Glider dive log

SOSCEx 08Dec12 * SG543 * Dive index * Mission links * Dive 8 * 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 8 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 3353 ALTIM_PING_DELTA 15

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 3153 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 472.49722 R_PORT_OVSHOOT 42 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 22 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 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 0.00061500003 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 -7806.709 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 52589 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 472.49722

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 333

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 -7806.709

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 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 3153 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 42 VBD_MAX 3960

DEVICE2 101 MASS 52589 R_STBD_OVSHOOT 22 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 720

DIVE 8 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 091212,233104,-4229.771,809.093,40,1.0,41,-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 0.285,-0.077

_SM_DEPTHo 0.73 KALMAN_X -2710.8,-684.1,-474.6,14098.2,-688.1

_SM_ANGLEo -26.5 KALMAN_Y 3002.2,-77.5,-90.4,-2408.1,1426.5

GPS2 091212,234035,-4229.808,809.151,14,1.7,14,-24.9 MHEAD_RNG_PITCHd_Wd 130.1,14818,-14.9,-10.010

SPEED_LIMITS 0.173,0.295 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.6,1.019827 _10V_AH 10.2,1.287

SM_CCo 15477,131.45,0.775,1,0,545,472.69 FG_AHR_24Vo 0.000

SM_GC 0.70,0.00,0.00,131.45,0.000,0.000,0.775,68,3372,545,-4.94,0.54,472.69 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4212.81,809.04,091212,181803 MEM 354280

TT8_MAMPS 0.025466 DATA_FILE_SIZE 57288,780

HUMID 54.76 CAP_FILE_SIZE 118655,0

INTERNAL_PRESSURE 8.92729 CFSIZE 259252224,257843200

TCM_TEMP 13.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,1

XPDR_PINGS 0 GPS 101212,040328,-4229.462,812.141,59,1.1,59,-24.9

_24V_AH 22.8,3.547

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 11 236 64.00 SBE_CT 508 24 278.22

Roll_motor 52 68 83.12 AA4330 1707 33 1284.40

VBD_pump_during_apogee 385 1840 16182.93 WL_BB2FLVMT 785 105 1880.35

VBD_pump_during_surface 131 774 2322.56 QSP2150 353 4 35.32

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 60.14 nil 0 0 0.00

Iridium_during_connect 33 160 121.66 nil 0 0 0.00

Iridium_during_xfer 344 223 1751.85 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 26 4.78

TT8 1928 14 294.24

LPSleep 10457 2 233.61

TT8_Active 589 14 85.45

TT8_Sampling 2379 37 908.64

TT8_CF8 826 47 397.75

TT8_Kalman 33 59 20.11

Analog_circuits 1489 12 182.36

GPS_charging 0 0 0.00

Compass 2195 15 352.21

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

22 -0.53 -194.7 0.0 0.0 0 122 0.00 0.00 -97.22 0.000 2 0.000 0.000 61 3363 2934 0 0 0 0 0 0

126 -0.53 -194.7 3.2 -5.8 12 146 5.72 2.28 -8.07 0.000 4 0.236 0.055 1475 1948 3270 0 0 0 0 0 0

266 -0.53 -194.7 21.0 -9.0 32 275 0.00 2.35 0.00 0.000 6 0.000 0.063 1466 3346 3272 0 0 0 0 0 0

359 -0.53 -194.7 31.8 -12.6 45 364 0.00 0.00 0.00 0.000 6 0.000 0.000 1466 3346 3272 0 0 0 0 0 0

608 -0.53 -194.7 63.1 -12.6 86 614 0.00 0.00 0.00 0.000 6 0.000 0.000 1466 3346 3272 0 0 0 0 0 0

963 -0.53 -194.7 106.0 -12.1 142 966 0.00 0.98 0.00 0.000 4 0.000 0.066 1461 3953 3273 0 0 0 0 0 0

1091 -0.53 -194.7 122.3 -12.9 149 1094 0.00 0.93 0.00 0.000 6 0.000 0.045 1462 3357 3273 0 0 0 0 0 0

1421 -0.53 -194.7 164.2 -12.7 170 1422 0.00 0.00 0.00 0.000 6 0.000 0.000 1461 3357 3273 0 0 0 0 0 0

1733 -0.53 -194.7 202.2 -11.8 190 1737 0.00 0.95 0.00 0.000 4 0.000 0.065 1457 3953 3273 0 0 0 0 0 0

1793 -0.53 -194.7 209.9 -12.5 193 1796 0.00 0.93 0.00 0.000 6 0.000 0.044 1457 3350 3273 0 0 0 0 0 0

2118 -0.53 -194.7 248.4 -11.7 214 2119 0.00 0.00 0.00 0.000 6 0.000 0.000 1457 3350 3274 0 0 0 0 0 0

2444 -0.53 -194.7 287.9 -12.2 230 2445 0.00 0.00 0.00 0.000 6 0.000 0.000 1457 3350 3273 0 0 0 0 0 0

2754 -0.53 -194.7 323.8 -11.4 245 2759 0.00 0.95 0.00 0.000 4 0.000 0.064 1453 3950 3273 0 0 0 0 0 0

2806 -0.53 -194.7 330.4 -12.1 247 2810 0.00 0.93 0.00 0.000 6 0.000 0.044 1453 3346 3273 0 0 0 0 0 0

3136 -0.53 -194.7 367.7 -11.4 263 3137 0.00 0.00 0.00 0.000 6 0.000 0.000 1453 3347 3273 0 0 0 0 0 0

3444 -0.53 -194.7 401.6 -10.9 278 3448 0.00 0.95 0.00 0.000 4 0.000 0.065 1448 3947 3273 0 0 0 0 0 0

3533 -0.53 -194.7 412.7 -12.4 280 3537 0.00 0.93 0.00 0.000 6 0.000 0.045 1448 3347 3273 0 0 0 0 0 0

3853 -0.53 -194.7 448.2 -10.9 291 3854 0.00 0.00 0.00 0.000 6 0.000 0.000 1448 3346 3273 0 0 0 0 0 0

4158 -0.53 -194.7 481.2 -10.9 301 4159 0.00 0.00 0.00 0.000 6 0.000 0.000 1448 3346 3272 0 0 0 0 0 0

4465 -0.53 -194.7 515.3 -11.3 311 4468 0.00 2.12 0.00 0.000 4 0.000 0.041 1448 1941 3272 0 0 0 0 0 0

4494 -0.53 -194.7 518.5 -10.6 312 4499 0.12 2.28 0.00 0.000 6 0.155 0.063 1472 3357 3272 0 0 0 0 0 0

4831 -0.53 -194.7 550.6 -9.7 323 4836 0.00 0.93 0.00 0.000 4 0.000 0.067 1469 3945 3272 0 0 0 0 0 0

4943 -0.53 -194.7 561.6 -9.5 326 4947 0.00 0.90 0.00 0.000 6 0.000 0.046 1469 3357 3272 0 0 0 0 0 0

5274 -0.53 -194.7 591.9 -9.2 337 5275 0.00 0.00 0.00 0.000 6 0.000 0.000 1469 3357 3271 0 0 0 0 0 0

5581 -0.53 -194.7 619.9 -9.0 347 5582 0.00 0.00 0.00 0.000 6 0.000 0.000 1469 3357 3271 0 0 0 0 0 0

5886 -0.53 -194.7 647.1 -8.9 357 5887 0.00 0.00 0.00 0.000 6 0.000 0.000 1469 3357 3270 0 0 0 0 0 0

6192 -0.53 -194.7 675.5 -9.4 367 6193 0.00 0.00 0.00 0.000 6 0.000 0.000 1469 3357 3270 0 0 0 0 0 0

6500 -0.53 -194.7 704.9 -9.5 377 6501 0.00 0.00 0.00 0.000 6 0.000 0.000 1469 3357 3269 0 0 0 0 0 0

6805 -0.53 -194.7 732.2 -8.7 387 6806 0.00 0.00 0.00 0.000 6 0.000 0.000 1469 3357 3268 0 0 0 0 0 0

7111 -0.53 -194.7 757.0 -7.9 397 7112 0.00 0.00 0.00 0.000 6 0.000 0.000 1469 3357 3267 0 0 0 0 0 0

7418 -0.53 -194.7 780.2 -7.5 407 7419 0.00 0.00 0.00 0.000 6 0.000 0.000 1469 3357 3267 0 0 0 0 0 0

7723 -0.53 -194.7 804.4 -8.1 417 7725 0.00 0.00 0.00 0.000 6 0.000 0.000 1469 3357 3267 0 0 0 0 0 0

8030 -0.53 -194.7 830.2 -8.5 427 8031 0.00 0.00 0.00 0.000 6 0.000 0.000 1469 3357 3267 0 0 0 0 0 0

8337 -0.53 -194.7 856.7 -8.6 437 8341 0.00 2.15 0.00 0.000 4 0.000 0.044 1469 1942 3266 0 0 0 0 0 0

8375 -0.53 -194.7 860.2 -8.2 438 8380 0.00 2.28 0.00 0.000 6 0.000 0.064 1460 3355 3266 0 0 0 0 0 0

8699 -0.53 -194.7 891.9 -10.1 449 8703 0.00 0.95 0.00 0.000 4 0.000 0.069 1455 3954 3266 0 0 0 0 0 0

8794 -0.53 -194.7 902.4 -10.6 451 8801 0.00 0.93 0.00 0.000 6 0.000 0.049 1455 3353 3266 0 0 0 0 0 0

9108 -0.53 -194.7 934.5 -10.2 462 9109 0.00 0.00 0.00 0.000 6 0.000 0.000 1455 3353 3266 0 0 0 0 0 0

9415 -0.53 -194.7 964.3 -9.5 472 9416 0.00 0.00 0.00 0.000 6 0.000 0.000 1455 3353 3265 0 0 0 0 0 0

9720 -0.53 -194.7 992.6 -9.2 482 9722 0.00 0.00 0.00 0.000 6 0.000 0.000 1455 3353 3264 0 0 0 0 0 0

9809 end dive: TARGET_DEPTH_EXCEEDED

state 9809 begin apogee

9816 -0.14 0.0 1000.9 9.0 485 10027 0.47 0.00 202.25 1.220 6 0.133 0.000 1605 3151 2471 0 0 0 0 1 0

10028 end apogee: CONTROL_FINISHED_OK

state 10028 begin climb

10031 0.53 194.7 1007.4 0.0 492 10228 0.60 2.50 183.38 1.841 4 0.054 0.046 1841 1745 1680 0 0 0 0 1 0

10331 0.53 194.7 965.2 15.7 501 10335 0.00 2.45 0.00 0.000 6 0.000 0.059 1841 3155 1680 0 0 0 0 0 0

10656 0.53 194.7 903.4 18.9 512 10660 0.00 1.33 0.00 0.000 4 0.000 0.066 1841 3951 1678 0 0 0 0 0 0

10808 0.53 194.7 870.6 22.3 516 10812 0.00 1.27 0.00 0.000 6 0.000 0.043 1847 3148 1677 0 0 0 0 0 0

11132 0.53 194.7 806.7 19.5 527 11136 0.00 1.30 0.00 0.000 4 0.000 0.063 1847 3943 1676 0 0 0 0 0 0

11260 0.53 194.7 778.7 23.1 530 11268 0.10 1.25 0.00 0.000 6 0.206 0.041 1827 3140 1675 0 0 0 0 0 0

11574 0.53 194.7 721.2 18.5 541 11577 0.00 1.33 0.00 0.000 4 0.000 0.063 1827 3955 1675 0 0 0 0 0 0

11697 0.53 194.7 694.7 20.7 544 11702 0.00 1.23 0.00 0.000 6 0.000 0.041 1832 3161 1675 0 0 0 0 0 0

12016 0.53 194.7 633.2 19.2 555 12022 0.00 1.27 0.00 0.000 4 0.000 0.063 1831 3951 1675 0 0 0 0 0 0

12069 0.53 194.7 622.4 20.0 556 12072 0.00 1.23 0.00 0.000 6 0.000 0.040 1837 3155 1675 0 0 0 0 0 0

12394 0.53 194.7 559.7 19.1 567 12398 0.00 1.27 0.00 0.000 4 0.000 0.063 1837 3948 1675 0 0 0 0 0 0

12488 0.53 194.7 539.7 20.4 569 12495 0.00 1.23 0.00 0.000 6 0.000 0.039 1844 3146 1675 0 0 0 0 0 0

12801 0.53 194.7 479.2 19.5 580 12805 0.00 1.30 0.00 0.000 4 0.000 0.061 1844 3958 1674 0 0 0 0 0 0

12862 0.53 194.7 466.2 21.2 581 12869 0.00 1.23 0.00 0.000 6 0.000 0.039 1850 3152 1674 0 0 0 0 0 0

13176 0.53 194.7 406.2 18.9 592 13177 0.00 0.00 0.00 0.000 6 0.000 0.000 1850 3152 1674 0 0 0 0 0 0

13486 0.53 194.7 346.4 19.5 606 13489 0.00 1.27 0.00 0.000 4 0.000 0.061 1850 3951 1674 0 0 0 0 0 0

13580 0.53 194.7 326.4 20.8 610 13584 0.10 1.23 0.00 0.000 6 0.211 0.038 1829 3143 1674 0 0 0 0 0 0

13913 0.53 194.7 266.7 17.4 626 13915 0.00 0.00 0.00 0.000 6 0.000 0.000 1829 3142 1674 0 0 0 0 0 0

14238 0.53 194.7 211.6 17.0 645 14239 0.00 0.00 0.00 0.000 6 0.000 0.000 1829 3143 1674 0 0 0 0 0 0

14550 0.53 194.7 157.2 17.4 665 14554 0.00 1.27 0.00 0.000 4 0.000 0.060 1829 3949 1674 0 0 0 0 0 0

14604 0.53 194.7 146.8 18.8 668 14608 0.00 1.20 0.00 0.000 6 0.000 0.038 1833 3155 1674 0 0 0 0 0 0

14930 0.53 194.7 88.2 16.7 695 14934 0.00 0.00 0.00 0.000 6 0.000 0.000 1833 3154 1674 0 0 0 0 0 0

15295 0.53 194.7 28.9 17.9 756 15306 0.00 1.27 0.00 0.000 4 0.000 0.060 1833 3946 1674 0 0 0 0 0 0

15392 0.53 194.7 11.6 16.7 770 15400 0.00 1.20 0.00 0.000 6 0.000 0.038 1839 3148 1674 0 0 0 0 0 0

15439 end climb: SURFACE_DEPTH_REACHED

state 15439 begin surface coast

15462 end surface coast: CONTROL_FINISHED_OK

state 15462 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	8	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	3353	ALTIM_PING_DELTA	15
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	3153	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	472.49722	R_PORT_OVSHOOT	42	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	22	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	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	0.00061500003	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	-7806.709	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	52589	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	091212,233104,-4229.771,809.093,40,1.0,41,-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	0.285,-0.077
_SM_DEPTHo	0.73	KALMAN_X	-2710.8,-684.1,-474.6,14098.2,-688.1
_SM_ANGLEo	-26.5	KALMAN_Y	3002.2,-77.5,-90.4,-2408.1,1426.5
GPS2	091212,234035,-4229.808,809.151,14,1.7,14,-24.9	MHEAD_RNG_PITCHd_Wd	130.1,14818,-14.9,-10.010
SPEED_LIMITS	0.173,0.295	D_GRID	1000

FINISH	0.6,1.019827	_10V_AH	10.2,1.287
SM_CCo	15477,131.45,0.775,1,0,545,472.69	FG_AHR_24Vo	0.000
SM_GC	0.70,0.00,0.00,131.45,0.000,0.000,0.775,68,3372,545,-4.94,0.54,472.69	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4212.81,809.04,091212,181803	MEM	354280
TT8_MAMPS	0.025466	DATA_FILE_SIZE	57288,780
HUMID	54.76	CAP_FILE_SIZE	118655,0
INTERNAL_PRESSURE	8.92729	CFSIZE	259252224,257843200
TCM_TEMP	13.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
XPDR_PINGS	0	GPS	101212,040328,-4229.462,812.141,59,1.1,59,-24.9
_24V_AH	22.8,3.547

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	11	236	64.00	SBE_CT	508	24	278.22
Roll_motor	52	68	83.12	AA4330	1707	33	1284.40
VBD_pump_during_apogee	385	1840	16182.93	WL_BB2FLVMT	785	105	1880.35
VBD_pump_during_surface	131	774	2322.56	QSP2150	353	4	35.32
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	60.14	nil	0	0	0.00
Iridium_during_connect	33	160	121.66	nil	0	0	0.00
Iridium_during_xfer	344	223	1751.85	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	26	4.78
TT8	1928	14	294.24
LPSleep	10457	2	233.61
TT8_Active	589	14	85.45
TT8_Sampling	2379	37	908.64
TT8_CF8	826	47	397.75
TT8_Kalman	33	59	20.11
Analog_circuits	1489	12	182.36
GPS_charging	0	0	0.00
Compass	2195	15	352.21
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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
22	-0.53	-194.7	0.0	0.0	0	122	0.00	0.00	-97.22	0.000	2	0.000	0.000	61	3363	2934	0	0	0	0	0	0
126	-0.53	-194.7	3.2	-5.8	12	146	5.72	2.28	-8.07	0.000	4	0.236	0.055	1475	1948	3270	0	0	0	0	0	0
266	-0.53	-194.7	21.0	-9.0	32	275	0.00	2.35	0.00	0.000	6	0.000	0.063	1466	3346	3272	0	0	0	0	0	0
359	-0.53	-194.7	31.8	-12.6	45	364	0.00	0.00	0.00	0.000	6	0.000	0.000	1466	3346	3272	0	0	0	0	0	0
608	-0.53	-194.7	63.1	-12.6	86	614	0.00	0.00	0.00	0.000	6	0.000	0.000	1466	3346	3272	0	0	0	0	0	0
963	-0.53	-194.7	106.0	-12.1	142	966	0.00	0.98	0.00	0.000	4	0.000	0.066	1461	3953	3273	0	0	0	0	0	0
1091	-0.53	-194.7	122.3	-12.9	149	1094	0.00	0.93	0.00	0.000	6	0.000	0.045	1462	3357	3273	0	0	0	0	0	0
1421	-0.53	-194.7	164.2	-12.7	170	1422	0.00	0.00	0.00	0.000	6	0.000	0.000	1461	3357	3273	0	0	0	0	0	0
1733	-0.53	-194.7	202.2	-11.8	190	1737	0.00	0.95	0.00	0.000	4	0.000	0.065	1457	3953	3273	0	0	0	0	0	0
1793	-0.53	-194.7	209.9	-12.5	193	1796	0.00	0.93	0.00	0.000	6	0.000	0.044	1457	3350	3273	0	0	0	0	0	0
2118	-0.53	-194.7	248.4	-11.7	214	2119	0.00	0.00	0.00	0.000	6	0.000	0.000	1457	3350	3274	0	0	0	0	0	0
2444	-0.53	-194.7	287.9	-12.2	230	2445	0.00	0.00	0.00	0.000	6	0.000	0.000	1457	3350	3273	0	0	0	0	0	0
2754	-0.53	-194.7	323.8	-11.4	245	2759	0.00	0.95	0.00	0.000	4	0.000	0.064	1453	3950	3273	0	0	0	0	0	0
2806	-0.53	-194.7	330.4	-12.1	247	2810	0.00	0.93	0.00	0.000	6	0.000	0.044	1453	3346	3273	0	0	0	0	0	0
3136	-0.53	-194.7	367.7	-11.4	263	3137	0.00	0.00	0.00	0.000	6	0.000	0.000	1453	3347	3273	0	0	0	0	0	0
3444	-0.53	-194.7	401.6	-10.9	278	3448	0.00	0.95	0.00	0.000	4	0.000	0.065	1448	3947	3273	0	0	0	0	0	0
3533	-0.53	-194.7	412.7	-12.4	280	3537	0.00	0.93	0.00	0.000	6	0.000	0.045	1448	3347	3273	0	0	0	0	0	0
3853	-0.53	-194.7	448.2	-10.9	291	3854	0.00	0.00	0.00	0.000	6	0.000	0.000	1448	3346	3273	0	0	0	0	0	0
4158	-0.53	-194.7	481.2	-10.9	301	4159	0.00	0.00	0.00	0.000	6	0.000	0.000	1448	3346	3272	0	0	0	0	0	0
4465	-0.53	-194.7	515.3	-11.3	311	4468	0.00	2.12	0.00	0.000	4	0.000	0.041	1448	1941	3272	0	0	0	0	0	0
4494	-0.53	-194.7	518.5	-10.6	312	4499	0.12	2.28	0.00	0.000	6	0.155	0.063	1472	3357	3272	0	0	0	0	0	0
4831	-0.53	-194.7	550.6	-9.7	323	4836	0.00	0.93	0.00	0.000	4	0.000	0.067	1469	3945	3272	0	0	0	0	0	0
4943	-0.53	-194.7	561.6	-9.5	326	4947	0.00	0.90	0.00	0.000	6	0.000	0.046	1469	3357	3272	0	0	0	0	0	0
5274	-0.53	-194.7	591.9	-9.2	337	5275	0.00	0.00	0.00	0.000	6	0.000	0.000	1469	3357	3271	0	0	0	0	0	0
5581	-0.53	-194.7	619.9	-9.0	347	5582	0.00	0.00	0.00	0.000	6	0.000	0.000	1469	3357	3271	0	0	0	0	0	0
5886	-0.53	-194.7	647.1	-8.9	357	5887	0.00	0.00	0.00	0.000	6	0.000	0.000	1469	3357	3270	0	0	0	0	0	0
6192	-0.53	-194.7	675.5	-9.4	367	6193	0.00	0.00	0.00	0.000	6	0.000	0.000	1469	3357	3270	0	0	0	0	0	0
6500	-0.53	-194.7	704.9	-9.5	377	6501	0.00	0.00	0.00	0.000	6	0.000	0.000	1469	3357	3269	0	0	0	0	0	0
6805	-0.53	-194.7	732.2	-8.7	387	6806	0.00	0.00	0.00	0.000	6	0.000	0.000	1469	3357	3268	0	0	0	0	0	0
7111	-0.53	-194.7	757.0	-7.9	397	7112	0.00	0.00	0.00	0.000	6	0.000	0.000	1469	3357	3267	0	0	0	0	0	0
7418	-0.53	-194.7	780.2	-7.5	407	7419	0.00	0.00	0.00	0.000	6	0.000	0.000	1469	3357	3267	0	0	0	0	0	0
7723	-0.53	-194.7	804.4	-8.1	417	7725	0.00	0.00	0.00	0.000	6	0.000	0.000	1469	3357	3267	0	0	0	0	0	0
8030	-0.53	-194.7	830.2	-8.5	427	8031	0.00	0.00	0.00	0.000	6	0.000	0.000	1469	3357	3267	0	0	0	0	0	0
8337	-0.53	-194.7	856.7	-8.6	437	8341	0.00	2.15	0.00	0.000	4	0.000	0.044	1469	1942	3266	0	0	0	0	0	0
8375	-0.53	-194.7	860.2	-8.2	438	8380	0.00	2.28	0.00	0.000	6	0.000	0.064	1460	3355	3266	0	0	0	0	0	0
8699	-0.53	-194.7	891.9	-10.1	449	8703	0.00	0.95	0.00	0.000	4	0.000	0.069	1455	3954	3266	0	0	0	0	0	0
8794	-0.53	-194.7	902.4	-10.6	451	8801	0.00	0.93	0.00	0.000	6	0.000	0.049	1455	3353	3266	0	0	0	0	0	0
9108	-0.53	-194.7	934.5	-10.2	462	9109	0.00	0.00	0.00	0.000	6	0.000	0.000	1455	3353	3266	0	0	0	0	0	0
9415	-0.53	-194.7	964.3	-9.5	472	9416	0.00	0.00	0.00	0.000	6	0.000	0.000	1455	3353	3265	0	0	0	0	0	0
9720	-0.53	-194.7	992.6	-9.2	482	9722	0.00	0.00	0.00	0.000	6	0.000	0.000	1455	3353	3264	0	0	0	0	0	0
9809	end dive: TARGET_DEPTH_EXCEEDED
state	9809	begin apogee
9816	-0.14	0.0	1000.9	9.0	485	10027	0.47	0.00	202.25	1.220	6	0.133	0.000	1605	3151	2471	0	0	0	0	1	0
10028	end apogee: CONTROL_FINISHED_OK
state	10028	begin climb
10031	0.53	194.7	1007.4	0.0	492	10228	0.60	2.50	183.38	1.841	4	0.054	0.046	1841	1745	1680	0	0	0	0	1	0
10331	0.53	194.7	965.2	15.7	501	10335	0.00	2.45	0.00	0.000	6	0.000	0.059	1841	3155	1680	0	0	0	0	0	0
10656	0.53	194.7	903.4	18.9	512	10660	0.00	1.33	0.00	0.000	4	0.000	0.066	1841	3951	1678	0	0	0	0	0	0
10808	0.53	194.7	870.6	22.3	516	10812	0.00	1.27	0.00	0.000	6	0.000	0.043	1847	3148	1677	0	0	0	0	0	0
11132	0.53	194.7	806.7	19.5	527	11136	0.00	1.30	0.00	0.000	4	0.000	0.063	1847	3943	1676	0	0	0	0	0	0
11260	0.53	194.7	778.7	23.1	530	11268	0.10	1.25	0.00	0.000	6	0.206	0.041	1827	3140	1675	0	0	0	0	0	0
11574	0.53	194.7	721.2	18.5	541	11577	0.00	1.33	0.00	0.000	4	0.000	0.063	1827	3955	1675	0	0	0	0	0	0
11697	0.53	194.7	694.7	20.7	544	11702	0.00	1.23	0.00	0.000	6	0.000	0.041	1832	3161	1675	0	0	0	0	0	0
12016	0.53	194.7	633.2	19.2	555	12022	0.00	1.27	0.00	0.000	4	0.000	0.063	1831	3951	1675	0	0	0	0	0	0
12069	0.53	194.7	622.4	20.0	556	12072	0.00	1.23	0.00	0.000	6	0.000	0.040	1837	3155	1675	0	0	0	0	0	0
12394	0.53	194.7	559.7	19.1	567	12398	0.00	1.27	0.00	0.000	4	0.000	0.063	1837	3948	1675	0	0	0	0	0	0
12488	0.53	194.7	539.7	20.4	569	12495	0.00	1.23	0.00	0.000	6	0.000	0.039	1844	3146	1675	0	0	0	0	0	0
12801	0.53	194.7	479.2	19.5	580	12805	0.00	1.30	0.00	0.000	4	0.000	0.061	1844	3958	1674	0	0	0	0	0	0
12862	0.53	194.7	466.2	21.2	581	12869	0.00	1.23	0.00	0.000	6	0.000	0.039	1850	3152	1674	0	0	0	0	0	0
13176	0.53	194.7	406.2	18.9	592	13177	0.00	0.00	0.00	0.000	6	0.000	0.000	1850	3152	1674	0	0	0	0	0	0
13486	0.53	194.7	346.4	19.5	606	13489	0.00	1.27	0.00	0.000	4	0.000	0.061	1850	3951	1674	0	0	0	0	0	0
13580	0.53	194.7	326.4	20.8	610	13584	0.10	1.23	0.00	0.000	6	0.211	0.038	1829	3143	1674	0	0	0	0	0	0
13913	0.53	194.7	266.7	17.4	626	13915	0.00	0.00	0.00	0.000	6	0.000	0.000	1829	3142	1674	0	0	0	0	0	0
14238	0.53	194.7	211.6	17.0	645	14239	0.00	0.00	0.00	0.000	6	0.000	0.000	1829	3143	1674	0	0	0	0	0	0
14550	0.53	194.7	157.2	17.4	665	14554	0.00	1.27	0.00	0.000	4	0.000	0.060	1829	3949	1674	0	0	0	0	0	0
14604	0.53	194.7	146.8	18.8	668	14608	0.00	1.20	0.00	0.000	6	0.000	0.038	1833	3155	1674	0	0	0	0	0	0
14930	0.53	194.7	88.2	16.7	695	14934	0.00	0.00	0.00	0.000	6	0.000	0.000	1833	3154	1674	0	0	0	0	0	0
15295	0.53	194.7	28.9	17.9	756	15306	0.00	1.27	0.00	0.000	4	0.000	0.060	1833	3946	1674	0	0	0	0	0	0
15392	0.53	194.7	11.6	16.7	770	15400	0.00	1.20	0.00	0.000	6	0.000	0.038	1839	3148	1674	0	0	0	0	0	0
15439	end climb: SURFACE_DEPTH_REACHED
state	15439	begin surface coast
15462	end surface coast: CONTROL_FINISHED_OK
state	15462	begin surface