Glider dive log

SOSCEx 08Dec12 * SG543 * Dive index * Mission links * Dive 76 * 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 76 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 54 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 25 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 -8047.2378 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 -8047.2378

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 54 VBD_MAX 3960

DEVICE2 101 MASS 52459 R_STBD_OVSHOOT 25 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 76 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 201212,193704,-4228.430,819.174,36,0.9,36,-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 -0.188,-0.163

_SM_DEPTHo 1.19 KALMAN_X 4523.4,29.4,-151.1,19552.2,5252.6

_SM_ANGLEo -32.3 KALMAN_Y 92005.4,546.5,207.4,-89827.1,755.6

GPS2 201212,194629,-4228.448,819.203,17,1.3,18,-24.9 MHEAD_RNG_PITCHd_Wd 253.9,3074,-16.0,-9.009

SPEED_LIMITS 0.156,0.284 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.9,1.026101 _10V_AH 10.1,8.117

SM_CCo 13840,128.85,0.740,1,0,503,482.50 FG_AHR_24Vo 0.000

SM_GC 1.20,0.00,0.00,128.85,0.000,0.000,0.740,60,3365,503,-4.97,0.34,482.50 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4212.81,821.02,201212,151541 MEM 354240

TT8_MAMPS 0.025466 DATA_FILE_SIZE 50379,684

HUMID 55.51 CAP_FILE_SIZE 113818,0

INTERNAL_PRESSURE 8.95659 CFSIZE 259252224,253804544

TCM_TEMP 14.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,1

XPDR_PINGS 0 GPS 201212,234134,-4228.913,816.675,34,0.8,34,-24.9

_24V_AH 22.1,16.017

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 11 240 63.11 SBE_CT 445 24 236.35

Roll_motor 44 91 89.42 AA4330 1506 33 1098.35

VBD_pump_during_apogee 375 1853 15385.22 WL_BB2FLVMT 677 105 1572.24

VBD_pump_during_surface 128 739 2106.52 QSP2150 293 4 28.45

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 33 103 77.24 nil 0 0 0.00

Iridium_during_connect 57 160 201.60 nil 0 0 0.00

Iridium_during_xfer 314 223 1550.68 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 26 5.40

TT8 1745 14 263.72

LPSleep 9116 2 201.65

TT8_Active 572 14 82.11

TT8_Sampling 2319 37 876.93

TT8_CF8 786 47 374.54

TT8_Kalman 33 59 19.93

Analog_circuits 1476 12 178.99

GPS_charging 0 0 0.00

Compass 2092 15 332.50

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

18 end surface: CONTROL_FINISHED_OK

state 19 begin dive

22 -0.53 -143.5 0.0 0.0 0 121 0.00 0.00 -97.15 0.000 2 0.000 0.000 62 3361 2900 0 0 0 0 0 0

125 -0.56 -194.7 3.5 -4.8 12 145 5.75 1.00 -8.95 0.000 4 0.241 0.092 1459 3956 3270 0 0 0 0 0 0

310 -0.56 -194.7 34.6 -15.4 39 317 0.00 0.90 0.00 0.000 6 0.000 0.037 1459 3370 3272 0 0 0 0 0 0

559 -0.56 -194.7 68.9 -13.0 80 566 0.00 0.93 0.00 0.000 4 0.000 0.060 1455 3945 3273 0 0 0 0 0 0

673 -0.56 -194.7 83.6 -13.4 99 680 0.00 0.90 0.00 0.000 6 0.000 0.036 1455 3352 3273 0 0 0 0 0 0

1007 -0.56 -194.7 125.7 -12.2 134 1010 0.00 0.95 0.00 0.000 4 0.000 0.058 1450 3950 3274 0 0 0 0 0 0

1180 -0.56 -194.7 148.4 -13.3 143 1186 0.00 0.90 0.00 0.000 6 0.000 0.034 1450 3352 3274 0 0 0 0 0 0

1501 -0.56 -194.7 179.9 -6.8 164 1505 0.00 0.93 0.00 0.000 4 0.000 0.047 1450 3957 3275 0 0 0 0 0 0

1583 -0.56 -194.7 185.2 -9.2 168 1591 0.00 0.93 0.00 0.000 6 0.000 0.034 1450 3337 3275 0 0 0 0 0 0

1906 -0.56 -194.7 222.5 -12.1 189 1910 0.00 0.95 0.00 0.000 4 0.000 0.055 1445 3945 3275 0 0 0 0 0 0

2014 -0.56 -194.7 236.3 -12.7 195 2018 0.00 0.88 0.00 0.000 6 0.000 0.034 1446 3352 3275 0 0 0 0 0 0

2334 -0.56 -194.7 276.5 -12.4 212 2337 0.00 0.93 0.00 0.000 4 0.000 0.057 1441 3945 3275 0 0 0 0 0 0

2398 -0.56 -194.7 285.1 -12.7 214 2408 0.00 0.88 0.00 0.000 6 0.000 0.034 1441 3352 3275 0 0 0 0 0 0

2716 -0.56 -194.7 325.5 -12.8 230 2719 0.00 0.93 0.00 0.000 4 0.000 0.056 1436 3945 3275 0 0 0 0 0 0

2818 -0.56 -194.7 339.9 -13.6 234 2822 0.08 0.88 0.00 0.000 6 0.143 0.034 1461 3352 3274 0 0 0 0 0 0

3140 -0.56 -194.7 374.3 -10.7 250 3144 0.00 0.95 0.00 0.000 4 0.000 0.060 1458 3943 3274 0 0 0 0 0 0

3238 -0.56 -194.7 385.5 -10.6 254 3241 0.00 0.88 0.00 0.000 6 0.000 0.034 1459 3354 3274 0 0 0 0 0 0

3563 -0.56 -194.7 420.3 -10.7 267 3567 0.00 0.93 0.00 0.000 4 0.000 0.057 1454 3946 3274 0 0 0 0 0 0

3635 -0.56 -194.7 427.9 -11.1 269 3639 0.00 0.88 0.00 0.000 6 0.000 0.035 1454 3355 3274 0 0 0 0 0 0

3977 -0.56 -194.7 465.3 -10.7 280 3980 0.00 0.93 0.00 0.000 4 0.000 0.058 1450 3947 3274 0 0 0 0 0 0

4071 -0.56 -194.7 476.3 -11.2 282 4078 0.00 0.88 0.00 0.000 6 0.000 0.036 1450 3357 3274 0 0 0 0 0 0

4385 -0.56 -194.7 510.3 -10.9 293 4388 0.00 0.93 0.00 0.000 4 0.000 0.057 1445 3947 3273 0 0 0 0 0 0

4496 -0.56 -194.7 523.3 -10.9 296 4502 0.00 0.88 0.00 0.000 6 0.000 0.036 1445 3359 3273 0 0 0 0 0 0

4827 -0.56 -194.7 561.3 -11.6 307 4832 0.00 0.93 0.00 0.000 4 0.000 0.058 1441 3950 3272 0 0 0 0 0 0

4939 -0.56 -194.7 575.7 -12.3 310 4943 0.00 0.90 0.00 0.000 6 0.000 0.036 1441 3344 3271 0 0 0 0 0 0

5270 -0.56 -194.7 615.0 -12.0 321 5273 0.00 0.95 0.00 0.000 4 0.000 0.059 1437 3949 3271 0 0 0 0 0 0

5359 -0.56 -194.7 626.4 -12.4 323 5363 0.08 0.90 0.00 0.000 6 0.143 0.036 1461 3347 3271 0 0 0 0 0 0

5677 -0.56 -194.7 658.4 -10.0 334 5680 0.00 0.95 0.00 0.000 4 0.000 0.060 1458 3953 3269 0 0 0 0 0 0

5741 -0.56 -194.7 664.8 -10.8 335 5747 0.00 0.90 0.00 0.000 6 0.000 0.037 1458 3350 3270 0 0 0 0 0 0

6054 -0.56 -194.7 695.1 -9.3 346 6059 0.00 0.93 0.00 0.000 4 0.000 0.060 1454 3940 3268 0 0 0 0 0 0

6133 -0.56 -194.7 703.0 -9.4 348 6136 0.00 0.88 0.00 0.000 6 0.000 0.037 1454 3354 3269 0 0 0 0 0 0

6463 -0.56 -194.7 728.9 -7.9 359 6469 0.00 0.93 0.00 0.000 4 0.000 0.063 1449 3938 3268 0 0 0 0 0 0

6511 -0.56 -194.7 733.2 -10.6 360 6515 0.00 0.88 0.00 0.000 6 0.000 0.038 1449 3357 3268 0 0 0 0 0 0

6842 -0.56 -194.7 767.6 -10.2 371 6844 0.00 0.00 0.00 0.000 6 0.000 0.000 1449 3357 3266 0 0 0 0 0 0

7148 -0.56 -194.7 798.7 -10.1 381 7153 0.00 0.93 0.00 0.000 4 0.000 0.060 1445 3943 3266 0 0 0 0 0 0

7260 -0.56 -194.7 811.0 -11.3 384 7264 0.00 0.90 0.00 0.000 6 0.000 0.038 1445 3346 3266 0 0 0 0 0 0

7590 -0.56 -194.7 845.8 -10.6 395 7591 0.00 0.00 0.00 0.000 6 0.000 0.000 1445 3347 3265 0 0 0 0 0 0

7898 -0.56 -194.7 878.7 -10.7 405 7902 0.00 0.95 0.00 0.000 4 0.000 0.061 1440 3949 3264 0 0 0 0 0 0

7958 -0.56 -194.7 885.9 -11.4 406 7965 0.00 0.90 0.00 0.000 6 0.000 0.039 1440 3349 3264 0 0 0 0 0 0

8272 -0.56 -194.7 920.9 -11.2 417 8275 0.00 0.95 0.00 0.000 4 0.000 0.062 1436 3952 3263 0 0 0 0 0 0

8344 -0.56 -194.7 928.9 -11.3 419 8348 0.08 0.90 0.00 0.000 6 0.147 0.039 1460 3356 3263 0 0 0 0 0 0

8685 -0.56 -194.7 960.5 -9.0 430 8686 0.00 0.00 0.00 0.000 6 0.000 0.000 1460 3356 3263 0 0 0 0 0 0

8992 -0.56 -194.7 986.9 -8.4 440 8994 0.00 0.00 0.00 0.000 6 0.000 0.000 1461 3356 3262 0 0 0 0 0 0

9172 end dive: TARGET_DEPTH_EXCEEDED

state 9172 begin apogee

9179 -0.14 0.0 1001.7 8.0 446 9370 0.45 0.00 182.25 1.854 6 0.132 0.000 1603 3246 2473 0 0 0 0 1 0

9371 end apogee: CONTROL_FINISHED_OK

state 9371 begin climb

9374 0.56 194.7 1006.8 0.0 452 9583 0.62 1.30 193.32 1.795 4 0.045 0.056 1840 3933 1679 0 0 0 0 1 0

9841 0.56 194.7 909.6 26.8 466 9844 0.00 1.10 0.00 0.000 6 0.000 0.033 1845 3242 1672 0 0 0 0 0 0

10176 0.56 194.7 830.7 23.4 477 10180 0.00 1.17 0.00 0.000 4 0.000 0.057 1846 3949 1669 0 0 0 0 0 0

10324 0.56 194.7 792.4 26.5 481 10328 0.00 1.08 0.00 0.000 6 0.000 0.033 1851 3251 1668 0 0 0 0 0 0

10653 0.56 194.7 715.5 23.0 492 10655 0.00 0.00 0.00 0.000 6 0.000 0.000 1851 3251 1668 0 0 0 0 0 0

10960 0.56 194.7 647.1 22.6 502 10961 0.00 0.00 0.00 0.000 6 0.000 0.000 1851 3251 1667 0 0 0 0 0 0

11267 0.56 194.7 579.5 21.9 512 11268 0.00 0.00 0.00 0.000 6 0.000 0.000 1851 3251 1666 0 0 0 0 0 0

11572 0.56 194.7 511.9 22.3 522 11573 0.00 0.00 0.00 0.000 6 0.000 0.000 1851 3251 1665 0 0 0 0 0 0

11878 0.56 194.7 444.0 22.3 532 11882 0.00 1.12 0.00 0.000 4 0.000 0.055 1851 3950 1665 0 0 0 0 0 0

11934 0.56 194.7 430.3 23.8 533 11938 0.00 1.05 0.00 0.000 6 0.000 0.032 1856 3246 1665 0 0 0 0 0 0

12269 0.56 194.7 356.0 23.1 547 12270 0.00 0.00 0.00 0.000 6 0.000 0.000 1856 3246 1665 0 0 0 0 0 0

12575 0.56 194.7 285.0 22.9 562 12576 0.00 0.00 0.00 0.000 6 0.000 0.000 1856 3246 1665 0 0 0 0 0 0

12895 0.56 194.7 211.3 23.0 580 12896 0.00 0.00 0.00 0.000 6 0.000 0.000 1856 3246 1664 0 0 0 0 0 0

13207 0.56 194.7 139.4 23.1 600 13208 0.00 0.00 0.00 0.000 6 0.000 0.000 1856 3246 1664 0 0 0 0 0 0

13530 0.56 194.7 65.2 22.3 638 13538 0.00 1.12 0.00 0.000 4 0.000 0.054 1856 3951 1665 0 0 0 0 0 0

13590 0.56 194.7 51.2 23.0 648 13601 0.00 1.05 0.00 0.000 6 0.000 0.031 1862 3237 1664 0 0 0 0 0 0

13809 end climb: SURFACE_DEPTH_REACHED

state 13809 begin surface coast

13824 end surface coast: CONTROL_FINISHED_OK

state 13824 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	76	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	54	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	25	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	-8047.2378	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	201212,193704,-4228.430,819.174,36,0.9,36,-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	-0.188,-0.163
_SM_DEPTHo	1.19	KALMAN_X	4523.4,29.4,-151.1,19552.2,5252.6
_SM_ANGLEo	-32.3	KALMAN_Y	92005.4,546.5,207.4,-89827.1,755.6
GPS2	201212,194629,-4228.448,819.203,17,1.3,18,-24.9	MHEAD_RNG_PITCHd_Wd	253.9,3074,-16.0,-9.009
SPEED_LIMITS	0.156,0.284	D_GRID	1000

FINISH	0.9,1.026101	_10V_AH	10.1,8.117
SM_CCo	13840,128.85,0.740,1,0,503,482.50	FG_AHR_24Vo	0.000
SM_GC	1.20,0.00,0.00,128.85,0.000,0.000,0.740,60,3365,503,-4.97,0.34,482.50	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4212.81,821.02,201212,151541	MEM	354240
TT8_MAMPS	0.025466	DATA_FILE_SIZE	50379,684
HUMID	55.51	CAP_FILE_SIZE	113818,0
INTERNAL_PRESSURE	8.95659	CFSIZE	259252224,253804544
TCM_TEMP	14.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
XPDR_PINGS	0	GPS	201212,234134,-4228.913,816.675,34,0.8,34,-24.9
_24V_AH	22.1,16.017

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	11	240	63.11	SBE_CT	445	24	236.35
Roll_motor	44	91	89.42	AA4330	1506	33	1098.35
VBD_pump_during_apogee	375	1853	15385.22	WL_BB2FLVMT	677	105	1572.24
VBD_pump_during_surface	128	739	2106.52	QSP2150	293	4	28.45
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	33	103	77.24	nil	0	0	0.00
Iridium_during_connect	57	160	201.60	nil	0	0	0.00
Iridium_during_xfer	314	223	1550.68	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	26	5.40
TT8	1745	14	263.72
LPSleep	9116	2	201.65
TT8_Active	572	14	82.11
TT8_Sampling	2319	37	876.93
TT8_CF8	786	47	374.54
TT8_Kalman	33	59	19.93
Analog_circuits	1476	12	178.99
GPS_charging	0	0	0.00
Compass	2092	15	332.50
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
18	end surface: CONTROL_FINISHED_OK
state	19	begin dive
22	-0.53	-143.5	0.0	0.0	0	121	0.00	0.00	-97.15	0.000	2	0.000	0.000	62	3361	2900	0	0	0	0	0	0
125	-0.56	-194.7	3.5	-4.8	12	145	5.75	1.00	-8.95	0.000	4	0.241	0.092	1459	3956	3270	0	0	0	0	0	0
310	-0.56	-194.7	34.6	-15.4	39	317	0.00	0.90	0.00	0.000	6	0.000	0.037	1459	3370	3272	0	0	0	0	0	0
559	-0.56	-194.7	68.9	-13.0	80	566	0.00	0.93	0.00	0.000	4	0.000	0.060	1455	3945	3273	0	0	0	0	0	0
673	-0.56	-194.7	83.6	-13.4	99	680	0.00	0.90	0.00	0.000	6	0.000	0.036	1455	3352	3273	0	0	0	0	0	0
1007	-0.56	-194.7	125.7	-12.2	134	1010	0.00	0.95	0.00	0.000	4	0.000	0.058	1450	3950	3274	0	0	0	0	0	0
1180	-0.56	-194.7	148.4	-13.3	143	1186	0.00	0.90	0.00	0.000	6	0.000	0.034	1450	3352	3274	0	0	0	0	0	0
1501	-0.56	-194.7	179.9	-6.8	164	1505	0.00	0.93	0.00	0.000	4	0.000	0.047	1450	3957	3275	0	0	0	0	0	0
1583	-0.56	-194.7	185.2	-9.2	168	1591	0.00	0.93	0.00	0.000	6	0.000	0.034	1450	3337	3275	0	0	0	0	0	0
1906	-0.56	-194.7	222.5	-12.1	189	1910	0.00	0.95	0.00	0.000	4	0.000	0.055	1445	3945	3275	0	0	0	0	0	0
2014	-0.56	-194.7	236.3	-12.7	195	2018	0.00	0.88	0.00	0.000	6	0.000	0.034	1446	3352	3275	0	0	0	0	0	0
2334	-0.56	-194.7	276.5	-12.4	212	2337	0.00	0.93	0.00	0.000	4	0.000	0.057	1441	3945	3275	0	0	0	0	0	0
2398	-0.56	-194.7	285.1	-12.7	214	2408	0.00	0.88	0.00	0.000	6	0.000	0.034	1441	3352	3275	0	0	0	0	0	0
2716	-0.56	-194.7	325.5	-12.8	230	2719	0.00	0.93	0.00	0.000	4	0.000	0.056	1436	3945	3275	0	0	0	0	0	0
2818	-0.56	-194.7	339.9	-13.6	234	2822	0.08	0.88	0.00	0.000	6	0.143	0.034	1461	3352	3274	0	0	0	0	0	0
3140	-0.56	-194.7	374.3	-10.7	250	3144	0.00	0.95	0.00	0.000	4	0.000	0.060	1458	3943	3274	0	0	0	0	0	0
3238	-0.56	-194.7	385.5	-10.6	254	3241	0.00	0.88	0.00	0.000	6	0.000	0.034	1459	3354	3274	0	0	0	0	0	0
3563	-0.56	-194.7	420.3	-10.7	267	3567	0.00	0.93	0.00	0.000	4	0.000	0.057	1454	3946	3274	0	0	0	0	0	0
3635	-0.56	-194.7	427.9	-11.1	269	3639	0.00	0.88	0.00	0.000	6	0.000	0.035	1454	3355	3274	0	0	0	0	0	0
3977	-0.56	-194.7	465.3	-10.7	280	3980	0.00	0.93	0.00	0.000	4	0.000	0.058	1450	3947	3274	0	0	0	0	0	0
4071	-0.56	-194.7	476.3	-11.2	282	4078	0.00	0.88	0.00	0.000	6	0.000	0.036	1450	3357	3274	0	0	0	0	0	0
4385	-0.56	-194.7	510.3	-10.9	293	4388	0.00	0.93	0.00	0.000	4	0.000	0.057	1445	3947	3273	0	0	0	0	0	0
4496	-0.56	-194.7	523.3	-10.9	296	4502	0.00	0.88	0.00	0.000	6	0.000	0.036	1445	3359	3273	0	0	0	0	0	0
4827	-0.56	-194.7	561.3	-11.6	307	4832	0.00	0.93	0.00	0.000	4	0.000	0.058	1441	3950	3272	0	0	0	0	0	0
4939	-0.56	-194.7	575.7	-12.3	310	4943	0.00	0.90	0.00	0.000	6	0.000	0.036	1441	3344	3271	0	0	0	0	0	0
5270	-0.56	-194.7	615.0	-12.0	321	5273	0.00	0.95	0.00	0.000	4	0.000	0.059	1437	3949	3271	0	0	0	0	0	0
5359	-0.56	-194.7	626.4	-12.4	323	5363	0.08	0.90	0.00	0.000	6	0.143	0.036	1461	3347	3271	0	0	0	0	0	0
5677	-0.56	-194.7	658.4	-10.0	334	5680	0.00	0.95	0.00	0.000	4	0.000	0.060	1458	3953	3269	0	0	0	0	0	0
5741	-0.56	-194.7	664.8	-10.8	335	5747	0.00	0.90	0.00	0.000	6	0.000	0.037	1458	3350	3270	0	0	0	0	0	0
6054	-0.56	-194.7	695.1	-9.3	346	6059	0.00	0.93	0.00	0.000	4	0.000	0.060	1454	3940	3268	0	0	0	0	0	0
6133	-0.56	-194.7	703.0	-9.4	348	6136	0.00	0.88	0.00	0.000	6	0.000	0.037	1454	3354	3269	0	0	0	0	0	0
6463	-0.56	-194.7	728.9	-7.9	359	6469	0.00	0.93	0.00	0.000	4	0.000	0.063	1449	3938	3268	0	0	0	0	0	0
6511	-0.56	-194.7	733.2	-10.6	360	6515	0.00	0.88	0.00	0.000	6	0.000	0.038	1449	3357	3268	0	0	0	0	0	0
6842	-0.56	-194.7	767.6	-10.2	371	6844	0.00	0.00	0.00	0.000	6	0.000	0.000	1449	3357	3266	0	0	0	0	0	0
7148	-0.56	-194.7	798.7	-10.1	381	7153	0.00	0.93	0.00	0.000	4	0.000	0.060	1445	3943	3266	0	0	0	0	0	0
7260	-0.56	-194.7	811.0	-11.3	384	7264	0.00	0.90	0.00	0.000	6	0.000	0.038	1445	3346	3266	0	0	0	0	0	0
7590	-0.56	-194.7	845.8	-10.6	395	7591	0.00	0.00	0.00	0.000	6	0.000	0.000	1445	3347	3265	0	0	0	0	0	0
7898	-0.56	-194.7	878.7	-10.7	405	7902	0.00	0.95	0.00	0.000	4	0.000	0.061	1440	3949	3264	0	0	0	0	0	0
7958	-0.56	-194.7	885.9	-11.4	406	7965	0.00	0.90	0.00	0.000	6	0.000	0.039	1440	3349	3264	0	0	0	0	0	0
8272	-0.56	-194.7	920.9	-11.2	417	8275	0.00	0.95	0.00	0.000	4	0.000	0.062	1436	3952	3263	0	0	0	0	0	0
8344	-0.56	-194.7	928.9	-11.3	419	8348	0.08	0.90	0.00	0.000	6	0.147	0.039	1460	3356	3263	0	0	0	0	0	0
8685	-0.56	-194.7	960.5	-9.0	430	8686	0.00	0.00	0.00	0.000	6	0.000	0.000	1460	3356	3263	0	0	0	0	0	0
8992	-0.56	-194.7	986.9	-8.4	440	8994	0.00	0.00	0.00	0.000	6	0.000	0.000	1461	3356	3262	0	0	0	0	0	0
9172	end dive: TARGET_DEPTH_EXCEEDED
state	9172	begin apogee
9179	-0.14	0.0	1001.7	8.0	446	9370	0.45	0.00	182.25	1.854	6	0.132	0.000	1603	3246	2473	0	0	0	0	1	0
9371	end apogee: CONTROL_FINISHED_OK
state	9371	begin climb
9374	0.56	194.7	1006.8	0.0	452	9583	0.62	1.30	193.32	1.795	4	0.045	0.056	1840	3933	1679	0	0	0	0	1	0
9841	0.56	194.7	909.6	26.8	466	9844	0.00	1.10	0.00	0.000	6	0.000	0.033	1845	3242	1672	0	0	0	0	0	0
10176	0.56	194.7	830.7	23.4	477	10180	0.00	1.17	0.00	0.000	4	0.000	0.057	1846	3949	1669	0	0	0	0	0	0
10324	0.56	194.7	792.4	26.5	481	10328	0.00	1.08	0.00	0.000	6	0.000	0.033	1851	3251	1668	0	0	0	0	0	0
10653	0.56	194.7	715.5	23.0	492	10655	0.00	0.00	0.00	0.000	6	0.000	0.000	1851	3251	1668	0	0	0	0	0	0
10960	0.56	194.7	647.1	22.6	502	10961	0.00	0.00	0.00	0.000	6	0.000	0.000	1851	3251	1667	0	0	0	0	0	0
11267	0.56	194.7	579.5	21.9	512	11268	0.00	0.00	0.00	0.000	6	0.000	0.000	1851	3251	1666	0	0	0	0	0	0
11572	0.56	194.7	511.9	22.3	522	11573	0.00	0.00	0.00	0.000	6	0.000	0.000	1851	3251	1665	0	0	0	0	0	0
11878	0.56	194.7	444.0	22.3	532	11882	0.00	1.12	0.00	0.000	4	0.000	0.055	1851	3950	1665	0	0	0	0	0	0
11934	0.56	194.7	430.3	23.8	533	11938	0.00	1.05	0.00	0.000	6	0.000	0.032	1856	3246	1665	0	0	0	0	0	0
12269	0.56	194.7	356.0	23.1	547	12270	0.00	0.00	0.00	0.000	6	0.000	0.000	1856	3246	1665	0	0	0	0	0	0
12575	0.56	194.7	285.0	22.9	562	12576	0.00	0.00	0.00	0.000	6	0.000	0.000	1856	3246	1665	0	0	0	0	0	0
12895	0.56	194.7	211.3	23.0	580	12896	0.00	0.00	0.00	0.000	6	0.000	0.000	1856	3246	1664	0	0	0	0	0	0
13207	0.56	194.7	139.4	23.1	600	13208	0.00	0.00	0.00	0.000	6	0.000	0.000	1856	3246	1664	0	0	0	0	0	0
13530	0.56	194.7	65.2	22.3	638	13538	0.00	1.12	0.00	0.000	4	0.000	0.054	1856	3951	1665	0	0	0	0	0	0
13590	0.56	194.7	51.2	23.0	648	13601	0.00	1.05	0.00	0.000	6	0.000	0.031	1862	3237	1664	0	0	0	0	0	0
13809	end climb: SURFACE_DEPTH_REACHED
state	13809	begin surface coast
13824	end surface coast: CONTROL_FINISHED_OK
state	13824	begin surface