Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 153 * 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 153 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 43 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 27 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 -10922.19 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 -10922.19

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 43 VBD_MAX 3961

DEVICE2 101 MASS 52816 R_STBD_OVSHOOT 27 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 153 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 311212,182153,-4628.351,402.208,39,0.9,39,-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 0.251,-0.049

_SM_DEPTHo 1.68 KALMAN_X -90125.1,-426.9,-119.6,71910.9,-3421.7

_SM_ANGLEo -62.2 KALMAN_Y 43627.7,66.5,342.9,-1597.7,460.5

GPS2 311212,183236,-4628.356,402.164,16,1.0,17,-23.3 MHEAD_RNG_PITCHd_Wd 124.4,10443,-16.5,-9.443

SPEED_LIMITS 0.164,0.256 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.9,1.026095 _10V_AH 10.1,13.347

SM_CCo 14896,51.55,0.770,1,0,1798,250.20 FG_AHR_24Vo 0.000

SM_GC 1.63,0.00,0.00,51.55,0.000,0.000,0.770,56,2894,1798,-5.60,0.40,250.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4613.60,358.00,311212,131336 MEM 354008

TT8_MAMPS 0.026215 DATA_FILE_SIZE 53788,743

HUMID 58.38 CAP_FILE_SIZE 111651,0

INTERNAL_PRESSURE 9.3262 CFSIZE 259252224,219803648

TCM_TEMP 10.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,1

XPDR_PINGS 0 GPS 311212,224403,-4628.378,404.127,34,1.3,34,-23.3

_24V_AH 21.8,30.847

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 252 76.22 SBE_CT 491 24 257.41

Roll_motor 81 75 133.86 AA4330 1466 33 1054.83

VBD_pump_during_apogee 297 1809 11714.99 WL_BB2FLVMT 775 105 1775.92

VBD_pump_during_surface 51 769 864.86 QSP2150 296 4 28.30

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 58.35 nil 0 0 0.00

Iridium_during_connect 23 160 82.97 nil 0 0 0.00

Iridium_during_xfer 348 223 1696.41 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 5.17

TT8 1837 14 277.57

LPSleep 10382 2 229.65

TT8_Active 436 14 62.58

TT8_Sampling 2283 37 863.12

TT8_CF8 643 47 306.78

TT8_Kalman 33 59 19.93

Analog_circuits 1216 12 147.45

GPS_charging 0 0 0.00

Compass 1815 15 288.37

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

26 -0.61 -146.1 0.0 0.0 0 91 0.00 0.00 -63.10 0.000 2 0.000 0.000 62 2875 3003 0 0 0 0 0 0

98 -0.61 -146.1 3.1 -3.6 8 125 6.55 1.65 -12.20 0.000 4 0.252 0.076 1638 3900 3417 0 0 0 0 0 0

401 -0.61 -146.1 47.8 -13.4 56 410 0.00 1.60 0.00 0.000 6 0.000 0.034 1638 2851 3419 0 0 0 0 0 0

648 -0.61 -146.1 81.3 -12.6 97 652 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2851 3419 0 0 0 0 0 0

980 -0.61 -146.1 123.5 -12.3 134 984 0.00 1.70 0.00 0.000 4 0.000 0.060 1630 3900 3420 0 0 0 0 0 0

1051 -0.61 -146.1 133.0 -13.1 138 1054 0.00 1.55 0.00 0.000 6 0.000 0.032 1630 2876 3420 0 0 0 0 0 0

1385 -0.61 -146.1 177.3 -13.3 159 1389 0.00 2.08 0.00 0.000 4 0.000 0.037 1630 1496 3421 0 0 0 0 0 0

1442 -0.61 -146.1 184.8 -11.0 162 1452 0.08 2.22 0.00 0.000 6 0.158 0.053 1644 2875 3421 0 0 0 0 0 0

1770 -0.61 -146.1 218.6 -10.3 183 1776 0.00 0.00 0.00 0.000 6 0.000 0.000 1644 2875 3421 0 0 0 0 0 0

2096 -0.61 -146.1 252.7 -10.3 204 2097 0.00 0.00 0.00 0.000 6 0.000 0.000 1644 2875 3421 0 0 0 0 0 0

2407 -0.61 -146.1 283.4 -9.9 219 2409 0.00 0.00 0.00 0.000 6 0.000 0.000 1643 2875 3421 0 0 0 0 0 0

2715 -0.61 -146.1 313.6 -9.8 234 2719 0.00 1.62 0.00 0.000 4 0.000 0.061 1637 3901 3421 0 0 0 0 0 0

2763 -0.61 -146.1 318.8 -10.6 236 2767 0.00 1.55 0.00 0.000 6 0.000 0.034 1637 2876 3421 0 0 0 0 0 0

3098 -0.61 -146.1 355.8 -11.2 252 3099 0.00 0.00 0.00 0.000 6 0.000 0.000 1637 2871 3421 0 0 0 0 0 0

3410 -0.61 -146.1 389.2 -10.4 267 3414 0.00 2.10 0.00 0.000 4 0.000 0.038 1637 1491 3422 0 0 0 0 0 0

3445 -0.61 -146.1 393.4 -10.1 268 3453 0.00 2.25 0.00 0.000 6 0.000 0.054 1626 2891 3421 0 0 0 0 0 0

3760 -0.61 -146.1 428.0 -11.2 280 3762 0.00 0.00 0.00 0.000 6 0.000 0.000 1626 2891 3421 0 0 0 0 0 0

4067 -0.61 -146.1 461.6 -10.9 290 4071 0.00 1.58 0.00 0.000 4 0.000 0.061 1619 3889 3421 0 0 0 0 0 0

4118 -0.61 -146.1 467.8 -11.5 291 4122 0.08 1.52 0.00 0.000 6 0.161 0.034 1643 2878 3421 0 0 0 0 0 0

4445 -0.61 -146.1 499.3 -9.9 302 4446 0.00 0.00 0.00 0.000 6 0.000 0.000 1643 2874 3421 0 0 0 0 0 0

4753 -0.61 -146.1 529.7 -10.0 312 4754 0.00 0.00 0.00 0.000 6 0.000 0.000 1643 2874 3421 0 0 0 0 0 0

5057 -0.61 -146.1 558.8 -9.3 322 5059 0.00 0.00 0.00 0.000 6 0.000 0.000 1643 2875 3420 0 0 0 0 0 0

5364 -0.61 -146.1 587.5 -9.3 332 5368 0.00 2.08 0.00 0.000 4 0.000 0.040 1644 1493 3419 0 0 0 0 0 0

5399 -0.61 -146.1 591.0 -9.4 333 5403 0.00 2.20 0.00 0.000 6 0.000 0.054 1634 2880 3420 0 0 0 0 0 0

5731 -0.61 -146.1 623.1 -9.9 344 5734 0.00 1.62 0.00 0.000 4 0.000 0.063 1626 3891 3419 0 0 0 0 0 0

5767 -0.61 -146.1 627.1 -11.0 345 5771 0.00 1.52 0.00 0.000 6 0.000 0.034 1626 2877 3419 0 0 0 0 0 0

6110 -0.61 -146.1 664.3 -10.7 356 6111 0.00 0.00 0.00 0.000 6 0.000 0.000 1626 2873 3419 0 0 0 0 0 0

6417 -0.61 -146.1 697.3 -10.8 366 6418 0.00 0.00 0.00 0.000 6 0.000 0.000 1626 2873 3419 0 0 0 0 0 0

6722 -0.61 -146.1 729.5 -10.5 376 6724 0.00 0.00 0.00 0.000 6 0.000 0.000 1626 2873 3419 0 0 0 0 0 0

7030 -0.61 -146.1 759.8 -9.8 386 7034 0.00 2.10 0.00 0.000 4 0.000 0.040 1626 1491 3419 0 0 0 0 0 0

7066 -0.61 -146.1 763.7 -9.5 387 7070 0.12 2.20 0.00 0.000 6 0.187 0.054 1648 2879 3419 0 0 0 0 0 0

7399 -0.61 -146.1 788.7 -7.4 398 7400 0.00 0.00 0.00 0.000 6 0.000 0.000 1648 2880 3418 0 0 0 0 0 0

7705 -0.61 -146.1 811.5 -7.7 408 7706 0.00 0.00 0.00 0.000 6 0.000 0.000 1648 2880 3419 0 0 0 0 0 0

8011 -0.61 -146.1 834.3 -7.5 418 8015 0.00 2.15 0.00 0.000 4 0.000 0.039 1648 1492 3418 0 0 0 0 0 0

8043 -0.61 -146.1 836.5 -7.6 419 8047 0.00 2.20 0.00 0.000 6 0.000 0.055 1639 2880 3418 0 0 0 0 0 0

8381 -0.61 -146.1 863.3 -7.8 430 8382 0.00 0.00 0.00 0.000 6 0.000 0.000 1639 2880 3418 0 0 0 0 0 0

8688 -0.61 -146.1 886.4 -7.5 440 8690 0.00 0.00 0.00 0.000 6 0.000 0.000 1639 2880 3418 0 0 0 0 0 0

8993 -0.61 -146.1 909.5 -7.6 450 8994 0.00 0.00 0.00 0.000 6 0.000 0.000 1639 2880 3418 0 0 0 0 0 0

9301 -0.61 -146.1 932.4 -7.5 460 9305 0.00 2.15 0.00 0.000 4 0.000 0.039 1639 1491 3418 0 0 0 0 0 0

9333 -0.61 -146.1 934.9 -8.2 461 9337 0.00 2.20 0.00 0.000 6 0.000 0.055 1629 2884 3417 0 0 0 0 0 0

9676 -0.61 -146.1 962.6 -8.2 472 9677 0.00 0.00 0.00 0.000 6 0.000 0.000 1629 2884 3417 0 0 0 0 0 0

9982 -0.61 -146.1 988.2 -8.5 482 9984 0.00 0.00 0.00 0.000 6 0.000 0.000 1628 2884 3418 0 0 0 0 0 0

10131 end dive: TARGET_DEPTH_EXCEEDED

state 10131 begin apogee

10142 -0.18 0.0 1000.8 8.2 487 10294 0.52 0.00 148.45 1.248 6 0.161 0.000 1786 2711 2819 0 0 0 0 0 0

10296 end apogee: CONTROL_FINISHED_OK

state 10296 begin climb

10301 0.61 146.1 1003.6 0.0 492 10462 0.75 2.25 148.57 1.809 4 0.083 0.060 2044 3897 2225 0 0 0 0 1 0

10504 0.61 146.1 967.7 26.3 498 10508 0.00 2.05 0.00 0.000 6 0.000 0.038 2053 2707 2225 0 0 0 0 0 0

10831 0.61 146.1 887.8 24.6 509 10835 0.00 2.30 0.00 0.000 4 0.000 0.046 2064 1289 2219 0 0 0 0 0 0

10863 0.61 146.1 880.0 24.5 510 10868 0.00 2.35 0.00 0.000 6 0.000 0.051 2064 2698 2217 0 0 0 0 0 0

11201 0.61 146.1 794.0 25.4 521 11202 0.00 0.00 0.00 0.000 6 0.000 0.000 2064 2698 2217 0 0 0 0 0 0

11508 0.61 146.1 717.6 24.7 531 11509 0.00 0.00 0.00 0.000 6 0.000 0.000 2064 2698 2216 0 0 0 0 0 0

11814 0.61 146.1 645.0 23.5 541 11818 0.00 2.22 0.00 0.000 4 0.000 0.044 2074 1290 2215 0 0 0 0 0 0

11888 0.61 146.1 628.4 20.4 543 11892 0.00 2.28 0.00 0.000 6 0.000 0.052 2074 2702 2213 0 0 0 0 0 0

12220 0.61 146.1 550.0 24.2 554 12224 0.00 1.90 0.00 0.000 4 0.000 0.060 2074 3897 2213 0 0 0 0 0 0

12249 0.61 146.1 542.1 24.7 554 12256 0.15 1.88 0.00 0.000 6 0.246 0.041 2051 2681 2214 0 0 0 0 0 0

12564 0.61 146.1 471.3 22.3 565 12568 0.00 2.15 0.00 0.000 4 0.000 0.046 2061 1301 2213 0 0 0 0 0 0

12621 0.61 146.1 459.0 20.8 566 12629 0.00 2.25 0.00 0.000 6 0.000 0.052 2061 2705 2212 0 0 0 0 0 0

12947 0.61 146.1 387.8 22.2 578 12951 0.00 1.90 0.00 0.000 4 0.000 0.060 2061 3906 2212 0 0 0 0 0 0

12977 0.61 146.1 380.5 25.0 579 12980 0.00 1.88 0.00 0.000 6 0.000 0.040 2070 2697 2212 0 0 0 0 0 0

13308 0.61 146.1 308.2 22.2 595 13312 0.00 2.15 0.00 0.000 4 0.000 0.046 2080 1294 2213 0 0 0 0 0 0

13398 0.61 146.1 289.6 18.9 599 13403 0.12 2.25 0.00 0.000 6 0.226 0.052 2053 2703 2211 0 0 0 0 0 0

13735 0.61 146.1 221.6 20.7 617 13742 0.00 0.00 0.00 0.000 6 0.000 0.000 2054 2703 2211 0 0 0 0 0 0

14057 0.61 146.1 155.6 20.3 638 14061 0.00 2.20 0.00 0.000 4 0.000 0.044 2062 1292 2211 0 0 0 0 0 0

14094 0.61 146.1 148.0 18.8 640 14098 0.00 2.25 0.00 0.000 6 0.000 0.054 2063 2702 2210 0 0 0 0 0 0

14423 0.61 146.1 83.4 19.1 670 14430 0.00 2.20 0.00 0.000 4 0.000 0.044 2073 1291 2211 0 0 0 0 0 0

14498 0.61 146.1 70.4 16.5 682 14505 0.00 2.25 0.00 0.000 6 0.000 0.052 2072 2711 2210 0 0 0 0 0 0

14850 end climb: SURFACE_DEPTH_REACHED

state 14850 begin surface coast

14874 end surface coast: CONTROL_FINISHED_OK

state 14874 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	153	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	43	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	27	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	-10922.19	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	311212,182153,-4628.351,402.208,39,0.9,39,-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	0.251,-0.049
_SM_DEPTHo	1.68	KALMAN_X	-90125.1,-426.9,-119.6,71910.9,-3421.7
_SM_ANGLEo	-62.2	KALMAN_Y	43627.7,66.5,342.9,-1597.7,460.5
GPS2	311212,183236,-4628.356,402.164,16,1.0,17,-23.3	MHEAD_RNG_PITCHd_Wd	124.4,10443,-16.5,-9.443
SPEED_LIMITS	0.164,0.256	D_GRID	1000

FINISH	0.9,1.026095	_10V_AH	10.1,13.347
SM_CCo	14896,51.55,0.770,1,0,1798,250.20	FG_AHR_24Vo	0.000
SM_GC	1.63,0.00,0.00,51.55,0.000,0.000,0.770,56,2894,1798,-5.60,0.40,250.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4613.60,358.00,311212,131336	MEM	354008
TT8_MAMPS	0.026215	DATA_FILE_SIZE	53788,743
HUMID	58.38	CAP_FILE_SIZE	111651,0
INTERNAL_PRESSURE	9.3262	CFSIZE	259252224,219803648
TCM_TEMP	10.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
XPDR_PINGS	0	GPS	311212,224403,-4628.378,404.127,34,1.3,34,-23.3
_24V_AH	21.8,30.847

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	252	76.22	SBE_CT	491	24	257.41
Roll_motor	81	75	133.86	AA4330	1466	33	1054.83
VBD_pump_during_apogee	297	1809	11714.99	WL_BB2FLVMT	775	105	1775.92
VBD_pump_during_surface	51	769	864.86	QSP2150	296	4	28.30
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	58.35	nil	0	0	0.00
Iridium_during_connect	23	160	82.97	nil	0	0	0.00
Iridium_during_xfer	348	223	1696.41	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	5.17
TT8	1837	14	277.57
LPSleep	10382	2	229.65
TT8_Active	436	14	62.58
TT8_Sampling	2283	37	863.12
TT8_CF8	643	47	306.78
TT8_Kalman	33	59	19.93
Analog_circuits	1216	12	147.45
GPS_charging	0	0	0.00
Compass	1815	15	288.37
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
26	-0.61	-146.1	0.0	0.0	0	91	0.00	0.00	-63.10	0.000	2	0.000	0.000	62	2875	3003	0	0	0	0	0	0
98	-0.61	-146.1	3.1	-3.6	8	125	6.55	1.65	-12.20	0.000	4	0.252	0.076	1638	3900	3417	0	0	0	0	0	0
401	-0.61	-146.1	47.8	-13.4	56	410	0.00	1.60	0.00	0.000	6	0.000	0.034	1638	2851	3419	0	0	0	0	0	0
648	-0.61	-146.1	81.3	-12.6	97	652	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2851	3419	0	0	0	0	0	0
980	-0.61	-146.1	123.5	-12.3	134	984	0.00	1.70	0.00	0.000	4	0.000	0.060	1630	3900	3420	0	0	0	0	0	0
1051	-0.61	-146.1	133.0	-13.1	138	1054	0.00	1.55	0.00	0.000	6	0.000	0.032	1630	2876	3420	0	0	0	0	0	0
1385	-0.61	-146.1	177.3	-13.3	159	1389	0.00	2.08	0.00	0.000	4	0.000	0.037	1630	1496	3421	0	0	0	0	0	0
1442	-0.61	-146.1	184.8	-11.0	162	1452	0.08	2.22	0.00	0.000	6	0.158	0.053	1644	2875	3421	0	0	0	0	0	0
1770	-0.61	-146.1	218.6	-10.3	183	1776	0.00	0.00	0.00	0.000	6	0.000	0.000	1644	2875	3421	0	0	0	0	0	0
2096	-0.61	-146.1	252.7	-10.3	204	2097	0.00	0.00	0.00	0.000	6	0.000	0.000	1644	2875	3421	0	0	0	0	0	0
2407	-0.61	-146.1	283.4	-9.9	219	2409	0.00	0.00	0.00	0.000	6	0.000	0.000	1643	2875	3421	0	0	0	0	0	0
2715	-0.61	-146.1	313.6	-9.8	234	2719	0.00	1.62	0.00	0.000	4	0.000	0.061	1637	3901	3421	0	0	0	0	0	0
2763	-0.61	-146.1	318.8	-10.6	236	2767	0.00	1.55	0.00	0.000	6	0.000	0.034	1637	2876	3421	0	0	0	0	0	0
3098	-0.61	-146.1	355.8	-11.2	252	3099	0.00	0.00	0.00	0.000	6	0.000	0.000	1637	2871	3421	0	0	0	0	0	0
3410	-0.61	-146.1	389.2	-10.4	267	3414	0.00	2.10	0.00	0.000	4	0.000	0.038	1637	1491	3422	0	0	0	0	0	0
3445	-0.61	-146.1	393.4	-10.1	268	3453	0.00	2.25	0.00	0.000	6	0.000	0.054	1626	2891	3421	0	0	0	0	0	0
3760	-0.61	-146.1	428.0	-11.2	280	3762	0.00	0.00	0.00	0.000	6	0.000	0.000	1626	2891	3421	0	0	0	0	0	0
4067	-0.61	-146.1	461.6	-10.9	290	4071	0.00	1.58	0.00	0.000	4	0.000	0.061	1619	3889	3421	0	0	0	0	0	0
4118	-0.61	-146.1	467.8	-11.5	291	4122	0.08	1.52	0.00	0.000	6	0.161	0.034	1643	2878	3421	0	0	0	0	0	0
4445	-0.61	-146.1	499.3	-9.9	302	4446	0.00	0.00	0.00	0.000	6	0.000	0.000	1643	2874	3421	0	0	0	0	0	0
4753	-0.61	-146.1	529.7	-10.0	312	4754	0.00	0.00	0.00	0.000	6	0.000	0.000	1643	2874	3421	0	0	0	0	0	0
5057	-0.61	-146.1	558.8	-9.3	322	5059	0.00	0.00	0.00	0.000	6	0.000	0.000	1643	2875	3420	0	0	0	0	0	0
5364	-0.61	-146.1	587.5	-9.3	332	5368	0.00	2.08	0.00	0.000	4	0.000	0.040	1644	1493	3419	0	0	0	0	0	0
5399	-0.61	-146.1	591.0	-9.4	333	5403	0.00	2.20	0.00	0.000	6	0.000	0.054	1634	2880	3420	0	0	0	0	0	0
5731	-0.61	-146.1	623.1	-9.9	344	5734	0.00	1.62	0.00	0.000	4	0.000	0.063	1626	3891	3419	0	0	0	0	0	0
5767	-0.61	-146.1	627.1	-11.0	345	5771	0.00	1.52	0.00	0.000	6	0.000	0.034	1626	2877	3419	0	0	0	0	0	0
6110	-0.61	-146.1	664.3	-10.7	356	6111	0.00	0.00	0.00	0.000	6	0.000	0.000	1626	2873	3419	0	0	0	0	0	0
6417	-0.61	-146.1	697.3	-10.8	366	6418	0.00	0.00	0.00	0.000	6	0.000	0.000	1626	2873	3419	0	0	0	0	0	0
6722	-0.61	-146.1	729.5	-10.5	376	6724	0.00	0.00	0.00	0.000	6	0.000	0.000	1626	2873	3419	0	0	0	0	0	0
7030	-0.61	-146.1	759.8	-9.8	386	7034	0.00	2.10	0.00	0.000	4	0.000	0.040	1626	1491	3419	0	0	0	0	0	0
7066	-0.61	-146.1	763.7	-9.5	387	7070	0.12	2.20	0.00	0.000	6	0.187	0.054	1648	2879	3419	0	0	0	0	0	0
7399	-0.61	-146.1	788.7	-7.4	398	7400	0.00	0.00	0.00	0.000	6	0.000	0.000	1648	2880	3418	0	0	0	0	0	0
7705	-0.61	-146.1	811.5	-7.7	408	7706	0.00	0.00	0.00	0.000	6	0.000	0.000	1648	2880	3419	0	0	0	0	0	0
8011	-0.61	-146.1	834.3	-7.5	418	8015	0.00	2.15	0.00	0.000	4	0.000	0.039	1648	1492	3418	0	0	0	0	0	0
8043	-0.61	-146.1	836.5	-7.6	419	8047	0.00	2.20	0.00	0.000	6	0.000	0.055	1639	2880	3418	0	0	0	0	0	0
8381	-0.61	-146.1	863.3	-7.8	430	8382	0.00	0.00	0.00	0.000	6	0.000	0.000	1639	2880	3418	0	0	0	0	0	0
8688	-0.61	-146.1	886.4	-7.5	440	8690	0.00	0.00	0.00	0.000	6	0.000	0.000	1639	2880	3418	0	0	0	0	0	0
8993	-0.61	-146.1	909.5	-7.6	450	8994	0.00	0.00	0.00	0.000	6	0.000	0.000	1639	2880	3418	0	0	0	0	0	0
9301	-0.61	-146.1	932.4	-7.5	460	9305	0.00	2.15	0.00	0.000	4	0.000	0.039	1639	1491	3418	0	0	0	0	0	0
9333	-0.61	-146.1	934.9	-8.2	461	9337	0.00	2.20	0.00	0.000	6	0.000	0.055	1629	2884	3417	0	0	0	0	0	0
9676	-0.61	-146.1	962.6	-8.2	472	9677	0.00	0.00	0.00	0.000	6	0.000	0.000	1629	2884	3417	0	0	0	0	0	0
9982	-0.61	-146.1	988.2	-8.5	482	9984	0.00	0.00	0.00	0.000	6	0.000	0.000	1628	2884	3418	0	0	0	0	0	0
10131	end dive: TARGET_DEPTH_EXCEEDED
state	10131	begin apogee
10142	-0.18	0.0	1000.8	8.2	487	10294	0.52	0.00	148.45	1.248	6	0.161	0.000	1786	2711	2819	0	0	0	0	0	0
10296	end apogee: CONTROL_FINISHED_OK
state	10296	begin climb
10301	0.61	146.1	1003.6	0.0	492	10462	0.75	2.25	148.57	1.809	4	0.083	0.060	2044	3897	2225	0	0	0	0	1	0
10504	0.61	146.1	967.7	26.3	498	10508	0.00	2.05	0.00	0.000	6	0.000	0.038	2053	2707	2225	0	0	0	0	0	0
10831	0.61	146.1	887.8	24.6	509	10835	0.00	2.30	0.00	0.000	4	0.000	0.046	2064	1289	2219	0	0	0	0	0	0
10863	0.61	146.1	880.0	24.5	510	10868	0.00	2.35	0.00	0.000	6	0.000	0.051	2064	2698	2217	0	0	0	0	0	0
11201	0.61	146.1	794.0	25.4	521	11202	0.00	0.00	0.00	0.000	6	0.000	0.000	2064	2698	2217	0	0	0	0	0	0
11508	0.61	146.1	717.6	24.7	531	11509	0.00	0.00	0.00	0.000	6	0.000	0.000	2064	2698	2216	0	0	0	0	0	0
11814	0.61	146.1	645.0	23.5	541	11818	0.00	2.22	0.00	0.000	4	0.000	0.044	2074	1290	2215	0	0	0	0	0	0
11888	0.61	146.1	628.4	20.4	543	11892	0.00	2.28	0.00	0.000	6	0.000	0.052	2074	2702	2213	0	0	0	0	0	0
12220	0.61	146.1	550.0	24.2	554	12224	0.00	1.90	0.00	0.000	4	0.000	0.060	2074	3897	2213	0	0	0	0	0	0
12249	0.61	146.1	542.1	24.7	554	12256	0.15	1.88	0.00	0.000	6	0.246	0.041	2051	2681	2214	0	0	0	0	0	0
12564	0.61	146.1	471.3	22.3	565	12568	0.00	2.15	0.00	0.000	4	0.000	0.046	2061	1301	2213	0	0	0	0	0	0
12621	0.61	146.1	459.0	20.8	566	12629	0.00	2.25	0.00	0.000	6	0.000	0.052	2061	2705	2212	0	0	0	0	0	0
12947	0.61	146.1	387.8	22.2	578	12951	0.00	1.90	0.00	0.000	4	0.000	0.060	2061	3906	2212	0	0	0	0	0	0
12977	0.61	146.1	380.5	25.0	579	12980	0.00	1.88	0.00	0.000	6	0.000	0.040	2070	2697	2212	0	0	0	0	0	0
13308	0.61	146.1	308.2	22.2	595	13312	0.00	2.15	0.00	0.000	4	0.000	0.046	2080	1294	2213	0	0	0	0	0	0
13398	0.61	146.1	289.6	18.9	599	13403	0.12	2.25	0.00	0.000	6	0.226	0.052	2053	2703	2211	0	0	0	0	0	0
13735	0.61	146.1	221.6	20.7	617	13742	0.00	0.00	0.00	0.000	6	0.000	0.000	2054	2703	2211	0	0	0	0	0	0
14057	0.61	146.1	155.6	20.3	638	14061	0.00	2.20	0.00	0.000	4	0.000	0.044	2062	1292	2211	0	0	0	0	0	0
14094	0.61	146.1	148.0	18.8	640	14098	0.00	2.25	0.00	0.000	6	0.000	0.054	2063	2702	2210	0	0	0	0	0	0
14423	0.61	146.1	83.4	19.1	670	14430	0.00	2.20	0.00	0.000	4	0.000	0.044	2073	1291	2211	0	0	0	0	0	0
14498	0.61	146.1	70.4	16.5	682	14505	0.00	2.25	0.00	0.000	6	0.000	0.052	2072	2711	2210	0	0	0	0	0	0
14850	end climb: SURFACE_DEPTH_REACHED
state	14850	begin surface coast
14874	end surface coast: CONTROL_FINISHED_OK
state	14874	begin surface