Glider dive log

DavisStrait 22Sep09 * SG001 * Dive index * Mission links * Dive 123 * 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 123 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 2 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 -221820.41 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 78.287033 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2700 FG_AHR_24V 4.6384392 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 78.287033 PITCH_MIN 450 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 4.6384392 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 -221820.41

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 2 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 123 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 002808,6641.893,-6041.451,7,1.1,7,18.0 TGT_NAME HOLD

_CALLS 1 TGT_LATLONG 6400.000,-5448.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.144,-0.184

_SM_DEPTHo 0.05 KALMAN_X -70550.6,-1300.2,-681.1,-26891.6,1260.8

_SM_ANGLEo -50.0 KALMAN_Y 8800.4,687.5,521.6,-29932.5,-1425.3

GPS2 003249,6641.911,-6041.400,30,1.1,30,18.0 MHEAD_RNG_PITCHd_Wd 123.9,415011,-12.9,-7.021

SPEED_LIMITS 0.122,0.234 D_GRID 100

Post-dive calculations and measurements:

FINISH 1.6,1.024067 _24V_AH 23.9,275.166

SM_CCo 13262,0.00,0.000,0,0,523,485.69 _10V_AH 10.7,40.818

SM_GC 0.04,14.68,0.00,0.00,0.000,0.007,0.007,409,2189,523,-9.80,4.72,485.69 FG_AHR_24Vo 4.638

SUPER 3,206,254,0,0,0 FG_AHR_10Vo 78.411

RAFOS_CLK 0 MEM 330708

RAFOS 2,1255825446,0.416667,0.401667,80,0,0,0,0,0,996,0,0,0,0,0 DATA_FILE_SIZE 40952,1256

RAFOS_FIX 6625.247070,-6221.837891,181009,000001,5,80,0.00 CAP_FILE_SIZE 157571,8

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 260165632,242593792

HUMID 1078236054 ERRORS 0,0,0,0,0,0,0,0,1,0,0,32,682,2,0

INTERNAL_PRESSURE 16.1321 SOUNDSPEED 1451.5

TCM_TEMP 15.00 GPS 181009,041653,6643.902,-6038.199,19,1.1,19,18.0

XPDR_PINGS -1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 119 89.23 SBE_CT 763 24 437.97

Roll_motor 133 60 191.47 nil 0 0 0.00

VBD_pump_during_apogee 559 1300 17397.65 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 88 223 469.96

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 30 50 16.49

TT8 2100 19 447.71

LPSleep 8772 2 216.82

TT8_Active 1016 19 216.61

TT8_Sampling 1245 39 532.01

TT8_CF8 439 45 215.90

TT8_Kalman 33 81 29.23

Analog_circuits 1215 12 156.12

GPS_charging 0 0 0.00

Compass 1172 26 326.21

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 -58.47 0.000 2 0.007 0.000 361 1796 2381 0 0 0 0 0 0

92 -0.99 -146.6 3.0 -1.8 12 134 10.57 2.42 -23.95 0.000 4 0.000 0.000 2557 430 3109 8 0 14 0 0 0

365 -0.78 -146.6 37.4 -11.5 50 382 0.32 3.78 0.00 0.007 6 0.000 0.000 2425 2450 3104 1 0 24 0 0 0

571 -0.72 -146.6 53.6 -8.3 69 587 0.77 3.90 0.00 0.007 4 0.000 0.000 2609 404 3106 2 0 21 0 0 0

838 -0.77 -146.6 78.6 -8.5 92 846 0.43 2.95 0.00 0.007 6 0.000 0.000 2474 2242 3105 1 0 14 0 0 0

1108 end dive: TARGET_DEPTH_EXCEEDED

state 1108 begin apogee

1116 -0.31 0.0 100.1 7.6 118 1244 0.98 0.00 121.95 0.000 6 0.000 0.007 2684 1797 2501 1 0 0 0 0 0

1245 end apogee: CONTROL_FINISHED_OK

state 1245 begin climb

1250 0.99 146.6 109.8 0.0 131 1397 1.40 3.72 117.05 0.000 4 0.000 0.000 2962 3733 1920 2 0 20 0 0 0

1409 2.65 577.8 121.2 -6.7 145 1707 2.22 3.65 265.73 0.000 6 0.000 0.000 3360 1695 594 4 0 18 0 2 0

2021 4.38 1053.5 166.1 -8.2 204 2037 0.00 3.22 0.12 0.000 4 0.007 0.000 3364 3710 599 0 0 17 0 0 0

2200 4.96 1527.4 180.5 -8.1 219 2210 0.00 3.28 1.02 0.000 6 0.007 0.000 3362 1851 602 0 0 16 0 0 0

2535 5.54 1996.7 207.5 -8.0 251 2549 0.00 0.00 4.12 0.000 6 0.007 0.000 3361 1851 593 0 0 0 0 0 0

2863 6.10 2458.4 233.7 -7.7 282 2878 0.00 0.00 4.10 0.000 6 0.007 0.000 3364 1862 576 0 0 0 0 0 0

3192 6.61 2866.8 255.1 -6.0 313 3206 0.00 0.00 4.07 0.000 6 0.007 0.000 3357 1849 577 0 0 0 0 0 0

3520 7.20 3347.4 275.8 -8.3 344 3535 0.00 0.00 4.10 0.000 6 0.007 0.000 3364 1854 571 0 0 0 0 0 0

3849 7.68 3738.4 301.2 -5.5 375 3865 0.00 4.43 0.12 0.000 4 0.007 0.000 3361 3663 565 0 0 22 0 0 0

4091 8.14 4113.5 313.1 -5.0 396 4106 0.00 3.67 0.30 0.000 6 0.007 0.000 3361 1708 564 0 0 19 0 0 0

4421 8.64 4521.0 335.5 -6.0 427 4437 0.00 3.90 0.12 0.007 4 0.007 0.000 3362 3603 569 0 0 19 0 0 0

4688 9.14 4924.7 350.7 -5.9 450 4699 0.00 3.10 1.48 0.000 6 0.007 0.000 3364 1788 566 0 0 14 0 0 0

5023 9.65 5336.9 370.3 -6.1 482 5038 0.00 0.00 4.20 0.000 6 0.000 0.007 3361 1788 556 0 0 0 0 0 0

5352 10.17 5765.1 394.5 -6.7 513 5358 0.00 2.12 0.25 0.000 4 0.007 0.000 3363 399 557 0 0 11 0 0 0

5427 10.68 6175.5 399.2 -6.1 519 5443 0.00 3.92 0.15 0.007 6 0.007 0.000 3362 2152 548 0 0 23 0 0 0

5757 11.17 6578.4 418.7 -5.8 550 5771 0.00 0.00 3.83 0.000 6 0.007 0.007 3362 2148 604 0 0 0 0 0 0

6086 11.67 6981.9 438.4 -5.9 581 6092 0.00 2.28 0.12 0.000 4 0.007 0.000 3362 3572 549 0 0 11 0 0 0

6344 12.19 7403.3 454.4 -6.4 603 6355 0.00 2.83 1.83 0.000 6 0.000 0.000 3360 1946 553 0 0 12 0 0 0

6680 12.67 7795.6 474.0 -5.5 635 6696 0.00 3.55 0.12 0.000 4 0.007 0.000 3362 3664 553 0 0 17 0 0 0

6948 13.25 8264.9 491.5 -8.0 658 6959 0.00 3.42 0.73 0.000 6 0.007 0.000 3360 1879 549 0 0 20 0 0 0

7283 13.07 8264.9 485.0 9.4 690 7298 0.00 2.90 0.12 0.007 4 0.000 0.000 3365 3613 550 0 0 13 0 0 0

7550 13.07 8264.9 463.7 8.3 713 7562 0.00 2.88 2.42 0.000 6 0.007 0.000 3361 1863 548 0 0 15 0 0 0

7887 13.23 8287.0 438.5 6.3 745 7902 0.00 0.00 4.22 0.000 6 0.000 0.007 3360 1864 540 0 0 0 0 0 0

8216 13.13 8287.0 413.7 8.8 776 8232 0.00 0.00 4.10 0.000 6 0.007 0.007 3360 1868 530 0 0 0 0 0 0

8546 13.29 8309.8 390.4 6.3 807 8563 0.00 3.95 0.15 0.007 4 0.000 0.000 3364 3782 530 0 0 23 0 0 0

8714 13.09 8309.8 377.2 11.0 821 8725 0.00 3.45 1.33 0.000 6 0.007 0.000 3356 1902 529 0 0 19 0 0 0

9049 13.23 8309.8 354.2 8.2 853 9066 0.00 3.12 0.12 0.000 4 0.007 0.000 3363 3565 530 0 0 14 0 0 0

9156 12.90 8309.8 341.4 12.9 862 9172 0.00 2.83 1.30 0.000 6 0.000 0.000 3361 1877 537 0 0 14 0 0 0

9486 12.92 8319.3 321.3 6.7 893 9502 0.00 0.00 4.22 0.000 6 0.007 0.007 3365 1877 520 0 0 0 0 0 0

9816 12.84 8319.3 290.1 9.3 924 9832 0.00 3.10 0.12 0.000 4 0.007 0.000 3364 3729 519 0 0 13 0 0 0

10085 13.03 8359.3 273.4 5.7 947 10096 0.00 4.18 0.15 0.007 6 0.007 0.000 3365 1900 519 0 0 23 0 0 0

10420 13.27 8399.8 251.4 5.7 979 10437 0.00 3.10 0.12 0.007 4 0.007 0.000 3363 232 487 0 0 18 0 0 0

10556 13.20 8399.8 241.5 10.3 990 10568 0.00 3.47 0.05 0.000 6 0.007 0.000 3363 2160 518 0 0 16 0 0 0

10892 13.26 8399.8 217.0 8.0 1022 10899 0.00 2.40 0.12 0.000 4 0.007 0.000 3363 3478 523 0 0 13 0 0 0

10933 13.07 8399.8 212.3 12.4 1025 10949 0.00 3.47 0.50 0.000 6 0.007 0.000 3361 1762 518 0 0 19 0 0 0

11263 13.23 8410.4 190.9 6.7 1056 11269 0.00 2.20 0.12 0.000 4 0.007 0.000 3366 479 519 0 0 9 0 0 0

11303 13.23 8410.4 187.0 9.7 1059 11319 0.00 2.80 1.33 0.000 6 0.007 0.000 3360 2220 519 0 0 13 0 0 0

11633 13.28 8410.4 162.5 7.6 1090 11640 0.00 2.38 0.12 0.000 4 0.007 0.000 3362 3547 526 0 0 12 0 0 0

11690 13.09 8410.4 155.2 12.3 1094 11697 0.00 2.90 0.08 0.000 6 0.007 0.000 3363 1837 518 0 0 12 0 0 0

12014 13.09 8410.4 126.1 11.3 1125 12030 0.00 2.90 0.12 0.000 4 0.007 0.000 3362 3727 516 0 0 12 0 0 0

12035 13.25 8410.4 123.6 11.8 1126 12045 0.00 3.30 0.93 0.000 6 0.007 0.000 3363 2045 520 0 0 15 0 0 0

12370 12.79 8410.4 59.8 20.2 1158 12386 0.00 3.83 0.12 0.007 4 0.000 0.000 3361 561 513 0 0 20 0 0 0

12454 12.90 8410.4 50.8 9.0 1165 12470 0.00 2.88 1.17 0.000 6 0.007 0.000 3363 2359 516 0 0 15 0 0 0

12784 12.96 8419.6 24.4 6.7 1196 12791 0.00 2.45 0.12 0.000 4 0.007 0.000 3362 3460 533 0 0 13 0 0 0

12888 12.89 8419.6 16.8 8.5 1207 12904 0.00 2.92 1.10 0.000 6 0.007 0.000 3363 1855 519 0 0 17 0 0 0

12975 13.11 8458.7 11.7 5.8 1221 12982 0.00 2.25 0.12 0.007 4 0.007 0.000 3363 485 520 0 0 10 0 0 0

13120 end climb: SURFACE_DEPTH_REACHED

state 13120 begin surface coast

13171 end surface coast: CONTROL_FINISHED_OK

state 13171 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	123	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	2	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	-221820.41	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	78.287033	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2700	FG_AHR_24V	4.6384392	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	002808,6641.893,-6041.451,7,1.1,7,18.0	TGT_NAME	HOLD
_CALLS	1	TGT_LATLONG	6400.000,-5448.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.144,-0.184
_SM_DEPTHo	0.05	KALMAN_X	-70550.6,-1300.2,-681.1,-26891.6,1260.8
_SM_ANGLEo	-50.0	KALMAN_Y	8800.4,687.5,521.6,-29932.5,-1425.3
GPS2	003249,6641.911,-6041.400,30,1.1,30,18.0	MHEAD_RNG_PITCHd_Wd	123.9,415011,-12.9,-7.021
SPEED_LIMITS	0.122,0.234	D_GRID	100

FINISH	1.6,1.024067	_24V_AH	23.9,275.166
SM_CCo	13262,0.00,0.000,0,0,523,485.69	_10V_AH	10.7,40.818
SM_GC	0.04,14.68,0.00,0.00,0.000,0.007,0.007,409,2189,523,-9.80,4.72,485.69	FG_AHR_24Vo	4.638
SUPER	3,206,254,0,0,0	FG_AHR_10Vo	78.411
RAFOS_CLK	0	MEM	330708
RAFOS	2,1255825446,0.416667,0.401667,80,0,0,0,0,0,996,0,0,0,0,0	DATA_FILE_SIZE	40952,1256
RAFOS_FIX	6625.247070,-6221.837891,181009,000001,5,80,0.00	CAP_FILE_SIZE	157571,8
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	260165632,242593792
HUMID	1078236054	ERRORS	0,0,0,0,0,0,0,0,1,0,0,32,682,2,0
INTERNAL_PRESSURE	16.1321	SOUNDSPEED	1451.5
TCM_TEMP	15.00	GPS	181009,041653,6643.902,-6038.199,19,1.1,19,18.0
XPDR_PINGS	-1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	119	89.23	SBE_CT	763	24	437.97
Roll_motor	133	60	191.47	nil	0	0	0.00
VBD_pump_during_apogee	559	1300	17397.65	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	469.96
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	30	50	16.49
TT8	2100	19	447.71
LPSleep	8772	2	216.82
TT8_Active	1016	19	216.61
TT8_Sampling	1245	39	532.01
TT8_CF8	439	45	215.90
TT8_Kalman	33	81	29.23
Analog_circuits	1215	12	156.12
GPS_charging	0	0	0.00
Compass	1172	26	326.21
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	-58.47	0.000	2	0.007	0.000	361	1796	2381	0	0	0	0	0	0
92	-0.99	-146.6	3.0	-1.8	12	134	10.57	2.42	-23.95	0.000	4	0.000	0.000	2557	430	3109	8	0	14	0	0	0
365	-0.78	-146.6	37.4	-11.5	50	382	0.32	3.78	0.00	0.007	6	0.000	0.000	2425	2450	3104	1	0	24	0	0	0
571	-0.72	-146.6	53.6	-8.3	69	587	0.77	3.90	0.00	0.007	4	0.000	0.000	2609	404	3106	2	0	21	0	0	0
838	-0.77	-146.6	78.6	-8.5	92	846	0.43	2.95	0.00	0.007	6	0.000	0.000	2474	2242	3105	1	0	14	0	0	0
1108	end dive: TARGET_DEPTH_EXCEEDED
state	1108	begin apogee
1116	-0.31	0.0	100.1	7.6	118	1244	0.98	0.00	121.95	0.000	6	0.000	0.007	2684	1797	2501	1	0	0	0	0	0
1245	end apogee: CONTROL_FINISHED_OK
state	1245	begin climb
1250	0.99	146.6	109.8	0.0	131	1397	1.40	3.72	117.05	0.000	4	0.000	0.000	2962	3733	1920	2	0	20	0	0	0
1409	2.65	577.8	121.2	-6.7	145	1707	2.22	3.65	265.73	0.000	6	0.000	0.000	3360	1695	594	4	0	18	0	2	0
2021	4.38	1053.5	166.1	-8.2	204	2037	0.00	3.22	0.12	0.000	4	0.007	0.000	3364	3710	599	0	0	17	0	0	0
2200	4.96	1527.4	180.5	-8.1	219	2210	0.00	3.28	1.02	0.000	6	0.007	0.000	3362	1851	602	0	0	16	0	0	0
2535	5.54	1996.7	207.5	-8.0	251	2549	0.00	0.00	4.12	0.000	6	0.007	0.000	3361	1851	593	0	0	0	0	0	0
2863	6.10	2458.4	233.7	-7.7	282	2878	0.00	0.00	4.10	0.000	6	0.007	0.000	3364	1862	576	0	0	0	0	0	0
3192	6.61	2866.8	255.1	-6.0	313	3206	0.00	0.00	4.07	0.000	6	0.007	0.000	3357	1849	577	0	0	0	0	0	0
3520	7.20	3347.4	275.8	-8.3	344	3535	0.00	0.00	4.10	0.000	6	0.007	0.000	3364	1854	571	0	0	0	0	0	0
3849	7.68	3738.4	301.2	-5.5	375	3865	0.00	4.43	0.12	0.000	4	0.007	0.000	3361	3663	565	0	0	22	0	0	0
4091	8.14	4113.5	313.1	-5.0	396	4106	0.00	3.67	0.30	0.000	6	0.007	0.000	3361	1708	564	0	0	19	0	0	0
4421	8.64	4521.0	335.5	-6.0	427	4437	0.00	3.90	0.12	0.007	4	0.007	0.000	3362	3603	569	0	0	19	0	0	0
4688	9.14	4924.7	350.7	-5.9	450	4699	0.00	3.10	1.48	0.000	6	0.007	0.000	3364	1788	566	0	0	14	0	0	0
5023	9.65	5336.9	370.3	-6.1	482	5038	0.00	0.00	4.20	0.000	6	0.000	0.007	3361	1788	556	0	0	0	0	0	0
5352	10.17	5765.1	394.5	-6.7	513	5358	0.00	2.12	0.25	0.000	4	0.007	0.000	3363	399	557	0	0	11	0	0	0
5427	10.68	6175.5	399.2	-6.1	519	5443	0.00	3.92	0.15	0.007	6	0.007	0.000	3362	2152	548	0	0	23	0	0	0
5757	11.17	6578.4	418.7	-5.8	550	5771	0.00	0.00	3.83	0.000	6	0.007	0.007	3362	2148	604	0	0	0	0	0	0
6086	11.67	6981.9	438.4	-5.9	581	6092	0.00	2.28	0.12	0.000	4	0.007	0.000	3362	3572	549	0	0	11	0	0	0
6344	12.19	7403.3	454.4	-6.4	603	6355	0.00	2.83	1.83	0.000	6	0.000	0.000	3360	1946	553	0	0	12	0	0	0
6680	12.67	7795.6	474.0	-5.5	635	6696	0.00	3.55	0.12	0.000	4	0.007	0.000	3362	3664	553	0	0	17	0	0	0
6948	13.25	8264.9	491.5	-8.0	658	6959	0.00	3.42	0.73	0.000	6	0.007	0.000	3360	1879	549	0	0	20	0	0	0
7283	13.07	8264.9	485.0	9.4	690	7298	0.00	2.90	0.12	0.007	4	0.000	0.000	3365	3613	550	0	0	13	0	0	0
7550	13.07	8264.9	463.7	8.3	713	7562	0.00	2.88	2.42	0.000	6	0.007	0.000	3361	1863	548	0	0	15	0	0	0
7887	13.23	8287.0	438.5	6.3	745	7902	0.00	0.00	4.22	0.000	6	0.000	0.007	3360	1864	540	0	0	0	0	0	0
8216	13.13	8287.0	413.7	8.8	776	8232	0.00	0.00	4.10	0.000	6	0.007	0.007	3360	1868	530	0	0	0	0	0	0
8546	13.29	8309.8	390.4	6.3	807	8563	0.00	3.95	0.15	0.007	4	0.000	0.000	3364	3782	530	0	0	23	0	0	0
8714	13.09	8309.8	377.2	11.0	821	8725	0.00	3.45	1.33	0.000	6	0.007	0.000	3356	1902	529	0	0	19	0	0	0
9049	13.23	8309.8	354.2	8.2	853	9066	0.00	3.12	0.12	0.000	4	0.007	0.000	3363	3565	530	0	0	14	0	0	0
9156	12.90	8309.8	341.4	12.9	862	9172	0.00	2.83	1.30	0.000	6	0.000	0.000	3361	1877	537	0	0	14	0	0	0
9486	12.92	8319.3	321.3	6.7	893	9502	0.00	0.00	4.22	0.000	6	0.007	0.007	3365	1877	520	0	0	0	0	0	0
9816	12.84	8319.3	290.1	9.3	924	9832	0.00	3.10	0.12	0.000	4	0.007	0.000	3364	3729	519	0	0	13	0	0	0
10085	13.03	8359.3	273.4	5.7	947	10096	0.00	4.18	0.15	0.007	6	0.007	0.000	3365	1900	519	0	0	23	0	0	0
10420	13.27	8399.8	251.4	5.7	979	10437	0.00	3.10	0.12	0.007	4	0.007	0.000	3363	232	487	0	0	18	0	0	0
10556	13.20	8399.8	241.5	10.3	990	10568	0.00	3.47	0.05	0.000	6	0.007	0.000	3363	2160	518	0	0	16	0	0	0
10892	13.26	8399.8	217.0	8.0	1022	10899	0.00	2.40	0.12	0.000	4	0.007	0.000	3363	3478	523	0	0	13	0	0	0
10933	13.07	8399.8	212.3	12.4	1025	10949	0.00	3.47	0.50	0.000	6	0.007	0.000	3361	1762	518	0	0	19	0	0	0
11263	13.23	8410.4	190.9	6.7	1056	11269	0.00	2.20	0.12	0.000	4	0.007	0.000	3366	479	519	0	0	9	0	0	0
11303	13.23	8410.4	187.0	9.7	1059	11319	0.00	2.80	1.33	0.000	6	0.007	0.000	3360	2220	519	0	0	13	0	0	0
11633	13.28	8410.4	162.5	7.6	1090	11640	0.00	2.38	0.12	0.000	4	0.007	0.000	3362	3547	526	0	0	12	0	0	0
11690	13.09	8410.4	155.2	12.3	1094	11697	0.00	2.90	0.08	0.000	6	0.007	0.000	3363	1837	518	0	0	12	0	0	0
12014	13.09	8410.4	126.1	11.3	1125	12030	0.00	2.90	0.12	0.000	4	0.007	0.000	3362	3727	516	0	0	12	0	0	0
12035	13.25	8410.4	123.6	11.8	1126	12045	0.00	3.30	0.93	0.000	6	0.007	0.000	3363	2045	520	0	0	15	0	0	0
12370	12.79	8410.4	59.8	20.2	1158	12386	0.00	3.83	0.12	0.007	4	0.000	0.000	3361	561	513	0	0	20	0	0	0
12454	12.90	8410.4	50.8	9.0	1165	12470	0.00	2.88	1.17	0.000	6	0.007	0.000	3363	2359	516	0	0	15	0	0	0
12784	12.96	8419.6	24.4	6.7	1196	12791	0.00	2.45	0.12	0.000	4	0.007	0.000	3362	3460	533	0	0	13	0	0	0
12888	12.89	8419.6	16.8	8.5	1207	12904	0.00	2.92	1.10	0.000	6	0.007	0.000	3363	1855	519	0	0	17	0	0	0
12975	13.11	8458.7	11.7	5.8	1221	12982	0.00	2.25	0.12	0.007	4	0.007	0.000	3363	485	520	0	0	10	0	0	0
13120	end climb: SURFACE_DEPTH_REACHED
state	13120	begin surface coast
13171	end surface coast: CONTROL_FINISHED_OK
state	13171	begin surface