Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 93 * 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 93 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 28 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 32 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 -21921.848 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 -21921.848

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 28 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 32 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 93 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 251214,141627,-5558.449,-32.358,26,1.0,40,-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 -0.161,-0.038

_SM_DEPTHo 2.01 KALMAN_X 55919.9,-470.9,-429.2,-88406.8,4298.1

_SM_ANGLEo -70.1 KALMAN_Y 43755.4,216.1,216.8,-40921.4,-2509.3

GPS2 251214,142318,-5558.399,-32.315,19,1.0,19,-19.9 MHEAD_RNG_PITCHd_Wd 276.8,3812,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.2,1.027174 _10V_AH 10.0,15.148

SM_CCo 12305,23.92,0.190,0,0,1523,200.16 FG_AHR_24Vo 0.000

SM_GC 2.56,0.00,0.00,23.92,0.000,0.000,0.190,61,2942,1523,-5.40,0.34,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5538.94,-30.80,251214,101034 MEM 353972

TT8_MAMPS 0.026215 DATA_FILE_SIZE 57003,808

HUMID 56.57 CAP_FILE_SIZE 107636,0

INTERNAL_PRESSURE 8.96486 CFSIZE 259252224,220508160

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

XPDR_PINGS 0 GPS 251214,175058,-5559.422,-34.172,41,0.9,41,-19.8

_24V_AH 21.8,23.221

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 255 74.50 SBE_CT 574 23 300.27

Roll_motor 67 62 92.61 AA4330 1680 17 658.62

VBD_pump_during_apogee 263 1803 10353.65 WL_BB2F 811 105 1858.64

VBD_pump_during_surface 23 189 98.95 QSP2150 851 17 333.57

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 91 58.77 nil 0 0 0.00

Iridium_during_connect 19 160 68.17 nil 0 0 0.00

Iridium_during_xfer 250 223 1218.02 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 31 7.00

TT8 2025 14 292.85

LPSleep 7825 2 171.37

TT8_Active 401 14 58.12

TT8_Sampling 2334 42 984.25

TT8_CF8 158 49 78.69

TT8_Kalman 33 68 22.81

Analog_circuits 1186 15 183.94

GPS_charging 0 0 0.00

Compass 1892 16 311.87

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 51 0.00 0.00 -34.60 0.000 2 0.000 0.000 49 2954 2266 0 0 0 0 0 0

54 -0.60 -137.0 3.1 -4.1 4 88 6.35 0.00 -23.85 0.000 6 0.256 0.000 1589 2954 2902 0 0 0 0 0 0

163 -0.60 -137.0 17.3 -19.3 20 172 0.00 0.00 0.00 0.000 6 0.000 0.000 1589 2954 2903 0 0 0 0 0 0

247 -0.60 -137.0 33.9 -20.2 33 253 0.00 0.00 0.00 0.000 6 0.000 0.000 1589 2954 2904 0 0 0 0 0 0

359 -0.60 -137.0 57.2 -20.7 52 367 0.00 0.00 0.00 0.000 6 0.000 0.000 1590 2954 2904 0 0 0 0 0 0

474 -0.60 -137.0 80.2 -19.2 71 480 0.00 2.28 0.00 0.000 4 0.000 0.040 1591 1502 2904 0 0 0 0 0 0

509 -0.60 -137.0 86.7 -17.1 77 516 0.00 2.30 0.00 0.000 6 0.000 0.054 1581 2921 2904 0 0 0 0 0 0

740 -0.60 -137.0 131.5 -18.9 104 743 0.00 1.58 0.00 0.000 4 0.000 0.061 1574 3893 2904 0 0 0 0 0 0

802 -0.60 -137.0 144.5 -19.5 109 810 0.00 1.55 0.00 0.000 6 0.000 0.032 1573 2888 2905 0 0 0 0 0 0

1127 -0.60 -137.0 204.9 -17.6 140 1131 0.00 1.65 0.00 0.000 4 0.000 0.060 1566 3899 2904 0 0 0 0 0 0

1189 -0.60 -137.0 216.9 -18.4 145 1198 0.12 1.50 0.00 0.000 6 0.207 0.033 1595 2926 2905 0 0 0 0 0 0

1524 -0.60 -137.0 265.4 -14.2 172 1525 0.00 0.00 0.00 0.000 6 0.000 0.000 1595 2926 2904 0 0 0 0 0 0

1836 -0.60 -137.0 310.7 -15.0 187 1839 0.00 1.60 0.00 0.000 4 0.000 0.063 1587 3895 2904 0 0 0 0 0 0

1903 -0.60 -137.0 322.3 -17.0 190 1907 0.00 1.48 0.00 0.000 6 0.000 0.033 1587 2931 2905 0 0 0 0 0 0

2236 -0.60 -137.0 373.8 -15.1 206 2239 0.00 1.60 0.00 0.000 4 0.000 0.061 1580 3897 2904 0 0 0 0 0 0

2296 -0.60 -137.0 383.9 -16.1 208 2306 0.00 1.50 0.00 0.000 6 0.000 0.032 1581 2919 2905 0 0 0 0 0 0

2612 -0.60 -137.0 431.4 -14.8 224 2613 0.00 0.00 0.00 0.000 6 0.000 0.000 1580 2919 2905 0 0 0 0 0 0

2922 -0.60 -137.0 476.3 -15.0 239 2926 0.00 1.60 0.00 0.000 4 0.000 0.061 1573 3893 2905 0 0 0 0 0 0

2976 -0.60 -137.0 485.5 -16.6 241 2981 0.00 1.48 0.00 0.000 6 0.000 0.033 1573 2934 2905 0 0 0 0 0 0

3299 -0.60 -137.0 535.1 -15.4 257 3303 0.00 1.58 0.00 0.000 4 0.000 0.060 1565 3890 2905 0 0 0 0 0 0

3352 -0.60 -137.0 544.4 -16.5 259 3358 0.12 1.48 0.00 0.000 6 0.203 0.031 1595 2925 2905 0 0 0 0 0 0

3674 -0.60 -137.0 588.7 -13.5 275 3676 0.00 0.00 0.00 0.000 6 0.000 0.000 1595 2925 2905 0 0 0 0 0 0

3984 -0.60 -137.0 630.0 -13.6 290 3988 0.00 1.60 0.00 0.000 4 0.000 0.062 1588 3900 2906 0 0 0 0 0 0

4033 -0.60 -137.0 637.4 -14.5 292 4038 0.00 1.50 0.00 0.000 6 0.000 0.031 1588 2921 2906 0 0 0 0 0 0

4360 -0.60 -137.0 683.6 -13.9 308 4361 0.00 0.00 0.00 0.000 6 0.000 0.000 1589 2918 2906 0 0 0 0 0 0

4670 -0.60 -137.0 726.8 -13.9 323 4671 0.00 0.00 0.00 0.000 6 0.000 0.000 1588 2918 2906 0 0 0 0 0 0

4979 -0.60 -137.0 770.0 -14.0 338 4983 0.00 1.60 0.00 0.000 4 0.000 0.061 1581 3896 2906 0 0 0 0 0 0

5012 -0.60 -137.0 775.1 -15.6 339 5016 0.00 1.48 0.00 0.000 6 0.000 0.032 1581 2922 2906 0 0 0 0 0 0

5334 -0.60 -137.0 822.6 -14.7 355 5335 0.00 0.00 0.00 0.000 6 0.000 0.000 1581 2916 2906 0 0 0 0 0 0

5642 -0.60 -137.0 867.0 -14.2 370 5643 0.00 0.00 0.00 0.000 6 0.000 0.000 1581 2916 2906 0 0 0 0 0 0

5952 -0.60 -137.0 908.8 -13.4 385 5953 0.00 0.00 0.00 0.000 6 0.000 0.000 1580 2916 2906 0 0 0 0 0 0

6262 -0.60 -137.0 949.4 -13.0 400 6263 0.00 0.00 0.00 0.000 6 0.000 0.000 1581 2916 2906 0 0 0 0 0 0

6570 -0.60 -137.0 989.5 -13.2 415 6574 0.00 1.62 0.00 0.000 4 0.000 0.063 1573 3903 2906 0 0 0 0 0 0

6615 -0.60 -137.0 996.1 -15.8 417 6619 0.00 1.48 0.00 0.000 6 0.000 0.033 1573 2928 2906 0 0 0 0 0 0

6657 end dive: TARGET_DEPTH_EXCEEDED

state 6657 begin apogee

6662 -0.13 0.0 1001.8 13.8 419 6791 0.57 0.00 125.28 1.803 6 0.174 0.000 1743 2710 2343 0 0 0 0 0 0

6791 end apogee: CONTROL_FINISHED_OK

state 6792 begin climb

6793 0.60 137.0 1005.5 0.0 425 6938 0.77 0.00 138.12 1.749 6 0.121 0.000 1977 2710 1783 0 0 0 0 0 0

7244 0.60 137.0 929.0 19.3 447 7248 0.00 2.03 0.00 0.000 4 0.000 0.057 1977 3897 1774 0 0 0 0 0 0

7320 0.60 137.0 912.3 22.3 450 7325 0.00 1.92 0.00 0.000 6 0.000 0.034 1986 2746 1772 0 0 0 0 0 0

7643 0.60 137.0 849.2 19.1 466 7644 0.00 0.00 0.00 0.000 6 0.000 0.000 1986 2744 1771 0 0 0 0 0 0

7951 0.60 137.0 789.5 19.5 481 7953 0.00 0.00 0.00 0.000 6 0.000 0.000 1986 2744 1770 0 0 0 0 0 0

8261 0.60 137.0 729.9 19.0 496 8262 0.00 0.00 0.00 0.000 6 0.000 0.000 1986 2745 1769 0 0 0 0 0 0

8571 0.60 137.0 670.6 19.2 511 8574 0.00 1.90 0.00 0.000 4 0.000 0.057 1986 3903 1769 0 0 0 0 0 0

8619 0.60 137.0 660.2 21.1 513 8624 0.00 1.92 0.00 0.000 6 0.000 0.036 1995 2712 1768 0 0 0 0 0 0

8946 0.60 137.0 598.0 18.8 529 8950 0.00 1.95 0.00 0.000 4 0.000 0.057 1995 3903 1768 0 0 0 0 0 0

8980 0.60 137.0 591.1 21.3 530 8984 0.00 1.90 0.00 0.000 6 0.000 0.037 2004 2705 1768 0 0 0 0 0 0

9301 0.60 137.0 528.0 19.8 546 9304 0.00 1.95 0.00 0.000 4 0.000 0.057 2004 3903 1767 0 0 0 0 0 0

9349 0.60 137.0 517.0 23.9 548 9355 0.08 1.92 0.00 0.000 6 0.210 0.036 1993 2708 1767 0 0 0 0 0 0

9677 0.60 137.0 456.0 18.8 564 9678 0.00 0.00 0.00 0.000 6 0.000 0.000 1992 2708 1767 0 0 0 0 0 0

9986 0.60 137.0 397.3 19.0 579 9989 0.00 1.92 0.00 0.000 4 0.000 0.057 1993 3898 1767 0 0 0 0 0 0

10058 0.60 137.0 382.0 21.2 582 10062 0.00 1.90 0.00 0.000 6 0.000 0.036 2001 2707 1767 0 0 0 0 0 0

10385 0.60 137.0 317.8 20.0 598 10388 0.00 1.95 0.00 0.000 4 0.000 0.056 2001 3910 1767 0 0 0 0 0 0

10455 0.60 137.0 303.1 21.4 601 10458 0.00 1.90 0.00 0.000 6 0.000 0.037 2010 2703 1766 0 0 0 0 0 0

10781 0.60 137.0 238.5 19.7 619 10785 0.00 1.92 0.00 0.000 4 0.000 0.056 2011 3897 1766 0 0 0 0 0 0

10852 0.60 137.0 223.0 22.6 625 10857 0.15 1.88 0.00 0.000 6 0.224 0.036 1985 2700 1766 0 0 0 0 0 0

11182 0.60 137.0 166.2 16.3 656 11183 0.00 0.00 0.00 0.000 6 0.000 0.000 1985 2700 1766 0 0 0 0 0 0

11503 0.60 137.0 116.6 14.8 686 11507 0.00 1.95 0.00 0.000 4 0.000 0.057 1985 3905 1766 0 0 0 0 0 0

11541 0.60 137.0 110.6 16.8 689 11545 0.00 1.88 0.00 0.000 6 0.000 0.037 1993 2710 1766 0 0 0 0 0 0

11890 0.60 137.0 58.7 14.6 744 11899 0.00 1.95 0.00 0.000 4 0.000 0.059 1993 3903 1766 0 0 0 0 0 0

11935 0.60 137.0 52.1 16.2 751 11942 0.00 1.90 0.00 0.000 6 0.000 0.037 2003 2706 1766 0 0 0 0 0 0

12049 0.60 137.0 35.0 14.7 770 12057 0.00 0.00 0.00 0.000 6 0.000 0.000 2003 2706 1766 0 0 0 0 0 0

12167 0.60 137.0 18.3 14.7 789 12176 0.00 0.00 0.00 0.000 6 0.000 0.000 2003 2706 1766 0 0 0 0 0 0

12251 0.60 137.0 6.1 14.2 802 12259 0.00 0.00 0.00 0.000 6 0.000 0.000 2003 2705 1766 0 0 0 0 0 0

12272 end climb: SURFACE_DEPTH_REACHED

state 12273 begin surface coast

12293 end surface coast: CONTROL_FINISHED_OK

state 12293 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	93	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	28	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	32	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	-21921.848	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	251214,141627,-5558.449,-32.358,26,1.0,40,-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	-0.161,-0.038
_SM_DEPTHo	2.01	KALMAN_X	55919.9,-470.9,-429.2,-88406.8,4298.1
_SM_ANGLEo	-70.1	KALMAN_Y	43755.4,216.1,216.8,-40921.4,-2509.3
GPS2	251214,142318,-5558.399,-32.315,19,1.0,19,-19.9	MHEAD_RNG_PITCHd_Wd	276.8,3812,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.2,1.027174	_10V_AH	10.0,15.148
SM_CCo	12305,23.92,0.190,0,0,1523,200.16	FG_AHR_24Vo	0.000
SM_GC	2.56,0.00,0.00,23.92,0.000,0.000,0.190,61,2942,1523,-5.40,0.34,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5538.94,-30.80,251214,101034	MEM	353972
TT8_MAMPS	0.026215	DATA_FILE_SIZE	57003,808
HUMID	56.57	CAP_FILE_SIZE	107636,0
INTERNAL_PRESSURE	8.96486	CFSIZE	259252224,220508160
TCM_TEMP	7.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	251214,175058,-5559.422,-34.172,41,0.9,41,-19.8
_24V_AH	21.8,23.221

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	255	74.50	SBE_CT	574	23	300.27
Roll_motor	67	62	92.61	AA4330	1680	17	658.62
VBD_pump_during_apogee	263	1803	10353.65	WL_BB2F	811	105	1858.64
VBD_pump_during_surface	23	189	98.95	QSP2150	851	17	333.57
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	91	58.77	nil	0	0	0.00
Iridium_during_connect	19	160	68.17	nil	0	0	0.00
Iridium_during_xfer	250	223	1218.02	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	31	7.00
TT8	2025	14	292.85
LPSleep	7825	2	171.37
TT8_Active	401	14	58.12
TT8_Sampling	2334	42	984.25
TT8_CF8	158	49	78.69
TT8_Kalman	33	68	22.81
Analog_circuits	1186	15	183.94
GPS_charging	0	0	0.00
Compass	1892	16	311.87
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	51	0.00	0.00	-34.60	0.000	2	0.000	0.000	49	2954	2266	0	0	0	0	0	0
54	-0.60	-137.0	3.1	-4.1	4	88	6.35	0.00	-23.85	0.000	6	0.256	0.000	1589	2954	2902	0	0	0	0	0	0
163	-0.60	-137.0	17.3	-19.3	20	172	0.00	0.00	0.00	0.000	6	0.000	0.000	1589	2954	2903	0	0	0	0	0	0
247	-0.60	-137.0	33.9	-20.2	33	253	0.00	0.00	0.00	0.000	6	0.000	0.000	1589	2954	2904	0	0	0	0	0	0
359	-0.60	-137.0	57.2	-20.7	52	367	0.00	0.00	0.00	0.000	6	0.000	0.000	1590	2954	2904	0	0	0	0	0	0
474	-0.60	-137.0	80.2	-19.2	71	480	0.00	2.28	0.00	0.000	4	0.000	0.040	1591	1502	2904	0	0	0	0	0	0
509	-0.60	-137.0	86.7	-17.1	77	516	0.00	2.30	0.00	0.000	6	0.000	0.054	1581	2921	2904	0	0	0	0	0	0
740	-0.60	-137.0	131.5	-18.9	104	743	0.00	1.58	0.00	0.000	4	0.000	0.061	1574	3893	2904	0	0	0	0	0	0
802	-0.60	-137.0	144.5	-19.5	109	810	0.00	1.55	0.00	0.000	6	0.000	0.032	1573	2888	2905	0	0	0	0	0	0
1127	-0.60	-137.0	204.9	-17.6	140	1131	0.00	1.65	0.00	0.000	4	0.000	0.060	1566	3899	2904	0	0	0	0	0	0
1189	-0.60	-137.0	216.9	-18.4	145	1198	0.12	1.50	0.00	0.000	6	0.207	0.033	1595	2926	2905	0	0	0	0	0	0
1524	-0.60	-137.0	265.4	-14.2	172	1525	0.00	0.00	0.00	0.000	6	0.000	0.000	1595	2926	2904	0	0	0	0	0	0
1836	-0.60	-137.0	310.7	-15.0	187	1839	0.00	1.60	0.00	0.000	4	0.000	0.063	1587	3895	2904	0	0	0	0	0	0
1903	-0.60	-137.0	322.3	-17.0	190	1907	0.00	1.48	0.00	0.000	6	0.000	0.033	1587	2931	2905	0	0	0	0	0	0
2236	-0.60	-137.0	373.8	-15.1	206	2239	0.00	1.60	0.00	0.000	4	0.000	0.061	1580	3897	2904	0	0	0	0	0	0
2296	-0.60	-137.0	383.9	-16.1	208	2306	0.00	1.50	0.00	0.000	6	0.000	0.032	1581	2919	2905	0	0	0	0	0	0
2612	-0.60	-137.0	431.4	-14.8	224	2613	0.00	0.00	0.00	0.000	6	0.000	0.000	1580	2919	2905	0	0	0	0	0	0
2922	-0.60	-137.0	476.3	-15.0	239	2926	0.00	1.60	0.00	0.000	4	0.000	0.061	1573	3893	2905	0	0	0	0	0	0
2976	-0.60	-137.0	485.5	-16.6	241	2981	0.00	1.48	0.00	0.000	6	0.000	0.033	1573	2934	2905	0	0	0	0	0	0
3299	-0.60	-137.0	535.1	-15.4	257	3303	0.00	1.58	0.00	0.000	4	0.000	0.060	1565	3890	2905	0	0	0	0	0	0
3352	-0.60	-137.0	544.4	-16.5	259	3358	0.12	1.48	0.00	0.000	6	0.203	0.031	1595	2925	2905	0	0	0	0	0	0
3674	-0.60	-137.0	588.7	-13.5	275	3676	0.00	0.00	0.00	0.000	6	0.000	0.000	1595	2925	2905	0	0	0	0	0	0
3984	-0.60	-137.0	630.0	-13.6	290	3988	0.00	1.60	0.00	0.000	4	0.000	0.062	1588	3900	2906	0	0	0	0	0	0
4033	-0.60	-137.0	637.4	-14.5	292	4038	0.00	1.50	0.00	0.000	6	0.000	0.031	1588	2921	2906	0	0	0	0	0	0
4360	-0.60	-137.0	683.6	-13.9	308	4361	0.00	0.00	0.00	0.000	6	0.000	0.000	1589	2918	2906	0	0	0	0	0	0
4670	-0.60	-137.0	726.8	-13.9	323	4671	0.00	0.00	0.00	0.000	6	0.000	0.000	1588	2918	2906	0	0	0	0	0	0
4979	-0.60	-137.0	770.0	-14.0	338	4983	0.00	1.60	0.00	0.000	4	0.000	0.061	1581	3896	2906	0	0	0	0	0	0
5012	-0.60	-137.0	775.1	-15.6	339	5016	0.00	1.48	0.00	0.000	6	0.000	0.032	1581	2922	2906	0	0	0	0	0	0
5334	-0.60	-137.0	822.6	-14.7	355	5335	0.00	0.00	0.00	0.000	6	0.000	0.000	1581	2916	2906	0	0	0	0	0	0
5642	-0.60	-137.0	867.0	-14.2	370	5643	0.00	0.00	0.00	0.000	6	0.000	0.000	1581	2916	2906	0	0	0	0	0	0
5952	-0.60	-137.0	908.8	-13.4	385	5953	0.00	0.00	0.00	0.000	6	0.000	0.000	1580	2916	2906	0	0	0	0	0	0
6262	-0.60	-137.0	949.4	-13.0	400	6263	0.00	0.00	0.00	0.000	6	0.000	0.000	1581	2916	2906	0	0	0	0	0	0
6570	-0.60	-137.0	989.5	-13.2	415	6574	0.00	1.62	0.00	0.000	4	0.000	0.063	1573	3903	2906	0	0	0	0	0	0
6615	-0.60	-137.0	996.1	-15.8	417	6619	0.00	1.48	0.00	0.000	6	0.000	0.033	1573	2928	2906	0	0	0	0	0	0
6657	end dive: TARGET_DEPTH_EXCEEDED
state	6657	begin apogee
6662	-0.13	0.0	1001.8	13.8	419	6791	0.57	0.00	125.28	1.803	6	0.174	0.000	1743	2710	2343	0	0	0	0	0	0
6791	end apogee: CONTROL_FINISHED_OK
state	6792	begin climb
6793	0.60	137.0	1005.5	0.0	425	6938	0.77	0.00	138.12	1.749	6	0.121	0.000	1977	2710	1783	0	0	0	0	0	0
7244	0.60	137.0	929.0	19.3	447	7248	0.00	2.03	0.00	0.000	4	0.000	0.057	1977	3897	1774	0	0	0	0	0	0
7320	0.60	137.0	912.3	22.3	450	7325	0.00	1.92	0.00	0.000	6	0.000	0.034	1986	2746	1772	0	0	0	0	0	0
7643	0.60	137.0	849.2	19.1	466	7644	0.00	0.00	0.00	0.000	6	0.000	0.000	1986	2744	1771	0	0	0	0	0	0
7951	0.60	137.0	789.5	19.5	481	7953	0.00	0.00	0.00	0.000	6	0.000	0.000	1986	2744	1770	0	0	0	0	0	0
8261	0.60	137.0	729.9	19.0	496	8262	0.00	0.00	0.00	0.000	6	0.000	0.000	1986	2745	1769	0	0	0	0	0	0
8571	0.60	137.0	670.6	19.2	511	8574	0.00	1.90	0.00	0.000	4	0.000	0.057	1986	3903	1769	0	0	0	0	0	0
8619	0.60	137.0	660.2	21.1	513	8624	0.00	1.92	0.00	0.000	6	0.000	0.036	1995	2712	1768	0	0	0	0	0	0
8946	0.60	137.0	598.0	18.8	529	8950	0.00	1.95	0.00	0.000	4	0.000	0.057	1995	3903	1768	0	0	0	0	0	0
8980	0.60	137.0	591.1	21.3	530	8984	0.00	1.90	0.00	0.000	6	0.000	0.037	2004	2705	1768	0	0	0	0	0	0
9301	0.60	137.0	528.0	19.8	546	9304	0.00	1.95	0.00	0.000	4	0.000	0.057	2004	3903	1767	0	0	0	0	0	0
9349	0.60	137.0	517.0	23.9	548	9355	0.08	1.92	0.00	0.000	6	0.210	0.036	1993	2708	1767	0	0	0	0	0	0
9677	0.60	137.0	456.0	18.8	564	9678	0.00	0.00	0.00	0.000	6	0.000	0.000	1992	2708	1767	0	0	0	0	0	0
9986	0.60	137.0	397.3	19.0	579	9989	0.00	1.92	0.00	0.000	4	0.000	0.057	1993	3898	1767	0	0	0	0	0	0
10058	0.60	137.0	382.0	21.2	582	10062	0.00	1.90	0.00	0.000	6	0.000	0.036	2001	2707	1767	0	0	0	0	0	0
10385	0.60	137.0	317.8	20.0	598	10388	0.00	1.95	0.00	0.000	4	0.000	0.056	2001	3910	1767	0	0	0	0	0	0
10455	0.60	137.0	303.1	21.4	601	10458	0.00	1.90	0.00	0.000	6	0.000	0.037	2010	2703	1766	0	0	0	0	0	0
10781	0.60	137.0	238.5	19.7	619	10785	0.00	1.92	0.00	0.000	4	0.000	0.056	2011	3897	1766	0	0	0	0	0	0
10852	0.60	137.0	223.0	22.6	625	10857	0.15	1.88	0.00	0.000	6	0.224	0.036	1985	2700	1766	0	0	0	0	0	0
11182	0.60	137.0	166.2	16.3	656	11183	0.00	0.00	0.00	0.000	6	0.000	0.000	1985	2700	1766	0	0	0	0	0	0
11503	0.60	137.0	116.6	14.8	686	11507	0.00	1.95	0.00	0.000	4	0.000	0.057	1985	3905	1766	0	0	0	0	0	0
11541	0.60	137.0	110.6	16.8	689	11545	0.00	1.88	0.00	0.000	6	0.000	0.037	1993	2710	1766	0	0	0	0	0	0
11890	0.60	137.0	58.7	14.6	744	11899	0.00	1.95	0.00	0.000	4	0.000	0.059	1993	3903	1766	0	0	0	0	0	0
11935	0.60	137.0	52.1	16.2	751	11942	0.00	1.90	0.00	0.000	6	0.000	0.037	2003	2706	1766	0	0	0	0	0	0
12049	0.60	137.0	35.0	14.7	770	12057	0.00	0.00	0.00	0.000	6	0.000	0.000	2003	2706	1766	0	0	0	0	0	0
12167	0.60	137.0	18.3	14.7	789	12176	0.00	0.00	0.00	0.000	6	0.000	0.000	2003	2706	1766	0	0	0	0	0	0
12251	0.60	137.0	6.1	14.2	802	12259	0.00	0.00	0.00	0.000	6	0.000	0.000	2003	2705	1766	0	0	0	0	0	0
12272	end climb: SURFACE_DEPTH_REACHED
state	12273	begin surface coast
12293	end surface coast: CONTROL_FINISHED_OK
state	12293	begin surface