Glider dive log

SOSCEx 08Dec12 * SG543 * Dive index * Mission links * Dive 135 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 543 HEADING -1 ROLL_MAX 3944 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 6 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 1050

DIVE 135 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 3353 ALTIM_PING_DELTA 15

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 3250 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -4230 HEAD_ERRBAND 15 ALTIM_PULSE 4

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 3

D_NO_BLEED 200 SM_CC 482.49722 R_PORT_OVSHOOT 55 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 36 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 5 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.050000001

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 507 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 101

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2474 DEVICE3 131

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 118

T_DIVE 370 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 385 CAPUPLOAD 0 VBD_TIMEOUT 800 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00061500003 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 -8246.3682 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 -5 PITCH_MIN 86 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 200 PITCH_MAX 3908 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1650 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043127281

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -55.913475 SEABIRD_T_H 0.00062185986

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011638312 SEABIRD_T_I 2.2048062e-05

RHO 1.027 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.2117231e-06

MASS 52459 PITCH_GAIN 36 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.303595

NAV_MODE 1 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1762303

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.001936322

KALMAN_USE 1 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00024357962

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 20

HD_C 9.9999997e-06 ROLL_MIN 394 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SM_CC 482.49722

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 20 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 15 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 1050 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 36 TCM_ROLL_OFFSET 0

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_MAX 3908 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 86 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 0.00061500003 T_BOOST 5

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011638312 T_DIVE 370

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -55.913475 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 -8246.3682

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

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 385

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 543 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 0.050000001 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_PITCH 1650 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 3250 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 3353 LOGGERDEVICE1 -1 ROLL_MAX 3944 USE_ICE 0

C_VBD 2474 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_MIN 394 VBD_CNV -0.245296

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 55 VBD_MAX 3960

DEVICE2 101 MASS 52459 R_STBD_OVSHOOT 36 VBD_MAXERRORS 1

DEVICE3 131 MAX_BUOY 200 SEABIRD_C_G -10.303595 VBD_MIN 507

DEVICE4 118 MINV_10V 8 SEABIRD_C_H 1.1762303 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.001936322 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MISSION 6 SEABIRD_C_J 0.00024357962 VBD_TIMEOUT 800

DIVE 135 MOTHERBOARD 4 SEABIRD_T_G 0.0043127281 XPDR_DEVICE 24

D_ABORT 1050 NAV_MODE 1 SEABIRD_T_H 0.00062185986 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 SEABIRD_T_I 2.2048062e-05 XPDR_VALID 3

D_CALL 0 N_GPS 20 SEABIRD_T_J 2.2117231e-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 301212,132433,-4157.884,825.494,37,1.5,40,-24.9 TGT_NAME GH2

_CALLS 2 TGT_LATLONG -4200.000,820.000

_XMS_NAKs 0 TGT_RADIUS 800.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.044,0.181

_SM_DEPTHo 1.36 KALMAN_X -88463.4,949.9,389.9,119517.9,-6381.0

_SM_ANGLEo -30.8 KALMAN_Y 41166.6,299.4,388.9,17827.5,-8065.1

GPS2 301212,133824,-4157.803,825.409,15,2.0,15,-24.9 MHEAD_RNG_PITCHd_Wd 11.2,8483,-22.6,-9.009

SPEED_LIMITS 0.156,0.284 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.1,1.026206 _10V_AH 10.1,14.185

SM_CCo 11259,154.25,0.732,1,0,504,482.50 FG_AHR_24Vo 0.000

SM_GC 1.32,0.00,0.00,154.25,0.000,0.000,0.732,60,3393,504,-4.97,1.10,482.50 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4143.80,831.56,301212,131348 MEM 354216

TT8_MAMPS 0.025466 DATA_FILE_SIZE 43785,575

HUMID 55.35 CAP_FILE_SIZE 106141,0

INTERNAL_PRESSURE 8.95659 CFSIZE 259252224,250200064

TCM_TEMP 14.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,1

XPDR_PINGS 0 GPS 301212,165104,-4156.961,823.839,42,1.2,42,-24.9

_24V_AH 22.4,26.434

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 11 221 59.30 SBE_CT 372 24 200.28

Roll_motor 50 72 82.94 AA4330 1275 33 942.99

VBD_pump_during_apogee 267 1788 10731.13 WL_BB2FLVMT 614 105 1445.72

VBD_pump_during_surface 154 732 2529.57 QSP2150 292 4 28.65

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 52 103 120.01 nil 0 0 0.00

Iridium_during_connect 77 160 279.25 nil 0 0 0.00

Iridium_during_xfer 451 223 2254.82 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 26 5.48

TT8 1507 14 227.80

LPSleep 7130 2 157.72

TT8_Active 501 14 71.99

TT8_Sampling 2366 37 894.48

TT8_CF8 745 47 355.36

TT8_Kalman 33 59 19.93

Analog_circuits 1353 12 164.08

GPS_charging 0 0 0.00

Compass 1932 15 307.09

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

20 -0.67 -76.4 0.0 0.0 0 112 0.00 0.00 -89.90 0.000 2 0.000 0.000 48 3366 2749 0 0 0 0 0 0

117 -0.71 -136.2 3.2 -4.3 11 136 5.38 2.17 -7.70 0.000 4 0.221 0.044 1421 1949 3031 0 0 0 0 0 0

230 -0.71 -136.2 18.7 -12.4 27 241 0.00 2.30 0.00 0.000 6 0.000 0.057 1412 3335 3033 0 0 0 0 0 0

318 -0.71 -136.2 35.1 -20.0 40 328 0.00 0.00 0.00 0.000 6 0.000 0.000 1412 3335 3033 0 0 0 0 0 0

567 -0.71 -136.2 74.3 -15.4 81 576 0.00 0.98 0.00 0.000 4 0.000 0.057 1407 3950 3034 0 0 0 0 0 0

835 -0.71 -136.2 116.7 -15.3 114 838 0.00 0.88 0.00 0.000 6 0.000 0.035 1407 3369 3034 0 0 0 0 0 0

1163 -0.71 -136.2 164.9 -15.1 135 1167 0.00 0.93 0.00 0.000 4 0.000 0.057 1403 3955 3034 0 0 0 0 0 0

1276 -0.71 -136.2 184.6 -17.0 141 1283 0.00 0.90 0.00 0.000 6 0.000 0.034 1402 3354 3034 0 0 0 0 0 0

1596 -0.71 -136.2 236.8 -16.7 162 1599 0.00 0.95 0.00 0.000 4 0.000 0.057 1398 3957 3034 0 0 0 0 0 0

1688 -0.71 -136.2 252.4 -17.6 167 1695 0.00 0.93 0.00 0.000 6 0.000 0.035 1398 3341 3034 0 0 0 0 0 0

2007 -0.71 -136.2 306.0 -16.6 183 2012 0.00 0.98 0.00 0.000 4 0.000 0.057 1394 3958 3034 0 0 0 0 0 0

2070 -0.71 -136.2 318.2 -18.2 185 2077 0.00 0.90 0.00 0.000 6 0.000 0.035 1394 3357 3034 0 0 0 0 0 0

2389 -0.71 -136.2 371.1 -17.4 201 2394 0.00 0.95 0.00 0.000 4 0.000 0.057 1390 3958 3034 0 0 0 0 0 0

2486 -0.71 -136.2 389.7 -18.1 205 2493 0.08 0.90 0.00 0.000 6 0.172 0.035 1411 3358 3034 0 0 0 0 0 0

2813 -0.71 -136.2 440.4 -15.4 217 2818 0.00 0.95 0.00 0.000 4 0.000 0.059 1408 3959 3033 0 0 0 0 0 0

2870 -0.71 -136.2 449.8 -16.9 218 2873 0.00 0.93 0.00 0.000 6 0.000 0.035 1408 3343 3034 0 0 0 0 0 0

3190 -0.71 -136.2 495.2 -13.8 229 3193 0.00 0.95 0.00 0.000 4 0.000 0.058 1404 3945 3033 0 0 0 0 0 0

3279 -0.71 -136.2 508.9 -15.1 231 3282 0.00 0.90 0.00 0.000 6 0.000 0.035 1404 3344 3033 0 0 0 0 0 0

3599 -0.71 -136.2 552.1 -13.5 242 3602 0.00 0.95 0.00 0.000 4 0.000 0.059 1399 3948 3032 0 0 0 0 0 0

3648 -0.71 -136.2 559.7 -15.2 243 3651 0.00 0.90 0.00 0.000 6 0.000 0.036 1399 3346 3032 0 0 0 0 0 0

3972 -0.71 -136.2 605.6 -14.7 254 3974 0.00 0.00 0.00 0.000 6 0.000 0.000 1399 3346 3032 0 0 0 0 0 0

4278 -0.71 -136.2 649.3 -14.2 264 4282 0.00 0.95 0.00 0.000 4 0.000 0.059 1395 3949 3031 0 0 0 0 0 0

4362 -0.71 -136.2 662.8 -16.8 266 4366 0.00 0.90 0.00 0.000 6 0.000 0.037 1395 3348 3031 0 0 0 0 0 0

4686 -0.71 -136.2 710.8 -15.2 277 4690 0.00 0.95 0.00 0.000 4 0.000 0.060 1391 3951 3030 0 0 0 0 0 0

4721 -0.71 -136.2 716.4 -16.1 278 4726 0.05 0.90 0.00 0.000 6 0.187 0.037 1406 3352 3030 0 0 0 0 0 0

5062 -0.71 -136.2 766.3 -14.3 289 5066 0.00 0.95 0.00 0.000 4 0.000 0.060 1402 3955 3029 0 0 0 0 0 0

5101 -0.71 -136.2 772.6 -16.0 290 5105 0.00 0.90 0.00 0.000 6 0.000 0.037 1402 3357 3029 0 0 0 0 0 0

5436 -0.71 -136.2 821.3 -14.6 301 5442 0.00 0.95 0.00 0.000 4 0.000 0.060 1398 3956 3028 0 0 0 0 0 0

5476 -0.71 -136.2 827.8 -15.5 302 5482 0.00 0.93 0.00 0.000 6 0.000 0.037 1398 3340 3028 0 0 0 0 0 0

5814 -0.71 -136.2 875.8 -14.0 313 5815 0.00 0.00 0.00 0.000 6 0.000 0.000 1398 3340 3027 0 0 0 0 0 0

6119 -0.71 -136.2 916.4 -13.1 323 6124 0.00 0.98 0.00 0.000 4 0.000 0.060 1394 3956 3026 0 0 0 0 0 0

6188 -0.71 -136.2 926.1 -14.0 325 6192 0.00 0.90 0.00 0.000 6 0.000 0.037 1393 3358 3026 0 0 0 0 0 0

6530 -0.71 -136.2 971.2 -13.2 336 6535 0.00 0.95 0.00 0.000 4 0.000 0.061 1389 3956 3025 0 0 0 0 0 0

6578 -0.71 -136.2 977.9 -14.6 337 6582 0.08 0.93 0.00 0.000 6 0.179 0.038 1411 3347 3025 0 0 0 0 0 0

6784 end dive: TARGET_DEPTH_EXCEEDED

state 6784 begin apogee

6791 -0.14 0.0 1003.3 12.0 344 6937 0.62 0.00 131.20 1.789 6 0.148 0.000 1601 3255 2474 0 0 0 0 1 0

6938 end apogee: CONTROL_FINISHED_OK

state 6938 begin climb

6942 0.71 136.2 1006.5 0.0 349 7091 0.77 2.47 136.65 1.761 4 0.049 0.032 1895 1832 1917 0 0 0 0 1 0

7144 0.71 136.2 973.6 20.1 355 7148 0.00 2.47 0.00 0.000 6 0.000 0.050 1896 3255 1914 0 0 0 0 0 0

7469 0.71 136.2 893.5 25.2 366 7472 0.00 1.15 0.00 0.000 4 0.000 0.055 1895 3950 1908 0 0 0 0 0 0

7699 0.71 136.2 829.8 27.8 372 7706 0.00 1.10 0.00 0.000 6 0.000 0.032 1901 3234 1905 0 0 0 0 0 0

8012 0.71 136.2 748.5 25.4 383 8018 0.00 1.15 0.00 0.000 4 0.000 0.054 1900 3946 1904 0 0 0 0 0 0

8271 0.71 136.2 676.6 26.4 390 8275 0.00 1.05 0.00 0.000 6 0.000 0.032 1904 3249 1904 0 0 0 0 0 0

8592 0.71 136.2 598.1 24.3 401 8595 0.00 1.12 0.00 0.000 4 0.000 0.054 1904 3950 1902 0 0 0 0 0 0

8804 0.71 136.2 542.0 26.8 407 8810 0.08 1.05 0.00 0.000 6 0.219 0.032 1889 3247 1902 0 0 0 0 0 0

9137 0.71 136.2 469.5 21.4 418 9141 0.00 1.12 0.00 0.000 4 0.000 0.054 1889 3953 1900 0 0 0 0 0 0

9357 0.71 136.2 416.3 24.4 424 9360 0.00 1.05 0.00 0.000 6 0.000 0.032 1893 3244 1901 0 0 0 0 0 0

9686 0.71 136.2 343.4 22.1 439 9691 0.00 1.12 0.00 0.000 4 0.000 0.054 1893 3946 1900 0 0 0 0 0 0

9879 0.71 136.2 295.8 23.9 447 9883 0.00 1.02 0.00 0.000 6 0.000 0.032 1898 3254 1900 0 0 0 0 0 0

10210 0.71 136.2 223.8 21.9 465 10215 0.00 1.10 0.00 0.000 4 0.000 0.054 1898 3946 1899 0 0 0 0 0 0

10423 0.71 136.2 172.9 24.2 477 10427 0.00 1.02 0.00 0.000 6 0.000 0.032 1903 3252 1900 0 0 0 0 0 0

10754 0.71 136.2 101.4 21.1 498 10758 0.00 1.10 0.00 0.000 4 0.000 0.053 1903 3945 1899 0 0 0 0 0 0

11027 0.71 136.2 39.8 22.5 542 11036 0.00 1.02 0.00 0.000 6 0.000 0.031 1908 3247 1899 0 0 0 0 0 0

11222 end climb: SURFACE_DEPTH_REACHED

state 11222 begin surface coast

11243 end surface coast: CONTROL_FINISHED_OK

state 11243 begin surface

ID	543	HEADING	-1	ROLL_MAX	3944	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	6	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	1050
DIVE	135	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	3353	ALTIM_PING_DELTA	15
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	3250	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-4230	HEAD_ERRBAND	15	ALTIM_PULSE	4
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	3
D_NO_BLEED	200	SM_CC	482.49722	R_PORT_OVSHOOT	55	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	36	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	5	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.050000001
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	507	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	101
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2474	DEVICE3	131
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	118
T_DIVE	370	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	385	CAPUPLOAD	0	VBD_TIMEOUT	800	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00061500003	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	-8246.3682	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	-5	PITCH_MIN	86	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	200	PITCH_MAX	3908	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1650	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043127281
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-55.913475	SEABIRD_T_H	0.00062185986
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011638312	SEABIRD_T_I	2.2048062e-05
RHO	1.027	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.2117231e-06
MASS	52459	PITCH_GAIN	36	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.303595
NAV_MODE	1	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1762303
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.001936322
KALMAN_USE	1	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00024357962
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	20
HD_C	9.9999997e-06	ROLL_MIN	394	ALTIM_TOP_TURN_MARGIN	0

GPS1	301212,132433,-4157.884,825.494,37,1.5,40,-24.9	TGT_NAME	GH2
_CALLS	2	TGT_LATLONG	-4200.000,820.000
_XMS_NAKs	0	TGT_RADIUS	800.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.044,0.181
_SM_DEPTHo	1.36	KALMAN_X	-88463.4,949.9,389.9,119517.9,-6381.0
_SM_ANGLEo	-30.8	KALMAN_Y	41166.6,299.4,388.9,17827.5,-8065.1
GPS2	301212,133824,-4157.803,825.409,15,2.0,15,-24.9	MHEAD_RNG_PITCHd_Wd	11.2,8483,-22.6,-9.009
SPEED_LIMITS	0.156,0.284	D_GRID	1000

FINISH	1.1,1.026206	_10V_AH	10.1,14.185
SM_CCo	11259,154.25,0.732,1,0,504,482.50	FG_AHR_24Vo	0.000
SM_GC	1.32,0.00,0.00,154.25,0.000,0.000,0.732,60,3393,504,-4.97,1.10,482.50	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4143.80,831.56,301212,131348	MEM	354216
TT8_MAMPS	0.025466	DATA_FILE_SIZE	43785,575
HUMID	55.35	CAP_FILE_SIZE	106141,0
INTERNAL_PRESSURE	8.95659	CFSIZE	259252224,250200064
TCM_TEMP	14.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
XPDR_PINGS	0	GPS	301212,165104,-4156.961,823.839,42,1.2,42,-24.9
_24V_AH	22.4,26.434

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	11	221	59.30	SBE_CT	372	24	200.28
Roll_motor	50	72	82.94	AA4330	1275	33	942.99
VBD_pump_during_apogee	267	1788	10731.13	WL_BB2FLVMT	614	105	1445.72
VBD_pump_during_surface	154	732	2529.57	QSP2150	292	4	28.65
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	52	103	120.01	nil	0	0	0.00
Iridium_during_connect	77	160	279.25	nil	0	0	0.00
Iridium_during_xfer	451	223	2254.82	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	26	5.48
TT8	1507	14	227.80
LPSleep	7130	2	157.72
TT8_Active	501	14	71.99
TT8_Sampling	2366	37	894.48
TT8_CF8	745	47	355.36
TT8_Kalman	33	59	19.93
Analog_circuits	1353	12	164.08
GPS_charging	0	0	0.00
Compass	1932	15	307.09
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
20	-0.67	-76.4	0.0	0.0	0	112	0.00	0.00	-89.90	0.000	2	0.000	0.000	48	3366	2749	0	0	0	0	0	0
117	-0.71	-136.2	3.2	-4.3	11	136	5.38	2.17	-7.70	0.000	4	0.221	0.044	1421	1949	3031	0	0	0	0	0	0
230	-0.71	-136.2	18.7	-12.4	27	241	0.00	2.30	0.00	0.000	6	0.000	0.057	1412	3335	3033	0	0	0	0	0	0
318	-0.71	-136.2	35.1	-20.0	40	328	0.00	0.00	0.00	0.000	6	0.000	0.000	1412	3335	3033	0	0	0	0	0	0
567	-0.71	-136.2	74.3	-15.4	81	576	0.00	0.98	0.00	0.000	4	0.000	0.057	1407	3950	3034	0	0	0	0	0	0
835	-0.71	-136.2	116.7	-15.3	114	838	0.00	0.88	0.00	0.000	6	0.000	0.035	1407	3369	3034	0	0	0	0	0	0
1163	-0.71	-136.2	164.9	-15.1	135	1167	0.00	0.93	0.00	0.000	4	0.000	0.057	1403	3955	3034	0	0	0	0	0	0
1276	-0.71	-136.2	184.6	-17.0	141	1283	0.00	0.90	0.00	0.000	6	0.000	0.034	1402	3354	3034	0	0	0	0	0	0
1596	-0.71	-136.2	236.8	-16.7	162	1599	0.00	0.95	0.00	0.000	4	0.000	0.057	1398	3957	3034	0	0	0	0	0	0
1688	-0.71	-136.2	252.4	-17.6	167	1695	0.00	0.93	0.00	0.000	6	0.000	0.035	1398	3341	3034	0	0	0	0	0	0
2007	-0.71	-136.2	306.0	-16.6	183	2012	0.00	0.98	0.00	0.000	4	0.000	0.057	1394	3958	3034	0	0	0	0	0	0
2070	-0.71	-136.2	318.2	-18.2	185	2077	0.00	0.90	0.00	0.000	6	0.000	0.035	1394	3357	3034	0	0	0	0	0	0
2389	-0.71	-136.2	371.1	-17.4	201	2394	0.00	0.95	0.00	0.000	4	0.000	0.057	1390	3958	3034	0	0	0	0	0	0
2486	-0.71	-136.2	389.7	-18.1	205	2493	0.08	0.90	0.00	0.000	6	0.172	0.035	1411	3358	3034	0	0	0	0	0	0
2813	-0.71	-136.2	440.4	-15.4	217	2818	0.00	0.95	0.00	0.000	4	0.000	0.059	1408	3959	3033	0	0	0	0	0	0
2870	-0.71	-136.2	449.8	-16.9	218	2873	0.00	0.93	0.00	0.000	6	0.000	0.035	1408	3343	3034	0	0	0	0	0	0
3190	-0.71	-136.2	495.2	-13.8	229	3193	0.00	0.95	0.00	0.000	4	0.000	0.058	1404	3945	3033	0	0	0	0	0	0
3279	-0.71	-136.2	508.9	-15.1	231	3282	0.00	0.90	0.00	0.000	6	0.000	0.035	1404	3344	3033	0	0	0	0	0	0
3599	-0.71	-136.2	552.1	-13.5	242	3602	0.00	0.95	0.00	0.000	4	0.000	0.059	1399	3948	3032	0	0	0	0	0	0
3648	-0.71	-136.2	559.7	-15.2	243	3651	0.00	0.90	0.00	0.000	6	0.000	0.036	1399	3346	3032	0	0	0	0	0	0
3972	-0.71	-136.2	605.6	-14.7	254	3974	0.00	0.00	0.00	0.000	6	0.000	0.000	1399	3346	3032	0	0	0	0	0	0
4278	-0.71	-136.2	649.3	-14.2	264	4282	0.00	0.95	0.00	0.000	4	0.000	0.059	1395	3949	3031	0	0	0	0	0	0
4362	-0.71	-136.2	662.8	-16.8	266	4366	0.00	0.90	0.00	0.000	6	0.000	0.037	1395	3348	3031	0	0	0	0	0	0
4686	-0.71	-136.2	710.8	-15.2	277	4690	0.00	0.95	0.00	0.000	4	0.000	0.060	1391	3951	3030	0	0	0	0	0	0
4721	-0.71	-136.2	716.4	-16.1	278	4726	0.05	0.90	0.00	0.000	6	0.187	0.037	1406	3352	3030	0	0	0	0	0	0
5062	-0.71	-136.2	766.3	-14.3	289	5066	0.00	0.95	0.00	0.000	4	0.000	0.060	1402	3955	3029	0	0	0	0	0	0
5101	-0.71	-136.2	772.6	-16.0	290	5105	0.00	0.90	0.00	0.000	6	0.000	0.037	1402	3357	3029	0	0	0	0	0	0
5436	-0.71	-136.2	821.3	-14.6	301	5442	0.00	0.95	0.00	0.000	4	0.000	0.060	1398	3956	3028	0	0	0	0	0	0
5476	-0.71	-136.2	827.8	-15.5	302	5482	0.00	0.93	0.00	0.000	6	0.000	0.037	1398	3340	3028	0	0	0	0	0	0
5814	-0.71	-136.2	875.8	-14.0	313	5815	0.00	0.00	0.00	0.000	6	0.000	0.000	1398	3340	3027	0	0	0	0	0	0
6119	-0.71	-136.2	916.4	-13.1	323	6124	0.00	0.98	0.00	0.000	4	0.000	0.060	1394	3956	3026	0	0	0	0	0	0
6188	-0.71	-136.2	926.1	-14.0	325	6192	0.00	0.90	0.00	0.000	6	0.000	0.037	1393	3358	3026	0	0	0	0	0	0
6530	-0.71	-136.2	971.2	-13.2	336	6535	0.00	0.95	0.00	0.000	4	0.000	0.061	1389	3956	3025	0	0	0	0	0	0
6578	-0.71	-136.2	977.9	-14.6	337	6582	0.08	0.93	0.00	0.000	6	0.179	0.038	1411	3347	3025	0	0	0	0	0	0
6784	end dive: TARGET_DEPTH_EXCEEDED
state	6784	begin apogee
6791	-0.14	0.0	1003.3	12.0	344	6937	0.62	0.00	131.20	1.789	6	0.148	0.000	1601	3255	2474	0	0	0	0	1	0
6938	end apogee: CONTROL_FINISHED_OK
state	6938	begin climb
6942	0.71	136.2	1006.5	0.0	349	7091	0.77	2.47	136.65	1.761	4	0.049	0.032	1895	1832	1917	0	0	0	0	1	0
7144	0.71	136.2	973.6	20.1	355	7148	0.00	2.47	0.00	0.000	6	0.000	0.050	1896	3255	1914	0	0	0	0	0	0
7469	0.71	136.2	893.5	25.2	366	7472	0.00	1.15	0.00	0.000	4	0.000	0.055	1895	3950	1908	0	0	0	0	0	0
7699	0.71	136.2	829.8	27.8	372	7706	0.00	1.10	0.00	0.000	6	0.000	0.032	1901	3234	1905	0	0	0	0	0	0
8012	0.71	136.2	748.5	25.4	383	8018	0.00	1.15	0.00	0.000	4	0.000	0.054	1900	3946	1904	0	0	0	0	0	0
8271	0.71	136.2	676.6	26.4	390	8275	0.00	1.05	0.00	0.000	6	0.000	0.032	1904	3249	1904	0	0	0	0	0	0
8592	0.71	136.2	598.1	24.3	401	8595	0.00	1.12	0.00	0.000	4	0.000	0.054	1904	3950	1902	0	0	0	0	0	0
8804	0.71	136.2	542.0	26.8	407	8810	0.08	1.05	0.00	0.000	6	0.219	0.032	1889	3247	1902	0	0	0	0	0	0
9137	0.71	136.2	469.5	21.4	418	9141	0.00	1.12	0.00	0.000	4	0.000	0.054	1889	3953	1900	0	0	0	0	0	0
9357	0.71	136.2	416.3	24.4	424	9360	0.00	1.05	0.00	0.000	6	0.000	0.032	1893	3244	1901	0	0	0	0	0	0
9686	0.71	136.2	343.4	22.1	439	9691	0.00	1.12	0.00	0.000	4	0.000	0.054	1893	3946	1900	0	0	0	0	0	0
9879	0.71	136.2	295.8	23.9	447	9883	0.00	1.02	0.00	0.000	6	0.000	0.032	1898	3254	1900	0	0	0	0	0	0
10210	0.71	136.2	223.8	21.9	465	10215	0.00	1.10	0.00	0.000	4	0.000	0.054	1898	3946	1899	0	0	0	0	0	0
10423	0.71	136.2	172.9	24.2	477	10427	0.00	1.02	0.00	0.000	6	0.000	0.032	1903	3252	1900	0	0	0	0	0	0
10754	0.71	136.2	101.4	21.1	498	10758	0.00	1.10	0.00	0.000	4	0.000	0.053	1903	3945	1899	0	0	0	0	0	0
11027	0.71	136.2	39.8	22.5	542	11036	0.00	1.02	0.00	0.000	6	0.000	0.031	1908	3247	1899	0	0	0	0	0	0
11222	end climb: SURFACE_DEPTH_REACHED
state	11222	begin surface coast
11243	end surface coast: CONTROL_FINISHED_OK
state	11243	begin surface