Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 136 * 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 136 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 34 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 28 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 -10833.932 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 -10833.932

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 34 VBD_MAX 3961

DEVICE2 101 MASS 52816 R_STBD_OVSHOOT 28 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 136 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 291212,084512,-4630.768,402.189,44,1.1,44,-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 0.153,0.082

_SM_DEPTHo 0.89 KALMAN_X -77636.8,175.3,302.9,58536.4,-4720.4

_SM_ANGLEo -36.7 KALMAN_Y 37936.5,-208.4,-269.4,605.6,345.6

GPS2 291212,085537,-4630.729,402.279,22,1.1,23,-23.3 MHEAD_RNG_PITCHd_Wd 85.0,3204,-27.2,-10.010

SPEED_LIMITS 0.173,0.295 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.5,1.026425 _10V_AH 10.1,11.906

SM_CCo 10916,189.65,0.790,1,0,517,564.18 FG_AHR_24Vo 0.000

SM_GC 0.75,0.00,0.00,189.65,0.000,0.000,0.790,56,2924,517,-5.67,0.00,564.18 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4613.60,401.12,291212,050520 MEM 354272

TT8_MAMPS 0.026215 DATA_FILE_SIZE 40349,560

HUMID 56.49 CAP_FILE_SIZE 88676,0

INTERNAL_PRESSURE 9.21877 CFSIZE 259252224,220721152

TCM_TEMP 10.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,1

XPDR_PINGS 0 GPS 291212,120304,-4629.677,403.225,31,1.1,31,-23.3

_24V_AH 22.0,27.907

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 261 85.04 SBE_CT 370 24 195.52

Roll_motor 73 61 100.50 AA4330 1142 33 829.36

VBD_pump_during_apogee 245 1796 9699.59 WL_BB2FLVMT 643 105 1487.44

VBD_pump_during_surface 189 790 3297.14 QSP2150 254 4 24.54

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 58.30 nil 0 0 0.00

Iridium_during_connect 24 160 84.67 nil 0 0 0.00

Iridium_during_xfer 347 223 1704.97 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 25 26 6.94

TT8 1384 14 209.16

LPSleep 7417 2 164.07

TT8_Active 563 14 80.87

TT8_Sampling 1834 37 693.71

TT8_CF8 530 47 252.94

TT8_Kalman 33 59 19.93

Analog_circuits 1194 12 144.81

GPS_charging 0 0 0.00

Compass 1398 15 222.17

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 22 begin dive

26 -0.81 -63.1 0.0 0.0 0 170 0.00 0.00 -134.98 0.000 6 0.000 0.000 48 2931 3078 0 0 0 0 0 0

177 -0.88 -118.6 3.5 -4.1 18 195 6.47 2.28 -5.93 0.000 4 0.262 0.052 1577 1503 3304 0 0 0 0 0 0

380 -0.88 -118.6 39.2 -16.5 49 387 0.00 2.30 0.00 0.000 6 0.000 0.052 1569 2925 3306 0 0 0 0 0 0

621 -0.88 -118.6 86.0 -17.1 90 630 0.00 1.55 0.00 0.000 4 0.000 0.059 1561 3897 3306 0 0 0 0 0 0

714 -0.88 -118.6 102.7 -17.2 104 718 0.00 1.52 0.00 0.000 6 0.000 0.032 1561 2898 3306 0 0 0 0 0 0

1048 -0.88 -118.6 160.9 -17.3 125 1049 0.00 0.00 0.00 0.000 6 0.000 0.000 1561 2893 3306 0 0 0 0 0 0

1361 -0.88 -118.6 212.0 -15.5 145 1365 0.00 1.62 0.00 0.000 4 0.000 0.058 1554 3900 3307 0 0 0 0 0 0

1400 -0.88 -118.6 218.3 -16.2 147 1404 0.08 1.48 0.00 0.000 6 0.190 0.033 1575 2929 3307 0 0 0 0 0 0

1726 -0.88 -118.6 265.0 -13.8 166 1728 0.00 0.00 0.00 0.000 6 0.000 0.000 1575 2925 3307 0 0 0 0 0 0

2038 -0.88 -118.6 309.3 -14.5 181 2042 0.00 1.58 0.00 0.000 4 0.000 0.060 1569 3901 3307 0 0 0 0 0 0

2088 -0.88 -118.6 316.9 -15.6 183 2092 0.00 1.50 0.00 0.000 6 0.000 0.034 1569 2904 3307 0 0 0 0 0 0

2425 -0.88 -118.6 366.8 -14.5 199 2426 0.00 0.00 0.00 0.000 6 0.000 0.000 1569 2899 3307 0 0 0 0 0 0

2732 -0.88 -118.6 411.5 -14.4 213 2736 0.00 1.60 0.00 0.000 4 0.000 0.060 1561 3896 3307 0 0 0 0 0 0

2755 -0.88 -118.6 415.5 -15.3 213 2759 0.00 1.45 0.00 0.000 6 0.000 0.034 1561 2936 3307 0 0 0 0 0 0

3076 -0.88 -118.6 463.9 -15.2 224 3077 0.00 0.00 0.00 0.000 6 0.000 0.000 1561 2932 3307 0 0 0 0 0 0

3382 -0.88 -118.6 511.4 -15.7 234 3386 0.00 1.55 0.00 0.000 4 0.000 0.059 1554 3898 3306 0 0 0 0 0 0

3413 -0.88 -118.6 516.4 -16.4 234 3420 0.08 1.48 0.00 0.000 6 0.190 0.034 1574 2921 3306 0 0 0 0 0 0

3729 -0.88 -118.6 562.8 -15.1 245 3730 0.00 0.00 0.00 0.000 6 0.000 0.000 1575 2921 3306 0 0 0 0 0 0

4034 -0.88 -118.6 608.9 -14.9 255 4035 0.00 0.00 0.00 0.000 6 0.000 0.000 1574 2921 3306 0 0 0 0 0 0

4340 -0.88 -118.6 654.1 -14.7 265 4344 0.00 1.58 0.00 0.000 4 0.000 0.062 1568 3900 3306 0 0 0 0 0 0

4369 -0.88 -118.6 658.9 -15.6 265 4376 0.00 1.48 0.00 0.000 6 0.000 0.034 1568 2919 3305 0 0 0 0 0 0

4685 -0.88 -118.6 702.9 -13.8 276 4686 0.00 0.00 0.00 0.000 6 0.000 0.000 1568 2918 3305 0 0 0 0 0 0

4991 -0.88 -118.6 743.7 -13.2 286 4992 0.00 0.00 0.00 0.000 6 0.000 0.000 1569 2918 3305 0 0 0 0 0 0

5297 -0.88 -118.6 783.4 -12.7 296 5301 0.00 2.08 0.00 0.000 4 0.000 0.039 1568 1525 3304 0 0 0 0 0 0

5315 -0.88 -118.6 786.1 -12.9 296 5319 0.00 2.22 0.00 0.000 6 0.000 0.054 1558 2931 3305 0 0 0 0 0 0

5635 -0.88 -118.6 828.6 -13.6 307 5637 0.00 0.00 0.00 0.000 6 0.000 0.000 1558 2932 3304 0 0 0 0 0 0

5942 -0.88 -118.6 868.3 -12.8 317 5946 0.00 2.12 0.00 0.000 4 0.000 0.038 1558 1529 3304 0 0 0 0 0 0

5977 -0.88 -118.6 873.0 -12.5 318 5981 0.15 2.22 0.00 0.000 6 0.203 0.054 1583 2937 3304 0 0 0 0 0 0

6309 -0.88 -118.6 908.9 -10.6 329 6313 0.00 2.15 0.00 0.000 4 0.000 0.039 1585 1522 3303 0 0 0 0 0 0

6356 -0.89 -123.0 913.9 -9.5 330 6360 0.00 2.22 0.00 0.000 6 0.000 0.054 1576 2925 3304 0 0 0 0 0 0

6676 -0.89 -123.0 950.1 -11.6 341 6680 0.00 2.12 0.00 0.000 4 0.000 0.037 1576 1525 3303 0 0 0 0 0 0

6728 -0.89 -123.0 956.4 -12.0 342 6732 0.00 2.22 0.00 0.000 6 0.000 0.054 1565 2929 3303 0 0 0 0 0 0

7043 -0.89 -123.0 994.3 -12.2 352 7047 0.00 2.12 0.00 0.000 4 0.000 0.037 1565 1527 3303 0 0 0 0 0 0

7091 end dive: TARGET_DEPTH_EXCEEDED

state 7091 begin apogee

7103 -0.19 0.0 1000.6 11.5 353 7229 0.85 0.00 122.07 1.236 6 0.195 0.000 1799 2740 2819 0 0 0 0 0 0

7230 end apogee: CONTROL_FINISHED_OK

state 7230 begin climb

7235 0.89 123.0 1002.5 0.0 357 7372 0.98 0.00 123.28 1.797 6 0.057 0.000 2160 2740 2317 0 0 0 0 1 0

7673 0.89 123.0 886.0 30.4 372 7677 0.00 2.30 0.00 0.000 4 0.000 0.045 2171 1339 2314 0 0 0 0 0 0

7720 0.89 123.0 871.9 28.5 373 7724 0.00 2.33 0.00 0.000 6 0.000 0.050 2171 2742 2312 0 0 0 0 0 0

8041 0.89 123.0 774.5 30.7 384 8042 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2742 2311 0 0 0 0 0 0

8348 0.89 123.0 680.0 31.3 394 8349 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2742 2310 0 0 0 0 0 0

8653 0.89 123.0 586.7 30.6 404 8657 0.00 2.20 0.00 0.000 4 0.000 0.044 2181 1352 2309 0 0 0 0 0 0

8705 0.89 123.0 570.9 28.7 405 8709 0.00 2.22 0.00 0.000 6 0.000 0.050 2181 2740 2308 0 0 0 0 0 0

9026 0.89 123.0 473.9 30.3 416 9030 0.00 2.20 0.00 0.000 4 0.000 0.044 2192 1340 2308 0 0 0 0 0 0

9089 0.89 123.0 455.7 26.8 417 9096 0.15 2.22 0.00 0.000 6 0.252 0.050 2160 2734 2307 0 0 0 0 0 0

9415 0.89 123.0 367.5 26.0 430 9419 0.00 2.17 0.00 0.000 4 0.000 0.045 2170 1345 2307 0 0 0 0 0 0

9462 0.89 123.0 355.4 24.4 432 9466 0.00 2.20 0.00 0.000 6 0.000 0.051 2169 2735 2306 0 0 0 0 0 0

9791 0.89 123.0 268.9 26.1 448 9795 0.00 2.17 0.00 0.000 4 0.000 0.045 2179 1345 2306 0 0 0 0 0 0

9815 0.89 123.0 262.1 25.8 449 9819 0.00 2.20 0.00 0.000 6 0.000 0.051 2179 2737 2306 0 0 0 0 0 0

10139 0.89 123.0 178.2 26.0 469 10140 0.00 0.00 0.00 0.000 6 0.000 0.000 2179 2737 2306 0 0 0 0 0 0

10451 0.89 123.0 98.6 23.9 489 10458 0.00 1.85 0.00 0.000 4 0.000 0.059 2179 3901 2306 0 0 0 0 0 0

10491 0.89 123.0 87.3 27.2 495 10498 0.10 1.80 0.00 0.000 6 0.261 0.039 2164 2749 2306 0 0 0 0 0 0

10861 0.89 123.0 5.2 22.8 556 10870 0.00 1.85 0.00 0.000 4 0.000 0.055 2164 3901 2304 0 0 0 0 0 0

10878 end climb: SURFACE_DEPTH_REACHED

state 10879 begin surface coast

10892 end surface coast: CONTROL_FINISHED_OK

state 10892 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	136	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	34	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	28	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	-10833.932	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	291212,084512,-4630.768,402.189,44,1.1,44,-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	0.153,0.082
_SM_DEPTHo	0.89	KALMAN_X	-77636.8,175.3,302.9,58536.4,-4720.4
_SM_ANGLEo	-36.7	KALMAN_Y	37936.5,-208.4,-269.4,605.6,345.6
GPS2	291212,085537,-4630.729,402.279,22,1.1,23,-23.3	MHEAD_RNG_PITCHd_Wd	85.0,3204,-27.2,-10.010
SPEED_LIMITS	0.173,0.295	D_GRID	1000

FINISH	0.5,1.026425	_10V_AH	10.1,11.906
SM_CCo	10916,189.65,0.790,1,0,517,564.18	FG_AHR_24Vo	0.000
SM_GC	0.75,0.00,0.00,189.65,0.000,0.000,0.790,56,2924,517,-5.67,0.00,564.18	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4613.60,401.12,291212,050520	MEM	354272
TT8_MAMPS	0.026215	DATA_FILE_SIZE	40349,560
HUMID	56.49	CAP_FILE_SIZE	88676,0
INTERNAL_PRESSURE	9.21877	CFSIZE	259252224,220721152
TCM_TEMP	10.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
XPDR_PINGS	0	GPS	291212,120304,-4629.677,403.225,31,1.1,31,-23.3
_24V_AH	22.0,27.907

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	261	85.04	SBE_CT	370	24	195.52
Roll_motor	73	61	100.50	AA4330	1142	33	829.36
VBD_pump_during_apogee	245	1796	9699.59	WL_BB2FLVMT	643	105	1487.44
VBD_pump_during_surface	189	790	3297.14	QSP2150	254	4	24.54
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	58.30	nil	0	0	0.00
Iridium_during_connect	24	160	84.67	nil	0	0	0.00
Iridium_during_xfer	347	223	1704.97	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	25	26	6.94
TT8	1384	14	209.16
LPSleep	7417	2	164.07
TT8_Active	563	14	80.87
TT8_Sampling	1834	37	693.71
TT8_CF8	530	47	252.94
TT8_Kalman	33	59	19.93
Analog_circuits	1194	12	144.81
GPS_charging	0	0	0.00
Compass	1398	15	222.17
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	22	begin dive
26	-0.81	-63.1	0.0	0.0	0	170	0.00	0.00	-134.98	0.000	6	0.000	0.000	48	2931	3078	0	0	0	0	0	0
177	-0.88	-118.6	3.5	-4.1	18	195	6.47	2.28	-5.93	0.000	4	0.262	0.052	1577	1503	3304	0	0	0	0	0	0
380	-0.88	-118.6	39.2	-16.5	49	387	0.00	2.30	0.00	0.000	6	0.000	0.052	1569	2925	3306	0	0	0	0	0	0
621	-0.88	-118.6	86.0	-17.1	90	630	0.00	1.55	0.00	0.000	4	0.000	0.059	1561	3897	3306	0	0	0	0	0	0
714	-0.88	-118.6	102.7	-17.2	104	718	0.00	1.52	0.00	0.000	6	0.000	0.032	1561	2898	3306	0	0	0	0	0	0
1048	-0.88	-118.6	160.9	-17.3	125	1049	0.00	0.00	0.00	0.000	6	0.000	0.000	1561	2893	3306	0	0	0	0	0	0
1361	-0.88	-118.6	212.0	-15.5	145	1365	0.00	1.62	0.00	0.000	4	0.000	0.058	1554	3900	3307	0	0	0	0	0	0
1400	-0.88	-118.6	218.3	-16.2	147	1404	0.08	1.48	0.00	0.000	6	0.190	0.033	1575	2929	3307	0	0	0	0	0	0
1726	-0.88	-118.6	265.0	-13.8	166	1728	0.00	0.00	0.00	0.000	6	0.000	0.000	1575	2925	3307	0	0	0	0	0	0
2038	-0.88	-118.6	309.3	-14.5	181	2042	0.00	1.58	0.00	0.000	4	0.000	0.060	1569	3901	3307	0	0	0	0	0	0
2088	-0.88	-118.6	316.9	-15.6	183	2092	0.00	1.50	0.00	0.000	6	0.000	0.034	1569	2904	3307	0	0	0	0	0	0
2425	-0.88	-118.6	366.8	-14.5	199	2426	0.00	0.00	0.00	0.000	6	0.000	0.000	1569	2899	3307	0	0	0	0	0	0
2732	-0.88	-118.6	411.5	-14.4	213	2736	0.00	1.60	0.00	0.000	4	0.000	0.060	1561	3896	3307	0	0	0	0	0	0
2755	-0.88	-118.6	415.5	-15.3	213	2759	0.00	1.45	0.00	0.000	6	0.000	0.034	1561	2936	3307	0	0	0	0	0	0
3076	-0.88	-118.6	463.9	-15.2	224	3077	0.00	0.00	0.00	0.000	6	0.000	0.000	1561	2932	3307	0	0	0	0	0	0
3382	-0.88	-118.6	511.4	-15.7	234	3386	0.00	1.55	0.00	0.000	4	0.000	0.059	1554	3898	3306	0	0	0	0	0	0
3413	-0.88	-118.6	516.4	-16.4	234	3420	0.08	1.48	0.00	0.000	6	0.190	0.034	1574	2921	3306	0	0	0	0	0	0
3729	-0.88	-118.6	562.8	-15.1	245	3730	0.00	0.00	0.00	0.000	6	0.000	0.000	1575	2921	3306	0	0	0	0	0	0
4034	-0.88	-118.6	608.9	-14.9	255	4035	0.00	0.00	0.00	0.000	6	0.000	0.000	1574	2921	3306	0	0	0	0	0	0
4340	-0.88	-118.6	654.1	-14.7	265	4344	0.00	1.58	0.00	0.000	4	0.000	0.062	1568	3900	3306	0	0	0	0	0	0
4369	-0.88	-118.6	658.9	-15.6	265	4376	0.00	1.48	0.00	0.000	6	0.000	0.034	1568	2919	3305	0	0	0	0	0	0
4685	-0.88	-118.6	702.9	-13.8	276	4686	0.00	0.00	0.00	0.000	6	0.000	0.000	1568	2918	3305	0	0	0	0	0	0
4991	-0.88	-118.6	743.7	-13.2	286	4992	0.00	0.00	0.00	0.000	6	0.000	0.000	1569	2918	3305	0	0	0	0	0	0
5297	-0.88	-118.6	783.4	-12.7	296	5301	0.00	2.08	0.00	0.000	4	0.000	0.039	1568	1525	3304	0	0	0	0	0	0
5315	-0.88	-118.6	786.1	-12.9	296	5319	0.00	2.22	0.00	0.000	6	0.000	0.054	1558	2931	3305	0	0	0	0	0	0
5635	-0.88	-118.6	828.6	-13.6	307	5637	0.00	0.00	0.00	0.000	6	0.000	0.000	1558	2932	3304	0	0	0	0	0	0
5942	-0.88	-118.6	868.3	-12.8	317	5946	0.00	2.12	0.00	0.000	4	0.000	0.038	1558	1529	3304	0	0	0	0	0	0
5977	-0.88	-118.6	873.0	-12.5	318	5981	0.15	2.22	0.00	0.000	6	0.203	0.054	1583	2937	3304	0	0	0	0	0	0
6309	-0.88	-118.6	908.9	-10.6	329	6313	0.00	2.15	0.00	0.000	4	0.000	0.039	1585	1522	3303	0	0	0	0	0	0
6356	-0.89	-123.0	913.9	-9.5	330	6360	0.00	2.22	0.00	0.000	6	0.000	0.054	1576	2925	3304	0	0	0	0	0	0
6676	-0.89	-123.0	950.1	-11.6	341	6680	0.00	2.12	0.00	0.000	4	0.000	0.037	1576	1525	3303	0	0	0	0	0	0
6728	-0.89	-123.0	956.4	-12.0	342	6732	0.00	2.22	0.00	0.000	6	0.000	0.054	1565	2929	3303	0	0	0	0	0	0
7043	-0.89	-123.0	994.3	-12.2	352	7047	0.00	2.12	0.00	0.000	4	0.000	0.037	1565	1527	3303	0	0	0	0	0	0
7091	end dive: TARGET_DEPTH_EXCEEDED
state	7091	begin apogee
7103	-0.19	0.0	1000.6	11.5	353	7229	0.85	0.00	122.07	1.236	6	0.195	0.000	1799	2740	2819	0	0	0	0	0	0
7230	end apogee: CONTROL_FINISHED_OK
state	7230	begin climb
7235	0.89	123.0	1002.5	0.0	357	7372	0.98	0.00	123.28	1.797	6	0.057	0.000	2160	2740	2317	0	0	0	0	1	0
7673	0.89	123.0	886.0	30.4	372	7677	0.00	2.30	0.00	0.000	4	0.000	0.045	2171	1339	2314	0	0	0	0	0	0
7720	0.89	123.0	871.9	28.5	373	7724	0.00	2.33	0.00	0.000	6	0.000	0.050	2171	2742	2312	0	0	0	0	0	0
8041	0.89	123.0	774.5	30.7	384	8042	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2742	2311	0	0	0	0	0	0
8348	0.89	123.0	680.0	31.3	394	8349	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2742	2310	0	0	0	0	0	0
8653	0.89	123.0	586.7	30.6	404	8657	0.00	2.20	0.00	0.000	4	0.000	0.044	2181	1352	2309	0	0	0	0	0	0
8705	0.89	123.0	570.9	28.7	405	8709	0.00	2.22	0.00	0.000	6	0.000	0.050	2181	2740	2308	0	0	0	0	0	0
9026	0.89	123.0	473.9	30.3	416	9030	0.00	2.20	0.00	0.000	4	0.000	0.044	2192	1340	2308	0	0	0	0	0	0
9089	0.89	123.0	455.7	26.8	417	9096	0.15	2.22	0.00	0.000	6	0.252	0.050	2160	2734	2307	0	0	0	0	0	0
9415	0.89	123.0	367.5	26.0	430	9419	0.00	2.17	0.00	0.000	4	0.000	0.045	2170	1345	2307	0	0	0	0	0	0
9462	0.89	123.0	355.4	24.4	432	9466	0.00	2.20	0.00	0.000	6	0.000	0.051	2169	2735	2306	0	0	0	0	0	0
9791	0.89	123.0	268.9	26.1	448	9795	0.00	2.17	0.00	0.000	4	0.000	0.045	2179	1345	2306	0	0	0	0	0	0
9815	0.89	123.0	262.1	25.8	449	9819	0.00	2.20	0.00	0.000	6	0.000	0.051	2179	2737	2306	0	0	0	0	0	0
10139	0.89	123.0	178.2	26.0	469	10140	0.00	0.00	0.00	0.000	6	0.000	0.000	2179	2737	2306	0	0	0	0	0	0
10451	0.89	123.0	98.6	23.9	489	10458	0.00	1.85	0.00	0.000	4	0.000	0.059	2179	3901	2306	0	0	0	0	0	0
10491	0.89	123.0	87.3	27.2	495	10498	0.10	1.80	0.00	0.000	6	0.261	0.039	2164	2749	2306	0	0	0	0	0	0
10861	0.89	123.0	5.2	22.8	556	10870	0.00	1.85	0.00	0.000	4	0.000	0.055	2164	3901	2304	0	0	0	0	0	0
10878	end climb: SURFACE_DEPTH_REACHED
state	10879	begin surface coast
10892	end surface coast: CONTROL_FINISHED_OK
state	10892	begin surface