Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 262 * 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 262 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2860 ALTIM_PING_DELTA 5

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2670 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 230 R_PORT_OVSHOOT 43 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 23 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 -11328.422 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 1830 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 39 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 230

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 39 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 -11328.422

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 1830 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2670 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 2860 LOGGERDEVICE1 -1 ROLL_MAX 3901 USE_ICE 0

C_VBD 2820 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_MIN 335 VBD_CNV -0.245296

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 43 VBD_MAX 3961

DEVICE2 101 MASS 52816 R_STBD_OVSHOOT 23 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 262 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 200113,010622,-4633.197,441.435,41,0.9,41,-23.5 TGT_NAME GH4

_CALLS 2 TGT_LATLONG -4700.000,440.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.220,-0.131

_SM_DEPTHo 1.66 KALMAN_X -206422.9,1298.1,241.0,235981.2,-4645.1

_SM_ANGLEo -55.2 KALMAN_Y 116303.4,147.3,18.6,-82800.8,2993.1

GPS2 200113,012124,-4633.097,441.546,18,1.4,18,-23.5 MHEAD_RNG_PITCHd_Wd 144.2,49863,-16.5,-9.443

SPEED_LIMITS 0.164,0.256 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.9,1.026446 _10V_AH 10.0,24.200

SM_CCo 14315,42.35,0.759,1,0,1881,230.09 FG_AHR_24Vo 0.000

SM_GC 2.07,0.00,0.00,42.35,0.000,0.000,0.759,58,2887,1881,-5.54,0.76,230.09 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4616.72,441.92,200113,010144 MEM 353940

TT8_MAMPS 0.026215 DATA_FILE_SIZE 50497,724

HUMID 58.26 CAP_FILE_SIZE 98452,0

INTERNAL_PRESSURE 9.33597 CFSIZE 259252224,213184512

TCM_TEMP 11.30 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,2,1

XPDR_PINGS 0 GPS 200113,052334,-4633.572,443.798,67,0.9,67,-23.6

_24V_AH 22.0,49.763

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 241 72.06 SBE_CT 480 24 253.62

Roll_motor 49 76 83.94 AA4330 1437 33 1043.96

VBD_pump_during_apogee 297 1782 11684.76 WL_BB2FLVMT 769 105 1777.34

VBD_pump_during_surface 42 758 707.05 QSP2150 296 4 28.56

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 58 103 132.14 nil 0 0 0.00

Iridium_during_connect 84 160 297.38 nil 0 0 0.00

Iridium_during_xfer 442 223 2171.55 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 5.59

TT8 1750 14 261.87

LPSleep 10169 2 222.72

TT8_Active 402 14 57.22

TT8_Sampling 2326 37 870.87

TT8_CF8 601 47 283.92

TT8_Kalman 33 59 19.74

Analog_circuits 1094 12 131.28

GPS_charging 0 0 0.00

Compass 1676 15 263.72

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

27 -0.60 -146.1 0.0 0.0 0 93 0.00 0.00 -63.17 0.000 2 0.000 0.000 54 2866 3109 0 0 0 0 0 0

99 -0.60 -146.1 3.2 -3.1 8 126 6.53 1.73 -8.12 0.000 4 0.242 0.076 1622 3900 3417 0 0 0 0 0 0

402 -0.60 -146.1 53.8 -15.1 56 411 0.00 1.62 0.00 0.000 6 0.000 0.032 1621 2827 3420 0 0 0 0 0 0

647 -0.60 -146.1 92.7 -16.8 97 652 0.00 1.75 0.00 0.000 4 0.000 0.058 1613 3899 3420 0 0 0 0 0 0

721 -0.60 -146.1 103.2 -13.6 107 725 0.00 1.58 0.00 0.000 6 0.000 0.032 1613 2862 3420 0 0 0 0 0 0

1053 -0.60 -146.1 147.3 -12.0 128 1055 0.00 0.00 0.00 0.000 6 0.000 0.000 1613 2858 3421 0 0 0 0 0 0

1368 -0.60 -146.1 184.9 -11.3 148 1369 0.00 0.00 0.00 0.000 6 0.000 0.000 1613 2858 3422 0 0 0 0 0 0

1678 -0.60 -146.1 220.8 -11.9 168 1680 0.00 0.00 0.00 0.000 6 0.000 0.000 1613 2858 3422 0 0 0 0 0 0

1993 -0.60 -146.1 258.2 -12.0 187 1994 0.00 0.00 0.00 0.000 6 0.000 0.000 1613 2858 3422 0 0 0 0 0 0

2300 -0.60 -146.1 295.4 -11.9 202 2301 0.00 0.00 0.00 0.000 6 0.000 0.000 1613 2858 3422 0 0 0 0 0 0

2611 -0.60 -146.1 332.3 -12.2 217 2615 0.00 1.65 0.00 0.000 4 0.000 0.060 1605 3900 3422 0 0 0 0 0 0

2686 -0.60 -146.1 342.5 -13.1 220 2689 0.00 1.58 0.00 0.000 6 0.000 0.032 1605 2855 3422 0 0 0 0 0 0

3015 -0.60 -146.1 385.4 -12.9 236 3016 0.10 0.00 0.00 0.000 6 0.203 0.000 1628 2851 3422 0 0 0 0 0 0

3343 -0.60 -146.1 421.5 -10.6 249 3347 0.00 2.10 0.00 0.000 4 0.000 0.037 1628 1476 3422 0 0 0 0 0 0

3389 -0.60 -146.1 426.4 -9.5 250 3394 0.00 2.22 0.00 0.000 6 0.000 0.052 1619 2864 3422 0 0 0 0 0 0

3710 -0.60 -146.1 460.5 -10.7 261 3711 0.00 0.00 0.00 0.000 6 0.000 0.000 1619 2865 3422 0 0 0 0 0 0

4016 -0.60 -146.1 493.8 -10.8 271 4018 0.00 0.00 0.00 0.000 6 0.000 0.000 1619 2865 3421 0 0 0 0 0 0

4323 -0.60 -146.1 526.6 -10.6 281 4324 0.00 0.00 0.00 0.000 6 0.000 0.000 1618 2864 3421 0 0 0 0 0 0

4629 -0.60 -146.1 558.4 -10.4 291 4630 0.00 0.00 0.00 0.000 6 0.000 0.000 1618 2865 3419 0 0 0 0 0 0

4935 -0.60 -146.1 589.5 -10.0 301 4936 0.00 0.00 0.00 0.000 6 0.000 0.000 1618 2865 3419 0 0 0 0 0 0

5242 -0.60 -146.1 620.1 -10.2 311 5243 0.00 0.00 0.00 0.000 6 0.000 0.000 1619 2865 3419 0 0 0 0 0 0

5547 -0.60 -146.1 651.6 -10.1 321 5549 0.00 0.00 0.00 0.000 6 0.000 0.000 1618 2865 3419 0 0 0 0 0 0

5854 -0.60 -146.1 681.5 -9.5 331 5858 0.00 2.12 0.00 0.000 4 0.000 0.037 1619 1478 3418 0 0 0 0 0 0

5883 -0.60 -146.1 684.4 -9.5 331 5890 0.00 2.22 0.00 0.000 6 0.000 0.053 1608 2869 3418 0 0 0 0 0 0

6198 -0.60 -146.1 714.9 -9.9 342 6200 0.00 0.00 0.00 0.000 6 0.000 0.000 1608 2870 3418 0 0 0 0 0 0

6504 -0.60 -146.1 745.2 -9.8 352 6505 0.00 0.00 0.00 0.000 6 0.000 0.000 1608 2870 3418 0 0 0 0 0 0

6811 -0.60 -146.1 776.2 -10.2 362 6812 0.00 0.00 0.00 0.000 6 0.000 0.000 1608 2870 3418 0 0 0 0 0 0

7117 -0.60 -146.1 809.4 -11.1 372 7121 0.00 2.12 0.00 0.000 4 0.000 0.037 1608 1485 3418 0 0 0 0 0 0

7158 -0.60 -146.1 814.3 -9.9 373 7162 0.12 2.20 0.00 0.000 6 0.187 0.053 1628 2863 3418 0 0 0 0 0 0

7497 -0.60 -146.1 846.7 -9.6 384 7498 0.00 0.00 0.00 0.000 6 0.000 0.000 1628 2863 3418 0 0 0 0 0 0

7802 -0.60 -146.1 876.0 -9.6 394 7806 0.00 2.10 0.00 0.000 4 0.000 0.037 1628 1483 3418 0 0 0 0 0 0

7837 -0.60 -146.1 879.7 -10.1 395 7841 0.00 2.22 0.00 0.000 6 0.000 0.053 1619 2865 3417 0 0 0 0 0 0

8169 -0.60 -146.1 912.5 -9.9 406 8170 0.00 0.00 0.00 0.000 6 0.000 0.000 1619 2865 3417 0 0 0 0 0 0

8476 -0.60 -146.1 942.0 -9.6 416 8477 0.00 0.00 0.00 0.000 6 0.000 0.000 1619 2865 3417 0 0 0 0 0 0

8781 -0.60 -146.1 971.4 -9.8 426 8785 0.00 2.12 0.00 0.000 4 0.000 0.036 1620 1484 3417 0 0 0 0 0 0

8816 -0.60 -146.1 975.2 -9.8 427 8820 0.00 2.22 0.00 0.000 6 0.000 0.053 1609 2867 3416 0 0 0 0 0 0

9052 end dive: TARGET_DEPTH_EXCEEDED

state 9052 begin apogee

9063 -0.18 0.0 1000.8 11.0 435 9213 0.55 0.00 146.52 1.237 6 0.158 0.000 1770 2677 2819 0 0 0 0 0 0

9214 end apogee: CONTROL_FINISHED_OK

state 9214 begin climb

9219 0.60 146.1 1007.3 0.0 440 9385 0.75 2.53 151.45 1.782 4 0.093 0.043 2026 1282 2225 0 0 0 0 1 0

9416 0.60 146.1 983.7 17.6 446 9421 0.00 2.47 0.00 0.000 6 0.000 0.050 2026 2672 2223 0 0 0 0 0 0

9748 0.60 146.1 916.7 20.4 457 9750 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2672 2217 0 0 0 0 0 0

10055 0.60 146.1 852.1 21.5 467 10057 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2672 2216 0 0 0 0 0 0

10361 0.60 146.1 786.7 21.2 477 10362 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2672 2215 0 0 0 0 0 0

10669 0.60 146.1 721.5 21.8 487 10670 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2672 2214 0 0 0 0 0 0

10974 0.60 146.1 653.9 22.1 497 10978 0.00 2.22 0.00 0.000 4 0.000 0.043 2037 1272 2214 0 0 0 0 0 0

11020 0.60 146.1 643.7 20.3 498 11024 0.00 2.28 0.00 0.000 6 0.000 0.050 2037 2679 2212 0 0 0 0 0 0

11341 0.60 146.1 572.3 22.5 509 11342 0.00 0.00 0.00 0.000 6 0.000 0.000 2037 2678 2212 0 0 0 0 0 0

11647 0.60 146.1 504.8 21.7 519 11648 0.00 0.00 0.00 0.000 6 0.000 0.000 2037 2678 2212 0 0 0 0 0 0

11953 0.60 146.1 440.9 20.8 529 11957 0.00 1.92 0.00 0.000 4 0.000 0.060 2037 3896 2212 0 0 0 0 0 0

11982 0.60 146.1 434.2 22.3 529 11989 0.00 1.88 0.00 0.000 6 0.000 0.037 2045 2674 2212 0 0 0 0 0 0

12299 0.60 146.1 368.6 20.3 542 12300 0.00 0.00 0.00 0.000 6 0.000 0.000 2046 2671 2212 0 0 0 0 0 0

12612 0.60 146.1 306.8 19.5 557 12613 0.00 0.00 0.00 0.000 6 0.000 0.000 2046 2671 2212 0 0 0 0 0 0

12917 0.60 146.1 245.8 20.0 572 12918 0.00 0.00 0.00 0.000 6 0.000 0.000 2046 2671 2212 0 0 0 0 0 0

13230 0.60 146.1 181.4 20.0 592 13231 0.00 0.00 0.00 0.000 6 0.000 0.000 2046 2671 2212 0 0 0 0 0 0

13542 0.60 146.1 119.1 18.4 612 13543 0.00 0.00 0.00 0.000 6 0.000 0.000 2046 2671 2211 0 0 0 0 0 0

13870 0.60 146.1 65.3 16.9 656 13877 0.00 2.17 0.00 0.000 4 0.000 0.042 2056 1272 2211 0 0 0 0 0 0

14013 0.60 146.1 43.0 15.7 679 14021 0.12 2.25 0.00 0.000 6 0.209 0.052 2028 2668 2208 0 0 0 0 0 0

14267 end climb: SURFACE_DEPTH_REACHED

state 14267 begin surface coast

14293 end surface coast: CONTROL_FINISHED_OK

state 14293 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	262	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2860	ALTIM_PING_DELTA	5
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2670	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	230	R_PORT_OVSHOOT	43	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	23	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	-11328.422	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	1830	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	39	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	200113,010622,-4633.197,441.435,41,0.9,41,-23.5	TGT_NAME	GH4
_CALLS	2	TGT_LATLONG	-4700.000,440.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.220,-0.131
_SM_DEPTHo	1.66	KALMAN_X	-206422.9,1298.1,241.0,235981.2,-4645.1
_SM_ANGLEo	-55.2	KALMAN_Y	116303.4,147.3,18.6,-82800.8,2993.1
GPS2	200113,012124,-4633.097,441.546,18,1.4,18,-23.5	MHEAD_RNG_PITCHd_Wd	144.2,49863,-16.5,-9.443
SPEED_LIMITS	0.164,0.256	D_GRID	1000

FINISH	0.9,1.026446	_10V_AH	10.0,24.200
SM_CCo	14315,42.35,0.759,1,0,1881,230.09	FG_AHR_24Vo	0.000
SM_GC	2.07,0.00,0.00,42.35,0.000,0.000,0.759,58,2887,1881,-5.54,0.76,230.09	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4616.72,441.92,200113,010144	MEM	353940
TT8_MAMPS	0.026215	DATA_FILE_SIZE	50497,724
HUMID	58.26	CAP_FILE_SIZE	98452,0
INTERNAL_PRESSURE	9.33597	CFSIZE	259252224,213184512
TCM_TEMP	11.30	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,2,1
XPDR_PINGS	0	GPS	200113,052334,-4633.572,443.798,67,0.9,67,-23.6
_24V_AH	22.0,49.763

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	241	72.06	SBE_CT	480	24	253.62
Roll_motor	49	76	83.94	AA4330	1437	33	1043.96
VBD_pump_during_apogee	297	1782	11684.76	WL_BB2FLVMT	769	105	1777.34
VBD_pump_during_surface	42	758	707.05	QSP2150	296	4	28.56
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	58	103	132.14	nil	0	0	0.00
Iridium_during_connect	84	160	297.38	nil	0	0	0.00
Iridium_during_xfer	442	223	2171.55	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	5.59
TT8	1750	14	261.87
LPSleep	10169	2	222.72
TT8_Active	402	14	57.22
TT8_Sampling	2326	37	870.87
TT8_CF8	601	47	283.92
TT8_Kalman	33	59	19.74
Analog_circuits	1094	12	131.28
GPS_charging	0	0	0.00
Compass	1676	15	263.72
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
27	-0.60	-146.1	0.0	0.0	0	93	0.00	0.00	-63.17	0.000	2	0.000	0.000	54	2866	3109	0	0	0	0	0	0
99	-0.60	-146.1	3.2	-3.1	8	126	6.53	1.73	-8.12	0.000	4	0.242	0.076	1622	3900	3417	0	0	0	0	0	0
402	-0.60	-146.1	53.8	-15.1	56	411	0.00	1.62	0.00	0.000	6	0.000	0.032	1621	2827	3420	0	0	0	0	0	0
647	-0.60	-146.1	92.7	-16.8	97	652	0.00	1.75	0.00	0.000	4	0.000	0.058	1613	3899	3420	0	0	0	0	0	0
721	-0.60	-146.1	103.2	-13.6	107	725	0.00	1.58	0.00	0.000	6	0.000	0.032	1613	2862	3420	0	0	0	0	0	0
1053	-0.60	-146.1	147.3	-12.0	128	1055	0.00	0.00	0.00	0.000	6	0.000	0.000	1613	2858	3421	0	0	0	0	0	0
1368	-0.60	-146.1	184.9	-11.3	148	1369	0.00	0.00	0.00	0.000	6	0.000	0.000	1613	2858	3422	0	0	0	0	0	0
1678	-0.60	-146.1	220.8	-11.9	168	1680	0.00	0.00	0.00	0.000	6	0.000	0.000	1613	2858	3422	0	0	0	0	0	0
1993	-0.60	-146.1	258.2	-12.0	187	1994	0.00	0.00	0.00	0.000	6	0.000	0.000	1613	2858	3422	0	0	0	0	0	0
2300	-0.60	-146.1	295.4	-11.9	202	2301	0.00	0.00	0.00	0.000	6	0.000	0.000	1613	2858	3422	0	0	0	0	0	0
2611	-0.60	-146.1	332.3	-12.2	217	2615	0.00	1.65	0.00	0.000	4	0.000	0.060	1605	3900	3422	0	0	0	0	0	0
2686	-0.60	-146.1	342.5	-13.1	220	2689	0.00	1.58	0.00	0.000	6	0.000	0.032	1605	2855	3422	0	0	0	0	0	0
3015	-0.60	-146.1	385.4	-12.9	236	3016	0.10	0.00	0.00	0.000	6	0.203	0.000	1628	2851	3422	0	0	0	0	0	0
3343	-0.60	-146.1	421.5	-10.6	249	3347	0.00	2.10	0.00	0.000	4	0.000	0.037	1628	1476	3422	0	0	0	0	0	0
3389	-0.60	-146.1	426.4	-9.5	250	3394	0.00	2.22	0.00	0.000	6	0.000	0.052	1619	2864	3422	0	0	0	0	0	0
3710	-0.60	-146.1	460.5	-10.7	261	3711	0.00	0.00	0.00	0.000	6	0.000	0.000	1619	2865	3422	0	0	0	0	0	0
4016	-0.60	-146.1	493.8	-10.8	271	4018	0.00	0.00	0.00	0.000	6	0.000	0.000	1619	2865	3421	0	0	0	0	0	0
4323	-0.60	-146.1	526.6	-10.6	281	4324	0.00	0.00	0.00	0.000	6	0.000	0.000	1618	2864	3421	0	0	0	0	0	0
4629	-0.60	-146.1	558.4	-10.4	291	4630	0.00	0.00	0.00	0.000	6	0.000	0.000	1618	2865	3419	0	0	0	0	0	0
4935	-0.60	-146.1	589.5	-10.0	301	4936	0.00	0.00	0.00	0.000	6	0.000	0.000	1618	2865	3419	0	0	0	0	0	0
5242	-0.60	-146.1	620.1	-10.2	311	5243	0.00	0.00	0.00	0.000	6	0.000	0.000	1619	2865	3419	0	0	0	0	0	0
5547	-0.60	-146.1	651.6	-10.1	321	5549	0.00	0.00	0.00	0.000	6	0.000	0.000	1618	2865	3419	0	0	0	0	0	0
5854	-0.60	-146.1	681.5	-9.5	331	5858	0.00	2.12	0.00	0.000	4	0.000	0.037	1619	1478	3418	0	0	0	0	0	0
5883	-0.60	-146.1	684.4	-9.5	331	5890	0.00	2.22	0.00	0.000	6	0.000	0.053	1608	2869	3418	0	0	0	0	0	0
6198	-0.60	-146.1	714.9	-9.9	342	6200	0.00	0.00	0.00	0.000	6	0.000	0.000	1608	2870	3418	0	0	0	0	0	0
6504	-0.60	-146.1	745.2	-9.8	352	6505	0.00	0.00	0.00	0.000	6	0.000	0.000	1608	2870	3418	0	0	0	0	0	0
6811	-0.60	-146.1	776.2	-10.2	362	6812	0.00	0.00	0.00	0.000	6	0.000	0.000	1608	2870	3418	0	0	0	0	0	0
7117	-0.60	-146.1	809.4	-11.1	372	7121	0.00	2.12	0.00	0.000	4	0.000	0.037	1608	1485	3418	0	0	0	0	0	0
7158	-0.60	-146.1	814.3	-9.9	373	7162	0.12	2.20	0.00	0.000	6	0.187	0.053	1628	2863	3418	0	0	0	0	0	0
7497	-0.60	-146.1	846.7	-9.6	384	7498	0.00	0.00	0.00	0.000	6	0.000	0.000	1628	2863	3418	0	0	0	0	0	0
7802	-0.60	-146.1	876.0	-9.6	394	7806	0.00	2.10	0.00	0.000	4	0.000	0.037	1628	1483	3418	0	0	0	0	0	0
7837	-0.60	-146.1	879.7	-10.1	395	7841	0.00	2.22	0.00	0.000	6	0.000	0.053	1619	2865	3417	0	0	0	0	0	0
8169	-0.60	-146.1	912.5	-9.9	406	8170	0.00	0.00	0.00	0.000	6	0.000	0.000	1619	2865	3417	0	0	0	0	0	0
8476	-0.60	-146.1	942.0	-9.6	416	8477	0.00	0.00	0.00	0.000	6	0.000	0.000	1619	2865	3417	0	0	0	0	0	0
8781	-0.60	-146.1	971.4	-9.8	426	8785	0.00	2.12	0.00	0.000	4	0.000	0.036	1620	1484	3417	0	0	0	0	0	0
8816	-0.60	-146.1	975.2	-9.8	427	8820	0.00	2.22	0.00	0.000	6	0.000	0.053	1609	2867	3416	0	0	0	0	0	0
9052	end dive: TARGET_DEPTH_EXCEEDED
state	9052	begin apogee
9063	-0.18	0.0	1000.8	11.0	435	9213	0.55	0.00	146.52	1.237	6	0.158	0.000	1770	2677	2819	0	0	0	0	0	0
9214	end apogee: CONTROL_FINISHED_OK
state	9214	begin climb
9219	0.60	146.1	1007.3	0.0	440	9385	0.75	2.53	151.45	1.782	4	0.093	0.043	2026	1282	2225	0	0	0	0	1	0
9416	0.60	146.1	983.7	17.6	446	9421	0.00	2.47	0.00	0.000	6	0.000	0.050	2026	2672	2223	0	0	0	0	0	0
9748	0.60	146.1	916.7	20.4	457	9750	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2672	2217	0	0	0	0	0	0
10055	0.60	146.1	852.1	21.5	467	10057	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2672	2216	0	0	0	0	0	0
10361	0.60	146.1	786.7	21.2	477	10362	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2672	2215	0	0	0	0	0	0
10669	0.60	146.1	721.5	21.8	487	10670	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2672	2214	0	0	0	0	0	0
10974	0.60	146.1	653.9	22.1	497	10978	0.00	2.22	0.00	0.000	4	0.000	0.043	2037	1272	2214	0	0	0	0	0	0
11020	0.60	146.1	643.7	20.3	498	11024	0.00	2.28	0.00	0.000	6	0.000	0.050	2037	2679	2212	0	0	0	0	0	0
11341	0.60	146.1	572.3	22.5	509	11342	0.00	0.00	0.00	0.000	6	0.000	0.000	2037	2678	2212	0	0	0	0	0	0
11647	0.60	146.1	504.8	21.7	519	11648	0.00	0.00	0.00	0.000	6	0.000	0.000	2037	2678	2212	0	0	0	0	0	0
11953	0.60	146.1	440.9	20.8	529	11957	0.00	1.92	0.00	0.000	4	0.000	0.060	2037	3896	2212	0	0	0	0	0	0
11982	0.60	146.1	434.2	22.3	529	11989	0.00	1.88	0.00	0.000	6	0.000	0.037	2045	2674	2212	0	0	0	0	0	0
12299	0.60	146.1	368.6	20.3	542	12300	0.00	0.00	0.00	0.000	6	0.000	0.000	2046	2671	2212	0	0	0	0	0	0
12612	0.60	146.1	306.8	19.5	557	12613	0.00	0.00	0.00	0.000	6	0.000	0.000	2046	2671	2212	0	0	0	0	0	0
12917	0.60	146.1	245.8	20.0	572	12918	0.00	0.00	0.00	0.000	6	0.000	0.000	2046	2671	2212	0	0	0	0	0	0
13230	0.60	146.1	181.4	20.0	592	13231	0.00	0.00	0.00	0.000	6	0.000	0.000	2046	2671	2212	0	0	0	0	0	0
13542	0.60	146.1	119.1	18.4	612	13543	0.00	0.00	0.00	0.000	6	0.000	0.000	2046	2671	2211	0	0	0	0	0	0
13870	0.60	146.1	65.3	16.9	656	13877	0.00	2.17	0.00	0.000	4	0.000	0.042	2056	1272	2211	0	0	0	0	0	0
14013	0.60	146.1	43.0	15.7	679	14021	0.12	2.25	0.00	0.000	6	0.209	0.052	2028	2668	2208	0	0	0	0	0	0
14267	end climb: SURFACE_DEPTH_REACHED
state	14267	begin surface coast
14293	end surface coast: CONTROL_FINISHED_OK
state	14293	begin surface