Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 29 * 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 29 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2770 ALTIM_PING_DELTA 5

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2670 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 230 R_PORT_OVSHOOT 31 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 27 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 2500 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 0.0012300001 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 -21768.209 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 1802 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 43 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 0.003 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 10

HD_C 9.9999997e-06 ROLL_MIN 335 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 500 PHONE_DEVICE 48 SM_CC 230

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 43 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 0.0012300001 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 0.003 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -21768.209

CAPMAXSIZE 100000 HD_C 9.9999997e-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 1802 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2670 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 2770 LOGGERDEVICE1 -1 ROLL_MAX 3901 USE_ICE 0

C_VBD 2500 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 31 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 27 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 29 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 151214,115858,-5552.799,-28.546,40,0.7,40,-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 -0.212,-0.143

_SM_DEPTHo 1.69 KALMAN_X 21561.9,-181.0,-342.5,-50478.1,4575.4

_SM_ANGLEo -65.8 KALMAN_Y -10507.7,404.3,207.3,23632.3,4068.7

GPS2 151214,120641,-5552.743,-28.500,18,0.8,18,-19.9 MHEAD_RNG_PITCHd_Wd 256.0,13529,-16.7,-9.524

SPEED_LIMITS 0.165,0.255 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.8,1.027225 _10V_AH 10.1,8.413

SM_CCo 13067,31.83,0.205,0,0,1561,230.09 FG_AHR_24Vo 0.000

SM_GC 1.43,0.00,0.00,31.83,0.000,0.000,0.205,64,2780,1561,-5.43,0.28,230.09 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5531.31,-19.18,151214,040417 MEM 354000

TT8_MAMPS 0.026215 DATA_FILE_SIZE 60483,851

HUMID 54.72 CAP_FILE_SIZE 130096,0

INTERNAL_PRESSURE 8.94533 CFSIZE 259252224,224686080

TCM_TEMP 7.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 151214,154734,-5552.438,-31.092,63,0.8,63,-19.9

_24V_AH 21.6,13.122

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 253 75.98 SBE_CT 605 23 313.24

Roll_motor 123 93 249.52 AA4330 1773 17 688.65

VBD_pump_during_apogee 277 1808 10853.58 WL_BB2F 858 105 1946.25

VBD_pump_during_surface 31 205 140.93 QSP2150 888 17 344.93

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 91 58.79 nil 0 0 0.00

Iridium_during_connect 41 160 142.20 nil 0 0 0.00

Iridium_during_xfer 279 223 1344.94 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 6.69

TT8 2200 14 321.32

LPSleep 8007 2 177.13

TT8_Active 434 14 63.51

TT8_Sampling 2770 42 1180.07

TT8_CF8 150 49 75.25

TT8_Kalman 33 68 23.04

Analog_circuits 1421 15 222.49

GPS_charging 0 0 0.00

Compass 2255 16 375.37

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.57 -146.1 0.0 0.0 0 67 0.00 0.00 -49.65 0.000 2 0.000 0.000 62 2787 2667 0 0 0 0 0 0

69 -0.57 -146.1 3.3 -4.2 6 95 6.35 1.88 -11.68 0.000 4 0.254 0.079 1601 3897 3097 0 0 0 0 0 0

247 -0.57 -146.1 37.4 -18.4 34 256 0.00 1.85 0.00 0.000 6 0.000 0.041 1602 2772 3098 0 0 0 0 0 0

360 -0.57 -146.1 59.1 -20.0 53 367 0.00 0.00 0.00 0.000 6 0.000 0.000 1602 2771 3098 0 0 0 0 0 0

472 -0.57 -146.1 79.7 -16.7 72 481 0.00 1.90 0.00 0.000 4 0.000 0.068 1594 3890 3098 0 0 0 0 0 0

614 -0.57 -146.1 105.1 -17.3 94 624 0.00 1.83 0.00 0.000 6 0.000 0.040 1594 2765 3098 0 0 0 0 0 0

942 -0.57 -146.1 154.7 -13.7 125 946 0.00 1.90 0.00 0.000 4 0.000 0.067 1585 3890 3098 0 0 0 0 0 0

1048 -0.57 -146.1 171.0 -14.7 134 1058 0.08 1.83 0.00 0.000 6 0.188 0.039 1608 2759 3098 0 0 0 0 0 0

1374 -0.57 -146.1 207.3 -10.5 165 1378 0.00 1.90 0.00 0.000 4 0.000 0.068 1599 3887 3098 0 0 0 0 0 0

1493 -0.57 -146.1 220.7 -11.4 175 1496 0.00 1.77 0.00 0.000 6 0.000 0.040 1600 2770 3098 0 0 0 0 0 0

1823 -0.57 -146.1 257.7 -11.3 203 1826 0.00 1.85 0.00 0.000 4 0.000 0.067 1591 3904 3098 0 0 0 0 0 0

1891 -0.57 -146.1 266.7 -13.4 206 1895 0.00 1.80 0.00 0.000 6 0.000 0.040 1591 2767 3098 0 0 0 0 0 0

2223 -0.57 -146.1 308.9 -13.1 222 2227 0.00 1.88 0.00 0.000 4 0.000 0.067 1582 3903 3098 0 0 0 0 0 0

2328 -0.57 -146.1 325.1 -15.1 226 2339 0.08 1.83 0.00 0.000 6 0.185 0.039 1605 2766 3098 0 0 0 0 0 0

2645 -0.57 -146.1 367.5 -13.6 242 2649 0.00 1.88 0.00 0.000 4 0.000 0.067 1597 3904 3098 0 0 0 0 0 0

2750 -0.57 -146.1 383.2 -14.6 246 2760 0.00 1.83 0.00 0.000 6 0.000 0.038 1597 2766 3099 0 0 0 0 0 0

3067 -0.57 -146.1 427.5 -13.6 262 3070 0.00 1.85 0.00 0.000 4 0.000 0.067 1589 3895 3099 0 0 0 0 0 0

3160 -0.57 -146.1 441.9 -15.2 266 3165 0.00 1.80 0.00 0.000 6 0.000 0.037 1589 2765 3099 0 0 0 0 0 0

3489 -0.57 -146.1 488.4 -14.2 282 3493 0.10 1.88 0.00 0.000 4 0.210 0.066 1603 3897 3099 0 0 0 0 0 0

3566 -0.57 -146.1 499.3 -13.2 285 3570 0.00 1.77 0.00 0.000 6 0.000 0.039 1603 2768 3099 0 0 0 0 0 0

3886 -0.57 -146.1 541.0 -13.2 301 3890 0.00 1.85 0.00 0.000 4 0.000 0.067 1595 3896 3099 0 0 0 0 0 0

3946 -0.57 -146.1 549.8 -14.0 303 3954 0.00 1.80 0.00 0.000 6 0.000 0.038 1595 2768 3099 0 0 0 0 0 0

4262 -0.57 -146.1 591.3 -13.1 319 4266 0.00 1.85 0.00 0.000 4 0.000 0.066 1586 3897 3099 0 0 0 0 0 0

4361 -0.57 -146.1 605.3 -14.0 323 4366 0.08 1.80 0.00 0.000 6 0.182 0.038 1610 2763 3099 0 0 0 0 0 0

4683 -0.57 -146.1 641.9 -11.6 339 4687 0.00 1.88 0.00 0.000 4 0.000 0.067 1601 3892 3099 0 0 0 0 0 0

4788 -0.57 -146.1 655.2 -12.1 343 4796 0.00 1.77 0.00 0.000 6 0.000 0.037 1601 2773 3099 0 0 0 0 0 0

5105 -0.57 -146.1 691.7 -11.3 359 5109 0.00 1.85 0.00 0.000 4 0.000 0.067 1593 3906 3099 0 0 0 0 0 0

5198 -0.57 -146.1 704.0 -12.2 363 5204 0.00 1.80 0.00 0.000 6 0.000 0.037 1592 2768 3099 0 0 0 0 0 0

5527 -0.57 -146.1 744.3 -12.5 379 5530 0.00 1.85 0.00 0.000 4 0.000 0.067 1584 3900 3100 0 0 0 0 0 0

5609 -0.57 -146.1 756.2 -13.8 382 5618 0.08 1.80 0.00 0.000 6 0.177 0.037 1608 2764 3100 0 0 0 0 0 0

5926 -0.57 -146.1 792.8 -11.7 398 5929 0.00 1.85 0.00 0.000 4 0.000 0.067 1599 3896 3099 0 0 0 0 0 0

6003 -0.57 -146.1 802.8 -12.8 401 6007 0.00 1.77 0.00 0.000 6 0.000 0.038 1599 2775 3099 0 0 0 0 0 0

6324 -0.57 -146.1 843.2 -12.6 417 6328 0.00 1.85 0.00 0.000 4 0.000 0.067 1591 3906 3100 0 0 0 0 0 0

6401 -0.57 -146.1 854.1 -14.3 420 6406 0.00 1.80 0.00 0.000 6 0.000 0.037 1591 2771 3100 0 0 0 0 0 0

6723 -0.57 -146.1 898.4 -14.1 436 6727 0.00 1.88 0.00 0.000 4 0.000 0.067 1582 3887 3100 0 0 0 0 0 0

6800 -0.57 -146.1 910.7 -16.2 439 6806 0.10 1.77 0.00 0.000 6 0.179 0.037 1613 2766 3100 0 0 0 0 0 0

7123 -0.57 -146.1 951.9 -12.7 455 7126 0.00 1.85 0.00 0.000 4 0.000 0.067 1604 3897 3100 0 0 0 0 0 0

7212 -0.57 -146.1 963.8 -12.8 459 7216 0.00 1.77 0.00 0.000 6 0.000 0.038 1604 2763 3100 0 0 0 0 0 0

7481 end dive: TARGET_DEPTH_EXCEEDED

state 7481 begin apogee

7486 -0.16 0.0 1000.2 13.5 472 7624 0.45 0.00 133.55 1.808 6 0.157 0.000 1742 2650 2500 0 0 0 0 0 0

7625 end apogee: CONTROL_FINISHED_OK

state 7625 begin climb

7626 0.57 146.1 1006.8 0.0 479 7779 0.77 2.53 144.30 1.759 4 0.115 0.050 1989 1286 1903 0 0 0 0 0 0

7858 0.57 146.1 982.3 14.3 490 7862 0.00 2.47 0.00 0.000 6 0.000 0.057 1988 2662 1899 0 0 0 0 0 0

8184 0.57 146.1 927.0 17.4 506 8188 0.00 2.10 0.00 0.000 4 0.000 0.064 1989 3899 1894 0 0 0 0 0 0

8271 0.57 146.1 909.4 20.6 510 8276 0.00 2.05 0.00 0.000 6 0.000 0.041 1998 2686 1891 0 0 0 0 0 0

8599 0.57 146.1 849.6 18.4 526 8602 0.00 2.08 0.00 0.000 4 0.000 0.063 1998 3903 1891 0 0 0 0 0 0

8643 0.57 146.1 840.3 21.5 528 8647 0.00 2.03 0.00 0.000 6 0.000 0.042 2007 2666 1890 0 0 0 0 0 0

8975 0.57 146.1 773.8 20.0 544 8978 0.00 2.08 0.00 0.000 4 0.000 0.063 2008 3899 1889 0 0 0 0 0 0

9023 0.57 146.1 762.2 24.6 546 9029 0.10 2.03 0.00 0.000 6 0.220 0.041 1992 2664 1889 0 0 0 0 0 0

9351 0.57 146.1 698.6 19.5 562 9354 0.00 2.05 0.00 0.000 4 0.000 0.063 1992 3907 1889 0 0 0 0 0 0

9429 0.57 146.1 681.6 22.5 565 9433 0.00 2.00 0.00 0.000 6 0.000 0.042 2000 2666 1889 0 0 0 0 0 0

9750 0.57 146.1 616.7 20.4 581 9753 0.00 2.05 0.00 0.000 4 0.000 0.063 2001 3901 1888 0 0 0 0 0 0

9804 0.57 146.1 604.1 24.2 583 9809 0.00 2.00 0.00 0.000 6 0.000 0.041 2010 2663 1888 0 0 0 0 0 0

10126 0.57 146.1 537.9 20.5 599 10129 0.00 2.05 0.00 0.000 4 0.000 0.063 2010 3903 1888 0 0 0 0 0 0

10194 0.57 146.1 522.6 22.9 602 10198 0.08 1.98 0.00 0.000 6 0.214 0.041 1988 2675 1887 0 0 0 0 0 0

10525 0.57 146.1 458.1 19.8 618 10526 0.00 0.00 0.00 0.000 6 0.000 0.000 1988 2674 1888 0 0 0 0 0 0

10834 0.57 146.1 398.0 19.5 633 10838 0.00 2.00 0.00 0.000 4 0.000 0.063 1988 3907 1887 0 0 0 0 0 0

10935 0.57 146.1 375.7 22.5 637 10939 0.00 2.00 0.00 0.000 6 0.000 0.041 1997 2663 1887 0 0 0 0 0 0

11258 0.57 146.1 312.3 19.3 653 11262 0.00 2.03 0.00 0.000 4 0.000 0.063 1998 3900 1887 0 0 0 0 0 0

11305 0.57 146.1 302.5 22.3 655 11309 0.00 1.95 0.00 0.000 6 0.000 0.041 2006 2667 1887 0 0 0 0 0 0

11630 0.57 146.1 237.1 19.8 673 11634 0.00 2.03 0.00 0.000 4 0.000 0.063 2007 3903 1887 0 0 0 0 0 0

11710 0.57 146.1 219.1 22.1 680 11715 0.12 1.95 0.00 0.000 6 0.233 0.041 1989 2664 1887 0 0 0 0 0 0

12034 0.57 146.1 161.0 17.4 710 12038 0.00 2.03 0.00 0.000 4 0.000 0.063 1990 3903 1887 0 0 0 0 0 0

12081 0.57 146.1 151.7 19.9 714 12085 0.00 1.95 0.00 0.000 6 0.000 0.041 1998 2665 1887 0 0 0 0 0 0

12412 0.57 146.1 92.7 17.0 748 12419 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2664 1887 0 0 0 0 0 0

12653 0.57 146.1 55.2 13.8 789 12660 0.00 2.05 0.00 0.000 4 0.000 0.064 1998 3904 1887 0 0 0 0 0 0

12719 0.57 146.1 45.1 15.4 800 12728 0.00 1.98 0.00 0.000 6 0.000 0.040 2008 2661 1887 0 0 0 0 0 0

12836 0.57 146.1 29.8 13.4 819 12845 0.00 2.05 0.00 0.000 4 0.000 0.064 2008 3901 1887 0 0 0 0 0 0

12872 0.57 146.1 24.4 15.2 824 12882 0.10 1.98 0.00 0.000 6 0.214 0.041 1990 2665 1887 0 0 0 0 0 0

12957 0.57 146.1 12.3 13.9 837 12966 0.00 2.05 0.00 0.000 4 0.000 0.066 1990 3899 1887 0 0 0 0 0 0

13006 0.57 146.1 5.9 14.1 844 13015 0.00 1.98 0.00 0.000 6 0.000 0.044 1999 2671 1887 0 0 0 0 0 0

13028 end climb: SURFACE_DEPTH_REACHED

state 13028 begin surface coast

13054 end surface coast: CONTROL_FINISHED_OK

state 13054 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	29	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2770	ALTIM_PING_DELTA	5
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2670	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	230	R_PORT_OVSHOOT	31	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	27	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	2500	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	0.0012300001	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	-21768.209	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	1802	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	43	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	0.003	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	10
HD_C	9.9999997e-06	ROLL_MIN	335	ALTIM_TOP_TURN_MARGIN	0

GPS1	151214,115858,-5552.799,-28.546,40,0.7,40,-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	-0.212,-0.143
_SM_DEPTHo	1.69	KALMAN_X	21561.9,-181.0,-342.5,-50478.1,4575.4
_SM_ANGLEo	-65.8	KALMAN_Y	-10507.7,404.3,207.3,23632.3,4068.7
GPS2	151214,120641,-5552.743,-28.500,18,0.8,18,-19.9	MHEAD_RNG_PITCHd_Wd	256.0,13529,-16.7,-9.524
SPEED_LIMITS	0.165,0.255	D_GRID	1000

FINISH	0.8,1.027225	_10V_AH	10.1,8.413
SM_CCo	13067,31.83,0.205,0,0,1561,230.09	FG_AHR_24Vo	0.000
SM_GC	1.43,0.00,0.00,31.83,0.000,0.000,0.205,64,2780,1561,-5.43,0.28,230.09	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5531.31,-19.18,151214,040417	MEM	354000
TT8_MAMPS	0.026215	DATA_FILE_SIZE	60483,851
HUMID	54.72	CAP_FILE_SIZE	130096,0
INTERNAL_PRESSURE	8.94533	CFSIZE	259252224,224686080
TCM_TEMP	7.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	151214,154734,-5552.438,-31.092,63,0.8,63,-19.9
_24V_AH	21.6,13.122

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	253	75.98	SBE_CT	605	23	313.24
Roll_motor	123	93	249.52	AA4330	1773	17	688.65
VBD_pump_during_apogee	277	1808	10853.58	WL_BB2F	858	105	1946.25
VBD_pump_during_surface	31	205	140.93	QSP2150	888	17	344.93
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	91	58.79	nil	0	0	0.00
Iridium_during_connect	41	160	142.20	nil	0	0	0.00
Iridium_during_xfer	279	223	1344.94	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	6.69
TT8	2200	14	321.32
LPSleep	8007	2	177.13
TT8_Active	434	14	63.51
TT8_Sampling	2770	42	1180.07
TT8_CF8	150	49	75.25
TT8_Kalman	33	68	23.04
Analog_circuits	1421	15	222.49
GPS_charging	0	0	0.00
Compass	2255	16	375.37
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.57	-146.1	0.0	0.0	0	67	0.00	0.00	-49.65	0.000	2	0.000	0.000	62	2787	2667	0	0	0	0	0	0
69	-0.57	-146.1	3.3	-4.2	6	95	6.35	1.88	-11.68	0.000	4	0.254	0.079	1601	3897	3097	0	0	0	0	0	0
247	-0.57	-146.1	37.4	-18.4	34	256	0.00	1.85	0.00	0.000	6	0.000	0.041	1602	2772	3098	0	0	0	0	0	0
360	-0.57	-146.1	59.1	-20.0	53	367	0.00	0.00	0.00	0.000	6	0.000	0.000	1602	2771	3098	0	0	0	0	0	0
472	-0.57	-146.1	79.7	-16.7	72	481	0.00	1.90	0.00	0.000	4	0.000	0.068	1594	3890	3098	0	0	0	0	0	0
614	-0.57	-146.1	105.1	-17.3	94	624	0.00	1.83	0.00	0.000	6	0.000	0.040	1594	2765	3098	0	0	0	0	0	0
942	-0.57	-146.1	154.7	-13.7	125	946	0.00	1.90	0.00	0.000	4	0.000	0.067	1585	3890	3098	0	0	0	0	0	0
1048	-0.57	-146.1	171.0	-14.7	134	1058	0.08	1.83	0.00	0.000	6	0.188	0.039	1608	2759	3098	0	0	0	0	0	0
1374	-0.57	-146.1	207.3	-10.5	165	1378	0.00	1.90	0.00	0.000	4	0.000	0.068	1599	3887	3098	0	0	0	0	0	0
1493	-0.57	-146.1	220.7	-11.4	175	1496	0.00	1.77	0.00	0.000	6	0.000	0.040	1600	2770	3098	0	0	0	0	0	0
1823	-0.57	-146.1	257.7	-11.3	203	1826	0.00	1.85	0.00	0.000	4	0.000	0.067	1591	3904	3098	0	0	0	0	0	0
1891	-0.57	-146.1	266.7	-13.4	206	1895	0.00	1.80	0.00	0.000	6	0.000	0.040	1591	2767	3098	0	0	0	0	0	0
2223	-0.57	-146.1	308.9	-13.1	222	2227	0.00	1.88	0.00	0.000	4	0.000	0.067	1582	3903	3098	0	0	0	0	0	0
2328	-0.57	-146.1	325.1	-15.1	226	2339	0.08	1.83	0.00	0.000	6	0.185	0.039	1605	2766	3098	0	0	0	0	0	0
2645	-0.57	-146.1	367.5	-13.6	242	2649	0.00	1.88	0.00	0.000	4	0.000	0.067	1597	3904	3098	0	0	0	0	0	0
2750	-0.57	-146.1	383.2	-14.6	246	2760	0.00	1.83	0.00	0.000	6	0.000	0.038	1597	2766	3099	0	0	0	0	0	0
3067	-0.57	-146.1	427.5	-13.6	262	3070	0.00	1.85	0.00	0.000	4	0.000	0.067	1589	3895	3099	0	0	0	0	0	0
3160	-0.57	-146.1	441.9	-15.2	266	3165	0.00	1.80	0.00	0.000	6	0.000	0.037	1589	2765	3099	0	0	0	0	0	0
3489	-0.57	-146.1	488.4	-14.2	282	3493	0.10	1.88	0.00	0.000	4	0.210	0.066	1603	3897	3099	0	0	0	0	0	0
3566	-0.57	-146.1	499.3	-13.2	285	3570	0.00	1.77	0.00	0.000	6	0.000	0.039	1603	2768	3099	0	0	0	0	0	0
3886	-0.57	-146.1	541.0	-13.2	301	3890	0.00	1.85	0.00	0.000	4	0.000	0.067	1595	3896	3099	0	0	0	0	0	0
3946	-0.57	-146.1	549.8	-14.0	303	3954	0.00	1.80	0.00	0.000	6	0.000	0.038	1595	2768	3099	0	0	0	0	0	0
4262	-0.57	-146.1	591.3	-13.1	319	4266	0.00	1.85	0.00	0.000	4	0.000	0.066	1586	3897	3099	0	0	0	0	0	0
4361	-0.57	-146.1	605.3	-14.0	323	4366	0.08	1.80	0.00	0.000	6	0.182	0.038	1610	2763	3099	0	0	0	0	0	0
4683	-0.57	-146.1	641.9	-11.6	339	4687	0.00	1.88	0.00	0.000	4	0.000	0.067	1601	3892	3099	0	0	0	0	0	0
4788	-0.57	-146.1	655.2	-12.1	343	4796	0.00	1.77	0.00	0.000	6	0.000	0.037	1601	2773	3099	0	0	0	0	0	0
5105	-0.57	-146.1	691.7	-11.3	359	5109	0.00	1.85	0.00	0.000	4	0.000	0.067	1593	3906	3099	0	0	0	0	0	0
5198	-0.57	-146.1	704.0	-12.2	363	5204	0.00	1.80	0.00	0.000	6	0.000	0.037	1592	2768	3099	0	0	0	0	0	0
5527	-0.57	-146.1	744.3	-12.5	379	5530	0.00	1.85	0.00	0.000	4	0.000	0.067	1584	3900	3100	0	0	0	0	0	0
5609	-0.57	-146.1	756.2	-13.8	382	5618	0.08	1.80	0.00	0.000	6	0.177	0.037	1608	2764	3100	0	0	0	0	0	0
5926	-0.57	-146.1	792.8	-11.7	398	5929	0.00	1.85	0.00	0.000	4	0.000	0.067	1599	3896	3099	0	0	0	0	0	0
6003	-0.57	-146.1	802.8	-12.8	401	6007	0.00	1.77	0.00	0.000	6	0.000	0.038	1599	2775	3099	0	0	0	0	0	0
6324	-0.57	-146.1	843.2	-12.6	417	6328	0.00	1.85	0.00	0.000	4	0.000	0.067	1591	3906	3100	0	0	0	0	0	0
6401	-0.57	-146.1	854.1	-14.3	420	6406	0.00	1.80	0.00	0.000	6	0.000	0.037	1591	2771	3100	0	0	0	0	0	0
6723	-0.57	-146.1	898.4	-14.1	436	6727	0.00	1.88	0.00	0.000	4	0.000	0.067	1582	3887	3100	0	0	0	0	0	0
6800	-0.57	-146.1	910.7	-16.2	439	6806	0.10	1.77	0.00	0.000	6	0.179	0.037	1613	2766	3100	0	0	0	0	0	0
7123	-0.57	-146.1	951.9	-12.7	455	7126	0.00	1.85	0.00	0.000	4	0.000	0.067	1604	3897	3100	0	0	0	0	0	0
7212	-0.57	-146.1	963.8	-12.8	459	7216	0.00	1.77	0.00	0.000	6	0.000	0.038	1604	2763	3100	0	0	0	0	0	0
7481	end dive: TARGET_DEPTH_EXCEEDED
state	7481	begin apogee
7486	-0.16	0.0	1000.2	13.5	472	7624	0.45	0.00	133.55	1.808	6	0.157	0.000	1742	2650	2500	0	0	0	0	0	0
7625	end apogee: CONTROL_FINISHED_OK
state	7625	begin climb
7626	0.57	146.1	1006.8	0.0	479	7779	0.77	2.53	144.30	1.759	4	0.115	0.050	1989	1286	1903	0	0	0	0	0	0
7858	0.57	146.1	982.3	14.3	490	7862	0.00	2.47	0.00	0.000	6	0.000	0.057	1988	2662	1899	0	0	0	0	0	0
8184	0.57	146.1	927.0	17.4	506	8188	0.00	2.10	0.00	0.000	4	0.000	0.064	1989	3899	1894	0	0	0	0	0	0
8271	0.57	146.1	909.4	20.6	510	8276	0.00	2.05	0.00	0.000	6	0.000	0.041	1998	2686	1891	0	0	0	0	0	0
8599	0.57	146.1	849.6	18.4	526	8602	0.00	2.08	0.00	0.000	4	0.000	0.063	1998	3903	1891	0	0	0	0	0	0
8643	0.57	146.1	840.3	21.5	528	8647	0.00	2.03	0.00	0.000	6	0.000	0.042	2007	2666	1890	0	0	0	0	0	0
8975	0.57	146.1	773.8	20.0	544	8978	0.00	2.08	0.00	0.000	4	0.000	0.063	2008	3899	1889	0	0	0	0	0	0
9023	0.57	146.1	762.2	24.6	546	9029	0.10	2.03	0.00	0.000	6	0.220	0.041	1992	2664	1889	0	0	0	0	0	0
9351	0.57	146.1	698.6	19.5	562	9354	0.00	2.05	0.00	0.000	4	0.000	0.063	1992	3907	1889	0	0	0	0	0	0
9429	0.57	146.1	681.6	22.5	565	9433	0.00	2.00	0.00	0.000	6	0.000	0.042	2000	2666	1889	0	0	0	0	0	0
9750	0.57	146.1	616.7	20.4	581	9753	0.00	2.05	0.00	0.000	4	0.000	0.063	2001	3901	1888	0	0	0	0	0	0
9804	0.57	146.1	604.1	24.2	583	9809	0.00	2.00	0.00	0.000	6	0.000	0.041	2010	2663	1888	0	0	0	0	0	0
10126	0.57	146.1	537.9	20.5	599	10129	0.00	2.05	0.00	0.000	4	0.000	0.063	2010	3903	1888	0	0	0	0	0	0
10194	0.57	146.1	522.6	22.9	602	10198	0.08	1.98	0.00	0.000	6	0.214	0.041	1988	2675	1887	0	0	0	0	0	0
10525	0.57	146.1	458.1	19.8	618	10526	0.00	0.00	0.00	0.000	6	0.000	0.000	1988	2674	1888	0	0	0	0	0	0
10834	0.57	146.1	398.0	19.5	633	10838	0.00	2.00	0.00	0.000	4	0.000	0.063	1988	3907	1887	0	0	0	0	0	0
10935	0.57	146.1	375.7	22.5	637	10939	0.00	2.00	0.00	0.000	6	0.000	0.041	1997	2663	1887	0	0	0	0	0	0
11258	0.57	146.1	312.3	19.3	653	11262	0.00	2.03	0.00	0.000	4	0.000	0.063	1998	3900	1887	0	0	0	0	0	0
11305	0.57	146.1	302.5	22.3	655	11309	0.00	1.95	0.00	0.000	6	0.000	0.041	2006	2667	1887	0	0	0	0	0	0
11630	0.57	146.1	237.1	19.8	673	11634	0.00	2.03	0.00	0.000	4	0.000	0.063	2007	3903	1887	0	0	0	0	0	0
11710	0.57	146.1	219.1	22.1	680	11715	0.12	1.95	0.00	0.000	6	0.233	0.041	1989	2664	1887	0	0	0	0	0	0
12034	0.57	146.1	161.0	17.4	710	12038	0.00	2.03	0.00	0.000	4	0.000	0.063	1990	3903	1887	0	0	0	0	0	0
12081	0.57	146.1	151.7	19.9	714	12085	0.00	1.95	0.00	0.000	6	0.000	0.041	1998	2665	1887	0	0	0	0	0	0
12412	0.57	146.1	92.7	17.0	748	12419	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2664	1887	0	0	0	0	0	0
12653	0.57	146.1	55.2	13.8	789	12660	0.00	2.05	0.00	0.000	4	0.000	0.064	1998	3904	1887	0	0	0	0	0	0
12719	0.57	146.1	45.1	15.4	800	12728	0.00	1.98	0.00	0.000	6	0.000	0.040	2008	2661	1887	0	0	0	0	0	0
12836	0.57	146.1	29.8	13.4	819	12845	0.00	2.05	0.00	0.000	4	0.000	0.064	2008	3901	1887	0	0	0	0	0	0
12872	0.57	146.1	24.4	15.2	824	12882	0.10	1.98	0.00	0.000	6	0.214	0.041	1990	2665	1887	0	0	0	0	0	0
12957	0.57	146.1	12.3	13.9	837	12966	0.00	2.05	0.00	0.000	4	0.000	0.066	1990	3899	1887	0	0	0	0	0	0
13006	0.57	146.1	5.9	14.1	844	13015	0.00	1.98	0.00	0.000	6	0.000	0.044	1999	2671	1887	0	0	0	0	0	0
13028	end climb: SURFACE_DEPTH_REACHED
state	13028	begin surface coast
13054	end surface coast: CONTROL_FINISHED_OK
state	13054	begin surface