Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 30 * 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 30 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2810 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 210 R_PORT_OVSHOOT 29 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 28 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 -21770.537 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 210

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 -21770.537

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 2810 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 29 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 28 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 30 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 151214,154734,-5552.438,-31.092,63,0.8,63,-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 -0.243,-0.077

_SM_DEPTHo 1.81 KALMAN_X 23125.1,-298.8,-235.8,-54634.8,4731.2

_SM_ANGLEo -63.3 KALMAN_Y -6133.7,63.9,-172.6,20677.7,6804.7

GPS2 151214,155523,-5552.374,-31.017,19,0.8,19,-19.9 MHEAD_RNG_PITCHd_Wd 272.4,14162,-16.7,-9.524

SPEED_LIMITS 0.165,0.255 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.7,1.027053 _10V_AH 10.1,8.527

SM_CCo 13222,23.73,0.213,0,0,1642,210.22 FG_AHR_24Vo 0.000

SM_GC 2.38,0.00,0.00,23.73,0.000,0.000,0.213,60,2785,1642,-5.44,-0.71,210.22 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5527.50,-30.66,151214,121226 MEM 354004

TT8_MAMPS 0.025466 DATA_FILE_SIZE 60504,881

HUMID 54.96 CAP_FILE_SIZE 133654,0

INTERNAL_PRESSURE 8.96486 CFSIZE 259252224,224612352

TCM_TEMP 7.20 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 151214,193804,-5551.712,-33.628,24,0.8,24,-19.9

_24V_AH 21.6,13.286

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 260 77.53 SBE_CT 626 23 324.33

Roll_motor 129 78 219.98 AA4330 1827 17 709.76

VBD_pump_during_apogee 278 1839 11063.05 WL_BB2F 897 105 2036.53

VBD_pump_during_surface 23 213 109.38 QSP2150 949 17 368.80

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 91 51.46 nil 0 0 0.00

Iridium_during_connect 42 160 148.12 nil 0 0 0.00

Iridium_during_xfer 287 223 1383.25 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 6.94

TT8 2271 14 331.72

LPSleep 8034 2 177.72

TT8_Active 436 14 63.72

TT8_Sampling 2831 42 1205.98

TT8_CF8 142 49 71.65

TT8_Kalman 33 68 23.04

Analog_circuits 1428 15 223.60

GPS_charging 0 0 0.00

Compass 2296 16 382.27

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 -146.0 0.0 0.0 0 75 0.00 0.00 -58.03 0.000 2 0.000 0.000 63 2780 2864 0 0 0 0 0 0

78 -0.57 -146.1 3.4 -3.7 7 96 6.45 1.90 -5.82 0.000 4 0.260 0.079 1601 3898 3098 0 0 0 0 0 0

254 -0.57 -146.1 39.9 -17.6 35 261 0.00 1.77 0.00 0.000 6 0.000 0.038 1601 2807 3100 0 0 0 0 0 0

367 -0.57 -146.1 59.7 -16.3 54 375 0.00 0.00 0.00 0.000 6 0.000 0.000 1601 2806 3100 0 0 0 0 0 0

482 -0.57 -146.1 76.3 -14.0 73 489 0.00 1.85 0.00 0.000 4 0.000 0.067 1593 3896 3099 0 0 0 0 0 0

524 -0.57 -146.1 82.8 -15.5 80 531 0.00 1.75 0.00 0.000 6 0.000 0.041 1593 2810 3100 0 0 0 0 0 0

758 -0.57 -146.1 115.0 -13.1 112 761 0.00 1.80 0.00 0.000 4 0.000 0.067 1584 3893 3100 0 0 0 0 0 0

826 -0.57 -146.1 124.3 -12.8 118 831 0.12 1.73 0.00 0.000 6 0.201 0.039 1614 2803 3100 0 0 0 0 0 0

1158 -0.57 -146.1 162.2 -12.4 149 1162 0.00 1.83 0.00 0.000 4 0.000 0.068 1606 3899 3100 0 0 0 0 0 0

1229 -0.57 -146.1 171.5 -12.7 155 1233 0.00 1.73 0.00 0.000 6 0.000 0.040 1606 2806 3099 0 0 0 0 0 0

1559 -0.57 -146.1 213.8 -12.2 186 1562 0.00 1.77 0.00 0.000 4 0.000 0.067 1597 3892 3099 0 0 0 0 0 0

1665 -0.57 -146.1 229.0 -13.7 195 1674 0.00 1.75 0.00 0.000 6 0.000 0.038 1597 2806 3100 0 0 0 0 0 0

1998 -0.57 -146.1 278.9 -15.8 218 2002 0.00 1.80 0.00 0.000 4 0.000 0.067 1589 3895 3099 0 0 0 0 0 0

2076 -0.57 -146.1 293.0 -18.0 221 2081 0.00 1.75 0.00 0.000 6 0.000 0.038 1589 2807 3099 0 0 0 0 0 0

2400 -0.57 -146.1 349.8 -18.0 237 2404 0.00 1.80 0.00 0.000 4 0.000 0.067 1581 3901 3099 0 0 0 0 0 0

2522 -0.57 -146.1 374.1 -19.0 242 2528 0.10 1.75 0.00 0.000 6 0.203 0.038 1610 2807 3099 0 0 0 0 0 0

2844 -0.57 -146.1 423.9 -15.2 258 2847 0.00 1.80 0.00 0.000 4 0.000 0.067 1601 3900 3100 0 0 0 0 0 0

2893 -0.57 -146.1 432.0 -16.4 260 2898 0.00 1.73 0.00 0.000 6 0.000 0.037 1601 2809 3100 0 0 0 0 0 0

3220 -0.57 -146.1 481.4 -14.9 276 3224 0.00 1.80 0.00 0.000 4 0.000 0.067 1593 3905 3099 0 0 0 0 0 0

3297 -0.57 -146.1 494.2 -16.0 279 3302 0.00 1.73 0.00 0.000 6 0.000 0.037 1593 2809 3099 0 0 0 0 0 0

3618 -0.57 -146.1 545.2 -15.8 295 3622 0.00 1.77 0.00 0.000 4 0.000 0.066 1584 3893 3099 0 0 0 0 0 0

3685 -0.57 -146.1 556.5 -17.3 298 3690 0.12 1.70 0.00 0.000 6 0.198 0.038 1615 2799 3099 0 0 0 0 0 0

4018 -0.57 -146.1 603.0 -13.8 314 4021 0.00 1.80 0.00 0.000 4 0.000 0.067 1607 3896 3100 0 0 0 0 0 0

4111 -0.57 -146.1 617.1 -14.7 318 4116 0.00 1.73 0.00 0.000 6 0.000 0.037 1607 2808 3100 0 0 0 0 0 0

4439 -0.57 -146.1 661.7 -13.4 334 4443 0.00 1.80 0.00 0.000 4 0.000 0.067 1598 3890 3100 0 0 0 0 0 0

4521 -0.57 -146.1 673.6 -14.0 337 4530 0.00 1.73 0.00 0.000 6 0.000 0.037 1599 2803 3100 0 0 0 0 0 0

4838 -0.57 -146.1 716.0 -13.6 353 4842 0.00 1.80 0.00 0.000 4 0.000 0.067 1591 3889 3100 0 0 0 0 0 0

4906 -0.57 -146.1 726.0 -14.6 356 4909 0.00 1.67 0.00 0.000 6 0.000 0.037 1589 2806 3100 0 0 0 0 0 0

5238 -0.57 -146.1 773.5 -14.3 372 5241 0.00 1.77 0.00 0.000 4 0.000 0.066 1582 3893 3100 0 0 0 0 0 0

5309 -0.57 -146.1 784.6 -15.5 375 5314 0.10 1.70 0.00 0.000 6 0.176 0.037 1613 2804 3100 0 0 0 0 0 0

5636 -0.57 -146.1 823.9 -11.9 391 5639 0.00 1.80 0.00 0.000 4 0.000 0.067 1605 3904 3100 0 0 0 0 0 0

5695 -0.57 -146.1 831.8 -13.3 393 5703 0.00 1.70 0.00 0.000 6 0.000 0.037 1605 2813 3100 0 0 0 0 0 0

6012 -0.57 -146.1 871.3 -12.5 409 6016 0.00 1.80 0.00 0.000 4 0.000 0.067 1596 3899 3100 0 0 0 0 0 0

6072 -0.57 -146.1 879.3 -13.0 411 6080 0.00 1.73 0.00 0.000 6 0.000 0.037 1596 2807 3100 0 0 0 0 0 0

6388 -0.57 -146.1 919.9 -13.0 427 6392 0.00 1.77 0.00 0.000 4 0.000 0.067 1588 3895 3100 0 0 0 0 0 0

6445 -0.57 -146.1 927.7 -14.2 429 6449 0.10 1.67 0.00 0.000 6 0.202 0.037 1611 2804 3100 0 0 0 0 0 0

6764 -0.57 -146.1 964.8 -11.3 445 6768 0.00 1.77 0.00 0.000 4 0.000 0.067 1603 3892 3100 0 0 0 0 0 0

6836 -0.57 -146.1 973.7 -12.7 448 6841 0.00 1.67 0.00 0.000 6 0.000 0.037 1603 2816 3100 0 0 0 0 0 0

7059 end dive: TARGET_DEPTH_EXCEEDED

state 7059 begin apogee

7063 -0.16 0.0 1000.3 11.8 459 7202 0.47 0.00 133.98 1.839 6 0.162 0.000 1748 2662 2500 0 0 0 0 0 0

7203 end apogee: CONTROL_FINISHED_OK

state 7203 begin climb

7204 0.57 146.1 1004.3 0.0 466 7357 0.75 2.58 144.52 1.783 4 0.112 0.049 1989 1285 1903 0 0 0 0 0 0

7436 0.57 146.1 976.6 16.5 477 7440 0.00 2.47 0.00 0.000 6 0.000 0.056 1989 2662 1899 0 0 0 0 0 0

7762 0.57 146.1 917.4 18.3 493 7766 0.00 2.10 0.00 0.000 4 0.000 0.063 1988 3903 1894 0 0 0 0 0 0

7854 0.57 146.1 897.7 20.5 497 7860 0.00 2.05 0.00 0.000 6 0.000 0.041 1997 2687 1891 0 0 0 0 0 0

8177 0.57 146.1 836.2 18.9 513 8178 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2687 1890 0 0 0 0 0 0

8486 0.57 146.1 779.4 18.0 528 8489 0.00 2.05 0.00 0.000 4 0.000 0.063 1998 3907 1890 0 0 0 0 0 0

8557 0.57 146.1 764.5 20.3 531 8562 0.00 2.03 0.00 0.000 6 0.000 0.041 2007 2670 1889 0 0 0 0 0 0

8885 0.57 146.1 705.7 17.6 547 8889 0.00 2.05 0.00 0.000 4 0.000 0.063 2008 3903 1889 0 0 0 0 0 0

8938 0.57 146.1 694.6 20.9 549 8944 0.10 2.03 0.00 0.000 6 0.217 0.041 1991 2664 1889 0 0 0 0 0 0

9260 0.57 146.1 643.1 15.8 565 9264 0.00 2.05 0.00 0.000 4 0.000 0.063 1991 3900 1888 0 0 0 0 0 0

9309 0.57 146.1 634.0 18.1 567 9314 0.00 2.00 0.00 0.000 6 0.000 0.041 1999 2669 1888 0 0 0 0 0 0

9637 0.57 146.1 579.1 16.8 583 9640 0.00 2.05 0.00 0.000 4 0.000 0.063 2000 3908 1888 0 0 0 0 0 0

9697 0.57 146.1 567.2 20.4 585 9704 0.00 2.00 0.00 0.000 6 0.000 0.041 2009 2669 1887 0 0 0 0 0 0

10013 0.57 146.1 511.6 17.9 601 10017 0.00 2.03 0.00 0.000 4 0.000 0.063 2009 3903 1887 0 0 0 0 0 0

10080 0.57 146.1 498.2 20.4 604 10085 0.12 1.98 0.00 0.000 6 0.233 0.041 1992 2658 1887 0 0 0 0 0 0

10406 0.57 146.1 445.3 16.1 620 10410 0.00 2.05 0.00 0.000 4 0.000 0.063 1992 3909 1887 0 0 0 0 0 0

10487 0.57 146.1 429.5 18.7 623 10495 0.00 1.98 0.00 0.000 6 0.000 0.041 2001 2675 1887 0 0 0 0 0 0

10808 0.57 146.1 377.0 16.5 639 10811 0.00 2.03 0.00 0.000 4 0.000 0.063 2001 3908 1887 0 0 0 0 0 0

10875 0.57 146.1 363.5 18.9 642 10879 0.00 1.98 0.00 0.000 6 0.000 0.041 2010 2660 1887 0 0 0 0 0 0

11207 0.57 146.1 304.4 18.0 658 11211 0.00 2.03 0.00 0.000 4 0.000 0.063 2011 3900 1887 0 0 0 0 0 0

11284 0.57 146.1 288.6 21.3 661 11289 0.10 1.98 0.00 0.000 6 0.218 0.041 1993 2666 1887 0 0 0 0 0 0

11611 0.57 146.1 234.7 16.7 681 11615 0.00 2.03 0.00 0.000 4 0.000 0.063 1993 3903 1887 0 0 0 0 0 0

11636 0.57 146.1 230.1 17.2 683 11640 0.00 1.95 0.00 0.000 6 0.000 0.042 2002 2668 1887 0 0 0 0 0 0

11966 0.57 146.1 175.2 15.5 714 11970 0.00 2.03 0.00 0.000 4 0.000 0.063 2002 3907 1887 0 0 0 0 0 0

12014 0.57 146.1 167.4 17.6 718 12018 0.00 1.95 0.00 0.000 6 0.000 0.041 2011 2669 1887 0 0 0 0 0 0

12346 0.57 146.1 118.7 14.1 749 12350 0.00 2.00 0.00 0.000 4 0.000 0.063 2012 3909 1887 0 0 0 0 0 0

12477 0.57 146.1 96.4 16.2 762 12486 0.10 1.98 0.00 0.000 6 0.214 0.042 1993 2673 1887 0 0 0 0 0 0

12718 0.57 146.1 65.9 13.2 803 12725 0.00 2.22 0.00 0.000 4 0.000 0.050 2003 1251 1887 0 0 0 0 0 0

12804 0.57 146.1 55.6 11.8 817 12811 0.00 2.28 0.00 0.000 6 0.000 0.057 2004 2673 1887 0 0 0 0 0 0

12917 0.57 146.1 39.7 14.2 836 12926 0.00 2.00 0.00 0.000 4 0.000 0.067 2003 3899 1887 0 0 0 0 0 0

12968 0.57 146.1 32.0 15.9 844 12978 0.00 1.98 0.00 0.000 6 0.000 0.044 2013 2664 1887 0 0 0 0 0 0

13089 0.57 146.1 15.4 14.0 863 13097 0.00 0.00 0.00 0.000 6 0.000 0.000 2013 2664 1887 0 0 0 0 0 0

13172 0.57 146.1 4.3 13.8 876 13181 0.00 2.03 0.00 0.000 4 0.000 0.063 2013 3890 1886 0 0 0 0 0 0

13188 end climb: SURFACE_DEPTH_REACHED

state 13188 begin surface coast

13208 end surface coast: CONTROL_FINISHED_OK

state 13208 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	30	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2810	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	210	R_PORT_OVSHOOT	29	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	28	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	-21770.537	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	151214,154734,-5552.438,-31.092,63,0.8,63,-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	-0.243,-0.077
_SM_DEPTHo	1.81	KALMAN_X	23125.1,-298.8,-235.8,-54634.8,4731.2
_SM_ANGLEo	-63.3	KALMAN_Y	-6133.7,63.9,-172.6,20677.7,6804.7
GPS2	151214,155523,-5552.374,-31.017,19,0.8,19,-19.9	MHEAD_RNG_PITCHd_Wd	272.4,14162,-16.7,-9.524
SPEED_LIMITS	0.165,0.255	D_GRID	1000

FINISH	0.7,1.027053	_10V_AH	10.1,8.527
SM_CCo	13222,23.73,0.213,0,0,1642,210.22	FG_AHR_24Vo	0.000
SM_GC	2.38,0.00,0.00,23.73,0.000,0.000,0.213,60,2785,1642,-5.44,-0.71,210.22	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5527.50,-30.66,151214,121226	MEM	354004
TT8_MAMPS	0.025466	DATA_FILE_SIZE	60504,881
HUMID	54.96	CAP_FILE_SIZE	133654,0
INTERNAL_PRESSURE	8.96486	CFSIZE	259252224,224612352
TCM_TEMP	7.20	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	151214,193804,-5551.712,-33.628,24,0.8,24,-19.9
_24V_AH	21.6,13.286

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	260	77.53	SBE_CT	626	23	324.33
Roll_motor	129	78	219.98	AA4330	1827	17	709.76
VBD_pump_during_apogee	278	1839	11063.05	WL_BB2F	897	105	2036.53
VBD_pump_during_surface	23	213	109.38	QSP2150	949	17	368.80
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	91	51.46	nil	0	0	0.00
Iridium_during_connect	42	160	148.12	nil	0	0	0.00
Iridium_during_xfer	287	223	1383.25	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	6.94
TT8	2271	14	331.72
LPSleep	8034	2	177.72
TT8_Active	436	14	63.72
TT8_Sampling	2831	42	1205.98
TT8_CF8	142	49	71.65
TT8_Kalman	33	68	23.04
Analog_circuits	1428	15	223.60
GPS_charging	0	0	0.00
Compass	2296	16	382.27
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	-146.0	0.0	0.0	0	75	0.00	0.00	-58.03	0.000	2	0.000	0.000	63	2780	2864	0	0	0	0	0	0
78	-0.57	-146.1	3.4	-3.7	7	96	6.45	1.90	-5.82	0.000	4	0.260	0.079	1601	3898	3098	0	0	0	0	0	0
254	-0.57	-146.1	39.9	-17.6	35	261	0.00	1.77	0.00	0.000	6	0.000	0.038	1601	2807	3100	0	0	0	0	0	0
367	-0.57	-146.1	59.7	-16.3	54	375	0.00	0.00	0.00	0.000	6	0.000	0.000	1601	2806	3100	0	0	0	0	0	0
482	-0.57	-146.1	76.3	-14.0	73	489	0.00	1.85	0.00	0.000	4	0.000	0.067	1593	3896	3099	0	0	0	0	0	0
524	-0.57	-146.1	82.8	-15.5	80	531	0.00	1.75	0.00	0.000	6	0.000	0.041	1593	2810	3100	0	0	0	0	0	0
758	-0.57	-146.1	115.0	-13.1	112	761	0.00	1.80	0.00	0.000	4	0.000	0.067	1584	3893	3100	0	0	0	0	0	0
826	-0.57	-146.1	124.3	-12.8	118	831	0.12	1.73	0.00	0.000	6	0.201	0.039	1614	2803	3100	0	0	0	0	0	0
1158	-0.57	-146.1	162.2	-12.4	149	1162	0.00	1.83	0.00	0.000	4	0.000	0.068	1606	3899	3100	0	0	0	0	0	0
1229	-0.57	-146.1	171.5	-12.7	155	1233	0.00	1.73	0.00	0.000	6	0.000	0.040	1606	2806	3099	0	0	0	0	0	0
1559	-0.57	-146.1	213.8	-12.2	186	1562	0.00	1.77	0.00	0.000	4	0.000	0.067	1597	3892	3099	0	0	0	0	0	0
1665	-0.57	-146.1	229.0	-13.7	195	1674	0.00	1.75	0.00	0.000	6	0.000	0.038	1597	2806	3100	0	0	0	0	0	0
1998	-0.57	-146.1	278.9	-15.8	218	2002	0.00	1.80	0.00	0.000	4	0.000	0.067	1589	3895	3099	0	0	0	0	0	0
2076	-0.57	-146.1	293.0	-18.0	221	2081	0.00	1.75	0.00	0.000	6	0.000	0.038	1589	2807	3099	0	0	0	0	0	0
2400	-0.57	-146.1	349.8	-18.0	237	2404	0.00	1.80	0.00	0.000	4	0.000	0.067	1581	3901	3099	0	0	0	0	0	0
2522	-0.57	-146.1	374.1	-19.0	242	2528	0.10	1.75	0.00	0.000	6	0.203	0.038	1610	2807	3099	0	0	0	0	0	0
2844	-0.57	-146.1	423.9	-15.2	258	2847	0.00	1.80	0.00	0.000	4	0.000	0.067	1601	3900	3100	0	0	0	0	0	0
2893	-0.57	-146.1	432.0	-16.4	260	2898	0.00	1.73	0.00	0.000	6	0.000	0.037	1601	2809	3100	0	0	0	0	0	0
3220	-0.57	-146.1	481.4	-14.9	276	3224	0.00	1.80	0.00	0.000	4	0.000	0.067	1593	3905	3099	0	0	0	0	0	0
3297	-0.57	-146.1	494.2	-16.0	279	3302	0.00	1.73	0.00	0.000	6	0.000	0.037	1593	2809	3099	0	0	0	0	0	0
3618	-0.57	-146.1	545.2	-15.8	295	3622	0.00	1.77	0.00	0.000	4	0.000	0.066	1584	3893	3099	0	0	0	0	0	0
3685	-0.57	-146.1	556.5	-17.3	298	3690	0.12	1.70	0.00	0.000	6	0.198	0.038	1615	2799	3099	0	0	0	0	0	0
4018	-0.57	-146.1	603.0	-13.8	314	4021	0.00	1.80	0.00	0.000	4	0.000	0.067	1607	3896	3100	0	0	0	0	0	0
4111	-0.57	-146.1	617.1	-14.7	318	4116	0.00	1.73	0.00	0.000	6	0.000	0.037	1607	2808	3100	0	0	0	0	0	0
4439	-0.57	-146.1	661.7	-13.4	334	4443	0.00	1.80	0.00	0.000	4	0.000	0.067	1598	3890	3100	0	0	0	0	0	0
4521	-0.57	-146.1	673.6	-14.0	337	4530	0.00	1.73	0.00	0.000	6	0.000	0.037	1599	2803	3100	0	0	0	0	0	0
4838	-0.57	-146.1	716.0	-13.6	353	4842	0.00	1.80	0.00	0.000	4	0.000	0.067	1591	3889	3100	0	0	0	0	0	0
4906	-0.57	-146.1	726.0	-14.6	356	4909	0.00	1.67	0.00	0.000	6	0.000	0.037	1589	2806	3100	0	0	0	0	0	0
5238	-0.57	-146.1	773.5	-14.3	372	5241	0.00	1.77	0.00	0.000	4	0.000	0.066	1582	3893	3100	0	0	0	0	0	0
5309	-0.57	-146.1	784.6	-15.5	375	5314	0.10	1.70	0.00	0.000	6	0.176	0.037	1613	2804	3100	0	0	0	0	0	0
5636	-0.57	-146.1	823.9	-11.9	391	5639	0.00	1.80	0.00	0.000	4	0.000	0.067	1605	3904	3100	0	0	0	0	0	0
5695	-0.57	-146.1	831.8	-13.3	393	5703	0.00	1.70	0.00	0.000	6	0.000	0.037	1605	2813	3100	0	0	0	0	0	0
6012	-0.57	-146.1	871.3	-12.5	409	6016	0.00	1.80	0.00	0.000	4	0.000	0.067	1596	3899	3100	0	0	0	0	0	0
6072	-0.57	-146.1	879.3	-13.0	411	6080	0.00	1.73	0.00	0.000	6	0.000	0.037	1596	2807	3100	0	0	0	0	0	0
6388	-0.57	-146.1	919.9	-13.0	427	6392	0.00	1.77	0.00	0.000	4	0.000	0.067	1588	3895	3100	0	0	0	0	0	0
6445	-0.57	-146.1	927.7	-14.2	429	6449	0.10	1.67	0.00	0.000	6	0.202	0.037	1611	2804	3100	0	0	0	0	0	0
6764	-0.57	-146.1	964.8	-11.3	445	6768	0.00	1.77	0.00	0.000	4	0.000	0.067	1603	3892	3100	0	0	0	0	0	0
6836	-0.57	-146.1	973.7	-12.7	448	6841	0.00	1.67	0.00	0.000	6	0.000	0.037	1603	2816	3100	0	0	0	0	0	0
7059	end dive: TARGET_DEPTH_EXCEEDED
state	7059	begin apogee
7063	-0.16	0.0	1000.3	11.8	459	7202	0.47	0.00	133.98	1.839	6	0.162	0.000	1748	2662	2500	0	0	0	0	0	0
7203	end apogee: CONTROL_FINISHED_OK
state	7203	begin climb
7204	0.57	146.1	1004.3	0.0	466	7357	0.75	2.58	144.52	1.783	4	0.112	0.049	1989	1285	1903	0	0	0	0	0	0
7436	0.57	146.1	976.6	16.5	477	7440	0.00	2.47	0.00	0.000	6	0.000	0.056	1989	2662	1899	0	0	0	0	0	0
7762	0.57	146.1	917.4	18.3	493	7766	0.00	2.10	0.00	0.000	4	0.000	0.063	1988	3903	1894	0	0	0	0	0	0
7854	0.57	146.1	897.7	20.5	497	7860	0.00	2.05	0.00	0.000	6	0.000	0.041	1997	2687	1891	0	0	0	0	0	0
8177	0.57	146.1	836.2	18.9	513	8178	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2687	1890	0	0	0	0	0	0
8486	0.57	146.1	779.4	18.0	528	8489	0.00	2.05	0.00	0.000	4	0.000	0.063	1998	3907	1890	0	0	0	0	0	0
8557	0.57	146.1	764.5	20.3	531	8562	0.00	2.03	0.00	0.000	6	0.000	0.041	2007	2670	1889	0	0	0	0	0	0
8885	0.57	146.1	705.7	17.6	547	8889	0.00	2.05	0.00	0.000	4	0.000	0.063	2008	3903	1889	0	0	0	0	0	0
8938	0.57	146.1	694.6	20.9	549	8944	0.10	2.03	0.00	0.000	6	0.217	0.041	1991	2664	1889	0	0	0	0	0	0
9260	0.57	146.1	643.1	15.8	565	9264	0.00	2.05	0.00	0.000	4	0.000	0.063	1991	3900	1888	0	0	0	0	0	0
9309	0.57	146.1	634.0	18.1	567	9314	0.00	2.00	0.00	0.000	6	0.000	0.041	1999	2669	1888	0	0	0	0	0	0
9637	0.57	146.1	579.1	16.8	583	9640	0.00	2.05	0.00	0.000	4	0.000	0.063	2000	3908	1888	0	0	0	0	0	0
9697	0.57	146.1	567.2	20.4	585	9704	0.00	2.00	0.00	0.000	6	0.000	0.041	2009	2669	1887	0	0	0	0	0	0
10013	0.57	146.1	511.6	17.9	601	10017	0.00	2.03	0.00	0.000	4	0.000	0.063	2009	3903	1887	0	0	0	0	0	0
10080	0.57	146.1	498.2	20.4	604	10085	0.12	1.98	0.00	0.000	6	0.233	0.041	1992	2658	1887	0	0	0	0	0	0
10406	0.57	146.1	445.3	16.1	620	10410	0.00	2.05	0.00	0.000	4	0.000	0.063	1992	3909	1887	0	0	0	0	0	0
10487	0.57	146.1	429.5	18.7	623	10495	0.00	1.98	0.00	0.000	6	0.000	0.041	2001	2675	1887	0	0	0	0	0	0
10808	0.57	146.1	377.0	16.5	639	10811	0.00	2.03	0.00	0.000	4	0.000	0.063	2001	3908	1887	0	0	0	0	0	0
10875	0.57	146.1	363.5	18.9	642	10879	0.00	1.98	0.00	0.000	6	0.000	0.041	2010	2660	1887	0	0	0	0	0	0
11207	0.57	146.1	304.4	18.0	658	11211	0.00	2.03	0.00	0.000	4	0.000	0.063	2011	3900	1887	0	0	0	0	0	0
11284	0.57	146.1	288.6	21.3	661	11289	0.10	1.98	0.00	0.000	6	0.218	0.041	1993	2666	1887	0	0	0	0	0	0
11611	0.57	146.1	234.7	16.7	681	11615	0.00	2.03	0.00	0.000	4	0.000	0.063	1993	3903	1887	0	0	0	0	0	0
11636	0.57	146.1	230.1	17.2	683	11640	0.00	1.95	0.00	0.000	6	0.000	0.042	2002	2668	1887	0	0	0	0	0	0
11966	0.57	146.1	175.2	15.5	714	11970	0.00	2.03	0.00	0.000	4	0.000	0.063	2002	3907	1887	0	0	0	0	0	0
12014	0.57	146.1	167.4	17.6	718	12018	0.00	1.95	0.00	0.000	6	0.000	0.041	2011	2669	1887	0	0	0	0	0	0
12346	0.57	146.1	118.7	14.1	749	12350	0.00	2.00	0.00	0.000	4	0.000	0.063	2012	3909	1887	0	0	0	0	0	0
12477	0.57	146.1	96.4	16.2	762	12486	0.10	1.98	0.00	0.000	6	0.214	0.042	1993	2673	1887	0	0	0	0	0	0
12718	0.57	146.1	65.9	13.2	803	12725	0.00	2.22	0.00	0.000	4	0.000	0.050	2003	1251	1887	0	0	0	0	0	0
12804	0.57	146.1	55.6	11.8	817	12811	0.00	2.28	0.00	0.000	6	0.000	0.057	2004	2673	1887	0	0	0	0	0	0
12917	0.57	146.1	39.7	14.2	836	12926	0.00	2.00	0.00	0.000	4	0.000	0.067	2003	3899	1887	0	0	0	0	0	0
12968	0.57	146.1	32.0	15.9	844	12978	0.00	1.98	0.00	0.000	6	0.000	0.044	2013	2664	1887	0	0	0	0	0	0
13089	0.57	146.1	15.4	14.0	863	13097	0.00	0.00	0.00	0.000	6	0.000	0.000	2013	2664	1887	0	0	0	0	0	0
13172	0.57	146.1	4.3	13.8	876	13181	0.00	2.03	0.00	0.000	4	0.000	0.063	2013	3890	1886	0	0	0	0	0	0
13188	end climb: SURFACE_DEPTH_REACHED
state	13188	begin surface coast
13208	end surface coast: CONTROL_FINISHED_OK
state	13208	begin surface