Glider dive log

DavisStrait 22Sep09 * SG001 * Dive index * Mission links * Dive 113 * 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 113 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 3 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 -221536 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 76.902969 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 76.902969 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 -221536

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 3 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 113 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 085850,6638.690,-6020.810,18,1.1,19,18.0 TGT_NAME HOLD

_CALLS 1 TGT_LATLONG 6400.000,-5448.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.148,-0.181

_SM_DEPTHo 0.05 KALMAN_X -58066.8,-1661.2,-1177.2,-23462.1,1863.3

_SM_ANGLEo -50.0 KALMAN_Y 3796.8,-473.9,-451.3,-28690.5,261.0

GPS2 090500,6638.659,-6020.769,17,1.1,17,18.0 MHEAD_RNG_PITCHd_Wd 122.8,399159,-13.0,-7.021

SPEED_LIMITS 0.122,0.234 D_GRID 100

Post-dive calculations and measurements:

FINISH 0.1,1.012198 _24V_AH 23.9,268.535

SM_CCo 14685,0.00,0.000,0,0,601,466.07 _10V_AH 10.7,40.152

SM_GC 0.05,14.70,0.00,0.00,0.000,0.007,0.007,459,2240,601,-9.96,6.02,466.07 FG_AHR_24Vo 4.638

SUPER 3,206,254,0,0,0 FG_AHR_10Vo 77.040

RAFOS_CLK 0 MEM 330736

RAFOS 0,1255694646,12.083333,12.068334,80,0,0,0,0,0,572,0,0,0,0,0 DATA_FILE_SIZE 44025,1372

RAFOS_FIX 6629.041504,-6203.900391,161009,121223,5,80,6.51 CAP_FILE_SIZE 179186,8

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 260165632,243355648

HUMID 1078141040 ERRORS 0,0,0,0,0,0,0,0,1,0,0,30,920,1,0

INTERNAL_PRESSURE 16.2209 SOUNDSPEED 1452.1

TCM_TEMP 15.00 GPS 161009,131310,6639.191,-6024.920,22,1.1,22,18.0

XPDR_PINGS -1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 119 89.45 SBE_CT 829 24 475.90

Roll_motor 177 60 254.18 nil 0 0 0.00

VBD_pump_during_apogee 512 1300 15923.38 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 116 223 622.51

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 50 9.71

TT8 2368 19 504.93

LPSleep 9687 2 239.44

TT8_Active 976 19 208.04

TT8_Sampling 1509 39 644.61

TT8_CF8 535 45 263.17

TT8_Kalman 33 81 29.24

Analog_circuits 1178 12 151.27

GPS_charging 0 0 0.00

Compass 1443 26 401.57

RAFOS 1800 1 28.89

Transponder 2 5 0.14

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

25 end surface: CONTROL_FINISHED_OK

state 25 begin dive

27 -0.99 -146.6 0.0 0.0 0 84 0.00 0.00 -53.33 0.000 2 0.007 0.000 427 1844 2232 0 0 0 0 0 0

87 -0.99 -146.6 3.1 -1.8 11 134 10.23 3.05 -27.80 0.000 4 0.000 0.000 2544 410 3075 8 0 20 0 0 0

279 -0.58 -146.6 31.0 -14.4 40 291 0.80 3.30 -1.08 0.000 6 0.000 0.000 2677 2363 3109 2 0 17 0 0 0

487 -0.58 -146.6 48.9 -8.3 60 494 0.73 1.98 0.00 0.000 4 0.000 0.000 2515 3602 3107 1 0 10 0 0 0

701 -0.58 -146.6 68.6 -8.9 78 709 0.57 3.33 0.00 0.007 6 0.000 0.000 2657 1836 3109 2 0 18 0 0 0

1033 -0.58 -146.6 94.8 -7.2 110 1040 0.68 2.28 0.00 0.007 4 0.000 0.000 2504 435 3108 1 0 12 0 0 0

1109 end dive: TARGET_DEPTH_EXCEEDED

state 1109 begin apogee

1119 -0.31 0.0 100.2 6.4 116 1247 0.77 0.00 120.78 0.000 6 0.000 0.007 2708 2149 2512 1 0 0 0 0 0

1248 end apogee: CONTROL_FINISHED_OK

state 1248 begin climb

1250 0.99 146.6 109.7 0.0 129 1388 1.17 2.78 117.38 0.000 4 0.000 0.000 2955 3701 1926 2 0 16 0 0 0

1640 2.73 608.2 140.4 -7.8 163 1934 1.80 4.65 265.42 0.000 6 0.000 0.000 3346 1825 596 1 0 26 0 1 0

2248 4.31 1042.9 188.3 -6.9 222 2264 0.00 3.08 0.12 0.007 4 0.007 0.000 3344 3648 592 0 0 13 0 0 0

2516 4.92 1540.9 206.7 -8.9 245 2526 0.00 3.30 1.33 0.000 6 0.007 0.000 3341 1864 603 0 0 14 0 0 0

2851 5.43 1956.2 230.0 -6.3 277 2867 0.00 3.78 0.12 0.000 4 0.007 0.000 3344 3689 599 0 0 19 0 0 0

3120 5.88 2324.7 246.4 -4.8 300 3130 0.00 3.65 0.57 0.000 6 0.007 0.000 3351 1826 612 0 0 18 0 0 0

3455 6.35 2703.4 264.6 -5.1 332 3471 0.00 3.88 0.12 0.007 4 0.007 0.000 3345 3574 601 0 0 19 0 0 0

3723 6.92 3163.1 280.2 -7.7 355 3733 0.00 3.67 0.57 0.000 6 0.007 0.000 3345 1912 601 0 0 22 0 0 0

4058 7.40 3553.2 298.5 -5.5 387 4074 0.00 2.92 0.12 0.007 4 0.007 0.000 3342 3579 600 0 0 13 0 0 0

4326 7.96 4012.7 318.2 -7.7 410 4338 0.00 3.40 1.02 0.000 6 0.007 0.000 3345 1820 603 0 0 16 0 0 0

4663 8.44 4402.9 339.5 -5.5 442 4680 0.00 3.65 0.12 0.007 4 0.007 0.000 3342 3618 604 0 0 20 0 0 0

4894 8.93 4800.5 354.9 -5.7 462 4911 0.00 3.95 0.15 0.007 6 0.000 0.000 3347 1931 609 0 0 22 0 0 0

5225 9.50 5262.4 375.0 -7.8 493 5232 0.00 2.65 0.12 0.007 4 0.007 0.000 3342 3559 603 0 0 10 0 0 0

5484 9.99 5662.2 391.2 -5.8 515 5496 0.00 2.92 1.65 0.000 6 0.007 0.000 3345 1647 599 0 0 16 0 0 0

5821 10.48 6059.0 411.8 -5.7 547 5839 0.00 3.60 0.12 0.007 4 0.007 0.000 3342 3506 602 0 0 19 0 0 0

6091 11.00 6482.0 426.9 -6.5 570 6101 0.00 3.03 1.27 0.000 6 0.007 0.000 3350 1832 602 0 0 12 0 0 0

6427 11.52 6902.7 449.7 -6.4 602 6443 0.00 3.33 0.12 0.007 4 0.007 0.000 3351 3459 603 0 0 18 0 0 0

6570 12.02 7315.5 458.9 -6.2 614 6587 0.00 3.90 0.15 0.007 6 0.007 0.000 3347 1662 603 0 0 25 0 0 0

6901 12.56 7751.9 480.4 -7.0 645 6917 0.00 3.85 0.12 0.007 4 0.007 0.000 3342 3609 599 0 0 19 0 0 0

7169 13.08 8177.2 498.4 -6.6 668 7180 0.00 3.53 0.88 0.000 6 0.007 0.000 3342 1671 598 0 0 18 0 0 0

7504 13.56 8565.2 520.5 -5.4 700 7511 0.00 2.33 0.20 0.007 4 0.007 0.000 3346 423 597 0 0 13 0 0 0

7539 14.02 8937.0 522.3 -4.9 702 7548 0.00 3.50 0.00 0.007 6 0.007 0.000 3345 2170 601 0 0 16 0 0 0

7874 13.81 8937.0 518.5 9.1 734 7880 0.00 2.45 0.00 0.007 4 0.007 0.000 3343 3590 609 0 0 11 0 0 0

8131 13.81 8937.0 498.7 7.1 756 8139 0.00 3.28 0.00 0.007 6 0.000 0.000 3350 1624 601 0 0 19 0 0 0

8457 13.74 8937.0 474.1 7.7 787 8472 0.00 3.90 0.00 0.000 4 0.007 0.000 3343 3590 601 0 0 24 0 0 0

8724 13.91 8990.2 456.6 5.3 810 8734 0.00 3.50 0.00 0.007 6 0.007 0.000 3346 1707 601 0 0 18 0 0 0

9059 14.02 9000.3 435.2 6.7 842 9075 0.00 3.30 0.00 0.000 4 0.007 0.000 3349 3579 599 0 0 17 0 0 0

9327 13.93 9000.3 416.3 9.1 865 9334 0.00 3.12 0.00 0.007 6 0.007 0.000 3346 1765 599 0 0 15 0 0 0

9652 14.03 9000.3 387.2 7.3 896 9667 0.00 3.53 0.00 0.007 4 0.007 0.000 3346 3534 592 0 0 16 0 0 0

9920 13.93 9000.3 366.6 10.1 919 9927 0.00 2.75 0.00 0.000 6 0.007 0.000 3344 1916 600 0 0 13 0 0 0

10246 13.87 9000.3 332.8 9.4 950 10261 0.00 3.12 0.00 0.007 4 0.007 0.000 3346 3585 600 0 0 16 0 0 0

10513 13.92 9000.3 311.5 7.6 973 10520 0.00 3.15 0.00 0.007 6 0.007 0.000 3344 1801 602 0 0 18 0 0 0

10844 13.92 9000.3 285.6 7.6 1005 10860 0.00 3.75 0.00 0.000 4 0.007 0.000 3346 3758 567 0 0 21 0 0 0

11111 13.92 9000.3 265.3 7.5 1028 11119 0.00 3.20 0.00 0.007 6 0.007 0.000 3344 1826 601 0 0 17 0 0 0

11436 13.97 9000.3 241.1 7.2 1059 11451 0.00 3.67 0.00 0.007 4 0.007 0.000 3346 3679 601 0 0 19 0 0 0

11704 14.04 9000.3 221.6 7.2 1082 11713 0.00 3.53 0.00 0.007 6 0.007 0.000 3342 1715 602 0 0 19 0 0 0

12038 14.12 9015.2 198.6 6.5 1114 12054 0.00 3.85 0.00 0.007 4 0.007 0.000 3345 3493 590 0 0 20 0 0 0

12305 14.07 9015.2 176.6 8.5 1137 12314 0.00 2.38 0.00 0.007 6 0.007 0.000 3351 1947 601 0 0 10 0 0 0

12630 14.17 9017.2 151.0 7.0 1168 12646 0.00 3.03 0.00 0.007 4 0.007 0.000 3343 3607 603 0 0 15 0 0 0

12898 14.09 9017.2 129.6 9.2 1191 12905 0.00 3.15 0.00 0.007 6 0.007 0.000 3343 1681 602 0 0 16 0 0 0

13223 14.01 9017.2 100.5 9.8 1222 13238 0.00 3.42 0.00 0.007 4 0.007 0.000 3345 3629 591 0 0 18 0 0 0

13467 14.01 9017.2 78.9 8.4 1243 13476 0.00 2.92 0.00 0.007 6 0.007 0.000 3345 1854 604 0 0 15 0 0 0

13792 14.01 9017.2 57.3 7.6 1274 13808 0.00 3.40 0.00 0.007 4 0.007 0.000 3342 3654 602 0 0 17 0 0 0

14060 14.05 9017.2 36.5 8.0 1297 14070 0.00 3.97 0.00 0.007 6 0.007 0.000 3342 1879 599 0 0 24 0 0 0

14270 14.03 9047.0 20.9 6.1 1317 14285 0.00 3.17 0.00 0.007 4 0.007 0.000 3342 3593 603 0 0 17 0 0 0

14448 14.07 9075.4 9.7 6.1 1346 14463 0.00 3.35 0.00 0.007 6 0.007 0.000 3345 1787 603 0 0 17 0 0 0

14531 14.08 9085.0 4.4 6.7 1360 14536 0.00 2.75 0.00 0.007 4 0.000 0.000 3346 3453 601 0 0 12 0 0 0

14548 14.09 9089.1 3.2 6.9 1363 14553 0.00 2.83 0.00 0.000 3 0.000 0.000 3349 1777 603 0 0 16 0 0 0

14554 end climb: SURFACE_DEPTH_REACHED

state 14554 begin surface coast

14597 end surface coast: CONTROL_FINISHED_OK

state 14598 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	113	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	3	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	-221536	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	76.902969	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	085850,6638.690,-6020.810,18,1.1,19,18.0	TGT_NAME	HOLD
_CALLS	1	TGT_LATLONG	6400.000,-5448.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.148,-0.181
_SM_DEPTHo	0.05	KALMAN_X	-58066.8,-1661.2,-1177.2,-23462.1,1863.3
_SM_ANGLEo	-50.0	KALMAN_Y	3796.8,-473.9,-451.3,-28690.5,261.0
GPS2	090500,6638.659,-6020.769,17,1.1,17,18.0	MHEAD_RNG_PITCHd_Wd	122.8,399159,-13.0,-7.021
SPEED_LIMITS	0.122,0.234	D_GRID	100

FINISH	0.1,1.012198	_24V_AH	23.9,268.535
SM_CCo	14685,0.00,0.000,0,0,601,466.07	_10V_AH	10.7,40.152
SM_GC	0.05,14.70,0.00,0.00,0.000,0.007,0.007,459,2240,601,-9.96,6.02,466.07	FG_AHR_24Vo	4.638
SUPER	3,206,254,0,0,0	FG_AHR_10Vo	77.040
RAFOS_CLK	0	MEM	330736
RAFOS	0,1255694646,12.083333,12.068334,80,0,0,0,0,0,572,0,0,0,0,0	DATA_FILE_SIZE	44025,1372
RAFOS_FIX	6629.041504,-6203.900391,161009,121223,5,80,6.51	CAP_FILE_SIZE	179186,8
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	260165632,243355648
HUMID	1078141040	ERRORS	0,0,0,0,0,0,0,0,1,0,0,30,920,1,0
INTERNAL_PRESSURE	16.2209	SOUNDSPEED	1452.1
TCM_TEMP	15.00	GPS	161009,131310,6639.191,-6024.920,22,1.1,22,18.0
XPDR_PINGS	-1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	119	89.45	SBE_CT	829	24	475.90
Roll_motor	177	60	254.18	nil	0	0	0.00
VBD_pump_during_apogee	512	1300	15923.38	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	116	223	622.51
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	50	9.71
TT8	2368	19	504.93
LPSleep	9687	2	239.44
TT8_Active	976	19	208.04
TT8_Sampling	1509	39	644.61
TT8_CF8	535	45	263.17
TT8_Kalman	33	81	29.24
Analog_circuits	1178	12	151.27
GPS_charging	0	0	0.00
Compass	1443	26	401.57
RAFOS	1800	1	28.89
Transponder	2	5	0.14

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
25	end surface: CONTROL_FINISHED_OK
state	25	begin dive
27	-0.99	-146.6	0.0	0.0	0	84	0.00	0.00	-53.33	0.000	2	0.007	0.000	427	1844	2232	0	0	0	0	0	0
87	-0.99	-146.6	3.1	-1.8	11	134	10.23	3.05	-27.80	0.000	4	0.000	0.000	2544	410	3075	8	0	20	0	0	0
279	-0.58	-146.6	31.0	-14.4	40	291	0.80	3.30	-1.08	0.000	6	0.000	0.000	2677	2363	3109	2	0	17	0	0	0
487	-0.58	-146.6	48.9	-8.3	60	494	0.73	1.98	0.00	0.000	4	0.000	0.000	2515	3602	3107	1	0	10	0	0	0
701	-0.58	-146.6	68.6	-8.9	78	709	0.57	3.33	0.00	0.007	6	0.000	0.000	2657	1836	3109	2	0	18	0	0	0
1033	-0.58	-146.6	94.8	-7.2	110	1040	0.68	2.28	0.00	0.007	4	0.000	0.000	2504	435	3108	1	0	12	0	0	0
1109	end dive: TARGET_DEPTH_EXCEEDED
state	1109	begin apogee
1119	-0.31	0.0	100.2	6.4	116	1247	0.77	0.00	120.78	0.000	6	0.000	0.007	2708	2149	2512	1	0	0	0	0	0
1248	end apogee: CONTROL_FINISHED_OK
state	1248	begin climb
1250	0.99	146.6	109.7	0.0	129	1388	1.17	2.78	117.38	0.000	4	0.000	0.000	2955	3701	1926	2	0	16	0	0	0
1640	2.73	608.2	140.4	-7.8	163	1934	1.80	4.65	265.42	0.000	6	0.000	0.000	3346	1825	596	1	0	26	0	1	0
2248	4.31	1042.9	188.3	-6.9	222	2264	0.00	3.08	0.12	0.007	4	0.007	0.000	3344	3648	592	0	0	13	0	0	0
2516	4.92	1540.9	206.7	-8.9	245	2526	0.00	3.30	1.33	0.000	6	0.007	0.000	3341	1864	603	0	0	14	0	0	0
2851	5.43	1956.2	230.0	-6.3	277	2867	0.00	3.78	0.12	0.000	4	0.007	0.000	3344	3689	599	0	0	19	0	0	0
3120	5.88	2324.7	246.4	-4.8	300	3130	0.00	3.65	0.57	0.000	6	0.007	0.000	3351	1826	612	0	0	18	0	0	0
3455	6.35	2703.4	264.6	-5.1	332	3471	0.00	3.88	0.12	0.007	4	0.007	0.000	3345	3574	601	0	0	19	0	0	0
3723	6.92	3163.1	280.2	-7.7	355	3733	0.00	3.67	0.57	0.000	6	0.007	0.000	3345	1912	601	0	0	22	0	0	0
4058	7.40	3553.2	298.5	-5.5	387	4074	0.00	2.92	0.12	0.007	4	0.007	0.000	3342	3579	600	0	0	13	0	0	0
4326	7.96	4012.7	318.2	-7.7	410	4338	0.00	3.40	1.02	0.000	6	0.007	0.000	3345	1820	603	0	0	16	0	0	0
4663	8.44	4402.9	339.5	-5.5	442	4680	0.00	3.65	0.12	0.007	4	0.007	0.000	3342	3618	604	0	0	20	0	0	0
4894	8.93	4800.5	354.9	-5.7	462	4911	0.00	3.95	0.15	0.007	6	0.000	0.000	3347	1931	609	0	0	22	0	0	0
5225	9.50	5262.4	375.0	-7.8	493	5232	0.00	2.65	0.12	0.007	4	0.007	0.000	3342	3559	603	0	0	10	0	0	0
5484	9.99	5662.2	391.2	-5.8	515	5496	0.00	2.92	1.65	0.000	6	0.007	0.000	3345	1647	599	0	0	16	0	0	0
5821	10.48	6059.0	411.8	-5.7	547	5839	0.00	3.60	0.12	0.007	4	0.007	0.000	3342	3506	602	0	0	19	0	0	0
6091	11.00	6482.0	426.9	-6.5	570	6101	0.00	3.03	1.27	0.000	6	0.007	0.000	3350	1832	602	0	0	12	0	0	0
6427	11.52	6902.7	449.7	-6.4	602	6443	0.00	3.33	0.12	0.007	4	0.007	0.000	3351	3459	603	0	0	18	0	0	0
6570	12.02	7315.5	458.9	-6.2	614	6587	0.00	3.90	0.15	0.007	6	0.007	0.000	3347	1662	603	0	0	25	0	0	0
6901	12.56	7751.9	480.4	-7.0	645	6917	0.00	3.85	0.12	0.007	4	0.007	0.000	3342	3609	599	0	0	19	0	0	0
7169	13.08	8177.2	498.4	-6.6	668	7180	0.00	3.53	0.88	0.000	6	0.007	0.000	3342	1671	598	0	0	18	0	0	0
7504	13.56	8565.2	520.5	-5.4	700	7511	0.00	2.33	0.20	0.007	4	0.007	0.000	3346	423	597	0	0	13	0	0	0
7539	14.02	8937.0	522.3	-4.9	702	7548	0.00	3.50	0.00	0.007	6	0.007	0.000	3345	2170	601	0	0	16	0	0	0
7874	13.81	8937.0	518.5	9.1	734	7880	0.00	2.45	0.00	0.007	4	0.007	0.000	3343	3590	609	0	0	11	0	0	0
8131	13.81	8937.0	498.7	7.1	756	8139	0.00	3.28	0.00	0.007	6	0.000	0.000	3350	1624	601	0	0	19	0	0	0
8457	13.74	8937.0	474.1	7.7	787	8472	0.00	3.90	0.00	0.000	4	0.007	0.000	3343	3590	601	0	0	24	0	0	0
8724	13.91	8990.2	456.6	5.3	810	8734	0.00	3.50	0.00	0.007	6	0.007	0.000	3346	1707	601	0	0	18	0	0	0
9059	14.02	9000.3	435.2	6.7	842	9075	0.00	3.30	0.00	0.000	4	0.007	0.000	3349	3579	599	0	0	17	0	0	0
9327	13.93	9000.3	416.3	9.1	865	9334	0.00	3.12	0.00	0.007	6	0.007	0.000	3346	1765	599	0	0	15	0	0	0
9652	14.03	9000.3	387.2	7.3	896	9667	0.00	3.53	0.00	0.007	4	0.007	0.000	3346	3534	592	0	0	16	0	0	0
9920	13.93	9000.3	366.6	10.1	919	9927	0.00	2.75	0.00	0.000	6	0.007	0.000	3344	1916	600	0	0	13	0	0	0
10246	13.87	9000.3	332.8	9.4	950	10261	0.00	3.12	0.00	0.007	4	0.007	0.000	3346	3585	600	0	0	16	0	0	0
10513	13.92	9000.3	311.5	7.6	973	10520	0.00	3.15	0.00	0.007	6	0.007	0.000	3344	1801	602	0	0	18	0	0	0
10844	13.92	9000.3	285.6	7.6	1005	10860	0.00	3.75	0.00	0.000	4	0.007	0.000	3346	3758	567	0	0	21	0	0	0
11111	13.92	9000.3	265.3	7.5	1028	11119	0.00	3.20	0.00	0.007	6	0.007	0.000	3344	1826	601	0	0	17	0	0	0
11436	13.97	9000.3	241.1	7.2	1059	11451	0.00	3.67	0.00	0.007	4	0.007	0.000	3346	3679	601	0	0	19	0	0	0
11704	14.04	9000.3	221.6	7.2	1082	11713	0.00	3.53	0.00	0.007	6	0.007	0.000	3342	1715	602	0	0	19	0	0	0
12038	14.12	9015.2	198.6	6.5	1114	12054	0.00	3.85	0.00	0.007	4	0.007	0.000	3345	3493	590	0	0	20	0	0	0
12305	14.07	9015.2	176.6	8.5	1137	12314	0.00	2.38	0.00	0.007	6	0.007	0.000	3351	1947	601	0	0	10	0	0	0
12630	14.17	9017.2	151.0	7.0	1168	12646	0.00	3.03	0.00	0.007	4	0.007	0.000	3343	3607	603	0	0	15	0	0	0
12898	14.09	9017.2	129.6	9.2	1191	12905	0.00	3.15	0.00	0.007	6	0.007	0.000	3343	1681	602	0	0	16	0	0	0
13223	14.01	9017.2	100.5	9.8	1222	13238	0.00	3.42	0.00	0.007	4	0.007	0.000	3345	3629	591	0	0	18	0	0	0
13467	14.01	9017.2	78.9	8.4	1243	13476	0.00	2.92	0.00	0.007	6	0.007	0.000	3345	1854	604	0	0	15	0	0	0
13792	14.01	9017.2	57.3	7.6	1274	13808	0.00	3.40	0.00	0.007	4	0.007	0.000	3342	3654	602	0	0	17	0	0	0
14060	14.05	9017.2	36.5	8.0	1297	14070	0.00	3.97	0.00	0.007	6	0.007	0.000	3342	1879	599	0	0	24	0	0	0
14270	14.03	9047.0	20.9	6.1	1317	14285	0.00	3.17	0.00	0.007	4	0.007	0.000	3342	3593	603	0	0	17	0	0	0
14448	14.07	9075.4	9.7	6.1	1346	14463	0.00	3.35	0.00	0.007	6	0.007	0.000	3345	1787	603	0	0	17	0	0	0
14531	14.08	9085.0	4.4	6.7	1360	14536	0.00	2.75	0.00	0.007	4	0.000	0.000	3346	3453	601	0	0	12	0	0	0
14548	14.09	9089.1	3.2	6.9	1363	14553	0.00	2.83	0.00	0.000	3	0.000	0.000	3349	1777	603	0	0	16	0	0	0
14554	end climb: SURFACE_DEPTH_REACHED
state	14554	begin surface coast
14597	end surface coast: CONTROL_FINISHED_OK
state	14598	begin surface