Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 186 * 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 186 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 63 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 58 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 -11050.454 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 -11050.454

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 63 VBD_MAX 3961

DEVICE2 101 MASS 52816 R_STBD_OVSHOOT 58 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 186 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 060113,195804,-4646.048,442.910,37,1.0,37,-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 0.153,-0.204

_SM_DEPTHo 1.41 KALMAN_X -163227.1,499.7,285.3,195316.4,-3654.4

_SM_ANGLEo -52.4 KALMAN_Y 58715.2,64.9,-89.0,-49051.2,1521.1

GPS2 060113,200905,-4646.071,442.949,18,0.9,18,-23.5 MHEAD_RNG_PITCHd_Wd 166.6,26063,-16.5,-9.443

SPEED_LIMITS 0.164,0.256 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.6,1.013449 _10V_AH 10.1,16.689

SM_CCo 15645,50.47,0.778,1,0,1798,250.20 FG_AHR_24Vo 0.000

SM_GC 1.55,0.00,0.00,50.47,0.000,0.000,0.778,59,2885,1798,-5.60,0.14,250.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4629.23,436.69,060113,151528 MEM 353940

TT8_MAMPS 0.026215 DATA_FILE_SIZE 57249,779

HUMID 58.74 CAP_FILE_SIZE 107106,0

INTERNAL_PRESSURE 9.33597 CFSIZE 259252224,217767936

TCM_TEMP 10.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,1

XPDR_PINGS 0 GPS 070113,003304,-4648.107,444.898,38,0.9,38,-23.5

_24V_AH 22.0,36.189

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 253 76.46 SBE_CT 515 24 272.19

Roll_motor 56 79 99.20 AA4330 1525 33 1107.31

VBD_pump_during_apogee 294 1786 11555.59 WL_BB2FLVMT 798 105 1845.66

VBD_pump_during_surface 50 778 863.94 QSP2150 318 4 30.73

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 64.57 nil 0 0 0.00

Iridium_during_connect 44 160 157.27 nil 0 0 0.00

Iridium_during_xfer 338 223 1661.64 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 26 5.65

TT8 1893 14 286.05

LPSleep 11120 2 245.97

TT8_Active 413 14 59.39

TT8_Sampling 2304 37 871.32

TT8_CF8 617 47 294.18

TT8_Kalman 33 59 19.93

Analog_circuits 1169 12 141.70

GPS_charging 0 0 0.00

Compass 1801 15 286.21

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 0 107 0.00 0.00 -78.57 0.000 2 0.000 0.000 58 2915 3288 0 0 0 0 0 0

114 -0.61 -146.1 3.2 -2.8 10 132 6.65 1.52 -3.28 0.000 4 0.253 0.070 1638 3869 3414 0 0 0 0 0 0

368 -0.61 -146.1 42.0 -12.5 50 377 0.00 1.50 0.00 0.000 6 0.000 0.034 1638 2884 3417 0 0 0 0 0 0

617 -0.61 -146.1 73.8 -13.3 91 621 0.00 2.12 0.00 0.000 4 0.000 0.036 1638 1494 3417 0 0 0 0 0 0

671 -0.61 -146.1 81.1 -12.2 100 678 0.00 2.17 0.00 0.000 6 0.000 0.053 1628 2851 3416 0 0 0 0 0 0

1018 -0.61 -146.1 124.0 -12.2 139 1022 0.00 1.65 0.00 0.000 4 0.000 0.059 1620 3892 3418 0 0 0 0 0 0

1098 -0.61 -146.1 134.4 -12.2 143 1106 0.08 1.52 0.00 0.000 6 0.163 0.031 1643 2877 3417 0 0 0 0 0 0

1425 -0.61 -146.1 166.5 -9.9 164 1429 0.00 1.65 0.00 0.000 4 0.000 0.060 1636 3913 3419 0 0 0 0 0 0

1483 -0.61 -146.1 172.9 -9.6 167 1487 0.00 1.55 0.00 0.000 6 0.000 0.031 1636 2885 3419 0 0 0 0 0 0

1810 -0.61 -146.1 206.8 -11.0 188 1811 0.00 0.00 0.00 0.000 6 0.000 0.000 1636 2881 3419 0 0 0 0 0 0

2122 -0.61 -146.1 242.4 -11.1 208 2123 0.00 0.00 0.00 0.000 6 0.000 0.000 1636 2881 3419 0 0 0 0 0 0

2450 -0.61 -146.1 278.2 -11.1 225 2451 0.00 0.00 0.00 0.000 6 0.000 0.000 1636 2881 3419 0 0 0 0 0 0

2757 -0.61 -146.1 313.0 -11.4 240 2761 0.00 1.62 0.00 0.000 4 0.000 0.061 1628 3916 3419 0 0 0 0 0 0

2837 -0.61 -146.1 323.1 -12.2 243 2841 0.00 1.58 0.00 0.000 6 0.000 0.032 1628 2871 3419 0 0 0 0 0 0

3163 -0.61 -146.1 361.4 -11.7 259 3164 0.00 0.00 0.00 0.000 6 0.000 0.000 1628 2866 3419 0 0 0 0 0 0

3471 -0.61 -146.1 396.7 -11.4 274 3474 0.00 1.62 0.00 0.000 4 0.000 0.061 1620 3903 3419 0 0 0 0 0 0

3506 -0.61 -146.1 401.4 -12.6 275 3509 0.00 1.55 0.00 0.000 6 0.000 0.032 1620 2874 3419 0 0 0 0 0 0

3826 -0.61 -146.1 439.2 -12.1 286 3828 0.12 0.00 0.00 0.000 6 0.190 0.000 1651 2870 3418 0 0 0 0 0 0

4132 -0.61 -146.1 468.7 -9.5 296 4133 0.00 0.00 0.00 0.000 6 0.000 0.000 1651 2870 3419 0 0 0 0 0 0

4438 -0.61 -146.1 498.8 -10.0 306 4439 0.00 0.00 0.00 0.000 6 0.000 0.000 1651 2870 3419 0 0 0 0 0 0

4746 -0.61 -146.1 529.1 -9.8 316 4747 0.00 0.00 0.00 0.000 6 0.000 0.000 1651 2870 3419 0 0 0 0 0 0

5051 -0.61 -146.1 557.5 -9.0 326 5052 0.00 0.00 0.00 0.000 6 0.000 0.000 1651 2870 3418 0 0 0 0 0 0

5357 -0.61 -146.1 583.7 -8.2 336 5358 0.00 0.00 0.00 0.000 6 0.000 0.000 1651 2870 3418 0 0 0 0 0 0

5664 -0.61 -146.1 607.6 -7.6 346 5665 0.00 0.00 0.00 0.000 6 0.000 0.000 1651 2870 3418 0 0 0 0 0 0

5970 -0.61 -146.1 631.1 -7.9 356 5971 0.00 0.00 0.00 0.000 6 0.000 0.000 1651 2870 3417 0 0 0 0 0 0

6278 -0.61 -146.1 655.9 -8.0 366 6279 0.00 0.00 0.00 0.000 6 0.000 0.000 1651 2870 3417 0 0 0 0 0 0

6582 -0.61 -146.1 680.4 -8.2 376 6583 0.00 0.00 0.00 0.000 6 0.000 0.000 1651 2870 3417 0 0 0 0 0 0

6889 -0.61 -146.1 706.4 -8.7 386 6890 0.00 0.00 0.00 0.000 6 0.000 0.000 1651 2870 3417 0 0 0 0 0 0

7195 -0.61 -146.1 733.4 -8.7 396 7196 0.00 0.00 0.00 0.000 6 0.000 0.000 1651 2870 3417 0 0 0 0 0 0

7501 -0.61 -146.1 759.8 -8.7 406 7502 0.00 0.00 0.00 0.000 6 0.000 0.000 1651 2870 3416 0 0 0 0 0 0

7807 -0.61 -146.1 784.6 -7.8 416 7808 0.00 0.00 0.00 0.000 6 0.000 0.000 1651 2870 3416 0 0 0 0 0 0

8113 -0.61 -146.1 806.4 -6.9 426 8114 0.00 0.00 0.00 0.000 6 0.000 0.000 1651 2870 3415 0 0 0 0 0 0

8420 -0.61 -146.1 826.5 -6.7 436 8421 0.00 0.00 0.00 0.000 6 0.000 0.000 1651 2870 3415 0 0 0 0 0 0

8726 -0.61 -146.1 846.7 -6.5 446 8727 0.00 0.00 0.00 0.000 6 0.000 0.000 1651 2870 3415 0 0 0 0 0 0

9032 -0.61 -146.1 867.4 -6.6 456 9033 0.00 0.00 0.00 0.000 6 0.000 0.000 1651 2870 3415 0 0 0 0 0 0

9338 -0.61 -146.1 888.4 -7.1 466 9339 0.00 0.00 0.00 0.000 6 0.000 0.000 1651 2870 3415 0 0 0 0 0 0

9644 -0.61 -146.1 911.7 -7.9 476 9646 0.00 0.00 0.00 0.000 6 0.000 0.000 1651 2869 3414 0 0 0 0 0 0

9951 -0.61 -146.1 936.8 -8.3 486 9954 0.00 2.08 0.00 0.000 4 0.000 0.038 1651 1502 3414 0 0 0 0 0 0

9988 -0.61 -146.1 939.8 -8.2 487 9992 0.00 2.20 0.00 0.000 6 0.000 0.056 1643 2890 3414 0 0 0 0 0 0

10326 -0.61 -146.1 968.9 -8.7 498 10327 0.00 0.00 0.00 0.000 6 0.000 0.000 1643 2890 3414 0 0 0 0 0 0

10633 -0.61 -146.1 993.0 -7.3 508 10634 0.00 0.00 0.00 0.000 6 0.000 0.000 1643 2890 3414 0 0 0 0 0 0

10749 end dive: TARGET_DEPTH_EXCEEDED

state 10749 begin apogee

10760 -0.18 0.0 1001.6 7.0 512 10908 0.47 0.00 144.60 1.239 6 0.158 0.000 1784 2719 2819 0 0 0 0 0 0

10910 end apogee: CONTROL_FINISHED_OK

state 10910 begin climb

10915 0.61 146.1 1003.6 0.0 517 11077 0.77 2.53 149.45 1.786 4 0.087 0.042 2058 1304 2225 0 0 0 0 1 0

11130 0.61 146.1 966.5 21.0 523 11134 0.00 2.45 0.00 0.000 6 0.000 0.051 2058 2695 2221 0 0 0 0 0 0

11445 0.61 146.1 888.3 24.2 533 11446 0.00 0.00 0.00 0.000 6 0.000 0.000 2058 2696 2217 0 0 0 0 0 0

11753 0.61 146.1 817.2 22.6 543 11757 0.00 2.25 0.00 0.000 4 0.000 0.043 2069 1294 2216 0 0 0 0 0 0

11810 0.61 146.1 803.8 19.9 544 11817 0.00 2.30 0.00 0.000 6 0.000 0.054 2069 2704 2214 0 0 0 0 0 0

12125 0.61 146.1 730.1 23.6 555 12127 0.00 0.00 0.00 0.000 6 0.000 0.000 2069 2704 2213 0 0 0 0 0 0

12432 0.61 146.1 658.7 22.9 565 12436 0.00 2.20 0.00 0.000 4 0.000 0.044 2079 1300 2213 0 0 0 0 0 0

12472 0.61 146.1 649.1 23.2 566 12477 0.12 2.25 0.00 0.000 6 0.225 0.053 2053 2706 2211 0 0 0 0 0 0

12812 0.61 146.1 577.0 21.2 577 12813 0.00 0.00 0.00 0.000 6 0.000 0.000 2053 2706 2211 0 0 0 0 0 0

13116 0.61 146.1 512.1 21.1 587 13118 0.00 0.00 0.00 0.000 6 0.000 0.000 2053 2706 2211 0 0 0 0 0 0

13424 0.61 146.1 445.7 21.8 597 13428 0.00 2.20 0.00 0.000 4 0.000 0.043 2062 1292 2211 0 0 0 0 0 0

13465 0.61 146.1 436.4 19.3 598 13469 0.00 2.25 0.00 0.000 6 0.000 0.052 2062 2708 2210 0 0 0 0 0 0

13785 0.61 146.1 365.3 22.8 611 13789 0.00 2.22 0.00 0.000 4 0.000 0.044 2072 1294 2210 0 0 0 0 0 0

13829 0.61 146.1 355.5 20.9 613 13833 0.00 2.25 0.00 0.000 6 0.000 0.053 2072 2703 2210 0 0 0 0 0 0

14167 0.61 146.1 279.7 22.1 629 14168 0.00 0.00 0.00 0.000 6 0.000 0.000 2072 2704 2210 0 0 0 0 0 0

14483 0.61 146.1 211.0 21.4 647 14484 0.00 0.00 0.00 0.000 6 0.000 0.000 2072 2704 2210 0 0 0 0 0 0

14795 0.61 146.1 146.3 20.7 667 14799 0.00 2.17 0.00 0.000 4 0.000 0.044 2083 1300 2210 0 0 0 0 0 0

14858 0.61 146.1 133.1 19.6 670 14868 0.10 2.28 0.00 0.000 6 0.208 0.053 2055 2708 2210 0 0 0 0 0 0

15196 0.61 146.1 71.7 17.2 709 15201 0.00 2.20 0.00 0.000 4 0.000 0.043 2064 1292 2210 0 0 0 0 0 0

15257 0.61 146.1 62.1 15.1 719 15262 0.00 2.25 0.00 0.000 6 0.000 0.053 2065 2703 2209 0 0 0 0 0 0

15597 end climb: SURFACE_DEPTH_REACHED

state 15597 begin surface coast

15623 end surface coast: CONTROL_FINISHED_OK

state 15623 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	186	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	63	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	58	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	-11050.454	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	060113,195804,-4646.048,442.910,37,1.0,37,-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	0.153,-0.204
_SM_DEPTHo	1.41	KALMAN_X	-163227.1,499.7,285.3,195316.4,-3654.4
_SM_ANGLEo	-52.4	KALMAN_Y	58715.2,64.9,-89.0,-49051.2,1521.1
GPS2	060113,200905,-4646.071,442.949,18,0.9,18,-23.5	MHEAD_RNG_PITCHd_Wd	166.6,26063,-16.5,-9.443
SPEED_LIMITS	0.164,0.256	D_GRID	1000

FINISH	0.6,1.013449	_10V_AH	10.1,16.689
SM_CCo	15645,50.47,0.778,1,0,1798,250.20	FG_AHR_24Vo	0.000
SM_GC	1.55,0.00,0.00,50.47,0.000,0.000,0.778,59,2885,1798,-5.60,0.14,250.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4629.23,436.69,060113,151528	MEM	353940
TT8_MAMPS	0.026215	DATA_FILE_SIZE	57249,779
HUMID	58.74	CAP_FILE_SIZE	107106,0
INTERNAL_PRESSURE	9.33597	CFSIZE	259252224,217767936
TCM_TEMP	10.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
XPDR_PINGS	0	GPS	070113,003304,-4648.107,444.898,38,0.9,38,-23.5
_24V_AH	22.0,36.189

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	253	76.46	SBE_CT	515	24	272.19
Roll_motor	56	79	99.20	AA4330	1525	33	1107.31
VBD_pump_during_apogee	294	1786	11555.59	WL_BB2FLVMT	798	105	1845.66
VBD_pump_during_surface	50	778	863.94	QSP2150	318	4	30.73
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	64.57	nil	0	0	0.00
Iridium_during_connect	44	160	157.27	nil	0	0	0.00
Iridium_during_xfer	338	223	1661.64	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	26	5.65
TT8	1893	14	286.05
LPSleep	11120	2	245.97
TT8_Active	413	14	59.39
TT8_Sampling	2304	37	871.32
TT8_CF8	617	47	294.18
TT8_Kalman	33	59	19.93
Analog_circuits	1169	12	141.70
GPS_charging	0	0	0.00
Compass	1801	15	286.21
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	107	0.00	0.00	-78.57	0.000	2	0.000	0.000	58	2915	3288	0	0	0	0	0	0
114	-0.61	-146.1	3.2	-2.8	10	132	6.65	1.52	-3.28	0.000	4	0.253	0.070	1638	3869	3414	0	0	0	0	0	0
368	-0.61	-146.1	42.0	-12.5	50	377	0.00	1.50	0.00	0.000	6	0.000	0.034	1638	2884	3417	0	0	0	0	0	0
617	-0.61	-146.1	73.8	-13.3	91	621	0.00	2.12	0.00	0.000	4	0.000	0.036	1638	1494	3417	0	0	0	0	0	0
671	-0.61	-146.1	81.1	-12.2	100	678	0.00	2.17	0.00	0.000	6	0.000	0.053	1628	2851	3416	0	0	0	0	0	0
1018	-0.61	-146.1	124.0	-12.2	139	1022	0.00	1.65	0.00	0.000	4	0.000	0.059	1620	3892	3418	0	0	0	0	0	0
1098	-0.61	-146.1	134.4	-12.2	143	1106	0.08	1.52	0.00	0.000	6	0.163	0.031	1643	2877	3417	0	0	0	0	0	0
1425	-0.61	-146.1	166.5	-9.9	164	1429	0.00	1.65	0.00	0.000	4	0.000	0.060	1636	3913	3419	0	0	0	0	0	0
1483	-0.61	-146.1	172.9	-9.6	167	1487	0.00	1.55	0.00	0.000	6	0.000	0.031	1636	2885	3419	0	0	0	0	0	0
1810	-0.61	-146.1	206.8	-11.0	188	1811	0.00	0.00	0.00	0.000	6	0.000	0.000	1636	2881	3419	0	0	0	0	0	0
2122	-0.61	-146.1	242.4	-11.1	208	2123	0.00	0.00	0.00	0.000	6	0.000	0.000	1636	2881	3419	0	0	0	0	0	0
2450	-0.61	-146.1	278.2	-11.1	225	2451	0.00	0.00	0.00	0.000	6	0.000	0.000	1636	2881	3419	0	0	0	0	0	0
2757	-0.61	-146.1	313.0	-11.4	240	2761	0.00	1.62	0.00	0.000	4	0.000	0.061	1628	3916	3419	0	0	0	0	0	0
2837	-0.61	-146.1	323.1	-12.2	243	2841	0.00	1.58	0.00	0.000	6	0.000	0.032	1628	2871	3419	0	0	0	0	0	0
3163	-0.61	-146.1	361.4	-11.7	259	3164	0.00	0.00	0.00	0.000	6	0.000	0.000	1628	2866	3419	0	0	0	0	0	0
3471	-0.61	-146.1	396.7	-11.4	274	3474	0.00	1.62	0.00	0.000	4	0.000	0.061	1620	3903	3419	0	0	0	0	0	0
3506	-0.61	-146.1	401.4	-12.6	275	3509	0.00	1.55	0.00	0.000	6	0.000	0.032	1620	2874	3419	0	0	0	0	0	0
3826	-0.61	-146.1	439.2	-12.1	286	3828	0.12	0.00	0.00	0.000	6	0.190	0.000	1651	2870	3418	0	0	0	0	0	0
4132	-0.61	-146.1	468.7	-9.5	296	4133	0.00	0.00	0.00	0.000	6	0.000	0.000	1651	2870	3419	0	0	0	0	0	0
4438	-0.61	-146.1	498.8	-10.0	306	4439	0.00	0.00	0.00	0.000	6	0.000	0.000	1651	2870	3419	0	0	0	0	0	0
4746	-0.61	-146.1	529.1	-9.8	316	4747	0.00	0.00	0.00	0.000	6	0.000	0.000	1651	2870	3419	0	0	0	0	0	0
5051	-0.61	-146.1	557.5	-9.0	326	5052	0.00	0.00	0.00	0.000	6	0.000	0.000	1651	2870	3418	0	0	0	0	0	0
5357	-0.61	-146.1	583.7	-8.2	336	5358	0.00	0.00	0.00	0.000	6	0.000	0.000	1651	2870	3418	0	0	0	0	0	0
5664	-0.61	-146.1	607.6	-7.6	346	5665	0.00	0.00	0.00	0.000	6	0.000	0.000	1651	2870	3418	0	0	0	0	0	0
5970	-0.61	-146.1	631.1	-7.9	356	5971	0.00	0.00	0.00	0.000	6	0.000	0.000	1651	2870	3417	0	0	0	0	0	0
6278	-0.61	-146.1	655.9	-8.0	366	6279	0.00	0.00	0.00	0.000	6	0.000	0.000	1651	2870	3417	0	0	0	0	0	0
6582	-0.61	-146.1	680.4	-8.2	376	6583	0.00	0.00	0.00	0.000	6	0.000	0.000	1651	2870	3417	0	0	0	0	0	0
6889	-0.61	-146.1	706.4	-8.7	386	6890	0.00	0.00	0.00	0.000	6	0.000	0.000	1651	2870	3417	0	0	0	0	0	0
7195	-0.61	-146.1	733.4	-8.7	396	7196	0.00	0.00	0.00	0.000	6	0.000	0.000	1651	2870	3417	0	0	0	0	0	0
7501	-0.61	-146.1	759.8	-8.7	406	7502	0.00	0.00	0.00	0.000	6	0.000	0.000	1651	2870	3416	0	0	0	0	0	0
7807	-0.61	-146.1	784.6	-7.8	416	7808	0.00	0.00	0.00	0.000	6	0.000	0.000	1651	2870	3416	0	0	0	0	0	0
8113	-0.61	-146.1	806.4	-6.9	426	8114	0.00	0.00	0.00	0.000	6	0.000	0.000	1651	2870	3415	0	0	0	0	0	0
8420	-0.61	-146.1	826.5	-6.7	436	8421	0.00	0.00	0.00	0.000	6	0.000	0.000	1651	2870	3415	0	0	0	0	0	0
8726	-0.61	-146.1	846.7	-6.5	446	8727	0.00	0.00	0.00	0.000	6	0.000	0.000	1651	2870	3415	0	0	0	0	0	0
9032	-0.61	-146.1	867.4	-6.6	456	9033	0.00	0.00	0.00	0.000	6	0.000	0.000	1651	2870	3415	0	0	0	0	0	0
9338	-0.61	-146.1	888.4	-7.1	466	9339	0.00	0.00	0.00	0.000	6	0.000	0.000	1651	2870	3415	0	0	0	0	0	0
9644	-0.61	-146.1	911.7	-7.9	476	9646	0.00	0.00	0.00	0.000	6	0.000	0.000	1651	2869	3414	0	0	0	0	0	0
9951	-0.61	-146.1	936.8	-8.3	486	9954	0.00	2.08	0.00	0.000	4	0.000	0.038	1651	1502	3414	0	0	0	0	0	0
9988	-0.61	-146.1	939.8	-8.2	487	9992	0.00	2.20	0.00	0.000	6	0.000	0.056	1643	2890	3414	0	0	0	0	0	0
10326	-0.61	-146.1	968.9	-8.7	498	10327	0.00	0.00	0.00	0.000	6	0.000	0.000	1643	2890	3414	0	0	0	0	0	0
10633	-0.61	-146.1	993.0	-7.3	508	10634	0.00	0.00	0.00	0.000	6	0.000	0.000	1643	2890	3414	0	0	0	0	0	0
10749	end dive: TARGET_DEPTH_EXCEEDED
state	10749	begin apogee
10760	-0.18	0.0	1001.6	7.0	512	10908	0.47	0.00	144.60	1.239	6	0.158	0.000	1784	2719	2819	0	0	0	0	0	0
10910	end apogee: CONTROL_FINISHED_OK
state	10910	begin climb
10915	0.61	146.1	1003.6	0.0	517	11077	0.77	2.53	149.45	1.786	4	0.087	0.042	2058	1304	2225	0	0	0	0	1	0
11130	0.61	146.1	966.5	21.0	523	11134	0.00	2.45	0.00	0.000	6	0.000	0.051	2058	2695	2221	0	0	0	0	0	0
11445	0.61	146.1	888.3	24.2	533	11446	0.00	0.00	0.00	0.000	6	0.000	0.000	2058	2696	2217	0	0	0	0	0	0
11753	0.61	146.1	817.2	22.6	543	11757	0.00	2.25	0.00	0.000	4	0.000	0.043	2069	1294	2216	0	0	0	0	0	0
11810	0.61	146.1	803.8	19.9	544	11817	0.00	2.30	0.00	0.000	6	0.000	0.054	2069	2704	2214	0	0	0	0	0	0
12125	0.61	146.1	730.1	23.6	555	12127	0.00	0.00	0.00	0.000	6	0.000	0.000	2069	2704	2213	0	0	0	0	0	0
12432	0.61	146.1	658.7	22.9	565	12436	0.00	2.20	0.00	0.000	4	0.000	0.044	2079	1300	2213	0	0	0	0	0	0
12472	0.61	146.1	649.1	23.2	566	12477	0.12	2.25	0.00	0.000	6	0.225	0.053	2053	2706	2211	0	0	0	0	0	0
12812	0.61	146.1	577.0	21.2	577	12813	0.00	0.00	0.00	0.000	6	0.000	0.000	2053	2706	2211	0	0	0	0	0	0
13116	0.61	146.1	512.1	21.1	587	13118	0.00	0.00	0.00	0.000	6	0.000	0.000	2053	2706	2211	0	0	0	0	0	0
13424	0.61	146.1	445.7	21.8	597	13428	0.00	2.20	0.00	0.000	4	0.000	0.043	2062	1292	2211	0	0	0	0	0	0
13465	0.61	146.1	436.4	19.3	598	13469	0.00	2.25	0.00	0.000	6	0.000	0.052	2062	2708	2210	0	0	0	0	0	0
13785	0.61	146.1	365.3	22.8	611	13789	0.00	2.22	0.00	0.000	4	0.000	0.044	2072	1294	2210	0	0	0	0	0	0
13829	0.61	146.1	355.5	20.9	613	13833	0.00	2.25	0.00	0.000	6	0.000	0.053	2072	2703	2210	0	0	0	0	0	0
14167	0.61	146.1	279.7	22.1	629	14168	0.00	0.00	0.00	0.000	6	0.000	0.000	2072	2704	2210	0	0	0	0	0	0
14483	0.61	146.1	211.0	21.4	647	14484	0.00	0.00	0.00	0.000	6	0.000	0.000	2072	2704	2210	0	0	0	0	0	0
14795	0.61	146.1	146.3	20.7	667	14799	0.00	2.17	0.00	0.000	4	0.000	0.044	2083	1300	2210	0	0	0	0	0	0
14858	0.61	146.1	133.1	19.6	670	14868	0.10	2.28	0.00	0.000	6	0.208	0.053	2055	2708	2210	0	0	0	0	0	0
15196	0.61	146.1	71.7	17.2	709	15201	0.00	2.20	0.00	0.000	4	0.000	0.043	2064	1292	2210	0	0	0	0	0	0
15257	0.61	146.1	62.1	15.1	719	15262	0.00	2.25	0.00	0.000	6	0.000	0.053	2065	2703	2209	0	0	0	0	0	0
15597	end climb: SURFACE_DEPTH_REACHED
state	15597	begin surface coast
15623	end surface coast: CONTROL_FINISHED_OK
state	15623	begin surface