Glider dive log

DavisStrait 22Sep09 * SG001 * Dive index * Mission links * Dive 56 * 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 56 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 3 XPDR_VALID 0

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 7 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 -3 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 0 T_GPS_CHARGE -220113.36 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 1 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 66.188324 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2700 FG_AHR_24V 4.6384006 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 0.0035999999 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 7.9540005e-05

HD_B 0.014 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_PING_RANGE 0

HD_C 6.1000001e-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 66.188324 PITCH_MIN 450 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 4.6384006 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 0.0035999999 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -220113.36

CAPMAXSIZE 100000 HD_B 0.014 RAFOS_DEVICE 48 T_LOITER 0

CAPUPLOAD 0 HD_C 6.1000001e-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 1 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 -3

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 3 VBD_MAX 3500

DEVICE2 -1 MAX_BUOY 150 R_STBD_OVSHOOT 7 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 56 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 091537,6702.373,-5656.321,10,1.1,10,18.0 TGT_NAME TARGET_W_IN

_CALLS 1 TGT_LATLONG 6642.000,-6043.000

_XMS_NAKs 0 TGT_RADIUS 15000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.195,-0.045

_SM_DEPTHo 0.05 KALMAN_X 31985.0,1678.5,1336.4,29122.4,-1733.8

_SM_ANGLEo -50.0 KALMAN_Y 9750.0,335.0,512.8,7423.0,194.2

GPS2 092131,6702.386,-5656.344,28,1.1,28,18.0 MHEAD_RNG_PITCHd_Wd 238.9,170275,-14.2,-7.021

SPEED_LIMITS 0.122,0.200 D_GRID 100

Post-dive calculations and measurements:

FINISH 1.3,1.002706 _24V_AH 23.9,220.962

SM_CCo 15100,0.00,0.000,0,0,600,465.58 _10V_AH 10.7,35.008

SM_GC 0.05,14.40,0.00,0.00,0.000,0.007,0.007,422,1912,600,-10.31,-3.05,465.58 FG_AHR_24Vo 4.638

SUPER 3,254,254,0,0,0 FG_AHR_10Vo 66.329

RAFOS_CLK 0 MEM 336760

RAFOS 0,1254571446,12.083333,12.068334,80,0,0,0,0,0,1020,0,0,0,0,0 DATA_FILE_SIZE 47159,1403

RAFOS_FIX 6709.578125,-5444.126953,031009,121248,5,80,8.68 CAP_FILE_SIZE 180250,0

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 260165632,248975360

HUMID 1078236034 ERRORS 0,0,0,0,0,0,0,0,0,0,0,31,899,3,0

INTERNAL_PRESSURE 16.2093 SOUNDSPEED 1463.4

TCM_TEMP 15.00 GPS 031009,133626,6701.617,-5648.468,9,1.1,9,18.0

XPDR_PINGS -1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 119 82.34 SBE_CT 840 24 482.22

Roll_motor 176 60 253.75 nil 0 0 0.00

VBD_pump_during_apogee 521 1300 16207.67 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 104 223 557.39

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 28 50 15.47

TT8 2392 19 510.05

LPSleep 9990 2 246.94

TT8_Active 1023 19 218.24

TT8_Sampling 1552 39 663.22

TT8_CF8 521 45 256.26

TT8_Kalman 33 81 29.23

Analog_circuits 1239 12 159.16

GPS_charging 0 0 0.00

Compass 1473 26 409.86

RAFOS 1800 1 28.89

Transponder 3 5 0.18

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 -1.07 -146.6 0.0 0.0 0 92 0.00 0.00 -61.97 0.000 2 0.000 0.000 536 2208 2477 0 0 0 0 0 0

95 -1.07 -146.6 3.2 -2.3 13 143 10.00 2.65 -21.08 0.000 4 0.000 0.000 2579 3704 3110 14 0 14 0 0 0

279 -0.94 -146.6 35.2 -12.3 37 295 0.52 3.25 0.00 0.007 6 0.000 0.000 2457 1840 3109 1 0 14 0 0 0

483 -0.94 -146.6 56.5 -9.9 56 498 0.32 3.03 0.00 0.007 4 0.000 0.000 2495 3574 3108 1 0 16 0 0 0

750 -0.94 -146.6 83.8 -10.8 79 761 0.00 4.32 0.00 0.007 6 0.007 0.000 2498 1993 3106 0 0 23 0 0 0

923 end dive: TARGET_DEPTH_EXCEEDED

state 923 begin apogee

930 -0.31 0.0 101.0 10.2 96 1071 0.80 0.00 124.43 0.000 6 0.000 0.000 2673 2226 2504 2 0 0 0 1 0

1071 end apogee: CONTROL_FINISHED_OK

state 1072 begin climb

1074 1.07 146.6 115.8 0.0 110 1219 1.33 2.92 117.32 0.000 4 0.000 0.000 2976 425 1922 1 0 15 0 0 0

1224 3.06 694.5 132.3 -10.6 123 1518 1.58 3.58 267.02 0.000 6 0.000 0.000 3327 2030 602 1 0 16 0 2 0

1843 3.65 1171.2 185.5 -8.3 183 1850 0.00 2.58 0.12 0.007 4 0.007 0.000 3324 3550 601 0 0 13 0 0 0

2102 4.24 1650.5 208.3 -8.4 205 2112 0.00 2.90 1.73 0.000 6 0.007 0.000 3326 1926 594 0 0 13 0 0 0

2437 4.89 2183.6 236.6 -10.1 237 2444 0.00 2.55 0.12 0.007 4 0.007 0.000 3326 3683 600 0 0 14 0 0 0

2696 5.44 2625.7 261.1 -7.2 259 2706 0.00 3.90 0.43 0.000 6 0.007 0.000 3325 1738 604 0 0 20 0 0 0

3031 5.99 3076.9 285.7 -7.5 291 3047 0.00 3.40 0.12 0.000 4 0.007 0.000 3326 3427 602 0 0 17 0 0 0

3299 6.63 3594.0 307.6 -9.6 314 3310 0.00 3.00 1.62 0.000 6 0.007 0.000 3325 1911 599 0 0 14 0 0 0

3634 7.18 4045.0 338.6 -7.5 346 3650 0.00 2.92 0.12 0.007 4 0.007 0.000 3324 3591 602 0 0 17 0 0 0

3902 7.75 4502.4 359.6 -7.7 369 3912 0.00 2.67 1.90 0.000 6 0.007 0.000 3327 1935 600 0 0 9 0 0 0

4237 8.38 5015.3 386.6 -9.5 401 4253 0.00 3.17 0.12 0.000 4 0.007 0.000 3323 3649 598 0 0 17 0 0 0

4505 8.93 5462.4 411.2 -7.4 424 4516 0.00 3.05 1.55 0.000 6 0.007 0.000 3323 1864 602 0 0 13 0 0 0

4840 9.50 5930.3 433.8 -8.0 456 4857 0.00 3.28 0.20 0.007 4 0.000 0.000 3326 3585 593 0 0 14 0 0 0

5109 10.07 6392.2 456.8 -7.9 479 5119 0.00 3.00 1.67 0.000 6 0.007 0.000 3326 1844 603 0 0 12 0 0 0

5444 10.60 6826.0 481.0 -6.9 511 5460 0.00 2.88 0.12 0.007 4 0.000 0.000 3324 3568 601 0 0 12 0 0 0

5712 11.13 7253.7 499.6 -6.8 534 5724 0.00 3.50 0.80 0.000 6 0.000 0.000 3327 1863 601 0 0 19 0 0 0

6049 11.67 7690.1 522.0 -7.0 566 6065 0.00 4.32 0.12 0.007 4 0.007 0.000 3328 3451 602 0 0 25 0 0 0

6318 12.24 8157.9 542.6 -8.0 589 6328 0.00 2.70 1.88 0.000 6 0.007 0.000 3324 2013 603 0 0 15 0 0 0

6653 12.83 8635.3 569.3 -8.4 621 6669 0.00 3.90 0.22 0.000 4 0.007 0.000 3326 3702 599 0 0 23 0 0 0

6921 13.39 9094.4 591.4 -7.8 644 6933 0.00 4.43 0.00 0.007 6 0.007 0.000 3325 1905 602 0 0 25 0 0 0

7258 14.40 9306.6 605.8 0.2 676 7273 0.00 2.90 0.00 0.007 4 0.007 0.000 3327 451 601 0 0 16 0 0 0

7352 14.67 9525.3 605.8 -0.0 684 7368 0.00 3.60 0.00 0.007 6 0.007 0.000 3324 2291 602 0 0 21 0 0 0

7682 14.28 9525.3 579.1 13.1 715 7696 0.00 2.78 0.00 0.007 4 0.007 0.000 3325 3773 606 0 0 15 0 0 0

7949 14.38 9550.8 559.6 6.2 738 7959 0.00 3.67 0.00 0.007 6 0.007 0.000 3327 1886 604 0 0 21 0 0 0

8284 14.58 9588.1 537.9 5.8 770 8290 0.00 2.65 0.00 0.007 4 0.007 0.000 3325 3601 602 0 0 12 0 0 0

8542 14.74 9588.1 519.2 7.2 792 8551 0.00 3.42 0.00 0.007 6 0.000 0.000 3324 1846 602 0 0 16 0 0 0

8876 14.64 9588.1 494.7 10.2 824 8893 0.00 3.97 0.00 0.007 4 0.007 0.000 3325 3582 621 0 0 20 0 0 0

9145 14.59 9588.1 466.8 9.4 847 9155 0.00 3.97 0.00 0.007 6 0.007 0.000 3327 1716 601 0 0 20 0 0 0

9479 14.59 9588.1 439.2 8.1 879 9494 0.00 3.38 0.00 0.007 4 0.007 0.000 3323 3614 602 0 0 18 0 0 0

9745 14.59 9588.1 417.5 8.0 902 9756 0.00 3.83 0.00 0.007 6 0.000 0.000 3331 1723 605 0 0 23 0 0 0

10081 14.65 9588.1 391.6 7.6 934 10097 0.00 3.45 0.00 0.007 4 0.007 0.000 3325 3785 601 0 0 19 0 0 0

10349 14.72 9588.1 371.4 7.8 957 10355 0.00 3.12 0.00 0.000 6 0.007 0.000 3326 1874 601 0 0 16 0 0 0

10676 14.95 9619.7 348.8 6.0 988 10691 0.00 3.88 0.00 0.007 4 0.007 0.000 3325 3570 602 0 0 22 0 0 0

10943 14.83 9619.7 324.0 11.8 1011 10949 0.00 3.12 0.00 0.007 6 0.007 0.000 3324 1817 602 0 0 16 0 0 0

11269 14.98 9629.2 295.2 6.7 1042 11285 0.00 3.92 0.00 0.007 4 0.007 0.000 3325 3666 608 0 0 19 0 0 0

11537 15.23 9651.1 274.6 6.3 1065 11547 0.00 3.65 0.00 0.007 6 0.000 0.000 3325 1841 606 0 0 17 0 0 0

11873 15.23 9651.1 251.8 9.7 1097 11890 0.00 3.03 0.00 0.007 4 0.000 0.000 3326 3551 600 0 0 14 0 0 0

12048 15.23 9651.1 237.7 7.3 1112 12063 0.00 3.67 0.00 0.007 6 0.007 0.000 3328 1817 600 0 0 19 0 0 0

12378 15.28 9693.5 213.8 5.7 1143 12394 0.00 3.50 0.00 0.000 4 0.007 0.000 3327 3514 604 0 0 16 0 0 0

12646 15.28 9693.5 194.5 8.2 1166 12654 0.00 2.65 0.00 0.007 6 0.007 0.000 3329 1911 602 0 0 15 0 0 0

12971 15.21 9693.5 167.0 10.2 1197 12986 0.00 3.03 0.00 0.007 4 0.007 0.000 3328 3588 602 0 0 14 0 0 0

13238 15.25 9725.5 149.8 6.0 1220 13247 0.00 3.28 0.00 0.007 6 0.007 0.000 3326 1755 601 0 0 16 0 0 0

13572 15.33 9725.5 119.7 8.7 1252 13577 0.00 2.22 0.00 0.000 4 0.007 0.000 3326 247 601 0 0 10 0 0 0

13645 15.22 9725.5 112.7 11.1 1258 13661 0.00 3.40 0.00 0.007 6 0.007 0.000 3324 2060 602 0 0 15 0 0 0

13976 15.24 9747.5 88.1 6.3 1289 13990 0.00 2.83 0.00 0.007 4 0.007 0.000 3326 3443 600 0 0 14 0 0 0

14242 15.24 9747.5 64.9 7.7 1312 14249 0.00 2.92 0.00 0.000 6 0.007 0.000 3324 1851 595 0 0 14 0 0 0

14568 15.24 9747.5 36.4 10.2 1343 14583 0.00 3.17 0.00 0.000 4 0.007 0.000 3323 3619 603 0 0 19 0 0 0

14835 15.24 9747.5 14.1 9.3 1373 14842 0.00 2.83 0.00 0.007 6 0.007 0.000 3325 1897 601 0 0 15 0 0 0

14909 15.24 9747.5 7.6 8.3 1386 14924 0.00 3.00 0.00 0.007 4 0.007 0.000 3328 3617 602 0 0 14 0 0 0

14967 end climb: SURFACE_DEPTH_REACHED

state 14967 begin surface coast

15007 end surface coast: CONTROL_FINISHED_OK

state 15009 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	56	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	3	XPDR_VALID	0
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	7	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	-3	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	0	T_GPS_CHARGE	-220113.36	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	1	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	66.188324	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2700	FG_AHR_24V	4.6384006	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	0.0035999999	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	7.9540005e-05
HD_B	0.014	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_PING_RANGE	0
HD_C	6.1000001e-06	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	0

GPS1	091537,6702.373,-5656.321,10,1.1,10,18.0	TGT_NAME	TARGET_W_IN
_CALLS	1	TGT_LATLONG	6642.000,-6043.000
_XMS_NAKs	0	TGT_RADIUS	15000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.195,-0.045
_SM_DEPTHo	0.05	KALMAN_X	31985.0,1678.5,1336.4,29122.4,-1733.8
_SM_ANGLEo	-50.0	KALMAN_Y	9750.0,335.0,512.8,7423.0,194.2
GPS2	092131,6702.386,-5656.344,28,1.1,28,18.0	MHEAD_RNG_PITCHd_Wd	238.9,170275,-14.2,-7.021
SPEED_LIMITS	0.122,0.200	D_GRID	100

FINISH	1.3,1.002706	_24V_AH	23.9,220.962
SM_CCo	15100,0.00,0.000,0,0,600,465.58	_10V_AH	10.7,35.008
SM_GC	0.05,14.40,0.00,0.00,0.000,0.007,0.007,422,1912,600,-10.31,-3.05,465.58	FG_AHR_24Vo	4.638
SUPER	3,254,254,0,0,0	FG_AHR_10Vo	66.329
RAFOS_CLK	0	MEM	336760
RAFOS	0,1254571446,12.083333,12.068334,80,0,0,0,0,0,1020,0,0,0,0,0	DATA_FILE_SIZE	47159,1403
RAFOS_FIX	6709.578125,-5444.126953,031009,121248,5,80,8.68	CAP_FILE_SIZE	180250,0
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	260165632,248975360
HUMID	1078236034	ERRORS	0,0,0,0,0,0,0,0,0,0,0,31,899,3,0
INTERNAL_PRESSURE	16.2093	SOUNDSPEED	1463.4
TCM_TEMP	15.00	GPS	031009,133626,6701.617,-5648.468,9,1.1,9,18.0
XPDR_PINGS	-1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	119	82.34	SBE_CT	840	24	482.22
Roll_motor	176	60	253.75	nil	0	0	0.00
VBD_pump_during_apogee	521	1300	16207.67	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	104	223	557.39
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	28	50	15.47
TT8	2392	19	510.05
LPSleep	9990	2	246.94
TT8_Active	1023	19	218.24
TT8_Sampling	1552	39	663.22
TT8_CF8	521	45	256.26
TT8_Kalman	33	81	29.23
Analog_circuits	1239	12	159.16
GPS_charging	0	0	0.00
Compass	1473	26	409.86
RAFOS	1800	1	28.89
Transponder	3	5	0.18

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	-1.07	-146.6	0.0	0.0	0	92	0.00	0.00	-61.97	0.000	2	0.000	0.000	536	2208	2477	0	0	0	0	0	0
95	-1.07	-146.6	3.2	-2.3	13	143	10.00	2.65	-21.08	0.000	4	0.000	0.000	2579	3704	3110	14	0	14	0	0	0
279	-0.94	-146.6	35.2	-12.3	37	295	0.52	3.25	0.00	0.007	6	0.000	0.000	2457	1840	3109	1	0	14	0	0	0
483	-0.94	-146.6	56.5	-9.9	56	498	0.32	3.03	0.00	0.007	4	0.000	0.000	2495	3574	3108	1	0	16	0	0	0
750	-0.94	-146.6	83.8	-10.8	79	761	0.00	4.32	0.00	0.007	6	0.007	0.000	2498	1993	3106	0	0	23	0	0	0
923	end dive: TARGET_DEPTH_EXCEEDED
state	923	begin apogee
930	-0.31	0.0	101.0	10.2	96	1071	0.80	0.00	124.43	0.000	6	0.000	0.000	2673	2226	2504	2	0	0	0	1	0
1071	end apogee: CONTROL_FINISHED_OK
state	1072	begin climb
1074	1.07	146.6	115.8	0.0	110	1219	1.33	2.92	117.32	0.000	4	0.000	0.000	2976	425	1922	1	0	15	0	0	0
1224	3.06	694.5	132.3	-10.6	123	1518	1.58	3.58	267.02	0.000	6	0.000	0.000	3327	2030	602	1	0	16	0	2	0
1843	3.65	1171.2	185.5	-8.3	183	1850	0.00	2.58	0.12	0.007	4	0.007	0.000	3324	3550	601	0	0	13	0	0	0
2102	4.24	1650.5	208.3	-8.4	205	2112	0.00	2.90	1.73	0.000	6	0.007	0.000	3326	1926	594	0	0	13	0	0	0
2437	4.89	2183.6	236.6	-10.1	237	2444	0.00	2.55	0.12	0.007	4	0.007	0.000	3326	3683	600	0	0	14	0	0	0
2696	5.44	2625.7	261.1	-7.2	259	2706	0.00	3.90	0.43	0.000	6	0.007	0.000	3325	1738	604	0	0	20	0	0	0
3031	5.99	3076.9	285.7	-7.5	291	3047	0.00	3.40	0.12	0.000	4	0.007	0.000	3326	3427	602	0	0	17	0	0	0
3299	6.63	3594.0	307.6	-9.6	314	3310	0.00	3.00	1.62	0.000	6	0.007	0.000	3325	1911	599	0	0	14	0	0	0
3634	7.18	4045.0	338.6	-7.5	346	3650	0.00	2.92	0.12	0.007	4	0.007	0.000	3324	3591	602	0	0	17	0	0	0
3902	7.75	4502.4	359.6	-7.7	369	3912	0.00	2.67	1.90	0.000	6	0.007	0.000	3327	1935	600	0	0	9	0	0	0
4237	8.38	5015.3	386.6	-9.5	401	4253	0.00	3.17	0.12	0.000	4	0.007	0.000	3323	3649	598	0	0	17	0	0	0
4505	8.93	5462.4	411.2	-7.4	424	4516	0.00	3.05	1.55	0.000	6	0.007	0.000	3323	1864	602	0	0	13	0	0	0
4840	9.50	5930.3	433.8	-8.0	456	4857	0.00	3.28	0.20	0.007	4	0.000	0.000	3326	3585	593	0	0	14	0	0	0
5109	10.07	6392.2	456.8	-7.9	479	5119	0.00	3.00	1.67	0.000	6	0.007	0.000	3326	1844	603	0	0	12	0	0	0
5444	10.60	6826.0	481.0	-6.9	511	5460	0.00	2.88	0.12	0.007	4	0.000	0.000	3324	3568	601	0	0	12	0	0	0
5712	11.13	7253.7	499.6	-6.8	534	5724	0.00	3.50	0.80	0.000	6	0.000	0.000	3327	1863	601	0	0	19	0	0	0
6049	11.67	7690.1	522.0	-7.0	566	6065	0.00	4.32	0.12	0.007	4	0.007	0.000	3328	3451	602	0	0	25	0	0	0
6318	12.24	8157.9	542.6	-8.0	589	6328	0.00	2.70	1.88	0.000	6	0.007	0.000	3324	2013	603	0	0	15	0	0	0
6653	12.83	8635.3	569.3	-8.4	621	6669	0.00	3.90	0.22	0.000	4	0.007	0.000	3326	3702	599	0	0	23	0	0	0
6921	13.39	9094.4	591.4	-7.8	644	6933	0.00	4.43	0.00	0.007	6	0.007	0.000	3325	1905	602	0	0	25	0	0	0
7258	14.40	9306.6	605.8	0.2	676	7273	0.00	2.90	0.00	0.007	4	0.007	0.000	3327	451	601	0	0	16	0	0	0
7352	14.67	9525.3	605.8	-0.0	684	7368	0.00	3.60	0.00	0.007	6	0.007	0.000	3324	2291	602	0	0	21	0	0	0
7682	14.28	9525.3	579.1	13.1	715	7696	0.00	2.78	0.00	0.007	4	0.007	0.000	3325	3773	606	0	0	15	0	0	0
7949	14.38	9550.8	559.6	6.2	738	7959	0.00	3.67	0.00	0.007	6	0.007	0.000	3327	1886	604	0	0	21	0	0	0
8284	14.58	9588.1	537.9	5.8	770	8290	0.00	2.65	0.00	0.007	4	0.007	0.000	3325	3601	602	0	0	12	0	0	0
8542	14.74	9588.1	519.2	7.2	792	8551	0.00	3.42	0.00	0.007	6	0.000	0.000	3324	1846	602	0	0	16	0	0	0
8876	14.64	9588.1	494.7	10.2	824	8893	0.00	3.97	0.00	0.007	4	0.007	0.000	3325	3582	621	0	0	20	0	0	0
9145	14.59	9588.1	466.8	9.4	847	9155	0.00	3.97	0.00	0.007	6	0.007	0.000	3327	1716	601	0	0	20	0	0	0
9479	14.59	9588.1	439.2	8.1	879	9494	0.00	3.38	0.00	0.007	4	0.007	0.000	3323	3614	602	0	0	18	0	0	0
9745	14.59	9588.1	417.5	8.0	902	9756	0.00	3.83	0.00	0.007	6	0.000	0.000	3331	1723	605	0	0	23	0	0	0
10081	14.65	9588.1	391.6	7.6	934	10097	0.00	3.45	0.00	0.007	4	0.007	0.000	3325	3785	601	0	0	19	0	0	0
10349	14.72	9588.1	371.4	7.8	957	10355	0.00	3.12	0.00	0.000	6	0.007	0.000	3326	1874	601	0	0	16	0	0	0
10676	14.95	9619.7	348.8	6.0	988	10691	0.00	3.88	0.00	0.007	4	0.007	0.000	3325	3570	602	0	0	22	0	0	0
10943	14.83	9619.7	324.0	11.8	1011	10949	0.00	3.12	0.00	0.007	6	0.007	0.000	3324	1817	602	0	0	16	0	0	0
11269	14.98	9629.2	295.2	6.7	1042	11285	0.00	3.92	0.00	0.007	4	0.007	0.000	3325	3666	608	0	0	19	0	0	0
11537	15.23	9651.1	274.6	6.3	1065	11547	0.00	3.65	0.00	0.007	6	0.000	0.000	3325	1841	606	0	0	17	0	0	0
11873	15.23	9651.1	251.8	9.7	1097	11890	0.00	3.03	0.00	0.007	4	0.000	0.000	3326	3551	600	0	0	14	0	0	0
12048	15.23	9651.1	237.7	7.3	1112	12063	0.00	3.67	0.00	0.007	6	0.007	0.000	3328	1817	600	0	0	19	0	0	0
12378	15.28	9693.5	213.8	5.7	1143	12394	0.00	3.50	0.00	0.000	4	0.007	0.000	3327	3514	604	0	0	16	0	0	0
12646	15.28	9693.5	194.5	8.2	1166	12654	0.00	2.65	0.00	0.007	6	0.007	0.000	3329	1911	602	0	0	15	0	0	0
12971	15.21	9693.5	167.0	10.2	1197	12986	0.00	3.03	0.00	0.007	4	0.007	0.000	3328	3588	602	0	0	14	0	0	0
13238	15.25	9725.5	149.8	6.0	1220	13247	0.00	3.28	0.00	0.007	6	0.007	0.000	3326	1755	601	0	0	16	0	0	0
13572	15.33	9725.5	119.7	8.7	1252	13577	0.00	2.22	0.00	0.000	4	0.007	0.000	3326	247	601	0	0	10	0	0	0
13645	15.22	9725.5	112.7	11.1	1258	13661	0.00	3.40	0.00	0.007	6	0.007	0.000	3324	2060	602	0	0	15	0	0	0
13976	15.24	9747.5	88.1	6.3	1289	13990	0.00	2.83	0.00	0.007	4	0.007	0.000	3326	3443	600	0	0	14	0	0	0
14242	15.24	9747.5	64.9	7.7	1312	14249	0.00	2.92	0.00	0.000	6	0.007	0.000	3324	1851	595	0	0	14	0	0	0
14568	15.24	9747.5	36.4	10.2	1343	14583	0.00	3.17	0.00	0.000	4	0.007	0.000	3323	3619	603	0	0	19	0	0	0
14835	15.24	9747.5	14.1	9.3	1373	14842	0.00	2.83	0.00	0.007	6	0.007	0.000	3325	1897	601	0	0	15	0	0	0
14909	15.24	9747.5	7.6	8.3	1386	14924	0.00	3.00	0.00	0.007	4	0.007	0.000	3328	3617	602	0	0	14	0	0	0
14967	end climb: SURFACE_DEPTH_REACHED
state	14967	begin surface coast
15007	end surface coast: CONTROL_FINISHED_OK
state	15009	begin surface