Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 63 * 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 63 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 28 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 0.00079999998 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 -21848.213 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 -21848.213

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 28 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 63 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 211214,031934,-5600.694,-35.083,88,0.8,88,-19.8 TGT_NAME TARGET

_CALLS 1 TGT_LATLONG -5600.000,-30.000

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.157,-0.050

_SM_DEPTHo 1.98 KALMAN_X 36121.9,-903.6,-720.5,-70615.9,6203.2

_SM_ANGLEo -58.7 KALMAN_Y 52927.6,-463.6,-179.0,-53233.6,1608.4

GPS2 211214,032723,-5600.683,-34.964,20,1.1,20,-19.8 MHEAD_RNG_PITCHd_Wd 272.0,5294,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.1,1.026111 _10V_AH 10.0,12.168

SM_CCo 12513,24.58,0.181,0,0,1523,200.16 FG_AHR_24Vo 0.000

SM_GC 2.25,0.00,0.00,24.58,0.000,0.000,0.181,54,2936,1523,-5.43,0.17,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5538.94,-34.68,201214,232352 MEM 353980

TT8_MAMPS 0.026215 DATA_FILE_SIZE 57016,813

HUMID 55.55 CAP_FILE_SIZE 114301,0

INTERNAL_PRESSURE 8.96486 CFSIZE 259252224,222359552

TCM_TEMP 7.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 211214,065830,-5601.315,-36.665,40,0.9,40,-19.8

_24V_AH 21.7,18.539

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 259 76.25 SBE_CT 578 23 300.73

Roll_motor 82 77 138.62 AA4330 1683 17 656.86

VBD_pump_during_apogee 259 1807 10188.23 WL_BB2F 802 105 1827.80

VBD_pump_during_surface 24 181 96.69 QSP2150 834 17 325.45

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 91 54.46 nil 0 0 0.00

Iridium_during_connect 42 160 146.40 nil 0 0 0.00

Iridium_during_xfer 284 223 1375.45 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 31 7.12

TT8 2063 14 298.33

LPSleep 7907 2 173.17

TT8_Active 393 14 56.90

TT8_Sampling 2490 42 1050.42

TT8_CF8 153 49 76.45

TT8_Kalman 33 68 22.81

Analog_circuits 1230 15 190.65

GPS_charging 0 0 0.00

Compass 1991 16 328.26

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 67 0.00 0.00 -50.42 0.000 2 0.000 0.000 47 2925 2633 0 0 0 0 0 0

70 -0.59 -134.8 3.4 -4.3 6 89 6.40 1.65 -7.35 0.000 4 0.259 0.077 1583 3905 2893 0 0 0 0 0 0

329 -0.59 -134.8 57.3 -19.4 48 338 0.00 1.58 0.00 0.000 6 0.000 0.036 1582 2905 2894 0 0 0 0 0 0

445 -0.59 -134.8 80.2 -19.8 67 451 0.00 1.67 0.00 0.000 4 0.000 0.060 1575 3920 2894 0 0 0 0 0 0

534 -0.59 -134.8 96.8 -17.9 82 541 0.00 1.55 0.00 0.000 6 0.000 0.033 1577 2920 2894 0 0 0 0 0 0

755 -0.59 -134.8 133.9 -17.2 104 756 0.00 0.00 0.00 0.000 6 0.000 0.000 1577 2919 2894 0 0 0 0 0 0

1073 -0.59 -134.8 189.0 -16.5 134 1077 0.00 1.62 0.00 0.000 4 0.000 0.061 1570 3899 2894 0 0 0 0 0 0

1120 -0.59 -134.8 197.1 -16.9 138 1124 0.00 1.50 0.00 0.000 6 0.000 0.034 1576 2931 2894 0 0 0 0 0 0

1452 -0.59 -134.8 251.7 -16.7 169 1456 0.00 1.62 0.00 0.000 4 0.000 0.063 1568 3903 2894 0 0 0 0 0 0

1575 -0.59 -134.8 274.0 -17.0 174 1580 0.00 1.50 0.00 0.000 6 0.000 0.034 1568 2931 2894 0 0 0 0 0 0

1896 -0.59 -134.8 327.1 -16.7 190 1901 0.10 1.62 0.00 0.000 4 0.221 0.063 1583 3913 2894 0 0 0 0 0 0

1973 -0.59 -134.8 340.1 -16.1 193 1978 0.00 1.55 0.00 0.000 6 0.000 0.033 1585 2918 2894 0 0 0 0 0 0

2299 -0.59 -134.8 390.0 -16.0 209 2303 0.00 1.62 0.00 0.000 4 0.000 0.062 1579 3900 2894 0 0 0 0 0 0

2393 -0.59 -134.8 407.0 -16.8 213 2398 0.00 1.50 0.00 0.000 6 0.000 0.033 1578 2928 2894 0 0 0 0 0 0

2721 -0.59 -134.8 459.2 -16.1 229 2725 0.00 1.60 0.00 0.000 4 0.000 0.061 1571 3896 2894 0 0 0 0 0 0

2815 -0.59 -134.8 475.2 -16.9 233 2820 0.00 1.50 0.00 0.000 6 0.000 0.033 1573 2925 2894 0 0 0 0 0 0

3142 -0.59 -134.8 525.1 -14.8 249 3146 0.00 1.60 0.00 0.000 4 0.000 0.061 1566 3895 2894 0 0 0 0 0 0

3255 -0.59 -134.8 543.1 -16.8 254 3260 0.08 1.48 0.00 0.000 6 0.196 0.034 1589 2936 2894 0 0 0 0 0 0

3587 -0.59 -134.8 588.4 -13.2 270 3591 0.00 1.60 0.00 0.000 4 0.000 0.063 1582 3909 2894 0 0 0 0 0 0

3659 -0.59 -134.8 599.0 -14.9 273 3663 0.00 1.50 0.00 0.000 6 0.000 0.033 1582 2922 2894 0 0 0 0 0 0

3986 -0.59 -134.8 642.9 -13.4 289 3990 0.00 1.62 0.00 0.000 4 0.000 0.061 1574 3907 2894 0 0 0 0 0 0

4068 -0.59 -134.8 655.6 -15.2 292 4076 0.00 1.50 0.00 0.000 6 0.000 0.033 1574 2917 2894 0 0 0 0 0 0

4384 -0.59 -134.8 701.0 -14.4 308 4388 0.00 1.62 0.00 0.000 4 0.000 0.061 1567 3909 2894 0 0 0 0 0 0

4452 -0.59 -134.8 711.6 -15.9 311 4456 0.08 1.48 0.00 0.000 6 0.194 0.033 1589 2946 2895 0 0 0 0 0 0

4784 -0.59 -134.8 755.4 -12.8 327 4788 0.00 1.58 0.00 0.000 4 0.000 0.061 1582 3905 2895 0 0 0 0 0 0

4838 -0.59 -134.8 763.5 -14.1 329 4843 0.00 1.52 0.00 0.000 6 0.000 0.032 1582 2910 2895 0 0 0 0 0 0

5161 -0.59 -134.8 806.1 -13.1 345 5165 0.00 1.62 0.00 0.000 4 0.000 0.061 1574 3900 2895 0 0 0 0 0 0

5256 -0.59 -134.8 819.9 -14.1 349 5259 0.00 1.48 0.00 0.000 6 0.000 0.033 1575 2927 2895 0 0 0 0 0 0

5582 -0.59 -134.8 864.1 -13.4 365 5585 0.00 1.60 0.00 0.000 4 0.000 0.060 1567 3903 2895 0 0 0 0 0 0

5672 -0.59 -134.8 877.4 -14.5 369 5677 0.08 1.48 0.00 0.000 6 0.192 0.033 1589 2936 2895 0 0 0 0 0 0

6004 -0.59 -134.8 919.5 -12.4 385 6005 0.00 0.00 0.00 0.000 6 0.000 0.000 1589 2935 2895 0 0 0 0 0 0

6314 -0.59 -134.8 957.5 -12.2 400 6318 0.00 1.58 0.00 0.000 4 0.000 0.062 1582 3899 2895 0 0 0 0 0 0

6385 -0.59 -134.8 967.4 -13.8 403 6391 0.00 1.50 0.00 0.000 6 0.000 0.032 1582 2915 2895 0 0 0 0 0 0

6650 end dive: TARGET_DEPTH_EXCEEDED

state 6650 begin apogee

6654 -0.13 0.0 1001.9 13.2 416 6781 0.55 0.00 123.80 1.808 6 0.184 0.000 1741 2725 2341 0 0 0 0 0 0

6782 end apogee: CONTROL_FINISHED_OK

state 6782 begin climb

6784 0.59 134.8 1006.1 0.0 422 6929 0.77 0.00 135.93 1.756 6 0.125 0.000 1974 2725 1791 0 0 0 0 0 0

7237 0.59 134.8 936.3 17.3 444 7238 0.00 0.00 0.00 0.000 6 0.000 0.000 1974 2724 1784 0 0 0 0 0 0

7546 0.59 134.8 882.6 17.5 459 7550 0.00 2.00 0.00 0.000 4 0.000 0.059 1974 3892 1781 0 0 0 0 0 0

7583 0.59 134.8 875.4 20.2 460 7591 0.00 1.92 0.00 0.000 6 0.000 0.035 1983 2725 1780 0 0 0 0 0 0

7900 0.59 134.8 818.2 18.0 476 7901 0.00 0.00 0.00 0.000 6 0.000 0.000 1983 2725 1779 0 0 0 0 0 0

8208 0.59 134.8 761.7 17.9 491 8210 0.00 0.00 0.00 0.000 6 0.000 0.000 1983 2725 1779 0 0 0 0 0 0

8518 0.59 134.8 705.6 18.1 506 8519 0.00 0.00 0.00 0.000 6 0.000 0.000 1983 2725 1778 0 0 0 0 0 0

8828 0.59 134.8 649.7 17.8 521 8831 0.00 1.95 0.00 0.000 4 0.000 0.058 1983 3912 1777 0 0 0 0 0 0

8872 0.59 134.8 641.1 21.2 523 8875 0.00 1.90 0.00 0.000 6 0.000 0.037 1992 2711 1776 0 0 0 0 0 0

9203 0.59 134.8 577.9 18.8 539 9204 0.00 0.00 0.00 0.000 6 0.000 0.000 1993 2711 1776 0 0 0 0 0 0

9513 0.59 134.8 519.6 18.9 554 9514 0.00 0.00 0.00 0.000 6 0.000 0.000 1993 2711 1776 0 0 0 0 0 0

9822 0.59 134.8 460.8 18.9 569 9823 0.00 0.00 0.00 0.000 6 0.000 0.000 1993 2711 1776 0 0 0 0 0 0

10131 0.59 134.8 401.7 19.1 584 10135 0.00 1.95 0.00 0.000 4 0.000 0.058 1993 3906 1776 0 0 0 0 0 0

10186 0.59 134.8 389.8 21.1 586 10190 0.00 1.90 0.00 0.000 6 0.000 0.036 2002 2710 1775 0 0 0 0 0 0

10508 0.59 134.8 326.1 19.7 602 10511 0.00 1.95 0.00 0.000 4 0.000 0.059 2002 3909 1775 0 0 0 0 0 0

10541 0.59 134.8 319.0 21.2 603 10545 0.12 1.90 0.00 0.000 6 0.230 0.037 1984 2698 1775 0 0 0 0 0 0

10864 0.59 134.8 261.9 17.6 619 10865 0.00 0.00 0.00 0.000 6 0.000 0.000 1984 2698 1775 0 0 0 0 0 0

11179 0.59 134.8 209.1 17.2 645 11183 0.00 1.98 0.00 0.000 4 0.000 0.060 1984 3899 1775 0 0 0 0 0 0

11230 0.59 134.8 199.5 18.2 649 11237 0.00 1.88 0.00 0.000 6 0.000 0.036 1992 2715 1775 0 0 0 0 0 0

11555 0.59 134.8 145.3 16.4 680 11558 0.00 1.92 0.00 0.000 4 0.000 0.060 1992 3903 1775 0 0 0 0 0 0

11602 0.59 134.8 137.0 18.2 684 11605 0.00 1.88 0.00 0.000 6 0.000 0.036 2002 2700 1775 0 0 0 0 0 0

11932 0.59 134.8 85.4 14.9 722 11939 0.00 1.98 0.00 0.000 4 0.000 0.060 2002 3900 1775 0 0 0 0 0 0

11976 0.59 134.8 77.9 18.3 729 11984 0.00 1.88 0.00 0.000 6 0.000 0.037 2011 2717 1775 0 0 0 0 0 0

12089 0.59 134.8 59.6 16.2 748 12098 0.00 2.22 0.00 0.000 4 0.000 0.047 2021 1299 1775 0 0 0 0 0 0

12123 0.59 134.8 54.3 16.4 753 12131 0.15 2.25 0.00 0.000 6 0.215 0.054 1986 2729 1775 0 0 0 0 0 0

12239 0.59 134.8 38.9 13.4 772 12248 0.00 1.88 0.00 0.000 4 0.000 0.060 1986 3886 1775 0 0 0 0 0 0

12274 0.59 134.8 33.7 15.4 777 12281 0.00 1.88 0.00 0.000 6 0.000 0.039 1994 2710 1774 0 0 0 0 0 0

12393 0.59 134.8 13.4 19.3 796 12401 0.00 0.00 0.00 0.000 6 0.000 0.000 1994 2709 1775 0 0 0 0 0 0

12469 end climb: SURFACE_DEPTH_REACHED

state 12469 begin surface coast

12501 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	63	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	28	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	0.00079999998	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	-21848.213	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	211214,031934,-5600.694,-35.083,88,0.8,88,-19.8	TGT_NAME	TARGET
_CALLS	1	TGT_LATLONG	-5600.000,-30.000
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.157,-0.050
_SM_DEPTHo	1.98	KALMAN_X	36121.9,-903.6,-720.5,-70615.9,6203.2
_SM_ANGLEo	-58.7	KALMAN_Y	52927.6,-463.6,-179.0,-53233.6,1608.4
GPS2	211214,032723,-5600.683,-34.964,20,1.1,20,-19.8	MHEAD_RNG_PITCHd_Wd	272.0,5294,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.1,1.026111	_10V_AH	10.0,12.168
SM_CCo	12513,24.58,0.181,0,0,1523,200.16	FG_AHR_24Vo	0.000
SM_GC	2.25,0.00,0.00,24.58,0.000,0.000,0.181,54,2936,1523,-5.43,0.17,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5538.94,-34.68,201214,232352	MEM	353980
TT8_MAMPS	0.026215	DATA_FILE_SIZE	57016,813
HUMID	55.55	CAP_FILE_SIZE	114301,0
INTERNAL_PRESSURE	8.96486	CFSIZE	259252224,222359552
TCM_TEMP	7.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	211214,065830,-5601.315,-36.665,40,0.9,40,-19.8
_24V_AH	21.7,18.539

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	259	76.25	SBE_CT	578	23	300.73
Roll_motor	82	77	138.62	AA4330	1683	17	656.86
VBD_pump_during_apogee	259	1807	10188.23	WL_BB2F	802	105	1827.80
VBD_pump_during_surface	24	181	96.69	QSP2150	834	17	325.45
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	91	54.46	nil	0	0	0.00
Iridium_during_connect	42	160	146.40	nil	0	0	0.00
Iridium_during_xfer	284	223	1375.45	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	31	7.12
TT8	2063	14	298.33
LPSleep	7907	2	173.17
TT8_Active	393	14	56.90
TT8_Sampling	2490	42	1050.42
TT8_CF8	153	49	76.45
TT8_Kalman	33	68	22.81
Analog_circuits	1230	15	190.65
GPS_charging	0	0	0.00
Compass	1991	16	328.26
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	67	0.00	0.00	-50.42	0.000	2	0.000	0.000	47	2925	2633	0	0	0	0	0	0
70	-0.59	-134.8	3.4	-4.3	6	89	6.40	1.65	-7.35	0.000	4	0.259	0.077	1583	3905	2893	0	0	0	0	0	0
329	-0.59	-134.8	57.3	-19.4	48	338	0.00	1.58	0.00	0.000	6	0.000	0.036	1582	2905	2894	0	0	0	0	0	0
445	-0.59	-134.8	80.2	-19.8	67	451	0.00	1.67	0.00	0.000	4	0.000	0.060	1575	3920	2894	0	0	0	0	0	0
534	-0.59	-134.8	96.8	-17.9	82	541	0.00	1.55	0.00	0.000	6	0.000	0.033	1577	2920	2894	0	0	0	0	0	0
755	-0.59	-134.8	133.9	-17.2	104	756	0.00	0.00	0.00	0.000	6	0.000	0.000	1577	2919	2894	0	0	0	0	0	0
1073	-0.59	-134.8	189.0	-16.5	134	1077	0.00	1.62	0.00	0.000	4	0.000	0.061	1570	3899	2894	0	0	0	0	0	0
1120	-0.59	-134.8	197.1	-16.9	138	1124	0.00	1.50	0.00	0.000	6	0.000	0.034	1576	2931	2894	0	0	0	0	0	0
1452	-0.59	-134.8	251.7	-16.7	169	1456	0.00	1.62	0.00	0.000	4	0.000	0.063	1568	3903	2894	0	0	0	0	0	0
1575	-0.59	-134.8	274.0	-17.0	174	1580	0.00	1.50	0.00	0.000	6	0.000	0.034	1568	2931	2894	0	0	0	0	0	0
1896	-0.59	-134.8	327.1	-16.7	190	1901	0.10	1.62	0.00	0.000	4	0.221	0.063	1583	3913	2894	0	0	0	0	0	0
1973	-0.59	-134.8	340.1	-16.1	193	1978	0.00	1.55	0.00	0.000	6	0.000	0.033	1585	2918	2894	0	0	0	0	0	0
2299	-0.59	-134.8	390.0	-16.0	209	2303	0.00	1.62	0.00	0.000	4	0.000	0.062	1579	3900	2894	0	0	0	0	0	0
2393	-0.59	-134.8	407.0	-16.8	213	2398	0.00	1.50	0.00	0.000	6	0.000	0.033	1578	2928	2894	0	0	0	0	0	0
2721	-0.59	-134.8	459.2	-16.1	229	2725	0.00	1.60	0.00	0.000	4	0.000	0.061	1571	3896	2894	0	0	0	0	0	0
2815	-0.59	-134.8	475.2	-16.9	233	2820	0.00	1.50	0.00	0.000	6	0.000	0.033	1573	2925	2894	0	0	0	0	0	0
3142	-0.59	-134.8	525.1	-14.8	249	3146	0.00	1.60	0.00	0.000	4	0.000	0.061	1566	3895	2894	0	0	0	0	0	0
3255	-0.59	-134.8	543.1	-16.8	254	3260	0.08	1.48	0.00	0.000	6	0.196	0.034	1589	2936	2894	0	0	0	0	0	0
3587	-0.59	-134.8	588.4	-13.2	270	3591	0.00	1.60	0.00	0.000	4	0.000	0.063	1582	3909	2894	0	0	0	0	0	0
3659	-0.59	-134.8	599.0	-14.9	273	3663	0.00	1.50	0.00	0.000	6	0.000	0.033	1582	2922	2894	0	0	0	0	0	0
3986	-0.59	-134.8	642.9	-13.4	289	3990	0.00	1.62	0.00	0.000	4	0.000	0.061	1574	3907	2894	0	0	0	0	0	0
4068	-0.59	-134.8	655.6	-15.2	292	4076	0.00	1.50	0.00	0.000	6	0.000	0.033	1574	2917	2894	0	0	0	0	0	0
4384	-0.59	-134.8	701.0	-14.4	308	4388	0.00	1.62	0.00	0.000	4	0.000	0.061	1567	3909	2894	0	0	0	0	0	0
4452	-0.59	-134.8	711.6	-15.9	311	4456	0.08	1.48	0.00	0.000	6	0.194	0.033	1589	2946	2895	0	0	0	0	0	0
4784	-0.59	-134.8	755.4	-12.8	327	4788	0.00	1.58	0.00	0.000	4	0.000	0.061	1582	3905	2895	0	0	0	0	0	0
4838	-0.59	-134.8	763.5	-14.1	329	4843	0.00	1.52	0.00	0.000	6	0.000	0.032	1582	2910	2895	0	0	0	0	0	0
5161	-0.59	-134.8	806.1	-13.1	345	5165	0.00	1.62	0.00	0.000	4	0.000	0.061	1574	3900	2895	0	0	0	0	0	0
5256	-0.59	-134.8	819.9	-14.1	349	5259	0.00	1.48	0.00	0.000	6	0.000	0.033	1575	2927	2895	0	0	0	0	0	0
5582	-0.59	-134.8	864.1	-13.4	365	5585	0.00	1.60	0.00	0.000	4	0.000	0.060	1567	3903	2895	0	0	0	0	0	0
5672	-0.59	-134.8	877.4	-14.5	369	5677	0.08	1.48	0.00	0.000	6	0.192	0.033	1589	2936	2895	0	0	0	0	0	0
6004	-0.59	-134.8	919.5	-12.4	385	6005	0.00	0.00	0.00	0.000	6	0.000	0.000	1589	2935	2895	0	0	0	0	0	0
6314	-0.59	-134.8	957.5	-12.2	400	6318	0.00	1.58	0.00	0.000	4	0.000	0.062	1582	3899	2895	0	0	0	0	0	0
6385	-0.59	-134.8	967.4	-13.8	403	6391	0.00	1.50	0.00	0.000	6	0.000	0.032	1582	2915	2895	0	0	0	0	0	0
6650	end dive: TARGET_DEPTH_EXCEEDED
state	6650	begin apogee
6654	-0.13	0.0	1001.9	13.2	416	6781	0.55	0.00	123.80	1.808	6	0.184	0.000	1741	2725	2341	0	0	0	0	0	0
6782	end apogee: CONTROL_FINISHED_OK
state	6782	begin climb
6784	0.59	134.8	1006.1	0.0	422	6929	0.77	0.00	135.93	1.756	6	0.125	0.000	1974	2725	1791	0	0	0	0	0	0
7237	0.59	134.8	936.3	17.3	444	7238	0.00	0.00	0.00	0.000	6	0.000	0.000	1974	2724	1784	0	0	0	0	0	0
7546	0.59	134.8	882.6	17.5	459	7550	0.00	2.00	0.00	0.000	4	0.000	0.059	1974	3892	1781	0	0	0	0	0	0
7583	0.59	134.8	875.4	20.2	460	7591	0.00	1.92	0.00	0.000	6	0.000	0.035	1983	2725	1780	0	0	0	0	0	0
7900	0.59	134.8	818.2	18.0	476	7901	0.00	0.00	0.00	0.000	6	0.000	0.000	1983	2725	1779	0	0	0	0	0	0
8208	0.59	134.8	761.7	17.9	491	8210	0.00	0.00	0.00	0.000	6	0.000	0.000	1983	2725	1779	0	0	0	0	0	0
8518	0.59	134.8	705.6	18.1	506	8519	0.00	0.00	0.00	0.000	6	0.000	0.000	1983	2725	1778	0	0	0	0	0	0
8828	0.59	134.8	649.7	17.8	521	8831	0.00	1.95	0.00	0.000	4	0.000	0.058	1983	3912	1777	0	0	0	0	0	0
8872	0.59	134.8	641.1	21.2	523	8875	0.00	1.90	0.00	0.000	6	0.000	0.037	1992	2711	1776	0	0	0	0	0	0
9203	0.59	134.8	577.9	18.8	539	9204	0.00	0.00	0.00	0.000	6	0.000	0.000	1993	2711	1776	0	0	0	0	0	0
9513	0.59	134.8	519.6	18.9	554	9514	0.00	0.00	0.00	0.000	6	0.000	0.000	1993	2711	1776	0	0	0	0	0	0
9822	0.59	134.8	460.8	18.9	569	9823	0.00	0.00	0.00	0.000	6	0.000	0.000	1993	2711	1776	0	0	0	0	0	0
10131	0.59	134.8	401.7	19.1	584	10135	0.00	1.95	0.00	0.000	4	0.000	0.058	1993	3906	1776	0	0	0	0	0	0
10186	0.59	134.8	389.8	21.1	586	10190	0.00	1.90	0.00	0.000	6	0.000	0.036	2002	2710	1775	0	0	0	0	0	0
10508	0.59	134.8	326.1	19.7	602	10511	0.00	1.95	0.00	0.000	4	0.000	0.059	2002	3909	1775	0	0	0	0	0	0
10541	0.59	134.8	319.0	21.2	603	10545	0.12	1.90	0.00	0.000	6	0.230	0.037	1984	2698	1775	0	0	0	0	0	0
10864	0.59	134.8	261.9	17.6	619	10865	0.00	0.00	0.00	0.000	6	0.000	0.000	1984	2698	1775	0	0	0	0	0	0
11179	0.59	134.8	209.1	17.2	645	11183	0.00	1.98	0.00	0.000	4	0.000	0.060	1984	3899	1775	0	0	0	0	0	0
11230	0.59	134.8	199.5	18.2	649	11237	0.00	1.88	0.00	0.000	6	0.000	0.036	1992	2715	1775	0	0	0	0	0	0
11555	0.59	134.8	145.3	16.4	680	11558	0.00	1.92	0.00	0.000	4	0.000	0.060	1992	3903	1775	0	0	0	0	0	0
11602	0.59	134.8	137.0	18.2	684	11605	0.00	1.88	0.00	0.000	6	0.000	0.036	2002	2700	1775	0	0	0	0	0	0
11932	0.59	134.8	85.4	14.9	722	11939	0.00	1.98	0.00	0.000	4	0.000	0.060	2002	3900	1775	0	0	0	0	0	0
11976	0.59	134.8	77.9	18.3	729	11984	0.00	1.88	0.00	0.000	6	0.000	0.037	2011	2717	1775	0	0	0	0	0	0
12089	0.59	134.8	59.6	16.2	748	12098	0.00	2.22	0.00	0.000	4	0.000	0.047	2021	1299	1775	0	0	0	0	0	0
12123	0.59	134.8	54.3	16.4	753	12131	0.15	2.25	0.00	0.000	6	0.215	0.054	1986	2729	1775	0	0	0	0	0	0
12239	0.59	134.8	38.9	13.4	772	12248	0.00	1.88	0.00	0.000	4	0.000	0.060	1986	3886	1775	0	0	0	0	0	0
12274	0.59	134.8	33.7	15.4	777	12281	0.00	1.88	0.00	0.000	6	0.000	0.039	1994	2710	1774	0	0	0	0	0	0
12393	0.59	134.8	13.4	19.3	796	12401	0.00	0.00	0.00	0.000	6	0.000	0.000	1994	2709	1775	0	0	0	0	0	0
12469	end climb: SURFACE_DEPTH_REACHED
state	12469	begin surface coast
12501	end surface coast: CONTROL_FINISHED_OK
state	12502	begin surface