Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 75 * 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 75 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 51 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 35 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 -21876.543 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 -21876.543

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 51 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 35 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 75 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 221214,214430,-5559.564,-32.339,38,0.9,38,-19.9 TGT_NAME TARGET

_CALLS 2 TGT_LATLONG -5600.000,-30.000

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.154,0.060

_SM_DEPTHo 1.86 KALMAN_X 44213.2,-339.7,-337.9,-76846.0,3752.8

_SM_ANGLEo -62.1 KALMAN_Y 51700.5,83.3,144.8,-50721.1,-1458.1

GPS2 221214,215541,-5559.517,-32.244,16,1.1,16,-19.9 MHEAD_RNG_PITCHd_Wd 311.1,2490,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.1,1.027222 _10V_AH 10.0,13.354

SM_CCo 12295,24.33,0.185,0,0,1525,200.16 FG_AHR_24Vo 0.000

SM_GC 2.58,0.00,0.00,24.33,0.000,0.000,0.185,60,2902,1525,-5.40,-0.79,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5538.94,-26.95,221214,212156 MEM 353940

TT8_MAMPS 0.026215 DATA_FILE_SIZE 53648,795

HUMID 56.10 CAP_FILE_SIZE 102063,0

INTERNAL_PRESSURE 8.96486 CFSIZE 259252224,221626368

TCM_TEMP 7.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 231214,012305,-5559.061,-34.404,36,1.0,36,-19.8

_24V_AH 21.7,20.458

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 252 72.17 SBE_CT 565 23 293.89

Roll_motor 51 64 71.57 AA4330 1644 17 641.73

VBD_pump_during_apogee 262 1807 10291.20 WL_BB2F 779 105 1775.22

VBD_pump_during_surface 24 185 97.72 QSP2150 804 17 314.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 52 91 104.12 nil 0 0 0.00

Iridium_during_connect 66 160 230.53 nil 0 0 0.00

Iridium_during_xfer 364 223 1762.59 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 31 5.91

TT8 1956 14 282.92

LPSleep 8054 2 176.40

TT8_Active 397 14 57.43

TT8_Sampling 2440 42 1029.36

TT8_CF8 143 49 71.17

TT8_Kalman 33 68 22.82

Analog_circuits 1141 15 176.86

GPS_charging 0 0 0.00

Compass 1805 16 297.57

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.54 -73.9 0.0 0.0 0 67 0.00 0.00 -50.00 0.000 2 0.000 0.000 45 2891 2603 0 0 0 0 0 0

69 -0.59 -136.1 3.3 -4.2 6 96 6.32 2.17 -8.75 0.000 4 0.252 0.058 1594 1524 2899 0 0 0 0 0 0

141 -0.59 -136.1 14.8 -16.8 16 150 0.00 2.33 0.00 0.000 6 0.000 0.058 1584 2914 2901 0 0 0 0 0 0

225 -0.59 -136.1 30.8 -19.7 29 232 0.00 0.00 0.00 0.000 6 0.000 0.000 1584 2914 2901 0 0 0 0 0 0

339 -0.59 -136.1 54.5 -21.0 48 347 0.00 0.00 0.00 0.000 6 0.000 0.000 1584 2914 2901 0 0 0 0 0 0

454 -0.59 -136.1 78.3 -20.9 67 460 0.00 0.00 0.00 0.000 6 0.000 0.000 1584 2914 2901 0 0 0 0 0 0

564 -0.59 -136.1 102.3 -19.9 85 568 0.00 1.62 0.00 0.000 4 0.000 0.064 1577 3903 2901 0 0 0 0 0 0

638 -0.59 -136.1 117.9 -19.7 91 646 0.00 1.52 0.00 0.000 6 0.000 0.034 1579 2919 2901 0 0 0 0 0 0

963 -0.59 -136.1 181.9 -19.8 122 967 0.00 1.65 0.00 0.000 4 0.000 0.063 1571 3927 2901 0 0 0 0 0 0

1069 -0.59 -136.1 203.5 -20.9 131 1073 0.00 1.55 0.00 0.000 6 0.000 0.034 1572 2928 2901 0 0 0 0 0 0

1399 -0.59 -136.1 262.0 -16.8 159 1400 0.00 0.00 0.00 0.000 6 0.000 0.000 1572 2922 2901 0 0 0 0 0 0

1706 -0.59 -136.1 313.4 -16.8 174 1708 0.00 0.00 0.00 0.000 6 0.000 0.000 1572 2922 2901 0 0 0 0 0 0

2018 -0.59 -136.1 364.9 -16.7 189 2022 0.00 1.62 0.00 0.000 4 0.000 0.063 1565 3907 2901 0 0 0 0 0 0

2079 -0.59 -136.1 376.4 -18.3 191 2088 0.12 1.52 0.00 0.000 6 0.205 0.034 1594 2922 2901 0 0 0 0 0 0

2396 -0.59 -136.1 424.8 -15.4 207 2397 0.00 0.00 0.00 0.000 6 0.000 0.000 1594 2922 2901 0 0 0 0 0 0

2704 -0.59 -136.1 470.1 -14.7 222 2706 0.00 0.00 0.00 0.000 6 0.000 0.000 1594 2922 2901 0 0 0 0 0 0

3014 -0.59 -136.1 515.2 -14.5 237 3015 0.00 0.00 0.00 0.000 6 0.000 0.000 1594 2922 2902 0 0 0 0 0 0

3324 -0.59 -136.1 560.1 -14.7 252 3325 0.00 0.00 0.00 0.000 6 0.000 0.000 1594 2922 2902 0 0 0 0 0 0

3632 -0.59 -136.1 603.6 -14.2 267 3636 0.00 1.62 0.00 0.000 4 0.000 0.063 1587 3911 2901 0 0 0 0 0 0

3681 -0.59 -136.1 611.1 -15.8 269 3686 0.00 1.52 0.00 0.000 6 0.000 0.033 1587 2922 2902 0 0 0 0 0 0

4010 -0.59 -136.1 658.9 -14.7 285 4011 0.00 0.00 0.00 0.000 6 0.000 0.000 1587 2916 2902 0 0 0 0 0 0

4318 -0.59 -136.1 703.8 -14.3 300 4319 0.00 0.00 0.00 0.000 6 0.000 0.000 1587 2916 2902 0 0 0 0 0 0

4627 -0.59 -136.1 749.4 -14.8 315 4628 0.00 0.00 0.00 0.000 6 0.000 0.000 1587 2917 2902 0 0 0 0 0 0

4937 -0.59 -136.1 794.0 -14.0 330 4938 0.00 0.00 0.00 0.000 6 0.000 0.000 1587 2916 2902 0 0 0 0 0 0

5246 -0.59 -136.1 836.5 -13.5 345 5247 0.00 0.00 0.00 0.000 6 0.000 0.000 1587 2916 2902 0 0 0 0 0 0

5555 -0.59 -136.1 877.3 -13.0 360 5559 0.00 1.62 0.00 0.000 4 0.000 0.063 1579 3906 2902 0 0 0 0 0 0

5601 -0.59 -136.1 883.5 -14.4 362 5604 0.00 1.48 0.00 0.000 6 0.000 0.034 1579 2935 2902 0 0 0 0 0 0

5933 -0.59 -136.1 926.5 -12.5 378 5934 0.00 0.00 0.00 0.000 6 0.000 0.000 1579 2927 2902 0 0 0 0 0 0

6242 -0.59 -136.1 964.9 -12.3 393 6243 0.00 0.00 0.00 0.000 6 0.000 0.000 1579 2928 2902 0 0 0 0 0 0

6529 end dive: TARGET_DEPTH_EXCEEDED

state 6529 begin apogee

6534 -0.13 0.0 1000.9 12.7 407 6662 0.55 0.00 124.90 1.808 6 0.173 0.000 1742 2713 2342 0 0 0 0 0 0

6663 end apogee: CONTROL_FINISHED_OK

state 6663 begin climb

6664 0.59 136.1 1004.2 0.0 413 6808 0.77 0.00 137.45 1.758 6 0.121 0.000 1976 2713 1787 0 0 0 0 0 0

7115 0.59 136.1 930.0 18.5 435 7119 0.00 2.05 0.00 0.000 4 0.000 0.060 1976 3906 1779 0 0 0 0 0 0

7162 0.59 136.1 920.8 21.3 437 7166 0.00 1.95 0.00 0.000 6 0.000 0.037 1985 2732 1776 0 0 0 0 0 0

7494 0.59 136.1 857.5 18.8 453 7495 0.00 0.00 0.00 0.000 6 0.000 0.000 1985 2732 1776 0 0 0 0 0 0

7803 0.59 136.1 800.4 18.4 468 7807 0.00 1.95 0.00 0.000 4 0.000 0.060 1985 3904 1775 0 0 0 0 0 0

7848 0.59 136.1 791.0 21.0 470 7852 0.00 1.92 0.00 0.000 6 0.000 0.037 1994 2709 1773 0 0 0 0 0 0

8180 0.59 136.1 727.2 19.0 486 8181 0.00 0.00 0.00 0.000 6 0.000 0.000 1995 2709 1773 0 0 0 0 0 0

8489 0.59 136.1 670.4 17.9 501 8493 0.00 1.98 0.00 0.000 4 0.000 0.060 1995 3907 1773 0 0 0 0 0 0

8588 0.59 136.1 649.9 21.8 505 8593 0.00 1.92 0.00 0.000 6 0.000 0.037 2004 2712 1772 0 0 0 0 0 0

8911 0.59 136.1 590.6 18.5 521 8912 0.00 0.00 0.00 0.000 6 0.000 0.000 2004 2712 1772 0 0 0 0 0 0

9219 0.59 136.1 534.1 18.1 536 9223 0.00 1.98 0.00 0.000 4 0.000 0.060 2004 3904 1771 0 0 0 0 0 0

9287 0.59 136.1 520.5 21.2 539 9292 0.12 1.90 0.00 0.000 6 0.228 0.037 1986 2702 1771 0 0 0 0 0 0

9619 0.59 136.1 465.1 16.7 555 9620 0.00 0.00 0.00 0.000 6 0.000 0.000 1986 2703 1771 0 0 0 0 0 0

9928 0.59 136.1 413.0 17.0 570 9932 0.00 1.98 0.00 0.000 4 0.000 0.060 1986 3914 1771 0 0 0 0 0 0

10034 0.59 136.1 391.7 19.9 574 10044 0.00 1.92 0.00 0.000 6 0.000 0.037 1994 2709 1771 0 0 0 0 0 0

10350 0.59 136.1 332.7 18.3 590 10351 0.00 0.00 0.00 0.000 6 0.000 0.000 1994 2709 1770 0 0 0 0 0 0

10661 0.59 136.1 276.8 18.2 605 10665 0.00 1.95 0.00 0.000 4 0.000 0.060 1994 3910 1770 0 0 0 0 0 0

10710 0.59 136.1 265.7 22.3 607 10715 0.00 1.92 0.00 0.000 6 0.000 0.036 2004 2702 1770 0 0 0 0 0 0

11037 0.59 136.1 205.5 18.3 633 11038 0.00 0.00 0.00 0.000 6 0.000 0.000 2004 2702 1770 0 0 0 0 0 0

11357 0.59 136.1 148.8 17.5 663 11363 0.00 0.00 0.00 0.000 6 0.000 0.000 2004 2702 1771 0 0 0 0 0 0

11687 0.59 136.1 89.5 16.2 699 11695 0.00 1.98 0.00 0.000 4 0.000 0.060 2004 3901 1771 0 0 0 0 0 0

11823 0.59 136.1 64.6 17.8 722 11833 0.00 1.90 0.00 0.000 6 0.000 0.037 2013 2704 1770 0 0 0 0 0 0

11940 0.59 136.1 46.6 14.3 741 11947 0.12 0.00 0.00 0.000 6 0.226 0.000 1985 2703 1770 0 0 0 0 0 0

12053 0.59 136.1 32.0 12.3 760 12062 0.00 0.00 0.00 0.000 6 0.000 0.000 1985 2703 1770 0 0 0 0 0 0

12174 0.59 136.1 16.2 13.4 779 12183 0.00 0.00 0.00 0.000 6 0.000 0.000 1985 2703 1771 0 0 0 0 0 0

12258 0.59 136.1 3.4 17.4 792 12267 0.00 1.95 0.00 0.000 4 0.000 0.057 1984 3896 1770 0 0 0 0 0 0

12274 end climb: SURFACE_DEPTH_REACHED

state 12274 begin surface coast

12282 end surface coast: CONTROL_FINISHED_OK

state 12282 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	75	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	51	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	35	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	-21876.543	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	221214,214430,-5559.564,-32.339,38,0.9,38,-19.9	TGT_NAME	TARGET
_CALLS	2	TGT_LATLONG	-5600.000,-30.000
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.154,0.060
_SM_DEPTHo	1.86	KALMAN_X	44213.2,-339.7,-337.9,-76846.0,3752.8
_SM_ANGLEo	-62.1	KALMAN_Y	51700.5,83.3,144.8,-50721.1,-1458.1
GPS2	221214,215541,-5559.517,-32.244,16,1.1,16,-19.9	MHEAD_RNG_PITCHd_Wd	311.1,2490,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.1,1.027222	_10V_AH	10.0,13.354
SM_CCo	12295,24.33,0.185,0,0,1525,200.16	FG_AHR_24Vo	0.000
SM_GC	2.58,0.00,0.00,24.33,0.000,0.000,0.185,60,2902,1525,-5.40,-0.79,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5538.94,-26.95,221214,212156	MEM	353940
TT8_MAMPS	0.026215	DATA_FILE_SIZE	53648,795
HUMID	56.10	CAP_FILE_SIZE	102063,0
INTERNAL_PRESSURE	8.96486	CFSIZE	259252224,221626368
TCM_TEMP	7.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	231214,012305,-5559.061,-34.404,36,1.0,36,-19.8
_24V_AH	21.7,20.458

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	252	72.17	SBE_CT	565	23	293.89
Roll_motor	51	64	71.57	AA4330	1644	17	641.73
VBD_pump_during_apogee	262	1807	10291.20	WL_BB2F	779	105	1775.22
VBD_pump_during_surface	24	185	97.72	QSP2150	804	17	314.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	52	91	104.12	nil	0	0	0.00
Iridium_during_connect	66	160	230.53	nil	0	0	0.00
Iridium_during_xfer	364	223	1762.59	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	31	5.91
TT8	1956	14	282.92
LPSleep	8054	2	176.40
TT8_Active	397	14	57.43
TT8_Sampling	2440	42	1029.36
TT8_CF8	143	49	71.17
TT8_Kalman	33	68	22.82
Analog_circuits	1141	15	176.86
GPS_charging	0	0	0.00
Compass	1805	16	297.57
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.54	-73.9	0.0	0.0	0	67	0.00	0.00	-50.00	0.000	2	0.000	0.000	45	2891	2603	0	0	0	0	0	0
69	-0.59	-136.1	3.3	-4.2	6	96	6.32	2.17	-8.75	0.000	4	0.252	0.058	1594	1524	2899	0	0	0	0	0	0
141	-0.59	-136.1	14.8	-16.8	16	150	0.00	2.33	0.00	0.000	6	0.000	0.058	1584	2914	2901	0	0	0	0	0	0
225	-0.59	-136.1	30.8	-19.7	29	232	0.00	0.00	0.00	0.000	6	0.000	0.000	1584	2914	2901	0	0	0	0	0	0
339	-0.59	-136.1	54.5	-21.0	48	347	0.00	0.00	0.00	0.000	6	0.000	0.000	1584	2914	2901	0	0	0	0	0	0
454	-0.59	-136.1	78.3	-20.9	67	460	0.00	0.00	0.00	0.000	6	0.000	0.000	1584	2914	2901	0	0	0	0	0	0
564	-0.59	-136.1	102.3	-19.9	85	568	0.00	1.62	0.00	0.000	4	0.000	0.064	1577	3903	2901	0	0	0	0	0	0
638	-0.59	-136.1	117.9	-19.7	91	646	0.00	1.52	0.00	0.000	6	0.000	0.034	1579	2919	2901	0	0	0	0	0	0
963	-0.59	-136.1	181.9	-19.8	122	967	0.00	1.65	0.00	0.000	4	0.000	0.063	1571	3927	2901	0	0	0	0	0	0
1069	-0.59	-136.1	203.5	-20.9	131	1073	0.00	1.55	0.00	0.000	6	0.000	0.034	1572	2928	2901	0	0	0	0	0	0
1399	-0.59	-136.1	262.0	-16.8	159	1400	0.00	0.00	0.00	0.000	6	0.000	0.000	1572	2922	2901	0	0	0	0	0	0
1706	-0.59	-136.1	313.4	-16.8	174	1708	0.00	0.00	0.00	0.000	6	0.000	0.000	1572	2922	2901	0	0	0	0	0	0
2018	-0.59	-136.1	364.9	-16.7	189	2022	0.00	1.62	0.00	0.000	4	0.000	0.063	1565	3907	2901	0	0	0	0	0	0
2079	-0.59	-136.1	376.4	-18.3	191	2088	0.12	1.52	0.00	0.000	6	0.205	0.034	1594	2922	2901	0	0	0	0	0	0
2396	-0.59	-136.1	424.8	-15.4	207	2397	0.00	0.00	0.00	0.000	6	0.000	0.000	1594	2922	2901	0	0	0	0	0	0
2704	-0.59	-136.1	470.1	-14.7	222	2706	0.00	0.00	0.00	0.000	6	0.000	0.000	1594	2922	2901	0	0	0	0	0	0
3014	-0.59	-136.1	515.2	-14.5	237	3015	0.00	0.00	0.00	0.000	6	0.000	0.000	1594	2922	2902	0	0	0	0	0	0
3324	-0.59	-136.1	560.1	-14.7	252	3325	0.00	0.00	0.00	0.000	6	0.000	0.000	1594	2922	2902	0	0	0	0	0	0
3632	-0.59	-136.1	603.6	-14.2	267	3636	0.00	1.62	0.00	0.000	4	0.000	0.063	1587	3911	2901	0	0	0	0	0	0
3681	-0.59	-136.1	611.1	-15.8	269	3686	0.00	1.52	0.00	0.000	6	0.000	0.033	1587	2922	2902	0	0	0	0	0	0
4010	-0.59	-136.1	658.9	-14.7	285	4011	0.00	0.00	0.00	0.000	6	0.000	0.000	1587	2916	2902	0	0	0	0	0	0
4318	-0.59	-136.1	703.8	-14.3	300	4319	0.00	0.00	0.00	0.000	6	0.000	0.000	1587	2916	2902	0	0	0	0	0	0
4627	-0.59	-136.1	749.4	-14.8	315	4628	0.00	0.00	0.00	0.000	6	0.000	0.000	1587	2917	2902	0	0	0	0	0	0
4937	-0.59	-136.1	794.0	-14.0	330	4938	0.00	0.00	0.00	0.000	6	0.000	0.000	1587	2916	2902	0	0	0	0	0	0
5246	-0.59	-136.1	836.5	-13.5	345	5247	0.00	0.00	0.00	0.000	6	0.000	0.000	1587	2916	2902	0	0	0	0	0	0
5555	-0.59	-136.1	877.3	-13.0	360	5559	0.00	1.62	0.00	0.000	4	0.000	0.063	1579	3906	2902	0	0	0	0	0	0
5601	-0.59	-136.1	883.5	-14.4	362	5604	0.00	1.48	0.00	0.000	6	0.000	0.034	1579	2935	2902	0	0	0	0	0	0
5933	-0.59	-136.1	926.5	-12.5	378	5934	0.00	0.00	0.00	0.000	6	0.000	0.000	1579	2927	2902	0	0	0	0	0	0
6242	-0.59	-136.1	964.9	-12.3	393	6243	0.00	0.00	0.00	0.000	6	0.000	0.000	1579	2928	2902	0	0	0	0	0	0
6529	end dive: TARGET_DEPTH_EXCEEDED
state	6529	begin apogee
6534	-0.13	0.0	1000.9	12.7	407	6662	0.55	0.00	124.90	1.808	6	0.173	0.000	1742	2713	2342	0	0	0	0	0	0
6663	end apogee: CONTROL_FINISHED_OK
state	6663	begin climb
6664	0.59	136.1	1004.2	0.0	413	6808	0.77	0.00	137.45	1.758	6	0.121	0.000	1976	2713	1787	0	0	0	0	0	0
7115	0.59	136.1	930.0	18.5	435	7119	0.00	2.05	0.00	0.000	4	0.000	0.060	1976	3906	1779	0	0	0	0	0	0
7162	0.59	136.1	920.8	21.3	437	7166	0.00	1.95	0.00	0.000	6	0.000	0.037	1985	2732	1776	0	0	0	0	0	0
7494	0.59	136.1	857.5	18.8	453	7495	0.00	0.00	0.00	0.000	6	0.000	0.000	1985	2732	1776	0	0	0	0	0	0
7803	0.59	136.1	800.4	18.4	468	7807	0.00	1.95	0.00	0.000	4	0.000	0.060	1985	3904	1775	0	0	0	0	0	0
7848	0.59	136.1	791.0	21.0	470	7852	0.00	1.92	0.00	0.000	6	0.000	0.037	1994	2709	1773	0	0	0	0	0	0
8180	0.59	136.1	727.2	19.0	486	8181	0.00	0.00	0.00	0.000	6	0.000	0.000	1995	2709	1773	0	0	0	0	0	0
8489	0.59	136.1	670.4	17.9	501	8493	0.00	1.98	0.00	0.000	4	0.000	0.060	1995	3907	1773	0	0	0	0	0	0
8588	0.59	136.1	649.9	21.8	505	8593	0.00	1.92	0.00	0.000	6	0.000	0.037	2004	2712	1772	0	0	0	0	0	0
8911	0.59	136.1	590.6	18.5	521	8912	0.00	0.00	0.00	0.000	6	0.000	0.000	2004	2712	1772	0	0	0	0	0	0
9219	0.59	136.1	534.1	18.1	536	9223	0.00	1.98	0.00	0.000	4	0.000	0.060	2004	3904	1771	0	0	0	0	0	0
9287	0.59	136.1	520.5	21.2	539	9292	0.12	1.90	0.00	0.000	6	0.228	0.037	1986	2702	1771	0	0	0	0	0	0
9619	0.59	136.1	465.1	16.7	555	9620	0.00	0.00	0.00	0.000	6	0.000	0.000	1986	2703	1771	0	0	0	0	0	0
9928	0.59	136.1	413.0	17.0	570	9932	0.00	1.98	0.00	0.000	4	0.000	0.060	1986	3914	1771	0	0	0	0	0	0
10034	0.59	136.1	391.7	19.9	574	10044	0.00	1.92	0.00	0.000	6	0.000	0.037	1994	2709	1771	0	0	0	0	0	0
10350	0.59	136.1	332.7	18.3	590	10351	0.00	0.00	0.00	0.000	6	0.000	0.000	1994	2709	1770	0	0	0	0	0	0
10661	0.59	136.1	276.8	18.2	605	10665	0.00	1.95	0.00	0.000	4	0.000	0.060	1994	3910	1770	0	0	0	0	0	0
10710	0.59	136.1	265.7	22.3	607	10715	0.00	1.92	0.00	0.000	6	0.000	0.036	2004	2702	1770	0	0	0	0	0	0
11037	0.59	136.1	205.5	18.3	633	11038	0.00	0.00	0.00	0.000	6	0.000	0.000	2004	2702	1770	0	0	0	0	0	0
11357	0.59	136.1	148.8	17.5	663	11363	0.00	0.00	0.00	0.000	6	0.000	0.000	2004	2702	1771	0	0	0	0	0	0
11687	0.59	136.1	89.5	16.2	699	11695	0.00	1.98	0.00	0.000	4	0.000	0.060	2004	3901	1771	0	0	0	0	0	0
11823	0.59	136.1	64.6	17.8	722	11833	0.00	1.90	0.00	0.000	6	0.000	0.037	2013	2704	1770	0	0	0	0	0	0
11940	0.59	136.1	46.6	14.3	741	11947	0.12	0.00	0.00	0.000	6	0.226	0.000	1985	2703	1770	0	0	0	0	0	0
12053	0.59	136.1	32.0	12.3	760	12062	0.00	0.00	0.00	0.000	6	0.000	0.000	1985	2703	1770	0	0	0	0	0	0
12174	0.59	136.1	16.2	13.4	779	12183	0.00	0.00	0.00	0.000	6	0.000	0.000	1985	2703	1771	0	0	0	0	0	0
12258	0.59	136.1	3.4	17.4	792	12267	0.00	1.95	0.00	0.000	4	0.000	0.057	1984	3896	1770	0	0	0	0	0	0
12274	end climb: SURFACE_DEPTH_REACHED
state	12274	begin surface coast
12282	end surface coast: CONTROL_FINISHED_OK
state	12282	begin surface