Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 53 * 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 53 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 28 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 31 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 -21824.922 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 -21824.922

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 28 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 31 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 53 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 191214,141434,-5601.908,-34.419,40,0.8,40,-19.8 TGT_NAME TARGET

_CALLS 1 TGT_LATLONG -5600.000,-30.000

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.116,-0.117

_SM_DEPTHo 2.02 KALMAN_X 27566.7,-291.1,-426.7,-62402.3,3634.5

_SM_ANGLEo -70.4 KALMAN_Y 48480.0,-757.8,-445.7,-50421.8,4381.8

GPS2 191214,142206,-5601.878,-34.407,21,0.8,21,-19.8 MHEAD_RNG_PITCHd_Wd 155.2,5739,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.3,1.027011 _10V_AH 10.1,11.136

SM_CCo 12041,24.60,0.187,0,0,1524,200.16 FG_AHR_24Vo 0.000

SM_GC 2.45,0.00,0.00,24.60,0.000,0.000,0.187,62,2933,1524,-5.40,0.08,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5542.76,-30.87,191214,101000 MEM 353952

TT8_MAMPS 0.026215 DATA_FILE_SIZE 53753,793

HUMID 55.94 CAP_FILE_SIZE 118485,0

INTERNAL_PRESSURE 8.95509 CFSIZE 259252224,222990336

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

XPDR_PINGS 0 GPS 191214,174505,-5602.976,-32.703,24,0.8,24,-19.9

_24V_AH 21.6,17.012

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 263 78.67 SBE_CT 563 23 291.83

Roll_motor 105 86 196.20 AA4330 1653 17 642.19

VBD_pump_during_apogee 262 1816 10282.63 WL_BB2F 811 105 1841.61

VBD_pump_during_surface 24 186 99.18 QSP2150 843 17 327.47

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 91 49.55 nil 0 0 0.00

Iridium_during_connect 50 160 176.19 nil 0 0 0.00

Iridium_during_xfer 259 223 1250.53 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 23 31 7.44

TT8 2030 14 296.49

LPSleep 7476 2 165.37

TT8_Active 420 14 61.35

TT8_Sampling 2454 42 1045.22

TT8_CF8 139 49 70.06

TT8_Kalman 33 68 23.04

Analog_circuits 1269 15 198.68

GPS_charging 0 0 0.00

Compass 1957 16 325.83

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 58 0.00 0.00 -42.10 0.000 2 0.000 0.000 55 2953 2443 0 0 0 0 0 0

61 -0.59 -135.6 3.1 -4.2 5 88 6.45 1.62 -15.55 0.000 4 0.264 0.086 1585 3896 2896 0 0 0 0 0 0

289 -0.59 -135.6 43.2 -19.7 41 296 0.00 1.58 0.00 0.000 6 0.000 0.036 1586 2905 2899 0 0 0 0 0 0

403 -0.59 -135.6 64.8 -18.2 60 411 0.00 0.00 0.00 0.000 6 0.000 0.000 1586 2904 2899 0 0 0 0 0 0

519 -0.59 -135.6 85.9 -18.4 79 525 0.00 0.00 0.00 0.000 6 0.000 0.000 1586 2905 2899 0 0 0 0 0 0

750 -0.59 -135.6 124.5 -15.8 107 752 0.00 0.00 0.00 0.000 6 0.000 0.000 1586 2905 2899 0 0 0 0 0 0

1069 -0.59 -135.6 172.6 -15.2 137 1072 0.00 1.65 0.00 0.000 4 0.000 0.064 1579 3905 2899 0 0 0 0 0 0

1130 -0.59 -135.6 183.4 -17.1 142 1140 0.00 1.55 0.00 0.000 6 0.000 0.037 1579 2924 2899 0 0 0 0 0 0

1458 -0.59 -135.6 235.2 -15.3 173 1462 0.00 1.60 0.00 0.000 4 0.000 0.065 1572 3886 2899 0 0 0 0 0 0

1519 -0.59 -135.6 246.1 -16.5 178 1529 0.00 1.50 0.00 0.000 6 0.000 0.036 1572 2923 2899 0 0 0 0 0 0

1840 -0.59 -135.6 296.3 -16.1 195 1844 0.00 1.60 0.00 0.000 4 0.000 0.064 1565 3886 2899 0 0 0 0 0 0

1911 -0.59 -135.6 309.4 -17.0 198 1917 0.12 1.50 0.00 0.000 6 0.213 0.036 1594 2927 2899 0 0 0 0 0 0

2239 -0.59 -135.6 355.3 -14.2 214 2243 0.00 1.60 0.00 0.000 4 0.000 0.065 1587 3892 2900 0 0 0 0 0 0

2299 -0.59 -135.6 365.0 -16.2 216 2309 0.00 1.50 0.00 0.000 6 0.000 0.035 1587 2928 2900 0 0 0 0 0 0

2615 -0.59 -135.6 413.2 -15.2 232 2619 0.00 1.60 0.00 0.000 4 0.000 0.064 1579 3894 2900 0 0 0 0 0 0

2653 -0.59 -135.6 419.7 -17.1 233 2661 0.00 1.50 0.00 0.000 6 0.000 0.035 1579 2921 2900 0 0 0 0 0 0

2969 -0.59 -135.6 470.3 -16.2 249 2970 0.00 0.00 0.00 0.000 6 0.000 0.000 1580 2921 2899 0 0 0 0 0 0

3278 -0.59 -135.6 518.8 -15.5 264 3282 0.00 1.60 0.00 0.000 4 0.000 0.064 1572 3890 2900 0 0 0 0 0 0

3369 -0.59 -135.6 533.8 -16.8 268 3372 0.00 1.48 0.00 0.000 6 0.000 0.036 1572 2933 2900 0 0 0 0 0 0

3700 -0.59 -135.6 587.9 -16.1 284 3704 0.00 1.58 0.00 0.000 4 0.000 0.063 1565 3883 2899 0 0 0 0 0 0

3755 -0.59 -135.6 597.5 -16.9 286 3760 0.08 1.48 0.00 0.000 6 0.194 0.035 1587 2935 2899 0 0 0 0 0 0

4076 -0.59 -135.6 645.2 -14.6 302 4080 0.00 1.58 0.00 0.000 4 0.000 0.064 1580 3889 2900 0 0 0 0 0 0

4124 -0.59 -135.6 653.0 -16.0 304 4129 0.00 1.50 0.00 0.000 6 0.000 0.034 1580 2921 2900 0 0 0 0 0 0

4452 -0.59 -135.6 700.8 -14.5 320 4456 0.00 1.60 0.00 0.000 4 0.000 0.063 1573 3886 2900 0 0 0 0 0 0

4497 -0.59 -135.6 708.0 -15.6 322 4500 0.00 1.48 0.00 0.000 6 0.000 0.036 1576 2930 2900 0 0 0 0 0 0

4829 -0.59 -135.6 756.0 -14.0 338 4832 0.00 1.60 0.00 0.000 4 0.000 0.064 1569 3895 2900 0 0 0 0 0 0

4874 -0.59 -135.6 762.7 -15.5 340 4878 0.00 1.50 0.00 0.000 6 0.000 0.037 1574 2923 2900 0 0 0 0 0 0

5206 -0.59 -135.6 810.4 -14.5 356 5210 0.00 1.60 0.00 0.000 4 0.000 0.063 1567 3892 2900 0 0 0 0 0 0

5274 -0.59 -135.6 821.1 -16.5 359 5278 0.00 1.48 0.00 0.000 6 0.000 0.035 1569 2932 2900 0 0 0 0 0 0

5607 -0.59 -135.6 868.5 -13.8 375 5611 0.00 1.58 0.00 0.000 4 0.000 0.063 1562 3886 2900 0 0 0 0 0 0

5656 -0.59 -135.6 876.4 -15.0 377 5661 0.12 1.50 0.00 0.000 6 0.210 0.035 1591 2922 2901 0 0 0 0 0 0

5983 -0.59 -135.6 917.3 -12.6 393 5987 0.00 1.60 0.00 0.000 4 0.000 0.064 1583 3893 2900 0 0 0 0 0 0

6037 -0.59 -135.6 924.8 -13.2 395 6043 0.00 1.50 0.00 0.000 6 0.000 0.034 1586 2925 2900 0 0 0 0 0 0

6359 -0.59 -135.6 965.8 -12.7 411 6363 0.00 1.60 0.00 0.000 4 0.000 0.063 1579 3893 2900 0 0 0 0 0 0

6407 -0.59 -135.6 971.9 -14.1 413 6410 0.00 1.48 0.00 0.000 6 0.000 0.036 1579 2939 2900 0 0 0 0 0 0

6613 end dive: TARGET_DEPTH_EXCEEDED

state 6613 begin apogee

6617 -0.13 0.0 1000.0 13.3 423 6746 0.55 0.00 125.20 1.816 6 0.188 0.000 1738 2711 2342 0 0 0 0 0 0

6747 end apogee: CONTROL_FINISHED_OK

state 6747 begin climb

6749 0.59 135.6 1003.9 0.0 429 6893 0.77 0.00 136.93 1.776 6 0.127 0.000 1969 2711 1789 0 0 0 0 0 0

7200 0.59 135.6 931.3 18.2 451 7204 0.00 2.05 0.00 0.000 4 0.000 0.061 1969 3890 1781 0 0 0 0 0 0

7216 0.59 135.6 928.1 18.7 451 7224 0.00 1.95 0.00 0.000 6 0.000 0.036 1978 2735 1780 0 0 0 0 0 0

7532 0.59 135.6 867.5 18.5 467 7535 0.00 1.98 0.00 0.000 4 0.000 0.060 1978 3893 1779 0 0 0 0 0 0

7554 0.59 135.6 862.8 21.1 468 7558 0.00 1.92 0.00 0.000 6 0.000 0.038 1987 2709 1778 0 0 0 0 0 0

7886 0.59 135.6 796.3 19.9 484 7890 0.00 1.98 0.00 0.000 4 0.000 0.061 1988 3890 1777 0 0 0 0 0 0

7918 0.59 135.6 788.7 23.4 485 7923 0.00 1.95 0.00 0.000 6 0.000 0.038 1997 2703 1776 0 0 0 0 0 0

8240 0.59 135.6 722.5 20.9 501 8244 0.00 2.00 0.00 0.000 4 0.000 0.060 1997 3900 1776 0 0 0 0 0 0

8274 0.59 135.6 715.0 24.2 502 8277 0.00 1.90 0.00 0.000 6 0.000 0.039 2006 2708 1775 0 0 0 0 0 0

8594 0.59 135.6 645.5 21.6 518 8598 0.00 1.95 0.00 0.000 4 0.000 0.060 2006 3889 1776 0 0 0 0 0 0

8631 0.59 135.6 636.3 23.0 519 8640 0.10 1.92 0.00 0.000 6 0.214 0.038 1988 2701 1775 0 0 0 0 0 0

8948 0.59 135.6 573.9 19.6 535 8952 0.00 1.98 0.00 0.000 4 0.000 0.060 1988 3911 1775 0 0 0 0 0 0

8971 0.59 135.6 569.0 20.6 536 8974 0.00 1.90 0.00 0.000 6 0.000 0.039 1997 2704 1775 0 0 0 0 0 0

9302 0.59 135.6 500.8 20.1 552 9306 0.00 1.95 0.00 0.000 4 0.000 0.060 1997 3893 1775 0 0 0 0 0 0

9351 0.59 135.6 489.6 22.7 554 9356 0.00 1.90 0.00 0.000 6 0.000 0.037 2006 2713 1774 0 0 0 0 0 0

9679 0.59 135.6 423.4 20.0 570 9682 0.00 1.95 0.00 0.000 4 0.000 0.059 2006 3890 1775 0 0 0 0 0 0

9727 0.59 135.6 412.3 23.5 572 9733 0.10 1.90 0.00 0.000 6 0.213 0.037 1988 2708 1774 0 0 0 0 0 0

10055 0.59 135.6 353.4 17.7 588 10059 0.00 1.95 0.00 0.000 4 0.000 0.060 1988 3898 1774 0 0 0 0 0 0

10109 0.59 135.6 341.7 20.9 590 10114 0.00 1.90 0.00 0.000 6 0.000 0.038 1996 2711 1774 0 0 0 0 0 0

10432 0.59 135.6 281.1 19.1 606 10436 0.00 1.92 0.00 0.000 4 0.000 0.060 1997 3895 1774 0 0 0 0 0 0

10502 0.59 135.6 266.1 22.2 609 10505 0.00 1.88 0.00 0.000 6 0.000 0.039 2006 2708 1774 0 0 0 0 0 0

10832 0.59 135.6 197.7 20.9 636 10836 0.00 1.92 0.00 0.000 4 0.000 0.060 2006 3890 1774 0 0 0 0 0 0

10855 0.59 135.6 192.7 20.1 638 10860 0.12 1.85 0.00 0.000 6 0.231 0.037 1988 2697 1774 0 0 0 0 0 0

11187 0.59 135.6 130.8 18.0 669 11190 0.00 1.95 0.00 0.000 4 0.000 0.060 1988 3893 1774 0 0 0 0 0 0

11212 0.59 135.6 126.1 18.9 671 11216 0.00 1.85 0.00 0.000 6 0.000 0.039 1996 2703 1774 0 0 0 0 0 0

11552 0.59 135.6 69.6 15.5 718 11561 0.00 1.95 0.00 0.000 4 0.000 0.061 1996 3880 1774 0 0 0 0 0 0

11574 0.59 135.6 66.4 15.2 721 11581 0.00 1.88 0.00 0.000 6 0.000 0.038 2005 2707 1774 0 0 0 0 0 0

11686 0.59 135.6 48.3 15.3 740 11695 0.00 1.95 0.00 0.000 4 0.000 0.061 2005 3885 1774 0 0 0 0 0 0

11708 0.59 135.6 44.8 16.9 743 11716 0.10 1.88 0.00 0.000 6 0.210 0.040 1986 2714 1774 0 0 0 0 0 0

11825 0.59 135.6 28.0 13.4 762 11833 0.00 0.00 0.00 0.000 6 0.000 0.000 1986 2713 1774 0 0 0 0 0 0

11908 0.59 135.6 16.3 13.5 775 11917 0.00 1.95 0.00 0.000 4 0.000 0.063 1986 3889 1774 0 0 0 0 0 0

11926 0.59 135.6 13.8 14.5 777 11935 0.00 1.90 0.00 0.000 6 0.000 0.039 1995 2700 1774 0 0 0 0 0 0

12003 end climb: SURFACE_DEPTH_REACHED

state 12003 begin surface coast

12029 end surface coast: CONTROL_FINISHED_OK

state 12029 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	53	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	28	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	31	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	-21824.922	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	191214,141434,-5601.908,-34.419,40,0.8,40,-19.8	TGT_NAME	TARGET
_CALLS	1	TGT_LATLONG	-5600.000,-30.000
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.116,-0.117
_SM_DEPTHo	2.02	KALMAN_X	27566.7,-291.1,-426.7,-62402.3,3634.5
_SM_ANGLEo	-70.4	KALMAN_Y	48480.0,-757.8,-445.7,-50421.8,4381.8
GPS2	191214,142206,-5601.878,-34.407,21,0.8,21,-19.8	MHEAD_RNG_PITCHd_Wd	155.2,5739,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.3,1.027011	_10V_AH	10.1,11.136
SM_CCo	12041,24.60,0.187,0,0,1524,200.16	FG_AHR_24Vo	0.000
SM_GC	2.45,0.00,0.00,24.60,0.000,0.000,0.187,62,2933,1524,-5.40,0.08,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5542.76,-30.87,191214,101000	MEM	353952
TT8_MAMPS	0.026215	DATA_FILE_SIZE	53753,793
HUMID	55.94	CAP_FILE_SIZE	118485,0
INTERNAL_PRESSURE	8.95509	CFSIZE	259252224,222990336
TCM_TEMP	7.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	191214,174505,-5602.976,-32.703,24,0.8,24,-19.9
_24V_AH	21.6,17.012

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	263	78.67	SBE_CT	563	23	291.83
Roll_motor	105	86	196.20	AA4330	1653	17	642.19
VBD_pump_during_apogee	262	1816	10282.63	WL_BB2F	811	105	1841.61
VBD_pump_during_surface	24	186	99.18	QSP2150	843	17	327.47
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	91	49.55	nil	0	0	0.00
Iridium_during_connect	50	160	176.19	nil	0	0	0.00
Iridium_during_xfer	259	223	1250.53	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	23	31	7.44
TT8	2030	14	296.49
LPSleep	7476	2	165.37
TT8_Active	420	14	61.35
TT8_Sampling	2454	42	1045.22
TT8_CF8	139	49	70.06
TT8_Kalman	33	68	23.04
Analog_circuits	1269	15	198.68
GPS_charging	0	0	0.00
Compass	1957	16	325.83
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	58	0.00	0.00	-42.10	0.000	2	0.000	0.000	55	2953	2443	0	0	0	0	0	0
61	-0.59	-135.6	3.1	-4.2	5	88	6.45	1.62	-15.55	0.000	4	0.264	0.086	1585	3896	2896	0	0	0	0	0	0
289	-0.59	-135.6	43.2	-19.7	41	296	0.00	1.58	0.00	0.000	6	0.000	0.036	1586	2905	2899	0	0	0	0	0	0
403	-0.59	-135.6	64.8	-18.2	60	411	0.00	0.00	0.00	0.000	6	0.000	0.000	1586	2904	2899	0	0	0	0	0	0
519	-0.59	-135.6	85.9	-18.4	79	525	0.00	0.00	0.00	0.000	6	0.000	0.000	1586	2905	2899	0	0	0	0	0	0
750	-0.59	-135.6	124.5	-15.8	107	752	0.00	0.00	0.00	0.000	6	0.000	0.000	1586	2905	2899	0	0	0	0	0	0
1069	-0.59	-135.6	172.6	-15.2	137	1072	0.00	1.65	0.00	0.000	4	0.000	0.064	1579	3905	2899	0	0	0	0	0	0
1130	-0.59	-135.6	183.4	-17.1	142	1140	0.00	1.55	0.00	0.000	6	0.000	0.037	1579	2924	2899	0	0	0	0	0	0
1458	-0.59	-135.6	235.2	-15.3	173	1462	0.00	1.60	0.00	0.000	4	0.000	0.065	1572	3886	2899	0	0	0	0	0	0
1519	-0.59	-135.6	246.1	-16.5	178	1529	0.00	1.50	0.00	0.000	6	0.000	0.036	1572	2923	2899	0	0	0	0	0	0
1840	-0.59	-135.6	296.3	-16.1	195	1844	0.00	1.60	0.00	0.000	4	0.000	0.064	1565	3886	2899	0	0	0	0	0	0
1911	-0.59	-135.6	309.4	-17.0	198	1917	0.12	1.50	0.00	0.000	6	0.213	0.036	1594	2927	2899	0	0	0	0	0	0
2239	-0.59	-135.6	355.3	-14.2	214	2243	0.00	1.60	0.00	0.000	4	0.000	0.065	1587	3892	2900	0	0	0	0	0	0
2299	-0.59	-135.6	365.0	-16.2	216	2309	0.00	1.50	0.00	0.000	6	0.000	0.035	1587	2928	2900	0	0	0	0	0	0
2615	-0.59	-135.6	413.2	-15.2	232	2619	0.00	1.60	0.00	0.000	4	0.000	0.064	1579	3894	2900	0	0	0	0	0	0
2653	-0.59	-135.6	419.7	-17.1	233	2661	0.00	1.50	0.00	0.000	6	0.000	0.035	1579	2921	2900	0	0	0	0	0	0
2969	-0.59	-135.6	470.3	-16.2	249	2970	0.00	0.00	0.00	0.000	6	0.000	0.000	1580	2921	2899	0	0	0	0	0	0
3278	-0.59	-135.6	518.8	-15.5	264	3282	0.00	1.60	0.00	0.000	4	0.000	0.064	1572	3890	2900	0	0	0	0	0	0
3369	-0.59	-135.6	533.8	-16.8	268	3372	0.00	1.48	0.00	0.000	6	0.000	0.036	1572	2933	2900	0	0	0	0	0	0
3700	-0.59	-135.6	587.9	-16.1	284	3704	0.00	1.58	0.00	0.000	4	0.000	0.063	1565	3883	2899	0	0	0	0	0	0
3755	-0.59	-135.6	597.5	-16.9	286	3760	0.08	1.48	0.00	0.000	6	0.194	0.035	1587	2935	2899	0	0	0	0	0	0
4076	-0.59	-135.6	645.2	-14.6	302	4080	0.00	1.58	0.00	0.000	4	0.000	0.064	1580	3889	2900	0	0	0	0	0	0
4124	-0.59	-135.6	653.0	-16.0	304	4129	0.00	1.50	0.00	0.000	6	0.000	0.034	1580	2921	2900	0	0	0	0	0	0
4452	-0.59	-135.6	700.8	-14.5	320	4456	0.00	1.60	0.00	0.000	4	0.000	0.063	1573	3886	2900	0	0	0	0	0	0
4497	-0.59	-135.6	708.0	-15.6	322	4500	0.00	1.48	0.00	0.000	6	0.000	0.036	1576	2930	2900	0	0	0	0	0	0
4829	-0.59	-135.6	756.0	-14.0	338	4832	0.00	1.60	0.00	0.000	4	0.000	0.064	1569	3895	2900	0	0	0	0	0	0
4874	-0.59	-135.6	762.7	-15.5	340	4878	0.00	1.50	0.00	0.000	6	0.000	0.037	1574	2923	2900	0	0	0	0	0	0
5206	-0.59	-135.6	810.4	-14.5	356	5210	0.00	1.60	0.00	0.000	4	0.000	0.063	1567	3892	2900	0	0	0	0	0	0
5274	-0.59	-135.6	821.1	-16.5	359	5278	0.00	1.48	0.00	0.000	6	0.000	0.035	1569	2932	2900	0	0	0	0	0	0
5607	-0.59	-135.6	868.5	-13.8	375	5611	0.00	1.58	0.00	0.000	4	0.000	0.063	1562	3886	2900	0	0	0	0	0	0
5656	-0.59	-135.6	876.4	-15.0	377	5661	0.12	1.50	0.00	0.000	6	0.210	0.035	1591	2922	2901	0	0	0	0	0	0
5983	-0.59	-135.6	917.3	-12.6	393	5987	0.00	1.60	0.00	0.000	4	0.000	0.064	1583	3893	2900	0	0	0	0	0	0
6037	-0.59	-135.6	924.8	-13.2	395	6043	0.00	1.50	0.00	0.000	6	0.000	0.034	1586	2925	2900	0	0	0	0	0	0
6359	-0.59	-135.6	965.8	-12.7	411	6363	0.00	1.60	0.00	0.000	4	0.000	0.063	1579	3893	2900	0	0	0	0	0	0
6407	-0.59	-135.6	971.9	-14.1	413	6410	0.00	1.48	0.00	0.000	6	0.000	0.036	1579	2939	2900	0	0	0	0	0	0
6613	end dive: TARGET_DEPTH_EXCEEDED
state	6613	begin apogee
6617	-0.13	0.0	1000.0	13.3	423	6746	0.55	0.00	125.20	1.816	6	0.188	0.000	1738	2711	2342	0	0	0	0	0	0
6747	end apogee: CONTROL_FINISHED_OK
state	6747	begin climb
6749	0.59	135.6	1003.9	0.0	429	6893	0.77	0.00	136.93	1.776	6	0.127	0.000	1969	2711	1789	0	0	0	0	0	0
7200	0.59	135.6	931.3	18.2	451	7204	0.00	2.05	0.00	0.000	4	0.000	0.061	1969	3890	1781	0	0	0	0	0	0
7216	0.59	135.6	928.1	18.7	451	7224	0.00	1.95	0.00	0.000	6	0.000	0.036	1978	2735	1780	0	0	0	0	0	0
7532	0.59	135.6	867.5	18.5	467	7535	0.00	1.98	0.00	0.000	4	0.000	0.060	1978	3893	1779	0	0	0	0	0	0
7554	0.59	135.6	862.8	21.1	468	7558	0.00	1.92	0.00	0.000	6	0.000	0.038	1987	2709	1778	0	0	0	0	0	0
7886	0.59	135.6	796.3	19.9	484	7890	0.00	1.98	0.00	0.000	4	0.000	0.061	1988	3890	1777	0	0	0	0	0	0
7918	0.59	135.6	788.7	23.4	485	7923	0.00	1.95	0.00	0.000	6	0.000	0.038	1997	2703	1776	0	0	0	0	0	0
8240	0.59	135.6	722.5	20.9	501	8244	0.00	2.00	0.00	0.000	4	0.000	0.060	1997	3900	1776	0	0	0	0	0	0
8274	0.59	135.6	715.0	24.2	502	8277	0.00	1.90	0.00	0.000	6	0.000	0.039	2006	2708	1775	0	0	0	0	0	0
8594	0.59	135.6	645.5	21.6	518	8598	0.00	1.95	0.00	0.000	4	0.000	0.060	2006	3889	1776	0	0	0	0	0	0
8631	0.59	135.6	636.3	23.0	519	8640	0.10	1.92	0.00	0.000	6	0.214	0.038	1988	2701	1775	0	0	0	0	0	0
8948	0.59	135.6	573.9	19.6	535	8952	0.00	1.98	0.00	0.000	4	0.000	0.060	1988	3911	1775	0	0	0	0	0	0
8971	0.59	135.6	569.0	20.6	536	8974	0.00	1.90	0.00	0.000	6	0.000	0.039	1997	2704	1775	0	0	0	0	0	0
9302	0.59	135.6	500.8	20.1	552	9306	0.00	1.95	0.00	0.000	4	0.000	0.060	1997	3893	1775	0	0	0	0	0	0
9351	0.59	135.6	489.6	22.7	554	9356	0.00	1.90	0.00	0.000	6	0.000	0.037	2006	2713	1774	0	0	0	0	0	0
9679	0.59	135.6	423.4	20.0	570	9682	0.00	1.95	0.00	0.000	4	0.000	0.059	2006	3890	1775	0	0	0	0	0	0
9727	0.59	135.6	412.3	23.5	572	9733	0.10	1.90	0.00	0.000	6	0.213	0.037	1988	2708	1774	0	0	0	0	0	0
10055	0.59	135.6	353.4	17.7	588	10059	0.00	1.95	0.00	0.000	4	0.000	0.060	1988	3898	1774	0	0	0	0	0	0
10109	0.59	135.6	341.7	20.9	590	10114	0.00	1.90	0.00	0.000	6	0.000	0.038	1996	2711	1774	0	0	0	0	0	0
10432	0.59	135.6	281.1	19.1	606	10436	0.00	1.92	0.00	0.000	4	0.000	0.060	1997	3895	1774	0	0	0	0	0	0
10502	0.59	135.6	266.1	22.2	609	10505	0.00	1.88	0.00	0.000	6	0.000	0.039	2006	2708	1774	0	0	0	0	0	0
10832	0.59	135.6	197.7	20.9	636	10836	0.00	1.92	0.00	0.000	4	0.000	0.060	2006	3890	1774	0	0	0	0	0	0
10855	0.59	135.6	192.7	20.1	638	10860	0.12	1.85	0.00	0.000	6	0.231	0.037	1988	2697	1774	0	0	0	0	0	0
11187	0.59	135.6	130.8	18.0	669	11190	0.00	1.95	0.00	0.000	4	0.000	0.060	1988	3893	1774	0	0	0	0	0	0
11212	0.59	135.6	126.1	18.9	671	11216	0.00	1.85	0.00	0.000	6	0.000	0.039	1996	2703	1774	0	0	0	0	0	0
11552	0.59	135.6	69.6	15.5	718	11561	0.00	1.95	0.00	0.000	4	0.000	0.061	1996	3880	1774	0	0	0	0	0	0
11574	0.59	135.6	66.4	15.2	721	11581	0.00	1.88	0.00	0.000	6	0.000	0.038	2005	2707	1774	0	0	0	0	0	0
11686	0.59	135.6	48.3	15.3	740	11695	0.00	1.95	0.00	0.000	4	0.000	0.061	2005	3885	1774	0	0	0	0	0	0
11708	0.59	135.6	44.8	16.9	743	11716	0.10	1.88	0.00	0.000	6	0.210	0.040	1986	2714	1774	0	0	0	0	0	0
11825	0.59	135.6	28.0	13.4	762	11833	0.00	0.00	0.00	0.000	6	0.000	0.000	1986	2713	1774	0	0	0	0	0	0
11908	0.59	135.6	16.3	13.5	775	11917	0.00	1.95	0.00	0.000	4	0.000	0.063	1986	3889	1774	0	0	0	0	0	0
11926	0.59	135.6	13.8	14.5	777	11935	0.00	1.90	0.00	0.000	6	0.000	0.039	1995	2700	1774	0	0	0	0	0	0
12003	end climb: SURFACE_DEPTH_REACHED
state	12003	begin surface coast
12029	end surface coast: CONTROL_FINISHED_OK
state	12029	begin surface