Glider dive log

SOSCEx 08Dec12 * SG543 * Dive index * Mission links * Dive 25 * 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 25 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 3353 ALTIM_PING_DELTA 15

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 3153 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 472.49722 R_PORT_OVSHOOT 53 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 31 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 370 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 385 CAPUPLOAD 1 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 -7865.8828 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 200 PITCH_MAX 3908 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1650 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 52589 PITCH_GAIN 36 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 472.49722

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 36 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 370

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 -7865.8828

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

CAPUPLOAD 1 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 385

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 1650 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 3153 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 3353 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 53 VBD_MAX 3960

DEVICE2 101 MASS 52589 R_STBD_OVSHOOT 31 VBD_MAXERRORS 1

DEVICE3 131 MAX_BUOY 200 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 25 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 121212,191852,-4234.154,821.299,39,1.5,39,-25.0 TGT_NAME GH1

_CALLS 2 TGT_LATLONG -4230.000,820.000

_XMS_NAKs 0 TGT_RADIUS 800.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.109,0.112

_SM_DEPTHo 1.31 KALMAN_X -4458.2,-145.6,-54.7,31654.9,-1489.2

_SM_ANGLEo -42.0 KALMAN_Y 34008.1,-520.3,-550.3,-40521.6,7172.4

GPS2 121212,193847,-4234.149,821.434,18,1.8,18,-25.0 MHEAD_RNG_PITCHd_Wd 340.7,7930,-27.1,-9.009

SPEED_LIMITS 0.156,0.284 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.0,1.026391 _10V_AH 10.1,3.049

SM_CCo 11541,160.35,0.771,1,0,545,472.69 FG_AHR_24Vo 0.000

SM_GC 1.34,0.00,0.00,160.35,0.000,0.000,0.771,61,3374,545,-4.96,0.59,472.69 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4218.64,821.44,121212,191932 MEM 354264

TT8_MAMPS 0.025466 DATA_FILE_SIZE 43756,583

HUMID 53.81 CAP_FILE_SIZE 113730,0

INTERNAL_PRESSURE 8.92729 CFSIZE 259252224,256802816

TCM_TEMP 13.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,2

XPDR_PINGS 0 GPS 121212,225604,-4232.796,821.782,32,1.0,32,-25.0

_24V_AH 23.0,6.816

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 247 71.83 SBE_CT 378 24 208.87

Roll_motor 54 60 75.16 AA4330 1277 33 969.44

VBD_pump_during_apogee 201 1813 8395.28 WL_BB2FLVMT 612 105 1479.32

VBD_pump_during_surface 160 771 2843.93 QSP2150 277 4 27.93

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 50 103 119.91 nil 0 0 0.00

Iridium_during_connect 92 160 340.04 nil 0 0 0.00

Iridium_during_xfer 722 223 3706.04 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 5.83

TT8 1547 14 233.81

LPSleep 7370 2 163.02

TT8_Active 460 14 66.08

TT8_Sampling 2709 37 1024.49

TT8_CF8 777 47 370.36

TT8_Kalman 33 59 19.92

Analog_circuits 1313 12 159.23

GPS_charging 0 0 0.00

Compass 2005 15 318.56

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 -0.79 -53.9 0.0 0.0 0 111 0.00 0.00 -87.12 0.000 6 0.000 0.000 65 3362 2695 0 0 0 0 0 0

115 -0.82 -101.9 3.0 -3.6 11 134 5.53 2.20 -5.78 0.000 4 0.248 0.047 1388 1947 2892 0 0 0 0 0 0

215 -0.82 -101.9 16.0 -14.3 25 223 0.00 2.33 0.00 0.000 6 0.000 0.057 1379 3339 2893 0 0 0 0 0 0

303 -0.82 -101.9 30.8 -17.7 38 312 0.00 1.00 0.00 0.000 4 0.000 0.059 1375 3957 2893 0 0 0 0 0 0

461 -0.82 -101.9 60.7 -18.0 64 468 0.00 0.90 0.00 0.000 6 0.000 0.037 1374 3366 2893 0 0 0 0 0 0

811 -0.82 -101.9 115.3 -15.8 114 815 0.00 0.93 0.00 0.000 4 0.000 0.057 1370 3950 2893 0 0 0 0 0 0

1080 -0.82 -101.9 163.6 -17.4 129 1084 0.00 0.90 0.00 0.000 6 0.000 0.037 1370 3356 2893 0 0 0 0 0 0

1405 -0.82 -101.9 215.5 -15.4 150 1409 0.00 0.95 0.00 0.000 4 0.000 0.057 1366 3958 2893 0 0 0 0 0 0

1674 -0.82 -101.9 258.7 -15.3 165 1677 0.00 0.93 0.00 0.000 6 0.000 0.037 1366 3348 2893 0 0 0 0 0 0

1997 -0.82 -101.9 305.7 -14.7 181 2003 0.00 0.95 0.00 0.000 4 0.000 0.057 1362 3952 2893 0 0 0 0 0 0

2259 -0.82 -101.9 348.1 -16.8 192 2263 0.00 0.90 0.00 0.000 6 0.000 0.037 1362 3353 2893 0 0 0 0 0 0

2582 -0.82 -101.9 397.4 -15.8 208 2586 0.00 0.98 0.00 0.000 4 0.000 0.060 1358 3958 2893 0 0 0 0 0 0

2844 -0.82 -101.9 441.0 -16.2 216 2848 0.00 0.93 0.00 0.000 6 0.000 0.037 1357 3346 2893 0 0 0 0 0 0

3165 -0.82 -101.9 489.4 -15.3 227 3169 0.12 0.98 0.00 0.000 4 0.206 0.059 1382 3956 2893 0 0 0 0 0 0

3423 -0.82 -101.9 527.3 -13.7 234 3426 0.00 0.90 0.00 0.000 6 0.000 0.037 1382 3358 2893 0 0 0 0 0 0

3743 -0.82 -101.9 569.1 -12.7 245 3746 0.00 0.93 0.00 0.000 4 0.000 0.059 1378 3949 2892 0 0 0 0 0 0

3980 -0.82 -101.9 602.3 -14.5 252 3983 0.00 0.90 0.00 0.000 6 0.000 0.038 1378 3351 2892 0 0 0 0 0 0

4321 -0.82 -101.9 646.8 -13.4 263 4325 0.00 0.95 0.00 0.000 4 0.000 0.059 1373 3956 2892 0 0 0 0 0 0

4423 -0.82 -101.9 661.3 -14.0 266 4428 0.00 0.90 0.00 0.000 6 0.000 0.038 1373 3357 2892 0 0 0 0 0 0

4766 -0.82 -101.9 706.5 -13.5 277 4770 0.00 0.93 0.00 0.000 4 0.000 0.060 1369 3949 2891 0 0 0 0 0 0

5022 -0.82 -101.9 744.4 -14.4 284 5026 0.00 0.90 0.00 0.000 6 0.000 0.039 1369 3350 2890 0 0 0 0 0 0

5341 -0.82 -101.9 786.4 -13.2 295 5345 0.00 0.95 0.00 0.000 4 0.000 0.060 1365 3956 2889 0 0 0 0 0 0

5516 -0.82 -101.9 811.7 -14.9 300 5520 0.00 0.93 0.00 0.000 6 0.000 0.039 1365 3345 2889 0 0 0 0 0 0

5852 -0.82 -101.9 858.0 -13.9 311 5856 0.00 0.95 0.00 0.000 4 0.000 0.060 1360 3952 2888 0 0 0 0 0 0

5968 -0.82 -101.9 875.8 -15.6 314 5972 0.00 0.90 0.00 0.000 6 0.000 0.039 1360 3353 2888 0 0 0 0 0 0

6294 -0.82 -101.9 920.3 -13.7 325 6297 0.00 0.95 0.00 0.000 4 0.000 0.060 1356 3957 2887 0 0 0 0 0 0

6321 -0.82 -101.9 924.6 -14.9 325 6330 0.08 0.93 0.00 0.000 6 0.200 0.040 1376 3348 2887 0 0 0 0 0 0

6634 -0.82 -101.9 964.0 -12.3 336 6635 0.00 0.00 0.00 0.000 6 0.000 0.000 1376 3348 2886 0 0 0 0 0 0

6938 end dive: TARGET_DEPTH_EXCEEDED

state 6938 begin apogee

6945 -0.14 0.0 1000.8 12.0 346 7051 0.75 0.00 97.97 1.813 6 0.172 0.000 1596 3139 2472 0 0 0 0 1 0

7053 end apogee: CONTROL_FINISHED_OK

state 7053 begin climb

7056 0.82 101.9 1003.0 0.0 349 7175 0.93 2.42 103.35 1.781 4 0.080 0.036 1915 1744 2058 0 0 0 0 1 0

7203 0.82 101.9 980.3 20.0 353 7208 0.00 2.45 0.00 0.000 6 0.000 0.050 1915 3161 2057 0 0 0 0 0 0

7517 0.82 101.9 908.0 23.7 363 7518 0.00 0.00 0.00 0.000 6 0.000 0.000 1915 3160 2049 0 0 0 0 0 0

7824 0.82 101.9 835.2 23.8 373 7827 0.00 1.27 0.00 0.000 4 0.000 0.056 1915 3944 2048 0 0 0 0 0 0

7861 0.82 101.9 825.0 26.4 374 7865 0.00 1.23 0.00 0.000 6 0.000 0.034 1921 3145 2047 0 0 0 0 0 0

8197 0.82 101.9 744.8 23.7 385 8201 0.00 1.30 0.00 0.000 4 0.000 0.055 1921 3951 2046 0 0 0 0 0 0

8325 0.82 101.9 712.2 25.2 388 8332 0.00 1.23 0.00 0.000 6 0.000 0.034 1927 3141 2046 0 0 0 0 0 0

8639 0.82 101.9 639.7 23.3 399 8642 0.00 1.30 0.00 0.000 4 0.000 0.054 1927 3954 2044 0 0 0 0 0 0

8699 0.82 101.9 623.9 27.3 400 8708 0.00 1.20 0.00 0.000 6 0.000 0.033 1932 3158 2044 0 0 0 0 0 0

9013 0.82 101.9 552.8 22.6 411 9016 0.00 1.27 0.00 0.000 4 0.000 0.054 1932 3959 2042 0 0 0 0 0 0

9084 0.82 101.9 534.3 27.1 413 9088 0.00 1.20 0.00 0.000 6 0.000 0.033 1938 3158 2042 0 0 0 0 0 0

9420 0.82 101.9 457.8 22.7 424 9421 0.00 0.00 0.00 0.000 6 0.000 0.000 1938 3157 2042 0 0 0 0 0 0

9741 0.82 101.9 385.4 21.8 435 9744 0.00 1.27 0.00 0.000 4 0.000 0.054 1938 3958 2041 0 0 0 0 0 0

9788 0.82 101.9 373.8 25.1 437 9793 0.10 1.20 0.00 0.000 6 0.223 0.034 1918 3156 2041 0 0 0 0 0 0

10123 0.82 101.9 302.7 20.5 453 10128 0.00 1.25 0.00 0.000 4 0.000 0.054 1917 3945 2040 0 0 0 0 0 0

10157 0.82 101.9 294.3 22.8 454 10160 0.00 1.17 0.00 0.000 6 0.000 0.034 1922 3157 2040 0 0 0 0 0 0

10485 0.82 101.9 224.3 20.8 472 10486 0.00 0.00 0.00 0.000 6 0.000 0.000 1922 3156 2040 0 0 0 0 0 0

10799 0.82 101.9 156.2 21.7 492 10802 0.00 1.25 0.00 0.000 4 0.000 0.053 1922 3949 2039 0 0 0 0 0 0

10977 0.82 101.9 113.4 25.0 502 10981 0.00 1.17 0.00 0.000 6 0.000 0.032 1928 3156 2039 0 0 0 0 0 0

11330 0.82 101.9 37.9 20.9 555 11338 0.00 2.15 0.00 0.000 4 0.000 0.034 1939 1752 2039 0 0 0 0 0 0

11390 0.82 101.9 26.3 18.4 564 11401 0.00 2.25 0.00 0.000 6 0.000 0.049 1939 3155 2038 0 0 0 0 0 0

11480 0.82 101.9 9.0 19.9 577 11489 0.00 0.00 0.00 0.000 6 0.000 0.000 1939 3155 2038 0 0 0 0 0 0

11509 end climb: SURFACE_DEPTH_REACHED

state 11509 begin surface coast

11525 end surface coast: CONTROL_FINISHED_OK

state 11525 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	25	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	3353	ALTIM_PING_DELTA	15
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	3153	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	472.49722	R_PORT_OVSHOOT	53	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	31	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	370	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	385	CAPUPLOAD	1	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	-7865.8828	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	200	PITCH_MAX	3908	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1650	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	52589	PITCH_GAIN	36	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	121212,191852,-4234.154,821.299,39,1.5,39,-25.0	TGT_NAME	GH1
_CALLS	2	TGT_LATLONG	-4230.000,820.000
_XMS_NAKs	0	TGT_RADIUS	800.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.109,0.112
_SM_DEPTHo	1.31	KALMAN_X	-4458.2,-145.6,-54.7,31654.9,-1489.2
_SM_ANGLEo	-42.0	KALMAN_Y	34008.1,-520.3,-550.3,-40521.6,7172.4
GPS2	121212,193847,-4234.149,821.434,18,1.8,18,-25.0	MHEAD_RNG_PITCHd_Wd	340.7,7930,-27.1,-9.009
SPEED_LIMITS	0.156,0.284	D_GRID	1000

FINISH	1.0,1.026391	_10V_AH	10.1,3.049
SM_CCo	11541,160.35,0.771,1,0,545,472.69	FG_AHR_24Vo	0.000
SM_GC	1.34,0.00,0.00,160.35,0.000,0.000,0.771,61,3374,545,-4.96,0.59,472.69	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4218.64,821.44,121212,191932	MEM	354264
TT8_MAMPS	0.025466	DATA_FILE_SIZE	43756,583
HUMID	53.81	CAP_FILE_SIZE	113730,0
INTERNAL_PRESSURE	8.92729	CFSIZE	259252224,256802816
TCM_TEMP	13.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,2
XPDR_PINGS	0	GPS	121212,225604,-4232.796,821.782,32,1.0,32,-25.0
_24V_AH	23.0,6.816

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	247	71.83	SBE_CT	378	24	208.87
Roll_motor	54	60	75.16	AA4330	1277	33	969.44
VBD_pump_during_apogee	201	1813	8395.28	WL_BB2FLVMT	612	105	1479.32
VBD_pump_during_surface	160	771	2843.93	QSP2150	277	4	27.93
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	50	103	119.91	nil	0	0	0.00
Iridium_during_connect	92	160	340.04	nil	0	0	0.00
Iridium_during_xfer	722	223	3706.04	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	5.83
TT8	1547	14	233.81
LPSleep	7370	2	163.02
TT8_Active	460	14	66.08
TT8_Sampling	2709	37	1024.49
TT8_CF8	777	47	370.36
TT8_Kalman	33	59	19.92
Analog_circuits	1313	12	159.23
GPS_charging	0	0	0.00
Compass	2005	15	318.56
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	-0.79	-53.9	0.0	0.0	0	111	0.00	0.00	-87.12	0.000	6	0.000	0.000	65	3362	2695	0	0	0	0	0	0
115	-0.82	-101.9	3.0	-3.6	11	134	5.53	2.20	-5.78	0.000	4	0.248	0.047	1388	1947	2892	0	0	0	0	0	0
215	-0.82	-101.9	16.0	-14.3	25	223	0.00	2.33	0.00	0.000	6	0.000	0.057	1379	3339	2893	0	0	0	0	0	0
303	-0.82	-101.9	30.8	-17.7	38	312	0.00	1.00	0.00	0.000	4	0.000	0.059	1375	3957	2893	0	0	0	0	0	0
461	-0.82	-101.9	60.7	-18.0	64	468	0.00	0.90	0.00	0.000	6	0.000	0.037	1374	3366	2893	0	0	0	0	0	0
811	-0.82	-101.9	115.3	-15.8	114	815	0.00	0.93	0.00	0.000	4	0.000	0.057	1370	3950	2893	0	0	0	0	0	0
1080	-0.82	-101.9	163.6	-17.4	129	1084	0.00	0.90	0.00	0.000	6	0.000	0.037	1370	3356	2893	0	0	0	0	0	0
1405	-0.82	-101.9	215.5	-15.4	150	1409	0.00	0.95	0.00	0.000	4	0.000	0.057	1366	3958	2893	0	0	0	0	0	0
1674	-0.82	-101.9	258.7	-15.3	165	1677	0.00	0.93	0.00	0.000	6	0.000	0.037	1366	3348	2893	0	0	0	0	0	0
1997	-0.82	-101.9	305.7	-14.7	181	2003	0.00	0.95	0.00	0.000	4	0.000	0.057	1362	3952	2893	0	0	0	0	0	0
2259	-0.82	-101.9	348.1	-16.8	192	2263	0.00	0.90	0.00	0.000	6	0.000	0.037	1362	3353	2893	0	0	0	0	0	0
2582	-0.82	-101.9	397.4	-15.8	208	2586	0.00	0.98	0.00	0.000	4	0.000	0.060	1358	3958	2893	0	0	0	0	0	0
2844	-0.82	-101.9	441.0	-16.2	216	2848	0.00	0.93	0.00	0.000	6	0.000	0.037	1357	3346	2893	0	0	0	0	0	0
3165	-0.82	-101.9	489.4	-15.3	227	3169	0.12	0.98	0.00	0.000	4	0.206	0.059	1382	3956	2893	0	0	0	0	0	0
3423	-0.82	-101.9	527.3	-13.7	234	3426	0.00	0.90	0.00	0.000	6	0.000	0.037	1382	3358	2893	0	0	0	0	0	0
3743	-0.82	-101.9	569.1	-12.7	245	3746	0.00	0.93	0.00	0.000	4	0.000	0.059	1378	3949	2892	0	0	0	0	0	0
3980	-0.82	-101.9	602.3	-14.5	252	3983	0.00	0.90	0.00	0.000	6	0.000	0.038	1378	3351	2892	0	0	0	0	0	0
4321	-0.82	-101.9	646.8	-13.4	263	4325	0.00	0.95	0.00	0.000	4	0.000	0.059	1373	3956	2892	0	0	0	0	0	0
4423	-0.82	-101.9	661.3	-14.0	266	4428	0.00	0.90	0.00	0.000	6	0.000	0.038	1373	3357	2892	0	0	0	0	0	0
4766	-0.82	-101.9	706.5	-13.5	277	4770	0.00	0.93	0.00	0.000	4	0.000	0.060	1369	3949	2891	0	0	0	0	0	0
5022	-0.82	-101.9	744.4	-14.4	284	5026	0.00	0.90	0.00	0.000	6	0.000	0.039	1369	3350	2890	0	0	0	0	0	0
5341	-0.82	-101.9	786.4	-13.2	295	5345	0.00	0.95	0.00	0.000	4	0.000	0.060	1365	3956	2889	0	0	0	0	0	0
5516	-0.82	-101.9	811.7	-14.9	300	5520	0.00	0.93	0.00	0.000	6	0.000	0.039	1365	3345	2889	0	0	0	0	0	0
5852	-0.82	-101.9	858.0	-13.9	311	5856	0.00	0.95	0.00	0.000	4	0.000	0.060	1360	3952	2888	0	0	0	0	0	0
5968	-0.82	-101.9	875.8	-15.6	314	5972	0.00	0.90	0.00	0.000	6	0.000	0.039	1360	3353	2888	0	0	0	0	0	0
6294	-0.82	-101.9	920.3	-13.7	325	6297	0.00	0.95	0.00	0.000	4	0.000	0.060	1356	3957	2887	0	0	0	0	0	0
6321	-0.82	-101.9	924.6	-14.9	325	6330	0.08	0.93	0.00	0.000	6	0.200	0.040	1376	3348	2887	0	0	0	0	0	0
6634	-0.82	-101.9	964.0	-12.3	336	6635	0.00	0.00	0.00	0.000	6	0.000	0.000	1376	3348	2886	0	0	0	0	0	0
6938	end dive: TARGET_DEPTH_EXCEEDED
state	6938	begin apogee
6945	-0.14	0.0	1000.8	12.0	346	7051	0.75	0.00	97.97	1.813	6	0.172	0.000	1596	3139	2472	0	0	0	0	1	0
7053	end apogee: CONTROL_FINISHED_OK
state	7053	begin climb
7056	0.82	101.9	1003.0	0.0	349	7175	0.93	2.42	103.35	1.781	4	0.080	0.036	1915	1744	2058	0	0	0	0	1	0
7203	0.82	101.9	980.3	20.0	353	7208	0.00	2.45	0.00	0.000	6	0.000	0.050	1915	3161	2057	0	0	0	0	0	0
7517	0.82	101.9	908.0	23.7	363	7518	0.00	0.00	0.00	0.000	6	0.000	0.000	1915	3160	2049	0	0	0	0	0	0
7824	0.82	101.9	835.2	23.8	373	7827	0.00	1.27	0.00	0.000	4	0.000	0.056	1915	3944	2048	0	0	0	0	0	0
7861	0.82	101.9	825.0	26.4	374	7865	0.00	1.23	0.00	0.000	6	0.000	0.034	1921	3145	2047	0	0	0	0	0	0
8197	0.82	101.9	744.8	23.7	385	8201	0.00	1.30	0.00	0.000	4	0.000	0.055	1921	3951	2046	0	0	0	0	0	0
8325	0.82	101.9	712.2	25.2	388	8332	0.00	1.23	0.00	0.000	6	0.000	0.034	1927	3141	2046	0	0	0	0	0	0
8639	0.82	101.9	639.7	23.3	399	8642	0.00	1.30	0.00	0.000	4	0.000	0.054	1927	3954	2044	0	0	0	0	0	0
8699	0.82	101.9	623.9	27.3	400	8708	0.00	1.20	0.00	0.000	6	0.000	0.033	1932	3158	2044	0	0	0	0	0	0
9013	0.82	101.9	552.8	22.6	411	9016	0.00	1.27	0.00	0.000	4	0.000	0.054	1932	3959	2042	0	0	0	0	0	0
9084	0.82	101.9	534.3	27.1	413	9088	0.00	1.20	0.00	0.000	6	0.000	0.033	1938	3158	2042	0	0	0	0	0	0
9420	0.82	101.9	457.8	22.7	424	9421	0.00	0.00	0.00	0.000	6	0.000	0.000	1938	3157	2042	0	0	0	0	0	0
9741	0.82	101.9	385.4	21.8	435	9744	0.00	1.27	0.00	0.000	4	0.000	0.054	1938	3958	2041	0	0	0	0	0	0
9788	0.82	101.9	373.8	25.1	437	9793	0.10	1.20	0.00	0.000	6	0.223	0.034	1918	3156	2041	0	0	0	0	0	0
10123	0.82	101.9	302.7	20.5	453	10128	0.00	1.25	0.00	0.000	4	0.000	0.054	1917	3945	2040	0	0	0	0	0	0
10157	0.82	101.9	294.3	22.8	454	10160	0.00	1.17	0.00	0.000	6	0.000	0.034	1922	3157	2040	0	0	0	0	0	0
10485	0.82	101.9	224.3	20.8	472	10486	0.00	0.00	0.00	0.000	6	0.000	0.000	1922	3156	2040	0	0	0	0	0	0
10799	0.82	101.9	156.2	21.7	492	10802	0.00	1.25	0.00	0.000	4	0.000	0.053	1922	3949	2039	0	0	0	0	0	0
10977	0.82	101.9	113.4	25.0	502	10981	0.00	1.17	0.00	0.000	6	0.000	0.032	1928	3156	2039	0	0	0	0	0	0
11330	0.82	101.9	37.9	20.9	555	11338	0.00	2.15	0.00	0.000	4	0.000	0.034	1939	1752	2039	0	0	0	0	0	0
11390	0.82	101.9	26.3	18.4	564	11401	0.00	2.25	0.00	0.000	6	0.000	0.049	1939	3155	2038	0	0	0	0	0	0
11480	0.82	101.9	9.0	19.9	577	11489	0.00	0.00	0.00	0.000	6	0.000	0.000	1939	3155	2038	0	0	0	0	0	0
11509	end climb: SURFACE_DEPTH_REACHED
state	11509	begin surface coast
11525	end surface coast: CONTROL_FINISHED_OK
state	11525	begin surface