Glider dive log

SOSCEx 08Dec12 * SG543 * Dive index * Mission links * Dive 204 * 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 204 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 52 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 32 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 -8418.3926 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 -8418.3926

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 52 VBD_MAX 3960

DEVICE2 101 MASS 52459 R_STBD_OVSHOOT 32 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 204 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 120113,145134,-4201.593,903.364,35,0.8,35,-25.1 TGT_NAME GH3

_CALLS 1 TGT_LATLONG -4200.000,900.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.085,-0.117

_SM_DEPTHo 1.85 KALMAN_X -146014.2,844.5,798.9,228632.6,-6555.8

_SM_ANGLEo -55.9 KALMAN_Y 27453.9,-135.6,-194.2,25701.7,5484.4

GPS2 120113,150059,-4201.523,903.395,20,0.9,20,-25.1 MHEAD_RNG_PITCHd_Wd 169.1,5459,-27.0,-8.333

SPEED_LIMITS 0.144,0.244 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.1,1.026497 _10V_AH 10.1,22.047

SM_CCo 13188,71.40,0.731,1,0,1451,250.20 FG_AHR_24Vo 0.000

SM_GC 1.80,0.00,0.00,71.40,0.000,0.000,0.731,54,3398,1451,-4.94,0.51,250.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4146.69,901.52,120113,090924 MEM 353940

TT8_MAMPS 0.025466 DATA_FILE_SIZE 47220,657

HUMID 55.90 CAP_FILE_SIZE 107743,0

INTERNAL_PRESSURE 9.02495 CFSIZE 259252224,245604352

TCM_TEMP 15.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1

XPDR_PINGS 0 GPS 120113,184422,-4201.912,904.277,38,1.2,38,-25.1

_24V_AH 23.4,36.676

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 227 65.79 SBE_CT 428 24 240.90

Roll_motor 55 84 110.03 AA4330 1431 33 1105.31

VBD_pump_during_apogee 188 1217 5366.44 WL_BB2FLVMT 666 105 1638.28

VBD_pump_during_surface 71 730 1220.62 QSP2150 304 4 31.24

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 60.40 nil 0 0 0.00

Iridium_during_connect 46 160 172.29 nil 0 0 0.00

Iridium_during_xfer 310 223 1622.72 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 23 26 6.29

TT8 1721 14 260.18

LPSleep 8695 2 192.34

TT8_Active 326 14 46.93

TT8_Sampling 2328 37 880.33

TT8_CF8 754 47 359.50

TT8_Kalman 33 59 19.93

Analog_circuits 1164 12 141.20

GPS_charging 0 0 0.00

Compass 2084 15 331.24

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 71 0.00 0.00 -49.00 0.000 2 0.000 0.000 46 3390 2617 0 0 0 0 0 0

76 -0.78 -88.8 3.3 -3.6 6 95 5.40 0.85 -7.15 0.000 4 0.227 0.084 1370 3939 2838 0 0 0 0 0 0

379 -0.78 -88.8 49.9 -17.5 53 385 0.00 0.85 0.00 0.000 6 0.000 0.035 1373 3385 2841 0 0 0 0 0 0

620 -0.78 -88.8 85.6 -13.8 94 626 0.00 0.00 0.00 0.000 6 0.000 0.000 1373 3385 2842 0 0 0 0 0 0

966 -0.78 -88.8 130.1 -12.5 127 971 0.00 2.17 0.00 0.000 4 0.000 0.031 1379 1961 2843 0 0 0 0 0 0

1007 -0.78 -88.8 135.6 -10.1 129 1012 0.00 2.28 0.00 0.000 6 0.000 0.057 1370 3372 2843 0 0 0 0 0 0

1329 -0.78 -88.8 175.6 -12.9 149 1330 0.00 0.00 0.00 0.000 6 0.000 0.000 1370 3372 2843 0 0 0 0 0 0

1641 -0.78 -88.8 216.4 -13.2 169 1643 0.00 0.00 0.00 0.000 6 0.000 0.000 1370 3372 2844 0 0 0 0 0 0

1952 -0.78 -88.8 259.2 -13.9 188 1956 0.00 0.90 0.00 0.000 4 0.000 0.056 1365 3947 2844 0 0 0 0 0 0

2027 -0.78 -88.8 270.4 -14.7 191 2032 0.00 0.85 0.00 0.000 6 0.000 0.034 1365 3382 2844 0 0 0 0 0 0

2357 -0.78 -88.8 315.4 -14.0 207 2363 0.00 0.90 0.00 0.000 4 0.000 0.056 1361 3949 2844 0 0 0 0 0 0

2441 -0.78 -88.8 328.2 -15.5 210 2444 0.00 0.85 0.00 0.000 6 0.000 0.035 1361 3385 2844 0 0 0 0 0 0

2764 -0.78 -88.8 373.0 -13.6 226 2765 0.00 0.00 0.00 0.000 6 0.000 0.000 1361 3384 2844 0 0 0 0 0 0

3092 -0.78 -88.8 417.2 -13.4 240 3093 0.00 0.00 0.00 0.000 6 0.000 0.000 1361 3384 2844 0 0 0 0 0 0

3397 -0.78 -88.8 455.6 -12.5 250 3398 0.00 0.00 0.00 0.000 6 0.000 0.000 1361 3384 2844 0 0 0 0 0 0

3704 -0.78 -88.8 493.1 -12.0 260 3708 0.00 2.12 0.00 0.000 4 0.000 0.031 1361 1965 2843 0 0 0 0 0 0

3742 -0.78 -88.8 497.6 -10.8 261 3747 0.12 2.28 0.00 0.000 6 0.190 0.057 1379 3385 2844 0 0 0 0 0 0

4067 -0.78 -88.8 532.1 -10.7 272 4070 0.00 2.12 0.00 0.000 4 0.000 0.031 1379 1969 2844 0 0 0 0 0 0

4116 -0.78 -88.8 537.2 -9.7 273 4122 0.00 2.30 0.00 0.000 6 0.000 0.057 1370 3374 2844 0 0 0 0 0 0

4436 -0.78 -88.8 572.9 -11.5 284 4441 0.00 2.15 0.00 0.000 4 0.000 0.031 1370 1960 2843 0 0 0 0 0 0

4492 -0.78 -88.8 578.9 -9.6 285 4496 0.00 2.28 0.00 0.000 6 0.000 0.057 1360 3380 2843 0 0 0 0 0 0

4808 -0.78 -88.8 616.1 -12.2 295 4809 0.00 0.00 0.00 0.000 6 0.000 0.000 1359 3380 2842 0 0 0 0 0 0

5112 -0.78 -88.8 654.2 -12.4 305 5113 0.00 0.00 0.00 0.000 6 0.000 0.000 1359 3380 2841 0 0 0 0 0 0

5419 -0.78 -88.8 691.5 -12.0 315 5423 0.00 2.15 0.00 0.000 4 0.000 0.032 1360 1965 2840 0 0 0 0 0 0

5516 -0.78 -88.8 701.8 -10.3 318 5520 0.12 2.28 0.00 0.000 6 0.193 0.055 1377 3387 2840 0 0 0 0 0 0

5851 -0.78 -88.8 737.7 -10.5 329 5853 0.00 0.00 0.00 0.000 6 0.000 0.000 1377 3387 2839 0 0 0 0 0 0

6158 -0.78 -88.8 768.2 -9.8 339 6162 0.00 2.15 0.00 0.000 4 0.000 0.032 1378 1961 2839 0 0 0 0 0 0

6247 -0.79 -92.8 776.4 -7.9 341 6254 0.00 2.30 0.00 0.000 6 0.000 0.057 1368 3385 2839 0 0 0 0 0 0

6560 -0.79 -92.8 809.3 -11.1 352 6561 0.00 0.00 0.00 0.000 6 0.000 0.000 1368 3385 2838 0 0 0 0 0 0

6868 -0.79 -92.8 841.9 -10.5 362 6871 0.00 0.90 0.00 0.000 4 0.000 0.058 1364 3953 2837 0 0 0 0 0 0

6970 -0.79 -92.8 854.6 -12.1 365 6974 0.00 0.88 0.00 0.000 6 0.000 0.037 1364 3375 2837 0 0 0 0 0 0

7312 -0.79 -92.8 892.5 -10.8 376 7313 0.00 0.00 0.00 0.000 6 0.000 0.000 1364 3374 2836 0 0 0 0 0 0

7618 -0.79 -92.8 925.6 -10.9 386 7620 0.00 0.00 0.00 0.000 6 0.000 0.000 1364 3374 2835 0 0 0 0 0 0

7925 -0.79 -92.8 959.7 -11.6 396 7927 0.00 0.00 0.00 0.000 6 0.000 0.000 1364 3374 2834 0 0 0 0 0 0

8231 -0.79 -92.8 994.1 -11.0 406 8232 0.00 0.00 0.00 0.000 6 0.000 0.000 1364 3374 2834 0 0 0 0 0 0

8289 end dive: TARGET_DEPTH_EXCEEDED

state 8289 begin apogee

8296 -0.14 0.0 1000.9 11.2 408 8392 0.80 0.00 92.85 1.217 6 0.168 0.000 1588 3276 2473 0 0 0 0 0 0

8394 end apogee: CONTROL_FINISHED_OK

state 8394 begin climb

8397 0.79 92.8 1003.4 0.0 411 8501 0.88 1.17 95.57 1.210 4 0.082 0.054 1883 3942 2090 0 0 0 0 0 0

8662 0.79 92.8 952.7 23.7 419 8666 0.00 1.08 0.00 0.000 6 0.000 0.031 1889 3258 2079 0 0 0 0 0 0

9004 0.79 92.8 878.3 21.4 430 9007 0.00 1.15 0.00 0.000 4 0.000 0.054 1889 3955 2073 0 0 0 0 0 0

9265 0.79 92.8 815.5 25.4 437 9269 0.00 1.05 0.00 0.000 6 0.000 0.032 1894 3266 2072 0 0 0 0 0 0

9585 0.79 92.8 746.4 21.1 448 9589 0.00 1.10 0.00 0.000 4 0.000 0.054 1894 3946 2070 0 0 0 0 0 0

9844 0.79 92.8 687.5 21.6 455 9847 0.00 1.02 0.00 0.000 6 0.000 0.032 1899 3261 2069 0 0 0 0 0 0

10163 0.79 92.8 623.7 20.0 466 10167 0.00 1.12 0.00 0.000 4 0.000 0.054 1899 3958 2068 0 0 0 0 0 0

10409 0.79 92.8 569.2 21.9 473 10413 0.00 1.02 0.00 0.000 6 0.000 0.031 1904 3273 2067 0 0 0 0 0 0

10739 0.79 92.8 504.3 19.6 484 10742 0.00 1.08 0.00 0.000 4 0.000 0.054 1904 3945 2066 0 0 0 0 0 0

10967 0.79 92.8 452.9 22.5 490 10974 0.00 1.00 0.00 0.000 6 0.000 0.031 1909 3272 2066 0 0 0 0 0 0

11292 0.79 92.8 387.2 20.3 502 11295 0.00 1.08 0.00 0.000 4 0.000 0.054 1909 3947 2065 0 0 0 0 0 0

11555 0.79 92.8 329.5 21.5 513 11558 0.00 1.02 0.00 0.000 6 0.000 0.031 1915 3258 2065 0 0 0 0 0 0

11879 0.79 92.8 261.4 21.3 529 11884 0.00 1.10 0.00 0.000 4 0.000 0.054 1915 3948 2064 0 0 0 0 0 0

12143 0.79 92.8 198.1 23.0 543 12147 0.10 1.00 0.00 0.000 6 0.213 0.031 1894 3268 2064 0 0 0 0 0 0

12473 0.79 92.8 132.3 20.0 564 12476 0.00 1.10 0.00 0.000 4 0.000 0.053 1890 3957 2064 0 0 0 0 0 0

12628 0.79 92.8 97.9 21.6 572 12635 0.00 1.02 0.00 0.000 6 0.000 0.031 1894 3264 2064 0 0 0 0 0 0

13005 0.79 92.8 27.0 18.3 633 13013 0.00 2.12 0.00 0.000 4 0.000 0.030 1905 1856 2064 0 0 0 0 0 0

13084 0.79 92.8 14.1 14.9 644 13093 0.00 2.28 0.00 0.000 6 0.000 0.048 1905 3276 2063 0 0 0 0 0 0

13151 end climb: SURFACE_DEPTH_REACHED

state 13152 begin surface coast

13172 end surface coast: CONTROL_FINISHED_OK

state 13172 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	204	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	52	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	32	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	-8418.3926	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	120113,145134,-4201.593,903.364,35,0.8,35,-25.1	TGT_NAME	GH3
_CALLS	1	TGT_LATLONG	-4200.000,900.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.085,-0.117
_SM_DEPTHo	1.85	KALMAN_X	-146014.2,844.5,798.9,228632.6,-6555.8
_SM_ANGLEo	-55.9	KALMAN_Y	27453.9,-135.6,-194.2,25701.7,5484.4
GPS2	120113,150059,-4201.523,903.395,20,0.9,20,-25.1	MHEAD_RNG_PITCHd_Wd	169.1,5459,-27.0,-8.333
SPEED_LIMITS	0.144,0.244	D_GRID	1000

FINISH	1.1,1.026497	_10V_AH	10.1,22.047
SM_CCo	13188,71.40,0.731,1,0,1451,250.20	FG_AHR_24Vo	0.000
SM_GC	1.80,0.00,0.00,71.40,0.000,0.000,0.731,54,3398,1451,-4.94,0.51,250.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4146.69,901.52,120113,090924	MEM	353940
TT8_MAMPS	0.025466	DATA_FILE_SIZE	47220,657
HUMID	55.90	CAP_FILE_SIZE	107743,0
INTERNAL_PRESSURE	9.02495	CFSIZE	259252224,245604352
TCM_TEMP	15.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
XPDR_PINGS	0	GPS	120113,184422,-4201.912,904.277,38,1.2,38,-25.1
_24V_AH	23.4,36.676

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	227	65.79	SBE_CT	428	24	240.90
Roll_motor	55	84	110.03	AA4330	1431	33	1105.31
VBD_pump_during_apogee	188	1217	5366.44	WL_BB2FLVMT	666	105	1638.28
VBD_pump_during_surface	71	730	1220.62	QSP2150	304	4	31.24
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	60.40	nil	0	0	0.00
Iridium_during_connect	46	160	172.29	nil	0	0	0.00
Iridium_during_xfer	310	223	1622.72	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	23	26	6.29
TT8	1721	14	260.18
LPSleep	8695	2	192.34
TT8_Active	326	14	46.93
TT8_Sampling	2328	37	880.33
TT8_CF8	754	47	359.50
TT8_Kalman	33	59	19.93
Analog_circuits	1164	12	141.20
GPS_charging	0	0	0.00
Compass	2084	15	331.24
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	71	0.00	0.00	-49.00	0.000	2	0.000	0.000	46	3390	2617	0	0	0	0	0	0
76	-0.78	-88.8	3.3	-3.6	6	95	5.40	0.85	-7.15	0.000	4	0.227	0.084	1370	3939	2838	0	0	0	0	0	0
379	-0.78	-88.8	49.9	-17.5	53	385	0.00	0.85	0.00	0.000	6	0.000	0.035	1373	3385	2841	0	0	0	0	0	0
620	-0.78	-88.8	85.6	-13.8	94	626	0.00	0.00	0.00	0.000	6	0.000	0.000	1373	3385	2842	0	0	0	0	0	0
966	-0.78	-88.8	130.1	-12.5	127	971	0.00	2.17	0.00	0.000	4	0.000	0.031	1379	1961	2843	0	0	0	0	0	0
1007	-0.78	-88.8	135.6	-10.1	129	1012	0.00	2.28	0.00	0.000	6	0.000	0.057	1370	3372	2843	0	0	0	0	0	0
1329	-0.78	-88.8	175.6	-12.9	149	1330	0.00	0.00	0.00	0.000	6	0.000	0.000	1370	3372	2843	0	0	0	0	0	0
1641	-0.78	-88.8	216.4	-13.2	169	1643	0.00	0.00	0.00	0.000	6	0.000	0.000	1370	3372	2844	0	0	0	0	0	0
1952	-0.78	-88.8	259.2	-13.9	188	1956	0.00	0.90	0.00	0.000	4	0.000	0.056	1365	3947	2844	0	0	0	0	0	0
2027	-0.78	-88.8	270.4	-14.7	191	2032	0.00	0.85	0.00	0.000	6	0.000	0.034	1365	3382	2844	0	0	0	0	0	0
2357	-0.78	-88.8	315.4	-14.0	207	2363	0.00	0.90	0.00	0.000	4	0.000	0.056	1361	3949	2844	0	0	0	0	0	0
2441	-0.78	-88.8	328.2	-15.5	210	2444	0.00	0.85	0.00	0.000	6	0.000	0.035	1361	3385	2844	0	0	0	0	0	0
2764	-0.78	-88.8	373.0	-13.6	226	2765	0.00	0.00	0.00	0.000	6	0.000	0.000	1361	3384	2844	0	0	0	0	0	0
3092	-0.78	-88.8	417.2	-13.4	240	3093	0.00	0.00	0.00	0.000	6	0.000	0.000	1361	3384	2844	0	0	0	0	0	0
3397	-0.78	-88.8	455.6	-12.5	250	3398	0.00	0.00	0.00	0.000	6	0.000	0.000	1361	3384	2844	0	0	0	0	0	0
3704	-0.78	-88.8	493.1	-12.0	260	3708	0.00	2.12	0.00	0.000	4	0.000	0.031	1361	1965	2843	0	0	0	0	0	0
3742	-0.78	-88.8	497.6	-10.8	261	3747	0.12	2.28	0.00	0.000	6	0.190	0.057	1379	3385	2844	0	0	0	0	0	0
4067	-0.78	-88.8	532.1	-10.7	272	4070	0.00	2.12	0.00	0.000	4	0.000	0.031	1379	1969	2844	0	0	0	0	0	0
4116	-0.78	-88.8	537.2	-9.7	273	4122	0.00	2.30	0.00	0.000	6	0.000	0.057	1370	3374	2844	0	0	0	0	0	0
4436	-0.78	-88.8	572.9	-11.5	284	4441	0.00	2.15	0.00	0.000	4	0.000	0.031	1370	1960	2843	0	0	0	0	0	0
4492	-0.78	-88.8	578.9	-9.6	285	4496	0.00	2.28	0.00	0.000	6	0.000	0.057	1360	3380	2843	0	0	0	0	0	0
4808	-0.78	-88.8	616.1	-12.2	295	4809	0.00	0.00	0.00	0.000	6	0.000	0.000	1359	3380	2842	0	0	0	0	0	0
5112	-0.78	-88.8	654.2	-12.4	305	5113	0.00	0.00	0.00	0.000	6	0.000	0.000	1359	3380	2841	0	0	0	0	0	0
5419	-0.78	-88.8	691.5	-12.0	315	5423	0.00	2.15	0.00	0.000	4	0.000	0.032	1360	1965	2840	0	0	0	0	0	0
5516	-0.78	-88.8	701.8	-10.3	318	5520	0.12	2.28	0.00	0.000	6	0.193	0.055	1377	3387	2840	0	0	0	0	0	0
5851	-0.78	-88.8	737.7	-10.5	329	5853	0.00	0.00	0.00	0.000	6	0.000	0.000	1377	3387	2839	0	0	0	0	0	0
6158	-0.78	-88.8	768.2	-9.8	339	6162	0.00	2.15	0.00	0.000	4	0.000	0.032	1378	1961	2839	0	0	0	0	0	0
6247	-0.79	-92.8	776.4	-7.9	341	6254	0.00	2.30	0.00	0.000	6	0.000	0.057	1368	3385	2839	0	0	0	0	0	0
6560	-0.79	-92.8	809.3	-11.1	352	6561	0.00	0.00	0.00	0.000	6	0.000	0.000	1368	3385	2838	0	0	0	0	0	0
6868	-0.79	-92.8	841.9	-10.5	362	6871	0.00	0.90	0.00	0.000	4	0.000	0.058	1364	3953	2837	0	0	0	0	0	0
6970	-0.79	-92.8	854.6	-12.1	365	6974	0.00	0.88	0.00	0.000	6	0.000	0.037	1364	3375	2837	0	0	0	0	0	0
7312	-0.79	-92.8	892.5	-10.8	376	7313	0.00	0.00	0.00	0.000	6	0.000	0.000	1364	3374	2836	0	0	0	0	0	0
7618	-0.79	-92.8	925.6	-10.9	386	7620	0.00	0.00	0.00	0.000	6	0.000	0.000	1364	3374	2835	0	0	0	0	0	0
7925	-0.79	-92.8	959.7	-11.6	396	7927	0.00	0.00	0.00	0.000	6	0.000	0.000	1364	3374	2834	0	0	0	0	0	0
8231	-0.79	-92.8	994.1	-11.0	406	8232	0.00	0.00	0.00	0.000	6	0.000	0.000	1364	3374	2834	0	0	0	0	0	0
8289	end dive: TARGET_DEPTH_EXCEEDED
state	8289	begin apogee
8296	-0.14	0.0	1000.9	11.2	408	8392	0.80	0.00	92.85	1.217	6	0.168	0.000	1588	3276	2473	0	0	0	0	0	0
8394	end apogee: CONTROL_FINISHED_OK
state	8394	begin climb
8397	0.79	92.8	1003.4	0.0	411	8501	0.88	1.17	95.57	1.210	4	0.082	0.054	1883	3942	2090	0	0	0	0	0	0
8662	0.79	92.8	952.7	23.7	419	8666	0.00	1.08	0.00	0.000	6	0.000	0.031	1889	3258	2079	0	0	0	0	0	0
9004	0.79	92.8	878.3	21.4	430	9007	0.00	1.15	0.00	0.000	4	0.000	0.054	1889	3955	2073	0	0	0	0	0	0
9265	0.79	92.8	815.5	25.4	437	9269	0.00	1.05	0.00	0.000	6	0.000	0.032	1894	3266	2072	0	0	0	0	0	0
9585	0.79	92.8	746.4	21.1	448	9589	0.00	1.10	0.00	0.000	4	0.000	0.054	1894	3946	2070	0	0	0	0	0	0
9844	0.79	92.8	687.5	21.6	455	9847	0.00	1.02	0.00	0.000	6	0.000	0.032	1899	3261	2069	0	0	0	0	0	0
10163	0.79	92.8	623.7	20.0	466	10167	0.00	1.12	0.00	0.000	4	0.000	0.054	1899	3958	2068	0	0	0	0	0	0
10409	0.79	92.8	569.2	21.9	473	10413	0.00	1.02	0.00	0.000	6	0.000	0.031	1904	3273	2067	0	0	0	0	0	0
10739	0.79	92.8	504.3	19.6	484	10742	0.00	1.08	0.00	0.000	4	0.000	0.054	1904	3945	2066	0	0	0	0	0	0
10967	0.79	92.8	452.9	22.5	490	10974	0.00	1.00	0.00	0.000	6	0.000	0.031	1909	3272	2066	0	0	0	0	0	0
11292	0.79	92.8	387.2	20.3	502	11295	0.00	1.08	0.00	0.000	4	0.000	0.054	1909	3947	2065	0	0	0	0	0	0
11555	0.79	92.8	329.5	21.5	513	11558	0.00	1.02	0.00	0.000	6	0.000	0.031	1915	3258	2065	0	0	0	0	0	0
11879	0.79	92.8	261.4	21.3	529	11884	0.00	1.10	0.00	0.000	4	0.000	0.054	1915	3948	2064	0	0	0	0	0	0
12143	0.79	92.8	198.1	23.0	543	12147	0.10	1.00	0.00	0.000	6	0.213	0.031	1894	3268	2064	0	0	0	0	0	0
12473	0.79	92.8	132.3	20.0	564	12476	0.00	1.10	0.00	0.000	4	0.000	0.053	1890	3957	2064	0	0	0	0	0	0
12628	0.79	92.8	97.9	21.6	572	12635	0.00	1.02	0.00	0.000	6	0.000	0.031	1894	3264	2064	0	0	0	0	0	0
13005	0.79	92.8	27.0	18.3	633	13013	0.00	2.12	0.00	0.000	4	0.000	0.030	1905	1856	2064	0	0	0	0	0	0
13084	0.79	92.8	14.1	14.9	644	13093	0.00	2.28	0.00	0.000	6	0.000	0.048	1905	3276	2063	0	0	0	0	0	0
13151	end climb: SURFACE_DEPTH_REACHED
state	13152	begin surface coast
13172	end surface coast: CONTROL_FINISHED_OK
state	13172	begin surface