Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 68 * 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 68 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 48 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 16 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 -21860.004 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 -21860.004

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 48 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 16 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 68 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 211214,210203,-5559.862,-30.869,40,1.3,40,-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 -0.150,-0.068

_SM_DEPTHo 1.79 KALMAN_X 38085.4,-571.2,-137.4,-69077.5,3112.3

_SM_ANGLEo -58.9 KALMAN_Y 53077.4,64.8,-124.8,-52378.1,769.3

GPS2 211214,210913,-5559.824,-30.681,16,1.1,16,-19.9 MHEAD_RNG_PITCHd_Wd 265.4,777,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.1,1.026947 _10V_AH 10.0,12.658

SM_CCo 11546,20.25,0.184,0,0,1524,200.16 FG_AHR_24Vo 0.000

SM_GC 2.40,0.00,0.00,20.25,0.000,0.000,0.184,64,2923,1524,-5.39,-0.23,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5538.94,-34.65,211214,171731 MEM 353964

TT8_MAMPS 0.026215 DATA_FILE_SIZE 50404,755

HUMID 56.49 CAP_FILE_SIZE 104034,0

INTERNAL_PRESSURE 8.96486 CFSIZE 259252224,222060544

TCM_TEMP 7.40 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,2

XPDR_PINGS 0 GPS 221214,002350,-5600.140,-31.810,22,0.7,22,-19.9

_24V_AH 21.7,19.352

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 245 69.94 SBE_CT 536 23 279.08

Roll_motor 81 84 150.36 AA4330 1561 17 609.38

VBD_pump_during_apogee 282 1804 11064.82 WL_BB2F 746 105 1699.94

VBD_pump_during_surface 20 184 81.01 QSP2150 777 17 303.26

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 91 54.05 nil 0 0 0.00

Iridium_during_connect 41 160 145.13 nil 0 0 0.00

Iridium_during_xfer 254 223 1230.53 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 6.10

TT8 1897 14 274.43

LPSleep 7315 2 160.20

TT8_Active 431 14 62.43

TT8_Sampling 2218 42 935.55

TT8_CF8 137 49 68.15

TT8_Kalman 33 68 22.82

Analog_circuits 1170 15 181.49

GPS_charging 0 0 0.00

Compass 1760 16 290.11

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 -0.54 -73.9 0.0 0.0 0 59 0.00 0.00 -42.55 0.000 2 0.000 0.000 56 2896 2436 0 0 0 0 0 0

62 -0.60 -146.1 3.2 -3.0 5 89 6.12 1.75 -15.23 0.000 4 0.246 0.085 1579 3912 2939 0 0 0 0 0 0

346 -0.60 -146.1 61.4 -23.3 51 353 0.00 1.55 0.00 0.000 6 0.000 0.034 1579 2923 2941 0 0 0 0 0 0

460 -0.60 -146.1 84.8 -21.2 70 466 0.00 0.00 0.00 0.000 6 0.000 0.000 1579 2921 2942 0 0 0 0 0 0

687 -0.60 -146.1 129.1 -19.3 97 691 0.00 1.62 0.00 0.000 4 0.000 0.060 1572 3900 2942 0 0 0 0 0 0

783 -0.60 -146.1 148.9 -20.9 105 786 0.00 1.52 0.00 0.000 6 0.000 0.035 1579 2926 2942 0 0 0 0 0 0

1112 -0.60 -146.1 211.9 -17.7 136 1116 0.00 1.62 0.00 0.000 4 0.000 0.061 1571 3903 2941 0 0 0 0 0 0

1163 -0.60 -146.1 221.3 -18.6 140 1173 0.00 1.52 0.00 0.000 6 0.000 0.035 1578 2921 2941 0 0 0 0 0 0

1483 -0.60 -146.1 275.9 -17.3 164 1487 0.00 1.62 0.00 0.000 4 0.000 0.060 1571 3910 2941 0 0 0 0 0 0

1515 -0.60 -146.1 282.2 -18.4 165 1520 0.00 1.52 0.00 0.000 6 0.000 0.034 1578 2935 2941 0 0 0 0 0 0

1840 -0.60 -146.1 339.1 -17.9 181 1841 0.00 0.00 0.00 0.000 6 0.000 0.000 1578 2929 2941 0 0 0 0 0 0

2148 -0.60 -146.1 394.6 -17.9 196 2152 0.00 1.60 0.00 0.000 4 0.000 0.060 1571 3904 2941 0 0 0 0 0 0

2203 -0.60 -146.1 405.4 -18.0 198 2208 0.00 1.52 0.00 0.000 6 0.000 0.034 1577 2923 2941 0 0 0 0 0 0

2525 -0.60 -146.1 459.6 -16.5 214 2529 0.00 1.62 0.00 0.000 4 0.000 0.060 1570 3917 2942 0 0 0 0 0 0

2574 -0.60 -146.1 468.8 -18.0 216 2579 0.00 1.52 0.00 0.000 6 0.000 0.033 1577 2928 2942 0 0 0 0 0 0

2902 -0.60 -146.1 521.0 -15.5 232 2906 0.00 1.62 0.00 0.000 4 0.000 0.061 1570 3913 2942 0 0 0 0 0 0

2956 -0.60 -146.1 530.1 -15.9 234 2961 0.00 1.52 0.00 0.000 6 0.000 0.033 1577 2931 2942 0 0 0 0 0 0

3278 -0.60 -146.1 576.8 -14.3 250 3279 0.00 0.00 0.00 0.000 6 0.000 0.000 1577 2924 2942 0 0 0 0 0 0

3588 -0.60 -146.1 622.1 -15.0 265 3591 0.00 1.60 0.00 0.000 4 0.000 0.061 1570 3900 2942 0 0 0 0 0 0

3633 -0.60 -146.1 629.3 -16.4 267 3636 0.00 1.50 0.00 0.000 6 0.000 0.034 1577 2925 2942 0 0 0 0 0 0

3964 -0.60 -146.1 678.4 -14.7 283 3966 0.00 0.00 0.00 0.000 6 0.000 0.000 1577 2919 2942 0 0 0 0 0 0

4274 -0.60 -146.1 724.2 -14.8 298 4278 0.00 1.60 0.00 0.000 4 0.000 0.060 1570 3898 2942 0 0 0 0 0 0

4342 -0.60 -146.1 735.2 -15.7 301 4346 0.00 1.48 0.00 0.000 6 0.000 0.034 1576 2933 2942 0 0 0 0 0 0

4674 -0.60 -146.1 783.5 -14.4 317 4675 0.00 0.00 0.00 0.000 6 0.000 0.000 1576 2926 2942 0 0 0 0 0 0

4983 -0.60 -146.1 829.1 -14.9 332 4986 0.00 1.60 0.00 0.000 4 0.000 0.060 1569 3905 2942 0 0 0 0 0 0

5044 -0.60 -146.1 839.0 -16.0 334 5051 0.00 1.50 0.00 0.000 6 0.000 0.034 1576 2923 2942 0 0 0 0 0 0

5360 -0.60 -146.1 886.2 -14.9 350 5363 0.00 1.60 0.00 0.000 4 0.000 0.060 1568 3903 2942 0 0 0 0 0 0

5397 -0.60 -146.1 892.5 -16.7 351 5405 0.00 1.50 0.00 0.000 6 0.000 0.034 1569 2923 2942 0 0 0 0 0 0

5713 -0.60 -146.1 939.8 -15.0 367 5715 0.00 0.00 0.00 0.000 6 0.000 0.000 1569 2923 2942 0 0 0 0 0 0

6023 -0.60 -146.1 985.2 -14.3 382 6027 0.00 1.60 0.00 0.000 4 0.000 0.062 1562 3903 2942 0 0 0 0 0 0

6077 -0.60 -146.1 993.9 -15.8 384 6083 0.08 1.48 0.00 0.000 6 0.186 0.034 1584 2940 2942 0 0 0 0 0 0

6130 end dive: TARGET_DEPTH_EXCEEDED

state 6130 begin apogee

6134 -0.13 0.0 1001.1 14.0 387 6273 0.52 0.00 134.00 1.805 6 0.171 0.000 1741 2717 2342 0 0 0 0 0 0

6274 end apogee: CONTROL_FINISHED_OK

state 6274 begin climb

6276 0.60 146.1 1005.0 0.0 394 6433 0.80 0.00 148.55 1.765 6 0.124 0.000 1975 2717 1745 0 0 0 0 0 0

6740 0.60 146.1 925.7 19.5 417 6744 0.00 2.05 0.00 0.000 4 0.000 0.058 1975 3903 1737 0 0 0 0 0 0

6778 0.60 146.1 917.4 21.5 418 6786 0.00 1.98 0.00 0.000 6 0.000 0.036 1984 2734 1735 0 0 0 0 0 0

7094 0.60 146.1 852.5 20.6 434 7095 0.00 0.00 0.00 0.000 6 0.000 0.000 1984 2734 1734 0 0 0 0 0 0

7403 0.60 146.1 788.9 20.9 449 7405 0.00 0.00 0.00 0.000 6 0.000 0.000 1983 2734 1733 0 0 0 0 0 0

7713 0.60 146.1 727.0 19.9 464 7715 0.00 0.00 0.00 0.000 6 0.000 0.000 1984 2734 1732 0 0 0 0 0 0

8022 0.60 146.1 666.3 19.6 479 8026 0.00 1.95 0.00 0.000 4 0.000 0.059 1984 3914 1732 0 0 0 0 0 0

8054 0.60 146.1 659.2 21.0 480 8059 0.00 1.95 0.00 0.000 6 0.000 0.037 1993 2713 1731 0 0 0 0 0 0

8376 0.60 146.1 594.2 20.0 496 8378 0.00 0.00 0.00 0.000 6 0.000 0.000 1993 2712 1731 0 0 0 0 0 0

8685 0.60 146.1 533.1 19.6 511 8689 0.00 1.95 0.00 0.000 4 0.000 0.057 1993 3905 1731 0 0 0 0 0 0

8710 0.60 146.1 527.3 21.3 512 8716 0.00 1.92 0.00 0.000 6 0.000 0.036 2003 2708 1731 0 0 0 0 0 0

9039 0.60 146.1 460.4 20.4 528 9043 0.00 1.98 0.00 0.000 4 0.000 0.058 2003 3924 1731 0 0 0 0 0 0

9064 0.60 146.1 454.2 22.3 529 9069 0.00 1.95 0.00 0.000 6 0.000 0.036 2012 2713 1730 0 0 0 0 0 0

9395 0.60 146.1 385.9 20.7 545 9399 0.00 1.95 0.00 0.000 4 0.000 0.057 2012 3908 1730 0 0 0 0 0 0

9434 0.60 146.1 376.4 22.7 546 9443 0.10 1.92 0.00 0.000 6 0.207 0.037 1993 2708 1730 0 0 0 0 0 0

9749 0.60 146.1 317.1 18.3 562 9753 0.00 1.95 0.00 0.000 4 0.000 0.057 1993 3906 1730 0 0 0 0 0 0

9776 0.60 146.1 311.7 19.5 563 9781 0.00 1.92 0.00 0.000 6 0.000 0.037 2001 2698 1730 0 0 0 0 0 0

10106 0.60 146.1 250.5 18.5 579 10110 0.00 1.98 0.00 0.000 4 0.000 0.057 2002 3916 1730 0 0 0 0 0 0

10143 0.60 146.1 242.8 22.0 581 10147 0.00 1.90 0.00 0.000 6 0.000 0.037 2011 2707 1729 0 0 0 0 0 0

10473 0.60 146.1 176.3 19.5 612 10477 0.00 1.95 0.00 0.000 4 0.000 0.057 2011 3910 1730 0 0 0 0 0 0

10545 0.60 146.1 160.7 21.4 618 10556 0.10 1.92 0.00 0.000 6 0.203 0.037 1992 2706 1730 0 0 0 0 0 0

10872 0.60 146.1 103.7 15.8 649 10876 0.00 1.95 0.00 0.000 4 0.000 0.057 1992 3908 1730 0 0 0 0 0 0

10920 0.60 146.1 95.5 16.9 655 10927 0.00 1.90 0.00 0.000 6 0.000 0.037 2001 2696 1730 0 0 0 0 0 0

11159 0.60 146.1 58.6 14.8 696 11168 0.00 2.20 0.00 0.000 4 0.000 0.046 2011 1295 1730 0 0 0 0 0 0

11253 0.60 146.1 45.6 12.9 711 11260 0.00 2.28 0.00 0.000 6 0.000 0.053 2011 2721 1729 0 0 0 0 0 0

11369 0.60 146.1 28.6 16.4 730 11378 0.00 1.90 0.00 0.000 4 0.000 0.061 2011 3891 1730 0 0 0 0 0 0

11447 0.60 146.1 14.1 20.5 742 11457 0.10 1.88 0.00 0.000 6 0.201 0.038 1992 2714 1730 0 0 0 0 0 0

11513 end climb: SURFACE_DEPTH_REACHED

state 11513 begin surface coast

11533 end surface coast: CONTROL_FINISHED_OK

state 11534 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	68	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	48	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	16	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	-21860.004	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	211214,210203,-5559.862,-30.869,40,1.3,40,-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	-0.150,-0.068
_SM_DEPTHo	1.79	KALMAN_X	38085.4,-571.2,-137.4,-69077.5,3112.3
_SM_ANGLEo	-58.9	KALMAN_Y	53077.4,64.8,-124.8,-52378.1,769.3
GPS2	211214,210913,-5559.824,-30.681,16,1.1,16,-19.9	MHEAD_RNG_PITCHd_Wd	265.4,777,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.1,1.026947	_10V_AH	10.0,12.658
SM_CCo	11546,20.25,0.184,0,0,1524,200.16	FG_AHR_24Vo	0.000
SM_GC	2.40,0.00,0.00,20.25,0.000,0.000,0.184,64,2923,1524,-5.39,-0.23,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5538.94,-34.65,211214,171731	MEM	353964
TT8_MAMPS	0.026215	DATA_FILE_SIZE	50404,755
HUMID	56.49	CAP_FILE_SIZE	104034,0
INTERNAL_PRESSURE	8.96486	CFSIZE	259252224,222060544
TCM_TEMP	7.40	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
XPDR_PINGS	0	GPS	221214,002350,-5600.140,-31.810,22,0.7,22,-19.9
_24V_AH	21.7,19.352

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	245	69.94	SBE_CT	536	23	279.08
Roll_motor	81	84	150.36	AA4330	1561	17	609.38
VBD_pump_during_apogee	282	1804	11064.82	WL_BB2F	746	105	1699.94
VBD_pump_during_surface	20	184	81.01	QSP2150	777	17	303.26
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	91	54.05	nil	0	0	0.00
Iridium_during_connect	41	160	145.13	nil	0	0	0.00
Iridium_during_xfer	254	223	1230.53	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	6.10
TT8	1897	14	274.43
LPSleep	7315	2	160.20
TT8_Active	431	14	62.43
TT8_Sampling	2218	42	935.55
TT8_CF8	137	49	68.15
TT8_Kalman	33	68	22.82
Analog_circuits	1170	15	181.49
GPS_charging	0	0	0.00
Compass	1760	16	290.11
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	-0.54	-73.9	0.0	0.0	0	59	0.00	0.00	-42.55	0.000	2	0.000	0.000	56	2896	2436	0	0	0	0	0	0
62	-0.60	-146.1	3.2	-3.0	5	89	6.12	1.75	-15.23	0.000	4	0.246	0.085	1579	3912	2939	0	0	0	0	0	0
346	-0.60	-146.1	61.4	-23.3	51	353	0.00	1.55	0.00	0.000	6	0.000	0.034	1579	2923	2941	0	0	0	0	0	0
460	-0.60	-146.1	84.8	-21.2	70	466	0.00	0.00	0.00	0.000	6	0.000	0.000	1579	2921	2942	0	0	0	0	0	0
687	-0.60	-146.1	129.1	-19.3	97	691	0.00	1.62	0.00	0.000	4	0.000	0.060	1572	3900	2942	0	0	0	0	0	0
783	-0.60	-146.1	148.9	-20.9	105	786	0.00	1.52	0.00	0.000	6	0.000	0.035	1579	2926	2942	0	0	0	0	0	0
1112	-0.60	-146.1	211.9	-17.7	136	1116	0.00	1.62	0.00	0.000	4	0.000	0.061	1571	3903	2941	0	0	0	0	0	0
1163	-0.60	-146.1	221.3	-18.6	140	1173	0.00	1.52	0.00	0.000	6	0.000	0.035	1578	2921	2941	0	0	0	0	0	0
1483	-0.60	-146.1	275.9	-17.3	164	1487	0.00	1.62	0.00	0.000	4	0.000	0.060	1571	3910	2941	0	0	0	0	0	0
1515	-0.60	-146.1	282.2	-18.4	165	1520	0.00	1.52	0.00	0.000	6	0.000	0.034	1578	2935	2941	0	0	0	0	0	0
1840	-0.60	-146.1	339.1	-17.9	181	1841	0.00	0.00	0.00	0.000	6	0.000	0.000	1578	2929	2941	0	0	0	0	0	0
2148	-0.60	-146.1	394.6	-17.9	196	2152	0.00	1.60	0.00	0.000	4	0.000	0.060	1571	3904	2941	0	0	0	0	0	0
2203	-0.60	-146.1	405.4	-18.0	198	2208	0.00	1.52	0.00	0.000	6	0.000	0.034	1577	2923	2941	0	0	0	0	0	0
2525	-0.60	-146.1	459.6	-16.5	214	2529	0.00	1.62	0.00	0.000	4	0.000	0.060	1570	3917	2942	0	0	0	0	0	0
2574	-0.60	-146.1	468.8	-18.0	216	2579	0.00	1.52	0.00	0.000	6	0.000	0.033	1577	2928	2942	0	0	0	0	0	0
2902	-0.60	-146.1	521.0	-15.5	232	2906	0.00	1.62	0.00	0.000	4	0.000	0.061	1570	3913	2942	0	0	0	0	0	0
2956	-0.60	-146.1	530.1	-15.9	234	2961	0.00	1.52	0.00	0.000	6	0.000	0.033	1577	2931	2942	0	0	0	0	0	0
3278	-0.60	-146.1	576.8	-14.3	250	3279	0.00	0.00	0.00	0.000	6	0.000	0.000	1577	2924	2942	0	0	0	0	0	0
3588	-0.60	-146.1	622.1	-15.0	265	3591	0.00	1.60	0.00	0.000	4	0.000	0.061	1570	3900	2942	0	0	0	0	0	0
3633	-0.60	-146.1	629.3	-16.4	267	3636	0.00	1.50	0.00	0.000	6	0.000	0.034	1577	2925	2942	0	0	0	0	0	0
3964	-0.60	-146.1	678.4	-14.7	283	3966	0.00	0.00	0.00	0.000	6	0.000	0.000	1577	2919	2942	0	0	0	0	0	0
4274	-0.60	-146.1	724.2	-14.8	298	4278	0.00	1.60	0.00	0.000	4	0.000	0.060	1570	3898	2942	0	0	0	0	0	0
4342	-0.60	-146.1	735.2	-15.7	301	4346	0.00	1.48	0.00	0.000	6	0.000	0.034	1576	2933	2942	0	0	0	0	0	0
4674	-0.60	-146.1	783.5	-14.4	317	4675	0.00	0.00	0.00	0.000	6	0.000	0.000	1576	2926	2942	0	0	0	0	0	0
4983	-0.60	-146.1	829.1	-14.9	332	4986	0.00	1.60	0.00	0.000	4	0.000	0.060	1569	3905	2942	0	0	0	0	0	0
5044	-0.60	-146.1	839.0	-16.0	334	5051	0.00	1.50	0.00	0.000	6	0.000	0.034	1576	2923	2942	0	0	0	0	0	0
5360	-0.60	-146.1	886.2	-14.9	350	5363	0.00	1.60	0.00	0.000	4	0.000	0.060	1568	3903	2942	0	0	0	0	0	0
5397	-0.60	-146.1	892.5	-16.7	351	5405	0.00	1.50	0.00	0.000	6	0.000	0.034	1569	2923	2942	0	0	0	0	0	0
5713	-0.60	-146.1	939.8	-15.0	367	5715	0.00	0.00	0.00	0.000	6	0.000	0.000	1569	2923	2942	0	0	0	0	0	0
6023	-0.60	-146.1	985.2	-14.3	382	6027	0.00	1.60	0.00	0.000	4	0.000	0.062	1562	3903	2942	0	0	0	0	0	0
6077	-0.60	-146.1	993.9	-15.8	384	6083	0.08	1.48	0.00	0.000	6	0.186	0.034	1584	2940	2942	0	0	0	0	0	0
6130	end dive: TARGET_DEPTH_EXCEEDED
state	6130	begin apogee
6134	-0.13	0.0	1001.1	14.0	387	6273	0.52	0.00	134.00	1.805	6	0.171	0.000	1741	2717	2342	0	0	0	0	0	0
6274	end apogee: CONTROL_FINISHED_OK
state	6274	begin climb
6276	0.60	146.1	1005.0	0.0	394	6433	0.80	0.00	148.55	1.765	6	0.124	0.000	1975	2717	1745	0	0	0	0	0	0
6740	0.60	146.1	925.7	19.5	417	6744	0.00	2.05	0.00	0.000	4	0.000	0.058	1975	3903	1737	0	0	0	0	0	0
6778	0.60	146.1	917.4	21.5	418	6786	0.00	1.98	0.00	0.000	6	0.000	0.036	1984	2734	1735	0	0	0	0	0	0
7094	0.60	146.1	852.5	20.6	434	7095	0.00	0.00	0.00	0.000	6	0.000	0.000	1984	2734	1734	0	0	0	0	0	0
7403	0.60	146.1	788.9	20.9	449	7405	0.00	0.00	0.00	0.000	6	0.000	0.000	1983	2734	1733	0	0	0	0	0	0
7713	0.60	146.1	727.0	19.9	464	7715	0.00	0.00	0.00	0.000	6	0.000	0.000	1984	2734	1732	0	0	0	0	0	0
8022	0.60	146.1	666.3	19.6	479	8026	0.00	1.95	0.00	0.000	4	0.000	0.059	1984	3914	1732	0	0	0	0	0	0
8054	0.60	146.1	659.2	21.0	480	8059	0.00	1.95	0.00	0.000	6	0.000	0.037	1993	2713	1731	0	0	0	0	0	0
8376	0.60	146.1	594.2	20.0	496	8378	0.00	0.00	0.00	0.000	6	0.000	0.000	1993	2712	1731	0	0	0	0	0	0
8685	0.60	146.1	533.1	19.6	511	8689	0.00	1.95	0.00	0.000	4	0.000	0.057	1993	3905	1731	0	0	0	0	0	0
8710	0.60	146.1	527.3	21.3	512	8716	0.00	1.92	0.00	0.000	6	0.000	0.036	2003	2708	1731	0	0	0	0	0	0
9039	0.60	146.1	460.4	20.4	528	9043	0.00	1.98	0.00	0.000	4	0.000	0.058	2003	3924	1731	0	0	0	0	0	0
9064	0.60	146.1	454.2	22.3	529	9069	0.00	1.95	0.00	0.000	6	0.000	0.036	2012	2713	1730	0	0	0	0	0	0
9395	0.60	146.1	385.9	20.7	545	9399	0.00	1.95	0.00	0.000	4	0.000	0.057	2012	3908	1730	0	0	0	0	0	0
9434	0.60	146.1	376.4	22.7	546	9443	0.10	1.92	0.00	0.000	6	0.207	0.037	1993	2708	1730	0	0	0	0	0	0
9749	0.60	146.1	317.1	18.3	562	9753	0.00	1.95	0.00	0.000	4	0.000	0.057	1993	3906	1730	0	0	0	0	0	0
9776	0.60	146.1	311.7	19.5	563	9781	0.00	1.92	0.00	0.000	6	0.000	0.037	2001	2698	1730	0	0	0	0	0	0
10106	0.60	146.1	250.5	18.5	579	10110	0.00	1.98	0.00	0.000	4	0.000	0.057	2002	3916	1730	0	0	0	0	0	0
10143	0.60	146.1	242.8	22.0	581	10147	0.00	1.90	0.00	0.000	6	0.000	0.037	2011	2707	1729	0	0	0	0	0	0
10473	0.60	146.1	176.3	19.5	612	10477	0.00	1.95	0.00	0.000	4	0.000	0.057	2011	3910	1730	0	0	0	0	0	0
10545	0.60	146.1	160.7	21.4	618	10556	0.10	1.92	0.00	0.000	6	0.203	0.037	1992	2706	1730	0	0	0	0	0	0
10872	0.60	146.1	103.7	15.8	649	10876	0.00	1.95	0.00	0.000	4	0.000	0.057	1992	3908	1730	0	0	0	0	0	0
10920	0.60	146.1	95.5	16.9	655	10927	0.00	1.90	0.00	0.000	6	0.000	0.037	2001	2696	1730	0	0	0	0	0	0
11159	0.60	146.1	58.6	14.8	696	11168	0.00	2.20	0.00	0.000	4	0.000	0.046	2011	1295	1730	0	0	0	0	0	0
11253	0.60	146.1	45.6	12.9	711	11260	0.00	2.28	0.00	0.000	6	0.000	0.053	2011	2721	1729	0	0	0	0	0	0
11369	0.60	146.1	28.6	16.4	730	11378	0.00	1.90	0.00	0.000	4	0.000	0.061	2011	3891	1730	0	0	0	0	0	0
11447	0.60	146.1	14.1	20.5	742	11457	0.10	1.88	0.00	0.000	6	0.201	0.038	1992	2714	1730	0	0	0	0	0	0
11513	end climb: SURFACE_DEPTH_REACHED
state	11513	begin surface coast
11533	end surface coast: CONTROL_FINISHED_OK
state	11534	begin surface