Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 228 * 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 228 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 39 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 34 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 -11207.446 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 -11207.446

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 39 VBD_MAX 3961

DEVICE2 101 MASS 52816 R_STBD_OVSHOOT 34 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 228 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 130113,170428,-4702.850,411.063,36,1.0,36,-23.3 TGT_NAME GH1

_CALLS 1 TGT_LATLONG -4700.000,410.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.079,0.159

_SM_DEPTHo 1.13 KALMAN_X -158452.5,138.9,-5.8,150938.1,215.5

_SM_ANGLEo -33.0 KALMAN_Y 105576.4,-642.9,-512.0,-125811.5,1858.4

GPS2 130113,171349,-4702.837,411.155,18,0.7,19,-23.3 MHEAD_RNG_PITCHd_Wd 356.9,5453,-25.0,-9.443

SPEED_LIMITS 0.164,0.256 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.8,1.013667 _10V_AH 10.1,20.619

SM_CCo 11347,191.88,0.794,1,0,478,573.99 FG_AHR_24Vo 0.000

SM_GC 1.34,0.00,0.00,191.88,0.000,0.000,0.794,59,2906,478,-5.60,0.71,573.99 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4648.08,413.02,130113,131306 MEM 353884

TT8_MAMPS 0.026215 DATA_FILE_SIZE 40408,575

HUMID 56.26 CAP_FILE_SIZE 93541,0

INTERNAL_PRESSURE 9.21877 CFSIZE 259252224,215396352

TCM_TEMP 10.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,1

XPDR_PINGS 0 GPS 130113,202833,-4701.642,410.459,17,2.0,36,-23.3

_24V_AH 22.1,43.551

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 253 79.46 SBE_CT 378 24 200.90

Roll_motor 84 63 119.14 AA4330 1154 33 842.29

VBD_pump_during_apogee 260 1786 10287.62 WL_BB2FLVMT 637 105 1478.97

VBD_pump_during_surface 191 794 3367.20 QSP2150 260 4 25.22

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 64.02 nil 0 0 0.00

Iridium_during_connect 43 160 152.81 nil 0 0 0.00

Iridium_during_xfer 260 223 1283.67 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 26 5.99

TT8 1423 14 215.07

LPSleep 7721 2 170.78

TT8_Active 570 14 81.81

TT8_Sampling 1858 37 702.46

TT8_CF8 524 47 249.93

TT8_Kalman 33 59 19.93

Analog_circuits 1248 12 151.34

GPS_charging 0 0 0.00

Compass 1441 15 228.96

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

26 -0.74 -68.0 0.0 0.0 0 155 0.00 0.00 -125.95 0.000 2 0.000 0.000 56 2893 2943 0 0 0 0 0 0

162 -0.81 -127.5 3.1 -3.9 16 188 6.35 2.20 -12.60 0.000 4 0.249 0.046 1580 1464 3339 0 0 0 0 0 0

301 -0.81 -127.5 26.4 -18.3 36 310 0.00 2.30 0.00 0.000 6 0.000 0.052 1571 2869 3341 0 0 0 0 0 0

387 -0.81 -127.5 41.4 -18.4 49 393 0.00 0.00 0.00 0.000 6 0.000 0.000 1571 2869 3341 0 0 0 0 0 0

630 -0.81 -127.5 88.7 -21.1 90 638 0.00 0.00 0.00 0.000 6 0.000 0.000 1571 2869 3341 0 0 0 0 0 0

965 -0.81 -127.5 143.9 -16.7 118 968 0.00 1.62 0.00 0.000 4 0.000 0.057 1563 3920 3341 0 0 0 0 0 0

1088 -0.81 -127.5 165.0 -17.2 125 1092 0.00 1.60 0.00 0.000 6 0.000 0.031 1563 2857 3342 0 0 0 0 0 0

1420 -0.81 -127.5 221.1 -16.2 146 1424 0.00 1.67 0.00 0.000 4 0.000 0.057 1555 3893 3342 0 0 0 0 0 0

1442 -0.81 -127.5 224.5 -16.5 147 1447 0.08 1.52 0.00 0.000 6 0.187 0.031 1576 2879 3342 0 0 0 0 0 0

1765 -0.81 -127.5 272.9 -14.4 165 1767 0.00 0.00 0.00 0.000 6 0.000 0.000 1576 2874 3342 0 0 0 0 0 0

2074 -0.81 -127.5 318.4 -15.0 180 2075 0.00 0.00 0.00 0.000 6 0.000 0.000 1575 2874 3342 0 0 0 0 0 0

2384 -0.81 -127.5 365.1 -15.3 195 2388 0.00 1.65 0.00 0.000 4 0.000 0.060 1569 3896 3342 0 0 0 0 0 0

2419 -0.81 -127.5 371.4 -15.8 196 2423 0.00 1.52 0.00 0.000 6 0.000 0.032 1569 2877 3342 0 0 0 0 0 0

2742 -0.81 -127.5 421.7 -15.8 210 2743 0.00 0.00 0.00 0.000 6 0.000 0.000 1569 2873 3342 0 0 0 0 0 0

3048 -0.81 -127.5 468.1 -15.0 220 3049 0.00 0.00 0.00 0.000 6 0.000 0.000 1570 2873 3342 0 0 0 0 0 0

3354 -0.81 -127.5 513.1 -14.4 230 3358 0.00 2.08 0.00 0.000 4 0.000 0.037 1569 1491 3342 0 0 0 0 0 0

3372 -0.81 -127.5 516.0 -14.6 230 3376 0.00 2.20 0.00 0.000 6 0.000 0.052 1559 2884 3342 0 0 0 0 0 0

3693 -0.81 -127.5 563.0 -14.7 241 3694 0.00 0.00 0.00 0.000 6 0.000 0.000 1559 2884 3342 0 0 0 0 0 0

3999 -0.81 -127.5 607.7 -14.6 251 4002 0.00 1.60 0.00 0.000 4 0.000 0.060 1551 3894 3341 0 0 0 0 0 0

4035 -0.81 -127.5 613.4 -15.1 252 4039 0.10 1.52 0.00 0.000 6 0.181 0.033 1579 2883 3341 0 0 0 0 0 0

4379 -0.81 -127.5 657.2 -12.6 263 4380 0.00 0.00 0.00 0.000 6 0.000 0.000 1579 2879 3341 0 0 0 0 0 0

4685 -0.81 -127.5 695.0 -12.3 273 4689 0.00 2.10 0.00 0.000 4 0.000 0.037 1580 1493 3341 0 0 0 0 0 0

4716 -0.81 -127.5 698.8 -12.0 274 4720 0.00 2.22 0.00 0.000 6 0.000 0.053 1570 2889 3341 0 0 0 0 0 0

5061 -0.81 -127.5 742.9 -12.8 285 5065 0.00 1.60 0.00 0.000 4 0.000 0.060 1562 3897 3340 0 0 0 0 0 0

5124 -0.81 -127.5 752.2 -14.1 286 5131 0.00 1.55 0.00 0.000 6 0.000 0.033 1563 2865 3340 0 0 0 0 0 0

5439 -0.81 -127.5 794.2 -13.6 297 5440 0.00 0.00 0.00 0.000 6 0.000 0.000 1562 2865 3340 0 0 0 0 0 0

5746 -0.81 -127.5 835.9 -13.4 307 5747 0.00 0.00 0.00 0.000 6 0.000 0.000 1563 2865 3340 0 0 0 0 0 0

6051 -0.81 -127.5 876.7 -13.2 317 6055 0.00 1.62 0.00 0.000 4 0.000 0.060 1555 3900 3340 0 0 0 0 0 0

6088 -0.81 -127.5 881.7 -14.1 318 6092 0.08 1.52 0.00 0.000 6 0.183 0.033 1576 2893 3339 0 0 0 0 0 0

6432 -0.81 -127.5 922.2 -11.4 329 6435 0.00 2.12 0.00 0.000 4 0.000 0.037 1576 1490 3339 0 0 0 0 0 0

6466 -0.81 -127.5 926.4 -10.3 330 6470 0.00 2.20 0.00 0.000 6 0.000 0.053 1567 2881 3339 0 0 0 0 0 0

6798 -0.81 -127.5 965.1 -11.7 341 6799 0.00 0.00 0.00 0.000 6 0.000 0.000 1567 2882 3339 0 0 0 0 0 0

7106 -0.81 -127.5 999.8 -11.1 351 7110 0.00 2.08 0.00 0.000 3 0.000 0.036 1567 1514 3339 0 0 0 0 0 0

7112 end dive: TARGET_DEPTH_EXCEEDED

state 7112 begin apogee

7124 -0.18 0.0 1001.0 11.1 351 7259 0.77 0.00 131.23 1.219 6 0.183 0.000 1781 2704 2819 0 0 0 0 0 0

7261 end apogee: CONTROL_FINISHED_OK

state 7261 begin climb

7266 0.81 127.5 1003.3 0.0 355 7409 0.95 2.45 129.38 1.786 4 0.082 0.041 2117 1321 2300 0 0 0 0 1 0

7423 0.81 127.5 974.7 25.9 359 7430 0.00 2.45 0.00 0.000 6 0.000 0.050 2116 2691 2301 0 0 0 0 0 0

7738 0.81 127.5 883.4 29.0 370 7742 0.00 2.22 0.00 0.000 4 0.000 0.044 2128 1315 2294 0 0 0 0 0 0

7772 0.81 127.5 874.4 28.5 371 7776 0.00 2.30 0.00 0.000 6 0.000 0.050 2123 2708 2293 0 0 0 0 0 0

8109 0.81 127.5 780.3 27.5 382 8113 0.00 2.20 0.00 0.000 4 0.000 0.044 2133 1314 2292 0 0 0 0 0 0

8127 0.81 127.5 775.2 27.1 382 8131 0.00 2.25 0.00 0.000 6 0.000 0.050 2133 2704 2291 0 0 0 0 0 0

8448 0.81 127.5 688.9 27.1 393 8449 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2704 2291 0 0 0 0 0 0

8754 0.81 127.5 609.3 25.6 403 8758 0.00 2.17 0.00 0.000 4 0.000 0.043 2143 1311 2290 0 0 0 0 0 0

8772 0.81 127.5 604.2 25.0 403 8777 0.12 2.25 0.00 0.000 6 0.249 0.050 2119 2710 2290 0 0 0 0 0 0

9094 0.81 127.5 526.2 23.8 414 9098 0.00 2.20 0.00 0.000 4 0.000 0.042 2128 1302 2290 0 0 0 0 0 0

9112 0.81 127.5 521.5 23.6 414 9116 0.00 2.25 0.00 0.000 6 0.000 0.050 2123 2702 2289 0 0 0 0 0 0

9432 0.81 127.5 443.2 24.2 425 9433 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2701 2289 0 0 0 0 0 0

9742 0.81 127.5 368.9 24.0 437 9746 0.00 2.17 0.00 0.000 4 0.000 0.041 2133 1308 2289 0 0 0 0 0 0

9766 0.81 127.5 362.4 23.8 438 9770 0.00 2.22 0.00 0.000 6 0.000 0.050 2133 2709 2288 0 0 0 0 0 0

10090 0.81 127.5 283.8 24.2 454 10094 0.00 2.17 0.00 0.000 4 0.000 0.042 2143 1306 2288 0 0 0 0 0 0

10120 0.81 127.5 276.4 23.8 455 10124 0.00 2.25 0.00 0.000 6 0.000 0.050 2143 2710 2287 0 0 0 0 0 0

10450 0.81 127.5 193.0 25.2 474 10455 0.12 2.17 0.00 0.000 4 0.253 0.043 2127 1304 2287 0 0 0 0 0 0

10486 0.81 127.5 184.1 22.1 476 10490 0.00 2.22 0.00 0.000 6 0.000 0.051 2124 2706 2287 0 0 0 0 0 0

10808 0.81 127.5 107.7 23.7 496 10812 0.00 1.88 0.00 0.000 4 0.000 0.058 2123 3895 2287 0 0 0 0 0 0

10845 0.81 127.5 98.7 25.6 498 10854 0.00 1.85 0.00 0.000 6 0.000 0.038 2132 2709 2287 0 0 0 0 0 0

11212 0.81 127.5 21.4 22.5 559 11221 0.00 2.20 0.00 0.000 4 0.000 0.044 2142 1304 2286 0 0 0 0 0 0

11263 0.81 127.5 9.9 21.1 566 11272 0.00 2.25 0.00 0.000 6 0.000 0.051 2142 2696 2285 0 0 0 0 0 0

11304 end climb: SURFACE_DEPTH_REACHED

state 11304 begin surface coast

11324 end surface coast: CONTROL_FINISHED_OK

state 11324 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	228	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	39	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	34	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	-11207.446	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	130113,170428,-4702.850,411.063,36,1.0,36,-23.3	TGT_NAME	GH1
_CALLS	1	TGT_LATLONG	-4700.000,410.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.079,0.159
_SM_DEPTHo	1.13	KALMAN_X	-158452.5,138.9,-5.8,150938.1,215.5
_SM_ANGLEo	-33.0	KALMAN_Y	105576.4,-642.9,-512.0,-125811.5,1858.4
GPS2	130113,171349,-4702.837,411.155,18,0.7,19,-23.3	MHEAD_RNG_PITCHd_Wd	356.9,5453,-25.0,-9.443
SPEED_LIMITS	0.164,0.256	D_GRID	1000

FINISH	0.8,1.013667	_10V_AH	10.1,20.619
SM_CCo	11347,191.88,0.794,1,0,478,573.99	FG_AHR_24Vo	0.000
SM_GC	1.34,0.00,0.00,191.88,0.000,0.000,0.794,59,2906,478,-5.60,0.71,573.99	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4648.08,413.02,130113,131306	MEM	353884
TT8_MAMPS	0.026215	DATA_FILE_SIZE	40408,575
HUMID	56.26	CAP_FILE_SIZE	93541,0
INTERNAL_PRESSURE	9.21877	CFSIZE	259252224,215396352
TCM_TEMP	10.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
XPDR_PINGS	0	GPS	130113,202833,-4701.642,410.459,17,2.0,36,-23.3
_24V_AH	22.1,43.551

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	253	79.46	SBE_CT	378	24	200.90
Roll_motor	84	63	119.14	AA4330	1154	33	842.29
VBD_pump_during_apogee	260	1786	10287.62	WL_BB2FLVMT	637	105	1478.97
VBD_pump_during_surface	191	794	3367.20	QSP2150	260	4	25.22
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	64.02	nil	0	0	0.00
Iridium_during_connect	43	160	152.81	nil	0	0	0.00
Iridium_during_xfer	260	223	1283.67	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	26	5.99
TT8	1423	14	215.07
LPSleep	7721	2	170.78
TT8_Active	570	14	81.81
TT8_Sampling	1858	37	702.46
TT8_CF8	524	47	249.93
TT8_Kalman	33	59	19.93
Analog_circuits	1248	12	151.34
GPS_charging	0	0	0.00
Compass	1441	15	228.96
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
26	-0.74	-68.0	0.0	0.0	0	155	0.00	0.00	-125.95	0.000	2	0.000	0.000	56	2893	2943	0	0	0	0	0	0
162	-0.81	-127.5	3.1	-3.9	16	188	6.35	2.20	-12.60	0.000	4	0.249	0.046	1580	1464	3339	0	0	0	0	0	0
301	-0.81	-127.5	26.4	-18.3	36	310	0.00	2.30	0.00	0.000	6	0.000	0.052	1571	2869	3341	0	0	0	0	0	0
387	-0.81	-127.5	41.4	-18.4	49	393	0.00	0.00	0.00	0.000	6	0.000	0.000	1571	2869	3341	0	0	0	0	0	0
630	-0.81	-127.5	88.7	-21.1	90	638	0.00	0.00	0.00	0.000	6	0.000	0.000	1571	2869	3341	0	0	0	0	0	0
965	-0.81	-127.5	143.9	-16.7	118	968	0.00	1.62	0.00	0.000	4	0.000	0.057	1563	3920	3341	0	0	0	0	0	0
1088	-0.81	-127.5	165.0	-17.2	125	1092	0.00	1.60	0.00	0.000	6	0.000	0.031	1563	2857	3342	0	0	0	0	0	0
1420	-0.81	-127.5	221.1	-16.2	146	1424	0.00	1.67	0.00	0.000	4	0.000	0.057	1555	3893	3342	0	0	0	0	0	0
1442	-0.81	-127.5	224.5	-16.5	147	1447	0.08	1.52	0.00	0.000	6	0.187	0.031	1576	2879	3342	0	0	0	0	0	0
1765	-0.81	-127.5	272.9	-14.4	165	1767	0.00	0.00	0.00	0.000	6	0.000	0.000	1576	2874	3342	0	0	0	0	0	0
2074	-0.81	-127.5	318.4	-15.0	180	2075	0.00	0.00	0.00	0.000	6	0.000	0.000	1575	2874	3342	0	0	0	0	0	0
2384	-0.81	-127.5	365.1	-15.3	195	2388	0.00	1.65	0.00	0.000	4	0.000	0.060	1569	3896	3342	0	0	0	0	0	0
2419	-0.81	-127.5	371.4	-15.8	196	2423	0.00	1.52	0.00	0.000	6	0.000	0.032	1569	2877	3342	0	0	0	0	0	0
2742	-0.81	-127.5	421.7	-15.8	210	2743	0.00	0.00	0.00	0.000	6	0.000	0.000	1569	2873	3342	0	0	0	0	0	0
3048	-0.81	-127.5	468.1	-15.0	220	3049	0.00	0.00	0.00	0.000	6	0.000	0.000	1570	2873	3342	0	0	0	0	0	0
3354	-0.81	-127.5	513.1	-14.4	230	3358	0.00	2.08	0.00	0.000	4	0.000	0.037	1569	1491	3342	0	0	0	0	0	0
3372	-0.81	-127.5	516.0	-14.6	230	3376	0.00	2.20	0.00	0.000	6	0.000	0.052	1559	2884	3342	0	0	0	0	0	0
3693	-0.81	-127.5	563.0	-14.7	241	3694	0.00	0.00	0.00	0.000	6	0.000	0.000	1559	2884	3342	0	0	0	0	0	0
3999	-0.81	-127.5	607.7	-14.6	251	4002	0.00	1.60	0.00	0.000	4	0.000	0.060	1551	3894	3341	0	0	0	0	0	0
4035	-0.81	-127.5	613.4	-15.1	252	4039	0.10	1.52	0.00	0.000	6	0.181	0.033	1579	2883	3341	0	0	0	0	0	0
4379	-0.81	-127.5	657.2	-12.6	263	4380	0.00	0.00	0.00	0.000	6	0.000	0.000	1579	2879	3341	0	0	0	0	0	0
4685	-0.81	-127.5	695.0	-12.3	273	4689	0.00	2.10	0.00	0.000	4	0.000	0.037	1580	1493	3341	0	0	0	0	0	0
4716	-0.81	-127.5	698.8	-12.0	274	4720	0.00	2.22	0.00	0.000	6	0.000	0.053	1570	2889	3341	0	0	0	0	0	0
5061	-0.81	-127.5	742.9	-12.8	285	5065	0.00	1.60	0.00	0.000	4	0.000	0.060	1562	3897	3340	0	0	0	0	0	0
5124	-0.81	-127.5	752.2	-14.1	286	5131	0.00	1.55	0.00	0.000	6	0.000	0.033	1563	2865	3340	0	0	0	0	0	0
5439	-0.81	-127.5	794.2	-13.6	297	5440	0.00	0.00	0.00	0.000	6	0.000	0.000	1562	2865	3340	0	0	0	0	0	0
5746	-0.81	-127.5	835.9	-13.4	307	5747	0.00	0.00	0.00	0.000	6	0.000	0.000	1563	2865	3340	0	0	0	0	0	0
6051	-0.81	-127.5	876.7	-13.2	317	6055	0.00	1.62	0.00	0.000	4	0.000	0.060	1555	3900	3340	0	0	0	0	0	0
6088	-0.81	-127.5	881.7	-14.1	318	6092	0.08	1.52	0.00	0.000	6	0.183	0.033	1576	2893	3339	0	0	0	0	0	0
6432	-0.81	-127.5	922.2	-11.4	329	6435	0.00	2.12	0.00	0.000	4	0.000	0.037	1576	1490	3339	0	0	0	0	0	0
6466	-0.81	-127.5	926.4	-10.3	330	6470	0.00	2.20	0.00	0.000	6	0.000	0.053	1567	2881	3339	0	0	0	0	0	0
6798	-0.81	-127.5	965.1	-11.7	341	6799	0.00	0.00	0.00	0.000	6	0.000	0.000	1567	2882	3339	0	0	0	0	0	0
7106	-0.81	-127.5	999.8	-11.1	351	7110	0.00	2.08	0.00	0.000	3	0.000	0.036	1567	1514	3339	0	0	0	0	0	0
7112	end dive: TARGET_DEPTH_EXCEEDED
state	7112	begin apogee
7124	-0.18	0.0	1001.0	11.1	351	7259	0.77	0.00	131.23	1.219	6	0.183	0.000	1781	2704	2819	0	0	0	0	0	0
7261	end apogee: CONTROL_FINISHED_OK
state	7261	begin climb
7266	0.81	127.5	1003.3	0.0	355	7409	0.95	2.45	129.38	1.786	4	0.082	0.041	2117	1321	2300	0	0	0	0	1	0
7423	0.81	127.5	974.7	25.9	359	7430	0.00	2.45	0.00	0.000	6	0.000	0.050	2116	2691	2301	0	0	0	0	0	0
7738	0.81	127.5	883.4	29.0	370	7742	0.00	2.22	0.00	0.000	4	0.000	0.044	2128	1315	2294	0	0	0	0	0	0
7772	0.81	127.5	874.4	28.5	371	7776	0.00	2.30	0.00	0.000	6	0.000	0.050	2123	2708	2293	0	0	0	0	0	0
8109	0.81	127.5	780.3	27.5	382	8113	0.00	2.20	0.00	0.000	4	0.000	0.044	2133	1314	2292	0	0	0	0	0	0
8127	0.81	127.5	775.2	27.1	382	8131	0.00	2.25	0.00	0.000	6	0.000	0.050	2133	2704	2291	0	0	0	0	0	0
8448	0.81	127.5	688.9	27.1	393	8449	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2704	2291	0	0	0	0	0	0
8754	0.81	127.5	609.3	25.6	403	8758	0.00	2.17	0.00	0.000	4	0.000	0.043	2143	1311	2290	0	0	0	0	0	0
8772	0.81	127.5	604.2	25.0	403	8777	0.12	2.25	0.00	0.000	6	0.249	0.050	2119	2710	2290	0	0	0	0	0	0
9094	0.81	127.5	526.2	23.8	414	9098	0.00	2.20	0.00	0.000	4	0.000	0.042	2128	1302	2290	0	0	0	0	0	0
9112	0.81	127.5	521.5	23.6	414	9116	0.00	2.25	0.00	0.000	6	0.000	0.050	2123	2702	2289	0	0	0	0	0	0
9432	0.81	127.5	443.2	24.2	425	9433	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2701	2289	0	0	0	0	0	0
9742	0.81	127.5	368.9	24.0	437	9746	0.00	2.17	0.00	0.000	4	0.000	0.041	2133	1308	2289	0	0	0	0	0	0
9766	0.81	127.5	362.4	23.8	438	9770	0.00	2.22	0.00	0.000	6	0.000	0.050	2133	2709	2288	0	0	0	0	0	0
10090	0.81	127.5	283.8	24.2	454	10094	0.00	2.17	0.00	0.000	4	0.000	0.042	2143	1306	2288	0	0	0	0	0	0
10120	0.81	127.5	276.4	23.8	455	10124	0.00	2.25	0.00	0.000	6	0.000	0.050	2143	2710	2287	0	0	0	0	0	0
10450	0.81	127.5	193.0	25.2	474	10455	0.12	2.17	0.00	0.000	4	0.253	0.043	2127	1304	2287	0	0	0	0	0	0
10486	0.81	127.5	184.1	22.1	476	10490	0.00	2.22	0.00	0.000	6	0.000	0.051	2124	2706	2287	0	0	0	0	0	0
10808	0.81	127.5	107.7	23.7	496	10812	0.00	1.88	0.00	0.000	4	0.000	0.058	2123	3895	2287	0	0	0	0	0	0
10845	0.81	127.5	98.7	25.6	498	10854	0.00	1.85	0.00	0.000	6	0.000	0.038	2132	2709	2287	0	0	0	0	0	0
11212	0.81	127.5	21.4	22.5	559	11221	0.00	2.20	0.00	0.000	4	0.000	0.044	2142	1304	2286	0	0	0	0	0	0
11263	0.81	127.5	9.9	21.1	566	11272	0.00	2.25	0.00	0.000	6	0.000	0.051	2142	2696	2285	0	0	0	0	0	0
11304	end climb: SURFACE_DEPTH_REACHED
state	11304	begin surface coast
11324	end surface coast: CONTROL_FINISHED_OK
state	11324	begin surface