Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 157 * 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 157 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 34 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 -10935.489 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 -10935.489

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 34 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 157 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 010113,114023,-4628.882,410.170,64,0.9,64,-23.4 TGT_NAME GH3

_CALLS 1 TGT_LATLONG -4630.000,440.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.211,-0.144

_SM_DEPTHo 1.47 KALMAN_X -100807.5,349.0,491.3,91437.7,-6614.2

_SM_ANGLEo -59.3 KALMAN_Y 48770.5,-261.5,-326.4,-6929.3,3154.8

GPS2 010113,115113,-4629.006,410.264,18,1.5,18,-23.4 MHEAD_RNG_PITCHd_Wd 147.7,37952,-16.5,-9.443

SPEED_LIMITS 0.164,0.256 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.6,1.014699 _10V_AH 10.1,13.744

SM_CCo 14544,51.35,0.776,1,0,1797,250.20 FG_AHR_24Vo 0.000

SM_GC 1.42,0.00,0.00,51.35,0.000,0.000,0.776,55,2898,1797,-5.61,0.51,250.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4610.49,407.14,010113,070719 MEM 353976

TT8_MAMPS 0.026215 DATA_FILE_SIZE 53875,726

HUMID 58.30 CAP_FILE_SIZE 107858,0

INTERNAL_PRESSURE 9.3262 CFSIZE 259252224,219566080

TCM_TEMP 10.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,1

XPDR_PINGS 0 GPS 010113,155652,-4629.710,412.486,38,0.9,38,-23.4

_24V_AH 21.8,31.514

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 253 76.32 SBE_CT 480 24 251.23

Roll_motor 76 71 119.15 AA4330 1421 33 1022.73

VBD_pump_during_apogee 295 1803 11636.08 WL_BB2FLVMT 749 105 1715.53

VBD_pump_during_surface 51 775 868.35 QSP2150 291 4 27.87

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 63.09 nil 0 0 0.00

Iridium_during_connect 21 160 73.26 nil 0 0 0.00

Iridium_during_xfer 348 223 1696.15 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 5.45

TT8 1790 14 270.49

LPSleep 10193 2 225.48

TT8_Active 431 14 61.91

TT8_Sampling 2189 37 827.74

TT8_CF8 631 47 301.06

TT8_Kalman 33 59 19.93

Analog_circuits 1180 12 143.13

GPS_charging 0 0 0.00

Compass 1719 15 273.22

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 92 0.00 0.00 -63.08 0.000 2 0.000 0.000 55 2896 2957 0 0 0 0 0 0

98 -0.61 -146.1 3.1 -4.6 8 125 6.53 2.22 -13.38 0.000 4 0.249 0.049 1644 1475 3417 0 0 0 0 0 0

137 -0.61 -146.1 8.8 -11.8 12 147 0.00 2.30 0.00 0.000 6 0.000 0.050 1635 2878 3418 0 0 0 0 0 0

226 -0.61 -146.1 20.9 -14.4 25 234 0.00 2.22 0.00 0.000 4 0.000 0.038 1634 1477 3418 0 0 0 0 0 0

431 -0.61 -146.1 46.9 -10.3 58 440 0.00 2.30 0.00 0.000 6 0.000 0.053 1624 2886 3419 0 0 0 0 0 0

675 -0.61 -146.1 80.9 -13.7 99 681 0.00 0.00 0.00 0.000 6 0.000 0.000 1624 2885 3419 0 0 0 0 0 0

1019 -0.61 -146.1 129.8 -14.6 136 1023 0.00 2.17 0.00 0.000 4 0.000 0.037 1625 1468 3420 0 0 0 0 0 0

1083 -0.61 -146.1 139.3 -13.9 139 1091 0.12 2.25 0.00 0.000 6 0.184 0.050 1645 2883 3421 0 0 0 0 0 0

1408 -0.61 -146.1 178.7 -11.9 160 1412 0.00 1.60 0.00 0.000 4 0.000 0.060 1638 3891 3420 0 0 0 0 0 0

1449 -0.61 -146.1 184.3 -12.2 162 1452 0.00 1.58 0.00 0.000 6 0.000 0.031 1638 2846 3421 0 0 0 0 0 0

1778 -0.61 -146.1 223.9 -12.1 183 1779 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2840 3421 0 0 0 0 0 0

2092 -0.61 -146.1 260.3 -11.3 202 2096 0.00 1.67 0.00 0.000 4 0.000 0.060 1630 3896 3421 0 0 0 0 0 0

2150 -0.61 -146.1 267.4 -11.7 204 2154 0.00 1.52 0.00 0.000 6 0.000 0.032 1630 2884 3421 0 0 0 0 0 0

2474 -0.61 -146.1 305.6 -11.8 220 2475 0.00 0.00 0.00 0.000 6 0.000 0.000 1630 2880 3421 0 0 0 0 0 0

2785 -0.61 -146.1 340.9 -11.2 235 2786 0.00 0.00 0.00 0.000 6 0.000 0.000 1630 2880 3421 0 0 0 0 0 0

3093 -0.61 -146.1 375.1 -10.8 250 3094 0.00 0.00 0.00 0.000 6 0.000 0.000 1630 2880 3421 0 0 0 0 0 0

3402 -0.61 -146.1 408.6 -11.0 264 3403 0.00 0.00 0.00 0.000 6 0.000 0.000 1630 2879 3421 0 0 0 0 0 0

3707 -0.61 -146.1 443.3 -11.4 274 3708 0.00 0.00 0.00 0.000 6 0.000 0.000 1630 2880 3420 0 0 0 0 0 0

4014 -0.61 -146.1 477.9 -11.2 284 4015 0.00 0.00 0.00 0.000 6 0.000 0.000 1630 2880 3420 0 0 0 0 0 0

4320 -0.61 -146.1 510.9 -10.8 294 4321 0.00 0.00 0.00 0.000 6 0.000 0.000 1630 2880 3420 0 0 0 0 0 0

4626 -0.61 -146.1 542.5 -10.0 304 4627 0.00 0.00 0.00 0.000 6 0.000 0.000 1629 2880 3420 0 0 0 0 0 0

4932 -0.61 -146.1 574.0 -10.4 314 4933 0.00 0.00 0.00 0.000 6 0.000 0.000 1630 2880 3420 0 0 0 0 0 0

5239 -0.61 -146.1 606.1 -10.3 324 5242 0.00 2.12 0.00 0.000 4 0.000 0.039 1630 1497 3419 0 0 0 0 0 0

5279 -0.61 -146.1 610.4 -9.7 325 5283 0.12 2.20 0.00 0.000 6 0.183 0.054 1652 2880 3419 0 0 0 0 0 0

5612 -0.61 -146.1 638.1 -8.3 336 5613 0.00 0.00 0.00 0.000 6 0.000 0.000 1652 2881 3419 0 0 0 0 0 0

5920 -0.61 -146.1 662.8 -8.0 346 5921 0.00 0.00 0.00 0.000 6 0.000 0.000 1652 2881 3419 0 0 0 0 0 0

6224 -0.61 -146.1 686.6 -7.8 356 6228 0.00 2.10 0.00 0.000 4 0.000 0.038 1652 1495 3418 0 0 0 0 0 0

6265 -0.61 -146.1 690.1 -8.0 357 6269 0.00 2.20 0.00 0.000 6 0.000 0.054 1643 2880 3418 0 0 0 0 0 0

6592 -0.61 -146.1 717.6 -8.5 368 6593 0.00 0.00 0.00 0.000 6 0.000 0.000 1644 2880 3418 0 0 0 0 0 0

6898 -0.61 -146.1 743.5 -8.5 378 6902 0.00 2.12 0.00 0.000 4 0.000 0.038 1644 1494 3418 0 0 0 0 0 0

6955 -0.61 -146.1 748.5 -7.6 379 6962 0.00 2.20 0.00 0.000 6 0.000 0.054 1634 2885 3418 0 0 0 0 0 0

7271 -0.61 -146.1 777.1 -9.3 390 7272 0.00 0.00 0.00 0.000 6 0.000 0.000 1634 2885 3418 0 0 0 0 0 0

7577 -0.61 -146.1 806.5 -9.6 400 7581 0.00 2.12 0.00 0.000 4 0.000 0.038 1634 1489 3418 0 0 0 0 0 0

7617 -0.61 -146.1 810.4 -9.1 401 7621 0.00 2.20 0.00 0.000 6 0.000 0.054 1624 2882 3417 0 0 0 0 0 0

7956 -0.61 -146.1 843.1 -9.6 412 7957 0.00 0.00 0.00 0.000 6 0.000 0.000 1624 2883 3417 0 0 0 0 0 0

8261 -0.61 -146.1 872.7 -9.5 422 8262 0.00 0.00 0.00 0.000 6 0.000 0.000 1624 2882 3417 0 0 0 0 0 0

8569 -0.61 -146.1 900.9 -9.1 432 8570 0.00 0.00 0.00 0.000 6 0.000 0.000 1624 2883 3417 0 0 0 0 0 0

8874 -0.61 -146.1 928.7 -9.2 442 8878 0.00 2.10 0.00 0.000 4 0.000 0.038 1624 1493 3417 0 0 0 0 0 0

8915 -0.61 -146.1 932.7 -9.5 443 8919 0.12 2.20 0.00 0.000 6 0.184 0.054 1646 2879 3416 0 0 0 0 0 0

9242 -0.61 -146.1 956.8 -7.3 454 9243 0.00 0.00 0.00 0.000 6 0.000 0.000 1646 2880 3416 0 0 0 0 0 0

9549 -0.61 -146.1 978.9 -7.1 464 9553 0.00 2.12 0.00 0.000 4 0.000 0.038 1646 1489 3416 0 0 0 0 0 0

9590 -0.61 -146.1 982.0 -6.5 465 9594 0.00 2.22 0.00 0.000 6 0.000 0.054 1636 2890 3416 0 0 0 0 0 0

9819 end dive: TARGET_DEPTH_EXCEEDED

state 9820 begin apogee

9831 -0.18 0.0 1000.5 8.1 473 9981 0.50 0.00 147.32 1.238 6 0.155 0.000 1788 2702 2819 0 0 0 0 0 0

9983 end apogee: CONTROL_FINISHED_OK

state 9983 begin climb

9988 0.61 146.1 1004.3 0.0 478 10149 0.75 2.25 148.57 1.804 4 0.063 0.058 2056 3893 2225 0 0 0 0 1 0

10175 0.61 146.1 973.2 25.1 484 10178 0.00 2.05 0.00 0.000 6 0.000 0.037 2065 2713 2225 0 0 0 0 0 0

10501 0.61 146.1 893.0 24.9 495 10502 0.00 0.00 0.00 0.000 6 0.000 0.000 2065 2707 2218 0 0 0 0 0 0

10808 0.61 146.1 817.0 24.6 505 10810 0.00 0.00 0.00 0.000 6 0.000 0.000 2065 2707 2217 0 0 0 0 0 0

11113 0.61 146.1 742.3 24.3 515 11115 0.00 0.00 0.00 0.000 6 0.000 0.000 2064 2706 2216 0 0 0 0 0 0

11419 0.61 146.1 668.9 23.9 525 11423 0.00 2.22 0.00 0.000 4 0.000 0.044 2075 1283 2215 0 0 0 0 0 0

11465 0.61 146.1 657.5 23.7 526 11470 0.00 2.30 0.00 0.000 6 0.000 0.051 2075 2706 2213 0 0 0 0 0 0

11786 0.61 146.1 579.0 24.3 537 11788 0.00 0.00 0.00 0.000 6 0.000 0.000 2075 2707 2213 0 0 0 0 0 0

12092 0.61 146.1 505.2 24.1 547 12094 0.00 0.00 0.00 0.000 6 0.000 0.000 2075 2706 2213 0 0 0 0 0 0

12399 0.61 146.1 430.9 24.2 557 12403 0.00 2.22 0.00 0.000 4 0.000 0.045 2086 1283 2212 0 0 0 0 0 0

12439 0.61 146.1 421.2 21.7 558 12444 0.15 2.28 0.00 0.000 6 0.223 0.053 2052 2701 2211 0 0 0 0 0 0

12758 0.61 146.1 353.2 21.1 572 12760 0.00 0.00 0.00 0.000 6 0.000 0.000 2052 2701 2211 0 0 0 0 0 0

13069 0.61 146.1 286.9 21.2 587 13073 0.00 2.22 0.00 0.000 4 0.000 0.044 2061 1279 2211 0 0 0 0 0 0

13099 0.61 146.1 280.2 20.4 588 13103 0.00 2.28 0.00 0.000 6 0.000 0.051 2061 2702 2211 0 0 0 0 0 0

13431 0.61 146.1 210.1 21.2 607 13435 0.00 2.22 0.00 0.000 4 0.000 0.044 2072 1281 2211 0 0 0 0 0 0

13455 0.61 146.1 204.8 18.6 608 13459 0.00 2.28 0.00 0.000 6 0.000 0.052 2072 2706 2210 0 0 0 0 0 0

13778 0.61 146.1 138.8 20.4 628 13782 0.00 1.88 0.00 0.000 4 0.000 0.060 2072 3894 2211 0 0 0 0 0 0

13849 0.61 146.1 123.9 20.2 632 13854 0.12 1.85 0.00 0.000 6 0.253 0.039 2056 2691 2210 0 0 0 0 0 0

14191 0.61 146.1 62.2 19.4 675 14197 0.00 2.17 0.00 0.000 4 0.000 0.044 2064 1296 2210 0 0 0 0 0 0

14213 0.61 146.1 57.5 19.3 678 14222 0.00 2.25 0.00 0.000 6 0.000 0.051 2064 2694 2210 0 0 0 0 0 0

14471 0.61 146.1 9.2 17.6 719 14480 0.00 0.00 0.00 0.000 6 0.000 0.000 2065 2694 2209 0 0 0 0 0 0

14500 end climb: SURFACE_DEPTH_REACHED

state 14500 begin surface coast

14521 end surface coast: CONTROL_FINISHED_OK

state 14521 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	157	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	34	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	-10935.489	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	010113,114023,-4628.882,410.170,64,0.9,64,-23.4	TGT_NAME	GH3
_CALLS	1	TGT_LATLONG	-4630.000,440.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.211,-0.144
_SM_DEPTHo	1.47	KALMAN_X	-100807.5,349.0,491.3,91437.7,-6614.2
_SM_ANGLEo	-59.3	KALMAN_Y	48770.5,-261.5,-326.4,-6929.3,3154.8
GPS2	010113,115113,-4629.006,410.264,18,1.5,18,-23.4	MHEAD_RNG_PITCHd_Wd	147.7,37952,-16.5,-9.443
SPEED_LIMITS	0.164,0.256	D_GRID	1000

FINISH	0.6,1.014699	_10V_AH	10.1,13.744
SM_CCo	14544,51.35,0.776,1,0,1797,250.20	FG_AHR_24Vo	0.000
SM_GC	1.42,0.00,0.00,51.35,0.000,0.000,0.776,55,2898,1797,-5.61,0.51,250.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4610.49,407.14,010113,070719	MEM	353976
TT8_MAMPS	0.026215	DATA_FILE_SIZE	53875,726
HUMID	58.30	CAP_FILE_SIZE	107858,0
INTERNAL_PRESSURE	9.3262	CFSIZE	259252224,219566080
TCM_TEMP	10.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
XPDR_PINGS	0	GPS	010113,155652,-4629.710,412.486,38,0.9,38,-23.4
_24V_AH	21.8,31.514

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	253	76.32	SBE_CT	480	24	251.23
Roll_motor	76	71	119.15	AA4330	1421	33	1022.73
VBD_pump_during_apogee	295	1803	11636.08	WL_BB2FLVMT	749	105	1715.53
VBD_pump_during_surface	51	775	868.35	QSP2150	291	4	27.87
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	63.09	nil	0	0	0.00
Iridium_during_connect	21	160	73.26	nil	0	0	0.00
Iridium_during_xfer	348	223	1696.15	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	5.45
TT8	1790	14	270.49
LPSleep	10193	2	225.48
TT8_Active	431	14	61.91
TT8_Sampling	2189	37	827.74
TT8_CF8	631	47	301.06
TT8_Kalman	33	59	19.93
Analog_circuits	1180	12	143.13
GPS_charging	0	0	0.00
Compass	1719	15	273.22
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	92	0.00	0.00	-63.08	0.000	2	0.000	0.000	55	2896	2957	0	0	0	0	0	0
98	-0.61	-146.1	3.1	-4.6	8	125	6.53	2.22	-13.38	0.000	4	0.249	0.049	1644	1475	3417	0	0	0	0	0	0
137	-0.61	-146.1	8.8	-11.8	12	147	0.00	2.30	0.00	0.000	6	0.000	0.050	1635	2878	3418	0	0	0	0	0	0
226	-0.61	-146.1	20.9	-14.4	25	234	0.00	2.22	0.00	0.000	4	0.000	0.038	1634	1477	3418	0	0	0	0	0	0
431	-0.61	-146.1	46.9	-10.3	58	440	0.00	2.30	0.00	0.000	6	0.000	0.053	1624	2886	3419	0	0	0	0	0	0
675	-0.61	-146.1	80.9	-13.7	99	681	0.00	0.00	0.00	0.000	6	0.000	0.000	1624	2885	3419	0	0	0	0	0	0
1019	-0.61	-146.1	129.8	-14.6	136	1023	0.00	2.17	0.00	0.000	4	0.000	0.037	1625	1468	3420	0	0	0	0	0	0
1083	-0.61	-146.1	139.3	-13.9	139	1091	0.12	2.25	0.00	0.000	6	0.184	0.050	1645	2883	3421	0	0	0	0	0	0
1408	-0.61	-146.1	178.7	-11.9	160	1412	0.00	1.60	0.00	0.000	4	0.000	0.060	1638	3891	3420	0	0	0	0	0	0
1449	-0.61	-146.1	184.3	-12.2	162	1452	0.00	1.58	0.00	0.000	6	0.000	0.031	1638	2846	3421	0	0	0	0	0	0
1778	-0.61	-146.1	223.9	-12.1	183	1779	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2840	3421	0	0	0	0	0	0
2092	-0.61	-146.1	260.3	-11.3	202	2096	0.00	1.67	0.00	0.000	4	0.000	0.060	1630	3896	3421	0	0	0	0	0	0
2150	-0.61	-146.1	267.4	-11.7	204	2154	0.00	1.52	0.00	0.000	6	0.000	0.032	1630	2884	3421	0	0	0	0	0	0
2474	-0.61	-146.1	305.6	-11.8	220	2475	0.00	0.00	0.00	0.000	6	0.000	0.000	1630	2880	3421	0	0	0	0	0	0
2785	-0.61	-146.1	340.9	-11.2	235	2786	0.00	0.00	0.00	0.000	6	0.000	0.000	1630	2880	3421	0	0	0	0	0	0
3093	-0.61	-146.1	375.1	-10.8	250	3094	0.00	0.00	0.00	0.000	6	0.000	0.000	1630	2880	3421	0	0	0	0	0	0
3402	-0.61	-146.1	408.6	-11.0	264	3403	0.00	0.00	0.00	0.000	6	0.000	0.000	1630	2879	3421	0	0	0	0	0	0
3707	-0.61	-146.1	443.3	-11.4	274	3708	0.00	0.00	0.00	0.000	6	0.000	0.000	1630	2880	3420	0	0	0	0	0	0
4014	-0.61	-146.1	477.9	-11.2	284	4015	0.00	0.00	0.00	0.000	6	0.000	0.000	1630	2880	3420	0	0	0	0	0	0
4320	-0.61	-146.1	510.9	-10.8	294	4321	0.00	0.00	0.00	0.000	6	0.000	0.000	1630	2880	3420	0	0	0	0	0	0
4626	-0.61	-146.1	542.5	-10.0	304	4627	0.00	0.00	0.00	0.000	6	0.000	0.000	1629	2880	3420	0	0	0	0	0	0
4932	-0.61	-146.1	574.0	-10.4	314	4933	0.00	0.00	0.00	0.000	6	0.000	0.000	1630	2880	3420	0	0	0	0	0	0
5239	-0.61	-146.1	606.1	-10.3	324	5242	0.00	2.12	0.00	0.000	4	0.000	0.039	1630	1497	3419	0	0	0	0	0	0
5279	-0.61	-146.1	610.4	-9.7	325	5283	0.12	2.20	0.00	0.000	6	0.183	0.054	1652	2880	3419	0	0	0	0	0	0
5612	-0.61	-146.1	638.1	-8.3	336	5613	0.00	0.00	0.00	0.000	6	0.000	0.000	1652	2881	3419	0	0	0	0	0	0
5920	-0.61	-146.1	662.8	-8.0	346	5921	0.00	0.00	0.00	0.000	6	0.000	0.000	1652	2881	3419	0	0	0	0	0	0
6224	-0.61	-146.1	686.6	-7.8	356	6228	0.00	2.10	0.00	0.000	4	0.000	0.038	1652	1495	3418	0	0	0	0	0	0
6265	-0.61	-146.1	690.1	-8.0	357	6269	0.00	2.20	0.00	0.000	6	0.000	0.054	1643	2880	3418	0	0	0	0	0	0
6592	-0.61	-146.1	717.6	-8.5	368	6593	0.00	0.00	0.00	0.000	6	0.000	0.000	1644	2880	3418	0	0	0	0	0	0
6898	-0.61	-146.1	743.5	-8.5	378	6902	0.00	2.12	0.00	0.000	4	0.000	0.038	1644	1494	3418	0	0	0	0	0	0
6955	-0.61	-146.1	748.5	-7.6	379	6962	0.00	2.20	0.00	0.000	6	0.000	0.054	1634	2885	3418	0	0	0	0	0	0
7271	-0.61	-146.1	777.1	-9.3	390	7272	0.00	0.00	0.00	0.000	6	0.000	0.000	1634	2885	3418	0	0	0	0	0	0
7577	-0.61	-146.1	806.5	-9.6	400	7581	0.00	2.12	0.00	0.000	4	0.000	0.038	1634	1489	3418	0	0	0	0	0	0
7617	-0.61	-146.1	810.4	-9.1	401	7621	0.00	2.20	0.00	0.000	6	0.000	0.054	1624	2882	3417	0	0	0	0	0	0
7956	-0.61	-146.1	843.1	-9.6	412	7957	0.00	0.00	0.00	0.000	6	0.000	0.000	1624	2883	3417	0	0	0	0	0	0
8261	-0.61	-146.1	872.7	-9.5	422	8262	0.00	0.00	0.00	0.000	6	0.000	0.000	1624	2882	3417	0	0	0	0	0	0
8569	-0.61	-146.1	900.9	-9.1	432	8570	0.00	0.00	0.00	0.000	6	0.000	0.000	1624	2883	3417	0	0	0	0	0	0
8874	-0.61	-146.1	928.7	-9.2	442	8878	0.00	2.10	0.00	0.000	4	0.000	0.038	1624	1493	3417	0	0	0	0	0	0
8915	-0.61	-146.1	932.7	-9.5	443	8919	0.12	2.20	0.00	0.000	6	0.184	0.054	1646	2879	3416	0	0	0	0	0	0
9242	-0.61	-146.1	956.8	-7.3	454	9243	0.00	0.00	0.00	0.000	6	0.000	0.000	1646	2880	3416	0	0	0	0	0	0
9549	-0.61	-146.1	978.9	-7.1	464	9553	0.00	2.12	0.00	0.000	4	0.000	0.038	1646	1489	3416	0	0	0	0	0	0
9590	-0.61	-146.1	982.0	-6.5	465	9594	0.00	2.22	0.00	0.000	6	0.000	0.054	1636	2890	3416	0	0	0	0	0	0
9819	end dive: TARGET_DEPTH_EXCEEDED
state	9820	begin apogee
9831	-0.18	0.0	1000.5	8.1	473	9981	0.50	0.00	147.32	1.238	6	0.155	0.000	1788	2702	2819	0	0	0	0	0	0
9983	end apogee: CONTROL_FINISHED_OK
state	9983	begin climb
9988	0.61	146.1	1004.3	0.0	478	10149	0.75	2.25	148.57	1.804	4	0.063	0.058	2056	3893	2225	0	0	0	0	1	0
10175	0.61	146.1	973.2	25.1	484	10178	0.00	2.05	0.00	0.000	6	0.000	0.037	2065	2713	2225	0	0	0	0	0	0
10501	0.61	146.1	893.0	24.9	495	10502	0.00	0.00	0.00	0.000	6	0.000	0.000	2065	2707	2218	0	0	0	0	0	0
10808	0.61	146.1	817.0	24.6	505	10810	0.00	0.00	0.00	0.000	6	0.000	0.000	2065	2707	2217	0	0	0	0	0	0
11113	0.61	146.1	742.3	24.3	515	11115	0.00	0.00	0.00	0.000	6	0.000	0.000	2064	2706	2216	0	0	0	0	0	0
11419	0.61	146.1	668.9	23.9	525	11423	0.00	2.22	0.00	0.000	4	0.000	0.044	2075	1283	2215	0	0	0	0	0	0
11465	0.61	146.1	657.5	23.7	526	11470	0.00	2.30	0.00	0.000	6	0.000	0.051	2075	2706	2213	0	0	0	0	0	0
11786	0.61	146.1	579.0	24.3	537	11788	0.00	0.00	0.00	0.000	6	0.000	0.000	2075	2707	2213	0	0	0	0	0	0
12092	0.61	146.1	505.2	24.1	547	12094	0.00	0.00	0.00	0.000	6	0.000	0.000	2075	2706	2213	0	0	0	0	0	0
12399	0.61	146.1	430.9	24.2	557	12403	0.00	2.22	0.00	0.000	4	0.000	0.045	2086	1283	2212	0	0	0	0	0	0
12439	0.61	146.1	421.2	21.7	558	12444	0.15	2.28	0.00	0.000	6	0.223	0.053	2052	2701	2211	0	0	0	0	0	0
12758	0.61	146.1	353.2	21.1	572	12760	0.00	0.00	0.00	0.000	6	0.000	0.000	2052	2701	2211	0	0	0	0	0	0
13069	0.61	146.1	286.9	21.2	587	13073	0.00	2.22	0.00	0.000	4	0.000	0.044	2061	1279	2211	0	0	0	0	0	0
13099	0.61	146.1	280.2	20.4	588	13103	0.00	2.28	0.00	0.000	6	0.000	0.051	2061	2702	2211	0	0	0	0	0	0
13431	0.61	146.1	210.1	21.2	607	13435	0.00	2.22	0.00	0.000	4	0.000	0.044	2072	1281	2211	0	0	0	0	0	0
13455	0.61	146.1	204.8	18.6	608	13459	0.00	2.28	0.00	0.000	6	0.000	0.052	2072	2706	2210	0	0	0	0	0	0
13778	0.61	146.1	138.8	20.4	628	13782	0.00	1.88	0.00	0.000	4	0.000	0.060	2072	3894	2211	0	0	0	0	0	0
13849	0.61	146.1	123.9	20.2	632	13854	0.12	1.85	0.00	0.000	6	0.253	0.039	2056	2691	2210	0	0	0	0	0	0
14191	0.61	146.1	62.2	19.4	675	14197	0.00	2.17	0.00	0.000	4	0.000	0.044	2064	1296	2210	0	0	0	0	0	0
14213	0.61	146.1	57.5	19.3	678	14222	0.00	2.25	0.00	0.000	6	0.000	0.051	2064	2694	2210	0	0	0	0	0	0
14471	0.61	146.1	9.2	17.6	719	14480	0.00	0.00	0.00	0.000	6	0.000	0.000	2065	2694	2209	0	0	0	0	0	0
14500	end climb: SURFACE_DEPTH_REACHED
state	14500	begin surface coast
14521	end surface coast: CONTROL_FINISHED_OK
state	14521	begin surface