Glider dive log

SOSCEx 01Dec13 * SG543 * Dive index * Mission links * Dive 137 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 543 HEADING -1 ROLL_MAX 3944 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 9 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 1050

DIVE 137 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 3420 ALTIM_PING_DELTA 15

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 3280 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -4300 HEAD_ERRBAND 10 ALTIM_PULSE 4

D_TGT 990 TGT_DEFAULT_LON -800 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1020 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 3

D_NO_BLEED 200 SM_CC 225 R_PORT_OVSHOOT 42 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 24 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.050000001

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 KERMIT 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 507 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 101

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2474 DEVICE3 131

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 118

T_DIVE 350 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 390 CAPUPLOAD 0 VBD_TIMEOUT 800 DEVICE6 -1

T_ABORT 720 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00061500003 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 60 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -12945.484 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 1 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 86 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 125 PITCH_MAX 3908 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1720 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043512532

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -59.073162 SEABIRD_T_H 0.00062429422

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011638312 SEABIRD_T_I 2.2835797e-05

RHO 1.027 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.3805812e-06

MASS 52459 PITCH_GAIN 58 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.305622

NAV_MODE 1 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1763667

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.0018977363

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00023287861

HD_A 0.003 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 20

HD_C 9.9999997e-06 ROLL_MIN 394 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SM_CC 225

AH0_10V 100 D_OFFGRID 250 PHONE_SUPPLY 2 SPEED_FACTOR 1

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 20 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 15 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 1050 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 58 TCM_ROLL_OFFSET 0

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_MAX 3908 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -4300

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 86 TGT_DEFAULT_LON -800

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 16 T_ABORT 720

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00061500003 T_BOOST 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011638312 T_DIVE 350

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -59.073162 T_GPS 15

CALL_TRIES 5 HD_A 0.003 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -12945.484

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 390

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 RELAUNCH 1 T_RSLEEP 1

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RHO 1.027 T_TURN 225

COMPASS_DEVICE 33 ID 543 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_YINT 0.050000001 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_PITCH 1720 KALMAN_USE 2 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 3280 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 3420 LOGGERDEVICE1 -1 ROLL_MAX 3944 USE_ICE 0

C_VBD 2474 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_MIN 394 VBD_CNV -0.245296

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 42 VBD_MAX 3960

DEVICE2 101 MASS 52459 R_STBD_OVSHOOT 24 VBD_MAXERRORS 1

DEVICE3 131 MAX_BUOY 125 SEABIRD_C_G -10.305622 VBD_MIN 507

DEVICE4 118 MINV_10V 8 SEABIRD_C_H 1.1763667 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.0018977363 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MISSION 9 SEABIRD_C_J 0.00023287861 VBD_TIMEOUT 800

DIVE 137 MOTHERBOARD 4 SEABIRD_T_G 0.0043512532 XPDR_DEVICE 24

D_ABORT 1020 NAV_MODE 1 SEABIRD_T_H 0.00062429422 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 SEABIRD_T_I 2.2835797e-05 XPDR_VALID 3

D_CALL 0 N_GPS 20 SEABIRD_T_J 2.3805812e-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 221213,063105,-4259.934,829.549,59,1.0,59,-25.0 TGT_NAME SAZ

_CALLS 2 TGT_LATLONG -4300.000,830.000

_XMS_NAKs 0 TGT_RADIUS 500.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.49 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 221213,064207,-4300.005,829.812,16,2.0,16,-25.0 MHEAD_RNG_PITCHd_Wd 113.0,254,-27.2,-9.429

SPEED_LIMITS 0.163,0.235 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.026406 _10V_AH 10.0,14.742

SM_CCo 14046,45.12,0.805,0,0,1553,225.18 FG_AHR_24Vo 0.000

SM_GC 1.21,0.00,0.00,45.12,0.000,0.000,0.805,63,3422,1553,-5.17,0.06,225.18 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4244.98,828.21,221213,060635 MEM 354416

TT8_MAMPS 0.026215 DATA_FILE_SIZE 73844,1028

HUMID 61.89 CAP_FILE_SIZE 131198,0

INTERNAL_PRESSURE 9.53279 CFSIZE 259252224,249061376

TCM_TEMP 13.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2

XPDR_PINGS 0 GPS 221213,103837,-4259.797,833.707,40,2.0,41,-25.1

_24V_AH 22.5,21.253

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 241 69.35 SBE_CT 713 24 385.37

Roll_motor 63 64 91.70 AA4330 1757 33 1305.04

VBD_pump_during_apogee 217 1870 9132.35 WL_BB2FLVMT 706 105 1668.74

VBD_pump_during_surface 45 804 817.10 QSP2150 351 4 34.63

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 50 103 117.62 nil 0 0 0.00

Iridium_during_connect 122 160 440.09 nil 0 0 0.00

Iridium_during_xfer 310 223 1556.91 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 26 5.19

TT8 2576 14 385.50

LPSleep 8618 2 188.75

TT8_Active 371 14 52.83

TT8_Sampling 3015 37 1128.89

TT8_CF8 171 47 80.88

TT8_Kalman 0 0 0.00

Analog_circuits 1399 12 167.98

GPS_charging 0 0 0.00

Compass 2406 15 378.55

RAFOS 0 0 0.00

Transponder 1 5 0.05

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.50 -57.7 0.0 0.0 0 67 0.00 0.00 -50.00 0.000 2 0.000 0.000 60 3408 2710 0 0 0 0 0 0

69 -0.54 -110.4 3.3 -3.7 6 88 6.18 2.17 -5.40 0.000 4 0.242 0.044 1542 1990 2924 0 0 0 0 0 0

323 -0.54 -110.4 44.5 -12.1 48 332 0.00 2.35 0.00 0.000 6 0.000 0.054 1533 3422 2929 0 0 0 0 0 0

676 -0.54 -110.4 100.0 -16.4 109 683 0.00 0.82 0.00 0.000 4 0.000 0.060 1529 3944 2930 0 0 0 0 0 0

895 -0.54 -110.4 135.1 -16.1 129 903 0.00 0.80 0.00 0.000 6 0.000 0.036 1529 3417 2930 0 0 0 0 0 0

1220 -0.54 -110.4 185.9 -16.0 160 1224 0.00 0.85 0.00 0.000 4 0.000 0.060 1525 3950 2931 0 0 0 0 0 0

1292 -0.54 -110.4 198.7 -17.2 166 1299 0.00 0.82 0.00 0.000 6 0.000 0.036 1525 3412 2931 0 0 0 0 0 0

1619 -0.54 -110.4 250.0 -14.9 197 1623 0.00 0.85 0.00 0.000 4 0.000 0.061 1522 3944 2931 0 0 0 0 0 0

1801 -0.54 -110.4 279.9 -16.1 213 1805 0.00 0.80 0.00 0.000 6 0.000 0.037 1521 3416 2931 0 0 0 0 0 0

2131 -0.54 -110.4 330.0 -15.4 244 2135 0.00 0.85 0.00 0.000 4 0.000 0.060 1517 3950 2931 0 0 0 0 0 0

2235 -0.54 -110.4 346.9 -16.5 253 2239 0.00 0.80 0.00 0.000 6 0.000 0.038 1517 3422 2931 0 0 0 0 0 0

2565 -0.54 -110.4 400.8 -16.2 284 2568 0.00 0.85 0.00 0.000 4 0.000 0.060 1514 3953 2931 0 0 0 0 0 0

2700 -0.54 -110.4 424.4 -17.2 290 2704 0.08 0.80 0.00 0.000 6 0.170 0.038 1536 3427 2931 0 0 0 0 0 0

3031 -0.54 -110.4 472.8 -14.8 306 3035 0.00 0.82 0.00 0.000 4 0.000 0.063 1533 3945 2931 0 0 0 0 0 0

3220 -0.54 -110.4 501.8 -15.1 314 3225 0.00 0.82 0.00 0.000 6 0.000 0.037 1534 3409 2931 0 0 0 0 0 0

3542 -0.54 -110.4 544.5 -12.8 330 3546 0.00 0.85 0.00 0.000 4 0.000 0.062 1530 3943 2930 0 0 0 0 0 0

3677 -0.54 -110.4 563.0 -13.8 336 3681 0.00 0.80 0.00 0.000 6 0.000 0.039 1530 3417 2930 0 0 0 0 0 0

4009 -0.54 -110.4 603.5 -12.1 352 4013 0.00 0.85 0.00 0.000 4 0.000 0.063 1526 3948 2930 0 0 0 0 0 0

4069 -0.54 -110.4 611.1 -12.3 354 4077 0.00 0.82 0.00 0.000 6 0.000 0.038 1526 3413 2930 0 0 0 0 0 0

4387 -0.54 -110.4 648.8 -12.3 370 4391 0.00 0.85 0.00 0.000 4 0.000 0.063 1522 3948 2929 0 0 0 0 0 0

4531 -0.54 -110.4 669.2 -13.8 376 4536 0.00 0.82 0.00 0.000 6 0.000 0.038 1522 3415 2929 0 0 0 0 0 0

4853 -0.54 -110.4 712.4 -13.8 392 4857 0.00 0.85 0.00 0.000 4 0.000 0.063 1518 3943 2927 0 0 0 0 0 0

5048 -0.54 -110.4 741.1 -14.6 400 5056 0.00 0.82 0.00 0.000 6 0.000 0.038 1518 3411 2928 0 0 0 0 0 0

5366 -0.54 -110.4 785.3 -14.3 416 5369 0.00 0.85 0.00 0.000 4 0.000 0.063 1514 3943 2927 0 0 0 0 0 0

5537 -0.54 -110.4 813.2 -15.8 423 5546 0.12 0.82 0.00 0.000 6 0.184 0.038 1544 3413 2927 0 0 0 0 0 0

5855 -0.54 -110.4 852.5 -12.3 439 5859 0.00 0.85 0.00 0.000 4 0.000 0.064 1542 3943 2927 0 0 0 0 0 0

5932 -0.54 -110.4 862.6 -13.0 442 5937 0.00 0.82 0.00 0.000 6 0.000 0.039 1542 3413 2927 0 0 0 0 0 0

6254 -0.54 -110.4 899.9 -11.3 458 6257 0.00 0.85 0.00 0.000 4 0.000 0.064 1538 3944 2926 0 0 0 0 0 0

6376 -0.54 -110.4 914.6 -12.0 463 6380 0.00 0.82 0.00 0.000 6 0.000 0.040 1538 3412 2926 0 0 0 0 0 0

6697 -0.54 -110.4 949.7 -11.0 479 6701 0.00 0.85 0.00 0.000 4 0.000 0.064 1534 3943 2926 0 0 0 0 0 0

6814 -0.54 -110.4 963.6 -11.7 484 6818 0.00 0.82 0.00 0.000 6 0.000 0.040 1534 3411 2925 0 0 0 0 0 0

7057 end dive: TARGET_DEPTH_EXCEEDED

state 7057 begin apogee

7061 -0.09 0.0 991.6 11.3 496 7171 0.50 0.00 106.18 1.870 6 0.149 0.000 1684 3281 2473 0 0 0 0 0 0

7172 end apogee: CONTROL_FINISHED_OK

state 7172 begin climb

7173 0.54 110.4 994.2 0.0 501 7294 0.60 2.47 110.82 1.820 4 0.071 0.034 1901 1873 2022 0 0 0 0 0 0

7371 0.54 110.4 975.9 12.9 510 7376 0.00 2.42 0.00 0.000 6 0.000 0.050 1901 3273 2014 0 0 0 0 0 0

7699 0.54 110.4 923.7 16.2 526 7700 0.00 0.00 0.00 0.000 6 0.000 0.000 1901 3273 2009 0 0 0 0 0 0

8008 0.54 110.4 875.4 15.6 541 8012 0.00 1.12 0.00 0.000 4 0.000 0.059 1901 3957 2007 0 0 0 0 0 0

8062 0.54 110.4 865.6 17.6 543 8067 0.00 1.08 0.00 0.000 6 0.000 0.036 1906 3273 2006 0 0 0 0 0 0

8384 0.54 110.4 811.7 16.7 559 8388 0.00 2.20 0.00 0.000 4 0.000 0.036 1917 1861 2005 0 0 0 0 0 0

8418 0.54 110.4 806.5 14.9 560 8425 0.00 2.30 0.00 0.000 6 0.000 0.052 1917 3287 2004 0 0 0 0 0 0

8733 0.54 110.4 752.9 17.0 576 8734 0.00 0.00 0.00 0.000 6 0.000 0.000 1917 3287 2004 0 0 0 0 0 0

9042 0.54 110.4 701.9 15.8 591 9043 0.00 0.00 0.00 0.000 6 0.000 0.000 1916 3287 2004 0 0 0 0 0 0

9353 0.54 110.4 652.8 16.1 606 9354 0.00 0.00 0.00 0.000 6 0.000 0.000 1917 3287 2003 0 0 0 0 0 0

9661 0.54 110.4 602.7 16.6 621 9662 0.00 0.00 0.00 0.000 6 0.000 0.000 1917 3287 2002 0 0 0 0 0 0

9970 0.54 110.4 552.0 16.3 636 9974 0.00 2.20 0.00 0.000 4 0.000 0.034 1927 1858 2002 0 0 0 0 0 0

10012 0.54 110.4 545.3 15.1 638 10018 0.10 2.30 0.00 0.000 6 0.171 0.052 1899 3279 2001 0 0 0 0 0 0

10341 0.54 110.4 497.3 14.6 654 10342 0.00 0.00 0.00 0.000 6 0.000 0.000 1898 3279 2000 0 0 0 0 0 0

10649 0.54 110.4 452.5 14.3 669 10650 0.00 0.00 0.00 0.000 6 0.000 0.000 1898 3280 2001 0 0 0 0 0 0

10958 0.54 110.4 408.2 14.4 684 10959 0.00 0.00 0.00 0.000 6 0.000 0.000 1898 3280 2000 0 0 0 0 0 0

11275 0.54 110.4 364.1 13.6 711 11276 0.00 0.00 0.00 0.000 6 0.000 0.000 1898 3280 2000 0 0 0 0 0 0

11597 0.54 110.4 321.4 13.3 741 11598 0.00 0.00 0.00 0.000 6 0.000 0.000 1898 3279 2000 0 0 0 0 0 0

11912 0.54 110.4 278.1 13.2 771 11916 0.00 2.17 0.00 0.000 4 0.000 0.035 1908 1861 2000 0 0 0 0 0 0

11990 0.54 110.4 268.3 11.4 777 11998 0.00 2.28 0.00 0.000 6 0.000 0.054 1908 3273 1999 0 0 0 0 0 0

12316 0.54 110.4 224.0 13.1 808 12319 0.00 1.08 0.00 0.000 4 0.000 0.060 1908 3950 1999 0 0 0 0 0 0

12444 0.54 110.4 204.4 14.5 819 12452 0.00 1.05 0.00 0.000 6 0.000 0.037 1913 3268 1999 0 0 0 0 0 0

12769 0.54 110.4 159.9 13.4 850 12773 0.00 2.15 0.00 0.000 4 0.000 0.035 1924 1854 1999 0 0 0 0 0 0

12801 0.54 110.4 155.7 11.5 852 12812 0.08 2.30 0.00 0.000 6 0.167 0.053 1901 3286 1999 0 0 0 0 0 0

13127 0.54 110.4 111.8 13.9 883 13131 0.00 2.17 0.00 0.000 4 0.000 0.037 1911 1868 1999 0 0 0 0 0 0

13157 0.54 110.4 108.4 12.3 885 13161 0.00 2.25 0.00 0.000 6 0.000 0.055 1911 3285 1999 0 0 0 0 0 0

13503 0.54 110.4 64.6 11.2 940 13510 0.00 1.05 0.00 0.000 4 0.000 0.061 1911 3947 1999 0 0 0 0 0 0

13769 0.54 110.4 30.1 10.5 986 13779 0.00 1.00 0.00 0.000 6 0.000 0.038 1916 3283 1999 0 0 0 0 0 0

13924 0.54 110.4 14.4 11.2 1011 13933 0.00 1.05 0.00 0.000 4 0.000 0.059 1916 3946 1999 0 0 0 0 0 0

14007 end climb: SURFACE_DEPTH_REACHED

state 14007 begin surface coast

14033 end surface coast: CONTROL_FINISHED_OK

state 14033 begin surface

ID	543	HEADING	-1	ROLL_MAX	3944	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	9	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	1050
DIVE	137	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	3420	ALTIM_PING_DELTA	15
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	3280	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-4300	HEAD_ERRBAND	10	ALTIM_PULSE	4
D_TGT	990	TGT_DEFAULT_LON	-800	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1020	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	3
D_NO_BLEED	200	SM_CC	225	R_PORT_OVSHOOT	42	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	24	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.050000001
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	KERMIT	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	507	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	101
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2474	DEVICE3	131
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	118
T_DIVE	350	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	390	CAPUPLOAD	0	VBD_TIMEOUT	800	DEVICE6	-1
T_ABORT	720	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00061500003	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	60	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-12945.484	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	1	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	86	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	125	PITCH_MAX	3908	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1720	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043512532
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-59.073162	SEABIRD_T_H	0.00062429422
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011638312	SEABIRD_T_I	2.2835797e-05
RHO	1.027	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.3805812e-06
MASS	52459	PITCH_GAIN	58	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.305622
NAV_MODE	1	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1763667
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.0018977363
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00023287861
HD_A	0.003	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	20
HD_C	9.9999997e-06	ROLL_MIN	394	ALTIM_TOP_TURN_MARGIN	0

GPS1	221213,063105,-4259.934,829.549,59,1.0,59,-25.0	TGT_NAME	SAZ
_CALLS	2	TGT_LATLONG	-4300.000,830.000
_XMS_NAKs	0	TGT_RADIUS	500.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.49	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	221213,064207,-4300.005,829.812,16,2.0,16,-25.0	MHEAD_RNG_PITCHd_Wd	113.0,254,-27.2,-9.429
SPEED_LIMITS	0.163,0.235	D_GRID	990

FINISH	0.6,1.026406	_10V_AH	10.0,14.742
SM_CCo	14046,45.12,0.805,0,0,1553,225.18	FG_AHR_24Vo	0.000
SM_GC	1.21,0.00,0.00,45.12,0.000,0.000,0.805,63,3422,1553,-5.17,0.06,225.18	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4244.98,828.21,221213,060635	MEM	354416
TT8_MAMPS	0.026215	DATA_FILE_SIZE	73844,1028
HUMID	61.89	CAP_FILE_SIZE	131198,0
INTERNAL_PRESSURE	9.53279	CFSIZE	259252224,249061376
TCM_TEMP	13.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
XPDR_PINGS	0	GPS	221213,103837,-4259.797,833.707,40,2.0,41,-25.1
_24V_AH	22.5,21.253

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	241	69.35	SBE_CT	713	24	385.37
Roll_motor	63	64	91.70	AA4330	1757	33	1305.04
VBD_pump_during_apogee	217	1870	9132.35	WL_BB2FLVMT	706	105	1668.74
VBD_pump_during_surface	45	804	817.10	QSP2150	351	4	34.63
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	50	103	117.62	nil	0	0	0.00
Iridium_during_connect	122	160	440.09	nil	0	0	0.00
Iridium_during_xfer	310	223	1556.91	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	26	5.19
TT8	2576	14	385.50
LPSleep	8618	2	188.75
TT8_Active	371	14	52.83
TT8_Sampling	3015	37	1128.89
TT8_CF8	171	47	80.88
TT8_Kalman	0	0	0.00
Analog_circuits	1399	12	167.98
GPS_charging	0	0	0.00
Compass	2406	15	378.55
RAFOS	0	0	0.00
Transponder	1	5	0.05

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.50	-57.7	0.0	0.0	0	67	0.00	0.00	-50.00	0.000	2	0.000	0.000	60	3408	2710	0	0	0	0	0	0
69	-0.54	-110.4	3.3	-3.7	6	88	6.18	2.17	-5.40	0.000	4	0.242	0.044	1542	1990	2924	0	0	0	0	0	0
323	-0.54	-110.4	44.5	-12.1	48	332	0.00	2.35	0.00	0.000	6	0.000	0.054	1533	3422	2929	0	0	0	0	0	0
676	-0.54	-110.4	100.0	-16.4	109	683	0.00	0.82	0.00	0.000	4	0.000	0.060	1529	3944	2930	0	0	0	0	0	0
895	-0.54	-110.4	135.1	-16.1	129	903	0.00	0.80	0.00	0.000	6	0.000	0.036	1529	3417	2930	0	0	0	0	0	0
1220	-0.54	-110.4	185.9	-16.0	160	1224	0.00	0.85	0.00	0.000	4	0.000	0.060	1525	3950	2931	0	0	0	0	0	0
1292	-0.54	-110.4	198.7	-17.2	166	1299	0.00	0.82	0.00	0.000	6	0.000	0.036	1525	3412	2931	0	0	0	0	0	0
1619	-0.54	-110.4	250.0	-14.9	197	1623	0.00	0.85	0.00	0.000	4	0.000	0.061	1522	3944	2931	0	0	0	0	0	0
1801	-0.54	-110.4	279.9	-16.1	213	1805	0.00	0.80	0.00	0.000	6	0.000	0.037	1521	3416	2931	0	0	0	0	0	0
2131	-0.54	-110.4	330.0	-15.4	244	2135	0.00	0.85	0.00	0.000	4	0.000	0.060	1517	3950	2931	0	0	0	0	0	0
2235	-0.54	-110.4	346.9	-16.5	253	2239	0.00	0.80	0.00	0.000	6	0.000	0.038	1517	3422	2931	0	0	0	0	0	0
2565	-0.54	-110.4	400.8	-16.2	284	2568	0.00	0.85	0.00	0.000	4	0.000	0.060	1514	3953	2931	0	0	0	0	0	0
2700	-0.54	-110.4	424.4	-17.2	290	2704	0.08	0.80	0.00	0.000	6	0.170	0.038	1536	3427	2931	0	0	0	0	0	0
3031	-0.54	-110.4	472.8	-14.8	306	3035	0.00	0.82	0.00	0.000	4	0.000	0.063	1533	3945	2931	0	0	0	0	0	0
3220	-0.54	-110.4	501.8	-15.1	314	3225	0.00	0.82	0.00	0.000	6	0.000	0.037	1534	3409	2931	0	0	0	0	0	0
3542	-0.54	-110.4	544.5	-12.8	330	3546	0.00	0.85	0.00	0.000	4	0.000	0.062	1530	3943	2930	0	0	0	0	0	0
3677	-0.54	-110.4	563.0	-13.8	336	3681	0.00	0.80	0.00	0.000	6	0.000	0.039	1530	3417	2930	0	0	0	0	0	0
4009	-0.54	-110.4	603.5	-12.1	352	4013	0.00	0.85	0.00	0.000	4	0.000	0.063	1526	3948	2930	0	0	0	0	0	0
4069	-0.54	-110.4	611.1	-12.3	354	4077	0.00	0.82	0.00	0.000	6	0.000	0.038	1526	3413	2930	0	0	0	0	0	0
4387	-0.54	-110.4	648.8	-12.3	370	4391	0.00	0.85	0.00	0.000	4	0.000	0.063	1522	3948	2929	0	0	0	0	0	0
4531	-0.54	-110.4	669.2	-13.8	376	4536	0.00	0.82	0.00	0.000	6	0.000	0.038	1522	3415	2929	0	0	0	0	0	0
4853	-0.54	-110.4	712.4	-13.8	392	4857	0.00	0.85	0.00	0.000	4	0.000	0.063	1518	3943	2927	0	0	0	0	0	0
5048	-0.54	-110.4	741.1	-14.6	400	5056	0.00	0.82	0.00	0.000	6	0.000	0.038	1518	3411	2928	0	0	0	0	0	0
5366	-0.54	-110.4	785.3	-14.3	416	5369	0.00	0.85	0.00	0.000	4	0.000	0.063	1514	3943	2927	0	0	0	0	0	0
5537	-0.54	-110.4	813.2	-15.8	423	5546	0.12	0.82	0.00	0.000	6	0.184	0.038	1544	3413	2927	0	0	0	0	0	0
5855	-0.54	-110.4	852.5	-12.3	439	5859	0.00	0.85	0.00	0.000	4	0.000	0.064	1542	3943	2927	0	0	0	0	0	0
5932	-0.54	-110.4	862.6	-13.0	442	5937	0.00	0.82	0.00	0.000	6	0.000	0.039	1542	3413	2927	0	0	0	0	0	0
6254	-0.54	-110.4	899.9	-11.3	458	6257	0.00	0.85	0.00	0.000	4	0.000	0.064	1538	3944	2926	0	0	0	0	0	0
6376	-0.54	-110.4	914.6	-12.0	463	6380	0.00	0.82	0.00	0.000	6	0.000	0.040	1538	3412	2926	0	0	0	0	0	0
6697	-0.54	-110.4	949.7	-11.0	479	6701	0.00	0.85	0.00	0.000	4	0.000	0.064	1534	3943	2926	0	0	0	0	0	0
6814	-0.54	-110.4	963.6	-11.7	484	6818	0.00	0.82	0.00	0.000	6	0.000	0.040	1534	3411	2925	0	0	0	0	0	0
7057	end dive: TARGET_DEPTH_EXCEEDED
state	7057	begin apogee
7061	-0.09	0.0	991.6	11.3	496	7171	0.50	0.00	106.18	1.870	6	0.149	0.000	1684	3281	2473	0	0	0	0	0	0
7172	end apogee: CONTROL_FINISHED_OK
state	7172	begin climb
7173	0.54	110.4	994.2	0.0	501	7294	0.60	2.47	110.82	1.820	4	0.071	0.034	1901	1873	2022	0	0	0	0	0	0
7371	0.54	110.4	975.9	12.9	510	7376	0.00	2.42	0.00	0.000	6	0.000	0.050	1901	3273	2014	0	0	0	0	0	0
7699	0.54	110.4	923.7	16.2	526	7700	0.00	0.00	0.00	0.000	6	0.000	0.000	1901	3273	2009	0	0	0	0	0	0
8008	0.54	110.4	875.4	15.6	541	8012	0.00	1.12	0.00	0.000	4	0.000	0.059	1901	3957	2007	0	0	0	0	0	0
8062	0.54	110.4	865.6	17.6	543	8067	0.00	1.08	0.00	0.000	6	0.000	0.036	1906	3273	2006	0	0	0	0	0	0
8384	0.54	110.4	811.7	16.7	559	8388	0.00	2.20	0.00	0.000	4	0.000	0.036	1917	1861	2005	0	0	0	0	0	0
8418	0.54	110.4	806.5	14.9	560	8425	0.00	2.30	0.00	0.000	6	0.000	0.052	1917	3287	2004	0	0	0	0	0	0
8733	0.54	110.4	752.9	17.0	576	8734	0.00	0.00	0.00	0.000	6	0.000	0.000	1917	3287	2004	0	0	0	0	0	0
9042	0.54	110.4	701.9	15.8	591	9043	0.00	0.00	0.00	0.000	6	0.000	0.000	1916	3287	2004	0	0	0	0	0	0
9353	0.54	110.4	652.8	16.1	606	9354	0.00	0.00	0.00	0.000	6	0.000	0.000	1917	3287	2003	0	0	0	0	0	0
9661	0.54	110.4	602.7	16.6	621	9662	0.00	0.00	0.00	0.000	6	0.000	0.000	1917	3287	2002	0	0	0	0	0	0
9970	0.54	110.4	552.0	16.3	636	9974	0.00	2.20	0.00	0.000	4	0.000	0.034	1927	1858	2002	0	0	0	0	0	0
10012	0.54	110.4	545.3	15.1	638	10018	0.10	2.30	0.00	0.000	6	0.171	0.052	1899	3279	2001	0	0	0	0	0	0
10341	0.54	110.4	497.3	14.6	654	10342	0.00	0.00	0.00	0.000	6	0.000	0.000	1898	3279	2000	0	0	0	0	0	0
10649	0.54	110.4	452.5	14.3	669	10650	0.00	0.00	0.00	0.000	6	0.000	0.000	1898	3280	2001	0	0	0	0	0	0
10958	0.54	110.4	408.2	14.4	684	10959	0.00	0.00	0.00	0.000	6	0.000	0.000	1898	3280	2000	0	0	0	0	0	0
11275	0.54	110.4	364.1	13.6	711	11276	0.00	0.00	0.00	0.000	6	0.000	0.000	1898	3280	2000	0	0	0	0	0	0
11597	0.54	110.4	321.4	13.3	741	11598	0.00	0.00	0.00	0.000	6	0.000	0.000	1898	3279	2000	0	0	0	0	0	0
11912	0.54	110.4	278.1	13.2	771	11916	0.00	2.17	0.00	0.000	4	0.000	0.035	1908	1861	2000	0	0	0	0	0	0
11990	0.54	110.4	268.3	11.4	777	11998	0.00	2.28	0.00	0.000	6	0.000	0.054	1908	3273	1999	0	0	0	0	0	0
12316	0.54	110.4	224.0	13.1	808	12319	0.00	1.08	0.00	0.000	4	0.000	0.060	1908	3950	1999	0	0	0	0	0	0
12444	0.54	110.4	204.4	14.5	819	12452	0.00	1.05	0.00	0.000	6	0.000	0.037	1913	3268	1999	0	0	0	0	0	0
12769	0.54	110.4	159.9	13.4	850	12773	0.00	2.15	0.00	0.000	4	0.000	0.035	1924	1854	1999	0	0	0	0	0	0
12801	0.54	110.4	155.7	11.5	852	12812	0.08	2.30	0.00	0.000	6	0.167	0.053	1901	3286	1999	0	0	0	0	0	0
13127	0.54	110.4	111.8	13.9	883	13131	0.00	2.17	0.00	0.000	4	0.000	0.037	1911	1868	1999	0	0	0	0	0	0
13157	0.54	110.4	108.4	12.3	885	13161	0.00	2.25	0.00	0.000	6	0.000	0.055	1911	3285	1999	0	0	0	0	0	0
13503	0.54	110.4	64.6	11.2	940	13510	0.00	1.05	0.00	0.000	4	0.000	0.061	1911	3947	1999	0	0	0	0	0	0
13769	0.54	110.4	30.1	10.5	986	13779	0.00	1.00	0.00	0.000	6	0.000	0.038	1916	3283	1999	0	0	0	0	0	0
13924	0.54	110.4	14.4	11.2	1011	13933	0.00	1.05	0.00	0.000	4	0.000	0.059	1916	3946	1999	0	0	0	0	0	0
14007	end climb: SURFACE_DEPTH_REACHED
state	14007	begin surface coast
14033	end surface coast: CONTROL_FINISHED_OK
state	14033	begin surface