Glider dive log

SOSCEx 08Dec12 * SG543 * Dive index * Mission links * Dive 78 * 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 78 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 34 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 36 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 5 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 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 -8054.2539 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 -8054.2539

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 34 VBD_MAX 3960

DEVICE2 101 MASS 52459 R_STBD_OVSHOOT 36 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 78 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 211212,030706,-4230.216,815.753,49,1.2,49,-24.9 TGT_NAME GH1

_CALLS 1 TGT_LATLONG -4230.000,820.000

_XMS_NAKs 3 TGT_RADIUS 800.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.021,-0.225

_SM_DEPTHo 1.11 KALMAN_X 5983.4,-1330.3,-438.7,15305.6,5992.1

_SM_ANGLEo -31.8 KALMAN_Y 97789.0,-105.6,-186.9,-97870.0,5440.3

GPS2 211212,031629,-4230.240,815.940,17,1.1,18,-24.9 MHEAD_RNG_PITCHd_Wd 210.3,5562,-18.0,-9.009

SPEED_LIMITS 0.156,0.284 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.0,1.026141 _10V_AH 10.1,8.301

SM_CCo 11928,127.68,0.742,1,0,505,482.50 FG_AHR_24Vo 0.000

SM_GC 1.02,0.00,0.00,127.68,0.000,0.000,0.742,60,3364,505,-4.97,0.31,482.50 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4212.81,814.82,201212,232329 MEM 354204

TT8_MAMPS 0.025466 DATA_FILE_SIZE 43850,597

HUMID 55.35 CAP_FILE_SIZE 101297,0

INTERNAL_PRESSURE 8.96636 CFSIZE 259252224,253710336

TCM_TEMP 14.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,1

XPDR_PINGS 0 GPS 211212,063951,-4231.643,815.284,37,1.2,45,-24.9

_24V_AH 22.1,16.425

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 11 235 62.23 SBE_CT 387 24 205.71

Roll_motor 47 85 89.99 AA4330 1293 33 943.09

VBD_pump_during_apogee 376 1839 15308.54 WL_BB2FLVMT 599 105 1392.14

VBD_pump_during_surface 127 742 2093.78 QSP2150 273 4 26.51

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 33 103 77.13 nil 0 0 0.00

Iridium_during_connect 21 160 75.59 nil 0 0 0.00

Iridium_during_xfer 357 223 1762.74 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 26 5.58

TT8 1532 14 231.61

LPSleep 7704 2 170.41

TT8_Active 557 14 79.99

TT8_Sampling 2145 37 810.99

TT8_CF8 685 47 326.79

TT8_Kalman 33 59 19.93

Analog_circuits 1386 12 167.99

GPS_charging 0 0 0.00

Compass 1860 15 295.63

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

20 -0.57 -116.0 0.0 0.0 0 119 0.00 0.00 -96.97 0.000 2 0.000 0.000 61 3371 2883 0 0 0 0 0 0

123 -0.62 -194.7 3.1 -3.8 12 143 5.60 0.95 -9.73 0.000 4 0.236 0.086 1440 3950 3269 0 0 0 0 0 0

423 -0.62 -194.7 58.2 -16.3 59 430 0.00 0.93 0.00 0.000 6 0.000 0.036 1440 3346 3272 0 0 0 0 0 0

664 -0.62 -194.7 95.6 -16.1 100 673 0.00 0.93 0.00 0.000 4 0.000 0.059 1436 3925 3272 0 0 0 0 0 0

715 -0.62 -194.7 104.1 -16.6 105 722 0.00 0.88 0.00 0.000 6 0.000 0.037 1437 3350 3272 0 0 0 0 0 0

1034 -0.62 -194.7 153.7 -15.3 126 1038 0.00 0.93 0.00 0.000 4 0.000 0.059 1432 3931 3273 0 0 0 0 0 0

1161 -0.62 -194.7 174.1 -16.0 133 1167 0.00 0.88 0.00 0.000 6 0.000 0.036 1432 3353 3273 0 0 0 0 0 0

1488 -0.62 -194.7 222.4 -14.9 154 1492 0.00 0.95 0.00 0.000 4 0.000 0.060 1428 3935 3273 0 0 0 0 0 0

1669 -0.62 -194.7 249.5 -14.6 164 1673 0.00 0.88 0.00 0.000 6 0.000 0.036 1428 3352 3273 0 0 0 0 0 0

1998 -0.62 -194.7 295.9 -14.1 180 2001 0.00 0.93 0.00 0.000 4 0.000 0.059 1424 3939 3273 0 0 0 0 0 0

2118 -0.62 -194.7 315.0 -15.5 185 2122 0.00 0.88 0.00 0.000 6 0.000 0.035 1424 3352 3273 0 0 0 0 0 0

2448 -0.62 -194.7 364.1 -15.0 201 2454 0.00 0.93 0.00 0.000 4 0.000 0.059 1419 3940 3273 0 0 0 0 0 0

2616 -0.62 -194.7 391.0 -15.7 208 2620 0.00 0.88 0.00 0.000 6 0.000 0.036 1419 3355 3273 0 0 0 0 0 0

2951 -0.62 -194.7 441.9 -15.1 220 2953 0.10 0.00 0.00 0.000 6 0.187 0.000 1444 3355 3273 0 0 0 0 0 0

3258 -0.62 -194.7 480.1 -12.4 230 3261 0.00 0.90 0.00 0.000 4 0.000 0.060 1440 3924 3272 0 0 0 0 0 0

3398 -0.62 -194.7 498.5 -12.7 234 3401 0.00 0.85 0.00 0.000 6 0.000 0.037 1440 3358 3272 0 0 0 0 0 0

3733 -0.62 -194.7 541.5 -13.0 245 3737 0.00 0.90 0.00 0.000 4 0.000 0.060 1436 3927 3272 0 0 0 0 0 0

3856 -0.62 -194.7 558.7 -13.8 248 3859 0.00 0.88 0.00 0.000 6 0.000 0.037 1437 3346 3272 0 0 0 0 0 0

4176 -0.62 -194.7 600.9 -13.5 259 4179 0.00 0.93 0.00 0.000 4 0.000 0.059 1432 3932 3271 0 0 0 0 0 0

4277 -0.62 -194.7 615.3 -14.3 262 4281 0.00 0.88 0.00 0.000 6 0.000 0.037 1432 3348 3271 0 0 0 0 0 0

4619 -0.62 -194.7 660.9 -13.2 273 4624 0.00 0.93 0.00 0.000 4 0.000 0.060 1428 3932 3270 0 0 0 0 0 0

4726 -0.62 -194.7 676.2 -14.3 276 4729 0.00 0.88 0.00 0.000 6 0.000 0.037 1427 3352 3270 0 0 0 0 0 0

5061 -0.62 -194.7 720.1 -13.1 287 5065 0.00 0.93 0.00 0.000 4 0.000 0.060 1423 3938 3269 0 0 0 0 0 0

5220 -0.62 -194.7 741.8 -12.7 291 5225 0.00 0.88 0.00 0.000 6 0.000 0.037 1423 3356 3268 0 0 0 0 0 0

5540 -0.62 -194.7 782.6 -12.9 302 5545 0.00 0.93 0.00 0.000 4 0.000 0.061 1419 3940 3267 0 0 0 0 0 0

5652 -0.62 -194.7 798.5 -13.7 305 5655 0.00 0.88 0.00 0.000 6 0.000 0.038 1419 3356 3267 0 0 0 0 0 0

5982 -0.62 -194.7 842.3 -13.2 316 5986 0.10 0.93 0.00 0.000 4 0.186 0.063 1440 3929 3267 0 0 0 0 0 0

6090 -0.62 -194.7 855.0 -10.6 319 6093 0.00 0.88 0.00 0.000 6 0.000 0.039 1440 3351 3266 0 0 0 0 0 0

6425 -0.62 -194.7 892.2 -10.9 330 6429 0.00 0.93 0.00 0.000 4 0.000 0.063 1436 3935 3265 0 0 0 0 0 0

6519 -0.62 -194.7 903.6 -12.0 332 6526 0.00 0.88 0.00 0.000 6 0.000 0.038 1436 3355 3265 0 0 0 0 0 0

6833 -0.62 -194.7 939.9 -11.6 343 6836 0.00 0.90 0.00 0.000 4 0.000 0.063 1432 3924 3264 0 0 0 0 0 0

6944 -0.62 -194.7 953.6 -11.7 346 6949 0.00 0.88 0.00 0.000 6 0.000 0.039 1432 3345 3263 0 0 0 0 0 0

7275 -0.62 -194.7 991.7 -11.5 357 7280 0.00 0.93 0.00 0.000 4 0.000 0.063 1427 3927 3262 0 0 0 0 0 0

7341 end dive: TARGET_DEPTH_EXCEEDED

state 7341 begin apogee

7349 -0.14 0.0 1000.1 12.1 359 7540 0.55 0.00 183.15 1.840 6 0.139 0.000 1598 3247 2473 0 0 0 0 1 0

7542 end apogee: CONTROL_FINISHED_OK

state 7542 begin climb

7545 0.62 194.7 1007.0 0.0 365 7754 0.70 2.50 193.35 1.795 4 0.050 0.034 1865 1846 1680 0 0 0 0 1 0

7850 0.62 194.7 954.0 18.7 374 7855 0.00 2.45 0.00 0.000 6 0.000 0.052 1865 3239 1675 0 0 0 0 0 0

8177 0.62 194.7 875.6 24.6 385 8178 0.00 0.00 0.00 0.000 6 0.000 0.000 1865 3239 1671 0 0 0 0 0 0

8481 0.62 194.7 799.7 24.5 395 8482 0.00 0.00 0.00 0.000 6 0.000 0.000 1865 3239 1669 0 0 0 0 0 0

8787 0.62 194.7 725.4 24.2 405 8791 0.00 2.17 0.00 0.000 4 0.000 0.035 1876 1835 1669 0 0 0 0 0 0

8831 0.62 194.7 715.2 20.7 406 8836 0.00 2.33 0.00 0.000 6 0.000 0.052 1876 3264 1667 0 0 0 0 0 0

9150 0.62 194.7 637.9 24.9 417 9151 0.00 0.00 0.00 0.000 6 0.000 0.000 1876 3264 1667 0 0 0 0 0 0

9456 0.62 194.7 562.4 24.5 427 9460 0.00 2.20 0.00 0.000 4 0.000 0.033 1886 1831 1667 0 0 0 0 0 0

9522 0.62 194.7 548.8 19.7 429 9527 0.12 2.28 0.00 0.000 6 0.187 0.050 1857 3253 1666 0 0 0 0 0 0

9858 0.62 194.7 472.2 23.3 440 9859 0.00 0.00 0.00 0.000 6 0.000 0.000 1856 3253 1666 0 0 0 0 0 0

10165 0.62 194.7 400.8 23.7 450 10166 0.00 0.00 0.00 0.000 6 0.000 0.000 1857 3253 1665 0 0 0 0 0 0

10485 0.62 194.7 322.3 24.5 465 10486 0.00 0.00 0.00 0.000 6 0.000 0.000 1857 3253 1665 0 0 0 0 0 0

10794 0.62 194.7 249.3 23.7 480 10795 0.00 0.00 0.00 0.000 6 0.000 0.000 1857 3253 1665 0 0 0 0 0 0

11106 0.62 194.7 175.5 23.4 500 11107 0.00 0.00 0.00 0.000 6 0.000 0.000 1857 3253 1665 0 0 0 0 0 0

11419 0.62 194.7 103.7 23.5 520 11420 0.00 0.00 0.00 0.000 6 0.000 0.000 1857 3253 1665 0 0 0 0 0 0

11764 0.62 194.7 27.8 23.1 576 11773 0.00 2.17 0.00 0.000 4 0.000 0.031 1866 1822 1665 0 0 0 0 0 0

11845 0.62 194.7 12.6 16.6 588 11856 0.00 2.28 0.00 0.000 6 0.000 0.050 1866 3246 1665 0 0 0 0 0 0

11897 end climb: SURFACE_DEPTH_REACHED

state 11897 begin surface coast

11912 end surface coast: CONTROL_FINISHED_OK

state 11912 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	78	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	34	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	36	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	5	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	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	-8054.2539	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	211212,030706,-4230.216,815.753,49,1.2,49,-24.9	TGT_NAME	GH1
_CALLS	1	TGT_LATLONG	-4230.000,820.000
_XMS_NAKs	3	TGT_RADIUS	800.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.021,-0.225
_SM_DEPTHo	1.11	KALMAN_X	5983.4,-1330.3,-438.7,15305.6,5992.1
_SM_ANGLEo	-31.8	KALMAN_Y	97789.0,-105.6,-186.9,-97870.0,5440.3
GPS2	211212,031629,-4230.240,815.940,17,1.1,18,-24.9	MHEAD_RNG_PITCHd_Wd	210.3,5562,-18.0,-9.009
SPEED_LIMITS	0.156,0.284	D_GRID	1000

FINISH	1.0,1.026141	_10V_AH	10.1,8.301
SM_CCo	11928,127.68,0.742,1,0,505,482.50	FG_AHR_24Vo	0.000
SM_GC	1.02,0.00,0.00,127.68,0.000,0.000,0.742,60,3364,505,-4.97,0.31,482.50	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4212.81,814.82,201212,232329	MEM	354204
TT8_MAMPS	0.025466	DATA_FILE_SIZE	43850,597
HUMID	55.35	CAP_FILE_SIZE	101297,0
INTERNAL_PRESSURE	8.96636	CFSIZE	259252224,253710336
TCM_TEMP	14.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
XPDR_PINGS	0	GPS	211212,063951,-4231.643,815.284,37,1.2,45,-24.9
_24V_AH	22.1,16.425

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	11	235	62.23	SBE_CT	387	24	205.71
Roll_motor	47	85	89.99	AA4330	1293	33	943.09
VBD_pump_during_apogee	376	1839	15308.54	WL_BB2FLVMT	599	105	1392.14
VBD_pump_during_surface	127	742	2093.78	QSP2150	273	4	26.51
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	33	103	77.13	nil	0	0	0.00
Iridium_during_connect	21	160	75.59	nil	0	0	0.00
Iridium_during_xfer	357	223	1762.74	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	26	5.58
TT8	1532	14	231.61
LPSleep	7704	2	170.41
TT8_Active	557	14	79.99
TT8_Sampling	2145	37	810.99
TT8_CF8	685	47	326.79
TT8_Kalman	33	59	19.93
Analog_circuits	1386	12	167.99
GPS_charging	0	0	0.00
Compass	1860	15	295.63
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
20	-0.57	-116.0	0.0	0.0	0	119	0.00	0.00	-96.97	0.000	2	0.000	0.000	61	3371	2883	0	0	0	0	0	0
123	-0.62	-194.7	3.1	-3.8	12	143	5.60	0.95	-9.73	0.000	4	0.236	0.086	1440	3950	3269	0	0	0	0	0	0
423	-0.62	-194.7	58.2	-16.3	59	430	0.00	0.93	0.00	0.000	6	0.000	0.036	1440	3346	3272	0	0	0	0	0	0
664	-0.62	-194.7	95.6	-16.1	100	673	0.00	0.93	0.00	0.000	4	0.000	0.059	1436	3925	3272	0	0	0	0	0	0
715	-0.62	-194.7	104.1	-16.6	105	722	0.00	0.88	0.00	0.000	6	0.000	0.037	1437	3350	3272	0	0	0	0	0	0
1034	-0.62	-194.7	153.7	-15.3	126	1038	0.00	0.93	0.00	0.000	4	0.000	0.059	1432	3931	3273	0	0	0	0	0	0
1161	-0.62	-194.7	174.1	-16.0	133	1167	0.00	0.88	0.00	0.000	6	0.000	0.036	1432	3353	3273	0	0	0	0	0	0
1488	-0.62	-194.7	222.4	-14.9	154	1492	0.00	0.95	0.00	0.000	4	0.000	0.060	1428	3935	3273	0	0	0	0	0	0
1669	-0.62	-194.7	249.5	-14.6	164	1673	0.00	0.88	0.00	0.000	6	0.000	0.036	1428	3352	3273	0	0	0	0	0	0
1998	-0.62	-194.7	295.9	-14.1	180	2001	0.00	0.93	0.00	0.000	4	0.000	0.059	1424	3939	3273	0	0	0	0	0	0
2118	-0.62	-194.7	315.0	-15.5	185	2122	0.00	0.88	0.00	0.000	6	0.000	0.035	1424	3352	3273	0	0	0	0	0	0
2448	-0.62	-194.7	364.1	-15.0	201	2454	0.00	0.93	0.00	0.000	4	0.000	0.059	1419	3940	3273	0	0	0	0	0	0
2616	-0.62	-194.7	391.0	-15.7	208	2620	0.00	0.88	0.00	0.000	6	0.000	0.036	1419	3355	3273	0	0	0	0	0	0
2951	-0.62	-194.7	441.9	-15.1	220	2953	0.10	0.00	0.00	0.000	6	0.187	0.000	1444	3355	3273	0	0	0	0	0	0
3258	-0.62	-194.7	480.1	-12.4	230	3261	0.00	0.90	0.00	0.000	4	0.000	0.060	1440	3924	3272	0	0	0	0	0	0
3398	-0.62	-194.7	498.5	-12.7	234	3401	0.00	0.85	0.00	0.000	6	0.000	0.037	1440	3358	3272	0	0	0	0	0	0
3733	-0.62	-194.7	541.5	-13.0	245	3737	0.00	0.90	0.00	0.000	4	0.000	0.060	1436	3927	3272	0	0	0	0	0	0
3856	-0.62	-194.7	558.7	-13.8	248	3859	0.00	0.88	0.00	0.000	6	0.000	0.037	1437	3346	3272	0	0	0	0	0	0
4176	-0.62	-194.7	600.9	-13.5	259	4179	0.00	0.93	0.00	0.000	4	0.000	0.059	1432	3932	3271	0	0	0	0	0	0
4277	-0.62	-194.7	615.3	-14.3	262	4281	0.00	0.88	0.00	0.000	6	0.000	0.037	1432	3348	3271	0	0	0	0	0	0
4619	-0.62	-194.7	660.9	-13.2	273	4624	0.00	0.93	0.00	0.000	4	0.000	0.060	1428	3932	3270	0	0	0	0	0	0
4726	-0.62	-194.7	676.2	-14.3	276	4729	0.00	0.88	0.00	0.000	6	0.000	0.037	1427	3352	3270	0	0	0	0	0	0
5061	-0.62	-194.7	720.1	-13.1	287	5065	0.00	0.93	0.00	0.000	4	0.000	0.060	1423	3938	3269	0	0	0	0	0	0
5220	-0.62	-194.7	741.8	-12.7	291	5225	0.00	0.88	0.00	0.000	6	0.000	0.037	1423	3356	3268	0	0	0	0	0	0
5540	-0.62	-194.7	782.6	-12.9	302	5545	0.00	0.93	0.00	0.000	4	0.000	0.061	1419	3940	3267	0	0	0	0	0	0
5652	-0.62	-194.7	798.5	-13.7	305	5655	0.00	0.88	0.00	0.000	6	0.000	0.038	1419	3356	3267	0	0	0	0	0	0
5982	-0.62	-194.7	842.3	-13.2	316	5986	0.10	0.93	0.00	0.000	4	0.186	0.063	1440	3929	3267	0	0	0	0	0	0
6090	-0.62	-194.7	855.0	-10.6	319	6093	0.00	0.88	0.00	0.000	6	0.000	0.039	1440	3351	3266	0	0	0	0	0	0
6425	-0.62	-194.7	892.2	-10.9	330	6429	0.00	0.93	0.00	0.000	4	0.000	0.063	1436	3935	3265	0	0	0	0	0	0
6519	-0.62	-194.7	903.6	-12.0	332	6526	0.00	0.88	0.00	0.000	6	0.000	0.038	1436	3355	3265	0	0	0	0	0	0
6833	-0.62	-194.7	939.9	-11.6	343	6836	0.00	0.90	0.00	0.000	4	0.000	0.063	1432	3924	3264	0	0	0	0	0	0
6944	-0.62	-194.7	953.6	-11.7	346	6949	0.00	0.88	0.00	0.000	6	0.000	0.039	1432	3345	3263	0	0	0	0	0	0
7275	-0.62	-194.7	991.7	-11.5	357	7280	0.00	0.93	0.00	0.000	4	0.000	0.063	1427	3927	3262	0	0	0	0	0	0
7341	end dive: TARGET_DEPTH_EXCEEDED
state	7341	begin apogee
7349	-0.14	0.0	1000.1	12.1	359	7540	0.55	0.00	183.15	1.840	6	0.139	0.000	1598	3247	2473	0	0	0	0	1	0
7542	end apogee: CONTROL_FINISHED_OK
state	7542	begin climb
7545	0.62	194.7	1007.0	0.0	365	7754	0.70	2.50	193.35	1.795	4	0.050	0.034	1865	1846	1680	0	0	0	0	1	0
7850	0.62	194.7	954.0	18.7	374	7855	0.00	2.45	0.00	0.000	6	0.000	0.052	1865	3239	1675	0	0	0	0	0	0
8177	0.62	194.7	875.6	24.6	385	8178	0.00	0.00	0.00	0.000	6	0.000	0.000	1865	3239	1671	0	0	0	0	0	0
8481	0.62	194.7	799.7	24.5	395	8482	0.00	0.00	0.00	0.000	6	0.000	0.000	1865	3239	1669	0	0	0	0	0	0
8787	0.62	194.7	725.4	24.2	405	8791	0.00	2.17	0.00	0.000	4	0.000	0.035	1876	1835	1669	0	0	0	0	0	0
8831	0.62	194.7	715.2	20.7	406	8836	0.00	2.33	0.00	0.000	6	0.000	0.052	1876	3264	1667	0	0	0	0	0	0
9150	0.62	194.7	637.9	24.9	417	9151	0.00	0.00	0.00	0.000	6	0.000	0.000	1876	3264	1667	0	0	0	0	0	0
9456	0.62	194.7	562.4	24.5	427	9460	0.00	2.20	0.00	0.000	4	0.000	0.033	1886	1831	1667	0	0	0	0	0	0
9522	0.62	194.7	548.8	19.7	429	9527	0.12	2.28	0.00	0.000	6	0.187	0.050	1857	3253	1666	0	0	0	0	0	0
9858	0.62	194.7	472.2	23.3	440	9859	0.00	0.00	0.00	0.000	6	0.000	0.000	1856	3253	1666	0	0	0	0	0	0
10165	0.62	194.7	400.8	23.7	450	10166	0.00	0.00	0.00	0.000	6	0.000	0.000	1857	3253	1665	0	0	0	0	0	0
10485	0.62	194.7	322.3	24.5	465	10486	0.00	0.00	0.00	0.000	6	0.000	0.000	1857	3253	1665	0	0	0	0	0	0
10794	0.62	194.7	249.3	23.7	480	10795	0.00	0.00	0.00	0.000	6	0.000	0.000	1857	3253	1665	0	0	0	0	0	0
11106	0.62	194.7	175.5	23.4	500	11107	0.00	0.00	0.00	0.000	6	0.000	0.000	1857	3253	1665	0	0	0	0	0	0
11419	0.62	194.7	103.7	23.5	520	11420	0.00	0.00	0.00	0.000	6	0.000	0.000	1857	3253	1665	0	0	0	0	0	0
11764	0.62	194.7	27.8	23.1	576	11773	0.00	2.17	0.00	0.000	4	0.000	0.031	1866	1822	1665	0	0	0	0	0	0
11845	0.62	194.7	12.6	16.6	588	11856	0.00	2.28	0.00	0.000	6	0.000	0.050	1866	3246	1665	0	0	0	0	0	0
11897	end climb: SURFACE_DEPTH_REACHED
state	11897	begin surface coast
11912	end surface coast: CONTROL_FINISHED_OK
state	11912	begin surface