Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 151 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 542 HEADING -1 ROLL_MAX 3901 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 6 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 1050

DIVE 151 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2880 ALTIM_PING_DELTA 5

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2700 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -4230 HEAD_ERRBAND 10 ALTIM_PULSE 3

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 2

D_NO_BLEED 200 SM_CC 250 R_PORT_OVSHOOT 29 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 29 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 5 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 2.49

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 KERMIT 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 480 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3961 DEVICE2 101

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2820 DEVICE3 115

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 134

T_DIVE 353 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 368 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 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 -10915.245 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 1 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -7 PITCH_MIN 73 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3888 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1850 PHONE_SUPPLY 2 SEABIRD_T_G 0.0042910837

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -48.034508 SEABIRD_T_H 0.00061853422

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011816985 SEABIRD_T_I 2.1182957e-05

RHO 1.027 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.0754619e-06

MASS 52816 PITCH_GAIN 38 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.7625904

NAV_MODE 1 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1369455

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.0017508121

KALMAN_USE 1 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021125977

HD_A 0.003 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 10

HD_C 9.9999997e-06 ROLL_MIN 335 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SM_CC 250

AH0_10V 100 D_OFFGRID 250 PHONE_SUPPLY 2 SPEED_FACTOR 1

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_TGT 1000 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 1050 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 38 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3888 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -4230

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 73 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 0.0012300001 T_BOOST 5

APOGEE_PITCH -7 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011816985 T_DIVE 353

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -48.034508 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 -10915.245

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

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 368

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 RELAUNCH 1 T_RSLEEP 1

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RHO 1.027 T_TURN 225

COMPASS_DEVICE 33 ID 542 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_YINT 2.49 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_PITCH 1850 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2700 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 2880 LOGGERDEVICE1 -1 ROLL_MAX 3901 USE_ICE 0

C_VBD 2820 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_MIN 335 VBD_CNV -0.245296

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 29 VBD_MAX 3961

DEVICE2 101 MASS 52816 R_STBD_OVSHOOT 29 VBD_MAXERRORS 1

DEVICE3 115 MAX_BUOY 150 SEABIRD_C_G -9.7625904 VBD_MIN 480

DEVICE4 134 MINV_10V 8 SEABIRD_C_H 1.1369455 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.0017508121 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MISSION 6 SEABIRD_C_J 0.00021125977 VBD_TIMEOUT 720

DIVE 151 MOTHERBOARD 4 SEABIRD_T_G 0.0042910837 XPDR_DEVICE 24

D_ABORT 1050 NAV_MODE 1 SEABIRD_T_H 0.00061853422 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 SEABIRD_T_I 2.1182957e-05 XPDR_VALID 2

D_CALL 0 N_GPS 20 SEABIRD_T_J 2.0754619e-06

D_FINISH 0 N_NOCOMM 1 SIM_PITCH 0

D_FLARE 3 N_NOSURFACE 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 311212,093505,-4629.950,358.696,35,1.0,35,-23.3 TGT_NAME GH2

_CALLS 1 TGT_LATLONG -4630.000,410.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.253,0.036

_SM_DEPTHo 1.17 KALMAN_X -84353.9,15.9,61.0,61275.7,-4097.9

_SM_ANGLEo -35.5 KALMAN_Y 40563.7,471.2,-51.7,-1485.2,-777.3

GPS2 311212,094453,-4629.947,358.811,18,1.1,19,-23.3 MHEAD_RNG_PITCHd_Wd 105.1,14265,-16.5,-9.443

SPEED_LIMITS 0.164,0.256 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.7,1.026440 _10V_AH 10.1,13.144

SM_CCo 14820,51.40,0.790,1,0,1797,250.20 FG_AHR_24Vo 0.000

SM_GC 1.57,0.00,0.00,51.40,0.000,0.000,0.790,51,2897,1797,-5.62,0.45,250.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4613.60,400.91,311212,030327 MEM 353960

TT8_MAMPS 0.026215 DATA_FILE_SIZE 53721,748

HUMID 58.23 CAP_FILE_SIZE 109131,0

INTERNAL_PRESSURE 9.33597 CFSIZE 259252224,219934720

TCM_TEMP 11.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,1

XPDR_PINGS 0 GPS 311212,135505,-4628.961,400.548,32,1.1,32,-23.3

_24V_AH 21.8,30.521

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 251 75.17 SBE_CT 493 24 258.28

Roll_motor 80 74 129.78 AA4330 1490 33 1072.06

VBD_pump_during_apogee 297 1806 11701.09 WL_BB2FLVMT 802 105 1836.47

VBD_pump_during_surface 51 790 885.49 QSP2150 320 4 30.60

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 73.45 nil 0 0 0.00

Iridium_during_connect 27 160 97.46 nil 0 0 0.00

Iridium_during_xfer 314 223 1529.71 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 26 5.80

TT8 1819 14 274.98

LPSleep 10316 2 228.18

TT8_Active 494 14 71.00

TT8_Sampling 2213 37 836.67

TT8_CF8 614 47 292.85

TT8_Kalman 33 59 19.93

Analog_circuits 1271 12 154.06

GPS_charging 0 0 0.00

Compass 1774 15 281.95

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

27 -0.61 -146.1 0.0 0.0 0 164 0.00 0.00 -134.23 0.000 2 0.000 0.000 64 2931 3204 0 0 0 0 0 0

170 -0.61 -146.1 3.2 -3.3 17 189 6.53 1.60 -5.65 0.000 4 0.252 0.074 1641 3903 3418 0 0 0 0 0 0

466 -0.61 -146.1 50.0 -15.2 64 476 0.00 1.62 0.00 0.000 6 0.000 0.034 1641 2845 3420 0 0 0 0 0 0

712 -0.61 -146.1 82.9 -13.4 105 719 0.00 1.70 0.00 0.000 4 0.000 0.060 1633 3891 3420 0 0 0 0 0 0

820 -0.61 -146.1 96.9 -12.3 123 828 0.00 1.55 0.00 0.000 6 0.000 0.033 1632 2865 3421 0 0 0 0 0 0

1146 -0.61 -146.1 138.3 -12.5 146 1149 0.00 1.65 0.00 0.000 4 0.000 0.060 1624 3900 3421 0 0 0 0 0 0

1192 -0.61 -146.1 144.6 -12.8 148 1200 0.00 1.55 0.00 0.000 6 0.000 0.032 1625 2872 3421 0 0 0 0 0 0

1515 -0.61 -146.1 185.9 -12.9 169 1519 0.00 2.08 0.00 0.000 4 0.000 0.037 1624 1500 3421 0 0 0 0 0 0

1539 -0.61 -146.1 189.4 -12.8 170 1543 0.12 2.20 0.00 0.000 6 0.190 0.052 1646 2883 3421 0 0 0 0 0 0

1866 -0.61 -146.1 223.8 -10.9 190 1874 0.00 0.00 0.00 0.000 6 0.000 0.000 1646 2883 3421 0 0 0 0 0 0

2192 -0.61 -146.1 259.5 -10.7 210 2193 0.00 0.00 0.00 0.000 6 0.000 0.000 1646 2883 3421 0 0 0 0 0 0

2503 -0.61 -146.1 291.4 -10.1 225 2504 0.00 0.00 0.00 0.000 6 0.000 0.000 1646 2882 3421 0 0 0 0 0 0

2811 -0.61 -146.1 323.5 -10.6 240 2812 0.00 0.00 0.00 0.000 6 0.000 0.000 1646 2882 3421 0 0 0 0 0 0

3121 -0.61 -146.1 357.2 -10.8 255 3125 0.00 2.10 0.00 0.000 4 0.000 0.037 1646 1502 3421 0 0 0 0 0 0

3151 -0.61 -146.1 360.9 -10.6 256 3155 0.00 2.20 0.00 0.000 6 0.000 0.054 1637 2888 3421 0 0 0 0 0 0

3475 -0.61 -146.1 397.4 -11.1 272 3478 0.00 1.58 0.00 0.000 4 0.000 0.061 1628 3885 3421 0 0 0 0 0 0

3537 -0.61 -146.1 404.9 -11.2 274 3544 0.00 1.50 0.00 0.000 6 0.000 0.034 1629 2884 3421 0 0 0 0 0 0

3852 -0.61 -146.1 439.3 -10.8 285 3854 0.00 0.00 0.00 0.000 6 0.000 0.000 1629 2884 3420 0 0 0 0 0 0

4159 -0.61 -146.1 471.7 -10.6 295 4160 0.00 0.00 0.00 0.000 6 0.000 0.000 1628 2884 3420 0 0 0 0 0 0

4465 -0.61 -146.1 504.3 -10.6 305 4466 0.00 0.00 0.00 0.000 6 0.000 0.000 1629 2884 3420 0 0 0 0 0 0

4771 -0.61 -146.1 537.1 -10.7 315 4772 0.00 0.00 0.00 0.000 6 0.000 0.000 1628 2883 3420 0 0 0 0 0 0

5077 -0.61 -146.1 569.4 -10.4 325 5081 0.00 1.62 0.00 0.000 4 0.000 0.062 1621 3892 3420 0 0 0 0 0 0

5108 -0.61 -146.1 572.8 -11.1 325 5115 0.08 1.52 0.00 0.000 6 0.165 0.034 1645 2877 3419 0 0 0 0 0 0

5425 -0.61 -146.1 600.5 -8.7 336 5426 0.00 0.00 0.00 0.000 6 0.000 0.000 1645 2877 3419 0 0 0 0 0 0

5730 -0.61 -146.1 626.5 -8.5 346 5734 0.00 2.08 0.00 0.000 4 0.000 0.038 1645 1492 3419 0 0 0 0 0 0

5782 -0.61 -146.1 631.0 -8.1 347 5786 0.00 2.20 0.00 0.000 6 0.000 0.054 1636 2889 3418 0 0 0 0 0 0

6103 -0.61 -146.1 659.5 -9.1 358 6104 0.00 0.00 0.00 0.000 6 0.000 0.000 1636 2889 3418 0 0 0 0 0 0

6409 -0.61 -146.1 686.8 -8.8 368 6413 0.00 2.10 0.00 0.000 4 0.000 0.037 1636 1500 3418 0 0 0 0 0 0

6450 -0.61 -146.1 690.5 -8.7 369 6454 0.00 2.20 0.00 0.000 6 0.000 0.054 1626 2885 3418 0 0 0 0 0 0

6776 -0.61 -146.1 720.7 -9.5 380 6780 0.00 1.60 0.00 0.000 4 0.000 0.063 1618 3896 3417 0 0 0 0 0 0

6805 -0.61 -146.1 723.7 -9.9 380 6813 0.08 1.52 0.00 0.000 6 0.163 0.034 1642 2882 3418 0 0 0 0 0 0

7122 -0.61 -146.1 748.8 -8.1 391 7126 0.00 2.08 0.00 0.000 4 0.000 0.039 1642 1496 3418 0 0 0 0 0 0

7154 -0.61 -146.1 751.4 -7.3 392 7158 0.00 2.20 0.00 0.000 6 0.000 0.055 1634 2885 3417 0 0 0 0 0 0

7499 -0.61 -146.1 780.3 -8.4 403 7500 0.00 0.00 0.00 0.000 6 0.000 0.000 1634 2887 3417 0 0 0 0 0 0

7803 -0.61 -146.1 806.5 -8.5 413 7805 0.00 0.00 0.00 0.000 6 0.000 0.000 1634 2887 3417 0 0 0 0 0 0

8110 -0.61 -146.1 832.3 -8.4 423 8111 0.00 0.00 0.00 0.000 6 0.000 0.000 1634 2887 3417 0 0 0 0 0 0

8416 -0.61 -146.1 858.6 -8.6 433 8420 0.00 2.12 0.00 0.000 4 0.000 0.038 1633 1491 3417 0 0 0 0 0 0

8457 -0.61 -146.1 862.1 -7.9 434 8461 0.00 2.20 0.00 0.000 6 0.000 0.055 1624 2887 3417 0 0 0 0 0 0

8794 -0.61 -146.1 893.2 -9.6 445 8795 0.00 0.00 0.00 0.000 6 0.000 0.000 1623 2887 3417 0 0 0 0 0 0

9101 -0.61 -146.1 922.7 -9.6 455 9102 0.00 0.00 0.00 0.000 6 0.000 0.000 1623 2887 3417 0 0 0 0 0 0

9407 -0.61 -146.1 951.4 -9.3 465 9408 0.00 0.00 0.00 0.000 6 0.000 0.000 1623 2887 3417 0 0 0 0 0 0

9713 -0.61 -146.1 979.7 -8.9 475 9717 0.00 2.12 0.00 0.000 4 0.000 0.037 1624 1485 3417 0 0 0 0 0 0

9745 -0.61 -146.1 982.5 -8.0 476 9750 0.12 2.22 0.00 0.000 6 0.187 0.055 1645 2888 3417 0 0 0 0 0 0

9987 end dive: TARGET_DEPTH_EXCEEDED

state 9987 begin apogee

9998 -0.18 0.0 1000.1 6.9 484 10150 0.45 0.00 148.65 1.244 6 0.152 0.000 1783 2700 2819 0 0 0 0 0 0

10152 end apogee: CONTROL_FINISHED_OK

state 10152 begin climb

10157 0.61 146.1 1002.6 0.0 489 10319 0.80 0.00 148.52 1.806 6 0.083 0.000 2051 2700 2223 0 0 0 0 1 0

10605 0.61 146.1 907.3 24.5 504 10606 0.00 0.00 0.00 0.000 6 0.000 0.000 2051 2700 2218 0 0 0 0 0 0

10911 0.61 146.1 835.0 23.4 514 10915 0.00 2.22 0.00 0.000 4 0.000 0.044 2061 1306 2216 0 0 0 0 0 0

10940 0.61 146.1 827.9 23.6 514 10947 0.00 2.30 0.00 0.000 6 0.000 0.052 2061 2708 2215 0 0 0 0 0 0

11255 0.61 146.1 753.3 23.7 525 11257 0.00 0.00 0.00 0.000 6 0.000 0.000 2061 2709 2215 0 0 0 0 0 0

11562 0.61 146.1 681.4 23.5 535 11566 0.00 2.22 0.00 0.000 4 0.000 0.044 2072 1295 2215 0 0 0 0 0 0

11608 0.61 146.1 670.8 21.5 536 11612 0.00 2.28 0.00 0.000 6 0.000 0.052 2072 2708 2213 0 0 0 0 0 0

11940 0.61 146.1 593.1 23.9 547 11941 0.00 0.00 0.00 0.000 6 0.000 0.000 2072 2708 2213 0 0 0 0 0 0

12246 0.61 146.1 519.8 23.7 557 12250 0.00 2.22 0.00 0.000 4 0.000 0.044 2082 1295 2213 0 0 0 0 0 0

12298 0.61 146.1 507.7 20.4 558 12303 0.12 2.28 0.00 0.000 6 0.231 0.053 2056 2710 2212 0 0 0 0 0 0

12613 0.61 146.1 438.6 22.1 568 12614 0.00 0.00 0.00 0.000 6 0.000 0.000 2056 2711 2212 0 0 0 0 0 0

12921 0.61 146.1 371.4 21.5 580 12925 0.00 2.22 0.00 0.000 4 0.000 0.044 2065 1293 2212 0 0 0 0 0 0

12956 0.61 146.1 363.9 19.4 581 12963 0.00 2.25 0.00 0.000 6 0.000 0.053 2065 2707 2211 0 0 0 0 0 0

13277 0.61 146.1 296.9 21.2 597 13278 0.00 0.00 0.00 0.000 6 0.000 0.000 2066 2707 2211 0 0 0 0 0 0

13595 0.61 146.1 228.1 21.2 614 13599 0.00 2.20 0.00 0.000 4 0.000 0.044 2075 1303 2211 0 0 0 0 0 0

13627 0.61 146.1 221.5 21.3 616 13631 0.00 2.22 0.00 0.000 6 0.000 0.053 2075 2699 2210 0 0 0 0 0 0

13956 0.61 146.1 150.1 21.9 637 13959 0.00 1.88 0.00 0.000 4 0.000 0.060 2075 3896 2211 0 0 0 0 0 0

13996 0.61 146.1 141.2 25.8 639 14000 0.15 1.83 0.00 0.000 6 0.248 0.040 2052 2708 2211 0 0 0 0 0 0

14332 0.61 146.1 76.1 17.0 674 14338 0.00 0.00 0.00 0.000 6 0.000 0.000 2052 2702 2211 0 0 0 0 0 0

14702 0.61 146.1 14.8 17.7 735 14710 0.00 2.17 0.00 0.000 4 0.000 0.042 2061 1304 2210 0 0 0 0 0 0

14759 0.61 146.1 4.7 17.0 743 14768 0.00 2.25 0.00 0.000 6 0.000 0.054 2062 2700 2209 0 0 0 0 0 0

14778 end climb: SURFACE_DEPTH_REACHED

state 14778 begin surface coast

14798 end surface coast: CONTROL_FINISHED_OK

state 14798 begin surface

ID	542	HEADING	-1	ROLL_MAX	3901	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	6	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	1050
DIVE	151	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2880	ALTIM_PING_DELTA	5
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2700	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-4230	HEAD_ERRBAND	10	ALTIM_PULSE	3
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	2
D_NO_BLEED	200	SM_CC	250	R_PORT_OVSHOOT	29	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	29	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	5	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	2.49
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	KERMIT	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	480	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3961	DEVICE2	101
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2820	DEVICE3	115
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	134
T_DIVE	353	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	368	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	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	-10915.245	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	1	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-7	PITCH_MIN	73	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3888	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1850	PHONE_SUPPLY	2	SEABIRD_T_G	0.0042910837
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-48.034508	SEABIRD_T_H	0.00061853422
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011816985	SEABIRD_T_I	2.1182957e-05
RHO	1.027	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.0754619e-06
MASS	52816	PITCH_GAIN	38	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.7625904
NAV_MODE	1	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1369455
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.0017508121
KALMAN_USE	1	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021125977
HD_A	0.003	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	10
HD_C	9.9999997e-06	ROLL_MIN	335	ALTIM_TOP_TURN_MARGIN	0

GPS1	311212,093505,-4629.950,358.696,35,1.0,35,-23.3	TGT_NAME	GH2
_CALLS	1	TGT_LATLONG	-4630.000,410.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.253,0.036
_SM_DEPTHo	1.17	KALMAN_X	-84353.9,15.9,61.0,61275.7,-4097.9
_SM_ANGLEo	-35.5	KALMAN_Y	40563.7,471.2,-51.7,-1485.2,-777.3
GPS2	311212,094453,-4629.947,358.811,18,1.1,19,-23.3	MHEAD_RNG_PITCHd_Wd	105.1,14265,-16.5,-9.443
SPEED_LIMITS	0.164,0.256	D_GRID	1000

FINISH	0.7,1.026440	_10V_AH	10.1,13.144
SM_CCo	14820,51.40,0.790,1,0,1797,250.20	FG_AHR_24Vo	0.000
SM_GC	1.57,0.00,0.00,51.40,0.000,0.000,0.790,51,2897,1797,-5.62,0.45,250.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4613.60,400.91,311212,030327	MEM	353960
TT8_MAMPS	0.026215	DATA_FILE_SIZE	53721,748
HUMID	58.23	CAP_FILE_SIZE	109131,0
INTERNAL_PRESSURE	9.33597	CFSIZE	259252224,219934720
TCM_TEMP	11.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
XPDR_PINGS	0	GPS	311212,135505,-4628.961,400.548,32,1.1,32,-23.3
_24V_AH	21.8,30.521

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	251	75.17	SBE_CT	493	24	258.28
Roll_motor	80	74	129.78	AA4330	1490	33	1072.06
VBD_pump_during_apogee	297	1806	11701.09	WL_BB2FLVMT	802	105	1836.47
VBD_pump_during_surface	51	790	885.49	QSP2150	320	4	30.60
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	73.45	nil	0	0	0.00
Iridium_during_connect	27	160	97.46	nil	0	0	0.00
Iridium_during_xfer	314	223	1529.71	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	26	5.80
TT8	1819	14	274.98
LPSleep	10316	2	228.18
TT8_Active	494	14	71.00
TT8_Sampling	2213	37	836.67
TT8_CF8	614	47	292.85
TT8_Kalman	33	59	19.93
Analog_circuits	1271	12	154.06
GPS_charging	0	0	0.00
Compass	1774	15	281.95
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
27	-0.61	-146.1	0.0	0.0	0	164	0.00	0.00	-134.23	0.000	2	0.000	0.000	64	2931	3204	0	0	0	0	0	0
170	-0.61	-146.1	3.2	-3.3	17	189	6.53	1.60	-5.65	0.000	4	0.252	0.074	1641	3903	3418	0	0	0	0	0	0
466	-0.61	-146.1	50.0	-15.2	64	476	0.00	1.62	0.00	0.000	6	0.000	0.034	1641	2845	3420	0	0	0	0	0	0
712	-0.61	-146.1	82.9	-13.4	105	719	0.00	1.70	0.00	0.000	4	0.000	0.060	1633	3891	3420	0	0	0	0	0	0
820	-0.61	-146.1	96.9	-12.3	123	828	0.00	1.55	0.00	0.000	6	0.000	0.033	1632	2865	3421	0	0	0	0	0	0
1146	-0.61	-146.1	138.3	-12.5	146	1149	0.00	1.65	0.00	0.000	4	0.000	0.060	1624	3900	3421	0	0	0	0	0	0
1192	-0.61	-146.1	144.6	-12.8	148	1200	0.00	1.55	0.00	0.000	6	0.000	0.032	1625	2872	3421	0	0	0	0	0	0
1515	-0.61	-146.1	185.9	-12.9	169	1519	0.00	2.08	0.00	0.000	4	0.000	0.037	1624	1500	3421	0	0	0	0	0	0
1539	-0.61	-146.1	189.4	-12.8	170	1543	0.12	2.20	0.00	0.000	6	0.190	0.052	1646	2883	3421	0	0	0	0	0	0
1866	-0.61	-146.1	223.8	-10.9	190	1874	0.00	0.00	0.00	0.000	6	0.000	0.000	1646	2883	3421	0	0	0	0	0	0
2192	-0.61	-146.1	259.5	-10.7	210	2193	0.00	0.00	0.00	0.000	6	0.000	0.000	1646	2883	3421	0	0	0	0	0	0
2503	-0.61	-146.1	291.4	-10.1	225	2504	0.00	0.00	0.00	0.000	6	0.000	0.000	1646	2882	3421	0	0	0	0	0	0
2811	-0.61	-146.1	323.5	-10.6	240	2812	0.00	0.00	0.00	0.000	6	0.000	0.000	1646	2882	3421	0	0	0	0	0	0
3121	-0.61	-146.1	357.2	-10.8	255	3125	0.00	2.10	0.00	0.000	4	0.000	0.037	1646	1502	3421	0	0	0	0	0	0
3151	-0.61	-146.1	360.9	-10.6	256	3155	0.00	2.20	0.00	0.000	6	0.000	0.054	1637	2888	3421	0	0	0	0	0	0
3475	-0.61	-146.1	397.4	-11.1	272	3478	0.00	1.58	0.00	0.000	4	0.000	0.061	1628	3885	3421	0	0	0	0	0	0
3537	-0.61	-146.1	404.9	-11.2	274	3544	0.00	1.50	0.00	0.000	6	0.000	0.034	1629	2884	3421	0	0	0	0	0	0
3852	-0.61	-146.1	439.3	-10.8	285	3854	0.00	0.00	0.00	0.000	6	0.000	0.000	1629	2884	3420	0	0	0	0	0	0
4159	-0.61	-146.1	471.7	-10.6	295	4160	0.00	0.00	0.00	0.000	6	0.000	0.000	1628	2884	3420	0	0	0	0	0	0
4465	-0.61	-146.1	504.3	-10.6	305	4466	0.00	0.00	0.00	0.000	6	0.000	0.000	1629	2884	3420	0	0	0	0	0	0
4771	-0.61	-146.1	537.1	-10.7	315	4772	0.00	0.00	0.00	0.000	6	0.000	0.000	1628	2883	3420	0	0	0	0	0	0
5077	-0.61	-146.1	569.4	-10.4	325	5081	0.00	1.62	0.00	0.000	4	0.000	0.062	1621	3892	3420	0	0	0	0	0	0
5108	-0.61	-146.1	572.8	-11.1	325	5115	0.08	1.52	0.00	0.000	6	0.165	0.034	1645	2877	3419	0	0	0	0	0	0
5425	-0.61	-146.1	600.5	-8.7	336	5426	0.00	0.00	0.00	0.000	6	0.000	0.000	1645	2877	3419	0	0	0	0	0	0
5730	-0.61	-146.1	626.5	-8.5	346	5734	0.00	2.08	0.00	0.000	4	0.000	0.038	1645	1492	3419	0	0	0	0	0	0
5782	-0.61	-146.1	631.0	-8.1	347	5786	0.00	2.20	0.00	0.000	6	0.000	0.054	1636	2889	3418	0	0	0	0	0	0
6103	-0.61	-146.1	659.5	-9.1	358	6104	0.00	0.00	0.00	0.000	6	0.000	0.000	1636	2889	3418	0	0	0	0	0	0
6409	-0.61	-146.1	686.8	-8.8	368	6413	0.00	2.10	0.00	0.000	4	0.000	0.037	1636	1500	3418	0	0	0	0	0	0
6450	-0.61	-146.1	690.5	-8.7	369	6454	0.00	2.20	0.00	0.000	6	0.000	0.054	1626	2885	3418	0	0	0	0	0	0
6776	-0.61	-146.1	720.7	-9.5	380	6780	0.00	1.60	0.00	0.000	4	0.000	0.063	1618	3896	3417	0	0	0	0	0	0
6805	-0.61	-146.1	723.7	-9.9	380	6813	0.08	1.52	0.00	0.000	6	0.163	0.034	1642	2882	3418	0	0	0	0	0	0
7122	-0.61	-146.1	748.8	-8.1	391	7126	0.00	2.08	0.00	0.000	4	0.000	0.039	1642	1496	3418	0	0	0	0	0	0
7154	-0.61	-146.1	751.4	-7.3	392	7158	0.00	2.20	0.00	0.000	6	0.000	0.055	1634	2885	3417	0	0	0	0	0	0
7499	-0.61	-146.1	780.3	-8.4	403	7500	0.00	0.00	0.00	0.000	6	0.000	0.000	1634	2887	3417	0	0	0	0	0	0
7803	-0.61	-146.1	806.5	-8.5	413	7805	0.00	0.00	0.00	0.000	6	0.000	0.000	1634	2887	3417	0	0	0	0	0	0
8110	-0.61	-146.1	832.3	-8.4	423	8111	0.00	0.00	0.00	0.000	6	0.000	0.000	1634	2887	3417	0	0	0	0	0	0
8416	-0.61	-146.1	858.6	-8.6	433	8420	0.00	2.12	0.00	0.000	4	0.000	0.038	1633	1491	3417	0	0	0	0	0	0
8457	-0.61	-146.1	862.1	-7.9	434	8461	0.00	2.20	0.00	0.000	6	0.000	0.055	1624	2887	3417	0	0	0	0	0	0
8794	-0.61	-146.1	893.2	-9.6	445	8795	0.00	0.00	0.00	0.000	6	0.000	0.000	1623	2887	3417	0	0	0	0	0	0
9101	-0.61	-146.1	922.7	-9.6	455	9102	0.00	0.00	0.00	0.000	6	0.000	0.000	1623	2887	3417	0	0	0	0	0	0
9407	-0.61	-146.1	951.4	-9.3	465	9408	0.00	0.00	0.00	0.000	6	0.000	0.000	1623	2887	3417	0	0	0	0	0	0
9713	-0.61	-146.1	979.7	-8.9	475	9717	0.00	2.12	0.00	0.000	4	0.000	0.037	1624	1485	3417	0	0	0	0	0	0
9745	-0.61	-146.1	982.5	-8.0	476	9750	0.12	2.22	0.00	0.000	6	0.187	0.055	1645	2888	3417	0	0	0	0	0	0
9987	end dive: TARGET_DEPTH_EXCEEDED
state	9987	begin apogee
9998	-0.18	0.0	1000.1	6.9	484	10150	0.45	0.00	148.65	1.244	6	0.152	0.000	1783	2700	2819	0	0	0	0	0	0
10152	end apogee: CONTROL_FINISHED_OK
state	10152	begin climb
10157	0.61	146.1	1002.6	0.0	489	10319	0.80	0.00	148.52	1.806	6	0.083	0.000	2051	2700	2223	0	0	0	0	1	0
10605	0.61	146.1	907.3	24.5	504	10606	0.00	0.00	0.00	0.000	6	0.000	0.000	2051	2700	2218	0	0	0	0	0	0
10911	0.61	146.1	835.0	23.4	514	10915	0.00	2.22	0.00	0.000	4	0.000	0.044	2061	1306	2216	0	0	0	0	0	0
10940	0.61	146.1	827.9	23.6	514	10947	0.00	2.30	0.00	0.000	6	0.000	0.052	2061	2708	2215	0	0	0	0	0	0
11255	0.61	146.1	753.3	23.7	525	11257	0.00	0.00	0.00	0.000	6	0.000	0.000	2061	2709	2215	0	0	0	0	0	0
11562	0.61	146.1	681.4	23.5	535	11566	0.00	2.22	0.00	0.000	4	0.000	0.044	2072	1295	2215	0	0	0	0	0	0
11608	0.61	146.1	670.8	21.5	536	11612	0.00	2.28	0.00	0.000	6	0.000	0.052	2072	2708	2213	0	0	0	0	0	0
11940	0.61	146.1	593.1	23.9	547	11941	0.00	0.00	0.00	0.000	6	0.000	0.000	2072	2708	2213	0	0	0	0	0	0
12246	0.61	146.1	519.8	23.7	557	12250	0.00	2.22	0.00	0.000	4	0.000	0.044	2082	1295	2213	0	0	0	0	0	0
12298	0.61	146.1	507.7	20.4	558	12303	0.12	2.28	0.00	0.000	6	0.231	0.053	2056	2710	2212	0	0	0	0	0	0
12613	0.61	146.1	438.6	22.1	568	12614	0.00	0.00	0.00	0.000	6	0.000	0.000	2056	2711	2212	0	0	0	0	0	0
12921	0.61	146.1	371.4	21.5	580	12925	0.00	2.22	0.00	0.000	4	0.000	0.044	2065	1293	2212	0	0	0	0	0	0
12956	0.61	146.1	363.9	19.4	581	12963	0.00	2.25	0.00	0.000	6	0.000	0.053	2065	2707	2211	0	0	0	0	0	0
13277	0.61	146.1	296.9	21.2	597	13278	0.00	0.00	0.00	0.000	6	0.000	0.000	2066	2707	2211	0	0	0	0	0	0
13595	0.61	146.1	228.1	21.2	614	13599	0.00	2.20	0.00	0.000	4	0.000	0.044	2075	1303	2211	0	0	0	0	0	0
13627	0.61	146.1	221.5	21.3	616	13631	0.00	2.22	0.00	0.000	6	0.000	0.053	2075	2699	2210	0	0	0	0	0	0
13956	0.61	146.1	150.1	21.9	637	13959	0.00	1.88	0.00	0.000	4	0.000	0.060	2075	3896	2211	0	0	0	0	0	0
13996	0.61	146.1	141.2	25.8	639	14000	0.15	1.83	0.00	0.000	6	0.248	0.040	2052	2708	2211	0	0	0	0	0	0
14332	0.61	146.1	76.1	17.0	674	14338	0.00	0.00	0.00	0.000	6	0.000	0.000	2052	2702	2211	0	0	0	0	0	0
14702	0.61	146.1	14.8	17.7	735	14710	0.00	2.17	0.00	0.000	4	0.000	0.042	2061	1304	2210	0	0	0	0	0	0
14759	0.61	146.1	4.7	17.0	743	14768	0.00	2.25	0.00	0.000	6	0.000	0.054	2062	2700	2209	0	0	0	0	0	0
14778	end climb: SURFACE_DEPTH_REACHED
state	14778	begin surface coast
14798	end surface coast: CONTROL_FINISHED_OK
state	14798	begin surface