Glider dive log

SOSCEx 08Dec12 * SG543 * Dive index * Mission links * Dive 466 * 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 6 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 1050

DIVE 466 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 3400 ALTIM_PING_DELTA 15

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 3280 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -4230 HEAD_ERRBAND 15 ALTIM_PULSE 4

D_TGT 1000 TGT_DEFAULT_LON -200 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 3

D_NO_BLEED 200 SM_CC 230 R_PORT_OVSHOOT 48 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 22 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 5 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 131

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 118

T_DIVE 333 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 348 CAPUPLOAD 0 VBD_TIMEOUT 800 DEVICE6 -1

T_ABORT 1440 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 -9233.5732 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 1628 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043127281

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -55.913475 SEABIRD_T_H 0.00062185986

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011638312 SEABIRD_T_I 2.2048062e-05

RHO 1.027 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.2117231e-06

MASS 52459 PITCH_GAIN 39 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.303595

NAV_MODE 1 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1762303

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.001936322

KALMAN_USE 1 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00024357962

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 230

AH0_10V 100 D_OFFGRID 250 PHONE_SUPPLY 2 SPEED_FACTOR 1

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 20 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 15 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 1050 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 39 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 -4230

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 86 TGT_DEFAULT_LON -200

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 0.00061500003 T_BOOST 5

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011638312 T_DIVE 333

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -55.913475 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 -9233.5732

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

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 348

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 1628 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 3280 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 3400 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 48 VBD_MAX 3960

DEVICE2 101 MASS 52459 R_STBD_OVSHOOT 22 VBD_MAXERRORS 1

DEVICE3 131 MAX_BUOY 150 SEABIRD_C_G -10.303595 VBD_MIN 507

DEVICE4 118 MINV_10V 8 SEABIRD_C_H 1.1762303 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.001936322 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MISSION 6 SEABIRD_C_J 0.00024357962 VBD_TIMEOUT 800

DIVE 466 MOTHERBOARD 4 SEABIRD_T_G 0.0043127281 XPDR_DEVICE 24

D_ABORT 1050 NAV_MODE 1 SEABIRD_T_H 0.00062185986 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 SEABIRD_T_I 2.2048062e-05 XPDR_VALID 3

D_CALL 0 N_GPS 20 SEABIRD_T_J 2.2117231e-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 040313,103403,-4241.662,918.752,36,1.3,36,-25.3 TGT_NAME FLOAT8

_CALLS 1 TGT_LATLONG -4239.524,919.626

_XMS_NAKs 0 TGT_RADIUS 500.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.122,0.124

_SM_DEPTHo 2.10 KALMAN_X 154305.9,1148.6,225.0,-50347.1,2101.0

_SM_ANGLEo -62.1 KALMAN_Y 448305.2,-612.8,-381.1,-468792.9,2915.3

GPS2 040313,104330,-4241.649,918.807,15,2.0,16,-25.3 MHEAD_RNG_PITCHd_Wd 340.8,4091,-27.2,-10.010

SPEED_LIMITS 0.173,0.260 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.4,1.026090 _10V_AH 9.6,54.288

SM_CCo 14146,40.85,0.698,1,0,1534,230.09 FG_AHR_24Vo 0.000

SM_GC 2.31,0.00,0.00,40.85,0.000,0.000,0.698,55,3412,1534,-4.91,0.34,230.09 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4224.47,915.71,040313,060620 MEM 354356

TT8_MAMPS 0.025466 DATA_FILE_SIZE 53745,720

HUMID 58.34 CAP_FILE_SIZE 124075,0

INTERNAL_PRESSURE 9.00542 CFSIZE 259252224,227627008

TCM_TEMP 14.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1

XPDR_PINGS 0 GPS 040313,144204,-4240.947,918.816,23,0.9,23,-25.3

_24V_AH 22.0,73.786

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 237 68.09 SBE_CT 467 24 246.98

Roll_motor 90 73 146.70 AA4330 1572 33 1141.57

VBD_pump_during_apogee 278 1235 7575.87 WL_BB2FLVMT 742 105 1715.38

VBD_pump_during_surface 40 697 627.01 QSP2150 331 4 31.94

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 56.57 nil 0 0 0.00

Iridium_during_connect 21 160 75.61 nil 0 0 0.00

Iridium_during_xfer 319 223 1567.28 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 26 4.65

TT8 1877 14 269.64

LPSleep 9067 2 190.64

TT8_Active 437 14 59.63

TT8_Sampling 2500 37 898.41

TT8_CF8 873 47 395.50

TT8_Kalman 33 59 18.95

Analog_circuits 1370 12 157.85

GPS_charging 0 0 0.00

Compass 2280 15 344.33

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

20 -0.74 -63.1 0.0 0.0 0 54 0.00 0.00 -31.95 0.000 2 0.000 0.000 55 3403 2265 0 0 0 0 0 0

59 -0.77 -120.8 3.0 -3.9 4 94 5.65 0.00 -25.65 0.000 6 0.237 0.000 1368 3405 2969 0 0 0 0 0 0

174 -0.77 -120.8 14.9 -15.7 20 183 0.00 2.17 0.00 0.000 4 0.000 0.031 1368 1989 2971 0 0 0 0 0 0

232 -0.77 -120.8 23.2 -14.0 28 240 0.00 2.33 0.00 0.000 6 0.000 0.054 1359 3399 2972 0 0 0 0 0 0

320 -0.77 -120.8 37.2 -16.2 41 328 0.00 0.88 0.00 0.000 4 0.000 0.057 1354 3949 2972 0 0 0 0 0 0

360 -0.77 -120.8 44.3 -17.0 47 367 0.00 0.82 0.00 0.000 6 0.000 0.034 1355 3413 2972 0 0 0 0 0 0

604 -0.77 -120.8 81.0 -12.7 88 613 0.00 0.85 0.00 0.000 4 0.000 0.058 1351 3946 2973 0 0 0 0 0 0

753 -0.77 -120.8 102.3 -13.9 112 758 0.00 0.85 0.00 0.000 6 0.000 0.033 1351 3385 2973 0 0 0 0 0 0

1081 -0.77 -120.8 140.1 -11.7 133 1082 0.00 0.00 0.00 0.000 6 0.000 0.000 1351 3385 2974 0 0 0 0 0 0

1395 -0.77 -120.8 178.7 -12.3 153 1399 0.00 2.10 0.00 0.000 4 0.000 0.028 1351 1982 2974 0 0 0 0 0 0

1463 -0.77 -120.8 187.2 -11.7 157 1468 0.15 2.30 0.00 0.000 6 0.176 0.053 1376 3403 2974 0 0 0 0 0 0

1789 -0.77 -120.8 225.8 -12.4 177 1795 0.00 0.00 0.00 0.000 6 0.000 0.000 1376 3403 2975 0 0 0 0 0 0

2110 -0.77 -120.8 265.1 -12.0 196 2111 0.00 0.00 0.00 0.000 6 0.000 0.000 1376 3403 2975 0 0 0 0 0 0

2420 -0.77 -120.8 302.6 -12.5 211 2421 0.00 0.00 0.00 0.000 6 0.000 0.000 1376 3403 2975 0 0 0 0 0 0

2728 -0.77 -120.8 338.7 -11.2 226 2729 0.00 0.00 0.00 0.000 6 0.000 0.000 1376 3403 2975 0 0 0 0 0 0

3038 -0.77 -120.8 373.1 -10.6 241 3039 0.00 0.00 0.00 0.000 6 0.000 0.000 1376 3403 2975 0 0 0 0 0 0

3366 -0.77 -120.8 407.3 -10.3 256 3367 0.00 0.00 0.00 0.000 6 0.000 0.000 1376 3403 2975 0 0 0 0 0 0

3671 -0.77 -120.8 439.8 -10.5 266 3675 0.00 2.15 0.00 0.000 4 0.000 0.028 1376 1973 2975 0 0 0 0 0 0

3761 -0.77 -123.4 448.7 -9.7 268 3767 0.00 2.30 0.00 0.000 6 0.000 0.052 1367 3401 2975 0 0 0 0 0 0

4074 -0.77 -123.4 484.0 -11.5 279 4078 0.00 2.15 0.00 0.000 4 0.000 0.029 1367 1979 2976 0 0 0 0 0 0

4103 -0.77 -123.4 487.2 -10.7 280 4108 0.00 2.30 0.00 0.000 6 0.000 0.055 1356 3406 2976 0 0 0 0 0 0

4439 -0.77 -123.4 528.8 -12.6 291 4442 0.00 0.85 0.00 0.000 4 0.000 0.057 1352 3948 2976 0 0 0 0 0 0

4495 -0.77 -123.4 536.6 -13.1 292 4501 0.00 0.82 0.00 0.000 6 0.000 0.033 1352 3401 2975 0 0 0 0 0 0

4815 -0.77 -123.4 576.7 -12.3 303 4820 0.00 2.15 0.00 0.000 4 0.000 0.029 1352 1980 2975 0 0 0 0 0 0

4888 -0.78 -125.9 584.9 -9.7 305 4893 0.12 2.28 0.00 0.000 6 0.179 0.054 1370 3400 2975 0 0 0 0 0 0

5219 -0.78 -125.9 619.3 -10.2 316 5225 0.00 0.88 0.00 0.000 4 0.000 0.057 1367 3954 2975 0 0 0 0 0 0

5276 -0.78 -125.9 625.9 -11.6 317 5279 0.00 0.85 0.00 0.000 6 0.000 0.034 1367 3391 2975 0 0 0 0 0 0

5596 -0.78 -127.1 657.6 -9.9 328 5600 0.00 2.12 0.00 0.000 4 0.000 0.029 1367 1976 2974 0 0 0 0 0 0

5686 -0.78 -137.1 666.0 -8.9 330 5692 0.00 2.33 0.00 0.000 6 0.000 0.054 1357 3410 2974 0 0 0 0 0 0

5999 -0.78 -137.1 700.2 -11.4 341 6003 0.00 2.15 0.00 0.000 4 0.000 0.029 1357 1980 2973 0 0 0 0 0 0

6054 -0.78 -137.1 706.4 -10.6 342 6061 0.00 2.30 0.00 0.000 6 0.000 0.055 1346 3399 2973 0 0 0 0 0 0

6367 -0.78 -137.1 744.2 -12.6 353 6371 0.00 2.15 0.00 0.000 4 0.000 0.029 1346 1974 2972 0 0 0 0 0 0

6430 -0.78 -137.1 751.4 -11.6 355 6436 0.10 2.35 0.00 0.000 6 0.160 0.054 1365 3403 2973 0 0 0 0 0 0

6774 -0.78 -137.1 792.0 -11.8 366 6777 0.00 2.15 0.00 0.000 4 0.000 0.029 1365 1973 2972 0 0 0 0 0 0

6842 -0.78 -137.1 799.6 -10.8 368 6846 0.00 2.33 0.00 0.000 6 0.000 0.054 1356 3401 2972 0 0 0 0 0 0

7171 -0.78 -137.1 838.2 -11.6 379 7175 0.00 2.15 0.00 0.000 4 0.000 0.030 1355 1975 2971 0 0 0 0 0 0

7250 -0.78 -137.1 846.7 -10.1 381 7255 0.12 2.30 0.00 0.000 6 0.181 0.054 1373 3402 2971 0 0 0 0 0 0

7570 -0.78 -140.1 878.4 -9.7 392 7574 0.00 2.15 0.00 0.000 4 0.000 0.030 1374 1977 2970 0 0 0 0 0 0

7608 -0.79 -146.1 882.3 -9.1 393 7612 0.00 2.33 0.00 0.000 6 0.000 0.056 1365 3399 2970 0 0 0 0 0 0

7934 -0.79 -146.1 915.6 -10.4 404 7938 0.00 2.15 0.00 0.000 4 0.000 0.030 1364 1973 2969 0 0 0 0 0 0

7979 -0.79 -146.1 920.3 -9.2 405 7983 0.00 2.33 0.00 0.000 6 0.000 0.055 1354 3399 2969 0 0 0 0 0 0

8299 -0.79 -146.1 955.3 -11.2 416 8300 0.00 0.00 0.00 0.000 6 0.000 0.000 1354 3399 2969 0 0 0 0 0 0

8605 -0.79 -146.1 991.6 -12.7 426 8609 0.00 2.15 0.00 0.000 4 0.000 0.030 1354 1974 2967 0 0 0 0 0 0

8638 -0.79 -146.1 995.6 -10.7 427 8642 0.12 2.33 0.00 0.000 6 0.180 0.054 1372 3401 2967 0 0 0 0 0 0

8689 end dive: TARGET_DEPTH_EXCEEDED

state 8690 begin apogee

8697 -0.13 0.0 1001.5 11.4 429 8826 0.77 0.00 125.57 1.235 6 0.186 0.000 1576 3275 2474 0 0 0 0 0 0

8827 end apogee: CONTROL_FINISHED_OK

state 8828 begin climb

8830 0.79 146.1 1005.0 0.0 433 8989 0.93 1.25 153.15 1.203 4 0.077 0.053 1880 3951 1875 0 0 0 0 0 0

9085 0.79 146.1 960.8 25.0 440 9093 0.00 1.08 0.00 0.000 6 0.000 0.029 1885 3272 1863 0 0 0 0 0 0

9402 0.79 146.1 895.7 20.4 451 9405 0.00 1.10 0.00 0.000 4 0.000 0.054 1885 3951 1857 0 0 0 0 0 0

9645 0.79 146.1 840.6 22.4 458 9649 0.00 1.00 0.00 0.000 6 0.000 0.031 1890 3277 1856 0 0 0 0 0 0

9981 0.79 146.1 772.0 20.6 469 9985 0.00 1.08 0.00 0.000 4 0.000 0.054 1890 3951 1854 0 0 0 0 0 0

10239 0.79 146.1 711.4 24.3 476 10243 0.00 1.00 0.00 0.000 6 0.000 0.031 1895 3276 1854 0 0 0 0 0 0

10558 0.79 146.1 645.6 20.5 487 10562 0.00 1.08 0.00 0.000 4 0.000 0.054 1895 3950 1853 0 0 0 0 0 0

10815 0.79 146.1 587.2 22.2 494 10820 0.00 1.00 0.00 0.000 6 0.000 0.030 1900 3273 1852 0 0 0 0 0 0

11134 0.79 146.1 523.4 19.6 505 11140 0.00 1.08 0.00 0.000 4 0.000 0.054 1900 3946 1851 0 0 0 0 0 0

11393 0.79 146.1 468.5 21.7 512 11396 0.00 1.00 0.00 0.000 6 0.000 0.031 1905 3272 1851 0 0 0 0 0 0

11712 0.79 146.1 408.2 18.9 523 11716 0.00 2.12 0.00 0.000 4 0.000 0.028 1917 1855 1851 0 0 0 0 0 0

11836 0.79 146.1 388.9 14.2 527 11844 0.12 2.28 0.00 0.000 6 0.196 0.047 1888 3283 1849 0 0 0 0 0 0

12154 0.79 146.1 335.1 17.2 543 12160 0.00 1.05 0.00 0.000 4 0.000 0.053 1888 3947 1849 0 0 0 0 0 0

12416 0.79 146.1 284.8 17.9 554 12419 0.00 1.00 0.00 0.000 6 0.000 0.031 1892 3273 1848 0 0 0 0 0 0

12744 0.79 146.1 227.1 17.6 572 12750 0.00 2.15 0.00 0.000 4 0.000 0.028 1903 1856 1848 0 0 0 0 0 0

12844 0.79 146.1 211.5 14.7 577 12850 0.00 2.28 0.00 0.000 6 0.000 0.048 1903 3280 1848 0 0 0 0 0 0

13165 0.79 146.1 155.5 17.3 598 13169 0.00 1.08 0.00 0.000 4 0.000 0.054 1903 3957 1847 0 0 0 0 0 0

13433 0.79 146.1 105.3 17.2 613 13436 0.00 1.00 0.00 0.000 6 0.000 0.030 1908 3275 1848 0 0 0 0 0 0

13796 0.79 146.1 53.6 13.6 669 13803 0.00 1.08 0.00 0.000 4 0.000 0.053 1908 3947 1847 0 0 0 0 0 0

14091 0.79 146.1 4.5 16.3 715 14102 0.10 0.98 0.00 0.000 6 0.197 0.030 1886 3282 1847 0 0 0 0 0 0

14110 end climb: SURFACE_DEPTH_REACHED

state 14110 begin surface coast

14130 end surface coast: CONTROL_FINISHED_OK

state 14130 begin surface

ID	543	HEADING	-1	ROLL_MAX	3944	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	6	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	1050
DIVE	466	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	3400	ALTIM_PING_DELTA	15
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	3280	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-4230	HEAD_ERRBAND	15	ALTIM_PULSE	4
D_TGT	1000	TGT_DEFAULT_LON	-200	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	3
D_NO_BLEED	200	SM_CC	230	R_PORT_OVSHOOT	48	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	22	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	5	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	131
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	118
T_DIVE	333	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	348	CAPUPLOAD	0	VBD_TIMEOUT	800	DEVICE6	-1
T_ABORT	1440	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	-9233.5732	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	1628	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043127281
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-55.913475	SEABIRD_T_H	0.00062185986
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011638312	SEABIRD_T_I	2.2048062e-05
RHO	1.027	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.2117231e-06
MASS	52459	PITCH_GAIN	39	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.303595
NAV_MODE	1	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1762303
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.001936322
KALMAN_USE	1	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00024357962
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	040313,103403,-4241.662,918.752,36,1.3,36,-25.3	TGT_NAME	FLOAT8
_CALLS	1	TGT_LATLONG	-4239.524,919.626
_XMS_NAKs	0	TGT_RADIUS	500.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.122,0.124
_SM_DEPTHo	2.10	KALMAN_X	154305.9,1148.6,225.0,-50347.1,2101.0
_SM_ANGLEo	-62.1	KALMAN_Y	448305.2,-612.8,-381.1,-468792.9,2915.3
GPS2	040313,104330,-4241.649,918.807,15,2.0,16,-25.3	MHEAD_RNG_PITCHd_Wd	340.8,4091,-27.2,-10.010
SPEED_LIMITS	0.173,0.260	D_GRID	1000

FINISH	1.4,1.026090	_10V_AH	9.6,54.288
SM_CCo	14146,40.85,0.698,1,0,1534,230.09	FG_AHR_24Vo	0.000
SM_GC	2.31,0.00,0.00,40.85,0.000,0.000,0.698,55,3412,1534,-4.91,0.34,230.09	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4224.47,915.71,040313,060620	MEM	354356
TT8_MAMPS	0.025466	DATA_FILE_SIZE	53745,720
HUMID	58.34	CAP_FILE_SIZE	124075,0
INTERNAL_PRESSURE	9.00542	CFSIZE	259252224,227627008
TCM_TEMP	14.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
XPDR_PINGS	0	GPS	040313,144204,-4240.947,918.816,23,0.9,23,-25.3
_24V_AH	22.0,73.786

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	237	68.09	SBE_CT	467	24	246.98
Roll_motor	90	73	146.70	AA4330	1572	33	1141.57
VBD_pump_during_apogee	278	1235	7575.87	WL_BB2FLVMT	742	105	1715.38
VBD_pump_during_surface	40	697	627.01	QSP2150	331	4	31.94
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	56.57	nil	0	0	0.00
Iridium_during_connect	21	160	75.61	nil	0	0	0.00
Iridium_during_xfer	319	223	1567.28	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	26	4.65
TT8	1877	14	269.64
LPSleep	9067	2	190.64
TT8_Active	437	14	59.63
TT8_Sampling	2500	37	898.41
TT8_CF8	873	47	395.50
TT8_Kalman	33	59	18.95
Analog_circuits	1370	12	157.85
GPS_charging	0	0	0.00
Compass	2280	15	344.33
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
20	-0.74	-63.1	0.0	0.0	0	54	0.00	0.00	-31.95	0.000	2	0.000	0.000	55	3403	2265	0	0	0	0	0	0
59	-0.77	-120.8	3.0	-3.9	4	94	5.65	0.00	-25.65	0.000	6	0.237	0.000	1368	3405	2969	0	0	0	0	0	0
174	-0.77	-120.8	14.9	-15.7	20	183	0.00	2.17	0.00	0.000	4	0.000	0.031	1368	1989	2971	0	0	0	0	0	0
232	-0.77	-120.8	23.2	-14.0	28	240	0.00	2.33	0.00	0.000	6	0.000	0.054	1359	3399	2972	0	0	0	0	0	0
320	-0.77	-120.8	37.2	-16.2	41	328	0.00	0.88	0.00	0.000	4	0.000	0.057	1354	3949	2972	0	0	0	0	0	0
360	-0.77	-120.8	44.3	-17.0	47	367	0.00	0.82	0.00	0.000	6	0.000	0.034	1355	3413	2972	0	0	0	0	0	0
604	-0.77	-120.8	81.0	-12.7	88	613	0.00	0.85	0.00	0.000	4	0.000	0.058	1351	3946	2973	0	0	0	0	0	0
753	-0.77	-120.8	102.3	-13.9	112	758	0.00	0.85	0.00	0.000	6	0.000	0.033	1351	3385	2973	0	0	0	0	0	0
1081	-0.77	-120.8	140.1	-11.7	133	1082	0.00	0.00	0.00	0.000	6	0.000	0.000	1351	3385	2974	0	0	0	0	0	0
1395	-0.77	-120.8	178.7	-12.3	153	1399	0.00	2.10	0.00	0.000	4	0.000	0.028	1351	1982	2974	0	0	0	0	0	0
1463	-0.77	-120.8	187.2	-11.7	157	1468	0.15	2.30	0.00	0.000	6	0.176	0.053	1376	3403	2974	0	0	0	0	0	0
1789	-0.77	-120.8	225.8	-12.4	177	1795	0.00	0.00	0.00	0.000	6	0.000	0.000	1376	3403	2975	0	0	0	0	0	0
2110	-0.77	-120.8	265.1	-12.0	196	2111	0.00	0.00	0.00	0.000	6	0.000	0.000	1376	3403	2975	0	0	0	0	0	0
2420	-0.77	-120.8	302.6	-12.5	211	2421	0.00	0.00	0.00	0.000	6	0.000	0.000	1376	3403	2975	0	0	0	0	0	0
2728	-0.77	-120.8	338.7	-11.2	226	2729	0.00	0.00	0.00	0.000	6	0.000	0.000	1376	3403	2975	0	0	0	0	0	0
3038	-0.77	-120.8	373.1	-10.6	241	3039	0.00	0.00	0.00	0.000	6	0.000	0.000	1376	3403	2975	0	0	0	0	0	0
3366	-0.77	-120.8	407.3	-10.3	256	3367	0.00	0.00	0.00	0.000	6	0.000	0.000	1376	3403	2975	0	0	0	0	0	0
3671	-0.77	-120.8	439.8	-10.5	266	3675	0.00	2.15	0.00	0.000	4	0.000	0.028	1376	1973	2975	0	0	0	0	0	0
3761	-0.77	-123.4	448.7	-9.7	268	3767	0.00	2.30	0.00	0.000	6	0.000	0.052	1367	3401	2975	0	0	0	0	0	0
4074	-0.77	-123.4	484.0	-11.5	279	4078	0.00	2.15	0.00	0.000	4	0.000	0.029	1367	1979	2976	0	0	0	0	0	0
4103	-0.77	-123.4	487.2	-10.7	280	4108	0.00	2.30	0.00	0.000	6	0.000	0.055	1356	3406	2976	0	0	0	0	0	0
4439	-0.77	-123.4	528.8	-12.6	291	4442	0.00	0.85	0.00	0.000	4	0.000	0.057	1352	3948	2976	0	0	0	0	0	0
4495	-0.77	-123.4	536.6	-13.1	292	4501	0.00	0.82	0.00	0.000	6	0.000	0.033	1352	3401	2975	0	0	0	0	0	0
4815	-0.77	-123.4	576.7	-12.3	303	4820	0.00	2.15	0.00	0.000	4	0.000	0.029	1352	1980	2975	0	0	0	0	0	0
4888	-0.78	-125.9	584.9	-9.7	305	4893	0.12	2.28	0.00	0.000	6	0.179	0.054	1370	3400	2975	0	0	0	0	0	0
5219	-0.78	-125.9	619.3	-10.2	316	5225	0.00	0.88	0.00	0.000	4	0.000	0.057	1367	3954	2975	0	0	0	0	0	0
5276	-0.78	-125.9	625.9	-11.6	317	5279	0.00	0.85	0.00	0.000	6	0.000	0.034	1367	3391	2975	0	0	0	0	0	0
5596	-0.78	-127.1	657.6	-9.9	328	5600	0.00	2.12	0.00	0.000	4	0.000	0.029	1367	1976	2974	0	0	0	0	0	0
5686	-0.78	-137.1	666.0	-8.9	330	5692	0.00	2.33	0.00	0.000	6	0.000	0.054	1357	3410	2974	0	0	0	0	0	0
5999	-0.78	-137.1	700.2	-11.4	341	6003	0.00	2.15	0.00	0.000	4	0.000	0.029	1357	1980	2973	0	0	0	0	0	0
6054	-0.78	-137.1	706.4	-10.6	342	6061	0.00	2.30	0.00	0.000	6	0.000	0.055	1346	3399	2973	0	0	0	0	0	0
6367	-0.78	-137.1	744.2	-12.6	353	6371	0.00	2.15	0.00	0.000	4	0.000	0.029	1346	1974	2972	0	0	0	0	0	0
6430	-0.78	-137.1	751.4	-11.6	355	6436	0.10	2.35	0.00	0.000	6	0.160	0.054	1365	3403	2973	0	0	0	0	0	0
6774	-0.78	-137.1	792.0	-11.8	366	6777	0.00	2.15	0.00	0.000	4	0.000	0.029	1365	1973	2972	0	0	0	0	0	0
6842	-0.78	-137.1	799.6	-10.8	368	6846	0.00	2.33	0.00	0.000	6	0.000	0.054	1356	3401	2972	0	0	0	0	0	0
7171	-0.78	-137.1	838.2	-11.6	379	7175	0.00	2.15	0.00	0.000	4	0.000	0.030	1355	1975	2971	0	0	0	0	0	0
7250	-0.78	-137.1	846.7	-10.1	381	7255	0.12	2.30	0.00	0.000	6	0.181	0.054	1373	3402	2971	0	0	0	0	0	0
7570	-0.78	-140.1	878.4	-9.7	392	7574	0.00	2.15	0.00	0.000	4	0.000	0.030	1374	1977	2970	0	0	0	0	0	0
7608	-0.79	-146.1	882.3	-9.1	393	7612	0.00	2.33	0.00	0.000	6	0.000	0.056	1365	3399	2970	0	0	0	0	0	0
7934	-0.79	-146.1	915.6	-10.4	404	7938	0.00	2.15	0.00	0.000	4	0.000	0.030	1364	1973	2969	0	0	0	0	0	0
7979	-0.79	-146.1	920.3	-9.2	405	7983	0.00	2.33	0.00	0.000	6	0.000	0.055	1354	3399	2969	0	0	0	0	0	0
8299	-0.79	-146.1	955.3	-11.2	416	8300	0.00	0.00	0.00	0.000	6	0.000	0.000	1354	3399	2969	0	0	0	0	0	0
8605	-0.79	-146.1	991.6	-12.7	426	8609	0.00	2.15	0.00	0.000	4	0.000	0.030	1354	1974	2967	0	0	0	0	0	0
8638	-0.79	-146.1	995.6	-10.7	427	8642	0.12	2.33	0.00	0.000	6	0.180	0.054	1372	3401	2967	0	0	0	0	0	0
8689	end dive: TARGET_DEPTH_EXCEEDED
state	8690	begin apogee
8697	-0.13	0.0	1001.5	11.4	429	8826	0.77	0.00	125.57	1.235	6	0.186	0.000	1576	3275	2474	0	0	0	0	0	0
8827	end apogee: CONTROL_FINISHED_OK
state	8828	begin climb
8830	0.79	146.1	1005.0	0.0	433	8989	0.93	1.25	153.15	1.203	4	0.077	0.053	1880	3951	1875	0	0	0	0	0	0
9085	0.79	146.1	960.8	25.0	440	9093	0.00	1.08	0.00	0.000	6	0.000	0.029	1885	3272	1863	0	0	0	0	0	0
9402	0.79	146.1	895.7	20.4	451	9405	0.00	1.10	0.00	0.000	4	0.000	0.054	1885	3951	1857	0	0	0	0	0	0
9645	0.79	146.1	840.6	22.4	458	9649	0.00	1.00	0.00	0.000	6	0.000	0.031	1890	3277	1856	0	0	0	0	0	0
9981	0.79	146.1	772.0	20.6	469	9985	0.00	1.08	0.00	0.000	4	0.000	0.054	1890	3951	1854	0	0	0	0	0	0
10239	0.79	146.1	711.4	24.3	476	10243	0.00	1.00	0.00	0.000	6	0.000	0.031	1895	3276	1854	0	0	0	0	0	0
10558	0.79	146.1	645.6	20.5	487	10562	0.00	1.08	0.00	0.000	4	0.000	0.054	1895	3950	1853	0	0	0	0	0	0
10815	0.79	146.1	587.2	22.2	494	10820	0.00	1.00	0.00	0.000	6	0.000	0.030	1900	3273	1852	0	0	0	0	0	0
11134	0.79	146.1	523.4	19.6	505	11140	0.00	1.08	0.00	0.000	4	0.000	0.054	1900	3946	1851	0	0	0	0	0	0
11393	0.79	146.1	468.5	21.7	512	11396	0.00	1.00	0.00	0.000	6	0.000	0.031	1905	3272	1851	0	0	0	0	0	0
11712	0.79	146.1	408.2	18.9	523	11716	0.00	2.12	0.00	0.000	4	0.000	0.028	1917	1855	1851	0	0	0	0	0	0
11836	0.79	146.1	388.9	14.2	527	11844	0.12	2.28	0.00	0.000	6	0.196	0.047	1888	3283	1849	0	0	0	0	0	0
12154	0.79	146.1	335.1	17.2	543	12160	0.00	1.05	0.00	0.000	4	0.000	0.053	1888	3947	1849	0	0	0	0	0	0
12416	0.79	146.1	284.8	17.9	554	12419	0.00	1.00	0.00	0.000	6	0.000	0.031	1892	3273	1848	0	0	0	0	0	0
12744	0.79	146.1	227.1	17.6	572	12750	0.00	2.15	0.00	0.000	4	0.000	0.028	1903	1856	1848	0	0	0	0	0	0
12844	0.79	146.1	211.5	14.7	577	12850	0.00	2.28	0.00	0.000	6	0.000	0.048	1903	3280	1848	0	0	0	0	0	0
13165	0.79	146.1	155.5	17.3	598	13169	0.00	1.08	0.00	0.000	4	0.000	0.054	1903	3957	1847	0	0	0	0	0	0
13433	0.79	146.1	105.3	17.2	613	13436	0.00	1.00	0.00	0.000	6	0.000	0.030	1908	3275	1848	0	0	0	0	0	0
13796	0.79	146.1	53.6	13.6	669	13803	0.00	1.08	0.00	0.000	4	0.000	0.053	1908	3947	1847	0	0	0	0	0	0
14091	0.79	146.1	4.5	16.3	715	14102	0.10	0.98	0.00	0.000	6	0.197	0.030	1886	3282	1847	0	0	0	0	0	0
14110	end climb: SURFACE_DEPTH_REACHED
state	14110	begin surface coast
14130	end surface coast: CONTROL_FINISHED_OK
state	14130	begin surface