Glider dive log

DavisStrait 22Sep09 * SG001 * Dive index * Mission links * Dive 125 * 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 125 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 -221875.83 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 78.554771 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 78.554771 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 -221875.83

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 125 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 080412,6643.772,-6033.745,18,1.1,18,18.0 TGT_NAME HOLD

_CALLS 1 TGT_LATLONG 6400.000,-5448.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.150,-0.180

_SM_DEPTHo 0.04 KALMAN_X -69690.8,94.1,891.0,-25297.1,-215.1

_SM_ANGLEo -50.0 KALMAN_Y 11472.4,438.7,789.4,-29215.5,-919.1

GPS2 080857,6643.735,-6033.851,26,1.1,27,18.0 MHEAD_RNG_PITCHd_Wd 122.2,413270,-13.0,-7.021

SPEED_LIMITS 0.122,0.234 D_GRID 100

Post-dive calculations and measurements:

FINISH 1.6,1.015143 _24V_AH 23.9,276.337

SM_CCo 13252,0.00,0.000,0,0,586,469.75 _10V_AH 10.7,40.946

SM_GC 0.06,14.30,0.00,0.00,0.000,0.007,0.007,347,2294,586,-10.54,7.60,469.75 FG_AHR_24Vo 4.638

SUPER 3,206,254,0,0,0 FG_AHR_10Vo 78.679

RAFOS_CLK 0 MEM 330724

RAFOS 1,1255853644,8.250000,8.234445,80,0,0,0,0,0,756,0,0,0,0,0 DATA_FILE_SIZE 40919,1234

RAFOS_FIX 6630.515625,-6231.567871,181009,080828,4,80,66.88 CAP_FILE_SIZE 157606,0

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 260165632,242438144

HUMID 1078220172 ERRORS 0,0,0,0,0,0,0,0,0,0,0,44,763,2,0

INTERNAL_PRESSURE 16.1621 SOUNDSPEED 1451.3

TCM_TEMP 15.00 GPS 181009,115206,6641.882,-6028.646,7,1.1,7,18.0

XPDR_PINGS -1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 119 87.38 SBE_CT 752 24 431.40

Roll_motor 148 60 213.31 nil 0 0 0.00

VBD_pump_during_apogee 523 1300 16258.93 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 94 223 505.84

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 27 50 14.60

TT8 2055 19 438.08

LPSleep 8755 2 216.42

TT8_Active 962 19 205.12

TT8_Sampling 1317 39 562.72

TT8_CF8 443 45 218.06

TT8_Kalman 33 81 29.23

Analog_circuits 1158 12 148.74

GPS_charging 0 0 0.00

Compass 1247 26 346.97

RAFOS 1440 1 23.11

Transponder 1 5 0.08

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 78 0.00 0.00 -48.40 0.000 2 0.007 0.000 358 1637 2058 0 0 0 0 0 0

82 -0.99 -146.6 3.0 -2.9 10 146 10.80 2.50 -34.67 0.000 4 0.000 0.000 2583 378 3109 14 0 12 0 0 0

333 -0.91 -146.6 32.7 -12.2 46 349 0.68 3.45 0.00 0.007 6 0.000 0.000 2419 2100 3109 2 0 18 0 0 0

536 -0.91 -146.6 48.1 -6.9 65 551 0.50 2.83 0.00 0.007 4 0.000 0.000 2539 415 3118 1 0 13 0 0 0

754 -0.91 -146.6 64.2 -7.2 84 771 0.47 3.55 0.00 0.007 6 0.007 0.000 2427 2238 3108 1 0 22 0 0 0

1084 -0.91 -146.6 89.6 -7.9 115 1088 0.57 0.00 0.00 0.007 6 0.000 0.007 2562 2239 3109 2 0 0 0 0 0

1220 end dive: TARGET_DEPTH_EXCEEDED

state 1220 begin apogee

1227 -0.31 0.0 100.6 7.9 128 1356 0.70 0.00 117.97 0.000 6 0.000 0.000 2721 1896 2536 2 0 0 0 1 0

1358 end apogee: CONTROL_FINISHED_OK

state 1359 begin climb

1361 0.99 146.6 110.9 0.0 141 1498 0.95 3.53 126.47 0.000 4 0.000 0.000 2967 3614 1897 0 0 18 0 0 0

1750 2.64 566.8 136.3 -6.4 177 2033 1.75 2.80 262.48 0.000 6 0.000 0.000 3344 1890 595 1 0 12 0 1 0

2358 4.31 1005.1 182.7 -7.0 236 2375 0.00 3.28 0.20 0.000 4 0.007 0.000 3339 3785 596 0 0 18 0 0 0

2627 4.84 1431.9 201.9 -6.6 259 2637 0.00 4.22 0.17 0.000 6 0.007 0.000 3339 1773 594 0 0 25 0 0 0

2962 5.37 1862.5 225.3 -6.8 291 2978 0.00 3.65 0.12 0.000 4 0.007 0.000 3338 3649 596 0 0 18 0 0 0

3230 5.90 2293.4 244.1 -6.8 314 3242 0.00 2.75 1.90 0.000 6 0.007 0.000 3337 1886 594 0 0 12 0 0 0

3567 6.49 2776.2 269.3 -8.4 346 3582 0.00 3.15 0.12 0.007 4 0.007 0.000 3342 3543 586 0 0 13 0 0 0

3675 7.06 3234.3 278.0 -7.6 355 3691 0.00 4.00 0.25 0.000 6 0.007 0.000 3338 1861 597 0 0 20 0 0 0

4005 7.54 3625.8 297.7 -5.5 386 4020 0.00 3.33 0.12 0.007 4 0.007 0.000 3338 3469 594 0 0 20 0 0 0

4273 8.03 4026.1 314.4 -5.8 409 4284 0.00 2.95 1.30 0.000 6 0.000 0.000 3336 1650 591 0 0 16 0 0 0

4609 8.53 4429.8 334.7 -5.9 441 4626 0.00 3.30 0.15 0.007 4 0.007 0.000 3338 3626 598 0 0 17 0 0 0

4878 9.11 4901.4 353.4 -8.1 464 4888 0.00 3.65 0.77 0.000 6 0.007 0.000 3338 1383 601 0 0 20 0 0 0

5213 9.60 5301.6 375.2 -5.8 496 5229 0.00 4.18 0.12 0.000 4 0.007 0.000 3335 3560 594 0 0 19 0 0 0

5481 10.09 5696.6 390.4 -5.6 519 5492 0.00 3.28 1.33 0.000 6 0.007 0.000 3338 1886 593 0 0 16 0 0 0

5817 10.57 6092.4 408.0 -5.6 551 5832 0.00 3.20 0.12 0.007 4 0.007 0.000 3336 3570 585 0 0 16 0 0 0

6085 11.06 6490.8 423.0 -5.7 574 6096 0.00 3.22 1.30 0.000 6 0.007 0.000 3337 1821 594 0 0 14 0 0 0

6421 11.56 6895.7 443.2 -5.9 606 6428 0.00 2.40 0.12 0.000 4 0.007 0.000 3339 504 595 0 0 12 0 0 0

6462 12.07 7306.8 445.7 -6.1 609 6478 0.00 3.45 0.57 0.000 6 0.007 0.000 3338 2119 594 0 0 17 0 0 0

6792 12.59 7729.8 467.6 -6.5 640 6799 0.00 2.58 0.12 0.007 4 0.007 0.000 3338 3597 593 0 0 12 0 0 0

7051 13.08 8135.2 483.5 -6.0 662 7062 0.00 3.70 0.68 0.000 6 0.007 0.000 3334 1878 597 0 0 21 0 0 0

7386 13.59 8543.4 503.4 -6.0 694 7402 0.00 3.20 0.12 0.007 4 0.000 0.000 3341 3507 598 0 0 16 0 0 0

7655 13.26 8544.7 506.1 7.0 717 7665 0.00 2.95 1.30 0.000 6 0.007 0.000 3343 1890 595 0 0 14 0 0 0

7989 13.01 8544.7 471.7 10.7 749 8005 0.00 3.47 0.12 0.007 4 0.007 0.000 3337 537 594 0 0 20 0 0 0

8051 12.87 8544.7 465.5 8.8 754 8066 0.00 3.17 0.85 0.000 6 0.000 0.000 3340 2222 598 0 0 19 0 0 0

8380 12.87 8544.7 440.4 7.2 785 8386 0.00 2.30 0.12 0.007 4 0.007 0.000 3340 3636 595 0 0 11 0 0 0

8639 13.10 8597.2 424.3 5.3 807 8649 0.00 4.53 0.10 0.007 6 0.007 0.000 3339 1751 601 0 0 28 0 0 0

8974 13.35 8627.2 402.2 6.1 839 8988 0.00 0.00 4.12 0.000 6 0.007 0.007 3337 1758 595 0 0 0 0 0 0

9303 13.01 8627.2 371.4 14.1 870 9318 0.00 2.80 0.12 0.007 4 0.000 0.000 3338 3552 586 0 0 14 0 0 0

9570 13.25 8681.3 351.6 5.3 893 9579 0.00 3.30 0.00 0.007 6 0.000 0.000 3336 1853 583 0 0 16 0 0 0

9904 13.64 8703.1 328.2 6.3 925 9919 0.00 3.05 0.00 0.007 4 0.007 0.000 3337 3687 585 0 0 17 0 0 0

10111 13.72 8703.1 308.5 10.9 943 10128 0.00 3.97 0.00 0.007 6 0.000 0.000 3339 1884 586 0 0 19 0 0 0

10442 13.28 8703.1 246.1 18.8 974 10447 0.00 2.12 0.00 0.007 4 0.000 0.000 3337 406 586 0 0 10 0 0 0

10492 13.28 8703.1 240.0 10.6 978 10507 0.00 3.12 0.00 0.007 6 0.007 0.000 3338 2141 589 0 0 17 0 0 0

10821 13.23 8703.1 207.0 9.7 1009 10827 0.00 2.65 0.00 0.000 4 0.007 0.000 3336 3488 582 0 0 15 0 0 0

10877 13.23 8703.1 201.6 9.3 1013 10884 0.00 3.03 0.00 0.007 6 0.007 0.000 3338 1895 585 0 0 17 0 0 0

11202 13.28 8703.1 174.6 8.4 1044 11218 0.00 3.30 0.00 0.007 4 0.007 0.000 3338 461 585 0 0 18 0 0 0

11223 13.36 8703.1 172.5 9.3 1045 11230 0.00 2.95 0.00 0.000 6 0.007 0.000 3337 2283 586 0 0 12 0 0 0

11547 13.36 8703.1 141.7 9.3 1076 11553 0.00 2.20 0.00 0.007 4 0.007 0.000 3337 3465 585 0 0 9 0 0 0

11603 13.36 8703.1 136.0 9.9 1080 11610 0.00 2.97 0.00 0.007 6 0.007 0.000 3337 1833 586 0 0 15 0 0 0

11928 13.53 8704.9 114.1 7.0 1111 11930 0.00 0.00 0.00 0.007 6 0.007 0.007 3340 1835 599 0 0 0 0 0 0

12249 13.69 8749.4 91.3 5.6 1141 12264 0.00 3.28 0.00 0.007 4 0.007 0.000 3337 3617 588 0 0 17 0 0 0

12478 13.54 8749.4 71.5 10.4 1161 12493 0.00 3.58 0.00 0.007 6 0.007 0.000 3336 1998 587 0 0 17 0 0 0

12807 13.64 8749.4 38.9 9.2 1192 12821 0.00 2.83 0.00 0.007 4 0.007 0.000 3339 3629 586 0 0 13 0 0 0

13074 13.64 8749.4 14.9 10.0 1219 13090 0.00 3.83 0.00 0.007 6 0.007 0.000 3338 1886 587 0 0 21 0 0 0

13151 end climb: SURFACE_DEPTH_REACHED

state 13151 begin surface coast

13162 end surface coast: CONTROL_FINISHED_OK

state 13162 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	125	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	-221875.83	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	78.554771	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	080412,6643.772,-6033.745,18,1.1,18,18.0	TGT_NAME	HOLD
_CALLS	1	TGT_LATLONG	6400.000,-5448.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.150,-0.180
_SM_DEPTHo	0.04	KALMAN_X	-69690.8,94.1,891.0,-25297.1,-215.1
_SM_ANGLEo	-50.0	KALMAN_Y	11472.4,438.7,789.4,-29215.5,-919.1
GPS2	080857,6643.735,-6033.851,26,1.1,27,18.0	MHEAD_RNG_PITCHd_Wd	122.2,413270,-13.0,-7.021
SPEED_LIMITS	0.122,0.234	D_GRID	100

FINISH	1.6,1.015143	_24V_AH	23.9,276.337
SM_CCo	13252,0.00,0.000,0,0,586,469.75	_10V_AH	10.7,40.946
SM_GC	0.06,14.30,0.00,0.00,0.000,0.007,0.007,347,2294,586,-10.54,7.60,469.75	FG_AHR_24Vo	4.638
SUPER	3,206,254,0,0,0	FG_AHR_10Vo	78.679
RAFOS_CLK	0	MEM	330724
RAFOS	1,1255853644,8.250000,8.234445,80,0,0,0,0,0,756,0,0,0,0,0	DATA_FILE_SIZE	40919,1234
RAFOS_FIX	6630.515625,-6231.567871,181009,080828,4,80,66.88	CAP_FILE_SIZE	157606,0
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	260165632,242438144
HUMID	1078220172	ERRORS	0,0,0,0,0,0,0,0,0,0,0,44,763,2,0
INTERNAL_PRESSURE	16.1621	SOUNDSPEED	1451.3
TCM_TEMP	15.00	GPS	181009,115206,6641.882,-6028.646,7,1.1,7,18.0
XPDR_PINGS	-1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	119	87.38	SBE_CT	752	24	431.40
Roll_motor	148	60	213.31	nil	0	0	0.00
VBD_pump_during_apogee	523	1300	16258.93	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	94	223	505.84
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	27	50	14.60
TT8	2055	19	438.08
LPSleep	8755	2	216.42
TT8_Active	962	19	205.12
TT8_Sampling	1317	39	562.72
TT8_CF8	443	45	218.06
TT8_Kalman	33	81	29.23
Analog_circuits	1158	12	148.74
GPS_charging	0	0	0.00
Compass	1247	26	346.97
RAFOS	1440	1	23.11
Transponder	1	5	0.08

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	78	0.00	0.00	-48.40	0.000	2	0.007	0.000	358	1637	2058	0	0	0	0	0	0
82	-0.99	-146.6	3.0	-2.9	10	146	10.80	2.50	-34.67	0.000	4	0.000	0.000	2583	378	3109	14	0	12	0	0	0
333	-0.91	-146.6	32.7	-12.2	46	349	0.68	3.45	0.00	0.007	6	0.000	0.000	2419	2100	3109	2	0	18	0	0	0
536	-0.91	-146.6	48.1	-6.9	65	551	0.50	2.83	0.00	0.007	4	0.000	0.000	2539	415	3118	1	0	13	0	0	0
754	-0.91	-146.6	64.2	-7.2	84	771	0.47	3.55	0.00	0.007	6	0.007	0.000	2427	2238	3108	1	0	22	0	0	0
1084	-0.91	-146.6	89.6	-7.9	115	1088	0.57	0.00	0.00	0.007	6	0.000	0.007	2562	2239	3109	2	0	0	0	0	0
1220	end dive: TARGET_DEPTH_EXCEEDED
state	1220	begin apogee
1227	-0.31	0.0	100.6	7.9	128	1356	0.70	0.00	117.97	0.000	6	0.000	0.000	2721	1896	2536	2	0	0	0	1	0
1358	end apogee: CONTROL_FINISHED_OK
state	1359	begin climb
1361	0.99	146.6	110.9	0.0	141	1498	0.95	3.53	126.47	0.000	4	0.000	0.000	2967	3614	1897	0	0	18	0	0	0
1750	2.64	566.8	136.3	-6.4	177	2033	1.75	2.80	262.48	0.000	6	0.000	0.000	3344	1890	595	1	0	12	0	1	0
2358	4.31	1005.1	182.7	-7.0	236	2375	0.00	3.28	0.20	0.000	4	0.007	0.000	3339	3785	596	0	0	18	0	0	0
2627	4.84	1431.9	201.9	-6.6	259	2637	0.00	4.22	0.17	0.000	6	0.007	0.000	3339	1773	594	0	0	25	0	0	0
2962	5.37	1862.5	225.3	-6.8	291	2978	0.00	3.65	0.12	0.000	4	0.007	0.000	3338	3649	596	0	0	18	0	0	0
3230	5.90	2293.4	244.1	-6.8	314	3242	0.00	2.75	1.90	0.000	6	0.007	0.000	3337	1886	594	0	0	12	0	0	0
3567	6.49	2776.2	269.3	-8.4	346	3582	0.00	3.15	0.12	0.007	4	0.007	0.000	3342	3543	586	0	0	13	0	0	0
3675	7.06	3234.3	278.0	-7.6	355	3691	0.00	4.00	0.25	0.000	6	0.007	0.000	3338	1861	597	0	0	20	0	0	0
4005	7.54	3625.8	297.7	-5.5	386	4020	0.00	3.33	0.12	0.007	4	0.007	0.000	3338	3469	594	0	0	20	0	0	0
4273	8.03	4026.1	314.4	-5.8	409	4284	0.00	2.95	1.30	0.000	6	0.000	0.000	3336	1650	591	0	0	16	0	0	0
4609	8.53	4429.8	334.7	-5.9	441	4626	0.00	3.30	0.15	0.007	4	0.007	0.000	3338	3626	598	0	0	17	0	0	0
4878	9.11	4901.4	353.4	-8.1	464	4888	0.00	3.65	0.77	0.000	6	0.007	0.000	3338	1383	601	0	0	20	0	0	0
5213	9.60	5301.6	375.2	-5.8	496	5229	0.00	4.18	0.12	0.000	4	0.007	0.000	3335	3560	594	0	0	19	0	0	0
5481	10.09	5696.6	390.4	-5.6	519	5492	0.00	3.28	1.33	0.000	6	0.007	0.000	3338	1886	593	0	0	16	0	0	0
5817	10.57	6092.4	408.0	-5.6	551	5832	0.00	3.20	0.12	0.007	4	0.007	0.000	3336	3570	585	0	0	16	0	0	0
6085	11.06	6490.8	423.0	-5.7	574	6096	0.00	3.22	1.30	0.000	6	0.007	0.000	3337	1821	594	0	0	14	0	0	0
6421	11.56	6895.7	443.2	-5.9	606	6428	0.00	2.40	0.12	0.000	4	0.007	0.000	3339	504	595	0	0	12	0	0	0
6462	12.07	7306.8	445.7	-6.1	609	6478	0.00	3.45	0.57	0.000	6	0.007	0.000	3338	2119	594	0	0	17	0	0	0
6792	12.59	7729.8	467.6	-6.5	640	6799	0.00	2.58	0.12	0.007	4	0.007	0.000	3338	3597	593	0	0	12	0	0	0
7051	13.08	8135.2	483.5	-6.0	662	7062	0.00	3.70	0.68	0.000	6	0.007	0.000	3334	1878	597	0	0	21	0	0	0
7386	13.59	8543.4	503.4	-6.0	694	7402	0.00	3.20	0.12	0.007	4	0.000	0.000	3341	3507	598	0	0	16	0	0	0
7655	13.26	8544.7	506.1	7.0	717	7665	0.00	2.95	1.30	0.000	6	0.007	0.000	3343	1890	595	0	0	14	0	0	0
7989	13.01	8544.7	471.7	10.7	749	8005	0.00	3.47	0.12	0.007	4	0.007	0.000	3337	537	594	0	0	20	0	0	0
8051	12.87	8544.7	465.5	8.8	754	8066	0.00	3.17	0.85	0.000	6	0.000	0.000	3340	2222	598	0	0	19	0	0	0
8380	12.87	8544.7	440.4	7.2	785	8386	0.00	2.30	0.12	0.007	4	0.007	0.000	3340	3636	595	0	0	11	0	0	0
8639	13.10	8597.2	424.3	5.3	807	8649	0.00	4.53	0.10	0.007	6	0.007	0.000	3339	1751	601	0	0	28	0	0	0
8974	13.35	8627.2	402.2	6.1	839	8988	0.00	0.00	4.12	0.000	6	0.007	0.007	3337	1758	595	0	0	0	0	0	0
9303	13.01	8627.2	371.4	14.1	870	9318	0.00	2.80	0.12	0.007	4	0.000	0.000	3338	3552	586	0	0	14	0	0	0
9570	13.25	8681.3	351.6	5.3	893	9579	0.00	3.30	0.00	0.007	6	0.000	0.000	3336	1853	583	0	0	16	0	0	0
9904	13.64	8703.1	328.2	6.3	925	9919	0.00	3.05	0.00	0.007	4	0.007	0.000	3337	3687	585	0	0	17	0	0	0
10111	13.72	8703.1	308.5	10.9	943	10128	0.00	3.97	0.00	0.007	6	0.000	0.000	3339	1884	586	0	0	19	0	0	0
10442	13.28	8703.1	246.1	18.8	974	10447	0.00	2.12	0.00	0.007	4	0.000	0.000	3337	406	586	0	0	10	0	0	0
10492	13.28	8703.1	240.0	10.6	978	10507	0.00	3.12	0.00	0.007	6	0.007	0.000	3338	2141	589	0	0	17	0	0	0
10821	13.23	8703.1	207.0	9.7	1009	10827	0.00	2.65	0.00	0.000	4	0.007	0.000	3336	3488	582	0	0	15	0	0	0
10877	13.23	8703.1	201.6	9.3	1013	10884	0.00	3.03	0.00	0.007	6	0.007	0.000	3338	1895	585	0	0	17	0	0	0
11202	13.28	8703.1	174.6	8.4	1044	11218	0.00	3.30	0.00	0.007	4	0.007	0.000	3338	461	585	0	0	18	0	0	0
11223	13.36	8703.1	172.5	9.3	1045	11230	0.00	2.95	0.00	0.000	6	0.007	0.000	3337	2283	586	0	0	12	0	0	0
11547	13.36	8703.1	141.7	9.3	1076	11553	0.00	2.20	0.00	0.007	4	0.007	0.000	3337	3465	585	0	0	9	0	0	0
11603	13.36	8703.1	136.0	9.9	1080	11610	0.00	2.97	0.00	0.007	6	0.007	0.000	3337	1833	586	0	0	15	0	0	0
11928	13.53	8704.9	114.1	7.0	1111	11930	0.00	0.00	0.00	0.007	6	0.007	0.007	3340	1835	599	0	0	0	0	0	0
12249	13.69	8749.4	91.3	5.6	1141	12264	0.00	3.28	0.00	0.007	4	0.007	0.000	3337	3617	588	0	0	17	0	0	0
12478	13.54	8749.4	71.5	10.4	1161	12493	0.00	3.58	0.00	0.007	6	0.007	0.000	3336	1998	587	0	0	17	0	0	0
12807	13.64	8749.4	38.9	9.2	1192	12821	0.00	2.83	0.00	0.007	4	0.007	0.000	3339	3629	586	0	0	13	0	0	0
13074	13.64	8749.4	14.9	10.0	1219	13090	0.00	3.83	0.00	0.007	6	0.007	0.000	3338	1886	587	0	0	21	0	0	0
13151	end climb: SURFACE_DEPTH_REACHED
state	13151	begin surface coast
13162	end surface coast: CONTROL_FINISHED_OK
state	13162	begin surface