Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 24 * 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 24 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2770 ALTIM_PING_DELTA 5

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2670 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 230 R_PORT_OVSHOOT 28 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 21 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 2500 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 0.0012300001 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 -21756.008 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 1802 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 43 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 0.003 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 10

HD_C 9.9999997e-06 ROLL_MIN 335 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 500 PHONE_DEVICE 48 SM_CC 230

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 43 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 0.0012300001 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 0.003 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -21756.008

CAPMAXSIZE 100000 HD_C 9.9999997e-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 1802 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2670 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 2770 LOGGERDEVICE1 -1 ROLL_MAX 3901 USE_ICE 0

C_VBD 2500 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 21 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 24 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 141214,170035,-5558.343,-12.547,26,0.9,26,-20.0 TGT_NAME TARGET

_CALLS 2 TGT_LATLONG -5600.000,-30.000

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.255,0.013

_SM_DEPTHo 1.59 KALMAN_X 17878.4,-1322.4,-571.3,-28853.4,7934.1

_SM_ANGLEo -62.3 KALMAN_Y -19429.5,564.2,422.0,21823.9,-4449.8

GPS2 141214,171612,-5558.330,-12.512,19,0.9,19,-20.0 MHEAD_RNG_PITCHd_Wd 293.0,18374,-16.7,-9.524

SPEED_LIMITS 0.165,0.255 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.8,1.015969 _10V_AH 10.1,7.857

SM_CCo 12807,31.95,0.180,0,0,1559,230.09 FG_AHR_24Vo 0.000

SM_GC 1.54,0.00,0.00,31.95,0.000,0.000,0.180,61,2797,1559,-5.44,0.76,230.09 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5538.94,-7.70,141214,131355 MEM 354168

TT8_MAMPS 0.026215 DATA_FILE_SIZE 57106,827

HUMID 55.59 CAP_FILE_SIZE 131136,0

INTERNAL_PRESSURE 8.93556 CFSIZE 259252224,225038336

TCM_TEMP 6.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 141214,205222,-5558.239,-16.026,39,0.9,39,-20.0

_24V_AH 21.6,12.317

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 257 77.45 SBE_CT 587 23 304.33

Roll_motor 121 88 233.22 AA4330 1708 17 663.41

VBD_pump_during_apogee 277 1796 10766.54 WL_BB2F 808 105 1833.85

VBD_pump_during_surface 31 179 124.07 QSP2150 835 17 324.52

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 56 91 112.95 nil 0 0 0.00

Iridium_during_connect 129 160 446.73 nil 0 0 0.00

Iridium_during_xfer 531 223 2558.25 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 31 7.04

TT8 2137 14 312.22

LPSleep 7937 2 175.56

TT8_Active 437 14 63.93

TT8_Sampling 3066 42 1306.07

TT8_CF8 171 49 86.17

TT8_Kalman 33 68 23.04

Analog_circuits 1391 15 217.88

GPS_charging 0 0 0.00

Compass 2193 16 365.15

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 14 begin dive

15 -0.57 -146.1 0.0 0.0 0 75 0.00 0.00 -57.60 0.000 2 0.000 0.000 58 2731 2743 0 0 0 0 0 0

77 -0.57 -146.1 3.1 -4.0 7 103 6.53 2.05 -9.90 0.000 4 0.257 0.089 1600 3896 3097 0 0 0 0 0 0

319 -0.57 -146.1 47.9 -18.0 46 328 0.00 1.88 0.00 0.000 6 0.000 0.047 1600 2773 3098 0 0 0 0 0 0

434 -0.57 -146.1 68.3 -17.9 65 440 0.00 0.00 0.00 0.000 6 0.000 0.000 1600 2772 3099 0 0 0 0 0 0

546 -0.57 -146.1 88.2 -18.1 84 555 0.00 1.95 0.00 0.000 4 0.000 0.073 1591 3899 3099 0 0 0 0 0 0

612 -0.57 -146.1 100.9 -19.3 95 619 0.00 1.83 0.00 0.000 6 0.000 0.047 1591 2768 3099 0 0 0 0 0 0

936 -0.57 -146.1 161.3 -17.7 126 939 0.00 1.92 0.00 0.000 4 0.000 0.074 1583 3904 3099 0 0 0 0 0 0

1020 -0.57 -146.1 177.0 -18.9 133 1024 0.12 1.85 0.00 0.000 6 0.200 0.047 1612 2759 3099 0 0 0 0 0 0

1349 -0.57 -146.1 229.4 -15.8 164 1353 0.00 1.92 0.00 0.000 4 0.000 0.074 1604 3899 3099 0 0 0 0 0 0

1445 -0.57 -146.1 245.4 -16.4 172 1455 0.00 1.85 0.00 0.000 6 0.000 0.046 1604 2771 3099 0 0 0 0 0 0

1772 -0.57 -146.1 296.1 -15.0 190 1775 0.00 1.88 0.00 0.000 4 0.000 0.074 1595 3898 3099 0 0 0 0 0 0

1900 -0.57 -146.1 316.3 -14.9 195 1908 0.00 1.85 0.00 0.000 6 0.000 0.046 1595 2766 3099 0 0 0 0 0 0

2218 -0.57 -146.1 363.1 -15.1 211 2222 0.00 1.90 0.00 0.000 4 0.000 0.074 1586 3900 3099 0 0 0 0 0 0

2369 -0.57 -146.1 388.5 -16.9 217 2377 0.08 1.85 0.00 0.000 6 0.184 0.046 1609 2764 3099 0 0 0 0 0 0

2685 -0.57 -146.1 431.2 -13.0 233 2689 0.00 1.90 0.00 0.000 4 0.000 0.073 1601 3900 3099 0 0 0 0 0 0

2762 -0.57 -146.1 442.5 -14.6 236 2767 0.00 1.83 0.00 0.000 6 0.000 0.044 1601 2773 3099 0 0 0 0 0 0

3084 -0.57 -146.1 488.6 -14.0 252 3088 0.00 1.88 0.00 0.000 4 0.000 0.073 1592 3899 3099 0 0 0 0 0 0

3166 -0.57 -146.1 501.4 -14.9 255 3175 0.00 1.83 0.00 0.000 6 0.000 0.042 1592 2763 3100 0 0 0 0 0 0

3483 -0.57 -146.1 547.7 -14.6 271 3487 0.00 1.90 0.00 0.000 4 0.000 0.070 1583 3897 3100 0 0 0 0 0 0

3566 -0.57 -146.1 561.1 -16.3 274 3575 0.10 1.83 0.00 0.000 6 0.171 0.041 1614 2762 3100 0 0 0 0 0 0

3882 -0.57 -146.1 601.5 -12.5 290 3886 0.00 1.88 0.00 0.000 4 0.000 0.070 1606 3899 3100 0 0 0 0 0 0

3959 -0.57 -146.1 612.0 -14.1 293 3964 0.00 1.80 0.00 0.000 6 0.000 0.041 1605 2773 3100 0 0 0 0 0 0

4281 -0.57 -146.1 652.9 -12.9 309 4284 0.00 1.85 0.00 0.000 4 0.000 0.070 1597 3910 3100 0 0 0 0 0 0

4371 -0.57 -146.1 665.3 -13.9 313 4375 0.00 1.80 0.00 0.000 6 0.000 0.042 1597 2768 3100 0 0 0 0 0 0

4703 -0.57 -146.1 708.0 -12.6 329 4706 0.00 1.88 0.00 0.000 4 0.000 0.070 1588 3904 3101 0 0 0 0 0 0

4785 -0.57 -146.1 719.6 -13.1 332 4793 0.00 1.83 0.00 0.000 6 0.000 0.041 1588 2766 3101 0 0 0 0 0 0

5102 -0.57 -146.1 762.3 -13.8 348 5106 0.10 1.90 0.00 0.000 4 0.213 0.070 1603 3907 3101 0 0 0 0 0 0

5191 -0.57 -146.1 774.1 -12.9 352 5195 0.00 1.80 0.00 0.000 6 0.000 0.043 1603 2766 3101 0 0 0 0 0 0

5523 -0.57 -146.1 816.0 -12.7 368 5527 0.00 1.88 0.00 0.000 4 0.000 0.070 1594 3905 3101 0 0 0 0 0 0

5601 -0.57 -146.1 826.1 -12.9 371 5605 0.00 1.80 0.00 0.000 6 0.000 0.042 1594 2762 3101 0 0 0 0 0 0

5922 -0.57 -146.1 868.3 -13.4 387 5926 0.00 1.88 0.00 0.000 4 0.000 0.070 1585 3900 3101 0 0 0 0 0 0

6016 -0.57 -146.1 881.4 -13.8 391 6021 0.08 1.80 0.00 0.000 6 0.177 0.042 1609 2773 3101 0 0 0 0 0 0

6343 -0.57 -146.1 918.1 -10.7 407 6346 0.00 1.85 0.00 0.000 4 0.000 0.070 1601 3899 3101 0 0 0 0 0 0

6448 -0.57 -146.1 930.7 -12.2 411 6456 0.00 1.80 0.00 0.000 6 0.000 0.041 1601 2772 3101 0 0 0 0 0 0

6764 -0.57 -146.1 967.7 -11.9 427 6768 0.00 1.88 0.00 0.000 4 0.000 0.071 1592 3896 3101 0 0 0 0 0 0

6840 -0.57 -146.1 977.7 -13.6 430 6845 0.00 1.80 0.00 0.000 6 0.000 0.041 1592 2769 3101 0 0 0 0 0 0

7037 end dive: TARGET_DEPTH_EXCEEDED

state 7037 begin apogee

7041 -0.16 0.0 1002.3 12.4 440 7180 0.50 0.00 133.80 1.796 6 0.166 0.000 1742 2644 2500 0 0 0 0 0 0

7181 end apogee: CONTROL_FINISHED_OK

state 7181 begin climb

7182 0.57 146.1 1007.0 0.0 447 7334 0.77 2.58 143.70 1.746 4 0.118 0.054 1987 1282 1903 0 0 0 0 0 0

7413 0.57 146.1 979.7 15.8 458 7418 0.00 2.53 0.00 0.000 6 0.000 0.059 1987 2677 1898 0 0 0 0 0 0

7740 0.57 146.1 920.0 18.3 474 7743 0.00 2.10 0.00 0.000 4 0.000 0.067 1987 3897 1892 0 0 0 0 0 0

7818 0.57 146.1 903.9 20.9 477 7822 0.00 2.05 0.00 0.000 6 0.000 0.045 1996 2676 1891 0 0 0 0 0 0

8133 0.57 146.1 846.2 18.1 492 8137 0.00 2.10 0.00 0.000 4 0.000 0.067 1996 3900 1891 0 0 0 0 0 0

8187 0.57 146.1 834.9 21.7 494 8192 0.00 2.08 0.00 0.000 6 0.000 0.044 2006 2662 1890 0 0 0 0 0 0

8509 0.57 146.1 774.0 19.1 510 8513 0.00 2.10 0.00 0.000 4 0.000 0.067 2006 3898 1890 0 0 0 0 0 0

8558 0.57 146.1 763.1 22.7 512 8563 0.08 2.05 0.00 0.000 6 0.233 0.046 1996 2661 1889 0 0 0 0 0 0

8879 0.57 146.1 700.0 20.1 528 8883 0.00 2.08 0.00 0.000 4 0.000 0.067 1996 3899 1889 0 0 0 0 0 0

8927 0.57 146.1 688.9 23.2 530 8932 0.00 2.03 0.00 0.000 6 0.000 0.045 2005 2669 1888 0 0 0 0 0 0

9255 0.57 146.1 622.2 20.1 546 9258 0.00 2.08 0.00 0.000 4 0.000 0.067 2005 3909 1888 0 0 0 0 0 0

9303 0.57 146.1 611.2 22.3 548 9309 0.00 2.03 0.00 0.000 6 0.000 0.046 2015 2669 1888 0 0 0 0 0 0

9632 0.57 146.1 547.3 19.2 564 9635 0.00 2.05 0.00 0.000 4 0.000 0.067 2015 3900 1888 0 0 0 0 0 0

9691 0.57 146.1 533.9 22.6 566 9700 0.12 2.00 0.00 0.000 6 0.226 0.044 1992 2671 1887 0 0 0 0 0 0

10008 0.57 146.1 479.5 17.1 582 10011 0.00 2.05 0.00 0.000 4 0.000 0.067 1992 3904 1887 0 0 0 0 0 0

10062 0.57 146.1 469.1 19.2 584 10067 0.00 2.00 0.00 0.000 6 0.000 0.045 2001 2674 1888 0 0 0 0 0 0

10384 0.57 146.1 414.1 17.1 600 10388 0.00 2.05 0.00 0.000 4 0.000 0.067 2001 3910 1887 0 0 0 0 0 0

10438 0.57 146.1 403.2 20.0 602 10443 0.00 2.03 0.00 0.000 6 0.000 0.044 2010 2660 1887 0 0 0 0 0 0

10761 0.57 146.1 346.7 18.0 618 10764 0.00 2.03 0.00 0.000 4 0.000 0.067 2010 3900 1887 0 0 0 0 0 0

10792 0.57 146.1 339.9 21.1 619 10798 0.10 1.98 0.00 0.000 6 0.227 0.043 1994 2671 1887 0 0 0 0 0 0

11118 0.57 146.1 286.7 16.4 635 11122 0.00 2.03 0.00 0.000 4 0.000 0.066 1994 3900 1887 0 0 0 0 0 0

11189 0.57 146.1 272.1 19.2 638 11194 0.00 1.98 0.00 0.000 6 0.000 0.043 2002 2671 1887 0 0 0 0 0 0

11512 0.57 146.1 216.3 17.2 662 11516 0.00 2.03 0.00 0.000 4 0.000 0.067 2002 3907 1887 0 0 0 0 0 0

11621 0.57 146.1 195.1 19.8 671 11628 0.00 2.00 0.00 0.000 6 0.000 0.044 2012 2665 1887 0 0 0 0 0 0

11946 0.57 146.1 137.9 18.3 702 11950 0.00 2.05 0.00 0.000 4 0.000 0.067 2012 3909 1887 0 0 0 0 0 0

12066 0.57 146.1 113.2 19.4 712 12078 0.10 2.00 0.00 0.000 6 0.223 0.045 1994 2669 1887 0 0 0 0 0 0

12416 0.57 146.1 62.3 14.7 765 12423 0.00 2.03 0.00 0.000 4 0.000 0.067 1994 3903 1887 0 0 0 0 0 0

12693 0.57 146.1 14.3 16.5 811 12702 0.00 2.00 0.00 0.000 6 0.000 0.048 2003 2663 1887 0 0 0 0 0 0

12769 end climb: SURFACE_DEPTH_REACHED

state 12769 begin surface coast

12795 end surface coast: CONTROL_FINISHED_OK

state 12796 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	24	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2770	ALTIM_PING_DELTA	5
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2670	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	230	R_PORT_OVSHOOT	28	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	21	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	2500	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	0.0012300001	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	-21756.008	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	1802	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	43	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	0.003	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	10
HD_C	9.9999997e-06	ROLL_MIN	335	ALTIM_TOP_TURN_MARGIN	0

GPS1	141214,170035,-5558.343,-12.547,26,0.9,26,-20.0	TGT_NAME	TARGET
_CALLS	2	TGT_LATLONG	-5600.000,-30.000
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.255,0.013
_SM_DEPTHo	1.59	KALMAN_X	17878.4,-1322.4,-571.3,-28853.4,7934.1
_SM_ANGLEo	-62.3	KALMAN_Y	-19429.5,564.2,422.0,21823.9,-4449.8
GPS2	141214,171612,-5558.330,-12.512,19,0.9,19,-20.0	MHEAD_RNG_PITCHd_Wd	293.0,18374,-16.7,-9.524
SPEED_LIMITS	0.165,0.255	D_GRID	1000

FINISH	0.8,1.015969	_10V_AH	10.1,7.857
SM_CCo	12807,31.95,0.180,0,0,1559,230.09	FG_AHR_24Vo	0.000
SM_GC	1.54,0.00,0.00,31.95,0.000,0.000,0.180,61,2797,1559,-5.44,0.76,230.09	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5538.94,-7.70,141214,131355	MEM	354168
TT8_MAMPS	0.026215	DATA_FILE_SIZE	57106,827
HUMID	55.59	CAP_FILE_SIZE	131136,0
INTERNAL_PRESSURE	8.93556	CFSIZE	259252224,225038336
TCM_TEMP	6.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	141214,205222,-5558.239,-16.026,39,0.9,39,-20.0
_24V_AH	21.6,12.317

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	257	77.45	SBE_CT	587	23	304.33
Roll_motor	121	88	233.22	AA4330	1708	17	663.41
VBD_pump_during_apogee	277	1796	10766.54	WL_BB2F	808	105	1833.85
VBD_pump_during_surface	31	179	124.07	QSP2150	835	17	324.52
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	56	91	112.95	nil	0	0	0.00
Iridium_during_connect	129	160	446.73	nil	0	0	0.00
Iridium_during_xfer	531	223	2558.25	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	31	7.04
TT8	2137	14	312.22
LPSleep	7937	2	175.56
TT8_Active	437	14	63.93
TT8_Sampling	3066	42	1306.07
TT8_CF8	171	49	86.17
TT8_Kalman	33	68	23.04
Analog_circuits	1391	15	217.88
GPS_charging	0	0	0.00
Compass	2193	16	365.15
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	14	begin dive
15	-0.57	-146.1	0.0	0.0	0	75	0.00	0.00	-57.60	0.000	2	0.000	0.000	58	2731	2743	0	0	0	0	0	0
77	-0.57	-146.1	3.1	-4.0	7	103	6.53	2.05	-9.90	0.000	4	0.257	0.089	1600	3896	3097	0	0	0	0	0	0
319	-0.57	-146.1	47.9	-18.0	46	328	0.00	1.88	0.00	0.000	6	0.000	0.047	1600	2773	3098	0	0	0	0	0	0
434	-0.57	-146.1	68.3	-17.9	65	440	0.00	0.00	0.00	0.000	6	0.000	0.000	1600	2772	3099	0	0	0	0	0	0
546	-0.57	-146.1	88.2	-18.1	84	555	0.00	1.95	0.00	0.000	4	0.000	0.073	1591	3899	3099	0	0	0	0	0	0
612	-0.57	-146.1	100.9	-19.3	95	619	0.00	1.83	0.00	0.000	6	0.000	0.047	1591	2768	3099	0	0	0	0	0	0
936	-0.57	-146.1	161.3	-17.7	126	939	0.00	1.92	0.00	0.000	4	0.000	0.074	1583	3904	3099	0	0	0	0	0	0
1020	-0.57	-146.1	177.0	-18.9	133	1024	0.12	1.85	0.00	0.000	6	0.200	0.047	1612	2759	3099	0	0	0	0	0	0
1349	-0.57	-146.1	229.4	-15.8	164	1353	0.00	1.92	0.00	0.000	4	0.000	0.074	1604	3899	3099	0	0	0	0	0	0
1445	-0.57	-146.1	245.4	-16.4	172	1455	0.00	1.85	0.00	0.000	6	0.000	0.046	1604	2771	3099	0	0	0	0	0	0
1772	-0.57	-146.1	296.1	-15.0	190	1775	0.00	1.88	0.00	0.000	4	0.000	0.074	1595	3898	3099	0	0	0	0	0	0
1900	-0.57	-146.1	316.3	-14.9	195	1908	0.00	1.85	0.00	0.000	6	0.000	0.046	1595	2766	3099	0	0	0	0	0	0
2218	-0.57	-146.1	363.1	-15.1	211	2222	0.00	1.90	0.00	0.000	4	0.000	0.074	1586	3900	3099	0	0	0	0	0	0
2369	-0.57	-146.1	388.5	-16.9	217	2377	0.08	1.85	0.00	0.000	6	0.184	0.046	1609	2764	3099	0	0	0	0	0	0
2685	-0.57	-146.1	431.2	-13.0	233	2689	0.00	1.90	0.00	0.000	4	0.000	0.073	1601	3900	3099	0	0	0	0	0	0
2762	-0.57	-146.1	442.5	-14.6	236	2767	0.00	1.83	0.00	0.000	6	0.000	0.044	1601	2773	3099	0	0	0	0	0	0
3084	-0.57	-146.1	488.6	-14.0	252	3088	0.00	1.88	0.00	0.000	4	0.000	0.073	1592	3899	3099	0	0	0	0	0	0
3166	-0.57	-146.1	501.4	-14.9	255	3175	0.00	1.83	0.00	0.000	6	0.000	0.042	1592	2763	3100	0	0	0	0	0	0
3483	-0.57	-146.1	547.7	-14.6	271	3487	0.00	1.90	0.00	0.000	4	0.000	0.070	1583	3897	3100	0	0	0	0	0	0
3566	-0.57	-146.1	561.1	-16.3	274	3575	0.10	1.83	0.00	0.000	6	0.171	0.041	1614	2762	3100	0	0	0	0	0	0
3882	-0.57	-146.1	601.5	-12.5	290	3886	0.00	1.88	0.00	0.000	4	0.000	0.070	1606	3899	3100	0	0	0	0	0	0
3959	-0.57	-146.1	612.0	-14.1	293	3964	0.00	1.80	0.00	0.000	6	0.000	0.041	1605	2773	3100	0	0	0	0	0	0
4281	-0.57	-146.1	652.9	-12.9	309	4284	0.00	1.85	0.00	0.000	4	0.000	0.070	1597	3910	3100	0	0	0	0	0	0
4371	-0.57	-146.1	665.3	-13.9	313	4375	0.00	1.80	0.00	0.000	6	0.000	0.042	1597	2768	3100	0	0	0	0	0	0
4703	-0.57	-146.1	708.0	-12.6	329	4706	0.00	1.88	0.00	0.000	4	0.000	0.070	1588	3904	3101	0	0	0	0	0	0
4785	-0.57	-146.1	719.6	-13.1	332	4793	0.00	1.83	0.00	0.000	6	0.000	0.041	1588	2766	3101	0	0	0	0	0	0
5102	-0.57	-146.1	762.3	-13.8	348	5106	0.10	1.90	0.00	0.000	4	0.213	0.070	1603	3907	3101	0	0	0	0	0	0
5191	-0.57	-146.1	774.1	-12.9	352	5195	0.00	1.80	0.00	0.000	6	0.000	0.043	1603	2766	3101	0	0	0	0	0	0
5523	-0.57	-146.1	816.0	-12.7	368	5527	0.00	1.88	0.00	0.000	4	0.000	0.070	1594	3905	3101	0	0	0	0	0	0
5601	-0.57	-146.1	826.1	-12.9	371	5605	0.00	1.80	0.00	0.000	6	0.000	0.042	1594	2762	3101	0	0	0	0	0	0
5922	-0.57	-146.1	868.3	-13.4	387	5926	0.00	1.88	0.00	0.000	4	0.000	0.070	1585	3900	3101	0	0	0	0	0	0
6016	-0.57	-146.1	881.4	-13.8	391	6021	0.08	1.80	0.00	0.000	6	0.177	0.042	1609	2773	3101	0	0	0	0	0	0
6343	-0.57	-146.1	918.1	-10.7	407	6346	0.00	1.85	0.00	0.000	4	0.000	0.070	1601	3899	3101	0	0	0	0	0	0
6448	-0.57	-146.1	930.7	-12.2	411	6456	0.00	1.80	0.00	0.000	6	0.000	0.041	1601	2772	3101	0	0	0	0	0	0
6764	-0.57	-146.1	967.7	-11.9	427	6768	0.00	1.88	0.00	0.000	4	0.000	0.071	1592	3896	3101	0	0	0	0	0	0
6840	-0.57	-146.1	977.7	-13.6	430	6845	0.00	1.80	0.00	0.000	6	0.000	0.041	1592	2769	3101	0	0	0	0	0	0
7037	end dive: TARGET_DEPTH_EXCEEDED
state	7037	begin apogee
7041	-0.16	0.0	1002.3	12.4	440	7180	0.50	0.00	133.80	1.796	6	0.166	0.000	1742	2644	2500	0	0	0	0	0	0
7181	end apogee: CONTROL_FINISHED_OK
state	7181	begin climb
7182	0.57	146.1	1007.0	0.0	447	7334	0.77	2.58	143.70	1.746	4	0.118	0.054	1987	1282	1903	0	0	0	0	0	0
7413	0.57	146.1	979.7	15.8	458	7418	0.00	2.53	0.00	0.000	6	0.000	0.059	1987	2677	1898	0	0	0	0	0	0
7740	0.57	146.1	920.0	18.3	474	7743	0.00	2.10	0.00	0.000	4	0.000	0.067	1987	3897	1892	0	0	0	0	0	0
7818	0.57	146.1	903.9	20.9	477	7822	0.00	2.05	0.00	0.000	6	0.000	0.045	1996	2676	1891	0	0	0	0	0	0
8133	0.57	146.1	846.2	18.1	492	8137	0.00	2.10	0.00	0.000	4	0.000	0.067	1996	3900	1891	0	0	0	0	0	0
8187	0.57	146.1	834.9	21.7	494	8192	0.00	2.08	0.00	0.000	6	0.000	0.044	2006	2662	1890	0	0	0	0	0	0
8509	0.57	146.1	774.0	19.1	510	8513	0.00	2.10	0.00	0.000	4	0.000	0.067	2006	3898	1890	0	0	0	0	0	0
8558	0.57	146.1	763.1	22.7	512	8563	0.08	2.05	0.00	0.000	6	0.233	0.046	1996	2661	1889	0	0	0	0	0	0
8879	0.57	146.1	700.0	20.1	528	8883	0.00	2.08	0.00	0.000	4	0.000	0.067	1996	3899	1889	0	0	0	0	0	0
8927	0.57	146.1	688.9	23.2	530	8932	0.00	2.03	0.00	0.000	6	0.000	0.045	2005	2669	1888	0	0	0	0	0	0
9255	0.57	146.1	622.2	20.1	546	9258	0.00	2.08	0.00	0.000	4	0.000	0.067	2005	3909	1888	0	0	0	0	0	0
9303	0.57	146.1	611.2	22.3	548	9309	0.00	2.03	0.00	0.000	6	0.000	0.046	2015	2669	1888	0	0	0	0	0	0
9632	0.57	146.1	547.3	19.2	564	9635	0.00	2.05	0.00	0.000	4	0.000	0.067	2015	3900	1888	0	0	0	0	0	0
9691	0.57	146.1	533.9	22.6	566	9700	0.12	2.00	0.00	0.000	6	0.226	0.044	1992	2671	1887	0	0	0	0	0	0
10008	0.57	146.1	479.5	17.1	582	10011	0.00	2.05	0.00	0.000	4	0.000	0.067	1992	3904	1887	0	0	0	0	0	0
10062	0.57	146.1	469.1	19.2	584	10067	0.00	2.00	0.00	0.000	6	0.000	0.045	2001	2674	1888	0	0	0	0	0	0
10384	0.57	146.1	414.1	17.1	600	10388	0.00	2.05	0.00	0.000	4	0.000	0.067	2001	3910	1887	0	0	0	0	0	0
10438	0.57	146.1	403.2	20.0	602	10443	0.00	2.03	0.00	0.000	6	0.000	0.044	2010	2660	1887	0	0	0	0	0	0
10761	0.57	146.1	346.7	18.0	618	10764	0.00	2.03	0.00	0.000	4	0.000	0.067	2010	3900	1887	0	0	0	0	0	0
10792	0.57	146.1	339.9	21.1	619	10798	0.10	1.98	0.00	0.000	6	0.227	0.043	1994	2671	1887	0	0	0	0	0	0
11118	0.57	146.1	286.7	16.4	635	11122	0.00	2.03	0.00	0.000	4	0.000	0.066	1994	3900	1887	0	0	0	0	0	0
11189	0.57	146.1	272.1	19.2	638	11194	0.00	1.98	0.00	0.000	6	0.000	0.043	2002	2671	1887	0	0	0	0	0	0
11512	0.57	146.1	216.3	17.2	662	11516	0.00	2.03	0.00	0.000	4	0.000	0.067	2002	3907	1887	0	0	0	0	0	0
11621	0.57	146.1	195.1	19.8	671	11628	0.00	2.00	0.00	0.000	6	0.000	0.044	2012	2665	1887	0	0	0	0	0	0
11946	0.57	146.1	137.9	18.3	702	11950	0.00	2.05	0.00	0.000	4	0.000	0.067	2012	3909	1887	0	0	0	0	0	0
12066	0.57	146.1	113.2	19.4	712	12078	0.10	2.00	0.00	0.000	6	0.223	0.045	1994	2669	1887	0	0	0	0	0	0
12416	0.57	146.1	62.3	14.7	765	12423	0.00	2.03	0.00	0.000	4	0.000	0.067	1994	3903	1887	0	0	0	0	0	0
12693	0.57	146.1	14.3	16.5	811	12702	0.00	2.00	0.00	0.000	6	0.000	0.048	2003	2663	1887	0	0	0	0	0	0
12769	end climb: SURFACE_DEPTH_REACHED
state	12769	begin surface coast
12795	end surface coast: CONTROL_FINISHED_OK
state	12796	begin surface