Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 33 * 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 33 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 34 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 19 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 -21777.512 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 -21777.512

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 34 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 19 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 33 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 161214,025928,-5552.100,-35.346,46,0.8,46,-19.9 TGT_NAME TARGET

_CALLS 1 TGT_LATLONG -5600.000,-30.000

_XMS_NAKs 4 TGT_RADIUS 3000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.016,-0.230

_SM_DEPTHo 1.50 KALMAN_X 23783.0,-1097.2,-431.5,-58672.6,3432.0

_SM_ANGLEo -53.8 KALMAN_Y 6790.6,-1172.2,-839.3,10350.9,13442.8

GPS2 161214,030748,-5552.018,-35.255,22,1.1,22,-19.9 MHEAD_RNG_PITCHd_Wd 195.9,15753,-17.2,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.9,1.027249 _10V_AH 10.1,8.842

SM_CCo 12516,24.38,0.207,0,0,1482,210.22 FG_AHR_24Vo 0.000

SM_GC 2.00,0.00,0.00,24.38,0.000,0.000,0.207,62,2800,1482,-5.44,-0.28,210.22 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5527.50,-34.49,151214,232340 MEM 354024

TT8_MAMPS 0.025466 DATA_FILE_SIZE 57084,810

HUMID 55.07 CAP_FILE_SIZE 122954,0

INTERNAL_PRESSURE 8.95509 CFSIZE 259252224,224419840

TCM_TEMP 7.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 161214,063857,-5552.343,-35.447,37,1.6,39,-19.9

_24V_AH 21.6,13.789

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 258 76.66 SBE_CT 575 23 297.91

Roll_motor 117 83 211.90 AA4330 1668 17 647.83

VBD_pump_during_apogee 278 1812 10895.13 WL_BB2F 782 105 1774.22

VBD_pump_during_surface 24 206 108.75 QSP2150 816 17 317.05

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 91 51.61 nil 0 0 0.00

Iridium_during_connect 22 160 78.56 nil 0 0 0.00

Iridium_during_xfer 335 223 1616.66 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 7.78

TT8 2073 14 302.83

LPSleep 7805 2 172.66

TT8_Active 427 14 62.45

TT8_Sampling 2585 42 1101.35

TT8_CF8 150 49 75.31

TT8_Kalman 33 68 23.04

Analog_circuits 1331 15 208.42

GPS_charging 0 0 0.00

Compass 2046 16 340.57

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

15 -0.58 -146.1 0.0 0.0 0 68 0.00 0.00 -50.50 0.000 2 0.000 0.000 56 2793 2583 0 0 0 0 0 0

70 -0.58 -146.1 3.0 -3.8 6 96 6.45 1.90 -10.18 0.000 4 0.259 0.083 1599 3895 2935 0 0 0 0 0 0

349 -0.58 -146.1 53.8 -16.4 51 356 0.00 1.77 0.00 0.000 6 0.000 0.039 1599 2804 2936 0 0 0 0 0 0

461 -0.58 -146.1 73.8 -17.3 70 470 0.00 1.85 0.00 0.000 4 0.000 0.064 1591 3897 2936 0 0 0 0 0 0

569 -0.58 -146.1 93.6 -19.2 88 577 0.00 1.75 0.00 0.000 6 0.000 0.038 1591 2809 2936 0 0 0 0 0 0

799 -0.58 -146.1 135.9 -19.1 112 803 0.00 1.83 0.00 0.000 4 0.000 0.065 1582 3909 2936 0 0 0 0 0 0

826 -0.58 -146.1 141.7 -20.1 114 836 0.08 1.77 0.00 0.000 6 0.188 0.037 1605 2799 2936 0 0 0 0 0 0

1154 -0.58 -146.1 194.9 -15.7 145 1158 0.00 1.80 0.00 0.000 4 0.000 0.065 1597 3901 2936 0 0 0 0 0 0

1215 -0.58 -146.1 205.8 -15.9 150 1226 0.00 1.75 0.00 0.000 6 0.000 0.037 1603 2808 2936 0 0 0 0 0 0

1540 -0.58 -146.1 253.7 -14.8 180 1544 0.00 1.80 0.00 0.000 4 0.000 0.065 1595 3902 2936 0 0 0 0 0 0

1634 -0.58 -146.1 269.0 -16.0 184 1639 0.00 1.75 0.00 0.000 6 0.000 0.036 1595 2806 2936 0 0 0 0 0 0

1963 -0.58 -146.1 318.2 -14.7 200 1966 0.00 1.80 0.00 0.000 4 0.000 0.066 1587 3903 2936 0 0 0 0 0 0

2078 -0.58 -146.1 336.4 -15.9 205 2082 0.00 1.67 0.00 0.000 6 0.000 0.037 1587 2808 2936 0 0 0 0 0 0

2412 -0.58 -146.1 386.1 -14.5 221 2415 0.00 1.80 0.00 0.000 4 0.000 0.065 1579 3906 2937 0 0 0 0 0 0

2459 -0.58 -146.1 393.6 -16.2 223 2464 0.12 1.70 0.00 0.000 6 0.201 0.037 1609 2805 2937 0 0 0 0 0 0

2791 -0.58 -146.1 435.9 -12.1 239 2795 0.00 1.83 0.00 0.000 4 0.000 0.066 1601 3900 2937 0 0 0 0 0 0

2903 -0.58 -146.1 450.7 -14.0 244 2907 0.00 1.67 0.00 0.000 6 0.000 0.037 1604 2807 2937 0 0 0 0 0 0

3235 -0.58 -146.1 491.4 -12.2 260 3236 0.00 0.00 0.00 0.000 6 0.000 0.000 1604 2807 2937 0 0 0 0 0 0

3544 -0.58 -146.1 529.4 -12.4 275 3548 0.00 1.83 0.00 0.000 4 0.000 0.065 1596 3906 2937 0 0 0 0 0 0

3627 -0.58 -146.1 541.2 -14.4 278 3635 0.00 1.73 0.00 0.000 6 0.000 0.037 1596 2810 2938 0 0 0 0 0 0

3943 -0.58 -146.1 582.6 -13.3 294 3947 0.00 1.83 0.00 0.000 4 0.000 0.067 1587 3897 2938 0 0 0 0 0 0

4033 -0.58 -146.1 595.6 -14.1 298 4037 0.00 1.73 0.00 0.000 6 0.000 0.038 1587 2805 2938 0 0 0 0 0 0

4364 -0.58 -146.1 641.0 -13.5 314 4368 0.00 1.80 0.00 0.000 4 0.000 0.065 1579 3907 2938 0 0 0 0 0 0

4458 -0.58 -146.1 655.1 -14.4 318 4463 0.10 1.73 0.00 0.000 6 0.183 0.036 1609 2803 2938 0 0 0 0 0 0

4785 -0.58 -146.1 693.4 -11.5 334 4786 0.00 0.00 0.00 0.000 6 0.000 0.000 1609 2803 2938 0 0 0 0 0 0

5094 -0.58 -146.1 728.5 -11.3 349 5097 0.00 1.80 0.00 0.000 4 0.000 0.066 1601 3903 2938 0 0 0 0 0 0

5171 -0.58 -146.1 738.6 -13.0 352 5176 0.00 1.73 0.00 0.000 6 0.000 0.036 1601 2806 2938 0 0 0 0 0 0

5492 -0.58 -146.1 777.3 -12.0 368 5496 0.00 1.80 0.00 0.000 4 0.000 0.065 1593 3909 2938 0 0 0 0 0 0

5565 -0.58 -146.1 787.0 -14.2 371 5568 0.00 1.70 0.00 0.000 6 0.000 0.036 1593 2807 2938 0 0 0 0 0 0

5891 -0.58 -146.1 828.9 -12.9 387 5895 0.00 1.80 0.00 0.000 4 0.000 0.065 1584 3912 2937 0 0 0 0 0 0

5936 -0.58 -146.1 834.9 -14.4 389 5940 0.10 1.70 0.00 0.000 6 0.209 0.037 1608 2802 2937 0 0 0 0 0 0

6268 -0.58 -146.1 874.4 -11.7 405 6272 0.00 1.80 0.00 0.000 4 0.000 0.065 1599 3909 2937 0 0 0 0 0 0

6322 -0.58 -146.1 881.7 -13.8 407 6327 0.00 1.73 0.00 0.000 6 0.000 0.036 1599 2810 2937 0 0 0 0 0 0

6644 -0.58 -146.1 920.5 -12.2 423 6648 0.00 1.80 0.00 0.000 4 0.000 0.066 1591 3914 2937 0 0 0 0 0 0

6721 -0.58 -146.1 931.0 -13.8 426 6726 0.00 1.73 0.00 0.000 6 0.000 0.036 1591 2807 2938 0 0 0 0 0 0

7043 -0.58 -146.1 970.9 -12.2 442 7047 0.00 1.80 0.00 0.000 4 0.000 0.065 1582 3913 2937 0 0 0 0 0 0

7088 -0.58 -146.1 977.1 -14.7 444 7092 0.12 1.70 0.00 0.000 6 0.200 0.036 1613 2802 2937 0 0 0 0 0 0

7315 end dive: TARGET_DEPTH_EXCEEDED

state 7315 begin apogee

7320 -0.16 0.0 1001.3 10.3 455 7458 0.43 0.00 132.85 1.812 6 0.161 0.000 1742 2650 2342 0 0 0 0 0 0

7459 end apogee: CONTROL_FINISHED_OK

state 7459 begin climb

7460 0.58 146.1 1004.0 0.0 462 7615 0.77 2.60 145.48 1.763 4 0.122 0.050 1986 1285 1745 0 0 0 0 0 0

7627 0.58 146.1 981.2 18.6 470 7631 0.00 2.58 0.00 0.000 6 0.000 0.053 1986 2676 1744 0 0 0 0 0 0

7953 0.58 146.1 915.4 20.5 486 7956 0.00 2.10 0.00 0.000 4 0.000 0.060 1986 3903 1736 0 0 0 0 0 0

7992 0.58 146.1 906.3 24.2 488 7995 0.00 2.03 0.00 0.000 6 0.000 0.041 1995 2700 1734 0 0 0 0 0 0

8323 0.58 146.1 834.7 21.6 504 8324 0.00 0.00 0.00 0.000 6 0.000 0.000 1996 2700 1733 0 0 0 0 0 0

8633 0.58 146.1 767.6 21.5 519 8636 0.00 2.00 0.00 0.000 4 0.000 0.061 1995 3900 1732 0 0 0 0 0 0

8659 0.58 146.1 761.1 23.3 520 8664 0.00 2.03 0.00 0.000 6 0.000 0.040 2005 2669 1732 0 0 0 0 0 0

8986 0.58 146.1 689.1 21.6 536 8990 0.00 2.05 0.00 0.000 4 0.000 0.061 2005 3910 1732 0 0 0 0 0 0

9035 0.58 146.1 677.2 24.2 538 9040 0.00 2.03 0.00 0.000 6 0.000 0.041 2015 2673 1731 0 0 0 0 0 0

9363 0.58 146.1 605.4 21.9 554 9366 0.00 2.03 0.00 0.000 4 0.000 0.060 2015 3907 1731 0 0 0 0 0 0

9400 0.58 146.1 596.1 25.4 555 9408 0.10 2.00 0.00 0.000 6 0.213 0.041 1998 2673 1730 0 0 0 0 0 0

9717 0.58 146.1 532.3 19.9 571 9720 0.00 2.03 0.00 0.000 4 0.000 0.061 1998 3900 1730 0 0 0 0 0 0

9784 0.58 146.1 517.6 22.8 574 9788 0.00 1.98 0.00 0.000 6 0.000 0.041 2006 2664 1729 0 0 0 0 0 0

10116 0.58 146.1 449.1 20.6 590 10120 0.00 2.03 0.00 0.000 4 0.000 0.061 2006 3909 1729 0 0 0 0 0 0

10130 0.58 146.1 445.3 20.5 590 10139 0.00 2.00 0.00 0.000 6 0.000 0.039 2016 2666 1730 0 0 0 0 0 0

10447 0.58 146.1 378.9 21.0 606 10451 0.00 2.03 0.00 0.000 4 0.000 0.061 2016 3902 1729 0 0 0 0 0 0

10508 0.58 146.1 364.8 23.6 608 10518 0.10 1.98 0.00 0.000 6 0.212 0.041 1998 2672 1729 0 0 0 0 0 0

10824 0.58 146.1 304.6 19.1 624 10827 0.00 2.03 0.00 0.000 4 0.000 0.060 1998 3908 1729 0 0 0 0 0 0

10873 0.58 146.1 293.8 21.5 626 10878 0.00 2.00 0.00 0.000 6 0.000 0.041 2006 2665 1729 0 0 0 0 0 0

11195 0.58 146.1 231.9 19.4 645 11199 0.00 2.03 0.00 0.000 4 0.000 0.061 2007 3903 1729 0 0 0 0 0 0

11245 0.58 146.1 220.1 22.3 649 11253 0.00 2.00 0.00 0.000 6 0.000 0.041 2016 2660 1729 0 0 0 0 0 0

11571 0.58 146.1 156.5 18.8 680 11575 0.00 2.05 0.00 0.000 4 0.000 0.061 2016 3901 1729 0 0 0 0 0 0

11608 0.58 146.1 147.8 23.8 683 11617 0.10 1.98 0.00 0.000 6 0.211 0.041 1998 2671 1728 0 0 0 0 0 0

11938 0.58 146.1 93.0 13.9 718 11945 0.00 2.00 0.00 0.000 4 0.000 0.061 1998 3911 1729 0 0 0 0 0 0

11951 0.58 146.1 90.8 14.4 720 11959 0.00 1.98 0.00 0.000 6 0.000 0.040 2006 2673 1728 0 0 0 0 0 0

12192 0.58 146.1 53.8 14.9 761 12199 0.00 2.03 0.00 0.000 4 0.000 0.065 2006 3907 1728 0 0 0 0 0 0

12277 0.58 146.1 39.4 17.5 775 12284 0.00 1.98 0.00 0.000 6 0.000 0.041 2016 2645 1728 0 0 0 0 0 0

12394 0.58 146.1 19.1 18.4 794 12402 0.00 0.00 0.00 0.000 6 0.000 0.000 2017 2645 1728 0 0 0 0 0 0

12478 0.58 146.1 5.3 18.7 807 12487 0.00 2.08 0.00 0.000 4 0.000 0.063 2016 3898 1728 0 0 0 0 0 0

12494 end climb: SURFACE_DEPTH_REACHED

state 12494 begin surface coast

12502 end surface coast: CONTROL_FINISHED_OK

state 12502 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	33	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	34	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	19	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	-21777.512	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	161214,025928,-5552.100,-35.346,46,0.8,46,-19.9	TGT_NAME	TARGET
_CALLS	1	TGT_LATLONG	-5600.000,-30.000
_XMS_NAKs	4	TGT_RADIUS	3000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.016,-0.230
_SM_DEPTHo	1.50	KALMAN_X	23783.0,-1097.2,-431.5,-58672.6,3432.0
_SM_ANGLEo	-53.8	KALMAN_Y	6790.6,-1172.2,-839.3,10350.9,13442.8
GPS2	161214,030748,-5552.018,-35.255,22,1.1,22,-19.9	MHEAD_RNG_PITCHd_Wd	195.9,15753,-17.2,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	0.9,1.027249	_10V_AH	10.1,8.842
SM_CCo	12516,24.38,0.207,0,0,1482,210.22	FG_AHR_24Vo	0.000
SM_GC	2.00,0.00,0.00,24.38,0.000,0.000,0.207,62,2800,1482,-5.44,-0.28,210.22	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5527.50,-34.49,151214,232340	MEM	354024
TT8_MAMPS	0.025466	DATA_FILE_SIZE	57084,810
HUMID	55.07	CAP_FILE_SIZE	122954,0
INTERNAL_PRESSURE	8.95509	CFSIZE	259252224,224419840
TCM_TEMP	7.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	161214,063857,-5552.343,-35.447,37,1.6,39,-19.9
_24V_AH	21.6,13.789

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	258	76.66	SBE_CT	575	23	297.91
Roll_motor	117	83	211.90	AA4330	1668	17	647.83
VBD_pump_during_apogee	278	1812	10895.13	WL_BB2F	782	105	1774.22
VBD_pump_during_surface	24	206	108.75	QSP2150	816	17	317.05
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	91	51.61	nil	0	0	0.00
Iridium_during_connect	22	160	78.56	nil	0	0	0.00
Iridium_during_xfer	335	223	1616.66	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	7.78
TT8	2073	14	302.83
LPSleep	7805	2	172.66
TT8_Active	427	14	62.45
TT8_Sampling	2585	42	1101.35
TT8_CF8	150	49	75.31
TT8_Kalman	33	68	23.04
Analog_circuits	1331	15	208.42
GPS_charging	0	0	0.00
Compass	2046	16	340.57
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
15	-0.58	-146.1	0.0	0.0	0	68	0.00	0.00	-50.50	0.000	2	0.000	0.000	56	2793	2583	0	0	0	0	0	0
70	-0.58	-146.1	3.0	-3.8	6	96	6.45	1.90	-10.18	0.000	4	0.259	0.083	1599	3895	2935	0	0	0	0	0	0
349	-0.58	-146.1	53.8	-16.4	51	356	0.00	1.77	0.00	0.000	6	0.000	0.039	1599	2804	2936	0	0	0	0	0	0
461	-0.58	-146.1	73.8	-17.3	70	470	0.00	1.85	0.00	0.000	4	0.000	0.064	1591	3897	2936	0	0	0	0	0	0
569	-0.58	-146.1	93.6	-19.2	88	577	0.00	1.75	0.00	0.000	6	0.000	0.038	1591	2809	2936	0	0	0	0	0	0
799	-0.58	-146.1	135.9	-19.1	112	803	0.00	1.83	0.00	0.000	4	0.000	0.065	1582	3909	2936	0	0	0	0	0	0
826	-0.58	-146.1	141.7	-20.1	114	836	0.08	1.77	0.00	0.000	6	0.188	0.037	1605	2799	2936	0	0	0	0	0	0
1154	-0.58	-146.1	194.9	-15.7	145	1158	0.00	1.80	0.00	0.000	4	0.000	0.065	1597	3901	2936	0	0	0	0	0	0
1215	-0.58	-146.1	205.8	-15.9	150	1226	0.00	1.75	0.00	0.000	6	0.000	0.037	1603	2808	2936	0	0	0	0	0	0
1540	-0.58	-146.1	253.7	-14.8	180	1544	0.00	1.80	0.00	0.000	4	0.000	0.065	1595	3902	2936	0	0	0	0	0	0
1634	-0.58	-146.1	269.0	-16.0	184	1639	0.00	1.75	0.00	0.000	6	0.000	0.036	1595	2806	2936	0	0	0	0	0	0
1963	-0.58	-146.1	318.2	-14.7	200	1966	0.00	1.80	0.00	0.000	4	0.000	0.066	1587	3903	2936	0	0	0	0	0	0
2078	-0.58	-146.1	336.4	-15.9	205	2082	0.00	1.67	0.00	0.000	6	0.000	0.037	1587	2808	2936	0	0	0	0	0	0
2412	-0.58	-146.1	386.1	-14.5	221	2415	0.00	1.80	0.00	0.000	4	0.000	0.065	1579	3906	2937	0	0	0	0	0	0
2459	-0.58	-146.1	393.6	-16.2	223	2464	0.12	1.70	0.00	0.000	6	0.201	0.037	1609	2805	2937	0	0	0	0	0	0
2791	-0.58	-146.1	435.9	-12.1	239	2795	0.00	1.83	0.00	0.000	4	0.000	0.066	1601	3900	2937	0	0	0	0	0	0
2903	-0.58	-146.1	450.7	-14.0	244	2907	0.00	1.67	0.00	0.000	6	0.000	0.037	1604	2807	2937	0	0	0	0	0	0
3235	-0.58	-146.1	491.4	-12.2	260	3236	0.00	0.00	0.00	0.000	6	0.000	0.000	1604	2807	2937	0	0	0	0	0	0
3544	-0.58	-146.1	529.4	-12.4	275	3548	0.00	1.83	0.00	0.000	4	0.000	0.065	1596	3906	2937	0	0	0	0	0	0
3627	-0.58	-146.1	541.2	-14.4	278	3635	0.00	1.73	0.00	0.000	6	0.000	0.037	1596	2810	2938	0	0	0	0	0	0
3943	-0.58	-146.1	582.6	-13.3	294	3947	0.00	1.83	0.00	0.000	4	0.000	0.067	1587	3897	2938	0	0	0	0	0	0
4033	-0.58	-146.1	595.6	-14.1	298	4037	0.00	1.73	0.00	0.000	6	0.000	0.038	1587	2805	2938	0	0	0	0	0	0
4364	-0.58	-146.1	641.0	-13.5	314	4368	0.00	1.80	0.00	0.000	4	0.000	0.065	1579	3907	2938	0	0	0	0	0	0
4458	-0.58	-146.1	655.1	-14.4	318	4463	0.10	1.73	0.00	0.000	6	0.183	0.036	1609	2803	2938	0	0	0	0	0	0
4785	-0.58	-146.1	693.4	-11.5	334	4786	0.00	0.00	0.00	0.000	6	0.000	0.000	1609	2803	2938	0	0	0	0	0	0
5094	-0.58	-146.1	728.5	-11.3	349	5097	0.00	1.80	0.00	0.000	4	0.000	0.066	1601	3903	2938	0	0	0	0	0	0
5171	-0.58	-146.1	738.6	-13.0	352	5176	0.00	1.73	0.00	0.000	6	0.000	0.036	1601	2806	2938	0	0	0	0	0	0
5492	-0.58	-146.1	777.3	-12.0	368	5496	0.00	1.80	0.00	0.000	4	0.000	0.065	1593	3909	2938	0	0	0	0	0	0
5565	-0.58	-146.1	787.0	-14.2	371	5568	0.00	1.70	0.00	0.000	6	0.000	0.036	1593	2807	2938	0	0	0	0	0	0
5891	-0.58	-146.1	828.9	-12.9	387	5895	0.00	1.80	0.00	0.000	4	0.000	0.065	1584	3912	2937	0	0	0	0	0	0
5936	-0.58	-146.1	834.9	-14.4	389	5940	0.10	1.70	0.00	0.000	6	0.209	0.037	1608	2802	2937	0	0	0	0	0	0
6268	-0.58	-146.1	874.4	-11.7	405	6272	0.00	1.80	0.00	0.000	4	0.000	0.065	1599	3909	2937	0	0	0	0	0	0
6322	-0.58	-146.1	881.7	-13.8	407	6327	0.00	1.73	0.00	0.000	6	0.000	0.036	1599	2810	2937	0	0	0	0	0	0
6644	-0.58	-146.1	920.5	-12.2	423	6648	0.00	1.80	0.00	0.000	4	0.000	0.066	1591	3914	2937	0	0	0	0	0	0
6721	-0.58	-146.1	931.0	-13.8	426	6726	0.00	1.73	0.00	0.000	6	0.000	0.036	1591	2807	2938	0	0	0	0	0	0
7043	-0.58	-146.1	970.9	-12.2	442	7047	0.00	1.80	0.00	0.000	4	0.000	0.065	1582	3913	2937	0	0	0	0	0	0
7088	-0.58	-146.1	977.1	-14.7	444	7092	0.12	1.70	0.00	0.000	6	0.200	0.036	1613	2802	2937	0	0	0	0	0	0
7315	end dive: TARGET_DEPTH_EXCEEDED
state	7315	begin apogee
7320	-0.16	0.0	1001.3	10.3	455	7458	0.43	0.00	132.85	1.812	6	0.161	0.000	1742	2650	2342	0	0	0	0	0	0
7459	end apogee: CONTROL_FINISHED_OK
state	7459	begin climb
7460	0.58	146.1	1004.0	0.0	462	7615	0.77	2.60	145.48	1.763	4	0.122	0.050	1986	1285	1745	0	0	0	0	0	0
7627	0.58	146.1	981.2	18.6	470	7631	0.00	2.58	0.00	0.000	6	0.000	0.053	1986	2676	1744	0	0	0	0	0	0
7953	0.58	146.1	915.4	20.5	486	7956	0.00	2.10	0.00	0.000	4	0.000	0.060	1986	3903	1736	0	0	0	0	0	0
7992	0.58	146.1	906.3	24.2	488	7995	0.00	2.03	0.00	0.000	6	0.000	0.041	1995	2700	1734	0	0	0	0	0	0
8323	0.58	146.1	834.7	21.6	504	8324	0.00	0.00	0.00	0.000	6	0.000	0.000	1996	2700	1733	0	0	0	0	0	0
8633	0.58	146.1	767.6	21.5	519	8636	0.00	2.00	0.00	0.000	4	0.000	0.061	1995	3900	1732	0	0	0	0	0	0
8659	0.58	146.1	761.1	23.3	520	8664	0.00	2.03	0.00	0.000	6	0.000	0.040	2005	2669	1732	0	0	0	0	0	0
8986	0.58	146.1	689.1	21.6	536	8990	0.00	2.05	0.00	0.000	4	0.000	0.061	2005	3910	1732	0	0	0	0	0	0
9035	0.58	146.1	677.2	24.2	538	9040	0.00	2.03	0.00	0.000	6	0.000	0.041	2015	2673	1731	0	0	0	0	0	0
9363	0.58	146.1	605.4	21.9	554	9366	0.00	2.03	0.00	0.000	4	0.000	0.060	2015	3907	1731	0	0	0	0	0	0
9400	0.58	146.1	596.1	25.4	555	9408	0.10	2.00	0.00	0.000	6	0.213	0.041	1998	2673	1730	0	0	0	0	0	0
9717	0.58	146.1	532.3	19.9	571	9720	0.00	2.03	0.00	0.000	4	0.000	0.061	1998	3900	1730	0	0	0	0	0	0
9784	0.58	146.1	517.6	22.8	574	9788	0.00	1.98	0.00	0.000	6	0.000	0.041	2006	2664	1729	0	0	0	0	0	0
10116	0.58	146.1	449.1	20.6	590	10120	0.00	2.03	0.00	0.000	4	0.000	0.061	2006	3909	1729	0	0	0	0	0	0
10130	0.58	146.1	445.3	20.5	590	10139	0.00	2.00	0.00	0.000	6	0.000	0.039	2016	2666	1730	0	0	0	0	0	0
10447	0.58	146.1	378.9	21.0	606	10451	0.00	2.03	0.00	0.000	4	0.000	0.061	2016	3902	1729	0	0	0	0	0	0
10508	0.58	146.1	364.8	23.6	608	10518	0.10	1.98	0.00	0.000	6	0.212	0.041	1998	2672	1729	0	0	0	0	0	0
10824	0.58	146.1	304.6	19.1	624	10827	0.00	2.03	0.00	0.000	4	0.000	0.060	1998	3908	1729	0	0	0	0	0	0
10873	0.58	146.1	293.8	21.5	626	10878	0.00	2.00	0.00	0.000	6	0.000	0.041	2006	2665	1729	0	0	0	0	0	0
11195	0.58	146.1	231.9	19.4	645	11199	0.00	2.03	0.00	0.000	4	0.000	0.061	2007	3903	1729	0	0	0	0	0	0
11245	0.58	146.1	220.1	22.3	649	11253	0.00	2.00	0.00	0.000	6	0.000	0.041	2016	2660	1729	0	0	0	0	0	0
11571	0.58	146.1	156.5	18.8	680	11575	0.00	2.05	0.00	0.000	4	0.000	0.061	2016	3901	1729	0	0	0	0	0	0
11608	0.58	146.1	147.8	23.8	683	11617	0.10	1.98	0.00	0.000	6	0.211	0.041	1998	2671	1728	0	0	0	0	0	0
11938	0.58	146.1	93.0	13.9	718	11945	0.00	2.00	0.00	0.000	4	0.000	0.061	1998	3911	1729	0	0	0	0	0	0
11951	0.58	146.1	90.8	14.4	720	11959	0.00	1.98	0.00	0.000	6	0.000	0.040	2006	2673	1728	0	0	0	0	0	0
12192	0.58	146.1	53.8	14.9	761	12199	0.00	2.03	0.00	0.000	4	0.000	0.065	2006	3907	1728	0	0	0	0	0	0
12277	0.58	146.1	39.4	17.5	775	12284	0.00	1.98	0.00	0.000	6	0.000	0.041	2016	2645	1728	0	0	0	0	0	0
12394	0.58	146.1	19.1	18.4	794	12402	0.00	0.00	0.00	0.000	6	0.000	0.000	2017	2645	1728	0	0	0	0	0	0
12478	0.58	146.1	5.3	18.7	807	12487	0.00	2.08	0.00	0.000	4	0.000	0.063	2016	3898	1728	0	0	0	0	0	0
12494	end climb: SURFACE_DEPTH_REACHED
state	12494	begin surface coast
12502	end surface coast: CONTROL_FINISHED_OK
state	12502	begin surface