Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 188 * 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 188 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 43 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 34 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 -11060.622 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 -11060.622

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 43 VBD_MAX 3961

DEVICE2 101 MASS 52816 R_STBD_OVSHOOT 34 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 188 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 070113,045504,-4650.343,445.380,31,0.9,31,-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 0.038,-0.253

_SM_DEPTHo 1.56 KALMAN_X -163981.8,210.6,89.0,199742.6,-2008.3

_SM_ANGLEo -59.7 KALMAN_Y 60613.8,-379.2,-16.2,-58468.0,2248.3

GPS2 070113,050451,-4650.331,445.458,17,0.8,19,-23.5 MHEAD_RNG_PITCHd_Wd 194.9,19188,-16.5,-9.443

SPEED_LIMITS 0.164,0.256 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.7,1.026448 _10V_AH 10.1,16.886

SM_CCo 14933,50.30,0.780,1,0,1797,250.20 FG_AHR_24Vo 0.000

SM_GC 1.61,0.00,0.00,50.30,0.000,0.000,0.780,62,2887,1797,-5.59,0.20,250.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4632.36,443.47,070113,000034 MEM 353952

TT8_MAMPS 0.026215 DATA_FILE_SIZE 53822,736

HUMID 59.01 CAP_FILE_SIZE 101600,0

INTERNAL_PRESSURE 9.3262 CFSIZE 259252224,217657344

TCM_TEMP 10.60 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,4,1

XPDR_PINGS 0 GPS 070113,091704,-4652.519,445.431,41,1.0,41,-23.5

_24V_AH 22.0,36.509

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 250 75.35 SBE_CT 487 24 257.28

Roll_motor 57 80 101.70 AA4330 1439 33 1044.80

VBD_pump_during_apogee 299 1759 11600.12 WL_BB2FLVMT 746 105 1723.66

VBD_pump_during_surface 50 780 863.48 QSP2150 289 4 27.91

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 61.92 nil 0 0 0.00

Iridium_during_connect 23 160 83.48 nil 0 0 0.00

Iridium_during_xfer 304 223 1495.35 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 24 26 6.76

TT8 1798 14 271.71

LPSleep 10610 2 234.69

TT8_Active 470 14 67.54

TT8_Sampling 2109 37 797.63

TT8_CF8 577 47 275.16

TT8_Kalman 33 59 19.93

Analog_circuits 1155 12 140.07

GPS_charging 0 0 0.00

Compass 1669 15 265.16

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 -71.03 0.000 2 0.000 0.000 58 2898 3130 0 0 0 0 0 0

106 -0.61 -146.1 3.0 -2.7 9 125 6.60 1.65 -7.80 0.000 4 0.251 0.080 1637 3890 3417 0 0 0 0 0 0

256 -0.61 -146.1 26.5 -14.4 31 265 0.00 1.58 0.00 0.000 6 0.000 0.033 1637 2866 3420 0 0 0 0 0 0

340 -0.61 -146.1 38.9 -13.2 44 350 0.00 0.00 0.00 0.000 6 0.000 0.000 1637 2866 3420 0 0 0 0 0 0

588 -0.61 -146.1 73.3 -14.5 85 592 0.00 0.00 0.00 0.000 6 0.000 0.000 1637 2866 3421 0 0 0 0 0 0

937 -0.61 -146.1 116.0 -12.2 131 941 0.00 1.65 0.00 0.000 4 0.000 0.065 1629 3889 3421 0 0 0 0 0 0

1002 -0.61 -146.1 124.7 -12.8 134 1011 0.00 1.55 0.00 0.000 6 0.000 0.033 1629 2865 3421 0 0 0 0 0 0

1325 -0.61 -146.1 165.0 -12.7 155 1327 0.00 0.00 0.00 0.000 6 0.000 0.000 1629 2864 3421 0 0 0 0 0 0

1637 -0.61 -146.1 203.1 -11.6 175 1638 0.00 0.00 0.00 0.000 6 0.000 0.000 1629 2864 3422 0 0 0 0 0 0

1950 -0.61 -146.1 240.6 -12.3 195 1954 0.00 1.67 0.00 0.000 4 0.000 0.065 1621 3891 3422 0 0 0 0 0 0

1989 -0.61 -146.1 245.6 -13.2 197 1993 0.00 1.52 0.00 0.000 6 0.000 0.034 1621 2885 3422 0 0 0 0 0 0

2315 -0.61 -146.1 287.7 -12.7 213 2317 0.10 0.00 0.00 0.000 6 0.198 0.000 1645 2880 3422 0 0 0 0 0 0

2622 -0.61 -146.1 320.1 -10.1 228 2624 0.00 0.00 0.00 0.000 6 0.000 0.000 1644 2880 3422 0 0 0 0 0 0

2934 -0.61 -146.1 353.1 -11.1 243 2935 0.00 0.00 0.00 0.000 6 0.000 0.000 1644 2880 3423 0 0 0 0 0 0

3241 -0.61 -146.1 387.3 -11.2 258 3242 0.00 0.00 0.00 0.000 6 0.000 0.000 1644 2880 3422 0 0 0 0 0 0

3549 -0.61 -146.1 421.8 -11.1 270 3550 0.00 0.00 0.00 0.000 6 0.000 0.000 1644 2880 3422 0 0 0 0 0 0

3856 -0.61 -146.1 453.8 -10.1 280 3857 0.00 0.00 0.00 0.000 6 0.000 0.000 1644 2880 3422 0 0 0 0 0 0

4161 -0.61 -146.1 482.7 -9.4 290 4162 0.00 0.00 0.00 0.000 6 0.000 0.000 1644 2880 3422 0 0 0 0 0 0

4469 -0.61 -146.1 510.7 -9.1 300 4470 0.00 0.00 0.00 0.000 6 0.000 0.000 1644 2880 3422 0 0 0 0 0 0

4774 -0.61 -146.1 538.4 -8.9 310 4775 0.00 0.00 0.00 0.000 6 0.000 0.000 1644 2880 3422 0 0 0 0 0 0

5080 -0.61 -146.1 565.8 -9.0 320 5081 0.00 0.00 0.00 0.000 6 0.000 0.000 1645 2880 3422 0 0 0 0 0 0

5386 -0.61 -146.1 591.4 -8.0 330 5387 0.00 0.00 0.00 0.000 6 0.000 0.000 1644 2880 3422 0 0 0 0 0 0

5694 -0.61 -146.1 616.2 -8.2 340 5698 0.00 2.12 0.00 0.000 4 0.000 0.038 1645 1497 3421 0 0 0 0 0 0

5746 -0.61 -146.1 620.7 -8.4 341 5750 0.00 2.20 0.00 0.000 6 0.000 0.058 1635 2878 3421 0 0 0 0 0 0

6066 -0.61 -146.1 651.0 -10.0 352 6068 0.00 0.00 0.00 0.000 6 0.000 0.000 1635 2878 3421 0 0 0 0 0 0

6373 -0.61 -146.1 683.2 -10.5 362 6374 0.00 0.00 0.00 0.000 6 0.000 0.000 1635 2878 3421 0 0 0 0 0 0

6679 -0.61 -146.1 714.7 -10.2 372 6680 0.00 0.00 0.00 0.000 6 0.000 0.000 1635 2878 3421 0 0 0 0 0 0

6986 -0.61 -146.1 744.6 -9.3 382 6989 0.00 2.12 0.00 0.000 4 0.000 0.037 1635 1484 3420 0 0 0 0 0 0

7023 -0.61 -146.1 748.0 -8.3 383 7027 0.00 2.22 0.00 0.000 6 0.000 0.057 1625 2881 3420 0 0 0 0 0 0

7368 -0.61 -146.1 780.1 -9.2 394 7369 0.00 0.00 0.00 0.000 6 0.000 0.000 1624 2881 3420 0 0 0 0 0 0

7673 -0.61 -146.1 809.0 -9.4 404 7676 0.00 1.62 0.00 0.000 4 0.000 0.067 1617 3895 3419 0 0 0 0 0 0

7713 -0.61 -146.1 813.2 -10.1 405 7717 0.08 1.55 0.00 0.000 6 0.154 0.034 1657 2873 3420 0 0 0 0 0 0

8051 -0.61 -146.1 837.5 -7.1 416 8052 0.00 0.00 0.00 0.000 6 0.000 0.000 1657 2871 3419 0 0 0 0 0 0

8357 -0.61 -146.1 859.1 -7.0 426 8361 0.00 2.08 0.00 0.000 4 0.000 0.038 1657 1489 3419 0 0 0 0 0 0

8404 -0.61 -146.1 862.8 -7.6 427 8408 0.00 2.22 0.00 0.000 6 0.000 0.058 1649 2888 3419 0 0 0 0 0 0

8725 -0.61 -146.1 886.1 -7.4 438 8726 0.00 0.00 0.00 0.000 6 0.000 0.000 1648 2890 3418 0 0 0 0 0 0

9031 -0.61 -146.1 910.2 -8.1 448 9032 0.00 0.00 0.00 0.000 6 0.000 0.000 1648 2890 3418 0 0 0 0 0 0

9337 -0.61 -146.1 936.4 -8.8 458 9339 0.00 0.00 0.00 0.000 6 0.000 0.000 1648 2889 3418 0 0 0 0 0 0

9643 -0.61 -146.1 962.2 -8.3 468 9645 0.00 0.00 0.00 0.000 6 0.000 0.000 1648 2890 3418 0 0 0 0 0 0

9950 -0.61 -146.1 987.3 -8.1 478 9954 0.00 2.15 0.00 0.000 4 0.000 0.037 1648 1487 3418 0 0 0 0 0 0

9991 -0.61 -146.1 991.0 -8.0 479 9995 0.00 2.25 0.00 0.000 6 0.000 0.057 1639 2888 3418 0 0 0 0 0 0

10098 end dive: TARGET_DEPTH_EXCEEDED

state 10098 begin apogee

10109 -0.18 0.0 1000.5 8.7 483 10257 0.50 0.00 145.52 1.248 6 0.154 0.000 1789 2705 2819 0 0 0 0 0 0

10259 end apogee: CONTROL_FINISHED_OK

state 10259 begin climb

10264 0.61 146.1 1005.2 0.0 488 10437 0.75 0.00 154.15 1.760 6 0.063 0.000 2058 2705 2223 0 0 0 0 3 0

10743 0.61 146.1 907.6 23.6 504 10744 0.00 0.00 0.00 0.000 6 0.000 0.000 2058 2705 2220 0 0 0 0 0 0

11045 0.61 146.1 834.7 23.6 514 11049 0.00 2.22 0.00 0.000 4 0.000 0.044 2069 1296 2217 0 0 0 0 0 0

11082 0.61 146.1 826.0 22.8 515 11086 0.00 2.30 0.00 0.000 6 0.000 0.054 2068 2705 2216 0 0 0 0 0 0

11427 0.61 146.1 742.4 24.4 526 11428 0.00 0.00 0.00 0.000 6 0.000 0.000 2068 2705 2215 0 0 0 0 0 0

11732 0.61 146.1 668.5 24.5 536 11736 0.00 2.22 0.00 0.000 4 0.000 0.044 2079 1297 2215 0 0 0 0 0 0

11798 0.61 146.1 653.6 22.6 538 11803 0.12 2.25 0.00 0.000 6 0.222 0.054 2052 2701 2214 0 0 0 0 0 0

12137 0.61 146.1 579.2 21.6 549 12138 0.00 0.00 0.00 0.000 6 0.000 0.000 2052 2700 2214 0 0 0 0 0 0

12444 0.61 146.1 513.2 21.1 559 12445 0.00 0.00 0.00 0.000 6 0.000 0.000 2052 2700 2214 0 0 0 0 0 0

12749 0.61 146.1 451.2 20.3 569 12753 0.00 2.20 0.00 0.000 4 0.000 0.043 2061 1300 2214 0 0 0 0 0 0

12801 0.61 146.1 440.7 18.5 570 12805 0.00 2.25 0.00 0.000 6 0.000 0.054 2061 2700 2213 0 0 0 0 0 0

13127 0.61 146.1 373.0 20.9 582 13128 0.00 0.00 0.00 0.000 6 0.000 0.000 2061 2700 2213 0 0 0 0 0 0

13439 0.61 146.1 307.7 21.5 597 13443 0.00 2.17 0.00 0.000 4 0.000 0.043 2071 1297 2213 0 0 0 0 0 0

13468 0.61 146.1 300.6 20.8 598 13472 0.00 2.25 0.00 0.000 6 0.000 0.054 2072 2699 2212 0 0 0 0 0 0

13789 0.61 146.1 231.6 21.4 615 13791 0.00 0.00 0.00 0.000 6 0.000 0.000 2072 2700 2213 0 0 0 0 0 0

14102 0.61 146.1 165.2 21.3 635 14103 0.00 0.00 0.00 0.000 6 0.000 0.000 2071 2700 2213 0 0 0 0 0 0

14414 0.61 146.1 97.7 21.7 655 14419 0.00 2.17 0.00 0.000 4 0.000 0.043 2082 1297 2213 0 0 0 0 0 0

14456 0.61 146.1 88.1 19.8 662 14464 0.12 2.25 0.00 0.000 6 0.217 0.054 2054 2706 2212 0 0 0 0 0 0

14823 0.61 146.1 15.3 20.2 723 14832 0.00 2.20 0.00 0.000 4 0.000 0.042 2063 1291 2211 0 0 0 0 0 0

14895 end climb: SURFACE_DEPTH_REACHED

state 14895 begin surface coast

14909 end surface coast: CONTROL_FINISHED_OK

state 14909 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	188	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	43	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	34	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	-11060.622	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	070113,045504,-4650.343,445.380,31,0.9,31,-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	0.038,-0.253
_SM_DEPTHo	1.56	KALMAN_X	-163981.8,210.6,89.0,199742.6,-2008.3
_SM_ANGLEo	-59.7	KALMAN_Y	60613.8,-379.2,-16.2,-58468.0,2248.3
GPS2	070113,050451,-4650.331,445.458,17,0.8,19,-23.5	MHEAD_RNG_PITCHd_Wd	194.9,19188,-16.5,-9.443
SPEED_LIMITS	0.164,0.256	D_GRID	1000

FINISH	0.7,1.026448	_10V_AH	10.1,16.886
SM_CCo	14933,50.30,0.780,1,0,1797,250.20	FG_AHR_24Vo	0.000
SM_GC	1.61,0.00,0.00,50.30,0.000,0.000,0.780,62,2887,1797,-5.59,0.20,250.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4632.36,443.47,070113,000034	MEM	353952
TT8_MAMPS	0.026215	DATA_FILE_SIZE	53822,736
HUMID	59.01	CAP_FILE_SIZE	101600,0
INTERNAL_PRESSURE	9.3262	CFSIZE	259252224,217657344
TCM_TEMP	10.60	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,4,1
XPDR_PINGS	0	GPS	070113,091704,-4652.519,445.431,41,1.0,41,-23.5
_24V_AH	22.0,36.509

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	250	75.35	SBE_CT	487	24	257.28
Roll_motor	57	80	101.70	AA4330	1439	33	1044.80
VBD_pump_during_apogee	299	1759	11600.12	WL_BB2FLVMT	746	105	1723.66
VBD_pump_during_surface	50	780	863.48	QSP2150	289	4	27.91
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	61.92	nil	0	0	0.00
Iridium_during_connect	23	160	83.48	nil	0	0	0.00
Iridium_during_xfer	304	223	1495.35	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	24	26	6.76
TT8	1798	14	271.71
LPSleep	10610	2	234.69
TT8_Active	470	14	67.54
TT8_Sampling	2109	37	797.63
TT8_CF8	577	47	275.16
TT8_Kalman	33	59	19.93
Analog_circuits	1155	12	140.07
GPS_charging	0	0	0.00
Compass	1669	15	265.16
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	-71.03	0.000	2	0.000	0.000	58	2898	3130	0	0	0	0	0	0
106	-0.61	-146.1	3.0	-2.7	9	125	6.60	1.65	-7.80	0.000	4	0.251	0.080	1637	3890	3417	0	0	0	0	0	0
256	-0.61	-146.1	26.5	-14.4	31	265	0.00	1.58	0.00	0.000	6	0.000	0.033	1637	2866	3420	0	0	0	0	0	0
340	-0.61	-146.1	38.9	-13.2	44	350	0.00	0.00	0.00	0.000	6	0.000	0.000	1637	2866	3420	0	0	0	0	0	0
588	-0.61	-146.1	73.3	-14.5	85	592	0.00	0.00	0.00	0.000	6	0.000	0.000	1637	2866	3421	0	0	0	0	0	0
937	-0.61	-146.1	116.0	-12.2	131	941	0.00	1.65	0.00	0.000	4	0.000	0.065	1629	3889	3421	0	0	0	0	0	0
1002	-0.61	-146.1	124.7	-12.8	134	1011	0.00	1.55	0.00	0.000	6	0.000	0.033	1629	2865	3421	0	0	0	0	0	0
1325	-0.61	-146.1	165.0	-12.7	155	1327	0.00	0.00	0.00	0.000	6	0.000	0.000	1629	2864	3421	0	0	0	0	0	0
1637	-0.61	-146.1	203.1	-11.6	175	1638	0.00	0.00	0.00	0.000	6	0.000	0.000	1629	2864	3422	0	0	0	0	0	0
1950	-0.61	-146.1	240.6	-12.3	195	1954	0.00	1.67	0.00	0.000	4	0.000	0.065	1621	3891	3422	0	0	0	0	0	0
1989	-0.61	-146.1	245.6	-13.2	197	1993	0.00	1.52	0.00	0.000	6	0.000	0.034	1621	2885	3422	0	0	0	0	0	0
2315	-0.61	-146.1	287.7	-12.7	213	2317	0.10	0.00	0.00	0.000	6	0.198	0.000	1645	2880	3422	0	0	0	0	0	0
2622	-0.61	-146.1	320.1	-10.1	228	2624	0.00	0.00	0.00	0.000	6	0.000	0.000	1644	2880	3422	0	0	0	0	0	0
2934	-0.61	-146.1	353.1	-11.1	243	2935	0.00	0.00	0.00	0.000	6	0.000	0.000	1644	2880	3423	0	0	0	0	0	0
3241	-0.61	-146.1	387.3	-11.2	258	3242	0.00	0.00	0.00	0.000	6	0.000	0.000	1644	2880	3422	0	0	0	0	0	0
3549	-0.61	-146.1	421.8	-11.1	270	3550	0.00	0.00	0.00	0.000	6	0.000	0.000	1644	2880	3422	0	0	0	0	0	0
3856	-0.61	-146.1	453.8	-10.1	280	3857	0.00	0.00	0.00	0.000	6	0.000	0.000	1644	2880	3422	0	0	0	0	0	0
4161	-0.61	-146.1	482.7	-9.4	290	4162	0.00	0.00	0.00	0.000	6	0.000	0.000	1644	2880	3422	0	0	0	0	0	0
4469	-0.61	-146.1	510.7	-9.1	300	4470	0.00	0.00	0.00	0.000	6	0.000	0.000	1644	2880	3422	0	0	0	0	0	0
4774	-0.61	-146.1	538.4	-8.9	310	4775	0.00	0.00	0.00	0.000	6	0.000	0.000	1644	2880	3422	0	0	0	0	0	0
5080	-0.61	-146.1	565.8	-9.0	320	5081	0.00	0.00	0.00	0.000	6	0.000	0.000	1645	2880	3422	0	0	0	0	0	0
5386	-0.61	-146.1	591.4	-8.0	330	5387	0.00	0.00	0.00	0.000	6	0.000	0.000	1644	2880	3422	0	0	0	0	0	0
5694	-0.61	-146.1	616.2	-8.2	340	5698	0.00	2.12	0.00	0.000	4	0.000	0.038	1645	1497	3421	0	0	0	0	0	0
5746	-0.61	-146.1	620.7	-8.4	341	5750	0.00	2.20	0.00	0.000	6	0.000	0.058	1635	2878	3421	0	0	0	0	0	0
6066	-0.61	-146.1	651.0	-10.0	352	6068	0.00	0.00	0.00	0.000	6	0.000	0.000	1635	2878	3421	0	0	0	0	0	0
6373	-0.61	-146.1	683.2	-10.5	362	6374	0.00	0.00	0.00	0.000	6	0.000	0.000	1635	2878	3421	0	0	0	0	0	0
6679	-0.61	-146.1	714.7	-10.2	372	6680	0.00	0.00	0.00	0.000	6	0.000	0.000	1635	2878	3421	0	0	0	0	0	0
6986	-0.61	-146.1	744.6	-9.3	382	6989	0.00	2.12	0.00	0.000	4	0.000	0.037	1635	1484	3420	0	0	0	0	0	0
7023	-0.61	-146.1	748.0	-8.3	383	7027	0.00	2.22	0.00	0.000	6	0.000	0.057	1625	2881	3420	0	0	0	0	0	0
7368	-0.61	-146.1	780.1	-9.2	394	7369	0.00	0.00	0.00	0.000	6	0.000	0.000	1624	2881	3420	0	0	0	0	0	0
7673	-0.61	-146.1	809.0	-9.4	404	7676	0.00	1.62	0.00	0.000	4	0.000	0.067	1617	3895	3419	0	0	0	0	0	0
7713	-0.61	-146.1	813.2	-10.1	405	7717	0.08	1.55	0.00	0.000	6	0.154	0.034	1657	2873	3420	0	0	0	0	0	0
8051	-0.61	-146.1	837.5	-7.1	416	8052	0.00	0.00	0.00	0.000	6	0.000	0.000	1657	2871	3419	0	0	0	0	0	0
8357	-0.61	-146.1	859.1	-7.0	426	8361	0.00	2.08	0.00	0.000	4	0.000	0.038	1657	1489	3419	0	0	0	0	0	0
8404	-0.61	-146.1	862.8	-7.6	427	8408	0.00	2.22	0.00	0.000	6	0.000	0.058	1649	2888	3419	0	0	0	0	0	0
8725	-0.61	-146.1	886.1	-7.4	438	8726	0.00	0.00	0.00	0.000	6	0.000	0.000	1648	2890	3418	0	0	0	0	0	0
9031	-0.61	-146.1	910.2	-8.1	448	9032	0.00	0.00	0.00	0.000	6	0.000	0.000	1648	2890	3418	0	0	0	0	0	0
9337	-0.61	-146.1	936.4	-8.8	458	9339	0.00	0.00	0.00	0.000	6	0.000	0.000	1648	2889	3418	0	0	0	0	0	0
9643	-0.61	-146.1	962.2	-8.3	468	9645	0.00	0.00	0.00	0.000	6	0.000	0.000	1648	2890	3418	0	0	0	0	0	0
9950	-0.61	-146.1	987.3	-8.1	478	9954	0.00	2.15	0.00	0.000	4	0.000	0.037	1648	1487	3418	0	0	0	0	0	0
9991	-0.61	-146.1	991.0	-8.0	479	9995	0.00	2.25	0.00	0.000	6	0.000	0.057	1639	2888	3418	0	0	0	0	0	0
10098	end dive: TARGET_DEPTH_EXCEEDED
state	10098	begin apogee
10109	-0.18	0.0	1000.5	8.7	483	10257	0.50	0.00	145.52	1.248	6	0.154	0.000	1789	2705	2819	0	0	0	0	0	0
10259	end apogee: CONTROL_FINISHED_OK
state	10259	begin climb
10264	0.61	146.1	1005.2	0.0	488	10437	0.75	0.00	154.15	1.760	6	0.063	0.000	2058	2705	2223	0	0	0	0	3	0
10743	0.61	146.1	907.6	23.6	504	10744	0.00	0.00	0.00	0.000	6	0.000	0.000	2058	2705	2220	0	0	0	0	0	0
11045	0.61	146.1	834.7	23.6	514	11049	0.00	2.22	0.00	0.000	4	0.000	0.044	2069	1296	2217	0	0	0	0	0	0
11082	0.61	146.1	826.0	22.8	515	11086	0.00	2.30	0.00	0.000	6	0.000	0.054	2068	2705	2216	0	0	0	0	0	0
11427	0.61	146.1	742.4	24.4	526	11428	0.00	0.00	0.00	0.000	6	0.000	0.000	2068	2705	2215	0	0	0	0	0	0
11732	0.61	146.1	668.5	24.5	536	11736	0.00	2.22	0.00	0.000	4	0.000	0.044	2079	1297	2215	0	0	0	0	0	0
11798	0.61	146.1	653.6	22.6	538	11803	0.12	2.25	0.00	0.000	6	0.222	0.054	2052	2701	2214	0	0	0	0	0	0
12137	0.61	146.1	579.2	21.6	549	12138	0.00	0.00	0.00	0.000	6	0.000	0.000	2052	2700	2214	0	0	0	0	0	0
12444	0.61	146.1	513.2	21.1	559	12445	0.00	0.00	0.00	0.000	6	0.000	0.000	2052	2700	2214	0	0	0	0	0	0
12749	0.61	146.1	451.2	20.3	569	12753	0.00	2.20	0.00	0.000	4	0.000	0.043	2061	1300	2214	0	0	0	0	0	0
12801	0.61	146.1	440.7	18.5	570	12805	0.00	2.25	0.00	0.000	6	0.000	0.054	2061	2700	2213	0	0	0	0	0	0
13127	0.61	146.1	373.0	20.9	582	13128	0.00	0.00	0.00	0.000	6	0.000	0.000	2061	2700	2213	0	0	0	0	0	0
13439	0.61	146.1	307.7	21.5	597	13443	0.00	2.17	0.00	0.000	4	0.000	0.043	2071	1297	2213	0	0	0	0	0	0
13468	0.61	146.1	300.6	20.8	598	13472	0.00	2.25	0.00	0.000	6	0.000	0.054	2072	2699	2212	0	0	0	0	0	0
13789	0.61	146.1	231.6	21.4	615	13791	0.00	0.00	0.00	0.000	6	0.000	0.000	2072	2700	2213	0	0	0	0	0	0
14102	0.61	146.1	165.2	21.3	635	14103	0.00	0.00	0.00	0.000	6	0.000	0.000	2071	2700	2213	0	0	0	0	0	0
14414	0.61	146.1	97.7	21.7	655	14419	0.00	2.17	0.00	0.000	4	0.000	0.043	2082	1297	2213	0	0	0	0	0	0
14456	0.61	146.1	88.1	19.8	662	14464	0.12	2.25	0.00	0.000	6	0.217	0.054	2054	2706	2212	0	0	0	0	0	0
14823	0.61	146.1	15.3	20.2	723	14832	0.00	2.20	0.00	0.000	4	0.000	0.042	2063	1291	2211	0	0	0	0	0	0
14895	end climb: SURFACE_DEPTH_REACHED
state	14895	begin surface coast
14909	end surface coast: CONTROL_FINISHED_OK
state	14909	begin surface