Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 14 * 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 120

DIVE 14 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2500 ALTIM_PING_DELTA 5

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2500 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -56 HEAD_ERRBAND 20 ALTIM_PULSE 3

D_TGT 500 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 250 R_PORT_OVSHOOT 40 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 13 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 2500 DEVICE3 35

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 134

T_DIVE 165 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 180 CAPUPLOAD 1 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 -21730.541 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 1802 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 41 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 500 PHONE_DEVICE 48 SM_CC 250

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 500 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 120 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 41 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 0.0012300001 T_BOOST 0

APOGEE_PITCH -7 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011816985 T_DIVE 165

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -53.02364 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 -21730.541

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

CAPUPLOAD 1 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 180

CF8_MAXERRORS 20 HEAD_ERRBAND 20 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 1802 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2500 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 2500 LOGGERDEVICE1 -1 ROLL_MAX 3901 USE_ICE 0

C_VBD 2500 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 40 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 13 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 14 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 131214,102207,-5559.071,0.400,13,1.9,14,-20.1 TGT_NAME TARGET

_CALLS 1 TGT_LATLONG -56.000,-0.300

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.127,0.214

_SM_DEPTHo 1.10 KALMAN_X 1445.0,220.3,118.8,-1329.2,1256.1

_SM_ANGLEo -64.1 KALMAN_Y -6111.2,-1260.7,212.4,9224.4,-2109.7

GPS2 131214,103006,-5559.052,0.381,17,1.2,18,-20.1 MHEAD_RNG_PITCHd_Wd 349.4,6117252,-18.7,-10.101

SPEED_LIMITS 0.175,0.261 D_GRID 500

Post-dive calculations and measurements:

FINISH 0.5,1.019515 _10V_AH 10.1,5.440

SM_CCo 6059,41.33,0.178,0,0,1478,250.20 FG_AHR_24Vo 0.000

SM_GC 1.81,0.00,0.00,41.33,0.000,0.000,0.178,66,2488,1478,-5.42,-0.34,250.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5535.12,-3.85,131214,090918 MEM 354464

TT8_MAMPS 0.026215 DATA_FILE_SIZE 73788,976

HUMID 54.56 CAP_FILE_SIZE 111413,0

INTERNAL_PRESSURE 8.92579 CFSIZE 259252224,226091008

TCM_TEMP 6.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 131214,121357,-5558.561,-0.105,37,1.3,41,-20.1

_24V_AH 22.1,10.541

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 265 83.75 SBE_CT 690 23 365.78

Roll_motor 100 90 199.50 AA4330 2502 17 994.53

VBD_pump_during_apogee 261 1501 8667.73 WL_BB2F 1698 105 3940.63

VBD_pump_during_surface 41 178 162.79 QSP2150 2692 17 1070.03

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 91 51.56 nil 0 0 0.00

Iridium_during_connect 41 160 147.44 nil 0 0 0.00

Iridium_during_xfer 315 223 1553.08 nil 0 0 0.00

Transponder_ping 19 420 178.68 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 31 6.30

TT8 2248 14 328.38

LPSleep 563 2 12.46

TT8_Active 451 14 65.87

TT8_Sampling 3173 42 1351.63

TT8_CF8 161 49 80.93

TT8_Kalman 33 68 23.02

Analog_circuits 1355 15 212.22

GPS_charging 0 0 0.00

Compass 2458 16 409.24

RAFOS 0 0 0.00

Transponder 123 30 37.40

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 -0.62 -131.4 0.0 0.0 0 75 0.00 0.00 -57.90 0.000 2 0.000 0.000 58 2289 2788 0 0 0 0 0 0

77 -0.64 -146.1 3.2 -6.1 7 103 6.68 2.83 -7.97 0.000 4 0.265 0.090 1575 3899 3097 0 0 0 0 0 0

371 -0.64 -146.1 66.5 -20.9 55 378 0.00 2.30 0.00 0.000 6 0.000 0.056 1578 2512 3099 0 0 0 0 0 0

483 -0.64 -146.1 89.2 -20.5 74 492 0.00 2.42 0.00 0.000 4 0.000 0.080 1568 3903 3098 0 0 0 0 0 0

641 -0.64 -146.1 121.9 -19.5 100 649 0.00 2.35 0.00 0.000 6 0.000 0.056 1568 2495 3098 0 0 0 0 0 0

768 -0.64 -146.1 145.6 -19.3 119 775 0.00 2.40 0.00 0.000 4 0.000 0.080 1558 3904 3098 0 0 0 0 0 0

818 -0.64 -146.1 156.5 -21.3 127 826 0.15 2.30 0.00 0.000 6 0.207 0.054 1592 2498 3099 0 0 0 0 0 0

938 -0.64 -146.1 177.9 -16.4 146 946 0.00 2.42 0.00 0.000 4 0.000 0.080 1582 3904 3098 0 0 0 0 0 0

1067 -0.64 -146.1 200.7 -16.7 167 1074 0.00 2.30 0.00 0.000 6 0.000 0.054 1582 2486 3098 0 0 0 0 0 0

1182 -0.64 -146.1 220.5 -16.3 186 1191 0.00 2.42 0.00 0.000 4 0.000 0.080 1571 3900 3098 0 0 0 0 0 0

1251 -0.64 -146.1 232.8 -18.2 197 1258 0.00 2.28 0.00 0.000 6 0.000 0.054 1571 2497 3098 0 0 0 0 0 0

1367 -0.64 -146.1 252.6 -16.4 216 1376 0.00 2.40 0.00 0.000 4 0.000 0.080 1561 3899 3099 0 0 0 0 0 0

1449 -0.64 -146.1 266.9 -17.3 229 1457 0.12 2.28 0.00 0.000 6 0.208 0.054 1588 2502 3098 0 0 0 0 0 0

1563 -0.64 -146.1 283.4 -14.0 248 1571 0.00 0.00 0.00 0.000 6 0.000 0.000 1588 2502 3098 0 0 0 0 0 0

1679 -0.64 -146.1 298.0 -12.2 267 1686 0.00 2.38 0.00 0.000 4 0.000 0.078 1578 3909 3098 0 0 0 0 0 0

1826 -0.64 -146.1 319.3 -15.0 291 1834 0.00 2.30 0.00 0.000 6 0.000 0.054 1579 2488 3098 0 0 0 0 0 0

1946 -0.64 -146.1 336.7 -14.3 310 1955 0.00 2.40 0.00 0.000 4 0.000 0.078 1567 3901 3098 0 0 0 0 0 0

2005 -0.64 -146.1 346.2 -17.8 319 2012 0.00 2.28 0.00 0.000 6 0.000 0.054 1567 2493 3099 0 0 0 0 0 0

2121 -0.64 -146.1 365.4 -16.2 338 2131 0.00 2.40 0.00 0.000 4 0.000 0.077 1556 3909 3099 0 0 0 0 0 0

2218 -0.64 -146.1 383.4 -19.2 353 2226 0.15 2.28 0.00 0.000 6 0.203 0.053 1592 2499 3099 0 0 0 0 0 0

2336 -0.64 -146.1 402.4 -15.2 372 2345 0.00 2.40 0.00 0.000 4 0.000 0.078 1582 3900 3099 0 0 0 0 0 0

2432 -0.64 -146.1 419.0 -17.9 387 2440 0.00 2.30 0.00 0.000 6 0.000 0.054 1582 2462 3099 0 0 0 0 0 0

2550 -0.64 -146.1 438.7 -16.3 406 2559 0.00 2.42 0.00 0.000 4 0.000 0.077 1571 3900 3099 0 0 0 0 0 0

2643 -0.64 -146.1 455.3 -18.2 421 2651 0.00 2.25 0.00 0.000 6 0.000 0.053 1571 2503 3099 0 0 0 0 0 0

2761 -0.64 -146.1 475.6 -16.5 440 2770 0.00 2.35 0.00 0.000 4 0.000 0.076 1560 3897 3099 0 0 0 0 0 0

2841 -0.64 -146.1 490.6 -19.0 453 2848 0.12 2.25 0.00 0.000 6 0.203 0.052 1589 2500 3099 0 0 0 0 0 0

2898 end dive: TARGET_DEPTH_EXCEEDED

state 2898 begin apogee

2901 -0.17 0.0 500.6 15.2 462 3036 0.50 0.00 126.35 1.502 6 0.174 0.000 1740 2499 2501 0 0 0 0 0 0

3037 end apogee: CONTROL_FINISHED_OK

state 3037 begin climb

3038 0.64 146.1 506.7 0.0 481 3181 0.88 2.70 134.82 1.459 4 0.124 0.061 2011 1082 1903 0 0 0 0 0 0

3230 0.64 146.1 487.4 15.6 509 3237 0.00 2.62 0.00 0.000 6 0.000 0.063 2011 2512 1898 0 0 0 0 0 0

3343 0.64 146.1 467.2 18.4 528 3351 0.00 0.00 0.00 0.000 6 0.000 0.000 2011 2512 1896 0 0 0 0 0 0

3458 0.64 146.1 446.9 18.1 547 3465 0.00 2.45 0.00 0.000 4 0.000 0.073 2012 3903 1894 0 0 0 0 0 0

3543 0.64 146.1 429.2 21.1 561 3550 0.00 2.40 0.00 0.000 6 0.000 0.054 2022 2501 1892 0 0 0 0 0 0

3657 0.64 146.1 407.4 18.1 580 3666 0.00 2.47 0.00 0.000 4 0.000 0.073 2022 3897 1892 0 0 0 0 0 0

3731 0.64 146.1 391.8 22.6 592 3740 0.00 2.40 0.00 0.000 6 0.000 0.055 2033 2494 1892 0 0 0 0 0 0

3847 0.64 146.1 369.6 19.2 611 3853 0.00 0.00 0.00 0.000 6 0.000 0.000 2034 2493 1891 0 0 0 0 0 0

3959 0.64 146.1 348.4 19.0 630 3967 0.00 0.00 0.00 0.000 6 0.000 0.000 2034 2493 1891 0 0 0 0 0 0

4073 0.64 146.1 327.0 19.2 649 4080 0.00 2.42 0.00 0.000 4 0.000 0.073 2033 3904 1891 0 0 0 0 0 0

4194 0.64 146.1 300.5 22.1 669 4202 0.15 2.35 0.00 0.000 6 0.242 0.054 2013 2485 1890 0 0 0 0 0 0

4308 0.64 146.1 280.3 16.7 688 4317 0.00 0.00 0.00 0.000 6 0.000 0.000 2013 2485 1890 0 0 0 0 0 0

4423 0.64 146.1 261.7 16.5 707 4430 0.00 2.42 0.00 0.000 4 0.000 0.073 2013 3907 1890 0 0 0 0 0 0

4521 0.64 146.1 243.7 19.7 723 4528 0.00 2.33 0.00 0.000 6 0.000 0.054 2023 2496 1890 0 0 0 0 0 0

4633 0.64 146.1 223.8 17.0 742 4641 0.00 0.00 0.00 0.000 6 0.000 0.000 2023 2496 1890 0 0 0 0 0 0

4749 0.64 146.1 206.3 14.5 761 4755 0.00 0.00 0.00 0.000 6 0.000 0.000 2023 2496 1890 0 0 0 0 0 0

4860 0.64 146.1 188.7 15.6 780 4869 0.00 2.40 0.00 0.000 4 0.000 0.073 2023 3903 1890 0 0 0 0 0 0

5001 0.64 146.1 162.6 18.3 804 5010 0.00 2.33 0.00 0.000 6 0.000 0.053 2034 2494 1890 0 0 0 0 0 0

5115 0.64 146.1 144.0 17.0 823 5121 0.00 0.00 0.00 0.000 6 0.000 0.000 2034 2495 1890 0 0 0 0 0 0

5228 0.64 146.1 126.1 15.3 842 5237 0.00 2.38 0.00 0.000 4 0.000 0.073 2034 3897 1890 0 0 0 0 0 0

5367 0.64 146.1 101.3 17.8 865 5375 0.15 2.28 0.00 0.000 6 0.245 0.054 2013 2498 1890 0 0 0 0 0 0

5480 0.64 146.1 85.3 12.5 884 5489 0.00 2.38 0.00 0.000 4 0.000 0.073 2013 3898 1890 0 0 0 0 0 0

5588 0.64 146.1 68.8 16.5 902 5597 0.00 2.30 0.00 0.000 6 0.000 0.056 2023 2502 1890 0 0 0 0 0 0

5705 0.64 146.1 52.3 14.7 921 5711 0.00 0.00 0.00 0.000 6 0.000 0.000 2023 2502 1890 0 0 0 0 0 0

5817 0.64 146.1 35.6 15.1 940 5825 0.00 0.00 0.00 0.000 6 0.000 0.000 2023 2502 1890 0 0 0 0 0 0

5935 0.64 146.1 18.7 15.0 959 5945 0.00 2.35 0.00 0.000 4 0.000 0.074 2023 3895 1890 0 0 0 0 0 0

6025 end climb: SURFACE_DEPTH_REACHED

state 6025 begin surface coast

6045 end surface coast: CONTROL_FINISHED_OK

state 6045 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	120
DIVE	14	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2500	ALTIM_PING_DELTA	5
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2500	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-56	HEAD_ERRBAND	20	ALTIM_PULSE	3
D_TGT	500	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	250	R_PORT_OVSHOOT	40	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	13	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	2500	DEVICE3	35
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	134
T_DIVE	165	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	180	CAPUPLOAD	1	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	-21730.541	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	1802	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	41	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	131214,102207,-5559.071,0.400,13,1.9,14,-20.1	TGT_NAME	TARGET
_CALLS	1	TGT_LATLONG	-56.000,-0.300
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.127,0.214
_SM_DEPTHo	1.10	KALMAN_X	1445.0,220.3,118.8,-1329.2,1256.1
_SM_ANGLEo	-64.1	KALMAN_Y	-6111.2,-1260.7,212.4,9224.4,-2109.7
GPS2	131214,103006,-5559.052,0.381,17,1.2,18,-20.1	MHEAD_RNG_PITCHd_Wd	349.4,6117252,-18.7,-10.101
SPEED_LIMITS	0.175,0.261	D_GRID	500

FINISH	0.5,1.019515	_10V_AH	10.1,5.440
SM_CCo	6059,41.33,0.178,0,0,1478,250.20	FG_AHR_24Vo	0.000
SM_GC	1.81,0.00,0.00,41.33,0.000,0.000,0.178,66,2488,1478,-5.42,-0.34,250.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5535.12,-3.85,131214,090918	MEM	354464
TT8_MAMPS	0.026215	DATA_FILE_SIZE	73788,976
HUMID	54.56	CAP_FILE_SIZE	111413,0
INTERNAL_PRESSURE	8.92579	CFSIZE	259252224,226091008
TCM_TEMP	6.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	131214,121357,-5558.561,-0.105,37,1.3,41,-20.1
_24V_AH	22.1,10.541

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	265	83.75	SBE_CT	690	23	365.78
Roll_motor	100	90	199.50	AA4330	2502	17	994.53
VBD_pump_during_apogee	261	1501	8667.73	WL_BB2F	1698	105	3940.63
VBD_pump_during_surface	41	178	162.79	QSP2150	2692	17	1070.03
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	91	51.56	nil	0	0	0.00
Iridium_during_connect	41	160	147.44	nil	0	0	0.00
Iridium_during_xfer	315	223	1553.08	nil	0	0	0.00
Transponder_ping	19	420	178.68	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	31	6.30
TT8	2248	14	328.38
LPSleep	563	2	12.46
TT8_Active	451	14	65.87
TT8_Sampling	3173	42	1351.63
TT8_CF8	161	49	80.93
TT8_Kalman	33	68	23.02
Analog_circuits	1355	15	212.22
GPS_charging	0	0	0.00
Compass	2458	16	409.24
RAFOS	0	0	0.00
Transponder	123	30	37.40

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	-0.62	-131.4	0.0	0.0	0	75	0.00	0.00	-57.90	0.000	2	0.000	0.000	58	2289	2788	0	0	0	0	0	0
77	-0.64	-146.1	3.2	-6.1	7	103	6.68	2.83	-7.97	0.000	4	0.265	0.090	1575	3899	3097	0	0	0	0	0	0
371	-0.64	-146.1	66.5	-20.9	55	378	0.00	2.30	0.00	0.000	6	0.000	0.056	1578	2512	3099	0	0	0	0	0	0
483	-0.64	-146.1	89.2	-20.5	74	492	0.00	2.42	0.00	0.000	4	0.000	0.080	1568	3903	3098	0	0	0	0	0	0
641	-0.64	-146.1	121.9	-19.5	100	649	0.00	2.35	0.00	0.000	6	0.000	0.056	1568	2495	3098	0	0	0	0	0	0
768	-0.64	-146.1	145.6	-19.3	119	775	0.00	2.40	0.00	0.000	4	0.000	0.080	1558	3904	3098	0	0	0	0	0	0
818	-0.64	-146.1	156.5	-21.3	127	826	0.15	2.30	0.00	0.000	6	0.207	0.054	1592	2498	3099	0	0	0	0	0	0
938	-0.64	-146.1	177.9	-16.4	146	946	0.00	2.42	0.00	0.000	4	0.000	0.080	1582	3904	3098	0	0	0	0	0	0
1067	-0.64	-146.1	200.7	-16.7	167	1074	0.00	2.30	0.00	0.000	6	0.000	0.054	1582	2486	3098	0	0	0	0	0	0
1182	-0.64	-146.1	220.5	-16.3	186	1191	0.00	2.42	0.00	0.000	4	0.000	0.080	1571	3900	3098	0	0	0	0	0	0
1251	-0.64	-146.1	232.8	-18.2	197	1258	0.00	2.28	0.00	0.000	6	0.000	0.054	1571	2497	3098	0	0	0	0	0	0
1367	-0.64	-146.1	252.6	-16.4	216	1376	0.00	2.40	0.00	0.000	4	0.000	0.080	1561	3899	3099	0	0	0	0	0	0
1449	-0.64	-146.1	266.9	-17.3	229	1457	0.12	2.28	0.00	0.000	6	0.208	0.054	1588	2502	3098	0	0	0	0	0	0
1563	-0.64	-146.1	283.4	-14.0	248	1571	0.00	0.00	0.00	0.000	6	0.000	0.000	1588	2502	3098	0	0	0	0	0	0
1679	-0.64	-146.1	298.0	-12.2	267	1686	0.00	2.38	0.00	0.000	4	0.000	0.078	1578	3909	3098	0	0	0	0	0	0
1826	-0.64	-146.1	319.3	-15.0	291	1834	0.00	2.30	0.00	0.000	6	0.000	0.054	1579	2488	3098	0	0	0	0	0	0
1946	-0.64	-146.1	336.7	-14.3	310	1955	0.00	2.40	0.00	0.000	4	0.000	0.078	1567	3901	3098	0	0	0	0	0	0
2005	-0.64	-146.1	346.2	-17.8	319	2012	0.00	2.28	0.00	0.000	6	0.000	0.054	1567	2493	3099	0	0	0	0	0	0
2121	-0.64	-146.1	365.4	-16.2	338	2131	0.00	2.40	0.00	0.000	4	0.000	0.077	1556	3909	3099	0	0	0	0	0	0
2218	-0.64	-146.1	383.4	-19.2	353	2226	0.15	2.28	0.00	0.000	6	0.203	0.053	1592	2499	3099	0	0	0	0	0	0
2336	-0.64	-146.1	402.4	-15.2	372	2345	0.00	2.40	0.00	0.000	4	0.000	0.078	1582	3900	3099	0	0	0	0	0	0
2432	-0.64	-146.1	419.0	-17.9	387	2440	0.00	2.30	0.00	0.000	6	0.000	0.054	1582	2462	3099	0	0	0	0	0	0
2550	-0.64	-146.1	438.7	-16.3	406	2559	0.00	2.42	0.00	0.000	4	0.000	0.077	1571	3900	3099	0	0	0	0	0	0
2643	-0.64	-146.1	455.3	-18.2	421	2651	0.00	2.25	0.00	0.000	6	0.000	0.053	1571	2503	3099	0	0	0	0	0	0
2761	-0.64	-146.1	475.6	-16.5	440	2770	0.00	2.35	0.00	0.000	4	0.000	0.076	1560	3897	3099	0	0	0	0	0	0
2841	-0.64	-146.1	490.6	-19.0	453	2848	0.12	2.25	0.00	0.000	6	0.203	0.052	1589	2500	3099	0	0	0	0	0	0
2898	end dive: TARGET_DEPTH_EXCEEDED
state	2898	begin apogee
2901	-0.17	0.0	500.6	15.2	462	3036	0.50	0.00	126.35	1.502	6	0.174	0.000	1740	2499	2501	0	0	0	0	0	0
3037	end apogee: CONTROL_FINISHED_OK
state	3037	begin climb
3038	0.64	146.1	506.7	0.0	481	3181	0.88	2.70	134.82	1.459	4	0.124	0.061	2011	1082	1903	0	0	0	0	0	0
3230	0.64	146.1	487.4	15.6	509	3237	0.00	2.62	0.00	0.000	6	0.000	0.063	2011	2512	1898	0	0	0	0	0	0
3343	0.64	146.1	467.2	18.4	528	3351	0.00	0.00	0.00	0.000	6	0.000	0.000	2011	2512	1896	0	0	0	0	0	0
3458	0.64	146.1	446.9	18.1	547	3465	0.00	2.45	0.00	0.000	4	0.000	0.073	2012	3903	1894	0	0	0	0	0	0
3543	0.64	146.1	429.2	21.1	561	3550	0.00	2.40	0.00	0.000	6	0.000	0.054	2022	2501	1892	0	0	0	0	0	0
3657	0.64	146.1	407.4	18.1	580	3666	0.00	2.47	0.00	0.000	4	0.000	0.073	2022	3897	1892	0	0	0	0	0	0
3731	0.64	146.1	391.8	22.6	592	3740	0.00	2.40	0.00	0.000	6	0.000	0.055	2033	2494	1892	0	0	0	0	0	0
3847	0.64	146.1	369.6	19.2	611	3853	0.00	0.00	0.00	0.000	6	0.000	0.000	2034	2493	1891	0	0	0	0	0	0
3959	0.64	146.1	348.4	19.0	630	3967	0.00	0.00	0.00	0.000	6	0.000	0.000	2034	2493	1891	0	0	0	0	0	0
4073	0.64	146.1	327.0	19.2	649	4080	0.00	2.42	0.00	0.000	4	0.000	0.073	2033	3904	1891	0	0	0	0	0	0
4194	0.64	146.1	300.5	22.1	669	4202	0.15	2.35	0.00	0.000	6	0.242	0.054	2013	2485	1890	0	0	0	0	0	0
4308	0.64	146.1	280.3	16.7	688	4317	0.00	0.00	0.00	0.000	6	0.000	0.000	2013	2485	1890	0	0	0	0	0	0
4423	0.64	146.1	261.7	16.5	707	4430	0.00	2.42	0.00	0.000	4	0.000	0.073	2013	3907	1890	0	0	0	0	0	0
4521	0.64	146.1	243.7	19.7	723	4528	0.00	2.33	0.00	0.000	6	0.000	0.054	2023	2496	1890	0	0	0	0	0	0
4633	0.64	146.1	223.8	17.0	742	4641	0.00	0.00	0.00	0.000	6	0.000	0.000	2023	2496	1890	0	0	0	0	0	0
4749	0.64	146.1	206.3	14.5	761	4755	0.00	0.00	0.00	0.000	6	0.000	0.000	2023	2496	1890	0	0	0	0	0	0
4860	0.64	146.1	188.7	15.6	780	4869	0.00	2.40	0.00	0.000	4	0.000	0.073	2023	3903	1890	0	0	0	0	0	0
5001	0.64	146.1	162.6	18.3	804	5010	0.00	2.33	0.00	0.000	6	0.000	0.053	2034	2494	1890	0	0	0	0	0	0
5115	0.64	146.1	144.0	17.0	823	5121	0.00	0.00	0.00	0.000	6	0.000	0.000	2034	2495	1890	0	0	0	0	0	0
5228	0.64	146.1	126.1	15.3	842	5237	0.00	2.38	0.00	0.000	4	0.000	0.073	2034	3897	1890	0	0	0	0	0	0
5367	0.64	146.1	101.3	17.8	865	5375	0.15	2.28	0.00	0.000	6	0.245	0.054	2013	2498	1890	0	0	0	0	0	0
5480	0.64	146.1	85.3	12.5	884	5489	0.00	2.38	0.00	0.000	4	0.000	0.073	2013	3898	1890	0	0	0	0	0	0
5588	0.64	146.1	68.8	16.5	902	5597	0.00	2.30	0.00	0.000	6	0.000	0.056	2023	2502	1890	0	0	0	0	0	0
5705	0.64	146.1	52.3	14.7	921	5711	0.00	0.00	0.00	0.000	6	0.000	0.000	2023	2502	1890	0	0	0	0	0	0
5817	0.64	146.1	35.6	15.1	940	5825	0.00	0.00	0.00	0.000	6	0.000	0.000	2023	2502	1890	0	0	0	0	0	0
5935	0.64	146.1	18.7	15.0	959	5945	0.00	2.35	0.00	0.000	4	0.000	0.074	2023	3895	1890	0	0	0	0	0	0
6025	end climb: SURFACE_DEPTH_REACHED
state	6025	begin surface coast
6045	end surface coast: CONTROL_FINISHED_OK
state	6045	begin surface