Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 59 * 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 59 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 27 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 23 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 -21838.898 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 -21838.898

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 27 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 23 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 59 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 201214,113351,-5601.400,-28.026,28,1.3,36,-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 -0.184,-0.065

_SM_DEPTHo 2.03 KALMAN_X 28408.9,358.0,277.3,-57920.5,1734.9

_SM_ANGLEo -69.2 KALMAN_Y 52854.0,-659.5,100.6,-54430.7,3819.1

GPS2 201214,114105,-5601.324,-27.931,15,1.9,15,-19.9 MHEAD_RNG_PITCHd_Wd 270.3,3257,-21.3,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.3,1.009269 _10V_AH 10.1,11.745

SM_CCo 14150,20.25,0.187,0,0,1524,200.16 FG_AHR_24Vo 0.000

SM_GC 2.85,0.00,0.00,20.25,0.000,0.000,0.187,65,2925,1524,-5.40,-0.14,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5535.12,-26.95,201214,080834 MEM 353972

TT8_MAMPS 0.026215 DATA_FILE_SIZE 63520,924

HUMID 55.51 CAP_FILE_SIZE 121354,0

INTERNAL_PRESSURE 8.96486 CFSIZE 259252224,222597120

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

XPDR_PINGS 0 GPS 201214,153922,-5601.536,-29.975,37,0.8,37,-19.9

_24V_AH 21.6,17.936

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 253 72.33 SBE_CT 656 23 340.07

Roll_motor 83 87 157.62 AA4330 1903 17 739.13

VBD_pump_during_apogee 282 1800 10978.04 WL_BB2F 904 105 2051.08

VBD_pump_during_surface 20 187 81.98 QSP2150 939 17 364.76

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 91 55.66 nil 0 0 0.00

Iridium_during_connect 23 160 82.18 nil 0 0 0.00

Iridium_during_xfer 269 223 1296.86 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 31 5.63

TT8 2284 14 333.64

LPSleep 9162 2 202.66

TT8_Active 437 14 63.86

TT8_Sampling 2570 42 1094.98

TT8_CF8 151 49 76.20

TT8_Kalman 33 68 23.04

Analog_circuits 1309 15 204.94

GPS_charging 0 0 0.00

Compass 2087 16 347.42

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

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

14 -0.48 -102.8 0.0 0.0 0 50 0.00 0.00 -33.95 0.000 2 0.000 0.000 58 2938 2249 0 0 0 0 0 0

53 -0.52 -146.1 3.2 -4.5 4 96 6.35 1.62 -24.98 0.000 4 0.253 0.087 1606 3892 2938 0 0 0 0 0 0

171 -0.52 -146.1 18.0 -18.0 21 180 0.00 1.58 0.00 0.000 6 0.000 0.036 1606 2902 2941 0 0 0 0 0 0

253 -0.52 -146.1 33.0 -18.0 34 262 0.00 0.00 0.00 0.000 6 0.000 0.000 1606 2902 2941 0 0 0 0 0 0

369 -0.52 -146.1 52.7 -16.6 53 376 0.00 1.67 0.00 0.000 4 0.000 0.063 1599 3894 2940 0 0 0 0 0 0

408 -0.52 -146.1 59.5 -17.9 59 415 0.00 1.52 0.00 0.000 6 0.000 0.037 1599 2923 2940 0 0 0 0 0 0

522 -0.52 -146.1 79.0 -16.7 78 531 0.00 0.00 0.00 0.000 6 0.000 0.000 1599 2923 2941 0 0 0 0 0 0

635 -0.52 -146.1 96.9 -16.4 97 641 0.00 1.62 0.00 0.000 4 0.000 0.064 1591 3892 2941 0 0 0 0 0 0

720 -0.52 -146.1 112.0 -16.7 106 732 0.12 1.52 0.00 0.000 6 0.206 0.035 1621 2924 2941 0 0 0 0 0 0

1048 -0.52 -146.1 156.3 -14.0 137 1049 0.00 0.00 0.00 0.000 6 0.000 0.000 1621 2925 2941 0 0 0 0 0 0

1367 -0.52 -146.1 200.5 -13.9 167 1371 0.00 1.62 0.00 0.000 4 0.000 0.067 1614 3896 2941 0 0 0 0 0 0

1402 -0.52 -146.1 205.9 -15.0 170 1405 0.00 1.50 0.00 0.000 6 0.000 0.036 1614 2938 2941 0 0 0 0 0 0

1744 -0.52 -146.1 254.1 -13.5 201 1747 0.00 1.60 0.00 0.000 4 0.000 0.066 1607 3896 2941 0 0 0 0 0 0

1793 -0.52 -146.1 261.6 -14.2 203 1798 0.00 1.50 0.00 0.000 6 0.000 0.037 1606 2926 2941 0 0 0 0 0 0

2122 -0.52 -146.1 308.1 -14.3 219 2123 0.00 0.00 0.00 0.000 6 0.000 0.000 1606 2921 2941 0 0 0 0 0 0

2429 -0.52 -146.1 351.0 -13.6 234 2433 0.00 1.62 0.00 0.000 4 0.000 0.064 1599 3900 2941 0 0 0 0 0 0

2479 -0.52 -146.1 358.5 -14.9 236 2483 0.00 1.50 0.00 0.000 6 0.000 0.036 1599 2933 2941 0 0 0 0 0 0

2806 -0.52 -146.1 404.7 -14.1 252 2807 0.00 0.00 0.00 0.000 6 0.000 0.000 1599 2929 2941 0 0 0 0 0 0

3115 -0.52 -146.1 447.0 -13.5 267 3119 0.00 1.60 0.00 0.000 4 0.000 0.065 1592 3896 2941 0 0 0 0 0 0

3183 -0.52 -146.1 456.9 -15.0 270 3187 0.00 1.50 0.00 0.000 6 0.000 0.036 1592 2924 2941 0 0 0 0 0 0

3515 -0.52 -146.1 503.0 -13.9 286 3519 0.10 1.62 0.00 0.000 4 0.215 0.065 1608 3904 2941 0 0 0 0 0 0

3560 -0.52 -146.1 509.0 -13.6 288 3563 0.00 1.50 0.00 0.000 6 0.000 0.036 1608 2936 2941 0 0 0 0 0 0

3891 -0.52 -146.1 549.3 -11.8 304 3893 0.00 0.00 0.00 0.000 6 0.000 0.000 1608 2932 2941 0 0 0 0 0 0

4201 -0.52 -146.1 585.8 -11.6 319 4204 0.00 1.60 0.00 0.000 4 0.000 0.065 1601 3900 2942 0 0 0 0 0 0

4239 -0.52 -146.1 590.8 -13.4 320 4246 0.00 1.50 0.00 0.000 6 0.000 0.035 1601 2924 2942 0 0 0 0 0 0

4554 -0.52 -146.1 629.5 -12.5 336 4556 0.00 0.00 0.00 0.000 6 0.000 0.000 1601 2923 2942 0 0 0 0 0 0

4864 -0.52 -146.1 668.1 -12.3 351 4867 0.00 1.60 0.00 0.000 4 0.000 0.065 1593 3893 2942 0 0 0 0 0 0

4909 -0.52 -146.1 673.9 -12.9 353 4913 0.00 1.48 0.00 0.000 6 0.000 0.037 1593 2938 2942 0 0 0 0 0 0

5241 -0.52 -146.1 715.1 -12.2 369 5242 0.00 0.00 0.00 0.000 6 0.000 0.000 1593 2935 2942 0 0 0 0 0 0

5551 -0.52 -146.1 752.6 -11.9 384 5554 0.00 1.58 0.00 0.000 4 0.000 0.065 1586 3896 2942 0 0 0 0 0 0

5600 -0.52 -146.1 759.3 -13.7 386 5605 0.10 1.50 0.00 0.000 6 0.187 0.036 1616 2923 2942 0 0 0 0 0 0

5927 -0.52 -146.1 794.2 -10.6 402 5928 0.00 0.00 0.00 0.000 6 0.000 0.000 1616 2922 2942 0 0 0 0 0 0

6237 -0.52 -146.1 827.4 -10.9 417 6238 0.00 0.00 0.00 0.000 6 0.000 0.000 1616 2922 2942 0 0 0 0 0 0

6545 -0.52 -146.1 860.5 -10.6 432 6546 0.00 0.00 0.00 0.000 6 0.000 0.000 1616 2922 2942 0 0 0 0 0 0

6855 -0.52 -146.1 893.9 -10.9 447 6856 0.00 0.00 0.00 0.000 6 0.000 0.000 1616 2922 2942 0 0 0 0 0 0

7165 -0.52 -146.1 927.7 -11.0 462 7166 0.00 0.00 0.00 0.000 6 0.000 0.000 1616 2922 2942 0 0 0 0 0 0

7473 -0.52 -146.1 962.1 -11.1 477 7474 0.00 0.00 0.00 0.000 6 0.000 0.000 1615 2922 2942 0 0 0 0 0 0

7783 -0.52 -146.1 997.0 -11.1 492 7784 0.00 0.00 0.00 0.000 6 0.000 0.000 1616 2922 2942 0 0 0 0 0 0

7823 end dive: TARGET_DEPTH_EXCEEDED

state 7823 begin apogee

7827 -0.13 0.0 1001.7 11.3 494 7966 0.43 0.00 133.98 1.800 6 0.169 0.000 1743 2713 2342 0 0 0 0 0 0

7967 end apogee: CONTROL_FINISHED_OK

state 7967 begin climb

7968 0.52 146.1 1006.2 0.0 501 8121 0.68 0.00 148.38 1.756 6 0.122 0.000 1947 2713 1746 0 0 0 0 0 0

8420 0.52 146.1 945.0 15.4 523 8421 0.00 0.00 0.00 0.000 6 0.000 0.000 1947 2713 1737 0 0 0 0 0 0

8730 0.52 146.1 896.9 15.8 538 8731 0.00 0.00 0.00 0.000 6 0.000 0.000 1947 2713 1735 0 0 0 0 0 0

9039 0.52 146.1 848.0 15.7 553 9043 0.00 2.00 0.00 0.000 4 0.000 0.062 1947 3908 1734 0 0 0 0 0 0

9065 0.52 146.1 843.4 16.8 554 9069 0.00 1.92 0.00 0.000 6 0.000 0.038 1956 2739 1733 0 0 0 0 0 0

9392 0.52 146.1 789.5 16.3 570 9393 0.00 0.00 0.00 0.000 6 0.000 0.000 1956 2738 1733 0 0 0 0 0 0

9702 0.52 146.1 739.7 15.8 585 9706 0.00 2.30 0.00 0.000 4 0.000 0.049 1967 1292 1732 0 0 0 0 0 0

9728 0.52 146.1 735.3 15.6 586 9733 0.00 2.33 0.00 0.000 6 0.000 0.054 1966 2720 1731 0 0 0 0 0 0

10049 0.52 146.1 681.8 17.0 602 10053 0.00 1.90 0.00 0.000 4 0.000 0.062 1966 3889 1731 0 0 0 0 0 0

10109 0.52 146.1 670.2 18.7 604 10117 0.00 1.90 0.00 0.000 6 0.000 0.037 1975 2705 1730 0 0 0 0 0 0

10425 0.52 146.1 614.7 17.3 620 10426 0.00 0.00 0.00 0.000 6 0.000 0.000 1975 2706 1730 0 0 0 0 0 0

10735 0.52 146.1 560.8 17.1 635 10737 0.00 0.00 0.00 0.000 6 0.000 0.000 1976 2705 1730 0 0 0 0 0 0

11044 0.52 146.1 507.3 17.5 650 11048 0.00 1.98 0.00 0.000 4 0.000 0.062 1975 3891 1730 0 0 0 0 0 0

11076 0.52 146.1 500.6 19.7 651 11081 0.00 1.90 0.00 0.000 6 0.000 0.037 1985 2701 1729 0 0 0 0 0 0

11398 0.52 146.1 440.6 18.8 667 11402 0.00 1.95 0.00 0.000 4 0.000 0.060 1985 3895 1730 0 0 0 0 0 0

11425 0.52 146.1 435.1 20.4 668 11430 0.10 1.90 0.00 0.000 6 0.216 0.038 1966 2705 1729 0 0 0 0 0 0

11752 0.52 146.1 379.5 16.7 684 11756 0.00 1.92 0.00 0.000 4 0.000 0.061 1966 3887 1729 0 0 0 0 0 0

11784 0.52 146.1 373.1 18.8 685 11789 0.00 1.88 0.00 0.000 6 0.000 0.037 1975 2712 1729 0 0 0 0 0 0

12109 0.52 146.1 315.8 17.8 701 12110 0.00 0.00 0.00 0.000 6 0.000 0.000 1974 2712 1729 0 0 0 0 0 0

12417 0.52 146.1 261.1 17.6 716 12421 0.00 1.92 0.00 0.000 4 0.000 0.061 1975 3890 1729 0 0 0 0 0 0

12455 0.52 146.1 253.4 18.4 717 12463 0.00 1.88 0.00 0.000 6 0.000 0.037 1984 2708 1729 0 0 0 0 0 0

12782 0.52 146.1 195.2 17.8 747 12786 0.00 1.92 0.00 0.000 4 0.000 0.060 1984 3892 1729 0 0 0 0 0 0

12809 0.52 146.1 189.2 19.6 749 12818 0.10 1.88 0.00 0.000 6 0.213 0.037 1965 2711 1729 0 0 0 0 0 0

13135 0.52 146.1 138.0 15.0 780 13139 0.00 2.20 0.00 0.000 4 0.000 0.047 1975 1293 1729 0 0 0 0 0 0

13176 0.52 146.1 132.3 14.0 783 13180 0.00 2.25 0.00 0.000 6 0.000 0.055 1975 2710 1729 0 0 0 0 0 0

13510 0.52 146.1 83.7 13.9 823 13516 0.00 0.00 0.00 0.000 6 0.000 0.000 1975 2710 1728 0 0 0 0 0 0

13751 0.52 146.1 50.5 12.6 864 13759 0.00 2.22 0.00 0.000 4 0.000 0.048 1985 1302 1729 0 0 0 0 0 0

13796 0.52 146.1 45.0 12.0 871 13803 0.00 2.25 0.00 0.000 6 0.000 0.056 1985 2724 1729 0 0 0 0 0 0

13907 0.52 146.1 29.9 13.8 890 13916 0.00 1.90 0.00 0.000 4 0.000 0.063 1985 3893 1729 0 0 0 0 0 0

13950 0.52 146.1 23.8 16.0 896 13959 0.10 1.88 0.00 0.000 6 0.213 0.039 1966 2711 1729 0 0 0 0 0 0

14035 0.52 146.1 12.3 13.1 909 14044 0.00 2.22 0.00 0.000 4 0.000 0.049 1976 1289 1729 0 0 0 0 0 0

14064 0.52 146.1 8.7 12.2 913 14074 0.00 2.30 0.00 0.000 6 0.000 0.057 1976 2716 1729 0 0 0 0 0 0

14111 end climb: SURFACE_DEPTH_REACHED

state 14111 begin surface coast

14137 end surface coast: CONTROL_FINISHED_OK

state 14138 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	59	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	27	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	23	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	-21838.898	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	201214,113351,-5601.400,-28.026,28,1.3,36,-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	-0.184,-0.065
_SM_DEPTHo	2.03	KALMAN_X	28408.9,358.0,277.3,-57920.5,1734.9
_SM_ANGLEo	-69.2	KALMAN_Y	52854.0,-659.5,100.6,-54430.7,3819.1
GPS2	201214,114105,-5601.324,-27.931,15,1.9,15,-19.9	MHEAD_RNG_PITCHd_Wd	270.3,3257,-21.3,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.3,1.009269	_10V_AH	10.1,11.745
SM_CCo	14150,20.25,0.187,0,0,1524,200.16	FG_AHR_24Vo	0.000
SM_GC	2.85,0.00,0.00,20.25,0.000,0.000,0.187,65,2925,1524,-5.40,-0.14,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5535.12,-26.95,201214,080834	MEM	353972
TT8_MAMPS	0.026215	DATA_FILE_SIZE	63520,924
HUMID	55.51	CAP_FILE_SIZE	121354,0
INTERNAL_PRESSURE	8.96486	CFSIZE	259252224,222597120
TCM_TEMP	7.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	201214,153922,-5601.536,-29.975,37,0.8,37,-19.9
_24V_AH	21.6,17.936

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	253	72.33	SBE_CT	656	23	340.07
Roll_motor	83	87	157.62	AA4330	1903	17	739.13
VBD_pump_during_apogee	282	1800	10978.04	WL_BB2F	904	105	2051.08
VBD_pump_during_surface	20	187	81.98	QSP2150	939	17	364.76
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	91	55.66	nil	0	0	0.00
Iridium_during_connect	23	160	82.18	nil	0	0	0.00
Iridium_during_xfer	269	223	1296.86	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	31	5.63
TT8	2284	14	333.64
LPSleep	9162	2	202.66
TT8_Active	437	14	63.86
TT8_Sampling	2570	42	1094.98
TT8_CF8	151	49	76.20
TT8_Kalman	33	68	23.04
Analog_circuits	1309	15	204.94
GPS_charging	0	0	0.00
Compass	2087	16	347.42
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
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
14	-0.48	-102.8	0.0	0.0	0	50	0.00	0.00	-33.95	0.000	2	0.000	0.000	58	2938	2249	0	0	0	0	0	0
53	-0.52	-146.1	3.2	-4.5	4	96	6.35	1.62	-24.98	0.000	4	0.253	0.087	1606	3892	2938	0	0	0	0	0	0
171	-0.52	-146.1	18.0	-18.0	21	180	0.00	1.58	0.00	0.000	6	0.000	0.036	1606	2902	2941	0	0	0	0	0	0
253	-0.52	-146.1	33.0	-18.0	34	262	0.00	0.00	0.00	0.000	6	0.000	0.000	1606	2902	2941	0	0	0	0	0	0
369	-0.52	-146.1	52.7	-16.6	53	376	0.00	1.67	0.00	0.000	4	0.000	0.063	1599	3894	2940	0	0	0	0	0	0
408	-0.52	-146.1	59.5	-17.9	59	415	0.00	1.52	0.00	0.000	6	0.000	0.037	1599	2923	2940	0	0	0	0	0	0
522	-0.52	-146.1	79.0	-16.7	78	531	0.00	0.00	0.00	0.000	6	0.000	0.000	1599	2923	2941	0	0	0	0	0	0
635	-0.52	-146.1	96.9	-16.4	97	641	0.00	1.62	0.00	0.000	4	0.000	0.064	1591	3892	2941	0	0	0	0	0	0
720	-0.52	-146.1	112.0	-16.7	106	732	0.12	1.52	0.00	0.000	6	0.206	0.035	1621	2924	2941	0	0	0	0	0	0
1048	-0.52	-146.1	156.3	-14.0	137	1049	0.00	0.00	0.00	0.000	6	0.000	0.000	1621	2925	2941	0	0	0	0	0	0
1367	-0.52	-146.1	200.5	-13.9	167	1371	0.00	1.62	0.00	0.000	4	0.000	0.067	1614	3896	2941	0	0	0	0	0	0
1402	-0.52	-146.1	205.9	-15.0	170	1405	0.00	1.50	0.00	0.000	6	0.000	0.036	1614	2938	2941	0	0	0	0	0	0
1744	-0.52	-146.1	254.1	-13.5	201	1747	0.00	1.60	0.00	0.000	4	0.000	0.066	1607	3896	2941	0	0	0	0	0	0
1793	-0.52	-146.1	261.6	-14.2	203	1798	0.00	1.50	0.00	0.000	6	0.000	0.037	1606	2926	2941	0	0	0	0	0	0
2122	-0.52	-146.1	308.1	-14.3	219	2123	0.00	0.00	0.00	0.000	6	0.000	0.000	1606	2921	2941	0	0	0	0	0	0
2429	-0.52	-146.1	351.0	-13.6	234	2433	0.00	1.62	0.00	0.000	4	0.000	0.064	1599	3900	2941	0	0	0	0	0	0
2479	-0.52	-146.1	358.5	-14.9	236	2483	0.00	1.50	0.00	0.000	6	0.000	0.036	1599	2933	2941	0	0	0	0	0	0
2806	-0.52	-146.1	404.7	-14.1	252	2807	0.00	0.00	0.00	0.000	6	0.000	0.000	1599	2929	2941	0	0	0	0	0	0
3115	-0.52	-146.1	447.0	-13.5	267	3119	0.00	1.60	0.00	0.000	4	0.000	0.065	1592	3896	2941	0	0	0	0	0	0
3183	-0.52	-146.1	456.9	-15.0	270	3187	0.00	1.50	0.00	0.000	6	0.000	0.036	1592	2924	2941	0	0	0	0	0	0
3515	-0.52	-146.1	503.0	-13.9	286	3519	0.10	1.62	0.00	0.000	4	0.215	0.065	1608	3904	2941	0	0	0	0	0	0
3560	-0.52	-146.1	509.0	-13.6	288	3563	0.00	1.50	0.00	0.000	6	0.000	0.036	1608	2936	2941	0	0	0	0	0	0
3891	-0.52	-146.1	549.3	-11.8	304	3893	0.00	0.00	0.00	0.000	6	0.000	0.000	1608	2932	2941	0	0	0	0	0	0
4201	-0.52	-146.1	585.8	-11.6	319	4204	0.00	1.60	0.00	0.000	4	0.000	0.065	1601	3900	2942	0	0	0	0	0	0
4239	-0.52	-146.1	590.8	-13.4	320	4246	0.00	1.50	0.00	0.000	6	0.000	0.035	1601	2924	2942	0	0	0	0	0	0
4554	-0.52	-146.1	629.5	-12.5	336	4556	0.00	0.00	0.00	0.000	6	0.000	0.000	1601	2923	2942	0	0	0	0	0	0
4864	-0.52	-146.1	668.1	-12.3	351	4867	0.00	1.60	0.00	0.000	4	0.000	0.065	1593	3893	2942	0	0	0	0	0	0
4909	-0.52	-146.1	673.9	-12.9	353	4913	0.00	1.48	0.00	0.000	6	0.000	0.037	1593	2938	2942	0	0	0	0	0	0
5241	-0.52	-146.1	715.1	-12.2	369	5242	0.00	0.00	0.00	0.000	6	0.000	0.000	1593	2935	2942	0	0	0	0	0	0
5551	-0.52	-146.1	752.6	-11.9	384	5554	0.00	1.58	0.00	0.000	4	0.000	0.065	1586	3896	2942	0	0	0	0	0	0
5600	-0.52	-146.1	759.3	-13.7	386	5605	0.10	1.50	0.00	0.000	6	0.187	0.036	1616	2923	2942	0	0	0	0	0	0
5927	-0.52	-146.1	794.2	-10.6	402	5928	0.00	0.00	0.00	0.000	6	0.000	0.000	1616	2922	2942	0	0	0	0	0	0
6237	-0.52	-146.1	827.4	-10.9	417	6238	0.00	0.00	0.00	0.000	6	0.000	0.000	1616	2922	2942	0	0	0	0	0	0
6545	-0.52	-146.1	860.5	-10.6	432	6546	0.00	0.00	0.00	0.000	6	0.000	0.000	1616	2922	2942	0	0	0	0	0	0
6855	-0.52	-146.1	893.9	-10.9	447	6856	0.00	0.00	0.00	0.000	6	0.000	0.000	1616	2922	2942	0	0	0	0	0	0
7165	-0.52	-146.1	927.7	-11.0	462	7166	0.00	0.00	0.00	0.000	6	0.000	0.000	1616	2922	2942	0	0	0	0	0	0
7473	-0.52	-146.1	962.1	-11.1	477	7474	0.00	0.00	0.00	0.000	6	0.000	0.000	1615	2922	2942	0	0	0	0	0	0
7783	-0.52	-146.1	997.0	-11.1	492	7784	0.00	0.00	0.00	0.000	6	0.000	0.000	1616	2922	2942	0	0	0	0	0	0
7823	end dive: TARGET_DEPTH_EXCEEDED
state	7823	begin apogee
7827	-0.13	0.0	1001.7	11.3	494	7966	0.43	0.00	133.98	1.800	6	0.169	0.000	1743	2713	2342	0	0	0	0	0	0
7967	end apogee: CONTROL_FINISHED_OK
state	7967	begin climb
7968	0.52	146.1	1006.2	0.0	501	8121	0.68	0.00	148.38	1.756	6	0.122	0.000	1947	2713	1746	0	0	0	0	0	0
8420	0.52	146.1	945.0	15.4	523	8421	0.00	0.00	0.00	0.000	6	0.000	0.000	1947	2713	1737	0	0	0	0	0	0
8730	0.52	146.1	896.9	15.8	538	8731	0.00	0.00	0.00	0.000	6	0.000	0.000	1947	2713	1735	0	0	0	0	0	0
9039	0.52	146.1	848.0	15.7	553	9043	0.00	2.00	0.00	0.000	4	0.000	0.062	1947	3908	1734	0	0	0	0	0	0
9065	0.52	146.1	843.4	16.8	554	9069	0.00	1.92	0.00	0.000	6	0.000	0.038	1956	2739	1733	0	0	0	0	0	0
9392	0.52	146.1	789.5	16.3	570	9393	0.00	0.00	0.00	0.000	6	0.000	0.000	1956	2738	1733	0	0	0	0	0	0
9702	0.52	146.1	739.7	15.8	585	9706	0.00	2.30	0.00	0.000	4	0.000	0.049	1967	1292	1732	0	0	0	0	0	0
9728	0.52	146.1	735.3	15.6	586	9733	0.00	2.33	0.00	0.000	6	0.000	0.054	1966	2720	1731	0	0	0	0	0	0
10049	0.52	146.1	681.8	17.0	602	10053	0.00	1.90	0.00	0.000	4	0.000	0.062	1966	3889	1731	0	0	0	0	0	0
10109	0.52	146.1	670.2	18.7	604	10117	0.00	1.90	0.00	0.000	6	0.000	0.037	1975	2705	1730	0	0	0	0	0	0
10425	0.52	146.1	614.7	17.3	620	10426	0.00	0.00	0.00	0.000	6	0.000	0.000	1975	2706	1730	0	0	0	0	0	0
10735	0.52	146.1	560.8	17.1	635	10737	0.00	0.00	0.00	0.000	6	0.000	0.000	1976	2705	1730	0	0	0	0	0	0
11044	0.52	146.1	507.3	17.5	650	11048	0.00	1.98	0.00	0.000	4	0.000	0.062	1975	3891	1730	0	0	0	0	0	0
11076	0.52	146.1	500.6	19.7	651	11081	0.00	1.90	0.00	0.000	6	0.000	0.037	1985	2701	1729	0	0	0	0	0	0
11398	0.52	146.1	440.6	18.8	667	11402	0.00	1.95	0.00	0.000	4	0.000	0.060	1985	3895	1730	0	0	0	0	0	0
11425	0.52	146.1	435.1	20.4	668	11430	0.10	1.90	0.00	0.000	6	0.216	0.038	1966	2705	1729	0	0	0	0	0	0
11752	0.52	146.1	379.5	16.7	684	11756	0.00	1.92	0.00	0.000	4	0.000	0.061	1966	3887	1729	0	0	0	0	0	0
11784	0.52	146.1	373.1	18.8	685	11789	0.00	1.88	0.00	0.000	6	0.000	0.037	1975	2712	1729	0	0	0	0	0	0
12109	0.52	146.1	315.8	17.8	701	12110	0.00	0.00	0.00	0.000	6	0.000	0.000	1974	2712	1729	0	0	0	0	0	0
12417	0.52	146.1	261.1	17.6	716	12421	0.00	1.92	0.00	0.000	4	0.000	0.061	1975	3890	1729	0	0	0	0	0	0
12455	0.52	146.1	253.4	18.4	717	12463	0.00	1.88	0.00	0.000	6	0.000	0.037	1984	2708	1729	0	0	0	0	0	0
12782	0.52	146.1	195.2	17.8	747	12786	0.00	1.92	0.00	0.000	4	0.000	0.060	1984	3892	1729	0	0	0	0	0	0
12809	0.52	146.1	189.2	19.6	749	12818	0.10	1.88	0.00	0.000	6	0.213	0.037	1965	2711	1729	0	0	0	0	0	0
13135	0.52	146.1	138.0	15.0	780	13139	0.00	2.20	0.00	0.000	4	0.000	0.047	1975	1293	1729	0	0	0	0	0	0
13176	0.52	146.1	132.3	14.0	783	13180	0.00	2.25	0.00	0.000	6	0.000	0.055	1975	2710	1729	0	0	0	0	0	0
13510	0.52	146.1	83.7	13.9	823	13516	0.00	0.00	0.00	0.000	6	0.000	0.000	1975	2710	1728	0	0	0	0	0	0
13751	0.52	146.1	50.5	12.6	864	13759	0.00	2.22	0.00	0.000	4	0.000	0.048	1985	1302	1729	0	0	0	0	0	0
13796	0.52	146.1	45.0	12.0	871	13803	0.00	2.25	0.00	0.000	6	0.000	0.056	1985	2724	1729	0	0	0	0	0	0
13907	0.52	146.1	29.9	13.8	890	13916	0.00	1.90	0.00	0.000	4	0.000	0.063	1985	3893	1729	0	0	0	0	0	0
13950	0.52	146.1	23.8	16.0	896	13959	0.10	1.88	0.00	0.000	6	0.213	0.039	1966	2711	1729	0	0	0	0	0	0
14035	0.52	146.1	12.3	13.1	909	14044	0.00	2.22	0.00	0.000	4	0.000	0.049	1976	1289	1729	0	0	0	0	0	0
14064	0.52	146.1	8.7	12.2	913	14074	0.00	2.30	0.00	0.000	6	0.000	0.057	1976	2716	1729	0	0	0	0	0	0
14111	end climb: SURFACE_DEPTH_REACHED
state	14111	begin surface coast
14137	end surface coast: CONTROL_FINISHED_OK
state	14138	begin surface