Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 140 * 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 140 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 41 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 37 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 -10857.317 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 -10857.317

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 41 VBD_MAX 3961

DEVICE2 101 MASS 52816 R_STBD_OVSHOOT 37 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 140 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 291212,213104,-4630.770,404.488,26,1.2,26,-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 0.049,0.166

_SM_DEPTHo 0.86 KALMAN_X -81807.4,727.4,205.0,65026.1,-5818.6

_SM_ANGLEo -28.2 KALMAN_Y 39377.2,296.6,-147.0,-1534.9,849.1

GPS2 291212,214000,-4630.765,404.477,19,1.1,21,-23.3 MHEAD_RNG_PITCHd_Wd 39.8,5881,-27.2,-10.010

SPEED_LIMITS 0.173,0.295 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.5,1.026482 _10V_AH 10.1,12.220

SM_CCo 10149,185.07,0.772,1,0,517,564.18 FG_AHR_24Vo 0.000

SM_GC 0.77,0.00,0.00,185.07,0.000,0.000,0.772,63,2936,517,-5.65,0.37,564.18 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4613.60,400.91,291212,181824 MEM 354232

TT8_MAMPS 0.026215 DATA_FILE_SIZE 37100,520

HUMID 56.77 CAP_FILE_SIZE 88614,0

INTERNAL_PRESSURE 9.21877 CFSIZE 259252224,220528640

TCM_TEMP 10.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1

XPDR_PINGS 0 GPS 301212,003435,-4629.574,404.461,26,1.0,26,-23.3

_24V_AH 22.8,28.574

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 253 83.82 SBE_CT 341 24 186.67

Roll_motor 86 68 136.18 AA4330 1059 33 797.24

VBD_pump_during_apogee 266 1233 7494.88 WL_BB2FLVMT 597 105 1430.88

VBD_pump_during_surface 185 771 3257.13 QSP2150 244 4 24.44

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 62.49 nil 0 0 0.00

Iridium_during_connect 19 160 69.76 nil 0 0 0.00

Iridium_during_xfer 296 223 1507.70 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 26 6.24

TT8 1310 14 197.96

LPSleep 6721 2 148.68

TT8_Active 596 14 85.55

TT8_Sampling 1733 37 655.49

TT8_CF8 515 47 245.59

TT8_Kalman 33 59 19.93

Analog_circuits 1214 12 147.15

GPS_charging 0 0 0.00

Compass 1356 15 215.47

RAFOS 0 0 0.00

Transponder 1 5 0.05

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

26 -0.81 -63.1 0.0 0.0 0 162 0.00 0.00 -132.00 0.000 6 0.000 0.000 63 2940 3078 0 0 0 0 0 0

169 -0.90 -129.9 2.9 -2.9 17 195 6.05 2.30 -7.93 0.000 4 0.240 0.052 1577 1504 3352 0 0 0 0 0 0

332 -0.90 -129.9 31.0 -16.7 41 339 0.00 2.28 0.00 0.000 6 0.000 0.052 1568 2914 3353 0 0 0 0 0 0

579 -0.90 -129.9 78.9 -17.8 82 586 0.00 1.58 0.00 0.000 4 0.000 0.057 1561 3900 3353 0 0 0 0 0 0

708 -0.90 -129.9 103.6 -18.4 102 712 0.00 1.52 0.00 0.000 6 0.000 0.031 1562 2898 3353 0 0 0 0 0 0

1037 -0.90 -129.9 160.9 -17.5 123 1041 0.00 1.62 0.00 0.000 4 0.000 0.057 1555 3900 3354 0 0 0 0 0 0

1077 -0.90 -129.9 169.4 -19.3 125 1081 0.00 1.48 0.00 0.000 6 0.000 0.032 1555 2925 3354 0 0 0 0 0 0

1404 -0.90 -129.9 225.9 -16.9 146 1408 0.00 2.08 0.00 0.000 4 0.000 0.037 1555 1530 3354 0 0 0 0 0 0

1420 -0.90 -129.9 228.4 -17.3 147 1425 0.12 2.22 0.00 0.000 6 0.207 0.050 1574 2934 3354 0 0 0 0 0 0

1748 -0.90 -129.9 281.6 -16.5 165 1752 0.00 1.52 0.00 0.000 4 0.000 0.058 1568 3900 3354 0 0 0 0 0 0

1798 -0.90 -129.9 289.8 -16.7 167 1802 0.00 1.48 0.00 0.000 6 0.000 0.032 1568 2917 3354 0 0 0 0 0 0

2135 -0.90 -129.9 346.4 -16.9 183 2139 0.00 1.58 0.00 0.000 4 0.000 0.058 1562 3895 3354 0 0 0 0 0 0

2193 -0.90 -129.9 357.4 -17.6 185 2196 0.00 1.45 0.00 0.000 6 0.000 0.032 1562 2931 3354 0 0 0 0 0 0

2515 -0.90 -129.9 410.9 -16.4 200 2519 0.00 1.55 0.00 0.000 4 0.000 0.059 1554 3892 3354 0 0 0 0 0 0

2533 -0.90 -129.9 414.4 -16.3 200 2537 0.00 1.48 0.00 0.000 6 0.000 0.033 1554 2914 3354 0 0 0 0 0 0

2861 -0.90 -129.9 467.2 -16.0 211 2862 0.00 0.00 0.00 0.000 6 0.000 0.000 1554 2909 3354 0 0 0 0 0 0

3165 -0.90 -129.9 517.0 -16.6 221 3169 0.00 1.58 0.00 0.000 4 0.000 0.059 1547 3893 3354 0 0 0 0 0 0

3262 -0.90 -129.9 534.8 -18.4 223 3269 0.10 1.45 0.00 0.000 6 0.190 0.033 1575 2930 3354 0 0 0 0 0 0

3577 -0.90 -129.9 582.7 -15.0 234 3578 0.00 0.00 0.00 0.000 6 0.000 0.000 1575 2929 3354 0 0 0 0 0 0

3883 -0.90 -129.9 628.3 -14.6 244 3887 0.00 1.55 0.00 0.000 4 0.000 0.060 1569 3894 3354 0 0 0 0 0 0

3907 -0.90 -129.9 632.3 -16.0 244 3910 0.00 1.48 0.00 0.000 6 0.000 0.034 1569 2915 3354 0 0 0 0 0 0

4227 -0.90 -129.9 679.0 -14.3 255 4231 0.00 2.08 0.00 0.000 4 0.000 0.038 1569 1531 3353 0 0 0 0 0 0

4239 -0.90 -129.9 681.0 -14.0 255 4243 0.00 2.17 0.00 0.000 6 0.000 0.052 1558 2922 3353 0 0 0 0 0 0

4565 -0.90 -129.9 730.5 -15.8 266 4569 0.00 1.55 0.00 0.000 4 0.000 0.060 1551 3894 3353 0 0 0 0 0 0

4639 -0.90 -129.9 743.2 -16.6 268 4643 0.08 1.45 0.00 0.000 6 0.187 0.034 1572 2934 3352 0 0 0 0 0 0

4977 -0.90 -129.9 793.6 -15.1 279 4981 0.00 2.10 0.00 0.000 4 0.000 0.038 1572 1522 3352 0 0 0 0 0 0

5034 -0.90 -129.9 802.0 -14.0 280 5038 0.00 2.22 0.00 0.000 6 0.000 0.054 1563 2928 3352 0 0 0 0 0 0

5351 -0.90 -129.9 848.3 -14.5 290 5352 0.00 0.00 0.00 0.000 6 0.000 0.000 1563 2928 3351 0 0 0 0 0 0

5656 -0.90 -129.9 892.5 -14.4 300 5659 0.00 2.12 0.00 0.000 4 0.000 0.037 1563 1519 3351 0 0 0 0 0 0

5696 -0.90 -129.9 898.5 -13.0 301 5700 0.00 2.22 0.00 0.000 6 0.000 0.054 1552 2922 3351 0 0 0 0 0 0

6022 -0.90 -129.9 945.1 -14.2 312 6023 0.00 0.00 0.00 0.000 6 0.000 0.000 1552 2922 3351 0 0 0 0 0 0

6329 -0.90 -129.9 987.2 -13.3 322 6333 0.00 2.12 0.00 0.000 4 0.000 0.038 1552 1514 3351 0 0 0 0 0 0

6362 -0.90 -129.9 991.3 -12.6 323 6366 0.15 2.22 0.00 0.000 6 0.203 0.053 1578 2923 3350 0 0 0 0 0 0

6450 end dive: TARGET_DEPTH_EXCEEDED

state 6450 begin apogee

6461 -0.19 0.0 1002.7 11.8 326 6596 0.77 0.00 131.88 1.234 6 0.179 0.000 1804 2732 2819 0 0 0 0 0 0

6598 end apogee: CONTROL_FINISHED_OK

state 6598 begin climb

6603 0.90 129.9 1004.9 0.0 330 6741 0.98 0.00 134.52 1.191 6 0.057 0.000 2161 2732 2289 0 0 0 0 0 0

7039 0.90 129.9 882.7 32.3 345 7043 0.00 2.28 0.00 0.000 4 0.000 0.046 2171 1341 2270 0 0 0 0 0 0

7074 0.90 129.9 871.5 29.7 346 7078 0.00 2.33 0.00 0.000 6 0.000 0.050 2171 2732 2269 0 0 0 0 0 0

7406 0.90 129.9 767.5 31.3 357 7410 0.00 2.22 0.00 0.000 4 0.000 0.044 2182 1341 2267 0 0 0 0 0 0

7441 0.90 129.9 756.3 29.5 358 7445 0.00 2.28 0.00 0.000 6 0.000 0.051 2182 2734 2267 0 0 0 0 0 0

7773 0.90 129.9 651.6 31.6 369 7777 0.00 2.22 0.00 0.000 4 0.000 0.045 2192 1330 2266 0 0 0 0 0 0

7813 0.90 129.9 638.5 30.8 370 7818 0.15 2.28 0.00 0.000 6 0.254 0.051 2162 2734 2266 0 0 0 0 0 0

8140 0.90 129.9 540.4 30.1 381 8144 0.00 2.17 0.00 0.000 4 0.000 0.044 2171 1341 2265 0 0 0 0 0 0

8158 0.90 129.9 534.4 30.0 381 8163 0.00 2.25 0.00 0.000 6 0.000 0.050 2163 2739 2265 0 0 0 0 0 0

8474 0.90 129.9 441.4 29.8 391 8478 0.00 2.20 0.00 0.000 4 0.000 0.045 2172 1338 2264 0 0 0 0 0 0

8531 0.90 129.9 424.5 26.6 392 8535 0.00 2.25 0.00 0.000 6 0.000 0.052 2172 2739 2264 0 0 0 0 0 0

8861 0.90 129.9 328.5 29.2 406 8865 0.00 2.20 0.00 0.000 4 0.000 0.045 2182 1334 2264 0 0 0 0 0 0

8901 0.90 129.9 316.3 27.0 407 8908 0.00 2.25 0.00 0.000 6 0.000 0.052 2182 2744 2263 0 0 0 0 0 0

9232 0.90 129.9 223.6 28.4 425 9236 0.00 2.20 0.00 0.000 4 0.000 0.047 2193 1332 2263 0 0 0 0 0 0

9290 0.90 129.9 207.4 26.0 428 9295 0.15 2.25 0.00 0.000 6 0.251 0.052 2161 2739 2263 0 0 0 0 0 0

9619 0.90 129.9 125.6 25.2 448 9627 0.00 0.00 0.00 0.000 6 0.000 0.000 2161 2740 2263 0 0 0 0 0 0

9971 0.90 129.9 37.5 22.2 497 9978 0.00 2.15 0.00 0.000 4 0.000 0.044 2170 1339 2263 0 0 0 0 0 0

9992 0.90 129.9 33.2 22.8 499 9999 0.00 2.20 0.00 0.000 6 0.000 0.053 2169 2734 2262 0 0 0 0 0 0

10109 end climb: SURFACE_DEPTH_REACHED

state 10109 begin surface coast

10127 end surface coast: CONTROL_FINISHED_OK

state 10127 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	140	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	41	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	37	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	-10857.317	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	291212,213104,-4630.770,404.488,26,1.2,26,-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	0.049,0.166
_SM_DEPTHo	0.86	KALMAN_X	-81807.4,727.4,205.0,65026.1,-5818.6
_SM_ANGLEo	-28.2	KALMAN_Y	39377.2,296.6,-147.0,-1534.9,849.1
GPS2	291212,214000,-4630.765,404.477,19,1.1,21,-23.3	MHEAD_RNG_PITCHd_Wd	39.8,5881,-27.2,-10.010
SPEED_LIMITS	0.173,0.295	D_GRID	1000

FINISH	0.5,1.026482	_10V_AH	10.1,12.220
SM_CCo	10149,185.07,0.772,1,0,517,564.18	FG_AHR_24Vo	0.000
SM_GC	0.77,0.00,0.00,185.07,0.000,0.000,0.772,63,2936,517,-5.65,0.37,564.18	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4613.60,400.91,291212,181824	MEM	354232
TT8_MAMPS	0.026215	DATA_FILE_SIZE	37100,520
HUMID	56.77	CAP_FILE_SIZE	88614,0
INTERNAL_PRESSURE	9.21877	CFSIZE	259252224,220528640
TCM_TEMP	10.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
XPDR_PINGS	0	GPS	301212,003435,-4629.574,404.461,26,1.0,26,-23.3
_24V_AH	22.8,28.574

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	253	83.82	SBE_CT	341	24	186.67
Roll_motor	86	68	136.18	AA4330	1059	33	797.24
VBD_pump_during_apogee	266	1233	7494.88	WL_BB2FLVMT	597	105	1430.88
VBD_pump_during_surface	185	771	3257.13	QSP2150	244	4	24.44
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	62.49	nil	0	0	0.00
Iridium_during_connect	19	160	69.76	nil	0	0	0.00
Iridium_during_xfer	296	223	1507.70	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	26	6.24
TT8	1310	14	197.96
LPSleep	6721	2	148.68
TT8_Active	596	14	85.55
TT8_Sampling	1733	37	655.49
TT8_CF8	515	47	245.59
TT8_Kalman	33	59	19.93
Analog_circuits	1214	12	147.15
GPS_charging	0	0	0.00
Compass	1356	15	215.47
RAFOS	0	0	0.00
Transponder	1	5	0.05

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
26	-0.81	-63.1	0.0	0.0	0	162	0.00	0.00	-132.00	0.000	6	0.000	0.000	63	2940	3078	0	0	0	0	0	0
169	-0.90	-129.9	2.9	-2.9	17	195	6.05	2.30	-7.93	0.000	4	0.240	0.052	1577	1504	3352	0	0	0	0	0	0
332	-0.90	-129.9	31.0	-16.7	41	339	0.00	2.28	0.00	0.000	6	0.000	0.052	1568	2914	3353	0	0	0	0	0	0
579	-0.90	-129.9	78.9	-17.8	82	586	0.00	1.58	0.00	0.000	4	0.000	0.057	1561	3900	3353	0	0	0	0	0	0
708	-0.90	-129.9	103.6	-18.4	102	712	0.00	1.52	0.00	0.000	6	0.000	0.031	1562	2898	3353	0	0	0	0	0	0
1037	-0.90	-129.9	160.9	-17.5	123	1041	0.00	1.62	0.00	0.000	4	0.000	0.057	1555	3900	3354	0	0	0	0	0	0
1077	-0.90	-129.9	169.4	-19.3	125	1081	0.00	1.48	0.00	0.000	6	0.000	0.032	1555	2925	3354	0	0	0	0	0	0
1404	-0.90	-129.9	225.9	-16.9	146	1408	0.00	2.08	0.00	0.000	4	0.000	0.037	1555	1530	3354	0	0	0	0	0	0
1420	-0.90	-129.9	228.4	-17.3	147	1425	0.12	2.22	0.00	0.000	6	0.207	0.050	1574	2934	3354	0	0	0	0	0	0
1748	-0.90	-129.9	281.6	-16.5	165	1752	0.00	1.52	0.00	0.000	4	0.000	0.058	1568	3900	3354	0	0	0	0	0	0
1798	-0.90	-129.9	289.8	-16.7	167	1802	0.00	1.48	0.00	0.000	6	0.000	0.032	1568	2917	3354	0	0	0	0	0	0
2135	-0.90	-129.9	346.4	-16.9	183	2139	0.00	1.58	0.00	0.000	4	0.000	0.058	1562	3895	3354	0	0	0	0	0	0
2193	-0.90	-129.9	357.4	-17.6	185	2196	0.00	1.45	0.00	0.000	6	0.000	0.032	1562	2931	3354	0	0	0	0	0	0
2515	-0.90	-129.9	410.9	-16.4	200	2519	0.00	1.55	0.00	0.000	4	0.000	0.059	1554	3892	3354	0	0	0	0	0	0
2533	-0.90	-129.9	414.4	-16.3	200	2537	0.00	1.48	0.00	0.000	6	0.000	0.033	1554	2914	3354	0	0	0	0	0	0
2861	-0.90	-129.9	467.2	-16.0	211	2862	0.00	0.00	0.00	0.000	6	0.000	0.000	1554	2909	3354	0	0	0	0	0	0
3165	-0.90	-129.9	517.0	-16.6	221	3169	0.00	1.58	0.00	0.000	4	0.000	0.059	1547	3893	3354	0	0	0	0	0	0
3262	-0.90	-129.9	534.8	-18.4	223	3269	0.10	1.45	0.00	0.000	6	0.190	0.033	1575	2930	3354	0	0	0	0	0	0
3577	-0.90	-129.9	582.7	-15.0	234	3578	0.00	0.00	0.00	0.000	6	0.000	0.000	1575	2929	3354	0	0	0	0	0	0
3883	-0.90	-129.9	628.3	-14.6	244	3887	0.00	1.55	0.00	0.000	4	0.000	0.060	1569	3894	3354	0	0	0	0	0	0
3907	-0.90	-129.9	632.3	-16.0	244	3910	0.00	1.48	0.00	0.000	6	0.000	0.034	1569	2915	3354	0	0	0	0	0	0
4227	-0.90	-129.9	679.0	-14.3	255	4231	0.00	2.08	0.00	0.000	4	0.000	0.038	1569	1531	3353	0	0	0	0	0	0
4239	-0.90	-129.9	681.0	-14.0	255	4243	0.00	2.17	0.00	0.000	6	0.000	0.052	1558	2922	3353	0	0	0	0	0	0
4565	-0.90	-129.9	730.5	-15.8	266	4569	0.00	1.55	0.00	0.000	4	0.000	0.060	1551	3894	3353	0	0	0	0	0	0
4639	-0.90	-129.9	743.2	-16.6	268	4643	0.08	1.45	0.00	0.000	6	0.187	0.034	1572	2934	3352	0	0	0	0	0	0
4977	-0.90	-129.9	793.6	-15.1	279	4981	0.00	2.10	0.00	0.000	4	0.000	0.038	1572	1522	3352	0	0	0	0	0	0
5034	-0.90	-129.9	802.0	-14.0	280	5038	0.00	2.22	0.00	0.000	6	0.000	0.054	1563	2928	3352	0	0	0	0	0	0
5351	-0.90	-129.9	848.3	-14.5	290	5352	0.00	0.00	0.00	0.000	6	0.000	0.000	1563	2928	3351	0	0	0	0	0	0
5656	-0.90	-129.9	892.5	-14.4	300	5659	0.00	2.12	0.00	0.000	4	0.000	0.037	1563	1519	3351	0	0	0	0	0	0
5696	-0.90	-129.9	898.5	-13.0	301	5700	0.00	2.22	0.00	0.000	6	0.000	0.054	1552	2922	3351	0	0	0	0	0	0
6022	-0.90	-129.9	945.1	-14.2	312	6023	0.00	0.00	0.00	0.000	6	0.000	0.000	1552	2922	3351	0	0	0	0	0	0
6329	-0.90	-129.9	987.2	-13.3	322	6333	0.00	2.12	0.00	0.000	4	0.000	0.038	1552	1514	3351	0	0	0	0	0	0
6362	-0.90	-129.9	991.3	-12.6	323	6366	0.15	2.22	0.00	0.000	6	0.203	0.053	1578	2923	3350	0	0	0	0	0	0
6450	end dive: TARGET_DEPTH_EXCEEDED
state	6450	begin apogee
6461	-0.19	0.0	1002.7	11.8	326	6596	0.77	0.00	131.88	1.234	6	0.179	0.000	1804	2732	2819	0	0	0	0	0	0
6598	end apogee: CONTROL_FINISHED_OK
state	6598	begin climb
6603	0.90	129.9	1004.9	0.0	330	6741	0.98	0.00	134.52	1.191	6	0.057	0.000	2161	2732	2289	0	0	0	0	0	0
7039	0.90	129.9	882.7	32.3	345	7043	0.00	2.28	0.00	0.000	4	0.000	0.046	2171	1341	2270	0	0	0	0	0	0
7074	0.90	129.9	871.5	29.7	346	7078	0.00	2.33	0.00	0.000	6	0.000	0.050	2171	2732	2269	0	0	0	0	0	0
7406	0.90	129.9	767.5	31.3	357	7410	0.00	2.22	0.00	0.000	4	0.000	0.044	2182	1341	2267	0	0	0	0	0	0
7441	0.90	129.9	756.3	29.5	358	7445	0.00	2.28	0.00	0.000	6	0.000	0.051	2182	2734	2267	0	0	0	0	0	0
7773	0.90	129.9	651.6	31.6	369	7777	0.00	2.22	0.00	0.000	4	0.000	0.045	2192	1330	2266	0	0	0	0	0	0
7813	0.90	129.9	638.5	30.8	370	7818	0.15	2.28	0.00	0.000	6	0.254	0.051	2162	2734	2266	0	0	0	0	0	0
8140	0.90	129.9	540.4	30.1	381	8144	0.00	2.17	0.00	0.000	4	0.000	0.044	2171	1341	2265	0	0	0	0	0	0
8158	0.90	129.9	534.4	30.0	381	8163	0.00	2.25	0.00	0.000	6	0.000	0.050	2163	2739	2265	0	0	0	0	0	0
8474	0.90	129.9	441.4	29.8	391	8478	0.00	2.20	0.00	0.000	4	0.000	0.045	2172	1338	2264	0	0	0	0	0	0
8531	0.90	129.9	424.5	26.6	392	8535	0.00	2.25	0.00	0.000	6	0.000	0.052	2172	2739	2264	0	0	0	0	0	0
8861	0.90	129.9	328.5	29.2	406	8865	0.00	2.20	0.00	0.000	4	0.000	0.045	2182	1334	2264	0	0	0	0	0	0
8901	0.90	129.9	316.3	27.0	407	8908	0.00	2.25	0.00	0.000	6	0.000	0.052	2182	2744	2263	0	0	0	0	0	0
9232	0.90	129.9	223.6	28.4	425	9236	0.00	2.20	0.00	0.000	4	0.000	0.047	2193	1332	2263	0	0	0	0	0	0
9290	0.90	129.9	207.4	26.0	428	9295	0.15	2.25	0.00	0.000	6	0.251	0.052	2161	2739	2263	0	0	0	0	0	0
9619	0.90	129.9	125.6	25.2	448	9627	0.00	0.00	0.00	0.000	6	0.000	0.000	2161	2740	2263	0	0	0	0	0	0
9971	0.90	129.9	37.5	22.2	497	9978	0.00	2.15	0.00	0.000	4	0.000	0.044	2170	1339	2263	0	0	0	0	0	0
9992	0.90	129.9	33.2	22.8	499	9999	0.00	2.20	0.00	0.000	6	0.000	0.053	2169	2734	2262	0	0	0	0	0	0
10109	end climb: SURFACE_DEPTH_REACHED
state	10109	begin surface coast
10127	end surface coast: CONTROL_FINISHED_OK
state	10127	begin surface