Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 190 * 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 190 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 28 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 -22196.691 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 -22196.691

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 28 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 190 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 110115,190052,-5557.776,-100.445,42,0.9,43,-19.6 TGT_NAME TARGET3

_CALLS 1 TGT_LATLONG -5600.000,-100.000

_XMS_NAKs 0 TGT_RADIUS 4000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.175,-0.091

_SM_DEPTHo 2.29 KALMAN_X 123544.3,-166.5,-58.4,-185692.2,3973.0

_SM_ANGLEo -68.7 KALMAN_Y 33675.7,565.5,425.3,-30223.1,-2228.4

GPS2 110115,190941,-5557.758,-100.294,13,1.7,13,-19.6 MHEAD_RNG_PITCHd_Wd 262.2,4164,-21.1,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.2,1.027033 _10V_AH 9.9,26.475

SM_CCo 14231,27.23,0.160,0,0,1525,200.16 FG_AHR_24Vo 0.000

SM_GC 2.14,0.00,0.00,27.23,0.000,0.000,0.160,58,2934,1525,-5.40,0.08,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5535.12,-53.77,110115,090951 MEM 353500

TT8_MAMPS 0.026215 DATA_FILE_SIZE 63952,935

HUMID 56.81 CAP_FILE_SIZE 119668,0

INTERNAL_PRESSURE 8.98439 CFSIZE 259252224,213741568

TCM_TEMP 7.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 110115,230958,-5558.982,-101.616,67,0.9,68,-19.6

_24V_AH 22.0,38.965

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 239 70.19 SBE_CT 664 23 350.29

Roll_motor 70 78 122.95 AA4330 1933 17 764.81

VBD_pump_during_apogee 282 1775 11018.53 WL_BB2F 927 105 2142.78

VBD_pump_during_surface 27 159 95.76 QSP2150 966 17 382.15

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 91 65.37 nil 0 0 0.00

Iridium_during_connect 47 160 166.70 nil 0 0 0.00

Iridium_during_xfer 318 223 1562.27 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 31 4.95

TT8 2296 14 328.71

LPSleep 9183 2 199.10

TT8_Active 435 14 62.41

TT8_Sampling 2658 42 1110.03

TT8_CF8 207 49 101.97

TT8_Kalman 33 68 22.59

Analog_circuits 1313 15 201.61

GPS_charging 0 0 0.00

Compass 2106 16 343.74

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

14 end surface: CONTROL_FINISHED_OK

state 15 begin dive

16 -0.48 -104.7 0.0 0.0 0 52 0.00 0.00 -33.50 0.000 2 0.000 0.000 45 2935 2199 0 0 0 0 0 0

54 -0.51 -146.1 3.2 -5.0 4 97 6.40 1.62 -26.02 0.000 4 0.239 0.079 1610 3893 2940 0 0 0 0 0 0

166 -0.51 -146.1 17.5 -17.7 20 175 0.00 1.58 0.00 0.000 6 0.000 0.032 1610 2897 2941 0 0 0 0 0 0

250 -0.51 -146.1 34.5 -21.3 33 257 0.00 0.00 0.00 0.000 6 0.000 0.000 1610 2897 2942 0 0 0 0 0 0

364 -0.51 -146.1 57.7 -19.1 52 372 0.00 0.00 0.00 0.000 6 0.000 0.000 1610 2896 2941 0 0 0 0 0 0

479 -0.51 -146.1 79.3 -19.2 71 486 0.00 1.67 0.00 0.000 4 0.000 0.061 1602 3889 2942 0 0 0 0 0 0

555 -0.51 -146.1 93.7 -18.8 84 564 0.00 1.50 0.00 0.000 6 0.000 0.034 1602 2924 2941 0 0 0 0 0 0

784 -0.51 -146.1 132.7 -16.1 108 788 0.00 1.62 0.00 0.000 4 0.000 0.060 1595 3891 2942 0 0 0 0 0 0

821 -0.51 -146.1 138.3 -16.4 111 825 0.00 1.50 0.00 0.000 6 0.000 0.033 1595 2926 2942 0 0 0 0 0 0

1151 -0.51 -146.1 194.1 -16.3 142 1155 0.00 1.62 0.00 0.000 4 0.000 0.060 1587 3892 2941 0 0 0 0 0 0

1202 -0.51 -146.1 203.1 -17.3 146 1213 0.10 1.50 0.00 0.000 6 0.180 0.031 1617 2924 2941 0 0 0 0 0 0

1529 -0.51 -146.1 248.1 -13.5 177 1533 0.00 2.12 0.00 0.000 4 0.000 0.041 1617 1543 2942 0 0 0 0 0 0

1561 -0.51 -146.1 253.0 -13.7 178 1571 0.00 2.28 0.00 0.000 6 0.000 0.055 1606 2925 2942 0 0 0 0 0 0

1879 -0.51 -146.1 299.8 -15.0 194 1882 0.00 1.60 0.00 0.000 4 0.000 0.062 1599 3909 2942 0 0 0 0 0 0

1939 -0.51 -146.1 310.0 -16.3 196 1949 0.00 1.50 0.00 0.000 6 0.000 0.031 1599 2922 2942 0 0 0 0 0 0

2255 -0.51 -146.1 357.0 -14.7 212 2256 0.00 0.00 0.00 0.000 6 0.000 0.000 1599 2922 2942 0 0 0 0 0 0

2567 -0.51 -146.1 402.8 -14.8 227 2571 0.00 1.62 0.00 0.000 4 0.000 0.060 1592 3897 2942 0 0 0 0 0 0

2638 -0.51 -146.1 414.9 -15.9 230 2644 0.08 1.48 0.00 0.000 6 0.175 0.031 1614 2937 2942 0 0 0 0 0 0

2966 -0.51 -146.1 459.8 -13.9 246 2967 0.00 0.00 0.00 0.000 6 0.000 0.000 1614 2938 2942 0 0 0 0 0 0

3275 -0.51 -146.1 502.2 -13.2 261 3279 0.00 1.60 0.00 0.000 4 0.000 0.061 1607 3899 2942 0 0 0 0 0 0

3321 -0.51 -146.1 508.5 -14.2 263 3325 0.00 1.50 0.00 0.000 6 0.000 0.031 1607 2919 2942 0 0 0 0 0 0

3654 -0.51 -146.1 554.3 -13.5 279 3655 0.00 0.00 0.00 0.000 6 0.000 0.000 1607 2914 2942 0 0 0 0 0 0

3962 -0.51 -146.1 595.4 -13.4 294 3966 0.00 1.65 0.00 0.000 4 0.000 0.061 1600 3920 2942 0 0 0 0 0 0

4018 -0.51 -146.1 603.5 -14.5 296 4022 0.00 1.52 0.00 0.000 6 0.000 0.031 1600 2924 2942 0 0 0 0 0 0

4340 -0.51 -146.1 646.8 -13.3 312 4343 0.00 1.62 0.00 0.000 4 0.000 0.060 1592 3898 2942 0 0 0 0 0 0

4372 -0.51 -146.1 651.8 -14.3 313 4377 0.08 1.48 0.00 0.000 6 0.177 0.031 1615 2939 2943 0 0 0 0 0 0

4693 -0.51 -146.1 691.4 -12.0 329 4694 0.00 0.00 0.00 0.000 6 0.000 0.000 1615 2937 2942 0 0 0 0 0 0

5003 -0.51 -146.1 729.0 -12.1 344 5004 0.00 0.00 0.00 0.000 6 0.000 0.000 1615 2938 2943 0 0 0 0 0 0

5312 -0.51 -146.1 766.7 -12.3 359 5313 0.00 0.00 0.00 0.000 6 0.000 0.000 1615 2937 2943 0 0 0 0 0 0

5622 -0.51 -146.1 804.2 -11.9 374 5623 0.00 0.00 0.00 0.000 6 0.000 0.000 1615 2937 2943 0 0 0 0 0 0

5931 -0.51 -146.1 841.5 -12.0 389 5934 0.00 1.60 0.00 0.000 4 0.000 0.061 1608 3895 2943 0 0 0 0 0 0

5977 -0.51 -146.1 847.3 -13.6 391 5981 0.00 1.48 0.00 0.000 6 0.000 0.031 1608 2923 2943 0 0 0 0 0 0

6310 -0.51 -146.1 888.7 -12.7 407 6311 0.00 0.00 0.00 0.000 6 0.000 0.000 1608 2918 2943 0 0 0 0 0 0

6619 -0.51 -146.1 927.2 -12.5 422 6620 0.00 0.00 0.00 0.000 6 0.000 0.000 1607 2918 2943 0 0 0 0 0 0

6928 -0.51 -146.1 965.4 -12.5 437 6931 0.00 1.65 0.00 0.000 4 0.000 0.060 1600 3923 2943 0 0 0 0 0 0

6966 -0.51 -146.1 970.9 -14.0 438 6973 0.00 1.52 0.00 0.000 6 0.000 0.031 1600 2922 2943 0 0 0 0 0 0

7198 end dive: TARGET_DEPTH_EXCEEDED

state 7198 begin apogee

7202 -0.13 0.0 1001.8 13.3 450 7341 0.50 0.00 134.73 1.776 6 0.170 0.000 1745 2723 2342 0 0 0 0 0 0

7342 end apogee: CONTROL_FINISHED_OK

state 7342 begin climb

7344 0.51 146.1 1007.4 0.0 457 7497 0.70 0.00 147.35 1.752 6 0.119 0.000 1949 2723 1746 0 0 0 0 0 0

7797 0.51 146.1 951.3 14.5 479 7798 0.00 0.00 0.00 0.000 6 0.000 0.000 1949 2723 1738 0 0 0 0 0 0

8107 0.51 146.1 906.1 14.8 494 8108 0.00 0.00 0.00 0.000 6 0.000 0.000 1949 2723 1736 0 0 0 0 0 0

8416 0.51 146.1 860.8 14.9 509 8419 0.00 2.00 0.00 0.000 4 0.000 0.059 1949 3925 1735 0 0 0 0 0 0

8442 0.51 146.1 856.3 16.3 510 8447 0.00 1.92 0.00 0.000 6 0.000 0.034 1959 2739 1733 0 0 0 0 0 0

8770 0.51 146.1 805.6 15.3 526 8771 0.00 0.00 0.00 0.000 6 0.000 0.000 1959 2738 1733 0 0 0 0 0 0

9078 0.51 146.1 758.8 15.0 541 9079 0.00 0.00 0.00 0.000 6 0.000 0.000 1959 2738 1732 0 0 0 0 0 0

9388 0.51 146.1 711.5 15.1 556 9389 0.00 0.00 0.00 0.000 6 0.000 0.000 1959 2738 1732 0 0 0 0 0 0

9698 0.51 146.1 665.4 14.9 571 9699 0.00 0.00 0.00 0.000 6 0.000 0.000 1959 2738 1732 0 0 0 0 0 0

10006 0.51 146.1 620.4 15.0 586 10008 0.00 0.00 0.00 0.000 6 0.000 0.000 1959 2738 1732 0 0 0 0 0 0

10316 0.51 146.1 574.3 14.8 601 10317 0.00 0.00 0.00 0.000 6 0.000 0.000 1959 2737 1731 0 0 0 0 0 0

10626 0.51 146.1 527.8 15.1 616 10629 0.00 1.92 0.00 0.000 4 0.000 0.058 1959 3902 1731 0 0 0 0 0 0

10671 0.51 146.1 520.2 17.2 618 10674 0.00 1.88 0.00 0.000 6 0.000 0.036 1968 2710 1730 0 0 0 0 0 0

11003 0.51 146.1 467.1 16.1 634 11006 0.00 1.98 0.00 0.000 4 0.000 0.057 1968 3912 1730 0 0 0 0 0 0

11052 0.51 146.1 458.0 18.9 636 11057 0.00 1.92 0.00 0.000 6 0.000 0.035 1977 2705 1730 0 0 0 0 0 0

11379 0.51 146.1 403.7 16.2 652 11380 0.00 0.00 0.00 0.000 6 0.000 0.000 1977 2705 1730 0 0 0 0 0 0

11691 0.51 146.1 354.7 15.8 667 11695 0.00 1.98 0.00 0.000 4 0.000 0.057 1977 3906 1730 0 0 0 0 0 0

11739 0.51 146.1 346.7 16.9 669 11742 0.00 1.88 0.00 0.000 6 0.000 0.035 1986 2711 1730 0 0 0 0 0 0

12073 0.51 146.1 292.7 16.0 685 12074 0.00 0.00 0.00 0.000 6 0.000 0.000 1986 2711 1730 0 0 0 0 0 0

12384 0.51 146.1 243.8 15.8 701 12390 0.00 0.00 0.00 0.000 6 0.000 0.000 1986 2711 1730 0 0 0 0 0 0

12711 0.51 146.1 191.5 16.3 732 12712 0.00 0.00 0.00 0.000 6 0.000 0.000 1986 2710 1730 0 0 0 0 0 0

13028 0.51 146.1 139.7 15.8 762 13032 0.00 1.98 0.00 0.000 4 0.000 0.057 1986 3913 1730 0 0 0 0 0 0

13101 0.51 146.1 127.0 16.9 768 13113 0.10 1.92 0.00 0.000 6 0.206 0.034 1967 2700 1730 0 0 0 0 0 0

13437 0.51 146.1 86.2 10.9 809 13444 0.00 2.17 0.00 0.000 4 0.000 0.043 1977 1295 1730 0 0 0 0 0 0

13536 0.51 146.1 76.2 9.9 826 13545 0.00 2.30 0.00 0.000 6 0.000 0.050 1977 2731 1730 0 0 0 0 0 0

13653 0.51 146.1 64.4 10.4 845 13660 0.00 1.90 0.00 0.000 4 0.000 0.059 1977 3887 1730 0 0 0 0 0 0

13714 0.51 146.1 57.0 12.4 855 13721 0.00 1.88 0.00 0.000 6 0.000 0.035 1986 2703 1730 0 0 0 0 0 0

13828 0.51 146.1 44.7 10.1 874 13836 0.00 0.00 0.00 0.000 6 0.000 0.000 1986 2703 1730 0 0 0 0 0 0

13943 0.51 146.1 33.2 11.1 893 13950 0.00 0.00 0.00 0.000 6 0.000 0.000 1986 2702 1730 0 0 0 0 0 0

14062 0.51 146.1 19.6 12.6 912 14070 0.00 0.00 0.00 0.000 6 0.000 0.000 1986 2703 1730 0 0 0 0 0 0

14146 0.51 146.1 9.1 12.8 925 14155 0.00 1.95 0.00 0.000 4 0.000 0.058 1986 3882 1730 0 0 0 0 0 0

14182 0.51 146.1 3.6 15.4 930 14191 0.12 1.88 0.00 0.000 6 0.210 0.035 1961 2698 1729 0 0 0 0 0 0

14198 end climb: SURFACE_DEPTH_REACHED

state 14198 begin surface coast

14218 end surface coast: CONTROL_FINISHED_OK

state 14218 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	190	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	28	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	-22196.691	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	110115,190052,-5557.776,-100.445,42,0.9,43,-19.6	TGT_NAME	TARGET3
_CALLS	1	TGT_LATLONG	-5600.000,-100.000
_XMS_NAKs	0	TGT_RADIUS	4000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.175,-0.091
_SM_DEPTHo	2.29	KALMAN_X	123544.3,-166.5,-58.4,-185692.2,3973.0
_SM_ANGLEo	-68.7	KALMAN_Y	33675.7,565.5,425.3,-30223.1,-2228.4
GPS2	110115,190941,-5557.758,-100.294,13,1.7,13,-19.6	MHEAD_RNG_PITCHd_Wd	262.2,4164,-21.1,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.2,1.027033	_10V_AH	9.9,26.475
SM_CCo	14231,27.23,0.160,0,0,1525,200.16	FG_AHR_24Vo	0.000
SM_GC	2.14,0.00,0.00,27.23,0.000,0.000,0.160,58,2934,1525,-5.40,0.08,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5535.12,-53.77,110115,090951	MEM	353500
TT8_MAMPS	0.026215	DATA_FILE_SIZE	63952,935
HUMID	56.81	CAP_FILE_SIZE	119668,0
INTERNAL_PRESSURE	8.98439	CFSIZE	259252224,213741568
TCM_TEMP	7.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	110115,230958,-5558.982,-101.616,67,0.9,68,-19.6
_24V_AH	22.0,38.965

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	239	70.19	SBE_CT	664	23	350.29
Roll_motor	70	78	122.95	AA4330	1933	17	764.81
VBD_pump_during_apogee	282	1775	11018.53	WL_BB2F	927	105	2142.78
VBD_pump_during_surface	27	159	95.76	QSP2150	966	17	382.15
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	91	65.37	nil	0	0	0.00
Iridium_during_connect	47	160	166.70	nil	0	0	0.00
Iridium_during_xfer	318	223	1562.27	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	31	4.95
TT8	2296	14	328.71
LPSleep	9183	2	199.10
TT8_Active	435	14	62.41
TT8_Sampling	2658	42	1110.03
TT8_CF8	207	49	101.97
TT8_Kalman	33	68	22.59
Analog_circuits	1313	15	201.61
GPS_charging	0	0	0.00
Compass	2106	16	343.74
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
14	end surface: CONTROL_FINISHED_OK
state	15	begin dive
16	-0.48	-104.7	0.0	0.0	0	52	0.00	0.00	-33.50	0.000	2	0.000	0.000	45	2935	2199	0	0	0	0	0	0
54	-0.51	-146.1	3.2	-5.0	4	97	6.40	1.62	-26.02	0.000	4	0.239	0.079	1610	3893	2940	0	0	0	0	0	0
166	-0.51	-146.1	17.5	-17.7	20	175	0.00	1.58	0.00	0.000	6	0.000	0.032	1610	2897	2941	0	0	0	0	0	0
250	-0.51	-146.1	34.5	-21.3	33	257	0.00	0.00	0.00	0.000	6	0.000	0.000	1610	2897	2942	0	0	0	0	0	0
364	-0.51	-146.1	57.7	-19.1	52	372	0.00	0.00	0.00	0.000	6	0.000	0.000	1610	2896	2941	0	0	0	0	0	0
479	-0.51	-146.1	79.3	-19.2	71	486	0.00	1.67	0.00	0.000	4	0.000	0.061	1602	3889	2942	0	0	0	0	0	0
555	-0.51	-146.1	93.7	-18.8	84	564	0.00	1.50	0.00	0.000	6	0.000	0.034	1602	2924	2941	0	0	0	0	0	0
784	-0.51	-146.1	132.7	-16.1	108	788	0.00	1.62	0.00	0.000	4	0.000	0.060	1595	3891	2942	0	0	0	0	0	0
821	-0.51	-146.1	138.3	-16.4	111	825	0.00	1.50	0.00	0.000	6	0.000	0.033	1595	2926	2942	0	0	0	0	0	0
1151	-0.51	-146.1	194.1	-16.3	142	1155	0.00	1.62	0.00	0.000	4	0.000	0.060	1587	3892	2941	0	0	0	0	0	0
1202	-0.51	-146.1	203.1	-17.3	146	1213	0.10	1.50	0.00	0.000	6	0.180	0.031	1617	2924	2941	0	0	0	0	0	0
1529	-0.51	-146.1	248.1	-13.5	177	1533	0.00	2.12	0.00	0.000	4	0.000	0.041	1617	1543	2942	0	0	0	0	0	0
1561	-0.51	-146.1	253.0	-13.7	178	1571	0.00	2.28	0.00	0.000	6	0.000	0.055	1606	2925	2942	0	0	0	0	0	0
1879	-0.51	-146.1	299.8	-15.0	194	1882	0.00	1.60	0.00	0.000	4	0.000	0.062	1599	3909	2942	0	0	0	0	0	0
1939	-0.51	-146.1	310.0	-16.3	196	1949	0.00	1.50	0.00	0.000	6	0.000	0.031	1599	2922	2942	0	0	0	0	0	0
2255	-0.51	-146.1	357.0	-14.7	212	2256	0.00	0.00	0.00	0.000	6	0.000	0.000	1599	2922	2942	0	0	0	0	0	0
2567	-0.51	-146.1	402.8	-14.8	227	2571	0.00	1.62	0.00	0.000	4	0.000	0.060	1592	3897	2942	0	0	0	0	0	0
2638	-0.51	-146.1	414.9	-15.9	230	2644	0.08	1.48	0.00	0.000	6	0.175	0.031	1614	2937	2942	0	0	0	0	0	0
2966	-0.51	-146.1	459.8	-13.9	246	2967	0.00	0.00	0.00	0.000	6	0.000	0.000	1614	2938	2942	0	0	0	0	0	0
3275	-0.51	-146.1	502.2	-13.2	261	3279	0.00	1.60	0.00	0.000	4	0.000	0.061	1607	3899	2942	0	0	0	0	0	0
3321	-0.51	-146.1	508.5	-14.2	263	3325	0.00	1.50	0.00	0.000	6	0.000	0.031	1607	2919	2942	0	0	0	0	0	0
3654	-0.51	-146.1	554.3	-13.5	279	3655	0.00	0.00	0.00	0.000	6	0.000	0.000	1607	2914	2942	0	0	0	0	0	0
3962	-0.51	-146.1	595.4	-13.4	294	3966	0.00	1.65	0.00	0.000	4	0.000	0.061	1600	3920	2942	0	0	0	0	0	0
4018	-0.51	-146.1	603.5	-14.5	296	4022	0.00	1.52	0.00	0.000	6	0.000	0.031	1600	2924	2942	0	0	0	0	0	0
4340	-0.51	-146.1	646.8	-13.3	312	4343	0.00	1.62	0.00	0.000	4	0.000	0.060	1592	3898	2942	0	0	0	0	0	0
4372	-0.51	-146.1	651.8	-14.3	313	4377	0.08	1.48	0.00	0.000	6	0.177	0.031	1615	2939	2943	0	0	0	0	0	0
4693	-0.51	-146.1	691.4	-12.0	329	4694	0.00	0.00	0.00	0.000	6	0.000	0.000	1615	2937	2942	0	0	0	0	0	0
5003	-0.51	-146.1	729.0	-12.1	344	5004	0.00	0.00	0.00	0.000	6	0.000	0.000	1615	2938	2943	0	0	0	0	0	0
5312	-0.51	-146.1	766.7	-12.3	359	5313	0.00	0.00	0.00	0.000	6	0.000	0.000	1615	2937	2943	0	0	0	0	0	0
5622	-0.51	-146.1	804.2	-11.9	374	5623	0.00	0.00	0.00	0.000	6	0.000	0.000	1615	2937	2943	0	0	0	0	0	0
5931	-0.51	-146.1	841.5	-12.0	389	5934	0.00	1.60	0.00	0.000	4	0.000	0.061	1608	3895	2943	0	0	0	0	0	0
5977	-0.51	-146.1	847.3	-13.6	391	5981	0.00	1.48	0.00	0.000	6	0.000	0.031	1608	2923	2943	0	0	0	0	0	0
6310	-0.51	-146.1	888.7	-12.7	407	6311	0.00	0.00	0.00	0.000	6	0.000	0.000	1608	2918	2943	0	0	0	0	0	0
6619	-0.51	-146.1	927.2	-12.5	422	6620	0.00	0.00	0.00	0.000	6	0.000	0.000	1607	2918	2943	0	0	0	0	0	0
6928	-0.51	-146.1	965.4	-12.5	437	6931	0.00	1.65	0.00	0.000	4	0.000	0.060	1600	3923	2943	0	0	0	0	0	0
6966	-0.51	-146.1	970.9	-14.0	438	6973	0.00	1.52	0.00	0.000	6	0.000	0.031	1600	2922	2943	0	0	0	0	0	0
7198	end dive: TARGET_DEPTH_EXCEEDED
state	7198	begin apogee
7202	-0.13	0.0	1001.8	13.3	450	7341	0.50	0.00	134.73	1.776	6	0.170	0.000	1745	2723	2342	0	0	0	0	0	0
7342	end apogee: CONTROL_FINISHED_OK
state	7342	begin climb
7344	0.51	146.1	1007.4	0.0	457	7497	0.70	0.00	147.35	1.752	6	0.119	0.000	1949	2723	1746	0	0	0	0	0	0
7797	0.51	146.1	951.3	14.5	479	7798	0.00	0.00	0.00	0.000	6	0.000	0.000	1949	2723	1738	0	0	0	0	0	0
8107	0.51	146.1	906.1	14.8	494	8108	0.00	0.00	0.00	0.000	6	0.000	0.000	1949	2723	1736	0	0	0	0	0	0
8416	0.51	146.1	860.8	14.9	509	8419	0.00	2.00	0.00	0.000	4	0.000	0.059	1949	3925	1735	0	0	0	0	0	0
8442	0.51	146.1	856.3	16.3	510	8447	0.00	1.92	0.00	0.000	6	0.000	0.034	1959	2739	1733	0	0	0	0	0	0
8770	0.51	146.1	805.6	15.3	526	8771	0.00	0.00	0.00	0.000	6	0.000	0.000	1959	2738	1733	0	0	0	0	0	0
9078	0.51	146.1	758.8	15.0	541	9079	0.00	0.00	0.00	0.000	6	0.000	0.000	1959	2738	1732	0	0	0	0	0	0
9388	0.51	146.1	711.5	15.1	556	9389	0.00	0.00	0.00	0.000	6	0.000	0.000	1959	2738	1732	0	0	0	0	0	0
9698	0.51	146.1	665.4	14.9	571	9699	0.00	0.00	0.00	0.000	6	0.000	0.000	1959	2738	1732	0	0	0	0	0	0
10006	0.51	146.1	620.4	15.0	586	10008	0.00	0.00	0.00	0.000	6	0.000	0.000	1959	2738	1732	0	0	0	0	0	0
10316	0.51	146.1	574.3	14.8	601	10317	0.00	0.00	0.00	0.000	6	0.000	0.000	1959	2737	1731	0	0	0	0	0	0
10626	0.51	146.1	527.8	15.1	616	10629	0.00	1.92	0.00	0.000	4	0.000	0.058	1959	3902	1731	0	0	0	0	0	0
10671	0.51	146.1	520.2	17.2	618	10674	0.00	1.88	0.00	0.000	6	0.000	0.036	1968	2710	1730	0	0	0	0	0	0
11003	0.51	146.1	467.1	16.1	634	11006	0.00	1.98	0.00	0.000	4	0.000	0.057	1968	3912	1730	0	0	0	0	0	0
11052	0.51	146.1	458.0	18.9	636	11057	0.00	1.92	0.00	0.000	6	0.000	0.035	1977	2705	1730	0	0	0	0	0	0
11379	0.51	146.1	403.7	16.2	652	11380	0.00	0.00	0.00	0.000	6	0.000	0.000	1977	2705	1730	0	0	0	0	0	0
11691	0.51	146.1	354.7	15.8	667	11695	0.00	1.98	0.00	0.000	4	0.000	0.057	1977	3906	1730	0	0	0	0	0	0
11739	0.51	146.1	346.7	16.9	669	11742	0.00	1.88	0.00	0.000	6	0.000	0.035	1986	2711	1730	0	0	0	0	0	0
12073	0.51	146.1	292.7	16.0	685	12074	0.00	0.00	0.00	0.000	6	0.000	0.000	1986	2711	1730	0	0	0	0	0	0
12384	0.51	146.1	243.8	15.8	701	12390	0.00	0.00	0.00	0.000	6	0.000	0.000	1986	2711	1730	0	0	0	0	0	0
12711	0.51	146.1	191.5	16.3	732	12712	0.00	0.00	0.00	0.000	6	0.000	0.000	1986	2710	1730	0	0	0	0	0	0
13028	0.51	146.1	139.7	15.8	762	13032	0.00	1.98	0.00	0.000	4	0.000	0.057	1986	3913	1730	0	0	0	0	0	0
13101	0.51	146.1	127.0	16.9	768	13113	0.10	1.92	0.00	0.000	6	0.206	0.034	1967	2700	1730	0	0	0	0	0	0
13437	0.51	146.1	86.2	10.9	809	13444	0.00	2.17	0.00	0.000	4	0.000	0.043	1977	1295	1730	0	0	0	0	0	0
13536	0.51	146.1	76.2	9.9	826	13545	0.00	2.30	0.00	0.000	6	0.000	0.050	1977	2731	1730	0	0	0	0	0	0
13653	0.51	146.1	64.4	10.4	845	13660	0.00	1.90	0.00	0.000	4	0.000	0.059	1977	3887	1730	0	0	0	0	0	0
13714	0.51	146.1	57.0	12.4	855	13721	0.00	1.88	0.00	0.000	6	0.000	0.035	1986	2703	1730	0	0	0	0	0	0
13828	0.51	146.1	44.7	10.1	874	13836	0.00	0.00	0.00	0.000	6	0.000	0.000	1986	2703	1730	0	0	0	0	0	0
13943	0.51	146.1	33.2	11.1	893	13950	0.00	0.00	0.00	0.000	6	0.000	0.000	1986	2702	1730	0	0	0	0	0	0
14062	0.51	146.1	19.6	12.6	912	14070	0.00	0.00	0.00	0.000	6	0.000	0.000	1986	2703	1730	0	0	0	0	0	0
14146	0.51	146.1	9.1	12.8	925	14155	0.00	1.95	0.00	0.000	4	0.000	0.058	1986	3882	1730	0	0	0	0	0	0
14182	0.51	146.1	3.6	15.4	930	14191	0.12	1.88	0.00	0.000	6	0.210	0.035	1961	2698	1729	0	0	0	0	0	0
14198	end climb: SURFACE_DEPTH_REACHED
state	14198	begin surface coast
14218	end surface coast: CONTROL_FINISHED_OK
state	14218	begin surface