Glider dive log

SOSCEx 08Dec12 * SG543 * Dive index * Mission links * Dive 54 * 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 54 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 48 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 24 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 -7970.5933 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 -7970.5933

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 48 VBD_MAX 3960

DEVICE2 101 MASS 52459 R_STBD_OVSHOOT 24 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 54 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 171212,133204,-4231.460,820.924,32,0.9,32,-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 -0.171,-0.106

_SM_DEPTHo 1.06 KALMAN_X -1108.4,450.7,-110.5,27190.3,2403.7

_SM_ANGLEo -20.7 KALMAN_Y 78390.5,-173.8,-116.3,-80705.2,5021.9

GPS2 171212,134413,-4231.449,821.019,15,0.8,17,-25.0 MHEAD_RNG_PITCHd_Wd 263.2,3023,-20.8,-9.009

SPEED_LIMITS 0.156,0.284 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.0,1.014487 _10V_AH 10.2,6.062

SM_CCo 11383,143.88,0.748,1,0,503,482.50 FG_AHR_24Vo 0.000

SM_GC 1.07,0.00,0.00,143.88,0.000,0.000,0.748,62,3377,503,-4.95,0.68,482.50 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4218.64,818.55,171212,131318 MEM 354216

TT8_MAMPS 0.025466 DATA_FILE_SIZE 43788,574

HUMID 54.56 CAP_FILE_SIZE 101317,0

INTERNAL_PRESSURE 8.94683 CFSIZE 259252224,255045632

TCM_TEMP 13.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,2

XPDR_PINGS 0 GPS 171212,165833,-4230.977,819.284,30,0.9,30,-24.9

_24V_AH 22.2,12.164

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 232 62.60 SBE_CT 373 24 198.83

Roll_motor 62 84 117.73 AA4330 1273 33 933.30

VBD_pump_during_apogee 314 1865 13044.68 WL_BB2FLVMT 593 105 1384.08

VBD_pump_during_surface 143 748 2389.67 QSP2150 262 4 25.53

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 67 103 155.15 nil 0 0 0.00

Iridium_during_connect 52 160 188.14 nil 0 0 0.00

Iridium_during_xfer 373 223 1846.81 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 5.34

TT8 1472 14 224.73

LPSleep 7457 2 166.59

TT8_Active 528 14 76.60

TT8_Sampling 2118 37 808.92

TT8_CF8 687 47 330.85

TT8_Kalman 33 59 20.12

Analog_circuits 1302 12 159.37

GPS_charging 0 0 0.00

Compass 1767 15 283.51

RAFOS 0 0 0.00

Transponder 1 5 0.05

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

16 end surface: CONTROL_FINISHED_OK

state 17 begin dive

20 -0.63 -89.7 0.0 0.0 0 118 0.00 0.00 -93.70 0.000 6 0.000 0.000 65 3355 2841 0 0 0 0 0 0

122 -0.68 -161.7 3.4 -4.1 12 141 5.47 1.00 -7.28 0.000 4 0.233 0.085 1423 3960 3135 0 0 0 0 0 0

373 -0.68 -161.7 52.6 -19.6 51 379 0.00 0.93 0.00 0.000 6 0.000 0.037 1423 3361 3137 0 0 0 0 0 0

619 -0.68 -161.7 91.2 -16.0 92 626 0.00 0.95 0.00 0.000 4 0.000 0.059 1419 3949 3138 0 0 0 0 0 0

700 -0.68 -161.7 104.7 -16.3 103 707 0.00 0.93 0.00 0.000 6 0.000 0.036 1419 3348 3138 0 0 0 0 0 0

1021 -0.68 -161.7 154.5 -15.7 124 1025 0.00 0.95 0.00 0.000 4 0.000 0.058 1415 3943 3138 0 0 0 0 0 0

1146 -0.68 -161.7 176.5 -17.5 131 1152 0.00 0.90 0.00 0.000 6 0.000 0.037 1415 3349 3138 0 0 0 0 0 0

1473 -0.68 -161.7 229.1 -16.3 152 1477 0.00 0.95 0.00 0.000 4 0.000 0.058 1410 3947 3138 0 0 0 0 0 0

1550 -0.68 -161.7 243.0 -17.3 156 1555 0.00 0.90 0.00 0.000 6 0.000 0.037 1410 3354 3138 0 0 0 0 0 0

1885 -0.68 -161.7 296.8 -15.8 173 1890 0.00 0.98 0.00 0.000 4 0.000 0.060 1406 3951 3138 0 0 0 0 0 0

1973 -0.68 -161.7 312.2 -17.5 176 1982 0.00 0.90 0.00 0.000 6 0.000 0.036 1406 3355 3138 0 0 0 0 0 0

2291 -0.68 -161.7 364.5 -16.6 192 2292 0.00 0.00 0.00 0.000 6 0.000 0.000 1406 3355 3138 0 0 0 0 0 0

2608 -0.68 -161.7 416.6 -16.0 206 2612 0.00 0.93 0.00 0.000 4 0.000 0.059 1402 3943 3138 0 0 0 0 0 0

2766 -0.68 -161.7 443.5 -16.8 210 2771 0.00 0.90 0.00 0.000 6 0.000 0.037 1402 3345 3138 0 0 0 0 0 0

3085 -0.68 -161.7 493.3 -15.4 221 3091 0.00 0.95 0.00 0.000 4 0.000 0.059 1397 3946 3138 0 0 0 0 0 0

3209 -0.68 -161.7 514.0 -15.7 224 3213 0.08 0.90 0.00 0.000 6 0.177 0.037 1420 3351 3138 0 0 0 0 0 0

3528 -0.68 -161.7 556.9 -13.6 235 3531 0.00 0.95 0.00 0.000 4 0.000 0.060 1417 3952 3138 0 0 0 0 0 0

3650 -0.68 -161.7 575.1 -14.3 238 3654 0.00 0.90 0.00 0.000 6 0.000 0.037 1417 3353 3138 0 0 0 0 0 0

3970 -0.68 -161.7 620.3 -14.4 249 3974 0.00 0.95 0.00 0.000 4 0.000 0.060 1413 3952 3138 0 0 0 0 0 0

4087 -0.68 -161.7 638.7 -15.3 252 4093 0.00 0.90 0.00 0.000 6 0.000 0.037 1413 3351 3138 0 0 0 0 0 0

4413 -0.68 -161.7 685.2 -14.3 263 4418 0.00 0.95 0.00 0.000 4 0.000 0.060 1408 3951 3137 0 0 0 0 0 0

4536 -0.68 -161.7 704.3 -15.2 266 4540 0.00 0.90 0.00 0.000 6 0.000 0.038 1408 3351 3137 0 0 0 0 0 0

4855 -0.68 -161.7 748.6 -13.7 277 4859 0.00 0.95 0.00 0.000 4 0.000 0.061 1403 3950 3136 0 0 0 0 0 0

4939 -0.68 -161.7 760.9 -13.7 279 4943 0.00 0.90 0.00 0.000 6 0.000 0.038 1404 3354 3135 0 0 0 0 0 0

5263 -0.68 -161.7 804.9 -13.7 290 5264 0.00 0.00 0.00 0.000 6 0.000 0.000 1404 3354 3134 0 0 0 0 0 0

5570 -0.68 -161.7 847.0 -13.5 300 5574 0.00 0.95 0.00 0.000 4 0.000 0.064 1399 3937 3133 0 0 0 0 0 0

5659 -0.68 -161.7 860.3 -14.5 302 5664 0.08 0.88 0.00 0.000 6 0.181 0.040 1422 3361 3133 0 0 0 0 0 0

5979 -0.68 -161.7 897.9 -11.9 313 5982 0.00 0.93 0.00 0.000 4 0.000 0.063 1419 3943 3132 0 0 0 0 0 0

6080 -0.68 -161.7 911.1 -13.1 316 6084 0.00 0.90 0.00 0.000 6 0.000 0.040 1419 3348 3132 0 0 0 0 0 0

6422 -0.68 -161.7 953.0 -12.1 327 6427 0.00 0.95 0.00 0.000 4 0.000 0.063 1415 3947 3132 0 0 0 0 0 0

6527 -0.68 -161.7 966.3 -12.1 330 6530 0.00 0.90 0.00 0.000 6 0.000 0.040 1415 3352 3131 0 0 0 0 0 0

6834 end dive: TARGET_DEPTH_EXCEEDED

state 6834 begin apogee

6842 -0.14 0.0 1003.0 11.5 340 7004 0.60 0.00 154.57 1.866 6 0.149 0.000 1597 3258 2473 0 0 0 0 1 0

7006 end apogee: CONTROL_FINISHED_OK

state 7006 begin climb

7009 0.68 161.7 1006.4 0.0 345 7184 0.77 2.47 160.35 1.814 4 0.055 0.033 1883 1835 1816 0 0 0 0 1 0

7248 0.68 161.7 963.8 19.7 352 7253 0.00 2.47 0.00 0.000 6 0.000 0.050 1883 3247 1811 0 0 0 0 0 0

7567 0.68 161.7 881.9 25.7 363 7568 0.00 0.00 0.00 0.000 6 0.000 0.000 1883 3248 1805 0 0 0 0 0 0

7874 0.68 161.7 804.0 24.9 373 7878 0.00 2.22 0.00 0.000 4 0.000 0.036 1893 1835 1803 0 0 0 0 0 0

7895 0.68 161.7 798.1 24.9 373 7903 0.00 2.35 0.00 0.000 6 0.000 0.051 1893 3250 1802 0 0 0 0 0 0

8209 0.68 161.7 719.3 25.4 384 8214 0.00 2.22 0.00 0.000 4 0.000 0.035 1904 1831 1802 0 0 0 0 0 0

8261 0.68 161.7 707.0 21.2 385 8266 0.15 2.33 0.00 0.000 6 0.197 0.051 1869 3261 1801 0 0 0 0 0 0

8581 0.68 161.7 634.4 23.0 396 8583 0.00 0.00 0.00 0.000 6 0.000 0.000 1869 3261 1801 0 0 0 0 0 0

8887 0.68 161.7 565.1 22.7 406 8888 0.00 0.00 0.00 0.000 6 0.000 0.000 1869 3261 1800 0 0 0 0 0 0

9193 0.68 161.7 496.1 23.1 416 9197 0.00 2.17 0.00 0.000 4 0.000 0.033 1878 1820 1800 0 0 0 0 0 0

9242 0.68 161.7 486.0 18.0 417 9246 0.00 2.30 0.00 0.000 6 0.000 0.049 1878 3258 1798 0 0 0 0 0 0

9556 0.68 161.7 414.3 23.5 427 9560 0.00 2.17 0.00 0.000 4 0.000 0.034 1889 1830 1798 0 0 0 0 0 0

9588 0.68 161.7 406.7 21.1 428 9592 0.00 2.28 0.00 0.000 6 0.000 0.048 1889 3261 1797 0 0 0 0 0 0

9913 0.68 161.7 329.1 24.4 443 9914 0.00 0.00 0.00 0.000 6 0.000 0.000 1889 3261 1797 0 0 0 0 0 0

10221 0.68 161.7 254.0 24.3 458 10225 0.00 2.15 0.00 0.000 4 0.000 0.034 1900 1831 1797 0 0 0 0 0 0

10252 0.68 161.7 246.7 22.7 460 10257 0.12 2.25 0.00 0.000 6 0.198 0.048 1870 3250 1797 0 0 0 0 0 0

10583 0.68 161.7 175.5 22.5 481 10587 0.00 2.15 0.00 0.000 4 0.000 0.034 1880 1825 1796 0 0 0 0 0 0

10615 0.68 161.7 168.3 20.3 483 10619 0.00 2.25 0.00 0.000 6 0.000 0.047 1880 3250 1796 0 0 0 0 0 0

10938 0.68 161.7 94.6 23.6 505 10943 0.00 2.15 0.00 0.000 4 0.000 0.034 1890 1822 1796 0 0 0 0 0 0

10975 0.68 161.7 86.4 21.1 511 10979 0.00 2.25 0.00 0.000 6 0.000 0.048 1891 3249 1796 0 0 0 0 0 0

11350 end climb: SURFACE_DEPTH_REACHED

state 11350 begin surface coast

11367 end surface coast: CONTROL_FINISHED_OK

state 11368 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	54	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	48	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	24	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	-7970.5933	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	171212,133204,-4231.460,820.924,32,0.9,32,-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	-0.171,-0.106
_SM_DEPTHo	1.06	KALMAN_X	-1108.4,450.7,-110.5,27190.3,2403.7
_SM_ANGLEo	-20.7	KALMAN_Y	78390.5,-173.8,-116.3,-80705.2,5021.9
GPS2	171212,134413,-4231.449,821.019,15,0.8,17,-25.0	MHEAD_RNG_PITCHd_Wd	263.2,3023,-20.8,-9.009
SPEED_LIMITS	0.156,0.284	D_GRID	1000

FINISH	1.0,1.014487	_10V_AH	10.2,6.062
SM_CCo	11383,143.88,0.748,1,0,503,482.50	FG_AHR_24Vo	0.000
SM_GC	1.07,0.00,0.00,143.88,0.000,0.000,0.748,62,3377,503,-4.95,0.68,482.50	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4218.64,818.55,171212,131318	MEM	354216
TT8_MAMPS	0.025466	DATA_FILE_SIZE	43788,574
HUMID	54.56	CAP_FILE_SIZE	101317,0
INTERNAL_PRESSURE	8.94683	CFSIZE	259252224,255045632
TCM_TEMP	13.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,2
XPDR_PINGS	0	GPS	171212,165833,-4230.977,819.284,30,0.9,30,-24.9
_24V_AH	22.2,12.164

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	232	62.60	SBE_CT	373	24	198.83
Roll_motor	62	84	117.73	AA4330	1273	33	933.30
VBD_pump_during_apogee	314	1865	13044.68	WL_BB2FLVMT	593	105	1384.08
VBD_pump_during_surface	143	748	2389.67	QSP2150	262	4	25.53
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	67	103	155.15	nil	0	0	0.00
Iridium_during_connect	52	160	188.14	nil	0	0	0.00
Iridium_during_xfer	373	223	1846.81	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	5.34
TT8	1472	14	224.73
LPSleep	7457	2	166.59
TT8_Active	528	14	76.60
TT8_Sampling	2118	37	808.92
TT8_CF8	687	47	330.85
TT8_Kalman	33	59	20.12
Analog_circuits	1302	12	159.37
GPS_charging	0	0	0.00
Compass	1767	15	283.51
RAFOS	0	0	0.00
Transponder	1	5	0.05

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
16	end surface: CONTROL_FINISHED_OK
state	17	begin dive
20	-0.63	-89.7	0.0	0.0	0	118	0.00	0.00	-93.70	0.000	6	0.000	0.000	65	3355	2841	0	0	0	0	0	0
122	-0.68	-161.7	3.4	-4.1	12	141	5.47	1.00	-7.28	0.000	4	0.233	0.085	1423	3960	3135	0	0	0	0	0	0
373	-0.68	-161.7	52.6	-19.6	51	379	0.00	0.93	0.00	0.000	6	0.000	0.037	1423	3361	3137	0	0	0	0	0	0
619	-0.68	-161.7	91.2	-16.0	92	626	0.00	0.95	0.00	0.000	4	0.000	0.059	1419	3949	3138	0	0	0	0	0	0
700	-0.68	-161.7	104.7	-16.3	103	707	0.00	0.93	0.00	0.000	6	0.000	0.036	1419	3348	3138	0	0	0	0	0	0
1021	-0.68	-161.7	154.5	-15.7	124	1025	0.00	0.95	0.00	0.000	4	0.000	0.058	1415	3943	3138	0	0	0	0	0	0
1146	-0.68	-161.7	176.5	-17.5	131	1152	0.00	0.90	0.00	0.000	6	0.000	0.037	1415	3349	3138	0	0	0	0	0	0
1473	-0.68	-161.7	229.1	-16.3	152	1477	0.00	0.95	0.00	0.000	4	0.000	0.058	1410	3947	3138	0	0	0	0	0	0
1550	-0.68	-161.7	243.0	-17.3	156	1555	0.00	0.90	0.00	0.000	6	0.000	0.037	1410	3354	3138	0	0	0	0	0	0
1885	-0.68	-161.7	296.8	-15.8	173	1890	0.00	0.98	0.00	0.000	4	0.000	0.060	1406	3951	3138	0	0	0	0	0	0
1973	-0.68	-161.7	312.2	-17.5	176	1982	0.00	0.90	0.00	0.000	6	0.000	0.036	1406	3355	3138	0	0	0	0	0	0
2291	-0.68	-161.7	364.5	-16.6	192	2292	0.00	0.00	0.00	0.000	6	0.000	0.000	1406	3355	3138	0	0	0	0	0	0
2608	-0.68	-161.7	416.6	-16.0	206	2612	0.00	0.93	0.00	0.000	4	0.000	0.059	1402	3943	3138	0	0	0	0	0	0
2766	-0.68	-161.7	443.5	-16.8	210	2771	0.00	0.90	0.00	0.000	6	0.000	0.037	1402	3345	3138	0	0	0	0	0	0
3085	-0.68	-161.7	493.3	-15.4	221	3091	0.00	0.95	0.00	0.000	4	0.000	0.059	1397	3946	3138	0	0	0	0	0	0
3209	-0.68	-161.7	514.0	-15.7	224	3213	0.08	0.90	0.00	0.000	6	0.177	0.037	1420	3351	3138	0	0	0	0	0	0
3528	-0.68	-161.7	556.9	-13.6	235	3531	0.00	0.95	0.00	0.000	4	0.000	0.060	1417	3952	3138	0	0	0	0	0	0
3650	-0.68	-161.7	575.1	-14.3	238	3654	0.00	0.90	0.00	0.000	6	0.000	0.037	1417	3353	3138	0	0	0	0	0	0
3970	-0.68	-161.7	620.3	-14.4	249	3974	0.00	0.95	0.00	0.000	4	0.000	0.060	1413	3952	3138	0	0	0	0	0	0
4087	-0.68	-161.7	638.7	-15.3	252	4093	0.00	0.90	0.00	0.000	6	0.000	0.037	1413	3351	3138	0	0	0	0	0	0
4413	-0.68	-161.7	685.2	-14.3	263	4418	0.00	0.95	0.00	0.000	4	0.000	0.060	1408	3951	3137	0	0	0	0	0	0
4536	-0.68	-161.7	704.3	-15.2	266	4540	0.00	0.90	0.00	0.000	6	0.000	0.038	1408	3351	3137	0	0	0	0	0	0
4855	-0.68	-161.7	748.6	-13.7	277	4859	0.00	0.95	0.00	0.000	4	0.000	0.061	1403	3950	3136	0	0	0	0	0	0
4939	-0.68	-161.7	760.9	-13.7	279	4943	0.00	0.90	0.00	0.000	6	0.000	0.038	1404	3354	3135	0	0	0	0	0	0
5263	-0.68	-161.7	804.9	-13.7	290	5264	0.00	0.00	0.00	0.000	6	0.000	0.000	1404	3354	3134	0	0	0	0	0	0
5570	-0.68	-161.7	847.0	-13.5	300	5574	0.00	0.95	0.00	0.000	4	0.000	0.064	1399	3937	3133	0	0	0	0	0	0
5659	-0.68	-161.7	860.3	-14.5	302	5664	0.08	0.88	0.00	0.000	6	0.181	0.040	1422	3361	3133	0	0	0	0	0	0
5979	-0.68	-161.7	897.9	-11.9	313	5982	0.00	0.93	0.00	0.000	4	0.000	0.063	1419	3943	3132	0	0	0	0	0	0
6080	-0.68	-161.7	911.1	-13.1	316	6084	0.00	0.90	0.00	0.000	6	0.000	0.040	1419	3348	3132	0	0	0	0	0	0
6422	-0.68	-161.7	953.0	-12.1	327	6427	0.00	0.95	0.00	0.000	4	0.000	0.063	1415	3947	3132	0	0	0	0	0	0
6527	-0.68	-161.7	966.3	-12.1	330	6530	0.00	0.90	0.00	0.000	6	0.000	0.040	1415	3352	3131	0	0	0	0	0	0
6834	end dive: TARGET_DEPTH_EXCEEDED
state	6834	begin apogee
6842	-0.14	0.0	1003.0	11.5	340	7004	0.60	0.00	154.57	1.866	6	0.149	0.000	1597	3258	2473	0	0	0	0	1	0
7006	end apogee: CONTROL_FINISHED_OK
state	7006	begin climb
7009	0.68	161.7	1006.4	0.0	345	7184	0.77	2.47	160.35	1.814	4	0.055	0.033	1883	1835	1816	0	0	0	0	1	0
7248	0.68	161.7	963.8	19.7	352	7253	0.00	2.47	0.00	0.000	6	0.000	0.050	1883	3247	1811	0	0	0	0	0	0
7567	0.68	161.7	881.9	25.7	363	7568	0.00	0.00	0.00	0.000	6	0.000	0.000	1883	3248	1805	0	0	0	0	0	0
7874	0.68	161.7	804.0	24.9	373	7878	0.00	2.22	0.00	0.000	4	0.000	0.036	1893	1835	1803	0	0	0	0	0	0
7895	0.68	161.7	798.1	24.9	373	7903	0.00	2.35	0.00	0.000	6	0.000	0.051	1893	3250	1802	0	0	0	0	0	0
8209	0.68	161.7	719.3	25.4	384	8214	0.00	2.22	0.00	0.000	4	0.000	0.035	1904	1831	1802	0	0	0	0	0	0
8261	0.68	161.7	707.0	21.2	385	8266	0.15	2.33	0.00	0.000	6	0.197	0.051	1869	3261	1801	0	0	0	0	0	0
8581	0.68	161.7	634.4	23.0	396	8583	0.00	0.00	0.00	0.000	6	0.000	0.000	1869	3261	1801	0	0	0	0	0	0
8887	0.68	161.7	565.1	22.7	406	8888	0.00	0.00	0.00	0.000	6	0.000	0.000	1869	3261	1800	0	0	0	0	0	0
9193	0.68	161.7	496.1	23.1	416	9197	0.00	2.17	0.00	0.000	4	0.000	0.033	1878	1820	1800	0	0	0	0	0	0
9242	0.68	161.7	486.0	18.0	417	9246	0.00	2.30	0.00	0.000	6	0.000	0.049	1878	3258	1798	0	0	0	0	0	0
9556	0.68	161.7	414.3	23.5	427	9560	0.00	2.17	0.00	0.000	4	0.000	0.034	1889	1830	1798	0	0	0	0	0	0
9588	0.68	161.7	406.7	21.1	428	9592	0.00	2.28	0.00	0.000	6	0.000	0.048	1889	3261	1797	0	0	0	0	0	0
9913	0.68	161.7	329.1	24.4	443	9914	0.00	0.00	0.00	0.000	6	0.000	0.000	1889	3261	1797	0	0	0	0	0	0
10221	0.68	161.7	254.0	24.3	458	10225	0.00	2.15	0.00	0.000	4	0.000	0.034	1900	1831	1797	0	0	0	0	0	0
10252	0.68	161.7	246.7	22.7	460	10257	0.12	2.25	0.00	0.000	6	0.198	0.048	1870	3250	1797	0	0	0	0	0	0
10583	0.68	161.7	175.5	22.5	481	10587	0.00	2.15	0.00	0.000	4	0.000	0.034	1880	1825	1796	0	0	0	0	0	0
10615	0.68	161.7	168.3	20.3	483	10619	0.00	2.25	0.00	0.000	6	0.000	0.047	1880	3250	1796	0	0	0	0	0	0
10938	0.68	161.7	94.6	23.6	505	10943	0.00	2.15	0.00	0.000	4	0.000	0.034	1890	1822	1796	0	0	0	0	0	0
10975	0.68	161.7	86.4	21.1	511	10979	0.00	2.25	0.00	0.000	6	0.000	0.048	1891	3249	1796	0	0	0	0	0	0
11350	end climb: SURFACE_DEPTH_REACHED
state	11350	begin surface coast
11367	end surface coast: CONTROL_FINISHED_OK
state	11368	begin surface