Glider dive log

SOSCEx 08Dec12 * SG543 * Dive index * Mission links * Dive 40 * 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 40 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 51 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 20 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 -7921.0708 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 -7921.0708

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 51 VBD_MAX 3960

DEVICE2 101 MASS 52459 R_STBD_OVSHOOT 20 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 40 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 151212,024929,-4227.484,822.714,39,0.9,39,-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 -0.209,-0.108

_SM_DEPTHo 1.29 KALMAN_X 2051.8,-237.3,471.4,26495.0,886.5

_SM_ANGLEo -36.3 KALMAN_Y 42453.4,631.9,424.2,-38714.9,-2321.1

GPS2 151212,025729,-4227.440,822.758,16,1.5,17,-25.0 MHEAD_RNG_PITCHd_Wd 267.6,6055,-17.2,-9.009

SPEED_LIMITS 0.156,0.284 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.0,1.026252 _10V_AH 10.1,4.545

SM_CCo 12879,123.07,0.748,1,0,505,482.50 FG_AHR_24Vo 0.000

SM_GC 1.36,0.00,0.00,123.07,0.000,0.000,0.748,57,3362,505,-4.98,0.25,482.50 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4215.72,826.79,141212,232336 MEM 354228

TT8_MAMPS 0.025466 DATA_FILE_SIZE 47065,636

HUMID 54.68 CAP_FILE_SIZE 122145,0

INTERNAL_PRESSURE 8.93706 CFSIZE 259252224,255930368

TCM_TEMP 15.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,2

XPDR_PINGS 0 GPS 151212,063634,-4226.264,820.512,41,1.2,41,-24.9

_24V_AH 23.3,9.461

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 236 66.92 SBE_CT 414 24 231.60

Roll_motor 80 78 146.97 AA4330 1396 33 1073.86

VBD_pump_during_apogee 390 1192 10857.62 WL_BB2FLVMT 644 105 1575.55

VBD_pump_during_surface 123 748 2145.49 QSP2150 283 4 28.92

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 63.66 nil 0 0 0.00

Iridium_during_connect 21 160 79.25 nil 0 0 0.00

Iridium_during_xfer 282 223 1466.46 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 26 5.22

TT8 1724 14 260.57

LPSleep 7869 2 174.07

TT8_Active 570 14 81.81

TT8_Sampling 2530 37 956.74

TT8_CF8 793 47 378.20

TT8_Kalman 33 59 19.93

Analog_circuits 1619 12 196.34

GPS_charging 0 0 0.00

Compass 2335 15 371.11

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 17 begin dive

20 -0.56 -126.4 0.0 0.0 0 119 0.00 0.00 -97.20 0.000 2 0.000 0.000 58 3349 2943 0 0 0 0 0 0

123 -0.60 -194.7 3.2 -3.6 12 143 5.65 2.22 -8.02 0.000 4 0.236 0.048 1449 1950 3270 0 0 0 0 0 0

165 -0.60 -194.7 12.3 -20.2 17 176 0.00 2.35 0.00 0.000 6 0.000 0.060 1440 3345 3272 0 0 0 0 0 0

260 -0.60 -194.7 26.4 -16.1 30 269 0.00 1.00 0.00 0.000 4 0.000 0.060 1434 3957 3272 0 0 0 0 0 0

445 -0.60 -194.7 58.0 -15.7 60 456 0.00 0.93 0.00 0.000 6 0.000 0.036 1435 3354 3273 0 0 0 0 0 0

691 -0.60 -194.7 96.2 -15.2 101 697 0.00 0.98 0.00 0.000 4 0.000 0.060 1430 3958 3273 0 0 0 0 0 0

882 -0.60 -194.7 127.3 -16.5 114 890 0.00 0.93 0.00 0.000 6 0.000 0.036 1430 3349 3274 0 0 0 0 0 0

1203 -0.60 -194.7 176.3 -15.3 135 1209 0.00 0.98 0.00 0.000 4 0.000 0.060 1426 3961 3274 0 0 0 0 0 0

1439 -0.60 -194.7 215.3 -16.0 148 1445 0.08 0.93 0.00 0.000 6 0.158 0.036 1449 3349 3274 0 0 0 0 0 0

1766 -0.60 -194.7 257.9 -12.6 168 1770 0.00 0.95 0.00 0.000 4 0.000 0.060 1446 3951 3274 0 0 0 0 0 0

1990 -0.60 -194.7 288.4 -13.0 177 1997 0.00 0.90 0.00 0.000 6 0.000 0.036 1445 3352 3274 0 0 0 0 0 0

2308 -0.60 -194.7 327.2 -12.1 193 2314 0.00 0.95 0.00 0.000 4 0.000 0.060 1441 3955 3274 0 0 0 0 0 0

2497 -0.60 -194.7 351.5 -12.4 201 2501 0.00 0.90 0.00 0.000 6 0.000 0.037 1441 3356 3274 0 0 0 0 0 0

2826 -0.60 -194.7 389.2 -11.5 217 2832 0.00 0.95 0.00 0.000 4 0.000 0.060 1437 3954 3274 0 0 0 0 0 0

3048 -0.60 -194.7 418.2 -12.9 225 3051 0.00 0.90 0.00 0.000 6 0.000 0.037 1437 3354 3274 0 0 0 0 0 0

3372 -0.60 -194.7 459.4 -12.9 236 3376 0.00 0.95 0.00 0.000 4 0.000 0.060 1433 3956 3274 0 0 0 0 0 0

3629 -0.60 -194.7 497.0 -15.0 243 3633 0.00 0.90 0.00 0.000 6 0.000 0.037 1432 3358 3274 0 0 0 0 0 0

3947 -0.60 -194.7 539.9 -13.5 254 3951 0.00 0.95 0.00 0.000 4 0.000 0.060 1428 3960 3273 0 0 0 0 0 0

4162 -0.60 -194.7 570.6 -13.9 260 4166 0.00 0.90 0.00 0.000 6 0.000 0.037 1428 3355 3273 0 0 0 0 0 0

4492 -0.60 -194.7 614.6 -13.4 271 4495 0.00 0.95 0.00 0.000 4 0.000 0.060 1423 3956 3272 0 0 0 0 0 0

4667 -0.60 -194.7 638.9 -13.9 276 4672 0.08 0.90 0.00 0.000 6 0.157 0.037 1448 3356 3272 0 0 0 0 0 0

5003 -0.60 -194.7 675.3 -10.6 287 5006 0.00 0.95 0.00 0.000 4 0.000 0.062 1445 3955 3272 0 0 0 0 0 0

5227 -0.60 -194.7 701.9 -12.0 293 5232 0.00 0.90 0.00 0.000 6 0.000 0.038 1445 3355 3271 0 0 0 0 0 0

5546 -0.60 -194.7 738.9 -11.5 304 5552 0.00 0.95 0.00 0.000 4 0.000 0.063 1440 3955 3270 0 0 0 0 0 0

5700 -0.60 -194.7 757.7 -12.4 308 5703 0.00 0.90 0.00 0.000 6 0.000 0.038 1440 3358 3270 0 0 0 0 0 0

6024 -0.60 -194.7 794.5 -11.4 319 6028 0.00 0.95 0.00 0.000 4 0.000 0.063 1436 3956 3269 0 0 0 0 0 0

6196 -0.60 -194.7 814.1 -10.9 324 6201 0.00 0.90 0.00 0.000 6 0.000 0.039 1436 3355 3268 0 0 0 0 0 0

6539 -0.60 -194.7 850.2 -10.4 335 6543 0.00 0.95 0.00 0.000 4 0.000 0.063 1432 3953 3268 0 0 0 0 0 0

6770 -0.60 -194.7 876.2 -12.0 341 6777 0.00 0.90 0.00 0.000 6 0.000 0.039 1431 3355 3267 0 0 0 0 0 0

7084 -0.60 -194.7 909.7 -10.7 352 7089 0.00 0.95 0.00 0.000 4 0.000 0.063 1427 3955 3267 0 0 0 0 0 0

7244 -0.60 -194.7 928.5 -12.0 356 7248 0.00 0.93 0.00 0.000 6 0.000 0.039 1427 3343 3267 0 0 0 0 0 0

7563 -0.60 -194.7 965.5 -11.5 367 7567 0.00 0.98 0.00 0.000 4 0.000 0.063 1422 3955 3266 0 0 0 0 0 0

7800 -0.60 -194.7 995.5 -12.3 374 7805 0.08 0.90 0.00 0.000 6 0.154 0.040 1447 3357 3265 0 0 0 0 0 0

7863 end dive: TARGET_DEPTH_EXCEEDED

state 7863 begin apogee

7870 -0.14 0.0 1002.5 10.0 376 8069 0.50 0.00 195.48 1.193 6 0.135 0.000 1604 3246 2473 0 0 0 0 0 0

8070 end apogee: CONTROL_FINISHED_OK

state 8070 begin climb

8073 0.60 194.7 1009.1 0.0 382 8275 0.65 1.25 195.25 1.143 4 0.054 0.053 1846 3962 1674 0 0 0 0 0 0

8298 0.60 194.7 972.1 22.2 389 8302 0.00 1.17 0.00 0.000 6 0.000 0.032 1851 3243 1659 0 0 0 0 0 0

8628 0.60 194.7 899.8 21.7 400 8632 0.00 2.25 0.00 0.000 4 0.000 0.039 1862 1832 1651 0 0 0 0 0 0

8758 0.60 194.7 875.9 17.7 404 8762 0.00 2.38 0.00 0.000 6 0.000 0.052 1862 3268 1649 0 0 0 0 0 0

9093 0.60 194.7 800.6 22.7 415 9099 0.00 2.28 0.00 0.000 4 0.000 0.039 1873 1833 1648 0 0 0 0 0 0

9200 0.60 194.7 779.4 19.1 418 9204 0.00 2.33 0.00 0.000 6 0.000 0.052 1873 3263 1647 0 0 0 0 0 0

9530 0.60 194.7 702.1 23.9 429 9534 0.00 2.20 0.00 0.000 4 0.000 0.037 1883 1832 1648 0 0 0 0 0 0

9626 0.60 194.7 682.0 20.3 432 9632 0.12 2.30 0.00 0.000 6 0.168 0.051 1847 3244 1646 0 0 0 0 0 0

9969 0.60 194.7 608.2 21.3 443 9973 0.00 2.17 0.00 0.000 4 0.000 0.034 1856 1829 1646 0 0 0 0 0 0

10001 0.60 194.7 601.2 19.5 444 10005 0.00 2.28 0.00 0.000 6 0.000 0.050 1856 3250 1645 0 0 0 0 0 0

10331 0.60 194.7 529.2 22.1 455 10335 0.00 2.17 0.00 0.000 4 0.000 0.035 1867 1824 1645 0 0 0 0 0 0

10427 0.60 194.7 510.6 18.3 458 10433 0.00 2.30 0.00 0.000 6 0.000 0.050 1867 3248 1645 0 0 0 0 0 0

10770 0.60 194.7 431.2 23.0 469 10773 0.00 2.15 0.00 0.000 4 0.000 0.036 1877 1837 1645 0 0 0 0 0 0

10838 0.60 194.7 417.3 20.0 471 10843 0.12 2.25 0.00 0.000 6 0.197 0.050 1848 3254 1644 0 0 0 0 0 0

11172 0.60 194.7 346.4 21.0 486 11176 0.00 2.17 0.00 0.000 4 0.000 0.035 1858 1824 1644 0 0 0 0 0 0

11251 0.60 194.7 331.7 16.2 489 11258 0.00 2.25 0.00 0.000 6 0.000 0.050 1858 3250 1644 0 0 0 0 0 0

11569 0.60 194.7 263.4 22.3 505 11575 0.00 2.17 0.00 0.000 4 0.000 0.035 1869 1831 1644 0 0 0 0 0 0

11677 0.60 194.7 242.6 17.0 510 11683 0.00 2.28 0.00 0.000 6 0.000 0.050 1869 3249 1644 0 0 0 0 0 0

12005 0.60 194.7 169.4 23.3 531 12011 0.00 2.17 0.00 0.000 4 0.000 0.035 1879 1834 1644 0 0 0 0 0 0

12116 0.60 194.7 148.5 17.6 537 12121 0.12 2.25 0.00 0.000 6 0.193 0.050 1850 3256 1644 0 0 0 0 0 0

12450 0.60 194.7 78.9 20.8 569 12454 0.00 2.15 0.00 0.000 4 0.000 0.034 1859 1834 1644 0 0 0 0 0 0

12557 0.60 194.7 60.4 15.7 587 12564 0.00 2.25 0.00 0.000 6 0.000 0.049 1859 3244 1644 0 0 0 0 0 0

12843 end climb: SURFACE_DEPTH_REACHED

state 12843 begin surface coast

12863 end surface coast: CONTROL_FINISHED_OK

state 12863 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	40	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	51	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	20	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	-7921.0708	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	151212,024929,-4227.484,822.714,39,0.9,39,-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	-0.209,-0.108
_SM_DEPTHo	1.29	KALMAN_X	2051.8,-237.3,471.4,26495.0,886.5
_SM_ANGLEo	-36.3	KALMAN_Y	42453.4,631.9,424.2,-38714.9,-2321.1
GPS2	151212,025729,-4227.440,822.758,16,1.5,17,-25.0	MHEAD_RNG_PITCHd_Wd	267.6,6055,-17.2,-9.009
SPEED_LIMITS	0.156,0.284	D_GRID	1000

FINISH	1.0,1.026252	_10V_AH	10.1,4.545
SM_CCo	12879,123.07,0.748,1,0,505,482.50	FG_AHR_24Vo	0.000
SM_GC	1.36,0.00,0.00,123.07,0.000,0.000,0.748,57,3362,505,-4.98,0.25,482.50	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4215.72,826.79,141212,232336	MEM	354228
TT8_MAMPS	0.025466	DATA_FILE_SIZE	47065,636
HUMID	54.68	CAP_FILE_SIZE	122145,0
INTERNAL_PRESSURE	8.93706	CFSIZE	259252224,255930368
TCM_TEMP	15.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
XPDR_PINGS	0	GPS	151212,063634,-4226.264,820.512,41,1.2,41,-24.9
_24V_AH	23.3,9.461

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	236	66.92	SBE_CT	414	24	231.60
Roll_motor	80	78	146.97	AA4330	1396	33	1073.86
VBD_pump_during_apogee	390	1192	10857.62	WL_BB2FLVMT	644	105	1575.55
VBD_pump_during_surface	123	748	2145.49	QSP2150	283	4	28.92
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	63.66	nil	0	0	0.00
Iridium_during_connect	21	160	79.25	nil	0	0	0.00
Iridium_during_xfer	282	223	1466.46	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	26	5.22
TT8	1724	14	260.57
LPSleep	7869	2	174.07
TT8_Active	570	14	81.81
TT8_Sampling	2530	37	956.74
TT8_CF8	793	47	378.20
TT8_Kalman	33	59	19.93
Analog_circuits	1619	12	196.34
GPS_charging	0	0	0.00
Compass	2335	15	371.11
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	17	begin dive
20	-0.56	-126.4	0.0	0.0	0	119	0.00	0.00	-97.20	0.000	2	0.000	0.000	58	3349	2943	0	0	0	0	0	0
123	-0.60	-194.7	3.2	-3.6	12	143	5.65	2.22	-8.02	0.000	4	0.236	0.048	1449	1950	3270	0	0	0	0	0	0
165	-0.60	-194.7	12.3	-20.2	17	176	0.00	2.35	0.00	0.000	6	0.000	0.060	1440	3345	3272	0	0	0	0	0	0
260	-0.60	-194.7	26.4	-16.1	30	269	0.00	1.00	0.00	0.000	4	0.000	0.060	1434	3957	3272	0	0	0	0	0	0
445	-0.60	-194.7	58.0	-15.7	60	456	0.00	0.93	0.00	0.000	6	0.000	0.036	1435	3354	3273	0	0	0	0	0	0
691	-0.60	-194.7	96.2	-15.2	101	697	0.00	0.98	0.00	0.000	4	0.000	0.060	1430	3958	3273	0	0	0	0	0	0
882	-0.60	-194.7	127.3	-16.5	114	890	0.00	0.93	0.00	0.000	6	0.000	0.036	1430	3349	3274	0	0	0	0	0	0
1203	-0.60	-194.7	176.3	-15.3	135	1209	0.00	0.98	0.00	0.000	4	0.000	0.060	1426	3961	3274	0	0	0	0	0	0
1439	-0.60	-194.7	215.3	-16.0	148	1445	0.08	0.93	0.00	0.000	6	0.158	0.036	1449	3349	3274	0	0	0	0	0	0
1766	-0.60	-194.7	257.9	-12.6	168	1770	0.00	0.95	0.00	0.000	4	0.000	0.060	1446	3951	3274	0	0	0	0	0	0
1990	-0.60	-194.7	288.4	-13.0	177	1997	0.00	0.90	0.00	0.000	6	0.000	0.036	1445	3352	3274	0	0	0	0	0	0
2308	-0.60	-194.7	327.2	-12.1	193	2314	0.00	0.95	0.00	0.000	4	0.000	0.060	1441	3955	3274	0	0	0	0	0	0
2497	-0.60	-194.7	351.5	-12.4	201	2501	0.00	0.90	0.00	0.000	6	0.000	0.037	1441	3356	3274	0	0	0	0	0	0
2826	-0.60	-194.7	389.2	-11.5	217	2832	0.00	0.95	0.00	0.000	4	0.000	0.060	1437	3954	3274	0	0	0	0	0	0
3048	-0.60	-194.7	418.2	-12.9	225	3051	0.00	0.90	0.00	0.000	6	0.000	0.037	1437	3354	3274	0	0	0	0	0	0
3372	-0.60	-194.7	459.4	-12.9	236	3376	0.00	0.95	0.00	0.000	4	0.000	0.060	1433	3956	3274	0	0	0	0	0	0
3629	-0.60	-194.7	497.0	-15.0	243	3633	0.00	0.90	0.00	0.000	6	0.000	0.037	1432	3358	3274	0	0	0	0	0	0
3947	-0.60	-194.7	539.9	-13.5	254	3951	0.00	0.95	0.00	0.000	4	0.000	0.060	1428	3960	3273	0	0	0	0	0	0
4162	-0.60	-194.7	570.6	-13.9	260	4166	0.00	0.90	0.00	0.000	6	0.000	0.037	1428	3355	3273	0	0	0	0	0	0
4492	-0.60	-194.7	614.6	-13.4	271	4495	0.00	0.95	0.00	0.000	4	0.000	0.060	1423	3956	3272	0	0	0	0	0	0
4667	-0.60	-194.7	638.9	-13.9	276	4672	0.08	0.90	0.00	0.000	6	0.157	0.037	1448	3356	3272	0	0	0	0	0	0
5003	-0.60	-194.7	675.3	-10.6	287	5006	0.00	0.95	0.00	0.000	4	0.000	0.062	1445	3955	3272	0	0	0	0	0	0
5227	-0.60	-194.7	701.9	-12.0	293	5232	0.00	0.90	0.00	0.000	6	0.000	0.038	1445	3355	3271	0	0	0	0	0	0
5546	-0.60	-194.7	738.9	-11.5	304	5552	0.00	0.95	0.00	0.000	4	0.000	0.063	1440	3955	3270	0	0	0	0	0	0
5700	-0.60	-194.7	757.7	-12.4	308	5703	0.00	0.90	0.00	0.000	6	0.000	0.038	1440	3358	3270	0	0	0	0	0	0
6024	-0.60	-194.7	794.5	-11.4	319	6028	0.00	0.95	0.00	0.000	4	0.000	0.063	1436	3956	3269	0	0	0	0	0	0
6196	-0.60	-194.7	814.1	-10.9	324	6201	0.00	0.90	0.00	0.000	6	0.000	0.039	1436	3355	3268	0	0	0	0	0	0
6539	-0.60	-194.7	850.2	-10.4	335	6543	0.00	0.95	0.00	0.000	4	0.000	0.063	1432	3953	3268	0	0	0	0	0	0
6770	-0.60	-194.7	876.2	-12.0	341	6777	0.00	0.90	0.00	0.000	6	0.000	0.039	1431	3355	3267	0	0	0	0	0	0
7084	-0.60	-194.7	909.7	-10.7	352	7089	0.00	0.95	0.00	0.000	4	0.000	0.063	1427	3955	3267	0	0	0	0	0	0
7244	-0.60	-194.7	928.5	-12.0	356	7248	0.00	0.93	0.00	0.000	6	0.000	0.039	1427	3343	3267	0	0	0	0	0	0
7563	-0.60	-194.7	965.5	-11.5	367	7567	0.00	0.98	0.00	0.000	4	0.000	0.063	1422	3955	3266	0	0	0	0	0	0
7800	-0.60	-194.7	995.5	-12.3	374	7805	0.08	0.90	0.00	0.000	6	0.154	0.040	1447	3357	3265	0	0	0	0	0	0
7863	end dive: TARGET_DEPTH_EXCEEDED
state	7863	begin apogee
7870	-0.14	0.0	1002.5	10.0	376	8069	0.50	0.00	195.48	1.193	6	0.135	0.000	1604	3246	2473	0	0	0	0	0	0
8070	end apogee: CONTROL_FINISHED_OK
state	8070	begin climb
8073	0.60	194.7	1009.1	0.0	382	8275	0.65	1.25	195.25	1.143	4	0.054	0.053	1846	3962	1674	0	0	0	0	0	0
8298	0.60	194.7	972.1	22.2	389	8302	0.00	1.17	0.00	0.000	6	0.000	0.032	1851	3243	1659	0	0	0	0	0	0
8628	0.60	194.7	899.8	21.7	400	8632	0.00	2.25	0.00	0.000	4	0.000	0.039	1862	1832	1651	0	0	0	0	0	0
8758	0.60	194.7	875.9	17.7	404	8762	0.00	2.38	0.00	0.000	6	0.000	0.052	1862	3268	1649	0	0	0	0	0	0
9093	0.60	194.7	800.6	22.7	415	9099	0.00	2.28	0.00	0.000	4	0.000	0.039	1873	1833	1648	0	0	0	0	0	0
9200	0.60	194.7	779.4	19.1	418	9204	0.00	2.33	0.00	0.000	6	0.000	0.052	1873	3263	1647	0	0	0	0	0	0
9530	0.60	194.7	702.1	23.9	429	9534	0.00	2.20	0.00	0.000	4	0.000	0.037	1883	1832	1648	0	0	0	0	0	0
9626	0.60	194.7	682.0	20.3	432	9632	0.12	2.30	0.00	0.000	6	0.168	0.051	1847	3244	1646	0	0	0	0	0	0
9969	0.60	194.7	608.2	21.3	443	9973	0.00	2.17	0.00	0.000	4	0.000	0.034	1856	1829	1646	0	0	0	0	0	0
10001	0.60	194.7	601.2	19.5	444	10005	0.00	2.28	0.00	0.000	6	0.000	0.050	1856	3250	1645	0	0	0	0	0	0
10331	0.60	194.7	529.2	22.1	455	10335	0.00	2.17	0.00	0.000	4	0.000	0.035	1867	1824	1645	0	0	0	0	0	0
10427	0.60	194.7	510.6	18.3	458	10433	0.00	2.30	0.00	0.000	6	0.000	0.050	1867	3248	1645	0	0	0	0	0	0
10770	0.60	194.7	431.2	23.0	469	10773	0.00	2.15	0.00	0.000	4	0.000	0.036	1877	1837	1645	0	0	0	0	0	0
10838	0.60	194.7	417.3	20.0	471	10843	0.12	2.25	0.00	0.000	6	0.197	0.050	1848	3254	1644	0	0	0	0	0	0
11172	0.60	194.7	346.4	21.0	486	11176	0.00	2.17	0.00	0.000	4	0.000	0.035	1858	1824	1644	0	0	0	0	0	0
11251	0.60	194.7	331.7	16.2	489	11258	0.00	2.25	0.00	0.000	6	0.000	0.050	1858	3250	1644	0	0	0	0	0	0
11569	0.60	194.7	263.4	22.3	505	11575	0.00	2.17	0.00	0.000	4	0.000	0.035	1869	1831	1644	0	0	0	0	0	0
11677	0.60	194.7	242.6	17.0	510	11683	0.00	2.28	0.00	0.000	6	0.000	0.050	1869	3249	1644	0	0	0	0	0	0
12005	0.60	194.7	169.4	23.3	531	12011	0.00	2.17	0.00	0.000	4	0.000	0.035	1879	1834	1644	0	0	0	0	0	0
12116	0.60	194.7	148.5	17.6	537	12121	0.12	2.25	0.00	0.000	6	0.193	0.050	1850	3256	1644	0	0	0	0	0	0
12450	0.60	194.7	78.9	20.8	569	12454	0.00	2.15	0.00	0.000	4	0.000	0.034	1859	1834	1644	0	0	0	0	0	0
12557	0.60	194.7	60.4	15.7	587	12564	0.00	2.25	0.00	0.000	6	0.000	0.049	1859	3244	1644	0	0	0	0	0	0
12843	end climb: SURFACE_DEPTH_REACHED
state	12843	begin surface coast
12863	end surface coast: CONTROL_FINISHED_OK
state	12863	begin surface