Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 155 * 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 0

DIVE 155 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2930 ALTIM_PING_DELTA 5

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2710 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -56 HEAD_ERRBAND 15 ALTIM_PULSE 3

D_TGT 1000 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 200 R_PORT_OVSHOOT 28 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 28 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 2342 DEVICE3 35

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 134

T_DIVE 350 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 365 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00079999998 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 -22093.828 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 1790 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 53 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 0.00251332 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.0127788 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 10

HD_C 1.44018e-06 ROLL_MIN 335 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 500 PHONE_DEVICE 48 SM_CC 200

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 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 53 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 0.00079999998 T_BOOST 0

APOGEE_PITCH -7 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011816985 T_DIVE 350

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -53.02364 T_GPS 15

CALL_TRIES 5 HD_A 0.00251332 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0127788 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -22093.828

CAPMAXSIZE 100000 HD_C 1.44018e-06 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 365

CF8_MAXERRORS 20 HEAD_ERRBAND 15 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 1790 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2710 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 2930 LOGGERDEVICE1 -1 ROLL_MAX 3901 USE_ICE 0

C_VBD 2342 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 28 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 28 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 155 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 040115,222522,-5602.014,-27.288,39,0.8,39,-19.9 TGT_NAME TARGET

_CALLS 1 TGT_LATLONG -5600.000,-30.000

_XMS_NAKs 0 TGT_RADIUS 4000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.002,0.165

_SM_DEPTHo 2.32 KALMAN_X 83486.5,354.9,231.9,-112336.8,-2716.0

_SM_ANGLEo -72.9 KALMAN_Y 29511.3,-778.7,-320.1,-31823.3,1795.2

GPS2 040115,223300,-5602.021,-27.338,14,1.0,14,-19.9 MHEAD_RNG_PITCHd_Wd 19.2,4650,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.3,1.013209 _10V_AH 10.0,22.022

SM_CCo 11742,22.52,0.183,0,0,1523,200.16 FG_AHR_24Vo 0.000

SM_GC 3.35,0.00,0.00,22.52,0.000,0.000,0.183,58,2936,1523,-5.41,0.17,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5538.94,-30.83,040115,181815 MEM 353824

TT8_MAMPS 0.026215 DATA_FILE_SIZE 53593,771

HUMID 56.37 CAP_FILE_SIZE 105412,0

INTERNAL_PRESSURE 8.97462 CFSIZE 259252224,216354816

TCM_TEMP 7.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 050115,015104,-5600.104,-27.765,31,1.0,31,-19.9

_24V_AH 22.0,33.066

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 254 75.94 SBE_CT 547 23 288.95

Roll_motor 70 81 126.62 AA4330 1604 17 634.71

VBD_pump_during_apogee 277 1802 11005.27 WL_BB2F 779 105 1799.55

VBD_pump_during_surface 22 182 90.60 QSP2150 810 17 320.58

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 91 54.60 nil 0 0 0.00

Iridium_during_connect 41 160 144.62 nil 0 0 0.00

Iridium_during_xfer 271 223 1334.11 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 31 5.22

TT8 1941 14 280.75

LPSleep 7342 2 160.80

TT8_Active 391 14 56.63

TT8_Sampling 2390 42 1008.05

TT8_CF8 156 49 77.90

TT8_Kalman 33 68 22.82

Analog_circuits 1199 15 185.96

GPS_charging 0 0 0.00

Compass 1909 16 314.68

RAFOS 0 0 0.00

Transponder 0 5 0.03

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 -0.54 -73.9 0.0 0.0 0 51 0.00 0.00 -34.15 0.000 2 0.000 0.000 55 2939 2262 0 0 0 0 0 0

54 -0.60 -143.8 3.1 -3.5 4 96 6.43 1.62 -24.65 0.000 4 0.255 0.081 1581 3900 2930 0 0 0 0 0 0

364 -0.60 -143.8 65.7 -23.4 54 373 0.00 1.58 0.00 0.000 6 0.000 0.033 1581 2894 2932 0 0 0 0 0 0

480 -0.60 -143.8 91.4 -21.8 73 486 0.00 0.00 0.00 0.000 6 0.000 0.000 1581 2893 2931 0 0 0 0 0 0

705 -0.60 -143.8 139.2 -20.2 97 708 0.00 1.65 0.00 0.000 4 0.000 0.059 1574 3896 2932 0 0 0 0 0 0

848 -0.60 -143.8 168.8 -19.2 109 855 0.00 1.50 0.00 0.000 6 0.000 0.032 1573 2922 2932 0 0 0 0 0 0

1173 -0.60 -143.8 227.2 -17.8 140 1174 0.00 0.00 0.00 0.000 6 0.000 0.000 1573 2922 2931 0 0 0 0 0 0

1489 -0.60 -143.8 283.0 -17.8 161 1492 0.00 1.60 0.00 0.000 4 0.000 0.060 1566 3889 2932 0 0 0 0 0 0

1611 -0.60 -143.8 307.4 -18.8 166 1616 0.00 1.50 0.00 0.000 6 0.000 0.031 1566 2922 2932 0 0 0 0 0 0

1935 -0.60 -143.8 366.4 -18.3 182 1939 0.00 1.62 0.00 0.000 4 0.000 0.058 1558 3900 2932 0 0 0 0 0 0

2013 -0.60 -143.8 382.0 -19.6 185 2019 0.10 1.50 0.00 0.000 6 0.208 0.031 1585 2920 2932 0 0 0 0 0 0

2336 -0.60 -143.8 432.9 -15.6 201 2339 0.00 1.60 0.00 0.000 4 0.000 0.059 1578 3890 2932 0 0 0 0 0 0

2407 -0.60 -143.8 445.4 -16.9 204 2412 0.00 1.48 0.00 0.000 6 0.000 0.031 1578 2925 2932 0 0 0 0 0 0

2735 -0.60 -143.8 497.8 -16.2 220 2736 0.00 0.00 0.00 0.000 6 0.000 0.000 1578 2920 2932 0 0 0 0 0 0

3045 -0.60 -143.8 547.0 -15.5 235 3048 0.00 1.60 0.00 0.000 4 0.000 0.059 1571 3892 2932 0 0 0 0 0 0

3127 -0.60 -143.8 561.1 -16.1 238 3135 0.00 1.48 0.00 0.000 6 0.000 0.031 1571 2923 2932 0 0 0 0 0 0

3443 -0.60 -143.8 610.1 -15.4 254 3444 0.00 0.00 0.00 0.000 6 0.000 0.000 1570 2922 2932 0 0 0 0 0 0

3753 -0.60 -143.8 657.2 -15.3 269 3757 0.00 1.60 0.00 0.000 4 0.000 0.060 1563 3893 2932 0 0 0 0 0 0

3843 -0.60 -143.8 672.4 -17.2 273 3848 0.08 1.45 0.00 0.000 6 0.184 0.031 1586 2941 2933 0 0 0 0 0 0

4175 -0.60 -143.8 720.4 -14.4 289 4179 0.00 1.58 0.00 0.000 4 0.000 0.060 1579 3892 2933 0 0 0 0 0 0

4221 -0.60 -143.8 727.6 -16.3 291 4224 0.00 1.48 0.00 0.000 6 0.000 0.031 1579 2915 2932 0 0 0 0 0 0

4552 -0.60 -143.8 778.3 -15.1 307 4554 0.00 0.00 0.00 0.000 6 0.000 0.000 1579 2910 2932 0 0 0 0 0 0

4863 -0.60 -143.8 825.2 -15.3 322 4866 0.00 1.62 0.00 0.000 4 0.000 0.059 1572 3895 2932 0 0 0 0 0 0

4922 -0.60 -143.8 835.4 -16.6 324 4931 0.00 1.48 0.00 0.000 6 0.000 0.031 1572 2923 2933 0 0 0 0 0 0

5239 -0.60 -143.8 884.7 -15.7 340 5240 0.00 0.00 0.00 0.000 6 0.000 0.000 1572 2923 2932 0 0 0 0 0 0

5549 -0.60 -143.8 934.4 -16.3 355 5553 0.00 1.60 0.00 0.000 4 0.000 0.060 1564 3896 2932 0 0 0 0 0 0

5631 -0.60 -143.8 949.0 -16.9 358 5639 0.08 1.48 0.00 0.000 6 0.183 0.031 1586 2935 2933 0 0 0 0 0 0

5948 -0.60 -143.8 995.5 -14.5 374 5949 0.00 0.00 0.00 0.000 6 0.000 0.000 1586 2935 2932 0 0 0 0 0 0

5987 end dive: TARGET_DEPTH_EXCEEDED

state 5987 begin apogee

5991 -0.13 0.0 1001.5 14.6 376 6130 0.52 0.00 132.40 1.802 6 0.178 0.000 1738 2714 2342 0 0 0 0 0 0

6131 end apogee: CONTROL_FINISHED_OK

state 6131 begin climb

6133 0.60 143.8 1007.6 0.0 383 6286 0.80 2.47 145.15 1.753 4 0.123 0.041 1982 1331 1753 0 0 0 0 0 0

6329 0.60 143.8 985.3 15.3 392 6335 0.00 2.45 0.00 0.000 6 0.000 0.049 1983 2712 1750 0 0 0 0 0 0

6652 0.60 143.8 929.5 17.5 408 6656 0.00 1.95 0.00 0.000 4 0.000 0.057 1982 3893 1744 0 0 0 0 0 0

6706 0.60 143.8 918.1 19.7 410 6711 0.00 1.90 0.00 0.000 6 0.000 0.034 1992 2738 1743 0 0 0 0 0 0

7028 0.60 143.8 857.8 18.9 426 7030 0.00 0.00 0.00 0.000 6 0.000 0.000 1992 2737 1742 0 0 0 0 0 0

7338 0.60 143.8 798.6 19.5 441 7342 0.00 1.90 0.00 0.000 4 0.000 0.056 1992 3897 1741 0 0 0 0 0 0

7387 0.60 143.8 787.6 22.7 443 7392 0.00 1.90 0.00 0.000 6 0.000 0.034 2001 2716 1740 0 0 0 0 0 0

7715 0.60 143.8 721.3 20.4 459 7716 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2716 1740 0 0 0 0 0 0

8025 0.60 143.8 656.7 21.3 474 8029 0.00 1.95 0.00 0.000 4 0.000 0.056 2001 3890 1740 0 0 0 0 0 0

8102 0.60 143.8 638.3 22.9 477 8107 0.00 1.90 0.00 0.000 6 0.000 0.034 2010 2700 1739 0 0 0 0 0 0

8424 0.60 143.8 570.4 21.0 493 8428 0.00 1.92 0.00 0.000 4 0.000 0.054 2010 3892 1739 0 0 0 0 0 0

8484 0.60 143.8 555.9 24.0 495 8493 0.10 1.90 0.00 0.000 6 0.201 0.034 1992 2706 1738 0 0 0 0 0 0

8801 0.60 143.8 496.7 18.4 511 8802 0.00 0.00 0.00 0.000 6 0.000 0.000 1992 2706 1738 0 0 0 0 0 0

9111 0.60 143.8 440.1 17.9 526 9114 0.00 1.98 0.00 0.000 4 0.000 0.056 1992 3926 1738 0 0 0 0 0 0

9165 0.60 143.8 428.6 20.9 528 9170 0.00 1.95 0.00 0.000 6 0.000 0.034 2000 2705 1738 0 0 0 0 0 0

9488 0.60 143.8 370.1 17.9 544 9490 0.00 0.00 0.00 0.000 6 0.000 0.000 2001 2705 1738 0 0 0 0 0 0

9800 0.60 143.8 317.1 17.1 559 9804 0.00 1.92 0.00 0.000 4 0.000 0.055 2000 3892 1738 0 0 0 0 0 0

9900 0.60 143.8 297.5 18.7 563 9905 0.00 1.88 0.00 0.000 6 0.000 0.034 2009 2710 1738 0 0 0 0 0 0

10226 0.60 143.8 240.1 18.5 581 10230 0.00 1.92 0.00 0.000 4 0.000 0.055 2009 3893 1738 0 0 0 0 0 0

10276 0.60 143.8 228.9 21.3 585 10285 0.10 1.88 0.00 0.000 6 0.202 0.034 1991 2709 1738 0 0 0 0 0 0

10602 0.60 143.8 171.3 17.8 616 10603 0.00 0.00 0.00 0.000 6 0.000 0.000 1991 2709 1737 0 0 0 0 0 0

10923 0.60 143.8 116.4 16.7 646 10927 0.00 1.92 0.00 0.000 4 0.000 0.056 1991 3896 1738 0 0 0 0 0 0

11007 0.60 143.8 102.1 17.7 653 11011 0.00 1.85 0.00 0.000 6 0.000 0.034 1999 2704 1738 0 0 0 0 0 0

11363 0.60 143.8 51.1 13.8 713 11370 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2705 1738 0 0 0 0 0 0

11476 0.60 143.8 36.0 13.0 732 11485 0.00 1.95 0.00 0.000 4 0.000 0.057 1999 3889 1738 0 0 0 0 0 0

11540 0.60 143.8 26.5 15.1 742 11550 0.00 1.85 0.00 0.000 6 0.000 0.034 2008 2716 1738 0 0 0 0 0 0

11627 0.60 143.8 14.3 13.8 755 11635 0.00 0.00 0.00 0.000 6 0.000 0.000 2008 2716 1737 0 0 0 0 0 0

11703 end climb: SURFACE_DEPTH_REACHED

state 11703 begin surface coast

11729 end surface coast: CONTROL_FINISHED_OK

state 11729 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	0
DIVE	155	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2930	ALTIM_PING_DELTA	5
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2710	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-56	HEAD_ERRBAND	15	ALTIM_PULSE	3
D_TGT	1000	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	200	R_PORT_OVSHOOT	28	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	28	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	2342	DEVICE3	35
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	134
T_DIVE	350	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	365	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00079999998	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	-22093.828	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	1790	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	53	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	0.00251332	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.0127788	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	10
HD_C	1.44018e-06	ROLL_MIN	335	ALTIM_TOP_TURN_MARGIN	0

GPS1	040115,222522,-5602.014,-27.288,39,0.8,39,-19.9	TGT_NAME	TARGET
_CALLS	1	TGT_LATLONG	-5600.000,-30.000
_XMS_NAKs	0	TGT_RADIUS	4000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.002,0.165
_SM_DEPTHo	2.32	KALMAN_X	83486.5,354.9,231.9,-112336.8,-2716.0
_SM_ANGLEo	-72.9	KALMAN_Y	29511.3,-778.7,-320.1,-31823.3,1795.2
GPS2	040115,223300,-5602.021,-27.338,14,1.0,14,-19.9	MHEAD_RNG_PITCHd_Wd	19.2,4650,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.3,1.013209	_10V_AH	10.0,22.022
SM_CCo	11742,22.52,0.183,0,0,1523,200.16	FG_AHR_24Vo	0.000
SM_GC	3.35,0.00,0.00,22.52,0.000,0.000,0.183,58,2936,1523,-5.41,0.17,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5538.94,-30.83,040115,181815	MEM	353824
TT8_MAMPS	0.026215	DATA_FILE_SIZE	53593,771
HUMID	56.37	CAP_FILE_SIZE	105412,0
INTERNAL_PRESSURE	8.97462	CFSIZE	259252224,216354816
TCM_TEMP	7.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	050115,015104,-5600.104,-27.765,31,1.0,31,-19.9
_24V_AH	22.0,33.066

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	254	75.94	SBE_CT	547	23	288.95
Roll_motor	70	81	126.62	AA4330	1604	17	634.71
VBD_pump_during_apogee	277	1802	11005.27	WL_BB2F	779	105	1799.55
VBD_pump_during_surface	22	182	90.60	QSP2150	810	17	320.58
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	91	54.60	nil	0	0	0.00
Iridium_during_connect	41	160	144.62	nil	0	0	0.00
Iridium_during_xfer	271	223	1334.11	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	31	5.22
TT8	1941	14	280.75
LPSleep	7342	2	160.80
TT8_Active	391	14	56.63
TT8_Sampling	2390	42	1008.05
TT8_CF8	156	49	77.90
TT8_Kalman	33	68	22.82
Analog_circuits	1199	15	185.96
GPS_charging	0	0	0.00
Compass	1909	16	314.68
RAFOS	0	0	0.00
Transponder	0	5	0.03

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	-0.54	-73.9	0.0	0.0	0	51	0.00	0.00	-34.15	0.000	2	0.000	0.000	55	2939	2262	0	0	0	0	0	0
54	-0.60	-143.8	3.1	-3.5	4	96	6.43	1.62	-24.65	0.000	4	0.255	0.081	1581	3900	2930	0	0	0	0	0	0
364	-0.60	-143.8	65.7	-23.4	54	373	0.00	1.58	0.00	0.000	6	0.000	0.033	1581	2894	2932	0	0	0	0	0	0
480	-0.60	-143.8	91.4	-21.8	73	486	0.00	0.00	0.00	0.000	6	0.000	0.000	1581	2893	2931	0	0	0	0	0	0
705	-0.60	-143.8	139.2	-20.2	97	708	0.00	1.65	0.00	0.000	4	0.000	0.059	1574	3896	2932	0	0	0	0	0	0
848	-0.60	-143.8	168.8	-19.2	109	855	0.00	1.50	0.00	0.000	6	0.000	0.032	1573	2922	2932	0	0	0	0	0	0
1173	-0.60	-143.8	227.2	-17.8	140	1174	0.00	0.00	0.00	0.000	6	0.000	0.000	1573	2922	2931	0	0	0	0	0	0
1489	-0.60	-143.8	283.0	-17.8	161	1492	0.00	1.60	0.00	0.000	4	0.000	0.060	1566	3889	2932	0	0	0	0	0	0
1611	-0.60	-143.8	307.4	-18.8	166	1616	0.00	1.50	0.00	0.000	6	0.000	0.031	1566	2922	2932	0	0	0	0	0	0
1935	-0.60	-143.8	366.4	-18.3	182	1939	0.00	1.62	0.00	0.000	4	0.000	0.058	1558	3900	2932	0	0	0	0	0	0
2013	-0.60	-143.8	382.0	-19.6	185	2019	0.10	1.50	0.00	0.000	6	0.208	0.031	1585	2920	2932	0	0	0	0	0	0
2336	-0.60	-143.8	432.9	-15.6	201	2339	0.00	1.60	0.00	0.000	4	0.000	0.059	1578	3890	2932	0	0	0	0	0	0
2407	-0.60	-143.8	445.4	-16.9	204	2412	0.00	1.48	0.00	0.000	6	0.000	0.031	1578	2925	2932	0	0	0	0	0	0
2735	-0.60	-143.8	497.8	-16.2	220	2736	0.00	0.00	0.00	0.000	6	0.000	0.000	1578	2920	2932	0	0	0	0	0	0
3045	-0.60	-143.8	547.0	-15.5	235	3048	0.00	1.60	0.00	0.000	4	0.000	0.059	1571	3892	2932	0	0	0	0	0	0
3127	-0.60	-143.8	561.1	-16.1	238	3135	0.00	1.48	0.00	0.000	6	0.000	0.031	1571	2923	2932	0	0	0	0	0	0
3443	-0.60	-143.8	610.1	-15.4	254	3444	0.00	0.00	0.00	0.000	6	0.000	0.000	1570	2922	2932	0	0	0	0	0	0
3753	-0.60	-143.8	657.2	-15.3	269	3757	0.00	1.60	0.00	0.000	4	0.000	0.060	1563	3893	2932	0	0	0	0	0	0
3843	-0.60	-143.8	672.4	-17.2	273	3848	0.08	1.45	0.00	0.000	6	0.184	0.031	1586	2941	2933	0	0	0	0	0	0
4175	-0.60	-143.8	720.4	-14.4	289	4179	0.00	1.58	0.00	0.000	4	0.000	0.060	1579	3892	2933	0	0	0	0	0	0
4221	-0.60	-143.8	727.6	-16.3	291	4224	0.00	1.48	0.00	0.000	6	0.000	0.031	1579	2915	2932	0	0	0	0	0	0
4552	-0.60	-143.8	778.3	-15.1	307	4554	0.00	0.00	0.00	0.000	6	0.000	0.000	1579	2910	2932	0	0	0	0	0	0
4863	-0.60	-143.8	825.2	-15.3	322	4866	0.00	1.62	0.00	0.000	4	0.000	0.059	1572	3895	2932	0	0	0	0	0	0
4922	-0.60	-143.8	835.4	-16.6	324	4931	0.00	1.48	0.00	0.000	6	0.000	0.031	1572	2923	2933	0	0	0	0	0	0
5239	-0.60	-143.8	884.7	-15.7	340	5240	0.00	0.00	0.00	0.000	6	0.000	0.000	1572	2923	2932	0	0	0	0	0	0
5549	-0.60	-143.8	934.4	-16.3	355	5553	0.00	1.60	0.00	0.000	4	0.000	0.060	1564	3896	2932	0	0	0	0	0	0
5631	-0.60	-143.8	949.0	-16.9	358	5639	0.08	1.48	0.00	0.000	6	0.183	0.031	1586	2935	2933	0	0	0	0	0	0
5948	-0.60	-143.8	995.5	-14.5	374	5949	0.00	0.00	0.00	0.000	6	0.000	0.000	1586	2935	2932	0	0	0	0	0	0
5987	end dive: TARGET_DEPTH_EXCEEDED
state	5987	begin apogee
5991	-0.13	0.0	1001.5	14.6	376	6130	0.52	0.00	132.40	1.802	6	0.178	0.000	1738	2714	2342	0	0	0	0	0	0
6131	end apogee: CONTROL_FINISHED_OK
state	6131	begin climb
6133	0.60	143.8	1007.6	0.0	383	6286	0.80	2.47	145.15	1.753	4	0.123	0.041	1982	1331	1753	0	0	0	0	0	0
6329	0.60	143.8	985.3	15.3	392	6335	0.00	2.45	0.00	0.000	6	0.000	0.049	1983	2712	1750	0	0	0	0	0	0
6652	0.60	143.8	929.5	17.5	408	6656	0.00	1.95	0.00	0.000	4	0.000	0.057	1982	3893	1744	0	0	0	0	0	0
6706	0.60	143.8	918.1	19.7	410	6711	0.00	1.90	0.00	0.000	6	0.000	0.034	1992	2738	1743	0	0	0	0	0	0
7028	0.60	143.8	857.8	18.9	426	7030	0.00	0.00	0.00	0.000	6	0.000	0.000	1992	2737	1742	0	0	0	0	0	0
7338	0.60	143.8	798.6	19.5	441	7342	0.00	1.90	0.00	0.000	4	0.000	0.056	1992	3897	1741	0	0	0	0	0	0
7387	0.60	143.8	787.6	22.7	443	7392	0.00	1.90	0.00	0.000	6	0.000	0.034	2001	2716	1740	0	0	0	0	0	0
7715	0.60	143.8	721.3	20.4	459	7716	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2716	1740	0	0	0	0	0	0
8025	0.60	143.8	656.7	21.3	474	8029	0.00	1.95	0.00	0.000	4	0.000	0.056	2001	3890	1740	0	0	0	0	0	0
8102	0.60	143.8	638.3	22.9	477	8107	0.00	1.90	0.00	0.000	6	0.000	0.034	2010	2700	1739	0	0	0	0	0	0
8424	0.60	143.8	570.4	21.0	493	8428	0.00	1.92	0.00	0.000	4	0.000	0.054	2010	3892	1739	0	0	0	0	0	0
8484	0.60	143.8	555.9	24.0	495	8493	0.10	1.90	0.00	0.000	6	0.201	0.034	1992	2706	1738	0	0	0	0	0	0
8801	0.60	143.8	496.7	18.4	511	8802	0.00	0.00	0.00	0.000	6	0.000	0.000	1992	2706	1738	0	0	0	0	0	0
9111	0.60	143.8	440.1	17.9	526	9114	0.00	1.98	0.00	0.000	4	0.000	0.056	1992	3926	1738	0	0	0	0	0	0
9165	0.60	143.8	428.6	20.9	528	9170	0.00	1.95	0.00	0.000	6	0.000	0.034	2000	2705	1738	0	0	0	0	0	0
9488	0.60	143.8	370.1	17.9	544	9490	0.00	0.00	0.00	0.000	6	0.000	0.000	2001	2705	1738	0	0	0	0	0	0
9800	0.60	143.8	317.1	17.1	559	9804	0.00	1.92	0.00	0.000	4	0.000	0.055	2000	3892	1738	0	0	0	0	0	0
9900	0.60	143.8	297.5	18.7	563	9905	0.00	1.88	0.00	0.000	6	0.000	0.034	2009	2710	1738	0	0	0	0	0	0
10226	0.60	143.8	240.1	18.5	581	10230	0.00	1.92	0.00	0.000	4	0.000	0.055	2009	3893	1738	0	0	0	0	0	0
10276	0.60	143.8	228.9	21.3	585	10285	0.10	1.88	0.00	0.000	6	0.202	0.034	1991	2709	1738	0	0	0	0	0	0
10602	0.60	143.8	171.3	17.8	616	10603	0.00	0.00	0.00	0.000	6	0.000	0.000	1991	2709	1737	0	0	0	0	0	0
10923	0.60	143.8	116.4	16.7	646	10927	0.00	1.92	0.00	0.000	4	0.000	0.056	1991	3896	1738	0	0	0	0	0	0
11007	0.60	143.8	102.1	17.7	653	11011	0.00	1.85	0.00	0.000	6	0.000	0.034	1999	2704	1738	0	0	0	0	0	0
11363	0.60	143.8	51.1	13.8	713	11370	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2705	1738	0	0	0	0	0	0
11476	0.60	143.8	36.0	13.0	732	11485	0.00	1.95	0.00	0.000	4	0.000	0.057	1999	3889	1738	0	0	0	0	0	0
11540	0.60	143.8	26.5	15.1	742	11550	0.00	1.85	0.00	0.000	6	0.000	0.034	2008	2716	1738	0	0	0	0	0	0
11627	0.60	143.8	14.3	13.8	755	11635	0.00	0.00	0.00	0.000	6	0.000	0.000	2008	2716	1737	0	0	0	0	0	0
11703	end climb: SURFACE_DEPTH_REACHED
state	11703	begin surface coast
11729	end surface coast: CONTROL_FINISHED_OK
state	11729	begin surface