Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 15 * 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 15 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 31 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 24 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 -10305.838 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 52846 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 -10305.838

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 31 VBD_MAX 3961

DEVICE2 101 MASS 52846 R_STBD_OVSHOOT 24 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 15 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 121212,085404,-4703.257,403.229,31,1.7,31,-23.3 TGT_NAME GH1

_CALLS 1 TGT_LATLONG -4700.000,400.000

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.170,0.033

_SM_DEPTHo 0.78 KALMAN_X -3529.6,426.7,258.2,-14443.2,-2041.7

_SM_ANGLEo -36.8 KALMAN_Y 22177.9,-293.3,-388.2,-43579.4,5504.8

GPS2 121212,090401,-4703.211,403.336,20,1.8,20,-23.3 MHEAD_RNG_PITCHd_Wd 304.2,7288,-27.2,-10.010

SPEED_LIMITS 0.173,0.295 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.4,1.013385 _10V_AH 10.2,1.780

SM_CCo 10330,187.55,0.773,1,0,517,564.18 FG_AHR_24Vo 0.000

SM_GC 1.05,0.00,0.00,187.55,0.000,0.000,0.773,59,2939,517,-5.66,0.45,564.18 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4648.08,400.19,121212,050526 MEM 354316

TT8_MAMPS 0.026215 DATA_FILE_SIZE 37091,521

HUMID 55.78 CAP_FILE_SIZE 87255,0

INTERNAL_PRESSURE 9.19924 CFSIZE 259252224,226889728

TCM_TEMP 10.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1

XPDR_PINGS 0 GPS 121212,120153,-4702.315,402.013,40,1.1,40,-23.3

_24V_AH 23.4,4.660

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 289 97.44 SBE_CT 342 24 192.60

Roll_motor 91 72 155.73 AA4330 1051 33 811.79

VBD_pump_during_apogee 270 1204 7638.48 WL_BB2FLVMT 577 105 1419.25

VBD_pump_during_surface 187 773 3394.26 QSP2150 223 4 22.86

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 69.23 nil 0 0 0.00

Iridium_during_connect 47 160 179.10 nil 0 0 0.00

Iridium_during_xfer 312 223 1632.27 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 26 7.38

TT8 1291 14 197.05

LPSleep 7019 2 156.80

TT8_Active 618 14 89.63

TT8_Sampling 1668 37 637.07

TT8_CF8 524 47 252.55

TT8_Kalman 33 59 20.12

Analog_circuits 1202 12 147.20

GPS_charging 0 0 0.00

Compass 1248 15 200.28

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 0 162 0.00 0.00 -131.88 0.000 6 0.000 0.000 62 2939 3078 0 0 0 0 0 0

169 -0.90 -129.1 2.6 -3.0 17 195 6.00 2.35 -8.12 0.000 4 0.238 0.067 1578 1509 3349 0 0 0 0 0 0

207 -0.90 -129.1 9.5 -15.7 21 217 0.00 2.40 0.00 0.000 6 0.000 0.067 1569 2916 3349 0 0 0 0 0 0

295 -0.90 -129.1 27.2 -21.0 34 303 0.00 0.00 0.00 0.000 6 0.000 0.000 1569 2916 3349 0 0 0 0 0 0

380 -0.90 -129.1 44.7 -21.8 47 387 0.00 2.25 0.00 0.000 4 0.000 0.051 1569 1518 3349 0 0 0 0 0 0

399 -0.90 -129.1 48.8 -22.1 49 406 0.00 2.35 0.00 0.000 6 0.000 0.066 1558 2928 3349 0 0 0 0 0 0

638 -0.90 -129.1 100.6 -19.3 90 639 0.00 0.00 0.00 0.000 6 0.000 0.000 1558 2928 3349 0 0 0 0 0 0

954 -0.90 -129.1 159.6 -19.3 110 958 0.00 2.22 0.00 0.000 4 0.000 0.052 1558 1514 3349 0 0 0 0 0 0

978 -0.90 -129.1 164.9 -18.8 111 985 0.12 2.33 0.00 0.000 6 0.213 0.066 1576 2929 3350 0 0 0 0 0 0

1300 -0.90 -129.1 219.1 -16.2 132 1302 0.00 0.00 0.00 0.000 6 0.000 0.000 1576 2929 3350 0 0 0 0 0 0

1628 -0.90 -129.1 271.6 -15.5 151 1632 0.00 2.25 0.00 0.000 4 0.000 0.052 1576 1513 3350 0 0 0 0 0 0

1648 -0.90 -129.1 275.0 -16.0 152 1652 0.00 2.30 0.00 0.000 6 0.000 0.065 1567 2924 3350 0 0 0 0 0 0

1983 -0.90 -129.1 329.3 -16.4 168 1987 0.00 2.20 0.00 0.000 4 0.000 0.052 1567 1518 3350 0 0 0 0 0 0

2005 -0.90 -129.1 332.7 -16.6 169 2010 0.00 2.30 0.00 0.000 6 0.000 0.064 1556 2929 3350 0 0 0 0 0 0

2337 -0.90 -129.1 388.9 -17.1 185 2338 0.00 0.00 0.00 0.000 6 0.000 0.000 1556 2929 3350 0 0 0 0 0 0

2662 -0.90 -129.1 443.3 -16.2 197 2663 0.00 0.00 0.00 0.000 6 0.000 0.000 1556 2929 3350 0 0 0 0 0 0

2968 -0.90 -129.1 491.1 -15.8 207 2972 0.00 2.20 0.00 0.000 4 0.000 0.053 1556 1519 3350 0 0 0 0 0 0

2998 -0.90 -129.1 496.2 -16.1 207 3005 0.12 2.28 0.00 0.000 6 0.211 0.065 1574 2925 3350 0 0 0 0 0 0

3313 -0.90 -129.1 543.1 -15.1 218 3317 0.00 2.22 0.00 0.000 4 0.000 0.055 1574 1520 3349 0 0 0 0 0 0

3325 -0.90 -129.1 545.3 -15.1 218 3329 0.00 2.28 0.00 0.000 6 0.000 0.064 1565 2928 3350 0 0 0 0 0 0

3651 -0.90 -129.1 597.1 -16.3 229 3652 0.00 0.00 0.00 0.000 6 0.000 0.000 1565 2928 3350 0 0 0 0 0 0

3958 -0.90 -129.1 645.8 -15.6 239 3959 0.00 0.00 0.00 0.000 6 0.000 0.000 1565 2928 3349 0 0 0 0 0 0

4264 -0.90 -129.1 691.7 -14.6 249 4268 0.00 2.22 0.00 0.000 4 0.000 0.055 1565 1515 3350 0 0 0 0 0 0

4293 -0.90 -129.1 696.2 -14.6 249 4300 0.00 2.28 0.00 0.000 6 0.000 0.065 1555 2922 3349 0 0 0 0 0 0

4608 -0.90 -129.1 743.6 -15.1 260 4612 0.00 2.22 0.00 0.000 4 0.000 0.055 1554 1509 3349 0 0 0 0 0 0

4643 -0.90 -129.1 749.4 -15.5 261 4648 0.15 2.30 0.00 0.000 6 0.207 0.065 1580 2929 3350 0 0 0 0 0 0

4976 -0.90 -129.1 794.3 -13.3 272 4980 0.00 2.20 0.00 0.000 4 0.000 0.056 1580 1520 3350 0 0 0 0 0 0

4999 -0.90 -129.1 797.7 -13.7 272 5006 0.00 2.28 0.00 0.000 6 0.000 0.065 1571 2929 3349 0 0 0 0 0 0

5314 -0.90 -129.1 841.0 -13.8 283 5318 0.00 2.22 0.00 0.000 4 0.000 0.054 1571 1517 3349 0 0 0 0 0 0

5332 -0.90 -129.1 843.7 -14.0 283 5336 0.00 2.28 0.00 0.000 6 0.000 0.065 1561 2930 3349 0 0 0 0 0 0

5653 -0.90 -129.1 889.0 -14.1 294 5654 0.00 0.00 0.00 0.000 6 0.000 0.000 1561 2931 3349 0 0 0 0 0 0

5959 -0.90 -129.1 931.0 -13.6 304 5963 0.00 2.22 0.00 0.000 4 0.000 0.055 1561 1517 3350 0 0 0 0 0 0

5994 -0.90 -129.1 936.1 -13.9 305 5999 0.12 2.28 0.00 0.000 6 0.207 0.064 1579 2925 3349 0 0 0 0 0 0

6328 -0.90 -129.1 976.0 -12.1 316 6332 0.00 2.20 0.00 0.000 4 0.000 0.055 1579 1518 3349 0 0 0 0 0 0

6369 -0.90 -129.1 981.1 -11.1 317 6373 0.00 2.28 0.00 0.000 6 0.000 0.065 1570 2925 3349 0 0 0 0 0 0

6537 end dive: TARGET_DEPTH_EXCEEDED

state 6537 begin apogee

6548 -0.19 0.0 1002.3 12.7 323 6690 0.80 0.00 135.57 1.205 6 0.181 0.000 1803 2717 2812 0 0 0 0 0 0

6692 end apogee: CONTROL_FINISHED_OK

state 6692 begin climb

6697 0.90 129.1 1005.5 0.0 328 6836 1.02 0.00 135.35 1.155 6 0.073 0.000 2157 2717 2292 0 0 0 0 0 0

7131 0.90 129.1 892.2 30.8 342 7132 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2717 2265 0 0 0 0 0 0

7434 0.90 129.1 801.6 29.6 352 7438 0.00 2.28 0.00 0.000 4 0.000 0.065 2168 1338 2263 0 0 0 0 0 0

7452 0.90 129.1 795.8 29.0 352 7456 0.00 2.33 0.00 0.000 6 0.000 0.060 2167 2734 2262 0 0 0 0 0 0

7774 0.90 129.1 700.5 30.2 363 7778 0.00 2.30 0.00 0.000 4 0.000 0.063 2177 1332 2262 0 0 0 0 0 0

7814 0.90 129.1 687.8 28.9 364 7818 0.00 2.33 0.00 0.000 6 0.000 0.060 2178 2739 2261 0 0 0 0 0 0

8141 0.90 129.1 588.6 31.0 375 8142 0.00 0.00 0.00 0.000 6 0.000 0.000 2178 2739 2261 0 0 0 0 0 0

8448 0.90 129.1 499.0 28.6 385 8452 0.00 2.30 0.00 0.000 4 0.000 0.063 2188 1328 2260 0 0 0 0 0 0

8466 0.90 129.1 493.0 28.8 385 8470 0.00 2.30 0.00 0.000 6 0.000 0.060 2188 2739 2259 0 0 0 0 0 0

8787 0.90 129.1 401.4 28.2 396 8791 0.00 2.28 0.00 0.000 4 0.000 0.063 2199 1335 2259 0 0 0 0 0 0

8805 0.90 129.1 395.9 28.0 396 8810 0.17 2.28 0.00 0.000 6 0.289 0.060 2165 2745 2259 0 0 0 0 0 0

9129 0.90 129.1 311.0 26.5 412 9130 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2745 2259 0 0 0 0 0 0

9441 0.90 129.1 227.6 27.5 428 9445 0.00 2.28 0.00 0.000 4 0.000 0.061 2174 1335 2258 0 0 0 0 0 0

9459 0.90 129.1 221.8 27.5 429 9463 0.00 2.28 0.00 0.000 6 0.000 0.060 2173 2739 2258 0 0 0 0 0 0

9784 0.90 129.1 135.5 26.5 449 9788 0.00 2.25 0.00 0.000 4 0.000 0.062 2183 1336 2258 0 0 0 0 0 0

9804 0.90 129.1 129.0 26.7 450 9808 0.00 2.28 0.00 0.000 6 0.000 0.061 2182 2740 2258 0 0 0 0 0 0

10151 0.90 129.1 36.6 25.6 498 10160 0.00 2.30 0.00 0.000 4 0.000 0.063 2192 1332 2258 0 0 0 0 0 0

10170 0.90 129.1 31.7 25.2 500 10180 0.10 2.30 0.00 0.000 6 0.272 0.060 2170 2740 2258 0 0 0 0 0 0

10290 end climb: SURFACE_DEPTH_REACHED

state 10290 begin surface coast

10308 end surface coast: CONTROL_FINISHED_OK

state 10308 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	15	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	31	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	24	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	-10305.838	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	52846	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	121212,085404,-4703.257,403.229,31,1.7,31,-23.3	TGT_NAME	GH1
_CALLS	1	TGT_LATLONG	-4700.000,400.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.170,0.033
_SM_DEPTHo	0.78	KALMAN_X	-3529.6,426.7,258.2,-14443.2,-2041.7
_SM_ANGLEo	-36.8	KALMAN_Y	22177.9,-293.3,-388.2,-43579.4,5504.8
GPS2	121212,090401,-4703.211,403.336,20,1.8,20,-23.3	MHEAD_RNG_PITCHd_Wd	304.2,7288,-27.2,-10.010
SPEED_LIMITS	0.173,0.295	D_GRID	1000

FINISH	0.4,1.013385	_10V_AH	10.2,1.780
SM_CCo	10330,187.55,0.773,1,0,517,564.18	FG_AHR_24Vo	0.000
SM_GC	1.05,0.00,0.00,187.55,0.000,0.000,0.773,59,2939,517,-5.66,0.45,564.18	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4648.08,400.19,121212,050526	MEM	354316
TT8_MAMPS	0.026215	DATA_FILE_SIZE	37091,521
HUMID	55.78	CAP_FILE_SIZE	87255,0
INTERNAL_PRESSURE	9.19924	CFSIZE	259252224,226889728
TCM_TEMP	10.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
XPDR_PINGS	0	GPS	121212,120153,-4702.315,402.013,40,1.1,40,-23.3
_24V_AH	23.4,4.660

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	289	97.44	SBE_CT	342	24	192.60
Roll_motor	91	72	155.73	AA4330	1051	33	811.79
VBD_pump_during_apogee	270	1204	7638.48	WL_BB2FLVMT	577	105	1419.25
VBD_pump_during_surface	187	773	3394.26	QSP2150	223	4	22.86
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	69.23	nil	0	0	0.00
Iridium_during_connect	47	160	179.10	nil	0	0	0.00
Iridium_during_xfer	312	223	1632.27	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	26	7.38
TT8	1291	14	197.05
LPSleep	7019	2	156.80
TT8_Active	618	14	89.63
TT8_Sampling	1668	37	637.07
TT8_CF8	524	47	252.55
TT8_Kalman	33	59	20.12
Analog_circuits	1202	12	147.20
GPS_charging	0	0	0.00
Compass	1248	15	200.28
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	162	0.00	0.00	-131.88	0.000	6	0.000	0.000	62	2939	3078	0	0	0	0	0	0
169	-0.90	-129.1	2.6	-3.0	17	195	6.00	2.35	-8.12	0.000	4	0.238	0.067	1578	1509	3349	0	0	0	0	0	0
207	-0.90	-129.1	9.5	-15.7	21	217	0.00	2.40	0.00	0.000	6	0.000	0.067	1569	2916	3349	0	0	0	0	0	0
295	-0.90	-129.1	27.2	-21.0	34	303	0.00	0.00	0.00	0.000	6	0.000	0.000	1569	2916	3349	0	0	0	0	0	0
380	-0.90	-129.1	44.7	-21.8	47	387	0.00	2.25	0.00	0.000	4	0.000	0.051	1569	1518	3349	0	0	0	0	0	0
399	-0.90	-129.1	48.8	-22.1	49	406	0.00	2.35	0.00	0.000	6	0.000	0.066	1558	2928	3349	0	0	0	0	0	0
638	-0.90	-129.1	100.6	-19.3	90	639	0.00	0.00	0.00	0.000	6	0.000	0.000	1558	2928	3349	0	0	0	0	0	0
954	-0.90	-129.1	159.6	-19.3	110	958	0.00	2.22	0.00	0.000	4	0.000	0.052	1558	1514	3349	0	0	0	0	0	0
978	-0.90	-129.1	164.9	-18.8	111	985	0.12	2.33	0.00	0.000	6	0.213	0.066	1576	2929	3350	0	0	0	0	0	0
1300	-0.90	-129.1	219.1	-16.2	132	1302	0.00	0.00	0.00	0.000	6	0.000	0.000	1576	2929	3350	0	0	0	0	0	0
1628	-0.90	-129.1	271.6	-15.5	151	1632	0.00	2.25	0.00	0.000	4	0.000	0.052	1576	1513	3350	0	0	0	0	0	0
1648	-0.90	-129.1	275.0	-16.0	152	1652	0.00	2.30	0.00	0.000	6	0.000	0.065	1567	2924	3350	0	0	0	0	0	0
1983	-0.90	-129.1	329.3	-16.4	168	1987	0.00	2.20	0.00	0.000	4	0.000	0.052	1567	1518	3350	0	0	0	0	0	0
2005	-0.90	-129.1	332.7	-16.6	169	2010	0.00	2.30	0.00	0.000	6	0.000	0.064	1556	2929	3350	0	0	0	0	0	0
2337	-0.90	-129.1	388.9	-17.1	185	2338	0.00	0.00	0.00	0.000	6	0.000	0.000	1556	2929	3350	0	0	0	0	0	0
2662	-0.90	-129.1	443.3	-16.2	197	2663	0.00	0.00	0.00	0.000	6	0.000	0.000	1556	2929	3350	0	0	0	0	0	0
2968	-0.90	-129.1	491.1	-15.8	207	2972	0.00	2.20	0.00	0.000	4	0.000	0.053	1556	1519	3350	0	0	0	0	0	0
2998	-0.90	-129.1	496.2	-16.1	207	3005	0.12	2.28	0.00	0.000	6	0.211	0.065	1574	2925	3350	0	0	0	0	0	0
3313	-0.90	-129.1	543.1	-15.1	218	3317	0.00	2.22	0.00	0.000	4	0.000	0.055	1574	1520	3349	0	0	0	0	0	0
3325	-0.90	-129.1	545.3	-15.1	218	3329	0.00	2.28	0.00	0.000	6	0.000	0.064	1565	2928	3350	0	0	0	0	0	0
3651	-0.90	-129.1	597.1	-16.3	229	3652	0.00	0.00	0.00	0.000	6	0.000	0.000	1565	2928	3350	0	0	0	0	0	0
3958	-0.90	-129.1	645.8	-15.6	239	3959	0.00	0.00	0.00	0.000	6	0.000	0.000	1565	2928	3349	0	0	0	0	0	0
4264	-0.90	-129.1	691.7	-14.6	249	4268	0.00	2.22	0.00	0.000	4	0.000	0.055	1565	1515	3350	0	0	0	0	0	0
4293	-0.90	-129.1	696.2	-14.6	249	4300	0.00	2.28	0.00	0.000	6	0.000	0.065	1555	2922	3349	0	0	0	0	0	0
4608	-0.90	-129.1	743.6	-15.1	260	4612	0.00	2.22	0.00	0.000	4	0.000	0.055	1554	1509	3349	0	0	0	0	0	0
4643	-0.90	-129.1	749.4	-15.5	261	4648	0.15	2.30	0.00	0.000	6	0.207	0.065	1580	2929	3350	0	0	0	0	0	0
4976	-0.90	-129.1	794.3	-13.3	272	4980	0.00	2.20	0.00	0.000	4	0.000	0.056	1580	1520	3350	0	0	0	0	0	0
4999	-0.90	-129.1	797.7	-13.7	272	5006	0.00	2.28	0.00	0.000	6	0.000	0.065	1571	2929	3349	0	0	0	0	0	0
5314	-0.90	-129.1	841.0	-13.8	283	5318	0.00	2.22	0.00	0.000	4	0.000	0.054	1571	1517	3349	0	0	0	0	0	0
5332	-0.90	-129.1	843.7	-14.0	283	5336	0.00	2.28	0.00	0.000	6	0.000	0.065	1561	2930	3349	0	0	0	0	0	0
5653	-0.90	-129.1	889.0	-14.1	294	5654	0.00	0.00	0.00	0.000	6	0.000	0.000	1561	2931	3349	0	0	0	0	0	0
5959	-0.90	-129.1	931.0	-13.6	304	5963	0.00	2.22	0.00	0.000	4	0.000	0.055	1561	1517	3350	0	0	0	0	0	0
5994	-0.90	-129.1	936.1	-13.9	305	5999	0.12	2.28	0.00	0.000	6	0.207	0.064	1579	2925	3349	0	0	0	0	0	0
6328	-0.90	-129.1	976.0	-12.1	316	6332	0.00	2.20	0.00	0.000	4	0.000	0.055	1579	1518	3349	0	0	0	0	0	0
6369	-0.90	-129.1	981.1	-11.1	317	6373	0.00	2.28	0.00	0.000	6	0.000	0.065	1570	2925	3349	0	0	0	0	0	0
6537	end dive: TARGET_DEPTH_EXCEEDED
state	6537	begin apogee
6548	-0.19	0.0	1002.3	12.7	323	6690	0.80	0.00	135.57	1.205	6	0.181	0.000	1803	2717	2812	0	0	0	0	0	0
6692	end apogee: CONTROL_FINISHED_OK
state	6692	begin climb
6697	0.90	129.1	1005.5	0.0	328	6836	1.02	0.00	135.35	1.155	6	0.073	0.000	2157	2717	2292	0	0	0	0	0	0
7131	0.90	129.1	892.2	30.8	342	7132	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2717	2265	0	0	0	0	0	0
7434	0.90	129.1	801.6	29.6	352	7438	0.00	2.28	0.00	0.000	4	0.000	0.065	2168	1338	2263	0	0	0	0	0	0
7452	0.90	129.1	795.8	29.0	352	7456	0.00	2.33	0.00	0.000	6	0.000	0.060	2167	2734	2262	0	0	0	0	0	0
7774	0.90	129.1	700.5	30.2	363	7778	0.00	2.30	0.00	0.000	4	0.000	0.063	2177	1332	2262	0	0	0	0	0	0
7814	0.90	129.1	687.8	28.9	364	7818	0.00	2.33	0.00	0.000	6	0.000	0.060	2178	2739	2261	0	0	0	0	0	0
8141	0.90	129.1	588.6	31.0	375	8142	0.00	0.00	0.00	0.000	6	0.000	0.000	2178	2739	2261	0	0	0	0	0	0
8448	0.90	129.1	499.0	28.6	385	8452	0.00	2.30	0.00	0.000	4	0.000	0.063	2188	1328	2260	0	0	0	0	0	0
8466	0.90	129.1	493.0	28.8	385	8470	0.00	2.30	0.00	0.000	6	0.000	0.060	2188	2739	2259	0	0	0	0	0	0
8787	0.90	129.1	401.4	28.2	396	8791	0.00	2.28	0.00	0.000	4	0.000	0.063	2199	1335	2259	0	0	0	0	0	0
8805	0.90	129.1	395.9	28.0	396	8810	0.17	2.28	0.00	0.000	6	0.289	0.060	2165	2745	2259	0	0	0	0	0	0
9129	0.90	129.1	311.0	26.5	412	9130	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2745	2259	0	0	0	0	0	0
9441	0.90	129.1	227.6	27.5	428	9445	0.00	2.28	0.00	0.000	4	0.000	0.061	2174	1335	2258	0	0	0	0	0	0
9459	0.90	129.1	221.8	27.5	429	9463	0.00	2.28	0.00	0.000	6	0.000	0.060	2173	2739	2258	0	0	0	0	0	0
9784	0.90	129.1	135.5	26.5	449	9788	0.00	2.25	0.00	0.000	4	0.000	0.062	2183	1336	2258	0	0	0	0	0	0
9804	0.90	129.1	129.0	26.7	450	9808	0.00	2.28	0.00	0.000	6	0.000	0.061	2182	2740	2258	0	0	0	0	0	0
10151	0.90	129.1	36.6	25.6	498	10160	0.00	2.30	0.00	0.000	4	0.000	0.063	2192	1332	2258	0	0	0	0	0	0
10170	0.90	129.1	31.7	25.2	500	10180	0.10	2.30	0.00	0.000	6	0.272	0.060	2170	2740	2258	0	0	0	0	0	0
10290	end climb: SURFACE_DEPTH_REACHED
state	10290	begin surface coast
10308	end surface coast: CONTROL_FINISHED_OK
state	10308	begin surface