Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 49 * 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 49 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 30 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 -10429.844 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 -10429.844

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 30 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 49 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 171212,185334,-4630.085,358.383,28,1.8,28,-23.3 TGT_NAME GH2

_CALLS 3 TGT_LATLONG -4630.000,400.000

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.002,-0.286

_SM_DEPTHo 0.76 KALMAN_X -42525.6,-600.6,-122.1,19871.4,1831.5

_SM_ANGLEo -23.9 KALMAN_Y 12006.2,-588.0,-292.2,27917.0,6071.4

GPS2 171212,191119,-4630.194,358.512,19,0.8,20,-23.3 MHEAD_RNG_PITCHd_Wd 202.9,1931,-15.5,-10.010

SPEED_LIMITS 0.173,0.295 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.5,1.026519 _10V_AH 10.1,4.996

SM_CCo 14312,161.60,0.791,1,0,518,564.18 FG_AHR_24Vo 0.000

SM_GC 0.67,0.00,0.00,161.60,0.000,0.000,0.791,63,2932,518,-5.65,0.25,564.18 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4613.60,354.67,171212,181845 MEM 354292

TT8_MAMPS 0.026215 DATA_FILE_SIZE 50467,714

HUMID 55.98 CAP_FILE_SIZE 122316,0

INTERNAL_PRESSURE 9.19924 CFSIZE 259252224,224862208

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

XPDR_PINGS 0 GPS 171212,231503,-4632.401,357.894,36,1.1,40,-23.3

_24V_AH 21.6,11.606

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 248 76.12 SBE_CT 470 24 244.16

Roll_motor 107 71 167.01 AA4330 1412 33 1006.66

VBD_pump_during_apogee 384 1780 14796.67 WL_BB2FLVMT 756 105 1714.72

VBD_pump_during_surface 161 791 2761.07 QSP2150 291 4 27.56

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 79 103 177.49 nil 0 0 0.00

Iridium_during_connect 148 160 511.58 nil 0 0 0.00

Iridium_during_xfer 469 223 2259.24 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 6.37

TT8 1784 14 269.61

LPSleep 9829 2 217.43

TT8_Active 669 14 96.02

TT8_Sampling 2567 37 970.77

TT8_CF8 686 47 326.84

TT8_Kalman 33 59 19.92

Analog_circuits 1510 12 183.06

GPS_charging 0 0 0.00

Compass 1841 15 292.50

RAFOS 0 0 0.00

Transponder 1 5 0.05

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

21 end surface: CONTROL_FINISHED_OK

state 22 begin dive

26 -0.64 -181.4 0.0 0.0 0 171 0.00 0.00 -141.55 0.000 2 0.000 0.000 60 2935 3318 0 0 0 0 0 0

177 -0.66 -194.7 3.5 -4.5 18 196 6.50 2.30 -7.00 0.000 4 0.249 0.054 1660 1506 3615 0 0 0 0 0 0

405 -0.66 -194.7 35.6 -9.4 53 412 0.00 2.30 0.00 0.000 6 0.000 0.054 1652 2917 3618 0 0 0 0 0 0

652 -0.66 -194.7 67.9 -13.4 94 658 0.00 0.00 0.00 0.000 6 0.000 0.000 1652 2918 3617 0 0 0 0 0 0

1005 -0.66 -194.7 108.9 -10.9 146 1009 0.00 2.20 0.00 0.000 4 0.000 0.039 1652 1502 3618 0 0 0 0 0 0

1051 -0.66 -194.7 113.9 -9.8 148 1060 0.00 2.33 0.00 0.000 6 0.000 0.056 1641 2924 3618 0 0 0 0 0 0

1375 -0.66 -194.7 150.6 -11.7 169 1376 0.00 0.00 0.00 0.000 6 0.000 0.000 1641 2924 3618 0 0 0 0 0 0

1687 -0.66 -194.7 185.7 -11.0 189 1688 0.00 0.00 0.00 0.000 6 0.000 0.000 1642 2924 3617 0 0 0 0 0 0

2000 -0.66 -194.7 218.1 -9.9 209 2004 0.00 2.20 0.00 0.000 4 0.000 0.040 1641 1507 3618 0 0 0 0 0 0

2029 -0.66 -194.7 221.6 -10.1 210 2038 0.00 2.30 0.00 0.000 6 0.000 0.056 1630 2924 3618 0 0 0 0 0 0

2350 -0.66 -194.7 258.0 -11.8 230 2351 0.00 0.00 0.00 0.000 6 0.000 0.000 1630 2924 3618 0 0 0 0 0 0

2661 -0.66 -194.7 295.5 -12.2 245 2665 0.00 2.17 0.00 0.000 4 0.000 0.040 1630 1500 3618 0 0 0 0 0 0

2696 -0.66 -194.7 300.3 -11.5 246 2701 0.12 2.28 0.00 0.000 6 0.181 0.056 1652 2924 3618 0 0 0 0 0 0

3016 -0.66 -194.7 332.7 -10.2 261 3017 0.00 0.00 0.00 0.000 6 0.000 0.000 1652 2925 3618 0 0 0 0 0 0

3325 -0.66 -194.7 363.2 -9.7 276 3329 0.00 2.15 0.00 0.000 4 0.000 0.040 1652 1508 3618 0 0 0 0 0 0

3371 -0.66 -194.7 367.9 -8.2 278 3375 0.00 2.25 0.00 0.000 6 0.000 0.057 1643 2923 3618 0 0 0 0 0 0

3701 -0.66 -194.7 399.9 -10.0 294 3703 0.00 0.00 0.00 0.000 6 0.000 0.000 1643 2924 3617 0 0 0 0 0 0

4028 -0.66 -194.7 430.7 -9.4 305 4032 0.00 2.17 0.00 0.000 4 0.000 0.040 1643 1507 3617 0 0 0 0 0 0

4068 -0.66 -194.7 434.6 -8.3 306 4072 0.00 2.28 0.00 0.000 6 0.000 0.057 1632 2932 3617 0 0 0 0 0 0

4394 -0.66 -194.7 467.2 -10.1 317 4398 0.00 2.17 0.00 0.000 4 0.000 0.041 1632 1502 3617 0 0 0 0 0 0

4426 -0.66 -194.7 470.3 -10.0 318 4431 0.12 2.28 0.00 0.000 6 0.186 0.057 1654 2928 3617 0 0 0 0 0 0

4765 -0.66 -194.7 497.3 -8.1 329 4766 0.00 0.00 0.00 0.000 6 0.000 0.000 1654 2928 3617 0 0 0 0 0 0

5073 -0.66 -194.7 522.6 -8.6 339 5074 0.00 0.00 0.00 0.000 6 0.000 0.000 1654 2928 3617 0 0 0 0 0 0

5377 -0.66 -194.7 549.7 -8.8 349 5381 0.00 2.15 0.00 0.000 4 0.000 0.041 1654 1508 3616 0 0 0 0 0 0

5418 -0.66 -194.7 553.3 -7.8 350 5422 0.00 2.28 0.00 0.000 6 0.000 0.058 1646 2932 3616 0 0 0 0 0 0

5744 -0.66 -194.7 580.5 -8.2 361 5746 0.00 0.00 0.00 0.000 6 0.000 0.000 1646 2932 3616 0 0 0 0 0 0

6051 -0.66 -194.7 605.1 -8.1 371 6055 0.00 2.17 0.00 0.000 4 0.000 0.041 1646 1502 3616 0 0 0 0 0 0

6097 -0.66 -194.7 609.0 -7.8 372 6101 0.00 2.28 0.00 0.000 6 0.000 0.058 1635 2926 3615 0 0 0 0 0 0

6418 -0.66 -194.7 638.0 -9.4 383 6420 0.00 0.00 0.00 0.000 6 0.000 0.000 1635 2926 3616 0 0 0 0 0 0

6724 -0.66 -194.7 667.2 -9.6 393 6728 0.00 2.17 0.00 0.000 4 0.000 0.041 1635 1503 3615 0 0 0 0 0 0

6765 -0.66 -194.7 671.4 -9.1 394 6770 0.12 2.25 0.00 0.000 6 0.186 0.057 1657 2927 3615 0 0 0 0 0 0

7105 -0.66 -194.7 696.7 -7.3 405 7106 0.00 0.00 0.00 0.000 6 0.000 0.000 1657 2927 3615 0 0 0 0 0 0

7410 -0.66 -194.7 717.8 -6.7 415 7414 0.00 2.17 0.00 0.000 4 0.000 0.041 1657 1498 3615 0 0 0 0 0 0

7456 -0.66 -194.7 721.0 -6.5 416 7460 0.00 2.28 0.00 0.000 6 0.000 0.058 1650 2923 3615 0 0 0 0 0 0

7777 -0.66 -194.7 744.5 -7.6 427 7779 0.00 0.00 0.00 0.000 6 0.000 0.000 1649 2923 3615 0 0 0 0 0 0

8085 -0.66 -194.7 767.4 -7.4 437 8089 0.00 2.17 0.00 0.000 4 0.000 0.041 1650 1505 3615 0 0 0 0 0 0

8150 -0.66 -194.7 772.3 -7.1 439 8154 0.00 2.28 0.00 0.000 6 0.000 0.058 1639 2934 3615 0 0 0 0 0 0

8488 -0.66 -194.7 800.9 -8.6 450 8489 0.00 0.00 0.00 0.000 6 0.000 0.000 1639 2934 3615 0 0 0 0 0 0

8794 -0.66 -194.7 828.4 -9.1 460 8798 0.00 2.17 0.00 0.000 4 0.000 0.040 1639 1498 3615 0 0 0 0 0 0

8847 -0.66 -194.7 833.1 -8.2 461 8851 0.00 2.28 0.00 0.000 6 0.000 0.058 1629 2923 3615 0 0 0 0 0 0

9162 -0.66 -194.7 864.2 -10.1 471 9163 0.00 0.00 0.00 0.000 6 0.000 0.000 1629 2923 3615 0 0 0 0 0 0

9468 -0.66 -194.7 895.0 -10.0 481 9472 0.00 2.17 0.00 0.000 4 0.000 0.041 1628 1499 3615 0 0 0 0 0 0

9531 -0.66 -194.7 901.3 -9.4 482 9539 0.12 2.28 0.00 0.000 6 0.186 0.058 1652 2930 3615 0 0 0 0 0 0

9847 -0.66 -194.7 924.3 -6.9 493 9851 0.00 2.17 0.00 0.000 4 0.000 0.041 1651 1507 3615 0 0 0 0 0 0

9882 -0.66 -194.7 927.0 -6.5 494 9886 0.00 2.28 0.00 0.000 6 0.000 0.058 1644 2934 3615 0 0 0 0 0 0

10214 -0.66 -194.7 950.2 -6.9 505 10218 0.00 2.15 0.00 0.000 4 0.000 0.041 1643 1508 3615 0 0 0 0 0 0

10238 -0.66 -194.7 952.1 -7.0 505 10247 0.00 2.25 0.00 0.000 6 0.000 0.058 1634 2925 3615 0 0 0 0 0 0

10457 end dive: HALF_MISSION_TIME_EXCEEDED

state 10458 begin apogee

10468 -0.19 0.0 968.6 7.7 513 10670 0.55 0.00 194.12 1.200 6 0.159 0.000 1802 2702 2814 0 0 0 0 0 0

10672 end apogee: CONTROL_FINISHED_OK

state 10672 begin climb

10677 0.66 194.7 973.8 0.0 520 10881 0.77 2.28 190.52 1.781 4 0.064 0.060 2082 3897 2027 0 0 0 0 1 0

11109 0.66 194.7 866.3 28.5 533 11112 0.00 1.92 0.00 0.000 6 0.000 0.042 2092 2748 2022 0 0 0 0 0 0

11452 0.66 194.7 763.9 30.1 544 11456 0.00 2.33 0.00 0.000 4 0.000 0.050 2103 1318 2019 0 0 0 0 0 0

11537 0.66 194.7 739.6 26.0 546 11541 0.00 2.35 0.00 0.000 6 0.000 0.054 2103 2736 2017 0 0 0 0 0 0

11852 0.66 194.7 643.1 31.0 556 11856 0.00 2.33 0.00 0.000 4 0.000 0.051 2113 1315 2016 0 0 0 0 0 0

11893 0.66 194.7 630.4 28.2 557 11898 0.12 2.33 0.00 0.000 6 0.246 0.054 2089 2738 2016 0 0 0 0 0 0

12220 0.66 194.7 538.0 28.5 568 12224 0.00 2.30 0.00 0.000 4 0.000 0.051 2098 1316 2016 0 0 0 0 0 0

12251 0.66 194.7 529.4 26.3 569 12255 0.00 2.30 0.00 0.000 6 0.000 0.054 2098 2739 2016 0 0 0 0 0 0

12589 0.66 194.7 434.2 28.0 580 12590 0.00 0.00 0.00 0.000 6 0.000 0.000 2098 2738 2015 0 0 0 0 0 0

12909 0.66 194.7 348.8 26.6 593 12913 0.00 2.28 0.00 0.000 4 0.000 0.050 2108 1316 2015 0 0 0 0 0 0

12968 0.66 194.7 333.0 23.9 595 12975 0.00 2.30 0.00 0.000 6 0.000 0.056 2108 2739 2015 0 0 0 0 0 0

13289 0.66 194.7 245.5 28.1 611 13293 0.00 2.28 0.00 0.000 4 0.000 0.052 2119 1314 2015 0 0 0 0 0 0

13322 0.66 194.7 236.4 27.0 613 13327 0.15 2.30 0.00 0.000 6 0.242 0.057 2086 2734 2015 0 0 0 0 0 0

13656 0.66 194.7 155.8 24.5 634 13660 0.00 2.25 0.00 0.000 4 0.000 0.050 2095 1313 2015 0 0 0 0 0 0

13706 0.66 194.7 143.2 22.4 637 13710 0.00 2.28 0.00 0.000 6 0.000 0.056 2095 2737 2015 0 0 0 0 0 0

14042 0.66 194.7 60.3 23.8 675 14049 0.00 1.88 0.00 0.000 4 0.000 0.063 2095 3901 2015 0 0 0 0 0 0

14119 0.66 194.7 40.7 26.2 687 14126 0.00 1.85 0.00 0.000 6 0.000 0.044 2104 2724 2014 0 0 0 0 0 0

14271 end climb: SURFACE_DEPTH_REACHED

state 14275 begin surface coast

14289 end surface coast: CONTROL_FINISHED_OK

state 14289 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	49	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	30	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	-10429.844	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	171212,185334,-4630.085,358.383,28,1.8,28,-23.3	TGT_NAME	GH2
_CALLS	3	TGT_LATLONG	-4630.000,400.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.002,-0.286
_SM_DEPTHo	0.76	KALMAN_X	-42525.6,-600.6,-122.1,19871.4,1831.5
_SM_ANGLEo	-23.9	KALMAN_Y	12006.2,-588.0,-292.2,27917.0,6071.4
GPS2	171212,191119,-4630.194,358.512,19,0.8,20,-23.3	MHEAD_RNG_PITCHd_Wd	202.9,1931,-15.5,-10.010
SPEED_LIMITS	0.173,0.295	D_GRID	1000

FINISH	0.5,1.026519	_10V_AH	10.1,4.996
SM_CCo	14312,161.60,0.791,1,0,518,564.18	FG_AHR_24Vo	0.000
SM_GC	0.67,0.00,0.00,161.60,0.000,0.000,0.791,63,2932,518,-5.65,0.25,564.18	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4613.60,354.67,171212,181845	MEM	354292
TT8_MAMPS	0.026215	DATA_FILE_SIZE	50467,714
HUMID	55.98	CAP_FILE_SIZE	122316,0
INTERNAL_PRESSURE	9.19924	CFSIZE	259252224,224862208
TCM_TEMP	10.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
XPDR_PINGS	0	GPS	171212,231503,-4632.401,357.894,36,1.1,40,-23.3
_24V_AH	21.6,11.606

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	248	76.12	SBE_CT	470	24	244.16
Roll_motor	107	71	167.01	AA4330	1412	33	1006.66
VBD_pump_during_apogee	384	1780	14796.67	WL_BB2FLVMT	756	105	1714.72
VBD_pump_during_surface	161	791	2761.07	QSP2150	291	4	27.56
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	79	103	177.49	nil	0	0	0.00
Iridium_during_connect	148	160	511.58	nil	0	0	0.00
Iridium_during_xfer	469	223	2259.24	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	6.37
TT8	1784	14	269.61
LPSleep	9829	2	217.43
TT8_Active	669	14	96.02
TT8_Sampling	2567	37	970.77
TT8_CF8	686	47	326.84
TT8_Kalman	33	59	19.92
Analog_circuits	1510	12	183.06
GPS_charging	0	0	0.00
Compass	1841	15	292.50
RAFOS	0	0	0.00
Transponder	1	5	0.05

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
21	end surface: CONTROL_FINISHED_OK
state	22	begin dive
26	-0.64	-181.4	0.0	0.0	0	171	0.00	0.00	-141.55	0.000	2	0.000	0.000	60	2935	3318	0	0	0	0	0	0
177	-0.66	-194.7	3.5	-4.5	18	196	6.50	2.30	-7.00	0.000	4	0.249	0.054	1660	1506	3615	0	0	0	0	0	0
405	-0.66	-194.7	35.6	-9.4	53	412	0.00	2.30	0.00	0.000	6	0.000	0.054	1652	2917	3618	0	0	0	0	0	0
652	-0.66	-194.7	67.9	-13.4	94	658	0.00	0.00	0.00	0.000	6	0.000	0.000	1652	2918	3617	0	0	0	0	0	0
1005	-0.66	-194.7	108.9	-10.9	146	1009	0.00	2.20	0.00	0.000	4	0.000	0.039	1652	1502	3618	0	0	0	0	0	0
1051	-0.66	-194.7	113.9	-9.8	148	1060	0.00	2.33	0.00	0.000	6	0.000	0.056	1641	2924	3618	0	0	0	0	0	0
1375	-0.66	-194.7	150.6	-11.7	169	1376	0.00	0.00	0.00	0.000	6	0.000	0.000	1641	2924	3618	0	0	0	0	0	0
1687	-0.66	-194.7	185.7	-11.0	189	1688	0.00	0.00	0.00	0.000	6	0.000	0.000	1642	2924	3617	0	0	0	0	0	0
2000	-0.66	-194.7	218.1	-9.9	209	2004	0.00	2.20	0.00	0.000	4	0.000	0.040	1641	1507	3618	0	0	0	0	0	0
2029	-0.66	-194.7	221.6	-10.1	210	2038	0.00	2.30	0.00	0.000	6	0.000	0.056	1630	2924	3618	0	0	0	0	0	0
2350	-0.66	-194.7	258.0	-11.8	230	2351	0.00	0.00	0.00	0.000	6	0.000	0.000	1630	2924	3618	0	0	0	0	0	0
2661	-0.66	-194.7	295.5	-12.2	245	2665	0.00	2.17	0.00	0.000	4	0.000	0.040	1630	1500	3618	0	0	0	0	0	0
2696	-0.66	-194.7	300.3	-11.5	246	2701	0.12	2.28	0.00	0.000	6	0.181	0.056	1652	2924	3618	0	0	0	0	0	0
3016	-0.66	-194.7	332.7	-10.2	261	3017	0.00	0.00	0.00	0.000	6	0.000	0.000	1652	2925	3618	0	0	0	0	0	0
3325	-0.66	-194.7	363.2	-9.7	276	3329	0.00	2.15	0.00	0.000	4	0.000	0.040	1652	1508	3618	0	0	0	0	0	0
3371	-0.66	-194.7	367.9	-8.2	278	3375	0.00	2.25	0.00	0.000	6	0.000	0.057	1643	2923	3618	0	0	0	0	0	0
3701	-0.66	-194.7	399.9	-10.0	294	3703	0.00	0.00	0.00	0.000	6	0.000	0.000	1643	2924	3617	0	0	0	0	0	0
4028	-0.66	-194.7	430.7	-9.4	305	4032	0.00	2.17	0.00	0.000	4	0.000	0.040	1643	1507	3617	0	0	0	0	0	0
4068	-0.66	-194.7	434.6	-8.3	306	4072	0.00	2.28	0.00	0.000	6	0.000	0.057	1632	2932	3617	0	0	0	0	0	0
4394	-0.66	-194.7	467.2	-10.1	317	4398	0.00	2.17	0.00	0.000	4	0.000	0.041	1632	1502	3617	0	0	0	0	0	0
4426	-0.66	-194.7	470.3	-10.0	318	4431	0.12	2.28	0.00	0.000	6	0.186	0.057	1654	2928	3617	0	0	0	0	0	0
4765	-0.66	-194.7	497.3	-8.1	329	4766	0.00	0.00	0.00	0.000	6	0.000	0.000	1654	2928	3617	0	0	0	0	0	0
5073	-0.66	-194.7	522.6	-8.6	339	5074	0.00	0.00	0.00	0.000	6	0.000	0.000	1654	2928	3617	0	0	0	0	0	0
5377	-0.66	-194.7	549.7	-8.8	349	5381	0.00	2.15	0.00	0.000	4	0.000	0.041	1654	1508	3616	0	0	0	0	0	0
5418	-0.66	-194.7	553.3	-7.8	350	5422	0.00	2.28	0.00	0.000	6	0.000	0.058	1646	2932	3616	0	0	0	0	0	0
5744	-0.66	-194.7	580.5	-8.2	361	5746	0.00	0.00	0.00	0.000	6	0.000	0.000	1646	2932	3616	0	0	0	0	0	0
6051	-0.66	-194.7	605.1	-8.1	371	6055	0.00	2.17	0.00	0.000	4	0.000	0.041	1646	1502	3616	0	0	0	0	0	0
6097	-0.66	-194.7	609.0	-7.8	372	6101	0.00	2.28	0.00	0.000	6	0.000	0.058	1635	2926	3615	0	0	0	0	0	0
6418	-0.66	-194.7	638.0	-9.4	383	6420	0.00	0.00	0.00	0.000	6	0.000	0.000	1635	2926	3616	0	0	0	0	0	0
6724	-0.66	-194.7	667.2	-9.6	393	6728	0.00	2.17	0.00	0.000	4	0.000	0.041	1635	1503	3615	0	0	0	0	0	0
6765	-0.66	-194.7	671.4	-9.1	394	6770	0.12	2.25	0.00	0.000	6	0.186	0.057	1657	2927	3615	0	0	0	0	0	0
7105	-0.66	-194.7	696.7	-7.3	405	7106	0.00	0.00	0.00	0.000	6	0.000	0.000	1657	2927	3615	0	0	0	0	0	0
7410	-0.66	-194.7	717.8	-6.7	415	7414	0.00	2.17	0.00	0.000	4	0.000	0.041	1657	1498	3615	0	0	0	0	0	0
7456	-0.66	-194.7	721.0	-6.5	416	7460	0.00	2.28	0.00	0.000	6	0.000	0.058	1650	2923	3615	0	0	0	0	0	0
7777	-0.66	-194.7	744.5	-7.6	427	7779	0.00	0.00	0.00	0.000	6	0.000	0.000	1649	2923	3615	0	0	0	0	0	0
8085	-0.66	-194.7	767.4	-7.4	437	8089	0.00	2.17	0.00	0.000	4	0.000	0.041	1650	1505	3615	0	0	0	0	0	0
8150	-0.66	-194.7	772.3	-7.1	439	8154	0.00	2.28	0.00	0.000	6	0.000	0.058	1639	2934	3615	0	0	0	0	0	0
8488	-0.66	-194.7	800.9	-8.6	450	8489	0.00	0.00	0.00	0.000	6	0.000	0.000	1639	2934	3615	0	0	0	0	0	0
8794	-0.66	-194.7	828.4	-9.1	460	8798	0.00	2.17	0.00	0.000	4	0.000	0.040	1639	1498	3615	0	0	0	0	0	0
8847	-0.66	-194.7	833.1	-8.2	461	8851	0.00	2.28	0.00	0.000	6	0.000	0.058	1629	2923	3615	0	0	0	0	0	0
9162	-0.66	-194.7	864.2	-10.1	471	9163	0.00	0.00	0.00	0.000	6	0.000	0.000	1629	2923	3615	0	0	0	0	0	0
9468	-0.66	-194.7	895.0	-10.0	481	9472	0.00	2.17	0.00	0.000	4	0.000	0.041	1628	1499	3615	0	0	0	0	0	0
9531	-0.66	-194.7	901.3	-9.4	482	9539	0.12	2.28	0.00	0.000	6	0.186	0.058	1652	2930	3615	0	0	0	0	0	0
9847	-0.66	-194.7	924.3	-6.9	493	9851	0.00	2.17	0.00	0.000	4	0.000	0.041	1651	1507	3615	0	0	0	0	0	0
9882	-0.66	-194.7	927.0	-6.5	494	9886	0.00	2.28	0.00	0.000	6	0.000	0.058	1644	2934	3615	0	0	0	0	0	0
10214	-0.66	-194.7	950.2	-6.9	505	10218	0.00	2.15	0.00	0.000	4	0.000	0.041	1643	1508	3615	0	0	0	0	0	0
10238	-0.66	-194.7	952.1	-7.0	505	10247	0.00	2.25	0.00	0.000	6	0.000	0.058	1634	2925	3615	0	0	0	0	0	0
10457	end dive: HALF_MISSION_TIME_EXCEEDED
state	10458	begin apogee
10468	-0.19	0.0	968.6	7.7	513	10670	0.55	0.00	194.12	1.200	6	0.159	0.000	1802	2702	2814	0	0	0	0	0	0
10672	end apogee: CONTROL_FINISHED_OK
state	10672	begin climb
10677	0.66	194.7	973.8	0.0	520	10881	0.77	2.28	190.52	1.781	4	0.064	0.060	2082	3897	2027	0	0	0	0	1	0
11109	0.66	194.7	866.3	28.5	533	11112	0.00	1.92	0.00	0.000	6	0.000	0.042	2092	2748	2022	0	0	0	0	0	0
11452	0.66	194.7	763.9	30.1	544	11456	0.00	2.33	0.00	0.000	4	0.000	0.050	2103	1318	2019	0	0	0	0	0	0
11537	0.66	194.7	739.6	26.0	546	11541	0.00	2.35	0.00	0.000	6	0.000	0.054	2103	2736	2017	0	0	0	0	0	0
11852	0.66	194.7	643.1	31.0	556	11856	0.00	2.33	0.00	0.000	4	0.000	0.051	2113	1315	2016	0	0	0	0	0	0
11893	0.66	194.7	630.4	28.2	557	11898	0.12	2.33	0.00	0.000	6	0.246	0.054	2089	2738	2016	0	0	0	0	0	0
12220	0.66	194.7	538.0	28.5	568	12224	0.00	2.30	0.00	0.000	4	0.000	0.051	2098	1316	2016	0	0	0	0	0	0
12251	0.66	194.7	529.4	26.3	569	12255	0.00	2.30	0.00	0.000	6	0.000	0.054	2098	2739	2016	0	0	0	0	0	0
12589	0.66	194.7	434.2	28.0	580	12590	0.00	0.00	0.00	0.000	6	0.000	0.000	2098	2738	2015	0	0	0	0	0	0
12909	0.66	194.7	348.8	26.6	593	12913	0.00	2.28	0.00	0.000	4	0.000	0.050	2108	1316	2015	0	0	0	0	0	0
12968	0.66	194.7	333.0	23.9	595	12975	0.00	2.30	0.00	0.000	6	0.000	0.056	2108	2739	2015	0	0	0	0	0	0
13289	0.66	194.7	245.5	28.1	611	13293	0.00	2.28	0.00	0.000	4	0.000	0.052	2119	1314	2015	0	0	0	0	0	0
13322	0.66	194.7	236.4	27.0	613	13327	0.15	2.30	0.00	0.000	6	0.242	0.057	2086	2734	2015	0	0	0	0	0	0
13656	0.66	194.7	155.8	24.5	634	13660	0.00	2.25	0.00	0.000	4	0.000	0.050	2095	1313	2015	0	0	0	0	0	0
13706	0.66	194.7	143.2	22.4	637	13710	0.00	2.28	0.00	0.000	6	0.000	0.056	2095	2737	2015	0	0	0	0	0	0
14042	0.66	194.7	60.3	23.8	675	14049	0.00	1.88	0.00	0.000	4	0.000	0.063	2095	3901	2015	0	0	0	0	0	0
14119	0.66	194.7	40.7	26.2	687	14126	0.00	1.85	0.00	0.000	6	0.000	0.044	2104	2724	2014	0	0	0	0	0	0
14271	end climb: SURFACE_DEPTH_REACHED
state	14275	begin surface coast
14289	end surface coast: CONTROL_FINISHED_OK
state	14289	begin surface