Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 46 * 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 46 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2930 ALTIM_PING_DELTA 5

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2710 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -56 HEAD_ERRBAND 15 ALTIM_PULSE 3

D_TGT 1000 TGT_DEFAULT_LON 0.1 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 2

D_NO_BLEED 500 SM_CC 200 R_PORT_OVSHOOT 24 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 24 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 2.49

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 KERMIT 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 480 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3961 DEVICE2 101

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2342 DEVICE3 35

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 134

T_DIVE 350 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 365 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00079999998 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 60 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -21808.635 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 1 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -7 PITCH_MIN 73 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3888 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1790 PHONE_SUPPLY 2 SEABIRD_T_G 0.0042910837

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -53.02364 SEABIRD_T_H 0.00061853422

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011816985 SEABIRD_T_I 2.1182957e-05

RHO 1.027 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.0754619e-06

MASS 53031 PITCH_GAIN 53 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.7625904

NAV_MODE 1 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1369455

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.0017508121

KALMAN_USE 1 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021125977

HD_A 0.00251332 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.0127788 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 10

HD_C 1.44018e-06 ROLL_MIN 335 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 500 PHONE_DEVICE 48 SM_CC 200

AH0_10V 100 D_OFFGRID 250 PHONE_SUPPLY 2 SPEED_FACTOR 1

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_TGT 1000 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 53 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3888 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -56

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 73 TGT_DEFAULT_LON 0.1

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 16 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00079999998 T_BOOST 0

APOGEE_PITCH -7 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011816985 T_DIVE 350

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -53.02364 T_GPS 15

CALL_TRIES 5 HD_A 0.00251332 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0127788 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -21808.635

CAPMAXSIZE 100000 HD_C 1.44018e-06 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 365

CF8_MAXERRORS 20 HEAD_ERRBAND 15 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 RELAUNCH 1 T_RSLEEP 1

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RHO 1.027 T_TURN 225

COMPASS_DEVICE 33 ID 542 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_YINT 2.49 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_PITCH 1790 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2710 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 2930 LOGGERDEVICE1 -1 ROLL_MAX 3901 USE_ICE 0

C_VBD 2342 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_MIN 335 VBD_CNV -0.245296

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 24 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 24 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 46 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 181214,125058,-5600.499,-31.454,55,0.8,55,-19.9 TGT_NAME TARGET

_CALLS 3 TGT_LATLONG -5600.000,-30.000

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.006,-0.165

_SM_DEPTHo 1.74 KALMAN_X 21379.2,145.3,-58.6,-53776.4,1175.3

_SM_ANGLEo -59.1 KALMAN_Y 39927.2,-55.4,-65.6,-40122.6,4018.2

GPS2 181214,130435,-5600.345,-31.268,19,1.5,19,-19.9 MHEAD_RNG_PITCHd_Wd 197.7,1460,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.1,1.027213 _10V_AH 10.0,10.428

SM_CCo 12199,23.27,0.189,0,0,1525,200.16 FG_AHR_24Vo 0.000

SM_GC 2.32,0.00,0.00,23.27,0.000,0.000,0.189,57,2938,1525,-5.41,0.23,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5538.94,-30.80,181214,121216 MEM 354000

TT8_MAMPS 0.026215 DATA_FILE_SIZE 53636,783

HUMID 55.27 CAP_FILE_SIZE 116895,0

INTERNAL_PRESSURE 8.95509 CFSIZE 259252224,223444992

TCM_TEMP 7.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 181214,163022,-5601.210,-30.813,21,0.8,35,-19.9

_24V_AH 21.6,15.944

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 260 76.35 SBE_CT 556 23 288.04

Roll_motor 95 87 181.66 AA4330 1616 17 627.96

VBD_pump_during_apogee 265 1801 10335.56 WL_BB2F 759 105 1721.99

VBD_pump_during_surface 23 188 95.00 QSP2150 780 17 303.01

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 78 91 155.29 nil 0 0 0.00

Iridium_during_connect 182 160 631.34 nil 0 0 0.00

Iridium_during_xfer 314 223 1517.18 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 6.70

TT8 1985 14 287.16

LPSleep 7916 2 173.37

TT8_Active 421 14 60.89

TT8_Sampling 2571 42 1084.21

TT8_CF8 141 49 70.17

TT8_Kalman 33 68 22.81

Analog_circuits 1235 15 191.47

GPS_charging 0 0 0.00

Compass 1850 16 304.95

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

14 -0.54 -73.9 0.0 0.0 0 67 0.00 0.00 -50.38 0.000 2 0.000 0.000 54 2943 2527 0 0 0 0 0 0

69 -0.60 -138.2 3.1 -4.0 6 95 6.47 1.62 -12.00 0.000 4 0.261 0.088 1584 3905 2907 0 0 0 0 0 0

220 -0.60 -138.2 31.9 -19.7 29 227 0.00 1.62 0.00 0.000 6 0.000 0.039 1591 2896 2909 0 0 0 0 0 0

333 -0.60 -138.2 55.2 -21.1 48 341 0.00 0.00 0.00 0.000 6 0.000 0.000 1591 2896 2909 0 0 0 0 0 0

449 -0.60 -138.2 77.7 -20.0 67 456 0.00 1.70 0.00 0.000 4 0.000 0.066 1583 3893 2909 0 0 0 0 0 0

504 -0.60 -138.2 89.2 -20.2 76 511 0.00 1.52 0.00 0.000 6 0.000 0.038 1588 2931 2910 0 0 0 0 0 0

733 -0.60 -138.2 133.9 -19.3 102 734 0.00 0.00 0.00 0.000 6 0.000 0.000 1588 2930 2910 0 0 0 0 0 0

1053 -0.60 -138.2 191.4 -18.2 132 1057 0.00 1.65 0.00 0.000 4 0.000 0.067 1581 3895 2909 0 0 0 0 0 0

1103 -0.60 -138.2 201.1 -18.4 136 1114 0.00 1.55 0.00 0.000 6 0.000 0.037 1581 2918 2910 0 0 0 0 0 0

1429 -0.60 -138.2 257.7 -17.3 165 1433 0.00 1.65 0.00 0.000 4 0.000 0.066 1574 3916 2910 0 0 0 0 0 0

1461 -0.60 -138.2 263.9 -18.1 166 1466 0.00 1.58 0.00 0.000 6 0.000 0.037 1574 2929 2910 0 0 0 0 0 0

1783 -0.60 -138.2 317.5 -16.2 182 1786 0.00 1.62 0.00 0.000 4 0.000 0.067 1566 3895 2910 0 0 0 0 0 0

1843 -0.60 -138.2 328.0 -16.9 184 1854 0.08 1.52 0.00 0.000 6 0.189 0.037 1588 2927 2910 0 0 0 0 0 0

2161 -0.60 -138.2 371.5 -13.4 200 2164 0.00 1.62 0.00 0.000 4 0.000 0.067 1581 3899 2910 0 0 0 0 0 0

2210 -0.60 -138.2 379.1 -14.2 202 2215 0.00 1.52 0.00 0.000 6 0.000 0.037 1581 2926 2910 0 0 0 0 0 0

2537 -0.60 -138.2 423.7 -13.5 218 2538 0.00 0.00 0.00 0.000 6 0.000 0.000 1581 2922 2910 0 0 0 0 0 0

2847 -0.60 -138.2 466.1 -13.6 233 2850 0.00 1.62 0.00 0.000 4 0.000 0.066 1574 3896 2909 0 0 0 0 0 0

2914 -0.60 -138.2 476.0 -14.6 236 2918 0.00 1.50 0.00 0.000 6 0.000 0.037 1574 2932 2910 0 0 0 0 0 0

3246 -0.60 -138.2 523.2 -14.1 252 3250 0.00 1.60 0.00 0.000 4 0.000 0.067 1566 3890 2911 0 0 0 0 0 0

3302 -0.60 -138.2 531.7 -15.8 254 3306 0.08 1.50 0.00 0.000 6 0.192 0.037 1588 2929 2911 0 0 0 0 0 0

3622 -0.60 -138.2 572.9 -12.8 270 3626 0.00 1.60 0.00 0.000 4 0.000 0.065 1580 3894 2911 0 0 0 0 0 0

3648 -0.60 -138.2 576.8 -14.0 271 3654 0.00 1.52 0.00 0.000 6 0.000 0.035 1581 2922 2911 0 0 0 0 0 0

3977 -0.60 -138.2 619.0 -13.0 287 3981 0.00 1.62 0.00 0.000 4 0.000 0.065 1573 3900 2911 0 0 0 0 0 0

4008 -0.60 -138.2 623.8 -14.3 288 4013 0.00 1.52 0.00 0.000 6 0.000 0.036 1573 2926 2910 0 0 0 0 0 0

4330 -0.60 -138.2 667.9 -13.9 304 4334 0.00 1.62 0.00 0.000 4 0.000 0.066 1566 3903 2911 0 0 0 0 0 0

4368 -0.60 -138.2 673.8 -15.4 305 4376 0.08 1.50 0.00 0.000 6 0.195 0.036 1588 2941 2911 0 0 0 0 0 0

4685 -0.60 -138.2 714.6 -12.8 321 4686 0.00 0.00 0.00 0.000 6 0.000 0.000 1588 2941 2910 0 0 0 0 0 0

4993 -0.60 -138.2 754.0 -13.0 336 4994 0.00 0.00 0.00 0.000 6 0.000 0.000 1588 2941 2911 0 0 0 0 0 0

5303 -0.60 -138.2 794.4 -13.3 351 5307 0.00 1.58 0.00 0.000 4 0.000 0.066 1581 3895 2911 0 0 0 0 0 0

5329 -0.60 -138.2 798.6 -14.7 352 5334 0.00 1.52 0.00 0.000 6 0.000 0.036 1581 2920 2911 0 0 0 0 0 0

5657 -0.60 -138.2 844.7 -13.9 368 5660 0.00 1.62 0.00 0.000 4 0.000 0.065 1574 3903 2911 0 0 0 0 0 0

5713 -0.60 -138.2 853.5 -15.7 370 5717 0.00 1.50 0.00 0.000 6 0.000 0.037 1574 2934 2911 0 0 0 0 0 0

6034 -0.60 -138.2 901.5 -14.9 386 6035 0.00 0.00 0.00 0.000 6 0.000 0.000 1574 2932 2911 0 0 0 0 0 0

6343 -0.60 -138.2 947.1 -14.7 401 6347 0.00 1.60 0.00 0.000 4 0.000 0.067 1566 3899 2911 0 0 0 0 0 0

6388 -0.60 -138.2 954.2 -15.8 403 6393 0.08 1.50 0.00 0.000 6 0.191 0.037 1588 2936 2911 0 0 0 0 0 0

6720 -0.60 -138.2 999.6 -13.5 419 6721 0.00 0.00 0.00 0.000 6 0.000 0.000 1588 2936 2910 0 0 0 0 0 0

6740 end dive: TARGET_DEPTH_EXCEEDED

state 6740 begin apogee

6744 -0.13 0.0 1002.4 13.4 420 6874 0.50 0.00 127.20 1.802 6 0.171 0.000 1738 2707 2341 0 0 0 0 0 0

6875 end apogee: CONTROL_FINISHED_OK

state 6875 begin climb

6876 0.60 138.2 1007.6 0.0 426 7022 0.77 0.00 138.40 1.761 6 0.126 0.000 1969 2707 1778 0 0 0 0 0 0

7329 0.60 138.2 940.1 17.2 448 7333 0.00 2.08 0.00 0.000 4 0.000 0.062 1968 3897 1769 0 0 0 0 0 0

7367 0.60 138.2 932.7 18.8 449 7375 0.00 2.00 0.00 0.000 6 0.000 0.038 1978 2725 1767 0 0 0 0 0 0

7683 0.60 138.2 875.6 18.1 465 7684 0.00 0.00 0.00 0.000 6 0.000 0.000 1978 2725 1767 0 0 0 0 0 0

7993 0.60 138.2 819.8 18.3 480 7997 0.00 2.00 0.00 0.000 4 0.000 0.062 1978 3904 1765 0 0 0 0 0 0

8061 0.60 138.2 806.3 20.2 483 8065 0.00 1.95 0.00 0.000 6 0.000 0.040 1988 2708 1764 0 0 0 0 0 0

8393 0.60 138.2 742.8 19.3 499 8397 0.00 1.98 0.00 0.000 4 0.000 0.062 1988 3899 1764 0 0 0 0 0 0

8416 0.60 138.2 738.3 19.8 500 8420 0.00 1.92 0.00 0.000 6 0.000 0.040 1997 2705 1763 0 0 0 0 0 0

8747 0.60 138.2 670.1 21.0 516 8751 0.00 2.00 0.00 0.000 4 0.000 0.061 1997 3894 1763 0 0 0 0 0 0

8784 0.60 138.2 661.1 23.0 517 8793 0.00 1.92 0.00 0.000 6 0.000 0.038 2006 2717 1762 0 0 0 0 0 0

9101 0.60 138.2 593.4 21.3 533 9105 0.00 1.98 0.00 0.000 4 0.000 0.061 2007 3907 1762 0 0 0 0 0 0

9128 0.60 138.2 586.9 23.9 534 9133 0.10 1.95 0.00 0.000 6 0.219 0.039 1989 2708 1762 0 0 0 0 0 0

9455 0.60 138.2 522.7 19.7 550 9459 0.00 1.95 0.00 0.000 4 0.000 0.061 1989 3902 1762 0 0 0 0 0 0

9500 0.60 138.2 512.7 23.2 552 9504 0.00 1.92 0.00 0.000 6 0.000 0.041 1997 2700 1762 0 0 0 0 0 0

9832 0.60 138.2 445.1 19.9 568 9835 0.00 1.98 0.00 0.000 4 0.000 0.061 1998 3900 1762 0 0 0 0 0 0

9864 0.60 138.2 437.8 22.2 569 9868 0.00 1.92 0.00 0.000 6 0.000 0.040 2007 2714 1762 0 0 0 0 0 0

10187 0.60 138.2 371.1 20.6 585 10191 0.00 1.92 0.00 0.000 4 0.000 0.062 2007 3897 1761 0 0 0 0 0 0

10202 0.60 138.2 367.2 21.1 585 10211 0.10 1.92 0.00 0.000 6 0.217 0.038 1989 2700 1761 0 0 0 0 0 0

10521 0.60 138.2 308.5 18.6 601 10525 0.00 1.98 0.00 0.000 4 0.000 0.062 1989 3902 1762 0 0 0 0 0 0

10581 0.60 138.2 295.5 20.3 603 10589 0.00 1.92 0.00 0.000 6 0.000 0.040 1998 2711 1761 0 0 0 0 0 0

10899 0.60 138.2 236.6 18.5 622 10901 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2711 1762 0 0 0 0 0 0

11219 0.60 138.2 175.2 20.1 652 11223 0.00 1.98 0.00 0.000 4 0.000 0.063 1998 3897 1762 0 0 0 0 0 0

11255 0.60 138.2 167.6 23.1 655 11259 0.00 1.90 0.00 0.000 6 0.000 0.040 2007 2709 1761 0 0 0 0 0 0

11584 0.60 138.2 100.8 19.3 686 11588 0.00 1.95 0.00 0.000 4 0.000 0.063 2007 3897 1761 0 0 0 0 0 0

11664 0.60 138.2 85.0 19.7 699 11673 0.10 1.90 0.00 0.000 6 0.213 0.040 1989 2711 1761 0 0 0 0 0 0

11906 0.60 138.2 45.5 14.9 740 11915 0.00 1.95 0.00 0.000 4 0.000 0.063 1989 3890 1761 0 0 0 0 0 0

11921 0.60 138.2 42.9 16.5 742 11930 0.00 1.90 0.00 0.000 6 0.000 0.040 1997 2702 1761 0 0 0 0 0 0

12038 0.60 138.2 25.0 15.8 761 12047 0.00 1.98 0.00 0.000 4 0.000 0.063 1997 3890 1761 0 0 0 0 0 0

12061 0.60 138.2 21.0 16.9 764 12070 0.00 1.90 0.00 0.000 6 0.000 0.044 2006 2716 1761 0 0 0 0 0 0

12146 0.60 138.2 6.2 18.9 777 12154 0.00 0.00 0.00 0.000 6 0.000 0.000 2006 2715 1761 0 0 0 0 0 0

12167 end climb: SURFACE_DEPTH_REACHED

state 12167 begin surface coast

12187 end surface coast: CONTROL_FINISHED_OK

state 12187 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	46	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2930	ALTIM_PING_DELTA	5
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2710	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-56	HEAD_ERRBAND	15	ALTIM_PULSE	3
D_TGT	1000	TGT_DEFAULT_LON	0.1	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	2
D_NO_BLEED	500	SM_CC	200	R_PORT_OVSHOOT	24	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	24	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	2.49
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	KERMIT	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	480	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3961	DEVICE2	101
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2342	DEVICE3	35
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	134
T_DIVE	350	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	365	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00079999998	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	60	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-21808.635	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	1	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-7	PITCH_MIN	73	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3888	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1790	PHONE_SUPPLY	2	SEABIRD_T_G	0.0042910837
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-53.02364	SEABIRD_T_H	0.00061853422
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011816985	SEABIRD_T_I	2.1182957e-05
RHO	1.027	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.0754619e-06
MASS	53031	PITCH_GAIN	53	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.7625904
NAV_MODE	1	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1369455
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.0017508121
KALMAN_USE	1	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021125977
HD_A	0.00251332	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.0127788	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	10
HD_C	1.44018e-06	ROLL_MIN	335	ALTIM_TOP_TURN_MARGIN	0

GPS1	181214,125058,-5600.499,-31.454,55,0.8,55,-19.9	TGT_NAME	TARGET
_CALLS	3	TGT_LATLONG	-5600.000,-30.000
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.006,-0.165
_SM_DEPTHo	1.74	KALMAN_X	21379.2,145.3,-58.6,-53776.4,1175.3
_SM_ANGLEo	-59.1	KALMAN_Y	39927.2,-55.4,-65.6,-40122.6,4018.2
GPS2	181214,130435,-5600.345,-31.268,19,1.5,19,-19.9	MHEAD_RNG_PITCHd_Wd	197.7,1460,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.1,1.027213	_10V_AH	10.0,10.428
SM_CCo	12199,23.27,0.189,0,0,1525,200.16	FG_AHR_24Vo	0.000
SM_GC	2.32,0.00,0.00,23.27,0.000,0.000,0.189,57,2938,1525,-5.41,0.23,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5538.94,-30.80,181214,121216	MEM	354000
TT8_MAMPS	0.026215	DATA_FILE_SIZE	53636,783
HUMID	55.27	CAP_FILE_SIZE	116895,0
INTERNAL_PRESSURE	8.95509	CFSIZE	259252224,223444992
TCM_TEMP	7.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	181214,163022,-5601.210,-30.813,21,0.8,35,-19.9
_24V_AH	21.6,15.944

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	260	76.35	SBE_CT	556	23	288.04
Roll_motor	95	87	181.66	AA4330	1616	17	627.96
VBD_pump_during_apogee	265	1801	10335.56	WL_BB2F	759	105	1721.99
VBD_pump_during_surface	23	188	95.00	QSP2150	780	17	303.01
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	78	91	155.29	nil	0	0	0.00
Iridium_during_connect	182	160	631.34	nil	0	0	0.00
Iridium_during_xfer	314	223	1517.18	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	6.70
TT8	1985	14	287.16
LPSleep	7916	2	173.37
TT8_Active	421	14	60.89
TT8_Sampling	2571	42	1084.21
TT8_CF8	141	49	70.17
TT8_Kalman	33	68	22.81
Analog_circuits	1235	15	191.47
GPS_charging	0	0	0.00
Compass	1850	16	304.95
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
14	-0.54	-73.9	0.0	0.0	0	67	0.00	0.00	-50.38	0.000	2	0.000	0.000	54	2943	2527	0	0	0	0	0	0
69	-0.60	-138.2	3.1	-4.0	6	95	6.47	1.62	-12.00	0.000	4	0.261	0.088	1584	3905	2907	0	0	0	0	0	0
220	-0.60	-138.2	31.9	-19.7	29	227	0.00	1.62	0.00	0.000	6	0.000	0.039	1591	2896	2909	0	0	0	0	0	0
333	-0.60	-138.2	55.2	-21.1	48	341	0.00	0.00	0.00	0.000	6	0.000	0.000	1591	2896	2909	0	0	0	0	0	0
449	-0.60	-138.2	77.7	-20.0	67	456	0.00	1.70	0.00	0.000	4	0.000	0.066	1583	3893	2909	0	0	0	0	0	0
504	-0.60	-138.2	89.2	-20.2	76	511	0.00	1.52	0.00	0.000	6	0.000	0.038	1588	2931	2910	0	0	0	0	0	0
733	-0.60	-138.2	133.9	-19.3	102	734	0.00	0.00	0.00	0.000	6	0.000	0.000	1588	2930	2910	0	0	0	0	0	0
1053	-0.60	-138.2	191.4	-18.2	132	1057	0.00	1.65	0.00	0.000	4	0.000	0.067	1581	3895	2909	0	0	0	0	0	0
1103	-0.60	-138.2	201.1	-18.4	136	1114	0.00	1.55	0.00	0.000	6	0.000	0.037	1581	2918	2910	0	0	0	0	0	0
1429	-0.60	-138.2	257.7	-17.3	165	1433	0.00	1.65	0.00	0.000	4	0.000	0.066	1574	3916	2910	0	0	0	0	0	0
1461	-0.60	-138.2	263.9	-18.1	166	1466	0.00	1.58	0.00	0.000	6	0.000	0.037	1574	2929	2910	0	0	0	0	0	0
1783	-0.60	-138.2	317.5	-16.2	182	1786	0.00	1.62	0.00	0.000	4	0.000	0.067	1566	3895	2910	0	0	0	0	0	0
1843	-0.60	-138.2	328.0	-16.9	184	1854	0.08	1.52	0.00	0.000	6	0.189	0.037	1588	2927	2910	0	0	0	0	0	0
2161	-0.60	-138.2	371.5	-13.4	200	2164	0.00	1.62	0.00	0.000	4	0.000	0.067	1581	3899	2910	0	0	0	0	0	0
2210	-0.60	-138.2	379.1	-14.2	202	2215	0.00	1.52	0.00	0.000	6	0.000	0.037	1581	2926	2910	0	0	0	0	0	0
2537	-0.60	-138.2	423.7	-13.5	218	2538	0.00	0.00	0.00	0.000	6	0.000	0.000	1581	2922	2910	0	0	0	0	0	0
2847	-0.60	-138.2	466.1	-13.6	233	2850	0.00	1.62	0.00	0.000	4	0.000	0.066	1574	3896	2909	0	0	0	0	0	0
2914	-0.60	-138.2	476.0	-14.6	236	2918	0.00	1.50	0.00	0.000	6	0.000	0.037	1574	2932	2910	0	0	0	0	0	0
3246	-0.60	-138.2	523.2	-14.1	252	3250	0.00	1.60	0.00	0.000	4	0.000	0.067	1566	3890	2911	0	0	0	0	0	0
3302	-0.60	-138.2	531.7	-15.8	254	3306	0.08	1.50	0.00	0.000	6	0.192	0.037	1588	2929	2911	0	0	0	0	0	0
3622	-0.60	-138.2	572.9	-12.8	270	3626	0.00	1.60	0.00	0.000	4	0.000	0.065	1580	3894	2911	0	0	0	0	0	0
3648	-0.60	-138.2	576.8	-14.0	271	3654	0.00	1.52	0.00	0.000	6	0.000	0.035	1581	2922	2911	0	0	0	0	0	0
3977	-0.60	-138.2	619.0	-13.0	287	3981	0.00	1.62	0.00	0.000	4	0.000	0.065	1573	3900	2911	0	0	0	0	0	0
4008	-0.60	-138.2	623.8	-14.3	288	4013	0.00	1.52	0.00	0.000	6	0.000	0.036	1573	2926	2910	0	0	0	0	0	0
4330	-0.60	-138.2	667.9	-13.9	304	4334	0.00	1.62	0.00	0.000	4	0.000	0.066	1566	3903	2911	0	0	0	0	0	0
4368	-0.60	-138.2	673.8	-15.4	305	4376	0.08	1.50	0.00	0.000	6	0.195	0.036	1588	2941	2911	0	0	0	0	0	0
4685	-0.60	-138.2	714.6	-12.8	321	4686	0.00	0.00	0.00	0.000	6	0.000	0.000	1588	2941	2910	0	0	0	0	0	0
4993	-0.60	-138.2	754.0	-13.0	336	4994	0.00	0.00	0.00	0.000	6	0.000	0.000	1588	2941	2911	0	0	0	0	0	0
5303	-0.60	-138.2	794.4	-13.3	351	5307	0.00	1.58	0.00	0.000	4	0.000	0.066	1581	3895	2911	0	0	0	0	0	0
5329	-0.60	-138.2	798.6	-14.7	352	5334	0.00	1.52	0.00	0.000	6	0.000	0.036	1581	2920	2911	0	0	0	0	0	0
5657	-0.60	-138.2	844.7	-13.9	368	5660	0.00	1.62	0.00	0.000	4	0.000	0.065	1574	3903	2911	0	0	0	0	0	0
5713	-0.60	-138.2	853.5	-15.7	370	5717	0.00	1.50	0.00	0.000	6	0.000	0.037	1574	2934	2911	0	0	0	0	0	0
6034	-0.60	-138.2	901.5	-14.9	386	6035	0.00	0.00	0.00	0.000	6	0.000	0.000	1574	2932	2911	0	0	0	0	0	0
6343	-0.60	-138.2	947.1	-14.7	401	6347	0.00	1.60	0.00	0.000	4	0.000	0.067	1566	3899	2911	0	0	0	0	0	0
6388	-0.60	-138.2	954.2	-15.8	403	6393	0.08	1.50	0.00	0.000	6	0.191	0.037	1588	2936	2911	0	0	0	0	0	0
6720	-0.60	-138.2	999.6	-13.5	419	6721	0.00	0.00	0.00	0.000	6	0.000	0.000	1588	2936	2910	0	0	0	0	0	0
6740	end dive: TARGET_DEPTH_EXCEEDED
state	6740	begin apogee
6744	-0.13	0.0	1002.4	13.4	420	6874	0.50	0.00	127.20	1.802	6	0.171	0.000	1738	2707	2341	0	0	0	0	0	0
6875	end apogee: CONTROL_FINISHED_OK
state	6875	begin climb
6876	0.60	138.2	1007.6	0.0	426	7022	0.77	0.00	138.40	1.761	6	0.126	0.000	1969	2707	1778	0	0	0	0	0	0
7329	0.60	138.2	940.1	17.2	448	7333	0.00	2.08	0.00	0.000	4	0.000	0.062	1968	3897	1769	0	0	0	0	0	0
7367	0.60	138.2	932.7	18.8	449	7375	0.00	2.00	0.00	0.000	6	0.000	0.038	1978	2725	1767	0	0	0	0	0	0
7683	0.60	138.2	875.6	18.1	465	7684	0.00	0.00	0.00	0.000	6	0.000	0.000	1978	2725	1767	0	0	0	0	0	0
7993	0.60	138.2	819.8	18.3	480	7997	0.00	2.00	0.00	0.000	4	0.000	0.062	1978	3904	1765	0	0	0	0	0	0
8061	0.60	138.2	806.3	20.2	483	8065	0.00	1.95	0.00	0.000	6	0.000	0.040	1988	2708	1764	0	0	0	0	0	0
8393	0.60	138.2	742.8	19.3	499	8397	0.00	1.98	0.00	0.000	4	0.000	0.062	1988	3899	1764	0	0	0	0	0	0
8416	0.60	138.2	738.3	19.8	500	8420	0.00	1.92	0.00	0.000	6	0.000	0.040	1997	2705	1763	0	0	0	0	0	0
8747	0.60	138.2	670.1	21.0	516	8751	0.00	2.00	0.00	0.000	4	0.000	0.061	1997	3894	1763	0	0	0	0	0	0
8784	0.60	138.2	661.1	23.0	517	8793	0.00	1.92	0.00	0.000	6	0.000	0.038	2006	2717	1762	0	0	0	0	0	0
9101	0.60	138.2	593.4	21.3	533	9105	0.00	1.98	0.00	0.000	4	0.000	0.061	2007	3907	1762	0	0	0	0	0	0
9128	0.60	138.2	586.9	23.9	534	9133	0.10	1.95	0.00	0.000	6	0.219	0.039	1989	2708	1762	0	0	0	0	0	0
9455	0.60	138.2	522.7	19.7	550	9459	0.00	1.95	0.00	0.000	4	0.000	0.061	1989	3902	1762	0	0	0	0	0	0
9500	0.60	138.2	512.7	23.2	552	9504	0.00	1.92	0.00	0.000	6	0.000	0.041	1997	2700	1762	0	0	0	0	0	0
9832	0.60	138.2	445.1	19.9	568	9835	0.00	1.98	0.00	0.000	4	0.000	0.061	1998	3900	1762	0	0	0	0	0	0
9864	0.60	138.2	437.8	22.2	569	9868	0.00	1.92	0.00	0.000	6	0.000	0.040	2007	2714	1762	0	0	0	0	0	0
10187	0.60	138.2	371.1	20.6	585	10191	0.00	1.92	0.00	0.000	4	0.000	0.062	2007	3897	1761	0	0	0	0	0	0
10202	0.60	138.2	367.2	21.1	585	10211	0.10	1.92	0.00	0.000	6	0.217	0.038	1989	2700	1761	0	0	0	0	0	0
10521	0.60	138.2	308.5	18.6	601	10525	0.00	1.98	0.00	0.000	4	0.000	0.062	1989	3902	1762	0	0	0	0	0	0
10581	0.60	138.2	295.5	20.3	603	10589	0.00	1.92	0.00	0.000	6	0.000	0.040	1998	2711	1761	0	0	0	0	0	0
10899	0.60	138.2	236.6	18.5	622	10901	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2711	1762	0	0	0	0	0	0
11219	0.60	138.2	175.2	20.1	652	11223	0.00	1.98	0.00	0.000	4	0.000	0.063	1998	3897	1762	0	0	0	0	0	0
11255	0.60	138.2	167.6	23.1	655	11259	0.00	1.90	0.00	0.000	6	0.000	0.040	2007	2709	1761	0	0	0	0	0	0
11584	0.60	138.2	100.8	19.3	686	11588	0.00	1.95	0.00	0.000	4	0.000	0.063	2007	3897	1761	0	0	0	0	0	0
11664	0.60	138.2	85.0	19.7	699	11673	0.10	1.90	0.00	0.000	6	0.213	0.040	1989	2711	1761	0	0	0	0	0	0
11906	0.60	138.2	45.5	14.9	740	11915	0.00	1.95	0.00	0.000	4	0.000	0.063	1989	3890	1761	0	0	0	0	0	0
11921	0.60	138.2	42.9	16.5	742	11930	0.00	1.90	0.00	0.000	6	0.000	0.040	1997	2702	1761	0	0	0	0	0	0
12038	0.60	138.2	25.0	15.8	761	12047	0.00	1.98	0.00	0.000	4	0.000	0.063	1997	3890	1761	0	0	0	0	0	0
12061	0.60	138.2	21.0	16.9	764	12070	0.00	1.90	0.00	0.000	6	0.000	0.044	2006	2716	1761	0	0	0	0	0	0
12146	0.60	138.2	6.2	18.9	777	12154	0.00	0.00	0.00	0.000	6	0.000	0.000	2006	2715	1761	0	0	0	0	0	0
12167	end climb: SURFACE_DEPTH_REACHED
state	12167	begin surface coast
12187	end surface coast: CONTROL_FINISHED_OK
state	12187	begin surface