Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 60 * 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 60 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 27 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 20 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 -21841.227 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 -21841.227

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 27 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 20 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 60 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 201214,153922,-5601.536,-29.975,37,0.8,37,-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 -0.188,-0.077

_SM_DEPTHo 2.06 KALMAN_X 30980.2,176.5,-351.7,-61785.7,3919.6

_SM_ANGLEo -68.7 KALMAN_Y 54027.7,-618.9,-322.0,-55491.4,4336.4

GPS2 201214,154717,-5601.473,-29.978,17,1.1,17,-19.9 MHEAD_RNG_PITCHd_Wd 267.5,2727,-20.3,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.1,1.023829 _10V_AH 10.1,11.858

SM_CCo 14290,20.20,0.188,0,0,1524,200.16 FG_AHR_24Vo 0.000

SM_GC 2.79,0.00,0.00,20.20,0.000,0.000,0.188,61,2929,1524,-5.40,-0.03,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5538.94,-26.98,201214,111121 MEM 354012

TT8_MAMPS 0.026215 DATA_FILE_SIZE 63877,946

HUMID 55.98 CAP_FILE_SIZE 112100,0

INTERNAL_PRESSURE 8.95509 CFSIZE 259252224,222543872

TCM_TEMP 6.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 201214,194752,-5602.219,-31.740,35,0.9,35,-19.9

_24V_AH 21.6,18.099

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 259 72.96 SBE_CT 672 23 348.38

Roll_motor 54 81 96.76 AA4330 1962 17 762.16

VBD_pump_during_apogee 282 1797 10959.19 WL_BB2F 947 105 2148.82

VBD_pump_during_surface 20 188 82.11 QSP2150 993 17 385.76

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 91 52.82 nil 0 0 0.00

Iridium_during_connect 49 160 170.61 nil 0 0 0.00

Iridium_during_xfer 284 223 1371.63 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 31 6.29

TT8 2298 14 335.64

LPSleep 9319 2 206.14

TT8_Active 436 14 63.69

TT8_Sampling 2589 42 1103.01

TT8_CF8 142 49 71.69

TT8_Kalman 33 68 23.04

Analog_circuits 1257 15 196.93

GPS_charging 0 0 0.00

Compass 2061 16 343.10

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

15 -0.47 -111.4 0.0 0.0 0 51 0.00 0.00 -33.75 0.000 2 0.000 0.000 64 2929 2252 0 0 0 0 0 0

53 -0.50 -146.1 3.0 -3.6 4 96 6.47 1.62 -26.25 0.000 4 0.259 0.082 1614 3898 2937 0 0 0 0 0 0

244 -0.50 -146.1 29.3 -17.8 33 253 0.00 1.58 0.00 0.000 6 0.000 0.036 1615 2903 2939 0 0 0 0 0 0

324 -0.50 -146.1 43.3 -17.2 46 332 0.00 0.00 0.00 0.000 6 0.000 0.000 1615 2902 2940 0 0 0 0 0 0

440 -0.50 -146.1 63.1 -17.5 65 447 0.00 0.00 0.00 0.000 6 0.000 0.000 1614 2902 2939 0 0 0 0 0 0

551 -0.50 -146.1 82.6 -17.5 84 560 0.00 2.15 0.00 0.000 4 0.000 0.044 1615 1533 2940 0 0 0 0 0 0

590 -0.50 -146.1 88.7 -16.1 90 600 0.00 2.30 0.00 0.000 6 0.000 0.059 1604 2925 2940 0 0 0 0 0 0

818 -0.50 -146.1 128.6 -17.3 116 820 0.00 0.00 0.00 0.000 6 0.000 0.000 1604 2925 2940 0 0 0 0 0 0

1137 -0.50 -146.1 180.4 -15.9 146 1138 0.00 0.00 0.00 0.000 6 0.000 0.000 1604 2925 2940 0 0 0 0 0 0

1455 -0.50 -146.1 230.6 -15.3 176 1458 0.00 1.60 0.00 0.000 4 0.000 0.065 1596 3906 2940 0 0 0 0 0 0

1516 -0.50 -146.1 240.5 -17.0 181 1520 0.08 1.52 0.00 0.000 6 0.182 0.037 1620 2925 2940 0 0 0 0 0 0

1849 -0.50 -146.1 287.3 -13.4 200 1852 0.00 1.62 0.00 0.000 4 0.000 0.065 1612 3900 2940 0 0 0 0 0 0

1882 -0.50 -146.1 292.1 -14.5 201 1886 0.00 1.50 0.00 0.000 6 0.000 0.036 1612 2925 2940 0 0 0 0 0 0

2205 -0.50 -146.1 334.9 -13.0 217 2206 0.00 0.00 0.00 0.000 6 0.000 0.000 1612 2922 2940 0 0 0 0 0 0

2512 -0.50 -146.1 374.8 -12.4 232 2515 0.00 1.62 0.00 0.000 4 0.000 0.064 1605 3903 2940 0 0 0 0 0 0

2566 -0.50 -146.1 382.5 -13.6 234 2572 0.00 1.52 0.00 0.000 6 0.000 0.035 1605 2921 2940 0 0 0 0 0 0

2889 -0.50 -146.1 423.8 -12.7 250 2890 0.00 0.00 0.00 0.000 6 0.000 0.000 1605 2921 2940 0 0 0 0 0 0

3198 -0.50 -146.1 463.3 -12.7 265 3201 0.00 1.62 0.00 0.000 4 0.000 0.064 1597 3905 2940 0 0 0 0 0 0

3235 -0.50 -146.1 468.7 -13.7 266 3244 0.12 1.52 0.00 0.000 6 0.199 0.034 1628 2922 2941 0 0 0 0 0 0

3551 -0.50 -146.1 504.7 -11.7 282 3553 0.00 0.00 0.00 0.000 6 0.000 0.000 1628 2921 2941 0 0 0 0 0 0

3861 -0.50 -146.1 541.9 -12.3 297 3862 0.00 0.00 0.00 0.000 6 0.000 0.000 1628 2922 2941 0 0 0 0 0 0

4171 -0.50 -146.1 580.6 -12.6 312 4175 0.00 1.62 0.00 0.000 4 0.000 0.065 1621 3903 2941 0 0 0 0 0 0

4202 -0.50 -146.1 585.0 -13.0 313 4207 0.00 1.50 0.00 0.000 6 0.000 0.034 1621 2929 2940 0 0 0 0 0 0

4524 -0.50 -146.1 625.8 -12.6 329 4526 0.00 0.00 0.00 0.000 6 0.000 0.000 1621 2928 2941 0 0 0 0 0 0

4834 -0.50 -146.1 666.7 -13.3 344 4835 0.00 0.00 0.00 0.000 6 0.000 0.000 1621 2928 2941 0 0 0 0 0 0

5143 -0.50 -146.1 706.6 -12.6 359 5144 0.00 0.00 0.00 0.000 6 0.000 0.000 1621 2928 2941 0 0 0 0 0 0

5452 -0.50 -146.1 744.2 -11.9 374 5454 0.00 0.00 0.00 0.000 6 0.000 0.000 1621 2928 2941 0 0 0 0 0 0

5762 -0.50 -146.1 779.9 -11.2 389 5764 0.00 0.00 0.00 0.000 6 0.000 0.000 1621 2928 2941 0 0 0 0 0 0

6071 -0.50 -146.1 814.9 -11.3 404 6072 0.00 0.00 0.00 0.000 6 0.000 0.000 1621 2928 2941 0 0 0 0 0 0

6380 -0.50 -146.1 848.8 -10.9 419 6381 0.00 0.00 0.00 0.000 6 0.000 0.000 1621 2928 2941 0 0 0 0 0 0

6690 -0.50 -146.1 881.2 -10.3 434 6692 0.00 0.00 0.00 0.000 6 0.000 0.000 1621 2927 2941 0 0 0 0 0 0

6999 -0.50 -146.1 912.5 -10.0 449 7000 0.00 0.00 0.00 0.000 6 0.000 0.000 1621 2928 2941 0 0 0 0 0 0

7308 -0.50 -146.1 942.0 -9.6 464 7309 0.00 0.00 0.00 0.000 6 0.000 0.000 1621 2927 2941 0 0 0 0 0 0

7619 -0.50 -146.1 970.4 -8.9 479 7622 0.00 1.60 0.00 0.000 4 0.000 0.066 1613 3899 2941 0 0 0 0 0 0

7656 -0.50 -146.1 974.5 -10.1 480 7664 0.00 1.50 0.00 0.000 6 0.000 0.035 1613 2920 2941 0 0 0 0 0 0

7950 end dive: TARGET_DEPTH_EXCEEDED

state 7951 begin apogee

7955 -0.13 0.0 1001.5 8.9 495 8094 0.43 0.00 133.55 1.798 6 0.172 0.000 1739 2724 2342 0 0 0 0 0 0

8095 end apogee: CONTROL_FINISHED_OK

state 8095 begin climb

8096 0.50 146.1 1002.4 0.0 502 8253 0.70 0.00 148.68 1.769 6 0.124 0.000 1943 2724 1746 0 0 0 0 0 0

8561 0.50 146.1 928.4 17.3 525 8565 0.00 2.03 0.00 0.000 4 0.000 0.062 1943 3897 1736 0 0 0 0 0 0

8598 0.50 146.1 920.9 20.1 526 8607 0.00 1.98 0.00 0.000 6 0.000 0.037 1952 2734 1735 0 0 0 0 0 0

8915 0.50 146.1 863.5 17.9 542 8916 0.00 0.00 0.00 0.000 6 0.000 0.000 1952 2734 1734 0 0 0 0 0 0

9225 0.50 146.1 807.6 18.4 557 9226 0.00 0.00 0.00 0.000 6 0.000 0.000 1952 2734 1733 0 0 0 0 0 0

9534 0.50 146.1 752.0 17.7 572 9535 0.00 0.00 0.00 0.000 6 0.000 0.000 1952 2734 1733 0 0 0 0 0 0

9843 0.50 146.1 698.0 17.5 587 9844 0.00 0.00 0.00 0.000 6 0.000 0.000 1952 2734 1732 0 0 0 0 0 0

10153 0.50 146.1 644.8 17.0 602 10154 0.00 0.00 0.00 0.000 6 0.000 0.000 1952 2734 1732 0 0 0 0 0 0

10462 0.50 146.1 592.7 17.0 617 10465 0.00 1.92 0.00 0.000 4 0.000 0.062 1952 3900 1732 0 0 0 0 0 0

10493 0.50 146.1 586.7 18.8 618 10498 0.00 1.92 0.00 0.000 6 0.000 0.039 1961 2712 1731 0 0 0 0 0 0

10816 0.50 146.1 530.9 17.7 634 10817 0.00 0.00 0.00 0.000 6 0.000 0.000 1961 2712 1731 0 0 0 0 0 0

11125 0.50 146.1 476.1 17.6 649 11128 0.00 1.95 0.00 0.000 4 0.000 0.061 1961 3900 1731 0 0 0 0 0 0

11156 0.50 146.1 469.7 20.4 650 11161 0.00 1.92 0.00 0.000 6 0.000 0.037 1970 2703 1730 0 0 0 0 0 0

11479 0.50 146.1 412.2 18.3 666 11483 0.00 1.98 0.00 0.000 4 0.000 0.061 1971 3894 1729 0 0 0 0 0 0

11510 0.50 146.1 405.2 20.7 667 11515 0.00 1.90 0.00 0.000 6 0.000 0.037 1980 2710 1730 0 0 0 0 0 0

11834 0.50 146.1 343.4 19.0 683 11836 0.00 0.00 0.00 0.000 6 0.000 0.000 1980 2709 1730 0 0 0 0 0 0

12142 0.50 146.1 285.7 18.4 698 12146 0.00 1.95 0.00 0.000 4 0.000 0.061 1980 3910 1729 0 0 0 0 0 0

12168 0.50 146.1 280.0 20.1 699 12174 0.12 1.92 0.00 0.000 6 0.207 0.037 1954 2705 1729 0 0 0 0 0 0

12490 0.50 146.1 229.4 15.2 720 12491 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2705 1729 0 0 0 0 0 0

12808 0.50 146.1 183.4 13.8 750 12809 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2705 1729 0 0 0 0 0 0

13126 0.50 146.1 141.0 12.5 780 13130 0.00 1.95 0.00 0.000 4 0.000 0.060 1954 3903 1729 0 0 0 0 0 0

13186 0.50 146.1 132.8 14.1 785 13190 0.00 1.88 0.00 0.000 6 0.000 0.040 1963 2710 1729 0 0 0 0 0 0

13516 0.50 146.1 90.7 11.4 822 13525 0.00 0.00 0.00 0.000 6 0.000 0.000 1963 2710 1729 0 0 0 0 0 0

13757 0.50 146.1 63.0 11.8 863 13764 0.00 2.17 0.00 0.000 4 0.000 0.047 1974 1292 1729 0 0 0 0 0 0

13832 0.50 146.1 55.0 10.8 875 13839 0.00 2.28 0.00 0.000 6 0.000 0.056 1974 2731 1730 0 0 0 0 0 0

13945 0.50 146.1 40.9 12.6 894 13954 0.00 0.00 0.00 0.000 6 0.000 0.000 1974 2732 1729 0 0 0 0 0 0

14063 0.50 146.1 26.5 12.5 913 14071 0.00 0.00 0.00 0.000 6 0.000 0.000 1974 2732 1730 0 0 0 0 0 0

14147 0.50 146.1 15.8 12.7 926 14155 0.00 0.00 0.00 0.000 6 0.000 0.000 1974 2732 1729 0 0 0 0 0 0

14230 0.50 146.1 5.6 12.3 939 14239 0.00 0.00 0.00 0.000 6 0.000 0.000 1974 2731 1729 0 0 0 0 0 0

14251 end climb: SURFACE_DEPTH_REACHED

state 14252 begin surface coast

14278 end surface coast: CONTROL_FINISHED_OK

state 14278 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	60	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	27	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	20	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	-21841.227	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	201214,153922,-5601.536,-29.975,37,0.8,37,-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	-0.188,-0.077
_SM_DEPTHo	2.06	KALMAN_X	30980.2,176.5,-351.7,-61785.7,3919.6
_SM_ANGLEo	-68.7	KALMAN_Y	54027.7,-618.9,-322.0,-55491.4,4336.4
GPS2	201214,154717,-5601.473,-29.978,17,1.1,17,-19.9	MHEAD_RNG_PITCHd_Wd	267.5,2727,-20.3,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.1,1.023829	_10V_AH	10.1,11.858
SM_CCo	14290,20.20,0.188,0,0,1524,200.16	FG_AHR_24Vo	0.000
SM_GC	2.79,0.00,0.00,20.20,0.000,0.000,0.188,61,2929,1524,-5.40,-0.03,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5538.94,-26.98,201214,111121	MEM	354012
TT8_MAMPS	0.026215	DATA_FILE_SIZE	63877,946
HUMID	55.98	CAP_FILE_SIZE	112100,0
INTERNAL_PRESSURE	8.95509	CFSIZE	259252224,222543872
TCM_TEMP	6.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	201214,194752,-5602.219,-31.740,35,0.9,35,-19.9
_24V_AH	21.6,18.099

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	259	72.96	SBE_CT	672	23	348.38
Roll_motor	54	81	96.76	AA4330	1962	17	762.16
VBD_pump_during_apogee	282	1797	10959.19	WL_BB2F	947	105	2148.82
VBD_pump_during_surface	20	188	82.11	QSP2150	993	17	385.76
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	91	52.82	nil	0	0	0.00
Iridium_during_connect	49	160	170.61	nil	0	0	0.00
Iridium_during_xfer	284	223	1371.63	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	31	6.29
TT8	2298	14	335.64
LPSleep	9319	2	206.14
TT8_Active	436	14	63.69
TT8_Sampling	2589	42	1103.01
TT8_CF8	142	49	71.69
TT8_Kalman	33	68	23.04
Analog_circuits	1257	15	196.93
GPS_charging	0	0	0.00
Compass	2061	16	343.10
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
15	-0.47	-111.4	0.0	0.0	0	51	0.00	0.00	-33.75	0.000	2	0.000	0.000	64	2929	2252	0	0	0	0	0	0
53	-0.50	-146.1	3.0	-3.6	4	96	6.47	1.62	-26.25	0.000	4	0.259	0.082	1614	3898	2937	0	0	0	0	0	0
244	-0.50	-146.1	29.3	-17.8	33	253	0.00	1.58	0.00	0.000	6	0.000	0.036	1615	2903	2939	0	0	0	0	0	0
324	-0.50	-146.1	43.3	-17.2	46	332	0.00	0.00	0.00	0.000	6	0.000	0.000	1615	2902	2940	0	0	0	0	0	0
440	-0.50	-146.1	63.1	-17.5	65	447	0.00	0.00	0.00	0.000	6	0.000	0.000	1614	2902	2939	0	0	0	0	0	0
551	-0.50	-146.1	82.6	-17.5	84	560	0.00	2.15	0.00	0.000	4	0.000	0.044	1615	1533	2940	0	0	0	0	0	0
590	-0.50	-146.1	88.7	-16.1	90	600	0.00	2.30	0.00	0.000	6	0.000	0.059	1604	2925	2940	0	0	0	0	0	0
818	-0.50	-146.1	128.6	-17.3	116	820	0.00	0.00	0.00	0.000	6	0.000	0.000	1604	2925	2940	0	0	0	0	0	0
1137	-0.50	-146.1	180.4	-15.9	146	1138	0.00	0.00	0.00	0.000	6	0.000	0.000	1604	2925	2940	0	0	0	0	0	0
1455	-0.50	-146.1	230.6	-15.3	176	1458	0.00	1.60	0.00	0.000	4	0.000	0.065	1596	3906	2940	0	0	0	0	0	0
1516	-0.50	-146.1	240.5	-17.0	181	1520	0.08	1.52	0.00	0.000	6	0.182	0.037	1620	2925	2940	0	0	0	0	0	0
1849	-0.50	-146.1	287.3	-13.4	200	1852	0.00	1.62	0.00	0.000	4	0.000	0.065	1612	3900	2940	0	0	0	0	0	0
1882	-0.50	-146.1	292.1	-14.5	201	1886	0.00	1.50	0.00	0.000	6	0.000	0.036	1612	2925	2940	0	0	0	0	0	0
2205	-0.50	-146.1	334.9	-13.0	217	2206	0.00	0.00	0.00	0.000	6	0.000	0.000	1612	2922	2940	0	0	0	0	0	0
2512	-0.50	-146.1	374.8	-12.4	232	2515	0.00	1.62	0.00	0.000	4	0.000	0.064	1605	3903	2940	0	0	0	0	0	0
2566	-0.50	-146.1	382.5	-13.6	234	2572	0.00	1.52	0.00	0.000	6	0.000	0.035	1605	2921	2940	0	0	0	0	0	0
2889	-0.50	-146.1	423.8	-12.7	250	2890	0.00	0.00	0.00	0.000	6	0.000	0.000	1605	2921	2940	0	0	0	0	0	0
3198	-0.50	-146.1	463.3	-12.7	265	3201	0.00	1.62	0.00	0.000	4	0.000	0.064	1597	3905	2940	0	0	0	0	0	0
3235	-0.50	-146.1	468.7	-13.7	266	3244	0.12	1.52	0.00	0.000	6	0.199	0.034	1628	2922	2941	0	0	0	0	0	0
3551	-0.50	-146.1	504.7	-11.7	282	3553	0.00	0.00	0.00	0.000	6	0.000	0.000	1628	2921	2941	0	0	0	0	0	0
3861	-0.50	-146.1	541.9	-12.3	297	3862	0.00	0.00	0.00	0.000	6	0.000	0.000	1628	2922	2941	0	0	0	0	0	0
4171	-0.50	-146.1	580.6	-12.6	312	4175	0.00	1.62	0.00	0.000	4	0.000	0.065	1621	3903	2941	0	0	0	0	0	0
4202	-0.50	-146.1	585.0	-13.0	313	4207	0.00	1.50	0.00	0.000	6	0.000	0.034	1621	2929	2940	0	0	0	0	0	0
4524	-0.50	-146.1	625.8	-12.6	329	4526	0.00	0.00	0.00	0.000	6	0.000	0.000	1621	2928	2941	0	0	0	0	0	0
4834	-0.50	-146.1	666.7	-13.3	344	4835	0.00	0.00	0.00	0.000	6	0.000	0.000	1621	2928	2941	0	0	0	0	0	0
5143	-0.50	-146.1	706.6	-12.6	359	5144	0.00	0.00	0.00	0.000	6	0.000	0.000	1621	2928	2941	0	0	0	0	0	0
5452	-0.50	-146.1	744.2	-11.9	374	5454	0.00	0.00	0.00	0.000	6	0.000	0.000	1621	2928	2941	0	0	0	0	0	0
5762	-0.50	-146.1	779.9	-11.2	389	5764	0.00	0.00	0.00	0.000	6	0.000	0.000	1621	2928	2941	0	0	0	0	0	0
6071	-0.50	-146.1	814.9	-11.3	404	6072	0.00	0.00	0.00	0.000	6	0.000	0.000	1621	2928	2941	0	0	0	0	0	0
6380	-0.50	-146.1	848.8	-10.9	419	6381	0.00	0.00	0.00	0.000	6	0.000	0.000	1621	2928	2941	0	0	0	0	0	0
6690	-0.50	-146.1	881.2	-10.3	434	6692	0.00	0.00	0.00	0.000	6	0.000	0.000	1621	2927	2941	0	0	0	0	0	0
6999	-0.50	-146.1	912.5	-10.0	449	7000	0.00	0.00	0.00	0.000	6	0.000	0.000	1621	2928	2941	0	0	0	0	0	0
7308	-0.50	-146.1	942.0	-9.6	464	7309	0.00	0.00	0.00	0.000	6	0.000	0.000	1621	2927	2941	0	0	0	0	0	0
7619	-0.50	-146.1	970.4	-8.9	479	7622	0.00	1.60	0.00	0.000	4	0.000	0.066	1613	3899	2941	0	0	0	0	0	0
7656	-0.50	-146.1	974.5	-10.1	480	7664	0.00	1.50	0.00	0.000	6	0.000	0.035	1613	2920	2941	0	0	0	0	0	0
7950	end dive: TARGET_DEPTH_EXCEEDED
state	7951	begin apogee
7955	-0.13	0.0	1001.5	8.9	495	8094	0.43	0.00	133.55	1.798	6	0.172	0.000	1739	2724	2342	0	0	0	0	0	0
8095	end apogee: CONTROL_FINISHED_OK
state	8095	begin climb
8096	0.50	146.1	1002.4	0.0	502	8253	0.70	0.00	148.68	1.769	6	0.124	0.000	1943	2724	1746	0	0	0	0	0	0
8561	0.50	146.1	928.4	17.3	525	8565	0.00	2.03	0.00	0.000	4	0.000	0.062	1943	3897	1736	0	0	0	0	0	0
8598	0.50	146.1	920.9	20.1	526	8607	0.00	1.98	0.00	0.000	6	0.000	0.037	1952	2734	1735	0	0	0	0	0	0
8915	0.50	146.1	863.5	17.9	542	8916	0.00	0.00	0.00	0.000	6	0.000	0.000	1952	2734	1734	0	0	0	0	0	0
9225	0.50	146.1	807.6	18.4	557	9226	0.00	0.00	0.00	0.000	6	0.000	0.000	1952	2734	1733	0	0	0	0	0	0
9534	0.50	146.1	752.0	17.7	572	9535	0.00	0.00	0.00	0.000	6	0.000	0.000	1952	2734	1733	0	0	0	0	0	0
9843	0.50	146.1	698.0	17.5	587	9844	0.00	0.00	0.00	0.000	6	0.000	0.000	1952	2734	1732	0	0	0	0	0	0
10153	0.50	146.1	644.8	17.0	602	10154	0.00	0.00	0.00	0.000	6	0.000	0.000	1952	2734	1732	0	0	0	0	0	0
10462	0.50	146.1	592.7	17.0	617	10465	0.00	1.92	0.00	0.000	4	0.000	0.062	1952	3900	1732	0	0	0	0	0	0
10493	0.50	146.1	586.7	18.8	618	10498	0.00	1.92	0.00	0.000	6	0.000	0.039	1961	2712	1731	0	0	0	0	0	0
10816	0.50	146.1	530.9	17.7	634	10817	0.00	0.00	0.00	0.000	6	0.000	0.000	1961	2712	1731	0	0	0	0	0	0
11125	0.50	146.1	476.1	17.6	649	11128	0.00	1.95	0.00	0.000	4	0.000	0.061	1961	3900	1731	0	0	0	0	0	0
11156	0.50	146.1	469.7	20.4	650	11161	0.00	1.92	0.00	0.000	6	0.000	0.037	1970	2703	1730	0	0	0	0	0	0
11479	0.50	146.1	412.2	18.3	666	11483	0.00	1.98	0.00	0.000	4	0.000	0.061	1971	3894	1729	0	0	0	0	0	0
11510	0.50	146.1	405.2	20.7	667	11515	0.00	1.90	0.00	0.000	6	0.000	0.037	1980	2710	1730	0	0	0	0	0	0
11834	0.50	146.1	343.4	19.0	683	11836	0.00	0.00	0.00	0.000	6	0.000	0.000	1980	2709	1730	0	0	0	0	0	0
12142	0.50	146.1	285.7	18.4	698	12146	0.00	1.95	0.00	0.000	4	0.000	0.061	1980	3910	1729	0	0	0	0	0	0
12168	0.50	146.1	280.0	20.1	699	12174	0.12	1.92	0.00	0.000	6	0.207	0.037	1954	2705	1729	0	0	0	0	0	0
12490	0.50	146.1	229.4	15.2	720	12491	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2705	1729	0	0	0	0	0	0
12808	0.50	146.1	183.4	13.8	750	12809	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2705	1729	0	0	0	0	0	0
13126	0.50	146.1	141.0	12.5	780	13130	0.00	1.95	0.00	0.000	4	0.000	0.060	1954	3903	1729	0	0	0	0	0	0
13186	0.50	146.1	132.8	14.1	785	13190	0.00	1.88	0.00	0.000	6	0.000	0.040	1963	2710	1729	0	0	0	0	0	0
13516	0.50	146.1	90.7	11.4	822	13525	0.00	0.00	0.00	0.000	6	0.000	0.000	1963	2710	1729	0	0	0	0	0	0
13757	0.50	146.1	63.0	11.8	863	13764	0.00	2.17	0.00	0.000	4	0.000	0.047	1974	1292	1729	0	0	0	0	0	0
13832	0.50	146.1	55.0	10.8	875	13839	0.00	2.28	0.00	0.000	6	0.000	0.056	1974	2731	1730	0	0	0	0	0	0
13945	0.50	146.1	40.9	12.6	894	13954	0.00	0.00	0.00	0.000	6	0.000	0.000	1974	2732	1729	0	0	0	0	0	0
14063	0.50	146.1	26.5	12.5	913	14071	0.00	0.00	0.00	0.000	6	0.000	0.000	1974	2732	1730	0	0	0	0	0	0
14147	0.50	146.1	15.8	12.7	926	14155	0.00	0.00	0.00	0.000	6	0.000	0.000	1974	2732	1729	0	0	0	0	0	0
14230	0.50	146.1	5.6	12.3	939	14239	0.00	0.00	0.00	0.000	6	0.000	0.000	1974	2731	1729	0	0	0	0	0	0
14251	end climb: SURFACE_DEPTH_REACHED
state	14252	begin surface coast
14278	end surface coast: CONTROL_FINISHED_OK
state	14278	begin surface