider dive log

DavisStrait Jun12 * SG108 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HD_B 0.0115 PITCH_ADJ_GAIN 0.045000002 ALTIM_TOP_PING_RANGE 20

MISSION 21 HD_C 1.7999999e-06 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 15

DIVE 4 HEADING -1 ROLL_MIN 294 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 10 ESCAPE_HEADING 100 ROLL_MAX 3598 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 4 ESCAPE_HEADING_DELTA 5 ROLL_DEG 40 ALTIM_PING_DEPTH 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0.25 C_ROLL_DIVE 2000 ALTIM_PING_DELTA 10

D_TGT 450 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2000 ALTIM_FREQUENCY 13

D_ABORT 600 TGT_DEFAULT_LON 5900 HEAD_ERRBAND 10 ALTIM_PULSE 4

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 4

D_BOOST 20 SM_CC 623.11926 ROLL_TIMEOUT 15 XPDR_VALID 5

T_BOOST 0 N_FILEKB 4 R_PORT_OVSHOOT 45 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 38 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 300 INT_PRESSURE_YINT 0

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_CALL 0 PROTOCOL 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 161 VBD_MIN 448 DEVICE1 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_MAX 4001 DEVICE2 20

T_DIVE 150 UPLOAD_DIVES_MAX 5 C_VBD 3029 DEVICE3 -1

T_MISSION 200 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_ABORT 1440 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_TURN 225 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_NO_W 120 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_LOITER 0 T_GPS 5 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

USE_BATHY -3 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -189882.69 VBD_MAXERRORS 1 COMPASS_DEVICE 97

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 2 CF8_MAXERRORS 0 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 64

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 350 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3700 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 3150 PHONE_SUPPLY -1 SEABIRD_T_G 0.0044220644

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -22.860044 SEABIRD_T_H 0.00065538363

RHO 1.023 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.0001161151 SEABIRD_T_I 2.8550956e-05

MASS 51396 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 3.214675e-06

NAV_MODE 0 PITCH_GAIN 30 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.084064

FERRY_MAX 45 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1288997

KALMAN_USE 2 PITCH_AD_RATE 150 COMPASS_USE 4 SEABIRD_C_I -0.0014441535

HD_A 0.00275 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00017831143

AD7714Ch0Gain 128 D_NO_BLEED 200 N_NOSURFACE 0 SIM_PITCH 0

AH0_10V 100 D_OFFGRID 100 PHONE_DEVICE 48 SIM_W 0

AH0_24V 150 D_PITCH 0 PHONE_SUPPLY -1 SM_CC 623.11926

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 4 PITCH_ADJ_GAIN 0.045000002 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 450 PITCH_AD_RATE 150 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING 100 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 5 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_GAIN 30 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 FG_AHR_10V 0 PITCH_MAX 3700 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 PITCH_MIN 350 TGT_DEFAULT_LAT -2030

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0.25 PITCH_TIMEOUT 20 TGT_DEFAULT_LON 5900

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_SLOPE 0.0001161151 T_BOOST 0

CALL_TRIES 5 HD_A 0.00275 PRESSURE_YINT -22.860044 T_DIVE 150

CALL_WAIT 60 HD_B 0.0115 PROTOCOL 0 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 1.7999999e-06 P_OVSHOOT 0.039999999 T_GPS 5

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_DEVICE 64 T_GPS_CHARGE -189882.69

COMM_SEQ 0 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.1 RAFOS_PEAK_OFFSET 1.5 T_MISSION 200

COMPASS_DEVICE 97 ID 108 RELAUNCH 1 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.023 T_RSLEEP 2

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 3150 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2000 LOGGERDEVICE1 -1 ROLL_AD_RATE 300 T_WATCHDOG 10

C_ROLL_DIVE 2000 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 20

C_VBD 3029 LOGGERDEVICE3 -1 ROLL_DEG 40 UPLOAD_DIVES_MAX 5

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3598 USE_BATHY -3

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 0 USE_ICE 0

DEVICE1 2 MASS 51396 ROLL_MIN 294 VBD_BLEED_AD_RATE 8

DEVICE2 20 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 -1 MINV_10V 8 R_PORT_OVSHOOT 45 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 38 VBD_MAX 4001

DEVICE5 -1 MISSION 21 SEABIRD_C_G -10.084064 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1288997 VBD_MIN 448

DIVE 4 NAV_MODE 0 SEABIRD_C_I -0.0014441535 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 600 NOCOMM_ACTION 161 SEABIRD_C_J 0.00017831143 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 20 N_DIVES 10 SEABIRD_T_G 0.0044220644 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_T_H 0.00065538363 XPDR_DEVICE 24

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.8550956e-05 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_J 3.214675e-06 XPDR_VALID 5

Pre-dive calculations and measurements:

GPS1 200612,111405,6659.026,-5646.955,25,1.2,25,-33.4 TGT_NAME TARGET_E

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.46 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200612,112730,6659.102,-5646.966,16,1.3,17,-33.4 MHEAD_RNG_PITCHd_Wd 27.5,7259,-17.8,-10.000

SPEED_LIMITS 0.173,0.247 D_GRID 564

Post-dive calculations and measurements:

FINISH 0.8,1.008341 ALTIM_TOP_PING 19.4,18.9

SM_CCo 9083,167.40,0.067,0,0,487,623.31 _24V_AH 23.6,4.534

SM_GC 1.46,8.23,0.00,167.40,0.060,0.000,0.067,344,2000,487,-8.72,0.00,623.31,0,0,0,0,0,0,26.25,28.83,26.08 _10V_AH 10.3,5.609

RAFOS_CLK 441 FG_AHR_24Vo 0.000

RAFOS 0,1340193665,12.033333,12.018056,52,48,47,46,45,45,891,901,1288,660,1401,1577 FG_AHR_10Vo 0.000

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 MEM 151596

IRIDIUM_FIX 6631.12,-5649.11,200612,111146 DATA_FILE_SIZE 50068,1082

TT8_MAMPS 0.026215,0.026215 CAP_FILE_SIZE 127596,0

HUMID 38.14 CFSIZE 260165632,245235712

INTERNAL_PRESSURE 8.94566 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0

TCM_TEMP 16.60 SOUNDSPEED 1464.0

XPDR_PINGS 1 GPS 200612,140335,6700.256,-5648.418,35,0.9,35,-33.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 260 136.67 SBE_CT 772 23 436.94

Roll_motor 84 75 150.18 SBE_O2 748 5 105.77

VBD_pump_during_apogee 309 1112 8131.75 nil 0 0 0.00

VBD_pump_during_surface 167 67 265.96 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 558 259 3425.74 nil 0 0 0.00

Transponder_ping 0 420 4.96 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 26 4.91

TT8 2558 17 473.22

LPSleep 4075 2 96.96

TT8_Active 641 17 118.70

TT8_Sampling 2507 40 1044.27

TT8_CF8 276 48 138.46

TT8_Kalman 0 0 0.00

Analog_circuits 2235 12 276.29

GPS_charging 0 0 0.00

Compass 1946 7 150.14

RAFOS 2520 3 77.87

Transponder 2 30 0.81

Guidance and control:

st_secs pitch_ctl vbd_ctl 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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -0.78 -146.6 0.0 0.0 0 143 0.00 0.00 -122.28 0.000 2 0.000 0.000 349 2018 3349 0 0 0 0 0 0 28.83 28.83 28.83

147 -0.78 -146.6 3.4 -5.0 22 173 10.25 2.22 -6.07 0.000 4 0.261 0.076 2885 3402 3631 0 0 0 0 0 0 26.01 26.30 26.65

403 -0.71 -146.6 40.9 -11.7 71 410 0.12 2.15 0.00 0.000 6 0.176 0.044 2920 1997 3636 0 0 0 0 0 0 26.22 26.41 28.83

715 -0.76 -146.6 67.7 -7.8 132 722 0.00 2.22 0.00 0.000 4 0.000 0.060 2912 3402 3637 0 0 0 0 0 0 28.83 26.39 28.83

952 -0.80 -146.6 89.2 -9.6 178 959 0.00 2.15 0.00 0.000 6 0.000 0.044 2912 1993 3637 0 0 0 0 0 0 28.83 26.48 28.83

1267 -0.80 -146.6 118.2 -9.8 221 1276 0.00 2.22 0.00 0.000 4 0.000 0.061 2901 3401 3636 0 0 0 0 0 0 28.83 26.46 28.83

1504 -0.80 -146.6 142.5 -10.3 244 1511 0.00 2.15 0.00 0.000 6 0.000 0.045 2901 1991 3636 0 0 0 0 0 0 28.83 26.53 28.83

1811 -0.80 -146.6 172.1 -9.3 275 1820 0.00 2.22 0.00 0.000 4 0.000 0.062 2891 3406 3636 0 0 0 0 0 0 28.83 26.50 28.83

2048 -0.80 -146.6 193.5 -8.9 298 2054 0.00 2.15 0.00 0.000 6 0.000 0.046 2891 1994 3637 0 0 0 0 0 0 28.83 26.57 28.83

2355 -0.80 -146.6 219.2 -8.2 329 2359 0.00 2.22 0.00 0.000 4 0.000 0.062 2880 3409 3637 0 0 0 0 0 0 28.83 26.53 28.83

2590 -0.80 -146.6 241.2 -9.6 352 2598 0.00 2.12 0.00 0.000 6 0.000 0.046 2880 1987 3637 0 0 0 0 0 0 28.83 26.60 28.83

2900 -0.80 -146.6 269.4 -9.1 383 2909 0.00 2.22 0.00 0.000 4 0.000 0.060 2869 3409 3637 0 0 0 0 0 0 28.83 26.55 28.83

3102 -0.75 -146.6 288.6 -9.2 403 3112 0.10 2.12 0.00 0.000 6 0.152 0.045 2902 1994 3637 0 0 0 0 0 0 26.41 26.62 28.83

3413 -0.83 -146.6 311.6 -7.0 434 3421 0.00 2.20 0.00 0.000 4 0.000 0.060 2893 3402 3638 0 0 0 0 0 0 28.83 26.57 28.83

3648 -0.89 -146.6 329.5 -7.7 457 3655 0.00 2.12 0.00 0.000 6 0.000 0.044 2893 1997 3639 0 0 0 0 0 0 28.83 26.64 28.83

3955 -0.94 -146.6 354.1 -8.2 488 3964 0.12 2.17 0.00 0.000 4 0.104 0.059 2826 3404 3639 0 0 0 0 0 0 26.67 26.59 28.83

4051 -0.73 -146.6 364.3 -11.5 497 4058 0.30 2.12 0.00 0.000 6 0.155 0.044 2914 1996 3639 0 0 0 0 0 0 26.40 26.65 28.83

4358 -0.88 -146.6 386.5 -7.0 528 4367 0.12 2.17 0.00 0.000 4 0.101 0.057 2846 3409 3640 0 0 0 0 0 0 26.68 26.60 28.83

4495 -0.76 -146.6 399.8 -10.4 541 4502 0.20 2.12 0.00 0.000 6 0.160 0.043 2903 1998 3640 0 0 0 0 0 0 26.43 26.66 28.83

4802 -0.86 -146.6 422.6 -7.2 572 4811 0.00 2.17 0.00 0.000 4 0.000 0.059 2895 3412 3640 0 0 0 0 0 0 28.83 26.61 28.83

5038 -0.93 -146.6 440.1 -7.4 595 5045 0.15 2.12 0.00 0.000 6 0.095 0.042 2833 1997 3641 0 0 0 0 0 0 26.63 26.68 28.83

5141 end dive: TARGET_DEPTH_EXCEEDED

state 5141 begin apogee

5148 -0.17 0.0 450.9 -10.4 606 5274 0.82 0.00 120.65 1.112 6 0.151 0.000 3092 1989 3029 0 0 0 0 0 0 26.42 28.83 23.77

5277 end apogee: CONTROL_FINISHED_OK

state 5277 begin climb

5280 0.78 146.6 453.0 0.0 619 5417 0.88 2.42 124.12 1.083 4 0.073 0.057 3398 3400 2430 0 0 0 0 0 0 24.79 24.42 23.56

5643 0.32 146.6 394.4 19.4 655 5650 0.55 2.20 0.00 0.000 6 0.167 0.043 3253 1994 2421 0 0 0 0 0 0 25.39 25.59 28.83

5950 0.57 177.8 365.9 8.6 686 5983 0.20 2.33 25.88 0.989 4 0.082 0.049 3347 592 2304 0 0 0 0 0 0 25.92 25.36 24.52

6213 0.49 177.8 328.9 14.7 712 6223 0.15 2.30 0.00 0.000 6 0.166 0.047 3304 2010 2300 0 0 0 0 0 0 25.70 25.84 28.83

6523 0.49 177.8 290.2 12.0 743 6531 0.00 2.25 0.00 0.000 4 0.000 0.049 3311 598 2299 0 0 0 0 0 0 28.83 26.06 28.83

6726 0.57 177.8 266.6 11.1 763 6730 0.00 2.22 0.00 0.000 6 0.000 0.047 3311 2001 2299 0 0 0 0 0 0 28.83 26.16 28.83

7038 0.57 177.8 228.7 12.3 794 7047 0.00 2.22 0.00 0.000 4 0.000 0.049 3320 588 2299 0 0 0 0 0 0 28.83 26.25 28.83

7090 0.57 177.8 222.6 11.8 799 7099 0.00 2.25 0.00 0.000 6 0.000 0.046 3320 2005 2299 0 0 0 0 0 0 28.83 26.27 28.83

7400 0.57 177.8 185.2 12.4 830 7409 0.00 2.22 0.00 0.000 4 0.000 0.049 3330 592 2299 0 0 0 0 0 0 28.83 26.34 28.83

7474 0.57 177.8 176.6 11.8 837 7481 0.00 2.22 0.00 0.000 6 0.000 0.046 3330 2004 2299 0 0 1 0 0 0 28.83 26.36 28.83

7782 0.57 177.8 138.1 12.1 868 7791 0.00 2.22 0.00 0.000 4 0.000 0.049 3340 592 2299 0 0 0 0 0 0 28.83 26.40 28.83

7816 0.57 177.8 134.2 12.0 871 7823 0.00 2.22 0.00 0.000 6 0.000 0.046 3340 2001 2299 0 0 0 0 0 0 28.83 26.41 28.83

8125 0.57 177.8 99.1 10.8 902 8132 0.00 2.22 0.00 0.000 4 0.000 0.049 3349 594 2299 0 0 0 0 0 0 28.83 26.45 28.83

8191 0.57 177.8 91.5 11.1 914 8198 0.00 2.22 0.00 0.000 6 0.000 0.046 3349 2005 2299 0 0 0 0 0 0 28.83 26.46 28.83

8502 0.57 177.8 57.0 10.3 975 8509 0.00 2.25 0.00 0.000 4 0.000 0.050 3358 583 2299 0 0 0 0 0 0 28.83 26.48 28.83

8522 0.57 177.8 54.8 11.3 978 8529 0.00 2.22 0.00 0.000 6 0.000 0.046 3358 2000 2299 0 0 0 0 0 0 28.83 26.50 28.83

8833 0.61 213.1 22.2 8.4 1039 8858 0.00 2.33 18.40 0.773 4 0.000 0.050 3368 587 2160 0 0 0 0 0 0 28.83 26.17 25.44

8866 0.66 255.3 19.4 8.1 1044 8896 0.00 2.25 20.73 0.110 6 0.000 0.045 3368 2000 1984 0 0 0 0 0 0 28.83 26.22 26.08

9023 end climb: SURFACE_DEPTH_REACHED

state 9023 begin surface coast

9065 end surface coast: CONTROL_FINISHED_OK

state 9065 begin surface

ID	108	HD_B	0.0115	PITCH_ADJ_GAIN	0.045000002	ALTIM_TOP_PING_RANGE	20
MISSION	21	HD_C	1.7999999e-06	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	15
DIVE	4	HEADING	-1	ROLL_MIN	294	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	10	ESCAPE_HEADING	100	ROLL_MAX	3598	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	4	ESCAPE_HEADING_DELTA	5	ROLL_DEG	40	ALTIM_PING_DEPTH	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0.25	C_ROLL_DIVE	2000	ALTIM_PING_DELTA	10
D_TGT	450	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2000	ALTIM_FREQUENCY	13
D_ABORT	600	TGT_DEFAULT_LON	5900	HEAD_ERRBAND	10	ALTIM_PULSE	4
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	4
D_BOOST	20	SM_CC	623.11926	ROLL_TIMEOUT	15	XPDR_VALID	5
T_BOOST	0	N_FILEKB	4	R_PORT_OVSHOOT	45	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	38	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	300	INT_PRESSURE_YINT	0
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_CALL	0	PROTOCOL	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	161	VBD_MIN	448	DEVICE1	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_MAX	4001	DEVICE2	20
T_DIVE	150	UPLOAD_DIVES_MAX	5	C_VBD	3029	DEVICE3	-1
T_MISSION	200	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_ABORT	1440	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_TURN	225	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_NO_W	120	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_LOITER	0	T_GPS	5	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
USE_BATHY	-3	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-189882.69	VBD_MAXERRORS	1	COMPASS_DEVICE	97
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	2	CF8_MAXERRORS	0	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	64
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	350	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3700	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	3150	PHONE_SUPPLY	-1	SEABIRD_T_G	0.0044220644
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-22.860044	SEABIRD_T_H	0.00065538363
RHO	1.023	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.0001161151	SEABIRD_T_I	2.8550956e-05
MASS	51396	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	3.214675e-06
NAV_MODE	0	PITCH_GAIN	30	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.084064
FERRY_MAX	45	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1288997
KALMAN_USE	2	PITCH_AD_RATE	150	COMPASS_USE	4	SEABIRD_C_I	-0.0014441535
HD_A	0.00275	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00017831143

GPS1	200612,111405,6659.026,-5646.955,25,1.2,25,-33.4	TGT_NAME	TARGET_E
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.46	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200612,112730,6659.102,-5646.966,16,1.3,17,-33.4	MHEAD_RNG_PITCHd_Wd	27.5,7259,-17.8,-10.000
SPEED_LIMITS	0.173,0.247	D_GRID	564

FINISH	0.8,1.008341	ALTIM_TOP_PING	19.4,18.9
SM_CCo	9083,167.40,0.067,0,0,487,623.31	_24V_AH	23.6,4.534
SM_GC	1.46,8.23,0.00,167.40,0.060,0.000,0.067,344,2000,487,-8.72,0.00,623.31,0,0,0,0,0,0,26.25,28.83,26.08	_10V_AH	10.3,5.609
RAFOS_CLK	441	FG_AHR_24Vo	0.000
RAFOS	0,1340193665,12.033333,12.018056,52,48,47,46,45,45,891,901,1288,660,1401,1577	FG_AHR_10Vo	0.000
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	MEM	151596
IRIDIUM_FIX	6631.12,-5649.11,200612,111146	DATA_FILE_SIZE	50068,1082
TT8_MAMPS	0.026215,0.026215	CAP_FILE_SIZE	127596,0
HUMID	38.14	CFSIZE	260165632,245235712
INTERNAL_PRESSURE	8.94566	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
TCM_TEMP	16.60	SOUNDSPEED	1464.0
XPDR_PINGS	1	GPS	200612,140335,6700.256,-5648.418,35,0.9,35,-33.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	260	136.67	SBE_CT	772	23	436.94
Roll_motor	84	75	150.18	SBE_O2	748	5	105.77
VBD_pump_during_apogee	309	1112	8131.75	nil	0	0	0.00
VBD_pump_during_surface	167	67	265.96	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	558	259	3425.74	nil	0	0	0.00
Transponder_ping	0	420	4.96	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	26	4.91
TT8	2558	17	473.22
LPSleep	4075	2	96.96
TT8_Active	641	17	118.70
TT8_Sampling	2507	40	1044.27
TT8_CF8	276	48	138.46
TT8_Kalman	0	0	0.00
Analog_circuits	2235	12	276.29
GPS_charging	0	0	0.00
Compass	1946	7	150.14
RAFOS	2520	3	77.87
Transponder	2	30	0.81

st_secs	pitch_ctl	vbd_ctl	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	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-0.78	-146.6	0.0	0.0	0	143	0.00	0.00	-122.28	0.000	2	0.000	0.000	349	2018	3349	0	0	0	0	0	0	28.83	28.83	28.83
147	-0.78	-146.6	3.4	-5.0	22	173	10.25	2.22	-6.07	0.000	4	0.261	0.076	2885	3402	3631	0	0	0	0	0	0	26.01	26.30	26.65
403	-0.71	-146.6	40.9	-11.7	71	410	0.12	2.15	0.00	0.000	6	0.176	0.044	2920	1997	3636	0	0	0	0	0	0	26.22	26.41	28.83
715	-0.76	-146.6	67.7	-7.8	132	722	0.00	2.22	0.00	0.000	4	0.000	0.060	2912	3402	3637	0	0	0	0	0	0	28.83	26.39	28.83
952	-0.80	-146.6	89.2	-9.6	178	959	0.00	2.15	0.00	0.000	6	0.000	0.044	2912	1993	3637	0	0	0	0	0	0	28.83	26.48	28.83
1267	-0.80	-146.6	118.2	-9.8	221	1276	0.00	2.22	0.00	0.000	4	0.000	0.061	2901	3401	3636	0	0	0	0	0	0	28.83	26.46	28.83
1504	-0.80	-146.6	142.5	-10.3	244	1511	0.00	2.15	0.00	0.000	6	0.000	0.045	2901	1991	3636	0	0	0	0	0	0	28.83	26.53	28.83
1811	-0.80	-146.6	172.1	-9.3	275	1820	0.00	2.22	0.00	0.000	4	0.000	0.062	2891	3406	3636	0	0	0	0	0	0	28.83	26.50	28.83
2048	-0.80	-146.6	193.5	-8.9	298	2054	0.00	2.15	0.00	0.000	6	0.000	0.046	2891	1994	3637	0	0	0	0	0	0	28.83	26.57	28.83
2355	-0.80	-146.6	219.2	-8.2	329	2359	0.00	2.22	0.00	0.000	4	0.000	0.062	2880	3409	3637	0	0	0	0	0	0	28.83	26.53	28.83
2590	-0.80	-146.6	241.2	-9.6	352	2598	0.00	2.12	0.00	0.000	6	0.000	0.046	2880	1987	3637	0	0	0	0	0	0	28.83	26.60	28.83
2900	-0.80	-146.6	269.4	-9.1	383	2909	0.00	2.22	0.00	0.000	4	0.000	0.060	2869	3409	3637	0	0	0	0	0	0	28.83	26.55	28.83
3102	-0.75	-146.6	288.6	-9.2	403	3112	0.10	2.12	0.00	0.000	6	0.152	0.045	2902	1994	3637	0	0	0	0	0	0	26.41	26.62	28.83
3413	-0.83	-146.6	311.6	-7.0	434	3421	0.00	2.20	0.00	0.000	4	0.000	0.060	2893	3402	3638	0	0	0	0	0	0	28.83	26.57	28.83
3648	-0.89	-146.6	329.5	-7.7	457	3655	0.00	2.12	0.00	0.000	6	0.000	0.044	2893	1997	3639	0	0	0	0	0	0	28.83	26.64	28.83
3955	-0.94	-146.6	354.1	-8.2	488	3964	0.12	2.17	0.00	0.000	4	0.104	0.059	2826	3404	3639	0	0	0	0	0	0	26.67	26.59	28.83
4051	-0.73	-146.6	364.3	-11.5	497	4058	0.30	2.12	0.00	0.000	6	0.155	0.044	2914	1996	3639	0	0	0	0	0	0	26.40	26.65	28.83
4358	-0.88	-146.6	386.5	-7.0	528	4367	0.12	2.17	0.00	0.000	4	0.101	0.057	2846	3409	3640	0	0	0	0	0	0	26.68	26.60	28.83
4495	-0.76	-146.6	399.8	-10.4	541	4502	0.20	2.12	0.00	0.000	6	0.160	0.043	2903	1998	3640	0	0	0	0	0	0	26.43	26.66	28.83
4802	-0.86	-146.6	422.6	-7.2	572	4811	0.00	2.17	0.00	0.000	4	0.000	0.059	2895	3412	3640	0	0	0	0	0	0	28.83	26.61	28.83
5038	-0.93	-146.6	440.1	-7.4	595	5045	0.15	2.12	0.00	0.000	6	0.095	0.042	2833	1997	3641	0	0	0	0	0	0	26.63	26.68	28.83
5141	end dive: TARGET_DEPTH_EXCEEDED
state	5141	begin apogee
5148	-0.17	0.0	450.9	-10.4	606	5274	0.82	0.00	120.65	1.112	6	0.151	0.000	3092	1989	3029	0	0	0	0	0	0	26.42	28.83	23.77
5277	end apogee: CONTROL_FINISHED_OK
state	5277	begin climb
5280	0.78	146.6	453.0	0.0	619	5417	0.88	2.42	124.12	1.083	4	0.073	0.057	3398	3400	2430	0	0	0	0	0	0	24.79	24.42	23.56
5643	0.32	146.6	394.4	19.4	655	5650	0.55	2.20	0.00	0.000	6	0.167	0.043	3253	1994	2421	0	0	0	0	0	0	25.39	25.59	28.83
5950	0.57	177.8	365.9	8.6	686	5983	0.20	2.33	25.88	0.989	4	0.082	0.049	3347	592	2304	0	0	0	0	0	0	25.92	25.36	24.52
6213	0.49	177.8	328.9	14.7	712	6223	0.15	2.30	0.00	0.000	6	0.166	0.047	3304	2010	2300	0	0	0	0	0	0	25.70	25.84	28.83
6523	0.49	177.8	290.2	12.0	743	6531	0.00	2.25	0.00	0.000	4	0.000	0.049	3311	598	2299	0	0	0	0	0	0	28.83	26.06	28.83
6726	0.57	177.8	266.6	11.1	763	6730	0.00	2.22	0.00	0.000	6	0.000	0.047	3311	2001	2299	0	0	0	0	0	0	28.83	26.16	28.83
7038	0.57	177.8	228.7	12.3	794	7047	0.00	2.22	0.00	0.000	4	0.000	0.049	3320	588	2299	0	0	0	0	0	0	28.83	26.25	28.83
7090	0.57	177.8	222.6	11.8	799	7099	0.00	2.25	0.00	0.000	6	0.000	0.046	3320	2005	2299	0	0	0	0	0	0	28.83	26.27	28.83
7400	0.57	177.8	185.2	12.4	830	7409	0.00	2.22	0.00	0.000	4	0.000	0.049	3330	592	2299	0	0	0	0	0	0	28.83	26.34	28.83
7474	0.57	177.8	176.6	11.8	837	7481	0.00	2.22	0.00	0.000	6	0.000	0.046	3330	2004	2299	0	0	1	0	0	0	28.83	26.36	28.83
7782	0.57	177.8	138.1	12.1	868	7791	0.00	2.22	0.00	0.000	4	0.000	0.049	3340	592	2299	0	0	0	0	0	0	28.83	26.40	28.83
7816	0.57	177.8	134.2	12.0	871	7823	0.00	2.22	0.00	0.000	6	0.000	0.046	3340	2001	2299	0	0	0	0	0	0	28.83	26.41	28.83
8125	0.57	177.8	99.1	10.8	902	8132	0.00	2.22	0.00	0.000	4	0.000	0.049	3349	594	2299	0	0	0	0	0	0	28.83	26.45	28.83
8191	0.57	177.8	91.5	11.1	914	8198	0.00	2.22	0.00	0.000	6	0.000	0.046	3349	2005	2299	0	0	0	0	0	0	28.83	26.46	28.83
8502	0.57	177.8	57.0	10.3	975	8509	0.00	2.25	0.00	0.000	4	0.000	0.050	3358	583	2299	0	0	0	0	0	0	28.83	26.48	28.83
8522	0.57	177.8	54.8	11.3	978	8529	0.00	2.22	0.00	0.000	6	0.000	0.046	3358	2000	2299	0	0	0	0	0	0	28.83	26.50	28.83
8833	0.61	213.1	22.2	8.4	1039	8858	0.00	2.33	18.40	0.773	4	0.000	0.050	3368	587	2160	0	0	0	0	0	0	28.83	26.17	25.44
8866	0.66	255.3	19.4	8.1	1044	8896	0.00	2.25	20.73	0.110	6	0.000	0.045	3368	2000	1984	0	0	0	0	0	0	28.83	26.22	26.08
9023	end climb: SURFACE_DEPTH_REACHED
state	9023	begin surface coast
9065	end surface coast: CONTROL_FINISHED_OK
state	9065	begin surface