Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 56 * 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 56 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 26 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 25 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 -21831.922 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 -21831.922

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 26 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 25 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 56 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 201214,005836,-5601.487,-32.135,25,0.8,26,-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 0.063,-0.153

_SM_DEPTHo 2.03 KALMAN_X 26351.8,-384.3,-329.8,-58857.6,2098.8

_SM_ANGLEo -74.1 KALMAN_Y 49730.5,64.2,22.7,-52118.5,2896.4

GPS2 201214,010627,-5601.411,-32.152,26,1.5,39,-19.9 MHEAD_RNG_PITCHd_Wd 177.6,3434,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.2,1.026656 _10V_AH 10.1,11.435

SM_CCo 11774,20.23,0.190,0,0,1525,200.16 FG_AHR_24Vo 0.000

SM_GC 3.15,0.00,0.00,20.23,0.000,0.000,0.190,61,2926,1525,-5.40,-0.11,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5538.94,-30.83,191214,212127 MEM 354028

TT8_MAMPS 0.026215 DATA_FILE_SIZE 53621,774

HUMID 56.53 CAP_FILE_SIZE 110985,0

INTERNAL_PRESSURE 8.96486 CFSIZE 259252224,222810112

TCM_TEMP 7.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 201214,042504,-5602.528,-31.505,33,1.1,33,-19.9

_24V_AH 21.6,17.472

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 259 76.04 SBE_CT 549 23 284.47

Roll_motor 90 84 165.81 AA4330 1614 17 627.03

VBD_pump_during_apogee 282 1806 11025.89 WL_BB2F 789 105 1789.47

VBD_pump_during_surface 20 190 83.22 QSP2150 808 17 314.06

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 91 55.94 nil 0 0 0.00

Iridium_during_connect 41 160 143.14 nil 0 0 0.00

Iridium_during_xfer 267 223 1290.33 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 41 31 13.18

TT8 1938 14 283.17

LPSleep 7399 2 163.66

TT8_Active 419 14 61.23

TT8_Sampling 2366 42 1007.93

TT8_CF8 143 49 72.12

TT8_Kalman 33 68 23.04

Analog_circuits 1228 15 192.37

GPS_charging 0 0 0.00

Compass 1864 16 310.39

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 -42.85 0.000 2 0.000 0.000 53 2932 2474 0 0 0 0 0 0

61 -0.60 -146.1 3.0 -3.3 5 89 6.38 1.65 -15.75 0.000 4 0.259 0.085 1578 3896 2939 0 0 0 0 0 0

338 -0.60 -146.1 55.3 -20.0 50 348 0.00 1.58 0.00 0.000 6 0.000 0.037 1579 2906 2941 0 0 0 0 0 0

454 -0.60 -146.1 77.8 -19.6 69 461 0.00 0.00 0.00 0.000 6 0.000 0.000 1579 2905 2941 0 0 0 0 0 0

566 -0.60 -146.1 99.0 -18.8 88 573 0.00 1.67 0.00 0.000 4 0.000 0.064 1572 3900 2941 0 0 0 0 0 0

628 -0.60 -146.1 111.2 -19.2 94 638 0.00 1.52 0.00 0.000 6 0.000 0.037 1572 2928 2942 0 0 0 0 0 0

956 -0.60 -146.1 170.0 -18.0 125 959 0.00 1.62 0.00 0.000 4 0.000 0.064 1565 3900 2942 0 0 0 0 0 0

1017 -0.60 -146.1 182.1 -18.6 130 1027 0.05 1.52 0.00 0.000 6 0.198 0.036 1580 2925 2942 0 0 0 0 0 0

1344 -0.60 -146.1 236.4 -16.2 161 1345 0.00 0.00 0.00 0.000 6 0.000 0.000 1580 2925 2942 0 0 0 0 0 0

1653 -0.60 -146.1 288.4 -16.6 180 1657 0.00 1.62 0.00 0.000 4 0.000 0.065 1572 3900 2941 0 0 0 0 0 0

1744 -0.60 -146.1 304.7 -18.3 184 1748 0.00 1.52 0.00 0.000 6 0.000 0.036 1579 2923 2941 0 0 0 0 0 0

2076 -0.60 -146.1 359.0 -16.1 200 2079 0.00 1.62 0.00 0.000 4 0.000 0.064 1571 3898 2941 0 0 0 0 0 0

2114 -0.60 -146.1 365.8 -17.3 201 2122 0.00 1.50 0.00 0.000 6 0.000 0.036 1576 2921 2941 0 0 0 0 0 0

2430 -0.60 -146.1 414.7 -15.2 217 2433 0.00 1.62 0.00 0.000 4 0.000 0.063 1567 3903 2942 0 0 0 0 0 0

2497 -0.60 -146.1 426.2 -17.6 220 2501 0.00 1.50 0.00 0.000 6 0.000 0.036 1568 2938 2942 0 0 0 0 0 0

2829 -0.60 -146.1 479.4 -16.0 236 2830 0.00 0.00 0.00 0.000 6 0.000 0.000 1568 2933 2942 0 0 0 0 0 0

3138 -0.60 -146.1 530.2 -16.7 251 3142 0.00 1.60 0.00 0.000 4 0.000 0.063 1561 3903 2942 0 0 0 0 0 0

3199 -0.60 -146.1 541.0 -17.7 253 3207 0.08 1.50 0.00 0.000 6 0.190 0.036 1583 2929 2942 0 0 0 0 0 0

3514 -0.60 -146.1 588.0 -14.8 269 3518 0.00 1.60 0.00 0.000 4 0.000 0.064 1576 3897 2942 0 0 0 0 0 0

3551 -0.60 -146.1 594.2 -15.5 270 3560 0.00 1.52 0.00 0.000 6 0.000 0.034 1579 2917 2942 0 0 0 0 0 0

3868 -0.60 -146.1 641.6 -15.1 286 3872 0.00 1.62 0.00 0.000 4 0.000 0.063 1572 3900 2942 0 0 0 0 0 0

3917 -0.60 -146.1 649.8 -15.6 288 3922 0.00 1.50 0.00 0.000 6 0.000 0.034 1571 2929 2942 0 0 0 0 0 0

4245 -0.60 -146.1 699.4 -15.1 304 4246 0.00 0.00 0.00 0.000 6 0.000 0.000 1571 2924 2942 0 0 0 0 0 0

4555 -0.60 -146.1 745.8 -15.1 319 4558 0.00 1.60 0.00 0.000 4 0.000 0.065 1564 3895 2942 0 0 0 0 0 0

4599 -0.60 -146.1 753.3 -16.6 321 4604 0.08 1.50 0.00 0.000 6 0.190 0.037 1586 2929 2942 0 0 0 0 0 0

4932 -0.60 -146.1 801.0 -14.3 337 4933 0.00 0.00 0.00 0.000 6 0.000 0.000 1586 2928 2942 0 0 0 0 0 0

5240 -0.60 -146.1 844.9 -14.3 352 5244 0.00 1.60 0.00 0.000 4 0.000 0.064 1579 3896 2942 0 0 0 0 0 0

5272 -0.60 -146.1 850.0 -16.3 353 5277 0.00 1.52 0.00 0.000 6 0.000 0.034 1579 2918 2942 0 0 0 0 0 0

5595 -0.60 -146.1 898.8 -15.1 369 5596 0.00 0.00 0.00 0.000 6 0.000 0.000 1579 2916 2942 0 0 0 0 0 0

5903 -0.60 -146.1 945.4 -14.8 384 5907 0.00 1.62 0.00 0.000 4 0.000 0.064 1572 3903 2942 0 0 0 0 0 0

5941 -0.60 -146.1 951.8 -17.2 385 5949 0.00 1.52 0.00 0.000 6 0.000 0.035 1572 2919 2942 0 0 0 0 0 0

6256 end dive: TARGET_DEPTH_EXCEEDED

state 6256 begin apogee

6261 -0.13 0.0 1000.1 15.2 401 6399 0.57 0.00 134.32 1.807 6 0.182 0.000 1739 2711 2342 0 0 0 0 0 0

6400 end apogee: CONTROL_FINISHED_OK

state 6400 begin climb

6402 0.60 146.1 1005.9 0.0 408 6558 0.80 2.55 148.18 1.774 4 0.126 0.048 1987 1328 1745 0 0 0 0 0 0

6562 0.60 146.1 986.8 17.3 415 6570 0.00 2.58 0.00 0.000 6 0.000 0.049 1987 2717 1743 0 0 0 0 0 0

6878 0.60 146.1 926.9 19.5 431 6879 0.00 0.00 0.00 0.000 6 0.000 0.000 1987 2717 1737 0 0 0 0 0 0

7188 0.60 146.1 867.7 18.9 446 7192 0.00 1.98 0.00 0.000 4 0.000 0.060 1987 3894 1735 0 0 0 0 0 0

7225 0.60 146.1 859.4 21.1 447 7234 0.00 1.92 0.00 0.000 6 0.000 0.039 1995 2741 1733 0 0 0 0 0 0

7542 0.60 146.1 795.2 20.1 463 7543 0.00 0.00 0.00 0.000 6 0.000 0.000 1996 2740 1732 0 0 0 0 0 0

7852 0.60 146.1 732.2 20.1 478 7856 0.00 1.95 0.00 0.000 4 0.000 0.060 1996 3893 1732 0 0 0 0 0 0

7878 0.60 146.1 726.1 21.6 479 7883 0.00 1.95 0.00 0.000 6 0.000 0.039 2005 2700 1732 0 0 0 0 0 0

8205 0.60 146.1 657.6 20.8 495 8209 0.00 1.98 0.00 0.000 4 0.000 0.060 2005 3893 1731 0 0 0 0 0 0

8243 0.60 146.1 648.7 22.9 496 8251 0.00 1.92 0.00 0.000 6 0.000 0.040 2014 2715 1730 0 0 0 0 0 0

8559 0.60 146.1 579.2 21.9 512 8563 0.00 1.95 0.00 0.000 4 0.000 0.060 2014 3897 1730 0 0 0 0 0 0

8604 0.60 146.1 568.6 24.4 514 8608 0.15 1.92 0.00 0.000 6 0.225 0.041 1990 2693 1730 0 0 0 0 0 0

8930 0.60 146.1 504.4 19.3 530 8934 0.00 1.98 0.00 0.000 4 0.000 0.060 1990 3894 1730 0 0 0 0 0 0

8967 0.60 146.1 496.0 21.5 531 8977 0.00 1.92 0.00 0.000 6 0.000 0.039 1998 2706 1730 0 0 0 0 0 0

9284 0.60 146.1 434.2 19.4 547 9288 0.00 1.95 0.00 0.000 4 0.000 0.060 1998 3892 1730 0 0 0 0 0 0

9316 0.60 146.1 427.0 21.3 548 9321 0.00 1.90 0.00 0.000 6 0.000 0.038 2007 2716 1730 0 0 0 0 0 0

9638 0.60 146.1 365.0 18.7 564 9642 0.00 1.95 0.00 0.000 4 0.000 0.060 2007 3903 1729 0 0 0 0 0 0

9684 0.60 146.1 355.8 20.8 566 9688 0.12 1.88 0.00 0.000 6 0.228 0.040 1989 2709 1729 0 0 0 0 0 0

10015 0.60 146.1 298.5 17.8 582 10019 0.00 1.95 0.00 0.000 4 0.000 0.060 1989 3900 1729 0 0 0 0 0 0

10040 0.60 146.1 294.2 18.8 583 10043 0.00 1.90 0.00 0.000 6 0.000 0.039 1997 2698 1729 0 0 0 0 0 0

10364 0.60 146.1 234.6 18.4 602 10368 0.00 1.95 0.00 0.000 4 0.000 0.060 1997 3892 1729 0 0 0 0 0 0

10433 0.60 146.1 220.9 20.4 608 10437 0.00 1.88 0.00 0.000 6 0.000 0.038 2007 2701 1729 0 0 0 0 0 0

10765 0.60 146.1 163.3 17.3 639 10769 0.00 1.95 0.00 0.000 4 0.000 0.060 2006 3895 1729 0 0 0 0 0 0

10825 0.60 146.1 150.8 20.1 644 10837 0.10 1.90 0.00 0.000 6 0.208 0.038 1988 2711 1729 0 0 0 0 0 0

11153 0.60 146.1 99.8 16.5 675 11162 0.00 2.25 0.00 0.000 4 0.000 0.049 1998 1287 1729 0 0 0 0 0 0

11183 0.60 146.1 95.4 16.3 679 11190 0.00 2.25 0.00 0.000 6 0.000 0.054 1997 2720 1729 0 0 0 0 0 0

11422 0.60 146.1 55.8 16.2 720 11431 0.00 1.90 0.00 0.000 4 0.000 0.063 1998 3884 1729 0 0 0 0 0 0

11449 0.60 146.1 51.0 17.8 724 11458 0.00 1.88 0.00 0.000 6 0.000 0.039 2007 2711 1729 0 0 0 0 0 0

11565 0.60 146.1 31.7 16.8 743 11571 0.00 0.00 0.00 0.000 6 0.000 0.000 2006 2711 1729 0 0 0 0 0 0

11684 0.60 146.1 12.4 15.6 762 11692 0.00 0.00 0.00 0.000 6 0.000 0.000 2007 2711 1729 0 0 0 0 0 0

11742 end climb: SURFACE_DEPTH_REACHED

state 11742 begin surface coast

11762 end surface coast: CONTROL_FINISHED_OK

state 11762 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	56	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	26	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	25	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	-21831.922	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	201214,005836,-5601.487,-32.135,25,0.8,26,-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	0.063,-0.153
_SM_DEPTHo	2.03	KALMAN_X	26351.8,-384.3,-329.8,-58857.6,2098.8
_SM_ANGLEo	-74.1	KALMAN_Y	49730.5,64.2,22.7,-52118.5,2896.4
GPS2	201214,010627,-5601.411,-32.152,26,1.5,39,-19.9	MHEAD_RNG_PITCHd_Wd	177.6,3434,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.2,1.026656	_10V_AH	10.1,11.435
SM_CCo	11774,20.23,0.190,0,0,1525,200.16	FG_AHR_24Vo	0.000
SM_GC	3.15,0.00,0.00,20.23,0.000,0.000,0.190,61,2926,1525,-5.40,-0.11,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5538.94,-30.83,191214,212127	MEM	354028
TT8_MAMPS	0.026215	DATA_FILE_SIZE	53621,774
HUMID	56.53	CAP_FILE_SIZE	110985,0
INTERNAL_PRESSURE	8.96486	CFSIZE	259252224,222810112
TCM_TEMP	7.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	201214,042504,-5602.528,-31.505,33,1.1,33,-19.9
_24V_AH	21.6,17.472

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	259	76.04	SBE_CT	549	23	284.47
Roll_motor	90	84	165.81	AA4330	1614	17	627.03
VBD_pump_during_apogee	282	1806	11025.89	WL_BB2F	789	105	1789.47
VBD_pump_during_surface	20	190	83.22	QSP2150	808	17	314.06
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	91	55.94	nil	0	0	0.00
Iridium_during_connect	41	160	143.14	nil	0	0	0.00
Iridium_during_xfer	267	223	1290.33	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	41	31	13.18
TT8	1938	14	283.17
LPSleep	7399	2	163.66
TT8_Active	419	14	61.23
TT8_Sampling	2366	42	1007.93
TT8_CF8	143	49	72.12
TT8_Kalman	33	68	23.04
Analog_circuits	1228	15	192.37
GPS_charging	0	0	0.00
Compass	1864	16	310.39
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	-42.85	0.000	2	0.000	0.000	53	2932	2474	0	0	0	0	0	0
61	-0.60	-146.1	3.0	-3.3	5	89	6.38	1.65	-15.75	0.000	4	0.259	0.085	1578	3896	2939	0	0	0	0	0	0
338	-0.60	-146.1	55.3	-20.0	50	348	0.00	1.58	0.00	0.000	6	0.000	0.037	1579	2906	2941	0	0	0	0	0	0
454	-0.60	-146.1	77.8	-19.6	69	461	0.00	0.00	0.00	0.000	6	0.000	0.000	1579	2905	2941	0	0	0	0	0	0
566	-0.60	-146.1	99.0	-18.8	88	573	0.00	1.67	0.00	0.000	4	0.000	0.064	1572	3900	2941	0	0	0	0	0	0
628	-0.60	-146.1	111.2	-19.2	94	638	0.00	1.52	0.00	0.000	6	0.000	0.037	1572	2928	2942	0	0	0	0	0	0
956	-0.60	-146.1	170.0	-18.0	125	959	0.00	1.62	0.00	0.000	4	0.000	0.064	1565	3900	2942	0	0	0	0	0	0
1017	-0.60	-146.1	182.1	-18.6	130	1027	0.05	1.52	0.00	0.000	6	0.198	0.036	1580	2925	2942	0	0	0	0	0	0
1344	-0.60	-146.1	236.4	-16.2	161	1345	0.00	0.00	0.00	0.000	6	0.000	0.000	1580	2925	2942	0	0	0	0	0	0
1653	-0.60	-146.1	288.4	-16.6	180	1657	0.00	1.62	0.00	0.000	4	0.000	0.065	1572	3900	2941	0	0	0	0	0	0
1744	-0.60	-146.1	304.7	-18.3	184	1748	0.00	1.52	0.00	0.000	6	0.000	0.036	1579	2923	2941	0	0	0	0	0	0
2076	-0.60	-146.1	359.0	-16.1	200	2079	0.00	1.62	0.00	0.000	4	0.000	0.064	1571	3898	2941	0	0	0	0	0	0
2114	-0.60	-146.1	365.8	-17.3	201	2122	0.00	1.50	0.00	0.000	6	0.000	0.036	1576	2921	2941	0	0	0	0	0	0
2430	-0.60	-146.1	414.7	-15.2	217	2433	0.00	1.62	0.00	0.000	4	0.000	0.063	1567	3903	2942	0	0	0	0	0	0
2497	-0.60	-146.1	426.2	-17.6	220	2501	0.00	1.50	0.00	0.000	6	0.000	0.036	1568	2938	2942	0	0	0	0	0	0
2829	-0.60	-146.1	479.4	-16.0	236	2830	0.00	0.00	0.00	0.000	6	0.000	0.000	1568	2933	2942	0	0	0	0	0	0
3138	-0.60	-146.1	530.2	-16.7	251	3142	0.00	1.60	0.00	0.000	4	0.000	0.063	1561	3903	2942	0	0	0	0	0	0
3199	-0.60	-146.1	541.0	-17.7	253	3207	0.08	1.50	0.00	0.000	6	0.190	0.036	1583	2929	2942	0	0	0	0	0	0
3514	-0.60	-146.1	588.0	-14.8	269	3518	0.00	1.60	0.00	0.000	4	0.000	0.064	1576	3897	2942	0	0	0	0	0	0
3551	-0.60	-146.1	594.2	-15.5	270	3560	0.00	1.52	0.00	0.000	6	0.000	0.034	1579	2917	2942	0	0	0	0	0	0
3868	-0.60	-146.1	641.6	-15.1	286	3872	0.00	1.62	0.00	0.000	4	0.000	0.063	1572	3900	2942	0	0	0	0	0	0
3917	-0.60	-146.1	649.8	-15.6	288	3922	0.00	1.50	0.00	0.000	6	0.000	0.034	1571	2929	2942	0	0	0	0	0	0
4245	-0.60	-146.1	699.4	-15.1	304	4246	0.00	0.00	0.00	0.000	6	0.000	0.000	1571	2924	2942	0	0	0	0	0	0
4555	-0.60	-146.1	745.8	-15.1	319	4558	0.00	1.60	0.00	0.000	4	0.000	0.065	1564	3895	2942	0	0	0	0	0	0
4599	-0.60	-146.1	753.3	-16.6	321	4604	0.08	1.50	0.00	0.000	6	0.190	0.037	1586	2929	2942	0	0	0	0	0	0
4932	-0.60	-146.1	801.0	-14.3	337	4933	0.00	0.00	0.00	0.000	6	0.000	0.000	1586	2928	2942	0	0	0	0	0	0
5240	-0.60	-146.1	844.9	-14.3	352	5244	0.00	1.60	0.00	0.000	4	0.000	0.064	1579	3896	2942	0	0	0	0	0	0
5272	-0.60	-146.1	850.0	-16.3	353	5277	0.00	1.52	0.00	0.000	6	0.000	0.034	1579	2918	2942	0	0	0	0	0	0
5595	-0.60	-146.1	898.8	-15.1	369	5596	0.00	0.00	0.00	0.000	6	0.000	0.000	1579	2916	2942	0	0	0	0	0	0
5903	-0.60	-146.1	945.4	-14.8	384	5907	0.00	1.62	0.00	0.000	4	0.000	0.064	1572	3903	2942	0	0	0	0	0	0
5941	-0.60	-146.1	951.8	-17.2	385	5949	0.00	1.52	0.00	0.000	6	0.000	0.035	1572	2919	2942	0	0	0	0	0	0
6256	end dive: TARGET_DEPTH_EXCEEDED
state	6256	begin apogee
6261	-0.13	0.0	1000.1	15.2	401	6399	0.57	0.00	134.32	1.807	6	0.182	0.000	1739	2711	2342	0	0	0	0	0	0
6400	end apogee: CONTROL_FINISHED_OK
state	6400	begin climb
6402	0.60	146.1	1005.9	0.0	408	6558	0.80	2.55	148.18	1.774	4	0.126	0.048	1987	1328	1745	0	0	0	0	0	0
6562	0.60	146.1	986.8	17.3	415	6570	0.00	2.58	0.00	0.000	6	0.000	0.049	1987	2717	1743	0	0	0	0	0	0
6878	0.60	146.1	926.9	19.5	431	6879	0.00	0.00	0.00	0.000	6	0.000	0.000	1987	2717	1737	0	0	0	0	0	0
7188	0.60	146.1	867.7	18.9	446	7192	0.00	1.98	0.00	0.000	4	0.000	0.060	1987	3894	1735	0	0	0	0	0	0
7225	0.60	146.1	859.4	21.1	447	7234	0.00	1.92	0.00	0.000	6	0.000	0.039	1995	2741	1733	0	0	0	0	0	0
7542	0.60	146.1	795.2	20.1	463	7543	0.00	0.00	0.00	0.000	6	0.000	0.000	1996	2740	1732	0	0	0	0	0	0
7852	0.60	146.1	732.2	20.1	478	7856	0.00	1.95	0.00	0.000	4	0.000	0.060	1996	3893	1732	0	0	0	0	0	0
7878	0.60	146.1	726.1	21.6	479	7883	0.00	1.95	0.00	0.000	6	0.000	0.039	2005	2700	1732	0	0	0	0	0	0
8205	0.60	146.1	657.6	20.8	495	8209	0.00	1.98	0.00	0.000	4	0.000	0.060	2005	3893	1731	0	0	0	0	0	0
8243	0.60	146.1	648.7	22.9	496	8251	0.00	1.92	0.00	0.000	6	0.000	0.040	2014	2715	1730	0	0	0	0	0	0
8559	0.60	146.1	579.2	21.9	512	8563	0.00	1.95	0.00	0.000	4	0.000	0.060	2014	3897	1730	0	0	0	0	0	0
8604	0.60	146.1	568.6	24.4	514	8608	0.15	1.92	0.00	0.000	6	0.225	0.041	1990	2693	1730	0	0	0	0	0	0
8930	0.60	146.1	504.4	19.3	530	8934	0.00	1.98	0.00	0.000	4	0.000	0.060	1990	3894	1730	0	0	0	0	0	0
8967	0.60	146.1	496.0	21.5	531	8977	0.00	1.92	0.00	0.000	6	0.000	0.039	1998	2706	1730	0	0	0	0	0	0
9284	0.60	146.1	434.2	19.4	547	9288	0.00	1.95	0.00	0.000	4	0.000	0.060	1998	3892	1730	0	0	0	0	0	0
9316	0.60	146.1	427.0	21.3	548	9321	0.00	1.90	0.00	0.000	6	0.000	0.038	2007	2716	1730	0	0	0	0	0	0
9638	0.60	146.1	365.0	18.7	564	9642	0.00	1.95	0.00	0.000	4	0.000	0.060	2007	3903	1729	0	0	0	0	0	0
9684	0.60	146.1	355.8	20.8	566	9688	0.12	1.88	0.00	0.000	6	0.228	0.040	1989	2709	1729	0	0	0	0	0	0
10015	0.60	146.1	298.5	17.8	582	10019	0.00	1.95	0.00	0.000	4	0.000	0.060	1989	3900	1729	0	0	0	0	0	0
10040	0.60	146.1	294.2	18.8	583	10043	0.00	1.90	0.00	0.000	6	0.000	0.039	1997	2698	1729	0	0	0	0	0	0
10364	0.60	146.1	234.6	18.4	602	10368	0.00	1.95	0.00	0.000	4	0.000	0.060	1997	3892	1729	0	0	0	0	0	0
10433	0.60	146.1	220.9	20.4	608	10437	0.00	1.88	0.00	0.000	6	0.000	0.038	2007	2701	1729	0	0	0	0	0	0
10765	0.60	146.1	163.3	17.3	639	10769	0.00	1.95	0.00	0.000	4	0.000	0.060	2006	3895	1729	0	0	0	0	0	0
10825	0.60	146.1	150.8	20.1	644	10837	0.10	1.90	0.00	0.000	6	0.208	0.038	1988	2711	1729	0	0	0	0	0	0
11153	0.60	146.1	99.8	16.5	675	11162	0.00	2.25	0.00	0.000	4	0.000	0.049	1998	1287	1729	0	0	0	0	0	0
11183	0.60	146.1	95.4	16.3	679	11190	0.00	2.25	0.00	0.000	6	0.000	0.054	1997	2720	1729	0	0	0	0	0	0
11422	0.60	146.1	55.8	16.2	720	11431	0.00	1.90	0.00	0.000	4	0.000	0.063	1998	3884	1729	0	0	0	0	0	0
11449	0.60	146.1	51.0	17.8	724	11458	0.00	1.88	0.00	0.000	6	0.000	0.039	2007	2711	1729	0	0	0	0	0	0
11565	0.60	146.1	31.7	16.8	743	11571	0.00	0.00	0.00	0.000	6	0.000	0.000	2006	2711	1729	0	0	0	0	0	0
11684	0.60	146.1	12.4	15.6	762	11692	0.00	0.00	0.00	0.000	6	0.000	0.000	2007	2711	1729	0	0	0	0	0	0
11742	end climb: SURFACE_DEPTH_REACHED
state	11742	begin surface coast
11762	end surface coast: CONTROL_FINISHED_OK
state	11762	begin surface