Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 77 * 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 77 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 30 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 27 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 -21881.305 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 -21881.305

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 30 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 27 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 77 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 231214,045404,-5559.432,-31.645,39,0.9,39,-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 -0.157,-0.052

_SM_DEPTHo 2.21 KALMAN_X 43956.8,-339.4,-406.1,-75902.7,2082.9

_SM_ANGLEo -66.4 KALMAN_Y 51232.4,137.9,-110.9,-49830.5,-987.1

GPS2 231214,050129,-5559.393,-31.646,20,1.0,20,-19.9 MHEAD_RNG_PITCHd_Wd 271.5,2042,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.1,1.014432 _10V_AH 10.0,13.551

SM_CCo 12265,24.85,0.190,0,0,1525,200.16 FG_AHR_24Vo 0.000

SM_GC 2.17,0.00,0.00,24.85,0.000,0.000,0.190,59,2936,1525,-5.40,0.17,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5535.12,-34.65,231214,010134 MEM 353972

TT8_MAMPS 0.026215 DATA_FILE_SIZE 53607,800

HUMID 55.86 CAP_FILE_SIZE 108907,0

INTERNAL_PRESSURE 8.96486 CFSIZE 259252224,221499392

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

XPDR_PINGS 0 GPS 231214,082828,-5600.364,-33.299,40,1.0,40,-19.9

_24V_AH 21.8,20.765

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 244 70.36 SBE_CT 568 23 297.06

Roll_motor 77 65 110.11 AA4330 1665 17 652.71

VBD_pump_during_apogee 259 1800 10173.22 WL_BB2F 802 105 1836.24

VBD_pump_during_surface 24 190 103.19 QSP2150 824 17 323.31

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 91 57.28 nil 0 0 0.00

Iridium_during_connect 43 160 151.69 nil 0 0 0.00

Iridium_during_xfer 256 223 1249.13 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 1999 14 289.06

LPSleep 7854 2 172.01

TT8_Active 403 14 58.35

TT8_Sampling 2328 42 982.09

TT8_CF8 152 49 75.93

TT8_Kalman 33 68 22.82

Analog_circuits 1188 15 184.19

GPS_charging 0 0 0.00

Compass 1855 16 305.81

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 59 0.00 0.00 -42.62 0.000 2 0.000 0.000 56 2958 2449 0 0 0 0 0 0

62 -0.59 -134.7 3.2 -4.3 5 89 6.12 2.35 -14.62 0.000 4 0.244 0.057 1594 1509 2892 0 0 0 0 0 0

104 -0.59 -134.7 7.7 -9.5 10 112 0.00 2.35 0.00 0.000 6 0.000 0.056 1584 2923 2893 0 0 0 0 0 0

188 -0.59 -134.7 25.3 -22.8 23 196 0.00 0.00 0.00 0.000 6 0.000 0.000 1584 2923 2893 0 0 0 0 0 0

269 -0.59 -134.7 42.7 -21.1 36 278 0.00 1.62 0.00 0.000 4 0.000 0.064 1576 3911 2894 0 0 0 0 0 0

314 -0.59 -134.7 53.3 -25.0 43 321 0.00 1.58 0.00 0.000 6 0.000 0.034 1579 2908 2894 0 0 0 0 0 0

427 -0.59 -134.7 77.6 -20.5 62 435 0.00 0.00 0.00 0.000 6 0.000 0.000 1579 2903 2894 0 0 0 0 0 0

539 -0.59 -134.7 99.9 -20.7 81 547 0.00 0.00 0.00 0.000 6 0.000 0.000 1578 2903 2894 0 0 0 0 0 0

758 -0.59 -134.7 142.7 -18.4 102 759 0.00 0.00 0.00 0.000 6 0.000 0.000 1579 2903 2894 0 0 0 0 0 0

1077 -0.59 -134.7 199.0 -18.1 132 1080 0.00 1.65 0.00 0.000 4 0.000 0.064 1571 3910 2894 0 0 0 0 0 0

1161 -0.59 -134.7 214.7 -19.0 139 1165 0.00 1.52 0.00 0.000 6 0.000 0.035 1571 2925 2895 0 0 0 0 0 0

1500 -0.59 -134.7 272.5 -17.1 165 1504 0.00 1.62 0.00 0.000 4 0.000 0.063 1564 3900 2894 0 0 0 0 0 0

1532 -0.59 -134.7 279.0 -18.0 166 1538 0.12 1.52 0.00 0.000 6 0.211 0.034 1593 2918 2895 0 0 0 0 0 0

1854 -0.59 -134.7 327.9 -14.9 182 1855 0.00 0.00 0.00 0.000 6 0.000 0.000 1593 2917 2894 0 0 0 0 0 0

2166 -0.59 -134.7 373.1 -14.3 197 2167 0.00 0.00 0.00 0.000 6 0.000 0.000 1593 2917 2895 0 0 0 0 0 0

2472 -0.59 -134.7 419.6 -15.3 212 2476 0.00 1.62 0.00 0.000 4 0.000 0.064 1585 3898 2894 0 0 0 0 0 0

2526 -0.59 -134.7 428.9 -17.1 214 2531 0.00 1.50 0.00 0.000 6 0.000 0.032 1586 2925 2895 0 0 0 0 0 0

2849 -0.59 -134.7 478.3 -15.3 230 2850 0.00 0.00 0.00 0.000 6 0.000 0.000 1586 2920 2895 0 0 0 0 0 0

3158 -0.59 -134.7 525.1 -15.0 245 3162 0.00 1.62 0.00 0.000 4 0.000 0.064 1578 3905 2895 0 0 0 0 0 0

3194 -0.59 -134.7 531.2 -16.5 246 3203 0.00 1.50 0.00 0.000 6 0.000 0.033 1578 2926 2895 0 0 0 0 0 0

3512 -0.59 -134.7 580.1 -15.4 262 3513 0.00 0.00 0.00 0.000 6 0.000 0.000 1578 2926 2895 0 0 0 0 0 0

3820 -0.59 -134.7 626.8 -14.9 277 3824 0.00 1.60 0.00 0.000 4 0.000 0.064 1571 3900 2895 0 0 0 0 0 0

3857 -0.59 -134.7 633.1 -16.9 278 3865 0.00 1.50 0.00 0.000 6 0.000 0.033 1571 2922 2896 0 0 0 0 0 0

4174 -0.59 -134.7 681.2 -15.5 294 4175 0.00 0.00 0.00 0.000 6 0.000 0.000 1571 2922 2895 0 0 0 0 0 0

4483 -0.59 -134.7 727.5 -14.8 309 4484 0.00 0.00 0.00 0.000 6 0.000 0.000 1571 2922 2896 0 0 0 0 0 0

4792 -0.59 -134.7 773.0 -14.7 324 4796 0.00 1.62 0.00 0.000 4 0.000 0.065 1563 3906 2896 0 0 0 0 0 0

4853 -0.59 -134.7 783.0 -16.1 326 4861 0.10 1.48 0.00 0.000 6 0.190 0.034 1592 2948 2895 0 0 0 0 0 0

5168 -0.59 -134.7 825.2 -13.1 342 5170 0.00 0.00 0.00 0.000 6 0.000 0.000 1592 2948 2895 0 0 0 0 0 0

5478 -0.59 -134.7 865.2 -12.5 357 5482 0.00 1.58 0.00 0.000 4 0.000 0.065 1585 3907 2896 0 0 0 0 0 0

5516 -0.59 -134.7 870.8 -14.1 358 5524 0.00 1.52 0.00 0.000 6 0.000 0.032 1585 2916 2896 0 0 0 0 0 0

5832 -0.59 -134.7 911.4 -12.8 374 5833 0.00 0.00 0.00 0.000 6 0.000 0.000 1585 2916 2896 0 0 0 0 0 0

6142 -0.59 -134.7 949.4 -12.2 389 6143 0.00 0.00 0.00 0.000 6 0.000 0.000 1585 2916 2896 0 0 0 0 0 0

6451 -0.59 -134.7 986.4 -12.0 404 6452 0.00 0.00 0.00 0.000 6 0.000 0.000 1585 2916 2896 0 0 0 0 0 0

6573 end dive: TARGET_DEPTH_EXCEEDED

state 6573 begin apogee

6577 -0.13 0.0 1001.1 11.9 410 6704 0.52 0.00 123.18 1.800 6 0.174 0.000 1740 2713 2341 0 0 0 0 0 0

6705 end apogee: CONTROL_FINISHED_OK

state 6705 begin climb

6707 0.59 134.7 1003.9 0.0 416 6852 0.77 0.00 136.07 1.766 6 0.124 0.000 1973 2712 1792 0 0 0 0 0 0

7160 0.59 134.7 928.0 18.7 438 7164 0.00 2.05 0.00 0.000 4 0.000 0.063 1973 3904 1783 0 0 0 0 0 0

7206 0.59 134.7 918.8 20.9 440 7210 0.00 1.95 0.00 0.000 6 0.000 0.037 1982 2733 1782 0 0 0 0 0 0

7538 0.59 134.7 853.4 19.9 456 7539 0.00 0.00 0.00 0.000 6 0.000 0.000 1983 2733 1781 0 0 0 0 0 0

7848 0.59 134.7 793.7 19.5 471 7852 0.00 1.98 0.00 0.000 4 0.000 0.062 1983 3909 1779 0 0 0 0 0 0

7880 0.59 134.7 786.6 21.2 472 7885 0.00 1.95 0.00 0.000 6 0.000 0.036 1991 2714 1778 0 0 0 0 0 0

8202 0.59 134.7 722.0 20.0 488 8206 0.00 2.00 0.00 0.000 4 0.000 0.062 1992 3898 1778 0 0 0 0 0 0

8251 0.59 134.7 710.8 22.9 490 8255 0.00 1.95 0.00 0.000 6 0.000 0.037 2001 2701 1777 0 0 0 0 0 0

8577 0.59 134.7 643.0 20.9 506 8581 0.00 2.00 0.00 0.000 4 0.000 0.062 2001 3911 1777 0 0 0 0 0 0

8622 0.59 134.7 632.8 22.5 508 8626 0.00 1.92 0.00 0.000 6 0.000 0.037 2010 2705 1776 0 0 0 0 0 0

8955 0.59 134.7 563.3 20.4 524 8956 0.00 0.00 0.00 0.000 6 0.000 0.000 2010 2705 1776 0 0 0 0 0 0

9263 0.59 134.7 501.4 19.7 539 9267 0.00 1.98 0.00 0.000 4 0.000 0.061 2011 3906 1776 0 0 0 0 0 0

9336 0.59 134.7 485.4 22.0 542 9340 0.15 1.90 0.00 0.000 6 0.223 0.037 1985 2708 1776 0 0 0 0 0 0

9662 0.59 134.7 428.0 17.3 558 9666 0.00 1.98 0.00 0.000 4 0.000 0.061 1985 3913 1776 0 0 0 0 0 0

9723 0.59 134.7 416.1 19.5 560 9730 0.00 1.90 0.00 0.000 6 0.000 0.037 1994 2708 1776 0 0 0 0 0 0

10039 0.59 134.7 360.5 17.3 576 10040 0.00 0.00 0.00 0.000 6 0.000 0.000 1994 2708 1776 0 0 0 0 0 0

10350 0.59 134.7 308.0 16.9 591 10353 0.00 1.98 0.00 0.000 4 0.000 0.061 1994 3916 1776 0 0 0 0 0 0

10397 0.59 134.7 299.4 19.0 593 10400 0.00 1.90 0.00 0.000 6 0.000 0.037 2003 2709 1776 0 0 0 0 0 0

10720 0.59 134.7 240.9 18.3 610 10723 0.00 1.95 0.00 0.000 4 0.000 0.060 2003 3906 1776 0 0 0 0 0 0

10789 0.59 134.7 227.0 20.6 616 10794 0.12 1.90 0.00 0.000 6 0.227 0.037 1984 2696 1776 0 0 0 0 0 0

11122 0.59 134.7 172.9 16.7 647 11125 0.00 1.98 0.00 0.000 4 0.000 0.060 1985 3911 1775 0 0 0 0 0 0

11156 0.59 134.7 166.1 19.5 650 11160 0.00 1.90 0.00 0.000 6 0.000 0.037 1993 2701 1776 0 0 0 0 0 0

11488 0.59 134.7 111.1 15.3 681 11492 0.00 1.98 0.00 0.000 4 0.000 0.060 1993 3915 1776 0 0 0 0 0 0

11515 0.59 134.7 106.1 15.5 683 11523 0.00 1.92 0.00 0.000 6 0.000 0.037 2003 2707 1775 0 0 0 0 0 0

11867 0.59 134.7 51.3 14.1 740 11876 0.00 2.20 0.00 0.000 4 0.000 0.044 2013 1300 1775 0 0 0 0 0 0

11924 0.59 134.7 43.8 12.3 749 11932 0.12 2.25 0.00 0.000 6 0.210 0.054 1984 2728 1775 0 0 0 0 0 0

12042 0.59 134.7 28.6 13.0 768 12051 0.00 1.88 0.00 0.000 4 0.000 0.062 1984 3885 1775 0 0 0 0 0 0

12084 0.59 134.7 22.3 15.5 774 12093 0.00 1.88 0.00 0.000 6 0.000 0.038 1992 2704 1776 0 0 0 0 0 0

12169 0.59 134.7 10.8 13.2 787 12177 0.00 0.00 0.00 0.000 6 0.000 0.000 1992 2704 1775 0 0 0 0 0 0

12226 end climb: SURFACE_DEPTH_REACHED

state 12226 begin surface coast

12252 end surface coast: CONTROL_FINISHED_OK

state 12253 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	77	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	30	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	27	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	-21881.305	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	231214,045404,-5559.432,-31.645,39,0.9,39,-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	-0.157,-0.052
_SM_DEPTHo	2.21	KALMAN_X	43956.8,-339.4,-406.1,-75902.7,2082.9
_SM_ANGLEo	-66.4	KALMAN_Y	51232.4,137.9,-110.9,-49830.5,-987.1
GPS2	231214,050129,-5559.393,-31.646,20,1.0,20,-19.9	MHEAD_RNG_PITCHd_Wd	271.5,2042,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.1,1.014432	_10V_AH	10.0,13.551
SM_CCo	12265,24.85,0.190,0,0,1525,200.16	FG_AHR_24Vo	0.000
SM_GC	2.17,0.00,0.00,24.85,0.000,0.000,0.190,59,2936,1525,-5.40,0.17,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5535.12,-34.65,231214,010134	MEM	353972
TT8_MAMPS	0.026215	DATA_FILE_SIZE	53607,800
HUMID	55.86	CAP_FILE_SIZE	108907,0
INTERNAL_PRESSURE	8.96486	CFSIZE	259252224,221499392
TCM_TEMP	7.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	231214,082828,-5600.364,-33.299,40,1.0,40,-19.9
_24V_AH	21.8,20.765

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	244	70.36	SBE_CT	568	23	297.06
Roll_motor	77	65	110.11	AA4330	1665	17	652.71
VBD_pump_during_apogee	259	1800	10173.22	WL_BB2F	802	105	1836.24
VBD_pump_during_surface	24	190	103.19	QSP2150	824	17	323.31
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	91	57.28	nil	0	0	0.00
Iridium_during_connect	43	160	151.69	nil	0	0	0.00
Iridium_during_xfer	256	223	1249.13	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	1999	14	289.06
LPSleep	7854	2	172.01
TT8_Active	403	14	58.35
TT8_Sampling	2328	42	982.09
TT8_CF8	152	49	75.93
TT8_Kalman	33	68	22.82
Analog_circuits	1188	15	184.19
GPS_charging	0	0	0.00
Compass	1855	16	305.81
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	59	0.00	0.00	-42.62	0.000	2	0.000	0.000	56	2958	2449	0	0	0	0	0	0
62	-0.59	-134.7	3.2	-4.3	5	89	6.12	2.35	-14.62	0.000	4	0.244	0.057	1594	1509	2892	0	0	0	0	0	0
104	-0.59	-134.7	7.7	-9.5	10	112	0.00	2.35	0.00	0.000	6	0.000	0.056	1584	2923	2893	0	0	0	0	0	0
188	-0.59	-134.7	25.3	-22.8	23	196	0.00	0.00	0.00	0.000	6	0.000	0.000	1584	2923	2893	0	0	0	0	0	0
269	-0.59	-134.7	42.7	-21.1	36	278	0.00	1.62	0.00	0.000	4	0.000	0.064	1576	3911	2894	0	0	0	0	0	0
314	-0.59	-134.7	53.3	-25.0	43	321	0.00	1.58	0.00	0.000	6	0.000	0.034	1579	2908	2894	0	0	0	0	0	0
427	-0.59	-134.7	77.6	-20.5	62	435	0.00	0.00	0.00	0.000	6	0.000	0.000	1579	2903	2894	0	0	0	0	0	0
539	-0.59	-134.7	99.9	-20.7	81	547	0.00	0.00	0.00	0.000	6	0.000	0.000	1578	2903	2894	0	0	0	0	0	0
758	-0.59	-134.7	142.7	-18.4	102	759	0.00	0.00	0.00	0.000	6	0.000	0.000	1579	2903	2894	0	0	0	0	0	0
1077	-0.59	-134.7	199.0	-18.1	132	1080	0.00	1.65	0.00	0.000	4	0.000	0.064	1571	3910	2894	0	0	0	0	0	0
1161	-0.59	-134.7	214.7	-19.0	139	1165	0.00	1.52	0.00	0.000	6	0.000	0.035	1571	2925	2895	0	0	0	0	0	0
1500	-0.59	-134.7	272.5	-17.1	165	1504	0.00	1.62	0.00	0.000	4	0.000	0.063	1564	3900	2894	0	0	0	0	0	0
1532	-0.59	-134.7	279.0	-18.0	166	1538	0.12	1.52	0.00	0.000	6	0.211	0.034	1593	2918	2895	0	0	0	0	0	0
1854	-0.59	-134.7	327.9	-14.9	182	1855	0.00	0.00	0.00	0.000	6	0.000	0.000	1593	2917	2894	0	0	0	0	0	0
2166	-0.59	-134.7	373.1	-14.3	197	2167	0.00	0.00	0.00	0.000	6	0.000	0.000	1593	2917	2895	0	0	0	0	0	0
2472	-0.59	-134.7	419.6	-15.3	212	2476	0.00	1.62	0.00	0.000	4	0.000	0.064	1585	3898	2894	0	0	0	0	0	0
2526	-0.59	-134.7	428.9	-17.1	214	2531	0.00	1.50	0.00	0.000	6	0.000	0.032	1586	2925	2895	0	0	0	0	0	0
2849	-0.59	-134.7	478.3	-15.3	230	2850	0.00	0.00	0.00	0.000	6	0.000	0.000	1586	2920	2895	0	0	0	0	0	0
3158	-0.59	-134.7	525.1	-15.0	245	3162	0.00	1.62	0.00	0.000	4	0.000	0.064	1578	3905	2895	0	0	0	0	0	0
3194	-0.59	-134.7	531.2	-16.5	246	3203	0.00	1.50	0.00	0.000	6	0.000	0.033	1578	2926	2895	0	0	0	0	0	0
3512	-0.59	-134.7	580.1	-15.4	262	3513	0.00	0.00	0.00	0.000	6	0.000	0.000	1578	2926	2895	0	0	0	0	0	0
3820	-0.59	-134.7	626.8	-14.9	277	3824	0.00	1.60	0.00	0.000	4	0.000	0.064	1571	3900	2895	0	0	0	0	0	0
3857	-0.59	-134.7	633.1	-16.9	278	3865	0.00	1.50	0.00	0.000	6	0.000	0.033	1571	2922	2896	0	0	0	0	0	0
4174	-0.59	-134.7	681.2	-15.5	294	4175	0.00	0.00	0.00	0.000	6	0.000	0.000	1571	2922	2895	0	0	0	0	0	0
4483	-0.59	-134.7	727.5	-14.8	309	4484	0.00	0.00	0.00	0.000	6	0.000	0.000	1571	2922	2896	0	0	0	0	0	0
4792	-0.59	-134.7	773.0	-14.7	324	4796	0.00	1.62	0.00	0.000	4	0.000	0.065	1563	3906	2896	0	0	0	0	0	0
4853	-0.59	-134.7	783.0	-16.1	326	4861	0.10	1.48	0.00	0.000	6	0.190	0.034	1592	2948	2895	0	0	0	0	0	0
5168	-0.59	-134.7	825.2	-13.1	342	5170	0.00	0.00	0.00	0.000	6	0.000	0.000	1592	2948	2895	0	0	0	0	0	0
5478	-0.59	-134.7	865.2	-12.5	357	5482	0.00	1.58	0.00	0.000	4	0.000	0.065	1585	3907	2896	0	0	0	0	0	0
5516	-0.59	-134.7	870.8	-14.1	358	5524	0.00	1.52	0.00	0.000	6	0.000	0.032	1585	2916	2896	0	0	0	0	0	0
5832	-0.59	-134.7	911.4	-12.8	374	5833	0.00	0.00	0.00	0.000	6	0.000	0.000	1585	2916	2896	0	0	0	0	0	0
6142	-0.59	-134.7	949.4	-12.2	389	6143	0.00	0.00	0.00	0.000	6	0.000	0.000	1585	2916	2896	0	0	0	0	0	0
6451	-0.59	-134.7	986.4	-12.0	404	6452	0.00	0.00	0.00	0.000	6	0.000	0.000	1585	2916	2896	0	0	0	0	0	0
6573	end dive: TARGET_DEPTH_EXCEEDED
state	6573	begin apogee
6577	-0.13	0.0	1001.1	11.9	410	6704	0.52	0.00	123.18	1.800	6	0.174	0.000	1740	2713	2341	0	0	0	0	0	0
6705	end apogee: CONTROL_FINISHED_OK
state	6705	begin climb
6707	0.59	134.7	1003.9	0.0	416	6852	0.77	0.00	136.07	1.766	6	0.124	0.000	1973	2712	1792	0	0	0	0	0	0
7160	0.59	134.7	928.0	18.7	438	7164	0.00	2.05	0.00	0.000	4	0.000	0.063	1973	3904	1783	0	0	0	0	0	0
7206	0.59	134.7	918.8	20.9	440	7210	0.00	1.95	0.00	0.000	6	0.000	0.037	1982	2733	1782	0	0	0	0	0	0
7538	0.59	134.7	853.4	19.9	456	7539	0.00	0.00	0.00	0.000	6	0.000	0.000	1983	2733	1781	0	0	0	0	0	0
7848	0.59	134.7	793.7	19.5	471	7852	0.00	1.98	0.00	0.000	4	0.000	0.062	1983	3909	1779	0	0	0	0	0	0
7880	0.59	134.7	786.6	21.2	472	7885	0.00	1.95	0.00	0.000	6	0.000	0.036	1991	2714	1778	0	0	0	0	0	0
8202	0.59	134.7	722.0	20.0	488	8206	0.00	2.00	0.00	0.000	4	0.000	0.062	1992	3898	1778	0	0	0	0	0	0
8251	0.59	134.7	710.8	22.9	490	8255	0.00	1.95	0.00	0.000	6	0.000	0.037	2001	2701	1777	0	0	0	0	0	0
8577	0.59	134.7	643.0	20.9	506	8581	0.00	2.00	0.00	0.000	4	0.000	0.062	2001	3911	1777	0	0	0	0	0	0
8622	0.59	134.7	632.8	22.5	508	8626	0.00	1.92	0.00	0.000	6	0.000	0.037	2010	2705	1776	0	0	0	0	0	0
8955	0.59	134.7	563.3	20.4	524	8956	0.00	0.00	0.00	0.000	6	0.000	0.000	2010	2705	1776	0	0	0	0	0	0
9263	0.59	134.7	501.4	19.7	539	9267	0.00	1.98	0.00	0.000	4	0.000	0.061	2011	3906	1776	0	0	0	0	0	0
9336	0.59	134.7	485.4	22.0	542	9340	0.15	1.90	0.00	0.000	6	0.223	0.037	1985	2708	1776	0	0	0	0	0	0
9662	0.59	134.7	428.0	17.3	558	9666	0.00	1.98	0.00	0.000	4	0.000	0.061	1985	3913	1776	0	0	0	0	0	0
9723	0.59	134.7	416.1	19.5	560	9730	0.00	1.90	0.00	0.000	6	0.000	0.037	1994	2708	1776	0	0	0	0	0	0
10039	0.59	134.7	360.5	17.3	576	10040	0.00	0.00	0.00	0.000	6	0.000	0.000	1994	2708	1776	0	0	0	0	0	0
10350	0.59	134.7	308.0	16.9	591	10353	0.00	1.98	0.00	0.000	4	0.000	0.061	1994	3916	1776	0	0	0	0	0	0
10397	0.59	134.7	299.4	19.0	593	10400	0.00	1.90	0.00	0.000	6	0.000	0.037	2003	2709	1776	0	0	0	0	0	0
10720	0.59	134.7	240.9	18.3	610	10723	0.00	1.95	0.00	0.000	4	0.000	0.060	2003	3906	1776	0	0	0	0	0	0
10789	0.59	134.7	227.0	20.6	616	10794	0.12	1.90	0.00	0.000	6	0.227	0.037	1984	2696	1776	0	0	0	0	0	0
11122	0.59	134.7	172.9	16.7	647	11125	0.00	1.98	0.00	0.000	4	0.000	0.060	1985	3911	1775	0	0	0	0	0	0
11156	0.59	134.7	166.1	19.5	650	11160	0.00	1.90	0.00	0.000	6	0.000	0.037	1993	2701	1776	0	0	0	0	0	0
11488	0.59	134.7	111.1	15.3	681	11492	0.00	1.98	0.00	0.000	4	0.000	0.060	1993	3915	1776	0	0	0	0	0	0
11515	0.59	134.7	106.1	15.5	683	11523	0.00	1.92	0.00	0.000	6	0.000	0.037	2003	2707	1775	0	0	0	0	0	0
11867	0.59	134.7	51.3	14.1	740	11876	0.00	2.20	0.00	0.000	4	0.000	0.044	2013	1300	1775	0	0	0	0	0	0
11924	0.59	134.7	43.8	12.3	749	11932	0.12	2.25	0.00	0.000	6	0.210	0.054	1984	2728	1775	0	0	0	0	0	0
12042	0.59	134.7	28.6	13.0	768	12051	0.00	1.88	0.00	0.000	4	0.000	0.062	1984	3885	1775	0	0	0	0	0	0
12084	0.59	134.7	22.3	15.5	774	12093	0.00	1.88	0.00	0.000	6	0.000	0.038	1992	2704	1776	0	0	0	0	0	0
12169	0.59	134.7	10.8	13.2	787	12177	0.00	0.00	0.00	0.000	6	0.000	0.000	1992	2704	1775	0	0	0	0	0	0
12226	end climb: SURFACE_DEPTH_REACHED
state	12226	begin surface coast
12252	end surface coast: CONTROL_FINISHED_OK
state	12253	begin surface