Glider dive log

SOSCEx 08Dec12 * SG543 * Dive index * Mission links * Dive 117 * 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 117 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 33 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 -8190.2246 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 -8190.2246

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 33 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 117 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 271212,171027,-4159.802,825.601,54,1.0,57,-24.9 TGT_NAME GH2

_CALLS 5 TGT_LATLONG -4200.000,820.000

_XMS_NAKs 0 TGT_RADIUS 800.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.277,0.009

_SM_DEPTHo 1.16 KALMAN_X -49507.0,1448.4,713.7,79812.7,-13576.1

_SM_ANGLEo -32.8 KALMAN_Y 66956.9,-86.4,-203.1,-11068.6,-161.8

GPS2 271212,173130,-4200.017,825.473,16,1.0,16,-24.9 MHEAD_RNG_PITCHd_Wd 113.1,7533,-13.9,-9.009

SPEED_LIMITS 0.156,0.284 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.9,1.026007 _10V_AH 10.1,12.400

SM_CCo 15947,127.88,0.735,1,0,506,482.50 FG_AHR_24Vo 0.000

SM_GC 1.18,0.00,0.00,127.88,0.000,0.000,0.735,49,3364,506,-5.00,0.31,482.50 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4146.69,822.96,271212,171759 MEM 354256

TT8_MAMPS 0.025466 DATA_FILE_SIZE 57086,790

HUMID 54.44 CAP_FILE_SIZE 143722,0

INTERNAL_PRESSURE 8.96636 CFSIZE 259252224,251228160

TCM_TEMP 14.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,1

XPDR_PINGS 0 GPS 271212,220228,-4200.951,826.330,78,1.4,78,-24.9

_24V_AH 22.3,23.342

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 11 220 57.85 SBE_CT 512 24 274.35

Roll_motor 77 81 141.00 AA4330 1709 33 1258.07

VBD_pump_during_apogee 373 1826 15207.53 WL_BB2FLVMT 779 105 1825.59

VBD_pump_during_surface 127 735 2096.41 QSP2150 359 4 35.14

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 138 103 319.03 nil 0 0 0.00

Iridium_during_connect 275 160 983.85 nil 0 0 0.00

Iridium_during_xfer 439 223 2183.12 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 26 4.96

TT8 2076 14 313.69

LPSleep 10395 2 229.93

TT8_Active 579 14 83.10

TT8_Sampling 3343 37 1264.13

TT8_CF8 953 47 454.35

TT8_Kalman 33 59 19.93

Analog_circuits 1724 12 209.07

GPS_charging 0 0 0.00

Compass 2682 15 426.16

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 -0.50 -183.9 0.0 0.0 0 120 0.00 0.00 -97.38 0.000 2 0.000 0.000 55 3365 2948 0 0 0 0 0 0

124 -0.50 -194.7 3.8 -4.8 12 143 5.55 0.93 -7.10 0.000 4 0.220 0.081 1474 3961 3267 0 0 0 0 0 0

427 -0.50 -194.7 47.3 -10.1 59 434 0.00 0.95 0.00 0.000 6 0.000 0.036 1474 3341 3269 0 0 0 0 0 0

672 -0.50 -194.7 71.1 -9.9 100 681 0.00 0.98 0.00 0.000 4 0.000 0.059 1469 3949 3269 0 0 0 0 0 0

941 -0.50 -194.7 101.9 -12.6 145 945 0.00 0.90 0.00 0.000 6 0.000 0.036 1470 3352 3270 0 0 0 0 0 0

1268 -0.50 -194.7 141.7 -12.8 166 1272 0.00 0.95 0.00 0.000 4 0.000 0.059 1465 3951 3270 0 0 0 0 0 0

1538 -0.50 -194.7 177.9 -13.3 181 1542 0.00 0.90 0.00 0.000 6 0.000 0.035 1465 3349 3270 0 0 0 0 0 0

1865 -0.50 -194.7 217.4 -11.6 202 1869 0.00 0.95 0.00 0.000 4 0.000 0.060 1461 3949 3270 0 0 0 0 0 0

2039 -0.50 -194.7 238.6 -12.0 211 2046 0.00 0.90 0.00 0.000 6 0.000 0.036 1461 3350 3270 0 0 0 0 0 0

2369 -0.50 -194.7 276.3 -11.6 229 2374 0.00 0.95 0.00 0.000 4 0.000 0.060 1457 3953 3269 0 0 0 0 0 0

2543 -0.50 -194.7 298.2 -12.4 236 2549 0.00 0.90 0.00 0.000 6 0.000 0.036 1456 3350 3269 0 0 0 0 0 0

2867 -0.50 -194.7 338.3 -12.9 252 2872 0.10 0.95 0.00 0.000 4 0.169 0.061 1479 3941 3269 0 0 0 0 0 0

3025 -0.50 -194.7 356.8 -11.7 258 3034 0.00 0.88 0.00 0.000 6 0.000 0.037 1479 3358 3268 0 0 0 0 0 0

3343 -0.50 -194.7 392.3 -11.1 274 3346 0.00 0.93 0.00 0.000 4 0.000 0.060 1474 3946 3268 0 0 0 0 0 0

3490 -0.50 -194.7 410.0 -11.4 279 3493 0.00 0.90 0.00 0.000 6 0.000 0.036 1475 3346 3268 0 0 0 0 0 0

3820 -0.50 -194.7 445.9 -10.7 290 3823 0.00 0.95 0.00 0.000 4 0.000 0.060 1470 3949 3266 0 0 0 0 0 0

3948 -0.50 -194.7 460.2 -10.5 293 3954 0.00 0.90 0.00 0.000 6 0.000 0.037 1470 3347 3267 0 0 0 0 0 0

4262 -0.50 -194.7 492.2 -10.3 304 4266 0.00 0.95 0.00 0.000 4 0.000 0.060 1466 3949 3266 0 0 0 0 0 0

4401 -0.50 -194.7 506.5 -9.7 308 4405 0.00 0.90 0.00 0.000 6 0.000 0.037 1466 3349 3266 0 0 0 0 0 0

4737 -0.50 -194.7 538.8 -9.7 319 4741 0.00 0.95 0.00 0.000 4 0.000 0.060 1461 3951 3265 0 0 0 0 0 0

4928 -0.50 -194.7 558.1 -9.4 324 4932 0.00 0.90 0.00 0.000 6 0.000 0.037 1461 3350 3265 0 0 0 0 0 0

5247 -0.50 -194.7 587.0 -8.9 335 5250 0.00 0.95 0.00 0.000 4 0.000 0.060 1457 3952 3265 0 0 0 0 0 0

5456 -0.50 -194.7 607.1 -9.4 341 5460 0.00 0.90 0.00 0.000 6 0.000 0.037 1457 3355 3264 0 0 0 0 0 0

5793 -0.50 -194.7 636.8 -8.7 352 5796 0.00 0.93 0.00 0.000 4 0.000 0.060 1453 3941 3263 0 0 0 0 0 0

5968 -0.50 -194.7 653.6 -9.2 357 5973 0.08 0.90 0.00 0.000 6 0.140 0.037 1478 3345 3263 0 0 0 0 0 0

6304 -0.50 -194.7 678.2 -7.5 368 6308 0.00 0.95 0.00 0.000 4 0.000 0.061 1475 3945 3262 0 0 0 0 0 0

6517 -0.50 -194.7 697.7 -9.7 374 6522 0.00 0.90 0.00 0.000 6 0.000 0.038 1474 3347 3262 0 0 0 0 0 0

6850 -0.50 -194.7 728.2 -9.3 385 6853 0.00 0.95 0.00 0.000 4 0.000 0.060 1470 3949 3261 0 0 0 0 0 0

7029 -0.50 -194.7 746.2 -9.9 390 7034 0.00 0.90 0.00 0.000 6 0.000 0.038 1470 3352 3260 0 0 0 0 0 0

7361 -0.50 -194.7 774.6 -8.2 401 7365 0.00 0.95 0.00 0.000 4 0.000 0.061 1466 3952 3259 0 0 0 0 0 0

7484 -0.50 -194.7 785.3 -8.5 404 7490 0.00 0.90 0.00 0.000 6 0.000 0.039 1466 3356 3259 0 0 0 0 0 0

7805 -0.50 -194.7 810.5 -7.8 415 7810 0.00 0.93 0.00 0.000 4 0.000 0.061 1462 3943 3258 0 0 0 0 0 0

7929 -0.50 -194.7 821.2 -8.4 418 7933 0.00 0.90 0.00 0.000 6 0.000 0.039 1462 3349 3258 0 0 0 0 0 0

8248 -0.50 -194.7 846.5 -7.8 429 8251 0.00 0.95 0.00 0.000 4 0.000 0.061 1457 3949 3257 0 0 0 0 0 0

8439 -0.50 -194.7 864.5 -10.0 434 8442 0.00 0.90 0.00 0.000 6 0.000 0.039 1457 3352 3256 0 0 0 0 0 0

8757 -0.50 -194.7 893.7 -9.4 445 8761 0.00 0.95 0.00 0.000 4 0.000 0.061 1453 3950 3256 0 0 0 0 0 0

8942 -0.50 -194.7 913.2 -10.4 450 8947 0.08 0.90 0.00 0.000 6 0.140 0.040 1478 3355 3256 0 0 0 0 0 0

9267 -0.50 -194.7 936.9 -7.1 461 9270 0.00 0.95 0.00 0.000 4 0.000 0.062 1475 3951 3254 0 0 0 0 0 0

9520 -0.50 -194.7 955.8 -7.8 468 9526 0.00 0.90 0.00 0.000 6 0.000 0.041 1475 3355 3254 0 0 0 0 0 0

9846 -0.50 -194.7 976.8 -6.1 479 9851 0.00 0.95 0.00 0.000 4 0.000 0.063 1471 3951 3254 0 0 0 0 0 0

10072 -0.50 -194.7 991.7 -6.8 485 10075 0.00 0.93 0.00 0.000 6 0.000 0.040 1471 3344 3253 0 0 0 0 0 0

10205 end dive: TARGET_DEPTH_EXCEEDED

state 10205 begin apogee

10212 -0.14 0.0 1000.1 6.3 490 10401 0.43 0.00 180.32 1.827 6 0.125 0.000 1605 3251 2473 0 0 0 0 1 0

10402 end apogee: CONTROL_FINISHED_OK

state 10402 begin climb

10405 0.50 194.7 1004.3 0.0 496 10615 0.57 2.53 192.98 1.779 4 0.045 0.034 1831 1836 1680 0 0 0 0 1 0

10787 0.50 194.7 946.0 14.9 507 10791 0.00 2.42 0.00 0.000 6 0.000 0.052 1832 3256 1675 0 0 0 0 0 0

11101 0.50 194.7 882.2 21.1 517 11102 0.00 0.00 0.00 0.000 6 0.000 0.000 1832 3256 1671 0 0 0 0 0 0

11406 0.50 194.7 817.9 21.2 527 11412 0.00 2.25 0.00 0.000 4 0.000 0.036 1843 1827 1671 0 0 0 0 0 0

11459 0.50 194.7 808.1 17.7 528 11463 0.00 2.33 0.00 0.000 6 0.000 0.054 1843 3251 1670 0 0 0 0 0 0

11778 0.50 194.7 738.2 22.2 539 11782 0.00 2.20 0.00 0.000 4 0.000 0.035 1853 1824 1669 0 0 0 0 0 0

11841 0.50 194.7 725.7 18.5 541 11846 0.15 2.33 0.00 0.000 6 0.174 0.053 1816 3263 1669 0 0 0 0 0 0

12177 0.50 194.7 661.4 19.0 552 12178 0.00 0.00 0.00 0.000 6 0.000 0.000 1816 3263 1668 0 0 0 0 0 0

12483 0.50 194.7 604.4 18.1 562 12487 0.00 2.20 0.00 0.000 4 0.000 0.034 1825 1817 1668 0 0 0 0 0 0

12527 0.50 194.7 596.9 14.5 563 12531 0.00 2.30 0.00 0.000 6 0.000 0.050 1825 3255 1667 0 0 0 0 0 0

12846 0.50 194.7 537.4 19.2 574 12847 0.00 0.00 0.00 0.000 6 0.000 0.000 1825 3255 1667 0 0 0 0 0 0

13152 0.50 194.7 480.1 18.7 584 13153 0.00 0.00 0.00 0.000 6 0.000 0.000 1825 3255 1667 0 0 0 0 0 0

13459 0.50 194.7 425.5 17.6 594 13463 0.00 2.15 0.00 0.000 4 0.000 0.032 1836 1824 1667 0 0 0 0 0 0

13514 0.50 194.7 416.7 13.3 595 13521 0.00 2.25 0.00 0.000 6 0.000 0.050 1836 3250 1666 0 0 0 0 0 0

13841 0.50 194.7 356.9 18.8 610 13843 0.00 0.00 0.00 0.000 6 0.000 0.000 1836 3250 1666 0 0 0 0 0 0

14151 0.50 194.7 299.5 18.4 625 14157 0.00 2.17 0.00 0.000 4 0.000 0.032 1847 1819 1666 0 0 0 0 0 0

14202 0.50 194.7 291.4 14.7 627 14207 0.12 2.28 0.00 0.000 6 0.177 0.049 1816 3256 1666 0 0 0 0 0 0

14534 0.50 194.7 237.4 16.1 644 14536 0.00 0.00 0.00 0.000 6 0.000 0.000 1815 3256 1665 0 0 0 0 0 0

14845 0.50 194.7 186.4 16.0 664 14849 0.00 2.15 0.00 0.000 4 0.000 0.031 1825 1817 1665 0 0 0 0 0 0

14880 0.50 194.7 180.7 14.0 666 14884 0.00 2.28 0.00 0.000 6 0.000 0.050 1825 3256 1666 0 0 0 0 0 0

15200 0.50 194.7 124.2 18.8 686 15201 0.00 0.00 0.00 0.000 6 0.000 0.000 1825 3256 1665 0 0 0 0 0 0

15529 0.50 194.7 63.5 18.3 728 15536 0.00 2.15 0.00 0.000 4 0.000 0.031 1836 1812 1665 0 0 0 0 0 0

15598 0.50 194.7 53.2 14.3 739 15605 0.00 2.28 0.00 0.000 6 0.000 0.049 1836 3249 1665 0 0 0 0 0 0

15860 0.50 194.7 11.0 13.0 780 15869 0.00 2.15 0.00 0.000 4 0.000 0.031 1848 1814 1665 0 0 0 0 0 0

15914 end climb: SURFACE_DEPTH_REACHED

state 15914 begin surface coast

15929 end surface coast: CONTROL_FINISHED_OK

state 15929 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	117	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	33	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	-8190.2246	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	271212,171027,-4159.802,825.601,54,1.0,57,-24.9	TGT_NAME	GH2
_CALLS	5	TGT_LATLONG	-4200.000,820.000
_XMS_NAKs	0	TGT_RADIUS	800.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.277,0.009
_SM_DEPTHo	1.16	KALMAN_X	-49507.0,1448.4,713.7,79812.7,-13576.1
_SM_ANGLEo	-32.8	KALMAN_Y	66956.9,-86.4,-203.1,-11068.6,-161.8
GPS2	271212,173130,-4200.017,825.473,16,1.0,16,-24.9	MHEAD_RNG_PITCHd_Wd	113.1,7533,-13.9,-9.009
SPEED_LIMITS	0.156,0.284	D_GRID	1000

FINISH	0.9,1.026007	_10V_AH	10.1,12.400
SM_CCo	15947,127.88,0.735,1,0,506,482.50	FG_AHR_24Vo	0.000
SM_GC	1.18,0.00,0.00,127.88,0.000,0.000,0.735,49,3364,506,-5.00,0.31,482.50	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4146.69,822.96,271212,171759	MEM	354256
TT8_MAMPS	0.025466	DATA_FILE_SIZE	57086,790
HUMID	54.44	CAP_FILE_SIZE	143722,0
INTERNAL_PRESSURE	8.96636	CFSIZE	259252224,251228160
TCM_TEMP	14.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
XPDR_PINGS	0	GPS	271212,220228,-4200.951,826.330,78,1.4,78,-24.9
_24V_AH	22.3,23.342

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	11	220	57.85	SBE_CT	512	24	274.35
Roll_motor	77	81	141.00	AA4330	1709	33	1258.07
VBD_pump_during_apogee	373	1826	15207.53	WL_BB2FLVMT	779	105	1825.59
VBD_pump_during_surface	127	735	2096.41	QSP2150	359	4	35.14
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	138	103	319.03	nil	0	0	0.00
Iridium_during_connect	275	160	983.85	nil	0	0	0.00
Iridium_during_xfer	439	223	2183.12	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	26	4.96
TT8	2076	14	313.69
LPSleep	10395	2	229.93
TT8_Active	579	14	83.10
TT8_Sampling	3343	37	1264.13
TT8_CF8	953	47	454.35
TT8_Kalman	33	59	19.93
Analog_circuits	1724	12	209.07
GPS_charging	0	0	0.00
Compass	2682	15	426.16
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	-0.50	-183.9	0.0	0.0	0	120	0.00	0.00	-97.38	0.000	2	0.000	0.000	55	3365	2948	0	0	0	0	0	0
124	-0.50	-194.7	3.8	-4.8	12	143	5.55	0.93	-7.10	0.000	4	0.220	0.081	1474	3961	3267	0	0	0	0	0	0
427	-0.50	-194.7	47.3	-10.1	59	434	0.00	0.95	0.00	0.000	6	0.000	0.036	1474	3341	3269	0	0	0	0	0	0
672	-0.50	-194.7	71.1	-9.9	100	681	0.00	0.98	0.00	0.000	4	0.000	0.059	1469	3949	3269	0	0	0	0	0	0
941	-0.50	-194.7	101.9	-12.6	145	945	0.00	0.90	0.00	0.000	6	0.000	0.036	1470	3352	3270	0	0	0	0	0	0
1268	-0.50	-194.7	141.7	-12.8	166	1272	0.00	0.95	0.00	0.000	4	0.000	0.059	1465	3951	3270	0	0	0	0	0	0
1538	-0.50	-194.7	177.9	-13.3	181	1542	0.00	0.90	0.00	0.000	6	0.000	0.035	1465	3349	3270	0	0	0	0	0	0
1865	-0.50	-194.7	217.4	-11.6	202	1869	0.00	0.95	0.00	0.000	4	0.000	0.060	1461	3949	3270	0	0	0	0	0	0
2039	-0.50	-194.7	238.6	-12.0	211	2046	0.00	0.90	0.00	0.000	6	0.000	0.036	1461	3350	3270	0	0	0	0	0	0
2369	-0.50	-194.7	276.3	-11.6	229	2374	0.00	0.95	0.00	0.000	4	0.000	0.060	1457	3953	3269	0	0	0	0	0	0
2543	-0.50	-194.7	298.2	-12.4	236	2549	0.00	0.90	0.00	0.000	6	0.000	0.036	1456	3350	3269	0	0	0	0	0	0
2867	-0.50	-194.7	338.3	-12.9	252	2872	0.10	0.95	0.00	0.000	4	0.169	0.061	1479	3941	3269	0	0	0	0	0	0
3025	-0.50	-194.7	356.8	-11.7	258	3034	0.00	0.88	0.00	0.000	6	0.000	0.037	1479	3358	3268	0	0	0	0	0	0
3343	-0.50	-194.7	392.3	-11.1	274	3346	0.00	0.93	0.00	0.000	4	0.000	0.060	1474	3946	3268	0	0	0	0	0	0
3490	-0.50	-194.7	410.0	-11.4	279	3493	0.00	0.90	0.00	0.000	6	0.000	0.036	1475	3346	3268	0	0	0	0	0	0
3820	-0.50	-194.7	445.9	-10.7	290	3823	0.00	0.95	0.00	0.000	4	0.000	0.060	1470	3949	3266	0	0	0	0	0	0
3948	-0.50	-194.7	460.2	-10.5	293	3954	0.00	0.90	0.00	0.000	6	0.000	0.037	1470	3347	3267	0	0	0	0	0	0
4262	-0.50	-194.7	492.2	-10.3	304	4266	0.00	0.95	0.00	0.000	4	0.000	0.060	1466	3949	3266	0	0	0	0	0	0
4401	-0.50	-194.7	506.5	-9.7	308	4405	0.00	0.90	0.00	0.000	6	0.000	0.037	1466	3349	3266	0	0	0	0	0	0
4737	-0.50	-194.7	538.8	-9.7	319	4741	0.00	0.95	0.00	0.000	4	0.000	0.060	1461	3951	3265	0	0	0	0	0	0
4928	-0.50	-194.7	558.1	-9.4	324	4932	0.00	0.90	0.00	0.000	6	0.000	0.037	1461	3350	3265	0	0	0	0	0	0
5247	-0.50	-194.7	587.0	-8.9	335	5250	0.00	0.95	0.00	0.000	4	0.000	0.060	1457	3952	3265	0	0	0	0	0	0
5456	-0.50	-194.7	607.1	-9.4	341	5460	0.00	0.90	0.00	0.000	6	0.000	0.037	1457	3355	3264	0	0	0	0	0	0
5793	-0.50	-194.7	636.8	-8.7	352	5796	0.00	0.93	0.00	0.000	4	0.000	0.060	1453	3941	3263	0	0	0	0	0	0
5968	-0.50	-194.7	653.6	-9.2	357	5973	0.08	0.90	0.00	0.000	6	0.140	0.037	1478	3345	3263	0	0	0	0	0	0
6304	-0.50	-194.7	678.2	-7.5	368	6308	0.00	0.95	0.00	0.000	4	0.000	0.061	1475	3945	3262	0	0	0	0	0	0
6517	-0.50	-194.7	697.7	-9.7	374	6522	0.00	0.90	0.00	0.000	6	0.000	0.038	1474	3347	3262	0	0	0	0	0	0
6850	-0.50	-194.7	728.2	-9.3	385	6853	0.00	0.95	0.00	0.000	4	0.000	0.060	1470	3949	3261	0	0	0	0	0	0
7029	-0.50	-194.7	746.2	-9.9	390	7034	0.00	0.90	0.00	0.000	6	0.000	0.038	1470	3352	3260	0	0	0	0	0	0
7361	-0.50	-194.7	774.6	-8.2	401	7365	0.00	0.95	0.00	0.000	4	0.000	0.061	1466	3952	3259	0	0	0	0	0	0
7484	-0.50	-194.7	785.3	-8.5	404	7490	0.00	0.90	0.00	0.000	6	0.000	0.039	1466	3356	3259	0	0	0	0	0	0
7805	-0.50	-194.7	810.5	-7.8	415	7810	0.00	0.93	0.00	0.000	4	0.000	0.061	1462	3943	3258	0	0	0	0	0	0
7929	-0.50	-194.7	821.2	-8.4	418	7933	0.00	0.90	0.00	0.000	6	0.000	0.039	1462	3349	3258	0	0	0	0	0	0
8248	-0.50	-194.7	846.5	-7.8	429	8251	0.00	0.95	0.00	0.000	4	0.000	0.061	1457	3949	3257	0	0	0	0	0	0
8439	-0.50	-194.7	864.5	-10.0	434	8442	0.00	0.90	0.00	0.000	6	0.000	0.039	1457	3352	3256	0	0	0	0	0	0
8757	-0.50	-194.7	893.7	-9.4	445	8761	0.00	0.95	0.00	0.000	4	0.000	0.061	1453	3950	3256	0	0	0	0	0	0
8942	-0.50	-194.7	913.2	-10.4	450	8947	0.08	0.90	0.00	0.000	6	0.140	0.040	1478	3355	3256	0	0	0	0	0	0
9267	-0.50	-194.7	936.9	-7.1	461	9270	0.00	0.95	0.00	0.000	4	0.000	0.062	1475	3951	3254	0	0	0	0	0	0
9520	-0.50	-194.7	955.8	-7.8	468	9526	0.00	0.90	0.00	0.000	6	0.000	0.041	1475	3355	3254	0	0	0	0	0	0
9846	-0.50	-194.7	976.8	-6.1	479	9851	0.00	0.95	0.00	0.000	4	0.000	0.063	1471	3951	3254	0	0	0	0	0	0
10072	-0.50	-194.7	991.7	-6.8	485	10075	0.00	0.93	0.00	0.000	6	0.000	0.040	1471	3344	3253	0	0	0	0	0	0
10205	end dive: TARGET_DEPTH_EXCEEDED
state	10205	begin apogee
10212	-0.14	0.0	1000.1	6.3	490	10401	0.43	0.00	180.32	1.827	6	0.125	0.000	1605	3251	2473	0	0	0	0	1	0
10402	end apogee: CONTROL_FINISHED_OK
state	10402	begin climb
10405	0.50	194.7	1004.3	0.0	496	10615	0.57	2.53	192.98	1.779	4	0.045	0.034	1831	1836	1680	0	0	0	0	1	0
10787	0.50	194.7	946.0	14.9	507	10791	0.00	2.42	0.00	0.000	6	0.000	0.052	1832	3256	1675	0	0	0	0	0	0
11101	0.50	194.7	882.2	21.1	517	11102	0.00	0.00	0.00	0.000	6	0.000	0.000	1832	3256	1671	0	0	0	0	0	0
11406	0.50	194.7	817.9	21.2	527	11412	0.00	2.25	0.00	0.000	4	0.000	0.036	1843	1827	1671	0	0	0	0	0	0
11459	0.50	194.7	808.1	17.7	528	11463	0.00	2.33	0.00	0.000	6	0.000	0.054	1843	3251	1670	0	0	0	0	0	0
11778	0.50	194.7	738.2	22.2	539	11782	0.00	2.20	0.00	0.000	4	0.000	0.035	1853	1824	1669	0	0	0	0	0	0
11841	0.50	194.7	725.7	18.5	541	11846	0.15	2.33	0.00	0.000	6	0.174	0.053	1816	3263	1669	0	0	0	0	0	0
12177	0.50	194.7	661.4	19.0	552	12178	0.00	0.00	0.00	0.000	6	0.000	0.000	1816	3263	1668	0	0	0	0	0	0
12483	0.50	194.7	604.4	18.1	562	12487	0.00	2.20	0.00	0.000	4	0.000	0.034	1825	1817	1668	0	0	0	0	0	0
12527	0.50	194.7	596.9	14.5	563	12531	0.00	2.30	0.00	0.000	6	0.000	0.050	1825	3255	1667	0	0	0	0	0	0
12846	0.50	194.7	537.4	19.2	574	12847	0.00	0.00	0.00	0.000	6	0.000	0.000	1825	3255	1667	0	0	0	0	0	0
13152	0.50	194.7	480.1	18.7	584	13153	0.00	0.00	0.00	0.000	6	0.000	0.000	1825	3255	1667	0	0	0	0	0	0
13459	0.50	194.7	425.5	17.6	594	13463	0.00	2.15	0.00	0.000	4	0.000	0.032	1836	1824	1667	0	0	0	0	0	0
13514	0.50	194.7	416.7	13.3	595	13521	0.00	2.25	0.00	0.000	6	0.000	0.050	1836	3250	1666	0	0	0	0	0	0
13841	0.50	194.7	356.9	18.8	610	13843	0.00	0.00	0.00	0.000	6	0.000	0.000	1836	3250	1666	0	0	0	0	0	0
14151	0.50	194.7	299.5	18.4	625	14157	0.00	2.17	0.00	0.000	4	0.000	0.032	1847	1819	1666	0	0	0	0	0	0
14202	0.50	194.7	291.4	14.7	627	14207	0.12	2.28	0.00	0.000	6	0.177	0.049	1816	3256	1666	0	0	0	0	0	0
14534	0.50	194.7	237.4	16.1	644	14536	0.00	0.00	0.00	0.000	6	0.000	0.000	1815	3256	1665	0	0	0	0	0	0
14845	0.50	194.7	186.4	16.0	664	14849	0.00	2.15	0.00	0.000	4	0.000	0.031	1825	1817	1665	0	0	0	0	0	0
14880	0.50	194.7	180.7	14.0	666	14884	0.00	2.28	0.00	0.000	6	0.000	0.050	1825	3256	1666	0	0	0	0	0	0
15200	0.50	194.7	124.2	18.8	686	15201	0.00	0.00	0.00	0.000	6	0.000	0.000	1825	3256	1665	0	0	0	0	0	0
15529	0.50	194.7	63.5	18.3	728	15536	0.00	2.15	0.00	0.000	4	0.000	0.031	1836	1812	1665	0	0	0	0	0	0
15598	0.50	194.7	53.2	14.3	739	15605	0.00	2.28	0.00	0.000	6	0.000	0.049	1836	3249	1665	0	0	0	0	0	0
15860	0.50	194.7	11.0	13.0	780	15869	0.00	2.15	0.00	0.000	4	0.000	0.031	1848	1814	1665	0	0	0	0	0	0
15914	end climb: SURFACE_DEPTH_REACHED
state	15914	begin surface coast
15929	end surface coast: CONTROL_FINISHED_OK
state	15929	begin surface