Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 27 * 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 27 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 34 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 31 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 -21762.982 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 -21762.982

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 34 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 31 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 27 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 151214,042253,-5554.485,-22.422,49,0.8,49,-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 -0.255,-0.007

_SM_DEPTHo 1.55 KALMAN_X 18951.7,-527.8,-387.7,-41170.7,4761.1

_SM_ANGLEo -58.6 KALMAN_Y -17311.1,486.5,238.1,27330.9,-654.5

GPS2 151214,043036,-5554.359,-22.422,17,0.9,17,-20.0 MHEAD_RNG_PITCHd_Wd 288.5,13066,-16.7,-9.524

SPEED_LIMITS 0.165,0.255 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.8,1.026850 _10V_AH 10.1,8.191

SM_CCo 13192,32.00,0.177,0,0,1559,230.09 FG_AHR_24Vo 0.000

SM_GC 1.52,0.00,0.00,32.00,0.000,0.000,0.177,57,2795,1559,-5.45,0.71,230.09 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5535.12,-19.21,151214,000046 MEM 354020

TT8_MAMPS 0.026215 DATA_FILE_SIZE 60437,865

HUMID 55.35 CAP_FILE_SIZE 132062,0

INTERNAL_PRESSURE 8.94533 CFSIZE 259252224,224821248

TCM_TEMP 6.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 151214,081313,-5553.321,-25.659,42,1.8,42,-19.9

_24V_AH 21.6,12.799

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 254 75.80 SBE_CT 614 23 318.28

Roll_motor 125 92 251.43 AA4330 1790 17 695.45

VBD_pump_during_apogee 278 1796 10812.85 WL_BB2F 868 105 1969.10

VBD_pump_during_surface 32 177 122.67 QSP2150 910 17 353.72

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 91 53.63 nil 0 0 0.00

Iridium_during_connect 41 160 143.50 nil 0 0 0.00

Iridium_during_xfer 282 223 1362.23 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 31 6.15

TT8 2232 14 326.04

LPSleep 8038 2 177.81

TT8_Active 443 14 64.71

TT8_Sampling 2822 42 1202.17

TT8_CF8 152 49 76.74

TT8_Kalman 33 68 23.04

Analog_circuits 1445 15 226.33

GPS_charging 0 0 0.00

Compass 2298 16 382.64

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 -57.92 0.000 2 0.000 0.000 59 2790 2859 0 0 0 0 0 0

77 -0.57 -146.1 3.5 -3.8 7 96 6.40 1.88 -5.95 0.000 4 0.255 0.082 1603 3892 3099 0 0 0 0 0 0

189 -0.57 -146.1 29.7 -20.1 24 198 0.00 1.83 0.00 0.000 6 0.000 0.041 1603 2774 3100 0 0 0 0 0 0

271 -0.57 -146.1 44.6 -17.0 37 278 0.00 2.25 0.00 0.000 4 0.000 0.051 1603 1356 3101 0 0 0 0 0 0

313 -0.57 -146.1 51.7 -15.1 44 322 0.00 2.35 0.00 0.000 6 0.000 0.062 1593 2761 3101 0 0 0 0 0 0

429 -0.57 -146.1 70.7 -17.7 63 435 0.00 1.90 0.00 0.000 4 0.000 0.069 1584 3893 3101 0 0 0 0 0 0

495 -0.57 -146.1 83.6 -19.4 74 502 0.08 1.83 0.00 0.000 6 0.195 0.041 1607 2769 3101 0 0 0 0 0 0

726 -0.57 -146.1 119.9 -15.1 104 730 0.00 1.90 0.00 0.000 4 0.000 0.069 1598 3903 3101 0 0 0 0 0 0

822 -0.57 -146.1 135.7 -16.3 112 831 0.00 1.85 0.00 0.000 6 0.000 0.041 1598 2765 3101 0 0 0 0 0 0

1149 -0.57 -146.1 183.7 -13.7 143 1153 0.00 1.92 0.00 0.000 4 0.000 0.069 1589 3903 3101 0 0 0 0 0 0

1275 -0.57 -146.1 203.3 -15.3 154 1278 0.00 1.83 0.00 0.000 6 0.000 0.041 1589 2759 3101 0 0 0 0 0 0

1604 -0.57 -146.1 254.7 -15.7 184 1607 0.00 1.90 0.00 0.000 4 0.000 0.068 1580 3906 3101 0 0 0 0 0 0

1704 -0.57 -146.1 272.5 -17.7 188 1709 0.10 1.83 0.00 0.000 6 0.185 0.041 1610 2770 3101 0 0 0 0 0 0

2027 -0.57 -146.1 319.5 -14.7 204 2030 0.00 1.88 0.00 0.000 4 0.000 0.068 1602 3900 3101 0 0 0 0 0 0

2132 -0.57 -146.1 336.9 -16.1 208 2142 0.00 1.83 0.00 0.000 6 0.000 0.040 1602 2764 3100 0 0 0 0 0 0

2449 -0.57 -146.1 386.4 -16.3 224 2453 0.00 1.88 0.00 0.000 4 0.000 0.067 1593 3900 3101 0 0 0 0 0 0

2548 -0.57 -146.1 403.8 -16.9 228 2553 0.00 1.83 0.00 0.000 6 0.000 0.039 1593 2765 3101 0 0 0 0 0 0

2871 -0.57 -146.1 453.9 -15.4 244 2874 0.00 1.85 0.00 0.000 4 0.000 0.067 1584 3902 3101 0 0 0 0 0 0

2983 -0.57 -146.1 472.4 -16.4 249 2988 0.12 1.80 0.00 0.000 6 0.200 0.040 1615 2757 3100 0 0 0 0 0 0

3315 -0.57 -146.1 514.1 -12.6 265 3318 0.00 1.88 0.00 0.000 4 0.000 0.067 1606 3901 3100 0 0 0 0 0 0

3431 -0.57 -146.1 529.4 -12.5 270 3436 0.00 1.80 0.00 0.000 6 0.000 0.039 1606 2770 3101 0 0 0 0 0 0

3758 -0.57 -146.1 568.1 -11.8 286 3762 0.00 1.85 0.00 0.000 4 0.000 0.069 1597 3907 3101 0 0 0 0 0 0

3826 -0.57 -146.1 576.5 -13.1 289 3830 0.00 1.80 0.00 0.000 6 0.000 0.040 1597 2762 3101 0 0 0 0 0 0

4158 -0.57 -146.1 616.6 -11.9 305 4162 0.00 1.88 0.00 0.000 4 0.000 0.067 1589 3905 3101 0 0 0 0 0 0

4248 -0.57 -146.1 628.3 -12.7 309 4252 0.00 1.80 0.00 0.000 6 0.000 0.040 1589 2761 3101 0 0 0 0 0 0

4580 -0.57 -146.1 669.6 -12.5 325 4584 0.00 1.88 0.00 0.000 4 0.000 0.067 1580 3903 3101 0 0 0 0 0 0

4657 -0.57 -146.1 680.4 -14.3 328 4662 0.10 1.80 0.00 0.000 6 0.178 0.039 1610 2770 3101 0 0 0 0 0 0

4979 -0.57 -146.1 716.1 -11.3 344 4982 0.00 1.88 0.00 0.000 4 0.000 0.067 1602 3910 3101 0 0 0 0 0 0

5055 -0.57 -146.1 726.0 -13.0 347 5060 0.00 1.83 0.00 0.000 6 0.000 0.037 1602 2766 3101 0 0 0 0 0 0

5378 -0.57 -146.1 765.5 -12.5 363 5382 0.00 1.88 0.00 0.000 4 0.000 0.067 1593 3910 3101 0 0 0 0 0 0

5460 -0.57 -146.1 777.1 -13.4 366 5469 0.00 1.83 0.00 0.000 6 0.000 0.038 1593 2764 3101 0 0 0 0 0 0

5777 -0.57 -146.1 818.8 -13.3 382 5781 0.00 1.90 0.00 0.000 4 0.000 0.067 1585 3909 3101 0 0 0 0 0 0

5877 -0.57 -146.1 833.6 -15.0 386 5881 0.08 1.80 0.00 0.000 6 0.177 0.039 1608 2770 3101 0 0 0 0 0 0

6198 -0.57 -146.1 873.4 -12.4 402 6201 0.00 1.85 0.00 0.000 4 0.000 0.067 1600 3900 3101 0 0 0 0 0 0

6288 -0.57 -146.1 885.4 -13.6 406 6292 0.00 1.77 0.00 0.000 6 0.000 0.040 1600 2768 3101 0 0 0 0 0 0

6620 -0.57 -146.1 929.8 -13.4 422 6623 0.00 1.88 0.00 0.000 4 0.000 0.067 1591 3913 3101 0 0 0 0 0 0

6714 -0.57 -146.1 943.9 -15.0 426 6718 0.00 1.83 0.00 0.000 6 0.000 0.038 1591 2764 3101 0 0 0 0 0 0

7041 -0.57 -146.1 988.8 -13.3 442 7045 0.00 1.88 0.00 0.000 4 0.000 0.067 1583 3896 3101 0 0 0 0 0 0

7116 end dive: TARGET_DEPTH_EXCEEDED

state 7116 begin apogee

7121 -0.16 0.0 1000.3 14.4 445 7259 0.50 0.00 134.35 1.797 6 0.170 0.000 1736 2653 2499 0 0 0 0 0 0

7260 end apogee: CONTROL_FINISHED_OK

state 7260 begin climb

7262 0.57 146.1 1006.2 0.0 452 7414 0.80 2.60 144.23 1.745 4 0.119 0.051 1988 1269 1904 0 0 0 0 0 0

7441 0.57 146.1 988.1 15.2 460 7449 0.00 2.60 0.00 0.000 6 0.000 0.056 1988 2664 1901 0 0 0 0 0 0

7757 0.57 146.1 932.6 17.7 476 7761 0.00 2.12 0.00 0.000 4 0.000 0.063 1989 3902 1894 0 0 0 0 0 0

7884 0.57 146.1 906.6 20.7 481 7891 0.00 2.08 0.00 0.000 6 0.000 0.043 1997 2679 1892 0 0 0 0 0 0

8199 0.57 146.1 846.8 18.8 497 8203 0.00 2.08 0.00 0.000 4 0.000 0.063 1997 3901 1891 0 0 0 0 0 0

8254 0.57 146.1 835.0 22.0 499 8259 0.00 2.05 0.00 0.000 6 0.000 0.042 2007 2665 1892 0 0 0 0 0 0

8576 0.57 146.1 772.2 19.5 515 8580 0.00 2.08 0.00 0.000 4 0.000 0.063 2007 3901 1891 0 0 0 0 0 0

8621 0.57 146.1 762.4 22.0 517 8626 0.12 2.00 0.00 0.000 6 0.235 0.042 1990 2667 1890 0 0 0 0 0 0

8947 0.57 146.1 702.5 18.2 533 8951 0.00 2.08 0.00 0.000 4 0.000 0.063 1987 3904 1890 0 0 0 0 0 0

9001 0.57 146.1 691.2 20.7 535 9006 0.00 2.03 0.00 0.000 6 0.000 0.042 1995 2667 1890 0 0 0 0 0 0

9323 0.57 146.1 632.8 17.8 551 9327 0.00 2.05 0.00 0.000 4 0.000 0.064 1996 3906 1889 0 0 0 0 0 0

9361 0.57 146.1 625.0 20.9 552 9369 0.00 2.03 0.00 0.000 6 0.000 0.042 2005 2663 1889 0 0 0 0 0 0

9677 0.57 146.1 565.9 18.4 568 9680 0.00 2.05 0.00 0.000 4 0.000 0.063 2005 3901 1889 0 0 0 0 0 0

9749 0.57 146.1 550.7 21.6 571 9753 0.00 1.98 0.00 0.000 6 0.000 0.043 2014 2666 1889 0 0 0 0 0 0

10076 0.57 146.1 489.3 18.5 587 10080 0.00 2.05 0.00 0.000 4 0.000 0.063 2015 3907 1889 0 0 0 0 0 0

10147 0.57 146.1 473.7 22.0 590 10153 0.12 2.00 0.00 0.000 6 0.221 0.042 1991 2671 1888 0 0 0 0 0 0

10475 0.57 146.1 417.1 17.2 606 10476 0.00 0.00 0.00 0.000 6 0.000 0.000 1991 2670 1888 0 0 0 0 0 0

10786 0.57 146.1 367.5 15.8 621 10790 0.00 2.03 0.00 0.000 4 0.000 0.064 1991 3906 1888 0 0 0 0 0 0

10878 0.57 146.1 351.5 17.2 625 10882 0.00 1.98 0.00 0.000 6 0.000 0.042 2000 2656 1888 0 0 0 0 0 0

11212 0.57 146.1 299.8 15.1 641 11213 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2656 1888 0 0 0 0 0 0

11520 0.57 146.1 249.6 16.8 656 11524 0.00 2.03 0.00 0.000 4 0.000 0.064 2000 3905 1888 0 0 0 0 0 0

11662 0.57 146.1 221.7 19.2 668 11671 0.00 1.98 0.00 0.000 6 0.000 0.042 2010 2667 1888 0 0 0 0 0 0

11989 0.57 146.1 164.3 17.9 699 11993 0.00 2.05 0.00 0.000 4 0.000 0.064 2010 3902 1888 0 0 0 0 0 0

12107 0.57 146.1 139.1 20.5 709 12115 0.10 1.98 0.00 0.000 6 0.218 0.041 1993 2664 1888 0 0 0 0 0 0

12435 0.57 146.1 92.8 13.1 744 12444 0.00 0.00 0.00 0.000 6 0.000 0.000 1992 2664 1888 0 0 0 0 0 0

12675 0.57 146.1 63.1 12.5 785 12682 0.00 2.00 0.00 0.000 4 0.000 0.064 1992 3902 1888 0 0 0 0 0 0

12790 0.57 146.1 47.3 12.9 804 12799 0.00 1.98 0.00 0.000 6 0.000 0.042 2001 2661 1888 0 0 0 0 0 0

12906 0.57 146.1 33.8 11.1 823 12913 0.00 2.20 0.00 0.000 4 0.000 0.054 2011 1268 1888 0 0 0 0 0 0

12950 0.57 146.1 29.0 10.6 830 12960 0.08 2.30 0.00 0.000 6 0.208 0.058 1992 2678 1888 0 0 0 0 0 0

13036 0.57 146.1 18.7 12.5 843 13044 0.00 0.00 0.00 0.000 6 0.000 0.000 1991 2677 1888 0 0 0 0 0 0

13120 0.57 146.1 7.3 13.9 856 13128 0.00 0.00 0.00 0.000 6 0.000 0.000 1991 2677 1888 0 0 0 0 0 0

13154 end climb: SURFACE_DEPTH_REACHED

state 13154 begin surface coast

13180 end surface coast: CONTROL_FINISHED_OK

state 13180 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	27	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	34	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	31	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	-21762.982	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	151214,042253,-5554.485,-22.422,49,0.8,49,-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	-0.255,-0.007
_SM_DEPTHo	1.55	KALMAN_X	18951.7,-527.8,-387.7,-41170.7,4761.1
_SM_ANGLEo	-58.6	KALMAN_Y	-17311.1,486.5,238.1,27330.9,-654.5
GPS2	151214,043036,-5554.359,-22.422,17,0.9,17,-20.0	MHEAD_RNG_PITCHd_Wd	288.5,13066,-16.7,-9.524
SPEED_LIMITS	0.165,0.255	D_GRID	1000

FINISH	0.8,1.026850	_10V_AH	10.1,8.191
SM_CCo	13192,32.00,0.177,0,0,1559,230.09	FG_AHR_24Vo	0.000
SM_GC	1.52,0.00,0.00,32.00,0.000,0.000,0.177,57,2795,1559,-5.45,0.71,230.09	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5535.12,-19.21,151214,000046	MEM	354020
TT8_MAMPS	0.026215	DATA_FILE_SIZE	60437,865
HUMID	55.35	CAP_FILE_SIZE	132062,0
INTERNAL_PRESSURE	8.94533	CFSIZE	259252224,224821248
TCM_TEMP	6.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	151214,081313,-5553.321,-25.659,42,1.8,42,-19.9
_24V_AH	21.6,12.799

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	254	75.80	SBE_CT	614	23	318.28
Roll_motor	125	92	251.43	AA4330	1790	17	695.45
VBD_pump_during_apogee	278	1796	10812.85	WL_BB2F	868	105	1969.10
VBD_pump_during_surface	32	177	122.67	QSP2150	910	17	353.72
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	91	53.63	nil	0	0	0.00
Iridium_during_connect	41	160	143.50	nil	0	0	0.00
Iridium_during_xfer	282	223	1362.23	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	31	6.15
TT8	2232	14	326.04
LPSleep	8038	2	177.81
TT8_Active	443	14	64.71
TT8_Sampling	2822	42	1202.17
TT8_CF8	152	49	76.74
TT8_Kalman	33	68	23.04
Analog_circuits	1445	15	226.33
GPS_charging	0	0	0.00
Compass	2298	16	382.64
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	-57.92	0.000	2	0.000	0.000	59	2790	2859	0	0	0	0	0	0
77	-0.57	-146.1	3.5	-3.8	7	96	6.40	1.88	-5.95	0.000	4	0.255	0.082	1603	3892	3099	0	0	0	0	0	0
189	-0.57	-146.1	29.7	-20.1	24	198	0.00	1.83	0.00	0.000	6	0.000	0.041	1603	2774	3100	0	0	0	0	0	0
271	-0.57	-146.1	44.6	-17.0	37	278	0.00	2.25	0.00	0.000	4	0.000	0.051	1603	1356	3101	0	0	0	0	0	0
313	-0.57	-146.1	51.7	-15.1	44	322	0.00	2.35	0.00	0.000	6	0.000	0.062	1593	2761	3101	0	0	0	0	0	0
429	-0.57	-146.1	70.7	-17.7	63	435	0.00	1.90	0.00	0.000	4	0.000	0.069	1584	3893	3101	0	0	0	0	0	0
495	-0.57	-146.1	83.6	-19.4	74	502	0.08	1.83	0.00	0.000	6	0.195	0.041	1607	2769	3101	0	0	0	0	0	0
726	-0.57	-146.1	119.9	-15.1	104	730	0.00	1.90	0.00	0.000	4	0.000	0.069	1598	3903	3101	0	0	0	0	0	0
822	-0.57	-146.1	135.7	-16.3	112	831	0.00	1.85	0.00	0.000	6	0.000	0.041	1598	2765	3101	0	0	0	0	0	0
1149	-0.57	-146.1	183.7	-13.7	143	1153	0.00	1.92	0.00	0.000	4	0.000	0.069	1589	3903	3101	0	0	0	0	0	0
1275	-0.57	-146.1	203.3	-15.3	154	1278	0.00	1.83	0.00	0.000	6	0.000	0.041	1589	2759	3101	0	0	0	0	0	0
1604	-0.57	-146.1	254.7	-15.7	184	1607	0.00	1.90	0.00	0.000	4	0.000	0.068	1580	3906	3101	0	0	0	0	0	0
1704	-0.57	-146.1	272.5	-17.7	188	1709	0.10	1.83	0.00	0.000	6	0.185	0.041	1610	2770	3101	0	0	0	0	0	0
2027	-0.57	-146.1	319.5	-14.7	204	2030	0.00	1.88	0.00	0.000	4	0.000	0.068	1602	3900	3101	0	0	0	0	0	0
2132	-0.57	-146.1	336.9	-16.1	208	2142	0.00	1.83	0.00	0.000	6	0.000	0.040	1602	2764	3100	0	0	0	0	0	0
2449	-0.57	-146.1	386.4	-16.3	224	2453	0.00	1.88	0.00	0.000	4	0.000	0.067	1593	3900	3101	0	0	0	0	0	0
2548	-0.57	-146.1	403.8	-16.9	228	2553	0.00	1.83	0.00	0.000	6	0.000	0.039	1593	2765	3101	0	0	0	0	0	0
2871	-0.57	-146.1	453.9	-15.4	244	2874	0.00	1.85	0.00	0.000	4	0.000	0.067	1584	3902	3101	0	0	0	0	0	0
2983	-0.57	-146.1	472.4	-16.4	249	2988	0.12	1.80	0.00	0.000	6	0.200	0.040	1615	2757	3100	0	0	0	0	0	0
3315	-0.57	-146.1	514.1	-12.6	265	3318	0.00	1.88	0.00	0.000	4	0.000	0.067	1606	3901	3100	0	0	0	0	0	0
3431	-0.57	-146.1	529.4	-12.5	270	3436	0.00	1.80	0.00	0.000	6	0.000	0.039	1606	2770	3101	0	0	0	0	0	0
3758	-0.57	-146.1	568.1	-11.8	286	3762	0.00	1.85	0.00	0.000	4	0.000	0.069	1597	3907	3101	0	0	0	0	0	0
3826	-0.57	-146.1	576.5	-13.1	289	3830	0.00	1.80	0.00	0.000	6	0.000	0.040	1597	2762	3101	0	0	0	0	0	0
4158	-0.57	-146.1	616.6	-11.9	305	4162	0.00	1.88	0.00	0.000	4	0.000	0.067	1589	3905	3101	0	0	0	0	0	0
4248	-0.57	-146.1	628.3	-12.7	309	4252	0.00	1.80	0.00	0.000	6	0.000	0.040	1589	2761	3101	0	0	0	0	0	0
4580	-0.57	-146.1	669.6	-12.5	325	4584	0.00	1.88	0.00	0.000	4	0.000	0.067	1580	3903	3101	0	0	0	0	0	0
4657	-0.57	-146.1	680.4	-14.3	328	4662	0.10	1.80	0.00	0.000	6	0.178	0.039	1610	2770	3101	0	0	0	0	0	0
4979	-0.57	-146.1	716.1	-11.3	344	4982	0.00	1.88	0.00	0.000	4	0.000	0.067	1602	3910	3101	0	0	0	0	0	0
5055	-0.57	-146.1	726.0	-13.0	347	5060	0.00	1.83	0.00	0.000	6	0.000	0.037	1602	2766	3101	0	0	0	0	0	0
5378	-0.57	-146.1	765.5	-12.5	363	5382	0.00	1.88	0.00	0.000	4	0.000	0.067	1593	3910	3101	0	0	0	0	0	0
5460	-0.57	-146.1	777.1	-13.4	366	5469	0.00	1.83	0.00	0.000	6	0.000	0.038	1593	2764	3101	0	0	0	0	0	0
5777	-0.57	-146.1	818.8	-13.3	382	5781	0.00	1.90	0.00	0.000	4	0.000	0.067	1585	3909	3101	0	0	0	0	0	0
5877	-0.57	-146.1	833.6	-15.0	386	5881	0.08	1.80	0.00	0.000	6	0.177	0.039	1608	2770	3101	0	0	0	0	0	0
6198	-0.57	-146.1	873.4	-12.4	402	6201	0.00	1.85	0.00	0.000	4	0.000	0.067	1600	3900	3101	0	0	0	0	0	0
6288	-0.57	-146.1	885.4	-13.6	406	6292	0.00	1.77	0.00	0.000	6	0.000	0.040	1600	2768	3101	0	0	0	0	0	0
6620	-0.57	-146.1	929.8	-13.4	422	6623	0.00	1.88	0.00	0.000	4	0.000	0.067	1591	3913	3101	0	0	0	0	0	0
6714	-0.57	-146.1	943.9	-15.0	426	6718	0.00	1.83	0.00	0.000	6	0.000	0.038	1591	2764	3101	0	0	0	0	0	0
7041	-0.57	-146.1	988.8	-13.3	442	7045	0.00	1.88	0.00	0.000	4	0.000	0.067	1583	3896	3101	0	0	0	0	0	0
7116	end dive: TARGET_DEPTH_EXCEEDED
state	7116	begin apogee
7121	-0.16	0.0	1000.3	14.4	445	7259	0.50	0.00	134.35	1.797	6	0.170	0.000	1736	2653	2499	0	0	0	0	0	0
7260	end apogee: CONTROL_FINISHED_OK
state	7260	begin climb
7262	0.57	146.1	1006.2	0.0	452	7414	0.80	2.60	144.23	1.745	4	0.119	0.051	1988	1269	1904	0	0	0	0	0	0
7441	0.57	146.1	988.1	15.2	460	7449	0.00	2.60	0.00	0.000	6	0.000	0.056	1988	2664	1901	0	0	0	0	0	0
7757	0.57	146.1	932.6	17.7	476	7761	0.00	2.12	0.00	0.000	4	0.000	0.063	1989	3902	1894	0	0	0	0	0	0
7884	0.57	146.1	906.6	20.7	481	7891	0.00	2.08	0.00	0.000	6	0.000	0.043	1997	2679	1892	0	0	0	0	0	0
8199	0.57	146.1	846.8	18.8	497	8203	0.00	2.08	0.00	0.000	4	0.000	0.063	1997	3901	1891	0	0	0	0	0	0
8254	0.57	146.1	835.0	22.0	499	8259	0.00	2.05	0.00	0.000	6	0.000	0.042	2007	2665	1892	0	0	0	0	0	0
8576	0.57	146.1	772.2	19.5	515	8580	0.00	2.08	0.00	0.000	4	0.000	0.063	2007	3901	1891	0	0	0	0	0	0
8621	0.57	146.1	762.4	22.0	517	8626	0.12	2.00	0.00	0.000	6	0.235	0.042	1990	2667	1890	0	0	0	0	0	0
8947	0.57	146.1	702.5	18.2	533	8951	0.00	2.08	0.00	0.000	4	0.000	0.063	1987	3904	1890	0	0	0	0	0	0
9001	0.57	146.1	691.2	20.7	535	9006	0.00	2.03	0.00	0.000	6	0.000	0.042	1995	2667	1890	0	0	0	0	0	0
9323	0.57	146.1	632.8	17.8	551	9327	0.00	2.05	0.00	0.000	4	0.000	0.064	1996	3906	1889	0	0	0	0	0	0
9361	0.57	146.1	625.0	20.9	552	9369	0.00	2.03	0.00	0.000	6	0.000	0.042	2005	2663	1889	0	0	0	0	0	0
9677	0.57	146.1	565.9	18.4	568	9680	0.00	2.05	0.00	0.000	4	0.000	0.063	2005	3901	1889	0	0	0	0	0	0
9749	0.57	146.1	550.7	21.6	571	9753	0.00	1.98	0.00	0.000	6	0.000	0.043	2014	2666	1889	0	0	0	0	0	0
10076	0.57	146.1	489.3	18.5	587	10080	0.00	2.05	0.00	0.000	4	0.000	0.063	2015	3907	1889	0	0	0	0	0	0
10147	0.57	146.1	473.7	22.0	590	10153	0.12	2.00	0.00	0.000	6	0.221	0.042	1991	2671	1888	0	0	0	0	0	0
10475	0.57	146.1	417.1	17.2	606	10476	0.00	0.00	0.00	0.000	6	0.000	0.000	1991	2670	1888	0	0	0	0	0	0
10786	0.57	146.1	367.5	15.8	621	10790	0.00	2.03	0.00	0.000	4	0.000	0.064	1991	3906	1888	0	0	0	0	0	0
10878	0.57	146.1	351.5	17.2	625	10882	0.00	1.98	0.00	0.000	6	0.000	0.042	2000	2656	1888	0	0	0	0	0	0
11212	0.57	146.1	299.8	15.1	641	11213	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2656	1888	0	0	0	0	0	0
11520	0.57	146.1	249.6	16.8	656	11524	0.00	2.03	0.00	0.000	4	0.000	0.064	2000	3905	1888	0	0	0	0	0	0
11662	0.57	146.1	221.7	19.2	668	11671	0.00	1.98	0.00	0.000	6	0.000	0.042	2010	2667	1888	0	0	0	0	0	0
11989	0.57	146.1	164.3	17.9	699	11993	0.00	2.05	0.00	0.000	4	0.000	0.064	2010	3902	1888	0	0	0	0	0	0
12107	0.57	146.1	139.1	20.5	709	12115	0.10	1.98	0.00	0.000	6	0.218	0.041	1993	2664	1888	0	0	0	0	0	0
12435	0.57	146.1	92.8	13.1	744	12444	0.00	0.00	0.00	0.000	6	0.000	0.000	1992	2664	1888	0	0	0	0	0	0
12675	0.57	146.1	63.1	12.5	785	12682	0.00	2.00	0.00	0.000	4	0.000	0.064	1992	3902	1888	0	0	0	0	0	0
12790	0.57	146.1	47.3	12.9	804	12799	0.00	1.98	0.00	0.000	6	0.000	0.042	2001	2661	1888	0	0	0	0	0	0
12906	0.57	146.1	33.8	11.1	823	12913	0.00	2.20	0.00	0.000	4	0.000	0.054	2011	1268	1888	0	0	0	0	0	0
12950	0.57	146.1	29.0	10.6	830	12960	0.08	2.30	0.00	0.000	6	0.208	0.058	1992	2678	1888	0	0	0	0	0	0
13036	0.57	146.1	18.7	12.5	843	13044	0.00	0.00	0.00	0.000	6	0.000	0.000	1991	2677	1888	0	0	0	0	0	0
13120	0.57	146.1	7.3	13.9	856	13128	0.00	0.00	0.00	0.000	6	0.000	0.000	1991	2677	1888	0	0	0	0	0	0
13154	end climb: SURFACE_DEPTH_REACHED
state	13154	begin surface coast
13180	end surface coast: CONTROL_FINISHED_OK
state	13180	begin surface