Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 165 * 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 165 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 46 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 36 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 -10965.824 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 -10965.824

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 46 VBD_MAX 3961

DEVICE2 101 MASS 52816 R_STBD_OVSHOOT 36 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 165 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 020113,223457,-4636.610,426.917,36,1.4,36,-23.5 TGT_NAME GH3

_CALLS 1 TGT_LATLONG -4630.000,440.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.200,-0.159

_SM_DEPTHo 1.45 KALMAN_X -112057.3,474.9,278.9,123929.1,-3892.2

_SM_ANGLEo -54.7 KALMAN_Y 59690.7,-551.8,-282.9,-31633.4,3627.9

GPS2 020113,224518,-4636.583,426.958,19,1.2,20,-23.5 MHEAD_RNG_PITCHd_Wd 152.1,20618,-16.5,-9.443

SPEED_LIMITS 0.164,0.256 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.7,1.026393 _10V_AH 10.1,14.543

SM_CCo 14993,51.10,0.750,1,0,1798,250.20 FG_AHR_24Vo 0.000

SM_GC 1.65,0.00,0.00,51.10,0.000,0.000,0.750,54,2912,1798,-5.61,0.90,250.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4616.72,426.32,020113,181830 MEM 353892

TT8_MAMPS 0.026215 DATA_FILE_SIZE 53717,745

HUMID 58.46 CAP_FILE_SIZE 116156,0

INTERNAL_PRESSURE 9.3262 CFSIZE 259252224,219074560

TCM_TEMP 10.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1

XPDR_PINGS 0 GPS 030113,025830,-4637.497,429.197,42,1.5,42,-23.5

_24V_AH 22.6,32.774

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 240 75.84 SBE_CT 492 24 267.10

Roll_motor 92 68 142.33 AA4330 1459 33 1088.18

VBD_pump_during_apogee 297 1230 8279.75 WL_BB2FLVMT 772 105 1833.34

VBD_pump_during_surface 51 750 866.68 QSP2150 298 4 29.57

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 62.45 nil 0 0 0.00

Iridium_during_connect 22 160 83.06 nil 0 0 0.00

Iridium_during_xfer 321 223 1622.39 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 6.03

TT8 1860 14 281.05

LPSleep 10412 2 230.32

TT8_Active 444 14 63.79

TT8_Sampling 2309 37 873.08

TT8_CF8 628 47 299.53

TT8_Kalman 33 59 19.94

Analog_circuits 1252 12 151.86

GPS_charging 0 0 0.00

Compass 1843 15 292.89

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 -78.60 0.000 2 0.000 0.000 55 2906 3312 0 0 0 0 0 0

114 -0.61 -146.1 3.5 -3.5 10 132 6.43 1.58 -2.53 0.000 4 0.241 0.068 1640 3890 3415 0 0 0 0 0 0

263 -0.61 -146.1 30.7 -15.0 32 272 0.00 1.58 0.00 0.000 6 0.000 0.033 1640 2854 3418 0 0 0 0 0 0

517 -0.61 -146.1 61.0 -11.6 73 521 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2853 3418 0 0 0 0 0 0

875 -0.61 -146.1 106.4 -12.5 130 876 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2854 3419 0 0 0 0 0 0

1188 -0.61 -146.1 140.7 -10.5 150 1191 0.00 1.65 0.00 0.000 4 0.000 0.060 1632 3890 3419 0 0 0 0 0 0

1234 -0.61 -146.1 146.1 -11.1 152 1242 0.00 1.52 0.00 0.000 6 0.000 0.033 1632 2872 3419 0 0 0 0 0 0

1557 -0.61 -146.1 180.8 -11.1 173 1558 0.00 0.00 0.00 0.000 6 0.000 0.000 1631 2873 3420 0 0 0 0 0 0

1870 -0.61 -146.1 216.7 -11.5 193 1873 0.00 2.08 0.00 0.000 4 0.000 0.037 1632 1507 3420 0 0 0 0 0 0

1900 -0.61 -146.1 220.6 -11.7 194 1909 0.00 2.20 0.00 0.000 6 0.000 0.054 1621 2871 3420 0 0 0 0 0 0

2226 -0.61 -146.1 260.4 -12.5 214 2230 0.10 1.60 0.00 0.000 4 0.197 0.061 1638 3900 3420 0 0 0 0 0 0

2261 -0.61 -146.1 264.9 -11.5 215 2265 0.00 1.52 0.00 0.000 6 0.000 0.033 1638 2893 3420 0 0 0 0 0 0

2587 -0.61 -146.1 299.0 -10.4 231 2588 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2888 3420 0 0 0 0 0 0

2894 -0.61 -146.1 331.2 -10.2 246 2898 0.00 2.12 0.00 0.000 4 0.000 0.037 1638 1490 3420 0 0 0 0 0 0

2938 -0.61 -146.1 335.5 -8.9 248 2942 0.00 2.20 0.00 0.000 6 0.000 0.054 1628 2887 3420 0 0 0 0 0 0

3267 -0.61 -146.1 370.3 -10.1 264 3268 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2888 3420 0 0 0 0 0 0

3587 -0.61 -146.1 404.6 -11.1 279 3588 0.00 0.00 0.00 0.000 6 0.000 0.000 1628 2888 3420 0 0 0 0 0 0

3893 -0.61 -146.1 439.7 -11.7 289 3894 0.00 0.00 0.00 0.000 6 0.000 0.000 1628 2888 3420 0 0 0 0 0 0

4200 -0.61 -146.1 475.2 -11.5 299 4202 0.00 0.00 0.00 0.000 6 0.000 0.000 1628 2888 3420 0 0 0 0 0 0

4505 -0.61 -146.1 511.4 -11.8 309 4509 0.00 2.15 0.00 0.000 4 0.000 0.038 1628 1488 3420 0 0 0 0 0 0

4528 -0.61 -146.1 514.5 -12.5 309 4536 0.12 2.22 0.00 0.000 6 0.179 0.054 1650 2891 3420 0 0 0 0 0 0

4844 -0.61 -146.1 546.2 -10.0 320 4845 0.00 0.00 0.00 0.000 6 0.000 0.000 1650 2891 3420 0 0 0 0 0 0

5150 -0.61 -146.1 575.5 -9.3 330 5154 0.00 2.12 0.00 0.000 4 0.000 0.037 1650 1495 3419 0 0 0 0 0 0

5187 -0.61 -146.1 578.7 -8.3 331 5191 0.00 2.20 0.00 0.000 6 0.000 0.054 1641 2883 3419 0 0 0 0 0 0

5532 -0.61 -146.1 611.8 -9.8 342 5533 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2883 3419 0 0 0 0 0 0

5837 -0.61 -146.1 640.7 -9.4 352 5841 0.00 2.12 0.00 0.000 4 0.000 0.037 1640 1493 3419 0 0 0 0 0 0

5889 -0.61 -146.1 645.8 -9.2 353 5893 0.00 2.20 0.00 0.000 6 0.000 0.054 1630 2883 3419 0 0 0 0 0 0

6210 -0.61 -146.1 677.4 -9.9 364 6214 0.00 2.10 0.00 0.000 4 0.000 0.037 1630 1496 3419 0 0 0 0 0 0

6239 -0.61 -146.1 680.4 -9.5 364 6246 0.12 2.20 0.00 0.000 6 0.178 0.054 1652 2884 3419 0 0 0 0 0 0

6554 -0.61 -146.1 705.0 -7.8 375 6556 0.00 0.00 0.00 0.000 6 0.000 0.000 1652 2885 3419 0 0 0 0 0 0

6861 -0.61 -146.1 728.3 -7.5 385 6865 0.00 2.12 0.00 0.000 4 0.000 0.037 1652 1487 3419 0 0 0 0 0 0

6919 -0.61 -146.1 732.8 -7.6 386 6923 0.00 2.20 0.00 0.000 6 0.000 0.055 1644 2881 3419 0 0 0 0 0 0

7236 -0.61 -146.1 758.1 -8.2 396 7237 0.00 0.00 0.00 0.000 6 0.000 0.000 1643 2881 3419 0 0 0 0 0 0

7541 -0.61 -146.1 783.1 -8.2 406 7544 0.00 2.12 0.00 0.000 4 0.000 0.037 1644 1491 3418 0 0 0 0 0 0

7587 -0.61 -146.1 787.1 -8.1 407 7591 0.00 2.22 0.00 0.000 6 0.000 0.054 1633 2886 3418 0 0 0 0 0 0

7908 -0.61 -146.1 814.6 -8.7 418 7909 0.00 0.00 0.00 0.000 6 0.000 0.000 1633 2887 3418 0 0 0 0 0 0

8216 -0.61 -146.1 840.9 -8.5 428 8220 0.00 2.12 0.00 0.000 4 0.000 0.037 1633 1496 3418 0 0 0 0 0 0

8268 -0.61 -146.1 845.8 -7.8 429 8272 0.00 2.17 0.00 0.000 6 0.000 0.055 1623 2881 3417 0 0 0 0 0 0

8583 -0.61 -146.1 875.0 -9.5 439 8585 0.00 0.00 0.00 0.000 6 0.000 0.000 1623 2881 3417 0 0 0 0 0 0

8890 -0.61 -146.1 903.5 -9.2 449 8894 0.00 2.12 0.00 0.000 4 0.000 0.037 1623 1490 3417 0 0 0 0 0 0

8925 -0.61 -146.1 906.8 -8.7 450 8930 0.15 2.22 0.00 0.000 6 0.177 0.054 1653 2887 3418 0 0 0 0 0 0

9258 -0.61 -146.1 929.9 -6.9 461 9262 0.00 2.12 0.00 0.000 4 0.000 0.037 1653 1484 3417 0 0 0 0 0 0

9290 -0.61 -146.1 932.1 -7.6 462 9294 0.00 2.22 0.00 0.000 6 0.000 0.055 1645 2881 3417 0 0 0 0 0 0

9628 -0.61 -146.1 957.9 -7.7 473 9629 0.00 0.00 0.00 0.000 6 0.000 0.000 1645 2881 3417 0 0 0 0 0 0

9934 -0.61 -146.1 981.3 -7.6 483 9936 0.00 0.00 0.00 0.000 6 0.000 0.000 1645 2881 3417 0 0 0 0 0 0

10205 end dive: TARGET_DEPTH_EXCEEDED

state 10205 begin apogee

10216 -0.18 0.0 1002.2 7.6 492 10366 0.47 0.00 146.95 1.230 6 0.155 0.000 1789 2709 2819 0 0 0 0 0 0

10367 end apogee: CONTROL_FINISHED_OK

state 10368 begin climb

10372 0.61 146.1 1006.2 0.0 497 10531 0.73 2.22 150.88 1.180 4 0.066 0.059 2049 3895 2218 0 0 0 0 0 0

10617 0.61 146.1 960.7 26.8 504 10621 0.00 1.98 0.00 0.000 6 0.000 0.037 2059 2705 2212 0 0 0 0 0 0

10949 0.61 146.1 878.2 24.6 515 10953 0.00 2.25 0.00 0.000 4 0.000 0.045 2070 1296 2206 0 0 0 0 0 0

11023 0.61 146.1 861.2 20.4 517 11027 0.00 2.33 0.00 0.000 6 0.000 0.051 2070 2698 2203 0 0 0 0 0 0

11350 0.61 146.1 781.2 24.4 528 11354 0.00 2.22 0.00 0.000 4 0.000 0.044 2080 1291 2203 0 0 0 0 0 0

11384 0.61 146.1 772.4 23.6 529 11389 0.12 2.30 0.00 0.000 6 0.228 0.051 2054 2702 2202 0 0 0 0 0 0

11717 0.61 146.1 697.1 22.9 540 11718 0.00 0.00 0.00 0.000 6 0.000 0.000 2054 2702 2201 0 0 0 0 0 0

12025 0.61 146.1 627.6 22.4 550 12029 0.00 2.22 0.00 0.000 4 0.000 0.044 2064 1283 2201 0 0 0 0 0 0

12083 0.61 146.1 615.2 18.6 551 12089 0.00 2.28 0.00 0.000 6 0.000 0.052 2062 2700 2199 0 0 0 0 0 0

12398 0.61 146.1 546.3 22.2 562 12401 0.00 1.90 0.00 0.000 4 0.000 0.060 2063 3896 2199 0 0 0 0 0 0

12438 0.61 146.1 535.9 25.1 563 12442 0.00 1.88 0.00 0.000 6 0.000 0.039 2071 2693 2199 0 0 0 0 0 0

12775 0.61 146.1 457.4 23.1 574 12779 0.00 2.15 0.00 0.000 4 0.000 0.045 2081 1294 2199 0 0 0 0 0 0

12842 0.61 146.1 443.5 20.7 576 12846 0.12 2.25 0.00 0.000 6 0.227 0.053 2054 2701 2199 0 0 0 0 0 0

13161 0.61 146.1 375.6 20.8 588 13162 0.00 0.00 0.00 0.000 6 0.000 0.000 2054 2700 2199 0 0 0 0 0 0

13472 0.61 146.1 310.7 21.0 603 13476 0.00 2.20 0.00 0.000 4 0.000 0.044 2063 1290 2199 0 0 0 0 0 0

13507 0.61 146.1 302.5 20.7 604 13516 0.00 2.28 0.00 0.000 6 0.000 0.052 2063 2696 2199 0 0 0 0 0 0

13828 0.61 146.1 235.3 21.7 621 13830 0.00 0.00 0.00 0.000 6 0.000 0.000 2063 2696 2199 0 0 0 0 0 0

14142 0.61 146.1 167.4 21.0 641 14146 0.00 2.17 0.00 0.000 4 0.000 0.044 2074 1293 2199 0 0 0 0 0 0

14200 0.61 146.1 154.8 18.7 644 14209 0.00 2.28 0.00 0.000 6 0.000 0.052 2074 2700 2198 0 0 0 0 0 0

14531 0.61 146.1 84.6 20.7 673 14535 0.00 0.00 0.00 0.000 6 0.000 0.000 2074 2701 2198 0 0 0 0 0 0

14898 0.61 146.1 13.2 20.2 734 14907 0.00 0.00 0.00 0.000 6 0.000 0.000 2073 2701 2198 0 0 0 0 0 0

14950 end climb: SURFACE_DEPTH_REACHED

state 14950 begin surface coast

14971 end surface coast: CONTROL_FINISHED_OK

state 14971 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	165	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	46	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	36	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	-10965.824	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	020113,223457,-4636.610,426.917,36,1.4,36,-23.5	TGT_NAME	GH3
_CALLS	1	TGT_LATLONG	-4630.000,440.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.200,-0.159
_SM_DEPTHo	1.45	KALMAN_X	-112057.3,474.9,278.9,123929.1,-3892.2
_SM_ANGLEo	-54.7	KALMAN_Y	59690.7,-551.8,-282.9,-31633.4,3627.9
GPS2	020113,224518,-4636.583,426.958,19,1.2,20,-23.5	MHEAD_RNG_PITCHd_Wd	152.1,20618,-16.5,-9.443
SPEED_LIMITS	0.164,0.256	D_GRID	1000

FINISH	0.7,1.026393	_10V_AH	10.1,14.543
SM_CCo	14993,51.10,0.750,1,0,1798,250.20	FG_AHR_24Vo	0.000
SM_GC	1.65,0.00,0.00,51.10,0.000,0.000,0.750,54,2912,1798,-5.61,0.90,250.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4616.72,426.32,020113,181830	MEM	353892
TT8_MAMPS	0.026215	DATA_FILE_SIZE	53717,745
HUMID	58.46	CAP_FILE_SIZE	116156,0
INTERNAL_PRESSURE	9.3262	CFSIZE	259252224,219074560
TCM_TEMP	10.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
XPDR_PINGS	0	GPS	030113,025830,-4637.497,429.197,42,1.5,42,-23.5
_24V_AH	22.6,32.774

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	240	75.84	SBE_CT	492	24	267.10
Roll_motor	92	68	142.33	AA4330	1459	33	1088.18
VBD_pump_during_apogee	297	1230	8279.75	WL_BB2FLVMT	772	105	1833.34
VBD_pump_during_surface	51	750	866.68	QSP2150	298	4	29.57
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	62.45	nil	0	0	0.00
Iridium_during_connect	22	160	83.06	nil	0	0	0.00
Iridium_during_xfer	321	223	1622.39	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	6.03
TT8	1860	14	281.05
LPSleep	10412	2	230.32
TT8_Active	444	14	63.79
TT8_Sampling	2309	37	873.08
TT8_CF8	628	47	299.53
TT8_Kalman	33	59	19.94
Analog_circuits	1252	12	151.86
GPS_charging	0	0	0.00
Compass	1843	15	292.89
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	-78.60	0.000	2	0.000	0.000	55	2906	3312	0	0	0	0	0	0
114	-0.61	-146.1	3.5	-3.5	10	132	6.43	1.58	-2.53	0.000	4	0.241	0.068	1640	3890	3415	0	0	0	0	0	0
263	-0.61	-146.1	30.7	-15.0	32	272	0.00	1.58	0.00	0.000	6	0.000	0.033	1640	2854	3418	0	0	0	0	0	0
517	-0.61	-146.1	61.0	-11.6	73	521	0.00	0.00	0.00	0.000	6	0.000	0.000	1640	2853	3418	0	0	0	0	0	0
875	-0.61	-146.1	106.4	-12.5	130	876	0.00	0.00	0.00	0.000	6	0.000	0.000	1640	2854	3419	0	0	0	0	0	0
1188	-0.61	-146.1	140.7	-10.5	150	1191	0.00	1.65	0.00	0.000	4	0.000	0.060	1632	3890	3419	0	0	0	0	0	0
1234	-0.61	-146.1	146.1	-11.1	152	1242	0.00	1.52	0.00	0.000	6	0.000	0.033	1632	2872	3419	0	0	0	0	0	0
1557	-0.61	-146.1	180.8	-11.1	173	1558	0.00	0.00	0.00	0.000	6	0.000	0.000	1631	2873	3420	0	0	0	0	0	0
1870	-0.61	-146.1	216.7	-11.5	193	1873	0.00	2.08	0.00	0.000	4	0.000	0.037	1632	1507	3420	0	0	0	0	0	0
1900	-0.61	-146.1	220.6	-11.7	194	1909	0.00	2.20	0.00	0.000	6	0.000	0.054	1621	2871	3420	0	0	0	0	0	0
2226	-0.61	-146.1	260.4	-12.5	214	2230	0.10	1.60	0.00	0.000	4	0.197	0.061	1638	3900	3420	0	0	0	0	0	0
2261	-0.61	-146.1	264.9	-11.5	215	2265	0.00	1.52	0.00	0.000	6	0.000	0.033	1638	2893	3420	0	0	0	0	0	0
2587	-0.61	-146.1	299.0	-10.4	231	2588	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2888	3420	0	0	0	0	0	0
2894	-0.61	-146.1	331.2	-10.2	246	2898	0.00	2.12	0.00	0.000	4	0.000	0.037	1638	1490	3420	0	0	0	0	0	0
2938	-0.61	-146.1	335.5	-8.9	248	2942	0.00	2.20	0.00	0.000	6	0.000	0.054	1628	2887	3420	0	0	0	0	0	0
3267	-0.61	-146.1	370.3	-10.1	264	3268	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2888	3420	0	0	0	0	0	0
3587	-0.61	-146.1	404.6	-11.1	279	3588	0.00	0.00	0.00	0.000	6	0.000	0.000	1628	2888	3420	0	0	0	0	0	0
3893	-0.61	-146.1	439.7	-11.7	289	3894	0.00	0.00	0.00	0.000	6	0.000	0.000	1628	2888	3420	0	0	0	0	0	0
4200	-0.61	-146.1	475.2	-11.5	299	4202	0.00	0.00	0.00	0.000	6	0.000	0.000	1628	2888	3420	0	0	0	0	0	0
4505	-0.61	-146.1	511.4	-11.8	309	4509	0.00	2.15	0.00	0.000	4	0.000	0.038	1628	1488	3420	0	0	0	0	0	0
4528	-0.61	-146.1	514.5	-12.5	309	4536	0.12	2.22	0.00	0.000	6	0.179	0.054	1650	2891	3420	0	0	0	0	0	0
4844	-0.61	-146.1	546.2	-10.0	320	4845	0.00	0.00	0.00	0.000	6	0.000	0.000	1650	2891	3420	0	0	0	0	0	0
5150	-0.61	-146.1	575.5	-9.3	330	5154	0.00	2.12	0.00	0.000	4	0.000	0.037	1650	1495	3419	0	0	0	0	0	0
5187	-0.61	-146.1	578.7	-8.3	331	5191	0.00	2.20	0.00	0.000	6	0.000	0.054	1641	2883	3419	0	0	0	0	0	0
5532	-0.61	-146.1	611.8	-9.8	342	5533	0.00	0.00	0.00	0.000	6	0.000	0.000	1640	2883	3419	0	0	0	0	0	0
5837	-0.61	-146.1	640.7	-9.4	352	5841	0.00	2.12	0.00	0.000	4	0.000	0.037	1640	1493	3419	0	0	0	0	0	0
5889	-0.61	-146.1	645.8	-9.2	353	5893	0.00	2.20	0.00	0.000	6	0.000	0.054	1630	2883	3419	0	0	0	0	0	0
6210	-0.61	-146.1	677.4	-9.9	364	6214	0.00	2.10	0.00	0.000	4	0.000	0.037	1630	1496	3419	0	0	0	0	0	0
6239	-0.61	-146.1	680.4	-9.5	364	6246	0.12	2.20	0.00	0.000	6	0.178	0.054	1652	2884	3419	0	0	0	0	0	0
6554	-0.61	-146.1	705.0	-7.8	375	6556	0.00	0.00	0.00	0.000	6	0.000	0.000	1652	2885	3419	0	0	0	0	0	0
6861	-0.61	-146.1	728.3	-7.5	385	6865	0.00	2.12	0.00	0.000	4	0.000	0.037	1652	1487	3419	0	0	0	0	0	0
6919	-0.61	-146.1	732.8	-7.6	386	6923	0.00	2.20	0.00	0.000	6	0.000	0.055	1644	2881	3419	0	0	0	0	0	0
7236	-0.61	-146.1	758.1	-8.2	396	7237	0.00	0.00	0.00	0.000	6	0.000	0.000	1643	2881	3419	0	0	0	0	0	0
7541	-0.61	-146.1	783.1	-8.2	406	7544	0.00	2.12	0.00	0.000	4	0.000	0.037	1644	1491	3418	0	0	0	0	0	0
7587	-0.61	-146.1	787.1	-8.1	407	7591	0.00	2.22	0.00	0.000	6	0.000	0.054	1633	2886	3418	0	0	0	0	0	0
7908	-0.61	-146.1	814.6	-8.7	418	7909	0.00	0.00	0.00	0.000	6	0.000	0.000	1633	2887	3418	0	0	0	0	0	0
8216	-0.61	-146.1	840.9	-8.5	428	8220	0.00	2.12	0.00	0.000	4	0.000	0.037	1633	1496	3418	0	0	0	0	0	0
8268	-0.61	-146.1	845.8	-7.8	429	8272	0.00	2.17	0.00	0.000	6	0.000	0.055	1623	2881	3417	0	0	0	0	0	0
8583	-0.61	-146.1	875.0	-9.5	439	8585	0.00	0.00	0.00	0.000	6	0.000	0.000	1623	2881	3417	0	0	0	0	0	0
8890	-0.61	-146.1	903.5	-9.2	449	8894	0.00	2.12	0.00	0.000	4	0.000	0.037	1623	1490	3417	0	0	0	0	0	0
8925	-0.61	-146.1	906.8	-8.7	450	8930	0.15	2.22	0.00	0.000	6	0.177	0.054	1653	2887	3418	0	0	0	0	0	0
9258	-0.61	-146.1	929.9	-6.9	461	9262	0.00	2.12	0.00	0.000	4	0.000	0.037	1653	1484	3417	0	0	0	0	0	0
9290	-0.61	-146.1	932.1	-7.6	462	9294	0.00	2.22	0.00	0.000	6	0.000	0.055	1645	2881	3417	0	0	0	0	0	0
9628	-0.61	-146.1	957.9	-7.7	473	9629	0.00	0.00	0.00	0.000	6	0.000	0.000	1645	2881	3417	0	0	0	0	0	0
9934	-0.61	-146.1	981.3	-7.6	483	9936	0.00	0.00	0.00	0.000	6	0.000	0.000	1645	2881	3417	0	0	0	0	0	0
10205	end dive: TARGET_DEPTH_EXCEEDED
state	10205	begin apogee
10216	-0.18	0.0	1002.2	7.6	492	10366	0.47	0.00	146.95	1.230	6	0.155	0.000	1789	2709	2819	0	0	0	0	0	0
10367	end apogee: CONTROL_FINISHED_OK
state	10368	begin climb
10372	0.61	146.1	1006.2	0.0	497	10531	0.73	2.22	150.88	1.180	4	0.066	0.059	2049	3895	2218	0	0	0	0	0	0
10617	0.61	146.1	960.7	26.8	504	10621	0.00	1.98	0.00	0.000	6	0.000	0.037	2059	2705	2212	0	0	0	0	0	0
10949	0.61	146.1	878.2	24.6	515	10953	0.00	2.25	0.00	0.000	4	0.000	0.045	2070	1296	2206	0	0	0	0	0	0
11023	0.61	146.1	861.2	20.4	517	11027	0.00	2.33	0.00	0.000	6	0.000	0.051	2070	2698	2203	0	0	0	0	0	0
11350	0.61	146.1	781.2	24.4	528	11354	0.00	2.22	0.00	0.000	4	0.000	0.044	2080	1291	2203	0	0	0	0	0	0
11384	0.61	146.1	772.4	23.6	529	11389	0.12	2.30	0.00	0.000	6	0.228	0.051	2054	2702	2202	0	0	0	0	0	0
11717	0.61	146.1	697.1	22.9	540	11718	0.00	0.00	0.00	0.000	6	0.000	0.000	2054	2702	2201	0	0	0	0	0	0
12025	0.61	146.1	627.6	22.4	550	12029	0.00	2.22	0.00	0.000	4	0.000	0.044	2064	1283	2201	0	0	0	0	0	0
12083	0.61	146.1	615.2	18.6	551	12089	0.00	2.28	0.00	0.000	6	0.000	0.052	2062	2700	2199	0	0	0	0	0	0
12398	0.61	146.1	546.3	22.2	562	12401	0.00	1.90	0.00	0.000	4	0.000	0.060	2063	3896	2199	0	0	0	0	0	0
12438	0.61	146.1	535.9	25.1	563	12442	0.00	1.88	0.00	0.000	6	0.000	0.039	2071	2693	2199	0	0	0	0	0	0
12775	0.61	146.1	457.4	23.1	574	12779	0.00	2.15	0.00	0.000	4	0.000	0.045	2081	1294	2199	0	0	0	0	0	0
12842	0.61	146.1	443.5	20.7	576	12846	0.12	2.25	0.00	0.000	6	0.227	0.053	2054	2701	2199	0	0	0	0	0	0
13161	0.61	146.1	375.6	20.8	588	13162	0.00	0.00	0.00	0.000	6	0.000	0.000	2054	2700	2199	0	0	0	0	0	0
13472	0.61	146.1	310.7	21.0	603	13476	0.00	2.20	0.00	0.000	4	0.000	0.044	2063	1290	2199	0	0	0	0	0	0
13507	0.61	146.1	302.5	20.7	604	13516	0.00	2.28	0.00	0.000	6	0.000	0.052	2063	2696	2199	0	0	0	0	0	0
13828	0.61	146.1	235.3	21.7	621	13830	0.00	0.00	0.00	0.000	6	0.000	0.000	2063	2696	2199	0	0	0	0	0	0
14142	0.61	146.1	167.4	21.0	641	14146	0.00	2.17	0.00	0.000	4	0.000	0.044	2074	1293	2199	0	0	0	0	0	0
14200	0.61	146.1	154.8	18.7	644	14209	0.00	2.28	0.00	0.000	6	0.000	0.052	2074	2700	2198	0	0	0	0	0	0
14531	0.61	146.1	84.6	20.7	673	14535	0.00	0.00	0.00	0.000	6	0.000	0.000	2074	2701	2198	0	0	0	0	0	0
14898	0.61	146.1	13.2	20.2	734	14907	0.00	0.00	0.00	0.000	6	0.000	0.000	2073	2701	2198	0	0	0	0	0	0
14950	end climb: SURFACE_DEPTH_REACHED
state	14950	begin surface coast
14971	end surface coast: CONTROL_FINISHED_OK
state	14971	begin surface