Glider dive log

SOSCEx 12Dec12 * 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 9 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 0

DIVE 86 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 36 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 28 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 -21904.102 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 -21904.102

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 36 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 28 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 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 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 241214,130029,-5558.209,-32.162,43,0.9,43,-19.9 TGT_NAME TARGET

_CALLS 1 TGT_LATLONG -5600.000,-30.000

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.144,0.080

_SM_DEPTHo 1.92 KALMAN_X 49490.9,-345.9,69.0,-82481.8,1387.8

_SM_ANGLEo -60.3 KALMAN_Y 46281.7,453.7,498.1,-43526.1,-3884.9

GPS2 241214,130736,-5558.158,-32.196,19,1.1,19,-19.9 MHEAD_RNG_PITCHd_Wd 80.8,4100,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.2,1.027152 _10V_AH 10.0,14.440

SM_CCo 11913,22.80,0.184,0,0,1525,200.16 FG_AHR_24Vo 0.000

SM_GC 2.49,0.00,0.00,22.80,0.000,0.000,0.184,58,2930,1525,-5.41,0.00,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5538.94,-38.49,241214,090900 MEM 353964

TT8_MAMPS 0.026215 DATA_FILE_SIZE 53585,773

HUMID 56.10 CAP_FILE_SIZE 98910,0

INTERNAL_PRESSURE 8.96486 CFSIZE 259252224,220950528

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

XPDR_PINGS 0 GPS 241214,162834,-5557.591,-28.826,27,0.8,34,-19.9

_24V_AH 21.8,22.143

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 255 73.39 SBE_CT 550 23 287.42

Roll_motor 56 85 104.97 AA4330 1594 17 624.97

VBD_pump_during_apogee 267 1787 10414.31 WL_BB2F 755 105 1730.15

VBD_pump_during_surface 22 183 91.26 QSP2150 780 17 306.12

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 91 51.53 nil 0 0 0.00

Iridium_during_connect 21 160 73.64 nil 0 0 0.00

Iridium_during_xfer 269 223 1310.71 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 31 6.73

TT8 1927 14 278.70

LPSleep 7690 2 168.41

TT8_Active 351 14 50.85

TT8_Sampling 2258 42 952.53

TT8_CF8 140 49 69.62

TT8_Kalman 33 68 22.81

Analog_circuits 1100 15 170.56

GPS_charging 0 0 0.00

Compass 1801 16 296.82

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

14 -0.54 -73.9 0.0 0.0 0 58 0.00 0.00 -41.88 0.000 2 0.000 0.000 61 2939 2420 0 0 0 0 0 0

61 -0.60 -139.8 3.2 -3.9 5 88 6.30 1.65 -15.57 0.000 4 0.256 0.086 1584 3900 2914 0 0 0 0 0 0

300 -0.60 -139.8 51.6 -20.9 43 307 0.00 1.58 0.00 0.000 6 0.000 0.034 1585 2899 2915 0 0 0 0 0 0

413 -0.60 -139.8 75.0 -20.5 62 422 0.00 0.00 0.00 0.000 6 0.000 0.000 1584 2898 2915 0 0 0 0 0 0

525 -0.60 -139.8 97.0 -18.1 81 534 0.00 1.65 0.00 0.000 4 0.000 0.060 1577 3887 2914 0 0 0 0 0 0

578 -0.60 -139.8 106.6 -19.2 87 581 0.00 1.50 0.00 0.000 6 0.000 0.034 1577 2926 2915 0 0 0 0 0 0

909 -0.60 -139.8 169.0 -17.8 118 910 0.00 0.00 0.00 0.000 6 0.000 0.000 1577 2920 2915 0 0 0 0 0 0

1228 -0.60 -139.8 226.9 -18.6 148 1232 0.00 1.60 0.00 0.000 4 0.000 0.061 1570 3887 2915 0 0 0 0 0 0

1275 -0.60 -139.8 236.3 -20.0 152 1278 0.00 1.48 0.00 0.000 6 0.000 0.034 1570 2929 2915 0 0 0 0 0 0

1600 -0.60 -139.8 297.2 -18.7 171 1602 0.00 0.00 0.00 0.000 6 0.000 0.000 1570 2922 2915 0 0 0 0 0 0

1907 -0.60 -139.8 352.8 -17.6 186 1910 0.00 1.60 0.00 0.000 4 0.000 0.061 1562 3893 2914 0 0 0 0 0 0

1977 -0.60 -139.8 365.5 -18.5 189 1981 0.10 1.48 0.00 0.000 6 0.191 0.034 1591 2938 2915 0 0 0 0 0 0

2308 -0.60 -139.8 417.6 -15.1 205 2309 0.00 0.00 0.00 0.000 6 0.000 0.000 1591 2937 2915 0 0 0 0 0 0

2618 -0.60 -139.8 463.2 -14.2 220 2619 0.00 0.00 0.00 0.000 6 0.000 0.000 1591 2938 2915 0 0 0 0 0 0

2927 -0.60 -139.8 506.9 -14.1 235 2928 0.00 0.00 0.00 0.000 6 0.000 0.000 1591 2937 2915 0 0 0 0 0 0

3236 -0.60 -139.8 549.9 -13.6 250 3237 0.00 0.00 0.00 0.000 6 0.000 0.000 1591 2938 2915 0 0 0 0 0 0

3546 -0.60 -139.8 590.0 -13.1 265 3550 0.00 1.58 0.00 0.000 4 0.000 0.062 1584 3896 2915 0 0 0 0 0 0

3606 -0.60 -139.8 598.7 -14.1 267 3614 0.00 1.50 0.00 0.000 6 0.000 0.032 1584 2915 2916 0 0 0 0 0 0

3922 -0.60 -139.8 641.8 -13.9 283 3923 0.00 0.00 0.00 0.000 6 0.000 0.000 1584 2915 2916 0 0 0 0 0 0

4232 -0.60 -139.8 684.4 -13.9 298 4236 0.00 1.60 0.00 0.000 4 0.000 0.062 1577 3890 2916 0 0 0 0 0 0

4286 -0.60 -139.8 692.9 -14.7 300 4292 0.00 1.48 0.00 0.000 6 0.000 0.032 1577 2929 2916 0 0 0 0 0 0

4609 -0.60 -139.8 737.9 -14.1 316 4610 0.00 0.00 0.00 0.000 6 0.000 0.000 1577 2923 2916 0 0 0 0 0 0

4919 -0.60 -139.8 782.7 -14.8 331 4923 0.00 1.60 0.00 0.000 4 0.000 0.063 1570 3900 2916 0 0 0 0 0 0

4981 -0.60 -139.8 792.6 -16.1 333 4987 0.00 1.48 0.00 0.000 6 0.000 0.033 1570 2923 2915 0 0 0 0 0 0

5296 -0.60 -139.8 839.0 -14.6 349 5297 0.00 0.00 0.00 0.000 6 0.000 0.000 1569 2922 2916 0 0 0 0 0 0

5605 -0.60 -139.8 884.8 -15.2 364 5606 0.00 0.00 0.00 0.000 6 0.000 0.000 1569 2922 2916 0 0 0 0 0 0

5914 -0.60 -139.8 932.5 -15.4 379 5915 0.00 0.00 0.00 0.000 6 0.000 0.000 1569 2922 2916 0 0 0 0 0 0

6224 -0.60 -139.8 978.4 -14.7 394 6228 0.00 1.60 0.00 0.000 4 0.000 0.062 1562 3900 2916 0 0 0 0 0 0

6269 -0.60 -139.8 985.7 -16.4 396 6273 0.08 1.48 0.00 0.000 6 0.189 0.033 1585 2940 2916 0 0 0 0 0 0

6372 end dive: TARGET_DEPTH_EXCEEDED

state 6372 begin apogee

6376 -0.13 0.0 1000.6 13.8 401 6507 0.52 0.00 127.65 1.787 6 0.176 0.000 1740 2714 2342 0 0 0 0 0 0

6508 end apogee: CONTROL_FINISHED_OK

state 6508 begin climb

6510 0.60 139.8 1005.4 0.0 407 6658 0.77 0.00 139.68 1.733 6 0.125 0.000 1973 2714 1771 0 0 0 0 0 0

6966 0.60 139.8 935.2 17.7 429 6967 0.00 0.00 0.00 0.000 6 0.000 0.000 1973 2713 1763 0 0 0 0 0 0

7275 0.60 139.8 880.9 17.5 444 7279 0.00 1.98 0.00 0.000 4 0.000 0.057 1973 3898 1762 0 0 0 0 0 0

7321 0.60 139.8 872.2 19.4 446 7325 0.00 1.88 0.00 0.000 6 0.000 0.037 1981 2737 1760 0 0 0 0 0 0

7654 0.60 139.8 810.0 19.2 462 7655 0.00 0.00 0.00 0.000 6 0.000 0.000 1982 2737 1760 0 0 0 0 0 0

7962 0.60 139.8 750.2 19.2 477 7966 0.00 1.92 0.00 0.000 4 0.000 0.057 1981 3897 1759 0 0 0 0 0 0

8007 0.60 139.8 740.8 20.9 479 8011 0.00 1.90 0.00 0.000 6 0.000 0.037 1991 2711 1758 0 0 0 0 0 0

8340 0.60 139.8 674.7 19.8 495 8343 0.00 1.95 0.00 0.000 4 0.000 0.057 1991 3899 1758 0 0 0 0 0 0

8385 0.60 139.8 664.9 22.2 497 8388 0.00 1.90 0.00 0.000 6 0.000 0.037 2000 2707 1757 0 0 0 0 0 0

8717 0.60 139.8 596.5 20.7 513 8721 0.00 1.95 0.00 0.000 4 0.000 0.057 2000 3900 1758 0 0 0 0 0 0

8788 0.60 139.8 579.7 23.4 516 8793 0.00 1.90 0.00 0.000 6 0.000 0.036 2009 2717 1757 0 0 0 0 0 0

9116 0.60 139.8 510.8 21.1 532 9117 0.00 0.00 0.00 0.000 6 0.000 0.000 2010 2717 1757 0 0 0 0 0 0

9426 0.60 139.8 445.4 21.1 547 9430 0.00 1.92 0.00 0.000 4 0.000 0.057 2010 3897 1757 0 0 0 0 0 0

9520 0.60 139.8 423.2 22.8 551 9525 0.10 1.90 0.00 0.000 6 0.199 0.036 1991 2710 1756 0 0 0 0 0 0

9849 0.60 139.8 360.6 19.0 567 9850 0.00 0.00 0.00 0.000 6 0.000 0.000 1991 2710 1756 0 0 0 0 0 0

10157 0.60 139.8 304.7 17.6 582 10160 0.00 1.92 0.00 0.000 4 0.000 0.057 1991 3902 1756 0 0 0 0 0 0

10228 0.60 139.8 291.2 20.5 585 10232 0.00 1.90 0.00 0.000 6 0.000 0.037 1999 2696 1756 0 0 0 0 0 0

10552 0.60 139.8 233.0 18.9 604 10553 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2696 1756 0 0 0 0 0 0

10870 0.60 139.8 176.8 18.8 634 10874 0.00 1.95 0.00 0.000 4 0.000 0.057 1999 3900 1756 0 0 0 0 0 0

10930 0.60 139.8 165.1 21.8 639 10934 0.00 1.88 0.00 0.000 6 0.000 0.036 2008 2708 1756 0 0 0 0 0 0

11260 0.60 139.8 104.1 18.2 670 11261 0.00 0.00 0.00 0.000 6 0.000 0.000 2009 2708 1756 0 0 0 0 0 0

11608 0.60 139.8 47.8 15.2 727 11615 0.00 1.95 0.00 0.000 4 0.000 0.058 2008 3897 1756 0 0 0 0 0 0

11723 0.60 139.8 27.1 18.6 746 11733 0.10 1.90 0.00 0.000 6 0.205 0.036 1990 2701 1756 0 0 0 0 0 0

11811 0.60 139.8 12.4 15.8 759 11819 0.00 0.00 0.00 0.000 6 0.000 0.000 1990 2701 1756 0 0 0 0 0 0

11874 end climb: SURFACE_DEPTH_REACHED

state 11875 begin surface coast

11901 end surface coast: CONTROL_FINISHED_OK

state 11901 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	86	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	36	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	28	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	-21904.102	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	241214,130029,-5558.209,-32.162,43,0.9,43,-19.9	TGT_NAME	TARGET
_CALLS	1	TGT_LATLONG	-5600.000,-30.000
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.144,0.080
_SM_DEPTHo	1.92	KALMAN_X	49490.9,-345.9,69.0,-82481.8,1387.8
_SM_ANGLEo	-60.3	KALMAN_Y	46281.7,453.7,498.1,-43526.1,-3884.9
GPS2	241214,130736,-5558.158,-32.196,19,1.1,19,-19.9	MHEAD_RNG_PITCHd_Wd	80.8,4100,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.2,1.027152	_10V_AH	10.0,14.440
SM_CCo	11913,22.80,0.184,0,0,1525,200.16	FG_AHR_24Vo	0.000
SM_GC	2.49,0.00,0.00,22.80,0.000,0.000,0.184,58,2930,1525,-5.41,0.00,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5538.94,-38.49,241214,090900	MEM	353964
TT8_MAMPS	0.026215	DATA_FILE_SIZE	53585,773
HUMID	56.10	CAP_FILE_SIZE	98910,0
INTERNAL_PRESSURE	8.96486	CFSIZE	259252224,220950528
TCM_TEMP	7.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	241214,162834,-5557.591,-28.826,27,0.8,34,-19.9
_24V_AH	21.8,22.143

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	255	73.39	SBE_CT	550	23	287.42
Roll_motor	56	85	104.97	AA4330	1594	17	624.97
VBD_pump_during_apogee	267	1787	10414.31	WL_BB2F	755	105	1730.15
VBD_pump_during_surface	22	183	91.26	QSP2150	780	17	306.12
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	91	51.53	nil	0	0	0.00
Iridium_during_connect	21	160	73.64	nil	0	0	0.00
Iridium_during_xfer	269	223	1310.71	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	31	6.73
TT8	1927	14	278.70
LPSleep	7690	2	168.41
TT8_Active	351	14	50.85
TT8_Sampling	2258	42	952.53
TT8_CF8	140	49	69.62
TT8_Kalman	33	68	22.81
Analog_circuits	1100	15	170.56
GPS_charging	0	0	0.00
Compass	1801	16	296.82
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
14	-0.54	-73.9	0.0	0.0	0	58	0.00	0.00	-41.88	0.000	2	0.000	0.000	61	2939	2420	0	0	0	0	0	0
61	-0.60	-139.8	3.2	-3.9	5	88	6.30	1.65	-15.57	0.000	4	0.256	0.086	1584	3900	2914	0	0	0	0	0	0
300	-0.60	-139.8	51.6	-20.9	43	307	0.00	1.58	0.00	0.000	6	0.000	0.034	1585	2899	2915	0	0	0	0	0	0
413	-0.60	-139.8	75.0	-20.5	62	422	0.00	0.00	0.00	0.000	6	0.000	0.000	1584	2898	2915	0	0	0	0	0	0
525	-0.60	-139.8	97.0	-18.1	81	534	0.00	1.65	0.00	0.000	4	0.000	0.060	1577	3887	2914	0	0	0	0	0	0
578	-0.60	-139.8	106.6	-19.2	87	581	0.00	1.50	0.00	0.000	6	0.000	0.034	1577	2926	2915	0	0	0	0	0	0
909	-0.60	-139.8	169.0	-17.8	118	910	0.00	0.00	0.00	0.000	6	0.000	0.000	1577	2920	2915	0	0	0	0	0	0
1228	-0.60	-139.8	226.9	-18.6	148	1232	0.00	1.60	0.00	0.000	4	0.000	0.061	1570	3887	2915	0	0	0	0	0	0
1275	-0.60	-139.8	236.3	-20.0	152	1278	0.00	1.48	0.00	0.000	6	0.000	0.034	1570	2929	2915	0	0	0	0	0	0
1600	-0.60	-139.8	297.2	-18.7	171	1602	0.00	0.00	0.00	0.000	6	0.000	0.000	1570	2922	2915	0	0	0	0	0	0
1907	-0.60	-139.8	352.8	-17.6	186	1910	0.00	1.60	0.00	0.000	4	0.000	0.061	1562	3893	2914	0	0	0	0	0	0
1977	-0.60	-139.8	365.5	-18.5	189	1981	0.10	1.48	0.00	0.000	6	0.191	0.034	1591	2938	2915	0	0	0	0	0	0
2308	-0.60	-139.8	417.6	-15.1	205	2309	0.00	0.00	0.00	0.000	6	0.000	0.000	1591	2937	2915	0	0	0	0	0	0
2618	-0.60	-139.8	463.2	-14.2	220	2619	0.00	0.00	0.00	0.000	6	0.000	0.000	1591	2938	2915	0	0	0	0	0	0
2927	-0.60	-139.8	506.9	-14.1	235	2928	0.00	0.00	0.00	0.000	6	0.000	0.000	1591	2937	2915	0	0	0	0	0	0
3236	-0.60	-139.8	549.9	-13.6	250	3237	0.00	0.00	0.00	0.000	6	0.000	0.000	1591	2938	2915	0	0	0	0	0	0
3546	-0.60	-139.8	590.0	-13.1	265	3550	0.00	1.58	0.00	0.000	4	0.000	0.062	1584	3896	2915	0	0	0	0	0	0
3606	-0.60	-139.8	598.7	-14.1	267	3614	0.00	1.50	0.00	0.000	6	0.000	0.032	1584	2915	2916	0	0	0	0	0	0
3922	-0.60	-139.8	641.8	-13.9	283	3923	0.00	0.00	0.00	0.000	6	0.000	0.000	1584	2915	2916	0	0	0	0	0	0
4232	-0.60	-139.8	684.4	-13.9	298	4236	0.00	1.60	0.00	0.000	4	0.000	0.062	1577	3890	2916	0	0	0	0	0	0
4286	-0.60	-139.8	692.9	-14.7	300	4292	0.00	1.48	0.00	0.000	6	0.000	0.032	1577	2929	2916	0	0	0	0	0	0
4609	-0.60	-139.8	737.9	-14.1	316	4610	0.00	0.00	0.00	0.000	6	0.000	0.000	1577	2923	2916	0	0	0	0	0	0
4919	-0.60	-139.8	782.7	-14.8	331	4923	0.00	1.60	0.00	0.000	4	0.000	0.063	1570	3900	2916	0	0	0	0	0	0
4981	-0.60	-139.8	792.6	-16.1	333	4987	0.00	1.48	0.00	0.000	6	0.000	0.033	1570	2923	2915	0	0	0	0	0	0
5296	-0.60	-139.8	839.0	-14.6	349	5297	0.00	0.00	0.00	0.000	6	0.000	0.000	1569	2922	2916	0	0	0	0	0	0
5605	-0.60	-139.8	884.8	-15.2	364	5606	0.00	0.00	0.00	0.000	6	0.000	0.000	1569	2922	2916	0	0	0	0	0	0
5914	-0.60	-139.8	932.5	-15.4	379	5915	0.00	0.00	0.00	0.000	6	0.000	0.000	1569	2922	2916	0	0	0	0	0	0
6224	-0.60	-139.8	978.4	-14.7	394	6228	0.00	1.60	0.00	0.000	4	0.000	0.062	1562	3900	2916	0	0	0	0	0	0
6269	-0.60	-139.8	985.7	-16.4	396	6273	0.08	1.48	0.00	0.000	6	0.189	0.033	1585	2940	2916	0	0	0	0	0	0
6372	end dive: TARGET_DEPTH_EXCEEDED
state	6372	begin apogee
6376	-0.13	0.0	1000.6	13.8	401	6507	0.52	0.00	127.65	1.787	6	0.176	0.000	1740	2714	2342	0	0	0	0	0	0
6508	end apogee: CONTROL_FINISHED_OK
state	6508	begin climb
6510	0.60	139.8	1005.4	0.0	407	6658	0.77	0.00	139.68	1.733	6	0.125	0.000	1973	2714	1771	0	0	0	0	0	0
6966	0.60	139.8	935.2	17.7	429	6967	0.00	0.00	0.00	0.000	6	0.000	0.000	1973	2713	1763	0	0	0	0	0	0
7275	0.60	139.8	880.9	17.5	444	7279	0.00	1.98	0.00	0.000	4	0.000	0.057	1973	3898	1762	0	0	0	0	0	0
7321	0.60	139.8	872.2	19.4	446	7325	0.00	1.88	0.00	0.000	6	0.000	0.037	1981	2737	1760	0	0	0	0	0	0
7654	0.60	139.8	810.0	19.2	462	7655	0.00	0.00	0.00	0.000	6	0.000	0.000	1982	2737	1760	0	0	0	0	0	0
7962	0.60	139.8	750.2	19.2	477	7966	0.00	1.92	0.00	0.000	4	0.000	0.057	1981	3897	1759	0	0	0	0	0	0
8007	0.60	139.8	740.8	20.9	479	8011	0.00	1.90	0.00	0.000	6	0.000	0.037	1991	2711	1758	0	0	0	0	0	0
8340	0.60	139.8	674.7	19.8	495	8343	0.00	1.95	0.00	0.000	4	0.000	0.057	1991	3899	1758	0	0	0	0	0	0
8385	0.60	139.8	664.9	22.2	497	8388	0.00	1.90	0.00	0.000	6	0.000	0.037	2000	2707	1757	0	0	0	0	0	0
8717	0.60	139.8	596.5	20.7	513	8721	0.00	1.95	0.00	0.000	4	0.000	0.057	2000	3900	1758	0	0	0	0	0	0
8788	0.60	139.8	579.7	23.4	516	8793	0.00	1.90	0.00	0.000	6	0.000	0.036	2009	2717	1757	0	0	0	0	0	0
9116	0.60	139.8	510.8	21.1	532	9117	0.00	0.00	0.00	0.000	6	0.000	0.000	2010	2717	1757	0	0	0	0	0	0
9426	0.60	139.8	445.4	21.1	547	9430	0.00	1.92	0.00	0.000	4	0.000	0.057	2010	3897	1757	0	0	0	0	0	0
9520	0.60	139.8	423.2	22.8	551	9525	0.10	1.90	0.00	0.000	6	0.199	0.036	1991	2710	1756	0	0	0	0	0	0
9849	0.60	139.8	360.6	19.0	567	9850	0.00	0.00	0.00	0.000	6	0.000	0.000	1991	2710	1756	0	0	0	0	0	0
10157	0.60	139.8	304.7	17.6	582	10160	0.00	1.92	0.00	0.000	4	0.000	0.057	1991	3902	1756	0	0	0	0	0	0
10228	0.60	139.8	291.2	20.5	585	10232	0.00	1.90	0.00	0.000	6	0.000	0.037	1999	2696	1756	0	0	0	0	0	0
10552	0.60	139.8	233.0	18.9	604	10553	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2696	1756	0	0	0	0	0	0
10870	0.60	139.8	176.8	18.8	634	10874	0.00	1.95	0.00	0.000	4	0.000	0.057	1999	3900	1756	0	0	0	0	0	0
10930	0.60	139.8	165.1	21.8	639	10934	0.00	1.88	0.00	0.000	6	0.000	0.036	2008	2708	1756	0	0	0	0	0	0
11260	0.60	139.8	104.1	18.2	670	11261	0.00	0.00	0.00	0.000	6	0.000	0.000	2009	2708	1756	0	0	0	0	0	0
11608	0.60	139.8	47.8	15.2	727	11615	0.00	1.95	0.00	0.000	4	0.000	0.058	2008	3897	1756	0	0	0	0	0	0
11723	0.60	139.8	27.1	18.6	746	11733	0.10	1.90	0.00	0.000	6	0.205	0.036	1990	2701	1756	0	0	0	0	0	0
11811	0.60	139.8	12.4	15.8	759	11819	0.00	0.00	0.00	0.000	6	0.000	0.000	1990	2701	1756	0	0	0	0	0	0
11874	end climb: SURFACE_DEPTH_REACHED
state	11875	begin surface coast
11901	end surface coast: CONTROL_FINISHED_OK
state	11901	begin surface