Glider dive log

SOSCEx 01Dec13 * SG543 * Dive index * Mission links * Dive 39 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 543 HEADING -1 ROLL_MAX 3944 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 9 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 1050

DIVE 39 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 3310 ALTIM_PING_DELTA 15

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 3170 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -4300 HEAD_ERRBAND 15 ALTIM_PULSE 4

D_TGT 990 TGT_DEFAULT_LON -800 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1020 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 3

D_NO_BLEED 200 SM_CC 210 R_PORT_OVSHOOT 45 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 24 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.050000001

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 KERMIT 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 507 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 101

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2474 DEVICE3 35

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_DIVE 330 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 370 CAPUPLOAD 0 VBD_TIMEOUT 800 DEVICE6 -1

T_ABORT 720 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00061500003 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 60 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -12518.673 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 1 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 86 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3908 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1690 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043512532

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -59.073162 SEABIRD_T_H 0.00062429422

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011638312 SEABIRD_T_I 2.2835797e-05

RHO 1.027 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.3805812e-06

MASS 52459 PITCH_GAIN 46 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.305622

NAV_MODE 1 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1763667

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.0018977363

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00023287861

HD_A 0.003 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 20

HD_C 9.9999997e-06 ROLL_MIN 394 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SM_CC 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 20 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 15 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 1050 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 46 TCM_ROLL_OFFSET 0

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_MAX 3908 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -4300

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 86 TGT_DEFAULT_LON -800

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 16 T_ABORT 720

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00061500003 T_BOOST 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011638312 T_DIVE 330

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -59.073162 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 -12518.673

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

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 370

CF8_MAXERRORS 20 HEAD_ERRBAND 15 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 RELAUNCH 1 T_RSLEEP 1

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RHO 1.027 T_TURN 225

COMPASS_DEVICE 33 ID 543 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_YINT 0.050000001 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_PITCH 1690 KALMAN_USE 2 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 3170 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 3310 LOGGERDEVICE1 -1 ROLL_MAX 3944 USE_ICE 0

C_VBD 2474 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_MIN 394 VBD_CNV -0.245296

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 45 VBD_MAX 3960

DEVICE2 101 MASS 52459 R_STBD_OVSHOOT 24 VBD_MAXERRORS 1

DEVICE3 35 MAX_BUOY 150 SEABIRD_C_G -10.305622 VBD_MIN 507

DEVICE4 -1 MINV_10V 8 SEABIRD_C_H 1.1763667 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.0018977363 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MISSION 9 SEABIRD_C_J 0.00023287861 VBD_TIMEOUT 800

DIVE 39 MOTHERBOARD 4 SEABIRD_T_G 0.0043512532 XPDR_DEVICE 24

D_ABORT 1020 NAV_MODE 1 SEABIRD_T_H 0.00062429422 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 SEABIRD_T_I 2.2835797e-05 XPDR_VALID 3

D_CALL 0 N_GPS 20 SEABIRD_T_J 2.3805812e-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 071213,102421,-4255.503,836.385,23,1.6,39,-25.1 TGT_NAME SAZ

_CALLS 1 TGT_LATLONG -4300.000,830.000

_XMS_NAKs 0 TGT_RADIUS 500.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.89 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 071213,103159,-4255.507,836.463,17,0.9,17,-25.1 MHEAD_RNG_PITCHd_Wd 251.6,12077,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.026140 _10V_AH 10.1,5.032

SM_CCo 14790,3.22,0.522,0,0,1616,210.22 FG_AHR_24Vo 0.000

SM_GC 1.66,0.00,0.00,3.22,0.000,0.000,0.522,64,3311,1616,-5.08,0.03,210.22 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4239.11,838.96,071213,010129 MEM 355184

TT8_MAMPS 0.026215 DATA_FILE_SIZE 70264,1069

HUMID 61.65 CAP_FILE_SIZE 135158,0

INTERNAL_PRESSURE 9.56208 CFSIZE 259252224,255512576

TCM_TEMP 14.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 071213,144022,-4255.619,835.412,52,0.9,53,-25.1

_24V_AH 22.5,7.474

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 239 66.00 SBE_CT 740 24 400.02

Roll_motor 61 88 122.34 AA4330 1822 33 1353.13

VBD_pump_during_apogee 305 1910 13127.05 WL_BB2F 716 105 1691.96

VBD_pump_during_surface 3 522 37.91 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 71.21 nil 0 0 0.00

Iridium_during_connect 20 160 73.97 nil 0 0 0.00

Iridium_during_xfer 298 223 1496.74 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 26 5.42

TT8 2668 14 403.22

LPSleep 9030 2 199.75

TT8_Active 385 14 55.34

TT8_Sampling 3021 37 1142.44

TT8_CF8 146 47 69.60

TT8_Kalman 0 0 0.00

Analog_circuits 1480 12 179.43

GPS_charging 0 0 0.00

Compass 2551 15 405.43

RAFOS 0 0 0.00

Transponder 1 5 0.05

Guidance and control:

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

14 -0.47 -146.1 0.0 0.0 0 66 0.00 0.00 -49.08 0.000 2 0.000 0.000 64 3319 2791 0 0 0 0 0 0

68 -0.47 -146.1 3.3 -4.1 6 86 5.97 1.05 -6.90 0.000 4 0.239 0.089 1525 3952 3072 0 0 0 0 0 0

260 -0.47 -146.1 47.2 -21.0 38 266 0.00 0.98 0.00 0.000 6 0.000 0.037 1525 3314 3076 0 0 0 0 0 0

606 -0.47 -146.1 107.4 -16.7 95 609 0.00 1.02 0.00 0.000 4 0.000 0.063 1520 3952 3078 0 0 0 0 0 0

824 -0.47 -146.1 148.3 -18.7 114 832 0.00 1.00 0.00 0.000 6 0.000 0.036 1520 3301 3078 0 0 0 0 0 0

1153 -0.47 -146.1 204.5 -17.4 145 1156 0.00 1.02 0.00 0.000 4 0.000 0.061 1515 3941 3079 0 0 0 0 0 0

1411 -0.47 -146.1 253.0 -18.9 168 1415 0.00 0.95 0.00 0.000 6 0.000 0.036 1516 3310 3079 0 0 0 0 0 0

1741 -0.47 -146.1 309.9 -16.4 199 1745 0.00 1.02 0.00 0.000 4 0.000 0.063 1511 3939 3079 0 0 0 0 0 0

2001 -0.47 -146.1 356.2 -17.9 222 2005 0.00 0.95 0.00 0.000 6 0.000 0.037 1511 3310 3079 0 0 0 0 0 0

2340 -0.47 -146.1 411.6 -16.3 251 2343 0.00 1.05 0.00 0.000 4 0.000 0.063 1506 3953 3079 0 0 0 0 0 0

2591 -0.47 -146.1 457.0 -18.4 262 2596 0.12 1.00 0.00 0.000 6 0.185 0.037 1537 3300 3079 0 0 0 0 0 0

2918 -0.47 -146.1 502.0 -13.9 278 2922 0.00 1.02 0.00 0.000 4 0.000 0.063 1533 3938 3079 0 0 0 0 0 0

3076 -0.47 -146.1 525.2 -14.6 285 3080 0.00 0.95 0.00 0.000 6 0.000 0.039 1533 3313 3079 0 0 0 0 0 0

3408 -0.47 -146.1 571.0 -13.5 301 3412 0.00 1.00 0.00 0.000 4 0.000 0.064 1529 3939 3079 0 0 0 0 0 0

3591 -0.47 -146.1 598.7 -14.4 309 3596 0.00 0.98 0.00 0.000 6 0.000 0.039 1529 3306 3079 0 0 0 0 0 0

3919 -0.47 -146.1 644.6 -14.0 325 3922 0.00 1.02 0.00 0.000 4 0.000 0.065 1524 3948 3078 0 0 0 0 0 0

4175 -0.47 -146.1 682.3 -14.7 336 4180 0.00 1.00 0.00 0.000 6 0.000 0.040 1524 3299 3078 0 0 0 0 0 0

4497 -0.47 -146.1 726.5 -13.9 352 4501 0.00 1.02 0.00 0.000 4 0.000 0.066 1520 3938 3076 0 0 0 0 0 0

4635 -0.47 -146.1 747.5 -14.6 358 4640 0.00 0.98 0.00 0.000 6 0.000 0.039 1520 3309 3076 0 0 0 0 0 0

4964 -0.47 -146.1 793.3 -13.9 374 4967 0.00 1.02 0.00 0.000 4 0.000 0.066 1515 3952 3076 0 0 0 0 0 0

5091 -0.47 -146.1 812.3 -14.3 379 5098 0.00 1.00 0.00 0.000 6 0.000 0.039 1515 3302 3076 0 0 0 0 0 0

5409 -0.47 -146.1 855.4 -13.5 395 5412 0.00 1.02 0.00 0.000 4 0.000 0.065 1510 3944 3075 0 0 0 0 0 0

5636 -0.47 -146.1 888.7 -14.4 405 5641 0.00 0.98 0.00 0.000 6 0.000 0.040 1510 3311 3074 0 0 0 0 0 0

5964 -0.47 -146.1 930.2 -12.8 421 5967 0.00 1.00 0.00 0.000 4 0.000 0.066 1505 3936 3074 0 0 0 0 0 0

6102 -0.47 -146.1 949.8 -13.8 427 6108 0.12 0.98 0.00 0.000 6 0.186 0.040 1536 3307 3073 0 0 0 0 0 0

6432 -0.47 -146.1 982.4 -9.9 443 6435 0.00 1.02 0.00 0.000 4 0.000 0.067 1532 3948 3073 0 0 0 0 0 0

6501 end dive: TARGET_DEPTH_EXCEEDED

state 6502 begin apogee

6507 -0.11 0.0 990.2 10.4 446 6651 0.35 0.00 140.82 1.910 6 0.146 0.000 1644 3154 2473 0 0 0 0 0 0

6651 end apogee: CONTROL_FINISHED_OK

state 6652 begin climb

6653 0.47 146.1 994.0 0.0 453 6805 0.62 2.45 143.77 1.854 4 0.109 0.037 1846 1777 1877 0 0 0 0 0 0

6899 0.47 146.1 973.0 11.3 464 6904 0.00 2.45 0.00 0.000 6 0.000 0.054 1846 3168 1872 0 0 0 0 0 0

7221 0.47 146.1 933.2 12.2 480 7225 0.00 2.25 0.00 0.000 4 0.000 0.039 1856 1773 1866 0 0 0 0 0 0

7263 0.47 146.1 928.1 11.1 482 7268 0.00 2.38 0.00 0.000 6 0.000 0.056 1857 3175 1865 0 0 0 0 0 0

7592 0.47 146.1 884.4 13.5 498 7593 0.00 0.00 0.00 0.000 6 0.000 0.000 1856 3175 1864 0 0 0 0 0 0

7900 0.47 146.1 844.7 12.7 513 7901 0.00 0.00 0.00 0.000 6 0.000 0.000 1857 3175 1864 0 0 0 0 0 0

8209 0.47 146.1 805.7 12.8 528 8210 0.00 0.00 0.00 0.000 6 0.000 0.000 1856 3175 1862 0 0 0 0 0 0

8519 0.47 146.1 766.3 12.8 543 8523 0.00 2.20 0.00 0.000 4 0.000 0.043 1867 1773 1862 0 0 0 0 0 0

8573 0.47 146.1 759.8 10.7 545 8581 0.00 2.30 0.00 0.000 6 0.000 0.059 1867 3167 1861 0 0 0 0 0 0

8889 0.47 146.1 716.6 13.7 561 8893 0.00 2.20 0.00 0.000 4 0.000 0.043 1878 1768 1860 0 0 0 0 0 0

8928 0.47 146.1 711.7 12.4 563 8933 0.12 2.30 0.00 0.000 6 0.184 0.059 1848 3180 1860 0 0 0 0 0 0

9256 0.47 146.1 672.6 11.8 579 9257 0.00 0.00 0.00 0.000 6 0.000 0.000 1848 3180 1860 0 0 0 0 0 0

9564 0.47 146.1 635.9 12.0 594 9567 0.00 1.25 0.00 0.000 4 0.000 0.066 1848 3950 1860 0 0 0 0 0 0

9617 0.47 146.1 628.6 14.6 596 9622 0.00 1.23 0.00 0.000 6 0.000 0.041 1852 3167 1859 0 0 0 0 0 0

9940 0.47 146.1 589.0 12.4 612 9944 0.00 1.25 0.00 0.000 4 0.000 0.065 1852 3935 1860 0 0 0 0 0 0

9978 0.47 146.1 583.8 13.5 613 9986 0.00 1.20 0.00 0.000 6 0.000 0.041 1857 3169 1859 0 0 0 0 0 0

10294 0.47 146.1 542.7 13.2 629 10295 0.00 0.00 0.00 0.000 6 0.000 0.000 1857 3169 1859 0 0 0 0 0 0

10603 0.47 146.1 503.9 12.1 644 10604 0.00 0.00 0.00 0.000 6 0.000 0.000 1857 3169 1859 0 0 0 0 0 0

10913 0.47 146.1 466.4 12.3 659 10914 0.00 0.00 0.00 0.000 6 0.000 0.000 1857 3169 1859 0 0 0 0 0 0

11222 0.47 146.1 428.8 12.3 674 11226 0.00 2.17 0.00 0.000 4 0.000 0.041 1869 1766 1859 0 0 0 0 0 0

11265 0.47 146.1 423.8 11.0 676 11270 0.00 2.28 0.00 0.000 6 0.000 0.055 1868 3168 1858 0 0 0 0 0 0

11588 0.47 146.1 381.2 13.7 697 11589 0.00 0.00 0.00 0.000 6 0.000 0.000 1869 3167 1858 0 0 0 0 0 0

11904 0.47 146.1 336.9 14.3 727 11905 0.00 0.00 0.00 0.000 6 0.000 0.000 1869 3167 1858 0 0 0 0 0 0

12225 0.47 146.1 291.8 14.3 757 12226 0.00 0.00 0.00 0.000 6 0.000 0.000 1869 3167 1858 0 0 0 0 0 0

12541 0.47 146.1 246.7 13.7 787 12542 0.00 0.00 0.00 0.000 6 0.000 0.000 1869 3167 1858 0 0 0 0 0 0

12862 0.47 146.1 204.1 13.0 817 12865 0.00 1.25 0.00 0.000 4 0.000 0.063 1869 3950 1858 0 0 0 0 0 0

12944 0.47 146.1 191.2 15.2 824 12955 0.12 1.23 0.00 0.000 6 0.200 0.039 1845 3154 1858 0 0 0 0 0 0

13269 0.47 146.2 156.5 10.0 855 13270 0.00 0.00 0.00 0.000 6 0.000 0.000 1845 3154 1858 0 0 0 0 0 0

13591 0.47 146.2 123.3 10.4 885 13592 0.00 0.00 0.00 0.000 6 0.000 0.000 1845 3154 1857 0 0 0 0 0 0

13914 0.48 158.7 91.4 9.4 922 13923 0.00 2.17 3.42 0.805 4 0.000 0.039 1854 1769 1824 0 0 0 0 0 0

13953 0.50 199.7 87.9 8.1 928 13980 0.00 2.25 17.40 1.099 6 0.000 0.055 1854 3185 1657 0 0 0 0 0 0

14321 0.50 199.7 48.8 10.1 992 14327 0.00 0.00 0.00 0.000 6 0.000 0.000 1854 3185 1653 0 0 0 0 0 0

14676 0.50 199.7 10.6 10.9 1053 14684 0.00 0.00 0.00 0.000 6 0.000 0.000 1854 3185 1653 0 0 0 0 0 0

14733 0.50 199.7 4.4 10.7 1062 14741 0.00 0.00 0.00 0.000 6 0.000 0.000 1855 3185 1653 0 0 0 0 0 0

14747 end climb: SURFACE_DEPTH_REACHED

state 14748 begin surface coast

14779 end surface coast: CONTROL_FINISHED_OK

state 14779 begin surface

ID	543	HEADING	-1	ROLL_MAX	3944	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	9	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	1050
DIVE	39	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	3310	ALTIM_PING_DELTA	15
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	3170	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-4300	HEAD_ERRBAND	15	ALTIM_PULSE	4
D_TGT	990	TGT_DEFAULT_LON	-800	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1020	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	3
D_NO_BLEED	200	SM_CC	210	R_PORT_OVSHOOT	45	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	24	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.050000001
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	KERMIT	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	507	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	101
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2474	DEVICE3	35
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_DIVE	330	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	370	CAPUPLOAD	0	VBD_TIMEOUT	800	DEVICE6	-1
T_ABORT	720	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00061500003	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	60	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-12518.673	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	1	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	86	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3908	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1690	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043512532
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-59.073162	SEABIRD_T_H	0.00062429422
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011638312	SEABIRD_T_I	2.2835797e-05
RHO	1.027	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.3805812e-06
MASS	52459	PITCH_GAIN	46	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.305622
NAV_MODE	1	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1763667
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.0018977363
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00023287861
HD_A	0.003	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	20
HD_C	9.9999997e-06	ROLL_MIN	394	ALTIM_TOP_TURN_MARGIN	0

GPS1	071213,102421,-4255.503,836.385,23,1.6,39,-25.1	TGT_NAME	SAZ
_CALLS	1	TGT_LATLONG	-4300.000,830.000
_XMS_NAKs	0	TGT_RADIUS	500.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.89	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	071213,103159,-4255.507,836.463,17,0.9,17,-25.1	MHEAD_RNG_PITCHd_Wd	251.6,12077,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	990

FINISH	0.7,1.026140	_10V_AH	10.1,5.032
SM_CCo	14790,3.22,0.522,0,0,1616,210.22	FG_AHR_24Vo	0.000
SM_GC	1.66,0.00,0.00,3.22,0.000,0.000,0.522,64,3311,1616,-5.08,0.03,210.22	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4239.11,838.96,071213,010129	MEM	355184
TT8_MAMPS	0.026215	DATA_FILE_SIZE	70264,1069
HUMID	61.65	CAP_FILE_SIZE	135158,0
INTERNAL_PRESSURE	9.56208	CFSIZE	259252224,255512576
TCM_TEMP	14.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	071213,144022,-4255.619,835.412,52,0.9,53,-25.1
_24V_AH	22.5,7.474

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	239	66.00	SBE_CT	740	24	400.02
Roll_motor	61	88	122.34	AA4330	1822	33	1353.13
VBD_pump_during_apogee	305	1910	13127.05	WL_BB2F	716	105	1691.96
VBD_pump_during_surface	3	522	37.91	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	71.21	nil	0	0	0.00
Iridium_during_connect	20	160	73.97	nil	0	0	0.00
Iridium_during_xfer	298	223	1496.74	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	26	5.42
TT8	2668	14	403.22
LPSleep	9030	2	199.75
TT8_Active	385	14	55.34
TT8_Sampling	3021	37	1142.44
TT8_CF8	146	47	69.60
TT8_Kalman	0	0	0.00
Analog_circuits	1480	12	179.43
GPS_charging	0	0	0.00
Compass	2551	15	405.43
RAFOS	0	0	0.00
Transponder	1	5	0.05

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
14	-0.47	-146.1	0.0	0.0	0	66	0.00	0.00	-49.08	0.000	2	0.000	0.000	64	3319	2791	0	0	0	0	0	0
68	-0.47	-146.1	3.3	-4.1	6	86	5.97	1.05	-6.90	0.000	4	0.239	0.089	1525	3952	3072	0	0	0	0	0	0
260	-0.47	-146.1	47.2	-21.0	38	266	0.00	0.98	0.00	0.000	6	0.000	0.037	1525	3314	3076	0	0	0	0	0	0
606	-0.47	-146.1	107.4	-16.7	95	609	0.00	1.02	0.00	0.000	4	0.000	0.063	1520	3952	3078	0	0	0	0	0	0
824	-0.47	-146.1	148.3	-18.7	114	832	0.00	1.00	0.00	0.000	6	0.000	0.036	1520	3301	3078	0	0	0	0	0	0
1153	-0.47	-146.1	204.5	-17.4	145	1156	0.00	1.02	0.00	0.000	4	0.000	0.061	1515	3941	3079	0	0	0	0	0	0
1411	-0.47	-146.1	253.0	-18.9	168	1415	0.00	0.95	0.00	0.000	6	0.000	0.036	1516	3310	3079	0	0	0	0	0	0
1741	-0.47	-146.1	309.9	-16.4	199	1745	0.00	1.02	0.00	0.000	4	0.000	0.063	1511	3939	3079	0	0	0	0	0	0
2001	-0.47	-146.1	356.2	-17.9	222	2005	0.00	0.95	0.00	0.000	6	0.000	0.037	1511	3310	3079	0	0	0	0	0	0
2340	-0.47	-146.1	411.6	-16.3	251	2343	0.00	1.05	0.00	0.000	4	0.000	0.063	1506	3953	3079	0	0	0	0	0	0
2591	-0.47	-146.1	457.0	-18.4	262	2596	0.12	1.00	0.00	0.000	6	0.185	0.037	1537	3300	3079	0	0	0	0	0	0
2918	-0.47	-146.1	502.0	-13.9	278	2922	0.00	1.02	0.00	0.000	4	0.000	0.063	1533	3938	3079	0	0	0	0	0	0
3076	-0.47	-146.1	525.2	-14.6	285	3080	0.00	0.95	0.00	0.000	6	0.000	0.039	1533	3313	3079	0	0	0	0	0	0
3408	-0.47	-146.1	571.0	-13.5	301	3412	0.00	1.00	0.00	0.000	4	0.000	0.064	1529	3939	3079	0	0	0	0	0	0
3591	-0.47	-146.1	598.7	-14.4	309	3596	0.00	0.98	0.00	0.000	6	0.000	0.039	1529	3306	3079	0	0	0	0	0	0
3919	-0.47	-146.1	644.6	-14.0	325	3922	0.00	1.02	0.00	0.000	4	0.000	0.065	1524	3948	3078	0	0	0	0	0	0
4175	-0.47	-146.1	682.3	-14.7	336	4180	0.00	1.00	0.00	0.000	6	0.000	0.040	1524	3299	3078	0	0	0	0	0	0
4497	-0.47	-146.1	726.5	-13.9	352	4501	0.00	1.02	0.00	0.000	4	0.000	0.066	1520	3938	3076	0	0	0	0	0	0
4635	-0.47	-146.1	747.5	-14.6	358	4640	0.00	0.98	0.00	0.000	6	0.000	0.039	1520	3309	3076	0	0	0	0	0	0
4964	-0.47	-146.1	793.3	-13.9	374	4967	0.00	1.02	0.00	0.000	4	0.000	0.066	1515	3952	3076	0	0	0	0	0	0
5091	-0.47	-146.1	812.3	-14.3	379	5098	0.00	1.00	0.00	0.000	6	0.000	0.039	1515	3302	3076	0	0	0	0	0	0
5409	-0.47	-146.1	855.4	-13.5	395	5412	0.00	1.02	0.00	0.000	4	0.000	0.065	1510	3944	3075	0	0	0	0	0	0
5636	-0.47	-146.1	888.7	-14.4	405	5641	0.00	0.98	0.00	0.000	6	0.000	0.040	1510	3311	3074	0	0	0	0	0	0
5964	-0.47	-146.1	930.2	-12.8	421	5967	0.00	1.00	0.00	0.000	4	0.000	0.066	1505	3936	3074	0	0	0	0	0	0
6102	-0.47	-146.1	949.8	-13.8	427	6108	0.12	0.98	0.00	0.000	6	0.186	0.040	1536	3307	3073	0	0	0	0	0	0
6432	-0.47	-146.1	982.4	-9.9	443	6435	0.00	1.02	0.00	0.000	4	0.000	0.067	1532	3948	3073	0	0	0	0	0	0
6501	end dive: TARGET_DEPTH_EXCEEDED
state	6502	begin apogee
6507	-0.11	0.0	990.2	10.4	446	6651	0.35	0.00	140.82	1.910	6	0.146	0.000	1644	3154	2473	0	0	0	0	0	0
6651	end apogee: CONTROL_FINISHED_OK
state	6652	begin climb
6653	0.47	146.1	994.0	0.0	453	6805	0.62	2.45	143.77	1.854	4	0.109	0.037	1846	1777	1877	0	0	0	0	0	0
6899	0.47	146.1	973.0	11.3	464	6904	0.00	2.45	0.00	0.000	6	0.000	0.054	1846	3168	1872	0	0	0	0	0	0
7221	0.47	146.1	933.2	12.2	480	7225	0.00	2.25	0.00	0.000	4	0.000	0.039	1856	1773	1866	0	0	0	0	0	0
7263	0.47	146.1	928.1	11.1	482	7268	0.00	2.38	0.00	0.000	6	0.000	0.056	1857	3175	1865	0	0	0	0	0	0
7592	0.47	146.1	884.4	13.5	498	7593	0.00	0.00	0.00	0.000	6	0.000	0.000	1856	3175	1864	0	0	0	0	0	0
7900	0.47	146.1	844.7	12.7	513	7901	0.00	0.00	0.00	0.000	6	0.000	0.000	1857	3175	1864	0	0	0	0	0	0
8209	0.47	146.1	805.7	12.8	528	8210	0.00	0.00	0.00	0.000	6	0.000	0.000	1856	3175	1862	0	0	0	0	0	0
8519	0.47	146.1	766.3	12.8	543	8523	0.00	2.20	0.00	0.000	4	0.000	0.043	1867	1773	1862	0	0	0	0	0	0
8573	0.47	146.1	759.8	10.7	545	8581	0.00	2.30	0.00	0.000	6	0.000	0.059	1867	3167	1861	0	0	0	0	0	0
8889	0.47	146.1	716.6	13.7	561	8893	0.00	2.20	0.00	0.000	4	0.000	0.043	1878	1768	1860	0	0	0	0	0	0
8928	0.47	146.1	711.7	12.4	563	8933	0.12	2.30	0.00	0.000	6	0.184	0.059	1848	3180	1860	0	0	0	0	0	0
9256	0.47	146.1	672.6	11.8	579	9257	0.00	0.00	0.00	0.000	6	0.000	0.000	1848	3180	1860	0	0	0	0	0	0
9564	0.47	146.1	635.9	12.0	594	9567	0.00	1.25	0.00	0.000	4	0.000	0.066	1848	3950	1860	0	0	0	0	0	0
9617	0.47	146.1	628.6	14.6	596	9622	0.00	1.23	0.00	0.000	6	0.000	0.041	1852	3167	1859	0	0	0	0	0	0
9940	0.47	146.1	589.0	12.4	612	9944	0.00	1.25	0.00	0.000	4	0.000	0.065	1852	3935	1860	0	0	0	0	0	0
9978	0.47	146.1	583.8	13.5	613	9986	0.00	1.20	0.00	0.000	6	0.000	0.041	1857	3169	1859	0	0	0	0	0	0
10294	0.47	146.1	542.7	13.2	629	10295	0.00	0.00	0.00	0.000	6	0.000	0.000	1857	3169	1859	0	0	0	0	0	0
10603	0.47	146.1	503.9	12.1	644	10604	0.00	0.00	0.00	0.000	6	0.000	0.000	1857	3169	1859	0	0	0	0	0	0
10913	0.47	146.1	466.4	12.3	659	10914	0.00	0.00	0.00	0.000	6	0.000	0.000	1857	3169	1859	0	0	0	0	0	0
11222	0.47	146.1	428.8	12.3	674	11226	0.00	2.17	0.00	0.000	4	0.000	0.041	1869	1766	1859	0	0	0	0	0	0
11265	0.47	146.1	423.8	11.0	676	11270	0.00	2.28	0.00	0.000	6	0.000	0.055	1868	3168	1858	0	0	0	0	0	0
11588	0.47	146.1	381.2	13.7	697	11589	0.00	0.00	0.00	0.000	6	0.000	0.000	1869	3167	1858	0	0	0	0	0	0
11904	0.47	146.1	336.9	14.3	727	11905	0.00	0.00	0.00	0.000	6	0.000	0.000	1869	3167	1858	0	0	0	0	0	0
12225	0.47	146.1	291.8	14.3	757	12226	0.00	0.00	0.00	0.000	6	0.000	0.000	1869	3167	1858	0	0	0	0	0	0
12541	0.47	146.1	246.7	13.7	787	12542	0.00	0.00	0.00	0.000	6	0.000	0.000	1869	3167	1858	0	0	0	0	0	0
12862	0.47	146.1	204.1	13.0	817	12865	0.00	1.25	0.00	0.000	4	0.000	0.063	1869	3950	1858	0	0	0	0	0	0
12944	0.47	146.1	191.2	15.2	824	12955	0.12	1.23	0.00	0.000	6	0.200	0.039	1845	3154	1858	0	0	0	0	0	0
13269	0.47	146.2	156.5	10.0	855	13270	0.00	0.00	0.00	0.000	6	0.000	0.000	1845	3154	1858	0	0	0	0	0	0
13591	0.47	146.2	123.3	10.4	885	13592	0.00	0.00	0.00	0.000	6	0.000	0.000	1845	3154	1857	0	0	0	0	0	0
13914	0.48	158.7	91.4	9.4	922	13923	0.00	2.17	3.42	0.805	4	0.000	0.039	1854	1769	1824	0	0	0	0	0	0
13953	0.50	199.7	87.9	8.1	928	13980	0.00	2.25	17.40	1.099	6	0.000	0.055	1854	3185	1657	0	0	0	0	0	0
14321	0.50	199.7	48.8	10.1	992	14327	0.00	0.00	0.00	0.000	6	0.000	0.000	1854	3185	1653	0	0	0	0	0	0
14676	0.50	199.7	10.6	10.9	1053	14684	0.00	0.00	0.00	0.000	6	0.000	0.000	1854	3185	1653	0	0	0	0	0	0
14733	0.50	199.7	4.4	10.7	1062	14741	0.00	0.00	0.00	0.000	6	0.000	0.000	1855	3185	1653	0	0	0	0	0	0
14747	end climb: SURFACE_DEPTH_REACHED
state	14748	begin surface coast
14779	end surface coast: CONTROL_FINISHED_OK
state	14779	begin surface