Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 194 * 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 194 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 29 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 46 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 -11087.94 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 -11087.94

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 29 VBD_MAX 3961

DEVICE2 101 MASS 52816 R_STBD_OVSHOOT 46 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 194 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 080113,081009,-4700.752,438.938,32,0.8,33,-23.5 TGT_NAME GH1

_CALLS 1 TGT_LATLONG -4700.000,410.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.200,-0.159

_SM_DEPTHo 1.07 KALMAN_X -166651.5,143.8,364.6,193992.9,-1197.3

_SM_ANGLEo -36.0 KALMAN_Y 71128.1,-224.2,93.6,-88606.3,3579.3

GPS2 080113,082053,-4700.787,438.977,22,1.0,22,-23.5 MHEAD_RNG_PITCHd_Wd 255.1,36629,-16.5,-9.443

SPEED_LIMITS 0.164,0.256 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.6,1.026456 _10V_AH 10.1,17.512

SM_CCo 15352,181.82,0.793,1,0,478,573.99 FG_AHR_24Vo 0.000

SM_GC 1.11,0.00,0.00,181.82,0.000,0.000,0.793,57,2910,478,-5.60,0.88,573.99 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4641.78,359.97,070113,232313 MEM 353924

TT8_MAMPS 0.026215 DATA_FILE_SIZE 57255,778

HUMID 56.57 CAP_FILE_SIZE 113669,0

INTERNAL_PRESSURE 9.21877 CFSIZE 259252224,217268224

TCM_TEMP 10.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,1

XPDR_PINGS 0 GPS 080113,124204,-4700.738,436.599,28,1.0,28,-23.5

_24V_AH 22.0,37.649

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 252 76.92 SBE_CT 513 24 271.16

Roll_motor 86 67 128.22 AA4330 1548 33 1124.09

VBD_pump_during_apogee 296 1796 11721.73 WL_BB2FLVMT 841 105 1944.84

VBD_pump_during_surface 181 793 3173.34 QSP2150 337 4 32.54

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 70.93 nil 0 0 0.00

Iridium_during_connect 25 160 88.90 nil 0 0 0.00

Iridium_during_xfer 337 223 1654.70 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 27 26 7.54

TT8 1885 14 284.83

LPSleep 10710 2 236.91

TT8_Active 610 14 87.63

TT8_Sampling 2329 37 880.51

TT8_CF8 636 47 303.43

TT8_Kalman 33 59 19.94

Analog_circuits 1411 12 171.06

GPS_charging 0 0 0.00

Compass 1837 15 291.98

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 0 171 0.00 0.00 -141.90 0.000 2 0.000 0.000 52 2907 3286 0 0 0 0 0 0

177 -0.61 -146.1 3.6 -3.0 18 196 6.65 2.28 -3.17 0.000 4 0.252 0.047 1656 1470 3417 0 0 0 0 0 0

431 -0.61 -146.1 36.0 -11.1 57 438 0.00 2.25 0.00 0.000 6 0.000 0.052 1647 2862 3420 0 0 0 0 0 0

676 -0.61 -146.1 67.9 -13.2 98 682 0.00 1.65 0.00 0.000 4 0.000 0.060 1639 3893 3420 0 0 0 0 0 0

781 -0.61 -146.1 81.1 -12.4 116 788 0.00 1.58 0.00 0.000 6 0.000 0.031 1639 2839 3420 0 0 0 0 0 0

1125 -0.61 -146.1 120.2 -11.9 156 1129 0.00 1.70 0.00 0.000 4 0.000 0.059 1631 3904 3421 0 0 0 0 0 0

1163 -0.61 -146.1 125.1 -13.3 158 1166 0.00 1.52 0.00 0.000 6 0.000 0.031 1630 2895 3421 0 0 0 0 0 0

1497 -0.61 -146.1 165.3 -12.0 179 1498 0.00 0.00 0.00 0.000 6 0.000 0.000 1631 2890 3421 0 0 0 0 0 0

1809 -0.61 -146.1 200.8 -11.0 199 1810 0.00 0.00 0.00 0.000 6 0.000 0.000 1631 2891 3421 0 0 0 0 0 0

2122 -0.61 -146.1 233.5 -10.1 219 2126 0.00 1.62 0.00 0.000 4 0.000 0.060 1623 3895 3421 0 0 0 0 0 0

2162 -0.61 -146.1 237.6 -10.4 221 2166 0.00 1.55 0.00 0.000 6 0.000 0.032 1623 2867 3421 0 0 0 0 0 0

2482 -0.61 -146.1 272.2 -10.9 238 2483 0.00 0.00 0.00 0.000 6 0.000 0.000 1623 2863 3421 0 0 0 0 0 0

2794 -0.61 -146.1 307.6 -11.7 253 2797 0.00 1.65 0.00 0.000 4 0.000 0.060 1615 3903 3421 0 0 0 0 0 0

2864 -0.61 -146.1 316.5 -12.3 256 2868 0.08 1.55 0.00 0.000 6 0.166 0.032 1653 2875 3421 0 0 0 0 0 0

3200 -0.61 -146.1 347.8 -9.3 272 3201 0.00 0.00 0.00 0.000 6 0.000 0.000 1654 2872 3421 0 0 0 0 0 0

3510 -0.61 -146.1 376.9 -9.5 287 3511 0.00 0.00 0.00 0.000 6 0.000 0.000 1653 2872 3421 0 0 0 0 0 0

3838 -0.61 -146.1 407.1 -9.0 302 3839 0.00 0.00 0.00 0.000 6 0.000 0.000 1653 2872 3421 0 0 0 0 0 0

4146 -0.61 -146.1 433.8 -8.6 312 4147 0.00 0.00 0.00 0.000 6 0.000 0.000 1653 2872 3421 0 0 0 0 0 0

4450 -0.61 -146.1 460.2 -8.6 322 4452 0.00 0.00 0.00 0.000 6 0.000 0.000 1653 2872 3420 0 0 0 0 0 0

4757 -0.61 -146.1 486.8 -8.8 332 4758 0.00 0.00 0.00 0.000 6 0.000 0.000 1653 2872 3420 0 0 0 0 0 0

5063 -0.61 -146.1 514.7 -9.1 342 5067 0.00 2.08 0.00 0.000 4 0.000 0.039 1653 1500 3420 0 0 0 0 0 0

5093 -0.61 -146.1 517.5 -9.3 342 5099 0.00 2.20 0.00 0.000 6 0.000 0.054 1645 2887 3420 0 0 0 0 0 0

5408 -0.61 -146.1 546.7 -9.3 353 5412 0.00 1.60 0.00 0.000 4 0.000 0.063 1637 3896 3420 0 0 0 0 0 0

5439 -0.61 -146.1 549.8 -9.7 353 5446 0.00 1.52 0.00 0.000 6 0.000 0.034 1637 2883 3420 0 0 0 0 0 0

5754 -0.61 -146.1 579.7 -9.3 364 5755 0.00 0.00 0.00 0.000 6 0.000 0.000 1637 2883 3420 0 0 0 0 0 0

6060 -0.61 -146.1 607.9 -9.2 374 6062 0.00 0.00 0.00 0.000 6 0.000 0.000 1637 2883 3420 0 0 0 0 0 0

6367 -0.61 -146.1 635.7 -9.0 384 6368 0.00 0.00 0.00 0.000 6 0.000 0.000 1637 2883 3419 0 0 0 0 0 0

6673 -0.61 -146.1 661.6 -8.3 394 6674 0.00 0.00 0.00 0.000 6 0.000 0.000 1637 2882 3419 0 0 0 0 0 0

6979 -0.61 -146.1 687.9 -8.8 404 6980 0.00 0.00 0.00 0.000 6 0.000 0.000 1637 2883 3419 0 0 0 0 0 0

7285 -0.61 -146.1 715.9 -9.3 414 7287 0.00 0.00 0.00 0.000 6 0.000 0.000 1637 2882 3418 0 0 0 0 0 0

7592 -0.61 -146.1 745.5 -9.8 424 7593 0.00 0.00 0.00 0.000 6 0.000 0.000 1637 2883 3419 0 0 0 0 0 0

7897 -0.61 -146.1 775.8 -10.0 434 7899 0.00 0.00 0.00 0.000 6 0.000 0.000 1637 2883 3418 0 0 0 0 0 0

8204 -0.61 -146.1 806.2 -9.9 444 8208 0.00 2.10 0.00 0.000 4 0.000 0.040 1637 1498 3418 0 0 0 0 0 0

8227 -0.61 -146.1 808.7 -10.2 444 8231 0.00 2.20 0.00 0.000 6 0.000 0.054 1627 2881 3418 0 0 0 0 0 0

8543 -0.61 -146.1 840.9 -10.2 454 8544 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2881 3418 0 0 0 0 0 0

8849 -0.61 -146.1 870.2 -9.3 464 8853 0.00 1.60 0.00 0.000 4 0.000 0.062 1619 3890 3418 0 0 0 0 0 0

8886 -0.61 -146.1 873.8 -9.8 465 8891 0.08 1.52 0.00 0.000 6 0.159 0.034 1643 2878 3418 0 0 0 0 0 0

9232 -0.61 -146.1 901.9 -8.1 476 9233 0.00 0.00 0.00 0.000 6 0.000 0.000 1644 2874 3418 0 0 0 0 0 0

9536 -0.61 -146.1 926.9 -8.1 486 9540 0.00 2.10 0.00 0.000 4 0.000 0.039 1644 1495 3418 0 0 0 0 0 0

9560 -0.61 -146.1 929.1 -8.3 486 9567 0.00 2.20 0.00 0.000 6 0.000 0.054 1635 2880 3418 0 0 0 0 0 0

9876 -0.61 -146.1 955.9 -8.7 497 9877 0.00 0.00 0.00 0.000 6 0.000 0.000 1635 2881 3417 0 0 0 0 0 0

10182 -0.61 -146.1 982.2 -8.6 507 10183 0.00 0.00 0.00 0.000 6 0.000 0.000 1635 2881 3418 0 0 0 0 0 0

10391 end dive: TARGET_DEPTH_EXCEEDED

state 10392 begin apogee

10403 -0.18 0.0 1000.2 8.4 514 10553 0.50 0.00 147.65 1.239 6 0.159 0.000 1783 2709 2819 0 0 0 0 0 0

10555 end apogee: CONTROL_FINISHED_OK

state 10556 begin climb

10560 0.61 146.1 1003.9 0.0 519 10722 0.77 2.50 148.85 1.797 4 0.077 0.045 2057 1315 2225 0 0 0 0 1 0

10753 0.61 146.1 973.1 22.9 525 10758 0.00 2.47 0.00 0.000 6 0.000 0.050 2057 2704 2224 0 0 0 0 0 0

11068 0.61 146.1 898.1 24.0 535 11073 0.00 2.28 0.00 0.000 4 0.000 0.045 2068 1303 2218 0 0 0 0 0 0

11115 0.61 146.1 887.1 22.2 536 11119 0.00 2.33 0.00 0.000 6 0.000 0.052 2067 2701 2216 0 0 0 0 0 0

11436 0.61 146.1 811.5 23.6 547 11440 0.00 2.22 0.00 0.000 4 0.000 0.045 2077 1306 2215 0 0 0 0 0 0

11454 0.61 146.1 806.9 23.8 547 11458 0.00 2.28 0.00 0.000 6 0.000 0.051 2077 2706 2215 0 0 0 0 0 0

11775 0.61 146.1 729.7 24.0 558 11779 0.00 2.22 0.00 0.000 4 0.000 0.045 2088 1307 2214 0 0 0 0 0 0

11804 0.61 146.1 722.3 22.4 558 11811 0.15 2.25 0.00 0.000 6 0.223 0.051 2054 2701 2214 0 0 0 0 0 0

12119 0.61 146.1 654.6 21.3 569 12120 0.00 0.00 0.00 0.000 6 0.000 0.000 2054 2701 2214 0 0 0 0 0 0

12425 0.61 146.1 590.1 21.0 579 12430 0.00 2.20 0.00 0.000 4 0.000 0.044 2064 1304 2213 0 0 0 0 0 0

12449 0.61 146.1 584.8 20.4 579 12453 0.00 2.25 0.00 0.000 6 0.000 0.050 2064 2706 2212 0 0 0 0 0 0

12764 0.61 146.1 517.5 21.6 589 12768 0.00 2.20 0.00 0.000 4 0.000 0.044 2074 1306 2212 0 0 0 0 0 0

12788 0.61 146.1 512.0 20.6 589 12795 0.00 2.22 0.00 0.000 6 0.000 0.051 2074 2700 2212 0 0 0 0 0 0

13103 0.61 146.1 442.3 22.2 600 13107 0.00 2.17 0.00 0.000 4 0.000 0.045 2084 1308 2212 0 0 0 0 0 0

13127 0.61 146.1 436.5 22.6 600 13131 0.15 2.25 0.00 0.000 6 0.223 0.051 2051 2711 2212 0 0 0 0 0 0

13443 0.61 146.1 370.9 21.2 612 13447 0.00 2.22 0.00 0.000 4 0.000 0.045 2059 1299 2212 0 0 0 0 0 0

13478 0.61 146.1 363.6 19.5 613 13482 0.00 2.25 0.00 0.000 6 0.000 0.051 2059 2704 2211 0 0 0 0 0 0

13797 0.61 146.1 296.4 21.1 628 13801 0.00 2.17 0.00 0.000 4 0.000 0.045 2070 1307 2211 0 0 0 0 0 0

13826 0.61 146.1 290.0 19.4 629 13830 0.00 2.22 0.00 0.000 6 0.000 0.052 2070 2701 2211 0 0 0 0 0 0

14153 0.61 146.1 217.9 22.3 647 14157 0.00 2.17 0.00 0.000 4 0.000 0.045 2080 1307 2211 0 0 0 0 0 0

14192 0.61 146.1 209.4 20.1 649 14197 0.12 2.22 0.00 0.000 6 0.221 0.052 2053 2701 2210 0 0 0 0 0 0

14525 0.61 146.1 143.6 19.6 670 14533 0.00 0.00 0.00 0.000 6 0.000 0.000 2053 2700 2210 0 0 0 0 0 0

14859 0.61 146.1 81.6 18.2 701 14864 0.00 2.17 0.00 0.000 4 0.000 0.045 2062 1295 2210 0 0 0 0 0 0

15079 0.61 146.1 45.2 15.1 738 15088 0.00 2.28 0.00 0.000 6 0.000 0.052 2062 2706 2209 0 0 0 0 0 0

15309 end climb: SURFACE_DEPTH_REACHED

state 15310 begin surface coast

15329 end surface coast: CONTROL_FINISHED_OK

state 15329 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	194	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	29	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	46	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	-11087.94	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	080113,081009,-4700.752,438.938,32,0.8,33,-23.5	TGT_NAME	GH1
_CALLS	1	TGT_LATLONG	-4700.000,410.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.200,-0.159
_SM_DEPTHo	1.07	KALMAN_X	-166651.5,143.8,364.6,193992.9,-1197.3
_SM_ANGLEo	-36.0	KALMAN_Y	71128.1,-224.2,93.6,-88606.3,3579.3
GPS2	080113,082053,-4700.787,438.977,22,1.0,22,-23.5	MHEAD_RNG_PITCHd_Wd	255.1,36629,-16.5,-9.443
SPEED_LIMITS	0.164,0.256	D_GRID	1000

FINISH	0.6,1.026456	_10V_AH	10.1,17.512
SM_CCo	15352,181.82,0.793,1,0,478,573.99	FG_AHR_24Vo	0.000
SM_GC	1.11,0.00,0.00,181.82,0.000,0.000,0.793,57,2910,478,-5.60,0.88,573.99	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4641.78,359.97,070113,232313	MEM	353924
TT8_MAMPS	0.026215	DATA_FILE_SIZE	57255,778
HUMID	56.57	CAP_FILE_SIZE	113669,0
INTERNAL_PRESSURE	9.21877	CFSIZE	259252224,217268224
TCM_TEMP	10.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
XPDR_PINGS	0	GPS	080113,124204,-4700.738,436.599,28,1.0,28,-23.5
_24V_AH	22.0,37.649

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	252	76.92	SBE_CT	513	24	271.16
Roll_motor	86	67	128.22	AA4330	1548	33	1124.09
VBD_pump_during_apogee	296	1796	11721.73	WL_BB2FLVMT	841	105	1944.84
VBD_pump_during_surface	181	793	3173.34	QSP2150	337	4	32.54
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	70.93	nil	0	0	0.00
Iridium_during_connect	25	160	88.90	nil	0	0	0.00
Iridium_during_xfer	337	223	1654.70	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	27	26	7.54
TT8	1885	14	284.83
LPSleep	10710	2	236.91
TT8_Active	610	14	87.63
TT8_Sampling	2329	37	880.51
TT8_CF8	636	47	303.43
TT8_Kalman	33	59	19.94
Analog_circuits	1411	12	171.06
GPS_charging	0	0	0.00
Compass	1837	15	291.98
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	171	0.00	0.00	-141.90	0.000	2	0.000	0.000	52	2907	3286	0	0	0	0	0	0
177	-0.61	-146.1	3.6	-3.0	18	196	6.65	2.28	-3.17	0.000	4	0.252	0.047	1656	1470	3417	0	0	0	0	0	0
431	-0.61	-146.1	36.0	-11.1	57	438	0.00	2.25	0.00	0.000	6	0.000	0.052	1647	2862	3420	0	0	0	0	0	0
676	-0.61	-146.1	67.9	-13.2	98	682	0.00	1.65	0.00	0.000	4	0.000	0.060	1639	3893	3420	0	0	0	0	0	0
781	-0.61	-146.1	81.1	-12.4	116	788	0.00	1.58	0.00	0.000	6	0.000	0.031	1639	2839	3420	0	0	0	0	0	0
1125	-0.61	-146.1	120.2	-11.9	156	1129	0.00	1.70	0.00	0.000	4	0.000	0.059	1631	3904	3421	0	0	0	0	0	0
1163	-0.61	-146.1	125.1	-13.3	158	1166	0.00	1.52	0.00	0.000	6	0.000	0.031	1630	2895	3421	0	0	0	0	0	0
1497	-0.61	-146.1	165.3	-12.0	179	1498	0.00	0.00	0.00	0.000	6	0.000	0.000	1631	2890	3421	0	0	0	0	0	0
1809	-0.61	-146.1	200.8	-11.0	199	1810	0.00	0.00	0.00	0.000	6	0.000	0.000	1631	2891	3421	0	0	0	0	0	0
2122	-0.61	-146.1	233.5	-10.1	219	2126	0.00	1.62	0.00	0.000	4	0.000	0.060	1623	3895	3421	0	0	0	0	0	0
2162	-0.61	-146.1	237.6	-10.4	221	2166	0.00	1.55	0.00	0.000	6	0.000	0.032	1623	2867	3421	0	0	0	0	0	0
2482	-0.61	-146.1	272.2	-10.9	238	2483	0.00	0.00	0.00	0.000	6	0.000	0.000	1623	2863	3421	0	0	0	0	0	0
2794	-0.61	-146.1	307.6	-11.7	253	2797	0.00	1.65	0.00	0.000	4	0.000	0.060	1615	3903	3421	0	0	0	0	0	0
2864	-0.61	-146.1	316.5	-12.3	256	2868	0.08	1.55	0.00	0.000	6	0.166	0.032	1653	2875	3421	0	0	0	0	0	0
3200	-0.61	-146.1	347.8	-9.3	272	3201	0.00	0.00	0.00	0.000	6	0.000	0.000	1654	2872	3421	0	0	0	0	0	0
3510	-0.61	-146.1	376.9	-9.5	287	3511	0.00	0.00	0.00	0.000	6	0.000	0.000	1653	2872	3421	0	0	0	0	0	0
3838	-0.61	-146.1	407.1	-9.0	302	3839	0.00	0.00	0.00	0.000	6	0.000	0.000	1653	2872	3421	0	0	0	0	0	0
4146	-0.61	-146.1	433.8	-8.6	312	4147	0.00	0.00	0.00	0.000	6	0.000	0.000	1653	2872	3421	0	0	0	0	0	0
4450	-0.61	-146.1	460.2	-8.6	322	4452	0.00	0.00	0.00	0.000	6	0.000	0.000	1653	2872	3420	0	0	0	0	0	0
4757	-0.61	-146.1	486.8	-8.8	332	4758	0.00	0.00	0.00	0.000	6	0.000	0.000	1653	2872	3420	0	0	0	0	0	0
5063	-0.61	-146.1	514.7	-9.1	342	5067	0.00	2.08	0.00	0.000	4	0.000	0.039	1653	1500	3420	0	0	0	0	0	0
5093	-0.61	-146.1	517.5	-9.3	342	5099	0.00	2.20	0.00	0.000	6	0.000	0.054	1645	2887	3420	0	0	0	0	0	0
5408	-0.61	-146.1	546.7	-9.3	353	5412	0.00	1.60	0.00	0.000	4	0.000	0.063	1637	3896	3420	0	0	0	0	0	0
5439	-0.61	-146.1	549.8	-9.7	353	5446	0.00	1.52	0.00	0.000	6	0.000	0.034	1637	2883	3420	0	0	0	0	0	0
5754	-0.61	-146.1	579.7	-9.3	364	5755	0.00	0.00	0.00	0.000	6	0.000	0.000	1637	2883	3420	0	0	0	0	0	0
6060	-0.61	-146.1	607.9	-9.2	374	6062	0.00	0.00	0.00	0.000	6	0.000	0.000	1637	2883	3420	0	0	0	0	0	0
6367	-0.61	-146.1	635.7	-9.0	384	6368	0.00	0.00	0.00	0.000	6	0.000	0.000	1637	2883	3419	0	0	0	0	0	0
6673	-0.61	-146.1	661.6	-8.3	394	6674	0.00	0.00	0.00	0.000	6	0.000	0.000	1637	2882	3419	0	0	0	0	0	0
6979	-0.61	-146.1	687.9	-8.8	404	6980	0.00	0.00	0.00	0.000	6	0.000	0.000	1637	2883	3419	0	0	0	0	0	0
7285	-0.61	-146.1	715.9	-9.3	414	7287	0.00	0.00	0.00	0.000	6	0.000	0.000	1637	2882	3418	0	0	0	0	0	0
7592	-0.61	-146.1	745.5	-9.8	424	7593	0.00	0.00	0.00	0.000	6	0.000	0.000	1637	2883	3419	0	0	0	0	0	0
7897	-0.61	-146.1	775.8	-10.0	434	7899	0.00	0.00	0.00	0.000	6	0.000	0.000	1637	2883	3418	0	0	0	0	0	0
8204	-0.61	-146.1	806.2	-9.9	444	8208	0.00	2.10	0.00	0.000	4	0.000	0.040	1637	1498	3418	0	0	0	0	0	0
8227	-0.61	-146.1	808.7	-10.2	444	8231	0.00	2.20	0.00	0.000	6	0.000	0.054	1627	2881	3418	0	0	0	0	0	0
8543	-0.61	-146.1	840.9	-10.2	454	8544	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2881	3418	0	0	0	0	0	0
8849	-0.61	-146.1	870.2	-9.3	464	8853	0.00	1.60	0.00	0.000	4	0.000	0.062	1619	3890	3418	0	0	0	0	0	0
8886	-0.61	-146.1	873.8	-9.8	465	8891	0.08	1.52	0.00	0.000	6	0.159	0.034	1643	2878	3418	0	0	0	0	0	0
9232	-0.61	-146.1	901.9	-8.1	476	9233	0.00	0.00	0.00	0.000	6	0.000	0.000	1644	2874	3418	0	0	0	0	0	0
9536	-0.61	-146.1	926.9	-8.1	486	9540	0.00	2.10	0.00	0.000	4	0.000	0.039	1644	1495	3418	0	0	0	0	0	0
9560	-0.61	-146.1	929.1	-8.3	486	9567	0.00	2.20	0.00	0.000	6	0.000	0.054	1635	2880	3418	0	0	0	0	0	0
9876	-0.61	-146.1	955.9	-8.7	497	9877	0.00	0.00	0.00	0.000	6	0.000	0.000	1635	2881	3417	0	0	0	0	0	0
10182	-0.61	-146.1	982.2	-8.6	507	10183	0.00	0.00	0.00	0.000	6	0.000	0.000	1635	2881	3418	0	0	0	0	0	0
10391	end dive: TARGET_DEPTH_EXCEEDED
state	10392	begin apogee
10403	-0.18	0.0	1000.2	8.4	514	10553	0.50	0.00	147.65	1.239	6	0.159	0.000	1783	2709	2819	0	0	0	0	0	0
10555	end apogee: CONTROL_FINISHED_OK
state	10556	begin climb
10560	0.61	146.1	1003.9	0.0	519	10722	0.77	2.50	148.85	1.797	4	0.077	0.045	2057	1315	2225	0	0	0	0	1	0
10753	0.61	146.1	973.1	22.9	525	10758	0.00	2.47	0.00	0.000	6	0.000	0.050	2057	2704	2224	0	0	0	0	0	0
11068	0.61	146.1	898.1	24.0	535	11073	0.00	2.28	0.00	0.000	4	0.000	0.045	2068	1303	2218	0	0	0	0	0	0
11115	0.61	146.1	887.1	22.2	536	11119	0.00	2.33	0.00	0.000	6	0.000	0.052	2067	2701	2216	0	0	0	0	0	0
11436	0.61	146.1	811.5	23.6	547	11440	0.00	2.22	0.00	0.000	4	0.000	0.045	2077	1306	2215	0	0	0	0	0	0
11454	0.61	146.1	806.9	23.8	547	11458	0.00	2.28	0.00	0.000	6	0.000	0.051	2077	2706	2215	0	0	0	0	0	0
11775	0.61	146.1	729.7	24.0	558	11779	0.00	2.22	0.00	0.000	4	0.000	0.045	2088	1307	2214	0	0	0	0	0	0
11804	0.61	146.1	722.3	22.4	558	11811	0.15	2.25	0.00	0.000	6	0.223	0.051	2054	2701	2214	0	0	0	0	0	0
12119	0.61	146.1	654.6	21.3	569	12120	0.00	0.00	0.00	0.000	6	0.000	0.000	2054	2701	2214	0	0	0	0	0	0
12425	0.61	146.1	590.1	21.0	579	12430	0.00	2.20	0.00	0.000	4	0.000	0.044	2064	1304	2213	0	0	0	0	0	0
12449	0.61	146.1	584.8	20.4	579	12453	0.00	2.25	0.00	0.000	6	0.000	0.050	2064	2706	2212	0	0	0	0	0	0
12764	0.61	146.1	517.5	21.6	589	12768	0.00	2.20	0.00	0.000	4	0.000	0.044	2074	1306	2212	0	0	0	0	0	0
12788	0.61	146.1	512.0	20.6	589	12795	0.00	2.22	0.00	0.000	6	0.000	0.051	2074	2700	2212	0	0	0	0	0	0
13103	0.61	146.1	442.3	22.2	600	13107	0.00	2.17	0.00	0.000	4	0.000	0.045	2084	1308	2212	0	0	0	0	0	0
13127	0.61	146.1	436.5	22.6	600	13131	0.15	2.25	0.00	0.000	6	0.223	0.051	2051	2711	2212	0	0	0	0	0	0
13443	0.61	146.1	370.9	21.2	612	13447	0.00	2.22	0.00	0.000	4	0.000	0.045	2059	1299	2212	0	0	0	0	0	0
13478	0.61	146.1	363.6	19.5	613	13482	0.00	2.25	0.00	0.000	6	0.000	0.051	2059	2704	2211	0	0	0	0	0	0
13797	0.61	146.1	296.4	21.1	628	13801	0.00	2.17	0.00	0.000	4	0.000	0.045	2070	1307	2211	0	0	0	0	0	0
13826	0.61	146.1	290.0	19.4	629	13830	0.00	2.22	0.00	0.000	6	0.000	0.052	2070	2701	2211	0	0	0	0	0	0
14153	0.61	146.1	217.9	22.3	647	14157	0.00	2.17	0.00	0.000	4	0.000	0.045	2080	1307	2211	0	0	0	0	0	0
14192	0.61	146.1	209.4	20.1	649	14197	0.12	2.22	0.00	0.000	6	0.221	0.052	2053	2701	2210	0	0	0	0	0	0
14525	0.61	146.1	143.6	19.6	670	14533	0.00	0.00	0.00	0.000	6	0.000	0.000	2053	2700	2210	0	0	0	0	0	0
14859	0.61	146.1	81.6	18.2	701	14864	0.00	2.17	0.00	0.000	4	0.000	0.045	2062	1295	2210	0	0	0	0	0	0
15079	0.61	146.1	45.2	15.1	738	15088	0.00	2.28	0.00	0.000	6	0.000	0.052	2062	2706	2209	0	0	0	0	0	0
15309	end climb: SURFACE_DEPTH_REACHED
state	15310	begin surface coast
15329	end surface coast: CONTROL_FINISHED_OK
state	15329	begin surface