Glider dive log

SOSCEx 08Dec12 * SG543 * Dive index * Mission links * Dive 208 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 543 HEADING -1 ROLL_MAX 3944 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 6 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 1050

DIVE 208 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 3380 ALTIM_PING_DELTA 15

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 3270 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -4230 HEAD_ERRBAND 15 ALTIM_PULSE 4

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 3

D_NO_BLEED 200 SM_CC 250 R_PORT_OVSHOOT 52 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 45 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 5 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.050000001

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 507 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 101

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2474 DEVICE3 131

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 118

T_DIVE 400 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 420 CAPUPLOAD 0 VBD_TIMEOUT 800 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00061500003 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 -8428.127 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 -5 PITCH_MIN 86 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3908 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1635 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043127281

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -55.913475 SEABIRD_T_H 0.00062185986

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011638312 SEABIRD_T_I 2.2048062e-05

RHO 1.027 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.2117231e-06

MASS 52459 PITCH_GAIN 37 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.303595

NAV_MODE 1 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1762303

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.001936322

KALMAN_USE 1 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00024357962

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 20

HD_C 9.9999997e-06 ROLL_MIN 394 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SM_CC 250

AH0_10V 100 D_OFFGRID 250 PHONE_SUPPLY 2 SPEED_FACTOR 1

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 20 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 15 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 1050 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 37 TCM_ROLL_OFFSET 0

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_MAX 3908 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 86 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 0.00061500003 T_BOOST 5

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011638312 T_DIVE 400

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -55.913475 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 -8428.127

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 420

CF8_MAXERRORS 20 HEAD_ERRBAND 15 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 543 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 0.050000001 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_PITCH 1635 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 3270 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 3380 LOGGERDEVICE1 -1 ROLL_MAX 3944 USE_ICE 0

C_VBD 2474 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_MIN 394 VBD_CNV -0.245296

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 52 VBD_MAX 3960

DEVICE2 101 MASS 52459 R_STBD_OVSHOOT 45 VBD_MAXERRORS 1

DEVICE3 131 MAX_BUOY 150 SEABIRD_C_G -10.303595 VBD_MIN 507

DEVICE4 118 MINV_10V 8 SEABIRD_C_H 1.1762303 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.001936322 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MISSION 6 SEABIRD_C_J 0.00024357962 VBD_TIMEOUT 800

DIVE 208 MOTHERBOARD 4 SEABIRD_T_G 0.0043127281 XPDR_DEVICE 24

D_ABORT 1050 NAV_MODE 1 SEABIRD_T_H 0.00062185986 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 SEABIRD_T_I 2.2048062e-05 XPDR_VALID 3

D_CALL 0 N_GPS 20 SEABIRD_T_J 2.2117231e-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 130113,064434,-4203.062,901.064,33,0.8,33,-25.1 TGT_NAME GH3

_CALLS 1 TGT_LATLONG -4200.000,900.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.102,-0.157

_SM_DEPTHo 1.74 KALMAN_X -141394.4,314.0,-102.1,222248.1,1025.3

_SM_ANGLEo -49.8 KALMAN_Y 36790.4,-638.6,-403.4,14516.2,9129.4

GPS2 130113,065353,-4202.909,901.038,21,1.0,21,-25.1 MHEAD_RNG_PITCHd_Wd 238.0,5574,-20.5,-8.333

SPEED_LIMITS 0.144,0.244 D_GRID 1000

Post-dive calculations and measurements:

FINISH 2.0,1.026217 _10V_AH 10.1,22.444

SM_CCo 12761,48.38,0.694,1,0,1450,250.20 FG_AHR_24Vo 0.000

SM_GC 2.09,0.00,0.00,48.38,0.000,0.000,0.694,55,3385,1450,-4.94,0.17,250.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4146.69,904.39,130113,020211 MEM 353840

TT8_MAMPS 0.025466 DATA_FILE_SIZE 47179,641

HUMID 56.57 CAP_FILE_SIZE 106758,0

INTERNAL_PRESSURE 9.02495 CFSIZE 259252224,245374976

TCM_TEMP 15.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1

XPDR_PINGS 0 GPS 130113,102934,-4203.689,858.869,26,1.1,26,-25.1

_24V_AH 22.8,37.170

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 11 224 60.94 SBE_CT 415 24 227.44

Roll_motor 55 71 91.69 AA4330 1382 33 1040.24

VBD_pump_during_apogee 293 1221 8167.75 WL_BB2FLVMT 634 105 1520.09

VBD_pump_during_surface 48 693 765.29 QSP2150 292 4 29.19

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 59.68 nil 0 0 0.00

Iridium_during_connect 43 160 157.99 nil 0 0 0.00

Iridium_during_xfer 305 223 1551.10 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 24 26 6.57

TT8 1642 14 248.24

LPSleep 8456 2 187.05

TT8_Active 402 14 57.74

TT8_Sampling 2140 37 809.16

TT8_CF8 731 47 348.29

TT8_Kalman 33 59 19.93

Analog_circuits 1222 12 148.18

GPS_charging 0 0 0.00

Compass 1879 15 298.62

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

20 -0.60 -80.9 0.0 0.0 0 71 0.00 0.00 -49.17 0.000 2 0.000 0.000 49 3401 2609 0 0 0 0 0 0

76 -0.64 -146.1 3.0 -3.3 6 104 5.55 0.00 -13.82 0.000 6 0.224 0.000 1423 3402 3069 0 0 0 0 0 0

184 -0.64 -146.1 18.0 -15.8 21 193 0.00 0.85 0.00 0.000 4 0.000 0.059 1420 3926 3071 0 0 0 0 0 0

232 -0.64 -146.1 26.8 -19.0 27 240 0.00 0.82 0.00 0.000 6 0.000 0.036 1420 3392 3071 0 0 0 0 0 0

314 -0.64 -146.1 42.4 -18.2 40 324 0.00 0.00 0.00 0.000 6 0.000 0.000 1420 3391 3071 0 0 0 0 0 0

566 -0.64 -146.1 80.7 -14.0 81 573 0.00 2.17 0.00 0.000 4 0.000 0.031 1420 1968 3072 0 0 0 0 0 0

662 -0.64 -146.1 91.3 -10.9 97 667 0.00 2.28 0.00 0.000 6 0.000 0.057 1409 3361 3073 0 0 0 0 0 0

999 -0.64 -146.1 139.1 -14.8 125 1003 0.00 0.93 0.00 0.000 4 0.000 0.057 1405 3949 3073 0 0 0 0 0 0

1107 -0.64 -146.1 157.0 -16.5 131 1111 0.00 0.88 0.00 0.000 6 0.000 0.035 1405 3369 3073 0 0 0 0 0 0

1432 -0.64 -146.1 207.4 -15.5 152 1435 0.00 0.93 0.00 0.000 4 0.000 0.056 1401 3954 3074 0 0 0 0 0 0

1497 -0.64 -146.1 218.7 -16.7 155 1503 0.00 0.88 0.00 0.000 6 0.000 0.034 1401 3373 3074 0 0 0 0 0 0

1832 -0.64 -146.1 271.9 -15.7 175 1838 0.00 0.90 0.00 0.000 4 0.000 0.056 1397 3946 3074 0 0 0 0 0 0

1939 -0.64 -146.1 289.9 -16.8 179 1944 0.08 0.85 0.00 0.000 6 0.169 0.034 1419 3382 3075 0 0 0 0 0 0

2263 -0.64 -146.1 332.7 -12.8 195 2264 0.00 0.00 0.00 0.000 6 0.000 0.000 1419 3383 3074 0 0 0 0 0 0

2571 -0.64 -146.1 372.1 -13.0 210 2575 0.00 0.90 0.00 0.000 4 0.000 0.057 1415 3952 3074 0 0 0 0 0 0

2644 -0.64 -146.1 382.3 -14.5 213 2648 0.00 0.88 0.00 0.000 6 0.000 0.035 1416 3368 3074 0 0 0 0 0 0

2976 -0.64 -146.1 426.8 -13.2 226 2977 0.00 0.00 0.00 0.000 6 0.000 0.000 1416 3367 3074 0 0 0 0 0 0

3282 -0.64 -146.1 467.5 -13.2 236 3285 0.00 0.93 0.00 0.000 4 0.000 0.057 1411 3953 3074 0 0 0 0 0 0

3377 -0.64 -146.1 481.1 -14.1 238 3383 0.00 0.85 0.00 0.000 6 0.000 0.035 1411 3387 3074 0 0 0 0 0 0

3690 -0.64 -146.1 522.3 -13.2 249 3691 0.00 0.00 0.00 0.000 6 0.000 0.000 1411 3388 3074 0 0 0 0 0 0

3997 -0.64 -146.1 562.8 -13.1 259 3998 0.00 0.00 0.00 0.000 6 0.000 0.000 1412 3387 3073 0 0 0 0 0 0

4302 -0.64 -146.1 602.7 -13.0 269 4308 0.00 0.90 0.00 0.000 4 0.000 0.057 1407 3954 3073 0 0 0 0 0 0

4372 -0.64 -146.1 612.3 -13.6 271 4376 0.00 0.85 0.00 0.000 6 0.000 0.037 1407 3387 3073 0 0 0 0 0 0

4714 -0.64 -146.1 656.8 -13.2 282 4715 0.00 0.00 0.00 0.000 6 0.000 0.000 1407 3387 3072 0 0 0 0 0 0

5020 -0.64 -146.1 698.0 -13.3 292 5021 0.00 0.00 0.00 0.000 6 0.000 0.000 1407 3387 3071 0 0 0 0 0 0

5327 -0.64 -146.1 737.8 -13.0 302 5331 0.00 2.15 0.00 0.000 4 0.000 0.031 1407 1952 3070 0 0 0 0 0 0

5366 -0.64 -146.1 742.9 -11.8 303 5371 0.12 2.30 0.00 0.000 6 0.171 0.054 1428 3381 3070 0 0 0 0 0 0

5691 -0.64 -146.1 778.3 -10.8 314 5694 0.00 0.90 0.00 0.000 4 0.000 0.060 1424 3949 3070 0 0 0 0 0 0

5785 -0.64 -146.1 789.9 -12.3 316 5792 0.00 0.88 0.00 0.000 6 0.000 0.037 1425 3372 3069 0 0 0 0 0 0

6098 -0.64 -146.1 824.6 -11.1 327 6099 0.00 0.00 0.00 0.000 6 0.000 0.000 1425 3372 3069 0 0 0 0 0 0

6406 -0.64 -146.1 857.8 -10.7 337 6409 0.00 0.93 0.00 0.000 4 0.000 0.060 1421 3951 3068 0 0 0 0 0 0

6485 -0.64 -146.1 867.1 -11.6 339 6489 0.00 0.88 0.00 0.000 6 0.000 0.037 1420 3375 3068 0 0 0 0 0 0

6816 -0.64 -146.1 902.9 -10.8 350 6817 0.00 0.00 0.00 0.000 6 0.000 0.000 1421 3374 3067 0 0 0 0 0 0

7121 -0.64 -146.1 936.6 -11.0 360 7122 0.00 0.00 0.00 0.000 6 0.000 0.000 1420 3374 3066 0 0 0 0 0 0

7427 -0.64 -146.1 969.3 -10.6 370 7428 0.00 0.00 0.00 0.000 6 0.000 0.000 1420 3374 3065 0 0 0 0 0 0

7732 end dive: TARGET_DEPTH_EXCEEDED

state 7732 begin apogee

7739 -0.14 0.0 1001.2 10.4 380 7889 0.55 0.00 146.80 1.222 6 0.145 0.000 1583 3276 2473 0 0 0 0 0 0

7890 end apogee: CONTROL_FINISHED_OK

state 7890 begin climb

7893 0.64 146.1 1003.4 0.0 385 8052 0.77 2.47 146.43 1.190 4 0.086 0.033 1851 1855 1869 0 0 0 0 0 0

8069 0.64 146.1 975.5 20.1 390 8074 0.00 2.50 0.00 0.000 6 0.000 0.050 1851 3268 1863 0 0 0 0 0 0

8388 0.64 146.1 905.3 22.3 401 8391 0.00 1.12 0.00 0.000 4 0.000 0.056 1851 3952 1854 0 0 0 0 0 0

8505 0.64 146.1 877.1 23.9 404 8510 0.00 1.08 0.00 0.000 6 0.000 0.031 1856 3252 1853 0 0 0 0 0 0

8830 0.64 146.1 808.6 20.5 415 8836 0.00 1.15 0.00 0.000 4 0.000 0.055 1857 3957 1851 0 0 0 0 0 0

8949 0.64 146.1 781.4 22.2 418 8952 0.00 1.05 0.00 0.000 6 0.000 0.031 1861 3262 1851 0 0 0 0 0 0

9273 0.64 146.1 713.1 20.9 429 9276 0.00 1.12 0.00 0.000 4 0.000 0.056 1861 3954 1850 0 0 0 0 0 0

9374 0.64 146.1 690.0 23.3 432 9380 0.00 1.02 0.00 0.000 6 0.000 0.031 1867 3269 1849 0 0 0 0 0 0

9718 0.64 146.1 617.0 21.3 443 9721 0.00 1.10 0.00 0.000 4 0.000 0.054 1867 3954 1848 0 0 0 0 0 0

9812 0.64 146.1 594.2 23.5 445 9820 0.08 1.02 0.00 0.000 6 0.200 0.031 1852 3265 1848 0 0 0 0 0 0

10127 0.64 146.1 529.9 20.2 456 10130 0.00 1.10 0.00 0.000 4 0.000 0.055 1851 3948 1847 0 0 0 0 0 0

10229 0.64 146.1 507.4 23.5 459 10233 0.00 1.02 0.00 0.000 6 0.000 0.031 1854 3255 1847 0 0 0 0 0 0

10571 0.64 146.1 436.3 20.7 470 10576 0.00 1.12 0.00 0.000 4 0.000 0.054 1855 3957 1847 0 0 0 0 0 0

10650 0.64 146.1 418.6 22.7 472 10653 0.00 1.00 0.00 0.000 6 0.000 0.031 1860 3279 1847 0 0 0 0 0 0

10972 0.64 146.1 351.9 20.7 486 10975 0.00 1.08 0.00 0.000 4 0.000 0.053 1860 3956 1846 0 0 0 0 0 0

11044 0.64 146.1 336.4 21.8 489 11048 0.00 1.02 0.00 0.000 6 0.000 0.031 1865 3262 1847 0 0 0 0 0 0

11380 0.64 146.1 266.7 20.5 505 11385 0.00 1.12 0.00 0.000 4 0.000 0.052 1865 3964 1846 0 0 0 0 0 0

11488 0.64 146.1 242.9 23.3 510 11492 0.00 1.02 0.00 0.000 6 0.000 0.030 1870 3272 1846 0 0 0 0 0 0

11820 0.64 146.1 173.9 20.5 531 11826 0.00 1.10 0.00 0.000 4 0.000 0.054 1870 3958 1846 0 0 0 0 0 0

11897 0.64 146.1 156.0 22.7 535 11902 0.10 1.02 0.00 0.000 6 0.191 0.030 1848 3265 1846 0 0 0 0 0 0

12223 0.64 146.1 95.6 19.1 557 12228 0.00 1.10 0.00 0.000 4 0.000 0.053 1848 3954 1846 0 0 0 0 0 0

12327 0.64 146.1 73.4 19.8 575 12334 0.00 1.00 0.00 0.000 6 0.000 0.030 1851 3273 1846 0 0 0 0 0 0

12703 0.64 146.1 9.0 18.4 636 12714 0.00 2.15 0.00 0.000 4 0.000 0.031 1862 1857 1846 0 0 0 0 0 0

12734 end climb: SURFACE_DEPTH_REACHED

state 12734 begin surface coast

12743 end surface coast: CONTROL_FINISHED_OK

state 12743 begin surface

ID	543	HEADING	-1	ROLL_MAX	3944	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	6	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	1050
DIVE	208	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	3380	ALTIM_PING_DELTA	15
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	3270	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-4230	HEAD_ERRBAND	15	ALTIM_PULSE	4
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	3
D_NO_BLEED	200	SM_CC	250	R_PORT_OVSHOOT	52	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	45	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	5	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.050000001
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	507	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	101
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2474	DEVICE3	131
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	118
T_DIVE	400	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	420	CAPUPLOAD	0	VBD_TIMEOUT	800	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00061500003	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	-8428.127	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	-5	PITCH_MIN	86	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3908	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1635	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043127281
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-55.913475	SEABIRD_T_H	0.00062185986
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011638312	SEABIRD_T_I	2.2048062e-05
RHO	1.027	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.2117231e-06
MASS	52459	PITCH_GAIN	37	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.303595
NAV_MODE	1	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1762303
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.001936322
KALMAN_USE	1	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00024357962
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	20
HD_C	9.9999997e-06	ROLL_MIN	394	ALTIM_TOP_TURN_MARGIN	0

GPS1	130113,064434,-4203.062,901.064,33,0.8,33,-25.1	TGT_NAME	GH3
_CALLS	1	TGT_LATLONG	-4200.000,900.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.102,-0.157
_SM_DEPTHo	1.74	KALMAN_X	-141394.4,314.0,-102.1,222248.1,1025.3
_SM_ANGLEo	-49.8	KALMAN_Y	36790.4,-638.6,-403.4,14516.2,9129.4
GPS2	130113,065353,-4202.909,901.038,21,1.0,21,-25.1	MHEAD_RNG_PITCHd_Wd	238.0,5574,-20.5,-8.333
SPEED_LIMITS	0.144,0.244	D_GRID	1000

FINISH	2.0,1.026217	_10V_AH	10.1,22.444
SM_CCo	12761,48.38,0.694,1,0,1450,250.20	FG_AHR_24Vo	0.000
SM_GC	2.09,0.00,0.00,48.38,0.000,0.000,0.694,55,3385,1450,-4.94,0.17,250.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4146.69,904.39,130113,020211	MEM	353840
TT8_MAMPS	0.025466	DATA_FILE_SIZE	47179,641
HUMID	56.57	CAP_FILE_SIZE	106758,0
INTERNAL_PRESSURE	9.02495	CFSIZE	259252224,245374976
TCM_TEMP	15.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
XPDR_PINGS	0	GPS	130113,102934,-4203.689,858.869,26,1.1,26,-25.1
_24V_AH	22.8,37.170

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	11	224	60.94	SBE_CT	415	24	227.44
Roll_motor	55	71	91.69	AA4330	1382	33	1040.24
VBD_pump_during_apogee	293	1221	8167.75	WL_BB2FLVMT	634	105	1520.09
VBD_pump_during_surface	48	693	765.29	QSP2150	292	4	29.19
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	59.68	nil	0	0	0.00
Iridium_during_connect	43	160	157.99	nil	0	0	0.00
Iridium_during_xfer	305	223	1551.10	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	24	26	6.57
TT8	1642	14	248.24
LPSleep	8456	2	187.05
TT8_Active	402	14	57.74
TT8_Sampling	2140	37	809.16
TT8_CF8	731	47	348.29
TT8_Kalman	33	59	19.93
Analog_circuits	1222	12	148.18
GPS_charging	0	0	0.00
Compass	1879	15	298.62
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
20	-0.60	-80.9	0.0	0.0	0	71	0.00	0.00	-49.17	0.000	2	0.000	0.000	49	3401	2609	0	0	0	0	0	0
76	-0.64	-146.1	3.0	-3.3	6	104	5.55	0.00	-13.82	0.000	6	0.224	0.000	1423	3402	3069	0	0	0	0	0	0
184	-0.64	-146.1	18.0	-15.8	21	193	0.00	0.85	0.00	0.000	4	0.000	0.059	1420	3926	3071	0	0	0	0	0	0
232	-0.64	-146.1	26.8	-19.0	27	240	0.00	0.82	0.00	0.000	6	0.000	0.036	1420	3392	3071	0	0	0	0	0	0
314	-0.64	-146.1	42.4	-18.2	40	324	0.00	0.00	0.00	0.000	6	0.000	0.000	1420	3391	3071	0	0	0	0	0	0
566	-0.64	-146.1	80.7	-14.0	81	573	0.00	2.17	0.00	0.000	4	0.000	0.031	1420	1968	3072	0	0	0	0	0	0
662	-0.64	-146.1	91.3	-10.9	97	667	0.00	2.28	0.00	0.000	6	0.000	0.057	1409	3361	3073	0	0	0	0	0	0
999	-0.64	-146.1	139.1	-14.8	125	1003	0.00	0.93	0.00	0.000	4	0.000	0.057	1405	3949	3073	0	0	0	0	0	0
1107	-0.64	-146.1	157.0	-16.5	131	1111	0.00	0.88	0.00	0.000	6	0.000	0.035	1405	3369	3073	0	0	0	0	0	0
1432	-0.64	-146.1	207.4	-15.5	152	1435	0.00	0.93	0.00	0.000	4	0.000	0.056	1401	3954	3074	0	0	0	0	0	0
1497	-0.64	-146.1	218.7	-16.7	155	1503	0.00	0.88	0.00	0.000	6	0.000	0.034	1401	3373	3074	0	0	0	0	0	0
1832	-0.64	-146.1	271.9	-15.7	175	1838	0.00	0.90	0.00	0.000	4	0.000	0.056	1397	3946	3074	0	0	0	0	0	0
1939	-0.64	-146.1	289.9	-16.8	179	1944	0.08	0.85	0.00	0.000	6	0.169	0.034	1419	3382	3075	0	0	0	0	0	0
2263	-0.64	-146.1	332.7	-12.8	195	2264	0.00	0.00	0.00	0.000	6	0.000	0.000	1419	3383	3074	0	0	0	0	0	0
2571	-0.64	-146.1	372.1	-13.0	210	2575	0.00	0.90	0.00	0.000	4	0.000	0.057	1415	3952	3074	0	0	0	0	0	0
2644	-0.64	-146.1	382.3	-14.5	213	2648	0.00	0.88	0.00	0.000	6	0.000	0.035	1416	3368	3074	0	0	0	0	0	0
2976	-0.64	-146.1	426.8	-13.2	226	2977	0.00	0.00	0.00	0.000	6	0.000	0.000	1416	3367	3074	0	0	0	0	0	0
3282	-0.64	-146.1	467.5	-13.2	236	3285	0.00	0.93	0.00	0.000	4	0.000	0.057	1411	3953	3074	0	0	0	0	0	0
3377	-0.64	-146.1	481.1	-14.1	238	3383	0.00	0.85	0.00	0.000	6	0.000	0.035	1411	3387	3074	0	0	0	0	0	0
3690	-0.64	-146.1	522.3	-13.2	249	3691	0.00	0.00	0.00	0.000	6	0.000	0.000	1411	3388	3074	0	0	0	0	0	0
3997	-0.64	-146.1	562.8	-13.1	259	3998	0.00	0.00	0.00	0.000	6	0.000	0.000	1412	3387	3073	0	0	0	0	0	0
4302	-0.64	-146.1	602.7	-13.0	269	4308	0.00	0.90	0.00	0.000	4	0.000	0.057	1407	3954	3073	0	0	0	0	0	0
4372	-0.64	-146.1	612.3	-13.6	271	4376	0.00	0.85	0.00	0.000	6	0.000	0.037	1407	3387	3073	0	0	0	0	0	0
4714	-0.64	-146.1	656.8	-13.2	282	4715	0.00	0.00	0.00	0.000	6	0.000	0.000	1407	3387	3072	0	0	0	0	0	0
5020	-0.64	-146.1	698.0	-13.3	292	5021	0.00	0.00	0.00	0.000	6	0.000	0.000	1407	3387	3071	0	0	0	0	0	0
5327	-0.64	-146.1	737.8	-13.0	302	5331	0.00	2.15	0.00	0.000	4	0.000	0.031	1407	1952	3070	0	0	0	0	0	0
5366	-0.64	-146.1	742.9	-11.8	303	5371	0.12	2.30	0.00	0.000	6	0.171	0.054	1428	3381	3070	0	0	0	0	0	0
5691	-0.64	-146.1	778.3	-10.8	314	5694	0.00	0.90	0.00	0.000	4	0.000	0.060	1424	3949	3070	0	0	0	0	0	0
5785	-0.64	-146.1	789.9	-12.3	316	5792	0.00	0.88	0.00	0.000	6	0.000	0.037	1425	3372	3069	0	0	0	0	0	0
6098	-0.64	-146.1	824.6	-11.1	327	6099	0.00	0.00	0.00	0.000	6	0.000	0.000	1425	3372	3069	0	0	0	0	0	0
6406	-0.64	-146.1	857.8	-10.7	337	6409	0.00	0.93	0.00	0.000	4	0.000	0.060	1421	3951	3068	0	0	0	0	0	0
6485	-0.64	-146.1	867.1	-11.6	339	6489	0.00	0.88	0.00	0.000	6	0.000	0.037	1420	3375	3068	0	0	0	0	0	0
6816	-0.64	-146.1	902.9	-10.8	350	6817	0.00	0.00	0.00	0.000	6	0.000	0.000	1421	3374	3067	0	0	0	0	0	0
7121	-0.64	-146.1	936.6	-11.0	360	7122	0.00	0.00	0.00	0.000	6	0.000	0.000	1420	3374	3066	0	0	0	0	0	0
7427	-0.64	-146.1	969.3	-10.6	370	7428	0.00	0.00	0.00	0.000	6	0.000	0.000	1420	3374	3065	0	0	0	0	0	0
7732	end dive: TARGET_DEPTH_EXCEEDED
state	7732	begin apogee
7739	-0.14	0.0	1001.2	10.4	380	7889	0.55	0.00	146.80	1.222	6	0.145	0.000	1583	3276	2473	0	0	0	0	0	0
7890	end apogee: CONTROL_FINISHED_OK
state	7890	begin climb
7893	0.64	146.1	1003.4	0.0	385	8052	0.77	2.47	146.43	1.190	4	0.086	0.033	1851	1855	1869	0	0	0	0	0	0
8069	0.64	146.1	975.5	20.1	390	8074	0.00	2.50	0.00	0.000	6	0.000	0.050	1851	3268	1863	0	0	0	0	0	0
8388	0.64	146.1	905.3	22.3	401	8391	0.00	1.12	0.00	0.000	4	0.000	0.056	1851	3952	1854	0	0	0	0	0	0
8505	0.64	146.1	877.1	23.9	404	8510	0.00	1.08	0.00	0.000	6	0.000	0.031	1856	3252	1853	0	0	0	0	0	0
8830	0.64	146.1	808.6	20.5	415	8836	0.00	1.15	0.00	0.000	4	0.000	0.055	1857	3957	1851	0	0	0	0	0	0
8949	0.64	146.1	781.4	22.2	418	8952	0.00	1.05	0.00	0.000	6	0.000	0.031	1861	3262	1851	0	0	0	0	0	0
9273	0.64	146.1	713.1	20.9	429	9276	0.00	1.12	0.00	0.000	4	0.000	0.056	1861	3954	1850	0	0	0	0	0	0
9374	0.64	146.1	690.0	23.3	432	9380	0.00	1.02	0.00	0.000	6	0.000	0.031	1867	3269	1849	0	0	0	0	0	0
9718	0.64	146.1	617.0	21.3	443	9721	0.00	1.10	0.00	0.000	4	0.000	0.054	1867	3954	1848	0	0	0	0	0	0
9812	0.64	146.1	594.2	23.5	445	9820	0.08	1.02	0.00	0.000	6	0.200	0.031	1852	3265	1848	0	0	0	0	0	0
10127	0.64	146.1	529.9	20.2	456	10130	0.00	1.10	0.00	0.000	4	0.000	0.055	1851	3948	1847	0	0	0	0	0	0
10229	0.64	146.1	507.4	23.5	459	10233	0.00	1.02	0.00	0.000	6	0.000	0.031	1854	3255	1847	0	0	0	0	0	0
10571	0.64	146.1	436.3	20.7	470	10576	0.00	1.12	0.00	0.000	4	0.000	0.054	1855	3957	1847	0	0	0	0	0	0
10650	0.64	146.1	418.6	22.7	472	10653	0.00	1.00	0.00	0.000	6	0.000	0.031	1860	3279	1847	0	0	0	0	0	0
10972	0.64	146.1	351.9	20.7	486	10975	0.00	1.08	0.00	0.000	4	0.000	0.053	1860	3956	1846	0	0	0	0	0	0
11044	0.64	146.1	336.4	21.8	489	11048	0.00	1.02	0.00	0.000	6	0.000	0.031	1865	3262	1847	0	0	0	0	0	0
11380	0.64	146.1	266.7	20.5	505	11385	0.00	1.12	0.00	0.000	4	0.000	0.052	1865	3964	1846	0	0	0	0	0	0
11488	0.64	146.1	242.9	23.3	510	11492	0.00	1.02	0.00	0.000	6	0.000	0.030	1870	3272	1846	0	0	0	0	0	0
11820	0.64	146.1	173.9	20.5	531	11826	0.00	1.10	0.00	0.000	4	0.000	0.054	1870	3958	1846	0	0	0	0	0	0
11897	0.64	146.1	156.0	22.7	535	11902	0.10	1.02	0.00	0.000	6	0.191	0.030	1848	3265	1846	0	0	0	0	0	0
12223	0.64	146.1	95.6	19.1	557	12228	0.00	1.10	0.00	0.000	4	0.000	0.053	1848	3954	1846	0	0	0	0	0	0
12327	0.64	146.1	73.4	19.8	575	12334	0.00	1.00	0.00	0.000	6	0.000	0.030	1851	3273	1846	0	0	0	0	0	0
12703	0.64	146.1	9.0	18.4	636	12714	0.00	2.15	0.00	0.000	4	0.000	0.031	1862	1857	1846	0	0	0	0	0	0
12734	end climb: SURFACE_DEPTH_REACHED
state	12734	begin surface coast
12743	end surface coast: CONTROL_FINISHED_OK
state	12743	begin surface