Glider dive log

SOSCEx Dec13 * SG574 * Dive index * Mission links * Dive 32 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 574 HD_B 0.010078 ROLL_MIN 160 ALTIM_TOP_TURN_MARGIN 0

MISSION 8 HD_C 9.8500004e-06 ROLL_MAX 3798 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 32 HEADING -1 ROLL_DEG 40 ALTIM_PING_DEPTH 1000

D_SURF 3 ESCAPE_HEADING 0 C_ROLL_DIVE 1910 ALTIM_PING_DELTA 5

D_FLARE 3 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1820 ALTIM_FREQUENCY 13

D_TGT 990 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 15 ALTIM_PULSE 3

D_ABORT 1020 TGT_DEFAULT_LAT -4200 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

D_NO_BLEED 200 TGT_DEFAULT_LON -900 ROLL_TIMEOUT 15 XPDR_VALID 5

D_BOOST 0 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 42 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 210 R_STBD_OVSHOOT 39 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST_BLACKOUT 0 N_FILEKB 4 ROLL_AD_RATE 350 INT_PRESSURE_YINT -1.812

D_FINISH 0 FILEMGR 0 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 KERMIT 0 ROLL_GAIN_P 0.5 DEVICE1 2

SURFACE_URGENCY 0 N_NOCOMM 1 VBD_MIN 396 DEVICE2 115

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE3 20

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 C_VBD 2600 DEVICE4 134

T_DIVE 350 CALL_TRIES 5 VBD_DBAND 2 DEVICE5 -1

T_MISSION 390 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE6 -1

T_ABORT 720 CAPUPLOAD 0 VBD_TIMEOUT 720 LOGGERS 7

T_TURN 225 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 4.9999999e-05 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 4 LOGGERDEVICE2 -1

T_NO_W 120 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE3 -1

T_LOITER 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_ALMANAC 0 UNCOM_BLEED 60 COMPASS_DEVICE 33

USE_ICE 0 T_GPS_CHARGE -14911.121 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 CF8_MAXERRORS 20 PHONE_DEVICE 48

D_OFFGRID 100 STROBE 0 AH0_24V 150 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 RAFOS_DEVICE -1

RELAUNCH 0 RAFOS_CORR_THRESH 60 MINV_24V 20 XPDR_DEVICE 24

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_10V 8 SIM_W 0

MAX_BUOY 150 PITCH_MIN 92 FG_AHR_10V 0 SIM_PITCH 0

COURSE_BIAS 0 PITCH_MAX 3858 FG_AHR_24V 0 SEABIRD_T_G 0.0043017557

GLIDE_SLOPE 30 C_PITCH 3032 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062339538

SPEED_FACTOR 1 PITCH_DBAND 0.0099999998 PRESSURE_YINT -58.423965 SEABIRD_T_I 2.3377639e-05

RHO 1.0278 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011710486 SEABIRD_T_J 2.5612862e-06

MASS 53599 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_C_G -9.9136524

LENGTH 1.8 PITCH_GAIN 31 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1456692

NAV_MODE 1 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00078246131

DIRECT_CONTROL 0 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_J 0.00012677554

FERRY_MAX 45 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 EBE_ENABLE 0

KALMAN_USE 2 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 0 GC_WINDOW 20

HD_A 0.0038360001 PITCH_ADJ_DBAND 13 ALTIM_BOTTOM_TURN_MARGIN 20 GC_LAST_COLLECTION 11

AD7714Ch0Gain 128 D_NO_BLEED 200 N_GPS 20 SEABIRD_T_J 2.5612862e-06

AH0_10V 100 D_OFFGRID 100 N_NOCOMM 1 SIM_PITCH 0

AH0_24V 150 D_PITCH 0 N_NOSURFACE 0 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PHONE_DEVICE 48 SM_CC 210

ALTIM_BOTTOM_TURN_MARGIN 20 D_SURF 3 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_ADJ_DBAND 13 STROBE 0

ALTIM_PING_DELTA 5 EBE_ENABLE 0 PITCH_ADJ_GAIN 0.02 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 1000 ESCAPE_HEADING 0 PITCH_AD_RATE 175 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 FERRY_MAX 45 PITCH_DBAND 0.0099999998 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_GAIN 31 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_MAX 3858 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -4200

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PITCH_MIN 92 TGT_DEFAULT_LON -900

CALL_NDIVES 1 GC_LAST_COLLECTION 11 PITCH_TIMEOUT 16 T_ABORT 720

CALL_TRIES 5 GC_WINDOW 20 PITCH_VBD_SHIFT 4.9999999e-05 T_BOOST 0

CALL_WAIT 60 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011710486 T_BOOST_BLACKOUT 0

CAPMAXSIZE 100000 GPS_DEVICE 32 PRESSURE_YINT -58.423965 T_DIVE 350

CAPUPLOAD 0 HD_A 0.0038360001 P_OVSHOOT 0.039999999 T_GPS 15

CF8_MAXERRORS 20 HD_B 0.010078 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

COMM_SEQ 0 HD_C 9.8500004e-06 RAFOS_DEVICE -1 T_GPS_CHARGE -14911.121

COMPASS2_DEVICE -1 HEADING -1 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS_DEVICE 33 HEAD_ERRBAND 15 RAFOS_PEAK_OFFSET 1.5 T_MISSION 390

COMPASS_USE 0 HEAPDBG 0 RELAUNCH 0 T_NO_W 120

COURSE_BIAS 0 ICE_FREEZE_MARGIN 0.30000001 RHO 1.0278 T_RSLEEP 3

C_PITCH 3032 ID 574 ROLL_ADJ_DBAND 0 T_TURN 225

C_ROLL_CLIMB 1820 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_DIVE 1910 INT_PRESSURE_YINT -1.812 ROLL_AD_RATE 350 T_WATCHDOG 10

C_VBD 2600 KALMAN_USE 2 ROLL_CNV 0.028270001 UNCOM_BLEED 60

DEEPGLIDER 0 KERMIT 0 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 LENGTH 1.8 ROLL_GAIN_P 0.5 USE_BATHY 0

DEVICE1 2 LOGGERDEVICE1 -1 ROLL_MAX 3798 USE_ICE 0

DEVICE2 115 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE3 20 LOGGERDEVICE3 -1 ROLL_MIN 160 VBD_CNV -0.245296

DEVICE4 134 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE5 -1 LOGGERS 7 R_PORT_OVSHOOT 42 VBD_MAX 3960

DEVICE6 -1 MASS 53599 R_STBD_OVSHOOT 39 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 150 SEABIRD_C_G -9.9136524 VBD_MIN 396

DIVE 32 MINV_10V 8 SEABIRD_C_H 1.1456692 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 1020 MINV_24V 20 SEABIRD_C_I -0.00078246131 VBD_PUMP_AD_RATE_SURFACE 4

D_BOOST 0 MISSION 8 SEABIRD_C_J 0.00012677554 VBD_TIMEOUT 720

D_CALL 0 MOTHERBOARD 4 SEABIRD_T_G 0.0043017557 XPDR_DEVICE 24

D_FINISH 0 NAV_MODE 1 SEABIRD_T_H 0.00062339538 XPDR_INHIBIT 90

D_FLARE 3 N_FILEKB 4 SEABIRD_T_I 2.3377639e-05 XPDR_VALID 5

Pre-dive calculations and measurements:

GPS1 091213,171958,-5500.745,1.181,69,0.8,69,-20.3 TGT_NAME SBY

_CALLS 1 TGT_LATLONG -5500.000,0.000

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.93 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -74.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 091213,173010,-5500.739,1.281,23,0.9,23,-20.3 MHEAD_RNG_PITCHd_Wd 335.4,1930,-27.8,-9.429

SPEED_LIMITS 0.163,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.9,1.027223 _10V_AH 10.1,31.996

SM_CCo 13037,55.08,1.052,0,0,1742,210.22 FG_AHR_24Vo 0.000

SM_GC 3.29,0.00,0.00,55.08,0.000,0.000,1.052,71,1948,1742,-9.23,1.07,210.22 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5438.56,0.00,091213,131330 MEM 354680

TT8_MAMPS 0.026964 DATA_FILE_SIZE 53489,946

HUMID 63.34 CAP_FILE_SIZE 117370,0

INTERNAL_PRESSURE 9.03803 CFSIZE 2097086464,2090762240

TCM_TEMP 4.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 091213,211004,-5459.286,-0.343,46,0.8,46,-20.2

_24V_AH 22.1,42.581

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 276 145.41 SBE_CT 676 24 358.66

Roll_motor 28 102 65.02 WL_BB2FLVMT 660 105 1532.45

VBD_pump_during_apogee 267 1652 9758.53 SBE_O2 637 19 267.49

VBD_pump_during_surface 55 1051 1280.30 QSP2150 57 4 5.55

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 65.53 nil 0 0 0.00

Iridium_during_connect 44 160 158.76 nil 0 0 0.00

Iridium_during_xfer 422 223 2083.69 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 26 7.12

TT8 2327 14 351.64

LPSleep 8163 2 180.57

TT8_Active 385 14 55.29

TT8_Sampling 2696 37 1019.34

TT8_CF8 135 47 64.64

TT8_Kalman 0 0 0.00

Analog_circuits 1346 12 163.21

GPS_charging 0 0 0.00

Compass 2170 15 344.87

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 23 begin dive

24 -0.90 -57.8 0.0 0.0 0 51 0.00 0.00 -25.10 0.000 2 0.000 0.000 67 1899 2199 0 0 0 0 0 0

54 -0.90 -141.7 3.1 -0.3 4 133 12.48 0.57 -58.35 0.000 4 0.276 0.101 2730 1538 3178 0 0 0 0 0 0

143 -0.90 -145.9 4.2 -7.5 18 151 0.00 0.57 -0.60 0.000 6 0.000 0.037 2728 1928 3194 0 0 0 0 0 0

200 -0.90 -145.9 14.6 -20.2 27 206 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 1928 3196 0 0 0 0 0 0

253 -0.90 -145.9 26.9 -22.1 36 259 0.00 0.00 0.00 0.000 6 0.000 0.000 2728 1929 3196 0 0 0 0 0 0

398 -0.90 -145.9 53.7 -19.2 61 403 0.00 0.52 0.00 0.000 4 0.000 0.044 2726 2298 3196 0 0 0 0 0 0

661 -0.90 -145.9 104.3 -19.2 105 665 0.00 0.57 0.00 0.000 6 0.000 0.041 2725 1909 3196 0 0 0 0 0 0

991 -0.90 -145.9 165.6 -17.1 136 993 0.05 0.00 0.00 0.000 6 0.264 0.000 2733 1908 3196 0 0 0 0 0 0

1310 -0.90 -145.9 215.9 -15.6 166 1311 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 1908 3196 0 0 0 0 0 0

1629 -0.90 -145.9 268.3 -16.6 196 1630 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 1908 3196 0 0 0 0 0 0

1948 -0.90 -145.9 316.4 -14.2 226 1951 0.00 0.43 0.00 0.000 4 0.000 0.038 2733 2227 3196 0 0 0 0 0 0

2133 -0.90 -145.9 341.7 -13.5 242 2139 0.00 0.47 0.00 0.000 6 0.000 0.041 2733 1906 3195 0 0 0 0 0 0

2462 -0.90 -145.9 388.3 -15.1 273 2467 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 1906 3196 0 0 0 0 0 0

2790 -0.90 -145.9 437.8 -15.7 293 2791 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 1906 3195 0 0 0 0 0 0

3099 -0.90 -145.9 485.8 -15.4 308 3100 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 1906 3196 0 0 0 0 0 0

3408 -0.90 -145.9 531.3 -14.4 323 3409 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 1905 3199 0 0 0 0 0 0

3718 -0.90 -145.9 573.4 -13.4 338 3719 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 1906 3200 0 0 0 0 0 0

4027 -0.90 -145.9 611.9 -12.0 353 4028 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 1905 3200 0 0 0 0 0 0

4336 -0.90 -145.9 649.1 -12.0 368 4340 0.00 0.55 0.00 0.000 4 0.000 0.037 2732 2296 3200 0 0 0 0 0 0

4436 -0.90 -145.9 660.8 -11.2 372 4440 0.00 0.57 0.00 0.000 6 0.000 0.040 2732 1911 3200 0 0 0 0 0 0

4757 -0.90 -145.9 698.6 -11.9 388 4758 0.00 0.00 0.00 0.000 6 0.000 0.000 2732 1910 3201 0 0 0 0 0 0

5066 -0.90 -145.9 736.1 -12.3 403 5067 0.00 0.00 0.00 0.000 6 0.000 0.000 2732 1910 3201 0 0 0 0 0 0

5376 -0.90 -145.9 776.0 -13.2 418 5377 0.00 0.00 0.00 0.000 6 0.000 0.000 2732 1910 3202 0 0 0 0 0 0

5685 -0.90 -145.9 816.6 -12.6 433 5686 0.00 0.00 0.00 0.000 6 0.000 0.000 2732 1910 3202 0 0 0 0 0 0

5994 -0.90 -145.9 856.9 -13.4 448 5998 0.00 0.70 0.00 0.000 4 0.000 0.051 2732 1456 3202 0 0 0 0 0 0

6065 -0.90 -145.9 866.8 -13.4 451 6070 0.00 0.70 0.00 0.000 6 0.000 0.031 2731 1934 3202 0 0 0 0 0 0

6393 -0.90 -145.9 910.3 -13.5 467 6394 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 1934 3203 0 0 0 0 0 0

6702 -0.90 -145.9 952.2 -13.4 482 6705 0.00 0.75 0.00 0.000 4 0.000 0.042 2727 2443 3203 0 0 0 0 0 0

6807 -0.90 -145.9 966.0 -12.2 486 6813 0.00 0.82 0.00 0.000 6 0.000 0.037 2727 1906 3203 0 0 0 0 0 0

6998 end dive: TARGET_DEPTH_EXCEEDED

state 6998 begin apogee

7002 -0.16 0.0 991.3 13.3 496 7133 0.93 0.00 128.02 1.652 6 0.181 0.000 2973 1820 2599 0 0 0 0 0 0

7134 end apogee: CONTROL_FINISHED_OK

state 7134 begin climb

7136 0.90 145.9 994.6 0.0 502 7282 1.12 1.25 139.20 1.546 4 0.105 0.053 3314 1116 2003 0 0 0 0 0 0

7433 0.90 145.9 949.5 18.1 516 7437 0.00 1.12 0.00 0.000 6 0.000 0.025 3314 1811 1997 0 0 0 0 0 0

7760 0.90 145.9 889.7 17.7 532 7764 0.00 1.27 0.00 0.000 4 0.000 0.052 3318 1062 1995 0 0 0 0 0 0

7904 0.90 145.9 863.1 18.6 538 7909 0.00 1.20 0.00 0.000 6 0.000 0.027 3318 1824 1994 0 0 0 0 0 0

8226 0.90 145.9 805.0 18.2 554 8230 0.00 1.45 0.00 0.000 4 0.000 0.053 3324 951 1994 0 0 0 0 0 0

8365 0.90 145.9 778.7 18.5 560 8370 0.00 1.35 0.00 0.000 6 0.000 0.026 3324 1825 1994 0 0 0 0 0 0

8693 0.90 145.9 719.3 18.0 576 8696 0.00 1.33 0.00 0.000 4 0.000 0.051 3329 1019 1994 0 0 0 0 0 0

8832 0.90 145.9 693.4 18.8 582 8836 0.00 1.23 0.00 0.000 6 0.000 0.027 3329 1824 1994 0 0 0 0 0 0

9159 0.90 145.9 632.9 18.8 598 9162 0.00 1.55 0.00 0.000 4 0.000 0.053 3335 884 1994 0 0 0 0 0 0

9294 0.90 145.9 606.7 19.2 604 9298 0.03 1.40 0.00 0.000 6 0.213 0.027 3328 1811 1994 0 0 0 0 0 0

9625 0.90 145.9 548.5 17.2 620 9629 0.00 0.57 0.00 0.000 4 0.000 0.047 3328 1444 1994 0 0 0 0 0 0

9882 0.90 145.9 504.8 16.9 631 9886 0.00 0.55 0.00 0.000 6 0.000 0.031 3328 1838 1994 0 0 0 0 0 0

10203 0.90 145.9 451.0 16.6 647 10207 0.00 1.73 0.00 0.000 4 0.000 0.054 3335 772 1994 0 0 0 0 0 0

10348 0.90 145.9 425.8 18.1 653 10352 0.00 1.55 0.00 0.000 6 0.000 0.027 3335 1797 1994 0 0 0 0 0 0

10677 0.90 145.9 371.8 17.0 677 10681 0.00 0.90 0.00 0.000 4 0.000 0.049 3338 1237 1994 0 0 0 0 0 0

10778 0.90 145.9 354.8 17.0 686 10782 0.03 0.85 0.00 0.000 6 0.200 0.028 3330 1813 1994 0 0 0 0 0 0

11112 0.90 145.9 304.3 15.7 717 11116 0.00 0.00 0.00 0.000 6 0.000 0.000 3330 1813 1994 0 0 0 0 0 0

11437 0.90 145.9 249.8 17.0 748 11438 0.00 0.00 0.00 0.000 6 0.000 0.000 3330 1813 1994 0 0 0 0 0 0

11755 0.90 145.9 196.3 15.8 778 11757 0.00 0.00 0.00 0.000 6 0.000 0.000 3330 1813 1994 0 0 0 0 0 0

12074 0.90 145.9 144.9 16.7 808 12078 0.00 0.57 0.00 0.000 4 0.000 0.050 3331 1451 1994 0 0 0 0 0 0

12335 0.90 145.9 103.8 15.4 831 12338 0.00 0.52 0.00 0.000 6 0.000 0.032 3331 1832 1995 0 0 0 0 0 0

12682 0.90 145.9 51.8 15.2 889 12687 0.00 0.47 0.00 0.000 4 0.000 0.049 3332 1521 1995 0 0 0 0 0 0

12931 0.90 145.9 14.5 15.7 932 12938 0.00 0.40 0.00 0.000 6 0.000 0.034 3332 1817 1995 0 0 0 0 0 0

12987 0.90 145.9 5.3 16.3 941 12994 0.00 0.00 0.00 0.000 6 0.000 0.000 3332 1827 1995 0 0 0 0 0 0

13000 end climb: SURFACE_DEPTH_REACHED

state 13001 begin surface coast

13020 end surface coast: CONTROL_FINISHED_OK

state 13020 begin surface

ID	574	HD_B	0.010078	ROLL_MIN	160	ALTIM_TOP_TURN_MARGIN	0
MISSION	8	HD_C	9.8500004e-06	ROLL_MAX	3798	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	32	HEADING	-1	ROLL_DEG	40	ALTIM_PING_DEPTH	1000
D_SURF	3	ESCAPE_HEADING	0	C_ROLL_DIVE	1910	ALTIM_PING_DELTA	5
D_FLARE	3	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1820	ALTIM_FREQUENCY	13
D_TGT	990	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	15	ALTIM_PULSE	3
D_ABORT	1020	TGT_DEFAULT_LAT	-4200	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
D_NO_BLEED	200	TGT_DEFAULT_LON	-900	ROLL_TIMEOUT	15	XPDR_VALID	5
D_BOOST	0	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	42	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	210	R_STBD_OVSHOOT	39	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST_BLACKOUT	0	N_FILEKB	4	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-1.812
D_FINISH	0	FILEMGR	0	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	KERMIT	0	ROLL_GAIN_P	0.5	DEVICE1	2
SURFACE_URGENCY	0	N_NOCOMM	1	VBD_MIN	396	DEVICE2	115
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE3	20
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	C_VBD	2600	DEVICE4	134
T_DIVE	350	CALL_TRIES	5	VBD_DBAND	2	DEVICE5	-1
T_MISSION	390	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE6	-1
T_ABORT	720	CAPUPLOAD	0	VBD_TIMEOUT	720	LOGGERS	7
T_TURN	225	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	4.9999999e-05	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	4	LOGGERDEVICE2	-1
T_NO_W	120	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE3	-1
T_LOITER	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_ALMANAC	0	UNCOM_BLEED	60	COMPASS_DEVICE	33
USE_ICE	0	T_GPS_CHARGE	-14911.121	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	CF8_MAXERRORS	20	PHONE_DEVICE	48
D_OFFGRID	100	STROBE	0	AH0_24V	150	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	RAFOS_DEVICE	-1
RELAUNCH	0	RAFOS_CORR_THRESH	60	MINV_24V	20	XPDR_DEVICE	24
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	8	SIM_W	0
MAX_BUOY	150	PITCH_MIN	92	FG_AHR_10V	0	SIM_PITCH	0
COURSE_BIAS	0	PITCH_MAX	3858	FG_AHR_24V	0	SEABIRD_T_G	0.0043017557
GLIDE_SLOPE	30	C_PITCH	3032	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062339538
SPEED_FACTOR	1	PITCH_DBAND	0.0099999998	PRESSURE_YINT	-58.423965	SEABIRD_T_I	2.3377639e-05
RHO	1.0278	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011710486	SEABIRD_T_J	2.5612862e-06
MASS	53599	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_C_G	-9.9136524
LENGTH	1.8	PITCH_GAIN	31	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1456692
NAV_MODE	1	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00078246131
DIRECT_CONTROL	0	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_J	0.00012677554
FERRY_MAX	45	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	EBE_ENABLE	0
KALMAN_USE	2	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	0	GC_WINDOW	20
HD_A	0.0038360001	PITCH_ADJ_DBAND	13	ALTIM_BOTTOM_TURN_MARGIN	20	GC_LAST_COLLECTION	11

GPS1	091213,171958,-5500.745,1.181,69,0.8,69,-20.3	TGT_NAME	SBY
_CALLS	1	TGT_LATLONG	-5500.000,0.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.93	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-74.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	091213,173010,-5500.739,1.281,23,0.9,23,-20.3	MHEAD_RNG_PITCHd_Wd	335.4,1930,-27.8,-9.429
SPEED_LIMITS	0.163,0.255	D_GRID	990

FINISH	1.9,1.027223	_10V_AH	10.1,31.996
SM_CCo	13037,55.08,1.052,0,0,1742,210.22	FG_AHR_24Vo	0.000
SM_GC	3.29,0.00,0.00,55.08,0.000,0.000,1.052,71,1948,1742,-9.23,1.07,210.22	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5438.56,0.00,091213,131330	MEM	354680
TT8_MAMPS	0.026964	DATA_FILE_SIZE	53489,946
HUMID	63.34	CAP_FILE_SIZE	117370,0
INTERNAL_PRESSURE	9.03803	CFSIZE	2097086464,2090762240
TCM_TEMP	4.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	091213,211004,-5459.286,-0.343,46,0.8,46,-20.2
_24V_AH	22.1,42.581

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	276	145.41	SBE_CT	676	24	358.66
Roll_motor	28	102	65.02	WL_BB2FLVMT	660	105	1532.45
VBD_pump_during_apogee	267	1652	9758.53	SBE_O2	637	19	267.49
VBD_pump_during_surface	55	1051	1280.30	QSP2150	57	4	5.55
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	65.53	nil	0	0	0.00
Iridium_during_connect	44	160	158.76	nil	0	0	0.00
Iridium_during_xfer	422	223	2083.69	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	26	7.12
TT8	2327	14	351.64
LPSleep	8163	2	180.57
TT8_Active	385	14	55.29
TT8_Sampling	2696	37	1019.34
TT8_CF8	135	47	64.64
TT8_Kalman	0	0	0.00
Analog_circuits	1346	12	163.21
GPS_charging	0	0	0.00
Compass	2170	15	344.87
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	23	begin dive
24	-0.90	-57.8	0.0	0.0	0	51	0.00	0.00	-25.10	0.000	2	0.000	0.000	67	1899	2199	0	0	0	0	0	0
54	-0.90	-141.7	3.1	-0.3	4	133	12.48	0.57	-58.35	0.000	4	0.276	0.101	2730	1538	3178	0	0	0	0	0	0
143	-0.90	-145.9	4.2	-7.5	18	151	0.00	0.57	-0.60	0.000	6	0.000	0.037	2728	1928	3194	0	0	0	0	0	0
200	-0.90	-145.9	14.6	-20.2	27	206	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	1928	3196	0	0	0	0	0	0
253	-0.90	-145.9	26.9	-22.1	36	259	0.00	0.00	0.00	0.000	6	0.000	0.000	2728	1929	3196	0	0	0	0	0	0
398	-0.90	-145.9	53.7	-19.2	61	403	0.00	0.52	0.00	0.000	4	0.000	0.044	2726	2298	3196	0	0	0	0	0	0
661	-0.90	-145.9	104.3	-19.2	105	665	0.00	0.57	0.00	0.000	6	0.000	0.041	2725	1909	3196	0	0	0	0	0	0
991	-0.90	-145.9	165.6	-17.1	136	993	0.05	0.00	0.00	0.000	6	0.264	0.000	2733	1908	3196	0	0	0	0	0	0
1310	-0.90	-145.9	215.9	-15.6	166	1311	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	1908	3196	0	0	0	0	0	0
1629	-0.90	-145.9	268.3	-16.6	196	1630	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	1908	3196	0	0	0	0	0	0
1948	-0.90	-145.9	316.4	-14.2	226	1951	0.00	0.43	0.00	0.000	4	0.000	0.038	2733	2227	3196	0	0	0	0	0	0
2133	-0.90	-145.9	341.7	-13.5	242	2139	0.00	0.47	0.00	0.000	6	0.000	0.041	2733	1906	3195	0	0	0	0	0	0
2462	-0.90	-145.9	388.3	-15.1	273	2467	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	1906	3196	0	0	0	0	0	0
2790	-0.90	-145.9	437.8	-15.7	293	2791	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	1906	3195	0	0	0	0	0	0
3099	-0.90	-145.9	485.8	-15.4	308	3100	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	1906	3196	0	0	0	0	0	0
3408	-0.90	-145.9	531.3	-14.4	323	3409	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	1905	3199	0	0	0	0	0	0
3718	-0.90	-145.9	573.4	-13.4	338	3719	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	1906	3200	0	0	0	0	0	0
4027	-0.90	-145.9	611.9	-12.0	353	4028	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	1905	3200	0	0	0	0	0	0
4336	-0.90	-145.9	649.1	-12.0	368	4340	0.00	0.55	0.00	0.000	4	0.000	0.037	2732	2296	3200	0	0	0	0	0	0
4436	-0.90	-145.9	660.8	-11.2	372	4440	0.00	0.57	0.00	0.000	6	0.000	0.040	2732	1911	3200	0	0	0	0	0	0
4757	-0.90	-145.9	698.6	-11.9	388	4758	0.00	0.00	0.00	0.000	6	0.000	0.000	2732	1910	3201	0	0	0	0	0	0
5066	-0.90	-145.9	736.1	-12.3	403	5067	0.00	0.00	0.00	0.000	6	0.000	0.000	2732	1910	3201	0	0	0	0	0	0
5376	-0.90	-145.9	776.0	-13.2	418	5377	0.00	0.00	0.00	0.000	6	0.000	0.000	2732	1910	3202	0	0	0	0	0	0
5685	-0.90	-145.9	816.6	-12.6	433	5686	0.00	0.00	0.00	0.000	6	0.000	0.000	2732	1910	3202	0	0	0	0	0	0
5994	-0.90	-145.9	856.9	-13.4	448	5998	0.00	0.70	0.00	0.000	4	0.000	0.051	2732	1456	3202	0	0	0	0	0	0
6065	-0.90	-145.9	866.8	-13.4	451	6070	0.00	0.70	0.00	0.000	6	0.000	0.031	2731	1934	3202	0	0	0	0	0	0
6393	-0.90	-145.9	910.3	-13.5	467	6394	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	1934	3203	0	0	0	0	0	0
6702	-0.90	-145.9	952.2	-13.4	482	6705	0.00	0.75	0.00	0.000	4	0.000	0.042	2727	2443	3203	0	0	0	0	0	0
6807	-0.90	-145.9	966.0	-12.2	486	6813	0.00	0.82	0.00	0.000	6	0.000	0.037	2727	1906	3203	0	0	0	0	0	0
6998	end dive: TARGET_DEPTH_EXCEEDED
state	6998	begin apogee
7002	-0.16	0.0	991.3	13.3	496	7133	0.93	0.00	128.02	1.652	6	0.181	0.000	2973	1820	2599	0	0	0	0	0	0
7134	end apogee: CONTROL_FINISHED_OK
state	7134	begin climb
7136	0.90	145.9	994.6	0.0	502	7282	1.12	1.25	139.20	1.546	4	0.105	0.053	3314	1116	2003	0	0	0	0	0	0
7433	0.90	145.9	949.5	18.1	516	7437	0.00	1.12	0.00	0.000	6	0.000	0.025	3314	1811	1997	0	0	0	0	0	0
7760	0.90	145.9	889.7	17.7	532	7764	0.00	1.27	0.00	0.000	4	0.000	0.052	3318	1062	1995	0	0	0	0	0	0
7904	0.90	145.9	863.1	18.6	538	7909	0.00	1.20	0.00	0.000	6	0.000	0.027	3318	1824	1994	0	0	0	0	0	0
8226	0.90	145.9	805.0	18.2	554	8230	0.00	1.45	0.00	0.000	4	0.000	0.053	3324	951	1994	0	0	0	0	0	0
8365	0.90	145.9	778.7	18.5	560	8370	0.00	1.35	0.00	0.000	6	0.000	0.026	3324	1825	1994	0	0	0	0	0	0
8693	0.90	145.9	719.3	18.0	576	8696	0.00	1.33	0.00	0.000	4	0.000	0.051	3329	1019	1994	0	0	0	0	0	0
8832	0.90	145.9	693.4	18.8	582	8836	0.00	1.23	0.00	0.000	6	0.000	0.027	3329	1824	1994	0	0	0	0	0	0
9159	0.90	145.9	632.9	18.8	598	9162	0.00	1.55	0.00	0.000	4	0.000	0.053	3335	884	1994	0	0	0	0	0	0
9294	0.90	145.9	606.7	19.2	604	9298	0.03	1.40	0.00	0.000	6	0.213	0.027	3328	1811	1994	0	0	0	0	0	0
9625	0.90	145.9	548.5	17.2	620	9629	0.00	0.57	0.00	0.000	4	0.000	0.047	3328	1444	1994	0	0	0	0	0	0
9882	0.90	145.9	504.8	16.9	631	9886	0.00	0.55	0.00	0.000	6	0.000	0.031	3328	1838	1994	0	0	0	0	0	0
10203	0.90	145.9	451.0	16.6	647	10207	0.00	1.73	0.00	0.000	4	0.000	0.054	3335	772	1994	0	0	0	0	0	0
10348	0.90	145.9	425.8	18.1	653	10352	0.00	1.55	0.00	0.000	6	0.000	0.027	3335	1797	1994	0	0	0	0	0	0
10677	0.90	145.9	371.8	17.0	677	10681	0.00	0.90	0.00	0.000	4	0.000	0.049	3338	1237	1994	0	0	0	0	0	0
10778	0.90	145.9	354.8	17.0	686	10782	0.03	0.85	0.00	0.000	6	0.200	0.028	3330	1813	1994	0	0	0	0	0	0
11112	0.90	145.9	304.3	15.7	717	11116	0.00	0.00	0.00	0.000	6	0.000	0.000	3330	1813	1994	0	0	0	0	0	0
11437	0.90	145.9	249.8	17.0	748	11438	0.00	0.00	0.00	0.000	6	0.000	0.000	3330	1813	1994	0	0	0	0	0	0
11755	0.90	145.9	196.3	15.8	778	11757	0.00	0.00	0.00	0.000	6	0.000	0.000	3330	1813	1994	0	0	0	0	0	0
12074	0.90	145.9	144.9	16.7	808	12078	0.00	0.57	0.00	0.000	4	0.000	0.050	3331	1451	1994	0	0	0	0	0	0
12335	0.90	145.9	103.8	15.4	831	12338	0.00	0.52	0.00	0.000	6	0.000	0.032	3331	1832	1995	0	0	0	0	0	0
12682	0.90	145.9	51.8	15.2	889	12687	0.00	0.47	0.00	0.000	4	0.000	0.049	3332	1521	1995	0	0	0	0	0	0
12931	0.90	145.9	14.5	15.7	932	12938	0.00	0.40	0.00	0.000	6	0.000	0.034	3332	1817	1995	0	0	0	0	0	0
12987	0.90	145.9	5.3	16.3	941	12994	0.00	0.00	0.00	0.000	6	0.000	0.000	3332	1827	1995	0	0	0	0	0	0
13000	end climb: SURFACE_DEPTH_REACHED
state	13001	begin surface coast
13020	end surface coast: CONTROL_FINISHED_OK
state	13020	begin surface