Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 62 * 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 62 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 27 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 34 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 5 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 2.49

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 KERMIT 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 480 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3961 DEVICE2 101

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2820 DEVICE3 115

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 134

T_DIVE 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 -10485.782 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 -10485.782

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 27 VBD_MAX 3961

DEVICE2 101 MASS 52816 R_STBD_OVSHOOT 34 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 62 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 191212,125404,-4629.085,359.732,34,0.9,34,-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 -0.144,-0.237

_SM_DEPTHo 0.92 KALMAN_X -45718.0,2.4,-192.9,24094.0,3199.0

_SM_ANGLEo -36.2 KALMAN_Y 16267.5,108.0,11.7,24778.2,2971.1

GPS2 191212,130305,-4629.043,359.752,18,0.9,18,-23.3 MHEAD_RNG_PITCHd_Wd 234.7,1800,-16.1,-10.010

SPEED_LIMITS 0.173,0.295 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.5,1.008221 _10V_AH 10.1,6.030

SM_CCo 13717,160.30,0.793,1,0,517,564.18 FG_AHR_24Vo 0.000

SM_GC 0.93,0.00,0.00,160.30,0.000,0.000,0.793,60,2928,517,-5.66,0.17,564.18 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4613.60,400.91,191212,090915 MEM 354276

TT8_MAMPS 0.026215 DATA_FILE_SIZE 50359,677

HUMID 56.34 CAP_FILE_SIZE 117222,0

INTERNAL_PRESSURE 9.20901 CFSIZE 259252224,224235520

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

XPDR_PINGS 0 GPS 191212,165653,-4630.093,357.546,36,1.0,36,-23.3

_24V_AH 21.5,13.966

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 249 76.81 SBE_CT 446 24 230.23

Roll_motor 113 84 206.80 AA4330 1335 33 947.51

VBD_pump_during_apogee 387 1813 15117.64 WL_BB2FLVMT 706 105 1594.65

VBD_pump_during_surface 160 792 2731.45 QSP2150 259 4 24.47

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 33 103 73.58 nil 0 0 0.00

Iridium_during_connect 20 160 71.41 nil 0 0 0.00

Iridium_during_xfer 296 223 1423.91 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 5.88

TT8 1716 14 259.35

LPSleep 9234 2 204.26

TT8_Active 672 14 96.50

TT8_Sampling 2197 37 830.57

TT8_CF8 604 47 288.09

TT8_Kalman 33 59 19.93

Analog_circuits 1507 12 182.75

GPS_charging 0 0 0.00

Compass 1792 15 284.71

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 -0.64 -169.5 0.0 0.0 0 170 0.00 0.00 -141.48 0.000 2 0.000 0.000 60 2948 3297 0 0 0 0 0 0

177 -0.68 -194.7 3.1 -2.6 18 196 6.50 1.58 -8.02 0.000 4 0.249 0.080 1636 3893 3616 0 0 0 0 0 0

239 -0.68 -194.7 18.0 -19.0 26 248 0.00 1.55 0.00 0.000 6 0.000 0.035 1637 2897 3618 0 0 0 0 0 0

326 -0.68 -194.7 30.5 -13.9 39 332 0.00 0.00 0.00 0.000 6 0.000 0.000 1637 2896 3618 0 0 0 0 0 0

570 -0.68 -194.7 66.1 -14.1 80 577 0.00 2.10 0.00 0.000 4 0.000 0.040 1637 1527 3618 0 0 0 0 0 0

608 -0.68 -194.7 70.5 -13.3 85 612 0.00 2.25 0.00 0.000 6 0.000 0.055 1626 2914 3618 0 0 0 0 0 0

957 -0.68 -194.7 117.1 -13.9 132 961 0.00 2.15 0.00 0.000 4 0.000 0.039 1626 1526 3618 0 0 0 0 0 0

1015 -0.68 -194.7 125.0 -12.1 135 1023 0.12 2.25 0.00 0.000 6 0.188 0.055 1647 2928 3618 0 0 0 0 0 0

1338 -0.68 -194.7 162.3 -11.6 156 1340 0.00 0.00 0.00 0.000 6 0.000 0.000 1647 2928 3619 0 0 0 0 0 0

1649 -0.68 -194.7 197.0 -10.9 176 1653 0.00 2.15 0.00 0.000 4 0.000 0.039 1648 1528 3619 0 0 0 0 0 0

1701 -0.68 -194.7 201.9 -9.4 179 1705 0.00 2.25 0.00 0.000 6 0.000 0.055 1639 2932 3619 0 0 0 0 0 0

2029 -0.68 -194.7 239.7 -11.4 200 2032 0.00 1.52 0.00 0.000 4 0.000 0.063 1631 3891 3619 0 0 0 0 0 0

2085 -0.68 -194.7 246.2 -11.9 203 2089 0.00 1.48 0.00 0.000 6 0.000 0.037 1631 2926 3619 0 0 0 0 0 0

2413 -0.68 -194.7 284.1 -11.6 219 2417 0.00 2.15 0.00 0.000 4 0.000 0.041 1631 1525 3619 0 0 0 0 0 0

2459 -0.68 -194.7 289.1 -10.4 221 2463 0.10 2.25 0.00 0.000 6 0.194 0.057 1645 2929 3619 0 0 0 0 0 0

2791 -0.68 -194.7 323.7 -10.7 237 2792 0.00 0.00 0.00 0.000 6 0.000 0.000 1645 2929 3619 0 0 0 0 0 0

3098 -0.68 -194.7 357.0 -11.0 252 3099 0.00 0.00 0.00 0.000 6 0.000 0.000 1645 2929 3618 0 0 0 0 0 0

3409 -0.68 -194.7 390.7 -10.8 267 3413 0.00 2.15 0.00 0.000 4 0.000 0.041 1645 1519 3618 0 0 0 0 0 0

3468 -0.68 -194.7 396.9 -9.9 269 3472 0.00 2.25 0.00 0.000 6 0.000 0.059 1637 2922 3618 0 0 0 0 0 0

3793 -0.68 -194.7 433.8 -11.5 280 3795 0.00 0.00 0.00 0.000 6 0.000 0.000 1637 2922 3618 0 0 0 0 0 0

4100 -0.68 -194.7 467.5 -11.0 290 4101 0.00 0.00 0.00 0.000 6 0.000 0.000 1637 2922 3618 0 0 0 0 0 0

4406 -0.68 -194.7 499.9 -10.4 300 4410 0.00 2.17 0.00 0.000 4 0.000 0.041 1636 1519 3618 0 0 0 0 0 0

4441 -0.68 -194.7 503.6 -9.8 301 4445 0.00 2.25 0.00 0.000 6 0.000 0.058 1627 2927 3618 0 0 0 0 0 0

4773 -0.68 -194.7 538.6 -10.5 312 4774 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2926 3617 0 0 0 0 0 0

5080 -0.68 -194.7 569.2 -9.8 322 5084 0.00 2.15 0.00 0.000 4 0.000 0.041 1627 1520 3617 0 0 0 0 0 0

5115 -0.68 -194.7 572.9 -9.2 323 5120 0.12 2.25 0.00 0.000 6 0.187 0.058 1649 2928 3617 0 0 0 0 0 0

5448 -0.68 -194.7 599.2 -8.1 334 5452 0.00 2.15 0.00 0.000 4 0.000 0.041 1649 1521 3617 0 0 0 0 0 0

5484 -0.68 -194.7 602.4 -7.7 335 5488 0.00 2.25 0.00 0.000 6 0.000 0.060 1641 2926 3616 0 0 0 0 0 0

5816 -0.68 -194.7 633.7 -9.8 346 5820 0.00 2.15 0.00 0.000 4 0.000 0.040 1641 1520 3616 0 0 0 0 0 0

5851 -0.68 -194.7 637.5 -9.8 347 5855 0.00 2.25 0.00 0.000 6 0.000 0.059 1632 2926 3616 0 0 0 0 0 0

6184 -0.68 -194.7 673.1 -10.7 358 6186 0.00 0.00 0.00 0.000 6 0.000 0.000 1632 2926 3616 0 0 0 0 0 0

6489 -0.68 -194.7 706.8 -11.0 368 6493 0.00 2.12 0.00 0.000 4 0.000 0.041 1632 1526 3616 0 0 0 0 0 0

6530 -0.68 -194.7 711.3 -10.0 369 6534 0.00 2.25 0.00 0.000 6 0.000 0.060 1622 2934 3615 0 0 0 0 0 0

6869 -0.68 -194.7 751.6 -12.1 380 6870 0.00 0.00 0.00 0.000 6 0.000 0.000 1622 2934 3615 0 0 0 0 0 0

7174 -0.68 -194.7 788.4 -11.7 390 7178 0.00 2.15 0.00 0.000 4 0.000 0.040 1622 1524 3614 0 0 0 0 0 0

7208 -0.68 -194.7 792.5 -10.6 391 7213 0.15 2.25 0.00 0.000 6 0.181 0.059 1652 2933 3615 0 0 0 0 0 0

7542 -0.68 -194.7 820.0 -8.2 402 7546 0.00 2.15 0.00 0.000 4 0.000 0.041 1652 1521 3614 0 0 0 0 0 0

7573 -0.68 -194.7 822.4 -8.3 403 7577 0.00 2.25 0.00 0.000 6 0.000 0.060 1645 2928 3615 0 0 0 0 0 0

7911 -0.68 -194.7 850.0 -7.8 414 7915 0.00 2.15 0.00 0.000 4 0.000 0.041 1645 1520 3614 0 0 0 0 0 0

7946 -0.68 -194.7 852.8 -8.3 415 7950 0.00 2.25 0.00 0.000 6 0.000 0.060 1635 2925 3614 0 0 0 0 0 0

8279 -0.68 -194.7 879.9 -8.0 426 8282 0.00 2.12 0.00 0.000 4 0.000 0.041 1635 1517 3615 0 0 0 0 0 0

8314 -0.68 -194.7 882.9 -7.8 427 8318 0.00 2.25 0.00 0.000 6 0.000 0.060 1627 2924 3614 0 0 0 0 0 0

8646 -0.68 -194.7 911.1 -8.7 438 8647 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2925 3614 0 0 0 0 0 0

8954 -0.68 -194.7 937.7 -8.7 448 8958 0.00 2.12 0.00 0.000 4 0.000 0.041 1628 1525 3614 0 0 0 0 0 0

9000 -0.68 -194.7 942.1 -8.7 449 9005 0.12 2.25 0.00 0.000 6 0.186 0.060 1649 2931 3614 0 0 0 0 0 0

9322 -0.68 -194.7 963.9 -6.7 460 9326 0.00 2.15 0.00 0.000 4 0.000 0.041 1650 1521 3614 0 0 0 0 0 0

9354 -0.68 -194.7 966.0 -6.9 461 9358 0.00 2.25 0.00 0.000 6 0.000 0.061 1642 2927 3614 0 0 0 0 0 0

9692 -0.68 -194.7 989.3 -6.8 472 9693 0.00 0.00 0.00 0.000 6 0.000 0.000 1642 2927 3613 0 0 0 0 0 0

9871 end dive: TARGET_DEPTH_EXCEEDED

state 9871 begin apogee

9882 -0.19 0.0 1001.7 6.7 478 10083 0.52 0.00 193.62 1.223 6 0.155 0.000 1802 2746 2813 0 0 0 0 0 0

10085 end apogee: CONTROL_FINISHED_OK

state 10085 begin climb

10090 0.68 194.7 1004.9 0.0 485 10297 0.80 2.22 194.20 1.813 4 0.063 0.063 2090 3896 2027 0 0 0 0 1 0

10557 0.68 194.7 876.5 31.5 499 10561 0.00 1.95 0.00 0.000 6 0.000 0.042 2099 2744 2022 0 0 0 0 0 0

10895 0.68 194.7 772.6 30.4 510 10899 0.00 2.30 0.00 0.000 4 0.000 0.050 2110 1325 2020 0 0 0 0 0 0

10918 0.68 194.7 764.7 29.9 510 10925 0.00 2.35 0.00 0.000 6 0.000 0.056 2109 2733 2019 0 0 0 0 0 0

11234 0.68 194.7 668.8 30.7 521 11238 0.00 2.30 0.00 0.000 4 0.000 0.050 2121 1319 2017 0 0 0 0 0 0

11319 0.68 194.7 644.1 26.4 523 11324 0.12 2.35 0.00 0.000 6 0.249 0.055 2096 2742 2017 0 0 0 0 0 0

11641 0.68 194.7 553.7 28.4 534 11645 0.00 2.30 0.00 0.000 4 0.000 0.050 2105 1316 2016 0 0 0 0 0 0

11706 0.68 194.7 537.0 24.2 536 11710 0.00 2.33 0.00 0.000 6 0.000 0.057 2105 2740 2016 0 0 0 0 0 0

12050 0.68 194.7 442.1 27.9 547 12054 0.00 2.28 0.00 0.000 4 0.000 0.050 2114 1321 2015 0 0 0 0 0 0

12083 0.68 194.7 433.0 27.6 548 12087 0.00 2.30 0.00 0.000 6 0.000 0.056 2114 2735 2015 0 0 0 0 0 0

12412 0.68 194.7 338.8 29.2 562 12414 0.00 0.00 0.00 0.000 6 0.000 0.000 2114 2735 2015 0 0 0 0 0 0

12724 0.68 194.7 249.4 29.1 577 12728 0.00 2.25 0.00 0.000 4 0.000 0.053 2124 1322 2016 0 0 0 0 0 0

12806 0.68 194.7 225.7 25.1 582 12811 0.15 2.30 0.00 0.000 6 0.244 0.058 2092 2739 2015 0 0 0 0 0 0

13140 0.68 194.7 140.1 25.6 603 13144 0.00 2.25 0.00 0.000 4 0.000 0.050 2102 1322 2015 0 0 0 0 0 0

13181 0.68 194.7 127.9 25.2 605 13188 0.00 2.28 0.00 0.000 6 0.000 0.057 2102 2736 2015 0 0 0 0 0 0

13524 0.68 194.7 43.3 25.1 652 13533 0.00 2.25 0.00 0.000 4 0.000 0.051 2112 1332 2015 0 0 0 0 0 0

13551 0.68 194.7 36.8 24.3 655 13558 0.00 2.28 0.00 0.000 6 0.000 0.057 2112 2744 2015 0 0 0 0 0 0

13673 end climb: SURFACE_DEPTH_REACHED

state 13674 begin surface coast

13694 end surface coast: CONTROL_FINISHED_OK

state 13694 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	62	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	27	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	34	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	5	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	2.49
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	KERMIT	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	480	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3961	DEVICE2	101
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2820	DEVICE3	115
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	134
T_DIVE	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	-10485.782	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	191212,125404,-4629.085,359.732,34,0.9,34,-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	-0.144,-0.237
_SM_DEPTHo	0.92	KALMAN_X	-45718.0,2.4,-192.9,24094.0,3199.0
_SM_ANGLEo	-36.2	KALMAN_Y	16267.5,108.0,11.7,24778.2,2971.1
GPS2	191212,130305,-4629.043,359.752,18,0.9,18,-23.3	MHEAD_RNG_PITCHd_Wd	234.7,1800,-16.1,-10.010
SPEED_LIMITS	0.173,0.295	D_GRID	1000

FINISH	0.5,1.008221	_10V_AH	10.1,6.030
SM_CCo	13717,160.30,0.793,1,0,517,564.18	FG_AHR_24Vo	0.000
SM_GC	0.93,0.00,0.00,160.30,0.000,0.000,0.793,60,2928,517,-5.66,0.17,564.18	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4613.60,400.91,191212,090915	MEM	354276
TT8_MAMPS	0.026215	DATA_FILE_SIZE	50359,677
HUMID	56.34	CAP_FILE_SIZE	117222,0
INTERNAL_PRESSURE	9.20901	CFSIZE	259252224,224235520
TCM_TEMP	10.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
XPDR_PINGS	0	GPS	191212,165653,-4630.093,357.546,36,1.0,36,-23.3
_24V_AH	21.5,13.966

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	249	76.81	SBE_CT	446	24	230.23
Roll_motor	113	84	206.80	AA4330	1335	33	947.51
VBD_pump_during_apogee	387	1813	15117.64	WL_BB2FLVMT	706	105	1594.65
VBD_pump_during_surface	160	792	2731.45	QSP2150	259	4	24.47
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	33	103	73.58	nil	0	0	0.00
Iridium_during_connect	20	160	71.41	nil	0	0	0.00
Iridium_during_xfer	296	223	1423.91	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	5.88
TT8	1716	14	259.35
LPSleep	9234	2	204.26
TT8_Active	672	14	96.50
TT8_Sampling	2197	37	830.57
TT8_CF8	604	47	288.09
TT8_Kalman	33	59	19.93
Analog_circuits	1507	12	182.75
GPS_charging	0	0	0.00
Compass	1792	15	284.71
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	-0.64	-169.5	0.0	0.0	0	170	0.00	0.00	-141.48	0.000	2	0.000	0.000	60	2948	3297	0	0	0	0	0	0
177	-0.68	-194.7	3.1	-2.6	18	196	6.50	1.58	-8.02	0.000	4	0.249	0.080	1636	3893	3616	0	0	0	0	0	0
239	-0.68	-194.7	18.0	-19.0	26	248	0.00	1.55	0.00	0.000	6	0.000	0.035	1637	2897	3618	0	0	0	0	0	0
326	-0.68	-194.7	30.5	-13.9	39	332	0.00	0.00	0.00	0.000	6	0.000	0.000	1637	2896	3618	0	0	0	0	0	0
570	-0.68	-194.7	66.1	-14.1	80	577	0.00	2.10	0.00	0.000	4	0.000	0.040	1637	1527	3618	0	0	0	0	0	0
608	-0.68	-194.7	70.5	-13.3	85	612	0.00	2.25	0.00	0.000	6	0.000	0.055	1626	2914	3618	0	0	0	0	0	0
957	-0.68	-194.7	117.1	-13.9	132	961	0.00	2.15	0.00	0.000	4	0.000	0.039	1626	1526	3618	0	0	0	0	0	0
1015	-0.68	-194.7	125.0	-12.1	135	1023	0.12	2.25	0.00	0.000	6	0.188	0.055	1647	2928	3618	0	0	0	0	0	0
1338	-0.68	-194.7	162.3	-11.6	156	1340	0.00	0.00	0.00	0.000	6	0.000	0.000	1647	2928	3619	0	0	0	0	0	0
1649	-0.68	-194.7	197.0	-10.9	176	1653	0.00	2.15	0.00	0.000	4	0.000	0.039	1648	1528	3619	0	0	0	0	0	0
1701	-0.68	-194.7	201.9	-9.4	179	1705	0.00	2.25	0.00	0.000	6	0.000	0.055	1639	2932	3619	0	0	0	0	0	0
2029	-0.68	-194.7	239.7	-11.4	200	2032	0.00	1.52	0.00	0.000	4	0.000	0.063	1631	3891	3619	0	0	0	0	0	0
2085	-0.68	-194.7	246.2	-11.9	203	2089	0.00	1.48	0.00	0.000	6	0.000	0.037	1631	2926	3619	0	0	0	0	0	0
2413	-0.68	-194.7	284.1	-11.6	219	2417	0.00	2.15	0.00	0.000	4	0.000	0.041	1631	1525	3619	0	0	0	0	0	0
2459	-0.68	-194.7	289.1	-10.4	221	2463	0.10	2.25	0.00	0.000	6	0.194	0.057	1645	2929	3619	0	0	0	0	0	0
2791	-0.68	-194.7	323.7	-10.7	237	2792	0.00	0.00	0.00	0.000	6	0.000	0.000	1645	2929	3619	0	0	0	0	0	0
3098	-0.68	-194.7	357.0	-11.0	252	3099	0.00	0.00	0.00	0.000	6	0.000	0.000	1645	2929	3618	0	0	0	0	0	0
3409	-0.68	-194.7	390.7	-10.8	267	3413	0.00	2.15	0.00	0.000	4	0.000	0.041	1645	1519	3618	0	0	0	0	0	0
3468	-0.68	-194.7	396.9	-9.9	269	3472	0.00	2.25	0.00	0.000	6	0.000	0.059	1637	2922	3618	0	0	0	0	0	0
3793	-0.68	-194.7	433.8	-11.5	280	3795	0.00	0.00	0.00	0.000	6	0.000	0.000	1637	2922	3618	0	0	0	0	0	0
4100	-0.68	-194.7	467.5	-11.0	290	4101	0.00	0.00	0.00	0.000	6	0.000	0.000	1637	2922	3618	0	0	0	0	0	0
4406	-0.68	-194.7	499.9	-10.4	300	4410	0.00	2.17	0.00	0.000	4	0.000	0.041	1636	1519	3618	0	0	0	0	0	0
4441	-0.68	-194.7	503.6	-9.8	301	4445	0.00	2.25	0.00	0.000	6	0.000	0.058	1627	2927	3618	0	0	0	0	0	0
4773	-0.68	-194.7	538.6	-10.5	312	4774	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2926	3617	0	0	0	0	0	0
5080	-0.68	-194.7	569.2	-9.8	322	5084	0.00	2.15	0.00	0.000	4	0.000	0.041	1627	1520	3617	0	0	0	0	0	0
5115	-0.68	-194.7	572.9	-9.2	323	5120	0.12	2.25	0.00	0.000	6	0.187	0.058	1649	2928	3617	0	0	0	0	0	0
5448	-0.68	-194.7	599.2	-8.1	334	5452	0.00	2.15	0.00	0.000	4	0.000	0.041	1649	1521	3617	0	0	0	0	0	0
5484	-0.68	-194.7	602.4	-7.7	335	5488	0.00	2.25	0.00	0.000	6	0.000	0.060	1641	2926	3616	0	0	0	0	0	0
5816	-0.68	-194.7	633.7	-9.8	346	5820	0.00	2.15	0.00	0.000	4	0.000	0.040	1641	1520	3616	0	0	0	0	0	0
5851	-0.68	-194.7	637.5	-9.8	347	5855	0.00	2.25	0.00	0.000	6	0.000	0.059	1632	2926	3616	0	0	0	0	0	0
6184	-0.68	-194.7	673.1	-10.7	358	6186	0.00	0.00	0.00	0.000	6	0.000	0.000	1632	2926	3616	0	0	0	0	0	0
6489	-0.68	-194.7	706.8	-11.0	368	6493	0.00	2.12	0.00	0.000	4	0.000	0.041	1632	1526	3616	0	0	0	0	0	0
6530	-0.68	-194.7	711.3	-10.0	369	6534	0.00	2.25	0.00	0.000	6	0.000	0.060	1622	2934	3615	0	0	0	0	0	0
6869	-0.68	-194.7	751.6	-12.1	380	6870	0.00	0.00	0.00	0.000	6	0.000	0.000	1622	2934	3615	0	0	0	0	0	0
7174	-0.68	-194.7	788.4	-11.7	390	7178	0.00	2.15	0.00	0.000	4	0.000	0.040	1622	1524	3614	0	0	0	0	0	0
7208	-0.68	-194.7	792.5	-10.6	391	7213	0.15	2.25	0.00	0.000	6	0.181	0.059	1652	2933	3615	0	0	0	0	0	0
7542	-0.68	-194.7	820.0	-8.2	402	7546	0.00	2.15	0.00	0.000	4	0.000	0.041	1652	1521	3614	0	0	0	0	0	0
7573	-0.68	-194.7	822.4	-8.3	403	7577	0.00	2.25	0.00	0.000	6	0.000	0.060	1645	2928	3615	0	0	0	0	0	0
7911	-0.68	-194.7	850.0	-7.8	414	7915	0.00	2.15	0.00	0.000	4	0.000	0.041	1645	1520	3614	0	0	0	0	0	0
7946	-0.68	-194.7	852.8	-8.3	415	7950	0.00	2.25	0.00	0.000	6	0.000	0.060	1635	2925	3614	0	0	0	0	0	0
8279	-0.68	-194.7	879.9	-8.0	426	8282	0.00	2.12	0.00	0.000	4	0.000	0.041	1635	1517	3615	0	0	0	0	0	0
8314	-0.68	-194.7	882.9	-7.8	427	8318	0.00	2.25	0.00	0.000	6	0.000	0.060	1627	2924	3614	0	0	0	0	0	0
8646	-0.68	-194.7	911.1	-8.7	438	8647	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2925	3614	0	0	0	0	0	0
8954	-0.68	-194.7	937.7	-8.7	448	8958	0.00	2.12	0.00	0.000	4	0.000	0.041	1628	1525	3614	0	0	0	0	0	0
9000	-0.68	-194.7	942.1	-8.7	449	9005	0.12	2.25	0.00	0.000	6	0.186	0.060	1649	2931	3614	0	0	0	0	0	0
9322	-0.68	-194.7	963.9	-6.7	460	9326	0.00	2.15	0.00	0.000	4	0.000	0.041	1650	1521	3614	0	0	0	0	0	0
9354	-0.68	-194.7	966.0	-6.9	461	9358	0.00	2.25	0.00	0.000	6	0.000	0.061	1642	2927	3614	0	0	0	0	0	0
9692	-0.68	-194.7	989.3	-6.8	472	9693	0.00	0.00	0.00	0.000	6	0.000	0.000	1642	2927	3613	0	0	0	0	0	0
9871	end dive: TARGET_DEPTH_EXCEEDED
state	9871	begin apogee
9882	-0.19	0.0	1001.7	6.7	478	10083	0.52	0.00	193.62	1.223	6	0.155	0.000	1802	2746	2813	0	0	0	0	0	0
10085	end apogee: CONTROL_FINISHED_OK
state	10085	begin climb
10090	0.68	194.7	1004.9	0.0	485	10297	0.80	2.22	194.20	1.813	4	0.063	0.063	2090	3896	2027	0	0	0	0	1	0
10557	0.68	194.7	876.5	31.5	499	10561	0.00	1.95	0.00	0.000	6	0.000	0.042	2099	2744	2022	0	0	0	0	0	0
10895	0.68	194.7	772.6	30.4	510	10899	0.00	2.30	0.00	0.000	4	0.000	0.050	2110	1325	2020	0	0	0	0	0	0
10918	0.68	194.7	764.7	29.9	510	10925	0.00	2.35	0.00	0.000	6	0.000	0.056	2109	2733	2019	0	0	0	0	0	0
11234	0.68	194.7	668.8	30.7	521	11238	0.00	2.30	0.00	0.000	4	0.000	0.050	2121	1319	2017	0	0	0	0	0	0
11319	0.68	194.7	644.1	26.4	523	11324	0.12	2.35	0.00	0.000	6	0.249	0.055	2096	2742	2017	0	0	0	0	0	0
11641	0.68	194.7	553.7	28.4	534	11645	0.00	2.30	0.00	0.000	4	0.000	0.050	2105	1316	2016	0	0	0	0	0	0
11706	0.68	194.7	537.0	24.2	536	11710	0.00	2.33	0.00	0.000	6	0.000	0.057	2105	2740	2016	0	0	0	0	0	0
12050	0.68	194.7	442.1	27.9	547	12054	0.00	2.28	0.00	0.000	4	0.000	0.050	2114	1321	2015	0	0	0	0	0	0
12083	0.68	194.7	433.0	27.6	548	12087	0.00	2.30	0.00	0.000	6	0.000	0.056	2114	2735	2015	0	0	0	0	0	0
12412	0.68	194.7	338.8	29.2	562	12414	0.00	0.00	0.00	0.000	6	0.000	0.000	2114	2735	2015	0	0	0	0	0	0
12724	0.68	194.7	249.4	29.1	577	12728	0.00	2.25	0.00	0.000	4	0.000	0.053	2124	1322	2016	0	0	0	0	0	0
12806	0.68	194.7	225.7	25.1	582	12811	0.15	2.30	0.00	0.000	6	0.244	0.058	2092	2739	2015	0	0	0	0	0	0
13140	0.68	194.7	140.1	25.6	603	13144	0.00	2.25	0.00	0.000	4	0.000	0.050	2102	1322	2015	0	0	0	0	0	0
13181	0.68	194.7	127.9	25.2	605	13188	0.00	2.28	0.00	0.000	6	0.000	0.057	2102	2736	2015	0	0	0	0	0	0
13524	0.68	194.7	43.3	25.1	652	13533	0.00	2.25	0.00	0.000	4	0.000	0.051	2112	1332	2015	0	0	0	0	0	0
13551	0.68	194.7	36.8	24.3	655	13558	0.00	2.28	0.00	0.000	6	0.000	0.057	2112	2744	2015	0	0	0	0	0	0
13673	end climb: SURFACE_DEPTH_REACHED
state	13674	begin surface coast
13694	end surface coast: CONTROL_FINISHED_OK
state	13694	begin surface