Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 66 * 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 66 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2930 ALTIM_PING_DELTA 5

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2710 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -56 HEAD_ERRBAND 15 ALTIM_PULSE 3

D_TGT 1000 TGT_DEFAULT_LON 0.1 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 2

D_NO_BLEED 500 SM_CC 200 R_PORT_OVSHOOT 26 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 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 -21855.264 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 -21855.264

CAPMAXSIZE 100000 HD_C 1.44018e-06 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 365

CF8_MAXERRORS 20 HEAD_ERRBAND 15 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 RELAUNCH 1 T_RSLEEP 1

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RHO 1.027 T_TURN 225

COMPASS_DEVICE 33 ID 542 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_YINT 2.49 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_PITCH 1790 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2710 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 2930 LOGGERDEVICE1 -1 ROLL_MAX 3901 USE_ICE 0

C_VBD 2342 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_MIN 335 VBD_CNV -0.245296

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 26 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 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 66 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 211214,135933,-5559.759,-34.728,33,1.1,35,-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 0.027,-0.163

_SM_DEPTHo 1.71 KALMAN_X 38062.8,-268.1,-467.1,-73168.3,4822.0

_SM_ANGLEo -59.4 KALMAN_Y 51650.9,101.9,11.0,-50949.9,-413.4

GPS2 211214,140723,-5559.728,-34.685,15,1.1,15,-19.8 MHEAD_RNG_PITCHd_Wd 190.5,4878,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.0,1.027203 _10V_AH 10.1,12.465

SM_CCo 11880,21.10,0.187,0,0,1522,200.16 FG_AHR_24Vo 0.000

SM_GC 2.27,0.00,0.00,21.10,0.000,0.000,0.187,67,2928,1522,-5.39,-0.06,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5538.94,-30.83,211214,101054 MEM 354124

TT8_MAMPS 0.026215 DATA_FILE_SIZE 53783,775

HUMID 56.61 CAP_FILE_SIZE 116836,0

INTERNAL_PRESSURE 8.95509 CFSIZE 259252224,222167040

TCM_TEMP 6.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 211214,172800,-5600.938,-34.323,46,0.8,46,-19.8

_24V_AH 21.6,19.027

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 261 78.27 SBE_CT 550 23 284.88

Roll_motor 101 84 185.43 AA4330 1621 17 629.61

VBD_pump_during_apogee 278 1803 10854.55 WL_BB2F 785 105 1781.97

VBD_pump_during_surface 21 186 85.07 QSP2150 814 17 316.17

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 91 50.24 nil 0 0 0.00

Iridium_during_connect 21 160 75.97 nil 0 0 0.00

Iridium_during_xfer 316 223 1524.38 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 1973 14 288.17

LPSleep 7390 2 163.47

TT8_Active 447 14 65.29

TT8_Sampling 2397 42 1020.95

TT8_CF8 167 49 84.23

TT8_Kalman 33 68 23.04

Analog_circuits 1276 15 199.82

GPS_charging 0 0 0.00

Compass 1908 16 317.59

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.54 -73.9 0.0 0.0 0 67 0.00 0.00 -49.80 0.000 2 0.000 0.000 52 2940 2606 0 0 0 0 0 0

69 -0.60 -144.4 3.0 -3.5 6 96 6.40 1.62 -9.85 0.000 4 0.262 0.085 1579 3897 2932 0 0 0 0 0 0

365 -0.60 -144.4 63.1 -19.6 54 374 0.00 1.58 0.00 0.000 6 0.000 0.035 1581 2903 2934 0 0 0 0 0 0

481 -0.60 -144.4 88.0 -21.3 73 487 0.00 0.00 0.00 0.000 6 0.000 0.000 1581 2903 2934 0 0 0 0 0 0

707 -0.60 -144.4 130.4 -17.5 99 710 0.00 1.65 0.00 0.000 4 0.000 0.060 1574 3907 2934 0 0 0 0 0 0

764 -0.60 -144.4 142.1 -20.0 104 767 0.00 1.55 0.00 0.000 6 0.000 0.035 1574 2920 2934 0 0 0 0 0 0

1096 -0.60 -144.4 203.8 -18.3 135 1099 0.00 1.62 0.00 0.000 4 0.000 0.060 1567 3896 2934 0 0 0 0 0 0

1158 -0.60 -144.4 216.8 -20.1 140 1168 0.00 1.50 0.00 0.000 6 0.000 0.034 1567 2930 2934 0 0 0 0 0 0

1478 -0.60 -144.4 276.5 -18.1 164 1482 0.00 1.60 0.00 0.000 4 0.000 0.061 1560 3898 2934 0 0 0 0 0 0

1570 -0.60 -144.4 294.4 -19.6 168 1574 0.10 1.50 0.00 0.000 6 0.194 0.034 1588 2936 2934 0 0 0 0 0 0

1901 -0.60 -144.4 348.6 -15.9 184 1902 0.00 0.00 0.00 0.000 6 0.000 0.000 1588 2936 2934 0 0 0 0 0 0

2212 -0.60 -144.4 394.9 -14.5 199 2216 0.00 1.58 0.00 0.000 4 0.000 0.061 1581 3893 2934 0 0 0 0 0 0

2290 -0.60 -144.4 407.3 -15.6 202 2294 0.00 1.50 0.00 0.000 6 0.000 0.034 1581 2921 2934 0 0 0 0 0 0

2611 -0.60 -144.4 453.7 -14.6 218 2615 0.00 1.62 0.00 0.000 4 0.000 0.060 1574 3903 2934 0 0 0 0 0 0

2672 -0.60 -144.4 463.4 -15.8 220 2679 0.00 1.50 0.00 0.000 6 0.000 0.034 1574 2924 2934 0 0 0 0 0 0

2988 -0.60 -144.4 511.1 -15.1 236 2992 0.00 1.60 0.00 0.000 4 0.000 0.060 1566 3899 2934 0 0 0 0 0 0

3037 -0.60 -144.4 519.5 -16.0 238 3041 0.00 1.48 0.00 0.000 6 0.000 0.034 1569 2939 2934 0 0 0 0 0 0

3364 -0.60 -144.4 571.6 -16.1 254 3368 0.00 1.58 0.00 0.000 4 0.000 0.061 1562 3894 2935 0 0 0 0 0 0

3447 -0.60 -144.4 586.0 -17.3 257 3456 0.12 1.50 0.00 0.000 6 0.209 0.033 1591 2921 2934 0 0 0 0 0 0

3764 -0.60 -144.4 629.7 -13.6 273 3768 0.00 1.60 0.00 0.000 4 0.000 0.060 1584 3896 2935 0 0 0 0 0 0

3835 -0.60 -144.4 640.4 -15.1 276 3840 0.00 1.50 0.00 0.000 6 0.000 0.033 1584 2926 2934 0 0 0 0 0 0

4162 -0.60 -144.4 685.3 -13.7 292 4166 0.00 1.60 0.00 0.000 4 0.000 0.060 1576 3897 2935 0 0 0 0 0 0

4208 -0.60 -144.4 692.1 -15.2 294 4212 0.00 1.48 0.00 0.000 6 0.000 0.034 1576 2932 2934 0 0 0 0 0 0

4540 -0.60 -144.4 740.3 -14.6 310 4543 0.00 1.60 0.00 0.000 4 0.000 0.061 1569 3902 2934 0 0 0 0 0 0

4577 -0.60 -144.4 746.5 -16.2 311 4585 0.00 1.50 0.00 0.000 6 0.000 0.033 1569 2922 2935 0 0 0 0 0 0

4894 -0.60 -144.4 793.4 -14.6 327 4898 0.00 1.60 0.00 0.000 4 0.000 0.061 1562 3900 2934 0 0 0 0 0 0

4953 -0.60 -144.4 803.4 -16.1 329 4963 0.12 1.50 0.00 0.000 6 0.210 0.033 1591 2922 2934 0 0 0 0 0 0

5270 -0.60 -144.4 843.9 -12.4 345 5274 0.00 1.60 0.00 0.000 4 0.000 0.061 1584 3900 2935 0 0 0 0 0 0

5302 -0.60 -144.4 848.4 -12.8 346 5307 0.00 1.50 0.00 0.000 6 0.000 0.032 1584 2923 2935 0 0 0 0 0 0

5624 -0.60 -144.4 888.1 -12.1 362 5628 0.00 1.60 0.00 0.000 4 0.000 0.060 1577 3899 2935 0 0 0 0 0 0

5650 -0.60 -144.4 891.8 -14.0 363 5655 0.00 1.50 0.00 0.000 6 0.000 0.032 1577 2924 2934 0 0 0 0 0 0

5978 -0.60 -144.4 933.0 -12.5 379 5981 0.00 1.60 0.00 0.000 4 0.000 0.061 1569 3899 2935 0 0 0 0 0 0

6054 -0.60 -144.4 944.0 -14.5 382 6059 0.00 1.48 0.00 0.000 6 0.000 0.033 1569 2932 2935 0 0 0 0 0 0

6377 -0.60 -144.4 985.6 -12.8 398 6380 0.00 1.60 0.00 0.000 4 0.000 0.061 1562 3905 2935 0 0 0 0 0 0

6436 -0.60 -144.4 994.5 -14.4 400 6445 0.12 1.50 0.00 0.000 6 0.210 0.033 1591 2925 2935 0 0 0 0 0 0

6483 end dive: TARGET_DEPTH_EXCEEDED

state 6484 begin apogee

6488 -0.13 0.0 1000.1 12.4 403 6627 0.52 0.00 132.10 1.803 6 0.181 0.000 1744 2721 2343 0 0 0 0 0 0

6627 end apogee: CONTROL_FINISHED_OK

state 6627 begin climb

6629 0.60 144.4 1001.1 0.0 410 6780 0.77 0.00 146.60 1.776 6 0.125 0.000 1976 2721 1752 0 0 0 0 0 0

7080 0.60 144.4 918.8 20.1 432 7084 0.00 2.05 0.00 0.000 4 0.000 0.059 1976 3906 1745 0 0 0 0 0 0

7112 0.60 144.4 911.4 22.2 433 7117 0.00 2.00 0.00 0.000 6 0.000 0.037 1984 2729 1743 0 0 0 0 0 0

7434 0.60 144.4 842.7 21.1 449 7435 0.00 0.00 0.00 0.000 6 0.000 0.000 1985 2729 1741 0 0 0 0 0 0

7744 0.60 144.4 776.1 21.5 464 7748 0.00 1.98 0.00 0.000 4 0.000 0.058 1985 3907 1741 0 0 0 0 0 0

7767 0.60 144.4 770.9 22.6 465 7770 0.00 1.92 0.00 0.000 6 0.000 0.036 1994 2710 1740 0 0 0 0 0 0

8098 0.60 144.4 697.3 21.8 481 8101 0.00 1.95 0.00 0.000 4 0.000 0.058 1994 3897 1739 0 0 0 0 0 0

8135 0.60 144.4 687.9 24.3 482 8144 0.00 1.92 0.00 0.000 6 0.000 0.037 2003 2709 1738 0 0 0 0 0 0

8452 0.60 144.4 617.4 22.0 498 8456 0.00 1.98 0.00 0.000 4 0.000 0.058 2004 3904 1739 0 0 0 0 0 0

8483 0.60 144.4 609.3 24.4 499 8488 0.00 1.92 0.00 0.000 6 0.000 0.037 2013 2716 1738 0 0 0 0 0 0

8806 0.60 144.4 536.7 22.8 515 8810 0.00 1.98 0.00 0.000 4 0.000 0.058 2013 3901 1738 0 0 0 0 0 0

8852 0.60 144.4 525.8 25.5 517 8856 0.15 1.90 0.00 0.000 6 0.223 0.037 1988 2706 1737 0 0 0 0 0 0

9184 0.60 144.4 458.9 19.4 533 9188 0.00 1.95 0.00 0.000 4 0.000 0.057 1987 3898 1737 0 0 0 0 0 0

9222 0.60 144.4 450.3 22.9 534 9230 0.00 1.90 0.00 0.000 6 0.000 0.037 1995 2714 1737 0 0 0 0 0 0

9538 0.60 144.4 389.8 18.3 550 9539 0.00 0.00 0.00 0.000 6 0.000 0.000 1996 2714 1737 0 0 0 0 0 0

9850 0.60 144.4 333.8 18.0 565 9853 0.00 1.95 0.00 0.000 4 0.000 0.058 1996 3905 1737 0 0 0 0 0 0

9897 0.60 144.4 324.7 20.5 567 9901 0.00 1.90 0.00 0.000 6 0.000 0.037 2005 2704 1737 0 0 0 0 0 0

10231 0.60 144.4 265.4 17.2 583 10235 0.00 1.92 0.00 0.000 4 0.000 0.057 2005 3900 1737 0 0 0 0 0 0

10254 0.60 144.4 260.9 18.6 584 10258 0.00 1.90 0.00 0.000 6 0.000 0.037 2015 2708 1737 0 0 0 0 0 0

10583 0.60 144.4 204.1 16.4 612 10587 0.12 1.92 0.00 0.000 4 0.238 0.057 1987 3897 1737 0 0 0 0 0 0

10629 0.60 144.4 196.2 16.8 616 10632 0.00 1.85 0.00 0.000 6 0.000 0.037 1995 2707 1737 0 0 0 0 0 0

10961 0.60 144.4 140.6 18.2 647 10965 0.00 2.20 0.00 0.000 4 0.000 0.046 2006 1292 1737 0 0 0 0 0 0

10992 0.60 144.4 135.3 18.6 649 10996 0.00 2.28 0.00 0.000 6 0.000 0.051 2006 2734 1737 0 0 0 0 0 0

11326 0.60 144.4 76.7 17.0 690 11335 0.00 1.88 0.00 0.000 4 0.000 0.060 2006 3890 1737 0 0 0 0 0 0

11360 0.60 144.4 71.1 17.8 695 11367 0.10 1.88 0.00 0.000 6 0.212 0.037 1980 2711 1737 0 0 0 0 0 0

11475 0.60 144.4 54.0 13.5 714 11483 0.00 0.00 0.00 0.000 6 0.000 0.000 1980 2710 1737 0 0 0 0 0 0

11590 0.60 144.4 38.9 14.0 733 11597 0.00 1.92 0.00 0.000 4 0.000 0.060 1980 3886 1737 0 0 0 0 0 0

11605 0.60 144.4 36.8 13.8 735 11612 0.00 1.88 0.00 0.000 6 0.000 0.037 1988 2704 1737 0 0 0 0 0 0

11724 0.60 144.4 20.5 12.5 754 11733 0.00 1.95 0.00 0.000 4 0.000 0.058 1988 3889 1737 0 0 0 0 0 0

11748 0.60 144.4 17.2 12.4 757 11757 0.00 1.88 0.00 0.000 6 0.000 0.039 1997 2715 1737 0 0 0 0 0 0

11832 0.60 144.4 3.6 17.6 770 11840 0.00 0.00 0.00 0.000 6 0.000 0.000 1997 2713 1736 0 0 0 0 0 0

11848 end climb: SURFACE_DEPTH_REACHED

state 11848 begin surface coast

11868 end surface coast: CONTROL_FINISHED_OK

state 11868 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	66	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2930	ALTIM_PING_DELTA	5
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2710	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-56	HEAD_ERRBAND	15	ALTIM_PULSE	3
D_TGT	1000	TGT_DEFAULT_LON	0.1	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	2
D_NO_BLEED	500	SM_CC	200	R_PORT_OVSHOOT	26	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	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	-21855.264	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	211214,135933,-5559.759,-34.728,33,1.1,35,-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	0.027,-0.163
_SM_DEPTHo	1.71	KALMAN_X	38062.8,-268.1,-467.1,-73168.3,4822.0
_SM_ANGLEo	-59.4	KALMAN_Y	51650.9,101.9,11.0,-50949.9,-413.4
GPS2	211214,140723,-5559.728,-34.685,15,1.1,15,-19.8	MHEAD_RNG_PITCHd_Wd	190.5,4878,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.0,1.027203	_10V_AH	10.1,12.465
SM_CCo	11880,21.10,0.187,0,0,1522,200.16	FG_AHR_24Vo	0.000
SM_GC	2.27,0.00,0.00,21.10,0.000,0.000,0.187,67,2928,1522,-5.39,-0.06,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5538.94,-30.83,211214,101054	MEM	354124
TT8_MAMPS	0.026215	DATA_FILE_SIZE	53783,775
HUMID	56.61	CAP_FILE_SIZE	116836,0
INTERNAL_PRESSURE	8.95509	CFSIZE	259252224,222167040
TCM_TEMP	6.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	211214,172800,-5600.938,-34.323,46,0.8,46,-19.8
_24V_AH	21.6,19.027

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	261	78.27	SBE_CT	550	23	284.88
Roll_motor	101	84	185.43	AA4330	1621	17	629.61
VBD_pump_during_apogee	278	1803	10854.55	WL_BB2F	785	105	1781.97
VBD_pump_during_surface	21	186	85.07	QSP2150	814	17	316.17
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	91	50.24	nil	0	0	0.00
Iridium_during_connect	21	160	75.97	nil	0	0	0.00
Iridium_during_xfer	316	223	1524.38	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	1973	14	288.17
LPSleep	7390	2	163.47
TT8_Active	447	14	65.29
TT8_Sampling	2397	42	1020.95
TT8_CF8	167	49	84.23
TT8_Kalman	33	68	23.04
Analog_circuits	1276	15	199.82
GPS_charging	0	0	0.00
Compass	1908	16	317.59
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.54	-73.9	0.0	0.0	0	67	0.00	0.00	-49.80	0.000	2	0.000	0.000	52	2940	2606	0	0	0	0	0	0
69	-0.60	-144.4	3.0	-3.5	6	96	6.40	1.62	-9.85	0.000	4	0.262	0.085	1579	3897	2932	0	0	0	0	0	0
365	-0.60	-144.4	63.1	-19.6	54	374	0.00	1.58	0.00	0.000	6	0.000	0.035	1581	2903	2934	0	0	0	0	0	0
481	-0.60	-144.4	88.0	-21.3	73	487	0.00	0.00	0.00	0.000	6	0.000	0.000	1581	2903	2934	0	0	0	0	0	0
707	-0.60	-144.4	130.4	-17.5	99	710	0.00	1.65	0.00	0.000	4	0.000	0.060	1574	3907	2934	0	0	0	0	0	0
764	-0.60	-144.4	142.1	-20.0	104	767	0.00	1.55	0.00	0.000	6	0.000	0.035	1574	2920	2934	0	0	0	0	0	0
1096	-0.60	-144.4	203.8	-18.3	135	1099	0.00	1.62	0.00	0.000	4	0.000	0.060	1567	3896	2934	0	0	0	0	0	0
1158	-0.60	-144.4	216.8	-20.1	140	1168	0.00	1.50	0.00	0.000	6	0.000	0.034	1567	2930	2934	0	0	0	0	0	0
1478	-0.60	-144.4	276.5	-18.1	164	1482	0.00	1.60	0.00	0.000	4	0.000	0.061	1560	3898	2934	0	0	0	0	0	0
1570	-0.60	-144.4	294.4	-19.6	168	1574	0.10	1.50	0.00	0.000	6	0.194	0.034	1588	2936	2934	0	0	0	0	0	0
1901	-0.60	-144.4	348.6	-15.9	184	1902	0.00	0.00	0.00	0.000	6	0.000	0.000	1588	2936	2934	0	0	0	0	0	0
2212	-0.60	-144.4	394.9	-14.5	199	2216	0.00	1.58	0.00	0.000	4	0.000	0.061	1581	3893	2934	0	0	0	0	0	0
2290	-0.60	-144.4	407.3	-15.6	202	2294	0.00	1.50	0.00	0.000	6	0.000	0.034	1581	2921	2934	0	0	0	0	0	0
2611	-0.60	-144.4	453.7	-14.6	218	2615	0.00	1.62	0.00	0.000	4	0.000	0.060	1574	3903	2934	0	0	0	0	0	0
2672	-0.60	-144.4	463.4	-15.8	220	2679	0.00	1.50	0.00	0.000	6	0.000	0.034	1574	2924	2934	0	0	0	0	0	0
2988	-0.60	-144.4	511.1	-15.1	236	2992	0.00	1.60	0.00	0.000	4	0.000	0.060	1566	3899	2934	0	0	0	0	0	0
3037	-0.60	-144.4	519.5	-16.0	238	3041	0.00	1.48	0.00	0.000	6	0.000	0.034	1569	2939	2934	0	0	0	0	0	0
3364	-0.60	-144.4	571.6	-16.1	254	3368	0.00	1.58	0.00	0.000	4	0.000	0.061	1562	3894	2935	0	0	0	0	0	0
3447	-0.60	-144.4	586.0	-17.3	257	3456	0.12	1.50	0.00	0.000	6	0.209	0.033	1591	2921	2934	0	0	0	0	0	0
3764	-0.60	-144.4	629.7	-13.6	273	3768	0.00	1.60	0.00	0.000	4	0.000	0.060	1584	3896	2935	0	0	0	0	0	0
3835	-0.60	-144.4	640.4	-15.1	276	3840	0.00	1.50	0.00	0.000	6	0.000	0.033	1584	2926	2934	0	0	0	0	0	0
4162	-0.60	-144.4	685.3	-13.7	292	4166	0.00	1.60	0.00	0.000	4	0.000	0.060	1576	3897	2935	0	0	0	0	0	0
4208	-0.60	-144.4	692.1	-15.2	294	4212	0.00	1.48	0.00	0.000	6	0.000	0.034	1576	2932	2934	0	0	0	0	0	0
4540	-0.60	-144.4	740.3	-14.6	310	4543	0.00	1.60	0.00	0.000	4	0.000	0.061	1569	3902	2934	0	0	0	0	0	0
4577	-0.60	-144.4	746.5	-16.2	311	4585	0.00	1.50	0.00	0.000	6	0.000	0.033	1569	2922	2935	0	0	0	0	0	0
4894	-0.60	-144.4	793.4	-14.6	327	4898	0.00	1.60	0.00	0.000	4	0.000	0.061	1562	3900	2934	0	0	0	0	0	0
4953	-0.60	-144.4	803.4	-16.1	329	4963	0.12	1.50	0.00	0.000	6	0.210	0.033	1591	2922	2934	0	0	0	0	0	0
5270	-0.60	-144.4	843.9	-12.4	345	5274	0.00	1.60	0.00	0.000	4	0.000	0.061	1584	3900	2935	0	0	0	0	0	0
5302	-0.60	-144.4	848.4	-12.8	346	5307	0.00	1.50	0.00	0.000	6	0.000	0.032	1584	2923	2935	0	0	0	0	0	0
5624	-0.60	-144.4	888.1	-12.1	362	5628	0.00	1.60	0.00	0.000	4	0.000	0.060	1577	3899	2935	0	0	0	0	0	0
5650	-0.60	-144.4	891.8	-14.0	363	5655	0.00	1.50	0.00	0.000	6	0.000	0.032	1577	2924	2934	0	0	0	0	0	0
5978	-0.60	-144.4	933.0	-12.5	379	5981	0.00	1.60	0.00	0.000	4	0.000	0.061	1569	3899	2935	0	0	0	0	0	0
6054	-0.60	-144.4	944.0	-14.5	382	6059	0.00	1.48	0.00	0.000	6	0.000	0.033	1569	2932	2935	0	0	0	0	0	0
6377	-0.60	-144.4	985.6	-12.8	398	6380	0.00	1.60	0.00	0.000	4	0.000	0.061	1562	3905	2935	0	0	0	0	0	0
6436	-0.60	-144.4	994.5	-14.4	400	6445	0.12	1.50	0.00	0.000	6	0.210	0.033	1591	2925	2935	0	0	0	0	0	0
6483	end dive: TARGET_DEPTH_EXCEEDED
state	6484	begin apogee
6488	-0.13	0.0	1000.1	12.4	403	6627	0.52	0.00	132.10	1.803	6	0.181	0.000	1744	2721	2343	0	0	0	0	0	0
6627	end apogee: CONTROL_FINISHED_OK
state	6627	begin climb
6629	0.60	144.4	1001.1	0.0	410	6780	0.77	0.00	146.60	1.776	6	0.125	0.000	1976	2721	1752	0	0	0	0	0	0
7080	0.60	144.4	918.8	20.1	432	7084	0.00	2.05	0.00	0.000	4	0.000	0.059	1976	3906	1745	0	0	0	0	0	0
7112	0.60	144.4	911.4	22.2	433	7117	0.00	2.00	0.00	0.000	6	0.000	0.037	1984	2729	1743	0	0	0	0	0	0
7434	0.60	144.4	842.7	21.1	449	7435	0.00	0.00	0.00	0.000	6	0.000	0.000	1985	2729	1741	0	0	0	0	0	0
7744	0.60	144.4	776.1	21.5	464	7748	0.00	1.98	0.00	0.000	4	0.000	0.058	1985	3907	1741	0	0	0	0	0	0
7767	0.60	144.4	770.9	22.6	465	7770	0.00	1.92	0.00	0.000	6	0.000	0.036	1994	2710	1740	0	0	0	0	0	0
8098	0.60	144.4	697.3	21.8	481	8101	0.00	1.95	0.00	0.000	4	0.000	0.058	1994	3897	1739	0	0	0	0	0	0
8135	0.60	144.4	687.9	24.3	482	8144	0.00	1.92	0.00	0.000	6	0.000	0.037	2003	2709	1738	0	0	0	0	0	0
8452	0.60	144.4	617.4	22.0	498	8456	0.00	1.98	0.00	0.000	4	0.000	0.058	2004	3904	1739	0	0	0	0	0	0
8483	0.60	144.4	609.3	24.4	499	8488	0.00	1.92	0.00	0.000	6	0.000	0.037	2013	2716	1738	0	0	0	0	0	0
8806	0.60	144.4	536.7	22.8	515	8810	0.00	1.98	0.00	0.000	4	0.000	0.058	2013	3901	1738	0	0	0	0	0	0
8852	0.60	144.4	525.8	25.5	517	8856	0.15	1.90	0.00	0.000	6	0.223	0.037	1988	2706	1737	0	0	0	0	0	0
9184	0.60	144.4	458.9	19.4	533	9188	0.00	1.95	0.00	0.000	4	0.000	0.057	1987	3898	1737	0	0	0	0	0	0
9222	0.60	144.4	450.3	22.9	534	9230	0.00	1.90	0.00	0.000	6	0.000	0.037	1995	2714	1737	0	0	0	0	0	0
9538	0.60	144.4	389.8	18.3	550	9539	0.00	0.00	0.00	0.000	6	0.000	0.000	1996	2714	1737	0	0	0	0	0	0
9850	0.60	144.4	333.8	18.0	565	9853	0.00	1.95	0.00	0.000	4	0.000	0.058	1996	3905	1737	0	0	0	0	0	0
9897	0.60	144.4	324.7	20.5	567	9901	0.00	1.90	0.00	0.000	6	0.000	0.037	2005	2704	1737	0	0	0	0	0	0
10231	0.60	144.4	265.4	17.2	583	10235	0.00	1.92	0.00	0.000	4	0.000	0.057	2005	3900	1737	0	0	0	0	0	0
10254	0.60	144.4	260.9	18.6	584	10258	0.00	1.90	0.00	0.000	6	0.000	0.037	2015	2708	1737	0	0	0	0	0	0
10583	0.60	144.4	204.1	16.4	612	10587	0.12	1.92	0.00	0.000	4	0.238	0.057	1987	3897	1737	0	0	0	0	0	0
10629	0.60	144.4	196.2	16.8	616	10632	0.00	1.85	0.00	0.000	6	0.000	0.037	1995	2707	1737	0	0	0	0	0	0
10961	0.60	144.4	140.6	18.2	647	10965	0.00	2.20	0.00	0.000	4	0.000	0.046	2006	1292	1737	0	0	0	0	0	0
10992	0.60	144.4	135.3	18.6	649	10996	0.00	2.28	0.00	0.000	6	0.000	0.051	2006	2734	1737	0	0	0	0	0	0
11326	0.60	144.4	76.7	17.0	690	11335	0.00	1.88	0.00	0.000	4	0.000	0.060	2006	3890	1737	0	0	0	0	0	0
11360	0.60	144.4	71.1	17.8	695	11367	0.10	1.88	0.00	0.000	6	0.212	0.037	1980	2711	1737	0	0	0	0	0	0
11475	0.60	144.4	54.0	13.5	714	11483	0.00	0.00	0.00	0.000	6	0.000	0.000	1980	2710	1737	0	0	0	0	0	0
11590	0.60	144.4	38.9	14.0	733	11597	0.00	1.92	0.00	0.000	4	0.000	0.060	1980	3886	1737	0	0	0	0	0	0
11605	0.60	144.4	36.8	13.8	735	11612	0.00	1.88	0.00	0.000	6	0.000	0.037	1988	2704	1737	0	0	0	0	0	0
11724	0.60	144.4	20.5	12.5	754	11733	0.00	1.95	0.00	0.000	4	0.000	0.058	1988	3889	1737	0	0	0	0	0	0
11748	0.60	144.4	17.2	12.4	757	11757	0.00	1.88	0.00	0.000	6	0.000	0.039	1997	2715	1737	0	0	0	0	0	0
11832	0.60	144.4	3.6	17.6	770	11840	0.00	0.00	0.00	0.000	6	0.000	0.000	1997	2713	1736	0	0	0	0	0	0
11848	end climb: SURFACE_DEPTH_REACHED
state	11848	begin surface coast
11868	end surface coast: CONTROL_FINISHED_OK
state	11868	begin surface