Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 52 * 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 52 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 26 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 -21822.59 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 -21822.59

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 26 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 52 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 191214,104034,-5603.529,-32.366,33,0.9,33,-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 -0.108,0.124

_SM_DEPTHo 2.00 KALMAN_X 26921.0,210.0,-45.5,-60490.3,3307.0

_SM_ANGLEo -70.5 KALMAN_Y 48799.9,-804.4,-466.0,-53610.2,5352.5

GPS2 191214,104805,-5603.466,-32.325,18,0.9,18,-19.9 MHEAD_RNG_PITCHd_Wd 338.8,6857,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.2,1.027198 _10V_AH 10.1,11.034

SM_CCo 12236,24.80,0.193,0,0,1524,200.16 FG_AHR_24Vo 0.000

SM_GC 2.19,0.00,0.00,24.80,0.000,0.000,0.193,60,2951,1524,-5.41,0.59,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5538.94,-30.80,191214,070749 MEM 354036

TT8_MAMPS 0.026215 DATA_FILE_SIZE 53627,794

HUMID 56.02 CAP_FILE_SIZE 106052,0

INTERNAL_PRESSURE 8.95509 CFSIZE 259252224,223068160

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

XPDR_PINGS 0 GPS 191214,141434,-5601.908,-34.419,40,0.8,40,-19.8

_24V_AH 21.7,16.858

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 254 73.11 SBE_CT 564 23 293.48

Roll_motor 65 65 91.72 AA4330 1655 17 645.90

VBD_pump_during_apogee 259 1816 10238.00 WL_BB2F 798 105 1820.10

VBD_pump_during_surface 24 192 103.75 QSP2150 818 17 319.24

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 91 58.03 nil 0 0 0.00

Iridium_during_connect 40 160 142.29 nil 0 0 0.00

Iridium_during_xfer 270 223 1307.90 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 6.43

TT8 1984 14 289.79

LPSleep 7793 2 172.38

TT8_Active 407 14 59.59

TT8_Sampling 2377 42 1012.83

TT8_CF8 150 49 75.52

TT8_Kalman 33 68 23.04

Analog_circuits 1194 15 187.04

GPS_charging 0 0 0.00

Compass 1901 16 316.43

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.54 -73.9 0.0 0.0 0 59 0.00 0.00 -42.53 0.000 2 0.000 0.000 58 2939 2456 0 0 0 0 0 0

62 -0.59 -134.2 3.3 -4.3 5 89 6.30 2.33 -14.15 0.000 4 0.255 0.057 1592 1508 2891 0 0 0 0 0 0

133 -0.59 -134.2 12.2 -15.5 15 142 0.00 2.38 0.00 0.000 6 0.000 0.059 1582 2930 2892 0 0 0 0 0 0

218 -0.59 -134.2 27.9 -20.2 28 226 0.00 0.00 0.00 0.000 6 0.000 0.000 1582 2929 2892 0 0 0 0 0 0

298 -0.59 -134.2 43.5 -19.3 41 304 0.00 0.00 0.00 0.000 6 0.000 0.000 1582 2930 2892 0 0 0 0 0 0

410 -0.59 -134.2 66.4 -19.8 60 419 0.00 1.60 0.00 0.000 4 0.000 0.065 1574 3900 2892 0 0 0 0 0 0

456 -0.59 -134.2 75.6 -21.0 67 463 0.00 1.58 0.00 0.000 6 0.000 0.037 1574 2905 2893 0 0 0 0 0 0

567 -0.59 -134.2 96.5 -17.7 86 573 0.00 0.00 0.00 0.000 6 0.000 0.000 1574 2902 2892 0 0 0 0 0 0

794 -0.59 -134.2 140.0 -19.6 109 795 0.00 0.00 0.00 0.000 6 0.000 0.000 1575 2902 2893 0 0 0 0 0 0

1113 -0.59 -134.2 198.4 -17.2 139 1117 0.00 1.62 0.00 0.000 4 0.000 0.064 1567 3904 2892 0 0 0 0 0 0

1256 -0.59 -134.2 224.5 -16.6 151 1265 0.12 1.55 0.00 0.000 6 0.211 0.037 1596 2922 2892 0 0 0 0 0 0

1582 -0.59 -134.2 272.7 -15.7 175 1583 0.00 0.00 0.00 0.000 6 0.000 0.000 1596 2922 2892 0 0 0 0 0 0

1886 -0.59 -134.2 321.3 -15.4 190 1888 0.00 0.00 0.00 0.000 6 0.000 0.000 1596 2922 2892 0 0 0 0 0 0

2198 -0.59 -134.2 366.2 -14.2 205 2201 0.00 1.62 0.00 0.000 4 0.000 0.064 1589 3927 2892 0 0 0 0 0 0

2281 -0.59 -134.2 379.7 -15.3 208 2291 0.00 1.55 0.00 0.000 6 0.000 0.036 1588 2928 2892 0 0 0 0 0 0

2598 -0.59 -134.2 424.7 -14.1 224 2599 0.00 0.00 0.00 0.000 6 0.000 0.000 1589 2928 2892 0 0 0 0 0 0

2907 -0.59 -134.2 469.7 -14.9 239 2910 0.00 1.60 0.00 0.000 4 0.000 0.064 1581 3895 2893 0 0 0 0 0 0

3057 -0.59 -134.2 494.4 -16.3 245 3065 0.00 1.50 0.00 0.000 6 0.000 0.036 1582 2921 2892 0 0 0 0 0 0

3374 -0.59 -134.2 543.9 -16.0 261 3375 0.00 0.00 0.00 0.000 6 0.000 0.000 1581 2921 2893 0 0 0 0 0 0

3683 -0.59 -134.2 592.0 -15.4 276 3686 0.00 1.62 0.00 0.000 4 0.000 0.064 1574 3934 2894 0 0 0 0 0 0

3750 -0.59 -134.2 603.4 -17.6 279 3754 0.00 1.52 0.00 0.000 6 0.000 0.036 1574 2945 2894 0 0 0 0 0 0

4083 -0.59 -134.2 654.0 -15.2 295 4084 0.00 0.00 0.00 0.000 6 0.000 0.000 1573 2937 2893 0 0 0 0 0 0

4391 -0.59 -134.2 699.5 -14.6 310 4395 0.00 1.58 0.00 0.000 4 0.000 0.065 1566 3893 2893 0 0 0 0 0 0

4453 -0.59 -134.2 709.2 -16.2 312 4460 0.08 1.50 0.00 0.000 6 0.192 0.037 1589 2928 2894 0 0 0 0 0 0

4768 -0.59 -134.2 750.0 -12.6 328 4769 0.00 0.00 0.00 0.000 6 0.000 0.000 1588 2928 2894 0 0 0 0 0 0

5077 -0.59 -134.2 789.6 -13.0 343 5081 0.00 1.60 0.00 0.000 4 0.000 0.064 1581 3898 2894 0 0 0 0 0 0

5126 -0.59 -134.2 796.6 -14.6 345 5131 0.00 1.52 0.00 0.000 6 0.000 0.035 1581 2920 2894 0 0 0 0 0 0

5454 -0.59 -134.2 840.9 -13.5 361 5455 0.00 0.00 0.00 0.000 6 0.000 0.000 1581 2918 2894 0 0 0 0 0 0

5763 -0.59 -134.2 882.9 -13.5 376 5766 0.00 1.62 0.00 0.000 4 0.000 0.065 1574 3930 2894 0 0 0 0 0 0

5811 -0.59 -134.2 890.4 -15.3 378 5816 0.00 1.58 0.00 0.000 6 0.000 0.034 1579 2922 2894 0 0 0 0 0 0

6139 -0.59 -134.2 935.3 -13.6 394 6141 0.00 0.00 0.00 0.000 6 0.000 0.000 1578 2917 2894 0 0 0 0 0 0

6448 -0.59 -134.2 976.6 -13.2 409 6452 0.00 1.62 0.00 0.000 4 0.000 0.064 1571 3903 2894 0 0 0 0 0 0

6553 -0.59 -134.2 991.7 -14.5 413 6561 0.00 1.50 0.00 0.000 6 0.000 0.035 1576 2928 2894 0 0 0 0 0 0

6620 end dive: TARGET_DEPTH_EXCEEDED

state 6620 begin apogee

6624 -0.13 0.0 1000.6 13.4 417 6751 0.57 0.00 123.65 1.817 6 0.181 0.000 1744 2706 2341 0 0 0 0 0 0

6752 end apogee: CONTROL_FINISHED_OK

state 6752 begin climb

6753 0.59 134.2 1004.3 0.0 423 6897 0.75 0.00 136.02 1.786 6 0.124 0.000 1970 2705 1794 0 0 0 0 0 0

7204 0.59 134.2 929.2 19.1 445 7208 0.00 2.10 0.00 0.000 4 0.000 0.061 1970 3918 1786 0 0 0 0 0 0

7258 0.59 134.2 917.3 21.5 447 7263 0.00 2.00 0.00 0.000 6 0.000 0.037 1979 2740 1783 0 0 0 0 0 0

7581 0.59 134.2 853.8 19.5 463 7582 0.00 0.00 0.00 0.000 6 0.000 0.000 1979 2739 1782 0 0 0 0 0 0

7890 0.59 134.2 793.1 19.3 478 7893 0.00 1.95 0.00 0.000 4 0.000 0.061 1979 3898 1781 0 0 0 0 0 0

7934 0.59 134.2 783.7 21.6 480 7938 0.00 1.92 0.00 0.000 6 0.000 0.040 1988 2700 1781 0 0 0 0 0 0

8267 0.59 134.2 719.7 18.8 496 8268 0.00 0.00 0.00 0.000 6 0.000 0.000 1988 2701 1781 0 0 0 0 0 0

8576 0.59 134.2 663.1 18.3 511 8579 0.00 2.00 0.00 0.000 4 0.000 0.061 1988 3904 1780 0 0 0 0 0 0

8635 0.59 134.2 650.5 21.2 513 8643 0.00 1.95 0.00 0.000 6 0.000 0.040 1998 2703 1780 0 0 0 0 0 0

8951 0.59 134.2 590.9 18.7 529 8952 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2703 1780 0 0 0 0 0 0

9260 0.59 134.2 534.4 18.1 544 9264 0.00 1.98 0.00 0.000 4 0.000 0.061 1998 3903 1780 0 0 0 0 0 0

9350 0.59 134.2 516.0 20.6 548 9354 0.00 1.90 0.00 0.000 6 0.000 0.040 2007 2699 1779 0 0 0 0 0 0

9682 0.59 134.2 453.5 18.9 564 9686 0.00 2.00 0.00 0.000 4 0.000 0.060 2007 3898 1779 0 0 0 0 0 0

9736 0.59 134.2 441.9 22.0 566 9742 0.10 1.90 0.00 0.000 6 0.209 0.038 1989 2717 1778 0 0 0 0 0 0

10059 0.59 134.2 385.7 17.7 582 10060 0.00 0.00 0.00 0.000 6 0.000 0.000 1989 2717 1779 0 0 0 0 0 0

10370 0.59 134.2 330.7 17.6 597 10373 0.00 1.95 0.00 0.000 4 0.000 0.060 1989 3907 1778 0 0 0 0 0 0

10453 0.59 134.2 313.8 20.4 600 10463 0.00 1.92 0.00 0.000 6 0.000 0.040 1998 2712 1778 0 0 0 0 0 0

10770 0.59 134.2 256.0 18.4 616 10771 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2712 1778 0 0 0 0 0 0

11087 0.59 134.2 198.4 18.0 644 11090 0.00 1.95 0.00 0.000 4 0.000 0.061 1998 3904 1778 0 0 0 0 0 0

11170 0.59 134.2 180.7 23.2 651 11174 0.00 1.90 0.00 0.000 6 0.000 0.040 2006 2701 1778 0 0 0 0 0 0

11500 0.59 134.2 118.1 19.8 682 11502 0.00 0.00 0.00 0.000 6 0.000 0.000 2007 2701 1778 0 0 0 0 0 0

11841 0.59 134.2 56.1 17.2 733 11848 0.00 1.98 0.00 0.000 4 0.000 0.062 2007 3921 1778 0 0 0 0 0 0

11926 0.59 134.2 40.4 18.6 747 11933 0.08 1.92 0.00 0.000 6 0.197 0.039 1984 2714 1778 0 0 0 0 0 0

12044 0.59 134.2 23.1 13.9 766 12052 0.00 0.00 0.00 0.000 6 0.000 0.000 1984 2713 1778 0 0 0 0 0 0

12128 0.59 134.2 12.0 13.4 779 12136 0.00 0.00 0.00 0.000 6 0.000 0.000 1984 2713 1777 0 0 0 0 0 0

12198 end climb: SURFACE_DEPTH_REACHED

state 12198 begin surface coast

12224 end surface coast: CONTROL_FINISHED_OK

state 12224 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	52	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	26	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	-21822.59	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	191214,104034,-5603.529,-32.366,33,0.9,33,-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	-0.108,0.124
_SM_DEPTHo	2.00	KALMAN_X	26921.0,210.0,-45.5,-60490.3,3307.0
_SM_ANGLEo	-70.5	KALMAN_Y	48799.9,-804.4,-466.0,-53610.2,5352.5
GPS2	191214,104805,-5603.466,-32.325,18,0.9,18,-19.9	MHEAD_RNG_PITCHd_Wd	338.8,6857,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.2,1.027198	_10V_AH	10.1,11.034
SM_CCo	12236,24.80,0.193,0,0,1524,200.16	FG_AHR_24Vo	0.000
SM_GC	2.19,0.00,0.00,24.80,0.000,0.000,0.193,60,2951,1524,-5.41,0.59,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5538.94,-30.80,191214,070749	MEM	354036
TT8_MAMPS	0.026215	DATA_FILE_SIZE	53627,794
HUMID	56.02	CAP_FILE_SIZE	106052,0
INTERNAL_PRESSURE	8.95509	CFSIZE	259252224,223068160
TCM_TEMP	7.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	191214,141434,-5601.908,-34.419,40,0.8,40,-19.8
_24V_AH	21.7,16.858

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	254	73.11	SBE_CT	564	23	293.48
Roll_motor	65	65	91.72	AA4330	1655	17	645.90
VBD_pump_during_apogee	259	1816	10238.00	WL_BB2F	798	105	1820.10
VBD_pump_during_surface	24	192	103.75	QSP2150	818	17	319.24
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	91	58.03	nil	0	0	0.00
Iridium_during_connect	40	160	142.29	nil	0	0	0.00
Iridium_during_xfer	270	223	1307.90	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	6.43
TT8	1984	14	289.79
LPSleep	7793	2	172.38
TT8_Active	407	14	59.59
TT8_Sampling	2377	42	1012.83
TT8_CF8	150	49	75.52
TT8_Kalman	33	68	23.04
Analog_circuits	1194	15	187.04
GPS_charging	0	0	0.00
Compass	1901	16	316.43
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.54	-73.9	0.0	0.0	0	59	0.00	0.00	-42.53	0.000	2	0.000	0.000	58	2939	2456	0	0	0	0	0	0
62	-0.59	-134.2	3.3	-4.3	5	89	6.30	2.33	-14.15	0.000	4	0.255	0.057	1592	1508	2891	0	0	0	0	0	0
133	-0.59	-134.2	12.2	-15.5	15	142	0.00	2.38	0.00	0.000	6	0.000	0.059	1582	2930	2892	0	0	0	0	0	0
218	-0.59	-134.2	27.9	-20.2	28	226	0.00	0.00	0.00	0.000	6	0.000	0.000	1582	2929	2892	0	0	0	0	0	0
298	-0.59	-134.2	43.5	-19.3	41	304	0.00	0.00	0.00	0.000	6	0.000	0.000	1582	2930	2892	0	0	0	0	0	0
410	-0.59	-134.2	66.4	-19.8	60	419	0.00	1.60	0.00	0.000	4	0.000	0.065	1574	3900	2892	0	0	0	0	0	0
456	-0.59	-134.2	75.6	-21.0	67	463	0.00	1.58	0.00	0.000	6	0.000	0.037	1574	2905	2893	0	0	0	0	0	0
567	-0.59	-134.2	96.5	-17.7	86	573	0.00	0.00	0.00	0.000	6	0.000	0.000	1574	2902	2892	0	0	0	0	0	0
794	-0.59	-134.2	140.0	-19.6	109	795	0.00	0.00	0.00	0.000	6	0.000	0.000	1575	2902	2893	0	0	0	0	0	0
1113	-0.59	-134.2	198.4	-17.2	139	1117	0.00	1.62	0.00	0.000	4	0.000	0.064	1567	3904	2892	0	0	0	0	0	0
1256	-0.59	-134.2	224.5	-16.6	151	1265	0.12	1.55	0.00	0.000	6	0.211	0.037	1596	2922	2892	0	0	0	0	0	0
1582	-0.59	-134.2	272.7	-15.7	175	1583	0.00	0.00	0.00	0.000	6	0.000	0.000	1596	2922	2892	0	0	0	0	0	0
1886	-0.59	-134.2	321.3	-15.4	190	1888	0.00	0.00	0.00	0.000	6	0.000	0.000	1596	2922	2892	0	0	0	0	0	0
2198	-0.59	-134.2	366.2	-14.2	205	2201	0.00	1.62	0.00	0.000	4	0.000	0.064	1589	3927	2892	0	0	0	0	0	0
2281	-0.59	-134.2	379.7	-15.3	208	2291	0.00	1.55	0.00	0.000	6	0.000	0.036	1588	2928	2892	0	0	0	0	0	0
2598	-0.59	-134.2	424.7	-14.1	224	2599	0.00	0.00	0.00	0.000	6	0.000	0.000	1589	2928	2892	0	0	0	0	0	0
2907	-0.59	-134.2	469.7	-14.9	239	2910	0.00	1.60	0.00	0.000	4	0.000	0.064	1581	3895	2893	0	0	0	0	0	0
3057	-0.59	-134.2	494.4	-16.3	245	3065	0.00	1.50	0.00	0.000	6	0.000	0.036	1582	2921	2892	0	0	0	0	0	0
3374	-0.59	-134.2	543.9	-16.0	261	3375	0.00	0.00	0.00	0.000	6	0.000	0.000	1581	2921	2893	0	0	0	0	0	0
3683	-0.59	-134.2	592.0	-15.4	276	3686	0.00	1.62	0.00	0.000	4	0.000	0.064	1574	3934	2894	0	0	0	0	0	0
3750	-0.59	-134.2	603.4	-17.6	279	3754	0.00	1.52	0.00	0.000	6	0.000	0.036	1574	2945	2894	0	0	0	0	0	0
4083	-0.59	-134.2	654.0	-15.2	295	4084	0.00	0.00	0.00	0.000	6	0.000	0.000	1573	2937	2893	0	0	0	0	0	0
4391	-0.59	-134.2	699.5	-14.6	310	4395	0.00	1.58	0.00	0.000	4	0.000	0.065	1566	3893	2893	0	0	0	0	0	0
4453	-0.59	-134.2	709.2	-16.2	312	4460	0.08	1.50	0.00	0.000	6	0.192	0.037	1589	2928	2894	0	0	0	0	0	0
4768	-0.59	-134.2	750.0	-12.6	328	4769	0.00	0.00	0.00	0.000	6	0.000	0.000	1588	2928	2894	0	0	0	0	0	0
5077	-0.59	-134.2	789.6	-13.0	343	5081	0.00	1.60	0.00	0.000	4	0.000	0.064	1581	3898	2894	0	0	0	0	0	0
5126	-0.59	-134.2	796.6	-14.6	345	5131	0.00	1.52	0.00	0.000	6	0.000	0.035	1581	2920	2894	0	0	0	0	0	0
5454	-0.59	-134.2	840.9	-13.5	361	5455	0.00	0.00	0.00	0.000	6	0.000	0.000	1581	2918	2894	0	0	0	0	0	0
5763	-0.59	-134.2	882.9	-13.5	376	5766	0.00	1.62	0.00	0.000	4	0.000	0.065	1574	3930	2894	0	0	0	0	0	0
5811	-0.59	-134.2	890.4	-15.3	378	5816	0.00	1.58	0.00	0.000	6	0.000	0.034	1579	2922	2894	0	0	0	0	0	0
6139	-0.59	-134.2	935.3	-13.6	394	6141	0.00	0.00	0.00	0.000	6	0.000	0.000	1578	2917	2894	0	0	0	0	0	0
6448	-0.59	-134.2	976.6	-13.2	409	6452	0.00	1.62	0.00	0.000	4	0.000	0.064	1571	3903	2894	0	0	0	0	0	0
6553	-0.59	-134.2	991.7	-14.5	413	6561	0.00	1.50	0.00	0.000	6	0.000	0.035	1576	2928	2894	0	0	0	0	0	0
6620	end dive: TARGET_DEPTH_EXCEEDED
state	6620	begin apogee
6624	-0.13	0.0	1000.6	13.4	417	6751	0.57	0.00	123.65	1.817	6	0.181	0.000	1744	2706	2341	0	0	0	0	0	0
6752	end apogee: CONTROL_FINISHED_OK
state	6752	begin climb
6753	0.59	134.2	1004.3	0.0	423	6897	0.75	0.00	136.02	1.786	6	0.124	0.000	1970	2705	1794	0	0	0	0	0	0
7204	0.59	134.2	929.2	19.1	445	7208	0.00	2.10	0.00	0.000	4	0.000	0.061	1970	3918	1786	0	0	0	0	0	0
7258	0.59	134.2	917.3	21.5	447	7263	0.00	2.00	0.00	0.000	6	0.000	0.037	1979	2740	1783	0	0	0	0	0	0
7581	0.59	134.2	853.8	19.5	463	7582	0.00	0.00	0.00	0.000	6	0.000	0.000	1979	2739	1782	0	0	0	0	0	0
7890	0.59	134.2	793.1	19.3	478	7893	0.00	1.95	0.00	0.000	4	0.000	0.061	1979	3898	1781	0	0	0	0	0	0
7934	0.59	134.2	783.7	21.6	480	7938	0.00	1.92	0.00	0.000	6	0.000	0.040	1988	2700	1781	0	0	0	0	0	0
8267	0.59	134.2	719.7	18.8	496	8268	0.00	0.00	0.00	0.000	6	0.000	0.000	1988	2701	1781	0	0	0	0	0	0
8576	0.59	134.2	663.1	18.3	511	8579	0.00	2.00	0.00	0.000	4	0.000	0.061	1988	3904	1780	0	0	0	0	0	0
8635	0.59	134.2	650.5	21.2	513	8643	0.00	1.95	0.00	0.000	6	0.000	0.040	1998	2703	1780	0	0	0	0	0	0
8951	0.59	134.2	590.9	18.7	529	8952	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2703	1780	0	0	0	0	0	0
9260	0.59	134.2	534.4	18.1	544	9264	0.00	1.98	0.00	0.000	4	0.000	0.061	1998	3903	1780	0	0	0	0	0	0
9350	0.59	134.2	516.0	20.6	548	9354	0.00	1.90	0.00	0.000	6	0.000	0.040	2007	2699	1779	0	0	0	0	0	0
9682	0.59	134.2	453.5	18.9	564	9686	0.00	2.00	0.00	0.000	4	0.000	0.060	2007	3898	1779	0	0	0	0	0	0
9736	0.59	134.2	441.9	22.0	566	9742	0.10	1.90	0.00	0.000	6	0.209	0.038	1989	2717	1778	0	0	0	0	0	0
10059	0.59	134.2	385.7	17.7	582	10060	0.00	0.00	0.00	0.000	6	0.000	0.000	1989	2717	1779	0	0	0	0	0	0
10370	0.59	134.2	330.7	17.6	597	10373	0.00	1.95	0.00	0.000	4	0.000	0.060	1989	3907	1778	0	0	0	0	0	0
10453	0.59	134.2	313.8	20.4	600	10463	0.00	1.92	0.00	0.000	6	0.000	0.040	1998	2712	1778	0	0	0	0	0	0
10770	0.59	134.2	256.0	18.4	616	10771	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2712	1778	0	0	0	0	0	0
11087	0.59	134.2	198.4	18.0	644	11090	0.00	1.95	0.00	0.000	4	0.000	0.061	1998	3904	1778	0	0	0	0	0	0
11170	0.59	134.2	180.7	23.2	651	11174	0.00	1.90	0.00	0.000	6	0.000	0.040	2006	2701	1778	0	0	0	0	0	0
11500	0.59	134.2	118.1	19.8	682	11502	0.00	0.00	0.00	0.000	6	0.000	0.000	2007	2701	1778	0	0	0	0	0	0
11841	0.59	134.2	56.1	17.2	733	11848	0.00	1.98	0.00	0.000	4	0.000	0.062	2007	3921	1778	0	0	0	0	0	0
11926	0.59	134.2	40.4	18.6	747	11933	0.08	1.92	0.00	0.000	6	0.197	0.039	1984	2714	1778	0	0	0	0	0	0
12044	0.59	134.2	23.1	13.9	766	12052	0.00	0.00	0.00	0.000	6	0.000	0.000	1984	2713	1778	0	0	0	0	0	0
12128	0.59	134.2	12.0	13.4	779	12136	0.00	0.00	0.00	0.000	6	0.000	0.000	1984	2713	1777	0	0	0	0	0	0
12198	end climb: SURFACE_DEPTH_REACHED
state	12198	begin surface coast
12224	end surface coast: CONTROL_FINISHED_OK
state	12224	begin surface