Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 107 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 542 HEADING -1 ROLL_MAX 3901 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 9 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 0

DIVE 107 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2930 ALTIM_PING_DELTA 5

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2710 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -56 HEAD_ERRBAND 15 ALTIM_PULSE 3

D_TGT 1000 TGT_DEFAULT_LON 0.1 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 2

D_NO_BLEED 500 SM_CC 200 R_PORT_OVSHOOT 23 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 27 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 2.49

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 KERMIT 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 480 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3961 DEVICE2 101

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2342 DEVICE3 35

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 134

T_DIVE 350 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 365 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00079999998 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 60 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -21956.352 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 1 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -7 PITCH_MIN 73 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3888 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1790 PHONE_SUPPLY 2 SEABIRD_T_G 0.0042910837

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -53.02364 SEABIRD_T_H 0.00061853422

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011816985 SEABIRD_T_I 2.1182957e-05

RHO 1.027 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.0754619e-06

MASS 53031 PITCH_GAIN 53 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.7625904

NAV_MODE 1 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1369455

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.0017508121

KALMAN_USE 1 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021125977

HD_A 0.00251332 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.0127788 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 10

HD_C 1.44018e-06 ROLL_MIN 335 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 500 PHONE_DEVICE 48 SM_CC 200

AH0_10V 100 D_OFFGRID 250 PHONE_SUPPLY 2 SPEED_FACTOR 1

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_TGT 1000 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 53 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3888 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -56

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 73 TGT_DEFAULT_LON 0.1

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 16 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00079999998 T_BOOST 0

APOGEE_PITCH -7 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011816985 T_DIVE 350

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -53.02364 T_GPS 15

CALL_TRIES 5 HD_A 0.00251332 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0127788 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -21956.352

CAPMAXSIZE 100000 HD_C 1.44018e-06 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 365

CF8_MAXERRORS 20 HEAD_ERRBAND 15 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 RELAUNCH 1 T_RSLEEP 1

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RHO 1.027 T_TURN 225

COMPASS_DEVICE 33 ID 542 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_YINT 2.49 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_PITCH 1790 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2710 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 2930 LOGGERDEVICE1 -1 ROLL_MAX 3901 USE_ICE 0

C_VBD 2342 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_MIN 335 VBD_CNV -0.245296

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 23 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 27 VBD_MAXERRORS 1

DEVICE3 35 MAX_BUOY 150 SEABIRD_C_G -9.7625904 VBD_MIN 480

DEVICE4 134 MINV_10V 8 SEABIRD_C_H 1.1369455 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.0017508121 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MISSION 9 SEABIRD_C_J 0.00021125977 VBD_TIMEOUT 720

DIVE 107 MOTHERBOARD 4 SEABIRD_T_G 0.0042910837 XPDR_DEVICE 24

D_ABORT 1050 NAV_MODE 1 SEABIRD_T_H 0.00061853422 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 SEABIRD_T_I 2.1182957e-05 XPDR_VALID 2

D_CALL 0 N_GPS 20 SEABIRD_T_J 2.0754619e-06

D_FINISH 0 N_NOCOMM 1 SIM_PITCH 0

D_FLARE 3 N_NOSURFACE 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 271214,175428,-5558.256,-29.338,39,0.9,39,-19.9 TGT_NAME TARGET

_CALLS 1 TGT_LATLONG -5600.000,-30.000

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.159,0.045

_SM_DEPTHo 2.09 KALMAN_X 60740.6,45.5,-64.6,-90955.6,2290.9

_SM_ANGLEo -63.2 KALMAN_Y 34138.4,324.3,336.8,-31200.8,-4147.4

GPS2 271214,180159,-5558.217,-29.256,20,1.0,20,-19.9 MHEAD_RNG_PITCHd_Wd 305.6,3390,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.1,1.027104 _10V_AH 10.0,16.581

SM_CCo 11903,20.60,0.197,0,0,1523,200.16 FG_AHR_24Vo 0.000

SM_GC 2.57,0.00,0.00,20.60,0.000,0.000,0.197,63,2940,1523,-5.40,0.28,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5535.12,-30.76,271214,141433 MEM 353956

TT8_MAMPS 0.026215 DATA_FILE_SIZE 53712,788

HUMID 56.57 CAP_FILE_SIZE 103254,0

INTERNAL_PRESSURE 8.96486 CFSIZE 259252224,219623424

TCM_TEMP 7.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 271214,212253,-5558.492,-31.729,40,0.9,40,-19.9

_24V_AH 21.9,25.337

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 248 71.74 SBE_CT 560 23 293.98

Roll_motor 57 85 108.69 AA4330 1647 17 648.85

VBD_pump_during_apogee 279 1782 10892.90 WL_BB2F 795 105 1829.85

VBD_pump_during_surface 20 196 88.70 QSP2150 847 17 333.80

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 91 53.09 nil 0 0 0.00

Iridium_during_connect 40 160 143.32 nil 0 0 0.00

Iridium_during_xfer 264 223 1292.49 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 31 7.19

TT8 1956 14 282.98

LPSleep 7514 2 164.56

TT8_Active 397 14 57.44

TT8_Sampling 2359 42 995.03

TT8_CF8 150 49 74.66

TT8_Kalman 33 68 22.81

Analog_circuits 1184 15 183.53

GPS_charging 0 0 0.00

Compass 1879 16 309.71

RAFOS 0 0 0.00

Transponder 0 5 0.03

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.54 -73.9 0.0 0.0 0 51 0.00 0.00 -34.33 0.000 2 0.000 0.000 45 2943 2259 0 0 0 0 0 0

54 -0.60 -145.6 3.0 -3.4 4 97 6.25 1.60 -25.17 0.000 4 0.249 0.086 1579 3890 2938 0 0 0 0 0 0

166 -0.60 -145.6 20.3 -22.2 20 175 0.00 1.58 0.00 0.000 6 0.000 0.035 1579 2893 2940 0 0 0 0 0 0

249 -0.60 -145.6 39.2 -23.2 33 256 0.00 0.00 0.00 0.000 6 0.000 0.000 1579 2892 2939 0 0 0 0 0 0

362 -0.60 -145.6 65.6 -23.3 52 370 0.00 0.00 0.00 0.000 6 0.000 0.000 1579 2893 2939 0 0 0 0 0 0

475 -0.60 -145.6 89.8 -20.7 71 481 0.00 0.00 0.00 0.000 6 0.000 0.000 1579 2892 2939 0 0 0 0 0 0

698 -0.60 -145.6 135.9 -19.4 96 700 0.00 0.00 0.00 0.000 6 0.000 0.000 1579 2892 2939 0 0 0 0 0 0

1018 -0.60 -145.6 193.3 -17.4 126 1020 0.00 0.00 0.00 0.000 6 0.000 0.000 1579 2892 2939 0 0 0 0 0 0

1336 -0.60 -145.6 246.7 -16.8 156 1340 0.00 1.62 0.00 0.000 4 0.000 0.065 1571 3897 2940 0 0 0 0 0 0

1482 -0.60 -145.6 274.4 -19.0 163 1487 0.00 1.52 0.00 0.000 6 0.000 0.034 1572 2920 2940 0 0 0 0 0 0

1806 -0.60 -145.6 332.3 -18.3 179 1809 0.00 1.62 0.00 0.000 4 0.000 0.064 1564 3892 2940 0 0 0 0 0 0

1853 -0.60 -145.6 341.3 -18.8 181 1857 0.08 1.48 0.00 0.000 6 0.190 0.034 1586 2936 2941 0 0 0 0 0 0

2186 -0.60 -145.6 396.0 -16.2 197 2187 0.00 0.00 0.00 0.000 6 0.000 0.000 1587 2936 2940 0 0 0 0 0 0

2494 -0.60 -145.6 444.2 -15.4 212 2498 0.00 1.58 0.00 0.000 4 0.000 0.064 1579 3890 2941 0 0 0 0 0 0

2571 -0.60 -145.6 457.5 -17.8 215 2576 0.00 1.50 0.00 0.000 6 0.000 0.032 1579 2912 2941 0 0 0 0 0 0

2894 -0.60 -145.6 509.0 -15.8 231 2895 0.00 0.00 0.00 0.000 6 0.000 0.000 1580 2908 2941 0 0 0 0 0 0

3202 -0.60 -145.6 556.0 -15.0 246 3206 0.00 1.62 0.00 0.000 4 0.000 0.064 1572 3893 2941 0 0 0 0 0 0

3279 -0.60 -145.6 569.1 -17.5 249 3284 0.00 1.48 0.00 0.000 6 0.000 0.032 1572 2930 2942 0 0 0 0 0 0

3602 -0.60 -145.6 618.6 -15.5 265 3603 0.00 0.00 0.00 0.000 6 0.000 0.000 1572 2923 2942 0 0 0 0 0 0

3910 -0.60 -145.6 664.9 -15.2 280 3914 0.00 1.60 0.00 0.000 4 0.000 0.063 1565 3895 2941 0 0 0 0 0 0

3978 -0.60 -145.6 676.0 -15.7 283 3982 0.00 1.48 0.00 0.000 6 0.000 0.034 1564 2929 2942 0 0 0 0 0 0

4310 -0.60 -145.6 728.7 -16.1 299 4312 0.12 0.00 0.00 0.000 6 0.211 0.000 1594 2922 2941 0 0 0 0 0 0

4619 -0.60 -145.6 773.2 -14.2 314 4623 0.00 1.60 0.00 0.000 4 0.000 0.063 1587 3893 2941 0 0 0 0 0 0

4668 -0.60 -145.6 781.0 -15.1 316 4673 0.00 1.50 0.00 0.000 6 0.000 0.032 1587 2914 2941 0 0 0 0 0 0

4997 -0.60 -145.6 828.2 -14.2 332 4998 0.00 0.00 0.00 0.000 6 0.000 0.000 1587 2910 2941 0 0 0 0 0 0

5305 -0.60 -145.6 871.5 -13.8 347 5306 0.00 0.00 0.00 0.000 6 0.000 0.000 1587 2909 2941 0 0 0 0 0 0

5615 -0.60 -145.6 911.7 -12.8 362 5618 0.00 1.62 0.00 0.000 4 0.000 0.063 1579 3897 2941 0 0 0 0 0 0

5663 -0.60 -145.6 918.8 -14.5 364 5668 0.00 1.48 0.00 0.000 6 0.000 0.032 1580 2930 2941 0 0 0 0 0 0

5992 -0.60 -145.6 961.3 -12.9 380 5993 0.00 0.00 0.00 0.000 6 0.000 0.000 1580 2925 2941 0 0 0 0 0 0

6299 end dive: TARGET_DEPTH_EXCEEDED

state 6299 begin apogee

6304 -0.13 0.0 1001.0 13.0 395 6442 0.55 0.00 132.88 1.782 6 0.182 0.000 1738 2716 2342 0 0 0 0 0 0

6443 end apogee: CONTROL_FINISHED_OK

state 6443 begin climb

6445 0.60 145.6 1004.0 0.0 402 6600 0.80 2.42 146.18 1.729 4 0.126 0.043 1984 1334 1748 0 0 0 0 0 0

6634 0.60 145.6 977.2 18.7 411 6639 0.00 2.45 0.00 0.000 6 0.000 0.051 1984 2714 1744 0 0 0 0 0 0

6961 0.60 145.6 911.4 20.5 427 6965 0.00 1.98 0.00 0.000 4 0.000 0.059 1984 3889 1738 0 0 0 0 0 0

6998 0.60 145.6 902.4 22.8 428 7007 0.00 1.92 0.00 0.000 6 0.000 0.035 1992 2734 1737 0 0 0 0 0 0

7315 0.60 145.6 835.9 21.1 444 7316 0.00 0.00 0.00 0.000 6 0.000 0.000 1993 2734 1736 0 0 0 0 0 0

7625 0.60 145.6 772.4 20.5 459 7626 0.00 0.00 0.00 0.000 6 0.000 0.000 1993 2734 1735 0 0 0 0 0 0

7934 0.60 145.6 710.2 20.0 474 7937 0.00 1.92 0.00 0.000 4 0.000 0.060 1993 3896 1734 0 0 0 0 0 0

7982 0.60 145.6 699.2 22.5 476 7987 0.00 1.90 0.00 0.000 6 0.000 0.037 2002 2716 1733 0 0 0 0 0 0

8310 0.60 145.6 633.5 20.1 492 8311 0.00 0.00 0.00 0.000 6 0.000 0.000 2002 2716 1733 0 0 0 0 0 0

8619 0.60 145.6 570.1 20.3 507 8623 0.00 1.95 0.00 0.000 4 0.000 0.060 2002 3902 1733 0 0 0 0 0 0

8679 0.60 145.6 556.4 22.0 509 8688 0.08 1.90 0.00 0.000 6 0.211 0.035 1991 2715 1733 0 0 0 0 0 0

8996 0.60 145.6 497.8 18.2 525 8997 0.00 0.00 0.00 0.000 6 0.000 0.000 1991 2715 1733 0 0 0 0 0 0

9305 0.60 145.6 441.9 17.8 540 9309 0.00 1.95 0.00 0.000 4 0.000 0.058 1991 3893 1733 0 0 0 0 0 0

9387 0.60 145.6 424.8 20.7 543 9395 0.00 1.90 0.00 0.000 6 0.000 0.035 1999 2703 1732 0 0 0 0 0 0

9706 0.60 145.6 366.5 18.3 559 9707 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2702 1732 0 0 0 0 0 0

10013 0.60 145.6 308.7 18.9 574 10016 0.00 1.95 0.00 0.000 4 0.000 0.059 2000 3900 1732 0 0 0 0 0 0

10058 0.60 145.6 299.3 21.4 576 10062 0.00 1.88 0.00 0.000 6 0.000 0.037 2008 2703 1732 0 0 0 0 0 0

10385 0.60 145.6 233.7 21.3 595 10386 0.00 0.00 0.00 0.000 6 0.000 0.000 2009 2702 1732 0 0 0 0 0 0

10705 0.60 145.6 169.1 19.3 625 10709 0.00 1.95 0.00 0.000 4 0.000 0.059 2009 3902 1732 0 0 0 0 0 0

10860 0.60 145.6 136.4 19.5 638 10871 0.12 1.90 0.00 0.000 6 0.203 0.036 1983 2703 1732 0 0 0 0 0 0

11191 0.60 145.6 90.6 14.0 674 11197 0.00 0.00 0.00 0.000 6 0.000 0.000 1983 2703 1732 0 0 0 0 0 0

11433 0.60 145.6 58.3 13.0 715 11439 0.00 0.00 0.00 0.000 6 0.000 0.000 1983 2703 1732 0 0 0 0 0 0

11544 0.60 145.6 44.0 12.6 734 11552 0.00 0.00 0.00 0.000 6 0.000 0.000 1983 2703 1732 0 0 0 0 0 0

11660 0.60 145.6 29.1 12.4 753 11669 0.00 2.20 0.00 0.000 4 0.000 0.044 1993 1298 1732 0 0 0 0 0 0

11716 0.60 145.6 22.5 11.7 761 11725 0.00 2.28 0.00 0.000 6 0.000 0.054 1993 2721 1732 0 0 0 0 0 0

11801 0.60 145.6 11.7 12.7 774 11809 0.00 0.00 0.00 0.000 6 0.000 0.000 1993 2721 1732 0 0 0 0 0 0

11865 end climb: SURFACE_DEPTH_REACHED

state 11865 begin surface coast

11891 end surface coast: CONTROL_FINISHED_OK

state 11891 begin surface

ID	542	HEADING	-1	ROLL_MAX	3901	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	9	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	0
DIVE	107	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2930	ALTIM_PING_DELTA	5
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2710	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-56	HEAD_ERRBAND	15	ALTIM_PULSE	3
D_TGT	1000	TGT_DEFAULT_LON	0.1	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	2
D_NO_BLEED	500	SM_CC	200	R_PORT_OVSHOOT	23	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	27	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	2.49
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	KERMIT	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	480	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3961	DEVICE2	101
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2342	DEVICE3	35
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	134
T_DIVE	350	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	365	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00079999998	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	60	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-21956.352	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	1	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-7	PITCH_MIN	73	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3888	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1790	PHONE_SUPPLY	2	SEABIRD_T_G	0.0042910837
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-53.02364	SEABIRD_T_H	0.00061853422
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011816985	SEABIRD_T_I	2.1182957e-05
RHO	1.027	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.0754619e-06
MASS	53031	PITCH_GAIN	53	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.7625904
NAV_MODE	1	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1369455
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.0017508121
KALMAN_USE	1	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021125977
HD_A	0.00251332	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.0127788	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	10
HD_C	1.44018e-06	ROLL_MIN	335	ALTIM_TOP_TURN_MARGIN	0

GPS1	271214,175428,-5558.256,-29.338,39,0.9,39,-19.9	TGT_NAME	TARGET
_CALLS	1	TGT_LATLONG	-5600.000,-30.000
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.159,0.045
_SM_DEPTHo	2.09	KALMAN_X	60740.6,45.5,-64.6,-90955.6,2290.9
_SM_ANGLEo	-63.2	KALMAN_Y	34138.4,324.3,336.8,-31200.8,-4147.4
GPS2	271214,180159,-5558.217,-29.256,20,1.0,20,-19.9	MHEAD_RNG_PITCHd_Wd	305.6,3390,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.1,1.027104	_10V_AH	10.0,16.581
SM_CCo	11903,20.60,0.197,0,0,1523,200.16	FG_AHR_24Vo	0.000
SM_GC	2.57,0.00,0.00,20.60,0.000,0.000,0.197,63,2940,1523,-5.40,0.28,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5535.12,-30.76,271214,141433	MEM	353956
TT8_MAMPS	0.026215	DATA_FILE_SIZE	53712,788
HUMID	56.57	CAP_FILE_SIZE	103254,0
INTERNAL_PRESSURE	8.96486	CFSIZE	259252224,219623424
TCM_TEMP	7.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	271214,212253,-5558.492,-31.729,40,0.9,40,-19.9
_24V_AH	21.9,25.337

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	248	71.74	SBE_CT	560	23	293.98
Roll_motor	57	85	108.69	AA4330	1647	17	648.85
VBD_pump_during_apogee	279	1782	10892.90	WL_BB2F	795	105	1829.85
VBD_pump_during_surface	20	196	88.70	QSP2150	847	17	333.80
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	91	53.09	nil	0	0	0.00
Iridium_during_connect	40	160	143.32	nil	0	0	0.00
Iridium_during_xfer	264	223	1292.49	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	31	7.19
TT8	1956	14	282.98
LPSleep	7514	2	164.56
TT8_Active	397	14	57.44
TT8_Sampling	2359	42	995.03
TT8_CF8	150	49	74.66
TT8_Kalman	33	68	22.81
Analog_circuits	1184	15	183.53
GPS_charging	0	0	0.00
Compass	1879	16	309.71
RAFOS	0	0	0.00
Transponder	0	5	0.03

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.54	-73.9	0.0	0.0	0	51	0.00	0.00	-34.33	0.000	2	0.000	0.000	45	2943	2259	0	0	0	0	0	0
54	-0.60	-145.6	3.0	-3.4	4	97	6.25	1.60	-25.17	0.000	4	0.249	0.086	1579	3890	2938	0	0	0	0	0	0
166	-0.60	-145.6	20.3	-22.2	20	175	0.00	1.58	0.00	0.000	6	0.000	0.035	1579	2893	2940	0	0	0	0	0	0
249	-0.60	-145.6	39.2	-23.2	33	256	0.00	0.00	0.00	0.000	6	0.000	0.000	1579	2892	2939	0	0	0	0	0	0
362	-0.60	-145.6	65.6	-23.3	52	370	0.00	0.00	0.00	0.000	6	0.000	0.000	1579	2893	2939	0	0	0	0	0	0
475	-0.60	-145.6	89.8	-20.7	71	481	0.00	0.00	0.00	0.000	6	0.000	0.000	1579	2892	2939	0	0	0	0	0	0
698	-0.60	-145.6	135.9	-19.4	96	700	0.00	0.00	0.00	0.000	6	0.000	0.000	1579	2892	2939	0	0	0	0	0	0
1018	-0.60	-145.6	193.3	-17.4	126	1020	0.00	0.00	0.00	0.000	6	0.000	0.000	1579	2892	2939	0	0	0	0	0	0
1336	-0.60	-145.6	246.7	-16.8	156	1340	0.00	1.62	0.00	0.000	4	0.000	0.065	1571	3897	2940	0	0	0	0	0	0
1482	-0.60	-145.6	274.4	-19.0	163	1487	0.00	1.52	0.00	0.000	6	0.000	0.034	1572	2920	2940	0	0	0	0	0	0
1806	-0.60	-145.6	332.3	-18.3	179	1809	0.00	1.62	0.00	0.000	4	0.000	0.064	1564	3892	2940	0	0	0	0	0	0
1853	-0.60	-145.6	341.3	-18.8	181	1857	0.08	1.48	0.00	0.000	6	0.190	0.034	1586	2936	2941	0	0	0	0	0	0
2186	-0.60	-145.6	396.0	-16.2	197	2187	0.00	0.00	0.00	0.000	6	0.000	0.000	1587	2936	2940	0	0	0	0	0	0
2494	-0.60	-145.6	444.2	-15.4	212	2498	0.00	1.58	0.00	0.000	4	0.000	0.064	1579	3890	2941	0	0	0	0	0	0
2571	-0.60	-145.6	457.5	-17.8	215	2576	0.00	1.50	0.00	0.000	6	0.000	0.032	1579	2912	2941	0	0	0	0	0	0
2894	-0.60	-145.6	509.0	-15.8	231	2895	0.00	0.00	0.00	0.000	6	0.000	0.000	1580	2908	2941	0	0	0	0	0	0
3202	-0.60	-145.6	556.0	-15.0	246	3206	0.00	1.62	0.00	0.000	4	0.000	0.064	1572	3893	2941	0	0	0	0	0	0
3279	-0.60	-145.6	569.1	-17.5	249	3284	0.00	1.48	0.00	0.000	6	0.000	0.032	1572	2930	2942	0	0	0	0	0	0
3602	-0.60	-145.6	618.6	-15.5	265	3603	0.00	0.00	0.00	0.000	6	0.000	0.000	1572	2923	2942	0	0	0	0	0	0
3910	-0.60	-145.6	664.9	-15.2	280	3914	0.00	1.60	0.00	0.000	4	0.000	0.063	1565	3895	2941	0	0	0	0	0	0
3978	-0.60	-145.6	676.0	-15.7	283	3982	0.00	1.48	0.00	0.000	6	0.000	0.034	1564	2929	2942	0	0	0	0	0	0
4310	-0.60	-145.6	728.7	-16.1	299	4312	0.12	0.00	0.00	0.000	6	0.211	0.000	1594	2922	2941	0	0	0	0	0	0
4619	-0.60	-145.6	773.2	-14.2	314	4623	0.00	1.60	0.00	0.000	4	0.000	0.063	1587	3893	2941	0	0	0	0	0	0
4668	-0.60	-145.6	781.0	-15.1	316	4673	0.00	1.50	0.00	0.000	6	0.000	0.032	1587	2914	2941	0	0	0	0	0	0
4997	-0.60	-145.6	828.2	-14.2	332	4998	0.00	0.00	0.00	0.000	6	0.000	0.000	1587	2910	2941	0	0	0	0	0	0
5305	-0.60	-145.6	871.5	-13.8	347	5306	0.00	0.00	0.00	0.000	6	0.000	0.000	1587	2909	2941	0	0	0	0	0	0
5615	-0.60	-145.6	911.7	-12.8	362	5618	0.00	1.62	0.00	0.000	4	0.000	0.063	1579	3897	2941	0	0	0	0	0	0
5663	-0.60	-145.6	918.8	-14.5	364	5668	0.00	1.48	0.00	0.000	6	0.000	0.032	1580	2930	2941	0	0	0	0	0	0
5992	-0.60	-145.6	961.3	-12.9	380	5993	0.00	0.00	0.00	0.000	6	0.000	0.000	1580	2925	2941	0	0	0	0	0	0
6299	end dive: TARGET_DEPTH_EXCEEDED
state	6299	begin apogee
6304	-0.13	0.0	1001.0	13.0	395	6442	0.55	0.00	132.88	1.782	6	0.182	0.000	1738	2716	2342	0	0	0	0	0	0
6443	end apogee: CONTROL_FINISHED_OK
state	6443	begin climb
6445	0.60	145.6	1004.0	0.0	402	6600	0.80	2.42	146.18	1.729	4	0.126	0.043	1984	1334	1748	0	0	0	0	0	0
6634	0.60	145.6	977.2	18.7	411	6639	0.00	2.45	0.00	0.000	6	0.000	0.051	1984	2714	1744	0	0	0	0	0	0
6961	0.60	145.6	911.4	20.5	427	6965	0.00	1.98	0.00	0.000	4	0.000	0.059	1984	3889	1738	0	0	0	0	0	0
6998	0.60	145.6	902.4	22.8	428	7007	0.00	1.92	0.00	0.000	6	0.000	0.035	1992	2734	1737	0	0	0	0	0	0
7315	0.60	145.6	835.9	21.1	444	7316	0.00	0.00	0.00	0.000	6	0.000	0.000	1993	2734	1736	0	0	0	0	0	0
7625	0.60	145.6	772.4	20.5	459	7626	0.00	0.00	0.00	0.000	6	0.000	0.000	1993	2734	1735	0	0	0	0	0	0
7934	0.60	145.6	710.2	20.0	474	7937	0.00	1.92	0.00	0.000	4	0.000	0.060	1993	3896	1734	0	0	0	0	0	0
7982	0.60	145.6	699.2	22.5	476	7987	0.00	1.90	0.00	0.000	6	0.000	0.037	2002	2716	1733	0	0	0	0	0	0
8310	0.60	145.6	633.5	20.1	492	8311	0.00	0.00	0.00	0.000	6	0.000	0.000	2002	2716	1733	0	0	0	0	0	0
8619	0.60	145.6	570.1	20.3	507	8623	0.00	1.95	0.00	0.000	4	0.000	0.060	2002	3902	1733	0	0	0	0	0	0
8679	0.60	145.6	556.4	22.0	509	8688	0.08	1.90	0.00	0.000	6	0.211	0.035	1991	2715	1733	0	0	0	0	0	0
8996	0.60	145.6	497.8	18.2	525	8997	0.00	0.00	0.00	0.000	6	0.000	0.000	1991	2715	1733	0	0	0	0	0	0
9305	0.60	145.6	441.9	17.8	540	9309	0.00	1.95	0.00	0.000	4	0.000	0.058	1991	3893	1733	0	0	0	0	0	0
9387	0.60	145.6	424.8	20.7	543	9395	0.00	1.90	0.00	0.000	6	0.000	0.035	1999	2703	1732	0	0	0	0	0	0
9706	0.60	145.6	366.5	18.3	559	9707	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2702	1732	0	0	0	0	0	0
10013	0.60	145.6	308.7	18.9	574	10016	0.00	1.95	0.00	0.000	4	0.000	0.059	2000	3900	1732	0	0	0	0	0	0
10058	0.60	145.6	299.3	21.4	576	10062	0.00	1.88	0.00	0.000	6	0.000	0.037	2008	2703	1732	0	0	0	0	0	0
10385	0.60	145.6	233.7	21.3	595	10386	0.00	0.00	0.00	0.000	6	0.000	0.000	2009	2702	1732	0	0	0	0	0	0
10705	0.60	145.6	169.1	19.3	625	10709	0.00	1.95	0.00	0.000	4	0.000	0.059	2009	3902	1732	0	0	0	0	0	0
10860	0.60	145.6	136.4	19.5	638	10871	0.12	1.90	0.00	0.000	6	0.203	0.036	1983	2703	1732	0	0	0	0	0	0
11191	0.60	145.6	90.6	14.0	674	11197	0.00	0.00	0.00	0.000	6	0.000	0.000	1983	2703	1732	0	0	0	0	0	0
11433	0.60	145.6	58.3	13.0	715	11439	0.00	0.00	0.00	0.000	6	0.000	0.000	1983	2703	1732	0	0	0	0	0	0
11544	0.60	145.6	44.0	12.6	734	11552	0.00	0.00	0.00	0.000	6	0.000	0.000	1983	2703	1732	0	0	0	0	0	0
11660	0.60	145.6	29.1	12.4	753	11669	0.00	2.20	0.00	0.000	4	0.000	0.044	1993	1298	1732	0	0	0	0	0	0
11716	0.60	145.6	22.5	11.7	761	11725	0.00	2.28	0.00	0.000	6	0.000	0.054	1993	2721	1732	0	0	0	0	0	0
11801	0.60	145.6	11.7	12.7	774	11809	0.00	0.00	0.00	0.000	6	0.000	0.000	1993	2721	1732	0	0	0	0	0	0
11865	end climb: SURFACE_DEPTH_REACHED
state	11865	begin surface coast
11891	end surface coast: CONTROL_FINISHED_OK
state	11891	begin surface