Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 26 * 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 26 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 33 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 24 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 -21760.654 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 -21760.654

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 33 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 24 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 26 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 151214,003816,-5556.326,-19.112,37,0.8,37,-20.0 TGT_NAME TARGET

_CALLS 1 TGT_LATLONG -5600.000,-30.000

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.227,0.117

_SM_DEPTHo 1.75 KALMAN_X 18745.1,-893.8,-600.9,-36883.2,5946.1

_SM_ANGLEo -60.7 KALMAN_Y -18477.8,394.8,217.7,25143.1,-1742.1

GPS2 151214,004605,-5556.230,-19.052,17,0.9,17,-20.0 MHEAD_RNG_PITCHd_Wd 317.4,13315,-16.7,-9.524

SPEED_LIMITS 0.165,0.255 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.8,1.025084 _10V_AH 10.1,8.078

SM_CCo 12836,31.92,0.179,0,0,1559,230.09 FG_AHR_24Vo 0.000

SM_GC 1.47,0.00,0.00,31.92,0.000,0.000,0.179,60,2788,1559,-5.44,0.51,230.09 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5535.12,-19.23,141214,202046 MEM 354024

TT8_MAMPS 0.026215 DATA_FILE_SIZE 57090,834

HUMID 55.39 CAP_FILE_SIZE 128392,0

INTERNAL_PRESSURE 8.93556 CFSIZE 259252224,224903168

TCM_TEMP 6.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 151214,042253,-5554.485,-22.422,49,0.8,49,-20.0

_24V_AH 21.6,12.638

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 258 78.61 SBE_CT 592 23 306.68

Roll_motor 126 81 220.78 AA4330 1731 17 672.64

VBD_pump_during_apogee 277 1791 10744.84 WL_BB2F 831 105 1886.82

VBD_pump_during_surface 31 179 123.44 QSP2150 870 17 338.07

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 91 49.60 nil 0 0 0.00

Iridium_during_connect 50 160 173.31 nil 0 0 0.00

Iridium_during_xfer 281 223 1354.06 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 31 6.41

TT8 2170 14 316.95

LPSleep 7797 2 172.48

TT8_Active 444 14 64.99

TT8_Sampling 2771 42 1180.42

TT8_CF8 154 49 77.40

TT8_Kalman 33 68 23.04

Analog_circuits 1425 15 223.17

GPS_charging 0 0 0.00

Compass 2252 16 374.97

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 -0.57 -146.1 0.0 0.0 0 75 0.00 0.00 -57.90 0.000 2 0.000 0.000 53 2782 2847 0 0 0 0 0 0

77 -0.57 -146.1 3.2 -3.1 7 96 6.50 1.90 -6.55 0.000 4 0.259 0.081 1603 3896 3098 0 0 0 0 0 0

159 -0.57 -146.1 21.2 -18.2 19 168 0.00 1.85 0.00 0.000 6 0.000 0.045 1603 2780 3100 0 0 0 0 0 0

240 -0.57 -146.1 35.2 -17.5 32 249 0.00 2.33 0.00 0.000 4 0.000 0.054 1603 1353 3100 0 0 0 0 0 0

285 -0.57 -146.1 42.5 -15.7 39 292 0.00 2.35 0.00 0.000 6 0.000 0.063 1593 2781 3100 0 0 0 0 0 0

398 -0.57 -146.1 63.0 -18.9 58 406 0.00 0.00 0.00 0.000 6 0.000 0.000 1593 2781 3100 0 0 0 0 0 0

510 -0.57 -146.1 84.4 -18.7 77 517 0.00 1.85 0.00 0.000 4 0.000 0.071 1584 3897 3100 0 0 0 0 0 0

569 -0.57 -146.1 96.8 -21.5 87 578 0.08 1.85 0.00 0.000 6 0.193 0.043 1607 2762 3100 0 0 0 0 0 0

799 -0.57 -146.1 140.6 -19.6 109 803 0.00 1.88 0.00 0.000 4 0.000 0.070 1598 3895 3100 0 0 0 0 0 0

917 -0.57 -146.1 164.1 -20.4 119 920 0.00 1.80 0.00 0.000 6 0.000 0.043 1598 2771 3099 0 0 0 0 0 0

1247 -0.57 -146.1 228.5 -19.7 150 1250 0.00 1.88 0.00 0.000 4 0.000 0.071 1589 3903 3100 0 0 0 0 0 0

1340 -0.57 -146.1 246.8 -19.8 158 1344 0.00 1.83 0.00 0.000 6 0.000 0.044 1590 2765 3100 0 0 0 0 0 0

1675 -0.57 -146.1 307.6 -17.3 175 1678 0.00 1.90 0.00 0.000 4 0.000 0.071 1580 3904 3100 0 0 0 0 0 0

1813 -0.57 -146.1 333.3 -18.6 181 1818 0.12 1.83 0.00 0.000 6 0.195 0.043 1611 2754 3100 0 0 0 0 0 0

2146 -0.57 -146.1 378.7 -12.6 197 2150 0.00 1.88 0.00 0.000 4 0.000 0.070 1602 3895 3100 0 0 0 0 0 0

2260 -0.57 -146.1 394.0 -13.1 202 2264 0.00 1.80 0.00 0.000 6 0.000 0.043 1603 2763 3100 0 0 0 0 0 0

2592 -0.57 -146.1 436.3 -12.4 218 2595 0.00 1.88 0.00 0.000 4 0.000 0.070 1594 3905 3100 0 0 0 0 0 0

2704 -0.57 -146.1 451.8 -14.2 223 2708 0.00 1.80 0.00 0.000 6 0.000 0.043 1594 2770 3100 0 0 0 0 0 0

3036 -0.57 -146.1 498.0 -14.8 239 3040 0.00 1.85 0.00 0.000 4 0.000 0.070 1585 3900 3100 0 0 0 0 0 0

3142 -0.57 -146.1 515.5 -16.0 243 3150 0.12 1.83 0.00 0.000 6 0.198 0.042 1615 2743 3100 0 0 0 0 0 0

3458 -0.57 -146.1 556.3 -13.2 259 3462 0.00 1.90 0.00 0.000 4 0.000 0.070 1606 3906 3100 0 0 0 0 0 0

3579 -0.57 -146.1 574.4 -14.9 264 3585 0.00 1.83 0.00 0.000 6 0.000 0.041 1607 2771 3100 0 0 0 0 0 0

3902 -0.57 -146.1 619.1 -13.6 280 3906 0.00 1.90 0.00 0.000 4 0.000 0.071 1598 3905 3100 0 0 0 0 0 0

3995 -0.57 -146.1 633.1 -14.6 284 4001 0.00 1.83 0.00 0.000 6 0.000 0.041 1598 2763 3100 0 0 0 0 0 0

4323 -0.57 -146.1 677.6 -13.3 300 4327 0.00 1.88 0.00 0.000 4 0.000 0.070 1589 3900 3100 0 0 0 0 0 0

4445 -0.57 -146.1 695.6 -14.8 305 4450 0.00 1.80 0.00 0.000 6 0.000 0.041 1589 2773 3100 0 0 0 0 0 0

4766 -0.57 -146.1 740.1 -13.7 321 4770 0.00 1.83 0.00 0.000 4 0.000 0.069 1581 3895 3101 0 0 0 0 0 0

4871 -0.57 -146.1 756.0 -14.7 325 4880 0.10 1.80 0.00 0.000 6 0.175 0.041 1611 2771 3101 0 0 0 0 0 0

5187 -0.57 -146.1 792.1 -11.0 341 5191 0.00 1.88 0.00 0.000 4 0.000 0.071 1603 3892 3100 0 0 0 0 0 0

5279 -0.57 -146.1 803.2 -11.8 345 5283 0.00 1.77 0.00 0.000 6 0.000 0.041 1603 2765 3100 0 0 0 0 0 0

5610 -0.57 -146.1 843.1 -11.8 361 5614 0.00 1.88 0.00 0.000 4 0.000 0.070 1594 3905 3100 0 0 0 0 0 0

5704 -0.57 -146.1 855.3 -13.3 365 5709 0.00 1.83 0.00 0.000 6 0.000 0.041 1594 2764 3100 0 0 0 0 0 0

6032 -0.57 -146.1 894.9 -12.0 381 6036 0.00 1.85 0.00 0.000 4 0.000 0.070 1586 3903 3100 0 0 0 0 0 0

6144 -0.57 -146.1 909.8 -13.2 386 6148 0.12 1.80 0.00 0.000 6 0.194 0.042 1617 2759 3100 0 0 0 0 0 0

6475 -0.57 -146.1 946.3 -11.0 402 6479 0.00 1.88 0.00 0.000 4 0.000 0.070 1608 3897 3100 0 0 0 0 0 0

6580 -0.57 -146.1 959.1 -12.4 406 6588 0.00 1.77 0.00 0.000 6 0.000 0.041 1608 2779 3100 0 0 0 0 0 0

6897 -0.57 -146.1 994.7 -11.1 422 6901 0.00 1.88 0.00 0.000 4 0.000 0.070 1599 3902 3100 0 0 0 0 0 0

6942 end dive: TARGET_DEPTH_EXCEEDED

state 6942 begin apogee

6947 -0.16 0.0 1000.2 12.9 424 7084 0.47 0.00 133.85 1.792 6 0.160 0.000 1744 2665 2499 0 0 0 0 0 0

7085 end apogee: CONTROL_FINISHED_OK

state 7085 begin climb

7087 0.57 146.1 1004.5 0.0 431 7239 0.75 2.62 143.80 1.741 4 0.115 0.053 1982 1276 1903 0 0 0 0 0 0

7316 0.57 146.1 977.1 16.2 441 7324 0.00 2.55 0.00 0.000 6 0.000 0.058 1982 2668 1898 0 0 0 0 0 0

7633 0.57 146.1 920.0 18.4 457 7637 0.00 2.10 0.00 0.000 4 0.000 0.065 1982 3900 1893 0 0 0 0 0 0

7724 0.57 146.1 901.8 20.2 461 7727 0.00 2.05 0.00 0.000 6 0.000 0.044 1992 2674 1891 0 0 0 0 0 0

8055 0.57 146.1 839.0 18.8 477 8059 0.00 2.10 0.00 0.000 4 0.000 0.066 1992 3901 1891 0 0 0 0 0 0

8115 0.57 146.1 826.0 20.9 479 8123 0.00 2.05 0.00 0.000 6 0.000 0.044 2001 2670 1890 0 0 0 0 0 0

8432 0.57 146.1 763.5 19.9 495 8435 0.00 2.10 0.00 0.000 4 0.000 0.067 2001 3911 1890 0 0 0 0 0 0

8493 0.57 146.1 750.0 21.9 497 8500 0.00 2.03 0.00 0.000 6 0.000 0.045 2011 2664 1889 0 0 0 0 0 0

8808 0.57 146.1 685.7 20.3 513 8812 0.00 2.08 0.00 0.000 4 0.000 0.066 2011 3900 1889 0 0 0 0 0 0

8870 0.57 146.1 671.6 23.5 515 8877 0.15 2.00 0.00 0.000 6 0.238 0.043 1988 2656 1888 0 0 0 0 0 0

9185 0.57 146.1 609.1 20.0 531 9188 0.00 2.08 0.00 0.000 4 0.000 0.066 1988 3900 1888 0 0 0 0 0 0

9246 0.57 146.1 595.3 23.0 533 9254 0.00 1.98 0.00 0.000 6 0.000 0.043 1997 2665 1888 0 0 0 0 0 0

9562 0.57 146.1 530.1 20.2 549 9565 0.00 2.08 0.00 0.000 4 0.000 0.067 1997 3911 1888 0 0 0 0 0 0

9623 0.57 146.1 516.2 22.8 551 9630 0.00 1.98 0.00 0.000 6 0.000 0.044 2006 2670 1888 0 0 0 0 0 0

9938 0.57 146.1 451.8 20.0 567 9941 0.00 2.05 0.00 0.000 4 0.000 0.065 2007 3911 1888 0 0 0 0 0 0

9993 0.57 146.1 439.7 21.3 569 9998 0.10 2.00 0.00 0.000 6 0.227 0.042 1990 2673 1888 0 0 0 0 0 0

10317 0.57 146.1 383.6 16.9 585 10321 0.00 2.03 0.00 0.000 4 0.000 0.065 1990 3901 1887 0 0 0 0 0 0

10379 0.57 146.1 370.9 20.3 587 10386 0.00 1.95 0.00 0.000 6 0.000 0.041 1999 2666 1887 0 0 0 0 0 0

10696 0.57 146.1 313.8 17.9 603 10700 0.00 2.05 0.00 0.000 4 0.000 0.065 1998 3910 1887 0 0 0 0 0 0

10756 0.57 146.1 301.4 19.8 605 10764 0.00 2.00 0.00 0.000 6 0.000 0.042 2008 2668 1887 0 0 0 0 0 0

11075 0.57 146.1 248.1 16.6 621 11076 0.00 0.00 0.00 0.000 6 0.000 0.000 2008 2667 1887 0 0 0 0 0 0

11395 0.57 146.1 200.3 13.9 651 11399 0.00 2.03 0.00 0.000 4 0.000 0.064 2008 3903 1887 0 0 0 0 0 0

11490 0.57 146.1 185.1 15.8 659 11495 0.12 1.95 0.00 0.000 6 0.235 0.043 1991 2666 1887 0 0 0 0 0 0

11816 0.57 146.1 145.0 14.6 689 11820 0.00 2.03 0.00 0.000 4 0.000 0.065 1991 3903 1887 0 0 0 0 0 0

11992 0.57 146.1 114.3 16.9 704 12003 0.00 1.98 0.00 0.000 6 0.000 0.041 2000 2666 1887 0 0 0 0 0 0

12336 0.57 146.1 67.2 13.7 756 12345 0.00 2.05 0.00 0.000 4 0.000 0.066 2000 3901 1887 0 0 0 0 0 0

12445 0.57 146.1 50.4 15.3 774 12454 0.00 1.98 0.00 0.000 6 0.000 0.042 2009 2663 1887 0 0 0 0 0 0

12561 0.57 146.1 35.1 12.5 793 12567 0.00 0.00 0.00 0.000 6 0.000 0.000 2009 2663 1887 0 0 0 0 0 0

12679 0.57 146.1 19.4 14.7 812 12688 0.00 2.22 0.00 0.000 4 0.000 0.052 2020 1269 1887 0 0 0 0 0 0

12799 end climb: SURFACE_DEPTH_REACHED

state 12799 begin surface coast

12821 end surface coast: CONTROL_FINISHED_OK

state 12821 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	26	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	33	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	24	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	-21760.654	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	151214,003816,-5556.326,-19.112,37,0.8,37,-20.0	TGT_NAME	TARGET
_CALLS	1	TGT_LATLONG	-5600.000,-30.000
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.227,0.117
_SM_DEPTHo	1.75	KALMAN_X	18745.1,-893.8,-600.9,-36883.2,5946.1
_SM_ANGLEo	-60.7	KALMAN_Y	-18477.8,394.8,217.7,25143.1,-1742.1
GPS2	151214,004605,-5556.230,-19.052,17,0.9,17,-20.0	MHEAD_RNG_PITCHd_Wd	317.4,13315,-16.7,-9.524
SPEED_LIMITS	0.165,0.255	D_GRID	1000

FINISH	0.8,1.025084	_10V_AH	10.1,8.078
SM_CCo	12836,31.92,0.179,0,0,1559,230.09	FG_AHR_24Vo	0.000
SM_GC	1.47,0.00,0.00,31.92,0.000,0.000,0.179,60,2788,1559,-5.44,0.51,230.09	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5535.12,-19.23,141214,202046	MEM	354024
TT8_MAMPS	0.026215	DATA_FILE_SIZE	57090,834
HUMID	55.39	CAP_FILE_SIZE	128392,0
INTERNAL_PRESSURE	8.93556	CFSIZE	259252224,224903168
TCM_TEMP	6.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	151214,042253,-5554.485,-22.422,49,0.8,49,-20.0
_24V_AH	21.6,12.638

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	258	78.61	SBE_CT	592	23	306.68
Roll_motor	126	81	220.78	AA4330	1731	17	672.64
VBD_pump_during_apogee	277	1791	10744.84	WL_BB2F	831	105	1886.82
VBD_pump_during_surface	31	179	123.44	QSP2150	870	17	338.07
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	91	49.60	nil	0	0	0.00
Iridium_during_connect	50	160	173.31	nil	0	0	0.00
Iridium_during_xfer	281	223	1354.06	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	31	6.41
TT8	2170	14	316.95
LPSleep	7797	2	172.48
TT8_Active	444	14	64.99
TT8_Sampling	2771	42	1180.42
TT8_CF8	154	49	77.40
TT8_Kalman	33	68	23.04
Analog_circuits	1425	15	223.17
GPS_charging	0	0	0.00
Compass	2252	16	374.97
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	-0.57	-146.1	0.0	0.0	0	75	0.00	0.00	-57.90	0.000	2	0.000	0.000	53	2782	2847	0	0	0	0	0	0
77	-0.57	-146.1	3.2	-3.1	7	96	6.50	1.90	-6.55	0.000	4	0.259	0.081	1603	3896	3098	0	0	0	0	0	0
159	-0.57	-146.1	21.2	-18.2	19	168	0.00	1.85	0.00	0.000	6	0.000	0.045	1603	2780	3100	0	0	0	0	0	0
240	-0.57	-146.1	35.2	-17.5	32	249	0.00	2.33	0.00	0.000	4	0.000	0.054	1603	1353	3100	0	0	0	0	0	0
285	-0.57	-146.1	42.5	-15.7	39	292	0.00	2.35	0.00	0.000	6	0.000	0.063	1593	2781	3100	0	0	0	0	0	0
398	-0.57	-146.1	63.0	-18.9	58	406	0.00	0.00	0.00	0.000	6	0.000	0.000	1593	2781	3100	0	0	0	0	0	0
510	-0.57	-146.1	84.4	-18.7	77	517	0.00	1.85	0.00	0.000	4	0.000	0.071	1584	3897	3100	0	0	0	0	0	0
569	-0.57	-146.1	96.8	-21.5	87	578	0.08	1.85	0.00	0.000	6	0.193	0.043	1607	2762	3100	0	0	0	0	0	0
799	-0.57	-146.1	140.6	-19.6	109	803	0.00	1.88	0.00	0.000	4	0.000	0.070	1598	3895	3100	0	0	0	0	0	0
917	-0.57	-146.1	164.1	-20.4	119	920	0.00	1.80	0.00	0.000	6	0.000	0.043	1598	2771	3099	0	0	0	0	0	0
1247	-0.57	-146.1	228.5	-19.7	150	1250	0.00	1.88	0.00	0.000	4	0.000	0.071	1589	3903	3100	0	0	0	0	0	0
1340	-0.57	-146.1	246.8	-19.8	158	1344	0.00	1.83	0.00	0.000	6	0.000	0.044	1590	2765	3100	0	0	0	0	0	0
1675	-0.57	-146.1	307.6	-17.3	175	1678	0.00	1.90	0.00	0.000	4	0.000	0.071	1580	3904	3100	0	0	0	0	0	0
1813	-0.57	-146.1	333.3	-18.6	181	1818	0.12	1.83	0.00	0.000	6	0.195	0.043	1611	2754	3100	0	0	0	0	0	0
2146	-0.57	-146.1	378.7	-12.6	197	2150	0.00	1.88	0.00	0.000	4	0.000	0.070	1602	3895	3100	0	0	0	0	0	0
2260	-0.57	-146.1	394.0	-13.1	202	2264	0.00	1.80	0.00	0.000	6	0.000	0.043	1603	2763	3100	0	0	0	0	0	0
2592	-0.57	-146.1	436.3	-12.4	218	2595	0.00	1.88	0.00	0.000	4	0.000	0.070	1594	3905	3100	0	0	0	0	0	0
2704	-0.57	-146.1	451.8	-14.2	223	2708	0.00	1.80	0.00	0.000	6	0.000	0.043	1594	2770	3100	0	0	0	0	0	0
3036	-0.57	-146.1	498.0	-14.8	239	3040	0.00	1.85	0.00	0.000	4	0.000	0.070	1585	3900	3100	0	0	0	0	0	0
3142	-0.57	-146.1	515.5	-16.0	243	3150	0.12	1.83	0.00	0.000	6	0.198	0.042	1615	2743	3100	0	0	0	0	0	0
3458	-0.57	-146.1	556.3	-13.2	259	3462	0.00	1.90	0.00	0.000	4	0.000	0.070	1606	3906	3100	0	0	0	0	0	0
3579	-0.57	-146.1	574.4	-14.9	264	3585	0.00	1.83	0.00	0.000	6	0.000	0.041	1607	2771	3100	0	0	0	0	0	0
3902	-0.57	-146.1	619.1	-13.6	280	3906	0.00	1.90	0.00	0.000	4	0.000	0.071	1598	3905	3100	0	0	0	0	0	0
3995	-0.57	-146.1	633.1	-14.6	284	4001	0.00	1.83	0.00	0.000	6	0.000	0.041	1598	2763	3100	0	0	0	0	0	0
4323	-0.57	-146.1	677.6	-13.3	300	4327	0.00	1.88	0.00	0.000	4	0.000	0.070	1589	3900	3100	0	0	0	0	0	0
4445	-0.57	-146.1	695.6	-14.8	305	4450	0.00	1.80	0.00	0.000	6	0.000	0.041	1589	2773	3100	0	0	0	0	0	0
4766	-0.57	-146.1	740.1	-13.7	321	4770	0.00	1.83	0.00	0.000	4	0.000	0.069	1581	3895	3101	0	0	0	0	0	0
4871	-0.57	-146.1	756.0	-14.7	325	4880	0.10	1.80	0.00	0.000	6	0.175	0.041	1611	2771	3101	0	0	0	0	0	0
5187	-0.57	-146.1	792.1	-11.0	341	5191	0.00	1.88	0.00	0.000	4	0.000	0.071	1603	3892	3100	0	0	0	0	0	0
5279	-0.57	-146.1	803.2	-11.8	345	5283	0.00	1.77	0.00	0.000	6	0.000	0.041	1603	2765	3100	0	0	0	0	0	0
5610	-0.57	-146.1	843.1	-11.8	361	5614	0.00	1.88	0.00	0.000	4	0.000	0.070	1594	3905	3100	0	0	0	0	0	0
5704	-0.57	-146.1	855.3	-13.3	365	5709	0.00	1.83	0.00	0.000	6	0.000	0.041	1594	2764	3100	0	0	0	0	0	0
6032	-0.57	-146.1	894.9	-12.0	381	6036	0.00	1.85	0.00	0.000	4	0.000	0.070	1586	3903	3100	0	0	0	0	0	0
6144	-0.57	-146.1	909.8	-13.2	386	6148	0.12	1.80	0.00	0.000	6	0.194	0.042	1617	2759	3100	0	0	0	0	0	0
6475	-0.57	-146.1	946.3	-11.0	402	6479	0.00	1.88	0.00	0.000	4	0.000	0.070	1608	3897	3100	0	0	0	0	0	0
6580	-0.57	-146.1	959.1	-12.4	406	6588	0.00	1.77	0.00	0.000	6	0.000	0.041	1608	2779	3100	0	0	0	0	0	0
6897	-0.57	-146.1	994.7	-11.1	422	6901	0.00	1.88	0.00	0.000	4	0.000	0.070	1599	3902	3100	0	0	0	0	0	0
6942	end dive: TARGET_DEPTH_EXCEEDED
state	6942	begin apogee
6947	-0.16	0.0	1000.2	12.9	424	7084	0.47	0.00	133.85	1.792	6	0.160	0.000	1744	2665	2499	0	0	0	0	0	0
7085	end apogee: CONTROL_FINISHED_OK
state	7085	begin climb
7087	0.57	146.1	1004.5	0.0	431	7239	0.75	2.62	143.80	1.741	4	0.115	0.053	1982	1276	1903	0	0	0	0	0	0
7316	0.57	146.1	977.1	16.2	441	7324	0.00	2.55	0.00	0.000	6	0.000	0.058	1982	2668	1898	0	0	0	0	0	0
7633	0.57	146.1	920.0	18.4	457	7637	0.00	2.10	0.00	0.000	4	0.000	0.065	1982	3900	1893	0	0	0	0	0	0
7724	0.57	146.1	901.8	20.2	461	7727	0.00	2.05	0.00	0.000	6	0.000	0.044	1992	2674	1891	0	0	0	0	0	0
8055	0.57	146.1	839.0	18.8	477	8059	0.00	2.10	0.00	0.000	4	0.000	0.066	1992	3901	1891	0	0	0	0	0	0
8115	0.57	146.1	826.0	20.9	479	8123	0.00	2.05	0.00	0.000	6	0.000	0.044	2001	2670	1890	0	0	0	0	0	0
8432	0.57	146.1	763.5	19.9	495	8435	0.00	2.10	0.00	0.000	4	0.000	0.067	2001	3911	1890	0	0	0	0	0	0
8493	0.57	146.1	750.0	21.9	497	8500	0.00	2.03	0.00	0.000	6	0.000	0.045	2011	2664	1889	0	0	0	0	0	0
8808	0.57	146.1	685.7	20.3	513	8812	0.00	2.08	0.00	0.000	4	0.000	0.066	2011	3900	1889	0	0	0	0	0	0
8870	0.57	146.1	671.6	23.5	515	8877	0.15	2.00	0.00	0.000	6	0.238	0.043	1988	2656	1888	0	0	0	0	0	0
9185	0.57	146.1	609.1	20.0	531	9188	0.00	2.08	0.00	0.000	4	0.000	0.066	1988	3900	1888	0	0	0	0	0	0
9246	0.57	146.1	595.3	23.0	533	9254	0.00	1.98	0.00	0.000	6	0.000	0.043	1997	2665	1888	0	0	0	0	0	0
9562	0.57	146.1	530.1	20.2	549	9565	0.00	2.08	0.00	0.000	4	0.000	0.067	1997	3911	1888	0	0	0	0	0	0
9623	0.57	146.1	516.2	22.8	551	9630	0.00	1.98	0.00	0.000	6	0.000	0.044	2006	2670	1888	0	0	0	0	0	0
9938	0.57	146.1	451.8	20.0	567	9941	0.00	2.05	0.00	0.000	4	0.000	0.065	2007	3911	1888	0	0	0	0	0	0
9993	0.57	146.1	439.7	21.3	569	9998	0.10	2.00	0.00	0.000	6	0.227	0.042	1990	2673	1888	0	0	0	0	0	0
10317	0.57	146.1	383.6	16.9	585	10321	0.00	2.03	0.00	0.000	4	0.000	0.065	1990	3901	1887	0	0	0	0	0	0
10379	0.57	146.1	370.9	20.3	587	10386	0.00	1.95	0.00	0.000	6	0.000	0.041	1999	2666	1887	0	0	0	0	0	0
10696	0.57	146.1	313.8	17.9	603	10700	0.00	2.05	0.00	0.000	4	0.000	0.065	1998	3910	1887	0	0	0	0	0	0
10756	0.57	146.1	301.4	19.8	605	10764	0.00	2.00	0.00	0.000	6	0.000	0.042	2008	2668	1887	0	0	0	0	0	0
11075	0.57	146.1	248.1	16.6	621	11076	0.00	0.00	0.00	0.000	6	0.000	0.000	2008	2667	1887	0	0	0	0	0	0
11395	0.57	146.1	200.3	13.9	651	11399	0.00	2.03	0.00	0.000	4	0.000	0.064	2008	3903	1887	0	0	0	0	0	0
11490	0.57	146.1	185.1	15.8	659	11495	0.12	1.95	0.00	0.000	6	0.235	0.043	1991	2666	1887	0	0	0	0	0	0
11816	0.57	146.1	145.0	14.6	689	11820	0.00	2.03	0.00	0.000	4	0.000	0.065	1991	3903	1887	0	0	0	0	0	0
11992	0.57	146.1	114.3	16.9	704	12003	0.00	1.98	0.00	0.000	6	0.000	0.041	2000	2666	1887	0	0	0	0	0	0
12336	0.57	146.1	67.2	13.7	756	12345	0.00	2.05	0.00	0.000	4	0.000	0.066	2000	3901	1887	0	0	0	0	0	0
12445	0.57	146.1	50.4	15.3	774	12454	0.00	1.98	0.00	0.000	6	0.000	0.042	2009	2663	1887	0	0	0	0	0	0
12561	0.57	146.1	35.1	12.5	793	12567	0.00	0.00	0.00	0.000	6	0.000	0.000	2009	2663	1887	0	0	0	0	0	0
12679	0.57	146.1	19.4	14.7	812	12688	0.00	2.22	0.00	0.000	4	0.000	0.052	2020	1269	1887	0	0	0	0	0	0
12799	end climb: SURFACE_DEPTH_REACHED
state	12799	begin surface coast
12821	end surface coast: CONTROL_FINISHED_OK
state	12821	begin surface