Glider dive log

DavisStrait 22Sep09 * SG001 * Dive index * Mission links * Dive 118 * 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 118 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 5 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 -221642.23 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 77.595001 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 77.595001 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 -221642.23

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 5 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 118 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 044823,6639.960,-6036.093,23,1.1,23,18.0 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 -66586.7,-1116.9,-873.3,-26940.1,1062.2

_SM_ANGLEo -50.0 KALMAN_Y 5131.1,570.2,924.0,-30170.0,76.9

GPS2 045413,6639.959,-6036.080,9,1.1,9,18.0 MHEAD_RNG_PITCHd_Wd 121.6,409414,-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 23.9,271.841

SM_CCo 13425,0.00,0.000,0,0,596,467.79 _10V_AH 10.7,40.486

SM_GC 0.04,14.27,0.00,0.00,0.000,0.007,0.007,399,1798,596,-10.41,-6.73,467.79 FG_AHR_24Vo 4.638

SUPER 3,206,254,0,0,0 FG_AHR_10Vo 77.723

RAFOS_CLK 0 MEM 330672

RAFOS 4,1255754643,4.750000,4.734167,80,0,0,0,0,0,889,0,0,0,0,0 DATA_FILE_SIZE 41012,1251

RAFOS_FIX 6626.302246,-6223.931641,171009,040423,5,80,0.00 CAP_FILE_SIZE 169022,0

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 260165632,242970624

HUMID 1078211419 ERRORS 0,0,0,0,0,0,0,0,0,0,0,32,804,4,0

INTERNAL_PRESSURE 16.137 SOUNDSPEED 1450.9

TCM_TEMP 15.00 GPS 171009,084211,6639.631,-6033.007,22,1.1,22,18.0

XPDR_PINGS -1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 119 85.18 SBE_CT 757 24 434.73

Roll_motor 154 24501 90722.85 nil 0 0 0.00

VBD_pump_during_apogee 544 1300 16913.73 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 112 223 599.19

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 11 50 6.27

TT8 2216 19 472.44

LPSleep 8724 2 215.64

TT8_Active 1005 19 214.27

TT8_Sampling 1400 39 598.26

TT8_CF8 502 45 246.82

TT8_Kalman 33 81 29.23

Analog_circuits 1216 12 156.14

GPS_charging 0 0 0.00

Compass 1335 26 371.65

RAFOS 1440 1 23.11

Transponder 4 5 0.24

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

25 -0.99 -146.6 0.0 0.0 0 86 0.00 0.00 -58.30 0.000 2 0.007 0.000 435 1826 2382 0 0 0 0 0 0

90 -0.99 -146.6 3.1 -1.8 12 143 10.43 3.33 -24.10 0.000 4 0.000 0.000 2524 3791 3120 12 0 19 0 0 0

168 -0.49 -146.6 8.7 -12.7 25 185 0.57 3.17 0.00 0.007 6 0.000 0.000 2647 1760 3114 2 0 20 0 0 0

252 -0.16 -146.6 22.7 -17.2 38 267 0.35 2.55 0.00 0.007 4 0.000 0.000 2737 404 3123 1 0 14 0 0 0

295 0.14 -146.6 29.8 -15.7 41 305 0.00 3.70 0.00 0.007 6 0.007 0.000 2732 2639 3115 0 0 21 0 0 0

502 0.21 -146.6 56.3 -16.0 61 517 0.00 3.92 0.00 0.007 4 0.007 0.000 2733 426 3117 0 0 21 0 0 0

768 0.21 -146.6 73.1 -9.3 84 776 0.00 3.85 0.00 0.007 6 0.007 0.000 2733 2188 3116 0 0 20 0 0 0

1046 end dive: TARGET_DEPTH_EXCEEDED

state 1046 begin apogee

1054 -0.31 0.0 100.7 9.4 111 1192 0.62 0.00 124.97 0.000 6 0.000 0.000 2562 1827 2504 2 0 0 0 1 0

1193 end apogee: CONTROL_FINISHED_OK

state 1193 begin climb

1197 0.99 146.6 112.9 0.0 125 1338 1.70 3.22 120.85 0.000 4 0.000 0.000 2917 3740 1906 1 0 17 0 0 0

1590 2.67 589.0 144.3 -7.1 160 1894 2.00 4.00 265.88 0.000 6 0.000 0.000 3316 1829 600 2 0 18 0 3 0

2208 4.28 1005.6 193.6 -6.3 220 2224 0.00 3.25 0.15 0.007 4 0.007 0.000 3317 3554 600 0 0 16 0 0 0

2476 4.76 1399.0 208.1 -5.6 243 2487 0.00 3.40 1.10 0.000 6 0.007 0.000 3316 1441 594 0 0 18 0 0 0

2811 5.24 1785.7 226.1 -5.4 275 2827 0.00 3.75 0.12 0.000 4 0.007 0.000 3315 3645 600 0 0 18 0 0 0

3080 5.79 2234.6 243.5 -7.4 298 3091 0.00 2.70 1.58 0.000 6 0.007 0.000 3316 1920 605 0 0 13 0 0 0

3416 6.39 2720.7 271.4 -8.5 330 3433 0.00 3.17 0.12 0.007 4 0.007 0.000 3312 3642 600 0 0 17 0 0 0

3686 6.91 3143.5 291.7 -6.5 353 3696 0.00 3.03 1.33 0.000 6 0.007 0.000 3313 1905 600 0 0 18 0 0 0

4020 7.43 3570.9 314.6 -6.7 385 4036 0.00 2.65 0.25 0.000 4 0.007 0.000 3315 3538 600 0 0 16 0 0 0

4288 7.98 4016.2 332.8 -7.2 408 4300 0.00 2.67 1.65 0.000 6 0.007 0.000 3317 1931 597 0 0 12 0 0 0

4625 8.56 4484.8 361.0 -8.0 440 4642 0.00 3.70 0.12 0.000 4 0.007 0.000 3316 3505 601 0 0 19 0 0 0

4895 9.06 4891.0 379.3 -6.0 463 4905 0.00 2.92 1.77 0.000 6 0.000 0.000 3313 1918 598 0 0 12 0 0 0

5231 9.55 5295.3 399.1 -5.9 495 5247 0.00 3.38 0.12 0.007 4 0.007 0.000 3315 3786 598 0 0 16 0 0 0

5500 10.09 5733.5 419.6 -7.0 518 5510 0.00 3.30 1.20 0.000 6 0.007 0.000 3319 1825 604 0 0 18 0 0 0

5835 10.58 6132.7 440.1 -5.8 550 5851 0.00 3.30 0.12 0.007 4 0.007 0.000 3317 3573 592 0 0 18 0 0 0

6103 11.14 6584.2 455.3 -7.4 573 6115 0.00 3.20 1.27 0.000 6 0.007 0.000 3316 2031 601 0 0 18 0 0 0

6439 11.63 6983.9 477.5 -5.8 605 6455 0.00 3.03 0.12 0.007 4 0.007 24.502 3316 3584 599 0 0 18 0 0 0

6707 12.13 7393.1 494.9 -6.1 628 6717 0.00 2.62 2.05 0.000 6 0.007 0.000 3320 1907 599 0 0 12 0 0 0

7042 12.06 7393.1 482.8 7.2 660 7048 0.00 2.75 0.12 0.007 4 0.000 0.000 3314 3597 599 0 0 11 0 0 0

7301 12.00 7393.1 463.2 7.2 682 7313 0.00 3.17 1.38 0.000 6 0.007 0.000 3315 1834 600 0 0 16 0 0 0

7637 12.03 7414.3 440.8 6.3 714 7653 0.00 3.30 0.12 0.000 4 0.007 0.000 3317 3703 564 0 0 18 0 0 0

7905 12.04 7421.5 422.8 6.8 737 7917 0.00 3.75 1.23 0.000 6 0.000 0.000 3315 1830 602 0 0 18 0 0 0

8241 12.26 7477.1 402.2 5.2 769 8257 0.00 2.92 0.12 0.007 4 0.007 0.000 3316 3678 595 0 0 16 0 0 0

8509 12.15 7477.1 382.4 9.6 792 8519 0.00 2.95 1.65 0.000 6 0.007 0.000 3314 1995 599 0 0 12 0 0 0

8844 12.29 7496.3 354.9 6.4 824 8860 0.00 2.90 0.17 0.000 4 0.007 0.000 3314 3715 599 0 0 16 0 0 0

9112 12.19 7496.3 334.2 9.6 847 9123 0.00 3.40 1.40 0.000 6 0.007 0.000 3316 1925 581 0 0 16 0 0 0

9447 12.27 7496.3 305.3 7.3 879 9462 0.00 2.70 0.12 0.000 4 0.007 0.000 3316 3523 599 0 0 15 0 0 0

9715 12.18 7496.3 284.0 10.2 902 9725 0.00 2.75 1.85 0.000 6 0.007 0.000 3311 1884 602 0 0 12 0 0 0

10050 12.27 7503.3 255.5 6.8 934 10066 0.00 3.65 0.12 0.000 4 0.007 0.000 3317 3599 601 0 0 20 0 0 0

10318 12.17 7503.3 234.5 10.3 957 10330 0.00 3.30 1.52 0.000 6 0.007 0.000 3316 1549 601 0 0 20 0 0 0

10654 12.17 7503.3 207.6 8.7 989 10670 0.00 3.72 0.15 0.007 4 0.007 0.000 3316 3443 603 0 0 17 0 0 0

10921 12.17 7503.3 185.9 8.0 1012 10933 0.00 3.20 2.17 0.000 6 0.000 0.000 3316 1760 597 0 0 16 0 0 0

11258 12.29 7511.8 162.5 6.8 1044 11275 0.00 3.35 0.15 0.000 4 0.007 0.000 3317 3558 600 0 0 18 0 0 0

11527 12.40 7531.1 143.6 6.4 1067 11538 0.00 2.78 1.80 0.000 6 0.007 0.000 3315 1798 595 0 0 14 0 0 0

11863 12.56 7532.3 120.0 7.0 1099 11879 0.00 3.50 0.15 0.007 4 0.007 0.000 3315 3666 599 0 0 19 0 0 0

12131 12.25 7532.3 95.5 14.7 1122 12143 0.00 2.80 2.22 0.000 6 0.007 0.000 3319 1913 596 0 0 10 0 0 0

12467 12.41 7532.3 70.4 7.4 1154 12483 0.00 3.15 0.12 0.007 4 0.007 0.000 3315 3722 597 0 0 15 0 0 0

12735 12.32 7532.3 42.2 9.0 1177 12747 0.00 3.83 0.52 0.000 6 0.007 0.000 3312 1953 594 0 0 22 0 0 0

12946 12.39 7582.3 27.7 5.4 1197 12962 0.00 3.22 0.12 0.007 4 0.007 0.000 3315 3540 594 0 0 19 0 0 0

13159 12.45 7632.6 16.2 5.4 1221 13174 0.00 2.78 1.30 0.000 6 0.007 0.000 3320 1888 598 0 0 16 0 0 0

13243 12.38 7632.6 10.0 8.4 1235 13249 0.00 2.28 0.12 0.007 4 0.000 0.000 3319 460 593 0 0 11 0 0 0

13272 12.25 7632.6 6.9 10.1 1240 13287 0.00 3.20 0.90 0.000 6 0.007 0.000 3314 2295 594 0 0 16 0 0 0

13307 end climb: SURFACE_DEPTH_REACHED

state 13307 begin surface coast

13337 end surface coast: CONTROL_FINISHED_OK

state 13337 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	118	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	5	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	-221642.23	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	77.595001	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	044823,6639.960,-6036.093,23,1.1,23,18.0	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	-66586.7,-1116.9,-873.3,-26940.1,1062.2
_SM_ANGLEo	-50.0	KALMAN_Y	5131.1,570.2,924.0,-30170.0,76.9
GPS2	045413,6639.959,-6036.080,9,1.1,9,18.0	MHEAD_RNG_PITCHd_Wd	121.6,409414,-13.0,-7.021
SPEED_LIMITS	0.122,0.234	D_GRID	100

FINISH	0.0,1.012198	_24V_AH	23.9,271.841
SM_CCo	13425,0.00,0.000,0,0,596,467.79	_10V_AH	10.7,40.486
SM_GC	0.04,14.27,0.00,0.00,0.000,0.007,0.007,399,1798,596,-10.41,-6.73,467.79	FG_AHR_24Vo	4.638
SUPER	3,206,254,0,0,0	FG_AHR_10Vo	77.723
RAFOS_CLK	0	MEM	330672
RAFOS	4,1255754643,4.750000,4.734167,80,0,0,0,0,0,889,0,0,0,0,0	DATA_FILE_SIZE	41012,1251
RAFOS_FIX	6626.302246,-6223.931641,171009,040423,5,80,0.00	CAP_FILE_SIZE	169022,0
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	260165632,242970624
HUMID	1078211419	ERRORS	0,0,0,0,0,0,0,0,0,0,0,32,804,4,0
INTERNAL_PRESSURE	16.137	SOUNDSPEED	1450.9
TCM_TEMP	15.00	GPS	171009,084211,6639.631,-6033.007,22,1.1,22,18.0
XPDR_PINGS	-1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	119	85.18	SBE_CT	757	24	434.73
Roll_motor	154	24501	90722.85	nil	0	0	0.00
VBD_pump_during_apogee	544	1300	16913.73	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	112	223	599.19
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	11	50	6.27
TT8	2216	19	472.44
LPSleep	8724	2	215.64
TT8_Active	1005	19	214.27
TT8_Sampling	1400	39	598.26
TT8_CF8	502	45	246.82
TT8_Kalman	33	81	29.23
Analog_circuits	1216	12	156.14
GPS_charging	0	0	0.00
Compass	1335	26	371.65
RAFOS	1440	1	23.11
Transponder	4	5	0.24

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
25	-0.99	-146.6	0.0	0.0	0	86	0.00	0.00	-58.30	0.000	2	0.007	0.000	435	1826	2382	0	0	0	0	0	0
90	-0.99	-146.6	3.1	-1.8	12	143	10.43	3.33	-24.10	0.000	4	0.000	0.000	2524	3791	3120	12	0	19	0	0	0
168	-0.49	-146.6	8.7	-12.7	25	185	0.57	3.17	0.00	0.007	6	0.000	0.000	2647	1760	3114	2	0	20	0	0	0
252	-0.16	-146.6	22.7	-17.2	38	267	0.35	2.55	0.00	0.007	4	0.000	0.000	2737	404	3123	1	0	14	0	0	0
295	0.14	-146.6	29.8	-15.7	41	305	0.00	3.70	0.00	0.007	6	0.007	0.000	2732	2639	3115	0	0	21	0	0	0
502	0.21	-146.6	56.3	-16.0	61	517	0.00	3.92	0.00	0.007	4	0.007	0.000	2733	426	3117	0	0	21	0	0	0
768	0.21	-146.6	73.1	-9.3	84	776	0.00	3.85	0.00	0.007	6	0.007	0.000	2733	2188	3116	0	0	20	0	0	0
1046	end dive: TARGET_DEPTH_EXCEEDED
state	1046	begin apogee
1054	-0.31	0.0	100.7	9.4	111	1192	0.62	0.00	124.97	0.000	6	0.000	0.000	2562	1827	2504	2	0	0	0	1	0
1193	end apogee: CONTROL_FINISHED_OK
state	1193	begin climb
1197	0.99	146.6	112.9	0.0	125	1338	1.70	3.22	120.85	0.000	4	0.000	0.000	2917	3740	1906	1	0	17	0	0	0
1590	2.67	589.0	144.3	-7.1	160	1894	2.00	4.00	265.88	0.000	6	0.000	0.000	3316	1829	600	2	0	18	0	3	0
2208	4.28	1005.6	193.6	-6.3	220	2224	0.00	3.25	0.15	0.007	4	0.007	0.000	3317	3554	600	0	0	16	0	0	0
2476	4.76	1399.0	208.1	-5.6	243	2487	0.00	3.40	1.10	0.000	6	0.007	0.000	3316	1441	594	0	0	18	0	0	0
2811	5.24	1785.7	226.1	-5.4	275	2827	0.00	3.75	0.12	0.000	4	0.007	0.000	3315	3645	600	0	0	18	0	0	0
3080	5.79	2234.6	243.5	-7.4	298	3091	0.00	2.70	1.58	0.000	6	0.007	0.000	3316	1920	605	0	0	13	0	0	0
3416	6.39	2720.7	271.4	-8.5	330	3433	0.00	3.17	0.12	0.007	4	0.007	0.000	3312	3642	600	0	0	17	0	0	0
3686	6.91	3143.5	291.7	-6.5	353	3696	0.00	3.03	1.33	0.000	6	0.007	0.000	3313	1905	600	0	0	18	0	0	0
4020	7.43	3570.9	314.6	-6.7	385	4036	0.00	2.65	0.25	0.000	4	0.007	0.000	3315	3538	600	0	0	16	0	0	0
4288	7.98	4016.2	332.8	-7.2	408	4300	0.00	2.67	1.65	0.000	6	0.007	0.000	3317	1931	597	0	0	12	0	0	0
4625	8.56	4484.8	361.0	-8.0	440	4642	0.00	3.70	0.12	0.000	4	0.007	0.000	3316	3505	601	0	0	19	0	0	0
4895	9.06	4891.0	379.3	-6.0	463	4905	0.00	2.92	1.77	0.000	6	0.000	0.000	3313	1918	598	0	0	12	0	0	0
5231	9.55	5295.3	399.1	-5.9	495	5247	0.00	3.38	0.12	0.007	4	0.007	0.000	3315	3786	598	0	0	16	0	0	0
5500	10.09	5733.5	419.6	-7.0	518	5510	0.00	3.30	1.20	0.000	6	0.007	0.000	3319	1825	604	0	0	18	0	0	0
5835	10.58	6132.7	440.1	-5.8	550	5851	0.00	3.30	0.12	0.007	4	0.007	0.000	3317	3573	592	0	0	18	0	0	0
6103	11.14	6584.2	455.3	-7.4	573	6115	0.00	3.20	1.27	0.000	6	0.007	0.000	3316	2031	601	0	0	18	0	0	0
6439	11.63	6983.9	477.5	-5.8	605	6455	0.00	3.03	0.12	0.007	4	0.007	24.502	3316	3584	599	0	0	18	0	0	0
6707	12.13	7393.1	494.9	-6.1	628	6717	0.00	2.62	2.05	0.000	6	0.007	0.000	3320	1907	599	0	0	12	0	0	0
7042	12.06	7393.1	482.8	7.2	660	7048	0.00	2.75	0.12	0.007	4	0.000	0.000	3314	3597	599	0	0	11	0	0	0
7301	12.00	7393.1	463.2	7.2	682	7313	0.00	3.17	1.38	0.000	6	0.007	0.000	3315	1834	600	0	0	16	0	0	0
7637	12.03	7414.3	440.8	6.3	714	7653	0.00	3.30	0.12	0.000	4	0.007	0.000	3317	3703	564	0	0	18	0	0	0
7905	12.04	7421.5	422.8	6.8	737	7917	0.00	3.75	1.23	0.000	6	0.000	0.000	3315	1830	602	0	0	18	0	0	0
8241	12.26	7477.1	402.2	5.2	769	8257	0.00	2.92	0.12	0.007	4	0.007	0.000	3316	3678	595	0	0	16	0	0	0
8509	12.15	7477.1	382.4	9.6	792	8519	0.00	2.95	1.65	0.000	6	0.007	0.000	3314	1995	599	0	0	12	0	0	0
8844	12.29	7496.3	354.9	6.4	824	8860	0.00	2.90	0.17	0.000	4	0.007	0.000	3314	3715	599	0	0	16	0	0	0
9112	12.19	7496.3	334.2	9.6	847	9123	0.00	3.40	1.40	0.000	6	0.007	0.000	3316	1925	581	0	0	16	0	0	0
9447	12.27	7496.3	305.3	7.3	879	9462	0.00	2.70	0.12	0.000	4	0.007	0.000	3316	3523	599	0	0	15	0	0	0
9715	12.18	7496.3	284.0	10.2	902	9725	0.00	2.75	1.85	0.000	6	0.007	0.000	3311	1884	602	0	0	12	0	0	0
10050	12.27	7503.3	255.5	6.8	934	10066	0.00	3.65	0.12	0.000	4	0.007	0.000	3317	3599	601	0	0	20	0	0	0
10318	12.17	7503.3	234.5	10.3	957	10330	0.00	3.30	1.52	0.000	6	0.007	0.000	3316	1549	601	0	0	20	0	0	0
10654	12.17	7503.3	207.6	8.7	989	10670	0.00	3.72	0.15	0.007	4	0.007	0.000	3316	3443	603	0	0	17	0	0	0
10921	12.17	7503.3	185.9	8.0	1012	10933	0.00	3.20	2.17	0.000	6	0.000	0.000	3316	1760	597	0	0	16	0	0	0
11258	12.29	7511.8	162.5	6.8	1044	11275	0.00	3.35	0.15	0.000	4	0.007	0.000	3317	3558	600	0	0	18	0	0	0
11527	12.40	7531.1	143.6	6.4	1067	11538	0.00	2.78	1.80	0.000	6	0.007	0.000	3315	1798	595	0	0	14	0	0	0
11863	12.56	7532.3	120.0	7.0	1099	11879	0.00	3.50	0.15	0.007	4	0.007	0.000	3315	3666	599	0	0	19	0	0	0
12131	12.25	7532.3	95.5	14.7	1122	12143	0.00	2.80	2.22	0.000	6	0.007	0.000	3319	1913	596	0	0	10	0	0	0
12467	12.41	7532.3	70.4	7.4	1154	12483	0.00	3.15	0.12	0.007	4	0.007	0.000	3315	3722	597	0	0	15	0	0	0
12735	12.32	7532.3	42.2	9.0	1177	12747	0.00	3.83	0.52	0.000	6	0.007	0.000	3312	1953	594	0	0	22	0	0	0
12946	12.39	7582.3	27.7	5.4	1197	12962	0.00	3.22	0.12	0.007	4	0.007	0.000	3315	3540	594	0	0	19	0	0	0
13159	12.45	7632.6	16.2	5.4	1221	13174	0.00	2.78	1.30	0.000	6	0.007	0.000	3320	1888	598	0	0	16	0	0	0
13243	12.38	7632.6	10.0	8.4	1235	13249	0.00	2.28	0.12	0.007	4	0.000	0.000	3319	460	593	0	0	11	0	0	0
13272	12.25	7632.6	6.9	10.1	1240	13287	0.00	3.20	0.90	0.000	6	0.007	0.000	3314	2295	594	0	0	16	0	0	0
13307	end climb: SURFACE_DEPTH_REACHED
state	13307	begin surface coast
13337	end surface coast: CONTROL_FINISHED_OK
state	13337	begin surface