Glider dive log

DavisStrait 22Sep09 * SG001 * Dive index * Mission links * Dive 117 * 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 117 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 12 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 -221629.53 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 77.459633 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2700 FG_AHR_24V 4.6384382 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 77.459633 PITCH_MIN 450 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 4.6384382 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 -221629.53

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 12 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 117 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 005904,6638.450,-6032.453,8,1.1,8,18.0 TGT_NAME HOLD

_CALLS 1 TGT_LATLONG 6400.000,-5448.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.151,-0.178

_SM_DEPTHo 0.05 KALMAN_X -64868.1,-1081.5,-664.7,-26243.0,1341.2

_SM_ANGLEo -50.0 KALMAN_Y 3859.5,313.0,45.8,-30498.0,-40.2

GPS2 010349,6638.486,-6032.393,27,1.1,27,18.0 MHEAD_RNG_PITCHd_Wd 121.7,405374,-13.0,-7.021

SPEED_LIMITS 0.122,0.234 D_GRID 100

Post-dive calculations and measurements:

FINISH 0.0,1.012198 _24V_AH 23.9,270.694

SM_CCo 13282,0.00,0.000,0,0,604,464.84 _10V_AH 10.7,40.418

SM_GC 0.05,14.70,0.00,0.00,0.000,0.000,0.007,439,1825,604,-10.22,-5.74,464.84 FG_AHR_24Vo 4.638

SUPER 3,202,254,0,0,0 FG_AHR_10Vo 77.584

RAFOS_CLK 0 MEM 330704

RAFOS 0,1255752245,4.083333,4.068056,80,0,0,0,0,0,599,0,0,0,0,0 DATA_FILE_SIZE 40972,1243

RAFOS_FIX 6621.332031,-6210.246094,171009,000001,5,80,7.01 CAP_FILE_SIZE 162682,8

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 260165632,243056640

HUMID 1078204363 ERRORS 0,0,0,0,0,0,0,0,1,0,0,41,875,2,0

INTERNAL_PRESSURE 16.1777 SOUNDSPEED 1450.9

TCM_TEMP 15.00 GPS 171009,044823,6639.960,-6036.093,23,1.1,23,18.0

XPDR_PINGS -1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 32 119 91.37 SBE_CT 754 24 432.66

Roll_motor 169 60 243.60 nil 0 0 0.00

VBD_pump_during_apogee 511 1300 15900.07 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 95 223 508.38

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 27 50 14.94

TT8 2136 19 455.47

LPSleep 8685 2 214.68

TT8_Active 1007 19 214.79

TT8_Sampling 1317 39 562.90

TT8_CF8 457 45 224.94

TT8_Kalman 33 81 29.23

Analog_circuits 1204 12 154.64

GPS_charging 0 0 0.00

Compass 1246 26 346.85

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

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

27 -0.99 -146.6 0.0 0.0 0 84 0.00 0.00 -54.00 0.000 2 0.000 0.000 413 2003 2228 0 0 0 0 0 0

87 -0.99 -146.6 3.0 -1.7 11 134 10.20 2.92 -28.75 0.000 4 0.000 0.000 2524 3576 3096 15 0 18 0 0 0

263 -0.68 -146.6 23.6 -14.5 41 270 0.40 2.75 0.00 0.007 6 0.000 0.000 2607 1800 3104 1 0 13 0 0 0

460 -0.68 -146.6 41.0 -7.5 60 476 0.38 2.67 0.00 0.007 4 0.000 0.000 2502 270 3113 1 0 14 0 0 0

481 -0.68 -146.6 43.0 -8.6 61 489 0.35 3.05 0.00 0.007 6 0.000 0.000 2617 2321 3103 1 0 18 0 0 0

679 -0.68 -146.6 60.8 -8.9 80 695 0.50 3.40 0.00 0.007 4 0.000 0.000 2481 196 3103 1 0 21 0 0 0

796 -0.68 -146.6 71.1 -8.4 90 812 0.57 4.20 0.00 0.007 6 0.000 0.000 2624 2164 3099 2 0 24 0 0 0

1125 -0.68 -146.6 96.3 -7.1 121 1140 0.50 2.78 0.00 0.007 4 0.000 0.000 2490 3748 3099 1 0 14 0 0 0

1167 -0.68 -146.6 99.5 -7.4 124 1179 0.90 3.78 0.00 0.007 6 0.000 0.000 2618 1721 3101 3 0 22 0 0 0

1183 end dive: TARGET_DEPTH_EXCEEDED

state 1183 begin apogee

1191 -0.31 0.0 100.8 8.1 126 1318 0.00 0.00 120.93 0.000 6 0.007 0.007 2627 2165 2510 0 0 0 0 0 0

1319 end apogee: CONTROL_FINISHED_OK

state 1319 begin climb

1322 0.99 146.6 110.9 0.0 139 1466 1.52 2.42 120.10 0.000 4 0.000 0.000 2956 3588 1906 1 0 12 0 0 0

1639 2.73 650.3 135.9 -9.1 167 1933 2.10 2.65 262.75 0.000 6 0.000 0.000 3367 1801 605 3 0 14 0 2 0

2247 4.42 1092.5 186.4 -7.1 226 2263 0.00 3.85 0.12 0.000 4 0.007 0.000 3367 3704 604 0 0 21 0 0 0

2493 4.98 1545.9 203.7 -7.5 247 2503 0.00 3.17 1.08 0.000 6 0.007 0.000 3365 1911 605 0 0 16 0 0 0

2828 5.58 2035.2 229.7 -8.6 279 2835 0.00 2.42 0.35 0.007 4 0.000 0.000 3370 499 604 0 0 13 0 0 0

2852 6.18 2527.5 231.8 -8.7 280 2861 0.00 3.25 0.82 0.000 6 0.000 0.000 3365 2281 602 0 0 17 0 0 0

3187 6.78 3010.1 261.1 -8.4 312 3193 0.00 2.20 0.17 0.007 4 0.007 0.000 3367 3567 601 0 0 10 0 0 0

3286 7.38 3504.1 269.8 -8.8 320 3301 0.00 2.67 1.40 0.000 6 0.007 0.000 3365 1818 604 0 0 15 0 0 0

3615 7.91 3930.7 291.1 -6.6 351 3632 0.00 3.65 0.12 0.007 4 0.007 0.000 3368 3636 604 0 0 22 0 0 0

3824 8.46 4375.7 306.6 -7.2 369 3839 0.00 3.38 0.82 0.000 6 0.007 0.000 3364 1920 609 0 0 17 0 0 0

4153 8.97 4791.5 327.4 -6.3 400 4169 0.00 3.25 0.17 0.000 4 0.007 0.000 3365 3732 607 0 0 16 0 0 0

4421 9.57 5284.0 347.1 -8.7 423 4433 0.00 4.12 0.32 0.007 6 0.000 0.000 3369 1705 626 0 0 22 0 0 0

4758 10.08 5696.5 368.7 -6.2 455 4775 0.00 4.25 0.15 0.000 4 0.007 0.000 3368 3707 608 0 0 23 0 0 0

5028 10.64 6148.8 389.1 -7.5 478 5038 0.00 3.28 0.95 0.000 6 0.007 0.000 3365 1803 605 0 0 18 0 0 0

5363 11.12 6537.2 407.9 -5.4 510 5369 0.00 2.08 0.12 0.007 4 0.000 0.000 3367 522 605 0 0 11 0 0 0

5426 11.70 7009.5 412.4 -8.1 515 5442 0.00 3.72 0.20 0.007 6 0.007 0.000 3366 2121 603 0 0 20 0 0 0

5756 12.16 7390.0 431.2 -5.2 546 5763 0.00 2.47 0.15 0.000 4 0.007 0.000 3367 3624 604 0 0 10 0 0 0

5988 12.77 7884.0 448.6 -8.8 566 6004 0.00 3.33 0.88 0.000 6 0.000 0.000 3366 2039 601 0 0 20 0 0 0

6318 13.30 8315.7 470.1 -6.8 597 6334 0.00 3.10 0.12 0.000 4 0.007 0.000 3366 348 606 0 0 15 0 0 0

6427 13.86 8771.2 478.0 -7.6 606 6433 0.00 3.05 0.00 0.007 6 0.007 0.000 3364 2177 606 0 0 13 0 0 0

6751 14.33 9147.1 495.9 -5.0 636 6766 0.00 3.15 0.00 0.007 4 0.007 0.000 3368 3785 607 0 0 16 0 0 0

7017 14.03 9147.1 497.2 7.2 659 7024 0.00 3.42 0.00 0.000 6 0.007 0.000 3367 1817 607 0 0 17 0 0 0

7349 13.80 9147.1 464.1 9.9 691 7364 0.00 3.20 0.00 0.007 4 0.007 0.000 3370 3532 609 0 0 16 0 0 0

7615 13.80 9147.1 444.2 7.3 714 7625 0.00 2.55 0.00 0.007 6 0.007 0.000 3369 1890 603 0 0 13 0 0 0

7941 14.03 9199.3 422.9 5.4 745 7955 0.00 2.80 0.00 0.007 4 0.007 0.000 3367 3718 603 0 0 16 0 0 0

7978 14.24 9253.5 420.9 5.3 748 7994 0.00 3.35 0.00 0.007 6 0.000 0.000 3365 1944 606 0 0 19 0 0 0

8308 14.43 9280.0 399.6 6.2 779 8324 0.00 3.75 0.00 0.007 4 0.007 0.000 3367 3661 604 0 0 20 0 0 0

8575 14.34 9280.0 381.9 9.9 802 8582 0.00 2.92 0.00 0.007 6 0.007 0.000 3368 1922 605 0 0 14 0 0 0

8900 14.42 9280.0 349.4 7.9 833 8915 0.00 3.28 0.00 0.000 4 0.007 0.000 3371 3778 606 0 0 15 0 0 0

9168 14.52 9284.6 330.2 6.9 856 9177 0.00 3.30 0.00 0.007 6 0.007 0.000 3366 1867 607 0 0 18 0 0 0

9502 14.64 9323.5 307.5 5.8 888 9517 0.00 3.08 0.00 0.007 4 0.007 0.000 3365 3594 610 0 0 18 0 0 0

9712 14.74 9323.5 291.9 7.3 906 9719 0.00 3.45 0.00 0.007 6 0.000 0.000 3368 1965 607 0 0 18 0 0 0

10043 14.74 9323.5 264.8 9.0 938 10049 0.00 2.50 0.00 0.000 4 0.007 0.000 3369 3600 606 0 0 10 0 0 0

10301 14.74 9323.5 242.1 9.4 960 10309 0.00 3.28 0.00 0.007 6 0.007 0.000 3362 1860 604 0 0 15 0 0 0

10626 14.66 9323.5 215.2 8.8 991 10642 0.00 3.78 0.00 0.007 4 0.007 0.000 3368 3571 605 0 0 20 0 0 0

10894 14.60 9323.5 191.5 9.4 1014 10902 0.00 2.58 0.00 0.000 6 0.007 0.000 3367 1869 606 0 0 11 0 0 0

11219 14.68 9323.5 166.3 7.6 1045 11234 0.00 2.95 0.00 0.007 4 0.007 0.000 3368 539 604 0 0 16 0 0 0

11268 14.68 9323.5 162.4 8.5 1049 11283 0.00 3.03 0.00 0.000 6 0.007 0.000 3367 2295 607 0 0 15 0 0 0

11596 14.68 9323.5 132.9 8.6 1080 11602 0.00 2.22 0.00 0.007 4 0.000 0.000 3369 3586 606 0 0 13 0 0 0

11853 14.69 9328.3 112.5 6.9 1102 11861 0.00 3.50 0.00 0.007 6 0.000 0.000 3367 1920 607 0 0 19 0 0 0

12185 14.69 9328.3 86.8 8.8 1134 12200 0.00 3.22 0.00 0.007 4 0.007 0.000 3366 3572 604 0 0 16 0 0 0

12345 14.69 9328.3 72.0 9.5 1148 12352 0.00 2.88 0.00 0.007 6 0.007 0.000 3367 1835 606 0 0 13 0 0 0

12671 14.69 9328.3 44.6 7.8 1178 12686 0.00 3.22 0.00 0.007 4 0.000 0.000 3365 3673 604 0 0 15 0 0 0

12698 14.69 9328.3 42.3 8.6 1180 12713 0.00 3.53 0.00 0.007 6 0.007 0.000 3365 1830 603 0 0 14 0 0 0

12902 14.69 9328.3 24.9 7.3 1199 12917 0.00 3.25 0.00 0.007 4 0.007 0.000 3367 3684 612 0 0 15 0 0 0

13164 end climb: SURFACE_DEPTH_REACHED

state 13164 begin surface coast

13191 end surface coast: CONTROL_FINISHED_OK

state 13191 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	117	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	12	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	-221629.53	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	77.459633	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2700	FG_AHR_24V	4.6384382	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	005904,6638.450,-6032.453,8,1.1,8,18.0	TGT_NAME	HOLD
_CALLS	1	TGT_LATLONG	6400.000,-5448.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.151,-0.178
_SM_DEPTHo	0.05	KALMAN_X	-64868.1,-1081.5,-664.7,-26243.0,1341.2
_SM_ANGLEo	-50.0	KALMAN_Y	3859.5,313.0,45.8,-30498.0,-40.2
GPS2	010349,6638.486,-6032.393,27,1.1,27,18.0	MHEAD_RNG_PITCHd_Wd	121.7,405374,-13.0,-7.021
SPEED_LIMITS	0.122,0.234	D_GRID	100

FINISH	0.0,1.012198	_24V_AH	23.9,270.694
SM_CCo	13282,0.00,0.000,0,0,604,464.84	_10V_AH	10.7,40.418
SM_GC	0.05,14.70,0.00,0.00,0.000,0.000,0.007,439,1825,604,-10.22,-5.74,464.84	FG_AHR_24Vo	4.638
SUPER	3,202,254,0,0,0	FG_AHR_10Vo	77.584
RAFOS_CLK	0	MEM	330704
RAFOS	0,1255752245,4.083333,4.068056,80,0,0,0,0,0,599,0,0,0,0,0	DATA_FILE_SIZE	40972,1243
RAFOS_FIX	6621.332031,-6210.246094,171009,000001,5,80,7.01	CAP_FILE_SIZE	162682,8
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	260165632,243056640
HUMID	1078204363	ERRORS	0,0,0,0,0,0,0,0,1,0,0,41,875,2,0
INTERNAL_PRESSURE	16.1777	SOUNDSPEED	1450.9
TCM_TEMP	15.00	GPS	171009,044823,6639.960,-6036.093,23,1.1,23,18.0
XPDR_PINGS	-1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	32	119	91.37	SBE_CT	754	24	432.66
Roll_motor	169	60	243.60	nil	0	0	0.00
VBD_pump_during_apogee	511	1300	15900.07	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	95	223	508.38
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	27	50	14.94
TT8	2136	19	455.47
LPSleep	8685	2	214.68
TT8_Active	1007	19	214.79
TT8_Sampling	1317	39	562.90
TT8_CF8	457	45	224.94
TT8_Kalman	33	81	29.23
Analog_circuits	1204	12	154.64
GPS_charging	0	0	0.00
Compass	1246	26	346.85
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
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
27	-0.99	-146.6	0.0	0.0	0	84	0.00	0.00	-54.00	0.000	2	0.000	0.000	413	2003	2228	0	0	0	0	0	0
87	-0.99	-146.6	3.0	-1.7	11	134	10.20	2.92	-28.75	0.000	4	0.000	0.000	2524	3576	3096	15	0	18	0	0	0
263	-0.68	-146.6	23.6	-14.5	41	270	0.40	2.75	0.00	0.007	6	0.000	0.000	2607	1800	3104	1	0	13	0	0	0
460	-0.68	-146.6	41.0	-7.5	60	476	0.38	2.67	0.00	0.007	4	0.000	0.000	2502	270	3113	1	0	14	0	0	0
481	-0.68	-146.6	43.0	-8.6	61	489	0.35	3.05	0.00	0.007	6	0.000	0.000	2617	2321	3103	1	0	18	0	0	0
679	-0.68	-146.6	60.8	-8.9	80	695	0.50	3.40	0.00	0.007	4	0.000	0.000	2481	196	3103	1	0	21	0	0	0
796	-0.68	-146.6	71.1	-8.4	90	812	0.57	4.20	0.00	0.007	6	0.000	0.000	2624	2164	3099	2	0	24	0	0	0
1125	-0.68	-146.6	96.3	-7.1	121	1140	0.50	2.78	0.00	0.007	4	0.000	0.000	2490	3748	3099	1	0	14	0	0	0
1167	-0.68	-146.6	99.5	-7.4	124	1179	0.90	3.78	0.00	0.007	6	0.000	0.000	2618	1721	3101	3	0	22	0	0	0
1183	end dive: TARGET_DEPTH_EXCEEDED
state	1183	begin apogee
1191	-0.31	0.0	100.8	8.1	126	1318	0.00	0.00	120.93	0.000	6	0.007	0.007	2627	2165	2510	0	0	0	0	0	0
1319	end apogee: CONTROL_FINISHED_OK
state	1319	begin climb
1322	0.99	146.6	110.9	0.0	139	1466	1.52	2.42	120.10	0.000	4	0.000	0.000	2956	3588	1906	1	0	12	0	0	0
1639	2.73	650.3	135.9	-9.1	167	1933	2.10	2.65	262.75	0.000	6	0.000	0.000	3367	1801	605	3	0	14	0	2	0
2247	4.42	1092.5	186.4	-7.1	226	2263	0.00	3.85	0.12	0.000	4	0.007	0.000	3367	3704	604	0	0	21	0	0	0
2493	4.98	1545.9	203.7	-7.5	247	2503	0.00	3.17	1.08	0.000	6	0.007	0.000	3365	1911	605	0	0	16	0	0	0
2828	5.58	2035.2	229.7	-8.6	279	2835	0.00	2.42	0.35	0.007	4	0.000	0.000	3370	499	604	0	0	13	0	0	0
2852	6.18	2527.5	231.8	-8.7	280	2861	0.00	3.25	0.82	0.000	6	0.000	0.000	3365	2281	602	0	0	17	0	0	0
3187	6.78	3010.1	261.1	-8.4	312	3193	0.00	2.20	0.17	0.007	4	0.007	0.000	3367	3567	601	0	0	10	0	0	0
3286	7.38	3504.1	269.8	-8.8	320	3301	0.00	2.67	1.40	0.000	6	0.007	0.000	3365	1818	604	0	0	15	0	0	0
3615	7.91	3930.7	291.1	-6.6	351	3632	0.00	3.65	0.12	0.007	4	0.007	0.000	3368	3636	604	0	0	22	0	0	0
3824	8.46	4375.7	306.6	-7.2	369	3839	0.00	3.38	0.82	0.000	6	0.007	0.000	3364	1920	609	0	0	17	0	0	0
4153	8.97	4791.5	327.4	-6.3	400	4169	0.00	3.25	0.17	0.000	4	0.007	0.000	3365	3732	607	0	0	16	0	0	0
4421	9.57	5284.0	347.1	-8.7	423	4433	0.00	4.12	0.32	0.007	6	0.000	0.000	3369	1705	626	0	0	22	0	0	0
4758	10.08	5696.5	368.7	-6.2	455	4775	0.00	4.25	0.15	0.000	4	0.007	0.000	3368	3707	608	0	0	23	0	0	0
5028	10.64	6148.8	389.1	-7.5	478	5038	0.00	3.28	0.95	0.000	6	0.007	0.000	3365	1803	605	0	0	18	0	0	0
5363	11.12	6537.2	407.9	-5.4	510	5369	0.00	2.08	0.12	0.007	4	0.000	0.000	3367	522	605	0	0	11	0	0	0
5426	11.70	7009.5	412.4	-8.1	515	5442	0.00	3.72	0.20	0.007	6	0.007	0.000	3366	2121	603	0	0	20	0	0	0
5756	12.16	7390.0	431.2	-5.2	546	5763	0.00	2.47	0.15	0.000	4	0.007	0.000	3367	3624	604	0	0	10	0	0	0
5988	12.77	7884.0	448.6	-8.8	566	6004	0.00	3.33	0.88	0.000	6	0.000	0.000	3366	2039	601	0	0	20	0	0	0
6318	13.30	8315.7	470.1	-6.8	597	6334	0.00	3.10	0.12	0.000	4	0.007	0.000	3366	348	606	0	0	15	0	0	0
6427	13.86	8771.2	478.0	-7.6	606	6433	0.00	3.05	0.00	0.007	6	0.007	0.000	3364	2177	606	0	0	13	0	0	0
6751	14.33	9147.1	495.9	-5.0	636	6766	0.00	3.15	0.00	0.007	4	0.007	0.000	3368	3785	607	0	0	16	0	0	0
7017	14.03	9147.1	497.2	7.2	659	7024	0.00	3.42	0.00	0.000	6	0.007	0.000	3367	1817	607	0	0	17	0	0	0
7349	13.80	9147.1	464.1	9.9	691	7364	0.00	3.20	0.00	0.007	4	0.007	0.000	3370	3532	609	0	0	16	0	0	0
7615	13.80	9147.1	444.2	7.3	714	7625	0.00	2.55	0.00	0.007	6	0.007	0.000	3369	1890	603	0	0	13	0	0	0
7941	14.03	9199.3	422.9	5.4	745	7955	0.00	2.80	0.00	0.007	4	0.007	0.000	3367	3718	603	0	0	16	0	0	0
7978	14.24	9253.5	420.9	5.3	748	7994	0.00	3.35	0.00	0.007	6	0.000	0.000	3365	1944	606	0	0	19	0	0	0
8308	14.43	9280.0	399.6	6.2	779	8324	0.00	3.75	0.00	0.007	4	0.007	0.000	3367	3661	604	0	0	20	0	0	0
8575	14.34	9280.0	381.9	9.9	802	8582	0.00	2.92	0.00	0.007	6	0.007	0.000	3368	1922	605	0	0	14	0	0	0
8900	14.42	9280.0	349.4	7.9	833	8915	0.00	3.28	0.00	0.000	4	0.007	0.000	3371	3778	606	0	0	15	0	0	0
9168	14.52	9284.6	330.2	6.9	856	9177	0.00	3.30	0.00	0.007	6	0.007	0.000	3366	1867	607	0	0	18	0	0	0
9502	14.64	9323.5	307.5	5.8	888	9517	0.00	3.08	0.00	0.007	4	0.007	0.000	3365	3594	610	0	0	18	0	0	0
9712	14.74	9323.5	291.9	7.3	906	9719	0.00	3.45	0.00	0.007	6	0.000	0.000	3368	1965	607	0	0	18	0	0	0
10043	14.74	9323.5	264.8	9.0	938	10049	0.00	2.50	0.00	0.000	4	0.007	0.000	3369	3600	606	0	0	10	0	0	0
10301	14.74	9323.5	242.1	9.4	960	10309	0.00	3.28	0.00	0.007	6	0.007	0.000	3362	1860	604	0	0	15	0	0	0
10626	14.66	9323.5	215.2	8.8	991	10642	0.00	3.78	0.00	0.007	4	0.007	0.000	3368	3571	605	0	0	20	0	0	0
10894	14.60	9323.5	191.5	9.4	1014	10902	0.00	2.58	0.00	0.000	6	0.007	0.000	3367	1869	606	0	0	11	0	0	0
11219	14.68	9323.5	166.3	7.6	1045	11234	0.00	2.95	0.00	0.007	4	0.007	0.000	3368	539	604	0	0	16	0	0	0
11268	14.68	9323.5	162.4	8.5	1049	11283	0.00	3.03	0.00	0.000	6	0.007	0.000	3367	2295	607	0	0	15	0	0	0
11596	14.68	9323.5	132.9	8.6	1080	11602	0.00	2.22	0.00	0.007	4	0.000	0.000	3369	3586	606	0	0	13	0	0	0
11853	14.69	9328.3	112.5	6.9	1102	11861	0.00	3.50	0.00	0.007	6	0.000	0.000	3367	1920	607	0	0	19	0	0	0
12185	14.69	9328.3	86.8	8.8	1134	12200	0.00	3.22	0.00	0.007	4	0.007	0.000	3366	3572	604	0	0	16	0	0	0
12345	14.69	9328.3	72.0	9.5	1148	12352	0.00	2.88	0.00	0.007	6	0.007	0.000	3367	1835	606	0	0	13	0	0	0
12671	14.69	9328.3	44.6	7.8	1178	12686	0.00	3.22	0.00	0.007	4	0.000	0.000	3365	3673	604	0	0	15	0	0	0
12698	14.69	9328.3	42.3	8.6	1180	12713	0.00	3.53	0.00	0.007	6	0.007	0.000	3365	1830	603	0	0	14	0	0	0
12902	14.69	9328.3	24.9	7.3	1199	12917	0.00	3.25	0.00	0.007	4	0.007	0.000	3367	3684	612	0	0	15	0	0	0
13164	end climb: SURFACE_DEPTH_REACHED
state	13164	begin surface coast
13191	end surface coast: CONTROL_FINISHED_OK
state	13191	begin surface