Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 167 * 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 167 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 48 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 38 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 -10976.014 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 -10976.014

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 48 VBD_MAX 3961

DEVICE2 101 MASS 52816 R_STBD_OVSHOOT 38 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 167 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 030113,072451,-4638.586,431.513,29,1.5,44,-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 0.255,-0.013

_SM_DEPTHo 1.51 KALMAN_X -114343.1,356.2,93.6,132276.8,-3298.4

_SM_ANGLEo -57.7 KALMAN_Y 61862.9,-322.0,-325.7,-37693.1,3391.2

GPS2 030113,073505,-4638.583,431.503,17,1.1,18,-23.5 MHEAD_RNG_PITCHd_Wd 116.5,19235,-16.5,-9.443

SPEED_LIMITS 0.164,0.256 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.6,1.026466 _10V_AH 10.1,14.742

SM_CCo 14851,50.50,0.771,1,0,1798,250.20 FG_AHR_24Vo 0.000

SM_GC 1.77,0.00,0.00,50.50,0.000,0.000,0.771,60,2893,1798,-5.60,0.40,250.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4622.97,429.93,030113,030306 MEM 353924

TT8_MAMPS 0.026215 DATA_FILE_SIZE 53699,747

HUMID 58.03 CAP_FILE_SIZE 102924,0

INTERNAL_PRESSURE 9.3262 CFSIZE 259252224,218963968

TCM_TEMP 10.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,1

XPDR_PINGS 0 GPS 030113,114552,-4638.421,433.683,37,0.9,37,-23.5

_24V_AH 21.9,33.095

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 249 74.82 SBE_CT 492 24 258.94

Roll_motor 61 75 101.75 AA4330 1463 33 1057.91

VBD_pump_during_apogee 297 1796 11694.03 WL_BB2FLVMT 775 105 1784.09

VBD_pump_during_surface 50 771 852.82 QSP2150 315 4 30.22

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 57.52 nil 0 0 0.00

Iridium_during_connect 41 160 146.40 nil 0 0 0.00

Iridium_during_xfer 316 223 1547.52 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 23 26 6.46

TT8 1817 14 274.57

LPSleep 10484 2 231.91

TT8_Active 467 14 67.07

TT8_Sampling 2169 37 820.27

TT8_CF8 571 47 272.21

TT8_Kalman 33 59 19.94

Analog_circuits 1158 12 140.47

GPS_charging 0 0 0.00

Compass 1705 15 271.00

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 0 100 0.00 0.00 -71.03 0.000 2 0.000 0.000 52 2911 3151 0 0 0 0 0 0

106 -0.61 -146.1 3.1 -3.3 9 125 6.57 1.62 -7.43 0.000 4 0.249 0.076 1639 3896 3418 0 0 0 0 0 0

400 -0.61 -146.1 48.5 -13.8 56 409 0.00 1.58 0.00 0.000 6 0.000 0.033 1639 2863 3421 0 0 0 0 0 0

649 -0.61 -146.1 78.1 -11.8 97 654 0.00 1.65 0.00 0.000 4 0.000 0.060 1631 3892 3421 0 0 0 0 0 0

773 -0.61 -146.1 94.5 -12.9 118 780 0.00 1.55 0.00 0.000 6 0.000 0.031 1631 2863 3422 0 0 0 0 0 0

1102 -0.61 -146.1 134.3 -11.2 143 1103 0.00 0.00 0.00 0.000 6 0.000 0.000 1631 2863 3422 0 0 0 0 0 0

1415 -0.61 -146.1 171.3 -12.3 163 1416 0.00 0.00 0.00 0.000 6 0.000 0.000 1631 2863 3423 0 0 0 0 0 0

1727 -0.61 -146.1 211.8 -13.1 183 1728 0.00 0.00 0.00 0.000 6 0.000 0.000 1631 2863 3423 0 0 0 0 0 0

2040 -0.61 -146.1 249.4 -11.3 203 2041 0.00 0.00 0.00 0.000 6 0.000 0.000 1632 2863 3423 0 0 0 0 0 0

2365 -0.61 -146.1 286.6 -11.4 219 2366 0.00 0.00 0.00 0.000 6 0.000 0.000 1631 2863 3423 0 0 0 0 0 0

2672 -0.61 -146.1 322.6 -11.8 234 2675 0.00 1.65 0.00 0.000 4 0.000 0.060 1623 3906 3423 0 0 0 0 0 0

2706 -0.61 -146.1 327.2 -12.4 235 2710 0.00 1.52 0.00 0.000 6 0.000 0.033 1623 2894 3423 0 0 0 0 0 0

3032 -0.61 -146.1 366.3 -12.1 251 3033 0.00 0.00 0.00 0.000 6 0.000 0.000 1623 2889 3423 0 0 0 0 0 0

3349 -0.61 -146.1 404.3 -11.8 266 3350 0.00 0.00 0.00 0.000 6 0.000 0.000 1623 2889 3423 0 0 0 0 0 0

3655 -0.61 -146.1 437.8 -10.7 276 3657 0.00 0.00 0.00 0.000 6 0.000 0.000 1624 2889 3423 0 0 0 0 0 0

3962 -0.61 -146.1 469.6 -10.2 286 3963 0.00 0.00 0.00 0.000 6 0.000 0.000 1623 2889 3423 0 0 0 0 0 0

4268 -0.61 -146.1 500.8 -10.1 296 4272 0.00 1.60 0.00 0.000 4 0.000 0.061 1616 3883 3423 0 0 0 0 0 0

4308 -0.61 -146.1 505.2 -10.8 297 4313 0.10 1.52 0.00 0.000 6 0.166 0.034 1647 2874 3423 0 0 0 0 0 0

4649 -0.61 -146.1 532.7 -8.0 308 4652 0.00 2.08 0.00 0.000 4 0.000 0.037 1648 1499 3422 0 0 0 0 0 0

4678 -0.61 -146.1 535.4 -8.3 308 4685 0.00 2.17 0.00 0.000 6 0.000 0.054 1638 2871 3422 0 0 0 0 0 0

4993 -0.61 -146.1 562.9 -9.0 319 4994 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2871 3422 0 0 0 0 0 0

5299 -0.61 -146.1 591.6 -9.5 329 5301 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2871 3422 0 0 0 0 0 0

5605 -0.61 -146.1 621.1 -9.6 339 5606 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2871 3422 0 0 0 0 0 0

5912 -0.61 -146.1 650.0 -9.3 349 5913 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2871 3421 0 0 0 0 0 0

6218 -0.61 -146.1 678.0 -9.2 359 6222 0.00 2.10 0.00 0.000 4 0.000 0.038 1638 1494 3421 0 0 0 0 0 0

6257 -0.61 -146.1 681.3 -8.5 360 6261 0.00 2.20 0.00 0.000 6 0.000 0.054 1628 2887 3421 0 0 0 0 0 0

6602 -0.61 -146.1 714.9 -9.8 371 6606 0.00 2.10 0.00 0.000 4 0.000 0.037 1627 1497 3420 0 0 0 0 0 0

6637 -0.61 -146.1 718.7 -9.6 372 6642 0.12 2.20 0.00 0.000 6 0.187 0.054 1649 2881 3420 0 0 0 0 0 0

6970 -0.61 -146.1 744.8 -7.8 383 6971 0.00 0.00 0.00 0.000 6 0.000 0.000 1649 2881 3420 0 0 0 0 0 0

7276 -0.61 -146.1 768.2 -7.7 393 7277 0.00 0.00 0.00 0.000 6 0.000 0.000 1648 2881 3420 0 0 0 0 0 0

7582 -0.61 -146.1 791.6 -7.7 403 7586 0.00 2.10 0.00 0.000 4 0.000 0.037 1649 1495 3420 0 0 0 0 0 0

7629 -0.61 -146.1 795.6 -7.9 404 7633 0.00 2.20 0.00 0.000 6 0.000 0.055 1640 2879 3420 0 0 0 0 0 0

7950 -0.61 -146.1 823.4 -9.0 415 7951 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2880 3420 0 0 0 0 0 0

8256 -0.61 -146.1 850.1 -8.8 425 8257 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2880 3420 0 0 0 0 0 0

8562 -0.61 -146.1 876.0 -8.4 435 8563 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2880 3419 0 0 0 0 0 0

8868 -0.61 -146.1 902.8 -8.8 445 8872 0.00 2.12 0.00 0.000 4 0.000 0.037 1640 1497 3419 0 0 0 0 0 0

8898 -0.61 -146.1 905.5 -9.4 445 8904 0.00 2.20 0.00 0.000 6 0.000 0.054 1630 2883 3419 0 0 0 0 0 0

9213 -0.61 -146.1 933.3 -8.7 456 9215 0.00 0.00 0.00 0.000 6 0.000 0.000 1630 2883 3419 0 0 0 0 0 0

9519 -0.61 -146.1 959.2 -8.5 466 9520 0.00 0.00 0.00 0.000 6 0.000 0.000 1630 2884 3419 0 0 0 0 0 0

9826 -0.61 -146.1 984.7 -8.5 476 9829 0.00 2.12 0.00 0.000 4 0.000 0.037 1630 1496 3419 0 0 0 0 0 0

9858 -0.61 -146.1 987.3 -8.7 477 9863 0.12 2.20 0.00 0.000 6 0.181 0.054 1653 2878 3419 0 0 0 0 0 0

10038 end dive: TARGET_DEPTH_EXCEEDED

state 10039 begin apogee

10049 -0.18 0.0 1000.3 6.7 483 10199 0.43 0.00 146.45 1.236 6 0.151 0.000 1783 2707 2819 0 0 0 0 0 0

10201 end apogee: CONTROL_FINISHED_OK

state 10201 begin climb

10206 0.61 146.1 1003.6 0.0 488 10365 0.77 0.00 150.70 1.797 6 0.067 0.000 2053 2706 2223 0 0 0 0 1 0

10651 0.61 146.1 912.3 23.6 503 10652 0.00 0.00 0.00 0.000 6 0.000 0.000 2053 2706 2218 0 0 0 0 0 0

10957 0.61 146.1 839.3 23.9 513 10959 0.00 0.00 0.00 0.000 6 0.000 0.000 2053 2706 2215 0 0 0 0 0 0

11264 0.61 146.1 766.9 23.8 523 11268 0.00 2.20 0.00 0.000 4 0.000 0.044 2064 1303 2214 0 0 0 0 0 0

11321 0.61 146.1 753.4 21.4 524 11328 0.00 2.28 0.00 0.000 6 0.000 0.051 2064 2705 2212 0 0 0 0 0 0

11636 0.61 146.1 677.9 24.8 535 11638 0.00 0.00 0.00 0.000 6 0.000 0.000 2064 2706 2212 0 0 0 0 0 0

11943 0.61 146.1 602.9 25.0 545 11947 0.00 2.22 0.00 0.000 4 0.000 0.043 2074 1295 2212 0 0 0 0 0 0

11989 0.61 146.1 591.9 21.5 546 11993 0.00 2.28 0.00 0.000 6 0.000 0.052 2074 2706 2210 0 0 0 0 0 0

12310 0.61 146.1 514.3 24.6 557 12311 0.00 0.00 0.00 0.000 6 0.000 0.000 2074 2707 2210 0 0 0 0 0 0

12618 0.61 146.1 440.9 24.0 567 12622 0.00 2.20 0.00 0.000 4 0.000 0.044 2085 1308 2211 0 0 0 0 0 0

12650 0.61 146.1 433.0 22.7 568 12655 0.15 2.25 0.00 0.000 6 0.223 0.052 2051 2711 2210 0 0 0 0 0 0

12972 0.61 146.1 365.6 20.4 581 12973 0.00 0.00 0.00 0.000 6 0.000 0.000 2051 2711 2210 0 0 0 0 0 0

13280 0.61 146.1 303.3 20.0 596 13284 0.00 2.22 0.00 0.000 4 0.000 0.044 2060 1294 2210 0 0 0 0 0 0

13354 0.61 146.1 288.6 18.4 599 13358 0.00 2.22 0.00 0.000 6 0.000 0.052 2060 2702 2209 0 0 0 0 0 0

13674 0.61 146.1 220.6 21.5 616 13675 0.00 0.00 0.00 0.000 6 0.000 0.000 2060 2702 2209 0 0 0 0 0 0

13986 0.61 146.1 153.6 21.4 636 13987 0.00 0.00 0.00 0.000 6 0.000 0.000 2060 2702 2209 0 0 0 0 0 0

14302 0.61 146.1 89.6 19.6 662 14308 0.00 0.00 0.00 0.000 6 0.000 0.000 2060 2702 2209 0 0 0 0 0 0

14664 0.61 146.1 23.3 18.8 723 14673 0.00 2.20 0.00 0.000 4 0.000 0.042 2070 1306 2209 0 0 0 0 0 0

14784 0.61 146.1 3.5 15.4 741 14793 0.00 2.22 0.00 0.000 6 0.000 0.050 2070 2693 2207 0 0 0 0 0 0

14802 end climb: SURFACE_DEPTH_REACHED

state 14803 begin surface coast

14828 end surface coast: CONTROL_FINISHED_OK

state 14829 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	167	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	48	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	38	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	-10976.014	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	030113,072451,-4638.586,431.513,29,1.5,44,-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	0.255,-0.013
_SM_DEPTHo	1.51	KALMAN_X	-114343.1,356.2,93.6,132276.8,-3298.4
_SM_ANGLEo	-57.7	KALMAN_Y	61862.9,-322.0,-325.7,-37693.1,3391.2
GPS2	030113,073505,-4638.583,431.503,17,1.1,18,-23.5	MHEAD_RNG_PITCHd_Wd	116.5,19235,-16.5,-9.443
SPEED_LIMITS	0.164,0.256	D_GRID	1000

FINISH	0.6,1.026466	_10V_AH	10.1,14.742
SM_CCo	14851,50.50,0.771,1,0,1798,250.20	FG_AHR_24Vo	0.000
SM_GC	1.77,0.00,0.00,50.50,0.000,0.000,0.771,60,2893,1798,-5.60,0.40,250.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4622.97,429.93,030113,030306	MEM	353924
TT8_MAMPS	0.026215	DATA_FILE_SIZE	53699,747
HUMID	58.03	CAP_FILE_SIZE	102924,0
INTERNAL_PRESSURE	9.3262	CFSIZE	259252224,218963968
TCM_TEMP	10.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
XPDR_PINGS	0	GPS	030113,114552,-4638.421,433.683,37,0.9,37,-23.5
_24V_AH	21.9,33.095

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	249	74.82	SBE_CT	492	24	258.94
Roll_motor	61	75	101.75	AA4330	1463	33	1057.91
VBD_pump_during_apogee	297	1796	11694.03	WL_BB2FLVMT	775	105	1784.09
VBD_pump_during_surface	50	771	852.82	QSP2150	315	4	30.22
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	57.52	nil	0	0	0.00
Iridium_during_connect	41	160	146.40	nil	0	0	0.00
Iridium_during_xfer	316	223	1547.52	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	23	26	6.46
TT8	1817	14	274.57
LPSleep	10484	2	231.91
TT8_Active	467	14	67.07
TT8_Sampling	2169	37	820.27
TT8_CF8	571	47	272.21
TT8_Kalman	33	59	19.94
Analog_circuits	1158	12	140.47
GPS_charging	0	0	0.00
Compass	1705	15	271.00
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	100	0.00	0.00	-71.03	0.000	2	0.000	0.000	52	2911	3151	0	0	0	0	0	0
106	-0.61	-146.1	3.1	-3.3	9	125	6.57	1.62	-7.43	0.000	4	0.249	0.076	1639	3896	3418	0	0	0	0	0	0
400	-0.61	-146.1	48.5	-13.8	56	409	0.00	1.58	0.00	0.000	6	0.000	0.033	1639	2863	3421	0	0	0	0	0	0
649	-0.61	-146.1	78.1	-11.8	97	654	0.00	1.65	0.00	0.000	4	0.000	0.060	1631	3892	3421	0	0	0	0	0	0
773	-0.61	-146.1	94.5	-12.9	118	780	0.00	1.55	0.00	0.000	6	0.000	0.031	1631	2863	3422	0	0	0	0	0	0
1102	-0.61	-146.1	134.3	-11.2	143	1103	0.00	0.00	0.00	0.000	6	0.000	0.000	1631	2863	3422	0	0	0	0	0	0
1415	-0.61	-146.1	171.3	-12.3	163	1416	0.00	0.00	0.00	0.000	6	0.000	0.000	1631	2863	3423	0	0	0	0	0	0
1727	-0.61	-146.1	211.8	-13.1	183	1728	0.00	0.00	0.00	0.000	6	0.000	0.000	1631	2863	3423	0	0	0	0	0	0
2040	-0.61	-146.1	249.4	-11.3	203	2041	0.00	0.00	0.00	0.000	6	0.000	0.000	1632	2863	3423	0	0	0	0	0	0
2365	-0.61	-146.1	286.6	-11.4	219	2366	0.00	0.00	0.00	0.000	6	0.000	0.000	1631	2863	3423	0	0	0	0	0	0
2672	-0.61	-146.1	322.6	-11.8	234	2675	0.00	1.65	0.00	0.000	4	0.000	0.060	1623	3906	3423	0	0	0	0	0	0
2706	-0.61	-146.1	327.2	-12.4	235	2710	0.00	1.52	0.00	0.000	6	0.000	0.033	1623	2894	3423	0	0	0	0	0	0
3032	-0.61	-146.1	366.3	-12.1	251	3033	0.00	0.00	0.00	0.000	6	0.000	0.000	1623	2889	3423	0	0	0	0	0	0
3349	-0.61	-146.1	404.3	-11.8	266	3350	0.00	0.00	0.00	0.000	6	0.000	0.000	1623	2889	3423	0	0	0	0	0	0
3655	-0.61	-146.1	437.8	-10.7	276	3657	0.00	0.00	0.00	0.000	6	0.000	0.000	1624	2889	3423	0	0	0	0	0	0
3962	-0.61	-146.1	469.6	-10.2	286	3963	0.00	0.00	0.00	0.000	6	0.000	0.000	1623	2889	3423	0	0	0	0	0	0
4268	-0.61	-146.1	500.8	-10.1	296	4272	0.00	1.60	0.00	0.000	4	0.000	0.061	1616	3883	3423	0	0	0	0	0	0
4308	-0.61	-146.1	505.2	-10.8	297	4313	0.10	1.52	0.00	0.000	6	0.166	0.034	1647	2874	3423	0	0	0	0	0	0
4649	-0.61	-146.1	532.7	-8.0	308	4652	0.00	2.08	0.00	0.000	4	0.000	0.037	1648	1499	3422	0	0	0	0	0	0
4678	-0.61	-146.1	535.4	-8.3	308	4685	0.00	2.17	0.00	0.000	6	0.000	0.054	1638	2871	3422	0	0	0	0	0	0
4993	-0.61	-146.1	562.9	-9.0	319	4994	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2871	3422	0	0	0	0	0	0
5299	-0.61	-146.1	591.6	-9.5	329	5301	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2871	3422	0	0	0	0	0	0
5605	-0.61	-146.1	621.1	-9.6	339	5606	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2871	3422	0	0	0	0	0	0
5912	-0.61	-146.1	650.0	-9.3	349	5913	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2871	3421	0	0	0	0	0	0
6218	-0.61	-146.1	678.0	-9.2	359	6222	0.00	2.10	0.00	0.000	4	0.000	0.038	1638	1494	3421	0	0	0	0	0	0
6257	-0.61	-146.1	681.3	-8.5	360	6261	0.00	2.20	0.00	0.000	6	0.000	0.054	1628	2887	3421	0	0	0	0	0	0
6602	-0.61	-146.1	714.9	-9.8	371	6606	0.00	2.10	0.00	0.000	4	0.000	0.037	1627	1497	3420	0	0	0	0	0	0
6637	-0.61	-146.1	718.7	-9.6	372	6642	0.12	2.20	0.00	0.000	6	0.187	0.054	1649	2881	3420	0	0	0	0	0	0
6970	-0.61	-146.1	744.8	-7.8	383	6971	0.00	0.00	0.00	0.000	6	0.000	0.000	1649	2881	3420	0	0	0	0	0	0
7276	-0.61	-146.1	768.2	-7.7	393	7277	0.00	0.00	0.00	0.000	6	0.000	0.000	1648	2881	3420	0	0	0	0	0	0
7582	-0.61	-146.1	791.6	-7.7	403	7586	0.00	2.10	0.00	0.000	4	0.000	0.037	1649	1495	3420	0	0	0	0	0	0
7629	-0.61	-146.1	795.6	-7.9	404	7633	0.00	2.20	0.00	0.000	6	0.000	0.055	1640	2879	3420	0	0	0	0	0	0
7950	-0.61	-146.1	823.4	-9.0	415	7951	0.00	0.00	0.00	0.000	6	0.000	0.000	1640	2880	3420	0	0	0	0	0	0
8256	-0.61	-146.1	850.1	-8.8	425	8257	0.00	0.00	0.00	0.000	6	0.000	0.000	1640	2880	3420	0	0	0	0	0	0
8562	-0.61	-146.1	876.0	-8.4	435	8563	0.00	0.00	0.00	0.000	6	0.000	0.000	1640	2880	3419	0	0	0	0	0	0
8868	-0.61	-146.1	902.8	-8.8	445	8872	0.00	2.12	0.00	0.000	4	0.000	0.037	1640	1497	3419	0	0	0	0	0	0
8898	-0.61	-146.1	905.5	-9.4	445	8904	0.00	2.20	0.00	0.000	6	0.000	0.054	1630	2883	3419	0	0	0	0	0	0
9213	-0.61	-146.1	933.3	-8.7	456	9215	0.00	0.00	0.00	0.000	6	0.000	0.000	1630	2883	3419	0	0	0	0	0	0
9519	-0.61	-146.1	959.2	-8.5	466	9520	0.00	0.00	0.00	0.000	6	0.000	0.000	1630	2884	3419	0	0	0	0	0	0
9826	-0.61	-146.1	984.7	-8.5	476	9829	0.00	2.12	0.00	0.000	4	0.000	0.037	1630	1496	3419	0	0	0	0	0	0
9858	-0.61	-146.1	987.3	-8.7	477	9863	0.12	2.20	0.00	0.000	6	0.181	0.054	1653	2878	3419	0	0	0	0	0	0
10038	end dive: TARGET_DEPTH_EXCEEDED
state	10039	begin apogee
10049	-0.18	0.0	1000.3	6.7	483	10199	0.43	0.00	146.45	1.236	6	0.151	0.000	1783	2707	2819	0	0	0	0	0	0
10201	end apogee: CONTROL_FINISHED_OK
state	10201	begin climb
10206	0.61	146.1	1003.6	0.0	488	10365	0.77	0.00	150.70	1.797	6	0.067	0.000	2053	2706	2223	0	0	0	0	1	0
10651	0.61	146.1	912.3	23.6	503	10652	0.00	0.00	0.00	0.000	6	0.000	0.000	2053	2706	2218	0	0	0	0	0	0
10957	0.61	146.1	839.3	23.9	513	10959	0.00	0.00	0.00	0.000	6	0.000	0.000	2053	2706	2215	0	0	0	0	0	0
11264	0.61	146.1	766.9	23.8	523	11268	0.00	2.20	0.00	0.000	4	0.000	0.044	2064	1303	2214	0	0	0	0	0	0
11321	0.61	146.1	753.4	21.4	524	11328	0.00	2.28	0.00	0.000	6	0.000	0.051	2064	2705	2212	0	0	0	0	0	0
11636	0.61	146.1	677.9	24.8	535	11638	0.00	0.00	0.00	0.000	6	0.000	0.000	2064	2706	2212	0	0	0	0	0	0
11943	0.61	146.1	602.9	25.0	545	11947	0.00	2.22	0.00	0.000	4	0.000	0.043	2074	1295	2212	0	0	0	0	0	0
11989	0.61	146.1	591.9	21.5	546	11993	0.00	2.28	0.00	0.000	6	0.000	0.052	2074	2706	2210	0	0	0	0	0	0
12310	0.61	146.1	514.3	24.6	557	12311	0.00	0.00	0.00	0.000	6	0.000	0.000	2074	2707	2210	0	0	0	0	0	0
12618	0.61	146.1	440.9	24.0	567	12622	0.00	2.20	0.00	0.000	4	0.000	0.044	2085	1308	2211	0	0	0	0	0	0
12650	0.61	146.1	433.0	22.7	568	12655	0.15	2.25	0.00	0.000	6	0.223	0.052	2051	2711	2210	0	0	0	0	0	0
12972	0.61	146.1	365.6	20.4	581	12973	0.00	0.00	0.00	0.000	6	0.000	0.000	2051	2711	2210	0	0	0	0	0	0
13280	0.61	146.1	303.3	20.0	596	13284	0.00	2.22	0.00	0.000	4	0.000	0.044	2060	1294	2210	0	0	0	0	0	0
13354	0.61	146.1	288.6	18.4	599	13358	0.00	2.22	0.00	0.000	6	0.000	0.052	2060	2702	2209	0	0	0	0	0	0
13674	0.61	146.1	220.6	21.5	616	13675	0.00	0.00	0.00	0.000	6	0.000	0.000	2060	2702	2209	0	0	0	0	0	0
13986	0.61	146.1	153.6	21.4	636	13987	0.00	0.00	0.00	0.000	6	0.000	0.000	2060	2702	2209	0	0	0	0	0	0
14302	0.61	146.1	89.6	19.6	662	14308	0.00	0.00	0.00	0.000	6	0.000	0.000	2060	2702	2209	0	0	0	0	0	0
14664	0.61	146.1	23.3	18.8	723	14673	0.00	2.20	0.00	0.000	4	0.000	0.042	2070	1306	2209	0	0	0	0	0	0
14784	0.61	146.1	3.5	15.4	741	14793	0.00	2.22	0.00	0.000	6	0.000	0.050	2070	2693	2207	0	0	0	0	0	0
14802	end climb: SURFACE_DEPTH_REACHED
state	14803	begin surface coast
14828	end surface coast: CONTROL_FINISHED_OK
state	14829	begin surface