Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 31 * 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 31 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2810 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 210 R_PORT_OVSHOOT 44 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 23 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 -21772.863 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 210

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 -21772.863

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 2810 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 44 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 23 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 31 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 151214,193804,-5551.712,-33.628,24,0.8,24,-19.9 TGT_NAME TARGET

_CALLS 2 TGT_LATLONG -5600.000,-30.000

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.016,-0.255

_SM_DEPTHo 1.64 KALMAN_X 25362.3,-477.0,-108.9,-59510.4,5217.1

_SM_ANGLEo -59.9 KALMAN_Y -2433.9,-628.3,-475.9,19445.8,8662.9

GPS2 151214,194841,-5551.588,-33.613,17,1.0,17,-19.9 MHEAD_RNG_PITCHd_Wd 203.4,16022,-16.7,-9.524

SPEED_LIMITS 0.165,0.255 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.8,1.025247 _10V_AH 10.1,8.632

SM_CCo 12396,23.77,0.208,0,0,1642,210.22 FG_AHR_24Vo 0.000

SM_GC 2.35,0.00,0.00,23.77,0.000,0.000,0.208,64,2828,1642,-5.43,0.48,210.22 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5527.50,-30.66,151214,121226 MEM 354000

TT8_MAMPS 0.026215 DATA_FILE_SIZE 57069,806

HUMID 54.76 CAP_FILE_SIZE 127922,0

INTERNAL_PRESSURE 8.96486 CFSIZE 259252224,224550912

TCM_TEMP 6.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 151214,231828,-5551.645,-34.748,75,0.8,75,-19.9

_24V_AH 21.6,13.454

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 251 74.89 SBE_CT 572 23 296.57

Roll_motor 127 81 222.53 AA4330 1658 17 644.12

VBD_pump_during_apogee 278 1823 10964.12 WL_BB2F 779 105 1766.84

VBD_pump_during_surface 23 208 106.86 QSP2150 829 17 322.11

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 54 91 107.65 nil 0 0 0.00

Iridium_during_connect 122 160 421.92 nil 0 0 0.00

Iridium_during_xfer 291 223 1404.70 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 6.12

TT8 2094 14 305.92

LPSleep 7670 2 169.66

TT8_Active 420 14 61.45

TT8_Sampling 2721 42 1159.01

TT8_CF8 152 49 76.40

TT8_Kalman 33 68 23.04

Analog_circuits 1352 15 211.69

GPS_charging 0 0 0.00

Compass 2094 16 348.62

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -0.57 -146.1 0.0 0.0 0 69 0.00 0.00 -50.12 0.000 2 0.000 0.000 59 2784 2761 0 0 0 0 0 0

71 -0.57 -146.1 3.3 -4.0 6 98 6.35 1.90 -9.05 0.000 4 0.252 0.081 1602 3893 3098 0 0 0 0 0 0

335 -0.57 -146.1 52.6 -17.5 49 343 0.00 1.75 0.00 0.000 6 0.000 0.039 1602 2816 3099 0 0 0 0 0 0

449 -0.57 -146.1 72.7 -16.9 68 457 0.00 2.28 0.00 0.000 4 0.000 0.048 1602 1407 3100 0 0 0 0 0 0

487 -0.57 -146.1 78.7 -15.6 74 495 0.00 2.33 0.00 0.000 6 0.000 0.060 1592 2806 3099 0 0 0 0 0 0

598 -0.57 -146.1 97.6 -17.9 93 607 0.00 1.83 0.00 0.000 4 0.000 0.067 1584 3900 3100 0 0 0 0 0 0

697 -0.57 -146.1 117.9 -20.9 102 709 0.10 1.77 0.00 0.000 6 0.187 0.039 1613 2803 3100 0 0 0 0 0 0

1025 -0.57 -146.1 179.9 -19.7 133 1028 0.00 1.83 0.00 0.000 4 0.000 0.067 1604 3900 3100 0 0 0 0 0 0

1074 -0.57 -146.1 190.9 -20.4 137 1082 0.00 1.75 0.00 0.000 6 0.000 0.038 1604 2807 3100 0 0 0 0 0 0

1401 -0.57 -146.1 255.0 -19.1 167 1405 0.00 1.80 0.00 0.000 4 0.000 0.067 1596 3898 3099 0 0 0 0 0 0

1457 -0.57 -146.1 266.7 -19.7 169 1461 0.00 1.73 0.00 0.000 6 0.000 0.038 1596 2802 3100 0 0 0 0 0 0

1779 -0.57 -146.1 326.2 -17.9 185 1783 0.00 1.83 0.00 0.000 4 0.000 0.066 1587 3907 3099 0 0 0 0 0 0

1834 -0.57 -146.1 336.9 -18.3 187 1839 0.08 1.75 0.00 0.000 6 0.187 0.037 1610 2806 3100 0 0 0 0 0 0

2157 -0.57 -146.1 386.9 -15.0 203 2160 0.00 1.80 0.00 0.000 4 0.000 0.067 1602 3898 3100 0 0 0 0 0 0

2229 -0.57 -146.1 398.7 -15.5 206 2233 0.00 1.73 0.00 0.000 6 0.000 0.037 1602 2809 3100 0 0 0 0 0 0

2557 -0.57 -146.1 446.8 -14.1 222 2560 0.00 1.80 0.00 0.000 4 0.000 0.066 1593 3903 3100 0 0 0 0 0 0

2624 -0.57 -146.1 457.3 -15.0 225 2628 0.00 1.70 0.00 0.000 6 0.000 0.037 1593 2809 3100 0 0 0 0 0 0

2956 -0.57 -146.1 506.8 -14.2 241 2960 0.00 1.77 0.00 0.000 4 0.000 0.065 1585 3905 3100 0 0 0 0 0 0

3055 -0.57 -146.1 522.6 -15.2 245 3062 0.08 1.75 0.00 0.000 6 0.180 0.037 1608 2803 3101 0 0 0 0 0 0

3378 -0.57 -146.1 563.1 -12.7 261 3381 0.00 1.80 0.00 0.000 4 0.000 0.066 1600 3899 3101 0 0 0 0 0 0

3445 -0.57 -146.1 572.1 -12.8 264 3449 0.00 1.73 0.00 0.000 6 0.000 0.037 1600 2807 3101 0 0 0 0 0 0

3776 -0.57 -146.1 615.8 -13.0 280 3780 0.00 1.80 0.00 0.000 4 0.000 0.066 1592 3907 3101 0 0 0 0 0 0

3831 -0.57 -146.1 623.5 -13.5 282 3836 0.00 1.73 0.00 0.000 6 0.000 0.037 1592 2809 3101 0 0 0 0 0 0

4152 -0.57 -146.1 667.4 -13.8 298 4156 0.00 1.77 0.00 0.000 4 0.000 0.065 1584 3899 3101 0 0 0 0 0 0

4229 -0.57 -146.1 679.2 -14.5 301 4234 0.08 1.70 0.00 0.000 6 0.181 0.037 1607 2808 3101 0 0 0 0 0 0

4551 -0.57 -146.1 720.1 -12.8 317 4555 0.00 1.80 0.00 0.000 4 0.000 0.066 1599 3906 3102 0 0 0 0 0 0

4628 -0.57 -146.1 731.2 -14.3 320 4633 0.00 1.73 0.00 0.000 6 0.000 0.037 1599 2809 3101 0 0 0 0 0 0

4950 -0.57 -146.1 775.4 -13.7 336 4954 0.00 1.77 0.00 0.000 4 0.000 0.066 1591 3897 3101 0 0 0 0 0 0

5006 -0.57 -146.1 783.9 -14.8 338 5010 0.00 1.70 0.00 0.000 6 0.000 0.037 1591 2801 3101 0 0 0 0 0 0

5327 -0.57 -146.1 830.6 -14.7 354 5330 0.00 1.80 0.00 0.000 4 0.000 0.066 1582 3903 3101 0 0 0 0 0 0

5376 -0.57 -146.1 838.4 -15.5 356 5381 0.10 1.73 0.00 0.000 6 0.177 0.037 1613 2803 3102 0 0 0 0 0 0

5702 -0.57 -146.1 879.6 -12.5 372 5706 0.00 1.80 0.00 0.000 4 0.000 0.067 1605 3904 3101 0 0 0 0 0 0

5751 -0.57 -146.1 886.2 -13.6 374 5756 0.00 1.73 0.00 0.000 6 0.000 0.037 1605 2806 3101 0 0 0 0 0 0

6078 -0.57 -146.1 928.4 -13.1 390 6082 0.00 1.80 0.00 0.000 4 0.000 0.066 1597 3893 3101 0 0 0 0 0 0

6155 -0.57 -146.1 939.3 -14.1 393 6160 0.00 1.73 0.00 0.000 6 0.000 0.036 1597 2798 3101 0 0 0 0 0 0

6478 -0.57 -146.1 981.6 -13.0 409 6481 0.00 1.80 0.00 0.000 4 0.000 0.067 1588 3900 3101 0 0 0 0 0 0

6532 -0.57 -146.1 989.7 -14.1 411 6538 0.08 1.73 0.00 0.000 6 0.179 0.037 1612 2803 3101 0 0 0 0 0 0

6625 end dive: TARGET_DEPTH_EXCEEDED

state 6626 begin apogee

6630 -0.16 0.0 1001.1 12.2 416 6769 0.43 0.00 134.00 1.824 6 0.156 0.000 1743 2651 2500 0 0 0 0 0 0

6770 end apogee: CONTROL_FINISHED_OK

state 6770 begin climb

6771 0.57 146.1 1006.1 0.0 423 6924 0.75 2.58 144.32 1.776 4 0.112 0.050 1983 1292 1903 0 0 0 0 0 0

6975 0.57 146.1 984.1 15.1 432 6979 0.00 2.50 0.00 0.000 6 0.000 0.054 1983 2670 1900 0 0 0 0 0 0

7289 0.57 146.1 929.1 17.2 447 7293 0.00 2.10 0.00 0.000 4 0.000 0.063 1983 3899 1894 0 0 0 0 0 0

7367 0.57 146.1 913.8 19.7 450 7374 0.00 2.03 0.00 0.000 6 0.000 0.040 1992 2704 1892 0 0 0 0 0 0

7682 0.57 146.1 857.3 17.8 466 7686 0.00 2.05 0.00 0.000 4 0.000 0.062 1992 3907 1891 0 0 0 0 0 0

7705 0.57 146.1 853.0 18.5 467 7709 0.00 2.05 0.00 0.000 6 0.000 0.041 2002 2658 1891 0 0 0 0 0 0

8037 0.57 146.1 793.4 18.2 483 8041 0.00 2.08 0.00 0.000 4 0.000 0.062 2002 3899 1890 0 0 0 0 0 0

8085 0.57 146.1 783.3 20.1 485 8090 0.00 2.03 0.00 0.000 6 0.000 0.041 2011 2666 1889 0 0 0 0 0 0

8413 0.57 146.1 722.5 18.8 501 8416 0.00 2.08 0.00 0.000 4 0.000 0.062 2012 3910 1889 0 0 0 0 0 0

8507 0.57 146.1 702.2 21.5 505 8512 0.10 2.03 0.00 0.000 6 0.220 0.041 1994 2671 1888 0 0 0 0 0 0

8833 0.57 146.1 643.4 18.0 521 8837 0.00 2.03 0.00 0.000 4 0.000 0.062 1994 3900 1889 0 0 0 0 0 0

8910 0.57 146.1 627.1 21.6 524 8915 0.00 2.00 0.00 0.000 6 0.000 0.041 2003 2666 1888 0 0 0 0 0 0

9231 0.57 146.1 565.9 19.4 540 9235 0.00 2.05 0.00 0.000 4 0.000 0.063 2003 3907 1888 0 0 0 0 0 0

9313 0.57 146.1 547.7 23.5 543 9321 0.00 2.00 0.00 0.000 6 0.000 0.041 2013 2664 1888 0 0 0 0 0 0

9630 0.57 146.1 485.8 19.4 559 9633 0.00 2.05 0.00 0.000 4 0.000 0.062 2013 3909 1888 0 0 0 0 0 0

9720 0.57 146.1 466.0 23.2 563 9724 0.15 1.98 0.00 0.000 6 0.233 0.041 1989 2667 1887 0 0 0 0 0 0

10046 0.57 146.1 409.6 17.0 579 10049 0.00 2.03 0.00 0.000 4 0.000 0.063 1989 3900 1887 0 0 0 0 0 0

10105 0.57 146.1 397.9 19.3 581 10114 0.00 1.98 0.00 0.000 6 0.000 0.040 1998 2668 1887 0 0 0 0 0 0

10425 0.57 146.1 342.3 18.0 597 10428 0.00 2.03 0.00 0.000 4 0.000 0.062 1998 3903 1887 0 0 0 0 0 0

10479 0.57 146.1 330.2 20.9 599 10484 0.00 1.98 0.00 0.000 6 0.000 0.040 2007 2669 1887 0 0 0 0 0 0

10803 0.57 146.1 268.3 19.3 615 10807 0.00 2.00 0.00 0.000 4 0.000 0.062 2007 3905 1887 0 0 0 0 0 0

10850 0.57 146.1 258.3 22.4 617 10855 0.12 1.95 0.00 0.000 6 0.231 0.041 1990 2668 1887 0 0 0 0 0 0

11175 0.57 146.1 197.2 17.9 645 11179 0.00 2.03 0.00 0.000 4 0.000 0.063 1990 3910 1888 0 0 0 0 0 0

11233 0.57 146.1 185.3 20.9 650 11236 0.00 1.98 0.00 0.000 6 0.000 0.041 1998 2659 1887 0 0 0 0 0 0

11565 0.57 146.1 123.6 18.0 681 11569 0.00 2.03 0.00 0.000 4 0.000 0.063 1999 3900 1888 0 0 0 0 0 0

11669 0.57 146.1 103.5 19.4 690 11673 0.00 1.95 0.00 0.000 6 0.000 0.041 2008 2663 1887 0 0 0 0 0 0

12022 0.57 146.1 51.3 13.3 749 12029 0.00 2.20 0.00 0.000 4 0.000 0.049 2019 1255 1887 0 0 0 0 0 0

12073 0.57 146.1 44.9 12.3 757 12080 0.12 2.28 0.00 0.000 6 0.224 0.057 1992 2676 1887 0 0 0 0 0 0

12186 0.57 146.1 30.2 13.0 776 12195 0.00 1.98 0.00 0.000 4 0.000 0.064 1992 3890 1887 0 0 0 0 0 0

12240 0.57 146.1 21.9 16.3 784 12249 0.00 1.95 0.00 0.000 6 0.000 0.040 2000 2663 1887 0 0 0 0 0 0

12325 0.57 146.1 8.3 15.3 797 12333 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2662 1888 0 0 0 0 0 0

12365 end climb: SURFACE_DEPTH_REACHED

state 12365 begin surface coast

12385 end surface coast: CONTROL_FINISHED_OK

state 12385 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	31	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2810	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	210	R_PORT_OVSHOOT	44	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	23	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	-21772.863	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	151214,193804,-5551.712,-33.628,24,0.8,24,-19.9	TGT_NAME	TARGET
_CALLS	2	TGT_LATLONG	-5600.000,-30.000
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.016,-0.255
_SM_DEPTHo	1.64	KALMAN_X	25362.3,-477.0,-108.9,-59510.4,5217.1
_SM_ANGLEo	-59.9	KALMAN_Y	-2433.9,-628.3,-475.9,19445.8,8662.9
GPS2	151214,194841,-5551.588,-33.613,17,1.0,17,-19.9	MHEAD_RNG_PITCHd_Wd	203.4,16022,-16.7,-9.524
SPEED_LIMITS	0.165,0.255	D_GRID	1000

FINISH	0.8,1.025247	_10V_AH	10.1,8.632
SM_CCo	12396,23.77,0.208,0,0,1642,210.22	FG_AHR_24Vo	0.000
SM_GC	2.35,0.00,0.00,23.77,0.000,0.000,0.208,64,2828,1642,-5.43,0.48,210.22	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5527.50,-30.66,151214,121226	MEM	354000
TT8_MAMPS	0.026215	DATA_FILE_SIZE	57069,806
HUMID	54.76	CAP_FILE_SIZE	127922,0
INTERNAL_PRESSURE	8.96486	CFSIZE	259252224,224550912
TCM_TEMP	6.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	151214,231828,-5551.645,-34.748,75,0.8,75,-19.9
_24V_AH	21.6,13.454

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	251	74.89	SBE_CT	572	23	296.57
Roll_motor	127	81	222.53	AA4330	1658	17	644.12
VBD_pump_during_apogee	278	1823	10964.12	WL_BB2F	779	105	1766.84
VBD_pump_during_surface	23	208	106.86	QSP2150	829	17	322.11
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	54	91	107.65	nil	0	0	0.00
Iridium_during_connect	122	160	421.92	nil	0	0	0.00
Iridium_during_xfer	291	223	1404.70	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	6.12
TT8	2094	14	305.92
LPSleep	7670	2	169.66
TT8_Active	420	14	61.45
TT8_Sampling	2721	42	1159.01
TT8_CF8	152	49	76.40
TT8_Kalman	33	68	23.04
Analog_circuits	1352	15	211.69
GPS_charging	0	0	0.00
Compass	2094	16	348.62
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-0.57	-146.1	0.0	0.0	0	69	0.00	0.00	-50.12	0.000	2	0.000	0.000	59	2784	2761	0	0	0	0	0	0
71	-0.57	-146.1	3.3	-4.0	6	98	6.35	1.90	-9.05	0.000	4	0.252	0.081	1602	3893	3098	0	0	0	0	0	0
335	-0.57	-146.1	52.6	-17.5	49	343	0.00	1.75	0.00	0.000	6	0.000	0.039	1602	2816	3099	0	0	0	0	0	0
449	-0.57	-146.1	72.7	-16.9	68	457	0.00	2.28	0.00	0.000	4	0.000	0.048	1602	1407	3100	0	0	0	0	0	0
487	-0.57	-146.1	78.7	-15.6	74	495	0.00	2.33	0.00	0.000	6	0.000	0.060	1592	2806	3099	0	0	0	0	0	0
598	-0.57	-146.1	97.6	-17.9	93	607	0.00	1.83	0.00	0.000	4	0.000	0.067	1584	3900	3100	0	0	0	0	0	0
697	-0.57	-146.1	117.9	-20.9	102	709	0.10	1.77	0.00	0.000	6	0.187	0.039	1613	2803	3100	0	0	0	0	0	0
1025	-0.57	-146.1	179.9	-19.7	133	1028	0.00	1.83	0.00	0.000	4	0.000	0.067	1604	3900	3100	0	0	0	0	0	0
1074	-0.57	-146.1	190.9	-20.4	137	1082	0.00	1.75	0.00	0.000	6	0.000	0.038	1604	2807	3100	0	0	0	0	0	0
1401	-0.57	-146.1	255.0	-19.1	167	1405	0.00	1.80	0.00	0.000	4	0.000	0.067	1596	3898	3099	0	0	0	0	0	0
1457	-0.57	-146.1	266.7	-19.7	169	1461	0.00	1.73	0.00	0.000	6	0.000	0.038	1596	2802	3100	0	0	0	0	0	0
1779	-0.57	-146.1	326.2	-17.9	185	1783	0.00	1.83	0.00	0.000	4	0.000	0.066	1587	3907	3099	0	0	0	0	0	0
1834	-0.57	-146.1	336.9	-18.3	187	1839	0.08	1.75	0.00	0.000	6	0.187	0.037	1610	2806	3100	0	0	0	0	0	0
2157	-0.57	-146.1	386.9	-15.0	203	2160	0.00	1.80	0.00	0.000	4	0.000	0.067	1602	3898	3100	0	0	0	0	0	0
2229	-0.57	-146.1	398.7	-15.5	206	2233	0.00	1.73	0.00	0.000	6	0.000	0.037	1602	2809	3100	0	0	0	0	0	0
2557	-0.57	-146.1	446.8	-14.1	222	2560	0.00	1.80	0.00	0.000	4	0.000	0.066	1593	3903	3100	0	0	0	0	0	0
2624	-0.57	-146.1	457.3	-15.0	225	2628	0.00	1.70	0.00	0.000	6	0.000	0.037	1593	2809	3100	0	0	0	0	0	0
2956	-0.57	-146.1	506.8	-14.2	241	2960	0.00	1.77	0.00	0.000	4	0.000	0.065	1585	3905	3100	0	0	0	0	0	0
3055	-0.57	-146.1	522.6	-15.2	245	3062	0.08	1.75	0.00	0.000	6	0.180	0.037	1608	2803	3101	0	0	0	0	0	0
3378	-0.57	-146.1	563.1	-12.7	261	3381	0.00	1.80	0.00	0.000	4	0.000	0.066	1600	3899	3101	0	0	0	0	0	0
3445	-0.57	-146.1	572.1	-12.8	264	3449	0.00	1.73	0.00	0.000	6	0.000	0.037	1600	2807	3101	0	0	0	0	0	0
3776	-0.57	-146.1	615.8	-13.0	280	3780	0.00	1.80	0.00	0.000	4	0.000	0.066	1592	3907	3101	0	0	0	0	0	0
3831	-0.57	-146.1	623.5	-13.5	282	3836	0.00	1.73	0.00	0.000	6	0.000	0.037	1592	2809	3101	0	0	0	0	0	0
4152	-0.57	-146.1	667.4	-13.8	298	4156	0.00	1.77	0.00	0.000	4	0.000	0.065	1584	3899	3101	0	0	0	0	0	0
4229	-0.57	-146.1	679.2	-14.5	301	4234	0.08	1.70	0.00	0.000	6	0.181	0.037	1607	2808	3101	0	0	0	0	0	0
4551	-0.57	-146.1	720.1	-12.8	317	4555	0.00	1.80	0.00	0.000	4	0.000	0.066	1599	3906	3102	0	0	0	0	0	0
4628	-0.57	-146.1	731.2	-14.3	320	4633	0.00	1.73	0.00	0.000	6	0.000	0.037	1599	2809	3101	0	0	0	0	0	0
4950	-0.57	-146.1	775.4	-13.7	336	4954	0.00	1.77	0.00	0.000	4	0.000	0.066	1591	3897	3101	0	0	0	0	0	0
5006	-0.57	-146.1	783.9	-14.8	338	5010	0.00	1.70	0.00	0.000	6	0.000	0.037	1591	2801	3101	0	0	0	0	0	0
5327	-0.57	-146.1	830.6	-14.7	354	5330	0.00	1.80	0.00	0.000	4	0.000	0.066	1582	3903	3101	0	0	0	0	0	0
5376	-0.57	-146.1	838.4	-15.5	356	5381	0.10	1.73	0.00	0.000	6	0.177	0.037	1613	2803	3102	0	0	0	0	0	0
5702	-0.57	-146.1	879.6	-12.5	372	5706	0.00	1.80	0.00	0.000	4	0.000	0.067	1605	3904	3101	0	0	0	0	0	0
5751	-0.57	-146.1	886.2	-13.6	374	5756	0.00	1.73	0.00	0.000	6	0.000	0.037	1605	2806	3101	0	0	0	0	0	0
6078	-0.57	-146.1	928.4	-13.1	390	6082	0.00	1.80	0.00	0.000	4	0.000	0.066	1597	3893	3101	0	0	0	0	0	0
6155	-0.57	-146.1	939.3	-14.1	393	6160	0.00	1.73	0.00	0.000	6	0.000	0.036	1597	2798	3101	0	0	0	0	0	0
6478	-0.57	-146.1	981.6	-13.0	409	6481	0.00	1.80	0.00	0.000	4	0.000	0.067	1588	3900	3101	0	0	0	0	0	0
6532	-0.57	-146.1	989.7	-14.1	411	6538	0.08	1.73	0.00	0.000	6	0.179	0.037	1612	2803	3101	0	0	0	0	0	0
6625	end dive: TARGET_DEPTH_EXCEEDED
state	6626	begin apogee
6630	-0.16	0.0	1001.1	12.2	416	6769	0.43	0.00	134.00	1.824	6	0.156	0.000	1743	2651	2500	0	0	0	0	0	0
6770	end apogee: CONTROL_FINISHED_OK
state	6770	begin climb
6771	0.57	146.1	1006.1	0.0	423	6924	0.75	2.58	144.32	1.776	4	0.112	0.050	1983	1292	1903	0	0	0	0	0	0
6975	0.57	146.1	984.1	15.1	432	6979	0.00	2.50	0.00	0.000	6	0.000	0.054	1983	2670	1900	0	0	0	0	0	0
7289	0.57	146.1	929.1	17.2	447	7293	0.00	2.10	0.00	0.000	4	0.000	0.063	1983	3899	1894	0	0	0	0	0	0
7367	0.57	146.1	913.8	19.7	450	7374	0.00	2.03	0.00	0.000	6	0.000	0.040	1992	2704	1892	0	0	0	0	0	0
7682	0.57	146.1	857.3	17.8	466	7686	0.00	2.05	0.00	0.000	4	0.000	0.062	1992	3907	1891	0	0	0	0	0	0
7705	0.57	146.1	853.0	18.5	467	7709	0.00	2.05	0.00	0.000	6	0.000	0.041	2002	2658	1891	0	0	0	0	0	0
8037	0.57	146.1	793.4	18.2	483	8041	0.00	2.08	0.00	0.000	4	0.000	0.062	2002	3899	1890	0	0	0	0	0	0
8085	0.57	146.1	783.3	20.1	485	8090	0.00	2.03	0.00	0.000	6	0.000	0.041	2011	2666	1889	0	0	0	0	0	0
8413	0.57	146.1	722.5	18.8	501	8416	0.00	2.08	0.00	0.000	4	0.000	0.062	2012	3910	1889	0	0	0	0	0	0
8507	0.57	146.1	702.2	21.5	505	8512	0.10	2.03	0.00	0.000	6	0.220	0.041	1994	2671	1888	0	0	0	0	0	0
8833	0.57	146.1	643.4	18.0	521	8837	0.00	2.03	0.00	0.000	4	0.000	0.062	1994	3900	1889	0	0	0	0	0	0
8910	0.57	146.1	627.1	21.6	524	8915	0.00	2.00	0.00	0.000	6	0.000	0.041	2003	2666	1888	0	0	0	0	0	0
9231	0.57	146.1	565.9	19.4	540	9235	0.00	2.05	0.00	0.000	4	0.000	0.063	2003	3907	1888	0	0	0	0	0	0
9313	0.57	146.1	547.7	23.5	543	9321	0.00	2.00	0.00	0.000	6	0.000	0.041	2013	2664	1888	0	0	0	0	0	0
9630	0.57	146.1	485.8	19.4	559	9633	0.00	2.05	0.00	0.000	4	0.000	0.062	2013	3909	1888	0	0	0	0	0	0
9720	0.57	146.1	466.0	23.2	563	9724	0.15	1.98	0.00	0.000	6	0.233	0.041	1989	2667	1887	0	0	0	0	0	0
10046	0.57	146.1	409.6	17.0	579	10049	0.00	2.03	0.00	0.000	4	0.000	0.063	1989	3900	1887	0	0	0	0	0	0
10105	0.57	146.1	397.9	19.3	581	10114	0.00	1.98	0.00	0.000	6	0.000	0.040	1998	2668	1887	0	0	0	0	0	0
10425	0.57	146.1	342.3	18.0	597	10428	0.00	2.03	0.00	0.000	4	0.000	0.062	1998	3903	1887	0	0	0	0	0	0
10479	0.57	146.1	330.2	20.9	599	10484	0.00	1.98	0.00	0.000	6	0.000	0.040	2007	2669	1887	0	0	0	0	0	0
10803	0.57	146.1	268.3	19.3	615	10807	0.00	2.00	0.00	0.000	4	0.000	0.062	2007	3905	1887	0	0	0	0	0	0
10850	0.57	146.1	258.3	22.4	617	10855	0.12	1.95	0.00	0.000	6	0.231	0.041	1990	2668	1887	0	0	0	0	0	0
11175	0.57	146.1	197.2	17.9	645	11179	0.00	2.03	0.00	0.000	4	0.000	0.063	1990	3910	1888	0	0	0	0	0	0
11233	0.57	146.1	185.3	20.9	650	11236	0.00	1.98	0.00	0.000	6	0.000	0.041	1998	2659	1887	0	0	0	0	0	0
11565	0.57	146.1	123.6	18.0	681	11569	0.00	2.03	0.00	0.000	4	0.000	0.063	1999	3900	1888	0	0	0	0	0	0
11669	0.57	146.1	103.5	19.4	690	11673	0.00	1.95	0.00	0.000	6	0.000	0.041	2008	2663	1887	0	0	0	0	0	0
12022	0.57	146.1	51.3	13.3	749	12029	0.00	2.20	0.00	0.000	4	0.000	0.049	2019	1255	1887	0	0	0	0	0	0
12073	0.57	146.1	44.9	12.3	757	12080	0.12	2.28	0.00	0.000	6	0.224	0.057	1992	2676	1887	0	0	0	0	0	0
12186	0.57	146.1	30.2	13.0	776	12195	0.00	1.98	0.00	0.000	4	0.000	0.064	1992	3890	1887	0	0	0	0	0	0
12240	0.57	146.1	21.9	16.3	784	12249	0.00	1.95	0.00	0.000	6	0.000	0.040	2000	2663	1887	0	0	0	0	0	0
12325	0.57	146.1	8.3	15.3	797	12333	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2662	1888	0	0	0	0	0	0
12365	end climb: SURFACE_DEPTH_REACHED
state	12365	begin surface coast
12385	end surface coast: CONTROL_FINISHED_OK
state	12385	begin surface