Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 480 * 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 480 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 35 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 -14923.401 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 -14923.401

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 35 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 480 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 050313,135034,-4329.829,704.927,40,0.8,40,-24.6 TGT_NAME MOORING

_CALLS 2 TGT_LATLONG -4329.000,709.000

_XMS_NAKs 0 TGT_RADIUS 500.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.173,-0.003

_SM_DEPTHo 1.82 KALMAN_X 24173.3,-1333.9,-448.8,190663.0,6038.3

_SM_ANGLEo -60.8 KALMAN_Y 802974.4,-63.1,-414.5,-429387.7,1521.5

GPS2 050313,140723,-4329.823,705.180,19,1.0,19,-24.6 MHEAD_RNG_PITCHd_Wd 293.8,5354,-27.2,-10.010

SPEED_LIMITS 0.173,0.260 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.8,1.026213 _10V_AH 9.8,48.370

SM_CCo 10657,51.78,0.718,1,0,1879,230.09 FG_AHR_24Vo 0.000

SM_GC 1.83,0.00,0.00,51.78,0.000,0.000,0.718,58,2889,1879,-5.54,0.82,230.09 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4314.46,705.66,050313,131359 MEM 354312

TT8_MAMPS 0.026215 DATA_FILE_SIZE 37101,526

HUMID 59.76 CAP_FILE_SIZE 102294,0

INTERNAL_PRESSURE 9.44339 CFSIZE 259252224,198840320

TCM_TEMP 13.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,1

XPDR_PINGS 0 GPS 050313,170804,-4328.974,704.926,23,0.8,23,-24.6

_24V_AH 21.2,89.150

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 242 72.75 SBE_CT 345 24 175.57

Roll_motor 100 58 123.69 AA4330 1049 33 734.32

VBD_pump_during_apogee 274 1747 10155.04 WL_BB2FLVMT 567 105 1263.09

VBD_pump_during_surface 51 718 788.47 QSP2150 220 4 20.46

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 59 103 129.78 nil 0 0 0.00

Iridium_during_connect 64 160 219.87 nil 0 0 0.00

Iridium_during_xfer 564 223 2666.79 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 5.74

TT8 1392 14 204.16

LPSleep 7038 2 151.07

TT8_Active 416 14 58.05

TT8_Sampling 2243 37 823.01

TT8_CF8 621 47 287.33

TT8_Kalman 33 59 19.34

Analog_circuits 1123 12 132.11

GPS_charging 0 0 0.00

Compass 1519 15 234.24

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

26 end surface: CONTROL_FINISHED_OK

state 26 begin dive

31 -0.78 -63.1 0.0 0.0 0 88 0.00 0.00 -54.90 0.000 2 0.000 0.000 50 2878 3001 0 0 0 0 0 0

94 -0.86 -134.2 3.1 -2.4 7 120 6.32 2.25 -10.23 0.000 4 0.241 0.047 1551 1452 3369 0 0 0 0 0 0

206 -0.86 -134.2 24.8 -19.2 23 215 0.00 2.25 0.00 0.000 6 0.000 0.047 1542 2846 3369 0 0 0 0 0 0

290 -0.86 -134.2 43.4 -22.7 36 299 0.00 1.65 0.00 0.000 4 0.000 0.053 1534 3894 3370 0 0 0 0 0 0

343 -0.86 -134.2 54.8 -24.0 43 351 0.00 1.60 0.00 0.000 6 0.000 0.028 1533 2837 3370 0 0 0 0 0 0

588 -0.86 -134.2 111.2 -22.2 79 589 0.00 0.00 0.00 0.000 6 0.000 0.000 1533 2836 3370 0 0 0 0 0 0

900 -0.86 -134.2 175.4 -19.9 99 904 0.00 2.08 0.00 0.000 4 0.000 0.034 1533 1470 3370 0 0 0 0 0 0

921 -0.86 -134.2 179.7 -20.1 100 925 0.00 2.20 0.00 0.000 6 0.000 0.047 1523 2862 3370 0 0 0 0 0 0

1250 -0.86 -134.2 242.0 -19.1 121 1253 0.00 1.62 0.00 0.000 4 0.000 0.052 1515 3894 3371 0 0 0 0 0 0

1417 -0.86 -134.2 274.1 -19.7 129 1422 0.10 1.55 0.00 0.000 6 0.176 0.028 1544 2855 3372 0 0 0 0 0 0

1755 -0.86 -134.2 331.7 -16.6 145 1759 0.00 1.65 0.00 0.000 4 0.000 0.054 1537 3905 3373 0 0 0 0 0 0

1815 -0.86 -134.2 342.4 -17.7 147 1818 0.00 1.58 0.00 0.000 6 0.000 0.028 1537 2864 3373 0 0 0 0 0 0

2140 -0.86 -134.2 397.8 -16.8 163 2144 0.00 1.65 0.00 0.000 4 0.000 0.054 1529 3900 3373 0 0 0 0 0 0

2171 -0.86 -134.2 403.8 -18.4 164 2178 0.00 1.58 0.00 0.000 6 0.000 0.028 1529 2850 3373 0 0 0 0 0 0

2486 -0.86 -134.2 460.4 -18.2 175 2490 0.00 1.67 0.00 0.000 4 0.000 0.054 1521 3892 3373 0 0 0 0 0 0

2557 -0.86 -134.2 474.2 -19.2 177 2561 0.08 1.55 0.00 0.000 6 0.170 0.028 1557 2855 3373 0 0 0 0 0 0

2900 -0.86 -134.2 529.1 -15.7 188 2904 0.00 1.67 0.00 0.000 4 0.000 0.055 1551 3887 3373 0 0 0 0 0 0

2937 -0.86 -134.2 535.1 -16.2 189 2941 0.00 1.55 0.00 0.000 6 0.000 0.029 1551 2859 3373 0 0 0 0 0 0

3282 -0.86 -134.2 588.7 -15.6 200 3286 0.00 1.65 0.00 0.000 4 0.000 0.056 1543 3903 3373 0 0 0 0 0 0

3356 -0.86 -134.2 601.6 -16.0 202 3360 0.00 1.58 0.00 0.000 6 0.000 0.029 1543 2865 3373 0 0 0 0 0 0

3696 -0.86 -134.2 655.4 -15.8 213 3699 0.00 1.65 0.00 0.000 4 0.000 0.056 1535 3894 3372 0 0 0 0 0 0

3733 -0.86 -134.2 661.7 -16.7 214 3736 0.00 1.58 0.00 0.000 6 0.000 0.029 1535 2854 3372 0 0 0 0 0 0

4075 -0.86 -134.2 717.9 -16.4 225 4079 0.00 1.67 0.00 0.000 4 0.000 0.055 1527 3900 3372 0 0 0 0 0 0

4100 -0.86 -134.2 722.2 -17.0 225 4103 0.00 1.58 0.00 0.000 6 0.000 0.030 1527 2860 3372 0 0 0 0 0 0

4421 -0.86 -134.2 775.9 -17.1 236 4425 0.00 1.65 0.00 0.000 4 0.000 0.056 1519 3893 3371 0 0 0 0 0 0

4478 -0.86 -134.2 786.4 -17.8 237 4482 0.08 1.55 0.00 0.000 6 0.171 0.030 1555 2859 3370 0 0 0 0 0 0

4799 -0.86 -134.2 832.0 -14.4 248 4801 0.00 0.00 0.00 0.000 6 0.000 0.000 1555 2853 3370 0 0 0 0 0 0

5105 -0.86 -134.2 874.3 -13.8 258 5109 0.00 1.70 0.00 0.000 4 0.000 0.058 1549 3893 3369 0 0 0 0 0 0

5134 -0.86 -134.2 879.0 -15.5 258 5141 0.00 1.58 0.00 0.000 6 0.000 0.031 1549 2848 3369 0 0 0 0 0 0

5451 -0.86 -134.2 923.5 -14.1 269 5455 0.00 1.67 0.00 0.000 4 0.000 0.057 1541 3893 3368 0 0 0 0 0 0

5503 -0.86 -134.2 932.1 -16.2 270 5506 0.00 1.55 0.00 0.000 6 0.000 0.030 1541 2866 3368 0 0 0 0 0 0

5829 -0.86 -134.2 979.6 -14.6 281 5832 0.00 1.70 0.00 0.000 4 0.000 0.057 1532 3903 3367 0 0 0 0 0 0

5865 -0.86 -134.2 985.3 -15.7 282 5869 0.00 1.58 0.00 0.000 6 0.000 0.030 1533 2864 3367 0 0 0 0 0 0

5990 end dive: TARGET_DEPTH_EXCEEDED

state 5991 begin apogee

6002 -0.18 0.0 1004.7 15.2 286 6141 0.82 0.00 130.80 1.268 6 0.176 0.000 1762 2664 2816 0 0 0 0 0 0

6143 end apogee: CONTROL_FINISHED_OK

state 6143 begin climb

6148 0.86 134.2 1010.1 0.0 291 6307 1.02 2.47 143.35 1.747 4 0.090 0.042 2112 1285 2276 0 0 0 0 1 0

6388 0.86 134.2 969.9 22.4 298 6393 0.00 2.40 0.00 0.000 6 0.000 0.050 2112 2669 2273 0 0 0 0 0 0

6715 0.86 134.2 889.9 24.5 309 6719 0.00 2.20 0.00 0.000 4 0.000 0.044 2122 1289 2270 0 0 0 0 0 0

6780 0.86 134.2 875.2 23.2 311 6784 0.00 2.25 0.00 0.000 6 0.000 0.051 2122 2680 2268 0 0 0 0 0 0

7124 0.86 134.2 794.0 23.5 322 7128 0.00 2.20 0.00 0.000 4 0.000 0.044 2132 1287 2267 0 0 0 0 0 0

7238 0.86 134.2 769.0 21.0 325 7242 0.00 2.22 0.00 0.000 6 0.000 0.050 2132 2670 2266 0 0 0 0 0 0

7559 0.86 134.2 690.5 25.0 336 7563 0.00 2.17 0.00 0.000 4 0.000 0.042 2142 1272 2265 0 0 0 0 0 0

7628 0.86 134.2 674.6 21.8 338 7633 0.15 2.25 0.00 0.000 6 0.243 0.051 2111 2669 2264 0 0 0 0 0 0

7961 0.86 134.2 596.6 23.4 349 7965 0.00 2.17 0.00 0.000 4 0.000 0.041 2120 1274 2264 0 0 0 0 0 0

8019 0.86 134.2 583.6 21.8 350 8025 0.00 2.25 0.00 0.000 6 0.000 0.050 2118 2675 2264 0 0 0 0 0 0

8334 0.86 134.2 508.2 24.2 361 8338 0.00 2.20 0.00 0.000 4 0.000 0.042 2127 1276 2263 0 0 0 0 0 0

8386 0.86 134.2 496.0 21.4 362 8390 0.00 2.25 0.00 0.000 6 0.000 0.050 2127 2670 2263 0 0 0 0 0 0

8701 0.86 134.2 420.8 23.6 372 8705 0.00 2.15 0.00 0.000 4 0.000 0.043 2137 1280 2263 0 0 0 0 0 0

8754 0.86 134.2 409.0 21.2 373 8758 0.00 2.25 0.00 0.000 6 0.000 0.050 2137 2674 2262 0 0 0 0 0 0

9073 0.86 134.2 335.0 22.8 387 9077 0.00 2.20 0.00 0.000 4 0.000 0.043 2148 1281 2262 0 0 0 0 0 0

9148 0.86 134.2 317.9 20.1 390 9153 0.15 2.25 0.00 0.000 6 0.237 0.050 2112 2677 2262 0 0 0 0 0 0

9469 0.86 134.2 249.0 21.8 405 9473 0.00 2.15 0.00 0.000 4 0.000 0.041 2121 1288 2261 0 0 0 0 0 0

9585 0.86 134.2 224.9 19.3 412 9589 0.00 2.22 0.00 0.000 6 0.000 0.050 2117 2671 2261 0 0 0 0 0 0

9915 0.86 134.2 152.1 22.5 433 9919 0.00 2.15 0.00 0.000 4 0.000 0.039 2127 1277 2261 0 0 0 0 0 0

10023 0.86 134.2 129.1 19.6 439 10030 0.00 2.22 0.00 0.000 6 0.000 0.048 2123 2672 2260 0 0 0 0 0 0

10363 0.86 134.2 54.2 20.1 484 10372 0.00 2.17 0.00 0.000 4 0.000 0.038 2133 1283 2260 0 0 0 0 0 0

10404 0.86 134.2 46.9 18.9 489 10411 0.00 2.22 0.00 0.000 6 0.000 0.048 2131 2674 2261 0 0 0 0 0 0

10620 end climb: SURFACE_DEPTH_REACHED

state 10620 begin surface coast

10634 end surface coast: CONTROL_FINISHED_OK

state 10634 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	480	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	35	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	-14923.401	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	050313,135034,-4329.829,704.927,40,0.8,40,-24.6	TGT_NAME	MOORING
_CALLS	2	TGT_LATLONG	-4329.000,709.000
_XMS_NAKs	0	TGT_RADIUS	500.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.173,-0.003
_SM_DEPTHo	1.82	KALMAN_X	24173.3,-1333.9,-448.8,190663.0,6038.3
_SM_ANGLEo	-60.8	KALMAN_Y	802974.4,-63.1,-414.5,-429387.7,1521.5
GPS2	050313,140723,-4329.823,705.180,19,1.0,19,-24.6	MHEAD_RNG_PITCHd_Wd	293.8,5354,-27.2,-10.010
SPEED_LIMITS	0.173,0.260	D_GRID	1000

FINISH	0.8,1.026213	_10V_AH	9.8,48.370
SM_CCo	10657,51.78,0.718,1,0,1879,230.09	FG_AHR_24Vo	0.000
SM_GC	1.83,0.00,0.00,51.78,0.000,0.000,0.718,58,2889,1879,-5.54,0.82,230.09	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4314.46,705.66,050313,131359	MEM	354312
TT8_MAMPS	0.026215	DATA_FILE_SIZE	37101,526
HUMID	59.76	CAP_FILE_SIZE	102294,0
INTERNAL_PRESSURE	9.44339	CFSIZE	259252224,198840320
TCM_TEMP	13.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
XPDR_PINGS	0	GPS	050313,170804,-4328.974,704.926,23,0.8,23,-24.6
_24V_AH	21.2,89.150

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	242	72.75	SBE_CT	345	24	175.57
Roll_motor	100	58	123.69	AA4330	1049	33	734.32
VBD_pump_during_apogee	274	1747	10155.04	WL_BB2FLVMT	567	105	1263.09
VBD_pump_during_surface	51	718	788.47	QSP2150	220	4	20.46
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	59	103	129.78	nil	0	0	0.00
Iridium_during_connect	64	160	219.87	nil	0	0	0.00
Iridium_during_xfer	564	223	2666.79	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	5.74
TT8	1392	14	204.16
LPSleep	7038	2	151.07
TT8_Active	416	14	58.05
TT8_Sampling	2243	37	823.01
TT8_CF8	621	47	287.33
TT8_Kalman	33	59	19.34
Analog_circuits	1123	12	132.11
GPS_charging	0	0	0.00
Compass	1519	15	234.24
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
26	end surface: CONTROL_FINISHED_OK
state	26	begin dive
31	-0.78	-63.1	0.0	0.0	0	88	0.00	0.00	-54.90	0.000	2	0.000	0.000	50	2878	3001	0	0	0	0	0	0
94	-0.86	-134.2	3.1	-2.4	7	120	6.32	2.25	-10.23	0.000	4	0.241	0.047	1551	1452	3369	0	0	0	0	0	0
206	-0.86	-134.2	24.8	-19.2	23	215	0.00	2.25	0.00	0.000	6	0.000	0.047	1542	2846	3369	0	0	0	0	0	0
290	-0.86	-134.2	43.4	-22.7	36	299	0.00	1.65	0.00	0.000	4	0.000	0.053	1534	3894	3370	0	0	0	0	0	0
343	-0.86	-134.2	54.8	-24.0	43	351	0.00	1.60	0.00	0.000	6	0.000	0.028	1533	2837	3370	0	0	0	0	0	0
588	-0.86	-134.2	111.2	-22.2	79	589	0.00	0.00	0.00	0.000	6	0.000	0.000	1533	2836	3370	0	0	0	0	0	0
900	-0.86	-134.2	175.4	-19.9	99	904	0.00	2.08	0.00	0.000	4	0.000	0.034	1533	1470	3370	0	0	0	0	0	0
921	-0.86	-134.2	179.7	-20.1	100	925	0.00	2.20	0.00	0.000	6	0.000	0.047	1523	2862	3370	0	0	0	0	0	0
1250	-0.86	-134.2	242.0	-19.1	121	1253	0.00	1.62	0.00	0.000	4	0.000	0.052	1515	3894	3371	0	0	0	0	0	0
1417	-0.86	-134.2	274.1	-19.7	129	1422	0.10	1.55	0.00	0.000	6	0.176	0.028	1544	2855	3372	0	0	0	0	0	0
1755	-0.86	-134.2	331.7	-16.6	145	1759	0.00	1.65	0.00	0.000	4	0.000	0.054	1537	3905	3373	0	0	0	0	0	0
1815	-0.86	-134.2	342.4	-17.7	147	1818	0.00	1.58	0.00	0.000	6	0.000	0.028	1537	2864	3373	0	0	0	0	0	0
2140	-0.86	-134.2	397.8	-16.8	163	2144	0.00	1.65	0.00	0.000	4	0.000	0.054	1529	3900	3373	0	0	0	0	0	0
2171	-0.86	-134.2	403.8	-18.4	164	2178	0.00	1.58	0.00	0.000	6	0.000	0.028	1529	2850	3373	0	0	0	0	0	0
2486	-0.86	-134.2	460.4	-18.2	175	2490	0.00	1.67	0.00	0.000	4	0.000	0.054	1521	3892	3373	0	0	0	0	0	0
2557	-0.86	-134.2	474.2	-19.2	177	2561	0.08	1.55	0.00	0.000	6	0.170	0.028	1557	2855	3373	0	0	0	0	0	0
2900	-0.86	-134.2	529.1	-15.7	188	2904	0.00	1.67	0.00	0.000	4	0.000	0.055	1551	3887	3373	0	0	0	0	0	0
2937	-0.86	-134.2	535.1	-16.2	189	2941	0.00	1.55	0.00	0.000	6	0.000	0.029	1551	2859	3373	0	0	0	0	0	0
3282	-0.86	-134.2	588.7	-15.6	200	3286	0.00	1.65	0.00	0.000	4	0.000	0.056	1543	3903	3373	0	0	0	0	0	0
3356	-0.86	-134.2	601.6	-16.0	202	3360	0.00	1.58	0.00	0.000	6	0.000	0.029	1543	2865	3373	0	0	0	0	0	0
3696	-0.86	-134.2	655.4	-15.8	213	3699	0.00	1.65	0.00	0.000	4	0.000	0.056	1535	3894	3372	0	0	0	0	0	0
3733	-0.86	-134.2	661.7	-16.7	214	3736	0.00	1.58	0.00	0.000	6	0.000	0.029	1535	2854	3372	0	0	0	0	0	0
4075	-0.86	-134.2	717.9	-16.4	225	4079	0.00	1.67	0.00	0.000	4	0.000	0.055	1527	3900	3372	0	0	0	0	0	0
4100	-0.86	-134.2	722.2	-17.0	225	4103	0.00	1.58	0.00	0.000	6	0.000	0.030	1527	2860	3372	0	0	0	0	0	0
4421	-0.86	-134.2	775.9	-17.1	236	4425	0.00	1.65	0.00	0.000	4	0.000	0.056	1519	3893	3371	0	0	0	0	0	0
4478	-0.86	-134.2	786.4	-17.8	237	4482	0.08	1.55	0.00	0.000	6	0.171	0.030	1555	2859	3370	0	0	0	0	0	0
4799	-0.86	-134.2	832.0	-14.4	248	4801	0.00	0.00	0.00	0.000	6	0.000	0.000	1555	2853	3370	0	0	0	0	0	0
5105	-0.86	-134.2	874.3	-13.8	258	5109	0.00	1.70	0.00	0.000	4	0.000	0.058	1549	3893	3369	0	0	0	0	0	0
5134	-0.86	-134.2	879.0	-15.5	258	5141	0.00	1.58	0.00	0.000	6	0.000	0.031	1549	2848	3369	0	0	0	0	0	0
5451	-0.86	-134.2	923.5	-14.1	269	5455	0.00	1.67	0.00	0.000	4	0.000	0.057	1541	3893	3368	0	0	0	0	0	0
5503	-0.86	-134.2	932.1	-16.2	270	5506	0.00	1.55	0.00	0.000	6	0.000	0.030	1541	2866	3368	0	0	0	0	0	0
5829	-0.86	-134.2	979.6	-14.6	281	5832	0.00	1.70	0.00	0.000	4	0.000	0.057	1532	3903	3367	0	0	0	0	0	0
5865	-0.86	-134.2	985.3	-15.7	282	5869	0.00	1.58	0.00	0.000	6	0.000	0.030	1533	2864	3367	0	0	0	0	0	0
5990	end dive: TARGET_DEPTH_EXCEEDED
state	5991	begin apogee
6002	-0.18	0.0	1004.7	15.2	286	6141	0.82	0.00	130.80	1.268	6	0.176	0.000	1762	2664	2816	0	0	0	0	0	0
6143	end apogee: CONTROL_FINISHED_OK
state	6143	begin climb
6148	0.86	134.2	1010.1	0.0	291	6307	1.02	2.47	143.35	1.747	4	0.090	0.042	2112	1285	2276	0	0	0	0	1	0
6388	0.86	134.2	969.9	22.4	298	6393	0.00	2.40	0.00	0.000	6	0.000	0.050	2112	2669	2273	0	0	0	0	0	0
6715	0.86	134.2	889.9	24.5	309	6719	0.00	2.20	0.00	0.000	4	0.000	0.044	2122	1289	2270	0	0	0	0	0	0
6780	0.86	134.2	875.2	23.2	311	6784	0.00	2.25	0.00	0.000	6	0.000	0.051	2122	2680	2268	0	0	0	0	0	0
7124	0.86	134.2	794.0	23.5	322	7128	0.00	2.20	0.00	0.000	4	0.000	0.044	2132	1287	2267	0	0	0	0	0	0
7238	0.86	134.2	769.0	21.0	325	7242	0.00	2.22	0.00	0.000	6	0.000	0.050	2132	2670	2266	0	0	0	0	0	0
7559	0.86	134.2	690.5	25.0	336	7563	0.00	2.17	0.00	0.000	4	0.000	0.042	2142	1272	2265	0	0	0	0	0	0
7628	0.86	134.2	674.6	21.8	338	7633	0.15	2.25	0.00	0.000	6	0.243	0.051	2111	2669	2264	0	0	0	0	0	0
7961	0.86	134.2	596.6	23.4	349	7965	0.00	2.17	0.00	0.000	4	0.000	0.041	2120	1274	2264	0	0	0	0	0	0
8019	0.86	134.2	583.6	21.8	350	8025	0.00	2.25	0.00	0.000	6	0.000	0.050	2118	2675	2264	0	0	0	0	0	0
8334	0.86	134.2	508.2	24.2	361	8338	0.00	2.20	0.00	0.000	4	0.000	0.042	2127	1276	2263	0	0	0	0	0	0
8386	0.86	134.2	496.0	21.4	362	8390	0.00	2.25	0.00	0.000	6	0.000	0.050	2127	2670	2263	0	0	0	0	0	0
8701	0.86	134.2	420.8	23.6	372	8705	0.00	2.15	0.00	0.000	4	0.000	0.043	2137	1280	2263	0	0	0	0	0	0
8754	0.86	134.2	409.0	21.2	373	8758	0.00	2.25	0.00	0.000	6	0.000	0.050	2137	2674	2262	0	0	0	0	0	0
9073	0.86	134.2	335.0	22.8	387	9077	0.00	2.20	0.00	0.000	4	0.000	0.043	2148	1281	2262	0	0	0	0	0	0
9148	0.86	134.2	317.9	20.1	390	9153	0.15	2.25	0.00	0.000	6	0.237	0.050	2112	2677	2262	0	0	0	0	0	0
9469	0.86	134.2	249.0	21.8	405	9473	0.00	2.15	0.00	0.000	4	0.000	0.041	2121	1288	2261	0	0	0	0	0	0
9585	0.86	134.2	224.9	19.3	412	9589	0.00	2.22	0.00	0.000	6	0.000	0.050	2117	2671	2261	0	0	0	0	0	0
9915	0.86	134.2	152.1	22.5	433	9919	0.00	2.15	0.00	0.000	4	0.000	0.039	2127	1277	2261	0	0	0	0	0	0
10023	0.86	134.2	129.1	19.6	439	10030	0.00	2.22	0.00	0.000	6	0.000	0.048	2123	2672	2260	0	0	0	0	0	0
10363	0.86	134.2	54.2	20.1	484	10372	0.00	2.17	0.00	0.000	4	0.000	0.038	2133	1283	2260	0	0	0	0	0	0
10404	0.86	134.2	46.9	18.9	489	10411	0.00	2.22	0.00	0.000	6	0.000	0.048	2131	2674	2261	0	0	0	0	0	0
10620	end climb: SURFACE_DEPTH_REACHED
state	10620	begin surface coast
10634	end surface coast: CONTROL_FINISHED_OK
state	10634	begin surface