Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 47 * 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 47 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2923 ALTIM_PING_DELTA 5

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2734 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 563.99261 R_PORT_OVSHOOT 28 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 26 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 333 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 348 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 -10423.484 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 200 PITCH_MAX 3888 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1870 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 37 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 563.99261

AH0_10V 100 D_OFFGRID 250 PHONE_SUPPLY 2 SPEED_FACTOR 1

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_TGT 1000 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 1050 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 37 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 333

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 -10423.484

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

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 348

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 1870 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2734 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 2923 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 28 VBD_MAX 3961

DEVICE2 101 MASS 52816 R_STBD_OVSHOOT 26 VBD_MAXERRORS 1

DEVICE3 115 MAX_BUOY 200 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 47 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 171212,105803,-4628.565,402.488,36,1.1,40,-23.3 TGT_NAME GH2

_CALLS 1 TGT_LATLONG -4630.000,400.000

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.191,-0.193

_SM_DEPTHo 0.77 KALMAN_X -44597.0,583.5,148.0,25691.0,491.7

_SM_ANGLEo -26.9 KALMAN_Y 3990.0,1035.9,260.9,36832.5,1144.7

GPS2 171212,110825,-4628.525,402.640,20,1.8,20,-23.3 MHEAD_RNG_PITCHd_Wd 248.0,4334,-16.6,-10.010

SPEED_LIMITS 0.173,0.295 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.4,1.015731 _10V_AH 10.1,4.796

SM_CCo 13373,161.68,0.792,1,0,519,564.18 FG_AHR_24Vo 0.000

SM_GC 0.85,0.00,0.00,161.68,0.000,0.000,0.792,55,2934,519,-5.68,0.31,564.18 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4610.49,404.02,171212,060606 MEM 354272

TT8_MAMPS 0.026964 DATA_FILE_SIZE 46973,656

HUMID 56.41 CAP_FILE_SIZE 110191,0

INTERNAL_PRESSURE 9.19924 CFSIZE 259252224,224993280

TCM_TEMP 10.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,1

XPDR_PINGS 0 GPS 171212,145626,-4628.962,400.315,36,0.8,36,-23.3

_24V_AH 21.6,11.141

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 256 77.77 SBE_CT 434 24 225.18

Roll_motor 97 73 154.11 AA4330 1299 33 926.45

VBD_pump_during_apogee 385 1796 14951.91 WL_BB2FLVMT 686 105 1557.74

VBD_pump_during_surface 161 791 2765.02 QSP2150 270 4 25.55

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 59.64 nil 0 0 0.00

Iridium_during_connect 20 160 71.30 nil 0 0 0.00

Iridium_during_xfer 346 223 1667.83 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 6.40

TT8 1643 14 248.33

LPSleep 9118 2 201.70

TT8_Active 658 14 94.51

TT8_Sampling 2134 37 807.04

TT8_CF8 596 47 284.37

TT8_Kalman 33 59 19.92

Analog_circuits 1446 12 175.31

GPS_charging 0 0 0.00

Compass 1687 15 268.02

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 21 begin dive

26 -0.65 -161.8 0.0 0.0 0 171 0.00 0.00 -141.65 0.000 2 0.000 0.000 63 2935 3225 0 0 0 0 0 0

177 -0.69 -194.7 3.0 -3.7 18 204 6.43 2.28 -10.43 0.000 4 0.246 0.053 1647 1517 3616 0 0 0 0 0 0

240 -0.69 -194.7 14.3 -14.5 26 249 0.00 2.35 0.00 0.000 6 0.000 0.059 1637 2922 3617 0 0 0 0 0 0

328 -0.69 -194.7 28.1 -14.8 39 337 0.00 1.60 0.00 0.000 4 0.000 0.064 1629 3897 3617 0 0 0 0 0 0

349 -0.69 -194.7 31.1 -13.9 41 356 0.00 1.55 0.00 0.000 6 0.000 0.036 1629 2899 3617 0 0 0 0 0 0

597 -0.69 -194.7 65.2 -15.2 82 603 0.00 0.00 0.00 0.000 6 0.000 0.000 1630 2898 3617 0 0 0 0 0 0

942 -0.69 -194.7 116.1 -14.2 129 946 0.00 2.10 0.00 0.000 4 0.000 0.040 1629 1522 3617 0 0 0 0 0 0

1015 -0.69 -194.7 125.6 -11.7 133 1020 0.00 2.28 0.00 0.000 6 0.000 0.057 1618 2926 3617 0 0 0 0 0 0

1344 -0.69 -194.7 174.7 -15.1 154 1349 0.10 2.17 0.00 0.000 4 0.211 0.039 1642 1529 3618 0 0 0 0 0 0

1380 -0.69 -194.7 180.0 -12.5 156 1384 0.00 2.25 0.00 0.000 6 0.000 0.057 1633 2922 3618 0 0 0 0 0 0

1703 -0.69 -194.7 218.6 -11.8 176 1704 0.00 0.00 0.00 0.000 6 0.000 0.000 1633 2923 3618 0 0 0 0 0 0

2029 -0.69 -194.7 257.6 -11.9 196 2030 0.00 0.00 0.00 0.000 6 0.000 0.000 1633 2923 3618 0 0 0 0 0 0

2340 -0.69 -194.7 294.5 -11.5 211 2341 0.00 0.00 0.00 0.000 6 0.000 0.000 1633 2923 3618 0 0 0 0 0 0

2648 -0.69 -194.7 330.6 -11.5 226 2652 0.00 2.17 0.00 0.000 4 0.000 0.041 1633 1525 3618 0 0 0 0 0 0

2671 -0.69 -194.7 333.7 -11.8 227 2676 0.00 2.25 0.00 0.000 6 0.000 0.057 1623 2927 3618 0 0 0 0 0 0

2998 -0.69 -194.7 371.9 -11.8 243 2999 0.00 0.00 0.00 0.000 6 0.000 0.000 1623 2927 3618 0 0 0 0 0 0

3304 -0.69 -194.7 408.0 -11.4 257 3305 0.00 0.00 0.00 0.000 6 0.000 0.000 1623 2927 3618 0 0 0 0 0 0

3610 -0.69 -194.7 442.3 -11.1 267 3611 0.00 0.00 0.00 0.000 6 0.000 0.000 1623 2927 3617 0 0 0 0 0 0

3916 -0.69 -194.7 478.3 -12.2 277 3920 0.00 2.15 0.00 0.000 4 0.000 0.041 1623 1524 3617 0 0 0 0 0 0

3948 -0.69 -194.7 482.3 -12.6 278 3953 0.12 2.25 0.00 0.000 6 0.190 0.058 1644 2931 3617 0 0 0 0 0 0

4286 -0.69 -194.7 517.6 -10.5 289 4287 0.00 0.00 0.00 0.000 6 0.000 0.000 1644 2931 3617 0 0 0 0 0 0

4593 -0.69 -194.7 549.2 -10.0 299 4596 0.00 2.15 0.00 0.000 4 0.000 0.041 1644 1525 3617 0 0 0 0 0 0

4639 -0.69 -194.7 553.7 -8.7 300 4643 0.00 2.25 0.00 0.000 6 0.000 0.059 1635 2934 3617 0 0 0 0 0 0

4971 -0.69 -194.7 587.6 -10.3 311 4972 0.00 0.00 0.00 0.000 6 0.000 0.000 1635 2935 3617 0 0 0 0 0 0

5277 -0.69 -194.7 618.1 -9.7 321 5281 0.00 2.15 0.00 0.000 4 0.000 0.041 1635 1526 3616 0 0 0 0 0 0

5318 -0.69 -194.7 622.1 -9.0 322 5322 0.00 2.25 0.00 0.000 6 0.000 0.058 1624 2934 3616 0 0 0 0 0 0

5645 -0.69 -194.7 654.3 -10.0 333 5646 0.00 0.00 0.00 0.000 6 0.000 0.000 1624 2934 3616 0 0 0 0 0 0

5951 -0.69 -194.7 685.5 -10.2 343 5955 0.00 2.12 0.00 0.000 4 0.000 0.041 1624 1527 3616 0 0 0 0 0 0

5988 -0.69 -194.7 689.1 -9.8 344 5992 0.12 2.22 0.00 0.000 6 0.187 0.058 1646 2925 3615 0 0 0 0 0 0

6332 -0.69 -194.7 718.4 -8.7 355 6333 0.00 0.00 0.00 0.000 6 0.000 0.000 1646 2925 3616 0 0 0 0 0 0

6638 -0.69 -194.7 744.8 -8.8 365 6642 0.00 2.15 0.00 0.000 4 0.000 0.042 1646 1521 3616 0 0 0 0 0 0

6690 -0.69 -194.7 749.5 -8.3 366 6694 0.00 2.25 0.00 0.000 6 0.000 0.059 1637 2932 3615 0 0 0 0 0 0

7011 -0.69 -194.7 780.2 -9.9 377 7012 0.00 0.00 0.00 0.000 6 0.000 0.000 1637 2933 3615 0 0 0 0 0 0

7317 -0.69 -194.7 809.7 -9.4 387 7321 0.00 2.15 0.00 0.000 4 0.000 0.041 1637 1524 3615 0 0 0 0 0 0

7364 -0.69 -194.7 814.2 -8.5 388 7368 0.00 2.25 0.00 0.000 6 0.000 0.059 1626 2931 3615 0 0 0 0 0 0

7685 -0.69 -194.7 845.5 -9.7 399 7686 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2931 3615 0 0 0 0 0 0

7991 -0.69 -194.7 874.6 -9.3 409 7995 0.00 2.12 0.00 0.000 4 0.000 0.041 1627 1525 3615 0 0 0 0 0 0

8028 -0.69 -194.7 878.1 -9.7 410 8033 0.12 2.22 0.00 0.000 6 0.185 0.059 1649 2925 3615 0 0 0 0 0 0

8373 -0.69 -194.7 902.4 -6.9 421 8376 0.00 2.12 0.00 0.000 4 0.000 0.042 1650 1521 3614 0 0 0 0 0 0

8408 -0.69 -194.7 905.1 -7.0 422 8412 0.00 2.25 0.00 0.000 6 0.000 0.059 1641 2930 3615 0 0 0 0 0 0

8740 -0.69 -194.7 930.6 -7.9 433 8744 0.00 2.15 0.00 0.000 4 0.000 0.041 1641 1522 3614 0 0 0 0 0 0

8781 -0.69 -194.7 934.0 -7.6 434 8785 0.00 2.25 0.00 0.000 6 0.000 0.059 1632 2931 3614 0 0 0 0 0 0

9108 -0.69 -194.7 961.7 -8.7 445 9109 0.00 0.00 0.00 0.000 6 0.000 0.000 1631 2931 3614 0 0 0 0 0 0

9415 -0.69 -194.7 987.4 -8.2 455 9419 0.00 2.15 0.00 0.000 4 0.000 0.041 1631 1519 3614 0 0 0 0 0 0

9462 -0.69 -194.7 991.4 -8.0 456 9466 0.00 2.22 0.00 0.000 6 0.000 0.059 1622 2922 3614 0 0 0 0 0 0

9574 end dive: TARGET_DEPTH_EXCEEDED

state 9575 begin apogee

9585 -0.19 0.0 1001.1 8.6 460 9788 0.60 0.00 194.55 1.200 6 0.158 0.000 1804 2737 2813 0 0 0 0 0 0

9790 end apogee: CONTROL_FINISHED_OK

state 9790 begin climb

9794 0.69 194.7 1005.5 0.0 467 9998 0.80 2.25 190.82 1.796 4 0.067 0.060 2089 3893 2026 0 0 0 0 1 0

10230 0.69 194.7 886.9 33.6 480 10234 0.00 1.92 0.00 0.000 6 0.000 0.043 2098 2748 2022 0 0 0 0 0 0

10562 0.69 194.7 781.2 31.3 491 10566 0.00 2.33 0.00 0.000 4 0.000 0.050 2109 1322 2020 0 0 0 0 0 0

10628 0.69 194.7 762.3 27.7 493 10633 0.00 2.38 0.00 0.000 6 0.000 0.055 2109 2741 2018 0 0 0 0 0 0

10966 0.69 194.7 658.8 30.3 504 10970 0.00 2.33 0.00 0.000 4 0.000 0.051 2120 1319 2017 0 0 0 0 0 0

11018 0.69 194.7 643.4 27.2 505 11022 0.00 2.35 0.00 0.000 6 0.000 0.054 2119 2742 2017 0 0 0 0 0 0

11333 0.69 194.7 548.5 30.5 515 11337 0.00 2.28 0.00 0.000 4 0.000 0.051 2130 1325 2017 0 0 0 0 0 0

11374 0.69 194.7 536.3 27.6 516 11379 0.17 2.30 0.00 0.000 6 0.256 0.054 2093 2736 2016 0 0 0 0 0 0

11701 0.69 194.7 447.6 27.8 527 11705 0.00 2.28 0.00 0.000 4 0.000 0.051 2103 1323 2016 0 0 0 0 0 0

11719 0.69 194.7 442.0 27.6 527 11723 0.00 2.30 0.00 0.000 6 0.000 0.054 2102 2736 2016 0 0 0 0 0 0

12047 0.69 194.7 350.4 27.8 540 12048 0.00 0.00 0.00 0.000 6 0.000 0.000 2103 2736 2015 0 0 0 0 0 0

12358 0.69 194.7 264.5 28.0 555 12362 0.00 2.25 0.00 0.000 4 0.000 0.051 2113 1323 2015 0 0 0 0 0 0

12383 0.69 194.7 257.1 26.5 556 12387 0.00 2.28 0.00 0.000 6 0.000 0.054 2113 2734 2015 0 0 0 0 0 0

12705 0.69 194.7 167.2 27.4 576 12706 0.00 0.00 0.00 0.000 6 0.000 0.000 2113 2734 2015 0 0 0 0 0 0

13021 0.69 194.7 84.2 24.0 602 13028 0.00 2.22 0.00 0.000 4 0.000 0.050 2123 1320 2015 0 0 0 0 0 0

13090 0.69 194.7 69.1 23.6 613 13096 0.12 2.28 0.00 0.000 6 0.252 0.054 2098 2736 2015 0 0 0 0 0 0

13337 end climb: SURFACE_DEPTH_REACHED

state 13337 begin surface coast

13351 end surface coast: CONTROL_FINISHED_OK

state 13351 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	47	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2923	ALTIM_PING_DELTA	5
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2734	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	563.99261	R_PORT_OVSHOOT	28	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	26	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	333	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	348	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	-10423.484	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	200	PITCH_MAX	3888	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1870	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	37	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	171212,105803,-4628.565,402.488,36,1.1,40,-23.3	TGT_NAME	GH2
_CALLS	1	TGT_LATLONG	-4630.000,400.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.191,-0.193
_SM_DEPTHo	0.77	KALMAN_X	-44597.0,583.5,148.0,25691.0,491.7
_SM_ANGLEo	-26.9	KALMAN_Y	3990.0,1035.9,260.9,36832.5,1144.7
GPS2	171212,110825,-4628.525,402.640,20,1.8,20,-23.3	MHEAD_RNG_PITCHd_Wd	248.0,4334,-16.6,-10.010
SPEED_LIMITS	0.173,0.295	D_GRID	1000

FINISH	0.4,1.015731	_10V_AH	10.1,4.796
SM_CCo	13373,161.68,0.792,1,0,519,564.18	FG_AHR_24Vo	0.000
SM_GC	0.85,0.00,0.00,161.68,0.000,0.000,0.792,55,2934,519,-5.68,0.31,564.18	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4610.49,404.02,171212,060606	MEM	354272
TT8_MAMPS	0.026964	DATA_FILE_SIZE	46973,656
HUMID	56.41	CAP_FILE_SIZE	110191,0
INTERNAL_PRESSURE	9.19924	CFSIZE	259252224,224993280
TCM_TEMP	10.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
XPDR_PINGS	0	GPS	171212,145626,-4628.962,400.315,36,0.8,36,-23.3
_24V_AH	21.6,11.141

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	256	77.77	SBE_CT	434	24	225.18
Roll_motor	97	73	154.11	AA4330	1299	33	926.45
VBD_pump_during_apogee	385	1796	14951.91	WL_BB2FLVMT	686	105	1557.74
VBD_pump_during_surface	161	791	2765.02	QSP2150	270	4	25.55
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	59.64	nil	0	0	0.00
Iridium_during_connect	20	160	71.30	nil	0	0	0.00
Iridium_during_xfer	346	223	1667.83	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	6.40
TT8	1643	14	248.33
LPSleep	9118	2	201.70
TT8_Active	658	14	94.51
TT8_Sampling	2134	37	807.04
TT8_CF8	596	47	284.37
TT8_Kalman	33	59	19.92
Analog_circuits	1446	12	175.31
GPS_charging	0	0	0.00
Compass	1687	15	268.02
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	21	begin dive
26	-0.65	-161.8	0.0	0.0	0	171	0.00	0.00	-141.65	0.000	2	0.000	0.000	63	2935	3225	0	0	0	0	0	0
177	-0.69	-194.7	3.0	-3.7	18	204	6.43	2.28	-10.43	0.000	4	0.246	0.053	1647	1517	3616	0	0	0	0	0	0
240	-0.69	-194.7	14.3	-14.5	26	249	0.00	2.35	0.00	0.000	6	0.000	0.059	1637	2922	3617	0	0	0	0	0	0
328	-0.69	-194.7	28.1	-14.8	39	337	0.00	1.60	0.00	0.000	4	0.000	0.064	1629	3897	3617	0	0	0	0	0	0
349	-0.69	-194.7	31.1	-13.9	41	356	0.00	1.55	0.00	0.000	6	0.000	0.036	1629	2899	3617	0	0	0	0	0	0
597	-0.69	-194.7	65.2	-15.2	82	603	0.00	0.00	0.00	0.000	6	0.000	0.000	1630	2898	3617	0	0	0	0	0	0
942	-0.69	-194.7	116.1	-14.2	129	946	0.00	2.10	0.00	0.000	4	0.000	0.040	1629	1522	3617	0	0	0	0	0	0
1015	-0.69	-194.7	125.6	-11.7	133	1020	0.00	2.28	0.00	0.000	6	0.000	0.057	1618	2926	3617	0	0	0	0	0	0
1344	-0.69	-194.7	174.7	-15.1	154	1349	0.10	2.17	0.00	0.000	4	0.211	0.039	1642	1529	3618	0	0	0	0	0	0
1380	-0.69	-194.7	180.0	-12.5	156	1384	0.00	2.25	0.00	0.000	6	0.000	0.057	1633	2922	3618	0	0	0	0	0	0
1703	-0.69	-194.7	218.6	-11.8	176	1704	0.00	0.00	0.00	0.000	6	0.000	0.000	1633	2923	3618	0	0	0	0	0	0
2029	-0.69	-194.7	257.6	-11.9	196	2030	0.00	0.00	0.00	0.000	6	0.000	0.000	1633	2923	3618	0	0	0	0	0	0
2340	-0.69	-194.7	294.5	-11.5	211	2341	0.00	0.00	0.00	0.000	6	0.000	0.000	1633	2923	3618	0	0	0	0	0	0
2648	-0.69	-194.7	330.6	-11.5	226	2652	0.00	2.17	0.00	0.000	4	0.000	0.041	1633	1525	3618	0	0	0	0	0	0
2671	-0.69	-194.7	333.7	-11.8	227	2676	0.00	2.25	0.00	0.000	6	0.000	0.057	1623	2927	3618	0	0	0	0	0	0
2998	-0.69	-194.7	371.9	-11.8	243	2999	0.00	0.00	0.00	0.000	6	0.000	0.000	1623	2927	3618	0	0	0	0	0	0
3304	-0.69	-194.7	408.0	-11.4	257	3305	0.00	0.00	0.00	0.000	6	0.000	0.000	1623	2927	3618	0	0	0	0	0	0
3610	-0.69	-194.7	442.3	-11.1	267	3611	0.00	0.00	0.00	0.000	6	0.000	0.000	1623	2927	3617	0	0	0	0	0	0
3916	-0.69	-194.7	478.3	-12.2	277	3920	0.00	2.15	0.00	0.000	4	0.000	0.041	1623	1524	3617	0	0	0	0	0	0
3948	-0.69	-194.7	482.3	-12.6	278	3953	0.12	2.25	0.00	0.000	6	0.190	0.058	1644	2931	3617	0	0	0	0	0	0
4286	-0.69	-194.7	517.6	-10.5	289	4287	0.00	0.00	0.00	0.000	6	0.000	0.000	1644	2931	3617	0	0	0	0	0	0
4593	-0.69	-194.7	549.2	-10.0	299	4596	0.00	2.15	0.00	0.000	4	0.000	0.041	1644	1525	3617	0	0	0	0	0	0
4639	-0.69	-194.7	553.7	-8.7	300	4643	0.00	2.25	0.00	0.000	6	0.000	0.059	1635	2934	3617	0	0	0	0	0	0
4971	-0.69	-194.7	587.6	-10.3	311	4972	0.00	0.00	0.00	0.000	6	0.000	0.000	1635	2935	3617	0	0	0	0	0	0
5277	-0.69	-194.7	618.1	-9.7	321	5281	0.00	2.15	0.00	0.000	4	0.000	0.041	1635	1526	3616	0	0	0	0	0	0
5318	-0.69	-194.7	622.1	-9.0	322	5322	0.00	2.25	0.00	0.000	6	0.000	0.058	1624	2934	3616	0	0	0	0	0	0
5645	-0.69	-194.7	654.3	-10.0	333	5646	0.00	0.00	0.00	0.000	6	0.000	0.000	1624	2934	3616	0	0	0	0	0	0
5951	-0.69	-194.7	685.5	-10.2	343	5955	0.00	2.12	0.00	0.000	4	0.000	0.041	1624	1527	3616	0	0	0	0	0	0
5988	-0.69	-194.7	689.1	-9.8	344	5992	0.12	2.22	0.00	0.000	6	0.187	0.058	1646	2925	3615	0	0	0	0	0	0
6332	-0.69	-194.7	718.4	-8.7	355	6333	0.00	0.00	0.00	0.000	6	0.000	0.000	1646	2925	3616	0	0	0	0	0	0
6638	-0.69	-194.7	744.8	-8.8	365	6642	0.00	2.15	0.00	0.000	4	0.000	0.042	1646	1521	3616	0	0	0	0	0	0
6690	-0.69	-194.7	749.5	-8.3	366	6694	0.00	2.25	0.00	0.000	6	0.000	0.059	1637	2932	3615	0	0	0	0	0	0
7011	-0.69	-194.7	780.2	-9.9	377	7012	0.00	0.00	0.00	0.000	6	0.000	0.000	1637	2933	3615	0	0	0	0	0	0
7317	-0.69	-194.7	809.7	-9.4	387	7321	0.00	2.15	0.00	0.000	4	0.000	0.041	1637	1524	3615	0	0	0	0	0	0
7364	-0.69	-194.7	814.2	-8.5	388	7368	0.00	2.25	0.00	0.000	6	0.000	0.059	1626	2931	3615	0	0	0	0	0	0
7685	-0.69	-194.7	845.5	-9.7	399	7686	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2931	3615	0	0	0	0	0	0
7991	-0.69	-194.7	874.6	-9.3	409	7995	0.00	2.12	0.00	0.000	4	0.000	0.041	1627	1525	3615	0	0	0	0	0	0
8028	-0.69	-194.7	878.1	-9.7	410	8033	0.12	2.22	0.00	0.000	6	0.185	0.059	1649	2925	3615	0	0	0	0	0	0
8373	-0.69	-194.7	902.4	-6.9	421	8376	0.00	2.12	0.00	0.000	4	0.000	0.042	1650	1521	3614	0	0	0	0	0	0
8408	-0.69	-194.7	905.1	-7.0	422	8412	0.00	2.25	0.00	0.000	6	0.000	0.059	1641	2930	3615	0	0	0	0	0	0
8740	-0.69	-194.7	930.6	-7.9	433	8744	0.00	2.15	0.00	0.000	4	0.000	0.041	1641	1522	3614	0	0	0	0	0	0
8781	-0.69	-194.7	934.0	-7.6	434	8785	0.00	2.25	0.00	0.000	6	0.000	0.059	1632	2931	3614	0	0	0	0	0	0
9108	-0.69	-194.7	961.7	-8.7	445	9109	0.00	0.00	0.00	0.000	6	0.000	0.000	1631	2931	3614	0	0	0	0	0	0
9415	-0.69	-194.7	987.4	-8.2	455	9419	0.00	2.15	0.00	0.000	4	0.000	0.041	1631	1519	3614	0	0	0	0	0	0
9462	-0.69	-194.7	991.4	-8.0	456	9466	0.00	2.22	0.00	0.000	6	0.000	0.059	1622	2922	3614	0	0	0	0	0	0
9574	end dive: TARGET_DEPTH_EXCEEDED
state	9575	begin apogee
9585	-0.19	0.0	1001.1	8.6	460	9788	0.60	0.00	194.55	1.200	6	0.158	0.000	1804	2737	2813	0	0	0	0	0	0
9790	end apogee: CONTROL_FINISHED_OK
state	9790	begin climb
9794	0.69	194.7	1005.5	0.0	467	9998	0.80	2.25	190.82	1.796	4	0.067	0.060	2089	3893	2026	0	0	0	0	1	0
10230	0.69	194.7	886.9	33.6	480	10234	0.00	1.92	0.00	0.000	6	0.000	0.043	2098	2748	2022	0	0	0	0	0	0
10562	0.69	194.7	781.2	31.3	491	10566	0.00	2.33	0.00	0.000	4	0.000	0.050	2109	1322	2020	0	0	0	0	0	0
10628	0.69	194.7	762.3	27.7	493	10633	0.00	2.38	0.00	0.000	6	0.000	0.055	2109	2741	2018	0	0	0	0	0	0
10966	0.69	194.7	658.8	30.3	504	10970	0.00	2.33	0.00	0.000	4	0.000	0.051	2120	1319	2017	0	0	0	0	0	0
11018	0.69	194.7	643.4	27.2	505	11022	0.00	2.35	0.00	0.000	6	0.000	0.054	2119	2742	2017	0	0	0	0	0	0
11333	0.69	194.7	548.5	30.5	515	11337	0.00	2.28	0.00	0.000	4	0.000	0.051	2130	1325	2017	0	0	0	0	0	0
11374	0.69	194.7	536.3	27.6	516	11379	0.17	2.30	0.00	0.000	6	0.256	0.054	2093	2736	2016	0	0	0	0	0	0
11701	0.69	194.7	447.6	27.8	527	11705	0.00	2.28	0.00	0.000	4	0.000	0.051	2103	1323	2016	0	0	0	0	0	0
11719	0.69	194.7	442.0	27.6	527	11723	0.00	2.30	0.00	0.000	6	0.000	0.054	2102	2736	2016	0	0	0	0	0	0
12047	0.69	194.7	350.4	27.8	540	12048	0.00	0.00	0.00	0.000	6	0.000	0.000	2103	2736	2015	0	0	0	0	0	0
12358	0.69	194.7	264.5	28.0	555	12362	0.00	2.25	0.00	0.000	4	0.000	0.051	2113	1323	2015	0	0	0	0	0	0
12383	0.69	194.7	257.1	26.5	556	12387	0.00	2.28	0.00	0.000	6	0.000	0.054	2113	2734	2015	0	0	0	0	0	0
12705	0.69	194.7	167.2	27.4	576	12706	0.00	0.00	0.00	0.000	6	0.000	0.000	2113	2734	2015	0	0	0	0	0	0
13021	0.69	194.7	84.2	24.0	602	13028	0.00	2.22	0.00	0.000	4	0.000	0.050	2123	1320	2015	0	0	0	0	0	0
13090	0.69	194.7	69.1	23.6	613	13096	0.12	2.28	0.00	0.000	6	0.252	0.054	2098	2736	2015	0	0	0	0	0	0
13337	end climb: SURFACE_DEPTH_REACHED
state	13337	begin surface coast
13351	end surface coast: CONTROL_FINISHED_OK
state	13351	begin surface