Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 124 * 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 124 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 34 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 -22004.385 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 -22004.385

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 34 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 124 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 301214,063833,-5558.882,-29.884,20,1.4,22,-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 -0.158,-0.046

_SM_DEPTHo 2.05 KALMAN_X 67607.8,-168.3,9.9,-98297.7,1340.8

_SM_ANGLEo -71.0 KALMAN_Y 23903.6,128.9,-145.0,-21459.8,-1684.9

GPS2 301214,064554,-5558.853,-29.854,20,0.8,20,-19.9 MHEAD_RNG_PITCHd_Wd 273.8,2129,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.1,1.027171 _10V_AH 10.0,18.297

SM_CCo 11879,23.27,0.191,0,0,1525,200.16 FG_AHR_24Vo 0.000

SM_GC 2.61,0.00,0.00,23.27,0.000,0.000,0.191,58,2929,1525,-5.41,-0.03,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5535.12,-30.76,301214,030306 MEM 353956

TT8_MAMPS 0.026215 DATA_FILE_SIZE 53757,781

HUMID 56.02 CAP_FILE_SIZE 109683,0

INTERNAL_PRESSURE 8.96486 CFSIZE 259252224,218562560

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

XPDR_PINGS 0 GPS 301214,100622,-5559.863,-31.414,36,0.8,37,-19.9

_24V_AH 21.9,27.911

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 240 70.85 SBE_CT 554 23 291.23

Roll_motor 81 81 144.73 AA4330 1619 17 637.80

VBD_pump_during_apogee 266 1790 10441.77 WL_BB2F 785 105 1806.82

VBD_pump_during_surface 23 191 97.48 QSP2150 819 17 322.68

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 91 57.02 nil 0 0 0.00

Iridium_during_connect 22 160 80.26 nil 0 0 0.00

Iridium_during_xfer 266 223 1302.85 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 23 31 7.34

TT8 1957 14 283.05

LPSleep 7487 2 163.97

TT8_Active 398 14 57.63

TT8_Sampling 2331 42 983.04

TT8_CF8 171 49 85.01

TT8_Kalman 33 68 22.82

Analog_circuits 1204 15 186.63

GPS_charging 0 0 0.00

Compass 1870 16 308.26

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 -42.38 0.000 2 0.000 0.000 44 2953 2434 0 0 0 0 0 0

62 -0.60 -138.8 3.1 -3.9 5 89 6.18 1.60 -15.82 0.000 4 0.241 0.081 1583 3896 2909 0 0 0 0 0 0

182 -0.60 -138.8 25.1 -20.7 23 191 0.00 1.55 0.00 0.000 6 0.000 0.032 1583 2899 2912 0 0 0 0 0 0

264 -0.60 -138.8 42.2 -20.3 36 272 0.00 0.00 0.00 0.000 6 0.000 0.000 1583 2899 2912 0 0 0 0 0 0

380 -0.60 -138.8 66.3 -19.6 55 386 0.00 0.00 0.00 0.000 6 0.000 0.000 1583 2899 2912 0 0 0 0 0 0

491 -0.60 -138.8 89.0 -19.8 74 498 0.00 0.00 0.00 0.000 6 0.000 0.000 1582 2899 2912 0 0 0 0 0 0

720 -0.60 -138.8 132.6 -18.5 100 723 0.00 1.65 0.00 0.000 4 0.000 0.060 1575 3906 2912 0 0 0 0 0 0

766 -0.60 -138.8 141.8 -19.2 104 770 0.00 1.52 0.00 0.000 6 0.000 0.034 1575 2929 2912 0 0 0 0 0 0

1098 -0.60 -138.8 203.2 -17.9 135 1099 0.00 0.00 0.00 0.000 6 0.000 0.000 1575 2923 2911 0 0 0 0 0 0

1425 -0.60 -138.8 261.4 -17.9 163 1429 0.00 1.60 0.00 0.000 4 0.000 0.061 1568 3890 2912 0 0 0 0 0 0

1531 -0.60 -138.8 282.1 -19.4 167 1539 0.00 1.50 0.00 0.000 6 0.000 0.033 1568 2915 2912 0 0 0 0 0 0

1849 -0.60 -138.8 339.0 -17.9 183 1851 0.00 0.00 0.00 0.000 6 0.000 0.000 1567 2914 2912 0 0 0 0 0 0

2158 -0.60 -138.8 394.7 -18.2 198 2162 0.00 1.62 0.00 0.000 4 0.000 0.060 1560 3900 2912 0 0 0 0 0 0

2219 -0.60 -138.8 407.0 -19.1 200 2227 0.10 1.48 0.00 0.000 6 0.187 0.034 1589 2939 2912 0 0 0 0 0 0

2535 -0.60 -138.8 457.9 -15.8 216 2536 0.00 0.00 0.00 0.000 6 0.000 0.000 1589 2939 2912 0 0 0 0 0 0

2844 -0.60 -138.8 507.9 -15.9 231 2848 0.00 1.58 0.00 0.000 4 0.000 0.061 1582 3896 2913 0 0 0 0 0 0

2882 -0.60 -138.8 514.7 -17.9 232 2890 0.00 1.48 0.00 0.000 6 0.000 0.032 1582 2917 2913 0 0 0 0 0 0

3198 -0.60 -138.8 565.5 -16.1 248 3202 0.00 1.60 0.00 0.000 4 0.000 0.060 1575 3892 2913 0 0 0 0 0 0

3258 -0.60 -138.8 576.0 -17.2 250 3266 0.00 1.45 0.00 0.000 6 0.000 0.031 1575 2926 2913 0 0 0 0 0 0

3575 -0.60 -138.8 628.2 -16.6 266 3576 0.00 0.00 0.00 0.000 6 0.000 0.000 1575 2925 2913 0 0 0 0 0 0

3884 -0.60 -138.8 677.8 -15.8 281 3887 0.00 1.60 0.00 0.000 4 0.000 0.060 1567 3899 2913 0 0 0 0 0 0

3952 -0.60 -138.8 689.5 -17.1 284 3956 0.00 1.48 0.00 0.000 6 0.000 0.032 1567 2927 2913 0 0 0 0 0 0

4283 -0.60 -138.8 743.7 -16.2 300 4285 0.10 0.00 0.00 0.000 6 0.216 0.000 1589 2922 2913 0 0 0 0 0 0

4593 -0.60 -138.8 788.9 -14.6 315 4594 0.00 0.00 0.00 0.000 6 0.000 0.000 1589 2922 2912 0 0 0 0 0 0

4903 -0.60 -138.8 831.9 -13.7 330 4904 0.00 0.00 0.00 0.000 6 0.000 0.000 1590 2921 2912 0 0 0 0 0 0

5211 -0.60 -138.8 874.1 -13.4 345 5212 0.00 0.00 0.00 0.000 6 0.000 0.000 1589 2922 2913 0 0 0 0 0 0

5521 -0.60 -138.8 914.3 -12.6 360 5522 0.00 0.00 0.00 0.000 6 0.000 0.000 1589 2922 2913 0 0 0 0 0 0

5831 -0.60 -138.8 954.5 -13.1 375 5832 0.00 0.00 0.00 0.000 6 0.000 0.000 1589 2922 2913 0 0 0 0 0 0

6139 -0.60 -138.8 994.4 -12.7 390 6140 0.00 0.00 0.00 0.000 6 0.000 0.000 1589 2922 2912 0 0 0 0 0 0

6200 end dive: TARGET_DEPTH_EXCEEDED

state 6200 begin apogee

6204 -0.13 0.0 1002.3 12.9 393 6334 0.52 0.00 126.82 1.790 6 0.172 0.000 1745 2711 2341 0 0 0 0 0 0

6335 end apogee: CONTROL_FINISHED_OK

state 6335 begin climb

6337 0.60 138.8 1006.1 0.0 399 6486 0.77 2.50 139.52 1.732 4 0.123 0.044 1984 1338 1775 0 0 0 0 0 0

6513 0.60 138.8 983.7 17.4 407 6518 0.00 2.45 0.00 0.000 6 0.000 0.049 1984 2715 1772 0 0 0 0 0 0

6840 0.60 138.8 922.2 19.0 423 6844 0.00 1.98 0.00 0.000 4 0.000 0.058 1984 3886 1766 0 0 0 0 0 0

6908 0.60 138.8 907.5 22.4 426 6912 0.00 1.88 0.00 0.000 6 0.000 0.036 1993 2741 1764 0 0 0 0 0 0

7240 0.60 138.8 839.9 20.1 442 7244 0.00 1.92 0.00 0.000 4 0.000 0.057 1993 3895 1763 0 0 0 0 0 0

7278 0.60 138.8 831.1 23.2 443 7286 0.00 1.92 0.00 0.000 6 0.000 0.036 2002 2715 1763 0 0 0 0 0 0

7595 0.60 138.8 766.5 20.3 459 7598 0.00 1.95 0.00 0.000 4 0.000 0.057 2002 3896 1762 0 0 0 0 0 0

7632 0.60 138.8 757.6 22.1 460 7640 0.00 1.92 0.00 0.000 6 0.000 0.036 2011 2705 1761 0 0 0 0 0 0

7949 0.60 138.8 692.5 20.7 476 7953 0.00 1.98 0.00 0.000 4 0.000 0.056 2012 3894 1762 0 0 0 0 0 0

8004 0.60 138.8 680.0 23.1 478 8008 0.12 1.92 0.00 0.000 6 0.200 0.037 1986 2704 1761 0 0 0 0 0 0

8325 0.60 138.8 621.5 18.0 494 8329 0.00 1.95 0.00 0.000 4 0.000 0.056 1986 3897 1761 0 0 0 0 0 0

8362 0.60 138.8 613.8 20.7 495 8370 0.00 1.90 0.00 0.000 6 0.000 0.037 1994 2715 1760 0 0 0 0 0 0

8680 0.60 138.8 556.1 18.5 511 8683 0.00 1.95 0.00 0.000 4 0.000 0.057 1994 3892 1760 0 0 0 0 0 0

8729 0.60 138.8 545.6 21.6 513 8733 0.00 1.90 0.00 0.000 6 0.000 0.035 2003 2708 1760 0 0 0 0 0 0

9056 0.60 138.8 483.4 18.8 529 9059 0.00 1.92 0.00 0.000 4 0.000 0.056 2004 3890 1760 0 0 0 0 0 0

9124 0.60 138.8 469.3 21.8 532 9128 0.00 1.88 0.00 0.000 6 0.000 0.036 2012 2701 1759 0 0 0 0 0 0

9455 0.60 138.8 404.4 19.6 548 9460 0.12 1.92 0.00 0.000 4 0.238 0.056 1986 3890 1760 0 0 0 0 0 0

9500 0.60 138.8 395.7 19.0 550 9504 0.00 1.85 0.00 0.000 6 0.000 0.036 1994 2711 1760 0 0 0 0 0 0

9833 0.60 138.8 336.6 17.7 566 9834 0.00 0.00 0.00 0.000 6 0.000 0.000 1994 2711 1759 0 0 0 0 0 0

10144 0.60 138.8 282.4 17.4 581 10148 0.00 1.92 0.00 0.000 4 0.000 0.057 1993 3896 1760 0 0 0 0 0 0

10192 0.60 138.8 273.1 19.2 583 10195 0.00 1.88 0.00 0.000 6 0.000 0.036 2003 2703 1759 0 0 0 0 0 0

10521 0.60 138.8 212.7 18.4 608 10525 0.00 1.92 0.00 0.000 4 0.000 0.056 2003 3889 1759 0 0 0 0 0 0

10640 0.60 138.8 187.4 21.2 618 10650 0.00 1.88 0.00 0.000 6 0.000 0.036 2012 2707 1759 0 0 0 0 0 0

10967 0.60 138.8 129.2 17.0 649 10971 0.00 1.95 0.00 0.000 4 0.000 0.057 2012 3893 1758 0 0 0 0 0 0

11002 0.60 138.8 122.5 19.5 652 11006 0.15 1.88 0.00 0.000 6 0.213 0.036 1985 2696 1759 0 0 0 0 0 0

11338 0.60 138.8 74.9 14.0 698 11347 0.00 1.95 0.00 0.000 4 0.000 0.057 1985 3881 1759 0 0 0 0 0 0

11389 0.60 138.8 67.0 16.5 706 11398 0.00 1.88 0.00 0.000 6 0.000 0.036 1994 2705 1759 0 0 0 0 0 0

11505 0.60 138.8 50.1 13.9 725 11512 0.00 2.17 0.00 0.000 4 0.000 0.044 2004 1295 1759 0 0 0 0 0 0

11549 0.60 138.8 44.1 12.8 732 11557 0.00 2.25 0.00 0.000 6 0.000 0.051 2004 2703 1759 0 0 0 0 0 0

11666 0.60 138.8 27.9 14.5 751 11675 0.00 1.92 0.00 0.000 4 0.000 0.059 2004 3890 1759 0 0 0 0 0 0

11708 0.60 138.8 20.9 17.0 757 11718 0.08 1.88 0.00 0.000 6 0.210 0.037 1992 2713 1759 0 0 0 0 0 0

11794 0.60 138.8 8.9 13.0 770 11803 0.00 0.00 0.00 0.000 6 0.000 0.000 1992 2711 1759 0 0 0 0 0 0

11840 end climb: SURFACE_DEPTH_REACHED

state 11840 begin surface coast

11866 end surface coast: CONTROL_FINISHED_OK

state 11866 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	124	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	34	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	-22004.385	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	301214,063833,-5558.882,-29.884,20,1.4,22,-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	-0.158,-0.046
_SM_DEPTHo	2.05	KALMAN_X	67607.8,-168.3,9.9,-98297.7,1340.8
_SM_ANGLEo	-71.0	KALMAN_Y	23903.6,128.9,-145.0,-21459.8,-1684.9
GPS2	301214,064554,-5558.853,-29.854,20,0.8,20,-19.9	MHEAD_RNG_PITCHd_Wd	273.8,2129,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.1,1.027171	_10V_AH	10.0,18.297
SM_CCo	11879,23.27,0.191,0,0,1525,200.16	FG_AHR_24Vo	0.000
SM_GC	2.61,0.00,0.00,23.27,0.000,0.000,0.191,58,2929,1525,-5.41,-0.03,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5535.12,-30.76,301214,030306	MEM	353956
TT8_MAMPS	0.026215	DATA_FILE_SIZE	53757,781
HUMID	56.02	CAP_FILE_SIZE	109683,0
INTERNAL_PRESSURE	8.96486	CFSIZE	259252224,218562560
TCM_TEMP	7.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	301214,100622,-5559.863,-31.414,36,0.8,37,-19.9
_24V_AH	21.9,27.911

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	240	70.85	SBE_CT	554	23	291.23
Roll_motor	81	81	144.73	AA4330	1619	17	637.80
VBD_pump_during_apogee	266	1790	10441.77	WL_BB2F	785	105	1806.82
VBD_pump_during_surface	23	191	97.48	QSP2150	819	17	322.68
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	91	57.02	nil	0	0	0.00
Iridium_during_connect	22	160	80.26	nil	0	0	0.00
Iridium_during_xfer	266	223	1302.85	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	23	31	7.34
TT8	1957	14	283.05
LPSleep	7487	2	163.97
TT8_Active	398	14	57.63
TT8_Sampling	2331	42	983.04
TT8_CF8	171	49	85.01
TT8_Kalman	33	68	22.82
Analog_circuits	1204	15	186.63
GPS_charging	0	0	0.00
Compass	1870	16	308.26
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	-42.38	0.000	2	0.000	0.000	44	2953	2434	0	0	0	0	0	0
62	-0.60	-138.8	3.1	-3.9	5	89	6.18	1.60	-15.82	0.000	4	0.241	0.081	1583	3896	2909	0	0	0	0	0	0
182	-0.60	-138.8	25.1	-20.7	23	191	0.00	1.55	0.00	0.000	6	0.000	0.032	1583	2899	2912	0	0	0	0	0	0
264	-0.60	-138.8	42.2	-20.3	36	272	0.00	0.00	0.00	0.000	6	0.000	0.000	1583	2899	2912	0	0	0	0	0	0
380	-0.60	-138.8	66.3	-19.6	55	386	0.00	0.00	0.00	0.000	6	0.000	0.000	1583	2899	2912	0	0	0	0	0	0
491	-0.60	-138.8	89.0	-19.8	74	498	0.00	0.00	0.00	0.000	6	0.000	0.000	1582	2899	2912	0	0	0	0	0	0
720	-0.60	-138.8	132.6	-18.5	100	723	0.00	1.65	0.00	0.000	4	0.000	0.060	1575	3906	2912	0	0	0	0	0	0
766	-0.60	-138.8	141.8	-19.2	104	770	0.00	1.52	0.00	0.000	6	0.000	0.034	1575	2929	2912	0	0	0	0	0	0
1098	-0.60	-138.8	203.2	-17.9	135	1099	0.00	0.00	0.00	0.000	6	0.000	0.000	1575	2923	2911	0	0	0	0	0	0
1425	-0.60	-138.8	261.4	-17.9	163	1429	0.00	1.60	0.00	0.000	4	0.000	0.061	1568	3890	2912	0	0	0	0	0	0
1531	-0.60	-138.8	282.1	-19.4	167	1539	0.00	1.50	0.00	0.000	6	0.000	0.033	1568	2915	2912	0	0	0	0	0	0
1849	-0.60	-138.8	339.0	-17.9	183	1851	0.00	0.00	0.00	0.000	6	0.000	0.000	1567	2914	2912	0	0	0	0	0	0
2158	-0.60	-138.8	394.7	-18.2	198	2162	0.00	1.62	0.00	0.000	4	0.000	0.060	1560	3900	2912	0	0	0	0	0	0
2219	-0.60	-138.8	407.0	-19.1	200	2227	0.10	1.48	0.00	0.000	6	0.187	0.034	1589	2939	2912	0	0	0	0	0	0
2535	-0.60	-138.8	457.9	-15.8	216	2536	0.00	0.00	0.00	0.000	6	0.000	0.000	1589	2939	2912	0	0	0	0	0	0
2844	-0.60	-138.8	507.9	-15.9	231	2848	0.00	1.58	0.00	0.000	4	0.000	0.061	1582	3896	2913	0	0	0	0	0	0
2882	-0.60	-138.8	514.7	-17.9	232	2890	0.00	1.48	0.00	0.000	6	0.000	0.032	1582	2917	2913	0	0	0	0	0	0
3198	-0.60	-138.8	565.5	-16.1	248	3202	0.00	1.60	0.00	0.000	4	0.000	0.060	1575	3892	2913	0	0	0	0	0	0
3258	-0.60	-138.8	576.0	-17.2	250	3266	0.00	1.45	0.00	0.000	6	0.000	0.031	1575	2926	2913	0	0	0	0	0	0
3575	-0.60	-138.8	628.2	-16.6	266	3576	0.00	0.00	0.00	0.000	6	0.000	0.000	1575	2925	2913	0	0	0	0	0	0
3884	-0.60	-138.8	677.8	-15.8	281	3887	0.00	1.60	0.00	0.000	4	0.000	0.060	1567	3899	2913	0	0	0	0	0	0
3952	-0.60	-138.8	689.5	-17.1	284	3956	0.00	1.48	0.00	0.000	6	0.000	0.032	1567	2927	2913	0	0	0	0	0	0
4283	-0.60	-138.8	743.7	-16.2	300	4285	0.10	0.00	0.00	0.000	6	0.216	0.000	1589	2922	2913	0	0	0	0	0	0
4593	-0.60	-138.8	788.9	-14.6	315	4594	0.00	0.00	0.00	0.000	6	0.000	0.000	1589	2922	2912	0	0	0	0	0	0
4903	-0.60	-138.8	831.9	-13.7	330	4904	0.00	0.00	0.00	0.000	6	0.000	0.000	1590	2921	2912	0	0	0	0	0	0
5211	-0.60	-138.8	874.1	-13.4	345	5212	0.00	0.00	0.00	0.000	6	0.000	0.000	1589	2922	2913	0	0	0	0	0	0
5521	-0.60	-138.8	914.3	-12.6	360	5522	0.00	0.00	0.00	0.000	6	0.000	0.000	1589	2922	2913	0	0	0	0	0	0
5831	-0.60	-138.8	954.5	-13.1	375	5832	0.00	0.00	0.00	0.000	6	0.000	0.000	1589	2922	2913	0	0	0	0	0	0
6139	-0.60	-138.8	994.4	-12.7	390	6140	0.00	0.00	0.00	0.000	6	0.000	0.000	1589	2922	2912	0	0	0	0	0	0
6200	end dive: TARGET_DEPTH_EXCEEDED
state	6200	begin apogee
6204	-0.13	0.0	1002.3	12.9	393	6334	0.52	0.00	126.82	1.790	6	0.172	0.000	1745	2711	2341	0	0	0	0	0	0
6335	end apogee: CONTROL_FINISHED_OK
state	6335	begin climb
6337	0.60	138.8	1006.1	0.0	399	6486	0.77	2.50	139.52	1.732	4	0.123	0.044	1984	1338	1775	0	0	0	0	0	0
6513	0.60	138.8	983.7	17.4	407	6518	0.00	2.45	0.00	0.000	6	0.000	0.049	1984	2715	1772	0	0	0	0	0	0
6840	0.60	138.8	922.2	19.0	423	6844	0.00	1.98	0.00	0.000	4	0.000	0.058	1984	3886	1766	0	0	0	0	0	0
6908	0.60	138.8	907.5	22.4	426	6912	0.00	1.88	0.00	0.000	6	0.000	0.036	1993	2741	1764	0	0	0	0	0	0
7240	0.60	138.8	839.9	20.1	442	7244	0.00	1.92	0.00	0.000	4	0.000	0.057	1993	3895	1763	0	0	0	0	0	0
7278	0.60	138.8	831.1	23.2	443	7286	0.00	1.92	0.00	0.000	6	0.000	0.036	2002	2715	1763	0	0	0	0	0	0
7595	0.60	138.8	766.5	20.3	459	7598	0.00	1.95	0.00	0.000	4	0.000	0.057	2002	3896	1762	0	0	0	0	0	0
7632	0.60	138.8	757.6	22.1	460	7640	0.00	1.92	0.00	0.000	6	0.000	0.036	2011	2705	1761	0	0	0	0	0	0
7949	0.60	138.8	692.5	20.7	476	7953	0.00	1.98	0.00	0.000	4	0.000	0.056	2012	3894	1762	0	0	0	0	0	0
8004	0.60	138.8	680.0	23.1	478	8008	0.12	1.92	0.00	0.000	6	0.200	0.037	1986	2704	1761	0	0	0	0	0	0
8325	0.60	138.8	621.5	18.0	494	8329	0.00	1.95	0.00	0.000	4	0.000	0.056	1986	3897	1761	0	0	0	0	0	0
8362	0.60	138.8	613.8	20.7	495	8370	0.00	1.90	0.00	0.000	6	0.000	0.037	1994	2715	1760	0	0	0	0	0	0
8680	0.60	138.8	556.1	18.5	511	8683	0.00	1.95	0.00	0.000	4	0.000	0.057	1994	3892	1760	0	0	0	0	0	0
8729	0.60	138.8	545.6	21.6	513	8733	0.00	1.90	0.00	0.000	6	0.000	0.035	2003	2708	1760	0	0	0	0	0	0
9056	0.60	138.8	483.4	18.8	529	9059	0.00	1.92	0.00	0.000	4	0.000	0.056	2004	3890	1760	0	0	0	0	0	0
9124	0.60	138.8	469.3	21.8	532	9128	0.00	1.88	0.00	0.000	6	0.000	0.036	2012	2701	1759	0	0	0	0	0	0
9455	0.60	138.8	404.4	19.6	548	9460	0.12	1.92	0.00	0.000	4	0.238	0.056	1986	3890	1760	0	0	0	0	0	0
9500	0.60	138.8	395.7	19.0	550	9504	0.00	1.85	0.00	0.000	6	0.000	0.036	1994	2711	1760	0	0	0	0	0	0
9833	0.60	138.8	336.6	17.7	566	9834	0.00	0.00	0.00	0.000	6	0.000	0.000	1994	2711	1759	0	0	0	0	0	0
10144	0.60	138.8	282.4	17.4	581	10148	0.00	1.92	0.00	0.000	4	0.000	0.057	1993	3896	1760	0	0	0	0	0	0
10192	0.60	138.8	273.1	19.2	583	10195	0.00	1.88	0.00	0.000	6	0.000	0.036	2003	2703	1759	0	0	0	0	0	0
10521	0.60	138.8	212.7	18.4	608	10525	0.00	1.92	0.00	0.000	4	0.000	0.056	2003	3889	1759	0	0	0	0	0	0
10640	0.60	138.8	187.4	21.2	618	10650	0.00	1.88	0.00	0.000	6	0.000	0.036	2012	2707	1759	0	0	0	0	0	0
10967	0.60	138.8	129.2	17.0	649	10971	0.00	1.95	0.00	0.000	4	0.000	0.057	2012	3893	1758	0	0	0	0	0	0
11002	0.60	138.8	122.5	19.5	652	11006	0.15	1.88	0.00	0.000	6	0.213	0.036	1985	2696	1759	0	0	0	0	0	0
11338	0.60	138.8	74.9	14.0	698	11347	0.00	1.95	0.00	0.000	4	0.000	0.057	1985	3881	1759	0	0	0	0	0	0
11389	0.60	138.8	67.0	16.5	706	11398	0.00	1.88	0.00	0.000	6	0.000	0.036	1994	2705	1759	0	0	0	0	0	0
11505	0.60	138.8	50.1	13.9	725	11512	0.00	2.17	0.00	0.000	4	0.000	0.044	2004	1295	1759	0	0	0	0	0	0
11549	0.60	138.8	44.1	12.8	732	11557	0.00	2.25	0.00	0.000	6	0.000	0.051	2004	2703	1759	0	0	0	0	0	0
11666	0.60	138.8	27.9	14.5	751	11675	0.00	1.92	0.00	0.000	4	0.000	0.059	2004	3890	1759	0	0	0	0	0	0
11708	0.60	138.8	20.9	17.0	757	11718	0.08	1.88	0.00	0.000	6	0.210	0.037	1992	2713	1759	0	0	0	0	0	0
11794	0.60	138.8	8.9	13.0	770	11803	0.00	0.00	0.00	0.000	6	0.000	0.000	1992	2711	1759	0	0	0	0	0	0
11840	end climb: SURFACE_DEPTH_REACHED
state	11840	begin surface coast
11866	end surface coast: CONTROL_FINISHED_OK
state	11866	begin surface