Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 159 * 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 159 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 45 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 -10945.579 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 -10945.579

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 45 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 159 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 010113,202107,-4630.302,414.619,28,1.0,28,-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 0.194,-0.167

_SM_DEPTHo 1.37 KALMAN_X -103976.2,822.5,85.1,100064.6,-4843.0

_SM_ANGLEo -58.8 KALMAN_Y 51670.2,-242.5,-286.3,-12260.8,3522.0

GPS2 010113,203117,-4630.284,414.620,16,0.9,17,-23.4 MHEAD_RNG_PITCHd_Wd 154.1,32359,-16.5,-9.443

SPEED_LIMITS 0.164,0.256 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.5,1.026427 _10V_AH 10.1,13.943

SM_CCo 15138,51.30,0.785,1,0,1797,250.20 FG_AHR_24Vo 0.000

SM_GC 1.43,0.00,0.00,51.30,0.000,0.000,0.785,67,2900,1797,-5.58,0.57,250.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4613.60,413.38,010113,161609 MEM 353984

TT8_MAMPS 0.026964 DATA_FILE_SIZE 53798,755

HUMID 58.74 CAP_FILE_SIZE 105659,0

INTERNAL_PRESSURE 9.3262 CFSIZE 259252224,219455488

TCM_TEMP 10.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,1

XPDR_PINGS 0 GPS 020113,004654,-4631.553,416.483,39,0.8,39,-23.4

_24V_AH 21.8,31.833

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 251 75.17 SBE_CT 502 24 262.88

Roll_motor 63 61 84.85 AA4330 1494 33 1075.29

VBD_pump_during_apogee 296 1796 11606.36 WL_BB2FLVMT 792 105 1813.79

VBD_pump_during_surface 51 784 877.77 QSP2150 300 4 28.68

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 62.12 nil 0 0 0.00

Iridium_during_connect 47 160 166.53 nil 0 0 0.00

Iridium_during_xfer 308 223 1498.22 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 26 6.10

TT8 1853 14 280.07

LPSleep 10692 2 236.51

TT8_Active 419 14 60.28

TT8_Sampling 2241 37 847.21

TT8_CF8 587 47 280.07

TT8_Kalman 33 59 19.93

Analog_circuits 1160 12 140.69

GPS_charging 0 0 0.00

Compass 1773 15 281.82

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 0 107 0.00 0.00 -78.62 0.000 2 0.000 0.000 57 2889 3283 0 0 0 0 0 0

114 -0.61 -146.1 3.3 -3.0 10 132 6.57 2.22 -3.35 0.000 4 0.252 0.048 1652 1483 3417 0 0 0 0 0 0

298 -0.61 -146.1 31.6 -11.2 38 307 0.00 2.28 0.00 0.000 6 0.000 0.052 1643 2877 3420 0 0 0 0 0 0

551 -0.61 -146.1 63.5 -12.5 79 556 0.00 0.00 0.00 0.000 6 0.000 0.000 1643 2877 3420 0 0 0 0 0 0

910 -0.61 -146.1 111.3 -12.0 130 911 0.00 0.00 0.00 0.000 6 0.000 0.000 1643 2877 3421 0 0 0 0 0 0

1221 -0.61 -146.1 148.7 -12.2 150 1222 0.00 0.00 0.00 0.000 6 0.000 0.000 1643 2877 3422 0 0 0 0 0 0

1533 -0.61 -146.1 183.8 -10.6 170 1535 0.00 0.00 0.00 0.000 6 0.000 0.000 1643 2877 3422 0 0 0 0 0 0

1847 -0.61 -146.1 217.8 -10.8 190 1848 0.00 0.00 0.00 0.000 6 0.000 0.000 1643 2877 3423 0 0 0 0 0 0

2158 -0.61 -146.1 251.0 -10.4 210 2159 0.00 0.00 0.00 0.000 6 0.000 0.000 1643 2877 3422 0 0 0 0 0 0

2470 -0.61 -146.1 283.3 -10.4 225 2471 0.00 0.00 0.00 0.000 6 0.000 0.000 1643 2877 3422 0 0 0 0 0 0

2777 -0.61 -146.1 315.1 -10.3 240 2778 0.00 0.00 0.00 0.000 6 0.000 0.000 1643 2877 3423 0 0 0 0 0 0

3088 -0.61 -146.1 347.1 -10.2 255 3089 0.00 0.00 0.00 0.000 6 0.000 0.000 1643 2877 3422 0 0 0 0 0 0

3396 -0.61 -146.1 379.4 -10.6 270 3397 0.00 0.00 0.00 0.000 6 0.000 0.000 1643 2877 3422 0 0 0 0 0 0

3724 -0.61 -146.1 413.0 -10.0 284 3728 0.00 1.60 0.00 0.000 4 0.000 0.060 1635 3891 3422 0 0 0 0 0 0

3760 -0.61 -146.1 416.7 -10.5 285 3764 0.00 1.55 0.00 0.000 6 0.000 0.034 1635 2858 3422 0 0 0 0 0 0

4104 -0.61 -146.1 449.5 -9.3 296 4105 0.00 0.00 0.00 0.000 6 0.000 0.000 1635 2853 3422 0 0 0 0 0 0

4411 -0.61 -146.1 478.5 -9.6 306 4412 0.00 0.00 0.00 0.000 6 0.000 0.000 1635 2853 3421 0 0 0 0 0 0

4716 -0.61 -146.1 508.7 -10.0 316 4717 0.00 0.00 0.00 0.000 6 0.000 0.000 1635 2853 3420 0 0 0 0 0 0

5022 -0.61 -146.1 539.2 -9.9 326 5024 0.00 0.00 0.00 0.000 6 0.000 0.000 1635 2853 3421 0 0 0 0 0 0

5328 -0.61 -146.1 571.3 -10.9 336 5332 0.00 1.62 0.00 0.000 4 0.000 0.061 1627 3896 3420 0 0 0 0 0 0

5364 -0.61 -146.1 575.4 -11.3 337 5368 0.00 1.52 0.00 0.000 6 0.000 0.034 1627 2881 3420 0 0 0 0 0 0

5707 -0.61 -146.1 613.6 -11.1 348 5709 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2877 3420 0 0 0 0 0 0

6013 -0.61 -146.1 647.1 -10.9 358 6017 0.00 2.10 0.00 0.000 4 0.000 0.038 1627 1490 3420 0 0 0 0 0 0

6054 -0.61 -146.1 651.5 -9.9 359 6058 0.12 2.20 0.00 0.000 6 0.187 0.054 1648 2891 3419 0 0 0 0 0 0

6381 -0.61 -146.1 678.7 -8.3 370 6382 0.00 0.00 0.00 0.000 6 0.000 0.000 1648 2891 3419 0 0 0 0 0 0

6689 -0.61 -146.1 703.7 -8.3 380 6693 0.00 2.12 0.00 0.000 4 0.000 0.038 1648 1488 3419 0 0 0 0 0 0

6735 -0.61 -146.1 707.8 -7.8 381 6739 0.00 2.20 0.00 0.000 6 0.000 0.054 1639 2885 3419 0 0 0 0 0 0

7056 -0.61 -146.1 736.1 -9.0 392 7058 0.00 0.00 0.00 0.000 6 0.000 0.000 1639 2885 3419 0 0 0 0 0 0

7362 -0.61 -146.1 762.8 -8.7 402 7364 0.00 0.00 0.00 0.000 6 0.000 0.000 1639 2885 3419 0 0 0 0 0 0

7670 -0.61 -146.1 790.2 -9.0 412 7674 0.00 2.12 0.00 0.000 4 0.000 0.037 1639 1494 3419 0 0 0 0 0 0

7705 -0.61 -146.1 794.0 -8.8 413 7709 0.00 2.20 0.00 0.000 6 0.000 0.055 1629 2891 3419 0 0 0 0 0 0

8037 -0.61 -146.1 826.5 -9.8 424 8038 0.00 0.00 0.00 0.000 6 0.000 0.000 1628 2892 3418 0 0 0 0 0 0

8345 -0.61 -146.1 855.6 -9.4 434 8349 0.00 2.12 0.00 0.000 4 0.000 0.037 1628 1498 3419 0 0 0 0 0 0

8386 -0.61 -146.1 859.7 -9.1 435 8391 0.12 2.17 0.00 0.000 6 0.182 0.054 1650 2881 3418 0 0 0 0 0 0

8713 -0.61 -146.1 883.8 -7.3 446 8715 0.00 0.00 0.00 0.000 6 0.000 0.000 1650 2881 3418 0 0 0 0 0 0

9020 -0.61 -146.1 905.6 -7.1 456 9024 0.00 2.10 0.00 0.000 4 0.000 0.038 1650 1495 3418 0 0 0 0 0 0

9061 -0.61 -146.1 908.8 -7.1 457 9065 0.00 2.20 0.00 0.000 6 0.000 0.056 1642 2883 3418 0 0 0 0 0 0

9399 -0.61 -146.1 933.4 -7.3 468 9400 0.00 0.00 0.00 0.000 6 0.000 0.000 1642 2884 3418 0 0 0 0 0 0

9705 -0.61 -146.1 955.9 -7.4 478 9706 0.00 0.00 0.00 0.000 6 0.000 0.000 1642 2884 3418 0 0 0 0 0 0

10013 -0.61 -146.1 979.3 -7.6 488 10014 0.00 0.00 0.00 0.000 6 0.000 0.000 1642 2884 3417 0 0 0 0 0 0

10282 end dive: TARGET_DEPTH_EXCEEDED

state 10282 begin apogee

10292 -0.18 0.0 1001.1 7.9 497 10443 0.47 0.00 147.75 1.239 6 0.156 0.000 1785 2710 2819 0 0 0 0 0 0

10445 end apogee: CONTROL_FINISHED_OK

state 10445 begin climb

10450 0.61 146.1 1004.6 0.0 502 10611 0.80 2.22 148.52 1.797 4 0.083 0.060 2052 3893 2226 0 0 0 0 1 0

10637 0.61 146.1 974.0 25.6 508 10641 0.00 2.03 0.00 0.000 6 0.000 0.037 2061 2718 2226 0 0 0 0 0 0

10963 0.61 146.1 895.4 23.9 519 10967 0.00 2.30 0.00 0.000 4 0.000 0.044 2072 1282 2219 0 0 0 0 0 0

10998 0.61 146.1 887.0 22.3 520 11002 0.00 2.38 0.00 0.000 6 0.000 0.051 2072 2700 2217 0 0 0 0 0 0

11330 0.61 146.1 805.1 24.8 531 11334 0.00 2.25 0.00 0.000 4 0.000 0.044 2082 1283 2216 0 0 0 0 0 0

11377 0.61 146.1 793.6 24.4 532 11381 0.12 2.33 0.00 0.000 6 0.226 0.054 2056 2701 2215 0 0 0 0 0 0

11698 0.61 146.1 717.9 23.5 543 11699 0.00 0.00 0.00 0.000 6 0.000 0.000 2056 2701 2214 0 0 0 0 0 0

12006 0.61 146.1 647.6 22.9 553 12007 0.00 0.00 0.00 0.000 6 0.000 0.000 2056 2701 2214 0 0 0 0 0 0

12311 0.61 146.1 578.9 22.2 563 12312 0.00 0.00 0.00 0.000 6 0.000 0.000 2056 2701 2213 0 0 0 0 0 0

12617 0.61 146.1 511.6 22.2 573 12621 0.00 2.20 0.00 0.000 4 0.000 0.044 2065 1289 2212 0 0 0 0 0 0

12668 0.61 146.1 500.7 18.4 574 12673 0.00 2.28 0.00 0.000 6 0.000 0.053 2065 2702 2211 0 0 0 0 0 0

12984 0.61 146.1 431.5 22.2 584 12985 0.00 0.00 0.00 0.000 6 0.000 0.000 2065 2703 2212 0 0 0 0 0 0

13304 0.61 146.1 361.0 21.7 597 13307 0.00 2.22 0.00 0.000 4 0.000 0.044 2076 1279 2211 0 0 0 0 0 0

13338 0.61 146.1 352.7 21.8 598 13342 0.00 2.28 0.00 0.000 6 0.000 0.054 2076 2704 2211 0 0 0 0 0 0

13662 0.61 146.1 283.2 21.2 614 13664 0.00 0.00 0.00 0.000 6 0.000 0.000 2075 2704 2211 0 0 0 0 0 0

13983 0.61 146.1 215.0 20.9 632 13987 0.00 2.22 0.00 0.000 4 0.000 0.045 2086 1281 2211 0 0 0 0 0 0

14041 0.61 146.1 203.4 17.3 635 14046 0.15 2.28 0.00 0.000 6 0.220 0.054 2052 2701 2210 0 0 0 0 0 0

14368 0.61 146.1 143.2 19.3 655 14374 0.00 0.00 0.00 0.000 6 0.000 0.000 2052 2701 2211 0 0 0 0 0 0

14703 0.61 146.1 78.9 18.4 688 14710 0.00 1.88 0.00 0.000 4 0.000 0.060 2052 3896 2211 0 0 0 0 0 0

14749 0.61 146.1 69.6 21.0 695 14754 0.00 1.83 0.00 0.000 6 0.000 0.039 2059 2693 2211 0 0 0 0 0 0

15092 end climb: SURFACE_DEPTH_REACHED

state 15092 begin surface coast

15116 end surface coast: CONTROL_FINISHED_OK

state 15116 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	159	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	45	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	-10945.579	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	010113,202107,-4630.302,414.619,28,1.0,28,-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	0.194,-0.167
_SM_DEPTHo	1.37	KALMAN_X	-103976.2,822.5,85.1,100064.6,-4843.0
_SM_ANGLEo	-58.8	KALMAN_Y	51670.2,-242.5,-286.3,-12260.8,3522.0
GPS2	010113,203117,-4630.284,414.620,16,0.9,17,-23.4	MHEAD_RNG_PITCHd_Wd	154.1,32359,-16.5,-9.443
SPEED_LIMITS	0.164,0.256	D_GRID	1000

FINISH	0.5,1.026427	_10V_AH	10.1,13.943
SM_CCo	15138,51.30,0.785,1,0,1797,250.20	FG_AHR_24Vo	0.000
SM_GC	1.43,0.00,0.00,51.30,0.000,0.000,0.785,67,2900,1797,-5.58,0.57,250.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4613.60,413.38,010113,161609	MEM	353984
TT8_MAMPS	0.026964	DATA_FILE_SIZE	53798,755
HUMID	58.74	CAP_FILE_SIZE	105659,0
INTERNAL_PRESSURE	9.3262	CFSIZE	259252224,219455488
TCM_TEMP	10.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
XPDR_PINGS	0	GPS	020113,004654,-4631.553,416.483,39,0.8,39,-23.4
_24V_AH	21.8,31.833

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	251	75.17	SBE_CT	502	24	262.88
Roll_motor	63	61	84.85	AA4330	1494	33	1075.29
VBD_pump_during_apogee	296	1796	11606.36	WL_BB2FLVMT	792	105	1813.79
VBD_pump_during_surface	51	784	877.77	QSP2150	300	4	28.68
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	62.12	nil	0	0	0.00
Iridium_during_connect	47	160	166.53	nil	0	0	0.00
Iridium_during_xfer	308	223	1498.22	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	26	6.10
TT8	1853	14	280.07
LPSleep	10692	2	236.51
TT8_Active	419	14	60.28
TT8_Sampling	2241	37	847.21
TT8_CF8	587	47	280.07
TT8_Kalman	33	59	19.93
Analog_circuits	1160	12	140.69
GPS_charging	0	0	0.00
Compass	1773	15	281.82
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	107	0.00	0.00	-78.62	0.000	2	0.000	0.000	57	2889	3283	0	0	0	0	0	0
114	-0.61	-146.1	3.3	-3.0	10	132	6.57	2.22	-3.35	0.000	4	0.252	0.048	1652	1483	3417	0	0	0	0	0	0
298	-0.61	-146.1	31.6	-11.2	38	307	0.00	2.28	0.00	0.000	6	0.000	0.052	1643	2877	3420	0	0	0	0	0	0
551	-0.61	-146.1	63.5	-12.5	79	556	0.00	0.00	0.00	0.000	6	0.000	0.000	1643	2877	3420	0	0	0	0	0	0
910	-0.61	-146.1	111.3	-12.0	130	911	0.00	0.00	0.00	0.000	6	0.000	0.000	1643	2877	3421	0	0	0	0	0	0
1221	-0.61	-146.1	148.7	-12.2	150	1222	0.00	0.00	0.00	0.000	6	0.000	0.000	1643	2877	3422	0	0	0	0	0	0
1533	-0.61	-146.1	183.8	-10.6	170	1535	0.00	0.00	0.00	0.000	6	0.000	0.000	1643	2877	3422	0	0	0	0	0	0
1847	-0.61	-146.1	217.8	-10.8	190	1848	0.00	0.00	0.00	0.000	6	0.000	0.000	1643	2877	3423	0	0	0	0	0	0
2158	-0.61	-146.1	251.0	-10.4	210	2159	0.00	0.00	0.00	0.000	6	0.000	0.000	1643	2877	3422	0	0	0	0	0	0
2470	-0.61	-146.1	283.3	-10.4	225	2471	0.00	0.00	0.00	0.000	6	0.000	0.000	1643	2877	3422	0	0	0	0	0	0
2777	-0.61	-146.1	315.1	-10.3	240	2778	0.00	0.00	0.00	0.000	6	0.000	0.000	1643	2877	3423	0	0	0	0	0	0
3088	-0.61	-146.1	347.1	-10.2	255	3089	0.00	0.00	0.00	0.000	6	0.000	0.000	1643	2877	3422	0	0	0	0	0	0
3396	-0.61	-146.1	379.4	-10.6	270	3397	0.00	0.00	0.00	0.000	6	0.000	0.000	1643	2877	3422	0	0	0	0	0	0
3724	-0.61	-146.1	413.0	-10.0	284	3728	0.00	1.60	0.00	0.000	4	0.000	0.060	1635	3891	3422	0	0	0	0	0	0
3760	-0.61	-146.1	416.7	-10.5	285	3764	0.00	1.55	0.00	0.000	6	0.000	0.034	1635	2858	3422	0	0	0	0	0	0
4104	-0.61	-146.1	449.5	-9.3	296	4105	0.00	0.00	0.00	0.000	6	0.000	0.000	1635	2853	3422	0	0	0	0	0	0
4411	-0.61	-146.1	478.5	-9.6	306	4412	0.00	0.00	0.00	0.000	6	0.000	0.000	1635	2853	3421	0	0	0	0	0	0
4716	-0.61	-146.1	508.7	-10.0	316	4717	0.00	0.00	0.00	0.000	6	0.000	0.000	1635	2853	3420	0	0	0	0	0	0
5022	-0.61	-146.1	539.2	-9.9	326	5024	0.00	0.00	0.00	0.000	6	0.000	0.000	1635	2853	3421	0	0	0	0	0	0
5328	-0.61	-146.1	571.3	-10.9	336	5332	0.00	1.62	0.00	0.000	4	0.000	0.061	1627	3896	3420	0	0	0	0	0	0
5364	-0.61	-146.1	575.4	-11.3	337	5368	0.00	1.52	0.00	0.000	6	0.000	0.034	1627	2881	3420	0	0	0	0	0	0
5707	-0.61	-146.1	613.6	-11.1	348	5709	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2877	3420	0	0	0	0	0	0
6013	-0.61	-146.1	647.1	-10.9	358	6017	0.00	2.10	0.00	0.000	4	0.000	0.038	1627	1490	3420	0	0	0	0	0	0
6054	-0.61	-146.1	651.5	-9.9	359	6058	0.12	2.20	0.00	0.000	6	0.187	0.054	1648	2891	3419	0	0	0	0	0	0
6381	-0.61	-146.1	678.7	-8.3	370	6382	0.00	0.00	0.00	0.000	6	0.000	0.000	1648	2891	3419	0	0	0	0	0	0
6689	-0.61	-146.1	703.7	-8.3	380	6693	0.00	2.12	0.00	0.000	4	0.000	0.038	1648	1488	3419	0	0	0	0	0	0
6735	-0.61	-146.1	707.8	-7.8	381	6739	0.00	2.20	0.00	0.000	6	0.000	0.054	1639	2885	3419	0	0	0	0	0	0
7056	-0.61	-146.1	736.1	-9.0	392	7058	0.00	0.00	0.00	0.000	6	0.000	0.000	1639	2885	3419	0	0	0	0	0	0
7362	-0.61	-146.1	762.8	-8.7	402	7364	0.00	0.00	0.00	0.000	6	0.000	0.000	1639	2885	3419	0	0	0	0	0	0
7670	-0.61	-146.1	790.2	-9.0	412	7674	0.00	2.12	0.00	0.000	4	0.000	0.037	1639	1494	3419	0	0	0	0	0	0
7705	-0.61	-146.1	794.0	-8.8	413	7709	0.00	2.20	0.00	0.000	6	0.000	0.055	1629	2891	3419	0	0	0	0	0	0
8037	-0.61	-146.1	826.5	-9.8	424	8038	0.00	0.00	0.00	0.000	6	0.000	0.000	1628	2892	3418	0	0	0	0	0	0
8345	-0.61	-146.1	855.6	-9.4	434	8349	0.00	2.12	0.00	0.000	4	0.000	0.037	1628	1498	3419	0	0	0	0	0	0
8386	-0.61	-146.1	859.7	-9.1	435	8391	0.12	2.17	0.00	0.000	6	0.182	0.054	1650	2881	3418	0	0	0	0	0	0
8713	-0.61	-146.1	883.8	-7.3	446	8715	0.00	0.00	0.00	0.000	6	0.000	0.000	1650	2881	3418	0	0	0	0	0	0
9020	-0.61	-146.1	905.6	-7.1	456	9024	0.00	2.10	0.00	0.000	4	0.000	0.038	1650	1495	3418	0	0	0	0	0	0
9061	-0.61	-146.1	908.8	-7.1	457	9065	0.00	2.20	0.00	0.000	6	0.000	0.056	1642	2883	3418	0	0	0	0	0	0
9399	-0.61	-146.1	933.4	-7.3	468	9400	0.00	0.00	0.00	0.000	6	0.000	0.000	1642	2884	3418	0	0	0	0	0	0
9705	-0.61	-146.1	955.9	-7.4	478	9706	0.00	0.00	0.00	0.000	6	0.000	0.000	1642	2884	3418	0	0	0	0	0	0
10013	-0.61	-146.1	979.3	-7.6	488	10014	0.00	0.00	0.00	0.000	6	0.000	0.000	1642	2884	3417	0	0	0	0	0	0
10282	end dive: TARGET_DEPTH_EXCEEDED
state	10282	begin apogee
10292	-0.18	0.0	1001.1	7.9	497	10443	0.47	0.00	147.75	1.239	6	0.156	0.000	1785	2710	2819	0	0	0	0	0	0
10445	end apogee: CONTROL_FINISHED_OK
state	10445	begin climb
10450	0.61	146.1	1004.6	0.0	502	10611	0.80	2.22	148.52	1.797	4	0.083	0.060	2052	3893	2226	0	0	0	0	1	0
10637	0.61	146.1	974.0	25.6	508	10641	0.00	2.03	0.00	0.000	6	0.000	0.037	2061	2718	2226	0	0	0	0	0	0
10963	0.61	146.1	895.4	23.9	519	10967	0.00	2.30	0.00	0.000	4	0.000	0.044	2072	1282	2219	0	0	0	0	0	0
10998	0.61	146.1	887.0	22.3	520	11002	0.00	2.38	0.00	0.000	6	0.000	0.051	2072	2700	2217	0	0	0	0	0	0
11330	0.61	146.1	805.1	24.8	531	11334	0.00	2.25	0.00	0.000	4	0.000	0.044	2082	1283	2216	0	0	0	0	0	0
11377	0.61	146.1	793.6	24.4	532	11381	0.12	2.33	0.00	0.000	6	0.226	0.054	2056	2701	2215	0	0	0	0	0	0
11698	0.61	146.1	717.9	23.5	543	11699	0.00	0.00	0.00	0.000	6	0.000	0.000	2056	2701	2214	0	0	0	0	0	0
12006	0.61	146.1	647.6	22.9	553	12007	0.00	0.00	0.00	0.000	6	0.000	0.000	2056	2701	2214	0	0	0	0	0	0
12311	0.61	146.1	578.9	22.2	563	12312	0.00	0.00	0.00	0.000	6	0.000	0.000	2056	2701	2213	0	0	0	0	0	0
12617	0.61	146.1	511.6	22.2	573	12621	0.00	2.20	0.00	0.000	4	0.000	0.044	2065	1289	2212	0	0	0	0	0	0
12668	0.61	146.1	500.7	18.4	574	12673	0.00	2.28	0.00	0.000	6	0.000	0.053	2065	2702	2211	0	0	0	0	0	0
12984	0.61	146.1	431.5	22.2	584	12985	0.00	0.00	0.00	0.000	6	0.000	0.000	2065	2703	2212	0	0	0	0	0	0
13304	0.61	146.1	361.0	21.7	597	13307	0.00	2.22	0.00	0.000	4	0.000	0.044	2076	1279	2211	0	0	0	0	0	0
13338	0.61	146.1	352.7	21.8	598	13342	0.00	2.28	0.00	0.000	6	0.000	0.054	2076	2704	2211	0	0	0	0	0	0
13662	0.61	146.1	283.2	21.2	614	13664	0.00	0.00	0.00	0.000	6	0.000	0.000	2075	2704	2211	0	0	0	0	0	0
13983	0.61	146.1	215.0	20.9	632	13987	0.00	2.22	0.00	0.000	4	0.000	0.045	2086	1281	2211	0	0	0	0	0	0
14041	0.61	146.1	203.4	17.3	635	14046	0.15	2.28	0.00	0.000	6	0.220	0.054	2052	2701	2210	0	0	0	0	0	0
14368	0.61	146.1	143.2	19.3	655	14374	0.00	0.00	0.00	0.000	6	0.000	0.000	2052	2701	2211	0	0	0	0	0	0
14703	0.61	146.1	78.9	18.4	688	14710	0.00	1.88	0.00	0.000	4	0.000	0.060	2052	3896	2211	0	0	0	0	0	0
14749	0.61	146.1	69.6	21.0	695	14754	0.00	1.83	0.00	0.000	6	0.000	0.039	2059	2693	2211	0	0	0	0	0	0
15092	end climb: SURFACE_DEPTH_REACHED
state	15092	begin surface coast
15116	end surface coast: CONTROL_FINISHED_OK
state	15116	begin surface