Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 53 * 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 53 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2923 ALTIM_PING_DELTA 5

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2734 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 563.99261 R_PORT_OVSHOOT 27 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 27 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 -10442.46 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 -7 PITCH_MIN 73 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 200 PITCH_MAX 3888 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1870 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 37 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 563.99261

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 37 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 -10442.46

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 1

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 1870 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2734 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 2923 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 27 VBD_MAX 3961

DEVICE2 101 MASS 52816 R_STBD_OVSHOOT 27 VBD_MAXERRORS 1

DEVICE3 115 MAX_BUOY 200 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 53 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 181212,082934,-4633.367,401.455,37,1.0,37,-23.3 TGT_NAME GH2

_CALLS 1 TGT_LATLONG -4630.000,400.000

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.139,0.104

_SM_DEPTHo 0.70 KALMAN_X -47532.6,354.5,-78.5,27688.3,-3166.5

_SM_ANGLEo -25.0 KALMAN_Y 15096.5,-398.7,-419.3,18926.8,5275.7

GPS2 181212,083901,-4633.359,401.524,16,1.0,17,-23.3 MHEAD_RNG_PITCHd_Wd 76.6,6517,-27.2,-10.010

SPEED_LIMITS 0.173,0.295 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.4,1.026481 _10V_AH 10.1,5.302

SM_CCo 10283,185.45,0.793,1,0,517,564.18 FG_AHR_24Vo 0.000

SM_GC 0.99,0.00,0.00,185.45,0.000,0.000,0.793,67,2953,517,-5.63,0.85,564.18 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4616.72,358.00,181212,050543 MEM 354268

TT8_MAMPS 0.026215 DATA_FILE_SIZE 37191,520

HUMID 56.61 CAP_FILE_SIZE 87272,0

INTERNAL_PRESSURE 9.20901 CFSIZE 259252224,224714752

TCM_TEMP 10.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,2

XPDR_PINGS 0 GPS 181212,113548,-4632.370,402.195,24,1.5,24,-23.3

_24V_AH 22.4,12.283

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 266 85.37 SBE_CT 342 24 184.04

Roll_motor 87 62 122.46 AA4330 1051 33 777.44

VBD_pump_during_apogee 267 1803 10816.87 WL_BB2FLVMT 584 105 1375.53

VBD_pump_during_surface 185 792 3292.27 QSP2150 238 4 23.40

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 87.15 nil 0 0 0.00

Iridium_during_connect 35 160 126.58 nil 0 0 0.00

Iridium_during_xfer 302 223 1511.18 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 5.29

TT8 1293 14 195.41

LPSleep 6938 2 153.47

TT8_Active 593 14 85.20

TT8_Sampling 1719 37 649.90

TT8_CF8 498 47 237.69

TT8_Kalman 33 59 19.93

Analog_circuits 1222 12 148.19

GPS_charging 0 0 0.00

Compass 1308 15 207.84

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 -0.81 -63.1 0.0 0.0 0 170 0.00 0.00 -134.52 0.000 6 0.000 0.000 61 2932 3076 0 0 0 0 0 0

176 -0.90 -133.7 2.9 -2.5 18 203 5.93 2.33 -8.05 0.000 4 0.232 0.054 1578 1495 3368 0 0 0 0 0 0

328 -0.90 -133.7 29.5 -16.8 40 337 0.00 2.35 0.00 0.000 6 0.000 0.055 1569 2918 3369 0 0 0 0 0 0

415 -0.90 -133.7 48.0 -20.7 53 421 0.00 0.00 0.00 0.000 6 0.000 0.000 1569 2918 3369 0 0 0 0 0 0

657 -0.90 -133.7 96.7 -18.5 94 663 0.00 0.00 0.00 0.000 6 0.000 0.000 1569 2918 3369 0 0 0 0 0 0

993 -0.90 -133.7 159.9 -19.1 117 997 0.00 1.58 0.00 0.000 4 0.000 0.060 1561 3903 3370 0 0 0 0 0 0

1051 -0.90 -133.7 172.3 -20.8 120 1054 0.00 1.55 0.00 0.000 6 0.000 0.034 1561 2890 3371 0 0 0 0 0 0

1379 -0.90 -133.7 231.5 -17.5 141 1383 0.00 2.05 0.00 0.000 4 0.000 0.039 1561 1524 3371 0 0 0 0 0 0

1443 -0.90 -133.7 242.5 -15.0 144 1451 0.00 2.28 0.00 0.000 6 0.000 0.054 1551 2927 3371 0 0 0 0 0 0

1768 -0.90 -133.7 298.4 -17.1 161 1772 0.00 2.12 0.00 0.000 4 0.000 0.039 1551 1526 3371 0 0 0 0 0 0

1797 -0.90 -133.7 304.3 -18.0 162 1802 0.15 2.22 0.00 0.000 6 0.202 0.054 1576 2933 3371 0 0 0 0 0 0

2118 -0.90 -133.7 354.1 -15.9 177 2122 0.00 2.15 0.00 0.000 4 0.000 0.039 1576 1529 3371 0 0 0 0 0 0

2140 -0.90 -133.7 357.6 -16.1 178 2144 0.00 2.22 0.00 0.000 6 0.000 0.054 1567 2923 3371 0 0 0 0 0 0

2469 -0.90 -133.7 411.1 -16.5 193 2472 0.00 2.15 0.00 0.000 4 0.000 0.040 1567 1530 3371 0 0 0 0 0 0

2492 -0.90 -133.7 415.3 -16.4 193 2499 0.00 2.22 0.00 0.000 6 0.000 0.054 1556 2930 3371 0 0 0 0 0 0

2807 -0.90 -133.7 466.5 -16.4 204 2809 0.00 0.00 0.00 0.000 6 0.000 0.000 1557 2930 3371 0 0 0 0 0 0

3113 -0.90 -133.7 515.3 -15.9 214 3117 0.00 2.15 0.00 0.000 4 0.000 0.039 1556 1525 3371 0 0 0 0 0 0

3148 -0.90 -133.7 520.9 -14.9 215 3153 0.12 2.22 0.00 0.000 6 0.209 0.054 1574 2924 3370 0 0 0 0 0 0

3481 -0.90 -133.7 568.8 -14.4 226 3482 0.00 0.00 0.00 0.000 6 0.000 0.000 1574 2923 3370 0 0 0 0 0 0

3787 -0.90 -133.7 612.3 -14.3 236 3788 0.00 0.00 0.00 0.000 6 0.000 0.000 1574 2924 3370 0 0 0 0 0 0

4093 -0.90 -133.7 656.1 -14.5 246 4097 0.00 2.12 0.00 0.000 4 0.000 0.041 1575 1523 3370 0 0 0 0 0 0

4111 -0.90 -133.7 659.2 -14.4 246 4115 0.00 2.22 0.00 0.000 6 0.000 0.056 1565 2922 3369 0 0 0 0 0 0

4432 -0.90 -133.7 706.0 -14.6 257 4435 0.00 1.55 0.00 0.000 4 0.000 0.063 1558 3903 3369 0 0 0 0 0 0

4455 -0.90 -133.7 709.9 -15.5 257 4459 0.00 1.48 0.00 0.000 6 0.000 0.036 1558 2931 3369 0 0 0 0 0 0

4777 -0.90 -133.7 756.5 -14.2 268 4781 0.00 2.12 0.00 0.000 4 0.000 0.041 1557 1521 3368 0 0 0 0 0 0

4808 -0.90 -133.7 761.4 -14.6 269 4813 0.12 2.22 0.00 0.000 6 0.208 0.056 1576 2923 3368 0 0 0 0 0 0

5152 -0.90 -133.7 806.3 -13.1 280 5154 0.00 0.00 0.00 0.000 6 0.000 0.000 1576 2924 3368 0 0 0 0 0 0

5458 -0.90 -133.7 845.9 -12.8 290 5459 0.00 0.00 0.00 0.000 6 0.000 0.000 1576 2924 3368 0 0 0 0 0 0

5766 -0.90 -133.7 884.7 -12.6 300 5767 0.00 0.00 0.00 0.000 6 0.000 0.000 1576 2924 3367 0 0 0 0 0 0

6070 -0.90 -133.7 923.6 -12.6 310 6074 0.00 2.17 0.00 0.000 4 0.000 0.042 1576 1518 3367 0 0 0 0 0 0

6122 -0.90 -133.7 930.1 -11.2 311 6126 0.00 2.22 0.00 0.000 6 0.000 0.057 1567 2924 3367 0 0 0 0 0 0

6443 -0.90 -133.7 971.5 -13.2 322 6444 0.00 0.00 0.00 0.000 6 0.000 0.000 1567 2924 3367 0 0 0 0 0 0

6652 end dive: TARGET_DEPTH_EXCEEDED

state 6653 begin apogee

6663 -0.19 0.0 1000.3 13.3 329 6806 0.82 0.00 135.65 1.227 6 0.185 0.000 1805 2737 2817 0 0 0 0 0 0

6807 end apogee: CONTROL_FINISHED_OK

state 6807 begin climb

6812 0.90 133.7 1003.3 0.0 334 6964 1.02 2.10 132.05 1.804 4 0.062 0.060 2165 3893 2274 0 0 0 0 1 0

7012 0.90 133.7 957.3 34.7 340 7016 0.00 1.98 0.00 0.000 6 0.000 0.041 2174 2753 2273 0 0 0 0 0 0

7343 0.90 133.7 848.2 33.3 351 7347 0.00 2.35 0.00 0.000 4 0.000 0.050 2184 1316 2267 0 0 0 0 0 0

7395 0.90 133.7 831.4 30.5 352 7400 0.00 2.40 0.00 0.000 6 0.000 0.055 2184 2740 2265 0 0 0 0 0 0

7717 0.90 133.7 725.7 33.4 363 7721 0.00 2.33 0.00 0.000 4 0.000 0.048 2195 1313 2264 0 0 0 0 0 0

7750 0.90 133.7 715.6 32.3 364 7755 0.15 2.33 0.00 0.000 6 0.263 0.054 2166 2735 2263 0 0 0 0 0 0

8088 0.90 133.7 609.0 30.9 375 8092 0.00 2.28 0.00 0.000 4 0.000 0.049 2175 1317 2263 0 0 0 0 0 0

8108 0.90 133.7 602.9 30.4 375 8112 0.00 2.33 0.00 0.000 6 0.000 0.054 2172 2737 2262 0 0 0 0 0 0

8423 0.90 133.7 507.2 29.9 385 8427 0.00 2.28 0.00 0.000 4 0.000 0.049 2182 1315 2262 0 0 0 0 0 0

8446 0.90 133.7 499.5 30.0 385 8450 0.00 2.33 0.00 0.000 6 0.000 0.054 2182 2746 2261 0 0 0 0 0 0

8762 0.90 133.7 405.7 29.8 395 8763 0.00 0.00 0.00 0.000 6 0.000 0.000 2182 2746 2261 0 0 0 0 0 0

9081 0.90 133.7 311.7 29.2 410 9085 0.00 2.28 0.00 0.000 4 0.000 0.050 2193 1314 2261 0 0 0 0 0 0

9093 0.90 133.7 307.8 28.5 410 9103 0.08 2.30 0.00 0.000 6 0.262 0.053 2174 2730 2261 0 0 0 0 0 0

9418 0.90 133.7 218.4 27.1 428 9422 0.00 2.22 0.00 0.000 4 0.000 0.049 2184 1318 2261 0 0 0 0 0 0

9440 0.90 133.7 213.1 27.2 429 9444 0.00 2.28 0.00 0.000 6 0.000 0.055 2184 2737 2260 0 0 0 0 0 0

9772 0.90 133.7 121.8 27.4 450 9776 0.00 2.25 0.00 0.000 4 0.000 0.049 2193 1314 2260 0 0 0 0 0 0

9788 0.90 133.7 117.8 28.0 451 9793 0.12 2.25 0.00 0.000 6 0.267 0.054 2168 2735 2260 0 0 0 0 0 0

10142 0.90 133.7 28.2 25.1 503 10151 0.00 2.28 0.00 0.000 4 0.000 0.048 2178 1310 2259 0 0 0 0 0 0

10194 0.90 133.7 15.6 24.4 510 10203 0.00 2.30 0.00 0.000 6 0.000 0.055 2172 2728 2258 0 0 0 0 0 0

10246 end climb: SURFACE_DEPTH_REACHED

state 10246 begin surface coast

10260 end surface coast: CONTROL_FINISHED_OK

state 10260 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	53	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2923	ALTIM_PING_DELTA	5
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2734	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	563.99261	R_PORT_OVSHOOT	27	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	27	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	-10442.46	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	-7	PITCH_MIN	73	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	200	PITCH_MAX	3888	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1870	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	37	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	181212,082934,-4633.367,401.455,37,1.0,37,-23.3	TGT_NAME	GH2
_CALLS	1	TGT_LATLONG	-4630.000,400.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.139,0.104
_SM_DEPTHo	0.70	KALMAN_X	-47532.6,354.5,-78.5,27688.3,-3166.5
_SM_ANGLEo	-25.0	KALMAN_Y	15096.5,-398.7,-419.3,18926.8,5275.7
GPS2	181212,083901,-4633.359,401.524,16,1.0,17,-23.3	MHEAD_RNG_PITCHd_Wd	76.6,6517,-27.2,-10.010
SPEED_LIMITS	0.173,0.295	D_GRID	1000

FINISH	0.4,1.026481	_10V_AH	10.1,5.302
SM_CCo	10283,185.45,0.793,1,0,517,564.18	FG_AHR_24Vo	0.000
SM_GC	0.99,0.00,0.00,185.45,0.000,0.000,0.793,67,2953,517,-5.63,0.85,564.18	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4616.72,358.00,181212,050543	MEM	354268
TT8_MAMPS	0.026215	DATA_FILE_SIZE	37191,520
HUMID	56.61	CAP_FILE_SIZE	87272,0
INTERNAL_PRESSURE	9.20901	CFSIZE	259252224,224714752
TCM_TEMP	10.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
XPDR_PINGS	0	GPS	181212,113548,-4632.370,402.195,24,1.5,24,-23.3
_24V_AH	22.4,12.283

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	266	85.37	SBE_CT	342	24	184.04
Roll_motor	87	62	122.46	AA4330	1051	33	777.44
VBD_pump_during_apogee	267	1803	10816.87	WL_BB2FLVMT	584	105	1375.53
VBD_pump_during_surface	185	792	3292.27	QSP2150	238	4	23.40
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	87.15	nil	0	0	0.00
Iridium_during_connect	35	160	126.58	nil	0	0	0.00
Iridium_during_xfer	302	223	1511.18	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	5.29
TT8	1293	14	195.41
LPSleep	6938	2	153.47
TT8_Active	593	14	85.20
TT8_Sampling	1719	37	649.90
TT8_CF8	498	47	237.69
TT8_Kalman	33	59	19.93
Analog_circuits	1222	12	148.19
GPS_charging	0	0	0.00
Compass	1308	15	207.84
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	-0.81	-63.1	0.0	0.0	0	170	0.00	0.00	-134.52	0.000	6	0.000	0.000	61	2932	3076	0	0	0	0	0	0
176	-0.90	-133.7	2.9	-2.5	18	203	5.93	2.33	-8.05	0.000	4	0.232	0.054	1578	1495	3368	0	0	0	0	0	0
328	-0.90	-133.7	29.5	-16.8	40	337	0.00	2.35	0.00	0.000	6	0.000	0.055	1569	2918	3369	0	0	0	0	0	0
415	-0.90	-133.7	48.0	-20.7	53	421	0.00	0.00	0.00	0.000	6	0.000	0.000	1569	2918	3369	0	0	0	0	0	0
657	-0.90	-133.7	96.7	-18.5	94	663	0.00	0.00	0.00	0.000	6	0.000	0.000	1569	2918	3369	0	0	0	0	0	0
993	-0.90	-133.7	159.9	-19.1	117	997	0.00	1.58	0.00	0.000	4	0.000	0.060	1561	3903	3370	0	0	0	0	0	0
1051	-0.90	-133.7	172.3	-20.8	120	1054	0.00	1.55	0.00	0.000	6	0.000	0.034	1561	2890	3371	0	0	0	0	0	0
1379	-0.90	-133.7	231.5	-17.5	141	1383	0.00	2.05	0.00	0.000	4	0.000	0.039	1561	1524	3371	0	0	0	0	0	0
1443	-0.90	-133.7	242.5	-15.0	144	1451	0.00	2.28	0.00	0.000	6	0.000	0.054	1551	2927	3371	0	0	0	0	0	0
1768	-0.90	-133.7	298.4	-17.1	161	1772	0.00	2.12	0.00	0.000	4	0.000	0.039	1551	1526	3371	0	0	0	0	0	0
1797	-0.90	-133.7	304.3	-18.0	162	1802	0.15	2.22	0.00	0.000	6	0.202	0.054	1576	2933	3371	0	0	0	0	0	0
2118	-0.90	-133.7	354.1	-15.9	177	2122	0.00	2.15	0.00	0.000	4	0.000	0.039	1576	1529	3371	0	0	0	0	0	0
2140	-0.90	-133.7	357.6	-16.1	178	2144	0.00	2.22	0.00	0.000	6	0.000	0.054	1567	2923	3371	0	0	0	0	0	0
2469	-0.90	-133.7	411.1	-16.5	193	2472	0.00	2.15	0.00	0.000	4	0.000	0.040	1567	1530	3371	0	0	0	0	0	0
2492	-0.90	-133.7	415.3	-16.4	193	2499	0.00	2.22	0.00	0.000	6	0.000	0.054	1556	2930	3371	0	0	0	0	0	0
2807	-0.90	-133.7	466.5	-16.4	204	2809	0.00	0.00	0.00	0.000	6	0.000	0.000	1557	2930	3371	0	0	0	0	0	0
3113	-0.90	-133.7	515.3	-15.9	214	3117	0.00	2.15	0.00	0.000	4	0.000	0.039	1556	1525	3371	0	0	0	0	0	0
3148	-0.90	-133.7	520.9	-14.9	215	3153	0.12	2.22	0.00	0.000	6	0.209	0.054	1574	2924	3370	0	0	0	0	0	0
3481	-0.90	-133.7	568.8	-14.4	226	3482	0.00	0.00	0.00	0.000	6	0.000	0.000	1574	2923	3370	0	0	0	0	0	0
3787	-0.90	-133.7	612.3	-14.3	236	3788	0.00	0.00	0.00	0.000	6	0.000	0.000	1574	2924	3370	0	0	0	0	0	0
4093	-0.90	-133.7	656.1	-14.5	246	4097	0.00	2.12	0.00	0.000	4	0.000	0.041	1575	1523	3370	0	0	0	0	0	0
4111	-0.90	-133.7	659.2	-14.4	246	4115	0.00	2.22	0.00	0.000	6	0.000	0.056	1565	2922	3369	0	0	0	0	0	0
4432	-0.90	-133.7	706.0	-14.6	257	4435	0.00	1.55	0.00	0.000	4	0.000	0.063	1558	3903	3369	0	0	0	0	0	0
4455	-0.90	-133.7	709.9	-15.5	257	4459	0.00	1.48	0.00	0.000	6	0.000	0.036	1558	2931	3369	0	0	0	0	0	0
4777	-0.90	-133.7	756.5	-14.2	268	4781	0.00	2.12	0.00	0.000	4	0.000	0.041	1557	1521	3368	0	0	0	0	0	0
4808	-0.90	-133.7	761.4	-14.6	269	4813	0.12	2.22	0.00	0.000	6	0.208	0.056	1576	2923	3368	0	0	0	0	0	0
5152	-0.90	-133.7	806.3	-13.1	280	5154	0.00	0.00	0.00	0.000	6	0.000	0.000	1576	2924	3368	0	0	0	0	0	0
5458	-0.90	-133.7	845.9	-12.8	290	5459	0.00	0.00	0.00	0.000	6	0.000	0.000	1576	2924	3368	0	0	0	0	0	0
5766	-0.90	-133.7	884.7	-12.6	300	5767	0.00	0.00	0.00	0.000	6	0.000	0.000	1576	2924	3367	0	0	0	0	0	0
6070	-0.90	-133.7	923.6	-12.6	310	6074	0.00	2.17	0.00	0.000	4	0.000	0.042	1576	1518	3367	0	0	0	0	0	0
6122	-0.90	-133.7	930.1	-11.2	311	6126	0.00	2.22	0.00	0.000	6	0.000	0.057	1567	2924	3367	0	0	0	0	0	0
6443	-0.90	-133.7	971.5	-13.2	322	6444	0.00	0.00	0.00	0.000	6	0.000	0.000	1567	2924	3367	0	0	0	0	0	0
6652	end dive: TARGET_DEPTH_EXCEEDED
state	6653	begin apogee
6663	-0.19	0.0	1000.3	13.3	329	6806	0.82	0.00	135.65	1.227	6	0.185	0.000	1805	2737	2817	0	0	0	0	0	0
6807	end apogee: CONTROL_FINISHED_OK
state	6807	begin climb
6812	0.90	133.7	1003.3	0.0	334	6964	1.02	2.10	132.05	1.804	4	0.062	0.060	2165	3893	2274	0	0	0	0	1	0
7012	0.90	133.7	957.3	34.7	340	7016	0.00	1.98	0.00	0.000	6	0.000	0.041	2174	2753	2273	0	0	0	0	0	0
7343	0.90	133.7	848.2	33.3	351	7347	0.00	2.35	0.00	0.000	4	0.000	0.050	2184	1316	2267	0	0	0	0	0	0
7395	0.90	133.7	831.4	30.5	352	7400	0.00	2.40	0.00	0.000	6	0.000	0.055	2184	2740	2265	0	0	0	0	0	0
7717	0.90	133.7	725.7	33.4	363	7721	0.00	2.33	0.00	0.000	4	0.000	0.048	2195	1313	2264	0	0	0	0	0	0
7750	0.90	133.7	715.6	32.3	364	7755	0.15	2.33	0.00	0.000	6	0.263	0.054	2166	2735	2263	0	0	0	0	0	0
8088	0.90	133.7	609.0	30.9	375	8092	0.00	2.28	0.00	0.000	4	0.000	0.049	2175	1317	2263	0	0	0	0	0	0
8108	0.90	133.7	602.9	30.4	375	8112	0.00	2.33	0.00	0.000	6	0.000	0.054	2172	2737	2262	0	0	0	0	0	0
8423	0.90	133.7	507.2	29.9	385	8427	0.00	2.28	0.00	0.000	4	0.000	0.049	2182	1315	2262	0	0	0	0	0	0
8446	0.90	133.7	499.5	30.0	385	8450	0.00	2.33	0.00	0.000	6	0.000	0.054	2182	2746	2261	0	0	0	0	0	0
8762	0.90	133.7	405.7	29.8	395	8763	0.00	0.00	0.00	0.000	6	0.000	0.000	2182	2746	2261	0	0	0	0	0	0
9081	0.90	133.7	311.7	29.2	410	9085	0.00	2.28	0.00	0.000	4	0.000	0.050	2193	1314	2261	0	0	0	0	0	0
9093	0.90	133.7	307.8	28.5	410	9103	0.08	2.30	0.00	0.000	6	0.262	0.053	2174	2730	2261	0	0	0	0	0	0
9418	0.90	133.7	218.4	27.1	428	9422	0.00	2.22	0.00	0.000	4	0.000	0.049	2184	1318	2261	0	0	0	0	0	0
9440	0.90	133.7	213.1	27.2	429	9444	0.00	2.28	0.00	0.000	6	0.000	0.055	2184	2737	2260	0	0	0	0	0	0
9772	0.90	133.7	121.8	27.4	450	9776	0.00	2.25	0.00	0.000	4	0.000	0.049	2193	1314	2260	0	0	0	0	0	0
9788	0.90	133.7	117.8	28.0	451	9793	0.12	2.25	0.00	0.000	6	0.267	0.054	2168	2735	2260	0	0	0	0	0	0
10142	0.90	133.7	28.2	25.1	503	10151	0.00	2.28	0.00	0.000	4	0.000	0.048	2178	1310	2259	0	0	0	0	0	0
10194	0.90	133.7	15.6	24.4	510	10203	0.00	2.30	0.00	0.000	6	0.000	0.055	2172	2728	2258	0	0	0	0	0	0
10246	end climb: SURFACE_DEPTH_REACHED
state	10246	begin surface coast
10260	end surface coast: CONTROL_FINISHED_OK
state	10260	begin surface