Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 183 * 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 183 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 33 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 -11040.62 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 -11040.62

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 33 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 183 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 060113,064258,-4642.029,435.718,66,0.8,66,-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 0.219,-0.132

_SM_DEPTHo 1.46 KALMAN_X -160381.1,308.3,453.9,183389.7,-4535.7

_SM_ANGLEo -55.5 KALMAN_Y 56595.1,-467.4,-117.5,-39125.3,2142.6

GPS2 060113,065317,-4642.162,435.774,16,0.8,17,-23.5 MHEAD_RNG_PITCHd_Wd 144.5,33465,-16.5,-9.443

SPEED_LIMITS 0.164,0.256 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.6,1.025865 _10V_AH 10.1,16.384

SM_CCo 15258,50.35,0.785,1,0,1796,250.20 FG_AHR_24Vo 0.000

SM_GC 1.78,0.00,0.00,50.35,0.000,0.000,0.785,51,2913,1796,-5.62,0.93,250.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4622.97,436.19,060113,020245 MEM 353952

TT8_MAMPS 0.026215 DATA_FILE_SIZE 53658,758

HUMID 58.15 CAP_FILE_SIZE 109812,0

INTERNAL_PRESSURE 9.3262 CFSIZE 259252224,217952256

TCM_TEMP 10.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,1

XPDR_PINGS 0 GPS 060113,111052,-4643.173,438.249,41,1.0,41,-23.5

_24V_AH 21.9,35.708

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 252 76.71 SBE_CT 503 24 264.87

Roll_motor 73 58 94.62 AA4330 1506 33 1088.75

VBD_pump_during_apogee 297 1852 12074.69 WL_BB2FLVMT 792 105 1821.97

VBD_pump_during_surface 50 784 865.47 QSP2150 290 4 27.87

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 63.04 nil 0 0 0.00

Iridium_during_connect 26 160 93.42 nil 0 0 0.00

Iridium_during_xfer 318 223 1555.06 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 26 5.35

TT8 1866 14 282.04

LPSleep 10737 2 237.50

TT8_Active 435 14 62.52

TT8_Sampling 2254 37 852.46

TT8_CF8 623 47 297.23

TT8_Kalman 33 59 19.94

Analog_circuits 1194 12 144.74

GPS_charging 0 0 0.00

Compass 1795 15 285.25

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 99 0.00 0.00 -70.97 0.000 2 0.000 0.000 63 2893 3155 0 0 0 0 0 0

106 -0.61 -146.1 3.4 -3.8 9 125 6.60 2.28 -6.93 0.000 4 0.252 0.052 1647 1480 3418 0 0 0 0 0 0

303 -0.61 -146.1 31.9 -14.9 39 310 0.00 2.28 0.00 0.000 6 0.000 0.053 1637 2881 3421 0 0 0 0 0 0

549 -0.61 -146.1 69.8 -15.1 80 556 0.00 1.62 0.00 0.000 4 0.000 0.059 1629 3897 3421 0 0 0 0 0 0

585 -0.61 -146.1 74.4 -14.2 85 590 0.00 1.58 0.00 0.000 6 0.000 0.031 1629 2860 3421 0 0 0 0 0 0

930 -0.61 -146.1 120.6 -13.0 127 934 0.00 2.05 0.00 0.000 4 0.000 0.036 1629 1497 3421 0 0 0 0 0 0

1007 -0.61 -146.1 130.6 -11.1 131 1015 0.12 2.22 0.00 0.000 6 0.184 0.053 1650 2891 3421 0 0 0 0 0 0

1334 -0.61 -146.1 165.8 -11.0 152 1342 0.00 0.00 0.00 0.000 6 0.000 0.000 1650 2891 3421 0 0 0 0 0 0

1657 -0.61 -146.1 200.9 -10.3 173 1658 0.00 0.00 0.00 0.000 6 0.000 0.000 1650 2891 3422 0 0 0 0 0 0

1970 -0.61 -146.1 232.9 -10.1 193 1971 0.00 0.00 0.00 0.000 6 0.000 0.000 1650 2891 3422 0 0 0 0 0 0

2286 -0.61 -146.1 263.8 -9.4 211 2287 0.00 0.00 0.00 0.000 6 0.000 0.000 1650 2891 3422 0 0 0 0 0 0

2594 -0.61 -146.1 292.6 -9.3 226 2598 0.00 2.12 0.00 0.000 4 0.000 0.036 1650 1499 3422 0 0 0 0 0 0

2638 -0.61 -146.1 296.5 -8.7 228 2642 0.00 2.20 0.00 0.000 6 0.000 0.053 1641 2884 3422 0 0 0 0 0 0

2967 -0.61 -146.1 330.1 -10.4 244 2968 0.00 0.00 0.00 0.000 6 0.000 0.000 1641 2884 3422 0 0 0 0 0 0

3279 -0.61 -146.1 362.4 -10.7 259 3280 0.00 0.00 0.00 0.000 6 0.000 0.000 1641 2884 3422 0 0 0 0 0 0

3586 -0.61 -146.1 395.8 -11.0 274 3587 0.00 0.00 0.00 0.000 6 0.000 0.000 1641 2884 3422 0 0 0 0 0 0

3903 -0.61 -146.1 429.9 -10.8 285 3904 0.00 0.00 0.00 0.000 6 0.000 0.000 1641 2884 3422 0 0 0 0 0 0

4210 -0.61 -146.1 461.3 -9.8 295 4211 0.00 0.00 0.00 0.000 6 0.000 0.000 1641 2884 3422 0 0 0 0 0 0

4515 -0.61 -146.1 491.4 -9.7 305 4516 0.00 0.00 0.00 0.000 6 0.000 0.000 1641 2884 3422 0 0 0 0 0 0

4822 -0.61 -146.1 520.6 -9.7 315 4823 0.00 0.00 0.00 0.000 6 0.000 0.000 1641 2884 3422 0 0 0 0 0 0

5127 -0.61 -146.1 551.0 -10.0 325 5131 0.00 2.12 0.00 0.000 4 0.000 0.037 1641 1497 3422 0 0 0 0 0 0

5159 -0.61 -146.1 554.2 -10.6 326 5163 0.00 2.20 0.00 0.000 6 0.000 0.053 1630 2881 3422 0 0 0 0 0 0

5496 -0.61 -146.1 590.6 -11.0 337 5497 0.00 0.00 0.00 0.000 6 0.000 0.000 1630 2882 3421 0 0 0 0 0 0

5804 -0.61 -146.1 624.4 -10.8 347 5805 0.00 0.00 0.00 0.000 6 0.000 0.000 1630 2882 3421 0 0 0 0 0 0

6109 -0.61 -146.1 655.9 -10.1 357 6110 0.00 0.00 0.00 0.000 6 0.000 0.000 1630 2882 3421 0 0 0 0 0 0

6415 -0.61 -146.1 685.4 -9.7 367 6416 0.00 0.00 0.00 0.000 6 0.000 0.000 1630 2882 3421 0 0 0 0 0 0

6721 -0.61 -146.1 715.4 -10.0 377 6725 0.00 2.12 0.00 0.000 4 0.000 0.037 1630 1493 3421 0 0 0 0 0 0

6762 -0.61 -146.1 719.5 -9.3 378 6767 0.12 2.22 0.00 0.000 6 0.177 0.054 1652 2890 3421 0 0 0 0 0 0

7089 -0.61 -146.1 745.5 -8.0 389 7091 0.00 0.00 0.00 0.000 6 0.000 0.000 1652 2891 3420 0 0 0 0 0 0

7397 -0.61 -146.1 770.2 -7.9 399 7398 0.00 0.00 0.00 0.000 6 0.000 0.000 1652 2891 3420 0 0 0 0 0 0

7702 -0.61 -146.1 794.0 -7.7 409 7706 0.00 2.12 0.00 0.000 4 0.000 0.037 1652 1497 3420 0 0 0 0 0 0

7742 -0.61 -146.1 797.3 -7.8 410 7746 0.00 2.20 0.00 0.000 6 0.000 0.054 1643 2880 3420 0 0 0 0 0 0

8069 -0.61 -146.1 823.4 -7.9 421 8070 0.00 0.00 0.00 0.000 6 0.000 0.000 1644 2881 3420 0 0 0 0 0 0

8377 -0.61 -146.1 846.8 -7.6 431 8381 0.00 2.12 0.00 0.000 4 0.000 0.037 1643 1490 3420 0 0 0 0 0 0

8418 -0.61 -146.1 850.1 -7.7 432 8422 0.00 2.22 0.00 0.000 6 0.000 0.054 1633 2885 3420 0 0 0 0 0 0

8745 -0.61 -146.1 876.0 -8.1 443 8749 0.00 2.10 0.00 0.000 4 0.000 0.037 1633 1497 3420 0 0 0 0 0 0

8780 -0.61 -146.1 879.1 -8.1 444 8784 0.00 2.20 0.00 0.000 6 0.000 0.054 1623 2882 3420 0 0 0 0 0 0

9112 -0.61 -146.1 907.1 -8.5 455 9114 0.10 0.00 0.00 0.000 6 0.200 0.000 1646 2882 3420 0 0 0 0 0 0

9419 -0.61 -146.1 927.5 -6.4 465 9423 0.00 2.10 0.00 0.000 4 0.000 0.037 1646 1497 3419 0 0 0 0 0 0

9456 -0.61 -146.1 929.9 -6.6 466 9460 0.00 2.20 0.00 0.000 6 0.000 0.054 1637 2881 3420 0 0 0 0 0 0

9801 -0.61 -146.1 954.8 -7.3 477 9802 0.00 0.00 0.00 0.000 6 0.000 0.000 1637 2881 3419 0 0 0 0 0 0

10106 -0.61 -146.1 977.9 -7.7 487 10107 0.00 0.00 0.00 0.000 6 0.000 0.000 1636 2882 3419 0 0 0 0 0 0

10409 end dive: TARGET_DEPTH_EXCEEDED

state 10409 begin apogee

10420 -0.18 0.0 1002.2 8.1 497 10571 0.50 0.00 142.62 1.853 6 0.158 0.000 1786 2708 2819 0 0 0 0 1 0

10573 end apogee: CONTROL_FINISHED_OK

state 10573 begin climb

10578 0.61 146.1 1006.4 0.0 502 10745 0.75 2.17 154.95 1.801 4 0.064 0.057 2048 3890 2226 0 0 0 0 1 0

10798 0.61 146.1 970.3 26.0 508 10805 0.00 1.98 0.00 0.000 6 0.000 0.035 2057 2716 2224 0 0 0 0 0 0

11114 0.61 146.1 895.0 23.5 519 11118 0.00 2.28 0.00 0.000 4 0.000 0.044 2068 1292 2219 0 0 0 0 0 0

11177 0.61 146.1 880.4 22.1 520 11184 0.00 2.33 0.00 0.000 6 0.000 0.050 2068 2699 2216 0 0 0 0 0 0

11492 0.61 146.1 804.9 24.4 531 11496 0.00 2.25 0.00 0.000 4 0.000 0.044 2078 1286 2215 0 0 0 0 0 0

11533 0.61 146.1 794.8 23.4 532 11537 0.00 2.30 0.00 0.000 6 0.000 0.050 2078 2701 2214 0 0 0 0 0 0

11859 0.61 146.1 713.5 25.2 543 11860 0.00 0.00 0.00 0.000 6 0.000 0.000 2078 2701 2213 0 0 0 0 0 0

12165 0.61 146.1 638.7 24.4 553 12167 0.00 0.00 0.00 0.000 6 0.000 0.000 2078 2702 2213 0 0 0 0 0 0

12472 0.61 146.1 565.4 24.1 563 12476 0.00 2.22 0.00 0.000 4 0.000 0.043 2089 1290 2212 0 0 0 0 0 0

12503 0.61 146.1 558.0 23.6 564 12508 0.15 2.28 0.00 0.000 6 0.227 0.051 2055 2707 2211 0 0 0 0 0 0

12842 0.61 146.1 484.1 21.9 575 12843 0.00 0.00 0.00 0.000 6 0.000 0.000 2055 2707 2211 0 0 0 0 0 0

13150 0.61 146.1 418.7 21.1 585 13154 0.00 2.22 0.00 0.000 4 0.000 0.044 2064 1292 2211 0 0 0 0 0 0

13185 0.61 146.1 410.7 19.5 586 13189 0.00 2.25 0.00 0.000 6 0.000 0.050 2064 2699 2210 0 0 0 0 0 0

13511 0.61 146.1 342.1 20.8 601 13512 0.00 0.00 0.00 0.000 6 0.000 0.000 2064 2700 2211 0 0 0 0 0 0

13819 0.61 146.1 277.5 20.7 616 13820 0.00 0.00 0.00 0.000 6 0.000 0.000 2064 2700 2210 0 0 0 0 0 0

14135 0.61 146.1 210.8 21.1 634 14136 0.00 0.00 0.00 0.000 6 0.000 0.000 2064 2700 2210 0 0 0 0 0 0

14447 0.61 146.1 147.1 19.8 654 14451 0.00 2.17 0.00 0.000 4 0.000 0.044 2075 1289 2210 0 0 0 0 0 0

14513 0.61 146.1 135.1 17.4 658 14517 0.00 2.25 0.00 0.000 6 0.000 0.050 2075 2704 2209 0 0 0 0 0 0

14848 0.61 146.1 72.4 16.0 696 14857 0.00 1.90 0.00 0.000 4 0.000 0.059 2075 3897 2210 0 0 0 0 0 0

14888 0.61 146.1 65.0 18.2 702 14898 0.10 1.88 0.00 0.000 6 0.234 0.038 2058 2690 2210 0 0 0 0 0 0

15211 end climb: SURFACE_DEPTH_REACHED

state 15211 begin surface coast

15235 end surface coast: CONTROL_FINISHED_OK

state 15235 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	183	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	33	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	-11040.62	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	060113,064258,-4642.029,435.718,66,0.8,66,-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	0.219,-0.132
_SM_DEPTHo	1.46	KALMAN_X	-160381.1,308.3,453.9,183389.7,-4535.7
_SM_ANGLEo	-55.5	KALMAN_Y	56595.1,-467.4,-117.5,-39125.3,2142.6
GPS2	060113,065317,-4642.162,435.774,16,0.8,17,-23.5	MHEAD_RNG_PITCHd_Wd	144.5,33465,-16.5,-9.443
SPEED_LIMITS	0.164,0.256	D_GRID	1000

FINISH	0.6,1.025865	_10V_AH	10.1,16.384
SM_CCo	15258,50.35,0.785,1,0,1796,250.20	FG_AHR_24Vo	0.000
SM_GC	1.78,0.00,0.00,50.35,0.000,0.000,0.785,51,2913,1796,-5.62,0.93,250.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4622.97,436.19,060113,020245	MEM	353952
TT8_MAMPS	0.026215	DATA_FILE_SIZE	53658,758
HUMID	58.15	CAP_FILE_SIZE	109812,0
INTERNAL_PRESSURE	9.3262	CFSIZE	259252224,217952256
TCM_TEMP	10.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
XPDR_PINGS	0	GPS	060113,111052,-4643.173,438.249,41,1.0,41,-23.5
_24V_AH	21.9,35.708

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	252	76.71	SBE_CT	503	24	264.87
Roll_motor	73	58	94.62	AA4330	1506	33	1088.75
VBD_pump_during_apogee	297	1852	12074.69	WL_BB2FLVMT	792	105	1821.97
VBD_pump_during_surface	50	784	865.47	QSP2150	290	4	27.87
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	63.04	nil	0	0	0.00
Iridium_during_connect	26	160	93.42	nil	0	0	0.00
Iridium_during_xfer	318	223	1555.06	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	26	5.35
TT8	1866	14	282.04
LPSleep	10737	2	237.50
TT8_Active	435	14	62.52
TT8_Sampling	2254	37	852.46
TT8_CF8	623	47	297.23
TT8_Kalman	33	59	19.94
Analog_circuits	1194	12	144.74
GPS_charging	0	0	0.00
Compass	1795	15	285.25
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	99	0.00	0.00	-70.97	0.000	2	0.000	0.000	63	2893	3155	0	0	0	0	0	0
106	-0.61	-146.1	3.4	-3.8	9	125	6.60	2.28	-6.93	0.000	4	0.252	0.052	1647	1480	3418	0	0	0	0	0	0
303	-0.61	-146.1	31.9	-14.9	39	310	0.00	2.28	0.00	0.000	6	0.000	0.053	1637	2881	3421	0	0	0	0	0	0
549	-0.61	-146.1	69.8	-15.1	80	556	0.00	1.62	0.00	0.000	4	0.000	0.059	1629	3897	3421	0	0	0	0	0	0
585	-0.61	-146.1	74.4	-14.2	85	590	0.00	1.58	0.00	0.000	6	0.000	0.031	1629	2860	3421	0	0	0	0	0	0
930	-0.61	-146.1	120.6	-13.0	127	934	0.00	2.05	0.00	0.000	4	0.000	0.036	1629	1497	3421	0	0	0	0	0	0
1007	-0.61	-146.1	130.6	-11.1	131	1015	0.12	2.22	0.00	0.000	6	0.184	0.053	1650	2891	3421	0	0	0	0	0	0
1334	-0.61	-146.1	165.8	-11.0	152	1342	0.00	0.00	0.00	0.000	6	0.000	0.000	1650	2891	3421	0	0	0	0	0	0
1657	-0.61	-146.1	200.9	-10.3	173	1658	0.00	0.00	0.00	0.000	6	0.000	0.000	1650	2891	3422	0	0	0	0	0	0
1970	-0.61	-146.1	232.9	-10.1	193	1971	0.00	0.00	0.00	0.000	6	0.000	0.000	1650	2891	3422	0	0	0	0	0	0
2286	-0.61	-146.1	263.8	-9.4	211	2287	0.00	0.00	0.00	0.000	6	0.000	0.000	1650	2891	3422	0	0	0	0	0	0
2594	-0.61	-146.1	292.6	-9.3	226	2598	0.00	2.12	0.00	0.000	4	0.000	0.036	1650	1499	3422	0	0	0	0	0	0
2638	-0.61	-146.1	296.5	-8.7	228	2642	0.00	2.20	0.00	0.000	6	0.000	0.053	1641	2884	3422	0	0	0	0	0	0
2967	-0.61	-146.1	330.1	-10.4	244	2968	0.00	0.00	0.00	0.000	6	0.000	0.000	1641	2884	3422	0	0	0	0	0	0
3279	-0.61	-146.1	362.4	-10.7	259	3280	0.00	0.00	0.00	0.000	6	0.000	0.000	1641	2884	3422	0	0	0	0	0	0
3586	-0.61	-146.1	395.8	-11.0	274	3587	0.00	0.00	0.00	0.000	6	0.000	0.000	1641	2884	3422	0	0	0	0	0	0
3903	-0.61	-146.1	429.9	-10.8	285	3904	0.00	0.00	0.00	0.000	6	0.000	0.000	1641	2884	3422	0	0	0	0	0	0
4210	-0.61	-146.1	461.3	-9.8	295	4211	0.00	0.00	0.00	0.000	6	0.000	0.000	1641	2884	3422	0	0	0	0	0	0
4515	-0.61	-146.1	491.4	-9.7	305	4516	0.00	0.00	0.00	0.000	6	0.000	0.000	1641	2884	3422	0	0	0	0	0	0
4822	-0.61	-146.1	520.6	-9.7	315	4823	0.00	0.00	0.00	0.000	6	0.000	0.000	1641	2884	3422	0	0	0	0	0	0
5127	-0.61	-146.1	551.0	-10.0	325	5131	0.00	2.12	0.00	0.000	4	0.000	0.037	1641	1497	3422	0	0	0	0	0	0
5159	-0.61	-146.1	554.2	-10.6	326	5163	0.00	2.20	0.00	0.000	6	0.000	0.053	1630	2881	3422	0	0	0	0	0	0
5496	-0.61	-146.1	590.6	-11.0	337	5497	0.00	0.00	0.00	0.000	6	0.000	0.000	1630	2882	3421	0	0	0	0	0	0
5804	-0.61	-146.1	624.4	-10.8	347	5805	0.00	0.00	0.00	0.000	6	0.000	0.000	1630	2882	3421	0	0	0	0	0	0
6109	-0.61	-146.1	655.9	-10.1	357	6110	0.00	0.00	0.00	0.000	6	0.000	0.000	1630	2882	3421	0	0	0	0	0	0
6415	-0.61	-146.1	685.4	-9.7	367	6416	0.00	0.00	0.00	0.000	6	0.000	0.000	1630	2882	3421	0	0	0	0	0	0
6721	-0.61	-146.1	715.4	-10.0	377	6725	0.00	2.12	0.00	0.000	4	0.000	0.037	1630	1493	3421	0	0	0	0	0	0
6762	-0.61	-146.1	719.5	-9.3	378	6767	0.12	2.22	0.00	0.000	6	0.177	0.054	1652	2890	3421	0	0	0	0	0	0
7089	-0.61	-146.1	745.5	-8.0	389	7091	0.00	0.00	0.00	0.000	6	0.000	0.000	1652	2891	3420	0	0	0	0	0	0
7397	-0.61	-146.1	770.2	-7.9	399	7398	0.00	0.00	0.00	0.000	6	0.000	0.000	1652	2891	3420	0	0	0	0	0	0
7702	-0.61	-146.1	794.0	-7.7	409	7706	0.00	2.12	0.00	0.000	4	0.000	0.037	1652	1497	3420	0	0	0	0	0	0
7742	-0.61	-146.1	797.3	-7.8	410	7746	0.00	2.20	0.00	0.000	6	0.000	0.054	1643	2880	3420	0	0	0	0	0	0
8069	-0.61	-146.1	823.4	-7.9	421	8070	0.00	0.00	0.00	0.000	6	0.000	0.000	1644	2881	3420	0	0	0	0	0	0
8377	-0.61	-146.1	846.8	-7.6	431	8381	0.00	2.12	0.00	0.000	4	0.000	0.037	1643	1490	3420	0	0	0	0	0	0
8418	-0.61	-146.1	850.1	-7.7	432	8422	0.00	2.22	0.00	0.000	6	0.000	0.054	1633	2885	3420	0	0	0	0	0	0
8745	-0.61	-146.1	876.0	-8.1	443	8749	0.00	2.10	0.00	0.000	4	0.000	0.037	1633	1497	3420	0	0	0	0	0	0
8780	-0.61	-146.1	879.1	-8.1	444	8784	0.00	2.20	0.00	0.000	6	0.000	0.054	1623	2882	3420	0	0	0	0	0	0
9112	-0.61	-146.1	907.1	-8.5	455	9114	0.10	0.00	0.00	0.000	6	0.200	0.000	1646	2882	3420	0	0	0	0	0	0
9419	-0.61	-146.1	927.5	-6.4	465	9423	0.00	2.10	0.00	0.000	4	0.000	0.037	1646	1497	3419	0	0	0	0	0	0
9456	-0.61	-146.1	929.9	-6.6	466	9460	0.00	2.20	0.00	0.000	6	0.000	0.054	1637	2881	3420	0	0	0	0	0	0
9801	-0.61	-146.1	954.8	-7.3	477	9802	0.00	0.00	0.00	0.000	6	0.000	0.000	1637	2881	3419	0	0	0	0	0	0
10106	-0.61	-146.1	977.9	-7.7	487	10107	0.00	0.00	0.00	0.000	6	0.000	0.000	1636	2882	3419	0	0	0	0	0	0
10409	end dive: TARGET_DEPTH_EXCEEDED
state	10409	begin apogee
10420	-0.18	0.0	1002.2	8.1	497	10571	0.50	0.00	142.62	1.853	6	0.158	0.000	1786	2708	2819	0	0	0	0	1	0
10573	end apogee: CONTROL_FINISHED_OK
state	10573	begin climb
10578	0.61	146.1	1006.4	0.0	502	10745	0.75	2.17	154.95	1.801	4	0.064	0.057	2048	3890	2226	0	0	0	0	1	0
10798	0.61	146.1	970.3	26.0	508	10805	0.00	1.98	0.00	0.000	6	0.000	0.035	2057	2716	2224	0	0	0	0	0	0
11114	0.61	146.1	895.0	23.5	519	11118	0.00	2.28	0.00	0.000	4	0.000	0.044	2068	1292	2219	0	0	0	0	0	0
11177	0.61	146.1	880.4	22.1	520	11184	0.00	2.33	0.00	0.000	6	0.000	0.050	2068	2699	2216	0	0	0	0	0	0
11492	0.61	146.1	804.9	24.4	531	11496	0.00	2.25	0.00	0.000	4	0.000	0.044	2078	1286	2215	0	0	0	0	0	0
11533	0.61	146.1	794.8	23.4	532	11537	0.00	2.30	0.00	0.000	6	0.000	0.050	2078	2701	2214	0	0	0	0	0	0
11859	0.61	146.1	713.5	25.2	543	11860	0.00	0.00	0.00	0.000	6	0.000	0.000	2078	2701	2213	0	0	0	0	0	0
12165	0.61	146.1	638.7	24.4	553	12167	0.00	0.00	0.00	0.000	6	0.000	0.000	2078	2702	2213	0	0	0	0	0	0
12472	0.61	146.1	565.4	24.1	563	12476	0.00	2.22	0.00	0.000	4	0.000	0.043	2089	1290	2212	0	0	0	0	0	0
12503	0.61	146.1	558.0	23.6	564	12508	0.15	2.28	0.00	0.000	6	0.227	0.051	2055	2707	2211	0	0	0	0	0	0
12842	0.61	146.1	484.1	21.9	575	12843	0.00	0.00	0.00	0.000	6	0.000	0.000	2055	2707	2211	0	0	0	0	0	0
13150	0.61	146.1	418.7	21.1	585	13154	0.00	2.22	0.00	0.000	4	0.000	0.044	2064	1292	2211	0	0	0	0	0	0
13185	0.61	146.1	410.7	19.5	586	13189	0.00	2.25	0.00	0.000	6	0.000	0.050	2064	2699	2210	0	0	0	0	0	0
13511	0.61	146.1	342.1	20.8	601	13512	0.00	0.00	0.00	0.000	6	0.000	0.000	2064	2700	2211	0	0	0	0	0	0
13819	0.61	146.1	277.5	20.7	616	13820	0.00	0.00	0.00	0.000	6	0.000	0.000	2064	2700	2210	0	0	0	0	0	0
14135	0.61	146.1	210.8	21.1	634	14136	0.00	0.00	0.00	0.000	6	0.000	0.000	2064	2700	2210	0	0	0	0	0	0
14447	0.61	146.1	147.1	19.8	654	14451	0.00	2.17	0.00	0.000	4	0.000	0.044	2075	1289	2210	0	0	0	0	0	0
14513	0.61	146.1	135.1	17.4	658	14517	0.00	2.25	0.00	0.000	6	0.000	0.050	2075	2704	2209	0	0	0	0	0	0
14848	0.61	146.1	72.4	16.0	696	14857	0.00	1.90	0.00	0.000	4	0.000	0.059	2075	3897	2210	0	0	0	0	0	0
14888	0.61	146.1	65.0	18.2	702	14898	0.10	1.88	0.00	0.000	6	0.234	0.038	2058	2690	2210	0	0	0	0	0	0
15211	end climb: SURFACE_DEPTH_REACHED
state	15211	begin surface coast
15235	end surface coast: CONTROL_FINISHED_OK
state	15235	begin surface