Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 103 * 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 103 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 26 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 25 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 -21946.447 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 -21946.447

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 26 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 25 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 103 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 271214,022804,-5558.540,-30.986,34,0.8,34,-19.9 TGT_NAME TARGET

_CALLS 1 TGT_LATLONG -5600.000,-30.000

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.154,0.059

_SM_DEPTHo 2.02 KALMAN_X 57414.1,-682.8,191.1,-88869.4,856.0

_SM_ANGLEo -65.6 KALMAN_Y 38948.0,252.3,114.4,-36311.7,-2725.9

GPS2 271214,023535,-5558.541,-30.913,20,0.9,20,-19.9 MHEAD_RNG_PITCHd_Wd 89.1,2862,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.2,1.026774 _10V_AH 10.0,16.158

SM_CCo 12639,30.90,0.175,0,0,1523,200.16 FG_AHR_24Vo 0.000

SM_GC 2.05,0.00,0.00,30.90,0.000,0.000,0.175,52,2942,1523,-5.42,0.34,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5535.12,-26.92,261214,222213 MEM 353948

TT8_MAMPS 0.025466 DATA_FILE_SIZE 57136,832

HUMID 56.14 CAP_FILE_SIZE 111967,0

INTERNAL_PRESSURE 8.97462 CFSIZE 259252224,219885568

TCM_TEMP 6.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 1 GPS 271214,060852,-5558.488,-27.269,37,1.0,37,-19.9

_24V_AH 21.9,24.697

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 241 69.75 SBE_CT 591 23 310.49

Roll_motor 72 62 100.01 AA4330 1744 17 686.83

VBD_pump_during_apogee 237 1791 9304.98 WL_BB2F 855 105 1966.19

VBD_pump_during_surface 30 175 118.55 QSP2150 889 17 350.10

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 91 52.05 nil 0 0 0.00

Iridium_during_connect 41 160 146.17 nil 0 0 0.00

Iridium_during_xfer 265 223 1298.11 nil 0 0 0.00

Transponder_ping 0 420 2.30 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 31 7.23

TT8 2085 14 301.54

LPSleep 7989 2 174.97

TT8_Active 378 14 54.71

TT8_Sampling 2509 42 1058.16

TT8_CF8 160 49 79.94

TT8_Kalman 33 68 22.81

Analog_circuits 1227 15 190.28

GPS_charging 0 0 0.00

Compass 2023 16 333.44

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 -34.28 0.000 2 0.000 0.000 47 2931 2249 0 0 0 0 0 0

54 -0.59 -124.5 3.1 -5.2 4 89 6.15 2.22 -21.77 0.000 4 0.242 0.049 1591 1494 2849 0 0 0 0 0 0

231 -0.59 -124.5 27.7 -16.5 31 240 0.00 2.38 0.00 0.000 6 0.000 0.054 1581 2930 2850 0 0 0 0 0 0

310 -0.59 -124.5 44.2 -22.2 44 318 0.00 0.00 0.00 0.000 6 0.000 0.000 1581 2930 2849 0 0 0 0 0 0

426 -0.59 -124.5 68.4 -20.5 63 433 0.00 0.00 0.00 0.000 6 0.000 0.000 1581 2930 2850 0 0 0 0 0 0

539 -0.59 -124.5 91.4 -19.3 82 545 0.00 0.00 0.00 0.000 6 0.000 0.000 1581 2930 2850 0 0 0 0 0 0

768 -0.59 -124.5 131.0 -17.4 107 772 0.00 1.60 0.00 0.000 4 0.000 0.061 1573 3903 2850 0 0 0 0 0 0

922 -0.59 -124.5 160.0 -18.2 120 933 0.00 1.58 0.00 0.000 6 0.000 0.032 1573 2885 2850 0 0 0 0 0 0

1250 -0.59 -124.5 214.8 -16.3 151 1251 0.00 0.00 0.00 0.000 6 0.000 0.000 1573 2885 2850 0 0 0 0 0 0

1563 -0.59 -124.5 267.0 -16.5 176 1567 0.00 1.67 0.00 0.000 4 0.000 0.060 1565 3917 2850 0 0 0 0 0 0

1641 -0.59 -124.5 281.6 -18.8 179 1647 0.10 1.52 0.00 0.000 6 0.182 0.032 1595 2922 2851 0 0 0 0 0 0

1966 -0.59 -124.5 331.0 -15.1 195 1967 0.00 0.00 0.00 0.000 6 0.000 0.000 1595 2922 2850 0 0 0 0 0 0

2273 -0.59 -124.5 376.6 -14.3 210 2276 0.00 1.60 0.00 0.000 4 0.000 0.060 1588 3896 2851 0 0 0 0 0 0

2363 -0.59 -124.5 390.4 -15.1 214 2367 0.00 1.48 0.00 0.000 6 0.000 0.033 1588 2933 2851 0 0 0 0 0 0

2695 -0.59 -124.5 438.2 -13.7 230 2699 0.00 1.60 0.00 0.000 4 0.000 0.060 1580 3903 2851 0 0 0 0 0 0

2756 -0.59 -124.5 447.7 -15.5 232 2763 0.00 1.48 0.00 0.000 6 0.000 0.032 1580 2923 2851 0 0 0 0 0 0

3071 -0.59 -124.5 494.4 -15.1 248 3075 0.00 1.60 0.00 0.000 4 0.000 0.060 1573 3898 2851 0 0 0 0 0 0

3142 -0.59 -124.5 506.0 -16.5 251 3148 0.00 1.50 0.00 0.000 6 0.000 0.032 1573 2921 2851 0 0 0 0 0 0

3471 -0.59 -124.5 555.7 -15.5 267 3474 0.00 1.62 0.00 0.000 4 0.000 0.060 1565 3910 2851 0 0 0 0 0 0

3527 -0.59 -124.5 565.0 -16.5 269 3531 0.08 1.48 0.00 0.000 6 0.180 0.033 1589 2943 2851 0 0 0 0 0 0

3847 -0.59 -124.5 610.8 -14.1 285 3849 0.00 0.00 0.00 0.000 6 0.000 0.000 1588 2939 2851 0 0 0 0 0 0

4156 -0.59 -124.5 655.3 -14.4 300 4160 0.00 1.58 0.00 0.000 4 0.000 0.060 1582 3900 2851 0 0 0 0 0 0

4201 -0.59 -124.5 662.2 -15.3 302 4205 0.00 1.48 0.00 0.000 6 0.000 0.032 1582 2926 2852 0 0 0 0 0 0

4534 -0.59 -124.5 711.0 -14.3 318 4535 0.00 0.00 0.00 0.000 6 0.000 0.000 1581 2920 2852 0 0 0 0 0 0

4842 -0.59 -124.5 755.0 -14.3 333 4846 0.00 1.60 0.00 0.000 4 0.000 0.060 1574 3900 2852 0 0 0 0 0 0

4890 -0.59 -124.5 762.5 -15.4 335 4895 0.00 1.50 0.00 0.000 6 0.000 0.031 1574 2917 2852 0 0 0 0 0 0

5219 -0.59 -124.5 808.2 -13.5 351 5220 0.00 0.00 0.00 0.000 6 0.000 0.000 1574 2914 2852 0 0 0 0 0 0

5527 -0.59 -124.5 850.9 -13.6 366 5531 0.00 1.62 0.00 0.000 4 0.000 0.062 1567 3907 2852 0 0 0 0 0 0

5611 -0.59 -124.5 863.5 -14.9 369 5619 0.08 1.48 0.00 0.000 6 0.180 0.033 1589 2939 2852 0 0 0 0 0 0

5927 -0.59 -124.5 903.1 -12.2 385 5928 0.00 0.00 0.00 0.000 6 0.000 0.000 1589 2938 2852 0 0 0 0 0 0

6236 -0.59 -124.5 941.0 -12.3 400 6237 0.00 0.00 0.00 0.000 6 0.000 0.000 1589 2938 2852 0 0 0 0 0 0

6546 -0.59 -124.5 977.1 -11.4 415 6547 0.00 0.00 0.00 0.000 6 0.000 0.000 1589 2938 2852 0 0 0 0 0 0

6750 end dive: TARGET_DEPTH_EXCEEDED

state 6750 begin apogee

6754 -0.13 0.0 1000.1 11.2 425 6873 0.50 0.00 112.40 1.792 6 0.166 0.000 1740 2718 2344 0 0 0 0 0 0

6874 end apogee: CONTROL_FINISHED_OK

state 6874 begin climb

6875 0.59 124.5 1003.1 0.0 431 7011 0.75 2.50 124.75 1.734 4 0.124 0.044 1978 1328 1833 0 0 0 0 0 0

7027 0.59 124.5 984.5 16.3 438 7032 0.00 2.53 0.00 0.000 6 0.000 0.049 1978 2724 1831 0 0 0 0 0 0

7355 0.59 124.5 925.6 17.6 454 7356 0.00 0.00 0.00 0.000 6 0.000 0.000 1978 2724 1823 0 0 0 0 0 0

7664 0.59 124.5 871.2 17.6 469 7668 0.00 1.95 0.00 0.000 4 0.000 0.059 1978 3889 1821 0 0 0 0 0 0

7713 0.59 124.5 861.3 20.5 471 7717 0.00 1.90 0.00 0.000 6 0.000 0.036 1986 2731 1821 0 0 0 0 0 0

8041 0.59 124.5 800.2 18.5 487 8044 0.00 1.90 0.00 0.000 4 0.000 0.057 1987 3892 1821 0 0 0 0 0 0

8072 0.59 124.5 793.2 21.3 488 8077 0.00 1.92 0.00 0.000 6 0.000 0.036 1996 2709 1820 0 0 0 0 0 0

8394 0.59 124.5 731.6 19.0 504 8395 0.00 0.00 0.00 0.000 6 0.000 0.000 1996 2708 1819 0 0 0 0 0 0

8704 0.59 124.5 673.3 18.6 519 8708 0.00 1.98 0.00 0.000 4 0.000 0.058 1996 3893 1819 0 0 0 0 0 0

8774 0.59 124.5 658.4 20.5 522 8779 0.00 1.90 0.00 0.000 6 0.000 0.035 2004 2707 1818 0 0 0 0 0 0

9102 0.59 124.5 594.5 19.9 538 9106 0.00 1.95 0.00 0.000 4 0.000 0.057 2005 3900 1818 0 0 0 0 0 0

9139 0.59 124.5 586.1 22.4 539 9148 0.10 1.90 0.00 0.000 6 0.213 0.036 1987 2715 1818 0 0 0 0 0 0

9455 0.59 124.5 528.8 18.2 555 9459 0.00 1.92 0.00 0.000 4 0.000 0.057 1987 3896 1818 0 0 0 0 0 0

9517 0.59 124.5 516.1 21.3 557 9524 0.00 1.88 0.00 0.000 6 0.000 0.036 1995 2701 1817 0 0 0 0 0 0

9832 0.59 124.5 457.9 18.4 573 9836 0.00 1.95 0.00 0.000 4 0.000 0.057 1995 3897 1817 0 0 0 0 0 0

9886 0.59 124.5 446.2 21.8 575 9891 0.00 1.90 0.00 0.000 6 0.000 0.036 2004 2708 1817 0 0 0 0 0 0

10213 0.59 124.5 383.0 19.7 591 10216 0.00 1.92 0.00 0.000 4 0.000 0.056 2004 3894 1817 0 0 0 0 0 0

10307 0.59 124.5 361.0 22.1 595 10312 0.10 1.90 0.00 0.000 6 0.210 0.035 1986 2702 1817 0 0 0 0 0 0

10636 0.59 124.5 303.2 17.1 611 10637 0.00 0.00 0.00 0.000 6 0.000 0.000 1987 2702 1817 0 0 0 0 0 0

10943 0.59 124.5 250.0 17.1 626 10944 0.00 0.00 0.00 0.000 6 0.000 0.000 1986 2702 1817 0 0 0 0 0 0

11264 0.59 124.5 198.4 15.7 655 11267 0.00 1.95 0.00 0.000 4 0.000 0.057 1986 3900 1817 0 0 0 0 0 0

11372 0.59 124.5 178.6 17.5 664 11382 0.00 1.88 0.00 0.000 6 0.000 0.034 1994 2714 1816 0 0 0 0 0 0

11699 0.59 124.5 130.2 14.3 695 11700 0.00 0.00 0.00 0.000 6 0.000 0.000 1995 2714 1817 0 0 0 0 0 0

12024 0.59 124.5 81.3 14.3 735 12032 0.00 1.92 0.00 0.000 4 0.000 0.057 1994 3886 1816 0 0 0 0 0 0

12091 0.59 124.5 70.6 15.3 746 12100 0.00 1.88 0.00 0.000 6 0.000 0.036 2004 2700 1816 0 0 0 0 0 0

12208 0.59 124.5 54.7 14.0 765 12215 0.00 0.00 0.00 0.000 6 0.000 0.000 2004 2699 1816 0 0 0 0 0 0

12321 0.59 124.5 38.7 13.3 784 12329 0.00 0.00 0.00 0.000 6 0.000 0.000 2004 2699 1817 0 0 0 0 0 0

12440 0.59 124.5 23.8 12.0 803 12448 0.00 0.00 0.00 0.000 6 0.000 0.000 2004 2699 1817 0 0 0 0 0 0

12524 0.59 124.5 13.4 12.6 816 12533 0.00 0.00 0.00 0.000 6 0.000 0.000 2003 2698 1817 0 0 0 0 0 0

12600 end climb: SURFACE_DEPTH_REACHED

state 12600 begin surface coast

12627 end surface coast: CONTROL_FINISHED_OK

state 12627 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	103	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	26	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	25	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	-21946.447	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	271214,022804,-5558.540,-30.986,34,0.8,34,-19.9	TGT_NAME	TARGET
_CALLS	1	TGT_LATLONG	-5600.000,-30.000
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.154,0.059
_SM_DEPTHo	2.02	KALMAN_X	57414.1,-682.8,191.1,-88869.4,856.0
_SM_ANGLEo	-65.6	KALMAN_Y	38948.0,252.3,114.4,-36311.7,-2725.9
GPS2	271214,023535,-5558.541,-30.913,20,0.9,20,-19.9	MHEAD_RNG_PITCHd_Wd	89.1,2862,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.2,1.026774	_10V_AH	10.0,16.158
SM_CCo	12639,30.90,0.175,0,0,1523,200.16	FG_AHR_24Vo	0.000
SM_GC	2.05,0.00,0.00,30.90,0.000,0.000,0.175,52,2942,1523,-5.42,0.34,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5535.12,-26.92,261214,222213	MEM	353948
TT8_MAMPS	0.025466	DATA_FILE_SIZE	57136,832
HUMID	56.14	CAP_FILE_SIZE	111967,0
INTERNAL_PRESSURE	8.97462	CFSIZE	259252224,219885568
TCM_TEMP	6.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	1	GPS	271214,060852,-5558.488,-27.269,37,1.0,37,-19.9
_24V_AH	21.9,24.697

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	241	69.75	SBE_CT	591	23	310.49
Roll_motor	72	62	100.01	AA4330	1744	17	686.83
VBD_pump_during_apogee	237	1791	9304.98	WL_BB2F	855	105	1966.19
VBD_pump_during_surface	30	175	118.55	QSP2150	889	17	350.10
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	91	52.05	nil	0	0	0.00
Iridium_during_connect	41	160	146.17	nil	0	0	0.00
Iridium_during_xfer	265	223	1298.11	nil	0	0	0.00
Transponder_ping	0	420	2.30	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	31	7.23
TT8	2085	14	301.54
LPSleep	7989	2	174.97
TT8_Active	378	14	54.71
TT8_Sampling	2509	42	1058.16
TT8_CF8	160	49	79.94
TT8_Kalman	33	68	22.81
Analog_circuits	1227	15	190.28
GPS_charging	0	0	0.00
Compass	2023	16	333.44
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	-34.28	0.000	2	0.000	0.000	47	2931	2249	0	0	0	0	0	0
54	-0.59	-124.5	3.1	-5.2	4	89	6.15	2.22	-21.77	0.000	4	0.242	0.049	1591	1494	2849	0	0	0	0	0	0
231	-0.59	-124.5	27.7	-16.5	31	240	0.00	2.38	0.00	0.000	6	0.000	0.054	1581	2930	2850	0	0	0	0	0	0
310	-0.59	-124.5	44.2	-22.2	44	318	0.00	0.00	0.00	0.000	6	0.000	0.000	1581	2930	2849	0	0	0	0	0	0
426	-0.59	-124.5	68.4	-20.5	63	433	0.00	0.00	0.00	0.000	6	0.000	0.000	1581	2930	2850	0	0	0	0	0	0
539	-0.59	-124.5	91.4	-19.3	82	545	0.00	0.00	0.00	0.000	6	0.000	0.000	1581	2930	2850	0	0	0	0	0	0
768	-0.59	-124.5	131.0	-17.4	107	772	0.00	1.60	0.00	0.000	4	0.000	0.061	1573	3903	2850	0	0	0	0	0	0
922	-0.59	-124.5	160.0	-18.2	120	933	0.00	1.58	0.00	0.000	6	0.000	0.032	1573	2885	2850	0	0	0	0	0	0
1250	-0.59	-124.5	214.8	-16.3	151	1251	0.00	0.00	0.00	0.000	6	0.000	0.000	1573	2885	2850	0	0	0	0	0	0
1563	-0.59	-124.5	267.0	-16.5	176	1567	0.00	1.67	0.00	0.000	4	0.000	0.060	1565	3917	2850	0	0	0	0	0	0
1641	-0.59	-124.5	281.6	-18.8	179	1647	0.10	1.52	0.00	0.000	6	0.182	0.032	1595	2922	2851	0	0	0	0	0	0
1966	-0.59	-124.5	331.0	-15.1	195	1967	0.00	0.00	0.00	0.000	6	0.000	0.000	1595	2922	2850	0	0	0	0	0	0
2273	-0.59	-124.5	376.6	-14.3	210	2276	0.00	1.60	0.00	0.000	4	0.000	0.060	1588	3896	2851	0	0	0	0	0	0
2363	-0.59	-124.5	390.4	-15.1	214	2367	0.00	1.48	0.00	0.000	6	0.000	0.033	1588	2933	2851	0	0	0	0	0	0
2695	-0.59	-124.5	438.2	-13.7	230	2699	0.00	1.60	0.00	0.000	4	0.000	0.060	1580	3903	2851	0	0	0	0	0	0
2756	-0.59	-124.5	447.7	-15.5	232	2763	0.00	1.48	0.00	0.000	6	0.000	0.032	1580	2923	2851	0	0	0	0	0	0
3071	-0.59	-124.5	494.4	-15.1	248	3075	0.00	1.60	0.00	0.000	4	0.000	0.060	1573	3898	2851	0	0	0	0	0	0
3142	-0.59	-124.5	506.0	-16.5	251	3148	0.00	1.50	0.00	0.000	6	0.000	0.032	1573	2921	2851	0	0	0	0	0	0
3471	-0.59	-124.5	555.7	-15.5	267	3474	0.00	1.62	0.00	0.000	4	0.000	0.060	1565	3910	2851	0	0	0	0	0	0
3527	-0.59	-124.5	565.0	-16.5	269	3531	0.08	1.48	0.00	0.000	6	0.180	0.033	1589	2943	2851	0	0	0	0	0	0
3847	-0.59	-124.5	610.8	-14.1	285	3849	0.00	0.00	0.00	0.000	6	0.000	0.000	1588	2939	2851	0	0	0	0	0	0
4156	-0.59	-124.5	655.3	-14.4	300	4160	0.00	1.58	0.00	0.000	4	0.000	0.060	1582	3900	2851	0	0	0	0	0	0
4201	-0.59	-124.5	662.2	-15.3	302	4205	0.00	1.48	0.00	0.000	6	0.000	0.032	1582	2926	2852	0	0	0	0	0	0
4534	-0.59	-124.5	711.0	-14.3	318	4535	0.00	0.00	0.00	0.000	6	0.000	0.000	1581	2920	2852	0	0	0	0	0	0
4842	-0.59	-124.5	755.0	-14.3	333	4846	0.00	1.60	0.00	0.000	4	0.000	0.060	1574	3900	2852	0	0	0	0	0	0
4890	-0.59	-124.5	762.5	-15.4	335	4895	0.00	1.50	0.00	0.000	6	0.000	0.031	1574	2917	2852	0	0	0	0	0	0
5219	-0.59	-124.5	808.2	-13.5	351	5220	0.00	0.00	0.00	0.000	6	0.000	0.000	1574	2914	2852	0	0	0	0	0	0
5527	-0.59	-124.5	850.9	-13.6	366	5531	0.00	1.62	0.00	0.000	4	0.000	0.062	1567	3907	2852	0	0	0	0	0	0
5611	-0.59	-124.5	863.5	-14.9	369	5619	0.08	1.48	0.00	0.000	6	0.180	0.033	1589	2939	2852	0	0	0	0	0	0
5927	-0.59	-124.5	903.1	-12.2	385	5928	0.00	0.00	0.00	0.000	6	0.000	0.000	1589	2938	2852	0	0	0	0	0	0
6236	-0.59	-124.5	941.0	-12.3	400	6237	0.00	0.00	0.00	0.000	6	0.000	0.000	1589	2938	2852	0	0	0	0	0	0
6546	-0.59	-124.5	977.1	-11.4	415	6547	0.00	0.00	0.00	0.000	6	0.000	0.000	1589	2938	2852	0	0	0	0	0	0
6750	end dive: TARGET_DEPTH_EXCEEDED
state	6750	begin apogee
6754	-0.13	0.0	1000.1	11.2	425	6873	0.50	0.00	112.40	1.792	6	0.166	0.000	1740	2718	2344	0	0	0	0	0	0
6874	end apogee: CONTROL_FINISHED_OK
state	6874	begin climb
6875	0.59	124.5	1003.1	0.0	431	7011	0.75	2.50	124.75	1.734	4	0.124	0.044	1978	1328	1833	0	0	0	0	0	0
7027	0.59	124.5	984.5	16.3	438	7032	0.00	2.53	0.00	0.000	6	0.000	0.049	1978	2724	1831	0	0	0	0	0	0
7355	0.59	124.5	925.6	17.6	454	7356	0.00	0.00	0.00	0.000	6	0.000	0.000	1978	2724	1823	0	0	0	0	0	0
7664	0.59	124.5	871.2	17.6	469	7668	0.00	1.95	0.00	0.000	4	0.000	0.059	1978	3889	1821	0	0	0	0	0	0
7713	0.59	124.5	861.3	20.5	471	7717	0.00	1.90	0.00	0.000	6	0.000	0.036	1986	2731	1821	0	0	0	0	0	0
8041	0.59	124.5	800.2	18.5	487	8044	0.00	1.90	0.00	0.000	4	0.000	0.057	1987	3892	1821	0	0	0	0	0	0
8072	0.59	124.5	793.2	21.3	488	8077	0.00	1.92	0.00	0.000	6	0.000	0.036	1996	2709	1820	0	0	0	0	0	0
8394	0.59	124.5	731.6	19.0	504	8395	0.00	0.00	0.00	0.000	6	0.000	0.000	1996	2708	1819	0	0	0	0	0	0
8704	0.59	124.5	673.3	18.6	519	8708	0.00	1.98	0.00	0.000	4	0.000	0.058	1996	3893	1819	0	0	0	0	0	0
8774	0.59	124.5	658.4	20.5	522	8779	0.00	1.90	0.00	0.000	6	0.000	0.035	2004	2707	1818	0	0	0	0	0	0
9102	0.59	124.5	594.5	19.9	538	9106	0.00	1.95	0.00	0.000	4	0.000	0.057	2005	3900	1818	0	0	0	0	0	0
9139	0.59	124.5	586.1	22.4	539	9148	0.10	1.90	0.00	0.000	6	0.213	0.036	1987	2715	1818	0	0	0	0	0	0
9455	0.59	124.5	528.8	18.2	555	9459	0.00	1.92	0.00	0.000	4	0.000	0.057	1987	3896	1818	0	0	0	0	0	0
9517	0.59	124.5	516.1	21.3	557	9524	0.00	1.88	0.00	0.000	6	0.000	0.036	1995	2701	1817	0	0	0	0	0	0
9832	0.59	124.5	457.9	18.4	573	9836	0.00	1.95	0.00	0.000	4	0.000	0.057	1995	3897	1817	0	0	0	0	0	0
9886	0.59	124.5	446.2	21.8	575	9891	0.00	1.90	0.00	0.000	6	0.000	0.036	2004	2708	1817	0	0	0	0	0	0
10213	0.59	124.5	383.0	19.7	591	10216	0.00	1.92	0.00	0.000	4	0.000	0.056	2004	3894	1817	0	0	0	0	0	0
10307	0.59	124.5	361.0	22.1	595	10312	0.10	1.90	0.00	0.000	6	0.210	0.035	1986	2702	1817	0	0	0	0	0	0
10636	0.59	124.5	303.2	17.1	611	10637	0.00	0.00	0.00	0.000	6	0.000	0.000	1987	2702	1817	0	0	0	0	0	0
10943	0.59	124.5	250.0	17.1	626	10944	0.00	0.00	0.00	0.000	6	0.000	0.000	1986	2702	1817	0	0	0	0	0	0
11264	0.59	124.5	198.4	15.7	655	11267	0.00	1.95	0.00	0.000	4	0.000	0.057	1986	3900	1817	0	0	0	0	0	0
11372	0.59	124.5	178.6	17.5	664	11382	0.00	1.88	0.00	0.000	6	0.000	0.034	1994	2714	1816	0	0	0	0	0	0
11699	0.59	124.5	130.2	14.3	695	11700	0.00	0.00	0.00	0.000	6	0.000	0.000	1995	2714	1817	0	0	0	0	0	0
12024	0.59	124.5	81.3	14.3	735	12032	0.00	1.92	0.00	0.000	4	0.000	0.057	1994	3886	1816	0	0	0	0	0	0
12091	0.59	124.5	70.6	15.3	746	12100	0.00	1.88	0.00	0.000	6	0.000	0.036	2004	2700	1816	0	0	0	0	0	0
12208	0.59	124.5	54.7	14.0	765	12215	0.00	0.00	0.00	0.000	6	0.000	0.000	2004	2699	1816	0	0	0	0	0	0
12321	0.59	124.5	38.7	13.3	784	12329	0.00	0.00	0.00	0.000	6	0.000	0.000	2004	2699	1817	0	0	0	0	0	0
12440	0.59	124.5	23.8	12.0	803	12448	0.00	0.00	0.00	0.000	6	0.000	0.000	2004	2699	1817	0	0	0	0	0	0
12524	0.59	124.5	13.4	12.6	816	12533	0.00	0.00	0.00	0.000	6	0.000	0.000	2003	2698	1817	0	0	0	0	0	0
12600	end climb: SURFACE_DEPTH_REACHED
state	12600	begin surface coast
12627	end surface coast: CONTROL_FINISHED_OK
state	12627	begin surface