Glider dive log

DavisStrait 22Sep09 * SG001 * Dive index * Mission links * Dive 121 * 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 121 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 -221753.81 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 78.013588 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 78.013588 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 -221753.81

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 121 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 163739,6641.619,-6037.420,24,1.1,25,18.0 TGT_NAME HOLD

_CALLS 1 TGT_LATLONG 6400.000,-5448.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.201,-0.119

_SM_DEPTHo 0.05 KALMAN_X -68610.0,-362.5,-701.7,-26860.8,-15.0

_SM_ANGLEo -50.0 KALMAN_Y 7680.1,1448.5,378.7,-29989.6,-318.4

GPS2 164416,6641.613,-6037.469,33,1.1,33,18.0 MHEAD_RNG_PITCHd_Wd 102.6,412410,-13.0,-7.021

SPEED_LIMITS 0.122,0.234 D_GRID 100

Post-dive calculations and measurements:

FINISH 1.6,1.019463 _24V_AH 23.9,273.965

SM_CCo 13712,0.00,0.000,0,0,601,464.60 _10V_AH 10.7,40.688

SM_GC 0.05,14.12,0.00,0.00,0.000,0.000,0.007,400,1883,601,-10.40,-4.21,464.60 FG_AHR_24Vo 4.638

SUPER 3,206,254,0,0,0 FG_AHR_10Vo 78.141

RAFOS_CLK 0 MEM 330700

RAFOS 0,1255809851,20.083334,20.069723,80,0,0,0,0,0,568,0,0,0,0,0 DATA_FILE_SIZE 44099,1288

RAFOS_FIX 6626.302246,-6223.931641,171009,040423,5,80,0.00 CAP_FILE_SIZE 168278,0

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 260165632,242733056

HUMID 1078247313 ERRORS 0,0,0,0,0,0,0,0,0,0,0,38,938,3,0

INTERNAL_PRESSURE 16.0613 SOUNDSPEED 1451.2

TCM_TEMP 15.00 GPS 171009,203603,6641.188,-6040.179,29,1.1,29,18.0

XPDR_PINGS -1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 119 86.75 SBE_CT 785 24 450.47

Roll_motor 180 60 259.16 nil 0 0 0.00

VBD_pump_during_apogee 517 7917 97849.33 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 123 223 660.56

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 33 50 18.18

TT8 2152 19 458.74

LPSleep 9055 2 223.82

TT8_Active 1017 19 216.95

TT8_Sampling 1354 39 578.43

TT8_CF8 535 45 262.94

TT8_Kalman 33 81 29.24

Analog_circuits 1218 12 156.41

GPS_charging 0 0 0.00

Compass 1278 26 355.73

RAFOS 1080 1 17.33

Transponder 2 5 0.15

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

23 end surface: CONTROL_FINISHED_OK

state 24 begin dive

26 -0.99 -146.6 0.0 0.0 0 87 0.00 0.00 -57.97 0.000 2 0.007 0.000 434 2013 2360 0 0 0 0 0 0

91 -0.99 -146.6 3.0 -1.8 12 143 9.95 2.47 -24.73 0.000 4 0.000 0.000 2565 371 3104 12 0 11 0 0 0

396 -0.99 -146.6 40.3 -7.0 51 412 0.55 3.03 0.00 0.000 6 0.000 0.000 2437 2160 3105 1 0 16 0 0 0

598 -0.99 -146.6 55.2 -8.7 70 615 0.50 3.62 0.00 0.007 4 0.000 0.000 2599 233 3101 1 0 20 0 0 0

728 -0.99 -146.6 67.7 -10.1 81 744 1.00 3.72 0.00 0.007 6 0.000 0.001 2408 2175 3102 2 0 21 0 0 0

1057 -0.99 -146.6 95.4 -7.2 112 1073 0.47 3.70 0.00 0.007 4 0.000 0.000 2540 461 3104 0 0 22 0 0 0

1120 end dive: TARGET_DEPTH_EXCEEDED

state 1120 begin apogee

1131 -0.31 0.0 100.5 7.8 117 1258 0.65 0.00 120.50 7.917 6 0.000 0.007 2685 2212 2508 1 0 0 0 0 0

1259 end apogee: CONTROL_FINISHED_OK

state 1259 begin climb

1262 0.99 146.6 110.1 0.0 130 1391 1.58 3.28 115.65 0.000 4 0.000 0.000 2969 3668 1932 2 0 18 0 0 0

1576 2.86 660.9 132.5 -9.4 158 1879 1.67 4.15 270.75 3.314 6 0.000 0.000 3327 1599 615 2 0 22 0 3 0

2204 4.51 1090.8 177.8 -6.7 219 2220 0.00 3.58 0.15 0.007 4 0.000 0.000 3325 3482 602 0 0 19 0 0 0

2366 5.12 1590.3 189.1 -9.0 233 2382 0.00 3.12 0.93 0.000 6 0.007 0.000 3325 1905 602 0 0 15 0 0 0

2696 5.68 2042.5 212.0 -7.5 264 2703 0.00 2.80 0.12 0.007 4 0.007 0.000 3326 3631 599 0 0 13 0 0 0

2843 6.34 2580.8 226.3 -10.2 276 2853 0.00 3.25 1.33 0.000 6 0.007 0.000 3328 1820 599 0 0 16 0 0 0

3178 6.85 2994.1 249.6 -6.2 308 3195 0.00 3.90 0.12 0.000 4 0.007 0.000 3323 3729 604 0 0 22 0 0 0

3241 7.47 3497.4 255.0 -9.1 313 3257 0.00 3.45 0.55 0.000 6 0.007 0.000 3325 1739 604 0 0 18 0 0 0

3571 7.97 3906.7 275.7 -6.1 344 3586 0.00 4.03 0.12 0.000 4 0.007 0.000 3328 3648 604 0 0 20 0 0 0

3838 8.46 4305.8 291.9 -5.8 367 3848 0.00 3.20 1.33 0.000 6 0.007 0.000 3325 2019 605 0 0 18 0 0 0

4174 8.91 4669.4 310.4 -4.6 399 4181 0.00 2.50 0.20 0.007 4 0.007 0.000 3325 3648 608 0 0 13 0 0 0

4433 9.44 5099.0 324.9 -6.7 421 4443 0.00 3.42 0.80 0.000 6 0.007 0.000 3328 1808 604 0 0 17 0 0 0

4768 9.92 5489.9 345.5 -5.5 453 4785 0.00 3.12 0.12 0.007 4 0.000 0.000 3326 3486 603 0 0 18 0 0 0

5037 10.51 5966.1 363.8 -8.2 476 5047 0.00 3.33 1.08 0.000 6 0.007 0.000 3324 1788 601 0 0 18 0 0 0

5372 11.00 6367.9 386.1 -5.8 508 5379 0.00 2.67 0.12 0.000 4 0.007 0.000 3327 416 607 0 0 14 0 0 0

5553 11.47 6751.2 396.0 -5.2 523 5563 0.00 3.35 0.95 0.000 6 0.000 0.000 3324 2325 605 0 0 17 0 0 0

5888 12.04 7211.4 415.8 -7.7 555 5894 0.00 2.65 0.15 0.007 4 0.007 0.000 3324 3659 606 0 0 15 0 0 0

6147 12.60 7664.0 436.2 -7.5 577 6157 0.00 2.83 1.83 0.000 6 0.007 0.000 3324 1975 603 0 0 11 0 0 0

6483 13.08 8061.9 456.8 -5.7 609 6499 0.00 3.28 0.12 0.007 4 0.007 0.000 3329 3606 603 0 0 16 0 0 0

6567 13.58 8466.6 461.6 -5.9 616 6584 0.00 3.78 0.20 0.000 6 0.007 0.000 3328 1795 604 0 0 22 0 0 0

6899 14.09 8877.8 481.7 -6.1 647 6915 0.00 3.40 0.00 0.007 4 0.007 0.000 3327 3780 598 0 0 21 0 0 0

7023 14.60 9289.6 489.3 -6.2 657 7032 0.00 3.25 0.00 0.000 6 0.007 0.000 3327 1791 603 0 0 14 0 0 0

7357 14.65 9332.7 496.1 5.6 689 7373 0.00 3.45 0.00 0.007 4 0.007 0.000 3329 3453 603 0 0 19 0 0 0

7598 14.43 9332.7 470.1 11.8 710 7613 0.00 2.95 0.00 0.000 6 0.007 0.000 3327 2014 591 0 0 15 0 0 0

7926 14.43 9332.7 439.4 7.3 741 7932 0.00 2.58 0.00 0.007 4 0.000 0.000 3330 614 603 0 0 13 0 0 0

7944 14.43 9332.7 438.1 7.8 742 7950 0.00 2.67 0.00 0.000 6 0.007 0.000 3330 2173 604 0 0 13 0 0 0

8267 14.43 9332.7 414.6 7.7 772 8282 0.00 2.88 0.00 0.007 4 0.000 0.000 3326 3644 603 0 0 13 0 0 0

8286 14.43 9332.7 413.1 7.6 773 8297 0.00 3.58 0.00 0.007 6 0.007 0.000 3327 2030 602 0 0 20 0 0 0

8621 14.43 9332.7 386.6 7.7 805 8628 0.00 2.95 0.00 0.007 4 0.007 0.000 3328 3682 604 0 0 17 0 0 0

8696 14.43 9332.7 380.7 7.9 811 8712 0.00 3.50 0.00 0.000 6 0.007 0.000 3326 1710 606 0 0 20 0 0 0

9025 14.43 9332.7 356.0 7.2 842 9032 0.00 3.00 0.00 0.000 4 0.007 0.000 3326 3663 607 0 0 17 0 0 0

9284 14.63 9390.8 340.4 5.2 864 9294 0.00 3.70 0.00 0.007 6 0.007 0.000 3329 1855 597 0 0 18 0 0 0

9619 14.53 9390.8 315.5 9.5 896 9634 0.00 3.45 0.00 0.000 4 0.007 0.000 3326 3640 603 0 0 17 0 0 0

9885 14.65 9390.8 292.1 7.2 919 9893 0.00 3.45 0.00 0.007 6 0.000 0.000 3325 1975 609 0 0 19 0 0 0

10217 14.65 9390.8 268.9 7.1 951 10231 0.00 2.78 0.00 0.007 4 0.007 0.000 3324 3652 604 0 0 16 0 0 0

10346 14.71 9390.8 259.6 8.0 962 10362 0.00 3.62 0.00 0.007 6 0.007 0.000 3329 1813 609 0 0 18 0 0 0

10676 14.79 9390.8 233.0 8.3 993 10691 0.00 2.92 0.00 0.007 4 0.000 0.000 3326 3598 602 0 0 14 0 0 0

10696 14.79 9390.8 231.3 8.0 994 10704 0.00 2.95 0.00 0.007 6 0.007 0.000 3327 1920 609 0 0 13 0 0 0

11020 14.64 9390.8 197.9 11.2 1025 11035 0.00 3.08 0.00 0.000 4 0.007 0.000 3325 3511 603 0 0 14 0 0 0

11287 14.72 9390.8 173.6 7.7 1048 11295 0.00 3.03 0.00 0.007 6 0.007 0.000 3327 1807 602 0 0 16 0 0 0

11614 14.63 9390.8 149.3 7.8 1079 11628 0.00 3.15 0.00 0.000 4 0.007 0.000 3328 3602 603 0 0 17 0 0 0

11678 14.55 9390.8 143.7 8.2 1084 11685 0.00 3.35 0.00 0.007 6 0.000 0.000 3327 1797 604 0 0 16 0 0 0

12010 14.64 9413.7 121.3 6.3 1116 12025 0.00 3.38 0.00 0.007 4 0.007 0.000 3329 3767 604 0 0 15 0 0 0

12277 14.57 9413.7 97.6 10.1 1139 12286 0.00 3.28 0.00 0.007 6 0.007 0.000 3321 1734 607 0 0 15 0 0 0

12611 14.67 9441.9 70.5 6.1 1171 12627 0.00 3.88 0.00 0.007 4 0.007 0.000 3324 3650 602 0 0 21 0 0 0

12710 14.67 9441.9 63.7 7.6 1179 12717 0.00 3.22 0.00 0.007 6 0.007 0.000 3323 1907 606 0 0 15 0 0 0

13036 14.67 9444.9 38.8 6.9 1210 13050 0.00 3.03 0.00 0.000 4 0.007 0.000 3331 3604 609 0 0 17 0 0 0

13144 14.61 9444.9 31.7 7.4 1219 13158 0.00 3.08 0.00 0.007 6 0.007 0.000 3333 1983 604 0 0 17 0 0 0

13348 14.71 9468.1 18.9 6.3 1239 13354 0.00 2.45 0.00 0.007 4 0.000 0.000 3326 3598 604 0 0 12 0 0 0

13576 end climb: SURFACE_DEPTH_REACHED

state 13576 begin surface coast

13622 end surface coast: CONTROL_FINISHED_OK

state 13622 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	121	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	-221753.81	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	78.013588	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	163739,6641.619,-6037.420,24,1.1,25,18.0	TGT_NAME	HOLD
_CALLS	1	TGT_LATLONG	6400.000,-5448.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.201,-0.119
_SM_DEPTHo	0.05	KALMAN_X	-68610.0,-362.5,-701.7,-26860.8,-15.0
_SM_ANGLEo	-50.0	KALMAN_Y	7680.1,1448.5,378.7,-29989.6,-318.4
GPS2	164416,6641.613,-6037.469,33,1.1,33,18.0	MHEAD_RNG_PITCHd_Wd	102.6,412410,-13.0,-7.021
SPEED_LIMITS	0.122,0.234	D_GRID	100

FINISH	1.6,1.019463	_24V_AH	23.9,273.965
SM_CCo	13712,0.00,0.000,0,0,601,464.60	_10V_AH	10.7,40.688
SM_GC	0.05,14.12,0.00,0.00,0.000,0.000,0.007,400,1883,601,-10.40,-4.21,464.60	FG_AHR_24Vo	4.638
SUPER	3,206,254,0,0,0	FG_AHR_10Vo	78.141
RAFOS_CLK	0	MEM	330700
RAFOS	0,1255809851,20.083334,20.069723,80,0,0,0,0,0,568,0,0,0,0,0	DATA_FILE_SIZE	44099,1288
RAFOS_FIX	6626.302246,-6223.931641,171009,040423,5,80,0.00	CAP_FILE_SIZE	168278,0
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	260165632,242733056
HUMID	1078247313	ERRORS	0,0,0,0,0,0,0,0,0,0,0,38,938,3,0
INTERNAL_PRESSURE	16.0613	SOUNDSPEED	1451.2
TCM_TEMP	15.00	GPS	171009,203603,6641.188,-6040.179,29,1.1,29,18.0
XPDR_PINGS	-1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	119	86.75	SBE_CT	785	24	450.47
Roll_motor	180	60	259.16	nil	0	0	0.00
VBD_pump_during_apogee	517	7917	97849.33	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	123	223	660.56
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	33	50	18.18
TT8	2152	19	458.74
LPSleep	9055	2	223.82
TT8_Active	1017	19	216.95
TT8_Sampling	1354	39	578.43
TT8_CF8	535	45	262.94
TT8_Kalman	33	81	29.24
Analog_circuits	1218	12	156.41
GPS_charging	0	0	0.00
Compass	1278	26	355.73
RAFOS	1080	1	17.33
Transponder	2	5	0.15

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
23	end surface: CONTROL_FINISHED_OK
state	24	begin dive
26	-0.99	-146.6	0.0	0.0	0	87	0.00	0.00	-57.97	0.000	2	0.007	0.000	434	2013	2360	0	0	0	0	0	0
91	-0.99	-146.6	3.0	-1.8	12	143	9.95	2.47	-24.73	0.000	4	0.000	0.000	2565	371	3104	12	0	11	0	0	0
396	-0.99	-146.6	40.3	-7.0	51	412	0.55	3.03	0.00	0.000	6	0.000	0.000	2437	2160	3105	1	0	16	0	0	0
598	-0.99	-146.6	55.2	-8.7	70	615	0.50	3.62	0.00	0.007	4	0.000	0.000	2599	233	3101	1	0	20	0	0	0
728	-0.99	-146.6	67.7	-10.1	81	744	1.00	3.72	0.00	0.007	6	0.000	0.001	2408	2175	3102	2	0	21	0	0	0
1057	-0.99	-146.6	95.4	-7.2	112	1073	0.47	3.70	0.00	0.007	4	0.000	0.000	2540	461	3104	0	0	22	0	0	0
1120	end dive: TARGET_DEPTH_EXCEEDED
state	1120	begin apogee
1131	-0.31	0.0	100.5	7.8	117	1258	0.65	0.00	120.50	7.917	6	0.000	0.007	2685	2212	2508	1	0	0	0	0	0
1259	end apogee: CONTROL_FINISHED_OK
state	1259	begin climb
1262	0.99	146.6	110.1	0.0	130	1391	1.58	3.28	115.65	0.000	4	0.000	0.000	2969	3668	1932	2	0	18	0	0	0
1576	2.86	660.9	132.5	-9.4	158	1879	1.67	4.15	270.75	3.314	6	0.000	0.000	3327	1599	615	2	0	22	0	3	0
2204	4.51	1090.8	177.8	-6.7	219	2220	0.00	3.58	0.15	0.007	4	0.000	0.000	3325	3482	602	0	0	19	0	0	0
2366	5.12	1590.3	189.1	-9.0	233	2382	0.00	3.12	0.93	0.000	6	0.007	0.000	3325	1905	602	0	0	15	0	0	0
2696	5.68	2042.5	212.0	-7.5	264	2703	0.00	2.80	0.12	0.007	4	0.007	0.000	3326	3631	599	0	0	13	0	0	0
2843	6.34	2580.8	226.3	-10.2	276	2853	0.00	3.25	1.33	0.000	6	0.007	0.000	3328	1820	599	0	0	16	0	0	0
3178	6.85	2994.1	249.6	-6.2	308	3195	0.00	3.90	0.12	0.000	4	0.007	0.000	3323	3729	604	0	0	22	0	0	0
3241	7.47	3497.4	255.0	-9.1	313	3257	0.00	3.45	0.55	0.000	6	0.007	0.000	3325	1739	604	0	0	18	0	0	0
3571	7.97	3906.7	275.7	-6.1	344	3586	0.00	4.03	0.12	0.000	4	0.007	0.000	3328	3648	604	0	0	20	0	0	0
3838	8.46	4305.8	291.9	-5.8	367	3848	0.00	3.20	1.33	0.000	6	0.007	0.000	3325	2019	605	0	0	18	0	0	0
4174	8.91	4669.4	310.4	-4.6	399	4181	0.00	2.50	0.20	0.007	4	0.007	0.000	3325	3648	608	0	0	13	0	0	0
4433	9.44	5099.0	324.9	-6.7	421	4443	0.00	3.42	0.80	0.000	6	0.007	0.000	3328	1808	604	0	0	17	0	0	0
4768	9.92	5489.9	345.5	-5.5	453	4785	0.00	3.12	0.12	0.007	4	0.000	0.000	3326	3486	603	0	0	18	0	0	0
5037	10.51	5966.1	363.8	-8.2	476	5047	0.00	3.33	1.08	0.000	6	0.007	0.000	3324	1788	601	0	0	18	0	0	0
5372	11.00	6367.9	386.1	-5.8	508	5379	0.00	2.67	0.12	0.000	4	0.007	0.000	3327	416	607	0	0	14	0	0	0
5553	11.47	6751.2	396.0	-5.2	523	5563	0.00	3.35	0.95	0.000	6	0.000	0.000	3324	2325	605	0	0	17	0	0	0
5888	12.04	7211.4	415.8	-7.7	555	5894	0.00	2.65	0.15	0.007	4	0.007	0.000	3324	3659	606	0	0	15	0	0	0
6147	12.60	7664.0	436.2	-7.5	577	6157	0.00	2.83	1.83	0.000	6	0.007	0.000	3324	1975	603	0	0	11	0	0	0
6483	13.08	8061.9	456.8	-5.7	609	6499	0.00	3.28	0.12	0.007	4	0.007	0.000	3329	3606	603	0	0	16	0	0	0
6567	13.58	8466.6	461.6	-5.9	616	6584	0.00	3.78	0.20	0.000	6	0.007	0.000	3328	1795	604	0	0	22	0	0	0
6899	14.09	8877.8	481.7	-6.1	647	6915	0.00	3.40	0.00	0.007	4	0.007	0.000	3327	3780	598	0	0	21	0	0	0
7023	14.60	9289.6	489.3	-6.2	657	7032	0.00	3.25	0.00	0.000	6	0.007	0.000	3327	1791	603	0	0	14	0	0	0
7357	14.65	9332.7	496.1	5.6	689	7373	0.00	3.45	0.00	0.007	4	0.007	0.000	3329	3453	603	0	0	19	0	0	0
7598	14.43	9332.7	470.1	11.8	710	7613	0.00	2.95	0.00	0.000	6	0.007	0.000	3327	2014	591	0	0	15	0	0	0
7926	14.43	9332.7	439.4	7.3	741	7932	0.00	2.58	0.00	0.007	4	0.000	0.000	3330	614	603	0	0	13	0	0	0
7944	14.43	9332.7	438.1	7.8	742	7950	0.00	2.67	0.00	0.000	6	0.007	0.000	3330	2173	604	0	0	13	0	0	0
8267	14.43	9332.7	414.6	7.7	772	8282	0.00	2.88	0.00	0.007	4	0.000	0.000	3326	3644	603	0	0	13	0	0	0
8286	14.43	9332.7	413.1	7.6	773	8297	0.00	3.58	0.00	0.007	6	0.007	0.000	3327	2030	602	0	0	20	0	0	0
8621	14.43	9332.7	386.6	7.7	805	8628	0.00	2.95	0.00	0.007	4	0.007	0.000	3328	3682	604	0	0	17	0	0	0
8696	14.43	9332.7	380.7	7.9	811	8712	0.00	3.50	0.00	0.000	6	0.007	0.000	3326	1710	606	0	0	20	0	0	0
9025	14.43	9332.7	356.0	7.2	842	9032	0.00	3.00	0.00	0.000	4	0.007	0.000	3326	3663	607	0	0	17	0	0	0
9284	14.63	9390.8	340.4	5.2	864	9294	0.00	3.70	0.00	0.007	6	0.007	0.000	3329	1855	597	0	0	18	0	0	0
9619	14.53	9390.8	315.5	9.5	896	9634	0.00	3.45	0.00	0.000	4	0.007	0.000	3326	3640	603	0	0	17	0	0	0
9885	14.65	9390.8	292.1	7.2	919	9893	0.00	3.45	0.00	0.007	6	0.000	0.000	3325	1975	609	0	0	19	0	0	0
10217	14.65	9390.8	268.9	7.1	951	10231	0.00	2.78	0.00	0.007	4	0.007	0.000	3324	3652	604	0	0	16	0	0	0
10346	14.71	9390.8	259.6	8.0	962	10362	0.00	3.62	0.00	0.007	6	0.007	0.000	3329	1813	609	0	0	18	0	0	0
10676	14.79	9390.8	233.0	8.3	993	10691	0.00	2.92	0.00	0.007	4	0.000	0.000	3326	3598	602	0	0	14	0	0	0
10696	14.79	9390.8	231.3	8.0	994	10704	0.00	2.95	0.00	0.007	6	0.007	0.000	3327	1920	609	0	0	13	0	0	0
11020	14.64	9390.8	197.9	11.2	1025	11035	0.00	3.08	0.00	0.000	4	0.007	0.000	3325	3511	603	0	0	14	0	0	0
11287	14.72	9390.8	173.6	7.7	1048	11295	0.00	3.03	0.00	0.007	6	0.007	0.000	3327	1807	602	0	0	16	0	0	0
11614	14.63	9390.8	149.3	7.8	1079	11628	0.00	3.15	0.00	0.000	4	0.007	0.000	3328	3602	603	0	0	17	0	0	0
11678	14.55	9390.8	143.7	8.2	1084	11685	0.00	3.35	0.00	0.007	6	0.000	0.000	3327	1797	604	0	0	16	0	0	0
12010	14.64	9413.7	121.3	6.3	1116	12025	0.00	3.38	0.00	0.007	4	0.007	0.000	3329	3767	604	0	0	15	0	0	0
12277	14.57	9413.7	97.6	10.1	1139	12286	0.00	3.28	0.00	0.007	6	0.007	0.000	3321	1734	607	0	0	15	0	0	0
12611	14.67	9441.9	70.5	6.1	1171	12627	0.00	3.88	0.00	0.007	4	0.007	0.000	3324	3650	602	0	0	21	0	0	0
12710	14.67	9441.9	63.7	7.6	1179	12717	0.00	3.22	0.00	0.007	6	0.007	0.000	3323	1907	606	0	0	15	0	0	0
13036	14.67	9444.9	38.8	6.9	1210	13050	0.00	3.03	0.00	0.000	4	0.007	0.000	3331	3604	609	0	0	17	0	0	0
13144	14.61	9444.9	31.7	7.4	1219	13158	0.00	3.08	0.00	0.007	6	0.007	0.000	3333	1983	604	0	0	17	0	0	0
13348	14.71	9468.1	18.9	6.3	1239	13354	0.00	2.45	0.00	0.007	4	0.000	0.000	3326	3598	604	0	0	12	0	0	0
13576	end climb: SURFACE_DEPTH_REACHED
state	13576	begin surface coast
13622	end surface coast: CONTROL_FINISHED_OK
state	13622	begin surface