Glider dive log

SOSCEx 08Dec12 * SG543 * Dive index * Mission links * Dive 169 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 543 HEADING -1 ROLL_MAX 3944 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 6 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 1050

DIVE 169 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 3380 ALTIM_PING_DELTA 15

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 3270 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -4230 HEAD_ERRBAND 15 ALTIM_PULSE 4

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 3

D_NO_BLEED 200 SM_CC 250 R_PORT_OVSHOOT 50 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 35 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 5 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.050000001

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 507 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 101

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2474 DEVICE3 131

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 118

T_DIVE 400 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 420 CAPUPLOAD 0 VBD_TIMEOUT 800 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00061500003 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 -8335.416 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 -5 PITCH_MIN 86 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3908 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1635 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043127281

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -55.913475 SEABIRD_T_H 0.00062185986

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011638312 SEABIRD_T_I 2.2048062e-05

RHO 1.027 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.2117231e-06

MASS 52459 PITCH_GAIN 37 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.303595

NAV_MODE 1 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1762303

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.001936322

KALMAN_USE 1 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00024357962

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 20

HD_C 9.9999997e-06 ROLL_MIN 394 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SM_CC 250

AH0_10V 100 D_OFFGRID 250 PHONE_SUPPLY 2 SPEED_FACTOR 1

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 20 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 15 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 4 FERRY_MAX 45 PITCH_MAX 3908 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 86 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 0.00061500003 T_BOOST 5

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011638312 T_DIVE 400

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -55.913475 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 -8335.416

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

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 420

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 543 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 0.050000001 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_PITCH 1635 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 3270 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 3380 LOGGERDEVICE1 -1 ROLL_MAX 3944 USE_ICE 0

C_VBD 2474 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_MIN 394 VBD_CNV -0.245296

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 50 VBD_MAX 3960

DEVICE2 101 MASS 52459 R_STBD_OVSHOOT 35 VBD_MAXERRORS 1

DEVICE3 131 MAX_BUOY 150 SEABIRD_C_G -10.303595 VBD_MIN 507

DEVICE4 118 MINV_10V 8 SEABIRD_C_H 1.1762303 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.001936322 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MISSION 6 SEABIRD_C_J 0.00024357962 VBD_TIMEOUT 800

DIVE 169 MOTHERBOARD 4 SEABIRD_T_G 0.0043127281 XPDR_DEVICE 24

D_ABORT 1050 NAV_MODE 1 SEABIRD_T_H 0.00062185986 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 SEABIRD_T_I 2.2048062e-05 XPDR_VALID 3

D_CALL 0 N_GPS 20 SEABIRD_T_J 2.2117231e-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 050113,142128,-4157.740,815.665,38,0.9,38,-24.9 TGT_NAME GH2

_CALLS 1 TGT_LATLONG -4200.000,820.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.120,-0.081

_SM_DEPTHo 1.73 KALMAN_X -73029.1,-1121.4,-449.1,93848.1,8388.0

_SM_ANGLEo -55.4 KALMAN_Y 5450.5,569.7,320.9,53455.6,-2410.6

GPS2 050113,142936,-4157.738,815.741,17,1.4,17,-24.9 MHEAD_RNG_PITCHd_Wd 260.9,7205,-27.0,-8.333

SPEED_LIMITS 0.144,0.244 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.4,1.026144 _10V_AH 10.1,17.904

SM_CCo 12595,71.68,0.727,1,0,1453,250.20 FG_AHR_24Vo 0.000

SM_GC 1.85,0.00,0.00,71.68,0.000,0.000,0.727,52,3393,1453,-4.94,0.37,250.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4138.02,744.09,050113,101054 MEM 353916

TT8_MAMPS 0.025466 DATA_FILE_SIZE 47240,635

HUMID 55.63 CAP_FILE_SIZE 106714,0

INTERNAL_PRESSURE 9.03472 CFSIZE 259252224,247980032

TCM_TEMP 15.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1

XPDR_PINGS 0 GPS 050113,180304,-4158.561,814.690,34,0.8,34,-24.9

_24V_AH 23.6,31.424

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 231 66.11 SBE_CT 413 24 234.28

Roll_motor 41 75 73.59 AA4330 1411 33 1099.42

VBD_pump_during_apogee 187 1210 5369.37 WL_BB2FLVMT 659 105 1634.26

VBD_pump_during_surface 71 726 1229.32 QSP2150 292 4 30.25

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 65.96 nil 0 0 0.00

Iridium_during_connect 42 160 158.83 nil 0 0 0.00

Iridium_during_xfer 259 223 1364.42 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 26 5.47

TT8 1686 14 254.88

LPSleep 8063 2 178.35

TT8_Active 363 14 52.16

TT8_Sampling 2306 37 871.83

TT8_CF8 744 47 354.75

TT8_Kalman 33 59 19.93

Analog_circuits 1220 12 147.89

GPS_charging 0 0 0.00

Compass 2127 15 338.02

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

20 -0.76 -48.0 0.0 0.0 0 72 0.00 0.00 -49.45 0.000 2 0.000 0.000 49 3394 2630 0 0 0 0 0 0

76 -0.78 -89.2 3.1 -3.5 6 95 5.38 2.20 -6.72 0.000 4 0.231 0.044 1379 1964 2838 0 0 0 0 0 0

215 -0.78 -89.2 19.5 -13.6 26 223 0.00 2.30 0.00 0.000 6 0.000 0.053 1370 3365 2841 0 0 0 0 0 0

304 -0.78 -89.2 34.5 -18.1 39 310 0.00 0.00 0.00 0.000 6 0.000 0.000 1370 3365 2841 0 0 0 0 0 0

546 -0.78 -89.2 79.2 -17.9 80 552 0.00 0.00 0.00 0.000 6 0.000 0.000 1370 3365 2841 0 0 0 0 0 0

897 -0.78 -89.2 126.4 -12.3 117 898 0.00 0.00 0.00 0.000 6 0.000 0.000 1370 3365 2842 0 0 0 0 0 0

1206 -0.78 -89.2 164.0 -12.6 137 1207 0.00 0.00 0.00 0.000 6 0.000 0.000 1370 3365 2843 0 0 0 0 0 0

1520 -0.78 -89.2 205.8 -13.7 157 1524 0.00 0.93 0.00 0.000 4 0.000 0.055 1366 3954 2844 0 0 0 0 0 0

1665 -0.78 -89.2 228.3 -15.7 165 1669 0.00 0.85 0.00 0.000 6 0.000 0.035 1365 3388 2844 0 0 0 0 0 0

1995 -0.78 -89.2 279.1 -15.1 183 2001 0.00 0.88 0.00 0.000 4 0.000 0.054 1361 3947 2845 0 0 0 0 0 0

2138 -0.78 -89.2 301.7 -15.6 189 2142 0.00 0.85 0.00 0.000 6 0.000 0.035 1361 3379 2845 0 0 0 0 0 0

2473 -0.78 -89.2 349.5 -13.3 205 2474 0.00 0.00 0.00 0.000 6 0.000 0.000 1361 3379 2845 0 0 0 0 0 0

2781 -0.78 -89.2 388.9 -12.3 220 2785 0.00 0.90 0.00 0.000 4 0.000 0.054 1358 3953 2845 0 0 0 0 0 0

2955 -0.78 -89.2 411.8 -13.6 227 2960 0.00 0.85 0.00 0.000 6 0.000 0.036 1357 3383 2845 0 0 0 0 0 0

3298 -0.78 -89.2 456.2 -12.9 238 3302 0.00 0.90 0.00 0.000 4 0.000 0.054 1353 3958 2845 0 0 0 0 0 0

3501 -0.78 -89.2 485.3 -13.6 244 3505 0.00 0.88 0.00 0.000 6 0.000 0.035 1353 3372 2845 0 0 0 0 0 0

3842 -0.78 -89.2 530.1 -13.0 255 3848 0.00 0.90 0.00 0.000 4 0.000 0.055 1349 3947 2845 0 0 0 0 0 0

4073 -0.78 -89.2 563.5 -14.5 261 4081 0.08 0.85 0.00 0.000 6 0.187 0.036 1370 3382 2844 0 0 0 0 0 0

4387 -0.78 -89.2 600.4 -11.6 272 4388 0.00 0.00 0.00 0.000 6 0.000 0.000 1370 3382 2844 0 0 0 0 0 0

4694 -0.78 -89.2 639.6 -13.1 282 4695 0.00 0.00 0.00 0.000 6 0.000 0.000 1370 3382 2843 0 0 0 0 0 0

4999 -0.78 -89.2 681.4 -14.1 292 5004 0.00 0.90 0.00 0.000 4 0.000 0.056 1367 3953 2842 0 0 0 0 0 0

5089 -0.78 -89.2 696.4 -17.7 294 5095 0.00 0.88 0.00 0.000 6 0.000 0.037 1367 3373 2842 0 0 0 0 0 0

5409 -0.78 -89.2 746.4 -15.8 305 5415 0.00 0.90 0.00 0.000 4 0.000 0.057 1363 3946 2841 0 0 0 0 0 0

5538 -0.78 -89.2 767.9 -16.0 308 5545 0.00 0.85 0.00 0.000 6 0.000 0.037 1363 3382 2841 0 0 0 0 0 0

5852 -0.78 -89.2 812.2 -13.8 319 5853 0.00 0.00 0.00 0.000 6 0.000 0.000 1363 3382 2840 0 0 0 0 0 0

6159 -0.78 -89.2 849.6 -11.6 329 6163 0.00 0.90 0.00 0.000 4 0.000 0.057 1359 3952 2839 0 0 0 0 0 0

6311 -0.78 -89.2 867.9 -12.3 333 6314 0.00 0.88 0.00 0.000 6 0.000 0.037 1359 3373 2839 0 0 0 0 0 0

6635 -0.78 -89.2 901.3 -9.8 344 6638 0.00 0.90 0.00 0.000 4 0.000 0.057 1355 3944 2838 0 0 0 0 0 0

6729 -0.78 -89.2 911.3 -10.9 346 6736 0.00 0.85 0.00 0.000 6 0.000 0.037 1355 3381 2838 0 0 0 0 0 0

7043 -0.78 -89.2 941.1 -9.1 357 7046 0.00 0.90 0.00 0.000 4 0.000 0.058 1350 3950 2837 0 0 0 0 0 0

7137 -0.78 -89.2 951.0 -10.1 359 7145 0.08 0.85 0.00 0.000 6 0.189 0.037 1372 3389 2837 0 0 0 0 0 0

7451 -0.78 -89.2 978.5 -9.0 370 7454 0.00 0.90 0.00 0.000 4 0.000 0.059 1369 3957 2836 0 0 0 0 0 0

7568 -0.78 -89.2 991.2 -12.0 373 7574 0.00 0.88 0.00 0.000 6 0.000 0.038 1369 3381 2836 0 0 0 0 0 0

7678 end dive: TARGET_DEPTH_EXCEEDED

state 7678 begin apogee

7685 -0.14 0.0 1002.4 10.1 377 7782 0.75 0.00 93.68 1.211 6 0.164 0.000 1585 3270 2473 0 0 0 0 0 0

7783 end apogee: CONTROL_FINISHED_OK

state 7783 begin climb

7786 0.78 89.2 1004.2 0.0 380 7890 0.90 0.00 94.20 1.206 6 0.085 0.000 1882 3270 2102 0 0 0 0 0 0

8195 0.78 89.2 929.0 19.8 394 8198 0.00 1.10 0.00 0.000 4 0.000 0.056 1882 3942 2089 0 0 0 0 0 0

8297 0.78 89.2 907.0 21.9 397 8300 0.00 1.05 0.00 0.000 6 0.000 0.033 1888 3256 2088 0 0 0 0 0 0

8638 0.78 89.2 838.4 20.1 408 8643 0.00 1.12 0.00 0.000 4 0.000 0.055 1888 3948 2085 0 0 0 0 0 0

8837 0.78 89.2 792.2 24.0 413 8843 0.00 1.02 0.00 0.000 6 0.000 0.033 1893 3271 2084 0 0 0 0 0 0

9150 0.78 89.2 720.8 23.2 424 9156 0.00 1.10 0.00 0.000 4 0.000 0.055 1893 3956 2083 0 0 0 0 0 0

9186 0.78 89.2 711.9 25.8 425 9189 0.00 1.02 0.00 0.000 6 0.000 0.033 1898 3272 2083 0 0 0 0 0 0

9527 0.78 89.2 633.4 22.6 436 9532 0.00 1.10 0.00 0.000 4 0.000 0.055 1898 3955 2082 0 0 0 0 0 0

9681 0.78 89.2 596.7 23.9 440 9685 0.00 1.02 0.00 0.000 6 0.000 0.032 1903 3269 2082 0 0 0 0 0 0

10005 0.78 89.2 527.3 20.6 451 10009 0.00 1.10 0.00 0.000 4 0.000 0.054 1903 3954 2081 0 0 0 0 0 0

10262 0.78 89.2 469.7 22.3 458 10266 0.00 1.02 0.00 0.000 6 0.000 0.033 1908 3268 2081 0 0 0 0 0 0

10581 0.78 89.2 406.4 20.1 469 10585 0.00 1.10 0.00 0.000 4 0.000 0.054 1908 3958 2080 0 0 0 0 0 0

10707 0.78 89.2 377.9 22.5 474 10710 0.00 1.02 0.00 0.000 6 0.000 0.033 1914 3272 2079 0 0 0 0 0 0

11030 0.78 89.2 308.5 21.2 490 11033 0.00 1.08 0.00 0.000 4 0.000 0.054 1914 3948 2079 0 0 0 0 0 0

11289 0.78 89.2 247.4 24.4 502 11295 0.10 1.02 0.00 0.000 6 0.207 0.033 1892 3258 2079 0 0 0 0 0 0

11628 0.78 89.2 183.0 18.4 523 11632 0.00 1.10 0.00 0.000 4 0.000 0.053 1892 3953 2078 0 0 0 0 0 0

11806 0.78 89.2 145.5 20.4 533 11809 0.00 1.00 0.00 0.000 6 0.000 0.033 1896 3275 2078 0 0 0 0 0 0

12130 0.78 89.2 82.5 19.3 564 12138 0.00 0.00 0.00 0.000 6 0.000 0.000 1896 3275 2078 0 0 0 0 0 0

12504 0.78 89.2 11.8 16.9 625 12514 0.00 0.00 0.00 0.000 6 0.000 0.000 1896 3275 2078 0 0 0 0 0 0

12555 end climb: SURFACE_DEPTH_REACHED

state 12555 begin surface coast

12579 end surface coast: CONTROL_FINISHED_OK

state 12579 begin surface

ID	543	HEADING	-1	ROLL_MAX	3944	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	6	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	1050
DIVE	169	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	3380	ALTIM_PING_DELTA	15
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	3270	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-4230	HEAD_ERRBAND	15	ALTIM_PULSE	4
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	3
D_NO_BLEED	200	SM_CC	250	R_PORT_OVSHOOT	50	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	35	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	5	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.050000001
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	507	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	101
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2474	DEVICE3	131
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	118
T_DIVE	400	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	420	CAPUPLOAD	0	VBD_TIMEOUT	800	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00061500003	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	-8335.416	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	-5	PITCH_MIN	86	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3908	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1635	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043127281
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-55.913475	SEABIRD_T_H	0.00062185986
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011638312	SEABIRD_T_I	2.2048062e-05
RHO	1.027	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.2117231e-06
MASS	52459	PITCH_GAIN	37	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.303595
NAV_MODE	1	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1762303
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.001936322
KALMAN_USE	1	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00024357962
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	20
HD_C	9.9999997e-06	ROLL_MIN	394	ALTIM_TOP_TURN_MARGIN	0

GPS1	050113,142128,-4157.740,815.665,38,0.9,38,-24.9	TGT_NAME	GH2
_CALLS	1	TGT_LATLONG	-4200.000,820.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.120,-0.081
_SM_DEPTHo	1.73	KALMAN_X	-73029.1,-1121.4,-449.1,93848.1,8388.0
_SM_ANGLEo	-55.4	KALMAN_Y	5450.5,569.7,320.9,53455.6,-2410.6
GPS2	050113,142936,-4157.738,815.741,17,1.4,17,-24.9	MHEAD_RNG_PITCHd_Wd	260.9,7205,-27.0,-8.333
SPEED_LIMITS	0.144,0.244	D_GRID	1000

FINISH	1.4,1.026144	_10V_AH	10.1,17.904
SM_CCo	12595,71.68,0.727,1,0,1453,250.20	FG_AHR_24Vo	0.000
SM_GC	1.85,0.00,0.00,71.68,0.000,0.000,0.727,52,3393,1453,-4.94,0.37,250.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4138.02,744.09,050113,101054	MEM	353916
TT8_MAMPS	0.025466	DATA_FILE_SIZE	47240,635
HUMID	55.63	CAP_FILE_SIZE	106714,0
INTERNAL_PRESSURE	9.03472	CFSIZE	259252224,247980032
TCM_TEMP	15.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
XPDR_PINGS	0	GPS	050113,180304,-4158.561,814.690,34,0.8,34,-24.9
_24V_AH	23.6,31.424

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	231	66.11	SBE_CT	413	24	234.28
Roll_motor	41	75	73.59	AA4330	1411	33	1099.42
VBD_pump_during_apogee	187	1210	5369.37	WL_BB2FLVMT	659	105	1634.26
VBD_pump_during_surface	71	726	1229.32	QSP2150	292	4	30.25
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	65.96	nil	0	0	0.00
Iridium_during_connect	42	160	158.83	nil	0	0	0.00
Iridium_during_xfer	259	223	1364.42	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	26	5.47
TT8	1686	14	254.88
LPSleep	8063	2	178.35
TT8_Active	363	14	52.16
TT8_Sampling	2306	37	871.83
TT8_CF8	744	47	354.75
TT8_Kalman	33	59	19.93
Analog_circuits	1220	12	147.89
GPS_charging	0	0	0.00
Compass	2127	15	338.02
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
20	-0.76	-48.0	0.0	0.0	0	72	0.00	0.00	-49.45	0.000	2	0.000	0.000	49	3394	2630	0	0	0	0	0	0
76	-0.78	-89.2	3.1	-3.5	6	95	5.38	2.20	-6.72	0.000	4	0.231	0.044	1379	1964	2838	0	0	0	0	0	0
215	-0.78	-89.2	19.5	-13.6	26	223	0.00	2.30	0.00	0.000	6	0.000	0.053	1370	3365	2841	0	0	0	0	0	0
304	-0.78	-89.2	34.5	-18.1	39	310	0.00	0.00	0.00	0.000	6	0.000	0.000	1370	3365	2841	0	0	0	0	0	0
546	-0.78	-89.2	79.2	-17.9	80	552	0.00	0.00	0.00	0.000	6	0.000	0.000	1370	3365	2841	0	0	0	0	0	0
897	-0.78	-89.2	126.4	-12.3	117	898	0.00	0.00	0.00	0.000	6	0.000	0.000	1370	3365	2842	0	0	0	0	0	0
1206	-0.78	-89.2	164.0	-12.6	137	1207	0.00	0.00	0.00	0.000	6	0.000	0.000	1370	3365	2843	0	0	0	0	0	0
1520	-0.78	-89.2	205.8	-13.7	157	1524	0.00	0.93	0.00	0.000	4	0.000	0.055	1366	3954	2844	0	0	0	0	0	0
1665	-0.78	-89.2	228.3	-15.7	165	1669	0.00	0.85	0.00	0.000	6	0.000	0.035	1365	3388	2844	0	0	0	0	0	0
1995	-0.78	-89.2	279.1	-15.1	183	2001	0.00	0.88	0.00	0.000	4	0.000	0.054	1361	3947	2845	0	0	0	0	0	0
2138	-0.78	-89.2	301.7	-15.6	189	2142	0.00	0.85	0.00	0.000	6	0.000	0.035	1361	3379	2845	0	0	0	0	0	0
2473	-0.78	-89.2	349.5	-13.3	205	2474	0.00	0.00	0.00	0.000	6	0.000	0.000	1361	3379	2845	0	0	0	0	0	0
2781	-0.78	-89.2	388.9	-12.3	220	2785	0.00	0.90	0.00	0.000	4	0.000	0.054	1358	3953	2845	0	0	0	0	0	0
2955	-0.78	-89.2	411.8	-13.6	227	2960	0.00	0.85	0.00	0.000	6	0.000	0.036	1357	3383	2845	0	0	0	0	0	0
3298	-0.78	-89.2	456.2	-12.9	238	3302	0.00	0.90	0.00	0.000	4	0.000	0.054	1353	3958	2845	0	0	0	0	0	0
3501	-0.78	-89.2	485.3	-13.6	244	3505	0.00	0.88	0.00	0.000	6	0.000	0.035	1353	3372	2845	0	0	0	0	0	0
3842	-0.78	-89.2	530.1	-13.0	255	3848	0.00	0.90	0.00	0.000	4	0.000	0.055	1349	3947	2845	0	0	0	0	0	0
4073	-0.78	-89.2	563.5	-14.5	261	4081	0.08	0.85	0.00	0.000	6	0.187	0.036	1370	3382	2844	0	0	0	0	0	0
4387	-0.78	-89.2	600.4	-11.6	272	4388	0.00	0.00	0.00	0.000	6	0.000	0.000	1370	3382	2844	0	0	0	0	0	0
4694	-0.78	-89.2	639.6	-13.1	282	4695	0.00	0.00	0.00	0.000	6	0.000	0.000	1370	3382	2843	0	0	0	0	0	0
4999	-0.78	-89.2	681.4	-14.1	292	5004	0.00	0.90	0.00	0.000	4	0.000	0.056	1367	3953	2842	0	0	0	0	0	0
5089	-0.78	-89.2	696.4	-17.7	294	5095	0.00	0.88	0.00	0.000	6	0.000	0.037	1367	3373	2842	0	0	0	0	0	0
5409	-0.78	-89.2	746.4	-15.8	305	5415	0.00	0.90	0.00	0.000	4	0.000	0.057	1363	3946	2841	0	0	0	0	0	0
5538	-0.78	-89.2	767.9	-16.0	308	5545	0.00	0.85	0.00	0.000	6	0.000	0.037	1363	3382	2841	0	0	0	0	0	0
5852	-0.78	-89.2	812.2	-13.8	319	5853	0.00	0.00	0.00	0.000	6	0.000	0.000	1363	3382	2840	0	0	0	0	0	0
6159	-0.78	-89.2	849.6	-11.6	329	6163	0.00	0.90	0.00	0.000	4	0.000	0.057	1359	3952	2839	0	0	0	0	0	0
6311	-0.78	-89.2	867.9	-12.3	333	6314	0.00	0.88	0.00	0.000	6	0.000	0.037	1359	3373	2839	0	0	0	0	0	0
6635	-0.78	-89.2	901.3	-9.8	344	6638	0.00	0.90	0.00	0.000	4	0.000	0.057	1355	3944	2838	0	0	0	0	0	0
6729	-0.78	-89.2	911.3	-10.9	346	6736	0.00	0.85	0.00	0.000	6	0.000	0.037	1355	3381	2838	0	0	0	0	0	0
7043	-0.78	-89.2	941.1	-9.1	357	7046	0.00	0.90	0.00	0.000	4	0.000	0.058	1350	3950	2837	0	0	0	0	0	0
7137	-0.78	-89.2	951.0	-10.1	359	7145	0.08	0.85	0.00	0.000	6	0.189	0.037	1372	3389	2837	0	0	0	0	0	0
7451	-0.78	-89.2	978.5	-9.0	370	7454	0.00	0.90	0.00	0.000	4	0.000	0.059	1369	3957	2836	0	0	0	0	0	0
7568	-0.78	-89.2	991.2	-12.0	373	7574	0.00	0.88	0.00	0.000	6	0.000	0.038	1369	3381	2836	0	0	0	0	0	0
7678	end dive: TARGET_DEPTH_EXCEEDED
state	7678	begin apogee
7685	-0.14	0.0	1002.4	10.1	377	7782	0.75	0.00	93.68	1.211	6	0.164	0.000	1585	3270	2473	0	0	0	0	0	0
7783	end apogee: CONTROL_FINISHED_OK
state	7783	begin climb
7786	0.78	89.2	1004.2	0.0	380	7890	0.90	0.00	94.20	1.206	6	0.085	0.000	1882	3270	2102	0	0	0	0	0	0
8195	0.78	89.2	929.0	19.8	394	8198	0.00	1.10	0.00	0.000	4	0.000	0.056	1882	3942	2089	0	0	0	0	0	0
8297	0.78	89.2	907.0	21.9	397	8300	0.00	1.05	0.00	0.000	6	0.000	0.033	1888	3256	2088	0	0	0	0	0	0
8638	0.78	89.2	838.4	20.1	408	8643	0.00	1.12	0.00	0.000	4	0.000	0.055	1888	3948	2085	0	0	0	0	0	0
8837	0.78	89.2	792.2	24.0	413	8843	0.00	1.02	0.00	0.000	6	0.000	0.033	1893	3271	2084	0	0	0	0	0	0
9150	0.78	89.2	720.8	23.2	424	9156	0.00	1.10	0.00	0.000	4	0.000	0.055	1893	3956	2083	0	0	0	0	0	0
9186	0.78	89.2	711.9	25.8	425	9189	0.00	1.02	0.00	0.000	6	0.000	0.033	1898	3272	2083	0	0	0	0	0	0
9527	0.78	89.2	633.4	22.6	436	9532	0.00	1.10	0.00	0.000	4	0.000	0.055	1898	3955	2082	0	0	0	0	0	0
9681	0.78	89.2	596.7	23.9	440	9685	0.00	1.02	0.00	0.000	6	0.000	0.032	1903	3269	2082	0	0	0	0	0	0
10005	0.78	89.2	527.3	20.6	451	10009	0.00	1.10	0.00	0.000	4	0.000	0.054	1903	3954	2081	0	0	0	0	0	0
10262	0.78	89.2	469.7	22.3	458	10266	0.00	1.02	0.00	0.000	6	0.000	0.033	1908	3268	2081	0	0	0	0	0	0
10581	0.78	89.2	406.4	20.1	469	10585	0.00	1.10	0.00	0.000	4	0.000	0.054	1908	3958	2080	0	0	0	0	0	0
10707	0.78	89.2	377.9	22.5	474	10710	0.00	1.02	0.00	0.000	6	0.000	0.033	1914	3272	2079	0	0	0	0	0	0
11030	0.78	89.2	308.5	21.2	490	11033	0.00	1.08	0.00	0.000	4	0.000	0.054	1914	3948	2079	0	0	0	0	0	0
11289	0.78	89.2	247.4	24.4	502	11295	0.10	1.02	0.00	0.000	6	0.207	0.033	1892	3258	2079	0	0	0	0	0	0
11628	0.78	89.2	183.0	18.4	523	11632	0.00	1.10	0.00	0.000	4	0.000	0.053	1892	3953	2078	0	0	0	0	0	0
11806	0.78	89.2	145.5	20.4	533	11809	0.00	1.00	0.00	0.000	6	0.000	0.033	1896	3275	2078	0	0	0	0	0	0
12130	0.78	89.2	82.5	19.3	564	12138	0.00	0.00	0.00	0.000	6	0.000	0.000	1896	3275	2078	0	0	0	0	0	0
12504	0.78	89.2	11.8	16.9	625	12514	0.00	0.00	0.00	0.000	6	0.000	0.000	1896	3275	2078	0	0	0	0	0	0
12555	end climb: SURFACE_DEPTH_REACHED
state	12555	begin surface coast
12579	end surface coast: CONTROL_FINISHED_OK
state	12579	begin surface