Glider dive log

DavisStrait 22Sep09 * SG001 * Dive index * Mission links * Dive 115 * 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 115 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 -221566.69 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 77.18998 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 77.18998 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 -221566.69

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 115 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 171343,6638.976,-6028.938,27,1.1,27,18.0 TGT_NAME HOLD

_CALLS 1 TGT_LATLONG 6400.000,-5448.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.150,-0.179

_SM_DEPTHo 0.04 KALMAN_X -62041.5,-1576.6,-1363.5,-25303.8,1827.9

_SM_ANGLEo -50.0 KALMAN_Y 3923.5,199.2,31.9,-29520.2,344.1

GPS2 171930,6638.944,-6028.903,9,1.1,10,18.0 MHEAD_RNG_PITCHd_Wd 122.1,404042,-13.0,-7.021

SPEED_LIMITS 0.122,0.234 D_GRID 100

Post-dive calculations and measurements:

FINISH 1.7,1.014742 _24V_AH 23.9,269.509

SM_CCo 13739,0.00,0.000,0,0,597,466.32 _10V_AH 10.7,40.288

SM_GC 0.05,14.62,0.00,0.00,0.000,0.007,0.007,560,1737,597,-9.66,-8.28,466.32 FG_AHR_24Vo 4.638

SUPER 3,206,254,0,0,0 FG_AHR_10Vo 77.318

RAFOS_CLK 0 MEM 330736

RAFOS 0,1255723445,20.083334,20.068056,80,0,0,0,0,0,592,0,0,0,0,0 DATA_FILE_SIZE 41000,1279

RAFOS_FIX 6626.292969,-6209.821289,161009,202048,5,80,7.01 CAP_FILE_SIZE 166710,9

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 260165632,243208192

HUMID 1078178125 ERRORS 0,0,0,0,0,0,0,0,1,0,0,27,968,3,0

INTERNAL_PRESSURE 16.2195 SOUNDSPEED 1451.0

TCM_TEMP 15.00 GPS 161009,211133,6636.917,-6031.189,24,1.1,25,18.0

XPDR_PINGS -1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 119 81.48 SBE_CT 785 24 450.65

Roll_motor 187 60 268.73 nil 0 0 0.00

VBD_pump_during_apogee 516 1300 16048.43 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 108 223 577.61

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 10 50 5.41

TT8 2122 19 452.32

LPSleep 9053 2 223.77

TT8_Active 1068 19 227.84

TT8_Sampling 1322 39 565.00

TT8_CF8 521 45 256.02

TT8_Kalman 33 81 29.23

Analog_circuits 1281 12 164.56

GPS_charging 0 0 0.00

Compass 1265 26 352.15

RAFOS 1800 1 28.89

Transponder 2 5 0.11

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 22 begin dive

27 -0.99 -146.6 0.0 0.0 0 82 0.00 0.00 -52.35 0.000 2 0.007 0.000 399 2176 2189 0 0 0 0 0 0

86 -0.99 -146.6 3.1 -2.0 11 144 10.27 3.00 -30.15 0.000 4 0.000 0.000 2532 334 3102 8 0 15 0 0 0

324 -0.81 -146.6 32.6 -11.8 45 339 0.00 3.12 0.00 0.007 6 0.007 0.000 2530 2281 3154 0 0 16 0 0 0

525 -0.81 -146.6 51.2 -9.6 64 540 0.00 3.28 0.00 0.007 4 0.007 0.000 2530 430 3101 0 0 15 0 0 0

792 -0.81 -146.6 75.5 -8.9 87 801 0.00 3.15 0.00 0.007 6 0.007 0.000 2531 2237 3103 0 0 13 0 0 0

1108 end dive: TARGET_DEPTH_EXCEEDED

state 1108 begin apogee

1115 -0.31 0.0 100.8 7.7 117 1244 0.62 0.00 119.00 0.000 6 0.000 0.007 2657 1812 2523 2 0 0 0 1 0

1245 end apogee: CONTROL_FINISHED_OK

state 1245 begin climb

1250 0.99 146.6 111.4 0.0 130 1385 1.30 3.30 122.25 0.000 4 0.000 0.000 2957 3562 1915 1 0 14 0 0 0

1638 2.83 648.4 137.7 -9.0 166 1937 1.83 3.20 266.40 0.000 6 0.000 0.000 3341 1844 595 1 0 16 0 2 0

2251 4.45 1074.1 185.3 -6.6 225 2266 0.00 2.80 0.12 0.000 4 0.007 0.000 3343 3554 597 0 0 13 0 0 0

2473 4.99 1515.5 200.5 -7.1 244 2483 0.00 2.65 1.80 0.000 6 0.007 0.000 3342 1889 596 0 0 12 0 0 0

2808 5.59 2000.3 227.6 -8.5 276 2824 0.00 3.28 0.12 0.000 4 0.007 0.000 3344 3604 595 0 0 16 0 0 0

2916 6.14 2447.4 235.2 -7.3 285 2932 0.00 3.17 0.10 0.000 6 0.007 0.001 3348 1930 595 0 0 20 0 0 0

3247 6.70 2904.7 259.3 -7.6 316 3262 0.00 3.22 0.12 0.007 4 0.007 0.000 3342 3787 596 0 0 18 0 0 0

3267 7.28 3378.3 261.1 -8.1 317 3278 0.00 4.10 0.17 0.007 6 0.007 0.000 3345 1860 594 0 0 26 0 0 0

3603 7.80 3798.9 285.3 -6.4 349 3620 0.00 3.55 0.12 0.007 4 0.007 0.000 3342 3679 589 0 0 23 0 0 0

3735 8.33 4231.0 293.8 -6.8 360 3753 0.00 3.25 0.80 0.000 6 0.000 0.000 3343 1834 596 0 0 17 0 0 0

4068 8.87 4664.8 316.4 -6.9 391 4083 0.00 2.97 0.12 0.007 4 0.000 0.000 3345 3579 596 0 0 17 0 0 0

4110 9.42 5119.6 319.6 -7.5 394 4121 0.00 3.45 1.02 0.000 6 0.007 0.000 3344 1873 595 0 0 18 0 0 0

4445 9.96 5551.9 342.6 -6.8 426 4463 0.00 3.15 0.15 0.007 4 0.007 0.000 3345 3554 595 0 0 16 0 0 0

4715 10.50 5996.2 361.8 -7.2 449 4726 0.00 3.17 1.10 0.000 6 0.007 0.000 3345 1637 594 0 0 15 0 0 0

5051 11.05 6443.1 385.5 -7.3 481 5067 0.00 4.47 0.12 0.007 4 0.007 0.000 3341 3577 594 0 0 25 0 0 0

5124 11.60 6890.6 390.8 -7.3 487 5139 0.00 2.92 1.20 0.000 6 0.007 0.002 3345 1851 609 0 0 13 0 0 0

5454 12.15 7335.4 413.4 -7.2 518 5469 0.00 3.17 0.12 0.007 4 0.007 0.000 3344 3558 609 0 0 15 0 0 0

5485 12.72 7795.0 415.9 -7.7 520 5497 0.00 3.03 1.52 0.000 6 0.007 0.000 3342 1801 596 0 0 17 0 0 0

5822 13.25 8225.8 439.8 -6.8 552 5838 0.00 3.38 0.12 0.000 4 0.007 0.000 3345 3655 593 0 0 17 0 0 0

5917 13.79 8664.6 446.5 -7.0 560 5933 0.00 3.47 0.00 0.007 6 0.007 0.000 3342 1817 599 0 0 18 0 0 0

6247 14.28 9065.2 465.7 -5.8 591 6262 0.00 3.92 0.00 0.007 4 0.007 0.000 3345 3761 592 0 0 22 0 0 0

6454 14.78 9472.8 477.9 -6.0 609 6469 0.00 3.60 0.00 0.007 6 0.007 0.000 3344 2021 591 0 0 17 0 0 0

6783 15.35 9935.0 501.2 -7.8 640 6798 0.00 2.97 0.00 0.007 4 0.007 0.000 3345 3550 596 0 0 13 0 0 0

7051 15.06 9935.0 504.2 7.3 663 7057 0.00 3.33 0.00 0.007 6 0.007 0.000 3343 1932 595 0 0 14 0 0 0

7375 15.06 9935.0 478.7 7.3 694 7391 0.00 3.60 0.00 0.007 4 0.000 0.000 3343 3782 594 0 0 20 0 0 0

7474 15.06 9935.0 471.4 7.5 702 7480 0.00 3.90 0.00 0.007 6 0.007 0.000 3338 1789 595 0 0 24 0 0 0

7799 15.26 9991.3 452.4 5.2 733 7814 0.00 2.88 0.00 0.007 4 0.007 0.000 3348 3693 597 0 0 16 0 0 0

7887 15.19 9991.3 446.4 8.1 740 7897 0.00 4.57 0.00 0.007 6 0.007 0.000 3341 1848 591 0 0 23 0 0 0

8222 15.10 9991.3 417.4 8.4 772 8228 0.00 2.42 0.00 0.007 4 0.000 0.000 3342 464 588 0 0 11 0 0 0

8239 15.10 9991.3 416.1 7.4 773 8254 0.00 3.30 0.00 0.007 6 0.000 0.000 3344 2188 598 0 0 20 0 0 0

8568 15.10 9991.3 393.5 7.7 804 8582 0.00 3.15 0.00 0.007 4 0.007 0.000 3345 3640 592 0 0 16 0 0 0

8834 15.10 9991.3 372.7 8.1 827 8843 0.00 2.70 0.00 0.000 6 0.007 0.000 3343 1914 594 0 0 12 0 0 0

9159 15.10 9991.3 345.3 8.3 858 9165 0.00 3.00 0.00 0.007 4 0.007 0.000 3350 3545 593 0 0 14 0 0 0

9417 15.10 9991.3 325.0 7.1 880 9424 0.00 3.15 0.00 0.007 6 0.007 0.000 3347 1916 597 0 0 14 0 0 0

9742 15.10 9991.3 299.1 8.1 911 9748 0.00 2.70 0.00 0.007 4 0.000 0.000 3344 3526 595 0 0 11 0 0 0

9775 15.10 9991.3 296.3 8.9 913 9786 0.00 3.65 0.00 0.007 6 0.007 0.000 3343 1847 595 0 0 19 0 0 0

10110 15.10 9991.3 269.3 8.3 945 10125 0.00 3.25 0.00 0.000 4 0.007 0.000 3344 3615 595 0 0 14 0 0 0

10376 15.10 9991.3 248.1 8.4 968 10383 0.00 3.53 0.00 0.007 6 0.007 0.000 3340 1818 597 0 0 21 0 0 0

10701 15.10 9991.3 223.0 7.8 999 10718 0.00 3.65 0.00 0.007 4 0.007 0.000 3342 3546 604 0 0 21 0 0 0

10970 15.10 9991.3 203.2 7.2 1022 10978 0.00 3.38 0.00 0.007 6 0.007 0.000 3344 1783 595 0 0 16 0 0 0

11295 15.23 10032.5 183.8 5.7 1053 11311 0.00 3.00 0.00 0.007 4 0.007 0.000 3343 3667 597 0 0 16 0 0 0

11469 15.31 10051.1 173.6 6.4 1068 11485 0.00 3.45 0.00 0.007 6 0.007 0.000 3344 1705 593 0 0 16 0 0 0

11800 15.42 10061.3 152.4 6.7 1099 11817 0.00 3.83 0.00 0.007 4 0.007 0.000 3342 3755 588 0 0 20 0 0 0

11907 15.30 10061.3 141.7 10.3 1108 11922 0.00 3.53 0.00 0.007 6 0.000 0.000 3350 1724 593 0 0 18 0 0 0

12236 15.43 10066.7 112.6 6.8 1139 12253 0.00 3.70 0.00 0.007 4 0.007 0.000 3342 3705 600 0 0 19 0 0 0

12421 15.53 10066.7 99.9 7.6 1155 12438 0.00 3.83 0.00 0.000 6 0.007 0.000 3345 1936 592 0 0 21 0 0 0

12751 15.53 10066.7 72.4 7.7 1186 12766 0.00 3.22 0.00 0.007 4 0.007 0.000 3340 3616 596 0 0 16 0 0 0

13018 15.53 10066.7 50.4 7.5 1209 13025 0.00 3.28 0.00 0.007 6 0.007 0.000 3340 1654 596 0 0 17 0 0 0

13343 15.62 10132.6 26.7 4.9 1240 13359 0.00 3.88 0.00 0.007 4 0.007 0.000 3344 3476 598 0 0 20 0 0 0

13497 15.43 10132.6 19.6 7.5 1253 13503 0.00 2.97 0.00 0.007 6 0.007 0.000 3342 1874 595 0 0 16 0 0 0

13571 15.10 10132.6 10.8 13.9 1266 13586 0.00 3.42 0.00 0.007 4 0.007 0.000 3343 3704 597 0 0 20 0 0 0

13623 end climb: SURFACE_DEPTH_REACHED

state 13623 begin surface coast

13647 end surface coast: CONTROL_FINISHED_OK

state 13647 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	115	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	-221566.69	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	77.18998	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	171343,6638.976,-6028.938,27,1.1,27,18.0	TGT_NAME	HOLD
_CALLS	1	TGT_LATLONG	6400.000,-5448.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.150,-0.179
_SM_DEPTHo	0.04	KALMAN_X	-62041.5,-1576.6,-1363.5,-25303.8,1827.9
_SM_ANGLEo	-50.0	KALMAN_Y	3923.5,199.2,31.9,-29520.2,344.1
GPS2	171930,6638.944,-6028.903,9,1.1,10,18.0	MHEAD_RNG_PITCHd_Wd	122.1,404042,-13.0,-7.021
SPEED_LIMITS	0.122,0.234	D_GRID	100

FINISH	1.7,1.014742	_24V_AH	23.9,269.509
SM_CCo	13739,0.00,0.000,0,0,597,466.32	_10V_AH	10.7,40.288
SM_GC	0.05,14.62,0.00,0.00,0.000,0.007,0.007,560,1737,597,-9.66,-8.28,466.32	FG_AHR_24Vo	4.638
SUPER	3,206,254,0,0,0	FG_AHR_10Vo	77.318
RAFOS_CLK	0	MEM	330736
RAFOS	0,1255723445,20.083334,20.068056,80,0,0,0,0,0,592,0,0,0,0,0	DATA_FILE_SIZE	41000,1279
RAFOS_FIX	6626.292969,-6209.821289,161009,202048,5,80,7.01	CAP_FILE_SIZE	166710,9
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	260165632,243208192
HUMID	1078178125	ERRORS	0,0,0,0,0,0,0,0,1,0,0,27,968,3,0
INTERNAL_PRESSURE	16.2195	SOUNDSPEED	1451.0
TCM_TEMP	15.00	GPS	161009,211133,6636.917,-6031.189,24,1.1,25,18.0
XPDR_PINGS	-1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	119	81.48	SBE_CT	785	24	450.65
Roll_motor	187	60	268.73	nil	0	0	0.00
VBD_pump_during_apogee	516	1300	16048.43	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	108	223	577.61
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	10	50	5.41
TT8	2122	19	452.32
LPSleep	9053	2	223.77
TT8_Active	1068	19	227.84
TT8_Sampling	1322	39	565.00
TT8_CF8	521	45	256.02
TT8_Kalman	33	81	29.23
Analog_circuits	1281	12	164.56
GPS_charging	0	0	0.00
Compass	1265	26	352.15
RAFOS	1800	1	28.89
Transponder	2	5	0.11

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	22	begin dive
27	-0.99	-146.6	0.0	0.0	0	82	0.00	0.00	-52.35	0.000	2	0.007	0.000	399	2176	2189	0	0	0	0	0	0
86	-0.99	-146.6	3.1	-2.0	11	144	10.27	3.00	-30.15	0.000	4	0.000	0.000	2532	334	3102	8	0	15	0	0	0
324	-0.81	-146.6	32.6	-11.8	45	339	0.00	3.12	0.00	0.007	6	0.007	0.000	2530	2281	3154	0	0	16	0	0	0
525	-0.81	-146.6	51.2	-9.6	64	540	0.00	3.28	0.00	0.007	4	0.007	0.000	2530	430	3101	0	0	15	0	0	0
792	-0.81	-146.6	75.5	-8.9	87	801	0.00	3.15	0.00	0.007	6	0.007	0.000	2531	2237	3103	0	0	13	0	0	0
1108	end dive: TARGET_DEPTH_EXCEEDED
state	1108	begin apogee
1115	-0.31	0.0	100.8	7.7	117	1244	0.62	0.00	119.00	0.000	6	0.000	0.007	2657	1812	2523	2	0	0	0	1	0
1245	end apogee: CONTROL_FINISHED_OK
state	1245	begin climb
1250	0.99	146.6	111.4	0.0	130	1385	1.30	3.30	122.25	0.000	4	0.000	0.000	2957	3562	1915	1	0	14	0	0	0
1638	2.83	648.4	137.7	-9.0	166	1937	1.83	3.20	266.40	0.000	6	0.000	0.000	3341	1844	595	1	0	16	0	2	0
2251	4.45	1074.1	185.3	-6.6	225	2266	0.00	2.80	0.12	0.000	4	0.007	0.000	3343	3554	597	0	0	13	0	0	0
2473	4.99	1515.5	200.5	-7.1	244	2483	0.00	2.65	1.80	0.000	6	0.007	0.000	3342	1889	596	0	0	12	0	0	0
2808	5.59	2000.3	227.6	-8.5	276	2824	0.00	3.28	0.12	0.000	4	0.007	0.000	3344	3604	595	0	0	16	0	0	0
2916	6.14	2447.4	235.2	-7.3	285	2932	0.00	3.17	0.10	0.000	6	0.007	0.001	3348	1930	595	0	0	20	0	0	0
3247	6.70	2904.7	259.3	-7.6	316	3262	0.00	3.22	0.12	0.007	4	0.007	0.000	3342	3787	596	0	0	18	0	0	0
3267	7.28	3378.3	261.1	-8.1	317	3278	0.00	4.10	0.17	0.007	6	0.007	0.000	3345	1860	594	0	0	26	0	0	0
3603	7.80	3798.9	285.3	-6.4	349	3620	0.00	3.55	0.12	0.007	4	0.007	0.000	3342	3679	589	0	0	23	0	0	0
3735	8.33	4231.0	293.8	-6.8	360	3753	0.00	3.25	0.80	0.000	6	0.000	0.000	3343	1834	596	0	0	17	0	0	0
4068	8.87	4664.8	316.4	-6.9	391	4083	0.00	2.97	0.12	0.007	4	0.000	0.000	3345	3579	596	0	0	17	0	0	0
4110	9.42	5119.6	319.6	-7.5	394	4121	0.00	3.45	1.02	0.000	6	0.007	0.000	3344	1873	595	0	0	18	0	0	0
4445	9.96	5551.9	342.6	-6.8	426	4463	0.00	3.15	0.15	0.007	4	0.007	0.000	3345	3554	595	0	0	16	0	0	0
4715	10.50	5996.2	361.8	-7.2	449	4726	0.00	3.17	1.10	0.000	6	0.007	0.000	3345	1637	594	0	0	15	0	0	0
5051	11.05	6443.1	385.5	-7.3	481	5067	0.00	4.47	0.12	0.007	4	0.007	0.000	3341	3577	594	0	0	25	0	0	0
5124	11.60	6890.6	390.8	-7.3	487	5139	0.00	2.92	1.20	0.000	6	0.007	0.002	3345	1851	609	0	0	13	0	0	0
5454	12.15	7335.4	413.4	-7.2	518	5469	0.00	3.17	0.12	0.007	4	0.007	0.000	3344	3558	609	0	0	15	0	0	0
5485	12.72	7795.0	415.9	-7.7	520	5497	0.00	3.03	1.52	0.000	6	0.007	0.000	3342	1801	596	0	0	17	0	0	0
5822	13.25	8225.8	439.8	-6.8	552	5838	0.00	3.38	0.12	0.000	4	0.007	0.000	3345	3655	593	0	0	17	0	0	0
5917	13.79	8664.6	446.5	-7.0	560	5933	0.00	3.47	0.00	0.007	6	0.007	0.000	3342	1817	599	0	0	18	0	0	0
6247	14.28	9065.2	465.7	-5.8	591	6262	0.00	3.92	0.00	0.007	4	0.007	0.000	3345	3761	592	0	0	22	0	0	0
6454	14.78	9472.8	477.9	-6.0	609	6469	0.00	3.60	0.00	0.007	6	0.007	0.000	3344	2021	591	0	0	17	0	0	0
6783	15.35	9935.0	501.2	-7.8	640	6798	0.00	2.97	0.00	0.007	4	0.007	0.000	3345	3550	596	0	0	13	0	0	0
7051	15.06	9935.0	504.2	7.3	663	7057	0.00	3.33	0.00	0.007	6	0.007	0.000	3343	1932	595	0	0	14	0	0	0
7375	15.06	9935.0	478.7	7.3	694	7391	0.00	3.60	0.00	0.007	4	0.000	0.000	3343	3782	594	0	0	20	0	0	0
7474	15.06	9935.0	471.4	7.5	702	7480	0.00	3.90	0.00	0.007	6	0.007	0.000	3338	1789	595	0	0	24	0	0	0
7799	15.26	9991.3	452.4	5.2	733	7814	0.00	2.88	0.00	0.007	4	0.007	0.000	3348	3693	597	0	0	16	0	0	0
7887	15.19	9991.3	446.4	8.1	740	7897	0.00	4.57	0.00	0.007	6	0.007	0.000	3341	1848	591	0	0	23	0	0	0
8222	15.10	9991.3	417.4	8.4	772	8228	0.00	2.42	0.00	0.007	4	0.000	0.000	3342	464	588	0	0	11	0	0	0
8239	15.10	9991.3	416.1	7.4	773	8254	0.00	3.30	0.00	0.007	6	0.000	0.000	3344	2188	598	0	0	20	0	0	0
8568	15.10	9991.3	393.5	7.7	804	8582	0.00	3.15	0.00	0.007	4	0.007	0.000	3345	3640	592	0	0	16	0	0	0
8834	15.10	9991.3	372.7	8.1	827	8843	0.00	2.70	0.00	0.000	6	0.007	0.000	3343	1914	594	0	0	12	0	0	0
9159	15.10	9991.3	345.3	8.3	858	9165	0.00	3.00	0.00	0.007	4	0.007	0.000	3350	3545	593	0	0	14	0	0	0
9417	15.10	9991.3	325.0	7.1	880	9424	0.00	3.15	0.00	0.007	6	0.007	0.000	3347	1916	597	0	0	14	0	0	0
9742	15.10	9991.3	299.1	8.1	911	9748	0.00	2.70	0.00	0.007	4	0.000	0.000	3344	3526	595	0	0	11	0	0	0
9775	15.10	9991.3	296.3	8.9	913	9786	0.00	3.65	0.00	0.007	6	0.007	0.000	3343	1847	595	0	0	19	0	0	0
10110	15.10	9991.3	269.3	8.3	945	10125	0.00	3.25	0.00	0.000	4	0.007	0.000	3344	3615	595	0	0	14	0	0	0
10376	15.10	9991.3	248.1	8.4	968	10383	0.00	3.53	0.00	0.007	6	0.007	0.000	3340	1818	597	0	0	21	0	0	0
10701	15.10	9991.3	223.0	7.8	999	10718	0.00	3.65	0.00	0.007	4	0.007	0.000	3342	3546	604	0	0	21	0	0	0
10970	15.10	9991.3	203.2	7.2	1022	10978	0.00	3.38	0.00	0.007	6	0.007	0.000	3344	1783	595	0	0	16	0	0	0
11295	15.23	10032.5	183.8	5.7	1053	11311	0.00	3.00	0.00	0.007	4	0.007	0.000	3343	3667	597	0	0	16	0	0	0
11469	15.31	10051.1	173.6	6.4	1068	11485	0.00	3.45	0.00	0.007	6	0.007	0.000	3344	1705	593	0	0	16	0	0	0
11800	15.42	10061.3	152.4	6.7	1099	11817	0.00	3.83	0.00	0.007	4	0.007	0.000	3342	3755	588	0	0	20	0	0	0
11907	15.30	10061.3	141.7	10.3	1108	11922	0.00	3.53	0.00	0.007	6	0.000	0.000	3350	1724	593	0	0	18	0	0	0
12236	15.43	10066.7	112.6	6.8	1139	12253	0.00	3.70	0.00	0.007	4	0.007	0.000	3342	3705	600	0	0	19	0	0	0
12421	15.53	10066.7	99.9	7.6	1155	12438	0.00	3.83	0.00	0.000	6	0.007	0.000	3345	1936	592	0	0	21	0	0	0
12751	15.53	10066.7	72.4	7.7	1186	12766	0.00	3.22	0.00	0.007	4	0.007	0.000	3340	3616	596	0	0	16	0	0	0
13018	15.53	10066.7	50.4	7.5	1209	13025	0.00	3.28	0.00	0.007	6	0.007	0.000	3340	1654	596	0	0	17	0	0	0
13343	15.62	10132.6	26.7	4.9	1240	13359	0.00	3.88	0.00	0.007	4	0.007	0.000	3344	3476	598	0	0	20	0	0	0
13497	15.43	10132.6	19.6	7.5	1253	13503	0.00	2.97	0.00	0.007	6	0.007	0.000	3342	1874	595	0	0	16	0	0	0
13571	15.10	10132.6	10.8	13.9	1266	13586	0.00	3.42	0.00	0.007	4	0.007	0.000	3343	3704	597	0	0	20	0	0	0
13623	end climb: SURFACE_DEPTH_REACHED
state	13623	begin surface coast
13647	end surface coast: CONTROL_FINISHED_OK
state	13647	begin surface