Glider dive log

SOSCEx 08Dec12 * SG543 * Dive index * Mission links * Dive 73 * 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 73 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 50 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 39 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 -8036.8569 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 -8036.8569

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 50 VBD_MAX 3960

DEVICE2 101 MASS 52459 R_STBD_OVSHOOT 39 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 73 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 201212,084304,-4231.548,823.006,27,0.8,27,-25.0 TGT_NAME GH1

_CALLS 1 TGT_LATLONG -4230.000,820.000

_XMS_NAKs 0 TGT_RADIUS 800.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.136,0.113

_SM_DEPTHo 1.08 KALMAN_X -3241.6,297.9,260.7,31923.5,-1177.8

_SM_ANGLEo -27.3 KALMAN_Y 90566.9,-373.9,-178.0,-92767.6,314.7

GPS2 201212,085217,-4231.530,823.090,20,1.1,21,-25.0 MHEAD_RNG_PITCHd_Wd 334.7,5083,-23.8,-9.009

SPEED_LIMITS 0.156,0.284 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.2,1.026104 _10V_AH 10.1,7.822

SM_CCo 11432,151.18,0.764,1,0,506,482.50 FG_AHR_24Vo 0.000

SM_GC 1.28,0.00,0.00,151.18,0.000,0.000,0.764,55,3366,506,-4.98,0.37,482.50 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4218.64,821.44,201212,050538 MEM 354236

TT8_MAMPS 0.025466 DATA_FILE_SIZE 43889,583

HUMID 54.33 CAP_FILE_SIZE 99765,0

INTERNAL_PRESSURE 8.95659 CFSIZE 259252224,253992960

TCM_TEMP 13.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1

XPDR_PINGS 0 GPS 201212,120734,-4230.404,821.900,31,1.1,31,-25.0

_24V_AH 23.6,15.413

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 235 67.70 SBE_CT 377 24 213.75

Roll_motor 55 80 105.21 AA4330 1291 33 1005.47

VBD_pump_during_apogee 264 1207 7543.23 WL_BB2FLVMT 618 105 1532.75

VBD_pump_during_surface 151 764 2726.58 QSP2150 292 4 30.25

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 65.39 nil 0 0 0.00

Iridium_during_connect 51 160 193.87 nil 0 0 0.00

Iridium_during_xfer 315 223 1661.01 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 26 6.21

TT8 1505 14 227.43

LPSleep 7373 2 163.10

TT8_Active 514 14 73.85

TT8_Sampling 2065 37 780.95

TT8_CF8 683 47 325.84

TT8_Kalman 33 59 19.92

Analog_circuits 1284 12 155.69

GPS_charging 0 0 0.00

Compass 1808 15 287.35

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 16 begin dive

19 -0.70 -69.1 0.0 0.0 0 111 0.00 0.00 -89.38 0.000 2 0.000 0.000 61 3372 2708 0 0 0 0 0 0

115 -0.74 -129.5 3.0 -3.7 11 135 5.45 2.28 -8.73 0.000 4 0.236 0.047 1403 1939 3004 0 0 0 0 0 0

208 -0.74 -129.5 16.0 -14.9 24 218 0.00 2.33 0.00 0.000 6 0.000 0.056 1393 3333 3006 0 0 0 0 0 0

302 -0.74 -129.5 31.9 -18.5 37 308 0.00 0.00 0.00 0.000 6 0.000 0.000 1393 3333 3006 0 0 0 0 0 0

548 -0.74 -129.5 73.9 -15.7 78 557 0.00 2.12 0.00 0.000 4 0.000 0.031 1393 1956 3007 0 0 0 0 0 0

587 -0.74 -129.5 79.7 -14.3 84 596 0.00 2.30 0.00 0.000 6 0.000 0.060 1383 3348 3008 0 0 0 0 0 0

924 -0.74 -129.5 132.2 -15.9 119 930 0.00 0.95 0.00 0.000 4 0.000 0.057 1378 3948 3008 0 0 0 0 0 0

1176 -0.74 -129.5 177.4 -18.8 133 1180 0.08 0.90 0.00 0.000 6 0.177 0.035 1400 3353 3008 0 0 0 0 0 0

1502 -0.74 -129.5 227.9 -15.5 154 1506 0.00 0.95 0.00 0.000 4 0.000 0.057 1397 3955 3009 0 0 0 0 0 0

1597 -0.74 -129.5 243.9 -16.4 159 1604 0.00 0.90 0.00 0.000 6 0.000 0.035 1397 3354 3008 0 0 0 0 0 0

1920 -0.74 -129.5 294.4 -15.8 176 1924 0.00 0.98 0.00 0.000 4 0.000 0.058 1393 3958 3009 0 0 0 0 0 0

2013 -0.74 -129.5 310.5 -18.3 180 2016 0.00 0.90 0.00 0.000 6 0.000 0.035 1393 3357 3009 0 0 0 0 0 0

2347 -0.74 -129.5 362.4 -15.6 196 2351 0.00 0.93 0.00 0.000 4 0.000 0.057 1388 3947 3009 0 0 0 0 0 0

2443 -0.74 -129.5 379.1 -16.3 200 2447 0.00 0.90 0.00 0.000 6 0.000 0.035 1388 3344 3009 0 0 0 0 0 0

2769 -0.74 -129.5 429.4 -15.3 213 2773 0.00 0.95 0.00 0.000 4 0.000 0.057 1384 3953 3009 0 0 0 0 0 0

2914 -0.74 -129.5 453.6 -16.7 217 2918 0.00 0.90 0.00 0.000 6 0.000 0.035 1384 3351 3009 0 0 0 0 0 0

3245 -0.74 -129.5 503.7 -15.2 228 3248 0.00 0.95 0.00 0.000 4 0.000 0.057 1380 3958 3009 0 0 0 0 0 0

3373 -0.74 -129.5 524.4 -16.1 231 3380 0.08 0.90 0.00 0.000 6 0.176 0.035 1402 3359 3009 0 0 0 0 0 0

3686 -0.74 -129.5 564.9 -12.6 242 3690 0.00 0.93 0.00 0.000 4 0.000 0.057 1398 3950 3008 0 0 0 0 0 0

3769 -0.74 -129.5 576.9 -14.8 244 3773 0.00 0.90 0.00 0.000 6 0.000 0.037 1399 3350 3008 0 0 0 0 0 0

4095 -0.74 -129.5 621.6 -14.2 255 4098 0.00 0.95 0.00 0.000 4 0.000 0.057 1394 3957 3007 0 0 0 0 0 0

4226 -0.74 -129.5 642.1 -16.1 258 4232 0.00 0.90 0.00 0.000 6 0.000 0.036 1394 3357 3007 0 0 0 0 0 0

4539 -0.74 -129.5 687.1 -14.2 269 4544 0.00 0.93 0.00 0.000 4 0.000 0.058 1390 3950 3006 0 0 0 0 0 0

4711 -0.74 -129.5 713.5 -15.7 274 4715 0.00 0.90 0.00 0.000 6 0.000 0.037 1390 3351 3006 0 0 0 0 0 0

5053 -0.74 -129.5 762.7 -14.1 285 5054 0.00 0.00 0.00 0.000 6 0.000 0.000 1390 3349 3005 0 0 0 0 0 0

5359 -0.74 -129.5 806.2 -14.1 295 5360 0.00 0.00 0.00 0.000 6 0.000 0.000 1390 3349 3004 0 0 0 0 0 0

5666 -0.74 -129.5 850.0 -14.3 305 5670 0.00 0.95 0.00 0.000 4 0.000 0.059 1386 3954 3003 0 0 0 0 0 0

5862 -0.74 -129.5 881.6 -14.9 310 5869 0.00 0.90 0.00 0.000 6 0.000 0.038 1386 3355 3003 0 0 0 0 0 0

6176 -0.74 -129.5 924.1 -13.1 321 6180 0.00 0.93 0.00 0.000 4 0.000 0.060 1381 3947 3001 0 0 0 0 0 0

6308 -0.74 -129.5 942.8 -14.8 324 6314 0.00 0.90 0.00 0.000 6 0.000 0.038 1381 3351 3000 0 0 0 0 0 0

6621 -0.74 -129.5 983.6 -13.0 335 6626 0.00 0.95 0.00 0.000 4 0.000 0.060 1376 3955 3000 0 0 0 0 0 0

6731 end dive: TARGET_DEPTH_EXCEEDED

state 6731 begin apogee

6738 -0.14 0.0 1000.2 15.7 338 6874 0.73 0.00 132.57 1.207 6 0.170 0.000 1593 3252 2473 0 0 0 0 0 0

6876 end apogee: CONTROL_FINISHED_OK

state 6876 begin climb

6879 0.74 129.5 1002.1 0.0 342 7015 0.85 0.00 132.20 1.174 6 0.082 0.000 1880 3251 1944 0 0 0 0 0 0

7308 0.74 129.5 913.1 23.0 356 7309 0.00 0.00 0.00 0.000 6 0.000 0.000 1881 3251 1920 0 0 0 0 0 0

7615 0.74 129.5 844.2 22.1 366 7619 0.00 1.15 0.00 0.000 4 0.000 0.055 1881 3952 1917 0 0 0 0 0 0

7684 0.74 129.5 827.8 25.2 368 7689 0.00 1.08 0.00 0.000 6 0.000 0.033 1886 3247 1917 0 0 0 0 0 0

8027 0.74 129.5 753.5 21.4 379 8031 0.00 2.15 0.00 0.000 4 0.000 0.034 1897 1832 1914 0 0 0 0 0 0

8059 0.74 129.5 746.4 19.2 380 8064 0.00 2.30 0.00 0.000 6 0.000 0.050 1896 3263 1913 0 0 0 0 0 0

8389 0.74 129.5 674.3 22.0 391 8393 0.00 2.15 0.00 0.000 4 0.000 0.033 1907 1843 1913 0 0 0 0 0 0

8408 0.74 129.5 670.4 22.0 391 8412 0.00 2.25 0.00 0.000 6 0.000 0.050 1907 3249 1912 0 0 0 0 0 0

8721 0.74 129.5 601.0 22.2 401 8722 0.00 0.00 0.00 0.000 6 0.000 0.000 1907 3249 1911 0 0 0 0 0 0

9027 0.74 129.5 531.2 22.9 411 9028 0.00 0.00 0.00 0.000 6 0.000 0.000 1907 3249 1911 0 0 0 0 0 0

9335 0.74 129.5 462.9 22.1 421 9338 0.00 1.10 0.00 0.000 4 0.000 0.054 1907 3948 1910 0 0 0 0 0 0

9378 0.74 129.5 451.7 24.1 422 9382 0.00 1.05 0.00 0.000 6 0.000 0.032 1913 3243 1910 0 0 0 0 0 0

9699 0.74 129.5 377.9 23.3 434 9700 0.00 0.00 0.00 0.000 6 0.000 0.000 1913 3242 1909 0 0 0 0 0 0

10011 0.74 129.5 307.0 23.8 449 10016 0.00 1.12 0.00 0.000 4 0.000 0.053 1912 3952 1909 0 0 0 0 0 0

10035 0.74 129.5 300.5 24.5 450 10039 0.00 1.05 0.00 0.000 6 0.000 0.032 1918 3245 1909 0 0 0 0 0 0

10360 0.74 129.5 222.2 24.3 467 10364 0.00 2.12 0.00 0.000 4 0.000 0.032 1929 1832 1909 0 0 0 0 0 0

10376 0.74 129.5 217.5 24.1 468 10381 0.15 2.25 0.00 0.000 6 0.203 0.047 1894 3262 1908 0 0 0 0 0 0

10698 0.74 129.5 147.7 22.0 488 10701 0.00 1.08 0.00 0.000 4 0.000 0.052 1893 3947 1908 0 0 0 0 0 0

10736 0.74 129.5 138.3 23.0 490 10741 0.00 1.02 0.00 0.000 6 0.000 0.032 1897 3250 1908 0 0 0 0 0 0

11068 0.74 129.5 67.8 20.3 528 11076 0.00 1.10 0.00 0.000 4 0.000 0.053 1897 3949 1908 0 0 0 0 0 0

11101 0.74 129.5 61.1 21.7 533 11105 0.00 1.02 0.00 0.000 6 0.000 0.031 1902 3251 1908 0 0 0 0 0 0

11401 end climb: SURFACE_DEPTH_REACHED

state 11401 begin surface coast

11416 end surface coast: CONTROL_FINISHED_OK

state 11416 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	73	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	50	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	39	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	-8036.8569	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	201212,084304,-4231.548,823.006,27,0.8,27,-25.0	TGT_NAME	GH1
_CALLS	1	TGT_LATLONG	-4230.000,820.000
_XMS_NAKs	0	TGT_RADIUS	800.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.136,0.113
_SM_DEPTHo	1.08	KALMAN_X	-3241.6,297.9,260.7,31923.5,-1177.8
_SM_ANGLEo	-27.3	KALMAN_Y	90566.9,-373.9,-178.0,-92767.6,314.7
GPS2	201212,085217,-4231.530,823.090,20,1.1,21,-25.0	MHEAD_RNG_PITCHd_Wd	334.7,5083,-23.8,-9.009
SPEED_LIMITS	0.156,0.284	D_GRID	1000

FINISH	1.2,1.026104	_10V_AH	10.1,7.822
SM_CCo	11432,151.18,0.764,1,0,506,482.50	FG_AHR_24Vo	0.000
SM_GC	1.28,0.00,0.00,151.18,0.000,0.000,0.764,55,3366,506,-4.98,0.37,482.50	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4218.64,821.44,201212,050538	MEM	354236
TT8_MAMPS	0.025466	DATA_FILE_SIZE	43889,583
HUMID	54.33	CAP_FILE_SIZE	99765,0
INTERNAL_PRESSURE	8.95659	CFSIZE	259252224,253992960
TCM_TEMP	13.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
XPDR_PINGS	0	GPS	201212,120734,-4230.404,821.900,31,1.1,31,-25.0
_24V_AH	23.6,15.413

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	235	67.70	SBE_CT	377	24	213.75
Roll_motor	55	80	105.21	AA4330	1291	33	1005.47
VBD_pump_during_apogee	264	1207	7543.23	WL_BB2FLVMT	618	105	1532.75
VBD_pump_during_surface	151	764	2726.58	QSP2150	292	4	30.25
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	65.39	nil	0	0	0.00
Iridium_during_connect	51	160	193.87	nil	0	0	0.00
Iridium_during_xfer	315	223	1661.01	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	26	6.21
TT8	1505	14	227.43
LPSleep	7373	2	163.10
TT8_Active	514	14	73.85
TT8_Sampling	2065	37	780.95
TT8_CF8	683	47	325.84
TT8_Kalman	33	59	19.92
Analog_circuits	1284	12	155.69
GPS_charging	0	0	0.00
Compass	1808	15	287.35
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	16	begin dive
19	-0.70	-69.1	0.0	0.0	0	111	0.00	0.00	-89.38	0.000	2	0.000	0.000	61	3372	2708	0	0	0	0	0	0
115	-0.74	-129.5	3.0	-3.7	11	135	5.45	2.28	-8.73	0.000	4	0.236	0.047	1403	1939	3004	0	0	0	0	0	0
208	-0.74	-129.5	16.0	-14.9	24	218	0.00	2.33	0.00	0.000	6	0.000	0.056	1393	3333	3006	0	0	0	0	0	0
302	-0.74	-129.5	31.9	-18.5	37	308	0.00	0.00	0.00	0.000	6	0.000	0.000	1393	3333	3006	0	0	0	0	0	0
548	-0.74	-129.5	73.9	-15.7	78	557	0.00	2.12	0.00	0.000	4	0.000	0.031	1393	1956	3007	0	0	0	0	0	0
587	-0.74	-129.5	79.7	-14.3	84	596	0.00	2.30	0.00	0.000	6	0.000	0.060	1383	3348	3008	0	0	0	0	0	0
924	-0.74	-129.5	132.2	-15.9	119	930	0.00	0.95	0.00	0.000	4	0.000	0.057	1378	3948	3008	0	0	0	0	0	0
1176	-0.74	-129.5	177.4	-18.8	133	1180	0.08	0.90	0.00	0.000	6	0.177	0.035	1400	3353	3008	0	0	0	0	0	0
1502	-0.74	-129.5	227.9	-15.5	154	1506	0.00	0.95	0.00	0.000	4	0.000	0.057	1397	3955	3009	0	0	0	0	0	0
1597	-0.74	-129.5	243.9	-16.4	159	1604	0.00	0.90	0.00	0.000	6	0.000	0.035	1397	3354	3008	0	0	0	0	0	0
1920	-0.74	-129.5	294.4	-15.8	176	1924	0.00	0.98	0.00	0.000	4	0.000	0.058	1393	3958	3009	0	0	0	0	0	0
2013	-0.74	-129.5	310.5	-18.3	180	2016	0.00	0.90	0.00	0.000	6	0.000	0.035	1393	3357	3009	0	0	0	0	0	0
2347	-0.74	-129.5	362.4	-15.6	196	2351	0.00	0.93	0.00	0.000	4	0.000	0.057	1388	3947	3009	0	0	0	0	0	0
2443	-0.74	-129.5	379.1	-16.3	200	2447	0.00	0.90	0.00	0.000	6	0.000	0.035	1388	3344	3009	0	0	0	0	0	0
2769	-0.74	-129.5	429.4	-15.3	213	2773	0.00	0.95	0.00	0.000	4	0.000	0.057	1384	3953	3009	0	0	0	0	0	0
2914	-0.74	-129.5	453.6	-16.7	217	2918	0.00	0.90	0.00	0.000	6	0.000	0.035	1384	3351	3009	0	0	0	0	0	0
3245	-0.74	-129.5	503.7	-15.2	228	3248	0.00	0.95	0.00	0.000	4	0.000	0.057	1380	3958	3009	0	0	0	0	0	0
3373	-0.74	-129.5	524.4	-16.1	231	3380	0.08	0.90	0.00	0.000	6	0.176	0.035	1402	3359	3009	0	0	0	0	0	0
3686	-0.74	-129.5	564.9	-12.6	242	3690	0.00	0.93	0.00	0.000	4	0.000	0.057	1398	3950	3008	0	0	0	0	0	0
3769	-0.74	-129.5	576.9	-14.8	244	3773	0.00	0.90	0.00	0.000	6	0.000	0.037	1399	3350	3008	0	0	0	0	0	0
4095	-0.74	-129.5	621.6	-14.2	255	4098	0.00	0.95	0.00	0.000	4	0.000	0.057	1394	3957	3007	0	0	0	0	0	0
4226	-0.74	-129.5	642.1	-16.1	258	4232	0.00	0.90	0.00	0.000	6	0.000	0.036	1394	3357	3007	0	0	0	0	0	0
4539	-0.74	-129.5	687.1	-14.2	269	4544	0.00	0.93	0.00	0.000	4	0.000	0.058	1390	3950	3006	0	0	0	0	0	0
4711	-0.74	-129.5	713.5	-15.7	274	4715	0.00	0.90	0.00	0.000	6	0.000	0.037	1390	3351	3006	0	0	0	0	0	0
5053	-0.74	-129.5	762.7	-14.1	285	5054	0.00	0.00	0.00	0.000	6	0.000	0.000	1390	3349	3005	0	0	0	0	0	0
5359	-0.74	-129.5	806.2	-14.1	295	5360	0.00	0.00	0.00	0.000	6	0.000	0.000	1390	3349	3004	0	0	0	0	0	0
5666	-0.74	-129.5	850.0	-14.3	305	5670	0.00	0.95	0.00	0.000	4	0.000	0.059	1386	3954	3003	0	0	0	0	0	0
5862	-0.74	-129.5	881.6	-14.9	310	5869	0.00	0.90	0.00	0.000	6	0.000	0.038	1386	3355	3003	0	0	0	0	0	0
6176	-0.74	-129.5	924.1	-13.1	321	6180	0.00	0.93	0.00	0.000	4	0.000	0.060	1381	3947	3001	0	0	0	0	0	0
6308	-0.74	-129.5	942.8	-14.8	324	6314	0.00	0.90	0.00	0.000	6	0.000	0.038	1381	3351	3000	0	0	0	0	0	0
6621	-0.74	-129.5	983.6	-13.0	335	6626	0.00	0.95	0.00	0.000	4	0.000	0.060	1376	3955	3000	0	0	0	0	0	0
6731	end dive: TARGET_DEPTH_EXCEEDED
state	6731	begin apogee
6738	-0.14	0.0	1000.2	15.7	338	6874	0.73	0.00	132.57	1.207	6	0.170	0.000	1593	3252	2473	0	0	0	0	0	0
6876	end apogee: CONTROL_FINISHED_OK
state	6876	begin climb
6879	0.74	129.5	1002.1	0.0	342	7015	0.85	0.00	132.20	1.174	6	0.082	0.000	1880	3251	1944	0	0	0	0	0	0
7308	0.74	129.5	913.1	23.0	356	7309	0.00	0.00	0.00	0.000	6	0.000	0.000	1881	3251	1920	0	0	0	0	0	0
7615	0.74	129.5	844.2	22.1	366	7619	0.00	1.15	0.00	0.000	4	0.000	0.055	1881	3952	1917	0	0	0	0	0	0
7684	0.74	129.5	827.8	25.2	368	7689	0.00	1.08	0.00	0.000	6	0.000	0.033	1886	3247	1917	0	0	0	0	0	0
8027	0.74	129.5	753.5	21.4	379	8031	0.00	2.15	0.00	0.000	4	0.000	0.034	1897	1832	1914	0	0	0	0	0	0
8059	0.74	129.5	746.4	19.2	380	8064	0.00	2.30	0.00	0.000	6	0.000	0.050	1896	3263	1913	0	0	0	0	0	0
8389	0.74	129.5	674.3	22.0	391	8393	0.00	2.15	0.00	0.000	4	0.000	0.033	1907	1843	1913	0	0	0	0	0	0
8408	0.74	129.5	670.4	22.0	391	8412	0.00	2.25	0.00	0.000	6	0.000	0.050	1907	3249	1912	0	0	0	0	0	0
8721	0.74	129.5	601.0	22.2	401	8722	0.00	0.00	0.00	0.000	6	0.000	0.000	1907	3249	1911	0	0	0	0	0	0
9027	0.74	129.5	531.2	22.9	411	9028	0.00	0.00	0.00	0.000	6	0.000	0.000	1907	3249	1911	0	0	0	0	0	0
9335	0.74	129.5	462.9	22.1	421	9338	0.00	1.10	0.00	0.000	4	0.000	0.054	1907	3948	1910	0	0	0	0	0	0
9378	0.74	129.5	451.7	24.1	422	9382	0.00	1.05	0.00	0.000	6	0.000	0.032	1913	3243	1910	0	0	0	0	0	0
9699	0.74	129.5	377.9	23.3	434	9700	0.00	0.00	0.00	0.000	6	0.000	0.000	1913	3242	1909	0	0	0	0	0	0
10011	0.74	129.5	307.0	23.8	449	10016	0.00	1.12	0.00	0.000	4	0.000	0.053	1912	3952	1909	0	0	0	0	0	0
10035	0.74	129.5	300.5	24.5	450	10039	0.00	1.05	0.00	0.000	6	0.000	0.032	1918	3245	1909	0	0	0	0	0	0
10360	0.74	129.5	222.2	24.3	467	10364	0.00	2.12	0.00	0.000	4	0.000	0.032	1929	1832	1909	0	0	0	0	0	0
10376	0.74	129.5	217.5	24.1	468	10381	0.15	2.25	0.00	0.000	6	0.203	0.047	1894	3262	1908	0	0	0	0	0	0
10698	0.74	129.5	147.7	22.0	488	10701	0.00	1.08	0.00	0.000	4	0.000	0.052	1893	3947	1908	0	0	0	0	0	0
10736	0.74	129.5	138.3	23.0	490	10741	0.00	1.02	0.00	0.000	6	0.000	0.032	1897	3250	1908	0	0	0	0	0	0
11068	0.74	129.5	67.8	20.3	528	11076	0.00	1.10	0.00	0.000	4	0.000	0.053	1897	3949	1908	0	0	0	0	0	0
11101	0.74	129.5	61.1	21.7	533	11105	0.00	1.02	0.00	0.000	6	0.000	0.031	1902	3251	1908	0	0	0	0	0	0
11401	end climb: SURFACE_DEPTH_REACHED
state	11401	begin surface coast
11416	end surface coast: CONTROL_FINISHED_OK
state	11416	begin surface