Glider dive log

PortSusan 14Dec09 * SG506 * Dive index * Mission links * Dive 118 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 506 HEADING -1 ROLL_MIN 180 ALTIM_BOTTOM_TURN_MARGIN 12

MISSION 2 ESCAPE_HEADING 0 ROLL_MAX 3875 ALTIM_TOP_TURN_MARGIN 0

DIVE 118 ESCAPE_HEADING_DELTA 10 ROLL_DEG 50 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 4 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2230 ALTIM_PING_DEPTH 80

D_FLARE 3 TGT_DEFAULT_LAT 4808 C_ROLL_CLIMB 2190 ALTIM_PING_DELTA 5

D_TGT 150 TGT_DEFAULT_LON -12223 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 3

D_NO_BLEED 500 SM_CC 480 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 5 N_FILEKB 4 R_PORT_OVSHOOT 27 XPDR_VALID 2

D_FINISH 10 FILEMGR 0 R_STBD_OVSHOOT 26 XPDR_INHIBIT 90

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 400 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 INT_PRESSURE_YINT -0.54000002

D_CALL 0 KERMIT 0 ROLL_ADJ_GAIN 1.5 DEEPGLIDER 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0.025 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MIN 430 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3959 DEVICE1 2

T_DIVE 83 CALL_TRIES 5 C_VBD 3060 DEVICE2 -1

T_MISSION 90 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_CNV -0.245296 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 200000 VBD_TIMEOUT 720 DEVICE5 -1

T_TURN_SAMPINT 4 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_NO_W 120 T_GPS 15 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 0

T_LOITER 0 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 -1

USE_BATHY -4 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 0 T_GPS_CHARGE -8956.4551 UNCOM_BLEED 50 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 CF8_MAXERRORS 20 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_24V 150 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 AH0_10V 100 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 220 PITCH_MIN 160 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3940 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 3180 FG_AHR_24V 0 SEABIRD_T_G 0.004302992

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062119117

RHO 1.0233001 PITCH_CNV 0.003125763 PRESSURE_YINT -43.606201 SEABIRD_T_I 2.2739867e-05

MASS 51509 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.00011645618 SEABIRD_T_J 2.4046374e-06

NAV_MODE 1 PITCH_GAIN 26 AD7714Ch0Gain 128 SEABIRD_C_G -9.8404341

FERRY_MAX 45 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.104722

KALMAN_USE 2 PITCH_AD_RATE 175 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0022409149

HD_A 0.003 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.00025927747

HD_B 0.0099999998 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_PING_RANGE 0

HD_C 9.9999997e-06 PITCH_ADJ_DBAND 0 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_FLARE 3 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_NO_BLEED 500 PHONE_SUPPLY 2 SM_CC 480

AH0_24V 150 D_OFFGRID 100 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 12 D_SAFE 0 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SURF 4 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 D_TGT 150 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 80 ESCAPE_HEADING 0 PITCH_GAIN 26 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3940 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_MIN 160 TGT_DEFAULT_LAT 4808

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12223

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PRESSURE_SLOPE 0.00011645618 T_DIVE 83

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -43.606201 T_GPS 15

CALL_TRIES 5 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.003 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -8956.4551

CAPMAXSIZE 200000 HD_B 0.0099999998 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 1 HD_C 9.9999997e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 90

CF8_MAXERRORS 20 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH 1 T_RSLEEP 3

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.0233001 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_ADJ_DBAND 0.025 T_TURN_SAMPINT 4

COMPASS_USE 0 ID 506 ROLL_ADJ_GAIN 1.5 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 400 UNCOM_BLEED 50

C_PITCH 3180 INT_PRESSURE_YINT -0.54000002 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2190 KALMAN_USE 2 ROLL_DEG 50 USE_BATHY -4

C_ROLL_DIVE 2230 KERMIT 0 ROLL_MAX 3875 USE_ICE 0

C_VBD 3060 LOGGERDEVICE1 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 180 VBD_CNV -0.245296

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 51509 R_PORT_OVSHOOT 27 VBD_MAX 3959

DEVICE2 -1 MAX_BUOY 220 R_STBD_OVSHOOT 26 VBD_MAXERRORS 1

DEVICE3 -1 MINV_10V 8 SEABIRD_C_G -9.8404341 VBD_MIN 430

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.104722 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 2 SEABIRD_C_I -0.0022409149 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.00025927747 VBD_TIMEOUT 720

DIVE 118 NAV_MODE 1 SEABIRD_T_G 0.004302992 XPDR_DEVICE 24

D_ABORT 1090 N_FILEKB 4 SEABIRD_T_H 0.00062119117 XPDR_INHIBIT 90

D_BOOST 5 N_GPS 20 SEABIRD_T_I 2.2739867e-05 XPDR_VALID 2

D_CALL 0 N_NOCOMM 1 SEABIRD_T_J 2.4046374e-06

D_FINISH 10 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 101004,4808.180,-12223.973,10,2.3,29,18.3 TGT_NAME SEVEN

_CALLS 1 TGT_LATLONG 4807.000,-12223.000

_XMS_NAKs 2 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.11 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -73.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 101514,4808.190,-12223.966,10,1.6,10,18.3 MHEAD_RNG_PITCHd_Wd 133.3,2508,-7.2,-6.024

SPEED_LIMITS 0.104,0.252 D_GRID 103

Post-dive calculations and measurements:

FINISH 1.7,1.017981 _24V_AH 23.8,15.012

SM_CCo 3033,113.12,0.071,0,0,1103,480.04 _10V_AH 10.4,4.295

SM_GC 1.17,0.00,0.00,113.12,0.000,0.000,0.071,156,2218,1103,-9.45,-0.34,480.04 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4751.72,-12221.84,130399,090913 FG_AHR_10Vo 0.000

TT8_MAMPS 0.052156 MEM 324664

HUMID 21.21 DATA_FILE_SIZE 22120,696

INTERNAL_PRESSURE 9.33343 CAP_FILE_SIZE 97827,0

TCM_TEMP 19.50 CFSIZE 260165632,255397888

XPDR_PINGS 1 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,5,0,0

ALTIM_BOTTOM_PING 90.0,28.3 GPS 171209,110814,4807.925,-12223.852,9,1.1,9,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 283 163.35 SBE_CT 461 24 263.36

Roll_motor 88 85 181.86 nil 0 0 0.00

VBD_pump_during_apogee 395 638 6006.03 nil 0 0 0.00

VBD_pump_during_surface 113 70 189.98 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 75.12 nil 0 0 0.00

Iridium_during_connect 26 160 100.87 nil 0 0 0.00

Iridium_during_xfer 184 223 977.30

Transponder_ping 1 420 17.49

GUMSTIX_24V 0 0 0.00

GPS 12 50 6.48

TT8 0 19 0.00

LPSleep 1231 2 28.05

TT8_Active 629 19 129.62

TT8_Sampling 1266 39 524.35

TT8_CF8 328 45 156.65

TT8_Kalman 0 0 0.00

Analog_circuits 1279 12 159.66

GPS_charging 0 0 0.00

Compass 996 8 82.90

RAFOS 0 0 0.00

Transponder 14 30 4.39

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

11 end surface: CONTROL_FINISHED_OK

state 11 begin dive

12 -0.54 -215.0 0.0 0.0 0 69 0.00 0.00 -54.80 0.000 2 0.000 0.000 158 2236 2712 0 0 0 0 0 0

70 -0.54 -215.0 3.1 -4.2 13 114 13.30 2.78 -25.95 0.000 4 0.283 0.086 2985 3866 3938 0 0 0 0 0 0

244 -0.54 -215.0 21.6 -8.1 53 249 0.00 2.70 0.00 0.000 6 0.000 0.061 2985 2235 3940 0 0 0 0 0 0

283 -0.54 -215.0 24.7 -7.9 62 288 0.00 2.92 0.00 0.000 4 0.000 0.068 2985 467 3940 0 0 0 0 0 0

313 -0.54 -215.0 27.1 -7.9 69 319 0.10 2.85 0.00 0.000 6 0.163 0.057 2999 2223 3940 0 0 1 0 0 0

353 -0.54 -215.0 30.0 -7.1 78 358 0.00 0.00 0.00 0.000 6 0.000 0.000 2999 2223 3939 0 0 0 0 0 0

391 -0.54 -215.0 32.3 -6.4 87 397 0.00 2.75 0.00 0.000 4 0.000 0.074 2993 3870 3939 0 0 0 0 0 0

413 -0.54 -215.0 33.8 -6.3 92 419 0.00 2.67 0.00 0.000 6 0.000 0.048 2993 2208 3939 0 0 0 0 0 0

453 -0.54 -215.0 36.4 -6.7 101 457 0.00 0.00 0.00 0.000 6 0.000 0.000 2993 2208 3939 0 0 0 0 0 0

491 -0.54 -215.0 38.9 -6.6 110 495 0.00 0.00 0.00 0.000 6 0.000 0.000 2993 2208 3939 0 0 0 0 0 0

528 -0.54 -215.0 41.4 -6.7 119 534 0.00 2.78 0.00 0.000 4 0.000 0.074 2982 3873 3939 0 0 0 0 0 0

555 -0.54 -215.0 43.4 -7.0 125 560 0.00 2.67 0.00 0.000 6 0.000 0.054 2982 2201 3939 0 0 0 0 0 0

594 -0.54 -215.0 46.1 -6.8 134 599 0.00 0.00 0.00 0.000 6 0.000 0.000 2982 2201 3939 0 0 0 0 0 0

632 -0.54 -215.0 48.5 -6.7 143 636 0.00 0.00 0.00 0.000 6 0.000 0.000 2982 2200 3939 0 0 0 0 0 0

670 -0.54 -215.0 51.0 -6.5 152 674 0.00 0.00 0.00 0.000 6 0.000 0.000 2982 2200 3939 0 0 0 0 0 0

708 -0.54 -215.0 53.6 -6.7 161 712 0.00 0.00 0.00 0.000 6 0.000 0.000 2982 2201 3939 0 0 0 0 0 0

746 -0.54 -215.0 56.2 -6.8 170 751 0.00 0.00 0.00 0.000 6 0.000 0.000 2982 2201 3939 0 0 0 0 0 0

784 -0.54 -215.0 58.9 -7.0 179 789 0.00 0.00 0.00 0.000 6 0.000 0.000 2982 2201 3939 0 0 0 0 0 0

822 -0.54 -215.0 61.4 -6.7 188 826 0.00 0.00 0.00 0.000 6 0.000 0.000 2982 2201 3938 0 0 0 0 0 0

860 -0.54 -215.0 64.0 -7.1 197 864 0.00 0.00 0.00 0.000 6 0.000 0.000 2982 2201 3939 0 0 0 0 0 0

898 -0.54 -215.0 66.7 -6.8 206 903 0.00 0.00 0.00 0.000 6 0.000 0.000 2982 2201 3939 0 0 0 0 0 0

936 -0.54 -215.0 69.2 -6.6 215 941 0.00 0.00 0.00 0.000 6 0.000 0.000 2982 2201 3938 0 0 0 0 0 0

974 -0.54 -215.0 71.7 -6.8 224 978 0.00 0.00 0.00 0.000 6 0.000 0.000 2982 2201 3939 0 0 0 0 0 0

1012 -0.54 -215.0 74.2 -6.5 233 1018 0.00 2.78 0.00 0.000 4 0.000 0.077 2972 3872 3939 0 0 0 0 0 0

1034 -0.54 -215.0 75.7 -6.6 238 1040 0.12 2.67 0.00 0.000 6 0.131 0.058 3008 2215 3939 0 0 0 0 0 0

1074 -0.54 -215.0 78.1 -6.0 247 1078 0.00 0.00 0.00 0.000 6 0.000 0.000 3008 2215 3939 0 0 0 0 0 0

1115 -0.54 -215.0 80.0 -5.2 256 1119 0.00 0.00 0.00 0.000 6 0.000 0.000 3008 2215 3939 0 0 0 0 0 0

1153 -0.54 -215.0 82.2 -5.4 265 1157 0.00 0.00 0.00 0.000 6 0.000 0.000 3007 2215 3939 0 0 0 0 0 0

1191 -0.54 -215.0 84.4 -5.4 274 1195 0.00 0.00 0.00 0.000 6 0.000 0.000 3008 2215 3939 0 0 0 0 0 0

1229 -0.54 -215.0 86.3 -5.0 283 1234 0.00 0.00 0.00 0.000 6 0.000 0.000 3007 2215 3939 0 0 0 0 0 0

1268 -0.54 -215.0 88.3 -5.3 292 1273 0.00 2.75 0.00 0.000 4 0.000 0.077 2998 3873 3939 0 0 0 0 0 0

1294 -0.54 -215.0 89.9 -5.4 298 1304 0.00 2.67 0.00 0.000 6 0.000 0.061 2998 2214 3939 0 0 0 0 0 0

1338 -0.54 -215.0 92.3 -5.6 307 1344 0.00 2.83 0.00 0.000 4 0.000 0.066 2998 463 3939 0 0 0 0 0 0

1360 -0.54 -215.0 93.6 -5.5 312 1366 0.00 2.80 0.00 0.000 6 0.000 0.056 2998 2226 3939 0 0 1 0 0 0

1400 -0.54 -215.0 95.8 -5.7 321 1405 0.00 2.70 0.00 0.000 4 0.000 0.074 2998 3873 3939 0 0 0 0 0 0

1434 -0.54 -215.0 97.7 -5.4 329 1440 0.00 2.60 0.00 0.000 6 0.000 0.054 2998 2218 3939 0 0 0 0 0 0

1474 -0.54 -215.0 99.8 -5.2 338 1479 0.00 2.80 0.00 0.000 4 0.000 0.064 2998 476 3939 0 0 0 0 0 0

1500 -0.54 -215.0 101.3 -5.3 344 1506 0.00 2.75 0.00 0.000 6 0.000 0.054 2997 2211 3939 0 0 0 0 0 0

1534 end dive: TARGET_DEPTH_EXCEEDED

state 1534 begin apogee

1537 -0.19 0.0 103.1 5.5 352 1712 0.32 0.00 168.00 0.638 6 0.116 0.000 3111 2210 3059 0 0 0 0 0 0

1712 end apogee: CONTROL_FINISHED_OK

state 1713 begin climb

1714 0.54 215.0 106.6 0.0 393 1892 0.70 3.12 170.95 0.606 4 0.083 0.065 3363 440 2182 0 0 0 0 0 0

1948 0.54 215.0 85.0 10.9 448 1954 0.00 2.95 0.00 0.000 6 0.000 0.056 3363 2189 2181 0 0 1 0 0 0

1988 0.54 215.0 80.5 11.7 457 1993 0.00 2.88 0.00 0.000 4 0.000 0.070 3362 3869 2181 0 0 0 0 0 0

2005 0.54 215.0 78.4 11.6 461 2011 0.00 2.72 0.00 0.000 6 0.000 0.044 3375 2196 2181 0 0 0 0 0 0

2044 0.54 215.0 73.6 12.3 470 2049 0.00 0.00 0.00 0.000 6 0.000 0.000 3375 2195 2181 0 0 0 0 0 0

2083 0.54 215.0 69.0 12.0 479 2088 0.00 2.95 0.00 0.000 4 0.000 0.064 3388 434 2181 0 0 0 0 0 0

2118 0.54 215.0 64.6 12.4 487 2124 0.12 2.85 0.00 0.000 6 0.158 0.051 3357 2192 2181 0 0 1 0 0 0

2157 0.54 215.0 60.0 11.7 496 2162 0.00 0.00 0.00 0.000 6 0.000 0.000 3357 2192 2181 0 0 0 0 0 0

2196 0.54 215.0 55.8 10.7 505 2200 0.00 0.00 0.00 0.000 6 0.000 0.000 3357 2192 2181 0 0 0 0 0 0

2234 0.54 215.0 51.9 10.7 514 2238 0.00 0.00 0.00 0.000 6 0.000 0.000 3357 2192 2181 0 0 0 0 0 0

2272 0.54 215.0 47.8 10.7 523 2276 0.00 0.00 0.00 0.000 6 0.000 0.000 3357 2192 2181 0 0 0 0 0 0

2310 0.54 215.0 43.8 10.4 532 2314 0.00 0.00 0.00 0.000 6 0.000 0.000 3357 2191 2181 0 0 0 0 0 0

2348 0.54 215.0 39.8 10.7 541 2353 0.00 2.78 0.00 0.000 4 0.000 0.070 3357 3866 2180 0 0 0 0 0 0

2369 0.54 215.0 37.1 11.0 546 2375 0.00 2.67 0.00 0.000 6 0.000 0.049 3368 2179 2181 0 0 0 0 0 0

2409 0.54 215.0 32.7 11.4 555 2414 0.00 2.85 0.00 0.000 4 0.000 0.064 3381 441 2181 0 0 0 0 0 0

2431 0.54 215.0 30.2 10.9 560 2436 0.00 2.75 0.00 0.000 6 0.000 0.051 3381 2162 2181 0 0 1 0 0 0

2470 0.54 215.0 25.6 11.9 569 2474 0.00 0.00 0.00 0.000 6 0.000 0.000 3381 2162 2181 0 0 0 0 0 0

2508 0.54 215.0 21.2 11.7 578 2512 0.00 0.00 0.00 0.000 6 0.000 0.000 3381 2162 2181 0 0 0 0 0 0

2546 0.54 215.0 16.9 11.3 587 2550 0.00 0.00 0.00 0.000 6 0.000 0.000 3381 2162 2181 0 0 0 0 0 0

2584 0.54 215.0 12.7 11.0 596 2590 0.00 2.83 0.00 0.000 4 0.000 0.065 3393 441 2181 0 0 0 0 0 0

2606 0.54 215.0 10.1 11.3 601 2612 0.15 2.78 0.00 0.000 6 0.142 0.051 3352 2167 2181 0 0 0 0 0 0

2645 0.54 215.0 7.7 7.3 610 2651 0.00 2.78 0.00 0.000 4 0.000 0.071 3351 3867 2181 0 0 0 0 0 0

2746 0.78 413.1 5.1 2.2 633 2808 0.20 2.58 56.50 0.565 2 0.070 0.044 3454 2217 1887 0 0 0 0 0 0

2809 end climb: SURFACE_DEPTH_REACHED

state 2809 begin surface coast

3020 end surface coast: NO_VERTICAL_VELOCITY

state 3020 begin surface

ID	506	HEADING	-1	ROLL_MIN	180	ALTIM_BOTTOM_TURN_MARGIN	12
MISSION	2	ESCAPE_HEADING	0	ROLL_MAX	3875	ALTIM_TOP_TURN_MARGIN	0
DIVE	118	ESCAPE_HEADING_DELTA	10	ROLL_DEG	50	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	4	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2230	ALTIM_PING_DEPTH	80
D_FLARE	3	TGT_DEFAULT_LAT	4808	C_ROLL_CLIMB	2190	ALTIM_PING_DELTA	5
D_TGT	150	TGT_DEFAULT_LON	-12223	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	3
D_NO_BLEED	500	SM_CC	480	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	5	N_FILEKB	4	R_PORT_OVSHOOT	27	XPDR_VALID	2
D_FINISH	10	FILEMGR	0	R_STBD_OVSHOOT	26	XPDR_INHIBIT	90
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	400	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	-0.54000002
D_CALL	0	KERMIT	0	ROLL_ADJ_GAIN	1.5	DEEPGLIDER	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0.025	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MIN	430	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3959	DEVICE1	2
T_DIVE	83	CALL_TRIES	5	C_VBD	3060	DEVICE2	-1
T_MISSION	90	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_CNV	-0.245296	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	200000	VBD_TIMEOUT	720	DEVICE5	-1
T_TURN_SAMPINT	4	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_NO_W	120	T_GPS	15	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	0
T_LOITER	0	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	-1
USE_BATHY	-4	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	0	T_GPS_CHARGE	-8956.4551	UNCOM_BLEED	50	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	CF8_MAXERRORS	20	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_24V	150	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	AH0_10V	100	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	220	PITCH_MIN	160	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3940	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	3180	FG_AHR_24V	0	SEABIRD_T_G	0.004302992
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062119117
RHO	1.0233001	PITCH_CNV	0.003125763	PRESSURE_YINT	-43.606201	SEABIRD_T_I	2.2739867e-05
MASS	51509	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.00011645618	SEABIRD_T_J	2.4046374e-06
NAV_MODE	1	PITCH_GAIN	26	AD7714Ch0Gain	128	SEABIRD_C_G	-9.8404341
FERRY_MAX	45	PITCH_TIMEOUT	17	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.104722
KALMAN_USE	2	PITCH_AD_RATE	175	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0022409149
HD_A	0.003	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.00025927747
HD_B	0.0099999998	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.9999997e-06	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	0

GPS1	101004,4808.180,-12223.973,10,2.3,29,18.3	TGT_NAME	SEVEN
_CALLS	1	TGT_LATLONG	4807.000,-12223.000
_XMS_NAKs	2	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.11	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-73.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	101514,4808.190,-12223.966,10,1.6,10,18.3	MHEAD_RNG_PITCHd_Wd	133.3,2508,-7.2,-6.024
SPEED_LIMITS	0.104,0.252	D_GRID	103

FINISH	1.7,1.017981	_24V_AH	23.8,15.012
SM_CCo	3033,113.12,0.071,0,0,1103,480.04	_10V_AH	10.4,4.295
SM_GC	1.17,0.00,0.00,113.12,0.000,0.000,0.071,156,2218,1103,-9.45,-0.34,480.04	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4751.72,-12221.84,130399,090913	FG_AHR_10Vo	0.000
TT8_MAMPS	0.052156	MEM	324664
HUMID	21.21	DATA_FILE_SIZE	22120,696
INTERNAL_PRESSURE	9.33343	CAP_FILE_SIZE	97827,0
TCM_TEMP	19.50	CFSIZE	260165632,255397888
XPDR_PINGS	1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
ALTIM_BOTTOM_PING	90.0,28.3	GPS	171209,110814,4807.925,-12223.852,9,1.1,9,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	283	163.35	SBE_CT	461	24	263.36
Roll_motor	88	85	181.86	nil	0	0	0.00
VBD_pump_during_apogee	395	638	6006.03	nil	0	0	0.00
VBD_pump_during_surface	113	70	189.98	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	75.12	nil	0	0	0.00
Iridium_during_connect	26	160	100.87	nil	0	0	0.00
Iridium_during_xfer	184	223	977.30
Transponder_ping	1	420	17.49
GUMSTIX_24V	0	0	0.00
GPS	12	50	6.48
TT8	0	19	0.00
LPSleep	1231	2	28.05
TT8_Active	629	19	129.62
TT8_Sampling	1266	39	524.35
TT8_CF8	328	45	156.65
TT8_Kalman	0	0	0.00
Analog_circuits	1279	12	159.66
GPS_charging	0	0	0.00
Compass	996	8	82.90
RAFOS	0	0	0.00
Transponder	14	30	4.39

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
11	end surface: CONTROL_FINISHED_OK
state	11	begin dive
12	-0.54	-215.0	0.0	0.0	0	69	0.00	0.00	-54.80	0.000	2	0.000	0.000	158	2236	2712	0	0	0	0	0	0
70	-0.54	-215.0	3.1	-4.2	13	114	13.30	2.78	-25.95	0.000	4	0.283	0.086	2985	3866	3938	0	0	0	0	0	0
244	-0.54	-215.0	21.6	-8.1	53	249	0.00	2.70	0.00	0.000	6	0.000	0.061	2985	2235	3940	0	0	0	0	0	0
283	-0.54	-215.0	24.7	-7.9	62	288	0.00	2.92	0.00	0.000	4	0.000	0.068	2985	467	3940	0	0	0	0	0	0
313	-0.54	-215.0	27.1	-7.9	69	319	0.10	2.85	0.00	0.000	6	0.163	0.057	2999	2223	3940	0	0	1	0	0	0
353	-0.54	-215.0	30.0	-7.1	78	358	0.00	0.00	0.00	0.000	6	0.000	0.000	2999	2223	3939	0	0	0	0	0	0
391	-0.54	-215.0	32.3	-6.4	87	397	0.00	2.75	0.00	0.000	4	0.000	0.074	2993	3870	3939	0	0	0	0	0	0
413	-0.54	-215.0	33.8	-6.3	92	419	0.00	2.67	0.00	0.000	6	0.000	0.048	2993	2208	3939	0	0	0	0	0	0
453	-0.54	-215.0	36.4	-6.7	101	457	0.00	0.00	0.00	0.000	6	0.000	0.000	2993	2208	3939	0	0	0	0	0	0
491	-0.54	-215.0	38.9	-6.6	110	495	0.00	0.00	0.00	0.000	6	0.000	0.000	2993	2208	3939	0	0	0	0	0	0
528	-0.54	-215.0	41.4	-6.7	119	534	0.00	2.78	0.00	0.000	4	0.000	0.074	2982	3873	3939	0	0	0	0	0	0
555	-0.54	-215.0	43.4	-7.0	125	560	0.00	2.67	0.00	0.000	6	0.000	0.054	2982	2201	3939	0	0	0	0	0	0
594	-0.54	-215.0	46.1	-6.8	134	599	0.00	0.00	0.00	0.000	6	0.000	0.000	2982	2201	3939	0	0	0	0	0	0
632	-0.54	-215.0	48.5	-6.7	143	636	0.00	0.00	0.00	0.000	6	0.000	0.000	2982	2200	3939	0	0	0	0	0	0
670	-0.54	-215.0	51.0	-6.5	152	674	0.00	0.00	0.00	0.000	6	0.000	0.000	2982	2200	3939	0	0	0	0	0	0
708	-0.54	-215.0	53.6	-6.7	161	712	0.00	0.00	0.00	0.000	6	0.000	0.000	2982	2201	3939	0	0	0	0	0	0
746	-0.54	-215.0	56.2	-6.8	170	751	0.00	0.00	0.00	0.000	6	0.000	0.000	2982	2201	3939	0	0	0	0	0	0
784	-0.54	-215.0	58.9	-7.0	179	789	0.00	0.00	0.00	0.000	6	0.000	0.000	2982	2201	3939	0	0	0	0	0	0
822	-0.54	-215.0	61.4	-6.7	188	826	0.00	0.00	0.00	0.000	6	0.000	0.000	2982	2201	3938	0	0	0	0	0	0
860	-0.54	-215.0	64.0	-7.1	197	864	0.00	0.00	0.00	0.000	6	0.000	0.000	2982	2201	3939	0	0	0	0	0	0
898	-0.54	-215.0	66.7	-6.8	206	903	0.00	0.00	0.00	0.000	6	0.000	0.000	2982	2201	3939	0	0	0	0	0	0
936	-0.54	-215.0	69.2	-6.6	215	941	0.00	0.00	0.00	0.000	6	0.000	0.000	2982	2201	3938	0	0	0	0	0	0
974	-0.54	-215.0	71.7	-6.8	224	978	0.00	0.00	0.00	0.000	6	0.000	0.000	2982	2201	3939	0	0	0	0	0	0
1012	-0.54	-215.0	74.2	-6.5	233	1018	0.00	2.78	0.00	0.000	4	0.000	0.077	2972	3872	3939	0	0	0	0	0	0
1034	-0.54	-215.0	75.7	-6.6	238	1040	0.12	2.67	0.00	0.000	6	0.131	0.058	3008	2215	3939	0	0	0	0	0	0
1074	-0.54	-215.0	78.1	-6.0	247	1078	0.00	0.00	0.00	0.000	6	0.000	0.000	3008	2215	3939	0	0	0	0	0	0
1115	-0.54	-215.0	80.0	-5.2	256	1119	0.00	0.00	0.00	0.000	6	0.000	0.000	3008	2215	3939	0	0	0	0	0	0
1153	-0.54	-215.0	82.2	-5.4	265	1157	0.00	0.00	0.00	0.000	6	0.000	0.000	3007	2215	3939	0	0	0	0	0	0
1191	-0.54	-215.0	84.4	-5.4	274	1195	0.00	0.00	0.00	0.000	6	0.000	0.000	3008	2215	3939	0	0	0	0	0	0
1229	-0.54	-215.0	86.3	-5.0	283	1234	0.00	0.00	0.00	0.000	6	0.000	0.000	3007	2215	3939	0	0	0	0	0	0
1268	-0.54	-215.0	88.3	-5.3	292	1273	0.00	2.75	0.00	0.000	4	0.000	0.077	2998	3873	3939	0	0	0	0	0	0
1294	-0.54	-215.0	89.9	-5.4	298	1304	0.00	2.67	0.00	0.000	6	0.000	0.061	2998	2214	3939	0	0	0	0	0	0
1338	-0.54	-215.0	92.3	-5.6	307	1344	0.00	2.83	0.00	0.000	4	0.000	0.066	2998	463	3939	0	0	0	0	0	0
1360	-0.54	-215.0	93.6	-5.5	312	1366	0.00	2.80	0.00	0.000	6	0.000	0.056	2998	2226	3939	0	0	1	0	0	0
1400	-0.54	-215.0	95.8	-5.7	321	1405	0.00	2.70	0.00	0.000	4	0.000	0.074	2998	3873	3939	0	0	0	0	0	0
1434	-0.54	-215.0	97.7	-5.4	329	1440	0.00	2.60	0.00	0.000	6	0.000	0.054	2998	2218	3939	0	0	0	0	0	0
1474	-0.54	-215.0	99.8	-5.2	338	1479	0.00	2.80	0.00	0.000	4	0.000	0.064	2998	476	3939	0	0	0	0	0	0
1500	-0.54	-215.0	101.3	-5.3	344	1506	0.00	2.75	0.00	0.000	6	0.000	0.054	2997	2211	3939	0	0	0	0	0	0
1534	end dive: TARGET_DEPTH_EXCEEDED
state	1534	begin apogee
1537	-0.19	0.0	103.1	5.5	352	1712	0.32	0.00	168.00	0.638	6	0.116	0.000	3111	2210	3059	0	0	0	0	0	0
1712	end apogee: CONTROL_FINISHED_OK
state	1713	begin climb
1714	0.54	215.0	106.6	0.0	393	1892	0.70	3.12	170.95	0.606	4	0.083	0.065	3363	440	2182	0	0	0	0	0	0
1948	0.54	215.0	85.0	10.9	448	1954	0.00	2.95	0.00	0.000	6	0.000	0.056	3363	2189	2181	0	0	1	0	0	0
1988	0.54	215.0	80.5	11.7	457	1993	0.00	2.88	0.00	0.000	4	0.000	0.070	3362	3869	2181	0	0	0	0	0	0
2005	0.54	215.0	78.4	11.6	461	2011	0.00	2.72	0.00	0.000	6	0.000	0.044	3375	2196	2181	0	0	0	0	0	0
2044	0.54	215.0	73.6	12.3	470	2049	0.00	0.00	0.00	0.000	6	0.000	0.000	3375	2195	2181	0	0	0	0	0	0
2083	0.54	215.0	69.0	12.0	479	2088	0.00	2.95	0.00	0.000	4	0.000	0.064	3388	434	2181	0	0	0	0	0	0
2118	0.54	215.0	64.6	12.4	487	2124	0.12	2.85	0.00	0.000	6	0.158	0.051	3357	2192	2181	0	0	1	0	0	0
2157	0.54	215.0	60.0	11.7	496	2162	0.00	0.00	0.00	0.000	6	0.000	0.000	3357	2192	2181	0	0	0	0	0	0
2196	0.54	215.0	55.8	10.7	505	2200	0.00	0.00	0.00	0.000	6	0.000	0.000	3357	2192	2181	0	0	0	0	0	0
2234	0.54	215.0	51.9	10.7	514	2238	0.00	0.00	0.00	0.000	6	0.000	0.000	3357	2192	2181	0	0	0	0	0	0
2272	0.54	215.0	47.8	10.7	523	2276	0.00	0.00	0.00	0.000	6	0.000	0.000	3357	2192	2181	0	0	0	0	0	0
2310	0.54	215.0	43.8	10.4	532	2314	0.00	0.00	0.00	0.000	6	0.000	0.000	3357	2191	2181	0	0	0	0	0	0
2348	0.54	215.0	39.8	10.7	541	2353	0.00	2.78	0.00	0.000	4	0.000	0.070	3357	3866	2180	0	0	0	0	0	0
2369	0.54	215.0	37.1	11.0	546	2375	0.00	2.67	0.00	0.000	6	0.000	0.049	3368	2179	2181	0	0	0	0	0	0
2409	0.54	215.0	32.7	11.4	555	2414	0.00	2.85	0.00	0.000	4	0.000	0.064	3381	441	2181	0	0	0	0	0	0
2431	0.54	215.0	30.2	10.9	560	2436	0.00	2.75	0.00	0.000	6	0.000	0.051	3381	2162	2181	0	0	1	0	0	0
2470	0.54	215.0	25.6	11.9	569	2474	0.00	0.00	0.00	0.000	6	0.000	0.000	3381	2162	2181	0	0	0	0	0	0
2508	0.54	215.0	21.2	11.7	578	2512	0.00	0.00	0.00	0.000	6	0.000	0.000	3381	2162	2181	0	0	0	0	0	0
2546	0.54	215.0	16.9	11.3	587	2550	0.00	0.00	0.00	0.000	6	0.000	0.000	3381	2162	2181	0	0	0	0	0	0
2584	0.54	215.0	12.7	11.0	596	2590	0.00	2.83	0.00	0.000	4	0.000	0.065	3393	441	2181	0	0	0	0	0	0
2606	0.54	215.0	10.1	11.3	601	2612	0.15	2.78	0.00	0.000	6	0.142	0.051	3352	2167	2181	0	0	0	0	0	0
2645	0.54	215.0	7.7	7.3	610	2651	0.00	2.78	0.00	0.000	4	0.000	0.071	3351	3867	2181	0	0	0	0	0	0
2746	0.78	413.1	5.1	2.2	633	2808	0.20	2.58	56.50	0.565	2	0.070	0.044	3454	2217	1887	0	0	0	0	0	0
2809	end climb: SURFACE_DEPTH_REACHED
state	2809	begin surface coast
3020	end surface coast: NO_VERTICAL_VELOCITY
state	3020	begin surface