Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 64 * 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 64 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 24 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 -21850.543 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 -21850.543

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 24 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 64 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 211214,065830,-5601.315,-36.665,40,0.9,40,-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 0.135,0.094

_SM_DEPTHo 1.89 KALMAN_X 36602.6,-715.8,-196.6,-73449.4,5027.4

_SM_ANGLEo -64.7 KALMAN_Y 52456.7,-201.6,-214.7,-54120.1,1183.0

GPS2 211214,070623,-5601.295,-36.545,20,0.8,20,-19.8 MHEAD_RNG_PITCHd_Wd 74.9,7190,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.9,1.016303 _10V_AH 10.1,12.267

SM_CCo 11945,20.25,0.184,0,0,1524,200.16 FG_AHR_24Vo 0.000

SM_GC 2.90,0.00,0.00,20.25,0.000,0.000,0.184,59,2941,1524,-5.41,0.28,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5538.94,-34.65,211214,030301 MEM 353972

TT8_MAMPS 0.026215 DATA_FILE_SIZE 53592,775

HUMID 55.78 CAP_FILE_SIZE 111596,0

INTERNAL_PRESSURE 8.95509 CFSIZE 259252224,222294016

TCM_TEMP 7.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 211214,102827,-5600.316,-32.770,70,1.1,70,-19.9

_24V_AH 21.6,18.702

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 252 73.75 SBE_CT 550 23 284.88

Roll_motor 85 63 117.88 AA4330 1615 17 627.38

VBD_pump_during_apogee 281 1808 10984.44 WL_BB2F 775 105 1759.55

VBD_pump_during_surface 20 183 80.31 QSP2150 799 17 310.56

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 91 56.31 nil 0 0 0.00

Iridium_during_connect 41 160 143.14 nil 0 0 0.00

Iridium_during_xfer 288 223 1388.85 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 7.29

TT8 1958 14 285.99

LPSleep 7495 2 165.80

TT8_Active 412 14 60.21

TT8_Sampling 2432 42 1035.96

TT8_CF8 140 49 70.65

TT8_Kalman 33 68 23.04

Analog_circuits 1248 15 195.45

GPS_charging 0 0 0.00

Compass 1927 16 320.78

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 66 0.00 0.00 -49.70 0.000 2 0.000 0.000 51 2939 2598 0 0 0 0 0 0

69 -0.60 -146.1 3.1 -3.3 6 95 6.28 2.30 -10.25 0.000 4 0.252 0.057 1592 1509 2937 0 0 0 0 0 0

219 -0.60 -146.1 27.5 -14.7 29 228 0.00 2.35 0.00 0.000 6 0.000 0.055 1582 2927 2939 0 0 0 0 0 0

299 -0.60 -146.1 43.6 -20.8 42 307 0.00 0.00 0.00 0.000 6 0.000 0.000 1582 2928 2939 0 0 0 0 0 0

413 -0.60 -146.1 68.0 -21.4 61 420 0.00 0.00 0.00 0.000 6 0.000 0.000 1581 2927 2939 0 0 0 0 0 0

525 -0.60 -146.1 91.4 -20.8 80 532 0.00 1.60 0.00 0.000 4 0.000 0.063 1575 3906 2939 0 0 0 0 0 0

665 -0.60 -146.1 121.9 -20.5 96 669 0.00 1.58 0.00 0.000 6 0.000 0.034 1574 2897 2940 0 0 0 0 0 0

997 -0.60 -146.1 186.4 -20.0 127 1001 0.00 1.62 0.00 0.000 4 0.000 0.061 1567 3903 2939 0 0 0 0 0 0

1106 -0.60 -146.1 210.4 -21.5 136 1116 0.00 1.52 0.00 0.000 6 0.000 0.035 1567 2918 2940 0 0 0 0 0 0

1438 -0.60 -146.1 274.6 -18.2 162 1442 0.00 1.62 0.00 0.000 4 0.000 0.062 1559 3900 2939 0 0 0 0 0 0

1529 -0.60 -146.1 292.4 -19.2 166 1534 0.10 1.50 0.00 0.000 6 0.195 0.034 1587 2931 2940 0 0 0 0 0 0

1861 -0.60 -146.1 346.5 -15.7 182 1862 0.00 0.00 0.00 0.000 6 0.000 0.000 1588 2929 2939 0 0 0 0 0 0

2173 -0.60 -146.1 395.6 -15.9 197 2177 0.00 1.60 0.00 0.000 4 0.000 0.063 1580 3898 2939 0 0 0 0 0 0

2286 -0.60 -146.1 415.4 -17.0 202 2289 0.00 1.50 0.00 0.000 6 0.000 0.034 1580 2917 2940 0 0 0 0 0 0

2618 -0.60 -146.1 468.6 -15.7 218 2621 0.00 1.62 0.00 0.000 4 0.000 0.061 1573 3900 2940 0 0 0 0 0 0

2656 -0.60 -146.1 475.1 -17.0 219 2663 0.00 1.48 0.00 0.000 6 0.000 0.032 1573 2928 2940 0 0 0 0 0 0

2971 -0.60 -146.1 525.1 -15.5 235 2975 0.00 1.60 0.00 0.000 4 0.000 0.061 1566 3902 2940 0 0 0 0 0 0

3032 -0.60 -146.1 535.5 -17.2 237 3039 0.00 1.48 0.00 0.000 6 0.000 0.033 1566 2928 2940 0 0 0 0 0 0

3348 -0.60 -146.1 585.1 -15.6 253 3352 0.00 1.60 0.00 0.000 4 0.000 0.061 1559 3903 2940 0 0 0 0 0 0

3430 -0.60 -146.1 599.5 -17.5 256 3439 0.12 1.50 0.00 0.000 6 0.207 0.033 1588 2929 2940 0 0 0 0 0 0

3747 -0.60 -146.1 643.8 -13.8 272 3748 0.00 0.00 0.00 0.000 6 0.000 0.000 1588 2929 2940 0 0 0 0 0 0

4056 -0.60 -146.1 686.3 -13.9 287 4059 0.00 1.60 0.00 0.000 4 0.000 0.061 1581 3905 2940 0 0 0 0 0 0

4138 -0.60 -146.1 698.7 -14.7 290 4146 0.00 1.50 0.00 0.000 6 0.000 0.032 1581 2923 2940 0 0 0 0 0 0

4455 -0.60 -146.1 742.4 -13.8 306 4459 0.00 1.60 0.00 0.000 4 0.000 0.061 1573 3900 2940 0 0 0 0 0 0

4515 -0.60 -146.1 751.7 -15.3 308 4523 0.00 1.48 0.00 0.000 6 0.000 0.032 1573 2925 2940 0 0 0 0 0 0

4831 -0.60 -146.1 796.2 -13.8 324 4835 0.00 1.60 0.00 0.000 4 0.000 0.062 1566 3901 2940 0 0 0 0 0 0

4880 -0.60 -146.1 803.9 -15.8 326 4885 0.00 1.48 0.00 0.000 6 0.000 0.033 1565 2928 2940 0 0 0 0 0 0

5208 -0.60 -146.1 850.4 -13.8 342 5211 0.00 1.60 0.00 0.000 4 0.000 0.060 1559 3902 2940 0 0 0 0 0 0

5279 -0.60 -146.1 861.4 -14.8 345 5284 0.10 1.48 0.00 0.000 6 0.193 0.033 1588 2939 2940 0 0 0 0 0 0

5606 -0.60 -146.1 900.9 -11.8 361 5607 0.00 0.00 0.00 0.000 6 0.000 0.000 1587 2938 2940 0 0 0 0 0 0

5915 -0.60 -146.1 937.3 -11.6 376 5919 0.00 1.58 0.00 0.000 4 0.000 0.062 1580 3900 2940 0 0 0 0 0 0

5983 -0.60 -146.1 945.9 -12.9 379 5987 0.00 1.48 0.00 0.000 6 0.000 0.033 1580 2929 2940 0 0 0 0 0 0

6315 -0.60 -146.1 986.4 -12.4 395 6316 0.00 0.00 0.00 0.000 6 0.000 0.000 1580 2923 2940 0 0 0 0 0 0

6437 end dive: TARGET_DEPTH_EXCEEDED

state 6437 begin apogee

6442 -0.13 0.0 1001.8 12.3 401 6581 0.55 0.00 133.45 1.808 6 0.186 0.000 1739 2714 2342 0 0 0 0 0 0

6581 end apogee: CONTROL_FINISHED_OK

state 6582 begin climb

6583 0.60 146.1 1004.5 0.0 408 6739 0.80 2.55 147.75 1.773 4 0.125 0.045 1987 1331 1746 0 0 0 0 0 0

6760 0.60 146.1 978.7 18.8 416 6765 0.00 2.53 0.00 0.000 6 0.000 0.050 1987 2740 1743 0 0 0 0 0 0

7083 0.60 146.1 911.7 21.3 432 7084 0.00 0.00 0.00 0.000 6 0.000 0.000 1987 2741 1736 0 0 0 0 0 0

7392 0.60 146.1 846.7 20.8 447 7395 0.00 1.95 0.00 0.000 4 0.000 0.060 1987 3897 1735 0 0 0 0 0 0

7451 0.60 146.1 832.5 23.1 449 7460 0.00 1.90 0.00 0.000 6 0.000 0.035 1996 2740 1733 0 0 0 0 0 0

7768 0.60 146.1 765.5 21.6 465 7769 0.00 0.00 0.00 0.000 6 0.000 0.000 1996 2740 1732 0 0 0 0 0 0

8078 0.60 146.1 703.1 19.8 480 8081 0.00 1.92 0.00 0.000 4 0.000 0.058 1996 3900 1732 0 0 0 0 0 0

8133 0.60 146.1 691.0 21.5 482 8136 0.00 1.90 0.00 0.000 6 0.000 0.037 2005 2697 1731 0 0 0 0 0 0

8453 0.60 146.1 627.8 19.6 498 8456 0.00 1.98 0.00 0.000 4 0.000 0.057 2005 3900 1731 0 0 0 0 0 0

8490 0.60 146.1 619.4 21.9 499 8498 0.00 1.90 0.00 0.000 6 0.000 0.036 2014 2718 1730 0 0 0 0 0 0

8806 0.60 146.1 554.7 20.6 515 8811 0.12 1.92 0.00 0.000 4 0.245 0.057 1987 3909 1730 0 0 0 0 0 0

8859 0.60 146.1 543.3 20.4 517 8864 0.00 1.92 0.00 0.000 6 0.000 0.037 1995 2714 1730 0 0 0 0 0 0

9181 0.60 146.1 482.9 18.7 533 9183 0.00 0.00 0.00 0.000 6 0.000 0.000 1995 2713 1730 0 0 0 0 0 0

9491 0.60 146.1 426.9 18.0 548 9494 0.00 1.92 0.00 0.000 4 0.000 0.058 1995 3897 1730 0 0 0 0 0 0

9546 0.60 146.1 415.8 19.5 550 9550 0.00 1.88 0.00 0.000 6 0.000 0.037 2004 2694 1730 0 0 0 0 0 0

9868 0.60 146.1 357.8 17.9 566 9871 0.00 1.92 0.00 0.000 4 0.000 0.057 2004 3897 1730 0 0 0 0 0 0

9928 0.60 146.1 345.2 20.3 568 9938 0.00 1.90 0.00 0.000 6 0.000 0.035 2014 2702 1729 0 0 0 0 0 0

10245 0.60 146.1 284.6 18.9 584 10248 0.00 1.95 0.00 0.000 4 0.000 0.058 2014 3902 1729 0 0 0 0 0 0

10294 0.60 146.1 273.6 22.6 586 10299 0.12 1.90 0.00 0.000 6 0.212 0.036 1988 2706 1729 0 0 0 0 0 0

10616 0.60 146.1 218.3 15.7 610 10620 0.00 1.95 0.00 0.000 4 0.000 0.058 1988 3907 1729 0 0 0 0 0 0

10654 0.60 146.1 212.3 18.9 613 10657 0.00 1.88 0.00 0.000 6 0.000 0.037 1997 2699 1729 0 0 0 0 0 0

10984 0.60 146.1 155.8 16.8 644 10985 0.00 0.00 0.00 0.000 6 0.000 0.000 1997 2698 1729 0 0 0 0 0 0

11305 0.60 146.1 102.3 17.6 674 11309 0.00 1.95 0.00 0.000 4 0.000 0.059 1997 3900 1729 0 0 0 0 0 0

11380 0.60 146.1 87.9 19.0 686 11387 0.00 1.88 0.00 0.000 6 0.000 0.036 2006 2716 1729 0 0 0 0 0 0

11625 0.60 146.1 47.7 14.5 727 11633 0.00 1.95 0.00 0.000 4 0.000 0.061 2006 3898 1729 0 0 0 0 0 0

11692 0.60 146.1 36.3 15.6 738 11702 0.10 1.90 0.00 0.000 6 0.221 0.038 1988 2708 1729 0 0 0 0 0 0

11813 0.60 146.1 17.8 16.3 757 11822 0.00 0.00 0.00 0.000 6 0.000 0.000 1988 2708 1729 0 0 0 0 0 0

11897 0.60 146.1 4.1 18.3 770 11905 0.00 0.00 0.00 0.000 6 0.000 0.000 1988 2708 1729 0 0 0 0 0 0

11912 end climb: SURFACE_DEPTH_REACHED

state 11912 begin surface coast

11932 end surface coast: CONTROL_FINISHED_OK

state 11932 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	64	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	24	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	-21850.543	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	211214,065830,-5601.315,-36.665,40,0.9,40,-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	0.135,0.094
_SM_DEPTHo	1.89	KALMAN_X	36602.6,-715.8,-196.6,-73449.4,5027.4
_SM_ANGLEo	-64.7	KALMAN_Y	52456.7,-201.6,-214.7,-54120.1,1183.0
GPS2	211214,070623,-5601.295,-36.545,20,0.8,20,-19.8	MHEAD_RNG_PITCHd_Wd	74.9,7190,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	0.9,1.016303	_10V_AH	10.1,12.267
SM_CCo	11945,20.25,0.184,0,0,1524,200.16	FG_AHR_24Vo	0.000
SM_GC	2.90,0.00,0.00,20.25,0.000,0.000,0.184,59,2941,1524,-5.41,0.28,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5538.94,-34.65,211214,030301	MEM	353972
TT8_MAMPS	0.026215	DATA_FILE_SIZE	53592,775
HUMID	55.78	CAP_FILE_SIZE	111596,0
INTERNAL_PRESSURE	8.95509	CFSIZE	259252224,222294016
TCM_TEMP	7.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	211214,102827,-5600.316,-32.770,70,1.1,70,-19.9
_24V_AH	21.6,18.702

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	252	73.75	SBE_CT	550	23	284.88
Roll_motor	85	63	117.88	AA4330	1615	17	627.38
VBD_pump_during_apogee	281	1808	10984.44	WL_BB2F	775	105	1759.55
VBD_pump_during_surface	20	183	80.31	QSP2150	799	17	310.56
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	91	56.31	nil	0	0	0.00
Iridium_during_connect	41	160	143.14	nil	0	0	0.00
Iridium_during_xfer	288	223	1388.85	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	7.29
TT8	1958	14	285.99
LPSleep	7495	2	165.80
TT8_Active	412	14	60.21
TT8_Sampling	2432	42	1035.96
TT8_CF8	140	49	70.65
TT8_Kalman	33	68	23.04
Analog_circuits	1248	15	195.45
GPS_charging	0	0	0.00
Compass	1927	16	320.78
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	66	0.00	0.00	-49.70	0.000	2	0.000	0.000	51	2939	2598	0	0	0	0	0	0
69	-0.60	-146.1	3.1	-3.3	6	95	6.28	2.30	-10.25	0.000	4	0.252	0.057	1592	1509	2937	0	0	0	0	0	0
219	-0.60	-146.1	27.5	-14.7	29	228	0.00	2.35	0.00	0.000	6	0.000	0.055	1582	2927	2939	0	0	0	0	0	0
299	-0.60	-146.1	43.6	-20.8	42	307	0.00	0.00	0.00	0.000	6	0.000	0.000	1582	2928	2939	0	0	0	0	0	0
413	-0.60	-146.1	68.0	-21.4	61	420	0.00	0.00	0.00	0.000	6	0.000	0.000	1581	2927	2939	0	0	0	0	0	0
525	-0.60	-146.1	91.4	-20.8	80	532	0.00	1.60	0.00	0.000	4	0.000	0.063	1575	3906	2939	0	0	0	0	0	0
665	-0.60	-146.1	121.9	-20.5	96	669	0.00	1.58	0.00	0.000	6	0.000	0.034	1574	2897	2940	0	0	0	0	0	0
997	-0.60	-146.1	186.4	-20.0	127	1001	0.00	1.62	0.00	0.000	4	0.000	0.061	1567	3903	2939	0	0	0	0	0	0
1106	-0.60	-146.1	210.4	-21.5	136	1116	0.00	1.52	0.00	0.000	6	0.000	0.035	1567	2918	2940	0	0	0	0	0	0
1438	-0.60	-146.1	274.6	-18.2	162	1442	0.00	1.62	0.00	0.000	4	0.000	0.062	1559	3900	2939	0	0	0	0	0	0
1529	-0.60	-146.1	292.4	-19.2	166	1534	0.10	1.50	0.00	0.000	6	0.195	0.034	1587	2931	2940	0	0	0	0	0	0
1861	-0.60	-146.1	346.5	-15.7	182	1862	0.00	0.00	0.00	0.000	6	0.000	0.000	1588	2929	2939	0	0	0	0	0	0
2173	-0.60	-146.1	395.6	-15.9	197	2177	0.00	1.60	0.00	0.000	4	0.000	0.063	1580	3898	2939	0	0	0	0	0	0
2286	-0.60	-146.1	415.4	-17.0	202	2289	0.00	1.50	0.00	0.000	6	0.000	0.034	1580	2917	2940	0	0	0	0	0	0
2618	-0.60	-146.1	468.6	-15.7	218	2621	0.00	1.62	0.00	0.000	4	0.000	0.061	1573	3900	2940	0	0	0	0	0	0
2656	-0.60	-146.1	475.1	-17.0	219	2663	0.00	1.48	0.00	0.000	6	0.000	0.032	1573	2928	2940	0	0	0	0	0	0
2971	-0.60	-146.1	525.1	-15.5	235	2975	0.00	1.60	0.00	0.000	4	0.000	0.061	1566	3902	2940	0	0	0	0	0	0
3032	-0.60	-146.1	535.5	-17.2	237	3039	0.00	1.48	0.00	0.000	6	0.000	0.033	1566	2928	2940	0	0	0	0	0	0
3348	-0.60	-146.1	585.1	-15.6	253	3352	0.00	1.60	0.00	0.000	4	0.000	0.061	1559	3903	2940	0	0	0	0	0	0
3430	-0.60	-146.1	599.5	-17.5	256	3439	0.12	1.50	0.00	0.000	6	0.207	0.033	1588	2929	2940	0	0	0	0	0	0
3747	-0.60	-146.1	643.8	-13.8	272	3748	0.00	0.00	0.00	0.000	6	0.000	0.000	1588	2929	2940	0	0	0	0	0	0
4056	-0.60	-146.1	686.3	-13.9	287	4059	0.00	1.60	0.00	0.000	4	0.000	0.061	1581	3905	2940	0	0	0	0	0	0
4138	-0.60	-146.1	698.7	-14.7	290	4146	0.00	1.50	0.00	0.000	6	0.000	0.032	1581	2923	2940	0	0	0	0	0	0
4455	-0.60	-146.1	742.4	-13.8	306	4459	0.00	1.60	0.00	0.000	4	0.000	0.061	1573	3900	2940	0	0	0	0	0	0
4515	-0.60	-146.1	751.7	-15.3	308	4523	0.00	1.48	0.00	0.000	6	0.000	0.032	1573	2925	2940	0	0	0	0	0	0
4831	-0.60	-146.1	796.2	-13.8	324	4835	0.00	1.60	0.00	0.000	4	0.000	0.062	1566	3901	2940	0	0	0	0	0	0
4880	-0.60	-146.1	803.9	-15.8	326	4885	0.00	1.48	0.00	0.000	6	0.000	0.033	1565	2928	2940	0	0	0	0	0	0
5208	-0.60	-146.1	850.4	-13.8	342	5211	0.00	1.60	0.00	0.000	4	0.000	0.060	1559	3902	2940	0	0	0	0	0	0
5279	-0.60	-146.1	861.4	-14.8	345	5284	0.10	1.48	0.00	0.000	6	0.193	0.033	1588	2939	2940	0	0	0	0	0	0
5606	-0.60	-146.1	900.9	-11.8	361	5607	0.00	0.00	0.00	0.000	6	0.000	0.000	1587	2938	2940	0	0	0	0	0	0
5915	-0.60	-146.1	937.3	-11.6	376	5919	0.00	1.58	0.00	0.000	4	0.000	0.062	1580	3900	2940	0	0	0	0	0	0
5983	-0.60	-146.1	945.9	-12.9	379	5987	0.00	1.48	0.00	0.000	6	0.000	0.033	1580	2929	2940	0	0	0	0	0	0
6315	-0.60	-146.1	986.4	-12.4	395	6316	0.00	0.00	0.00	0.000	6	0.000	0.000	1580	2923	2940	0	0	0	0	0	0
6437	end dive: TARGET_DEPTH_EXCEEDED
state	6437	begin apogee
6442	-0.13	0.0	1001.8	12.3	401	6581	0.55	0.00	133.45	1.808	6	0.186	0.000	1739	2714	2342	0	0	0	0	0	0
6581	end apogee: CONTROL_FINISHED_OK
state	6582	begin climb
6583	0.60	146.1	1004.5	0.0	408	6739	0.80	2.55	147.75	1.773	4	0.125	0.045	1987	1331	1746	0	0	0	0	0	0
6760	0.60	146.1	978.7	18.8	416	6765	0.00	2.53	0.00	0.000	6	0.000	0.050	1987	2740	1743	0	0	0	0	0	0
7083	0.60	146.1	911.7	21.3	432	7084	0.00	0.00	0.00	0.000	6	0.000	0.000	1987	2741	1736	0	0	0	0	0	0
7392	0.60	146.1	846.7	20.8	447	7395	0.00	1.95	0.00	0.000	4	0.000	0.060	1987	3897	1735	0	0	0	0	0	0
7451	0.60	146.1	832.5	23.1	449	7460	0.00	1.90	0.00	0.000	6	0.000	0.035	1996	2740	1733	0	0	0	0	0	0
7768	0.60	146.1	765.5	21.6	465	7769	0.00	0.00	0.00	0.000	6	0.000	0.000	1996	2740	1732	0	0	0	0	0	0
8078	0.60	146.1	703.1	19.8	480	8081	0.00	1.92	0.00	0.000	4	0.000	0.058	1996	3900	1732	0	0	0	0	0	0
8133	0.60	146.1	691.0	21.5	482	8136	0.00	1.90	0.00	0.000	6	0.000	0.037	2005	2697	1731	0	0	0	0	0	0
8453	0.60	146.1	627.8	19.6	498	8456	0.00	1.98	0.00	0.000	4	0.000	0.057	2005	3900	1731	0	0	0	0	0	0
8490	0.60	146.1	619.4	21.9	499	8498	0.00	1.90	0.00	0.000	6	0.000	0.036	2014	2718	1730	0	0	0	0	0	0
8806	0.60	146.1	554.7	20.6	515	8811	0.12	1.92	0.00	0.000	4	0.245	0.057	1987	3909	1730	0	0	0	0	0	0
8859	0.60	146.1	543.3	20.4	517	8864	0.00	1.92	0.00	0.000	6	0.000	0.037	1995	2714	1730	0	0	0	0	0	0
9181	0.60	146.1	482.9	18.7	533	9183	0.00	0.00	0.00	0.000	6	0.000	0.000	1995	2713	1730	0	0	0	0	0	0
9491	0.60	146.1	426.9	18.0	548	9494	0.00	1.92	0.00	0.000	4	0.000	0.058	1995	3897	1730	0	0	0	0	0	0
9546	0.60	146.1	415.8	19.5	550	9550	0.00	1.88	0.00	0.000	6	0.000	0.037	2004	2694	1730	0	0	0	0	0	0
9868	0.60	146.1	357.8	17.9	566	9871	0.00	1.92	0.00	0.000	4	0.000	0.057	2004	3897	1730	0	0	0	0	0	0
9928	0.60	146.1	345.2	20.3	568	9938	0.00	1.90	0.00	0.000	6	0.000	0.035	2014	2702	1729	0	0	0	0	0	0
10245	0.60	146.1	284.6	18.9	584	10248	0.00	1.95	0.00	0.000	4	0.000	0.058	2014	3902	1729	0	0	0	0	0	0
10294	0.60	146.1	273.6	22.6	586	10299	0.12	1.90	0.00	0.000	6	0.212	0.036	1988	2706	1729	0	0	0	0	0	0
10616	0.60	146.1	218.3	15.7	610	10620	0.00	1.95	0.00	0.000	4	0.000	0.058	1988	3907	1729	0	0	0	0	0	0
10654	0.60	146.1	212.3	18.9	613	10657	0.00	1.88	0.00	0.000	6	0.000	0.037	1997	2699	1729	0	0	0	0	0	0
10984	0.60	146.1	155.8	16.8	644	10985	0.00	0.00	0.00	0.000	6	0.000	0.000	1997	2698	1729	0	0	0	0	0	0
11305	0.60	146.1	102.3	17.6	674	11309	0.00	1.95	0.00	0.000	4	0.000	0.059	1997	3900	1729	0	0	0	0	0	0
11380	0.60	146.1	87.9	19.0	686	11387	0.00	1.88	0.00	0.000	6	0.000	0.036	2006	2716	1729	0	0	0	0	0	0
11625	0.60	146.1	47.7	14.5	727	11633	0.00	1.95	0.00	0.000	4	0.000	0.061	2006	3898	1729	0	0	0	0	0	0
11692	0.60	146.1	36.3	15.6	738	11702	0.10	1.90	0.00	0.000	6	0.221	0.038	1988	2708	1729	0	0	0	0	0	0
11813	0.60	146.1	17.8	16.3	757	11822	0.00	0.00	0.00	0.000	6	0.000	0.000	1988	2708	1729	0	0	0	0	0	0
11897	0.60	146.1	4.1	18.3	770	11905	0.00	0.00	0.00	0.000	6	0.000	0.000	1988	2708	1729	0	0	0	0	0	0
11912	end climb: SURFACE_DEPTH_REACHED
state	11912	begin surface coast
11932	end surface coast: CONTROL_FINISHED_OK
state	11932	begin surface