Glider dive log

SOSCEx 08Dec12 * SG543 * Dive index * Mission links * Dive 134 * 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 134 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 48 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 -8242.043 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 -8242.043

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 48 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 134 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 301212,095034,-4159.039,826.968,26,1.0,26,-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 -0.045,0.214

_SM_DEPTHo 1.33 KALMAN_X -88570.6,1003.7,588.1,121493.1,-8468.9

_SM_ANGLEo -32.0 KALMAN_Y 44131.5,-277.9,111.4,13598.7,-6695.6

GPS2 301212,095923,-4158.955,826.966,15,1.0,16,-24.9 MHEAD_RNG_PITCHd_Wd 12.9,9781,-18.7,-9.009

SPEED_LIMITS 0.156,0.284 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.2,1.021638 _10V_AH 10.1,14.090

SM_CCo 12039,128.15,0.716,1,0,506,482.50 FG_AHR_24Vo 0.000

SM_GC 1.55,0.00,0.00,128.15,0.000,0.000,0.716,48,3365,506,-5.00,0.37,482.50 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4143.80,825.41,301212,060605 MEM 354248

TT8_MAMPS 0.025466 DATA_FILE_SIZE 47032,625

HUMID 55.94 CAP_FILE_SIZE 108000,0

INTERNAL_PRESSURE 8.95659 CFSIZE 259252224,250249216

TCM_TEMP 14.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1

XPDR_PINGS 0 GPS 301212,132433,-4157.884,825.494,37,1.5,40,-24.9

_24V_AH 23.0,26.237

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 231 63.90 SBE_CT 402 24 222.32

Roll_motor 63 89 129.80 AA4330 1350 33 1025.33

VBD_pump_during_apogee 398 1160 10641.95 WL_BB2FLVMT 658 105 1590.76

VBD_pump_during_surface 128 716 2110.49 QSP2150 326 4 32.88

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 75.54 nil 0 0 0.00

Iridium_during_connect 55 160 206.07 nil 0 0 0.00

Iridium_during_xfer 290 223 1487.47 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 26 4.84

TT8 1595 14 241.00

LPSleep 7675 2 169.77

TT8_Active 590 14 84.82

TT8_Sampling 2100 37 794.22

TT8_CF8 740 47 352.98

TT8_Kalman 33 59 19.93

Analog_circuits 1452 12 176.07

GPS_charging 0 0 0.00

Compass 1873 15 297.70

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

20 -0.59 -108.4 0.0 0.0 0 102 0.00 0.00 -79.82 0.000 2 0.000 0.000 65 3356 2494 0 0 0 0 0 0

106 -0.64 -194.7 3.0 -3.5 10 152 5.53 2.20 -26.58 0.000 4 0.231 0.050 1432 1960 3269 0 0 0 0 0 0

353 -0.64 -194.7 30.1 -12.5 46 361 0.00 2.28 0.00 0.000 6 0.000 0.056 1423 3344 3271 0 0 0 0 0 0

602 -0.64 -194.7 69.0 -14.6 87 609 0.00 2.15 0.00 0.000 4 0.000 0.033 1423 1950 3272 0 0 0 0 0 0

802 -0.64 -194.7 92.3 -11.9 121 809 0.00 2.30 0.00 0.000 6 0.000 0.057 1413 3355 3272 0 0 0 0 0 0

1138 -0.64 -194.7 146.0 -16.6 148 1142 0.10 0.95 0.00 0.000 4 0.190 0.059 1434 3949 3272 0 0 0 0 0 0

1300 -0.64 -194.7 170.6 -15.0 157 1304 0.00 0.90 0.00 0.000 6 0.000 0.035 1434 3348 3273 0 0 0 0 0 0

1630 -0.64 -194.7 220.3 -14.9 178 1634 0.00 0.95 0.00 0.000 4 0.000 0.058 1430 3951 3273 0 0 0 0 0 0

1684 -0.64 -194.7 228.3 -15.2 181 1687 0.00 0.90 0.00 0.000 6 0.000 0.035 1430 3349 3273 0 0 0 0 0 0

2017 -0.64 -194.7 279.0 -15.1 199 2021 0.00 0.95 0.00 0.000 4 0.000 0.059 1425 3952 3273 0 0 0 0 0 0

2073 -0.64 -194.7 289.2 -16.4 201 2079 0.00 0.90 0.00 0.000 6 0.000 0.035 1425 3350 3273 0 0 0 0 0 0

2398 -0.64 -194.7 340.9 -15.7 217 2403 0.00 0.95 0.00 0.000 4 0.000 0.058 1421 3952 3273 0 0 0 0 0 0

2448 -0.64 -194.7 348.7 -16.3 219 2452 0.00 0.90 0.00 0.000 6 0.000 0.035 1421 3349 3273 0 0 0 0 0 0

2783 -0.64 -194.7 400.3 -15.0 235 2788 0.00 0.95 0.00 0.000 4 0.000 0.058 1416 3950 3273 0 0 0 0 0 0

2856 -0.64 -194.7 412.2 -15.2 237 2859 0.00 0.90 0.00 0.000 6 0.000 0.035 1416 3347 3273 0 0 0 0 0 0

3191 -0.64 -194.7 463.7 -15.4 248 3197 0.00 0.95 0.00 0.000 4 0.000 0.059 1412 3950 3273 0 0 0 0 0 0

3287 -0.64 -194.7 479.8 -16.3 250 3296 0.08 0.90 0.00 0.000 6 0.155 0.035 1436 3350 3273 0 0 0 0 0 0

3600 -0.64 -194.7 519.8 -13.0 261 3601 0.00 0.00 0.00 0.000 6 0.000 0.000 1436 3350 3273 0 0 0 0 0 0

3907 -0.64 -194.7 560.1 -13.2 271 3910 0.00 0.95 0.00 0.000 4 0.000 0.059 1432 3953 3272 0 0 0 0 0 0

3968 -0.64 -194.7 569.1 -14.1 272 3976 0.00 0.90 0.00 0.000 6 0.000 0.036 1432 3351 3272 0 0 0 0 0 0

4281 -0.64 -194.7 610.8 -13.2 283 4287 0.00 0.95 0.00 0.000 4 0.000 0.059 1428 3953 3271 0 0 0 0 0 0

4351 -0.64 -194.7 620.2 -12.9 285 4354 0.00 0.90 0.00 0.000 6 0.000 0.036 1427 3352 3271 0 0 0 0 0 0

4692 -0.64 -194.7 664.1 -13.0 296 4698 0.00 0.95 0.00 0.000 4 0.000 0.060 1424 3953 3269 0 0 0 0 0 0

4741 -0.64 -194.7 670.8 -14.6 297 4744 0.00 0.90 0.00 0.000 6 0.000 0.036 1423 3354 3270 0 0 0 0 0 0

5072 -0.64 -194.7 717.0 -14.0 308 5076 0.00 0.98 0.00 0.000 4 0.000 0.060 1419 3956 3269 0 0 0 0 0 0

5111 -0.64 -194.7 723.2 -14.6 309 5114 0.00 0.90 0.00 0.000 6 0.000 0.036 1419 3357 3269 0 0 0 0 0 0

5446 -0.64 -194.7 770.4 -13.8 320 5450 0.00 0.95 0.00 0.000 4 0.000 0.060 1415 3955 3268 0 0 0 0 0 0

5516 -0.64 -194.7 780.0 -14.1 322 5521 0.08 0.90 0.00 0.000 6 0.155 0.037 1439 3356 3268 0 0 0 0 0 0

5858 -0.64 -194.7 819.4 -11.1 333 5861 0.00 0.95 0.00 0.000 4 0.000 0.060 1435 3954 3267 0 0 0 0 0 0

5913 -0.64 -194.7 825.8 -12.2 334 5919 0.00 0.90 0.00 0.000 6 0.000 0.037 1435 3354 3267 0 0 0 0 0 0

6233 -0.64 -194.7 859.2 -10.4 345 6238 0.00 0.95 0.00 0.000 4 0.000 0.060 1431 3953 3266 0 0 0 0 0 0

6272 -0.64 -194.7 863.7 -10.8 346 6278 0.00 0.90 0.00 0.000 6 0.000 0.037 1431 3355 3266 0 0 0 0 0 0

6610 -0.64 -194.7 899.3 -10.9 357 6613 0.00 0.95 0.00 0.000 4 0.000 0.060 1426 3954 3265 0 0 0 0 0 0

6647 -0.64 -194.7 904.0 -12.2 358 6651 0.00 0.90 0.00 0.000 6 0.000 0.037 1426 3354 3264 0 0 0 0 0 0

6984 -0.64 -194.7 941.2 -10.9 369 6987 0.00 0.98 0.00 0.000 4 0.000 0.061 1422 3955 3264 0 0 0 0 0 0

7048 -0.64 -194.7 948.6 -11.7 370 7055 0.00 0.90 0.00 0.000 6 0.000 0.037 1422 3357 3264 0 0 0 0 0 0

7361 -0.64 -194.7 983.5 -10.9 381 7367 0.00 0.95 0.00 0.000 4 0.000 0.060 1418 3953 3263 0 0 0 0 0 0

7410 -0.64 -194.7 989.1 -12.2 382 7413 0.00 0.93 0.00 0.000 6 0.000 0.038 1418 3340 3263 0 0 0 0 0 0

7523 end dive: TARGET_DEPTH_EXCEEDED

state 7523 begin apogee

7530 -0.14 0.0 1002.6 11.5 386 7736 0.60 0.00 197.80 1.161 6 0.140 0.000 1601 3249 2464 0 0 0 0 0 0

7737 end apogee: CONTROL_FINISHED_OK

state 7737 begin climb

7740 0.64 194.7 1007.5 0.0 393 7946 0.70 0.00 200.90 1.108 6 0.045 0.000 1867 3248 1679 0 0 0 0 0 0

8232 0.64 194.7 898.6 25.5 409 8236 0.00 1.17 0.00 0.000 4 0.000 0.057 1867 3948 1648 0 0 0 0 0 0

8288 0.64 194.7 883.4 26.2 410 8292 0.00 1.10 0.00 0.000 6 0.000 0.033 1873 3242 1647 0 0 0 0 0 0

8606 0.64 194.7 804.2 25.0 421 8610 0.00 1.17 0.00 0.000 4 0.000 0.055 1873 3958 1645 0 0 0 0 0 0

8662 0.64 194.7 788.8 27.7 422 8668 0.00 1.08 0.00 0.000 6 0.000 0.033 1878 3254 1645 0 0 0 0 0 0

8982 0.64 194.7 707.6 25.4 433 8987 0.00 1.12 0.00 0.000 4 0.000 0.056 1878 3951 1645 0 0 0 0 0 0

9051 0.64 194.7 689.0 27.7 435 9055 0.00 1.08 0.00 0.000 6 0.000 0.033 1883 3236 1645 0 0 0 0 0 0

9393 0.64 194.7 602.0 25.8 446 9398 0.00 1.15 0.00 0.000 4 0.000 0.054 1884 3949 1644 0 0 0 0 0 0

9429 0.64 194.7 592.3 27.0 447 9433 0.10 1.05 0.00 0.000 6 0.203 0.032 1862 3247 1644 0 0 0 0 0 0

9770 0.64 194.7 512.8 23.0 458 9775 0.00 1.15 0.00 0.000 4 0.000 0.054 1862 3961 1643 0 0 0 0 0 0

9822 0.64 194.7 499.8 26.2 459 9826 0.00 1.08 0.00 0.000 6 0.000 0.032 1866 3240 1643 0 0 0 0 0 0

10148 0.64 194.7 424.1 23.3 470 10152 0.00 1.15 0.00 0.000 4 0.000 0.054 1866 3956 1642 0 0 0 0 0 0

10231 0.64 194.7 402.7 26.1 472 10234 0.00 1.05 0.00 0.000 6 0.000 0.032 1872 3253 1642 0 0 0 0 0 0

10560 0.64 194.7 326.6 23.2 488 10564 0.00 1.12 0.00 0.000 4 0.000 0.054 1871 3958 1642 0 0 0 0 0 0

10594 0.64 194.7 317.2 25.1 489 10598 0.00 1.05 0.00 0.000 6 0.000 0.031 1877 3251 1642 0 0 0 0 0 0

10913 0.64 194.7 242.8 23.6 505 10919 0.00 1.10 0.00 0.000 4 0.000 0.054 1877 3950 1642 0 0 0 0 0 0

10953 0.64 194.7 233.3 26.8 507 10957 0.00 1.02 0.00 0.000 6 0.000 0.032 1882 3254 1642 0 0 0 0 0 0

11283 0.64 194.7 151.8 24.5 528 11287 0.00 1.12 0.00 0.000 4 0.000 0.054 1882 3960 1642 0 0 0 0 0 0

11318 0.64 194.7 142.7 27.1 530 11325 0.10 1.05 0.00 0.000 6 0.197 0.031 1859 3248 1642 0 0 0 0 0 0

11655 0.64 194.7 69.5 19.8 567 11663 0.00 2.12 0.00 0.000 4 0.000 0.031 1869 1839 1642 0 0 0 0 0 0

11690 0.64 194.7 63.1 17.6 572 11697 0.00 2.22 0.00 0.000 6 0.000 0.048 1869 3258 1642 0 0 0 0 0 0

12005 end climb: SURFACE_DEPTH_REACHED

state 12006 begin surface coast

12024 end surface coast: CONTROL_FINISHED_OK

state 12024 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	134	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	48	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	-8242.043	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	301212,095034,-4159.039,826.968,26,1.0,26,-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	-0.045,0.214
_SM_DEPTHo	1.33	KALMAN_X	-88570.6,1003.7,588.1,121493.1,-8468.9
_SM_ANGLEo	-32.0	KALMAN_Y	44131.5,-277.9,111.4,13598.7,-6695.6
GPS2	301212,095923,-4158.955,826.966,15,1.0,16,-24.9	MHEAD_RNG_PITCHd_Wd	12.9,9781,-18.7,-9.009
SPEED_LIMITS	0.156,0.284	D_GRID	1000

FINISH	1.2,1.021638	_10V_AH	10.1,14.090
SM_CCo	12039,128.15,0.716,1,0,506,482.50	FG_AHR_24Vo	0.000
SM_GC	1.55,0.00,0.00,128.15,0.000,0.000,0.716,48,3365,506,-5.00,0.37,482.50	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4143.80,825.41,301212,060605	MEM	354248
TT8_MAMPS	0.025466	DATA_FILE_SIZE	47032,625
HUMID	55.94	CAP_FILE_SIZE	108000,0
INTERNAL_PRESSURE	8.95659	CFSIZE	259252224,250249216
TCM_TEMP	14.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
XPDR_PINGS	0	GPS	301212,132433,-4157.884,825.494,37,1.5,40,-24.9
_24V_AH	23.0,26.237

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	231	63.90	SBE_CT	402	24	222.32
Roll_motor	63	89	129.80	AA4330	1350	33	1025.33
VBD_pump_during_apogee	398	1160	10641.95	WL_BB2FLVMT	658	105	1590.76
VBD_pump_during_surface	128	716	2110.49	QSP2150	326	4	32.88
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	75.54	nil	0	0	0.00
Iridium_during_connect	55	160	206.07	nil	0	0	0.00
Iridium_during_xfer	290	223	1487.47	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	26	4.84
TT8	1595	14	241.00
LPSleep	7675	2	169.77
TT8_Active	590	14	84.82
TT8_Sampling	2100	37	794.22
TT8_CF8	740	47	352.98
TT8_Kalman	33	59	19.93
Analog_circuits	1452	12	176.07
GPS_charging	0	0	0.00
Compass	1873	15	297.70
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
20	-0.59	-108.4	0.0	0.0	0	102	0.00	0.00	-79.82	0.000	2	0.000	0.000	65	3356	2494	0	0	0	0	0	0
106	-0.64	-194.7	3.0	-3.5	10	152	5.53	2.20	-26.58	0.000	4	0.231	0.050	1432	1960	3269	0	0	0	0	0	0
353	-0.64	-194.7	30.1	-12.5	46	361	0.00	2.28	0.00	0.000	6	0.000	0.056	1423	3344	3271	0	0	0	0	0	0
602	-0.64	-194.7	69.0	-14.6	87	609	0.00	2.15	0.00	0.000	4	0.000	0.033	1423	1950	3272	0	0	0	0	0	0
802	-0.64	-194.7	92.3	-11.9	121	809	0.00	2.30	0.00	0.000	6	0.000	0.057	1413	3355	3272	0	0	0	0	0	0
1138	-0.64	-194.7	146.0	-16.6	148	1142	0.10	0.95	0.00	0.000	4	0.190	0.059	1434	3949	3272	0	0	0	0	0	0
1300	-0.64	-194.7	170.6	-15.0	157	1304	0.00	0.90	0.00	0.000	6	0.000	0.035	1434	3348	3273	0	0	0	0	0	0
1630	-0.64	-194.7	220.3	-14.9	178	1634	0.00	0.95	0.00	0.000	4	0.000	0.058	1430	3951	3273	0	0	0	0	0	0
1684	-0.64	-194.7	228.3	-15.2	181	1687	0.00	0.90	0.00	0.000	6	0.000	0.035	1430	3349	3273	0	0	0	0	0	0
2017	-0.64	-194.7	279.0	-15.1	199	2021	0.00	0.95	0.00	0.000	4	0.000	0.059	1425	3952	3273	0	0	0	0	0	0
2073	-0.64	-194.7	289.2	-16.4	201	2079	0.00	0.90	0.00	0.000	6	0.000	0.035	1425	3350	3273	0	0	0	0	0	0
2398	-0.64	-194.7	340.9	-15.7	217	2403	0.00	0.95	0.00	0.000	4	0.000	0.058	1421	3952	3273	0	0	0	0	0	0
2448	-0.64	-194.7	348.7	-16.3	219	2452	0.00	0.90	0.00	0.000	6	0.000	0.035	1421	3349	3273	0	0	0	0	0	0
2783	-0.64	-194.7	400.3	-15.0	235	2788	0.00	0.95	0.00	0.000	4	0.000	0.058	1416	3950	3273	0	0	0	0	0	0
2856	-0.64	-194.7	412.2	-15.2	237	2859	0.00	0.90	0.00	0.000	6	0.000	0.035	1416	3347	3273	0	0	0	0	0	0
3191	-0.64	-194.7	463.7	-15.4	248	3197	0.00	0.95	0.00	0.000	4	0.000	0.059	1412	3950	3273	0	0	0	0	0	0
3287	-0.64	-194.7	479.8	-16.3	250	3296	0.08	0.90	0.00	0.000	6	0.155	0.035	1436	3350	3273	0	0	0	0	0	0
3600	-0.64	-194.7	519.8	-13.0	261	3601	0.00	0.00	0.00	0.000	6	0.000	0.000	1436	3350	3273	0	0	0	0	0	0
3907	-0.64	-194.7	560.1	-13.2	271	3910	0.00	0.95	0.00	0.000	4	0.000	0.059	1432	3953	3272	0	0	0	0	0	0
3968	-0.64	-194.7	569.1	-14.1	272	3976	0.00	0.90	0.00	0.000	6	0.000	0.036	1432	3351	3272	0	0	0	0	0	0
4281	-0.64	-194.7	610.8	-13.2	283	4287	0.00	0.95	0.00	0.000	4	0.000	0.059	1428	3953	3271	0	0	0	0	0	0
4351	-0.64	-194.7	620.2	-12.9	285	4354	0.00	0.90	0.00	0.000	6	0.000	0.036	1427	3352	3271	0	0	0	0	0	0
4692	-0.64	-194.7	664.1	-13.0	296	4698	0.00	0.95	0.00	0.000	4	0.000	0.060	1424	3953	3269	0	0	0	0	0	0
4741	-0.64	-194.7	670.8	-14.6	297	4744	0.00	0.90	0.00	0.000	6	0.000	0.036	1423	3354	3270	0	0	0	0	0	0
5072	-0.64	-194.7	717.0	-14.0	308	5076	0.00	0.98	0.00	0.000	4	0.000	0.060	1419	3956	3269	0	0	0	0	0	0
5111	-0.64	-194.7	723.2	-14.6	309	5114	0.00	0.90	0.00	0.000	6	0.000	0.036	1419	3357	3269	0	0	0	0	0	0
5446	-0.64	-194.7	770.4	-13.8	320	5450	0.00	0.95	0.00	0.000	4	0.000	0.060	1415	3955	3268	0	0	0	0	0	0
5516	-0.64	-194.7	780.0	-14.1	322	5521	0.08	0.90	0.00	0.000	6	0.155	0.037	1439	3356	3268	0	0	0	0	0	0
5858	-0.64	-194.7	819.4	-11.1	333	5861	0.00	0.95	0.00	0.000	4	0.000	0.060	1435	3954	3267	0	0	0	0	0	0
5913	-0.64	-194.7	825.8	-12.2	334	5919	0.00	0.90	0.00	0.000	6	0.000	0.037	1435	3354	3267	0	0	0	0	0	0
6233	-0.64	-194.7	859.2	-10.4	345	6238	0.00	0.95	0.00	0.000	4	0.000	0.060	1431	3953	3266	0	0	0	0	0	0
6272	-0.64	-194.7	863.7	-10.8	346	6278	0.00	0.90	0.00	0.000	6	0.000	0.037	1431	3355	3266	0	0	0	0	0	0
6610	-0.64	-194.7	899.3	-10.9	357	6613	0.00	0.95	0.00	0.000	4	0.000	0.060	1426	3954	3265	0	0	0	0	0	0
6647	-0.64	-194.7	904.0	-12.2	358	6651	0.00	0.90	0.00	0.000	6	0.000	0.037	1426	3354	3264	0	0	0	0	0	0
6984	-0.64	-194.7	941.2	-10.9	369	6987	0.00	0.98	0.00	0.000	4	0.000	0.061	1422	3955	3264	0	0	0	0	0	0
7048	-0.64	-194.7	948.6	-11.7	370	7055	0.00	0.90	0.00	0.000	6	0.000	0.037	1422	3357	3264	0	0	0	0	0	0
7361	-0.64	-194.7	983.5	-10.9	381	7367	0.00	0.95	0.00	0.000	4	0.000	0.060	1418	3953	3263	0	0	0	0	0	0
7410	-0.64	-194.7	989.1	-12.2	382	7413	0.00	0.93	0.00	0.000	6	0.000	0.038	1418	3340	3263	0	0	0	0	0	0
7523	end dive: TARGET_DEPTH_EXCEEDED
state	7523	begin apogee
7530	-0.14	0.0	1002.6	11.5	386	7736	0.60	0.00	197.80	1.161	6	0.140	0.000	1601	3249	2464	0	0	0	0	0	0
7737	end apogee: CONTROL_FINISHED_OK
state	7737	begin climb
7740	0.64	194.7	1007.5	0.0	393	7946	0.70	0.00	200.90	1.108	6	0.045	0.000	1867	3248	1679	0	0	0	0	0	0
8232	0.64	194.7	898.6	25.5	409	8236	0.00	1.17	0.00	0.000	4	0.000	0.057	1867	3948	1648	0	0	0	0	0	0
8288	0.64	194.7	883.4	26.2	410	8292	0.00	1.10	0.00	0.000	6	0.000	0.033	1873	3242	1647	0	0	0	0	0	0
8606	0.64	194.7	804.2	25.0	421	8610	0.00	1.17	0.00	0.000	4	0.000	0.055	1873	3958	1645	0	0	0	0	0	0
8662	0.64	194.7	788.8	27.7	422	8668	0.00	1.08	0.00	0.000	6	0.000	0.033	1878	3254	1645	0	0	0	0	0	0
8982	0.64	194.7	707.6	25.4	433	8987	0.00	1.12	0.00	0.000	4	0.000	0.056	1878	3951	1645	0	0	0	0	0	0
9051	0.64	194.7	689.0	27.7	435	9055	0.00	1.08	0.00	0.000	6	0.000	0.033	1883	3236	1645	0	0	0	0	0	0
9393	0.64	194.7	602.0	25.8	446	9398	0.00	1.15	0.00	0.000	4	0.000	0.054	1884	3949	1644	0	0	0	0	0	0
9429	0.64	194.7	592.3	27.0	447	9433	0.10	1.05	0.00	0.000	6	0.203	0.032	1862	3247	1644	0	0	0	0	0	0
9770	0.64	194.7	512.8	23.0	458	9775	0.00	1.15	0.00	0.000	4	0.000	0.054	1862	3961	1643	0	0	0	0	0	0
9822	0.64	194.7	499.8	26.2	459	9826	0.00	1.08	0.00	0.000	6	0.000	0.032	1866	3240	1643	0	0	0	0	0	0
10148	0.64	194.7	424.1	23.3	470	10152	0.00	1.15	0.00	0.000	4	0.000	0.054	1866	3956	1642	0	0	0	0	0	0
10231	0.64	194.7	402.7	26.1	472	10234	0.00	1.05	0.00	0.000	6	0.000	0.032	1872	3253	1642	0	0	0	0	0	0
10560	0.64	194.7	326.6	23.2	488	10564	0.00	1.12	0.00	0.000	4	0.000	0.054	1871	3958	1642	0	0	0	0	0	0
10594	0.64	194.7	317.2	25.1	489	10598	0.00	1.05	0.00	0.000	6	0.000	0.031	1877	3251	1642	0	0	0	0	0	0
10913	0.64	194.7	242.8	23.6	505	10919	0.00	1.10	0.00	0.000	4	0.000	0.054	1877	3950	1642	0	0	0	0	0	0
10953	0.64	194.7	233.3	26.8	507	10957	0.00	1.02	0.00	0.000	6	0.000	0.032	1882	3254	1642	0	0	0	0	0	0
11283	0.64	194.7	151.8	24.5	528	11287	0.00	1.12	0.00	0.000	4	0.000	0.054	1882	3960	1642	0	0	0	0	0	0
11318	0.64	194.7	142.7	27.1	530	11325	0.10	1.05	0.00	0.000	6	0.197	0.031	1859	3248	1642	0	0	0	0	0	0
11655	0.64	194.7	69.5	19.8	567	11663	0.00	2.12	0.00	0.000	4	0.000	0.031	1869	1839	1642	0	0	0	0	0	0
11690	0.64	194.7	63.1	17.6	572	11697	0.00	2.22	0.00	0.000	6	0.000	0.048	1869	3258	1642	0	0	0	0	0	0
12005	end climb: SURFACE_DEPTH_REACHED
state	12006	begin surface coast
12024	end surface coast: CONTROL_FINISHED_OK
state	12024	begin surface