Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 200 * 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 200 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 35 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 44 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 -11114.389 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 -11114.389

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 35 VBD_MAX 3961

DEVICE2 101 MASS 52816 R_STBD_OVSHOOT 44 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 200 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 090113,112152,-4700.396,425.245,38,1.0,38,-23.4 TGT_NAME GH1

_CALLS 1 TGT_LATLONG -4700.000,410.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.112,-0.230

_SM_DEPTHo 1.13 KALMAN_X -158326.0,3.9,237.4,168558.5,2110.7

_SM_ANGLEo -34.0 KALMAN_Y 86117.5,-301.5,-236.4,-102355.2,4875.9

GPS2 090113,113205,-4700.346,425.247,16,1.1,16,-23.4 MHEAD_RNG_PITCHd_Wd 229.4,19269,-16.5,-9.443

SPEED_LIMITS 0.164,0.256 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.9,1.026528 _10V_AH 10.1,18.152

SM_CCo 15163,182.95,0.797,1,0,477,573.99 FG_AHR_24Vo 0.000

SM_GC 1.41,0.00,0.00,182.95,0.000,0.000,0.797,51,2890,477,-5.62,0.28,573.99 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4644.93,428.52,090113,060640 MEM 353928

TT8_MAMPS 0.026215 DATA_FILE_SIZE 53745,754

HUMID 56.41 CAP_FILE_SIZE 109940,0

INTERNAL_PRESSURE 9.19924 CFSIZE 259252224,216879104

TCM_TEMP 10.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,1

XPDR_PINGS 0 GPS 090113,155022,-4701.671,422.898,41,0.7,41,-23.4

_24V_AH 22.0,38.833

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 253 77.11 SBE_CT 497 24 262.47

Roll_motor 70 61 95.80 AA4330 1469 33 1066.55

VBD_pump_during_apogee 297 1792 11745.03 WL_BB2FLVMT 772 105 1784.25

VBD_pump_during_surface 182 797 3208.37 QSP2150 301 4 29.07

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 59.17 nil 0 0 0.00

Iridium_during_connect 24 160 85.93 nil 0 0 0.00

Iridium_during_xfer 313 223 1538.44 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 26 6.17

TT8 1845 14 278.90

LPSleep 10602 2 234.53

TT8_Active 638 14 91.65

TT8_Sampling 2244 37 848.44

TT8_CF8 621 47 296.05

TT8_Kalman 33 59 19.94

Analog_circuits 1409 12 170.86

GPS_charging 0 0 0.00

Compass 1791 15 284.69

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 -141.73 0.000 2 0.000 0.000 60 2898 3359 0 0 0 0 0 0

177 -0.61 -146.1 3.8 -3.2 18 188 6.65 0.00 -1.33 0.000 6 0.254 0.000 1645 2898 3417 0 0 0 0 0 0

267 -0.61 -146.1 26.0 -17.2 31 275 0.00 0.00 0.00 0.000 6 0.000 0.000 1645 2898 3419 0 0 0 0 0 0

351 -0.61 -146.1 38.3 -13.9 44 359 0.00 0.00 0.00 0.000 6 0.000 0.000 1645 2898 3420 0 0 0 0 0 0

598 -0.61 -146.1 70.4 -12.5 85 602 0.00 0.00 0.00 0.000 6 0.000 0.000 1645 2898 3420 0 0 0 0 0 0

954 -0.61 -146.1 111.6 -11.9 136 957 0.00 2.20 0.00 0.000 4 0.000 0.037 1645 1476 3421 0 0 0 0 0 0

1004 -0.61 -146.1 117.3 -10.8 139 1008 0.00 2.22 0.00 0.000 6 0.000 0.051 1636 2865 3421 0 0 0 0 0 0

1331 -0.61 -146.1 157.7 -12.5 160 1335 0.00 1.62 0.00 0.000 4 0.000 0.059 1628 3890 3421 0 0 0 0 0 0

1389 -0.61 -146.1 165.5 -13.1 163 1393 0.00 1.58 0.00 0.000 6 0.000 0.032 1628 2846 3421 0 0 0 0 0 0

1716 -0.61 -146.1 205.5 -11.9 184 1717 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2841 3421 0 0 0 0 0 0

2030 -0.61 -146.1 242.6 -11.8 204 2033 0.00 1.67 0.00 0.000 4 0.000 0.060 1620 3896 3421 0 0 0 0 0 0

2110 -0.61 -146.1 253.7 -12.5 208 2115 0.08 1.52 0.00 0.000 6 0.164 0.032 1642 2888 3421 0 0 0 0 0 0

2435 -0.61 -146.1 289.3 -10.8 224 2436 0.00 0.00 0.00 0.000 6 0.000 0.000 1642 2884 3421 0 0 0 0 0 0

2746 -0.61 -146.1 323.0 -11.0 239 2750 0.00 1.62 0.00 0.000 4 0.000 0.060 1636 3892 3421 0 0 0 0 0 0

2820 -0.61 -146.1 332.1 -11.2 242 2825 0.00 1.52 0.00 0.000 6 0.000 0.033 1636 2878 3421 0 0 0 0 0 0

3150 -0.61 -146.1 368.1 -10.9 258 3152 0.00 0.00 0.00 0.000 6 0.000 0.000 1636 2874 3421 0 0 0 0 0 0

3461 -0.61 -146.1 399.7 -10.0 273 3462 0.00 0.00 0.00 0.000 6 0.000 0.000 1636 2874 3421 0 0 0 0 0 0

3786 -0.61 -146.1 432.3 -9.8 284 3790 0.00 1.65 0.00 0.000 4 0.000 0.061 1628 3911 3421 0 0 0 0 0 0

3838 -0.61 -146.1 437.9 -10.9 285 3841 0.00 1.55 0.00 0.000 6 0.000 0.033 1628 2885 3421 0 0 0 0 0 0

4163 -0.61 -146.1 471.5 -10.5 296 4167 0.00 1.65 0.00 0.000 4 0.000 0.061 1620 3888 3420 0 0 0 0 0 0

4200 -0.61 -146.1 475.7 -11.5 297 4204 0.08 1.52 0.00 0.000 6 0.161 0.033 1644 2879 3420 0 0 0 0 0 0

4544 -0.61 -146.1 508.5 -9.3 308 4545 0.00 0.00 0.00 0.000 6 0.000 0.000 1643 2874 3420 0 0 0 0 0 0

4850 -0.61 -146.1 535.6 -8.8 318 4851 0.00 0.00 0.00 0.000 6 0.000 0.000 1644 2874 3420 0 0 0 0 0 0

5156 -0.61 -146.1 562.4 -8.8 328 5157 0.00 0.00 0.00 0.000 6 0.000 0.000 1644 2874 3420 0 0 0 0 0 0

5463 -0.61 -146.1 589.3 -8.9 338 5464 0.00 0.00 0.00 0.000 6 0.000 0.000 1644 2874 3419 0 0 0 0 0 0

5769 -0.61 -146.1 616.6 -9.0 348 5773 0.00 1.65 0.00 0.000 4 0.000 0.062 1637 3894 3419 0 0 0 0 0 0

5805 -0.61 -146.1 620.1 -9.8 349 5809 0.00 1.52 0.00 0.000 6 0.000 0.034 1637 2883 3419 0 0 0 0 0 0

6150 -0.61 -146.1 653.5 -9.9 360 6151 0.00 0.00 0.00 0.000 6 0.000 0.000 1637 2878 3419 0 0 0 0 0 0

6455 -0.61 -146.1 684.4 -10.0 370 6458 0.00 1.65 0.00 0.000 4 0.000 0.062 1629 3913 3418 0 0 0 0 0 0

6491 -0.61 -146.1 688.1 -10.5 371 6494 0.00 1.58 0.00 0.000 6 0.000 0.034 1629 2874 3418 0 0 0 0 0 0

6834 -0.61 -146.1 723.0 -10.1 382 6835 0.00 0.00 0.00 0.000 6 0.000 0.000 1629 2870 3418 0 0 0 0 0 0

7140 -0.61 -146.1 751.7 -9.2 392 7144 0.00 2.10 0.00 0.000 4 0.000 0.038 1629 1492 3418 0 0 0 0 0 0

7172 -0.61 -146.1 754.6 -9.6 393 7176 0.12 2.22 0.00 0.000 6 0.180 0.054 1651 2891 3417 0 0 0 0 0 0

7511 -0.61 -146.1 778.9 -7.1 404 7512 0.00 0.00 0.00 0.000 6 0.000 0.000 1651 2891 3417 0 0 0 0 0 0

7817 -0.61 -146.1 800.2 -6.8 414 7818 0.00 0.00 0.00 0.000 6 0.000 0.000 1651 2891 3418 0 0 0 0 0 0

8123 -0.61 -146.1 821.0 -6.7 424 8127 0.00 2.12 0.00 0.000 4 0.000 0.038 1651 1498 3417 0 0 0 0 0 0

8155 -0.61 -146.1 823.2 -7.4 425 8159 0.00 2.20 0.00 0.000 6 0.000 0.054 1643 2882 3417 0 0 0 0 0 0

8493 -0.61 -146.1 849.6 -8.0 436 8494 0.00 0.00 0.00 0.000 6 0.000 0.000 1643 2881 3417 0 0 0 0 0 0

8799 -0.61 -146.1 873.9 -7.9 446 8803 0.00 1.60 0.00 0.000 4 0.000 0.062 1635 3889 3417 0 0 0 0 0 0

8840 -0.61 -146.1 877.6 -8.2 447 8844 0.00 1.52 0.00 0.000 6 0.000 0.034 1635 2876 3417 0 0 0 0 0 0

9180 -0.61 -146.1 905.6 -8.4 458 9181 0.00 0.00 0.00 0.000 6 0.000 0.000 1635 2874 3417 0 0 0 0 0 0

9484 -0.61 -146.1 930.7 -8.0 468 9488 0.00 2.10 0.00 0.000 4 0.000 0.038 1635 1495 3417 0 0 0 0 0 0

9508 -0.61 -146.1 932.9 -8.4 468 9515 0.00 2.20 0.00 0.000 6 0.000 0.053 1625 2882 3416 0 0 0 0 0 0

9824 -0.61 -146.1 959.8 -8.5 479 9825 0.00 0.00 0.00 0.000 6 0.000 0.000 1625 2882 3417 0 0 0 0 0 0

10130 -0.61 -146.1 986.8 -8.9 489 10131 0.00 0.00 0.00 0.000 6 0.000 0.000 1625 2882 3417 0 0 0 0 0 0

10279 end dive: TARGET_DEPTH_EXCEEDED

state 10279 begin apogee

10290 -0.18 0.0 1000.2 8.7 494 10441 0.55 0.00 148.05 1.230 6 0.162 0.000 1788 2709 2819 0 0 0 0 0 0

10443 end apogee: CONTROL_FINISHED_OK

state 10443 begin climb

10448 0.61 146.1 1004.6 0.0 499 10611 0.75 0.00 149.80 1.792 6 0.063 0.000 2056 2709 2224 0 0 0 0 1 0

10919 0.61 146.1 908.3 23.3 515 10923 0.00 2.30 0.00 0.000 4 0.000 0.047 2067 1302 2217 0 0 0 0 0 0

10960 0.61 146.1 898.8 21.1 516 10964 0.00 2.33 0.00 0.000 6 0.000 0.050 2067 2696 2216 0 0 0 0 0 0

11286 0.61 146.1 823.3 23.1 527 11288 0.00 0.00 0.00 0.000 6 0.000 0.000 2067 2698 2215 0 0 0 0 0 0

11595 0.61 146.1 752.9 22.7 537 11599 0.00 2.22 0.00 0.000 4 0.000 0.045 2077 1304 2215 0 0 0 0 0 0

11646 0.61 146.1 740.7 21.0 538 11651 0.00 2.28 0.00 0.000 6 0.000 0.050 2077 2708 2213 0 0 0 0 0 0

11962 0.61 146.1 666.7 24.0 548 11963 0.00 0.00 0.00 0.000 6 0.000 0.000 2078 2708 2213 0 0 0 0 0 0

12268 0.61 146.1 593.9 23.8 558 12269 0.00 0.00 0.00 0.000 6 0.000 0.000 2077 2708 2213 0 0 0 0 0 0

12574 0.61 146.1 521.2 23.5 568 12578 0.00 2.22 0.00 0.000 4 0.000 0.045 2087 1299 2213 0 0 0 0 0 0

12665 0.61 146.1 500.8 20.0 570 12673 0.15 2.25 0.00 0.000 6 0.217 0.051 2053 2706 2211 0 0 0 0 0 0

12982 0.61 146.1 434.2 21.3 581 12983 0.00 0.00 0.00 0.000 6 0.000 0.000 2052 2706 2211 0 0 0 0 0 0

13290 0.61 146.1 371.1 20.5 593 13294 0.00 2.20 0.00 0.000 4 0.000 0.044 2062 1303 2211 0 0 0 0 0 0

13315 0.61 146.1 365.4 20.3 594 13319 0.00 2.22 0.00 0.000 6 0.000 0.050 2062 2700 2211 0 0 0 0 0 0

13645 0.61 146.1 295.9 21.3 610 13646 0.00 0.00 0.00 0.000 6 0.000 0.000 2062 2701 2211 0 0 0 0 0 0

13968 0.61 146.1 228.5 20.7 627 13969 0.00 0.00 0.00 0.000 6 0.000 0.000 2062 2701 2211 0 0 0 0 0 0

14280 0.61 146.1 164.7 19.4 647 14284 0.00 2.17 0.00 0.000 4 0.000 0.044 2072 1302 2211 0 0 0 0 0 0

14347 0.61 146.1 152.7 16.5 651 14351 0.00 2.22 0.00 0.000 6 0.000 0.050 2072 2711 2210 0 0 0 0 0 0

14676 0.61 146.1 88.2 19.0 678 14684 0.00 0.00 0.00 0.000 6 0.000 0.000 2072 2711 2210 0 0 0 0 0 0

15041 0.61 146.1 19.4 18.7 739 15050 0.00 2.22 0.00 0.000 4 0.000 0.044 2082 1309 2210 0 0 0 0 0 0

15119 end climb: SURFACE_DEPTH_REACHED

state 15119 begin surface coast

15138 end surface coast: CONTROL_FINISHED_OK

state 15139 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	200	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	35	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	44	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	-11114.389	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	090113,112152,-4700.396,425.245,38,1.0,38,-23.4	TGT_NAME	GH1
_CALLS	1	TGT_LATLONG	-4700.000,410.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.112,-0.230
_SM_DEPTHo	1.13	KALMAN_X	-158326.0,3.9,237.4,168558.5,2110.7
_SM_ANGLEo	-34.0	KALMAN_Y	86117.5,-301.5,-236.4,-102355.2,4875.9
GPS2	090113,113205,-4700.346,425.247,16,1.1,16,-23.4	MHEAD_RNG_PITCHd_Wd	229.4,19269,-16.5,-9.443
SPEED_LIMITS	0.164,0.256	D_GRID	1000

FINISH	0.9,1.026528	_10V_AH	10.1,18.152
SM_CCo	15163,182.95,0.797,1,0,477,573.99	FG_AHR_24Vo	0.000
SM_GC	1.41,0.00,0.00,182.95,0.000,0.000,0.797,51,2890,477,-5.62,0.28,573.99	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4644.93,428.52,090113,060640	MEM	353928
TT8_MAMPS	0.026215	DATA_FILE_SIZE	53745,754
HUMID	56.41	CAP_FILE_SIZE	109940,0
INTERNAL_PRESSURE	9.19924	CFSIZE	259252224,216879104
TCM_TEMP	10.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
XPDR_PINGS	0	GPS	090113,155022,-4701.671,422.898,41,0.7,41,-23.4
_24V_AH	22.0,38.833

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	253	77.11	SBE_CT	497	24	262.47
Roll_motor	70	61	95.80	AA4330	1469	33	1066.55
VBD_pump_during_apogee	297	1792	11745.03	WL_BB2FLVMT	772	105	1784.25
VBD_pump_during_surface	182	797	3208.37	QSP2150	301	4	29.07
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	59.17	nil	0	0	0.00
Iridium_during_connect	24	160	85.93	nil	0	0	0.00
Iridium_during_xfer	313	223	1538.44	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	26	6.17
TT8	1845	14	278.90
LPSleep	10602	2	234.53
TT8_Active	638	14	91.65
TT8_Sampling	2244	37	848.44
TT8_CF8	621	47	296.05
TT8_Kalman	33	59	19.94
Analog_circuits	1409	12	170.86
GPS_charging	0	0	0.00
Compass	1791	15	284.69
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	-141.73	0.000	2	0.000	0.000	60	2898	3359	0	0	0	0	0	0
177	-0.61	-146.1	3.8	-3.2	18	188	6.65	0.00	-1.33	0.000	6	0.254	0.000	1645	2898	3417	0	0	0	0	0	0
267	-0.61	-146.1	26.0	-17.2	31	275	0.00	0.00	0.00	0.000	6	0.000	0.000	1645	2898	3419	0	0	0	0	0	0
351	-0.61	-146.1	38.3	-13.9	44	359	0.00	0.00	0.00	0.000	6	0.000	0.000	1645	2898	3420	0	0	0	0	0	0
598	-0.61	-146.1	70.4	-12.5	85	602	0.00	0.00	0.00	0.000	6	0.000	0.000	1645	2898	3420	0	0	0	0	0	0
954	-0.61	-146.1	111.6	-11.9	136	957	0.00	2.20	0.00	0.000	4	0.000	0.037	1645	1476	3421	0	0	0	0	0	0
1004	-0.61	-146.1	117.3	-10.8	139	1008	0.00	2.22	0.00	0.000	6	0.000	0.051	1636	2865	3421	0	0	0	0	0	0
1331	-0.61	-146.1	157.7	-12.5	160	1335	0.00	1.62	0.00	0.000	4	0.000	0.059	1628	3890	3421	0	0	0	0	0	0
1389	-0.61	-146.1	165.5	-13.1	163	1393	0.00	1.58	0.00	0.000	6	0.000	0.032	1628	2846	3421	0	0	0	0	0	0
1716	-0.61	-146.1	205.5	-11.9	184	1717	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2841	3421	0	0	0	0	0	0
2030	-0.61	-146.1	242.6	-11.8	204	2033	0.00	1.67	0.00	0.000	4	0.000	0.060	1620	3896	3421	0	0	0	0	0	0
2110	-0.61	-146.1	253.7	-12.5	208	2115	0.08	1.52	0.00	0.000	6	0.164	0.032	1642	2888	3421	0	0	0	0	0	0
2435	-0.61	-146.1	289.3	-10.8	224	2436	0.00	0.00	0.00	0.000	6	0.000	0.000	1642	2884	3421	0	0	0	0	0	0
2746	-0.61	-146.1	323.0	-11.0	239	2750	0.00	1.62	0.00	0.000	4	0.000	0.060	1636	3892	3421	0	0	0	0	0	0
2820	-0.61	-146.1	332.1	-11.2	242	2825	0.00	1.52	0.00	0.000	6	0.000	0.033	1636	2878	3421	0	0	0	0	0	0
3150	-0.61	-146.1	368.1	-10.9	258	3152	0.00	0.00	0.00	0.000	6	0.000	0.000	1636	2874	3421	0	0	0	0	0	0
3461	-0.61	-146.1	399.7	-10.0	273	3462	0.00	0.00	0.00	0.000	6	0.000	0.000	1636	2874	3421	0	0	0	0	0	0
3786	-0.61	-146.1	432.3	-9.8	284	3790	0.00	1.65	0.00	0.000	4	0.000	0.061	1628	3911	3421	0	0	0	0	0	0
3838	-0.61	-146.1	437.9	-10.9	285	3841	0.00	1.55	0.00	0.000	6	0.000	0.033	1628	2885	3421	0	0	0	0	0	0
4163	-0.61	-146.1	471.5	-10.5	296	4167	0.00	1.65	0.00	0.000	4	0.000	0.061	1620	3888	3420	0	0	0	0	0	0
4200	-0.61	-146.1	475.7	-11.5	297	4204	0.08	1.52	0.00	0.000	6	0.161	0.033	1644	2879	3420	0	0	0	0	0	0
4544	-0.61	-146.1	508.5	-9.3	308	4545	0.00	0.00	0.00	0.000	6	0.000	0.000	1643	2874	3420	0	0	0	0	0	0
4850	-0.61	-146.1	535.6	-8.8	318	4851	0.00	0.00	0.00	0.000	6	0.000	0.000	1644	2874	3420	0	0	0	0	0	0
5156	-0.61	-146.1	562.4	-8.8	328	5157	0.00	0.00	0.00	0.000	6	0.000	0.000	1644	2874	3420	0	0	0	0	0	0
5463	-0.61	-146.1	589.3	-8.9	338	5464	0.00	0.00	0.00	0.000	6	0.000	0.000	1644	2874	3419	0	0	0	0	0	0
5769	-0.61	-146.1	616.6	-9.0	348	5773	0.00	1.65	0.00	0.000	4	0.000	0.062	1637	3894	3419	0	0	0	0	0	0
5805	-0.61	-146.1	620.1	-9.8	349	5809	0.00	1.52	0.00	0.000	6	0.000	0.034	1637	2883	3419	0	0	0	0	0	0
6150	-0.61	-146.1	653.5	-9.9	360	6151	0.00	0.00	0.00	0.000	6	0.000	0.000	1637	2878	3419	0	0	0	0	0	0
6455	-0.61	-146.1	684.4	-10.0	370	6458	0.00	1.65	0.00	0.000	4	0.000	0.062	1629	3913	3418	0	0	0	0	0	0
6491	-0.61	-146.1	688.1	-10.5	371	6494	0.00	1.58	0.00	0.000	6	0.000	0.034	1629	2874	3418	0	0	0	0	0	0
6834	-0.61	-146.1	723.0	-10.1	382	6835	0.00	0.00	0.00	0.000	6	0.000	0.000	1629	2870	3418	0	0	0	0	0	0
7140	-0.61	-146.1	751.7	-9.2	392	7144	0.00	2.10	0.00	0.000	4	0.000	0.038	1629	1492	3418	0	0	0	0	0	0
7172	-0.61	-146.1	754.6	-9.6	393	7176	0.12	2.22	0.00	0.000	6	0.180	0.054	1651	2891	3417	0	0	0	0	0	0
7511	-0.61	-146.1	778.9	-7.1	404	7512	0.00	0.00	0.00	0.000	6	0.000	0.000	1651	2891	3417	0	0	0	0	0	0
7817	-0.61	-146.1	800.2	-6.8	414	7818	0.00	0.00	0.00	0.000	6	0.000	0.000	1651	2891	3418	0	0	0	0	0	0
8123	-0.61	-146.1	821.0	-6.7	424	8127	0.00	2.12	0.00	0.000	4	0.000	0.038	1651	1498	3417	0	0	0	0	0	0
8155	-0.61	-146.1	823.2	-7.4	425	8159	0.00	2.20	0.00	0.000	6	0.000	0.054	1643	2882	3417	0	0	0	0	0	0
8493	-0.61	-146.1	849.6	-8.0	436	8494	0.00	0.00	0.00	0.000	6	0.000	0.000	1643	2881	3417	0	0	0	0	0	0
8799	-0.61	-146.1	873.9	-7.9	446	8803	0.00	1.60	0.00	0.000	4	0.000	0.062	1635	3889	3417	0	0	0	0	0	0
8840	-0.61	-146.1	877.6	-8.2	447	8844	0.00	1.52	0.00	0.000	6	0.000	0.034	1635	2876	3417	0	0	0	0	0	0
9180	-0.61	-146.1	905.6	-8.4	458	9181	0.00	0.00	0.00	0.000	6	0.000	0.000	1635	2874	3417	0	0	0	0	0	0
9484	-0.61	-146.1	930.7	-8.0	468	9488	0.00	2.10	0.00	0.000	4	0.000	0.038	1635	1495	3417	0	0	0	0	0	0
9508	-0.61	-146.1	932.9	-8.4	468	9515	0.00	2.20	0.00	0.000	6	0.000	0.053	1625	2882	3416	0	0	0	0	0	0
9824	-0.61	-146.1	959.8	-8.5	479	9825	0.00	0.00	0.00	0.000	6	0.000	0.000	1625	2882	3417	0	0	0	0	0	0
10130	-0.61	-146.1	986.8	-8.9	489	10131	0.00	0.00	0.00	0.000	6	0.000	0.000	1625	2882	3417	0	0	0	0	0	0
10279	end dive: TARGET_DEPTH_EXCEEDED
state	10279	begin apogee
10290	-0.18	0.0	1000.2	8.7	494	10441	0.55	0.00	148.05	1.230	6	0.162	0.000	1788	2709	2819	0	0	0	0	0	0
10443	end apogee: CONTROL_FINISHED_OK
state	10443	begin climb
10448	0.61	146.1	1004.6	0.0	499	10611	0.75	0.00	149.80	1.792	6	0.063	0.000	2056	2709	2224	0	0	0	0	1	0
10919	0.61	146.1	908.3	23.3	515	10923	0.00	2.30	0.00	0.000	4	0.000	0.047	2067	1302	2217	0	0	0	0	0	0
10960	0.61	146.1	898.8	21.1	516	10964	0.00	2.33	0.00	0.000	6	0.000	0.050	2067	2696	2216	0	0	0	0	0	0
11286	0.61	146.1	823.3	23.1	527	11288	0.00	0.00	0.00	0.000	6	0.000	0.000	2067	2698	2215	0	0	0	0	0	0
11595	0.61	146.1	752.9	22.7	537	11599	0.00	2.22	0.00	0.000	4	0.000	0.045	2077	1304	2215	0	0	0	0	0	0
11646	0.61	146.1	740.7	21.0	538	11651	0.00	2.28	0.00	0.000	6	0.000	0.050	2077	2708	2213	0	0	0	0	0	0
11962	0.61	146.1	666.7	24.0	548	11963	0.00	0.00	0.00	0.000	6	0.000	0.000	2078	2708	2213	0	0	0	0	0	0
12268	0.61	146.1	593.9	23.8	558	12269	0.00	0.00	0.00	0.000	6	0.000	0.000	2077	2708	2213	0	0	0	0	0	0
12574	0.61	146.1	521.2	23.5	568	12578	0.00	2.22	0.00	0.000	4	0.000	0.045	2087	1299	2213	0	0	0	0	0	0
12665	0.61	146.1	500.8	20.0	570	12673	0.15	2.25	0.00	0.000	6	0.217	0.051	2053	2706	2211	0	0	0	0	0	0
12982	0.61	146.1	434.2	21.3	581	12983	0.00	0.00	0.00	0.000	6	0.000	0.000	2052	2706	2211	0	0	0	0	0	0
13290	0.61	146.1	371.1	20.5	593	13294	0.00	2.20	0.00	0.000	4	0.000	0.044	2062	1303	2211	0	0	0	0	0	0
13315	0.61	146.1	365.4	20.3	594	13319	0.00	2.22	0.00	0.000	6	0.000	0.050	2062	2700	2211	0	0	0	0	0	0
13645	0.61	146.1	295.9	21.3	610	13646	0.00	0.00	0.00	0.000	6	0.000	0.000	2062	2701	2211	0	0	0	0	0	0
13968	0.61	146.1	228.5	20.7	627	13969	0.00	0.00	0.00	0.000	6	0.000	0.000	2062	2701	2211	0	0	0	0	0	0
14280	0.61	146.1	164.7	19.4	647	14284	0.00	2.17	0.00	0.000	4	0.000	0.044	2072	1302	2211	0	0	0	0	0	0
14347	0.61	146.1	152.7	16.5	651	14351	0.00	2.22	0.00	0.000	6	0.000	0.050	2072	2711	2210	0	0	0	0	0	0
14676	0.61	146.1	88.2	19.0	678	14684	0.00	0.00	0.00	0.000	6	0.000	0.000	2072	2711	2210	0	0	0	0	0	0
15041	0.61	146.1	19.4	18.7	739	15050	0.00	2.22	0.00	0.000	4	0.000	0.044	2082	1309	2210	0	0	0	0	0	0
15119	end climb: SURFACE_DEPTH_REACHED
state	15119	begin surface coast
15138	end surface coast: CONTROL_FINISHED_OK
state	15139	begin surface