Glider dive log

DavisStrait 22Sep09 * SG001 * Dive index * Mission links * Dive 60 * 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 60 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 3 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 -220240.06 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 66.722374 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 66.722374 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 -220240.06

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 0 VBD_MAX 3500

DEVICE2 -1 MAX_BUOY 150 R_STBD_OVSHOOT 3 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 60 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 001954,6700.594,-5649.842,28,1.1,28,18.0 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 -0.182,-0.084

_SM_DEPTHo 0.05 KALMAN_X 37803.4,540.7,-157.5,30796.8,-822.0

_SM_ANGLEo -50.0 KALMAN_Y 8948.0,-808.3,170.6,6503.2,-33.9

GPS2 002604,6700.611,-5649.766,32,1.1,32,18.0 MHEAD_RNG_PITCHd_Wd 227.2,174298,-14.1,-7.021

SPEED_LIMITS 0.122,0.200 D_GRID 100

Post-dive calculations and measurements:

FINISH 1.3,1.012712 _24V_AH 23.9,223.285

SM_CCo 14637,0.00,0.000,0,0,602,465.58 _10V_AH 10.7,35.265

SM_GC 0.05,14.57,0.00,0.00,0.000,0.007,0.007,472,2281,602,-9.94,7.18,465.58 FG_AHR_24Vo 4.638

SUPER 3,206,254,0,0,0 FG_AHR_10Vo 66.860

RAFOS_CLK 0 MEM 336828

RAFOS 1,1254615244,0.250000,0.234444,80,0,0,0,0,0,876,0,0,0,0,0 DATA_FILE_SIZE 47212,1367

RAFOS_FIX 6727.501953,-5438.064453,041009,000012,4,80,1581.20 CAP_FILE_SIZE 177725,8

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 260165632,248692736

HUMID 1078163687 ERRORS 0,0,0,0,0,0,0,0,1,0,0,36,864,2,0

INTERNAL_PRESSURE 16.1311 SOUNDSPEED 1463.1

TCM_TEMP 15.00 GPS 041009,043312,6659.542,-5650.681,15,1.1,15,18.0

XPDR_PINGS -1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 32 119 91.08 SBE_CT 822 24 471.97

Roll_motor 169 60 242.85 nil 0 0 0.00

VBD_pump_during_apogee 512 1300 15937.36 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 117 223 625.67

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 32 50 17.52

TT8 2363 19 503.72

LPSleep 9631 2 238.07

TT8_Active 980 19 209.02

TT8_Sampling 1537 39 656.78

TT8_CF8 513 45 252.54

TT8_Kalman 33 81 29.23

Analog_circuits 1178 12 151.35

GPS_charging 0 0 0.00

Compass 1452 26 404.02

RAFOS 1800 1 28.89

Transponder 3 5 0.17

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 22 begin dive

25 -1.06 -146.6 0.0 0.0 0 91 0.00 0.00 -63.15 0.000 2 0.007 0.000 369 2237 2519 0 0 0 0 0 0

95 -1.06 -146.6 3.0 -1.9 13 143 10.70 3.40 -19.08 0.000 4 0.000 0.000 2517 422 3096 8 0 21 0 0 0

154 -0.50 -146.6 12.2 -15.2 23 171 0.65 3.38 0.00 0.007 6 0.000 0.000 2643 2469 3065 2 0 18 0 0 0

241 -0.22 -146.6 29.6 -19.8 34 247 0.00 1.92 0.00 0.007 4 0.007 0.000 2640 3586 3098 0 0 8 0 0 0

308 -0.02 -146.6 39.7 -14.7 39 318 0.62 2.95 0.00 0.007 6 0.000 0.000 2785 1925 3097 2 0 15 0 0 0

515 -0.02 -146.6 62.3 -8.2 59 532 0.62 2.97 0.00 0.000 4 0.000 0.000 2657 3617 3098 1 0 15 0 0 0

783 -0.02 -146.6 85.8 -9.5 82 790 0.73 3.03 0.00 0.007 6 0.000 0.000 2776 1843 3104 2 0 15 0 0 0

936 end dive: TARGET_DEPTH_EXCEEDED

state 936 begin apogee

943 -0.31 0.0 100.5 9.7 97 1065 0.85 0.00 116.35 0.000 6 0.000 0.007 2596 2142 2514 1 0 0 0 0 0

1066 end apogee: CONTROL_FINISHED_OK

state 1066 begin climb

1069 1.06 146.6 111.4 0.0 109 1203 1.67 3.05 123.43 0.000 4 0.000 0.000 2999 408 1906 2 0 18 0 0 0

1455 2.94 611.0 145.3 -7.9 144 1749 1.60 3.30 262.70 0.000 6 0.000 0.000 3348 2177 604 1 0 15 0 2 0

2063 3.54 1095.1 196.1 -8.5 203 2080 0.00 3.25 0.12 0.000 4 0.007 0.000 3345 439 606 0 0 17 0 0 0

2332 4.13 1578.9 219.2 -8.5 226 2342 0.00 3.33 1.12 0.000 6 0.007 0.000 3349 2195 602 0 0 18 0 0 0

2667 4.73 2061.5 247.4 -8.5 258 2683 0.00 2.97 0.12 0.000 4 0.007 0.000 3348 621 603 0 0 15 0 0 0

2936 5.32 2545.5 270.7 -8.5 281 2947 0.00 2.65 1.83 0.000 6 0.007 0.000 3349 2284 607 0 0 12 0 0 0

3272 5.93 3036.4 301.3 -8.8 313 3287 0.00 3.28 0.15 0.000 4 0.007 0.000 3348 280 605 0 0 17 0 0 0

3540 7.63 3474.1 322.5 -7.1 336 3551 0.00 3.95 0.50 0.000 6 0.007 0.000 3350 2026 606 0 0 21 0 0 0

3876 8.15 3892.8 346.8 -6.4 368 3892 0.00 3.35 0.12 0.000 4 0.007 0.000 3347 307 604 0 0 16 0 0 0

4144 8.67 4314.0 364.1 -6.5 391 4155 0.00 3.40 1.23 0.000 6 0.007 0.000 3348 2342 606 0 0 13 0 0 0

4480 9.27 4804.4 392.1 -8.8 423 4496 0.00 3.10 0.15 0.007 4 0.007 0.000 3347 452 594 0 0 16 0 0 0

4748 9.84 5264.9 413.3 -7.8 446 4758 0.00 3.03 1.50 0.000 6 0.007 0.000 3346 2298 603 0 0 16 0 0 0

5083 10.40 5721.1 439.1 -7.6 478 5099 0.00 3.30 0.15 0.007 4 0.007 0.000 3341 468 600 0 0 14 0 0 0

5351 10.99 6202.9 460.0 -8.5 501 5362 0.00 3.53 0.93 0.000 6 0.007 0.000 3350 2264 603 0 0 20 0 0 0

5687 11.58 6680.8 487.4 -8.3 533 5702 0.00 4.05 0.12 0.000 4 0.007 0.000 3349 469 606 0 0 22 0 0 0

5955 12.14 7138.1 508.1 -7.7 556 5966 0.00 2.67 1.73 0.000 6 0.007 0.000 3347 2177 604 0 0 13 0 0 0

6291 12.69 7585.9 533.4 -7.4 588 6307 0.00 2.83 0.12 0.000 4 0.007 0.000 3348 508 604 0 0 11 0 0 0

6560 13.24 8035.7 553.8 -7.4 611 6570 0.00 3.65 0.45 0.000 6 0.000 0.000 3347 2398 603 0 0 23 0 0 0

6895 13.80 8486.3 579.2 -7.5 643 6910 0.00 3.25 0.12 0.000 4 0.007 0.000 3344 469 603 0 0 14 0 0 0

7163 14.36 8943.3 599.0 -7.7 666 7168 0.00 2.83 0.00 0.007 6 0.007 0.000 3346 2138 605 0 0 13 0 0 0

7488 14.06 8943.3 590.2 11.5 697 7502 0.00 2.90 0.00 0.007 4 0.007 0.000 3347 304 601 0 0 15 0 0 0

7754 13.79 8943.3 558.3 12.0 720 7761 0.00 3.42 0.00 0.007 6 0.007 0.000 3349 2327 604 0 0 21 0 0 0

8086 13.93 8952.9 533.7 6.7 752 8101 0.00 3.95 0.00 0.007 4 0.007 0.000 3349 468 608 0 0 21 0 0 0

8354 14.15 8990.2 515.3 5.8 775 8364 0.00 3.95 0.00 0.007 6 0.007 0.000 3348 2065 603 0 0 19 0 0 0

8688 14.07 8990.2 488.6 9.4 807 8703 0.00 3.35 0.00 0.007 4 0.007 0.000 3348 517 601 0 0 15 0 0 0

8955 14.07 8990.2 464.6 7.9 830 8963 0.00 2.83 0.00 0.007 6 0.007 0.000 3350 2236 595 0 0 12 0 0 0

9280 14.07 8990.2 440.2 7.4 861 9295 0.00 3.17 0.00 0.007 4 0.007 0.000 3349 374 601 0 0 16 0 0 0

9547 14.07 8990.2 419.5 8.0 884 9553 0.00 3.65 0.00 0.007 6 0.007 0.000 3348 2473 610 0 0 20 0 0 0

9873 14.16 8997.5 397.0 6.8 915 9888 0.00 3.62 0.00 0.007 4 0.007 0.000 3346 408 595 0 0 20 0 0 0

10141 14.33 9029.7 378.8 6.0 938 10151 0.00 3.58 0.00 0.007 6 0.000 0.000 3347 2142 603 0 0 20 0 0 0

10477 14.36 9056.7 355.4 6.2 970 10493 0.00 3.25 0.00 0.007 4 0.007 0.000 3347 399 602 0 0 16 0 0 0

10745 14.26 9056.7 332.4 10.8 993 10751 0.00 3.30 0.00 0.007 6 0.007 0.000 3341 2173 591 0 0 15 0 0 0

11072 14.38 9056.9 302.9 7.0 1024 11087 0.00 3.22 0.00 0.007 4 0.007 0.000 3344 508 603 0 0 14 0 0 0

11339 14.51 9056.9 281.9 7.7 1047 11347 0.00 2.62 0.00 0.000 6 0.007 0.000 3345 2202 603 0 0 13 0 0 0

11664 14.51 9056.9 258.2 9.0 1078 11678 0.00 2.78 0.00 0.007 4 0.007 0.000 3348 401 606 0 0 13 0 0 0

11930 14.51 9056.9 233.5 8.7 1101 11938 0.00 3.70 0.00 0.007 6 0.007 0.000 3344 2279 605 0 0 21 0 0 0

12262 14.51 9056.9 207.1 7.6 1133 12278 0.00 3.25 0.00 0.007 4 0.007 0.000 3348 495 606 0 0 17 0 0 0

12530 14.43 9056.9 181.0 9.6 1156 12540 0.00 3.55 0.00 0.007 6 0.000 0.000 3344 2219 606 0 0 17 0 0 0

12864 14.52 9056.9 153.8 7.5 1188 12880 0.00 3.92 0.00 0.007 4 0.007 0.000 3346 401 605 0 0 19 0 0 0

13132 14.52 9056.9 132.4 7.9 1211 13141 0.00 3.47 0.00 0.007 6 0.007 0.000 3348 2291 604 0 0 18 0 0 0

13466 14.03 9056.9 95.9 17.7 1243 13472 0.00 2.70 0.00 0.007 4 0.007 0.000 3355 3598 604 0 0 15 0 0 0

13724 13.90 9056.9 54.2 11.4 1265 13734 0.00 3.60 0.00 0.007 6 0.007 0.000 3346 1715 606 0 0 20 0 0 0

14059 14.11 9105.4 29.4 5.5 1297 14065 0.00 2.17 0.00 0.007 4 0.007 0.000 3346 494 603 0 0 12 0 0 0

14318 14.28 9148.6 13.1 5.6 1328 14333 0.00 2.90 0.00 0.007 6 0.000 0.000 3347 2240 601 0 0 15 0 0 0

14402 14.49 9190.6 8.4 5.7 1342 14417 0.00 3.72 0.00 0.000 4 0.007 0.000 3343 470 604 0 0 19 0 0 0

14499 end climb: SURFACE_DEPTH_REACHED

state 14499 begin surface coast

14545 end surface coast: CONTROL_FINISHED_OK

state 14545 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	60	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	3	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	-220240.06	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	66.722374	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	001954,6700.594,-5649.842,28,1.1,28,18.0	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	-0.182,-0.084
_SM_DEPTHo	0.05	KALMAN_X	37803.4,540.7,-157.5,30796.8,-822.0
_SM_ANGLEo	-50.0	KALMAN_Y	8948.0,-808.3,170.6,6503.2,-33.9
GPS2	002604,6700.611,-5649.766,32,1.1,32,18.0	MHEAD_RNG_PITCHd_Wd	227.2,174298,-14.1,-7.021
SPEED_LIMITS	0.122,0.200	D_GRID	100

FINISH	1.3,1.012712	_24V_AH	23.9,223.285
SM_CCo	14637,0.00,0.000,0,0,602,465.58	_10V_AH	10.7,35.265
SM_GC	0.05,14.57,0.00,0.00,0.000,0.007,0.007,472,2281,602,-9.94,7.18,465.58	FG_AHR_24Vo	4.638
SUPER	3,206,254,0,0,0	FG_AHR_10Vo	66.860
RAFOS_CLK	0	MEM	336828
RAFOS	1,1254615244,0.250000,0.234444,80,0,0,0,0,0,876,0,0,0,0,0	DATA_FILE_SIZE	47212,1367
RAFOS_FIX	6727.501953,-5438.064453,041009,000012,4,80,1581.20	CAP_FILE_SIZE	177725,8
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	260165632,248692736
HUMID	1078163687	ERRORS	0,0,0,0,0,0,0,0,1,0,0,36,864,2,0
INTERNAL_PRESSURE	16.1311	SOUNDSPEED	1463.1
TCM_TEMP	15.00	GPS	041009,043312,6659.542,-5650.681,15,1.1,15,18.0
XPDR_PINGS	-1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	32	119	91.08	SBE_CT	822	24	471.97
Roll_motor	169	60	242.85	nil	0	0	0.00
VBD_pump_during_apogee	512	1300	15937.36	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	117	223	625.67
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	32	50	17.52
TT8	2363	19	503.72
LPSleep	9631	2	238.07
TT8_Active	980	19	209.02
TT8_Sampling	1537	39	656.78
TT8_CF8	513	45	252.54
TT8_Kalman	33	81	29.23
Analog_circuits	1178	12	151.35
GPS_charging	0	0	0.00
Compass	1452	26	404.02
RAFOS	1800	1	28.89
Transponder	3	5	0.17

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	22	begin dive
25	-1.06	-146.6	0.0	0.0	0	91	0.00	0.00	-63.15	0.000	2	0.007	0.000	369	2237	2519	0	0	0	0	0	0
95	-1.06	-146.6	3.0	-1.9	13	143	10.70	3.40	-19.08	0.000	4	0.000	0.000	2517	422	3096	8	0	21	0	0	0
154	-0.50	-146.6	12.2	-15.2	23	171	0.65	3.38	0.00	0.007	6	0.000	0.000	2643	2469	3065	2	0	18	0	0	0
241	-0.22	-146.6	29.6	-19.8	34	247	0.00	1.92	0.00	0.007	4	0.007	0.000	2640	3586	3098	0	0	8	0	0	0
308	-0.02	-146.6	39.7	-14.7	39	318	0.62	2.95	0.00	0.007	6	0.000	0.000	2785	1925	3097	2	0	15	0	0	0
515	-0.02	-146.6	62.3	-8.2	59	532	0.62	2.97	0.00	0.000	4	0.000	0.000	2657	3617	3098	1	0	15	0	0	0
783	-0.02	-146.6	85.8	-9.5	82	790	0.73	3.03	0.00	0.007	6	0.000	0.000	2776	1843	3104	2	0	15	0	0	0
936	end dive: TARGET_DEPTH_EXCEEDED
state	936	begin apogee
943	-0.31	0.0	100.5	9.7	97	1065	0.85	0.00	116.35	0.000	6	0.000	0.007	2596	2142	2514	1	0	0	0	0	0
1066	end apogee: CONTROL_FINISHED_OK
state	1066	begin climb
1069	1.06	146.6	111.4	0.0	109	1203	1.67	3.05	123.43	0.000	4	0.000	0.000	2999	408	1906	2	0	18	0	0	0
1455	2.94	611.0	145.3	-7.9	144	1749	1.60	3.30	262.70	0.000	6	0.000	0.000	3348	2177	604	1	0	15	0	2	0
2063	3.54	1095.1	196.1	-8.5	203	2080	0.00	3.25	0.12	0.000	4	0.007	0.000	3345	439	606	0	0	17	0	0	0
2332	4.13	1578.9	219.2	-8.5	226	2342	0.00	3.33	1.12	0.000	6	0.007	0.000	3349	2195	602	0	0	18	0	0	0
2667	4.73	2061.5	247.4	-8.5	258	2683	0.00	2.97	0.12	0.000	4	0.007	0.000	3348	621	603	0	0	15	0	0	0
2936	5.32	2545.5	270.7	-8.5	281	2947	0.00	2.65	1.83	0.000	6	0.007	0.000	3349	2284	607	0	0	12	0	0	0
3272	5.93	3036.4	301.3	-8.8	313	3287	0.00	3.28	0.15	0.000	4	0.007	0.000	3348	280	605	0	0	17	0	0	0
3540	7.63	3474.1	322.5	-7.1	336	3551	0.00	3.95	0.50	0.000	6	0.007	0.000	3350	2026	606	0	0	21	0	0	0
3876	8.15	3892.8	346.8	-6.4	368	3892	0.00	3.35	0.12	0.000	4	0.007	0.000	3347	307	604	0	0	16	0	0	0
4144	8.67	4314.0	364.1	-6.5	391	4155	0.00	3.40	1.23	0.000	6	0.007	0.000	3348	2342	606	0	0	13	0	0	0
4480	9.27	4804.4	392.1	-8.8	423	4496	0.00	3.10	0.15	0.007	4	0.007	0.000	3347	452	594	0	0	16	0	0	0
4748	9.84	5264.9	413.3	-7.8	446	4758	0.00	3.03	1.50	0.000	6	0.007	0.000	3346	2298	603	0	0	16	0	0	0
5083	10.40	5721.1	439.1	-7.6	478	5099	0.00	3.30	0.15	0.007	4	0.007	0.000	3341	468	600	0	0	14	0	0	0
5351	10.99	6202.9	460.0	-8.5	501	5362	0.00	3.53	0.93	0.000	6	0.007	0.000	3350	2264	603	0	0	20	0	0	0
5687	11.58	6680.8	487.4	-8.3	533	5702	0.00	4.05	0.12	0.000	4	0.007	0.000	3349	469	606	0	0	22	0	0	0
5955	12.14	7138.1	508.1	-7.7	556	5966	0.00	2.67	1.73	0.000	6	0.007	0.000	3347	2177	604	0	0	13	0	0	0
6291	12.69	7585.9	533.4	-7.4	588	6307	0.00	2.83	0.12	0.000	4	0.007	0.000	3348	508	604	0	0	11	0	0	0
6560	13.24	8035.7	553.8	-7.4	611	6570	0.00	3.65	0.45	0.000	6	0.000	0.000	3347	2398	603	0	0	23	0	0	0
6895	13.80	8486.3	579.2	-7.5	643	6910	0.00	3.25	0.12	0.000	4	0.007	0.000	3344	469	603	0	0	14	0	0	0
7163	14.36	8943.3	599.0	-7.7	666	7168	0.00	2.83	0.00	0.007	6	0.007	0.000	3346	2138	605	0	0	13	0	0	0
7488	14.06	8943.3	590.2	11.5	697	7502	0.00	2.90	0.00	0.007	4	0.007	0.000	3347	304	601	0	0	15	0	0	0
7754	13.79	8943.3	558.3	12.0	720	7761	0.00	3.42	0.00	0.007	6	0.007	0.000	3349	2327	604	0	0	21	0	0	0
8086	13.93	8952.9	533.7	6.7	752	8101	0.00	3.95	0.00	0.007	4	0.007	0.000	3349	468	608	0	0	21	0	0	0
8354	14.15	8990.2	515.3	5.8	775	8364	0.00	3.95	0.00	0.007	6	0.007	0.000	3348	2065	603	0	0	19	0	0	0
8688	14.07	8990.2	488.6	9.4	807	8703	0.00	3.35	0.00	0.007	4	0.007	0.000	3348	517	601	0	0	15	0	0	0
8955	14.07	8990.2	464.6	7.9	830	8963	0.00	2.83	0.00	0.007	6	0.007	0.000	3350	2236	595	0	0	12	0	0	0
9280	14.07	8990.2	440.2	7.4	861	9295	0.00	3.17	0.00	0.007	4	0.007	0.000	3349	374	601	0	0	16	0	0	0
9547	14.07	8990.2	419.5	8.0	884	9553	0.00	3.65	0.00	0.007	6	0.007	0.000	3348	2473	610	0	0	20	0	0	0
9873	14.16	8997.5	397.0	6.8	915	9888	0.00	3.62	0.00	0.007	4	0.007	0.000	3346	408	595	0	0	20	0	0	0
10141	14.33	9029.7	378.8	6.0	938	10151	0.00	3.58	0.00	0.007	6	0.000	0.000	3347	2142	603	0	0	20	0	0	0
10477	14.36	9056.7	355.4	6.2	970	10493	0.00	3.25	0.00	0.007	4	0.007	0.000	3347	399	602	0	0	16	0	0	0
10745	14.26	9056.7	332.4	10.8	993	10751	0.00	3.30	0.00	0.007	6	0.007	0.000	3341	2173	591	0	0	15	0	0	0
11072	14.38	9056.9	302.9	7.0	1024	11087	0.00	3.22	0.00	0.007	4	0.007	0.000	3344	508	603	0	0	14	0	0	0
11339	14.51	9056.9	281.9	7.7	1047	11347	0.00	2.62	0.00	0.000	6	0.007	0.000	3345	2202	603	0	0	13	0	0	0
11664	14.51	9056.9	258.2	9.0	1078	11678	0.00	2.78	0.00	0.007	4	0.007	0.000	3348	401	606	0	0	13	0	0	0
11930	14.51	9056.9	233.5	8.7	1101	11938	0.00	3.70	0.00	0.007	6	0.007	0.000	3344	2279	605	0	0	21	0	0	0
12262	14.51	9056.9	207.1	7.6	1133	12278	0.00	3.25	0.00	0.007	4	0.007	0.000	3348	495	606	0	0	17	0	0	0
12530	14.43	9056.9	181.0	9.6	1156	12540	0.00	3.55	0.00	0.007	6	0.000	0.000	3344	2219	606	0	0	17	0	0	0
12864	14.52	9056.9	153.8	7.5	1188	12880	0.00	3.92	0.00	0.007	4	0.007	0.000	3346	401	605	0	0	19	0	0	0
13132	14.52	9056.9	132.4	7.9	1211	13141	0.00	3.47	0.00	0.007	6	0.007	0.000	3348	2291	604	0	0	18	0	0	0
13466	14.03	9056.9	95.9	17.7	1243	13472	0.00	2.70	0.00	0.007	4	0.007	0.000	3355	3598	604	0	0	15	0	0	0
13724	13.90	9056.9	54.2	11.4	1265	13734	0.00	3.60	0.00	0.007	6	0.007	0.000	3346	1715	606	0	0	20	0	0	0
14059	14.11	9105.4	29.4	5.5	1297	14065	0.00	2.17	0.00	0.007	4	0.007	0.000	3346	494	603	0	0	12	0	0	0
14318	14.28	9148.6	13.1	5.6	1328	14333	0.00	2.90	0.00	0.007	6	0.000	0.000	3347	2240	601	0	0	15	0	0	0
14402	14.49	9190.6	8.4	5.7	1342	14417	0.00	3.72	0.00	0.000	4	0.007	0.000	3343	470	604	0	0	19	0	0	0
14499	end climb: SURFACE_DEPTH_REACHED
state	14499	begin surface coast
14545	end surface coast: CONTROL_FINISHED_OK
state	14545	begin surface