Glider dive log

SOSCEx 08Dec12 * SG543 * Dive index * Mission links * Dive 111 * 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 111 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 3353 ALTIM_PING_DELTA 15

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 3250 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -4230 HEAD_ERRBAND 15 ALTIM_PULSE 4

D_TGT 1000 TGT_DEFAULT_LON -200 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 3

D_NO_BLEED 200 SM_CC 482.49722 R_PORT_OVSHOOT 50 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 23 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 -8170.3145 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 -8170.3145

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 385

CF8_MAXERRORS 20 HEAD_ERRBAND 15 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 RELAUNCH 1 T_RSLEEP 1

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RHO 1.027 T_TURN 225

COMPASS_DEVICE 33 ID 543 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_YINT 0.050000001 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_PITCH 1650 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 3250 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 3353 LOGGERDEVICE1 -1 ROLL_MAX 3944 USE_ICE 0

C_VBD 2474 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_MIN 394 VBD_CNV -0.245296

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 50 VBD_MAX 3960

DEVICE2 101 MASS 52459 R_STBD_OVSHOOT 23 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 111 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 261212,153952,-4159.032,820.911,40,1.0,40,-24.9 TGT_NAME GH2

_CALLS 1 TGT_LATLONG -4200.000,820.000

_XMS_NAKs 0 TGT_RADIUS 800.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.219,0.112

_SM_DEPTHo 1.17 KALMAN_X -23221.3,582.2,-141.6,49005.6,-6040.5

_SM_ANGLEo -34.6 KALMAN_Y 67768.1,170.7,393.3,-10921.6,-4272.7

GPS2 261212,154929,-4159.029,820.879,16,1.4,17,-24.9 MHEAD_RNG_PITCHd_Wd 87.7,2167,-16.3,-9.009

SPEED_LIMITS 0.156,0.284 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.0,1.013917 _10V_AH 10.1,11.716

SM_CCo 13387,128.55,0.727,1,0,505,482.50 FG_AHR_24Vo 0.000

SM_GC 1.13,0.00,0.00,128.55,0.000,0.000,0.727,54,3370,505,-4.99,0.48,482.50 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4146.69,820.10,261212,101050 MEM 354276

TT8_MAMPS 0.025466 DATA_FILE_SIZE 50507,683

HUMID 54.60 CAP_FILE_SIZE 117273,0

INTERNAL_PRESSURE 8.97612 CFSIZE 259252224,251662336

TCM_TEMP 15.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,1

XPDR_PINGS 0 GPS 261212,193704,-4158.473,821.532,35,0.8,35,-24.9

_24V_AH 22.3,22.078

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 11 224 58.73 SBE_CT 441 24 236.29

Roll_motor 56 75 94.87 AA4330 1509 33 1110.92

VBD_pump_during_apogee 379 1774 15026.79 WL_BB2FLVMT 702 105 1644.89

VBD_pump_during_surface 128 726 2083.35 QSP2150 333 4 32.60

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 61.78 nil 0 0 0.00

Iridium_during_connect 19 160 70.19 nil 0 0 0.00

Iridium_during_xfer 358 223 1783.51 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 5.30

TT8 1757 14 265.59

LPSleep 8526 2 188.60

TT8_Active 576 14 82.79

TT8_Sampling 2425 37 916.93

TT8_CF8 807 47 384.47

TT8_Kalman 33 59 19.93

Analog_circuits 1545 12 187.27

GPS_charging 0 0 0.00

Compass 2202 15 349.91

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

20 -0.54 -139.7 0.0 0.0 0 119 0.00 0.00 -96.95 0.000 2 0.000 0.000 55 3351 2951 0 0 0 0 0 0

123 -0.57 -194.7 3.5 -5.0 12 143 5.55 2.20 -7.60 0.000 4 0.224 0.045 1462 1943 3270 0 0 0 0 0 0

247 -0.57 -194.7 21.3 -10.0 30 258 0.00 2.33 0.00 0.000 6 0.000 0.054 1453 3350 3273 0 0 0 0 0 0

339 -0.57 -194.7 32.3 -12.5 43 346 0.00 0.98 0.00 0.000 4 0.000 0.059 1448 3955 3273 0 0 0 0 0 0

447 -0.57 -194.7 46.8 -13.8 60 456 0.00 0.90 0.00 0.000 6 0.000 0.037 1448 3363 3273 0 0 0 0 0 0

690 -0.57 -194.7 75.9 -11.1 101 694 0.00 0.95 0.00 0.000 4 0.000 0.058 1444 3958 3274 0 0 0 0 0 0

782 -0.57 -194.7 87.3 -12.6 117 789 0.00 0.93 0.00 0.000 6 0.000 0.035 1444 3345 3274 0 0 0 0 0 0

1121 -0.57 -194.7 130.2 -12.8 150 1125 0.00 0.98 0.00 0.000 4 0.000 0.057 1439 3962 3275 0 0 0 0 0 0

1312 -0.57 -194.7 157.8 -14.1 160 1321 0.00 0.93 0.00 0.000 6 0.000 0.034 1439 3344 3275 0 0 0 0 0 0

1634 -0.57 -194.7 204.2 -14.6 181 1639 0.00 0.95 0.00 0.000 4 0.000 0.057 1434 3952 3275 0 0 0 0 0 0

1759 -0.57 -194.7 223.8 -14.9 188 1763 0.00 0.90 0.00 0.000 6 0.000 0.034 1434 3345 3275 0 0 0 0 0 0

2096 -0.57 -194.7 273.9 -14.9 207 2102 0.10 0.98 0.00 0.000 4 0.174 0.059 1457 3954 3275 0 0 0 0 0 0

2223 -0.57 -194.7 291.8 -13.5 212 2226 0.00 0.90 0.00 0.000 6 0.000 0.035 1457 3351 3275 0 0 0 0 0 0

2546 -0.57 -194.7 332.1 -12.2 228 2550 0.00 0.95 0.00 0.000 4 0.000 0.059 1452 3956 3275 0 0 0 0 0 0

2695 -0.57 -194.7 351.8 -13.1 234 2698 0.00 0.90 0.00 0.000 6 0.000 0.035 1452 3348 3275 0 0 0 0 0 0

3018 -0.57 -194.7 390.2 -11.9 250 3022 0.00 0.95 0.00 0.000 4 0.000 0.059 1448 3954 3274 0 0 0 0 0 0

3131 -0.57 -194.7 404.8 -12.6 255 3135 0.00 0.90 0.00 0.000 6 0.000 0.035 1448 3349 3274 0 0 0 0 0 0

3462 -0.57 -194.7 442.6 -11.2 266 3467 0.00 0.95 0.00 0.000 4 0.000 0.060 1443 3954 3273 0 0 0 0 0 0

3610 -0.57 -194.7 461.0 -11.5 270 3613 0.00 0.90 0.00 0.000 6 0.000 0.035 1443 3351 3273 0 0 0 0 0 0

3940 -0.57 -194.7 498.1 -11.3 281 3944 0.00 0.95 0.00 0.000 4 0.000 0.059 1439 3956 3273 0 0 0 0 0 0

4072 -0.57 -194.7 514.4 -12.6 284 4079 0.00 0.90 0.00 0.000 6 0.000 0.036 1439 3351 3273 0 0 0 0 0 0

4385 -0.57 -194.7 553.2 -12.6 295 4391 0.00 0.95 0.00 0.000 4 0.000 0.059 1435 3956 3271 0 0 0 0 0 0

4504 -0.57 -194.7 569.4 -13.9 298 4508 0.08 0.90 0.00 0.000 6 0.145 0.036 1459 3356 3271 0 0 0 0 0 0

4828 -0.57 -194.7 604.5 -10.8 309 4831 0.00 0.95 0.00 0.000 4 0.000 0.060 1456 3958 3270 0 0 0 0 0 0

4963 -0.57 -194.7 620.1 -11.1 313 4967 0.00 0.90 0.00 0.000 6 0.000 0.037 1456 3353 3271 0 0 0 0 0 0

5305 -0.57 -194.7 656.7 -10.4 324 5311 0.00 0.98 0.00 0.000 4 0.000 0.062 1452 3956 3269 0 0 0 0 0 0

5446 -0.57 -194.7 672.6 -10.6 328 5451 0.00 0.90 0.00 0.000 6 0.000 0.037 1452 3352 3268 0 0 0 0 0 0

5784 -0.57 -194.7 708.2 -10.6 339 5788 0.00 0.95 0.00 0.000 4 0.000 0.060 1447 3953 3268 0 0 0 0 0 0

5959 -0.57 -194.7 728.9 -11.9 344 5962 0.00 0.90 0.00 0.000 6 0.000 0.037 1447 3354 3268 0 0 0 0 0 0

6295 -0.57 -194.7 766.3 -11.2 355 6298 0.00 0.98 0.00 0.000 4 0.000 0.062 1443 3955 3266 0 0 0 0 0 0

6434 -0.57 -194.7 783.9 -12.8 359 6438 0.00 0.90 0.00 0.000 6 0.000 0.037 1442 3355 3266 0 0 0 0 0 0

6770 -0.57 -194.7 823.6 -11.9 370 6774 0.00 0.95 0.00 0.000 4 0.000 0.061 1438 3956 3265 0 0 0 0 0 0

6910 -0.57 -194.7 841.4 -13.2 374 6913 0.00 0.90 0.00 0.000 6 0.000 0.037 1438 3356 3264 0 0 0 0 0 0

7245 -0.57 -194.7 880.5 -11.5 385 7251 0.00 0.95 0.00 0.000 4 0.000 0.062 1434 3954 3263 0 0 0 0 0 0

7386 -0.57 -194.7 898.2 -12.2 389 7392 0.08 0.90 0.00 0.000 6 0.146 0.037 1458 3356 3263 0 0 0 0 0 0

7724 -0.57 -194.7 929.3 -9.1 400 7728 0.00 0.95 0.00 0.000 4 0.000 0.063 1455 3955 3262 0 0 0 0 0 0

7826 -0.57 -194.7 939.4 -9.2 403 7830 0.00 0.90 0.00 0.000 6 0.000 0.038 1455 3355 3262 0 0 0 0 0 0

8168 -0.57 -194.7 973.2 -9.8 414 8173 0.00 0.95 0.00 0.000 4 0.000 0.062 1450 3954 3261 0 0 0 0 0 0

8316 -0.57 -194.7 988.6 -9.8 418 8320 0.00 0.90 0.00 0.000 6 0.000 0.038 1451 3355 3261 0 0 0 0 0 0

8460 end dive: TARGET_DEPTH_EXCEEDED

state 8460 begin apogee

8467 -0.14 0.0 1002.7 9.7 423 8675 0.47 0.00 198.85 1.170 6 0.131 0.000 1598 3245 2464 0 0 0 0 0 0

8676 end apogee: CONTROL_FINISHED_OK

state 8676 begin climb

8679 0.57 194.7 1009.0 0.0 430 8872 0.65 1.35 180.82 1.775 4 0.054 0.055 1838 3958 1679 0 0 0 0 1 0

8940 0.57 194.7 965.4 21.7 438 8943 0.00 1.17 0.00 0.000 6 0.000 0.032 1844 3244 1679 0 0 0 0 0 0

9269 0.57 194.7 892.3 22.6 449 9270 0.00 0.00 0.00 0.000 6 0.000 0.000 1844 3243 1677 0 0 0 0 0 0

9575 0.57 194.7 823.7 22.5 459 9579 0.00 2.15 0.00 0.000 4 0.000 0.036 1855 1840 1676 0 0 0 0 0 0

9604 0.57 194.7 817.4 21.9 460 9609 0.00 2.33 0.00 0.000 6 0.000 0.052 1855 3264 1675 0 0 0 0 0 0

9940 0.57 194.7 739.9 23.8 471 9941 0.00 0.00 0.00 0.000 6 0.000 0.000 1855 3264 1675 0 0 0 0 0 0

10246 0.57 194.7 668.9 23.0 481 10249 0.00 1.08 0.00 0.000 4 0.000 0.056 1855 3943 1674 0 0 0 0 0 0

10295 0.57 194.7 656.5 23.8 482 10299 0.00 1.05 0.00 0.000 6 0.000 0.034 1860 3246 1674 0 0 0 0 0 0

10620 0.57 194.7 582.1 22.8 493 10621 0.00 0.00 0.00 0.000 6 0.000 0.000 1860 3245 1673 0 0 0 0 0 0

10926 0.57 194.7 511.1 23.5 503 10927 0.00 0.00 0.00 0.000 6 0.000 0.000 1860 3245 1672 0 0 0 0 0 0

11233 0.57 194.7 438.5 23.4 513 11235 0.00 0.00 0.00 0.000 6 0.000 0.000 1860 3245 1672 0 0 0 0 0 0

11542 0.57 194.7 370.3 22.3 525 11543 0.00 0.00 0.00 0.000 6 0.000 0.000 1860 3245 1672 0 0 0 0 0 0

11850 0.57 194.7 303.4 21.7 540 11851 0.00 0.00 0.00 0.000 6 0.000 0.000 1860 3245 1671 0 0 0 0 0 0

12161 0.57 194.7 235.7 22.2 556 12165 0.00 2.10 0.00 0.000 4 0.000 0.033 1871 1834 1672 0 0 0 0 0 0

12195 0.57 194.7 228.0 20.1 558 12200 0.12 2.22 0.00 0.000 6 0.186 0.048 1840 3255 1672 0 0 0 0 0 0

12517 0.57 194.7 164.7 20.4 578 12518 0.00 0.00 0.00 0.000 6 0.000 0.000 1840 3255 1671 0 0 0 0 0 0

12827 0.57 194.7 99.5 21.2 598 12834 0.00 0.00 0.00 0.000 6 0.000 0.000 1840 3255 1671 0 0 0 0 0 0

13189 0.57 194.7 28.5 17.1 659 13199 0.00 0.00 0.00 0.000 6 0.000 0.000 1840 3255 1671 0 0 0 0 0 0

13280 0.57 194.7 13.5 15.8 672 13290 0.00 2.15 0.00 0.000 4 0.000 0.031 1849 1832 1671 0 0 0 0 0 0

13326 0.57 194.7 5.9 17.2 678 13337 0.00 2.25 0.00 0.000 6 0.000 0.048 1849 3247 1671 0 0 0 0 0 0

13347 end climb: SURFACE_DEPTH_REACHED

state 13347 begin surface coast

13371 end surface coast: CONTROL_FINISHED_OK

state 13371 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	111	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	3353	ALTIM_PING_DELTA	15
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	3250	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-4230	HEAD_ERRBAND	15	ALTIM_PULSE	4
D_TGT	1000	TGT_DEFAULT_LON	-200	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	3
D_NO_BLEED	200	SM_CC	482.49722	R_PORT_OVSHOOT	50	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	23	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	-8170.3145	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	261212,153952,-4159.032,820.911,40,1.0,40,-24.9	TGT_NAME	GH2
_CALLS	1	TGT_LATLONG	-4200.000,820.000
_XMS_NAKs	0	TGT_RADIUS	800.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.219,0.112
_SM_DEPTHo	1.17	KALMAN_X	-23221.3,582.2,-141.6,49005.6,-6040.5
_SM_ANGLEo	-34.6	KALMAN_Y	67768.1,170.7,393.3,-10921.6,-4272.7
GPS2	261212,154929,-4159.029,820.879,16,1.4,17,-24.9	MHEAD_RNG_PITCHd_Wd	87.7,2167,-16.3,-9.009
SPEED_LIMITS	0.156,0.284	D_GRID	1000

FINISH	1.0,1.013917	_10V_AH	10.1,11.716
SM_CCo	13387,128.55,0.727,1,0,505,482.50	FG_AHR_24Vo	0.000
SM_GC	1.13,0.00,0.00,128.55,0.000,0.000,0.727,54,3370,505,-4.99,0.48,482.50	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4146.69,820.10,261212,101050	MEM	354276
TT8_MAMPS	0.025466	DATA_FILE_SIZE	50507,683
HUMID	54.60	CAP_FILE_SIZE	117273,0
INTERNAL_PRESSURE	8.97612	CFSIZE	259252224,251662336
TCM_TEMP	15.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
XPDR_PINGS	0	GPS	261212,193704,-4158.473,821.532,35,0.8,35,-24.9
_24V_AH	22.3,22.078

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	11	224	58.73	SBE_CT	441	24	236.29
Roll_motor	56	75	94.87	AA4330	1509	33	1110.92
VBD_pump_during_apogee	379	1774	15026.79	WL_BB2FLVMT	702	105	1644.89
VBD_pump_during_surface	128	726	2083.35	QSP2150	333	4	32.60
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	61.78	nil	0	0	0.00
Iridium_during_connect	19	160	70.19	nil	0	0	0.00
Iridium_during_xfer	358	223	1783.51	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	5.30
TT8	1757	14	265.59
LPSleep	8526	2	188.60
TT8_Active	576	14	82.79
TT8_Sampling	2425	37	916.93
TT8_CF8	807	47	384.47
TT8_Kalman	33	59	19.93
Analog_circuits	1545	12	187.27
GPS_charging	0	0	0.00
Compass	2202	15	349.91
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
20	-0.54	-139.7	0.0	0.0	0	119	0.00	0.00	-96.95	0.000	2	0.000	0.000	55	3351	2951	0	0	0	0	0	0
123	-0.57	-194.7	3.5	-5.0	12	143	5.55	2.20	-7.60	0.000	4	0.224	0.045	1462	1943	3270	0	0	0	0	0	0
247	-0.57	-194.7	21.3	-10.0	30	258	0.00	2.33	0.00	0.000	6	0.000	0.054	1453	3350	3273	0	0	0	0	0	0
339	-0.57	-194.7	32.3	-12.5	43	346	0.00	0.98	0.00	0.000	4	0.000	0.059	1448	3955	3273	0	0	0	0	0	0
447	-0.57	-194.7	46.8	-13.8	60	456	0.00	0.90	0.00	0.000	6	0.000	0.037	1448	3363	3273	0	0	0	0	0	0
690	-0.57	-194.7	75.9	-11.1	101	694	0.00	0.95	0.00	0.000	4	0.000	0.058	1444	3958	3274	0	0	0	0	0	0
782	-0.57	-194.7	87.3	-12.6	117	789	0.00	0.93	0.00	0.000	6	0.000	0.035	1444	3345	3274	0	0	0	0	0	0
1121	-0.57	-194.7	130.2	-12.8	150	1125	0.00	0.98	0.00	0.000	4	0.000	0.057	1439	3962	3275	0	0	0	0	0	0
1312	-0.57	-194.7	157.8	-14.1	160	1321	0.00	0.93	0.00	0.000	6	0.000	0.034	1439	3344	3275	0	0	0	0	0	0
1634	-0.57	-194.7	204.2	-14.6	181	1639	0.00	0.95	0.00	0.000	4	0.000	0.057	1434	3952	3275	0	0	0	0	0	0
1759	-0.57	-194.7	223.8	-14.9	188	1763	0.00	0.90	0.00	0.000	6	0.000	0.034	1434	3345	3275	0	0	0	0	0	0
2096	-0.57	-194.7	273.9	-14.9	207	2102	0.10	0.98	0.00	0.000	4	0.174	0.059	1457	3954	3275	0	0	0	0	0	0
2223	-0.57	-194.7	291.8	-13.5	212	2226	0.00	0.90	0.00	0.000	6	0.000	0.035	1457	3351	3275	0	0	0	0	0	0
2546	-0.57	-194.7	332.1	-12.2	228	2550	0.00	0.95	0.00	0.000	4	0.000	0.059	1452	3956	3275	0	0	0	0	0	0
2695	-0.57	-194.7	351.8	-13.1	234	2698	0.00	0.90	0.00	0.000	6	0.000	0.035	1452	3348	3275	0	0	0	0	0	0
3018	-0.57	-194.7	390.2	-11.9	250	3022	0.00	0.95	0.00	0.000	4	0.000	0.059	1448	3954	3274	0	0	0	0	0	0
3131	-0.57	-194.7	404.8	-12.6	255	3135	0.00	0.90	0.00	0.000	6	0.000	0.035	1448	3349	3274	0	0	0	0	0	0
3462	-0.57	-194.7	442.6	-11.2	266	3467	0.00	0.95	0.00	0.000	4	0.000	0.060	1443	3954	3273	0	0	0	0	0	0
3610	-0.57	-194.7	461.0	-11.5	270	3613	0.00	0.90	0.00	0.000	6	0.000	0.035	1443	3351	3273	0	0	0	0	0	0
3940	-0.57	-194.7	498.1	-11.3	281	3944	0.00	0.95	0.00	0.000	4	0.000	0.059	1439	3956	3273	0	0	0	0	0	0
4072	-0.57	-194.7	514.4	-12.6	284	4079	0.00	0.90	0.00	0.000	6	0.000	0.036	1439	3351	3273	0	0	0	0	0	0
4385	-0.57	-194.7	553.2	-12.6	295	4391	0.00	0.95	0.00	0.000	4	0.000	0.059	1435	3956	3271	0	0	0	0	0	0
4504	-0.57	-194.7	569.4	-13.9	298	4508	0.08	0.90	0.00	0.000	6	0.145	0.036	1459	3356	3271	0	0	0	0	0	0
4828	-0.57	-194.7	604.5	-10.8	309	4831	0.00	0.95	0.00	0.000	4	0.000	0.060	1456	3958	3270	0	0	0	0	0	0
4963	-0.57	-194.7	620.1	-11.1	313	4967	0.00	0.90	0.00	0.000	6	0.000	0.037	1456	3353	3271	0	0	0	0	0	0
5305	-0.57	-194.7	656.7	-10.4	324	5311	0.00	0.98	0.00	0.000	4	0.000	0.062	1452	3956	3269	0	0	0	0	0	0
5446	-0.57	-194.7	672.6	-10.6	328	5451	0.00	0.90	0.00	0.000	6	0.000	0.037	1452	3352	3268	0	0	0	0	0	0
5784	-0.57	-194.7	708.2	-10.6	339	5788	0.00	0.95	0.00	0.000	4	0.000	0.060	1447	3953	3268	0	0	0	0	0	0
5959	-0.57	-194.7	728.9	-11.9	344	5962	0.00	0.90	0.00	0.000	6	0.000	0.037	1447	3354	3268	0	0	0	0	0	0
6295	-0.57	-194.7	766.3	-11.2	355	6298	0.00	0.98	0.00	0.000	4	0.000	0.062	1443	3955	3266	0	0	0	0	0	0
6434	-0.57	-194.7	783.9	-12.8	359	6438	0.00	0.90	0.00	0.000	6	0.000	0.037	1442	3355	3266	0	0	0	0	0	0
6770	-0.57	-194.7	823.6	-11.9	370	6774	0.00	0.95	0.00	0.000	4	0.000	0.061	1438	3956	3265	0	0	0	0	0	0
6910	-0.57	-194.7	841.4	-13.2	374	6913	0.00	0.90	0.00	0.000	6	0.000	0.037	1438	3356	3264	0	0	0	0	0	0
7245	-0.57	-194.7	880.5	-11.5	385	7251	0.00	0.95	0.00	0.000	4	0.000	0.062	1434	3954	3263	0	0	0	0	0	0
7386	-0.57	-194.7	898.2	-12.2	389	7392	0.08	0.90	0.00	0.000	6	0.146	0.037	1458	3356	3263	0	0	0	0	0	0
7724	-0.57	-194.7	929.3	-9.1	400	7728	0.00	0.95	0.00	0.000	4	0.000	0.063	1455	3955	3262	0	0	0	0	0	0
7826	-0.57	-194.7	939.4	-9.2	403	7830	0.00	0.90	0.00	0.000	6	0.000	0.038	1455	3355	3262	0	0	0	0	0	0
8168	-0.57	-194.7	973.2	-9.8	414	8173	0.00	0.95	0.00	0.000	4	0.000	0.062	1450	3954	3261	0	0	0	0	0	0
8316	-0.57	-194.7	988.6	-9.8	418	8320	0.00	0.90	0.00	0.000	6	0.000	0.038	1451	3355	3261	0	0	0	0	0	0
8460	end dive: TARGET_DEPTH_EXCEEDED
state	8460	begin apogee
8467	-0.14	0.0	1002.7	9.7	423	8675	0.47	0.00	198.85	1.170	6	0.131	0.000	1598	3245	2464	0	0	0	0	0	0
8676	end apogee: CONTROL_FINISHED_OK
state	8676	begin climb
8679	0.57	194.7	1009.0	0.0	430	8872	0.65	1.35	180.82	1.775	4	0.054	0.055	1838	3958	1679	0	0	0	0	1	0
8940	0.57	194.7	965.4	21.7	438	8943	0.00	1.17	0.00	0.000	6	0.000	0.032	1844	3244	1679	0	0	0	0	0	0
9269	0.57	194.7	892.3	22.6	449	9270	0.00	0.00	0.00	0.000	6	0.000	0.000	1844	3243	1677	0	0	0	0	0	0
9575	0.57	194.7	823.7	22.5	459	9579	0.00	2.15	0.00	0.000	4	0.000	0.036	1855	1840	1676	0	0	0	0	0	0
9604	0.57	194.7	817.4	21.9	460	9609	0.00	2.33	0.00	0.000	6	0.000	0.052	1855	3264	1675	0	0	0	0	0	0
9940	0.57	194.7	739.9	23.8	471	9941	0.00	0.00	0.00	0.000	6	0.000	0.000	1855	3264	1675	0	0	0	0	0	0
10246	0.57	194.7	668.9	23.0	481	10249	0.00	1.08	0.00	0.000	4	0.000	0.056	1855	3943	1674	0	0	0	0	0	0
10295	0.57	194.7	656.5	23.8	482	10299	0.00	1.05	0.00	0.000	6	0.000	0.034	1860	3246	1674	0	0	0	0	0	0
10620	0.57	194.7	582.1	22.8	493	10621	0.00	0.00	0.00	0.000	6	0.000	0.000	1860	3245	1673	0	0	0	0	0	0
10926	0.57	194.7	511.1	23.5	503	10927	0.00	0.00	0.00	0.000	6	0.000	0.000	1860	3245	1672	0	0	0	0	0	0
11233	0.57	194.7	438.5	23.4	513	11235	0.00	0.00	0.00	0.000	6	0.000	0.000	1860	3245	1672	0	0	0	0	0	0
11542	0.57	194.7	370.3	22.3	525	11543	0.00	0.00	0.00	0.000	6	0.000	0.000	1860	3245	1672	0	0	0	0	0	0
11850	0.57	194.7	303.4	21.7	540	11851	0.00	0.00	0.00	0.000	6	0.000	0.000	1860	3245	1671	0	0	0	0	0	0
12161	0.57	194.7	235.7	22.2	556	12165	0.00	2.10	0.00	0.000	4	0.000	0.033	1871	1834	1672	0	0	0	0	0	0
12195	0.57	194.7	228.0	20.1	558	12200	0.12	2.22	0.00	0.000	6	0.186	0.048	1840	3255	1672	0	0	0	0	0	0
12517	0.57	194.7	164.7	20.4	578	12518	0.00	0.00	0.00	0.000	6	0.000	0.000	1840	3255	1671	0	0	0	0	0	0
12827	0.57	194.7	99.5	21.2	598	12834	0.00	0.00	0.00	0.000	6	0.000	0.000	1840	3255	1671	0	0	0	0	0	0
13189	0.57	194.7	28.5	17.1	659	13199	0.00	0.00	0.00	0.000	6	0.000	0.000	1840	3255	1671	0	0	0	0	0	0
13280	0.57	194.7	13.5	15.8	672	13290	0.00	2.15	0.00	0.000	4	0.000	0.031	1849	1832	1671	0	0	0	0	0	0
13326	0.57	194.7	5.9	17.2	678	13337	0.00	2.25	0.00	0.000	6	0.000	0.048	1849	3247	1671	0	0	0	0	0	0
13347	end climb: SURFACE_DEPTH_REACHED
state	13347	begin surface coast
13371	end surface coast: CONTROL_FINISHED_OK
state	13371	begin surface