Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 49 * 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 49 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 30 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 20 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 -21815.613 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 -21815.613

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 30 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 20 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 49 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 181214,235034,-5602.524,-29.875,35,0.8,35,-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 -0.072,-0.148

_SM_DEPTHo 1.82 KALMAN_X 22483.8,-361.9,134.8,-53100.5,1022.6

_SM_ANGLEo -64.3 KALMAN_Y 46707.2,-842.3,-288.7,-49815.4,6978.4

GPS2 181214,235812,-5602.469,-29.844,18,0.9,18,-19.9 MHEAD_RNG_PITCHd_Wd 225.9,4576,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.4,1.027229 _10V_AH 10.1,10.734

SM_CCo 12366,26.85,0.181,0,0,1525,200.16 FG_AHR_24Vo 0.000

SM_GC 2.17,0.00,0.00,26.85,0.000,0.000,0.181,54,2949,1525,-5.42,0.54,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5542.76,-26.98,181214,202031 MEM 354016

TT8_MAMPS 0.026215 DATA_FILE_SIZE 56972,811

HUMID 55.82 CAP_FILE_SIZE 121381,0

INTERNAL_PRESSURE 8.96486 CFSIZE 259252224,223240192

TCM_TEMP 7.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 191214,032652,-5603.263,-30.188,37,1.0,37,-19.9

_24V_AH 21.7,16.402

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 267 80.62 SBE_CT 576 23 299.74

Roll_motor 108 87 205.00 AA4330 1685 17 657.80

VBD_pump_during_apogee 250 1796 9761.32 WL_BB2F 815 105 1857.97

VBD_pump_during_surface 26 181 105.64 QSP2150 848 17 331.07

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 33 91 66.46 nil 0 0 0.00

Iridium_during_connect 39 160 138.56 nil 0 0 0.00

Iridium_during_xfer 272 223 1319.21 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 31 6.54

TT8 2070 14 302.32

LPSleep 7735 2 171.11

TT8_Active 430 14 62.94

TT8_Sampling 2470 42 1052.16

TT8_CF8 145 49 72.82

TT8_Kalman 33 68 23.04

Analog_circuits 1278 15 200.22

GPS_charging 0 0 0.00

Compass 1970 16 327.98

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 59 0.00 0.00 -42.60 0.000 2 0.000 0.000 53 2942 2429 0 0 0 0 0 0

61 -0.59 -129.8 3.1 -4.7 5 89 6.55 1.65 -15.20 0.000 4 0.268 0.087 1587 3900 2872 0 0 0 0 0 0

157 -0.59 -129.8 16.4 -18.7 19 166 0.00 1.60 0.00 0.000 6 0.000 0.037 1587 2900 2875 0 0 0 0 0 0

240 -0.59 -129.8 32.1 -18.2 32 249 0.00 0.00 0.00 0.000 6 0.000 0.000 1587 2899 2875 0 0 0 0 0 0

357 -0.59 -129.8 53.3 -18.6 51 363 0.00 0.00 0.00 0.000 6 0.000 0.000 1587 2899 2875 0 0 0 0 0 0

469 -0.59 -129.8 75.0 -19.4 70 478 0.00 1.67 0.00 0.000 4 0.000 0.063 1579 3895 2875 0 0 0 0 0 0

502 -0.59 -129.8 81.1 -19.4 75 511 0.00 1.52 0.00 0.000 6 0.000 0.037 1580 2925 2875 0 0 0 0 0 0

740 -0.59 -129.8 122.6 -17.5 105 743 0.00 1.62 0.00 0.000 4 0.000 0.064 1572 3893 2875 0 0 0 0 0 0

847 -0.59 -129.8 144.5 -19.1 114 858 0.00 1.52 0.00 0.000 6 0.000 0.036 1573 2924 2875 0 0 0 0 0 0

1174 -0.59 -129.8 201.8 -17.2 145 1178 0.00 1.62 0.00 0.000 4 0.000 0.065 1566 3896 2875 0 0 0 0 0 0

1231 -0.59 -129.8 212.8 -18.2 150 1235 0.10 1.50 0.00 0.000 6 0.193 0.037 1594 2941 2875 0 0 0 0 0 0

1561 -0.59 -129.8 263.1 -14.8 177 1565 0.00 1.60 0.00 0.000 4 0.000 0.064 1586 3903 2875 0 0 0 0 0 0

1608 -0.59 -129.8 270.6 -16.5 179 1612 0.00 1.52 0.00 0.000 6 0.000 0.036 1586 2926 2875 0 0 0 0 0 0

1943 -0.59 -129.8 319.0 -14.1 195 1946 0.00 1.62 0.00 0.000 4 0.000 0.063 1579 3899 2875 0 0 0 0 0 0

1992 -0.59 -129.8 327.3 -15.7 197 1997 0.00 1.52 0.00 0.000 6 0.000 0.035 1579 2924 2875 0 0 0 0 0 0

2321 -0.59 -129.8 375.0 -14.7 213 2325 0.00 1.62 0.00 0.000 4 0.000 0.063 1572 3900 2875 0 0 0 0 0 0

2382 -0.59 -129.8 385.0 -16.2 215 2390 0.00 1.50 0.00 0.000 6 0.000 0.035 1572 2927 2875 0 0 0 0 0 0

2698 -0.59 -129.8 431.0 -14.3 231 2699 0.00 0.00 0.00 0.000 6 0.000 0.000 1572 2927 2875 0 0 0 0 0 0

3008 -0.59 -129.8 475.9 -14.4 246 3011 0.00 1.60 0.00 0.000 4 0.000 0.064 1565 3897 2876 0 0 0 0 0 0

3053 -0.59 -129.8 482.9 -15.5 248 3057 0.08 1.48 0.00 0.000 6 0.197 0.036 1587 2946 2876 0 0 0 0 0 0

3384 -0.59 -129.8 528.2 -13.7 264 3387 0.00 1.58 0.00 0.000 4 0.000 0.063 1580 3899 2876 0 0 0 0 0 0

3422 -0.59 -129.8 534.1 -15.4 265 3429 0.00 1.50 0.00 0.000 6 0.000 0.034 1582 2922 2876 0 0 0 0 0 0

3738 -0.59 -129.8 579.5 -14.4 281 3741 0.00 1.60 0.00 0.000 4 0.000 0.063 1574 3894 2876 0 0 0 0 0 0

3783 -0.59 -129.8 586.5 -15.6 283 3786 0.00 1.48 0.00 0.000 6 0.000 0.035 1578 2938 2876 0 0 0 0 0 0

4115 -0.59 -129.8 635.2 -14.6 299 4118 0.00 1.60 0.00 0.000 4 0.000 0.064 1571 3903 2876 0 0 0 0 0 0

4152 -0.59 -129.8 641.5 -16.5 300 4160 0.00 1.52 0.00 0.000 6 0.000 0.034 1576 2919 2876 0 0 0 0 0 0

4469 -0.59 -129.8 689.4 -15.5 316 4472 0.00 1.62 0.00 0.000 4 0.000 0.063 1568 3906 2876 0 0 0 0 0 0

4514 -0.59 -129.8 696.9 -16.8 318 4518 0.08 1.50 0.00 0.000 6 0.193 0.036 1590 2939 2877 0 0 0 0 0 0

4845 -0.59 -129.8 745.3 -14.4 334 4846 0.00 0.00 0.00 0.000 6 0.000 0.000 1590 2939 2877 0 0 0 0 0 0

5155 -0.59 -129.8 788.8 -14.1 349 5159 0.00 1.58 0.00 0.000 4 0.000 0.065 1583 3894 2877 0 0 0 0 0 0

5192 -0.59 -129.8 794.8 -15.5 350 5201 0.00 1.52 0.00 0.000 6 0.000 0.035 1589 2917 2877 0 0 0 0 0 0

5509 -0.59 -129.8 839.1 -14.3 366 5512 0.00 1.62 0.00 0.000 4 0.000 0.065 1582 3900 2877 0 0 0 0 0 0

5541 -0.59 -129.8 844.4 -15.7 367 5546 0.00 1.52 0.00 0.000 6 0.000 0.034 1582 2917 2877 0 0 0 0 0 0

5863 -0.59 -129.8 891.3 -14.1 383 5866 0.00 1.62 0.00 0.000 4 0.000 0.064 1574 3901 2877 0 0 0 0 0 0

5912 -0.59 -129.8 899.1 -16.1 385 5916 0.00 1.48 0.00 0.000 6 0.000 0.036 1574 2940 2877 0 0 0 0 0 0

6239 -0.59 -129.8 947.4 -14.5 401 6243 0.00 1.60 0.00 0.000 4 0.000 0.065 1567 3906 2877 0 0 0 0 0 0

6271 -0.59 -129.8 952.9 -16.7 402 6277 0.12 1.52 0.00 0.000 6 0.209 0.035 1596 2924 2877 0 0 0 0 0 0

6593 -0.59 -129.8 994.3 -12.7 418 6597 0.00 1.60 0.00 0.000 4 0.000 0.065 1589 3896 2877 0 0 0 0 0 0

6625 -0.59 -129.8 999.0 -14.4 419 6629 0.00 1.48 0.00 0.000 6 0.000 0.035 1589 2930 2877 0 0 0 0 0 0

6636 end dive: TARGET_DEPTH_EXCEEDED

state 6636 begin apogee

6640 -0.13 0.0 1000.5 14.5 420 6762 0.52 0.00 119.53 1.797 6 0.177 0.000 1744 2724 2341 0 0 0 0 0 0

6763 end apogee: CONTROL_FINISHED_OK

state 6763 begin climb

6765 0.59 129.8 1005.4 0.0 426 6899 0.77 0.00 130.80 1.756 6 0.125 0.000 1971 2724 1812 0 0 0 0 0 0

7209 0.59 129.8 940.1 16.9 448 7213 0.00 2.05 0.00 0.000 4 0.000 0.060 1971 3898 1803 0 0 0 0 0 0

7246 0.59 129.8 932.3 19.9 449 7254 0.00 1.98 0.00 0.000 6 0.000 0.037 1980 2734 1801 0 0 0 0 0 0

7563 0.59 129.8 876.6 17.5 465 7566 0.00 2.00 0.00 0.000 4 0.000 0.060 1980 3906 1800 0 0 0 0 0 0

7585 0.59 129.8 872.1 19.3 466 7589 0.00 1.98 0.00 0.000 6 0.000 0.038 1990 2701 1799 0 0 0 0 0 0

7917 0.59 129.8 810.0 19.2 482 7921 0.00 2.00 0.00 0.000 4 0.000 0.061 1990 3903 1799 0 0 0 0 0 0

7966 0.59 129.8 799.0 22.2 484 7971 0.00 1.95 0.00 0.000 6 0.000 0.039 1999 2716 1798 0 0 0 0 0 0

8293 0.59 129.8 734.2 20.0 500 8296 0.00 1.98 0.00 0.000 4 0.000 0.062 1999 3899 1798 0 0 0 0 0 0

8337 0.59 129.8 724.2 22.5 502 8341 0.00 1.92 0.00 0.000 6 0.000 0.039 2008 2706 1797 0 0 0 0 0 0

8670 0.59 129.8 656.8 19.9 518 8674 0.00 1.98 0.00 0.000 4 0.000 0.061 2009 3909 1797 0 0 0 0 0 0

8737 0.59 129.8 641.6 22.7 521 8742 0.15 1.92 0.00 0.000 6 0.223 0.040 1984 2708 1796 0 0 0 0 0 0

9064 0.59 129.8 583.1 17.4 537 9067 0.00 1.95 0.00 0.000 4 0.000 0.061 1984 3900 1796 0 0 0 0 0 0

9101 0.59 129.8 575.4 20.6 538 9109 0.00 1.92 0.00 0.000 6 0.000 0.038 1992 2710 1796 0 0 0 0 0 0

9417 0.59 129.8 518.8 18.2 554 9421 0.00 1.95 0.00 0.000 4 0.000 0.062 1992 3900 1796 0 0 0 0 0 0

9449 0.59 129.8 512.1 20.3 555 9454 0.00 1.92 0.00 0.000 6 0.000 0.039 2001 2709 1796 0 0 0 0 0 0

9771 0.59 129.8 451.9 19.4 571 9775 0.00 1.98 0.00 0.000 4 0.000 0.062 2002 3897 1796 0 0 0 0 0 0

9817 0.59 129.8 442.6 23.1 573 9821 0.12 1.90 0.00 0.000 6 0.230 0.039 1983 2700 1795 0 0 0 0 0 0

10151 0.59 129.8 383.6 17.2 589 10154 0.00 1.95 0.00 0.000 4 0.000 0.061 1983 3900 1796 0 0 0 0 0 0

10173 0.59 129.8 378.8 19.2 590 10176 0.00 1.90 0.00 0.000 6 0.000 0.039 1992 2699 1796 0 0 0 0 0 0

10505 0.59 129.8 319.7 17.8 606 10508 0.00 1.98 0.00 0.000 4 0.000 0.061 1992 3903 1795 0 0 0 0 0 0

10554 0.59 129.8 309.5 20.9 608 10558 0.00 1.90 0.00 0.000 6 0.000 0.039 2001 2716 1795 0 0 0 0 0 0

10871 0.59 129.8 247.5 19.4 624 10875 0.00 1.92 0.00 0.000 4 0.000 0.061 2002 3905 1795 0 0 0 0 0 0

10898 0.59 129.8 241.7 20.6 626 10908 0.00 1.92 0.00 0.000 6 0.000 0.040 2010 2701 1795 0 0 0 0 0 0

11226 0.59 129.8 179.3 18.8 657 11227 0.00 0.00 0.00 0.000 6 0.000 0.000 2010 2701 1795 0 0 0 0 0 0

11545 0.59 129.8 121.8 16.4 687 11549 0.00 1.95 0.00 0.000 4 0.000 0.060 2010 3900 1795 0 0 0 0 0 0

11626 0.59 129.8 105.4 19.5 694 11630 0.15 1.88 0.00 0.000 6 0.224 0.037 1985 2700 1795 0 0 0 0 0 0

11978 0.59 129.8 56.9 13.4 751 11985 0.00 1.98 0.00 0.000 4 0.000 0.061 1985 3914 1795 0 0 0 0 0 0

12016 0.59 129.8 51.6 14.4 757 12024 0.00 1.90 0.00 0.000 6 0.000 0.037 1994 2717 1795 0 0 0 0 0 0

12128 0.59 129.8 35.1 15.2 776 12137 0.00 1.95 0.00 0.000 4 0.000 0.062 1994 3896 1795 0 0 0 0 0 0

12151 0.59 129.8 31.6 16.7 779 12158 0.00 1.90 0.00 0.000 6 0.000 0.039 2003 2705 1795 0 0 0 0 0 0

12270 0.59 129.8 11.7 16.2 798 12278 0.00 0.00 0.00 0.000 6 0.000 0.000 2003 2705 1795 0 0 0 0 0 0

12328 end climb: SURFACE_DEPTH_REACHED

state 12328 begin surface coast

12354 end surface coast: CONTROL_FINISHED_OK

state 12354 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	49	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	30	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	20	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	-21815.613	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	181214,235034,-5602.524,-29.875,35,0.8,35,-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	-0.072,-0.148
_SM_DEPTHo	1.82	KALMAN_X	22483.8,-361.9,134.8,-53100.5,1022.6
_SM_ANGLEo	-64.3	KALMAN_Y	46707.2,-842.3,-288.7,-49815.4,6978.4
GPS2	181214,235812,-5602.469,-29.844,18,0.9,18,-19.9	MHEAD_RNG_PITCHd_Wd	225.9,4576,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.4,1.027229	_10V_AH	10.1,10.734
SM_CCo	12366,26.85,0.181,0,0,1525,200.16	FG_AHR_24Vo	0.000
SM_GC	2.17,0.00,0.00,26.85,0.000,0.000,0.181,54,2949,1525,-5.42,0.54,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5542.76,-26.98,181214,202031	MEM	354016
TT8_MAMPS	0.026215	DATA_FILE_SIZE	56972,811
HUMID	55.82	CAP_FILE_SIZE	121381,0
INTERNAL_PRESSURE	8.96486	CFSIZE	259252224,223240192
TCM_TEMP	7.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	191214,032652,-5603.263,-30.188,37,1.0,37,-19.9
_24V_AH	21.7,16.402

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	267	80.62	SBE_CT	576	23	299.74
Roll_motor	108	87	205.00	AA4330	1685	17	657.80
VBD_pump_during_apogee	250	1796	9761.32	WL_BB2F	815	105	1857.97
VBD_pump_during_surface	26	181	105.64	QSP2150	848	17	331.07
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	33	91	66.46	nil	0	0	0.00
Iridium_during_connect	39	160	138.56	nil	0	0	0.00
Iridium_during_xfer	272	223	1319.21	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	31	6.54
TT8	2070	14	302.32
LPSleep	7735	2	171.11
TT8_Active	430	14	62.94
TT8_Sampling	2470	42	1052.16
TT8_CF8	145	49	72.82
TT8_Kalman	33	68	23.04
Analog_circuits	1278	15	200.22
GPS_charging	0	0	0.00
Compass	1970	16	327.98
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	59	0.00	0.00	-42.60	0.000	2	0.000	0.000	53	2942	2429	0	0	0	0	0	0
61	-0.59	-129.8	3.1	-4.7	5	89	6.55	1.65	-15.20	0.000	4	0.268	0.087	1587	3900	2872	0	0	0	0	0	0
157	-0.59	-129.8	16.4	-18.7	19	166	0.00	1.60	0.00	0.000	6	0.000	0.037	1587	2900	2875	0	0	0	0	0	0
240	-0.59	-129.8	32.1	-18.2	32	249	0.00	0.00	0.00	0.000	6	0.000	0.000	1587	2899	2875	0	0	0	0	0	0
357	-0.59	-129.8	53.3	-18.6	51	363	0.00	0.00	0.00	0.000	6	0.000	0.000	1587	2899	2875	0	0	0	0	0	0
469	-0.59	-129.8	75.0	-19.4	70	478	0.00	1.67	0.00	0.000	4	0.000	0.063	1579	3895	2875	0	0	0	0	0	0
502	-0.59	-129.8	81.1	-19.4	75	511	0.00	1.52	0.00	0.000	6	0.000	0.037	1580	2925	2875	0	0	0	0	0	0
740	-0.59	-129.8	122.6	-17.5	105	743	0.00	1.62	0.00	0.000	4	0.000	0.064	1572	3893	2875	0	0	0	0	0	0
847	-0.59	-129.8	144.5	-19.1	114	858	0.00	1.52	0.00	0.000	6	0.000	0.036	1573	2924	2875	0	0	0	0	0	0
1174	-0.59	-129.8	201.8	-17.2	145	1178	0.00	1.62	0.00	0.000	4	0.000	0.065	1566	3896	2875	0	0	0	0	0	0
1231	-0.59	-129.8	212.8	-18.2	150	1235	0.10	1.50	0.00	0.000	6	0.193	0.037	1594	2941	2875	0	0	0	0	0	0
1561	-0.59	-129.8	263.1	-14.8	177	1565	0.00	1.60	0.00	0.000	4	0.000	0.064	1586	3903	2875	0	0	0	0	0	0
1608	-0.59	-129.8	270.6	-16.5	179	1612	0.00	1.52	0.00	0.000	6	0.000	0.036	1586	2926	2875	0	0	0	0	0	0
1943	-0.59	-129.8	319.0	-14.1	195	1946	0.00	1.62	0.00	0.000	4	0.000	0.063	1579	3899	2875	0	0	0	0	0	0
1992	-0.59	-129.8	327.3	-15.7	197	1997	0.00	1.52	0.00	0.000	6	0.000	0.035	1579	2924	2875	0	0	0	0	0	0
2321	-0.59	-129.8	375.0	-14.7	213	2325	0.00	1.62	0.00	0.000	4	0.000	0.063	1572	3900	2875	0	0	0	0	0	0
2382	-0.59	-129.8	385.0	-16.2	215	2390	0.00	1.50	0.00	0.000	6	0.000	0.035	1572	2927	2875	0	0	0	0	0	0
2698	-0.59	-129.8	431.0	-14.3	231	2699	0.00	0.00	0.00	0.000	6	0.000	0.000	1572	2927	2875	0	0	0	0	0	0
3008	-0.59	-129.8	475.9	-14.4	246	3011	0.00	1.60	0.00	0.000	4	0.000	0.064	1565	3897	2876	0	0	0	0	0	0
3053	-0.59	-129.8	482.9	-15.5	248	3057	0.08	1.48	0.00	0.000	6	0.197	0.036	1587	2946	2876	0	0	0	0	0	0
3384	-0.59	-129.8	528.2	-13.7	264	3387	0.00	1.58	0.00	0.000	4	0.000	0.063	1580	3899	2876	0	0	0	0	0	0
3422	-0.59	-129.8	534.1	-15.4	265	3429	0.00	1.50	0.00	0.000	6	0.000	0.034	1582	2922	2876	0	0	0	0	0	0
3738	-0.59	-129.8	579.5	-14.4	281	3741	0.00	1.60	0.00	0.000	4	0.000	0.063	1574	3894	2876	0	0	0	0	0	0
3783	-0.59	-129.8	586.5	-15.6	283	3786	0.00	1.48	0.00	0.000	6	0.000	0.035	1578	2938	2876	0	0	0	0	0	0
4115	-0.59	-129.8	635.2	-14.6	299	4118	0.00	1.60	0.00	0.000	4	0.000	0.064	1571	3903	2876	0	0	0	0	0	0
4152	-0.59	-129.8	641.5	-16.5	300	4160	0.00	1.52	0.00	0.000	6	0.000	0.034	1576	2919	2876	0	0	0	0	0	0
4469	-0.59	-129.8	689.4	-15.5	316	4472	0.00	1.62	0.00	0.000	4	0.000	0.063	1568	3906	2876	0	0	0	0	0	0
4514	-0.59	-129.8	696.9	-16.8	318	4518	0.08	1.50	0.00	0.000	6	0.193	0.036	1590	2939	2877	0	0	0	0	0	0
4845	-0.59	-129.8	745.3	-14.4	334	4846	0.00	0.00	0.00	0.000	6	0.000	0.000	1590	2939	2877	0	0	0	0	0	0
5155	-0.59	-129.8	788.8	-14.1	349	5159	0.00	1.58	0.00	0.000	4	0.000	0.065	1583	3894	2877	0	0	0	0	0	0
5192	-0.59	-129.8	794.8	-15.5	350	5201	0.00	1.52	0.00	0.000	6	0.000	0.035	1589	2917	2877	0	0	0	0	0	0
5509	-0.59	-129.8	839.1	-14.3	366	5512	0.00	1.62	0.00	0.000	4	0.000	0.065	1582	3900	2877	0	0	0	0	0	0
5541	-0.59	-129.8	844.4	-15.7	367	5546	0.00	1.52	0.00	0.000	6	0.000	0.034	1582	2917	2877	0	0	0	0	0	0
5863	-0.59	-129.8	891.3	-14.1	383	5866	0.00	1.62	0.00	0.000	4	0.000	0.064	1574	3901	2877	0	0	0	0	0	0
5912	-0.59	-129.8	899.1	-16.1	385	5916	0.00	1.48	0.00	0.000	6	0.000	0.036	1574	2940	2877	0	0	0	0	0	0
6239	-0.59	-129.8	947.4	-14.5	401	6243	0.00	1.60	0.00	0.000	4	0.000	0.065	1567	3906	2877	0	0	0	0	0	0
6271	-0.59	-129.8	952.9	-16.7	402	6277	0.12	1.52	0.00	0.000	6	0.209	0.035	1596	2924	2877	0	0	0	0	0	0
6593	-0.59	-129.8	994.3	-12.7	418	6597	0.00	1.60	0.00	0.000	4	0.000	0.065	1589	3896	2877	0	0	0	0	0	0
6625	-0.59	-129.8	999.0	-14.4	419	6629	0.00	1.48	0.00	0.000	6	0.000	0.035	1589	2930	2877	0	0	0	0	0	0
6636	end dive: TARGET_DEPTH_EXCEEDED
state	6636	begin apogee
6640	-0.13	0.0	1000.5	14.5	420	6762	0.52	0.00	119.53	1.797	6	0.177	0.000	1744	2724	2341	0	0	0	0	0	0
6763	end apogee: CONTROL_FINISHED_OK
state	6763	begin climb
6765	0.59	129.8	1005.4	0.0	426	6899	0.77	0.00	130.80	1.756	6	0.125	0.000	1971	2724	1812	0	0	0	0	0	0
7209	0.59	129.8	940.1	16.9	448	7213	0.00	2.05	0.00	0.000	4	0.000	0.060	1971	3898	1803	0	0	0	0	0	0
7246	0.59	129.8	932.3	19.9	449	7254	0.00	1.98	0.00	0.000	6	0.000	0.037	1980	2734	1801	0	0	0	0	0	0
7563	0.59	129.8	876.6	17.5	465	7566	0.00	2.00	0.00	0.000	4	0.000	0.060	1980	3906	1800	0	0	0	0	0	0
7585	0.59	129.8	872.1	19.3	466	7589	0.00	1.98	0.00	0.000	6	0.000	0.038	1990	2701	1799	0	0	0	0	0	0
7917	0.59	129.8	810.0	19.2	482	7921	0.00	2.00	0.00	0.000	4	0.000	0.061	1990	3903	1799	0	0	0	0	0	0
7966	0.59	129.8	799.0	22.2	484	7971	0.00	1.95	0.00	0.000	6	0.000	0.039	1999	2716	1798	0	0	0	0	0	0
8293	0.59	129.8	734.2	20.0	500	8296	0.00	1.98	0.00	0.000	4	0.000	0.062	1999	3899	1798	0	0	0	0	0	0
8337	0.59	129.8	724.2	22.5	502	8341	0.00	1.92	0.00	0.000	6	0.000	0.039	2008	2706	1797	0	0	0	0	0	0
8670	0.59	129.8	656.8	19.9	518	8674	0.00	1.98	0.00	0.000	4	0.000	0.061	2009	3909	1797	0	0	0	0	0	0
8737	0.59	129.8	641.6	22.7	521	8742	0.15	1.92	0.00	0.000	6	0.223	0.040	1984	2708	1796	0	0	0	0	0	0
9064	0.59	129.8	583.1	17.4	537	9067	0.00	1.95	0.00	0.000	4	0.000	0.061	1984	3900	1796	0	0	0	0	0	0
9101	0.59	129.8	575.4	20.6	538	9109	0.00	1.92	0.00	0.000	6	0.000	0.038	1992	2710	1796	0	0	0	0	0	0
9417	0.59	129.8	518.8	18.2	554	9421	0.00	1.95	0.00	0.000	4	0.000	0.062	1992	3900	1796	0	0	0	0	0	0
9449	0.59	129.8	512.1	20.3	555	9454	0.00	1.92	0.00	0.000	6	0.000	0.039	2001	2709	1796	0	0	0	0	0	0
9771	0.59	129.8	451.9	19.4	571	9775	0.00	1.98	0.00	0.000	4	0.000	0.062	2002	3897	1796	0	0	0	0	0	0
9817	0.59	129.8	442.6	23.1	573	9821	0.12	1.90	0.00	0.000	6	0.230	0.039	1983	2700	1795	0	0	0	0	0	0
10151	0.59	129.8	383.6	17.2	589	10154	0.00	1.95	0.00	0.000	4	0.000	0.061	1983	3900	1796	0	0	0	0	0	0
10173	0.59	129.8	378.8	19.2	590	10176	0.00	1.90	0.00	0.000	6	0.000	0.039	1992	2699	1796	0	0	0	0	0	0
10505	0.59	129.8	319.7	17.8	606	10508	0.00	1.98	0.00	0.000	4	0.000	0.061	1992	3903	1795	0	0	0	0	0	0
10554	0.59	129.8	309.5	20.9	608	10558	0.00	1.90	0.00	0.000	6	0.000	0.039	2001	2716	1795	0	0	0	0	0	0
10871	0.59	129.8	247.5	19.4	624	10875	0.00	1.92	0.00	0.000	4	0.000	0.061	2002	3905	1795	0	0	0	0	0	0
10898	0.59	129.8	241.7	20.6	626	10908	0.00	1.92	0.00	0.000	6	0.000	0.040	2010	2701	1795	0	0	0	0	0	0
11226	0.59	129.8	179.3	18.8	657	11227	0.00	0.00	0.00	0.000	6	0.000	0.000	2010	2701	1795	0	0	0	0	0	0
11545	0.59	129.8	121.8	16.4	687	11549	0.00	1.95	0.00	0.000	4	0.000	0.060	2010	3900	1795	0	0	0	0	0	0
11626	0.59	129.8	105.4	19.5	694	11630	0.15	1.88	0.00	0.000	6	0.224	0.037	1985	2700	1795	0	0	0	0	0	0
11978	0.59	129.8	56.9	13.4	751	11985	0.00	1.98	0.00	0.000	4	0.000	0.061	1985	3914	1795	0	0	0	0	0	0
12016	0.59	129.8	51.6	14.4	757	12024	0.00	1.90	0.00	0.000	6	0.000	0.037	1994	2717	1795	0	0	0	0	0	0
12128	0.59	129.8	35.1	15.2	776	12137	0.00	1.95	0.00	0.000	4	0.000	0.062	1994	3896	1795	0	0	0	0	0	0
12151	0.59	129.8	31.6	16.7	779	12158	0.00	1.90	0.00	0.000	6	0.000	0.039	2003	2705	1795	0	0	0	0	0	0
12270	0.59	129.8	11.7	16.2	798	12278	0.00	0.00	0.00	0.000	6	0.000	0.000	2003	2705	1795	0	0	0	0	0	0
12328	end climb: SURFACE_DEPTH_REACHED
state	12328	begin surface coast
12354	end surface coast: CONTROL_FINISHED_OK
state	12354	begin surface