Glider dive log

DavisStrait 22Sep09 * SG001 * Dive index * Mission links * Dive 128 * 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 128 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 0 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 -221979.45 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 78.967964 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 78.967964 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 -221979.45

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 0 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 128 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 194706,6643.081,-6020.597,12,1.1,12,18.0 TGT_NAME HOLD

_CALLS 1 TGT_LATLONG 6400.000,-5448.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.147,-0.182

_SM_DEPTHo 0.04 KALMAN_X -66008.5,2559.8,462.9,-21523.4,-1352.1

_SM_ANGLEo -50.0 KALMAN_Y 12034.9,-127.9,611.4,-30282.9,375.9

GPS2 195322,6643.062,-6020.782,35,1.1,35,18.0 MHEAD_RNG_PITCHd_Wd 123.2,405206,-13.0,-7.021

SPEED_LIMITS 0.122,0.234 D_GRID 100

Post-dive calculations and measurements:

FINISH 1.5,1.025079 _24V_AH 23.9,278.121

SM_CCo 14549,0.00,0.000,0,0,601,465.33 _10V_AH 10.7,41.150

SM_GC 0.05,14.68,0.00,0.00,0.000,0.007,0.007,479,2212,601,-9.81,5.23,465.33 FG_AHR_24Vo 4.638

SUPER 3,206,254,0,0,0 FG_AHR_10Vo 79.105

RAFOS_CLK 0 MEM 330684

RAFOS 0,1255896243,20.083334,20.067499,80,0,0,0,0,0,566,0,0,0,0,0 DATA_FILE_SIZE 44096,1351

RAFOS_FIX 6629.327637,-6157.119141,181009,202048,5,80,38.92 CAP_FILE_SIZE 172992,8

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 260165632,242180096

HUMID 1078245215 ERRORS 0,0,0,0,0,0,0,0,1,0,0,37,766,1,0

INTERNAL_PRESSURE 16.1516 SOUNDSPEED 1451.9

TCM_TEMP 15.00 GPS 181009,235925,6641.550,-6015.045,28,1.1,29,18.0

XPDR_PINGS -1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 119 90.80 SBE_CT 817 24 469.06

Roll_motor 153 60 220.44 nil 0 0 0.00

VBD_pump_during_apogee 514 1300 15974.64 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 110 223 586.72

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 38 50 20.69

TT8 2294 19 489.15

LPSleep 9705 2 239.89

TT8_Active 943 19 201.00

TT8_Sampling 1498 39 640.27

TT8_CF8 510 45 250.89

TT8_Kalman 33 81 29.23

Analog_circuits 1130 12 145.11

GPS_charging 0 0 0.00

Compass 1410 26 392.51

RAFOS 1800 1 28.89

Transponder 4 5 0.23

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 -48.22 0.000 2 0.007 0.000 392 1650 2068 0 0 0 0 0 0

82 -0.99 -146.6 3.0 -2.8 10 134 10.35 1.98 -34.00 0.000 4 0.000 0.000 2558 445 3102 11 0 10 0 0 0

283 -0.99 -146.6 27.7 -7.7 41 294 0.62 3.47 0.00 0.007 6 0.000 0.000 2413 2040 3102 2 0 19 0 0 0

492 -0.99 -146.6 43.0 -7.5 61 496 0.95 0.00 0.00 0.007 6 0.000 0.000 2547 2037 3092 2 0 0 0 0 0

682 -0.99 -146.6 57.9 -8.2 79 699 0.75 2.65 0.00 0.007 4 0.000 0.000 2408 439 3104 2 0 15 0 0 0

950 -0.99 -146.6 81.2 -8.6 102 962 0.60 2.95 0.00 0.007 6 0.000 0.000 2543 2214 3103 1 0 12 0 0 0

1200 end dive: TARGET_DEPTH_EXCEEDED

state 1200 begin apogee

1207 -0.31 0.0 100.5 7.2 126 1338 0.85 0.00 117.62 0.000 6 0.000 0.000 2673 1861 2520 2 0 0 0 0 0

1339 end apogee: CONTROL_FINISHED_OK

state 1339 begin climb

1344 0.99 146.6 109.5 0.0 139 1472 1.23 0.00 120.20 0.000 6 0.000 0.007 2976 1853 1922 1 0 0 0 0 0

1790 2.70 599.9 143.7 -7.5 181 2078 1.90 3.30 265.70 0.000 4 0.000 0.000 3397 3624 599 3 0 17 0 1 0

2331 4.33 1036.5 182.8 -7.0 232 2347 0.00 3.22 0.85 0.000 6 0.007 0.000 3397 1997 597 0 0 15 0 0 0

2661 4.85 1465.5 205.8 -6.7 263 2676 0.00 2.90 0.15 0.000 4 0.007 0.000 3397 3679 602 0 0 14 0 0 0

2929 5.44 1945.8 223.9 -8.4 286 2939 0.00 3.15 1.12 0.000 6 0.007 0.000 3398 1916 600 0 0 18 0 0 0

3264 5.93 2339.9 243.5 -5.6 318 3280 0.00 3.15 0.12 0.007 4 0.000 0.000 3400 3590 597 0 0 16 0 0 0

3533 6.48 2786.4 263.1 -7.3 341 3543 0.00 3.17 1.48 0.000 6 0.007 0.000 3397 1858 590 0 0 13 0 0 0

3868 6.97 3183.0 282.6 -5.7 373 3884 0.00 2.90 0.12 0.000 4 0.007 0.000 3401 3616 601 0 0 14 0 0 0

4136 7.43 3560.5 297.9 -5.1 396 4147 0.00 3.42 1.23 0.000 6 0.007 0.000 3405 1766 600 0 0 17 0 0 0

4472 7.96 3993.6 317.1 -6.8 428 4489 0.00 3.97 0.17 0.007 4 0.007 0.000 3397 3478 603 0 0 22 0 0 0

4741 8.45 4391.1 334.9 -5.7 451 4751 0.00 3.38 0.95 0.000 6 0.007 0.000 3400 1824 605 0 0 16 0 0 0

5076 8.95 4796.6 353.6 -6.0 483 5093 0.00 3.33 0.12 0.000 4 0.007 0.000 3399 3661 602 0 0 18 0 0 0

5345 9.48 5228.6 370.7 -6.8 506 5355 0.00 3.38 1.15 0.000 6 0.007 0.000 3399 1441 599 0 0 18 0 0 0

5680 10.01 5657.6 393.4 -6.7 538 5697 0.00 4.15 0.12 0.007 4 0.000 0.000 3399 3555 604 0 0 18 0 0 0

5950 10.57 6112.2 413.7 -7.5 561 5960 0.00 3.17 1.10 0.000 6 0.007 0.000 3398 1836 599 0 0 14 0 0 0

6284 11.10 6546.0 437.3 -6.9 593 6300 0.00 3.17 0.15 0.007 4 0.007 0.000 3398 3736 603 0 0 15 0 0 0

6552 11.61 6957.8 454.3 -6.2 616 6563 0.00 3.40 1.20 0.000 6 0.007 0.000 3399 1791 595 0 0 20 0 0 0

6887 12.16 7406.7 477.3 -7.3 648 6894 0.00 2.47 0.12 0.007 4 0.007 0.000 3405 455 600 0 0 12 0 0 0

6917 12.74 7875.7 479.7 -8.0 650 6932 0.00 3.67 0.32 0.000 6 0.007 0.000 3395 2208 591 0 0 18 0 0 0

7247 13.25 8289.7 501.2 -6.2 681 7253 0.00 2.42 0.12 0.007 4 0.007 0.000 3398 3588 594 0 0 15 0 0 0

7506 13.76 8702.5 517.1 -6.2 703 7515 0.00 3.60 0.00 0.007 6 0.007 0.000 3398 1871 599 0 0 18 0 0 0

7840 14.10 8980.8 533.9 -1.9 735 7846 0.00 2.92 0.00 0.007 4 0.000 0.000 3398 3576 602 0 0 12 0 0 0

8098 14.11 8988.0 516.9 6.8 757 8105 0.00 2.95 0.00 0.007 6 0.007 0.000 3402 1968 592 0 0 17 0 0 0

8423 14.13 9007.8 495.8 6.4 788 8438 0.00 3.30 0.00 0.007 4 0.007 0.000 3397 3714 600 0 0 20 0 0 0

8690 14.19 9007.8 478.5 7.1 811 8700 0.00 3.62 0.00 0.007 6 0.007 0.000 3401 1813 596 0 0 16 0 0 0

9023 14.19 9007.8 454.3 9.0 843 9039 0.00 3.15 0.00 0.007 4 0.000 0.000 3397 3589 600 0 0 18 0 0 0

9287 14.20 9017.6 437.2 6.7 866 9302 0.00 3.38 0.00 0.007 6 0.007 0.000 3397 1837 597 0 0 19 0 0 0

9615 14.20 9017.6 411.5 7.4 897 9621 0.00 2.75 0.00 0.007 4 0.000 0.000 3400 3589 603 0 0 11 0 0 0

9874 14.33 9022.8 391.5 6.9 919 9883 0.00 3.17 0.00 0.007 6 0.007 0.000 3400 1887 590 0 0 15 0 0 0

10209 14.33 9022.8 367.9 8.6 951 10224 0.00 3.42 0.00 0.007 4 0.007 0.000 3398 3670 600 0 0 18 0 0 0

10475 14.40 9023.7 349.7 7.0 974 10484 0.00 3.28 0.00 0.007 6 0.007 0.000 3398 1823 604 0 0 16 0 0 0

10811 14.41 9032.5 327.4 6.7 1006 10825 0.00 3.08 0.00 0.007 4 0.000 0.000 3396 3610 601 0 0 16 0 0 0

11078 14.34 9032.5 305.1 9.0 1029 11084 0.00 3.15 0.00 0.007 6 0.007 0.000 3398 1794 603 0 0 14 0 0 0

11408 14.34 9032.5 276.2 8.2 1061 11424 0.00 3.70 0.00 0.007 4 0.000 0.000 3397 3501 599 0 0 18 0 0 0

11677 14.37 9052.4 254.3 6.4 1084 11683 0.00 2.70 0.00 0.007 6 0.000 0.000 3403 1953 601 0 0 15 0 0 0

12001 14.20 9052.4 225.6 11.7 1115 12017 0.00 2.88 0.00 0.007 4 0.007 0.000 3396 3623 598 0 0 14 0 0 0

12269 14.20 9052.4 203.5 8.0 1138 12277 0.00 2.92 0.00 0.000 6 0.007 0.000 3398 1903 600 0 0 12 0 0 0

12594 14.36 9076.4 179.8 6.3 1169 12609 0.00 3.08 0.00 0.007 4 0.007 0.000 3396 3735 602 0 0 15 0 0 0

12861 14.47 9086.5 160.5 6.7 1192 12872 0.00 3.85 0.00 0.007 6 0.007 0.000 3399 1894 601 0 0 20 0 0 0

13196 14.47 9086.5 136.4 7.6 1224 13211 0.00 3.03 0.00 0.000 4 0.007 0.000 3400 3634 601 0 0 13 0 0 0

13463 14.47 9086.5 117.1 8.3 1247 13470 0.00 2.78 0.00 0.007 6 0.007 0.000 3397 1912 600 0 0 14 0 0 0

13788 14.09 9086.5 72.2 15.0 1278 13803 0.00 3.28 0.00 0.000 4 0.007 0.000 3396 3627 606 0 0 17 0 0 0

14054 14.09 9086.5 45.9 8.2 1301 14063 0.00 3.60 0.00 0.007 6 0.007 0.000 3400 1847 603 0 0 16 0 0 0

14263 14.03 9086.5 27.2 10.8 1321 14279 0.00 3.05 0.00 0.000 4 0.007 0.000 3400 3784 602 0 0 17 0 0 0

14284 13.49 9086.5 23.8 13.6 1322 14290 0.00 3.22 0.00 0.007 6 0.007 0.000 3397 1864 598 0 0 14 0 0 0

14440 end climb: SURFACE_DEPTH_REACHED

state 14440 begin surface coast

14461 end surface coast: CONTROL_FINISHED_OK

state 14461 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	128	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	0	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	-221979.45	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	78.967964	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	194706,6643.081,-6020.597,12,1.1,12,18.0	TGT_NAME	HOLD
_CALLS	1	TGT_LATLONG	6400.000,-5448.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.147,-0.182
_SM_DEPTHo	0.04	KALMAN_X	-66008.5,2559.8,462.9,-21523.4,-1352.1
_SM_ANGLEo	-50.0	KALMAN_Y	12034.9,-127.9,611.4,-30282.9,375.9
GPS2	195322,6643.062,-6020.782,35,1.1,35,18.0	MHEAD_RNG_PITCHd_Wd	123.2,405206,-13.0,-7.021
SPEED_LIMITS	0.122,0.234	D_GRID	100

FINISH	1.5,1.025079	_24V_AH	23.9,278.121
SM_CCo	14549,0.00,0.000,0,0,601,465.33	_10V_AH	10.7,41.150
SM_GC	0.05,14.68,0.00,0.00,0.000,0.007,0.007,479,2212,601,-9.81,5.23,465.33	FG_AHR_24Vo	4.638
SUPER	3,206,254,0,0,0	FG_AHR_10Vo	79.105
RAFOS_CLK	0	MEM	330684
RAFOS	0,1255896243,20.083334,20.067499,80,0,0,0,0,0,566,0,0,0,0,0	DATA_FILE_SIZE	44096,1351
RAFOS_FIX	6629.327637,-6157.119141,181009,202048,5,80,38.92	CAP_FILE_SIZE	172992,8
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	260165632,242180096
HUMID	1078245215	ERRORS	0,0,0,0,0,0,0,0,1,0,0,37,766,1,0
INTERNAL_PRESSURE	16.1516	SOUNDSPEED	1451.9
TCM_TEMP	15.00	GPS	181009,235925,6641.550,-6015.045,28,1.1,29,18.0
XPDR_PINGS	-1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	119	90.80	SBE_CT	817	24	469.06
Roll_motor	153	60	220.44	nil	0	0	0.00
VBD_pump_during_apogee	514	1300	15974.64	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	110	223	586.72
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	38	50	20.69
TT8	2294	19	489.15
LPSleep	9705	2	239.89
TT8_Active	943	19	201.00
TT8_Sampling	1498	39	640.27
TT8_CF8	510	45	250.89
TT8_Kalman	33	81	29.23
Analog_circuits	1130	12	145.11
GPS_charging	0	0	0.00
Compass	1410	26	392.51
RAFOS	1800	1	28.89
Transponder	4	5	0.23

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	-48.22	0.000	2	0.007	0.000	392	1650	2068	0	0	0	0	0	0
82	-0.99	-146.6	3.0	-2.8	10	134	10.35	1.98	-34.00	0.000	4	0.000	0.000	2558	445	3102	11	0	10	0	0	0
283	-0.99	-146.6	27.7	-7.7	41	294	0.62	3.47	0.00	0.007	6	0.000	0.000	2413	2040	3102	2	0	19	0	0	0
492	-0.99	-146.6	43.0	-7.5	61	496	0.95	0.00	0.00	0.007	6	0.000	0.000	2547	2037	3092	2	0	0	0	0	0
682	-0.99	-146.6	57.9	-8.2	79	699	0.75	2.65	0.00	0.007	4	0.000	0.000	2408	439	3104	2	0	15	0	0	0
950	-0.99	-146.6	81.2	-8.6	102	962	0.60	2.95	0.00	0.007	6	0.000	0.000	2543	2214	3103	1	0	12	0	0	0
1200	end dive: TARGET_DEPTH_EXCEEDED
state	1200	begin apogee
1207	-0.31	0.0	100.5	7.2	126	1338	0.85	0.00	117.62	0.000	6	0.000	0.000	2673	1861	2520	2	0	0	0	0	0
1339	end apogee: CONTROL_FINISHED_OK
state	1339	begin climb
1344	0.99	146.6	109.5	0.0	139	1472	1.23	0.00	120.20	0.000	6	0.000	0.007	2976	1853	1922	1	0	0	0	0	0
1790	2.70	599.9	143.7	-7.5	181	2078	1.90	3.30	265.70	0.000	4	0.000	0.000	3397	3624	599	3	0	17	0	1	0
2331	4.33	1036.5	182.8	-7.0	232	2347	0.00	3.22	0.85	0.000	6	0.007	0.000	3397	1997	597	0	0	15	0	0	0
2661	4.85	1465.5	205.8	-6.7	263	2676	0.00	2.90	0.15	0.000	4	0.007	0.000	3397	3679	602	0	0	14	0	0	0
2929	5.44	1945.8	223.9	-8.4	286	2939	0.00	3.15	1.12	0.000	6	0.007	0.000	3398	1916	600	0	0	18	0	0	0
3264	5.93	2339.9	243.5	-5.6	318	3280	0.00	3.15	0.12	0.007	4	0.000	0.000	3400	3590	597	0	0	16	0	0	0
3533	6.48	2786.4	263.1	-7.3	341	3543	0.00	3.17	1.48	0.000	6	0.007	0.000	3397	1858	590	0	0	13	0	0	0
3868	6.97	3183.0	282.6	-5.7	373	3884	0.00	2.90	0.12	0.000	4	0.007	0.000	3401	3616	601	0	0	14	0	0	0
4136	7.43	3560.5	297.9	-5.1	396	4147	0.00	3.42	1.23	0.000	6	0.007	0.000	3405	1766	600	0	0	17	0	0	0
4472	7.96	3993.6	317.1	-6.8	428	4489	0.00	3.97	0.17	0.007	4	0.007	0.000	3397	3478	603	0	0	22	0	0	0
4741	8.45	4391.1	334.9	-5.7	451	4751	0.00	3.38	0.95	0.000	6	0.007	0.000	3400	1824	605	0	0	16	0	0	0
5076	8.95	4796.6	353.6	-6.0	483	5093	0.00	3.33	0.12	0.000	4	0.007	0.000	3399	3661	602	0	0	18	0	0	0
5345	9.48	5228.6	370.7	-6.8	506	5355	0.00	3.38	1.15	0.000	6	0.007	0.000	3399	1441	599	0	0	18	0	0	0
5680	10.01	5657.6	393.4	-6.7	538	5697	0.00	4.15	0.12	0.007	4	0.000	0.000	3399	3555	604	0	0	18	0	0	0
5950	10.57	6112.2	413.7	-7.5	561	5960	0.00	3.17	1.10	0.000	6	0.007	0.000	3398	1836	599	0	0	14	0	0	0
6284	11.10	6546.0	437.3	-6.9	593	6300	0.00	3.17	0.15	0.007	4	0.007	0.000	3398	3736	603	0	0	15	0	0	0
6552	11.61	6957.8	454.3	-6.2	616	6563	0.00	3.40	1.20	0.000	6	0.007	0.000	3399	1791	595	0	0	20	0	0	0
6887	12.16	7406.7	477.3	-7.3	648	6894	0.00	2.47	0.12	0.007	4	0.007	0.000	3405	455	600	0	0	12	0	0	0
6917	12.74	7875.7	479.7	-8.0	650	6932	0.00	3.67	0.32	0.000	6	0.007	0.000	3395	2208	591	0	0	18	0	0	0
7247	13.25	8289.7	501.2	-6.2	681	7253	0.00	2.42	0.12	0.007	4	0.007	0.000	3398	3588	594	0	0	15	0	0	0
7506	13.76	8702.5	517.1	-6.2	703	7515	0.00	3.60	0.00	0.007	6	0.007	0.000	3398	1871	599	0	0	18	0	0	0
7840	14.10	8980.8	533.9	-1.9	735	7846	0.00	2.92	0.00	0.007	4	0.000	0.000	3398	3576	602	0	0	12	0	0	0
8098	14.11	8988.0	516.9	6.8	757	8105	0.00	2.95	0.00	0.007	6	0.007	0.000	3402	1968	592	0	0	17	0	0	0
8423	14.13	9007.8	495.8	6.4	788	8438	0.00	3.30	0.00	0.007	4	0.007	0.000	3397	3714	600	0	0	20	0	0	0
8690	14.19	9007.8	478.5	7.1	811	8700	0.00	3.62	0.00	0.007	6	0.007	0.000	3401	1813	596	0	0	16	0	0	0
9023	14.19	9007.8	454.3	9.0	843	9039	0.00	3.15	0.00	0.007	4	0.000	0.000	3397	3589	600	0	0	18	0	0	0
9287	14.20	9017.6	437.2	6.7	866	9302	0.00	3.38	0.00	0.007	6	0.007	0.000	3397	1837	597	0	0	19	0	0	0
9615	14.20	9017.6	411.5	7.4	897	9621	0.00	2.75	0.00	0.007	4	0.000	0.000	3400	3589	603	0	0	11	0	0	0
9874	14.33	9022.8	391.5	6.9	919	9883	0.00	3.17	0.00	0.007	6	0.007	0.000	3400	1887	590	0	0	15	0	0	0
10209	14.33	9022.8	367.9	8.6	951	10224	0.00	3.42	0.00	0.007	4	0.007	0.000	3398	3670	600	0	0	18	0	0	0
10475	14.40	9023.7	349.7	7.0	974	10484	0.00	3.28	0.00	0.007	6	0.007	0.000	3398	1823	604	0	0	16	0	0	0
10811	14.41	9032.5	327.4	6.7	1006	10825	0.00	3.08	0.00	0.007	4	0.000	0.000	3396	3610	601	0	0	16	0	0	0
11078	14.34	9032.5	305.1	9.0	1029	11084	0.00	3.15	0.00	0.007	6	0.007	0.000	3398	1794	603	0	0	14	0	0	0
11408	14.34	9032.5	276.2	8.2	1061	11424	0.00	3.70	0.00	0.007	4	0.000	0.000	3397	3501	599	0	0	18	0	0	0
11677	14.37	9052.4	254.3	6.4	1084	11683	0.00	2.70	0.00	0.007	6	0.000	0.000	3403	1953	601	0	0	15	0	0	0
12001	14.20	9052.4	225.6	11.7	1115	12017	0.00	2.88	0.00	0.007	4	0.007	0.000	3396	3623	598	0	0	14	0	0	0
12269	14.20	9052.4	203.5	8.0	1138	12277	0.00	2.92	0.00	0.000	6	0.007	0.000	3398	1903	600	0	0	12	0	0	0
12594	14.36	9076.4	179.8	6.3	1169	12609	0.00	3.08	0.00	0.007	4	0.007	0.000	3396	3735	602	0	0	15	0	0	0
12861	14.47	9086.5	160.5	6.7	1192	12872	0.00	3.85	0.00	0.007	6	0.007	0.000	3399	1894	601	0	0	20	0	0	0
13196	14.47	9086.5	136.4	7.6	1224	13211	0.00	3.03	0.00	0.000	4	0.007	0.000	3400	3634	601	0	0	13	0	0	0
13463	14.47	9086.5	117.1	8.3	1247	13470	0.00	2.78	0.00	0.007	6	0.007	0.000	3397	1912	600	0	0	14	0	0	0
13788	14.09	9086.5	72.2	15.0	1278	13803	0.00	3.28	0.00	0.000	4	0.007	0.000	3396	3627	606	0	0	17	0	0	0
14054	14.09	9086.5	45.9	8.2	1301	14063	0.00	3.60	0.00	0.007	6	0.007	0.000	3400	1847	603	0	0	16	0	0	0
14263	14.03	9086.5	27.2	10.8	1321	14279	0.00	3.05	0.00	0.000	4	0.007	0.000	3400	3784	602	0	0	17	0	0	0
14284	13.49	9086.5	23.8	13.6	1322	14290	0.00	3.22	0.00	0.007	6	0.007	0.000	3397	1864	598	0	0	14	0	0	0
14440	end climb: SURFACE_DEPTH_REACHED
state	14440	begin surface coast
14461	end surface coast: CONTROL_FINISHED_OK
state	14461	begin surface