Glider dive log

SOSCEx Sep12 * SG574 * Dive index * Mission links * Dive 14 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 574 HD_B 0.010078 ROLL_MIN 160 ALTIM_TOP_TURN_MARGIN 0

MISSION 4 HD_C 9.8500004e-06 ROLL_MAX 3798 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 14 HEADING 90 ROLL_DEG 40 ALTIM_PING_DEPTH 1000

D_SURF 3 ESCAPE_HEADING 0 C_ROLL_DIVE 1950 ALTIM_PING_DELTA 5

D_FLARE 3 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1700 ALTIM_FREQUENCY 13

D_TGT 700 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_ABORT 1050 TGT_DEFAULT_LAT -4235 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

D_NO_BLEED 200 TGT_DEFAULT_LON -200 ROLL_TIMEOUT 15 XPDR_VALID 5

D_BOOST 0 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 25 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 596.31458 R_STBD_OVSHOOT 63 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST_BLACKOUT 0 N_FILEKB 4 ROLL_AD_RATE 350 INT_PRESSURE_YINT -1.812

D_FINISH 0 FILEMGR 0 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 KERMIT 0 ROLL_GAIN_P 0.5 DEVICE1 2

SURFACE_URGENCY 0 N_NOCOMM 1 VBD_MIN 396 DEVICE2 115

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE3 20

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 C_VBD 2827 DEVICE4 134

T_DIVE 235 CALL_TRIES 5 VBD_DBAND 2 DEVICE5 -1

T_MISSION 250 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE6 -1

T_ABORT 720 CAPUPLOAD 0 VBD_TIMEOUT 720 LOGGERS 7

T_TURN 225 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 4.9999999e-05 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 -1

T_NO_W 120 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_LOITER 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_ALMANAC 0 UNCOM_BLEED 60 COMPASS_DEVICE 33

USE_ICE 0 T_GPS_CHARGE -5449.894 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 CF8_MAXERRORS 20 PHONE_DEVICE 48

D_OFFGRID 100 STROBE 0 AH0_24V 150 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 RAFOS_DEVICE -1

RELAUNCH 0 RAFOS_CORR_THRESH 60 MINV_24V 20 XPDR_DEVICE 24

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_10V 8 SIM_W 0

MAX_BUOY 185 PITCH_MIN 92 FG_AHR_10V 0 SIM_PITCH 0

COURSE_BIAS 0 PITCH_MAX 3858 FG_AHR_24V 0 SEABIRD_T_G 0.0043508084

GLIDE_SLOPE 30 C_PITCH 3000 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062732975

SPEED_FACTOR 1 PITCH_DBAND 0.0099999998 PRESSURE_YINT -61.017719 SEABIRD_T_I 2.3669163e-05

RHO 1.0278 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011710486 SEABIRD_T_J 2.5502761e-06

MASS 53599 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_C_G -9.9075203

LENGTH 1.8 PITCH_GAIN 30 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1452845

NAV_MODE 0 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00093430834

DIRECT_CONTROL 0 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_J 0.0001541152

FERRY_MAX 45 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 EBE_ENABLE 0

KALMAN_USE 2 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 0 GC_WINDOW 20

HD_A 0.0038360001 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 20 GC_LAST_COLLECTION -1

AD7714Ch0Gain 128 D_NO_BLEED 200 N_GPS 20 SEABIRD_T_J 2.5502761e-06

AH0_10V 100 D_OFFGRID 100 N_NOCOMM 1 SIM_PITCH 0

AH0_24V 150 D_PITCH 0 N_NOSURFACE 0 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PHONE_DEVICE 48 SM_CC 596.31458

ALTIM_BOTTOM_TURN_MARGIN 20 D_SURF 3 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_TGT 700 PITCH_ADJ_DBAND 1 STROBE 0

ALTIM_PING_DELTA 5 EBE_ENABLE 0 PITCH_ADJ_GAIN 0.02 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 1000 ESCAPE_HEADING 0 PITCH_AD_RATE 175 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 FERRY_MAX 45 PITCH_DBAND 0.0099999998 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_GAIN 30 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_MAX 3858 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -4235

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PITCH_MIN 92 TGT_DEFAULT_LON -200

CALL_NDIVES 1 GC_LAST_COLLECTION -1 PITCH_TIMEOUT 16 T_ABORT 720

CALL_TRIES 5 GC_WINDOW 20 PITCH_VBD_SHIFT 4.9999999e-05 T_BOOST 0

CALL_WAIT 60 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011710486 T_BOOST_BLACKOUT 0

CAPMAXSIZE 100000 GPS_DEVICE 32 PRESSURE_YINT -61.017719 T_DIVE 235

CAPUPLOAD 0 HD_A 0.0038360001 P_OVSHOOT 0.039999999 T_GPS 15

CF8_MAXERRORS 20 HD_B 0.010078 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

COMM_SEQ 0 HD_C 9.8500004e-06 RAFOS_DEVICE -1 T_GPS_CHARGE -5449.894

COMPASS2_DEVICE -1 HEADING 90 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS_DEVICE 33 HEAD_ERRBAND 10 RAFOS_PEAK_OFFSET 1.5 T_MISSION 250

COMPASS_USE 0 HEAPDBG 0 RELAUNCH 0 T_NO_W 120

COURSE_BIAS 0 ICE_FREEZE_MARGIN 0.30000001 RHO 1.0278 T_RSLEEP 3

C_PITCH 3000 ID 574 ROLL_ADJ_DBAND 0 T_TURN 225

C_ROLL_CLIMB 1700 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_DIVE 1950 INT_PRESSURE_YINT -1.812 ROLL_AD_RATE 350 T_WATCHDOG 10

C_VBD 2827 KALMAN_USE 2 ROLL_CNV 0.028270001 UNCOM_BLEED 60

DEEPGLIDER 0 KERMIT 0 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 LENGTH 1.8 ROLL_GAIN_P 0.5 USE_BATHY 0

DEVICE1 2 LOGGERDEVICE1 -1 ROLL_MAX 3798 USE_ICE 0

DEVICE2 115 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE3 20 LOGGERDEVICE3 -1 ROLL_MIN 160 VBD_CNV -0.245296

DEVICE4 134 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE5 -1 LOGGERS 7 R_PORT_OVSHOOT 25 VBD_MAX 3960

DEVICE6 -1 MASS 53599 R_STBD_OVSHOOT 63 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 185 SEABIRD_C_G -9.9075203 VBD_MIN 396

DIVE 14 MINV_10V 8 SEABIRD_C_H 1.1452845 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1050 MINV_24V 20 SEABIRD_C_I -0.00093430834 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 0 MISSION 4 SEABIRD_C_J 0.0001541152 VBD_TIMEOUT 720

D_CALL 0 MOTHERBOARD 4 SEABIRD_T_G 0.0043508084 XPDR_DEVICE 24

D_FINISH 0 NAV_MODE 0 SEABIRD_T_H 0.00062732975 XPDR_INHIBIT 90

D_FLARE 3 N_FILEKB 4 SEABIRD_T_I 2.3669163e-05 XPDR_VALID 5

Pre-dive calculations and measurements:

GPS1 210912,133300,-4329.762,-953.884,43,1.1,43,-21.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -4329.840,-939.021

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.251,0.135

_SM_DEPTHo 1.20 KALMAN_X -2989.6,-846.1,-190.4,3225.8,-754.4

_SM_ANGLEo -65.4 KALMAN_Y -1789.4,-454.4,-75.8,857.9,-522.0

GPS2 210912,133950,-4329.840,-953.908,15,1.1,16,-21.0 MHEAD_RNG_PITCHd_Wd 111.0,20000,-16.3,-9.929

SPEED_LIMITS 0.172,0.285 D_GRID 700

Post-dive calculations and measurements:

FINISH 0.6,1.026724 _10V_AH 10.4,4.139

SM_CCo 11819,56.67,0.594,0,0,395,596.31 FG_AHR_24Vo 0.000

SM_GC 1.36,0.00,0.00,56.67,0.000,0.000,0.594,85,1975,395,-9.10,0.71,596.31 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4314.46,-953.60,210912,090927 MEM 354772

TT8_MAMPS 0.026964 DATA_FILE_SIZE 123489,2045

HUMID 44.44 CAP_FILE_SIZE 166532,0

INTERNAL_PRESSURE 9.00873 CFSIZE 2097086464,2093219840

TCM_TEMP 12.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 210912,165905,-4330.307,-952.516,25,1.4,25,-21.0

_24V_AH 23.6,7.539

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 288 158.59 SBE_CT 1406 24 796.74

Roll_motor 66 117 186.00 WL_BB2FLVMT 3479 105 8622.61

VBD_pump_during_apogee 588 1295 18000.67 SBE_O2 534 19 239.77

VBD_pump_during_surface 56 594 795.03 QSP2150 445 4 46.09

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 64.52 nil 0 0 0.00

Iridium_during_connect 41 160 157.46 nil 0 0 0.00

Iridium_during_xfer 245 223 1290.91 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 26 5.31

TT8 4385 14 682.30

LPSleep 1753 2 39.95

TT8_Active 547 14 80.88

TT8_Sampling 5433 37 2114.95

TT8_CF8 168 47 82.67

TT8_Kalman 0 0 0.00

Analog_circuits 2255 12 281.52

GPS_charging 0 0 0.00

Compass 5135 15 840.07

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

23 -0.55 -180.0 0.0 0.0 0 138 0.00 0.00 -112.22 0.000 2 0.000 0.000 66 1967 3225 0 0 0 0 0 0

140 -0.55 -180.0 3.6 -5.3 19 167 12.40 0.47 -6.22 0.000 4 0.278 0.118 2807 1658 3561 0 0 0 0 0 0

388 -0.47 -180.0 52.8 -18.0 61 393 0.10 0.40 0.00 0.000 6 0.169 0.051 2838 1930 3562 0 0 0 0 0 0

531 -0.47 -180.0 70.9 -11.8 86 537 0.00 0.00 0.00 0.000 6 0.000 0.000 2838 1930 3562 0 0 0 0 0 0

882 -0.47 -180.0 109.4 -10.6 147 887 0.00 1.38 0.00 0.000 4 0.000 0.063 2838 1087 3562 0 0 0 0 0 0

975 -0.47 -180.0 119.6 -10.6 163 980 0.00 1.33 0.00 0.000 6 0.000 0.042 2834 1936 3563 0 0 0 0 0 0

1323 -0.47 -180.0 158.6 -11.6 224 1330 0.00 0.73 0.00 0.000 4 0.000 0.060 2834 1478 3563 0 0 0 0 0 0

1404 -0.47 -180.0 168.0 -12.0 238 1411 0.00 0.73 0.00 0.000 6 0.000 0.044 2831 1961 3562 0 0 0 0 0 0

1757 -0.47 -180.0 209.7 -11.9 299 1762 0.03 1.08 0.00 0.000 4 0.288 0.060 2842 1295 3563 0 0 0 0 0 0

1862 -0.47 -180.0 220.9 -10.3 317 1867 0.00 1.00 0.00 0.000 6 0.000 0.043 2838 1945 3563 0 0 0 0 0 0

2211 -0.47 -180.0 259.2 -10.7 378 2218 0.00 1.17 0.00 0.000 4 0.000 0.060 2838 1209 3563 0 0 0 0 0 0

2323 -0.47 -180.0 271.8 -11.5 397 2328 0.00 1.15 0.00 0.000 6 0.000 0.042 2835 1957 3563 0 0 0 0 0 0

2671 -0.47 -180.0 313.2 -11.8 458 2678 0.00 0.38 0.00 0.000 4 0.000 0.060 2835 1707 3563 0 0 0 0 0 0

2752 -0.47 -180.0 322.7 -11.5 472 2759 0.00 0.35 0.00 0.000 6 0.000 0.050 2833 1963 3564 0 0 0 0 0 0

3104 -0.47 -180.0 363.5 -11.5 533 3109 0.00 0.40 0.00 0.000 4 0.000 0.060 2833 1696 3564 0 0 0 0 0 0

3220 -0.47 -180.0 377.0 -11.6 553 3225 0.00 0.35 0.00 0.000 6 0.000 0.050 2833 1947 3564 0 0 0 0 0 0

3569 -0.47 -180.0 416.5 -10.7 614 3576 0.00 1.42 0.00 0.000 4 0.000 0.061 2833 1056 3564 0 0 0 0 0 0

3670 -0.49 -180.0 427.2 -10.6 631 3675 0.00 1.35 0.00 0.000 6 0.000 0.042 2830 1933 3564 0 0 0 0 0 0

4019 -0.49 -180.0 464.8 -10.4 692 4026 0.00 0.82 0.00 0.000 4 0.000 0.060 2830 1408 3564 0 0 0 0 0 0

4111 -0.49 -180.0 474.8 -10.8 708 4118 0.00 0.82 0.00 0.000 6 0.000 0.042 2826 1959 3564 0 0 0 0 0 0

4463 -0.49 -180.0 513.6 -11.5 769 4468 0.00 0.57 0.00 0.000 4 0.000 0.059 2827 1583 3564 0 0 0 0 0 0

4590 -0.49 -180.0 528.4 -11.8 791 4595 0.00 0.55 0.00 0.000 6 0.000 0.045 2824 1958 3564 0 0 0 0 0 0

4938 -0.49 -180.0 568.7 -11.2 852 4945 0.00 0.35 0.00 0.000 4 0.000 0.060 2825 1722 3564 0 0 0 0 0 0

5031 -0.49 -180.0 579.2 -11.2 868 5038 0.00 0.32 0.00 0.000 6 0.000 0.052 2823 1959 3564 0 0 0 0 0 0

5383 -0.49 -180.0 619.2 -11.1 929 5388 0.05 0.98 0.00 0.000 4 0.242 0.057 2834 1346 3564 0 0 0 0 0 0

5477 -0.52 -180.0 629.1 -10.3 945 5482 0.00 0.90 0.00 0.000 6 0.000 0.041 2831 1946 3564 0 0 0 0 0 0

5826 -0.55 -180.0 664.6 -10.2 1006 5833 0.00 1.02 0.00 0.000 4 0.000 0.057 2831 1293 3564 0 0 0 0 0 0

5916 -0.58 -180.0 673.7 -10.0 1021 5922 0.03 1.00 0.00 0.000 6 0.115 0.040 2810 1959 3564 0 0 0 0 0 0

6146 end dive: TARGET_DEPTH_EXCEEDED

state 6146 begin apogee

6150 -0.17 0.0 700.7 12.2 1061 6314 0.40 0.00 157.32 1.296 6 0.141 0.000 2938 1686 2824 0 0 0 0 0 0

6315 end apogee: CONTROL_FINISHED_OK

state 6315 begin climb

6317 0.55 180.0 709.5 0.0 1091 6493 0.73 2.47 163.30 1.225 4 0.097 0.066 3171 305 2085 0 0 0 0 0 0

6613 0.55 228.7 697.2 8.1 1144 6657 0.00 2.25 38.92 1.065 6 0.000 0.035 3171 1701 1894 0 0 0 0 0 0

7000 0.56 263.8 664.0 8.6 1212 7040 0.00 0.80 33.25 1.268 4 0.000 0.055 3172 1231 1748 0 0 0 0 0 0

7066 0.57 466.8 658.6 2.4 1223 7267 0.00 0.75 195.77 1.204 6 0.000 0.037 3171 1716 923 0 0 0 0 0 0

7611 0.95 466.8 602.2 12.1 1320 7618 0.35 0.00 0.00 0.000 6 0.067 0.000 3308 1722 904 0 0 0 0 0 0

7964 0.86 466.8 541.4 18.5 1381 7970 0.12 2.15 0.00 0.000 4 0.192 0.045 3279 3093 903 0 0 0 0 0 0

8039 0.83 466.8 528.6 16.3 1394 8047 0.03 2.22 0.00 0.000 6 0.230 0.050 3278 1715 902 0 0 0 0 0 0

8392 0.81 466.8 475.7 14.4 1455 8398 0.05 2.33 0.00 0.000 4 0.252 0.068 3274 279 901 0 0 0 0 0 0

8543 0.81 466.8 454.8 13.7 1481 8548 0.00 2.17 0.00 0.000 6 0.000 0.040 3274 1688 899 0 0 0 0 0 0

8891 0.79 466.8 406.8 13.0 1542 8899 0.08 2.25 0.00 0.000 4 0.223 0.069 3267 322 899 0 0 0 0 0 0

8970 0.79 466.8 397.0 12.5 1555 8975 0.00 2.12 0.00 0.000 6 0.000 0.039 3267 1702 899 0 0 0 0 0 0

9318 0.79 466.8 352.5 13.0 1616 9325 0.00 2.33 0.00 0.000 4 0.000 0.068 3269 291 899 0 0 0 0 0 0

9407 0.79 466.8 340.8 13.2 1631 9412 0.00 2.17 0.00 0.000 6 0.000 0.038 3268 1708 898 0 0 0 0 0 0

9756 0.76 466.8 289.2 15.3 1692 9764 0.10 2.33 0.00 0.000 4 0.207 0.069 3254 291 898 0 0 0 0 0 0

9869 0.76 466.8 274.0 14.3 1711 9874 0.00 2.15 0.00 0.000 6 0.000 0.037 3254 1700 899 0 0 0 0 0 0

10218 0.79 466.8 225.6 14.1 1772 10225 0.00 1.65 0.00 0.000 4 0.000 0.063 3255 680 899 0 0 0 0 0 0

10299 0.79 466.8 213.8 14.5 1786 10307 0.00 1.55 0.00 0.000 6 0.000 0.034 3255 1707 899 0 0 0 0 0 0

10651 0.79 466.8 162.2 15.6 1847 10656 0.00 2.30 0.00 0.000 4 0.000 0.067 3255 284 899 0 0 0 0 0 0

10756 0.82 466.8 147.4 14.4 1865 10762 0.00 2.15 0.00 0.000 6 0.000 0.035 3255 1707 898 0 0 0 0 0 0

11104 0.82 466.8 98.2 13.7 1926 11111 0.00 2.33 0.00 0.000 4 0.000 0.067 3255 284 899 0 0 0 0 0 0

11206 0.85 466.8 84.1 15.3 1943 11211 0.00 2.15 0.00 0.000 6 0.000 0.034 3255 1711 899 0 0 0 0 0 0

11554 0.85 466.8 36.6 13.9 2004 11561 0.00 2.33 0.00 0.000 4 0.000 0.067 3255 288 899 0 0 0 0 0 0

11637 0.85 466.8 26.4 13.1 2018 11645 0.00 2.15 0.00 0.000 6 0.000 0.035 3255 1699 900 0 0 0 0 0 0

11717 0.85 466.8 12.9 16.5 2031 11724 0.03 0.00 0.00 0.000 6 0.242 0.000 3278 1707 900 0 0 0 0 0 0

11784 end climb: SURFACE_DEPTH_REACHED

state 11784 begin surface coast

11804 end surface coast: CONTROL_FINISHED_OK

state 11804 begin surface

ID	574	HD_B	0.010078	ROLL_MIN	160	ALTIM_TOP_TURN_MARGIN	0
MISSION	4	HD_C	9.8500004e-06	ROLL_MAX	3798	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	14	HEADING	90	ROLL_DEG	40	ALTIM_PING_DEPTH	1000
D_SURF	3	ESCAPE_HEADING	0	C_ROLL_DIVE	1950	ALTIM_PING_DELTA	5
D_FLARE	3	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1700	ALTIM_FREQUENCY	13
D_TGT	700	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_ABORT	1050	TGT_DEFAULT_LAT	-4235	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
D_NO_BLEED	200	TGT_DEFAULT_LON	-200	ROLL_TIMEOUT	15	XPDR_VALID	5
D_BOOST	0	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	25	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	596.31458	R_STBD_OVSHOOT	63	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST_BLACKOUT	0	N_FILEKB	4	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-1.812
D_FINISH	0	FILEMGR	0	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	KERMIT	0	ROLL_GAIN_P	0.5	DEVICE1	2
SURFACE_URGENCY	0	N_NOCOMM	1	VBD_MIN	396	DEVICE2	115
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE3	20
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	C_VBD	2827	DEVICE4	134
T_DIVE	235	CALL_TRIES	5	VBD_DBAND	2	DEVICE5	-1
T_MISSION	250	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE6	-1
T_ABORT	720	CAPUPLOAD	0	VBD_TIMEOUT	720	LOGGERS	7
T_TURN	225	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	4.9999999e-05	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	-1
T_NO_W	120	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_LOITER	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_ALMANAC	0	UNCOM_BLEED	60	COMPASS_DEVICE	33
USE_ICE	0	T_GPS_CHARGE	-5449.894	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	CF8_MAXERRORS	20	PHONE_DEVICE	48
D_OFFGRID	100	STROBE	0	AH0_24V	150	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	RAFOS_DEVICE	-1
RELAUNCH	0	RAFOS_CORR_THRESH	60	MINV_24V	20	XPDR_DEVICE	24
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	8	SIM_W	0
MAX_BUOY	185	PITCH_MIN	92	FG_AHR_10V	0	SIM_PITCH	0
COURSE_BIAS	0	PITCH_MAX	3858	FG_AHR_24V	0	SEABIRD_T_G	0.0043508084
GLIDE_SLOPE	30	C_PITCH	3000	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062732975
SPEED_FACTOR	1	PITCH_DBAND	0.0099999998	PRESSURE_YINT	-61.017719	SEABIRD_T_I	2.3669163e-05
RHO	1.0278	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011710486	SEABIRD_T_J	2.5502761e-06
MASS	53599	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_C_G	-9.9075203
LENGTH	1.8	PITCH_GAIN	30	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1452845
NAV_MODE	0	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00093430834
DIRECT_CONTROL	0	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_J	0.0001541152
FERRY_MAX	45	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	EBE_ENABLE	0
KALMAN_USE	2	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	0	GC_WINDOW	20
HD_A	0.0038360001	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	20	GC_LAST_COLLECTION	-1

GPS1	210912,133300,-4329.762,-953.884,43,1.1,43,-21.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-4329.840,-939.021
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.251,0.135
_SM_DEPTHo	1.20	KALMAN_X	-2989.6,-846.1,-190.4,3225.8,-754.4
_SM_ANGLEo	-65.4	KALMAN_Y	-1789.4,-454.4,-75.8,857.9,-522.0
GPS2	210912,133950,-4329.840,-953.908,15,1.1,16,-21.0	MHEAD_RNG_PITCHd_Wd	111.0,20000,-16.3,-9.929
SPEED_LIMITS	0.172,0.285	D_GRID	700

FINISH	0.6,1.026724	_10V_AH	10.4,4.139
SM_CCo	11819,56.67,0.594,0,0,395,596.31	FG_AHR_24Vo	0.000
SM_GC	1.36,0.00,0.00,56.67,0.000,0.000,0.594,85,1975,395,-9.10,0.71,596.31	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4314.46,-953.60,210912,090927	MEM	354772
TT8_MAMPS	0.026964	DATA_FILE_SIZE	123489,2045
HUMID	44.44	CAP_FILE_SIZE	166532,0
INTERNAL_PRESSURE	9.00873	CFSIZE	2097086464,2093219840
TCM_TEMP	12.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	210912,165905,-4330.307,-952.516,25,1.4,25,-21.0
_24V_AH	23.6,7.539

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	288	158.59	SBE_CT	1406	24	796.74
Roll_motor	66	117	186.00	WL_BB2FLVMT	3479	105	8622.61
VBD_pump_during_apogee	588	1295	18000.67	SBE_O2	534	19	239.77
VBD_pump_during_surface	56	594	795.03	QSP2150	445	4	46.09
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	64.52	nil	0	0	0.00
Iridium_during_connect	41	160	157.46	nil	0	0	0.00
Iridium_during_xfer	245	223	1290.91	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	26	5.31
TT8	4385	14	682.30
LPSleep	1753	2	39.95
TT8_Active	547	14	80.88
TT8_Sampling	5433	37	2114.95
TT8_CF8	168	47	82.67
TT8_Kalman	0	0	0.00
Analog_circuits	2255	12	281.52
GPS_charging	0	0	0.00
Compass	5135	15	840.07
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
23	-0.55	-180.0	0.0	0.0	0	138	0.00	0.00	-112.22	0.000	2	0.000	0.000	66	1967	3225	0	0	0	0	0	0
140	-0.55	-180.0	3.6	-5.3	19	167	12.40	0.47	-6.22	0.000	4	0.278	0.118	2807	1658	3561	0	0	0	0	0	0
388	-0.47	-180.0	52.8	-18.0	61	393	0.10	0.40	0.00	0.000	6	0.169	0.051	2838	1930	3562	0	0	0	0	0	0
531	-0.47	-180.0	70.9	-11.8	86	537	0.00	0.00	0.00	0.000	6	0.000	0.000	2838	1930	3562	0	0	0	0	0	0
882	-0.47	-180.0	109.4	-10.6	147	887	0.00	1.38	0.00	0.000	4	0.000	0.063	2838	1087	3562	0	0	0	0	0	0
975	-0.47	-180.0	119.6	-10.6	163	980	0.00	1.33	0.00	0.000	6	0.000	0.042	2834	1936	3563	0	0	0	0	0	0
1323	-0.47	-180.0	158.6	-11.6	224	1330	0.00	0.73	0.00	0.000	4	0.000	0.060	2834	1478	3563	0	0	0	0	0	0
1404	-0.47	-180.0	168.0	-12.0	238	1411	0.00	0.73	0.00	0.000	6	0.000	0.044	2831	1961	3562	0	0	0	0	0	0
1757	-0.47	-180.0	209.7	-11.9	299	1762	0.03	1.08	0.00	0.000	4	0.288	0.060	2842	1295	3563	0	0	0	0	0	0
1862	-0.47	-180.0	220.9	-10.3	317	1867	0.00	1.00	0.00	0.000	6	0.000	0.043	2838	1945	3563	0	0	0	0	0	0
2211	-0.47	-180.0	259.2	-10.7	378	2218	0.00	1.17	0.00	0.000	4	0.000	0.060	2838	1209	3563	0	0	0	0	0	0
2323	-0.47	-180.0	271.8	-11.5	397	2328	0.00	1.15	0.00	0.000	6	0.000	0.042	2835	1957	3563	0	0	0	0	0	0
2671	-0.47	-180.0	313.2	-11.8	458	2678	0.00	0.38	0.00	0.000	4	0.000	0.060	2835	1707	3563	0	0	0	0	0	0
2752	-0.47	-180.0	322.7	-11.5	472	2759	0.00	0.35	0.00	0.000	6	0.000	0.050	2833	1963	3564	0	0	0	0	0	0
3104	-0.47	-180.0	363.5	-11.5	533	3109	0.00	0.40	0.00	0.000	4	0.000	0.060	2833	1696	3564	0	0	0	0	0	0
3220	-0.47	-180.0	377.0	-11.6	553	3225	0.00	0.35	0.00	0.000	6	0.000	0.050	2833	1947	3564	0	0	0	0	0	0
3569	-0.47	-180.0	416.5	-10.7	614	3576	0.00	1.42	0.00	0.000	4	0.000	0.061	2833	1056	3564	0	0	0	0	0	0
3670	-0.49	-180.0	427.2	-10.6	631	3675	0.00	1.35	0.00	0.000	6	0.000	0.042	2830	1933	3564	0	0	0	0	0	0
4019	-0.49	-180.0	464.8	-10.4	692	4026	0.00	0.82	0.00	0.000	4	0.000	0.060	2830	1408	3564	0	0	0	0	0	0
4111	-0.49	-180.0	474.8	-10.8	708	4118	0.00	0.82	0.00	0.000	6	0.000	0.042	2826	1959	3564	0	0	0	0	0	0
4463	-0.49	-180.0	513.6	-11.5	769	4468	0.00	0.57	0.00	0.000	4	0.000	0.059	2827	1583	3564	0	0	0	0	0	0
4590	-0.49	-180.0	528.4	-11.8	791	4595	0.00	0.55	0.00	0.000	6	0.000	0.045	2824	1958	3564	0	0	0	0	0	0
4938	-0.49	-180.0	568.7	-11.2	852	4945	0.00	0.35	0.00	0.000	4	0.000	0.060	2825	1722	3564	0	0	0	0	0	0
5031	-0.49	-180.0	579.2	-11.2	868	5038	0.00	0.32	0.00	0.000	6	0.000	0.052	2823	1959	3564	0	0	0	0	0	0
5383	-0.49	-180.0	619.2	-11.1	929	5388	0.05	0.98	0.00	0.000	4	0.242	0.057	2834	1346	3564	0	0	0	0	0	0
5477	-0.52	-180.0	629.1	-10.3	945	5482	0.00	0.90	0.00	0.000	6	0.000	0.041	2831	1946	3564	0	0	0	0	0	0
5826	-0.55	-180.0	664.6	-10.2	1006	5833	0.00	1.02	0.00	0.000	4	0.000	0.057	2831	1293	3564	0	0	0	0	0	0
5916	-0.58	-180.0	673.7	-10.0	1021	5922	0.03	1.00	0.00	0.000	6	0.115	0.040	2810	1959	3564	0	0	0	0	0	0
6146	end dive: TARGET_DEPTH_EXCEEDED
state	6146	begin apogee
6150	-0.17	0.0	700.7	12.2	1061	6314	0.40	0.00	157.32	1.296	6	0.141	0.000	2938	1686	2824	0	0	0	0	0	0
6315	end apogee: CONTROL_FINISHED_OK
state	6315	begin climb
6317	0.55	180.0	709.5	0.0	1091	6493	0.73	2.47	163.30	1.225	4	0.097	0.066	3171	305	2085	0	0	0	0	0	0
6613	0.55	228.7	697.2	8.1	1144	6657	0.00	2.25	38.92	1.065	6	0.000	0.035	3171	1701	1894	0	0	0	0	0	0
7000	0.56	263.8	664.0	8.6	1212	7040	0.00	0.80	33.25	1.268	4	0.000	0.055	3172	1231	1748	0	0	0	0	0	0
7066	0.57	466.8	658.6	2.4	1223	7267	0.00	0.75	195.77	1.204	6	0.000	0.037	3171	1716	923	0	0	0	0	0	0
7611	0.95	466.8	602.2	12.1	1320	7618	0.35	0.00	0.00	0.000	6	0.067	0.000	3308	1722	904	0	0	0	0	0	0
7964	0.86	466.8	541.4	18.5	1381	7970	0.12	2.15	0.00	0.000	4	0.192	0.045	3279	3093	903	0	0	0	0	0	0
8039	0.83	466.8	528.6	16.3	1394	8047	0.03	2.22	0.00	0.000	6	0.230	0.050	3278	1715	902	0	0	0	0	0	0
8392	0.81	466.8	475.7	14.4	1455	8398	0.05	2.33	0.00	0.000	4	0.252	0.068	3274	279	901	0	0	0	0	0	0
8543	0.81	466.8	454.8	13.7	1481	8548	0.00	2.17	0.00	0.000	6	0.000	0.040	3274	1688	899	0	0	0	0	0	0
8891	0.79	466.8	406.8	13.0	1542	8899	0.08	2.25	0.00	0.000	4	0.223	0.069	3267	322	899	0	0	0	0	0	0
8970	0.79	466.8	397.0	12.5	1555	8975	0.00	2.12	0.00	0.000	6	0.000	0.039	3267	1702	899	0	0	0	0	0	0
9318	0.79	466.8	352.5	13.0	1616	9325	0.00	2.33	0.00	0.000	4	0.000	0.068	3269	291	899	0	0	0	0	0	0
9407	0.79	466.8	340.8	13.2	1631	9412	0.00	2.17	0.00	0.000	6	0.000	0.038	3268	1708	898	0	0	0	0	0	0
9756	0.76	466.8	289.2	15.3	1692	9764	0.10	2.33	0.00	0.000	4	0.207	0.069	3254	291	898	0	0	0	0	0	0
9869	0.76	466.8	274.0	14.3	1711	9874	0.00	2.15	0.00	0.000	6	0.000	0.037	3254	1700	899	0	0	0	0	0	0
10218	0.79	466.8	225.6	14.1	1772	10225	0.00	1.65	0.00	0.000	4	0.000	0.063	3255	680	899	0	0	0	0	0	0
10299	0.79	466.8	213.8	14.5	1786	10307	0.00	1.55	0.00	0.000	6	0.000	0.034	3255	1707	899	0	0	0	0	0	0
10651	0.79	466.8	162.2	15.6	1847	10656	0.00	2.30	0.00	0.000	4	0.000	0.067	3255	284	899	0	0	0	0	0	0
10756	0.82	466.8	147.4	14.4	1865	10762	0.00	2.15	0.00	0.000	6	0.000	0.035	3255	1707	898	0	0	0	0	0	0
11104	0.82	466.8	98.2	13.7	1926	11111	0.00	2.33	0.00	0.000	4	0.000	0.067	3255	284	899	0	0	0	0	0	0
11206	0.85	466.8	84.1	15.3	1943	11211	0.00	2.15	0.00	0.000	6	0.000	0.034	3255	1711	899	0	0	0	0	0	0
11554	0.85	466.8	36.6	13.9	2004	11561	0.00	2.33	0.00	0.000	4	0.000	0.067	3255	288	899	0	0	0	0	0	0
11637	0.85	466.8	26.4	13.1	2018	11645	0.00	2.15	0.00	0.000	6	0.000	0.035	3255	1699	900	0	0	0	0	0	0
11717	0.85	466.8	12.9	16.5	2031	11724	0.03	0.00	0.00	0.000	6	0.242	0.000	3278	1707	900	0	0	0	0	0	0
11784	end climb: SURFACE_DEPTH_REACHED
state	11784	begin surface coast
11804	end surface coast: CONTROL_FINISHED_OK
state	11804	begin surface