Glider dive log

DavisStrait 22Sep09 * SG001 * Dive index * Mission links * Dive 120 * 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 120 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 -221718.86 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 77.874352 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 77.874352 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 -221718.86

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 120 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 124428,6640.509,-6033.405,13,1.1,14,18.0 TGT_NAME HOLD

_CALLS 1 TGT_LATLONG 6400.000,-5448.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.190,-0.136

_SM_DEPTHo 0.05 KALMAN_X -67121.6,8.2,-121.3,-26376.2,580.5

_SM_ANGLEo -50.0 KALMAN_Y 6370.2,1490.4,62.9,-30460.6,-941.1

GPS2 124918,6640.503,-6033.396,38,1.1,38,18.0 MHEAD_RNG_PITCHd_Wd 107.6,408645,-12.9,-7.021

SPEED_LIMITS 0.122,0.234 D_GRID 100

Post-dive calculations and measurements:

FINISH 1.6,1.013651 _24V_AH 23.9,273.043

SM_CCo 13455,0.00,0.000,0,0,592,467.54 _10V_AH 10.7,40.621

SM_GC 0.05,14.50,0.00,0.00,0.000,0.007,0.000,431,2024,592,-10.22,-0.14,467.54 FG_AHR_24Vo 4.638

SUPER 3,206,254,0,0,0 FG_AHR_10Vo 78.002

RAFOS_CLK 0 MEM 330728

RAFOS 3,1255782843,12.583333,12.567500,80,0,0,0,0,0,788,0,0,0,0,0 DATA_FILE_SIZE 40906,1256

RAFOS_FIX 6626.302246,-6223.931641,171009,040423,5,80,0.00 CAP_FILE_SIZE 162624,9

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 260165632,242823168

HUMID 1078228517 ERRORS 0,0,0,0,0,0,0,0,1,0,0,42,828,3,0

INTERNAL_PRESSURE 16.0704 SOUNDSPEED 1451.2

TCM_TEMP 15.00 GPS 171009,163739,6641.619,-6037.420,24,1.1,25,18.0

XPDR_PINGS -1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 119 87.46 SBE_CT 770 24 441.68

Roll_motor 162 60 233.10 nil 0 0 0.00

VBD_pump_during_apogee 520 1300 16162.61 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 88 223 473.05

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 38 50 20.80

TT8 2185 19 465.74

LPSleep 8847 2 218.69

TT8_Active 963 19 205.34

TT8_Sampling 1388 39 593.23

TT8_CF8 448 45 220.20

TT8_Kalman 33 81 29.23

Analog_circuits 1174 12 150.82

GPS_charging 0 0 0.00

Compass 1301 26 362.21

RAFOS 1080 1 17.33

Transponder 3 5 0.19

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 88 0.00 0.00 -58.25 0.000 2 0.007 0.000 398 2544 2368 0 0 0 0 0 0

92 -0.99 -146.6 3.1 -1.6 12 145 10.40 3.45 -24.33 0.000 4 0.000 0.000 2541 617 3105 13 0 19 0 0 0

222 -0.59 -146.6 22.5 -18.9 34 232 0.40 3.15 0.00 0.007 6 0.007 0.000 2614 2395 3100 1 0 18 0 0 0

432 -0.49 -146.6 49.5 -10.0 54 447 0.52 3.83 0.00 0.007 4 0.000 0.000 2480 552 3101 1 0 25 0 0 0

699 -0.49 -146.6 69.9 -7.7 77 707 0.70 2.55 0.00 0.007 6 0.000 0.000 2636 2152 3104 1 0 9 0 0 0

1024 -0.49 -146.6 95.0 -7.3 108 1041 0.38 2.90 0.00 0.007 4 0.000 0.000 2549 332 3117 1 0 14 0 0 0

1095 end dive: TARGET_DEPTH_EXCEEDED

state 1095 begin apogee

1106 -0.31 0.0 100.1 6.8 114 1232 0.73 0.00 121.30 0.000 6 0.000 0.007 2674 2202 2504 2 0 0 0 0 0

1233 end apogee: CONTROL_FINISHED_OK

state 1233 begin climb

1236 0.99 146.6 109.8 0.0 127 1383 1.38 3.53 116.90 0.000 4 0.000 0.000 2967 376 1923 2 0 20 0 0 0

1530 2.73 605.5 132.8 -7.6 153 1838 1.75 3.58 270.95 0.000 6 0.000 0.000 3380 2018 612 1 0 20 0 3 0

2153 4.42 1064.6 186.4 -7.6 213 2160 0.00 2.75 0.12 0.000 4 0.007 0.000 3376 486 598 0 0 13 0 0 0

2210 4.98 1526.1 190.8 -7.7 217 2220 0.00 2.92 1.42 0.000 6 0.007 0.000 3376 2216 593 0 0 12 0 0 0

2545 5.51 1956.8 214.2 -6.7 249 2552 0.00 2.40 0.12 0.007 4 0.007 0.000 3378 3701 597 0 0 12 0 0 0

2804 6.03 2379.9 230.9 -6.5 271 2815 0.00 3.35 1.15 0.000 6 0.007 0.000 3377 1849 597 0 0 18 0 0 0

3140 6.62 2852.8 254.8 -8.1 303 3156 0.00 3.25 0.12 0.000 4 0.007 0.000 3380 3750 595 0 0 16 0 0 0

3408 7.21 3339.4 276.5 -8.5 326 3420 0.00 4.70 0.05 0.000 6 0.007 0.000 3379 1739 598 0 0 27 0 0 0

3745 7.74 3767.5 301.5 -6.6 358 3765 0.00 3.05 0.12 0.007 4 0.007 0.000 3377 3599 592 0 0 12 0 0 0

3804 8.28 4202.2 305.6 -6.8 362 3814 0.00 2.78 2.03 0.000 6 0.007 0.000 3379 1858 594 0 0 11 0 0 0

4139 8.80 4630.9 327.3 -6.6 394 4155 0.00 3.60 0.15 0.007 4 0.007 0.000 3377 3786 599 0 0 20 0 0 0

4408 9.33 5059.0 345.6 -6.6 417 4418 0.00 3.42 0.80 0.000 6 0.007 0.000 3376 1855 594 0 0 16 0 0 0

4742 9.87 5497.8 368.6 -7.0 449 4749 0.00 2.42 0.25 0.000 4 0.007 0.000 3380 458 596 0 0 12 0 0 0

4772 10.41 5939.4 370.7 -7.1 451 4788 0.00 3.28 0.85 0.000 6 0.007 0.000 3380 2148 595 0 0 17 0 0 0

5102 10.90 6338.7 390.7 -5.7 482 5109 0.00 2.67 0.12 0.007 4 0.000 0.000 3379 3556 616 0 0 15 0 0 0

5305 11.40 6744.0 402.5 -5.9 499 5315 0.00 2.75 2.00 0.000 6 0.000 0.000 3380 1908 605 0 0 10 0 0 0

5640 11.90 7145.5 423.9 -5.8 531 5655 0.00 2.83 0.12 0.000 4 0.007 0.000 3377 3558 593 0 0 11 0 0 0

5907 12.43 7583.0 439.5 -6.9 554 5919 0.00 2.92 1.45 0.000 6 0.000 0.000 3379 1902 595 0 0 13 0 0 0

6243 12.92 7978.7 460.6 -5.6 586 6260 0.00 2.72 0.12 0.007 4 0.007 0.000 3379 274 594 0 0 14 0 0 0

6434 13.52 8464.6 472.9 -8.5 602 6444 0.00 4.47 0.03 0.007 6 0.007 0.000 3380 2230 596 0 0 27 0 0 0

6769 13.98 8841.1 492.2 -5.0 634 6774 0.00 2.12 0.00 0.007 4 0.000 0.000 3377 3627 594 0 0 9 0 0 0

7027 14.35 9140.7 506.3 -2.5 656 7037 0.00 3.15 0.00 0.007 6 0.007 0.000 3380 1914 600 0 0 14 0 0 0

7361 14.13 9140.7 485.4 10.0 688 7367 0.00 2.78 0.00 0.007 4 0.007 0.000 3381 3530 594 0 0 12 0 0 0

7620 14.05 9140.7 460.3 8.3 710 7626 0.00 3.17 0.00 0.007 6 0.007 0.000 3374 1790 595 0 0 18 0 0 0

7944 14.00 9140.7 434.3 7.9 741 7960 0.00 3.30 0.00 0.007 4 0.000 0.000 3379 3611 596 0 0 14 0 0 0

8163 13.95 9140.7 417.7 8.0 760 8178 0.00 3.17 0.00 0.000 6 0.007 0.000 3381 1738 592 0 0 13 0 0 0

8492 14.21 9213.2 397.9 4.7 791 8507 0.00 3.35 0.00 0.007 4 0.007 0.000 3380 3784 595 0 0 16 0 0 0

8602 14.35 9250.2 392.5 5.8 800 8612 0.00 3.12 0.00 0.007 6 0.007 0.000 3378 1889 592 0 0 13 0 0 0

8936 14.57 9281.7 371.4 6.0 832 8951 0.00 3.20 0.00 0.007 4 0.007 0.000 3379 3549 596 0 0 17 0 0 0

9204 14.47 9281.7 347.0 10.4 855 9210 0.00 3.30 0.00 0.007 6 0.007 0.000 3379 1818 596 0 0 15 0 0 0

9529 14.57 9294.4 319.2 6.6 886 9545 0.00 3.15 0.00 0.007 4 0.007 0.000 3377 3631 595 0 0 18 0 0 0

9797 14.46 9294.4 296.9 9.5 909 9804 0.00 3.03 0.00 0.007 6 0.007 0.000 3377 1871 594 0 0 15 0 0 0

10121 14.55 9294.4 267.2 8.9 940 10136 0.00 3.53 0.00 0.000 4 0.007 0.000 3379 3784 592 0 0 20 0 0 0

10388 14.61 9294.4 243.0 9.5 963 10401 0.00 4.28 0.00 0.007 6 0.000 0.000 3381 1710 592 0 0 27 0 0 0

10725 14.47 9294.4 211.4 10.8 995 10740 0.00 4.18 0.00 0.007 4 0.007 0.000 3379 3708 595 0 0 21 0 0 0

10993 14.47 9294.4 185.7 7.6 1018 11000 0.00 3.58 0.00 0.007 6 0.007 0.000 3383 1913 594 0 0 19 0 0 0

11324 14.53 9294.4 159.5 9.2 1050 11340 0.00 3.08 0.00 0.007 4 0.000 0.000 3380 3587 594 0 0 18 0 0 0

11591 14.53 9294.4 135.5 8.0 1073 11598 0.00 3.40 0.00 0.007 6 0.007 0.000 3383 1939 611 0 0 20 0 0 0

11916 14.53 9294.4 110.3 7.1 1104 11933 0.00 3.42 0.00 0.007 4 0.000 0.000 3379 3785 595 0 0 19 0 0 0

12184 14.53 9294.4 86.3 9.2 1127 12192 0.00 3.15 0.00 0.007 6 0.007 0.000 3378 1822 593 0 0 14 0 0 0

12509 14.70 9324.7 62.3 6.1 1158 12526 0.00 3.35 0.00 0.007 4 0.007 0.000 3381 3544 596 0 0 17 0 0 0

12778 14.60 9324.7 43.4 8.4 1181 12786 0.00 3.10 0.00 0.007 6 0.000 0.000 3378 1878 592 0 0 15 0 0 0

12975 14.67 9324.7 27.5 7.3 1200 12990 0.00 3.42 0.00 0.007 4 0.007 0.000 3379 3664 590 0 0 18 0 0 0

13243 14.67 9324.7 8.7 8.8 1235 13258 0.00 3.95 0.00 0.007 6 0.007 0.000 3377 1616 594 0 0 22 0 0 0

13318 end climb: SURFACE_DEPTH_REACHED

state 13318 begin surface coast

13366 end surface coast: CONTROL_FINISHED_OK

state 13367 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	120	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	-221718.86	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	77.874352	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	124428,6640.509,-6033.405,13,1.1,14,18.0	TGT_NAME	HOLD
_CALLS	1	TGT_LATLONG	6400.000,-5448.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.190,-0.136
_SM_DEPTHo	0.05	KALMAN_X	-67121.6,8.2,-121.3,-26376.2,580.5
_SM_ANGLEo	-50.0	KALMAN_Y	6370.2,1490.4,62.9,-30460.6,-941.1
GPS2	124918,6640.503,-6033.396,38,1.1,38,18.0	MHEAD_RNG_PITCHd_Wd	107.6,408645,-12.9,-7.021
SPEED_LIMITS	0.122,0.234	D_GRID	100

FINISH	1.6,1.013651	_24V_AH	23.9,273.043
SM_CCo	13455,0.00,0.000,0,0,592,467.54	_10V_AH	10.7,40.621
SM_GC	0.05,14.50,0.00,0.00,0.000,0.007,0.000,431,2024,592,-10.22,-0.14,467.54	FG_AHR_24Vo	4.638
SUPER	3,206,254,0,0,0	FG_AHR_10Vo	78.002
RAFOS_CLK	0	MEM	330728
RAFOS	3,1255782843,12.583333,12.567500,80,0,0,0,0,0,788,0,0,0,0,0	DATA_FILE_SIZE	40906,1256
RAFOS_FIX	6626.302246,-6223.931641,171009,040423,5,80,0.00	CAP_FILE_SIZE	162624,9
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	260165632,242823168
HUMID	1078228517	ERRORS	0,0,0,0,0,0,0,0,1,0,0,42,828,3,0
INTERNAL_PRESSURE	16.0704	SOUNDSPEED	1451.2
TCM_TEMP	15.00	GPS	171009,163739,6641.619,-6037.420,24,1.1,25,18.0
XPDR_PINGS	-1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	119	87.46	SBE_CT	770	24	441.68
Roll_motor	162	60	233.10	nil	0	0	0.00
VBD_pump_during_apogee	520	1300	16162.61	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	88	223	473.05
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	38	50	20.80
TT8	2185	19	465.74
LPSleep	8847	2	218.69
TT8_Active	963	19	205.34
TT8_Sampling	1388	39	593.23
TT8_CF8	448	45	220.20
TT8_Kalman	33	81	29.23
Analog_circuits	1174	12	150.82
GPS_charging	0	0	0.00
Compass	1301	26	362.21
RAFOS	1080	1	17.33
Transponder	3	5	0.19

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	88	0.00	0.00	-58.25	0.000	2	0.007	0.000	398	2544	2368	0	0	0	0	0	0
92	-0.99	-146.6	3.1	-1.6	12	145	10.40	3.45	-24.33	0.000	4	0.000	0.000	2541	617	3105	13	0	19	0	0	0
222	-0.59	-146.6	22.5	-18.9	34	232	0.40	3.15	0.00	0.007	6	0.007	0.000	2614	2395	3100	1	0	18	0	0	0
432	-0.49	-146.6	49.5	-10.0	54	447	0.52	3.83	0.00	0.007	4	0.000	0.000	2480	552	3101	1	0	25	0	0	0
699	-0.49	-146.6	69.9	-7.7	77	707	0.70	2.55	0.00	0.007	6	0.000	0.000	2636	2152	3104	1	0	9	0	0	0
1024	-0.49	-146.6	95.0	-7.3	108	1041	0.38	2.90	0.00	0.007	4	0.000	0.000	2549	332	3117	1	0	14	0	0	0
1095	end dive: TARGET_DEPTH_EXCEEDED
state	1095	begin apogee
1106	-0.31	0.0	100.1	6.8	114	1232	0.73	0.00	121.30	0.000	6	0.000	0.007	2674	2202	2504	2	0	0	0	0	0
1233	end apogee: CONTROL_FINISHED_OK
state	1233	begin climb
1236	0.99	146.6	109.8	0.0	127	1383	1.38	3.53	116.90	0.000	4	0.000	0.000	2967	376	1923	2	0	20	0	0	0
1530	2.73	605.5	132.8	-7.6	153	1838	1.75	3.58	270.95	0.000	6	0.000	0.000	3380	2018	612	1	0	20	0	3	0
2153	4.42	1064.6	186.4	-7.6	213	2160	0.00	2.75	0.12	0.000	4	0.007	0.000	3376	486	598	0	0	13	0	0	0
2210	4.98	1526.1	190.8	-7.7	217	2220	0.00	2.92	1.42	0.000	6	0.007	0.000	3376	2216	593	0	0	12	0	0	0
2545	5.51	1956.8	214.2	-6.7	249	2552	0.00	2.40	0.12	0.007	4	0.007	0.000	3378	3701	597	0	0	12	0	0	0
2804	6.03	2379.9	230.9	-6.5	271	2815	0.00	3.35	1.15	0.000	6	0.007	0.000	3377	1849	597	0	0	18	0	0	0
3140	6.62	2852.8	254.8	-8.1	303	3156	0.00	3.25	0.12	0.000	4	0.007	0.000	3380	3750	595	0	0	16	0	0	0
3408	7.21	3339.4	276.5	-8.5	326	3420	0.00	4.70	0.05	0.000	6	0.007	0.000	3379	1739	598	0	0	27	0	0	0
3745	7.74	3767.5	301.5	-6.6	358	3765	0.00	3.05	0.12	0.007	4	0.007	0.000	3377	3599	592	0	0	12	0	0	0
3804	8.28	4202.2	305.6	-6.8	362	3814	0.00	2.78	2.03	0.000	6	0.007	0.000	3379	1858	594	0	0	11	0	0	0
4139	8.80	4630.9	327.3	-6.6	394	4155	0.00	3.60	0.15	0.007	4	0.007	0.000	3377	3786	599	0	0	20	0	0	0
4408	9.33	5059.0	345.6	-6.6	417	4418	0.00	3.42	0.80	0.000	6	0.007	0.000	3376	1855	594	0	0	16	0	0	0
4742	9.87	5497.8	368.6	-7.0	449	4749	0.00	2.42	0.25	0.000	4	0.007	0.000	3380	458	596	0	0	12	0	0	0
4772	10.41	5939.4	370.7	-7.1	451	4788	0.00	3.28	0.85	0.000	6	0.007	0.000	3380	2148	595	0	0	17	0	0	0
5102	10.90	6338.7	390.7	-5.7	482	5109	0.00	2.67	0.12	0.007	4	0.000	0.000	3379	3556	616	0	0	15	0	0	0
5305	11.40	6744.0	402.5	-5.9	499	5315	0.00	2.75	2.00	0.000	6	0.000	0.000	3380	1908	605	0	0	10	0	0	0
5640	11.90	7145.5	423.9	-5.8	531	5655	0.00	2.83	0.12	0.000	4	0.007	0.000	3377	3558	593	0	0	11	0	0	0
5907	12.43	7583.0	439.5	-6.9	554	5919	0.00	2.92	1.45	0.000	6	0.000	0.000	3379	1902	595	0	0	13	0	0	0
6243	12.92	7978.7	460.6	-5.6	586	6260	0.00	2.72	0.12	0.007	4	0.007	0.000	3379	274	594	0	0	14	0	0	0
6434	13.52	8464.6	472.9	-8.5	602	6444	0.00	4.47	0.03	0.007	6	0.007	0.000	3380	2230	596	0	0	27	0	0	0
6769	13.98	8841.1	492.2	-5.0	634	6774	0.00	2.12	0.00	0.007	4	0.000	0.000	3377	3627	594	0	0	9	0	0	0
7027	14.35	9140.7	506.3	-2.5	656	7037	0.00	3.15	0.00	0.007	6	0.007	0.000	3380	1914	600	0	0	14	0	0	0
7361	14.13	9140.7	485.4	10.0	688	7367	0.00	2.78	0.00	0.007	4	0.007	0.000	3381	3530	594	0	0	12	0	0	0
7620	14.05	9140.7	460.3	8.3	710	7626	0.00	3.17	0.00	0.007	6	0.007	0.000	3374	1790	595	0	0	18	0	0	0
7944	14.00	9140.7	434.3	7.9	741	7960	0.00	3.30	0.00	0.007	4	0.000	0.000	3379	3611	596	0	0	14	0	0	0
8163	13.95	9140.7	417.7	8.0	760	8178	0.00	3.17	0.00	0.000	6	0.007	0.000	3381	1738	592	0	0	13	0	0	0
8492	14.21	9213.2	397.9	4.7	791	8507	0.00	3.35	0.00	0.007	4	0.007	0.000	3380	3784	595	0	0	16	0	0	0
8602	14.35	9250.2	392.5	5.8	800	8612	0.00	3.12	0.00	0.007	6	0.007	0.000	3378	1889	592	0	0	13	0	0	0
8936	14.57	9281.7	371.4	6.0	832	8951	0.00	3.20	0.00	0.007	4	0.007	0.000	3379	3549	596	0	0	17	0	0	0
9204	14.47	9281.7	347.0	10.4	855	9210	0.00	3.30	0.00	0.007	6	0.007	0.000	3379	1818	596	0	0	15	0	0	0
9529	14.57	9294.4	319.2	6.6	886	9545	0.00	3.15	0.00	0.007	4	0.007	0.000	3377	3631	595	0	0	18	0	0	0
9797	14.46	9294.4	296.9	9.5	909	9804	0.00	3.03	0.00	0.007	6	0.007	0.000	3377	1871	594	0	0	15	0	0	0
10121	14.55	9294.4	267.2	8.9	940	10136	0.00	3.53	0.00	0.000	4	0.007	0.000	3379	3784	592	0	0	20	0	0	0
10388	14.61	9294.4	243.0	9.5	963	10401	0.00	4.28	0.00	0.007	6	0.000	0.000	3381	1710	592	0	0	27	0	0	0
10725	14.47	9294.4	211.4	10.8	995	10740	0.00	4.18	0.00	0.007	4	0.007	0.000	3379	3708	595	0	0	21	0	0	0
10993	14.47	9294.4	185.7	7.6	1018	11000	0.00	3.58	0.00	0.007	6	0.007	0.000	3383	1913	594	0	0	19	0	0	0
11324	14.53	9294.4	159.5	9.2	1050	11340	0.00	3.08	0.00	0.007	4	0.000	0.000	3380	3587	594	0	0	18	0	0	0
11591	14.53	9294.4	135.5	8.0	1073	11598	0.00	3.40	0.00	0.007	6	0.007	0.000	3383	1939	611	0	0	20	0	0	0
11916	14.53	9294.4	110.3	7.1	1104	11933	0.00	3.42	0.00	0.007	4	0.000	0.000	3379	3785	595	0	0	19	0	0	0
12184	14.53	9294.4	86.3	9.2	1127	12192	0.00	3.15	0.00	0.007	6	0.007	0.000	3378	1822	593	0	0	14	0	0	0
12509	14.70	9324.7	62.3	6.1	1158	12526	0.00	3.35	0.00	0.007	4	0.007	0.000	3381	3544	596	0	0	17	0	0	0
12778	14.60	9324.7	43.4	8.4	1181	12786	0.00	3.10	0.00	0.007	6	0.000	0.000	3378	1878	592	0	0	15	0	0	0
12975	14.67	9324.7	27.5	7.3	1200	12990	0.00	3.42	0.00	0.007	4	0.007	0.000	3379	3664	590	0	0	18	0	0	0
13243	14.67	9324.7	8.7	8.8	1235	13258	0.00	3.95	0.00	0.007	6	0.007	0.000	3377	1616	594	0	0	22	0	0	0
13318	end climb: SURFACE_DEPTH_REACHED
state	13318	begin surface coast
13366	end surface coast: CONTROL_FINISHED_OK
state	13367	begin surface