Glider dive log

SOSCEx 08Dec12 * SG543 * Dive index * Mission links * Dive 214 * 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 214 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 50 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 29 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 -8444.1826 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 -8444.1826

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 50 VBD_MAX 3960

DEVICE2 101 MASS 52459 R_STBD_OVSHOOT 29 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 214 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 140113,044034,-4203.789,900.219,29,1.4,29,-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 0.087,0.115

_SM_DEPTHo 1.93 KALMAN_X -142443.8,-556.6,-27.5,222972.4,-802.3

_SM_ANGLEo -52.4 KALMAN_Y 41680.7,-697.0,-415.8,8180.4,6203.1

GPS2 140113,044835,-4203.732,900.209,21,1.2,21,-25.1 MHEAD_RNG_PITCHd_Wd 62.1,6918,-27.0,-8.333

SPEED_LIMITS 0.144,0.244 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.3,1.026340 _10V_AH 10.0,23.005

SM_CCo 12725,75.22,0.740,1,0,1453,250.20 FG_AHR_24Vo 0.000

SM_GC 2.03,0.00,0.00,75.22,0.000,0.000,0.740,53,3393,1453,-4.94,0.37,250.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4149.58,855.79,140113,010122 MEM 353884

TT8_MAMPS 0.025466 DATA_FILE_SIZE 47194,643

HUMID 56.34 CAP_FILE_SIZE 107996,0

INTERNAL_PRESSURE 9.01519 CFSIZE 259252224,245047296

TCM_TEMP 15.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1

XPDR_PINGS 0 GPS 140113,082422,-4202.015,900.421,40,0.9,40,-25.1

_24V_AH 23.5,37.785

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 228 66.92 SBE_CT 416 24 235.17

Roll_motor 53 80 101.18 AA4330 1396 33 1082.82

VBD_pump_during_apogee 180 1233 5240.26 WL_BB2FLVMT 658 105 1625.44

VBD_pump_during_surface 75 739 1307.73 QSP2150 290 4 29.89

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 69.84 nil 0 0 0.00

Iridium_during_connect 42 160 160.91 nil 0 0 0.00

Iridium_during_xfer 247 223 1298.10 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 23 26 6.28

TT8 1682 14 251.70

LPSleep 8316 2 182.14

TT8_Active 357 14 50.84

TT8_Sampling 2195 37 821.81

TT8_CF8 740 47 349.17

TT8_Kalman 33 59 19.75

Analog_circuits 1185 12 142.25

GPS_charging 0 0 0.00

Compass 2024 15 318.48

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 -0.76 -48.0 0.0 0.0 0 72 0.00 0.00 -49.55 0.000 2 0.000 0.000 53 3396 2647 0 0 0 0 0 0

75 -0.78 -86.7 3.4 -3.8 6 95 5.40 2.20 -5.72 0.000 4 0.229 0.045 1378 1978 2830 0 0 0 0 0 0

357 -0.78 -86.7 45.1 -16.0 49 365 0.00 2.28 0.00 0.000 6 0.000 0.049 1369 3374 2833 0 0 0 0 0 0

594 -0.78 -86.7 78.6 -13.3 90 602 0.00 0.93 0.00 0.000 4 0.000 0.055 1364 3955 2834 0 0 0 0 0 0

851 -0.78 -86.7 118.0 -14.5 120 859 0.00 0.85 0.00 0.000 6 0.000 0.034 1365 3389 2835 0 0 0 0 0 0

1172 -0.78 -86.7 160.9 -13.3 141 1176 0.00 0.90 0.00 0.000 4 0.000 0.056 1361 3957 2836 0 0 0 0 0 0

1306 -0.78 -86.7 180.6 -14.2 148 1313 0.00 0.88 0.00 0.000 6 0.000 0.034 1361 3374 2836 0 0 0 0 0 0

1629 -0.78 -86.7 223.3 -13.6 169 1630 0.00 0.00 0.00 0.000 6 0.000 0.000 1361 3374 2837 0 0 0 0 0 0

1952 -0.78 -86.7 268.6 -14.2 188 1953 0.00 0.00 0.00 0.000 6 0.000 0.000 1361 3374 2837 0 0 0 0 0 0

2263 -0.78 -86.7 314.0 -14.7 203 2269 0.00 0.90 0.00 0.000 4 0.000 0.055 1356 3946 2837 0 0 0 0 0 0

2316 -0.78 -86.7 322.8 -16.1 205 2319 0.00 0.85 0.00 0.000 6 0.000 0.034 1356 3380 2837 0 0 0 0 0 0

2646 -0.78 -86.7 370.4 -14.6 221 2651 0.00 2.15 0.00 0.000 4 0.000 0.030 1356 1966 2837 0 0 0 0 0 0

2680 -0.78 -86.7 375.6 -12.6 222 2685 0.12 2.28 0.00 0.000 6 0.188 0.056 1375 3379 2837 0 0 0 0 0 0

2995 -0.78 -86.7 415.9 -12.7 235 3001 0.00 0.90 0.00 0.000 4 0.000 0.056 1372 3955 2837 0 0 0 0 0 0

3203 -0.78 -86.7 444.4 -12.9 241 3207 0.00 0.85 0.00 0.000 6 0.000 0.034 1372 3385 2837 0 0 0 0 0 0

3538 -0.78 -86.7 486.8 -12.6 252 3542 0.00 0.90 0.00 0.000 4 0.000 0.057 1368 3953 2837 0 0 0 0 0 0

3762 -0.78 -86.7 518.6 -14.3 258 3766 0.00 0.85 0.00 0.000 6 0.000 0.035 1368 3385 2837 0 0 0 0 0 0

4081 -0.78 -86.7 559.3 -12.7 269 4085 0.00 0.90 0.00 0.000 4 0.000 0.056 1364 3955 2837 0 0 0 0 0 0

4161 -0.78 -86.7 570.5 -14.9 271 4165 0.00 0.85 0.00 0.000 6 0.000 0.035 1364 3386 2837 0 0 0 0 0 0

4492 -0.78 -86.7 611.0 -11.9 282 4496 0.00 0.90 0.00 0.000 4 0.000 0.056 1359 3955 2836 0 0 0 0 0 0

4552 -0.78 -86.7 619.4 -13.8 283 4559 0.00 0.88 0.00 0.000 6 0.000 0.034 1360 3372 2836 0 0 0 0 0 0

4865 -0.78 -86.7 657.1 -12.1 294 4869 0.00 0.93 0.00 0.000 4 0.000 0.057 1355 3955 2835 0 0 0 0 0 0

4905 -0.78 -86.7 662.3 -12.7 295 4908 0.00 0.85 0.00 0.000 6 0.000 0.035 1356 3391 2835 0 0 0 0 0 0

5240 -0.78 -86.7 704.4 -12.9 306 5244 0.00 0.88 0.00 0.000 4 0.000 0.057 1351 3944 2834 0 0 0 0 0 0

5413 -0.78 -86.7 729.1 -15.0 311 5417 0.08 0.85 0.00 0.000 6 0.183 0.035 1373 3382 2834 0 0 0 0 0 0

5754 -0.78 -86.7 772.3 -12.2 322 5758 0.00 0.90 0.00 0.000 4 0.000 0.057 1370 3948 2833 0 0 0 0 0 0

5803 -0.78 -86.7 779.0 -12.9 323 5809 0.00 0.85 0.00 0.000 6 0.000 0.036 1370 3384 2834 0 0 0 0 0 0

6129 -0.78 -86.7 816.6 -11.4 334 6130 0.00 0.00 0.00 0.000 6 0.000 0.000 1370 3384 2832 0 0 0 0 0 0

6435 -0.78 -86.7 849.5 -10.6 344 6439 0.00 0.90 0.00 0.000 4 0.000 0.059 1365 3949 2831 0 0 0 0 0 0

6593 -0.78 -86.7 867.8 -12.1 348 6597 0.00 0.85 0.00 0.000 6 0.000 0.037 1365 3386 2831 0 0 0 0 0 0

6912 -0.78 -86.7 902.7 -10.9 359 6914 0.00 0.00 0.00 0.000 6 0.000 0.000 1365 3386 2831 0 0 0 0 0 0

7219 -0.78 -86.7 936.7 -11.1 369 7222 0.00 0.90 0.00 0.000 4 0.000 0.059 1361 3950 2830 0 0 0 0 0 0

7349 -0.78 -86.7 953.1 -12.8 372 7356 0.00 0.85 0.00 0.000 6 0.000 0.037 1361 3391 2829 0 0 0 0 0 0

7663 -0.78 -86.7 989.4 -11.5 383 7664 0.00 0.00 0.00 0.000 6 0.000 0.000 1361 3391 2829 0 0 0 0 0 0

7782 end dive: TARGET_DEPTH_EXCEEDED

state 7783 begin apogee

7789 -0.14 0.0 1003.3 11.3 387 7883 0.80 0.00 90.60 1.233 6 0.168 0.000 1585 3273 2473 0 0 0 0 0 0

7885 end apogee: CONTROL_FINISHED_OK

state 7885 begin climb

7888 0.78 86.7 1004.9 0.0 390 7984 0.90 1.17 90.22 1.220 4 0.083 0.051 1882 3948 2115 0 0 0 0 0 0

8012 0.78 86.7 985.8 22.5 394 8016 0.00 1.10 0.00 0.000 6 0.000 0.030 1887 3261 2110 0 0 0 0 0 0

8337 0.78 86.7 915.2 22.0 405 8341 0.00 1.12 0.00 0.000 4 0.000 0.054 1887 3943 2101 0 0 0 0 0 0

8402 0.78 86.7 900.1 23.7 406 8408 0.00 1.02 0.00 0.000 6 0.000 0.031 1892 3273 2100 0 0 0 0 0 0

8717 0.78 86.7 831.2 21.8 417 8720 0.00 1.10 0.00 0.000 4 0.000 0.054 1892 3950 2098 0 0 0 0 0 0

8761 0.78 86.7 820.0 25.3 418 8765 0.00 1.02 0.00 0.000 6 0.000 0.031 1897 3272 2098 0 0 0 0 0 0

9091 0.78 86.7 748.9 21.7 429 9095 0.00 1.10 0.00 0.000 4 0.000 0.054 1897 3953 2096 0 0 0 0 0 0

9140 0.78 86.7 737.0 22.9 430 9144 0.00 1.02 0.00 0.000 6 0.000 0.031 1901 3269 2095 0 0 0 0 0 0

9465 0.78 86.7 667.1 21.3 441 9469 0.00 1.10 0.00 0.000 4 0.000 0.054 1901 3951 2094 0 0 0 0 0 0

9535 0.78 86.7 651.7 23.4 443 9538 0.00 1.02 0.00 0.000 6 0.000 0.031 1906 3262 2094 0 0 0 0 0 0

9876 0.78 86.7 580.3 20.8 454 9879 0.00 1.10 0.00 0.000 4 0.000 0.054 1907 3945 2093 0 0 0 0 0 0

9965 0.78 86.7 560.0 22.1 456 9968 0.00 1.00 0.00 0.000 6 0.000 0.031 1911 3273 2093 0 0 0 0 0 0

10283 0.78 86.7 493.8 20.5 467 10285 0.00 0.00 0.00 0.000 6 0.000 0.000 1911 3272 2092 0 0 0 0 0 0

10590 0.78 86.7 430.7 20.6 477 10593 0.00 1.08 0.00 0.000 4 0.000 0.054 1911 3947 2092 0 0 0 0 0 0

10743 0.78 86.7 396.5 22.9 481 10747 0.00 1.00 0.00 0.000 6 0.000 0.031 1917 3272 2091 0 0 0 0 0 0

11073 0.78 86.7 329.4 19.6 497 11078 0.00 1.08 0.00 0.000 4 0.000 0.054 1917 3948 2091 0 0 0 0 0 0

11176 0.78 86.7 306.8 20.9 501 11182 0.10 1.00 0.00 0.000 6 0.206 0.031 1895 3270 2091 0 0 0 0 0 0

11497 0.78 86.7 246.8 19.2 517 11502 0.00 1.08 0.00 0.000 4 0.000 0.053 1895 3950 2090 0 0 0 0 0 0

11591 0.78 86.7 225.7 22.8 522 11596 0.00 1.00 0.00 0.000 6 0.000 0.031 1899 3273 2090 0 0 0 0 0 0

11919 0.78 86.7 159.0 20.3 543 11924 0.00 1.08 0.00 0.000 4 0.000 0.054 1899 3950 2090 0 0 0 0 0 0

12018 0.78 86.7 136.1 22.2 548 12026 0.00 1.00 0.00 0.000 6 0.000 0.031 1904 3272 2090 0 0 0 0 0 0

12349 0.78 86.7 68.9 19.6 587 12354 0.00 1.08 0.00 0.000 4 0.000 0.052 1904 3946 2090 0 0 0 0 0 0

12571 0.78 86.7 24.1 18.2 623 12580 0.00 1.00 0.00 0.000 6 0.000 0.030 1908 3268 2090 0 0 0 0 0 0

12660 0.78 86.7 7.4 18.0 636 12669 0.00 0.00 0.00 0.000 6 0.000 0.000 1908 3268 2090 0 0 0 0 0 0

12688 end climb: SURFACE_DEPTH_REACHED

state 12688 begin surface coast

12708 end surface coast: CONTROL_FINISHED_OK

state 12708 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	214	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	50	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	29	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	-8444.1826	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	140113,044034,-4203.789,900.219,29,1.4,29,-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	0.087,0.115
_SM_DEPTHo	1.93	KALMAN_X	-142443.8,-556.6,-27.5,222972.4,-802.3
_SM_ANGLEo	-52.4	KALMAN_Y	41680.7,-697.0,-415.8,8180.4,6203.1
GPS2	140113,044835,-4203.732,900.209,21,1.2,21,-25.1	MHEAD_RNG_PITCHd_Wd	62.1,6918,-27.0,-8.333
SPEED_LIMITS	0.144,0.244	D_GRID	1000

FINISH	1.3,1.026340	_10V_AH	10.0,23.005
SM_CCo	12725,75.22,0.740,1,0,1453,250.20	FG_AHR_24Vo	0.000
SM_GC	2.03,0.00,0.00,75.22,0.000,0.000,0.740,53,3393,1453,-4.94,0.37,250.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4149.58,855.79,140113,010122	MEM	353884
TT8_MAMPS	0.025466	DATA_FILE_SIZE	47194,643
HUMID	56.34	CAP_FILE_SIZE	107996,0
INTERNAL_PRESSURE	9.01519	CFSIZE	259252224,245047296
TCM_TEMP	15.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
XPDR_PINGS	0	GPS	140113,082422,-4202.015,900.421,40,0.9,40,-25.1
_24V_AH	23.5,37.785

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	228	66.92	SBE_CT	416	24	235.17
Roll_motor	53	80	101.18	AA4330	1396	33	1082.82
VBD_pump_during_apogee	180	1233	5240.26	WL_BB2FLVMT	658	105	1625.44
VBD_pump_during_surface	75	739	1307.73	QSP2150	290	4	29.89
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	69.84	nil	0	0	0.00
Iridium_during_connect	42	160	160.91	nil	0	0	0.00
Iridium_during_xfer	247	223	1298.10	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	23	26	6.28
TT8	1682	14	251.70
LPSleep	8316	2	182.14
TT8_Active	357	14	50.84
TT8_Sampling	2195	37	821.81
TT8_CF8	740	47	349.17
TT8_Kalman	33	59	19.75
Analog_circuits	1185	12	142.25
GPS_charging	0	0	0.00
Compass	2024	15	318.48
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	-0.76	-48.0	0.0	0.0	0	72	0.00	0.00	-49.55	0.000	2	0.000	0.000	53	3396	2647	0	0	0	0	0	0
75	-0.78	-86.7	3.4	-3.8	6	95	5.40	2.20	-5.72	0.000	4	0.229	0.045	1378	1978	2830	0	0	0	0	0	0
357	-0.78	-86.7	45.1	-16.0	49	365	0.00	2.28	0.00	0.000	6	0.000	0.049	1369	3374	2833	0	0	0	0	0	0
594	-0.78	-86.7	78.6	-13.3	90	602	0.00	0.93	0.00	0.000	4	0.000	0.055	1364	3955	2834	0	0	0	0	0	0
851	-0.78	-86.7	118.0	-14.5	120	859	0.00	0.85	0.00	0.000	6	0.000	0.034	1365	3389	2835	0	0	0	0	0	0
1172	-0.78	-86.7	160.9	-13.3	141	1176	0.00	0.90	0.00	0.000	4	0.000	0.056	1361	3957	2836	0	0	0	0	0	0
1306	-0.78	-86.7	180.6	-14.2	148	1313	0.00	0.88	0.00	0.000	6	0.000	0.034	1361	3374	2836	0	0	0	0	0	0
1629	-0.78	-86.7	223.3	-13.6	169	1630	0.00	0.00	0.00	0.000	6	0.000	0.000	1361	3374	2837	0	0	0	0	0	0
1952	-0.78	-86.7	268.6	-14.2	188	1953	0.00	0.00	0.00	0.000	6	0.000	0.000	1361	3374	2837	0	0	0	0	0	0
2263	-0.78	-86.7	314.0	-14.7	203	2269	0.00	0.90	0.00	0.000	4	0.000	0.055	1356	3946	2837	0	0	0	0	0	0
2316	-0.78	-86.7	322.8	-16.1	205	2319	0.00	0.85	0.00	0.000	6	0.000	0.034	1356	3380	2837	0	0	0	0	0	0
2646	-0.78	-86.7	370.4	-14.6	221	2651	0.00	2.15	0.00	0.000	4	0.000	0.030	1356	1966	2837	0	0	0	0	0	0
2680	-0.78	-86.7	375.6	-12.6	222	2685	0.12	2.28	0.00	0.000	6	0.188	0.056	1375	3379	2837	0	0	0	0	0	0
2995	-0.78	-86.7	415.9	-12.7	235	3001	0.00	0.90	0.00	0.000	4	0.000	0.056	1372	3955	2837	0	0	0	0	0	0
3203	-0.78	-86.7	444.4	-12.9	241	3207	0.00	0.85	0.00	0.000	6	0.000	0.034	1372	3385	2837	0	0	0	0	0	0
3538	-0.78	-86.7	486.8	-12.6	252	3542	0.00	0.90	0.00	0.000	4	0.000	0.057	1368	3953	2837	0	0	0	0	0	0
3762	-0.78	-86.7	518.6	-14.3	258	3766	0.00	0.85	0.00	0.000	6	0.000	0.035	1368	3385	2837	0	0	0	0	0	0
4081	-0.78	-86.7	559.3	-12.7	269	4085	0.00	0.90	0.00	0.000	4	0.000	0.056	1364	3955	2837	0	0	0	0	0	0
4161	-0.78	-86.7	570.5	-14.9	271	4165	0.00	0.85	0.00	0.000	6	0.000	0.035	1364	3386	2837	0	0	0	0	0	0
4492	-0.78	-86.7	611.0	-11.9	282	4496	0.00	0.90	0.00	0.000	4	0.000	0.056	1359	3955	2836	0	0	0	0	0	0
4552	-0.78	-86.7	619.4	-13.8	283	4559	0.00	0.88	0.00	0.000	6	0.000	0.034	1360	3372	2836	0	0	0	0	0	0
4865	-0.78	-86.7	657.1	-12.1	294	4869	0.00	0.93	0.00	0.000	4	0.000	0.057	1355	3955	2835	0	0	0	0	0	0
4905	-0.78	-86.7	662.3	-12.7	295	4908	0.00	0.85	0.00	0.000	6	0.000	0.035	1356	3391	2835	0	0	0	0	0	0
5240	-0.78	-86.7	704.4	-12.9	306	5244	0.00	0.88	0.00	0.000	4	0.000	0.057	1351	3944	2834	0	0	0	0	0	0
5413	-0.78	-86.7	729.1	-15.0	311	5417	0.08	0.85	0.00	0.000	6	0.183	0.035	1373	3382	2834	0	0	0	0	0	0
5754	-0.78	-86.7	772.3	-12.2	322	5758	0.00	0.90	0.00	0.000	4	0.000	0.057	1370	3948	2833	0	0	0	0	0	0
5803	-0.78	-86.7	779.0	-12.9	323	5809	0.00	0.85	0.00	0.000	6	0.000	0.036	1370	3384	2834	0	0	0	0	0	0
6129	-0.78	-86.7	816.6	-11.4	334	6130	0.00	0.00	0.00	0.000	6	0.000	0.000	1370	3384	2832	0	0	0	0	0	0
6435	-0.78	-86.7	849.5	-10.6	344	6439	0.00	0.90	0.00	0.000	4	0.000	0.059	1365	3949	2831	0	0	0	0	0	0
6593	-0.78	-86.7	867.8	-12.1	348	6597	0.00	0.85	0.00	0.000	6	0.000	0.037	1365	3386	2831	0	0	0	0	0	0
6912	-0.78	-86.7	902.7	-10.9	359	6914	0.00	0.00	0.00	0.000	6	0.000	0.000	1365	3386	2831	0	0	0	0	0	0
7219	-0.78	-86.7	936.7	-11.1	369	7222	0.00	0.90	0.00	0.000	4	0.000	0.059	1361	3950	2830	0	0	0	0	0	0
7349	-0.78	-86.7	953.1	-12.8	372	7356	0.00	0.85	0.00	0.000	6	0.000	0.037	1361	3391	2829	0	0	0	0	0	0
7663	-0.78	-86.7	989.4	-11.5	383	7664	0.00	0.00	0.00	0.000	6	0.000	0.000	1361	3391	2829	0	0	0	0	0	0
7782	end dive: TARGET_DEPTH_EXCEEDED
state	7783	begin apogee
7789	-0.14	0.0	1003.3	11.3	387	7883	0.80	0.00	90.60	1.233	6	0.168	0.000	1585	3273	2473	0	0	0	0	0	0
7885	end apogee: CONTROL_FINISHED_OK
state	7885	begin climb
7888	0.78	86.7	1004.9	0.0	390	7984	0.90	1.17	90.22	1.220	4	0.083	0.051	1882	3948	2115	0	0	0	0	0	0
8012	0.78	86.7	985.8	22.5	394	8016	0.00	1.10	0.00	0.000	6	0.000	0.030	1887	3261	2110	0	0	0	0	0	0
8337	0.78	86.7	915.2	22.0	405	8341	0.00	1.12	0.00	0.000	4	0.000	0.054	1887	3943	2101	0	0	0	0	0	0
8402	0.78	86.7	900.1	23.7	406	8408	0.00	1.02	0.00	0.000	6	0.000	0.031	1892	3273	2100	0	0	0	0	0	0
8717	0.78	86.7	831.2	21.8	417	8720	0.00	1.10	0.00	0.000	4	0.000	0.054	1892	3950	2098	0	0	0	0	0	0
8761	0.78	86.7	820.0	25.3	418	8765	0.00	1.02	0.00	0.000	6	0.000	0.031	1897	3272	2098	0	0	0	0	0	0
9091	0.78	86.7	748.9	21.7	429	9095	0.00	1.10	0.00	0.000	4	0.000	0.054	1897	3953	2096	0	0	0	0	0	0
9140	0.78	86.7	737.0	22.9	430	9144	0.00	1.02	0.00	0.000	6	0.000	0.031	1901	3269	2095	0	0	0	0	0	0
9465	0.78	86.7	667.1	21.3	441	9469	0.00	1.10	0.00	0.000	4	0.000	0.054	1901	3951	2094	0	0	0	0	0	0
9535	0.78	86.7	651.7	23.4	443	9538	0.00	1.02	0.00	0.000	6	0.000	0.031	1906	3262	2094	0	0	0	0	0	0
9876	0.78	86.7	580.3	20.8	454	9879	0.00	1.10	0.00	0.000	4	0.000	0.054	1907	3945	2093	0	0	0	0	0	0
9965	0.78	86.7	560.0	22.1	456	9968	0.00	1.00	0.00	0.000	6	0.000	0.031	1911	3273	2093	0	0	0	0	0	0
10283	0.78	86.7	493.8	20.5	467	10285	0.00	0.00	0.00	0.000	6	0.000	0.000	1911	3272	2092	0	0	0	0	0	0
10590	0.78	86.7	430.7	20.6	477	10593	0.00	1.08	0.00	0.000	4	0.000	0.054	1911	3947	2092	0	0	0	0	0	0
10743	0.78	86.7	396.5	22.9	481	10747	0.00	1.00	0.00	0.000	6	0.000	0.031	1917	3272	2091	0	0	0	0	0	0
11073	0.78	86.7	329.4	19.6	497	11078	0.00	1.08	0.00	0.000	4	0.000	0.054	1917	3948	2091	0	0	0	0	0	0
11176	0.78	86.7	306.8	20.9	501	11182	0.10	1.00	0.00	0.000	6	0.206	0.031	1895	3270	2091	0	0	0	0	0	0
11497	0.78	86.7	246.8	19.2	517	11502	0.00	1.08	0.00	0.000	4	0.000	0.053	1895	3950	2090	0	0	0	0	0	0
11591	0.78	86.7	225.7	22.8	522	11596	0.00	1.00	0.00	0.000	6	0.000	0.031	1899	3273	2090	0	0	0	0	0	0
11919	0.78	86.7	159.0	20.3	543	11924	0.00	1.08	0.00	0.000	4	0.000	0.054	1899	3950	2090	0	0	0	0	0	0
12018	0.78	86.7	136.1	22.2	548	12026	0.00	1.00	0.00	0.000	6	0.000	0.031	1904	3272	2090	0	0	0	0	0	0
12349	0.78	86.7	68.9	19.6	587	12354	0.00	1.08	0.00	0.000	4	0.000	0.052	1904	3946	2090	0	0	0	0	0	0
12571	0.78	86.7	24.1	18.2	623	12580	0.00	1.00	0.00	0.000	6	0.000	0.030	1908	3268	2090	0	0	0	0	0	0
12660	0.78	86.7	7.4	18.0	636	12669	0.00	0.00	0.00	0.000	6	0.000	0.000	1908	3268	2090	0	0	0	0	0	0
12688	end climb: SURFACE_DEPTH_REACHED
state	12688	begin surface coast
12708	end surface coast: CONTROL_FINISHED_OK
state	12708	begin surface