Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 70 * 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 9 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 0

DIVE 70 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2930 ALTIM_PING_DELTA 5

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2710 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -56 HEAD_ERRBAND 15 ALTIM_PULSE 3

D_TGT 1000 TGT_DEFAULT_LON 0.1 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 2

D_NO_BLEED 500 SM_CC 200 R_PORT_OVSHOOT 28 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 26 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 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 2342 DEVICE3 35

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 134

T_DIVE 350 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 365 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00079999998 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 -21864.812 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 150 PITCH_MAX 3888 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1790 PHONE_SUPPLY 2 SEABIRD_T_G 0.0042910837

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -53.02364 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 53031 PITCH_GAIN 53 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 0.00251332 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.0127788 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 10

HD_C 1.44018e-06 ROLL_MIN 335 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 500 PHONE_DEVICE 48 SM_CC 200

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 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 53 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 -56

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 73 TGT_DEFAULT_LON 0.1

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 0.00079999998 T_BOOST 0

APOGEE_PITCH -7 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011816985 T_DIVE 350

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -53.02364 T_GPS 15

CALL_TRIES 5 HD_A 0.00251332 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0127788 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -21864.812

CAPMAXSIZE 100000 HD_C 1.44018e-06 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 365

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 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 1790 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2710 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 2930 LOGGERDEVICE1 -1 ROLL_MAX 3901 USE_ICE 0

C_VBD 2342 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 28 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 26 VBD_MAXERRORS 1

DEVICE3 35 MAX_BUOY 150 SEABIRD_C_G -9.7625904 VBD_MIN 480

DEVICE4 134 MINV_10V 8 SEABIRD_C_H 1.1369455 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.0017508121 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MISSION 9 SEABIRD_C_J 0.00021125977 VBD_TIMEOUT 720

DIVE 70 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 5 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 221214,035504,-5600.903,-33.040,28,1.0,28,-19.9 TGT_NAME TARGET

_CALLS 1 TGT_LATLONG -5600.000,-30.000

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.164,0.015

_SM_DEPTHo 1.75 KALMAN_X 40931.0,-52.9,-363.6,-74620.2,4619.3

_SM_ANGLEo -59.2 KALMAN_Y 54543.6,-181.7,51.3,-55708.2,1470.2

GPS2 221214,040247,-5600.870,-33.006,21,0.9,21,-19.9 MHEAD_RNG_PITCHd_Wd 295.0,3505,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.0,1.016673 _10V_AH 10.1,12.852

SM_CCo 12573,20.20,0.186,0,0,1524,200.16 FG_AHR_24Vo 0.000

SM_GC 2.43,0.00,0.00,20.20,0.000,0.000,0.186,53,2947,1524,-5.43,0.48,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5535.12,-30.76,221214,000016 MEM 353988

TT8_MAMPS 0.026215 DATA_FILE_SIZE 53898,805

HUMID 56.26 CAP_FILE_SIZE 98416,0

INTERNAL_PRESSURE 8.96486 CFSIZE 259252224,221933568

TCM_TEMP 7.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 221214,073453,-5601.074,-35.216,43,0.8,43,-19.8

_24V_AH 21.7,19.675

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 253 73.03 SBE_CT 572 23 297.80

Roll_motor 47 79 82.05 AA4330 1639 17 639.69

VBD_pump_during_apogee 281 1807 11055.14 WL_BB2F 746 105 1699.93

VBD_pump_during_surface 20 185 81.49 QSP2150 767 17 299.30

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 91 50.73 nil 0 0 0.00

Iridium_during_connect 27 160 94.20 nil 0 0 0.00

Iridium_during_xfer 292 223 1417.32 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 23 31 7.58

TT8 1977 14 288.76

LPSleep 8300 2 183.60

TT8_Active 383 14 55.96

TT8_Sampling 2252 42 959.41

TT8_CF8 146 49 73.66

TT8_Kalman 33 68 23.04

Analog_circuits 1114 15 174.42

GPS_charging 0 0 0.00

Compass 1769 16 294.51

RAFOS 0 0 0.00

Transponder 0 5 0.03

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

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

14 -0.54 -73.9 0.0 0.0 0 73 0.00 0.00 -51.30 0.000 6 0.000 0.000 46 2930 2644 0 0 0 0 0 0

76 -0.60 -146.1 3.7 -3.1 7 95 6.32 1.65 -7.65 0.000 4 0.254 0.080 1583 3912 2939 0 0 0 0 0 0

345 -0.60 -146.1 59.7 -21.1 51 352 0.00 1.60 0.00 0.000 6 0.000 0.034 1586 2899 2942 0 0 0 0 0 0

461 -0.60 -146.1 82.3 -19.8 70 468 0.00 2.10 0.00 0.000 4 0.000 0.041 1588 1527 2942 0 0 0 0 0 0

521 -0.60 -146.1 94.7 -17.9 80 528 0.00 2.28 0.00 0.000 6 0.000 0.057 1578 2934 2942 0 0 0 0 0 0

745 -0.60 -146.1 138.1 -18.8 103 747 0.00 0.00 0.00 0.000 6 0.000 0.000 1578 2934 2942 0 0 0 0 0 0

1063 -0.60 -146.1 197.9 -19.3 133 1067 0.00 1.55 0.00 0.000 4 0.000 0.062 1571 3893 2942 0 0 0 0 0 0

1113 -0.60 -146.1 207.4 -20.9 137 1117 0.00 1.50 0.00 0.000 6 0.000 0.034 1575 2920 2942 0 0 0 0 0 0

1442 -0.60 -146.1 269.0 -18.0 163 1443 0.00 0.00 0.00 0.000 6 0.000 0.000 1576 2914 2942 0 0 0 0 0 0

1751 -0.60 -146.1 320.3 -15.5 178 1754 0.00 1.62 0.00 0.000 4 0.000 0.063 1568 3897 2942 0 0 0 0 0 0

1806 -0.60 -146.1 330.0 -16.8 180 1810 0.00 1.50 0.00 0.000 6 0.000 0.034 1569 2925 2942 0 0 0 0 0 0

2129 -0.60 -146.1 377.2 -14.2 196 2133 0.00 1.60 0.00 0.000 4 0.000 0.061 1561 3892 2941 0 0 0 0 0 0

2161 -0.60 -146.1 382.8 -15.9 197 2167 0.12 1.50 0.00 0.000 6 0.205 0.033 1591 2919 2942 0 0 0 0 0 0

2484 -0.60 -146.1 423.9 -12.9 213 2485 0.00 0.00 0.00 0.000 6 0.000 0.000 1591 2919 2941 0 0 0 0 0 0

2792 -0.60 -146.1 463.9 -12.8 228 2793 0.00 0.00 0.00 0.000 6 0.000 0.000 1591 2919 2942 0 0 0 0 0 0

3102 -0.60 -146.1 503.0 -12.6 243 3103 0.00 0.00 0.00 0.000 6 0.000 0.000 1591 2919 2942 0 0 0 0 0 0

3411 -0.60 -146.1 542.2 -12.7 258 3412 0.00 0.00 0.00 0.000 6 0.000 0.000 1591 2919 2942 0 0 0 0 0 0

3720 -0.60 -146.1 581.6 -12.9 273 3721 0.00 0.00 0.00 0.000 6 0.000 0.000 1591 2919 2942 0 0 0 0 0 0

4030 -0.60 -146.1 621.3 -12.7 288 4031 0.00 0.00 0.00 0.000 6 0.000 0.000 1591 2919 2942 0 0 0 0 0 0

4339 -0.60 -146.1 660.6 -12.6 303 4340 0.00 0.00 0.00 0.000 6 0.000 0.000 1591 2919 2942 0 0 0 0 0 0

4648 -0.60 -146.1 699.3 -12.4 318 4652 0.00 1.60 0.00 0.000 4 0.000 0.062 1583 3893 2942 0 0 0 0 0 0

4686 -0.60 -146.1 704.6 -13.3 319 4694 0.00 1.45 0.00 0.000 6 0.000 0.033 1587 2935 2942 0 0 0 0 0 0

5002 -0.60 -146.1 744.4 -12.8 335 5003 0.00 0.00 0.00 0.000 6 0.000 0.000 1587 2935 2942 0 0 0 0 0 0

5311 -0.60 -146.1 784.3 -12.8 350 5312 0.00 0.00 0.00 0.000 6 0.000 0.000 1587 2935 2942 0 0 0 0 0 0

5621 -0.60 -146.1 825.3 -13.5 365 5622 0.00 0.00 0.00 0.000 6 0.000 0.000 1587 2935 2943 0 0 0 0 0 0

5930 -0.60 -146.1 866.4 -13.3 380 5931 0.00 0.00 0.00 0.000 6 0.000 0.000 1587 2935 2942 0 0 0 0 0 0

6239 -0.60 -146.1 908.4 -13.6 395 6240 0.00 0.00 0.00 0.000 6 0.000 0.000 1587 2935 2942 0 0 0 0 0 0

6549 -0.60 -146.1 950.1 -13.4 410 6550 0.00 0.00 0.00 0.000 6 0.000 0.000 1587 2935 2942 0 0 0 0 0 0

6858 -0.60 -146.1 991.5 -13.4 425 6859 0.00 0.00 0.00 0.000 6 0.000 0.000 1587 2935 2942 0 0 0 0 0 0

6939 end dive: TARGET_DEPTH_EXCEEDED

state 6939 begin apogee

6943 -0.13 0.0 1002.6 13.5 429 7082 0.50 0.00 133.82 1.808 6 0.168 0.000 1738 2710 2342 0 0 0 0 0 0

7083 end apogee: CONTROL_FINISHED_OK

state 7083 begin climb

7085 0.60 146.1 1007.4 0.0 436 7238 0.80 0.00 148.00 1.763 6 0.126 0.000 1977 2710 1745 0 0 0 0 0 0

7540 0.60 146.1 933.9 18.7 458 7541 0.00 0.00 0.00 0.000 6 0.000 0.000 1977 2710 1737 0 0 0 0 0 0

7849 0.60 146.1 876.4 18.1 473 7852 0.00 2.00 0.00 0.000 4 0.000 0.059 1976 3904 1735 0 0 0 0 0 0

7886 0.60 146.1 868.2 20.7 474 7894 0.00 1.92 0.00 0.000 6 0.000 0.036 1986 2744 1733 0 0 0 0 0 0

8203 0.60 146.1 807.2 19.0 490 8204 0.00 0.00 0.00 0.000 6 0.000 0.000 1986 2743 1733 0 0 0 0 0 0

8512 0.60 146.1 748.1 18.9 505 8513 0.00 0.00 0.00 0.000 6 0.000 0.000 1986 2743 1732 0 0 0 0 0 0

8821 0.60 146.1 689.4 18.7 520 8825 0.00 1.90 0.00 0.000 4 0.000 0.058 1986 3900 1732 0 0 0 0 0 0

8876 0.60 146.1 678.1 20.6 522 8880 0.00 1.92 0.00 0.000 6 0.000 0.037 1995 2707 1731 0 0 0 0 0 0

9197 0.60 146.1 617.8 18.5 538 9199 0.00 0.00 0.00 0.000 6 0.000 0.000 1996 2707 1731 0 0 0 0 0 0

9507 0.60 146.1 561.0 18.2 553 9510 0.00 1.95 0.00 0.000 4 0.000 0.057 1995 3899 1730 0 0 0 0 0 0

9575 0.60 146.1 547.8 20.6 556 9579 0.00 1.90 0.00 0.000 6 0.000 0.037 2004 2716 1730 0 0 0 0 0 0

9906 0.60 146.1 486.5 18.5 572 9910 0.00 1.92 0.00 0.000 4 0.000 0.057 2004 3897 1730 0 0 0 0 0 0

9955 0.60 146.1 476.3 21.2 574 9960 0.00 1.90 0.00 0.000 6 0.000 0.037 2014 2710 1730 0 0 0 0 0 0

10283 0.60 146.1 413.4 19.3 590 10284 0.00 0.00 0.00 0.000 6 0.000 0.000 2014 2710 1730 0 0 0 0 0 0

10594 0.60 146.1 353.2 19.8 605 10598 0.00 1.92 0.00 0.000 4 0.000 0.057 2014 3903 1730 0 0 0 0 0 0

10687 0.60 146.1 332.6 21.7 609 10691 0.15 1.88 0.00 0.000 6 0.219 0.037 1988 2708 1729 0 0 0 0 0 0

11020 0.60 146.1 272.3 17.6 625 11021 0.00 0.00 0.00 0.000 6 0.000 0.000 1988 2708 1729 0 0 0 0 0 0

11333 0.60 146.1 216.0 17.6 648 11337 0.00 1.95 0.00 0.000 4 0.000 0.058 1988 3910 1729 0 0 0 0 0 0

11426 0.60 146.1 196.6 19.5 656 11430 0.00 1.90 0.00 0.000 6 0.000 0.037 1996 2700 1729 0 0 0 0 0 0

11759 0.60 146.1 134.5 17.9 687 11760 0.00 0.00 0.00 0.000 6 0.000 0.000 1997 2700 1729 0 0 0 0 0 0

12084 0.60 146.1 79.7 15.2 728 12093 0.00 1.95 0.00 0.000 4 0.000 0.059 1996 3890 1729 0 0 0 0 0 0

12177 0.60 146.1 64.6 15.8 743 12185 0.00 1.88 0.00 0.000 6 0.000 0.036 2005 2707 1729 0 0 0 0 0 0

12290 0.60 146.1 47.5 14.8 762 12298 0.00 0.00 0.00 0.000 6 0.000 0.000 2006 2707 1729 0 0 0 0 0 0

12405 0.60 146.1 27.8 18.0 781 12414 0.00 0.00 0.00 0.000 6 0.000 0.000 2006 2707 1729 0 0 0 0 0 0

12489 0.60 146.1 12.7 19.9 794 12498 0.00 0.00 0.00 0.000 6 0.000 0.000 2006 2707 1729 0 0 0 0 0 0

12541 end climb: SURFACE_DEPTH_REACHED

state 12541 begin surface coast

12561 end surface coast: CONTROL_FINISHED_OK

state 12561 begin surface

ID	542	HEADING	-1	ROLL_MAX	3901	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	9	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	0
DIVE	70	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2930	ALTIM_PING_DELTA	5
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2710	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-56	HEAD_ERRBAND	15	ALTIM_PULSE	3
D_TGT	1000	TGT_DEFAULT_LON	0.1	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	2
D_NO_BLEED	500	SM_CC	200	R_PORT_OVSHOOT	28	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	26	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	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	2342	DEVICE3	35
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	134
T_DIVE	350	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	365	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00079999998	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	-21864.812	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	150	PITCH_MAX	3888	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1790	PHONE_SUPPLY	2	SEABIRD_T_G	0.0042910837
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-53.02364	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	53031	PITCH_GAIN	53	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	0.00251332	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.0127788	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	10
HD_C	1.44018e-06	ROLL_MIN	335	ALTIM_TOP_TURN_MARGIN	0

GPS1	221214,035504,-5600.903,-33.040,28,1.0,28,-19.9	TGT_NAME	TARGET
_CALLS	1	TGT_LATLONG	-5600.000,-30.000
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.164,0.015
_SM_DEPTHo	1.75	KALMAN_X	40931.0,-52.9,-363.6,-74620.2,4619.3
_SM_ANGLEo	-59.2	KALMAN_Y	54543.6,-181.7,51.3,-55708.2,1470.2
GPS2	221214,040247,-5600.870,-33.006,21,0.9,21,-19.9	MHEAD_RNG_PITCHd_Wd	295.0,3505,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.0,1.016673	_10V_AH	10.1,12.852
SM_CCo	12573,20.20,0.186,0,0,1524,200.16	FG_AHR_24Vo	0.000
SM_GC	2.43,0.00,0.00,20.20,0.000,0.000,0.186,53,2947,1524,-5.43,0.48,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5535.12,-30.76,221214,000016	MEM	353988
TT8_MAMPS	0.026215	DATA_FILE_SIZE	53898,805
HUMID	56.26	CAP_FILE_SIZE	98416,0
INTERNAL_PRESSURE	8.96486	CFSIZE	259252224,221933568
TCM_TEMP	7.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	221214,073453,-5601.074,-35.216,43,0.8,43,-19.8
_24V_AH	21.7,19.675

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	253	73.03	SBE_CT	572	23	297.80
Roll_motor	47	79	82.05	AA4330	1639	17	639.69
VBD_pump_during_apogee	281	1807	11055.14	WL_BB2F	746	105	1699.93
VBD_pump_during_surface	20	185	81.49	QSP2150	767	17	299.30
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	91	50.73	nil	0	0	0.00
Iridium_during_connect	27	160	94.20	nil	0	0	0.00
Iridium_during_xfer	292	223	1417.32	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	23	31	7.58
TT8	1977	14	288.76
LPSleep	8300	2	183.60
TT8_Active	383	14	55.96
TT8_Sampling	2252	42	959.41
TT8_CF8	146	49	73.66
TT8_Kalman	33	68	23.04
Analog_circuits	1114	15	174.42
GPS_charging	0	0	0.00
Compass	1769	16	294.51
RAFOS	0	0	0.00
Transponder	0	5	0.03

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
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
14	-0.54	-73.9	0.0	0.0	0	73	0.00	0.00	-51.30	0.000	6	0.000	0.000	46	2930	2644	0	0	0	0	0	0
76	-0.60	-146.1	3.7	-3.1	7	95	6.32	1.65	-7.65	0.000	4	0.254	0.080	1583	3912	2939	0	0	0	0	0	0
345	-0.60	-146.1	59.7	-21.1	51	352	0.00	1.60	0.00	0.000	6	0.000	0.034	1586	2899	2942	0	0	0	0	0	0
461	-0.60	-146.1	82.3	-19.8	70	468	0.00	2.10	0.00	0.000	4	0.000	0.041	1588	1527	2942	0	0	0	0	0	0
521	-0.60	-146.1	94.7	-17.9	80	528	0.00	2.28	0.00	0.000	6	0.000	0.057	1578	2934	2942	0	0	0	0	0	0
745	-0.60	-146.1	138.1	-18.8	103	747	0.00	0.00	0.00	0.000	6	0.000	0.000	1578	2934	2942	0	0	0	0	0	0
1063	-0.60	-146.1	197.9	-19.3	133	1067	0.00	1.55	0.00	0.000	4	0.000	0.062	1571	3893	2942	0	0	0	0	0	0
1113	-0.60	-146.1	207.4	-20.9	137	1117	0.00	1.50	0.00	0.000	6	0.000	0.034	1575	2920	2942	0	0	0	0	0	0
1442	-0.60	-146.1	269.0	-18.0	163	1443	0.00	0.00	0.00	0.000	6	0.000	0.000	1576	2914	2942	0	0	0	0	0	0
1751	-0.60	-146.1	320.3	-15.5	178	1754	0.00	1.62	0.00	0.000	4	0.000	0.063	1568	3897	2942	0	0	0	0	0	0
1806	-0.60	-146.1	330.0	-16.8	180	1810	0.00	1.50	0.00	0.000	6	0.000	0.034	1569	2925	2942	0	0	0	0	0	0
2129	-0.60	-146.1	377.2	-14.2	196	2133	0.00	1.60	0.00	0.000	4	0.000	0.061	1561	3892	2941	0	0	0	0	0	0
2161	-0.60	-146.1	382.8	-15.9	197	2167	0.12	1.50	0.00	0.000	6	0.205	0.033	1591	2919	2942	0	0	0	0	0	0
2484	-0.60	-146.1	423.9	-12.9	213	2485	0.00	0.00	0.00	0.000	6	0.000	0.000	1591	2919	2941	0	0	0	0	0	0
2792	-0.60	-146.1	463.9	-12.8	228	2793	0.00	0.00	0.00	0.000	6	0.000	0.000	1591	2919	2942	0	0	0	0	0	0
3102	-0.60	-146.1	503.0	-12.6	243	3103	0.00	0.00	0.00	0.000	6	0.000	0.000	1591	2919	2942	0	0	0	0	0	0
3411	-0.60	-146.1	542.2	-12.7	258	3412	0.00	0.00	0.00	0.000	6	0.000	0.000	1591	2919	2942	0	0	0	0	0	0
3720	-0.60	-146.1	581.6	-12.9	273	3721	0.00	0.00	0.00	0.000	6	0.000	0.000	1591	2919	2942	0	0	0	0	0	0
4030	-0.60	-146.1	621.3	-12.7	288	4031	0.00	0.00	0.00	0.000	6	0.000	0.000	1591	2919	2942	0	0	0	0	0	0
4339	-0.60	-146.1	660.6	-12.6	303	4340	0.00	0.00	0.00	0.000	6	0.000	0.000	1591	2919	2942	0	0	0	0	0	0
4648	-0.60	-146.1	699.3	-12.4	318	4652	0.00	1.60	0.00	0.000	4	0.000	0.062	1583	3893	2942	0	0	0	0	0	0
4686	-0.60	-146.1	704.6	-13.3	319	4694	0.00	1.45	0.00	0.000	6	0.000	0.033	1587	2935	2942	0	0	0	0	0	0
5002	-0.60	-146.1	744.4	-12.8	335	5003	0.00	0.00	0.00	0.000	6	0.000	0.000	1587	2935	2942	0	0	0	0	0	0
5311	-0.60	-146.1	784.3	-12.8	350	5312	0.00	0.00	0.00	0.000	6	0.000	0.000	1587	2935	2942	0	0	0	0	0	0
5621	-0.60	-146.1	825.3	-13.5	365	5622	0.00	0.00	0.00	0.000	6	0.000	0.000	1587	2935	2943	0	0	0	0	0	0
5930	-0.60	-146.1	866.4	-13.3	380	5931	0.00	0.00	0.00	0.000	6	0.000	0.000	1587	2935	2942	0	0	0	0	0	0
6239	-0.60	-146.1	908.4	-13.6	395	6240	0.00	0.00	0.00	0.000	6	0.000	0.000	1587	2935	2942	0	0	0	0	0	0
6549	-0.60	-146.1	950.1	-13.4	410	6550	0.00	0.00	0.00	0.000	6	0.000	0.000	1587	2935	2942	0	0	0	0	0	0
6858	-0.60	-146.1	991.5	-13.4	425	6859	0.00	0.00	0.00	0.000	6	0.000	0.000	1587	2935	2942	0	0	0	0	0	0
6939	end dive: TARGET_DEPTH_EXCEEDED
state	6939	begin apogee
6943	-0.13	0.0	1002.6	13.5	429	7082	0.50	0.00	133.82	1.808	6	0.168	0.000	1738	2710	2342	0	0	0	0	0	0
7083	end apogee: CONTROL_FINISHED_OK
state	7083	begin climb
7085	0.60	146.1	1007.4	0.0	436	7238	0.80	0.00	148.00	1.763	6	0.126	0.000	1977	2710	1745	0	0	0	0	0	0
7540	0.60	146.1	933.9	18.7	458	7541	0.00	0.00	0.00	0.000	6	0.000	0.000	1977	2710	1737	0	0	0	0	0	0
7849	0.60	146.1	876.4	18.1	473	7852	0.00	2.00	0.00	0.000	4	0.000	0.059	1976	3904	1735	0	0	0	0	0	0
7886	0.60	146.1	868.2	20.7	474	7894	0.00	1.92	0.00	0.000	6	0.000	0.036	1986	2744	1733	0	0	0	0	0	0
8203	0.60	146.1	807.2	19.0	490	8204	0.00	0.00	0.00	0.000	6	0.000	0.000	1986	2743	1733	0	0	0	0	0	0
8512	0.60	146.1	748.1	18.9	505	8513	0.00	0.00	0.00	0.000	6	0.000	0.000	1986	2743	1732	0	0	0	0	0	0
8821	0.60	146.1	689.4	18.7	520	8825	0.00	1.90	0.00	0.000	4	0.000	0.058	1986	3900	1732	0	0	0	0	0	0
8876	0.60	146.1	678.1	20.6	522	8880	0.00	1.92	0.00	0.000	6	0.000	0.037	1995	2707	1731	0	0	0	0	0	0
9197	0.60	146.1	617.8	18.5	538	9199	0.00	0.00	0.00	0.000	6	0.000	0.000	1996	2707	1731	0	0	0	0	0	0
9507	0.60	146.1	561.0	18.2	553	9510	0.00	1.95	0.00	0.000	4	0.000	0.057	1995	3899	1730	0	0	0	0	0	0
9575	0.60	146.1	547.8	20.6	556	9579	0.00	1.90	0.00	0.000	6	0.000	0.037	2004	2716	1730	0	0	0	0	0	0
9906	0.60	146.1	486.5	18.5	572	9910	0.00	1.92	0.00	0.000	4	0.000	0.057	2004	3897	1730	0	0	0	0	0	0
9955	0.60	146.1	476.3	21.2	574	9960	0.00	1.90	0.00	0.000	6	0.000	0.037	2014	2710	1730	0	0	0	0	0	0
10283	0.60	146.1	413.4	19.3	590	10284	0.00	0.00	0.00	0.000	6	0.000	0.000	2014	2710	1730	0	0	0	0	0	0
10594	0.60	146.1	353.2	19.8	605	10598	0.00	1.92	0.00	0.000	4	0.000	0.057	2014	3903	1730	0	0	0	0	0	0
10687	0.60	146.1	332.6	21.7	609	10691	0.15	1.88	0.00	0.000	6	0.219	0.037	1988	2708	1729	0	0	0	0	0	0
11020	0.60	146.1	272.3	17.6	625	11021	0.00	0.00	0.00	0.000	6	0.000	0.000	1988	2708	1729	0	0	0	0	0	0
11333	0.60	146.1	216.0	17.6	648	11337	0.00	1.95	0.00	0.000	4	0.000	0.058	1988	3910	1729	0	0	0	0	0	0
11426	0.60	146.1	196.6	19.5	656	11430	0.00	1.90	0.00	0.000	6	0.000	0.037	1996	2700	1729	0	0	0	0	0	0
11759	0.60	146.1	134.5	17.9	687	11760	0.00	0.00	0.00	0.000	6	0.000	0.000	1997	2700	1729	0	0	0	0	0	0
12084	0.60	146.1	79.7	15.2	728	12093	0.00	1.95	0.00	0.000	4	0.000	0.059	1996	3890	1729	0	0	0	0	0	0
12177	0.60	146.1	64.6	15.8	743	12185	0.00	1.88	0.00	0.000	6	0.000	0.036	2005	2707	1729	0	0	0	0	0	0
12290	0.60	146.1	47.5	14.8	762	12298	0.00	0.00	0.00	0.000	6	0.000	0.000	2006	2707	1729	0	0	0	0	0	0
12405	0.60	146.1	27.8	18.0	781	12414	0.00	0.00	0.00	0.000	6	0.000	0.000	2006	2707	1729	0	0	0	0	0	0
12489	0.60	146.1	12.7	19.9	794	12498	0.00	0.00	0.00	0.000	6	0.000	0.000	2006	2707	1729	0	0	0	0	0	0
12541	end climb: SURFACE_DEPTH_REACHED
state	12541	begin surface coast
12561	end surface coast: CONTROL_FINISHED_OK
state	12561	begin surface