Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 97 * 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 97 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 29 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 41 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 -21931.514 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 -21931.514

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 29 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 41 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 97 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 261214,043728,-5558.177,-33.603,37,0.8,37,-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 0.129,-0.103

_SM_DEPTHo 2.12 KALMAN_X 56460.3,-503.4,-119.1,-90546.0,1712.1

_SM_ANGLEo -70.5 KALMAN_Y 42723.4,404.6,-60.8,-39358.1,-1796.6

GPS2 261214,044441,-5558.162,-33.591,19,0.9,19,-19.9 MHEAD_RNG_PITCHd_Wd 148.7,5042,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.3,1.013364 _10V_AH 10.0,15.547

SM_CCo 12355,25.12,0.182,0,0,1524,200.16 FG_AHR_24Vo 0.000

SM_GC 2.58,0.00,0.00,25.12,0.000,0.000,0.182,61,2935,1524,-5.40,0.14,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5535.12,-30.76,261214,010155 MEM 353964

TT8_MAMPS 0.026215 DATA_FILE_SIZE 56981,811

HUMID 56.34 CAP_FILE_SIZE 109297,0

INTERNAL_PRESSURE 8.96486 CFSIZE 259252224,220262400

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

XPDR_PINGS 0 GPS 261214,081307,-5559.630,-31.868,37,0.9,37,-19.9

_24V_AH 21.8,23.817

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 244 70.49 SBE_CT 576 23 301.13

Roll_motor 74 82 134.41 AA4330 1683 17 659.87

VBD_pump_during_apogee 263 1788 10261.41 WL_BB2F 811 105 1858.62

VBD_pump_during_surface 25 182 99.72 QSP2150 842 17 330.32

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 91 56.69 nil 0 0 0.00

Iridium_during_connect 39 160 137.88 nil 0 0 0.00

Iridium_during_xfer 249 223 1212.45 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 31 6.90

TT8 2022 14 292.42

LPSleep 7869 2 172.34

TT8_Active 402 14 58.19

TT8_Sampling 2371 42 1000.18

TT8_CF8 150 49 74.94

TT8_Kalman 33 68 22.81

Analog_circuits 1211 15 187.76

GPS_charging 0 0 0.00

Compass 1907 16 314.42

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 -34.53 0.000 2 0.000 0.000 47 2964 2270 0 0 0 0 0 0

54 -0.60 -137.5 3.2 -4.1 4 89 6.18 1.58 -22.40 0.000 4 0.244 0.083 1583 3886 2905 0 0 0 0 0 0

270 -0.60 -137.5 44.0 -21.9 38 279 0.00 1.55 0.00 0.000 6 0.000 0.033 1583 2894 2906 0 0 0 0 0 0

387 -0.60 -137.5 67.9 -20.5 57 393 0.00 0.00 0.00 0.000 6 0.000 0.000 1583 2893 2906 0 0 0 0 0 0

500 -0.60 -137.5 89.4 -18.2 76 506 0.00 0.00 0.00 0.000 6 0.000 0.000 1583 2893 2906 0 0 0 0 0 0

729 -0.60 -137.5 131.6 -18.0 102 730 0.00 0.00 0.00 0.000 6 0.000 0.000 1583 2893 2906 0 0 0 0 0 0

1047 -0.60 -137.5 188.0 -17.8 132 1051 0.00 1.62 0.00 0.000 4 0.000 0.062 1576 3900 2906 0 0 0 0 0 0

1167 -0.60 -137.5 211.8 -18.8 142 1177 0.00 1.50 0.00 0.000 6 0.000 0.034 1576 2923 2907 0 0 0 0 0 0

1489 -0.60 -137.5 268.6 -17.5 168 1490 0.00 0.00 0.00 0.000 6 0.000 0.000 1576 2921 2906 0 0 0 0 0 0

1800 -0.60 -137.5 319.3 -15.9 183 1801 0.00 0.00 0.00 0.000 6 0.000 0.000 1576 2922 2906 0 0 0 0 0 0

2109 -0.60 -137.5 367.3 -15.3 198 2113 0.00 1.58 0.00 0.000 4 0.000 0.061 1568 3879 2906 0 0 0 0 0 0

2215 -0.60 -137.5 385.9 -16.9 202 2225 0.00 1.48 0.00 0.000 6 0.000 0.032 1568 2917 2906 0 0 0 0 0 0

2532 -0.60 -137.5 436.3 -16.2 218 2533 0.00 0.00 0.00 0.000 6 0.000 0.000 1568 2916 2906 0 0 0 0 0 0

2841 -0.60 -137.5 485.4 -15.5 233 2842 0.00 0.00 0.00 0.000 6 0.000 0.000 1568 2917 2907 0 0 0 0 0 0

3150 -0.60 -137.5 532.1 -14.9 248 3153 0.00 1.60 0.00 0.000 4 0.000 0.061 1561 3890 2907 0 0 0 0 0 0

3255 -0.60 -137.5 549.6 -16.3 252 3263 0.10 1.45 0.00 0.000 6 0.183 0.032 1590 2940 2907 0 0 0 0 0 0

3571 -0.60 -137.5 591.6 -13.1 268 3575 0.00 1.55 0.00 0.000 4 0.000 0.061 1583 3886 2907 0 0 0 0 0 0

3608 -0.60 -137.5 596.9 -14.0 269 3616 0.00 1.48 0.00 0.000 6 0.000 0.031 1583 2916 2907 0 0 0 0 0 0

3925 -0.60 -137.5 640.0 -13.6 285 3926 0.00 0.00 0.00 0.000 6 0.000 0.000 1583 2915 2907 0 0 0 0 0 0

4234 -0.60 -137.5 681.9 -13.4 300 4237 0.00 1.60 0.00 0.000 4 0.000 0.061 1576 3890 2907 0 0 0 0 0 0

4271 -0.60 -137.5 687.6 -14.4 301 4279 0.00 1.45 0.00 0.000 6 0.000 0.031 1576 2924 2908 0 0 0 0 0 0

4588 -0.60 -137.5 731.3 -13.7 317 4589 0.00 0.00 0.00 0.000 6 0.000 0.000 1576 2923 2908 0 0 0 0 0 0

4897 -0.60 -137.5 775.6 -14.7 332 4898 0.00 0.00 0.00 0.000 6 0.000 0.000 1576 2923 2908 0 0 0 0 0 0

5207 -0.60 -137.5 820.7 -14.6 347 5208 0.00 0.00 0.00 0.000 6 0.000 0.000 1576 2923 2908 0 0 0 0 0 0

5515 -0.60 -137.5 865.4 -14.6 362 5516 0.00 0.00 0.00 0.000 6 0.000 0.000 1576 2923 2908 0 0 0 0 0 0

5825 -0.60 -137.5 910.4 -14.3 377 5828 0.00 1.58 0.00 0.000 4 0.000 0.062 1568 3885 2907 0 0 0 0 0 0

5852 -0.60 -137.5 914.5 -14.9 378 5856 0.00 1.42 0.00 0.000 6 0.000 0.032 1569 2939 2908 0 0 0 0 0 0

6178 -0.60 -137.5 960.1 -13.8 394 6182 0.00 1.55 0.00 0.000 4 0.000 0.062 1561 3880 2908 0 0 0 0 0 0

6210 -0.60 -137.5 965.0 -15.6 395 6216 0.12 1.45 0.00 0.000 6 0.202 0.032 1591 2933 2908 0 0 0 0 0 0

6510 end dive: TARGET_DEPTH_EXCEEDED

state 6510 begin apogee

6515 -0.13 0.0 1002.1 12.1 410 6643 0.50 0.00 125.43 1.789 6 0.169 0.000 1740 2711 2342 0 0 0 0 0 0

6644 end apogee: CONTROL_FINISHED_OK

state 6644 begin climb

6645 0.60 137.5 1005.4 0.0 416 6794 0.77 0.00 137.75 1.740 6 0.122 0.000 1974 2711 1782 0 0 0 0 0 0

7100 0.60 137.5 930.2 18.6 438 7104 0.00 2.05 0.00 0.000 4 0.000 0.057 1974 3904 1773 0 0 0 0 0 0

7131 0.60 137.5 923.3 21.8 439 7136 0.00 1.95 0.00 0.000 6 0.000 0.034 1982 2744 1772 0 0 0 0 0 0

7454 0.60 137.5 861.4 19.9 455 7455 0.00 0.00 0.00 0.000 6 0.000 0.000 1983 2743 1771 0 0 0 0 0 0

7763 0.60 137.5 802.6 18.7 470 7766 0.00 1.90 0.00 0.000 4 0.000 0.057 1983 3889 1770 0 0 0 0 0 0

7789 0.60 137.5 797.0 19.9 471 7794 0.00 1.92 0.00 0.000 6 0.000 0.035 1992 2705 1769 0 0 0 0 0 0

8116 0.60 137.5 734.3 18.9 487 8120 0.00 1.95 0.00 0.000 4 0.000 0.056 1992 3892 1768 0 0 0 0 0 0

8140 0.60 137.5 729.7 20.2 488 8144 0.00 1.90 0.00 0.000 6 0.000 0.037 2001 2700 1768 0 0 0 0 0 0

8472 0.60 137.5 664.7 19.1 504 8476 0.00 1.95 0.00 0.000 4 0.000 0.056 2001 3892 1768 0 0 0 0 0 0

8498 0.60 137.5 659.0 20.2 505 8503 0.00 1.90 0.00 0.000 6 0.000 0.036 2010 2714 1767 0 0 0 0 0 0

8825 0.60 137.5 594.8 19.6 521 8829 0.00 1.92 0.00 0.000 4 0.000 0.057 2010 3877 1767 0 0 0 0 0 0

8885 0.60 137.5 581.4 22.6 523 8894 0.10 1.88 0.00 0.000 6 0.204 0.037 1992 2714 1766 0 0 0 0 0 0

9202 0.60 137.5 524.7 17.3 539 9206 0.00 1.90 0.00 0.000 4 0.000 0.056 1992 3883 1766 0 0 0 0 0 0

9217 0.60 137.5 521.4 18.5 539 9225 0.00 1.88 0.00 0.000 6 0.000 0.034 2000 2713 1766 0 0 0 0 0 0

9534 0.60 137.5 462.1 18.8 555 9538 0.00 1.90 0.00 0.000 4 0.000 0.056 1999 3883 1766 0 0 0 0 0 0

9582 0.60 137.5 451.7 21.4 557 9587 0.00 1.88 0.00 0.000 6 0.000 0.036 2007 2713 1766 0 0 0 0 0 0

9912 0.60 137.5 388.6 19.1 573 9915 0.00 1.90 0.00 0.000 4 0.000 0.055 2008 3884 1766 0 0 0 0 0 0

9944 0.60 137.5 381.2 21.4 574 9949 0.10 1.88 0.00 0.000 6 0.208 0.036 1989 2713 1765 0 0 0 0 0 0

10265 0.60 137.5 328.2 15.7 590 10269 0.00 1.90 0.00 0.000 4 0.000 0.057 1989 3888 1765 0 0 0 0 0 0

10335 0.60 137.5 315.9 18.8 593 10338 0.00 1.88 0.00 0.000 6 0.000 0.037 1997 2697 1765 0 0 0 0 0 0

10669 0.60 137.5 260.5 16.3 609 10673 0.00 1.92 0.00 0.000 4 0.000 0.057 1998 3889 1765 0 0 0 0 0 0

10701 0.60 137.5 254.1 18.5 610 10706 0.00 1.88 0.00 0.000 6 0.000 0.035 2006 2710 1765 0 0 0 0 0 0

11032 0.60 137.5 198.9 17.2 640 11035 0.00 1.90 0.00 0.000 4 0.000 0.056 2007 3894 1765 0 0 0 0 0 0

11068 0.60 137.5 192.4 19.2 643 11073 0.12 1.88 0.00 0.000 6 0.226 0.037 1988 2699 1765 0 0 0 0 0 0

11399 0.60 137.5 138.6 15.9 674 11403 0.00 1.92 0.00 0.000 4 0.000 0.057 1988 3890 1765 0 0 0 0 0 0

11448 0.60 137.5 129.9 17.8 678 11459 0.00 1.88 0.00 0.000 6 0.000 0.034 1996 2708 1765 0 0 0 0 0 0

11783 0.60 137.5 81.3 12.7 720 11791 0.00 0.00 0.00 0.000 6 0.000 0.000 1996 2708 1765 0 0 0 0 0 0

12026 0.60 137.5 47.0 14.7 761 12033 0.00 0.00 0.00 0.000 6 0.000 0.000 1997 2708 1765 0 0 0 0 0 0

12138 0.60 137.5 30.3 16.0 780 12147 0.00 1.92 0.00 0.000 4 0.000 0.059 1996 3880 1765 0 0 0 0 0 0

12167 0.60 137.5 25.6 16.9 784 12176 0.00 1.85 0.00 0.000 6 0.000 0.036 2005 2717 1765 0 0 0 0 0 0

12252 0.60 137.5 12.2 15.9 797 12260 0.00 0.00 0.00 0.000 6 0.000 0.000 2005 2717 1765 0 0 0 0 0 0

12316 end climb: SURFACE_DEPTH_REACHED

state 12316 begin surface coast

12342 end surface coast: CONTROL_FINISHED_OK

state 12343 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	97	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	29	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	41	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	-21931.514	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	261214,043728,-5558.177,-33.603,37,0.8,37,-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	0.129,-0.103
_SM_DEPTHo	2.12	KALMAN_X	56460.3,-503.4,-119.1,-90546.0,1712.1
_SM_ANGLEo	-70.5	KALMAN_Y	42723.4,404.6,-60.8,-39358.1,-1796.6
GPS2	261214,044441,-5558.162,-33.591,19,0.9,19,-19.9	MHEAD_RNG_PITCHd_Wd	148.7,5042,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.3,1.013364	_10V_AH	10.0,15.547
SM_CCo	12355,25.12,0.182,0,0,1524,200.16	FG_AHR_24Vo	0.000
SM_GC	2.58,0.00,0.00,25.12,0.000,0.000,0.182,61,2935,1524,-5.40,0.14,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5535.12,-30.76,261214,010155	MEM	353964
TT8_MAMPS	0.026215	DATA_FILE_SIZE	56981,811
HUMID	56.34	CAP_FILE_SIZE	109297,0
INTERNAL_PRESSURE	8.96486	CFSIZE	259252224,220262400
TCM_TEMP	7.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	261214,081307,-5559.630,-31.868,37,0.9,37,-19.9
_24V_AH	21.8,23.817

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	244	70.49	SBE_CT	576	23	301.13
Roll_motor	74	82	134.41	AA4330	1683	17	659.87
VBD_pump_during_apogee	263	1788	10261.41	WL_BB2F	811	105	1858.62
VBD_pump_during_surface	25	182	99.72	QSP2150	842	17	330.32
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	91	56.69	nil	0	0	0.00
Iridium_during_connect	39	160	137.88	nil	0	0	0.00
Iridium_during_xfer	249	223	1212.45	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	31	6.90
TT8	2022	14	292.42
LPSleep	7869	2	172.34
TT8_Active	402	14	58.19
TT8_Sampling	2371	42	1000.18
TT8_CF8	150	49	74.94
TT8_Kalman	33	68	22.81
Analog_circuits	1211	15	187.76
GPS_charging	0	0	0.00
Compass	1907	16	314.42
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	-34.53	0.000	2	0.000	0.000	47	2964	2270	0	0	0	0	0	0
54	-0.60	-137.5	3.2	-4.1	4	89	6.18	1.58	-22.40	0.000	4	0.244	0.083	1583	3886	2905	0	0	0	0	0	0
270	-0.60	-137.5	44.0	-21.9	38	279	0.00	1.55	0.00	0.000	6	0.000	0.033	1583	2894	2906	0	0	0	0	0	0
387	-0.60	-137.5	67.9	-20.5	57	393	0.00	0.00	0.00	0.000	6	0.000	0.000	1583	2893	2906	0	0	0	0	0	0
500	-0.60	-137.5	89.4	-18.2	76	506	0.00	0.00	0.00	0.000	6	0.000	0.000	1583	2893	2906	0	0	0	0	0	0
729	-0.60	-137.5	131.6	-18.0	102	730	0.00	0.00	0.00	0.000	6	0.000	0.000	1583	2893	2906	0	0	0	0	0	0
1047	-0.60	-137.5	188.0	-17.8	132	1051	0.00	1.62	0.00	0.000	4	0.000	0.062	1576	3900	2906	0	0	0	0	0	0
1167	-0.60	-137.5	211.8	-18.8	142	1177	0.00	1.50	0.00	0.000	6	0.000	0.034	1576	2923	2907	0	0	0	0	0	0
1489	-0.60	-137.5	268.6	-17.5	168	1490	0.00	0.00	0.00	0.000	6	0.000	0.000	1576	2921	2906	0	0	0	0	0	0
1800	-0.60	-137.5	319.3	-15.9	183	1801	0.00	0.00	0.00	0.000	6	0.000	0.000	1576	2922	2906	0	0	0	0	0	0
2109	-0.60	-137.5	367.3	-15.3	198	2113	0.00	1.58	0.00	0.000	4	0.000	0.061	1568	3879	2906	0	0	0	0	0	0
2215	-0.60	-137.5	385.9	-16.9	202	2225	0.00	1.48	0.00	0.000	6	0.000	0.032	1568	2917	2906	0	0	0	0	0	0
2532	-0.60	-137.5	436.3	-16.2	218	2533	0.00	0.00	0.00	0.000	6	0.000	0.000	1568	2916	2906	0	0	0	0	0	0
2841	-0.60	-137.5	485.4	-15.5	233	2842	0.00	0.00	0.00	0.000	6	0.000	0.000	1568	2917	2907	0	0	0	0	0	0
3150	-0.60	-137.5	532.1	-14.9	248	3153	0.00	1.60	0.00	0.000	4	0.000	0.061	1561	3890	2907	0	0	0	0	0	0
3255	-0.60	-137.5	549.6	-16.3	252	3263	0.10	1.45	0.00	0.000	6	0.183	0.032	1590	2940	2907	0	0	0	0	0	0
3571	-0.60	-137.5	591.6	-13.1	268	3575	0.00	1.55	0.00	0.000	4	0.000	0.061	1583	3886	2907	0	0	0	0	0	0
3608	-0.60	-137.5	596.9	-14.0	269	3616	0.00	1.48	0.00	0.000	6	0.000	0.031	1583	2916	2907	0	0	0	0	0	0
3925	-0.60	-137.5	640.0	-13.6	285	3926	0.00	0.00	0.00	0.000	6	0.000	0.000	1583	2915	2907	0	0	0	0	0	0
4234	-0.60	-137.5	681.9	-13.4	300	4237	0.00	1.60	0.00	0.000	4	0.000	0.061	1576	3890	2907	0	0	0	0	0	0
4271	-0.60	-137.5	687.6	-14.4	301	4279	0.00	1.45	0.00	0.000	6	0.000	0.031	1576	2924	2908	0	0	0	0	0	0
4588	-0.60	-137.5	731.3	-13.7	317	4589	0.00	0.00	0.00	0.000	6	0.000	0.000	1576	2923	2908	0	0	0	0	0	0
4897	-0.60	-137.5	775.6	-14.7	332	4898	0.00	0.00	0.00	0.000	6	0.000	0.000	1576	2923	2908	0	0	0	0	0	0
5207	-0.60	-137.5	820.7	-14.6	347	5208	0.00	0.00	0.00	0.000	6	0.000	0.000	1576	2923	2908	0	0	0	0	0	0
5515	-0.60	-137.5	865.4	-14.6	362	5516	0.00	0.00	0.00	0.000	6	0.000	0.000	1576	2923	2908	0	0	0	0	0	0
5825	-0.60	-137.5	910.4	-14.3	377	5828	0.00	1.58	0.00	0.000	4	0.000	0.062	1568	3885	2907	0	0	0	0	0	0
5852	-0.60	-137.5	914.5	-14.9	378	5856	0.00	1.42	0.00	0.000	6	0.000	0.032	1569	2939	2908	0	0	0	0	0	0
6178	-0.60	-137.5	960.1	-13.8	394	6182	0.00	1.55	0.00	0.000	4	0.000	0.062	1561	3880	2908	0	0	0	0	0	0
6210	-0.60	-137.5	965.0	-15.6	395	6216	0.12	1.45	0.00	0.000	6	0.202	0.032	1591	2933	2908	0	0	0	0	0	0
6510	end dive: TARGET_DEPTH_EXCEEDED
state	6510	begin apogee
6515	-0.13	0.0	1002.1	12.1	410	6643	0.50	0.00	125.43	1.789	6	0.169	0.000	1740	2711	2342	0	0	0	0	0	0
6644	end apogee: CONTROL_FINISHED_OK
state	6644	begin climb
6645	0.60	137.5	1005.4	0.0	416	6794	0.77	0.00	137.75	1.740	6	0.122	0.000	1974	2711	1782	0	0	0	0	0	0
7100	0.60	137.5	930.2	18.6	438	7104	0.00	2.05	0.00	0.000	4	0.000	0.057	1974	3904	1773	0	0	0	0	0	0
7131	0.60	137.5	923.3	21.8	439	7136	0.00	1.95	0.00	0.000	6	0.000	0.034	1982	2744	1772	0	0	0	0	0	0
7454	0.60	137.5	861.4	19.9	455	7455	0.00	0.00	0.00	0.000	6	0.000	0.000	1983	2743	1771	0	0	0	0	0	0
7763	0.60	137.5	802.6	18.7	470	7766	0.00	1.90	0.00	0.000	4	0.000	0.057	1983	3889	1770	0	0	0	0	0	0
7789	0.60	137.5	797.0	19.9	471	7794	0.00	1.92	0.00	0.000	6	0.000	0.035	1992	2705	1769	0	0	0	0	0	0
8116	0.60	137.5	734.3	18.9	487	8120	0.00	1.95	0.00	0.000	4	0.000	0.056	1992	3892	1768	0	0	0	0	0	0
8140	0.60	137.5	729.7	20.2	488	8144	0.00	1.90	0.00	0.000	6	0.000	0.037	2001	2700	1768	0	0	0	0	0	0
8472	0.60	137.5	664.7	19.1	504	8476	0.00	1.95	0.00	0.000	4	0.000	0.056	2001	3892	1768	0	0	0	0	0	0
8498	0.60	137.5	659.0	20.2	505	8503	0.00	1.90	0.00	0.000	6	0.000	0.036	2010	2714	1767	0	0	0	0	0	0
8825	0.60	137.5	594.8	19.6	521	8829	0.00	1.92	0.00	0.000	4	0.000	0.057	2010	3877	1767	0	0	0	0	0	0
8885	0.60	137.5	581.4	22.6	523	8894	0.10	1.88	0.00	0.000	6	0.204	0.037	1992	2714	1766	0	0	0	0	0	0
9202	0.60	137.5	524.7	17.3	539	9206	0.00	1.90	0.00	0.000	4	0.000	0.056	1992	3883	1766	0	0	0	0	0	0
9217	0.60	137.5	521.4	18.5	539	9225	0.00	1.88	0.00	0.000	6	0.000	0.034	2000	2713	1766	0	0	0	0	0	0
9534	0.60	137.5	462.1	18.8	555	9538	0.00	1.90	0.00	0.000	4	0.000	0.056	1999	3883	1766	0	0	0	0	0	0
9582	0.60	137.5	451.7	21.4	557	9587	0.00	1.88	0.00	0.000	6	0.000	0.036	2007	2713	1766	0	0	0	0	0	0
9912	0.60	137.5	388.6	19.1	573	9915	0.00	1.90	0.00	0.000	4	0.000	0.055	2008	3884	1766	0	0	0	0	0	0
9944	0.60	137.5	381.2	21.4	574	9949	0.10	1.88	0.00	0.000	6	0.208	0.036	1989	2713	1765	0	0	0	0	0	0
10265	0.60	137.5	328.2	15.7	590	10269	0.00	1.90	0.00	0.000	4	0.000	0.057	1989	3888	1765	0	0	0	0	0	0
10335	0.60	137.5	315.9	18.8	593	10338	0.00	1.88	0.00	0.000	6	0.000	0.037	1997	2697	1765	0	0	0	0	0	0
10669	0.60	137.5	260.5	16.3	609	10673	0.00	1.92	0.00	0.000	4	0.000	0.057	1998	3889	1765	0	0	0	0	0	0
10701	0.60	137.5	254.1	18.5	610	10706	0.00	1.88	0.00	0.000	6	0.000	0.035	2006	2710	1765	0	0	0	0	0	0
11032	0.60	137.5	198.9	17.2	640	11035	0.00	1.90	0.00	0.000	4	0.000	0.056	2007	3894	1765	0	0	0	0	0	0
11068	0.60	137.5	192.4	19.2	643	11073	0.12	1.88	0.00	0.000	6	0.226	0.037	1988	2699	1765	0	0	0	0	0	0
11399	0.60	137.5	138.6	15.9	674	11403	0.00	1.92	0.00	0.000	4	0.000	0.057	1988	3890	1765	0	0	0	0	0	0
11448	0.60	137.5	129.9	17.8	678	11459	0.00	1.88	0.00	0.000	6	0.000	0.034	1996	2708	1765	0	0	0	0	0	0
11783	0.60	137.5	81.3	12.7	720	11791	0.00	0.00	0.00	0.000	6	0.000	0.000	1996	2708	1765	0	0	0	0	0	0
12026	0.60	137.5	47.0	14.7	761	12033	0.00	0.00	0.00	0.000	6	0.000	0.000	1997	2708	1765	0	0	0	0	0	0
12138	0.60	137.5	30.3	16.0	780	12147	0.00	1.92	0.00	0.000	4	0.000	0.059	1996	3880	1765	0	0	0	0	0	0
12167	0.60	137.5	25.6	16.9	784	12176	0.00	1.85	0.00	0.000	6	0.000	0.036	2005	2717	1765	0	0	0	0	0	0
12252	0.60	137.5	12.2	15.9	797	12260	0.00	0.00	0.00	0.000	6	0.000	0.000	2005	2717	1765	0	0	0	0	0	0
12316	end climb: SURFACE_DEPTH_REACHED
state	12316	begin surface coast
12342	end surface coast: CONTROL_FINISHED_OK
state	12343	begin surface