Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 267 * 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 267 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 37 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 36 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 -11343.914 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 -11343.914

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 37 VBD_MAX 3961

DEVICE2 101 MASS 52816 R_STBD_OVSHOOT 36 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 267 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 200113,225952,-4641.052,445.637,37,0.8,37,-23.6 TGT_NAME GH4

_CALLS 1 TGT_LATLONG -4700.000,440.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.181,-0.181

_SM_DEPTHo 1.64 KALMAN_X -211864.4,396.7,226.8,247582.6,-3903.2

_SM_ANGLEo -65.4 KALMAN_Y 123490.2,-309.1,-346.1,-103918.0,3465.9

GPS2 200113,231048,-4641.071,445.676,20,1.0,20,-23.6 MHEAD_RNG_PITCHd_Wd 158.6,35782,-16.5,-9.443

SPEED_LIMITS 0.164,0.256 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.7,1.014729 _10V_AH 10.1,24.705

SM_CCo 15036,42.40,0.770,1,0,1881,230.09 FG_AHR_24Vo 0.000

SM_GC 2.29,0.00,0.00,42.40,0.000,0.000,0.770,59,2876,1881,-5.54,0.48,230.09 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4619.84,448.42,200113,141453 MEM 353860

TT8_MAMPS 0.026215 DATA_FILE_SIZE 53736,751

HUMID 58.58 CAP_FILE_SIZE 102582,0

INTERNAL_PRESSURE 9.33597 CFSIZE 259252224,212877312

TCM_TEMP 11.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,1

XPDR_PINGS 0 GPS 210113,032434,-4642.654,447.712,42,0.8,42,-23.6

_24V_AH 21.9,50.562

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 257 77.63 SBE_CT 496 24 261.06

Roll_motor 48 72 77.35 AA4330 1475 33 1066.54

VBD_pump_during_apogee 299 1789 11718.70 WL_BB2FLVMT 779 105 1791.75

VBD_pump_during_surface 42 769 714.61 QSP2150 305 4 29.32

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 73.77 nil 0 0 0.00

Iridium_during_connect 22 160 77.11 nil 0 0 0.00

Iridium_during_xfer 345 223 1685.46 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 6.30

TT8 1824 14 275.73

LPSleep 10651 2 235.60

TT8_Active 403 14 57.87

TT8_Sampling 2233 37 844.20

TT8_CF8 610 47 291.03

TT8_Kalman 33 59 19.94

Analog_circuits 1137 12 137.83

GPS_charging 0 0 0.00

Compass 1755 15 278.84

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 92 0.00 0.00 -63.03 0.000 2 0.000 0.000 59 2878 3073 0 0 0 0 0 0

99 -0.60 -146.1 3.0 -2.5 8 125 6.80 1.65 -9.90 0.000 4 0.258 0.073 1620 3887 3416 0 0 0 0 0 0

402 -0.60 -146.1 50.2 -14.7 56 411 0.00 1.60 0.00 0.000 6 0.000 0.031 1619 2833 3418 0 0 0 0 0 0

649 -0.60 -146.1 86.9 -15.0 97 652 0.00 0.00 0.00 0.000 6 0.000 0.000 1619 2834 3418 0 0 0 0 0 0

980 -0.60 -146.1 135.8 -14.7 128 984 0.00 1.73 0.00 0.000 4 0.000 0.057 1611 3891 3419 0 0 0 0 0 0

1036 -0.60 -146.1 144.9 -15.4 131 1040 0.00 1.55 0.00 0.000 6 0.000 0.031 1611 2857 3420 0 0 0 0 0 0

1369 -0.60 -146.1 191.7 -13.3 152 1373 0.00 1.67 0.00 0.000 4 0.000 0.057 1603 3885 3421 0 0 0 0 0 0

1483 -0.60 -146.1 208.0 -13.4 158 1492 0.00 1.55 0.00 0.000 6 0.000 0.031 1603 2851 3421 0 0 0 0 0 0

1806 -0.60 -146.1 248.7 -12.1 179 1808 0.12 0.00 0.00 0.000 6 0.193 0.000 1634 2850 3421 0 0 0 0 0 0

2132 -0.60 -146.1 281.6 -10.3 195 2133 0.00 0.00 0.00 0.000 6 0.000 0.000 1634 2850 3421 0 0 0 0 0 0

2439 -0.60 -146.1 315.2 -10.9 210 2443 0.00 1.67 0.00 0.000 4 0.000 0.059 1627 3894 3421 0 0 0 0 0 0

2480 -0.60 -146.1 320.3 -11.6 211 2487 0.00 1.55 0.00 0.000 6 0.000 0.031 1627 2866 3421 0 0 0 0 0 0

2801 -0.60 -146.1 355.1 -10.4 227 2802 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2866 3421 0 0 0 0 0 0

3107 -0.60 -146.1 386.2 -9.7 242 3108 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2866 3421 0 0 0 0 0 0

3426 -0.60 -146.1 416.2 -9.3 255 3427 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2866 3421 0 0 0 0 0 0

3732 -0.60 -146.1 445.1 -9.6 265 3733 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2866 3421 0 0 0 0 0 0

4038 -0.60 -146.1 475.3 -10.1 275 4041 0.00 1.62 0.00 0.000 4 0.000 0.060 1619 3891 3421 0 0 0 0 0 0

4095 -0.60 -146.1 481.6 -10.4 276 4098 0.00 1.55 0.00 0.000 6 0.000 0.032 1619 2868 3421 0 0 0 0 0 0

4415 -0.60 -146.1 515.1 -10.5 287 4417 0.00 0.00 0.00 0.000 6 0.000 0.000 1619 2863 3421 0 0 0 0 0 0

4723 -0.60 -146.1 546.0 -10.0 297 4726 0.00 1.62 0.00 0.000 4 0.000 0.060 1611 3890 3420 0 0 0 0 0 0

4760 -0.60 -146.1 550.1 -10.8 298 4763 0.00 1.55 0.00 0.000 6 0.000 0.032 1611 2863 3420 0 0 0 0 0 0

5103 -0.60 -146.1 585.7 -10.3 309 5104 0.00 0.00 0.00 0.000 6 0.000 0.000 1610 2858 3420 0 0 0 0 0 0

5409 -0.60 -146.1 617.7 -10.6 319 5410 0.00 0.00 0.00 0.000 6 0.000 0.000 1610 2858 3420 0 0 0 0 0 0

5715 -0.60 -146.1 649.3 -10.2 329 5716 0.00 0.00 0.00 0.000 6 0.000 0.000 1610 2858 3420 0 0 0 0 0 0

6021 -0.60 -146.1 679.4 -9.8 339 6022 0.00 0.00 0.00 0.000 6 0.000 0.000 1610 2858 3420 0 0 0 0 0 0

6327 -0.60 -146.1 709.6 -10.0 349 6328 0.00 0.00 0.00 0.000 6 0.000 0.000 1610 2858 3419 0 0 0 0 0 0

6633 -0.60 -146.1 740.3 -10.0 359 6635 0.00 0.00 0.00 0.000 6 0.000 0.000 1610 2858 3419 0 0 0 0 0 0

6940 -0.60 -146.1 770.4 -9.8 369 6941 0.00 0.00 0.00 0.000 6 0.000 0.000 1610 2858 3418 0 0 0 0 0 0

7246 -0.60 -146.1 800.5 -9.7 379 7247 0.00 0.00 0.00 0.000 6 0.000 0.000 1610 2858 3418 0 0 0 0 0 0

7552 -0.60 -146.1 829.4 -9.4 389 7554 0.00 0.00 0.00 0.000 6 0.000 0.000 1610 2858 3418 0 0 0 0 0 0

7859 -0.60 -146.1 857.8 -9.4 399 7860 0.00 0.00 0.00 0.000 6 0.000 0.000 1611 2858 3418 0 0 0 0 0 0

8165 -0.60 -146.1 885.4 -8.7 409 8169 0.00 2.12 0.00 0.000 4 0.000 0.038 1611 1478 3418 0 0 0 0 0 0

8212 -0.60 -146.1 889.5 -8.3 410 8216 0.12 2.20 0.00 0.000 6 0.184 0.053 1631 2854 3418 0 0 0 0 0 0

8534 -0.60 -146.1 910.7 -6.6 421 8535 0.00 0.00 0.00 0.000 6 0.000 0.000 1631 2854 3418 0 0 0 0 0 0

8842 -0.60 -146.1 931.7 -7.0 431 8845 0.00 1.62 0.00 0.000 4 0.000 0.061 1625 3894 3418 0 0 0 0 0 0

8893 -0.60 -146.1 935.9 -7.9 432 8897 0.00 1.58 0.00 0.000 6 0.000 0.032 1625 2852 3418 0 0 0 0 0 0

9220 -0.60 -146.1 960.3 -7.6 443 9221 0.00 0.00 0.00 0.000 6 0.000 0.000 1624 2848 3418 0 0 0 0 0 0

9526 -0.60 -146.1 983.3 -7.4 453 9527 0.00 0.00 0.00 0.000 6 0.000 0.000 1624 2848 3418 0 0 0 0 0 0

9735 end dive: TARGET_DEPTH_EXCEEDED

state 9735 begin apogee

9746 -0.18 0.0 1000.1 7.9 460 9896 0.50 0.00 146.48 1.242 6 0.162 0.000 1769 2683 2819 0 0 0 0 0 0

9898 end apogee: CONTROL_FINISHED_OK

state 9898 begin climb

9903 0.60 146.1 1003.6 0.0 465 10065 0.75 0.00 152.57 1.789 6 0.095 0.000 2014 2683 2223 0 0 0 0 1 0

10368 0.60 146.1 921.7 20.2 480 10372 0.00 2.25 0.00 0.000 4 0.000 0.041 2025 1286 2218 0 0 0 0 0 0

10415 0.60 146.1 912.5 17.6 481 10419 0.00 2.33 0.00 0.000 6 0.000 0.050 2025 2675 2215 0 0 0 0 0 0

10736 0.60 146.1 847.0 20.8 492 10737 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2675 2214 0 0 0 0 0 0

11042 0.60 146.1 781.8 21.4 502 11043 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2675 2213 0 0 0 0 0 0

11350 0.60 146.1 718.4 20.4 512 11351 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2675 2213 0 0 0 0 0 0

11654 0.60 146.1 656.4 20.7 522 11658 0.00 1.98 0.00 0.000 4 0.000 0.060 2025 3891 2212 0 0 0 0 0 0

11691 0.60 146.1 648.2 21.7 523 11695 0.00 1.88 0.00 0.000 6 0.000 0.035 2034 2688 2211 0 0 0 0 0 0

12036 0.60 146.1 571.5 22.7 534 12040 0.00 2.20 0.00 0.000 4 0.000 0.042 2045 1267 2212 0 0 0 0 0 0

12071 0.60 146.1 563.3 19.9 535 12076 0.00 2.28 0.00 0.000 6 0.000 0.050 2045 2674 2210 0 0 0 0 0 0

12403 0.60 146.1 491.1 21.7 546 12404 0.00 0.00 0.00 0.000 6 0.000 0.000 2045 2674 2210 0 0 0 0 0 0

12710 0.60 146.1 424.0 21.0 556 12711 0.00 0.00 0.00 0.000 6 0.000 0.000 2045 2675 2210 0 0 0 0 0 0

13020 0.60 146.1 360.2 20.7 569 13021 0.00 0.00 0.00 0.000 6 0.000 0.000 2045 2674 2210 0 0 0 0 0 0

13327 0.60 146.1 296.6 20.7 584 13328 0.00 0.00 0.00 0.000 6 0.000 0.000 2045 2674 2210 0 0 0 0 0 0

13639 0.60 146.1 233.7 20.6 600 13640 0.00 0.00 0.00 0.000 6 0.000 0.000 2045 2675 2210 0 0 0 0 0 0

13949 0.60 146.1 173.7 19.1 620 13953 0.00 2.20 0.00 0.000 4 0.000 0.044 2056 1272 2210 0 0 0 0 0 0

14035 0.60 146.1 159.5 16.2 625 14039 0.12 2.25 0.00 0.000 6 0.216 0.051 2028 2670 2209 0 0 0 0 0 0

14366 0.60 146.1 104.6 17.0 646 14367 0.00 0.00 0.00 0.000 6 0.000 0.000 2028 2670 2208 0 0 0 0 0 0

14702 0.60 146.1 50.9 16.2 702 14711 0.00 1.98 0.00 0.000 4 0.000 0.058 2028 3903 2209 0 0 0 0 0 0

14741 0.60 146.1 44.7 17.8 707 14748 0.00 1.90 0.00 0.000 6 0.000 0.037 2036 2670 2209 0 0 0 0 0 0

14994 end climb: SURFACE_DEPTH_REACHED

state 14994 begin surface coast

15014 end surface coast: CONTROL_FINISHED_OK

state 15014 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	267	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	37	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	36	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	-11343.914	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	200113,225952,-4641.052,445.637,37,0.8,37,-23.6	TGT_NAME	GH4
_CALLS	1	TGT_LATLONG	-4700.000,440.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.181,-0.181
_SM_DEPTHo	1.64	KALMAN_X	-211864.4,396.7,226.8,247582.6,-3903.2
_SM_ANGLEo	-65.4	KALMAN_Y	123490.2,-309.1,-346.1,-103918.0,3465.9
GPS2	200113,231048,-4641.071,445.676,20,1.0,20,-23.6	MHEAD_RNG_PITCHd_Wd	158.6,35782,-16.5,-9.443
SPEED_LIMITS	0.164,0.256	D_GRID	1000

FINISH	0.7,1.014729	_10V_AH	10.1,24.705
SM_CCo	15036,42.40,0.770,1,0,1881,230.09	FG_AHR_24Vo	0.000
SM_GC	2.29,0.00,0.00,42.40,0.000,0.000,0.770,59,2876,1881,-5.54,0.48,230.09	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4619.84,448.42,200113,141453	MEM	353860
TT8_MAMPS	0.026215	DATA_FILE_SIZE	53736,751
HUMID	58.58	CAP_FILE_SIZE	102582,0
INTERNAL_PRESSURE	9.33597	CFSIZE	259252224,212877312
TCM_TEMP	11.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
XPDR_PINGS	0	GPS	210113,032434,-4642.654,447.712,42,0.8,42,-23.6
_24V_AH	21.9,50.562

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	257	77.63	SBE_CT	496	24	261.06
Roll_motor	48	72	77.35	AA4330	1475	33	1066.54
VBD_pump_during_apogee	299	1789	11718.70	WL_BB2FLVMT	779	105	1791.75
VBD_pump_during_surface	42	769	714.61	QSP2150	305	4	29.32
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	73.77	nil	0	0	0.00
Iridium_during_connect	22	160	77.11	nil	0	0	0.00
Iridium_during_xfer	345	223	1685.46	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	6.30
TT8	1824	14	275.73
LPSleep	10651	2	235.60
TT8_Active	403	14	57.87
TT8_Sampling	2233	37	844.20
TT8_CF8	610	47	291.03
TT8_Kalman	33	59	19.94
Analog_circuits	1137	12	137.83
GPS_charging	0	0	0.00
Compass	1755	15	278.84
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	92	0.00	0.00	-63.03	0.000	2	0.000	0.000	59	2878	3073	0	0	0	0	0	0
99	-0.60	-146.1	3.0	-2.5	8	125	6.80	1.65	-9.90	0.000	4	0.258	0.073	1620	3887	3416	0	0	0	0	0	0
402	-0.60	-146.1	50.2	-14.7	56	411	0.00	1.60	0.00	0.000	6	0.000	0.031	1619	2833	3418	0	0	0	0	0	0
649	-0.60	-146.1	86.9	-15.0	97	652	0.00	0.00	0.00	0.000	6	0.000	0.000	1619	2834	3418	0	0	0	0	0	0
980	-0.60	-146.1	135.8	-14.7	128	984	0.00	1.73	0.00	0.000	4	0.000	0.057	1611	3891	3419	0	0	0	0	0	0
1036	-0.60	-146.1	144.9	-15.4	131	1040	0.00	1.55	0.00	0.000	6	0.000	0.031	1611	2857	3420	0	0	0	0	0	0
1369	-0.60	-146.1	191.7	-13.3	152	1373	0.00	1.67	0.00	0.000	4	0.000	0.057	1603	3885	3421	0	0	0	0	0	0
1483	-0.60	-146.1	208.0	-13.4	158	1492	0.00	1.55	0.00	0.000	6	0.000	0.031	1603	2851	3421	0	0	0	0	0	0
1806	-0.60	-146.1	248.7	-12.1	179	1808	0.12	0.00	0.00	0.000	6	0.193	0.000	1634	2850	3421	0	0	0	0	0	0
2132	-0.60	-146.1	281.6	-10.3	195	2133	0.00	0.00	0.00	0.000	6	0.000	0.000	1634	2850	3421	0	0	0	0	0	0
2439	-0.60	-146.1	315.2	-10.9	210	2443	0.00	1.67	0.00	0.000	4	0.000	0.059	1627	3894	3421	0	0	0	0	0	0
2480	-0.60	-146.1	320.3	-11.6	211	2487	0.00	1.55	0.00	0.000	6	0.000	0.031	1627	2866	3421	0	0	0	0	0	0
2801	-0.60	-146.1	355.1	-10.4	227	2802	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2866	3421	0	0	0	0	0	0
3107	-0.60	-146.1	386.2	-9.7	242	3108	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2866	3421	0	0	0	0	0	0
3426	-0.60	-146.1	416.2	-9.3	255	3427	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2866	3421	0	0	0	0	0	0
3732	-0.60	-146.1	445.1	-9.6	265	3733	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2866	3421	0	0	0	0	0	0
4038	-0.60	-146.1	475.3	-10.1	275	4041	0.00	1.62	0.00	0.000	4	0.000	0.060	1619	3891	3421	0	0	0	0	0	0
4095	-0.60	-146.1	481.6	-10.4	276	4098	0.00	1.55	0.00	0.000	6	0.000	0.032	1619	2868	3421	0	0	0	0	0	0
4415	-0.60	-146.1	515.1	-10.5	287	4417	0.00	0.00	0.00	0.000	6	0.000	0.000	1619	2863	3421	0	0	0	0	0	0
4723	-0.60	-146.1	546.0	-10.0	297	4726	0.00	1.62	0.00	0.000	4	0.000	0.060	1611	3890	3420	0	0	0	0	0	0
4760	-0.60	-146.1	550.1	-10.8	298	4763	0.00	1.55	0.00	0.000	6	0.000	0.032	1611	2863	3420	0	0	0	0	0	0
5103	-0.60	-146.1	585.7	-10.3	309	5104	0.00	0.00	0.00	0.000	6	0.000	0.000	1610	2858	3420	0	0	0	0	0	0
5409	-0.60	-146.1	617.7	-10.6	319	5410	0.00	0.00	0.00	0.000	6	0.000	0.000	1610	2858	3420	0	0	0	0	0	0
5715	-0.60	-146.1	649.3	-10.2	329	5716	0.00	0.00	0.00	0.000	6	0.000	0.000	1610	2858	3420	0	0	0	0	0	0
6021	-0.60	-146.1	679.4	-9.8	339	6022	0.00	0.00	0.00	0.000	6	0.000	0.000	1610	2858	3420	0	0	0	0	0	0
6327	-0.60	-146.1	709.6	-10.0	349	6328	0.00	0.00	0.00	0.000	6	0.000	0.000	1610	2858	3419	0	0	0	0	0	0
6633	-0.60	-146.1	740.3	-10.0	359	6635	0.00	0.00	0.00	0.000	6	0.000	0.000	1610	2858	3419	0	0	0	0	0	0
6940	-0.60	-146.1	770.4	-9.8	369	6941	0.00	0.00	0.00	0.000	6	0.000	0.000	1610	2858	3418	0	0	0	0	0	0
7246	-0.60	-146.1	800.5	-9.7	379	7247	0.00	0.00	0.00	0.000	6	0.000	0.000	1610	2858	3418	0	0	0	0	0	0
7552	-0.60	-146.1	829.4	-9.4	389	7554	0.00	0.00	0.00	0.000	6	0.000	0.000	1610	2858	3418	0	0	0	0	0	0
7859	-0.60	-146.1	857.8	-9.4	399	7860	0.00	0.00	0.00	0.000	6	0.000	0.000	1611	2858	3418	0	0	0	0	0	0
8165	-0.60	-146.1	885.4	-8.7	409	8169	0.00	2.12	0.00	0.000	4	0.000	0.038	1611	1478	3418	0	0	0	0	0	0
8212	-0.60	-146.1	889.5	-8.3	410	8216	0.12	2.20	0.00	0.000	6	0.184	0.053	1631	2854	3418	0	0	0	0	0	0
8534	-0.60	-146.1	910.7	-6.6	421	8535	0.00	0.00	0.00	0.000	6	0.000	0.000	1631	2854	3418	0	0	0	0	0	0
8842	-0.60	-146.1	931.7	-7.0	431	8845	0.00	1.62	0.00	0.000	4	0.000	0.061	1625	3894	3418	0	0	0	0	0	0
8893	-0.60	-146.1	935.9	-7.9	432	8897	0.00	1.58	0.00	0.000	6	0.000	0.032	1625	2852	3418	0	0	0	0	0	0
9220	-0.60	-146.1	960.3	-7.6	443	9221	0.00	0.00	0.00	0.000	6	0.000	0.000	1624	2848	3418	0	0	0	0	0	0
9526	-0.60	-146.1	983.3	-7.4	453	9527	0.00	0.00	0.00	0.000	6	0.000	0.000	1624	2848	3418	0	0	0	0	0	0
9735	end dive: TARGET_DEPTH_EXCEEDED
state	9735	begin apogee
9746	-0.18	0.0	1000.1	7.9	460	9896	0.50	0.00	146.48	1.242	6	0.162	0.000	1769	2683	2819	0	0	0	0	0	0
9898	end apogee: CONTROL_FINISHED_OK
state	9898	begin climb
9903	0.60	146.1	1003.6	0.0	465	10065	0.75	0.00	152.57	1.789	6	0.095	0.000	2014	2683	2223	0	0	0	0	1	0
10368	0.60	146.1	921.7	20.2	480	10372	0.00	2.25	0.00	0.000	4	0.000	0.041	2025	1286	2218	0	0	0	0	0	0
10415	0.60	146.1	912.5	17.6	481	10419	0.00	2.33	0.00	0.000	6	0.000	0.050	2025	2675	2215	0	0	0	0	0	0
10736	0.60	146.1	847.0	20.8	492	10737	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2675	2214	0	0	0	0	0	0
11042	0.60	146.1	781.8	21.4	502	11043	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2675	2213	0	0	0	0	0	0
11350	0.60	146.1	718.4	20.4	512	11351	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2675	2213	0	0	0	0	0	0
11654	0.60	146.1	656.4	20.7	522	11658	0.00	1.98	0.00	0.000	4	0.000	0.060	2025	3891	2212	0	0	0	0	0	0
11691	0.60	146.1	648.2	21.7	523	11695	0.00	1.88	0.00	0.000	6	0.000	0.035	2034	2688	2211	0	0	0	0	0	0
12036	0.60	146.1	571.5	22.7	534	12040	0.00	2.20	0.00	0.000	4	0.000	0.042	2045	1267	2212	0	0	0	0	0	0
12071	0.60	146.1	563.3	19.9	535	12076	0.00	2.28	0.00	0.000	6	0.000	0.050	2045	2674	2210	0	0	0	0	0	0
12403	0.60	146.1	491.1	21.7	546	12404	0.00	0.00	0.00	0.000	6	0.000	0.000	2045	2674	2210	0	0	0	0	0	0
12710	0.60	146.1	424.0	21.0	556	12711	0.00	0.00	0.00	0.000	6	0.000	0.000	2045	2675	2210	0	0	0	0	0	0
13020	0.60	146.1	360.2	20.7	569	13021	0.00	0.00	0.00	0.000	6	0.000	0.000	2045	2674	2210	0	0	0	0	0	0
13327	0.60	146.1	296.6	20.7	584	13328	0.00	0.00	0.00	0.000	6	0.000	0.000	2045	2674	2210	0	0	0	0	0	0
13639	0.60	146.1	233.7	20.6	600	13640	0.00	0.00	0.00	0.000	6	0.000	0.000	2045	2675	2210	0	0	0	0	0	0
13949	0.60	146.1	173.7	19.1	620	13953	0.00	2.20	0.00	0.000	4	0.000	0.044	2056	1272	2210	0	0	0	0	0	0
14035	0.60	146.1	159.5	16.2	625	14039	0.12	2.25	0.00	0.000	6	0.216	0.051	2028	2670	2209	0	0	0	0	0	0
14366	0.60	146.1	104.6	17.0	646	14367	0.00	0.00	0.00	0.000	6	0.000	0.000	2028	2670	2208	0	0	0	0	0	0
14702	0.60	146.1	50.9	16.2	702	14711	0.00	1.98	0.00	0.000	4	0.000	0.058	2028	3903	2209	0	0	0	0	0	0
14741	0.60	146.1	44.7	17.8	707	14748	0.00	1.90	0.00	0.000	6	0.000	0.037	2036	2670	2209	0	0	0	0	0	0
14994	end climb: SURFACE_DEPTH_REACHED
state	14994	begin surface coast
15014	end surface coast: CONTROL_FINISHED_OK
state	15014	begin surface