Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 182 * 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 182 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 47 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 32 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 -11037.149 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 -11037.149

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 47 VBD_MAX 3961

DEVICE2 101 MASS 52816 R_STBD_OVSHOOT 32 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 182 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 060113,021228,-4639.632,435.546,38,0.9,38,-23.5 TGT_NAME GH4

_CALLS 1 TGT_LATLONG -4700.000,440.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,-0.243

_SM_DEPTHo 1.41 KALMAN_X -160152.0,753.2,758.7,182136.1,-7433.2

_SM_ANGLEo -51.7 KALMAN_Y 55980.0,-352.9,-9.1,-34082.3,1764.1

GPS2 060113,022206,-4639.644,435.557,15,1.3,16,-23.5 MHEAD_RNG_PITCHd_Wd 185.1,38116,-16.5,-9.443

SPEED_LIMITS 0.164,0.256 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.7,1.026394 _10V_AH 10.1,16.281

SM_CCo 15426,50.42,0.779,1,0,1797,250.20 FG_AHR_24Vo 0.000

SM_GC 1.61,0.00,0.00,50.42,0.000,0.000,0.779,64,2892,1797,-5.58,0.34,250.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4619.84,439.31,050113,212126 MEM 353940

TT8_MAMPS 0.026215 DATA_FILE_SIZE 53694,764

HUMID 57.71 CAP_FILE_SIZE 110384,0

INTERNAL_PRESSURE 9.33597 CFSIZE 259252224,218013696

TCM_TEMP 10.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,1

XPDR_PINGS 0 GPS 060113,064258,-4642.029,435.718,66,0.8,66,-23.5

_24V_AH 22.0,35.523

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 253 76.69 SBE_CT 504 24 266.24

Roll_motor 73 76 123.87 AA4330 1496 33 1086.29

VBD_pump_during_apogee 296 1789 11662.97 WL_BB2FLVMT 782 105 1807.48

VBD_pump_during_surface 50 778 863.93 QSP2150 302 4 29.16

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 64.61 nil 0 0 0.00

Iridium_during_connect 19 160 67.97 nil 0 0 0.00

Iridium_during_xfer 304 223 1492.57 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 6.08

TT8 1889 14 285.56

LPSleep 10866 2 240.36

TT8_Active 460 14 66.11

TT8_Sampling 2221 37 839.99

TT8_CF8 611 47 291.53

TT8_Kalman 33 59 19.93

Analog_circuits 1194 12 144.77

GPS_charging 0 0 0.00

Compass 1787 15 283.95

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 -71.05 0.000 2 0.000 0.000 58 2892 3155 0 0 0 0 0 0

106 -0.61 -146.1 3.1 -2.0 9 125 6.65 1.65 -6.85 0.000 4 0.254 0.076 1638 3891 3418 0 0 0 0 0 0

304 -0.61 -146.1 32.2 -12.3 39 310 0.00 1.58 0.00 0.000 6 0.000 0.031 1638 2850 3420 0 0 0 0 0 0

550 -0.61 -146.1 66.4 -13.8 80 556 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2850 3421 0 0 0 0 0 0

911 -0.61 -146.1 109.8 -12.2 133 912 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2849 3421 0 0 0 0 0 0

1221 -0.61 -146.1 144.3 -11.3 153 1225 0.00 1.65 0.00 0.000 4 0.000 0.060 1630 3901 3421 0 0 0 0 0 0

1269 -0.61 -146.1 150.2 -10.8 155 1276 0.00 1.52 0.00 0.000 6 0.000 0.032 1630 2887 3422 0 0 0 0 0 0

1592 -0.61 -146.1 188.0 -11.4 176 1593 0.00 0.00 0.00 0.000 6 0.000 0.000 1630 2887 3422 0 0 0 0 0 0

1904 -0.61 -146.1 224.5 -12.0 196 1905 0.00 0.00 0.00 0.000 6 0.000 0.000 1630 2887 3422 0 0 0 0 0 0

2227 -0.61 -146.1 263.0 -11.9 215 2228 0.00 0.00 0.00 0.000 6 0.000 0.000 1630 2887 3423 0 0 0 0 0 0

2534 -0.61 -146.1 298.2 -11.2 230 2537 0.00 1.62 0.00 0.000 4 0.000 0.060 1622 3922 3422 0 0 0 0 0 0

2591 -0.61 -146.1 305.1 -11.2 232 2595 0.00 1.58 0.00 0.000 6 0.000 0.032 1622 2876 3423 0 0 0 0 0 0

2915 -0.61 -146.1 340.7 -10.9 248 2916 0.00 0.00 0.00 0.000 6 0.000 0.000 1622 2872 3423 0 0 0 0 0 0

3226 -0.61 -146.1 376.1 -11.5 263 3228 0.00 0.00 0.00 0.000 6 0.000 0.000 1622 2873 3423 0 0 0 0 0 0

3543 -0.61 -146.1 412.7 -11.5 277 3546 0.00 1.65 0.00 0.000 4 0.000 0.061 1614 3911 3423 0 0 0 0 0 0

3583 -0.61 -146.1 418.0 -12.8 278 3587 0.08 1.55 0.00 0.000 6 0.168 0.033 1652 2886 3423 0 0 0 0 0 0

3921 -0.61 -146.1 448.5 -8.6 289 3922 0.00 0.00 0.00 0.000 6 0.000 0.000 1652 2883 3423 0 0 0 0 0 0

4228 -0.61 -146.1 473.8 -8.0 299 4231 0.00 2.08 0.00 0.000 4 0.000 0.037 1653 1497 3423 0 0 0 0 0 0

4263 -0.61 -146.1 476.9 -7.5 300 4267 0.00 2.17 0.00 0.000 6 0.000 0.053 1643 2879 3423 0 0 0 0 0 0

4595 -0.61 -146.1 504.8 -8.3 311 4596 0.00 0.00 0.00 0.000 6 0.000 0.000 1644 2880 3423 0 0 0 0 0 0

4902 -0.61 -146.1 529.9 -8.3 321 4903 0.00 0.00 0.00 0.000 6 0.000 0.000 1643 2880 3422 0 0 0 0 0 0

5208 -0.61 -146.1 556.7 -8.9 331 5209 0.00 0.00 0.00 0.000 6 0.000 0.000 1643 2880 3422 0 0 0 0 0 0

5514 -0.61 -146.1 584.1 -9.1 341 5515 0.00 0.00 0.00 0.000 6 0.000 0.000 1643 2880 3421 0 0 0 0 0 0

5820 -0.61 -146.1 613.3 -9.8 351 5824 0.00 2.10 0.00 0.000 4 0.000 0.037 1643 1496 3421 0 0 0 0 0 0

5866 -0.61 -146.1 617.8 -9.0 352 5870 0.00 2.20 0.00 0.000 6 0.000 0.054 1633 2889 3422 0 0 0 0 0 0

6187 -0.61 -146.1 651.7 -10.7 363 6190 0.00 1.60 0.00 0.000 4 0.000 0.062 1625 3897 3422 0 0 0 0 0 0

6223 -0.61 -146.1 655.9 -12.0 364 6227 0.00 1.52 0.00 0.000 6 0.000 0.034 1625 2884 3422 0 0 0 0 0 0

6566 -0.61 -146.1 694.9 -11.3 375 6570 0.00 2.12 0.00 0.000 4 0.000 0.038 1625 1486 3421 0 0 0 0 0 0

6597 -0.61 -146.1 698.5 -11.3 376 6602 0.12 2.22 0.00 0.000 6 0.186 0.054 1646 2885 3421 0 0 0 0 0 0

6936 -0.61 -146.1 730.6 -9.1 387 6937 0.00 0.00 0.00 0.000 6 0.000 0.000 1646 2885 3421 0 0 0 0 0 0

7244 -0.61 -146.1 756.5 -8.4 397 7245 0.00 0.00 0.00 0.000 6 0.000 0.000 1646 2886 3421 0 0 0 0 0 0

7548 -0.61 -146.1 780.0 -7.4 407 7549 0.00 0.00 0.00 0.000 6 0.000 0.000 1646 2885 3421 0 0 0 0 0 0

7855 -0.61 -146.1 801.5 -6.8 417 7859 0.00 2.12 0.00 0.000 4 0.000 0.038 1646 1490 3420 0 0 0 0 0 0

7901 -0.61 -146.1 804.7 -6.8 418 7905 0.00 2.22 0.00 0.000 6 0.000 0.054 1637 2884 3420 0 0 0 0 0 0

8222 -0.61 -146.1 828.2 -7.5 429 8224 0.00 0.00 0.00 0.000 6 0.000 0.000 1637 2885 3420 0 0 0 0 0 0

8529 -0.61 -146.1 851.2 -7.5 439 8533 0.00 2.12 0.00 0.000 4 0.000 0.037 1637 1490 3420 0 0 0 0 0 0

8575 -0.61 -146.1 854.8 -7.7 440 8580 0.00 2.20 0.00 0.000 6 0.000 0.054 1626 2882 3419 0 0 0 0 0 0

8908 -0.61 -146.1 882.1 -8.5 451 8909 0.00 0.00 0.00 0.000 6 0.000 0.000 1626 2883 3419 0 0 0 0 0 0

9214 -0.61 -146.1 907.7 -8.4 461 9218 0.00 2.10 0.00 0.000 4 0.000 0.037 1625 1495 3419 0 0 0 0 0 0

9246 -0.61 -146.1 910.4 -8.8 462 9250 0.12 2.20 0.00 0.000 6 0.183 0.054 1648 2890 3419 0 0 0 0 0 0

9584 -0.61 -146.1 933.5 -6.6 473 9585 0.00 0.00 0.00 0.000 6 0.000 0.000 1647 2890 3419 0 0 0 0 0 0

9892 -0.61 -146.1 954.6 -7.0 483 9896 0.00 2.12 0.00 0.000 4 0.000 0.037 1648 1491 3419 0 0 0 0 0 0

9944 -0.61 -146.1 958.5 -6.8 484 9948 0.00 2.22 0.00 0.000 6 0.000 0.055 1638 2884 3419 0 0 0 0 0 0

10260 -0.61 -146.1 982.8 -7.9 494 10261 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2884 3419 0 0 0 0 0 0

10469 end dive: TARGET_DEPTH_EXCEEDED

state 10469 begin apogee

10480 -0.18 0.0 1000.2 8.0 501 10630 0.50 0.00 145.90 1.234 6 0.157 0.000 1788 2696 2819 0 0 0 0 0 0

10631 end apogee: CONTROL_FINISHED_OK

state 10631 begin climb

10636 0.61 146.1 1004.0 0.0 506 10795 0.75 0.00 150.38 1.789 6 0.063 0.000 2054 2696 2224 0 0 0 0 1 0

11081 0.61 146.1 914.3 23.3 521 11085 0.00 2.28 0.00 0.000 4 0.000 0.045 2064 1307 2219 0 0 0 0 0 0

11133 0.61 146.1 902.5 20.5 522 11137 0.00 2.30 0.00 0.000 6 0.000 0.050 2065 2695 2217 0 0 0 0 0 0

11448 0.61 146.1 829.6 23.1 532 11452 0.00 2.25 0.00 0.000 4 0.000 0.044 2075 1304 2216 0 0 0 0 0 0

11495 0.61 146.1 818.8 21.4 533 11499 0.00 2.30 0.00 0.000 6 0.000 0.052 2075 2707 2214 0 0 0 0 0 0

11816 0.61 146.1 742.0 24.5 544 11817 0.00 0.00 0.00 0.000 6 0.000 0.000 2075 2707 2214 0 0 0 0 0 0

12122 0.61 146.1 668.4 23.4 554 12126 0.00 2.22 0.00 0.000 4 0.000 0.044 2085 1302 2214 0 0 0 0 0 0

12160 0.61 146.1 659.8 22.4 555 12165 0.15 2.25 0.00 0.000 6 0.226 0.052 2052 2700 2213 0 0 0 0 0 0

12504 0.61 146.1 583.1 22.5 566 12505 0.00 0.00 0.00 0.000 6 0.000 0.000 2052 2701 2213 0 0 0 0 0 0

12810 0.61 146.1 516.9 21.3 576 12811 0.00 0.00 0.00 0.000 6 0.000 0.000 2052 2701 2212 0 0 0 0 0 0

13118 0.61 146.1 452.5 21.0 586 13120 0.00 0.00 0.00 0.000 6 0.000 0.000 2052 2701 2212 0 0 0 0 0 0

13436 0.61 146.1 388.3 20.2 597 13437 0.00 0.00 0.00 0.000 6 0.000 0.000 2052 2701 2212 0 0 0 0 0 0

13743 0.61 146.1 324.9 20.4 612 13744 0.00 0.00 0.00 0.000 6 0.000 0.000 2052 2701 2211 0 0 0 0 0 0

14055 0.61 146.1 262.3 19.9 627 14059 0.00 2.17 0.00 0.000 4 0.000 0.044 2061 1297 2210 0 0 0 0 0 0

14099 0.61 146.1 253.5 18.3 629 14103 0.00 2.22 0.00 0.000 6 0.000 0.052 2061 2702 2210 0 0 0 0 0 0

14435 0.61 146.1 186.5 20.2 650 14436 0.00 0.00 0.00 0.000 6 0.000 0.000 2061 2702 2210 0 0 0 0 0 0

14744 0.61 146.1 125.3 20.3 670 14748 0.00 2.17 0.00 0.000 4 0.000 0.043 2072 1303 2210 0 0 0 0 0 0

14785 0.61 146.1 116.5 19.6 672 14789 0.00 2.25 0.00 0.000 6 0.000 0.052 2072 2710 2209 0 0 0 0 0 0

15131 0.61 146.1 50.4 18.7 722 15140 0.00 2.22 0.00 0.000 4 0.000 0.043 2082 1304 2210 0 0 0 0 0 0

15234 0.61 146.1 31.1 16.4 738 15244 0.10 2.25 0.00 0.000 6 0.210 0.050 2055 2705 2209 0 0 0 0 0 0

15390 end climb: SURFACE_DEPTH_REACHED

state 15390 begin surface coast

15404 end surface coast: CONTROL_FINISHED_OK

state 15404 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	182	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	47	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	32	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	-11037.149	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	060113,021228,-4639.632,435.546,38,0.9,38,-23.5	TGT_NAME	GH4
_CALLS	1	TGT_LATLONG	-4700.000,440.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,-0.243
_SM_DEPTHo	1.41	KALMAN_X	-160152.0,753.2,758.7,182136.1,-7433.2
_SM_ANGLEo	-51.7	KALMAN_Y	55980.0,-352.9,-9.1,-34082.3,1764.1
GPS2	060113,022206,-4639.644,435.557,15,1.3,16,-23.5	MHEAD_RNG_PITCHd_Wd	185.1,38116,-16.5,-9.443
SPEED_LIMITS	0.164,0.256	D_GRID	1000

FINISH	0.7,1.026394	_10V_AH	10.1,16.281
SM_CCo	15426,50.42,0.779,1,0,1797,250.20	FG_AHR_24Vo	0.000
SM_GC	1.61,0.00,0.00,50.42,0.000,0.000,0.779,64,2892,1797,-5.58,0.34,250.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4619.84,439.31,050113,212126	MEM	353940
TT8_MAMPS	0.026215	DATA_FILE_SIZE	53694,764
HUMID	57.71	CAP_FILE_SIZE	110384,0
INTERNAL_PRESSURE	9.33597	CFSIZE	259252224,218013696
TCM_TEMP	10.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
XPDR_PINGS	0	GPS	060113,064258,-4642.029,435.718,66,0.8,66,-23.5
_24V_AH	22.0,35.523

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	253	76.69	SBE_CT	504	24	266.24
Roll_motor	73	76	123.87	AA4330	1496	33	1086.29
VBD_pump_during_apogee	296	1789	11662.97	WL_BB2FLVMT	782	105	1807.48
VBD_pump_during_surface	50	778	863.93	QSP2150	302	4	29.16
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	64.61	nil	0	0	0.00
Iridium_during_connect	19	160	67.97	nil	0	0	0.00
Iridium_during_xfer	304	223	1492.57	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	6.08
TT8	1889	14	285.56
LPSleep	10866	2	240.36
TT8_Active	460	14	66.11
TT8_Sampling	2221	37	839.99
TT8_CF8	611	47	291.53
TT8_Kalman	33	59	19.93
Analog_circuits	1194	12	144.77
GPS_charging	0	0	0.00
Compass	1787	15	283.95
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	-71.05	0.000	2	0.000	0.000	58	2892	3155	0	0	0	0	0	0
106	-0.61	-146.1	3.1	-2.0	9	125	6.65	1.65	-6.85	0.000	4	0.254	0.076	1638	3891	3418	0	0	0	0	0	0
304	-0.61	-146.1	32.2	-12.3	39	310	0.00	1.58	0.00	0.000	6	0.000	0.031	1638	2850	3420	0	0	0	0	0	0
550	-0.61	-146.1	66.4	-13.8	80	556	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2850	3421	0	0	0	0	0	0
911	-0.61	-146.1	109.8	-12.2	133	912	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2849	3421	0	0	0	0	0	0
1221	-0.61	-146.1	144.3	-11.3	153	1225	0.00	1.65	0.00	0.000	4	0.000	0.060	1630	3901	3421	0	0	0	0	0	0
1269	-0.61	-146.1	150.2	-10.8	155	1276	0.00	1.52	0.00	0.000	6	0.000	0.032	1630	2887	3422	0	0	0	0	0	0
1592	-0.61	-146.1	188.0	-11.4	176	1593	0.00	0.00	0.00	0.000	6	0.000	0.000	1630	2887	3422	0	0	0	0	0	0
1904	-0.61	-146.1	224.5	-12.0	196	1905	0.00	0.00	0.00	0.000	6	0.000	0.000	1630	2887	3422	0	0	0	0	0	0
2227	-0.61	-146.1	263.0	-11.9	215	2228	0.00	0.00	0.00	0.000	6	0.000	0.000	1630	2887	3423	0	0	0	0	0	0
2534	-0.61	-146.1	298.2	-11.2	230	2537	0.00	1.62	0.00	0.000	4	0.000	0.060	1622	3922	3422	0	0	0	0	0	0
2591	-0.61	-146.1	305.1	-11.2	232	2595	0.00	1.58	0.00	0.000	6	0.000	0.032	1622	2876	3423	0	0	0	0	0	0
2915	-0.61	-146.1	340.7	-10.9	248	2916	0.00	0.00	0.00	0.000	6	0.000	0.000	1622	2872	3423	0	0	0	0	0	0
3226	-0.61	-146.1	376.1	-11.5	263	3228	0.00	0.00	0.00	0.000	6	0.000	0.000	1622	2873	3423	0	0	0	0	0	0
3543	-0.61	-146.1	412.7	-11.5	277	3546	0.00	1.65	0.00	0.000	4	0.000	0.061	1614	3911	3423	0	0	0	0	0	0
3583	-0.61	-146.1	418.0	-12.8	278	3587	0.08	1.55	0.00	0.000	6	0.168	0.033	1652	2886	3423	0	0	0	0	0	0
3921	-0.61	-146.1	448.5	-8.6	289	3922	0.00	0.00	0.00	0.000	6	0.000	0.000	1652	2883	3423	0	0	0	0	0	0
4228	-0.61	-146.1	473.8	-8.0	299	4231	0.00	2.08	0.00	0.000	4	0.000	0.037	1653	1497	3423	0	0	0	0	0	0
4263	-0.61	-146.1	476.9	-7.5	300	4267	0.00	2.17	0.00	0.000	6	0.000	0.053	1643	2879	3423	0	0	0	0	0	0
4595	-0.61	-146.1	504.8	-8.3	311	4596	0.00	0.00	0.00	0.000	6	0.000	0.000	1644	2880	3423	0	0	0	0	0	0
4902	-0.61	-146.1	529.9	-8.3	321	4903	0.00	0.00	0.00	0.000	6	0.000	0.000	1643	2880	3422	0	0	0	0	0	0
5208	-0.61	-146.1	556.7	-8.9	331	5209	0.00	0.00	0.00	0.000	6	0.000	0.000	1643	2880	3422	0	0	0	0	0	0
5514	-0.61	-146.1	584.1	-9.1	341	5515	0.00	0.00	0.00	0.000	6	0.000	0.000	1643	2880	3421	0	0	0	0	0	0
5820	-0.61	-146.1	613.3	-9.8	351	5824	0.00	2.10	0.00	0.000	4	0.000	0.037	1643	1496	3421	0	0	0	0	0	0
5866	-0.61	-146.1	617.8	-9.0	352	5870	0.00	2.20	0.00	0.000	6	0.000	0.054	1633	2889	3422	0	0	0	0	0	0
6187	-0.61	-146.1	651.7	-10.7	363	6190	0.00	1.60	0.00	0.000	4	0.000	0.062	1625	3897	3422	0	0	0	0	0	0
6223	-0.61	-146.1	655.9	-12.0	364	6227	0.00	1.52	0.00	0.000	6	0.000	0.034	1625	2884	3422	0	0	0	0	0	0
6566	-0.61	-146.1	694.9	-11.3	375	6570	0.00	2.12	0.00	0.000	4	0.000	0.038	1625	1486	3421	0	0	0	0	0	0
6597	-0.61	-146.1	698.5	-11.3	376	6602	0.12	2.22	0.00	0.000	6	0.186	0.054	1646	2885	3421	0	0	0	0	0	0
6936	-0.61	-146.1	730.6	-9.1	387	6937	0.00	0.00	0.00	0.000	6	0.000	0.000	1646	2885	3421	0	0	0	0	0	0
7244	-0.61	-146.1	756.5	-8.4	397	7245	0.00	0.00	0.00	0.000	6	0.000	0.000	1646	2886	3421	0	0	0	0	0	0
7548	-0.61	-146.1	780.0	-7.4	407	7549	0.00	0.00	0.00	0.000	6	0.000	0.000	1646	2885	3421	0	0	0	0	0	0
7855	-0.61	-146.1	801.5	-6.8	417	7859	0.00	2.12	0.00	0.000	4	0.000	0.038	1646	1490	3420	0	0	0	0	0	0
7901	-0.61	-146.1	804.7	-6.8	418	7905	0.00	2.22	0.00	0.000	6	0.000	0.054	1637	2884	3420	0	0	0	0	0	0
8222	-0.61	-146.1	828.2	-7.5	429	8224	0.00	0.00	0.00	0.000	6	0.000	0.000	1637	2885	3420	0	0	0	0	0	0
8529	-0.61	-146.1	851.2	-7.5	439	8533	0.00	2.12	0.00	0.000	4	0.000	0.037	1637	1490	3420	0	0	0	0	0	0
8575	-0.61	-146.1	854.8	-7.7	440	8580	0.00	2.20	0.00	0.000	6	0.000	0.054	1626	2882	3419	0	0	0	0	0	0
8908	-0.61	-146.1	882.1	-8.5	451	8909	0.00	0.00	0.00	0.000	6	0.000	0.000	1626	2883	3419	0	0	0	0	0	0
9214	-0.61	-146.1	907.7	-8.4	461	9218	0.00	2.10	0.00	0.000	4	0.000	0.037	1625	1495	3419	0	0	0	0	0	0
9246	-0.61	-146.1	910.4	-8.8	462	9250	0.12	2.20	0.00	0.000	6	0.183	0.054	1648	2890	3419	0	0	0	0	0	0
9584	-0.61	-146.1	933.5	-6.6	473	9585	0.00	0.00	0.00	0.000	6	0.000	0.000	1647	2890	3419	0	0	0	0	0	0
9892	-0.61	-146.1	954.6	-7.0	483	9896	0.00	2.12	0.00	0.000	4	0.000	0.037	1648	1491	3419	0	0	0	0	0	0
9944	-0.61	-146.1	958.5	-6.8	484	9948	0.00	2.22	0.00	0.000	6	0.000	0.055	1638	2884	3419	0	0	0	0	0	0
10260	-0.61	-146.1	982.8	-7.9	494	10261	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2884	3419	0	0	0	0	0	0
10469	end dive: TARGET_DEPTH_EXCEEDED
state	10469	begin apogee
10480	-0.18	0.0	1000.2	8.0	501	10630	0.50	0.00	145.90	1.234	6	0.157	0.000	1788	2696	2819	0	0	0	0	0	0
10631	end apogee: CONTROL_FINISHED_OK
state	10631	begin climb
10636	0.61	146.1	1004.0	0.0	506	10795	0.75	0.00	150.38	1.789	6	0.063	0.000	2054	2696	2224	0	0	0	0	1	0
11081	0.61	146.1	914.3	23.3	521	11085	0.00	2.28	0.00	0.000	4	0.000	0.045	2064	1307	2219	0	0	0	0	0	0
11133	0.61	146.1	902.5	20.5	522	11137	0.00	2.30	0.00	0.000	6	0.000	0.050	2065	2695	2217	0	0	0	0	0	0
11448	0.61	146.1	829.6	23.1	532	11452	0.00	2.25	0.00	0.000	4	0.000	0.044	2075	1304	2216	0	0	0	0	0	0
11495	0.61	146.1	818.8	21.4	533	11499	0.00	2.30	0.00	0.000	6	0.000	0.052	2075	2707	2214	0	0	0	0	0	0
11816	0.61	146.1	742.0	24.5	544	11817	0.00	0.00	0.00	0.000	6	0.000	0.000	2075	2707	2214	0	0	0	0	0	0
12122	0.61	146.1	668.4	23.4	554	12126	0.00	2.22	0.00	0.000	4	0.000	0.044	2085	1302	2214	0	0	0	0	0	0
12160	0.61	146.1	659.8	22.4	555	12165	0.15	2.25	0.00	0.000	6	0.226	0.052	2052	2700	2213	0	0	0	0	0	0
12504	0.61	146.1	583.1	22.5	566	12505	0.00	0.00	0.00	0.000	6	0.000	0.000	2052	2701	2213	0	0	0	0	0	0
12810	0.61	146.1	516.9	21.3	576	12811	0.00	0.00	0.00	0.000	6	0.000	0.000	2052	2701	2212	0	0	0	0	0	0
13118	0.61	146.1	452.5	21.0	586	13120	0.00	0.00	0.00	0.000	6	0.000	0.000	2052	2701	2212	0	0	0	0	0	0
13436	0.61	146.1	388.3	20.2	597	13437	0.00	0.00	0.00	0.000	6	0.000	0.000	2052	2701	2212	0	0	0	0	0	0
13743	0.61	146.1	324.9	20.4	612	13744	0.00	0.00	0.00	0.000	6	0.000	0.000	2052	2701	2211	0	0	0	0	0	0
14055	0.61	146.1	262.3	19.9	627	14059	0.00	2.17	0.00	0.000	4	0.000	0.044	2061	1297	2210	0	0	0	0	0	0
14099	0.61	146.1	253.5	18.3	629	14103	0.00	2.22	0.00	0.000	6	0.000	0.052	2061	2702	2210	0	0	0	0	0	0
14435	0.61	146.1	186.5	20.2	650	14436	0.00	0.00	0.00	0.000	6	0.000	0.000	2061	2702	2210	0	0	0	0	0	0
14744	0.61	146.1	125.3	20.3	670	14748	0.00	2.17	0.00	0.000	4	0.000	0.043	2072	1303	2210	0	0	0	0	0	0
14785	0.61	146.1	116.5	19.6	672	14789	0.00	2.25	0.00	0.000	6	0.000	0.052	2072	2710	2209	0	0	0	0	0	0
15131	0.61	146.1	50.4	18.7	722	15140	0.00	2.22	0.00	0.000	4	0.000	0.043	2082	1304	2210	0	0	0	0	0	0
15234	0.61	146.1	31.1	16.4	738	15244	0.10	2.25	0.00	0.000	6	0.210	0.050	2055	2705	2209	0	0	0	0	0	0
15390	end climb: SURFACE_DEPTH_REACHED
state	15390	begin surface coast
15404	end surface coast: CONTROL_FINISHED_OK
state	15404	begin surface