Glider dive log

SOSCEx 08Dec12 * SG543 * Dive index * Mission links * Dive 39 * 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 39 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 3353 ALTIM_PING_DELTA 15

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 3250 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 482.49722 R_PORT_OVSHOOT 50 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 29 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 0 VBD_TIMEOUT 800 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00061500003 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 60 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -7917.689 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 52459 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 482.49722

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 -7917.689

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

CAPUPLOAD 0 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 3250 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 50 VBD_MAX 3960

DEVICE2 101 MASS 52459 R_STBD_OVSHOOT 29 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 39 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 141212,232235,-4228.844,823.305,30,1.7,30,-25.0 TGT_NAME GH1

_CALLS 1 TGT_LATLONG -4230.000,820.000

_XMS_NAKs 0 TGT_RADIUS 800.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.134,0.080

_SM_DEPTHo 1.28 KALMAN_X -1108.0,180.0,387.9,30138.4,-3345.2

_SM_ANGLEo -34.3 KALMAN_Y 41480.9,664.6,147.6,-40046.3,-2905.5

GPS2 141212,233141,-4228.821,823.352,29,1.0,30,-25.0 MHEAD_RNG_PITCHd_Wd 325.9,5071,-27.1,-9.009

SPEED_LIMITS 0.156,0.284 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.9,1.015913 _10V_AH 10.1,4.442

SM_CCo 11560,166.45,0.747,1,0,504,482.50 FG_AHR_24Vo 0.000

SM_GC 1.42,0.00,0.00,166.45,0.000,0.000,0.747,59,3349,504,-4.97,-0.11,482.50 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4215.72,821.44,141212,191915 MEM 354304

TT8_MAMPS 0.026215 DATA_FILE_SIZE 43787,580

HUMID 53.50 CAP_FILE_SIZE 102497,0

INTERNAL_PRESSURE 8.93706 CFSIZE 259252224,256004096

TCM_TEMP 15.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,2

XPDR_PINGS 0 GPS 151212,024929,-4227.484,822.714,39,0.9,39,-25.0

_24V_AH 23.6,9.288

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 237 69.34 SBE_CT 378 24 214.36

Roll_motor 53 61 76.59 AA4330 1300 33 1012.51

VBD_pump_during_apogee 211 1194 5954.92 WL_BB2FLVMT 604 105 1497.91

VBD_pump_during_surface 166 746 2932.97 QSP2150 274 4 28.39

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 61.98 nil 0 0 0.00

Iridium_during_connect 45 160 172.03 nil 0 0 0.00

Iridium_during_xfer 313 223 1651.15 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 32 26 8.83

TT8 1517 14 229.31

LPSleep 7484 2 165.55

TT8_Active 474 14 68.14

TT8_Sampling 2114 37 799.45

TT8_CF8 689 47 328.40

TT8_Kalman 33 59 19.93

Analog_circuits 1280 12 155.16

GPS_charging 0 0 0.00

Compass 1869 15 297.07

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

19 -0.79 -53.9 0.0 0.0 0 111 0.00 0.00 -88.72 0.000 6 0.000 0.000 66 3367 2693 0 0 0 0 0 0

115 -0.82 -101.8 2.9 -3.6 11 135 5.38 2.20 -5.97 0.000 4 0.238 0.045 1385 1946 2891 0 0 0 0 0 0

254 -0.82 -101.8 21.1 -14.9 31 262 0.00 2.33 0.00 0.000 6 0.000 0.055 1376 3348 2892 0 0 0 0 0 0

336 -0.82 -101.8 35.5 -16.1 44 348 0.00 0.98 0.00 0.000 4 0.000 0.059 1371 3949 2892 0 0 0 0 0 0

612 -0.82 -101.8 86.9 -18.1 90 620 0.00 0.90 0.00 0.000 6 0.000 0.037 1371 3361 2893 0 0 0 0 0 0

954 -0.82 -101.8 138.7 -14.7 120 957 0.00 0.93 0.00 0.000 4 0.000 0.057 1367 3945 2893 0 0 0 0 0 0

1046 -0.82 -101.8 153.9 -16.2 125 1050 0.00 0.90 0.00 0.000 6 0.000 0.036 1367 3350 2893 0 0 0 0 0 0

1377 -0.82 -101.8 204.9 -14.8 146 1381 0.00 0.95 0.00 0.000 4 0.000 0.057 1363 3952 2894 0 0 0 0 0 0

1556 -0.82 -101.8 235.4 -17.8 156 1562 0.00 0.90 0.00 0.000 6 0.000 0.036 1363 3352 2894 0 0 0 0 0 0

1891 -0.82 -101.8 287.1 -16.1 174 1895 0.00 0.95 0.00 0.000 4 0.000 0.056 1358 3954 2894 0 0 0 0 0 0

2066 -0.82 -101.8 316.6 -17.0 181 2070 0.00 0.90 0.00 0.000 6 0.000 0.035 1358 3352 2894 0 0 0 0 0 0

2389 -0.82 -101.8 368.7 -16.4 197 2395 0.00 0.95 0.00 0.000 4 0.000 0.057 1354 3959 2894 0 0 0 0 0 0

2423 -0.82 -101.8 375.5 -18.0 198 2428 0.10 0.90 0.00 0.000 6 0.186 0.037 1381 3362 2894 0 0 0 0 0 0

2755 -0.82 -101.8 423.5 -14.2 212 2758 0.00 0.93 0.00 0.000 4 0.000 0.058 1378 3952 2894 0 0 0 0 0 0

2891 -0.82 -101.8 444.2 -15.6 216 2895 0.00 0.90 0.00 0.000 6 0.000 0.036 1378 3347 2894 0 0 0 0 0 0

3233 -0.82 -101.8 490.8 -13.0 227 3236 0.00 0.95 0.00 0.000 4 0.000 0.058 1374 3949 2894 0 0 0 0 0 0

3304 -0.82 -101.8 501.1 -13.6 229 3308 0.00 0.90 0.00 0.000 6 0.000 0.036 1374 3350 2894 0 0 0 0 0 0

3640 -0.82 -101.8 545.2 -13.3 240 3644 0.00 0.95 0.00 0.000 4 0.000 0.057 1369 3956 2894 0 0 0 0 0 0

3748 -0.82 -101.8 561.5 -15.6 243 3752 0.00 0.90 0.00 0.000 6 0.000 0.037 1369 3356 2894 0 0 0 0 0 0

4083 -0.82 -101.8 608.3 -14.1 254 4085 0.00 0.00 0.00 0.000 6 0.000 0.000 1370 3355 2893 0 0 0 0 0 0

4391 -0.82 -101.8 651.4 -14.2 264 4395 0.00 0.93 0.00 0.000 4 0.000 0.058 1365 3947 2893 0 0 0 0 0 0

4466 -0.82 -101.8 663.0 -15.0 266 4470 0.00 0.90 0.00 0.000 6 0.000 0.037 1365 3349 2893 0 0 0 0 0 0

4802 -0.82 -101.8 710.4 -13.7 277 4805 0.00 0.95 0.00 0.000 4 0.000 0.059 1361 3955 2892 0 0 0 0 0 0

4932 -0.82 -101.8 729.6 -15.3 280 4939 0.08 0.90 0.00 0.000 6 0.194 0.037 1381 3357 2892 0 0 0 0 0 0

5245 -0.82 -101.8 768.6 -12.2 291 5247 0.00 0.00 0.00 0.000 6 0.000 0.000 1381 3357 2891 0 0 0 0 0 0

5551 -0.82 -101.8 805.8 -11.9 301 5553 0.00 0.00 0.00 0.000 6 0.000 0.000 1381 3357 2890 0 0 0 0 0 0

5860 -0.82 -101.8 842.6 -11.8 311 5863 0.00 0.93 0.00 0.000 4 0.000 0.061 1378 3946 2889 0 0 0 0 0 0

6004 -0.82 -101.8 862.6 -14.4 315 6007 0.00 0.90 0.00 0.000 6 0.000 0.038 1377 3350 2889 0 0 0 0 0 0

6333 -0.82 -101.8 903.5 -12.7 326 6334 0.00 0.00 0.00 0.000 6 0.000 0.000 1378 3350 2888 0 0 0 0 0 0

6639 -0.82 -101.8 940.6 -12.0 336 6643 0.00 0.95 0.00 0.000 4 0.000 0.061 1373 3953 2887 0 0 0 0 0 0

6735 -0.82 -101.8 953.7 -13.7 338 6741 0.00 0.90 0.00 0.000 6 0.000 0.039 1374 3356 2887 0 0 0 0 0 0

7048 -0.82 -101.8 992.3 -12.1 349 7051 0.00 0.93 0.00 0.000 4 0.000 0.061 1369 3943 2886 0 0 0 0 0 0

7106 end dive: TARGET_DEPTH_EXCEEDED

state 7106 begin apogee

7114 -0.14 0.0 1000.7 14.4 350 7223 0.75 0.00 105.60 1.194 6 0.177 0.000 1589 3248 2473 0 0 0 0 0 0

7224 end apogee: CONTROL_FINISHED_OK

state 7224 begin climb

7227 0.82 101.8 1003.1 0.0 354 7342 0.95 2.33 105.70 1.170 4 0.088 0.035 1916 1833 2053 0 0 0 0 0 0

7365 0.82 101.8 980.8 21.3 358 7369 0.00 2.42 0.00 0.000 6 0.000 0.051 1916 3252 2044 0 0 0 0 0 0

7684 0.82 101.8 904.0 24.9 369 7687 0.00 1.15 0.00 0.000 4 0.000 0.054 1915 3954 2035 0 0 0 0 0 0

7806 0.82 101.8 870.9 26.3 372 7810 0.00 1.10 0.00 0.000 6 0.000 0.034 1919 3239 2035 0 0 0 0 0 0

8126 0.82 101.8 792.8 24.1 383 8129 0.00 1.15 0.00 0.000 4 0.000 0.055 1919 3949 2032 0 0 0 0 0 0

8257 0.82 101.8 758.9 25.4 386 8263 0.00 1.08 0.00 0.000 6 0.000 0.034 1923 3242 2032 0 0 0 0 0 0

8570 0.82 101.8 684.3 23.5 397 8576 0.00 1.15 0.00 0.000 4 0.000 0.055 1923 3957 2030 0 0 0 0 0 0

8666 0.82 101.8 660.4 24.3 399 8674 0.00 1.08 0.00 0.000 6 0.000 0.033 1927 3245 2030 0 0 0 0 0 0

8979 0.82 101.8 589.1 22.7 410 8985 0.00 1.15 0.00 0.000 4 0.000 0.054 1927 3961 2029 0 0 0 0 0 0

9041 0.82 101.8 573.1 25.3 411 9048 0.00 1.08 0.00 0.000 6 0.000 0.033 1931 3245 2028 0 0 0 0 0 0

9356 0.82 101.8 502.2 23.2 422 9359 0.00 1.12 0.00 0.000 4 0.000 0.055 1931 3947 2028 0 0 0 0 0 0

9540 0.82 101.8 455.3 25.6 427 9543 0.00 1.05 0.00 0.000 6 0.000 0.034 1936 3245 2028 0 0 0 0 0 0

9868 0.82 101.8 378.4 24.1 439 9872 0.00 1.12 0.00 0.000 4 0.000 0.055 1936 3949 2027 0 0 0 0 0 0

9963 0.82 101.8 354.6 26.2 443 9967 0.00 1.05 0.00 0.000 6 0.000 0.033 1941 3247 2027 0 0 0 0 0 0

10298 0.82 101.8 275.4 22.9 459 10304 0.00 1.12 0.00 0.000 4 0.000 0.054 1941 3954 2026 0 0 0 0 0 0

10387 0.82 101.8 253.0 24.9 462 10396 0.10 1.05 0.00 0.000 6 0.222 0.033 1921 3248 2027 0 0 0 0 0 0

10718 0.82 101.8 181.5 21.6 483 10722 0.00 1.12 0.00 0.000 4 0.000 0.053 1920 3959 2026 0 0 0 0 0 0

10797 0.82 101.8 161.0 24.8 487 10803 0.00 1.05 0.00 0.000 6 0.000 0.032 1924 3253 2026 0 0 0 0 0 0

11120 0.82 101.8 89.7 22.1 512 11127 0.00 0.00 0.00 0.000 6 0.000 0.000 1924 3253 2026 0 0 0 0 0 0

11495 0.82 101.8 10.9 19.6 573 11503 0.00 1.10 0.00 0.000 4 0.000 0.050 1924 3951 2026 0 0 0 0 0 0

11531 end climb: SURFACE_DEPTH_REACHED

state 11531 begin surface coast

11544 end surface coast: CONTROL_FINISHED_OK

state 11544 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	39	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	3353	ALTIM_PING_DELTA	15
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	3250	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	482.49722	R_PORT_OVSHOOT	50	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	29	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	0	VBD_TIMEOUT	800	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00061500003	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	60	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-7917.689	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	52459	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	141212,232235,-4228.844,823.305,30,1.7,30,-25.0	TGT_NAME	GH1
_CALLS	1	TGT_LATLONG	-4230.000,820.000
_XMS_NAKs	0	TGT_RADIUS	800.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.134,0.080
_SM_DEPTHo	1.28	KALMAN_X	-1108.0,180.0,387.9,30138.4,-3345.2
_SM_ANGLEo	-34.3	KALMAN_Y	41480.9,664.6,147.6,-40046.3,-2905.5
GPS2	141212,233141,-4228.821,823.352,29,1.0,30,-25.0	MHEAD_RNG_PITCHd_Wd	325.9,5071,-27.1,-9.009
SPEED_LIMITS	0.156,0.284	D_GRID	1000

FINISH	0.9,1.015913	_10V_AH	10.1,4.442
SM_CCo	11560,166.45,0.747,1,0,504,482.50	FG_AHR_24Vo	0.000
SM_GC	1.42,0.00,0.00,166.45,0.000,0.000,0.747,59,3349,504,-4.97,-0.11,482.50	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4215.72,821.44,141212,191915	MEM	354304
TT8_MAMPS	0.026215	DATA_FILE_SIZE	43787,580
HUMID	53.50	CAP_FILE_SIZE	102497,0
INTERNAL_PRESSURE	8.93706	CFSIZE	259252224,256004096
TCM_TEMP	15.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
XPDR_PINGS	0	GPS	151212,024929,-4227.484,822.714,39,0.9,39,-25.0
_24V_AH	23.6,9.288

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	237	69.34	SBE_CT	378	24	214.36
Roll_motor	53	61	76.59	AA4330	1300	33	1012.51
VBD_pump_during_apogee	211	1194	5954.92	WL_BB2FLVMT	604	105	1497.91
VBD_pump_during_surface	166	746	2932.97	QSP2150	274	4	28.39
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	61.98	nil	0	0	0.00
Iridium_during_connect	45	160	172.03	nil	0	0	0.00
Iridium_during_xfer	313	223	1651.15	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	32	26	8.83
TT8	1517	14	229.31
LPSleep	7484	2	165.55
TT8_Active	474	14	68.14
TT8_Sampling	2114	37	799.45
TT8_CF8	689	47	328.40
TT8_Kalman	33	59	19.93
Analog_circuits	1280	12	155.16
GPS_charging	0	0	0.00
Compass	1869	15	297.07
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
19	-0.79	-53.9	0.0	0.0	0	111	0.00	0.00	-88.72	0.000	6	0.000	0.000	66	3367	2693	0	0	0	0	0	0
115	-0.82	-101.8	2.9	-3.6	11	135	5.38	2.20	-5.97	0.000	4	0.238	0.045	1385	1946	2891	0	0	0	0	0	0
254	-0.82	-101.8	21.1	-14.9	31	262	0.00	2.33	0.00	0.000	6	0.000	0.055	1376	3348	2892	0	0	0	0	0	0
336	-0.82	-101.8	35.5	-16.1	44	348	0.00	0.98	0.00	0.000	4	0.000	0.059	1371	3949	2892	0	0	0	0	0	0
612	-0.82	-101.8	86.9	-18.1	90	620	0.00	0.90	0.00	0.000	6	0.000	0.037	1371	3361	2893	0	0	0	0	0	0
954	-0.82	-101.8	138.7	-14.7	120	957	0.00	0.93	0.00	0.000	4	0.000	0.057	1367	3945	2893	0	0	0	0	0	0
1046	-0.82	-101.8	153.9	-16.2	125	1050	0.00	0.90	0.00	0.000	6	0.000	0.036	1367	3350	2893	0	0	0	0	0	0
1377	-0.82	-101.8	204.9	-14.8	146	1381	0.00	0.95	0.00	0.000	4	0.000	0.057	1363	3952	2894	0	0	0	0	0	0
1556	-0.82	-101.8	235.4	-17.8	156	1562	0.00	0.90	0.00	0.000	6	0.000	0.036	1363	3352	2894	0	0	0	0	0	0
1891	-0.82	-101.8	287.1	-16.1	174	1895	0.00	0.95	0.00	0.000	4	0.000	0.056	1358	3954	2894	0	0	0	0	0	0
2066	-0.82	-101.8	316.6	-17.0	181	2070	0.00	0.90	0.00	0.000	6	0.000	0.035	1358	3352	2894	0	0	0	0	0	0
2389	-0.82	-101.8	368.7	-16.4	197	2395	0.00	0.95	0.00	0.000	4	0.000	0.057	1354	3959	2894	0	0	0	0	0	0
2423	-0.82	-101.8	375.5	-18.0	198	2428	0.10	0.90	0.00	0.000	6	0.186	0.037	1381	3362	2894	0	0	0	0	0	0
2755	-0.82	-101.8	423.5	-14.2	212	2758	0.00	0.93	0.00	0.000	4	0.000	0.058	1378	3952	2894	0	0	0	0	0	0
2891	-0.82	-101.8	444.2	-15.6	216	2895	0.00	0.90	0.00	0.000	6	0.000	0.036	1378	3347	2894	0	0	0	0	0	0
3233	-0.82	-101.8	490.8	-13.0	227	3236	0.00	0.95	0.00	0.000	4	0.000	0.058	1374	3949	2894	0	0	0	0	0	0
3304	-0.82	-101.8	501.1	-13.6	229	3308	0.00	0.90	0.00	0.000	6	0.000	0.036	1374	3350	2894	0	0	0	0	0	0
3640	-0.82	-101.8	545.2	-13.3	240	3644	0.00	0.95	0.00	0.000	4	0.000	0.057	1369	3956	2894	0	0	0	0	0	0
3748	-0.82	-101.8	561.5	-15.6	243	3752	0.00	0.90	0.00	0.000	6	0.000	0.037	1369	3356	2894	0	0	0	0	0	0
4083	-0.82	-101.8	608.3	-14.1	254	4085	0.00	0.00	0.00	0.000	6	0.000	0.000	1370	3355	2893	0	0	0	0	0	0
4391	-0.82	-101.8	651.4	-14.2	264	4395	0.00	0.93	0.00	0.000	4	0.000	0.058	1365	3947	2893	0	0	0	0	0	0
4466	-0.82	-101.8	663.0	-15.0	266	4470	0.00	0.90	0.00	0.000	6	0.000	0.037	1365	3349	2893	0	0	0	0	0	0
4802	-0.82	-101.8	710.4	-13.7	277	4805	0.00	0.95	0.00	0.000	4	0.000	0.059	1361	3955	2892	0	0	0	0	0	0
4932	-0.82	-101.8	729.6	-15.3	280	4939	0.08	0.90	0.00	0.000	6	0.194	0.037	1381	3357	2892	0	0	0	0	0	0
5245	-0.82	-101.8	768.6	-12.2	291	5247	0.00	0.00	0.00	0.000	6	0.000	0.000	1381	3357	2891	0	0	0	0	0	0
5551	-0.82	-101.8	805.8	-11.9	301	5553	0.00	0.00	0.00	0.000	6	0.000	0.000	1381	3357	2890	0	0	0	0	0	0
5860	-0.82	-101.8	842.6	-11.8	311	5863	0.00	0.93	0.00	0.000	4	0.000	0.061	1378	3946	2889	0	0	0	0	0	0
6004	-0.82	-101.8	862.6	-14.4	315	6007	0.00	0.90	0.00	0.000	6	0.000	0.038	1377	3350	2889	0	0	0	0	0	0
6333	-0.82	-101.8	903.5	-12.7	326	6334	0.00	0.00	0.00	0.000	6	0.000	0.000	1378	3350	2888	0	0	0	0	0	0
6639	-0.82	-101.8	940.6	-12.0	336	6643	0.00	0.95	0.00	0.000	4	0.000	0.061	1373	3953	2887	0	0	0	0	0	0
6735	-0.82	-101.8	953.7	-13.7	338	6741	0.00	0.90	0.00	0.000	6	0.000	0.039	1374	3356	2887	0	0	0	0	0	0
7048	-0.82	-101.8	992.3	-12.1	349	7051	0.00	0.93	0.00	0.000	4	0.000	0.061	1369	3943	2886	0	0	0	0	0	0
7106	end dive: TARGET_DEPTH_EXCEEDED
state	7106	begin apogee
7114	-0.14	0.0	1000.7	14.4	350	7223	0.75	0.00	105.60	1.194	6	0.177	0.000	1589	3248	2473	0	0	0	0	0	0
7224	end apogee: CONTROL_FINISHED_OK
state	7224	begin climb
7227	0.82	101.8	1003.1	0.0	354	7342	0.95	2.33	105.70	1.170	4	0.088	0.035	1916	1833	2053	0	0	0	0	0	0
7365	0.82	101.8	980.8	21.3	358	7369	0.00	2.42	0.00	0.000	6	0.000	0.051	1916	3252	2044	0	0	0	0	0	0
7684	0.82	101.8	904.0	24.9	369	7687	0.00	1.15	0.00	0.000	4	0.000	0.054	1915	3954	2035	0	0	0	0	0	0
7806	0.82	101.8	870.9	26.3	372	7810	0.00	1.10	0.00	0.000	6	0.000	0.034	1919	3239	2035	0	0	0	0	0	0
8126	0.82	101.8	792.8	24.1	383	8129	0.00	1.15	0.00	0.000	4	0.000	0.055	1919	3949	2032	0	0	0	0	0	0
8257	0.82	101.8	758.9	25.4	386	8263	0.00	1.08	0.00	0.000	6	0.000	0.034	1923	3242	2032	0	0	0	0	0	0
8570	0.82	101.8	684.3	23.5	397	8576	0.00	1.15	0.00	0.000	4	0.000	0.055	1923	3957	2030	0	0	0	0	0	0
8666	0.82	101.8	660.4	24.3	399	8674	0.00	1.08	0.00	0.000	6	0.000	0.033	1927	3245	2030	0	0	0	0	0	0
8979	0.82	101.8	589.1	22.7	410	8985	0.00	1.15	0.00	0.000	4	0.000	0.054	1927	3961	2029	0	0	0	0	0	0
9041	0.82	101.8	573.1	25.3	411	9048	0.00	1.08	0.00	0.000	6	0.000	0.033	1931	3245	2028	0	0	0	0	0	0
9356	0.82	101.8	502.2	23.2	422	9359	0.00	1.12	0.00	0.000	4	0.000	0.055	1931	3947	2028	0	0	0	0	0	0
9540	0.82	101.8	455.3	25.6	427	9543	0.00	1.05	0.00	0.000	6	0.000	0.034	1936	3245	2028	0	0	0	0	0	0
9868	0.82	101.8	378.4	24.1	439	9872	0.00	1.12	0.00	0.000	4	0.000	0.055	1936	3949	2027	0	0	0	0	0	0
9963	0.82	101.8	354.6	26.2	443	9967	0.00	1.05	0.00	0.000	6	0.000	0.033	1941	3247	2027	0	0	0	0	0	0
10298	0.82	101.8	275.4	22.9	459	10304	0.00	1.12	0.00	0.000	4	0.000	0.054	1941	3954	2026	0	0	0	0	0	0
10387	0.82	101.8	253.0	24.9	462	10396	0.10	1.05	0.00	0.000	6	0.222	0.033	1921	3248	2027	0	0	0	0	0	0
10718	0.82	101.8	181.5	21.6	483	10722	0.00	1.12	0.00	0.000	4	0.000	0.053	1920	3959	2026	0	0	0	0	0	0
10797	0.82	101.8	161.0	24.8	487	10803	0.00	1.05	0.00	0.000	6	0.000	0.032	1924	3253	2026	0	0	0	0	0	0
11120	0.82	101.8	89.7	22.1	512	11127	0.00	0.00	0.00	0.000	6	0.000	0.000	1924	3253	2026	0	0	0	0	0	0
11495	0.82	101.8	10.9	19.6	573	11503	0.00	1.10	0.00	0.000	4	0.000	0.050	1924	3951	2026	0	0	0	0	0	0
11531	end climb: SURFACE_DEPTH_REACHED
state	11531	begin surface coast
11544	end surface coast: CONTROL_FINISHED_OK
state	11544	begin surface