Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 76 * 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 76 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 44 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 17 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 -21878.873 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 -21878.873

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 44 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 17 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 76 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 231214,012305,-5559.061,-34.404,36,1.0,36,-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 0.165,-0.005

_SM_DEPTHo 1.89 KALMAN_X 44587.4,-185.7,-120.4,-79773.8,2903.9

_SM_ANGLEo -60.2 KALMAN_Y 51433.4,74.5,215.5,-49594.2,-1772.2

GPS2 231214,013030,-5559.015,-34.347,16,0.8,17,-19.8 MHEAD_RNG_PITCHd_Wd 111.5,4857,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.2,1.027234 _10V_AH 10.1,13.452

SM_CCo 12065,21.23,0.199,0,0,1523,200.16 FG_AHR_24Vo 0.000

SM_GC 2.57,0.00,0.00,21.23,0.000,0.000,0.199,65,2956,1523,-5.39,0.74,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5535.12,-34.61,221214,212159 MEM 353948

TT8_MAMPS 0.026215 DATA_FILE_SIZE 53780,792

HUMID 56.49 CAP_FILE_SIZE 104951,0

INTERNAL_PRESSURE 8.96486 CFSIZE 259252224,221564928

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

XPDR_PINGS 0 GPS 231214,045404,-5559.432,-31.645,39,0.9,39,-19.9

_24V_AH 21.7,20.616

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 248 71.49 SBE_CT 562 23 292.77

Roll_motor 70 84 130.64 AA4330 1657 17 646.61

VBD_pump_during_apogee 276 1793 10743.49 WL_BB2F 802 105 1827.91

VBD_pump_during_surface 21 198 91.61 QSP2150 833 17 325.31

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 91 50.08 nil 0 0 0.00

Iridium_during_connect 50 160 174.11 nil 0 0 0.00

Iridium_during_xfer 260 223 1259.27 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 31 6.37

TT8 1976 14 288.69

LPSleep 7679 2 169.86

TT8_Active 420 14 61.37

TT8_Sampling 2305 42 981.99

TT8_CF8 152 49 76.61

TT8_Kalman 33 68 23.04

Analog_circuits 1181 15 185.02

GPS_charging 0 0 0.00

Compass 1835 16 305.57

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 58 0.00 0.00 -41.83 0.000 2 0.000 0.000 54 2900 2418 0 0 0 0 0 0

61 -0.60 -143.1 3.1 -3.6 5 95 6.20 1.73 -17.10 0.000 4 0.249 0.085 1582 3904 2927 0 0 0 0 0 0

301 -0.60 -143.1 45.9 -20.1 43 308 0.00 1.55 0.00 0.000 6 0.000 0.034 1582 2918 2928 0 0 0 0 0 0

415 -0.60 -143.1 68.9 -19.5 62 423 0.00 0.00 0.00 0.000 6 0.000 0.000 1582 2917 2928 0 0 0 0 0 0

528 -0.60 -143.1 91.2 -19.5 81 536 0.00 1.65 0.00 0.000 4 0.000 0.064 1575 3903 2928 0 0 0 0 0 0

601 -0.60 -143.1 105.0 -19.9 91 605 0.00 1.52 0.00 0.000 6 0.000 0.035 1576 2929 2929 0 0 0 0 0 0

931 -0.60 -143.1 165.9 -18.7 122 935 0.00 1.62 0.00 0.000 4 0.000 0.064 1568 3898 2929 0 0 0 0 0 0

970 -0.60 -143.1 173.7 -19.2 125 978 0.00 1.52 0.00 0.000 6 0.000 0.034 1569 2920 2929 0 0 0 0 0 0

1295 -0.60 -143.1 231.2 -17.3 156 1299 0.00 1.62 0.00 0.000 4 0.000 0.063 1561 3899 2929 0 0 0 0 0 0

1343 -0.60 -143.1 239.4 -18.8 160 1347 0.08 1.50 0.00 0.000 6 0.194 0.034 1585 2938 2929 0 0 0 0 0 0

1677 -0.60 -143.1 293.6 -16.3 179 1678 0.00 0.00 0.00 0.000 6 0.000 0.000 1585 2937 2928 0 0 0 0 0 0

1984 -0.60 -143.1 343.6 -15.9 194 1985 0.00 0.00 0.00 0.000 6 0.000 0.000 1585 2938 2929 0 0 0 0 0 0

2295 -0.60 -143.1 392.8 -16.5 209 2299 0.00 1.60 0.00 0.000 4 0.000 0.065 1578 3905 2929 0 0 0 0 0 0

2395 -0.60 -143.1 410.8 -18.0 213 2400 0.00 1.50 0.00 0.000 6 0.000 0.033 1579 2924 2929 0 0 0 0 0 0

2717 -0.60 -143.1 463.7 -16.4 229 2718 0.00 0.00 0.00 0.000 6 0.000 0.000 1579 2919 2929 0 0 0 0 0 0

3027 -0.60 -143.1 513.7 -16.1 244 3028 0.00 0.00 0.00 0.000 6 0.000 0.000 1579 2919 2930 0 0 0 0 0 0

3335 -0.60 -143.1 564.9 -16.7 259 3339 0.00 1.62 0.00 0.000 4 0.000 0.064 1571 3905 2929 0 0 0 0 0 0

3367 -0.60 -143.1 570.9 -18.5 260 3372 0.00 1.52 0.00 0.000 6 0.000 0.033 1571 2919 2930 0 0 0 0 0 0

3690 -0.60 -143.1 625.4 -16.8 276 3694 0.00 1.62 0.00 0.000 4 0.000 0.065 1564 3900 2930 0 0 0 0 0 0

3726 -0.60 -143.1 632.2 -17.5 277 3735 0.12 1.50 0.00 0.000 6 0.207 0.033 1593 2928 2930 0 0 0 0 0 0

4043 -0.60 -143.1 676.6 -13.6 293 4044 0.00 0.00 0.00 0.000 6 0.000 0.000 1593 2928 2930 0 0 0 0 0 0

4353 -0.60 -143.1 718.2 -13.1 308 4357 0.00 1.60 0.00 0.000 4 0.000 0.064 1586 3900 2930 0 0 0 0 0 0

4390 -0.60 -143.1 723.8 -14.1 309 4399 0.00 1.50 0.00 0.000 6 0.000 0.032 1586 2920 2930 0 0 0 0 0 0

4707 -0.60 -143.1 765.8 -13.3 325 4708 0.00 0.00 0.00 0.000 6 0.000 0.000 1586 2919 2930 0 0 0 0 0 0

5017 -0.60 -143.1 807.4 -13.3 340 5020 0.00 1.62 0.00 0.000 4 0.000 0.064 1579 3907 2930 0 0 0 0 0 0

5054 -0.60 -143.1 813.0 -14.9 341 5062 0.00 1.50 0.00 0.000 6 0.000 0.032 1579 2924 2930 0 0 0 0 0 0

5371 -0.60 -143.1 856.6 -13.9 357 5372 0.00 0.00 0.00 0.000 6 0.000 0.000 1579 2924 2930 0 0 0 0 0 0

5681 -0.60 -143.1 899.9 -14.0 372 5682 0.00 0.00 0.00 0.000 6 0.000 0.000 1579 2925 2930 0 0 0 0 0 0

5989 -0.60 -143.1 943.3 -14.1 387 5990 0.00 0.00 0.00 0.000 6 0.000 0.000 1579 2924 2930 0 0 0 0 0 0

6299 -0.60 -143.1 985.9 -13.6 402 6303 0.00 1.60 0.00 0.000 4 0.000 0.065 1571 3898 2930 0 0 0 0 0 0

6346 -0.60 -143.1 992.5 -14.4 404 6350 0.00 1.45 0.00 0.000 6 0.000 0.034 1571 2943 2930 0 0 0 0 0 0

6408 end dive: TARGET_DEPTH_EXCEEDED

state 6408 begin apogee

6413 -0.13 0.0 1001.9 14.2 407 6552 0.57 0.00 131.12 1.793 6 0.171 0.000 1742 2711 2342 0 0 0 0 0 0

6552 end apogee: CONTROL_FINISHED_OK

state 6552 begin climb

6554 0.60 143.1 1005.8 0.0 414 6703 0.80 0.00 144.98 1.748 6 0.120 0.000 1979 2711 1758 0 0 0 0 0 0

7000 0.60 143.1 930.5 18.8 436 7001 0.00 0.00 0.00 0.000 6 0.000 0.000 1979 2711 1749 0 0 0 0 0 0

7309 0.60 143.1 872.3 18.6 451 7313 0.00 2.05 0.00 0.000 4 0.000 0.063 1979 3921 1747 0 0 0 0 0 0

7377 0.60 143.1 858.4 21.2 454 7381 0.00 1.92 0.00 0.000 6 0.000 0.036 1988 2741 1746 0 0 0 0 0 0

7710 0.60 143.1 793.1 19.1 470 7711 0.00 0.00 0.00 0.000 6 0.000 0.000 1988 2741 1745 0 0 0 0 0 0

8019 0.60 143.1 733.6 19.2 485 8020 0.00 0.00 0.00 0.000 6 0.000 0.000 1988 2741 1744 0 0 0 0 0 0

8328 0.60 143.1 673.2 19.4 500 8331 0.00 1.92 0.00 0.000 4 0.000 0.061 1988 3903 1744 0 0 0 0 0 0

8361 0.60 143.1 666.1 21.0 501 8365 0.00 1.92 0.00 0.000 6 0.000 0.037 1997 2699 1743 0 0 0 0 0 0

8682 0.60 143.1 602.6 19.3 517 8686 0.00 2.00 0.00 0.000 4 0.000 0.061 1998 3913 1743 0 0 0 0 0 0

8731 0.60 143.1 591.6 23.0 519 8736 0.00 1.92 0.00 0.000 6 0.000 0.037 2006 2715 1743 0 0 0 0 0 0

9058 0.60 143.1 526.6 19.7 535 9062 0.00 1.95 0.00 0.000 4 0.000 0.061 2007 3906 1743 0 0 0 0 0 0

9104 0.60 143.1 516.9 22.1 537 9108 0.12 1.90 0.00 0.000 6 0.223 0.037 1988 2707 1742 0 0 0 0 0 0

9435 0.60 143.1 456.2 18.5 553 9439 0.00 1.98 0.00 0.000 4 0.000 0.061 1988 3899 1742 0 0 0 0 0 0

9461 0.60 143.1 450.9 19.7 554 9466 0.00 1.90 0.00 0.000 6 0.000 0.036 1996 2712 1742 0 0 0 0 0 0

9789 0.60 143.1 387.6 19.4 570 9792 0.00 1.95 0.00 0.000 4 0.000 0.060 1997 3905 1742 0 0 0 0 0 0

9821 0.60 143.1 380.2 21.7 571 9826 0.00 1.92 0.00 0.000 6 0.000 0.036 2006 2698 1742 0 0 0 0 0 0

10146 0.60 143.1 318.5 18.9 587 10150 0.00 1.98 0.00 0.000 4 0.000 0.060 2006 3909 1742 0 0 0 0 0 0

10194 0.60 143.1 308.4 21.5 589 10198 0.12 1.90 0.00 0.000 6 0.226 0.037 1988 2702 1742 0 0 0 0 0 0

10527 0.60 143.1 251.0 16.9 605 10531 0.00 1.98 0.00 0.000 4 0.000 0.060 1988 3913 1742 0 0 0 0 0 0

10587 0.60 143.1 239.5 20.0 609 10590 0.00 1.90 0.00 0.000 6 0.000 0.037 1995 2708 1741 0 0 0 0 0 0

10916 0.60 143.1 178.7 17.7 640 10918 0.00 0.00 0.00 0.000 6 0.000 0.000 1996 2708 1741 0 0 0 0 0 0

11236 0.60 143.1 125.4 16.5 670 11240 0.00 1.95 0.00 0.000 4 0.000 0.060 1996 3909 1742 0 0 0 0 0 0

11286 0.60 143.1 115.8 18.6 674 11297 0.00 1.90 0.00 0.000 6 0.000 0.035 2006 2708 1741 0 0 0 0 0 0

11633 0.60 143.1 60.7 15.1 726 11642 0.00 1.98 0.00 0.000 4 0.000 0.061 2005 3904 1742 0 0 0 0 0 0

11691 0.60 143.1 50.9 18.3 735 11699 0.05 1.90 0.00 0.000 6 0.219 0.036 1987 2707 1742 0 0 0 0 0 0

11806 0.60 143.1 33.6 13.7 754 11814 0.00 0.00 0.00 0.000 6 0.000 0.000 1987 2707 1742 0 0 0 0 0 0

11926 0.60 143.1 18.2 12.4 773 11934 0.00 0.00 0.00 0.000 6 0.000 0.000 1988 2706 1742 0 0 0 0 0 0

12009 0.60 143.1 5.4 15.0 786 12017 0.00 0.00 0.00 0.000 6 0.000 0.000 1987 2706 1741 0 0 0 0 0 0

12026 end climb: SURFACE_DEPTH_REACHED

state 12026 begin surface coast

12052 end surface coast: CONTROL_FINISHED_OK

state 12052 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	76	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	44	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	17	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	-21878.873	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	231214,012305,-5559.061,-34.404,36,1.0,36,-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	0.165,-0.005
_SM_DEPTHo	1.89	KALMAN_X	44587.4,-185.7,-120.4,-79773.8,2903.9
_SM_ANGLEo	-60.2	KALMAN_Y	51433.4,74.5,215.5,-49594.2,-1772.2
GPS2	231214,013030,-5559.015,-34.347,16,0.8,17,-19.8	MHEAD_RNG_PITCHd_Wd	111.5,4857,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.2,1.027234	_10V_AH	10.1,13.452
SM_CCo	12065,21.23,0.199,0,0,1523,200.16	FG_AHR_24Vo	0.000
SM_GC	2.57,0.00,0.00,21.23,0.000,0.000,0.199,65,2956,1523,-5.39,0.74,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5535.12,-34.61,221214,212159	MEM	353948
TT8_MAMPS	0.026215	DATA_FILE_SIZE	53780,792
HUMID	56.49	CAP_FILE_SIZE	104951,0
INTERNAL_PRESSURE	8.96486	CFSIZE	259252224,221564928
TCM_TEMP	7.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	231214,045404,-5559.432,-31.645,39,0.9,39,-19.9
_24V_AH	21.7,20.616

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	248	71.49	SBE_CT	562	23	292.77
Roll_motor	70	84	130.64	AA4330	1657	17	646.61
VBD_pump_during_apogee	276	1793	10743.49	WL_BB2F	802	105	1827.91
VBD_pump_during_surface	21	198	91.61	QSP2150	833	17	325.31
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	91	50.08	nil	0	0	0.00
Iridium_during_connect	50	160	174.11	nil	0	0	0.00
Iridium_during_xfer	260	223	1259.27	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	31	6.37
TT8	1976	14	288.69
LPSleep	7679	2	169.86
TT8_Active	420	14	61.37
TT8_Sampling	2305	42	981.99
TT8_CF8	152	49	76.61
TT8_Kalman	33	68	23.04
Analog_circuits	1181	15	185.02
GPS_charging	0	0	0.00
Compass	1835	16	305.57
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	58	0.00	0.00	-41.83	0.000	2	0.000	0.000	54	2900	2418	0	0	0	0	0	0
61	-0.60	-143.1	3.1	-3.6	5	95	6.20	1.73	-17.10	0.000	4	0.249	0.085	1582	3904	2927	0	0	0	0	0	0
301	-0.60	-143.1	45.9	-20.1	43	308	0.00	1.55	0.00	0.000	6	0.000	0.034	1582	2918	2928	0	0	0	0	0	0
415	-0.60	-143.1	68.9	-19.5	62	423	0.00	0.00	0.00	0.000	6	0.000	0.000	1582	2917	2928	0	0	0	0	0	0
528	-0.60	-143.1	91.2	-19.5	81	536	0.00	1.65	0.00	0.000	4	0.000	0.064	1575	3903	2928	0	0	0	0	0	0
601	-0.60	-143.1	105.0	-19.9	91	605	0.00	1.52	0.00	0.000	6	0.000	0.035	1576	2929	2929	0	0	0	0	0	0
931	-0.60	-143.1	165.9	-18.7	122	935	0.00	1.62	0.00	0.000	4	0.000	0.064	1568	3898	2929	0	0	0	0	0	0
970	-0.60	-143.1	173.7	-19.2	125	978	0.00	1.52	0.00	0.000	6	0.000	0.034	1569	2920	2929	0	0	0	0	0	0
1295	-0.60	-143.1	231.2	-17.3	156	1299	0.00	1.62	0.00	0.000	4	0.000	0.063	1561	3899	2929	0	0	0	0	0	0
1343	-0.60	-143.1	239.4	-18.8	160	1347	0.08	1.50	0.00	0.000	6	0.194	0.034	1585	2938	2929	0	0	0	0	0	0
1677	-0.60	-143.1	293.6	-16.3	179	1678	0.00	0.00	0.00	0.000	6	0.000	0.000	1585	2937	2928	0	0	0	0	0	0
1984	-0.60	-143.1	343.6	-15.9	194	1985	0.00	0.00	0.00	0.000	6	0.000	0.000	1585	2938	2929	0	0	0	0	0	0
2295	-0.60	-143.1	392.8	-16.5	209	2299	0.00	1.60	0.00	0.000	4	0.000	0.065	1578	3905	2929	0	0	0	0	0	0
2395	-0.60	-143.1	410.8	-18.0	213	2400	0.00	1.50	0.00	0.000	6	0.000	0.033	1579	2924	2929	0	0	0	0	0	0
2717	-0.60	-143.1	463.7	-16.4	229	2718	0.00	0.00	0.00	0.000	6	0.000	0.000	1579	2919	2929	0	0	0	0	0	0
3027	-0.60	-143.1	513.7	-16.1	244	3028	0.00	0.00	0.00	0.000	6	0.000	0.000	1579	2919	2930	0	0	0	0	0	0
3335	-0.60	-143.1	564.9	-16.7	259	3339	0.00	1.62	0.00	0.000	4	0.000	0.064	1571	3905	2929	0	0	0	0	0	0
3367	-0.60	-143.1	570.9	-18.5	260	3372	0.00	1.52	0.00	0.000	6	0.000	0.033	1571	2919	2930	0	0	0	0	0	0
3690	-0.60	-143.1	625.4	-16.8	276	3694	0.00	1.62	0.00	0.000	4	0.000	0.065	1564	3900	2930	0	0	0	0	0	0
3726	-0.60	-143.1	632.2	-17.5	277	3735	0.12	1.50	0.00	0.000	6	0.207	0.033	1593	2928	2930	0	0	0	0	0	0
4043	-0.60	-143.1	676.6	-13.6	293	4044	0.00	0.00	0.00	0.000	6	0.000	0.000	1593	2928	2930	0	0	0	0	0	0
4353	-0.60	-143.1	718.2	-13.1	308	4357	0.00	1.60	0.00	0.000	4	0.000	0.064	1586	3900	2930	0	0	0	0	0	0
4390	-0.60	-143.1	723.8	-14.1	309	4399	0.00	1.50	0.00	0.000	6	0.000	0.032	1586	2920	2930	0	0	0	0	0	0
4707	-0.60	-143.1	765.8	-13.3	325	4708	0.00	0.00	0.00	0.000	6	0.000	0.000	1586	2919	2930	0	0	0	0	0	0
5017	-0.60	-143.1	807.4	-13.3	340	5020	0.00	1.62	0.00	0.000	4	0.000	0.064	1579	3907	2930	0	0	0	0	0	0
5054	-0.60	-143.1	813.0	-14.9	341	5062	0.00	1.50	0.00	0.000	6	0.000	0.032	1579	2924	2930	0	0	0	0	0	0
5371	-0.60	-143.1	856.6	-13.9	357	5372	0.00	0.00	0.00	0.000	6	0.000	0.000	1579	2924	2930	0	0	0	0	0	0
5681	-0.60	-143.1	899.9	-14.0	372	5682	0.00	0.00	0.00	0.000	6	0.000	0.000	1579	2925	2930	0	0	0	0	0	0
5989	-0.60	-143.1	943.3	-14.1	387	5990	0.00	0.00	0.00	0.000	6	0.000	0.000	1579	2924	2930	0	0	0	0	0	0
6299	-0.60	-143.1	985.9	-13.6	402	6303	0.00	1.60	0.00	0.000	4	0.000	0.065	1571	3898	2930	0	0	0	0	0	0
6346	-0.60	-143.1	992.5	-14.4	404	6350	0.00	1.45	0.00	0.000	6	0.000	0.034	1571	2943	2930	0	0	0	0	0	0
6408	end dive: TARGET_DEPTH_EXCEEDED
state	6408	begin apogee
6413	-0.13	0.0	1001.9	14.2	407	6552	0.57	0.00	131.12	1.793	6	0.171	0.000	1742	2711	2342	0	0	0	0	0	0
6552	end apogee: CONTROL_FINISHED_OK
state	6552	begin climb
6554	0.60	143.1	1005.8	0.0	414	6703	0.80	0.00	144.98	1.748	6	0.120	0.000	1979	2711	1758	0	0	0	0	0	0
7000	0.60	143.1	930.5	18.8	436	7001	0.00	0.00	0.00	0.000	6	0.000	0.000	1979	2711	1749	0	0	0	0	0	0
7309	0.60	143.1	872.3	18.6	451	7313	0.00	2.05	0.00	0.000	4	0.000	0.063	1979	3921	1747	0	0	0	0	0	0
7377	0.60	143.1	858.4	21.2	454	7381	0.00	1.92	0.00	0.000	6	0.000	0.036	1988	2741	1746	0	0	0	0	0	0
7710	0.60	143.1	793.1	19.1	470	7711	0.00	0.00	0.00	0.000	6	0.000	0.000	1988	2741	1745	0	0	0	0	0	0
8019	0.60	143.1	733.6	19.2	485	8020	0.00	0.00	0.00	0.000	6	0.000	0.000	1988	2741	1744	0	0	0	0	0	0
8328	0.60	143.1	673.2	19.4	500	8331	0.00	1.92	0.00	0.000	4	0.000	0.061	1988	3903	1744	0	0	0	0	0	0
8361	0.60	143.1	666.1	21.0	501	8365	0.00	1.92	0.00	0.000	6	0.000	0.037	1997	2699	1743	0	0	0	0	0	0
8682	0.60	143.1	602.6	19.3	517	8686	0.00	2.00	0.00	0.000	4	0.000	0.061	1998	3913	1743	0	0	0	0	0	0
8731	0.60	143.1	591.6	23.0	519	8736	0.00	1.92	0.00	0.000	6	0.000	0.037	2006	2715	1743	0	0	0	0	0	0
9058	0.60	143.1	526.6	19.7	535	9062	0.00	1.95	0.00	0.000	4	0.000	0.061	2007	3906	1743	0	0	0	0	0	0
9104	0.60	143.1	516.9	22.1	537	9108	0.12	1.90	0.00	0.000	6	0.223	0.037	1988	2707	1742	0	0	0	0	0	0
9435	0.60	143.1	456.2	18.5	553	9439	0.00	1.98	0.00	0.000	4	0.000	0.061	1988	3899	1742	0	0	0	0	0	0
9461	0.60	143.1	450.9	19.7	554	9466	0.00	1.90	0.00	0.000	6	0.000	0.036	1996	2712	1742	0	0	0	0	0	0
9789	0.60	143.1	387.6	19.4	570	9792	0.00	1.95	0.00	0.000	4	0.000	0.060	1997	3905	1742	0	0	0	0	0	0
9821	0.60	143.1	380.2	21.7	571	9826	0.00	1.92	0.00	0.000	6	0.000	0.036	2006	2698	1742	0	0	0	0	0	0
10146	0.60	143.1	318.5	18.9	587	10150	0.00	1.98	0.00	0.000	4	0.000	0.060	2006	3909	1742	0	0	0	0	0	0
10194	0.60	143.1	308.4	21.5	589	10198	0.12	1.90	0.00	0.000	6	0.226	0.037	1988	2702	1742	0	0	0	0	0	0
10527	0.60	143.1	251.0	16.9	605	10531	0.00	1.98	0.00	0.000	4	0.000	0.060	1988	3913	1742	0	0	0	0	0	0
10587	0.60	143.1	239.5	20.0	609	10590	0.00	1.90	0.00	0.000	6	0.000	0.037	1995	2708	1741	0	0	0	0	0	0
10916	0.60	143.1	178.7	17.7	640	10918	0.00	0.00	0.00	0.000	6	0.000	0.000	1996	2708	1741	0	0	0	0	0	0
11236	0.60	143.1	125.4	16.5	670	11240	0.00	1.95	0.00	0.000	4	0.000	0.060	1996	3909	1742	0	0	0	0	0	0
11286	0.60	143.1	115.8	18.6	674	11297	0.00	1.90	0.00	0.000	6	0.000	0.035	2006	2708	1741	0	0	0	0	0	0
11633	0.60	143.1	60.7	15.1	726	11642	0.00	1.98	0.00	0.000	4	0.000	0.061	2005	3904	1742	0	0	0	0	0	0
11691	0.60	143.1	50.9	18.3	735	11699	0.05	1.90	0.00	0.000	6	0.219	0.036	1987	2707	1742	0	0	0	0	0	0
11806	0.60	143.1	33.6	13.7	754	11814	0.00	0.00	0.00	0.000	6	0.000	0.000	1987	2707	1742	0	0	0	0	0	0
11926	0.60	143.1	18.2	12.4	773	11934	0.00	0.00	0.00	0.000	6	0.000	0.000	1988	2706	1742	0	0	0	0	0	0
12009	0.60	143.1	5.4	15.0	786	12017	0.00	0.00	0.00	0.000	6	0.000	0.000	1987	2706	1741	0	0	0	0	0	0
12026	end climb: SURFACE_DEPTH_REACHED
state	12026	begin surface coast
12052	end surface coast: CONTROL_FINISHED_OK
state	12052	begin surface