Glider dive log

SOSCEx 08Dec12 * SG543 * Dive index * Mission links * Dive 205 * 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 205 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 51 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 -8420.7461 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 -8420.7461

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 51 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 205 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 120113,184422,-4201.912,904.277,38,1.2,38,-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 -0.050,-0.159

_SM_DEPTHo 1.87 KALMAN_X -145741.6,694.6,279.9,230242.7,-4618.0

_SM_ANGLEo -51.8 KALMAN_Y 29839.7,-442.6,-456.4,23153.5,7359.4

GPS2 120113,185218,-4201.919,904.287,18,1.4,18,-25.1 MHEAD_RNG_PITCHd_Wd 222.6,6889,-23.2,-8.333

SPEED_LIMITS 0.144,0.244 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.1,1.024978 _10V_AH 10.1,22.141

SM_CCo 12662,60.90,0.724,1,0,1452,250.20 FG_AHR_24Vo 0.000

SM_GC 1.81,0.00,0.00,60.90,0.000,0.000,0.724,50,3370,1452,-4.95,-0.28,250.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4146.69,901.52,120113,090924 MEM 353884

TT8_MAMPS 0.025466 DATA_FILE_SIZE 47270,647

HUMID 56.14 CAP_FILE_SIZE 99118,0

INTERNAL_PRESSURE 9.02495 CFSIZE 259252224,245555200

TCM_TEMP 15.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1

XPDR_PINGS 0 GPS 120113,222625,-4203.020,903.582,17,0.8,17,-25.1

_24V_AH 23.0,36.788

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 224 62.51 SBE_CT 419 24 231.60

Roll_motor 50 96 112.84 AA4330 1392 33 1056.92

VBD_pump_during_apogee 235 1233 6692.18 WL_BB2FLVMT 660 105 1594.51

VBD_pump_during_surface 60 724 1014.74 QSP2150 300 4 30.23

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 77.74 nil 0 0 0.00

Iridium_during_connect 21 160 79.61 nil 0 0 0.00

Iridium_during_xfer 257 223 1323.05 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 5.53

TT8 1648 14 249.15

LPSleep 8397 2 185.74

TT8_Active 386 14 55.52

TT8_Sampling 2073 37 783.88

TT8_CF8 701 47 334.15

TT8_Kalman 33 59 19.93

Analog_circuits 1140 12 138.24

GPS_charging 0 0 0.00

Compass 1879 15 298.53

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 -0.67 -64.0 0.0 0.0 0 71 0.00 0.00 -49.38 0.000 2 0.000 0.000 54 3399 2622 0 0 0 0 0 0

75 -0.70 -115.1 3.2 -3.9 6 95 5.45 0.93 -10.20 0.000 4 0.224 0.096 1402 3939 2944 0 0 0 0 0 0

270 -0.70 -115.1 32.8 -17.1 35 278 0.00 0.85 0.00 0.000 6 0.000 0.035 1404 3385 2947 0 0 0 0 0 0

514 -0.70 -115.1 70.7 -13.7 76 520 0.00 2.15 0.00 0.000 4 0.000 0.031 1408 1965 2948 0 0 0 0 0 0

572 -0.70 -115.1 77.4 -11.7 85 577 0.00 2.30 0.00 0.000 6 0.000 0.058 1399 3368 2949 0 0 0 0 0 0

913 -0.70 -115.1 124.2 -13.5 125 919 0.00 0.93 0.00 0.000 4 0.000 0.058 1395 3950 2949 0 0 0 0 0 0

1025 -0.70 -115.1 139.9 -14.7 131 1029 0.00 0.88 0.00 0.000 6 0.000 0.034 1395 3372 2949 0 0 0 0 0 0

1356 -0.70 -115.1 186.7 -13.7 152 1357 0.00 0.00 0.00 0.000 6 0.000 0.000 1395 3371 2950 0 0 0 0 0 0

1668 -0.70 -115.1 230.0 -13.9 172 1671 0.00 0.93 0.00 0.000 4 0.000 0.057 1390 3953 2951 0 0 0 0 0 0

1770 -0.70 -115.1 245.0 -15.4 178 1773 0.00 0.88 0.00 0.000 6 0.000 0.034 1391 3371 2951 0 0 0 0 0 0

2088 -0.70 -115.1 288.6 -13.6 194 2089 0.00 0.00 0.00 0.000 6 0.000 0.000 1390 3370 2951 0 0 0 0 0 0

2398 -0.70 -115.1 330.4 -13.7 209 2403 0.00 0.93 0.00 0.000 4 0.000 0.057 1386 3956 2951 0 0 0 0 0 0

2541 -0.70 -115.1 351.1 -14.9 215 2544 0.00 0.85 0.00 0.000 6 0.000 0.035 1386 3386 2951 0 0 0 0 0 0

2875 -0.70 -115.1 397.8 -13.8 231 2876 0.00 0.00 0.00 0.000 6 0.000 0.000 1386 3387 2951 0 0 0 0 0 0

3200 -0.70 -115.1 442.7 -14.1 242 3201 0.00 0.00 0.00 0.000 6 0.000 0.000 1386 3386 2951 0 0 0 0 0 0

3507 -0.70 -115.1 486.2 -13.9 252 3508 0.00 0.00 0.00 0.000 6 0.000 0.000 1386 3386 2951 0 0 0 0 0 0

3814 -0.70 -115.1 527.5 -13.5 262 3815 0.00 0.00 0.00 0.000 6 0.000 0.000 1386 3387 2951 0 0 0 0 0 0

4119 -0.70 -115.1 566.2 -12.5 272 4125 0.00 2.15 0.00 0.000 4 0.000 0.031 1386 1967 2951 0 0 0 0 0 0

4181 -0.70 -115.1 573.5 -10.9 273 4189 0.12 2.28 0.00 0.000 6 0.185 0.055 1405 3382 2951 0 0 0 0 0 0

4495 -0.70 -115.1 608.5 -11.4 284 4496 0.00 0.00 0.00 0.000 6 0.000 0.000 1405 3382 2951 0 0 0 0 0 0

4801 -0.70 -115.1 643.3 -11.6 294 4802 0.00 0.00 0.00 0.000 6 0.000 0.000 1405 3382 2950 0 0 0 0 0 0

5107 -0.70 -115.1 680.1 -12.3 304 5109 0.00 0.00 0.00 0.000 6 0.000 0.000 1405 3382 2949 0 0 0 0 0 0

5414 -0.70 -115.1 718.7 -12.6 314 5416 0.00 0.00 0.00 0.000 6 0.000 0.000 1404 3382 2949 0 0 0 0 0 0

5719 -0.70 -115.1 758.2 -12.9 324 5725 0.00 2.15 0.00 0.000 4 0.000 0.032 1405 1970 2948 0 0 0 0 0 0

5776 -0.70 -115.1 765.1 -11.3 325 5780 0.00 2.30 0.00 0.000 6 0.000 0.056 1396 3388 2948 0 0 0 0 0 0

6091 -0.70 -115.1 806.3 -13.5 335 6092 0.00 0.00 0.00 0.000 6 0.000 0.000 1396 3389 2947 0 0 0 0 0 0

6395 -0.70 -115.1 845.4 -12.7 345 6399 0.00 2.12 0.00 0.000 4 0.000 0.031 1396 1964 2946 0 0 0 0 0 0

6462 -0.70 -115.1 853.5 -11.2 347 6466 0.00 2.30 0.00 0.000 6 0.000 0.057 1385 3381 2946 0 0 0 0 0 0

6792 -0.70 -115.1 897.2 -13.2 358 6793 0.00 0.00 0.00 0.000 6 0.000 0.000 1385 3379 2946 0 0 0 0 0 0

7099 -0.70 -115.1 936.1 -12.3 368 7100 0.00 0.00 0.00 0.000 6 0.000 0.000 1385 3380 2945 0 0 0 0 0 0

7404 -0.70 -115.1 972.2 -11.5 378 7409 0.00 2.20 0.00 0.000 4 0.000 0.033 1385 1955 2944 0 0 0 0 0 0

7452 -0.70 -115.1 977.2 -10.4 379 7457 0.12 2.33 0.00 0.000 6 0.185 0.057 1404 3386 2944 0 0 0 0 0 0

7713 end dive: TARGET_DEPTH_EXCEEDED

state 7713 begin apogee

7720 -0.14 0.0 1002.6 9.6 388 7841 0.62 0.00 117.80 1.234 6 0.155 0.000 1585 3276 2473 0 0 0 0 0 0

7842 end apogee: CONTROL_FINISHED_OK

state 7842 begin climb

7845 0.70 115.1 1003.7 0.0 392 7971 0.82 1.25 118.00 1.215 4 0.083 0.054 1856 3955 1998 0 0 0 0 0 0

8010 0.70 115.1 975.5 25.1 397 8014 0.00 1.12 0.00 0.000 6 0.000 0.031 1861 3264 1990 0 0 0 0 0 0

8329 0.70 115.1 903.8 22.3 408 8333 0.00 1.15 0.00 0.000 4 0.000 0.056 1861 3953 1981 0 0 0 0 0 0

8496 0.70 115.1 864.1 24.6 412 8503 0.00 1.05 0.00 0.000 6 0.000 0.031 1866 3268 1980 0 0 0 0 0 0

8810 0.70 115.1 794.9 21.6 423 8815 0.00 1.10 0.00 0.000 4 0.000 0.055 1866 3950 1978 0 0 0 0 0 0

8922 0.70 115.1 768.1 23.6 426 8926 0.00 1.02 0.00 0.000 6 0.000 0.033 1871 3271 1978 0 0 0 0 0 0

9252 0.70 115.1 697.6 20.9 437 9256 0.00 1.10 0.00 0.000 4 0.000 0.056 1871 3955 1976 0 0 0 0 0 0

9398 0.70 115.1 664.2 23.3 441 9402 0.00 1.05 0.00 0.000 6 0.000 0.031 1877 3258 1976 0 0 0 0 0 0

9729 0.70 115.1 595.4 20.9 452 9734 0.00 1.12 0.00 0.000 4 0.000 0.054 1877 3958 1975 0 0 0 0 0 0

9901 0.70 115.1 555.9 22.9 457 9905 0.00 1.02 0.00 0.000 6 0.000 0.031 1882 3271 1974 0 0 0 0 0 0

10243 0.70 115.1 484.3 20.7 468 10248 0.00 1.08 0.00 0.000 4 0.000 0.054 1882 3951 1974 0 0 0 0 0 0

10402 0.70 115.1 448.8 22.1 472 10406 0.00 1.00 0.00 0.000 6 0.000 0.031 1887 3274 1974 0 0 0 0 0 0

10722 0.70 115.1 383.3 20.2 484 10723 0.00 0.00 0.00 0.000 6 0.000 0.000 1887 3274 1973 0 0 0 0 0 0

11033 0.70 115.1 321.8 19.4 499 11039 0.00 1.08 0.00 0.000 4 0.000 0.054 1887 3948 1973 0 0 0 0 0 0

11256 0.70 115.1 271.8 22.3 508 11264 0.00 1.00 0.00 0.000 6 0.000 0.031 1892 3272 1972 0 0 0 0 0 0

11585 0.70 115.1 205.0 20.9 528 11589 0.12 1.08 0.00 0.000 4 0.221 0.053 1863 3952 1972 0 0 0 0 0 0

11722 0.70 115.1 176.2 20.3 535 11729 0.00 1.02 0.00 0.000 6 0.000 0.031 1867 3255 1972 0 0 0 0 0 0

12042 0.70 115.1 114.0 19.2 556 12045 0.00 1.10 0.00 0.000 4 0.000 0.054 1867 3945 1972 0 0 0 0 0 0

12131 0.70 115.1 94.7 22.0 564 12140 0.00 1.00 0.00 0.000 6 0.000 0.031 1872 3267 1971 0 0 0 0 0 0

12498 0.70 115.1 26.9 18.7 625 12507 0.00 1.10 0.00 0.000 4 0.000 0.054 1872 3956 1972 0 0 0 0 0 0

12623 end climb: SURFACE_DEPTH_REACHED

state 12623 begin surface coast

12645 end surface coast: CONTROL_FINISHED_OK

state 12645 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	205	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	51	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	-8420.7461	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	120113,184422,-4201.912,904.277,38,1.2,38,-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	-0.050,-0.159
_SM_DEPTHo	1.87	KALMAN_X	-145741.6,694.6,279.9,230242.7,-4618.0
_SM_ANGLEo	-51.8	KALMAN_Y	29839.7,-442.6,-456.4,23153.5,7359.4
GPS2	120113,185218,-4201.919,904.287,18,1.4,18,-25.1	MHEAD_RNG_PITCHd_Wd	222.6,6889,-23.2,-8.333
SPEED_LIMITS	0.144,0.244	D_GRID	1000

FINISH	1.1,1.024978	_10V_AH	10.1,22.141
SM_CCo	12662,60.90,0.724,1,0,1452,250.20	FG_AHR_24Vo	0.000
SM_GC	1.81,0.00,0.00,60.90,0.000,0.000,0.724,50,3370,1452,-4.95,-0.28,250.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4146.69,901.52,120113,090924	MEM	353884
TT8_MAMPS	0.025466	DATA_FILE_SIZE	47270,647
HUMID	56.14	CAP_FILE_SIZE	99118,0
INTERNAL_PRESSURE	9.02495	CFSIZE	259252224,245555200
TCM_TEMP	15.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
XPDR_PINGS	0	GPS	120113,222625,-4203.020,903.582,17,0.8,17,-25.1
_24V_AH	23.0,36.788

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	224	62.51	SBE_CT	419	24	231.60
Roll_motor	50	96	112.84	AA4330	1392	33	1056.92
VBD_pump_during_apogee	235	1233	6692.18	WL_BB2FLVMT	660	105	1594.51
VBD_pump_during_surface	60	724	1014.74	QSP2150	300	4	30.23
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	77.74	nil	0	0	0.00
Iridium_during_connect	21	160	79.61	nil	0	0	0.00
Iridium_during_xfer	257	223	1323.05	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	5.53
TT8	1648	14	249.15
LPSleep	8397	2	185.74
TT8_Active	386	14	55.52
TT8_Sampling	2073	37	783.88
TT8_CF8	701	47	334.15
TT8_Kalman	33	59	19.93
Analog_circuits	1140	12	138.24
GPS_charging	0	0	0.00
Compass	1879	15	298.53
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	-0.67	-64.0	0.0	0.0	0	71	0.00	0.00	-49.38	0.000	2	0.000	0.000	54	3399	2622	0	0	0	0	0	0
75	-0.70	-115.1	3.2	-3.9	6	95	5.45	0.93	-10.20	0.000	4	0.224	0.096	1402	3939	2944	0	0	0	0	0	0
270	-0.70	-115.1	32.8	-17.1	35	278	0.00	0.85	0.00	0.000	6	0.000	0.035	1404	3385	2947	0	0	0	0	0	0
514	-0.70	-115.1	70.7	-13.7	76	520	0.00	2.15	0.00	0.000	4	0.000	0.031	1408	1965	2948	0	0	0	0	0	0
572	-0.70	-115.1	77.4	-11.7	85	577	0.00	2.30	0.00	0.000	6	0.000	0.058	1399	3368	2949	0	0	0	0	0	0
913	-0.70	-115.1	124.2	-13.5	125	919	0.00	0.93	0.00	0.000	4	0.000	0.058	1395	3950	2949	0	0	0	0	0	0
1025	-0.70	-115.1	139.9	-14.7	131	1029	0.00	0.88	0.00	0.000	6	0.000	0.034	1395	3372	2949	0	0	0	0	0	0
1356	-0.70	-115.1	186.7	-13.7	152	1357	0.00	0.00	0.00	0.000	6	0.000	0.000	1395	3371	2950	0	0	0	0	0	0
1668	-0.70	-115.1	230.0	-13.9	172	1671	0.00	0.93	0.00	0.000	4	0.000	0.057	1390	3953	2951	0	0	0	0	0	0
1770	-0.70	-115.1	245.0	-15.4	178	1773	0.00	0.88	0.00	0.000	6	0.000	0.034	1391	3371	2951	0	0	0	0	0	0
2088	-0.70	-115.1	288.6	-13.6	194	2089	0.00	0.00	0.00	0.000	6	0.000	0.000	1390	3370	2951	0	0	0	0	0	0
2398	-0.70	-115.1	330.4	-13.7	209	2403	0.00	0.93	0.00	0.000	4	0.000	0.057	1386	3956	2951	0	0	0	0	0	0
2541	-0.70	-115.1	351.1	-14.9	215	2544	0.00	0.85	0.00	0.000	6	0.000	0.035	1386	3386	2951	0	0	0	0	0	0
2875	-0.70	-115.1	397.8	-13.8	231	2876	0.00	0.00	0.00	0.000	6	0.000	0.000	1386	3387	2951	0	0	0	0	0	0
3200	-0.70	-115.1	442.7	-14.1	242	3201	0.00	0.00	0.00	0.000	6	0.000	0.000	1386	3386	2951	0	0	0	0	0	0
3507	-0.70	-115.1	486.2	-13.9	252	3508	0.00	0.00	0.00	0.000	6	0.000	0.000	1386	3386	2951	0	0	0	0	0	0
3814	-0.70	-115.1	527.5	-13.5	262	3815	0.00	0.00	0.00	0.000	6	0.000	0.000	1386	3387	2951	0	0	0	0	0	0
4119	-0.70	-115.1	566.2	-12.5	272	4125	0.00	2.15	0.00	0.000	4	0.000	0.031	1386	1967	2951	0	0	0	0	0	0
4181	-0.70	-115.1	573.5	-10.9	273	4189	0.12	2.28	0.00	0.000	6	0.185	0.055	1405	3382	2951	0	0	0	0	0	0
4495	-0.70	-115.1	608.5	-11.4	284	4496	0.00	0.00	0.00	0.000	6	0.000	0.000	1405	3382	2951	0	0	0	0	0	0
4801	-0.70	-115.1	643.3	-11.6	294	4802	0.00	0.00	0.00	0.000	6	0.000	0.000	1405	3382	2950	0	0	0	0	0	0
5107	-0.70	-115.1	680.1	-12.3	304	5109	0.00	0.00	0.00	0.000	6	0.000	0.000	1405	3382	2949	0	0	0	0	0	0
5414	-0.70	-115.1	718.7	-12.6	314	5416	0.00	0.00	0.00	0.000	6	0.000	0.000	1404	3382	2949	0	0	0	0	0	0
5719	-0.70	-115.1	758.2	-12.9	324	5725	0.00	2.15	0.00	0.000	4	0.000	0.032	1405	1970	2948	0	0	0	0	0	0
5776	-0.70	-115.1	765.1	-11.3	325	5780	0.00	2.30	0.00	0.000	6	0.000	0.056	1396	3388	2948	0	0	0	0	0	0
6091	-0.70	-115.1	806.3	-13.5	335	6092	0.00	0.00	0.00	0.000	6	0.000	0.000	1396	3389	2947	0	0	0	0	0	0
6395	-0.70	-115.1	845.4	-12.7	345	6399	0.00	2.12	0.00	0.000	4	0.000	0.031	1396	1964	2946	0	0	0	0	0	0
6462	-0.70	-115.1	853.5	-11.2	347	6466	0.00	2.30	0.00	0.000	6	0.000	0.057	1385	3381	2946	0	0	0	0	0	0
6792	-0.70	-115.1	897.2	-13.2	358	6793	0.00	0.00	0.00	0.000	6	0.000	0.000	1385	3379	2946	0	0	0	0	0	0
7099	-0.70	-115.1	936.1	-12.3	368	7100	0.00	0.00	0.00	0.000	6	0.000	0.000	1385	3380	2945	0	0	0	0	0	0
7404	-0.70	-115.1	972.2	-11.5	378	7409	0.00	2.20	0.00	0.000	4	0.000	0.033	1385	1955	2944	0	0	0	0	0	0
7452	-0.70	-115.1	977.2	-10.4	379	7457	0.12	2.33	0.00	0.000	6	0.185	0.057	1404	3386	2944	0	0	0	0	0	0
7713	end dive: TARGET_DEPTH_EXCEEDED
state	7713	begin apogee
7720	-0.14	0.0	1002.6	9.6	388	7841	0.62	0.00	117.80	1.234	6	0.155	0.000	1585	3276	2473	0	0	0	0	0	0
7842	end apogee: CONTROL_FINISHED_OK
state	7842	begin climb
7845	0.70	115.1	1003.7	0.0	392	7971	0.82	1.25	118.00	1.215	4	0.083	0.054	1856	3955	1998	0	0	0	0	0	0
8010	0.70	115.1	975.5	25.1	397	8014	0.00	1.12	0.00	0.000	6	0.000	0.031	1861	3264	1990	0	0	0	0	0	0
8329	0.70	115.1	903.8	22.3	408	8333	0.00	1.15	0.00	0.000	4	0.000	0.056	1861	3953	1981	0	0	0	0	0	0
8496	0.70	115.1	864.1	24.6	412	8503	0.00	1.05	0.00	0.000	6	0.000	0.031	1866	3268	1980	0	0	0	0	0	0
8810	0.70	115.1	794.9	21.6	423	8815	0.00	1.10	0.00	0.000	4	0.000	0.055	1866	3950	1978	0	0	0	0	0	0
8922	0.70	115.1	768.1	23.6	426	8926	0.00	1.02	0.00	0.000	6	0.000	0.033	1871	3271	1978	0	0	0	0	0	0
9252	0.70	115.1	697.6	20.9	437	9256	0.00	1.10	0.00	0.000	4	0.000	0.056	1871	3955	1976	0	0	0	0	0	0
9398	0.70	115.1	664.2	23.3	441	9402	0.00	1.05	0.00	0.000	6	0.000	0.031	1877	3258	1976	0	0	0	0	0	0
9729	0.70	115.1	595.4	20.9	452	9734	0.00	1.12	0.00	0.000	4	0.000	0.054	1877	3958	1975	0	0	0	0	0	0
9901	0.70	115.1	555.9	22.9	457	9905	0.00	1.02	0.00	0.000	6	0.000	0.031	1882	3271	1974	0	0	0	0	0	0
10243	0.70	115.1	484.3	20.7	468	10248	0.00	1.08	0.00	0.000	4	0.000	0.054	1882	3951	1974	0	0	0	0	0	0
10402	0.70	115.1	448.8	22.1	472	10406	0.00	1.00	0.00	0.000	6	0.000	0.031	1887	3274	1974	0	0	0	0	0	0
10722	0.70	115.1	383.3	20.2	484	10723	0.00	0.00	0.00	0.000	6	0.000	0.000	1887	3274	1973	0	0	0	0	0	0
11033	0.70	115.1	321.8	19.4	499	11039	0.00	1.08	0.00	0.000	4	0.000	0.054	1887	3948	1973	0	0	0	0	0	0
11256	0.70	115.1	271.8	22.3	508	11264	0.00	1.00	0.00	0.000	6	0.000	0.031	1892	3272	1972	0	0	0	0	0	0
11585	0.70	115.1	205.0	20.9	528	11589	0.12	1.08	0.00	0.000	4	0.221	0.053	1863	3952	1972	0	0	0	0	0	0
11722	0.70	115.1	176.2	20.3	535	11729	0.00	1.02	0.00	0.000	6	0.000	0.031	1867	3255	1972	0	0	0	0	0	0
12042	0.70	115.1	114.0	19.2	556	12045	0.00	1.10	0.00	0.000	4	0.000	0.054	1867	3945	1972	0	0	0	0	0	0
12131	0.70	115.1	94.7	22.0	564	12140	0.00	1.00	0.00	0.000	6	0.000	0.031	1872	3267	1971	0	0	0	0	0	0
12498	0.70	115.1	26.9	18.7	625	12507	0.00	1.10	0.00	0.000	4	0.000	0.054	1872	3956	1972	0	0	0	0	0	0
12623	end climb: SURFACE_DEPTH_REACHED
state	12623	begin surface coast
12645	end surface coast: CONTROL_FINISHED_OK
state	12645	begin surface