Glider dive log

SOSCEx 08Dec12 * SG543 * Dive index * Mission links * Dive 221 * 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 221 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 54 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 21 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 -8464.5732 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 -8464.5732

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 54 VBD_MAX 3960

DEVICE2 101 MASS 52459 R_STBD_OVSHOOT 21 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 221 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 150113,061904,-4203.837,901.933,34,0.9,34,-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 -0.066,-0.128

_SM_DEPTHo 1.88 KALMAN_X -146199.7,248.5,267.9,228139.0,-1502.2

_SM_ANGLEo -52.5 KALMAN_Y 51158.4,-1111.7,-242.5,-1166.0,9525.8

GPS2 150113,062730,-4203.788,902.062,18,1.0,18,-25.1 MHEAD_RNG_PITCHd_Wd 232.2,7567,-27.0,-8.333

SPEED_LIMITS 0.144,0.244 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.3,1.026184 _10V_AH 10.1,23.670

SM_CCo 12228,72.65,0.758,1,0,1451,250.20 FG_AHR_24Vo 0.000

SM_GC 2.03,0.00,0.00,72.65,0.000,0.000,0.758,48,3384,1451,-4.96,0.11,250.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4149.58,901.52,150113,020252 MEM 353952

TT8_MAMPS 0.025466 DATA_FILE_SIZE 47174,623

HUMID 55.63 CAP_FILE_SIZE 105576,0

INTERNAL_PRESSURE 9.04449 CFSIZE 259252224,244662272

TCM_TEMP 15.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,1

XPDR_PINGS 0 GPS 150113,095459,-4204.188,900.569,41,1.0,41,-25.1

_24V_AH 22.6,38.563

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 231 64.61 SBE_CT 404 24 219.43

Roll_motor 43 87 86.62 AA4330 1368 33 1020.78

VBD_pump_during_apogee 181 1732 7126.07 WL_BB2FLVMT 656 105 1558.23

VBD_pump_during_surface 72 758 1244.74 QSP2150 305 4 30.25

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 92.43 nil 0 0 0.00

Iridium_during_connect 42 160 153.49 nil 0 0 0.00

Iridium_during_xfer 260 223 1314.65 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 5.62

TT8 1653 14 249.77

LPSleep 7787 2 172.26

TT8_Active 363 14 52.22

TT8_Sampling 2291 37 866.39

TT8_CF8 721 47 343.52

TT8_Kalman 33 59 19.94

Analog_circuits 1211 12 146.87

GPS_charging 0 0 0.00

Compass 2070 15 328.96

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 64 0.00 0.00 -41.78 0.000 2 0.000 0.000 47 3367 2446 0 0 0 0 0 0

68 -0.78 -89.1 3.1 -3.6 5 94 5.50 0.95 -13.77 0.000 4 0.231 0.087 1381 3958 2838 0 0 0 0 0 0

222 -0.78 -89.1 25.2 -18.1 27 232 0.00 0.88 0.00 0.000 6 0.000 0.034 1383 3389 2840 0 0 0 0 0 0

307 -0.78 -89.1 39.9 -16.2 40 317 0.00 0.00 0.00 0.000 6 0.000 0.000 1383 3389 2841 0 0 0 0 0 0

556 -0.78 -89.1 77.6 -12.6 81 563 0.00 0.90 0.00 0.000 4 0.000 0.056 1380 3951 2841 0 0 0 0 0 0

703 -0.78 -89.1 99.4 -14.5 106 711 0.00 0.88 0.00 0.000 6 0.000 0.034 1380 3373 2842 0 0 0 0 0 0

1026 -0.78 -89.1 143.9 -14.3 127 1030 0.00 0.93 0.00 0.000 4 0.000 0.056 1376 3954 2843 0 0 0 0 0 0

1141 -0.78 -89.1 163.0 -16.1 133 1148 0.00 0.88 0.00 0.000 6 0.000 0.034 1376 3372 2843 0 0 0 0 0 0

1461 -0.78 -89.1 210.4 -14.8 154 1465 0.00 0.93 0.00 0.000 4 0.000 0.056 1372 3954 2844 0 0 0 0 0 0

1596 -0.78 -89.1 233.1 -16.3 161 1603 0.00 0.85 0.00 0.000 6 0.000 0.034 1372 3386 2844 0 0 0 0 0 0

1921 -0.78 -89.1 280.9 -14.7 179 1926 0.00 0.90 0.00 0.000 4 0.000 0.055 1367 3954 2845 0 0 0 0 0 0

2040 -0.78 -89.1 299.9 -15.4 184 2044 0.00 0.85 0.00 0.000 6 0.000 0.034 1367 3386 2844 0 0 0 0 0 0

2369 -0.78 -89.1 345.5 -13.3 200 2373 0.00 0.90 0.00 0.000 4 0.000 0.056 1363 3953 2845 0 0 0 0 0 0

2410 -0.78 -89.1 351.6 -14.2 201 2417 0.00 0.88 0.00 0.000 6 0.000 0.034 1363 3372 2844 0 0 0 0 0 0

2728 -0.78 -89.1 394.8 -13.8 217 2734 0.00 0.93 0.00 0.000 4 0.000 0.056 1359 3957 2844 0 0 0 0 0 0

2876 -0.78 -89.1 417.8 -15.6 222 2879 0.00 0.88 0.00 0.000 6 0.000 0.034 1359 3373 2844 0 0 0 0 0 0

3205 -0.78 -89.1 464.8 -14.1 233 3209 0.00 0.93 0.00 0.000 4 0.000 0.056 1354 3956 2844 0 0 0 0 0 0

3467 -0.78 -89.1 505.4 -15.7 240 3471 0.00 0.88 0.00 0.000 6 0.000 0.034 1354 3374 2844 0 0 0 0 0 0

3788 -0.78 -89.1 549.6 -13.4 251 3792 0.00 0.93 0.00 0.000 4 0.000 0.056 1349 3957 2844 0 0 0 0 0 0

3981 -0.78 -89.1 578.9 -15.4 256 3986 0.08 0.88 0.00 0.000 6 0.181 0.034 1372 3378 2844 0 0 0 0 0 0

4302 -0.78 -89.1 618.1 -11.9 267 4305 0.00 0.90 0.00 0.000 4 0.000 0.057 1369 3946 2844 0 0 0 0 0 0

4385 -0.78 -89.1 629.1 -12.6 269 4390 0.00 0.85 0.00 0.000 6 0.000 0.035 1369 3382 2844 0 0 0 0 0 0

4710 -0.78 -89.1 668.1 -11.9 280 4715 0.00 0.90 0.00 0.000 4 0.000 0.057 1364 3948 2842 0 0 0 0 0 0

4800 -0.78 -89.1 680.4 -14.0 282 4806 0.00 0.85 0.00 0.000 6 0.000 0.035 1365 3384 2843 0 0 0 0 0 0

5120 -0.78 -89.1 721.9 -13.2 293 5121 0.00 0.00 0.00 0.000 6 0.000 0.000 1364 3384 2842 0 0 0 0 0 0

5426 -0.78 -89.1 761.0 -12.7 303 5429 0.00 0.90 0.00 0.000 4 0.000 0.059 1360 3948 2841 0 0 0 0 0 0

5653 -0.78 -89.1 793.0 -14.1 309 5657 0.00 0.88 0.00 0.000 6 0.000 0.036 1360 3370 2841 0 0 0 0 0 0

5973 -0.78 -89.1 835.2 -13.2 320 5977 0.00 0.93 0.00 0.000 4 0.000 0.058 1356 3949 2840 0 0 0 0 0 0

6172 -0.78 -89.1 864.5 -14.7 325 6178 0.00 0.85 0.00 0.000 6 0.000 0.036 1356 3388 2840 0 0 0 0 0 0

6485 -0.78 -89.1 906.3 -13.2 336 6486 0.00 0.00 0.00 0.000 6 0.000 0.000 1356 3388 2838 0 0 0 0 0 0

6791 -0.78 -89.1 945.1 -12.6 346 6792 0.00 0.00 0.00 0.000 6 0.000 0.000 1356 3388 2838 0 0 0 0 0 0

7098 -0.78 -89.1 982.6 -11.7 356 7102 0.00 0.90 0.00 0.000 4 0.000 0.060 1352 3949 2837 0 0 0 0 0 0

7227 end dive: TARGET_DEPTH_EXCEEDED

state 7227 begin apogee

7235 -0.14 0.0 1000.1 13.7 359 7334 0.82 0.00 94.00 1.233 6 0.175 0.000 1582 3269 2470 0 0 0 0 0 0

7335 end apogee: CONTROL_FINISHED_OK

state 7335 begin climb

7338 0.78 89.1 1002.7 0.0 363 7434 0.93 0.00 87.97 1.733 6 0.083 0.000 1887 3269 2110 0 0 0 0 1 0

7729 0.78 89.1 928.0 21.2 376 7732 0.00 1.12 0.00 0.000 4 0.000 0.054 1887 3949 2105 0 0 0 0 0 0

7767 0.78 89.1 918.9 22.8 377 7771 0.00 1.05 0.00 0.000 6 0.000 0.031 1892 3269 2104 0 0 0 0 0 0

8103 0.78 89.1 849.0 20.5 388 8107 0.00 1.12 0.00 0.000 4 0.000 0.054 1892 3957 2101 0 0 0 0 0 0

8301 0.78 89.1 803.6 23.4 393 8310 0.00 1.05 0.00 0.000 6 0.000 0.031 1896 3261 2101 0 0 0 0 0 0

8614 0.78 89.1 740.5 19.9 404 8618 0.00 1.12 0.00 0.000 4 0.000 0.054 1896 3956 2099 0 0 0 0 0 0

8698 0.78 89.1 722.1 22.6 406 8701 0.00 1.02 0.00 0.000 6 0.000 0.031 1901 3273 2098 0 0 0 0 0 0

9022 0.78 89.1 656.3 20.1 417 9026 0.00 1.08 0.00 0.000 4 0.000 0.053 1901 3949 2097 0 0 0 0 0 0

9117 0.78 89.1 634.7 22.4 419 9124 0.00 1.02 0.00 0.000 6 0.000 0.031 1906 3262 2097 0 0 0 0 0 0

9430 0.78 89.1 567.4 21.4 430 9434 0.00 1.10 0.00 0.000 4 0.000 0.052 1906 3952 2096 0 0 0 0 0 0

9532 0.78 89.1 543.4 24.2 433 9536 0.00 1.00 0.00 0.000 6 0.000 0.030 1911 3275 2096 0 0 0 0 0 0

9873 0.78 89.1 467.8 22.1 444 9879 0.00 1.08 0.00 0.000 4 0.000 0.053 1912 3951 2095 0 0 0 0 0 0

10010 0.78 89.1 435.7 24.4 448 10015 0.00 1.00 0.00 0.000 6 0.000 0.031 1917 3275 2095 0 0 0 0 0 0

10347 0.78 89.1 364.0 21.5 461 10351 0.00 1.08 0.00 0.000 4 0.000 0.052 1917 3950 2094 0 0 0 0 0 0

10535 0.78 89.1 319.1 22.6 469 10541 0.10 1.00 0.00 0.000 6 0.206 0.031 1896 3270 2094 0 0 0 0 0 0

10866 0.78 89.1 256.8 19.1 485 10867 0.00 0.00 0.00 0.000 6 0.000 0.000 1895 3270 2093 0 0 0 0 0 0

11188 0.78 89.1 194.9 19.2 505 11194 0.00 1.08 0.00 0.000 4 0.000 0.052 1895 3951 2093 0 0 0 0 0 0

11420 0.78 89.1 144.2 21.4 518 11423 0.00 1.00 0.00 0.000 6 0.000 0.030 1899 3273 2093 0 0 0 0 0 0

11749 0.78 89.1 77.9 20.1 550 11755 0.00 0.00 0.00 0.000 6 0.000 0.000 1899 3273 2093 0 0 0 0 0 0

12125 0.78 89.1 13.1 16.0 611 12135 0.00 1.08 0.00 0.000 4 0.000 0.053 1899 3947 2093 0 0 0 0 0 0

12189 end climb: SURFACE_DEPTH_REACHED

state 12189 begin surface coast

12210 end surface coast: CONTROL_FINISHED_OK

state 12210 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	221	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	54	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	21	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	-8464.5732	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	150113,061904,-4203.837,901.933,34,0.9,34,-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	-0.066,-0.128
_SM_DEPTHo	1.88	KALMAN_X	-146199.7,248.5,267.9,228139.0,-1502.2
_SM_ANGLEo	-52.5	KALMAN_Y	51158.4,-1111.7,-242.5,-1166.0,9525.8
GPS2	150113,062730,-4203.788,902.062,18,1.0,18,-25.1	MHEAD_RNG_PITCHd_Wd	232.2,7567,-27.0,-8.333
SPEED_LIMITS	0.144,0.244	D_GRID	1000

FINISH	1.3,1.026184	_10V_AH	10.1,23.670
SM_CCo	12228,72.65,0.758,1,0,1451,250.20	FG_AHR_24Vo	0.000
SM_GC	2.03,0.00,0.00,72.65,0.000,0.000,0.758,48,3384,1451,-4.96,0.11,250.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4149.58,901.52,150113,020252	MEM	353952
TT8_MAMPS	0.025466	DATA_FILE_SIZE	47174,623
HUMID	55.63	CAP_FILE_SIZE	105576,0
INTERNAL_PRESSURE	9.04449	CFSIZE	259252224,244662272
TCM_TEMP	15.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
XPDR_PINGS	0	GPS	150113,095459,-4204.188,900.569,41,1.0,41,-25.1
_24V_AH	22.6,38.563

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	231	64.61	SBE_CT	404	24	219.43
Roll_motor	43	87	86.62	AA4330	1368	33	1020.78
VBD_pump_during_apogee	181	1732	7126.07	WL_BB2FLVMT	656	105	1558.23
VBD_pump_during_surface	72	758	1244.74	QSP2150	305	4	30.25
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	92.43	nil	0	0	0.00
Iridium_during_connect	42	160	153.49	nil	0	0	0.00
Iridium_during_xfer	260	223	1314.65	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	5.62
TT8	1653	14	249.77
LPSleep	7787	2	172.26
TT8_Active	363	14	52.22
TT8_Sampling	2291	37	866.39
TT8_CF8	721	47	343.52
TT8_Kalman	33	59	19.94
Analog_circuits	1211	12	146.87
GPS_charging	0	0	0.00
Compass	2070	15	328.96
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	64	0.00	0.00	-41.78	0.000	2	0.000	0.000	47	3367	2446	0	0	0	0	0	0
68	-0.78	-89.1	3.1	-3.6	5	94	5.50	0.95	-13.77	0.000	4	0.231	0.087	1381	3958	2838	0	0	0	0	0	0
222	-0.78	-89.1	25.2	-18.1	27	232	0.00	0.88	0.00	0.000	6	0.000	0.034	1383	3389	2840	0	0	0	0	0	0
307	-0.78	-89.1	39.9	-16.2	40	317	0.00	0.00	0.00	0.000	6	0.000	0.000	1383	3389	2841	0	0	0	0	0	0
556	-0.78	-89.1	77.6	-12.6	81	563	0.00	0.90	0.00	0.000	4	0.000	0.056	1380	3951	2841	0	0	0	0	0	0
703	-0.78	-89.1	99.4	-14.5	106	711	0.00	0.88	0.00	0.000	6	0.000	0.034	1380	3373	2842	0	0	0	0	0	0
1026	-0.78	-89.1	143.9	-14.3	127	1030	0.00	0.93	0.00	0.000	4	0.000	0.056	1376	3954	2843	0	0	0	0	0	0
1141	-0.78	-89.1	163.0	-16.1	133	1148	0.00	0.88	0.00	0.000	6	0.000	0.034	1376	3372	2843	0	0	0	0	0	0
1461	-0.78	-89.1	210.4	-14.8	154	1465	0.00	0.93	0.00	0.000	4	0.000	0.056	1372	3954	2844	0	0	0	0	0	0
1596	-0.78	-89.1	233.1	-16.3	161	1603	0.00	0.85	0.00	0.000	6	0.000	0.034	1372	3386	2844	0	0	0	0	0	0
1921	-0.78	-89.1	280.9	-14.7	179	1926	0.00	0.90	0.00	0.000	4	0.000	0.055	1367	3954	2845	0	0	0	0	0	0
2040	-0.78	-89.1	299.9	-15.4	184	2044	0.00	0.85	0.00	0.000	6	0.000	0.034	1367	3386	2844	0	0	0	0	0	0
2369	-0.78	-89.1	345.5	-13.3	200	2373	0.00	0.90	0.00	0.000	4	0.000	0.056	1363	3953	2845	0	0	0	0	0	0
2410	-0.78	-89.1	351.6	-14.2	201	2417	0.00	0.88	0.00	0.000	6	0.000	0.034	1363	3372	2844	0	0	0	0	0	0
2728	-0.78	-89.1	394.8	-13.8	217	2734	0.00	0.93	0.00	0.000	4	0.000	0.056	1359	3957	2844	0	0	0	0	0	0
2876	-0.78	-89.1	417.8	-15.6	222	2879	0.00	0.88	0.00	0.000	6	0.000	0.034	1359	3373	2844	0	0	0	0	0	0
3205	-0.78	-89.1	464.8	-14.1	233	3209	0.00	0.93	0.00	0.000	4	0.000	0.056	1354	3956	2844	0	0	0	0	0	0
3467	-0.78	-89.1	505.4	-15.7	240	3471	0.00	0.88	0.00	0.000	6	0.000	0.034	1354	3374	2844	0	0	0	0	0	0
3788	-0.78	-89.1	549.6	-13.4	251	3792	0.00	0.93	0.00	0.000	4	0.000	0.056	1349	3957	2844	0	0	0	0	0	0
3981	-0.78	-89.1	578.9	-15.4	256	3986	0.08	0.88	0.00	0.000	6	0.181	0.034	1372	3378	2844	0	0	0	0	0	0
4302	-0.78	-89.1	618.1	-11.9	267	4305	0.00	0.90	0.00	0.000	4	0.000	0.057	1369	3946	2844	0	0	0	0	0	0
4385	-0.78	-89.1	629.1	-12.6	269	4390	0.00	0.85	0.00	0.000	6	0.000	0.035	1369	3382	2844	0	0	0	0	0	0
4710	-0.78	-89.1	668.1	-11.9	280	4715	0.00	0.90	0.00	0.000	4	0.000	0.057	1364	3948	2842	0	0	0	0	0	0
4800	-0.78	-89.1	680.4	-14.0	282	4806	0.00	0.85	0.00	0.000	6	0.000	0.035	1365	3384	2843	0	0	0	0	0	0
5120	-0.78	-89.1	721.9	-13.2	293	5121	0.00	0.00	0.00	0.000	6	0.000	0.000	1364	3384	2842	0	0	0	0	0	0
5426	-0.78	-89.1	761.0	-12.7	303	5429	0.00	0.90	0.00	0.000	4	0.000	0.059	1360	3948	2841	0	0	0	0	0	0
5653	-0.78	-89.1	793.0	-14.1	309	5657	0.00	0.88	0.00	0.000	6	0.000	0.036	1360	3370	2841	0	0	0	0	0	0
5973	-0.78	-89.1	835.2	-13.2	320	5977	0.00	0.93	0.00	0.000	4	0.000	0.058	1356	3949	2840	0	0	0	0	0	0
6172	-0.78	-89.1	864.5	-14.7	325	6178	0.00	0.85	0.00	0.000	6	0.000	0.036	1356	3388	2840	0	0	0	0	0	0
6485	-0.78	-89.1	906.3	-13.2	336	6486	0.00	0.00	0.00	0.000	6	0.000	0.000	1356	3388	2838	0	0	0	0	0	0
6791	-0.78	-89.1	945.1	-12.6	346	6792	0.00	0.00	0.00	0.000	6	0.000	0.000	1356	3388	2838	0	0	0	0	0	0
7098	-0.78	-89.1	982.6	-11.7	356	7102	0.00	0.90	0.00	0.000	4	0.000	0.060	1352	3949	2837	0	0	0	0	0	0
7227	end dive: TARGET_DEPTH_EXCEEDED
state	7227	begin apogee
7235	-0.14	0.0	1000.1	13.7	359	7334	0.82	0.00	94.00	1.233	6	0.175	0.000	1582	3269	2470	0	0	0	0	0	0
7335	end apogee: CONTROL_FINISHED_OK
state	7335	begin climb
7338	0.78	89.1	1002.7	0.0	363	7434	0.93	0.00	87.97	1.733	6	0.083	0.000	1887	3269	2110	0	0	0	0	1	0
7729	0.78	89.1	928.0	21.2	376	7732	0.00	1.12	0.00	0.000	4	0.000	0.054	1887	3949	2105	0	0	0	0	0	0
7767	0.78	89.1	918.9	22.8	377	7771	0.00	1.05	0.00	0.000	6	0.000	0.031	1892	3269	2104	0	0	0	0	0	0
8103	0.78	89.1	849.0	20.5	388	8107	0.00	1.12	0.00	0.000	4	0.000	0.054	1892	3957	2101	0	0	0	0	0	0
8301	0.78	89.1	803.6	23.4	393	8310	0.00	1.05	0.00	0.000	6	0.000	0.031	1896	3261	2101	0	0	0	0	0	0
8614	0.78	89.1	740.5	19.9	404	8618	0.00	1.12	0.00	0.000	4	0.000	0.054	1896	3956	2099	0	0	0	0	0	0
8698	0.78	89.1	722.1	22.6	406	8701	0.00	1.02	0.00	0.000	6	0.000	0.031	1901	3273	2098	0	0	0	0	0	0
9022	0.78	89.1	656.3	20.1	417	9026	0.00	1.08	0.00	0.000	4	0.000	0.053	1901	3949	2097	0	0	0	0	0	0
9117	0.78	89.1	634.7	22.4	419	9124	0.00	1.02	0.00	0.000	6	0.000	0.031	1906	3262	2097	0	0	0	0	0	0
9430	0.78	89.1	567.4	21.4	430	9434	0.00	1.10	0.00	0.000	4	0.000	0.052	1906	3952	2096	0	0	0	0	0	0
9532	0.78	89.1	543.4	24.2	433	9536	0.00	1.00	0.00	0.000	6	0.000	0.030	1911	3275	2096	0	0	0	0	0	0
9873	0.78	89.1	467.8	22.1	444	9879	0.00	1.08	0.00	0.000	4	0.000	0.053	1912	3951	2095	0	0	0	0	0	0
10010	0.78	89.1	435.7	24.4	448	10015	0.00	1.00	0.00	0.000	6	0.000	0.031	1917	3275	2095	0	0	0	0	0	0
10347	0.78	89.1	364.0	21.5	461	10351	0.00	1.08	0.00	0.000	4	0.000	0.052	1917	3950	2094	0	0	0	0	0	0
10535	0.78	89.1	319.1	22.6	469	10541	0.10	1.00	0.00	0.000	6	0.206	0.031	1896	3270	2094	0	0	0	0	0	0
10866	0.78	89.1	256.8	19.1	485	10867	0.00	0.00	0.00	0.000	6	0.000	0.000	1895	3270	2093	0	0	0	0	0	0
11188	0.78	89.1	194.9	19.2	505	11194	0.00	1.08	0.00	0.000	4	0.000	0.052	1895	3951	2093	0	0	0	0	0	0
11420	0.78	89.1	144.2	21.4	518	11423	0.00	1.00	0.00	0.000	6	0.000	0.030	1899	3273	2093	0	0	0	0	0	0
11749	0.78	89.1	77.9	20.1	550	11755	0.00	0.00	0.00	0.000	6	0.000	0.000	1899	3273	2093	0	0	0	0	0	0
12125	0.78	89.1	13.1	16.0	611	12135	0.00	1.08	0.00	0.000	4	0.000	0.053	1899	3947	2093	0	0	0	0	0	0
12189	end climb: SURFACE_DEPTH_REACHED
state	12189	begin surface coast
12210	end surface coast: CONTROL_FINISHED_OK
state	12210	begin surface