Glider dive log

DavisStrait Jun12 * SG108 * Dive index * Mission links * Dive 3 * 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 3 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 40 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 37 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 -189881.44 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 -189881.44

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 40 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 37 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 3 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 200612,083356,6658.843,-5646.478,25,1.7,25,-33.4 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.93 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200612,083835,6658.787,-5646.376,42,1.0,43,-33.4 MHEAD_RNG_PITCHd_Wd 24.9,7891,-17.8,-10.000

SPEED_LIMITS 0.173,0.247 D_GRID 547

Post-dive calculations and measurements:

FINISH 0.8,1.003537 ALTIM_TOP_PING 19.8,18.9

SM_CCo 9058,171.93,0.067,0,0,487,623.31 _24V_AH 23.7,4.443

SM_GC 1.56,8.27,0.00,171.93,0.060,0.000,0.067,350,2002,487,-8.71,0.08,623.31,0,0,0,0,0,0,26.12,28.83,25.97 _10V_AH 10.4,5.498

RAFOS_CLK 441 FG_AHR_24Vo 0.000

RAFOS 2,1340180225,8.300000,8.284722,52,50,47,44,44,44,349,1455,1751,916,1177,1202 FG_AHR_10Vo 0.000

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 MEM 151644

IRIDIUM_FIX 6631.12,-5632.31,200612,080806 DATA_FILE_SIZE 50087,1069

TT8_MAMPS 0.025466,0.025466 CAP_FILE_SIZE 131916,0

HUMID 38.85 CFSIZE 260165632,245301248

INTERNAL_PRESSURE 8.93589 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,28

TCM_TEMP 16.20 SOUNDSPEED 1464.1

XPDR_PINGS 3 GPS 200612,111405,6659.026,-5646.955,25,1.2,25,-33.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 260 152.72 SBE_CT 758 23 430.84

Roll_motor 96 61 139.97 SBE_O2 827 5 117.53

VBD_pump_during_apogee 304 1113 8019.48 nil 0 0 0.00

VBD_pump_during_surface 171 67 274.30 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 1 420 9.95 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 44 26 12.12

TT8 2523 17 471.36

LPSleep 4052 2 97.35

TT8_Active 638 17 119.31

TT8_Sampling 1912 40 804.35

TT8_CF8 217 48 110.13

TT8_Kalman 0 0 0.00

Analog_circuits 1660 12 207.26

GPS_charging 0 0 0.00

Compass 1791 7 139.52

RAFOS 720 3 22.46

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.78 -146.6 0.0 0.0 0 152 0.00 0.00 -132.75 0.000 2 0.000 0.000 342 1990 3623 0 0 0 0 0 0 28.83 28.83 28.83

155 -0.78 -146.6 3.9 -6.8 17 173 10.35 2.25 0.00 0.000 4 0.260 0.060 2885 3402 3627 0 0 0 0 0 0 25.91 26.22 28.83

200 0.02 -146.6 20.0 -28.0 23 210 0.80 2.17 0.00 0.000 6 0.140 0.045 3147 2000 3628 0 0 0 0 0 0 26.07 26.29 28.83

523 -0.88 -146.6 42.2 -6.9 84 530 0.77 2.22 0.00 0.000 4 0.080 0.058 2862 3413 3629 0 0 0 0 0 0 26.28 26.30 28.83

762 -0.76 -146.6 70.9 -13.0 130 769 0.15 2.17 0.00 0.000 6 0.165 0.044 2901 1991 3629 0 0 0 0 0 0 26.16 26.40 28.83

1074 -0.76 -146.6 101.8 -8.9 189 1083 0.00 2.22 0.00 0.000 4 0.000 0.060 2893 3412 3630 0 0 0 0 0 0 28.83 26.36 28.83

1311 -0.76 -146.6 123.7 -9.0 212 1318 0.00 2.17 0.00 0.000 6 0.000 0.045 2893 1989 3630 0 0 0 0 0 0 28.83 26.46 28.83

1618 -0.76 -146.6 151.0 -8.5 243 1626 0.00 2.22 0.00 0.000 4 0.000 0.061 2883 3399 3630 0 0 0 0 0 0 28.83 26.41 28.83

1854 -0.76 -146.6 173.8 -9.9 266 1861 0.00 2.15 0.00 0.000 6 0.000 0.044 2883 1987 3630 0 0 0 0 0 0 28.83 26.50 28.83

2161 -0.76 -146.6 204.9 -9.7 297 2170 0.00 2.20 0.00 0.000 4 0.000 0.060 2873 3399 3629 0 0 0 0 0 0 28.83 26.45 28.83

2256 -0.76 -146.6 214.5 -10.6 306 2264 0.12 2.12 0.00 0.000 6 0.169 0.044 2904 1997 3629 0 0 0 0 0 0 26.31 26.53 28.83

2564 -0.85 -146.6 242.2 -9.0 337 2572 0.00 2.20 0.00 0.000 4 0.000 0.060 2896 3401 3630 0 0 0 0 0 0 28.83 26.47 28.83

2596 -0.94 -146.6 245.2 -9.0 340 2606 0.10 2.10 0.00 0.000 6 0.072 0.044 2841 1999 3630 0 0 0 0 0 0 26.48 26.55 28.83

2906 -0.79 -146.6 280.7 -11.4 371 2915 0.17 2.17 0.00 0.000 4 0.162 0.058 2885 3405 3630 0 0 0 0 0 0 26.32 26.49 28.83

2931 -0.69 -146.6 283.1 -10.6 373 2939 0.15 2.12 0.00 0.000 6 0.158 0.043 2925 1997 3630 0 0 0 0 0 0 26.33 26.56 28.83

3240 -0.89 -146.6 305.0 -6.5 404 3249 0.15 2.17 0.00 0.000 4 0.093 0.057 2847 3403 3631 0 0 0 0 0 0 26.60 26.50 28.83

3282 -0.89 -146.6 309.0 -9.5 408 3291 0.00 2.10 0.00 0.000 6 0.000 0.043 2847 1999 3631 0 0 0 0 0 0 28.83 26.58 28.83

3593 -0.77 -146.6 340.3 -9.8 439 3602 0.17 2.17 0.00 0.000 4 0.158 0.057 2892 3405 3632 0 0 0 0 0 0 26.35 26.51 28.83

3666 -0.86 -146.6 346.4 -7.8 446 3674 0.00 2.10 0.00 0.000 6 0.000 0.042 2892 1996 3632 0 0 0 0 0 0 28.83 26.59 28.83

3976 -0.92 -146.6 369.3 -7.4 477 3985 0.12 2.17 0.00 0.000 4 0.099 0.057 2822 3403 3632 0 0 0 0 0 0 26.65 26.53 28.83

4009 -0.85 -146.6 372.6 -9.5 480 4018 0.15 2.10 0.00 0.000 6 0.141 0.042 2872 1994 3632 0 0 0 0 0 0 26.34 26.60 28.83

4319 -0.85 -146.6 400.0 -8.5 511 4327 0.00 2.17 0.00 0.000 4 0.000 0.057 2864 3405 3633 0 0 0 0 0 0 28.83 26.54 28.83

4363 -0.85 -146.6 403.8 -9.1 515 4370 0.00 2.12 0.00 0.000 6 0.000 0.042 2864 1994 3633 0 0 0 0 0 0 28.83 26.61 28.83

4671 -0.85 -146.6 431.0 -8.5 546 4679 0.00 2.17 0.00 0.000 4 0.000 0.058 2853 3406 3634 0 0 0 0 0 0 28.83 26.55 28.83

4726 -0.79 -146.6 435.8 -9.6 551 4733 0.15 2.12 0.00 0.000 6 0.158 0.042 2893 1992 3635 0 0 0 0 0 0 26.39 26.63 28.83

4920 end dive: TARGET_DEPTH_EXCEEDED

state 4920 begin apogee

4928 -0.17 0.0 450.3 -7.2 571 5055 0.60 0.00 120.25 1.113 6 0.132 0.000 3091 1992 3029 0 0 0 0 0 0 26.36 28.83 23.73

5057 end apogee: CONTROL_FINISHED_OK

state 5058 begin climb

5060 0.78 146.6 452.4 0.0 584 5195 0.88 2.33 122.22 0.981 4 0.070 0.047 3408 600 2431 0 0 0 0 0 0 24.80 24.51 23.66

5231 0.44 146.6 433.4 16.6 601 5239 0.43 2.35 0.00 0.000 6 0.161 0.046 3293 2002 2426 0 0 0 0 0 0 24.87 25.02 28.83

5540 0.52 156.3 401.4 9.6 632 5558 0.00 2.28 8.10 0.882 4 0.000 0.046 3300 599 2391 0 0 0 0 0 0 28.83 25.58 24.68

5601 0.63 168.8 395.5 9.4 638 5621 0.17 2.28 12.55 0.942 6 0.083 0.046 3368 2007 2340 0 0 0 0 0 0 25.70 25.71 24.55

5921 0.43 168.8 349.8 14.6 670 5930 0.25 2.22 0.00 0.000 4 0.158 0.047 3301 608 2336 0 0 0 0 0 0 25.76 25.91 28.83

6159 0.55 179.0 326.4 9.5 693 6175 0.00 2.25 9.43 0.889 6 0.000 0.047 3302 2012 2299 0 0 0 0 0 0 28.83 26.08 25.01

6475 0.61 179.0 292.0 11.3 725 6484 0.12 2.22 0.00 0.000 4 0.095 0.047 3368 599 2297 0 0 0 0 0 0 26.15 26.11 28.83

6580 0.50 179.0 277.1 15.3 735 6590 0.20 2.22 0.00 0.000 6 0.159 0.047 3309 1999 2297 0 0 0 0 0 0 25.99 26.16 28.83

6888 0.54 179.0 240.0 11.5 766 6897 0.00 2.15 0.00 0.000 4 0.000 0.056 3309 3398 2296 0 0 0 0 0 0 28.83 26.23 28.83

6903 0.54 179.0 238.9 11.6 767 6910 0.00 2.12 0.00 0.000 6 0.000 0.041 3316 2004 2296 0 0 0 0 0 0 28.83 26.29 28.83

7210 0.54 179.0 201.9 11.3 798 7214 0.00 2.17 0.00 0.000 4 0.000 0.049 3327 595 2296 0 0 0 0 0 0 28.83 26.33 28.83

7286 0.60 179.0 194.0 11.0 805 7292 0.00 2.22 0.00 0.000 6 0.000 0.046 3327 2001 2296 0 0 0 0 0 0 28.83 26.35 28.83

7592 0.60 179.0 156.7 12.1 836 7601 0.00 2.22 0.00 0.000 4 0.000 0.049 3337 583 2296 0 0 0 0 0 0 28.83 26.39 28.83

7608 0.60 179.0 155.7 12.1 837 7615 0.00 2.25 0.00 0.000 6 0.000 0.044 3337 2013 2296 0 0 0 0 0 0 28.83 26.41 28.83

7914 0.60 179.0 118.9 11.9 868 7918 0.00 2.25 0.00 0.000 4 0.000 0.049 3346 592 2296 0 0 0 0 0 0 28.83 26.43 28.83

7956 0.60 179.0 113.8 12.5 872 7960 0.00 2.20 0.00 0.000 6 0.000 0.046 3346 1998 2296 0 0 0 0 0 0 28.83 26.44 28.83

8265 0.60 179.0 76.0 10.6 922 8271 0.00 2.15 0.00 0.000 4 0.000 0.057 3346 3406 2296 0 0 0 0 0 0 28.83 26.44 28.83

8503 0.51 179.0 49.4 11.1 968 8510 0.15 2.15 0.00 0.000 6 0.161 0.044 3316 1993 2296 0 0 0 0 0 0 26.31 26.53 28.83

8817 0.77 237.2 24.6 7.3 1029 8862 0.20 2.25 31.45 0.806 4 0.082 0.050 3409 602 2060 0 0 0 0 0 0 26.54 25.95 25.21

8893 0.70 237.2 15.4 13.9 1041 8900 0.12 2.25 0.00 0.000 6 0.177 0.047 3379 2003 2057 0 0 0 0 0 0 25.91 26.06 28.83

9000 end climb: SURFACE_DEPTH_REACHED

state 9001 begin surface coast

9039 end surface coast: CONTROL_FINISHED_OK

state 9039 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	3	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	40	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	37	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	-189881.44	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	200612,083356,6658.843,-5646.478,25,1.7,25,-33.4	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.93	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200612,083835,6658.787,-5646.376,42,1.0,43,-33.4	MHEAD_RNG_PITCHd_Wd	24.9,7891,-17.8,-10.000
SPEED_LIMITS	0.173,0.247	D_GRID	547

FINISH	0.8,1.003537	ALTIM_TOP_PING	19.8,18.9
SM_CCo	9058,171.93,0.067,0,0,487,623.31	_24V_AH	23.7,4.443
SM_GC	1.56,8.27,0.00,171.93,0.060,0.000,0.067,350,2002,487,-8.71,0.08,623.31,0,0,0,0,0,0,26.12,28.83,25.97	_10V_AH	10.4,5.498
RAFOS_CLK	441	FG_AHR_24Vo	0.000
RAFOS	2,1340180225,8.300000,8.284722,52,50,47,44,44,44,349,1455,1751,916,1177,1202	FG_AHR_10Vo	0.000
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	MEM	151644
IRIDIUM_FIX	6631.12,-5632.31,200612,080806	DATA_FILE_SIZE	50087,1069
TT8_MAMPS	0.025466,0.025466	CAP_FILE_SIZE	131916,0
HUMID	38.85	CFSIZE	260165632,245301248
INTERNAL_PRESSURE	8.93589	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,28
TCM_TEMP	16.20	SOUNDSPEED	1464.1
XPDR_PINGS	3	GPS	200612,111405,6659.026,-5646.955,25,1.2,25,-33.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	260	152.72	SBE_CT	758	23	430.84
Roll_motor	96	61	139.97	SBE_O2	827	5	117.53
VBD_pump_during_apogee	304	1113	8019.48	nil	0	0	0.00
VBD_pump_during_surface	171	67	274.30	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	1	420	9.95	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	44	26	12.12
TT8	2523	17	471.36
LPSleep	4052	2	97.35
TT8_Active	638	17	119.31
TT8_Sampling	1912	40	804.35
TT8_CF8	217	48	110.13
TT8_Kalman	0	0	0.00
Analog_circuits	1660	12	207.26
GPS_charging	0	0	0.00
Compass	1791	7	139.52
RAFOS	720	3	22.46
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.78	-146.6	0.0	0.0	0	152	0.00	0.00	-132.75	0.000	2	0.000	0.000	342	1990	3623	0	0	0	0	0	0	28.83	28.83	28.83
155	-0.78	-146.6	3.9	-6.8	17	173	10.35	2.25	0.00	0.000	4	0.260	0.060	2885	3402	3627	0	0	0	0	0	0	25.91	26.22	28.83
200	0.02	-146.6	20.0	-28.0	23	210	0.80	2.17	0.00	0.000	6	0.140	0.045	3147	2000	3628	0	0	0	0	0	0	26.07	26.29	28.83
523	-0.88	-146.6	42.2	-6.9	84	530	0.77	2.22	0.00	0.000	4	0.080	0.058	2862	3413	3629	0	0	0	0	0	0	26.28	26.30	28.83
762	-0.76	-146.6	70.9	-13.0	130	769	0.15	2.17	0.00	0.000	6	0.165	0.044	2901	1991	3629	0	0	0	0	0	0	26.16	26.40	28.83
1074	-0.76	-146.6	101.8	-8.9	189	1083	0.00	2.22	0.00	0.000	4	0.000	0.060	2893	3412	3630	0	0	0	0	0	0	28.83	26.36	28.83
1311	-0.76	-146.6	123.7	-9.0	212	1318	0.00	2.17	0.00	0.000	6	0.000	0.045	2893	1989	3630	0	0	0	0	0	0	28.83	26.46	28.83
1618	-0.76	-146.6	151.0	-8.5	243	1626	0.00	2.22	0.00	0.000	4	0.000	0.061	2883	3399	3630	0	0	0	0	0	0	28.83	26.41	28.83
1854	-0.76	-146.6	173.8	-9.9	266	1861	0.00	2.15	0.00	0.000	6	0.000	0.044	2883	1987	3630	0	0	0	0	0	0	28.83	26.50	28.83
2161	-0.76	-146.6	204.9	-9.7	297	2170	0.00	2.20	0.00	0.000	4	0.000	0.060	2873	3399	3629	0	0	0	0	0	0	28.83	26.45	28.83
2256	-0.76	-146.6	214.5	-10.6	306	2264	0.12	2.12	0.00	0.000	6	0.169	0.044	2904	1997	3629	0	0	0	0	0	0	26.31	26.53	28.83
2564	-0.85	-146.6	242.2	-9.0	337	2572	0.00	2.20	0.00	0.000	4	0.000	0.060	2896	3401	3630	0	0	0	0	0	0	28.83	26.47	28.83
2596	-0.94	-146.6	245.2	-9.0	340	2606	0.10	2.10	0.00	0.000	6	0.072	0.044	2841	1999	3630	0	0	0	0	0	0	26.48	26.55	28.83
2906	-0.79	-146.6	280.7	-11.4	371	2915	0.17	2.17	0.00	0.000	4	0.162	0.058	2885	3405	3630	0	0	0	0	0	0	26.32	26.49	28.83
2931	-0.69	-146.6	283.1	-10.6	373	2939	0.15	2.12	0.00	0.000	6	0.158	0.043	2925	1997	3630	0	0	0	0	0	0	26.33	26.56	28.83
3240	-0.89	-146.6	305.0	-6.5	404	3249	0.15	2.17	0.00	0.000	4	0.093	0.057	2847	3403	3631	0	0	0	0	0	0	26.60	26.50	28.83
3282	-0.89	-146.6	309.0	-9.5	408	3291	0.00	2.10	0.00	0.000	6	0.000	0.043	2847	1999	3631	0	0	0	0	0	0	28.83	26.58	28.83
3593	-0.77	-146.6	340.3	-9.8	439	3602	0.17	2.17	0.00	0.000	4	0.158	0.057	2892	3405	3632	0	0	0	0	0	0	26.35	26.51	28.83
3666	-0.86	-146.6	346.4	-7.8	446	3674	0.00	2.10	0.00	0.000	6	0.000	0.042	2892	1996	3632	0	0	0	0	0	0	28.83	26.59	28.83
3976	-0.92	-146.6	369.3	-7.4	477	3985	0.12	2.17	0.00	0.000	4	0.099	0.057	2822	3403	3632	0	0	0	0	0	0	26.65	26.53	28.83
4009	-0.85	-146.6	372.6	-9.5	480	4018	0.15	2.10	0.00	0.000	6	0.141	0.042	2872	1994	3632	0	0	0	0	0	0	26.34	26.60	28.83
4319	-0.85	-146.6	400.0	-8.5	511	4327	0.00	2.17	0.00	0.000	4	0.000	0.057	2864	3405	3633	0	0	0	0	0	0	28.83	26.54	28.83
4363	-0.85	-146.6	403.8	-9.1	515	4370	0.00	2.12	0.00	0.000	6	0.000	0.042	2864	1994	3633	0	0	0	0	0	0	28.83	26.61	28.83
4671	-0.85	-146.6	431.0	-8.5	546	4679	0.00	2.17	0.00	0.000	4	0.000	0.058	2853	3406	3634	0	0	0	0	0	0	28.83	26.55	28.83
4726	-0.79	-146.6	435.8	-9.6	551	4733	0.15	2.12	0.00	0.000	6	0.158	0.042	2893	1992	3635	0	0	0	0	0	0	26.39	26.63	28.83
4920	end dive: TARGET_DEPTH_EXCEEDED
state	4920	begin apogee
4928	-0.17	0.0	450.3	-7.2	571	5055	0.60	0.00	120.25	1.113	6	0.132	0.000	3091	1992	3029	0	0	0	0	0	0	26.36	28.83	23.73
5057	end apogee: CONTROL_FINISHED_OK
state	5058	begin climb
5060	0.78	146.6	452.4	0.0	584	5195	0.88	2.33	122.22	0.981	4	0.070	0.047	3408	600	2431	0	0	0	0	0	0	24.80	24.51	23.66
5231	0.44	146.6	433.4	16.6	601	5239	0.43	2.35	0.00	0.000	6	0.161	0.046	3293	2002	2426	0	0	0	0	0	0	24.87	25.02	28.83
5540	0.52	156.3	401.4	9.6	632	5558	0.00	2.28	8.10	0.882	4	0.000	0.046	3300	599	2391	0	0	0	0	0	0	28.83	25.58	24.68
5601	0.63	168.8	395.5	9.4	638	5621	0.17	2.28	12.55	0.942	6	0.083	0.046	3368	2007	2340	0	0	0	0	0	0	25.70	25.71	24.55
5921	0.43	168.8	349.8	14.6	670	5930	0.25	2.22	0.00	0.000	4	0.158	0.047	3301	608	2336	0	0	0	0	0	0	25.76	25.91	28.83
6159	0.55	179.0	326.4	9.5	693	6175	0.00	2.25	9.43	0.889	6	0.000	0.047	3302	2012	2299	0	0	0	0	0	0	28.83	26.08	25.01
6475	0.61	179.0	292.0	11.3	725	6484	0.12	2.22	0.00	0.000	4	0.095	0.047	3368	599	2297	0	0	0	0	0	0	26.15	26.11	28.83
6580	0.50	179.0	277.1	15.3	735	6590	0.20	2.22	0.00	0.000	6	0.159	0.047	3309	1999	2297	0	0	0	0	0	0	25.99	26.16	28.83
6888	0.54	179.0	240.0	11.5	766	6897	0.00	2.15	0.00	0.000	4	0.000	0.056	3309	3398	2296	0	0	0	0	0	0	28.83	26.23	28.83
6903	0.54	179.0	238.9	11.6	767	6910	0.00	2.12	0.00	0.000	6	0.000	0.041	3316	2004	2296	0	0	0	0	0	0	28.83	26.29	28.83
7210	0.54	179.0	201.9	11.3	798	7214	0.00	2.17	0.00	0.000	4	0.000	0.049	3327	595	2296	0	0	0	0	0	0	28.83	26.33	28.83
7286	0.60	179.0	194.0	11.0	805	7292	0.00	2.22	0.00	0.000	6	0.000	0.046	3327	2001	2296	0	0	0	0	0	0	28.83	26.35	28.83
7592	0.60	179.0	156.7	12.1	836	7601	0.00	2.22	0.00	0.000	4	0.000	0.049	3337	583	2296	0	0	0	0	0	0	28.83	26.39	28.83
7608	0.60	179.0	155.7	12.1	837	7615	0.00	2.25	0.00	0.000	6	0.000	0.044	3337	2013	2296	0	0	0	0	0	0	28.83	26.41	28.83
7914	0.60	179.0	118.9	11.9	868	7918	0.00	2.25	0.00	0.000	4	0.000	0.049	3346	592	2296	0	0	0	0	0	0	28.83	26.43	28.83
7956	0.60	179.0	113.8	12.5	872	7960	0.00	2.20	0.00	0.000	6	0.000	0.046	3346	1998	2296	0	0	0	0	0	0	28.83	26.44	28.83
8265	0.60	179.0	76.0	10.6	922	8271	0.00	2.15	0.00	0.000	4	0.000	0.057	3346	3406	2296	0	0	0	0	0	0	28.83	26.44	28.83
8503	0.51	179.0	49.4	11.1	968	8510	0.15	2.15	0.00	0.000	6	0.161	0.044	3316	1993	2296	0	0	0	0	0	0	26.31	26.53	28.83
8817	0.77	237.2	24.6	7.3	1029	8862	0.20	2.25	31.45	0.806	4	0.082	0.050	3409	602	2060	0	0	0	0	0	0	26.54	25.95	25.21
8893	0.70	237.2	15.4	13.9	1041	8900	0.12	2.25	0.00	0.000	6	0.177	0.047	3379	2003	2057	0	0	0	0	0	0	25.91	26.06	28.83
9000	end climb: SURFACE_DEPTH_REACHED
state	9001	begin surface coast
9039	end surface coast: CONTROL_FINISHED_OK
state	9039	begin surface