Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 102 * 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 9 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 0

DIVE 102 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2930 ALTIM_PING_DELTA 5

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2710 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -56 HEAD_ERRBAND 15 ALTIM_PULSE 3

D_TGT 1000 TGT_DEFAULT_LON 0.1 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 2

D_NO_BLEED 500 SM_CC 200 R_PORT_OVSHOOT 29 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 28 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 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 2342 DEVICE3 35

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 134

T_DIVE 350 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 365 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00079999998 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 -21943.934 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 150 PITCH_MAX 3888 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1790 PHONE_SUPPLY 2 SEABIRD_T_G 0.0042910837

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -53.02364 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 53031 PITCH_GAIN 53 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 0.00251332 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.0127788 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 10

HD_C 1.44018e-06 ROLL_MIN 335 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 500 PHONE_DEVICE 48 SM_CC 200

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 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 53 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 -56

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 73 TGT_DEFAULT_LON 0.1

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 0.00079999998 T_BOOST 0

APOGEE_PITCH -7 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011816985 T_DIVE 350

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -53.02364 T_GPS 15

CALL_TRIES 5 HD_A 0.00251332 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0127788 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -21943.934

CAPMAXSIZE 100000 HD_C 1.44018e-06 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 365

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 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 1790 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2710 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 2930 LOGGERDEVICE1 -1 ROLL_MAX 3901 USE_ICE 0

C_VBD 2342 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 29 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 28 VBD_MAXERRORS 1

DEVICE3 35 MAX_BUOY 150 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 9 SEABIRD_C_J 0.00021125977 VBD_TIMEOUT 720

DIVE 102 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 5 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 261214,224252,-5559.533,-29.403,41,0.9,41,-19.9 TGT_NAME TARGET

_CALLS 2 TGT_LATLONG -5600.000,-30.000

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.091,0.138

_SM_DEPTHo 1.99 KALMAN_X 56934.1,-39.2,-156.3,-87012.8,715.5

_SM_ANGLEo -63.0 KALMAN_Y 39567.8,295.7,214.3,-38980.2,-2974.1

GPS2 261214,225353,-5559.572,-29.304,18,0.8,18,-19.9 MHEAD_RNG_PITCHd_Wd 346.4,1072,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.2,1.027173 _10V_AH 10.0,16.053

SM_CCo 12703,25.27,0.203,0,0,1524,200.16 FG_AHR_24Vo 0.000

SM_GC 2.33,0.00,0.00,25.27,0.000,0.000,0.203,55,2923,1524,-5.42,-0.20,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5535.12,-23.07,261214,222216 MEM 353940

TT8_MAMPS 0.026215 DATA_FILE_SIZE 57082,834

HUMID 56.18 CAP_FILE_SIZE 107558,0

INTERNAL_PRESSURE 8.97462 CFSIZE 259252224,219951104

TCM_TEMP 7.20 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 271214,022804,-5558.540,-30.986,34,0.8,34,-19.9

_24V_AH 21.9,24.559

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 242 68.51 SBE_CT 593 23 311.30

Roll_motor 53 63 74.36 AA4330 1734 17 683.15

VBD_pump_during_apogee 256 1794 10079.44 WL_BB2F 828 105 1905.52

VBD_pump_during_surface 25 203 112.64 QSP2150 878 17 345.95

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 54 91 108.82 nil 0 0 0.00

Iridium_during_connect 68 160 241.24 nil 0 0 0.00

Iridium_during_xfer 343 223 1679.03 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 31 6.39

TT8 2063 14 298.32

LPSleep 8217 2 179.96

TT8_Active 383 14 55.42

TT8_Sampling 2561 42 1079.99

TT8_CF8 168 49 83.48

TT8_Kalman 33 68 22.81

Analog_circuits 1180 15 183.00

GPS_charging 0 0 0.00

Compass 1936 16 319.14

RAFOS 0 0 0.00

Transponder 0 5 0.03

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.54 -73.9 0.0 0.0 0 51 0.00 0.00 -34.17 0.000 2 0.000 0.000 59 2946 2246 0 0 0 0 0 0

53 -0.59 -133.6 3.1 -4.4 4 87 6.15 0.00 -22.77 0.000 6 0.243 0.000 1592 2946 2889 0 0 0 0 0 0

163 -0.59 -133.6 18.6 -20.7 20 171 0.00 0.00 0.00 0.000 6 0.000 0.000 1592 2946 2891 0 0 0 0 0 0

246 -0.59 -133.6 35.6 -20.6 33 252 0.00 0.00 0.00 0.000 6 0.000 0.000 1592 2946 2891 0 0 0 0 0 0

358 -0.59 -133.6 58.5 -20.0 52 366 0.00 0.00 0.00 0.000 6 0.000 0.000 1592 2946 2891 0 0 0 0 0 0

473 -0.59 -133.6 79.8 -18.0 71 479 0.00 0.00 0.00 0.000 6 0.000 0.000 1592 2946 2891 0 0 0 0 0 0

583 -0.59 -133.6 99.7 -15.4 90 591 0.00 0.00 0.00 0.000 6 0.000 0.000 1592 2946 2891 0 0 0 0 0 0

803 -0.59 -133.6 136.3 -16.5 111 807 0.00 1.58 0.00 0.000 4 0.000 0.063 1585 3897 2890 0 0 0 0 0 0

864 -0.59 -133.6 147.8 -18.3 116 874 0.00 1.55 0.00 0.000 6 0.000 0.032 1585 2899 2891 0 0 0 0 0 0

1191 -0.59 -133.6 202.5 -16.4 147 1195 0.00 1.65 0.00 0.000 4 0.000 0.060 1578 3894 2891 0 0 0 0 0 0

1252 -0.59 -133.6 213.8 -18.2 152 1262 0.00 1.48 0.00 0.000 6 0.000 0.033 1578 2930 2891 0 0 0 0 0 0

1575 -0.59 -133.6 269.0 -16.8 178 1576 0.00 0.00 0.00 0.000 6 0.000 0.000 1578 2930 2891 0 0 0 0 0 0

1885 -0.59 -133.6 321.2 -17.1 193 1889 0.00 1.62 0.00 0.000 4 0.000 0.062 1570 3899 2891 0 0 0 0 0 0

1946 -0.59 -133.6 332.9 -18.5 195 1954 0.00 1.50 0.00 0.000 6 0.000 0.033 1570 2922 2891 0 0 0 0 0 0

2264 -0.59 -133.6 388.2 -17.6 211 2265 0.00 0.00 0.00 0.000 6 0.000 0.000 1571 2922 2891 0 0 0 0 0 0

2572 -0.59 -133.6 443.9 -18.3 226 2576 0.00 1.60 0.00 0.000 4 0.000 0.060 1563 3895 2890 0 0 0 0 0 0

2650 -0.59 -133.6 459.2 -19.7 229 2655 0.10 1.48 0.00 0.000 6 0.181 0.034 1592 2938 2890 0 0 0 0 0 0

2971 -0.59 -133.6 509.3 -15.0 245 2972 0.00 0.00 0.00 0.000 6 0.000 0.000 1592 2936 2891 0 0 0 0 0 0

3281 -0.59 -133.6 553.2 -13.4 260 3282 0.00 0.00 0.00 0.000 6 0.000 0.000 1592 2936 2891 0 0 0 0 0 0

3590 -0.59 -133.6 592.3 -12.1 275 3593 0.00 1.58 0.00 0.000 4 0.000 0.061 1585 3895 2891 0 0 0 0 0 0

3660 -0.59 -133.6 601.9 -13.8 278 3665 0.00 1.50 0.00 0.000 6 0.000 0.032 1585 2920 2891 0 0 0 0 0 0

3988 -0.59 -133.6 644.1 -12.7 294 3990 0.00 0.00 0.00 0.000 6 0.000 0.000 1585 2916 2891 0 0 0 0 0 0

4297 -0.59 -133.6 682.9 -12.5 309 4298 0.00 0.00 0.00 0.000 6 0.000 0.000 1585 2916 2891 0 0 0 0 0 0

4607 -0.59 -133.6 721.7 -12.8 324 4611 0.00 1.60 0.00 0.000 4 0.000 0.061 1578 3890 2891 0 0 0 0 0 0

4675 -0.59 -133.6 731.4 -14.2 327 4678 0.00 1.45 0.00 0.000 6 0.000 0.033 1578 2932 2891 0 0 0 0 0 0

5007 -0.59 -133.6 777.2 -13.8 343 5008 0.00 0.00 0.00 0.000 6 0.000 0.000 1578 2925 2891 0 0 0 0 0 0

5317 -0.59 -133.6 820.3 -14.2 358 5318 0.00 0.00 0.00 0.000 6 0.000 0.000 1578 2925 2891 0 0 0 0 0 0

5625 -0.59 -133.6 863.4 -13.8 373 5626 0.00 0.00 0.00 0.000 6 0.000 0.000 1578 2925 2891 0 0 0 0 0 0

5935 -0.59 -133.6 905.1 -13.3 388 5938 0.00 1.60 0.00 0.000 4 0.000 0.061 1571 3901 2891 0 0 0 0 0 0

6006 -0.59 -133.6 915.7 -14.7 391 6010 0.00 1.48 0.00 0.000 6 0.000 0.033 1571 2930 2892 0 0 0 0 0 0

6333 -0.59 -133.6 960.8 -13.9 407 6334 0.00 0.00 0.00 0.000 6 0.000 0.000 1571 2925 2891 0 0 0 0 0 0

6641 end dive: TARGET_DEPTH_EXCEEDED

state 6642 begin apogee

6646 -0.13 0.0 1002.9 13.7 422 6772 0.57 0.00 122.00 1.795 6 0.174 0.000 1740 2709 2342 0 0 0 0 0 0

6772 end apogee: CONTROL_FINISHED_OK

state 6773 begin climb

6774 0.59 133.6 1007.2 0.0 428 6913 0.77 0.00 134.45 1.740 6 0.125 0.000 1973 2709 1796 0 0 0 0 0 0

7209 0.59 133.6 940.7 16.9 449 7210 0.00 0.00 0.00 0.000 6 0.000 0.000 1973 2709 1788 0 0 0 0 0 0

7517 0.59 133.6 888.4 16.9 464 7518 0.00 0.00 0.00 0.000 6 0.000 0.000 1972 2709 1786 0 0 0 0 0 0

7827 0.59 133.6 836.8 16.3 479 7831 0.00 2.00 0.00 0.000 4 0.000 0.058 1973 3892 1785 0 0 0 0 0 0

7909 0.59 133.6 821.5 19.1 482 7917 0.00 1.88 0.00 0.000 6 0.000 0.035 1981 2737 1783 0 0 0 0 0 0

8225 0.59 133.6 768.5 16.5 498 8226 0.00 0.00 0.00 0.000 6 0.000 0.000 1981 2737 1783 0 0 0 0 0 0

8535 0.59 133.6 717.5 16.7 513 8536 0.00 0.00 0.00 0.000 6 0.000 0.000 1982 2737 1782 0 0 0 0 0 0

8844 0.59 133.6 667.2 16.3 528 8845 0.00 0.00 0.00 0.000 6 0.000 0.000 1982 2737 1782 0 0 0 0 0 0

9153 0.59 133.6 615.2 16.6 543 9157 0.00 1.92 0.00 0.000 4 0.000 0.057 1982 3898 1781 0 0 0 0 0 0

9220 0.59 133.6 602.6 19.3 546 9224 0.00 1.88 0.00 0.000 6 0.000 0.036 1990 2698 1781 0 0 0 0 0 0

9552 0.59 133.6 544.4 17.6 562 9556 0.00 1.95 0.00 0.000 4 0.000 0.057 1991 3896 1781 0 0 0 0 0 0

9601 0.59 133.6 534.4 20.2 564 9606 0.00 1.90 0.00 0.000 6 0.000 0.035 2000 2707 1781 0 0 0 0 0 0

9929 0.59 133.6 473.0 19.1 580 9931 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2707 1781 0 0 0 0 0 0

10238 0.59 133.6 414.8 18.8 595 10242 0.00 1.95 0.00 0.000 4 0.000 0.057 2000 3892 1781 0 0 0 0 0 0

10314 0.59 133.6 398.2 22.3 598 10319 0.00 1.90 0.00 0.000 6 0.000 0.036 2009 2701 1781 0 0 0 0 0 0

10637 0.59 133.6 335.3 19.7 614 10638 0.00 0.00 0.00 0.000 6 0.000 0.000 2009 2702 1780 0 0 0 0 0 0

10947 0.59 133.6 275.7 19.4 629 10951 0.00 1.95 0.00 0.000 4 0.000 0.057 2009 3903 1780 0 0 0 0 0 0

11020 0.59 133.6 259.9 20.7 632 11025 0.10 1.90 0.00 0.000 6 0.200 0.037 1990 2714 1780 0 0 0 0 0 0

11346 0.59 133.6 205.6 16.5 660 11347 0.00 0.00 0.00 0.000 6 0.000 0.000 1990 2714 1780 0 0 0 0 0 0

11664 0.59 133.6 154.5 16.4 690 11668 0.00 1.92 0.00 0.000 4 0.000 0.057 1990 3905 1780 0 0 0 0 0 0

11771 0.59 133.6 134.6 18.8 699 11775 0.00 1.88 0.00 0.000 6 0.000 0.037 1998 2705 1780 0 0 0 0 0 0

12106 0.59 133.6 80.7 14.5 740 12113 0.00 2.20 0.00 0.000 4 0.000 0.044 2009 1284 1780 0 0 0 0 0 0

12197 0.59 133.6 68.4 14.0 755 12205 0.00 2.25 0.00 0.000 6 0.000 0.053 2009 2722 1780 0 0 0 0 0 0

12311 0.59 133.6 52.0 14.1 774 12320 0.00 1.88 0.00 0.000 4 0.000 0.060 2008 3882 1780 0 0 0 0 0 0

12396 0.59 133.6 37.7 16.7 788 12406 0.10 1.85 0.00 0.000 6 0.207 0.037 1989 2715 1779 0 0 0 0 0 0

12516 0.59 133.6 21.5 12.2 807 12524 0.00 0.00 0.00 0.000 6 0.000 0.000 1989 2714 1780 0 0 0 0 0 0

12600 0.59 133.6 10.9 11.9 820 12609 0.00 0.00 0.00 0.000 6 0.000 0.000 1989 2714 1780 0 0 0 0 0 0

12664 end climb: SURFACE_DEPTH_REACHED

state 12664 begin surface coast

12690 end surface coast: CONTROL_FINISHED_OK

state 12690 begin surface

ID	542	HEADING	-1	ROLL_MAX	3901	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	9	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	0
DIVE	102	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2930	ALTIM_PING_DELTA	5
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2710	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-56	HEAD_ERRBAND	15	ALTIM_PULSE	3
D_TGT	1000	TGT_DEFAULT_LON	0.1	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	2
D_NO_BLEED	500	SM_CC	200	R_PORT_OVSHOOT	29	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	28	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	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	2342	DEVICE3	35
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	134
T_DIVE	350	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	365	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00079999998	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	-21943.934	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	150	PITCH_MAX	3888	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1790	PHONE_SUPPLY	2	SEABIRD_T_G	0.0042910837
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-53.02364	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	53031	PITCH_GAIN	53	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	0.00251332	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.0127788	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	10
HD_C	1.44018e-06	ROLL_MIN	335	ALTIM_TOP_TURN_MARGIN	0

GPS1	261214,224252,-5559.533,-29.403,41,0.9,41,-19.9	TGT_NAME	TARGET
_CALLS	2	TGT_LATLONG	-5600.000,-30.000
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.091,0.138
_SM_DEPTHo	1.99	KALMAN_X	56934.1,-39.2,-156.3,-87012.8,715.5
_SM_ANGLEo	-63.0	KALMAN_Y	39567.8,295.7,214.3,-38980.2,-2974.1
GPS2	261214,225353,-5559.572,-29.304,18,0.8,18,-19.9	MHEAD_RNG_PITCHd_Wd	346.4,1072,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.2,1.027173	_10V_AH	10.0,16.053
SM_CCo	12703,25.27,0.203,0,0,1524,200.16	FG_AHR_24Vo	0.000
SM_GC	2.33,0.00,0.00,25.27,0.000,0.000,0.203,55,2923,1524,-5.42,-0.20,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5535.12,-23.07,261214,222216	MEM	353940
TT8_MAMPS	0.026215	DATA_FILE_SIZE	57082,834
HUMID	56.18	CAP_FILE_SIZE	107558,0
INTERNAL_PRESSURE	8.97462	CFSIZE	259252224,219951104
TCM_TEMP	7.20	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	271214,022804,-5558.540,-30.986,34,0.8,34,-19.9
_24V_AH	21.9,24.559

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	242	68.51	SBE_CT	593	23	311.30
Roll_motor	53	63	74.36	AA4330	1734	17	683.15
VBD_pump_during_apogee	256	1794	10079.44	WL_BB2F	828	105	1905.52
VBD_pump_during_surface	25	203	112.64	QSP2150	878	17	345.95
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	54	91	108.82	nil	0	0	0.00
Iridium_during_connect	68	160	241.24	nil	0	0	0.00
Iridium_during_xfer	343	223	1679.03	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	31	6.39
TT8	2063	14	298.32
LPSleep	8217	2	179.96
TT8_Active	383	14	55.42
TT8_Sampling	2561	42	1079.99
TT8_CF8	168	49	83.48
TT8_Kalman	33	68	22.81
Analog_circuits	1180	15	183.00
GPS_charging	0	0	0.00
Compass	1936	16	319.14
RAFOS	0	0	0.00
Transponder	0	5	0.03

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.54	-73.9	0.0	0.0	0	51	0.00	0.00	-34.17	0.000	2	0.000	0.000	59	2946	2246	0	0	0	0	0	0
53	-0.59	-133.6	3.1	-4.4	4	87	6.15	0.00	-22.77	0.000	6	0.243	0.000	1592	2946	2889	0	0	0	0	0	0
163	-0.59	-133.6	18.6	-20.7	20	171	0.00	0.00	0.00	0.000	6	0.000	0.000	1592	2946	2891	0	0	0	0	0	0
246	-0.59	-133.6	35.6	-20.6	33	252	0.00	0.00	0.00	0.000	6	0.000	0.000	1592	2946	2891	0	0	0	0	0	0
358	-0.59	-133.6	58.5	-20.0	52	366	0.00	0.00	0.00	0.000	6	0.000	0.000	1592	2946	2891	0	0	0	0	0	0
473	-0.59	-133.6	79.8	-18.0	71	479	0.00	0.00	0.00	0.000	6	0.000	0.000	1592	2946	2891	0	0	0	0	0	0
583	-0.59	-133.6	99.7	-15.4	90	591	0.00	0.00	0.00	0.000	6	0.000	0.000	1592	2946	2891	0	0	0	0	0	0
803	-0.59	-133.6	136.3	-16.5	111	807	0.00	1.58	0.00	0.000	4	0.000	0.063	1585	3897	2890	0	0	0	0	0	0
864	-0.59	-133.6	147.8	-18.3	116	874	0.00	1.55	0.00	0.000	6	0.000	0.032	1585	2899	2891	0	0	0	0	0	0
1191	-0.59	-133.6	202.5	-16.4	147	1195	0.00	1.65	0.00	0.000	4	0.000	0.060	1578	3894	2891	0	0	0	0	0	0
1252	-0.59	-133.6	213.8	-18.2	152	1262	0.00	1.48	0.00	0.000	6	0.000	0.033	1578	2930	2891	0	0	0	0	0	0
1575	-0.59	-133.6	269.0	-16.8	178	1576	0.00	0.00	0.00	0.000	6	0.000	0.000	1578	2930	2891	0	0	0	0	0	0
1885	-0.59	-133.6	321.2	-17.1	193	1889	0.00	1.62	0.00	0.000	4	0.000	0.062	1570	3899	2891	0	0	0	0	0	0
1946	-0.59	-133.6	332.9	-18.5	195	1954	0.00	1.50	0.00	0.000	6	0.000	0.033	1570	2922	2891	0	0	0	0	0	0
2264	-0.59	-133.6	388.2	-17.6	211	2265	0.00	0.00	0.00	0.000	6	0.000	0.000	1571	2922	2891	0	0	0	0	0	0
2572	-0.59	-133.6	443.9	-18.3	226	2576	0.00	1.60	0.00	0.000	4	0.000	0.060	1563	3895	2890	0	0	0	0	0	0
2650	-0.59	-133.6	459.2	-19.7	229	2655	0.10	1.48	0.00	0.000	6	0.181	0.034	1592	2938	2890	0	0	0	0	0	0
2971	-0.59	-133.6	509.3	-15.0	245	2972	0.00	0.00	0.00	0.000	6	0.000	0.000	1592	2936	2891	0	0	0	0	0	0
3281	-0.59	-133.6	553.2	-13.4	260	3282	0.00	0.00	0.00	0.000	6	0.000	0.000	1592	2936	2891	0	0	0	0	0	0
3590	-0.59	-133.6	592.3	-12.1	275	3593	0.00	1.58	0.00	0.000	4	0.000	0.061	1585	3895	2891	0	0	0	0	0	0
3660	-0.59	-133.6	601.9	-13.8	278	3665	0.00	1.50	0.00	0.000	6	0.000	0.032	1585	2920	2891	0	0	0	0	0	0
3988	-0.59	-133.6	644.1	-12.7	294	3990	0.00	0.00	0.00	0.000	6	0.000	0.000	1585	2916	2891	0	0	0	0	0	0
4297	-0.59	-133.6	682.9	-12.5	309	4298	0.00	0.00	0.00	0.000	6	0.000	0.000	1585	2916	2891	0	0	0	0	0	0
4607	-0.59	-133.6	721.7	-12.8	324	4611	0.00	1.60	0.00	0.000	4	0.000	0.061	1578	3890	2891	0	0	0	0	0	0
4675	-0.59	-133.6	731.4	-14.2	327	4678	0.00	1.45	0.00	0.000	6	0.000	0.033	1578	2932	2891	0	0	0	0	0	0
5007	-0.59	-133.6	777.2	-13.8	343	5008	0.00	0.00	0.00	0.000	6	0.000	0.000	1578	2925	2891	0	0	0	0	0	0
5317	-0.59	-133.6	820.3	-14.2	358	5318	0.00	0.00	0.00	0.000	6	0.000	0.000	1578	2925	2891	0	0	0	0	0	0
5625	-0.59	-133.6	863.4	-13.8	373	5626	0.00	0.00	0.00	0.000	6	0.000	0.000	1578	2925	2891	0	0	0	0	0	0
5935	-0.59	-133.6	905.1	-13.3	388	5938	0.00	1.60	0.00	0.000	4	0.000	0.061	1571	3901	2891	0	0	0	0	0	0
6006	-0.59	-133.6	915.7	-14.7	391	6010	0.00	1.48	0.00	0.000	6	0.000	0.033	1571	2930	2892	0	0	0	0	0	0
6333	-0.59	-133.6	960.8	-13.9	407	6334	0.00	0.00	0.00	0.000	6	0.000	0.000	1571	2925	2891	0	0	0	0	0	0
6641	end dive: TARGET_DEPTH_EXCEEDED
state	6642	begin apogee
6646	-0.13	0.0	1002.9	13.7	422	6772	0.57	0.00	122.00	1.795	6	0.174	0.000	1740	2709	2342	0	0	0	0	0	0
6772	end apogee: CONTROL_FINISHED_OK
state	6773	begin climb
6774	0.59	133.6	1007.2	0.0	428	6913	0.77	0.00	134.45	1.740	6	0.125	0.000	1973	2709	1796	0	0	0	0	0	0
7209	0.59	133.6	940.7	16.9	449	7210	0.00	0.00	0.00	0.000	6	0.000	0.000	1973	2709	1788	0	0	0	0	0	0
7517	0.59	133.6	888.4	16.9	464	7518	0.00	0.00	0.00	0.000	6	0.000	0.000	1972	2709	1786	0	0	0	0	0	0
7827	0.59	133.6	836.8	16.3	479	7831	0.00	2.00	0.00	0.000	4	0.000	0.058	1973	3892	1785	0	0	0	0	0	0
7909	0.59	133.6	821.5	19.1	482	7917	0.00	1.88	0.00	0.000	6	0.000	0.035	1981	2737	1783	0	0	0	0	0	0
8225	0.59	133.6	768.5	16.5	498	8226	0.00	0.00	0.00	0.000	6	0.000	0.000	1981	2737	1783	0	0	0	0	0	0
8535	0.59	133.6	717.5	16.7	513	8536	0.00	0.00	0.00	0.000	6	0.000	0.000	1982	2737	1782	0	0	0	0	0	0
8844	0.59	133.6	667.2	16.3	528	8845	0.00	0.00	0.00	0.000	6	0.000	0.000	1982	2737	1782	0	0	0	0	0	0
9153	0.59	133.6	615.2	16.6	543	9157	0.00	1.92	0.00	0.000	4	0.000	0.057	1982	3898	1781	0	0	0	0	0	0
9220	0.59	133.6	602.6	19.3	546	9224	0.00	1.88	0.00	0.000	6	0.000	0.036	1990	2698	1781	0	0	0	0	0	0
9552	0.59	133.6	544.4	17.6	562	9556	0.00	1.95	0.00	0.000	4	0.000	0.057	1991	3896	1781	0	0	0	0	0	0
9601	0.59	133.6	534.4	20.2	564	9606	0.00	1.90	0.00	0.000	6	0.000	0.035	2000	2707	1781	0	0	0	0	0	0
9929	0.59	133.6	473.0	19.1	580	9931	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2707	1781	0	0	0	0	0	0
10238	0.59	133.6	414.8	18.8	595	10242	0.00	1.95	0.00	0.000	4	0.000	0.057	2000	3892	1781	0	0	0	0	0	0
10314	0.59	133.6	398.2	22.3	598	10319	0.00	1.90	0.00	0.000	6	0.000	0.036	2009	2701	1781	0	0	0	0	0	0
10637	0.59	133.6	335.3	19.7	614	10638	0.00	0.00	0.00	0.000	6	0.000	0.000	2009	2702	1780	0	0	0	0	0	0
10947	0.59	133.6	275.7	19.4	629	10951	0.00	1.95	0.00	0.000	4	0.000	0.057	2009	3903	1780	0	0	0	0	0	0
11020	0.59	133.6	259.9	20.7	632	11025	0.10	1.90	0.00	0.000	6	0.200	0.037	1990	2714	1780	0	0	0	0	0	0
11346	0.59	133.6	205.6	16.5	660	11347	0.00	0.00	0.00	0.000	6	0.000	0.000	1990	2714	1780	0	0	0	0	0	0
11664	0.59	133.6	154.5	16.4	690	11668	0.00	1.92	0.00	0.000	4	0.000	0.057	1990	3905	1780	0	0	0	0	0	0
11771	0.59	133.6	134.6	18.8	699	11775	0.00	1.88	0.00	0.000	6	0.000	0.037	1998	2705	1780	0	0	0	0	0	0
12106	0.59	133.6	80.7	14.5	740	12113	0.00	2.20	0.00	0.000	4	0.000	0.044	2009	1284	1780	0	0	0	0	0	0
12197	0.59	133.6	68.4	14.0	755	12205	0.00	2.25	0.00	0.000	6	0.000	0.053	2009	2722	1780	0	0	0	0	0	0
12311	0.59	133.6	52.0	14.1	774	12320	0.00	1.88	0.00	0.000	4	0.000	0.060	2008	3882	1780	0	0	0	0	0	0
12396	0.59	133.6	37.7	16.7	788	12406	0.10	1.85	0.00	0.000	6	0.207	0.037	1989	2715	1779	0	0	0	0	0	0
12516	0.59	133.6	21.5	12.2	807	12524	0.00	0.00	0.00	0.000	6	0.000	0.000	1989	2714	1780	0	0	0	0	0	0
12600	0.59	133.6	10.9	11.9	820	12609	0.00	0.00	0.00	0.000	6	0.000	0.000	1989	2714	1780	0	0	0	0	0	0
12664	end climb: SURFACE_DEPTH_REACHED
state	12664	begin surface coast
12690	end surface coast: CONTROL_FINISHED_OK
state	12690	begin surface