Glider dive log

SOSCEx 08Dec12 * SG543 * Dive index * Mission links * Dive 52 * 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 52 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 49 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 41 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 -7963.7583 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 -7963.7583

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 49 VBD_MAX 3960

DEVICE2 101 MASS 52459 R_STBD_OVSHOOT 41 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 52 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 171212,064234,-4231.780,823.965,36,0.9,36,-25.0 TGT_NAME GH1

_CALLS 2 TGT_LATLONG -4230.000,820.000

_XMS_NAKs 0 TGT_RADIUS 800.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.178,-0.064

_SM_DEPTHo 1.15 KALMAN_X -4898.5,571.9,447.4,34378.6,-1502.8

_SM_ANGLEo -25.0 KALMAN_Y 75376.5,-189.9,-508.2,-77719.7,4542.7

GPS2 171212,065553,-4231.687,824.017,18,1.0,19,-25.0 MHEAD_RNG_PITCHd_Wd 275.1,6312,-22.1,-9.009

SPEED_LIMITS 0.156,0.284 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.1,1.026233 _10V_AH 10.1,5.885

SM_CCo 11235,148.27,0.786,1,0,503,482.50 FG_AHR_24Vo 0.000

SM_GC 1.40,0.00,0.00,148.27,0.000,0.000,0.786,62,3364,503,-4.96,0.31,482.50 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4215.72,823.91,171212,060636 MEM 354216

TT8_MAMPS 0.025466 DATA_FILE_SIZE 43693,564

HUMID 54.72 CAP_FILE_SIZE 106482,0

INTERNAL_PRESSURE 8.93706 CFSIZE 259252224,255152128

TCM_TEMP 14.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,2

XPDR_PINGS 0 GPS 171212,100759,-4231.313,821.922,41,1.5,41,-25.0

_24V_AH 22.4,11.819

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 236 65.66 SBE_CT 365 24 196.60

Roll_motor 69 77 119.90 AA4330 1233 33 911.58

VBD_pump_during_apogee 286 1809 11597.55 WL_BB2FLVMT 578 105 1361.49

VBD_pump_during_surface 148 785 2609.44 QSP2150 266 4 26.13

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 67 103 156.24 nil 0 0 0.00

Iridium_during_connect 86 160 311.30 nil 0 0 0.00

Iridium_during_xfer 405 223 2026.06 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 5.89

TT8 1470 14 222.21

LPSleep 7260 2 160.59

TT8_Active 528 14 75.80

TT8_Sampling 2219 37 839.11

TT8_CF8 711 47 338.94

TT8_Kalman 33 59 19.93

Analog_circuits 1333 12 161.60

GPS_charging 0 0 0.00

Compass 1778 15 282.49

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

21 -0.66 -79.5 0.0 0.0 0 113 0.00 0.00 -89.82 0.000 2 0.000 0.000 55 3373 2730 0 0 0 0 0 0

117 -0.70 -145.5 3.1 -4.0 11 137 5.53 0.00 -9.55 0.000 6 0.236 0.000 1415 3373 3070 0 0 0 0 0 0

217 -0.70 -145.5 20.2 -19.3 25 225 0.00 0.00 0.00 0.000 6 0.000 0.000 1415 3373 3072 0 0 0 0 0 0

299 -0.70 -145.5 36.8 -19.9 38 307 0.00 0.90 0.00 0.000 4 0.000 0.059 1412 3926 3072 0 0 0 0 0 0

343 -0.70 -145.5 45.2 -19.4 44 352 0.00 0.88 0.00 0.000 6 0.000 0.037 1412 3361 3072 0 0 0 0 0 0

591 -0.70 -145.5 86.0 -17.4 85 595 0.00 2.17 0.00 0.000 4 0.000 0.033 1412 1934 3073 0 0 0 0 0 0

630 -0.70 -145.5 92.6 -15.6 91 634 0.00 2.30 0.00 0.000 6 0.000 0.061 1401 3331 3073 0 0 0 0 0 0

965 -0.70 -145.5 149.2 -18.1 117 969 0.00 0.98 0.00 0.000 4 0.000 0.058 1397 3946 3073 0 0 0 0 0 0

1202 -0.70 -145.5 193.9 -16.9 130 1213 0.00 0.90 0.00 0.000 6 0.000 0.036 1397 3349 3073 0 0 0 0 0 0

1524 -0.70 -145.5 246.9 -16.7 151 1529 0.00 0.95 0.00 0.000 4 0.000 0.058 1393 3950 3074 0 0 0 0 0 0

1606 -0.70 -145.5 263.2 -19.6 155 1610 0.00 0.90 0.00 0.000 6 0.000 0.036 1393 3353 3073 0 0 0 0 0 0

1930 -0.70 -145.5 319.5 -17.1 171 1936 0.10 0.98 0.00 0.000 4 0.199 0.060 1412 3957 3073 0 0 0 0 0 0

2083 -0.70 -145.5 345.2 -16.2 177 2087 0.00 0.93 0.00 0.000 6 0.000 0.036 1412 3343 3073 0 0 0 0 0 0

2406 -0.70 -145.5 392.1 -14.5 193 2412 0.00 0.95 0.00 0.000 4 0.000 0.059 1407 3947 3073 0 0 0 0 0 0

2512 -0.70 -145.5 408.6 -14.7 197 2515 0.00 0.90 0.00 0.000 6 0.000 0.037 1407 3348 3073 0 0 0 0 0 0

2853 -0.70 -145.5 455.4 -13.7 208 2859 0.00 0.95 0.00 0.000 4 0.000 0.059 1403 3951 3073 0 0 0 0 0 0

2994 -0.70 -145.5 478.0 -16.2 212 2999 0.00 0.90 0.00 0.000 6 0.000 0.037 1403 3353 3073 0 0 0 0 0 0

3331 -0.70 -145.5 528.6 -15.0 223 3335 0.00 0.95 0.00 0.000 4 0.000 0.060 1399 3954 3073 0 0 0 0 0 0

3375 -0.70 -145.5 536.2 -16.2 224 3379 0.00 0.90 0.00 0.000 6 0.000 0.037 1398 3356 3073 0 0 0 0 0 0

3706 -0.70 -145.5 586.3 -15.3 235 3709 0.00 0.93 0.00 0.000 4 0.000 0.060 1394 3944 3072 0 0 0 0 0 0

3828 -0.70 -145.5 607.0 -17.0 238 3832 0.00 0.90 0.00 0.000 6 0.000 0.037 1395 3349 3072 0 0 0 0 0 0

4148 -0.70 -145.5 655.0 -14.8 249 4152 0.00 0.95 0.00 0.000 4 0.000 0.060 1390 3952 3071 0 0 0 0 0 0

4209 -0.70 -145.5 665.3 -16.4 250 4216 0.08 0.90 0.00 0.000 6 0.176 0.037 1412 3354 3071 0 0 0 0 0 0

4522 -0.70 -145.5 707.6 -13.3 261 4526 0.00 0.95 0.00 0.000 4 0.000 0.061 1409 3954 3070 0 0 0 0 0 0

4593 -0.70 -145.5 717.0 -13.6 263 4597 0.00 0.90 0.00 0.000 6 0.000 0.038 1409 3357 3070 0 0 0 0 0 0

4934 -0.70 -145.5 762.6 -13.2 274 4937 0.00 0.93 0.00 0.000 4 0.000 0.062 1405 3944 3069 0 0 0 0 0 0

5087 -0.70 -145.5 784.1 -14.2 278 5092 0.00 0.90 0.00 0.000 6 0.000 0.039 1405 3350 3070 0 0 0 0 0 0

5412 -0.70 -145.5 828.5 -13.6 289 5413 0.00 0.00 0.00 0.000 6 0.000 0.000 1405 3350 3068 0 0 0 0 0 0

5718 -0.70 -145.5 870.2 -13.4 299 5722 0.00 0.95 0.00 0.000 4 0.000 0.062 1401 3949 3067 0 0 0 0 0 0

5813 -0.70 -145.5 884.0 -14.5 301 5819 0.00 0.90 0.00 0.000 6 0.000 0.039 1401 3354 3067 0 0 0 0 0 0

6126 -0.70 -145.5 925.3 -13.0 312 6130 0.00 0.95 0.00 0.000 4 0.000 0.062 1396 3952 3066 0 0 0 0 0 0

6237 -0.70 -145.5 940.9 -13.9 315 6243 0.00 0.93 0.00 0.000 6 0.000 0.039 1396 3343 3066 0 0 0 0 0 0

6570 -0.70 -145.5 982.9 -12.6 326 6574 0.00 0.95 0.00 0.000 4 0.000 0.062 1392 3943 3065 0 0 0 0 0 0

6688 -0.70 -145.5 999.5 -14.3 329 6692 0.08 0.90 0.00 0.000 6 0.182 0.039 1414 3350 3065 0 0 0 0 0 0

6698 end dive: TARGET_DEPTH_EXCEEDED

state 6698 begin apogee

6705 -0.14 0.0 1000.8 13.2 329 6856 0.60 0.00 142.15 1.724 6 0.152 0.000 1601 3257 2473 0 0 0 0 1 0

6857 end apogee: CONTROL_FINISHED_OK

state 6857 begin climb

6860 0.70 145.5 1004.1 0.0 334 7019 0.77 2.45 143.90 1.810 4 0.053 0.033 1891 1835 1878 0 0 0 0 1 0

7092 0.70 145.5 962.9 20.4 341 7097 0.00 2.47 0.00 0.000 6 0.000 0.050 1891 3257 1875 0 0 0 0 0 0

7422 0.70 145.5 878.9 25.5 352 7426 0.00 2.28 0.00 0.000 4 0.000 0.034 1901 1827 1869 0 0 0 0 0 0

7452 0.70 145.5 871.7 24.8 353 7456 0.00 2.38 0.00 0.000 6 0.000 0.051 1901 3254 1868 0 0 0 0 0 0

7787 0.70 145.5 784.3 26.0 364 7793 0.00 2.25 0.00 0.000 4 0.000 0.034 1912 1826 1867 0 0 0 0 0 0

7857 0.70 145.5 768.5 20.9 366 7862 0.12 2.33 0.00 0.000 6 0.207 0.052 1884 3251 1865 0 0 0 0 0 0

8193 0.70 145.5 690.4 23.1 377 8194 0.00 0.00 0.00 0.000 6 0.000 0.000 1883 3250 1865 0 0 0 0 0 0

8499 0.70 145.5 619.7 23.2 387 8503 0.00 2.17 0.00 0.000 4 0.000 0.033 1893 1828 1863 0 0 0 0 0 0

8533 0.70 145.5 612.1 21.1 388 8537 0.00 2.30 0.00 0.000 6 0.000 0.051 1893 3257 1863 0 0 0 0 0 0

8862 0.70 145.5 535.4 23.4 399 8866 0.00 2.20 0.00 0.000 4 0.000 0.032 1904 1816 1862 0 0 0 0 0 0

8883 0.70 145.5 530.1 23.1 399 8890 0.00 2.30 0.00 0.000 6 0.000 0.050 1904 3256 1862 0 0 0 0 0 0

9198 0.70 145.5 456.8 23.8 410 9202 0.00 2.17 0.00 0.000 4 0.000 0.034 1915 1827 1862 0 0 0 0 0 0

9230 0.70 145.5 448.7 22.4 411 9235 0.15 2.28 0.00 0.000 6 0.205 0.050 1879 3250 1861 0 0 0 0 0 0

9555 0.70 145.5 377.3 22.7 423 9556 0.00 0.00 0.00 0.000 6 0.000 0.000 1879 3250 1861 0 0 0 0 0 0

9862 0.70 145.5 306.6 23.2 438 9866 0.00 2.15 0.00 0.000 4 0.000 0.034 1888 1824 1861 0 0 0 0 0 0

9891 0.70 145.5 299.6 21.6 439 9895 0.00 2.28 0.00 0.000 6 0.000 0.050 1889 3253 1860 0 0 0 0 0 0

10217 0.70 145.5 224.6 23.2 456 10218 0.00 0.00 0.00 0.000 6 0.000 0.000 1889 3253 1860 0 0 0 0 0 0

10527 0.70 145.5 151.9 23.2 476 10531 0.00 2.12 0.00 0.000 4 0.000 0.034 1899 1824 1860 0 0 0 0 0 0

10586 0.70 145.5 139.3 19.1 479 10593 0.00 2.28 0.00 0.000 6 0.000 0.051 1900 3262 1859 0 0 0 0 0 0

10917 0.70 145.5 62.8 22.6 518 10925 0.00 1.10 0.00 0.000 4 0.000 0.056 1900 3956 1859 0 0 0 0 0 0

10957 0.70 145.5 53.5 24.8 524 10968 0.00 1.08 0.00 0.000 6 0.000 0.031 1905 3226 1859 0 0 0 0 0 0

11199 end climb: SURFACE_DEPTH_REACHED

state 11200 begin surface coast

11218 end surface coast: CONTROL_FINISHED_OK

state 11219 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	52	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	49	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	41	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	-7963.7583	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	171212,064234,-4231.780,823.965,36,0.9,36,-25.0	TGT_NAME	GH1
_CALLS	2	TGT_LATLONG	-4230.000,820.000
_XMS_NAKs	0	TGT_RADIUS	800.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.178,-0.064
_SM_DEPTHo	1.15	KALMAN_X	-4898.5,571.9,447.4,34378.6,-1502.8
_SM_ANGLEo	-25.0	KALMAN_Y	75376.5,-189.9,-508.2,-77719.7,4542.7
GPS2	171212,065553,-4231.687,824.017,18,1.0,19,-25.0	MHEAD_RNG_PITCHd_Wd	275.1,6312,-22.1,-9.009
SPEED_LIMITS	0.156,0.284	D_GRID	1000

FINISH	1.1,1.026233	_10V_AH	10.1,5.885
SM_CCo	11235,148.27,0.786,1,0,503,482.50	FG_AHR_24Vo	0.000
SM_GC	1.40,0.00,0.00,148.27,0.000,0.000,0.786,62,3364,503,-4.96,0.31,482.50	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4215.72,823.91,171212,060636	MEM	354216
TT8_MAMPS	0.025466	DATA_FILE_SIZE	43693,564
HUMID	54.72	CAP_FILE_SIZE	106482,0
INTERNAL_PRESSURE	8.93706	CFSIZE	259252224,255152128
TCM_TEMP	14.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,2
XPDR_PINGS	0	GPS	171212,100759,-4231.313,821.922,41,1.5,41,-25.0
_24V_AH	22.4,11.819

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	236	65.66	SBE_CT	365	24	196.60
Roll_motor	69	77	119.90	AA4330	1233	33	911.58
VBD_pump_during_apogee	286	1809	11597.55	WL_BB2FLVMT	578	105	1361.49
VBD_pump_during_surface	148	785	2609.44	QSP2150	266	4	26.13
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	67	103	156.24	nil	0	0	0.00
Iridium_during_connect	86	160	311.30	nil	0	0	0.00
Iridium_during_xfer	405	223	2026.06	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	5.89
TT8	1470	14	222.21
LPSleep	7260	2	160.59
TT8_Active	528	14	75.80
TT8_Sampling	2219	37	839.11
TT8_CF8	711	47	338.94
TT8_Kalman	33	59	19.93
Analog_circuits	1333	12	161.60
GPS_charging	0	0	0.00
Compass	1778	15	282.49
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
21	-0.66	-79.5	0.0	0.0	0	113	0.00	0.00	-89.82	0.000	2	0.000	0.000	55	3373	2730	0	0	0	0	0	0
117	-0.70	-145.5	3.1	-4.0	11	137	5.53	0.00	-9.55	0.000	6	0.236	0.000	1415	3373	3070	0	0	0	0	0	0
217	-0.70	-145.5	20.2	-19.3	25	225	0.00	0.00	0.00	0.000	6	0.000	0.000	1415	3373	3072	0	0	0	0	0	0
299	-0.70	-145.5	36.8	-19.9	38	307	0.00	0.90	0.00	0.000	4	0.000	0.059	1412	3926	3072	0	0	0	0	0	0
343	-0.70	-145.5	45.2	-19.4	44	352	0.00	0.88	0.00	0.000	6	0.000	0.037	1412	3361	3072	0	0	0	0	0	0
591	-0.70	-145.5	86.0	-17.4	85	595	0.00	2.17	0.00	0.000	4	0.000	0.033	1412	1934	3073	0	0	0	0	0	0
630	-0.70	-145.5	92.6	-15.6	91	634	0.00	2.30	0.00	0.000	6	0.000	0.061	1401	3331	3073	0	0	0	0	0	0
965	-0.70	-145.5	149.2	-18.1	117	969	0.00	0.98	0.00	0.000	4	0.000	0.058	1397	3946	3073	0	0	0	0	0	0
1202	-0.70	-145.5	193.9	-16.9	130	1213	0.00	0.90	0.00	0.000	6	0.000	0.036	1397	3349	3073	0	0	0	0	0	0
1524	-0.70	-145.5	246.9	-16.7	151	1529	0.00	0.95	0.00	0.000	4	0.000	0.058	1393	3950	3074	0	0	0	0	0	0
1606	-0.70	-145.5	263.2	-19.6	155	1610	0.00	0.90	0.00	0.000	6	0.000	0.036	1393	3353	3073	0	0	0	0	0	0
1930	-0.70	-145.5	319.5	-17.1	171	1936	0.10	0.98	0.00	0.000	4	0.199	0.060	1412	3957	3073	0	0	0	0	0	0
2083	-0.70	-145.5	345.2	-16.2	177	2087	0.00	0.93	0.00	0.000	6	0.000	0.036	1412	3343	3073	0	0	0	0	0	0
2406	-0.70	-145.5	392.1	-14.5	193	2412	0.00	0.95	0.00	0.000	4	0.000	0.059	1407	3947	3073	0	0	0	0	0	0
2512	-0.70	-145.5	408.6	-14.7	197	2515	0.00	0.90	0.00	0.000	6	0.000	0.037	1407	3348	3073	0	0	0	0	0	0
2853	-0.70	-145.5	455.4	-13.7	208	2859	0.00	0.95	0.00	0.000	4	0.000	0.059	1403	3951	3073	0	0	0	0	0	0
2994	-0.70	-145.5	478.0	-16.2	212	2999	0.00	0.90	0.00	0.000	6	0.000	0.037	1403	3353	3073	0	0	0	0	0	0
3331	-0.70	-145.5	528.6	-15.0	223	3335	0.00	0.95	0.00	0.000	4	0.000	0.060	1399	3954	3073	0	0	0	0	0	0
3375	-0.70	-145.5	536.2	-16.2	224	3379	0.00	0.90	0.00	0.000	6	0.000	0.037	1398	3356	3073	0	0	0	0	0	0
3706	-0.70	-145.5	586.3	-15.3	235	3709	0.00	0.93	0.00	0.000	4	0.000	0.060	1394	3944	3072	0	0	0	0	0	0
3828	-0.70	-145.5	607.0	-17.0	238	3832	0.00	0.90	0.00	0.000	6	0.000	0.037	1395	3349	3072	0	0	0	0	0	0
4148	-0.70	-145.5	655.0	-14.8	249	4152	0.00	0.95	0.00	0.000	4	0.000	0.060	1390	3952	3071	0	0	0	0	0	0
4209	-0.70	-145.5	665.3	-16.4	250	4216	0.08	0.90	0.00	0.000	6	0.176	0.037	1412	3354	3071	0	0	0	0	0	0
4522	-0.70	-145.5	707.6	-13.3	261	4526	0.00	0.95	0.00	0.000	4	0.000	0.061	1409	3954	3070	0	0	0	0	0	0
4593	-0.70	-145.5	717.0	-13.6	263	4597	0.00	0.90	0.00	0.000	6	0.000	0.038	1409	3357	3070	0	0	0	0	0	0
4934	-0.70	-145.5	762.6	-13.2	274	4937	0.00	0.93	0.00	0.000	4	0.000	0.062	1405	3944	3069	0	0	0	0	0	0
5087	-0.70	-145.5	784.1	-14.2	278	5092	0.00	0.90	0.00	0.000	6	0.000	0.039	1405	3350	3070	0	0	0	0	0	0
5412	-0.70	-145.5	828.5	-13.6	289	5413	0.00	0.00	0.00	0.000	6	0.000	0.000	1405	3350	3068	0	0	0	0	0	0
5718	-0.70	-145.5	870.2	-13.4	299	5722	0.00	0.95	0.00	0.000	4	0.000	0.062	1401	3949	3067	0	0	0	0	0	0
5813	-0.70	-145.5	884.0	-14.5	301	5819	0.00	0.90	0.00	0.000	6	0.000	0.039	1401	3354	3067	0	0	0	0	0	0
6126	-0.70	-145.5	925.3	-13.0	312	6130	0.00	0.95	0.00	0.000	4	0.000	0.062	1396	3952	3066	0	0	0	0	0	0
6237	-0.70	-145.5	940.9	-13.9	315	6243	0.00	0.93	0.00	0.000	6	0.000	0.039	1396	3343	3066	0	0	0	0	0	0
6570	-0.70	-145.5	982.9	-12.6	326	6574	0.00	0.95	0.00	0.000	4	0.000	0.062	1392	3943	3065	0	0	0	0	0	0
6688	-0.70	-145.5	999.5	-14.3	329	6692	0.08	0.90	0.00	0.000	6	0.182	0.039	1414	3350	3065	0	0	0	0	0	0
6698	end dive: TARGET_DEPTH_EXCEEDED
state	6698	begin apogee
6705	-0.14	0.0	1000.8	13.2	329	6856	0.60	0.00	142.15	1.724	6	0.152	0.000	1601	3257	2473	0	0	0	0	1	0
6857	end apogee: CONTROL_FINISHED_OK
state	6857	begin climb
6860	0.70	145.5	1004.1	0.0	334	7019	0.77	2.45	143.90	1.810	4	0.053	0.033	1891	1835	1878	0	0	0	0	1	0
7092	0.70	145.5	962.9	20.4	341	7097	0.00	2.47	0.00	0.000	6	0.000	0.050	1891	3257	1875	0	0	0	0	0	0
7422	0.70	145.5	878.9	25.5	352	7426	0.00	2.28	0.00	0.000	4	0.000	0.034	1901	1827	1869	0	0	0	0	0	0
7452	0.70	145.5	871.7	24.8	353	7456	0.00	2.38	0.00	0.000	6	0.000	0.051	1901	3254	1868	0	0	0	0	0	0
7787	0.70	145.5	784.3	26.0	364	7793	0.00	2.25	0.00	0.000	4	0.000	0.034	1912	1826	1867	0	0	0	0	0	0
7857	0.70	145.5	768.5	20.9	366	7862	0.12	2.33	0.00	0.000	6	0.207	0.052	1884	3251	1865	0	0	0	0	0	0
8193	0.70	145.5	690.4	23.1	377	8194	0.00	0.00	0.00	0.000	6	0.000	0.000	1883	3250	1865	0	0	0	0	0	0
8499	0.70	145.5	619.7	23.2	387	8503	0.00	2.17	0.00	0.000	4	0.000	0.033	1893	1828	1863	0	0	0	0	0	0
8533	0.70	145.5	612.1	21.1	388	8537	0.00	2.30	0.00	0.000	6	0.000	0.051	1893	3257	1863	0	0	0	0	0	0
8862	0.70	145.5	535.4	23.4	399	8866	0.00	2.20	0.00	0.000	4	0.000	0.032	1904	1816	1862	0	0	0	0	0	0
8883	0.70	145.5	530.1	23.1	399	8890	0.00	2.30	0.00	0.000	6	0.000	0.050	1904	3256	1862	0	0	0	0	0	0
9198	0.70	145.5	456.8	23.8	410	9202	0.00	2.17	0.00	0.000	4	0.000	0.034	1915	1827	1862	0	0	0	0	0	0
9230	0.70	145.5	448.7	22.4	411	9235	0.15	2.28	0.00	0.000	6	0.205	0.050	1879	3250	1861	0	0	0	0	0	0
9555	0.70	145.5	377.3	22.7	423	9556	0.00	0.00	0.00	0.000	6	0.000	0.000	1879	3250	1861	0	0	0	0	0	0
9862	0.70	145.5	306.6	23.2	438	9866	0.00	2.15	0.00	0.000	4	0.000	0.034	1888	1824	1861	0	0	0	0	0	0
9891	0.70	145.5	299.6	21.6	439	9895	0.00	2.28	0.00	0.000	6	0.000	0.050	1889	3253	1860	0	0	0	0	0	0
10217	0.70	145.5	224.6	23.2	456	10218	0.00	0.00	0.00	0.000	6	0.000	0.000	1889	3253	1860	0	0	0	0	0	0
10527	0.70	145.5	151.9	23.2	476	10531	0.00	2.12	0.00	0.000	4	0.000	0.034	1899	1824	1860	0	0	0	0	0	0
10586	0.70	145.5	139.3	19.1	479	10593	0.00	2.28	0.00	0.000	6	0.000	0.051	1900	3262	1859	0	0	0	0	0	0
10917	0.70	145.5	62.8	22.6	518	10925	0.00	1.10	0.00	0.000	4	0.000	0.056	1900	3956	1859	0	0	0	0	0	0
10957	0.70	145.5	53.5	24.8	524	10968	0.00	1.08	0.00	0.000	6	0.000	0.031	1905	3226	1859	0	0	0	0	0	0
11199	end climb: SURFACE_DEPTH_REACHED
state	11200	begin surface coast
11218	end surface coast: CONTROL_FINISHED_OK
state	11219	begin surface