Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 32 * 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 32 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 32 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 36 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 2.49

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 KERMIT 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 480 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3961 DEVICE2 101

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2342 DEVICE3 35

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 134

T_DIVE 350 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 365 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 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 -21775.188 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 0.00251332 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.0127788 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 10

HD_C 1.44018e-06 ROLL_MIN 335 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 500 PHONE_DEVICE 48 SM_CC 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 0.00251332 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0127788 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -21775.188

CAPMAXSIZE 100000 HD_C 1.44018e-06 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 365

CF8_MAXERRORS 20 HEAD_ERRBAND 15 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 RELAUNCH 1 T_RSLEEP 1

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RHO 1.027 T_TURN 225

COMPASS_DEVICE 33 ID 542 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_YINT 2.49 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_PITCH 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 2342 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_MIN 335 VBD_CNV -0.245296

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 32 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 36 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 32 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 151214,231828,-5551.645,-34.748,75,0.8,75,-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 -0.002,-0.231

_SM_DEPTHo 2.11 KALMAN_X 25025.8,-846.1,-831.9,-59226.7,5071.8

_SM_ANGLEo -68.0 KALMAN_Y 2798.7,-1105.3,-133.4,14419.7,11381.9

GPS2 151214,233005,-5551.548,-34.736,21,1.0,21,-19.9 MHEAD_RNG_PITCHd_Wd 200.3,16404,-17.2,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.0,1.021686 _10V_AH 10.1,8.738

SM_CCo 12402,24.40,0.200,0,0,1482,210.22 FG_AHR_24Vo 0.000

SM_GC 1.77,0.00,0.00,24.40,0.000,0.000,0.200,56,2795,1482,-5.46,-0.45,210.22 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5527.50,-34.49,151214,232351 MEM 354004

TT8_MAMPS 0.026215 DATA_FILE_SIZE 56996,806

HUMID 55.47 CAP_FILE_SIZE 127363,0

INTERNAL_PRESSURE 8.95509 CFSIZE 259252224,224481280

TCM_TEMP 7.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 161214,025928,-5552.100,-35.346,46,0.8,46,-19.9

_24V_AH 21.6,13.624

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 256 75.56 SBE_CT 572 23 296.41

Roll_motor 121 75 198.43 AA4330 1667 17 647.58

VBD_pump_during_apogee 279 1813 10965.06 WL_BB2F 792 105 1796.58

VBD_pump_during_surface 24 200 105.63 QSP2150 818 17 317.86

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 57 91 114.42 nil 0 0 0.00

Iridium_during_connect 63 160 220.02 nil 0 0 0.00

Iridium_during_xfer 375 223 1808.28 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 24 31 7.63

TT8 2065 14 301.62

LPSleep 7760 2 171.66

TT8_Active 434 14 63.51

TT8_Sampling 2719 42 1158.16

TT8_CF8 145 49 72.91

TT8_Kalman 33 68 23.04

Analog_circuits 1340 15 209.88

GPS_charging 0 0 0.00

Compass 2036 16 338.92

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

14 -0.58 -146.1 0.0 0.0 0 66 0.00 0.00 -49.80 0.000 2 0.000 0.000 63 2829 2775 0 0 0 0 0 0

69 -0.58 -146.1 3.4 -3.2 6 87 6.40 1.75 -4.55 0.000 4 0.256 0.076 1599 3890 2937 0 0 0 0 0 0

279 -0.58 -146.1 47.3 -18.2 40 288 0.00 1.77 0.00 0.000 6 0.000 0.039 1602 2803 2939 0 0 0 0 0 0

396 -0.58 -146.1 67.6 -16.7 59 403 0.00 0.00 0.00 0.000 6 0.000 0.000 1603 2803 2939 0 0 0 0 0 0

507 -0.58 -146.1 86.5 -17.7 78 515 0.00 2.25 0.00 0.000 4 0.000 0.049 1602 1411 2939 0 0 0 0 0 0

539 -0.58 -146.1 91.9 -17.1 83 546 0.00 2.28 0.00 0.000 6 0.000 0.059 1592 2800 2939 0 0 0 0 0 0

770 -0.58 -146.1 126.0 -14.3 109 773 0.00 1.80 0.00 0.000 4 0.000 0.067 1584 3898 2939 0 0 0 0 0 0

899 -0.58 -146.1 147.1 -16.2 120 909 0.00 1.75 0.00 0.000 6 0.000 0.037 1584 2805 2939 0 0 0 0 0 0

1228 -0.58 -146.1 195.9 -15.7 151 1232 0.12 1.83 0.00 0.000 4 0.213 0.067 1605 3896 2938 0 0 0 0 0 0

1323 -0.58 -146.1 209.8 -13.4 159 1326 0.00 1.73 0.00 0.000 6 0.000 0.038 1608 2800 2938 0 0 0 0 0 0

1654 -0.58 -146.1 253.9 -13.1 189 1657 0.00 1.80 0.00 0.000 4 0.000 0.066 1600 3903 2938 0 0 0 0 0 0

1736 -0.58 -146.1 266.6 -14.7 192 1747 0.00 1.77 0.00 0.000 6 0.000 0.037 1599 2797 2938 0 0 0 0 0 0

2053 -0.58 -146.1 310.9 -14.2 208 2057 0.00 1.83 0.00 0.000 4 0.000 0.066 1591 3904 2938 0 0 0 0 0 0

2113 -0.58 -146.1 320.4 -14.7 210 2124 0.00 1.75 0.00 0.000 6 0.000 0.037 1591 2808 2938 0 0 0 0 0 0

2430 -0.58 -146.1 366.5 -14.6 226 2433 0.00 1.80 0.00 0.000 4 0.000 0.066 1583 3904 2938 0 0 0 0 0 0

2463 -0.58 -146.1 371.6 -15.7 227 2468 0.08 1.73 0.00 0.000 6 0.187 0.037 1605 2805 2938 0 0 0 0 0 0

2784 -0.58 -146.1 413.4 -12.7 243 2788 0.00 1.83 0.00 0.000 4 0.000 0.067 1597 3899 2938 0 0 0 0 0 0

2851 -0.58 -146.1 423.0 -14.6 246 2855 0.00 1.70 0.00 0.000 6 0.000 0.037 1605 2810 2938 0 0 0 0 0 0

3184 -0.58 -146.1 466.5 -13.1 262 3187 0.00 1.77 0.00 0.000 4 0.000 0.065 1596 3895 2938 0 0 0 0 0 0

3283 -0.58 -146.1 481.3 -15.2 266 3288 0.00 1.75 0.00 0.000 6 0.000 0.037 1602 2799 2938 0 0 0 0 0 0

3605 -0.58 -146.1 524.0 -13.4 282 3609 0.00 1.80 0.00 0.000 4 0.000 0.065 1594 3896 2939 0 0 0 0 0 0

3687 -0.58 -146.1 536.4 -14.5 285 3696 0.00 1.75 0.00 0.000 6 0.000 0.037 1594 2798 2939 0 0 0 0 0 0

4005 -0.58 -146.1 580.2 -13.9 301 4008 0.00 1.83 0.00 0.000 4 0.000 0.065 1586 3896 2939 0 0 0 0 0 0

4076 -0.58 -146.1 591.6 -15.3 304 4081 0.00 1.70 0.00 0.000 6 0.000 0.036 1585 2808 2939 0 0 0 0 0 0

4404 -0.58 -146.1 639.7 -14.7 320 4407 0.00 1.77 0.00 0.000 4 0.000 0.065 1578 3894 2939 0 0 0 0 0 0

4452 -0.58 -146.1 647.7 -15.9 322 4457 0.10 1.70 0.00 0.000 6 0.190 0.036 1607 2804 2939 0 0 0 0 0 0

4779 -0.58 -146.1 689.6 -12.5 338 4782 0.00 1.80 0.00 0.000 4 0.000 0.065 1599 3891 2939 0 0 0 0 0 0

4816 -0.58 -146.1 694.9 -14.4 339 4824 0.00 1.73 0.00 0.000 6 0.000 0.036 1602 2797 2939 0 0 0 0 0 0

5133 -0.58 -146.1 733.8 -12.0 355 5136 0.00 1.80 0.00 0.000 4 0.000 0.066 1594 3897 2939 0 0 0 0 0 0

5187 -0.58 -146.1 741.5 -14.1 357 5192 0.00 1.73 0.00 0.000 6 0.000 0.036 1594 2806 2939 0 0 0 0 0 0

5510 -0.58 -146.1 781.7 -12.4 373 5514 0.00 1.77 0.00 0.000 4 0.000 0.065 1586 3894 2939 0 0 0 0 0 0

5599 -0.58 -146.1 794.1 -13.7 377 5603 0.00 1.67 0.00 0.000 6 0.000 0.037 1586 2807 2940 0 0 0 0 0 0

5931 -0.58 -146.1 836.7 -12.7 393 5935 0.00 1.77 0.00 0.000 4 0.000 0.066 1578 3896 2940 0 0 0 0 0 0

5980 -0.58 -146.1 843.9 -14.6 395 5986 0.08 1.70 0.00 0.000 6 0.190 0.037 1600 2804 2940 0 0 0 0 0 0

6307 -0.58 -146.1 881.8 -11.4 411 6310 0.00 1.80 0.00 0.000 4 0.000 0.066 1592 3906 2939 0 0 0 0 0 0

6366 -0.58 -146.1 889.5 -12.2 413 6375 0.00 1.73 0.00 0.000 6 0.000 0.036 1594 2806 2940 0 0 0 0 0 0

6683 -0.58 -146.1 926.4 -11.5 429 6687 0.00 1.80 0.00 0.000 4 0.000 0.066 1586 3893 2940 0 0 0 0 0 0

6731 -0.58 -146.1 932.8 -13.2 431 6736 0.00 1.70 0.00 0.000 6 0.000 0.037 1586 2809 2940 0 0 0 0 0 0

7059 -0.58 -146.1 973.2 -12.3 447 7063 0.00 1.77 0.00 0.000 4 0.000 0.065 1578 3899 2939 0 0 0 0 0 0

7091 -0.58 -146.1 977.9 -14.5 448 7096 0.10 1.73 0.00 0.000 6 0.213 0.036 1606 2803 2940 0 0 0 0 0 0

7308 end dive: TARGET_DEPTH_EXCEEDED

state 7308 begin apogee

7312 -0.16 0.0 1002.1 10.6 459 7452 0.45 0.00 133.62 1.814 6 0.170 0.000 1741 2650 2342 0 0 0 0 0 0

7452 end apogee: CONTROL_FINISHED_OK

state 7453 begin climb

7454 0.58 146.1 1005.0 0.0 466 7610 0.80 2.60 146.25 1.771 4 0.123 0.050 1992 1286 1745 0 0 0 0 0 0

7623 0.58 146.1 982.0 17.8 474 7628 0.00 2.53 0.00 0.000 6 0.000 0.053 1992 2663 1743 0 0 0 0 0 0

7949 0.58 146.1 915.3 20.6 490 7953 0.00 2.12 0.00 0.000 4 0.000 0.062 1992 3904 1736 0 0 0 0 0 0

7998 0.58 146.1 904.2 23.3 492 8003 0.00 2.05 0.00 0.000 6 0.000 0.041 2001 2708 1734 0 0 0 0 0 0

8326 0.58 146.1 835.3 21.3 508 8327 0.00 0.00 0.00 0.000 6 0.000 0.000 2001 2708 1733 0 0 0 0 0 0

8635 0.58 146.1 769.1 21.6 523 8638 0.00 2.00 0.00 0.000 4 0.000 0.062 2001 3903 1732 0 0 0 0 0 0

8657 0.58 146.1 764.0 22.0 524 8661 0.00 2.00 0.00 0.000 6 0.000 0.041 2010 2656 1731 0 0 0 0 0 0

8989 0.58 146.1 689.3 22.4 540 8993 0.00 2.08 0.00 0.000 4 0.000 0.060 2011 3910 1731 0 0 0 0 0 0

9043 0.58 146.1 675.5 25.6 542 9048 0.10 2.03 0.00 0.000 6 0.213 0.041 1993 2673 1730 0 0 0 0 0 0

9365 0.58 146.1 607.1 21.3 558 9369 0.00 2.03 0.00 0.000 4 0.000 0.060 1994 3910 1730 0 0 0 0 0 0

9410 0.58 146.1 596.7 23.0 560 9414 0.00 2.00 0.00 0.000 6 0.000 0.041 2002 2665 1730 0 0 0 0 0 0

9742 0.58 146.1 524.0 21.6 576 9746 0.00 2.03 0.00 0.000 4 0.000 0.061 2003 3903 1730 0 0 0 0 0 0

9780 0.58 146.1 514.8 24.5 577 9787 0.00 2.00 0.00 0.000 6 0.000 0.041 2012 2672 1729 0 0 0 0 0 0

10096 0.58 146.1 445.4 21.9 593 10099 0.00 2.03 0.00 0.000 4 0.000 0.061 2012 3901 1729 0 0 0 0 0 0

10133 0.58 146.1 436.2 23.6 594 10142 0.10 2.00 0.00 0.000 6 0.213 0.040 1995 2664 1729 0 0 0 0 0 0

10450 0.58 146.1 372.9 19.8 610 10454 0.00 2.03 0.00 0.000 4 0.000 0.061 1995 3906 1729 0 0 0 0 0 0

10495 0.58 146.1 363.0 22.0 612 10498 0.00 1.98 0.00 0.000 6 0.000 0.041 2003 2665 1729 0 0 0 0 0 0

10826 0.58 146.1 293.1 20.9 628 10830 0.00 2.00 0.00 0.000 4 0.000 0.061 2004 3900 1729 0 0 0 0 0 0

10881 0.58 146.1 279.8 24.6 630 10886 0.00 1.98 0.00 0.000 6 0.000 0.041 2013 2670 1728 0 0 0 0 0 0

11211 0.58 146.1 208.1 20.9 655 11214 0.00 2.00 0.00 0.000 4 0.000 0.061 2013 3906 1728 0 0 0 0 0 0

11268 0.58 146.1 194.4 24.9 660 11273 0.12 1.98 0.00 0.000 6 0.229 0.042 1995 2660 1728 0 0 0 0 0 0

11592 0.58 146.1 131.5 17.2 690 11593 0.00 0.00 0.00 0.000 6 0.000 0.000 1995 2660 1727 0 0 0 0 0 0

11921 0.58 146.1 77.2 14.7 732 11930 0.00 2.05 0.00 0.000 4 0.000 0.063 1995 3898 1728 0 0 0 0 0 0

11991 0.58 146.1 65.5 18.4 743 11998 0.00 1.98 0.00 0.000 6 0.000 0.041 2004 2661 1728 0 0 0 0 0 0

12105 0.58 146.1 45.1 16.8 762 12114 0.00 0.00 0.00 0.000 6 0.000 0.000 2004 2660 1728 0 0 0 0 0 0

12221 0.58 146.1 27.9 15.2 781 12230 0.00 2.05 0.00 0.000 4 0.000 0.063 2004 3899 1728 0 0 0 0 0 0

12268 0.58 146.1 19.5 17.8 788 12277 0.00 1.95 0.00 0.000 6 0.000 0.039 2014 2670 1728 0 0 0 0 0 0

12353 0.58 146.1 4.9 17.1 801 12363 0.00 2.03 0.00 0.000 4 0.000 0.066 2014 3893 1728 0 0 0 0 0 0

12370 end climb: SURFACE_DEPTH_REACHED

state 12370 begin surface coast

12390 end surface coast: CONTROL_FINISHED_OK

state 12390 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	32	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	32	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	36	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	2.49
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	KERMIT	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	480	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3961	DEVICE2	101
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2342	DEVICE3	35
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	134
T_DIVE	350	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	365	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	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	-21775.188	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	0.00251332	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.0127788	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	10
HD_C	1.44018e-06	ROLL_MIN	335	ALTIM_TOP_TURN_MARGIN	0

GPS1	151214,231828,-5551.645,-34.748,75,0.8,75,-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	-0.002,-0.231
_SM_DEPTHo	2.11	KALMAN_X	25025.8,-846.1,-831.9,-59226.7,5071.8
_SM_ANGLEo	-68.0	KALMAN_Y	2798.7,-1105.3,-133.4,14419.7,11381.9
GPS2	151214,233005,-5551.548,-34.736,21,1.0,21,-19.9	MHEAD_RNG_PITCHd_Wd	200.3,16404,-17.2,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.0,1.021686	_10V_AH	10.1,8.738
SM_CCo	12402,24.40,0.200,0,0,1482,210.22	FG_AHR_24Vo	0.000
SM_GC	1.77,0.00,0.00,24.40,0.000,0.000,0.200,56,2795,1482,-5.46,-0.45,210.22	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5527.50,-34.49,151214,232351	MEM	354004
TT8_MAMPS	0.026215	DATA_FILE_SIZE	56996,806
HUMID	55.47	CAP_FILE_SIZE	127363,0
INTERNAL_PRESSURE	8.95509	CFSIZE	259252224,224481280
TCM_TEMP	7.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	161214,025928,-5552.100,-35.346,46,0.8,46,-19.9
_24V_AH	21.6,13.624

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	256	75.56	SBE_CT	572	23	296.41
Roll_motor	121	75	198.43	AA4330	1667	17	647.58
VBD_pump_during_apogee	279	1813	10965.06	WL_BB2F	792	105	1796.58
VBD_pump_during_surface	24	200	105.63	QSP2150	818	17	317.86
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	57	91	114.42	nil	0	0	0.00
Iridium_during_connect	63	160	220.02	nil	0	0	0.00
Iridium_during_xfer	375	223	1808.28	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	24	31	7.63
TT8	2065	14	301.62
LPSleep	7760	2	171.66
TT8_Active	434	14	63.51
TT8_Sampling	2719	42	1158.16
TT8_CF8	145	49	72.91
TT8_Kalman	33	68	23.04
Analog_circuits	1340	15	209.88
GPS_charging	0	0	0.00
Compass	2036	16	338.92
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
14	-0.58	-146.1	0.0	0.0	0	66	0.00	0.00	-49.80	0.000	2	0.000	0.000	63	2829	2775	0	0	0	0	0	0
69	-0.58	-146.1	3.4	-3.2	6	87	6.40	1.75	-4.55	0.000	4	0.256	0.076	1599	3890	2937	0	0	0	0	0	0
279	-0.58	-146.1	47.3	-18.2	40	288	0.00	1.77	0.00	0.000	6	0.000	0.039	1602	2803	2939	0	0	0	0	0	0
396	-0.58	-146.1	67.6	-16.7	59	403	0.00	0.00	0.00	0.000	6	0.000	0.000	1603	2803	2939	0	0	0	0	0	0
507	-0.58	-146.1	86.5	-17.7	78	515	0.00	2.25	0.00	0.000	4	0.000	0.049	1602	1411	2939	0	0	0	0	0	0
539	-0.58	-146.1	91.9	-17.1	83	546	0.00	2.28	0.00	0.000	6	0.000	0.059	1592	2800	2939	0	0	0	0	0	0
770	-0.58	-146.1	126.0	-14.3	109	773	0.00	1.80	0.00	0.000	4	0.000	0.067	1584	3898	2939	0	0	0	0	0	0
899	-0.58	-146.1	147.1	-16.2	120	909	0.00	1.75	0.00	0.000	6	0.000	0.037	1584	2805	2939	0	0	0	0	0	0
1228	-0.58	-146.1	195.9	-15.7	151	1232	0.12	1.83	0.00	0.000	4	0.213	0.067	1605	3896	2938	0	0	0	0	0	0
1323	-0.58	-146.1	209.8	-13.4	159	1326	0.00	1.73	0.00	0.000	6	0.000	0.038	1608	2800	2938	0	0	0	0	0	0
1654	-0.58	-146.1	253.9	-13.1	189	1657	0.00	1.80	0.00	0.000	4	0.000	0.066	1600	3903	2938	0	0	0	0	0	0
1736	-0.58	-146.1	266.6	-14.7	192	1747	0.00	1.77	0.00	0.000	6	0.000	0.037	1599	2797	2938	0	0	0	0	0	0
2053	-0.58	-146.1	310.9	-14.2	208	2057	0.00	1.83	0.00	0.000	4	0.000	0.066	1591	3904	2938	0	0	0	0	0	0
2113	-0.58	-146.1	320.4	-14.7	210	2124	0.00	1.75	0.00	0.000	6	0.000	0.037	1591	2808	2938	0	0	0	0	0	0
2430	-0.58	-146.1	366.5	-14.6	226	2433	0.00	1.80	0.00	0.000	4	0.000	0.066	1583	3904	2938	0	0	0	0	0	0
2463	-0.58	-146.1	371.6	-15.7	227	2468	0.08	1.73	0.00	0.000	6	0.187	0.037	1605	2805	2938	0	0	0	0	0	0
2784	-0.58	-146.1	413.4	-12.7	243	2788	0.00	1.83	0.00	0.000	4	0.000	0.067	1597	3899	2938	0	0	0	0	0	0
2851	-0.58	-146.1	423.0	-14.6	246	2855	0.00	1.70	0.00	0.000	6	0.000	0.037	1605	2810	2938	0	0	0	0	0	0
3184	-0.58	-146.1	466.5	-13.1	262	3187	0.00	1.77	0.00	0.000	4	0.000	0.065	1596	3895	2938	0	0	0	0	0	0
3283	-0.58	-146.1	481.3	-15.2	266	3288	0.00	1.75	0.00	0.000	6	0.000	0.037	1602	2799	2938	0	0	0	0	0	0
3605	-0.58	-146.1	524.0	-13.4	282	3609	0.00	1.80	0.00	0.000	4	0.000	0.065	1594	3896	2939	0	0	0	0	0	0
3687	-0.58	-146.1	536.4	-14.5	285	3696	0.00	1.75	0.00	0.000	6	0.000	0.037	1594	2798	2939	0	0	0	0	0	0
4005	-0.58	-146.1	580.2	-13.9	301	4008	0.00	1.83	0.00	0.000	4	0.000	0.065	1586	3896	2939	0	0	0	0	0	0
4076	-0.58	-146.1	591.6	-15.3	304	4081	0.00	1.70	0.00	0.000	6	0.000	0.036	1585	2808	2939	0	0	0	0	0	0
4404	-0.58	-146.1	639.7	-14.7	320	4407	0.00	1.77	0.00	0.000	4	0.000	0.065	1578	3894	2939	0	0	0	0	0	0
4452	-0.58	-146.1	647.7	-15.9	322	4457	0.10	1.70	0.00	0.000	6	0.190	0.036	1607	2804	2939	0	0	0	0	0	0
4779	-0.58	-146.1	689.6	-12.5	338	4782	0.00	1.80	0.00	0.000	4	0.000	0.065	1599	3891	2939	0	0	0	0	0	0
4816	-0.58	-146.1	694.9	-14.4	339	4824	0.00	1.73	0.00	0.000	6	0.000	0.036	1602	2797	2939	0	0	0	0	0	0
5133	-0.58	-146.1	733.8	-12.0	355	5136	0.00	1.80	0.00	0.000	4	0.000	0.066	1594	3897	2939	0	0	0	0	0	0
5187	-0.58	-146.1	741.5	-14.1	357	5192	0.00	1.73	0.00	0.000	6	0.000	0.036	1594	2806	2939	0	0	0	0	0	0
5510	-0.58	-146.1	781.7	-12.4	373	5514	0.00	1.77	0.00	0.000	4	0.000	0.065	1586	3894	2939	0	0	0	0	0	0
5599	-0.58	-146.1	794.1	-13.7	377	5603	0.00	1.67	0.00	0.000	6	0.000	0.037	1586	2807	2940	0	0	0	0	0	0
5931	-0.58	-146.1	836.7	-12.7	393	5935	0.00	1.77	0.00	0.000	4	0.000	0.066	1578	3896	2940	0	0	0	0	0	0
5980	-0.58	-146.1	843.9	-14.6	395	5986	0.08	1.70	0.00	0.000	6	0.190	0.037	1600	2804	2940	0	0	0	0	0	0
6307	-0.58	-146.1	881.8	-11.4	411	6310	0.00	1.80	0.00	0.000	4	0.000	0.066	1592	3906	2939	0	0	0	0	0	0
6366	-0.58	-146.1	889.5	-12.2	413	6375	0.00	1.73	0.00	0.000	6	0.000	0.036	1594	2806	2940	0	0	0	0	0	0
6683	-0.58	-146.1	926.4	-11.5	429	6687	0.00	1.80	0.00	0.000	4	0.000	0.066	1586	3893	2940	0	0	0	0	0	0
6731	-0.58	-146.1	932.8	-13.2	431	6736	0.00	1.70	0.00	0.000	6	0.000	0.037	1586	2809	2940	0	0	0	0	0	0
7059	-0.58	-146.1	973.2	-12.3	447	7063	0.00	1.77	0.00	0.000	4	0.000	0.065	1578	3899	2939	0	0	0	0	0	0
7091	-0.58	-146.1	977.9	-14.5	448	7096	0.10	1.73	0.00	0.000	6	0.213	0.036	1606	2803	2940	0	0	0	0	0	0
7308	end dive: TARGET_DEPTH_EXCEEDED
state	7308	begin apogee
7312	-0.16	0.0	1002.1	10.6	459	7452	0.45	0.00	133.62	1.814	6	0.170	0.000	1741	2650	2342	0	0	0	0	0	0
7452	end apogee: CONTROL_FINISHED_OK
state	7453	begin climb
7454	0.58	146.1	1005.0	0.0	466	7610	0.80	2.60	146.25	1.771	4	0.123	0.050	1992	1286	1745	0	0	0	0	0	0
7623	0.58	146.1	982.0	17.8	474	7628	0.00	2.53	0.00	0.000	6	0.000	0.053	1992	2663	1743	0	0	0	0	0	0
7949	0.58	146.1	915.3	20.6	490	7953	0.00	2.12	0.00	0.000	4	0.000	0.062	1992	3904	1736	0	0	0	0	0	0
7998	0.58	146.1	904.2	23.3	492	8003	0.00	2.05	0.00	0.000	6	0.000	0.041	2001	2708	1734	0	0	0	0	0	0
8326	0.58	146.1	835.3	21.3	508	8327	0.00	0.00	0.00	0.000	6	0.000	0.000	2001	2708	1733	0	0	0	0	0	0
8635	0.58	146.1	769.1	21.6	523	8638	0.00	2.00	0.00	0.000	4	0.000	0.062	2001	3903	1732	0	0	0	0	0	0
8657	0.58	146.1	764.0	22.0	524	8661	0.00	2.00	0.00	0.000	6	0.000	0.041	2010	2656	1731	0	0	0	0	0	0
8989	0.58	146.1	689.3	22.4	540	8993	0.00	2.08	0.00	0.000	4	0.000	0.060	2011	3910	1731	0	0	0	0	0	0
9043	0.58	146.1	675.5	25.6	542	9048	0.10	2.03	0.00	0.000	6	0.213	0.041	1993	2673	1730	0	0	0	0	0	0
9365	0.58	146.1	607.1	21.3	558	9369	0.00	2.03	0.00	0.000	4	0.000	0.060	1994	3910	1730	0	0	0	0	0	0
9410	0.58	146.1	596.7	23.0	560	9414	0.00	2.00	0.00	0.000	6	0.000	0.041	2002	2665	1730	0	0	0	0	0	0
9742	0.58	146.1	524.0	21.6	576	9746	0.00	2.03	0.00	0.000	4	0.000	0.061	2003	3903	1730	0	0	0	0	0	0
9780	0.58	146.1	514.8	24.5	577	9787	0.00	2.00	0.00	0.000	6	0.000	0.041	2012	2672	1729	0	0	0	0	0	0
10096	0.58	146.1	445.4	21.9	593	10099	0.00	2.03	0.00	0.000	4	0.000	0.061	2012	3901	1729	0	0	0	0	0	0
10133	0.58	146.1	436.2	23.6	594	10142	0.10	2.00	0.00	0.000	6	0.213	0.040	1995	2664	1729	0	0	0	0	0	0
10450	0.58	146.1	372.9	19.8	610	10454	0.00	2.03	0.00	0.000	4	0.000	0.061	1995	3906	1729	0	0	0	0	0	0
10495	0.58	146.1	363.0	22.0	612	10498	0.00	1.98	0.00	0.000	6	0.000	0.041	2003	2665	1729	0	0	0	0	0	0
10826	0.58	146.1	293.1	20.9	628	10830	0.00	2.00	0.00	0.000	4	0.000	0.061	2004	3900	1729	0	0	0	0	0	0
10881	0.58	146.1	279.8	24.6	630	10886	0.00	1.98	0.00	0.000	6	0.000	0.041	2013	2670	1728	0	0	0	0	0	0
11211	0.58	146.1	208.1	20.9	655	11214	0.00	2.00	0.00	0.000	4	0.000	0.061	2013	3906	1728	0	0	0	0	0	0
11268	0.58	146.1	194.4	24.9	660	11273	0.12	1.98	0.00	0.000	6	0.229	0.042	1995	2660	1728	0	0	0	0	0	0
11592	0.58	146.1	131.5	17.2	690	11593	0.00	0.00	0.00	0.000	6	0.000	0.000	1995	2660	1727	0	0	0	0	0	0
11921	0.58	146.1	77.2	14.7	732	11930	0.00	2.05	0.00	0.000	4	0.000	0.063	1995	3898	1728	0	0	0	0	0	0
11991	0.58	146.1	65.5	18.4	743	11998	0.00	1.98	0.00	0.000	6	0.000	0.041	2004	2661	1728	0	0	0	0	0	0
12105	0.58	146.1	45.1	16.8	762	12114	0.00	0.00	0.00	0.000	6	0.000	0.000	2004	2660	1728	0	0	0	0	0	0
12221	0.58	146.1	27.9	15.2	781	12230	0.00	2.05	0.00	0.000	4	0.000	0.063	2004	3899	1728	0	0	0	0	0	0
12268	0.58	146.1	19.5	17.8	788	12277	0.00	1.95	0.00	0.000	6	0.000	0.039	2014	2670	1728	0	0	0	0	0	0
12353	0.58	146.1	4.9	17.1	801	12363	0.00	2.03	0.00	0.000	4	0.000	0.066	2014	3893	1728	0	0	0	0	0	0
12370	end climb: SURFACE_DEPTH_REACHED
state	12370	begin surface coast
12390	end surface coast: CONTROL_FINISHED_OK
state	12390	begin surface