Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 86 * 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 86 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 38 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 -10598.564 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 -10598.564

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 38 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 86 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 221212,165203,-4630.633,403.701,33,1.8,33,-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 -0.164,-0.081

_SM_DEPTHo 1.09 KALMAN_X -57648.2,795.0,513.6,39574.0,-1460.9

_SM_ANGLEo -37.2 KALMAN_Y 23363.5,-52.8,-437.5,15457.4,2698.1

GPS2 221212,171011,-4630.583,403.763,16,1.9,16,-23.3 MHEAD_RNG_PITCHd_Wd 266.9,4917,-25.8,-10.010

SPEED_LIMITS 0.173,0.295 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.6,1.026508 _10V_AH 10.1,7.922

SM_CCo 10084,177.90,0.792,1,0,517,564.18 FG_AHR_24Vo 0.000

SM_GC 1.06,0.00,0.00,177.90,0.000,0.000,0.792,61,2923,517,-5.65,0.00,564.18 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4616.72,401.12,221212,161606 MEM 354280

TT8_MAMPS 0.026215 DATA_FILE_SIZE 37053,510

HUMID 57.08 CAP_FILE_SIZE 91679,0

INTERNAL_PRESSURE 9.20901 CFSIZE 259252224,223125504

TCM_TEMP 10.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,1

XPDR_PINGS 0 GPS 221212,200334,-4630.122,401.921,30,1.1,30,-23.3

_24V_AH 21.8,18.426

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 267 84.20 SBE_CT 334 24 175.00

Roll_motor 80 61 108.20 AA4330 1024 33 737.04

VBD_pump_during_apogee 295 1793 11567.04 WL_BB2FLVMT 567 105 1299.88

VBD_pump_during_surface 177 791 3070.68 QSP2150 221 4 21.18

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 86 103 194.92 nil 0 0 0.00

Iridium_during_connect 148 160 518.36 nil 0 0 0.00

Iridium_during_xfer 491 223 2390.09 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 26 5.34

TT8 1275 14 192.69

LPSleep 6871 2 152.00

TT8_Active 594 14 85.33

TT8_Sampling 2029 37 767.29

TT8_CF8 580 47 276.41

TT8_Kalman 33 59 19.93

Analog_circuits 1229 12 148.99

GPS_charging 0 0 0.00

Compass 1308 15 207.94

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 -0.78 -70.1 0.0 0.0 0 163 0.00 0.00 -131.88 0.000 6 0.000 0.000 51 2936 3108 0 0 0 0 0 0

169 -0.88 -148.5 2.8 -2.5 17 195 6.28 2.28 -9.57 0.000 4 0.250 0.053 1581 1512 3427 0 0 0 0 0 0

220 -0.88 -148.5 11.7 -18.5 23 229 0.00 2.33 0.00 0.000 6 0.000 0.050 1571 2927 3428 0 0 0 0 0 0

308 -0.88 -148.5 29.3 -20.7 36 316 0.00 0.00 0.00 0.000 6 0.000 0.000 1572 2928 3428 0 0 0 0 0 0

392 -0.88 -148.5 47.0 -20.9 49 399 0.00 2.20 0.00 0.000 4 0.000 0.036 1572 1514 3428 0 0 0 0 0 0

415 -0.88 -148.5 52.4 -21.1 52 425 0.00 2.30 0.00 0.000 6 0.000 0.051 1562 2922 3428 0 0 0 0 0 0

659 -0.88 -148.5 98.9 -18.4 93 666 0.00 2.20 0.00 0.000 4 0.000 0.036 1562 1517 3428 0 0 0 0 0 0

737 -0.88 -148.5 113.2 -16.9 98 742 0.12 2.28 0.00 0.000 6 0.213 0.051 1578 2931 3428 0 0 0 0 0 0

1060 -0.88 -148.5 168.8 -17.2 118 1063 0.00 1.52 0.00 0.000 4 0.000 0.058 1573 3892 3428 0 0 0 0 0 0

1097 -0.88 -148.5 175.8 -18.3 120 1100 0.00 1.50 0.00 0.000 6 0.000 0.032 1577 2899 3429 0 0 0 0 0 0

1431 -0.88 -148.5 234.1 -17.8 141 1434 0.00 1.62 0.00 0.000 4 0.000 0.058 1571 3929 3429 0 0 0 0 0 0

1547 -0.88 -148.5 254.9 -16.8 148 1550 0.00 1.52 0.00 0.000 6 0.000 0.034 1572 2923 3429 0 0 0 0 0 0

1881 -0.88 -148.5 310.9 -16.4 164 1882 0.00 0.00 0.00 0.000 6 0.000 0.000 1572 2919 3429 0 0 0 0 0 0

2193 -0.88 -148.5 360.9 -16.1 179 2194 0.00 0.00 0.00 0.000 6 0.000 0.000 1572 2919 3429 0 0 0 0 0 0

2500 -0.88 -148.5 411.3 -16.2 193 2501 0.00 0.00 0.00 0.000 6 0.000 0.000 1572 2919 3428 0 0 0 0 0 0

2806 -0.88 -148.5 461.2 -16.1 203 2809 0.00 1.58 0.00 0.000 4 0.000 0.061 1565 3896 3428 0 0 0 0 0 0

2834 -0.88 -148.5 466.4 -17.5 203 2841 0.00 1.48 0.00 0.000 6 0.000 0.034 1565 2919 3428 0 0 0 0 0 0

3150 -0.88 -148.5 517.7 -16.3 214 3153 0.00 1.58 0.00 0.000 4 0.000 0.060 1558 3897 3428 0 0 0 0 0 0

3180 -0.88 -148.5 523.0 -17.5 214 3187 0.00 1.48 0.00 0.000 6 0.000 0.034 1558 2920 3428 0 0 0 0 0 0

3495 -0.88 -148.5 575.9 -16.6 225 3496 0.00 0.00 0.00 0.000 6 0.000 0.000 1558 2921 3428 0 0 0 0 0 0

3802 -0.88 -148.5 624.2 -15.6 235 3805 0.00 1.58 0.00 0.000 4 0.000 0.060 1550 3900 3427 0 0 0 0 0 0

3832 -0.88 -148.5 629.2 -16.8 235 3840 0.10 1.48 0.00 0.000 6 0.193 0.034 1578 2928 3427 0 0 0 0 0 0

4149 -0.88 -148.5 673.9 -13.8 246 4153 0.00 2.12 0.00 0.000 4 0.000 0.040 1578 1521 3427 0 0 0 0 0 0

4189 -0.88 -148.5 679.7 -12.7 247 4193 0.00 2.22 0.00 0.000 6 0.000 0.055 1569 2923 3427 0 0 0 0 0 0

4516 -0.88 -148.5 726.0 -14.7 258 4517 0.00 0.00 0.00 0.000 6 0.000 0.000 1569 2923 3426 0 0 0 0 0 0

4822 -0.88 -148.5 770.1 -14.2 268 4826 0.00 1.55 0.00 0.000 4 0.000 0.062 1561 3892 3425 0 0 0 0 0 0

4860 -0.88 -148.5 775.6 -15.2 269 4864 0.00 1.48 0.00 0.000 6 0.000 0.035 1561 2914 3425 0 0 0 0 0 0

5205 -0.88 -148.5 827.3 -15.4 280 5208 0.00 1.58 0.00 0.000 4 0.000 0.061 1554 3891 3425 0 0 0 0 0 0

5245 -0.88 -148.5 834.4 -16.5 281 5249 0.08 1.48 0.00 0.000 6 0.190 0.035 1575 2921 3425 0 0 0 0 0 0

5583 -0.88 -148.5 881.4 -14.0 292 5584 0.00 0.00 0.00 0.000 6 0.000 0.000 1575 2917 3425 0 0 0 0 0 0

5889 -0.88 -148.5 922.4 -13.2 302 5890 0.00 0.00 0.00 0.000 6 0.000 0.000 1575 2917 3425 0 0 0 0 0 0

6195 -0.88 -148.5 962.0 -12.9 312 6196 0.00 0.00 0.00 0.000 6 0.000 0.000 1575 2917 3425 0 0 0 0 0 0

6497 end dive: TARGET_DEPTH_EXCEEDED

state 6497 begin apogee

6508 -0.19 0.0 1000.1 12.4 322 6659 0.77 0.00 147.93 1.220 6 0.185 0.000 1800 2730 2818 0 0 0 0 0 0

6661 end apogee: CONTROL_FINISHED_OK

state 6661 begin climb

6666 0.88 148.5 1003.6 0.0 327 6828 1.00 2.58 147.85 1.794 4 0.057 0.047 2167 1341 2214 0 0 0 0 1 0

6883 0.88 148.5 953.6 29.6 334 6888 0.00 2.47 0.00 0.000 6 0.000 0.052 2168 2729 2211 0 0 0 0 0 0

7210 0.88 148.5 846.9 33.4 345 7214 0.00 2.30 0.00 0.000 4 0.000 0.047 2178 1341 2208 0 0 0 0 0 0

7234 0.88 148.5 838.5 32.0 345 7241 0.00 2.35 0.00 0.000 6 0.000 0.052 2173 2743 2207 0 0 0 0 0 0

7549 0.88 148.5 734.8 33.2 356 7553 0.00 2.28 0.00 0.000 4 0.000 0.047 2182 1340 2206 0 0 0 0 0 0

7595 0.88 148.5 719.7 30.0 357 7599 0.00 2.30 0.00 0.000 6 0.000 0.053 2182 2739 2204 0 0 0 0 0 0

7927 0.88 148.5 613.9 32.4 368 7931 0.00 2.22 0.00 0.000 4 0.000 0.047 2193 1341 2204 0 0 0 0 0 0

7984 0.88 148.5 596.1 28.7 369 7989 0.15 2.28 0.00 0.000 6 0.252 0.052 2161 2738 2203 0 0 0 0 0 0

8301 0.88 148.5 501.9 30.5 379 8305 0.00 2.20 0.00 0.000 4 0.000 0.046 2170 1342 2202 0 0 0 0 0 0

8314 0.88 148.5 497.0 30.4 379 8318 0.00 2.25 0.00 0.000 6 0.000 0.050 2165 2737 2202 0 0 0 0 0 0

8634 0.88 148.5 401.0 29.9 390 8638 0.00 2.22 0.00 0.000 4 0.000 0.047 2174 1339 2202 0 0 0 0 0 0

8653 0.88 148.5 395.3 28.8 390 8657 0.00 2.25 0.00 0.000 6 0.000 0.052 2173 2737 2202 0 0 0 0 0 0

8973 0.88 148.5 301.2 29.3 405 8974 0.00 0.00 0.00 0.000 6 0.000 0.000 2172 2737 2202 0 0 0 0 0 0

9281 0.88 148.5 210.4 28.7 422 9285 0.00 2.20 0.00 0.000 4 0.000 0.047 2182 1337 2201 0 0 0 0 0 0

9303 0.88 148.5 204.7 28.3 423 9307 0.00 2.22 0.00 0.000 6 0.000 0.051 2182 2733 2201 0 0 0 0 0 0

9636 0.88 148.5 109.6 28.0 444 9639 0.00 1.83 0.00 0.000 4 0.000 0.060 2182 3895 2201 0 0 0 0 0 0

9657 0.88 148.5 104.2 26.8 445 9662 0.15 1.77 0.00 0.000 6 0.268 0.042 2160 2747 2201 0 0 0 0 0 0

10017 0.88 148.5 11.7 24.7 504 10026 0.00 2.22 0.00 0.000 4 0.000 0.047 2170 1326 2200 0 0 0 0 0 0

10046 end climb: SURFACE_DEPTH_REACHED

state 10046 begin surface coast

10060 end surface coast: CONTROL_FINISHED_OK

state 10060 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	86	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	38	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	-10598.564	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	221212,165203,-4630.633,403.701,33,1.8,33,-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	-0.164,-0.081
_SM_DEPTHo	1.09	KALMAN_X	-57648.2,795.0,513.6,39574.0,-1460.9
_SM_ANGLEo	-37.2	KALMAN_Y	23363.5,-52.8,-437.5,15457.4,2698.1
GPS2	221212,171011,-4630.583,403.763,16,1.9,16,-23.3	MHEAD_RNG_PITCHd_Wd	266.9,4917,-25.8,-10.010
SPEED_LIMITS	0.173,0.295	D_GRID	1000

FINISH	0.6,1.026508	_10V_AH	10.1,7.922
SM_CCo	10084,177.90,0.792,1,0,517,564.18	FG_AHR_24Vo	0.000
SM_GC	1.06,0.00,0.00,177.90,0.000,0.000,0.792,61,2923,517,-5.65,0.00,564.18	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4616.72,401.12,221212,161606	MEM	354280
TT8_MAMPS	0.026215	DATA_FILE_SIZE	37053,510
HUMID	57.08	CAP_FILE_SIZE	91679,0
INTERNAL_PRESSURE	9.20901	CFSIZE	259252224,223125504
TCM_TEMP	10.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
XPDR_PINGS	0	GPS	221212,200334,-4630.122,401.921,30,1.1,30,-23.3
_24V_AH	21.8,18.426

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	267	84.20	SBE_CT	334	24	175.00
Roll_motor	80	61	108.20	AA4330	1024	33	737.04
VBD_pump_during_apogee	295	1793	11567.04	WL_BB2FLVMT	567	105	1299.88
VBD_pump_during_surface	177	791	3070.68	QSP2150	221	4	21.18
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	86	103	194.92	nil	0	0	0.00
Iridium_during_connect	148	160	518.36	nil	0	0	0.00
Iridium_during_xfer	491	223	2390.09	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	26	5.34
TT8	1275	14	192.69
LPSleep	6871	2	152.00
TT8_Active	594	14	85.33
TT8_Sampling	2029	37	767.29
TT8_CF8	580	47	276.41
TT8_Kalman	33	59	19.93
Analog_circuits	1229	12	148.99
GPS_charging	0	0	0.00
Compass	1308	15	207.94
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	-0.78	-70.1	0.0	0.0	0	163	0.00	0.00	-131.88	0.000	6	0.000	0.000	51	2936	3108	0	0	0	0	0	0
169	-0.88	-148.5	2.8	-2.5	17	195	6.28	2.28	-9.57	0.000	4	0.250	0.053	1581	1512	3427	0	0	0	0	0	0
220	-0.88	-148.5	11.7	-18.5	23	229	0.00	2.33	0.00	0.000	6	0.000	0.050	1571	2927	3428	0	0	0	0	0	0
308	-0.88	-148.5	29.3	-20.7	36	316	0.00	0.00	0.00	0.000	6	0.000	0.000	1572	2928	3428	0	0	0	0	0	0
392	-0.88	-148.5	47.0	-20.9	49	399	0.00	2.20	0.00	0.000	4	0.000	0.036	1572	1514	3428	0	0	0	0	0	0
415	-0.88	-148.5	52.4	-21.1	52	425	0.00	2.30	0.00	0.000	6	0.000	0.051	1562	2922	3428	0	0	0	0	0	0
659	-0.88	-148.5	98.9	-18.4	93	666	0.00	2.20	0.00	0.000	4	0.000	0.036	1562	1517	3428	0	0	0	0	0	0
737	-0.88	-148.5	113.2	-16.9	98	742	0.12	2.28	0.00	0.000	6	0.213	0.051	1578	2931	3428	0	0	0	0	0	0
1060	-0.88	-148.5	168.8	-17.2	118	1063	0.00	1.52	0.00	0.000	4	0.000	0.058	1573	3892	3428	0	0	0	0	0	0
1097	-0.88	-148.5	175.8	-18.3	120	1100	0.00	1.50	0.00	0.000	6	0.000	0.032	1577	2899	3429	0	0	0	0	0	0
1431	-0.88	-148.5	234.1	-17.8	141	1434	0.00	1.62	0.00	0.000	4	0.000	0.058	1571	3929	3429	0	0	0	0	0	0
1547	-0.88	-148.5	254.9	-16.8	148	1550	0.00	1.52	0.00	0.000	6	0.000	0.034	1572	2923	3429	0	0	0	0	0	0
1881	-0.88	-148.5	310.9	-16.4	164	1882	0.00	0.00	0.00	0.000	6	0.000	0.000	1572	2919	3429	0	0	0	0	0	0
2193	-0.88	-148.5	360.9	-16.1	179	2194	0.00	0.00	0.00	0.000	6	0.000	0.000	1572	2919	3429	0	0	0	0	0	0
2500	-0.88	-148.5	411.3	-16.2	193	2501	0.00	0.00	0.00	0.000	6	0.000	0.000	1572	2919	3428	0	0	0	0	0	0
2806	-0.88	-148.5	461.2	-16.1	203	2809	0.00	1.58	0.00	0.000	4	0.000	0.061	1565	3896	3428	0	0	0	0	0	0
2834	-0.88	-148.5	466.4	-17.5	203	2841	0.00	1.48	0.00	0.000	6	0.000	0.034	1565	2919	3428	0	0	0	0	0	0
3150	-0.88	-148.5	517.7	-16.3	214	3153	0.00	1.58	0.00	0.000	4	0.000	0.060	1558	3897	3428	0	0	0	0	0	0
3180	-0.88	-148.5	523.0	-17.5	214	3187	0.00	1.48	0.00	0.000	6	0.000	0.034	1558	2920	3428	0	0	0	0	0	0
3495	-0.88	-148.5	575.9	-16.6	225	3496	0.00	0.00	0.00	0.000	6	0.000	0.000	1558	2921	3428	0	0	0	0	0	0
3802	-0.88	-148.5	624.2	-15.6	235	3805	0.00	1.58	0.00	0.000	4	0.000	0.060	1550	3900	3427	0	0	0	0	0	0
3832	-0.88	-148.5	629.2	-16.8	235	3840	0.10	1.48	0.00	0.000	6	0.193	0.034	1578	2928	3427	0	0	0	0	0	0
4149	-0.88	-148.5	673.9	-13.8	246	4153	0.00	2.12	0.00	0.000	4	0.000	0.040	1578	1521	3427	0	0	0	0	0	0
4189	-0.88	-148.5	679.7	-12.7	247	4193	0.00	2.22	0.00	0.000	6	0.000	0.055	1569	2923	3427	0	0	0	0	0	0
4516	-0.88	-148.5	726.0	-14.7	258	4517	0.00	0.00	0.00	0.000	6	0.000	0.000	1569	2923	3426	0	0	0	0	0	0
4822	-0.88	-148.5	770.1	-14.2	268	4826	0.00	1.55	0.00	0.000	4	0.000	0.062	1561	3892	3425	0	0	0	0	0	0
4860	-0.88	-148.5	775.6	-15.2	269	4864	0.00	1.48	0.00	0.000	6	0.000	0.035	1561	2914	3425	0	0	0	0	0	0
5205	-0.88	-148.5	827.3	-15.4	280	5208	0.00	1.58	0.00	0.000	4	0.000	0.061	1554	3891	3425	0	0	0	0	0	0
5245	-0.88	-148.5	834.4	-16.5	281	5249	0.08	1.48	0.00	0.000	6	0.190	0.035	1575	2921	3425	0	0	0	0	0	0
5583	-0.88	-148.5	881.4	-14.0	292	5584	0.00	0.00	0.00	0.000	6	0.000	0.000	1575	2917	3425	0	0	0	0	0	0
5889	-0.88	-148.5	922.4	-13.2	302	5890	0.00	0.00	0.00	0.000	6	0.000	0.000	1575	2917	3425	0	0	0	0	0	0
6195	-0.88	-148.5	962.0	-12.9	312	6196	0.00	0.00	0.00	0.000	6	0.000	0.000	1575	2917	3425	0	0	0	0	0	0
6497	end dive: TARGET_DEPTH_EXCEEDED
state	6497	begin apogee
6508	-0.19	0.0	1000.1	12.4	322	6659	0.77	0.00	147.93	1.220	6	0.185	0.000	1800	2730	2818	0	0	0	0	0	0
6661	end apogee: CONTROL_FINISHED_OK
state	6661	begin climb
6666	0.88	148.5	1003.6	0.0	327	6828	1.00	2.58	147.85	1.794	4	0.057	0.047	2167	1341	2214	0	0	0	0	1	0
6883	0.88	148.5	953.6	29.6	334	6888	0.00	2.47	0.00	0.000	6	0.000	0.052	2168	2729	2211	0	0	0	0	0	0
7210	0.88	148.5	846.9	33.4	345	7214	0.00	2.30	0.00	0.000	4	0.000	0.047	2178	1341	2208	0	0	0	0	0	0
7234	0.88	148.5	838.5	32.0	345	7241	0.00	2.35	0.00	0.000	6	0.000	0.052	2173	2743	2207	0	0	0	0	0	0
7549	0.88	148.5	734.8	33.2	356	7553	0.00	2.28	0.00	0.000	4	0.000	0.047	2182	1340	2206	0	0	0	0	0	0
7595	0.88	148.5	719.7	30.0	357	7599	0.00	2.30	0.00	0.000	6	0.000	0.053	2182	2739	2204	0	0	0	0	0	0
7927	0.88	148.5	613.9	32.4	368	7931	0.00	2.22	0.00	0.000	4	0.000	0.047	2193	1341	2204	0	0	0	0	0	0
7984	0.88	148.5	596.1	28.7	369	7989	0.15	2.28	0.00	0.000	6	0.252	0.052	2161	2738	2203	0	0	0	0	0	0
8301	0.88	148.5	501.9	30.5	379	8305	0.00	2.20	0.00	0.000	4	0.000	0.046	2170	1342	2202	0	0	0	0	0	0
8314	0.88	148.5	497.0	30.4	379	8318	0.00	2.25	0.00	0.000	6	0.000	0.050	2165	2737	2202	0	0	0	0	0	0
8634	0.88	148.5	401.0	29.9	390	8638	0.00	2.22	0.00	0.000	4	0.000	0.047	2174	1339	2202	0	0	0	0	0	0
8653	0.88	148.5	395.3	28.8	390	8657	0.00	2.25	0.00	0.000	6	0.000	0.052	2173	2737	2202	0	0	0	0	0	0
8973	0.88	148.5	301.2	29.3	405	8974	0.00	0.00	0.00	0.000	6	0.000	0.000	2172	2737	2202	0	0	0	0	0	0
9281	0.88	148.5	210.4	28.7	422	9285	0.00	2.20	0.00	0.000	4	0.000	0.047	2182	1337	2201	0	0	0	0	0	0
9303	0.88	148.5	204.7	28.3	423	9307	0.00	2.22	0.00	0.000	6	0.000	0.051	2182	2733	2201	0	0	0	0	0	0
9636	0.88	148.5	109.6	28.0	444	9639	0.00	1.83	0.00	0.000	4	0.000	0.060	2182	3895	2201	0	0	0	0	0	0
9657	0.88	148.5	104.2	26.8	445	9662	0.15	1.77	0.00	0.000	6	0.268	0.042	2160	2747	2201	0	0	0	0	0	0
10017	0.88	148.5	11.7	24.7	504	10026	0.00	2.22	0.00	0.000	4	0.000	0.047	2170	1326	2200	0	0	0	0	0	0
10046	end climb: SURFACE_DEPTH_REACHED
state	10046	begin surface coast
10060	end surface coast: CONTROL_FINISHED_OK
state	10060	begin surface