Glider dive log

SOSCEx 08Dec12 * SG543 * Dive index * Mission links * Dive 218 * 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 218 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 49 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 20 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 -8453.8232 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 -8453.8232

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 49 VBD_MAX 3960

DEVICE2 101 MASS 52459 R_STBD_OVSHOOT 20 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 218 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 140113,193035,-4202.101,904.048,28,1.1,28,-25.1 TGT_NAME GH3

_CALLS 1 TGT_LATLONG -4200.000,900.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.045,-0.137

_SM_DEPTHo 1.88 KALMAN_X -147298.4,796.7,265.0,231403.6,-4692.2

_SM_ANGLEo -53.1 KALMAN_Y 45780.6,52.0,-163.9,6346.2,6117.7

GPS2 140113,193848,-4201.957,904.051,21,0.9,21,-25.1 MHEAD_RNG_PITCHd_Wd 223.2,6649,-27.0,-8.333

SPEED_LIMITS 0.144,0.244 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.3,1.026349 _10V_AH 10.1,23.386

SM_CCo 12558,72.30,0.734,1,0,1450,250.20 FG_AHR_24Vo 0.000

SM_GC 1.92,0.00,0.00,72.30,0.000,0.000,0.734,55,3393,1450,-4.94,0.37,250.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4149.58,904.39,140113,151516 MEM 353944

TT8_MAMPS 0.025466 DATA_FILE_SIZE 47006,637

HUMID 56.89 CAP_FILE_SIZE 104397,0

INTERNAL_PRESSURE 9.01519 CFSIZE 259252224,244830208

TCM_TEMP 14.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1

XPDR_PINGS 0 GPS 140113,231134,-4202.756,902.650,28,0.9,28,-25.1

_24V_AH 23.4,38.230

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 229 65.92 SBE_CT 416 24 233.72

Roll_motor 52 83 101.51 AA4330 1422 33 1098.82

VBD_pump_during_apogee 189 1237 5475.84 WL_BB2FLVMT 664 105 1633.61

VBD_pump_during_surface 72 734 1242.47 QSP2150 303 4 31.12

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 66.84 nil 0 0 0.00

Iridium_during_connect 22 160 83.98 nil 0 0 0.00

Iridium_during_xfer 279 223 1460.99 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 6.41

TT8 1652 14 249.67

LPSleep 8249 2 182.47

TT8_Active 344 14 49.46

TT8_Sampling 2146 37 811.29

TT8_CF8 741 47 353.19

TT8_Kalman 33 59 19.93

Analog_circuits 1148 12 139.17

GPS_charging 0 0 0.00

Compass 1976 15 313.99

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 -49.30 0.000 2 0.000 0.000 59 3377 2652 0 0 0 0 0 0

75 -0.78 -90.7 3.2 -3.4 6 94 5.38 0.95 -5.93 0.000 4 0.230 0.082 1370 3956 2844 0 0 0 0 0 0

143 -0.78 -90.7 12.8 -18.3 15 152 0.00 0.88 0.00 0.000 6 0.000 0.036 1369 3392 2846 0 0 0 0 0 0

232 -0.78 -90.7 28.4 -15.2 28 240 0.00 0.00 0.00 0.000 6 0.000 0.000 1370 3392 2847 0 0 0 0 0 0

317 -0.78 -90.7 41.9 -16.6 41 324 0.00 2.17 0.00 0.000 4 0.000 0.031 1370 1958 2848 0 0 0 0 0 0

365 -0.78 -90.7 50.1 -15.2 48 374 0.00 2.38 0.00 0.000 6 0.000 0.060 1359 3380 2848 0 0 0 0 0 0

613 -0.78 -90.7 88.2 -15.2 89 617 0.00 2.12 0.00 0.000 4 0.000 0.033 1359 1974 2849 0 0 0 0 0 0

666 -0.78 -90.7 95.1 -13.1 97 671 0.12 2.33 0.00 0.000 6 0.190 0.060 1377 3389 2849 0 0 0 0 0 0

1001 -0.78 -90.7 143.1 -13.9 122 1004 0.00 0.90 0.00 0.000 4 0.000 0.056 1374 3958 2850 0 0 0 0 0 0

1186 -0.78 -90.7 172.1 -15.1 132 1194 0.00 0.88 0.00 0.000 6 0.000 0.034 1374 3377 2850 0 0 0 0 0 0

1507 -0.78 -90.7 216.6 -13.4 153 1513 0.00 0.90 0.00 0.000 4 0.000 0.055 1370 3948 2851 0 0 0 0 0 0

1583 -0.78 -90.7 227.2 -14.3 157 1586 0.00 0.85 0.00 0.000 6 0.000 0.034 1370 3384 2851 0 0 0 0 0 0

1903 -0.78 -90.7 269.6 -12.7 175 1904 0.00 0.00 0.00 0.000 6 0.000 0.000 1370 3383 2851 0 0 0 0 0 0

2212 -0.78 -90.7 309.9 -13.2 190 2215 0.00 0.90 0.00 0.000 4 0.000 0.055 1366 3953 2852 0 0 0 0 0 0

2368 -0.78 -90.7 332.1 -14.7 196 2376 0.00 0.88 0.00 0.000 6 0.000 0.034 1366 3371 2852 0 0 0 0 0 0

2685 -0.78 -90.7 372.9 -12.8 212 2687 0.00 0.00 0.00 0.000 6 0.000 0.000 1366 3370 2852 0 0 0 0 0 0

3003 -0.78 -90.7 413.5 -12.6 226 3007 0.00 0.93 0.00 0.000 4 0.000 0.055 1361 3958 2851 0 0 0 0 0 0

3098 -0.78 -90.7 426.5 -13.3 228 3105 0.00 0.85 0.00 0.000 6 0.000 0.034 1361 3387 2851 0 0 0 0 0 0

3411 -0.78 -90.7 465.4 -12.5 239 3415 0.00 0.90 0.00 0.000 4 0.000 0.055 1357 3956 2851 0 0 0 0 0 0

3495 -0.78 -90.7 477.6 -14.7 241 3498 0.00 0.88 0.00 0.000 6 0.000 0.035 1357 3376 2852 0 0 0 0 0 0

3819 -0.78 -90.7 521.3 -13.8 252 3820 0.00 0.00 0.00 0.000 6 0.000 0.000 1357 3376 2851 0 0 0 0 0 0

4126 -0.78 -90.7 564.1 -14.1 262 4130 0.00 0.93 0.00 0.000 4 0.000 0.056 1353 3958 2851 0 0 0 0 0 0

4289 -0.78 -90.7 590.4 -16.1 266 4298 0.00 0.88 0.00 0.000 6 0.000 0.034 1353 3379 2851 0 0 0 0 0 0

4603 -0.78 -90.7 636.0 -14.4 277 4604 0.00 0.00 0.00 0.000 6 0.000 0.000 1353 3379 2850 0 0 0 0 0 0

4909 -0.78 -90.7 679.0 -13.9 287 4913 0.00 0.93 0.00 0.000 4 0.000 0.057 1348 3959 2849 0 0 0 0 0 0

5015 -0.78 -90.7 696.2 -15.7 290 5020 0.08 0.88 0.00 0.000 6 0.184 0.035 1370 3384 2849 0 0 0 0 0 0

5351 -0.78 -90.7 739.1 -12.2 301 5352 0.00 0.00 0.00 0.000 6 0.000 0.000 1370 3384 2849 0 0 0 0 0 0

5658 -0.78 -90.7 777.4 -12.7 311 5662 0.00 2.15 0.00 0.000 4 0.000 0.031 1369 1956 2848 0 0 0 0 0 0

5691 -0.78 -90.7 781.9 -11.6 312 5696 0.00 2.33 0.00 0.000 6 0.000 0.057 1360 3384 2848 0 0 0 0 0 0

6021 -0.78 -90.7 824.3 -13.1 323 6022 0.00 0.00 0.00 0.000 6 0.000 0.000 1360 3384 2847 0 0 0 0 0 0

6328 -0.78 -90.7 863.1 -12.5 333 6329 0.00 0.00 0.00 0.000 6 0.000 0.000 1360 3384 2846 0 0 0 0 0 0

6635 -0.78 -90.7 900.0 -11.7 343 6636 0.00 0.00 0.00 0.000 6 0.000 0.000 1360 3384 2845 0 0 0 0 0 0

6940 -0.78 -90.7 936.2 -11.8 353 6941 0.00 0.00 0.00 0.000 6 0.000 0.000 1360 3385 2845 0 0 0 0 0 0

7246 -0.78 -90.7 972.7 -12.0 363 7248 0.00 0.00 0.00 0.000 6 0.000 0.000 1360 3384 2844 0 0 0 0 0 0

7488 end dive: TARGET_DEPTH_EXCEEDED

state 7488 begin apogee

7495 -0.14 0.0 1001.2 11.6 371 7593 0.80 0.00 94.60 1.237 6 0.173 0.000 1582 3276 2473 0 0 0 0 0 0

7595 end apogee: CONTROL_FINISHED_OK

state 7595 begin climb

7597 0.78 90.7 1003.6 0.0 374 7702 0.93 2.35 94.57 1.220 4 0.085 0.028 1897 1846 2100 0 0 0 0 0 0

7719 0.78 90.7 986.9 19.4 377 7723 0.00 2.45 0.00 0.000 6 0.000 0.048 1897 3270 2094 0 0 0 0 0 0

8037 0.78 90.7 920.3 21.1 388 8041 0.00 1.10 0.00 0.000 4 0.000 0.054 1897 3948 2084 0 0 0 0 0 0

8140 0.78 90.7 896.6 24.2 391 8144 0.00 1.08 0.00 0.000 6 0.000 0.031 1902 3248 2084 0 0 0 0 0 0

8481 0.78 90.7 823.9 21.0 402 8486 0.00 1.15 0.00 0.000 4 0.000 0.054 1902 3956 2081 0 0 0 0 0 0

8691 0.78 90.7 774.2 23.8 408 8694 0.00 1.05 0.00 0.000 6 0.000 0.031 1906 3258 2081 0 0 0 0 0 0

9026 0.78 90.7 700.9 21.8 419 9030 0.00 1.12 0.00 0.000 4 0.000 0.054 1906 3958 2079 0 0 0 0 0 0

9135 0.78 90.7 675.6 25.0 422 9139 0.00 1.02 0.00 0.000 6 0.000 0.031 1912 3273 2079 0 0 0 0 0 0

9471 0.78 90.7 601.8 21.6 433 9472 0.00 0.00 0.00 0.000 6 0.000 0.000 1912 3273 2078 0 0 0 0 0 0

9778 0.78 90.7 537.4 21.0 443 9782 0.00 1.08 0.00 0.000 4 0.000 0.053 1912 3948 2077 0 0 0 0 0 0

9917 0.78 90.7 505.3 22.6 447 9921 0.00 1.02 0.00 0.000 6 0.000 0.031 1917 3262 2077 0 0 0 0 0 0

10253 0.78 90.7 436.0 20.3 458 10257 0.00 1.10 0.00 0.000 4 0.000 0.054 1917 3951 2076 0 0 0 0 0 0

10389 0.78 90.7 405.2 23.3 462 10394 0.10 1.02 0.00 0.000 6 0.211 0.031 1896 3260 2076 0 0 0 0 0 0

10717 0.78 90.7 343.6 18.9 477 10722 0.00 1.10 0.00 0.000 4 0.000 0.053 1896 3950 2075 0 0 0 0 0 0

10828 0.78 90.7 319.7 21.6 481 10835 0.00 1.00 0.00 0.000 6 0.000 0.032 1900 3276 2075 0 0 0 0 0 0

11146 0.78 90.7 259.1 19.0 497 11152 0.00 1.08 0.00 0.000 4 0.000 0.054 1900 3952 2075 0 0 0 0 0 0

11310 0.78 90.7 226.2 20.9 506 11316 0.00 1.02 0.00 0.000 6 0.000 0.031 1905 3263 2075 0 0 0 0 0 0

11643 0.78 90.7 164.3 18.0 527 11649 0.00 1.10 0.00 0.000 4 0.000 0.054 1905 3951 2074 0 0 0 0 0 0

11779 0.78 90.7 136.7 19.5 534 11788 0.00 1.00 0.00 0.000 6 0.000 0.031 1909 3273 2075 0 0 0 0 0 0

12112 0.78 90.7 75.2 18.9 569 12117 0.00 1.08 0.00 0.000 4 0.000 0.052 1909 3953 2075 0 0 0 0 0 0

12138 0.78 90.7 69.8 20.0 573 12146 0.00 1.00 0.00 0.000 6 0.000 0.031 1914 3273 2075 0 0 0 0 0 0

12519 end climb: SURFACE_DEPTH_REACHED

state 12519 begin surface coast

12542 end surface coast: CONTROL_FINISHED_OK

state 12542 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	218	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	49	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	20	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	-8453.8232	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	140113,193035,-4202.101,904.048,28,1.1,28,-25.1	TGT_NAME	GH3
_CALLS	1	TGT_LATLONG	-4200.000,900.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.045,-0.137
_SM_DEPTHo	1.88	KALMAN_X	-147298.4,796.7,265.0,231403.6,-4692.2
_SM_ANGLEo	-53.1	KALMAN_Y	45780.6,52.0,-163.9,6346.2,6117.7
GPS2	140113,193848,-4201.957,904.051,21,0.9,21,-25.1	MHEAD_RNG_PITCHd_Wd	223.2,6649,-27.0,-8.333
SPEED_LIMITS	0.144,0.244	D_GRID	1000

FINISH	1.3,1.026349	_10V_AH	10.1,23.386
SM_CCo	12558,72.30,0.734,1,0,1450,250.20	FG_AHR_24Vo	0.000
SM_GC	1.92,0.00,0.00,72.30,0.000,0.000,0.734,55,3393,1450,-4.94,0.37,250.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4149.58,904.39,140113,151516	MEM	353944
TT8_MAMPS	0.025466	DATA_FILE_SIZE	47006,637
HUMID	56.89	CAP_FILE_SIZE	104397,0
INTERNAL_PRESSURE	9.01519	CFSIZE	259252224,244830208
TCM_TEMP	14.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
XPDR_PINGS	0	GPS	140113,231134,-4202.756,902.650,28,0.9,28,-25.1
_24V_AH	23.4,38.230

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	229	65.92	SBE_CT	416	24	233.72
Roll_motor	52	83	101.51	AA4330	1422	33	1098.82
VBD_pump_during_apogee	189	1237	5475.84	WL_BB2FLVMT	664	105	1633.61
VBD_pump_during_surface	72	734	1242.47	QSP2150	303	4	31.12
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	66.84	nil	0	0	0.00
Iridium_during_connect	22	160	83.98	nil	0	0	0.00
Iridium_during_xfer	279	223	1460.99	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	6.41
TT8	1652	14	249.67
LPSleep	8249	2	182.47
TT8_Active	344	14	49.46
TT8_Sampling	2146	37	811.29
TT8_CF8	741	47	353.19
TT8_Kalman	33	59	19.93
Analog_circuits	1148	12	139.17
GPS_charging	0	0	0.00
Compass	1976	15	313.99
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	-49.30	0.000	2	0.000	0.000	59	3377	2652	0	0	0	0	0	0
75	-0.78	-90.7	3.2	-3.4	6	94	5.38	0.95	-5.93	0.000	4	0.230	0.082	1370	3956	2844	0	0	0	0	0	0
143	-0.78	-90.7	12.8	-18.3	15	152	0.00	0.88	0.00	0.000	6	0.000	0.036	1369	3392	2846	0	0	0	0	0	0
232	-0.78	-90.7	28.4	-15.2	28	240	0.00	0.00	0.00	0.000	6	0.000	0.000	1370	3392	2847	0	0	0	0	0	0
317	-0.78	-90.7	41.9	-16.6	41	324	0.00	2.17	0.00	0.000	4	0.000	0.031	1370	1958	2848	0	0	0	0	0	0
365	-0.78	-90.7	50.1	-15.2	48	374	0.00	2.38	0.00	0.000	6	0.000	0.060	1359	3380	2848	0	0	0	0	0	0
613	-0.78	-90.7	88.2	-15.2	89	617	0.00	2.12	0.00	0.000	4	0.000	0.033	1359	1974	2849	0	0	0	0	0	0
666	-0.78	-90.7	95.1	-13.1	97	671	0.12	2.33	0.00	0.000	6	0.190	0.060	1377	3389	2849	0	0	0	0	0	0
1001	-0.78	-90.7	143.1	-13.9	122	1004	0.00	0.90	0.00	0.000	4	0.000	0.056	1374	3958	2850	0	0	0	0	0	0
1186	-0.78	-90.7	172.1	-15.1	132	1194	0.00	0.88	0.00	0.000	6	0.000	0.034	1374	3377	2850	0	0	0	0	0	0
1507	-0.78	-90.7	216.6	-13.4	153	1513	0.00	0.90	0.00	0.000	4	0.000	0.055	1370	3948	2851	0	0	0	0	0	0
1583	-0.78	-90.7	227.2	-14.3	157	1586	0.00	0.85	0.00	0.000	6	0.000	0.034	1370	3384	2851	0	0	0	0	0	0
1903	-0.78	-90.7	269.6	-12.7	175	1904	0.00	0.00	0.00	0.000	6	0.000	0.000	1370	3383	2851	0	0	0	0	0	0
2212	-0.78	-90.7	309.9	-13.2	190	2215	0.00	0.90	0.00	0.000	4	0.000	0.055	1366	3953	2852	0	0	0	0	0	0
2368	-0.78	-90.7	332.1	-14.7	196	2376	0.00	0.88	0.00	0.000	6	0.000	0.034	1366	3371	2852	0	0	0	0	0	0
2685	-0.78	-90.7	372.9	-12.8	212	2687	0.00	0.00	0.00	0.000	6	0.000	0.000	1366	3370	2852	0	0	0	0	0	0
3003	-0.78	-90.7	413.5	-12.6	226	3007	0.00	0.93	0.00	0.000	4	0.000	0.055	1361	3958	2851	0	0	0	0	0	0
3098	-0.78	-90.7	426.5	-13.3	228	3105	0.00	0.85	0.00	0.000	6	0.000	0.034	1361	3387	2851	0	0	0	0	0	0
3411	-0.78	-90.7	465.4	-12.5	239	3415	0.00	0.90	0.00	0.000	4	0.000	0.055	1357	3956	2851	0	0	0	0	0	0
3495	-0.78	-90.7	477.6	-14.7	241	3498	0.00	0.88	0.00	0.000	6	0.000	0.035	1357	3376	2852	0	0	0	0	0	0
3819	-0.78	-90.7	521.3	-13.8	252	3820	0.00	0.00	0.00	0.000	6	0.000	0.000	1357	3376	2851	0	0	0	0	0	0
4126	-0.78	-90.7	564.1	-14.1	262	4130	0.00	0.93	0.00	0.000	4	0.000	0.056	1353	3958	2851	0	0	0	0	0	0
4289	-0.78	-90.7	590.4	-16.1	266	4298	0.00	0.88	0.00	0.000	6	0.000	0.034	1353	3379	2851	0	0	0	0	0	0
4603	-0.78	-90.7	636.0	-14.4	277	4604	0.00	0.00	0.00	0.000	6	0.000	0.000	1353	3379	2850	0	0	0	0	0	0
4909	-0.78	-90.7	679.0	-13.9	287	4913	0.00	0.93	0.00	0.000	4	0.000	0.057	1348	3959	2849	0	0	0	0	0	0
5015	-0.78	-90.7	696.2	-15.7	290	5020	0.08	0.88	0.00	0.000	6	0.184	0.035	1370	3384	2849	0	0	0	0	0	0
5351	-0.78	-90.7	739.1	-12.2	301	5352	0.00	0.00	0.00	0.000	6	0.000	0.000	1370	3384	2849	0	0	0	0	0	0
5658	-0.78	-90.7	777.4	-12.7	311	5662	0.00	2.15	0.00	0.000	4	0.000	0.031	1369	1956	2848	0	0	0	0	0	0
5691	-0.78	-90.7	781.9	-11.6	312	5696	0.00	2.33	0.00	0.000	6	0.000	0.057	1360	3384	2848	0	0	0	0	0	0
6021	-0.78	-90.7	824.3	-13.1	323	6022	0.00	0.00	0.00	0.000	6	0.000	0.000	1360	3384	2847	0	0	0	0	0	0
6328	-0.78	-90.7	863.1	-12.5	333	6329	0.00	0.00	0.00	0.000	6	0.000	0.000	1360	3384	2846	0	0	0	0	0	0
6635	-0.78	-90.7	900.0	-11.7	343	6636	0.00	0.00	0.00	0.000	6	0.000	0.000	1360	3384	2845	0	0	0	0	0	0
6940	-0.78	-90.7	936.2	-11.8	353	6941	0.00	0.00	0.00	0.000	6	0.000	0.000	1360	3385	2845	0	0	0	0	0	0
7246	-0.78	-90.7	972.7	-12.0	363	7248	0.00	0.00	0.00	0.000	6	0.000	0.000	1360	3384	2844	0	0	0	0	0	0
7488	end dive: TARGET_DEPTH_EXCEEDED
state	7488	begin apogee
7495	-0.14	0.0	1001.2	11.6	371	7593	0.80	0.00	94.60	1.237	6	0.173	0.000	1582	3276	2473	0	0	0	0	0	0
7595	end apogee: CONTROL_FINISHED_OK
state	7595	begin climb
7597	0.78	90.7	1003.6	0.0	374	7702	0.93	2.35	94.57	1.220	4	0.085	0.028	1897	1846	2100	0	0	0	0	0	0
7719	0.78	90.7	986.9	19.4	377	7723	0.00	2.45	0.00	0.000	6	0.000	0.048	1897	3270	2094	0	0	0	0	0	0
8037	0.78	90.7	920.3	21.1	388	8041	0.00	1.10	0.00	0.000	4	0.000	0.054	1897	3948	2084	0	0	0	0	0	0
8140	0.78	90.7	896.6	24.2	391	8144	0.00	1.08	0.00	0.000	6	0.000	0.031	1902	3248	2084	0	0	0	0	0	0
8481	0.78	90.7	823.9	21.0	402	8486	0.00	1.15	0.00	0.000	4	0.000	0.054	1902	3956	2081	0	0	0	0	0	0
8691	0.78	90.7	774.2	23.8	408	8694	0.00	1.05	0.00	0.000	6	0.000	0.031	1906	3258	2081	0	0	0	0	0	0
9026	0.78	90.7	700.9	21.8	419	9030	0.00	1.12	0.00	0.000	4	0.000	0.054	1906	3958	2079	0	0	0	0	0	0
9135	0.78	90.7	675.6	25.0	422	9139	0.00	1.02	0.00	0.000	6	0.000	0.031	1912	3273	2079	0	0	0	0	0	0
9471	0.78	90.7	601.8	21.6	433	9472	0.00	0.00	0.00	0.000	6	0.000	0.000	1912	3273	2078	0	0	0	0	0	0
9778	0.78	90.7	537.4	21.0	443	9782	0.00	1.08	0.00	0.000	4	0.000	0.053	1912	3948	2077	0	0	0	0	0	0
9917	0.78	90.7	505.3	22.6	447	9921	0.00	1.02	0.00	0.000	6	0.000	0.031	1917	3262	2077	0	0	0	0	0	0
10253	0.78	90.7	436.0	20.3	458	10257	0.00	1.10	0.00	0.000	4	0.000	0.054	1917	3951	2076	0	0	0	0	0	0
10389	0.78	90.7	405.2	23.3	462	10394	0.10	1.02	0.00	0.000	6	0.211	0.031	1896	3260	2076	0	0	0	0	0	0
10717	0.78	90.7	343.6	18.9	477	10722	0.00	1.10	0.00	0.000	4	0.000	0.053	1896	3950	2075	0	0	0	0	0	0
10828	0.78	90.7	319.7	21.6	481	10835	0.00	1.00	0.00	0.000	6	0.000	0.032	1900	3276	2075	0	0	0	0	0	0
11146	0.78	90.7	259.1	19.0	497	11152	0.00	1.08	0.00	0.000	4	0.000	0.054	1900	3952	2075	0	0	0	0	0	0
11310	0.78	90.7	226.2	20.9	506	11316	0.00	1.02	0.00	0.000	6	0.000	0.031	1905	3263	2075	0	0	0	0	0	0
11643	0.78	90.7	164.3	18.0	527	11649	0.00	1.10	0.00	0.000	4	0.000	0.054	1905	3951	2074	0	0	0	0	0	0
11779	0.78	90.7	136.7	19.5	534	11788	0.00	1.00	0.00	0.000	6	0.000	0.031	1909	3273	2075	0	0	0	0	0	0
12112	0.78	90.7	75.2	18.9	569	12117	0.00	1.08	0.00	0.000	4	0.000	0.052	1909	3953	2075	0	0	0	0	0	0
12138	0.78	90.7	69.8	20.0	573	12146	0.00	1.00	0.00	0.000	6	0.000	0.031	1914	3273	2075	0	0	0	0	0	0
12519	end climb: SURFACE_DEPTH_REACHED
state	12519	begin surface coast
12542	end surface coast: CONTROL_FINISHED_OK
state	12542	begin surface