Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 243 * 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 243 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 40 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 38 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 -11276.481 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 -11276.481

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 40 VBD_MAX 3961

DEVICE2 101 MASS 52816 R_STBD_OVSHOOT 38 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 243 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 160113,114952,-4636.765,402.416,37,0.8,37,-23.3 TGT_NAME GH2

_CALLS 1 TGT_LATLONG -4630.000,410.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.241,-0.084

_SM_DEPTHo 1.39 KALMAN_X -175462.5,523.0,330.1,156103.3,-6797.8

_SM_ANGLEo -51.4 KALMAN_Y 87674.7,683.0,330.9,-61880.2,-409.9

GPS2 160113,115954,-4636.788,402.378,17,1.5,17,-23.3 MHEAD_RNG_PITCHd_Wd 132.6,15888,-16.5,-9.443

SPEED_LIMITS 0.164,0.256 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.6,1.011752 _10V_AH 10.1,22.223

SM_CCo 14908,184.27,0.793,1,0,479,573.99 FG_AHR_24Vo 0.000

SM_GC 1.32,0.00,0.00,184.27,0.000,0.000,0.793,52,2901,479,-5.62,0.59,573.99 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4622.97,401.56,160113,070739 MEM 353984

TT8_MAMPS 0.026215 DATA_FILE_SIZE 53834,757

HUMID 56.57 CAP_FILE_SIZE 103830,0

INTERNAL_PRESSURE 9.22854 CFSIZE 259252224,214376448

TCM_TEMP 10.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,1

XPDR_PINGS 0 GPS 160113,161353,-4636.123,405.031,37,0.8,37,-23.3

_24V_AH 22.0,46.496

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 244 73.28 SBE_CT 499 24 263.49

Roll_motor 54 73 87.61 AA4330 1507 33 1094.35

VBD_pump_during_apogee 297 1796 11770.16 WL_BB2FLVMT 821 105 1898.39

VBD_pump_during_surface 184 793 3216.10 QSP2150 321 4 30.95

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 56.60 nil 0 0 0.00

Iridium_during_connect 19 160 69.14 nil 0 0 0.00

Iridium_during_xfer 311 223 1528.88 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 6.49

TT8 1826 14 275.93

LPSleep 10455 2 231.26

TT8_Active 582 14 83.63

TT8_Sampling 2225 37 841.42

TT8_CF8 599 47 285.62

TT8_Kalman 33 59 19.94

Analog_circuits 1344 12 162.93

GPS_charging 0 0 0.00

Compass 1781 15 282.96

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

27 -0.61 -146.1 0.0 0.0 0 164 0.00 0.00 -133.75 0.000 2 0.000 0.000 55 2903 3193 0 0 0 0 0 0

170 -0.61 -146.1 3.1 -2.2 17 189 6.57 1.62 -5.85 0.000 4 0.244 0.073 1637 3892 3417 0 0 0 0 0 0

268 -0.61 -146.1 21.1 -13.1 31 277 0.00 1.58 0.00 0.000 6 0.000 0.031 1637 2850 3419 0 0 0 0 0 0

354 -0.61 -146.1 32.6 -13.6 44 363 0.00 0.00 0.00 0.000 6 0.000 0.000 1637 2849 3419 0 0 0 0 0 0

605 -0.61 -146.1 66.7 -13.9 85 609 0.00 0.00 0.00 0.000 6 0.000 0.000 1637 2850 3420 0 0 0 0 0 0

960 -0.61 -146.1 111.2 -11.3 136 963 0.00 2.03 0.00 0.000 4 0.000 0.035 1637 1507 3420 0 0 0 0 0 0

1016 -0.61 -146.1 117.0 -10.1 139 1020 0.00 2.17 0.00 0.000 6 0.000 0.050 1627 2871 3420 0 0 0 0 0 0

1345 -0.61 -146.1 158.9 -13.1 160 1348 0.00 1.62 0.00 0.000 4 0.000 0.058 1619 3894 3420 0 0 0 0 0 0

1401 -0.61 -146.1 166.3 -13.1 163 1405 0.08 1.50 0.00 0.000 6 0.162 0.031 1643 2899 3420 0 0 0 0 0 0

1739 -0.61 -146.1 203.6 -10.1 184 1743 0.00 2.12 0.00 0.000 4 0.000 0.036 1643 1494 3421 0 0 0 0 0 0

1775 -0.61 -146.1 207.8 -9.0 186 1779 0.00 2.22 0.00 0.000 6 0.000 0.050 1634 2889 3421 0 0 0 0 0 0

2098 -0.61 -146.1 240.2 -10.3 206 2099 0.00 0.00 0.00 0.000 6 0.000 0.000 1633 2890 3420 0 0 0 0 0 0

2414 -0.61 -146.1 272.9 -10.4 223 2415 0.00 0.00 0.00 0.000 6 0.000 0.000 1633 2890 3420 0 0 0 0 0 0

2722 -0.61 -146.1 304.7 -10.2 238 2723 0.00 0.00 0.00 0.000 6 0.000 0.000 1634 2889 3420 0 0 0 0 0 0

3032 -0.61 -146.1 335.8 -10.2 253 3036 0.00 2.12 0.00 0.000 4 0.000 0.036 1633 1497 3421 0 0 0 0 0 0

3068 -0.61 -146.1 339.6 -10.1 254 3071 0.00 2.20 0.00 0.000 6 0.000 0.051 1623 2880 3421 0 0 0 0 0 0

3393 -0.61 -146.1 375.1 -10.9 270 3394 0.00 0.00 0.00 0.000 6 0.000 0.000 1624 2881 3420 0 0 0 0 0 0

3710 -0.61 -146.1 412.0 -11.7 284 3711 0.00 0.00 0.00 0.000 6 0.000 0.000 1623 2881 3420 0 0 0 0 0 0

4016 -0.61 -146.1 447.7 -11.8 294 4018 0.00 0.00 0.00 0.000 6 0.000 0.000 1623 2881 3420 0 0 0 0 0 0

4322 -0.61 -146.1 483.5 -11.3 304 4323 0.00 0.00 0.00 0.000 6 0.000 0.000 1623 2881 3420 0 0 0 0 0 0

4630 -0.61 -146.1 517.7 -11.3 314 4631 0.00 0.00 0.00 0.000 6 0.000 0.000 1623 2881 3419 0 0 0 0 0 0

4935 -0.61 -146.1 551.5 -10.9 324 4936 0.00 0.00 0.00 0.000 6 0.000 0.000 1623 2881 3419 0 0 0 0 0 0

5241 -0.61 -146.1 584.0 -10.5 334 5245 0.00 2.12 0.00 0.000 4 0.000 0.037 1623 1497 3418 0 0 0 0 0 0

5276 -0.61 -146.1 587.8 -10.3 335 5281 0.12 2.22 0.00 0.000 6 0.180 0.052 1646 2886 3418 0 0 0 0 0 0

5609 -0.61 -146.1 615.7 -8.3 346 5610 0.00 0.00 0.00 0.000 6 0.000 0.000 1645 2886 3417 0 0 0 0 0 0

5915 -0.61 -146.1 640.4 -7.9 356 5916 0.00 0.00 0.00 0.000 6 0.000 0.000 1646 2887 3417 0 0 0 0 0 0

6221 -0.61 -146.1 666.3 -8.4 366 6225 0.00 2.12 0.00 0.000 4 0.000 0.037 1646 1491 3417 0 0 0 0 0 0

6268 -0.61 -146.1 670.4 -8.8 367 6272 0.00 2.22 0.00 0.000 6 0.000 0.053 1636 2881 3417 0 0 0 0 0 0

6589 -0.61 -146.1 699.1 -9.1 378 6590 0.00 0.00 0.00 0.000 6 0.000 0.000 1636 2881 3417 0 0 0 0 0 0

6897 -0.61 -146.1 726.2 -8.7 388 6898 0.00 0.00 0.00 0.000 6 0.000 0.000 1636 2881 3416 0 0 0 0 0 0

7202 -0.61 -146.1 753.4 -9.1 398 7203 0.00 0.00 0.00 0.000 6 0.000 0.000 1636 2881 3416 0 0 0 0 0 0

7509 -0.61 -146.1 782.9 -9.8 408 7513 0.00 2.15 0.00 0.000 4 0.000 0.037 1636 1485 3415 0 0 0 0 0 0

7544 -0.61 -146.1 786.8 -10.0 409 7548 0.00 2.25 0.00 0.000 6 0.000 0.053 1626 2887 3415 0 0 0 0 0 0

7876 -0.61 -146.1 819.2 -9.7 420 7877 0.00 0.00 0.00 0.000 6 0.000 0.000 1626 2887 3415 0 0 0 0 0 0

8183 -0.61 -146.1 848.7 -9.7 430 8184 0.00 0.00 0.00 0.000 6 0.000 0.000 1626 2887 3415 0 0 0 0 0 0

8489 -0.61 -146.1 876.8 -8.8 440 8490 0.00 0.00 0.00 0.000 6 0.000 0.000 1626 2887 3415 0 0 0 0 0 0

8795 -0.61 -146.1 902.6 -8.3 450 8796 0.00 0.00 0.00 0.000 6 0.000 0.000 1626 2887 3414 0 0 0 0 0 0

9103 -0.61 -146.1 926.6 -7.7 460 9104 0.00 0.00 0.00 0.000 6 0.000 0.000 1625 2887 3414 0 0 0 0 0 0

9408 -0.61 -146.1 951.5 -8.2 470 9409 0.00 0.00 0.00 0.000 6 0.000 0.000 1626 2887 3413 0 0 0 0 0 0

9714 -0.61 -146.1 976.7 -8.5 480 9715 0.00 0.00 0.00 0.000 6 0.000 0.000 1626 2887 3413 0 0 0 0 0 0

10015 end dive: TARGET_DEPTH_EXCEEDED

state 10015 begin apogee

10027 -0.18 0.0 1002.1 8.3 490 10178 0.55 0.00 148.00 1.231 6 0.156 0.000 1789 2699 2819 0 0 0 0 0 0

10180 end apogee: CONTROL_FINISHED_OK

state 10180 begin climb

10184 0.61 146.1 1006.3 0.0 495 10347 0.73 2.20 149.73 1.797 4 0.062 0.057 2054 3898 2226 0 0 0 0 1 0

10442 0.61 146.1 957.1 26.7 503 10446 0.00 2.03 0.00 0.000 6 0.000 0.036 2063 2679 2224 0 0 0 0 0 0

10786 0.61 146.1 869.4 24.6 514 10787 0.00 0.00 0.00 0.000 6 0.000 0.000 2064 2673 2218 0 0 0 0 0 0

11092 0.61 146.1 794.5 24.1 524 11093 0.00 0.00 0.00 0.000 6 0.000 0.000 2064 2673 2217 0 0 0 0 0 0

11399 0.61 146.1 720.6 24.0 534 11400 0.00 0.00 0.00 0.000 6 0.000 0.000 2064 2673 2216 0 0 0 0 0 0

11704 0.61 146.1 647.1 24.0 544 11708 0.00 1.95 0.00 0.000 4 0.000 0.058 2064 3894 2216 0 0 0 0 0 0

11750 0.61 146.1 634.5 28.3 545 11754 0.00 1.88 0.00 0.000 6 0.000 0.037 2073 2685 2215 0 0 0 0 0 0

12083 0.61 146.1 555.2 23.2 556 12084 0.00 0.00 0.00 0.000 6 0.000 0.000 2073 2680 2215 0 0 0 0 0 0

12388 0.61 146.1 487.4 22.2 566 12389 0.00 0.00 0.00 0.000 6 0.000 0.000 2073 2679 2215 0 0 0 0 0 0

12694 0.61 146.1 419.7 21.6 576 12698 0.00 2.15 0.00 0.000 4 0.000 0.042 2083 1294 2214 0 0 0 0 0 0

12746 0.61 146.1 408.7 19.1 577 12751 0.12 2.25 0.00 0.000 6 0.214 0.050 2055 2702 2213 0 0 0 0 0 0

13083 0.61 146.1 340.7 20.4 593 13084 0.00 0.00 0.00 0.000 6 0.000 0.000 2055 2701 2213 0 0 0 0 0 0

13390 0.61 146.1 277.7 20.6 608 13391 0.00 0.00 0.00 0.000 6 0.000 0.000 2055 2701 2213 0 0 0 0 0 0

13706 0.61 146.1 214.7 20.3 626 13710 0.00 2.17 0.00 0.000 4 0.000 0.042 2064 1300 2213 0 0 0 0 0 0

13757 0.61 146.1 205.8 17.2 629 13761 0.00 2.25 0.00 0.000 6 0.000 0.050 2064 2708 2212 0 0 0 0 0 0

14085 0.61 146.1 141.4 18.4 650 14087 0.00 0.00 0.00 0.000 6 0.000 0.000 2064 2709 2211 0 0 0 0 0 0

14408 0.61 146.1 83.6 15.7 680 14414 0.00 0.00 0.00 0.000 6 0.000 0.000 2064 2709 2212 0 0 0 0 0 0

14773 0.61 146.1 19.1 18.1 741 14782 0.00 2.22 0.00 0.000 4 0.000 0.042 2074 1305 2211 0 0 0 0 0 0

14831 0.61 146.1 8.9 16.9 749 14840 0.00 2.25 0.00 0.000 6 0.000 0.050 2074 2697 2210 0 0 0 0 0 0

14865 end climb: SURFACE_DEPTH_REACHED

state 14866 begin surface coast

14886 end surface coast: CONTROL_FINISHED_OK

state 14886 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	243	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	40	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	38	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	-11276.481	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	160113,114952,-4636.765,402.416,37,0.8,37,-23.3	TGT_NAME	GH2
_CALLS	1	TGT_LATLONG	-4630.000,410.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.241,-0.084
_SM_DEPTHo	1.39	KALMAN_X	-175462.5,523.0,330.1,156103.3,-6797.8
_SM_ANGLEo	-51.4	KALMAN_Y	87674.7,683.0,330.9,-61880.2,-409.9
GPS2	160113,115954,-4636.788,402.378,17,1.5,17,-23.3	MHEAD_RNG_PITCHd_Wd	132.6,15888,-16.5,-9.443
SPEED_LIMITS	0.164,0.256	D_GRID	1000

FINISH	0.6,1.011752	_10V_AH	10.1,22.223
SM_CCo	14908,184.27,0.793,1,0,479,573.99	FG_AHR_24Vo	0.000
SM_GC	1.32,0.00,0.00,184.27,0.000,0.000,0.793,52,2901,479,-5.62,0.59,573.99	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4622.97,401.56,160113,070739	MEM	353984
TT8_MAMPS	0.026215	DATA_FILE_SIZE	53834,757
HUMID	56.57	CAP_FILE_SIZE	103830,0
INTERNAL_PRESSURE	9.22854	CFSIZE	259252224,214376448
TCM_TEMP	10.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
XPDR_PINGS	0	GPS	160113,161353,-4636.123,405.031,37,0.8,37,-23.3
_24V_AH	22.0,46.496

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	244	73.28	SBE_CT	499	24	263.49
Roll_motor	54	73	87.61	AA4330	1507	33	1094.35
VBD_pump_during_apogee	297	1796	11770.16	WL_BB2FLVMT	821	105	1898.39
VBD_pump_during_surface	184	793	3216.10	QSP2150	321	4	30.95
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	56.60	nil	0	0	0.00
Iridium_during_connect	19	160	69.14	nil	0	0	0.00
Iridium_during_xfer	311	223	1528.88	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	6.49
TT8	1826	14	275.93
LPSleep	10455	2	231.26
TT8_Active	582	14	83.63
TT8_Sampling	2225	37	841.42
TT8_CF8	599	47	285.62
TT8_Kalman	33	59	19.94
Analog_circuits	1344	12	162.93
GPS_charging	0	0	0.00
Compass	1781	15	282.96
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
27	-0.61	-146.1	0.0	0.0	0	164	0.00	0.00	-133.75	0.000	2	0.000	0.000	55	2903	3193	0	0	0	0	0	0
170	-0.61	-146.1	3.1	-2.2	17	189	6.57	1.62	-5.85	0.000	4	0.244	0.073	1637	3892	3417	0	0	0	0	0	0
268	-0.61	-146.1	21.1	-13.1	31	277	0.00	1.58	0.00	0.000	6	0.000	0.031	1637	2850	3419	0	0	0	0	0	0
354	-0.61	-146.1	32.6	-13.6	44	363	0.00	0.00	0.00	0.000	6	0.000	0.000	1637	2849	3419	0	0	0	0	0	0
605	-0.61	-146.1	66.7	-13.9	85	609	0.00	0.00	0.00	0.000	6	0.000	0.000	1637	2850	3420	0	0	0	0	0	0
960	-0.61	-146.1	111.2	-11.3	136	963	0.00	2.03	0.00	0.000	4	0.000	0.035	1637	1507	3420	0	0	0	0	0	0
1016	-0.61	-146.1	117.0	-10.1	139	1020	0.00	2.17	0.00	0.000	6	0.000	0.050	1627	2871	3420	0	0	0	0	0	0
1345	-0.61	-146.1	158.9	-13.1	160	1348	0.00	1.62	0.00	0.000	4	0.000	0.058	1619	3894	3420	0	0	0	0	0	0
1401	-0.61	-146.1	166.3	-13.1	163	1405	0.08	1.50	0.00	0.000	6	0.162	0.031	1643	2899	3420	0	0	0	0	0	0
1739	-0.61	-146.1	203.6	-10.1	184	1743	0.00	2.12	0.00	0.000	4	0.000	0.036	1643	1494	3421	0	0	0	0	0	0
1775	-0.61	-146.1	207.8	-9.0	186	1779	0.00	2.22	0.00	0.000	6	0.000	0.050	1634	2889	3421	0	0	0	0	0	0
2098	-0.61	-146.1	240.2	-10.3	206	2099	0.00	0.00	0.00	0.000	6	0.000	0.000	1633	2890	3420	0	0	0	0	0	0
2414	-0.61	-146.1	272.9	-10.4	223	2415	0.00	0.00	0.00	0.000	6	0.000	0.000	1633	2890	3420	0	0	0	0	0	0
2722	-0.61	-146.1	304.7	-10.2	238	2723	0.00	0.00	0.00	0.000	6	0.000	0.000	1634	2889	3420	0	0	0	0	0	0
3032	-0.61	-146.1	335.8	-10.2	253	3036	0.00	2.12	0.00	0.000	4	0.000	0.036	1633	1497	3421	0	0	0	0	0	0
3068	-0.61	-146.1	339.6	-10.1	254	3071	0.00	2.20	0.00	0.000	6	0.000	0.051	1623	2880	3421	0	0	0	0	0	0
3393	-0.61	-146.1	375.1	-10.9	270	3394	0.00	0.00	0.00	0.000	6	0.000	0.000	1624	2881	3420	0	0	0	0	0	0
3710	-0.61	-146.1	412.0	-11.7	284	3711	0.00	0.00	0.00	0.000	6	0.000	0.000	1623	2881	3420	0	0	0	0	0	0
4016	-0.61	-146.1	447.7	-11.8	294	4018	0.00	0.00	0.00	0.000	6	0.000	0.000	1623	2881	3420	0	0	0	0	0	0
4322	-0.61	-146.1	483.5	-11.3	304	4323	0.00	0.00	0.00	0.000	6	0.000	0.000	1623	2881	3420	0	0	0	0	0	0
4630	-0.61	-146.1	517.7	-11.3	314	4631	0.00	0.00	0.00	0.000	6	0.000	0.000	1623	2881	3419	0	0	0	0	0	0
4935	-0.61	-146.1	551.5	-10.9	324	4936	0.00	0.00	0.00	0.000	6	0.000	0.000	1623	2881	3419	0	0	0	0	0	0
5241	-0.61	-146.1	584.0	-10.5	334	5245	0.00	2.12	0.00	0.000	4	0.000	0.037	1623	1497	3418	0	0	0	0	0	0
5276	-0.61	-146.1	587.8	-10.3	335	5281	0.12	2.22	0.00	0.000	6	0.180	0.052	1646	2886	3418	0	0	0	0	0	0
5609	-0.61	-146.1	615.7	-8.3	346	5610	0.00	0.00	0.00	0.000	6	0.000	0.000	1645	2886	3417	0	0	0	0	0	0
5915	-0.61	-146.1	640.4	-7.9	356	5916	0.00	0.00	0.00	0.000	6	0.000	0.000	1646	2887	3417	0	0	0	0	0	0
6221	-0.61	-146.1	666.3	-8.4	366	6225	0.00	2.12	0.00	0.000	4	0.000	0.037	1646	1491	3417	0	0	0	0	0	0
6268	-0.61	-146.1	670.4	-8.8	367	6272	0.00	2.22	0.00	0.000	6	0.000	0.053	1636	2881	3417	0	0	0	0	0	0
6589	-0.61	-146.1	699.1	-9.1	378	6590	0.00	0.00	0.00	0.000	6	0.000	0.000	1636	2881	3417	0	0	0	0	0	0
6897	-0.61	-146.1	726.2	-8.7	388	6898	0.00	0.00	0.00	0.000	6	0.000	0.000	1636	2881	3416	0	0	0	0	0	0
7202	-0.61	-146.1	753.4	-9.1	398	7203	0.00	0.00	0.00	0.000	6	0.000	0.000	1636	2881	3416	0	0	0	0	0	0
7509	-0.61	-146.1	782.9	-9.8	408	7513	0.00	2.15	0.00	0.000	4	0.000	0.037	1636	1485	3415	0	0	0	0	0	0
7544	-0.61	-146.1	786.8	-10.0	409	7548	0.00	2.25	0.00	0.000	6	0.000	0.053	1626	2887	3415	0	0	0	0	0	0
7876	-0.61	-146.1	819.2	-9.7	420	7877	0.00	0.00	0.00	0.000	6	0.000	0.000	1626	2887	3415	0	0	0	0	0	0
8183	-0.61	-146.1	848.7	-9.7	430	8184	0.00	0.00	0.00	0.000	6	0.000	0.000	1626	2887	3415	0	0	0	0	0	0
8489	-0.61	-146.1	876.8	-8.8	440	8490	0.00	0.00	0.00	0.000	6	0.000	0.000	1626	2887	3415	0	0	0	0	0	0
8795	-0.61	-146.1	902.6	-8.3	450	8796	0.00	0.00	0.00	0.000	6	0.000	0.000	1626	2887	3414	0	0	0	0	0	0
9103	-0.61	-146.1	926.6	-7.7	460	9104	0.00	0.00	0.00	0.000	6	0.000	0.000	1625	2887	3414	0	0	0	0	0	0
9408	-0.61	-146.1	951.5	-8.2	470	9409	0.00	0.00	0.00	0.000	6	0.000	0.000	1626	2887	3413	0	0	0	0	0	0
9714	-0.61	-146.1	976.7	-8.5	480	9715	0.00	0.00	0.00	0.000	6	0.000	0.000	1626	2887	3413	0	0	0	0	0	0
10015	end dive: TARGET_DEPTH_EXCEEDED
state	10015	begin apogee
10027	-0.18	0.0	1002.1	8.3	490	10178	0.55	0.00	148.00	1.231	6	0.156	0.000	1789	2699	2819	0	0	0	0	0	0
10180	end apogee: CONTROL_FINISHED_OK
state	10180	begin climb
10184	0.61	146.1	1006.3	0.0	495	10347	0.73	2.20	149.73	1.797	4	0.062	0.057	2054	3898	2226	0	0	0	0	1	0
10442	0.61	146.1	957.1	26.7	503	10446	0.00	2.03	0.00	0.000	6	0.000	0.036	2063	2679	2224	0	0	0	0	0	0
10786	0.61	146.1	869.4	24.6	514	10787	0.00	0.00	0.00	0.000	6	0.000	0.000	2064	2673	2218	0	0	0	0	0	0
11092	0.61	146.1	794.5	24.1	524	11093	0.00	0.00	0.00	0.000	6	0.000	0.000	2064	2673	2217	0	0	0	0	0	0
11399	0.61	146.1	720.6	24.0	534	11400	0.00	0.00	0.00	0.000	6	0.000	0.000	2064	2673	2216	0	0	0	0	0	0
11704	0.61	146.1	647.1	24.0	544	11708	0.00	1.95	0.00	0.000	4	0.000	0.058	2064	3894	2216	0	0	0	0	0	0
11750	0.61	146.1	634.5	28.3	545	11754	0.00	1.88	0.00	0.000	6	0.000	0.037	2073	2685	2215	0	0	0	0	0	0
12083	0.61	146.1	555.2	23.2	556	12084	0.00	0.00	0.00	0.000	6	0.000	0.000	2073	2680	2215	0	0	0	0	0	0
12388	0.61	146.1	487.4	22.2	566	12389	0.00	0.00	0.00	0.000	6	0.000	0.000	2073	2679	2215	0	0	0	0	0	0
12694	0.61	146.1	419.7	21.6	576	12698	0.00	2.15	0.00	0.000	4	0.000	0.042	2083	1294	2214	0	0	0	0	0	0
12746	0.61	146.1	408.7	19.1	577	12751	0.12	2.25	0.00	0.000	6	0.214	0.050	2055	2702	2213	0	0	0	0	0	0
13083	0.61	146.1	340.7	20.4	593	13084	0.00	0.00	0.00	0.000	6	0.000	0.000	2055	2701	2213	0	0	0	0	0	0
13390	0.61	146.1	277.7	20.6	608	13391	0.00	0.00	0.00	0.000	6	0.000	0.000	2055	2701	2213	0	0	0	0	0	0
13706	0.61	146.1	214.7	20.3	626	13710	0.00	2.17	0.00	0.000	4	0.000	0.042	2064	1300	2213	0	0	0	0	0	0
13757	0.61	146.1	205.8	17.2	629	13761	0.00	2.25	0.00	0.000	6	0.000	0.050	2064	2708	2212	0	0	0	0	0	0
14085	0.61	146.1	141.4	18.4	650	14087	0.00	0.00	0.00	0.000	6	0.000	0.000	2064	2709	2211	0	0	0	0	0	0
14408	0.61	146.1	83.6	15.7	680	14414	0.00	0.00	0.00	0.000	6	0.000	0.000	2064	2709	2212	0	0	0	0	0	0
14773	0.61	146.1	19.1	18.1	741	14782	0.00	2.22	0.00	0.000	4	0.000	0.042	2074	1305	2211	0	0	0	0	0	0
14831	0.61	146.1	8.9	16.9	749	14840	0.00	2.25	0.00	0.000	6	0.000	0.050	2074	2697	2210	0	0	0	0	0	0
14865	end climb: SURFACE_DEPTH_REACHED
state	14866	begin surface coast
14886	end surface coast: CONTROL_FINISHED_OK
state	14886	begin surface