Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 91 * 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 91 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 23 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 29 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 -21916.125 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 -21916.125

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 23 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 29 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 91 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 251214,065434,-5559.372,-31.960,25,0.9,25,-19.9 TGT_NAME TARGET

_CALLS 4 TGT_LATLONG -5600.000,-30.000

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.163,0.022

_SM_DEPTHo 2.12 KALMAN_X 54333.4,-391.4,-127.8,-86826.2,3480.3

_SM_ANGLEo -66.8 KALMAN_Y 45695.3,67.3,151.0,-44446.2,-1355.5

GPS2 251214,071229,-5559.372,-31.946,16,1.0,16,-19.9 MHEAD_RNG_PITCHd_Wd 297.6,2328,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.3,1.027170 _10V_AH 10.0,14.948

SM_CCo 12778,26.08,0.191,0,0,1523,200.16 FG_AHR_24Vo 0.000

SM_GC 2.39,0.00,0.00,26.08,0.000,0.000,0.191,50,2932,1523,-5.44,0.06,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5535.12,-23.07,251214,070739 MEM 353940

TT8_MAMPS 0.027713 DATA_FILE_SIZE 57051,830

HUMID 55.82 CAP_FILE_SIZE 112747,0

INTERNAL_PRESSURE 8.96486 CFSIZE 259252224,220626944

TCM_TEMP 7.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 1 GPS 251214,104804,-5559.917,-34.352,42,0.8,42,-19.8

_24V_AH 21.8,22.912

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 253 73.56 SBE_CT 590 23 308.44

Roll_motor 59 63 82.84 AA4330 1723 17 675.63

VBD_pump_during_apogee 251 1787 9796.15 WL_BB2F 822 105 1881.62

VBD_pump_during_surface 26 191 108.71 QSP2150 851 17 333.74

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 104 91 209.52 nil 0 0 0.00

Iridium_during_connect 218 160 760.85 nil 0 0 0.00

Iridium_during_xfer 433 223 2106.94 nil 0 0 0.00

Transponder_ping 0 420 2.29 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 31 5.87

TT8 2074 14 300.03

LPSleep 8374 2 183.41

TT8_Active 393 14 56.94

TT8_Sampling 2859 42 1205.90

TT8_CF8 178 49 88.46

TT8_Kalman 33 68 22.81

Analog_circuits 1193 15 184.94

GPS_charging 0 0 0.00

Compass 1949 16 321.32

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

15 -0.54 -73.9 0.0 0.0 0 51 0.00 0.00 -34.33 0.000 2 0.000 0.000 53 2933 2255 0 0 0 0 0 0

53 -0.59 -131.1 3.1 -4.6 4 88 6.35 0.00 -24.20 0.000 6 0.253 0.000 1590 2934 2878 0 0 0 0 0 0

163 -0.59 -131.1 16.6 -18.6 20 171 0.00 0.00 0.00 0.000 6 0.000 0.000 1590 2934 2879 0 0 0 0 0 0

246 -0.59 -131.1 32.9 -19.4 33 252 0.00 0.00 0.00 0.000 6 0.000 0.000 1591 2934 2879 0 0 0 0 0 0

360 -0.59 -131.1 55.5 -19.7 52 368 0.00 0.00 0.00 0.000 6 0.000 0.000 1590 2933 2879 0 0 0 0 0 0

475 -0.59 -131.1 77.6 -19.9 71 481 0.00 0.00 0.00 0.000 6 0.000 0.000 1590 2934 2879 0 0 0 0 0 0

583 -0.59 -131.1 98.7 -19.3 90 591 0.00 0.00 0.00 0.000 6 0.000 0.000 1591 2934 2879 0 0 0 0 0 0

810 -0.59 -131.1 139.2 -18.4 112 811 0.00 0.00 0.00 0.000 6 0.000 0.000 1590 2933 2879 0 0 0 0 0 0

1129 -0.59 -131.1 193.7 -16.3 142 1133 0.00 1.58 0.00 0.000 4 0.000 0.063 1583 3889 2880 0 0 0 0 0 0

1189 -0.59 -131.1 203.7 -17.5 147 1193 0.00 1.55 0.00 0.000 6 0.000 0.034 1583 2890 2880 0 0 0 0 0 0

1530 -0.59 -131.1 261.8 -17.3 176 1533 0.00 1.65 0.00 0.000 4 0.000 0.062 1576 3896 2881 0 0 0 0 0 0

1585 -0.59 -131.1 272.5 -18.7 178 1590 0.00 1.52 0.00 0.000 6 0.000 0.033 1576 2917 2880 0 0 0 0 0 0

1909 -0.59 -131.1 327.9 -17.0 194 1910 0.00 0.00 0.00 0.000 6 0.000 0.000 1576 2911 2880 0 0 0 0 0 0

2220 -0.59 -131.1 377.6 -15.7 209 2221 0.00 0.00 0.00 0.000 6 0.000 0.000 1576 2911 2880 0 0 0 0 0 0

2527 -0.59 -131.1 426.4 -15.4 224 2530 0.00 1.62 0.00 0.000 4 0.000 0.061 1568 3896 2880 0 0 0 0 0 0

2580 -0.59 -131.1 435.9 -16.8 226 2586 0.12 1.50 0.00 0.000 6 0.199 0.033 1598 2925 2881 0 0 0 0 0 0

2902 -0.59 -131.1 479.6 -13.5 242 2904 0.00 0.00 0.00 0.000 6 0.000 0.000 1598 2923 2881 0 0 0 0 0 0

3211 -0.59 -131.1 520.4 -13.5 257 3212 0.00 0.00 0.00 0.000 6 0.000 0.000 1598 2923 2881 0 0 0 0 0 0

3520 -0.59 -131.1 562.0 -13.3 272 3524 0.00 1.60 0.00 0.000 4 0.000 0.063 1591 3891 2881 0 0 0 0 0 0

3566 -0.59 -131.1 568.5 -14.9 274 3569 0.00 1.48 0.00 0.000 6 0.000 0.034 1591 2923 2881 0 0 0 0 0 0

3898 -0.59 -131.1 614.5 -13.7 290 3899 0.00 0.00 0.00 0.000 6 0.000 0.000 1591 2919 2881 0 0 0 0 0 0

4207 -0.59 -131.1 655.6 -13.1 305 4211 0.00 1.60 0.00 0.000 4 0.000 0.061 1584 3892 2881 0 0 0 0 0 0

4275 -0.59 -131.1 664.8 -13.4 308 4279 0.00 1.45 0.00 0.000 6 0.000 0.033 1584 2936 2881 0 0 0 0 0 0

4608 -0.59 -131.1 706.9 -12.8 324 4611 0.00 1.58 0.00 0.000 4 0.000 0.063 1577 3890 2881 0 0 0 0 0 0

4645 -0.59 -131.1 712.1 -13.5 325 4653 0.00 1.45 0.00 0.000 6 0.000 0.032 1577 2927 2881 0 0 0 0 0 0

4962 -0.59 -131.1 751.2 -12.3 341 4966 0.00 1.58 0.00 0.000 4 0.000 0.061 1569 3890 2882 0 0 0 0 0 0

5011 -0.59 -131.1 758.0 -13.7 343 5016 0.10 1.48 0.00 0.000 6 0.204 0.032 1592 2929 2882 0 0 0 0 0 0

5338 -0.59 -131.1 795.7 -11.7 359 5339 0.00 0.00 0.00 0.000 6 0.000 0.000 1592 2929 2882 0 0 0 0 0 0

5647 -0.59 -131.1 831.3 -11.5 374 5650 0.00 1.58 0.00 0.000 4 0.000 0.060 1585 3891 2882 0 0 0 0 0 0

5685 -0.59 -131.1 836.2 -13.4 375 5692 0.00 1.45 0.00 0.000 6 0.000 0.031 1585 2926 2881 0 0 0 0 0 0

6001 -0.59 -131.1 874.5 -12.1 391 6003 0.00 0.00 0.00 0.000 6 0.000 0.000 1585 2925 2882 0 0 0 0 0 0

6310 -0.59 -131.1 911.6 -12.0 406 6311 0.00 0.00 0.00 0.000 6 0.000 0.000 1586 2925 2882 0 0 0 0 0 0

6619 -0.59 -131.1 950.1 -12.4 421 6621 0.00 0.00 0.00 0.000 6 0.000 0.000 1585 2925 2882 0 0 0 0 0 0

6929 -0.59 -131.1 988.7 -12.4 436 6931 0.00 0.00 0.00 0.000 6 0.000 0.000 1585 2925 2882 0 0 0 0 0 0

7030 end dive: TARGET_DEPTH_EXCEEDED

state 7031 begin apogee

7035 -0.13 0.0 1001.6 12.3 441 7157 0.52 0.00 119.62 1.788 6 0.171 0.000 1741 2713 2342 0 0 0 0 0 0

7158 end apogee: CONTROL_FINISHED_OK

state 7158 begin climb

7160 0.59 131.1 1005.3 0.0 447 7295 0.80 0.00 131.73 1.734 6 0.122 0.000 1977 2713 1807 0 0 0 0 0 0

7602 0.59 131.1 935.1 17.7 469 7603 0.00 0.00 0.00 0.000 6 0.000 0.000 1978 2713 1797 0 0 0 0 0 0

7912 0.59 131.1 880.4 17.8 484 7916 0.00 2.03 0.00 0.000 4 0.000 0.058 1978 3898 1795 0 0 0 0 0 0

7983 0.59 131.1 865.8 20.1 487 7988 0.00 1.92 0.00 0.000 6 0.000 0.037 1986 2736 1794 0 0 0 0 0 0

8310 0.59 131.1 804.5 19.1 503 8314 0.00 1.92 0.00 0.000 4 0.000 0.057 1986 3896 1793 0 0 0 0 0 0

8355 0.59 131.1 795.2 21.7 505 8359 0.00 1.92 0.00 0.000 6 0.000 0.037 1995 2701 1793 0 0 0 0 0 0

8688 0.59 131.1 728.6 19.9 521 8692 0.00 1.98 0.00 0.000 4 0.000 0.057 1996 3886 1792 0 0 0 0 0 0

8779 0.59 131.1 709.3 22.2 525 8782 0.00 1.88 0.00 0.000 6 0.000 0.037 2005 2710 1792 0 0 0 0 0 0

9111 0.59 131.1 642.5 20.2 541 9115 0.00 1.95 0.00 0.000 4 0.000 0.058 2005 3903 1792 0 0 0 0 0 0

9179 0.59 131.1 627.5 22.2 544 9183 0.12 1.90 0.00 0.000 6 0.227 0.037 1987 2710 1791 0 0 0 0 0 0

9510 0.59 131.1 566.9 17.9 560 9514 0.00 1.95 0.00 0.000 4 0.000 0.058 1986 3891 1791 0 0 0 0 0 0

9577 0.59 131.1 553.4 19.9 563 9581 0.00 1.88 0.00 0.000 6 0.000 0.037 1995 2707 1791 0 0 0 0 0 0

9910 0.59 131.1 489.5 19.1 579 9913 0.00 1.92 0.00 0.000 4 0.000 0.057 1995 3892 1791 0 0 0 0 0 0

9970 0.59 131.1 476.7 20.9 581 9978 0.00 1.90 0.00 0.000 6 0.000 0.036 2004 2704 1791 0 0 0 0 0 0

10287 0.59 131.1 416.1 19.1 597 10291 0.00 1.95 0.00 0.000 4 0.000 0.057 2004 3889 1791 0 0 0 0 0 0

10369 0.59 131.1 397.6 22.7 600 10378 0.10 1.88 0.00 0.000 6 0.213 0.035 1986 2711 1791 0 0 0 0 0 0

10686 0.59 131.1 341.1 17.7 616 10687 0.00 0.00 0.00 0.000 6 0.000 0.000 1986 2711 1791 0 0 0 0 0 0

10997 0.59 131.1 288.2 16.7 631 10998 0.00 0.00 0.00 0.000 6 0.000 0.000 1986 2711 1791 0 0 0 0 0 0

11309 0.59 131.1 236.9 16.9 649 11312 0.00 1.92 0.00 0.000 4 0.000 0.057 1986 3898 1791 0 0 0 0 0 0

11404 0.59 131.1 219.5 18.5 657 11408 0.00 1.88 0.00 0.000 6 0.000 0.037 1994 2707 1790 0 0 0 0 0 0

11734 0.59 131.1 162.2 17.3 688 11735 0.00 0.00 0.00 0.000 6 0.000 0.000 1994 2707 1791 0 0 0 0 0 0

12056 0.59 131.1 109.6 15.7 718 12060 0.00 1.92 0.00 0.000 4 0.000 0.057 1994 3896 1791 0 0 0 0 0 0

12231 0.59 131.1 78.5 18.1 743 12238 0.00 1.88 0.00 0.000 6 0.000 0.036 2003 2717 1791 0 0 0 0 0 0

12344 0.59 131.1 60.5 15.3 762 12352 0.00 0.00 0.00 0.000 6 0.000 0.000 2003 2716 1791 0 0 0 0 0 0

12458 0.59 131.1 43.5 15.4 781 12465 0.00 0.00 0.00 0.000 6 0.000 0.000 2004 2716 1790 0 0 0 0 0 0

12573 0.59 131.1 26.9 15.1 800 12581 0.00 0.00 0.00 0.000 6 0.000 0.000 2004 2716 1790 0 0 0 0 0 0

12657 0.59 131.1 14.6 14.8 813 12665 0.00 0.00 0.00 0.000 6 0.000 0.000 2004 2717 1790 0 0 0 0 0 0

12739 end climb: SURFACE_DEPTH_REACHED

state 12739 begin surface coast

12765 end surface coast: CONTROL_FINISHED_OK

state 12765 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	91	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	23	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	29	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	-21916.125	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	251214,065434,-5559.372,-31.960,25,0.9,25,-19.9	TGT_NAME	TARGET
_CALLS	4	TGT_LATLONG	-5600.000,-30.000
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.163,0.022
_SM_DEPTHo	2.12	KALMAN_X	54333.4,-391.4,-127.8,-86826.2,3480.3
_SM_ANGLEo	-66.8	KALMAN_Y	45695.3,67.3,151.0,-44446.2,-1355.5
GPS2	251214,071229,-5559.372,-31.946,16,1.0,16,-19.9	MHEAD_RNG_PITCHd_Wd	297.6,2328,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.3,1.027170	_10V_AH	10.0,14.948
SM_CCo	12778,26.08,0.191,0,0,1523,200.16	FG_AHR_24Vo	0.000
SM_GC	2.39,0.00,0.00,26.08,0.000,0.000,0.191,50,2932,1523,-5.44,0.06,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5535.12,-23.07,251214,070739	MEM	353940
TT8_MAMPS	0.027713	DATA_FILE_SIZE	57051,830
HUMID	55.82	CAP_FILE_SIZE	112747,0
INTERNAL_PRESSURE	8.96486	CFSIZE	259252224,220626944
TCM_TEMP	7.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	1	GPS	251214,104804,-5559.917,-34.352,42,0.8,42,-19.8
_24V_AH	21.8,22.912

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	253	73.56	SBE_CT	590	23	308.44
Roll_motor	59	63	82.84	AA4330	1723	17	675.63
VBD_pump_during_apogee	251	1787	9796.15	WL_BB2F	822	105	1881.62
VBD_pump_during_surface	26	191	108.71	QSP2150	851	17	333.74
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	104	91	209.52	nil	0	0	0.00
Iridium_during_connect	218	160	760.85	nil	0	0	0.00
Iridium_during_xfer	433	223	2106.94	nil	0	0	0.00
Transponder_ping	0	420	2.29	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	31	5.87
TT8	2074	14	300.03
LPSleep	8374	2	183.41
TT8_Active	393	14	56.94
TT8_Sampling	2859	42	1205.90
TT8_CF8	178	49	88.46
TT8_Kalman	33	68	22.81
Analog_circuits	1193	15	184.94
GPS_charging	0	0	0.00
Compass	1949	16	321.32
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
15	-0.54	-73.9	0.0	0.0	0	51	0.00	0.00	-34.33	0.000	2	0.000	0.000	53	2933	2255	0	0	0	0	0	0
53	-0.59	-131.1	3.1	-4.6	4	88	6.35	0.00	-24.20	0.000	6	0.253	0.000	1590	2934	2878	0	0	0	0	0	0
163	-0.59	-131.1	16.6	-18.6	20	171	0.00	0.00	0.00	0.000	6	0.000	0.000	1590	2934	2879	0	0	0	0	0	0
246	-0.59	-131.1	32.9	-19.4	33	252	0.00	0.00	0.00	0.000	6	0.000	0.000	1591	2934	2879	0	0	0	0	0	0
360	-0.59	-131.1	55.5	-19.7	52	368	0.00	0.00	0.00	0.000	6	0.000	0.000	1590	2933	2879	0	0	0	0	0	0
475	-0.59	-131.1	77.6	-19.9	71	481	0.00	0.00	0.00	0.000	6	0.000	0.000	1590	2934	2879	0	0	0	0	0	0
583	-0.59	-131.1	98.7	-19.3	90	591	0.00	0.00	0.00	0.000	6	0.000	0.000	1591	2934	2879	0	0	0	0	0	0
810	-0.59	-131.1	139.2	-18.4	112	811	0.00	0.00	0.00	0.000	6	0.000	0.000	1590	2933	2879	0	0	0	0	0	0
1129	-0.59	-131.1	193.7	-16.3	142	1133	0.00	1.58	0.00	0.000	4	0.000	0.063	1583	3889	2880	0	0	0	0	0	0
1189	-0.59	-131.1	203.7	-17.5	147	1193	0.00	1.55	0.00	0.000	6	0.000	0.034	1583	2890	2880	0	0	0	0	0	0
1530	-0.59	-131.1	261.8	-17.3	176	1533	0.00	1.65	0.00	0.000	4	0.000	0.062	1576	3896	2881	0	0	0	0	0	0
1585	-0.59	-131.1	272.5	-18.7	178	1590	0.00	1.52	0.00	0.000	6	0.000	0.033	1576	2917	2880	0	0	0	0	0	0
1909	-0.59	-131.1	327.9	-17.0	194	1910	0.00	0.00	0.00	0.000	6	0.000	0.000	1576	2911	2880	0	0	0	0	0	0
2220	-0.59	-131.1	377.6	-15.7	209	2221	0.00	0.00	0.00	0.000	6	0.000	0.000	1576	2911	2880	0	0	0	0	0	0
2527	-0.59	-131.1	426.4	-15.4	224	2530	0.00	1.62	0.00	0.000	4	0.000	0.061	1568	3896	2880	0	0	0	0	0	0
2580	-0.59	-131.1	435.9	-16.8	226	2586	0.12	1.50	0.00	0.000	6	0.199	0.033	1598	2925	2881	0	0	0	0	0	0
2902	-0.59	-131.1	479.6	-13.5	242	2904	0.00	0.00	0.00	0.000	6	0.000	0.000	1598	2923	2881	0	0	0	0	0	0
3211	-0.59	-131.1	520.4	-13.5	257	3212	0.00	0.00	0.00	0.000	6	0.000	0.000	1598	2923	2881	0	0	0	0	0	0
3520	-0.59	-131.1	562.0	-13.3	272	3524	0.00	1.60	0.00	0.000	4	0.000	0.063	1591	3891	2881	0	0	0	0	0	0
3566	-0.59	-131.1	568.5	-14.9	274	3569	0.00	1.48	0.00	0.000	6	0.000	0.034	1591	2923	2881	0	0	0	0	0	0
3898	-0.59	-131.1	614.5	-13.7	290	3899	0.00	0.00	0.00	0.000	6	0.000	0.000	1591	2919	2881	0	0	0	0	0	0
4207	-0.59	-131.1	655.6	-13.1	305	4211	0.00	1.60	0.00	0.000	4	0.000	0.061	1584	3892	2881	0	0	0	0	0	0
4275	-0.59	-131.1	664.8	-13.4	308	4279	0.00	1.45	0.00	0.000	6	0.000	0.033	1584	2936	2881	0	0	0	0	0	0
4608	-0.59	-131.1	706.9	-12.8	324	4611	0.00	1.58	0.00	0.000	4	0.000	0.063	1577	3890	2881	0	0	0	0	0	0
4645	-0.59	-131.1	712.1	-13.5	325	4653	0.00	1.45	0.00	0.000	6	0.000	0.032	1577	2927	2881	0	0	0	0	0	0
4962	-0.59	-131.1	751.2	-12.3	341	4966	0.00	1.58	0.00	0.000	4	0.000	0.061	1569	3890	2882	0	0	0	0	0	0
5011	-0.59	-131.1	758.0	-13.7	343	5016	0.10	1.48	0.00	0.000	6	0.204	0.032	1592	2929	2882	0	0	0	0	0	0
5338	-0.59	-131.1	795.7	-11.7	359	5339	0.00	0.00	0.00	0.000	6	0.000	0.000	1592	2929	2882	0	0	0	0	0	0
5647	-0.59	-131.1	831.3	-11.5	374	5650	0.00	1.58	0.00	0.000	4	0.000	0.060	1585	3891	2882	0	0	0	0	0	0
5685	-0.59	-131.1	836.2	-13.4	375	5692	0.00	1.45	0.00	0.000	6	0.000	0.031	1585	2926	2881	0	0	0	0	0	0
6001	-0.59	-131.1	874.5	-12.1	391	6003	0.00	0.00	0.00	0.000	6	0.000	0.000	1585	2925	2882	0	0	0	0	0	0
6310	-0.59	-131.1	911.6	-12.0	406	6311	0.00	0.00	0.00	0.000	6	0.000	0.000	1586	2925	2882	0	0	0	0	0	0
6619	-0.59	-131.1	950.1	-12.4	421	6621	0.00	0.00	0.00	0.000	6	0.000	0.000	1585	2925	2882	0	0	0	0	0	0
6929	-0.59	-131.1	988.7	-12.4	436	6931	0.00	0.00	0.00	0.000	6	0.000	0.000	1585	2925	2882	0	0	0	0	0	0
7030	end dive: TARGET_DEPTH_EXCEEDED
state	7031	begin apogee
7035	-0.13	0.0	1001.6	12.3	441	7157	0.52	0.00	119.62	1.788	6	0.171	0.000	1741	2713	2342	0	0	0	0	0	0
7158	end apogee: CONTROL_FINISHED_OK
state	7158	begin climb
7160	0.59	131.1	1005.3	0.0	447	7295	0.80	0.00	131.73	1.734	6	0.122	0.000	1977	2713	1807	0	0	0	0	0	0
7602	0.59	131.1	935.1	17.7	469	7603	0.00	0.00	0.00	0.000	6	0.000	0.000	1978	2713	1797	0	0	0	0	0	0
7912	0.59	131.1	880.4	17.8	484	7916	0.00	2.03	0.00	0.000	4	0.000	0.058	1978	3898	1795	0	0	0	0	0	0
7983	0.59	131.1	865.8	20.1	487	7988	0.00	1.92	0.00	0.000	6	0.000	0.037	1986	2736	1794	0	0	0	0	0	0
8310	0.59	131.1	804.5	19.1	503	8314	0.00	1.92	0.00	0.000	4	0.000	0.057	1986	3896	1793	0	0	0	0	0	0
8355	0.59	131.1	795.2	21.7	505	8359	0.00	1.92	0.00	0.000	6	0.000	0.037	1995	2701	1793	0	0	0	0	0	0
8688	0.59	131.1	728.6	19.9	521	8692	0.00	1.98	0.00	0.000	4	0.000	0.057	1996	3886	1792	0	0	0	0	0	0
8779	0.59	131.1	709.3	22.2	525	8782	0.00	1.88	0.00	0.000	6	0.000	0.037	2005	2710	1792	0	0	0	0	0	0
9111	0.59	131.1	642.5	20.2	541	9115	0.00	1.95	0.00	0.000	4	0.000	0.058	2005	3903	1792	0	0	0	0	0	0
9179	0.59	131.1	627.5	22.2	544	9183	0.12	1.90	0.00	0.000	6	0.227	0.037	1987	2710	1791	0	0	0	0	0	0
9510	0.59	131.1	566.9	17.9	560	9514	0.00	1.95	0.00	0.000	4	0.000	0.058	1986	3891	1791	0	0	0	0	0	0
9577	0.59	131.1	553.4	19.9	563	9581	0.00	1.88	0.00	0.000	6	0.000	0.037	1995	2707	1791	0	0	0	0	0	0
9910	0.59	131.1	489.5	19.1	579	9913	0.00	1.92	0.00	0.000	4	0.000	0.057	1995	3892	1791	0	0	0	0	0	0
9970	0.59	131.1	476.7	20.9	581	9978	0.00	1.90	0.00	0.000	6	0.000	0.036	2004	2704	1791	0	0	0	0	0	0
10287	0.59	131.1	416.1	19.1	597	10291	0.00	1.95	0.00	0.000	4	0.000	0.057	2004	3889	1791	0	0	0	0	0	0
10369	0.59	131.1	397.6	22.7	600	10378	0.10	1.88	0.00	0.000	6	0.213	0.035	1986	2711	1791	0	0	0	0	0	0
10686	0.59	131.1	341.1	17.7	616	10687	0.00	0.00	0.00	0.000	6	0.000	0.000	1986	2711	1791	0	0	0	0	0	0
10997	0.59	131.1	288.2	16.7	631	10998	0.00	0.00	0.00	0.000	6	0.000	0.000	1986	2711	1791	0	0	0	0	0	0
11309	0.59	131.1	236.9	16.9	649	11312	0.00	1.92	0.00	0.000	4	0.000	0.057	1986	3898	1791	0	0	0	0	0	0
11404	0.59	131.1	219.5	18.5	657	11408	0.00	1.88	0.00	0.000	6	0.000	0.037	1994	2707	1790	0	0	0	0	0	0
11734	0.59	131.1	162.2	17.3	688	11735	0.00	0.00	0.00	0.000	6	0.000	0.000	1994	2707	1791	0	0	0	0	0	0
12056	0.59	131.1	109.6	15.7	718	12060	0.00	1.92	0.00	0.000	4	0.000	0.057	1994	3896	1791	0	0	0	0	0	0
12231	0.59	131.1	78.5	18.1	743	12238	0.00	1.88	0.00	0.000	6	0.000	0.036	2003	2717	1791	0	0	0	0	0	0
12344	0.59	131.1	60.5	15.3	762	12352	0.00	0.00	0.00	0.000	6	0.000	0.000	2003	2716	1791	0	0	0	0	0	0
12458	0.59	131.1	43.5	15.4	781	12465	0.00	0.00	0.00	0.000	6	0.000	0.000	2004	2716	1790	0	0	0	0	0	0
12573	0.59	131.1	26.9	15.1	800	12581	0.00	0.00	0.00	0.000	6	0.000	0.000	2004	2716	1790	0	0	0	0	0	0
12657	0.59	131.1	14.6	14.8	813	12665	0.00	0.00	0.00	0.000	6	0.000	0.000	2004	2717	1790	0	0	0	0	0	0
12739	end climb: SURFACE_DEPTH_REACHED
state	12739	begin surface coast
12765	end surface coast: CONTROL_FINISHED_OK
state	12765	begin surface