Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 113 * 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 113 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 51 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 30 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 -21973.08 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 -21973.08

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 51 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 30 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 113 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 281214,152604,-5558.985,-31.354,38,1.3,38,-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 -0.033,0.162

_SM_DEPTHo 2.10 KALMAN_X 63222.1,-152.9,-285.9,-95103.8,1708.0

_SM_ANGLEo -66.0 KALMAN_Y 29214.9,275.7,195.2,-27409.6,-3884.7

GPS2 281214,153329,-5558.933,-31.286,16,1.0,16,-19.9 MHEAD_RNG_PITCHd_Wd 8.4,2383,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.2,1.007882 _10V_AH 10.0,17.190

SM_CCo 12889,31.02,0.177,0,0,1525,200.16 FG_AHR_24Vo 0.000

SM_GC 1.62,0.00,0.00,31.02,0.000,0.000,0.177,61,2941,1525,-5.40,0.31,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5535.12,-34.61,281214,111125 MEM 353964

TT8_MAMPS 0.026215 DATA_FILE_SIZE 60333,851

HUMID 56.10 CAP_FILE_SIZE 103173,0

INTERNAL_PRESSURE 8.96486 CFSIZE 259252224,219246592

TCM_TEMP 7.10 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 281214,191059,-5557.556,-31.528,40,0.9,40,-19.9

_24V_AH 22.0,26.237

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 264 77.01 SBE_CT 605 23 319.30

Roll_motor 47 64 66.97 AA4330 1776 17 702.77

VBD_pump_during_apogee 237 1773 9282.89 WL_BB2F 861 105 1990.36

VBD_pump_during_surface 31 176 120.62 QSP2150 901 17 356.61

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 91 57.43 nil 0 0 0.00

Iridium_during_connect 20 160 71.12 nil 0 0 0.00

Iridium_during_xfer 278 223 1368.27 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 31 6.06

TT8 2094 14 302.83

LPSleep 8314 2 182.09

TT8_Active 386 14 55.85

TT8_Sampling 2414 42 1018.12

TT8_CF8 158 49 78.60

TT8_Kalman 33 68 22.81

Analog_circuits 1156 15 179.31

GPS_charging 0 0 0.00

Compass 1938 16 319.47

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 59 0.00 0.00 -42.50 0.000 2 0.000 0.000 45 2902 2431 0 0 0 0 0 0

62 -0.59 -124.4 3.4 -5.2 5 88 6.57 0.00 -13.00 0.000 6 0.265 0.000 1594 2902 2847 0 0 0 0 0 0

163 -0.59 -124.4 19.5 -17.5 20 171 0.00 0.00 0.00 0.000 6 0.000 0.000 1593 2902 2848 0 0 0 0 0 0

245 -0.59 -124.4 35.3 -18.2 33 251 0.00 0.00 0.00 0.000 6 0.000 0.000 1594 2902 2848 0 0 0 0 0 0

358 -0.59 -124.4 58.0 -20.7 52 366 0.00 0.00 0.00 0.000 6 0.000 0.000 1594 2902 2848 0 0 0 0 0 0

470 -0.59 -124.4 80.1 -20.0 71 476 0.00 0.00 0.00 0.000 6 0.000 0.000 1594 2902 2848 0 0 0 0 0 0

700 -0.59 -124.4 121.9 -18.1 101 701 0.00 0.00 0.00 0.000 6 0.000 0.000 1594 2901 2848 0 0 0 0 0 0

1020 -0.59 -124.4 174.7 -15.6 131 1026 0.00 0.00 0.00 0.000 6 0.000 0.000 1594 2902 2848 0 0 0 0 0 0

1346 -0.59 -124.4 224.2 -13.7 162 1347 0.00 0.00 0.00 0.000 6 0.000 0.000 1594 2902 2849 0 0 0 0 0 0

1661 -0.59 -124.4 269.7 -14.8 186 1665 0.00 1.65 0.00 0.000 4 0.000 0.064 1586 3910 2848 0 0 0 0 0 0

1731 -0.59 -124.4 280.5 -15.4 189 1735 0.00 1.52 0.00 0.000 6 0.000 0.034 1586 2922 2849 0 0 0 0 0 0

2066 -0.59 -124.4 331.4 -15.4 205 2067 0.00 0.00 0.00 0.000 6 0.000 0.000 1586 2916 2848 0 0 0 0 0 0

2372 -0.59 -124.4 380.7 -16.0 220 2376 0.00 1.62 0.00 0.000 4 0.000 0.064 1579 3896 2848 0 0 0 0 0 0

2421 -0.59 -124.4 389.6 -17.8 222 2427 0.00 1.50 0.00 0.000 6 0.000 0.033 1578 2928 2849 0 0 0 0 0 0

2750 -0.59 -124.4 444.5 -17.0 238 2751 0.00 0.00 0.00 0.000 6 0.000 0.000 1579 2922 2849 0 0 0 0 0 0

3058 -0.59 -124.4 495.5 -16.6 253 3062 0.00 1.60 0.00 0.000 4 0.000 0.063 1571 3889 2849 0 0 0 0 0 0

3136 -0.59 -124.4 509.8 -18.8 256 3140 0.00 1.48 0.00 0.000 6 0.000 0.034 1571 2926 2849 0 0 0 0 0 0

3457 -0.59 -124.4 563.1 -16.4 272 3458 0.00 0.00 0.00 0.000 6 0.000 0.000 1571 2920 2849 0 0 0 0 0 0

3766 -0.59 -124.4 613.0 -16.3 287 3768 0.00 0.00 0.00 0.000 6 0.000 0.000 1571 2920 2850 0 0 0 0 0 0

4076 -0.59 -124.4 662.2 -15.4 302 4078 0.00 0.00 0.00 0.000 6 0.000 0.000 1571 2920 2850 0 0 0 0 0 0

4385 -0.59 -124.4 709.0 -15.2 317 4389 0.00 1.60 0.00 0.000 4 0.000 0.063 1564 3889 2850 0 0 0 0 0 0

4453 -0.59 -124.4 720.1 -16.3 320 4457 0.10 1.48 0.00 0.000 6 0.190 0.034 1593 2934 2850 0 0 0 0 0 0

4785 -0.59 -124.4 764.8 -13.2 336 4786 0.00 0.00 0.00 0.000 6 0.000 0.000 1593 2932 2850 0 0 0 0 0 0

5093 -0.59 -124.4 804.4 -12.6 351 5094 0.00 0.00 0.00 0.000 6 0.000 0.000 1593 2933 2850 0 0 0 0 0 0

5403 -0.59 -124.4 843.5 -12.7 366 5404 0.00 0.00 0.00 0.000 6 0.000 0.000 1593 2933 2850 0 0 0 0 0 0

5712 -0.59 -124.4 882.7 -12.4 381 5713 0.00 0.00 0.00 0.000 6 0.000 0.000 1593 2933 2850 0 0 0 0 0 0

6021 -0.59 -124.4 920.7 -12.1 396 6022 0.00 0.00 0.00 0.000 6 0.000 0.000 1593 2933 2850 0 0 0 0 0 0

6331 -0.59 -124.4 957.8 -11.7 411 6332 0.00 0.00 0.00 0.000 6 0.000 0.000 1593 2933 2850 0 0 0 0 0 0

6640 -0.59 -124.4 994.6 -11.8 426 6641 0.00 0.00 0.00 0.000 6 0.000 0.000 1593 2933 2850 0 0 0 0 0 0

6700 end dive: TARGET_DEPTH_EXCEEDED

state 6700 begin apogee

6705 -0.13 0.0 1001.8 11.7 429 6823 0.50 0.00 111.97 1.773 6 0.173 0.000 1741 2710 2345 0 0 0 0 0 0

6824 end apogee: CONTROL_FINISHED_OK

state 6824 begin climb

6826 0.59 124.4 1005.2 0.0 435 6956 0.77 0.00 125.97 1.717 6 0.122 0.000 1971 2710 1834 0 0 0 0 0 0

7251 0.59 124.4 940.5 17.1 456 7252 0.00 0.00 0.00 0.000 6 0.000 0.000 1971 2710 1825 0 0 0 0 0 0

7560 0.59 124.4 887.9 16.7 471 7564 0.00 2.00 0.00 0.000 4 0.000 0.062 1971 3900 1823 0 0 0 0 0 0

7628 0.59 124.4 875.3 19.3 474 7631 0.00 1.88 0.00 0.000 6 0.000 0.037 1980 2733 1820 0 0 0 0 0 0

7959 0.59 124.4 817.9 17.1 490 7961 0.00 0.00 0.00 0.000 6 0.000 0.000 1980 2733 1821 0 0 0 0 0 0

8269 0.59 124.4 764.7 17.3 505 8271 0.00 0.00 0.00 0.000 6 0.000 0.000 1980 2733 1820 0 0 0 0 0 0

8578 0.59 124.4 712.7 16.6 520 8579 0.00 0.00 0.00 0.000 6 0.000 0.000 1980 2733 1819 0 0 0 0 0 0

8888 0.59 124.4 662.2 16.1 535 8892 0.00 1.90 0.00 0.000 4 0.000 0.062 1980 3890 1819 0 0 0 0 0 0

8967 0.59 124.4 647.8 17.6 538 8971 0.00 1.88 0.00 0.000 6 0.000 0.037 1989 2711 1819 0 0 0 0 0 0

9288 0.59 124.4 594.5 16.3 554 9289 0.00 0.00 0.00 0.000 6 0.000 0.000 1989 2711 1819 0 0 0 0 0 0

9597 0.59 124.4 544.6 16.2 569 9601 0.00 1.92 0.00 0.000 4 0.000 0.061 1989 3896 1819 0 0 0 0 0 0

9659 0.59 124.4 533.3 18.8 571 9666 0.00 1.88 0.00 0.000 6 0.000 0.036 1998 2702 1818 0 0 0 0 0 0

9974 0.59 124.4 478.3 17.6 587 9978 0.00 1.92 0.00 0.000 4 0.000 0.060 1998 3892 1818 0 0 0 0 0 0

10036 0.59 124.4 466.3 19.6 589 10042 0.00 1.85 0.00 0.000 6 0.000 0.036 2008 2710 1818 0 0 0 0 0 0

10351 0.59 124.4 407.3 18.9 605 10353 0.00 0.00 0.00 0.000 6 0.000 0.000 2008 2710 1818 0 0 0 0 0 0

10660 0.59 124.4 347.4 19.2 620 10664 0.00 1.92 0.00 0.000 4 0.000 0.060 2008 3897 1818 0 0 0 0 0 0

10732 0.59 124.4 331.5 22.2 623 10737 0.10 1.90 0.00 0.000 6 0.204 0.036 1988 2701 1817 0 0 0 0 0 0

11061 0.59 124.4 276.1 16.2 639 11065 0.00 1.92 0.00 0.000 4 0.000 0.059 1988 3898 1817 0 0 0 0 0 0

11128 0.59 124.4 263.5 18.4 642 11132 0.00 1.85 0.00 0.000 6 0.000 0.037 1997 2704 1817 0 0 0 0 0 0

11459 0.59 124.4 209.8 16.1 669 11460 0.00 0.00 0.00 0.000 6 0.000 0.000 1997 2703 1817 0 0 0 0 0 0

11778 0.59 124.4 159.2 15.0 699 11782 0.00 1.95 0.00 0.000 4 0.000 0.059 1997 3888 1817 0 0 0 0 0 0

11884 0.59 124.4 138.9 17.1 708 11894 0.00 1.88 0.00 0.000 6 0.000 0.034 2006 2700 1817 0 0 0 0 0 0

12220 0.59 124.4 88.0 16.6 745 12226 0.00 1.92 0.00 0.000 4 0.000 0.060 2006 3896 1817 0 0 0 0 0 0

12343 0.59 124.4 66.7 15.8 766 12353 0.10 1.88 0.00 0.000 6 0.210 0.036 1987 2711 1817 0 0 0 0 0 0

12460 0.59 124.4 52.2 11.1 785 12467 0.00 1.95 0.00 0.000 4 0.000 0.060 1987 3893 1817 0 0 0 0 0 0

12533 0.59 124.4 42.9 13.3 797 12539 0.00 1.88 0.00 0.000 6 0.000 0.036 1995 2710 1817 0 0 0 0 0 0

12648 0.59 124.4 29.0 11.3 816 12657 0.00 0.00 0.00 0.000 6 0.000 0.000 1995 2709 1817 0 0 0 0 0 0

12733 0.59 124.4 17.9 13.4 829 12741 0.00 0.00 0.00 0.000 6 0.000 0.000 1996 2709 1817 0 0 0 0 0 0

12817 0.59 124.4 6.8 11.3 842 12825 0.00 0.00 0.00 0.000 6 0.000 0.000 1996 2709 1817 0 0 0 0 0 0

12850 end climb: SURFACE_DEPTH_REACHED

state 12850 begin surface coast

12877 end surface coast: CONTROL_FINISHED_OK

state 12877 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	113	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	51	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	30	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	-21973.08	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	281214,152604,-5558.985,-31.354,38,1.3,38,-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	-0.033,0.162
_SM_DEPTHo	2.10	KALMAN_X	63222.1,-152.9,-285.9,-95103.8,1708.0
_SM_ANGLEo	-66.0	KALMAN_Y	29214.9,275.7,195.2,-27409.6,-3884.7
GPS2	281214,153329,-5558.933,-31.286,16,1.0,16,-19.9	MHEAD_RNG_PITCHd_Wd	8.4,2383,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.2,1.007882	_10V_AH	10.0,17.190
SM_CCo	12889,31.02,0.177,0,0,1525,200.16	FG_AHR_24Vo	0.000
SM_GC	1.62,0.00,0.00,31.02,0.000,0.000,0.177,61,2941,1525,-5.40,0.31,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5535.12,-34.61,281214,111125	MEM	353964
TT8_MAMPS	0.026215	DATA_FILE_SIZE	60333,851
HUMID	56.10	CAP_FILE_SIZE	103173,0
INTERNAL_PRESSURE	8.96486	CFSIZE	259252224,219246592
TCM_TEMP	7.10	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	281214,191059,-5557.556,-31.528,40,0.9,40,-19.9
_24V_AH	22.0,26.237

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	264	77.01	SBE_CT	605	23	319.30
Roll_motor	47	64	66.97	AA4330	1776	17	702.77
VBD_pump_during_apogee	237	1773	9282.89	WL_BB2F	861	105	1990.36
VBD_pump_during_surface	31	176	120.62	QSP2150	901	17	356.61
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	91	57.43	nil	0	0	0.00
Iridium_during_connect	20	160	71.12	nil	0	0	0.00
Iridium_during_xfer	278	223	1368.27	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	31	6.06
TT8	2094	14	302.83
LPSleep	8314	2	182.09
TT8_Active	386	14	55.85
TT8_Sampling	2414	42	1018.12
TT8_CF8	158	49	78.60
TT8_Kalman	33	68	22.81
Analog_circuits	1156	15	179.31
GPS_charging	0	0	0.00
Compass	1938	16	319.47
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	59	0.00	0.00	-42.50	0.000	2	0.000	0.000	45	2902	2431	0	0	0	0	0	0
62	-0.59	-124.4	3.4	-5.2	5	88	6.57	0.00	-13.00	0.000	6	0.265	0.000	1594	2902	2847	0	0	0	0	0	0
163	-0.59	-124.4	19.5	-17.5	20	171	0.00	0.00	0.00	0.000	6	0.000	0.000	1593	2902	2848	0	0	0	0	0	0
245	-0.59	-124.4	35.3	-18.2	33	251	0.00	0.00	0.00	0.000	6	0.000	0.000	1594	2902	2848	0	0	0	0	0	0
358	-0.59	-124.4	58.0	-20.7	52	366	0.00	0.00	0.00	0.000	6	0.000	0.000	1594	2902	2848	0	0	0	0	0	0
470	-0.59	-124.4	80.1	-20.0	71	476	0.00	0.00	0.00	0.000	6	0.000	0.000	1594	2902	2848	0	0	0	0	0	0
700	-0.59	-124.4	121.9	-18.1	101	701	0.00	0.00	0.00	0.000	6	0.000	0.000	1594	2901	2848	0	0	0	0	0	0
1020	-0.59	-124.4	174.7	-15.6	131	1026	0.00	0.00	0.00	0.000	6	0.000	0.000	1594	2902	2848	0	0	0	0	0	0
1346	-0.59	-124.4	224.2	-13.7	162	1347	0.00	0.00	0.00	0.000	6	0.000	0.000	1594	2902	2849	0	0	0	0	0	0
1661	-0.59	-124.4	269.7	-14.8	186	1665	0.00	1.65	0.00	0.000	4	0.000	0.064	1586	3910	2848	0	0	0	0	0	0
1731	-0.59	-124.4	280.5	-15.4	189	1735	0.00	1.52	0.00	0.000	6	0.000	0.034	1586	2922	2849	0	0	0	0	0	0
2066	-0.59	-124.4	331.4	-15.4	205	2067	0.00	0.00	0.00	0.000	6	0.000	0.000	1586	2916	2848	0	0	0	0	0	0
2372	-0.59	-124.4	380.7	-16.0	220	2376	0.00	1.62	0.00	0.000	4	0.000	0.064	1579	3896	2848	0	0	0	0	0	0
2421	-0.59	-124.4	389.6	-17.8	222	2427	0.00	1.50	0.00	0.000	6	0.000	0.033	1578	2928	2849	0	0	0	0	0	0
2750	-0.59	-124.4	444.5	-17.0	238	2751	0.00	0.00	0.00	0.000	6	0.000	0.000	1579	2922	2849	0	0	0	0	0	0
3058	-0.59	-124.4	495.5	-16.6	253	3062	0.00	1.60	0.00	0.000	4	0.000	0.063	1571	3889	2849	0	0	0	0	0	0
3136	-0.59	-124.4	509.8	-18.8	256	3140	0.00	1.48	0.00	0.000	6	0.000	0.034	1571	2926	2849	0	0	0	0	0	0
3457	-0.59	-124.4	563.1	-16.4	272	3458	0.00	0.00	0.00	0.000	6	0.000	0.000	1571	2920	2849	0	0	0	0	0	0
3766	-0.59	-124.4	613.0	-16.3	287	3768	0.00	0.00	0.00	0.000	6	0.000	0.000	1571	2920	2850	0	0	0	0	0	0
4076	-0.59	-124.4	662.2	-15.4	302	4078	0.00	0.00	0.00	0.000	6	0.000	0.000	1571	2920	2850	0	0	0	0	0	0
4385	-0.59	-124.4	709.0	-15.2	317	4389	0.00	1.60	0.00	0.000	4	0.000	0.063	1564	3889	2850	0	0	0	0	0	0
4453	-0.59	-124.4	720.1	-16.3	320	4457	0.10	1.48	0.00	0.000	6	0.190	0.034	1593	2934	2850	0	0	0	0	0	0
4785	-0.59	-124.4	764.8	-13.2	336	4786	0.00	0.00	0.00	0.000	6	0.000	0.000	1593	2932	2850	0	0	0	0	0	0
5093	-0.59	-124.4	804.4	-12.6	351	5094	0.00	0.00	0.00	0.000	6	0.000	0.000	1593	2933	2850	0	0	0	0	0	0
5403	-0.59	-124.4	843.5	-12.7	366	5404	0.00	0.00	0.00	0.000	6	0.000	0.000	1593	2933	2850	0	0	0	0	0	0
5712	-0.59	-124.4	882.7	-12.4	381	5713	0.00	0.00	0.00	0.000	6	0.000	0.000	1593	2933	2850	0	0	0	0	0	0
6021	-0.59	-124.4	920.7	-12.1	396	6022	0.00	0.00	0.00	0.000	6	0.000	0.000	1593	2933	2850	0	0	0	0	0	0
6331	-0.59	-124.4	957.8	-11.7	411	6332	0.00	0.00	0.00	0.000	6	0.000	0.000	1593	2933	2850	0	0	0	0	0	0
6640	-0.59	-124.4	994.6	-11.8	426	6641	0.00	0.00	0.00	0.000	6	0.000	0.000	1593	2933	2850	0	0	0	0	0	0
6700	end dive: TARGET_DEPTH_EXCEEDED
state	6700	begin apogee
6705	-0.13	0.0	1001.8	11.7	429	6823	0.50	0.00	111.97	1.773	6	0.173	0.000	1741	2710	2345	0	0	0	0	0	0
6824	end apogee: CONTROL_FINISHED_OK
state	6824	begin climb
6826	0.59	124.4	1005.2	0.0	435	6956	0.77	0.00	125.97	1.717	6	0.122	0.000	1971	2710	1834	0	0	0	0	0	0
7251	0.59	124.4	940.5	17.1	456	7252	0.00	0.00	0.00	0.000	6	0.000	0.000	1971	2710	1825	0	0	0	0	0	0
7560	0.59	124.4	887.9	16.7	471	7564	0.00	2.00	0.00	0.000	4	0.000	0.062	1971	3900	1823	0	0	0	0	0	0
7628	0.59	124.4	875.3	19.3	474	7631	0.00	1.88	0.00	0.000	6	0.000	0.037	1980	2733	1820	0	0	0	0	0	0
7959	0.59	124.4	817.9	17.1	490	7961	0.00	0.00	0.00	0.000	6	0.000	0.000	1980	2733	1821	0	0	0	0	0	0
8269	0.59	124.4	764.7	17.3	505	8271	0.00	0.00	0.00	0.000	6	0.000	0.000	1980	2733	1820	0	0	0	0	0	0
8578	0.59	124.4	712.7	16.6	520	8579	0.00	0.00	0.00	0.000	6	0.000	0.000	1980	2733	1819	0	0	0	0	0	0
8888	0.59	124.4	662.2	16.1	535	8892	0.00	1.90	0.00	0.000	4	0.000	0.062	1980	3890	1819	0	0	0	0	0	0
8967	0.59	124.4	647.8	17.6	538	8971	0.00	1.88	0.00	0.000	6	0.000	0.037	1989	2711	1819	0	0	0	0	0	0
9288	0.59	124.4	594.5	16.3	554	9289	0.00	0.00	0.00	0.000	6	0.000	0.000	1989	2711	1819	0	0	0	0	0	0
9597	0.59	124.4	544.6	16.2	569	9601	0.00	1.92	0.00	0.000	4	0.000	0.061	1989	3896	1819	0	0	0	0	0	0
9659	0.59	124.4	533.3	18.8	571	9666	0.00	1.88	0.00	0.000	6	0.000	0.036	1998	2702	1818	0	0	0	0	0	0
9974	0.59	124.4	478.3	17.6	587	9978	0.00	1.92	0.00	0.000	4	0.000	0.060	1998	3892	1818	0	0	0	0	0	0
10036	0.59	124.4	466.3	19.6	589	10042	0.00	1.85	0.00	0.000	6	0.000	0.036	2008	2710	1818	0	0	0	0	0	0
10351	0.59	124.4	407.3	18.9	605	10353	0.00	0.00	0.00	0.000	6	0.000	0.000	2008	2710	1818	0	0	0	0	0	0
10660	0.59	124.4	347.4	19.2	620	10664	0.00	1.92	0.00	0.000	4	0.000	0.060	2008	3897	1818	0	0	0	0	0	0
10732	0.59	124.4	331.5	22.2	623	10737	0.10	1.90	0.00	0.000	6	0.204	0.036	1988	2701	1817	0	0	0	0	0	0
11061	0.59	124.4	276.1	16.2	639	11065	0.00	1.92	0.00	0.000	4	0.000	0.059	1988	3898	1817	0	0	0	0	0	0
11128	0.59	124.4	263.5	18.4	642	11132	0.00	1.85	0.00	0.000	6	0.000	0.037	1997	2704	1817	0	0	0	0	0	0
11459	0.59	124.4	209.8	16.1	669	11460	0.00	0.00	0.00	0.000	6	0.000	0.000	1997	2703	1817	0	0	0	0	0	0
11778	0.59	124.4	159.2	15.0	699	11782	0.00	1.95	0.00	0.000	4	0.000	0.059	1997	3888	1817	0	0	0	0	0	0
11884	0.59	124.4	138.9	17.1	708	11894	0.00	1.88	0.00	0.000	6	0.000	0.034	2006	2700	1817	0	0	0	0	0	0
12220	0.59	124.4	88.0	16.6	745	12226	0.00	1.92	0.00	0.000	4	0.000	0.060	2006	3896	1817	0	0	0	0	0	0
12343	0.59	124.4	66.7	15.8	766	12353	0.10	1.88	0.00	0.000	6	0.210	0.036	1987	2711	1817	0	0	0	0	0	0
12460	0.59	124.4	52.2	11.1	785	12467	0.00	1.95	0.00	0.000	4	0.000	0.060	1987	3893	1817	0	0	0	0	0	0
12533	0.59	124.4	42.9	13.3	797	12539	0.00	1.88	0.00	0.000	6	0.000	0.036	1995	2710	1817	0	0	0	0	0	0
12648	0.59	124.4	29.0	11.3	816	12657	0.00	0.00	0.00	0.000	6	0.000	0.000	1995	2709	1817	0	0	0	0	0	0
12733	0.59	124.4	17.9	13.4	829	12741	0.00	0.00	0.00	0.000	6	0.000	0.000	1996	2709	1817	0	0	0	0	0	0
12817	0.59	124.4	6.8	11.3	842	12825	0.00	0.00	0.00	0.000	6	0.000	0.000	1996	2709	1817	0	0	0	0	0	0
12850	end climb: SURFACE_DEPTH_REACHED
state	12850	begin surface coast
12877	end surface coast: CONTROL_FINISHED_OK
state	12877	begin surface