Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 197 * 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 197 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 18 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 27 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 5 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 2.49

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 KERMIT 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 480 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3961 DEVICE2 101

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2820 DEVICE3 115

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 134

T_DIVE 353 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 368 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 60 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -11099.857 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 -11099.857

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 18 VBD_MAX 3961

DEVICE2 101 MASS 52816 R_STBD_OVSHOOT 27 VBD_MAXERRORS 1

DEVICE3 115 MAX_BUOY 150 SEABIRD_C_G -9.7625904 VBD_MIN 480

DEVICE4 134 MINV_10V 8 SEABIRD_C_H 1.1369455 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.0017508121 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MISSION 6 SEABIRD_C_J 0.00021125977 VBD_TIMEOUT 720

DIVE 197 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 080113,214552,-4701.092,432.125,39,0.9,39,-23.4 TGT_NAME GH1

_CALLS 3 TGT_LATLONG -4700.000,410.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.117,-0.227

_SM_DEPTHo 1.04 KALMAN_X -163041.6,-29.0,760.1,181707.1,156.6

_SM_ANGLEo -29.6 KALMAN_Y 79537.9,-695.8,-212.8,-96861.2,4981.2

GPS2 080113,220331,-4701.132,432.308,16,0.7,18,-23.4 MHEAD_RNG_PITCHd_Wd 230.7,28255,-16.5,-9.443

SPEED_LIMITS 0.164,0.256 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.8,1.026492 _10V_AH 10.1,17.835

SM_CCo 14968,181.98,0.793,1,0,476,573.99 FG_AHR_24Vo 0.000

SM_GC 1.07,0.00,0.00,181.98,0.000,0.000,0.793,64,2914,476,-5.58,0.96,573.99 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4648.08,431.92,080113,212143 MEM 353904

TT8_MAMPS 0.026215 DATA_FILE_SIZE 53759,749

HUMID 56.49 CAP_FILE_SIZE 115649,0

INTERNAL_PRESSURE 9.20901 CFSIZE 259252224,217071616

TCM_TEMP 10.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,1

XPDR_PINGS 0 GPS 090113,021832,-4702.163,430.155,45,1.2,45,-23.4

_24V_AH 22.0,38.259

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 252 76.64 SBE_CT 493 24 260.60

Roll_motor 78 68 118.11 AA4330 1472 33 1069.03

VBD_pump_during_apogee 296 1819 11850.44 WL_BB2FLVMT 782 105 1807.17

VBD_pump_during_surface 181 792 3172.89 QSP2150 297 4 28.69

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 81 103 183.82 nil 0 0 0.00

Iridium_during_connect 167 160 591.03 nil 0 0 0.00

Iridium_during_xfer 410 223 2015.67 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 5.59

TT8 1834 14 277.17

LPSleep 10529 2 232.91

TT8_Active 600 14 86.12

TT8_Sampling 2586 37 977.80

TT8_CF8 649 47 309.34

TT8_Kalman 33 59 19.93

Analog_circuits 1415 12 171.52

GPS_charging 0 0 0.00

Compass 1828 15 290.56

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 22 begin dive

27 -0.61 -146.1 0.0 0.0 0 171 0.00 0.00 -141.85 0.000 2 0.000 0.000 55 2907 3313 0 0 0 0 0 0

178 -0.61 -146.1 3.3 -2.3 18 196 6.65 1.62 -2.60 0.000 4 0.252 0.068 1637 3906 3416 0 0 0 0 0 0

269 -0.61 -146.1 22.2 -13.8 31 278 0.00 1.65 0.00 0.000 6 0.000 0.032 1637 2836 3419 0 0 0 0 0 0

355 -0.61 -146.1 37.2 -18.2 44 363 0.00 0.00 0.00 0.000 6 0.000 0.000 1637 2836 3419 0 0 0 0 0 0

601 -0.61 -146.1 71.2 -12.3 85 606 0.00 1.70 0.00 0.000 4 0.000 0.059 1628 3896 3418 0 0 0 0 0 0

657 -0.61 -146.1 78.7 -13.0 94 663 0.00 1.55 0.00 0.000 6 0.000 0.031 1628 2872 3419 0 0 0 0 0 0

1006 -0.61 -146.1 122.0 -12.3 135 1007 0.00 0.00 0.00 0.000 6 0.000 0.000 1629 2872 3420 0 0 0 0 0 0

1319 -0.61 -146.1 160.3 -12.2 155 1320 0.00 0.00 0.00 0.000 6 0.000 0.000 1629 2872 3420 0 0 0 0 0 0

1634 -0.61 -146.1 198.0 -11.7 175 1638 0.00 1.65 0.00 0.000 4 0.000 0.060 1621 3907 3420 0 0 0 0 0 0

1692 -0.61 -146.1 206.0 -11.7 178 1696 0.08 1.55 0.00 0.000 6 0.160 0.031 1644 2883 3420 0 0 0 0 0 0

2025 -0.61 -146.1 240.1 -10.5 199 2031 0.00 0.00 0.00 0.000 6 0.000 0.000 1644 2878 3420 0 0 0 0 0 0

2357 -0.61 -146.1 274.2 -10.0 217 2358 0.00 0.00 0.00 0.000 6 0.000 0.000 1644 2878 3420 0 0 0 0 0 0

2664 -0.61 -146.1 304.7 -10.0 232 2665 0.00 0.00 0.00 0.000 6 0.000 0.000 1644 2878 3419 0 0 0 0 0 0

2975 -0.61 -146.1 336.8 -10.1 247 2979 0.00 2.10 0.00 0.000 4 0.000 0.041 1644 1493 3419 0 0 0 0 0 0

3010 -0.61 -146.1 340.9 -10.3 248 3014 0.00 2.20 0.00 0.000 6 0.000 0.054 1635 2884 3419 0 0 0 0 0 0

3334 -0.61 -146.1 376.3 -11.3 264 3338 0.00 1.60 0.00 0.000 4 0.000 0.060 1627 3894 3419 0 0 0 0 0 0

3408 -0.61 -146.1 385.1 -12.1 267 3412 0.00 1.52 0.00 0.000 6 0.000 0.032 1627 2878 3419 0 0 0 0 0 0

3751 -0.61 -146.1 424.5 -11.2 280 3752 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2873 3419 0 0 0 0 0 0

4057 -0.61 -146.1 458.9 -11.1 290 4058 0.00 0.00 0.00 0.000 6 0.000 0.000 1626 2873 3419 0 0 0 0 0 0

4364 -0.61 -146.1 492.7 -10.9 300 4365 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2873 3418 0 0 0 0 0 0

4670 -0.61 -146.1 526.6 -11.2 310 4671 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2873 3418 0 0 0 0 0 0

4976 -0.61 -146.1 559.4 -10.7 320 4977 0.00 0.00 0.00 0.000 6 0.000 0.000 1626 2873 3418 0 0 0 0 0 0

5282 -0.61 -146.1 591.8 -10.3 330 5283 0.00 0.00 0.00 0.000 6 0.000 0.000 1626 2873 3417 0 0 0 0 0 0

5589 -0.61 -146.1 623.6 -10.2 340 5590 0.00 0.00 0.00 0.000 6 0.000 0.000 1626 2873 3417 0 0 0 0 0 0

5894 -0.61 -146.1 654.0 -9.9 350 5896 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2873 3417 0 0 0 0 0 0

6201 -0.61 -146.1 685.3 -10.2 360 6202 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2873 3416 0 0 0 0 0 0

6507 -0.61 -146.1 716.0 -10.2 370 6510 0.00 1.65 0.00 0.000 4 0.000 0.062 1619 3911 3416 0 0 0 0 0 0

6547 -0.61 -146.1 720.8 -11.2 371 6552 0.08 1.55 0.00 0.000 6 0.160 0.034 1658 2885 3416 0 0 0 0 0 0

6885 -0.61 -146.1 748.2 -8.2 382 6889 0.00 2.12 0.00 0.000 4 0.000 0.041 1658 1496 3415 0 0 0 0 0 0

6921 -0.61 -146.1 751.3 -8.0 383 6925 0.00 2.22 0.00 0.000 6 0.000 0.054 1649 2892 3415 0 0 0 0 0 0

7253 -0.61 -146.1 779.7 -8.5 394 7254 0.00 0.00 0.00 0.000 6 0.000 0.000 1649 2892 3415 0 0 0 0 0 0

7561 -0.61 -146.1 804.7 -8.1 404 7562 0.00 0.00 0.00 0.000 6 0.000 0.000 1650 2892 3415 0 0 0 0 0 0

7866 -0.61 -146.1 829.6 -8.1 414 7870 0.00 2.15 0.00 0.000 4 0.000 0.039 1650 1499 3415 0 0 0 0 0 0

7901 -0.61 -146.1 832.6 -8.3 415 7905 0.00 2.20 0.00 0.000 6 0.000 0.054 1640 2881 3415 0 0 0 0 0 0

8233 -0.61 -146.1 859.9 -8.4 426 8234 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2881 3415 0 0 0 0 0 0

8541 -0.61 -146.1 884.5 -7.9 436 8543 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2881 3415 0 0 0 0 0 0

8846 -0.61 -146.1 908.0 -7.5 446 8850 0.00 2.12 0.00 0.000 4 0.000 0.039 1640 1498 3414 0 0 0 0 0 0

8881 -0.61 -146.1 910.7 -7.5 447 8885 0.00 2.20 0.00 0.000 6 0.000 0.054 1630 2880 3414 0 0 0 0 0 0

9213 -0.61 -146.1 936.7 -8.1 458 9214 0.00 0.00 0.00 0.000 6 0.000 0.000 1630 2881 3414 0 0 0 0 0 0

9519 -0.61 -146.1 962.1 -8.3 468 9521 0.00 0.00 0.00 0.000 6 0.000 0.000 1630 2881 3414 0 0 0 0 0 0

9825 -0.61 -146.1 987.5 -8.3 478 9829 0.00 2.12 0.00 0.000 4 0.000 0.038 1630 1498 3413 0 0 0 0 0 0

9866 -0.61 -146.1 991.0 -7.7 479 9871 0.12 2.22 0.00 0.000 6 0.177 0.054 1652 2892 3414 0 0 0 0 0 0

10005 end dive: TARGET_DEPTH_EXCEEDED

state 10005 begin apogee

10016 -0.18 0.0 1000.7 6.8 484 10166 0.45 0.00 141.90 1.819 6 0.152 0.000 1789 2703 2819 0 0 0 0 1 0

10168 end apogee: CONTROL_FINISHED_OK

state 10168 begin climb

10173 0.61 146.1 1004.9 0.0 489 10340 0.75 2.53 154.20 1.788 4 0.061 0.047 2062 1308 2224 0 0 0 0 1 0

10468 0.61 146.1 953.3 21.6 498 10472 0.00 2.40 0.00 0.000 6 0.000 0.049 2062 2699 2217 0 0 0 0 0 0

10801 0.61 146.1 875.3 23.8 509 10805 0.00 2.25 0.00 0.000 4 0.000 0.046 2073 1303 2214 0 0 0 0 0 0

10847 0.61 146.1 863.9 22.2 510 10852 0.00 2.30 0.00 0.000 6 0.000 0.050 2071 2703 2213 0 0 0 0 0 0

11168 0.61 146.1 786.6 24.2 521 11173 0.00 2.25 0.00 0.000 4 0.000 0.047 2081 1305 2212 0 0 0 0 0 0

11215 0.61 146.1 775.1 23.0 522 11219 0.12 2.28 0.00 0.000 6 0.227 0.050 2054 2707 2211 0 0 0 0 0 0

11536 0.61 146.1 701.2 23.2 533 11537 0.00 0.00 0.00 0.000 6 0.000 0.000 2054 2707 2211 0 0 0 0 0 0

11844 0.61 146.1 632.5 21.7 543 11845 0.00 0.00 0.00 0.000 6 0.000 0.000 2054 2707 2211 0 0 0 0 0 0

12148 0.61 146.1 566.8 21.2 553 12152 0.00 2.20 0.00 0.000 4 0.000 0.046 2064 1307 2209 0 0 0 0 0 0

12200 0.61 146.1 556.0 19.7 554 12204 0.00 2.22 0.00 0.000 6 0.000 0.050 2063 2703 2209 0 0 0 0 0 0

12521 0.61 146.1 488.8 20.9 565 12525 0.00 2.20 0.00 0.000 4 0.000 0.047 2074 1307 2209 0 0 0 0 0 0

12607 0.61 146.1 471.6 19.1 567 12611 0.00 2.22 0.00 0.000 6 0.000 0.050 2074 2700 2209 0 0 0 0 0 0

12927 0.61 146.1 402.7 21.8 578 12931 0.00 2.20 0.00 0.000 4 0.000 0.047 2084 1298 2209 0 0 0 0 0 0

12959 0.61 146.1 395.9 21.0 579 12963 0.15 2.25 0.00 0.000 6 0.223 0.051 2050 2704 2208 0 0 0 0 0 0

13277 0.61 146.1 331.6 20.2 594 13278 0.00 0.00 0.00 0.000 6 0.000 0.000 2050 2704 2209 0 0 0 0 0 0

13589 0.61 146.1 268.9 20.3 609 13593 0.00 2.20 0.00 0.000 4 0.000 0.045 2059 1305 2208 0 0 0 0 0 0

13633 0.61 146.1 260.1 19.4 611 13637 0.00 2.20 0.00 0.000 6 0.000 0.050 2059 2700 2207 0 0 0 0 0 0

13967 0.61 146.1 189.4 21.9 631 13971 0.00 2.20 0.00 0.000 4 0.000 0.045 2069 1296 2208 0 0 0 0 0 0

13991 0.61 146.1 183.4 20.6 632 14001 0.00 2.25 0.00 0.000 6 0.000 0.050 2069 2693 2207 0 0 0 0 0 0

14315 0.61 146.1 115.2 20.5 653 14319 0.00 2.17 0.00 0.000 4 0.000 0.047 2080 1295 2207 0 0 0 0 0 0

14403 0.61 146.1 98.0 18.5 659 14408 0.12 2.25 0.00 0.000 6 0.220 0.050 2052 2710 2207 0 0 0 0 0 0

14759 0.61 146.1 35.2 17.7 720 14768 0.00 0.00 0.00 0.000 6 0.000 0.000 2052 2710 2207 0 0 0 0 0 0

14921 end climb: SURFACE_DEPTH_REACHED

state 14921 begin surface coast

14946 end surface coast: CONTROL_FINISHED_OK

state 14946 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	197	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	18	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	27	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	5	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	2.49
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	KERMIT	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	480	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3961	DEVICE2	101
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2820	DEVICE3	115
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	134
T_DIVE	353	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	368	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	60	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-11099.857	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	080113,214552,-4701.092,432.125,39,0.9,39,-23.4	TGT_NAME	GH1
_CALLS	3	TGT_LATLONG	-4700.000,410.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.117,-0.227
_SM_DEPTHo	1.04	KALMAN_X	-163041.6,-29.0,760.1,181707.1,156.6
_SM_ANGLEo	-29.6	KALMAN_Y	79537.9,-695.8,-212.8,-96861.2,4981.2
GPS2	080113,220331,-4701.132,432.308,16,0.7,18,-23.4	MHEAD_RNG_PITCHd_Wd	230.7,28255,-16.5,-9.443
SPEED_LIMITS	0.164,0.256	D_GRID	1000

FINISH	0.8,1.026492	_10V_AH	10.1,17.835
SM_CCo	14968,181.98,0.793,1,0,476,573.99	FG_AHR_24Vo	0.000
SM_GC	1.07,0.00,0.00,181.98,0.000,0.000,0.793,64,2914,476,-5.58,0.96,573.99	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4648.08,431.92,080113,212143	MEM	353904
TT8_MAMPS	0.026215	DATA_FILE_SIZE	53759,749
HUMID	56.49	CAP_FILE_SIZE	115649,0
INTERNAL_PRESSURE	9.20901	CFSIZE	259252224,217071616
TCM_TEMP	10.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
XPDR_PINGS	0	GPS	090113,021832,-4702.163,430.155,45,1.2,45,-23.4
_24V_AH	22.0,38.259

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	252	76.64	SBE_CT	493	24	260.60
Roll_motor	78	68	118.11	AA4330	1472	33	1069.03
VBD_pump_during_apogee	296	1819	11850.44	WL_BB2FLVMT	782	105	1807.17
VBD_pump_during_surface	181	792	3172.89	QSP2150	297	4	28.69
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	81	103	183.82	nil	0	0	0.00
Iridium_during_connect	167	160	591.03	nil	0	0	0.00
Iridium_during_xfer	410	223	2015.67	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	5.59
TT8	1834	14	277.17
LPSleep	10529	2	232.91
TT8_Active	600	14	86.12
TT8_Sampling	2586	37	977.80
TT8_CF8	649	47	309.34
TT8_Kalman	33	59	19.93
Analog_circuits	1415	12	171.52
GPS_charging	0	0	0.00
Compass	1828	15	290.56
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	22	begin dive
27	-0.61	-146.1	0.0	0.0	0	171	0.00	0.00	-141.85	0.000	2	0.000	0.000	55	2907	3313	0	0	0	0	0	0
178	-0.61	-146.1	3.3	-2.3	18	196	6.65	1.62	-2.60	0.000	4	0.252	0.068	1637	3906	3416	0	0	0	0	0	0
269	-0.61	-146.1	22.2	-13.8	31	278	0.00	1.65	0.00	0.000	6	0.000	0.032	1637	2836	3419	0	0	0	0	0	0
355	-0.61	-146.1	37.2	-18.2	44	363	0.00	0.00	0.00	0.000	6	0.000	0.000	1637	2836	3419	0	0	0	0	0	0
601	-0.61	-146.1	71.2	-12.3	85	606	0.00	1.70	0.00	0.000	4	0.000	0.059	1628	3896	3418	0	0	0	0	0	0
657	-0.61	-146.1	78.7	-13.0	94	663	0.00	1.55	0.00	0.000	6	0.000	0.031	1628	2872	3419	0	0	0	0	0	0
1006	-0.61	-146.1	122.0	-12.3	135	1007	0.00	0.00	0.00	0.000	6	0.000	0.000	1629	2872	3420	0	0	0	0	0	0
1319	-0.61	-146.1	160.3	-12.2	155	1320	0.00	0.00	0.00	0.000	6	0.000	0.000	1629	2872	3420	0	0	0	0	0	0
1634	-0.61	-146.1	198.0	-11.7	175	1638	0.00	1.65	0.00	0.000	4	0.000	0.060	1621	3907	3420	0	0	0	0	0	0
1692	-0.61	-146.1	206.0	-11.7	178	1696	0.08	1.55	0.00	0.000	6	0.160	0.031	1644	2883	3420	0	0	0	0	0	0
2025	-0.61	-146.1	240.1	-10.5	199	2031	0.00	0.00	0.00	0.000	6	0.000	0.000	1644	2878	3420	0	0	0	0	0	0
2357	-0.61	-146.1	274.2	-10.0	217	2358	0.00	0.00	0.00	0.000	6	0.000	0.000	1644	2878	3420	0	0	0	0	0	0
2664	-0.61	-146.1	304.7	-10.0	232	2665	0.00	0.00	0.00	0.000	6	0.000	0.000	1644	2878	3419	0	0	0	0	0	0
2975	-0.61	-146.1	336.8	-10.1	247	2979	0.00	2.10	0.00	0.000	4	0.000	0.041	1644	1493	3419	0	0	0	0	0	0
3010	-0.61	-146.1	340.9	-10.3	248	3014	0.00	2.20	0.00	0.000	6	0.000	0.054	1635	2884	3419	0	0	0	0	0	0
3334	-0.61	-146.1	376.3	-11.3	264	3338	0.00	1.60	0.00	0.000	4	0.000	0.060	1627	3894	3419	0	0	0	0	0	0
3408	-0.61	-146.1	385.1	-12.1	267	3412	0.00	1.52	0.00	0.000	6	0.000	0.032	1627	2878	3419	0	0	0	0	0	0
3751	-0.61	-146.1	424.5	-11.2	280	3752	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2873	3419	0	0	0	0	0	0
4057	-0.61	-146.1	458.9	-11.1	290	4058	0.00	0.00	0.00	0.000	6	0.000	0.000	1626	2873	3419	0	0	0	0	0	0
4364	-0.61	-146.1	492.7	-10.9	300	4365	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2873	3418	0	0	0	0	0	0
4670	-0.61	-146.1	526.6	-11.2	310	4671	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2873	3418	0	0	0	0	0	0
4976	-0.61	-146.1	559.4	-10.7	320	4977	0.00	0.00	0.00	0.000	6	0.000	0.000	1626	2873	3418	0	0	0	0	0	0
5282	-0.61	-146.1	591.8	-10.3	330	5283	0.00	0.00	0.00	0.000	6	0.000	0.000	1626	2873	3417	0	0	0	0	0	0
5589	-0.61	-146.1	623.6	-10.2	340	5590	0.00	0.00	0.00	0.000	6	0.000	0.000	1626	2873	3417	0	0	0	0	0	0
5894	-0.61	-146.1	654.0	-9.9	350	5896	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2873	3417	0	0	0	0	0	0
6201	-0.61	-146.1	685.3	-10.2	360	6202	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2873	3416	0	0	0	0	0	0
6507	-0.61	-146.1	716.0	-10.2	370	6510	0.00	1.65	0.00	0.000	4	0.000	0.062	1619	3911	3416	0	0	0	0	0	0
6547	-0.61	-146.1	720.8	-11.2	371	6552	0.08	1.55	0.00	0.000	6	0.160	0.034	1658	2885	3416	0	0	0	0	0	0
6885	-0.61	-146.1	748.2	-8.2	382	6889	0.00	2.12	0.00	0.000	4	0.000	0.041	1658	1496	3415	0	0	0	0	0	0
6921	-0.61	-146.1	751.3	-8.0	383	6925	0.00	2.22	0.00	0.000	6	0.000	0.054	1649	2892	3415	0	0	0	0	0	0
7253	-0.61	-146.1	779.7	-8.5	394	7254	0.00	0.00	0.00	0.000	6	0.000	0.000	1649	2892	3415	0	0	0	0	0	0
7561	-0.61	-146.1	804.7	-8.1	404	7562	0.00	0.00	0.00	0.000	6	0.000	0.000	1650	2892	3415	0	0	0	0	0	0
7866	-0.61	-146.1	829.6	-8.1	414	7870	0.00	2.15	0.00	0.000	4	0.000	0.039	1650	1499	3415	0	0	0	0	0	0
7901	-0.61	-146.1	832.6	-8.3	415	7905	0.00	2.20	0.00	0.000	6	0.000	0.054	1640	2881	3415	0	0	0	0	0	0
8233	-0.61	-146.1	859.9	-8.4	426	8234	0.00	0.00	0.00	0.000	6	0.000	0.000	1640	2881	3415	0	0	0	0	0	0
8541	-0.61	-146.1	884.5	-7.9	436	8543	0.00	0.00	0.00	0.000	6	0.000	0.000	1640	2881	3415	0	0	0	0	0	0
8846	-0.61	-146.1	908.0	-7.5	446	8850	0.00	2.12	0.00	0.000	4	0.000	0.039	1640	1498	3414	0	0	0	0	0	0
8881	-0.61	-146.1	910.7	-7.5	447	8885	0.00	2.20	0.00	0.000	6	0.000	0.054	1630	2880	3414	0	0	0	0	0	0
9213	-0.61	-146.1	936.7	-8.1	458	9214	0.00	0.00	0.00	0.000	6	0.000	0.000	1630	2881	3414	0	0	0	0	0	0
9519	-0.61	-146.1	962.1	-8.3	468	9521	0.00	0.00	0.00	0.000	6	0.000	0.000	1630	2881	3414	0	0	0	0	0	0
9825	-0.61	-146.1	987.5	-8.3	478	9829	0.00	2.12	0.00	0.000	4	0.000	0.038	1630	1498	3413	0	0	0	0	0	0
9866	-0.61	-146.1	991.0	-7.7	479	9871	0.12	2.22	0.00	0.000	6	0.177	0.054	1652	2892	3414	0	0	0	0	0	0
10005	end dive: TARGET_DEPTH_EXCEEDED
state	10005	begin apogee
10016	-0.18	0.0	1000.7	6.8	484	10166	0.45	0.00	141.90	1.819	6	0.152	0.000	1789	2703	2819	0	0	0	0	1	0
10168	end apogee: CONTROL_FINISHED_OK
state	10168	begin climb
10173	0.61	146.1	1004.9	0.0	489	10340	0.75	2.53	154.20	1.788	4	0.061	0.047	2062	1308	2224	0	0	0	0	1	0
10468	0.61	146.1	953.3	21.6	498	10472	0.00	2.40	0.00	0.000	6	0.000	0.049	2062	2699	2217	0	0	0	0	0	0
10801	0.61	146.1	875.3	23.8	509	10805	0.00	2.25	0.00	0.000	4	0.000	0.046	2073	1303	2214	0	0	0	0	0	0
10847	0.61	146.1	863.9	22.2	510	10852	0.00	2.30	0.00	0.000	6	0.000	0.050	2071	2703	2213	0	0	0	0	0	0
11168	0.61	146.1	786.6	24.2	521	11173	0.00	2.25	0.00	0.000	4	0.000	0.047	2081	1305	2212	0	0	0	0	0	0
11215	0.61	146.1	775.1	23.0	522	11219	0.12	2.28	0.00	0.000	6	0.227	0.050	2054	2707	2211	0	0	0	0	0	0
11536	0.61	146.1	701.2	23.2	533	11537	0.00	0.00	0.00	0.000	6	0.000	0.000	2054	2707	2211	0	0	0	0	0	0
11844	0.61	146.1	632.5	21.7	543	11845	0.00	0.00	0.00	0.000	6	0.000	0.000	2054	2707	2211	0	0	0	0	0	0
12148	0.61	146.1	566.8	21.2	553	12152	0.00	2.20	0.00	0.000	4	0.000	0.046	2064	1307	2209	0	0	0	0	0	0
12200	0.61	146.1	556.0	19.7	554	12204	0.00	2.22	0.00	0.000	6	0.000	0.050	2063	2703	2209	0	0	0	0	0	0
12521	0.61	146.1	488.8	20.9	565	12525	0.00	2.20	0.00	0.000	4	0.000	0.047	2074	1307	2209	0	0	0	0	0	0
12607	0.61	146.1	471.6	19.1	567	12611	0.00	2.22	0.00	0.000	6	0.000	0.050	2074	2700	2209	0	0	0	0	0	0
12927	0.61	146.1	402.7	21.8	578	12931	0.00	2.20	0.00	0.000	4	0.000	0.047	2084	1298	2209	0	0	0	0	0	0
12959	0.61	146.1	395.9	21.0	579	12963	0.15	2.25	0.00	0.000	6	0.223	0.051	2050	2704	2208	0	0	0	0	0	0
13277	0.61	146.1	331.6	20.2	594	13278	0.00	0.00	0.00	0.000	6	0.000	0.000	2050	2704	2209	0	0	0	0	0	0
13589	0.61	146.1	268.9	20.3	609	13593	0.00	2.20	0.00	0.000	4	0.000	0.045	2059	1305	2208	0	0	0	0	0	0
13633	0.61	146.1	260.1	19.4	611	13637	0.00	2.20	0.00	0.000	6	0.000	0.050	2059	2700	2207	0	0	0	0	0	0
13967	0.61	146.1	189.4	21.9	631	13971	0.00	2.20	0.00	0.000	4	0.000	0.045	2069	1296	2208	0	0	0	0	0	0
13991	0.61	146.1	183.4	20.6	632	14001	0.00	2.25	0.00	0.000	6	0.000	0.050	2069	2693	2207	0	0	0	0	0	0
14315	0.61	146.1	115.2	20.5	653	14319	0.00	2.17	0.00	0.000	4	0.000	0.047	2080	1295	2207	0	0	0	0	0	0
14403	0.61	146.1	98.0	18.5	659	14408	0.12	2.25	0.00	0.000	6	0.220	0.050	2052	2710	2207	0	0	0	0	0	0
14759	0.61	146.1	35.2	17.7	720	14768	0.00	0.00	0.00	0.000	6	0.000	0.000	2052	2710	2207	0	0	0	0	0	0
14921	end climb: SURFACE_DEPTH_REACHED
state	14921	begin surface coast
14946	end surface coast: CONTROL_FINISHED_OK
state	14946	begin surface