Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 34 * 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 34 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 36 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 19 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 0.0012300001 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 -21779.84 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 0.00251332 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 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 0.00251332 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0127788 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -21779.84

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 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 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 36 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 19 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 34 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 161214,063857,-5552.343,-35.447,37,1.6,39,-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 0.036,-0.228

_SM_DEPTHo 1.75 KALMAN_X 22264.6,-887.7,7.5,-57910.3,1023.9

_SM_ANGLEo -58.6 KALMAN_Y 10362.9,-1106.7,-1026.3,6496.1,14489.2

GPS2 161214,064629,-5552.239,-35.350,19,1.1,19,-19.9 MHEAD_RNG_PITCHd_Wd 191.1,15404,-17.2,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.9,1.023658 _10V_AH 10.1,8.945

SM_CCo 12166,24.35,0.197,0,0,1484,210.22 FG_AHR_24Vo 0.000

SM_GC 1.86,0.00,0.00,24.35,0.000,0.000,0.197,64,2807,1484,-5.43,-0.08,210.22 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5531.31,-34.53,161214,030353 MEM 353984

TT8_MAMPS 0.026215 DATA_FILE_SIZE 57051,794

HUMID 55.74 CAP_FILE_SIZE 123591,0

INTERNAL_PRESSURE 8.95509 CFSIZE 259252224,224350208

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

XPDR_PINGS 0 GPS 161214,101135,-5552.328,-35.832,26,1.6,26,-19.8

_24V_AH 21.6,13.949

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 262 77.36 SBE_CT 564 23 292.15

Roll_motor 125 84 228.02 AA4330 1649 17 640.56

VBD_pump_during_apogee 278 1803 10844.81 WL_BB2F 798 105 1811.85

VBD_pump_during_surface 24 197 103.81 QSP2150 823 17 319.80

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 91 51.19 nil 0 0 0.00

Iridium_during_connect 41 160 144.43 nil 0 0 0.00

Iridium_during_xfer 272 223 1312.76 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 31 7.00

TT8 2052 14 299.78

LPSleep 7458 2 164.97

TT8_Active 418 14 61.15

TT8_Sampling 2557 42 1089.25

TT8_CF8 157 49 78.84

TT8_Kalman 33 68 23.04

Analog_circuits 1328 15 208.05

GPS_charging 0 0 0.00

Compass 2066 16 343.97

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 -0.58 -146.1 0.0 0.0 0 66 0.00 0.00 -49.10 0.000 2 0.000 0.000 61 2799 2553 0 0 0 0 0 0

68 -0.58 -146.1 3.3 -4.7 6 94 6.47 1.85 -11.90 0.000 4 0.262 0.084 1597 3900 2938 0 0 0 0 0 0

102 -0.58 -146.1 7.8 -10.2 10 112 0.00 1.77 0.00 0.000 6 0.000 0.036 1604 2805 2939 0 0 0 0 0 0

187 -0.58 -146.1 22.9 -17.6 23 196 0.00 1.88 0.00 0.000 4 0.000 0.065 1596 3904 2939 0 0 0 0 0 0

461 -0.58 -146.1 78.4 -18.2 69 468 0.00 1.77 0.00 0.000 6 0.000 0.037 1604 2809 2940 0 0 0 0 0 0

574 -0.58 -146.1 97.5 -17.3 88 581 0.00 1.85 0.00 0.000 4 0.000 0.064 1596 3903 2940 0 0 0 0 0 0

693 -0.58 -146.1 120.1 -17.6 99 697 0.00 1.73 0.00 0.000 6 0.000 0.037 1602 2807 2940 0 0 0 0 0 0

1025 -0.58 -146.1 176.3 -16.5 130 1028 0.00 1.83 0.00 0.000 4 0.000 0.065 1594 3907 2940 0 0 0 0 0 0

1109 -0.58 -146.1 191.5 -16.9 137 1117 0.00 1.77 0.00 0.000 6 0.000 0.037 1594 2800 2940 0 0 0 0 0 0

1435 -0.58 -146.1 240.5 -14.4 168 1438 0.00 1.83 0.00 0.000 4 0.000 0.065 1586 3903 2940 0 0 0 0 0 0

1530 -0.58 -146.1 255.7 -15.1 175 1535 0.00 1.77 0.00 0.000 6 0.000 0.037 1586 2793 2940 0 0 0 0 0 0

1859 -0.58 -146.1 302.5 -14.1 191 1863 0.00 1.83 0.00 0.000 4 0.000 0.066 1578 3903 2940 0 0 0 0 0 0

1943 -0.58 -146.1 316.1 -15.9 194 1953 0.10 1.75 0.00 0.000 6 0.187 0.037 1607 2797 2939 0 0 0 0 0 0

2260 -0.58 -146.1 355.8 -12.5 210 2264 0.00 1.83 0.00 0.000 4 0.000 0.065 1599 3907 2940 0 0 0 0 0 0

2321 -0.58 -146.1 364.6 -13.9 212 2331 0.00 1.73 0.00 0.000 6 0.000 0.037 1606 2811 2939 0 0 0 0 0 0

2637 -0.58 -146.1 406.5 -13.2 228 2640 0.00 1.80 0.00 0.000 4 0.000 0.066 1598 3907 2940 0 0 0 0 0 0

2685 -0.58 -146.1 413.7 -14.0 230 2691 0.00 1.75 0.00 0.000 6 0.000 0.036 1598 2806 2939 0 0 0 0 0 0

3013 -0.58 -146.1 459.2 -14.3 246 3017 0.00 1.80 0.00 0.000 4 0.000 0.066 1589 3906 2940 0 0 0 0 0 0

3090 -0.58 -146.1 471.8 -15.7 249 3095 0.00 1.73 0.00 0.000 6 0.000 0.037 1589 2809 2940 0 0 0 0 0 0

3412 -0.58 -146.1 520.5 -15.0 265 3415 0.00 1.80 0.00 0.000 4 0.000 0.065 1581 3912 2940 0 0 0 0 0 0

3506 -0.58 -146.1 536.4 -16.9 269 3511 0.08 1.73 0.00 0.000 6 0.186 0.036 1603 2806 2940 0 0 0 0 0 0

3832 -0.58 -146.1 582.5 -14.1 285 3836 0.00 1.80 0.00 0.000 4 0.000 0.065 1595 3906 2940 0 0 0 0 0 0

3887 -0.58 -146.1 591.1 -15.7 287 3891 0.00 1.73 0.00 0.000 6 0.000 0.037 1603 2810 2940 0 0 0 0 0 0

4208 -0.58 -146.1 635.7 -13.9 303 4212 0.00 1.80 0.00 0.000 4 0.000 0.064 1595 3896 2940 0 0 0 0 0 0

4298 -0.58 -146.1 649.6 -15.8 307 4302 0.00 1.70 0.00 0.000 6 0.000 0.036 1602 2801 2940 0 0 0 0 0 0

4630 -0.58 -146.1 695.6 -13.8 323 4633 0.00 1.80 0.00 0.000 4 0.000 0.065 1594 3903 2940 0 0 0 0 0 0

4720 -0.58 -146.1 709.2 -15.1 327 4723 0.00 1.70 0.00 0.000 6 0.000 0.037 1594 2804 2940 0 0 0 0 0 0

5052 -0.58 -146.1 756.0 -13.7 343 5056 0.00 1.80 0.00 0.000 4 0.000 0.065 1586 3893 2940 0 0 0 0 0 0

5111 -0.58 -146.1 765.1 -15.4 345 5120 0.00 1.70 0.00 0.000 6 0.000 0.036 1586 2806 2940 0 0 0 0 0 0

5428 -0.58 -146.1 810.8 -14.6 361 5431 0.00 1.80 0.00 0.000 4 0.000 0.065 1578 3911 2940 0 0 0 0 0 0

5484 -0.58 -146.1 819.5 -16.3 363 5488 0.12 1.67 0.00 0.000 6 0.204 0.037 1608 2805 2940 0 0 0 0 0 0

5804 -0.58 -146.1 859.0 -11.9 379 5807 0.00 1.80 0.00 0.000 4 0.000 0.065 1599 3907 2940 0 0 0 0 0 0

5849 -0.58 -146.1 864.7 -13.0 381 5853 0.00 1.67 0.00 0.000 6 0.000 0.036 1599 2806 2940 0 0 0 0 0 0

6181 -0.58 -146.1 904.2 -11.7 397 6185 0.00 1.80 0.00 0.000 4 0.000 0.066 1591 3910 2940 0 0 0 0 0 0

6241 -0.58 -146.1 912.2 -13.5 399 6249 0.00 1.73 0.00 0.000 6 0.000 0.035 1591 2804 2940 0 0 0 0 0 0

6558 -0.58 -146.1 950.3 -12.0 415 6562 0.00 1.80 0.00 0.000 4 0.000 0.065 1583 3894 2940 0 0 0 0 0 0

6634 -0.58 -146.1 960.7 -13.7 418 6640 0.08 1.73 0.00 0.000 6 0.187 0.035 1605 2799 2940 0 0 0 0 0 0

6957 -0.58 -146.1 995.2 -10.6 434 6960 0.00 1.77 0.00 0.000 4 0.000 0.065 1597 3902 2940 0 0 0 0 0 0

7000 end dive: TARGET_DEPTH_EXCEEDED

state 7000 begin apogee

7006 -0.16 0.0 1000.4 12.4 436 7144 0.47 0.00 133.23 1.803 6 0.170 0.000 1745 2673 2342 0 0 0 0 0 0

7145 end apogee: CONTROL_FINISHED_OK

state 7145 begin climb

7146 0.58 146.1 1003.2 0.0 443 7299 0.77 2.62 145.23 1.758 4 0.119 0.048 1988 1269 1746 0 0 0 0 0 0

7314 0.58 146.1 978.6 18.8 451 7320 0.00 2.60 0.00 0.000 6 0.000 0.052 1988 2663 1744 0 0 0 0 0 0

7643 0.58 146.1 909.1 21.6 467 7647 0.00 2.12 0.00 0.000 4 0.000 0.061 1989 3906 1736 0 0 0 0 0 0

7710 0.58 146.1 893.2 24.6 470 7713 0.00 2.05 0.00 0.000 6 0.000 0.041 1997 2683 1734 0 0 0 0 0 0

8041 0.58 146.1 817.7 23.0 486 8042 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2681 1733 0 0 0 0 0 0

8351 0.58 146.1 746.0 23.0 501 8355 0.00 2.03 0.00 0.000 4 0.000 0.060 1998 3903 1732 0 0 0 0 0 0

8396 0.58 146.1 734.1 28.4 503 8400 0.00 2.03 0.00 0.000 6 0.000 0.041 2007 2655 1731 0 0 0 0 0 0

8728 0.58 146.1 656.5 22.9 519 8732 0.00 2.05 0.00 0.000 4 0.000 0.061 2007 3903 1732 0 0 0 0 0 0

8798 0.58 146.1 638.2 25.1 522 8803 0.00 2.03 0.00 0.000 6 0.000 0.041 2017 2662 1731 0 0 0 0 0 0

9126 0.58 146.1 562.2 23.0 538 9130 0.00 2.05 0.00 0.000 4 0.000 0.061 2017 3902 1731 0 0 0 0 0 0

9205 0.58 146.1 542.9 24.8 541 9209 0.15 1.98 0.00 0.000 6 0.229 0.041 1993 2658 1730 0 0 0 0 0 0

9520 0.58 146.1 480.5 19.4 556 9523 0.00 2.05 0.00 0.000 4 0.000 0.060 1993 3903 1730 0 0 0 0 0 0

9564 0.58 146.1 470.7 21.7 558 9568 0.00 1.98 0.00 0.000 6 0.000 0.041 2002 2666 1730 0 0 0 0 0 0

9897 0.58 146.1 403.4 19.8 574 9901 0.00 2.03 0.00 0.000 4 0.000 0.061 2002 3913 1730 0 0 0 0 0 0

9941 0.58 146.1 393.5 22.7 576 9945 0.00 1.98 0.00 0.000 6 0.000 0.041 2012 2670 1730 0 0 0 0 0 0

10274 0.58 146.1 324.8 20.6 592 10277 0.00 2.03 0.00 0.000 4 0.000 0.061 2011 3905 1730 0 0 0 0 0 0

10319 0.58 146.1 314.5 23.2 594 10323 0.12 1.98 0.00 0.000 6 0.233 0.041 1994 2661 1729 0 0 0 0 0 0

10644 0.58 146.1 255.2 17.6 610 10648 0.00 2.03 0.00 0.000 4 0.000 0.061 1994 3913 1730 0 0 0 0 0 0

10671 0.58 146.1 249.7 19.6 611 10676 0.00 2.00 0.00 0.000 6 0.000 0.041 2003 2668 1729 0 0 0 0 0 0

10999 0.58 146.1 190.3 18.3 641 11002 0.00 2.03 0.00 0.000 4 0.000 0.062 2003 3905 1729 0 0 0 0 0 0

11057 0.58 146.1 178.4 21.1 646 11060 0.00 1.95 0.00 0.000 6 0.000 0.041 2012 2658 1729 0 0 0 0 0 0

11389 0.58 146.1 119.1 16.2 677 11392 0.00 2.05 0.00 0.000 4 0.000 0.062 2013 3913 1729 0 0 0 0 0 0

11438 0.58 146.1 109.2 19.0 681 11447 0.10 2.00 0.00 0.000 6 0.211 0.041 1995 2664 1729 0 0 0 0 0 0

11790 0.58 146.1 56.5 14.1 737 11797 0.00 2.22 0.00 0.000 4 0.000 0.049 2004 1251 1729 0 0 0 0 0 0

11867 0.58 146.1 45.3 13.7 750 11876 0.00 2.33 0.00 0.000 6 0.000 0.056 2005 2683 1729 0 0 0 0 0 0

11983 0.58 146.1 29.1 16.5 769 11993 0.00 1.98 0.00 0.000 4 0.000 0.066 2004 3891 1729 0 0 0 0 0 0

12033 0.58 146.1 20.5 17.9 776 12042 0.00 1.95 0.00 0.000 6 0.000 0.041 2014 2663 1729 0 0 0 0 0 0

12117 0.58 146.1 5.4 16.9 789 12126 0.00 2.05 0.00 0.000 4 0.000 0.061 2014 3903 1729 0 0 0 0 0 0

12133 end climb: SURFACE_DEPTH_REACHED

state 12133 begin surface coast

12153 end surface coast: CONTROL_FINISHED_OK

state 12153 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	34	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	36	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	19	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	0.0012300001	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	-21779.84	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	0.00251332	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	161214,063857,-5552.343,-35.447,37,1.6,39,-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	0.036,-0.228
_SM_DEPTHo	1.75	KALMAN_X	22264.6,-887.7,7.5,-57910.3,1023.9
_SM_ANGLEo	-58.6	KALMAN_Y	10362.9,-1106.7,-1026.3,6496.1,14489.2
GPS2	161214,064629,-5552.239,-35.350,19,1.1,19,-19.9	MHEAD_RNG_PITCHd_Wd	191.1,15404,-17.2,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	0.9,1.023658	_10V_AH	10.1,8.945
SM_CCo	12166,24.35,0.197,0,0,1484,210.22	FG_AHR_24Vo	0.000
SM_GC	1.86,0.00,0.00,24.35,0.000,0.000,0.197,64,2807,1484,-5.43,-0.08,210.22	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5531.31,-34.53,161214,030353	MEM	353984
TT8_MAMPS	0.026215	DATA_FILE_SIZE	57051,794
HUMID	55.74	CAP_FILE_SIZE	123591,0
INTERNAL_PRESSURE	8.95509	CFSIZE	259252224,224350208
TCM_TEMP	7.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	161214,101135,-5552.328,-35.832,26,1.6,26,-19.8
_24V_AH	21.6,13.949

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	262	77.36	SBE_CT	564	23	292.15
Roll_motor	125	84	228.02	AA4330	1649	17	640.56
VBD_pump_during_apogee	278	1803	10844.81	WL_BB2F	798	105	1811.85
VBD_pump_during_surface	24	197	103.81	QSP2150	823	17	319.80
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	91	51.19	nil	0	0	0.00
Iridium_during_connect	41	160	144.43	nil	0	0	0.00
Iridium_during_xfer	272	223	1312.76	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	31	7.00
TT8	2052	14	299.78
LPSleep	7458	2	164.97
TT8_Active	418	14	61.15
TT8_Sampling	2557	42	1089.25
TT8_CF8	157	49	78.84
TT8_Kalman	33	68	23.04
Analog_circuits	1328	15	208.05
GPS_charging	0	0	0.00
Compass	2066	16	343.97
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	-0.58	-146.1	0.0	0.0	0	66	0.00	0.00	-49.10	0.000	2	0.000	0.000	61	2799	2553	0	0	0	0	0	0
68	-0.58	-146.1	3.3	-4.7	6	94	6.47	1.85	-11.90	0.000	4	0.262	0.084	1597	3900	2938	0	0	0	0	0	0
102	-0.58	-146.1	7.8	-10.2	10	112	0.00	1.77	0.00	0.000	6	0.000	0.036	1604	2805	2939	0	0	0	0	0	0
187	-0.58	-146.1	22.9	-17.6	23	196	0.00	1.88	0.00	0.000	4	0.000	0.065	1596	3904	2939	0	0	0	0	0	0
461	-0.58	-146.1	78.4	-18.2	69	468	0.00	1.77	0.00	0.000	6	0.000	0.037	1604	2809	2940	0	0	0	0	0	0
574	-0.58	-146.1	97.5	-17.3	88	581	0.00	1.85	0.00	0.000	4	0.000	0.064	1596	3903	2940	0	0	0	0	0	0
693	-0.58	-146.1	120.1	-17.6	99	697	0.00	1.73	0.00	0.000	6	0.000	0.037	1602	2807	2940	0	0	0	0	0	0
1025	-0.58	-146.1	176.3	-16.5	130	1028	0.00	1.83	0.00	0.000	4	0.000	0.065	1594	3907	2940	0	0	0	0	0	0
1109	-0.58	-146.1	191.5	-16.9	137	1117	0.00	1.77	0.00	0.000	6	0.000	0.037	1594	2800	2940	0	0	0	0	0	0
1435	-0.58	-146.1	240.5	-14.4	168	1438	0.00	1.83	0.00	0.000	4	0.000	0.065	1586	3903	2940	0	0	0	0	0	0
1530	-0.58	-146.1	255.7	-15.1	175	1535	0.00	1.77	0.00	0.000	6	0.000	0.037	1586	2793	2940	0	0	0	0	0	0
1859	-0.58	-146.1	302.5	-14.1	191	1863	0.00	1.83	0.00	0.000	4	0.000	0.066	1578	3903	2940	0	0	0	0	0	0
1943	-0.58	-146.1	316.1	-15.9	194	1953	0.10	1.75	0.00	0.000	6	0.187	0.037	1607	2797	2939	0	0	0	0	0	0
2260	-0.58	-146.1	355.8	-12.5	210	2264	0.00	1.83	0.00	0.000	4	0.000	0.065	1599	3907	2940	0	0	0	0	0	0
2321	-0.58	-146.1	364.6	-13.9	212	2331	0.00	1.73	0.00	0.000	6	0.000	0.037	1606	2811	2939	0	0	0	0	0	0
2637	-0.58	-146.1	406.5	-13.2	228	2640	0.00	1.80	0.00	0.000	4	0.000	0.066	1598	3907	2940	0	0	0	0	0	0
2685	-0.58	-146.1	413.7	-14.0	230	2691	0.00	1.75	0.00	0.000	6	0.000	0.036	1598	2806	2939	0	0	0	0	0	0
3013	-0.58	-146.1	459.2	-14.3	246	3017	0.00	1.80	0.00	0.000	4	0.000	0.066	1589	3906	2940	0	0	0	0	0	0
3090	-0.58	-146.1	471.8	-15.7	249	3095	0.00	1.73	0.00	0.000	6	0.000	0.037	1589	2809	2940	0	0	0	0	0	0
3412	-0.58	-146.1	520.5	-15.0	265	3415	0.00	1.80	0.00	0.000	4	0.000	0.065	1581	3912	2940	0	0	0	0	0	0
3506	-0.58	-146.1	536.4	-16.9	269	3511	0.08	1.73	0.00	0.000	6	0.186	0.036	1603	2806	2940	0	0	0	0	0	0
3832	-0.58	-146.1	582.5	-14.1	285	3836	0.00	1.80	0.00	0.000	4	0.000	0.065	1595	3906	2940	0	0	0	0	0	0
3887	-0.58	-146.1	591.1	-15.7	287	3891	0.00	1.73	0.00	0.000	6	0.000	0.037	1603	2810	2940	0	0	0	0	0	0
4208	-0.58	-146.1	635.7	-13.9	303	4212	0.00	1.80	0.00	0.000	4	0.000	0.064	1595	3896	2940	0	0	0	0	0	0
4298	-0.58	-146.1	649.6	-15.8	307	4302	0.00	1.70	0.00	0.000	6	0.000	0.036	1602	2801	2940	0	0	0	0	0	0
4630	-0.58	-146.1	695.6	-13.8	323	4633	0.00	1.80	0.00	0.000	4	0.000	0.065	1594	3903	2940	0	0	0	0	0	0
4720	-0.58	-146.1	709.2	-15.1	327	4723	0.00	1.70	0.00	0.000	6	0.000	0.037	1594	2804	2940	0	0	0	0	0	0
5052	-0.58	-146.1	756.0	-13.7	343	5056	0.00	1.80	0.00	0.000	4	0.000	0.065	1586	3893	2940	0	0	0	0	0	0
5111	-0.58	-146.1	765.1	-15.4	345	5120	0.00	1.70	0.00	0.000	6	0.000	0.036	1586	2806	2940	0	0	0	0	0	0
5428	-0.58	-146.1	810.8	-14.6	361	5431	0.00	1.80	0.00	0.000	4	0.000	0.065	1578	3911	2940	0	0	0	0	0	0
5484	-0.58	-146.1	819.5	-16.3	363	5488	0.12	1.67	0.00	0.000	6	0.204	0.037	1608	2805	2940	0	0	0	0	0	0
5804	-0.58	-146.1	859.0	-11.9	379	5807	0.00	1.80	0.00	0.000	4	0.000	0.065	1599	3907	2940	0	0	0	0	0	0
5849	-0.58	-146.1	864.7	-13.0	381	5853	0.00	1.67	0.00	0.000	6	0.000	0.036	1599	2806	2940	0	0	0	0	0	0
6181	-0.58	-146.1	904.2	-11.7	397	6185	0.00	1.80	0.00	0.000	4	0.000	0.066	1591	3910	2940	0	0	0	0	0	0
6241	-0.58	-146.1	912.2	-13.5	399	6249	0.00	1.73	0.00	0.000	6	0.000	0.035	1591	2804	2940	0	0	0	0	0	0
6558	-0.58	-146.1	950.3	-12.0	415	6562	0.00	1.80	0.00	0.000	4	0.000	0.065	1583	3894	2940	0	0	0	0	0	0
6634	-0.58	-146.1	960.7	-13.7	418	6640	0.08	1.73	0.00	0.000	6	0.187	0.035	1605	2799	2940	0	0	0	0	0	0
6957	-0.58	-146.1	995.2	-10.6	434	6960	0.00	1.77	0.00	0.000	4	0.000	0.065	1597	3902	2940	0	0	0	0	0	0
7000	end dive: TARGET_DEPTH_EXCEEDED
state	7000	begin apogee
7006	-0.16	0.0	1000.4	12.4	436	7144	0.47	0.00	133.23	1.803	6	0.170	0.000	1745	2673	2342	0	0	0	0	0	0
7145	end apogee: CONTROL_FINISHED_OK
state	7145	begin climb
7146	0.58	146.1	1003.2	0.0	443	7299	0.77	2.62	145.23	1.758	4	0.119	0.048	1988	1269	1746	0	0	0	0	0	0
7314	0.58	146.1	978.6	18.8	451	7320	0.00	2.60	0.00	0.000	6	0.000	0.052	1988	2663	1744	0	0	0	0	0	0
7643	0.58	146.1	909.1	21.6	467	7647	0.00	2.12	0.00	0.000	4	0.000	0.061	1989	3906	1736	0	0	0	0	0	0
7710	0.58	146.1	893.2	24.6	470	7713	0.00	2.05	0.00	0.000	6	0.000	0.041	1997	2683	1734	0	0	0	0	0	0
8041	0.58	146.1	817.7	23.0	486	8042	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2681	1733	0	0	0	0	0	0
8351	0.58	146.1	746.0	23.0	501	8355	0.00	2.03	0.00	0.000	4	0.000	0.060	1998	3903	1732	0	0	0	0	0	0
8396	0.58	146.1	734.1	28.4	503	8400	0.00	2.03	0.00	0.000	6	0.000	0.041	2007	2655	1731	0	0	0	0	0	0
8728	0.58	146.1	656.5	22.9	519	8732	0.00	2.05	0.00	0.000	4	0.000	0.061	2007	3903	1732	0	0	0	0	0	0
8798	0.58	146.1	638.2	25.1	522	8803	0.00	2.03	0.00	0.000	6	0.000	0.041	2017	2662	1731	0	0	0	0	0	0
9126	0.58	146.1	562.2	23.0	538	9130	0.00	2.05	0.00	0.000	4	0.000	0.061	2017	3902	1731	0	0	0	0	0	0
9205	0.58	146.1	542.9	24.8	541	9209	0.15	1.98	0.00	0.000	6	0.229	0.041	1993	2658	1730	0	0	0	0	0	0
9520	0.58	146.1	480.5	19.4	556	9523	0.00	2.05	0.00	0.000	4	0.000	0.060	1993	3903	1730	0	0	0	0	0	0
9564	0.58	146.1	470.7	21.7	558	9568	0.00	1.98	0.00	0.000	6	0.000	0.041	2002	2666	1730	0	0	0	0	0	0
9897	0.58	146.1	403.4	19.8	574	9901	0.00	2.03	0.00	0.000	4	0.000	0.061	2002	3913	1730	0	0	0	0	0	0
9941	0.58	146.1	393.5	22.7	576	9945	0.00	1.98	0.00	0.000	6	0.000	0.041	2012	2670	1730	0	0	0	0	0	0
10274	0.58	146.1	324.8	20.6	592	10277	0.00	2.03	0.00	0.000	4	0.000	0.061	2011	3905	1730	0	0	0	0	0	0
10319	0.58	146.1	314.5	23.2	594	10323	0.12	1.98	0.00	0.000	6	0.233	0.041	1994	2661	1729	0	0	0	0	0	0
10644	0.58	146.1	255.2	17.6	610	10648	0.00	2.03	0.00	0.000	4	0.000	0.061	1994	3913	1730	0	0	0	0	0	0
10671	0.58	146.1	249.7	19.6	611	10676	0.00	2.00	0.00	0.000	6	0.000	0.041	2003	2668	1729	0	0	0	0	0	0
10999	0.58	146.1	190.3	18.3	641	11002	0.00	2.03	0.00	0.000	4	0.000	0.062	2003	3905	1729	0	0	0	0	0	0
11057	0.58	146.1	178.4	21.1	646	11060	0.00	1.95	0.00	0.000	6	0.000	0.041	2012	2658	1729	0	0	0	0	0	0
11389	0.58	146.1	119.1	16.2	677	11392	0.00	2.05	0.00	0.000	4	0.000	0.062	2013	3913	1729	0	0	0	0	0	0
11438	0.58	146.1	109.2	19.0	681	11447	0.10	2.00	0.00	0.000	6	0.211	0.041	1995	2664	1729	0	0	0	0	0	0
11790	0.58	146.1	56.5	14.1	737	11797	0.00	2.22	0.00	0.000	4	0.000	0.049	2004	1251	1729	0	0	0	0	0	0
11867	0.58	146.1	45.3	13.7	750	11876	0.00	2.33	0.00	0.000	6	0.000	0.056	2005	2683	1729	0	0	0	0	0	0
11983	0.58	146.1	29.1	16.5	769	11993	0.00	1.98	0.00	0.000	4	0.000	0.066	2004	3891	1729	0	0	0	0	0	0
12033	0.58	146.1	20.5	17.9	776	12042	0.00	1.95	0.00	0.000	6	0.000	0.041	2014	2663	1729	0	0	0	0	0	0
12117	0.58	146.1	5.4	16.9	789	12126	0.00	2.05	0.00	0.000	4	0.000	0.061	2014	3903	1729	0	0	0	0	0	0
12133	end climb: SURFACE_DEPTH_REACHED
state	12133	begin surface coast
12153	end surface coast: CONTROL_FINISHED_OK
state	12153	begin surface