Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 48 * 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 48 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 30 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 27 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 -10426.702 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 -10426.702

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 30 VBD_MAX 3961

DEVICE2 101 MASS 52816 R_STBD_OVSHOOT 27 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 48 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 171212,145626,-4628.962,400.315,36,0.8,36,-23.3 TGT_NAME GH2

_CALLS 2 TGT_LATLONG -4630.000,400.000

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.108,-0.245

_SM_DEPTHo 0.90 KALMAN_X -42949.9,178.6,-155.0,21828.3,1757.6

_SM_ANGLEo -34.8 KALMAN_Y 8011.3,318.8,208.1,32765.4,2984.8

GPS2 171212,151024,-4628.967,400.321,13,0.8,14,-23.3 MHEAD_RNG_PITCHd_Wd 227.2,1956,-16.9,-10.010

SPEED_LIMITS 0.173,0.295 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.5,1.023650 _10V_AH 10.1,4.890

SM_CCo 13090,161.50,0.797,1,0,517,564.18 FG_AHR_24Vo 0.000

SM_GC 0.73,0.00,0.00,161.50,0.000,0.000,0.797,61,2933,517,-5.65,0.28,564.18 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4610.49,403.80,171212,141436 MEM 354284

TT8_MAMPS 0.026964 DATA_FILE_SIZE 47086,647

HUMID 56.18 CAP_FILE_SIZE 108366,0

INTERNAL_PRESSURE 9.19924 CFSIZE 259252224,224935936

TCM_TEMP 10.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,1

XPDR_PINGS 0 GPS 171212,185334,-4630.085,358.383,28,1.8,28,-23.3

_24V_AH 21.6,11.372

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 255 79.06 SBE_CT 426 24 221.04

Roll_motor 87 78 147.94 AA4330 1271 33 906.46

VBD_pump_during_apogee 385 1806 15039.11 WL_BB2FLVMT 673 105 1527.52

VBD_pump_during_surface 161 797 2780.71 QSP2150 258 4 24.43

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 52 103 116.07 nil 0 0 0.00

Iridium_during_connect 39 160 136.39 nil 0 0 0.00

Iridium_during_xfer 449 223 2167.33 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 26 4.65

TT8 1609 14 243.23

LPSleep 8955 2 198.09

TT8_Active 660 14 94.86

TT8_Sampling 2229 37 843.03

TT8_CF8 630 47 300.58

TT8_Kalman 33 59 19.93

Analog_circuits 1432 12 173.67

GPS_charging 0 0 0.00

Compass 1665 15 264.57

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 -155.9 0.0 0.0 0 171 0.00 0.00 -141.57 0.000 2 0.000 0.000 53 2936 3302 0 0 0 0 0 0

177 -0.70 -194.7 3.6 -4.7 18 196 6.60 1.60 -7.15 0.000 4 0.254 0.078 1634 3897 3616 0 0 0 0 0 0

257 -0.70 -194.7 23.4 -14.8 29 266 0.00 1.58 0.00 0.000 6 0.000 0.036 1634 2889 3618 0 0 0 0 0 0

341 -0.70 -194.7 36.2 -14.5 42 350 0.00 0.00 0.00 0.000 6 0.000 0.000 1634 2888 3618 0 0 0 0 0 0

586 -0.70 -194.7 71.5 -13.6 83 591 0.00 2.10 0.00 0.000 4 0.000 0.041 1634 1529 3618 0 0 0 0 0 0

653 -0.70 -194.7 80.1 -12.5 94 660 0.00 2.25 0.00 0.000 6 0.000 0.056 1623 2918 3618 0 0 0 0 0 0

1002 -0.70 -194.7 131.3 -15.3 131 1006 0.00 2.15 0.00 0.000 4 0.000 0.039 1623 1528 3619 0 0 0 0 0 0

1044 -0.70 -194.7 138.2 -13.8 133 1051 0.12 2.25 0.00 0.000 6 0.184 0.056 1644 2925 3619 0 0 0 0 0 0

1365 -0.70 -194.7 177.3 -12.1 154 1367 0.00 0.00 0.00 0.000 6 0.000 0.000 1644 2925 3619 0 0 0 0 0 0

1679 -0.70 -194.7 214.2 -11.7 174 1683 0.00 2.15 0.00 0.000 4 0.000 0.040 1645 1528 3619 0 0 0 0 0 0

1712 -0.70 -194.7 218.1 -11.1 176 1716 0.00 2.25 0.00 0.000 6 0.000 0.056 1635 2929 3619 0 0 0 0 0 0

2034 -0.70 -194.7 256.2 -11.9 196 2038 0.00 2.15 0.00 0.000 4 0.000 0.040 1636 1530 3619 0 0 0 0 0 0

2069 -0.70 -194.7 260.8 -11.5 197 2076 0.00 2.22 0.00 0.000 6 0.000 0.057 1625 2925 3619 0 0 0 0 0 0

2390 -0.70 -194.7 300.3 -12.5 213 2391 0.00 0.00 0.00 0.000 6 0.000 0.000 1625 2925 3619 0 0 0 0 0 0

2697 -0.70 -194.7 339.3 -12.5 228 2698 0.00 0.00 0.00 0.000 6 0.000 0.000 1625 2925 3619 0 0 0 0 0 0

3008 -0.70 -194.7 377.6 -12.1 243 3012 0.00 2.15 0.00 0.000 4 0.000 0.041 1625 1524 3618 0 0 0 0 0 0

3053 -0.70 -194.7 383.0 -10.7 245 3057 0.12 2.25 0.00 0.000 6 0.189 0.057 1647 2931 3618 0 0 0 0 0 0

3394 -0.70 -194.7 416.3 -9.8 259 3395 0.00 0.00 0.00 0.000 6 0.000 0.000 1647 2931 3618 0 0 0 0 0 0

3698 -0.70 -194.7 446.2 -9.8 269 3702 0.00 2.15 0.00 0.000 4 0.000 0.041 1648 1526 3618 0 0 0 0 0 0

3739 -0.70 -194.7 450.3 -9.4 270 3743 0.00 2.25 0.00 0.000 6 0.000 0.057 1637 2934 3618 0 0 0 0 0 0

4065 -0.70 -194.7 483.6 -10.6 281 4066 0.00 0.00 0.00 0.000 6 0.000 0.000 1637 2935 3618 0 0 0 0 0 0

4373 -0.70 -194.7 517.2 -11.0 291 4374 0.00 0.00 0.00 0.000 6 0.000 0.000 1637 2935 3617 0 0 0 0 0 0

4678 -0.70 -194.7 550.8 -11.0 301 4682 0.00 2.15 0.00 0.000 4 0.000 0.040 1637 1527 3617 0 0 0 0 0 0

4719 -0.70 -194.7 555.3 -9.4 302 4723 0.00 2.22 0.00 0.000 6 0.000 0.057 1627 2924 3617 0 0 0 0 0 0

5045 -0.70 -194.7 591.3 -11.1 313 5046 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2923 3617 0 0 0 0 0 0

5352 -0.70 -194.7 624.1 -10.5 323 5353 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2923 3616 0 0 0 0 0 0

5657 -0.70 -194.7 655.6 -10.1 333 5661 0.00 2.12 0.00 0.000 4 0.000 0.041 1627 1529 3616 0 0 0 0 0 0

5715 -0.70 -194.7 661.2 -8.8 334 5722 0.00 2.22 0.00 0.000 6 0.000 0.057 1617 2929 3616 0 0 0 0 0 0

6030 -0.70 -194.7 694.7 -11.0 345 6031 0.00 0.00 0.00 0.000 6 0.000 0.000 1617 2930 3615 0 0 0 0 0 0

6336 -0.70 -194.7 728.1 -11.0 355 6340 0.00 2.15 0.00 0.000 4 0.000 0.041 1617 1523 3615 0 0 0 0 0 0

6360 -0.70 -194.7 730.9 -11.3 355 6367 0.15 2.22 0.00 0.000 6 0.183 0.057 1647 2924 3615 0 0 0 0 0 0

6675 -0.70 -194.7 757.0 -8.3 366 6679 0.00 2.12 0.00 0.000 4 0.000 0.042 1647 1527 3615 0 0 0 0 0 0

6716 -0.70 -194.7 760.4 -7.5 367 6720 0.00 2.22 0.00 0.000 6 0.000 0.058 1638 2933 3615 0 0 0 0 0 0

7056 -0.70 -194.7 790.3 -9.0 378 7057 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2933 3614 0 0 0 0 0 0

7360 -0.70 -194.7 817.4 -8.8 388 7364 0.00 2.15 0.00 0.000 4 0.000 0.041 1638 1524 3614 0 0 0 0 0 0

7407 -0.70 -194.7 821.6 -8.1 389 7411 0.00 2.25 0.00 0.000 6 0.000 0.058 1628 2934 3614 0 0 0 0 0 0

7728 -0.70 -194.7 852.5 -10.0 400 7729 0.00 0.00 0.00 0.000 6 0.000 0.000 1628 2935 3614 0 0 0 0 0 0

8035 -0.70 -194.7 882.4 -9.6 410 8038 0.00 2.15 0.00 0.000 4 0.000 0.041 1628 1524 3614 0 0 0 0 0 0

8104 -0.70 -194.7 889.0 -8.7 412 8108 0.00 2.22 0.00 0.000 6 0.000 0.057 1618 2922 3614 0 0 0 0 0 0

8435 -0.70 -194.7 923.1 -10.4 423 8437 0.00 0.00 0.00 0.000 6 0.000 0.000 1618 2923 3614 0 0 0 0 0 0

8743 -0.70 -194.7 954.8 -10.4 433 8744 0.00 0.00 0.00 0.000 6 0.000 0.000 1618 2924 3614 0 0 0 0 0 0

9048 -0.70 -194.7 986.8 -10.4 443 9052 0.00 2.15 0.00 0.000 4 0.000 0.041 1618 1526 3614 0 0 0 0 0 0

9079 -0.70 -194.7 990.0 -10.9 444 9084 0.12 2.22 0.00 0.000 6 0.189 0.058 1639 2925 3614 0 0 0 0 0 0

9199 end dive: TARGET_DEPTH_EXCEEDED

state 9199 begin apogee

9210 -0.19 0.0 1000.3 8.2 448 9412 0.52 0.00 194.18 1.216 6 0.155 0.000 1801 2740 2812 0 0 0 0 0 0

9414 end apogee: CONTROL_FINISHED_OK

state 9414 begin climb

9418 0.70 194.7 1007.1 0.0 455 9623 0.82 2.17 191.15 1.807 4 0.066 0.059 2093 3893 2027 0 0 0 0 1 0

9886 0.70 194.7 886.9 31.2 469 9890 0.00 1.92 0.00 0.000 6 0.000 0.043 2102 2744 2022 0 0 0 0 0 0

10223 0.70 194.7 784.3 30.3 480 10227 0.00 2.30 0.00 0.000 4 0.000 0.050 2113 1322 2020 0 0 0 0 0 0

10315 0.70 194.7 759.2 26.2 482 10321 0.00 2.35 0.00 0.000 6 0.000 0.055 2113 2733 2018 0 0 0 0 0 0

10630 0.70 194.7 664.7 30.4 493 10634 0.00 2.28 0.00 0.000 4 0.000 0.051 2124 1320 2018 0 0 0 0 0 0

10665 0.70 194.7 653.6 28.6 494 10670 0.00 2.35 0.00 0.000 6 0.000 0.055 2124 2743 2017 0 0 0 0 0 0

10997 0.70 194.7 553.8 30.2 505 11002 0.00 2.30 0.00 0.000 4 0.000 0.050 2134 1321 2017 0 0 0 0 0 0

11032 0.70 194.7 543.1 28.0 506 11037 0.17 2.33 0.00 0.000 6 0.256 0.055 2097 2742 2017 0 0 0 0 0 0

11365 0.70 194.7 453.6 27.2 517 11366 0.00 0.00 0.00 0.000 6 0.000 0.000 2097 2742 2016 0 0 0 0 0 0

11685 0.70 194.7 368.6 26.6 529 11689 0.00 2.28 0.00 0.000 4 0.000 0.051 2107 1318 2016 0 0 0 0 0 0

11743 0.70 194.7 353.2 24.4 531 11747 0.00 2.30 0.00 0.000 6 0.000 0.055 2107 2737 2015 0 0 0 0 0 0

12061 0.70 194.7 265.6 27.8 546 12062 0.00 0.00 0.00 0.000 6 0.000 0.000 2106 2737 2015 0 0 0 0 0 0

12375 0.70 194.7 180.7 26.7 565 12379 0.00 2.25 0.00 0.000 4 0.000 0.050 2117 1320 2015 0 0 0 0 0 0

12477 0.70 194.7 156.1 22.8 571 12481 0.00 2.28 0.00 0.000 6 0.000 0.056 2117 2733 2015 0 0 0 0 0 0

12812 0.70 194.7 68.1 24.0 605 12816 0.00 0.00 0.00 0.000 6 0.000 0.000 2117 2733 2015 0 0 0 0 0 0

13053 end climb: SURFACE_DEPTH_REACHED

state 13053 begin surface coast

13067 end surface coast: CONTROL_FINISHED_OK

state 13067 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	48	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	30	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	27	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	-10426.702	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	171212,145626,-4628.962,400.315,36,0.8,36,-23.3	TGT_NAME	GH2
_CALLS	2	TGT_LATLONG	-4630.000,400.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.108,-0.245
_SM_DEPTHo	0.90	KALMAN_X	-42949.9,178.6,-155.0,21828.3,1757.6
_SM_ANGLEo	-34.8	KALMAN_Y	8011.3,318.8,208.1,32765.4,2984.8
GPS2	171212,151024,-4628.967,400.321,13,0.8,14,-23.3	MHEAD_RNG_PITCHd_Wd	227.2,1956,-16.9,-10.010
SPEED_LIMITS	0.173,0.295	D_GRID	1000

FINISH	0.5,1.023650	_10V_AH	10.1,4.890
SM_CCo	13090,161.50,0.797,1,0,517,564.18	FG_AHR_24Vo	0.000
SM_GC	0.73,0.00,0.00,161.50,0.000,0.000,0.797,61,2933,517,-5.65,0.28,564.18	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4610.49,403.80,171212,141436	MEM	354284
TT8_MAMPS	0.026964	DATA_FILE_SIZE	47086,647
HUMID	56.18	CAP_FILE_SIZE	108366,0
INTERNAL_PRESSURE	9.19924	CFSIZE	259252224,224935936
TCM_TEMP	10.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
XPDR_PINGS	0	GPS	171212,185334,-4630.085,358.383,28,1.8,28,-23.3
_24V_AH	21.6,11.372

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	255	79.06	SBE_CT	426	24	221.04
Roll_motor	87	78	147.94	AA4330	1271	33	906.46
VBD_pump_during_apogee	385	1806	15039.11	WL_BB2FLVMT	673	105	1527.52
VBD_pump_during_surface	161	797	2780.71	QSP2150	258	4	24.43
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	52	103	116.07	nil	0	0	0.00
Iridium_during_connect	39	160	136.39	nil	0	0	0.00
Iridium_during_xfer	449	223	2167.33	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	26	4.65
TT8	1609	14	243.23
LPSleep	8955	2	198.09
TT8_Active	660	14	94.86
TT8_Sampling	2229	37	843.03
TT8_CF8	630	47	300.58
TT8_Kalman	33	59	19.93
Analog_circuits	1432	12	173.67
GPS_charging	0	0	0.00
Compass	1665	15	264.57
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	-155.9	0.0	0.0	0	171	0.00	0.00	-141.57	0.000	2	0.000	0.000	53	2936	3302	0	0	0	0	0	0
177	-0.70	-194.7	3.6	-4.7	18	196	6.60	1.60	-7.15	0.000	4	0.254	0.078	1634	3897	3616	0	0	0	0	0	0
257	-0.70	-194.7	23.4	-14.8	29	266	0.00	1.58	0.00	0.000	6	0.000	0.036	1634	2889	3618	0	0	0	0	0	0
341	-0.70	-194.7	36.2	-14.5	42	350	0.00	0.00	0.00	0.000	6	0.000	0.000	1634	2888	3618	0	0	0	0	0	0
586	-0.70	-194.7	71.5	-13.6	83	591	0.00	2.10	0.00	0.000	4	0.000	0.041	1634	1529	3618	0	0	0	0	0	0
653	-0.70	-194.7	80.1	-12.5	94	660	0.00	2.25	0.00	0.000	6	0.000	0.056	1623	2918	3618	0	0	0	0	0	0
1002	-0.70	-194.7	131.3	-15.3	131	1006	0.00	2.15	0.00	0.000	4	0.000	0.039	1623	1528	3619	0	0	0	0	0	0
1044	-0.70	-194.7	138.2	-13.8	133	1051	0.12	2.25	0.00	0.000	6	0.184	0.056	1644	2925	3619	0	0	0	0	0	0
1365	-0.70	-194.7	177.3	-12.1	154	1367	0.00	0.00	0.00	0.000	6	0.000	0.000	1644	2925	3619	0	0	0	0	0	0
1679	-0.70	-194.7	214.2	-11.7	174	1683	0.00	2.15	0.00	0.000	4	0.000	0.040	1645	1528	3619	0	0	0	0	0	0
1712	-0.70	-194.7	218.1	-11.1	176	1716	0.00	2.25	0.00	0.000	6	0.000	0.056	1635	2929	3619	0	0	0	0	0	0
2034	-0.70	-194.7	256.2	-11.9	196	2038	0.00	2.15	0.00	0.000	4	0.000	0.040	1636	1530	3619	0	0	0	0	0	0
2069	-0.70	-194.7	260.8	-11.5	197	2076	0.00	2.22	0.00	0.000	6	0.000	0.057	1625	2925	3619	0	0	0	0	0	0
2390	-0.70	-194.7	300.3	-12.5	213	2391	0.00	0.00	0.00	0.000	6	0.000	0.000	1625	2925	3619	0	0	0	0	0	0
2697	-0.70	-194.7	339.3	-12.5	228	2698	0.00	0.00	0.00	0.000	6	0.000	0.000	1625	2925	3619	0	0	0	0	0	0
3008	-0.70	-194.7	377.6	-12.1	243	3012	0.00	2.15	0.00	0.000	4	0.000	0.041	1625	1524	3618	0	0	0	0	0	0
3053	-0.70	-194.7	383.0	-10.7	245	3057	0.12	2.25	0.00	0.000	6	0.189	0.057	1647	2931	3618	0	0	0	0	0	0
3394	-0.70	-194.7	416.3	-9.8	259	3395	0.00	0.00	0.00	0.000	6	0.000	0.000	1647	2931	3618	0	0	0	0	0	0
3698	-0.70	-194.7	446.2	-9.8	269	3702	0.00	2.15	0.00	0.000	4	0.000	0.041	1648	1526	3618	0	0	0	0	0	0
3739	-0.70	-194.7	450.3	-9.4	270	3743	0.00	2.25	0.00	0.000	6	0.000	0.057	1637	2934	3618	0	0	0	0	0	0
4065	-0.70	-194.7	483.6	-10.6	281	4066	0.00	0.00	0.00	0.000	6	0.000	0.000	1637	2935	3618	0	0	0	0	0	0
4373	-0.70	-194.7	517.2	-11.0	291	4374	0.00	0.00	0.00	0.000	6	0.000	0.000	1637	2935	3617	0	0	0	0	0	0
4678	-0.70	-194.7	550.8	-11.0	301	4682	0.00	2.15	0.00	0.000	4	0.000	0.040	1637	1527	3617	0	0	0	0	0	0
4719	-0.70	-194.7	555.3	-9.4	302	4723	0.00	2.22	0.00	0.000	6	0.000	0.057	1627	2924	3617	0	0	0	0	0	0
5045	-0.70	-194.7	591.3	-11.1	313	5046	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2923	3617	0	0	0	0	0	0
5352	-0.70	-194.7	624.1	-10.5	323	5353	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2923	3616	0	0	0	0	0	0
5657	-0.70	-194.7	655.6	-10.1	333	5661	0.00	2.12	0.00	0.000	4	0.000	0.041	1627	1529	3616	0	0	0	0	0	0
5715	-0.70	-194.7	661.2	-8.8	334	5722	0.00	2.22	0.00	0.000	6	0.000	0.057	1617	2929	3616	0	0	0	0	0	0
6030	-0.70	-194.7	694.7	-11.0	345	6031	0.00	0.00	0.00	0.000	6	0.000	0.000	1617	2930	3615	0	0	0	0	0	0
6336	-0.70	-194.7	728.1	-11.0	355	6340	0.00	2.15	0.00	0.000	4	0.000	0.041	1617	1523	3615	0	0	0	0	0	0
6360	-0.70	-194.7	730.9	-11.3	355	6367	0.15	2.22	0.00	0.000	6	0.183	0.057	1647	2924	3615	0	0	0	0	0	0
6675	-0.70	-194.7	757.0	-8.3	366	6679	0.00	2.12	0.00	0.000	4	0.000	0.042	1647	1527	3615	0	0	0	0	0	0
6716	-0.70	-194.7	760.4	-7.5	367	6720	0.00	2.22	0.00	0.000	6	0.000	0.058	1638	2933	3615	0	0	0	0	0	0
7056	-0.70	-194.7	790.3	-9.0	378	7057	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2933	3614	0	0	0	0	0	0
7360	-0.70	-194.7	817.4	-8.8	388	7364	0.00	2.15	0.00	0.000	4	0.000	0.041	1638	1524	3614	0	0	0	0	0	0
7407	-0.70	-194.7	821.6	-8.1	389	7411	0.00	2.25	0.00	0.000	6	0.000	0.058	1628	2934	3614	0	0	0	0	0	0
7728	-0.70	-194.7	852.5	-10.0	400	7729	0.00	0.00	0.00	0.000	6	0.000	0.000	1628	2935	3614	0	0	0	0	0	0
8035	-0.70	-194.7	882.4	-9.6	410	8038	0.00	2.15	0.00	0.000	4	0.000	0.041	1628	1524	3614	0	0	0	0	0	0
8104	-0.70	-194.7	889.0	-8.7	412	8108	0.00	2.22	0.00	0.000	6	0.000	0.057	1618	2922	3614	0	0	0	0	0	0
8435	-0.70	-194.7	923.1	-10.4	423	8437	0.00	0.00	0.00	0.000	6	0.000	0.000	1618	2923	3614	0	0	0	0	0	0
8743	-0.70	-194.7	954.8	-10.4	433	8744	0.00	0.00	0.00	0.000	6	0.000	0.000	1618	2924	3614	0	0	0	0	0	0
9048	-0.70	-194.7	986.8	-10.4	443	9052	0.00	2.15	0.00	0.000	4	0.000	0.041	1618	1526	3614	0	0	0	0	0	0
9079	-0.70	-194.7	990.0	-10.9	444	9084	0.12	2.22	0.00	0.000	6	0.189	0.058	1639	2925	3614	0	0	0	0	0	0
9199	end dive: TARGET_DEPTH_EXCEEDED
state	9199	begin apogee
9210	-0.19	0.0	1000.3	8.2	448	9412	0.52	0.00	194.18	1.216	6	0.155	0.000	1801	2740	2812	0	0	0	0	0	0
9414	end apogee: CONTROL_FINISHED_OK
state	9414	begin climb
9418	0.70	194.7	1007.1	0.0	455	9623	0.82	2.17	191.15	1.807	4	0.066	0.059	2093	3893	2027	0	0	0	0	1	0
9886	0.70	194.7	886.9	31.2	469	9890	0.00	1.92	0.00	0.000	6	0.000	0.043	2102	2744	2022	0	0	0	0	0	0
10223	0.70	194.7	784.3	30.3	480	10227	0.00	2.30	0.00	0.000	4	0.000	0.050	2113	1322	2020	0	0	0	0	0	0
10315	0.70	194.7	759.2	26.2	482	10321	0.00	2.35	0.00	0.000	6	0.000	0.055	2113	2733	2018	0	0	0	0	0	0
10630	0.70	194.7	664.7	30.4	493	10634	0.00	2.28	0.00	0.000	4	0.000	0.051	2124	1320	2018	0	0	0	0	0	0
10665	0.70	194.7	653.6	28.6	494	10670	0.00	2.35	0.00	0.000	6	0.000	0.055	2124	2743	2017	0	0	0	0	0	0
10997	0.70	194.7	553.8	30.2	505	11002	0.00	2.30	0.00	0.000	4	0.000	0.050	2134	1321	2017	0	0	0	0	0	0
11032	0.70	194.7	543.1	28.0	506	11037	0.17	2.33	0.00	0.000	6	0.256	0.055	2097	2742	2017	0	0	0	0	0	0
11365	0.70	194.7	453.6	27.2	517	11366	0.00	0.00	0.00	0.000	6	0.000	0.000	2097	2742	2016	0	0	0	0	0	0
11685	0.70	194.7	368.6	26.6	529	11689	0.00	2.28	0.00	0.000	4	0.000	0.051	2107	1318	2016	0	0	0	0	0	0
11743	0.70	194.7	353.2	24.4	531	11747	0.00	2.30	0.00	0.000	6	0.000	0.055	2107	2737	2015	0	0	0	0	0	0
12061	0.70	194.7	265.6	27.8	546	12062	0.00	0.00	0.00	0.000	6	0.000	0.000	2106	2737	2015	0	0	0	0	0	0
12375	0.70	194.7	180.7	26.7	565	12379	0.00	2.25	0.00	0.000	4	0.000	0.050	2117	1320	2015	0	0	0	0	0	0
12477	0.70	194.7	156.1	22.8	571	12481	0.00	2.28	0.00	0.000	6	0.000	0.056	2117	2733	2015	0	0	0	0	0	0
12812	0.70	194.7	68.1	24.0	605	12816	0.00	0.00	0.00	0.000	6	0.000	0.000	2117	2733	2015	0	0	0	0	0	0
13053	end climb: SURFACE_DEPTH_REACHED
state	13053	begin surface coast
13067	end surface coast: CONTROL_FINISHED_OK
state	13067	begin surface