Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 213 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 542 HEADING -1 ROLL_MAX 3901 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 6 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 1050

DIVE 213 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2880 ALTIM_PING_DELTA 5

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2700 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -4230 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 1000 TGT_DEFAULT_LON -200 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 2

D_NO_BLEED 200 SM_CC 573.99261 R_PORT_OVSHOOT 43 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 33 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 5 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 2.49

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 KERMIT 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 480 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3961 DEVICE2 101

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2820 DEVICE3 115

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 134

T_DIVE 353 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 368 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 60 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -11170.801 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 1850 PHONE_SUPPLY 2 SEABIRD_T_G 0.0042910837

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -48.034508 SEABIRD_T_H 0.00061853422

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011816985 SEABIRD_T_I 2.1182957e-05

RHO 1.027 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.0754619e-06

MASS 52816 PITCH_GAIN 38 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.7625904

NAV_MODE 1 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1369455

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.0017508121

KALMAN_USE 1 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021125977

HD_A 0.003 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 10

HD_C 9.9999997e-06 ROLL_MIN 335 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SM_CC 573.99261

AH0_10V 100 D_OFFGRID 250 PHONE_SUPPLY 2 SPEED_FACTOR 1

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_TGT 1000 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 1050 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 38 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3888 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -4230

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 73 TGT_DEFAULT_LON -200

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 16 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 T_BOOST 5

APOGEE_PITCH -7 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011816985 T_DIVE 353

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -48.034508 T_GPS 15

CALL_TRIES 5 HD_A 0.003 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -11170.801

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

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 368

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 RELAUNCH 1 T_RSLEEP 1

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RHO 1.027 T_TURN 225

COMPASS_DEVICE 33 ID 542 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_YINT 2.49 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_PITCH 1850 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2700 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 2880 LOGGERDEVICE1 -1 ROLL_MAX 3901 USE_ICE 0

C_VBD 2820 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_MIN 335 VBD_CNV -0.245296

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 43 VBD_MAX 3961

DEVICE2 101 MASS 52816 R_STBD_OVSHOOT 33 VBD_MAXERRORS 1

DEVICE3 115 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 6 SEABIRD_C_J 0.00021125977 VBD_TIMEOUT 720

DIVE 213 MOTHERBOARD 4 SEABIRD_T_G 0.0042910837 XPDR_DEVICE 24

D_ABORT 1050 NAV_MODE 1 SEABIRD_T_H 0.00061853422 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 SEABIRD_T_I 2.1182957e-05 XPDR_VALID 2

D_CALL 0 N_GPS 20 SEABIRD_T_J 2.0754619e-06

D_FINISH 0 N_NOCOMM 1 SIM_PITCH 0

D_FLARE 3 N_NOSURFACE 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 110113,145434,-4702.173,409.700,37,0.9,37,-23.3 TGT_NAME GH1

_CALLS 2 TGT_LATLONG -4700.000,410.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.157,0.047

_SM_DEPTHo 1.04 KALMAN_X -152970.6,-156.0,215.4,143652.7,-2418.4

_SM_ANGLEo -27.6 KALMAN_Y 102951.7,-175.4,-330.8,-122550.2,3101.0

GPS2 110113,150541,-4702.140,409.662,18,1.0,18,-23.3 MHEAD_RNG_PITCHd_Wd 96.7,3986,-27.2,-9.443

SPEED_LIMITS 0.164,0.256 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.6,1.006675 _10V_AH 10.0,19.379

SM_CCo 11332,196.20,0.793,1,0,476,573.99 FG_AHR_24Vo 0.000

SM_GC 1.25,0.00,0.00,196.20,0.000,0.000,0.793,59,2849,476,-5.60,-0.88,573.99 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4641.78,409.41,110113,141444 MEM 353912

TT8_MAMPS 0.026215 DATA_FILE_SIZE 40498,580

HUMID 56.34 CAP_FILE_SIZE 96101,0

INTERNAL_PRESSURE 9.21877 CFSIZE 259252224,216154112

TCM_TEMP 10.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,1

XPDR_PINGS 0 GPS 110113,182004,-4701.375,411.004,25,1.1,25,-23.3

_24V_AH 22.1,41.102

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 257 82.23 SBE_CT 382 24 202.77

Roll_motor 97 76 164.58 AA4330 1169 33 853.15

VBD_pump_during_apogee 226 1782 8925.28 WL_BB2FLVMT 650 105 1509.81

VBD_pump_during_surface 196 792 3436.47 QSP2150 265 4 25.70

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 62 103 142.03 nil 0 0 0.00

Iridium_during_connect 99 160 352.69 nil 0 0 0.00

Iridium_during_xfer 232 223 1147.02 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 5.63

TT8 1450 14 216.94

LPSleep 7692 2 168.46

TT8_Active 559 14 79.49

TT8_Sampling 1986 37 743.65

TT8_CF8 507 47 239.27

TT8_Kalman 33 59 19.73

Analog_circuits 1247 12 149.75

GPS_charging 0 0 0.00

Compass 1508 15 237.34

RAFOS 0 0 0.00

Transponder 1 5 0.05

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

26 -0.79 -57.8 0.0 0.0 0 162 0.00 0.00 -130.35 0.000 6 0.000 0.000 58 2900 3057 0 0 0 0 0 0

169 -0.85 -111.0 3.1 -3.6 17 188 6.15 1.65 -6.30 0.000 4 0.243 0.076 1564 3896 3274 0 0 0 0 0 0

461 -0.85 -111.0 58.4 -20.2 64 470 0.00 1.58 0.00 0.000 6 0.000 0.031 1563 2866 3276 0 0 0 0 0 0

714 -0.85 -111.0 106.1 -16.9 103 718 0.00 1.67 0.00 0.000 4 0.000 0.060 1556 3893 3276 0 0 0 0 0 0

894 -0.85 -111.0 137.7 -18.0 113 898 0.00 1.55 0.00 0.000 6 0.000 0.031 1556 2866 3277 0 0 0 0 0 0

1226 -0.85 -111.0 196.0 -17.0 134 1227 0.00 0.00 0.00 0.000 6 0.000 0.000 1556 2862 3278 0 0 0 0 0 0

1539 -0.85 -111.0 246.5 -15.6 154 1540 0.00 0.00 0.00 0.000 6 0.000 0.000 1556 2862 3278 0 0 0 0 0 0

1859 -0.85 -111.0 296.9 -16.0 170 1863 0.00 2.05 0.00 0.000 4 0.000 0.036 1556 1495 3278 0 0 0 0 0 0

1894 -0.85 -111.0 302.5 -14.6 171 1901 0.00 2.20 0.00 0.000 6 0.000 0.054 1546 2877 3278 0 0 0 0 0 0

2214 -0.85 -111.0 352.8 -15.9 187 2215 0.00 0.00 0.00 0.000 6 0.000 0.000 1546 2877 3278 0 0 0 0 0 0

2521 -0.85 -111.0 402.9 -16.5 202 2525 0.00 2.10 0.00 0.000 4 0.000 0.037 1546 1501 3279 0 0 0 0 0 0

2545 -0.85 -111.0 407.1 -16.2 202 2550 0.15 2.20 0.00 0.000 6 0.200 0.054 1571 2880 3278 0 0 0 0 0 0

2860 -0.85 -111.0 451.4 -14.0 212 2861 0.00 0.00 0.00 0.000 6 0.000 0.000 1571 2881 3278 0 0 0 0 0 0

3166 -0.85 -111.0 494.3 -14.1 222 3167 0.00 0.00 0.00 0.000 6 0.000 0.000 1571 2881 3278 0 0 0 0 0 0

3472 -0.85 -111.0 535.9 -13.4 232 3476 0.00 2.10 0.00 0.000 4 0.000 0.037 1571 1494 3277 0 0 0 0 0 0

3507 -0.85 -111.0 540.6 -11.8 233 3511 0.00 2.22 0.00 0.000 6 0.000 0.055 1562 2883 3277 0 0 0 0 0 0

3840 -0.85 -111.0 586.6 -14.0 244 3843 0.00 2.12 0.00 0.000 4 0.000 0.037 1562 1495 3276 0 0 0 0 0 0

3871 -0.85 -111.0 591.0 -14.3 245 3875 0.00 2.22 0.00 0.000 6 0.000 0.055 1552 2887 3276 0 0 0 0 0 0

4208 -0.85 -111.0 640.8 -14.9 256 4210 0.00 0.00 0.00 0.000 6 0.000 0.000 1551 2887 3276 0 0 0 0 0 0

4515 -0.85 -111.0 685.0 -14.3 266 4519 0.00 2.10 0.00 0.000 4 0.000 0.037 1552 1500 3275 0 0 0 0 0 0

4560 -0.85 -111.0 691.8 -13.6 267 4565 0.12 2.20 0.00 0.000 6 0.205 0.054 1570 2881 3275 0 0 0 0 0 0

4882 -0.85 -111.0 732.8 -12.7 278 4886 0.00 2.10 0.00 0.000 4 0.000 0.036 1570 1493 3275 0 0 0 0 0 0

4913 -0.85 -111.0 736.7 -12.9 279 4917 0.00 2.22 0.00 0.000 6 0.000 0.055 1561 2884 3274 0 0 0 0 0 0

5251 -0.85 -111.0 781.3 -13.3 290 5254 0.00 2.10 0.00 0.000 4 0.000 0.037 1561 1496 3274 0 0 0 0 0 0

5282 -0.85 -111.0 785.5 -13.1 291 5286 0.00 2.22 0.00 0.000 6 0.000 0.055 1550 2888 3274 0 0 0 0 0 0

5619 -0.85 -111.0 832.0 -14.0 302 5623 0.00 2.12 0.00 0.000 4 0.000 0.036 1550 1498 3274 0 0 0 0 0 0

5677 -0.85 -111.0 840.0 -13.2 303 5684 0.12 2.20 0.00 0.000 6 0.209 0.054 1568 2883 3274 0 0 0 0 0 0

5992 -0.85 -111.0 879.3 -12.5 314 5996 0.00 2.12 0.00 0.000 4 0.000 0.037 1568 1486 3274 0 0 0 0 0 0

6021 -0.85 -111.0 883.2 -12.3 314 6030 0.00 2.22 0.00 0.000 6 0.000 0.055 1558 2881 3273 0 0 0 0 0 0

6336 -0.85 -111.0 923.2 -12.7 325 6340 0.00 2.12 0.00 0.000 4 0.000 0.036 1558 1488 3273 0 0 0 0 0 0

6368 -0.85 -111.0 927.2 -12.7 326 6372 0.00 2.22 0.00 0.000 6 0.000 0.055 1548 2881 3273 0 0 0 0 0 0

6705 -0.85 -111.0 971.5 -13.2 337 6709 0.00 2.10 0.00 0.000 4 0.000 0.036 1548 1496 3272 0 0 0 0 0 0

6746 -0.85 -111.0 977.0 -12.5 338 6750 0.15 2.22 0.00 0.000 6 0.202 0.055 1573 2884 3272 0 0 0 0 0 0

6976 end dive: TARGET_DEPTH_EXCEEDED

state 6976 begin apogee

6987 -0.18 0.0 1003.3 11.2 346 7103 0.75 0.00 112.55 1.245 6 0.183 0.000 1786 2713 2820 0 0 0 0 0 0

7105 end apogee: CONTROL_FINISHED_OK

state 7105 begin climb

7110 0.85 111.0 1005.7 0.0 350 7240 0.98 2.22 114.03 1.782 4 0.082 0.060 2120 3890 2367 0 0 0 0 1 0

7260 0.85 111.0 980.0 25.9 354 7264 0.00 2.00 0.00 0.000 6 0.000 0.035 2129 2715 2367 0 0 0 0 0 0

7586 0.85 111.0 892.0 27.0 365 7590 0.00 2.30 0.00 0.000 4 0.000 0.044 2140 1286 2360 0 0 0 0 0 0

7621 0.85 111.0 882.2 26.1 366 7625 0.00 2.38 0.00 0.000 6 0.000 0.054 2140 2706 2358 0 0 0 0 0 0

7953 0.85 111.0 792.9 26.8 377 7957 0.00 2.28 0.00 0.000 4 0.000 0.045 2151 1289 2357 0 0 0 0 0 0

7985 0.85 111.0 784.6 26.9 378 7989 0.00 2.33 0.00 0.000 6 0.000 0.054 2151 2708 2356 0 0 0 0 0 0

8322 0.85 111.0 693.7 27.2 389 8323 0.00 0.00 0.00 0.000 6 0.000 0.000 2151 2708 2356 0 0 0 0 0 0

8630 0.85 111.0 611.8 27.0 399 8634 0.00 2.25 0.00 0.000 4 0.000 0.044 2161 1286 2355 0 0 0 0 0 0

8654 0.85 111.0 604.4 26.6 399 8662 0.15 2.30 0.00 0.000 6 0.257 0.053 2131 2711 2354 0 0 0 0 0 0

8971 0.85 111.0 527.6 24.1 410 8975 0.00 2.25 0.00 0.000 4 0.000 0.044 2141 1285 2354 0 0 0 0 0 0

9012 0.85 111.0 517.3 23.1 411 9016 0.00 2.28 0.00 0.000 6 0.000 0.053 2141 2708 2352 0 0 0 0 0 0

9351 0.85 111.0 434.9 25.0 422 9352 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2709 2353 0 0 0 0 0 0

9669 0.85 111.0 358.9 23.3 435 9673 0.00 2.22 0.00 0.000 4 0.000 0.044 2151 1287 2353 0 0 0 0 0 0

9710 0.85 111.0 348.8 22.0 436 9718 0.00 2.30 0.00 0.000 6 0.000 0.053 2151 2700 2352 0 0 0 0 0 0

10028 0.85 111.0 273.2 23.6 452 10032 0.00 2.20 0.00 0.000 4 0.000 0.044 2161 1287 2352 0 0 0 0 0 0

10118 0.85 111.0 253.3 22.0 456 10123 0.15 2.28 0.00 0.000 6 0.250 0.053 2130 2706 2351 0 0 0 0 0 0

10458 0.85 111.0 177.2 22.7 477 10461 0.00 1.85 0.00 0.000 4 0.000 0.060 2125 3896 2351 0 0 0 0 0 0

10477 0.85 111.0 171.1 23.2 478 10481 0.00 1.85 0.00 0.000 6 0.000 0.039 2133 2689 2351 0 0 0 0 0 0

10812 0.85 111.0 97.3 21.9 499 10816 0.00 2.15 0.00 0.000 4 0.000 0.044 2144 1301 2351 0 0 0 0 0 0

10900 0.85 111.0 79.2 17.4 514 10907 0.00 2.22 0.00 0.000 6 0.000 0.053 2144 2699 2350 0 0 0 0 0 0

11270 0.85 111.0 3.8 20.7 575 11279 0.00 1.90 0.00 0.000 4 0.000 0.058 2144 3892 2349 0 0 0 0 0 0

11289 end climb: SURFACE_DEPTH_REACHED

state 11289 begin surface coast

11309 end surface coast: CONTROL_FINISHED_OK

state 11309 begin surface

ID	542	HEADING	-1	ROLL_MAX	3901	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	6	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	1050
DIVE	213	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2880	ALTIM_PING_DELTA	5
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2700	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-4230	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	1000	TGT_DEFAULT_LON	-200	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	2
D_NO_BLEED	200	SM_CC	573.99261	R_PORT_OVSHOOT	43	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	33	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	5	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	2.49
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	KERMIT	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	480	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3961	DEVICE2	101
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2820	DEVICE3	115
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	134
T_DIVE	353	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	368	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	60	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-11170.801	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	1850	PHONE_SUPPLY	2	SEABIRD_T_G	0.0042910837
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-48.034508	SEABIRD_T_H	0.00061853422
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011816985	SEABIRD_T_I	2.1182957e-05
RHO	1.027	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.0754619e-06
MASS	52816	PITCH_GAIN	38	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.7625904
NAV_MODE	1	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1369455
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.0017508121
KALMAN_USE	1	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021125977
HD_A	0.003	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	10
HD_C	9.9999997e-06	ROLL_MIN	335	ALTIM_TOP_TURN_MARGIN	0

GPS1	110113,145434,-4702.173,409.700,37,0.9,37,-23.3	TGT_NAME	GH1
_CALLS	2	TGT_LATLONG	-4700.000,410.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.157,0.047
_SM_DEPTHo	1.04	KALMAN_X	-152970.6,-156.0,215.4,143652.7,-2418.4
_SM_ANGLEo	-27.6	KALMAN_Y	102951.7,-175.4,-330.8,-122550.2,3101.0
GPS2	110113,150541,-4702.140,409.662,18,1.0,18,-23.3	MHEAD_RNG_PITCHd_Wd	96.7,3986,-27.2,-9.443
SPEED_LIMITS	0.164,0.256	D_GRID	1000

FINISH	0.6,1.006675	_10V_AH	10.0,19.379
SM_CCo	11332,196.20,0.793,1,0,476,573.99	FG_AHR_24Vo	0.000
SM_GC	1.25,0.00,0.00,196.20,0.000,0.000,0.793,59,2849,476,-5.60,-0.88,573.99	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4641.78,409.41,110113,141444	MEM	353912
TT8_MAMPS	0.026215	DATA_FILE_SIZE	40498,580
HUMID	56.34	CAP_FILE_SIZE	96101,0
INTERNAL_PRESSURE	9.21877	CFSIZE	259252224,216154112
TCM_TEMP	10.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
XPDR_PINGS	0	GPS	110113,182004,-4701.375,411.004,25,1.1,25,-23.3
_24V_AH	22.1,41.102

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	257	82.23	SBE_CT	382	24	202.77
Roll_motor	97	76	164.58	AA4330	1169	33	853.15
VBD_pump_during_apogee	226	1782	8925.28	WL_BB2FLVMT	650	105	1509.81
VBD_pump_during_surface	196	792	3436.47	QSP2150	265	4	25.70
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	62	103	142.03	nil	0	0	0.00
Iridium_during_connect	99	160	352.69	nil	0	0	0.00
Iridium_during_xfer	232	223	1147.02	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	5.63
TT8	1450	14	216.94
LPSleep	7692	2	168.46
TT8_Active	559	14	79.49
TT8_Sampling	1986	37	743.65
TT8_CF8	507	47	239.27
TT8_Kalman	33	59	19.73
Analog_circuits	1247	12	149.75
GPS_charging	0	0	0.00
Compass	1508	15	237.34
RAFOS	0	0	0.00
Transponder	1	5	0.05

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
26	-0.79	-57.8	0.0	0.0	0	162	0.00	0.00	-130.35	0.000	6	0.000	0.000	58	2900	3057	0	0	0	0	0	0
169	-0.85	-111.0	3.1	-3.6	17	188	6.15	1.65	-6.30	0.000	4	0.243	0.076	1564	3896	3274	0	0	0	0	0	0
461	-0.85	-111.0	58.4	-20.2	64	470	0.00	1.58	0.00	0.000	6	0.000	0.031	1563	2866	3276	0	0	0	0	0	0
714	-0.85	-111.0	106.1	-16.9	103	718	0.00	1.67	0.00	0.000	4	0.000	0.060	1556	3893	3276	0	0	0	0	0	0
894	-0.85	-111.0	137.7	-18.0	113	898	0.00	1.55	0.00	0.000	6	0.000	0.031	1556	2866	3277	0	0	0	0	0	0
1226	-0.85	-111.0	196.0	-17.0	134	1227	0.00	0.00	0.00	0.000	6	0.000	0.000	1556	2862	3278	0	0	0	0	0	0
1539	-0.85	-111.0	246.5	-15.6	154	1540	0.00	0.00	0.00	0.000	6	0.000	0.000	1556	2862	3278	0	0	0	0	0	0
1859	-0.85	-111.0	296.9	-16.0	170	1863	0.00	2.05	0.00	0.000	4	0.000	0.036	1556	1495	3278	0	0	0	0	0	0
1894	-0.85	-111.0	302.5	-14.6	171	1901	0.00	2.20	0.00	0.000	6	0.000	0.054	1546	2877	3278	0	0	0	0	0	0
2214	-0.85	-111.0	352.8	-15.9	187	2215	0.00	0.00	0.00	0.000	6	0.000	0.000	1546	2877	3278	0	0	0	0	0	0
2521	-0.85	-111.0	402.9	-16.5	202	2525	0.00	2.10	0.00	0.000	4	0.000	0.037	1546	1501	3279	0	0	0	0	0	0
2545	-0.85	-111.0	407.1	-16.2	202	2550	0.15	2.20	0.00	0.000	6	0.200	0.054	1571	2880	3278	0	0	0	0	0	0
2860	-0.85	-111.0	451.4	-14.0	212	2861	0.00	0.00	0.00	0.000	6	0.000	0.000	1571	2881	3278	0	0	0	0	0	0
3166	-0.85	-111.0	494.3	-14.1	222	3167	0.00	0.00	0.00	0.000	6	0.000	0.000	1571	2881	3278	0	0	0	0	0	0
3472	-0.85	-111.0	535.9	-13.4	232	3476	0.00	2.10	0.00	0.000	4	0.000	0.037	1571	1494	3277	0	0	0	0	0	0
3507	-0.85	-111.0	540.6	-11.8	233	3511	0.00	2.22	0.00	0.000	6	0.000	0.055	1562	2883	3277	0	0	0	0	0	0
3840	-0.85	-111.0	586.6	-14.0	244	3843	0.00	2.12	0.00	0.000	4	0.000	0.037	1562	1495	3276	0	0	0	0	0	0
3871	-0.85	-111.0	591.0	-14.3	245	3875	0.00	2.22	0.00	0.000	6	0.000	0.055	1552	2887	3276	0	0	0	0	0	0
4208	-0.85	-111.0	640.8	-14.9	256	4210	0.00	0.00	0.00	0.000	6	0.000	0.000	1551	2887	3276	0	0	0	0	0	0
4515	-0.85	-111.0	685.0	-14.3	266	4519	0.00	2.10	0.00	0.000	4	0.000	0.037	1552	1500	3275	0	0	0	0	0	0
4560	-0.85	-111.0	691.8	-13.6	267	4565	0.12	2.20	0.00	0.000	6	0.205	0.054	1570	2881	3275	0	0	0	0	0	0
4882	-0.85	-111.0	732.8	-12.7	278	4886	0.00	2.10	0.00	0.000	4	0.000	0.036	1570	1493	3275	0	0	0	0	0	0
4913	-0.85	-111.0	736.7	-12.9	279	4917	0.00	2.22	0.00	0.000	6	0.000	0.055	1561	2884	3274	0	0	0	0	0	0
5251	-0.85	-111.0	781.3	-13.3	290	5254	0.00	2.10	0.00	0.000	4	0.000	0.037	1561	1496	3274	0	0	0	0	0	0
5282	-0.85	-111.0	785.5	-13.1	291	5286	0.00	2.22	0.00	0.000	6	0.000	0.055	1550	2888	3274	0	0	0	0	0	0
5619	-0.85	-111.0	832.0	-14.0	302	5623	0.00	2.12	0.00	0.000	4	0.000	0.036	1550	1498	3274	0	0	0	0	0	0
5677	-0.85	-111.0	840.0	-13.2	303	5684	0.12	2.20	0.00	0.000	6	0.209	0.054	1568	2883	3274	0	0	0	0	0	0
5992	-0.85	-111.0	879.3	-12.5	314	5996	0.00	2.12	0.00	0.000	4	0.000	0.037	1568	1486	3274	0	0	0	0	0	0
6021	-0.85	-111.0	883.2	-12.3	314	6030	0.00	2.22	0.00	0.000	6	0.000	0.055	1558	2881	3273	0	0	0	0	0	0
6336	-0.85	-111.0	923.2	-12.7	325	6340	0.00	2.12	0.00	0.000	4	0.000	0.036	1558	1488	3273	0	0	0	0	0	0
6368	-0.85	-111.0	927.2	-12.7	326	6372	0.00	2.22	0.00	0.000	6	0.000	0.055	1548	2881	3273	0	0	0	0	0	0
6705	-0.85	-111.0	971.5	-13.2	337	6709	0.00	2.10	0.00	0.000	4	0.000	0.036	1548	1496	3272	0	0	0	0	0	0
6746	-0.85	-111.0	977.0	-12.5	338	6750	0.15	2.22	0.00	0.000	6	0.202	0.055	1573	2884	3272	0	0	0	0	0	0
6976	end dive: TARGET_DEPTH_EXCEEDED
state	6976	begin apogee
6987	-0.18	0.0	1003.3	11.2	346	7103	0.75	0.00	112.55	1.245	6	0.183	0.000	1786	2713	2820	0	0	0	0	0	0
7105	end apogee: CONTROL_FINISHED_OK
state	7105	begin climb
7110	0.85	111.0	1005.7	0.0	350	7240	0.98	2.22	114.03	1.782	4	0.082	0.060	2120	3890	2367	0	0	0	0	1	0
7260	0.85	111.0	980.0	25.9	354	7264	0.00	2.00	0.00	0.000	6	0.000	0.035	2129	2715	2367	0	0	0	0	0	0
7586	0.85	111.0	892.0	27.0	365	7590	0.00	2.30	0.00	0.000	4	0.000	0.044	2140	1286	2360	0	0	0	0	0	0
7621	0.85	111.0	882.2	26.1	366	7625	0.00	2.38	0.00	0.000	6	0.000	0.054	2140	2706	2358	0	0	0	0	0	0
7953	0.85	111.0	792.9	26.8	377	7957	0.00	2.28	0.00	0.000	4	0.000	0.045	2151	1289	2357	0	0	0	0	0	0
7985	0.85	111.0	784.6	26.9	378	7989	0.00	2.33	0.00	0.000	6	0.000	0.054	2151	2708	2356	0	0	0	0	0	0
8322	0.85	111.0	693.7	27.2	389	8323	0.00	0.00	0.00	0.000	6	0.000	0.000	2151	2708	2356	0	0	0	0	0	0
8630	0.85	111.0	611.8	27.0	399	8634	0.00	2.25	0.00	0.000	4	0.000	0.044	2161	1286	2355	0	0	0	0	0	0
8654	0.85	111.0	604.4	26.6	399	8662	0.15	2.30	0.00	0.000	6	0.257	0.053	2131	2711	2354	0	0	0	0	0	0
8971	0.85	111.0	527.6	24.1	410	8975	0.00	2.25	0.00	0.000	4	0.000	0.044	2141	1285	2354	0	0	0	0	0	0
9012	0.85	111.0	517.3	23.1	411	9016	0.00	2.28	0.00	0.000	6	0.000	0.053	2141	2708	2352	0	0	0	0	0	0
9351	0.85	111.0	434.9	25.0	422	9352	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2709	2353	0	0	0	0	0	0
9669	0.85	111.0	358.9	23.3	435	9673	0.00	2.22	0.00	0.000	4	0.000	0.044	2151	1287	2353	0	0	0	0	0	0
9710	0.85	111.0	348.8	22.0	436	9718	0.00	2.30	0.00	0.000	6	0.000	0.053	2151	2700	2352	0	0	0	0	0	0
10028	0.85	111.0	273.2	23.6	452	10032	0.00	2.20	0.00	0.000	4	0.000	0.044	2161	1287	2352	0	0	0	0	0	0
10118	0.85	111.0	253.3	22.0	456	10123	0.15	2.28	0.00	0.000	6	0.250	0.053	2130	2706	2351	0	0	0	0	0	0
10458	0.85	111.0	177.2	22.7	477	10461	0.00	1.85	0.00	0.000	4	0.000	0.060	2125	3896	2351	0	0	0	0	0	0
10477	0.85	111.0	171.1	23.2	478	10481	0.00	1.85	0.00	0.000	6	0.000	0.039	2133	2689	2351	0	0	0	0	0	0
10812	0.85	111.0	97.3	21.9	499	10816	0.00	2.15	0.00	0.000	4	0.000	0.044	2144	1301	2351	0	0	0	0	0	0
10900	0.85	111.0	79.2	17.4	514	10907	0.00	2.22	0.00	0.000	6	0.000	0.053	2144	2699	2350	0	0	0	0	0	0
11270	0.85	111.0	3.8	20.7	575	11279	0.00	1.90	0.00	0.000	4	0.000	0.058	2144	3892	2349	0	0	0	0	0	0
11289	end climb: SURFACE_DEPTH_REACHED
state	11289	begin surface coast
11309	end surface coast: CONTROL_FINISHED_OK
state	11309	begin surface