Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 71 * 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 71 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 23 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 -10536.183 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 -10536.183

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 23 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 71 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 201212,175152,-4629.951,402.142,37,0.9,37,-23.3 TGT_NAME GH2

_CALLS 3 TGT_LATLONG -4630.000,400.000

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.061,0.162

_SM_DEPTHo 0.56 KALMAN_X -51572.9,88.4,213.3,32641.3,-1826.1

_SM_ANGLEo -24.8 KALMAN_Y 16051.6,-539.4,281.2,23693.2,-2887.0

GPS2 201212,181354,-4629.954,402.277,18,0.8,18,-23.3 MHEAD_RNG_PITCHd_Wd 2.8,2905,-27.2,-10.010

SPEED_LIMITS 0.173,0.295 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.4,1.026463 _10V_AH 10.1,6.741

SM_CCo 10419,187.18,0.796,1,0,517,564.18 FG_AHR_24Vo 0.000

SM_GC 0.93,0.00,0.00,187.18,0.000,0.000,0.796,59,2932,517,-5.66,0.25,564.18 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4616.72,404.25,201212,181815 MEM 354272

TT8_MAMPS 0.026215 DATA_FILE_SIZE 37134,521

HUMID 56.22 CAP_FILE_SIZE 99084,0

INTERNAL_PRESSURE 9.20901 CFSIZE 259252224,223830016

TCM_TEMP 10.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,1

XPDR_PINGS 0 GPS 201212,211305,-4628.618,401.463,31,1.0,31,-23.3

_24V_AH 22.3,15.648

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 260 84.64 SBE_CT 342 24 183.36

Roll_motor 98 67 147.87 AA4330 1052 33 774.70

VBD_pump_during_apogee 247 1788 9877.55 WL_BB2FLVMT 577 105 1353.04

VBD_pump_during_surface 187 795 3320.84 QSP2150 233 4 22.78

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 81 103 187.82 nil 0 0 0.00

Iridium_during_connect 130 160 464.15 nil 0 0 0.00

Iridium_during_xfer 681 223 3388.25 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 25 26 6.81

TT8 1314 14 198.67

LPSleep 7126 2 157.62

TT8_Active 576 14 82.73

TT8_Sampling 2256 37 853.24

TT8_CF8 659 47 313.99

TT8_Kalman 33 59 19.93

Analog_circuits 1225 12 148.52

GPS_charging 0 0 0.00

Compass 1344 15 213.55

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

27 -0.81 -63.1 0.0 0.0 0 170 0.00 0.00 -136.48 0.000 6 0.000 0.000 59 2937 3078 0 0 0 0 0 0

177 -0.89 -123.5 2.8 -3.6 18 196 6.22 2.30 -7.53 0.000 4 0.249 0.053 1580 1505 3325 0 0 0 0 0 0

208 -0.89 -123.5 7.9 -12.0 21 217 0.00 2.33 0.00 0.000 6 0.000 0.051 1571 2919 3326 0 0 0 0 0 0

296 -0.89 -123.5 25.5 -21.8 34 305 0.00 1.58 0.00 0.000 4 0.000 0.057 1564 3897 3327 0 0 0 0 0 0

318 -0.89 -123.5 29.7 -20.3 36 327 0.00 1.55 0.00 0.000 6 0.000 0.033 1564 2887 3326 0 0 0 0 0 0

407 -0.89 -123.5 48.4 -22.3 49 414 0.00 2.08 0.00 0.000 4 0.000 0.037 1564 1533 3326 0 0 0 0 0 0

440 -0.89 -123.5 55.4 -21.2 53 446 0.00 2.25 0.00 0.000 6 0.000 0.052 1554 2924 3326 0 0 0 0 0 0

679 -0.89 -123.5 102.9 -17.3 92 683 0.12 2.15 0.00 0.000 4 0.222 0.037 1581 1530 3326 0 0 0 0 0 0

716 -0.89 -123.5 109.1 -15.0 94 720 0.00 2.25 0.00 0.000 6 0.000 0.052 1571 2930 3326 0 0 0 0 0 0

1045 -0.89 -123.5 165.7 -17.3 115 1049 0.00 1.55 0.00 0.000 4 0.000 0.059 1564 3903 3327 0 0 0 0 0 0

1065 -0.89 -123.5 169.6 -17.5 116 1069 0.00 1.48 0.00 0.000 6 0.000 0.033 1564 2926 3327 0 0 0 0 0 0

1400 -0.89 -123.5 229.3 -18.2 137 1401 0.00 0.00 0.00 0.000 6 0.000 0.000 1564 2922 3327 0 0 0 0 0 0

1708 -0.89 -123.5 281.0 -16.2 154 1712 0.00 1.58 0.00 0.000 4 0.000 0.060 1557 3897 3327 0 0 0 0 0 0

1781 -0.89 -123.5 292.8 -16.9 157 1784 0.00 1.48 0.00 0.000 6 0.000 0.034 1557 2923 3327 0 0 0 0 0 0

2119 -0.89 -123.5 349.0 -16.7 173 2120 0.00 0.00 0.00 0.000 6 0.000 0.000 1557 2920 3327 0 0 0 0 0 0

2425 -0.89 -123.5 400.3 -16.3 188 2429 0.00 1.58 0.00 0.000 4 0.000 0.060 1549 3899 3326 0 0 0 0 0 0

2462 -0.89 -123.5 406.6 -17.6 189 2466 0.08 1.48 0.00 0.000 6 0.193 0.034 1571 2929 3327 0 0 0 0 0 0

2805 -0.89 -123.5 459.2 -15.1 200 2807 0.00 0.00 0.00 0.000 6 0.000 0.000 1571 2925 3327 0 0 0 0 0 0

3112 -0.89 -123.5 504.4 -14.6 210 3116 0.00 2.10 0.00 0.000 4 0.000 0.039 1571 1523 3326 0 0 0 0 0 0

3149 -0.89 -123.5 509.8 -14.3 211 3153 0.00 2.22 0.00 0.000 6 0.000 0.054 1562 2932 3326 0 0 0 0 0 0

3492 -0.89 -123.5 561.7 -14.8 222 3496 0.00 1.52 0.00 0.000 4 0.000 0.061 1554 3897 3326 0 0 0 0 0 0

3504 -0.89 -123.5 563.8 -14.8 222 3508 0.00 1.48 0.00 0.000 6 0.000 0.034 1554 2921 3325 0 0 0 0 0 0

3836 -0.89 -123.5 613.8 -15.3 233 3837 0.00 0.00 0.00 0.000 6 0.000 0.000 1554 2917 3325 0 0 0 0 0 0

4143 -0.89 -123.5 660.9 -15.6 243 4144 0.00 0.00 0.00 0.000 6 0.000 0.000 1554 2916 3325 0 0 0 0 0 0

4448 -0.89 -123.5 707.7 -15.0 253 4451 0.00 1.58 0.00 0.000 4 0.000 0.062 1547 3896 3324 0 0 0 0 0 0

4485 -0.89 -123.5 713.5 -15.6 254 4489 0.10 1.48 0.00 0.000 6 0.196 0.035 1574 2925 3324 0 0 0 0 0 0

4828 -0.89 -123.5 758.5 -12.5 265 4832 0.00 2.10 0.00 0.000 4 0.000 0.040 1575 1522 3323 0 0 0 0 0 0

4898 -0.89 -123.5 766.5 -11.2 267 4902 0.00 2.20 0.00 0.000 6 0.000 0.055 1565 2924 3323 0 0 0 0 0 0

5236 -0.89 -123.5 809.6 -12.9 278 5240 0.00 2.12 0.00 0.000 4 0.000 0.039 1565 1518 3323 0 0 0 0 0 0

5259 -0.89 -123.5 812.8 -12.6 278 5266 0.00 2.22 0.00 0.000 6 0.000 0.054 1555 2928 3323 0 0 0 0 0 0

5575 -0.89 -123.5 856.8 -14.1 289 5579 0.00 2.15 0.00 0.000 4 0.000 0.038 1555 1519 3322 0 0 0 0 0 0

5606 -0.89 -123.5 861.2 -14.5 290 5611 0.15 2.22 0.00 0.000 6 0.210 0.054 1580 2932 3323 0 0 0 0 0 0

5950 -0.89 -123.5 904.3 -12.6 301 5954 0.00 2.12 0.00 0.000 4 0.000 0.038 1580 1520 3322 0 0 0 0 0 0

6019 -0.89 -123.5 913.0 -11.8 303 6023 0.00 2.20 0.00 0.000 6 0.000 0.054 1570 2923 3322 0 0 0 0 0 0

6352 -0.89 -123.5 954.3 -12.5 314 6356 0.00 2.15 0.00 0.000 4 0.000 0.039 1571 1525 3322 0 0 0 0 0 0

6398 -0.89 -123.5 960.0 -10.9 315 6402 0.00 2.20 0.00 0.000 6 0.000 0.054 1560 2928 3322 0 0 0 0 0 0

6719 -0.89 -123.5 999.1 -12.2 326 6723 0.00 2.08 0.00 0.000 3 0.000 0.038 1560 1546 3322 0 0 0 0 0 0

6725 end dive: TARGET_DEPTH_EXCEEDED

state 6725 begin apogee

6737 -0.19 0.0 1000.2 12.3 326 6866 0.85 0.00 124.75 1.236 6 0.196 0.000 1796 2746 2819 0 0 0 0 0 0

6868 end apogee: CONTROL_FINISHED_OK

state 6868 begin climb

6872 0.89 123.5 1002.1 0.0 330 7014 1.00 2.55 122.90 1.789 4 0.063 0.046 2167 1349 2315 0 0 0 0 1 0

7023 0.89 123.5 970.8 29.1 334 7027 0.00 2.45 0.00 0.000 6 0.000 0.050 2167 2732 2315 0 0 0 0 0 0

7338 0.89 123.5 870.2 32.3 344 7342 0.00 2.30 0.00 0.000 4 0.000 0.048 2177 1336 2309 0 0 0 0 0 0

7356 0.89 123.5 864.0 32.2 344 7360 0.00 2.35 0.00 0.000 6 0.000 0.052 2176 2746 2308 0 0 0 0 0 0

7677 0.89 123.5 761.3 32.2 355 7681 0.00 2.28 0.00 0.000 4 0.000 0.047 2187 1344 2306 0 0 0 0 0 0

7695 0.89 123.5 755.0 31.5 355 7700 0.12 2.28 0.00 0.000 6 0.261 0.051 2164 2738 2306 0 0 0 0 0 0

8010 0.89 123.5 659.7 30.1 365 8011 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2738 2305 0 0 0 0 0 0

8317 0.89 123.5 567.9 29.1 375 8321 0.00 2.22 0.00 0.000 4 0.000 0.046 2174 1342 2304 0 0 0 0 0 0

8329 0.89 123.5 563.7 28.8 375 8333 0.00 2.22 0.00 0.000 6 0.000 0.050 2172 2737 2303 0 0 0 0 0 0

8650 0.89 123.5 471.8 28.1 386 8654 0.00 2.22 0.00 0.000 4 0.000 0.047 2181 1335 2303 0 0 0 0 0 0

8707 0.89 123.5 456.1 26.5 387 8714 0.00 2.25 0.00 0.000 6 0.000 0.051 2182 2738 2302 0 0 0 0 0 0

9034 0.89 123.5 364.0 28.9 400 9038 0.00 2.22 0.00 0.000 4 0.000 0.047 2192 1334 2301 0 0 0 0 0 0

9046 0.89 123.5 359.8 28.8 400 9056 0.10 2.28 0.00 0.000 6 0.246 0.051 2167 2737 2302 0 0 0 0 0 0

9365 0.89 123.5 271.7 28.6 416 9369 0.00 2.22 0.00 0.000 4 0.000 0.048 2176 1331 2301 0 0 0 0 0 0

9387 0.89 123.5 265.9 27.9 417 9391 0.00 2.22 0.00 0.000 6 0.000 0.053 2171 2734 2301 0 0 0 0 0 0

9716 0.89 123.5 173.7 26.6 437 9717 0.00 0.00 0.00 0.000 6 0.000 0.000 2172 2734 2300 0 0 0 0 0 0

10029 0.89 123.5 89.6 26.5 461 10034 0.00 2.20 0.00 0.000 4 0.000 0.048 2181 1334 2301 0 0 0 0 0 0

10071 0.89 123.5 79.0 23.1 468 10080 0.00 2.25 0.00 0.000 6 0.000 0.054 2181 2726 2300 0 0 0 0 0 0

10382 end climb: SURFACE_DEPTH_REACHED

state 10383 begin surface coast

10396 end surface coast: CONTROL_FINISHED_OK

state 10396 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	71	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	23	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	-10536.183	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	201212,175152,-4629.951,402.142,37,0.9,37,-23.3	TGT_NAME	GH2
_CALLS	3	TGT_LATLONG	-4630.000,400.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.061,0.162
_SM_DEPTHo	0.56	KALMAN_X	-51572.9,88.4,213.3,32641.3,-1826.1
_SM_ANGLEo	-24.8	KALMAN_Y	16051.6,-539.4,281.2,23693.2,-2887.0
GPS2	201212,181354,-4629.954,402.277,18,0.8,18,-23.3	MHEAD_RNG_PITCHd_Wd	2.8,2905,-27.2,-10.010
SPEED_LIMITS	0.173,0.295	D_GRID	1000

FINISH	0.4,1.026463	_10V_AH	10.1,6.741
SM_CCo	10419,187.18,0.796,1,0,517,564.18	FG_AHR_24Vo	0.000
SM_GC	0.93,0.00,0.00,187.18,0.000,0.000,0.796,59,2932,517,-5.66,0.25,564.18	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4616.72,404.25,201212,181815	MEM	354272
TT8_MAMPS	0.026215	DATA_FILE_SIZE	37134,521
HUMID	56.22	CAP_FILE_SIZE	99084,0
INTERNAL_PRESSURE	9.20901	CFSIZE	259252224,223830016
TCM_TEMP	10.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
XPDR_PINGS	0	GPS	201212,211305,-4628.618,401.463,31,1.0,31,-23.3
_24V_AH	22.3,15.648

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	260	84.64	SBE_CT	342	24	183.36
Roll_motor	98	67	147.87	AA4330	1052	33	774.70
VBD_pump_during_apogee	247	1788	9877.55	WL_BB2FLVMT	577	105	1353.04
VBD_pump_during_surface	187	795	3320.84	QSP2150	233	4	22.78
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	81	103	187.82	nil	0	0	0.00
Iridium_during_connect	130	160	464.15	nil	0	0	0.00
Iridium_during_xfer	681	223	3388.25	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	25	26	6.81
TT8	1314	14	198.67
LPSleep	7126	2	157.62
TT8_Active	576	14	82.73
TT8_Sampling	2256	37	853.24
TT8_CF8	659	47	313.99
TT8_Kalman	33	59	19.93
Analog_circuits	1225	12	148.52
GPS_charging	0	0	0.00
Compass	1344	15	213.55
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
27	-0.81	-63.1	0.0	0.0	0	170	0.00	0.00	-136.48	0.000	6	0.000	0.000	59	2937	3078	0	0	0	0	0	0
177	-0.89	-123.5	2.8	-3.6	18	196	6.22	2.30	-7.53	0.000	4	0.249	0.053	1580	1505	3325	0	0	0	0	0	0
208	-0.89	-123.5	7.9	-12.0	21	217	0.00	2.33	0.00	0.000	6	0.000	0.051	1571	2919	3326	0	0	0	0	0	0
296	-0.89	-123.5	25.5	-21.8	34	305	0.00	1.58	0.00	0.000	4	0.000	0.057	1564	3897	3327	0	0	0	0	0	0
318	-0.89	-123.5	29.7	-20.3	36	327	0.00	1.55	0.00	0.000	6	0.000	0.033	1564	2887	3326	0	0	0	0	0	0
407	-0.89	-123.5	48.4	-22.3	49	414	0.00	2.08	0.00	0.000	4	0.000	0.037	1564	1533	3326	0	0	0	0	0	0
440	-0.89	-123.5	55.4	-21.2	53	446	0.00	2.25	0.00	0.000	6	0.000	0.052	1554	2924	3326	0	0	0	0	0	0
679	-0.89	-123.5	102.9	-17.3	92	683	0.12	2.15	0.00	0.000	4	0.222	0.037	1581	1530	3326	0	0	0	0	0	0
716	-0.89	-123.5	109.1	-15.0	94	720	0.00	2.25	0.00	0.000	6	0.000	0.052	1571	2930	3326	0	0	0	0	0	0
1045	-0.89	-123.5	165.7	-17.3	115	1049	0.00	1.55	0.00	0.000	4	0.000	0.059	1564	3903	3327	0	0	0	0	0	0
1065	-0.89	-123.5	169.6	-17.5	116	1069	0.00	1.48	0.00	0.000	6	0.000	0.033	1564	2926	3327	0	0	0	0	0	0
1400	-0.89	-123.5	229.3	-18.2	137	1401	0.00	0.00	0.00	0.000	6	0.000	0.000	1564	2922	3327	0	0	0	0	0	0
1708	-0.89	-123.5	281.0	-16.2	154	1712	0.00	1.58	0.00	0.000	4	0.000	0.060	1557	3897	3327	0	0	0	0	0	0
1781	-0.89	-123.5	292.8	-16.9	157	1784	0.00	1.48	0.00	0.000	6	0.000	0.034	1557	2923	3327	0	0	0	0	0	0
2119	-0.89	-123.5	349.0	-16.7	173	2120	0.00	0.00	0.00	0.000	6	0.000	0.000	1557	2920	3327	0	0	0	0	0	0
2425	-0.89	-123.5	400.3	-16.3	188	2429	0.00	1.58	0.00	0.000	4	0.000	0.060	1549	3899	3326	0	0	0	0	0	0
2462	-0.89	-123.5	406.6	-17.6	189	2466	0.08	1.48	0.00	0.000	6	0.193	0.034	1571	2929	3327	0	0	0	0	0	0
2805	-0.89	-123.5	459.2	-15.1	200	2807	0.00	0.00	0.00	0.000	6	0.000	0.000	1571	2925	3327	0	0	0	0	0	0
3112	-0.89	-123.5	504.4	-14.6	210	3116	0.00	2.10	0.00	0.000	4	0.000	0.039	1571	1523	3326	0	0	0	0	0	0
3149	-0.89	-123.5	509.8	-14.3	211	3153	0.00	2.22	0.00	0.000	6	0.000	0.054	1562	2932	3326	0	0	0	0	0	0
3492	-0.89	-123.5	561.7	-14.8	222	3496	0.00	1.52	0.00	0.000	4	0.000	0.061	1554	3897	3326	0	0	0	0	0	0
3504	-0.89	-123.5	563.8	-14.8	222	3508	0.00	1.48	0.00	0.000	6	0.000	0.034	1554	2921	3325	0	0	0	0	0	0
3836	-0.89	-123.5	613.8	-15.3	233	3837	0.00	0.00	0.00	0.000	6	0.000	0.000	1554	2917	3325	0	0	0	0	0	0
4143	-0.89	-123.5	660.9	-15.6	243	4144	0.00	0.00	0.00	0.000	6	0.000	0.000	1554	2916	3325	0	0	0	0	0	0
4448	-0.89	-123.5	707.7	-15.0	253	4451	0.00	1.58	0.00	0.000	4	0.000	0.062	1547	3896	3324	0	0	0	0	0	0
4485	-0.89	-123.5	713.5	-15.6	254	4489	0.10	1.48	0.00	0.000	6	0.196	0.035	1574	2925	3324	0	0	0	0	0	0
4828	-0.89	-123.5	758.5	-12.5	265	4832	0.00	2.10	0.00	0.000	4	0.000	0.040	1575	1522	3323	0	0	0	0	0	0
4898	-0.89	-123.5	766.5	-11.2	267	4902	0.00	2.20	0.00	0.000	6	0.000	0.055	1565	2924	3323	0	0	0	0	0	0
5236	-0.89	-123.5	809.6	-12.9	278	5240	0.00	2.12	0.00	0.000	4	0.000	0.039	1565	1518	3323	0	0	0	0	0	0
5259	-0.89	-123.5	812.8	-12.6	278	5266	0.00	2.22	0.00	0.000	6	0.000	0.054	1555	2928	3323	0	0	0	0	0	0
5575	-0.89	-123.5	856.8	-14.1	289	5579	0.00	2.15	0.00	0.000	4	0.000	0.038	1555	1519	3322	0	0	0	0	0	0
5606	-0.89	-123.5	861.2	-14.5	290	5611	0.15	2.22	0.00	0.000	6	0.210	0.054	1580	2932	3323	0	0	0	0	0	0
5950	-0.89	-123.5	904.3	-12.6	301	5954	0.00	2.12	0.00	0.000	4	0.000	0.038	1580	1520	3322	0	0	0	0	0	0
6019	-0.89	-123.5	913.0	-11.8	303	6023	0.00	2.20	0.00	0.000	6	0.000	0.054	1570	2923	3322	0	0	0	0	0	0
6352	-0.89	-123.5	954.3	-12.5	314	6356	0.00	2.15	0.00	0.000	4	0.000	0.039	1571	1525	3322	0	0	0	0	0	0
6398	-0.89	-123.5	960.0	-10.9	315	6402	0.00	2.20	0.00	0.000	6	0.000	0.054	1560	2928	3322	0	0	0	0	0	0
6719	-0.89	-123.5	999.1	-12.2	326	6723	0.00	2.08	0.00	0.000	3	0.000	0.038	1560	1546	3322	0	0	0	0	0	0
6725	end dive: TARGET_DEPTH_EXCEEDED
state	6725	begin apogee
6737	-0.19	0.0	1000.2	12.3	326	6866	0.85	0.00	124.75	1.236	6	0.196	0.000	1796	2746	2819	0	0	0	0	0	0
6868	end apogee: CONTROL_FINISHED_OK
state	6868	begin climb
6872	0.89	123.5	1002.1	0.0	330	7014	1.00	2.55	122.90	1.789	4	0.063	0.046	2167	1349	2315	0	0	0	0	1	0
7023	0.89	123.5	970.8	29.1	334	7027	0.00	2.45	0.00	0.000	6	0.000	0.050	2167	2732	2315	0	0	0	0	0	0
7338	0.89	123.5	870.2	32.3	344	7342	0.00	2.30	0.00	0.000	4	0.000	0.048	2177	1336	2309	0	0	0	0	0	0
7356	0.89	123.5	864.0	32.2	344	7360	0.00	2.35	0.00	0.000	6	0.000	0.052	2176	2746	2308	0	0	0	0	0	0
7677	0.89	123.5	761.3	32.2	355	7681	0.00	2.28	0.00	0.000	4	0.000	0.047	2187	1344	2306	0	0	0	0	0	0
7695	0.89	123.5	755.0	31.5	355	7700	0.12	2.28	0.00	0.000	6	0.261	0.051	2164	2738	2306	0	0	0	0	0	0
8010	0.89	123.5	659.7	30.1	365	8011	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2738	2305	0	0	0	0	0	0
8317	0.89	123.5	567.9	29.1	375	8321	0.00	2.22	0.00	0.000	4	0.000	0.046	2174	1342	2304	0	0	0	0	0	0
8329	0.89	123.5	563.7	28.8	375	8333	0.00	2.22	0.00	0.000	6	0.000	0.050	2172	2737	2303	0	0	0	0	0	0
8650	0.89	123.5	471.8	28.1	386	8654	0.00	2.22	0.00	0.000	4	0.000	0.047	2181	1335	2303	0	0	0	0	0	0
8707	0.89	123.5	456.1	26.5	387	8714	0.00	2.25	0.00	0.000	6	0.000	0.051	2182	2738	2302	0	0	0	0	0	0
9034	0.89	123.5	364.0	28.9	400	9038	0.00	2.22	0.00	0.000	4	0.000	0.047	2192	1334	2301	0	0	0	0	0	0
9046	0.89	123.5	359.8	28.8	400	9056	0.10	2.28	0.00	0.000	6	0.246	0.051	2167	2737	2302	0	0	0	0	0	0
9365	0.89	123.5	271.7	28.6	416	9369	0.00	2.22	0.00	0.000	4	0.000	0.048	2176	1331	2301	0	0	0	0	0	0
9387	0.89	123.5	265.9	27.9	417	9391	0.00	2.22	0.00	0.000	6	0.000	0.053	2171	2734	2301	0	0	0	0	0	0
9716	0.89	123.5	173.7	26.6	437	9717	0.00	0.00	0.00	0.000	6	0.000	0.000	2172	2734	2300	0	0	0	0	0	0
10029	0.89	123.5	89.6	26.5	461	10034	0.00	2.20	0.00	0.000	4	0.000	0.048	2181	1334	2301	0	0	0	0	0	0
10071	0.89	123.5	79.0	23.1	468	10080	0.00	2.25	0.00	0.000	6	0.000	0.054	2181	2726	2300	0	0	0	0	0	0
10382	end climb: SURFACE_DEPTH_REACHED
state	10383	begin surface coast
10396	end surface coast: CONTROL_FINISHED_OK
state	10396	begin surface