Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 174 * 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 174 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 49 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 30 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 -11002.918 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 -11002.918

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 49 VBD_MAX 3961

DEVICE2 101 MASS 52816 R_STBD_OVSHOOT 30 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 174 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 040113,142006,-4632.886,437.631,26,1.3,26,-23.5 TGT_NAME GH3

_CALLS 2 TGT_LATLONG -4630.000,440.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.240,-0.089

_SM_DEPTHo 1.44 KALMAN_X -137197.7,684.7,353.9,162282.5,-7882.5

_SM_ANGLEo -54.4 KALMAN_Y 53800.6,580.9,10.3,-20228.4,-2957.4

GPS2 040113,143335,-4632.826,437.622,13,1.9,14,-23.5 MHEAD_RNG_PITCHd_Wd 133.9,6049,-16.5,-9.443

SPEED_LIMITS 0.164,0.256 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.3,1.026442 _10V_AH 10.1,15.456

SM_CCo 15128,50.80,0.780,1,0,1796,250.20 FG_AHR_24Vo 0.000

SM_GC 1.44,0.00,0.00,50.80,0.000,0.000,0.780,59,2861,1796,-5.60,-0.54,250.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4613.60,438.80,040113,141438 MEM 353904

TT8_MAMPS 0.026215 DATA_FILE_SIZE 53719,743

HUMID 57.75 CAP_FILE_SIZE 110403,0

INTERNAL_PRESSURE 9.3262 CFSIZE 259252224,218513408

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

XPDR_PINGS 0 GPS 040113,184858,-4633.411,439.473,39,0.8,39,-23.5

_24V_AH 21.9,34.225

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 250 75.97 SBE_CT 491 24 258.37

Roll_motor 82 74 133.38 AA4330 1442 33 1042.56

VBD_pump_during_apogee 297 1799 11713.89 WL_BB2FLVMT 746 105 1715.45

VBD_pump_during_surface 50 780 868.10 QSP2150 287 4 27.60

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 62 103 140.60 nil 0 0 0.00

Iridium_during_connect 126 160 442.02 nil 0 0 0.00

Iridium_during_xfer 321 223 1568.41 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 26 4.54

TT8 1848 14 279.28

LPSleep 10710 2 236.91

TT8_Active 468 14 67.17

TT8_Sampling 2325 37 879.12

TT8_CF8 626 47 298.49

TT8_Kalman 33 59 19.93

Analog_circuits 1197 12 145.13

GPS_charging 0 0 0.00

Compass 1745 15 277.26

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

25 end surface: CONTROL_FINISHED_OK

state 25 begin dive

30 -0.61 -146.1 0.0 0.0 0 103 0.00 0.00 -70.95 0.000 2 0.000 0.000 61 2891 3183 0 0 0 0 0 0

110 -0.61 -146.1 3.2 -3.2 9 129 6.57 1.65 -5.90 0.000 4 0.251 0.074 1640 3896 3418 0 0 0 0 0 0

403 -0.61 -146.1 50.2 -12.8 56 412 0.00 1.58 0.00 0.000 6 0.000 0.032 1640 2859 3420 0 0 0 0 0 0

649 -0.61 -146.1 80.0 -11.9 97 654 0.00 1.65 0.00 0.000 4 0.000 0.058 1632 3892 3420 0 0 0 0 0 0

756 -0.61 -146.1 93.3 -12.1 115 761 0.00 1.52 0.00 0.000 6 0.000 0.031 1632 2877 3421 0 0 0 0 0 0

1096 -0.61 -146.1 137.5 -13.1 142 1097 0.00 0.00 0.00 0.000 6 0.000 0.000 1632 2876 3422 0 0 0 0 0 0

1405 -0.61 -146.1 175.4 -11.9 162 1408 0.00 2.08 0.00 0.000 4 0.000 0.036 1632 1507 3422 0 0 0 0 0 0

1428 -0.61 -146.1 178.6 -12.4 163 1432 0.00 2.17 0.00 0.000 6 0.000 0.050 1622 2880 3423 0 0 0 0 0 0

1752 -0.61 -146.1 218.0 -11.8 183 1753 0.00 0.00 0.00 0.000 6 0.000 0.000 1622 2880 3423 0 0 0 0 0 0

2074 -0.61 -146.1 255.4 -11.6 203 2076 0.00 0.00 0.00 0.000 6 0.000 0.000 1622 2880 3423 0 0 0 0 0 0

2381 -0.61 -146.1 292.1 -12.1 218 2382 0.00 0.00 0.00 0.000 6 0.000 0.000 1622 2880 3423 0 0 0 0 0 0

2693 -0.61 -146.1 329.3 -11.9 233 2697 0.00 1.62 0.00 0.000 4 0.000 0.060 1614 3892 3423 0 0 0 0 0 0

2724 -0.61 -146.1 333.6 -13.2 234 2728 0.10 1.50 0.00 0.000 6 0.162 0.033 1645 2894 3423 0 0 0 0 0 0

3053 -0.61 -146.1 367.4 -10.0 250 3057 0.00 2.12 0.00 0.000 4 0.000 0.038 1646 1491 3423 0 0 0 0 0 0

3101 -0.61 -146.1 371.8 -8.2 252 3105 0.00 2.20 0.00 0.000 6 0.000 0.052 1636 2884 3423 0 0 0 0 0 0

3419 -0.61 -146.1 404.2 -10.3 267 3421 0.00 0.00 0.00 0.000 6 0.000 0.000 1636 2884 3423 0 0 0 0 0 0

3727 -0.61 -146.1 437.0 -10.7 277 3728 0.00 0.00 0.00 0.000 6 0.000 0.000 1636 2884 3423 0 0 0 0 0 0

4032 -0.61 -146.1 469.9 -10.8 287 4036 0.00 2.12 0.00 0.000 4 0.000 0.037 1636 1498 3423 0 0 0 0 0 0

4067 -0.61 -146.1 473.8 -10.3 288 4071 0.00 2.20 0.00 0.000 6 0.000 0.052 1626 2884 3423 0 0 0 0 0 0

4399 -0.61 -146.1 510.5 -11.1 299 4402 0.00 1.60 0.00 0.000 4 0.000 0.060 1618 3896 3422 0 0 0 0 0 0

4439 -0.61 -146.1 515.4 -11.5 300 4443 0.08 1.52 0.00 0.000 6 0.161 0.033 1642 2881 3423 0 0 0 0 0 0

4777 -0.61 -146.1 545.8 -8.7 311 4781 0.00 2.08 0.00 0.000 4 0.000 0.037 1643 1495 3423 0 0 0 0 0 0

4816 -0.61 -146.1 548.9 -8.3 312 4820 0.00 2.20 0.00 0.000 6 0.000 0.053 1633 2889 3422 0 0 0 0 0 0

5161 -0.61 -146.1 580.8 -9.3 323 5162 0.00 0.00 0.00 0.000 6 0.000 0.000 1633 2890 3422 0 0 0 0 0 0

5466 -0.61 -146.1 609.5 -9.1 333 5467 0.00 0.00 0.00 0.000 6 0.000 0.000 1633 2890 3422 0 0 0 0 0 0

5773 -0.61 -146.1 636.7 -8.8 343 5777 0.00 2.15 0.00 0.000 4 0.000 0.038 1633 1490 3422 0 0 0 0 0 0

5805 -0.61 -146.1 639.6 -9.0 344 5809 0.00 2.20 0.00 0.000 6 0.000 0.053 1623 2880 3422 0 0 0 0 0 0

6150 -0.61 -146.1 672.0 -9.5 355 6151 0.00 0.00 0.00 0.000 6 0.000 0.000 1623 2881 3421 0 0 0 0 0 0

6454 -0.61 -146.1 700.9 -9.6 365 6456 0.00 0.00 0.00 0.000 6 0.000 0.000 1623 2881 3421 0 0 0 0 0 0

6761 -0.61 -146.1 730.8 -9.9 375 6762 0.00 0.00 0.00 0.000 6 0.000 0.000 1623 2881 3420 0 0 0 0 0 0

7067 -0.61 -146.1 761.2 -9.8 385 7068 0.00 0.00 0.00 0.000 6 0.000 0.000 1623 2881 3420 0 0 0 0 0 0

7373 -0.61 -146.1 790.9 -9.8 395 7377 0.00 2.12 0.00 0.000 4 0.000 0.038 1623 1494 3420 0 0 0 0 0 0

7405 -0.61 -146.1 793.8 -9.5 396 7409 0.15 2.20 0.00 0.000 6 0.179 0.053 1652 2881 3420 0 0 0 0 0 0

7744 -0.61 -146.1 818.9 -7.2 407 7745 0.00 0.00 0.00 0.000 6 0.000 0.000 1652 2881 3420 0 0 0 0 0 0

8049 -0.61 -146.1 840.5 -7.1 417 8051 0.00 0.00 0.00 0.000 6 0.000 0.000 1652 2881 3420 0 0 0 0 0 0

8356 -0.61 -146.1 862.0 -7.0 427 8360 0.00 2.10 0.00 0.000 4 0.000 0.038 1652 1496 3419 0 0 0 0 0 0

8408 -0.61 -146.1 865.8 -7.1 428 8412 0.00 2.22 0.00 0.000 6 0.000 0.055 1645 2890 3419 0 0 0 0 0 0

8724 -0.61 -146.1 887.7 -7.1 438 8725 0.00 0.00 0.00 0.000 6 0.000 0.000 1645 2890 3419 0 0 0 0 0 0

9030 -0.61 -146.1 909.1 -6.8 448 9034 0.00 2.12 0.00 0.000 4 0.000 0.038 1645 1494 3419 0 0 0 0 0 0

9067 -0.61 -146.1 911.9 -7.1 449 9071 0.00 2.20 0.00 0.000 6 0.000 0.054 1635 2885 3419 0 0 0 0 0 0

9414 -0.61 -146.1 937.5 -7.5 460 9415 0.00 0.00 0.00 0.000 6 0.000 0.000 1635 2885 3419 0 0 0 0 0 0

9717 -0.61 -146.1 960.1 -7.2 470 9718 0.00 0.00 0.00 0.000 6 0.000 0.000 1635 2885 3419 0 0 0 0 0 0

10025 -0.61 -146.1 981.2 -6.8 480 10029 0.00 2.12 0.00 0.000 4 0.000 0.038 1635 1497 3418 0 0 0 0 0 0

10057 -0.61 -146.1 983.5 -7.2 481 10061 0.00 2.20 0.00 0.000 6 0.000 0.054 1625 2886 3418 0 0 0 0 0 0

10303 end dive: TARGET_DEPTH_EXCEEDED

state 10303 begin apogee

10314 -0.18 0.0 1002.0 7.3 489 10464 0.52 0.00 146.50 1.248 6 0.155 0.000 1782 2696 2819 0 0 0 0 0 0

10466 end apogee: CONTROL_FINISHED_OK

state 10466 begin climb

10471 0.61 146.1 1003.2 0.0 494 10630 0.80 0.00 150.77 1.799 6 0.084 0.000 2048 2695 2224 0 0 0 0 1 0

10918 0.61 146.1 908.2 24.3 509 10922 0.00 2.25 0.00 0.000 4 0.000 0.045 2059 1308 2219 0 0 0 0 0 0

10964 0.61 146.1 896.6 21.7 510 10968 0.00 2.33 0.00 0.000 6 0.000 0.050 2059 2696 2217 0 0 0 0 0 0

11285 0.61 146.1 818.8 24.0 521 11289 0.00 2.25 0.00 0.000 4 0.000 0.046 2069 1299 2217 0 0 0 0 0 0

11326 0.61 146.1 808.9 23.0 522 11330 0.00 2.30 0.00 0.000 6 0.000 0.051 2069 2701 2215 0 0 0 0 0 0

11652 0.61 146.1 730.7 23.8 533 11653 0.00 0.00 0.00 0.000 6 0.000 0.000 2069 2702 2214 0 0 0 0 0 0

11960 0.61 146.1 659.1 23.2 543 11961 0.00 0.00 0.00 0.000 6 0.000 0.000 2069 2702 2214 0 0 0 0 0 0

12265 0.61 146.1 587.4 23.7 553 12269 0.00 2.20 0.00 0.000 4 0.000 0.045 2080 1300 2213 0 0 0 0 0 0

12322 0.61 146.1 574.2 21.4 554 12331 0.12 2.25 0.00 0.000 6 0.226 0.053 2053 2702 2212 0 0 0 0 0 0

12637 0.61 146.1 506.5 21.3 565 12638 0.00 0.00 0.00 0.000 6 0.000 0.000 2053 2702 2212 0 0 0 0 0 0

12944 0.61 146.1 443.3 20.4 575 12948 0.00 2.17 0.00 0.000 4 0.000 0.044 2062 1309 2212 0 0 0 0 0 0

13008 0.61 146.1 431.0 17.6 577 13012 0.00 2.22 0.00 0.000 6 0.000 0.051 2061 2706 2211 0 0 0 0 0 0

13333 0.61 146.1 364.4 20.4 590 13337 0.00 2.17 0.00 0.000 4 0.000 0.045 2072 1309 2211 0 0 0 0 0 0

13414 0.61 146.1 348.1 20.0 593 13421 0.00 2.22 0.00 0.000 6 0.000 0.053 2072 2705 2210 0 0 0 0 0 0

13734 0.61 146.1 280.6 21.0 609 13735 0.00 0.00 0.00 0.000 6 0.000 0.000 2072 2705 2211 0 0 0 0 0 0

14055 0.61 146.1 213.2 21.0 627 14057 0.00 0.00 0.00 0.000 6 0.000 0.000 2072 2705 2210 0 0 0 0 0 0

14368 0.61 146.1 147.6 20.9 647 14369 0.00 0.00 0.00 0.000 6 0.000 0.000 2072 2705 2210 0 0 0 0 0 0

14690 0.61 146.1 80.2 21.9 677 14695 0.00 2.20 0.00 0.000 4 0.000 0.044 2082 1293 2210 0 0 0 0 0 0

14791 0.61 146.1 59.5 19.6 694 14800 0.10 2.28 0.00 0.000 6 0.201 0.053 2054 2703 2210 0 0 0 0 0 0

15050 0.61 146.1 13.1 19.7 735 15059 0.00 1.90 0.00 0.000 4 0.000 0.060 2054 3891 2210 0 0 0 0 0 0

15097 end climb: SURFACE_DEPTH_REACHED

state 15097 begin surface coast

15105 end surface coast: CONTROL_FINISHED_OK

state 15105 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	174	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	49	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	30	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	-11002.918	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	040113,142006,-4632.886,437.631,26,1.3,26,-23.5	TGT_NAME	GH3
_CALLS	2	TGT_LATLONG	-4630.000,440.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.240,-0.089
_SM_DEPTHo	1.44	KALMAN_X	-137197.7,684.7,353.9,162282.5,-7882.5
_SM_ANGLEo	-54.4	KALMAN_Y	53800.6,580.9,10.3,-20228.4,-2957.4
GPS2	040113,143335,-4632.826,437.622,13,1.9,14,-23.5	MHEAD_RNG_PITCHd_Wd	133.9,6049,-16.5,-9.443
SPEED_LIMITS	0.164,0.256	D_GRID	1000

FINISH	1.3,1.026442	_10V_AH	10.1,15.456
SM_CCo	15128,50.80,0.780,1,0,1796,250.20	FG_AHR_24Vo	0.000
SM_GC	1.44,0.00,0.00,50.80,0.000,0.000,0.780,59,2861,1796,-5.60,-0.54,250.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4613.60,438.80,040113,141438	MEM	353904
TT8_MAMPS	0.026215	DATA_FILE_SIZE	53719,743
HUMID	57.75	CAP_FILE_SIZE	110403,0
INTERNAL_PRESSURE	9.3262	CFSIZE	259252224,218513408
TCM_TEMP	10.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
XPDR_PINGS	0	GPS	040113,184858,-4633.411,439.473,39,0.8,39,-23.5
_24V_AH	21.9,34.225

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	250	75.97	SBE_CT	491	24	258.37
Roll_motor	82	74	133.38	AA4330	1442	33	1042.56
VBD_pump_during_apogee	297	1799	11713.89	WL_BB2FLVMT	746	105	1715.45
VBD_pump_during_surface	50	780	868.10	QSP2150	287	4	27.60
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	62	103	140.60	nil	0	0	0.00
Iridium_during_connect	126	160	442.02	nil	0	0	0.00
Iridium_during_xfer	321	223	1568.41	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	26	4.54
TT8	1848	14	279.28
LPSleep	10710	2	236.91
TT8_Active	468	14	67.17
TT8_Sampling	2325	37	879.12
TT8_CF8	626	47	298.49
TT8_Kalman	33	59	19.93
Analog_circuits	1197	12	145.13
GPS_charging	0	0	0.00
Compass	1745	15	277.26
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
25	end surface: CONTROL_FINISHED_OK
state	25	begin dive
30	-0.61	-146.1	0.0	0.0	0	103	0.00	0.00	-70.95	0.000	2	0.000	0.000	61	2891	3183	0	0	0	0	0	0
110	-0.61	-146.1	3.2	-3.2	9	129	6.57	1.65	-5.90	0.000	4	0.251	0.074	1640	3896	3418	0	0	0	0	0	0
403	-0.61	-146.1	50.2	-12.8	56	412	0.00	1.58	0.00	0.000	6	0.000	0.032	1640	2859	3420	0	0	0	0	0	0
649	-0.61	-146.1	80.0	-11.9	97	654	0.00	1.65	0.00	0.000	4	0.000	0.058	1632	3892	3420	0	0	0	0	0	0
756	-0.61	-146.1	93.3	-12.1	115	761	0.00	1.52	0.00	0.000	6	0.000	0.031	1632	2877	3421	0	0	0	0	0	0
1096	-0.61	-146.1	137.5	-13.1	142	1097	0.00	0.00	0.00	0.000	6	0.000	0.000	1632	2876	3422	0	0	0	0	0	0
1405	-0.61	-146.1	175.4	-11.9	162	1408	0.00	2.08	0.00	0.000	4	0.000	0.036	1632	1507	3422	0	0	0	0	0	0
1428	-0.61	-146.1	178.6	-12.4	163	1432	0.00	2.17	0.00	0.000	6	0.000	0.050	1622	2880	3423	0	0	0	0	0	0
1752	-0.61	-146.1	218.0	-11.8	183	1753	0.00	0.00	0.00	0.000	6	0.000	0.000	1622	2880	3423	0	0	0	0	0	0
2074	-0.61	-146.1	255.4	-11.6	203	2076	0.00	0.00	0.00	0.000	6	0.000	0.000	1622	2880	3423	0	0	0	0	0	0
2381	-0.61	-146.1	292.1	-12.1	218	2382	0.00	0.00	0.00	0.000	6	0.000	0.000	1622	2880	3423	0	0	0	0	0	0
2693	-0.61	-146.1	329.3	-11.9	233	2697	0.00	1.62	0.00	0.000	4	0.000	0.060	1614	3892	3423	0	0	0	0	0	0
2724	-0.61	-146.1	333.6	-13.2	234	2728	0.10	1.50	0.00	0.000	6	0.162	0.033	1645	2894	3423	0	0	0	0	0	0
3053	-0.61	-146.1	367.4	-10.0	250	3057	0.00	2.12	0.00	0.000	4	0.000	0.038	1646	1491	3423	0	0	0	0	0	0
3101	-0.61	-146.1	371.8	-8.2	252	3105	0.00	2.20	0.00	0.000	6	0.000	0.052	1636	2884	3423	0	0	0	0	0	0
3419	-0.61	-146.1	404.2	-10.3	267	3421	0.00	0.00	0.00	0.000	6	0.000	0.000	1636	2884	3423	0	0	0	0	0	0
3727	-0.61	-146.1	437.0	-10.7	277	3728	0.00	0.00	0.00	0.000	6	0.000	0.000	1636	2884	3423	0	0	0	0	0	0
4032	-0.61	-146.1	469.9	-10.8	287	4036	0.00	2.12	0.00	0.000	4	0.000	0.037	1636	1498	3423	0	0	0	0	0	0
4067	-0.61	-146.1	473.8	-10.3	288	4071	0.00	2.20	0.00	0.000	6	0.000	0.052	1626	2884	3423	0	0	0	0	0	0
4399	-0.61	-146.1	510.5	-11.1	299	4402	0.00	1.60	0.00	0.000	4	0.000	0.060	1618	3896	3422	0	0	0	0	0	0
4439	-0.61	-146.1	515.4	-11.5	300	4443	0.08	1.52	0.00	0.000	6	0.161	0.033	1642	2881	3423	0	0	0	0	0	0
4777	-0.61	-146.1	545.8	-8.7	311	4781	0.00	2.08	0.00	0.000	4	0.000	0.037	1643	1495	3423	0	0	0	0	0	0
4816	-0.61	-146.1	548.9	-8.3	312	4820	0.00	2.20	0.00	0.000	6	0.000	0.053	1633	2889	3422	0	0	0	0	0	0
5161	-0.61	-146.1	580.8	-9.3	323	5162	0.00	0.00	0.00	0.000	6	0.000	0.000	1633	2890	3422	0	0	0	0	0	0
5466	-0.61	-146.1	609.5	-9.1	333	5467	0.00	0.00	0.00	0.000	6	0.000	0.000	1633	2890	3422	0	0	0	0	0	0
5773	-0.61	-146.1	636.7	-8.8	343	5777	0.00	2.15	0.00	0.000	4	0.000	0.038	1633	1490	3422	0	0	0	0	0	0
5805	-0.61	-146.1	639.6	-9.0	344	5809	0.00	2.20	0.00	0.000	6	0.000	0.053	1623	2880	3422	0	0	0	0	0	0
6150	-0.61	-146.1	672.0	-9.5	355	6151	0.00	0.00	0.00	0.000	6	0.000	0.000	1623	2881	3421	0	0	0	0	0	0
6454	-0.61	-146.1	700.9	-9.6	365	6456	0.00	0.00	0.00	0.000	6	0.000	0.000	1623	2881	3421	0	0	0	0	0	0
6761	-0.61	-146.1	730.8	-9.9	375	6762	0.00	0.00	0.00	0.000	6	0.000	0.000	1623	2881	3420	0	0	0	0	0	0
7067	-0.61	-146.1	761.2	-9.8	385	7068	0.00	0.00	0.00	0.000	6	0.000	0.000	1623	2881	3420	0	0	0	0	0	0
7373	-0.61	-146.1	790.9	-9.8	395	7377	0.00	2.12	0.00	0.000	4	0.000	0.038	1623	1494	3420	0	0	0	0	0	0
7405	-0.61	-146.1	793.8	-9.5	396	7409	0.15	2.20	0.00	0.000	6	0.179	0.053	1652	2881	3420	0	0	0	0	0	0
7744	-0.61	-146.1	818.9	-7.2	407	7745	0.00	0.00	0.00	0.000	6	0.000	0.000	1652	2881	3420	0	0	0	0	0	0
8049	-0.61	-146.1	840.5	-7.1	417	8051	0.00	0.00	0.00	0.000	6	0.000	0.000	1652	2881	3420	0	0	0	0	0	0
8356	-0.61	-146.1	862.0	-7.0	427	8360	0.00	2.10	0.00	0.000	4	0.000	0.038	1652	1496	3419	0	0	0	0	0	0
8408	-0.61	-146.1	865.8	-7.1	428	8412	0.00	2.22	0.00	0.000	6	0.000	0.055	1645	2890	3419	0	0	0	0	0	0
8724	-0.61	-146.1	887.7	-7.1	438	8725	0.00	0.00	0.00	0.000	6	0.000	0.000	1645	2890	3419	0	0	0	0	0	0
9030	-0.61	-146.1	909.1	-6.8	448	9034	0.00	2.12	0.00	0.000	4	0.000	0.038	1645	1494	3419	0	0	0	0	0	0
9067	-0.61	-146.1	911.9	-7.1	449	9071	0.00	2.20	0.00	0.000	6	0.000	0.054	1635	2885	3419	0	0	0	0	0	0
9414	-0.61	-146.1	937.5	-7.5	460	9415	0.00	0.00	0.00	0.000	6	0.000	0.000	1635	2885	3419	0	0	0	0	0	0
9717	-0.61	-146.1	960.1	-7.2	470	9718	0.00	0.00	0.00	0.000	6	0.000	0.000	1635	2885	3419	0	0	0	0	0	0
10025	-0.61	-146.1	981.2	-6.8	480	10029	0.00	2.12	0.00	0.000	4	0.000	0.038	1635	1497	3418	0	0	0	0	0	0
10057	-0.61	-146.1	983.5	-7.2	481	10061	0.00	2.20	0.00	0.000	6	0.000	0.054	1625	2886	3418	0	0	0	0	0	0
10303	end dive: TARGET_DEPTH_EXCEEDED
state	10303	begin apogee
10314	-0.18	0.0	1002.0	7.3	489	10464	0.52	0.00	146.50	1.248	6	0.155	0.000	1782	2696	2819	0	0	0	0	0	0
10466	end apogee: CONTROL_FINISHED_OK
state	10466	begin climb
10471	0.61	146.1	1003.2	0.0	494	10630	0.80	0.00	150.77	1.799	6	0.084	0.000	2048	2695	2224	0	0	0	0	1	0
10918	0.61	146.1	908.2	24.3	509	10922	0.00	2.25	0.00	0.000	4	0.000	0.045	2059	1308	2219	0	0	0	0	0	0
10964	0.61	146.1	896.6	21.7	510	10968	0.00	2.33	0.00	0.000	6	0.000	0.050	2059	2696	2217	0	0	0	0	0	0
11285	0.61	146.1	818.8	24.0	521	11289	0.00	2.25	0.00	0.000	4	0.000	0.046	2069	1299	2217	0	0	0	0	0	0
11326	0.61	146.1	808.9	23.0	522	11330	0.00	2.30	0.00	0.000	6	0.000	0.051	2069	2701	2215	0	0	0	0	0	0
11652	0.61	146.1	730.7	23.8	533	11653	0.00	0.00	0.00	0.000	6	0.000	0.000	2069	2702	2214	0	0	0	0	0	0
11960	0.61	146.1	659.1	23.2	543	11961	0.00	0.00	0.00	0.000	6	0.000	0.000	2069	2702	2214	0	0	0	0	0	0
12265	0.61	146.1	587.4	23.7	553	12269	0.00	2.20	0.00	0.000	4	0.000	0.045	2080	1300	2213	0	0	0	0	0	0
12322	0.61	146.1	574.2	21.4	554	12331	0.12	2.25	0.00	0.000	6	0.226	0.053	2053	2702	2212	0	0	0	0	0	0
12637	0.61	146.1	506.5	21.3	565	12638	0.00	0.00	0.00	0.000	6	0.000	0.000	2053	2702	2212	0	0	0	0	0	0
12944	0.61	146.1	443.3	20.4	575	12948	0.00	2.17	0.00	0.000	4	0.000	0.044	2062	1309	2212	0	0	0	0	0	0
13008	0.61	146.1	431.0	17.6	577	13012	0.00	2.22	0.00	0.000	6	0.000	0.051	2061	2706	2211	0	0	0	0	0	0
13333	0.61	146.1	364.4	20.4	590	13337	0.00	2.17	0.00	0.000	4	0.000	0.045	2072	1309	2211	0	0	0	0	0	0
13414	0.61	146.1	348.1	20.0	593	13421	0.00	2.22	0.00	0.000	6	0.000	0.053	2072	2705	2210	0	0	0	0	0	0
13734	0.61	146.1	280.6	21.0	609	13735	0.00	0.00	0.00	0.000	6	0.000	0.000	2072	2705	2211	0	0	0	0	0	0
14055	0.61	146.1	213.2	21.0	627	14057	0.00	0.00	0.00	0.000	6	0.000	0.000	2072	2705	2210	0	0	0	0	0	0
14368	0.61	146.1	147.6	20.9	647	14369	0.00	0.00	0.00	0.000	6	0.000	0.000	2072	2705	2210	0	0	0	0	0	0
14690	0.61	146.1	80.2	21.9	677	14695	0.00	2.20	0.00	0.000	4	0.000	0.044	2082	1293	2210	0	0	0	0	0	0
14791	0.61	146.1	59.5	19.6	694	14800	0.10	2.28	0.00	0.000	6	0.201	0.053	2054	2703	2210	0	0	0	0	0	0
15050	0.61	146.1	13.1	19.7	735	15059	0.00	1.90	0.00	0.000	4	0.000	0.060	2054	3891	2210	0	0	0	0	0	0
15097	end climb: SURFACE_DEPTH_REACHED
state	15097	begin surface coast
15105	end surface coast: CONTROL_FINISHED_OK
state	15105	begin surface