Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 477 * 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 477 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 42 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 36 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 333 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 348 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 -14910.253 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 5 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 333

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 -14910.253

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

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 348

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 RELAUNCH 1 T_RSLEEP 5

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 42 VBD_MAX 3961

DEVICE2 101 MASS 52816 R_STBD_OVSHOOT 36 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 477 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 050313,033613,-4329.772,703.902,18,1.0,18,-24.6 TGT_NAME MOORING

_CALLS 1 TGT_LATLONG -4329.000,709.000

_XMS_NAKs 0 TGT_RADIUS 500.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.125,-0.120

_SM_DEPTHo 1.78 KALMAN_X 21956.5,-355.4,-528.2,190527.5,7781.7

_SM_ANGLEo -57.9 KALMAN_Y 801558.2,-684.0,49.1,-427777.8,2921.0

GPS2 050313,034535,-4329.796,704.031,19,0.9,20,-24.6 MHEAD_RNG_PITCHd_Wd 250.8,6837,-27.2,-10.010

SPEED_LIMITS 0.173,0.260 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.3,1.026217 _10V_AH 9.8,48.112

SM_CCo 11401,56.75,0.721,1,0,1880,230.09 FG_AHR_24Vo 0.000

SM_GC 2.03,0.00,0.00,56.75,0.000,0.000,0.721,57,2890,1880,-5.54,0.82,230.09 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4317.42,705.66,050313,000057 MEM 354336

TT8_MAMPS 0.026215 DATA_FILE_SIZE 43662,581

HUMID 59.45 CAP_FILE_SIZE 91249,0

INTERNAL_PRESSURE 9.44339 CFSIZE 259252224,199008256

TCM_TEMP 14.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,4,1

XPDR_PINGS 0 GPS 050313,065905,-4329.877,703.401,39,1.1,39,-24.6

_24V_AH 21.1,88.707

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 250 76.11 SBE_CT 381 24 193.07

Roll_motor 69 58 84.92 AA4330 1168 33 813.89

VBD_pump_during_apogee 261 1778 9801.63 WL_BB2FLVMT 646 105 1432.58

VBD_pump_during_surface 56 721 863.82 QSP2150 254 4 23.56

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 54.80 nil 0 0 0.00

Iridium_during_connect 25 160 85.85 nil 0 0 0.00

Iridium_during_xfer 291 223 1370.30 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 26 5.78

TT8 1464 14 214.72

LPSleep 7700 2 165.27

TT8_Active 399 14 55.70

TT8_Sampling 1909 37 700.29

TT8_CF8 548 47 253.62

TT8_Kalman 33 59 19.36

Analog_circuits 1060 12 124.77

GPS_charging 0 0 0.00

Compass 1508 15 232.49

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

26 -0.78 -63.1 0.0 0.0 0 83 0.00 0.00 -54.80 0.000 2 0.000 0.000 63 2877 2962 0 0 0 0 0 0

90 -0.85 -122.2 3.1 -3.7 7 116 6.47 2.25 -10.70 0.000 4 0.251 0.044 1551 1449 3320 0 0 0 0 0 0

201 -0.85 -122.2 21.6 -17.6 23 210 0.00 2.28 0.00 0.000 6 0.000 0.048 1541 2853 3321 0 0 0 0 0 0

285 -0.85 -122.2 39.9 -23.5 36 294 0.00 0.00 0.00 0.000 6 0.000 0.000 1541 2854 3321 0 0 0 0 0 0

531 -0.85 -122.2 89.2 -19.4 77 536 0.00 1.65 0.00 0.000 4 0.000 0.054 1533 3895 3322 0 0 0 0 0 0

593 -0.85 -122.2 100.8 -18.8 87 596 0.00 1.58 0.00 0.000 6 0.000 0.028 1533 2841 3321 0 0 0 0 0 0

920 -0.85 -122.2 158.8 -17.6 108 924 0.00 1.70 0.00 0.000 4 0.000 0.054 1526 3894 3322 0 0 0 0 0 0

1017 -0.85 -122.2 177.7 -18.7 113 1025 0.08 1.55 0.00 0.000 6 0.174 0.028 1547 2849 3323 0 0 0 0 0 0

1345 -0.85 -122.2 230.5 -16.8 134 1348 0.00 1.67 0.00 0.000 4 0.000 0.054 1540 3904 3324 0 0 0 0 0 0

1401 -0.85 -122.2 240.9 -17.0 137 1405 0.00 1.55 0.00 0.000 6 0.000 0.028 1540 2867 3324 0 0 0 0 0 0

1722 -0.85 -122.2 295.4 -16.6 153 1723 0.00 0.00 0.00 0.000 6 0.000 0.000 1540 2861 3324 0 0 0 0 0 0

2030 -0.85 -122.2 344.2 -15.7 168 2033 0.00 1.65 0.00 0.000 4 0.000 0.054 1532 3903 3325 0 0 0 0 0 0

2066 -0.85 -122.2 350.2 -16.9 169 2069 0.00 1.58 0.00 0.000 6 0.000 0.028 1532 2852 3326 0 0 0 0 0 0

2392 -0.85 -122.2 400.3 -15.4 185 2395 0.00 1.67 0.00 0.000 4 0.000 0.054 1524 3901 3326 0 0 0 0 0 0

2432 -0.85 -122.2 407.6 -16.1 186 2437 0.08 1.55 0.00 0.000 6 0.171 0.029 1547 2867 3326 0 0 0 0 0 0

2770 -0.85 -122.2 455.7 -14.4 197 2771 0.00 0.00 0.00 0.000 6 0.000 0.000 1547 2861 3326 0 0 0 0 0 0

3076 -0.85 -122.2 500.8 -14.8 207 3080 0.00 1.67 0.00 0.000 4 0.000 0.057 1540 3894 3326 0 0 0 0 0 0

3123 -0.85 -122.2 508.5 -16.6 208 3127 0.00 1.55 0.00 0.000 6 0.000 0.029 1540 2865 3325 0 0 0 0 0 0

3457 -0.85 -122.2 559.9 -15.6 219 3458 0.00 0.00 0.00 0.000 6 0.000 0.000 1540 2859 3325 0 0 0 0 0 0

3761 -0.85 -122.2 609.5 -16.4 229 3762 0.00 0.00 0.00 0.000 6 0.000 0.000 1540 2859 3325 0 0 0 0 0 0

4068 -0.85 -122.2 659.4 -16.7 239 4069 0.00 0.00 0.00 0.000 6 0.000 0.000 1541 2859 3325 0 0 0 0 0 0

4373 -0.85 -122.2 711.1 -16.7 249 4375 0.00 0.00 0.00 0.000 6 0.000 0.000 1540 2859 3324 0 0 0 0 0 0

4680 -0.85 -122.2 760.5 -16.2 259 4681 0.00 0.00 0.00 0.000 6 0.000 0.000 1540 2859 3324 0 0 0 0 0 0

4986 -0.85 -122.2 809.3 -15.6 269 4987 0.00 0.00 0.00 0.000 6 0.000 0.000 1540 2859 3323 0 0 0 0 0 0

5293 -0.85 -122.2 858.4 -16.0 279 5294 0.00 0.00 0.00 0.000 6 0.000 0.000 1539 2859 3322 0 0 0 0 0 0

5598 -0.85 -122.2 906.1 -15.4 289 5599 0.00 0.00 0.00 0.000 6 0.000 0.000 1540 2859 3321 0 0 0 0 0 0

5905 -0.85 -122.2 951.0 -14.6 299 5906 0.00 0.00 0.00 0.000 6 0.000 0.000 1540 2859 3321 0 0 0 0 0 0

6211 -0.85 -122.2 995.0 -14.3 309 6213 0.00 0.00 0.00 0.000 6 0.000 0.000 1540 2859 3320 0 0 0 0 0 0

6267 end dive: TARGET_DEPTH_EXCEEDED

state 6267 begin apogee

6278 -0.18 0.0 1003.9 14.3 311 6410 0.82 0.00 122.70 1.779 6 0.178 0.000 1768 2667 2821 0 0 0 0 1 0

6411 end apogee: CONTROL_FINISHED_OK

state 6411 begin climb

6416 0.85 122.2 1008.5 0.0 315 6575 1.02 2.47 138.48 1.723 4 0.086 0.042 2111 1288 2323 0 0 0 0 2 0

6672 0.85 122.2 971.1 19.7 322 6676 0.00 2.38 0.00 0.000 6 0.000 0.050 2111 2674 2320 0 0 0 0 0 0

6993 0.85 122.2 897.7 23.4 333 6997 0.00 2.22 0.00 0.000 4 0.000 0.044 2121 1281 2317 0 0 0 0 0 0

7067 0.85 122.2 881.4 20.6 335 7071 0.00 2.28 0.00 0.000 6 0.000 0.050 2121 2682 2315 0 0 0 0 0 0

7399 0.85 122.2 804.1 23.9 346 7403 0.00 2.20 0.00 0.000 4 0.000 0.044 2132 1274 2315 0 0 0 0 0 0

7467 0.85 122.2 789.7 21.9 348 7471 0.00 2.25 0.00 0.000 6 0.000 0.050 2132 2669 2312 0 0 0 0 0 0

7804 0.85 122.2 708.9 24.4 359 7808 0.00 2.20 0.00 0.000 4 0.000 0.044 2142 1275 2312 0 0 0 0 0 0

7879 0.85 122.2 691.5 21.9 361 7883 0.15 2.22 0.00 0.000 6 0.240 0.050 2111 2670 2311 0 0 0 0 0 0

8213 0.85 122.2 620.2 21.4 372 8217 0.00 2.20 0.00 0.000 4 0.000 0.043 2120 1282 2311 0 0 0 0 0 0

8270 0.85 122.2 608.5 20.0 373 8277 0.00 2.22 0.00 0.000 6 0.000 0.050 2118 2672 2310 0 0 0 0 0 0

8586 0.85 122.2 544.5 20.4 384 8590 0.00 2.20 0.00 0.000 4 0.000 0.044 2127 1284 2310 0 0 0 0 0 0

8610 0.85 122.2 539.3 19.8 384 8616 0.00 2.22 0.00 0.000 6 0.000 0.049 2125 2673 2309 0 0 0 0 0 0

8925 0.85 122.2 476.5 20.0 395 8929 0.00 2.20 0.00 0.000 4 0.000 0.044 2135 1282 2309 0 0 0 0 0 0

8983 0.85 122.2 465.4 18.3 396 8991 0.12 2.22 0.00 0.000 6 0.234 0.048 2109 2673 2309 0 0 0 0 0 0

9298 0.85 122.2 405.3 19.7 407 9299 0.00 0.00 0.00 0.000 6 0.000 0.000 2109 2673 2309 0 0 0 0 0 0

9618 0.85 122.2 343.6 19.6 422 9622 0.00 2.20 0.00 0.000 4 0.000 0.043 2118 1281 2309 0 0 0 0 0 0

9661 0.85 122.2 335.5 18.1 424 9665 0.00 2.22 0.00 0.000 6 0.000 0.048 2117 2669 2308 0 0 0 0 0 0

9991 0.85 122.2 269.7 20.4 440 9995 0.00 2.17 0.00 0.000 4 0.000 0.042 2127 1275 2308 0 0 0 0 0 0

10043 0.85 122.2 259.2 19.0 442 10047 0.00 2.25 0.00 0.000 6 0.000 0.048 2124 2676 2307 0 0 0 0 0 0

10366 0.85 122.2 191.3 21.6 462 10370 0.00 2.20 0.00 0.000 4 0.000 0.042 2132 1284 2308 0 0 0 0 0 0

10500 0.85 122.2 163.6 19.4 470 10505 0.12 2.22 0.00 0.000 6 0.230 0.048 2107 2671 2307 0 0 0 0 0 0

10836 0.85 122.2 98.2 20.0 491 10840 0.00 0.00 0.00 0.000 6 0.000 0.000 2107 2672 2308 0 0 0 0 0 0

11192 0.85 122.2 30.9 17.7 552 11200 0.00 0.00 0.00 0.000 6 0.000 0.000 2107 2672 2307 0 0 0 0 0 0

11355 end climb: SURFACE_DEPTH_REACHED

state 11355 begin surface coast

11378 end surface coast: CONTROL_FINISHED_OK

state 11378 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	477	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	42	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	36	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	333	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	348	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	-14910.253	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	5	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	050313,033613,-4329.772,703.902,18,1.0,18,-24.6	TGT_NAME	MOORING
_CALLS	1	TGT_LATLONG	-4329.000,709.000
_XMS_NAKs	0	TGT_RADIUS	500.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.125,-0.120
_SM_DEPTHo	1.78	KALMAN_X	21956.5,-355.4,-528.2,190527.5,7781.7
_SM_ANGLEo	-57.9	KALMAN_Y	801558.2,-684.0,49.1,-427777.8,2921.0
GPS2	050313,034535,-4329.796,704.031,19,0.9,20,-24.6	MHEAD_RNG_PITCHd_Wd	250.8,6837,-27.2,-10.010
SPEED_LIMITS	0.173,0.260	D_GRID	1000

FINISH	1.3,1.026217	_10V_AH	9.8,48.112
SM_CCo	11401,56.75,0.721,1,0,1880,230.09	FG_AHR_24Vo	0.000
SM_GC	2.03,0.00,0.00,56.75,0.000,0.000,0.721,57,2890,1880,-5.54,0.82,230.09	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4317.42,705.66,050313,000057	MEM	354336
TT8_MAMPS	0.026215	DATA_FILE_SIZE	43662,581
HUMID	59.45	CAP_FILE_SIZE	91249,0
INTERNAL_PRESSURE	9.44339	CFSIZE	259252224,199008256
TCM_TEMP	14.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,4,1
XPDR_PINGS	0	GPS	050313,065905,-4329.877,703.401,39,1.1,39,-24.6
_24V_AH	21.1,88.707

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	250	76.11	SBE_CT	381	24	193.07
Roll_motor	69	58	84.92	AA4330	1168	33	813.89
VBD_pump_during_apogee	261	1778	9801.63	WL_BB2FLVMT	646	105	1432.58
VBD_pump_during_surface	56	721	863.82	QSP2150	254	4	23.56
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	54.80	nil	0	0	0.00
Iridium_during_connect	25	160	85.85	nil	0	0	0.00
Iridium_during_xfer	291	223	1370.30	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	26	5.78
TT8	1464	14	214.72
LPSleep	7700	2	165.27
TT8_Active	399	14	55.70
TT8_Sampling	1909	37	700.29
TT8_CF8	548	47	253.62
TT8_Kalman	33	59	19.36
Analog_circuits	1060	12	124.77
GPS_charging	0	0	0.00
Compass	1508	15	232.49
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
26	-0.78	-63.1	0.0	0.0	0	83	0.00	0.00	-54.80	0.000	2	0.000	0.000	63	2877	2962	0	0	0	0	0	0
90	-0.85	-122.2	3.1	-3.7	7	116	6.47	2.25	-10.70	0.000	4	0.251	0.044	1551	1449	3320	0	0	0	0	0	0
201	-0.85	-122.2	21.6	-17.6	23	210	0.00	2.28	0.00	0.000	6	0.000	0.048	1541	2853	3321	0	0	0	0	0	0
285	-0.85	-122.2	39.9	-23.5	36	294	0.00	0.00	0.00	0.000	6	0.000	0.000	1541	2854	3321	0	0	0	0	0	0
531	-0.85	-122.2	89.2	-19.4	77	536	0.00	1.65	0.00	0.000	4	0.000	0.054	1533	3895	3322	0	0	0	0	0	0
593	-0.85	-122.2	100.8	-18.8	87	596	0.00	1.58	0.00	0.000	6	0.000	0.028	1533	2841	3321	0	0	0	0	0	0
920	-0.85	-122.2	158.8	-17.6	108	924	0.00	1.70	0.00	0.000	4	0.000	0.054	1526	3894	3322	0	0	0	0	0	0
1017	-0.85	-122.2	177.7	-18.7	113	1025	0.08	1.55	0.00	0.000	6	0.174	0.028	1547	2849	3323	0	0	0	0	0	0
1345	-0.85	-122.2	230.5	-16.8	134	1348	0.00	1.67	0.00	0.000	4	0.000	0.054	1540	3904	3324	0	0	0	0	0	0
1401	-0.85	-122.2	240.9	-17.0	137	1405	0.00	1.55	0.00	0.000	6	0.000	0.028	1540	2867	3324	0	0	0	0	0	0
1722	-0.85	-122.2	295.4	-16.6	153	1723	0.00	0.00	0.00	0.000	6	0.000	0.000	1540	2861	3324	0	0	0	0	0	0
2030	-0.85	-122.2	344.2	-15.7	168	2033	0.00	1.65	0.00	0.000	4	0.000	0.054	1532	3903	3325	0	0	0	0	0	0
2066	-0.85	-122.2	350.2	-16.9	169	2069	0.00	1.58	0.00	0.000	6	0.000	0.028	1532	2852	3326	0	0	0	0	0	0
2392	-0.85	-122.2	400.3	-15.4	185	2395	0.00	1.67	0.00	0.000	4	0.000	0.054	1524	3901	3326	0	0	0	0	0	0
2432	-0.85	-122.2	407.6	-16.1	186	2437	0.08	1.55	0.00	0.000	6	0.171	0.029	1547	2867	3326	0	0	0	0	0	0
2770	-0.85	-122.2	455.7	-14.4	197	2771	0.00	0.00	0.00	0.000	6	0.000	0.000	1547	2861	3326	0	0	0	0	0	0
3076	-0.85	-122.2	500.8	-14.8	207	3080	0.00	1.67	0.00	0.000	4	0.000	0.057	1540	3894	3326	0	0	0	0	0	0
3123	-0.85	-122.2	508.5	-16.6	208	3127	0.00	1.55	0.00	0.000	6	0.000	0.029	1540	2865	3325	0	0	0	0	0	0
3457	-0.85	-122.2	559.9	-15.6	219	3458	0.00	0.00	0.00	0.000	6	0.000	0.000	1540	2859	3325	0	0	0	0	0	0
3761	-0.85	-122.2	609.5	-16.4	229	3762	0.00	0.00	0.00	0.000	6	0.000	0.000	1540	2859	3325	0	0	0	0	0	0
4068	-0.85	-122.2	659.4	-16.7	239	4069	0.00	0.00	0.00	0.000	6	0.000	0.000	1541	2859	3325	0	0	0	0	0	0
4373	-0.85	-122.2	711.1	-16.7	249	4375	0.00	0.00	0.00	0.000	6	0.000	0.000	1540	2859	3324	0	0	0	0	0	0
4680	-0.85	-122.2	760.5	-16.2	259	4681	0.00	0.00	0.00	0.000	6	0.000	0.000	1540	2859	3324	0	0	0	0	0	0
4986	-0.85	-122.2	809.3	-15.6	269	4987	0.00	0.00	0.00	0.000	6	0.000	0.000	1540	2859	3323	0	0	0	0	0	0
5293	-0.85	-122.2	858.4	-16.0	279	5294	0.00	0.00	0.00	0.000	6	0.000	0.000	1539	2859	3322	0	0	0	0	0	0
5598	-0.85	-122.2	906.1	-15.4	289	5599	0.00	0.00	0.00	0.000	6	0.000	0.000	1540	2859	3321	0	0	0	0	0	0
5905	-0.85	-122.2	951.0	-14.6	299	5906	0.00	0.00	0.00	0.000	6	0.000	0.000	1540	2859	3321	0	0	0	0	0	0
6211	-0.85	-122.2	995.0	-14.3	309	6213	0.00	0.00	0.00	0.000	6	0.000	0.000	1540	2859	3320	0	0	0	0	0	0
6267	end dive: TARGET_DEPTH_EXCEEDED
state	6267	begin apogee
6278	-0.18	0.0	1003.9	14.3	311	6410	0.82	0.00	122.70	1.779	6	0.178	0.000	1768	2667	2821	0	0	0	0	1	0
6411	end apogee: CONTROL_FINISHED_OK
state	6411	begin climb
6416	0.85	122.2	1008.5	0.0	315	6575	1.02	2.47	138.48	1.723	4	0.086	0.042	2111	1288	2323	0	0	0	0	2	0
6672	0.85	122.2	971.1	19.7	322	6676	0.00	2.38	0.00	0.000	6	0.000	0.050	2111	2674	2320	0	0	0	0	0	0
6993	0.85	122.2	897.7	23.4	333	6997	0.00	2.22	0.00	0.000	4	0.000	0.044	2121	1281	2317	0	0	0	0	0	0
7067	0.85	122.2	881.4	20.6	335	7071	0.00	2.28	0.00	0.000	6	0.000	0.050	2121	2682	2315	0	0	0	0	0	0
7399	0.85	122.2	804.1	23.9	346	7403	0.00	2.20	0.00	0.000	4	0.000	0.044	2132	1274	2315	0	0	0	0	0	0
7467	0.85	122.2	789.7	21.9	348	7471	0.00	2.25	0.00	0.000	6	0.000	0.050	2132	2669	2312	0	0	0	0	0	0
7804	0.85	122.2	708.9	24.4	359	7808	0.00	2.20	0.00	0.000	4	0.000	0.044	2142	1275	2312	0	0	0	0	0	0
7879	0.85	122.2	691.5	21.9	361	7883	0.15	2.22	0.00	0.000	6	0.240	0.050	2111	2670	2311	0	0	0	0	0	0
8213	0.85	122.2	620.2	21.4	372	8217	0.00	2.20	0.00	0.000	4	0.000	0.043	2120	1282	2311	0	0	0	0	0	0
8270	0.85	122.2	608.5	20.0	373	8277	0.00	2.22	0.00	0.000	6	0.000	0.050	2118	2672	2310	0	0	0	0	0	0
8586	0.85	122.2	544.5	20.4	384	8590	0.00	2.20	0.00	0.000	4	0.000	0.044	2127	1284	2310	0	0	0	0	0	0
8610	0.85	122.2	539.3	19.8	384	8616	0.00	2.22	0.00	0.000	6	0.000	0.049	2125	2673	2309	0	0	0	0	0	0
8925	0.85	122.2	476.5	20.0	395	8929	0.00	2.20	0.00	0.000	4	0.000	0.044	2135	1282	2309	0	0	0	0	0	0
8983	0.85	122.2	465.4	18.3	396	8991	0.12	2.22	0.00	0.000	6	0.234	0.048	2109	2673	2309	0	0	0	0	0	0
9298	0.85	122.2	405.3	19.7	407	9299	0.00	0.00	0.00	0.000	6	0.000	0.000	2109	2673	2309	0	0	0	0	0	0
9618	0.85	122.2	343.6	19.6	422	9622	0.00	2.20	0.00	0.000	4	0.000	0.043	2118	1281	2309	0	0	0	0	0	0
9661	0.85	122.2	335.5	18.1	424	9665	0.00	2.22	0.00	0.000	6	0.000	0.048	2117	2669	2308	0	0	0	0	0	0
9991	0.85	122.2	269.7	20.4	440	9995	0.00	2.17	0.00	0.000	4	0.000	0.042	2127	1275	2308	0	0	0	0	0	0
10043	0.85	122.2	259.2	19.0	442	10047	0.00	2.25	0.00	0.000	6	0.000	0.048	2124	2676	2307	0	0	0	0	0	0
10366	0.85	122.2	191.3	21.6	462	10370	0.00	2.20	0.00	0.000	4	0.000	0.042	2132	1284	2308	0	0	0	0	0	0
10500	0.85	122.2	163.6	19.4	470	10505	0.12	2.22	0.00	0.000	6	0.230	0.048	2107	2671	2307	0	0	0	0	0	0
10836	0.85	122.2	98.2	20.0	491	10840	0.00	0.00	0.00	0.000	6	0.000	0.000	2107	2672	2308	0	0	0	0	0	0
11192	0.85	122.2	30.9	17.7	552	11200	0.00	0.00	0.00	0.000	6	0.000	0.000	2107	2672	2307	0	0	0	0	0	0
11355	end climb: SURFACE_DEPTH_REACHED
state	11355	begin surface coast
11378	end surface coast: CONTROL_FINISHED_OK
state	11378	begin surface