Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 192 * 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 192 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 573.99261 R_PORT_OVSHOOT 45 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 -11074.013 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 573.99261

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 -11074.013

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 45 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 192 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 070113,225558,-4658.242,442.888,39,0.8,39,-23.5 TGT_NAME GH4

_CALLS 3 TGT_LATLONG -4700.000,440.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.036,-0.253

_SM_DEPTHo 1.11 KALMAN_X -165923.7,133.9,106.2,198689.4,-1462.7

_SM_ANGLEo -34.2 KALMAN_Y 67100.0,-155.9,51.8,-79581.6,3299.6

GPS2 070113,231805,-4658.068,443.042,16,1.3,17,-23.5 MHEAD_RNG_PITCHd_Wd 211.5,5250,-16.5,-9.443

SPEED_LIMITS 0.164,0.256 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.6,1.018075 _10V_AH 10.1,17.303

SM_CCo 15641,182.02,0.789,1,0,477,573.99 FG_AHR_24Vo 0.000

SM_GC 1.01,0.00,0.00,182.02,0.000,0.000,0.789,60,2896,477,-5.60,0.45,573.99 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4641.78,441.10,070113,232308 MEM 353872

TT8_MAMPS 0.026215 DATA_FILE_SIZE 53808,769

HUMID 56.06 CAP_FILE_SIZE 120205,0

INTERNAL_PRESSURE 9.20901 CFSIZE 259252224,217391104

TCM_TEMP 10.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,1

XPDR_PINGS 0 GPS 080113,034404,-4700.109,441.483,31,0.9,31,-23.5

_24V_AH 22.0,37.246

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 250 75.81 SBE_CT 508 24 268.34

Roll_motor 69 68 104.10 AA4330 1502 33 1090.74

VBD_pump_during_apogee 294 1790 11615.82 WL_BB2FLVMT 776 105 1792.57

VBD_pump_during_surface 182 788 3158.45 QSP2150 302 4 29.15

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 81 103 185.69 nil 0 0 0.00

Iridium_during_connect 125 160 442.45 nil 0 0 0.00

Iridium_during_xfer 719 223 3531.80 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 5.43

TT8 1877 14 283.69

LPSleep 11181 2 247.32

TT8_Active 627 14 89.99

TT8_Sampling 2758 37 1042.99

TT8_CF8 697 47 332.26

TT8_Kalman 33 59 19.94

Analog_circuits 1400 12 169.70

GPS_charging 0 0 0.00

Compass 1782 15 283.19

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

27 -0.61 -146.1 0.0 0.0 0 172 0.00 0.00 -141.82 0.000 2 0.000 0.000 57 2895 3309 0 0 0 0 0 0

178 -0.61 -146.1 3.4 -3.1 18 197 6.57 1.60 -2.67 0.000 4 0.250 0.067 1635 3892 3416 0 0 0 0 0 0

282 -0.61 -146.1 23.8 -13.4 33 290 0.00 1.58 0.00 0.000 6 0.000 0.032 1635 2862 3418 0 0 0 0 0 0

367 -0.61 -146.1 37.0 -16.4 46 376 0.00 0.00 0.00 0.000 6 0.000 0.000 1635 2862 3418 0 0 0 0 0 0

616 -0.61 -146.1 70.5 -13.4 87 621 0.00 0.00 0.00 0.000 6 0.000 0.000 1635 2862 3418 0 0 0 0 0 0

971 -0.61 -146.1 113.5 -12.5 136 975 0.00 2.08 0.00 0.000 4 0.000 0.037 1635 1491 3418 0 0 0 0 0 0

1006 -0.61 -146.1 118.3 -12.2 138 1010 0.00 2.22 0.00 0.000 6 0.000 0.053 1625 2880 3418 0 0 0 0 0 0

1329 -0.61 -146.1 159.3 -12.6 158 1333 0.00 1.65 0.00 0.000 4 0.000 0.061 1617 3899 3418 0 0 0 0 0 0

1404 -0.61 -146.1 170.2 -13.6 162 1408 0.08 1.55 0.00 0.000 6 0.164 0.031 1641 2874 3418 0 0 0 0 0 0

1737 -0.61 -146.1 206.8 -10.7 183 1741 0.00 1.65 0.00 0.000 4 0.000 0.061 1634 3890 3418 0 0 0 0 0 0

1776 -0.61 -146.1 211.6 -10.9 185 1780 0.00 1.52 0.00 0.000 6 0.000 0.033 1634 2877 3419 0 0 0 0 0 0

2110 -0.61 -146.1 251.4 -11.9 206 2111 0.00 0.00 0.00 0.000 6 0.000 0.000 1634 2873 3419 0 0 0 0 0 0

2422 -0.61 -146.1 287.6 -11.3 221 2426 0.00 1.65 0.00 0.000 4 0.000 0.062 1626 3892 3419 0 0 0 0 0 0

2472 -0.61 -146.1 293.7 -12.3 223 2475 0.00 1.52 0.00 0.000 6 0.000 0.034 1626 2879 3418 0 0 0 0 0 0

2809 -0.61 -146.1 332.1 -11.1 239 2810 0.00 0.00 0.00 0.000 6 0.000 0.000 1626 2874 3418 0 0 0 0 0 0

3116 -0.61 -146.1 365.3 -10.9 254 3117 0.00 0.00 0.00 0.000 6 0.000 0.000 1626 2874 3418 0 0 0 0 0 0

3428 -0.61 -146.1 399.1 -11.0 269 3431 0.00 1.65 0.00 0.000 4 0.000 0.061 1618 3910 3418 0 0 0 0 0 0

3464 -0.61 -146.1 403.7 -12.0 271 3468 0.08 1.55 0.00 0.000 6 0.154 0.033 1657 2884 3417 0 0 0 0 0 0

3808 -0.61 -146.1 433.5 -8.6 282 3809 0.00 0.00 0.00 0.000 6 0.000 0.000 1657 2880 3417 0 0 0 0 0 0

4116 -0.61 -146.1 459.3 -8.4 292 4117 0.00 0.00 0.00 0.000 6 0.000 0.000 1657 2880 3417 0 0 0 0 0 0

4421 -0.61 -146.1 483.8 -7.8 302 4422 0.00 0.00 0.00 0.000 6 0.000 0.000 1658 2880 3416 0 0 0 0 0 0

4728 -0.61 -146.1 507.5 -8.1 312 4732 0.00 2.12 0.00 0.000 4 0.000 0.040 1658 1489 3416 0 0 0 0 0 0

4774 -0.61 -146.1 511.3 -7.4 313 4778 0.00 2.22 0.00 0.000 6 0.000 0.054 1649 2884 3415 0 0 0 0 0 0

5096 -0.61 -146.1 536.6 -7.8 324 5097 0.00 0.00 0.00 0.000 6 0.000 0.000 1649 2884 3415 0 0 0 0 0 0

5402 -0.61 -146.1 560.8 -8.0 334 5403 0.00 0.00 0.00 0.000 6 0.000 0.000 1649 2884 3414 0 0 0 0 0 0

5708 -0.61 -146.1 586.2 -8.3 344 5709 0.00 0.00 0.00 0.000 6 0.000 0.000 1649 2884 3414 0 0 0 0 0 0

6014 -0.61 -146.1 610.0 -7.7 354 6015 0.00 0.00 0.00 0.000 6 0.000 0.000 1649 2884 3414 0 0 0 0 0 0

6320 -0.61 -146.1 633.2 -7.5 364 6321 0.00 0.00 0.00 0.000 6 0.000 0.000 1649 2884 3414 0 0 0 0 0 0

6626 -0.61 -146.1 657.1 -8.0 374 6628 0.00 0.00 0.00 0.000 6 0.000 0.000 1649 2884 3413 0 0 0 0 0 0

6933 -0.61 -146.1 681.7 -8.1 384 6937 0.00 2.12 0.00 0.000 4 0.000 0.039 1649 1489 3413 0 0 0 0 0 0

6968 -0.61 -146.1 684.7 -8.1 385 6972 0.00 2.22 0.00 0.000 6 0.000 0.054 1639 2885 3413 0 0 0 0 0 0

7300 -0.61 -146.1 715.2 -9.4 396 7301 0.00 0.00 0.00 0.000 6 0.000 0.000 1639 2886 3412 0 0 0 0 0 0

7606 -0.61 -146.1 744.0 -9.3 406 7607 0.00 0.00 0.00 0.000 6 0.000 0.000 1639 2886 3413 0 0 0 0 0 0

7913 -0.61 -146.1 771.6 -9.0 416 7914 0.00 0.00 0.00 0.000 6 0.000 0.000 1639 2885 3412 0 0 0 0 0 0

8219 -0.61 -146.1 799.0 -8.8 426 8223 0.00 2.12 0.00 0.000 4 0.000 0.039 1639 1497 3412 0 0 0 0 0 0

8260 -0.61 -146.1 802.8 -7.8 427 8264 0.00 2.20 0.00 0.000 6 0.000 0.054 1628 2886 3412 0 0 0 0 0 0

8599 -0.61 -146.1 834.7 -9.6 438 8600 0.00 0.00 0.00 0.000 6 0.000 0.000 1629 2886 3412 0 0 0 0 0 0

8904 -0.61 -146.1 863.3 -9.2 448 8905 0.00 0.00 0.00 0.000 6 0.000 0.000 1629 2886 3412 0 0 0 0 0 0

9211 -0.61 -146.1 888.8 -8.3 458 9213 0.00 0.00 0.00 0.000 6 0.000 0.000 1629 2886 3412 0 0 0 0 0 0

9516 -0.61 -146.1 913.1 -8.0 468 9520 0.00 2.12 0.00 0.000 4 0.000 0.038 1629 1491 3412 0 0 0 0 0 0

9574 -0.61 -146.1 917.8 -8.0 469 9581 0.12 2.22 0.00 0.000 6 0.180 0.055 1651 2890 3411 0 0 0 0 0 0

9890 -0.61 -146.1 938.8 -6.8 480 9891 0.00 0.00 0.00 0.000 6 0.000 0.000 1650 2890 3411 0 0 0 0 0 0

10196 -0.61 -146.1 960.2 -7.1 490 10197 0.00 0.00 0.00 0.000 6 0.000 0.000 1650 2890 3411 0 0 0 0 0 0

10502 -0.61 -146.1 981.8 -7.0 500 10503 0.00 0.00 0.00 0.000 6 0.000 0.000 1650 2890 3411 0 0 0 0 0 0

10803 end dive: TARGET_DEPTH_EXCEEDED

state 10803 begin apogee

10815 -0.18 0.0 1001.8 6.2 510 10963 0.45 0.00 145.48 1.228 6 0.158 0.000 1786 2704 2819 0 0 0 0 0 0

10965 end apogee: CONTROL_FINISHED_OK

state 10965 begin climb

10970 0.61 146.1 1003.7 0.0 515 11128 0.77 0.00 149.35 1.791 6 0.080 0.000 2048 2704 2223 0 0 0 0 1 0

11415 0.61 146.1 912.0 23.3 530 11416 0.00 0.00 0.00 0.000 6 0.000 0.000 2047 2704 2219 0 0 0 0 0 0

11722 0.61 146.1 841.4 23.3 540 11726 0.00 2.25 0.00 0.000 4 0.000 0.045 2057 1292 2217 0 0 0 0 0 0

11787 0.61 146.1 827.3 19.1 542 11792 0.00 2.30 0.00 0.000 6 0.000 0.051 2057 2697 2214 0 0 0 0 0 0

12125 0.61 146.1 750.5 23.3 553 12129 0.00 2.22 0.00 0.000 4 0.000 0.044 2068 1295 2215 0 0 0 0 0 0

12177 0.61 146.1 738.5 21.8 554 12182 0.00 2.30 0.00 0.000 6 0.000 0.051 2068 2712 2213 0 0 0 0 0 0

12499 0.61 146.1 663.0 23.9 565 12503 0.00 2.25 0.00 0.000 4 0.000 0.046 2078 1296 2213 0 0 0 0 0 0

12522 0.61 146.1 656.8 24.3 565 12529 0.00 2.25 0.00 0.000 6 0.000 0.050 2078 2700 2212 0 0 0 0 0 0

12838 0.61 146.1 580.2 24.7 576 12839 0.00 0.00 0.00 0.000 6 0.000 0.000 2078 2700 2213 0 0 0 0 0 0

13144 0.61 146.1 502.6 25.0 586 13148 0.00 2.20 0.00 0.000 4 0.000 0.046 2089 1299 2213 0 0 0 0 0 0

13195 0.61 146.1 490.0 22.1 587 13200 0.15 2.25 0.00 0.000 6 0.225 0.052 2055 2699 2212 0 0 0 0 0 0

13510 0.61 146.1 420.7 21.8 597 13512 0.00 0.00 0.00 0.000 6 0.000 0.000 2055 2700 2212 0 0 0 0 0 0

13818 0.61 146.1 354.8 21.2 610 13820 0.00 0.00 0.00 0.000 6 0.000 0.000 2055 2700 2212 0 0 0 0 0 0

14130 0.61 146.1 291.4 20.3 625 14134 0.00 2.17 0.00 0.000 4 0.000 0.044 2064 1300 2211 0 0 0 0 0 0

14182 0.61 146.1 280.4 19.3 627 14186 0.00 2.25 0.00 0.000 6 0.000 0.051 2064 2706 2210 0 0 0 0 0 0

14512 0.61 146.1 212.8 19.9 646 14514 0.00 0.00 0.00 0.000 6 0.000 0.000 2064 2707 2210 0 0 0 0 0 0

14825 0.61 146.1 149.1 19.8 666 14829 0.00 2.22 0.00 0.000 4 0.000 0.045 2074 1291 2210 0 0 0 0 0 0

14861 0.61 146.1 141.8 18.8 668 14865 0.00 2.25 0.00 0.000 6 0.000 0.051 2075 2699 2210 0 0 0 0 0 0

15194 0.61 146.1 75.6 19.8 702 15203 0.00 2.20 0.00 0.000 4 0.000 0.045 2085 1310 2210 0 0 0 0 0 0

15324 0.61 146.1 52.9 18.6 723 15331 0.15 2.22 0.00 0.000 6 0.215 0.052 2050 2705 2209 0 0 0 0 0 0

15582 0.61 146.1 4.9 18.3 764 15590 0.00 0.00 0.00 0.000 6 0.000 0.000 2050 2705 2209 0 0 0 0 0 0

15598 end climb: SURFACE_DEPTH_REACHED

state 15598 begin surface coast

15618 end surface coast: CONTROL_FINISHED_OK

state 15618 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	192	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	573.99261	R_PORT_OVSHOOT	45	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	-11074.013	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	070113,225558,-4658.242,442.888,39,0.8,39,-23.5	TGT_NAME	GH4
_CALLS	3	TGT_LATLONG	-4700.000,440.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.036,-0.253
_SM_DEPTHo	1.11	KALMAN_X	-165923.7,133.9,106.2,198689.4,-1462.7
_SM_ANGLEo	-34.2	KALMAN_Y	67100.0,-155.9,51.8,-79581.6,3299.6
GPS2	070113,231805,-4658.068,443.042,16,1.3,17,-23.5	MHEAD_RNG_PITCHd_Wd	211.5,5250,-16.5,-9.443
SPEED_LIMITS	0.164,0.256	D_GRID	1000

FINISH	0.6,1.018075	_10V_AH	10.1,17.303
SM_CCo	15641,182.02,0.789,1,0,477,573.99	FG_AHR_24Vo	0.000
SM_GC	1.01,0.00,0.00,182.02,0.000,0.000,0.789,60,2896,477,-5.60,0.45,573.99	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4641.78,441.10,070113,232308	MEM	353872
TT8_MAMPS	0.026215	DATA_FILE_SIZE	53808,769
HUMID	56.06	CAP_FILE_SIZE	120205,0
INTERNAL_PRESSURE	9.20901	CFSIZE	259252224,217391104
TCM_TEMP	10.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
XPDR_PINGS	0	GPS	080113,034404,-4700.109,441.483,31,0.9,31,-23.5
_24V_AH	22.0,37.246

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	250	75.81	SBE_CT	508	24	268.34
Roll_motor	69	68	104.10	AA4330	1502	33	1090.74
VBD_pump_during_apogee	294	1790	11615.82	WL_BB2FLVMT	776	105	1792.57
VBD_pump_during_surface	182	788	3158.45	QSP2150	302	4	29.15
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	81	103	185.69	nil	0	0	0.00
Iridium_during_connect	125	160	442.45	nil	0	0	0.00
Iridium_during_xfer	719	223	3531.80	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	5.43
TT8	1877	14	283.69
LPSleep	11181	2	247.32
TT8_Active	627	14	89.99
TT8_Sampling	2758	37	1042.99
TT8_CF8	697	47	332.26
TT8_Kalman	33	59	19.94
Analog_circuits	1400	12	169.70
GPS_charging	0	0	0.00
Compass	1782	15	283.19
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
27	-0.61	-146.1	0.0	0.0	0	172	0.00	0.00	-141.82	0.000	2	0.000	0.000	57	2895	3309	0	0	0	0	0	0
178	-0.61	-146.1	3.4	-3.1	18	197	6.57	1.60	-2.67	0.000	4	0.250	0.067	1635	3892	3416	0	0	0	0	0	0
282	-0.61	-146.1	23.8	-13.4	33	290	0.00	1.58	0.00	0.000	6	0.000	0.032	1635	2862	3418	0	0	0	0	0	0
367	-0.61	-146.1	37.0	-16.4	46	376	0.00	0.00	0.00	0.000	6	0.000	0.000	1635	2862	3418	0	0	0	0	0	0
616	-0.61	-146.1	70.5	-13.4	87	621	0.00	0.00	0.00	0.000	6	0.000	0.000	1635	2862	3418	0	0	0	0	0	0
971	-0.61	-146.1	113.5	-12.5	136	975	0.00	2.08	0.00	0.000	4	0.000	0.037	1635	1491	3418	0	0	0	0	0	0
1006	-0.61	-146.1	118.3	-12.2	138	1010	0.00	2.22	0.00	0.000	6	0.000	0.053	1625	2880	3418	0	0	0	0	0	0
1329	-0.61	-146.1	159.3	-12.6	158	1333	0.00	1.65	0.00	0.000	4	0.000	0.061	1617	3899	3418	0	0	0	0	0	0
1404	-0.61	-146.1	170.2	-13.6	162	1408	0.08	1.55	0.00	0.000	6	0.164	0.031	1641	2874	3418	0	0	0	0	0	0
1737	-0.61	-146.1	206.8	-10.7	183	1741	0.00	1.65	0.00	0.000	4	0.000	0.061	1634	3890	3418	0	0	0	0	0	0
1776	-0.61	-146.1	211.6	-10.9	185	1780	0.00	1.52	0.00	0.000	6	0.000	0.033	1634	2877	3419	0	0	0	0	0	0
2110	-0.61	-146.1	251.4	-11.9	206	2111	0.00	0.00	0.00	0.000	6	0.000	0.000	1634	2873	3419	0	0	0	0	0	0
2422	-0.61	-146.1	287.6	-11.3	221	2426	0.00	1.65	0.00	0.000	4	0.000	0.062	1626	3892	3419	0	0	0	0	0	0
2472	-0.61	-146.1	293.7	-12.3	223	2475	0.00	1.52	0.00	0.000	6	0.000	0.034	1626	2879	3418	0	0	0	0	0	0
2809	-0.61	-146.1	332.1	-11.1	239	2810	0.00	0.00	0.00	0.000	6	0.000	0.000	1626	2874	3418	0	0	0	0	0	0
3116	-0.61	-146.1	365.3	-10.9	254	3117	0.00	0.00	0.00	0.000	6	0.000	0.000	1626	2874	3418	0	0	0	0	0	0
3428	-0.61	-146.1	399.1	-11.0	269	3431	0.00	1.65	0.00	0.000	4	0.000	0.061	1618	3910	3418	0	0	0	0	0	0
3464	-0.61	-146.1	403.7	-12.0	271	3468	0.08	1.55	0.00	0.000	6	0.154	0.033	1657	2884	3417	0	0	0	0	0	0
3808	-0.61	-146.1	433.5	-8.6	282	3809	0.00	0.00	0.00	0.000	6	0.000	0.000	1657	2880	3417	0	0	0	0	0	0
4116	-0.61	-146.1	459.3	-8.4	292	4117	0.00	0.00	0.00	0.000	6	0.000	0.000	1657	2880	3417	0	0	0	0	0	0
4421	-0.61	-146.1	483.8	-7.8	302	4422	0.00	0.00	0.00	0.000	6	0.000	0.000	1658	2880	3416	0	0	0	0	0	0
4728	-0.61	-146.1	507.5	-8.1	312	4732	0.00	2.12	0.00	0.000	4	0.000	0.040	1658	1489	3416	0	0	0	0	0	0
4774	-0.61	-146.1	511.3	-7.4	313	4778	0.00	2.22	0.00	0.000	6	0.000	0.054	1649	2884	3415	0	0	0	0	0	0
5096	-0.61	-146.1	536.6	-7.8	324	5097	0.00	0.00	0.00	0.000	6	0.000	0.000	1649	2884	3415	0	0	0	0	0	0
5402	-0.61	-146.1	560.8	-8.0	334	5403	0.00	0.00	0.00	0.000	6	0.000	0.000	1649	2884	3414	0	0	0	0	0	0
5708	-0.61	-146.1	586.2	-8.3	344	5709	0.00	0.00	0.00	0.000	6	0.000	0.000	1649	2884	3414	0	0	0	0	0	0
6014	-0.61	-146.1	610.0	-7.7	354	6015	0.00	0.00	0.00	0.000	6	0.000	0.000	1649	2884	3414	0	0	0	0	0	0
6320	-0.61	-146.1	633.2	-7.5	364	6321	0.00	0.00	0.00	0.000	6	0.000	0.000	1649	2884	3414	0	0	0	0	0	0
6626	-0.61	-146.1	657.1	-8.0	374	6628	0.00	0.00	0.00	0.000	6	0.000	0.000	1649	2884	3413	0	0	0	0	0	0
6933	-0.61	-146.1	681.7	-8.1	384	6937	0.00	2.12	0.00	0.000	4	0.000	0.039	1649	1489	3413	0	0	0	0	0	0
6968	-0.61	-146.1	684.7	-8.1	385	6972	0.00	2.22	0.00	0.000	6	0.000	0.054	1639	2885	3413	0	0	0	0	0	0
7300	-0.61	-146.1	715.2	-9.4	396	7301	0.00	0.00	0.00	0.000	6	0.000	0.000	1639	2886	3412	0	0	0	0	0	0
7606	-0.61	-146.1	744.0	-9.3	406	7607	0.00	0.00	0.00	0.000	6	0.000	0.000	1639	2886	3413	0	0	0	0	0	0
7913	-0.61	-146.1	771.6	-9.0	416	7914	0.00	0.00	0.00	0.000	6	0.000	0.000	1639	2885	3412	0	0	0	0	0	0
8219	-0.61	-146.1	799.0	-8.8	426	8223	0.00	2.12	0.00	0.000	4	0.000	0.039	1639	1497	3412	0	0	0	0	0	0
8260	-0.61	-146.1	802.8	-7.8	427	8264	0.00	2.20	0.00	0.000	6	0.000	0.054	1628	2886	3412	0	0	0	0	0	0
8599	-0.61	-146.1	834.7	-9.6	438	8600	0.00	0.00	0.00	0.000	6	0.000	0.000	1629	2886	3412	0	0	0	0	0	0
8904	-0.61	-146.1	863.3	-9.2	448	8905	0.00	0.00	0.00	0.000	6	0.000	0.000	1629	2886	3412	0	0	0	0	0	0
9211	-0.61	-146.1	888.8	-8.3	458	9213	0.00	0.00	0.00	0.000	6	0.000	0.000	1629	2886	3412	0	0	0	0	0	0
9516	-0.61	-146.1	913.1	-8.0	468	9520	0.00	2.12	0.00	0.000	4	0.000	0.038	1629	1491	3412	0	0	0	0	0	0
9574	-0.61	-146.1	917.8	-8.0	469	9581	0.12	2.22	0.00	0.000	6	0.180	0.055	1651	2890	3411	0	0	0	0	0	0
9890	-0.61	-146.1	938.8	-6.8	480	9891	0.00	0.00	0.00	0.000	6	0.000	0.000	1650	2890	3411	0	0	0	0	0	0
10196	-0.61	-146.1	960.2	-7.1	490	10197	0.00	0.00	0.00	0.000	6	0.000	0.000	1650	2890	3411	0	0	0	0	0	0
10502	-0.61	-146.1	981.8	-7.0	500	10503	0.00	0.00	0.00	0.000	6	0.000	0.000	1650	2890	3411	0	0	0	0	0	0
10803	end dive: TARGET_DEPTH_EXCEEDED
state	10803	begin apogee
10815	-0.18	0.0	1001.8	6.2	510	10963	0.45	0.00	145.48	1.228	6	0.158	0.000	1786	2704	2819	0	0	0	0	0	0
10965	end apogee: CONTROL_FINISHED_OK
state	10965	begin climb
10970	0.61	146.1	1003.7	0.0	515	11128	0.77	0.00	149.35	1.791	6	0.080	0.000	2048	2704	2223	0	0	0	0	1	0
11415	0.61	146.1	912.0	23.3	530	11416	0.00	0.00	0.00	0.000	6	0.000	0.000	2047	2704	2219	0	0	0	0	0	0
11722	0.61	146.1	841.4	23.3	540	11726	0.00	2.25	0.00	0.000	4	0.000	0.045	2057	1292	2217	0	0	0	0	0	0
11787	0.61	146.1	827.3	19.1	542	11792	0.00	2.30	0.00	0.000	6	0.000	0.051	2057	2697	2214	0	0	0	0	0	0
12125	0.61	146.1	750.5	23.3	553	12129	0.00	2.22	0.00	0.000	4	0.000	0.044	2068	1295	2215	0	0	0	0	0	0
12177	0.61	146.1	738.5	21.8	554	12182	0.00	2.30	0.00	0.000	6	0.000	0.051	2068	2712	2213	0	0	0	0	0	0
12499	0.61	146.1	663.0	23.9	565	12503	0.00	2.25	0.00	0.000	4	0.000	0.046	2078	1296	2213	0	0	0	0	0	0
12522	0.61	146.1	656.8	24.3	565	12529	0.00	2.25	0.00	0.000	6	0.000	0.050	2078	2700	2212	0	0	0	0	0	0
12838	0.61	146.1	580.2	24.7	576	12839	0.00	0.00	0.00	0.000	6	0.000	0.000	2078	2700	2213	0	0	0	0	0	0
13144	0.61	146.1	502.6	25.0	586	13148	0.00	2.20	0.00	0.000	4	0.000	0.046	2089	1299	2213	0	0	0	0	0	0
13195	0.61	146.1	490.0	22.1	587	13200	0.15	2.25	0.00	0.000	6	0.225	0.052	2055	2699	2212	0	0	0	0	0	0
13510	0.61	146.1	420.7	21.8	597	13512	0.00	0.00	0.00	0.000	6	0.000	0.000	2055	2700	2212	0	0	0	0	0	0
13818	0.61	146.1	354.8	21.2	610	13820	0.00	0.00	0.00	0.000	6	0.000	0.000	2055	2700	2212	0	0	0	0	0	0
14130	0.61	146.1	291.4	20.3	625	14134	0.00	2.17	0.00	0.000	4	0.000	0.044	2064	1300	2211	0	0	0	0	0	0
14182	0.61	146.1	280.4	19.3	627	14186	0.00	2.25	0.00	0.000	6	0.000	0.051	2064	2706	2210	0	0	0	0	0	0
14512	0.61	146.1	212.8	19.9	646	14514	0.00	0.00	0.00	0.000	6	0.000	0.000	2064	2707	2210	0	0	0	0	0	0
14825	0.61	146.1	149.1	19.8	666	14829	0.00	2.22	0.00	0.000	4	0.000	0.045	2074	1291	2210	0	0	0	0	0	0
14861	0.61	146.1	141.8	18.8	668	14865	0.00	2.25	0.00	0.000	6	0.000	0.051	2075	2699	2210	0	0	0	0	0	0
15194	0.61	146.1	75.6	19.8	702	15203	0.00	2.20	0.00	0.000	4	0.000	0.045	2085	1310	2210	0	0	0	0	0	0
15324	0.61	146.1	52.9	18.6	723	15331	0.15	2.22	0.00	0.000	6	0.215	0.052	2050	2705	2209	0	0	0	0	0	0
15582	0.61	146.1	4.9	18.3	764	15590	0.00	0.00	0.00	0.000	6	0.000	0.000	2050	2705	2209	0	0	0	0	0	0
15598	end climb: SURFACE_DEPTH_REACHED
state	15598	begin surface coast
15618	end surface coast: CONTROL_FINISHED_OK
state	15618	begin surface