Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 185 * 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 185 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 38 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 27 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 -11046.984 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 -11046.984

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 38 VBD_MAX 3961

DEVICE2 101 MASS 52816 R_STBD_OVSHOOT 27 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 185 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 060113,153358,-4644.814,440.452,94,0.9,94,-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 0.201,-0.160

_SM_DEPTHo 1.43 KALMAN_X -162652.6,767.7,344.4,191304.7,-4292.1

_SM_ANGLEo -55.9 KALMAN_Y 57758.6,97.9,-71.7,-45712.5,1505.5

GPS2 060113,154423,-4644.759,440.490,20,0.9,20,-23.5 MHEAD_RNG_PITCHd_Wd 152.0,28233,-16.4,-9.443

SPEED_LIMITS 0.164,0.256 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.6,1.026449 _10V_AH 10.1,16.586

SM_CCo 15028,50.58,0.776,1,0,1799,250.20 FG_AHR_24Vo 0.000

SM_GC 1.40,0.00,0.00,50.58,0.000,0.000,0.776,58,2915,1799,-5.60,0.99,250.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4626.10,442.69,060113,111132 MEM 353940

TT8_MAMPS 0.026215 DATA_FILE_SIZE 53762,746

HUMID 58.38 CAP_FILE_SIZE 102781,0

INTERNAL_PRESSURE 9.33597 CFSIZE 259252224,217833472

TCM_TEMP 11.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,1

XPDR_PINGS 0 GPS 060113,195804,-4646.048,442.910,37,1.0,37,-23.5

_24V_AH 22.0,36.030

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 251 75.58 SBE_CT 494 24 260.93

Roll_motor 62 79 108.83 AA4330 1470 33 1067.93

VBD_pump_during_apogee 296 1787 11658.90 WL_BB2FLVMT 775 105 1792.20

VBD_pump_during_surface 50 775 863.09 QSP2150 292 4 28.23

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 59.65 nil 0 0 0.00

Iridium_during_connect 19 160 67.01 nil 0 0 0.00

Iridium_during_xfer 328 223 1613.55 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 26 5.96

TT8 1822 14 275.40

LPSleep 10650 2 235.59

TT8_Active 460 14 66.03

TT8_Sampling 2157 37 815.77

TT8_CF8 604 47 287.96

TT8_Kalman 33 59 19.93

Analog_circuits 1143 12 138.65

GPS_charging 0 0 0.00

Compass 1701 15 270.25

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 0 100 0.00 0.00 -71.00 0.000 2 0.000 0.000 55 2881 3139 0 0 0 0 0 0

106 -0.61 -146.1 3.0 -2.5 9 125 6.62 1.73 -7.43 0.000 4 0.252 0.080 1637 3907 3417 0 0 0 0 0 0

349 -0.61 -146.1 40.9 -15.9 47 356 0.00 1.60 0.00 0.000 6 0.000 0.031 1637 2848 3421 0 0 0 0 0 0

593 -0.61 -146.1 77.3 -12.4 88 600 0.00 1.70 0.00 0.000 4 0.000 0.058 1628 3895 3421 0 0 0 0 0 0

652 -0.61 -146.1 84.9 -13.6 97 657 0.00 1.52 0.00 0.000 6 0.000 0.031 1628 2890 3421 0 0 0 0 0 0

986 -0.61 -146.1 130.5 -13.2 130 987 0.00 0.00 0.00 0.000 6 0.000 0.000 1628 2884 3421 0 0 0 0 0 0

1294 -0.61 -146.1 170.2 -12.3 150 1296 0.00 0.00 0.00 0.000 6 0.000 0.000 1628 2884 3422 0 0 0 0 0 0

1607 -0.61 -146.1 208.3 -12.0 170 1608 0.00 0.00 0.00 0.000 6 0.000 0.000 1629 2884 3422 0 0 0 0 0 0

1919 -0.61 -146.1 244.5 -11.9 190 1920 0.00 0.00 0.00 0.000 6 0.000 0.000 1628 2884 3422 0 0 0 0 0 0

2235 -0.61 -146.1 282.7 -12.3 206 2236 0.00 0.00 0.00 0.000 6 0.000 0.000 1628 2884 3422 0 0 0 0 0 0

2546 -0.61 -146.1 319.3 -11.6 221 2549 0.00 1.62 0.00 0.000 4 0.000 0.060 1620 3921 3422 0 0 0 0 0 0

2586 -0.61 -146.1 324.6 -11.6 222 2595 0.08 1.58 0.00 0.000 6 0.160 0.033 1644 2877 3422 0 0 0 0 0 0

2905 -0.61 -146.1 354.7 -9.2 238 2906 0.00 0.00 0.00 0.000 6 0.000 0.000 1644 2877 3422 0 0 0 0 0 0

3216 -0.61 -146.1 382.4 -8.8 253 3217 0.00 0.00 0.00 0.000 6 0.000 0.000 1644 2877 3422 0 0 0 0 0 0

3543 -0.61 -146.1 411.8 -9.4 267 3544 0.00 0.00 0.00 0.000 6 0.000 0.000 1644 2877 3422 0 0 0 0 0 0

3849 -0.61 -146.1 440.1 -9.3 277 3850 0.00 0.00 0.00 0.000 6 0.000 0.000 1644 2876 3422 0 0 0 0 0 0

4156 -0.61 -146.1 471.0 -10.4 287 4160 0.00 2.08 0.00 0.000 4 0.000 0.037 1644 1493 3422 0 0 0 0 0 0

4187 -0.61 -146.1 474.3 -10.2 288 4191 0.00 2.20 0.00 0.000 6 0.000 0.054 1635 2888 3422 0 0 0 0 0 0

4532 -0.61 -146.1 510.8 -10.7 299 4534 0.00 0.00 0.00 0.000 6 0.000 0.000 1635 2888 3422 0 0 0 0 0 0

4837 -0.61 -146.1 541.6 -9.8 309 4838 0.00 0.00 0.00 0.000 6 0.000 0.000 1634 2888 3422 0 0 0 0 0 0

5143 -0.61 -146.1 570.5 -9.5 319 5144 0.00 0.00 0.00 0.000 6 0.000 0.000 1634 2889 3421 0 0 0 0 0 0

5449 -0.61 -146.1 600.1 -9.7 329 5451 0.00 0.00 0.00 0.000 6 0.000 0.000 1635 2888 3421 0 0 0 0 0 0

5757 -0.61 -146.1 629.9 -9.8 339 5761 0.00 2.15 0.00 0.000 4 0.000 0.038 1635 1489 3421 0 0 0 0 0 0

5798 -0.61 -146.1 634.3 -9.2 340 5802 0.00 2.22 0.00 0.000 6 0.000 0.054 1624 2885 3420 0 0 0 0 0 0

6124 -0.61 -146.1 668.0 -10.3 351 6125 0.00 0.00 0.00 0.000 6 0.000 0.000 1624 2885 3420 0 0 0 0 0 0

6430 -0.61 -146.1 698.3 -9.8 361 6431 0.00 0.00 0.00 0.000 6 0.000 0.000 1624 2885 3420 0 0 0 0 0 0

6737 -0.61 -146.1 727.2 -9.3 371 6741 0.00 2.12 0.00 0.000 4 0.000 0.037 1624 1498 3420 0 0 0 0 0 0

6768 -0.61 -146.1 730.1 -8.7 372 6773 0.12 2.20 0.00 0.000 6 0.177 0.054 1646 2881 3420 0 0 0 0 0 0

7107 -0.61 -146.1 755.0 -7.4 383 7108 0.00 0.00 0.00 0.000 6 0.000 0.000 1646 2882 3419 0 0 0 0 0 0

7415 -0.61 -146.1 778.6 -7.9 393 7416 0.00 0.00 0.00 0.000 6 0.000 0.000 1646 2882 3420 0 0 0 0 0 0

7719 -0.61 -146.1 803.6 -8.4 403 7720 0.00 0.00 0.00 0.000 6 0.000 0.000 1646 2882 3419 0 0 0 0 0 0

8026 -0.61 -146.1 829.7 -8.4 413 8027 0.00 0.00 0.00 0.000 6 0.000 0.000 1646 2882 3419 0 0 0 0 0 0

8332 -0.61 -146.1 854.8 -8.2 423 8336 0.00 2.12 0.00 0.000 4 0.000 0.038 1646 1486 3418 0 0 0 0 0 0

8372 -0.61 -146.1 858.3 -8.0 424 8377 0.00 2.20 0.00 0.000 6 0.000 0.055 1637 2881 3417 0 0 0 0 0 0

8699 -0.61 -146.1 886.0 -8.7 435 8703 0.00 2.10 0.00 0.000 4 0.000 0.037 1637 1497 3418 0 0 0 0 0 0

8731 -0.61 -146.1 888.7 -9.2 436 8735 0.00 2.20 0.00 0.000 6 0.000 0.055 1627 2891 3417 0 0 0 0 0 0

9069 -0.61 -146.1 918.8 -8.8 447 9070 0.00 0.00 0.00 0.000 6 0.000 0.000 1626 2891 3417 0 0 0 0 0 0

9377 -0.61 -146.1 944.0 -8.1 457 9378 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2891 3417 0 0 0 0 0 0

9681 -0.61 -146.1 969.5 -8.3 467 9682 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2891 3417 0 0 0 0 0 0

9989 -0.61 -146.1 997.4 -9.2 477 9993 0.00 2.15 0.00 0.000 4 0.000 0.038 1627 1492 3417 0 0 0 0 0 0

10008 end dive: TARGET_DEPTH_EXCEEDED

state 10008 begin apogee

10021 -0.18 0.0 1000.1 10.2 477 10169 0.55 0.00 145.52 1.243 6 0.163 0.000 1785 2708 2819 0 0 0 0 0 0

10171 end apogee: CONTROL_FINISHED_OK

state 10171 begin climb

10176 0.61 146.1 1004.6 0.0 482 10336 0.75 0.00 150.90 1.788 6 0.085 0.000 2040 2708 2224 0 0 0 0 1 0

10646 0.61 146.1 917.0 22.0 498 10647 0.00 0.00 0.00 0.000 6 0.000 0.000 2041 2708 2218 0 0 0 0 0 0

10948 0.61 146.1 849.5 22.2 508 10952 0.00 2.22 0.00 0.000 4 0.000 0.044 2051 1316 2216 0 0 0 0 0 0

11005 0.61 146.1 836.8 20.2 509 11009 0.00 2.28 0.00 0.000 6 0.000 0.051 2051 2706 2214 0 0 0 0 0 0

11322 0.61 146.1 762.5 23.9 519 11323 0.00 0.00 0.00 0.000 6 0.000 0.000 2051 2706 2213 0 0 0 0 0 0

11626 0.61 146.1 690.7 23.2 529 11630 0.00 2.17 0.00 0.000 4 0.000 0.043 2062 1317 2213 0 0 0 0 0 0

11683 0.61 146.1 678.1 19.6 530 11690 0.00 2.22 0.00 0.000 6 0.000 0.051 2061 2699 2211 0 0 0 0 0 0

11999 0.61 146.1 609.0 21.6 541 12003 0.00 2.17 0.00 0.000 4 0.000 0.042 2072 1313 2211 0 0 0 0 0 0

12045 0.61 146.1 599.3 19.7 542 12049 0.00 2.22 0.00 0.000 6 0.000 0.051 2072 2699 2211 0 0 0 0 0 0

12377 0.61 146.1 527.4 21.8 553 12378 0.00 0.00 0.00 0.000 6 0.000 0.000 2072 2699 2210 0 0 0 0 0 0

12683 0.61 146.1 460.9 21.9 563 12687 0.00 2.17 0.00 0.000 4 0.000 0.044 2082 1317 2211 0 0 0 0 0 0

12724 0.61 146.1 451.7 20.9 564 12728 0.12 2.22 0.00 0.000 6 0.224 0.052 2054 2705 2210 0 0 0 0 0 0

13051 0.61 146.1 385.5 20.4 576 13053 0.00 0.00 0.00 0.000 6 0.000 0.000 2054 2704 2210 0 0 0 0 0 0

13363 0.61 146.1 323.5 20.3 591 13367 0.00 2.15 0.00 0.000 4 0.000 0.043 2063 1317 2210 0 0 0 0 0 0

13398 0.61 146.1 315.8 20.7 592 13402 0.00 2.20 0.00 0.000 6 0.000 0.052 2064 2699 2210 0 0 0 0 0 0

13722 0.61 146.1 248.2 21.4 608 13723 0.00 0.00 0.00 0.000 6 0.000 0.000 2064 2699 2210 0 0 0 0 0 0

14034 0.61 146.1 181.9 20.9 628 14035 0.00 0.00 0.00 0.000 6 0.000 0.000 2064 2699 2210 0 0 0 0 0 0

14346 0.61 146.1 118.7 19.7 648 14347 0.00 0.00 0.00 0.000 6 0.000 0.000 2064 2699 2210 0 0 0 0 0 0

14677 0.61 146.1 56.5 18.7 694 14686 0.00 2.17 0.00 0.000 4 0.000 0.042 2074 1311 2210 0 0 0 0 0 0

14822 0.61 146.1 32.2 17.1 717 14828 0.00 2.22 0.00 0.000 6 0.000 0.050 2074 2710 2209 0 0 0 0 0 0

14986 end climb: SURFACE_DEPTH_REACHED

state 14987 begin surface coast

15006 end surface coast: CONTROL_FINISHED_OK

state 15006 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	185	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	38	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	27	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	-11046.984	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	060113,153358,-4644.814,440.452,94,0.9,94,-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	0.201,-0.160
_SM_DEPTHo	1.43	KALMAN_X	-162652.6,767.7,344.4,191304.7,-4292.1
_SM_ANGLEo	-55.9	KALMAN_Y	57758.6,97.9,-71.7,-45712.5,1505.5
GPS2	060113,154423,-4644.759,440.490,20,0.9,20,-23.5	MHEAD_RNG_PITCHd_Wd	152.0,28233,-16.4,-9.443
SPEED_LIMITS	0.164,0.256	D_GRID	1000

FINISH	0.6,1.026449	_10V_AH	10.1,16.586
SM_CCo	15028,50.58,0.776,1,0,1799,250.20	FG_AHR_24Vo	0.000
SM_GC	1.40,0.00,0.00,50.58,0.000,0.000,0.776,58,2915,1799,-5.60,0.99,250.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4626.10,442.69,060113,111132	MEM	353940
TT8_MAMPS	0.026215	DATA_FILE_SIZE	53762,746
HUMID	58.38	CAP_FILE_SIZE	102781,0
INTERNAL_PRESSURE	9.33597	CFSIZE	259252224,217833472
TCM_TEMP	11.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
XPDR_PINGS	0	GPS	060113,195804,-4646.048,442.910,37,1.0,37,-23.5
_24V_AH	22.0,36.030

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	251	75.58	SBE_CT	494	24	260.93
Roll_motor	62	79	108.83	AA4330	1470	33	1067.93
VBD_pump_during_apogee	296	1787	11658.90	WL_BB2FLVMT	775	105	1792.20
VBD_pump_during_surface	50	775	863.09	QSP2150	292	4	28.23
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	59.65	nil	0	0	0.00
Iridium_during_connect	19	160	67.01	nil	0	0	0.00
Iridium_during_xfer	328	223	1613.55	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	26	5.96
TT8	1822	14	275.40
LPSleep	10650	2	235.59
TT8_Active	460	14	66.03
TT8_Sampling	2157	37	815.77
TT8_CF8	604	47	287.96
TT8_Kalman	33	59	19.93
Analog_circuits	1143	12	138.65
GPS_charging	0	0	0.00
Compass	1701	15	270.25
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	100	0.00	0.00	-71.00	0.000	2	0.000	0.000	55	2881	3139	0	0	0	0	0	0
106	-0.61	-146.1	3.0	-2.5	9	125	6.62	1.73	-7.43	0.000	4	0.252	0.080	1637	3907	3417	0	0	0	0	0	0
349	-0.61	-146.1	40.9	-15.9	47	356	0.00	1.60	0.00	0.000	6	0.000	0.031	1637	2848	3421	0	0	0	0	0	0
593	-0.61	-146.1	77.3	-12.4	88	600	0.00	1.70	0.00	0.000	4	0.000	0.058	1628	3895	3421	0	0	0	0	0	0
652	-0.61	-146.1	84.9	-13.6	97	657	0.00	1.52	0.00	0.000	6	0.000	0.031	1628	2890	3421	0	0	0	0	0	0
986	-0.61	-146.1	130.5	-13.2	130	987	0.00	0.00	0.00	0.000	6	0.000	0.000	1628	2884	3421	0	0	0	0	0	0
1294	-0.61	-146.1	170.2	-12.3	150	1296	0.00	0.00	0.00	0.000	6	0.000	0.000	1628	2884	3422	0	0	0	0	0	0
1607	-0.61	-146.1	208.3	-12.0	170	1608	0.00	0.00	0.00	0.000	6	0.000	0.000	1629	2884	3422	0	0	0	0	0	0
1919	-0.61	-146.1	244.5	-11.9	190	1920	0.00	0.00	0.00	0.000	6	0.000	0.000	1628	2884	3422	0	0	0	0	0	0
2235	-0.61	-146.1	282.7	-12.3	206	2236	0.00	0.00	0.00	0.000	6	0.000	0.000	1628	2884	3422	0	0	0	0	0	0
2546	-0.61	-146.1	319.3	-11.6	221	2549	0.00	1.62	0.00	0.000	4	0.000	0.060	1620	3921	3422	0	0	0	0	0	0
2586	-0.61	-146.1	324.6	-11.6	222	2595	0.08	1.58	0.00	0.000	6	0.160	0.033	1644	2877	3422	0	0	0	0	0	0
2905	-0.61	-146.1	354.7	-9.2	238	2906	0.00	0.00	0.00	0.000	6	0.000	0.000	1644	2877	3422	0	0	0	0	0	0
3216	-0.61	-146.1	382.4	-8.8	253	3217	0.00	0.00	0.00	0.000	6	0.000	0.000	1644	2877	3422	0	0	0	0	0	0
3543	-0.61	-146.1	411.8	-9.4	267	3544	0.00	0.00	0.00	0.000	6	0.000	0.000	1644	2877	3422	0	0	0	0	0	0
3849	-0.61	-146.1	440.1	-9.3	277	3850	0.00	0.00	0.00	0.000	6	0.000	0.000	1644	2876	3422	0	0	0	0	0	0
4156	-0.61	-146.1	471.0	-10.4	287	4160	0.00	2.08	0.00	0.000	4	0.000	0.037	1644	1493	3422	0	0	0	0	0	0
4187	-0.61	-146.1	474.3	-10.2	288	4191	0.00	2.20	0.00	0.000	6	0.000	0.054	1635	2888	3422	0	0	0	0	0	0
4532	-0.61	-146.1	510.8	-10.7	299	4534	0.00	0.00	0.00	0.000	6	0.000	0.000	1635	2888	3422	0	0	0	0	0	0
4837	-0.61	-146.1	541.6	-9.8	309	4838	0.00	0.00	0.00	0.000	6	0.000	0.000	1634	2888	3422	0	0	0	0	0	0
5143	-0.61	-146.1	570.5	-9.5	319	5144	0.00	0.00	0.00	0.000	6	0.000	0.000	1634	2889	3421	0	0	0	0	0	0
5449	-0.61	-146.1	600.1	-9.7	329	5451	0.00	0.00	0.00	0.000	6	0.000	0.000	1635	2888	3421	0	0	0	0	0	0
5757	-0.61	-146.1	629.9	-9.8	339	5761	0.00	2.15	0.00	0.000	4	0.000	0.038	1635	1489	3421	0	0	0	0	0	0
5798	-0.61	-146.1	634.3	-9.2	340	5802	0.00	2.22	0.00	0.000	6	0.000	0.054	1624	2885	3420	0	0	0	0	0	0
6124	-0.61	-146.1	668.0	-10.3	351	6125	0.00	0.00	0.00	0.000	6	0.000	0.000	1624	2885	3420	0	0	0	0	0	0
6430	-0.61	-146.1	698.3	-9.8	361	6431	0.00	0.00	0.00	0.000	6	0.000	0.000	1624	2885	3420	0	0	0	0	0	0
6737	-0.61	-146.1	727.2	-9.3	371	6741	0.00	2.12	0.00	0.000	4	0.000	0.037	1624	1498	3420	0	0	0	0	0	0
6768	-0.61	-146.1	730.1	-8.7	372	6773	0.12	2.20	0.00	0.000	6	0.177	0.054	1646	2881	3420	0	0	0	0	0	0
7107	-0.61	-146.1	755.0	-7.4	383	7108	0.00	0.00	0.00	0.000	6	0.000	0.000	1646	2882	3419	0	0	0	0	0	0
7415	-0.61	-146.1	778.6	-7.9	393	7416	0.00	0.00	0.00	0.000	6	0.000	0.000	1646	2882	3420	0	0	0	0	0	0
7719	-0.61	-146.1	803.6	-8.4	403	7720	0.00	0.00	0.00	0.000	6	0.000	0.000	1646	2882	3419	0	0	0	0	0	0
8026	-0.61	-146.1	829.7	-8.4	413	8027	0.00	0.00	0.00	0.000	6	0.000	0.000	1646	2882	3419	0	0	0	0	0	0
8332	-0.61	-146.1	854.8	-8.2	423	8336	0.00	2.12	0.00	0.000	4	0.000	0.038	1646	1486	3418	0	0	0	0	0	0
8372	-0.61	-146.1	858.3	-8.0	424	8377	0.00	2.20	0.00	0.000	6	0.000	0.055	1637	2881	3417	0	0	0	0	0	0
8699	-0.61	-146.1	886.0	-8.7	435	8703	0.00	2.10	0.00	0.000	4	0.000	0.037	1637	1497	3418	0	0	0	0	0	0
8731	-0.61	-146.1	888.7	-9.2	436	8735	0.00	2.20	0.00	0.000	6	0.000	0.055	1627	2891	3417	0	0	0	0	0	0
9069	-0.61	-146.1	918.8	-8.8	447	9070	0.00	0.00	0.00	0.000	6	0.000	0.000	1626	2891	3417	0	0	0	0	0	0
9377	-0.61	-146.1	944.0	-8.1	457	9378	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2891	3417	0	0	0	0	0	0
9681	-0.61	-146.1	969.5	-8.3	467	9682	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2891	3417	0	0	0	0	0	0
9989	-0.61	-146.1	997.4	-9.2	477	9993	0.00	2.15	0.00	0.000	4	0.000	0.038	1627	1492	3417	0	0	0	0	0	0
10008	end dive: TARGET_DEPTH_EXCEEDED
state	10008	begin apogee
10021	-0.18	0.0	1000.1	10.2	477	10169	0.55	0.00	145.52	1.243	6	0.163	0.000	1785	2708	2819	0	0	0	0	0	0
10171	end apogee: CONTROL_FINISHED_OK
state	10171	begin climb
10176	0.61	146.1	1004.6	0.0	482	10336	0.75	0.00	150.90	1.788	6	0.085	0.000	2040	2708	2224	0	0	0	0	1	0
10646	0.61	146.1	917.0	22.0	498	10647	0.00	0.00	0.00	0.000	6	0.000	0.000	2041	2708	2218	0	0	0	0	0	0
10948	0.61	146.1	849.5	22.2	508	10952	0.00	2.22	0.00	0.000	4	0.000	0.044	2051	1316	2216	0	0	0	0	0	0
11005	0.61	146.1	836.8	20.2	509	11009	0.00	2.28	0.00	0.000	6	0.000	0.051	2051	2706	2214	0	0	0	0	0	0
11322	0.61	146.1	762.5	23.9	519	11323	0.00	0.00	0.00	0.000	6	0.000	0.000	2051	2706	2213	0	0	0	0	0	0
11626	0.61	146.1	690.7	23.2	529	11630	0.00	2.17	0.00	0.000	4	0.000	0.043	2062	1317	2213	0	0	0	0	0	0
11683	0.61	146.1	678.1	19.6	530	11690	0.00	2.22	0.00	0.000	6	0.000	0.051	2061	2699	2211	0	0	0	0	0	0
11999	0.61	146.1	609.0	21.6	541	12003	0.00	2.17	0.00	0.000	4	0.000	0.042	2072	1313	2211	0	0	0	0	0	0
12045	0.61	146.1	599.3	19.7	542	12049	0.00	2.22	0.00	0.000	6	0.000	0.051	2072	2699	2211	0	0	0	0	0	0
12377	0.61	146.1	527.4	21.8	553	12378	0.00	0.00	0.00	0.000	6	0.000	0.000	2072	2699	2210	0	0	0	0	0	0
12683	0.61	146.1	460.9	21.9	563	12687	0.00	2.17	0.00	0.000	4	0.000	0.044	2082	1317	2211	0	0	0	0	0	0
12724	0.61	146.1	451.7	20.9	564	12728	0.12	2.22	0.00	0.000	6	0.224	0.052	2054	2705	2210	0	0	0	0	0	0
13051	0.61	146.1	385.5	20.4	576	13053	0.00	0.00	0.00	0.000	6	0.000	0.000	2054	2704	2210	0	0	0	0	0	0
13363	0.61	146.1	323.5	20.3	591	13367	0.00	2.15	0.00	0.000	4	0.000	0.043	2063	1317	2210	0	0	0	0	0	0
13398	0.61	146.1	315.8	20.7	592	13402	0.00	2.20	0.00	0.000	6	0.000	0.052	2064	2699	2210	0	0	0	0	0	0
13722	0.61	146.1	248.2	21.4	608	13723	0.00	0.00	0.00	0.000	6	0.000	0.000	2064	2699	2210	0	0	0	0	0	0
14034	0.61	146.1	181.9	20.9	628	14035	0.00	0.00	0.00	0.000	6	0.000	0.000	2064	2699	2210	0	0	0	0	0	0
14346	0.61	146.1	118.7	19.7	648	14347	0.00	0.00	0.00	0.000	6	0.000	0.000	2064	2699	2210	0	0	0	0	0	0
14677	0.61	146.1	56.5	18.7	694	14686	0.00	2.17	0.00	0.000	4	0.000	0.042	2074	1311	2210	0	0	0	0	0	0
14822	0.61	146.1	32.2	17.1	717	14828	0.00	2.22	0.00	0.000	6	0.000	0.050	2074	2710	2209	0	0	0	0	0	0
14986	end climb: SURFACE_DEPTH_REACHED
state	14987	begin surface coast
15006	end surface coast: CONTROL_FINISHED_OK
state	15006	begin surface