Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 74 * 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 74 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 26 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 -21874.215 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 -21874.215

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 26 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 74 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 221214,180333,-5600.552,-35.708,53,1.7,56,-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 0.125,0.107

_SM_DEPTHo 1.94 KALMAN_X 44128.7,-667.5,-369.3,-79936.0,4760.9

_SM_ANGLEo -59.0 KALMAN_Y 52709.2,13.9,-353.7,-53021.1,40.6

GPS2 221214,181111,-5600.522,-35.658,20,0.9,20,-19.8 MHEAD_RNG_PITCHd_Wd 69.3,5939,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.9,1.005051 _10V_AH 10.0,13.255

SM_CCo 12646,25.77,0.187,0,0,1524,200.16 FG_AHR_24Vo 0.000

SM_GC 2.17,0.00,0.00,25.77,0.000,0.000,0.187,55,2890,1524,-5.42,-1.13,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5538.94,-30.80,221214,141429 MEM 353964

TT8_MAMPS 0.026215 DATA_FILE_SIZE 57083,829

HUMID 56.37 CAP_FILE_SIZE 108988,0

INTERNAL_PRESSURE 8.96486 CFSIZE 259252224,221683712

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

XPDR_PINGS 0 GPS 221214,214430,-5559.564,-32.339,38,0.9,38,-19.9

_24V_AH 21.7,20.299

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 259 74.28 SBE_CT 589 23 306.65

Roll_motor 73 65 103.82 AA4330 1718 17 670.57

VBD_pump_during_apogee 254 1802 9941.96 WL_BB2F 822 105 1873.02

VBD_pump_during_surface 25 186 104.40 QSP2150 861 17 336.09

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 91 52.96 nil 0 0 0.00

Iridium_during_connect 49 160 172.54 nil 0 0 0.00

Iridium_during_xfer 266 223 1287.81 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 23 31 7.26

TT8 2063 14 298.38

LPSleep 8094 2 177.27

TT8_Active 378 14 54.68

TT8_Sampling 2442 42 1030.01

TT8_CF8 155 49 77.29

TT8_Kalman 33 68 22.81

Analog_circuits 1199 15 185.88

GPS_charging 0 0 0.00

Compass 1951 16 321.67

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 66 0.00 0.00 -49.72 0.000 2 0.000 0.000 46 2931 2598 0 0 0 0 0 0

69 -0.59 -132.4 3.3 -4.5 6 95 6.43 2.25 -8.10 0.000 4 0.259 0.050 1603 1501 2884 0 0 0 0 0 0

349 -0.59 -132.4 46.5 -13.6 51 356 0.00 2.33 0.00 0.000 6 0.000 0.060 1592 2921 2885 0 0 0 0 0 0

462 -0.59 -132.4 67.7 -19.5 70 470 0.00 0.00 0.00 0.000 6 0.000 0.000 1592 2922 2885 0 0 0 0 0 0

576 -0.59 -132.4 90.2 -19.3 89 583 0.00 1.60 0.00 0.000 4 0.000 0.063 1584 3903 2885 0 0 0 0 0 0

635 -0.59 -132.4 102.9 -21.8 98 638 0.00 1.58 0.00 0.000 6 0.000 0.034 1585 2893 2885 0 0 0 0 0 0

967 -0.59 -132.4 163.5 -17.8 129 971 0.00 1.67 0.00 0.000 4 0.000 0.064 1577 3912 2885 0 0 0 0 0 0

1018 -0.59 -132.4 173.7 -18.7 133 1026 0.00 1.55 0.00 0.000 6 0.000 0.034 1578 2915 2885 0 0 0 0 0 0

1344 -0.59 -132.4 231.1 -18.3 164 1345 0.00 0.00 0.00 0.000 6 0.000 0.000 1578 2914 2885 0 0 0 0 0 0

1669 -0.59 -132.4 284.9 -16.1 185 1673 0.00 1.65 0.00 0.000 4 0.000 0.065 1571 3926 2885 0 0 0 0 0 0

1717 -0.59 -132.4 293.0 -17.3 187 1720 0.00 1.52 0.00 0.000 6 0.000 0.035 1571 2939 2885 0 0 0 0 0 0

2051 -0.59 -132.4 347.2 -15.9 203 2052 0.00 0.00 0.00 0.000 6 0.000 0.000 1571 2932 2885 0 0 0 0 0 0

2360 -0.59 -132.4 396.3 -15.7 218 2363 0.00 1.60 0.00 0.000 4 0.000 0.064 1563 3904 2885 0 0 0 0 0 0

2409 -0.59 -132.4 405.0 -16.6 220 2415 0.10 1.52 0.00 0.000 6 0.213 0.034 1589 2918 2885 0 0 0 0 0 0

2736 -0.59 -132.4 449.6 -13.3 236 2740 0.00 1.62 0.00 0.000 4 0.000 0.064 1582 3903 2885 0 0 0 0 0 0

2814 -0.59 -132.4 460.9 -15.0 239 2818 0.00 1.50 0.00 0.000 6 0.000 0.033 1582 2923 2885 0 0 0 0 0 0

3135 -0.59 -132.4 505.0 -13.8 255 3136 0.00 0.00 0.00 0.000 6 0.000 0.000 1582 2918 2885 0 0 0 0 0 0

3445 -0.59 -132.4 548.1 -13.8 270 3448 0.00 1.62 0.00 0.000 4 0.000 0.063 1575 3904 2886 0 0 0 0 0 0

3490 -0.59 -132.4 554.8 -15.4 272 3494 0.00 1.50 0.00 0.000 6 0.000 0.034 1574 2925 2885 0 0 0 0 0 0

3822 -0.59 -132.4 604.4 -15.2 288 3823 0.00 0.00 0.00 0.000 6 0.000 0.000 1575 2919 2886 0 0 0 0 0 0

4131 -0.59 -132.4 650.8 -15.2 303 4132 0.00 0.00 0.00 0.000 6 0.000 0.000 1575 2919 2885 0 0 0 0 0 0

4441 -0.59 -132.4 696.6 -14.7 318 4445 0.00 1.62 0.00 0.000 4 0.000 0.063 1567 3917 2886 0 0 0 0 0 0

4524 -0.59 -132.4 710.0 -15.6 321 4532 0.08 1.50 0.00 0.000 6 0.188 0.033 1589 2936 2886 0 0 0 0 0 0

4841 -0.59 -132.4 753.0 -13.2 337 4842 0.00 0.00 0.00 0.000 6 0.000 0.000 1589 2936 2886 0 0 0 0 0 0

5149 -0.59 -132.4 792.9 -12.9 352 5150 0.00 0.00 0.00 0.000 6 0.000 0.000 1589 2936 2886 0 0 0 0 0 0

5459 -0.59 -132.4 831.4 -12.3 367 5462 0.00 1.58 0.00 0.000 4 0.000 0.064 1583 3897 2886 0 0 0 0 0 0

5508 -0.59 -132.4 837.9 -13.0 369 5512 0.00 1.48 0.00 0.000 6 0.000 0.033 1589 2921 2886 0 0 0 0 0 0

5835 -0.59 -132.4 878.6 -12.5 385 5836 0.00 0.00 0.00 0.000 6 0.000 0.000 1588 2916 2886 0 0 0 0 0 0

6144 -0.59 -132.4 916.3 -12.3 400 6145 0.00 0.00 0.00 0.000 6 0.000 0.000 1589 2917 2886 0 0 0 0 0 0

6454 -0.59 -132.4 954.7 -12.6 415 6455 0.00 0.00 0.00 0.000 6 0.000 0.000 1589 2916 2886 0 0 0 0 0 0

6763 -0.59 -132.4 992.5 -12.3 430 6764 0.00 0.00 0.00 0.000 6 0.000 0.000 1590 2916 2885 0 0 0 0 0 0

6846 end dive: TARGET_DEPTH_EXCEEDED

state 6846 begin apogee

6850 -0.13 0.0 1002.3 11.8 434 6974 0.50 0.00 121.18 1.802 6 0.172 0.000 1738 2708 2342 0 0 0 0 0 0

6975 end apogee: CONTROL_FINISHED_OK

state 6975 begin climb

6977 0.59 132.4 1006.0 0.0 440 7118 0.77 2.42 133.02 1.769 4 0.125 0.046 1981 1324 1801 0 0 0 0 0 0

7139 0.59 132.4 985.6 16.6 447 7147 0.00 2.55 0.00 0.000 6 0.000 0.054 1981 2718 1798 0 0 0 0 0 0

7455 0.59 132.4 927.5 18.6 463 7459 0.00 2.03 0.00 0.000 4 0.000 0.062 1981 3911 1792 0 0 0 0 0 0

7509 0.59 132.4 916.1 20.4 465 7515 0.00 1.98 0.00 0.000 6 0.000 0.037 1990 2740 1790 0 0 0 0 0 0

7832 0.59 132.4 855.7 18.6 481 7833 0.00 0.00 0.00 0.000 6 0.000 0.000 1990 2738 1789 0 0 0 0 0 0

8141 0.59 132.4 798.3 18.8 496 8142 0.00 0.00 0.00 0.000 6 0.000 0.000 1990 2739 1788 0 0 0 0 0 0

8450 0.59 132.4 741.0 18.7 511 8454 0.00 1.92 0.00 0.000 4 0.000 0.062 1990 3898 1788 0 0 0 0 0 0

8499 0.59 132.4 730.8 21.8 513 8503 0.00 1.92 0.00 0.000 6 0.000 0.037 1999 2715 1787 0 0 0 0 0 0

8826 0.59 132.4 669.2 18.9 529 8829 0.00 1.95 0.00 0.000 4 0.000 0.060 2000 3895 1787 0 0 0 0 0 0

8885 0.59 132.4 656.3 21.1 531 8894 0.00 1.90 0.00 0.000 6 0.000 0.036 2008 2714 1787 0 0 0 0 0 0

9203 0.59 132.4 594.0 19.7 547 9204 0.00 0.00 0.00 0.000 6 0.000 0.000 2008 2714 1786 0 0 0 0 0 0

9511 0.59 132.4 532.9 19.7 562 9515 0.00 1.95 0.00 0.000 4 0.000 0.060 2008 3889 1787 0 0 0 0 0 0

9583 0.59 132.4 517.2 21.5 565 9588 0.10 1.90 0.00 0.000 6 0.207 0.037 1990 2700 1786 0 0 0 0 0 0

9909 0.59 132.4 458.7 17.5 581 9913 0.00 1.92 0.00 0.000 4 0.000 0.060 1990 3890 1786 0 0 0 0 0 0

9964 0.59 132.4 447.5 20.1 583 9969 0.00 1.90 0.00 0.000 6 0.000 0.036 1998 2701 1786 0 0 0 0 0 0

10288 0.59 132.4 389.8 17.6 599 10292 0.00 1.95 0.00 0.000 4 0.000 0.060 1998 3897 1786 0 0 0 0 0 0

10356 0.59 132.4 376.2 20.8 602 10360 0.00 1.88 0.00 0.000 6 0.000 0.037 2007 2705 1785 0 0 0 0 0 0

10688 0.59 132.4 316.1 18.2 618 10690 0.00 0.00 0.00 0.000 6 0.000 0.000 2007 2705 1785 0 0 0 0 0 0

10999 0.59 132.4 258.4 18.8 633 11003 0.00 1.92 0.00 0.000 4 0.000 0.059 2007 3890 1785 0 0 0 0 0 0

11059 0.59 132.4 245.1 22.3 636 11070 0.10 1.88 0.00 0.000 6 0.207 0.036 1988 2711 1785 0 0 0 0 0 0

11386 0.59 132.4 191.9 16.1 667 11387 0.00 0.00 0.00 0.000 6 0.000 0.000 1988 2711 1785 0 0 0 0 0 0

11706 0.59 132.4 143.4 16.2 697 11709 0.00 1.92 0.00 0.000 4 0.000 0.060 1988 3895 1785 0 0 0 0 0 0

11809 0.59 132.4 124.1 18.4 706 11812 0.00 1.85 0.00 0.000 6 0.000 0.037 1997 2698 1784 0 0 0 0 0 0

12148 0.59 132.4 77.0 11.1 751 12154 0.00 0.00 0.00 0.000 6 0.000 0.000 1997 2697 1785 0 0 0 0 0 0

12259 0.59 132.4 59.1 16.7 770 12268 0.00 2.17 0.00 0.000 4 0.000 0.044 2007 1304 1785 0 0 0 0 0 0

12282 0.59 132.4 55.3 16.4 773 12289 0.00 2.22 0.00 0.000 6 0.000 0.056 2007 2715 1785 0 0 0 0 0 0

12394 0.59 132.4 37.9 15.5 792 12403 0.00 0.00 0.00 0.000 6 0.000 0.000 2007 2715 1785 0 0 0 0 0 0

12513 0.59 132.4 17.8 17.2 811 12522 0.00 0.00 0.00 0.000 6 0.000 0.000 2007 2715 1784 0 0 0 0 0 0

12597 0.59 132.4 3.3 17.8 824 12606 0.00 1.90 0.00 0.000 4 0.000 0.060 2007 3890 1783 0 0 0 0 0 0

12613 end climb: SURFACE_DEPTH_REACHED

state 12613 begin surface coast

12633 end surface coast: CONTROL_FINISHED_OK

state 12633 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	74	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	26	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	-21874.215	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	221214,180333,-5600.552,-35.708,53,1.7,56,-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	0.125,0.107
_SM_DEPTHo	1.94	KALMAN_X	44128.7,-667.5,-369.3,-79936.0,4760.9
_SM_ANGLEo	-59.0	KALMAN_Y	52709.2,13.9,-353.7,-53021.1,40.6
GPS2	221214,181111,-5600.522,-35.658,20,0.9,20,-19.8	MHEAD_RNG_PITCHd_Wd	69.3,5939,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	0.9,1.005051	_10V_AH	10.0,13.255
SM_CCo	12646,25.77,0.187,0,0,1524,200.16	FG_AHR_24Vo	0.000
SM_GC	2.17,0.00,0.00,25.77,0.000,0.000,0.187,55,2890,1524,-5.42,-1.13,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5538.94,-30.80,221214,141429	MEM	353964
TT8_MAMPS	0.026215	DATA_FILE_SIZE	57083,829
HUMID	56.37	CAP_FILE_SIZE	108988,0
INTERNAL_PRESSURE	8.96486	CFSIZE	259252224,221683712
TCM_TEMP	7.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	221214,214430,-5559.564,-32.339,38,0.9,38,-19.9
_24V_AH	21.7,20.299

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	259	74.28	SBE_CT	589	23	306.65
Roll_motor	73	65	103.82	AA4330	1718	17	670.57
VBD_pump_during_apogee	254	1802	9941.96	WL_BB2F	822	105	1873.02
VBD_pump_during_surface	25	186	104.40	QSP2150	861	17	336.09
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	91	52.96	nil	0	0	0.00
Iridium_during_connect	49	160	172.54	nil	0	0	0.00
Iridium_during_xfer	266	223	1287.81	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	23	31	7.26
TT8	2063	14	298.38
LPSleep	8094	2	177.27
TT8_Active	378	14	54.68
TT8_Sampling	2442	42	1030.01
TT8_CF8	155	49	77.29
TT8_Kalman	33	68	22.81
Analog_circuits	1199	15	185.88
GPS_charging	0	0	0.00
Compass	1951	16	321.67
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	66	0.00	0.00	-49.72	0.000	2	0.000	0.000	46	2931	2598	0	0	0	0	0	0
69	-0.59	-132.4	3.3	-4.5	6	95	6.43	2.25	-8.10	0.000	4	0.259	0.050	1603	1501	2884	0	0	0	0	0	0
349	-0.59	-132.4	46.5	-13.6	51	356	0.00	2.33	0.00	0.000	6	0.000	0.060	1592	2921	2885	0	0	0	0	0	0
462	-0.59	-132.4	67.7	-19.5	70	470	0.00	0.00	0.00	0.000	6	0.000	0.000	1592	2922	2885	0	0	0	0	0	0
576	-0.59	-132.4	90.2	-19.3	89	583	0.00	1.60	0.00	0.000	4	0.000	0.063	1584	3903	2885	0	0	0	0	0	0
635	-0.59	-132.4	102.9	-21.8	98	638	0.00	1.58	0.00	0.000	6	0.000	0.034	1585	2893	2885	0	0	0	0	0	0
967	-0.59	-132.4	163.5	-17.8	129	971	0.00	1.67	0.00	0.000	4	0.000	0.064	1577	3912	2885	0	0	0	0	0	0
1018	-0.59	-132.4	173.7	-18.7	133	1026	0.00	1.55	0.00	0.000	6	0.000	0.034	1578	2915	2885	0	0	0	0	0	0
1344	-0.59	-132.4	231.1	-18.3	164	1345	0.00	0.00	0.00	0.000	6	0.000	0.000	1578	2914	2885	0	0	0	0	0	0
1669	-0.59	-132.4	284.9	-16.1	185	1673	0.00	1.65	0.00	0.000	4	0.000	0.065	1571	3926	2885	0	0	0	0	0	0
1717	-0.59	-132.4	293.0	-17.3	187	1720	0.00	1.52	0.00	0.000	6	0.000	0.035	1571	2939	2885	0	0	0	0	0	0
2051	-0.59	-132.4	347.2	-15.9	203	2052	0.00	0.00	0.00	0.000	6	0.000	0.000	1571	2932	2885	0	0	0	0	0	0
2360	-0.59	-132.4	396.3	-15.7	218	2363	0.00	1.60	0.00	0.000	4	0.000	0.064	1563	3904	2885	0	0	0	0	0	0
2409	-0.59	-132.4	405.0	-16.6	220	2415	0.10	1.52	0.00	0.000	6	0.213	0.034	1589	2918	2885	0	0	0	0	0	0
2736	-0.59	-132.4	449.6	-13.3	236	2740	0.00	1.62	0.00	0.000	4	0.000	0.064	1582	3903	2885	0	0	0	0	0	0
2814	-0.59	-132.4	460.9	-15.0	239	2818	0.00	1.50	0.00	0.000	6	0.000	0.033	1582	2923	2885	0	0	0	0	0	0
3135	-0.59	-132.4	505.0	-13.8	255	3136	0.00	0.00	0.00	0.000	6	0.000	0.000	1582	2918	2885	0	0	0	0	0	0
3445	-0.59	-132.4	548.1	-13.8	270	3448	0.00	1.62	0.00	0.000	4	0.000	0.063	1575	3904	2886	0	0	0	0	0	0
3490	-0.59	-132.4	554.8	-15.4	272	3494	0.00	1.50	0.00	0.000	6	0.000	0.034	1574	2925	2885	0	0	0	0	0	0
3822	-0.59	-132.4	604.4	-15.2	288	3823	0.00	0.00	0.00	0.000	6	0.000	0.000	1575	2919	2886	0	0	0	0	0	0
4131	-0.59	-132.4	650.8	-15.2	303	4132	0.00	0.00	0.00	0.000	6	0.000	0.000	1575	2919	2885	0	0	0	0	0	0
4441	-0.59	-132.4	696.6	-14.7	318	4445	0.00	1.62	0.00	0.000	4	0.000	0.063	1567	3917	2886	0	0	0	0	0	0
4524	-0.59	-132.4	710.0	-15.6	321	4532	0.08	1.50	0.00	0.000	6	0.188	0.033	1589	2936	2886	0	0	0	0	0	0
4841	-0.59	-132.4	753.0	-13.2	337	4842	0.00	0.00	0.00	0.000	6	0.000	0.000	1589	2936	2886	0	0	0	0	0	0
5149	-0.59	-132.4	792.9	-12.9	352	5150	0.00	0.00	0.00	0.000	6	0.000	0.000	1589	2936	2886	0	0	0	0	0	0
5459	-0.59	-132.4	831.4	-12.3	367	5462	0.00	1.58	0.00	0.000	4	0.000	0.064	1583	3897	2886	0	0	0	0	0	0
5508	-0.59	-132.4	837.9	-13.0	369	5512	0.00	1.48	0.00	0.000	6	0.000	0.033	1589	2921	2886	0	0	0	0	0	0
5835	-0.59	-132.4	878.6	-12.5	385	5836	0.00	0.00	0.00	0.000	6	0.000	0.000	1588	2916	2886	0	0	0	0	0	0
6144	-0.59	-132.4	916.3	-12.3	400	6145	0.00	0.00	0.00	0.000	6	0.000	0.000	1589	2917	2886	0	0	0	0	0	0
6454	-0.59	-132.4	954.7	-12.6	415	6455	0.00	0.00	0.00	0.000	6	0.000	0.000	1589	2916	2886	0	0	0	0	0	0
6763	-0.59	-132.4	992.5	-12.3	430	6764	0.00	0.00	0.00	0.000	6	0.000	0.000	1590	2916	2885	0	0	0	0	0	0
6846	end dive: TARGET_DEPTH_EXCEEDED
state	6846	begin apogee
6850	-0.13	0.0	1002.3	11.8	434	6974	0.50	0.00	121.18	1.802	6	0.172	0.000	1738	2708	2342	0	0	0	0	0	0
6975	end apogee: CONTROL_FINISHED_OK
state	6975	begin climb
6977	0.59	132.4	1006.0	0.0	440	7118	0.77	2.42	133.02	1.769	4	0.125	0.046	1981	1324	1801	0	0	0	0	0	0
7139	0.59	132.4	985.6	16.6	447	7147	0.00	2.55	0.00	0.000	6	0.000	0.054	1981	2718	1798	0	0	0	0	0	0
7455	0.59	132.4	927.5	18.6	463	7459	0.00	2.03	0.00	0.000	4	0.000	0.062	1981	3911	1792	0	0	0	0	0	0
7509	0.59	132.4	916.1	20.4	465	7515	0.00	1.98	0.00	0.000	6	0.000	0.037	1990	2740	1790	0	0	0	0	0	0
7832	0.59	132.4	855.7	18.6	481	7833	0.00	0.00	0.00	0.000	6	0.000	0.000	1990	2738	1789	0	0	0	0	0	0
8141	0.59	132.4	798.3	18.8	496	8142	0.00	0.00	0.00	0.000	6	0.000	0.000	1990	2739	1788	0	0	0	0	0	0
8450	0.59	132.4	741.0	18.7	511	8454	0.00	1.92	0.00	0.000	4	0.000	0.062	1990	3898	1788	0	0	0	0	0	0
8499	0.59	132.4	730.8	21.8	513	8503	0.00	1.92	0.00	0.000	6	0.000	0.037	1999	2715	1787	0	0	0	0	0	0
8826	0.59	132.4	669.2	18.9	529	8829	0.00	1.95	0.00	0.000	4	0.000	0.060	2000	3895	1787	0	0	0	0	0	0
8885	0.59	132.4	656.3	21.1	531	8894	0.00	1.90	0.00	0.000	6	0.000	0.036	2008	2714	1787	0	0	0	0	0	0
9203	0.59	132.4	594.0	19.7	547	9204	0.00	0.00	0.00	0.000	6	0.000	0.000	2008	2714	1786	0	0	0	0	0	0
9511	0.59	132.4	532.9	19.7	562	9515	0.00	1.95	0.00	0.000	4	0.000	0.060	2008	3889	1787	0	0	0	0	0	0
9583	0.59	132.4	517.2	21.5	565	9588	0.10	1.90	0.00	0.000	6	0.207	0.037	1990	2700	1786	0	0	0	0	0	0
9909	0.59	132.4	458.7	17.5	581	9913	0.00	1.92	0.00	0.000	4	0.000	0.060	1990	3890	1786	0	0	0	0	0	0
9964	0.59	132.4	447.5	20.1	583	9969	0.00	1.90	0.00	0.000	6	0.000	0.036	1998	2701	1786	0	0	0	0	0	0
10288	0.59	132.4	389.8	17.6	599	10292	0.00	1.95	0.00	0.000	4	0.000	0.060	1998	3897	1786	0	0	0	0	0	0
10356	0.59	132.4	376.2	20.8	602	10360	0.00	1.88	0.00	0.000	6	0.000	0.037	2007	2705	1785	0	0	0	0	0	0
10688	0.59	132.4	316.1	18.2	618	10690	0.00	0.00	0.00	0.000	6	0.000	0.000	2007	2705	1785	0	0	0	0	0	0
10999	0.59	132.4	258.4	18.8	633	11003	0.00	1.92	0.00	0.000	4	0.000	0.059	2007	3890	1785	0	0	0	0	0	0
11059	0.59	132.4	245.1	22.3	636	11070	0.10	1.88	0.00	0.000	6	0.207	0.036	1988	2711	1785	0	0	0	0	0	0
11386	0.59	132.4	191.9	16.1	667	11387	0.00	0.00	0.00	0.000	6	0.000	0.000	1988	2711	1785	0	0	0	0	0	0
11706	0.59	132.4	143.4	16.2	697	11709	0.00	1.92	0.00	0.000	4	0.000	0.060	1988	3895	1785	0	0	0	0	0	0
11809	0.59	132.4	124.1	18.4	706	11812	0.00	1.85	0.00	0.000	6	0.000	0.037	1997	2698	1784	0	0	0	0	0	0
12148	0.59	132.4	77.0	11.1	751	12154	0.00	0.00	0.00	0.000	6	0.000	0.000	1997	2697	1785	0	0	0	0	0	0
12259	0.59	132.4	59.1	16.7	770	12268	0.00	2.17	0.00	0.000	4	0.000	0.044	2007	1304	1785	0	0	0	0	0	0
12282	0.59	132.4	55.3	16.4	773	12289	0.00	2.22	0.00	0.000	6	0.000	0.056	2007	2715	1785	0	0	0	0	0	0
12394	0.59	132.4	37.9	15.5	792	12403	0.00	0.00	0.00	0.000	6	0.000	0.000	2007	2715	1785	0	0	0	0	0	0
12513	0.59	132.4	17.8	17.2	811	12522	0.00	0.00	0.00	0.000	6	0.000	0.000	2007	2715	1784	0	0	0	0	0	0
12597	0.59	132.4	3.3	17.8	824	12606	0.00	1.90	0.00	0.000	4	0.000	0.060	2007	3890	1783	0	0	0	0	0	0
12613	end climb: SURFACE_DEPTH_REACHED
state	12613	begin surface coast
12633	end surface coast: CONTROL_FINISHED_OK
state	12633	begin surface