Glider dive log

DavisStrait 22Sep09 * SG001 * Dive index * Mission links * Dive 126 * 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 126 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 -221911.52 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 78.687263 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 78.687263 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 -221911.52

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 126 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 115206,6641.882,-6028.646,7,1.1,7,18.0 TGT_NAME HOLD

_CALLS 1 TGT_LATLONG 6400.000,-5448.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.149,-0.180

_SM_DEPTHo 0.04 KALMAN_X -68333.4,1418.7,663.0,-23954.3,-375.6

_SM_ANGLEo -50.0 KALMAN_Y 10859.5,-70.3,-456.9,-30224.7,-716.1

GPS2 115651,6641.885,-6028.596,34,1.1,34,18.0 MHEAD_RNG_PITCHd_Wd 122.3,407858,-13.0,-7.021

SPEED_LIMITS 0.122,0.234 D_GRID 100

Post-dive calculations and measurements:

FINISH 0.0,1.012199 _24V_AH 23.9,276.920

SM_CCo 13347,0.00,0.000,0,0,509,488.39 _10V_AH 10.7,41.010

SM_GC 0.05,14.73,0.00,0.00,0.000,0.007,0.000,444,2300,509,-10.17,7.75,488.39 FG_AHR_24Vo 4.638

SUPER 3,206,254,0,0,0 FG_AHR_10Vo 78.813

RAFOS_CLK 0 MEM 330732

RAFOS 0,1255867449,12.083333,12.069167,80,0,0,0,0,0,545,0,0,0,0,0 DATA_FILE_SIZE 41011,1255

RAFOS_FIX 6632.691895,-6213.474609,181009,121223,5,80,46.27 CAP_FILE_SIZE 156384,8

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 260165632,242356224

HUMID 1078236480 ERRORS 0,0,0,0,0,0,0,0,1,0,0,37,620,2,0

INTERNAL_PRESSURE 16.1772 SOUNDSPEED 1451.1

TCM_TEMP 15.00 GPS 181009,154240,6642.424,-6024.478,19,1.1,20,18.0

XPDR_PINGS -1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 34 119 97.84 SBE_CT 755 24 433.28

Roll_motor 121 60 174.34 nil 0 0 0.00

VBD_pump_during_apogee 561 1300 17445.80 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 88 223 472.97

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 34 50 18.56

TT8 2113 19 450.39

LPSleep 8904 2 220.09

TT8_Active 951 19 202.89

TT8_Sampling 1281 39 547.44

TT8_CF8 432 45 212.29

TT8_Kalman 33 81 29.23

Analog_circuits 1136 12 145.95

GPS_charging 0 0 0.00

Compass 1209 26 336.35

RAFOS 1800 1 28.89

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

25 end surface: CONTROL_FINISHED_OK

state 25 begin dive

27 -0.99 -146.6 0.0 0.0 0 88 0.00 0.00 -57.83 0.000 2 0.007 0.000 345 2284 2349 0 0 0 0 0 0

92 -0.99 -146.6 3.1 -1.8 12 142 11.55 3.65 -24.80 0.000 4 0.000 0.000 2672 431 3099 13 0 20 0 0 0

282 -0.66 -146.6 26.5 -16.5 43 298 1.02 3.60 0.00 0.000 6 0.000 0.000 2421 2239 3102 2 0 20 0 0 0

484 -0.66 -146.6 44.1 -8.8 62 500 0.80 2.88 0.00 0.000 4 0.000 0.000 2601 3681 3101 1 0 14 0 0 0

754 -0.66 -146.6 62.0 -5.8 85 765 0.93 3.05 0.00 0.007 6 0.000 0.000 2488 1687 3101 3 0 15 0 0 0

1089 -0.66 -146.6 88.2 -9.6 117 1105 0.38 3.15 0.00 0.007 4 0.000 0.000 2632 243 3103 1 0 20 0 0 0

1144 -0.66 -146.6 93.7 -10.0 121 1155 1.05 4.03 0.00 0.000 6 0.000 0.000 2421 2260 3101 2 0 19 0 0 0

1211 end dive: TARGET_DEPTH_EXCEEDED

state 1211 begin apogee

1219 -0.31 0.0 100.4 9.8 128 1349 1.20 0.00 119.10 0.000 6 0.000 0.007 2692 1918 2515 1 0 0 0 0 0

1350 end apogee: CONTROL_FINISHED_OK

state 1350 begin climb

1352 0.99 146.6 113.2 0.0 141 1489 1.15 3.15 118.65 0.000 4 0.000 0.000 2967 3649 1921 0 0 17 0 0 0

1495 2.80 658.4 127.5 -9.4 154 1787 1.60 2.88 266.83 0.000 6 0.000 0.000 3341 1707 588 3 0 15 0 2 0

2112 4.45 1106.3 172.9 -7.3 214 2126 0.00 0.00 3.78 0.000 6 0.007 0.007 3344 1704 587 0 0 0 0 0 0

2440 5.06 1608.0 201.5 -9.0 245 2446 0.00 2.05 0.12 0.007 4 0.007 0.000 3343 519 583 0 0 9 0 0 0

2698 5.59 2036.9 218.7 -6.7 267 2709 0.00 2.67 2.05 0.000 6 0.000 0.000 3343 2140 585 0 0 10 0 0 0

3033 6.20 2530.5 246.2 -8.8 299 3047 0.00 0.00 4.18 0.000 6 0.007 0.007 3344 2143 580 0 0 0 0 0 0

3362 6.73 2959.4 269.9 -6.7 330 3376 0.00 0.00 4.00 0.000 6 0.007 0.007 3346 2131 568 0 0 0 0 0 0

3690 7.25 3381.9 291.2 -6.5 361 3704 0.00 0.00 4.12 0.000 6 0.007 0.000 3343 2143 561 0 0 0 0 0 0

4020 7.79 3824.0 315.5 -7.1 392 4035 0.00 3.08 0.12 0.007 4 0.007 0.000 3341 330 557 0 0 18 0 0 0

4288 8.36 4286.9 334.9 -7.8 415 4298 0.00 3.53 0.62 0.000 6 0.007 0.000 3344 2200 558 0 0 19 0 0 0

4623 8.87 4704.7 356.4 -6.4 447 4638 0.00 3.00 0.12 0.007 4 0.007 0.000 3341 392 637 0 0 14 0 0 0

4891 9.45 5176.9 377.7 -8.1 470 4901 0.00 3.17 1.38 0.000 6 0.007 0.000 3342 2124 558 0 0 16 0 0 0

5226 9.92 5552.3 397.3 -5.0 502 5240 0.00 0.00 4.15 0.000 6 0.007 0.007 3343 2126 556 0 0 0 0 0 0

5555 10.49 6022.1 420.0 -8.0 533 5569 0.00 0.00 3.83 0.000 6 0.000 0.007 3343 2124 544 0 0 0 0 0 0

5883 10.98 6419.9 441.3 -5.7 564 5897 0.00 0.00 4.03 0.000 6 0.000 0.007 3344 2125 521 0 0 0 0 0 0

6213 11.47 6812.0 460.2 -5.5 595 6229 0.00 2.65 0.20 0.007 4 0.007 0.000 3344 3646 532 0 0 16 0 0 0

6482 11.98 7231.4 476.5 -6.4 618 6492 0.00 3.60 0.52 0.007 6 0.007 0.000 3342 1789 535 0 0 19 0 0 0

6816 12.49 7648.9 497.8 -6.3 650 6823 0.00 2.40 0.12 0.000 4 0.007 0.000 3342 429 538 0 0 11 0 0 0

7075 13.03 8088.0 515.5 -7.0 672 7086 0.00 3.17 1.38 0.000 6 0.007 0.000 3341 2392 533 0 0 15 0 0 0

7410 12.90 8088.0 503.7 8.5 704 7416 0.00 2.03 0.12 0.007 4 0.007 0.000 3343 3613 536 0 0 9 0 0 0

7668 12.90 8088.0 484.1 7.8 726 7679 0.00 3.08 2.00 0.000 6 0.007 0.000 3343 2027 533 0 0 14 0 0 0

8003 13.10 8124.3 460.6 5.9 758 8010 0.00 2.58 0.12 0.007 4 0.007 0.000 3342 493 542 0 0 10 0 0 0

8194 13.10 8124.3 447.3 9.7 774 8205 0.00 2.67 2.72 0.000 6 0.007 0.000 3337 2256 530 0 0 14 0 0 0

8530 13.24 8163.6 426.1 5.8 806 8536 0.00 2.45 0.12 0.007 4 0.007 0.000 3341 3550 530 0 0 11 0 0 0

8615 13.03 8163.6 418.2 11.1 813 8631 0.00 2.97 1.08 0.000 6 0.007 0.000 3342 1990 543 0 0 16 0 0 0

8945 13.03 8163.6 395.0 8.1 844 8960 0.00 0.00 4.43 0.000 6 0.007 0.007 3341 1996 521 0 0 0 0 0 0

9275 12.24 8163.6 320.6 24.5 875 9281 0.00 2.70 0.03 0.007 4 0.000 0.000 3341 544 521 0 0 15 0 0 0

9396 12.19 8163.6 305.6 9.0 885 9413 0.00 3.00 1.10 0.000 6 0.007 0.000 3342 2198 519 0 0 13 0 0 0

9727 12.19 8163.6 280.8 7.6 916 9733 0.00 2.03 0.12 0.007 4 0.007 0.000 3344 3582 520 0 0 10 0 0 0

9794 12.12 8163.6 274.7 9.1 921 9805 0.00 3.00 1.83 0.000 6 0.007 0.000 3341 1851 519 0 0 15 0 0 0

10129 12.12 8163.6 248.0 7.6 953 10144 0.00 3.12 0.15 0.007 4 0.007 0.000 3342 475 519 0 0 17 0 0 0

10396 12.12 8163.6 226.8 8.1 976 10403 0.00 2.92 0.38 0.000 6 0.007 0.000 3342 2130 520 0 0 14 0 0 0

10721 12.12 8163.6 200.6 7.9 1007 10740 0.00 3.58 0.15 0.007 4 0.000 0.000 3340 564 519 0 0 20 0 0 0

10992 12.12 8163.6 179.7 7.5 1030 11003 0.00 3.15 2.03 0.000 6 0.007 0.000 3345 2228 521 0 0 18 0 0 0

11327 12.17 8164.9 155.7 7.0 1062 11342 0.00 0.00 4.10 0.000 6 0.007 0.007 3343 2230 506 0 0 0 0 0 0

11657 12.23 8167.0 133.0 7.0 1093 11673 0.00 3.58 0.12 0.000 4 0.007 0.000 3344 480 513 0 0 19 0 0 0

11926 12.32 8183.8 115.0 6.5 1116 11936 0.00 3.12 0.75 0.000 6 0.000 0.000 3342 2273 514 0 0 14 0 0 0

12261 12.48 8226.6 92.9 5.7 1148 12276 0.00 2.85 0.15 0.007 4 0.007 0.000 3341 3632 508 0 0 16 0 0 0

12426 12.32 8226.6 81.0 9.9 1162 12437 0.00 3.47 0.35 0.000 6 0.007 0.000 3346 1908 509 0 0 17 0 0 0

12762 12.52 8230.2 58.0 6.9 1194 12769 0.00 2.42 0.12 0.000 4 0.007 0.000 3344 382 500 0 0 13 0 0 0

12819 12.66 8230.2 53.2 8.1 1198 12829 0.00 3.42 0.22 0.007 6 0.007 0.000 3343 2141 507 0 0 15 0 0 0

13153 12.40 8230.2 10.3 11.4 1237 13159 0.00 2.90 0.00 0.007 4 0.007 0.000 3345 403 508 0 0 15 0 0 0

13235 end climb: SURFACE_DEPTH_REACHED

state 13236 begin surface coast

13255 end surface coast: CONTROL_FINISHED_OK

state 13256 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	126	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	-221911.52	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	78.687263	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	115206,6641.882,-6028.646,7,1.1,7,18.0	TGT_NAME	HOLD
_CALLS	1	TGT_LATLONG	6400.000,-5448.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.149,-0.180
_SM_DEPTHo	0.04	KALMAN_X	-68333.4,1418.7,663.0,-23954.3,-375.6
_SM_ANGLEo	-50.0	KALMAN_Y	10859.5,-70.3,-456.9,-30224.7,-716.1
GPS2	115651,6641.885,-6028.596,34,1.1,34,18.0	MHEAD_RNG_PITCHd_Wd	122.3,407858,-13.0,-7.021
SPEED_LIMITS	0.122,0.234	D_GRID	100

FINISH	0.0,1.012199	_24V_AH	23.9,276.920
SM_CCo	13347,0.00,0.000,0,0,509,488.39	_10V_AH	10.7,41.010
SM_GC	0.05,14.73,0.00,0.00,0.000,0.007,0.000,444,2300,509,-10.17,7.75,488.39	FG_AHR_24Vo	4.638
SUPER	3,206,254,0,0,0	FG_AHR_10Vo	78.813
RAFOS_CLK	0	MEM	330732
RAFOS	0,1255867449,12.083333,12.069167,80,0,0,0,0,0,545,0,0,0,0,0	DATA_FILE_SIZE	41011,1255
RAFOS_FIX	6632.691895,-6213.474609,181009,121223,5,80,46.27	CAP_FILE_SIZE	156384,8
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	260165632,242356224
HUMID	1078236480	ERRORS	0,0,0,0,0,0,0,0,1,0,0,37,620,2,0
INTERNAL_PRESSURE	16.1772	SOUNDSPEED	1451.1
TCM_TEMP	15.00	GPS	181009,154240,6642.424,-6024.478,19,1.1,20,18.0
XPDR_PINGS	-1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	34	119	97.84	SBE_CT	755	24	433.28
Roll_motor	121	60	174.34	nil	0	0	0.00
VBD_pump_during_apogee	561	1300	17445.80	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	472.97
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	34	50	18.56
TT8	2113	19	450.39
LPSleep	8904	2	220.09
TT8_Active	951	19	202.89
TT8_Sampling	1281	39	547.44
TT8_CF8	432	45	212.29
TT8_Kalman	33	81	29.23
Analog_circuits	1136	12	145.95
GPS_charging	0	0	0.00
Compass	1209	26	336.35
RAFOS	1800	1	28.89
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
25	end surface: CONTROL_FINISHED_OK
state	25	begin dive
27	-0.99	-146.6	0.0	0.0	0	88	0.00	0.00	-57.83	0.000	2	0.007	0.000	345	2284	2349	0	0	0	0	0	0
92	-0.99	-146.6	3.1	-1.8	12	142	11.55	3.65	-24.80	0.000	4	0.000	0.000	2672	431	3099	13	0	20	0	0	0
282	-0.66	-146.6	26.5	-16.5	43	298	1.02	3.60	0.00	0.000	6	0.000	0.000	2421	2239	3102	2	0	20	0	0	0
484	-0.66	-146.6	44.1	-8.8	62	500	0.80	2.88	0.00	0.000	4	0.000	0.000	2601	3681	3101	1	0	14	0	0	0
754	-0.66	-146.6	62.0	-5.8	85	765	0.93	3.05	0.00	0.007	6	0.000	0.000	2488	1687	3101	3	0	15	0	0	0
1089	-0.66	-146.6	88.2	-9.6	117	1105	0.38	3.15	0.00	0.007	4	0.000	0.000	2632	243	3103	1	0	20	0	0	0
1144	-0.66	-146.6	93.7	-10.0	121	1155	1.05	4.03	0.00	0.000	6	0.000	0.000	2421	2260	3101	2	0	19	0	0	0
1211	end dive: TARGET_DEPTH_EXCEEDED
state	1211	begin apogee
1219	-0.31	0.0	100.4	9.8	128	1349	1.20	0.00	119.10	0.000	6	0.000	0.007	2692	1918	2515	1	0	0	0	0	0
1350	end apogee: CONTROL_FINISHED_OK
state	1350	begin climb
1352	0.99	146.6	113.2	0.0	141	1489	1.15	3.15	118.65	0.000	4	0.000	0.000	2967	3649	1921	0	0	17	0	0	0
1495	2.80	658.4	127.5	-9.4	154	1787	1.60	2.88	266.83	0.000	6	0.000	0.000	3341	1707	588	3	0	15	0	2	0
2112	4.45	1106.3	172.9	-7.3	214	2126	0.00	0.00	3.78	0.000	6	0.007	0.007	3344	1704	587	0	0	0	0	0	0
2440	5.06	1608.0	201.5	-9.0	245	2446	0.00	2.05	0.12	0.007	4	0.007	0.000	3343	519	583	0	0	9	0	0	0
2698	5.59	2036.9	218.7	-6.7	267	2709	0.00	2.67	2.05	0.000	6	0.000	0.000	3343	2140	585	0	0	10	0	0	0
3033	6.20	2530.5	246.2	-8.8	299	3047	0.00	0.00	4.18	0.000	6	0.007	0.007	3344	2143	580	0	0	0	0	0	0
3362	6.73	2959.4	269.9	-6.7	330	3376	0.00	0.00	4.00	0.000	6	0.007	0.007	3346	2131	568	0	0	0	0	0	0
3690	7.25	3381.9	291.2	-6.5	361	3704	0.00	0.00	4.12	0.000	6	0.007	0.000	3343	2143	561	0	0	0	0	0	0
4020	7.79	3824.0	315.5	-7.1	392	4035	0.00	3.08	0.12	0.007	4	0.007	0.000	3341	330	557	0	0	18	0	0	0
4288	8.36	4286.9	334.9	-7.8	415	4298	0.00	3.53	0.62	0.000	6	0.007	0.000	3344	2200	558	0	0	19	0	0	0
4623	8.87	4704.7	356.4	-6.4	447	4638	0.00	3.00	0.12	0.007	4	0.007	0.000	3341	392	637	0	0	14	0	0	0
4891	9.45	5176.9	377.7	-8.1	470	4901	0.00	3.17	1.38	0.000	6	0.007	0.000	3342	2124	558	0	0	16	0	0	0
5226	9.92	5552.3	397.3	-5.0	502	5240	0.00	0.00	4.15	0.000	6	0.007	0.007	3343	2126	556	0	0	0	0	0	0
5555	10.49	6022.1	420.0	-8.0	533	5569	0.00	0.00	3.83	0.000	6	0.000	0.007	3343	2124	544	0	0	0	0	0	0
5883	10.98	6419.9	441.3	-5.7	564	5897	0.00	0.00	4.03	0.000	6	0.000	0.007	3344	2125	521	0	0	0	0	0	0
6213	11.47	6812.0	460.2	-5.5	595	6229	0.00	2.65	0.20	0.007	4	0.007	0.000	3344	3646	532	0	0	16	0	0	0
6482	11.98	7231.4	476.5	-6.4	618	6492	0.00	3.60	0.52	0.007	6	0.007	0.000	3342	1789	535	0	0	19	0	0	0
6816	12.49	7648.9	497.8	-6.3	650	6823	0.00	2.40	0.12	0.000	4	0.007	0.000	3342	429	538	0	0	11	0	0	0
7075	13.03	8088.0	515.5	-7.0	672	7086	0.00	3.17	1.38	0.000	6	0.007	0.000	3341	2392	533	0	0	15	0	0	0
7410	12.90	8088.0	503.7	8.5	704	7416	0.00	2.03	0.12	0.007	4	0.007	0.000	3343	3613	536	0	0	9	0	0	0
7668	12.90	8088.0	484.1	7.8	726	7679	0.00	3.08	2.00	0.000	6	0.007	0.000	3343	2027	533	0	0	14	0	0	0
8003	13.10	8124.3	460.6	5.9	758	8010	0.00	2.58	0.12	0.007	4	0.007	0.000	3342	493	542	0	0	10	0	0	0
8194	13.10	8124.3	447.3	9.7	774	8205	0.00	2.67	2.72	0.000	6	0.007	0.000	3337	2256	530	0	0	14	0	0	0
8530	13.24	8163.6	426.1	5.8	806	8536	0.00	2.45	0.12	0.007	4	0.007	0.000	3341	3550	530	0	0	11	0	0	0
8615	13.03	8163.6	418.2	11.1	813	8631	0.00	2.97	1.08	0.000	6	0.007	0.000	3342	1990	543	0	0	16	0	0	0
8945	13.03	8163.6	395.0	8.1	844	8960	0.00	0.00	4.43	0.000	6	0.007	0.007	3341	1996	521	0	0	0	0	0	0
9275	12.24	8163.6	320.6	24.5	875	9281	0.00	2.70	0.03	0.007	4	0.000	0.000	3341	544	521	0	0	15	0	0	0
9396	12.19	8163.6	305.6	9.0	885	9413	0.00	3.00	1.10	0.000	6	0.007	0.000	3342	2198	519	0	0	13	0	0	0
9727	12.19	8163.6	280.8	7.6	916	9733	0.00	2.03	0.12	0.007	4	0.007	0.000	3344	3582	520	0	0	10	0	0	0
9794	12.12	8163.6	274.7	9.1	921	9805	0.00	3.00	1.83	0.000	6	0.007	0.000	3341	1851	519	0	0	15	0	0	0
10129	12.12	8163.6	248.0	7.6	953	10144	0.00	3.12	0.15	0.007	4	0.007	0.000	3342	475	519	0	0	17	0	0	0
10396	12.12	8163.6	226.8	8.1	976	10403	0.00	2.92	0.38	0.000	6	0.007	0.000	3342	2130	520	0	0	14	0	0	0
10721	12.12	8163.6	200.6	7.9	1007	10740	0.00	3.58	0.15	0.007	4	0.000	0.000	3340	564	519	0	0	20	0	0	0
10992	12.12	8163.6	179.7	7.5	1030	11003	0.00	3.15	2.03	0.000	6	0.007	0.000	3345	2228	521	0	0	18	0	0	0
11327	12.17	8164.9	155.7	7.0	1062	11342	0.00	0.00	4.10	0.000	6	0.007	0.007	3343	2230	506	0	0	0	0	0	0
11657	12.23	8167.0	133.0	7.0	1093	11673	0.00	3.58	0.12	0.000	4	0.007	0.000	3344	480	513	0	0	19	0	0	0
11926	12.32	8183.8	115.0	6.5	1116	11936	0.00	3.12	0.75	0.000	6	0.000	0.000	3342	2273	514	0	0	14	0	0	0
12261	12.48	8226.6	92.9	5.7	1148	12276	0.00	2.85	0.15	0.007	4	0.007	0.000	3341	3632	508	0	0	16	0	0	0
12426	12.32	8226.6	81.0	9.9	1162	12437	0.00	3.47	0.35	0.000	6	0.007	0.000	3346	1908	509	0	0	17	0	0	0
12762	12.52	8230.2	58.0	6.9	1194	12769	0.00	2.42	0.12	0.000	4	0.007	0.000	3344	382	500	0	0	13	0	0	0
12819	12.66	8230.2	53.2	8.1	1198	12829	0.00	3.42	0.22	0.007	6	0.007	0.000	3343	2141	507	0	0	15	0	0	0
13153	12.40	8230.2	10.3	11.4	1237	13159	0.00	2.90	0.00	0.007	4	0.007	0.000	3345	403	508	0	0	15	0	0	0
13235	end climb: SURFACE_DEPTH_REACHED
state	13236	begin surface coast
13255	end surface coast: CONTROL_FINISHED_OK
state	13256	begin surface