Glider dive log

SOSCEx 08Dec12 * SG543 * Dive index * Mission links * Dive 65 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 543 HEADING -1 ROLL_MAX 3944 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 6 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 1050

DIVE 65 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 3353 ALTIM_PING_DELTA 15

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 3250 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -4230 HEAD_ERRBAND 15 ALTIM_PULSE 4

D_TGT 1000 TGT_DEFAULT_LON -200 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 3

D_NO_BLEED 200 SM_CC 482.49722 R_PORT_OVSHOOT 63 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 29 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 5 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.050000001

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 KERMIT 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 507 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 101

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2474 DEVICE3 131

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 118

T_DIVE 370 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 385 CAPUPLOAD 0 VBD_TIMEOUT 800 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00061500003 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 60 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -8009.1704 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 1 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 86 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 200 PITCH_MAX 3908 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1650 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043127281

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -55.913475 SEABIRD_T_H 0.00062185986

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011638312 SEABIRD_T_I 2.2048062e-05

RHO 1.027 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.2117231e-06

MASS 52459 PITCH_GAIN 36 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.303595

NAV_MODE 1 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1762303

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.001936322

KALMAN_USE 1 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00024357962

HD_A 0.003 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 20

HD_C 9.9999997e-06 ROLL_MIN 394 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SM_CC 482.49722

AH0_10V 100 D_OFFGRID 250 PHONE_SUPPLY 2 SPEED_FACTOR 1

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 20 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_TGT 1000 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 15 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 1050 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 36 TCM_ROLL_OFFSET 0

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_MAX 3908 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -4230

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 86 TGT_DEFAULT_LON -200

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 16 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00061500003 T_BOOST 5

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011638312 T_DIVE 370

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -55.913475 T_GPS 15

CALL_TRIES 5 HD_A 0.003 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -8009.1704

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

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 385

CF8_MAXERRORS 20 HEAD_ERRBAND 15 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 RELAUNCH 1 T_RSLEEP 1

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RHO 1.027 T_TURN 225

COMPASS_DEVICE 33 ID 543 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_YINT 0.050000001 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_PITCH 1650 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 3250 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 3353 LOGGERDEVICE1 -1 ROLL_MAX 3944 USE_ICE 0

C_VBD 2474 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_MIN 394 VBD_CNV -0.245296

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 63 VBD_MAX 3960

DEVICE2 101 MASS 52459 R_STBD_OVSHOOT 29 VBD_MAXERRORS 1

DEVICE3 131 MAX_BUOY 200 SEABIRD_C_G -10.303595 VBD_MIN 507

DEVICE4 118 MINV_10V 8 SEABIRD_C_H 1.1762303 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.001936322 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MISSION 6 SEABIRD_C_J 0.00024357962 VBD_TIMEOUT 800

DIVE 65 MOTHERBOARD 4 SEABIRD_T_G 0.0043127281 XPDR_DEVICE 24

D_ABORT 1050 NAV_MODE 1 SEABIRD_T_H 0.00062185986 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 SEABIRD_T_I 2.2048062e-05 XPDR_VALID 3

D_CALL 0 N_GPS 20 SEABIRD_T_J 2.2117231e-06

D_FINISH 0 N_NOCOMM 1 SIM_PITCH 0

D_FLARE 3 N_NOSURFACE 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 191212,043658,-4229.260,819.842,40,1.0,40,-24.9 TGT_NAME GH1

_CALLS 1 TGT_LATLONG -4230.000,820.000

_XMS_NAKs 0 TGT_RADIUS 800.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.192,-0.131

_SM_DEPTHo 1.17 KALMAN_X 1275.6,-45.7,-51.9,23577.2,4545.5

_SM_ANGLEo -28.7 KALMAN_Y 85321.3,318.6,40.7,-84226.3,1521.6

GPS2 191212,044611,-4229.249,819.792,19,1.2,20,-24.9 MHEAD_RNG_PITCHd_Wd 260.6,1419,-17.4,-9.009

SPEED_LIMITS 0.156,0.284 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.0,1.009979 _10V_AH 10.1,7.094

SM_CCo 12385,128.43,0.758,1,0,504,482.50 FG_AHR_24Vo 0.000

SM_GC 1.36,0.00,0.00,128.43,0.000,0.000,0.758,62,3362,504,-4.96,0.28,482.50 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4215.72,818.13,191212,010114 MEM 354228

TT8_MAMPS 0.025466 DATA_FILE_SIZE 47087,621

HUMID 54.96 CAP_FILE_SIZE 107788,0

INTERNAL_PRESSURE 8.95659 CFSIZE 259252224,254418944

TCM_TEMP 15.20 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,3,1

XPDR_PINGS 0 GPS 191212,081705,-4229.129,817.158,38,0.8,38,-24.9

_24V_AH 22.1,14.127

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 243 64.65 SBE_CT 403 24 214.12

Roll_motor 56 74 93.69 AA4330 1374 33 1002.52

VBD_pump_during_apogee 378 1851 15476.64 WL_BB2FLVMT 636 105 1477.16

VBD_pump_during_surface 128 758 2151.68 QSP2150 281 4 27.21

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 36 103 82.95 nil 0 0 0.00

Iridium_during_connect 68 160 241.98 nil 0 0 0.00

Iridium_during_xfer 294 223 1453.08 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 26 6.01

TT8 1591 14 240.42

LPSleep 8051 2 178.09

TT8_Active 569 14 81.67

TT8_Sampling 2140 37 809.03

TT8_CF8 723 47 344.59

TT8_Kalman 33 59 19.93

Analog_circuits 1411 12 171.10

GPS_charging 0 0 0.00

Compass 1899 15 301.83

RAFOS 0 0 0.00

Transponder 1 5 0.05

Guidance and control:

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

19 -0.56 -123.3 0.0 0.0 0 111 0.00 0.00 -89.53 0.000 2 0.000 0.000 54 3359 2738 0 0 0 0 0 0

115 -0.60 -194.7 3.2 -4.1 11 142 5.78 2.15 -14.02 0.000 4 0.243 0.046 1448 1968 3268 0 0 0 0 0 0

215 -0.60 -194.7 16.2 -10.9 25 226 0.00 2.28 0.00 0.000 6 0.000 0.056 1438 3336 3270 0 0 0 0 0 0

309 -0.60 -194.7 30.1 -16.7 38 318 0.00 1.00 0.00 0.000 4 0.000 0.059 1434 3947 3270 0 0 0 0 0 0

443 -0.60 -194.7 54.6 -16.7 59 451 0.00 0.88 0.00 0.000 6 0.000 0.036 1433 3377 3270 0 0 0 0 0 0

681 -0.60 -194.7 93.0 -14.9 100 688 0.00 0.93 0.00 0.000 4 0.000 0.059 1429 3953 3271 0 0 0 0 0 0

809 -0.60 -194.7 113.4 -16.1 113 813 0.00 0.93 0.00 0.000 6 0.000 0.034 1429 3344 3271 0 0 0 0 0 0

1140 -0.60 -194.7 166.1 -16.0 134 1144 0.00 0.98 0.00 0.000 4 0.000 0.058 1425 3957 3272 0 0 0 0 0 0

1252 -0.60 -194.7 185.7 -17.5 140 1258 0.00 0.90 0.00 0.000 6 0.000 0.035 1425 3357 3272 0 0 0 0 0 0

1579 -0.60 -194.7 240.8 -16.9 161 1583 0.00 0.95 0.00 0.000 4 0.000 0.059 1421 3957 3272 0 0 0 0 0 0

1681 -0.60 -194.7 259.6 -18.8 166 1686 0.08 0.90 0.00 0.000 6 0.160 0.036 1444 3355 3272 0 0 0 0 0 0

2004 -0.60 -194.7 305.1 -13.6 182 2008 0.00 0.95 0.00 0.000 4 0.000 0.060 1441 3957 3272 0 0 0 0 0 0

2107 -0.60 -194.7 319.9 -13.7 186 2110 0.00 0.90 0.00 0.000 6 0.000 0.036 1441 3356 3272 0 0 0 0 0 0

2430 -0.60 -194.7 361.4 -12.8 202 2433 0.00 0.95 0.00 0.000 4 0.000 0.059 1437 3958 3272 0 0 0 0 0 0

2502 -0.60 -194.7 371.2 -13.7 205 2506 0.00 0.90 0.00 0.000 6 0.000 0.036 1437 3355 3272 0 0 0 0 0 0

2827 -0.60 -194.7 413.6 -13.1 219 2831 0.00 0.95 0.00 0.000 4 0.000 0.059 1433 3958 3272 0 0 0 0 0 0

2900 -0.60 -194.7 424.2 -13.6 221 2903 0.00 0.90 0.00 0.000 6 0.000 0.036 1432 3355 3272 0 0 0 0 0 0

3235 -0.60 -194.7 470.8 -14.2 232 3241 0.00 0.95 0.00 0.000 4 0.000 0.060 1428 3958 3272 0 0 0 0 0 0

3342 -0.60 -194.7 487.1 -15.0 235 3346 0.00 0.90 0.00 0.000 6 0.000 0.036 1428 3355 3271 0 0 0 0 0 0

3677 -0.60 -194.7 535.7 -14.6 246 3681 0.00 0.95 0.00 0.000 4 0.000 0.060 1423 3957 3271 0 0 0 0 0 0

3727 -0.60 -194.7 543.8 -16.2 247 3732 0.08 0.90 0.00 0.000 6 0.152 0.036 1447 3357 3272 0 0 0 0 0 0

4051 -0.60 -194.7 584.3 -12.2 258 4055 0.00 0.95 0.00 0.000 4 0.000 0.060 1444 3958 3271 0 0 0 0 0 0

4146 -0.60 -194.7 596.7 -12.8 260 4153 0.00 0.93 0.00 0.000 6 0.000 0.036 1444 3344 3271 0 0 0 0 0 0

4459 -0.60 -194.7 634.2 -11.6 271 4463 0.00 0.98 0.00 0.000 4 0.000 0.060 1440 3961 3270 0 0 0 0 0 0

4533 -0.60 -194.7 643.0 -11.7 273 4536 0.00 0.93 0.00 0.000 6 0.000 0.037 1439 3347 3270 0 0 0 0 0 0

4868 -0.60 -194.7 682.3 -11.4 284 4872 0.00 0.95 0.00 0.000 4 0.000 0.061 1435 3950 3268 0 0 0 0 0 0

4918 -0.60 -194.7 688.7 -12.7 285 4922 0.00 0.90 0.00 0.000 6 0.000 0.037 1435 3349 3268 0 0 0 0 0 0

5243 -0.60 -194.7 727.8 -12.1 296 5246 0.00 0.95 0.00 0.000 4 0.000 0.062 1431 3953 3268 0 0 0 0 0 0

5312 -0.60 -194.7 736.7 -12.0 298 5316 0.00 0.90 0.00 0.000 6 0.000 0.037 1431 3354 3268 0 0 0 0 0 0

5654 -0.60 -194.7 779.9 -12.7 309 5657 0.00 0.95 0.00 0.000 4 0.000 0.061 1426 3955 3266 0 0 0 0 0 0

5776 -0.60 -194.7 796.6 -13.6 312 5779 0.00 0.90 0.00 0.000 6 0.000 0.037 1426 3357 3266 0 0 0 0 0 0

6095 -0.60 -194.7 837.5 -12.7 323 6099 0.00 0.95 0.00 0.000 4 0.000 0.062 1422 3956 3265 0 0 0 0 0 0

6207 -0.60 -194.7 852.8 -14.0 326 6211 0.08 0.93 0.00 0.000 6 0.153 0.038 1446 3343 3265 0 0 0 0 0 0

6536 -0.60 -194.7 887.5 -10.7 337 6542 0.00 0.98 0.00 0.000 4 0.000 0.063 1443 3958 3264 0 0 0 0 0 0

6615 -0.60 -194.7 896.4 -11.1 339 6619 0.00 0.93 0.00 0.000 6 0.000 0.038 1443 3343 3263 0 0 0 0 0 0

6945 -0.60 -194.7 933.3 -11.4 350 6951 0.00 0.98 0.00 0.000 4 0.000 0.063 1438 3958 3263 0 0 0 0 0 0

7051 -0.60 -194.7 946.0 -11.7 353 7054 0.00 0.93 0.00 0.000 6 0.000 0.038 1439 3345 3263 0 0 0 0 0 0

7392 -0.60 -194.7 988.0 -12.1 364 7396 0.00 0.98 0.00 0.000 4 0.000 0.063 1433 3958 3262 0 0 0 0 0 0

7461 -0.60 -194.7 996.5 -13.1 366 7465 0.00 0.93 0.00 0.000 6 0.000 0.038 1434 3346 3262 0 0 0 0 0 0

7486 end dive: TARGET_DEPTH_EXCEEDED

state 7486 begin apogee

7493 -0.14 0.0 1000.3 12.7 366 7686 0.52 0.00 184.43 1.851 6 0.142 0.000 1600 3253 2473 0 0 0 0 1 0

7687 end apogee: CONTROL_FINISHED_OK

state 7687 begin climb

7690 0.60 194.7 1008.0 0.0 373 7899 0.68 1.33 193.85 1.805 4 0.050 0.055 1850 3956 1679 0 0 0 0 1 0

7950 0.60 194.7 965.8 23.8 381 7953 0.00 1.17 0.00 0.000 6 0.000 0.031 1855 3248 1677 0 0 0 0 0 0

8290 0.60 194.7 886.2 23.3 392 8294 0.00 2.25 0.00 0.000 4 0.000 0.035 1866 1834 1671 0 0 0 0 0 0

8329 0.60 194.7 877.8 20.2 393 8333 0.00 2.38 0.00 0.000 6 0.000 0.051 1866 3258 1670 0 0 0 0 0 0

8653 0.60 194.7 799.6 24.7 404 8654 0.00 0.00 0.00 0.000 6 0.000 0.000 1867 3259 1669 0 0 0 0 0 0

8959 0.60 194.7 725.5 23.9 414 8960 0.00 0.00 0.00 0.000 6 0.000 0.000 1866 3258 1668 0 0 0 0 0 0

9266 0.60 194.7 652.8 23.7 424 9270 0.00 2.20 0.00 0.000 4 0.000 0.034 1877 1828 1668 0 0 0 0 0 0

9287 0.60 194.7 647.4 22.5 424 9296 0.10 2.33 0.00 0.000 6 0.168 0.051 1848 3254 1667 0 0 0 0 0 0

9601 0.60 194.7 579.5 21.7 435 9602 0.00 0.00 0.00 0.000 6 0.000 0.000 1848 3255 1667 0 0 0 0 0 0

9907 0.60 194.7 514.0 21.1 445 9908 0.00 0.00 0.00 0.000 6 0.000 0.000 1848 3255 1667 0 0 0 0 0 0

10214 0.60 194.7 448.5 21.3 455 10215 0.00 0.00 0.00 0.000 6 0.000 0.000 1848 3255 1666 0 0 0 0 0 0

10520 0.60 194.7 383.6 20.7 466 10521 0.00 0.00 0.00 0.000 6 0.000 0.000 1848 3254 1666 0 0 0 0 0 0

10831 0.60 194.7 320.1 20.6 481 10832 0.00 0.00 0.00 0.000 6 0.000 0.000 1848 3255 1665 0 0 0 0 0 0

11140 0.60 194.7 255.7 21.2 496 11141 0.00 0.00 0.00 0.000 6 0.000 0.000 1848 3255 1665 0 0 0 0 0 0

11462 0.60 194.7 186.3 21.5 516 11463 0.00 0.00 0.00 0.000 6 0.000 0.000 1848 3255 1665 0 0 0 0 0 0

11775 0.60 194.7 120.4 20.6 536 11779 0.00 2.12 0.00 0.000 4 0.000 0.031 1858 1826 1665 0 0 0 0 0 0

11805 0.60 194.7 114.1 18.8 538 11810 0.00 2.28 0.00 0.000 6 0.000 0.050 1858 3261 1664 0 0 0 0 0 0

12156 0.60 194.7 41.2 19.6 590 12166 0.00 1.10 0.00 0.000 4 0.000 0.055 1858 3955 1664 0 0 0 0 0 0

12201 0.60 194.7 32.1 20.2 596 12210 0.00 1.05 0.00 0.000 6 0.000 0.031 1863 3239 1664 0 0 0 0 0 0

12349 end climb: SURFACE_DEPTH_REACHED

state 12350 begin surface coast

12370 end surface coast: CONTROL_FINISHED_OK

state 12370 begin surface

ID	543	HEADING	-1	ROLL_MAX	3944	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	6	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	1050
DIVE	65	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	3353	ALTIM_PING_DELTA	15
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	3250	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-4230	HEAD_ERRBAND	15	ALTIM_PULSE	4
D_TGT	1000	TGT_DEFAULT_LON	-200	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	3
D_NO_BLEED	200	SM_CC	482.49722	R_PORT_OVSHOOT	63	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	29	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	5	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.050000001
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	KERMIT	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	507	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	101
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2474	DEVICE3	131
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	118
T_DIVE	370	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	385	CAPUPLOAD	0	VBD_TIMEOUT	800	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00061500003	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	60	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-8009.1704	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	1	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	86	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	200	PITCH_MAX	3908	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1650	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043127281
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-55.913475	SEABIRD_T_H	0.00062185986
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011638312	SEABIRD_T_I	2.2048062e-05
RHO	1.027	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.2117231e-06
MASS	52459	PITCH_GAIN	36	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.303595
NAV_MODE	1	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1762303
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.001936322
KALMAN_USE	1	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00024357962
HD_A	0.003	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	20
HD_C	9.9999997e-06	ROLL_MIN	394	ALTIM_TOP_TURN_MARGIN	0

GPS1	191212,043658,-4229.260,819.842,40,1.0,40,-24.9	TGT_NAME	GH1
_CALLS	1	TGT_LATLONG	-4230.000,820.000
_XMS_NAKs	0	TGT_RADIUS	800.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.192,-0.131
_SM_DEPTHo	1.17	KALMAN_X	1275.6,-45.7,-51.9,23577.2,4545.5
_SM_ANGLEo	-28.7	KALMAN_Y	85321.3,318.6,40.7,-84226.3,1521.6
GPS2	191212,044611,-4229.249,819.792,19,1.2,20,-24.9	MHEAD_RNG_PITCHd_Wd	260.6,1419,-17.4,-9.009
SPEED_LIMITS	0.156,0.284	D_GRID	1000

FINISH	1.0,1.009979	_10V_AH	10.1,7.094
SM_CCo	12385,128.43,0.758,1,0,504,482.50	FG_AHR_24Vo	0.000
SM_GC	1.36,0.00,0.00,128.43,0.000,0.000,0.758,62,3362,504,-4.96,0.28,482.50	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4215.72,818.13,191212,010114	MEM	354228
TT8_MAMPS	0.025466	DATA_FILE_SIZE	47087,621
HUMID	54.96	CAP_FILE_SIZE	107788,0
INTERNAL_PRESSURE	8.95659	CFSIZE	259252224,254418944
TCM_TEMP	15.20	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,3,1
XPDR_PINGS	0	GPS	191212,081705,-4229.129,817.158,38,0.8,38,-24.9
_24V_AH	22.1,14.127

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	243	64.65	SBE_CT	403	24	214.12
Roll_motor	56	74	93.69	AA4330	1374	33	1002.52
VBD_pump_during_apogee	378	1851	15476.64	WL_BB2FLVMT	636	105	1477.16
VBD_pump_during_surface	128	758	2151.68	QSP2150	281	4	27.21
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	36	103	82.95	nil	0	0	0.00
Iridium_during_connect	68	160	241.98	nil	0	0	0.00
Iridium_during_xfer	294	223	1453.08	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	26	6.01
TT8	1591	14	240.42
LPSleep	8051	2	178.09
TT8_Active	569	14	81.67
TT8_Sampling	2140	37	809.03
TT8_CF8	723	47	344.59
TT8_Kalman	33	59	19.93
Analog_circuits	1411	12	171.10
GPS_charging	0	0	0.00
Compass	1899	15	301.83
RAFOS	0	0	0.00
Transponder	1	5	0.05

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
19	-0.56	-123.3	0.0	0.0	0	111	0.00	0.00	-89.53	0.000	2	0.000	0.000	54	3359	2738	0	0	0	0	0	0
115	-0.60	-194.7	3.2	-4.1	11	142	5.78	2.15	-14.02	0.000	4	0.243	0.046	1448	1968	3268	0	0	0	0	0	0
215	-0.60	-194.7	16.2	-10.9	25	226	0.00	2.28	0.00	0.000	6	0.000	0.056	1438	3336	3270	0	0	0	0	0	0
309	-0.60	-194.7	30.1	-16.7	38	318	0.00	1.00	0.00	0.000	4	0.000	0.059	1434	3947	3270	0	0	0	0	0	0
443	-0.60	-194.7	54.6	-16.7	59	451	0.00	0.88	0.00	0.000	6	0.000	0.036	1433	3377	3270	0	0	0	0	0	0
681	-0.60	-194.7	93.0	-14.9	100	688	0.00	0.93	0.00	0.000	4	0.000	0.059	1429	3953	3271	0	0	0	0	0	0
809	-0.60	-194.7	113.4	-16.1	113	813	0.00	0.93	0.00	0.000	6	0.000	0.034	1429	3344	3271	0	0	0	0	0	0
1140	-0.60	-194.7	166.1	-16.0	134	1144	0.00	0.98	0.00	0.000	4	0.000	0.058	1425	3957	3272	0	0	0	0	0	0
1252	-0.60	-194.7	185.7	-17.5	140	1258	0.00	0.90	0.00	0.000	6	0.000	0.035	1425	3357	3272	0	0	0	0	0	0
1579	-0.60	-194.7	240.8	-16.9	161	1583	0.00	0.95	0.00	0.000	4	0.000	0.059	1421	3957	3272	0	0	0	0	0	0
1681	-0.60	-194.7	259.6	-18.8	166	1686	0.08	0.90	0.00	0.000	6	0.160	0.036	1444	3355	3272	0	0	0	0	0	0
2004	-0.60	-194.7	305.1	-13.6	182	2008	0.00	0.95	0.00	0.000	4	0.000	0.060	1441	3957	3272	0	0	0	0	0	0
2107	-0.60	-194.7	319.9	-13.7	186	2110	0.00	0.90	0.00	0.000	6	0.000	0.036	1441	3356	3272	0	0	0	0	0	0
2430	-0.60	-194.7	361.4	-12.8	202	2433	0.00	0.95	0.00	0.000	4	0.000	0.059	1437	3958	3272	0	0	0	0	0	0
2502	-0.60	-194.7	371.2	-13.7	205	2506	0.00	0.90	0.00	0.000	6	0.000	0.036	1437	3355	3272	0	0	0	0	0	0
2827	-0.60	-194.7	413.6	-13.1	219	2831	0.00	0.95	0.00	0.000	4	0.000	0.059	1433	3958	3272	0	0	0	0	0	0
2900	-0.60	-194.7	424.2	-13.6	221	2903	0.00	0.90	0.00	0.000	6	0.000	0.036	1432	3355	3272	0	0	0	0	0	0
3235	-0.60	-194.7	470.8	-14.2	232	3241	0.00	0.95	0.00	0.000	4	0.000	0.060	1428	3958	3272	0	0	0	0	0	0
3342	-0.60	-194.7	487.1	-15.0	235	3346	0.00	0.90	0.00	0.000	6	0.000	0.036	1428	3355	3271	0	0	0	0	0	0
3677	-0.60	-194.7	535.7	-14.6	246	3681	0.00	0.95	0.00	0.000	4	0.000	0.060	1423	3957	3271	0	0	0	0	0	0
3727	-0.60	-194.7	543.8	-16.2	247	3732	0.08	0.90	0.00	0.000	6	0.152	0.036	1447	3357	3272	0	0	0	0	0	0
4051	-0.60	-194.7	584.3	-12.2	258	4055	0.00	0.95	0.00	0.000	4	0.000	0.060	1444	3958	3271	0	0	0	0	0	0
4146	-0.60	-194.7	596.7	-12.8	260	4153	0.00	0.93	0.00	0.000	6	0.000	0.036	1444	3344	3271	0	0	0	0	0	0
4459	-0.60	-194.7	634.2	-11.6	271	4463	0.00	0.98	0.00	0.000	4	0.000	0.060	1440	3961	3270	0	0	0	0	0	0
4533	-0.60	-194.7	643.0	-11.7	273	4536	0.00	0.93	0.00	0.000	6	0.000	0.037	1439	3347	3270	0	0	0	0	0	0
4868	-0.60	-194.7	682.3	-11.4	284	4872	0.00	0.95	0.00	0.000	4	0.000	0.061	1435	3950	3268	0	0	0	0	0	0
4918	-0.60	-194.7	688.7	-12.7	285	4922	0.00	0.90	0.00	0.000	6	0.000	0.037	1435	3349	3268	0	0	0	0	0	0
5243	-0.60	-194.7	727.8	-12.1	296	5246	0.00	0.95	0.00	0.000	4	0.000	0.062	1431	3953	3268	0	0	0	0	0	0
5312	-0.60	-194.7	736.7	-12.0	298	5316	0.00	0.90	0.00	0.000	6	0.000	0.037	1431	3354	3268	0	0	0	0	0	0
5654	-0.60	-194.7	779.9	-12.7	309	5657	0.00	0.95	0.00	0.000	4	0.000	0.061	1426	3955	3266	0	0	0	0	0	0
5776	-0.60	-194.7	796.6	-13.6	312	5779	0.00	0.90	0.00	0.000	6	0.000	0.037	1426	3357	3266	0	0	0	0	0	0
6095	-0.60	-194.7	837.5	-12.7	323	6099	0.00	0.95	0.00	0.000	4	0.000	0.062	1422	3956	3265	0	0	0	0	0	0
6207	-0.60	-194.7	852.8	-14.0	326	6211	0.08	0.93	0.00	0.000	6	0.153	0.038	1446	3343	3265	0	0	0	0	0	0
6536	-0.60	-194.7	887.5	-10.7	337	6542	0.00	0.98	0.00	0.000	4	0.000	0.063	1443	3958	3264	0	0	0	0	0	0
6615	-0.60	-194.7	896.4	-11.1	339	6619	0.00	0.93	0.00	0.000	6	0.000	0.038	1443	3343	3263	0	0	0	0	0	0
6945	-0.60	-194.7	933.3	-11.4	350	6951	0.00	0.98	0.00	0.000	4	0.000	0.063	1438	3958	3263	0	0	0	0	0	0
7051	-0.60	-194.7	946.0	-11.7	353	7054	0.00	0.93	0.00	0.000	6	0.000	0.038	1439	3345	3263	0	0	0	0	0	0
7392	-0.60	-194.7	988.0	-12.1	364	7396	0.00	0.98	0.00	0.000	4	0.000	0.063	1433	3958	3262	0	0	0	0	0	0
7461	-0.60	-194.7	996.5	-13.1	366	7465	0.00	0.93	0.00	0.000	6	0.000	0.038	1434	3346	3262	0	0	0	0	0	0
7486	end dive: TARGET_DEPTH_EXCEEDED
state	7486	begin apogee
7493	-0.14	0.0	1000.3	12.7	366	7686	0.52	0.00	184.43	1.851	6	0.142	0.000	1600	3253	2473	0	0	0	0	1	0
7687	end apogee: CONTROL_FINISHED_OK
state	7687	begin climb
7690	0.60	194.7	1008.0	0.0	373	7899	0.68	1.33	193.85	1.805	4	0.050	0.055	1850	3956	1679	0	0	0	0	1	0
7950	0.60	194.7	965.8	23.8	381	7953	0.00	1.17	0.00	0.000	6	0.000	0.031	1855	3248	1677	0	0	0	0	0	0
8290	0.60	194.7	886.2	23.3	392	8294	0.00	2.25	0.00	0.000	4	0.000	0.035	1866	1834	1671	0	0	0	0	0	0
8329	0.60	194.7	877.8	20.2	393	8333	0.00	2.38	0.00	0.000	6	0.000	0.051	1866	3258	1670	0	0	0	0	0	0
8653	0.60	194.7	799.6	24.7	404	8654	0.00	0.00	0.00	0.000	6	0.000	0.000	1867	3259	1669	0	0	0	0	0	0
8959	0.60	194.7	725.5	23.9	414	8960	0.00	0.00	0.00	0.000	6	0.000	0.000	1866	3258	1668	0	0	0	0	0	0
9266	0.60	194.7	652.8	23.7	424	9270	0.00	2.20	0.00	0.000	4	0.000	0.034	1877	1828	1668	0	0	0	0	0	0
9287	0.60	194.7	647.4	22.5	424	9296	0.10	2.33	0.00	0.000	6	0.168	0.051	1848	3254	1667	0	0	0	0	0	0
9601	0.60	194.7	579.5	21.7	435	9602	0.00	0.00	0.00	0.000	6	0.000	0.000	1848	3255	1667	0	0	0	0	0	0
9907	0.60	194.7	514.0	21.1	445	9908	0.00	0.00	0.00	0.000	6	0.000	0.000	1848	3255	1667	0	0	0	0	0	0
10214	0.60	194.7	448.5	21.3	455	10215	0.00	0.00	0.00	0.000	6	0.000	0.000	1848	3255	1666	0	0	0	0	0	0
10520	0.60	194.7	383.6	20.7	466	10521	0.00	0.00	0.00	0.000	6	0.000	0.000	1848	3254	1666	0	0	0	0	0	0
10831	0.60	194.7	320.1	20.6	481	10832	0.00	0.00	0.00	0.000	6	0.000	0.000	1848	3255	1665	0	0	0	0	0	0
11140	0.60	194.7	255.7	21.2	496	11141	0.00	0.00	0.00	0.000	6	0.000	0.000	1848	3255	1665	0	0	0	0	0	0
11462	0.60	194.7	186.3	21.5	516	11463	0.00	0.00	0.00	0.000	6	0.000	0.000	1848	3255	1665	0	0	0	0	0	0
11775	0.60	194.7	120.4	20.6	536	11779	0.00	2.12	0.00	0.000	4	0.000	0.031	1858	1826	1665	0	0	0	0	0	0
11805	0.60	194.7	114.1	18.8	538	11810	0.00	2.28	0.00	0.000	6	0.000	0.050	1858	3261	1664	0	0	0	0	0	0
12156	0.60	194.7	41.2	19.6	590	12166	0.00	1.10	0.00	0.000	4	0.000	0.055	1858	3955	1664	0	0	0	0	0	0
12201	0.60	194.7	32.1	20.2	596	12210	0.00	1.05	0.00	0.000	6	0.000	0.031	1863	3239	1664	0	0	0	0	0	0
12349	end climb: SURFACE_DEPTH_REACHED
state	12350	begin surface coast
12370	end surface coast: CONTROL_FINISHED_OK
state	12370	begin surface