Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 282 * 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 282 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 34 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 -11380.412 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 -11380.412

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 34 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 282 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 230113,170634,-4700.618,426.190,41,0.8,41,-23.4 TGT_NAME GH1

_CALLS 1 TGT_LATLONG -4700.000,410.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.072,-0.245

_SM_DEPTHo 1.51 KALMAN_X -221098.5,712.4,97.4,231994.0,768.2

_SM_ANGLEo -53.5 KALMAN_Y 146481.2,-502.3,-317.3,-162977.5,5238.6

GPS2 230113,171724,-4700.637,426.227,20,0.8,20,-23.4 MHEAD_RNG_PITCHd_Wd 219.7,20530,-16.5,-9.443

SPEED_LIMITS 0.164,0.256 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.7,1.026407 _10V_AH 10.0,26.230

SM_CCo 15684,42.22,0.751,1,0,1879,230.09 FG_AHR_24Vo 0.000

SM_GC 1.82,0.00,0.00,42.22,0.000,0.000,0.751,52,2864,1879,-5.56,0.11,230.09 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4641.78,428.52,230113,121228 MEM 353912

TT8_MAMPS 0.026215 DATA_FILE_SIZE 53804,765

HUMID 58.46 CAP_FILE_SIZE 108017,0

INTERNAL_PRESSURE 9.34573 CFSIZE 259252224,211951616

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

XPDR_PINGS 0 GPS 230113,214223,-4702.170,424.011,67,0.9,67,-23.4

_24V_AH 21.9,52.993

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 251 75.79 SBE_CT 508 24 267.30

Roll_motor 60 76 100.94 AA4330 1504 33 1087.54

VBD_pump_during_apogee 298 1786 11687.91 WL_BB2FLVMT 775 105 1783.45

VBD_pump_during_surface 42 751 694.68 QSP2150 293 4 28.16

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 60.53 nil 0 0 0.00

Iridium_during_connect 24 160 84.70 nil 0 0 0.00

Iridium_during_xfer 345 223 1689.45 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 1870 14 279.78

LPSleep 11183 2 244.92

TT8_Active 427 14 60.71

TT8_Sampling 2244 37 840.17

TT8_CF8 640 47 301.98

TT8_Kalman 33 59 19.74

Analog_circuits 1182 12 141.91

GPS_charging 0 0 0.00

Compass 1771 15 278.73

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 -0.60 -146.1 0.0 0.0 0 92 0.00 0.00 -62.97 0.000 2 0.000 0.000 54 2877 3077 0 0 0 0 0 0

99 -0.60 -146.1 3.2 -2.3 8 125 6.72 1.67 -9.02 0.000 4 0.252 0.076 1621 3891 3418 0 0 0 0 0 0

251 -0.60 -146.1 27.3 -14.4 30 260 0.00 1.60 0.00 0.000 6 0.000 0.031 1621 2844 3420 0 0 0 0 0 0

338 -0.60 -146.1 41.4 -15.4 43 343 0.00 0.00 0.00 0.000 6 0.000 0.000 1621 2844 3420 0 0 0 0 0 0

582 -0.60 -146.1 79.1 -14.7 84 591 0.00 0.00 0.00 0.000 6 0.000 0.000 1621 2844 3420 0 0 0 0 0 0

921 -0.60 -146.1 123.6 -12.0 121 925 0.00 1.70 0.00 0.000 4 0.000 0.059 1612 3897 3421 0 0 0 0 0 0

1029 -0.60 -146.1 137.0 -12.6 127 1032 0.00 1.58 0.00 0.000 6 0.000 0.031 1613 2853 3422 0 0 0 0 0 0

1361 -0.60 -146.1 178.0 -12.0 148 1362 0.00 0.00 0.00 0.000 6 0.000 0.000 1613 2849 3422 0 0 0 0 0 0

1675 -0.60 -146.1 216.4 -12.6 168 1678 0.00 1.67 0.00 0.000 4 0.000 0.060 1605 3890 3422 0 0 0 0 0 0

1721 -0.60 -146.1 222.9 -13.3 170 1730 0.08 1.55 0.00 0.000 6 0.167 0.031 1627 2862 3423 0 0 0 0 0 0

2042 -0.60 -146.1 257.4 -10.8 190 2043 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2861 3423 0 0 0 0 0 0

2353 -0.60 -146.1 290.5 -10.5 205 2354 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2861 3423 0 0 0 0 0 0

2661 -0.60 -146.1 323.9 -10.9 220 2665 0.00 1.67 0.00 0.000 4 0.000 0.061 1621 3899 3423 0 0 0 0 0 0

2701 -0.60 -146.1 329.0 -12.0 221 2710 0.00 1.58 0.00 0.000 6 0.000 0.033 1621 2859 3423 0 0 0 0 0 0

3022 -0.60 -146.1 365.2 -11.4 237 3023 0.00 0.00 0.00 0.000 6 0.000 0.000 1620 2859 3423 0 0 0 0 0 0

3330 -0.60 -146.1 397.4 -10.0 252 3333 0.00 1.67 0.00 0.000 4 0.000 0.061 1612 3897 3423 0 0 0 0 0 0

3387 -0.60 -146.1 403.8 -11.4 254 3390 0.00 1.58 0.00 0.000 6 0.000 0.033 1612 2857 3423 0 0 0 0 0 0

3707 -0.60 -146.1 438.9 -11.3 265 3708 0.00 0.00 0.00 0.000 6 0.000 0.000 1612 2852 3423 0 0 0 0 0 0

4013 -0.60 -146.1 472.4 -10.6 275 4015 0.00 0.00 0.00 0.000 6 0.000 0.000 1612 2852 3423 0 0 0 0 0 0

4319 -0.60 -146.1 504.3 -10.3 285 4323 0.00 1.67 0.00 0.000 4 0.000 0.061 1605 3891 3423 0 0 0 0 0 0

4365 -0.60 -146.1 509.7 -11.5 286 4369 0.00 1.55 0.00 0.000 6 0.000 0.033 1605 2869 3422 0 0 0 0 0 0

4697 -0.60 -146.1 544.7 -10.5 297 4699 0.10 0.00 0.00 0.000 6 0.204 0.000 1627 2865 3422 0 0 0 0 0 0

5005 -0.60 -146.1 570.6 -8.4 307 5006 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2864 3422 0 0 0 0 0 0

5309 -0.60 -146.1 596.8 -8.8 317 5310 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2865 3421 0 0 0 0 0 0

5616 -0.60 -146.1 624.6 -9.2 327 5617 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2865 3421 0 0 0 0 0 0

5922 -0.60 -146.1 651.7 -8.7 337 5923 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2864 3420 0 0 0 0 0 0

6228 -0.60 -146.1 678.6 -8.8 347 6229 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2865 3421 0 0 0 0 0 0

6534 -0.60 -146.1 704.7 -8.5 357 6535 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2864 3420 0 0 0 0 0 0

6841 -0.60 -146.1 731.8 -9.1 367 6842 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2865 3419 0 0 0 0 0 0

7147 -0.60 -146.1 758.9 -8.6 377 7148 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2865 3419 0 0 0 0 0 0

7453 -0.60 -146.1 785.7 -8.8 387 7454 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2865 3419 0 0 0 0 0 0

7760 -0.60 -146.1 812.4 -8.7 397 7761 0.00 0.00 0.00 0.000 6 0.000 0.000 1628 2864 3419 0 0 0 0 0 0

8065 -0.60 -146.1 838.9 -8.6 407 8067 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2865 3418 0 0 0 0 0 0

8372 -0.60 -146.1 864.6 -8.1 417 8373 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2864 3418 0 0 0 0 0 0

8678 -0.60 -146.1 889.3 -7.9 427 8679 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2864 3418 0 0 0 0 0 0

8984 -0.60 -146.1 911.3 -6.7 437 8985 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2865 3418 0 0 0 0 0 0

9290 -0.60 -146.1 929.8 -6.0 447 9291 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2865 3417 0 0 0 0 0 0

9597 -0.60 -146.1 949.8 -6.9 457 9601 0.00 2.12 0.00 0.000 4 0.000 0.039 1628 1481 3417 0 0 0 0 0 0

9634 -0.60 -146.1 952.5 -7.2 458 9638 0.00 2.22 0.00 0.000 6 0.000 0.054 1619 2860 3417 0 0 0 0 0 0

9978 -0.60 -146.1 980.8 -8.5 469 9979 0.00 0.00 0.00 0.000 6 0.000 0.000 1619 2860 3417 0 0 0 0 0 0

10218 end dive: TARGET_DEPTH_EXCEEDED

state 10218 begin apogee

10229 -0.18 0.0 1001.7 8.5 477 10378 0.50 0.00 145.82 1.240 6 0.155 0.000 1766 2674 2819 0 0 0 0 0 0

10380 end apogee: CONTROL_FINISHED_OK

state 10380 begin climb

10385 0.60 146.1 1005.6 0.0 482 10552 0.77 2.53 152.95 1.786 4 0.096 0.044 2026 1283 2226 0 0 0 0 1 0

10609 0.60 146.1 974.4 18.0 488 10616 0.00 2.45 0.00 0.000 6 0.000 0.050 2027 2673 2222 0 0 0 0 0 0

10924 0.60 146.1 907.1 21.5 499 10926 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2673 2217 0 0 0 0 0 0

11231 0.60 146.1 843.9 20.3 509 11235 0.00 2.25 0.00 0.000 4 0.000 0.044 2037 1273 2216 0 0 0 0 0 0

11271 0.60 146.1 835.6 19.8 510 11276 0.00 2.30 0.00 0.000 6 0.000 0.052 2037 2673 2214 0 0 0 0 0 0

11598 0.60 146.1 768.7 20.6 521 11599 0.00 0.00 0.00 0.000 6 0.000 0.000 2037 2673 2214 0 0 0 0 0 0

11906 0.60 146.1 706.2 20.2 531 11910 0.00 2.22 0.00 0.000 4 0.000 0.043 2048 1273 2214 0 0 0 0 0 0

11930 0.60 146.1 700.9 19.3 531 11936 0.00 2.28 0.00 0.000 6 0.000 0.051 2048 2678 2213 0 0 0 0 0 0

12245 0.60 146.1 636.3 20.9 542 12246 0.00 0.00 0.00 0.000 6 0.000 0.000 2048 2677 2213 0 0 0 0 0 0

12551 0.60 146.1 573.5 20.9 552 12553 0.00 0.00 0.00 0.000 6 0.000 0.000 2048 2677 2213 0 0 0 0 0 0

12857 0.60 146.1 511.1 20.1 562 12861 0.00 2.22 0.00 0.000 4 0.000 0.044 2058 1270 2213 0 0 0 0 0 0

12928 0.60 146.1 498.1 18.1 564 12933 0.12 2.28 0.00 0.000 6 0.214 0.051 2030 2677 2212 0 0 0 0 0 0

13267 0.60 146.1 437.3 17.9 575 13268 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2677 2211 0 0 0 0 0 0

13586 0.60 146.1 379.7 18.4 587 13587 0.00 0.00 0.00 0.000 6 0.000 0.000 2030 2677 2211 0 0 0 0 0 0

13893 0.60 146.1 323.7 17.7 602 13897 0.00 2.22 0.00 0.000 4 0.000 0.043 2040 1271 2211 0 0 0 0 0 0

13930 0.60 146.1 317.2 15.9 603 13937 0.00 2.25 0.00 0.000 6 0.000 0.051 2040 2671 2211 0 0 0 0 0 0

14251 0.60 146.1 258.9 18.7 619 14252 0.00 0.00 0.00 0.000 6 0.000 0.000 2040 2671 2210 0 0 0 0 0 0

14562 0.60 146.1 198.8 19.2 638 14566 0.00 2.20 0.00 0.000 4 0.000 0.042 2050 1273 2210 0 0 0 0 0 0

14598 0.60 146.1 191.7 18.4 640 14602 0.00 2.25 0.00 0.000 6 0.000 0.050 2050 2670 2209 0 0 0 0 0 0

14921 0.60 146.1 128.9 19.6 660 14922 0.00 0.00 0.00 0.000 6 0.000 0.000 2050 2670 2210 0 0 0 0 0 0

15248 0.60 146.1 67.3 18.1 700 15255 0.00 1.95 0.00 0.000 4 0.000 0.060 2050 3902 2210 0 0 0 0 0 0

15354 0.60 146.1 47.8 19.4 717 15362 0.15 1.90 0.00 0.000 6 0.228 0.037 2026 2667 2210 0 0 0 0 0 0

15611 0.60 146.1 8.4 19.2 758 15620 0.00 2.20 0.00 0.000 4 0.000 0.041 2036 1270 2209 0 0 0 0 0 0

15640 end climb: SURFACE_DEPTH_REACHED

state 15640 begin surface coast

15660 end surface coast: CONTROL_FINISHED_OK

state 15660 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	282	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	34	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	-11380.412	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	230113,170634,-4700.618,426.190,41,0.8,41,-23.4	TGT_NAME	GH1
_CALLS	1	TGT_LATLONG	-4700.000,410.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.072,-0.245
_SM_DEPTHo	1.51	KALMAN_X	-221098.5,712.4,97.4,231994.0,768.2
_SM_ANGLEo	-53.5	KALMAN_Y	146481.2,-502.3,-317.3,-162977.5,5238.6
GPS2	230113,171724,-4700.637,426.227,20,0.8,20,-23.4	MHEAD_RNG_PITCHd_Wd	219.7,20530,-16.5,-9.443
SPEED_LIMITS	0.164,0.256	D_GRID	1000

FINISH	0.7,1.026407	_10V_AH	10.0,26.230
SM_CCo	15684,42.22,0.751,1,0,1879,230.09	FG_AHR_24Vo	0.000
SM_GC	1.82,0.00,0.00,42.22,0.000,0.000,0.751,52,2864,1879,-5.56,0.11,230.09	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4641.78,428.52,230113,121228	MEM	353912
TT8_MAMPS	0.026215	DATA_FILE_SIZE	53804,765
HUMID	58.46	CAP_FILE_SIZE	108017,0
INTERNAL_PRESSURE	9.34573	CFSIZE	259252224,211951616
TCM_TEMP	11.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
XPDR_PINGS	0	GPS	230113,214223,-4702.170,424.011,67,0.9,67,-23.4
_24V_AH	21.9,52.993

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	251	75.79	SBE_CT	508	24	267.30
Roll_motor	60	76	100.94	AA4330	1504	33	1087.54
VBD_pump_during_apogee	298	1786	11687.91	WL_BB2FLVMT	775	105	1783.45
VBD_pump_during_surface	42	751	694.68	QSP2150	293	4	28.16
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	60.53	nil	0	0	0.00
Iridium_during_connect	24	160	84.70	nil	0	0	0.00
Iridium_during_xfer	345	223	1689.45	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	1870	14	279.78
LPSleep	11183	2	244.92
TT8_Active	427	14	60.71
TT8_Sampling	2244	37	840.17
TT8_CF8	640	47	301.98
TT8_Kalman	33	59	19.74
Analog_circuits	1182	12	141.91
GPS_charging	0	0	0.00
Compass	1771	15	278.73
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	-0.60	-146.1	0.0	0.0	0	92	0.00	0.00	-62.97	0.000	2	0.000	0.000	54	2877	3077	0	0	0	0	0	0
99	-0.60	-146.1	3.2	-2.3	8	125	6.72	1.67	-9.02	0.000	4	0.252	0.076	1621	3891	3418	0	0	0	0	0	0
251	-0.60	-146.1	27.3	-14.4	30	260	0.00	1.60	0.00	0.000	6	0.000	0.031	1621	2844	3420	0	0	0	0	0	0
338	-0.60	-146.1	41.4	-15.4	43	343	0.00	0.00	0.00	0.000	6	0.000	0.000	1621	2844	3420	0	0	0	0	0	0
582	-0.60	-146.1	79.1	-14.7	84	591	0.00	0.00	0.00	0.000	6	0.000	0.000	1621	2844	3420	0	0	0	0	0	0
921	-0.60	-146.1	123.6	-12.0	121	925	0.00	1.70	0.00	0.000	4	0.000	0.059	1612	3897	3421	0	0	0	0	0	0
1029	-0.60	-146.1	137.0	-12.6	127	1032	0.00	1.58	0.00	0.000	6	0.000	0.031	1613	2853	3422	0	0	0	0	0	0
1361	-0.60	-146.1	178.0	-12.0	148	1362	0.00	0.00	0.00	0.000	6	0.000	0.000	1613	2849	3422	0	0	0	0	0	0
1675	-0.60	-146.1	216.4	-12.6	168	1678	0.00	1.67	0.00	0.000	4	0.000	0.060	1605	3890	3422	0	0	0	0	0	0
1721	-0.60	-146.1	222.9	-13.3	170	1730	0.08	1.55	0.00	0.000	6	0.167	0.031	1627	2862	3423	0	0	0	0	0	0
2042	-0.60	-146.1	257.4	-10.8	190	2043	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2861	3423	0	0	0	0	0	0
2353	-0.60	-146.1	290.5	-10.5	205	2354	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2861	3423	0	0	0	0	0	0
2661	-0.60	-146.1	323.9	-10.9	220	2665	0.00	1.67	0.00	0.000	4	0.000	0.061	1621	3899	3423	0	0	0	0	0	0
2701	-0.60	-146.1	329.0	-12.0	221	2710	0.00	1.58	0.00	0.000	6	0.000	0.033	1621	2859	3423	0	0	0	0	0	0
3022	-0.60	-146.1	365.2	-11.4	237	3023	0.00	0.00	0.00	0.000	6	0.000	0.000	1620	2859	3423	0	0	0	0	0	0
3330	-0.60	-146.1	397.4	-10.0	252	3333	0.00	1.67	0.00	0.000	4	0.000	0.061	1612	3897	3423	0	0	0	0	0	0
3387	-0.60	-146.1	403.8	-11.4	254	3390	0.00	1.58	0.00	0.000	6	0.000	0.033	1612	2857	3423	0	0	0	0	0	0
3707	-0.60	-146.1	438.9	-11.3	265	3708	0.00	0.00	0.00	0.000	6	0.000	0.000	1612	2852	3423	0	0	0	0	0	0
4013	-0.60	-146.1	472.4	-10.6	275	4015	0.00	0.00	0.00	0.000	6	0.000	0.000	1612	2852	3423	0	0	0	0	0	0
4319	-0.60	-146.1	504.3	-10.3	285	4323	0.00	1.67	0.00	0.000	4	0.000	0.061	1605	3891	3423	0	0	0	0	0	0
4365	-0.60	-146.1	509.7	-11.5	286	4369	0.00	1.55	0.00	0.000	6	0.000	0.033	1605	2869	3422	0	0	0	0	0	0
4697	-0.60	-146.1	544.7	-10.5	297	4699	0.10	0.00	0.00	0.000	6	0.204	0.000	1627	2865	3422	0	0	0	0	0	0
5005	-0.60	-146.1	570.6	-8.4	307	5006	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2864	3422	0	0	0	0	0	0
5309	-0.60	-146.1	596.8	-8.8	317	5310	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2865	3421	0	0	0	0	0	0
5616	-0.60	-146.1	624.6	-9.2	327	5617	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2865	3421	0	0	0	0	0	0
5922	-0.60	-146.1	651.7	-8.7	337	5923	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2864	3420	0	0	0	0	0	0
6228	-0.60	-146.1	678.6	-8.8	347	6229	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2865	3421	0	0	0	0	0	0
6534	-0.60	-146.1	704.7	-8.5	357	6535	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2864	3420	0	0	0	0	0	0
6841	-0.60	-146.1	731.8	-9.1	367	6842	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2865	3419	0	0	0	0	0	0
7147	-0.60	-146.1	758.9	-8.6	377	7148	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2865	3419	0	0	0	0	0	0
7453	-0.60	-146.1	785.7	-8.8	387	7454	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2865	3419	0	0	0	0	0	0
7760	-0.60	-146.1	812.4	-8.7	397	7761	0.00	0.00	0.00	0.000	6	0.000	0.000	1628	2864	3419	0	0	0	0	0	0
8065	-0.60	-146.1	838.9	-8.6	407	8067	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2865	3418	0	0	0	0	0	0
8372	-0.60	-146.1	864.6	-8.1	417	8373	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2864	3418	0	0	0	0	0	0
8678	-0.60	-146.1	889.3	-7.9	427	8679	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2864	3418	0	0	0	0	0	0
8984	-0.60	-146.1	911.3	-6.7	437	8985	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2865	3418	0	0	0	0	0	0
9290	-0.60	-146.1	929.8	-6.0	447	9291	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2865	3417	0	0	0	0	0	0
9597	-0.60	-146.1	949.8	-6.9	457	9601	0.00	2.12	0.00	0.000	4	0.000	0.039	1628	1481	3417	0	0	0	0	0	0
9634	-0.60	-146.1	952.5	-7.2	458	9638	0.00	2.22	0.00	0.000	6	0.000	0.054	1619	2860	3417	0	0	0	0	0	0
9978	-0.60	-146.1	980.8	-8.5	469	9979	0.00	0.00	0.00	0.000	6	0.000	0.000	1619	2860	3417	0	0	0	0	0	0
10218	end dive: TARGET_DEPTH_EXCEEDED
state	10218	begin apogee
10229	-0.18	0.0	1001.7	8.5	477	10378	0.50	0.00	145.82	1.240	6	0.155	0.000	1766	2674	2819	0	0	0	0	0	0
10380	end apogee: CONTROL_FINISHED_OK
state	10380	begin climb
10385	0.60	146.1	1005.6	0.0	482	10552	0.77	2.53	152.95	1.786	4	0.096	0.044	2026	1283	2226	0	0	0	0	1	0
10609	0.60	146.1	974.4	18.0	488	10616	0.00	2.45	0.00	0.000	6	0.000	0.050	2027	2673	2222	0	0	0	0	0	0
10924	0.60	146.1	907.1	21.5	499	10926	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2673	2217	0	0	0	0	0	0
11231	0.60	146.1	843.9	20.3	509	11235	0.00	2.25	0.00	0.000	4	0.000	0.044	2037	1273	2216	0	0	0	0	0	0
11271	0.60	146.1	835.6	19.8	510	11276	0.00	2.30	0.00	0.000	6	0.000	0.052	2037	2673	2214	0	0	0	0	0	0
11598	0.60	146.1	768.7	20.6	521	11599	0.00	0.00	0.00	0.000	6	0.000	0.000	2037	2673	2214	0	0	0	0	0	0
11906	0.60	146.1	706.2	20.2	531	11910	0.00	2.22	0.00	0.000	4	0.000	0.043	2048	1273	2214	0	0	0	0	0	0
11930	0.60	146.1	700.9	19.3	531	11936	0.00	2.28	0.00	0.000	6	0.000	0.051	2048	2678	2213	0	0	0	0	0	0
12245	0.60	146.1	636.3	20.9	542	12246	0.00	0.00	0.00	0.000	6	0.000	0.000	2048	2677	2213	0	0	0	0	0	0
12551	0.60	146.1	573.5	20.9	552	12553	0.00	0.00	0.00	0.000	6	0.000	0.000	2048	2677	2213	0	0	0	0	0	0
12857	0.60	146.1	511.1	20.1	562	12861	0.00	2.22	0.00	0.000	4	0.000	0.044	2058	1270	2213	0	0	0	0	0	0
12928	0.60	146.1	498.1	18.1	564	12933	0.12	2.28	0.00	0.000	6	0.214	0.051	2030	2677	2212	0	0	0	0	0	0
13267	0.60	146.1	437.3	17.9	575	13268	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2677	2211	0	0	0	0	0	0
13586	0.60	146.1	379.7	18.4	587	13587	0.00	0.00	0.00	0.000	6	0.000	0.000	2030	2677	2211	0	0	0	0	0	0
13893	0.60	146.1	323.7	17.7	602	13897	0.00	2.22	0.00	0.000	4	0.000	0.043	2040	1271	2211	0	0	0	0	0	0
13930	0.60	146.1	317.2	15.9	603	13937	0.00	2.25	0.00	0.000	6	0.000	0.051	2040	2671	2211	0	0	0	0	0	0
14251	0.60	146.1	258.9	18.7	619	14252	0.00	0.00	0.00	0.000	6	0.000	0.000	2040	2671	2210	0	0	0	0	0	0
14562	0.60	146.1	198.8	19.2	638	14566	0.00	2.20	0.00	0.000	4	0.000	0.042	2050	1273	2210	0	0	0	0	0	0
14598	0.60	146.1	191.7	18.4	640	14602	0.00	2.25	0.00	0.000	6	0.000	0.050	2050	2670	2209	0	0	0	0	0	0
14921	0.60	146.1	128.9	19.6	660	14922	0.00	0.00	0.00	0.000	6	0.000	0.000	2050	2670	2210	0	0	0	0	0	0
15248	0.60	146.1	67.3	18.1	700	15255	0.00	1.95	0.00	0.000	4	0.000	0.060	2050	3902	2210	0	0	0	0	0	0
15354	0.60	146.1	47.8	19.4	717	15362	0.15	1.90	0.00	0.000	6	0.228	0.037	2026	2667	2210	0	0	0	0	0	0
15611	0.60	146.1	8.4	19.2	758	15620	0.00	2.20	0.00	0.000	4	0.000	0.041	2036	1270	2209	0	0	0	0	0	0
15640	end climb: SURFACE_DEPTH_REACHED
state	15640	begin surface coast
15660	end surface coast: CONTROL_FINISHED_OK
state	15660	begin surface