Glider dive log

SOSCEx 08Dec12 * SG543 * Dive index * Mission links * Dive 12 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 543 HEADING -1 ROLL_MAX 3944 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 6 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 1050

DIVE 12 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 3353 ALTIM_PING_DELTA 15

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 3153 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -4230 HEAD_ERRBAND 15 ALTIM_PULSE 4

D_TGT 1000 TGT_DEFAULT_LON -200 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 3

D_NO_BLEED 200 SM_CC 472.49722 R_PORT_OVSHOOT 47 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 21 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 5 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.050000001

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 507 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 101

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2474 DEVICE3 131

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 118

T_DIVE 333 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 348 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00061500003 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 -7821.6924 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 -5 PITCH_MIN 86 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 200 PITCH_MAX 3908 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1650 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043127281

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -55.913475 SEABIRD_T_H 0.00062185986

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011638312 SEABIRD_T_I 2.2048062e-05

RHO 1.027 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.2117231e-06

MASS 52589 PITCH_GAIN 36 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.303595

NAV_MODE 1 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1762303

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.001936322

KALMAN_USE 1 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00024357962

HD_A 0.003 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 20

HD_C 9.9999997e-06 ROLL_MIN 394 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SM_CC 472.49722

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 20 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 15 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 1050 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 36 TCM_ROLL_OFFSET 0

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_MAX 3908 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -4230

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 86 TGT_DEFAULT_LON -200

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 0.00061500003 T_BOOST 5

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011638312 T_DIVE 333

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -55.913475 T_GPS 15

CALL_TRIES 5 HD_A 0.003 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -7821.6924

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 348

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 543 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 0.050000001 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_PITCH 1650 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 3153 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 3353 LOGGERDEVICE1 -1 ROLL_MAX 3944 USE_ICE 0

C_VBD 2474 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_MIN 394 VBD_CNV -0.245296

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 47 VBD_MAX 3960

DEVICE2 101 MASS 52589 R_STBD_OVSHOOT 21 VBD_MAXERRORS 1

DEVICE3 131 MAX_BUOY 200 SEABIRD_C_G -10.303595 VBD_MIN 507

DEVICE4 118 MINV_10V 8 SEABIRD_C_H 1.1762303 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.001936322 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MISSION 6 SEABIRD_C_J 0.00024357962 VBD_TIMEOUT 720

DIVE 12 MOTHERBOARD 4 SEABIRD_T_G 0.0043127281 XPDR_DEVICE 24

D_ABORT 1050 NAV_MODE 1 SEABIRD_T_H 0.00062185986 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 SEABIRD_T_I 2.2048062e-05 XPDR_VALID 3

D_CALL 0 N_GPS 20 SEABIRD_T_J 2.2117231e-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 101212,173334,-4231.327,818.844,41,0.9,41,-24.9 TGT_NAME GH1

_CALLS 2 TGT_LATLONG -4230.000,820.000

_XMS_NAKs 0 TGT_RADIUS 800.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.284,-0.078

_SM_DEPTHo 1.05 KALMAN_X -13548.3,847.5,596.9,35911.0,-5314.5

_SM_ANGLEo -37.0 KALMAN_Y 8612.1,-479.1,-53.7,-10555.5,2317.9

GPS2 101212,174753,-4231.380,819.111,15,1.7,15,-24.9 MHEAD_RNG_PITCHd_Wd 130.2,2829,-14.9,-10.010

SPEED_LIMITS 0.173,0.295 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.7,1.026343 _10V_AH 10.2,1.756

SM_CCo 14980,125.22,0.770,1,0,543,472.69 FG_AHR_24Vo 0.000

SM_GC 1.16,0.00,0.00,125.22,0.000,0.000,0.770,62,3369,543,-4.96,0.48,472.69 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4212.81,818.13,101212,171750 MEM 354264

TT8_MAMPS 0.025466 DATA_FILE_SIZE 57060,752

HUMID 53.54 CAP_FILE_SIZE 133548,0

INTERNAL_PRESSURE 8.93706 CFSIZE 259252224,257544192

TCM_TEMP 15.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,1

XPDR_PINGS 0 GPS 101212,220205,-4231.650,822.995,40,1.2,40,-25.0

_24V_AH 22.6,4.414

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 241 65.97 SBE_CT 488 24 265.02

Roll_motor 68 68 106.66 AA4330 1623 33 1210.65

VBD_pump_during_apogee 372 1856 15613.47 WL_BB2FLVMT 763 105 1811.42

VBD_pump_during_surface 125 770 2180.17 QSP2150 347 4 34.40

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 50 103 117.26 nil 0 0 0.00

Iridium_during_connect 89 160 321.99 nil 0 0 0.00

Iridium_during_xfer 475 223 2396.87 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 26 5.56

TT8 1954 14 298.30

LPSleep 9685 2 216.36

TT8_Active 580 14 84.16

TT8_Sampling 2871 37 1096.39

TT8_CF8 878 47 422.76

TT8_Kalman 33 59 20.12

Analog_circuits 1643 12 201.20

GPS_charging 0 0 0.00

Compass 2417 15 387.87

RAFOS 0 0 0.00

Transponder 1 5 0.05

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

20 -0.53 -194.7 0.0 0.0 0 127 0.00 0.00 -104.25 0.000 2 0.000 0.000 61 3358 3160 0 0 0 0 0 0

131 -0.53 -194.7 3.5 -3.9 13 153 5.80 2.25 -2.38 0.000 4 0.242 0.055 1473 1956 3271 0 0 0 0 0 0

259 -0.53 -194.7 24.5 -9.1 31 270 0.00 2.35 0.00 0.000 6 0.000 0.063 1464 3349 3272 0 0 0 0 0 0

345 -0.53 -194.7 35.0 -13.6 44 356 0.00 0.98 0.00 0.000 4 0.000 0.069 1459 3943 3272 0 0 0 0 0 0

412 -0.53 -194.7 44.3 -14.0 54 420 0.00 0.90 0.00 0.000 6 0.000 0.044 1459 3374 3272 0 0 0 0 0 0

657 -0.53 -194.7 76.2 -12.4 95 663 0.00 0.00 0.00 0.000 6 0.000 0.000 1460 3374 3272 0 0 0 0 0 0

993 -0.53 -194.7 117.3 -11.8 138 999 0.00 0.93 0.00 0.000 4 0.000 0.067 1455 3947 3273 0 0 0 0 0 0

1136 -0.53 -194.7 134.9 -12.1 146 1139 0.00 0.93 0.00 0.000 6 0.000 0.044 1455 3350 3272 0 0 0 0 0 0

1469 -0.53 -194.7 173.4 -11.6 167 1473 0.00 0.98 0.00 0.000 4 0.000 0.065 1450 3958 3273 0 0 0 0 0 0

1593 -0.53 -194.7 189.5 -12.8 174 1597 0.00 0.93 0.00 0.000 6 0.000 0.044 1450 3355 3273 0 0 0 0 0 0

1928 -0.53 -194.7 230.5 -12.6 195 1931 0.00 0.95 0.00 0.000 4 0.000 0.063 1446 3952 3273 0 0 0 0 0 0

2072 -0.53 -194.7 251.4 -13.7 203 2077 0.08 0.93 0.00 0.000 6 0.152 0.041 1470 3345 3273 0 0 0 0 0 0

2401 -0.53 -194.7 287.3 -10.7 219 2407 0.00 0.98 0.00 0.000 4 0.000 0.062 1466 3959 3273 0 0 0 0 0 0

2543 -0.53 -194.7 303.6 -11.8 225 2547 0.00 0.93 0.00 0.000 6 0.000 0.040 1466 3350 3273 0 0 0 0 0 0

2878 -0.53 -194.7 340.4 -10.6 241 2880 0.00 0.00 0.00 0.000 6 0.000 0.000 1466 3350 3273 0 0 0 0 0 0

3187 -0.53 -194.7 374.1 -10.4 256 3190 0.00 0.95 0.00 0.000 4 0.000 0.063 1462 3950 3273 0 0 0 0 0 0

3449 -0.53 -194.7 404.0 -11.3 267 3453 0.00 0.93 0.00 0.000 6 0.000 0.041 1462 3343 3272 0 0 0 0 0 0

3769 -0.53 -194.7 436.4 -10.0 278 3772 0.00 0.98 0.00 0.000 4 0.000 0.063 1457 3957 3272 0 0 0 0 0 0

3813 -0.53 -194.7 441.4 -10.5 279 3816 0.00 0.93 0.00 0.000 6 0.000 0.041 1457 3349 3272 0 0 0 0 0 0

4143 -0.53 -194.7 475.1 -10.2 290 4146 0.00 0.95 0.00 0.000 4 0.000 0.063 1453 3951 3271 0 0 0 0 0 0

4251 -0.53 -194.7 487.4 -11.7 293 4255 0.00 0.93 0.00 0.000 6 0.000 0.040 1453 3342 3271 0 0 0 0 0 0

4586 -0.53 -194.7 523.1 -10.5 304 4590 0.00 0.98 0.00 0.000 4 0.000 0.063 1449 3958 3270 0 0 0 0 0 0

4750 -0.53 -194.7 542.2 -11.5 308 4758 0.00 0.93 0.00 0.000 6 0.000 0.041 1448 3349 3270 0 0 0 0 0 0

5063 -0.53 -194.7 577.6 -11.4 319 5069 0.00 0.95 0.00 0.000 4 0.000 0.063 1444 3951 3269 0 0 0 0 0 0

5217 -0.53 -194.7 597.2 -13.2 323 5221 0.08 0.90 0.00 0.000 6 0.156 0.041 1468 3356 3270 0 0 0 0 0 0

5541 -0.53 -194.7 629.7 -9.7 334 5545 0.00 0.95 0.00 0.000 4 0.000 0.064 1465 3958 3269 0 0 0 0 0 0

5647 -0.53 -194.7 641.4 -11.0 337 5651 0.00 0.93 0.00 0.000 6 0.000 0.041 1465 3346 3269 0 0 0 0 0 0

5983 -0.53 -194.7 674.9 -10.0 348 5989 0.00 0.95 0.00 0.000 4 0.000 0.064 1461 3949 3268 0 0 0 0 0 0

6107 -0.53 -194.7 688.6 -11.0 351 6110 0.00 0.90 0.00 0.000 6 0.000 0.042 1461 3354 3267 0 0 0 0 0 0

6426 -0.53 -194.7 720.1 -9.9 362 6429 0.00 0.95 0.00 0.000 4 0.000 0.065 1456 3954 3267 0 0 0 0 0 0

6539 -0.53 -194.7 732.2 -10.6 365 6542 0.00 0.93 0.00 0.000 6 0.000 0.041 1456 3346 3267 0 0 0 0 0 0

6870 -0.53 -194.7 764.3 -9.6 376 6873 0.00 0.95 0.00 0.000 4 0.000 0.064 1452 3947 3266 0 0 0 0 0 0

7044 -0.53 -194.7 782.8 -9.9 381 7048 0.00 0.90 0.00 0.000 6 0.000 0.042 1452 3354 3266 0 0 0 0 0 0

7380 -0.53 -194.7 816.8 -9.9 392 7383 0.00 0.98 0.00 0.000 4 0.000 0.067 1448 3952 3265 0 0 0 0 0 0

7491 -0.53 -194.7 829.9 -11.7 395 7497 0.08 0.90 0.00 0.000 6 0.160 0.042 1471 3357 3265 0 0 0 0 0 0

7825 -0.53 -194.7 860.0 -9.2 406 7828 0.00 0.95 0.00 0.000 4 0.000 0.066 1468 3956 3264 0 0 0 0 0 0

7947 -0.53 -194.7 872.6 -10.3 409 7951 0.00 0.93 0.00 0.000 6 0.000 0.043 1468 3346 3264 0 0 0 0 0 0

8267 -0.53 -194.7 900.8 -8.7 420 8270 0.00 0.95 0.00 0.000 4 0.000 0.066 1463 3947 3264 0 0 0 0 0 0

8394 -0.53 -194.7 912.7 -10.0 423 8401 0.00 0.90 0.00 0.000 6 0.000 0.043 1464 3356 3264 0 0 0 0 0 0

8708 -0.53 -194.7 939.2 -8.5 434 8712 0.00 0.95 0.00 0.000 4 0.000 0.066 1459 3952 3263 0 0 0 0 0 0

8839 -0.53 -194.7 951.6 -9.4 437 8846 0.00 0.93 0.00 0.000 6 0.000 0.043 1459 3344 3263 0 0 0 0 0 0

9157 -0.53 -194.7 978.7 -8.6 448 9160 0.00 0.98 0.00 0.000 4 0.000 0.066 1455 3958 3262 0 0 0 0 0 0

9280 -0.53 -194.7 990.7 -9.2 451 9284 0.00 0.93 0.00 0.000 6 0.000 0.044 1455 3352 3262 0 0 0 0 0 0

9381 end dive: TARGET_DEPTH_EXCEEDED

state 9381 begin apogee

9388 -0.14 0.0 1000.0 9.0 455 9580 0.47 0.00 184.02 1.857 6 0.138 0.000 1602 3146 2473 0 0 0 0 1 0

9582 end apogee: CONTROL_FINISHED_OK

state 9582 begin climb

9584 0.53 194.7 1006.8 0.0 461 9787 0.62 1.50 188.07 1.826 4 0.056 0.058 1827 3953 1679 0 0 0 0 1 0

9928 0.53 194.7 950.6 21.1 471 9933 0.00 1.30 0.00 0.000 6 0.000 0.035 1833 3148 1675 0 0 0 0 0 0

10247 0.53 194.7 888.2 19.3 482 10253 0.00 2.25 0.00 0.000 4 0.000 0.041 1843 1765 1672 0 0 0 0 0 0

10309 0.53 194.7 877.3 15.6 483 10316 0.00 2.33 0.00 0.000 6 0.000 0.054 1844 3161 1670 0 0 0 0 0 0

10624 0.53 194.7 814.4 20.5 494 10628 0.00 2.22 0.00 0.000 4 0.000 0.041 1854 1761 1670 0 0 0 0 0 0

10656 0.53 194.7 807.5 19.3 495 10661 0.12 2.30 0.00 0.000 6 0.197 0.055 1825 3155 1669 0 0 0 0 0 0

10986 0.53 194.7 745.5 19.2 506 10988 0.00 0.00 0.00 0.000 6 0.000 0.000 1825 3155 1669 0 0 0 0 0 0

11294 0.53 194.7 685.2 19.7 516 11295 0.00 0.00 0.00 0.000 6 0.000 0.000 1825 3155 1668 0 0 0 0 0 0

11599 0.53 194.7 627.2 18.7 526 11600 0.00 0.00 0.00 0.000 6 0.000 0.000 1825 3155 1668 0 0 0 0 0 0

11905 0.53 194.7 571.1 18.2 536 11909 0.00 2.15 0.00 0.000 4 0.000 0.041 1834 1763 1668 0 0 0 0 0 0

11972 0.53 194.7 560.3 14.6 538 11977 0.00 2.28 0.00 0.000 6 0.000 0.056 1834 3161 1666 0 0 0 0 0 0

12302 0.53 194.7 497.7 19.5 549 12303 0.00 0.00 0.00 0.000 6 0.000 0.000 1834 3161 1666 0 0 0 0 0 0

12609 0.53 194.7 437.0 20.0 559 12610 0.00 0.00 0.00 0.000 6 0.000 0.000 1834 3161 1666 0 0 0 0 0 0

12917 0.53 194.7 375.8 19.3 571 12923 0.00 2.20 0.00 0.000 4 0.000 0.043 1845 1760 1666 0 0 0 0 0 0

13001 0.53 194.7 361.8 15.7 574 13005 0.00 2.25 0.00 0.000 6 0.000 0.055 1845 3153 1666 0 0 0 0 0 0

13319 0.53 194.7 298.2 20.5 589 13325 0.00 1.25 0.00 0.000 4 0.000 0.060 1845 3945 1666 0 0 0 0 0 0

13347 0.53 194.7 291.6 21.0 590 13351 0.00 1.20 0.00 0.000 6 0.000 0.039 1851 3158 1666 0 0 0 0 0 0

13676 0.53 194.7 222.8 21.6 608 13682 0.00 2.20 0.00 0.000 4 0.000 0.042 1862 1751 1666 0 0 0 0 0 0

13757 0.53 194.7 207.6 16.4 612 13768 0.12 2.28 0.00 0.000 6 0.166 0.055 1823 3148 1666 0 0 0 0 0 0

14080 0.53 194.7 148.0 18.8 633 14081 0.00 0.00 0.00 0.000 6 0.000 0.000 1824 3149 1665 0 0 0 0 0 0

14391 0.53 194.7 89.4 17.8 659 14395 0.00 0.00 0.00 0.000 6 0.000 0.000 1823 3148 1665 0 0 0 0 0 0

14751 0.53 194.7 30.5 15.7 720 14761 0.00 0.00 0.00 0.000 6 0.000 0.000 1824 3149 1666 0 0 0 0 0 0

14933 end climb: SURFACE_DEPTH_REACHED

state 14934 begin surface coast

14964 end surface coast: CONTROL_FINISHED_OK

state 14964 begin surface

ID	543	HEADING	-1	ROLL_MAX	3944	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	6	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	1050
DIVE	12	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	3353	ALTIM_PING_DELTA	15
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	3153	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-4230	HEAD_ERRBAND	15	ALTIM_PULSE	4
D_TGT	1000	TGT_DEFAULT_LON	-200	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	3
D_NO_BLEED	200	SM_CC	472.49722	R_PORT_OVSHOOT	47	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	21	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	5	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.050000001
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	507	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	101
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2474	DEVICE3	131
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	118
T_DIVE	333	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	348	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00061500003	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	-7821.6924	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	-5	PITCH_MIN	86	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	200	PITCH_MAX	3908	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1650	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043127281
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-55.913475	SEABIRD_T_H	0.00062185986
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011638312	SEABIRD_T_I	2.2048062e-05
RHO	1.027	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.2117231e-06
MASS	52589	PITCH_GAIN	36	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.303595
NAV_MODE	1	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1762303
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.001936322
KALMAN_USE	1	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00024357962
HD_A	0.003	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	20
HD_C	9.9999997e-06	ROLL_MIN	394	ALTIM_TOP_TURN_MARGIN	0

GPS1	101212,173334,-4231.327,818.844,41,0.9,41,-24.9	TGT_NAME	GH1
_CALLS	2	TGT_LATLONG	-4230.000,820.000
_XMS_NAKs	0	TGT_RADIUS	800.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.284,-0.078
_SM_DEPTHo	1.05	KALMAN_X	-13548.3,847.5,596.9,35911.0,-5314.5
_SM_ANGLEo	-37.0	KALMAN_Y	8612.1,-479.1,-53.7,-10555.5,2317.9
GPS2	101212,174753,-4231.380,819.111,15,1.7,15,-24.9	MHEAD_RNG_PITCHd_Wd	130.2,2829,-14.9,-10.010
SPEED_LIMITS	0.173,0.295	D_GRID	1000

FINISH	0.7,1.026343	_10V_AH	10.2,1.756
SM_CCo	14980,125.22,0.770,1,0,543,472.69	FG_AHR_24Vo	0.000
SM_GC	1.16,0.00,0.00,125.22,0.000,0.000,0.770,62,3369,543,-4.96,0.48,472.69	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4212.81,818.13,101212,171750	MEM	354264
TT8_MAMPS	0.025466	DATA_FILE_SIZE	57060,752
HUMID	53.54	CAP_FILE_SIZE	133548,0
INTERNAL_PRESSURE	8.93706	CFSIZE	259252224,257544192
TCM_TEMP	15.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
XPDR_PINGS	0	GPS	101212,220205,-4231.650,822.995,40,1.2,40,-25.0
_24V_AH	22.6,4.414

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	241	65.97	SBE_CT	488	24	265.02
Roll_motor	68	68	106.66	AA4330	1623	33	1210.65
VBD_pump_during_apogee	372	1856	15613.47	WL_BB2FLVMT	763	105	1811.42
VBD_pump_during_surface	125	770	2180.17	QSP2150	347	4	34.40
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	50	103	117.26	nil	0	0	0.00
Iridium_during_connect	89	160	321.99	nil	0	0	0.00
Iridium_during_xfer	475	223	2396.87	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	26	5.56
TT8	1954	14	298.30
LPSleep	9685	2	216.36
TT8_Active	580	14	84.16
TT8_Sampling	2871	37	1096.39
TT8_CF8	878	47	422.76
TT8_Kalman	33	59	20.12
Analog_circuits	1643	12	201.20
GPS_charging	0	0	0.00
Compass	2417	15	387.87
RAFOS	0	0	0.00
Transponder	1	5	0.05

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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
20	-0.53	-194.7	0.0	0.0	0	127	0.00	0.00	-104.25	0.000	2	0.000	0.000	61	3358	3160	0	0	0	0	0	0
131	-0.53	-194.7	3.5	-3.9	13	153	5.80	2.25	-2.38	0.000	4	0.242	0.055	1473	1956	3271	0	0	0	0	0	0
259	-0.53	-194.7	24.5	-9.1	31	270	0.00	2.35	0.00	0.000	6	0.000	0.063	1464	3349	3272	0	0	0	0	0	0
345	-0.53	-194.7	35.0	-13.6	44	356	0.00	0.98	0.00	0.000	4	0.000	0.069	1459	3943	3272	0	0	0	0	0	0
412	-0.53	-194.7	44.3	-14.0	54	420	0.00	0.90	0.00	0.000	6	0.000	0.044	1459	3374	3272	0	0	0	0	0	0
657	-0.53	-194.7	76.2	-12.4	95	663	0.00	0.00	0.00	0.000	6	0.000	0.000	1460	3374	3272	0	0	0	0	0	0
993	-0.53	-194.7	117.3	-11.8	138	999	0.00	0.93	0.00	0.000	4	0.000	0.067	1455	3947	3273	0	0	0	0	0	0
1136	-0.53	-194.7	134.9	-12.1	146	1139	0.00	0.93	0.00	0.000	6	0.000	0.044	1455	3350	3272	0	0	0	0	0	0
1469	-0.53	-194.7	173.4	-11.6	167	1473	0.00	0.98	0.00	0.000	4	0.000	0.065	1450	3958	3273	0	0	0	0	0	0
1593	-0.53	-194.7	189.5	-12.8	174	1597	0.00	0.93	0.00	0.000	6	0.000	0.044	1450	3355	3273	0	0	0	0	0	0
1928	-0.53	-194.7	230.5	-12.6	195	1931	0.00	0.95	0.00	0.000	4	0.000	0.063	1446	3952	3273	0	0	0	0	0	0
2072	-0.53	-194.7	251.4	-13.7	203	2077	0.08	0.93	0.00	0.000	6	0.152	0.041	1470	3345	3273	0	0	0	0	0	0
2401	-0.53	-194.7	287.3	-10.7	219	2407	0.00	0.98	0.00	0.000	4	0.000	0.062	1466	3959	3273	0	0	0	0	0	0
2543	-0.53	-194.7	303.6	-11.8	225	2547	0.00	0.93	0.00	0.000	6	0.000	0.040	1466	3350	3273	0	0	0	0	0	0
2878	-0.53	-194.7	340.4	-10.6	241	2880	0.00	0.00	0.00	0.000	6	0.000	0.000	1466	3350	3273	0	0	0	0	0	0
3187	-0.53	-194.7	374.1	-10.4	256	3190	0.00	0.95	0.00	0.000	4	0.000	0.063	1462	3950	3273	0	0	0	0	0	0
3449	-0.53	-194.7	404.0	-11.3	267	3453	0.00	0.93	0.00	0.000	6	0.000	0.041	1462	3343	3272	0	0	0	0	0	0
3769	-0.53	-194.7	436.4	-10.0	278	3772	0.00	0.98	0.00	0.000	4	0.000	0.063	1457	3957	3272	0	0	0	0	0	0
3813	-0.53	-194.7	441.4	-10.5	279	3816	0.00	0.93	0.00	0.000	6	0.000	0.041	1457	3349	3272	0	0	0	0	0	0
4143	-0.53	-194.7	475.1	-10.2	290	4146	0.00	0.95	0.00	0.000	4	0.000	0.063	1453	3951	3271	0	0	0	0	0	0
4251	-0.53	-194.7	487.4	-11.7	293	4255	0.00	0.93	0.00	0.000	6	0.000	0.040	1453	3342	3271	0	0	0	0	0	0
4586	-0.53	-194.7	523.1	-10.5	304	4590	0.00	0.98	0.00	0.000	4	0.000	0.063	1449	3958	3270	0	0	0	0	0	0
4750	-0.53	-194.7	542.2	-11.5	308	4758	0.00	0.93	0.00	0.000	6	0.000	0.041	1448	3349	3270	0	0	0	0	0	0
5063	-0.53	-194.7	577.6	-11.4	319	5069	0.00	0.95	0.00	0.000	4	0.000	0.063	1444	3951	3269	0	0	0	0	0	0
5217	-0.53	-194.7	597.2	-13.2	323	5221	0.08	0.90	0.00	0.000	6	0.156	0.041	1468	3356	3270	0	0	0	0	0	0
5541	-0.53	-194.7	629.7	-9.7	334	5545	0.00	0.95	0.00	0.000	4	0.000	0.064	1465	3958	3269	0	0	0	0	0	0
5647	-0.53	-194.7	641.4	-11.0	337	5651	0.00	0.93	0.00	0.000	6	0.000	0.041	1465	3346	3269	0	0	0	0	0	0
5983	-0.53	-194.7	674.9	-10.0	348	5989	0.00	0.95	0.00	0.000	4	0.000	0.064	1461	3949	3268	0	0	0	0	0	0
6107	-0.53	-194.7	688.6	-11.0	351	6110	0.00	0.90	0.00	0.000	6	0.000	0.042	1461	3354	3267	0	0	0	0	0	0
6426	-0.53	-194.7	720.1	-9.9	362	6429	0.00	0.95	0.00	0.000	4	0.000	0.065	1456	3954	3267	0	0	0	0	0	0
6539	-0.53	-194.7	732.2	-10.6	365	6542	0.00	0.93	0.00	0.000	6	0.000	0.041	1456	3346	3267	0	0	0	0	0	0
6870	-0.53	-194.7	764.3	-9.6	376	6873	0.00	0.95	0.00	0.000	4	0.000	0.064	1452	3947	3266	0	0	0	0	0	0
7044	-0.53	-194.7	782.8	-9.9	381	7048	0.00	0.90	0.00	0.000	6	0.000	0.042	1452	3354	3266	0	0	0	0	0	0
7380	-0.53	-194.7	816.8	-9.9	392	7383	0.00	0.98	0.00	0.000	4	0.000	0.067	1448	3952	3265	0	0	0	0	0	0
7491	-0.53	-194.7	829.9	-11.7	395	7497	0.08	0.90	0.00	0.000	6	0.160	0.042	1471	3357	3265	0	0	0	0	0	0
7825	-0.53	-194.7	860.0	-9.2	406	7828	0.00	0.95	0.00	0.000	4	0.000	0.066	1468	3956	3264	0	0	0	0	0	0
7947	-0.53	-194.7	872.6	-10.3	409	7951	0.00	0.93	0.00	0.000	6	0.000	0.043	1468	3346	3264	0	0	0	0	0	0
8267	-0.53	-194.7	900.8	-8.7	420	8270	0.00	0.95	0.00	0.000	4	0.000	0.066	1463	3947	3264	0	0	0	0	0	0
8394	-0.53	-194.7	912.7	-10.0	423	8401	0.00	0.90	0.00	0.000	6	0.000	0.043	1464	3356	3264	0	0	0	0	0	0
8708	-0.53	-194.7	939.2	-8.5	434	8712	0.00	0.95	0.00	0.000	4	0.000	0.066	1459	3952	3263	0	0	0	0	0	0
8839	-0.53	-194.7	951.6	-9.4	437	8846	0.00	0.93	0.00	0.000	6	0.000	0.043	1459	3344	3263	0	0	0	0	0	0
9157	-0.53	-194.7	978.7	-8.6	448	9160	0.00	0.98	0.00	0.000	4	0.000	0.066	1455	3958	3262	0	0	0	0	0	0
9280	-0.53	-194.7	990.7	-9.2	451	9284	0.00	0.93	0.00	0.000	6	0.000	0.044	1455	3352	3262	0	0	0	0	0	0
9381	end dive: TARGET_DEPTH_EXCEEDED
state	9381	begin apogee
9388	-0.14	0.0	1000.0	9.0	455	9580	0.47	0.00	184.02	1.857	6	0.138	0.000	1602	3146	2473	0	0	0	0	1	0
9582	end apogee: CONTROL_FINISHED_OK
state	9582	begin climb
9584	0.53	194.7	1006.8	0.0	461	9787	0.62	1.50	188.07	1.826	4	0.056	0.058	1827	3953	1679	0	0	0	0	1	0
9928	0.53	194.7	950.6	21.1	471	9933	0.00	1.30	0.00	0.000	6	0.000	0.035	1833	3148	1675	0	0	0	0	0	0
10247	0.53	194.7	888.2	19.3	482	10253	0.00	2.25	0.00	0.000	4	0.000	0.041	1843	1765	1672	0	0	0	0	0	0
10309	0.53	194.7	877.3	15.6	483	10316	0.00	2.33	0.00	0.000	6	0.000	0.054	1844	3161	1670	0	0	0	0	0	0
10624	0.53	194.7	814.4	20.5	494	10628	0.00	2.22	0.00	0.000	4	0.000	0.041	1854	1761	1670	0	0	0	0	0	0
10656	0.53	194.7	807.5	19.3	495	10661	0.12	2.30	0.00	0.000	6	0.197	0.055	1825	3155	1669	0	0	0	0	0	0
10986	0.53	194.7	745.5	19.2	506	10988	0.00	0.00	0.00	0.000	6	0.000	0.000	1825	3155	1669	0	0	0	0	0	0
11294	0.53	194.7	685.2	19.7	516	11295	0.00	0.00	0.00	0.000	6	0.000	0.000	1825	3155	1668	0	0	0	0	0	0
11599	0.53	194.7	627.2	18.7	526	11600	0.00	0.00	0.00	0.000	6	0.000	0.000	1825	3155	1668	0	0	0	0	0	0
11905	0.53	194.7	571.1	18.2	536	11909	0.00	2.15	0.00	0.000	4	0.000	0.041	1834	1763	1668	0	0	0	0	0	0
11972	0.53	194.7	560.3	14.6	538	11977	0.00	2.28	0.00	0.000	6	0.000	0.056	1834	3161	1666	0	0	0	0	0	0
12302	0.53	194.7	497.7	19.5	549	12303	0.00	0.00	0.00	0.000	6	0.000	0.000	1834	3161	1666	0	0	0	0	0	0
12609	0.53	194.7	437.0	20.0	559	12610	0.00	0.00	0.00	0.000	6	0.000	0.000	1834	3161	1666	0	0	0	0	0	0
12917	0.53	194.7	375.8	19.3	571	12923	0.00	2.20	0.00	0.000	4	0.000	0.043	1845	1760	1666	0	0	0	0	0	0
13001	0.53	194.7	361.8	15.7	574	13005	0.00	2.25	0.00	0.000	6	0.000	0.055	1845	3153	1666	0	0	0	0	0	0
13319	0.53	194.7	298.2	20.5	589	13325	0.00	1.25	0.00	0.000	4	0.000	0.060	1845	3945	1666	0	0	0	0	0	0
13347	0.53	194.7	291.6	21.0	590	13351	0.00	1.20	0.00	0.000	6	0.000	0.039	1851	3158	1666	0	0	0	0	0	0
13676	0.53	194.7	222.8	21.6	608	13682	0.00	2.20	0.00	0.000	4	0.000	0.042	1862	1751	1666	0	0	0	0	0	0
13757	0.53	194.7	207.6	16.4	612	13768	0.12	2.28	0.00	0.000	6	0.166	0.055	1823	3148	1666	0	0	0	0	0	0
14080	0.53	194.7	148.0	18.8	633	14081	0.00	0.00	0.00	0.000	6	0.000	0.000	1824	3149	1665	0	0	0	0	0	0
14391	0.53	194.7	89.4	17.8	659	14395	0.00	0.00	0.00	0.000	6	0.000	0.000	1823	3148	1665	0	0	0	0	0	0
14751	0.53	194.7	30.5	15.7	720	14761	0.00	0.00	0.00	0.000	6	0.000	0.000	1824	3149	1666	0	0	0	0	0	0
14933	end climb: SURFACE_DEPTH_REACHED
state	14934	begin surface coast
14964	end surface coast: CONTROL_FINISHED_OK
state	14964	begin surface