Glider dive log

DavisStrait 22Sep09 * SG001 * Dive index * Mission links * Dive 112 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 1 HEADING -1 ROLL_MIN 300 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 14 ESCAPE_HEADING 0 ROLL_MAX 3750 ALTIM_TOP_TURN_MARGIN 0

DIVE 112 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2025 ALTIM_PING_DEPTH 0

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 2025 ALTIM_PING_DELTA 0

D_TGT 990 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 3

D_NO_BLEED 50 SM_CC 275 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 4 R_PORT_OVSHOOT 11 XPDR_VALID 0

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 6 XPDR_INHIBIT 90

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 400 INT_PRESSURE_SLOPE 0.0072730002

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 INT_PRESSURE_YINT 0

D_CALL 0 KERMIT 0 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MIN 500 MOTHERBOARD 5

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3500 DEVICE1 2

T_DIVE 470 CALL_TRIES 5 C_VBD 2500 DEVICE2 -1

T_MISSION 530 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_CNV -0.24529999 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_TIMEOUT 540 DEVICE5 -1

T_TURN_SAMPINT 5 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_NO_W 120 T_GPS 15 VBD_PUMP_AD_RATE_SURFACE 6 LOGGERS 1

T_LOITER 0 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 -1

USE_BATHY -2 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 0 T_GPS_CHARGE -221516.86 UNCOM_BLEED 250 COMPASS_DEVICE 1

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 2 VBD_MAXERRORS 5 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 CF8_MAXERRORS 20 PHONE_DEVICE 32

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_24V 300 GPS_DEVICE 48

RELAUNCH 3 RAFOS_CORR_THRESH 60 AH0_10V 200 RAFOS_DEVICE 48

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 450 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3300 FG_AHR_10V 76.752373 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2700 FG_AHR_24V 4.6384358 SEABIRD_T_G 0.0043498399

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.0006493734

RHO 1.023 PITCH_CNV 0.0046000001 PRESSURE_YINT -0.036699742 SEABIRD_T_I 2.8112627e-05

MASS 52000 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_T_J 3.1957888e-06

NAV_MODE 1 PITCH_GAIN 16 AD7714Ch0Gain 1 SEABIRD_C_G -10.106751

FERRY_MAX 45 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1366181

KALMAN_USE 1 PITCH_AD_RATE 175 TCM_ROLL_OFFSET 0 SEABIRD_C_I 0.00038917549

HD_A 0.0038000001 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 7.9540005e-05

HD_B 0.0099999998 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_PING_RANGE 0

HD_C 2.7999999e-06 PITCH_ADJ_DBAND 1 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 1 D_FLARE 3 PHONE_DEVICE 32 SIM_W 0

AH0_10V 200 D_NO_BLEED 50 PHONE_SUPPLY 2 SM_CC 275

AH0_24V 300 D_OFFGRID 100 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PITCH_ADJ_GAIN 0.045000002 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SURF 3 PITCH_CNV 0.0046000001 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 0 D_TGT 990 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 PITCH_GAIN 16 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3300 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 76.752373 PITCH_MIN 450 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 4.6384358 PITCH_TIMEOUT 15 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PRESSURE_SLOPE 9.9999997e-05 T_DIVE 470

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -0.036699742 T_GPS 15

CALL_TRIES 5 GPS_DEVICE 48 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.0038000001 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -221516.86

CAPMAXSIZE 100000 HD_B 0.0099999998 RAFOS_DEVICE 48 T_LOITER 0

CAPUPLOAD 0 HD_C 2.7999999e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 530

CF8_MAXERRORS 20 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH 3 T_RSLEEP 2

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.023 T_TURN 225

COMPASS_DEVICE 1 ICE_FREEZE_MARGIN 0.30000001 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 ID 1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0072730002 ROLL_AD_RATE 400 UNCOM_BLEED 250

C_PITCH 2700 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2025 KALMAN_USE 1 ROLL_DEG 40 USE_BATHY -2

C_ROLL_DIVE 2025 KERMIT 0 ROLL_MAX 3750 USE_ICE 0

C_VBD 2500 LOGGERDEVICE1 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 300 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 52000 R_PORT_OVSHOOT 11 VBD_MAX 3500

DEVICE2 -1 MAX_BUOY 150 R_STBD_OVSHOOT 6 VBD_MAXERRORS 5

DEVICE3 -1 MINV_10V 8 SEABIRD_C_G -10.106751 VBD_MIN 500

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1366181 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 14 SEABIRD_C_I 0.00038917549 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE6 -1 MOTHERBOARD 5 SEABIRD_C_J 7.9540005e-05 VBD_TIMEOUT 540

DIVE 112 NAV_MODE 1 SEABIRD_T_G 0.0043498399 XPDR_DEVICE 24

D_ABORT 1090 N_FILEKB 4 SEABIRD_T_H 0.0006493734 XPDR_INHIBIT 90

D_BOOST 0 N_GPS 20 SEABIRD_T_I 2.8112627e-05 XPDR_VALID 0

D_CALL 0 N_NOCOMM 1 SEABIRD_T_J 3.1957888e-06

D_FINISH 0 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 043835,6640.935,-6016.830,21,1.1,21,18.0 TGT_NAME HOLD

_CALLS 1 TGT_LATLONG 6400.000,-5448.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.145,-0.183

_SM_DEPTHo 0.04 KALMAN_X -56086.2,-1682.4,-1269.1,-22529.5,1939.3

_SM_ANGLEo -50.0 KALMAN_Y 5425.4,-161.3,-72.1,-26927.7,1189.1

GPS2 044436,6640.914,-6016.911,14,1.1,14,18.0 MHEAD_RNG_PITCHd_Wd 123.6,400146,-13.0,-7.021

SPEED_LIMITS 0.122,0.234 D_GRID 100

Post-dive calculations and measurements:

FINISH 1.5,1.024983 _24V_AH 23.9,267.896

SM_CCo 15005,0.00,0.000,0,0,621,465.82 _10V_AH 10.7,40.080

SM_GC 0.05,14.75,0.00,0.00,0.000,0.007,0.000,426,1845,621,-10.11,-5.12,465.82 FG_AHR_24Vo 4.638

SUPER 3,206,254,0,0,0 FG_AHR_10Vo 76.893

RAFOS_CLK 0 MEM 330680

RAFOS 3,1255667642,4.583333,4.567222,80,0,0,0,0,0,761,0,0,0,0,0 DATA_FILE_SIZE 47205,1396

RAFOS_FIX 6630.995117,-6159.526367,161009,080801,5,80,5.87 CAP_FILE_SIZE 179810,8

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 260165632,243433472

HUMID 1078137930 ERRORS 0,0,0,0,0,0,0,0,1,0,0,29,862,3,0

INTERNAL_PRESSURE 16.2333 SOUNDSPEED 1452.5

TCM_TEMP 15.00 GPS 161009,085850,6638.690,-6020.810,18,1.1,19,18.0

XPDR_PINGS -1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 119 90.23 SBE_CT 840 24 482.27

Roll_motor 171 60 246.36 nil 0 0 0.00

VBD_pump_during_apogee 524 1300 16307.09 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 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 112 223 600.20

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 50 9.30

TT8 2457 19 523.84

LPSleep 9888 2 244.40

TT8_Active 1021 19 217.80

TT8_Sampling 1532 39 654.43

TT8_CF8 537 45 264.33

TT8_Kalman 33 81 29.23

Analog_circuits 1221 12 156.82

GPS_charging 0 0 0.00

Compass 1462 26 406.94

RAFOS 1800 1 28.89

Transponder 2 5 0.13

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

22 end surface: CONTROL_FINISHED_OK

state 23 begin dive

25 -0.99 -146.6 0.0 0.0 0 117 0.00 0.00 -80.72 0.000 6 0.000 0.007 410 1891 3071 0 0 0 0 0 0

120 -0.99 -146.6 2.8 0.5 17 145 10.98 2.80 -1.30 0.000 4 0.000 0.000 2539 461 3114 10 0 16 0 0 0

215 -0.56 -146.6 20.0 -19.9 33 230 0.40 2.80 0.00 0.000 6 0.000 0.000 2625 2362 3108 1 0 15 0 0 0

419 -0.48 -146.6 44.3 -9.8 52 435 0.50 3.12 0.00 0.007 4 0.000 0.000 2512 494 3110 1 0 18 0 0 0

687 -0.40 -146.6 69.6 -8.8 75 698 0.70 3.55 0.00 0.007 6 0.000 0.000 2669 2207 3111 1 0 17 0 0 0

1022 -0.46 -146.6 99.0 -8.0 107 1038 0.52 2.92 0.00 0.007 4 0.000 0.000 2565 442 3115 1 0 16 0 0 0

1040 end dive: TARGET_DEPTH_EXCEEDED

state 1040 begin apogee

1051 -0.31 0.0 100.7 8.0 108 1183 0.77 0.00 117.53 0.000 6 0.000 0.007 2688 2053 2526 2 0 0 0 0 0

1184 end apogee: CONTROL_FINISHED_OK

state 1184 begin climb

1188 0.99 146.6 111.0 0.0 121 1332 1.40 2.97 120.22 0.000 4 0.000 0.000 3000 3759 1933 1 0 13 0 0 0

1585 2.84 627.9 143.9 -8.4 156 1889 1.70 3.30 268.08 0.000 6 0.000 0.000 3355 1865 621 2 0 20 0 3 0

2203 4.55 1079.7 188.5 -7.4 216 2219 0.00 2.80 0.38 0.000 4 0.007 0.000 3352 3565 614 0 0 14 0 0 0

2471 5.09 1522.4 207.8 -7.2 239 2481 0.00 2.88 2.15 0.000 6 0.007 0.000 3353 1902 614 0 0 12 0 0 0

2806 5.64 1969.1 232.3 -7.3 271 2822 0.00 2.85 0.45 0.000 4 0.000 0.000 3354 424 612 0 0 16 0 0 0

2980 6.20 2421.2 245.0 -7.5 286 2995 0.00 2.88 1.62 0.000 6 0.007 0.000 3353 2151 612 0 0 13 0 0 0

3309 6.70 2831.0 266.5 -6.1 317 3325 0.00 2.88 0.40 0.007 4 0.007 0.000 3350 3617 612 0 0 15 0 0 0

3577 7.23 3259.4 286.7 -6.7 340 3588 0.00 3.35 1.23 0.000 6 0.007 0.000 3353 1788 613 0 0 18 0 0 0

3912 7.77 3695.6 308.6 -6.9 372 3928 0.00 2.88 0.45 0.007 4 0.007 0.000 3354 3675 606 0 0 13 0 0 0

4181 8.36 4174.0 330.3 -8.3 395 4191 0.00 3.25 1.55 0.000 6 0.007 0.000 3360 1870 614 0 0 16 0 0 0

4515 8.89 4610.0 355.1 -6.9 427 4531 0.00 3.67 0.17 0.007 4 0.007 0.000 3353 3701 610 0 0 19 0 0 0

4537 9.42 5039.4 356.6 -6.7 428 4547 0.00 3.33 0.95 0.000 6 0.007 0.000 3355 1980 614 0 0 15 0 0 0

4873 9.96 5477.0 379.7 -7.0 460 4885 0.00 2.72 4.75 0.000 4 0.000 0.000 3353 3705 600 0 0 13 0 0 0

5138 10.52 5932.9 398.8 -7.6 484 5153 0.00 3.15 0.98 0.000 6 0.007 0.000 3351 1909 600 0 0 13 0 0 0

5467 11.04 6353.3 421.0 -6.4 515 5483 0.00 3.40 0.12 0.007 4 0.007 0.000 3355 3555 605 0 0 15 0 0 0

5736 11.53 6753.3 436.4 -5.8 538 5747 0.00 4.05 0.15 0.007 6 0.007 0.000 3352 1632 600 0 0 23 0 0 0

6073 12.01 7146.1 455.6 -5.6 570 6088 0.00 3.28 0.12 0.007 4 0.007 0.000 3353 3691 603 0 0 18 0 0 0

6340 12.50 7540.6 470.9 -5.6 593 6351 0.00 3.03 1.48 0.000 6 0.007 0.000 3352 1916 604 0 0 17 0 0 0

6676 12.98 7934.7 489.7 -5.6 625 6682 0.00 2.62 0.12 0.007 4 0.007 0.000 3352 3549 602 0 0 11 0 0 0

6935 13.48 8338.8 504.7 -5.9 647 6945 0.00 2.70 1.95 0.000 6 0.007 0.000 3352 1887 602 0 0 14 0 0 0

7270 13.97 8739.2 524.8 -5.8 679 7285 0.00 3.65 0.00 0.007 4 0.007 0.000 3354 3632 605 0 0 20 0 0 0

7538 14.28 8991.4 536.6 -1.1 702 7549 0.00 3.65 0.00 0.007 6 0.007 0.000 3357 1787 601 0 0 22 0 0 0

7873 14.28 8991.4 512.7 7.6 734 7889 0.00 3.25 0.00 0.000 4 0.007 0.000 3354 3614 602 0 0 13 0 0 0

8140 14.28 8991.4 493.1 8.1 757 8148 0.00 3.03 0.00 0.007 6 0.007 0.000 3349 1856 605 0 0 15 0 0 0

8465 14.28 8991.4 469.0 7.4 788 8480 0.00 3.25 0.00 0.007 4 0.007 0.000 3351 3532 600 0 0 16 0 0 0

8732 14.28 8991.4 448.6 7.5 811 8740 0.00 2.90 0.00 0.007 6 0.007 0.000 3349 1886 601 0 0 14 0 0 0

9057 14.28 8991.4 424.0 7.8 842 9063 0.00 3.00 0.00 0.007 4 0.000 0.000 3353 3581 604 0 0 11 0 0 0

9315 14.28 8991.4 403.8 8.1 864 9323 0.00 2.92 0.00 0.007 6 0.007 0.000 3352 1865 602 0 0 12 0 0 0

9641 14.35 9000.4 381.5 6.7 895 9655 0.00 3.12 0.00 0.007 4 0.007 0.000 3353 3606 602 0 0 15 0 0 0

9907 14.35 9000.4 362.5 7.3 918 9914 0.00 3.40 0.00 0.007 6 0.007 0.000 3350 1953 604 0 0 19 0 0 0

10239 14.36 9005.7 339.4 6.9 950 10254 0.00 3.10 0.00 0.007 4 0.000 0.000 3353 3642 602 0 0 15 0 0 0

10506 14.38 9020.1 320.8 6.6 973 10512 0.00 3.12 0.00 0.007 6 0.007 0.000 3349 1907 596 0 0 17 0 0 0

10830 14.38 9020.1 298.5 7.5 1004 10845 0.00 3.33 0.00 0.007 4 0.007 0.000 3355 3589 601 0 0 14 0 0 0

11097 14.38 9025.3 279.3 6.9 1027 11104 0.00 3.75 0.00 0.000 6 0.007 0.000 3350 1666 601 0 0 20 0 0 0

11429 14.38 9025.3 255.4 7.1 1059 11443 0.00 3.08 0.00 0.000 4 0.007 0.000 3351 3495 601 0 0 15 0 0 0

11695 14.41 9049.0 235.8 6.3 1082 11703 0.00 2.95 0.00 0.007 6 0.007 0.000 3355 2008 599 0 0 17 0 0 0

12020 14.41 9049.0 212.9 8.3 1113 12026 0.00 2.83 0.00 0.007 4 0.007 0.000 3352 3557 603 0 0 13 0 0 0

12278 14.41 9049.1 193.1 7.0 1135 12285 0.00 3.75 0.00 0.007 6 0.007 0.000 3352 1770 601 0 0 19 0 0 0

12610 14.41 9050.2 169.5 7.0 1167 12625 0.00 4.12 0.00 0.007 4 0.007 0.000 3353 3646 600 0 0 22 0 0 0

12877 14.45 9081.1 153.0 6.0 1190 12888 0.00 3.25 0.00 0.007 6 0.000 0.000 3352 1872 601 0 0 16 0 0 0

13201 14.45 9081.1 131.5 7.1 1221 13207 0.00 2.78 0.00 0.007 4 0.007 0.000 3350 3602 601 0 0 12 0 0 0

13460 14.46 9089.5 114.3 6.8 1243 13465 0.00 3.08 0.00 0.007 6 0.007 0.000 3355 1687 602 0 0 14 0 0 0

13784 14.33 9089.5 87.5 9.9 1274 13802 0.00 3.60 0.00 0.007 4 0.007 0.000 3351 3678 602 0 0 20 0 0 0

14054 14.41 9089.5 61.7 7.6 1297 14063 0.00 3.58 0.00 0.007 6 0.007 0.000 3355 1921 600 0 0 14 0 0 0

14387 14.41 9089.5 37.3 7.3 1329 14402 0.00 3.42 0.00 0.000 4 0.007 0.000 3353 3569 598 0 0 18 0 0 0

14650 14.47 9141.3 21.3 5.4 1352 14665 0.00 3.15 0.00 0.007 6 0.007 0.000 3354 1884 602 0 0 16 0 0 0

14861 14.29 9141.3 6.0 10.5 1387 14876 0.00 3.08 0.00 0.007 4 0.007 0.000 3358 3594 603 0 0 17 0 0 0

14885 end climb: SURFACE_DEPTH_REACHED

state 14885 begin surface coast

14914 end surface coast: CONTROL_FINISHED_OK

state 14915 begin surface

ID	1	HEADING	-1	ROLL_MIN	300	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	14	ESCAPE_HEADING	0	ROLL_MAX	3750	ALTIM_TOP_TURN_MARGIN	0
DIVE	112	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2025	ALTIM_PING_DEPTH	0
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	2025	ALTIM_PING_DELTA	0
D_TGT	990	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	3
D_NO_BLEED	50	SM_CC	275	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	4	R_PORT_OVSHOOT	11	XPDR_VALID	0
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	6	XPDR_INHIBIT	90
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	400	INT_PRESSURE_SLOPE	0.0072730002
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	0
D_CALL	0	KERMIT	0	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MIN	500	MOTHERBOARD	5
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3500	DEVICE1	2
T_DIVE	470	CALL_TRIES	5	C_VBD	2500	DEVICE2	-1
T_MISSION	530	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_CNV	-0.24529999	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_TIMEOUT	540	DEVICE5	-1
T_TURN_SAMPINT	5	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_NO_W	120	T_GPS	15	VBD_PUMP_AD_RATE_SURFACE	6	LOGGERS	1
T_LOITER	0	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	-1
USE_BATHY	-2	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	0	T_GPS_CHARGE	-221516.86	UNCOM_BLEED	250	COMPASS_DEVICE	1
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	2	VBD_MAXERRORS	5	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	CF8_MAXERRORS	20	PHONE_DEVICE	32
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_24V	300	GPS_DEVICE	48
RELAUNCH	3	RAFOS_CORR_THRESH	60	AH0_10V	200	RAFOS_DEVICE	48
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	450	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3300	FG_AHR_10V	76.752373	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2700	FG_AHR_24V	4.6384358	SEABIRD_T_G	0.0043498399
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.0006493734
RHO	1.023	PITCH_CNV	0.0046000001	PRESSURE_YINT	-0.036699742	SEABIRD_T_I	2.8112627e-05
MASS	52000	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_T_J	3.1957888e-06
NAV_MODE	1	PITCH_GAIN	16	AD7714Ch0Gain	1	SEABIRD_C_G	-10.106751
FERRY_MAX	45	PITCH_TIMEOUT	15	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1366181
KALMAN_USE	1	PITCH_AD_RATE	175	TCM_ROLL_OFFSET	0	SEABIRD_C_I	0.00038917549
HD_A	0.0038000001	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	7.9540005e-05
HD_B	0.0099999998	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_PING_RANGE	0
HD_C	2.7999999e-06	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	0

GPS1	043835,6640.935,-6016.830,21,1.1,21,18.0	TGT_NAME	HOLD
_CALLS	1	TGT_LATLONG	6400.000,-5448.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.145,-0.183
_SM_DEPTHo	0.04	KALMAN_X	-56086.2,-1682.4,-1269.1,-22529.5,1939.3
_SM_ANGLEo	-50.0	KALMAN_Y	5425.4,-161.3,-72.1,-26927.7,1189.1
GPS2	044436,6640.914,-6016.911,14,1.1,14,18.0	MHEAD_RNG_PITCHd_Wd	123.6,400146,-13.0,-7.021
SPEED_LIMITS	0.122,0.234	D_GRID	100

FINISH	1.5,1.024983	_24V_AH	23.9,267.896
SM_CCo	15005,0.00,0.000,0,0,621,465.82	_10V_AH	10.7,40.080
SM_GC	0.05,14.75,0.00,0.00,0.000,0.007,0.000,426,1845,621,-10.11,-5.12,465.82	FG_AHR_24Vo	4.638
SUPER	3,206,254,0,0,0	FG_AHR_10Vo	76.893
RAFOS_CLK	0	MEM	330680
RAFOS	3,1255667642,4.583333,4.567222,80,0,0,0,0,0,761,0,0,0,0,0	DATA_FILE_SIZE	47205,1396
RAFOS_FIX	6630.995117,-6159.526367,161009,080801,5,80,5.87	CAP_FILE_SIZE	179810,8
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	260165632,243433472
HUMID	1078137930	ERRORS	0,0,0,0,0,0,0,0,1,0,0,29,862,3,0
INTERNAL_PRESSURE	16.2333	SOUNDSPEED	1452.5
TCM_TEMP	15.00	GPS	161009,085850,6638.690,-6020.810,18,1.1,19,18.0
XPDR_PINGS	-1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	119	90.23	SBE_CT	840	24	482.27
Roll_motor	171	60	246.36	nil	0	0	0.00
VBD_pump_during_apogee	524	1300	16307.09	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	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	112	223	600.20
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	50	9.30
TT8	2457	19	523.84
LPSleep	9888	2	244.40
TT8_Active	1021	19	217.80
TT8_Sampling	1532	39	654.43
TT8_CF8	537	45	264.33
TT8_Kalman	33	81	29.23
Analog_circuits	1221	12	156.82
GPS_charging	0	0	0.00
Compass	1462	26	406.94
RAFOS	1800	1	28.89
Transponder	2	5	0.13

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
22	end surface: CONTROL_FINISHED_OK
state	23	begin dive
25	-0.99	-146.6	0.0	0.0	0	117	0.00	0.00	-80.72	0.000	6	0.000	0.007	410	1891	3071	0	0	0	0	0	0
120	-0.99	-146.6	2.8	0.5	17	145	10.98	2.80	-1.30	0.000	4	0.000	0.000	2539	461	3114	10	0	16	0	0	0
215	-0.56	-146.6	20.0	-19.9	33	230	0.40	2.80	0.00	0.000	6	0.000	0.000	2625	2362	3108	1	0	15	0	0	0
419	-0.48	-146.6	44.3	-9.8	52	435	0.50	3.12	0.00	0.007	4	0.000	0.000	2512	494	3110	1	0	18	0	0	0
687	-0.40	-146.6	69.6	-8.8	75	698	0.70	3.55	0.00	0.007	6	0.000	0.000	2669	2207	3111	1	0	17	0	0	0
1022	-0.46	-146.6	99.0	-8.0	107	1038	0.52	2.92	0.00	0.007	4	0.000	0.000	2565	442	3115	1	0	16	0	0	0
1040	end dive: TARGET_DEPTH_EXCEEDED
state	1040	begin apogee
1051	-0.31	0.0	100.7	8.0	108	1183	0.77	0.00	117.53	0.000	6	0.000	0.007	2688	2053	2526	2	0	0	0	0	0
1184	end apogee: CONTROL_FINISHED_OK
state	1184	begin climb
1188	0.99	146.6	111.0	0.0	121	1332	1.40	2.97	120.22	0.000	4	0.000	0.000	3000	3759	1933	1	0	13	0	0	0
1585	2.84	627.9	143.9	-8.4	156	1889	1.70	3.30	268.08	0.000	6	0.000	0.000	3355	1865	621	2	0	20	0	3	0
2203	4.55	1079.7	188.5	-7.4	216	2219	0.00	2.80	0.38	0.000	4	0.007	0.000	3352	3565	614	0	0	14	0	0	0
2471	5.09	1522.4	207.8	-7.2	239	2481	0.00	2.88	2.15	0.000	6	0.007	0.000	3353	1902	614	0	0	12	0	0	0
2806	5.64	1969.1	232.3	-7.3	271	2822	0.00	2.85	0.45	0.000	4	0.000	0.000	3354	424	612	0	0	16	0	0	0
2980	6.20	2421.2	245.0	-7.5	286	2995	0.00	2.88	1.62	0.000	6	0.007	0.000	3353	2151	612	0	0	13	0	0	0
3309	6.70	2831.0	266.5	-6.1	317	3325	0.00	2.88	0.40	0.007	4	0.007	0.000	3350	3617	612	0	0	15	0	0	0
3577	7.23	3259.4	286.7	-6.7	340	3588	0.00	3.35	1.23	0.000	6	0.007	0.000	3353	1788	613	0	0	18	0	0	0
3912	7.77	3695.6	308.6	-6.9	372	3928	0.00	2.88	0.45	0.007	4	0.007	0.000	3354	3675	606	0	0	13	0	0	0
4181	8.36	4174.0	330.3	-8.3	395	4191	0.00	3.25	1.55	0.000	6	0.007	0.000	3360	1870	614	0	0	16	0	0	0
4515	8.89	4610.0	355.1	-6.9	427	4531	0.00	3.67	0.17	0.007	4	0.007	0.000	3353	3701	610	0	0	19	0	0	0
4537	9.42	5039.4	356.6	-6.7	428	4547	0.00	3.33	0.95	0.000	6	0.007	0.000	3355	1980	614	0	0	15	0	0	0
4873	9.96	5477.0	379.7	-7.0	460	4885	0.00	2.72	4.75	0.000	4	0.000	0.000	3353	3705	600	0	0	13	0	0	0
5138	10.52	5932.9	398.8	-7.6	484	5153	0.00	3.15	0.98	0.000	6	0.007	0.000	3351	1909	600	0	0	13	0	0	0
5467	11.04	6353.3	421.0	-6.4	515	5483	0.00	3.40	0.12	0.007	4	0.007	0.000	3355	3555	605	0	0	15	0	0	0
5736	11.53	6753.3	436.4	-5.8	538	5747	0.00	4.05	0.15	0.007	6	0.007	0.000	3352	1632	600	0	0	23	0	0	0
6073	12.01	7146.1	455.6	-5.6	570	6088	0.00	3.28	0.12	0.007	4	0.007	0.000	3353	3691	603	0	0	18	0	0	0
6340	12.50	7540.6	470.9	-5.6	593	6351	0.00	3.03	1.48	0.000	6	0.007	0.000	3352	1916	604	0	0	17	0	0	0
6676	12.98	7934.7	489.7	-5.6	625	6682	0.00	2.62	0.12	0.007	4	0.007	0.000	3352	3549	602	0	0	11	0	0	0
6935	13.48	8338.8	504.7	-5.9	647	6945	0.00	2.70	1.95	0.000	6	0.007	0.000	3352	1887	602	0	0	14	0	0	0
7270	13.97	8739.2	524.8	-5.8	679	7285	0.00	3.65	0.00	0.007	4	0.007	0.000	3354	3632	605	0	0	20	0	0	0
7538	14.28	8991.4	536.6	-1.1	702	7549	0.00	3.65	0.00	0.007	6	0.007	0.000	3357	1787	601	0	0	22	0	0	0
7873	14.28	8991.4	512.7	7.6	734	7889	0.00	3.25	0.00	0.000	4	0.007	0.000	3354	3614	602	0	0	13	0	0	0
8140	14.28	8991.4	493.1	8.1	757	8148	0.00	3.03	0.00	0.007	6	0.007	0.000	3349	1856	605	0	0	15	0	0	0
8465	14.28	8991.4	469.0	7.4	788	8480	0.00	3.25	0.00	0.007	4	0.007	0.000	3351	3532	600	0	0	16	0	0	0
8732	14.28	8991.4	448.6	7.5	811	8740	0.00	2.90	0.00	0.007	6	0.007	0.000	3349	1886	601	0	0	14	0	0	0
9057	14.28	8991.4	424.0	7.8	842	9063	0.00	3.00	0.00	0.007	4	0.000	0.000	3353	3581	604	0	0	11	0	0	0
9315	14.28	8991.4	403.8	8.1	864	9323	0.00	2.92	0.00	0.007	6	0.007	0.000	3352	1865	602	0	0	12	0	0	0
9641	14.35	9000.4	381.5	6.7	895	9655	0.00	3.12	0.00	0.007	4	0.007	0.000	3353	3606	602	0	0	15	0	0	0
9907	14.35	9000.4	362.5	7.3	918	9914	0.00	3.40	0.00	0.007	6	0.007	0.000	3350	1953	604	0	0	19	0	0	0
10239	14.36	9005.7	339.4	6.9	950	10254	0.00	3.10	0.00	0.007	4	0.000	0.000	3353	3642	602	0	0	15	0	0	0
10506	14.38	9020.1	320.8	6.6	973	10512	0.00	3.12	0.00	0.007	6	0.007	0.000	3349	1907	596	0	0	17	0	0	0
10830	14.38	9020.1	298.5	7.5	1004	10845	0.00	3.33	0.00	0.007	4	0.007	0.000	3355	3589	601	0	0	14	0	0	0
11097	14.38	9025.3	279.3	6.9	1027	11104	0.00	3.75	0.00	0.000	6	0.007	0.000	3350	1666	601	0	0	20	0	0	0
11429	14.38	9025.3	255.4	7.1	1059	11443	0.00	3.08	0.00	0.000	4	0.007	0.000	3351	3495	601	0	0	15	0	0	0
11695	14.41	9049.0	235.8	6.3	1082	11703	0.00	2.95	0.00	0.007	6	0.007	0.000	3355	2008	599	0	0	17	0	0	0
12020	14.41	9049.0	212.9	8.3	1113	12026	0.00	2.83	0.00	0.007	4	0.007	0.000	3352	3557	603	0	0	13	0	0	0
12278	14.41	9049.1	193.1	7.0	1135	12285	0.00	3.75	0.00	0.007	6	0.007	0.000	3352	1770	601	0	0	19	0	0	0
12610	14.41	9050.2	169.5	7.0	1167	12625	0.00	4.12	0.00	0.007	4	0.007	0.000	3353	3646	600	0	0	22	0	0	0
12877	14.45	9081.1	153.0	6.0	1190	12888	0.00	3.25	0.00	0.007	6	0.000	0.000	3352	1872	601	0	0	16	0	0	0
13201	14.45	9081.1	131.5	7.1	1221	13207	0.00	2.78	0.00	0.007	4	0.007	0.000	3350	3602	601	0	0	12	0	0	0
13460	14.46	9089.5	114.3	6.8	1243	13465	0.00	3.08	0.00	0.007	6	0.007	0.000	3355	1687	602	0	0	14	0	0	0
13784	14.33	9089.5	87.5	9.9	1274	13802	0.00	3.60	0.00	0.007	4	0.007	0.000	3351	3678	602	0	0	20	0	0	0
14054	14.41	9089.5	61.7	7.6	1297	14063	0.00	3.58	0.00	0.007	6	0.007	0.000	3355	1921	600	0	0	14	0	0	0
14387	14.41	9089.5	37.3	7.3	1329	14402	0.00	3.42	0.00	0.000	4	0.007	0.000	3353	3569	598	0	0	18	0	0	0
14650	14.47	9141.3	21.3	5.4	1352	14665	0.00	3.15	0.00	0.007	6	0.007	0.000	3354	1884	602	0	0	16	0	0	0
14861	14.29	9141.3	6.0	10.5	1387	14876	0.00	3.08	0.00	0.007	4	0.007	0.000	3358	3594	603	0	0	17	0	0	0
14885	end climb: SURFACE_DEPTH_REACHED
state	14885	begin surface coast
14914	end surface coast: CONTROL_FINISHED_OK
state	14915	begin surface