Glider dive log

SOSCEx 08Dec12 * SG543 * Dive index * Mission links * Dive 30 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 543 HEADING -1 ROLL_MAX 3944 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 6 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 1050

DIVE 30 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 3353 ALTIM_PING_DELTA 15

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 3153 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -4230 HEAD_ERRBAND 15 ALTIM_PULSE 4

D_TGT 1000 TGT_DEFAULT_LON -200 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 3

D_NO_BLEED 200 SM_CC 482.49722 R_PORT_OVSHOOT 57 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 28 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 5 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.050000001

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 KERMIT 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 507 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 101

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2474 DEVICE3 131

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 118

T_DIVE 370 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 385 CAPUPLOAD 1 VBD_TIMEOUT 800 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00061500003 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 60 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -7884.3745 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 1 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 86 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 200 PITCH_MAX 3908 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1650 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043127281

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -55.913475 SEABIRD_T_H 0.00062185986

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011638312 SEABIRD_T_I 2.2048062e-05

RHO 1.027 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.2117231e-06

MASS 52589 PITCH_GAIN 36 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.303595

NAV_MODE 1 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1762303

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.001936322

KALMAN_USE 1 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00024357962

HD_A 0.003 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 20

HD_C 9.9999997e-06 ROLL_MIN 394 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SM_CC 482.49722

AH0_10V 100 D_OFFGRID 250 PHONE_SUPPLY 2 SPEED_FACTOR 1

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 20 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_TGT 1000 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 15 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 1050 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 36 TCM_ROLL_OFFSET 0

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_MAX 3908 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -4230

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 86 TGT_DEFAULT_LON -200

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 16 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00061500003 T_BOOST 5

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011638312 T_DIVE 370

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -55.913475 T_GPS 15

CALL_TRIES 5 HD_A 0.003 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -7884.3745

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 1 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 385

CF8_MAXERRORS 20 HEAD_ERRBAND 15 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 RELAUNCH 1 T_RSLEEP 1

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RHO 1.027 T_TURN 225

COMPASS_DEVICE 33 ID 543 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_YINT 0.050000001 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_PITCH 1650 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 3153 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 3353 LOGGERDEVICE1 -1 ROLL_MAX 3944 USE_ICE 0

C_VBD 2474 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_MIN 394 VBD_CNV -0.245296

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 57 VBD_MAX 3960

DEVICE2 101 MASS 52589 R_STBD_OVSHOOT 28 VBD_MAXERRORS 1

DEVICE3 131 MAX_BUOY 200 SEABIRD_C_G -10.303595 VBD_MIN 507

DEVICE4 118 MINV_10V 8 SEABIRD_C_H 1.1762303 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.001936322 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MISSION 6 SEABIRD_C_J 0.00024357962 VBD_TIMEOUT 800

DIVE 30 MOTHERBOARD 4 SEABIRD_T_G 0.0043127281 XPDR_DEVICE 24

D_ABORT 1050 NAV_MODE 1 SEABIRD_T_H 0.00062185986 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 SEABIRD_T_I 2.2048062e-05 XPDR_VALID 3

D_CALL 0 N_GPS 20 SEABIRD_T_J 2.2117231e-06

D_FINISH 0 N_NOCOMM 1 SIM_PITCH 0

D_FLARE 3 N_NOSURFACE 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 131212,144328,-4233.415,818.110,39,1.2,39,-24.9 TGT_NAME GH1

_CALLS 1 TGT_LATLONG -4230.000,820.000

_XMS_NAKs 3 TGT_RADIUS 800.000

_XMS_TOUTs 3 KALMAN_CONTROL -0.178,-0.099

_SM_DEPTHo 1.08 KALMAN_X 5563.4,-1290.4,-563.7,19009.8,6280.8

_SM_ANGLEo -23.5 KALMAN_Y 44476.3,-899.8,-154.1,-49515.6,8354.7

GPS2 131212,145929,-4233.344,818.294,19,1.4,19,-24.9 MHEAD_RNG_PITCHd_Wd 266.0,6616,-20.4,-9.009

SPEED_LIMITS 0.156,0.284 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.0,1.026277 _10V_AH 10.1,3.559

SM_CCo 11921,141.50,0.760,1,0,505,482.50 FG_AHR_24Vo 0.000

SM_GC 1.35,0.00,0.00,141.50,0.000,0.000,0.760,57,3366,505,-4.98,0.37,482.50 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4215.72,818.13,131212,111157 MEM 354340

TT8_MAMPS 0.025466 DATA_FILE_SIZE 44046,600

HUMID 54.52 CAP_FILE_SIZE 109994,0

INTERNAL_PRESSURE 8.94683 CFSIZE 259252224,256507904

TCM_TEMP 13.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,2

XPDR_PINGS 0 GPS 131212,182252,-4233.338,816.274,36,1.5,36,-24.9

_24V_AH 22.6,7.872

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 239 65.61 SBE_CT 391 24 212.09

Roll_motor 57 87 114.47 AA4330 1321 33 985.52

VBD_pump_during_apogee 306 1848 12794.22 WL_BB2FLVMT 621 105 1474.32

VBD_pump_during_surface 141 759 2429.27 QSP2150 283 4 28.07

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 66.54 nil 0 0 0.00

Iridium_during_connect 31 160 112.67 nil 0 0 0.00

Iridium_during_xfer 654 223 3297.86 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 26 5.91

TT8 1554 14 234.92

LPSleep 7736 2 171.13

TT8_Active 561 14 80.56

TT8_Sampling 2369 37 895.82

TT8_CF8 770 47 366.93

TT8_Kalman 33 59 19.92

Analog_circuits 1353 12 164.10

GPS_charging 0 0 0.00

Compass 1814 15 288.32

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

19 -0.62 -92.7 0.0 0.0 0 118 0.00 0.00 -94.07 0.000 6 0.000 0.000 69 3364 2853 0 0 0 0 0 0

122 -0.66 -157.5 3.5 -4.8 12 141 5.57 0.93 -6.60 0.000 4 0.239 0.088 1426 3946 3116 0 0 0 0 0 0

244 -0.66 -157.5 24.9 -17.8 29 252 0.00 0.90 0.00 0.000 6 0.000 0.037 1426 3363 3119 0 0 0 0 0 0

328 -0.66 -157.5 40.6 -16.9 42 336 0.00 2.20 0.00 0.000 4 0.000 0.032 1426 1942 3120 0 0 0 0 0 0

371 -0.66 -157.5 46.8 -13.8 48 380 0.00 2.33 0.00 0.000 6 0.000 0.059 1415 3339 3119 0 0 0 0 0 0

618 -0.66 -157.5 86.1 -16.4 89 622 0.00 0.98 0.00 0.000 4 0.000 0.057 1411 3951 3120 0 0 0 0 0 0

809 -0.66 -157.5 118.7 -16.0 110 813 0.00 0.90 0.00 0.000 6 0.000 0.037 1411 3359 3120 0 0 0 0 0 0

1144 -0.66 -157.5 170.3 -15.5 131 1145 0.00 0.00 0.00 0.000 6 0.000 0.000 1411 3359 3120 0 0 0 0 0 0

1456 -0.66 -157.5 219.2 -15.3 151 1460 0.00 0.95 0.00 0.000 4 0.000 0.057 1406 3960 3121 0 0 0 0 0 0

1597 -0.66 -157.5 242.9 -16.5 159 1601 0.00 0.93 0.00 0.000 6 0.000 0.036 1406 3344 3121 0 0 0 0 0 0

1916 -0.66 -157.5 292.6 -15.7 175 1921 0.00 0.95 0.00 0.000 4 0.000 0.057 1402 3950 3121 0 0 0 0 0 0

2000 -0.66 -157.5 307.0 -17.4 178 2004 0.08 0.90 0.00 0.000 6 0.177 0.036 1424 3353 3120 0 0 0 0 0 0

2322 -0.66 -157.5 351.6 -13.3 194 2326 0.00 0.98 0.00 0.000 4 0.000 0.060 1421 3956 3120 0 0 0 0 0 0

2387 -0.66 -157.5 361.1 -14.4 196 2396 0.00 0.90 0.00 0.000 6 0.000 0.036 1421 3355 3120 0 0 0 0 0 0

2715 -0.66 -157.5 406.0 -13.6 212 2718 0.00 0.95 0.00 0.000 4 0.000 0.058 1416 3959 3120 0 0 0 0 0 0

2769 -0.66 -157.5 414.3 -15.0 213 2773 0.00 0.90 0.00 0.000 6 0.000 0.037 1416 3361 3120 0 0 0 0 0 0

3088 -0.66 -157.5 457.6 -13.7 224 3092 0.00 0.93 0.00 0.000 4 0.000 0.058 1412 3950 3120 0 0 0 0 0 0

3171 -0.66 -157.5 469.9 -14.6 226 3174 0.00 0.90 0.00 0.000 6 0.000 0.037 1412 3352 3120 0 0 0 0 0 0

3495 -0.66 -157.5 515.6 -14.6 237 3496 0.00 0.00 0.00 0.000 6 0.000 0.000 1412 3352 3119 0 0 0 0 0 0

3802 -0.66 -157.5 559.4 -14.3 247 3805 0.00 0.95 0.00 0.000 4 0.000 0.059 1407 3957 3118 0 0 0 0 0 0

3938 -0.66 -157.5 580.5 -15.7 251 3941 0.00 0.90 0.00 0.000 6 0.000 0.037 1408 3356 3118 0 0 0 0 0 0

4280 -0.66 -157.5 630.3 -14.3 262 4283 0.00 0.95 0.00 0.000 4 0.000 0.059 1403 3961 3118 0 0 0 0 0 0

4330 -0.66 -157.5 638.5 -16.5 263 4336 0.08 0.93 0.00 0.000 6 0.178 0.037 1426 3348 3118 0 0 0 0 0 0

4655 -0.66 -157.5 680.7 -12.9 274 4661 0.00 0.95 0.00 0.000 4 0.000 0.060 1422 3953 3117 0 0 0 0 0 0

4712 -0.66 -157.5 689.1 -15.0 275 4715 0.00 0.90 0.00 0.000 6 0.000 0.038 1422 3355 3117 0 0 0 0 0 0

5032 -0.66 -157.5 732.5 -13.8 286 5033 0.00 0.00 0.00 0.000 6 0.000 0.000 1423 3354 3116 0 0 0 0 0 0

5337 -0.66 -157.5 774.2 -13.4 296 5342 0.00 0.95 0.00 0.000 4 0.000 0.061 1418 3956 3115 0 0 0 0 0 0

5510 -0.66 -157.5 798.0 -13.9 301 5513 0.00 0.90 0.00 0.000 6 0.000 0.039 1418 3355 3114 0 0 0 0 0 0

5851 -0.66 -157.5 841.3 -12.2 312 5857 0.00 0.95 0.00 0.000 4 0.000 0.061 1414 3958 3114 0 0 0 0 0 0

5924 -0.66 -157.5 851.2 -13.1 314 5928 0.00 0.93 0.00 0.000 6 0.000 0.039 1414 3344 3113 0 0 0 0 0 0

6260 -0.66 -157.5 891.8 -11.9 325 6266 0.00 0.95 0.00 0.000 4 0.000 0.061 1409 3950 3112 0 0 0 0 0 0

6330 -0.66 -157.5 900.9 -12.9 327 6333 0.00 0.90 0.00 0.000 6 0.000 0.040 1410 3352 3113 0 0 0 0 0 0

6671 -0.66 -157.5 941.8 -11.8 338 6676 0.00 0.95 0.00 0.000 4 0.000 0.061 1405 3956 3111 0 0 0 0 0 0

6740 -0.66 -157.5 951.0 -13.7 340 6744 0.00 0.90 0.00 0.000 6 0.000 0.040 1405 3358 3111 0 0 0 0 0 0

7082 -0.66 -157.5 994.1 -12.8 351 7088 0.12 0.95 0.00 0.000 4 0.194 0.063 1432 3950 3110 0 0 0 0 0 0

7118 -0.66 -157.5 998.4 -11.5 352 7124 0.00 0.90 0.00 0.000 6 0.000 0.041 1432 3356 3110 0 0 0 0 0 0

7133 end dive: TARGET_DEPTH_EXCEEDED

state 7133 begin apogee

7140 -0.14 0.0 1000.5 11.2 352 7298 0.52 0.00 150.20 1.848 6 0.144 0.000 1598 3146 2473 0 0 0 0 1 0

7300 end apogee: CONTROL_FINISHED_OK

state 7300 begin climb

7302 0.66 157.5 1004.4 0.0 357 7467 0.75 0.00 156.10 1.808 6 0.057 0.000 1866 3146 1829 0 0 0 0 1 0

7766 0.66 157.5 914.9 22.1 373 7770 0.00 1.35 0.00 0.000 4 0.000 0.056 1866 3947 1821 0 0 0 0 0 0

7810 0.66 157.5 904.0 24.2 374 7814 0.00 1.27 0.00 0.000 6 0.000 0.033 1872 3138 1820 0 0 0 0 0 0

8140 0.66 157.5 829.0 22.8 385 8145 0.00 1.35 0.00 0.000 4 0.000 0.056 1872 3956 1819 0 0 0 0 0 0

8168 0.66 157.5 821.9 23.2 385 8175 0.00 1.25 0.00 0.000 6 0.000 0.033 1878 3145 1819 0 0 0 0 0 0

8481 0.66 157.5 753.1 21.8 396 8485 0.00 1.33 0.00 0.000 4 0.000 0.056 1879 3961 1816 0 0 0 0 0 0

8559 0.66 157.5 734.0 24.9 398 8563 0.00 1.23 0.00 0.000 6 0.000 0.033 1884 3157 1817 0 0 0 0 0 0

8890 0.66 157.5 659.7 22.6 409 8893 0.00 1.27 0.00 0.000 4 0.000 0.056 1884 3950 1815 0 0 0 0 0 0

8925 0.66 157.5 651.3 24.4 410 8928 0.00 1.23 0.00 0.000 6 0.000 0.033 1890 3146 1815 0 0 0 0 0 0

9266 0.66 157.5 570.8 23.7 421 9267 0.00 0.00 0.00 0.000 6 0.000 0.000 1891 3142 1815 0 0 0 0 0 0

9572 0.66 157.5 497.4 24.0 431 9576 0.00 1.30 0.00 0.000 4 0.000 0.054 1891 3957 1814 0 0 0 0 0 0

9608 0.66 157.5 488.3 27.3 432 9612 0.10 1.23 0.00 0.000 6 0.214 0.032 1871 3142 1814 0 0 0 0 0 0

9948 0.66 157.5 413.4 21.6 443 9952 0.00 1.30 0.00 0.000 4 0.000 0.054 1871 3957 1813 0 0 0 0 0 0

10004 0.66 157.5 399.9 23.4 444 10009 0.00 1.20 0.00 0.000 6 0.000 0.033 1875 3154 1814 0 0 0 0 0 0

10328 0.66 157.5 329.2 21.7 460 10329 0.00 0.00 0.00 0.000 6 0.000 0.000 1875 3154 1813 0 0 0 0 0 0

10638 0.66 157.5 263.1 21.0 475 10643 0.00 1.27 0.00 0.000 4 0.000 0.053 1875 3958 1813 0 0 0 0 0 0

10691 0.66 157.5 250.1 23.9 477 10694 0.00 1.20 0.00 0.000 6 0.000 0.032 1882 3151 1813 0 0 0 0 0 0

11022 0.66 157.5 180.8 20.8 498 11026 0.00 1.27 0.00 0.000 4 0.000 0.053 1881 3958 1812 0 0 0 0 0 0

11099 0.66 157.5 163.1 23.0 502 11104 0.00 1.20 0.00 0.000 6 0.000 0.032 1888 3148 1812 0 0 0 0 0 0

11425 0.66 157.5 93.0 22.0 526 11432 0.00 2.10 0.00 0.000 4 0.000 0.034 1899 1758 1812 0 0 0 0 0 0

11460 0.66 157.5 85.0 20.2 531 11469 0.10 2.25 0.00 0.000 6 0.181 0.050 1870 3158 1811 0 0 0 0 0 0

11846 0.66 157.5 11.6 19.5 592 11854 0.00 0.00 0.00 0.000 6 0.000 0.000 1870 3158 1811 0 0 0 0 0 0

11890 end climb: SURFACE_DEPTH_REACHED

state 11890 begin surface coast

11905 end surface coast: CONTROL_FINISHED_OK

state 11905 begin surface

ID	543	HEADING	-1	ROLL_MAX	3944	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	6	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	1050
DIVE	30	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	3353	ALTIM_PING_DELTA	15
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	3153	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-4230	HEAD_ERRBAND	15	ALTIM_PULSE	4
D_TGT	1000	TGT_DEFAULT_LON	-200	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	3
D_NO_BLEED	200	SM_CC	482.49722	R_PORT_OVSHOOT	57	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	28	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	5	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.050000001
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	KERMIT	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	507	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	101
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2474	DEVICE3	131
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	118
T_DIVE	370	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	385	CAPUPLOAD	1	VBD_TIMEOUT	800	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00061500003	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	60	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-7884.3745	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	1	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	86	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	200	PITCH_MAX	3908	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1650	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043127281
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-55.913475	SEABIRD_T_H	0.00062185986
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011638312	SEABIRD_T_I	2.2048062e-05
RHO	1.027	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.2117231e-06
MASS	52589	PITCH_GAIN	36	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.303595
NAV_MODE	1	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1762303
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.001936322
KALMAN_USE	1	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00024357962
HD_A	0.003	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	20
HD_C	9.9999997e-06	ROLL_MIN	394	ALTIM_TOP_TURN_MARGIN	0

GPS1	131212,144328,-4233.415,818.110,39,1.2,39,-24.9	TGT_NAME	GH1
_CALLS	1	TGT_LATLONG	-4230.000,820.000
_XMS_NAKs	3	TGT_RADIUS	800.000
_XMS_TOUTs	3	KALMAN_CONTROL	-0.178,-0.099
_SM_DEPTHo	1.08	KALMAN_X	5563.4,-1290.4,-563.7,19009.8,6280.8
_SM_ANGLEo	-23.5	KALMAN_Y	44476.3,-899.8,-154.1,-49515.6,8354.7
GPS2	131212,145929,-4233.344,818.294,19,1.4,19,-24.9	MHEAD_RNG_PITCHd_Wd	266.0,6616,-20.4,-9.009
SPEED_LIMITS	0.156,0.284	D_GRID	1000

FINISH	1.0,1.026277	_10V_AH	10.1,3.559
SM_CCo	11921,141.50,0.760,1,0,505,482.50	FG_AHR_24Vo	0.000
SM_GC	1.35,0.00,0.00,141.50,0.000,0.000,0.760,57,3366,505,-4.98,0.37,482.50	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4215.72,818.13,131212,111157	MEM	354340
TT8_MAMPS	0.025466	DATA_FILE_SIZE	44046,600
HUMID	54.52	CAP_FILE_SIZE	109994,0
INTERNAL_PRESSURE	8.94683	CFSIZE	259252224,256507904
TCM_TEMP	13.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,2
XPDR_PINGS	0	GPS	131212,182252,-4233.338,816.274,36,1.5,36,-24.9
_24V_AH	22.6,7.872

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	239	65.61	SBE_CT	391	24	212.09
Roll_motor	57	87	114.47	AA4330	1321	33	985.52
VBD_pump_during_apogee	306	1848	12794.22	WL_BB2FLVMT	621	105	1474.32
VBD_pump_during_surface	141	759	2429.27	QSP2150	283	4	28.07
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	66.54	nil	0	0	0.00
Iridium_during_connect	31	160	112.67	nil	0	0	0.00
Iridium_during_xfer	654	223	3297.86	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	26	5.91
TT8	1554	14	234.92
LPSleep	7736	2	171.13
TT8_Active	561	14	80.56
TT8_Sampling	2369	37	895.82
TT8_CF8	770	47	366.93
TT8_Kalman	33	59	19.92
Analog_circuits	1353	12	164.10
GPS_charging	0	0	0.00
Compass	1814	15	288.32
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
19	-0.62	-92.7	0.0	0.0	0	118	0.00	0.00	-94.07	0.000	6	0.000	0.000	69	3364	2853	0	0	0	0	0	0
122	-0.66	-157.5	3.5	-4.8	12	141	5.57	0.93	-6.60	0.000	4	0.239	0.088	1426	3946	3116	0	0	0	0	0	0
244	-0.66	-157.5	24.9	-17.8	29	252	0.00	0.90	0.00	0.000	6	0.000	0.037	1426	3363	3119	0	0	0	0	0	0
328	-0.66	-157.5	40.6	-16.9	42	336	0.00	2.20	0.00	0.000	4	0.000	0.032	1426	1942	3120	0	0	0	0	0	0
371	-0.66	-157.5	46.8	-13.8	48	380	0.00	2.33	0.00	0.000	6	0.000	0.059	1415	3339	3119	0	0	0	0	0	0
618	-0.66	-157.5	86.1	-16.4	89	622	0.00	0.98	0.00	0.000	4	0.000	0.057	1411	3951	3120	0	0	0	0	0	0
809	-0.66	-157.5	118.7	-16.0	110	813	0.00	0.90	0.00	0.000	6	0.000	0.037	1411	3359	3120	0	0	0	0	0	0
1144	-0.66	-157.5	170.3	-15.5	131	1145	0.00	0.00	0.00	0.000	6	0.000	0.000	1411	3359	3120	0	0	0	0	0	0
1456	-0.66	-157.5	219.2	-15.3	151	1460	0.00	0.95	0.00	0.000	4	0.000	0.057	1406	3960	3121	0	0	0	0	0	0
1597	-0.66	-157.5	242.9	-16.5	159	1601	0.00	0.93	0.00	0.000	6	0.000	0.036	1406	3344	3121	0	0	0	0	0	0
1916	-0.66	-157.5	292.6	-15.7	175	1921	0.00	0.95	0.00	0.000	4	0.000	0.057	1402	3950	3121	0	0	0	0	0	0
2000	-0.66	-157.5	307.0	-17.4	178	2004	0.08	0.90	0.00	0.000	6	0.177	0.036	1424	3353	3120	0	0	0	0	0	0
2322	-0.66	-157.5	351.6	-13.3	194	2326	0.00	0.98	0.00	0.000	4	0.000	0.060	1421	3956	3120	0	0	0	0	0	0
2387	-0.66	-157.5	361.1	-14.4	196	2396	0.00	0.90	0.00	0.000	6	0.000	0.036	1421	3355	3120	0	0	0	0	0	0
2715	-0.66	-157.5	406.0	-13.6	212	2718	0.00	0.95	0.00	0.000	4	0.000	0.058	1416	3959	3120	0	0	0	0	0	0
2769	-0.66	-157.5	414.3	-15.0	213	2773	0.00	0.90	0.00	0.000	6	0.000	0.037	1416	3361	3120	0	0	0	0	0	0
3088	-0.66	-157.5	457.6	-13.7	224	3092	0.00	0.93	0.00	0.000	4	0.000	0.058	1412	3950	3120	0	0	0	0	0	0
3171	-0.66	-157.5	469.9	-14.6	226	3174	0.00	0.90	0.00	0.000	6	0.000	0.037	1412	3352	3120	0	0	0	0	0	0
3495	-0.66	-157.5	515.6	-14.6	237	3496	0.00	0.00	0.00	0.000	6	0.000	0.000	1412	3352	3119	0	0	0	0	0	0
3802	-0.66	-157.5	559.4	-14.3	247	3805	0.00	0.95	0.00	0.000	4	0.000	0.059	1407	3957	3118	0	0	0	0	0	0
3938	-0.66	-157.5	580.5	-15.7	251	3941	0.00	0.90	0.00	0.000	6	0.000	0.037	1408	3356	3118	0	0	0	0	0	0
4280	-0.66	-157.5	630.3	-14.3	262	4283	0.00	0.95	0.00	0.000	4	0.000	0.059	1403	3961	3118	0	0	0	0	0	0
4330	-0.66	-157.5	638.5	-16.5	263	4336	0.08	0.93	0.00	0.000	6	0.178	0.037	1426	3348	3118	0	0	0	0	0	0
4655	-0.66	-157.5	680.7	-12.9	274	4661	0.00	0.95	0.00	0.000	4	0.000	0.060	1422	3953	3117	0	0	0	0	0	0
4712	-0.66	-157.5	689.1	-15.0	275	4715	0.00	0.90	0.00	0.000	6	0.000	0.038	1422	3355	3117	0	0	0	0	0	0
5032	-0.66	-157.5	732.5	-13.8	286	5033	0.00	0.00	0.00	0.000	6	0.000	0.000	1423	3354	3116	0	0	0	0	0	0
5337	-0.66	-157.5	774.2	-13.4	296	5342	0.00	0.95	0.00	0.000	4	0.000	0.061	1418	3956	3115	0	0	0	0	0	0
5510	-0.66	-157.5	798.0	-13.9	301	5513	0.00	0.90	0.00	0.000	6	0.000	0.039	1418	3355	3114	0	0	0	0	0	0
5851	-0.66	-157.5	841.3	-12.2	312	5857	0.00	0.95	0.00	0.000	4	0.000	0.061	1414	3958	3114	0	0	0	0	0	0
5924	-0.66	-157.5	851.2	-13.1	314	5928	0.00	0.93	0.00	0.000	6	0.000	0.039	1414	3344	3113	0	0	0	0	0	0
6260	-0.66	-157.5	891.8	-11.9	325	6266	0.00	0.95	0.00	0.000	4	0.000	0.061	1409	3950	3112	0	0	0	0	0	0
6330	-0.66	-157.5	900.9	-12.9	327	6333	0.00	0.90	0.00	0.000	6	0.000	0.040	1410	3352	3113	0	0	0	0	0	0
6671	-0.66	-157.5	941.8	-11.8	338	6676	0.00	0.95	0.00	0.000	4	0.000	0.061	1405	3956	3111	0	0	0	0	0	0
6740	-0.66	-157.5	951.0	-13.7	340	6744	0.00	0.90	0.00	0.000	6	0.000	0.040	1405	3358	3111	0	0	0	0	0	0
7082	-0.66	-157.5	994.1	-12.8	351	7088	0.12	0.95	0.00	0.000	4	0.194	0.063	1432	3950	3110	0	0	0	0	0	0
7118	-0.66	-157.5	998.4	-11.5	352	7124	0.00	0.90	0.00	0.000	6	0.000	0.041	1432	3356	3110	0	0	0	0	0	0
7133	end dive: TARGET_DEPTH_EXCEEDED
state	7133	begin apogee
7140	-0.14	0.0	1000.5	11.2	352	7298	0.52	0.00	150.20	1.848	6	0.144	0.000	1598	3146	2473	0	0	0	0	1	0
7300	end apogee: CONTROL_FINISHED_OK
state	7300	begin climb
7302	0.66	157.5	1004.4	0.0	357	7467	0.75	0.00	156.10	1.808	6	0.057	0.000	1866	3146	1829	0	0	0	0	1	0
7766	0.66	157.5	914.9	22.1	373	7770	0.00	1.35	0.00	0.000	4	0.000	0.056	1866	3947	1821	0	0	0	0	0	0
7810	0.66	157.5	904.0	24.2	374	7814	0.00	1.27	0.00	0.000	6	0.000	0.033	1872	3138	1820	0	0	0	0	0	0
8140	0.66	157.5	829.0	22.8	385	8145	0.00	1.35	0.00	0.000	4	0.000	0.056	1872	3956	1819	0	0	0	0	0	0
8168	0.66	157.5	821.9	23.2	385	8175	0.00	1.25	0.00	0.000	6	0.000	0.033	1878	3145	1819	0	0	0	0	0	0
8481	0.66	157.5	753.1	21.8	396	8485	0.00	1.33	0.00	0.000	4	0.000	0.056	1879	3961	1816	0	0	0	0	0	0
8559	0.66	157.5	734.0	24.9	398	8563	0.00	1.23	0.00	0.000	6	0.000	0.033	1884	3157	1817	0	0	0	0	0	0
8890	0.66	157.5	659.7	22.6	409	8893	0.00	1.27	0.00	0.000	4	0.000	0.056	1884	3950	1815	0	0	0	0	0	0
8925	0.66	157.5	651.3	24.4	410	8928	0.00	1.23	0.00	0.000	6	0.000	0.033	1890	3146	1815	0	0	0	0	0	0
9266	0.66	157.5	570.8	23.7	421	9267	0.00	0.00	0.00	0.000	6	0.000	0.000	1891	3142	1815	0	0	0	0	0	0
9572	0.66	157.5	497.4	24.0	431	9576	0.00	1.30	0.00	0.000	4	0.000	0.054	1891	3957	1814	0	0	0	0	0	0
9608	0.66	157.5	488.3	27.3	432	9612	0.10	1.23	0.00	0.000	6	0.214	0.032	1871	3142	1814	0	0	0	0	0	0
9948	0.66	157.5	413.4	21.6	443	9952	0.00	1.30	0.00	0.000	4	0.000	0.054	1871	3957	1813	0	0	0	0	0	0
10004	0.66	157.5	399.9	23.4	444	10009	0.00	1.20	0.00	0.000	6	0.000	0.033	1875	3154	1814	0	0	0	0	0	0
10328	0.66	157.5	329.2	21.7	460	10329	0.00	0.00	0.00	0.000	6	0.000	0.000	1875	3154	1813	0	0	0	0	0	0
10638	0.66	157.5	263.1	21.0	475	10643	0.00	1.27	0.00	0.000	4	0.000	0.053	1875	3958	1813	0	0	0	0	0	0
10691	0.66	157.5	250.1	23.9	477	10694	0.00	1.20	0.00	0.000	6	0.000	0.032	1882	3151	1813	0	0	0	0	0	0
11022	0.66	157.5	180.8	20.8	498	11026	0.00	1.27	0.00	0.000	4	0.000	0.053	1881	3958	1812	0	0	0	0	0	0
11099	0.66	157.5	163.1	23.0	502	11104	0.00	1.20	0.00	0.000	6	0.000	0.032	1888	3148	1812	0	0	0	0	0	0
11425	0.66	157.5	93.0	22.0	526	11432	0.00	2.10	0.00	0.000	4	0.000	0.034	1899	1758	1812	0	0	0	0	0	0
11460	0.66	157.5	85.0	20.2	531	11469	0.10	2.25	0.00	0.000	6	0.181	0.050	1870	3158	1811	0	0	0	0	0	0
11846	0.66	157.5	11.6	19.5	592	11854	0.00	0.00	0.00	0.000	6	0.000	0.000	1870	3158	1811	0	0	0	0	0	0
11890	end climb: SURFACE_DEPTH_REACHED
state	11890	begin surface coast
11905	end surface coast: CONTROL_FINISHED_OK
state	11905	begin surface