Glider dive log

DavisStrait 22Sep09 * SG001 * Dive index * Mission links * Dive 130 * 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 130 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 6 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 -222020.47 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 79.266808 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 79.266808 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 -222020.47

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 6 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 130 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 041826,6642.493,-6011.341,24,1.1,24,18.0 TGT_NAME HOLD

_CALLS 1 TGT_LATLONG 6400.000,-5448.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.145,-0.183

_SM_DEPTHo 0.05 KALMAN_X -62285.7,1494.8,1350.7,-18227.4,-2822.6

_SM_ANGLEo -50.0 KALMAN_Y 12101.4,317.6,-116.0,-31252.1,58.1

GPS2 042421,6642.436,-6011.338,22,1.1,22,18.0 MHEAD_RNG_PITCHd_Wd 123.6,399260,-13.0,-7.021

SPEED_LIMITS 0.122,0.234 D_GRID 100

Post-dive calculations and measurements:

FINISH 1.6,1.025095 _24V_AH 23.9,279.973

SM_CCo 15040,0.00,0.000,0,0,562,471.71 _10V_AH 10.7,41.294

SM_GC 0.05,14.70,0.00,0.00,0.000,0.007,0.007,414,1811,562,-10.31,-6.08,471.71 FG_AHR_24Vo 4.638

SUPER 3,206,254,0,0,0 FG_AHR_10Vo 79.410

RAFOS_CLK 0 MEM 330740

RAFOS 1,1255925643,4.250000,4.234167,80,0,0,0,0,0,710,0,0,0,0,0 DATA_FILE_SIZE 47210,1403

RAFOS_FIX 6635.519043,-6141.625488,191009,040436,4,80,914.24 CAP_FILE_SIZE 176132,8

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 260165632,242008064

HUMID 1078247226 ERRORS 0,0,0,0,0,0,0,0,1,0,0,29,825,5,0

INTERNAL_PRESSURE 16.1354 SOUNDSPEED 1453.2

TCM_TEMP 15.00 GPS 191009,083821,6643.337,-6008.086,13,1.1,13,18.0

XPDR_PINGS -1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 0 0.18 SBE_CT 846 24 485.52

Roll_motor 158 0 3.30 nil 0 0 0.00

VBD_pump_during_apogee 526 8169 102844.76 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 110 223 587.79

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 23 50 12.45

TT8 2423 19 516.52

LPSleep 9929 2 245.42

TT8_Active 993 19 211.69

TT8_Sampling 1568 39 669.80

TT8_CF8 508 45 250.02

TT8_Kalman 33 81 29.24

Analog_circuits 1195 12 153.54

GPS_charging 0 0 0.00

Compass 1492 26 415.33

RAFOS 2160 1 34.67

Transponder 2 5 0.12

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

22 end surface: CONTROL_FINISHED_OK

state 23 begin dive

25 -0.99 -146.6 0.0 0.0 0 82 0.00 0.00 -53.38 0.000 2 0.007 0.000 440 2219 2190 0 0 0 0 0 0

85 -0.99 -146.6 3.0 -1.7 11 143 10.98 2.88 -29.60 0.000 4 0.000 0.000 2540 616 3105 12 0 17 0 0 0

394 -0.69 -146.6 45.5 -12.8 49 402 0.00 2.97 0.00 0.007 6 0.007 0.000 2544 2251 3111 0 0 16 0 0 0

592 -0.69 -146.6 66.6 -8.2 68 606 0.00 2.92 0.00 0.007 4 0.007 0.000 2542 463 3103 0 0 14 0 0 0

857 -0.69 -146.6 87.8 -8.5 91 866 0.00 3.12 0.00 0.007 6 0.007 0.000 2546 2176 3106 0 0 11 0 0 0

1021 end dive: TARGET_DEPTH_EXCEEDED

state 1021 begin apogee

1029 -0.31 0.0 100.0 7.2 107 1157 0.45 0.00 120.80 7.917 6 0.000 0.007 2669 1827 2503 0 0 0 0 0 0

1158 end apogee: CONTROL_FINISHED_OK

state 1158 begin climb

1160 0.99 146.6 109.8 0.0 120 1306 1.52 3.08 116.12 8.169 4 0.000 0.000 2978 3436 1929 2 0 18 0 0 0

1559 2.68 611.4 143.8 -7.9 155 1883 1.88 2.95 276.98 3.136 6 0.000 0.000 3377 1983 591 3 0 17 0 5 0

2198 4.18 993.2 185.8 -5.2 217 2213 0.00 3.30 0.12 0.007 4 0.007 0.001 3374 3634 582 0 0 16 0 0 0

2466 4.66 1382.8 200.9 -5.5 240 2476 0.00 2.95 1.33 0.000 6 0.007 0.000 3378 2028 593 0 0 15 0 0 0

2801 5.20 1819.0 219.7 -6.9 272 2816 0.00 2.85 0.12 0.000 4 0.007 0.000 3374 3569 578 0 0 15 0 0 0

3068 5.75 2270.4 239.8 -7.4 295 3079 0.00 3.25 1.20 0.000 6 0.007 0.000 3375 1687 592 0 0 19 0 0 0

3404 6.29 2710.2 262.9 -7.1 327 3420 0.00 3.08 0.22 0.007 4 0.007 0.000 3375 3492 588 0 0 19 0 0 0

3673 6.84 3157.1 282.9 -7.3 350 3683 0.00 2.97 1.38 0.000 6 0.007 0.000 3375 1672 596 0 0 12 0 0 0

4008 7.42 3628.5 308.8 -8.1 382 4023 0.00 4.12 0.12 0.000 4 0.007 0.000 3374 3742 581 0 0 22 0 0 0

4276 7.98 4083.7 329.7 -7.6 405 4286 0.00 3.55 0.98 0.000 6 0.000 0.001 3376 1829 588 0 0 22 0 0 0

4611 8.52 4520.9 354.2 -7.0 437 4627 0.00 3.55 0.12 0.007 4 0.000 0.000 3373 3661 587 0 0 19 0 0 0

4880 9.05 4951.5 373.4 -6.8 460 4891 0.00 2.90 1.33 0.000 6 0.007 0.000 3375 1848 586 0 0 15 0 0 0

5216 9.59 5389.6 397.4 -7.0 492 5232 0.00 3.03 0.15 0.007 4 0.007 0.000 3377 3622 588 0 0 18 0 0 0

5484 10.12 5822.7 415.6 -6.8 515 5494 0.00 3.05 1.42 0.000 6 0.007 0.000 3378 1887 587 0 0 17 0 0 0

5819 10.62 6228.8 436.7 -6.0 547 5835 0.00 2.95 0.12 0.007 4 0.000 0.000 3374 3447 586 0 0 16 0 0 0

6087 11.11 6624.2 452.1 -5.6 570 6098 0.00 2.53 2.17 0.000 6 0.007 0.000 3373 1863 583 0 0 11 0 0 0

6423 11.55 6985.4 468.3 -4.5 602 6438 0.00 3.25 0.12 0.000 4 0.007 0.000 3374 3705 585 0 0 17 0 0 0

6691 12.05 7391.9 482.4 -6.0 625 6701 0.00 3.62 0.60 0.000 6 0.000 0.000 3375 1886 585 0 0 17 0 0 0

7026 12.54 7784.4 502.7 -5.5 657 7041 0.00 3.03 0.12 0.000 4 0.007 0.000 3375 3652 581 0 0 16 0 0 0

7293 13.04 8196.2 518.1 -6.2 680 7304 0.00 3.40 1.08 0.000 6 0.007 0.000 3374 1917 585 0 0 18 0 0 0

7629 13.52 8581.9 538.3 -5.3 712 7644 0.00 3.03 0.12 0.000 4 0.007 0.000 3376 3607 585 0 0 15 0 0 0

7897 14.02 8993.8 555.5 -6.2 735 7902 0.00 2.72 0.00 0.007 6 0.007 0.000 3375 1844 586 0 0 13 0 0 0

8221 14.19 9128.6 566.5 2.7 766 8236 0.00 2.97 0.00 0.007 4 0.007 0.000 3369 3550 589 0 0 14 0 0 0

8488 13.94 9128.6 541.8 10.7 789 8495 0.00 3.05 0.00 0.007 6 0.007 0.000 3376 1817 591 0 0 12 0 0 0

8812 13.94 9128.6 513.1 7.2 820 8828 0.00 3.53 0.00 0.007 4 0.007 0.000 3373 3644 583 0 0 21 0 0 0

9080 13.97 9152.9 493.1 6.2 843 9088 0.00 2.90 0.00 0.007 6 0.007 0.000 3374 1656 587 0 0 17 0 0 0

9405 14.03 9152.9 474.3 7.4 874 9421 0.00 3.42 0.00 0.007 4 0.007 0.000 3374 3579 585 0 0 18 0 0 0

9674 14.18 9168.4 456.4 6.5 897 9683 0.00 2.80 0.00 0.007 6 0.007 0.000 3373 1873 582 0 0 16 0 0 0

10008 14.10 9168.4 427.0 9.9 929 10024 0.00 2.88 0.00 0.007 4 0.007 0.000 3369 3678 582 0 0 15 0 0 0

10277 14.27 9192.0 406.7 6.3 952 10286 0.00 3.65 0.00 0.007 6 0.000 0.000 3374 1877 562 0 0 19 0 0 0

10612 14.44 9221.7 383.5 6.1 984 10628 0.00 3.28 0.00 0.007 4 0.007 0.000 3374 3665 584 0 0 15 0 0 0

10880 14.59 9231.4 364.9 6.7 1007 10890 0.00 3.65 0.00 0.007 6 0.007 0.000 3376 1913 584 0 0 19 0 0 0

11215 14.64 9231.4 342.8 7.3 1039 11230 0.00 2.78 0.00 0.007 4 0.007 0.000 3375 3657 586 0 0 16 0 0 0

11482 14.65 9241.1 326.4 6.7 1062 11491 0.00 3.38 0.00 0.007 6 0.007 0.000 3374 1483 581 0 0 19 0 0 0

11816 14.65 9241.1 300.6 7.0 1094 11831 0.00 4.22 0.00 0.007 4 0.007 0.000 3376 3634 589 0 0 18 0 0 0

12084 14.65 9241.1 277.2 8.6 1117 12090 0.00 3.17 0.00 0.000 6 0.007 0.000 3373 1901 588 0 0 15 0 0 0

12415 14.54 9241.1 240.7 12.8 1149 12421 0.00 2.60 0.00 0.000 4 0.007 0.000 3380 3570 587 0 0 13 0 0 0

12673 14.54 9241.1 214.4 8.3 1171 12680 0.00 3.30 0.00 0.007 6 0.007 0.000 3372 1706 586 0 0 19 0 0 0

13006 14.38 9241.1 180.2 13.2 1203 13021 0.00 3.20 0.00 0.007 4 0.007 0.000 3375 3458 582 0 0 17 0 0 0

13274 14.32 9241.1 148.8 9.7 1226 13280 0.00 2.95 0.00 0.007 6 0.007 0.000 3377 1670 587 0 0 14 0 0 0

13598 14.32 9241.1 115.5 8.4 1257 13613 0.00 3.40 0.00 0.007 4 0.007 0.000 3374 3657 587 0 0 15 0 0 0

13866 14.48 9241.1 96.3 7.7 1280 13873 0.00 3.33 0.00 0.007 6 0.007 0.000 3375 1930 588 0 0 17 0 0 0

14190 14.48 9241.1 66.1 8.8 1311 14205 0.00 3.22 0.00 0.007 4 0.000 0.000 3373 3588 588 0 0 17 0 0 0

14457 14.48 9241.1 41.4 11.0 1334 14465 0.00 2.92 0.00 0.007 6 0.007 0.000 3376 1834 578 0 0 16 0 0 0

14654 14.48 9241.1 21.9 9.7 1353 14669 0.00 3.05 0.00 0.007 4 0.007 0.000 3374 3581 585 0 0 16 0 0 0

14914 end climb: SURFACE_DEPTH_REACHED

state 14914 begin surface coast

14949 end surface coast: CONTROL_FINISHED_OK

state 14949 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	130	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	6	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	-222020.47	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	79.266808	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	041826,6642.493,-6011.341,24,1.1,24,18.0	TGT_NAME	HOLD
_CALLS	1	TGT_LATLONG	6400.000,-5448.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.145,-0.183
_SM_DEPTHo	0.05	KALMAN_X	-62285.7,1494.8,1350.7,-18227.4,-2822.6
_SM_ANGLEo	-50.0	KALMAN_Y	12101.4,317.6,-116.0,-31252.1,58.1
GPS2	042421,6642.436,-6011.338,22,1.1,22,18.0	MHEAD_RNG_PITCHd_Wd	123.6,399260,-13.0,-7.021
SPEED_LIMITS	0.122,0.234	D_GRID	100

FINISH	1.6,1.025095	_24V_AH	23.9,279.973
SM_CCo	15040,0.00,0.000,0,0,562,471.71	_10V_AH	10.7,41.294
SM_GC	0.05,14.70,0.00,0.00,0.000,0.007,0.007,414,1811,562,-10.31,-6.08,471.71	FG_AHR_24Vo	4.638
SUPER	3,206,254,0,0,0	FG_AHR_10Vo	79.410
RAFOS_CLK	0	MEM	330740
RAFOS	1,1255925643,4.250000,4.234167,80,0,0,0,0,0,710,0,0,0,0,0	DATA_FILE_SIZE	47210,1403
RAFOS_FIX	6635.519043,-6141.625488,191009,040436,4,80,914.24	CAP_FILE_SIZE	176132,8
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	260165632,242008064
HUMID	1078247226	ERRORS	0,0,0,0,0,0,0,0,1,0,0,29,825,5,0
INTERNAL_PRESSURE	16.1354	SOUNDSPEED	1453.2
TCM_TEMP	15.00	GPS	191009,083821,6643.337,-6008.086,13,1.1,13,18.0
XPDR_PINGS	-1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	0	0.18	SBE_CT	846	24	485.52
Roll_motor	158	0	3.30	nil	0	0	0.00
VBD_pump_during_apogee	526	8169	102844.76	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	587.79
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	23	50	12.45
TT8	2423	19	516.52
LPSleep	9929	2	245.42
TT8_Active	993	19	211.69
TT8_Sampling	1568	39	669.80
TT8_CF8	508	45	250.02
TT8_Kalman	33	81	29.24
Analog_circuits	1195	12	153.54
GPS_charging	0	0	0.00
Compass	1492	26	415.33
RAFOS	2160	1	34.67
Transponder	2	5	0.12

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
22	end surface: CONTROL_FINISHED_OK
state	23	begin dive
25	-0.99	-146.6	0.0	0.0	0	82	0.00	0.00	-53.38	0.000	2	0.007	0.000	440	2219	2190	0	0	0	0	0	0
85	-0.99	-146.6	3.0	-1.7	11	143	10.98	2.88	-29.60	0.000	4	0.000	0.000	2540	616	3105	12	0	17	0	0	0
394	-0.69	-146.6	45.5	-12.8	49	402	0.00	2.97	0.00	0.007	6	0.007	0.000	2544	2251	3111	0	0	16	0	0	0
592	-0.69	-146.6	66.6	-8.2	68	606	0.00	2.92	0.00	0.007	4	0.007	0.000	2542	463	3103	0	0	14	0	0	0
857	-0.69	-146.6	87.8	-8.5	91	866	0.00	3.12	0.00	0.007	6	0.007	0.000	2546	2176	3106	0	0	11	0	0	0
1021	end dive: TARGET_DEPTH_EXCEEDED
state	1021	begin apogee
1029	-0.31	0.0	100.0	7.2	107	1157	0.45	0.00	120.80	7.917	6	0.000	0.007	2669	1827	2503	0	0	0	0	0	0
1158	end apogee: CONTROL_FINISHED_OK
state	1158	begin climb
1160	0.99	146.6	109.8	0.0	120	1306	1.52	3.08	116.12	8.169	4	0.000	0.000	2978	3436	1929	2	0	18	0	0	0
1559	2.68	611.4	143.8	-7.9	155	1883	1.88	2.95	276.98	3.136	6	0.000	0.000	3377	1983	591	3	0	17	0	5	0
2198	4.18	993.2	185.8	-5.2	217	2213	0.00	3.30	0.12	0.007	4	0.007	0.001	3374	3634	582	0	0	16	0	0	0
2466	4.66	1382.8	200.9	-5.5	240	2476	0.00	2.95	1.33	0.000	6	0.007	0.000	3378	2028	593	0	0	15	0	0	0
2801	5.20	1819.0	219.7	-6.9	272	2816	0.00	2.85	0.12	0.000	4	0.007	0.000	3374	3569	578	0	0	15	0	0	0
3068	5.75	2270.4	239.8	-7.4	295	3079	0.00	3.25	1.20	0.000	6	0.007	0.000	3375	1687	592	0	0	19	0	0	0
3404	6.29	2710.2	262.9	-7.1	327	3420	0.00	3.08	0.22	0.007	4	0.007	0.000	3375	3492	588	0	0	19	0	0	0
3673	6.84	3157.1	282.9	-7.3	350	3683	0.00	2.97	1.38	0.000	6	0.007	0.000	3375	1672	596	0	0	12	0	0	0
4008	7.42	3628.5	308.8	-8.1	382	4023	0.00	4.12	0.12	0.000	4	0.007	0.000	3374	3742	581	0	0	22	0	0	0
4276	7.98	4083.7	329.7	-7.6	405	4286	0.00	3.55	0.98	0.000	6	0.000	0.001	3376	1829	588	0	0	22	0	0	0
4611	8.52	4520.9	354.2	-7.0	437	4627	0.00	3.55	0.12	0.007	4	0.000	0.000	3373	3661	587	0	0	19	0	0	0
4880	9.05	4951.5	373.4	-6.8	460	4891	0.00	2.90	1.33	0.000	6	0.007	0.000	3375	1848	586	0	0	15	0	0	0
5216	9.59	5389.6	397.4	-7.0	492	5232	0.00	3.03	0.15	0.007	4	0.007	0.000	3377	3622	588	0	0	18	0	0	0
5484	10.12	5822.7	415.6	-6.8	515	5494	0.00	3.05	1.42	0.000	6	0.007	0.000	3378	1887	587	0	0	17	0	0	0
5819	10.62	6228.8	436.7	-6.0	547	5835	0.00	2.95	0.12	0.007	4	0.000	0.000	3374	3447	586	0	0	16	0	0	0
6087	11.11	6624.2	452.1	-5.6	570	6098	0.00	2.53	2.17	0.000	6	0.007	0.000	3373	1863	583	0	0	11	0	0	0
6423	11.55	6985.4	468.3	-4.5	602	6438	0.00	3.25	0.12	0.000	4	0.007	0.000	3374	3705	585	0	0	17	0	0	0
6691	12.05	7391.9	482.4	-6.0	625	6701	0.00	3.62	0.60	0.000	6	0.000	0.000	3375	1886	585	0	0	17	0	0	0
7026	12.54	7784.4	502.7	-5.5	657	7041	0.00	3.03	0.12	0.000	4	0.007	0.000	3375	3652	581	0	0	16	0	0	0
7293	13.04	8196.2	518.1	-6.2	680	7304	0.00	3.40	1.08	0.000	6	0.007	0.000	3374	1917	585	0	0	18	0	0	0
7629	13.52	8581.9	538.3	-5.3	712	7644	0.00	3.03	0.12	0.000	4	0.007	0.000	3376	3607	585	0	0	15	0	0	0
7897	14.02	8993.8	555.5	-6.2	735	7902	0.00	2.72	0.00	0.007	6	0.007	0.000	3375	1844	586	0	0	13	0	0	0
8221	14.19	9128.6	566.5	2.7	766	8236	0.00	2.97	0.00	0.007	4	0.007	0.000	3369	3550	589	0	0	14	0	0	0
8488	13.94	9128.6	541.8	10.7	789	8495	0.00	3.05	0.00	0.007	6	0.007	0.000	3376	1817	591	0	0	12	0	0	0
8812	13.94	9128.6	513.1	7.2	820	8828	0.00	3.53	0.00	0.007	4	0.007	0.000	3373	3644	583	0	0	21	0	0	0
9080	13.97	9152.9	493.1	6.2	843	9088	0.00	2.90	0.00	0.007	6	0.007	0.000	3374	1656	587	0	0	17	0	0	0
9405	14.03	9152.9	474.3	7.4	874	9421	0.00	3.42	0.00	0.007	4	0.007	0.000	3374	3579	585	0	0	18	0	0	0
9674	14.18	9168.4	456.4	6.5	897	9683	0.00	2.80	0.00	0.007	6	0.007	0.000	3373	1873	582	0	0	16	0	0	0
10008	14.10	9168.4	427.0	9.9	929	10024	0.00	2.88	0.00	0.007	4	0.007	0.000	3369	3678	582	0	0	15	0	0	0
10277	14.27	9192.0	406.7	6.3	952	10286	0.00	3.65	0.00	0.007	6	0.000	0.000	3374	1877	562	0	0	19	0	0	0
10612	14.44	9221.7	383.5	6.1	984	10628	0.00	3.28	0.00	0.007	4	0.007	0.000	3374	3665	584	0	0	15	0	0	0
10880	14.59	9231.4	364.9	6.7	1007	10890	0.00	3.65	0.00	0.007	6	0.007	0.000	3376	1913	584	0	0	19	0	0	0
11215	14.64	9231.4	342.8	7.3	1039	11230	0.00	2.78	0.00	0.007	4	0.007	0.000	3375	3657	586	0	0	16	0	0	0
11482	14.65	9241.1	326.4	6.7	1062	11491	0.00	3.38	0.00	0.007	6	0.007	0.000	3374	1483	581	0	0	19	0	0	0
11816	14.65	9241.1	300.6	7.0	1094	11831	0.00	4.22	0.00	0.007	4	0.007	0.000	3376	3634	589	0	0	18	0	0	0
12084	14.65	9241.1	277.2	8.6	1117	12090	0.00	3.17	0.00	0.000	6	0.007	0.000	3373	1901	588	0	0	15	0	0	0
12415	14.54	9241.1	240.7	12.8	1149	12421	0.00	2.60	0.00	0.000	4	0.007	0.000	3380	3570	587	0	0	13	0	0	0
12673	14.54	9241.1	214.4	8.3	1171	12680	0.00	3.30	0.00	0.007	6	0.007	0.000	3372	1706	586	0	0	19	0	0	0
13006	14.38	9241.1	180.2	13.2	1203	13021	0.00	3.20	0.00	0.007	4	0.007	0.000	3375	3458	582	0	0	17	0	0	0
13274	14.32	9241.1	148.8	9.7	1226	13280	0.00	2.95	0.00	0.007	6	0.007	0.000	3377	1670	587	0	0	14	0	0	0
13598	14.32	9241.1	115.5	8.4	1257	13613	0.00	3.40	0.00	0.007	4	0.007	0.000	3374	3657	587	0	0	15	0	0	0
13866	14.48	9241.1	96.3	7.7	1280	13873	0.00	3.33	0.00	0.007	6	0.007	0.000	3375	1930	588	0	0	17	0	0	0
14190	14.48	9241.1	66.1	8.8	1311	14205	0.00	3.22	0.00	0.007	4	0.000	0.000	3373	3588	588	0	0	17	0	0	0
14457	14.48	9241.1	41.4	11.0	1334	14465	0.00	2.92	0.00	0.007	6	0.007	0.000	3376	1834	578	0	0	16	0	0	0
14654	14.48	9241.1	21.9	9.7	1353	14669	0.00	3.05	0.00	0.007	4	0.007	0.000	3374	3581	585	0	0	16	0	0	0
14914	end climb: SURFACE_DEPTH_REACHED
state	14914	begin surface coast
14949	end surface coast: CONTROL_FINISHED_OK
state	14949	begin surface