Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 69 * 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 69 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 30 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 -10522.433 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 -10522.433

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 30 VBD_MAX 3961

DEVICE2 101 MASS 52816 R_STBD_OVSHOOT 36 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 69 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 201212,114635,-4632.508,402.172,35,1.1,35,-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 0.047,0.176

_SM_DEPTHo 0.69 KALMAN_X -52148.7,601.3,288.7,32617.3,-3790.4

_SM_ANGLEo -29.6 KALMAN_Y 19658.1,-48.9,-578.4,15667.7,1189.3

GPS2 201212,115559,-4632.555,402.268,17,1.1,17,-23.3 MHEAD_RNG_PITCHd_Wd 38.1,5546,-26.0,-10.010

SPEED_LIMITS 0.173,0.295 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.3,1.026481 _10V_AH 10.1,6.577

SM_CCo 9923,177.60,0.794,1,0,516,564.18 FG_AHR_24Vo 0.000

SM_GC 0.80,0.00,0.00,177.60,0.000,0.000,0.794,61,2956,516,-5.65,0.93,564.18 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4616.72,404.25,201212,080830 MEM 354284

TT8_MAMPS 0.026215 DATA_FILE_SIZE 37127,499

HUMID 56.85 CAP_FILE_SIZE 90284,0

INTERNAL_PRESSURE 9.20901 CFSIZE 259252224,223940608

TCM_TEMP 10.30 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,2,1

XPDR_PINGS 0 GPS 201212,144652,-4631.427,402.404,38,0.8,38,-23.3

_24V_AH 21.8,15.243

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 272 86.38 SBE_CT 327 24 171.52

Roll_motor 91 62 124.75 AA4330 1013 33 729.21

VBD_pump_during_apogee 300 1793 11735.08 WL_BB2FLVMT 564 105 1292.20

VBD_pump_during_surface 177 794 3074.38 QSP2150 230 4 22.01

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 61.29 nil 0 0 0.00

Iridium_during_connect 21 160 75.82 nil 0 0 0.00

Iridium_during_xfer 313 223 1523.84 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 23 26 6.39

TT8 1265 14 191.21

LPSleep 6574 2 145.43

TT8_Active 589 14 84.64

TT8_Sampling 1716 37 649.05

TT8_CF8 524 47 249.70

TT8_Kalman 33 59 19.93

Analog_circuits 1238 12 150.08

GPS_charging 0 0 0.00

Compass 1325 15 210.52

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 -0.79 -69.2 0.0 0.0 0 169 0.00 0.00 -138.18 0.000 6 0.000 0.000 61 2947 3103 0 0 0 0 0 0

176 -0.89 -150.3 2.8 -2.1 18 202 6.30 2.30 -9.65 0.000 4 0.254 0.053 1578 1506 3436 0 0 0 0 0 0

299 -0.89 -150.3 24.7 -16.8 36 308 0.00 2.33 0.00 0.000 6 0.000 0.054 1569 2917 3437 0 0 0 0 0 0

385 -0.89 -150.3 42.7 -22.2 49 392 0.00 1.58 0.00 0.000 4 0.000 0.059 1561 3893 3437 0 0 0 0 0 0

405 -0.89 -150.3 47.3 -23.1 51 411 0.00 1.55 0.00 0.000 6 0.000 0.033 1562 2884 3437 0 0 0 0 0 0

644 -0.89 -150.3 100.3 -20.4 92 648 0.00 1.65 0.00 0.000 4 0.000 0.058 1554 3892 3437 0 0 0 0 0 0

690 -0.89 -150.3 110.2 -20.9 94 699 0.00 1.48 0.00 0.000 6 0.000 0.033 1554 2920 3438 0 0 0 0 0 0

1014 -0.89 -150.3 174.6 -19.8 115 1018 0.12 2.12 0.00 0.000 4 0.213 0.038 1587 1535 3438 0 0 0 0 0 0

1038 -0.89 -150.3 180.1 -19.1 116 1042 0.00 2.22 0.00 0.000 6 0.000 0.054 1579 2923 3438 0 0 0 0 0 0

1361 -0.89 -150.3 235.0 -17.0 136 1365 0.00 2.15 0.00 0.000 4 0.000 0.038 1579 1529 3438 0 0 0 0 0 0

1392 -0.89 -150.3 240.5 -16.4 138 1396 0.00 2.22 0.00 0.000 6 0.000 0.054 1568 2923 3438 0 0 0 0 0 0

1724 -0.89 -150.3 296.5 -16.9 155 1728 0.00 1.55 0.00 0.000 4 0.000 0.060 1561 3900 3438 0 0 0 0 0 0

1758 -0.89 -150.3 303.4 -18.0 156 1762 0.00 1.48 0.00 0.000 6 0.000 0.034 1561 2923 3438 0 0 0 0 0 0

2084 -0.89 -150.3 359.2 -17.1 172 2085 0.00 0.00 0.00 0.000 6 0.000 0.000 1561 2919 3438 0 0 0 0 0 0

2391 -0.89 -150.3 411.3 -16.8 186 2394 0.00 1.58 0.00 0.000 4 0.000 0.060 1554 3896 3438 0 0 0 0 0 0

2437 -0.89 -150.3 419.7 -18.3 187 2440 0.00 1.48 0.00 0.000 6 0.000 0.034 1554 2923 3438 0 0 0 0 0 0

2768 -0.89 -150.3 475.6 -16.9 198 2770 0.12 0.00 0.00 0.000 6 0.214 0.000 1581 2919 3438 0 0 0 0 0 0

3075 -0.89 -150.3 518.8 -14.1 208 3079 0.00 2.10 0.00 0.000 4 0.000 0.040 1582 1528 3438 0 0 0 0 0 0

3087 -0.89 -150.3 520.9 -14.1 208 3091 0.00 2.22 0.00 0.000 6 0.000 0.054 1572 2928 3438 0 0 0 0 0 0

3407 -0.89 -150.3 570.4 -15.9 219 3411 0.00 1.52 0.00 0.000 4 0.000 0.062 1565 3892 3438 0 0 0 0 0 0

3470 -0.89 -150.3 580.9 -15.7 220 3477 0.00 1.48 0.00 0.000 6 0.000 0.034 1565 2912 3438 0 0 0 0 0 0

3785 -0.89 -150.3 630.2 -15.4 231 3789 0.00 2.05 0.00 0.000 4 0.000 0.040 1565 1536 3438 0 0 0 0 0 0

3798 -0.89 -150.3 632.4 -15.7 231 3802 0.00 2.20 0.00 0.000 6 0.000 0.054 1554 2924 3437 0 0 0 0 0 0

4120 -0.89 -150.3 682.4 -15.5 242 4124 0.00 1.52 0.00 0.000 4 0.000 0.062 1547 3892 3437 0 0 0 0 0 0

4190 -0.89 -150.3 694.7 -16.9 244 4195 0.10 1.45 0.00 0.000 6 0.191 0.035 1575 2935 3437 0 0 0 0 0 0

4534 -0.89 -150.3 744.0 -13.8 255 4538 0.00 2.12 0.00 0.000 4 0.000 0.040 1575 1521 3436 0 0 0 0 0 0

4552 -0.89 -150.3 746.8 -13.8 255 4556 0.00 2.22 0.00 0.000 6 0.000 0.054 1566 2924 3436 0 0 0 0 0 0

4874 -0.89 -150.3 793.5 -14.8 266 4877 0.00 1.52 0.00 0.000 4 0.000 0.061 1559 3892 3436 0 0 0 0 0 0

4914 -0.89 -150.3 800.2 -15.8 267 4917 0.00 1.48 0.00 0.000 6 0.000 0.035 1559 2915 3436 0 0 0 0 0 0

5251 -0.89 -150.3 851.1 -15.0 278 5252 0.00 0.00 0.00 0.000 6 0.000 0.000 1559 2910 3435 0 0 0 0 0 0

5559 -0.89 -150.3 896.2 -14.5 288 5562 0.00 1.58 0.00 0.000 4 0.000 0.063 1552 3891 3435 0 0 0 0 0 0

5610 -0.89 -150.3 904.9 -16.1 289 5614 0.08 1.45 0.00 0.000 6 0.190 0.036 1573 2935 3435 0 0 0 0 0 0

5937 -0.89 -150.3 947.4 -12.9 300 5938 0.00 0.00 0.00 0.000 6 0.000 0.000 1573 2932 3435 0 0 0 0 0 0

6243 -0.89 -150.3 986.6 -12.6 310 6247 0.00 2.12 0.00 0.000 4 0.000 0.040 1573 1517 3435 0 0 0 0 0 0

6300 -0.89 -150.3 993.9 -12.1 311 6304 0.00 2.25 0.00 0.000 6 0.000 0.056 1564 2934 3434 0 0 0 0 0 0

6366 end dive: TARGET_DEPTH_EXCEEDED

state 6366 begin apogee

6377 -0.19 0.0 1002.3 12.5 313 6531 0.82 0.00 150.95 1.227 6 0.187 0.000 1801 2724 2819 0 0 0 0 0 0

6533 end apogee: CONTROL_FINISHED_OK

state 6533 begin climb

6538 0.89 150.3 1006.2 0.0 318 6700 1.00 2.50 149.25 1.793 4 0.063 0.047 2167 1353 2205 0 0 0 0 1 0

6774 0.89 150.3 950.8 30.6 325 6779 0.00 2.42 0.00 0.000 6 0.000 0.053 2167 2734 2204 0 0 0 0 0 0

7101 0.89 150.3 839.4 34.2 336 7105 0.00 2.33 0.00 0.000 4 0.000 0.047 2177 1337 2198 0 0 0 0 0 0

7121 0.89 150.3 832.5 34.5 336 7125 0.00 2.33 0.00 0.000 6 0.000 0.051 2177 2737 2199 0 0 0 0 0 0

7436 0.89 150.3 725.6 33.9 346 7440 0.00 2.25 0.00 0.000 4 0.000 0.047 2187 1348 2198 0 0 0 0 0 0

7473 0.89 150.3 713.5 33.6 347 7477 0.12 2.28 0.00 0.000 6 0.257 0.052 2164 2736 2198 0 0 0 0 0 0

7811 0.89 150.3 603.9 32.0 358 7815 0.00 2.22 0.00 0.000 4 0.000 0.047 2173 1345 2197 0 0 0 0 0 0

7835 0.89 150.3 595.9 31.2 358 7839 0.00 2.28 0.00 0.000 6 0.000 0.051 2172 2742 2196 0 0 0 0 0 0

8150 0.89 150.3 496.9 31.5 368 8154 0.00 2.22 0.00 0.000 4 0.000 0.047 2182 1345 2196 0 0 0 0 0 0

8196 0.89 150.3 482.5 28.4 369 8200 0.00 2.25 0.00 0.000 6 0.000 0.052 2182 2734 2195 0 0 0 0 0 0

8531 0.89 150.3 380.8 30.6 381 8534 0.00 1.85 0.00 0.000 4 0.000 0.060 2182 3904 2196 0 0 0 0 0 0

8542 0.89 150.3 375.4 31.4 381 8547 0.15 1.80 0.00 0.000 6 0.272 0.041 2161 2746 2196 0 0 0 0 0 0

8869 0.89 150.3 279.8 28.5 397 8873 0.00 2.20 0.00 0.000 4 0.000 0.048 2170 1330 2195 0 0 0 0 0 0

8921 0.89 150.3 264.2 26.6 399 8925 0.00 2.28 0.00 0.000 6 0.000 0.053 2165 2745 2194 0 0 0 0 0 0

9244 0.89 150.3 175.1 27.2 419 9245 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2745 2195 0 0 0 0 0 0

9557 0.89 150.3 89.5 27.7 443 9562 0.00 2.22 0.00 0.000 4 0.000 0.048 2174 1331 2194 0 0 0 0 0 0

9645 0.89 150.3 69.7 23.4 457 9649 0.00 2.25 0.00 0.000 6 0.000 0.053 2173 2737 2194 0 0 0 0 0 0

9887 end climb: SURFACE_DEPTH_REACHED

state 9887 begin surface coast

9901 end surface coast: CONTROL_FINISHED_OK

state 9901 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	69	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	30	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	-10522.433	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	201212,114635,-4632.508,402.172,35,1.1,35,-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	0.047,0.176
_SM_DEPTHo	0.69	KALMAN_X	-52148.7,601.3,288.7,32617.3,-3790.4
_SM_ANGLEo	-29.6	KALMAN_Y	19658.1,-48.9,-578.4,15667.7,1189.3
GPS2	201212,115559,-4632.555,402.268,17,1.1,17,-23.3	MHEAD_RNG_PITCHd_Wd	38.1,5546,-26.0,-10.010
SPEED_LIMITS	0.173,0.295	D_GRID	1000

FINISH	0.3,1.026481	_10V_AH	10.1,6.577
SM_CCo	9923,177.60,0.794,1,0,516,564.18	FG_AHR_24Vo	0.000
SM_GC	0.80,0.00,0.00,177.60,0.000,0.000,0.794,61,2956,516,-5.65,0.93,564.18	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4616.72,404.25,201212,080830	MEM	354284
TT8_MAMPS	0.026215	DATA_FILE_SIZE	37127,499
HUMID	56.85	CAP_FILE_SIZE	90284,0
INTERNAL_PRESSURE	9.20901	CFSIZE	259252224,223940608
TCM_TEMP	10.30	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,2,1
XPDR_PINGS	0	GPS	201212,144652,-4631.427,402.404,38,0.8,38,-23.3
_24V_AH	21.8,15.243

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	272	86.38	SBE_CT	327	24	171.52
Roll_motor	91	62	124.75	AA4330	1013	33	729.21
VBD_pump_during_apogee	300	1793	11735.08	WL_BB2FLVMT	564	105	1292.20
VBD_pump_during_surface	177	794	3074.38	QSP2150	230	4	22.01
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	61.29	nil	0	0	0.00
Iridium_during_connect	21	160	75.82	nil	0	0	0.00
Iridium_during_xfer	313	223	1523.84	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	23	26	6.39
TT8	1265	14	191.21
LPSleep	6574	2	145.43
TT8_Active	589	14	84.64
TT8_Sampling	1716	37	649.05
TT8_CF8	524	47	249.70
TT8_Kalman	33	59	19.93
Analog_circuits	1238	12	150.08
GPS_charging	0	0	0.00
Compass	1325	15	210.52
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	-0.79	-69.2	0.0	0.0	0	169	0.00	0.00	-138.18	0.000	6	0.000	0.000	61	2947	3103	0	0	0	0	0	0
176	-0.89	-150.3	2.8	-2.1	18	202	6.30	2.30	-9.65	0.000	4	0.254	0.053	1578	1506	3436	0	0	0	0	0	0
299	-0.89	-150.3	24.7	-16.8	36	308	0.00	2.33	0.00	0.000	6	0.000	0.054	1569	2917	3437	0	0	0	0	0	0
385	-0.89	-150.3	42.7	-22.2	49	392	0.00	1.58	0.00	0.000	4	0.000	0.059	1561	3893	3437	0	0	0	0	0	0
405	-0.89	-150.3	47.3	-23.1	51	411	0.00	1.55	0.00	0.000	6	0.000	0.033	1562	2884	3437	0	0	0	0	0	0
644	-0.89	-150.3	100.3	-20.4	92	648	0.00	1.65	0.00	0.000	4	0.000	0.058	1554	3892	3437	0	0	0	0	0	0
690	-0.89	-150.3	110.2	-20.9	94	699	0.00	1.48	0.00	0.000	6	0.000	0.033	1554	2920	3438	0	0	0	0	0	0
1014	-0.89	-150.3	174.6	-19.8	115	1018	0.12	2.12	0.00	0.000	4	0.213	0.038	1587	1535	3438	0	0	0	0	0	0
1038	-0.89	-150.3	180.1	-19.1	116	1042	0.00	2.22	0.00	0.000	6	0.000	0.054	1579	2923	3438	0	0	0	0	0	0
1361	-0.89	-150.3	235.0	-17.0	136	1365	0.00	2.15	0.00	0.000	4	0.000	0.038	1579	1529	3438	0	0	0	0	0	0
1392	-0.89	-150.3	240.5	-16.4	138	1396	0.00	2.22	0.00	0.000	6	0.000	0.054	1568	2923	3438	0	0	0	0	0	0
1724	-0.89	-150.3	296.5	-16.9	155	1728	0.00	1.55	0.00	0.000	4	0.000	0.060	1561	3900	3438	0	0	0	0	0	0
1758	-0.89	-150.3	303.4	-18.0	156	1762	0.00	1.48	0.00	0.000	6	0.000	0.034	1561	2923	3438	0	0	0	0	0	0
2084	-0.89	-150.3	359.2	-17.1	172	2085	0.00	0.00	0.00	0.000	6	0.000	0.000	1561	2919	3438	0	0	0	0	0	0
2391	-0.89	-150.3	411.3	-16.8	186	2394	0.00	1.58	0.00	0.000	4	0.000	0.060	1554	3896	3438	0	0	0	0	0	0
2437	-0.89	-150.3	419.7	-18.3	187	2440	0.00	1.48	0.00	0.000	6	0.000	0.034	1554	2923	3438	0	0	0	0	0	0
2768	-0.89	-150.3	475.6	-16.9	198	2770	0.12	0.00	0.00	0.000	6	0.214	0.000	1581	2919	3438	0	0	0	0	0	0
3075	-0.89	-150.3	518.8	-14.1	208	3079	0.00	2.10	0.00	0.000	4	0.000	0.040	1582	1528	3438	0	0	0	0	0	0
3087	-0.89	-150.3	520.9	-14.1	208	3091	0.00	2.22	0.00	0.000	6	0.000	0.054	1572	2928	3438	0	0	0	0	0	0
3407	-0.89	-150.3	570.4	-15.9	219	3411	0.00	1.52	0.00	0.000	4	0.000	0.062	1565	3892	3438	0	0	0	0	0	0
3470	-0.89	-150.3	580.9	-15.7	220	3477	0.00	1.48	0.00	0.000	6	0.000	0.034	1565	2912	3438	0	0	0	0	0	0
3785	-0.89	-150.3	630.2	-15.4	231	3789	0.00	2.05	0.00	0.000	4	0.000	0.040	1565	1536	3438	0	0	0	0	0	0
3798	-0.89	-150.3	632.4	-15.7	231	3802	0.00	2.20	0.00	0.000	6	0.000	0.054	1554	2924	3437	0	0	0	0	0	0
4120	-0.89	-150.3	682.4	-15.5	242	4124	0.00	1.52	0.00	0.000	4	0.000	0.062	1547	3892	3437	0	0	0	0	0	0
4190	-0.89	-150.3	694.7	-16.9	244	4195	0.10	1.45	0.00	0.000	6	0.191	0.035	1575	2935	3437	0	0	0	0	0	0
4534	-0.89	-150.3	744.0	-13.8	255	4538	0.00	2.12	0.00	0.000	4	0.000	0.040	1575	1521	3436	0	0	0	0	0	0
4552	-0.89	-150.3	746.8	-13.8	255	4556	0.00	2.22	0.00	0.000	6	0.000	0.054	1566	2924	3436	0	0	0	0	0	0
4874	-0.89	-150.3	793.5	-14.8	266	4877	0.00	1.52	0.00	0.000	4	0.000	0.061	1559	3892	3436	0	0	0	0	0	0
4914	-0.89	-150.3	800.2	-15.8	267	4917	0.00	1.48	0.00	0.000	6	0.000	0.035	1559	2915	3436	0	0	0	0	0	0
5251	-0.89	-150.3	851.1	-15.0	278	5252	0.00	0.00	0.00	0.000	6	0.000	0.000	1559	2910	3435	0	0	0	0	0	0
5559	-0.89	-150.3	896.2	-14.5	288	5562	0.00	1.58	0.00	0.000	4	0.000	0.063	1552	3891	3435	0	0	0	0	0	0
5610	-0.89	-150.3	904.9	-16.1	289	5614	0.08	1.45	0.00	0.000	6	0.190	0.036	1573	2935	3435	0	0	0	0	0	0
5937	-0.89	-150.3	947.4	-12.9	300	5938	0.00	0.00	0.00	0.000	6	0.000	0.000	1573	2932	3435	0	0	0	0	0	0
6243	-0.89	-150.3	986.6	-12.6	310	6247	0.00	2.12	0.00	0.000	4	0.000	0.040	1573	1517	3435	0	0	0	0	0	0
6300	-0.89	-150.3	993.9	-12.1	311	6304	0.00	2.25	0.00	0.000	6	0.000	0.056	1564	2934	3434	0	0	0	0	0	0
6366	end dive: TARGET_DEPTH_EXCEEDED
state	6366	begin apogee
6377	-0.19	0.0	1002.3	12.5	313	6531	0.82	0.00	150.95	1.227	6	0.187	0.000	1801	2724	2819	0	0	0	0	0	0
6533	end apogee: CONTROL_FINISHED_OK
state	6533	begin climb
6538	0.89	150.3	1006.2	0.0	318	6700	1.00	2.50	149.25	1.793	4	0.063	0.047	2167	1353	2205	0	0	0	0	1	0
6774	0.89	150.3	950.8	30.6	325	6779	0.00	2.42	0.00	0.000	6	0.000	0.053	2167	2734	2204	0	0	0	0	0	0
7101	0.89	150.3	839.4	34.2	336	7105	0.00	2.33	0.00	0.000	4	0.000	0.047	2177	1337	2198	0	0	0	0	0	0
7121	0.89	150.3	832.5	34.5	336	7125	0.00	2.33	0.00	0.000	6	0.000	0.051	2177	2737	2199	0	0	0	0	0	0
7436	0.89	150.3	725.6	33.9	346	7440	0.00	2.25	0.00	0.000	4	0.000	0.047	2187	1348	2198	0	0	0	0	0	0
7473	0.89	150.3	713.5	33.6	347	7477	0.12	2.28	0.00	0.000	6	0.257	0.052	2164	2736	2198	0	0	0	0	0	0
7811	0.89	150.3	603.9	32.0	358	7815	0.00	2.22	0.00	0.000	4	0.000	0.047	2173	1345	2197	0	0	0	0	0	0
7835	0.89	150.3	595.9	31.2	358	7839	0.00	2.28	0.00	0.000	6	0.000	0.051	2172	2742	2196	0	0	0	0	0	0
8150	0.89	150.3	496.9	31.5	368	8154	0.00	2.22	0.00	0.000	4	0.000	0.047	2182	1345	2196	0	0	0	0	0	0
8196	0.89	150.3	482.5	28.4	369	8200	0.00	2.25	0.00	0.000	6	0.000	0.052	2182	2734	2195	0	0	0	0	0	0
8531	0.89	150.3	380.8	30.6	381	8534	0.00	1.85	0.00	0.000	4	0.000	0.060	2182	3904	2196	0	0	0	0	0	0
8542	0.89	150.3	375.4	31.4	381	8547	0.15	1.80	0.00	0.000	6	0.272	0.041	2161	2746	2196	0	0	0	0	0	0
8869	0.89	150.3	279.8	28.5	397	8873	0.00	2.20	0.00	0.000	4	0.000	0.048	2170	1330	2195	0	0	0	0	0	0
8921	0.89	150.3	264.2	26.6	399	8925	0.00	2.28	0.00	0.000	6	0.000	0.053	2165	2745	2194	0	0	0	0	0	0
9244	0.89	150.3	175.1	27.2	419	9245	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2745	2195	0	0	0	0	0	0
9557	0.89	150.3	89.5	27.7	443	9562	0.00	2.22	0.00	0.000	4	0.000	0.048	2174	1331	2194	0	0	0	0	0	0
9645	0.89	150.3	69.7	23.4	457	9649	0.00	2.25	0.00	0.000	6	0.000	0.053	2173	2737	2194	0	0	0	0	0	0
9887	end climb: SURFACE_DEPTH_REACHED
state	9887	begin surface coast
9901	end surface coast: CONTROL_FINISHED_OK
state	9901	begin surface