Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 55 * 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 55 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 29 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 27 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 -21829.592 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 -21829.592

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 29 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 27 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 55 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 191214,211905,-5600.766,-32.938,26,0.9,26,-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 0.037,-0.161

_SM_DEPTHo 2.02 KALMAN_X 27013.8,-1024.8,-21.9,-59944.8,2704.2

_SM_ANGLEo -71.9 KALMAN_Y 48207.3,-274.2,-163.3,-48788.8,2496.8

GPS2 191214,212553,-5600.724,-32.884,20,0.9,20,-19.9 MHEAD_RNG_PITCHd_Wd 186.9,3273,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.1,1.003887 _10V_AH 10.1,11.337

SM_CCo 12622,26.38,0.191,0,0,1525,200.16 FG_AHR_24Vo 0.000

SM_GC 2.31,0.00,0.00,26.38,0.000,0.000,0.191,56,2930,1525,-5.42,0.00,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5542.76,-27.01,191214,171728 MEM 353960

TT8_MAMPS 0.026215 DATA_FILE_SIZE 56938,831

HUMID 56.30 CAP_FILE_SIZE 113863,0

INTERNAL_PRESSURE 8.96486 CFSIZE 259252224,222875648

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

XPDR_PINGS 0 GPS 201214,005836,-5601.487,-32.135,25,0.8,26,-19.9

_24V_AH 21.7,17.309

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 248 72.03 SBE_CT 590 23 307.19

Roll_motor 95 84 176.20 AA4330 1724 17 672.80

VBD_pump_during_apogee 252 1822 9997.55 WL_BB2F 825 105 1880.59

VBD_pump_during_surface 26 191 109.46 QSP2150 871 17 339.90

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 91 55.18 nil 0 0 0.00

Iridium_during_connect 17 160 60.72 nil 0 0 0.00

Iridium_during_xfer 250 223 1212.25 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 31 7.24

TT8 2081 14 303.93

LPSleep 8049 2 178.04

TT8_Active 427 14 62.50

TT8_Sampling 2368 42 1008.69

TT8_CF8 133 49 66.91

TT8_Kalman 33 68 23.04

Analog_circuits 1231 15 192.77

GPS_charging 0 0 0.00

Compass 1913 16 318.50

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 50 0.00 0.00 -33.85 0.000 2 0.000 0.000 56 2945 2247 0 0 0 0 0 0

53 -0.59 -130.4 3.1 -4.7 4 95 6.20 1.60 -25.42 0.000 4 0.249 0.085 1584 3890 2876 0 0 0 0 0 0

364 -0.59 -130.4 56.3 -19.4 54 373 0.00 1.55 0.00 0.000 6 0.000 0.037 1589 2911 2877 0 0 0 0 0 0

480 -0.59 -130.4 76.7 -17.5 73 487 0.00 1.65 0.00 0.000 4 0.000 0.064 1582 3892 2877 0 0 0 0 0 0

518 -0.59 -130.4 83.8 -18.3 79 525 0.00 1.52 0.00 0.000 6 0.000 0.037 1582 2922 2877 0 0 0 0 0 0

751 -0.59 -130.4 123.1 -16.3 108 754 0.00 1.62 0.00 0.000 4 0.000 0.063 1574 3893 2878 0 0 0 0 0 0

800 -0.59 -130.4 132.1 -17.2 112 811 0.00 1.52 0.00 0.000 6 0.000 0.035 1579 2926 2877 0 0 0 0 0 0

1129 -0.59 -130.4 184.4 -16.0 143 1132 0.00 1.62 0.00 0.000 4 0.000 0.065 1571 3897 2878 0 0 0 0 0 0

1213 -0.59 -130.4 200.8 -19.4 150 1224 0.00 1.52 0.00 0.000 6 0.000 0.037 1578 2925 2877 0 0 0 0 0 0

1538 -0.59 -130.4 254.8 -16.4 180 1541 0.00 1.62 0.00 0.000 4 0.000 0.065 1570 3900 2878 0 0 0 0 0 0

1587 -0.59 -130.4 264.0 -17.8 182 1592 0.00 1.50 0.00 0.000 6 0.000 0.037 1571 2940 2877 0 0 0 0 0 0

1916 -0.59 -130.4 319.7 -16.8 198 1920 0.00 1.60 0.00 0.000 4 0.000 0.066 1563 3896 2877 0 0 0 0 0 0

1955 -0.59 -130.4 327.1 -18.3 199 1963 0.10 1.50 0.00 0.000 6 0.195 0.037 1592 2936 2877 0 0 0 0 0 0

2272 -0.59 -130.4 374.6 -14.6 215 2273 0.00 0.00 0.00 0.000 6 0.000 0.000 1592 2936 2877 0 0 0 0 0 0

2580 -0.59 -130.4 419.1 -14.2 230 2584 0.00 1.60 0.00 0.000 4 0.000 0.066 1585 3900 2877 0 0 0 0 0 0

2612 -0.59 -130.4 424.0 -15.4 231 2616 0.00 1.50 0.00 0.000 6 0.000 0.036 1587 2929 2877 0 0 0 0 0 0

2934 -0.59 -130.4 469.1 -13.8 247 2935 0.00 0.00 0.00 0.000 6 0.000 0.000 1588 2925 2878 0 0 0 0 0 0

3243 -0.59 -130.4 512.1 -13.7 262 3244 0.00 0.00 0.00 0.000 6 0.000 0.000 1588 2925 2878 0 0 0 0 0 0

3553 -0.59 -130.4 554.7 -14.0 277 3556 0.00 1.60 0.00 0.000 4 0.000 0.065 1581 3890 2878 0 0 0 0 0 0

3575 -0.59 -130.4 557.9 -14.1 278 3579 0.00 1.48 0.00 0.000 6 0.000 0.037 1581 2933 2878 0 0 0 0 0 0

3907 -0.59 -130.4 605.5 -14.2 294 3908 0.00 0.00 0.00 0.000 6 0.000 0.000 1581 2928 2877 0 0 0 0 0 0

4217 -0.59 -130.4 647.7 -13.6 309 4218 0.00 0.00 0.00 0.000 6 0.000 0.000 1581 2928 2878 0 0 0 0 0 0

4526 -0.59 -130.4 688.5 -12.9 324 4530 0.00 1.60 0.00 0.000 4 0.000 0.066 1574 3897 2878 0 0 0 0 0 0

4575 -0.59 -130.4 695.8 -14.3 326 4580 0.00 1.52 0.00 0.000 6 0.000 0.036 1574 2914 2878 0 0 0 0 0 0

4903 -0.59 -130.4 739.5 -13.5 342 4907 0.00 1.62 0.00 0.000 4 0.000 0.064 1566 3896 2878 0 0 0 0 0 0

4941 -0.59 -130.4 745.3 -15.0 343 4949 0.08 1.48 0.00 0.000 6 0.191 0.036 1588 2941 2878 0 0 0 0 0 0

5257 -0.59 -130.4 785.4 -12.8 359 5258 0.00 0.00 0.00 0.000 6 0.000 0.000 1588 2941 2878 0 0 0 0 0 0

5567 -0.59 -130.4 825.0 -12.8 374 5568 0.00 0.00 0.00 0.000 6 0.000 0.000 1588 2940 2878 0 0 0 0 0 0

5875 -0.59 -130.4 864.3 -12.6 389 5877 0.00 0.00 0.00 0.000 6 0.000 0.000 1588 2940 2878 0 0 0 0 0 0

6185 -0.59 -130.4 902.6 -12.0 404 6189 0.00 2.15 0.00 0.000 4 0.000 0.044 1588 1517 2878 0 0 0 0 0 0

6217 -0.59 -130.4 906.5 -11.5 405 6225 0.00 2.28 0.00 0.000 6 0.000 0.057 1579 2923 2879 0 0 0 0 0 0

6533 -0.59 -130.4 945.4 -12.4 421 6535 0.00 0.00 0.00 0.000 6 0.000 0.000 1579 2922 2879 0 0 0 0 0 0

6843 -0.59 -130.4 983.2 -12.1 436 6845 0.00 0.00 0.00 0.000 6 0.000 0.000 1579 2922 2879 0 0 0 0 0 0

6986 end dive: TARGET_DEPTH_EXCEEDED

state 6986 begin apogee

6990 -0.13 0.0 1000.8 12.3 443 7114 0.55 0.00 120.55 1.823 6 0.184 0.000 1738 2704 2341 0 0 0 0 0 0

7114 end apogee: CONTROL_FINISHED_OK

state 7115 begin climb

7116 0.59 130.4 1003.7 0.0 449 7252 0.80 0.00 132.18 1.776 6 0.127 0.000 1972 2704 1810 0 0 0 0 0 0

7557 0.59 130.4 931.2 18.6 471 7561 0.00 2.10 0.00 0.000 4 0.000 0.063 1972 3903 1800 0 0 0 0 0 0

7606 0.59 130.4 920.7 21.6 473 7610 0.00 1.98 0.00 0.000 6 0.000 0.038 1981 2738 1799 0 0 0 0 0 0

7933 0.59 130.4 856.1 19.6 489 7935 0.00 0.00 0.00 0.000 6 0.000 0.000 1981 2738 1797 0 0 0 0 0 0

8242 0.59 130.4 795.2 19.7 504 8246 0.00 1.95 0.00 0.000 4 0.000 0.061 1981 3912 1796 0 0 0 0 0 0

8268 0.59 130.4 789.3 20.9 505 8273 0.00 1.98 0.00 0.000 6 0.000 0.038 1990 2712 1795 0 0 0 0 0 0

8596 0.59 130.4 723.3 19.8 521 8600 0.00 2.00 0.00 0.000 4 0.000 0.061 1990 3918 1795 0 0 0 0 0 0

8643 0.59 130.4 713.3 22.2 523 8647 0.00 1.98 0.00 0.000 6 0.000 0.041 1999 2693 1794 0 0 0 0 0 0

8974 0.59 130.4 646.0 19.9 539 8978 0.00 2.00 0.00 0.000 4 0.000 0.060 2000 3903 1794 0 0 0 0 0 0

9051 0.59 130.4 628.8 21.8 542 9056 0.00 1.92 0.00 0.000 6 0.000 0.040 2009 2717 1793 0 0 0 0 0 0

9373 0.59 130.4 564.2 20.1 558 9376 0.00 2.00 0.00 0.000 4 0.000 0.061 2009 3931 1793 0 0 0 0 0 0

9404 0.59 130.4 556.8 22.0 559 9410 0.10 1.98 0.00 0.000 6 0.213 0.038 1991 2713 1792 0 0 0 0 0 0

9727 0.59 130.4 496.6 18.5 575 9730 0.00 1.98 0.00 0.000 4 0.000 0.061 1991 3911 1792 0 0 0 0 0 0

9775 0.59 130.4 486.1 21.4 577 9780 0.00 1.95 0.00 0.000 6 0.000 0.039 2000 2707 1793 0 0 0 0 0 0

10103 0.59 130.4 423.0 19.4 593 10107 0.00 1.98 0.00 0.000 4 0.000 0.061 2000 3918 1793 0 0 0 0 0 0

10141 0.59 130.4 414.9 22.3 594 10149 0.00 1.95 0.00 0.000 6 0.000 0.038 2009 2708 1793 0 0 0 0 0 0

10457 0.59 130.4 353.1 19.7 610 10461 0.00 1.98 0.00 0.000 4 0.000 0.060 2009 3914 1792 0 0 0 0 0 0

10490 0.59 130.4 345.7 22.4 611 10495 0.12 1.92 0.00 0.000 6 0.210 0.039 1984 2713 1792 0 0 0 0 0 0

10813 0.59 130.4 289.8 17.1 627 10817 0.00 1.92 0.00 0.000 4 0.000 0.060 1984 3903 1792 0 0 0 0 0 0

10839 0.59 130.4 284.2 18.5 628 10844 0.00 1.92 0.00 0.000 6 0.000 0.038 1993 2704 1792 0 0 0 0 0 0

11163 0.59 130.4 227.7 17.5 649 11167 0.00 2.00 0.00 0.000 4 0.000 0.061 1993 3933 1792 0 0 0 0 0 0

11235 0.59 130.4 213.7 20.6 655 11238 0.00 1.92 0.00 0.000 6 0.000 0.039 2002 2703 1792 0 0 0 0 0 0

11565 0.59 130.4 152.5 17.8 686 11569 0.00 1.98 0.00 0.000 4 0.000 0.061 2002 3923 1792 0 0 0 0 0 0

11601 0.59 130.4 146.4 18.8 689 11605 0.05 1.95 0.00 0.000 6 0.205 0.040 1987 2707 1792 0 0 0 0 0 0

11928 0.59 130.4 96.5 13.7 721 11934 0.00 2.20 0.00 0.000 4 0.000 0.047 1997 1293 1792 0 0 0 0 0 0

11948 0.59 130.4 93.6 14.4 724 11955 0.00 2.28 0.00 0.000 6 0.000 0.055 1997 2726 1792 0 0 0 0 0 0

12189 0.59 130.4 60.4 13.5 765 12196 0.00 1.90 0.00 0.000 4 0.000 0.064 1997 3891 1792 0 0 0 0 0 0

12265 0.59 130.4 47.7 15.4 778 12275 0.00 1.88 0.00 0.000 6 0.000 0.039 2006 2713 1792 0 0 0 0 0 0

12380 0.59 130.4 31.4 14.1 797 12388 0.00 1.95 0.00 0.000 4 0.000 0.061 2006 3890 1792 0 0 0 0 0 0

12398 0.59 130.4 29.1 14.4 799 12408 0.10 1.88 0.00 0.000 6 0.215 0.041 1987 2714 1792 0 0 0 0 0 0

12483 0.59 130.4 16.8 12.9 812 12492 0.00 1.95 0.00 0.000 4 0.000 0.063 1987 3889 1792 0 0 0 0 0 0

12506 0.59 130.4 13.6 13.7 815 12515 0.00 1.90 0.00 0.000 6 0.000 0.041 1995 2703 1792 0 0 0 0 0 0

12583 end climb: SURFACE_DEPTH_REACHED

state 12583 begin surface coast

12609 end surface coast: CONTROL_FINISHED_OK

state 12609 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	55	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	29	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	27	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	-21829.592	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	191214,211905,-5600.766,-32.938,26,0.9,26,-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	0.037,-0.161
_SM_DEPTHo	2.02	KALMAN_X	27013.8,-1024.8,-21.9,-59944.8,2704.2
_SM_ANGLEo	-71.9	KALMAN_Y	48207.3,-274.2,-163.3,-48788.8,2496.8
GPS2	191214,212553,-5600.724,-32.884,20,0.9,20,-19.9	MHEAD_RNG_PITCHd_Wd	186.9,3273,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.1,1.003887	_10V_AH	10.1,11.337
SM_CCo	12622,26.38,0.191,0,0,1525,200.16	FG_AHR_24Vo	0.000
SM_GC	2.31,0.00,0.00,26.38,0.000,0.000,0.191,56,2930,1525,-5.42,0.00,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5542.76,-27.01,191214,171728	MEM	353960
TT8_MAMPS	0.026215	DATA_FILE_SIZE	56938,831
HUMID	56.30	CAP_FILE_SIZE	113863,0
INTERNAL_PRESSURE	8.96486	CFSIZE	259252224,222875648
TCM_TEMP	7.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	201214,005836,-5601.487,-32.135,25,0.8,26,-19.9
_24V_AH	21.7,17.309

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	248	72.03	SBE_CT	590	23	307.19
Roll_motor	95	84	176.20	AA4330	1724	17	672.80
VBD_pump_during_apogee	252	1822	9997.55	WL_BB2F	825	105	1880.59
VBD_pump_during_surface	26	191	109.46	QSP2150	871	17	339.90
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	91	55.18	nil	0	0	0.00
Iridium_during_connect	17	160	60.72	nil	0	0	0.00
Iridium_during_xfer	250	223	1212.25	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	31	7.24
TT8	2081	14	303.93
LPSleep	8049	2	178.04
TT8_Active	427	14	62.50
TT8_Sampling	2368	42	1008.69
TT8_CF8	133	49	66.91
TT8_Kalman	33	68	23.04
Analog_circuits	1231	15	192.77
GPS_charging	0	0	0.00
Compass	1913	16	318.50
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	50	0.00	0.00	-33.85	0.000	2	0.000	0.000	56	2945	2247	0	0	0	0	0	0
53	-0.59	-130.4	3.1	-4.7	4	95	6.20	1.60	-25.42	0.000	4	0.249	0.085	1584	3890	2876	0	0	0	0	0	0
364	-0.59	-130.4	56.3	-19.4	54	373	0.00	1.55	0.00	0.000	6	0.000	0.037	1589	2911	2877	0	0	0	0	0	0
480	-0.59	-130.4	76.7	-17.5	73	487	0.00	1.65	0.00	0.000	4	0.000	0.064	1582	3892	2877	0	0	0	0	0	0
518	-0.59	-130.4	83.8	-18.3	79	525	0.00	1.52	0.00	0.000	6	0.000	0.037	1582	2922	2877	0	0	0	0	0	0
751	-0.59	-130.4	123.1	-16.3	108	754	0.00	1.62	0.00	0.000	4	0.000	0.063	1574	3893	2878	0	0	0	0	0	0
800	-0.59	-130.4	132.1	-17.2	112	811	0.00	1.52	0.00	0.000	6	0.000	0.035	1579	2926	2877	0	0	0	0	0	0
1129	-0.59	-130.4	184.4	-16.0	143	1132	0.00	1.62	0.00	0.000	4	0.000	0.065	1571	3897	2878	0	0	0	0	0	0
1213	-0.59	-130.4	200.8	-19.4	150	1224	0.00	1.52	0.00	0.000	6	0.000	0.037	1578	2925	2877	0	0	0	0	0	0
1538	-0.59	-130.4	254.8	-16.4	180	1541	0.00	1.62	0.00	0.000	4	0.000	0.065	1570	3900	2878	0	0	0	0	0	0
1587	-0.59	-130.4	264.0	-17.8	182	1592	0.00	1.50	0.00	0.000	6	0.000	0.037	1571	2940	2877	0	0	0	0	0	0
1916	-0.59	-130.4	319.7	-16.8	198	1920	0.00	1.60	0.00	0.000	4	0.000	0.066	1563	3896	2877	0	0	0	0	0	0
1955	-0.59	-130.4	327.1	-18.3	199	1963	0.10	1.50	0.00	0.000	6	0.195	0.037	1592	2936	2877	0	0	0	0	0	0
2272	-0.59	-130.4	374.6	-14.6	215	2273	0.00	0.00	0.00	0.000	6	0.000	0.000	1592	2936	2877	0	0	0	0	0	0
2580	-0.59	-130.4	419.1	-14.2	230	2584	0.00	1.60	0.00	0.000	4	0.000	0.066	1585	3900	2877	0	0	0	0	0	0
2612	-0.59	-130.4	424.0	-15.4	231	2616	0.00	1.50	0.00	0.000	6	0.000	0.036	1587	2929	2877	0	0	0	0	0	0
2934	-0.59	-130.4	469.1	-13.8	247	2935	0.00	0.00	0.00	0.000	6	0.000	0.000	1588	2925	2878	0	0	0	0	0	0
3243	-0.59	-130.4	512.1	-13.7	262	3244	0.00	0.00	0.00	0.000	6	0.000	0.000	1588	2925	2878	0	0	0	0	0	0
3553	-0.59	-130.4	554.7	-14.0	277	3556	0.00	1.60	0.00	0.000	4	0.000	0.065	1581	3890	2878	0	0	0	0	0	0
3575	-0.59	-130.4	557.9	-14.1	278	3579	0.00	1.48	0.00	0.000	6	0.000	0.037	1581	2933	2878	0	0	0	0	0	0
3907	-0.59	-130.4	605.5	-14.2	294	3908	0.00	0.00	0.00	0.000	6	0.000	0.000	1581	2928	2877	0	0	0	0	0	0
4217	-0.59	-130.4	647.7	-13.6	309	4218	0.00	0.00	0.00	0.000	6	0.000	0.000	1581	2928	2878	0	0	0	0	0	0
4526	-0.59	-130.4	688.5	-12.9	324	4530	0.00	1.60	0.00	0.000	4	0.000	0.066	1574	3897	2878	0	0	0	0	0	0
4575	-0.59	-130.4	695.8	-14.3	326	4580	0.00	1.52	0.00	0.000	6	0.000	0.036	1574	2914	2878	0	0	0	0	0	0
4903	-0.59	-130.4	739.5	-13.5	342	4907	0.00	1.62	0.00	0.000	4	0.000	0.064	1566	3896	2878	0	0	0	0	0	0
4941	-0.59	-130.4	745.3	-15.0	343	4949	0.08	1.48	0.00	0.000	6	0.191	0.036	1588	2941	2878	0	0	0	0	0	0
5257	-0.59	-130.4	785.4	-12.8	359	5258	0.00	0.00	0.00	0.000	6	0.000	0.000	1588	2941	2878	0	0	0	0	0	0
5567	-0.59	-130.4	825.0	-12.8	374	5568	0.00	0.00	0.00	0.000	6	0.000	0.000	1588	2940	2878	0	0	0	0	0	0
5875	-0.59	-130.4	864.3	-12.6	389	5877	0.00	0.00	0.00	0.000	6	0.000	0.000	1588	2940	2878	0	0	0	0	0	0
6185	-0.59	-130.4	902.6	-12.0	404	6189	0.00	2.15	0.00	0.000	4	0.000	0.044	1588	1517	2878	0	0	0	0	0	0
6217	-0.59	-130.4	906.5	-11.5	405	6225	0.00	2.28	0.00	0.000	6	0.000	0.057	1579	2923	2879	0	0	0	0	0	0
6533	-0.59	-130.4	945.4	-12.4	421	6535	0.00	0.00	0.00	0.000	6	0.000	0.000	1579	2922	2879	0	0	0	0	0	0
6843	-0.59	-130.4	983.2	-12.1	436	6845	0.00	0.00	0.00	0.000	6	0.000	0.000	1579	2922	2879	0	0	0	0	0	0
6986	end dive: TARGET_DEPTH_EXCEEDED
state	6986	begin apogee
6990	-0.13	0.0	1000.8	12.3	443	7114	0.55	0.00	120.55	1.823	6	0.184	0.000	1738	2704	2341	0	0	0	0	0	0
7114	end apogee: CONTROL_FINISHED_OK
state	7115	begin climb
7116	0.59	130.4	1003.7	0.0	449	7252	0.80	0.00	132.18	1.776	6	0.127	0.000	1972	2704	1810	0	0	0	0	0	0
7557	0.59	130.4	931.2	18.6	471	7561	0.00	2.10	0.00	0.000	4	0.000	0.063	1972	3903	1800	0	0	0	0	0	0
7606	0.59	130.4	920.7	21.6	473	7610	0.00	1.98	0.00	0.000	6	0.000	0.038	1981	2738	1799	0	0	0	0	0	0
7933	0.59	130.4	856.1	19.6	489	7935	0.00	0.00	0.00	0.000	6	0.000	0.000	1981	2738	1797	0	0	0	0	0	0
8242	0.59	130.4	795.2	19.7	504	8246	0.00	1.95	0.00	0.000	4	0.000	0.061	1981	3912	1796	0	0	0	0	0	0
8268	0.59	130.4	789.3	20.9	505	8273	0.00	1.98	0.00	0.000	6	0.000	0.038	1990	2712	1795	0	0	0	0	0	0
8596	0.59	130.4	723.3	19.8	521	8600	0.00	2.00	0.00	0.000	4	0.000	0.061	1990	3918	1795	0	0	0	0	0	0
8643	0.59	130.4	713.3	22.2	523	8647	0.00	1.98	0.00	0.000	6	0.000	0.041	1999	2693	1794	0	0	0	0	0	0
8974	0.59	130.4	646.0	19.9	539	8978	0.00	2.00	0.00	0.000	4	0.000	0.060	2000	3903	1794	0	0	0	0	0	0
9051	0.59	130.4	628.8	21.8	542	9056	0.00	1.92	0.00	0.000	6	0.000	0.040	2009	2717	1793	0	0	0	0	0	0
9373	0.59	130.4	564.2	20.1	558	9376	0.00	2.00	0.00	0.000	4	0.000	0.061	2009	3931	1793	0	0	0	0	0	0
9404	0.59	130.4	556.8	22.0	559	9410	0.10	1.98	0.00	0.000	6	0.213	0.038	1991	2713	1792	0	0	0	0	0	0
9727	0.59	130.4	496.6	18.5	575	9730	0.00	1.98	0.00	0.000	4	0.000	0.061	1991	3911	1792	0	0	0	0	0	0
9775	0.59	130.4	486.1	21.4	577	9780	0.00	1.95	0.00	0.000	6	0.000	0.039	2000	2707	1793	0	0	0	0	0	0
10103	0.59	130.4	423.0	19.4	593	10107	0.00	1.98	0.00	0.000	4	0.000	0.061	2000	3918	1793	0	0	0	0	0	0
10141	0.59	130.4	414.9	22.3	594	10149	0.00	1.95	0.00	0.000	6	0.000	0.038	2009	2708	1793	0	0	0	0	0	0
10457	0.59	130.4	353.1	19.7	610	10461	0.00	1.98	0.00	0.000	4	0.000	0.060	2009	3914	1792	0	0	0	0	0	0
10490	0.59	130.4	345.7	22.4	611	10495	0.12	1.92	0.00	0.000	6	0.210	0.039	1984	2713	1792	0	0	0	0	0	0
10813	0.59	130.4	289.8	17.1	627	10817	0.00	1.92	0.00	0.000	4	0.000	0.060	1984	3903	1792	0	0	0	0	0	0
10839	0.59	130.4	284.2	18.5	628	10844	0.00	1.92	0.00	0.000	6	0.000	0.038	1993	2704	1792	0	0	0	0	0	0
11163	0.59	130.4	227.7	17.5	649	11167	0.00	2.00	0.00	0.000	4	0.000	0.061	1993	3933	1792	0	0	0	0	0	0
11235	0.59	130.4	213.7	20.6	655	11238	0.00	1.92	0.00	0.000	6	0.000	0.039	2002	2703	1792	0	0	0	0	0	0
11565	0.59	130.4	152.5	17.8	686	11569	0.00	1.98	0.00	0.000	4	0.000	0.061	2002	3923	1792	0	0	0	0	0	0
11601	0.59	130.4	146.4	18.8	689	11605	0.05	1.95	0.00	0.000	6	0.205	0.040	1987	2707	1792	0	0	0	0	0	0
11928	0.59	130.4	96.5	13.7	721	11934	0.00	2.20	0.00	0.000	4	0.000	0.047	1997	1293	1792	0	0	0	0	0	0
11948	0.59	130.4	93.6	14.4	724	11955	0.00	2.28	0.00	0.000	6	0.000	0.055	1997	2726	1792	0	0	0	0	0	0
12189	0.59	130.4	60.4	13.5	765	12196	0.00	1.90	0.00	0.000	4	0.000	0.064	1997	3891	1792	0	0	0	0	0	0
12265	0.59	130.4	47.7	15.4	778	12275	0.00	1.88	0.00	0.000	6	0.000	0.039	2006	2713	1792	0	0	0	0	0	0
12380	0.59	130.4	31.4	14.1	797	12388	0.00	1.95	0.00	0.000	4	0.000	0.061	2006	3890	1792	0	0	0	0	0	0
12398	0.59	130.4	29.1	14.4	799	12408	0.10	1.88	0.00	0.000	6	0.215	0.041	1987	2714	1792	0	0	0	0	0	0
12483	0.59	130.4	16.8	12.9	812	12492	0.00	1.95	0.00	0.000	4	0.000	0.063	1987	3889	1792	0	0	0	0	0	0
12506	0.59	130.4	13.6	13.7	815	12515	0.00	1.90	0.00	0.000	6	0.000	0.041	1995	2703	1792	0	0	0	0	0	0
12583	end climb: SURFACE_DEPTH_REACHED
state	12583	begin surface coast
12609	end surface coast: CONTROL_FINISHED_OK
state	12609	begin surface