Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 156 * 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 156 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 40 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 28 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 5 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 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 -10932.012 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 -10932.012

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 40 VBD_MAX 3961

DEVICE2 101 MASS 52816 R_STBD_OVSHOOT 28 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 156 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 010113,071904,-4628.857,408.253,33,0.8,33,-23.4 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,-0.048

_SM_DEPTHo 1.44 KALMAN_X -98934.4,1051.4,274.7,86478.7,-7525.5

_SM_ANGLEo -57.9 KALMAN_Y 47932.6,-234.8,-183.1,-6068.4,2992.2

GPS2 010113,072929,-4628.899,408.211,19,0.8,19,-23.4 MHEAD_RNG_PITCHd_Wd 124.3,3059,-16.5,-9.443

SPEED_LIMITS 0.164,0.256 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.5,1.025851 _10V_AH 10.1,13.645

SM_CCo 14833,51.45,0.783,1,0,1797,250.20 FG_AHR_24Vo 0.000

SM_GC 1.18,0.00,0.00,51.45,0.000,0.000,0.783,57,2896,1797,-5.60,0.45,250.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4613.60,404.02,010113,030340 MEM 354020

TT8_MAMPS 0.025466 DATA_FILE_SIZE 53706,742

HUMID 58.30 CAP_FILE_SIZE 106469,0

INTERNAL_PRESSURE 9.31643 CFSIZE 259252224,219631616

TCM_TEMP 10.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,1

XPDR_PINGS 0 GPS 010113,114023,-4628.882,410.170,64,0.9,64,-23.4

_24V_AH 21.8,31.352

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 251 75.72 SBE_CT 489 24 255.97

Roll_motor 67 72 107.14 AA4330 1450 33 1043.25

VBD_pump_during_apogee 297 1842 11962.07 WL_BB2FLVMT 762 105 1745.62

VBD_pump_during_surface 51 782 877.77 QSP2150 297 4 28.40

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 56.42 nil 0 0 0.00

Iridium_during_connect 42 160 149.83 nil 0 0 0.00

Iridium_during_xfer 330 223 1606.73 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 5.88

TT8 1815 14 274.37

LPSleep 10429 2 230.68

TT8_Active 433 14 62.23

TT8_Sampling 2219 37 838.92

TT8_CF8 604 47 288.02

TT8_Kalman 33 59 19.93

Analog_circuits 1187 12 143.98

GPS_charging 0 0 0.00

Compass 1754 15 278.71

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 99 0.00 0.00 -70.93 0.000 2 0.000 0.000 53 2902 3138 0 0 0 0 0 0

106 -0.61 -146.1 3.0 -2.3 9 132 6.60 2.30 -7.38 0.000 4 0.252 0.052 1651 1472 3418 0 0 0 0 0 0

217 -0.61 -146.1 21.4 -10.5 25 226 0.00 2.30 0.00 0.000 6 0.000 0.051 1641 2881 3419 0 0 0 0 0 0

302 -0.61 -146.1 32.9 -13.4 38 311 0.00 0.00 0.00 0.000 6 0.000 0.000 1642 2881 3419 0 0 0 0 0 0

551 -0.61 -146.1 67.6 -14.0 79 555 0.00 0.00 0.00 0.000 6 0.000 0.000 1641 2881 3420 0 0 0 0 0 0

897 -0.61 -146.1 109.6 -11.5 130 900 0.00 1.62 0.00 0.000 4 0.000 0.060 1634 3928 3421 0 0 0 0 0 0

1007 -0.61 -146.1 123.0 -11.3 136 1011 0.00 1.62 0.00 0.000 6 0.000 0.033 1633 2855 3421 0 0 0 0 0 0

1336 -0.61 -146.1 160.1 -11.7 157 1339 0.00 2.05 0.00 0.000 4 0.000 0.037 1633 1502 3422 0 0 0 0 0 0

1376 -0.61 -146.1 164.7 -11.6 159 1380 0.00 2.20 0.00 0.000 6 0.000 0.052 1623 2885 3422 0 0 0 0 0 0

1704 -0.61 -146.1 206.9 -13.1 180 1706 0.00 0.00 0.00 0.000 6 0.000 0.000 1623 2885 3422 0 0 0 0 0 0

2015 -0.61 -146.1 247.5 -12.8 200 2016 0.00 0.00 0.00 0.000 6 0.000 0.000 1623 2885 3422 0 0 0 0 0 0

2335 -0.61 -146.1 287.6 -12.5 216 2339 0.00 1.60 0.00 0.000 4 0.000 0.060 1615 3897 3422 0 0 0 0 0 0

2370 -0.61 -146.1 292.3 -13.3 217 2375 0.10 1.52 0.00 0.000 6 0.171 0.033 1646 2888 3422 0 0 0 0 0 0

2696 -0.61 -146.1 326.8 -10.9 233 2697 0.00 0.00 0.00 0.000 6 0.000 0.000 1646 2884 3422 0 0 0 0 0 0

3004 -0.61 -146.1 360.4 -10.9 248 3005 0.00 0.00 0.00 0.000 6 0.000 0.000 1646 2884 3422 0 0 0 0 0 0

3315 -0.61 -146.1 393.3 -10.2 263 3316 0.00 0.00 0.00 0.000 6 0.000 0.000 1646 2884 3422 0 0 0 0 0 0

3640 -0.61 -146.1 426.8 -10.3 275 3644 0.00 2.10 0.00 0.000 4 0.000 0.038 1646 1487 3422 0 0 0 0 0 0

3681 -0.61 -146.1 431.0 -9.5 276 3685 0.00 2.22 0.00 0.000 6 0.000 0.054 1636 2885 3422 0 0 0 0 0 0

4007 -0.61 -146.1 464.8 -10.3 287 4008 0.00 0.00 0.00 0.000 6 0.000 0.000 1636 2886 3422 0 0 0 0 0 0

4315 -0.61 -146.1 495.8 -10.1 297 4318 0.00 1.60 0.00 0.000 4 0.000 0.063 1628 3898 3421 0 0 0 0 0 0

4352 -0.61 -146.1 499.8 -10.6 298 4355 0.00 1.55 0.00 0.000 6 0.000 0.034 1628 2870 3422 0 0 0 0 0 0

4695 -0.61 -146.1 535.7 -10.4 309 4696 0.00 0.00 0.00 0.000 6 0.000 0.000 1628 2866 3422 0 0 0 0 0 0

5001 -0.61 -146.1 567.1 -10.0 319 5002 0.00 0.00 0.00 0.000 6 0.000 0.000 1628 2866 3421 0 0 0 0 0 0

5307 -0.61 -146.1 597.3 -9.8 329 5308 0.00 0.00 0.00 0.000 6 0.000 0.000 1628 2866 3421 0 0 0 0 0 0

5613 -0.61 -146.1 626.7 -9.5 339 5615 0.00 0.00 0.00 0.000 6 0.000 0.000 1628 2866 3421 0 0 0 0 0 0

5919 -0.61 -146.1 656.6 -9.8 349 5920 0.00 0.00 0.00 0.000 6 0.000 0.000 1628 2866 3421 0 0 0 0 0 0

6226 -0.61 -146.1 687.5 -10.2 359 6227 0.00 0.00 0.00 0.000 6 0.000 0.000 1628 2866 3421 0 0 0 0 0 0

6532 -0.61 -146.1 719.1 -10.1 369 6533 0.00 0.00 0.00 0.000 6 0.000 0.000 1628 2866 3421 0 0 0 0 0 0

6838 -0.61 -146.1 749.9 -10.0 379 6839 0.00 0.00 0.00 0.000 6 0.000 0.000 1628 2866 3421 0 0 0 0 0 0

7145 -0.61 -146.1 778.3 -8.9 389 7146 0.00 0.00 0.00 0.000 6 0.000 0.000 1628 2866 3421 0 0 0 0 0 0

7451 -0.61 -146.1 805.7 -9.0 399 7452 0.00 0.00 0.00 0.000 6 0.000 0.000 1628 2866 3421 0 0 0 0 0 0

7757 -0.61 -146.1 833.6 -9.0 409 7761 0.00 2.08 0.00 0.000 4 0.000 0.040 1628 1498 3420 0 0 0 0 0 0

7788 -0.61 -146.1 836.4 -9.2 409 7796 0.12 2.20 0.00 0.000 6 0.184 0.054 1649 2887 3420 0 0 0 0 0 0

8104 -0.61 -146.1 858.8 -6.7 420 8105 0.00 0.00 0.00 0.000 6 0.000 0.000 1649 2887 3420 0 0 0 0 0 0

8410 -0.61 -146.1 879.0 -6.6 430 8411 0.00 0.00 0.00 0.000 6 0.000 0.000 1649 2887 3420 0 0 0 0 0 0

8718 -0.61 -146.1 898.7 -6.3 440 8722 0.00 2.12 0.00 0.000 4 0.000 0.038 1649 1495 3419 0 0 0 0 0 0

8770 -0.61 -146.1 902.2 -6.6 441 8774 0.00 2.20 0.00 0.000 6 0.000 0.055 1639 2880 3419 0 0 0 0 0 0

9086 -0.61 -146.1 923.8 -7.1 451 9087 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2881 3419 0 0 0 0 0 0

9391 -0.61 -146.1 946.2 -7.4 461 9395 0.00 2.10 0.00 0.000 4 0.000 0.037 1640 1491 3419 0 0 0 0 0 0

9432 -0.61 -146.1 949.4 -7.7 462 9436 0.00 2.22 0.00 0.000 6 0.000 0.054 1630 2890 3419 0 0 0 0 0 0

9759 -0.61 -146.1 975.9 -8.5 473 9760 0.00 0.00 0.00 0.000 6 0.000 0.000 1630 2890 3419 0 0 0 0 0 0

10029 end dive: TARGET_DEPTH_EXCEEDED

state 10029 begin apogee

10040 -0.18 0.0 1000.1 8.8 482 10190 0.52 0.00 142.27 1.843 6 0.164 0.000 1786 2702 2819 0 0 0 0 1 0

10192 end apogee: CONTROL_FINISHED_OK

state 10192 begin climb

10197 0.61 146.1 1004.8 0.0 487 10367 0.77 2.30 155.48 1.799 4 0.070 0.058 2051 3895 2224 0 0 0 0 1 0

10438 0.61 146.1 961.3 26.2 494 10442 0.00 2.03 0.00 0.000 6 0.000 0.037 2060 2705 2222 0 0 0 0 0 0

10764 0.61 146.1 882.4 24.5 505 10769 0.00 2.28 0.00 0.000 4 0.000 0.045 2071 1294 2217 0 0 0 0 0 0

10811 0.61 146.1 871.1 22.3 506 10815 0.00 2.35 0.00 0.000 6 0.000 0.053 2071 2701 2215 0 0 0 0 0 0

11132 0.61 146.1 792.5 24.6 517 11133 0.00 0.00 0.00 0.000 6 0.000 0.000 2071 2701 2214 0 0 0 0 0 0

11439 0.61 146.1 716.7 24.4 527 11443 0.00 2.22 0.00 0.000 4 0.000 0.044 2081 1291 2212 0 0 0 0 0 0

11471 0.61 146.1 708.6 24.7 528 11476 0.12 2.30 0.00 0.000 6 0.237 0.052 2055 2709 2211 0 0 0 0 0 0

11811 0.61 146.1 631.4 22.2 539 11812 0.00 0.00 0.00 0.000 6 0.000 0.000 2055 2709 2211 0 0 0 0 0 0

12115 0.61 146.1 562.8 22.5 549 12119 0.00 2.22 0.00 0.000 4 0.000 0.044 2064 1290 2211 0 0 0 0 0 0

12156 0.61 146.1 553.6 20.9 550 12160 0.00 2.28 0.00 0.000 6 0.000 0.053 2064 2702 2210 0 0 0 0 0 0

12482 0.61 146.1 479.9 22.8 561 12484 0.00 0.00 0.00 0.000 6 0.000 0.000 2065 2702 2210 0 0 0 0 0 0

12788 0.61 146.1 413.1 21.5 571 12789 0.00 0.00 0.00 0.000 6 0.000 0.000 2064 2702 2210 0 0 0 0 0 0

13099 0.61 146.1 343.9 22.8 585 13100 0.00 0.00 0.00 0.000 6 0.000 0.000 2064 2702 2210 0 0 0 0 0 0

13407 0.61 146.1 275.5 22.0 600 13408 0.00 0.00 0.00 0.000 6 0.000 0.000 2065 2702 2209 0 0 0 0 0 0

13718 0.61 146.1 207.0 21.7 618 13721 0.00 2.22 0.00 0.000 4 0.000 0.044 2075 1285 2209 0 0 0 0 0 0

13764 0.61 146.1 197.3 19.3 620 13773 0.00 2.28 0.00 0.000 6 0.000 0.052 2075 2692 2208 0 0 0 0 0 0

14087 0.61 146.1 131.8 19.6 641 14091 0.00 2.17 0.00 0.000 4 0.000 0.046 2084 1293 2208 0 0 0 0 0 0

14146 0.61 146.1 120.2 17.9 644 14156 0.12 2.28 0.00 0.000 6 0.213 0.051 2051 2706 2208 0 0 0 0 0 0

14490 0.61 146.1 58.2 19.2 691 14497 0.00 2.22 0.00 0.000 4 0.000 0.044 2060 1281 2208 0 0 0 0 0 0

14536 0.61 146.1 49.9 15.7 698 14545 0.00 2.28 0.00 0.000 6 0.000 0.052 2060 2695 2208 0 0 0 0 0 0

14791 end climb: SURFACE_DEPTH_REACHED

state 14791 begin surface coast

14811 end surface coast: CONTROL_FINISHED_OK

state 14811 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	156	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	40	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	28	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	5	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	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	-10932.012	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	010113,071904,-4628.857,408.253,33,0.8,33,-23.4	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,-0.048
_SM_DEPTHo	1.44	KALMAN_X	-98934.4,1051.4,274.7,86478.7,-7525.5
_SM_ANGLEo	-57.9	KALMAN_Y	47932.6,-234.8,-183.1,-6068.4,2992.2
GPS2	010113,072929,-4628.899,408.211,19,0.8,19,-23.4	MHEAD_RNG_PITCHd_Wd	124.3,3059,-16.5,-9.443
SPEED_LIMITS	0.164,0.256	D_GRID	1000

FINISH	0.5,1.025851	_10V_AH	10.1,13.645
SM_CCo	14833,51.45,0.783,1,0,1797,250.20	FG_AHR_24Vo	0.000
SM_GC	1.18,0.00,0.00,51.45,0.000,0.000,0.783,57,2896,1797,-5.60,0.45,250.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4613.60,404.02,010113,030340	MEM	354020
TT8_MAMPS	0.025466	DATA_FILE_SIZE	53706,742
HUMID	58.30	CAP_FILE_SIZE	106469,0
INTERNAL_PRESSURE	9.31643	CFSIZE	259252224,219631616
TCM_TEMP	10.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
XPDR_PINGS	0	GPS	010113,114023,-4628.882,410.170,64,0.9,64,-23.4
_24V_AH	21.8,31.352

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	251	75.72	SBE_CT	489	24	255.97
Roll_motor	67	72	107.14	AA4330	1450	33	1043.25
VBD_pump_during_apogee	297	1842	11962.07	WL_BB2FLVMT	762	105	1745.62
VBD_pump_during_surface	51	782	877.77	QSP2150	297	4	28.40
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	56.42	nil	0	0	0.00
Iridium_during_connect	42	160	149.83	nil	0	0	0.00
Iridium_during_xfer	330	223	1606.73	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	5.88
TT8	1815	14	274.37
LPSleep	10429	2	230.68
TT8_Active	433	14	62.23
TT8_Sampling	2219	37	838.92
TT8_CF8	604	47	288.02
TT8_Kalman	33	59	19.93
Analog_circuits	1187	12	143.98
GPS_charging	0	0	0.00
Compass	1754	15	278.71
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	99	0.00	0.00	-70.93	0.000	2	0.000	0.000	53	2902	3138	0	0	0	0	0	0
106	-0.61	-146.1	3.0	-2.3	9	132	6.60	2.30	-7.38	0.000	4	0.252	0.052	1651	1472	3418	0	0	0	0	0	0
217	-0.61	-146.1	21.4	-10.5	25	226	0.00	2.30	0.00	0.000	6	0.000	0.051	1641	2881	3419	0	0	0	0	0	0
302	-0.61	-146.1	32.9	-13.4	38	311	0.00	0.00	0.00	0.000	6	0.000	0.000	1642	2881	3419	0	0	0	0	0	0
551	-0.61	-146.1	67.6	-14.0	79	555	0.00	0.00	0.00	0.000	6	0.000	0.000	1641	2881	3420	0	0	0	0	0	0
897	-0.61	-146.1	109.6	-11.5	130	900	0.00	1.62	0.00	0.000	4	0.000	0.060	1634	3928	3421	0	0	0	0	0	0
1007	-0.61	-146.1	123.0	-11.3	136	1011	0.00	1.62	0.00	0.000	6	0.000	0.033	1633	2855	3421	0	0	0	0	0	0
1336	-0.61	-146.1	160.1	-11.7	157	1339	0.00	2.05	0.00	0.000	4	0.000	0.037	1633	1502	3422	0	0	0	0	0	0
1376	-0.61	-146.1	164.7	-11.6	159	1380	0.00	2.20	0.00	0.000	6	0.000	0.052	1623	2885	3422	0	0	0	0	0	0
1704	-0.61	-146.1	206.9	-13.1	180	1706	0.00	0.00	0.00	0.000	6	0.000	0.000	1623	2885	3422	0	0	0	0	0	0
2015	-0.61	-146.1	247.5	-12.8	200	2016	0.00	0.00	0.00	0.000	6	0.000	0.000	1623	2885	3422	0	0	0	0	0	0
2335	-0.61	-146.1	287.6	-12.5	216	2339	0.00	1.60	0.00	0.000	4	0.000	0.060	1615	3897	3422	0	0	0	0	0	0
2370	-0.61	-146.1	292.3	-13.3	217	2375	0.10	1.52	0.00	0.000	6	0.171	0.033	1646	2888	3422	0	0	0	0	0	0
2696	-0.61	-146.1	326.8	-10.9	233	2697	0.00	0.00	0.00	0.000	6	0.000	0.000	1646	2884	3422	0	0	0	0	0	0
3004	-0.61	-146.1	360.4	-10.9	248	3005	0.00	0.00	0.00	0.000	6	0.000	0.000	1646	2884	3422	0	0	0	0	0	0
3315	-0.61	-146.1	393.3	-10.2	263	3316	0.00	0.00	0.00	0.000	6	0.000	0.000	1646	2884	3422	0	0	0	0	0	0
3640	-0.61	-146.1	426.8	-10.3	275	3644	0.00	2.10	0.00	0.000	4	0.000	0.038	1646	1487	3422	0	0	0	0	0	0
3681	-0.61	-146.1	431.0	-9.5	276	3685	0.00	2.22	0.00	0.000	6	0.000	0.054	1636	2885	3422	0	0	0	0	0	0
4007	-0.61	-146.1	464.8	-10.3	287	4008	0.00	0.00	0.00	0.000	6	0.000	0.000	1636	2886	3422	0	0	0	0	0	0
4315	-0.61	-146.1	495.8	-10.1	297	4318	0.00	1.60	0.00	0.000	4	0.000	0.063	1628	3898	3421	0	0	0	0	0	0
4352	-0.61	-146.1	499.8	-10.6	298	4355	0.00	1.55	0.00	0.000	6	0.000	0.034	1628	2870	3422	0	0	0	0	0	0
4695	-0.61	-146.1	535.7	-10.4	309	4696	0.00	0.00	0.00	0.000	6	0.000	0.000	1628	2866	3422	0	0	0	0	0	0
5001	-0.61	-146.1	567.1	-10.0	319	5002	0.00	0.00	0.00	0.000	6	0.000	0.000	1628	2866	3421	0	0	0	0	0	0
5307	-0.61	-146.1	597.3	-9.8	329	5308	0.00	0.00	0.00	0.000	6	0.000	0.000	1628	2866	3421	0	0	0	0	0	0
5613	-0.61	-146.1	626.7	-9.5	339	5615	0.00	0.00	0.00	0.000	6	0.000	0.000	1628	2866	3421	0	0	0	0	0	0
5919	-0.61	-146.1	656.6	-9.8	349	5920	0.00	0.00	0.00	0.000	6	0.000	0.000	1628	2866	3421	0	0	0	0	0	0
6226	-0.61	-146.1	687.5	-10.2	359	6227	0.00	0.00	0.00	0.000	6	0.000	0.000	1628	2866	3421	0	0	0	0	0	0
6532	-0.61	-146.1	719.1	-10.1	369	6533	0.00	0.00	0.00	0.000	6	0.000	0.000	1628	2866	3421	0	0	0	0	0	0
6838	-0.61	-146.1	749.9	-10.0	379	6839	0.00	0.00	0.00	0.000	6	0.000	0.000	1628	2866	3421	0	0	0	0	0	0
7145	-0.61	-146.1	778.3	-8.9	389	7146	0.00	0.00	0.00	0.000	6	0.000	0.000	1628	2866	3421	0	0	0	0	0	0
7451	-0.61	-146.1	805.7	-9.0	399	7452	0.00	0.00	0.00	0.000	6	0.000	0.000	1628	2866	3421	0	0	0	0	0	0
7757	-0.61	-146.1	833.6	-9.0	409	7761	0.00	2.08	0.00	0.000	4	0.000	0.040	1628	1498	3420	0	0	0	0	0	0
7788	-0.61	-146.1	836.4	-9.2	409	7796	0.12	2.20	0.00	0.000	6	0.184	0.054	1649	2887	3420	0	0	0	0	0	0
8104	-0.61	-146.1	858.8	-6.7	420	8105	0.00	0.00	0.00	0.000	6	0.000	0.000	1649	2887	3420	0	0	0	0	0	0
8410	-0.61	-146.1	879.0	-6.6	430	8411	0.00	0.00	0.00	0.000	6	0.000	0.000	1649	2887	3420	0	0	0	0	0	0
8718	-0.61	-146.1	898.7	-6.3	440	8722	0.00	2.12	0.00	0.000	4	0.000	0.038	1649	1495	3419	0	0	0	0	0	0
8770	-0.61	-146.1	902.2	-6.6	441	8774	0.00	2.20	0.00	0.000	6	0.000	0.055	1639	2880	3419	0	0	0	0	0	0
9086	-0.61	-146.1	923.8	-7.1	451	9087	0.00	0.00	0.00	0.000	6	0.000	0.000	1640	2881	3419	0	0	0	0	0	0
9391	-0.61	-146.1	946.2	-7.4	461	9395	0.00	2.10	0.00	0.000	4	0.000	0.037	1640	1491	3419	0	0	0	0	0	0
9432	-0.61	-146.1	949.4	-7.7	462	9436	0.00	2.22	0.00	0.000	6	0.000	0.054	1630	2890	3419	0	0	0	0	0	0
9759	-0.61	-146.1	975.9	-8.5	473	9760	0.00	0.00	0.00	0.000	6	0.000	0.000	1630	2890	3419	0	0	0	0	0	0
10029	end dive: TARGET_DEPTH_EXCEEDED
state	10029	begin apogee
10040	-0.18	0.0	1000.1	8.8	482	10190	0.52	0.00	142.27	1.843	6	0.164	0.000	1786	2702	2819	0	0	0	0	1	0
10192	end apogee: CONTROL_FINISHED_OK
state	10192	begin climb
10197	0.61	146.1	1004.8	0.0	487	10367	0.77	2.30	155.48	1.799	4	0.070	0.058	2051	3895	2224	0	0	0	0	1	0
10438	0.61	146.1	961.3	26.2	494	10442	0.00	2.03	0.00	0.000	6	0.000	0.037	2060	2705	2222	0	0	0	0	0	0
10764	0.61	146.1	882.4	24.5	505	10769	0.00	2.28	0.00	0.000	4	0.000	0.045	2071	1294	2217	0	0	0	0	0	0
10811	0.61	146.1	871.1	22.3	506	10815	0.00	2.35	0.00	0.000	6	0.000	0.053	2071	2701	2215	0	0	0	0	0	0
11132	0.61	146.1	792.5	24.6	517	11133	0.00	0.00	0.00	0.000	6	0.000	0.000	2071	2701	2214	0	0	0	0	0	0
11439	0.61	146.1	716.7	24.4	527	11443	0.00	2.22	0.00	0.000	4	0.000	0.044	2081	1291	2212	0	0	0	0	0	0
11471	0.61	146.1	708.6	24.7	528	11476	0.12	2.30	0.00	0.000	6	0.237	0.052	2055	2709	2211	0	0	0	0	0	0
11811	0.61	146.1	631.4	22.2	539	11812	0.00	0.00	0.00	0.000	6	0.000	0.000	2055	2709	2211	0	0	0	0	0	0
12115	0.61	146.1	562.8	22.5	549	12119	0.00	2.22	0.00	0.000	4	0.000	0.044	2064	1290	2211	0	0	0	0	0	0
12156	0.61	146.1	553.6	20.9	550	12160	0.00	2.28	0.00	0.000	6	0.000	0.053	2064	2702	2210	0	0	0	0	0	0
12482	0.61	146.1	479.9	22.8	561	12484	0.00	0.00	0.00	0.000	6	0.000	0.000	2065	2702	2210	0	0	0	0	0	0
12788	0.61	146.1	413.1	21.5	571	12789	0.00	0.00	0.00	0.000	6	0.000	0.000	2064	2702	2210	0	0	0	0	0	0
13099	0.61	146.1	343.9	22.8	585	13100	0.00	0.00	0.00	0.000	6	0.000	0.000	2064	2702	2210	0	0	0	0	0	0
13407	0.61	146.1	275.5	22.0	600	13408	0.00	0.00	0.00	0.000	6	0.000	0.000	2065	2702	2209	0	0	0	0	0	0
13718	0.61	146.1	207.0	21.7	618	13721	0.00	2.22	0.00	0.000	4	0.000	0.044	2075	1285	2209	0	0	0	0	0	0
13764	0.61	146.1	197.3	19.3	620	13773	0.00	2.28	0.00	0.000	6	0.000	0.052	2075	2692	2208	0	0	0	0	0	0
14087	0.61	146.1	131.8	19.6	641	14091	0.00	2.17	0.00	0.000	4	0.000	0.046	2084	1293	2208	0	0	0	0	0	0
14146	0.61	146.1	120.2	17.9	644	14156	0.12	2.28	0.00	0.000	6	0.213	0.051	2051	2706	2208	0	0	0	0	0	0
14490	0.61	146.1	58.2	19.2	691	14497	0.00	2.22	0.00	0.000	4	0.000	0.044	2060	1281	2208	0	0	0	0	0	0
14536	0.61	146.1	49.9	15.7	698	14545	0.00	2.28	0.00	0.000	6	0.000	0.052	2060	2695	2208	0	0	0	0	0	0
14791	end climb: SURFACE_DEPTH_REACHED
state	14791	begin surface coast
14811	end surface coast: CONTROL_FINISHED_OK
state	14811	begin surface