Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 110 * 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 110 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 31 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 -21964.494 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 -21964.494

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 31 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 110 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 281214,043622,-5556.532,-31.844,37,0.8,37,-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 -0.095,-0.135

_SM_DEPTHo 2.12 KALMAN_X 62326.4,-595.1,-162.9,-94483.0,2985.2

_SM_ANGLEo -66.0 KALMAN_Y 30988.5,518.6,426.2,-25276.6,-4813.9

GPS2 281214,044323,-5556.564,-31.858,19,0.9,19,-19.9 MHEAD_RNG_PITCHd_Wd 234.9,6647,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.0,1.024344 _10V_AH 10.0,16.882

SM_CCo 12183,23.92,0.190,0,0,1522,200.16 FG_AHR_24Vo 0.000

SM_GC 2.60,0.00,0.00,23.92,0.000,0.000,0.190,51,2928,1522,-5.42,-0.08,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5535.12,-34.57,281214,000026 MEM 353972

TT8_MAMPS 0.026215 DATA_FILE_SIZE 53725,789

HUMID 56.85 CAP_FILE_SIZE 111931,0

INTERNAL_PRESSURE 8.95509 CFSIZE 259252224,219435008

TCM_TEMP 6.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 281214,080904,-5558.125,-32.284,44,1.0,44,-19.9

_24V_AH 21.9,25.787

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 247 74.00 SBE_CT 560 23 294.07

Roll_motor 93 86 176.49 AA4330 1634 17 643.70

VBD_pump_during_apogee 264 1777 10279.32 WL_BB2F 779 105 1791.63

VBD_pump_during_surface 23 189 99.41 QSP2150 801 17 315.48

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 91 54.58 nil 0 0 0.00

Iridium_during_connect 17 160 60.02 nil 0 0 0.00

Iridium_during_xfer 259 223 1269.28 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 6.77

TT8 1988 14 287.49

LPSleep 7713 2 168.92

TT8_Active 433 14 62.62

TT8_Sampling 2328 42 981.85

TT8_CF8 167 49 83.37

TT8_Kalman 33 68 22.81

Analog_circuits 1239 15 192.14

GPS_charging 0 0 0.00

Compass 1886 16 310.82

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 50 0.00 0.00 -33.55 0.000 2 0.000 0.000 45 2971 2227 0 0 0 0 0 0

53 -0.60 -137.3 3.0 -4.1 4 95 6.25 1.55 -26.00 0.000 4 0.247 0.086 1584 3886 2903 0 0 0 0 0 0

365 -0.60 -137.3 61.2 -21.8 54 374 0.00 1.55 0.00 0.000 6 0.000 0.035 1585 2897 2905 0 0 0 0 0 0

481 -0.60 -137.3 84.7 -20.5 73 487 0.00 1.65 0.00 0.000 4 0.000 0.062 1576 3898 2905 0 0 0 0 0 0

648 -0.60 -137.3 119.9 -19.6 93 652 0.00 1.50 0.00 0.000 6 0.000 0.034 1577 2930 2905 0 0 0 0 0 0

978 -0.60 -137.3 185.8 -20.0 124 982 0.00 2.12 0.00 0.000 4 0.000 0.042 1577 1527 2905 0 0 0 0 0 0

1010 -0.60 -137.3 192.1 -18.3 126 1021 0.00 2.28 0.00 0.000 6 0.000 0.056 1567 2916 2905 0 0 0 0 0 0

1335 -0.60 -137.3 255.0 -19.0 156 1339 0.12 1.60 0.00 0.000 4 0.223 0.065 1588 3905 2905 0 0 0 0 0 0

1394 -0.60 -137.3 266.3 -17.3 158 1404 0.00 1.52 0.00 0.000 6 0.000 0.033 1588 2918 2906 0 0 0 0 0 0

1711 -0.60 -137.3 319.0 -16.5 174 1715 0.00 1.62 0.00 0.000 4 0.000 0.063 1580 3899 2906 0 0 0 0 0 0

1750 -0.60 -137.3 326.3 -17.5 175 1759 0.00 1.50 0.00 0.000 6 0.000 0.032 1580 2922 2906 0 0 0 0 0 0

2069 -0.60 -137.3 377.8 -16.0 191 2072 0.00 1.62 0.00 0.000 4 0.000 0.063 1573 3905 2906 0 0 0 0 0 0

2130 -0.60 -137.3 388.7 -17.4 193 2137 0.00 1.48 0.00 0.000 6 0.000 0.034 1572 2929 2905 0 0 0 0 0 0

2445 -0.60 -137.3 439.8 -15.7 209 2446 0.00 0.00 0.00 0.000 6 0.000 0.000 1573 2928 2905 0 0 0 0 0 0

2756 -0.60 -137.3 487.8 -15.2 224 2759 0.00 1.60 0.00 0.000 4 0.000 0.063 1566 3900 2905 0 0 0 0 0 0

2862 -0.60 -137.3 505.5 -16.7 228 2870 0.08 1.45 0.00 0.000 6 0.183 0.034 1588 2948 2906 0 0 0 0 0 0

3177 -0.60 -137.3 549.7 -13.9 244 3178 0.00 0.00 0.00 0.000 6 0.000 0.000 1588 2948 2906 0 0 0 0 0 0

3487 -0.60 -137.3 592.0 -13.5 259 3491 0.00 1.58 0.00 0.000 4 0.000 0.063 1581 3903 2906 0 0 0 0 0 0

3524 -0.60 -137.3 597.7 -14.5 260 3533 0.00 1.52 0.00 0.000 6 0.000 0.031 1581 2903 2907 0 0 0 0 0 0

3841 -0.60 -137.3 642.6 -14.1 276 3845 0.00 1.65 0.00 0.000 4 0.000 0.063 1573 3920 2906 0 0 0 0 0 0

3874 -0.60 -137.3 647.7 -16.3 277 3878 0.00 1.50 0.00 0.000 6 0.000 0.032 1574 2932 2906 0 0 0 0 0 0

4195 -0.60 -137.3 694.9 -14.5 293 4196 0.00 0.00 0.00 0.000 6 0.000 0.000 1574 2926 2906 0 0 0 0 0 0

4505 -0.60 -137.3 739.3 -14.2 308 4509 0.00 1.60 0.00 0.000 4 0.000 0.063 1566 3901 2906 0 0 0 0 0 0

4554 -0.60 -137.3 747.1 -16.2 310 4559 0.08 1.48 0.00 0.000 6 0.184 0.033 1589 2940 2906 0 0 0 0 0 0

4880 -0.60 -137.3 788.5 -12.7 326 4881 0.00 0.00 0.00 0.000 6 0.000 0.000 1588 2939 2907 0 0 0 0 0 0

5190 -0.60 -137.3 828.0 -12.7 341 5193 0.00 1.58 0.00 0.000 4 0.000 0.063 1581 3898 2907 0 0 0 0 0 0

5239 -0.60 -137.3 835.1 -14.3 343 5243 0.00 1.48 0.00 0.000 6 0.000 0.032 1581 2920 2907 0 0 0 0 0 0

5566 -0.60 -137.3 879.1 -13.2 359 5569 0.00 1.62 0.00 0.000 4 0.000 0.064 1574 3902 2907 0 0 0 0 0 0

5615 -0.60 -137.3 886.2 -13.6 361 5619 0.00 1.48 0.00 0.000 6 0.000 0.032 1574 2929 2907 0 0 0 0 0 0

5942 -0.60 -137.3 931.1 -13.9 377 5943 0.00 0.00 0.00 0.000 6 0.000 0.000 1574 2923 2907 0 0 0 0 0 0

6252 -0.60 -137.3 974.0 -13.6 392 6256 0.00 1.60 0.00 0.000 4 0.000 0.064 1566 3896 2907 0 0 0 0 0 0

6290 -0.60 -137.3 979.8 -15.1 393 6298 0.08 1.45 0.00 0.000 6 0.181 0.033 1589 2945 2907 0 0 0 0 0 0

6460 end dive: TARGET_DEPTH_EXCEEDED

state 6460 begin apogee

6464 -0.13 0.0 1001.4 12.4 402 6593 0.52 0.00 125.60 1.777 6 0.175 0.000 1743 2704 2342 0 0 0 0 0 0

6593 end apogee: CONTROL_FINISHED_OK

state 6594 begin climb

6595 0.60 137.3 1004.8 0.0 408 6739 0.77 0.00 138.52 1.724 6 0.121 0.000 1976 2704 1782 0 0 0 0 0 0

7046 0.60 137.3 930.8 18.7 430 7050 0.00 2.08 0.00 0.000 4 0.000 0.062 1976 3908 1773 0 0 0 0 0 0

7093 0.60 137.3 921.8 21.0 432 7097 0.00 1.95 0.00 0.000 6 0.000 0.035 1985 2725 1771 0 0 0 0 0 0

7425 0.60 137.3 857.2 19.2 448 7426 0.00 0.00 0.00 0.000 6 0.000 0.000 1985 2725 1770 0 0 0 0 0 0

7734 0.60 137.3 797.9 19.5 463 7737 0.00 1.98 0.00 0.000 4 0.000 0.062 1985 3904 1770 0 0 0 0 0 0

7794 0.60 137.3 784.6 21.5 465 7802 0.00 1.92 0.00 0.000 6 0.000 0.036 1994 2717 1768 0 0 0 0 0 0

8110 0.60 137.3 721.8 19.6 481 8111 0.00 0.00 0.00 0.000 6 0.000 0.000 1994 2717 1768 0 0 0 0 0 0

8419 0.60 137.3 662.0 19.1 496 8423 0.00 1.98 0.00 0.000 4 0.000 0.061 1994 3907 1767 0 0 0 0 0 0

8481 0.60 137.3 648.9 21.7 498 8488 0.00 1.90 0.00 0.000 6 0.000 0.036 2004 2707 1766 0 0 0 0 0 0

8796 0.60 137.3 586.1 19.7 514 8800 0.00 1.98 0.00 0.000 4 0.000 0.061 2004 3909 1767 0 0 0 0 0 0

8858 0.60 137.3 572.5 23.4 516 8865 0.12 1.90 0.00 0.000 6 0.226 0.037 1985 2704 1766 0 0 0 0 0 0

9174 0.60 137.3 517.2 17.0 532 9177 0.00 1.98 0.00 0.000 4 0.000 0.060 1985 3910 1766 0 0 0 0 0 0

9211 0.60 137.3 509.6 20.2 533 9219 0.00 1.92 0.00 0.000 6 0.000 0.036 1994 2707 1766 0 0 0 0 0 0

9527 0.60 137.3 451.9 18.0 549 9531 0.00 1.98 0.00 0.000 4 0.000 0.061 1994 3896 1766 0 0 0 0 0 0

9575 0.60 137.3 443.0 20.7 551 9578 0.00 1.88 0.00 0.000 6 0.000 0.036 2003 2704 1765 0 0 0 0 0 0

9908 0.60 137.3 380.3 18.4 567 9912 0.00 1.98 0.00 0.000 4 0.000 0.060 2003 3913 1765 0 0 0 0 0 0

9946 0.60 137.3 371.9 21.0 568 9957 0.08 1.92 0.00 0.000 6 0.213 0.036 1992 2708 1765 0 0 0 0 0 0

10264 0.60 137.3 316.5 17.3 584 10268 0.00 1.95 0.00 0.000 4 0.000 0.060 1991 3903 1765 0 0 0 0 0 0

10297 0.60 137.3 309.5 20.5 585 10302 0.00 1.90 0.00 0.000 6 0.000 0.036 2000 2711 1765 0 0 0 0 0 0

10621 0.60 137.3 251.7 17.9 601 10625 0.00 1.95 0.00 0.000 4 0.000 0.060 2000 3904 1765 0 0 0 0 0 0

10693 0.60 137.3 236.1 21.3 606 10703 0.00 1.90 0.00 0.000 6 0.000 0.035 2010 2708 1765 0 0 0 0 0 0

11022 0.60 137.3 176.7 17.3 637 11026 0.00 1.98 0.00 0.000 4 0.000 0.060 2009 3901 1765 0 0 0 0 0 0

11056 0.60 137.3 169.6 19.5 640 11060 0.15 1.85 0.00 0.000 6 0.221 0.036 1983 2717 1765 0 0 0 0 0 0

11388 0.60 137.3 120.2 13.6 671 11392 0.00 2.20 0.00 0.000 4 0.000 0.044 1993 1294 1765 0 0 0 0 0 0

11408 0.60 137.3 116.6 14.7 672 11418 0.00 2.30 0.00 0.000 6 0.000 0.053 1994 2731 1765 0 0 0 0 0 0

11751 0.60 137.3 68.1 13.6 722 11760 0.00 1.90 0.00 0.000 4 0.000 0.063 1994 3896 1765 0 0 0 0 0 0

11860 0.60 137.3 49.8 18.8 740 11869 0.00 1.88 0.00 0.000 6 0.000 0.036 2003 2708 1765 0 0 0 0 0 0

11978 0.60 137.3 31.2 15.1 759 11985 0.00 1.95 0.00 0.000 4 0.000 0.061 2002 3887 1765 0 0 0 0 0 0

12104 0.60 137.3 9.1 19.5 779 12113 0.08 1.88 0.00 0.000 6 0.208 0.036 1991 2702 1765 0 0 0 0 0 0

12144 end climb: SURFACE_DEPTH_REACHED

state 12145 begin surface coast

12171 end surface coast: CONTROL_FINISHED_OK

state 12171 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	110	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	31	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	-21964.494	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	281214,043622,-5556.532,-31.844,37,0.8,37,-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	-0.095,-0.135
_SM_DEPTHo	2.12	KALMAN_X	62326.4,-595.1,-162.9,-94483.0,2985.2
_SM_ANGLEo	-66.0	KALMAN_Y	30988.5,518.6,426.2,-25276.6,-4813.9
GPS2	281214,044323,-5556.564,-31.858,19,0.9,19,-19.9	MHEAD_RNG_PITCHd_Wd	234.9,6647,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.0,1.024344	_10V_AH	10.0,16.882
SM_CCo	12183,23.92,0.190,0,0,1522,200.16	FG_AHR_24Vo	0.000
SM_GC	2.60,0.00,0.00,23.92,0.000,0.000,0.190,51,2928,1522,-5.42,-0.08,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5535.12,-34.57,281214,000026	MEM	353972
TT8_MAMPS	0.026215	DATA_FILE_SIZE	53725,789
HUMID	56.85	CAP_FILE_SIZE	111931,0
INTERNAL_PRESSURE	8.95509	CFSIZE	259252224,219435008
TCM_TEMP	6.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	281214,080904,-5558.125,-32.284,44,1.0,44,-19.9
_24V_AH	21.9,25.787

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	247	74.00	SBE_CT	560	23	294.07
Roll_motor	93	86	176.49	AA4330	1634	17	643.70
VBD_pump_during_apogee	264	1777	10279.32	WL_BB2F	779	105	1791.63
VBD_pump_during_surface	23	189	99.41	QSP2150	801	17	315.48
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	91	54.58	nil	0	0	0.00
Iridium_during_connect	17	160	60.02	nil	0	0	0.00
Iridium_during_xfer	259	223	1269.28	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	6.77
TT8	1988	14	287.49
LPSleep	7713	2	168.92
TT8_Active	433	14	62.62
TT8_Sampling	2328	42	981.85
TT8_CF8	167	49	83.37
TT8_Kalman	33	68	22.81
Analog_circuits	1239	15	192.14
GPS_charging	0	0	0.00
Compass	1886	16	310.82
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	50	0.00	0.00	-33.55	0.000	2	0.000	0.000	45	2971	2227	0	0	0	0	0	0
53	-0.60	-137.3	3.0	-4.1	4	95	6.25	1.55	-26.00	0.000	4	0.247	0.086	1584	3886	2903	0	0	0	0	0	0
365	-0.60	-137.3	61.2	-21.8	54	374	0.00	1.55	0.00	0.000	6	0.000	0.035	1585	2897	2905	0	0	0	0	0	0
481	-0.60	-137.3	84.7	-20.5	73	487	0.00	1.65	0.00	0.000	4	0.000	0.062	1576	3898	2905	0	0	0	0	0	0
648	-0.60	-137.3	119.9	-19.6	93	652	0.00	1.50	0.00	0.000	6	0.000	0.034	1577	2930	2905	0	0	0	0	0	0
978	-0.60	-137.3	185.8	-20.0	124	982	0.00	2.12	0.00	0.000	4	0.000	0.042	1577	1527	2905	0	0	0	0	0	0
1010	-0.60	-137.3	192.1	-18.3	126	1021	0.00	2.28	0.00	0.000	6	0.000	0.056	1567	2916	2905	0	0	0	0	0	0
1335	-0.60	-137.3	255.0	-19.0	156	1339	0.12	1.60	0.00	0.000	4	0.223	0.065	1588	3905	2905	0	0	0	0	0	0
1394	-0.60	-137.3	266.3	-17.3	158	1404	0.00	1.52	0.00	0.000	6	0.000	0.033	1588	2918	2906	0	0	0	0	0	0
1711	-0.60	-137.3	319.0	-16.5	174	1715	0.00	1.62	0.00	0.000	4	0.000	0.063	1580	3899	2906	0	0	0	0	0	0
1750	-0.60	-137.3	326.3	-17.5	175	1759	0.00	1.50	0.00	0.000	6	0.000	0.032	1580	2922	2906	0	0	0	0	0	0
2069	-0.60	-137.3	377.8	-16.0	191	2072	0.00	1.62	0.00	0.000	4	0.000	0.063	1573	3905	2906	0	0	0	0	0	0
2130	-0.60	-137.3	388.7	-17.4	193	2137	0.00	1.48	0.00	0.000	6	0.000	0.034	1572	2929	2905	0	0	0	0	0	0
2445	-0.60	-137.3	439.8	-15.7	209	2446	0.00	0.00	0.00	0.000	6	0.000	0.000	1573	2928	2905	0	0	0	0	0	0
2756	-0.60	-137.3	487.8	-15.2	224	2759	0.00	1.60	0.00	0.000	4	0.000	0.063	1566	3900	2905	0	0	0	0	0	0
2862	-0.60	-137.3	505.5	-16.7	228	2870	0.08	1.45	0.00	0.000	6	0.183	0.034	1588	2948	2906	0	0	0	0	0	0
3177	-0.60	-137.3	549.7	-13.9	244	3178	0.00	0.00	0.00	0.000	6	0.000	0.000	1588	2948	2906	0	0	0	0	0	0
3487	-0.60	-137.3	592.0	-13.5	259	3491	0.00	1.58	0.00	0.000	4	0.000	0.063	1581	3903	2906	0	0	0	0	0	0
3524	-0.60	-137.3	597.7	-14.5	260	3533	0.00	1.52	0.00	0.000	6	0.000	0.031	1581	2903	2907	0	0	0	0	0	0
3841	-0.60	-137.3	642.6	-14.1	276	3845	0.00	1.65	0.00	0.000	4	0.000	0.063	1573	3920	2906	0	0	0	0	0	0
3874	-0.60	-137.3	647.7	-16.3	277	3878	0.00	1.50	0.00	0.000	6	0.000	0.032	1574	2932	2906	0	0	0	0	0	0
4195	-0.60	-137.3	694.9	-14.5	293	4196	0.00	0.00	0.00	0.000	6	0.000	0.000	1574	2926	2906	0	0	0	0	0	0
4505	-0.60	-137.3	739.3	-14.2	308	4509	0.00	1.60	0.00	0.000	4	0.000	0.063	1566	3901	2906	0	0	0	0	0	0
4554	-0.60	-137.3	747.1	-16.2	310	4559	0.08	1.48	0.00	0.000	6	0.184	0.033	1589	2940	2906	0	0	0	0	0	0
4880	-0.60	-137.3	788.5	-12.7	326	4881	0.00	0.00	0.00	0.000	6	0.000	0.000	1588	2939	2907	0	0	0	0	0	0
5190	-0.60	-137.3	828.0	-12.7	341	5193	0.00	1.58	0.00	0.000	4	0.000	0.063	1581	3898	2907	0	0	0	0	0	0
5239	-0.60	-137.3	835.1	-14.3	343	5243	0.00	1.48	0.00	0.000	6	0.000	0.032	1581	2920	2907	0	0	0	0	0	0
5566	-0.60	-137.3	879.1	-13.2	359	5569	0.00	1.62	0.00	0.000	4	0.000	0.064	1574	3902	2907	0	0	0	0	0	0
5615	-0.60	-137.3	886.2	-13.6	361	5619	0.00	1.48	0.00	0.000	6	0.000	0.032	1574	2929	2907	0	0	0	0	0	0
5942	-0.60	-137.3	931.1	-13.9	377	5943	0.00	0.00	0.00	0.000	6	0.000	0.000	1574	2923	2907	0	0	0	0	0	0
6252	-0.60	-137.3	974.0	-13.6	392	6256	0.00	1.60	0.00	0.000	4	0.000	0.064	1566	3896	2907	0	0	0	0	0	0
6290	-0.60	-137.3	979.8	-15.1	393	6298	0.08	1.45	0.00	0.000	6	0.181	0.033	1589	2945	2907	0	0	0	0	0	0
6460	end dive: TARGET_DEPTH_EXCEEDED
state	6460	begin apogee
6464	-0.13	0.0	1001.4	12.4	402	6593	0.52	0.00	125.60	1.777	6	0.175	0.000	1743	2704	2342	0	0	0	0	0	0
6593	end apogee: CONTROL_FINISHED_OK
state	6594	begin climb
6595	0.60	137.3	1004.8	0.0	408	6739	0.77	0.00	138.52	1.724	6	0.121	0.000	1976	2704	1782	0	0	0	0	0	0
7046	0.60	137.3	930.8	18.7	430	7050	0.00	2.08	0.00	0.000	4	0.000	0.062	1976	3908	1773	0	0	0	0	0	0
7093	0.60	137.3	921.8	21.0	432	7097	0.00	1.95	0.00	0.000	6	0.000	0.035	1985	2725	1771	0	0	0	0	0	0
7425	0.60	137.3	857.2	19.2	448	7426	0.00	0.00	0.00	0.000	6	0.000	0.000	1985	2725	1770	0	0	0	0	0	0
7734	0.60	137.3	797.9	19.5	463	7737	0.00	1.98	0.00	0.000	4	0.000	0.062	1985	3904	1770	0	0	0	0	0	0
7794	0.60	137.3	784.6	21.5	465	7802	0.00	1.92	0.00	0.000	6	0.000	0.036	1994	2717	1768	0	0	0	0	0	0
8110	0.60	137.3	721.8	19.6	481	8111	0.00	0.00	0.00	0.000	6	0.000	0.000	1994	2717	1768	0	0	0	0	0	0
8419	0.60	137.3	662.0	19.1	496	8423	0.00	1.98	0.00	0.000	4	0.000	0.061	1994	3907	1767	0	0	0	0	0	0
8481	0.60	137.3	648.9	21.7	498	8488	0.00	1.90	0.00	0.000	6	0.000	0.036	2004	2707	1766	0	0	0	0	0	0
8796	0.60	137.3	586.1	19.7	514	8800	0.00	1.98	0.00	0.000	4	0.000	0.061	2004	3909	1767	0	0	0	0	0	0
8858	0.60	137.3	572.5	23.4	516	8865	0.12	1.90	0.00	0.000	6	0.226	0.037	1985	2704	1766	0	0	0	0	0	0
9174	0.60	137.3	517.2	17.0	532	9177	0.00	1.98	0.00	0.000	4	0.000	0.060	1985	3910	1766	0	0	0	0	0	0
9211	0.60	137.3	509.6	20.2	533	9219	0.00	1.92	0.00	0.000	6	0.000	0.036	1994	2707	1766	0	0	0	0	0	0
9527	0.60	137.3	451.9	18.0	549	9531	0.00	1.98	0.00	0.000	4	0.000	0.061	1994	3896	1766	0	0	0	0	0	0
9575	0.60	137.3	443.0	20.7	551	9578	0.00	1.88	0.00	0.000	6	0.000	0.036	2003	2704	1765	0	0	0	0	0	0
9908	0.60	137.3	380.3	18.4	567	9912	0.00	1.98	0.00	0.000	4	0.000	0.060	2003	3913	1765	0	0	0	0	0	0
9946	0.60	137.3	371.9	21.0	568	9957	0.08	1.92	0.00	0.000	6	0.213	0.036	1992	2708	1765	0	0	0	0	0	0
10264	0.60	137.3	316.5	17.3	584	10268	0.00	1.95	0.00	0.000	4	0.000	0.060	1991	3903	1765	0	0	0	0	0	0
10297	0.60	137.3	309.5	20.5	585	10302	0.00	1.90	0.00	0.000	6	0.000	0.036	2000	2711	1765	0	0	0	0	0	0
10621	0.60	137.3	251.7	17.9	601	10625	0.00	1.95	0.00	0.000	4	0.000	0.060	2000	3904	1765	0	0	0	0	0	0
10693	0.60	137.3	236.1	21.3	606	10703	0.00	1.90	0.00	0.000	6	0.000	0.035	2010	2708	1765	0	0	0	0	0	0
11022	0.60	137.3	176.7	17.3	637	11026	0.00	1.98	0.00	0.000	4	0.000	0.060	2009	3901	1765	0	0	0	0	0	0
11056	0.60	137.3	169.6	19.5	640	11060	0.15	1.85	0.00	0.000	6	0.221	0.036	1983	2717	1765	0	0	0	0	0	0
11388	0.60	137.3	120.2	13.6	671	11392	0.00	2.20	0.00	0.000	4	0.000	0.044	1993	1294	1765	0	0	0	0	0	0
11408	0.60	137.3	116.6	14.7	672	11418	0.00	2.30	0.00	0.000	6	0.000	0.053	1994	2731	1765	0	0	0	0	0	0
11751	0.60	137.3	68.1	13.6	722	11760	0.00	1.90	0.00	0.000	4	0.000	0.063	1994	3896	1765	0	0	0	0	0	0
11860	0.60	137.3	49.8	18.8	740	11869	0.00	1.88	0.00	0.000	6	0.000	0.036	2003	2708	1765	0	0	0	0	0	0
11978	0.60	137.3	31.2	15.1	759	11985	0.00	1.95	0.00	0.000	4	0.000	0.061	2002	3887	1765	0	0	0	0	0	0
12104	0.60	137.3	9.1	19.5	779	12113	0.08	1.88	0.00	0.000	6	0.208	0.036	1991	2702	1765	0	0	0	0	0	0
12144	end climb: SURFACE_DEPTH_REACHED
state	12145	begin surface coast
12171	end surface coast: CONTROL_FINISHED_OK
state	12171	begin surface