Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 87 * 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 87 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 31 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 25 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 -21906.463 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 -21906.463

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 31 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 25 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 87 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 241214,162834,-5557.591,-28.826,27,0.8,34,-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 -0.149,-0.071

_SM_DEPTHo 1.98 KALMAN_X 49810.1,-169.2,-104.1,-79344.8,1551.0

_SM_ANGLEo -62.6 KALMAN_Y 46282.7,540.2,221.0,-42224.2,-3194.8

GPS2 241214,163547,-5557.557,-28.849,16,0.9,16,-19.9 MHEAD_RNG_PITCHd_Wd 264.3,4679,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.1,1.013527 _10V_AH 10.0,14.539

SM_CCo 12036,20.23,0.190,0,0,1524,200.16 FG_AHR_24Vo 0.000

SM_GC 2.88,0.00,0.00,20.23,0.000,0.000,0.190,53,2940,1524,-5.43,0.28,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5535.12,-30.80,241214,131351 MEM 353948

TT8_MAMPS 0.026215 DATA_FILE_SIZE 53738,791

HUMID 56.26 CAP_FILE_SIZE 110206,0

INTERNAL_PRESSURE 8.96486 CFSIZE 259252224,220884992

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

XPDR_PINGS 0 GPS 241214,195851,-5558.582,-30.849,19,7.4,38,-19.9

_24V_AH 21.8,22.302

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 260 76.41 SBE_CT 562 23 293.70

Roll_motor 82 62 113.06 AA4330 1641 17 643.55

VBD_pump_during_apogee 280 1781 10888.03 WL_BB2F 792 105 1813.47

VBD_pump_during_surface 20 190 83.99 QSP2150 823 17 322.94

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 91 52.34 nil 0 0 0.00

Iridium_during_connect 20 160 70.39 nil 0 0 0.00

Iridium_during_xfer 275 223 1341.65 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 6.02

TT8 1991 14 287.91

LPSleep 7573 2 165.86

TT8_Active 412 14 59.68

TT8_Sampling 2375 42 1001.89

TT8_CF8 139 49 69.31

TT8_Kalman 33 68 22.81

Analog_circuits 1223 15 189.61

GPS_charging 0 0 0.00

Compass 1901 16 313.32

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 -41.90 0.000 2 0.000 0.000 56 2938 2435 0 0 0 0 0 0

61 -0.60 -146.1 3.0 -2.9 5 96 6.40 2.28 -16.80 0.000 4 0.260 0.053 1592 1507 2941 0 0 0 0 0 0

135 -0.60 -146.1 13.6 -18.1 15 144 0.00 2.35 0.00 0.000 6 0.000 0.057 1582 2924 2941 0 0 0 0 0 0

219 -0.60 -146.1 30.9 -22.1 28 227 0.00 0.00 0.00 0.000 6 0.000 0.000 1582 2924 2942 0 0 0 0 0 0

336 -0.60 -146.1 54.8 -20.5 47 342 0.00 0.00 0.00 0.000 6 0.000 0.000 1582 2924 2942 0 0 0 0 0 0

448 -0.60 -146.1 78.4 -20.6 66 457 0.00 0.00 0.00 0.000 6 0.000 0.000 1582 2924 2941 0 0 0 0 0 0

561 -0.60 -146.1 100.7 -19.5 85 564 0.00 1.60 0.00 0.000 4 0.000 0.063 1575 3903 2942 0 0 0 0 0 0

634 -0.60 -146.1 115.0 -19.7 91 638 0.00 1.55 0.00 0.000 6 0.000 0.034 1576 2905 2943 0 0 0 0 0 0

964 -0.60 -146.1 177.5 -18.0 122 967 0.00 1.62 0.00 0.000 4 0.000 0.062 1568 3910 2943 0 0 0 0 0 0

1034 -0.60 -146.1 190.8 -19.2 128 1037 0.00 1.52 0.00 0.000 6 0.000 0.034 1568 2923 2943 0 0 0 0 0 0

1366 -0.60 -146.1 249.6 -16.9 159 1370 0.00 1.62 0.00 0.000 4 0.000 0.060 1561 3905 2942 0 0 0 0 0 0

1449 -0.60 -146.1 266.2 -19.0 163 1458 0.10 1.50 0.00 0.000 6 0.188 0.034 1590 2929 2942 0 0 0 0 0 0

1767 -0.60 -146.1 315.6 -15.8 179 1771 0.00 1.62 0.00 0.000 4 0.000 0.063 1583 3898 2942 0 0 0 0 0 0

1860 -0.60 -146.1 331.1 -16.7 183 1863 0.00 1.50 0.00 0.000 6 0.000 0.033 1583 2922 2942 0 0 0 0 0 0

2194 -0.60 -146.1 382.9 -14.9 199 2198 0.00 1.62 0.00 0.000 4 0.000 0.062 1575 3932 2942 0 0 0 0 0 0

2254 -0.60 -146.1 393.4 -16.3 201 2263 0.00 1.55 0.00 0.000 6 0.000 0.031 1575 2924 2942 0 0 0 0 0 0

2572 -0.60 -146.1 443.6 -16.2 217 2573 0.00 0.00 0.00 0.000 6 0.000 0.000 1575 2922 2942 0 0 0 0 0 0

2880 -0.60 -146.1 493.4 -16.0 232 2884 0.00 1.60 0.00 0.000 4 0.000 0.061 1568 3899 2942 0 0 0 0 0 0

2929 -0.60 -146.1 502.0 -17.4 234 2934 0.00 1.50 0.00 0.000 6 0.000 0.033 1568 2929 2943 0 0 0 0 0 0

3257 -0.60 -146.1 555.9 -16.4 250 3261 0.00 1.60 0.00 0.000 4 0.000 0.062 1560 3900 2942 0 0 0 0 0 0

3302 -0.60 -146.1 563.9 -18.1 252 3306 0.10 1.48 0.00 0.000 6 0.187 0.034 1589 2936 2942 0 0 0 0 0 0

3634 -0.60 -146.1 614.1 -15.1 268 3638 0.00 1.58 0.00 0.000 4 0.000 0.062 1582 3896 2942 0 0 0 0 0 0

3680 -0.60 -146.1 621.2 -16.0 270 3684 0.00 1.48 0.00 0.000 6 0.000 0.033 1582 2928 2943 0 0 0 0 0 0

4012 -0.60 -146.1 670.9 -14.4 286 4013 0.00 0.00 0.00 0.000 6 0.000 0.000 1582 2922 2942 0 0 0 0 0 0

4322 -0.60 -146.1 715.4 -14.2 301 4323 0.00 0.00 0.00 0.000 6 0.000 0.000 1582 2922 2942 0 0 0 0 0 0

4631 -0.60 -146.1 758.7 -14.0 316 4634 0.00 1.60 0.00 0.000 4 0.000 0.062 1575 3898 2942 0 0 0 0 0 0

4668 -0.60 -146.1 764.7 -16.0 317 4676 0.00 1.50 0.00 0.000 6 0.000 0.032 1575 2919 2943 0 0 0 0 0 0

4984 -0.60 -146.1 810.7 -14.6 333 4986 0.00 0.00 0.00 0.000 6 0.000 0.000 1575 2919 2943 0 0 0 0 0 0

5294 -0.60 -146.1 855.0 -14.2 348 5298 0.00 1.60 0.00 0.000 4 0.000 0.061 1568 3897 2942 0 0 0 0 0 0

5331 -0.60 -146.1 861.0 -15.7 349 5339 0.00 1.48 0.00 0.000 6 0.000 0.032 1568 2924 2943 0 0 0 0 0 0

5648 -0.60 -146.1 906.9 -14.6 365 5649 0.00 0.00 0.00 0.000 6 0.000 0.000 1568 2925 2942 0 0 0 0 0 0

5957 -0.60 -146.1 951.8 -14.5 380 5960 0.00 1.60 0.00 0.000 4 0.000 0.061 1560 3903 2942 0 0 0 0 0 0

6011 -0.60 -146.1 961.0 -16.9 382 6017 0.12 1.48 0.00 0.000 6 0.202 0.033 1589 2941 2943 0 0 0 0 0 0

6311 end dive: TARGET_DEPTH_EXCEEDED

state 6311 begin apogee

6316 -0.13 0.0 1000.1 12.7 397 6454 0.50 0.00 133.32 1.782 6 0.172 0.000 1738 2714 2342 0 0 0 0 0 0

6455 end apogee: CONTROL_FINISHED_OK

state 6455 begin climb

6457 0.60 146.1 1004.3 0.0 404 6609 0.80 0.00 147.00 1.733 6 0.125 0.000 1976 2714 1746 0 0 0 0 0 0

6910 0.60 146.1 930.0 18.4 426 6911 0.00 0.00 0.00 0.000 6 0.000 0.000 1976 2714 1738 0 0 0 0 0 0

7219 0.60 146.1 874.4 17.8 441 7223 0.00 2.00 0.00 0.000 4 0.000 0.058 1976 3905 1736 0 0 0 0 0 0

7268 0.60 146.1 864.5 20.8 443 7272 0.00 1.92 0.00 0.000 6 0.000 0.036 1985 2741 1734 0 0 0 0 0 0

7595 0.60 146.1 803.0 19.2 459 7598 0.00 1.92 0.00 0.000 4 0.000 0.057 1985 3900 1734 0 0 0 0 0 0

7626 0.60 146.1 796.4 21.9 460 7631 0.00 1.95 0.00 0.000 6 0.000 0.036 1994 2710 1733 0 0 0 0 0 0

7949 0.60 146.1 734.3 19.2 476 7950 0.00 0.00 0.00 0.000 6 0.000 0.000 1994 2710 1733 0 0 0 0 0 0

8258 0.60 146.1 676.4 18.1 491 8261 0.00 1.98 0.00 0.000 4 0.000 0.058 1994 3928 1732 0 0 0 0 0 0

8302 0.60 146.1 667.6 20.8 493 8306 0.00 1.95 0.00 0.000 6 0.000 0.037 2004 2708 1731 0 0 0 0 0 0

8635 0.60 146.1 605.3 18.8 509 8638 0.00 1.95 0.00 0.000 4 0.000 0.057 2004 3900 1732 0 0 0 0 0 0

8706 0.60 146.1 589.6 22.8 512 8711 0.00 1.92 0.00 0.000 6 0.000 0.036 2013 2710 1731 0 0 0 0 0 0

9034 0.60 146.1 524.2 19.6 528 9038 0.00 1.98 0.00 0.000 4 0.000 0.058 2014 3902 1731 0 0 0 0 0 0

9082 0.60 146.1 513.5 21.6 530 9088 0.10 1.92 0.00 0.000 6 0.199 0.037 1994 2707 1731 0 0 0 0 0 0

9410 0.60 146.1 454.7 17.8 546 9413 0.00 1.95 0.00 0.000 4 0.000 0.057 1994 3903 1731 0 0 0 0 0 0

9464 0.60 146.1 443.4 21.0 548 9469 0.00 1.92 0.00 0.000 6 0.000 0.037 2002 2705 1731 0 0 0 0 0 0

9786 0.60 146.1 383.0 19.2 564 9787 0.00 0.00 0.00 0.000 6 0.000 0.000 2002 2705 1731 0 0 0 0 0 0

10097 0.60 146.1 323.2 19.3 579 10101 0.00 1.95 0.00 0.000 4 0.000 0.057 2002 3906 1731 0 0 0 0 0 0

10165 0.60 146.1 308.6 22.1 582 10169 0.00 1.90 0.00 0.000 6 0.000 0.037 2012 2701 1730 0 0 0 0 0 0

10487 0.60 146.1 244.6 19.7 598 10491 0.00 1.95 0.00 0.000 4 0.000 0.057 2012 3906 1730 0 0 0 0 0 0

10547 0.60 146.1 232.2 23.7 603 10551 0.15 1.90 0.00 0.000 6 0.215 0.037 1986 2700 1730 0 0 0 0 0 0

10876 0.60 146.1 175.7 16.9 634 10880 0.00 1.95 0.00 0.000 4 0.000 0.058 1985 3901 1730 0 0 0 0 0 0

10938 0.60 146.1 163.5 19.6 639 10946 0.00 1.90 0.00 0.000 6 0.000 0.037 1994 2713 1730 0 0 0 0 0 0

11264 0.60 146.1 109.1 15.5 670 11265 0.00 0.00 0.00 0.000 6 0.000 0.000 1994 2713 1730 0 0 0 0 0 0

11602 0.60 146.1 61.2 13.9 724 11611 0.00 1.95 0.00 0.000 4 0.000 0.060 1993 3898 1730 0 0 0 0 0 0

11675 0.60 146.1 49.4 16.4 736 11684 0.00 1.90 0.00 0.000 6 0.000 0.035 2003 2700 1730 0 0 0 0 0 0

11792 0.60 146.1 32.1 14.9 755 11798 0.00 0.00 0.00 0.000 6 0.000 0.000 2003 2699 1730 0 0 0 0 0 0

11909 0.60 146.1 15.8 13.8 774 11917 0.00 2.20 0.00 0.000 4 0.000 0.045 2014 1291 1730 0 0 0 0 0 0

11944 0.60 146.1 10.5 14.2 779 11954 0.08 2.28 0.00 0.000 6 0.194 0.051 1992 2724 1730 0 0 0 0 0 0

11998 end climb: SURFACE_DEPTH_REACHED

state 11998 begin surface coast

12024 end surface coast: CONTROL_FINISHED_OK

state 12024 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	87	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	31	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	25	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	-21906.463	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	241214,162834,-5557.591,-28.826,27,0.8,34,-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	-0.149,-0.071
_SM_DEPTHo	1.98	KALMAN_X	49810.1,-169.2,-104.1,-79344.8,1551.0
_SM_ANGLEo	-62.6	KALMAN_Y	46282.7,540.2,221.0,-42224.2,-3194.8
GPS2	241214,163547,-5557.557,-28.849,16,0.9,16,-19.9	MHEAD_RNG_PITCHd_Wd	264.3,4679,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.1,1.013527	_10V_AH	10.0,14.539
SM_CCo	12036,20.23,0.190,0,0,1524,200.16	FG_AHR_24Vo	0.000
SM_GC	2.88,0.00,0.00,20.23,0.000,0.000,0.190,53,2940,1524,-5.43,0.28,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5535.12,-30.80,241214,131351	MEM	353948
TT8_MAMPS	0.026215	DATA_FILE_SIZE	53738,791
HUMID	56.26	CAP_FILE_SIZE	110206,0
INTERNAL_PRESSURE	8.96486	CFSIZE	259252224,220884992
TCM_TEMP	7.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	241214,195851,-5558.582,-30.849,19,7.4,38,-19.9
_24V_AH	21.8,22.302

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	260	76.41	SBE_CT	562	23	293.70
Roll_motor	82	62	113.06	AA4330	1641	17	643.55
VBD_pump_during_apogee	280	1781	10888.03	WL_BB2F	792	105	1813.47
VBD_pump_during_surface	20	190	83.99	QSP2150	823	17	322.94
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	91	52.34	nil	0	0	0.00
Iridium_during_connect	20	160	70.39	nil	0	0	0.00
Iridium_during_xfer	275	223	1341.65	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	6.02
TT8	1991	14	287.91
LPSleep	7573	2	165.86
TT8_Active	412	14	59.68
TT8_Sampling	2375	42	1001.89
TT8_CF8	139	49	69.31
TT8_Kalman	33	68	22.81
Analog_circuits	1223	15	189.61
GPS_charging	0	0	0.00
Compass	1901	16	313.32
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	-41.90	0.000	2	0.000	0.000	56	2938	2435	0	0	0	0	0	0
61	-0.60	-146.1	3.0	-2.9	5	96	6.40	2.28	-16.80	0.000	4	0.260	0.053	1592	1507	2941	0	0	0	0	0	0
135	-0.60	-146.1	13.6	-18.1	15	144	0.00	2.35	0.00	0.000	6	0.000	0.057	1582	2924	2941	0	0	0	0	0	0
219	-0.60	-146.1	30.9	-22.1	28	227	0.00	0.00	0.00	0.000	6	0.000	0.000	1582	2924	2942	0	0	0	0	0	0
336	-0.60	-146.1	54.8	-20.5	47	342	0.00	0.00	0.00	0.000	6	0.000	0.000	1582	2924	2942	0	0	0	0	0	0
448	-0.60	-146.1	78.4	-20.6	66	457	0.00	0.00	0.00	0.000	6	0.000	0.000	1582	2924	2941	0	0	0	0	0	0
561	-0.60	-146.1	100.7	-19.5	85	564	0.00	1.60	0.00	0.000	4	0.000	0.063	1575	3903	2942	0	0	0	0	0	0
634	-0.60	-146.1	115.0	-19.7	91	638	0.00	1.55	0.00	0.000	6	0.000	0.034	1576	2905	2943	0	0	0	0	0	0
964	-0.60	-146.1	177.5	-18.0	122	967	0.00	1.62	0.00	0.000	4	0.000	0.062	1568	3910	2943	0	0	0	0	0	0
1034	-0.60	-146.1	190.8	-19.2	128	1037	0.00	1.52	0.00	0.000	6	0.000	0.034	1568	2923	2943	0	0	0	0	0	0
1366	-0.60	-146.1	249.6	-16.9	159	1370	0.00	1.62	0.00	0.000	4	0.000	0.060	1561	3905	2942	0	0	0	0	0	0
1449	-0.60	-146.1	266.2	-19.0	163	1458	0.10	1.50	0.00	0.000	6	0.188	0.034	1590	2929	2942	0	0	0	0	0	0
1767	-0.60	-146.1	315.6	-15.8	179	1771	0.00	1.62	0.00	0.000	4	0.000	0.063	1583	3898	2942	0	0	0	0	0	0
1860	-0.60	-146.1	331.1	-16.7	183	1863	0.00	1.50	0.00	0.000	6	0.000	0.033	1583	2922	2942	0	0	0	0	0	0
2194	-0.60	-146.1	382.9	-14.9	199	2198	0.00	1.62	0.00	0.000	4	0.000	0.062	1575	3932	2942	0	0	0	0	0	0
2254	-0.60	-146.1	393.4	-16.3	201	2263	0.00	1.55	0.00	0.000	6	0.000	0.031	1575	2924	2942	0	0	0	0	0	0
2572	-0.60	-146.1	443.6	-16.2	217	2573	0.00	0.00	0.00	0.000	6	0.000	0.000	1575	2922	2942	0	0	0	0	0	0
2880	-0.60	-146.1	493.4	-16.0	232	2884	0.00	1.60	0.00	0.000	4	0.000	0.061	1568	3899	2942	0	0	0	0	0	0
2929	-0.60	-146.1	502.0	-17.4	234	2934	0.00	1.50	0.00	0.000	6	0.000	0.033	1568	2929	2943	0	0	0	0	0	0
3257	-0.60	-146.1	555.9	-16.4	250	3261	0.00	1.60	0.00	0.000	4	0.000	0.062	1560	3900	2942	0	0	0	0	0	0
3302	-0.60	-146.1	563.9	-18.1	252	3306	0.10	1.48	0.00	0.000	6	0.187	0.034	1589	2936	2942	0	0	0	0	0	0
3634	-0.60	-146.1	614.1	-15.1	268	3638	0.00	1.58	0.00	0.000	4	0.000	0.062	1582	3896	2942	0	0	0	0	0	0
3680	-0.60	-146.1	621.2	-16.0	270	3684	0.00	1.48	0.00	0.000	6	0.000	0.033	1582	2928	2943	0	0	0	0	0	0
4012	-0.60	-146.1	670.9	-14.4	286	4013	0.00	0.00	0.00	0.000	6	0.000	0.000	1582	2922	2942	0	0	0	0	0	0
4322	-0.60	-146.1	715.4	-14.2	301	4323	0.00	0.00	0.00	0.000	6	0.000	0.000	1582	2922	2942	0	0	0	0	0	0
4631	-0.60	-146.1	758.7	-14.0	316	4634	0.00	1.60	0.00	0.000	4	0.000	0.062	1575	3898	2942	0	0	0	0	0	0
4668	-0.60	-146.1	764.7	-16.0	317	4676	0.00	1.50	0.00	0.000	6	0.000	0.032	1575	2919	2943	0	0	0	0	0	0
4984	-0.60	-146.1	810.7	-14.6	333	4986	0.00	0.00	0.00	0.000	6	0.000	0.000	1575	2919	2943	0	0	0	0	0	0
5294	-0.60	-146.1	855.0	-14.2	348	5298	0.00	1.60	0.00	0.000	4	0.000	0.061	1568	3897	2942	0	0	0	0	0	0
5331	-0.60	-146.1	861.0	-15.7	349	5339	0.00	1.48	0.00	0.000	6	0.000	0.032	1568	2924	2943	0	0	0	0	0	0
5648	-0.60	-146.1	906.9	-14.6	365	5649	0.00	0.00	0.00	0.000	6	0.000	0.000	1568	2925	2942	0	0	0	0	0	0
5957	-0.60	-146.1	951.8	-14.5	380	5960	0.00	1.60	0.00	0.000	4	0.000	0.061	1560	3903	2942	0	0	0	0	0	0
6011	-0.60	-146.1	961.0	-16.9	382	6017	0.12	1.48	0.00	0.000	6	0.202	0.033	1589	2941	2943	0	0	0	0	0	0
6311	end dive: TARGET_DEPTH_EXCEEDED
state	6311	begin apogee
6316	-0.13	0.0	1000.1	12.7	397	6454	0.50	0.00	133.32	1.782	6	0.172	0.000	1738	2714	2342	0	0	0	0	0	0
6455	end apogee: CONTROL_FINISHED_OK
state	6455	begin climb
6457	0.60	146.1	1004.3	0.0	404	6609	0.80	0.00	147.00	1.733	6	0.125	0.000	1976	2714	1746	0	0	0	0	0	0
6910	0.60	146.1	930.0	18.4	426	6911	0.00	0.00	0.00	0.000	6	0.000	0.000	1976	2714	1738	0	0	0	0	0	0
7219	0.60	146.1	874.4	17.8	441	7223	0.00	2.00	0.00	0.000	4	0.000	0.058	1976	3905	1736	0	0	0	0	0	0
7268	0.60	146.1	864.5	20.8	443	7272	0.00	1.92	0.00	0.000	6	0.000	0.036	1985	2741	1734	0	0	0	0	0	0
7595	0.60	146.1	803.0	19.2	459	7598	0.00	1.92	0.00	0.000	4	0.000	0.057	1985	3900	1734	0	0	0	0	0	0
7626	0.60	146.1	796.4	21.9	460	7631	0.00	1.95	0.00	0.000	6	0.000	0.036	1994	2710	1733	0	0	0	0	0	0
7949	0.60	146.1	734.3	19.2	476	7950	0.00	0.00	0.00	0.000	6	0.000	0.000	1994	2710	1733	0	0	0	0	0	0
8258	0.60	146.1	676.4	18.1	491	8261	0.00	1.98	0.00	0.000	4	0.000	0.058	1994	3928	1732	0	0	0	0	0	0
8302	0.60	146.1	667.6	20.8	493	8306	0.00	1.95	0.00	0.000	6	0.000	0.037	2004	2708	1731	0	0	0	0	0	0
8635	0.60	146.1	605.3	18.8	509	8638	0.00	1.95	0.00	0.000	4	0.000	0.057	2004	3900	1732	0	0	0	0	0	0
8706	0.60	146.1	589.6	22.8	512	8711	0.00	1.92	0.00	0.000	6	0.000	0.036	2013	2710	1731	0	0	0	0	0	0
9034	0.60	146.1	524.2	19.6	528	9038	0.00	1.98	0.00	0.000	4	0.000	0.058	2014	3902	1731	0	0	0	0	0	0
9082	0.60	146.1	513.5	21.6	530	9088	0.10	1.92	0.00	0.000	6	0.199	0.037	1994	2707	1731	0	0	0	0	0	0
9410	0.60	146.1	454.7	17.8	546	9413	0.00	1.95	0.00	0.000	4	0.000	0.057	1994	3903	1731	0	0	0	0	0	0
9464	0.60	146.1	443.4	21.0	548	9469	0.00	1.92	0.00	0.000	6	0.000	0.037	2002	2705	1731	0	0	0	0	0	0
9786	0.60	146.1	383.0	19.2	564	9787	0.00	0.00	0.00	0.000	6	0.000	0.000	2002	2705	1731	0	0	0	0	0	0
10097	0.60	146.1	323.2	19.3	579	10101	0.00	1.95	0.00	0.000	4	0.000	0.057	2002	3906	1731	0	0	0	0	0	0
10165	0.60	146.1	308.6	22.1	582	10169	0.00	1.90	0.00	0.000	6	0.000	0.037	2012	2701	1730	0	0	0	0	0	0
10487	0.60	146.1	244.6	19.7	598	10491	0.00	1.95	0.00	0.000	4	0.000	0.057	2012	3906	1730	0	0	0	0	0	0
10547	0.60	146.1	232.2	23.7	603	10551	0.15	1.90	0.00	0.000	6	0.215	0.037	1986	2700	1730	0	0	0	0	0	0
10876	0.60	146.1	175.7	16.9	634	10880	0.00	1.95	0.00	0.000	4	0.000	0.058	1985	3901	1730	0	0	0	0	0	0
10938	0.60	146.1	163.5	19.6	639	10946	0.00	1.90	0.00	0.000	6	0.000	0.037	1994	2713	1730	0	0	0	0	0	0
11264	0.60	146.1	109.1	15.5	670	11265	0.00	0.00	0.00	0.000	6	0.000	0.000	1994	2713	1730	0	0	0	0	0	0
11602	0.60	146.1	61.2	13.9	724	11611	0.00	1.95	0.00	0.000	4	0.000	0.060	1993	3898	1730	0	0	0	0	0	0
11675	0.60	146.1	49.4	16.4	736	11684	0.00	1.90	0.00	0.000	6	0.000	0.035	2003	2700	1730	0	0	0	0	0	0
11792	0.60	146.1	32.1	14.9	755	11798	0.00	0.00	0.00	0.000	6	0.000	0.000	2003	2699	1730	0	0	0	0	0	0
11909	0.60	146.1	15.8	13.8	774	11917	0.00	2.20	0.00	0.000	4	0.000	0.045	2014	1291	1730	0	0	0	0	0	0
11944	0.60	146.1	10.5	14.2	779	11954	0.08	2.28	0.00	0.000	6	0.194	0.051	1992	2724	1730	0	0	0	0	0	0
11998	end climb: SURFACE_DEPTH_REACHED
state	11998	begin surface coast
12024	end surface coast: CONTROL_FINISHED_OK
state	12024	begin surface