Glider dive log

SOSCEx 08Dec12 * SG543 * Dive index * Mission links * Dive 17 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 543 HEADING -1 ROLL_MAX 3944 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 6 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 1050

DIVE 17 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 3353 ALTIM_PING_DELTA 15

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 3153 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -4230 HEAD_ERRBAND 15 ALTIM_PULSE 4

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 3

D_NO_BLEED 200 SM_CC 472.49722 R_PORT_OVSHOOT 49 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 23 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 5 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.050000001

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 507 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 101

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2474 DEVICE3 131

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 118

T_DIVE 370 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 385 CAPUPLOAD 1 VBD_TIMEOUT 800 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00061500003 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 -7838.1167 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 -5 PITCH_MIN 86 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 200 PITCH_MAX 3908 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1650 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043127281

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -55.913475 SEABIRD_T_H 0.00062185986

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011638312 SEABIRD_T_I 2.2048062e-05

RHO 1.027 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.2117231e-06

MASS 52589 PITCH_GAIN 36 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.303595

NAV_MODE 1 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1762303

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.001936322

KALMAN_USE 1 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00024357962

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 20

HD_C 9.9999997e-06 ROLL_MIN 394 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SM_CC 472.49722

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 20 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 15 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 1050 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 36 TCM_ROLL_OFFSET 0

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_MAX 3908 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 86 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 0.00061500003 T_BOOST 5

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011638312 T_DIVE 370

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -55.913475 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 -7838.1167

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 1 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 385

CF8_MAXERRORS 20 HEAD_ERRBAND 15 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 543 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 0.050000001 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_PITCH 1650 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 3153 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 3353 LOGGERDEVICE1 -1 ROLL_MAX 3944 USE_ICE 0

C_VBD 2474 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_MIN 394 VBD_CNV -0.245296

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 49 VBD_MAX 3960

DEVICE2 101 MASS 52589 R_STBD_OVSHOOT 23 VBD_MAXERRORS 1

DEVICE3 131 MAX_BUOY 200 SEABIRD_C_G -10.303595 VBD_MIN 507

DEVICE4 118 MINV_10V 8 SEABIRD_C_H 1.1762303 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.001936322 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MISSION 6 SEABIRD_C_J 0.00024357962 VBD_TIMEOUT 800

DIVE 17 MOTHERBOARD 4 SEABIRD_T_G 0.0043127281 XPDR_DEVICE 24

D_ABORT 1050 NAV_MODE 1 SEABIRD_T_H 0.00062185986 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 SEABIRD_T_I 2.2048062e-05 XPDR_VALID 3

D_CALL 0 N_GPS 20 SEABIRD_T_J 2.2117231e-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 111212,120835,-4230.830,819.689,33,0.9,34,-24.9 TGT_NAME GH1

_CALLS 1 TGT_LATLONG -4230.000,820.000

_XMS_NAKs 0 TGT_RADIUS 800.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.197,-0.183

_SM_DEPTHo 1.07 KALMAN_X -2492.5,-456.3,394.2,27310.1,4661.9

_SM_ANGLEo -32.8 KALMAN_Y 17366.6,-416.8,65.4,-18274.0,5390.1

GPS2 111212,122419,-4230.720,819.792,14,0.8,16,-24.9 MHEAD_RNG_PITCHd_Wd 252.1,1363,-14.4,-9.009

SPEED_LIMITS 0.156,0.284 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.0,1.026291 _10V_AH 10.2,2.237

SM_CCo 15364,124.40,0.752,1,0,542,472.69 FG_AHR_24Vo 0.000

SM_GC 1.37,0.00,0.00,124.40,0.000,0.000,0.752,64,3370,542,-4.95,0.48,472.69 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4215.72,824.33,111212,070706 MEM 354268

TT8_MAMPS 0.025466 DATA_FILE_SIZE 53699,756

HUMID 54.05 CAP_FILE_SIZE 125533,0

INTERNAL_PRESSURE 8.93706 CFSIZE 259252224,257253376

TCM_TEMP 16.10 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,3,2

XPDR_PINGS 0 GPS 111212,164442,-4231.171,817.458,31,1.1,32,-24.9

_24V_AH 22.5,5.333

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 11 243 65.55 SBE_CT 495 24 267.50

Roll_motor 53 91 109.73 AA4330 1666 33 1237.52

VBD_pump_during_apogee 369 1847 15376.07 WL_BB2FLVMT 744 105 1758.22

VBD_pump_during_surface 124 751 2104.83 QSP2150 319 4 31.48

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 61.28 nil 0 0 0.00

Iridium_during_connect 20 160 74.60 nil 0 0 0.00

Iridium_during_xfer 635 223 3190.19 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 26 5.10

TT8 1893 14 288.95

LPSleep 10421 2 232.80

TT8_Active 567 14 82.29

TT8_Sampling 2620 37 1000.53

TT8_CF8 891 47 428.79

TT8_Kalman 33 59 20.13

Analog_circuits 1492 12 182.64

GPS_charging 0 0 0.00

Compass 2162 15 346.93

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

19 -0.51 -172.0 0.0 0.0 0 111 0.00 0.00 -89.55 0.000 2 0.000 0.000 55 3357 2768 0 0 0 0 0 0

115 -0.52 -194.7 3.1 -3.6 11 142 5.90 0.98 -13.20 0.000 4 0.243 0.092 1472 3943 3268 0 0 0 0 0 0

172 -0.52 -194.7 10.8 -13.9 18 183 0.00 0.93 0.00 0.000 6 0.000 0.044 1472 3361 3270 0 0 0 0 0 0

261 -0.52 -194.7 22.6 -13.3 31 272 0.00 2.25 0.00 0.000 4 0.000 0.040 1472 1944 3270 0 0 0 0 0 0

294 -0.52 -194.7 26.5 -12.2 35 305 0.00 2.38 0.00 0.000 6 0.000 0.066 1462 3347 3270 0 0 0 0 0 0

381 -0.52 -194.7 37.6 -13.9 48 389 0.00 0.98 0.00 0.000 4 0.000 0.067 1457 3942 3270 0 0 0 0 0 0

516 -0.52 -194.7 57.4 -14.3 70 527 0.00 0.93 0.00 0.000 6 0.000 0.042 1457 3351 3270 0 0 0 0 0 0

763 -0.52 -194.7 90.0 -13.0 111 768 0.00 0.00 0.00 0.000 6 0.000 0.000 1457 3352 3271 0 0 0 0 0 0

1095 -0.52 -194.7 130.7 -12.0 141 1098 0.00 0.95 0.00 0.000 4 0.000 0.063 1453 3949 3271 0 0 0 0 0 0

1242 -0.52 -194.7 150.1 -13.2 149 1245 0.00 0.93 0.00 0.000 6 0.000 0.040 1452 3346 3271 0 0 0 0 0 0

1567 -0.52 -194.7 189.5 -12.2 170 1570 0.00 0.98 0.00 0.000 4 0.000 0.061 1448 3958 3271 0 0 0 0 0 0

1636 -0.52 -194.7 198.4 -13.4 174 1640 0.08 0.93 0.00 0.000 6 0.151 0.039 1472 3353 3271 0 0 0 0 0 0

1972 -0.52 -194.7 232.5 -10.2 195 1976 0.00 0.98 0.00 0.000 4 0.000 0.064 1469 3950 3271 0 0 0 0 0 0

2044 -0.52 -194.7 240.4 -10.5 199 2048 0.00 0.93 0.00 0.000 6 0.000 0.041 1469 3343 3271 0 0 0 0 0 0

2368 -0.52 -194.7 275.0 -10.7 216 2369 0.00 0.00 0.00 0.000 6 0.000 0.000 1469 3342 3271 0 0 0 0 0 0

2678 -0.52 -194.7 308.0 -10.7 231 2683 0.00 0.98 0.00 0.000 4 0.000 0.062 1465 3958 3271 0 0 0 0 0 0

2776 -0.52 -194.7 319.7 -11.6 235 2781 0.00 0.93 0.00 0.000 6 0.000 0.040 1465 3351 3271 0 0 0 0 0 0

3106 -0.52 -194.7 355.1 -10.8 251 3107 0.00 0.00 0.00 0.000 6 0.000 0.000 1464 3350 3271 0 0 0 0 0 0

3414 -0.52 -194.7 387.3 -10.2 266 3415 0.00 0.00 0.00 0.000 6 0.000 0.000 1464 3350 3271 0 0 0 0 0 0

3741 -0.52 -194.7 419.5 -9.9 279 3745 0.00 0.95 0.00 0.000 4 0.000 0.063 1460 3953 3270 0 0 0 0 0 0

3844 -0.52 -194.7 430.9 -10.7 282 3847 0.00 0.90 0.00 0.000 6 0.000 0.041 1460 3359 3270 0 0 0 0 0 0

4185 -0.52 -194.7 468.0 -10.8 293 4186 0.00 0.00 0.00 0.000 6 0.000 0.000 1460 3357 3270 0 0 0 0 0 0

4491 -0.52 -194.7 502.1 -11.2 303 4492 0.00 0.00 0.00 0.000 6 0.000 0.000 1460 3357 3269 0 0 0 0 0 0

4798 -0.52 -194.7 534.5 -10.4 313 4799 0.00 0.00 0.00 0.000 6 0.000 0.000 1460 3357 3269 0 0 0 0 0 0

5103 -0.52 -194.7 566.4 -10.4 323 5109 0.00 2.15 0.00 0.000 4 0.000 0.037 1460 1944 3268 0 0 0 0 0 0

5132 -0.52 -194.7 569.4 -9.1 323 5139 0.10 2.25 0.00 0.000 6 0.162 0.057 1477 3361 3267 0 0 0 0 0 0

5445 -0.52 -194.7 596.3 -8.6 334 5449 0.00 0.93 0.00 0.000 4 0.000 0.063 1474 3946 3267 0 0 0 0 0 0

5557 -0.52 -194.7 606.8 -9.6 337 5563 0.00 0.90 0.00 0.000 6 0.000 0.042 1474 3355 3267 0 0 0 0 0 0

5890 -0.52 -194.7 635.5 -8.6 348 5892 0.00 0.00 0.00 0.000 6 0.000 0.000 1474 3354 3267 0 0 0 0 0 0

6195 -0.52 -194.7 661.5 -8.3 358 6196 0.00 0.00 0.00 0.000 6 0.000 0.000 1474 3354 3266 0 0 0 0 0 0

6501 -0.52 -194.7 686.4 -8.2 368 6505 0.00 0.93 0.00 0.000 4 0.000 0.065 1470 3940 3264 0 0 0 0 0 0

6556 -0.52 -194.7 691.3 -8.5 369 6560 0.00 0.90 0.00 0.000 6 0.000 0.044 1470 3350 3264 0 0 0 0 0 0

6875 -0.52 -194.7 719.4 -9.0 380 6876 0.00 0.00 0.00 0.000 6 0.000 0.000 1470 3349 3264 0 0 0 0 0 0

7182 -0.52 -194.7 746.8 -8.9 390 7183 0.00 0.00 0.00 0.000 6 0.000 0.000 1470 3350 3263 0 0 0 0 0 0

7489 -0.52 -194.7 773.4 -8.7 400 7491 0.00 0.00 0.00 0.000 6 0.000 0.000 1470 3349 3263 0 0 0 0 0 0

7794 -0.52 -194.7 799.6 -8.5 410 7800 0.00 0.95 0.00 0.000 4 0.000 0.063 1466 3950 3262 0 0 0 0 0 0

7834 -0.52 -194.7 803.4 -9.0 411 7840 0.00 0.90 0.00 0.000 6 0.000 0.042 1466 3355 3262 0 0 0 0 0 0

8172 -0.52 -194.7 832.4 -8.6 422 8174 0.00 0.00 0.00 0.000 6 0.000 0.000 1466 3355 3261 0 0 0 0 0 0

8477 -0.52 -194.7 858.1 -8.3 432 8479 0.00 0.00 0.00 0.000 6 0.000 0.000 1466 3355 3261 0 0 0 0 0 0

8784 -0.52 -194.7 883.8 -8.3 442 8785 0.00 0.00 0.00 0.000 6 0.000 0.000 1466 3355 3260 0 0 0 0 0 0

9091 -0.52 -194.7 909.7 -8.6 452 9092 0.00 0.00 0.00 0.000 6 0.000 0.000 1466 3355 3260 0 0 0 0 0 0

9396 -0.52 -194.7 937.2 -9.2 462 9397 0.00 0.00 0.00 0.000 6 0.000 0.000 1466 3355 3259 0 0 0 0 0 0

9702 -0.52 -194.7 965.7 -9.3 472 9703 0.00 0.00 0.00 0.000 6 0.000 0.000 1466 3355 3258 0 0 0 0 0 0

10010 -0.52 -194.7 993.7 -8.9 482 10013 0.00 0.93 0.00 0.000 4 0.000 0.065 1462 3937 3258 0 0 0 0 0 0

10075 end dive: TARGET_DEPTH_EXCEEDED

state 10075 begin apogee

10083 -0.14 0.0 1000.0 8.7 484 10273 0.45 0.00 181.60 1.847 6 0.133 0.000 1602 3146 2473 0 0 0 0 1 0

10274 end apogee: CONTROL_FINISHED_OK

state 10274 begin climb

10277 0.52 194.7 1006.5 0.0 490 10479 0.60 1.50 188.30 1.818 4 0.053 0.057 1820 3952 1679 0 0 0 0 1 0

10678 0.52 194.7 934.6 22.2 502 10681 0.00 1.30 0.00 0.000 6 0.000 0.035 1826 3148 1674 0 0 0 0 0 0

11007 0.52 194.7 864.1 21.3 513 11013 0.00 1.33 0.00 0.000 4 0.000 0.057 1827 3938 1670 0 0 0 0 0 0

11043 0.52 194.7 856.3 22.6 514 11047 0.00 1.25 0.00 0.000 6 0.000 0.036 1833 3149 1670 0 0 0 0 0 0

11385 0.52 194.7 784.1 20.8 525 11390 0.00 1.33 0.00 0.000 4 0.000 0.058 1833 3951 1670 0 0 0 0 0 0

11437 0.52 194.7 772.4 22.0 526 11441 0.00 1.25 0.00 0.000 6 0.000 0.036 1839 3149 1669 0 0 0 0 0 0

11762 0.52 194.7 704.4 20.5 537 11766 0.00 1.30 0.00 0.000 4 0.000 0.058 1839 3944 1669 0 0 0 0 0 0

11823 0.52 194.7 690.6 21.3 538 11830 0.00 1.23 0.00 0.000 6 0.000 0.035 1845 3145 1668 0 0 0 0 0 0

12136 0.52 194.7 625.5 20.9 549 12137 0.00 0.00 0.00 0.000 6 0.000 0.000 1845 3144 1668 0 0 0 0 0 0

12444 0.52 194.7 561.6 20.8 559 12447 0.00 1.30 0.00 0.000 4 0.000 0.059 1845 3950 1668 0 0 0 0 0 0

12549 0.52 194.7 537.3 22.5 562 12553 0.10 1.20 0.00 0.000 6 0.197 0.035 1823 3155 1667 0 0 0 0 0 0

12884 0.52 194.7 473.5 19.2 573 12885 0.00 0.00 0.00 0.000 6 0.000 0.000 1823 3153 1667 0 0 0 0 0 0

13190 0.52 194.7 416.0 18.5 583 13194 0.00 1.27 0.00 0.000 4 0.000 0.057 1823 3951 1667 0 0 0 0 0 0

13308 0.52 194.7 393.5 20.2 587 13311 0.00 1.20 0.00 0.000 6 0.000 0.035 1828 3156 1667 0 0 0 0 0 0

13643 0.52 194.7 329.2 19.6 603 13644 0.00 0.00 0.00 0.000 6 0.000 0.000 1828 3156 1666 0 0 0 0 0 0

13951 0.52 194.7 269.8 19.1 618 13955 0.00 1.27 0.00 0.000 4 0.000 0.057 1828 3955 1666 0 0 0 0 0 0

14012 0.52 194.7 257.4 20.6 620 14015 0.00 1.23 0.00 0.000 6 0.000 0.034 1834 3143 1665 0 0 0 0 0 0

14331 0.52 194.7 195.8 18.6 640 14335 0.00 1.27 0.00 0.000 4 0.000 0.056 1834 3941 1665 0 0 0 0 0 0

14412 0.52 194.7 179.0 19.7 644 14420 0.00 1.17 0.00 0.000 6 0.000 0.034 1840 3152 1666 0 0 0 0 0 0

14736 0.52 194.7 117.4 19.2 665 14739 0.00 1.27 0.00 0.000 4 0.000 0.055 1840 3955 1665 0 0 0 0 0 0

14789 0.52 194.7 106.0 20.6 668 14793 0.00 1.20 0.00 0.000 6 0.000 0.034 1846 3151 1666 0 0 0 0 0 0

15149 0.52 194.7 36.6 17.4 725 15156 0.00 0.00 0.00 0.000 6 0.000 0.000 1847 3146 1665 0 0 0 0 0 0

15326 end climb: SURFACE_DEPTH_REACHED

state 15326 begin surface coast

15348 end surface coast: CONTROL_FINISHED_OK

state 15348 begin surface

ID	543	HEADING	-1	ROLL_MAX	3944	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	6	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	1050
DIVE	17	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	3353	ALTIM_PING_DELTA	15
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	3153	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-4230	HEAD_ERRBAND	15	ALTIM_PULSE	4
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	3
D_NO_BLEED	200	SM_CC	472.49722	R_PORT_OVSHOOT	49	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	23	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	5	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.050000001
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	507	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	101
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2474	DEVICE3	131
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	118
T_DIVE	370	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	385	CAPUPLOAD	1	VBD_TIMEOUT	800	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00061500003	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	-7838.1167	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	-5	PITCH_MIN	86	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	200	PITCH_MAX	3908	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1650	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043127281
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-55.913475	SEABIRD_T_H	0.00062185986
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011638312	SEABIRD_T_I	2.2048062e-05
RHO	1.027	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.2117231e-06
MASS	52589	PITCH_GAIN	36	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.303595
NAV_MODE	1	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1762303
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.001936322
KALMAN_USE	1	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00024357962
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	20
HD_C	9.9999997e-06	ROLL_MIN	394	ALTIM_TOP_TURN_MARGIN	0

GPS1	111212,120835,-4230.830,819.689,33,0.9,34,-24.9	TGT_NAME	GH1
_CALLS	1	TGT_LATLONG	-4230.000,820.000
_XMS_NAKs	0	TGT_RADIUS	800.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.197,-0.183
_SM_DEPTHo	1.07	KALMAN_X	-2492.5,-456.3,394.2,27310.1,4661.9
_SM_ANGLEo	-32.8	KALMAN_Y	17366.6,-416.8,65.4,-18274.0,5390.1
GPS2	111212,122419,-4230.720,819.792,14,0.8,16,-24.9	MHEAD_RNG_PITCHd_Wd	252.1,1363,-14.4,-9.009
SPEED_LIMITS	0.156,0.284	D_GRID	1000

FINISH	1.0,1.026291	_10V_AH	10.2,2.237
SM_CCo	15364,124.40,0.752,1,0,542,472.69	FG_AHR_24Vo	0.000
SM_GC	1.37,0.00,0.00,124.40,0.000,0.000,0.752,64,3370,542,-4.95,0.48,472.69	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4215.72,824.33,111212,070706	MEM	354268
TT8_MAMPS	0.025466	DATA_FILE_SIZE	53699,756
HUMID	54.05	CAP_FILE_SIZE	125533,0
INTERNAL_PRESSURE	8.93706	CFSIZE	259252224,257253376
TCM_TEMP	16.10	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,3,2
XPDR_PINGS	0	GPS	111212,164442,-4231.171,817.458,31,1.1,32,-24.9
_24V_AH	22.5,5.333

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	11	243	65.55	SBE_CT	495	24	267.50
Roll_motor	53	91	109.73	AA4330	1666	33	1237.52
VBD_pump_during_apogee	369	1847	15376.07	WL_BB2FLVMT	744	105	1758.22
VBD_pump_during_surface	124	751	2104.83	QSP2150	319	4	31.48
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	61.28	nil	0	0	0.00
Iridium_during_connect	20	160	74.60	nil	0	0	0.00
Iridium_during_xfer	635	223	3190.19	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	26	5.10
TT8	1893	14	288.95
LPSleep	10421	2	232.80
TT8_Active	567	14	82.29
TT8_Sampling	2620	37	1000.53
TT8_CF8	891	47	428.79
TT8_Kalman	33	59	20.13
Analog_circuits	1492	12	182.64
GPS_charging	0	0	0.00
Compass	2162	15	346.93
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
19	-0.51	-172.0	0.0	0.0	0	111	0.00	0.00	-89.55	0.000	2	0.000	0.000	55	3357	2768	0	0	0	0	0	0
115	-0.52	-194.7	3.1	-3.6	11	142	5.90	0.98	-13.20	0.000	4	0.243	0.092	1472	3943	3268	0	0	0	0	0	0
172	-0.52	-194.7	10.8	-13.9	18	183	0.00	0.93	0.00	0.000	6	0.000	0.044	1472	3361	3270	0	0	0	0	0	0
261	-0.52	-194.7	22.6	-13.3	31	272	0.00	2.25	0.00	0.000	4	0.000	0.040	1472	1944	3270	0	0	0	0	0	0
294	-0.52	-194.7	26.5	-12.2	35	305	0.00	2.38	0.00	0.000	6	0.000	0.066	1462	3347	3270	0	0	0	0	0	0
381	-0.52	-194.7	37.6	-13.9	48	389	0.00	0.98	0.00	0.000	4	0.000	0.067	1457	3942	3270	0	0	0	0	0	0
516	-0.52	-194.7	57.4	-14.3	70	527	0.00	0.93	0.00	0.000	6	0.000	0.042	1457	3351	3270	0	0	0	0	0	0
763	-0.52	-194.7	90.0	-13.0	111	768	0.00	0.00	0.00	0.000	6	0.000	0.000	1457	3352	3271	0	0	0	0	0	0
1095	-0.52	-194.7	130.7	-12.0	141	1098	0.00	0.95	0.00	0.000	4	0.000	0.063	1453	3949	3271	0	0	0	0	0	0
1242	-0.52	-194.7	150.1	-13.2	149	1245	0.00	0.93	0.00	0.000	6	0.000	0.040	1452	3346	3271	0	0	0	0	0	0
1567	-0.52	-194.7	189.5	-12.2	170	1570	0.00	0.98	0.00	0.000	4	0.000	0.061	1448	3958	3271	0	0	0	0	0	0
1636	-0.52	-194.7	198.4	-13.4	174	1640	0.08	0.93	0.00	0.000	6	0.151	0.039	1472	3353	3271	0	0	0	0	0	0
1972	-0.52	-194.7	232.5	-10.2	195	1976	0.00	0.98	0.00	0.000	4	0.000	0.064	1469	3950	3271	0	0	0	0	0	0
2044	-0.52	-194.7	240.4	-10.5	199	2048	0.00	0.93	0.00	0.000	6	0.000	0.041	1469	3343	3271	0	0	0	0	0	0
2368	-0.52	-194.7	275.0	-10.7	216	2369	0.00	0.00	0.00	0.000	6	0.000	0.000	1469	3342	3271	0	0	0	0	0	0
2678	-0.52	-194.7	308.0	-10.7	231	2683	0.00	0.98	0.00	0.000	4	0.000	0.062	1465	3958	3271	0	0	0	0	0	0
2776	-0.52	-194.7	319.7	-11.6	235	2781	0.00	0.93	0.00	0.000	6	0.000	0.040	1465	3351	3271	0	0	0	0	0	0
3106	-0.52	-194.7	355.1	-10.8	251	3107	0.00	0.00	0.00	0.000	6	0.000	0.000	1464	3350	3271	0	0	0	0	0	0
3414	-0.52	-194.7	387.3	-10.2	266	3415	0.00	0.00	0.00	0.000	6	0.000	0.000	1464	3350	3271	0	0	0	0	0	0
3741	-0.52	-194.7	419.5	-9.9	279	3745	0.00	0.95	0.00	0.000	4	0.000	0.063	1460	3953	3270	0	0	0	0	0	0
3844	-0.52	-194.7	430.9	-10.7	282	3847	0.00	0.90	0.00	0.000	6	0.000	0.041	1460	3359	3270	0	0	0	0	0	0
4185	-0.52	-194.7	468.0	-10.8	293	4186	0.00	0.00	0.00	0.000	6	0.000	0.000	1460	3357	3270	0	0	0	0	0	0
4491	-0.52	-194.7	502.1	-11.2	303	4492	0.00	0.00	0.00	0.000	6	0.000	0.000	1460	3357	3269	0	0	0	0	0	0
4798	-0.52	-194.7	534.5	-10.4	313	4799	0.00	0.00	0.00	0.000	6	0.000	0.000	1460	3357	3269	0	0	0	0	0	0
5103	-0.52	-194.7	566.4	-10.4	323	5109	0.00	2.15	0.00	0.000	4	0.000	0.037	1460	1944	3268	0	0	0	0	0	0
5132	-0.52	-194.7	569.4	-9.1	323	5139	0.10	2.25	0.00	0.000	6	0.162	0.057	1477	3361	3267	0	0	0	0	0	0
5445	-0.52	-194.7	596.3	-8.6	334	5449	0.00	0.93	0.00	0.000	4	0.000	0.063	1474	3946	3267	0	0	0	0	0	0
5557	-0.52	-194.7	606.8	-9.6	337	5563	0.00	0.90	0.00	0.000	6	0.000	0.042	1474	3355	3267	0	0	0	0	0	0
5890	-0.52	-194.7	635.5	-8.6	348	5892	0.00	0.00	0.00	0.000	6	0.000	0.000	1474	3354	3267	0	0	0	0	0	0
6195	-0.52	-194.7	661.5	-8.3	358	6196	0.00	0.00	0.00	0.000	6	0.000	0.000	1474	3354	3266	0	0	0	0	0	0
6501	-0.52	-194.7	686.4	-8.2	368	6505	0.00	0.93	0.00	0.000	4	0.000	0.065	1470	3940	3264	0	0	0	0	0	0
6556	-0.52	-194.7	691.3	-8.5	369	6560	0.00	0.90	0.00	0.000	6	0.000	0.044	1470	3350	3264	0	0	0	0	0	0
6875	-0.52	-194.7	719.4	-9.0	380	6876	0.00	0.00	0.00	0.000	6	0.000	0.000	1470	3349	3264	0	0	0	0	0	0
7182	-0.52	-194.7	746.8	-8.9	390	7183	0.00	0.00	0.00	0.000	6	0.000	0.000	1470	3350	3263	0	0	0	0	0	0
7489	-0.52	-194.7	773.4	-8.7	400	7491	0.00	0.00	0.00	0.000	6	0.000	0.000	1470	3349	3263	0	0	0	0	0	0
7794	-0.52	-194.7	799.6	-8.5	410	7800	0.00	0.95	0.00	0.000	4	0.000	0.063	1466	3950	3262	0	0	0	0	0	0
7834	-0.52	-194.7	803.4	-9.0	411	7840	0.00	0.90	0.00	0.000	6	0.000	0.042	1466	3355	3262	0	0	0	0	0	0
8172	-0.52	-194.7	832.4	-8.6	422	8174	0.00	0.00	0.00	0.000	6	0.000	0.000	1466	3355	3261	0	0	0	0	0	0
8477	-0.52	-194.7	858.1	-8.3	432	8479	0.00	0.00	0.00	0.000	6	0.000	0.000	1466	3355	3261	0	0	0	0	0	0
8784	-0.52	-194.7	883.8	-8.3	442	8785	0.00	0.00	0.00	0.000	6	0.000	0.000	1466	3355	3260	0	0	0	0	0	0
9091	-0.52	-194.7	909.7	-8.6	452	9092	0.00	0.00	0.00	0.000	6	0.000	0.000	1466	3355	3260	0	0	0	0	0	0
9396	-0.52	-194.7	937.2	-9.2	462	9397	0.00	0.00	0.00	0.000	6	0.000	0.000	1466	3355	3259	0	0	0	0	0	0
9702	-0.52	-194.7	965.7	-9.3	472	9703	0.00	0.00	0.00	0.000	6	0.000	0.000	1466	3355	3258	0	0	0	0	0	0
10010	-0.52	-194.7	993.7	-8.9	482	10013	0.00	0.93	0.00	0.000	4	0.000	0.065	1462	3937	3258	0	0	0	0	0	0
10075	end dive: TARGET_DEPTH_EXCEEDED
state	10075	begin apogee
10083	-0.14	0.0	1000.0	8.7	484	10273	0.45	0.00	181.60	1.847	6	0.133	0.000	1602	3146	2473	0	0	0	0	1	0
10274	end apogee: CONTROL_FINISHED_OK
state	10274	begin climb
10277	0.52	194.7	1006.5	0.0	490	10479	0.60	1.50	188.30	1.818	4	0.053	0.057	1820	3952	1679	0	0	0	0	1	0
10678	0.52	194.7	934.6	22.2	502	10681	0.00	1.30	0.00	0.000	6	0.000	0.035	1826	3148	1674	0	0	0	0	0	0
11007	0.52	194.7	864.1	21.3	513	11013	0.00	1.33	0.00	0.000	4	0.000	0.057	1827	3938	1670	0	0	0	0	0	0
11043	0.52	194.7	856.3	22.6	514	11047	0.00	1.25	0.00	0.000	6	0.000	0.036	1833	3149	1670	0	0	0	0	0	0
11385	0.52	194.7	784.1	20.8	525	11390	0.00	1.33	0.00	0.000	4	0.000	0.058	1833	3951	1670	0	0	0	0	0	0
11437	0.52	194.7	772.4	22.0	526	11441	0.00	1.25	0.00	0.000	6	0.000	0.036	1839	3149	1669	0	0	0	0	0	0
11762	0.52	194.7	704.4	20.5	537	11766	0.00	1.30	0.00	0.000	4	0.000	0.058	1839	3944	1669	0	0	0	0	0	0
11823	0.52	194.7	690.6	21.3	538	11830	0.00	1.23	0.00	0.000	6	0.000	0.035	1845	3145	1668	0	0	0	0	0	0
12136	0.52	194.7	625.5	20.9	549	12137	0.00	0.00	0.00	0.000	6	0.000	0.000	1845	3144	1668	0	0	0	0	0	0
12444	0.52	194.7	561.6	20.8	559	12447	0.00	1.30	0.00	0.000	4	0.000	0.059	1845	3950	1668	0	0	0	0	0	0
12549	0.52	194.7	537.3	22.5	562	12553	0.10	1.20	0.00	0.000	6	0.197	0.035	1823	3155	1667	0	0	0	0	0	0
12884	0.52	194.7	473.5	19.2	573	12885	0.00	0.00	0.00	0.000	6	0.000	0.000	1823	3153	1667	0	0	0	0	0	0
13190	0.52	194.7	416.0	18.5	583	13194	0.00	1.27	0.00	0.000	4	0.000	0.057	1823	3951	1667	0	0	0	0	0	0
13308	0.52	194.7	393.5	20.2	587	13311	0.00	1.20	0.00	0.000	6	0.000	0.035	1828	3156	1667	0	0	0	0	0	0
13643	0.52	194.7	329.2	19.6	603	13644	0.00	0.00	0.00	0.000	6	0.000	0.000	1828	3156	1666	0	0	0	0	0	0
13951	0.52	194.7	269.8	19.1	618	13955	0.00	1.27	0.00	0.000	4	0.000	0.057	1828	3955	1666	0	0	0	0	0	0
14012	0.52	194.7	257.4	20.6	620	14015	0.00	1.23	0.00	0.000	6	0.000	0.034	1834	3143	1665	0	0	0	0	0	0
14331	0.52	194.7	195.8	18.6	640	14335	0.00	1.27	0.00	0.000	4	0.000	0.056	1834	3941	1665	0	0	0	0	0	0
14412	0.52	194.7	179.0	19.7	644	14420	0.00	1.17	0.00	0.000	6	0.000	0.034	1840	3152	1666	0	0	0	0	0	0
14736	0.52	194.7	117.4	19.2	665	14739	0.00	1.27	0.00	0.000	4	0.000	0.055	1840	3955	1665	0	0	0	0	0	0
14789	0.52	194.7	106.0	20.6	668	14793	0.00	1.20	0.00	0.000	6	0.000	0.034	1846	3151	1666	0	0	0	0	0	0
15149	0.52	194.7	36.6	17.4	725	15156	0.00	0.00	0.00	0.000	6	0.000	0.000	1847	3146	1665	0	0	0	0	0	0
15326	end climb: SURFACE_DEPTH_REACHED
state	15326	begin surface coast
15348	end surface coast: CONTROL_FINISHED_OK
state	15348	begin surface