Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 251 * 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 251 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2860 ALTIM_PING_DELTA 5

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2670 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 230 R_PORT_OVSHOOT 44 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 37 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 -11302.737 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 1830 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 39 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 230

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 39 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 -11302.737

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 1830 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2670 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 2860 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 44 VBD_MAX 3961

DEVICE2 101 MASS 52816 R_STBD_OVSHOOT 37 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 251 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 180113,003634,-4636.134,420.591,41,0.8,41,-23.4 TGT_NAME GH3

_CALLS 1 TGT_LATLONG -4630.000,440.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.218,-0.134

_SM_DEPTHo 1.76 KALMAN_X -183602.7,-441.7,-96.3,188780.7,-516.0

_SM_ANGLEo -58.4 KALMAN_Y 103972.5,-328.5,-309.4,-75202.5,4721.8

GPS2 180113,004700,-4636.089,420.646,19,0.8,19,-23.4 MHEAD_RNG_PITCHd_Wd 145.0,27129,-16.5,-9.443

SPEED_LIMITS 0.164,0.256 D_GRID 1000

Post-dive calculations and measurements:

FINISH 2.1,1.026422 _10V_AH 10.1,23.078

SM_CCo 14818,42.92,0.771,1,0,1880,230.09 FG_AHR_24Vo 0.000

SM_GC 2.29,0.00,0.00,42.92,0.000,0.000,0.771,55,2877,1880,-5.55,0.51,230.09 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4619.84,436.19,170113,202043 MEM 353920

TT8_MAMPS 0.026215 DATA_FILE_SIZE 53739,744

HUMID 58.82 CAP_FILE_SIZE 101428,0

INTERNAL_PRESSURE 9.33597 CFSIZE 259252224,213868544

TCM_TEMP 11.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,1

XPDR_PINGS 0 GPS 180113,045704,-4636.720,423.204,37,1.0,37,-23.4

_24V_AH 22.0,47.923

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 257 79.17 SBE_CT 495 24 261.77

Roll_motor 62 60 83.73 AA4330 1496 33 1086.42

VBD_pump_during_apogee 299 1780 11726.65 WL_BB2FLVMT 805 105 1861.02

VBD_pump_during_surface 42 771 728.21 QSP2150 308 4 29.76

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 58.86 nil 0 0 0.00

Iridium_during_connect 19 160 67.70 nil 0 0 0.00

Iridium_during_xfer 329 223 1617.16 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 6.03

TT8 1812 14 273.91

LPSleep 10448 2 231.11

TT8_Active 453 14 65.12

TT8_Sampling 2143 37 810.19

TT8_CF8 618 47 294.83

TT8_Kalman 33 59 19.94

Analog_circuits 1141 12 138.33

GPS_charging 0 0 0.00

Compass 1704 15 270.79

RAFOS 0 0 0.00

Transponder 1 5 0.05

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

21 end surface: CONTROL_FINISHED_OK

state 22 begin dive

27 -0.60 -146.1 0.0 0.0 0 76 0.00 0.00 -47.17 0.000 2 0.000 0.000 52 2889 2752 0 0 0 0 0 0

83 -0.60 -146.1 3.2 -3.5 6 125 6.80 2.28 -25.05 0.000 4 0.257 0.048 1626 1453 3418 0 0 0 0 0 0

285 -0.60 -146.1 25.3 -12.9 36 294 0.00 2.30 0.00 0.000 6 0.000 0.053 1617 2852 3419 0 0 0 0 0 0

371 -0.60 -146.1 37.5 -14.9 49 378 0.00 1.65 0.00 0.000 4 0.000 0.057 1609 3907 3419 0 0 0 0 0 0

406 -0.60 -146.1 43.7 -16.2 54 415 0.00 1.62 0.00 0.000 6 0.000 0.030 1608 2840 3419 0 0 0 0 0 0

656 -0.60 -146.1 83.0 -16.3 95 661 0.00 1.73 0.00 0.000 4 0.000 0.058 1600 3913 3419 0 0 0 0 0 0

753 -0.60 -146.1 99.1 -16.5 111 760 0.08 1.60 0.00 0.000 6 0.170 0.031 1623 2855 3420 0 0 0 0 0 0

1078 -0.60 -146.1 140.5 -12.0 132 1079 0.00 0.00 0.00 0.000 6 0.000 0.000 1623 2855 3420 0 0 0 0 0 0

1386 -0.60 -146.1 176.3 -11.5 152 1387 0.00 0.00 0.00 0.000 6 0.000 0.000 1623 2855 3421 0 0 0 0 0 0

1698 -0.60 -146.1 212.2 -11.9 172 1699 0.00 0.00 0.00 0.000 6 0.000 0.000 1623 2855 3421 0 0 0 0 0 0

2011 -0.60 -146.1 249.2 -11.8 192 2015 0.00 2.08 0.00 0.000 4 0.000 0.037 1624 1484 3421 0 0 0 0 0 0

2046 -0.60 -146.1 253.6 -11.3 194 2050 0.00 2.22 0.00 0.000 6 0.000 0.051 1614 2875 3422 0 0 0 0 0 0

2367 -0.60 -146.1 291.9 -12.1 209 2368 0.00 0.00 0.00 0.000 6 0.000 0.000 1614 2875 3421 0 0 0 0 0 0

2674 -0.60 -146.1 329.6 -12.5 224 2675 0.00 0.00 0.00 0.000 6 0.000 0.000 1614 2876 3421 0 0 0 0 0 0

2985 -0.60 -146.1 368.6 -12.6 239 2986 0.00 0.00 0.00 0.000 6 0.000 0.000 1614 2875 3421 0 0 0 0 0 0

3312 -0.60 -146.1 408.6 -12.0 254 3313 0.00 0.00 0.00 0.000 6 0.000 0.000 1614 2875 3422 0 0 0 0 0 0

3619 -0.60 -146.1 444.4 -11.6 264 3620 0.00 0.00 0.00 0.000 6 0.000 0.000 1614 2875 3421 0 0 0 0 0 0

3925 -0.60 -146.1 478.0 -10.8 274 3928 0.00 1.62 0.00 0.000 4 0.000 0.060 1606 3920 3421 0 0 0 0 0 0

3970 -0.60 -146.1 483.4 -11.4 275 3974 0.00 1.60 0.00 0.000 6 0.000 0.032 1606 2865 3421 0 0 0 0 0 0

4302 -0.60 -146.1 520.6 -11.2 286 4303 0.00 0.00 0.00 0.000 6 0.000 0.000 1606 2859 3420 0 0 0 0 0 0

4610 -0.60 -146.1 554.4 -11.0 296 4612 0.10 0.00 0.00 0.000 6 0.203 0.000 1629 2860 3420 0 0 0 0 0 0

4915 -0.60 -146.1 581.7 -8.5 306 4916 0.00 0.00 0.00 0.000 6 0.000 0.000 1629 2859 3420 0 0 0 0 0 0

5222 -0.60 -146.1 608.0 -8.7 316 5223 0.00 0.00 0.00 0.000 6 0.000 0.000 1629 2859 3419 0 0 0 0 0 0

5527 -0.60 -146.1 634.9 -8.7 326 5531 0.00 2.10 0.00 0.000 4 0.000 0.037 1629 1475 3419 0 0 0 0 0 0

5562 -0.60 -146.1 638.4 -9.1 327 5566 0.00 2.22 0.00 0.000 6 0.000 0.052 1620 2860 3419 0 0 0 0 0 0

5895 -0.60 -146.1 669.7 -9.5 338 5896 0.00 0.00 0.00 0.000 6 0.000 0.000 1620 2860 3419 0 0 0 0 0 0

6202 -0.60 -146.1 699.9 -10.0 348 6203 0.00 0.00 0.00 0.000 6 0.000 0.000 1620 2860 3419 0 0 0 0 0 0

6507 -0.60 -146.1 730.7 -10.1 358 6508 0.00 0.00 0.00 0.000 6 0.000 0.000 1620 2860 3418 0 0 0 0 0 0

6814 -0.60 -146.1 761.7 -10.2 368 6818 0.00 2.17 0.00 0.000 4 0.000 0.038 1620 1475 3418 0 0 0 0 0 0

6860 -0.60 -146.1 766.9 -10.8 369 6864 0.00 2.22 0.00 0.000 6 0.000 0.053 1609 2859 3418 0 0 0 0 0 0

7180 -0.60 -146.1 802.6 -11.3 380 7181 0.00 0.00 0.00 0.000 6 0.000 0.000 1609 2859 3418 0 0 0 0 0 0

7486 -0.60 -146.1 835.7 -10.7 390 7488 0.00 0.00 0.00 0.000 6 0.000 0.000 1609 2859 3418 0 0 0 0 0 0

7793 -0.60 -146.1 867.4 -10.3 400 7794 0.00 0.00 0.00 0.000 6 0.000 0.000 1609 2859 3417 0 0 0 0 0 0

8099 -0.60 -146.1 896.9 -9.4 410 8100 0.00 0.00 0.00 0.000 6 0.000 0.000 1609 2859 3417 0 0 0 0 0 0

8405 -0.60 -146.1 925.8 -9.4 420 8406 0.00 0.00 0.00 0.000 6 0.000 0.000 1609 2859 3417 0 0 0 0 0 0

8712 -0.60 -146.1 955.1 -9.6 430 8716 0.00 2.12 0.00 0.000 4 0.000 0.037 1609 1478 3417 0 0 0 0 0 0

8749 -0.60 -146.1 958.5 -9.6 431 8753 0.12 2.20 0.00 0.000 6 0.187 0.053 1630 2859 3417 0 0 0 0 0 0

9093 -0.60 -146.1 985.5 -7.9 442 9094 0.00 0.00 0.00 0.000 6 0.000 0.000 1630 2859 3417 0 0 0 0 0 0

9302 end dive: TARGET_DEPTH_EXCEEDED

state 9302 begin apogee

9313 -0.18 0.0 1001.7 7.5 449 9464 0.45 0.00 147.80 1.226 6 0.155 0.000 1764 2671 2819 0 0 0 0 0 0

9466 end apogee: CONTROL_FINISHED_OK

state 9466 begin climb

9471 0.60 146.1 1005.1 0.0 454 9637 0.82 2.47 151.50 1.781 4 0.100 0.042 2035 1277 2225 0 0 0 0 1 0

9661 0.60 146.1 978.4 19.8 460 9665 0.00 2.47 0.00 0.000 6 0.000 0.050 2035 2662 2223 0 0 0 0 0 0

9982 0.60 146.1 908.7 21.4 471 9983 0.00 0.00 0.00 0.000 6 0.000 0.000 2035 2662 2217 0 0 0 0 0 0

10290 0.60 146.1 843.9 20.6 481 10293 0.00 2.00 0.00 0.000 4 0.000 0.060 2035 3900 2216 0 0 0 0 0 0

10330 0.60 146.1 834.1 24.1 482 10334 0.00 1.92 0.00 0.000 6 0.000 0.037 2044 2672 2216 0 0 0 0 0 0

10667 0.60 146.1 764.5 20.0 493 10671 0.00 2.17 0.00 0.000 4 0.000 0.043 2054 1271 2215 0 0 0 0 0 0

10702 0.60 146.1 757.2 19.2 494 10707 0.12 2.28 0.00 0.000 6 0.229 0.050 2028 2675 2213 0 0 0 0 0 0

11036 0.60 146.1 695.0 19.1 505 11037 0.00 0.00 0.00 0.000 6 0.000 0.000 2028 2675 2214 0 0 0 0 0 0

11342 0.60 146.1 636.9 18.9 515 11346 0.00 2.22 0.00 0.000 4 0.000 0.041 2037 1270 2213 0 0 0 0 0 0

11377 0.60 146.1 630.1 18.9 516 11381 0.00 2.28 0.00 0.000 6 0.000 0.050 2037 2678 2212 0 0 0 0 0 0

11709 0.60 146.1 561.3 21.1 527 11710 0.00 0.00 0.00 0.000 6 0.000 0.000 2038 2678 2212 0 0 0 0 0 0

12015 0.60 146.1 498.5 20.5 537 12016 0.00 0.00 0.00 0.000 6 0.000 0.000 2037 2678 2212 0 0 0 0 0 0

12321 0.60 146.1 438.4 19.1 547 12322 0.00 0.00 0.00 0.000 6 0.000 0.000 2037 2678 2212 0 0 0 0 0 0

12641 0.60 146.1 377.6 19.1 559 12643 0.00 0.00 0.00 0.000 6 0.000 0.000 2037 2678 2212 0 0 0 0 0 0

12948 0.60 146.1 321.9 18.2 574 12949 0.00 0.00 0.00 0.000 6 0.000 0.000 2038 2678 2211 0 0 0 0 0 0

13260 0.60 146.1 266.9 17.3 589 13261 0.00 0.00 0.00 0.000 6 0.000 0.000 2038 2678 2211 0 0 0 0 0 0

13580 0.60 146.1 211.1 17.4 608 13584 0.00 2.20 0.00 0.000 4 0.000 0.042 2048 1268 2211 0 0 0 0 0 0

13643 0.60 146.1 200.2 15.1 611 13650 0.00 2.25 0.00 0.000 6 0.000 0.050 2048 2669 2210 0 0 0 0 0 0

13965 0.60 146.1 142.8 17.9 632 13966 0.00 0.00 0.00 0.000 6 0.000 0.000 2048 2669 2210 0 0 0 0 0 0

14287 0.60 146.1 84.2 18.3 662 14294 0.00 1.95 0.00 0.000 4 0.000 0.059 2048 3899 2210 0 0 0 0 0 0

14367 0.60 146.1 67.9 19.3 675 14374 0.10 1.92 0.00 0.000 6 0.220 0.037 2032 2664 2210 0 0 0 0 0 0

14739 0.60 146.1 9.8 15.5 736 14748 0.00 2.20 0.00 0.000 4 0.000 0.043 2041 1268 2210 0 0 0 0 0 0

14786 end climb: SURFACE_DEPTH_REACHED

state 14786 begin surface coast

14793 end surface coast: CONTROL_FINISHED_OK

state 14793 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	251	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2860	ALTIM_PING_DELTA	5
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2670	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	230	R_PORT_OVSHOOT	44	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	37	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	-11302.737	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	1830	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	39	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	180113,003634,-4636.134,420.591,41,0.8,41,-23.4	TGT_NAME	GH3
_CALLS	1	TGT_LATLONG	-4630.000,440.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.218,-0.134
_SM_DEPTHo	1.76	KALMAN_X	-183602.7,-441.7,-96.3,188780.7,-516.0
_SM_ANGLEo	-58.4	KALMAN_Y	103972.5,-328.5,-309.4,-75202.5,4721.8
GPS2	180113,004700,-4636.089,420.646,19,0.8,19,-23.4	MHEAD_RNG_PITCHd_Wd	145.0,27129,-16.5,-9.443
SPEED_LIMITS	0.164,0.256	D_GRID	1000

FINISH	2.1,1.026422	_10V_AH	10.1,23.078
SM_CCo	14818,42.92,0.771,1,0,1880,230.09	FG_AHR_24Vo	0.000
SM_GC	2.29,0.00,0.00,42.92,0.000,0.000,0.771,55,2877,1880,-5.55,0.51,230.09	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4619.84,436.19,170113,202043	MEM	353920
TT8_MAMPS	0.026215	DATA_FILE_SIZE	53739,744
HUMID	58.82	CAP_FILE_SIZE	101428,0
INTERNAL_PRESSURE	9.33597	CFSIZE	259252224,213868544
TCM_TEMP	11.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
XPDR_PINGS	0	GPS	180113,045704,-4636.720,423.204,37,1.0,37,-23.4
_24V_AH	22.0,47.923

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	257	79.17	SBE_CT	495	24	261.77
Roll_motor	62	60	83.73	AA4330	1496	33	1086.42
VBD_pump_during_apogee	299	1780	11726.65	WL_BB2FLVMT	805	105	1861.02
VBD_pump_during_surface	42	771	728.21	QSP2150	308	4	29.76
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	58.86	nil	0	0	0.00
Iridium_during_connect	19	160	67.70	nil	0	0	0.00
Iridium_during_xfer	329	223	1617.16	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	6.03
TT8	1812	14	273.91
LPSleep	10448	2	231.11
TT8_Active	453	14	65.12
TT8_Sampling	2143	37	810.19
TT8_CF8	618	47	294.83
TT8_Kalman	33	59	19.94
Analog_circuits	1141	12	138.33
GPS_charging	0	0	0.00
Compass	1704	15	270.79
RAFOS	0	0	0.00
Transponder	1	5	0.05

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
21	end surface: CONTROL_FINISHED_OK
state	22	begin dive
27	-0.60	-146.1	0.0	0.0	0	76	0.00	0.00	-47.17	0.000	2	0.000	0.000	52	2889	2752	0	0	0	0	0	0
83	-0.60	-146.1	3.2	-3.5	6	125	6.80	2.28	-25.05	0.000	4	0.257	0.048	1626	1453	3418	0	0	0	0	0	0
285	-0.60	-146.1	25.3	-12.9	36	294	0.00	2.30	0.00	0.000	6	0.000	0.053	1617	2852	3419	0	0	0	0	0	0
371	-0.60	-146.1	37.5	-14.9	49	378	0.00	1.65	0.00	0.000	4	0.000	0.057	1609	3907	3419	0	0	0	0	0	0
406	-0.60	-146.1	43.7	-16.2	54	415	0.00	1.62	0.00	0.000	6	0.000	0.030	1608	2840	3419	0	0	0	0	0	0
656	-0.60	-146.1	83.0	-16.3	95	661	0.00	1.73	0.00	0.000	4	0.000	0.058	1600	3913	3419	0	0	0	0	0	0
753	-0.60	-146.1	99.1	-16.5	111	760	0.08	1.60	0.00	0.000	6	0.170	0.031	1623	2855	3420	0	0	0	0	0	0
1078	-0.60	-146.1	140.5	-12.0	132	1079	0.00	0.00	0.00	0.000	6	0.000	0.000	1623	2855	3420	0	0	0	0	0	0
1386	-0.60	-146.1	176.3	-11.5	152	1387	0.00	0.00	0.00	0.000	6	0.000	0.000	1623	2855	3421	0	0	0	0	0	0
1698	-0.60	-146.1	212.2	-11.9	172	1699	0.00	0.00	0.00	0.000	6	0.000	0.000	1623	2855	3421	0	0	0	0	0	0
2011	-0.60	-146.1	249.2	-11.8	192	2015	0.00	2.08	0.00	0.000	4	0.000	0.037	1624	1484	3421	0	0	0	0	0	0
2046	-0.60	-146.1	253.6	-11.3	194	2050	0.00	2.22	0.00	0.000	6	0.000	0.051	1614	2875	3422	0	0	0	0	0	0
2367	-0.60	-146.1	291.9	-12.1	209	2368	0.00	0.00	0.00	0.000	6	0.000	0.000	1614	2875	3421	0	0	0	0	0	0
2674	-0.60	-146.1	329.6	-12.5	224	2675	0.00	0.00	0.00	0.000	6	0.000	0.000	1614	2876	3421	0	0	0	0	0	0
2985	-0.60	-146.1	368.6	-12.6	239	2986	0.00	0.00	0.00	0.000	6	0.000	0.000	1614	2875	3421	0	0	0	0	0	0
3312	-0.60	-146.1	408.6	-12.0	254	3313	0.00	0.00	0.00	0.000	6	0.000	0.000	1614	2875	3422	0	0	0	0	0	0
3619	-0.60	-146.1	444.4	-11.6	264	3620	0.00	0.00	0.00	0.000	6	0.000	0.000	1614	2875	3421	0	0	0	0	0	0
3925	-0.60	-146.1	478.0	-10.8	274	3928	0.00	1.62	0.00	0.000	4	0.000	0.060	1606	3920	3421	0	0	0	0	0	0
3970	-0.60	-146.1	483.4	-11.4	275	3974	0.00	1.60	0.00	0.000	6	0.000	0.032	1606	2865	3421	0	0	0	0	0	0
4302	-0.60	-146.1	520.6	-11.2	286	4303	0.00	0.00	0.00	0.000	6	0.000	0.000	1606	2859	3420	0	0	0	0	0	0
4610	-0.60	-146.1	554.4	-11.0	296	4612	0.10	0.00	0.00	0.000	6	0.203	0.000	1629	2860	3420	0	0	0	0	0	0
4915	-0.60	-146.1	581.7	-8.5	306	4916	0.00	0.00	0.00	0.000	6	0.000	0.000	1629	2859	3420	0	0	0	0	0	0
5222	-0.60	-146.1	608.0	-8.7	316	5223	0.00	0.00	0.00	0.000	6	0.000	0.000	1629	2859	3419	0	0	0	0	0	0
5527	-0.60	-146.1	634.9	-8.7	326	5531	0.00	2.10	0.00	0.000	4	0.000	0.037	1629	1475	3419	0	0	0	0	0	0
5562	-0.60	-146.1	638.4	-9.1	327	5566	0.00	2.22	0.00	0.000	6	0.000	0.052	1620	2860	3419	0	0	0	0	0	0
5895	-0.60	-146.1	669.7	-9.5	338	5896	0.00	0.00	0.00	0.000	6	0.000	0.000	1620	2860	3419	0	0	0	0	0	0
6202	-0.60	-146.1	699.9	-10.0	348	6203	0.00	0.00	0.00	0.000	6	0.000	0.000	1620	2860	3419	0	0	0	0	0	0
6507	-0.60	-146.1	730.7	-10.1	358	6508	0.00	0.00	0.00	0.000	6	0.000	0.000	1620	2860	3418	0	0	0	0	0	0
6814	-0.60	-146.1	761.7	-10.2	368	6818	0.00	2.17	0.00	0.000	4	0.000	0.038	1620	1475	3418	0	0	0	0	0	0
6860	-0.60	-146.1	766.9	-10.8	369	6864	0.00	2.22	0.00	0.000	6	0.000	0.053	1609	2859	3418	0	0	0	0	0	0
7180	-0.60	-146.1	802.6	-11.3	380	7181	0.00	0.00	0.00	0.000	6	0.000	0.000	1609	2859	3418	0	0	0	0	0	0
7486	-0.60	-146.1	835.7	-10.7	390	7488	0.00	0.00	0.00	0.000	6	0.000	0.000	1609	2859	3418	0	0	0	0	0	0
7793	-0.60	-146.1	867.4	-10.3	400	7794	0.00	0.00	0.00	0.000	6	0.000	0.000	1609	2859	3417	0	0	0	0	0	0
8099	-0.60	-146.1	896.9	-9.4	410	8100	0.00	0.00	0.00	0.000	6	0.000	0.000	1609	2859	3417	0	0	0	0	0	0
8405	-0.60	-146.1	925.8	-9.4	420	8406	0.00	0.00	0.00	0.000	6	0.000	0.000	1609	2859	3417	0	0	0	0	0	0
8712	-0.60	-146.1	955.1	-9.6	430	8716	0.00	2.12	0.00	0.000	4	0.000	0.037	1609	1478	3417	0	0	0	0	0	0
8749	-0.60	-146.1	958.5	-9.6	431	8753	0.12	2.20	0.00	0.000	6	0.187	0.053	1630	2859	3417	0	0	0	0	0	0
9093	-0.60	-146.1	985.5	-7.9	442	9094	0.00	0.00	0.00	0.000	6	0.000	0.000	1630	2859	3417	0	0	0	0	0	0
9302	end dive: TARGET_DEPTH_EXCEEDED
state	9302	begin apogee
9313	-0.18	0.0	1001.7	7.5	449	9464	0.45	0.00	147.80	1.226	6	0.155	0.000	1764	2671	2819	0	0	0	0	0	0
9466	end apogee: CONTROL_FINISHED_OK
state	9466	begin climb
9471	0.60	146.1	1005.1	0.0	454	9637	0.82	2.47	151.50	1.781	4	0.100	0.042	2035	1277	2225	0	0	0	0	1	0
9661	0.60	146.1	978.4	19.8	460	9665	0.00	2.47	0.00	0.000	6	0.000	0.050	2035	2662	2223	0	0	0	0	0	0
9982	0.60	146.1	908.7	21.4	471	9983	0.00	0.00	0.00	0.000	6	0.000	0.000	2035	2662	2217	0	0	0	0	0	0
10290	0.60	146.1	843.9	20.6	481	10293	0.00	2.00	0.00	0.000	4	0.000	0.060	2035	3900	2216	0	0	0	0	0	0
10330	0.60	146.1	834.1	24.1	482	10334	0.00	1.92	0.00	0.000	6	0.000	0.037	2044	2672	2216	0	0	0	0	0	0
10667	0.60	146.1	764.5	20.0	493	10671	0.00	2.17	0.00	0.000	4	0.000	0.043	2054	1271	2215	0	0	0	0	0	0
10702	0.60	146.1	757.2	19.2	494	10707	0.12	2.28	0.00	0.000	6	0.229	0.050	2028	2675	2213	0	0	0	0	0	0
11036	0.60	146.1	695.0	19.1	505	11037	0.00	0.00	0.00	0.000	6	0.000	0.000	2028	2675	2214	0	0	0	0	0	0
11342	0.60	146.1	636.9	18.9	515	11346	0.00	2.22	0.00	0.000	4	0.000	0.041	2037	1270	2213	0	0	0	0	0	0
11377	0.60	146.1	630.1	18.9	516	11381	0.00	2.28	0.00	0.000	6	0.000	0.050	2037	2678	2212	0	0	0	0	0	0
11709	0.60	146.1	561.3	21.1	527	11710	0.00	0.00	0.00	0.000	6	0.000	0.000	2038	2678	2212	0	0	0	0	0	0
12015	0.60	146.1	498.5	20.5	537	12016	0.00	0.00	0.00	0.000	6	0.000	0.000	2037	2678	2212	0	0	0	0	0	0
12321	0.60	146.1	438.4	19.1	547	12322	0.00	0.00	0.00	0.000	6	0.000	0.000	2037	2678	2212	0	0	0	0	0	0
12641	0.60	146.1	377.6	19.1	559	12643	0.00	0.00	0.00	0.000	6	0.000	0.000	2037	2678	2212	0	0	0	0	0	0
12948	0.60	146.1	321.9	18.2	574	12949	0.00	0.00	0.00	0.000	6	0.000	0.000	2038	2678	2211	0	0	0	0	0	0
13260	0.60	146.1	266.9	17.3	589	13261	0.00	0.00	0.00	0.000	6	0.000	0.000	2038	2678	2211	0	0	0	0	0	0
13580	0.60	146.1	211.1	17.4	608	13584	0.00	2.20	0.00	0.000	4	0.000	0.042	2048	1268	2211	0	0	0	0	0	0
13643	0.60	146.1	200.2	15.1	611	13650	0.00	2.25	0.00	0.000	6	0.000	0.050	2048	2669	2210	0	0	0	0	0	0
13965	0.60	146.1	142.8	17.9	632	13966	0.00	0.00	0.00	0.000	6	0.000	0.000	2048	2669	2210	0	0	0	0	0	0
14287	0.60	146.1	84.2	18.3	662	14294	0.00	1.95	0.00	0.000	4	0.000	0.059	2048	3899	2210	0	0	0	0	0	0
14367	0.60	146.1	67.9	19.3	675	14374	0.10	1.92	0.00	0.000	6	0.220	0.037	2032	2664	2210	0	0	0	0	0	0
14739	0.60	146.1	9.8	15.5	736	14748	0.00	2.20	0.00	0.000	4	0.000	0.043	2041	1268	2210	0	0	0	0	0	0
14786	end climb: SURFACE_DEPTH_REACHED
state	14786	begin surface coast
14793	end surface coast: CONTROL_FINISHED_OK
state	14793	begin surface