Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 206 * 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 206 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 25 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 -22247.785 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 -22247.785

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 25 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 206 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 140115,231822,-5551.111,-51.083,36,1.0,36,-19.7 TGT_NAME TARGET1

_CALLS 1 TGT_LATLONG -5600.000,-30.000

_XMS_NAKs 0 TGT_RADIUS 4000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.231,0.007

_SM_DEPTHo 2.20 KALMAN_X 127880.0,439.6,-99.0,-181039.2,-1849.7

_SM_ANGLEo -65.5 KALMAN_Y 13793.3,136.9,43.7,2891.3,-2427.7

GPS2 140115,232655,-5551.058,-51.067,17,1.0,18,-19.7 MHEAD_RNG_PITCHd_Wd 107.9,27391,-17.2,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.0,1.015255 _10V_AH 10.0,28.552

SM_CCo 17084,0.00,0.000,0,0,1475,212.67 FG_AHR_24Vo 0.000

SM_GC 2.43,5.22,0.00,0.00,0.062,0.000,0.000,67,2934,1475,-5.32,0.11,212.67 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5527.50,-229.54,140115,181813 MEM 353464

TT8_MAMPS 0.026215 DATA_FILE_SIZE 73689,1107

HUMID 56.81 CAP_FILE_SIZE 125121,0

INTERNAL_PRESSURE 8.97462 CFSIZE 259252224,212566016

TCM_TEMP 7.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 150115,041334,-5552.067,-47.312,27,1.1,28,-19.8

_24V_AH 22.0,41.677

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 247 71.02 SBE_CT 787 23 415.05

Roll_motor 45 81 80.99 AA4330 2267 17 897.02

VBD_pump_during_apogee 321 1780 12602.32 WL_BB2F 1066 105 2462.74

VBD_pump_during_surface 0 0 0.00 QSP2150 1091 17 431.81

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 91 51.04 nil 0 0 0.00

Iridium_during_connect 19 160 67.63 nil 0 0 0.00

Iridium_during_xfer 330 223 1619.44 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 31 6.51

TT8 2652 14 383.49

LPSleep 11406 2 249.80

TT8_Active 399 14 57.74

TT8_Sampling 2913 42 1228.54

TT8_CF8 217 49 108.15

TT8_Kalman 33 68 22.82

Analog_circuits 1337 15 207.31

GPS_charging 0 0 0.00

Compass 2352 16 387.67

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -0.44 -146.1 0.0 0.0 0 53 0.00 0.00 -34.22 0.000 2 0.000 0.000 55 2929 2251 0 0 0 0 0 0

55 -0.44 -146.1 3.0 -3.8 4 90 6.62 1.67 -22.67 0.000 4 0.248 0.081 1632 3903 2939 0 0 0 0 0 0

153 -0.44 -146.1 16.3 -17.4 18 163 0.00 1.58 0.00 0.000 6 0.000 0.033 1632 2903 2941 0 0 0 0 0 0

239 -0.44 -146.1 30.7 -18.0 31 245 0.00 0.00 0.00 0.000 6 0.000 0.000 1632 2903 2941 0 0 0 0 0 0

352 -0.44 -146.1 50.6 -17.1 50 361 0.00 0.00 0.00 0.000 6 0.000 0.000 1632 2903 2942 0 0 0 0 0 0

467 -0.44 -146.1 69.0 -15.9 69 473 0.00 0.00 0.00 0.000 6 0.000 0.000 1632 2903 2941 0 0 0 0 0 0

582 -0.44 -146.1 86.9 -15.4 88 588 0.00 1.67 0.00 0.000 4 0.000 0.059 1625 3901 2942 0 0 0 0 0 0

646 -0.44 -146.1 97.8 -15.8 99 655 0.00 1.52 0.00 0.000 6 0.000 0.031 1624 2914 2942 0 0 0 0 0 0

876 -0.44 -146.1 133.1 -16.2 121 880 0.00 1.65 0.00 0.000 4 0.000 0.060 1617 3916 2942 0 0 0 0 0 0

925 -0.44 -146.1 141.2 -16.6 125 928 0.00 1.52 0.00 0.000 6 0.000 0.032 1617 2933 2942 0 0 0 0 0 0

1255 -0.44 -146.1 192.5 -14.8 156 1259 0.00 1.62 0.00 0.000 4 0.000 0.060 1609 3899 2942 0 0 0 0 0 0

1324 -0.44 -146.1 203.0 -15.5 162 1328 0.10 1.50 0.00 0.000 6 0.165 0.031 1640 2925 2942 0 0 0 0 0 0

1656 -0.44 -146.1 245.0 -12.4 193 1657 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2921 2942 0 0 0 0 0 0

1964 -0.44 -146.1 282.3 -12.3 210 1965 0.00 0.00 0.00 0.000 6 0.000 0.000 1641 2922 2942 0 0 0 0 0 0

2275 -0.44 -146.1 319.6 -12.0 225 2276 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2922 2942 0 0 0 0 0 0

2582 -0.44 -146.1 356.6 -11.9 240 2583 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2922 2942 0 0 0 0 0 0

2894 -0.44 -146.1 393.0 -11.8 255 2895 0.00 0.00 0.00 0.000 6 0.000 0.000 1641 2922 2942 0 0 0 0 0 0

3201 -0.44 -146.1 428.6 -11.4 270 3202 0.00 0.00 0.00 0.000 6 0.000 0.000 1641 2922 2942 0 0 0 0 0 0

3510 -0.44 -146.1 462.8 -10.5 285 3511 0.00 0.00 0.00 0.000 6 0.000 0.000 1641 2922 2942 0 0 0 0 0 0

3820 -0.44 -146.1 495.8 -10.7 300 3821 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2922 2942 0 0 0 0 0 0

4129 -0.44 -146.1 528.6 -10.6 315 4130 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2922 2942 0 0 0 0 0 0

4439 -0.44 -146.1 561.7 -10.7 330 4440 0.00 0.00 0.00 0.000 6 0.000 0.000 1641 2922 2942 0 0 0 0 0 0

4747 -0.44 -146.1 594.6 -10.6 345 4748 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2922 2942 0 0 0 0 0 0

5057 -0.44 -146.1 627.7 -10.5 360 5058 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2922 2942 0 0 0 0 0 0

5367 -0.44 -146.1 659.4 -10.2 375 5370 0.00 1.62 0.00 0.000 4 0.000 0.060 1633 3893 2942 0 0 0 0 0 0

5412 -0.44 -146.1 664.3 -11.1 377 5415 0.00 1.48 0.00 0.000 6 0.000 0.031 1633 2920 2943 0 0 0 0 0 0

5744 -0.44 -146.1 700.1 -10.8 393 5745 0.00 0.00 0.00 0.000 6 0.000 0.000 1633 2915 2942 0 0 0 0 0 0

6054 -0.44 -146.1 732.8 -10.3 408 6055 0.00 0.00 0.00 0.000 6 0.000 0.000 1633 2914 2942 0 0 0 0 0 0

6363 -0.44 -146.1 764.2 -10.0 423 6364 0.00 0.00 0.00 0.000 6 0.000 0.000 1633 2915 2942 0 0 0 0 0 0

6672 -0.44 -146.1 795.4 -10.1 438 6673 0.00 0.00 0.00 0.000 6 0.000 0.000 1633 2915 2942 0 0 0 0 0 0

6982 -0.44 -146.1 825.9 -9.7 453 6983 0.00 0.00 0.00 0.000 6 0.000 0.000 1633 2915 2942 0 0 0 0 0 0

7291 -0.44 -146.1 856.0 -9.8 468 7292 0.00 0.00 0.00 0.000 6 0.000 0.000 1633 2915 2942 0 0 0 0 0 0

7600 -0.44 -146.1 886.5 -10.0 483 7601 0.00 0.00 0.00 0.000 6 0.000 0.000 1633 2914 2942 0 0 0 0 0 0

7910 -0.44 -146.1 918.9 -10.5 498 7911 0.00 0.00 0.00 0.000 6 0.000 0.000 1633 2915 2942 0 0 0 0 0 0

8219 -0.44 -146.1 951.7 -10.7 513 8220 0.00 0.00 0.00 0.000 6 0.000 0.000 1633 2915 2942 0 0 0 0 0 0

8528 -0.44 -146.1 984.3 -10.5 528 8529 0.00 0.00 0.00 0.000 6 0.000 0.000 1634 2915 2942 0 0 0 0 0 0

8691 end dive: TARGET_DEPTH_EXCEEDED

state 8691 begin apogee

8697 -0.13 0.0 1001.3 10.1 536 8836 0.38 0.00 135.65 1.781 6 0.162 0.000 1743 2716 2341 0 0 0 0 0 0

8836 end apogee: CONTROL_FINISHED_OK

state 8836 begin climb

8838 0.44 146.1 1006.3 0.0 543 8992 0.62 0.00 147.73 1.739 6 0.125 0.000 1925 2716 1746 0 0 0 0 0 0

9293 0.44 146.1 958.1 12.1 565 9294 0.00 0.00 0.00 0.000 6 0.000 0.000 1925 2716 1738 0 0 0 0 0 0

9602 0.44 146.1 919.6 12.7 580 9603 0.00 0.00 0.00 0.000 6 0.000 0.000 1924 2716 1736 0 0 0 0 0 0

9912 0.44 146.1 879.6 13.3 595 9913 0.00 0.00 0.00 0.000 6 0.000 0.000 1925 2716 1735 0 0 0 0 0 0

10221 0.44 146.1 838.8 13.1 610 10225 0.00 2.00 0.00 0.000 4 0.000 0.057 1925 3923 1734 0 0 0 0 0 0

10246 0.44 146.1 834.8 15.2 611 10251 0.00 1.90 0.00 0.000 6 0.000 0.033 1934 2747 1732 0 0 0 0 0 0

10575 0.44 146.1 789.4 14.0 627 10576 0.00 0.00 0.00 0.000 6 0.000 0.000 1934 2745 1732 0 0 0 0 0 0

10884 0.44 146.1 746.3 14.0 642 10885 0.00 0.00 0.00 0.000 6 0.000 0.000 1934 2746 1732 0 0 0 0 0 0

11194 0.44 146.1 703.5 13.6 657 11195 0.00 0.00 0.00 0.000 6 0.000 0.000 1934 2746 1732 0 0 0 0 0 0

11502 0.44 146.1 662.0 12.9 672 11503 0.00 0.00 0.00 0.000 6 0.000 0.000 1934 2745 1731 0 0 0 0 0 0

11812 0.44 146.1 622.5 12.5 687 11813 0.00 0.00 0.00 0.000 6 0.000 0.000 1934 2745 1731 0 0 0 0 0 0

12122 0.44 146.1 583.1 12.7 702 12123 0.00 0.00 0.00 0.000 6 0.000 0.000 1934 2745 1731 0 0 0 0 0 0

12430 0.44 146.1 541.9 13.2 717 12431 0.00 0.00 0.00 0.000 6 0.000 0.000 1934 2745 1731 0 0 0 0 0 0

12740 0.44 146.1 501.1 13.3 732 12741 0.00 0.00 0.00 0.000 6 0.000 0.000 1934 2745 1731 0 0 0 0 0 0

13050 0.44 146.1 461.1 12.7 747 13051 0.00 0.00 0.00 0.000 6 0.000 0.000 1934 2746 1731 0 0 0 0 0 0

13358 0.44 146.1 423.5 12.1 762 13359 0.00 0.00 0.00 0.000 6 0.000 0.000 1934 2745 1731 0 0 0 0 0 0

13669 0.44 146.1 387.9 11.4 777 13671 0.00 0.00 0.00 0.000 6 0.000 0.000 1933 2745 1730 0 0 0 0 0 0

13978 0.44 146.1 351.9 11.7 792 13982 0.00 2.28 0.00 0.000 4 0.000 0.044 1945 1294 1731 0 0 0 0 0 0

14004 0.44 146.1 348.2 11.5 793 14009 0.00 2.30 0.00 0.000 6 0.000 0.051 1945 2722 1730 0 0 0 0 0 0

14328 0.44 146.1 307.5 12.7 809 14329 0.00 0.00 0.00 0.000 6 0.000 0.000 1944 2722 1730 0 0 0 0 0 0

14636 0.44 146.1 268.6 12.7 824 14640 0.00 1.88 0.00 0.000 4 0.000 0.059 1945 3894 1730 0 0 0 0 0 0

14674 0.44 146.1 263.0 14.2 825 14682 0.00 1.88 0.00 0.000 6 0.000 0.033 1954 2710 1730 0 0 0 0 0 0

15001 0.44 146.1 221.8 12.5 851 15007 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2709 1730 0 0 0 0 0 0

15328 0.44 146.1 180.2 12.1 882 15329 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2709 1730 0 0 0 0 0 0

15645 0.44 146.1 141.4 11.7 912 15649 0.00 1.95 0.00 0.000 4 0.000 0.057 1954 3894 1730 0 0 0 0 0 0

15754 0.44 146.1 126.5 13.3 921 15762 0.08 1.88 0.00 0.000 6 0.197 0.034 1942 2709 1730 0 0 0 0 0 0

16087 0.45 155.3 92.9 9.1 958 16094 0.00 0.00 3.88 0.820 6 0.000 0.000 1942 2709 1708 0 0 0 0 0 0

16326 0.46 174.8 71.1 8.7 999 16348 0.00 2.20 13.70 0.957 4 0.000 0.044 1951 1292 1626 0 0 0 0 0 0

16396 0.49 202.0 65.4 8.3 1010 16420 0.00 2.30 15.75 0.943 6 0.000 0.052 1951 2710 1516 0 0 0 0 0 0

16529 0.49 202.0 53.2 10.1 1031 16535 0.00 0.00 0.00 0.000 6 0.000 0.000 1951 2710 1512 0 0 0 0 0 0

16641 0.49 202.0 41.3 11.0 1050 16650 0.00 1.95 0.00 0.000 4 0.000 0.060 1951 3892 1511 0 0 0 0 0 0

16676 0.49 202.0 37.3 11.7 1055 16683 0.00 1.90 0.00 0.000 6 0.000 0.035 1960 2709 1510 0 0 0 0 0 0

16794 0.49 202.0 24.2 11.0 1074 16802 0.00 2.25 0.00 0.000 4 0.000 0.044 1970 1295 1509 0 0 0 0 0 0

16823 0.49 202.0 21.2 10.0 1078 16832 0.00 2.30 0.00 0.000 6 0.000 0.053 1970 2706 1508 0 0 0 0 0 0

16908 0.49 211.2 12.5 9.1 1091 16917 0.00 0.00 4.95 0.649 6 0.000 0.000 1970 2706 1479 0 0 0 0 0 0

16984 end climb: SURFACE_DEPTH_REACHED

state 16985 begin surface coast

17010 end surface coast: CONTROL_FINISHED_OK

state 17011 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	206	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	25	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	-22247.785	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	140115,231822,-5551.111,-51.083,36,1.0,36,-19.7	TGT_NAME	TARGET1
_CALLS	1	TGT_LATLONG	-5600.000,-30.000
_XMS_NAKs	0	TGT_RADIUS	4000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.231,0.007
_SM_DEPTHo	2.20	KALMAN_X	127880.0,439.6,-99.0,-181039.2,-1849.7
_SM_ANGLEo	-65.5	KALMAN_Y	13793.3,136.9,43.7,2891.3,-2427.7
GPS2	140115,232655,-5551.058,-51.067,17,1.0,18,-19.7	MHEAD_RNG_PITCHd_Wd	107.9,27391,-17.2,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.0,1.015255	_10V_AH	10.0,28.552
SM_CCo	17084,0.00,0.000,0,0,1475,212.67	FG_AHR_24Vo	0.000
SM_GC	2.43,5.22,0.00,0.00,0.062,0.000,0.000,67,2934,1475,-5.32,0.11,212.67	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5527.50,-229.54,140115,181813	MEM	353464
TT8_MAMPS	0.026215	DATA_FILE_SIZE	73689,1107
HUMID	56.81	CAP_FILE_SIZE	125121,0
INTERNAL_PRESSURE	8.97462	CFSIZE	259252224,212566016
TCM_TEMP	7.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	150115,041334,-5552.067,-47.312,27,1.1,28,-19.8
_24V_AH	22.0,41.677

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	247	71.02	SBE_CT	787	23	415.05
Roll_motor	45	81	80.99	AA4330	2267	17	897.02
VBD_pump_during_apogee	321	1780	12602.32	WL_BB2F	1066	105	2462.74
VBD_pump_during_surface	0	0	0.00	QSP2150	1091	17	431.81
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	91	51.04	nil	0	0	0.00
Iridium_during_connect	19	160	67.63	nil	0	0	0.00
Iridium_during_xfer	330	223	1619.44	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	31	6.51
TT8	2652	14	383.49
LPSleep	11406	2	249.80
TT8_Active	399	14	57.74
TT8_Sampling	2913	42	1228.54
TT8_CF8	217	49	108.15
TT8_Kalman	33	68	22.82
Analog_circuits	1337	15	207.31
GPS_charging	0	0	0.00
Compass	2352	16	387.67
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-0.44	-146.1	0.0	0.0	0	53	0.00	0.00	-34.22	0.000	2	0.000	0.000	55	2929	2251	0	0	0	0	0	0
55	-0.44	-146.1	3.0	-3.8	4	90	6.62	1.67	-22.67	0.000	4	0.248	0.081	1632	3903	2939	0	0	0	0	0	0
153	-0.44	-146.1	16.3	-17.4	18	163	0.00	1.58	0.00	0.000	6	0.000	0.033	1632	2903	2941	0	0	0	0	0	0
239	-0.44	-146.1	30.7	-18.0	31	245	0.00	0.00	0.00	0.000	6	0.000	0.000	1632	2903	2941	0	0	0	0	0	0
352	-0.44	-146.1	50.6	-17.1	50	361	0.00	0.00	0.00	0.000	6	0.000	0.000	1632	2903	2942	0	0	0	0	0	0
467	-0.44	-146.1	69.0	-15.9	69	473	0.00	0.00	0.00	0.000	6	0.000	0.000	1632	2903	2941	0	0	0	0	0	0
582	-0.44	-146.1	86.9	-15.4	88	588	0.00	1.67	0.00	0.000	4	0.000	0.059	1625	3901	2942	0	0	0	0	0	0
646	-0.44	-146.1	97.8	-15.8	99	655	0.00	1.52	0.00	0.000	6	0.000	0.031	1624	2914	2942	0	0	0	0	0	0
876	-0.44	-146.1	133.1	-16.2	121	880	0.00	1.65	0.00	0.000	4	0.000	0.060	1617	3916	2942	0	0	0	0	0	0
925	-0.44	-146.1	141.2	-16.6	125	928	0.00	1.52	0.00	0.000	6	0.000	0.032	1617	2933	2942	0	0	0	0	0	0
1255	-0.44	-146.1	192.5	-14.8	156	1259	0.00	1.62	0.00	0.000	4	0.000	0.060	1609	3899	2942	0	0	0	0	0	0
1324	-0.44	-146.1	203.0	-15.5	162	1328	0.10	1.50	0.00	0.000	6	0.165	0.031	1640	2925	2942	0	0	0	0	0	0
1656	-0.44	-146.1	245.0	-12.4	193	1657	0.00	0.00	0.00	0.000	6	0.000	0.000	1640	2921	2942	0	0	0	0	0	0
1964	-0.44	-146.1	282.3	-12.3	210	1965	0.00	0.00	0.00	0.000	6	0.000	0.000	1641	2922	2942	0	0	0	0	0	0
2275	-0.44	-146.1	319.6	-12.0	225	2276	0.00	0.00	0.00	0.000	6	0.000	0.000	1640	2922	2942	0	0	0	0	0	0
2582	-0.44	-146.1	356.6	-11.9	240	2583	0.00	0.00	0.00	0.000	6	0.000	0.000	1640	2922	2942	0	0	0	0	0	0
2894	-0.44	-146.1	393.0	-11.8	255	2895	0.00	0.00	0.00	0.000	6	0.000	0.000	1641	2922	2942	0	0	0	0	0	0
3201	-0.44	-146.1	428.6	-11.4	270	3202	0.00	0.00	0.00	0.000	6	0.000	0.000	1641	2922	2942	0	0	0	0	0	0
3510	-0.44	-146.1	462.8	-10.5	285	3511	0.00	0.00	0.00	0.000	6	0.000	0.000	1641	2922	2942	0	0	0	0	0	0
3820	-0.44	-146.1	495.8	-10.7	300	3821	0.00	0.00	0.00	0.000	6	0.000	0.000	1640	2922	2942	0	0	0	0	0	0
4129	-0.44	-146.1	528.6	-10.6	315	4130	0.00	0.00	0.00	0.000	6	0.000	0.000	1640	2922	2942	0	0	0	0	0	0
4439	-0.44	-146.1	561.7	-10.7	330	4440	0.00	0.00	0.00	0.000	6	0.000	0.000	1641	2922	2942	0	0	0	0	0	0
4747	-0.44	-146.1	594.6	-10.6	345	4748	0.00	0.00	0.00	0.000	6	0.000	0.000	1640	2922	2942	0	0	0	0	0	0
5057	-0.44	-146.1	627.7	-10.5	360	5058	0.00	0.00	0.00	0.000	6	0.000	0.000	1640	2922	2942	0	0	0	0	0	0
5367	-0.44	-146.1	659.4	-10.2	375	5370	0.00	1.62	0.00	0.000	4	0.000	0.060	1633	3893	2942	0	0	0	0	0	0
5412	-0.44	-146.1	664.3	-11.1	377	5415	0.00	1.48	0.00	0.000	6	0.000	0.031	1633	2920	2943	0	0	0	0	0	0
5744	-0.44	-146.1	700.1	-10.8	393	5745	0.00	0.00	0.00	0.000	6	0.000	0.000	1633	2915	2942	0	0	0	0	0	0
6054	-0.44	-146.1	732.8	-10.3	408	6055	0.00	0.00	0.00	0.000	6	0.000	0.000	1633	2914	2942	0	0	0	0	0	0
6363	-0.44	-146.1	764.2	-10.0	423	6364	0.00	0.00	0.00	0.000	6	0.000	0.000	1633	2915	2942	0	0	0	0	0	0
6672	-0.44	-146.1	795.4	-10.1	438	6673	0.00	0.00	0.00	0.000	6	0.000	0.000	1633	2915	2942	0	0	0	0	0	0
6982	-0.44	-146.1	825.9	-9.7	453	6983	0.00	0.00	0.00	0.000	6	0.000	0.000	1633	2915	2942	0	0	0	0	0	0
7291	-0.44	-146.1	856.0	-9.8	468	7292	0.00	0.00	0.00	0.000	6	0.000	0.000	1633	2915	2942	0	0	0	0	0	0
7600	-0.44	-146.1	886.5	-10.0	483	7601	0.00	0.00	0.00	0.000	6	0.000	0.000	1633	2914	2942	0	0	0	0	0	0
7910	-0.44	-146.1	918.9	-10.5	498	7911	0.00	0.00	0.00	0.000	6	0.000	0.000	1633	2915	2942	0	0	0	0	0	0
8219	-0.44	-146.1	951.7	-10.7	513	8220	0.00	0.00	0.00	0.000	6	0.000	0.000	1633	2915	2942	0	0	0	0	0	0
8528	-0.44	-146.1	984.3	-10.5	528	8529	0.00	0.00	0.00	0.000	6	0.000	0.000	1634	2915	2942	0	0	0	0	0	0
8691	end dive: TARGET_DEPTH_EXCEEDED
state	8691	begin apogee
8697	-0.13	0.0	1001.3	10.1	536	8836	0.38	0.00	135.65	1.781	6	0.162	0.000	1743	2716	2341	0	0	0	0	0	0
8836	end apogee: CONTROL_FINISHED_OK
state	8836	begin climb
8838	0.44	146.1	1006.3	0.0	543	8992	0.62	0.00	147.73	1.739	6	0.125	0.000	1925	2716	1746	0	0	0	0	0	0
9293	0.44	146.1	958.1	12.1	565	9294	0.00	0.00	0.00	0.000	6	0.000	0.000	1925	2716	1738	0	0	0	0	0	0
9602	0.44	146.1	919.6	12.7	580	9603	0.00	0.00	0.00	0.000	6	0.000	0.000	1924	2716	1736	0	0	0	0	0	0
9912	0.44	146.1	879.6	13.3	595	9913	0.00	0.00	0.00	0.000	6	0.000	0.000	1925	2716	1735	0	0	0	0	0	0
10221	0.44	146.1	838.8	13.1	610	10225	0.00	2.00	0.00	0.000	4	0.000	0.057	1925	3923	1734	0	0	0	0	0	0
10246	0.44	146.1	834.8	15.2	611	10251	0.00	1.90	0.00	0.000	6	0.000	0.033	1934	2747	1732	0	0	0	0	0	0
10575	0.44	146.1	789.4	14.0	627	10576	0.00	0.00	0.00	0.000	6	0.000	0.000	1934	2745	1732	0	0	0	0	0	0
10884	0.44	146.1	746.3	14.0	642	10885	0.00	0.00	0.00	0.000	6	0.000	0.000	1934	2746	1732	0	0	0	0	0	0
11194	0.44	146.1	703.5	13.6	657	11195	0.00	0.00	0.00	0.000	6	0.000	0.000	1934	2746	1732	0	0	0	0	0	0
11502	0.44	146.1	662.0	12.9	672	11503	0.00	0.00	0.00	0.000	6	0.000	0.000	1934	2745	1731	0	0	0	0	0	0
11812	0.44	146.1	622.5	12.5	687	11813	0.00	0.00	0.00	0.000	6	0.000	0.000	1934	2745	1731	0	0	0	0	0	0
12122	0.44	146.1	583.1	12.7	702	12123	0.00	0.00	0.00	0.000	6	0.000	0.000	1934	2745	1731	0	0	0	0	0	0
12430	0.44	146.1	541.9	13.2	717	12431	0.00	0.00	0.00	0.000	6	0.000	0.000	1934	2745	1731	0	0	0	0	0	0
12740	0.44	146.1	501.1	13.3	732	12741	0.00	0.00	0.00	0.000	6	0.000	0.000	1934	2745	1731	0	0	0	0	0	0
13050	0.44	146.1	461.1	12.7	747	13051	0.00	0.00	0.00	0.000	6	0.000	0.000	1934	2746	1731	0	0	0	0	0	0
13358	0.44	146.1	423.5	12.1	762	13359	0.00	0.00	0.00	0.000	6	0.000	0.000	1934	2745	1731	0	0	0	0	0	0
13669	0.44	146.1	387.9	11.4	777	13671	0.00	0.00	0.00	0.000	6	0.000	0.000	1933	2745	1730	0	0	0	0	0	0
13978	0.44	146.1	351.9	11.7	792	13982	0.00	2.28	0.00	0.000	4	0.000	0.044	1945	1294	1731	0	0	0	0	0	0
14004	0.44	146.1	348.2	11.5	793	14009	0.00	2.30	0.00	0.000	6	0.000	0.051	1945	2722	1730	0	0	0	0	0	0
14328	0.44	146.1	307.5	12.7	809	14329	0.00	0.00	0.00	0.000	6	0.000	0.000	1944	2722	1730	0	0	0	0	0	0
14636	0.44	146.1	268.6	12.7	824	14640	0.00	1.88	0.00	0.000	4	0.000	0.059	1945	3894	1730	0	0	0	0	0	0
14674	0.44	146.1	263.0	14.2	825	14682	0.00	1.88	0.00	0.000	6	0.000	0.033	1954	2710	1730	0	0	0	0	0	0
15001	0.44	146.1	221.8	12.5	851	15007	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2709	1730	0	0	0	0	0	0
15328	0.44	146.1	180.2	12.1	882	15329	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2709	1730	0	0	0	0	0	0
15645	0.44	146.1	141.4	11.7	912	15649	0.00	1.95	0.00	0.000	4	0.000	0.057	1954	3894	1730	0	0	0	0	0	0
15754	0.44	146.1	126.5	13.3	921	15762	0.08	1.88	0.00	0.000	6	0.197	0.034	1942	2709	1730	0	0	0	0	0	0
16087	0.45	155.3	92.9	9.1	958	16094	0.00	0.00	3.88	0.820	6	0.000	0.000	1942	2709	1708	0	0	0	0	0	0
16326	0.46	174.8	71.1	8.7	999	16348	0.00	2.20	13.70	0.957	4	0.000	0.044	1951	1292	1626	0	0	0	0	0	0
16396	0.49	202.0	65.4	8.3	1010	16420	0.00	2.30	15.75	0.943	6	0.000	0.052	1951	2710	1516	0	0	0	0	0	0
16529	0.49	202.0	53.2	10.1	1031	16535	0.00	0.00	0.00	0.000	6	0.000	0.000	1951	2710	1512	0	0	0	0	0	0
16641	0.49	202.0	41.3	11.0	1050	16650	0.00	1.95	0.00	0.000	4	0.000	0.060	1951	3892	1511	0	0	0	0	0	0
16676	0.49	202.0	37.3	11.7	1055	16683	0.00	1.90	0.00	0.000	6	0.000	0.035	1960	2709	1510	0	0	0	0	0	0
16794	0.49	202.0	24.2	11.0	1074	16802	0.00	2.25	0.00	0.000	4	0.000	0.044	1970	1295	1509	0	0	0	0	0	0
16823	0.49	202.0	21.2	10.0	1078	16832	0.00	2.30	0.00	0.000	6	0.000	0.053	1970	2706	1508	0	0	0	0	0	0
16908	0.49	211.2	12.5	9.1	1091	16917	0.00	0.00	4.95	0.649	6	0.000	0.000	1970	2706	1479	0	0	0	0	0	0
16984	end climb: SURFACE_DEPTH_REACHED
state	16985	begin surface coast
17010	end surface coast: CONTROL_FINISHED_OK
state	17011	begin surface