Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 112 * 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 6 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 1050

DIVE 112 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2923 ALTIM_PING_DELTA 5

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2734 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -4230 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 1000 TGT_DEFAULT_LON -200 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 2

D_NO_BLEED 200 SM_CC 563.99261 R_PORT_OVSHOOT 50 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 34 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 5 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 2820 DEVICE3 115

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 134

T_DIVE 333 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 348 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 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 -10725.678 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 200 PITCH_MAX 3888 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1870 PHONE_SUPPLY 2 SEABIRD_T_G 0.0042910837

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -48.034508 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 52816 PITCH_GAIN 37 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 0.003 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 10

HD_C 9.9999997e-06 ROLL_MIN 335 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SM_CC 563.99261

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 1050 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 37 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 -4230

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 73 TGT_DEFAULT_LON -200

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 0.0012300001 T_BOOST 5

APOGEE_PITCH -7 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011816985 T_DIVE 333

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -48.034508 T_GPS 15

CALL_TRIES 5 HD_A 0.003 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -10725.678

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 348

CF8_MAXERRORS 20 HEAD_ERRBAND 10 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 1870 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2734 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 2923 LOGGERDEVICE1 -1 ROLL_MAX 3901 USE_ICE 0

C_VBD 2820 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 50 VBD_MAX 3961

DEVICE2 101 MASS 52816 R_STBD_OVSHOOT 34 VBD_MAXERRORS 1

DEVICE3 115 MAX_BUOY 200 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 6 SEABIRD_C_J 0.00021125977 VBD_TIMEOUT 720

DIVE 112 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 0 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 261212,052831,-4631.301,404.118,37,0.8,37,-23.3 TGT_NAME GH2

_CALLS 1 TGT_LATLONG -4630.000,400.000

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.046,0.167

_SM_DEPTHo 0.71 KALMAN_X -71748.7,1027.6,148.8,54432.5,-5258.7

_SM_ANGLEo -27.5 KALMAN_Y 33195.0,-62.8,-422.9,4159.1,2158.7

GPS2 261212,053853,-4631.375,404.247,20,0.8,21,-23.3 MHEAD_RNG_PITCHd_Wd 7.8,5983,-27.2,-10.010

SPEED_LIMITS 0.173,0.295 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.4,1.026412 _10V_AH 10.1,10.015

SM_CCo 10205,183.90,0.803,1,0,517,564.18 FG_AHR_24Vo 0.000

SM_GC 0.83,0.00,0.00,183.90,0.000,0.000,0.803,61,2924,517,-5.65,0.03,564.18 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4613.60,401.12,261212,020205 MEM 354288

TT8_MAMPS 0.026215 DATA_FILE_SIZE 37036,510

HUMID 56.97 CAP_FILE_SIZE 91754,0

INTERNAL_PRESSURE 9.20901 CFSIZE 259252224,221863936

TCM_TEMP 9.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,2

XPDR_PINGS 0 GPS 261212,083434,-4630.367,403.909,41,0.9,41,-23.3

_24V_AH 21.8,23.507

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 260 83.88 SBE_CT 335 24 175.41

Roll_motor 101 75 167.70 AA4330 1030 33 741.11

VBD_pump_during_apogee 265 1803 10427.84 WL_BB2FLVMT 564 105 1292.41

VBD_pump_during_surface 183 803 3220.25 QSP2150 228 4 21.77

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 61.37 nil 0 0 0.00

Iridium_during_connect 44 160 155.49 nil 0 0 0.00

Iridium_during_xfer 326 223 1586.56 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 26 6.22

TT8 1292 14 195.31

LPSleep 6820 2 150.87

TT8_Active 605 14 86.91

TT8_Sampling 1742 37 658.80

TT8_CF8 551 47 262.89

TT8_Kalman 33 59 19.93

Analog_circuits 1238 12 150.16

GPS_charging 0 0 0.00

Compass 1312 15 208.51

RAFOS 0 0 0.00

Transponder 1 5 0.05

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

26 -0.81 -63.1 0.0 0.0 0 170 0.00 0.00 -135.32 0.000 6 0.000 0.000 58 2954 3075 0 0 0 0 0 0

176 -0.90 -130.8 3.0 -2.8 18 195 6.40 1.55 -7.60 0.000 4 0.261 0.076 1566 3893 3355 0 0 0 0 0 0

344 -0.90 -130.8 39.3 -25.4 43 351 0.00 1.50 0.00 0.000 6 0.000 0.033 1568 2915 3356 0 0 0 0 0 0

585 -0.90 -130.8 88.4 -19.4 84 596 0.00 2.15 0.00 0.000 4 0.000 0.036 1568 1519 3357 0 0 0 0 0 0

627 -0.90 -130.8 96.1 -17.2 90 636 0.00 2.28 0.00 0.000 6 0.000 0.053 1558 2920 3357 0 0 0 0 0 0

966 -0.90 -130.8 162.4 -19.4 113 970 0.00 1.55 0.00 0.000 4 0.000 0.058 1551 3897 3358 0 0 0 0 0 0

995 -0.90 -130.8 169.3 -21.1 114 1005 0.00 1.50 0.00 0.000 6 0.000 0.032 1551 2900 3358 0 0 0 0 0 0

1319 -0.90 -130.8 230.9 -18.1 135 1323 0.00 1.60 0.00 0.000 4 0.000 0.059 1545 3893 3358 0 0 0 0 0 0

1359 -0.90 -130.8 238.3 -20.2 137 1363 0.10 1.45 0.00 0.000 6 0.198 0.033 1572 2939 3358 0 0 0 0 0 0

1694 -0.90 -130.8 296.1 -16.7 154 1698 0.00 2.15 0.00 0.000 4 0.000 0.037 1578 1517 3358 0 0 0 0 0 0

1741 -0.90 -130.8 303.9 -15.1 156 1745 0.00 2.25 0.00 0.000 6 0.000 0.053 1568 2930 3358 0 0 0 0 0 0

2072 -0.90 -130.8 358.1 -16.1 172 2076 0.00 1.52 0.00 0.000 4 0.000 0.060 1561 3895 3358 0 0 0 0 0 0

2100 -0.90 -130.8 362.6 -16.5 173 2103 0.00 1.48 0.00 0.000 6 0.000 0.033 1561 2915 3358 0 0 0 0 0 0

2423 -0.90 -130.8 416.2 -16.2 187 2427 0.00 1.58 0.00 0.000 4 0.000 0.060 1554 3892 3358 0 0 0 0 0 0

2460 -0.90 -130.8 422.4 -17.1 188 2464 0.00 1.45 0.00 0.000 6 0.000 0.034 1554 2926 3358 0 0 0 0 0 0

2805 -0.90 -130.8 476.8 -15.4 199 2808 0.00 1.58 0.00 0.000 4 0.000 0.060 1546 3903 3358 0 0 0 0 0 0

2828 -0.90 -130.8 481.1 -16.0 199 2833 0.10 1.48 0.00 0.000 6 0.200 0.033 1573 2932 3358 0 0 0 0 0 0

3149 -0.90 -130.8 526.7 -13.8 210 3153 0.00 1.55 0.00 0.000 4 0.000 0.060 1567 3894 3358 0 0 0 0 0 0

3178 -0.90 -130.8 531.3 -15.5 210 3185 0.00 1.48 0.00 0.000 6 0.000 0.034 1568 2912 3357 0 0 0 0 0 0

3493 -0.90 -130.8 577.7 -14.7 221 3497 0.00 1.58 0.00 0.000 4 0.000 0.060 1560 3893 3358 0 0 0 0 0 0

3530 -0.90 -130.8 583.7 -16.4 222 3533 0.00 1.45 0.00 0.000 6 0.000 0.034 1560 2930 3357 0 0 0 0 0 0

3872 -0.90 -130.8 637.3 -15.8 233 3874 0.00 0.00 0.00 0.000 6 0.000 0.000 1560 2926 3357 0 0 0 0 0 0

4181 -0.90 -130.8 685.6 -15.7 243 4185 0.00 2.12 0.00 0.000 4 0.000 0.038 1560 1519 3356 0 0 0 0 0 0

4198 -0.90 -130.8 689.1 -15.7 243 4203 0.12 2.22 0.00 0.000 6 0.212 0.054 1578 2935 3356 0 0 0 0 0 0

4514 -0.90 -130.8 732.6 -13.7 253 4515 0.00 0.00 0.00 0.000 6 0.000 0.000 1578 2936 3356 0 0 0 0 0 0

4820 -0.90 -130.8 773.0 -12.8 263 4824 0.00 2.12 0.00 0.000 4 0.000 0.038 1578 1525 3355 0 0 0 0 0 0

4832 -0.90 -130.8 774.9 -12.7 263 4836 0.00 2.22 0.00 0.000 6 0.000 0.053 1568 2929 3355 0 0 0 0 0 0

5159 -0.90 -130.8 816.8 -13.1 274 5162 0.00 1.52 0.00 0.000 4 0.000 0.061 1561 3896 3355 0 0 0 0 0 0

5176 -0.90 -130.8 819.3 -12.7 274 5180 0.00 1.48 0.00 0.000 6 0.000 0.034 1561 2918 3356 0 0 0 0 0 0

5504 -0.90 -130.8 861.7 -12.9 285 5508 0.00 1.58 0.00 0.000 4 0.000 0.061 1553 3896 3355 0 0 0 0 0 0

5541 -0.90 -130.8 866.8 -14.2 286 5544 0.00 1.48 0.00 0.000 6 0.000 0.034 1554 2916 3355 0 0 0 0 0 0

5884 -0.90 -130.8 913.1 -13.5 297 5887 0.00 2.05 0.00 0.000 4 0.000 0.038 1553 1534 3355 0 0 0 0 0 0

5907 -0.90 -130.8 916.6 -13.9 297 5912 0.15 2.20 0.00 0.000 6 0.208 0.054 1578 2931 3355 0 0 0 0 0 0

6228 -0.90 -130.8 953.1 -11.1 308 6232 0.00 2.12 0.00 0.000 4 0.000 0.037 1578 1523 3355 0 0 0 0 0 0

6265 -0.90 -130.8 957.2 -11.0 309 6269 0.00 2.20 0.00 0.000 6 0.000 0.054 1569 2924 3354 0 0 0 0 0 0

6609 -0.90 -130.8 999.3 -12.6 320 6613 0.00 2.08 0.00 0.000 3 0.000 0.037 1569 1541 3354 0 0 0 0 0 0

6614 end dive: TARGET_DEPTH_EXCEEDED

state 6614 begin apogee

6627 -0.19 0.0 1000.4 12.5 320 6763 0.82 0.00 132.52 1.242 6 0.190 0.000 1800 2740 2820 0 0 0 0 0 0

6765 end apogee: CONTROL_FINISHED_OK

state 6765 begin climb

6770 0.90 130.8 1003.7 0.0 324 6916 1.00 2.60 132.65 1.804 4 0.056 0.046 2181 1350 2287 0 0 0 0 1 0

6929 0.90 130.8 969.9 30.6 329 6936 0.00 2.50 0.00 0.000 6 0.000 0.050 2180 2730 2286 0 0 0 0 0 0

7246 0.90 130.8 864.9 33.1 340 7250 0.00 2.28 0.00 0.000 4 0.000 0.046 2191 1351 2280 0 0 0 0 0 0

7279 0.90 130.8 854.4 33.4 341 7284 0.12 2.33 0.00 0.000 6 0.256 0.052 2167 2747 2279 0 0 0 0 0 0

7617 0.90 130.8 744.2 32.4 352 7621 0.00 2.28 0.00 0.000 4 0.000 0.046 2177 1341 2276 0 0 0 0 0 0

7652 0.90 130.8 732.7 30.8 353 7657 0.00 2.28 0.00 0.000 6 0.000 0.051 2176 2740 2276 0 0 0 0 0 0

7985 0.90 130.8 628.3 31.0 364 7989 0.00 2.22 0.00 0.000 4 0.000 0.045 2185 1345 2276 0 0 0 0 0 0

8008 0.90 130.8 620.4 30.3 364 8015 0.00 2.25 0.00 0.000 6 0.000 0.051 2185 2737 2275 0 0 0 0 0 0

8323 0.90 130.8 523.8 30.5 375 8327 0.00 2.22 0.00 0.000 4 0.000 0.047 2196 1339 2274 0 0 0 0 0 0

8336 0.90 130.8 519.2 31.0 375 8341 0.15 2.25 0.00 0.000 6 0.259 0.050 2166 2740 2274 0 0 0 0 0 0

8657 0.90 130.8 423.4 29.3 386 8661 0.00 2.20 0.00 0.000 4 0.000 0.046 2175 1349 2273 0 0 0 0 0 0

8681 0.90 130.8 416.1 28.8 386 8688 0.00 2.22 0.00 0.000 6 0.000 0.051 2170 2740 2273 0 0 0 0 0 0

9001 0.90 130.8 325.2 29.1 401 9005 0.00 2.20 0.00 0.000 4 0.000 0.046 2179 1348 2273 0 0 0 0 0 0

9032 0.90 130.8 315.9 28.2 402 9036 0.00 2.20 0.00 0.000 6 0.000 0.052 2179 2733 2272 0 0 0 0 0 0

9363 0.90 130.8 220.0 29.9 419 9364 0.00 0.00 0.00 0.000 6 0.000 0.000 2179 2733 2272 0 0 0 0 0 0

9676 0.90 130.8 133.1 28.1 439 9680 0.00 2.17 0.00 0.000 4 0.000 0.046 2189 1342 2273 0 0 0 0 0 0

9756 0.90 130.8 109.7 27.6 443 9763 0.00 2.22 0.00 0.000 6 0.000 0.053 2189 2739 2272 0 0 0 0 0 0

10113 0.90 130.8 17.1 23.1 500 10122 0.00 2.20 0.00 0.000 4 0.000 0.047 2199 1351 2272 0 0 0 0 0 0

10167 end climb: SURFACE_DEPTH_REACHED

state 10167 begin surface coast

10180 end surface coast: CONTROL_FINISHED_OK

state 10181 begin surface

ID	542	HEADING	-1	ROLL_MAX	3901	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	6	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	1050
DIVE	112	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2923	ALTIM_PING_DELTA	5
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2734	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-4230	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	1000	TGT_DEFAULT_LON	-200	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	2
D_NO_BLEED	200	SM_CC	563.99261	R_PORT_OVSHOOT	50	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	34	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	5	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	2820	DEVICE3	115
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	134
T_DIVE	333	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	348	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	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	-10725.678	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	200	PITCH_MAX	3888	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1870	PHONE_SUPPLY	2	SEABIRD_T_G	0.0042910837
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-48.034508	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	52816	PITCH_GAIN	37	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	0.003	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	10
HD_C	9.9999997e-06	ROLL_MIN	335	ALTIM_TOP_TURN_MARGIN	0

GPS1	261212,052831,-4631.301,404.118,37,0.8,37,-23.3	TGT_NAME	GH2
_CALLS	1	TGT_LATLONG	-4630.000,400.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.046,0.167
_SM_DEPTHo	0.71	KALMAN_X	-71748.7,1027.6,148.8,54432.5,-5258.7
_SM_ANGLEo	-27.5	KALMAN_Y	33195.0,-62.8,-422.9,4159.1,2158.7
GPS2	261212,053853,-4631.375,404.247,20,0.8,21,-23.3	MHEAD_RNG_PITCHd_Wd	7.8,5983,-27.2,-10.010
SPEED_LIMITS	0.173,0.295	D_GRID	1000

FINISH	0.4,1.026412	_10V_AH	10.1,10.015
SM_CCo	10205,183.90,0.803,1,0,517,564.18	FG_AHR_24Vo	0.000
SM_GC	0.83,0.00,0.00,183.90,0.000,0.000,0.803,61,2924,517,-5.65,0.03,564.18	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4613.60,401.12,261212,020205	MEM	354288
TT8_MAMPS	0.026215	DATA_FILE_SIZE	37036,510
HUMID	56.97	CAP_FILE_SIZE	91754,0
INTERNAL_PRESSURE	9.20901	CFSIZE	259252224,221863936
TCM_TEMP	9.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
XPDR_PINGS	0	GPS	261212,083434,-4630.367,403.909,41,0.9,41,-23.3
_24V_AH	21.8,23.507

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	260	83.88	SBE_CT	335	24	175.41
Roll_motor	101	75	167.70	AA4330	1030	33	741.11
VBD_pump_during_apogee	265	1803	10427.84	WL_BB2FLVMT	564	105	1292.41
VBD_pump_during_surface	183	803	3220.25	QSP2150	228	4	21.77
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	61.37	nil	0	0	0.00
Iridium_during_connect	44	160	155.49	nil	0	0	0.00
Iridium_during_xfer	326	223	1586.56	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	26	6.22
TT8	1292	14	195.31
LPSleep	6820	2	150.87
TT8_Active	605	14	86.91
TT8_Sampling	1742	37	658.80
TT8_CF8	551	47	262.89
TT8_Kalman	33	59	19.93
Analog_circuits	1238	12	150.16
GPS_charging	0	0	0.00
Compass	1312	15	208.51
RAFOS	0	0	0.00
Transponder	1	5	0.05

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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
26	-0.81	-63.1	0.0	0.0	0	170	0.00	0.00	-135.32	0.000	6	0.000	0.000	58	2954	3075	0	0	0	0	0	0
176	-0.90	-130.8	3.0	-2.8	18	195	6.40	1.55	-7.60	0.000	4	0.261	0.076	1566	3893	3355	0	0	0	0	0	0
344	-0.90	-130.8	39.3	-25.4	43	351	0.00	1.50	0.00	0.000	6	0.000	0.033	1568	2915	3356	0	0	0	0	0	0
585	-0.90	-130.8	88.4	-19.4	84	596	0.00	2.15	0.00	0.000	4	0.000	0.036	1568	1519	3357	0	0	0	0	0	0
627	-0.90	-130.8	96.1	-17.2	90	636	0.00	2.28	0.00	0.000	6	0.000	0.053	1558	2920	3357	0	0	0	0	0	0
966	-0.90	-130.8	162.4	-19.4	113	970	0.00	1.55	0.00	0.000	4	0.000	0.058	1551	3897	3358	0	0	0	0	0	0
995	-0.90	-130.8	169.3	-21.1	114	1005	0.00	1.50	0.00	0.000	6	0.000	0.032	1551	2900	3358	0	0	0	0	0	0
1319	-0.90	-130.8	230.9	-18.1	135	1323	0.00	1.60	0.00	0.000	4	0.000	0.059	1545	3893	3358	0	0	0	0	0	0
1359	-0.90	-130.8	238.3	-20.2	137	1363	0.10	1.45	0.00	0.000	6	0.198	0.033	1572	2939	3358	0	0	0	0	0	0
1694	-0.90	-130.8	296.1	-16.7	154	1698	0.00	2.15	0.00	0.000	4	0.000	0.037	1578	1517	3358	0	0	0	0	0	0
1741	-0.90	-130.8	303.9	-15.1	156	1745	0.00	2.25	0.00	0.000	6	0.000	0.053	1568	2930	3358	0	0	0	0	0	0
2072	-0.90	-130.8	358.1	-16.1	172	2076	0.00	1.52	0.00	0.000	4	0.000	0.060	1561	3895	3358	0	0	0	0	0	0
2100	-0.90	-130.8	362.6	-16.5	173	2103	0.00	1.48	0.00	0.000	6	0.000	0.033	1561	2915	3358	0	0	0	0	0	0
2423	-0.90	-130.8	416.2	-16.2	187	2427	0.00	1.58	0.00	0.000	4	0.000	0.060	1554	3892	3358	0	0	0	0	0	0
2460	-0.90	-130.8	422.4	-17.1	188	2464	0.00	1.45	0.00	0.000	6	0.000	0.034	1554	2926	3358	0	0	0	0	0	0
2805	-0.90	-130.8	476.8	-15.4	199	2808	0.00	1.58	0.00	0.000	4	0.000	0.060	1546	3903	3358	0	0	0	0	0	0
2828	-0.90	-130.8	481.1	-16.0	199	2833	0.10	1.48	0.00	0.000	6	0.200	0.033	1573	2932	3358	0	0	0	0	0	0
3149	-0.90	-130.8	526.7	-13.8	210	3153	0.00	1.55	0.00	0.000	4	0.000	0.060	1567	3894	3358	0	0	0	0	0	0
3178	-0.90	-130.8	531.3	-15.5	210	3185	0.00	1.48	0.00	0.000	6	0.000	0.034	1568	2912	3357	0	0	0	0	0	0
3493	-0.90	-130.8	577.7	-14.7	221	3497	0.00	1.58	0.00	0.000	4	0.000	0.060	1560	3893	3358	0	0	0	0	0	0
3530	-0.90	-130.8	583.7	-16.4	222	3533	0.00	1.45	0.00	0.000	6	0.000	0.034	1560	2930	3357	0	0	0	0	0	0
3872	-0.90	-130.8	637.3	-15.8	233	3874	0.00	0.00	0.00	0.000	6	0.000	0.000	1560	2926	3357	0	0	0	0	0	0
4181	-0.90	-130.8	685.6	-15.7	243	4185	0.00	2.12	0.00	0.000	4	0.000	0.038	1560	1519	3356	0	0	0	0	0	0
4198	-0.90	-130.8	689.1	-15.7	243	4203	0.12	2.22	0.00	0.000	6	0.212	0.054	1578	2935	3356	0	0	0	0	0	0
4514	-0.90	-130.8	732.6	-13.7	253	4515	0.00	0.00	0.00	0.000	6	0.000	0.000	1578	2936	3356	0	0	0	0	0	0
4820	-0.90	-130.8	773.0	-12.8	263	4824	0.00	2.12	0.00	0.000	4	0.000	0.038	1578	1525	3355	0	0	0	0	0	0
4832	-0.90	-130.8	774.9	-12.7	263	4836	0.00	2.22	0.00	0.000	6	0.000	0.053	1568	2929	3355	0	0	0	0	0	0
5159	-0.90	-130.8	816.8	-13.1	274	5162	0.00	1.52	0.00	0.000	4	0.000	0.061	1561	3896	3355	0	0	0	0	0	0
5176	-0.90	-130.8	819.3	-12.7	274	5180	0.00	1.48	0.00	0.000	6	0.000	0.034	1561	2918	3356	0	0	0	0	0	0
5504	-0.90	-130.8	861.7	-12.9	285	5508	0.00	1.58	0.00	0.000	4	0.000	0.061	1553	3896	3355	0	0	0	0	0	0
5541	-0.90	-130.8	866.8	-14.2	286	5544	0.00	1.48	0.00	0.000	6	0.000	0.034	1554	2916	3355	0	0	0	0	0	0
5884	-0.90	-130.8	913.1	-13.5	297	5887	0.00	2.05	0.00	0.000	4	0.000	0.038	1553	1534	3355	0	0	0	0	0	0
5907	-0.90	-130.8	916.6	-13.9	297	5912	0.15	2.20	0.00	0.000	6	0.208	0.054	1578	2931	3355	0	0	0	0	0	0
6228	-0.90	-130.8	953.1	-11.1	308	6232	0.00	2.12	0.00	0.000	4	0.000	0.037	1578	1523	3355	0	0	0	0	0	0
6265	-0.90	-130.8	957.2	-11.0	309	6269	0.00	2.20	0.00	0.000	6	0.000	0.054	1569	2924	3354	0	0	0	0	0	0
6609	-0.90	-130.8	999.3	-12.6	320	6613	0.00	2.08	0.00	0.000	3	0.000	0.037	1569	1541	3354	0	0	0	0	0	0
6614	end dive: TARGET_DEPTH_EXCEEDED
state	6614	begin apogee
6627	-0.19	0.0	1000.4	12.5	320	6763	0.82	0.00	132.52	1.242	6	0.190	0.000	1800	2740	2820	0	0	0	0	0	0
6765	end apogee: CONTROL_FINISHED_OK
state	6765	begin climb
6770	0.90	130.8	1003.7	0.0	324	6916	1.00	2.60	132.65	1.804	4	0.056	0.046	2181	1350	2287	0	0	0	0	1	0
6929	0.90	130.8	969.9	30.6	329	6936	0.00	2.50	0.00	0.000	6	0.000	0.050	2180	2730	2286	0	0	0	0	0	0
7246	0.90	130.8	864.9	33.1	340	7250	0.00	2.28	0.00	0.000	4	0.000	0.046	2191	1351	2280	0	0	0	0	0	0
7279	0.90	130.8	854.4	33.4	341	7284	0.12	2.33	0.00	0.000	6	0.256	0.052	2167	2747	2279	0	0	0	0	0	0
7617	0.90	130.8	744.2	32.4	352	7621	0.00	2.28	0.00	0.000	4	0.000	0.046	2177	1341	2276	0	0	0	0	0	0
7652	0.90	130.8	732.7	30.8	353	7657	0.00	2.28	0.00	0.000	6	0.000	0.051	2176	2740	2276	0	0	0	0	0	0
7985	0.90	130.8	628.3	31.0	364	7989	0.00	2.22	0.00	0.000	4	0.000	0.045	2185	1345	2276	0	0	0	0	0	0
8008	0.90	130.8	620.4	30.3	364	8015	0.00	2.25	0.00	0.000	6	0.000	0.051	2185	2737	2275	0	0	0	0	0	0
8323	0.90	130.8	523.8	30.5	375	8327	0.00	2.22	0.00	0.000	4	0.000	0.047	2196	1339	2274	0	0	0	0	0	0
8336	0.90	130.8	519.2	31.0	375	8341	0.15	2.25	0.00	0.000	6	0.259	0.050	2166	2740	2274	0	0	0	0	0	0
8657	0.90	130.8	423.4	29.3	386	8661	0.00	2.20	0.00	0.000	4	0.000	0.046	2175	1349	2273	0	0	0	0	0	0
8681	0.90	130.8	416.1	28.8	386	8688	0.00	2.22	0.00	0.000	6	0.000	0.051	2170	2740	2273	0	0	0	0	0	0
9001	0.90	130.8	325.2	29.1	401	9005	0.00	2.20	0.00	0.000	4	0.000	0.046	2179	1348	2273	0	0	0	0	0	0
9032	0.90	130.8	315.9	28.2	402	9036	0.00	2.20	0.00	0.000	6	0.000	0.052	2179	2733	2272	0	0	0	0	0	0
9363	0.90	130.8	220.0	29.9	419	9364	0.00	0.00	0.00	0.000	6	0.000	0.000	2179	2733	2272	0	0	0	0	0	0
9676	0.90	130.8	133.1	28.1	439	9680	0.00	2.17	0.00	0.000	4	0.000	0.046	2189	1342	2273	0	0	0	0	0	0
9756	0.90	130.8	109.7	27.6	443	9763	0.00	2.22	0.00	0.000	6	0.000	0.053	2189	2739	2272	0	0	0	0	0	0
10113	0.90	130.8	17.1	23.1	500	10122	0.00	2.20	0.00	0.000	4	0.000	0.047	2199	1351	2272	0	0	0	0	0	0
10167	end climb: SURFACE_DEPTH_REACHED
state	10167	begin surface coast
10180	end surface coast: CONTROL_FINISHED_OK
state	10181	begin surface