Glider dive log

DavisStrait 22Sep09 * SG001 * Dive index * Mission links * Dive 114 * 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 114 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 1 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 -221555.59 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 77.050591 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 77.050591 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 -221555.59

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 1 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 114 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 131310,6639.191,-6024.920,22,1.1,22,18.0 TGT_NAME HOLD

_CALLS 1 TGT_LATLONG 6400.000,-5448.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.149,-0.180

_SM_DEPTHo 0.05 KALMAN_X -60057.9,-1652.7,-1281.1,-24390.1,1850.3

_SM_ANGLEo -50.0 KALMAN_Y 4038.5,468.1,-515.2,-28912.9,431.4

GPS2 131920,6639.197,-6024.914,18,1.1,18,18.0 MHEAD_RNG_PITCHd_Wd 122.5,402174,-13.0,-7.021

SPEED_LIMITS 0.122,0.234 D_GRID 100

Post-dive calculations and measurements:

FINISH 1.7,1.025047 _24V_AH 23.9,269.002

SM_CCo 13875,0.00,0.000,0,0,604,465.33 _10V_AH 10.7,40.220

SM_GC 0.05,14.75,0.00,0.00,0.000,0.007,0.007,401,2176,604,-10.19,4.30,465.33 FG_AHR_24Vo 4.638

SUPER 3,206,254,0,0,0 FG_AHR_10Vo 77.180

RAFOS_CLK 0 MEM 330736

RAFOS 0,1255709042,16.083334,16.067223,80,0,0,0,0,0,599,0,0,0,0,0 DATA_FILE_SIZE 44138,1295

RAFOS_FIX 6628.862793,-6209.304199,161009,161601,5,80,7.10 CAP_FILE_SIZE 170907,8

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 260165632,243281920

HUMID 1078152765 ERRORS 0,0,0,0,0,0,0,0,1,0,0,27,855,3,0

INTERNAL_PRESSURE 16.2203 SOUNDSPEED 1451.6

TCM_TEMP 15.00 GPS 161009,171343,6638.976,-6028.938,27,1.1,27,18.0

XPDR_PINGS -1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 119 82.19 SBE_CT 789 24 452.88

Roll_motor 169 60 243.13 nil 0 0 0.00

VBD_pump_during_apogee 522 135 1690.63 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 115 223 613.43

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 50 9.96

TT8 2186 19 466.09

LPSleep 9147 2 226.10

TT8_Active 1004 19 214.16

TT8_Sampling 1389 39 593.64

TT8_CF8 516 45 253.99

TT8_Kalman 33 81 29.24

Analog_circuits 1205 12 154.76

GPS_charging 0 0 0.00

Compass 1324 26 368.44

RAFOS 1800 1 28.89

Transponder 3 5 0.21

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

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

26 -0.99 -146.6 0.0 0.0 0 72 0.00 0.00 -42.20 0.000 2 0.007 0.000 454 2238 1874 0 0 0 0 0 0

75 -0.99 -146.6 3.0 -5.1 9 143 9.77 2.25 -40.50 0.000 4 0.000 0.000 2509 3638 3106 9 0 10 0 0 0

278 -0.78 -146.6 27.8 -14.5 41 293 0.00 3.62 0.00 0.007 6 0.000 0.000 2515 1761 3129 0 0 20 0 0 0

480 -0.68 -146.6 48.6 -9.9 60 486 0.43 2.30 0.00 0.007 4 0.007 0.000 2612 302 3108 1 0 13 0 0 0

644 -0.57 -146.6 64.6 -9.0 74 660 0.40 3.83 0.00 0.007 6 0.000 0.000 2504 2122 3105 1 0 19 0 0 0

973 -0.57 -146.6 91.6 -8.0 105 989 0.40 3.25 0.00 0.007 4 0.000 0.000 2601 213 3107 1 0 19 0 0 0

1070 end dive: TARGET_DEPTH_EXCEEDED

state 1070 begin apogee

1083 -0.31 0.0 100.1 8.9 113 1212 0.65 0.00 118.72 0.135 6 0.000 0.007 2764 2346 2528 2 0 0 0 1 0

1215 end apogee: CONTROL_FINISHED_OK

state 1215 begin climb

1217 0.99 146.6 112.2 0.0 126 1354 0.85 2.60 124.50 0.000 4 0.000 0.000 2953 3578 1906 1 0 14 0 0 0

1527 2.72 595.7 139.9 -7.4 154 1810 1.65 3.20 257.80 0.000 6 0.000 0.000 3344 1839 632 2 0 17 0 2 0

2134 4.58 1105.1 189.1 -9.3 213 2149 0.00 3.30 4.72 0.000 4 0.007 0.000 3346 3690 619 0 0 16 0 0 0

2402 5.10 1533.2 209.6 -6.7 237 2417 0.00 3.05 1.52 0.000 6 0.007 0.000 3347 1874 619 0 0 14 0 0 0

2732 5.62 1955.0 230.5 -6.5 268 2747 0.00 3.45 4.80 0.000 4 0.007 0.000 3347 3442 603 0 0 17 0 0 0

2754 6.14 2377.9 231.9 -6.5 270 2769 0.00 2.53 1.83 0.000 6 0.007 0.000 3347 1854 611 0 0 10 0 0 0

3083 6.69 2819.3 254.6 -7.1 301 3099 0.00 3.60 0.15 0.007 4 0.007 0.000 3347 3516 607 0 0 19 0 0 0

3352 7.26 3286.1 274.2 -7.9 324 3362 0.00 3.08 1.25 0.000 6 0.007 0.000 3348 1942 608 0 0 15 0 0 0

3686 7.85 3770.0 303.8 -8.5 356 3702 0.00 3.40 0.12 0.000 4 0.007 0.000 3348 440 611 0 0 19 0 0 0

3782 8.47 4273.0 312.2 -9.1 364 3797 0.00 3.12 0.93 0.000 6 0.007 0.000 3346 2145 606 0 0 15 0 0 0

4112 8.95 4663.6 333.5 -5.5 395 4127 0.00 2.90 0.12 0.007 4 0.000 0.000 3347 3692 606 0 0 15 0 0 0

4379 9.50 5105.2 351.4 -7.1 418 4390 0.00 3.15 1.42 0.000 6 0.007 0.000 3346 1884 606 0 0 13 0 0 0

4714 9.99 5508.1 372.1 -5.9 450 4729 0.00 2.78 0.12 0.000 4 0.007 0.000 3344 267 608 0 0 16 0 0 0

4735 10.48 5907.2 373.4 -5.8 451 4745 0.00 4.15 0.17 0.000 6 0.007 0.000 3353 2310 607 0 0 21 0 0 0

5070 11.00 6328.7 394.8 -6.5 483 5077 0.00 2.40 0.12 0.007 4 0.007 0.000 3348 3552 607 0 0 13 0 0 0

5329 11.56 6785.2 412.4 -7.6 505 5339 0.00 2.70 1.98 0.000 6 0.007 0.000 3346 1864 609 0 0 13 0 0 0

5664 12.07 7193.6 433.3 -6.1 537 5681 0.00 3.17 0.15 0.007 4 0.007 0.000 3350 3665 609 0 0 16 0 0 0

5933 12.57 7601.6 449.1 -6.0 560 5945 0.00 4.20 0.20 0.000 6 0.007 0.000 3344 1848 610 0 0 23 0 0 0

6270 13.03 7978.4 467.8 -5.0 592 6276 0.00 2.42 0.20 0.007 4 0.007 0.000 3345 418 610 0 0 11 0 0 0

6450 13.62 8459.8 480.2 -8.4 607 6460 0.00 3.28 1.33 0.000 6 0.007 0.000 3348 2253 609 0 0 17 0 0 0

6785 14.11 8859.4 500.1 -5.8 639 6791 0.00 2.65 0.00 0.007 4 0.007 0.000 3348 3660 607 0 0 14 0 0 0

7044 14.51 9177.2 513.4 -3.2 661 7055 0.00 4.20 0.00 0.007 6 0.007 0.000 3349 1872 607 0 0 22 0 0 0

7379 14.28 9177.2 494.6 10.0 693 7394 0.00 2.90 0.00 0.007 4 0.007 0.000 3345 3590 603 0 0 16 0 0 0

7645 14.28 9177.2 468.6 7.7 716 7654 0.00 2.65 0.00 0.007 6 0.007 0.000 3343 1825 606 0 0 10 0 0 0

7970 14.30 9188.5 445.6 6.7 747 7985 0.00 3.38 0.00 0.000 4 0.007 0.000 3349 3677 623 0 0 19 0 0 0

8158 14.30 9188.5 432.2 7.7 763 8166 0.00 3.40 0.00 0.007 6 0.007 0.000 3346 1774 607 0 0 18 0 0 0

8484 14.41 9207.9 408.9 6.4 794 8489 0.00 2.15 0.00 0.000 4 0.007 0.000 3347 417 606 0 0 8 0 0 0

8663 14.41 9207.9 395.9 8.6 809 8669 0.00 3.50 0.00 0.007 6 0.007 0.000 3345 2284 604 0 0 18 0 0 0

8988 14.42 9217.1 373.6 6.7 840 9004 0.00 3.08 0.00 0.007 4 0.007 0.000 3344 3730 605 0 0 16 0 0 0

9027 14.49 9217.1 370.7 8.1 843 9042 0.00 3.47 0.00 0.007 6 0.007 0.000 3346 1846 605 0 0 19 0 0 0

9356 14.66 9278.7 350.7 5.0 874 9362 0.00 2.53 0.00 0.007 4 0.007 0.000 3346 192 607 0 0 14 0 0 0

9475 14.50 9278.7 342.3 9.9 884 9491 0.00 3.65 0.00 0.007 6 0.007 0.000 3346 2132 601 0 0 20 0 0 0

9805 14.50 9280.1 321.4 7.0 915 9820 0.00 3.33 0.00 0.007 4 0.007 0.000 3346 555 609 0 0 18 0 0 0

9870 14.19 9280.1 314.8 12.2 920 9877 0.00 2.97 0.00 0.007 6 0.000 0.000 3348 2160 607 0 0 14 0 0 0

10194 14.33 9280.1 291.5 7.1 951 10200 0.00 2.22 0.00 0.007 4 0.007 0.000 3347 3581 607 0 0 9 0 0 0

10453 14.26 9280.1 266.2 9.5 974 10468 0.00 3.22 0.00 0.007 6 0.007 0.000 3346 1812 607 0 0 19 0 0 0

10783 14.43 9305.4 243.5 6.2 1005 10797 0.00 2.83 0.00 0.007 4 0.007 0.000 3349 3506 606 0 0 13 0 0 0

10901 14.33 9305.4 233.8 9.8 1015 10917 0.00 3.42 0.00 0.007 6 0.007 0.000 3346 1696 605 0 0 20 0 0 0

11230 14.38 9305.4 201.5 7.4 1046 11247 0.00 3.50 0.00 0.007 4 0.007 0.000 3348 3594 608 0 0 18 0 0 0

11499 14.49 9334.2 182.6 6.1 1069 11505 0.00 2.80 0.00 0.000 6 0.007 0.000 3348 1883 606 0 0 9 0 0 0

11823 14.50 9338.3 161.4 6.9 1100 11838 0.00 2.95 0.00 0.007 4 0.007 0.000 3348 3608 605 0 0 14 0 0 0

12090 14.54 9338.3 141.6 8.1 1123 12097 0.00 3.30 0.00 0.007 6 0.007 0.000 3346 1689 608 0 0 16 0 0 0

12415 14.59 9338.3 113.8 8.8 1154 12430 0.00 3.17 0.00 0.007 4 0.000 0.000 3343 3590 606 0 0 14 0 0 0

12683 14.65 9338.3 93.0 7.2 1177 12689 0.00 2.75 0.00 0.007 6 0.007 0.000 3345 1929 606 0 0 13 0 0 0

13006 14.65 9338.3 65.7 9.0 1208 13022 0.00 3.08 0.00 0.000 4 0.007 0.000 3344 3661 595 0 0 16 0 0 0

13269 14.65 9338.3 45.0 7.5 1231 13284 0.00 3.67 0.00 0.007 6 0.007 0.000 3347 1843 603 0 0 16 0 0 0

13470 14.65 9338.3 27.5 8.8 1250 13487 0.00 3.40 0.00 0.007 4 0.007 0.000 3350 3769 605 0 0 18 0 0 0

13577 14.75 9376.0 20.8 5.8 1259 13592 0.00 3.40 0.00 0.007 6 0.007 0.000 3347 1823 607 0 0 17 0 0 0

13758 end climb: SURFACE_DEPTH_REACHED

state 13758 begin surface coast

13787 end surface coast: CONTROL_FINISHED_OK

state 13787 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	114	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	1	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	-221555.59	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	77.050591	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	131310,6639.191,-6024.920,22,1.1,22,18.0	TGT_NAME	HOLD
_CALLS	1	TGT_LATLONG	6400.000,-5448.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.149,-0.180
_SM_DEPTHo	0.05	KALMAN_X	-60057.9,-1652.7,-1281.1,-24390.1,1850.3
_SM_ANGLEo	-50.0	KALMAN_Y	4038.5,468.1,-515.2,-28912.9,431.4
GPS2	131920,6639.197,-6024.914,18,1.1,18,18.0	MHEAD_RNG_PITCHd_Wd	122.5,402174,-13.0,-7.021
SPEED_LIMITS	0.122,0.234	D_GRID	100

FINISH	1.7,1.025047	_24V_AH	23.9,269.002
SM_CCo	13875,0.00,0.000,0,0,604,465.33	_10V_AH	10.7,40.220
SM_GC	0.05,14.75,0.00,0.00,0.000,0.007,0.007,401,2176,604,-10.19,4.30,465.33	FG_AHR_24Vo	4.638
SUPER	3,206,254,0,0,0	FG_AHR_10Vo	77.180
RAFOS_CLK	0	MEM	330736
RAFOS	0,1255709042,16.083334,16.067223,80,0,0,0,0,0,599,0,0,0,0,0	DATA_FILE_SIZE	44138,1295
RAFOS_FIX	6628.862793,-6209.304199,161009,161601,5,80,7.10	CAP_FILE_SIZE	170907,8
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	260165632,243281920
HUMID	1078152765	ERRORS	0,0,0,0,0,0,0,0,1,0,0,27,855,3,0
INTERNAL_PRESSURE	16.2203	SOUNDSPEED	1451.6
TCM_TEMP	15.00	GPS	161009,171343,6638.976,-6028.938,27,1.1,27,18.0
XPDR_PINGS	-1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	119	82.19	SBE_CT	789	24	452.88
Roll_motor	169	60	243.13	nil	0	0	0.00
VBD_pump_during_apogee	522	135	1690.63	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	115	223	613.43
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	50	9.96
TT8	2186	19	466.09
LPSleep	9147	2	226.10
TT8_Active	1004	19	214.16
TT8_Sampling	1389	39	593.64
TT8_CF8	516	45	253.99
TT8_Kalman	33	81	29.24
Analog_circuits	1205	12	154.76
GPS_charging	0	0	0.00
Compass	1324	26	368.44
RAFOS	1800	1	28.89
Transponder	3	5	0.21

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
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
26	-0.99	-146.6	0.0	0.0	0	72	0.00	0.00	-42.20	0.000	2	0.007	0.000	454	2238	1874	0	0	0	0	0	0
75	-0.99	-146.6	3.0	-5.1	9	143	9.77	2.25	-40.50	0.000	4	0.000	0.000	2509	3638	3106	9	0	10	0	0	0
278	-0.78	-146.6	27.8	-14.5	41	293	0.00	3.62	0.00	0.007	6	0.000	0.000	2515	1761	3129	0	0	20	0	0	0
480	-0.68	-146.6	48.6	-9.9	60	486	0.43	2.30	0.00	0.007	4	0.007	0.000	2612	302	3108	1	0	13	0	0	0
644	-0.57	-146.6	64.6	-9.0	74	660	0.40	3.83	0.00	0.007	6	0.000	0.000	2504	2122	3105	1	0	19	0	0	0
973	-0.57	-146.6	91.6	-8.0	105	989	0.40	3.25	0.00	0.007	4	0.000	0.000	2601	213	3107	1	0	19	0	0	0
1070	end dive: TARGET_DEPTH_EXCEEDED
state	1070	begin apogee
1083	-0.31	0.0	100.1	8.9	113	1212	0.65	0.00	118.72	0.135	6	0.000	0.007	2764	2346	2528	2	0	0	0	1	0
1215	end apogee: CONTROL_FINISHED_OK
state	1215	begin climb
1217	0.99	146.6	112.2	0.0	126	1354	0.85	2.60	124.50	0.000	4	0.000	0.000	2953	3578	1906	1	0	14	0	0	0
1527	2.72	595.7	139.9	-7.4	154	1810	1.65	3.20	257.80	0.000	6	0.000	0.000	3344	1839	632	2	0	17	0	2	0
2134	4.58	1105.1	189.1	-9.3	213	2149	0.00	3.30	4.72	0.000	4	0.007	0.000	3346	3690	619	0	0	16	0	0	0
2402	5.10	1533.2	209.6	-6.7	237	2417	0.00	3.05	1.52	0.000	6	0.007	0.000	3347	1874	619	0	0	14	0	0	0
2732	5.62	1955.0	230.5	-6.5	268	2747	0.00	3.45	4.80	0.000	4	0.007	0.000	3347	3442	603	0	0	17	0	0	0
2754	6.14	2377.9	231.9	-6.5	270	2769	0.00	2.53	1.83	0.000	6	0.007	0.000	3347	1854	611	0	0	10	0	0	0
3083	6.69	2819.3	254.6	-7.1	301	3099	0.00	3.60	0.15	0.007	4	0.007	0.000	3347	3516	607	0	0	19	0	0	0
3352	7.26	3286.1	274.2	-7.9	324	3362	0.00	3.08	1.25	0.000	6	0.007	0.000	3348	1942	608	0	0	15	0	0	0
3686	7.85	3770.0	303.8	-8.5	356	3702	0.00	3.40	0.12	0.000	4	0.007	0.000	3348	440	611	0	0	19	0	0	0
3782	8.47	4273.0	312.2	-9.1	364	3797	0.00	3.12	0.93	0.000	6	0.007	0.000	3346	2145	606	0	0	15	0	0	0
4112	8.95	4663.6	333.5	-5.5	395	4127	0.00	2.90	0.12	0.007	4	0.000	0.000	3347	3692	606	0	0	15	0	0	0
4379	9.50	5105.2	351.4	-7.1	418	4390	0.00	3.15	1.42	0.000	6	0.007	0.000	3346	1884	606	0	0	13	0	0	0
4714	9.99	5508.1	372.1	-5.9	450	4729	0.00	2.78	0.12	0.000	4	0.007	0.000	3344	267	608	0	0	16	0	0	0
4735	10.48	5907.2	373.4	-5.8	451	4745	0.00	4.15	0.17	0.000	6	0.007	0.000	3353	2310	607	0	0	21	0	0	0
5070	11.00	6328.7	394.8	-6.5	483	5077	0.00	2.40	0.12	0.007	4	0.007	0.000	3348	3552	607	0	0	13	0	0	0
5329	11.56	6785.2	412.4	-7.6	505	5339	0.00	2.70	1.98	0.000	6	0.007	0.000	3346	1864	609	0	0	13	0	0	0
5664	12.07	7193.6	433.3	-6.1	537	5681	0.00	3.17	0.15	0.007	4	0.007	0.000	3350	3665	609	0	0	16	0	0	0
5933	12.57	7601.6	449.1	-6.0	560	5945	0.00	4.20	0.20	0.000	6	0.007	0.000	3344	1848	610	0	0	23	0	0	0
6270	13.03	7978.4	467.8	-5.0	592	6276	0.00	2.42	0.20	0.007	4	0.007	0.000	3345	418	610	0	0	11	0	0	0
6450	13.62	8459.8	480.2	-8.4	607	6460	0.00	3.28	1.33	0.000	6	0.007	0.000	3348	2253	609	0	0	17	0	0	0
6785	14.11	8859.4	500.1	-5.8	639	6791	0.00	2.65	0.00	0.007	4	0.007	0.000	3348	3660	607	0	0	14	0	0	0
7044	14.51	9177.2	513.4	-3.2	661	7055	0.00	4.20	0.00	0.007	6	0.007	0.000	3349	1872	607	0	0	22	0	0	0
7379	14.28	9177.2	494.6	10.0	693	7394	0.00	2.90	0.00	0.007	4	0.007	0.000	3345	3590	603	0	0	16	0	0	0
7645	14.28	9177.2	468.6	7.7	716	7654	0.00	2.65	0.00	0.007	6	0.007	0.000	3343	1825	606	0	0	10	0	0	0
7970	14.30	9188.5	445.6	6.7	747	7985	0.00	3.38	0.00	0.000	4	0.007	0.000	3349	3677	623	0	0	19	0	0	0
8158	14.30	9188.5	432.2	7.7	763	8166	0.00	3.40	0.00	0.007	6	0.007	0.000	3346	1774	607	0	0	18	0	0	0
8484	14.41	9207.9	408.9	6.4	794	8489	0.00	2.15	0.00	0.000	4	0.007	0.000	3347	417	606	0	0	8	0	0	0
8663	14.41	9207.9	395.9	8.6	809	8669	0.00	3.50	0.00	0.007	6	0.007	0.000	3345	2284	604	0	0	18	0	0	0
8988	14.42	9217.1	373.6	6.7	840	9004	0.00	3.08	0.00	0.007	4	0.007	0.000	3344	3730	605	0	0	16	0	0	0
9027	14.49	9217.1	370.7	8.1	843	9042	0.00	3.47	0.00	0.007	6	0.007	0.000	3346	1846	605	0	0	19	0	0	0
9356	14.66	9278.7	350.7	5.0	874	9362	0.00	2.53	0.00	0.007	4	0.007	0.000	3346	192	607	0	0	14	0	0	0
9475	14.50	9278.7	342.3	9.9	884	9491	0.00	3.65	0.00	0.007	6	0.007	0.000	3346	2132	601	0	0	20	0	0	0
9805	14.50	9280.1	321.4	7.0	915	9820	0.00	3.33	0.00	0.007	4	0.007	0.000	3346	555	609	0	0	18	0	0	0
9870	14.19	9280.1	314.8	12.2	920	9877	0.00	2.97	0.00	0.007	6	0.000	0.000	3348	2160	607	0	0	14	0	0	0
10194	14.33	9280.1	291.5	7.1	951	10200	0.00	2.22	0.00	0.007	4	0.007	0.000	3347	3581	607	0	0	9	0	0	0
10453	14.26	9280.1	266.2	9.5	974	10468	0.00	3.22	0.00	0.007	6	0.007	0.000	3346	1812	607	0	0	19	0	0	0
10783	14.43	9305.4	243.5	6.2	1005	10797	0.00	2.83	0.00	0.007	4	0.007	0.000	3349	3506	606	0	0	13	0	0	0
10901	14.33	9305.4	233.8	9.8	1015	10917	0.00	3.42	0.00	0.007	6	0.007	0.000	3346	1696	605	0	0	20	0	0	0
11230	14.38	9305.4	201.5	7.4	1046	11247	0.00	3.50	0.00	0.007	4	0.007	0.000	3348	3594	608	0	0	18	0	0	0
11499	14.49	9334.2	182.6	6.1	1069	11505	0.00	2.80	0.00	0.000	6	0.007	0.000	3348	1883	606	0	0	9	0	0	0
11823	14.50	9338.3	161.4	6.9	1100	11838	0.00	2.95	0.00	0.007	4	0.007	0.000	3348	3608	605	0	0	14	0	0	0
12090	14.54	9338.3	141.6	8.1	1123	12097	0.00	3.30	0.00	0.007	6	0.007	0.000	3346	1689	608	0	0	16	0	0	0
12415	14.59	9338.3	113.8	8.8	1154	12430	0.00	3.17	0.00	0.007	4	0.000	0.000	3343	3590	606	0	0	14	0	0	0
12683	14.65	9338.3	93.0	7.2	1177	12689	0.00	2.75	0.00	0.007	6	0.007	0.000	3345	1929	606	0	0	13	0	0	0
13006	14.65	9338.3	65.7	9.0	1208	13022	0.00	3.08	0.00	0.000	4	0.007	0.000	3344	3661	595	0	0	16	0	0	0
13269	14.65	9338.3	45.0	7.5	1231	13284	0.00	3.67	0.00	0.007	6	0.007	0.000	3347	1843	603	0	0	16	0	0	0
13470	14.65	9338.3	27.5	8.8	1250	13487	0.00	3.40	0.00	0.007	4	0.007	0.000	3350	3769	605	0	0	18	0	0	0
13577	14.75	9376.0	20.8	5.8	1259	13592	0.00	3.40	0.00	0.007	6	0.007	0.000	3347	1823	607	0	0	17	0	0	0
13758	end climb: SURFACE_DEPTH_REACHED
state	13758	begin surface coast
13787	end surface coast: CONTROL_FINISHED_OK
state	13787	begin surface