Glider dive log

SOSCEx 08Dec12 * SG543 * Dive index * Mission links * Dive 118 * 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 118 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 28 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 -8193.7139 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 -8193.7139

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 28 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 118 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 271212,220228,-4200.951,826.330,78,1.4,78,-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 0.179,0.170

_SM_DEPTHo 1.16 KALMAN_X -53586.5,1274.8,830.8,85128.0,-12582.9

_SM_ANGLEo -38.5 KALMAN_Y 64636.3,-190.8,-54.9,-10690.0,-1835.7

GPS2 271212,221217,-4201.047,826.338,15,1.9,16,-24.9 MHEAD_RNG_PITCHd_Wd 71.4,8936,-16.2,-9.009

SPEED_LIMITS 0.156,0.284 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.8,1.012718 _10V_AH 10.1,12.510

SM_CCo 14087,127.90,0.737,1,0,504,482.50 FG_AHR_24Vo 0.000

SM_GC 1.23,0.00,0.00,127.90,0.000,0.000,0.737,70,3366,504,-4.94,0.37,482.50 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4146.69,826.26,271212,171737 MEM 354264

TT8_MAMPS 0.025466 DATA_FILE_SIZE 50480,704

HUMID 54.41 CAP_FILE_SIZE 125535,0

INTERNAL_PRESSURE 8.97612 CFSIZE 259252224,251179008

TCM_TEMP 15.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1

XPDR_PINGS 0 GPS 281212,021204,-4159.926,826.672,67,0.8,67,-24.9

_24V_AH 22.9,23.521

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 11 221 60.20 SBE_CT 457 24 251.64

Roll_motor 76 87 153.13 AA4330 1548 33 1170.08

VBD_pump_during_apogee 393 1174 10593.00 WL_BB2FLVMT 707 105 1701.37

VBD_pump_during_surface 127 737 2159.95 QSP2150 322 4 32.33

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 61.50 nil 0 0 0.00

Iridium_during_connect 43 160 157.69 nil 0 0 0.00

Iridium_during_xfer 350 223 1790.28 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 4.99

TT8 1837 14 277.60

LPSleep 8939 2 197.74

TT8_Active 592 14 85.02

TT8_Sampling 2592 37 979.94

TT8_CF8 844 47 402.44

TT8_Kalman 33 59 19.93

Analog_circuits 1624 12 196.87

GPS_charging 0 0 0.00

Compass 2334 15 370.91

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 -140.8 0.0 0.0 0 120 0.00 0.00 -97.55 0.000 2 0.000 0.000 49 3365 2874 0 0 0 0 0 0

124 -0.57 -194.7 3.0 -3.6 12 151 5.53 2.22 -10.00 0.000 4 0.222 0.047 1457 1942 3270 0 0 0 0 0 0

205 -0.57 -194.7 16.9 -13.4 23 216 0.00 2.33 0.00 0.000 6 0.000 0.060 1448 3335 3272 0 0 0 0 0 0

300 -0.57 -194.7 30.4 -15.6 36 309 0.00 1.00 0.00 0.000 4 0.000 0.060 1443 3950 3272 0 0 0 0 0 0

338 -0.57 -194.7 36.8 -14.0 42 350 0.00 0.93 0.00 0.000 6 0.000 0.038 1443 3356 3272 0 0 0 0 0 0

588 -0.57 -194.7 70.1 -13.7 83 595 0.00 0.98 0.00 0.000 4 0.000 0.059 1439 3965 3273 0 0 0 0 0 0

725 -0.57 -194.7 90.0 -14.7 106 733 0.00 0.95 0.00 0.000 6 0.000 0.036 1439 3339 3273 0 0 0 0 0 0

1067 -0.57 -194.7 137.8 -13.9 135 1073 0.00 0.98 0.00 0.000 4 0.000 0.058 1434 3957 3274 0 0 0 0 0 0

1251 -0.57 -194.7 165.2 -14.5 145 1255 0.08 0.90 0.00 0.000 6 0.151 0.036 1458 3357 3274 0 0 0 0 0 0

1583 -0.57 -194.7 205.7 -11.9 166 1587 0.00 0.95 0.00 0.000 4 0.000 0.059 1455 3958 3274 0 0 0 0 0 0

1723 -0.57 -194.7 222.8 -11.9 174 1727 0.00 0.90 0.00 0.000 6 0.000 0.037 1455 3355 3274 0 0 0 0 0 0

2045 -0.57 -194.7 261.2 -12.0 193 2050 0.00 0.95 0.00 0.000 4 0.000 0.059 1451 3957 3274 0 0 0 0 0 0

2209 -0.57 -194.7 281.7 -12.1 200 2213 0.00 0.90 0.00 0.000 6 0.000 0.037 1451 3355 3273 0 0 0 0 0 0

2543 -0.57 -194.7 321.3 -11.6 216 2547 0.00 0.95 0.00 0.000 4 0.000 0.059 1446 3958 3274 0 0 0 0 0 0

2693 -0.57 -194.7 340.1 -12.7 222 2696 0.00 0.90 0.00 0.000 6 0.000 0.037 1446 3358 3273 0 0 0 0 0 0

3016 -0.57 -194.7 378.0 -11.6 238 3019 0.00 0.95 0.00 0.000 4 0.000 0.059 1442 3959 3273 0 0 0 0 0 0

3260 -0.57 -194.7 407.6 -12.3 248 3264 0.00 0.90 0.00 0.000 6 0.000 0.037 1442 3357 3273 0 0 0 0 0 0

3602 -0.57 -194.7 446.6 -11.2 259 3606 0.00 0.95 0.00 0.000 4 0.000 0.059 1437 3957 3272 0 0 0 0 0 0

3738 -0.57 -194.7 462.8 -11.9 263 3741 0.00 0.90 0.00 0.000 6 0.000 0.037 1437 3354 3272 0 0 0 0 0 0

4079 -0.57 -194.7 502.9 -11.7 274 4083 0.00 0.95 0.00 0.000 4 0.000 0.060 1433 3957 3272 0 0 0 0 0 0

4253 -0.57 -194.7 524.1 -11.7 279 4257 0.08 0.90 0.00 0.000 6 0.146 0.037 1458 3356 3271 0 0 0 0 0 0

4588 -0.57 -194.7 555.6 -9.4 290 4592 0.00 0.95 0.00 0.000 4 0.000 0.060 1455 3956 3271 0 0 0 0 0 0

4766 -0.57 -194.7 574.8 -11.3 295 4770 0.00 0.90 0.00 0.000 6 0.000 0.037 1455 3354 3271 0 0 0 0 0 0

5098 -0.57 -194.7 609.1 -10.5 306 5101 0.00 0.95 0.00 0.000 4 0.000 0.061 1451 3956 3270 0 0 0 0 0 0

5233 -0.57 -194.7 624.7 -11.1 310 5237 0.00 0.90 0.00 0.000 6 0.000 0.037 1451 3355 3270 0 0 0 0 0 0

5575 -0.57 -194.7 663.6 -11.7 321 5580 0.00 0.95 0.00 0.000 4 0.000 0.061 1446 3954 3268 0 0 0 0 0 0

5699 -0.57 -194.7 678.9 -12.3 324 5702 0.00 0.90 0.00 0.000 6 0.000 0.038 1446 3356 3268 0 0 0 0 0 0

6018 -0.57 -194.7 715.7 -11.6 335 6021 0.00 0.95 0.00 0.000 4 0.000 0.061 1442 3956 3268 0 0 0 0 0 0

6157 -0.57 -194.7 733.6 -12.7 339 6161 0.00 0.93 0.00 0.000 6 0.000 0.037 1442 3344 3267 0 0 0 0 0 0

6492 -0.57 -194.7 775.0 -12.3 350 6498 0.00 0.98 0.00 0.000 4 0.000 0.061 1437 3960 3266 0 0 0 0 0 0

6617 -0.57 -194.7 791.8 -13.5 353 6621 0.00 0.93 0.00 0.000 6 0.000 0.038 1437 3345 3266 0 0 0 0 0 0

6936 -0.57 -194.7 830.7 -11.9 364 6939 0.00 0.98 0.00 0.000 4 0.000 0.060 1432 3959 3265 0 0 0 0 0 0

7088 -0.57 -194.7 849.7 -12.2 368 7094 0.08 0.93 0.00 0.000 6 0.147 0.038 1458 3347 3265 0 0 0 0 0 0

7414 -0.57 -194.7 880.9 -9.2 379 7420 0.00 0.98 0.00 0.000 4 0.000 0.062 1455 3960 3264 0 0 0 0 0 0

7587 -0.57 -194.7 897.2 -9.4 384 7590 0.00 0.93 0.00 0.000 6 0.000 0.039 1455 3349 3263 0 0 0 0 0 0

7929 -0.57 -194.7 926.0 -8.0 395 7934 0.00 0.98 0.00 0.000 4 0.000 0.063 1450 3959 3262 0 0 0 0 0 0

8083 -0.57 -194.7 939.2 -9.1 399 8086 0.00 0.93 0.00 0.000 6 0.000 0.039 1450 3350 3262 0 0 0 0 0 0

8407 -0.57 -194.7 965.6 -8.0 410 8411 0.00 0.98 0.00 0.000 4 0.000 0.063 1446 3962 3262 0 0 0 0 0 0

8566 -0.57 -194.7 979.5 -9.0 414 8570 0.00 0.93 0.00 0.000 6 0.000 0.039 1446 3352 3262 0 0 0 0 0 0

8823 end dive: TARGET_DEPTH_EXCEEDED

state 8823 begin apogee

8830 -0.14 0.0 1001.9 8.7 423 9036 0.50 0.00 196.88 1.174 6 0.133 0.000 1601 3258 2466 0 0 0 0 0 0

9037 end apogee: CONTROL_FINISHED_OK

state 9037 begin climb

9040 0.57 194.7 1007.2 0.0 430 9246 0.62 1.30 197.05 1.142 4 0.051 0.057 1837 3956 1669 0 0 0 0 0 0

9303 0.57 194.7 964.2 21.8 438 9307 0.00 1.17 0.00 0.000 6 0.000 0.034 1842 3247 1654 0 0 0 0 0 0

9633 0.57 194.7 898.3 20.3 449 9637 0.00 2.20 0.00 0.000 4 0.000 0.035 1853 1839 1648 0 0 0 0 0 0

9671 0.57 194.7 890.9 17.1 450 9675 0.00 2.38 0.00 0.000 6 0.000 0.054 1853 3267 1647 0 0 0 0 0 0

9995 0.57 194.7 823.6 21.3 461 9996 0.00 0.00 0.00 0.000 6 0.000 0.000 1853 3267 1646 0 0 0 0 0 0

10301 0.57 194.7 757.2 21.6 471 10305 0.00 2.22 0.00 0.000 4 0.000 0.035 1864 1830 1646 0 0 0 0 0 0

10334 0.57 194.7 750.1 19.8 472 10338 0.00 2.33 0.00 0.000 6 0.000 0.053 1864 3262 1645 0 0 0 0 0 0

10663 0.57 194.7 675.3 23.3 483 10665 0.00 0.00 0.00 0.000 6 0.000 0.000 1864 3262 1644 0 0 0 0 0 0

10971 0.57 194.7 604.7 23.0 493 10974 0.00 2.17 0.00 0.000 4 0.000 0.033 1875 1833 1644 0 0 0 0 0 0

11043 0.57 194.7 590.1 18.5 495 11047 0.15 2.28 0.00 0.000 6 0.183 0.050 1837 3249 1644 0 0 0 0 0 0

11367 0.57 194.7 525.6 20.0 506 11368 0.00 0.00 0.00 0.000 6 0.000 0.000 1837 3249 1643 0 0 0 0 0 0

11674 0.57 194.7 463.7 20.1 516 11678 0.00 2.15 0.00 0.000 4 0.000 0.032 1847 1824 1643 0 0 0 0 0 0

11705 0.57 194.7 458.0 18.2 517 11709 0.00 2.28 0.00 0.000 6 0.000 0.050 1847 3252 1642 0 0 0 0 0 0

12031 0.57 194.7 390.4 20.7 528 12032 0.00 0.00 0.00 0.000 6 0.000 0.000 1847 3252 1642 0 0 0 0 0 0

12342 0.57 194.7 325.0 21.3 543 12344 0.00 0.00 0.00 0.000 6 0.000 0.000 1847 3253 1642 0 0 0 0 0 0

12651 0.57 194.7 260.1 20.7 558 12655 0.00 2.12 0.00 0.000 4 0.000 0.031 1858 1827 1642 0 0 0 0 0 0

12710 0.57 194.7 249.1 16.7 560 12718 0.00 2.28 0.00 0.000 6 0.000 0.049 1858 3244 1641 0 0 0 0 0 0

13031 0.57 194.7 181.0 21.8 581 13037 0.00 2.15 0.00 0.000 4 0.000 0.031 1869 1827 1641 0 0 0 0 0 0

13059 0.57 194.7 174.5 19.9 582 13071 0.10 2.30 0.00 0.000 6 0.159 0.050 1838 3263 1641 0 0 0 0 0 0

13384 0.57 194.7 115.5 17.9 603 13388 0.00 2.15 0.00 0.000 4 0.000 0.031 1848 1825 1641 0 0 0 0 0 0

13432 0.57 194.7 107.5 14.2 606 13436 0.00 2.25 0.00 0.000 6 0.000 0.049 1848 3249 1641 0 0 0 0 0 0

13783 0.57 194.7 47.5 16.6 660 13791 0.00 2.12 0.00 0.000 4 0.000 0.031 1859 1833 1641 0 0 0 0 0 0

13822 0.57 194.7 41.9 16.1 665 13828 0.00 2.25 0.00 0.000 6 0.000 0.050 1859 3256 1641 0 0 0 0 0 0

14051 end climb: SURFACE_DEPTH_REACHED

state 14051 begin surface coast

14071 end surface coast: CONTROL_FINISHED_OK

state 14072 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	118	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	28	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	-8193.7139	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	271212,220228,-4200.951,826.330,78,1.4,78,-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	0.179,0.170
_SM_DEPTHo	1.16	KALMAN_X	-53586.5,1274.8,830.8,85128.0,-12582.9
_SM_ANGLEo	-38.5	KALMAN_Y	64636.3,-190.8,-54.9,-10690.0,-1835.7
GPS2	271212,221217,-4201.047,826.338,15,1.9,16,-24.9	MHEAD_RNG_PITCHd_Wd	71.4,8936,-16.2,-9.009
SPEED_LIMITS	0.156,0.284	D_GRID	1000

FINISH	0.8,1.012718	_10V_AH	10.1,12.510
SM_CCo	14087,127.90,0.737,1,0,504,482.50	FG_AHR_24Vo	0.000
SM_GC	1.23,0.00,0.00,127.90,0.000,0.000,0.737,70,3366,504,-4.94,0.37,482.50	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4146.69,826.26,271212,171737	MEM	354264
TT8_MAMPS	0.025466	DATA_FILE_SIZE	50480,704
HUMID	54.41	CAP_FILE_SIZE	125535,0
INTERNAL_PRESSURE	8.97612	CFSIZE	259252224,251179008
TCM_TEMP	15.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
XPDR_PINGS	0	GPS	281212,021204,-4159.926,826.672,67,0.8,67,-24.9
_24V_AH	22.9,23.521

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	11	221	60.20	SBE_CT	457	24	251.64
Roll_motor	76	87	153.13	AA4330	1548	33	1170.08
VBD_pump_during_apogee	393	1174	10593.00	WL_BB2FLVMT	707	105	1701.37
VBD_pump_during_surface	127	737	2159.95	QSP2150	322	4	32.33
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	61.50	nil	0	0	0.00
Iridium_during_connect	43	160	157.69	nil	0	0	0.00
Iridium_during_xfer	350	223	1790.28	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	4.99
TT8	1837	14	277.60
LPSleep	8939	2	197.74
TT8_Active	592	14	85.02
TT8_Sampling	2592	37	979.94
TT8_CF8	844	47	402.44
TT8_Kalman	33	59	19.93
Analog_circuits	1624	12	196.87
GPS_charging	0	0	0.00
Compass	2334	15	370.91
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	-140.8	0.0	0.0	0	120	0.00	0.00	-97.55	0.000	2	0.000	0.000	49	3365	2874	0	0	0	0	0	0
124	-0.57	-194.7	3.0	-3.6	12	151	5.53	2.22	-10.00	0.000	4	0.222	0.047	1457	1942	3270	0	0	0	0	0	0
205	-0.57	-194.7	16.9	-13.4	23	216	0.00	2.33	0.00	0.000	6	0.000	0.060	1448	3335	3272	0	0	0	0	0	0
300	-0.57	-194.7	30.4	-15.6	36	309	0.00	1.00	0.00	0.000	4	0.000	0.060	1443	3950	3272	0	0	0	0	0	0
338	-0.57	-194.7	36.8	-14.0	42	350	0.00	0.93	0.00	0.000	6	0.000	0.038	1443	3356	3272	0	0	0	0	0	0
588	-0.57	-194.7	70.1	-13.7	83	595	0.00	0.98	0.00	0.000	4	0.000	0.059	1439	3965	3273	0	0	0	0	0	0
725	-0.57	-194.7	90.0	-14.7	106	733	0.00	0.95	0.00	0.000	6	0.000	0.036	1439	3339	3273	0	0	0	0	0	0
1067	-0.57	-194.7	137.8	-13.9	135	1073	0.00	0.98	0.00	0.000	4	0.000	0.058	1434	3957	3274	0	0	0	0	0	0
1251	-0.57	-194.7	165.2	-14.5	145	1255	0.08	0.90	0.00	0.000	6	0.151	0.036	1458	3357	3274	0	0	0	0	0	0
1583	-0.57	-194.7	205.7	-11.9	166	1587	0.00	0.95	0.00	0.000	4	0.000	0.059	1455	3958	3274	0	0	0	0	0	0
1723	-0.57	-194.7	222.8	-11.9	174	1727	0.00	0.90	0.00	0.000	6	0.000	0.037	1455	3355	3274	0	0	0	0	0	0
2045	-0.57	-194.7	261.2	-12.0	193	2050	0.00	0.95	0.00	0.000	4	0.000	0.059	1451	3957	3274	0	0	0	0	0	0
2209	-0.57	-194.7	281.7	-12.1	200	2213	0.00	0.90	0.00	0.000	6	0.000	0.037	1451	3355	3273	0	0	0	0	0	0
2543	-0.57	-194.7	321.3	-11.6	216	2547	0.00	0.95	0.00	0.000	4	0.000	0.059	1446	3958	3274	0	0	0	0	0	0
2693	-0.57	-194.7	340.1	-12.7	222	2696	0.00	0.90	0.00	0.000	6	0.000	0.037	1446	3358	3273	0	0	0	0	0	0
3016	-0.57	-194.7	378.0	-11.6	238	3019	0.00	0.95	0.00	0.000	4	0.000	0.059	1442	3959	3273	0	0	0	0	0	0
3260	-0.57	-194.7	407.6	-12.3	248	3264	0.00	0.90	0.00	0.000	6	0.000	0.037	1442	3357	3273	0	0	0	0	0	0
3602	-0.57	-194.7	446.6	-11.2	259	3606	0.00	0.95	0.00	0.000	4	0.000	0.059	1437	3957	3272	0	0	0	0	0	0
3738	-0.57	-194.7	462.8	-11.9	263	3741	0.00	0.90	0.00	0.000	6	0.000	0.037	1437	3354	3272	0	0	0	0	0	0
4079	-0.57	-194.7	502.9	-11.7	274	4083	0.00	0.95	0.00	0.000	4	0.000	0.060	1433	3957	3272	0	0	0	0	0	0
4253	-0.57	-194.7	524.1	-11.7	279	4257	0.08	0.90	0.00	0.000	6	0.146	0.037	1458	3356	3271	0	0	0	0	0	0
4588	-0.57	-194.7	555.6	-9.4	290	4592	0.00	0.95	0.00	0.000	4	0.000	0.060	1455	3956	3271	0	0	0	0	0	0
4766	-0.57	-194.7	574.8	-11.3	295	4770	0.00	0.90	0.00	0.000	6	0.000	0.037	1455	3354	3271	0	0	0	0	0	0
5098	-0.57	-194.7	609.1	-10.5	306	5101	0.00	0.95	0.00	0.000	4	0.000	0.061	1451	3956	3270	0	0	0	0	0	0
5233	-0.57	-194.7	624.7	-11.1	310	5237	0.00	0.90	0.00	0.000	6	0.000	0.037	1451	3355	3270	0	0	0	0	0	0
5575	-0.57	-194.7	663.6	-11.7	321	5580	0.00	0.95	0.00	0.000	4	0.000	0.061	1446	3954	3268	0	0	0	0	0	0
5699	-0.57	-194.7	678.9	-12.3	324	5702	0.00	0.90	0.00	0.000	6	0.000	0.038	1446	3356	3268	0	0	0	0	0	0
6018	-0.57	-194.7	715.7	-11.6	335	6021	0.00	0.95	0.00	0.000	4	0.000	0.061	1442	3956	3268	0	0	0	0	0	0
6157	-0.57	-194.7	733.6	-12.7	339	6161	0.00	0.93	0.00	0.000	6	0.000	0.037	1442	3344	3267	0	0	0	0	0	0
6492	-0.57	-194.7	775.0	-12.3	350	6498	0.00	0.98	0.00	0.000	4	0.000	0.061	1437	3960	3266	0	0	0	0	0	0
6617	-0.57	-194.7	791.8	-13.5	353	6621	0.00	0.93	0.00	0.000	6	0.000	0.038	1437	3345	3266	0	0	0	0	0	0
6936	-0.57	-194.7	830.7	-11.9	364	6939	0.00	0.98	0.00	0.000	4	0.000	0.060	1432	3959	3265	0	0	0	0	0	0
7088	-0.57	-194.7	849.7	-12.2	368	7094	0.08	0.93	0.00	0.000	6	0.147	0.038	1458	3347	3265	0	0	0	0	0	0
7414	-0.57	-194.7	880.9	-9.2	379	7420	0.00	0.98	0.00	0.000	4	0.000	0.062	1455	3960	3264	0	0	0	0	0	0
7587	-0.57	-194.7	897.2	-9.4	384	7590	0.00	0.93	0.00	0.000	6	0.000	0.039	1455	3349	3263	0	0	0	0	0	0
7929	-0.57	-194.7	926.0	-8.0	395	7934	0.00	0.98	0.00	0.000	4	0.000	0.063	1450	3959	3262	0	0	0	0	0	0
8083	-0.57	-194.7	939.2	-9.1	399	8086	0.00	0.93	0.00	0.000	6	0.000	0.039	1450	3350	3262	0	0	0	0	0	0
8407	-0.57	-194.7	965.6	-8.0	410	8411	0.00	0.98	0.00	0.000	4	0.000	0.063	1446	3962	3262	0	0	0	0	0	0
8566	-0.57	-194.7	979.5	-9.0	414	8570	0.00	0.93	0.00	0.000	6	0.000	0.039	1446	3352	3262	0	0	0	0	0	0
8823	end dive: TARGET_DEPTH_EXCEEDED
state	8823	begin apogee
8830	-0.14	0.0	1001.9	8.7	423	9036	0.50	0.00	196.88	1.174	6	0.133	0.000	1601	3258	2466	0	0	0	0	0	0
9037	end apogee: CONTROL_FINISHED_OK
state	9037	begin climb
9040	0.57	194.7	1007.2	0.0	430	9246	0.62	1.30	197.05	1.142	4	0.051	0.057	1837	3956	1669	0	0	0	0	0	0
9303	0.57	194.7	964.2	21.8	438	9307	0.00	1.17	0.00	0.000	6	0.000	0.034	1842	3247	1654	0	0	0	0	0	0
9633	0.57	194.7	898.3	20.3	449	9637	0.00	2.20	0.00	0.000	4	0.000	0.035	1853	1839	1648	0	0	0	0	0	0
9671	0.57	194.7	890.9	17.1	450	9675	0.00	2.38	0.00	0.000	6	0.000	0.054	1853	3267	1647	0	0	0	0	0	0
9995	0.57	194.7	823.6	21.3	461	9996	0.00	0.00	0.00	0.000	6	0.000	0.000	1853	3267	1646	0	0	0	0	0	0
10301	0.57	194.7	757.2	21.6	471	10305	0.00	2.22	0.00	0.000	4	0.000	0.035	1864	1830	1646	0	0	0	0	0	0
10334	0.57	194.7	750.1	19.8	472	10338	0.00	2.33	0.00	0.000	6	0.000	0.053	1864	3262	1645	0	0	0	0	0	0
10663	0.57	194.7	675.3	23.3	483	10665	0.00	0.00	0.00	0.000	6	0.000	0.000	1864	3262	1644	0	0	0	0	0	0
10971	0.57	194.7	604.7	23.0	493	10974	0.00	2.17	0.00	0.000	4	0.000	0.033	1875	1833	1644	0	0	0	0	0	0
11043	0.57	194.7	590.1	18.5	495	11047	0.15	2.28	0.00	0.000	6	0.183	0.050	1837	3249	1644	0	0	0	0	0	0
11367	0.57	194.7	525.6	20.0	506	11368	0.00	0.00	0.00	0.000	6	0.000	0.000	1837	3249	1643	0	0	0	0	0	0
11674	0.57	194.7	463.7	20.1	516	11678	0.00	2.15	0.00	0.000	4	0.000	0.032	1847	1824	1643	0	0	0	0	0	0
11705	0.57	194.7	458.0	18.2	517	11709	0.00	2.28	0.00	0.000	6	0.000	0.050	1847	3252	1642	0	0	0	0	0	0
12031	0.57	194.7	390.4	20.7	528	12032	0.00	0.00	0.00	0.000	6	0.000	0.000	1847	3252	1642	0	0	0	0	0	0
12342	0.57	194.7	325.0	21.3	543	12344	0.00	0.00	0.00	0.000	6	0.000	0.000	1847	3253	1642	0	0	0	0	0	0
12651	0.57	194.7	260.1	20.7	558	12655	0.00	2.12	0.00	0.000	4	0.000	0.031	1858	1827	1642	0	0	0	0	0	0
12710	0.57	194.7	249.1	16.7	560	12718	0.00	2.28	0.00	0.000	6	0.000	0.049	1858	3244	1641	0	0	0	0	0	0
13031	0.57	194.7	181.0	21.8	581	13037	0.00	2.15	0.00	0.000	4	0.000	0.031	1869	1827	1641	0	0	0	0	0	0
13059	0.57	194.7	174.5	19.9	582	13071	0.10	2.30	0.00	0.000	6	0.159	0.050	1838	3263	1641	0	0	0	0	0	0
13384	0.57	194.7	115.5	17.9	603	13388	0.00	2.15	0.00	0.000	4	0.000	0.031	1848	1825	1641	0	0	0	0	0	0
13432	0.57	194.7	107.5	14.2	606	13436	0.00	2.25	0.00	0.000	6	0.000	0.049	1848	3249	1641	0	0	0	0	0	0
13783	0.57	194.7	47.5	16.6	660	13791	0.00	2.12	0.00	0.000	4	0.000	0.031	1859	1833	1641	0	0	0	0	0	0
13822	0.57	194.7	41.9	16.1	665	13828	0.00	2.25	0.00	0.000	6	0.000	0.050	1859	3256	1641	0	0	0	0	0	0
14051	end climb: SURFACE_DEPTH_REACHED
state	14051	begin surface coast
14071	end surface coast: CONTROL_FINISHED_OK
state	14072	begin surface