Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 51 * 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 51 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2930 ALTIM_PING_DELTA 5

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2710 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 200 R_PORT_OVSHOOT 31 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 24 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 2.49

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 KERMIT 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 480 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3961 DEVICE2 101

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 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 0.00079999998 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 -21820.264 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 1790 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 53 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 200

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 53 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 0.00079999998 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 -21820.264

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 1790 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2710 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 2930 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 31 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 24 VBD_MAXERRORS 1

DEVICE3 35 MAX_BUOY 150 SEABIRD_C_G -9.7625904 VBD_MIN 480

DEVICE4 134 MINV_10V 8 SEABIRD_C_H 1.1369455 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.0017508121 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MISSION 9 SEABIRD_C_J 0.00021125977 VBD_TIMEOUT 720

DIVE 51 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 191214,065928,-5603.756,-30.907,46,0.8,46,-19.9 TGT_NAME TARGET

_CALLS 1 TGT_LATLONG -5600.000,-30.000

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.164,-0.015

_SM_DEPTHo 2.00 KALMAN_X 25421.4,69.9,-169.0,-57226.5,3543.2

_SM_ANGLEo -68.6 KALMAN_Y 48994.7,-909.6,-545.7,-54027.7,7042.4

GPS2 191214,070641,-5603.687,-30.871,17,0.9,17,-19.9 MHEAD_RNG_PITCHd_Wd 284.6,6888,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.1,1.016110 _10V_AH 10.1,10.934

SM_CCo 12686,25.90,0.190,0,0,1524,200.16 FG_AHR_24Vo 0.000

SM_GC 2.03,0.00,0.00,25.90,0.000,0.000,0.190,62,2937,1524,-5.40,0.20,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5538.94,-26.98,191214,030318 MEM 353952

TT8_MAMPS 0.026215 DATA_FILE_SIZE 57135,823

HUMID 55.67 CAP_FILE_SIZE 108695,0

INTERNAL_PRESSURE 8.95509 CFSIZE 259252224,223125504

TCM_TEMP 7.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 191214,104034,-5603.529,-32.366,33,0.9,33,-19.9

_24V_AH 21.7,16.706

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 250 70.10 SBE_CT 585 23 304.53

Roll_motor 62 65 88.80 AA4330 1700 17 663.51

VBD_pump_during_apogee 256 1802 10030.94 WL_BB2F 805 105 1835.14

VBD_pump_during_surface 25 189 106.63 QSP2150 836 17 326.48

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 91 50.21 nil 0 0 0.00

Iridium_during_connect 39 160 138.25 nil 0 0 0.00

Iridium_during_xfer 256 223 1243.32 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 31 6.39

TT8 2053 14 299.84

LPSleep 8172 2 180.77

TT8_Active 390 14 57.04

TT8_Sampling 2398 42 1021.68

TT8_CF8 132 49 66.36

TT8_Kalman 33 68 23.04

Analog_circuits 1193 15 186.80

GPS_charging 0 0 0.00

Compass 1924 16 320.32

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 -0.54 -73.9 0.0 0.0 0 59 0.00 0.00 -42.67 0.000 2 0.000 0.000 52 2946 2451 0 0 0 0 0 0

62 -0.59 -132.5 3.2 -4.5 5 87 6.25 0.00 -14.27 0.000 6 0.251 0.000 1589 2946 2884 0 0 0 0 0 0

162 -0.59 -132.5 18.6 -18.4 20 171 0.00 0.00 0.00 0.000 6 0.000 0.000 1589 2946 2886 0 0 0 0 0 0

245 -0.59 -132.5 34.2 -18.7 33 252 0.00 0.00 0.00 0.000 6 0.000 0.000 1589 2946 2886 0 0 0 0 0 0

359 -0.59 -132.5 56.2 -19.5 52 367 0.00 1.60 0.00 0.000 4 0.000 0.065 1582 3901 2886 0 0 0 0 0 0

416 -0.59 -132.5 67.1 -19.8 61 423 0.00 1.58 0.00 0.000 6 0.000 0.037 1582 2910 2885 0 0 0 0 0 0

528 -0.59 -132.5 88.5 -18.3 80 534 0.00 0.00 0.00 0.000 6 0.000 0.000 1583 2909 2886 0 0 0 0 0 0

759 -0.59 -132.5 129.4 -17.7 107 763 0.00 1.65 0.00 0.000 4 0.000 0.064 1574 3908 2886 0 0 0 0 0 0

794 -0.59 -132.5 136.0 -18.1 110 797 0.00 1.55 0.00 0.000 6 0.000 0.037 1579 2928 2886 0 0 0 0 0 0

1126 -0.59 -132.5 189.6 -15.6 141 1127 0.00 0.00 0.00 0.000 6 0.000 0.000 1579 2922 2886 0 0 0 0 0 0

1444 -0.59 -132.5 241.8 -17.3 171 1448 0.00 1.62 0.00 0.000 4 0.000 0.065 1571 3895 2886 0 0 0 0 0 0

1514 -0.59 -132.5 255.0 -17.9 176 1518 0.00 1.52 0.00 0.000 6 0.000 0.037 1578 2921 2886 0 0 0 0 0 0

1846 -0.59 -132.5 310.4 -15.8 192 1849 0.00 1.62 0.00 0.000 4 0.000 0.065 1571 3893 2886 0 0 0 0 0 0

1936 -0.59 -132.5 325.4 -17.6 196 1940 0.00 1.50 0.00 0.000 6 0.000 0.037 1577 2928 2886 0 0 0 0 0 0

2269 -0.59 -132.5 375.2 -14.7 212 2272 0.00 1.62 0.00 0.000 4 0.000 0.064 1571 3903 2886 0 0 0 0 0 0

2314 -0.59 -132.5 382.4 -16.4 214 2317 0.00 1.52 0.00 0.000 6 0.000 0.037 1577 2925 2886 0 0 0 0 0 0

2646 -0.59 -132.5 433.0 -15.5 230 2647 0.00 0.00 0.00 0.000 6 0.000 0.000 1578 2920 2886 0 0 0 0 0 0

2955 -0.59 -132.5 479.2 -14.8 245 2959 0.00 1.60 0.00 0.000 4 0.000 0.064 1570 3887 2886 0 0 0 0 0 0

3031 -0.59 -132.5 491.8 -16.1 248 3036 0.00 1.50 0.00 0.000 6 0.000 0.034 1576 2922 2886 0 0 0 0 0 0

3354 -0.59 -132.5 538.2 -14.4 264 3355 0.00 0.00 0.00 0.000 6 0.000 0.000 1576 2919 2886 0 0 0 0 0 0

3663 -0.59 -132.5 582.2 -14.0 279 3666 0.00 1.62 0.00 0.000 4 0.000 0.063 1569 3903 2886 0 0 0 0 0 0

3711 -0.59 -132.5 590.0 -16.0 281 3716 0.00 1.52 0.00 0.000 6 0.000 0.035 1575 2925 2886 0 0 0 0 0 0

4039 -0.59 -132.5 635.8 -14.0 297 4043 0.00 1.60 0.00 0.000 4 0.000 0.063 1568 3894 2886 0 0 0 0 0 0

4094 -0.59 -132.5 644.3 -15.1 299 4099 0.00 1.50 0.00 0.000 6 0.000 0.035 1569 2927 2886 0 0 0 0 0 0

4416 -0.59 -132.5 689.9 -13.9 315 4420 0.10 1.60 0.00 0.000 4 0.219 0.064 1584 3897 2886 0 0 0 0 0 0

4483 -0.59 -132.5 699.4 -13.9 318 4486 0.00 1.48 0.00 0.000 6 0.000 0.034 1590 2940 2887 0 0 0 0 0 0

4815 -0.59 -132.5 740.4 -12.2 334 4816 0.00 0.00 0.00 0.000 6 0.000 0.000 1590 2937 2886 0 0 0 0 0 0

5124 -0.59 -132.5 777.8 -11.9 349 5126 0.00 0.00 0.00 0.000 6 0.000 0.000 1591 2937 2886 0 0 0 0 0 0

5433 -0.59 -132.5 814.7 -11.9 364 5434 0.00 0.00 0.00 0.000 6 0.000 0.000 1590 2937 2886 0 0 0 0 0 0

5743 -0.59 -132.5 850.8 -11.5 379 5746 0.00 1.58 0.00 0.000 4 0.000 0.065 1583 3892 2886 0 0 0 0 0 0

5787 -0.59 -132.5 856.3 -12.6 381 5791 0.00 1.48 0.00 0.000 6 0.000 0.036 1587 2932 2886 0 0 0 0 0 0

6119 -0.59 -132.5 895.6 -11.6 397 6120 0.00 0.00 0.00 0.000 6 0.000 0.000 1587 2926 2886 0 0 0 0 0 0

6429 -0.59 -132.5 932.0 -11.6 412 6430 0.00 0.00 0.00 0.000 6 0.000 0.000 1587 2926 2886 0 0 0 0 0 0

6737 -0.59 -132.5 967.1 -11.0 427 6741 0.00 1.60 0.00 0.000 4 0.000 0.066 1580 3895 2886 0 0 0 0 0 0

6782 -0.59 -132.5 972.8 -13.2 429 6786 0.00 1.48 0.00 0.000 6 0.000 0.037 1581 2936 2886 0 0 0 0 0 0

7030 end dive: TARGET_DEPTH_EXCEEDED

state 7030 begin apogee

7035 -0.13 0.0 1001.3 11.3 441 7160 0.55 0.00 122.00 1.802 6 0.176 0.000 1745 2709 2341 0 0 0 0 0 0

7161 end apogee: CONTROL_FINISHED_OK

state 7161 begin climb

7162 0.59 132.5 1003.1 0.0 447 7305 0.75 0.00 134.48 1.792 6 0.124 0.000 1970 2709 1800 0 0 0 0 0 0

7613 0.59 132.5 925.2 19.0 469 7617 0.00 2.08 0.00 0.000 4 0.000 0.062 1970 3899 1791 0 0 0 0 0 0

7659 0.59 132.5 916.2 21.9 471 7663 0.00 1.95 0.00 0.000 6 0.000 0.038 1978 2737 1789 0 0 0 0 0 0

7991 0.59 132.5 850.9 19.6 487 7992 0.00 0.00 0.00 0.000 6 0.000 0.000 1979 2737 1788 0 0 0 0 0 0

8300 0.59 132.5 792.2 18.8 502 8301 0.00 0.00 0.00 0.000 6 0.000 0.000 1979 2737 1787 0 0 0 0 0 0

8609 0.59 132.5 735.7 18.0 517 8611 0.00 0.00 0.00 0.000 6 0.000 0.000 1979 2737 1786 0 0 0 0 0 0

8919 0.59 132.5 680.1 18.0 532 8923 0.00 1.92 0.00 0.000 4 0.000 0.062 1979 3896 1785 0 0 0 0 0 0

8968 0.59 132.5 670.0 21.0 534 8973 0.00 1.92 0.00 0.000 6 0.000 0.039 1988 2715 1785 0 0 0 0 0 0

9295 0.59 132.5 609.2 18.3 550 9299 0.00 1.95 0.00 0.000 4 0.000 0.061 1988 3896 1784 0 0 0 0 0 0

9341 0.59 132.5 599.9 21.2 552 9345 0.00 1.90 0.00 0.000 6 0.000 0.040 1998 2708 1784 0 0 0 0 0 0

9673 0.59 132.5 537.0 18.8 568 9674 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2708 1784 0 0 0 0 0 0

9982 0.59 132.5 479.0 18.8 583 9986 0.00 1.98 0.00 0.000 4 0.000 0.061 1998 3906 1784 0 0 0 0 0 0

10031 0.59 132.5 468.5 21.7 585 10036 0.00 1.92 0.00 0.000 6 0.000 0.040 2007 2713 1784 0 0 0 0 0 0

10358 0.59 132.5 404.3 19.6 601 10359 0.00 0.00 0.00 0.000 6 0.000 0.000 2007 2713 1783 0 0 0 0 0 0

10667 0.59 132.5 343.6 19.3 616 10669 0.00 0.00 0.00 0.000 6 0.000 0.000 2007 2713 1784 0 0 0 0 0 0

10980 0.59 132.5 284.9 18.9 631 10983 0.00 1.95 0.00 0.000 4 0.000 0.061 2007 3903 1784 0 0 0 0 0 0

11085 0.59 132.5 262.0 21.1 635 11094 0.10 1.92 0.00 0.000 6 0.211 0.039 1989 2705 1783 0 0 0 0 0 0

11411 0.59 132.5 207.9 16.2 663 11414 0.00 1.95 0.00 0.000 4 0.000 0.060 1989 3898 1783 0 0 0 0 0 0

11471 0.59 132.5 196.1 19.1 668 11482 0.00 1.90 0.00 0.000 6 0.000 0.039 1997 2710 1783 0 0 0 0 0 0

11799 0.59 132.5 144.5 15.2 699 11800 0.00 0.00 0.00 0.000 6 0.000 0.000 1997 2710 1783 0 0 0 0 0 0

12121 0.59 132.5 91.1 16.6 733 12128 0.00 1.92 0.00 0.000 4 0.000 0.062 1997 3896 1783 0 0 0 0 0 0

12185 0.59 132.5 78.1 20.2 744 12194 0.00 1.90 0.00 0.000 6 0.000 0.039 2006 2707 1783 0 0 0 0 0 0

12301 0.59 132.5 59.3 16.3 763 12308 0.00 0.00 0.00 0.000 6 0.000 0.000 2006 2707 1783 0 0 0 0 0 0

12414 0.59 132.5 40.8 16.6 782 12422 0.00 0.00 0.00 0.000 6 0.000 0.000 2006 2707 1783 0 0 0 0 0 0

12530 0.59 132.5 22.1 15.6 801 12539 0.00 0.00 0.00 0.000 6 0.000 0.000 2006 2707 1783 0 0 0 0 0 0

12614 0.59 132.5 9.2 15.3 814 12622 0.00 0.00 0.00 0.000 6 0.000 0.000 2006 2707 1783 0 0 0 0 0 0

12653 end climb: SURFACE_DEPTH_REACHED

state 12654 begin surface coast

12674 end surface coast: CONTROL_FINISHED_OK

state 12674 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	51	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2930	ALTIM_PING_DELTA	5
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2710	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	200	R_PORT_OVSHOOT	31	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	24	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	2.49
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	KERMIT	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	480	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3961	DEVICE2	101
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	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	0.00079999998	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	-21820.264	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	1790	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	53	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	191214,065928,-5603.756,-30.907,46,0.8,46,-19.9	TGT_NAME	TARGET
_CALLS	1	TGT_LATLONG	-5600.000,-30.000
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.164,-0.015
_SM_DEPTHo	2.00	KALMAN_X	25421.4,69.9,-169.0,-57226.5,3543.2
_SM_ANGLEo	-68.6	KALMAN_Y	48994.7,-909.6,-545.7,-54027.7,7042.4
GPS2	191214,070641,-5603.687,-30.871,17,0.9,17,-19.9	MHEAD_RNG_PITCHd_Wd	284.6,6888,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.1,1.016110	_10V_AH	10.1,10.934
SM_CCo	12686,25.90,0.190,0,0,1524,200.16	FG_AHR_24Vo	0.000
SM_GC	2.03,0.00,0.00,25.90,0.000,0.000,0.190,62,2937,1524,-5.40,0.20,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5538.94,-26.98,191214,030318	MEM	353952
TT8_MAMPS	0.026215	DATA_FILE_SIZE	57135,823
HUMID	55.67	CAP_FILE_SIZE	108695,0
INTERNAL_PRESSURE	8.95509	CFSIZE	259252224,223125504
TCM_TEMP	7.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	191214,104034,-5603.529,-32.366,33,0.9,33,-19.9
_24V_AH	21.7,16.706

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	250	70.10	SBE_CT	585	23	304.53
Roll_motor	62	65	88.80	AA4330	1700	17	663.51
VBD_pump_during_apogee	256	1802	10030.94	WL_BB2F	805	105	1835.14
VBD_pump_during_surface	25	189	106.63	QSP2150	836	17	326.48
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	91	50.21	nil	0	0	0.00
Iridium_during_connect	39	160	138.25	nil	0	0	0.00
Iridium_during_xfer	256	223	1243.32	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	31	6.39
TT8	2053	14	299.84
LPSleep	8172	2	180.77
TT8_Active	390	14	57.04
TT8_Sampling	2398	42	1021.68
TT8_CF8	132	49	66.36
TT8_Kalman	33	68	23.04
Analog_circuits	1193	15	186.80
GPS_charging	0	0	0.00
Compass	1924	16	320.32
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	-0.54	-73.9	0.0	0.0	0	59	0.00	0.00	-42.67	0.000	2	0.000	0.000	52	2946	2451	0	0	0	0	0	0
62	-0.59	-132.5	3.2	-4.5	5	87	6.25	0.00	-14.27	0.000	6	0.251	0.000	1589	2946	2884	0	0	0	0	0	0
162	-0.59	-132.5	18.6	-18.4	20	171	0.00	0.00	0.00	0.000	6	0.000	0.000	1589	2946	2886	0	0	0	0	0	0
245	-0.59	-132.5	34.2	-18.7	33	252	0.00	0.00	0.00	0.000	6	0.000	0.000	1589	2946	2886	0	0	0	0	0	0
359	-0.59	-132.5	56.2	-19.5	52	367	0.00	1.60	0.00	0.000	4	0.000	0.065	1582	3901	2886	0	0	0	0	0	0
416	-0.59	-132.5	67.1	-19.8	61	423	0.00	1.58	0.00	0.000	6	0.000	0.037	1582	2910	2885	0	0	0	0	0	0
528	-0.59	-132.5	88.5	-18.3	80	534	0.00	0.00	0.00	0.000	6	0.000	0.000	1583	2909	2886	0	0	0	0	0	0
759	-0.59	-132.5	129.4	-17.7	107	763	0.00	1.65	0.00	0.000	4	0.000	0.064	1574	3908	2886	0	0	0	0	0	0
794	-0.59	-132.5	136.0	-18.1	110	797	0.00	1.55	0.00	0.000	6	0.000	0.037	1579	2928	2886	0	0	0	0	0	0
1126	-0.59	-132.5	189.6	-15.6	141	1127	0.00	0.00	0.00	0.000	6	0.000	0.000	1579	2922	2886	0	0	0	0	0	0
1444	-0.59	-132.5	241.8	-17.3	171	1448	0.00	1.62	0.00	0.000	4	0.000	0.065	1571	3895	2886	0	0	0	0	0	0
1514	-0.59	-132.5	255.0	-17.9	176	1518	0.00	1.52	0.00	0.000	6	0.000	0.037	1578	2921	2886	0	0	0	0	0	0
1846	-0.59	-132.5	310.4	-15.8	192	1849	0.00	1.62	0.00	0.000	4	0.000	0.065	1571	3893	2886	0	0	0	0	0	0
1936	-0.59	-132.5	325.4	-17.6	196	1940	0.00	1.50	0.00	0.000	6	0.000	0.037	1577	2928	2886	0	0	0	0	0	0
2269	-0.59	-132.5	375.2	-14.7	212	2272	0.00	1.62	0.00	0.000	4	0.000	0.064	1571	3903	2886	0	0	0	0	0	0
2314	-0.59	-132.5	382.4	-16.4	214	2317	0.00	1.52	0.00	0.000	6	0.000	0.037	1577	2925	2886	0	0	0	0	0	0
2646	-0.59	-132.5	433.0	-15.5	230	2647	0.00	0.00	0.00	0.000	6	0.000	0.000	1578	2920	2886	0	0	0	0	0	0
2955	-0.59	-132.5	479.2	-14.8	245	2959	0.00	1.60	0.00	0.000	4	0.000	0.064	1570	3887	2886	0	0	0	0	0	0
3031	-0.59	-132.5	491.8	-16.1	248	3036	0.00	1.50	0.00	0.000	6	0.000	0.034	1576	2922	2886	0	0	0	0	0	0
3354	-0.59	-132.5	538.2	-14.4	264	3355	0.00	0.00	0.00	0.000	6	0.000	0.000	1576	2919	2886	0	0	0	0	0	0
3663	-0.59	-132.5	582.2	-14.0	279	3666	0.00	1.62	0.00	0.000	4	0.000	0.063	1569	3903	2886	0	0	0	0	0	0
3711	-0.59	-132.5	590.0	-16.0	281	3716	0.00	1.52	0.00	0.000	6	0.000	0.035	1575	2925	2886	0	0	0	0	0	0
4039	-0.59	-132.5	635.8	-14.0	297	4043	0.00	1.60	0.00	0.000	4	0.000	0.063	1568	3894	2886	0	0	0	0	0	0
4094	-0.59	-132.5	644.3	-15.1	299	4099	0.00	1.50	0.00	0.000	6	0.000	0.035	1569	2927	2886	0	0	0	0	0	0
4416	-0.59	-132.5	689.9	-13.9	315	4420	0.10	1.60	0.00	0.000	4	0.219	0.064	1584	3897	2886	0	0	0	0	0	0
4483	-0.59	-132.5	699.4	-13.9	318	4486	0.00	1.48	0.00	0.000	6	0.000	0.034	1590	2940	2887	0	0	0	0	0	0
4815	-0.59	-132.5	740.4	-12.2	334	4816	0.00	0.00	0.00	0.000	6	0.000	0.000	1590	2937	2886	0	0	0	0	0	0
5124	-0.59	-132.5	777.8	-11.9	349	5126	0.00	0.00	0.00	0.000	6	0.000	0.000	1591	2937	2886	0	0	0	0	0	0
5433	-0.59	-132.5	814.7	-11.9	364	5434	0.00	0.00	0.00	0.000	6	0.000	0.000	1590	2937	2886	0	0	0	0	0	0
5743	-0.59	-132.5	850.8	-11.5	379	5746	0.00	1.58	0.00	0.000	4	0.000	0.065	1583	3892	2886	0	0	0	0	0	0
5787	-0.59	-132.5	856.3	-12.6	381	5791	0.00	1.48	0.00	0.000	6	0.000	0.036	1587	2932	2886	0	0	0	0	0	0
6119	-0.59	-132.5	895.6	-11.6	397	6120	0.00	0.00	0.00	0.000	6	0.000	0.000	1587	2926	2886	0	0	0	0	0	0
6429	-0.59	-132.5	932.0	-11.6	412	6430	0.00	0.00	0.00	0.000	6	0.000	0.000	1587	2926	2886	0	0	0	0	0	0
6737	-0.59	-132.5	967.1	-11.0	427	6741	0.00	1.60	0.00	0.000	4	0.000	0.066	1580	3895	2886	0	0	0	0	0	0
6782	-0.59	-132.5	972.8	-13.2	429	6786	0.00	1.48	0.00	0.000	6	0.000	0.037	1581	2936	2886	0	0	0	0	0	0
7030	end dive: TARGET_DEPTH_EXCEEDED
state	7030	begin apogee
7035	-0.13	0.0	1001.3	11.3	441	7160	0.55	0.00	122.00	1.802	6	0.176	0.000	1745	2709	2341	0	0	0	0	0	0
7161	end apogee: CONTROL_FINISHED_OK
state	7161	begin climb
7162	0.59	132.5	1003.1	0.0	447	7305	0.75	0.00	134.48	1.792	6	0.124	0.000	1970	2709	1800	0	0	0	0	0	0
7613	0.59	132.5	925.2	19.0	469	7617	0.00	2.08	0.00	0.000	4	0.000	0.062	1970	3899	1791	0	0	0	0	0	0
7659	0.59	132.5	916.2	21.9	471	7663	0.00	1.95	0.00	0.000	6	0.000	0.038	1978	2737	1789	0	0	0	0	0	0
7991	0.59	132.5	850.9	19.6	487	7992	0.00	0.00	0.00	0.000	6	0.000	0.000	1979	2737	1788	0	0	0	0	0	0
8300	0.59	132.5	792.2	18.8	502	8301	0.00	0.00	0.00	0.000	6	0.000	0.000	1979	2737	1787	0	0	0	0	0	0
8609	0.59	132.5	735.7	18.0	517	8611	0.00	0.00	0.00	0.000	6	0.000	0.000	1979	2737	1786	0	0	0	0	0	0
8919	0.59	132.5	680.1	18.0	532	8923	0.00	1.92	0.00	0.000	4	0.000	0.062	1979	3896	1785	0	0	0	0	0	0
8968	0.59	132.5	670.0	21.0	534	8973	0.00	1.92	0.00	0.000	6	0.000	0.039	1988	2715	1785	0	0	0	0	0	0
9295	0.59	132.5	609.2	18.3	550	9299	0.00	1.95	0.00	0.000	4	0.000	0.061	1988	3896	1784	0	0	0	0	0	0
9341	0.59	132.5	599.9	21.2	552	9345	0.00	1.90	0.00	0.000	6	0.000	0.040	1998	2708	1784	0	0	0	0	0	0
9673	0.59	132.5	537.0	18.8	568	9674	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2708	1784	0	0	0	0	0	0
9982	0.59	132.5	479.0	18.8	583	9986	0.00	1.98	0.00	0.000	4	0.000	0.061	1998	3906	1784	0	0	0	0	0	0
10031	0.59	132.5	468.5	21.7	585	10036	0.00	1.92	0.00	0.000	6	0.000	0.040	2007	2713	1784	0	0	0	0	0	0
10358	0.59	132.5	404.3	19.6	601	10359	0.00	0.00	0.00	0.000	6	0.000	0.000	2007	2713	1783	0	0	0	0	0	0
10667	0.59	132.5	343.6	19.3	616	10669	0.00	0.00	0.00	0.000	6	0.000	0.000	2007	2713	1784	0	0	0	0	0	0
10980	0.59	132.5	284.9	18.9	631	10983	0.00	1.95	0.00	0.000	4	0.000	0.061	2007	3903	1784	0	0	0	0	0	0
11085	0.59	132.5	262.0	21.1	635	11094	0.10	1.92	0.00	0.000	6	0.211	0.039	1989	2705	1783	0	0	0	0	0	0
11411	0.59	132.5	207.9	16.2	663	11414	0.00	1.95	0.00	0.000	4	0.000	0.060	1989	3898	1783	0	0	0	0	0	0
11471	0.59	132.5	196.1	19.1	668	11482	0.00	1.90	0.00	0.000	6	0.000	0.039	1997	2710	1783	0	0	0	0	0	0
11799	0.59	132.5	144.5	15.2	699	11800	0.00	0.00	0.00	0.000	6	0.000	0.000	1997	2710	1783	0	0	0	0	0	0
12121	0.59	132.5	91.1	16.6	733	12128	0.00	1.92	0.00	0.000	4	0.000	0.062	1997	3896	1783	0	0	0	0	0	0
12185	0.59	132.5	78.1	20.2	744	12194	0.00	1.90	0.00	0.000	6	0.000	0.039	2006	2707	1783	0	0	0	0	0	0
12301	0.59	132.5	59.3	16.3	763	12308	0.00	0.00	0.00	0.000	6	0.000	0.000	2006	2707	1783	0	0	0	0	0	0
12414	0.59	132.5	40.8	16.6	782	12422	0.00	0.00	0.00	0.000	6	0.000	0.000	2006	2707	1783	0	0	0	0	0	0
12530	0.59	132.5	22.1	15.6	801	12539	0.00	0.00	0.00	0.000	6	0.000	0.000	2006	2707	1783	0	0	0	0	0	0
12614	0.59	132.5	9.2	15.3	814	12622	0.00	0.00	0.00	0.000	6	0.000	0.000	2006	2707	1783	0	0	0	0	0	0
12653	end climb: SURFACE_DEPTH_REACHED
state	12654	begin surface coast
12674	end surface coast: CONTROL_FINISHED_OK
state	12674	begin surface