Glider dive log

SOSCEx 08Dec12 * SG543 * Dive index * Mission links * Dive 154 * 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 154 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 3380 ALTIM_PING_DELTA 15

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 3270 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 250 R_PORT_OVSHOOT 52 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 26 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 400 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 420 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 -8296.6562 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 150 PITCH_MAX 3908 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1635 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 37 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 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 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 37 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 400

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 -8296.6562

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

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 420

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 1635 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 3270 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 3380 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 52 VBD_MAX 3960

DEVICE2 101 MASS 52459 R_STBD_OVSHOOT 26 VBD_MAXERRORS 1

DEVICE3 131 MAX_BUOY 150 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 154 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 020113,181734,-4158.898,814.545,41,0.9,41,-24.9 TGT_NAME GH2

_CALLS 1 TGT_LATLONG -4200.000,820.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.039,-0.226

_SM_DEPTHo 1.67 KALMAN_X -77722.4,-1063.9,-959.8,97431.8,8279.7

_SM_ANGLEo -48.5 KALMAN_Y 27071.9,0.7,16.9,30648.4,3315.6

GPS2 020113,182535,-4158.855,814.587,18,1.0,18,-24.9 MHEAD_RNG_PITCHd_Wd 214.6,7746,-15.9,-8.333

SPEED_LIMITS 0.144,0.244 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.9,1.026306 _10V_AH 10.1,16.200

SM_CCo 15229,46.25,0.716,1,0,1449,250.20 FG_AHR_24Vo 0.000

SM_GC 1.56,0.00,0.00,46.25,0.000,0.000,0.716,49,3383,1449,-4.96,0.08,250.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4140.91,813.53,020113,141459 MEM 353972

TT8_MAMPS 0.025466 DATA_FILE_SIZE 56961,766

HUMID 56.14 CAP_FILE_SIZE 121428,0

INTERNAL_PRESSURE 9.04449 CFSIZE 259252224,248991744

TCM_TEMP 16.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1

XPDR_PINGS 0 GPS 020113,224234,-4201.041,813.458,36,1.0,36,-24.9

_24V_AH 23.0,29.179

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 11 235 63.81 SBE_CT 499 24 275.83

Roll_motor 60 87 122.00 AA4330 1697 33 1288.30

VBD_pump_during_apogee 298 1180 8111.47 WL_BB2FLVMT 790 105 1907.97

VBD_pump_during_surface 46 716 761.69 QSP2150 342 4 34.46

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 65.92 nil 0 0 0.00

Iridium_during_connect 19 160 71.29 nil 0 0 0.00

Iridium_during_xfer 273 223 1404.74 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 26 5.52

TT8 1963 14 296.72

LPSleep 10101 2 223.44

TT8_Active 396 14 56.96

TT8_Sampling 2449 37 925.84

TT8_CF8 855 47 407.69

TT8_Kalman 33 59 19.93

Analog_circuits 1350 12 163.67

GPS_charging 0 0 0.00

Compass 2311 15 367.17

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 -0.51 -127.0 0.0 0.0 0 79 0.00 0.00 -56.45 0.000 2 0.000 0.000 64 3393 2781 0 0 0 0 0 0

83 -0.52 -146.1 3.2 -3.7 7 104 5.70 0.90 -7.70 0.000 4 0.236 0.087 1458 3941 3072 0 0 0 0 0 0

384 -0.52 -146.1 47.3 -13.4 54 395 0.00 0.85 0.00 0.000 6 0.000 0.037 1458 3391 3075 0 0 0 0 0 0

632 -0.52 -146.1 81.2 -12.3 95 637 0.00 2.15 0.00 0.000 4 0.000 0.032 1458 1959 3076 0 0 0 0 0 0

725 -0.52 -146.1 91.3 -10.1 111 732 0.00 2.33 0.00 0.000 6 0.000 0.057 1447 3376 3076 0 0 0 0 0 0

1055 -0.52 -146.1 129.5 -11.0 140 1059 0.00 0.90 0.00 0.000 4 0.000 0.057 1443 3946 3077 0 0 0 0 0 0

1163 -0.52 -146.1 142.3 -11.5 146 1167 0.00 0.85 0.00 0.000 6 0.000 0.037 1443 3383 3078 0 0 0 0 0 0

1498 -0.52 -146.1 181.7 -13.1 167 1502 0.00 0.93 0.00 0.000 4 0.000 0.057 1439 3958 3079 0 0 0 0 0 0

1586 -0.52 -146.1 194.2 -13.8 172 1590 0.00 0.88 0.00 0.000 6 0.000 0.036 1438 3377 3078 0 0 0 0 0 0

1918 -0.52 -146.1 236.4 -12.0 193 1921 0.00 0.93 0.00 0.000 4 0.000 0.058 1434 3959 3079 0 0 0 0 0 0

2027 -0.52 -146.1 251.0 -12.6 199 2031 0.08 0.88 0.00 0.000 6 0.155 0.036 1459 3380 3078 0 0 0 0 0 0

2351 -0.52 -146.1 286.1 -11.1 215 2352 0.00 0.00 0.00 0.000 6 0.000 0.000 1458 3379 3078 0 0 0 0 0 0

2659 -0.52 -146.1 319.1 -10.4 230 2660 0.00 0.00 0.00 0.000 6 0.000 0.000 1459 3379 3078 0 0 0 0 0 0

2969 -0.52 -146.1 350.3 -9.5 245 2974 0.00 0.90 0.00 0.000 4 0.000 0.058 1456 3946 3078 0 0 0 0 0 0

3135 -0.52 -146.1 367.8 -10.1 252 3138 0.00 0.85 0.00 0.000 6 0.000 0.037 1456 3382 3078 0 0 0 0 0 0

3479 -0.52 -146.1 404.5 -10.5 268 3480 0.00 0.00 0.00 0.000 6 0.000 0.000 1456 3381 3078 0 0 0 0 0 0

3784 -0.52 -146.1 436.8 -10.3 278 3790 0.00 0.90 0.00 0.000 4 0.000 0.059 1452 3950 3078 0 0 0 0 0 0

3957 -0.52 -146.1 455.1 -10.8 283 3961 0.00 0.85 0.00 0.000 6 0.000 0.037 1452 3384 3078 0 0 0 0 0 0

4298 -0.52 -146.1 489.3 -9.8 294 4303 0.00 0.90 0.00 0.000 4 0.000 0.059 1448 3952 3077 0 0 0 0 0 0

4377 -0.52 -146.1 497.5 -10.2 296 4381 0.00 0.88 0.00 0.000 6 0.000 0.037 1448 3372 3077 0 0 0 0 0 0

4707 -0.52 -146.1 528.9 -9.9 307 4712 0.00 0.93 0.00 0.000 4 0.000 0.059 1443 3956 3077 0 0 0 0 0 0

4812 -0.52 -146.1 540.2 -10.8 310 4816 0.00 0.88 0.00 0.000 6 0.000 0.037 1443 3376 3076 0 0 0 0 0 0

5153 -0.52 -146.1 577.0 -11.2 321 5154 0.00 0.00 0.00 0.000 6 0.000 0.000 1443 3376 3076 0 0 0 0 0 0

5459 -0.52 -146.1 612.7 -11.7 331 5463 0.00 0.93 0.00 0.000 4 0.000 0.060 1439 3956 3076 0 0 0 0 0 0

5612 -0.52 -146.1 632.3 -12.7 335 5616 0.00 0.88 0.00 0.000 6 0.000 0.038 1439 3382 3076 0 0 0 0 0 0

5936 -0.52 -146.1 670.4 -11.3 346 5937 0.00 0.00 0.00 0.000 6 0.000 0.000 1439 3381 3074 0 0 0 0 0 0

6242 -0.52 -146.1 703.7 -10.9 356 6246 0.00 0.93 0.00 0.000 4 0.000 0.060 1434 3961 3074 0 0 0 0 0 0

6432 -0.52 -146.1 727.1 -12.3 361 6437 0.08 0.88 0.00 0.000 6 0.151 0.038 1459 3383 3074 0 0 0 0 0 0

6751 -0.52 -146.1 756.6 -8.8 372 6755 0.00 2.12 0.00 0.000 4 0.000 0.033 1459 1957 3073 0 0 0 0 0 0

6795 -0.52 -146.1 760.5 -8.4 373 6799 0.00 2.30 0.00 0.000 6 0.000 0.054 1450 3396 3073 0 0 0 0 0 0

7113 -0.52 -146.1 790.0 -9.4 384 7117 0.00 0.88 0.00 0.000 4 0.000 0.060 1445 3951 3072 0 0 0 0 0 0

7249 -0.52 -146.1 803.9 -10.0 388 7253 0.00 0.88 0.00 0.000 6 0.000 0.038 1446 3371 3072 0 0 0 0 0 0

7591 -0.52 -146.1 837.3 -9.7 399 7596 0.00 0.93 0.00 0.000 4 0.000 0.060 1441 3952 3071 0 0 0 0 0 0

7669 -0.52 -146.1 846.3 -11.7 401 7673 0.00 0.85 0.00 0.000 6 0.000 0.039 1441 3388 3071 0 0 0 0 0 0

8000 -0.52 -146.1 880.4 -10.2 412 8001 0.00 0.00 0.00 0.000 6 0.000 0.000 1441 3388 3070 0 0 0 0 0 0

8306 -0.52 -146.1 910.7 -9.9 422 8309 0.00 0.90 0.00 0.000 4 0.000 0.060 1437 3951 3070 0 0 0 0 0 0

8389 -0.52 -146.1 920.2 -11.4 424 8393 0.00 0.88 0.00 0.000 6 0.000 0.039 1437 3374 3070 0 0 0 0 0 0

8713 -0.52 -146.1 954.1 -10.4 435 8714 0.00 0.00 0.00 0.000 6 0.000 0.000 1437 3374 3069 0 0 0 0 0 0

9020 -0.52 -146.1 983.5 -9.1 445 9021 0.00 0.00 0.00 0.000 6 0.000 0.000 1437 3374 3068 0 0 0 0 0 0

9232 end dive: TARGET_DEPTH_EXCEEDED

state 9232 begin apogee

9239 -0.14 0.0 1002.0 8.6 452 9391 0.50 0.00 149.32 1.180 6 0.141 0.000 1588 3278 2473 0 0 0 0 0 0

9393 end apogee: CONTROL_FINISHED_OK

state 9393 begin climb

9396 0.52 146.1 1003.0 0.0 457 9555 0.62 2.42 149.45 1.157 4 0.085 0.032 1808 1855 1868 0 0 0 0 0 0

9606 0.52 146.1 973.9 14.6 463 9612 0.00 2.47 0.00 0.000 6 0.000 0.053 1808 3259 1858 0 0 0 0 0 0

9934 0.52 146.1 914.9 18.0 474 9937 0.00 1.15 0.00 0.000 4 0.000 0.057 1808 3949 1851 0 0 0 0 0 0

10036 0.52 146.1 894.9 20.6 477 10040 0.00 1.08 0.00 0.000 6 0.000 0.034 1813 3254 1850 0 0 0 0 0 0

10378 0.52 146.1 834.5 17.7 488 10379 0.00 0.00 0.00 0.000 6 0.000 0.000 1813 3254 1848 0 0 0 0 0 0

10684 0.52 146.1 782.4 16.7 498 10688 0.00 1.15 0.00 0.000 4 0.000 0.057 1813 3958 1847 0 0 0 0 0 0

10745 0.52 146.1 771.3 19.0 499 10753 0.00 1.05 0.00 0.000 6 0.000 0.034 1818 3269 1847 0 0 0 0 0 0

11058 0.52 146.1 717.9 17.3 510 11059 0.00 0.00 0.00 0.000 6 0.000 0.000 1818 3269 1846 0 0 0 0 0 0

11364 0.52 146.1 660.8 19.2 520 11365 0.00 0.00 0.00 0.000 6 0.000 0.000 1818 3269 1846 0 0 0 0 0 0

11672 0.52 146.1 605.2 17.8 530 11675 0.00 1.10 0.00 0.000 4 0.000 0.058 1818 3948 1846 0 0 0 0 0 0

11740 0.52 146.1 591.7 20.6 532 11746 0.00 1.02 0.00 0.000 6 0.000 0.034 1823 3264 1846 0 0 0 0 0 0

12083 0.52 146.1 530.7 17.4 543 12087 0.00 1.10 0.00 0.000 4 0.000 0.057 1823 3948 1845 0 0 0 0 0 0

12152 0.52 146.1 517.3 20.1 545 12157 0.00 1.00 0.00 0.000 6 0.000 0.034 1829 3275 1845 0 0 0 0 0 0

12495 0.52 146.1 450.6 19.7 556 12496 0.00 0.00 0.00 0.000 6 0.000 0.000 1829 3275 1845 0 0 0 0 0 0

12812 0.52 146.1 388.4 19.5 567 12816 0.00 1.08 0.00 0.000 4 0.000 0.054 1829 3950 1845 0 0 0 0 0 0

12892 0.52 146.1 371.6 21.0 570 12896 0.08 1.02 0.00 0.000 6 0.185 0.034 1812 3261 1845 0 0 0 0 0 0

13214 0.52 146.1 318.2 16.8 586 13216 0.00 0.00 0.00 0.000 6 0.000 0.000 1812 3261 1844 0 0 0 0 0 0

13524 0.52 146.1 268.1 15.9 601 13526 0.00 0.00 0.00 0.000 6 0.000 0.000 1812 3261 1844 0 0 0 0 0 0

13838 0.52 146.1 219.4 15.7 619 13841 0.00 1.10 0.00 0.000 4 0.000 0.054 1812 3952 1844 0 0 0 0 0 0

13912 0.52 146.1 207.1 16.5 623 13915 0.00 1.00 0.00 0.000 6 0.000 0.033 1815 3275 1844 0 0 0 0 0 0

14242 0.52 146.1 152.8 16.3 644 14246 0.00 2.12 0.00 0.000 4 0.000 0.031 1826 1855 1844 0 0 0 0 0 0

14282 0.52 146.1 146.6 13.9 646 14290 0.00 2.28 0.00 0.000 6 0.000 0.047 1826 3281 1844 0 0 0 0 0 0

14609 0.52 146.1 92.1 16.9 671 14614 0.00 1.05 0.00 0.000 4 0.000 0.053 1826 3949 1844 0 0 0 0 0 0

14677 0.52 146.1 80.0 19.1 682 14685 0.00 1.00 0.00 0.000 6 0.000 0.033 1831 3269 1844 0 0 0 0 0 0

15053 0.52 146.1 20.3 12.9 743 15062 0.00 2.12 0.00 0.000 4 0.000 0.032 1842 1862 1844 0 0 0 0 0 0

15149 0.52 146.1 10.4 10.5 757 15160 0.10 2.22 0.00 0.000 6 0.152 0.045 1811 3269 1843 0 0 0 0 0 0

15193 end climb: SURFACE_DEPTH_REACHED

state 15193 begin surface coast

15213 end surface coast: CONTROL_FINISHED_OK

state 15213 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	154	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	3380	ALTIM_PING_DELTA	15
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	3270	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	250	R_PORT_OVSHOOT	52	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	26	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	400	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	420	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	-8296.6562	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	150	PITCH_MAX	3908	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1635	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	37	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	020113,181734,-4158.898,814.545,41,0.9,41,-24.9	TGT_NAME	GH2
_CALLS	1	TGT_LATLONG	-4200.000,820.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.039,-0.226
_SM_DEPTHo	1.67	KALMAN_X	-77722.4,-1063.9,-959.8,97431.8,8279.7
_SM_ANGLEo	-48.5	KALMAN_Y	27071.9,0.7,16.9,30648.4,3315.6
GPS2	020113,182535,-4158.855,814.587,18,1.0,18,-24.9	MHEAD_RNG_PITCHd_Wd	214.6,7746,-15.9,-8.333
SPEED_LIMITS	0.144,0.244	D_GRID	1000

FINISH	0.9,1.026306	_10V_AH	10.1,16.200
SM_CCo	15229,46.25,0.716,1,0,1449,250.20	FG_AHR_24Vo	0.000
SM_GC	1.56,0.00,0.00,46.25,0.000,0.000,0.716,49,3383,1449,-4.96,0.08,250.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4140.91,813.53,020113,141459	MEM	353972
TT8_MAMPS	0.025466	DATA_FILE_SIZE	56961,766
HUMID	56.14	CAP_FILE_SIZE	121428,0
INTERNAL_PRESSURE	9.04449	CFSIZE	259252224,248991744
TCM_TEMP	16.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
XPDR_PINGS	0	GPS	020113,224234,-4201.041,813.458,36,1.0,36,-24.9
_24V_AH	23.0,29.179

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	11	235	63.81	SBE_CT	499	24	275.83
Roll_motor	60	87	122.00	AA4330	1697	33	1288.30
VBD_pump_during_apogee	298	1180	8111.47	WL_BB2FLVMT	790	105	1907.97
VBD_pump_during_surface	46	716	761.69	QSP2150	342	4	34.46
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	65.92	nil	0	0	0.00
Iridium_during_connect	19	160	71.29	nil	0	0	0.00
Iridium_during_xfer	273	223	1404.74	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	26	5.52
TT8	1963	14	296.72
LPSleep	10101	2	223.44
TT8_Active	396	14	56.96
TT8_Sampling	2449	37	925.84
TT8_CF8	855	47	407.69
TT8_Kalman	33	59	19.93
Analog_circuits	1350	12	163.67
GPS_charging	0	0	0.00
Compass	2311	15	367.17
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	-0.51	-127.0	0.0	0.0	0	79	0.00	0.00	-56.45	0.000	2	0.000	0.000	64	3393	2781	0	0	0	0	0	0
83	-0.52	-146.1	3.2	-3.7	7	104	5.70	0.90	-7.70	0.000	4	0.236	0.087	1458	3941	3072	0	0	0	0	0	0
384	-0.52	-146.1	47.3	-13.4	54	395	0.00	0.85	0.00	0.000	6	0.000	0.037	1458	3391	3075	0	0	0	0	0	0
632	-0.52	-146.1	81.2	-12.3	95	637	0.00	2.15	0.00	0.000	4	0.000	0.032	1458	1959	3076	0	0	0	0	0	0
725	-0.52	-146.1	91.3	-10.1	111	732	0.00	2.33	0.00	0.000	6	0.000	0.057	1447	3376	3076	0	0	0	0	0	0
1055	-0.52	-146.1	129.5	-11.0	140	1059	0.00	0.90	0.00	0.000	4	0.000	0.057	1443	3946	3077	0	0	0	0	0	0
1163	-0.52	-146.1	142.3	-11.5	146	1167	0.00	0.85	0.00	0.000	6	0.000	0.037	1443	3383	3078	0	0	0	0	0	0
1498	-0.52	-146.1	181.7	-13.1	167	1502	0.00	0.93	0.00	0.000	4	0.000	0.057	1439	3958	3079	0	0	0	0	0	0
1586	-0.52	-146.1	194.2	-13.8	172	1590	0.00	0.88	0.00	0.000	6	0.000	0.036	1438	3377	3078	0	0	0	0	0	0
1918	-0.52	-146.1	236.4	-12.0	193	1921	0.00	0.93	0.00	0.000	4	0.000	0.058	1434	3959	3079	0	0	0	0	0	0
2027	-0.52	-146.1	251.0	-12.6	199	2031	0.08	0.88	0.00	0.000	6	0.155	0.036	1459	3380	3078	0	0	0	0	0	0
2351	-0.52	-146.1	286.1	-11.1	215	2352	0.00	0.00	0.00	0.000	6	0.000	0.000	1458	3379	3078	0	0	0	0	0	0
2659	-0.52	-146.1	319.1	-10.4	230	2660	0.00	0.00	0.00	0.000	6	0.000	0.000	1459	3379	3078	0	0	0	0	0	0
2969	-0.52	-146.1	350.3	-9.5	245	2974	0.00	0.90	0.00	0.000	4	0.000	0.058	1456	3946	3078	0	0	0	0	0	0
3135	-0.52	-146.1	367.8	-10.1	252	3138	0.00	0.85	0.00	0.000	6	0.000	0.037	1456	3382	3078	0	0	0	0	0	0
3479	-0.52	-146.1	404.5	-10.5	268	3480	0.00	0.00	0.00	0.000	6	0.000	0.000	1456	3381	3078	0	0	0	0	0	0
3784	-0.52	-146.1	436.8	-10.3	278	3790	0.00	0.90	0.00	0.000	4	0.000	0.059	1452	3950	3078	0	0	0	0	0	0
3957	-0.52	-146.1	455.1	-10.8	283	3961	0.00	0.85	0.00	0.000	6	0.000	0.037	1452	3384	3078	0	0	0	0	0	0
4298	-0.52	-146.1	489.3	-9.8	294	4303	0.00	0.90	0.00	0.000	4	0.000	0.059	1448	3952	3077	0	0	0	0	0	0
4377	-0.52	-146.1	497.5	-10.2	296	4381	0.00	0.88	0.00	0.000	6	0.000	0.037	1448	3372	3077	0	0	0	0	0	0
4707	-0.52	-146.1	528.9	-9.9	307	4712	0.00	0.93	0.00	0.000	4	0.000	0.059	1443	3956	3077	0	0	0	0	0	0
4812	-0.52	-146.1	540.2	-10.8	310	4816	0.00	0.88	0.00	0.000	6	0.000	0.037	1443	3376	3076	0	0	0	0	0	0
5153	-0.52	-146.1	577.0	-11.2	321	5154	0.00	0.00	0.00	0.000	6	0.000	0.000	1443	3376	3076	0	0	0	0	0	0
5459	-0.52	-146.1	612.7	-11.7	331	5463	0.00	0.93	0.00	0.000	4	0.000	0.060	1439	3956	3076	0	0	0	0	0	0
5612	-0.52	-146.1	632.3	-12.7	335	5616	0.00	0.88	0.00	0.000	6	0.000	0.038	1439	3382	3076	0	0	0	0	0	0
5936	-0.52	-146.1	670.4	-11.3	346	5937	0.00	0.00	0.00	0.000	6	0.000	0.000	1439	3381	3074	0	0	0	0	0	0
6242	-0.52	-146.1	703.7	-10.9	356	6246	0.00	0.93	0.00	0.000	4	0.000	0.060	1434	3961	3074	0	0	0	0	0	0
6432	-0.52	-146.1	727.1	-12.3	361	6437	0.08	0.88	0.00	0.000	6	0.151	0.038	1459	3383	3074	0	0	0	0	0	0
6751	-0.52	-146.1	756.6	-8.8	372	6755	0.00	2.12	0.00	0.000	4	0.000	0.033	1459	1957	3073	0	0	0	0	0	0
6795	-0.52	-146.1	760.5	-8.4	373	6799	0.00	2.30	0.00	0.000	6	0.000	0.054	1450	3396	3073	0	0	0	0	0	0
7113	-0.52	-146.1	790.0	-9.4	384	7117	0.00	0.88	0.00	0.000	4	0.000	0.060	1445	3951	3072	0	0	0	0	0	0
7249	-0.52	-146.1	803.9	-10.0	388	7253	0.00	0.88	0.00	0.000	6	0.000	0.038	1446	3371	3072	0	0	0	0	0	0
7591	-0.52	-146.1	837.3	-9.7	399	7596	0.00	0.93	0.00	0.000	4	0.000	0.060	1441	3952	3071	0	0	0	0	0	0
7669	-0.52	-146.1	846.3	-11.7	401	7673	0.00	0.85	0.00	0.000	6	0.000	0.039	1441	3388	3071	0	0	0	0	0	0
8000	-0.52	-146.1	880.4	-10.2	412	8001	0.00	0.00	0.00	0.000	6	0.000	0.000	1441	3388	3070	0	0	0	0	0	0
8306	-0.52	-146.1	910.7	-9.9	422	8309	0.00	0.90	0.00	0.000	4	0.000	0.060	1437	3951	3070	0	0	0	0	0	0
8389	-0.52	-146.1	920.2	-11.4	424	8393	0.00	0.88	0.00	0.000	6	0.000	0.039	1437	3374	3070	0	0	0	0	0	0
8713	-0.52	-146.1	954.1	-10.4	435	8714	0.00	0.00	0.00	0.000	6	0.000	0.000	1437	3374	3069	0	0	0	0	0	0
9020	-0.52	-146.1	983.5	-9.1	445	9021	0.00	0.00	0.00	0.000	6	0.000	0.000	1437	3374	3068	0	0	0	0	0	0
9232	end dive: TARGET_DEPTH_EXCEEDED
state	9232	begin apogee
9239	-0.14	0.0	1002.0	8.6	452	9391	0.50	0.00	149.32	1.180	6	0.141	0.000	1588	3278	2473	0	0	0	0	0	0
9393	end apogee: CONTROL_FINISHED_OK
state	9393	begin climb
9396	0.52	146.1	1003.0	0.0	457	9555	0.62	2.42	149.45	1.157	4	0.085	0.032	1808	1855	1868	0	0	0	0	0	0
9606	0.52	146.1	973.9	14.6	463	9612	0.00	2.47	0.00	0.000	6	0.000	0.053	1808	3259	1858	0	0	0	0	0	0
9934	0.52	146.1	914.9	18.0	474	9937	0.00	1.15	0.00	0.000	4	0.000	0.057	1808	3949	1851	0	0	0	0	0	0
10036	0.52	146.1	894.9	20.6	477	10040	0.00	1.08	0.00	0.000	6	0.000	0.034	1813	3254	1850	0	0	0	0	0	0
10378	0.52	146.1	834.5	17.7	488	10379	0.00	0.00	0.00	0.000	6	0.000	0.000	1813	3254	1848	0	0	0	0	0	0
10684	0.52	146.1	782.4	16.7	498	10688	0.00	1.15	0.00	0.000	4	0.000	0.057	1813	3958	1847	0	0	0	0	0	0
10745	0.52	146.1	771.3	19.0	499	10753	0.00	1.05	0.00	0.000	6	0.000	0.034	1818	3269	1847	0	0	0	0	0	0
11058	0.52	146.1	717.9	17.3	510	11059	0.00	0.00	0.00	0.000	6	0.000	0.000	1818	3269	1846	0	0	0	0	0	0
11364	0.52	146.1	660.8	19.2	520	11365	0.00	0.00	0.00	0.000	6	0.000	0.000	1818	3269	1846	0	0	0	0	0	0
11672	0.52	146.1	605.2	17.8	530	11675	0.00	1.10	0.00	0.000	4	0.000	0.058	1818	3948	1846	0	0	0	0	0	0
11740	0.52	146.1	591.7	20.6	532	11746	0.00	1.02	0.00	0.000	6	0.000	0.034	1823	3264	1846	0	0	0	0	0	0
12083	0.52	146.1	530.7	17.4	543	12087	0.00	1.10	0.00	0.000	4	0.000	0.057	1823	3948	1845	0	0	0	0	0	0
12152	0.52	146.1	517.3	20.1	545	12157	0.00	1.00	0.00	0.000	6	0.000	0.034	1829	3275	1845	0	0	0	0	0	0
12495	0.52	146.1	450.6	19.7	556	12496	0.00	0.00	0.00	0.000	6	0.000	0.000	1829	3275	1845	0	0	0	0	0	0
12812	0.52	146.1	388.4	19.5	567	12816	0.00	1.08	0.00	0.000	4	0.000	0.054	1829	3950	1845	0	0	0	0	0	0
12892	0.52	146.1	371.6	21.0	570	12896	0.08	1.02	0.00	0.000	6	0.185	0.034	1812	3261	1845	0	0	0	0	0	0
13214	0.52	146.1	318.2	16.8	586	13216	0.00	0.00	0.00	0.000	6	0.000	0.000	1812	3261	1844	0	0	0	0	0	0
13524	0.52	146.1	268.1	15.9	601	13526	0.00	0.00	0.00	0.000	6	0.000	0.000	1812	3261	1844	0	0	0	0	0	0
13838	0.52	146.1	219.4	15.7	619	13841	0.00	1.10	0.00	0.000	4	0.000	0.054	1812	3952	1844	0	0	0	0	0	0
13912	0.52	146.1	207.1	16.5	623	13915	0.00	1.00	0.00	0.000	6	0.000	0.033	1815	3275	1844	0	0	0	0	0	0
14242	0.52	146.1	152.8	16.3	644	14246	0.00	2.12	0.00	0.000	4	0.000	0.031	1826	1855	1844	0	0	0	0	0	0
14282	0.52	146.1	146.6	13.9	646	14290	0.00	2.28	0.00	0.000	6	0.000	0.047	1826	3281	1844	0	0	0	0	0	0
14609	0.52	146.1	92.1	16.9	671	14614	0.00	1.05	0.00	0.000	4	0.000	0.053	1826	3949	1844	0	0	0	0	0	0
14677	0.52	146.1	80.0	19.1	682	14685	0.00	1.00	0.00	0.000	6	0.000	0.033	1831	3269	1844	0	0	0	0	0	0
15053	0.52	146.1	20.3	12.9	743	15062	0.00	2.12	0.00	0.000	4	0.000	0.032	1842	1862	1844	0	0	0	0	0	0
15149	0.52	146.1	10.4	10.5	757	15160	0.10	2.22	0.00	0.000	6	0.152	0.045	1811	3269	1843	0	0	0	0	0	0
15193	end climb: SURFACE_DEPTH_REACHED
state	15193	begin surface coast
15213	end surface coast: CONTROL_FINISHED_OK
state	15213	begin surface