Glider dive log

SOSCEx 08Dec12 * SG543 * Dive index * Mission links * Dive 66 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 543 HEADING -1 ROLL_MAX 3944 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 6 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 1050

DIVE 66 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 3353 ALTIM_PING_DELTA 15

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 3250 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -4230 HEAD_ERRBAND 15 ALTIM_PULSE 4

D_TGT 1000 TGT_DEFAULT_LON -200 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 3

D_NO_BLEED 200 SM_CC 482.49722 R_PORT_OVSHOOT 54 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 28 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 5 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.050000001

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 507 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 101

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2474 DEVICE3 131

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 118

T_DIVE 370 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 385 CAPUPLOAD 0 VBD_TIMEOUT 800 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00061500003 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 -8012.6436 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 -5 PITCH_MIN 86 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 200 PITCH_MAX 3908 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1650 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043127281

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -55.913475 SEABIRD_T_H 0.00062185986

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011638312 SEABIRD_T_I 2.2048062e-05

RHO 1.027 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.2117231e-06

MASS 52459 PITCH_GAIN 36 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.303595

NAV_MODE 1 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1762303

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.001936322

KALMAN_USE 1 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00024357962

HD_A 0.003 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 20

HD_C 9.9999997e-06 ROLL_MIN 394 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SM_CC 482.49722

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 20 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 15 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 1050 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 36 TCM_ROLL_OFFSET 0

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_MAX 3908 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -4230

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 86 TGT_DEFAULT_LON -200

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 0.00061500003 T_BOOST 5

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011638312 T_DIVE 370

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -55.913475 T_GPS 15

CALL_TRIES 5 HD_A 0.003 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -8012.6436

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 385

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 543 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 0.050000001 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_PITCH 1650 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 3250 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 3353 LOGGERDEVICE1 -1 ROLL_MAX 3944 USE_ICE 0

C_VBD 2474 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_MIN 394 VBD_CNV -0.245296

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 54 VBD_MAX 3960

DEVICE2 101 MASS 52459 R_STBD_OVSHOOT 28 VBD_MAXERRORS 1

DEVICE3 131 MAX_BUOY 200 SEABIRD_C_G -10.303595 VBD_MIN 507

DEVICE4 118 MINV_10V 8 SEABIRD_C_H 1.1762303 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.001936322 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MISSION 6 SEABIRD_C_J 0.00024357962 VBD_TIMEOUT 800

DIVE 66 MOTHERBOARD 4 SEABIRD_T_G 0.0043127281 XPDR_DEVICE 24

D_ABORT 1050 NAV_MODE 1 SEABIRD_T_H 0.00062185986 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 SEABIRD_T_I 2.2048062e-05 XPDR_VALID 3

D_CALL 0 N_GPS 20 SEABIRD_T_J 2.2117231e-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 191212,081705,-4229.129,817.158,38,0.8,38,-24.9 TGT_NAME GH1

_CALLS 1 TGT_LATLONG -4230.000,820.000

_XMS_NAKs 0 TGT_RADIUS 800.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.054,-0.246

_SM_DEPTHo 1.27 KALMAN_X 2300.2,-528.9,-420.2,19800.2,5088.7

_SM_ANGLEo -35.2 KALMAN_Y 88587.1,302.4,160.9,-87338.4,3824.1

GPS2 191212,082630,-4229.109,817.142,17,1.0,18,-24.9 MHEAD_RNG_PITCHd_Wd 217.3,4236,-15.7,-9.009

SPEED_LIMITS 0.156,0.284 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.2,1.026161 _10V_AH 10.1,7.201

SM_CCo 14301,131.50,0.751,1,0,503,482.50 FG_AHR_24Vo 0.000

SM_GC 1.53,0.00,0.00,131.50,0.000,0.000,0.751,57,3369,503,-4.98,0.48,482.50 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4212.81,823.48,191212,040422 MEM 354220

TT8_MAMPS 0.025466 DATA_FILE_SIZE 53712,709

HUMID 54.64 CAP_FILE_SIZE 125340,0

INTERNAL_PRESSURE 8.93706 CFSIZE 259252224,254332928

TCM_TEMP 13.70 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,2,1

XPDR_PINGS 0 GPS 191212,122922,-4230.699,815.468,22,1.0,37,-24.9

_24V_AH 22.1,14.337

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 244 65.66 SBE_CT 461 24 244.91

Roll_motor 75 94 156.53 AA4330 1569 33 1144.62

VBD_pump_during_apogee 381 1820 15338.52 WL_BB2FLVMT 715 105 1661.39

VBD_pump_during_surface 131 751 2183.19 QSP2150 319 4 30.89

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 43 103 98.77 nil 0 0 0.00

Iridium_during_connect 51 160 183.86 nil 0 0 0.00

Iridium_during_xfer 308 223 1521.28 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 26 5.51

TT8 1821 14 275.23

LPSleep 9302 2 205.76

TT8_Active 610 14 87.55

TT8_Sampling 2448 37 925.71

TT8_CF8 821 47 391.26

TT8_Kalman 33 59 19.93

Analog_circuits 1612 12 195.39

GPS_charging 0 0 0.00

Compass 2223 15 353.33

RAFOS 0 0 0.00

Transponder 1 5 0.05

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

16 end surface: CONTROL_FINISHED_OK

state 17 begin dive

20 -0.53 -148.1 0.0 0.0 0 111 0.00 0.00 -89.40 0.000 2 0.000 0.000 61 3364 2724 0 0 0 0 0 0

116 -0.56 -194.7 3.1 -3.8 11 142 5.78 0.98 -14.75 0.000 4 0.244 0.094 1457 3947 3269 0 0 0 0 0 0

197 -0.56 -194.7 14.9 -15.3 22 207 0.00 0.90 0.00 0.000 6 0.000 0.036 1457 3364 3271 0 0 0 0 0 0

291 -0.56 -194.7 29.2 -14.8 35 299 0.00 0.00 0.00 0.000 6 0.000 0.000 1457 3364 3271 0 0 0 0 0 0

373 -0.56 -194.7 41.9 -14.2 48 384 0.00 0.93 0.00 0.000 4 0.000 0.060 1453 3937 3271 0 0 0 0 0 0

461 -0.56 -194.7 54.0 -13.8 61 467 0.00 0.90 0.00 0.000 6 0.000 0.036 1453 3348 3271 0 0 0 0 0 0

702 -0.56 -194.7 87.2 -14.3 102 711 0.00 0.95 0.00 0.000 4 0.000 0.059 1449 3941 3271 0 0 0 0 0 0

794 -0.56 -194.7 100.2 -14.2 117 797 0.00 0.90 0.00 0.000 6 0.000 0.035 1449 3347 3272 0 0 0 0 0 0

1126 -0.56 -194.7 145.4 -14.0 138 1130 0.00 0.95 0.00 0.000 4 0.000 0.059 1444 3946 3273 0 0 0 0 0 0

1208 -0.56 -194.7 157.2 -13.5 142 1216 0.00 0.90 0.00 0.000 6 0.000 0.034 1444 3347 3273 0 0 0 0 0 0

1532 -0.56 -194.7 199.4 -12.8 163 1535 0.00 0.95 0.00 0.000 4 0.000 0.058 1440 3947 3273 0 0 0 0 0 0

1626 -0.56 -194.7 213.4 -13.9 168 1637 0.00 0.90 0.00 0.000 6 0.000 0.035 1440 3346 3273 0 0 0 0 0 0

1958 -0.56 -194.7 255.9 -13.1 189 1963 0.00 0.95 0.00 0.000 4 0.000 0.058 1435 3949 3273 0 0 0 0 0 0

2056 -0.56 -194.7 270.0 -13.6 193 2062 0.08 0.90 0.00 0.000 6 0.145 0.035 1459 3349 3273 0 0 0 0 0 0

2387 -0.56 -194.7 305.5 -10.3 209 2392 0.00 0.93 0.00 0.000 4 0.000 0.060 1456 3936 3273 0 0 0 0 0 0

2517 -0.56 -194.7 320.7 -10.9 214 2528 0.00 0.88 0.00 0.000 6 0.000 0.035 1457 3351 3273 0 0 0 0 0 0

2835 -0.56 -194.7 355.9 -11.2 230 2836 0.00 0.00 0.00 0.000 6 0.000 0.000 1457 3351 3273 0 0 0 0 0 0

3145 -0.56 -194.7 391.0 -11.6 245 3151 0.00 0.93 0.00 0.000 4 0.000 0.060 1452 3940 3272 0 0 0 0 0 0

3301 -0.56 -194.7 409.9 -12.0 251 3307 0.00 0.88 0.00 0.000 6 0.000 0.036 1452 3354 3273 0 0 0 0 0 0

3626 -0.56 -194.7 448.5 -11.9 262 3627 0.00 0.00 0.00 0.000 6 0.000 0.000 1452 3354 3272 0 0 0 0 0 0

3933 -0.56 -194.7 485.7 -12.3 272 3936 0.00 0.93 0.00 0.000 4 0.000 0.060 1448 3941 3272 0 0 0 0 0 0

4028 -0.56 -194.7 497.9 -12.0 274 4034 0.00 0.88 0.00 0.000 6 0.000 0.036 1448 3354 3272 0 0 0 0 0 0

4341 -0.56 -194.7 535.3 -11.8 285 4344 0.00 0.93 0.00 0.000 4 0.000 0.060 1443 3942 3271 0 0 0 0 0 0

4443 -0.56 -194.7 547.9 -12.1 288 4447 0.00 0.88 0.00 0.000 6 0.000 0.037 1443 3354 3271 0 0 0 0 0 0

4784 -0.56 -194.7 588.0 -11.7 299 4789 0.00 0.95 0.00 0.000 4 0.000 0.062 1439 3941 3271 0 0 0 0 0 0

4880 -0.56 -194.7 599.8 -12.1 301 4888 0.08 0.88 0.00 0.000 6 0.145 0.037 1463 3358 3270 0 0 0 0 0 0

5193 -0.56 -194.7 629.4 -9.3 312 5198 0.00 0.93 0.00 0.000 4 0.000 0.061 1460 3947 3270 0 0 0 0 0 0

5266 -0.56 -194.7 636.7 -9.4 314 5270 0.00 0.90 0.00 0.000 6 0.000 0.037 1460 3344 3269 0 0 0 0 0 0

5602 -0.56 -194.7 667.2 -9.0 325 5608 0.00 0.95 0.00 0.000 4 0.000 0.061 1456 3947 3269 0 0 0 0 0 0

5658 -0.56 -194.7 672.8 -9.7 326 5662 0.00 0.90 0.00 0.000 6 0.000 0.037 1456 3345 3269 0 0 0 0 0 0

5979 -0.56 -194.7 702.7 -9.5 337 5982 0.00 0.95 0.00 0.000 4 0.000 0.061 1451 3944 3268 0 0 0 0 0 0

6067 -0.56 -194.7 712.3 -11.1 339 6071 0.00 0.90 0.00 0.000 6 0.000 0.038 1451 3346 3268 0 0 0 0 0 0

6387 -0.56 -194.7 744.9 -10.5 350 6391 0.00 0.95 0.00 0.000 4 0.000 0.063 1447 3948 3267 0 0 0 0 0 0

6499 -0.56 -194.7 757.4 -11.1 353 6502 0.00 0.90 0.00 0.000 6 0.000 0.037 1447 3350 3267 0 0 0 0 0 0

6829 -0.56 -194.7 792.9 -10.7 364 6834 0.00 0.95 0.00 0.000 4 0.000 0.063 1442 3950 3266 0 0 0 0 0 0

6969 -0.56 -194.7 808.9 -11.3 368 6975 0.00 0.90 0.00 0.000 6 0.000 0.038 1442 3348 3265 0 0 0 0 0 0

7307 -0.56 -194.7 845.8 -11.2 379 7311 0.00 0.93 0.00 0.000 4 0.000 0.063 1438 3934 3264 0 0 0 0 0 0

7412 -0.56 -194.7 858.6 -12.3 382 7416 0.08 0.88 0.00 0.000 6 0.145 0.038 1462 3354 3264 0 0 0 0 0 0

7748 -0.56 -194.7 890.3 -9.6 393 7753 0.00 0.95 0.00 0.000 4 0.000 0.064 1460 3937 3263 0 0 0 0 0 0

7871 -0.56 -194.7 903.0 -10.2 396 7875 0.00 0.88 0.00 0.000 6 0.000 0.039 1459 3356 3263 0 0 0 0 0 0

8190 -0.56 -194.7 932.9 -9.5 407 8191 0.00 0.00 0.00 0.000 6 0.000 0.000 1459 3356 3263 0 0 0 0 0 0

8498 -0.56 -194.7 960.8 -8.9 417 8502 0.00 0.93 0.00 0.000 4 0.000 0.063 1455 3940 3262 0 0 0 0 0 0

8636 -0.56 -194.7 974.0 -9.3 421 8640 0.00 0.88 0.00 0.000 6 0.000 0.040 1455 3358 3262 0 0 0 0 0 0

8939 end dive: TARGET_DEPTH_EXCEEDED

state 8939 begin apogee

8946 -0.14 0.0 1002.0 9.3 431 9153 0.47 0.00 198.05 1.203 6 0.131 0.000 1604 3250 2465 0 0 0 0 0 0

9154 end apogee: CONTROL_FINISHED_OK

state 9154 begin climb

9157 0.56 194.7 1007.8 0.0 438 9354 0.62 1.33 183.15 1.821 4 0.053 0.056 1834 3947 1681 0 0 0 0 1 0

9608 0.56 194.7 920.3 22.3 451 9615 0.00 1.12 0.00 0.000 6 0.000 0.033 1840 3241 1677 0 0 0 0 0 0

9922 0.56 194.7 853.1 21.4 462 9927 0.00 2.22 0.00 0.000 4 0.000 0.036 1850 1838 1674 0 0 0 0 0 0

9974 0.56 194.7 843.3 17.5 463 9978 0.00 2.33 0.00 0.000 6 0.000 0.052 1850 3245 1673 0 0 0 0 0 0

10294 0.56 194.7 774.6 21.8 474 10298 0.00 2.17 0.00 0.000 4 0.000 0.036 1861 1843 1673 0 0 0 0 0 0

10324 0.56 194.7 768.5 20.1 475 10329 0.12 2.30 0.00 0.000 6 0.189 0.053 1832 3256 1672 0 0 0 0 0 0

10660 0.56 194.7 704.1 19.3 486 10661 0.00 0.00 0.00 0.000 6 0.000 0.000 1831 3255 1672 0 0 0 0 0 0

10968 0.56 194.7 644.3 19.5 496 10972 0.00 2.17 0.00 0.000 4 0.000 0.034 1841 1826 1671 0 0 0 0 0 0

11001 0.56 194.7 637.8 16.7 497 11005 0.00 2.30 0.00 0.000 6 0.000 0.051 1841 3257 1671 0 0 0 0 0 0

11330 0.56 194.7 572.0 20.3 508 11332 0.00 0.00 0.00 0.000 6 0.000 0.000 1841 3257 1671 0 0 0 0 0 0

11638 0.56 194.7 510.2 20.1 518 11642 0.00 2.15 0.00 0.000 4 0.000 0.032 1852 1827 1671 0 0 0 0 0 0

11700 0.56 194.7 499.2 15.5 520 11705 0.00 2.28 0.00 0.000 6 0.000 0.050 1852 3252 1671 0 0 0 0 0 0

12036 0.56 194.7 428.0 21.5 531 12041 0.00 2.17 0.00 0.000 4 0.000 0.033 1863 1834 1670 0 0 0 0 0 0

12064 0.56 194.7 421.8 19.7 531 12071 0.12 2.25 0.00 0.000 6 0.201 0.050 1834 3257 1670 0 0 0 0 0 0

12383 0.56 194.7 362.3 18.5 545 12384 0.00 0.00 0.00 0.000 6 0.000 0.000 1834 3257 1670 0 0 0 0 0 0

12690 0.56 194.7 304.9 19.1 560 12694 0.00 2.15 0.00 0.000 4 0.000 0.033 1843 1834 1670 0 0 0 0 0 0

12718 0.56 194.7 299.4 16.6 561 12722 0.00 2.25 0.00 0.000 6 0.000 0.050 1843 3250 1670 0 0 0 0 0 0

13037 0.56 194.7 236.1 20.5 577 13038 0.00 0.00 0.00 0.000 6 0.000 0.000 1843 3250 1670 0 0 0 0 0 0

13350 0.56 194.7 173.6 20.0 597 13355 0.00 2.15 0.00 0.000 4 0.000 0.033 1854 1836 1670 0 0 0 0 0 0

13404 0.56 194.7 163.8 15.8 600 13408 0.00 2.25 0.00 0.000 6 0.000 0.050 1854 3253 1670 0 0 0 0 0 0

13733 0.56 194.7 96.9 20.7 621 13739 0.00 2.15 0.00 0.000 4 0.000 0.033 1865 1841 1670 0 0 0 0 0 0

13794 0.56 194.7 85.3 17.2 631 13799 0.12 2.25 0.00 0.000 6 0.188 0.051 1834 3261 1669 0 0 0 0 0 0

14160 0.56 194.7 20.1 16.3 692 14171 0.00 1.08 0.00 0.000 4 0.000 0.055 1834 3943 1670 0 0 0 0 0 0

14215 0.56 194.7 11.0 17.4 699 14223 0.00 1.05 0.00 0.000 6 0.000 0.031 1838 3228 1670 0 0 0 0 0 0

14261 end climb: SURFACE_DEPTH_REACHED

state 14261 begin surface coast

14285 end surface coast: CONTROL_FINISHED_OK

state 14285 begin surface

ID	543	HEADING	-1	ROLL_MAX	3944	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	6	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	1050
DIVE	66	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	3353	ALTIM_PING_DELTA	15
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	3250	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-4230	HEAD_ERRBAND	15	ALTIM_PULSE	4
D_TGT	1000	TGT_DEFAULT_LON	-200	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	3
D_NO_BLEED	200	SM_CC	482.49722	R_PORT_OVSHOOT	54	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	28	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	5	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.050000001
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	507	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	101
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2474	DEVICE3	131
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	118
T_DIVE	370	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	385	CAPUPLOAD	0	VBD_TIMEOUT	800	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00061500003	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	-8012.6436	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	-5	PITCH_MIN	86	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	200	PITCH_MAX	3908	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1650	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043127281
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-55.913475	SEABIRD_T_H	0.00062185986
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011638312	SEABIRD_T_I	2.2048062e-05
RHO	1.027	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.2117231e-06
MASS	52459	PITCH_GAIN	36	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.303595
NAV_MODE	1	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1762303
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.001936322
KALMAN_USE	1	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00024357962
HD_A	0.003	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	20
HD_C	9.9999997e-06	ROLL_MIN	394	ALTIM_TOP_TURN_MARGIN	0

GPS1	191212,081705,-4229.129,817.158,38,0.8,38,-24.9	TGT_NAME	GH1
_CALLS	1	TGT_LATLONG	-4230.000,820.000
_XMS_NAKs	0	TGT_RADIUS	800.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.054,-0.246
_SM_DEPTHo	1.27	KALMAN_X	2300.2,-528.9,-420.2,19800.2,5088.7
_SM_ANGLEo	-35.2	KALMAN_Y	88587.1,302.4,160.9,-87338.4,3824.1
GPS2	191212,082630,-4229.109,817.142,17,1.0,18,-24.9	MHEAD_RNG_PITCHd_Wd	217.3,4236,-15.7,-9.009
SPEED_LIMITS	0.156,0.284	D_GRID	1000

FINISH	1.2,1.026161	_10V_AH	10.1,7.201
SM_CCo	14301,131.50,0.751,1,0,503,482.50	FG_AHR_24Vo	0.000
SM_GC	1.53,0.00,0.00,131.50,0.000,0.000,0.751,57,3369,503,-4.98,0.48,482.50	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4212.81,823.48,191212,040422	MEM	354220
TT8_MAMPS	0.025466	DATA_FILE_SIZE	53712,709
HUMID	54.64	CAP_FILE_SIZE	125340,0
INTERNAL_PRESSURE	8.93706	CFSIZE	259252224,254332928
TCM_TEMP	13.70	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,2,1
XPDR_PINGS	0	GPS	191212,122922,-4230.699,815.468,22,1.0,37,-24.9
_24V_AH	22.1,14.337

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	244	65.66	SBE_CT	461	24	244.91
Roll_motor	75	94	156.53	AA4330	1569	33	1144.62
VBD_pump_during_apogee	381	1820	15338.52	WL_BB2FLVMT	715	105	1661.39
VBD_pump_during_surface	131	751	2183.19	QSP2150	319	4	30.89
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	43	103	98.77	nil	0	0	0.00
Iridium_during_connect	51	160	183.86	nil	0	0	0.00
Iridium_during_xfer	308	223	1521.28	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	26	5.51
TT8	1821	14	275.23
LPSleep	9302	2	205.76
TT8_Active	610	14	87.55
TT8_Sampling	2448	37	925.71
TT8_CF8	821	47	391.26
TT8_Kalman	33	59	19.93
Analog_circuits	1612	12	195.39
GPS_charging	0	0	0.00
Compass	2223	15	353.33
RAFOS	0	0	0.00
Transponder	1	5	0.05

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
16	end surface: CONTROL_FINISHED_OK
state	17	begin dive
20	-0.53	-148.1	0.0	0.0	0	111	0.00	0.00	-89.40	0.000	2	0.000	0.000	61	3364	2724	0	0	0	0	0	0
116	-0.56	-194.7	3.1	-3.8	11	142	5.78	0.98	-14.75	0.000	4	0.244	0.094	1457	3947	3269	0	0	0	0	0	0
197	-0.56	-194.7	14.9	-15.3	22	207	0.00	0.90	0.00	0.000	6	0.000	0.036	1457	3364	3271	0	0	0	0	0	0
291	-0.56	-194.7	29.2	-14.8	35	299	0.00	0.00	0.00	0.000	6	0.000	0.000	1457	3364	3271	0	0	0	0	0	0
373	-0.56	-194.7	41.9	-14.2	48	384	0.00	0.93	0.00	0.000	4	0.000	0.060	1453	3937	3271	0	0	0	0	0	0
461	-0.56	-194.7	54.0	-13.8	61	467	0.00	0.90	0.00	0.000	6	0.000	0.036	1453	3348	3271	0	0	0	0	0	0
702	-0.56	-194.7	87.2	-14.3	102	711	0.00	0.95	0.00	0.000	4	0.000	0.059	1449	3941	3271	0	0	0	0	0	0
794	-0.56	-194.7	100.2	-14.2	117	797	0.00	0.90	0.00	0.000	6	0.000	0.035	1449	3347	3272	0	0	0	0	0	0
1126	-0.56	-194.7	145.4	-14.0	138	1130	0.00	0.95	0.00	0.000	4	0.000	0.059	1444	3946	3273	0	0	0	0	0	0
1208	-0.56	-194.7	157.2	-13.5	142	1216	0.00	0.90	0.00	0.000	6	0.000	0.034	1444	3347	3273	0	0	0	0	0	0
1532	-0.56	-194.7	199.4	-12.8	163	1535	0.00	0.95	0.00	0.000	4	0.000	0.058	1440	3947	3273	0	0	0	0	0	0
1626	-0.56	-194.7	213.4	-13.9	168	1637	0.00	0.90	0.00	0.000	6	0.000	0.035	1440	3346	3273	0	0	0	0	0	0
1958	-0.56	-194.7	255.9	-13.1	189	1963	0.00	0.95	0.00	0.000	4	0.000	0.058	1435	3949	3273	0	0	0	0	0	0
2056	-0.56	-194.7	270.0	-13.6	193	2062	0.08	0.90	0.00	0.000	6	0.145	0.035	1459	3349	3273	0	0	0	0	0	0
2387	-0.56	-194.7	305.5	-10.3	209	2392	0.00	0.93	0.00	0.000	4	0.000	0.060	1456	3936	3273	0	0	0	0	0	0
2517	-0.56	-194.7	320.7	-10.9	214	2528	0.00	0.88	0.00	0.000	6	0.000	0.035	1457	3351	3273	0	0	0	0	0	0
2835	-0.56	-194.7	355.9	-11.2	230	2836	0.00	0.00	0.00	0.000	6	0.000	0.000	1457	3351	3273	0	0	0	0	0	0
3145	-0.56	-194.7	391.0	-11.6	245	3151	0.00	0.93	0.00	0.000	4	0.000	0.060	1452	3940	3272	0	0	0	0	0	0
3301	-0.56	-194.7	409.9	-12.0	251	3307	0.00	0.88	0.00	0.000	6	0.000	0.036	1452	3354	3273	0	0	0	0	0	0
3626	-0.56	-194.7	448.5	-11.9	262	3627	0.00	0.00	0.00	0.000	6	0.000	0.000	1452	3354	3272	0	0	0	0	0	0
3933	-0.56	-194.7	485.7	-12.3	272	3936	0.00	0.93	0.00	0.000	4	0.000	0.060	1448	3941	3272	0	0	0	0	0	0
4028	-0.56	-194.7	497.9	-12.0	274	4034	0.00	0.88	0.00	0.000	6	0.000	0.036	1448	3354	3272	0	0	0	0	0	0
4341	-0.56	-194.7	535.3	-11.8	285	4344	0.00	0.93	0.00	0.000	4	0.000	0.060	1443	3942	3271	0	0	0	0	0	0
4443	-0.56	-194.7	547.9	-12.1	288	4447	0.00	0.88	0.00	0.000	6	0.000	0.037	1443	3354	3271	0	0	0	0	0	0
4784	-0.56	-194.7	588.0	-11.7	299	4789	0.00	0.95	0.00	0.000	4	0.000	0.062	1439	3941	3271	0	0	0	0	0	0
4880	-0.56	-194.7	599.8	-12.1	301	4888	0.08	0.88	0.00	0.000	6	0.145	0.037	1463	3358	3270	0	0	0	0	0	0
5193	-0.56	-194.7	629.4	-9.3	312	5198	0.00	0.93	0.00	0.000	4	0.000	0.061	1460	3947	3270	0	0	0	0	0	0
5266	-0.56	-194.7	636.7	-9.4	314	5270	0.00	0.90	0.00	0.000	6	0.000	0.037	1460	3344	3269	0	0	0	0	0	0
5602	-0.56	-194.7	667.2	-9.0	325	5608	0.00	0.95	0.00	0.000	4	0.000	0.061	1456	3947	3269	0	0	0	0	0	0
5658	-0.56	-194.7	672.8	-9.7	326	5662	0.00	0.90	0.00	0.000	6	0.000	0.037	1456	3345	3269	0	0	0	0	0	0
5979	-0.56	-194.7	702.7	-9.5	337	5982	0.00	0.95	0.00	0.000	4	0.000	0.061	1451	3944	3268	0	0	0	0	0	0
6067	-0.56	-194.7	712.3	-11.1	339	6071	0.00	0.90	0.00	0.000	6	0.000	0.038	1451	3346	3268	0	0	0	0	0	0
6387	-0.56	-194.7	744.9	-10.5	350	6391	0.00	0.95	0.00	0.000	4	0.000	0.063	1447	3948	3267	0	0	0	0	0	0
6499	-0.56	-194.7	757.4	-11.1	353	6502	0.00	0.90	0.00	0.000	6	0.000	0.037	1447	3350	3267	0	0	0	0	0	0
6829	-0.56	-194.7	792.9	-10.7	364	6834	0.00	0.95	0.00	0.000	4	0.000	0.063	1442	3950	3266	0	0	0	0	0	0
6969	-0.56	-194.7	808.9	-11.3	368	6975	0.00	0.90	0.00	0.000	6	0.000	0.038	1442	3348	3265	0	0	0	0	0	0
7307	-0.56	-194.7	845.8	-11.2	379	7311	0.00	0.93	0.00	0.000	4	0.000	0.063	1438	3934	3264	0	0	0	0	0	0
7412	-0.56	-194.7	858.6	-12.3	382	7416	0.08	0.88	0.00	0.000	6	0.145	0.038	1462	3354	3264	0	0	0	0	0	0
7748	-0.56	-194.7	890.3	-9.6	393	7753	0.00	0.95	0.00	0.000	4	0.000	0.064	1460	3937	3263	0	0	0	0	0	0
7871	-0.56	-194.7	903.0	-10.2	396	7875	0.00	0.88	0.00	0.000	6	0.000	0.039	1459	3356	3263	0	0	0	0	0	0
8190	-0.56	-194.7	932.9	-9.5	407	8191	0.00	0.00	0.00	0.000	6	0.000	0.000	1459	3356	3263	0	0	0	0	0	0
8498	-0.56	-194.7	960.8	-8.9	417	8502	0.00	0.93	0.00	0.000	4	0.000	0.063	1455	3940	3262	0	0	0	0	0	0
8636	-0.56	-194.7	974.0	-9.3	421	8640	0.00	0.88	0.00	0.000	6	0.000	0.040	1455	3358	3262	0	0	0	0	0	0
8939	end dive: TARGET_DEPTH_EXCEEDED
state	8939	begin apogee
8946	-0.14	0.0	1002.0	9.3	431	9153	0.47	0.00	198.05	1.203	6	0.131	0.000	1604	3250	2465	0	0	0	0	0	0
9154	end apogee: CONTROL_FINISHED_OK
state	9154	begin climb
9157	0.56	194.7	1007.8	0.0	438	9354	0.62	1.33	183.15	1.821	4	0.053	0.056	1834	3947	1681	0	0	0	0	1	0
9608	0.56	194.7	920.3	22.3	451	9615	0.00	1.12	0.00	0.000	6	0.000	0.033	1840	3241	1677	0	0	0	0	0	0
9922	0.56	194.7	853.1	21.4	462	9927	0.00	2.22	0.00	0.000	4	0.000	0.036	1850	1838	1674	0	0	0	0	0	0
9974	0.56	194.7	843.3	17.5	463	9978	0.00	2.33	0.00	0.000	6	0.000	0.052	1850	3245	1673	0	0	0	0	0	0
10294	0.56	194.7	774.6	21.8	474	10298	0.00	2.17	0.00	0.000	4	0.000	0.036	1861	1843	1673	0	0	0	0	0	0
10324	0.56	194.7	768.5	20.1	475	10329	0.12	2.30	0.00	0.000	6	0.189	0.053	1832	3256	1672	0	0	0	0	0	0
10660	0.56	194.7	704.1	19.3	486	10661	0.00	0.00	0.00	0.000	6	0.000	0.000	1831	3255	1672	0	0	0	0	0	0
10968	0.56	194.7	644.3	19.5	496	10972	0.00	2.17	0.00	0.000	4	0.000	0.034	1841	1826	1671	0	0	0	0	0	0
11001	0.56	194.7	637.8	16.7	497	11005	0.00	2.30	0.00	0.000	6	0.000	0.051	1841	3257	1671	0	0	0	0	0	0
11330	0.56	194.7	572.0	20.3	508	11332	0.00	0.00	0.00	0.000	6	0.000	0.000	1841	3257	1671	0	0	0	0	0	0
11638	0.56	194.7	510.2	20.1	518	11642	0.00	2.15	0.00	0.000	4	0.000	0.032	1852	1827	1671	0	0	0	0	0	0
11700	0.56	194.7	499.2	15.5	520	11705	0.00	2.28	0.00	0.000	6	0.000	0.050	1852	3252	1671	0	0	0	0	0	0
12036	0.56	194.7	428.0	21.5	531	12041	0.00	2.17	0.00	0.000	4	0.000	0.033	1863	1834	1670	0	0	0	0	0	0
12064	0.56	194.7	421.8	19.7	531	12071	0.12	2.25	0.00	0.000	6	0.201	0.050	1834	3257	1670	0	0	0	0	0	0
12383	0.56	194.7	362.3	18.5	545	12384	0.00	0.00	0.00	0.000	6	0.000	0.000	1834	3257	1670	0	0	0	0	0	0
12690	0.56	194.7	304.9	19.1	560	12694	0.00	2.15	0.00	0.000	4	0.000	0.033	1843	1834	1670	0	0	0	0	0	0
12718	0.56	194.7	299.4	16.6	561	12722	0.00	2.25	0.00	0.000	6	0.000	0.050	1843	3250	1670	0	0	0	0	0	0
13037	0.56	194.7	236.1	20.5	577	13038	0.00	0.00	0.00	0.000	6	0.000	0.000	1843	3250	1670	0	0	0	0	0	0
13350	0.56	194.7	173.6	20.0	597	13355	0.00	2.15	0.00	0.000	4	0.000	0.033	1854	1836	1670	0	0	0	0	0	0
13404	0.56	194.7	163.8	15.8	600	13408	0.00	2.25	0.00	0.000	6	0.000	0.050	1854	3253	1670	0	0	0	0	0	0
13733	0.56	194.7	96.9	20.7	621	13739	0.00	2.15	0.00	0.000	4	0.000	0.033	1865	1841	1670	0	0	0	0	0	0
13794	0.56	194.7	85.3	17.2	631	13799	0.12	2.25	0.00	0.000	6	0.188	0.051	1834	3261	1669	0	0	0	0	0	0
14160	0.56	194.7	20.1	16.3	692	14171	0.00	1.08	0.00	0.000	4	0.000	0.055	1834	3943	1670	0	0	0	0	0	0
14215	0.56	194.7	11.0	17.4	699	14223	0.00	1.05	0.00	0.000	6	0.000	0.031	1838	3228	1670	0	0	0	0	0	0
14261	end climb: SURFACE_DEPTH_REACHED
state	14261	begin surface coast
14285	end surface coast: CONTROL_FINISHED_OK
state	14285	begin surface