Glider dive log

SOSCEx 08Dec12 * SG543 * Dive index * Mission links * Dive 7 * 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 7 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 3353 ALTIM_PING_DELTA 15

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 3153 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 472.49722 R_PORT_OVSHOOT 38 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 35 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 333 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 348 CAPUPLOAD 0 VBD_TIMEOUT 720 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 -7803.5303 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 52589 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 472.49722

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 333

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 -7803.5303

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

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 348

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 3153 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 38 VBD_MAX 3960

DEVICE2 101 MASS 52589 R_STBD_OVSHOOT 35 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 720

DIVE 7 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 091212,184422,-4229.208,807.449,59,0.9,59,-24.9 TGT_NAME GH1

_CALLS 2 TGT_LATLONG -4230.000,820.000

_XMS_NAKs 0 TGT_RADIUS 800.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.279,-0.095

_SM_DEPTHo 0.42 KALMAN_X -465.1,7.4,-35.7,8468.8,-641.1

_SM_ANGLEo -14.2 KALMAN_Y 2124.5,24.6,43.9,-523.1,1436.9

GPS2 091212,185812,-4229.132,807.503,14,1.0,15,-24.9 MHEAD_RNG_PITCHd_Wd 133.7,17140,-14.9,-10.010

SPEED_LIMITS 0.173,0.295 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.6,1.026402 _10V_AH 10.2,1.175

SM_CCo 16098,125.85,0.789,1,0,545,472.69 FG_AHR_24Vo 0.000

SM_GC 0.83,0.00,0.00,125.85,0.000,0.000,0.789,61,3363,545,-4.96,0.28,472.69 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4212.81,806.15,091212,181816 MEM 354328

TT8_MAMPS 0.025466 DATA_FILE_SIZE 57126,793

HUMID 54.84 CAP_FILE_SIZE 149517,0

INTERNAL_PRESSURE 8.93706 CFSIZE 259252224,257888256

TCM_TEMP 15.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,1

XPDR_PINGS 0 GPS 091212,233104,-4229.771,809.093,40,1.0,41,-24.9

_24V_AH 22.9,3.332

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 234 65.75 SBE_CT 516 24 283.66

Roll_motor 95 68 149.48 AA4330 1723 33 1302.27

VBD_pump_during_apogee 371 1866 15867.00 WL_BB2FLVMT 785 105 1889.06

VBD_pump_during_surface 125 789 2275.25 QSP2150 361 4 36.21

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 80 103 189.90 nil 0 0 0.00

Iridium_during_connect 95 160 349.15 nil 0 0 0.00

Iridium_during_xfer 439 223 2246.53 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 26 4.62

TT8 2130 14 325.10

LPSleep 10137 2 226.44

TT8_Active 578 14 83.83

TT8_Sampling 3277 37 1251.14

TT8_CF8 949 47 456.63

TT8_Kalman 33 59 20.12

Analog_circuits 1794 12 219.69

GPS_charging 0 0 0.00

Compass 2864 15 459.54

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

20 -0.53 -194.7 0.0 0.0 0 127 0.00 0.00 -104.35 0.000 2 0.000 0.000 61 3374 3212 0 0 0 0 0 0

131 -0.53 -194.7 3.8 -6.1 13 143 5.68 2.30 -1.17 0.000 4 0.235 0.054 1479 1939 3270 0 0 0 0 0 0

246 -0.53 -194.7 23.5 -9.1 29 254 0.00 2.33 0.00 0.000 6 0.000 0.061 1470 3335 3272 0 0 0 0 0 0

333 -0.53 -194.7 33.8 -12.0 42 342 0.00 1.00 0.00 0.000 4 0.000 0.066 1465 3951 3272 0 0 0 0 0 0

564 -0.53 -194.7 61.5 -12.1 79 568 0.00 0.93 0.00 0.000 6 0.000 0.041 1465 3350 3272 0 0 0 0 0 0

929 -0.53 -194.7 102.1 -10.4 140 933 0.00 0.98 0.00 0.000 4 0.000 0.063 1461 3958 3272 0 0 0 0 0 0

1197 -0.53 -194.7 132.7 -11.6 155 1201 0.00 0.93 0.00 0.000 6 0.000 0.041 1460 3350 3272 0 0 0 0 0 0

1522 -0.53 -194.7 170.0 -11.2 176 1526 0.00 2.12 0.00 0.000 4 0.000 0.038 1461 1932 3272 0 0 0 0 0 0

1625 -0.53 -194.7 180.2 -9.2 182 1629 0.00 2.30 0.00 0.000 6 0.000 0.060 1450 3362 3273 0 0 0 0 0 0

1953 -0.53 -194.7 220.3 -12.3 203 1956 0.00 0.93 0.00 0.000 4 0.000 0.063 1445 3949 3272 0 0 0 0 0 0

2222 -0.53 -194.7 255.2 -12.5 218 2226 0.08 0.90 0.00 0.000 6 0.148 0.043 1470 3352 3272 0 0 0 0 0 0

2544 -0.53 -194.7 288.7 -10.3 234 2548 0.00 2.15 0.00 0.000 4 0.000 0.041 1470 1945 3272 0 0 0 0 0 0

2660 -0.53 -194.7 299.3 -8.2 239 2664 0.00 2.28 0.00 0.000 6 0.000 0.060 1461 3360 3272 0 0 0 0 0 0

2983 -0.53 -194.7 333.7 -10.8 255 2989 0.00 0.93 0.00 0.000 4 0.000 0.065 1457 3949 3272 0 0 0 0 0 0

3244 -0.53 -194.7 363.1 -10.4 266 3247 0.00 0.90 0.00 0.000 6 0.000 0.043 1457 3354 3271 0 0 0 0 0 0

3567 -0.53 -194.7 397.5 -11.0 282 3571 0.00 2.15 0.00 0.000 4 0.000 0.041 1457 1932 3271 0 0 0 0 0 0

3677 -0.53 -194.7 408.3 -9.3 286 3681 0.12 2.28 0.00 0.000 6 0.161 0.060 1479 3352 3271 0 0 0 0 0 0

4002 -0.53 -194.7 437.1 -8.8 297 4005 0.00 0.93 0.00 0.000 4 0.000 0.066 1476 3940 3271 0 0 0 0 0 0

4260 -0.53 -194.7 460.5 -9.0 304 4263 0.00 0.90 0.00 0.000 6 0.000 0.044 1476 3350 3270 0 0 0 0 0 0

4578 -0.53 -194.7 488.0 -8.6 315 4582 0.00 0.95 0.00 0.000 4 0.000 0.065 1472 3954 3269 0 0 0 0 0 0

4783 -0.53 -194.7 505.5 -7.9 321 4789 0.00 0.90 0.00 0.000 6 0.000 0.043 1472 3355 3269 0 0 0 0 0 0

5127 -0.53 -194.7 534.9 -8.8 332 5130 0.00 0.93 0.00 0.000 4 0.000 0.066 1468 3943 3269 0 0 0 0 0 0

5378 -0.53 -194.7 556.9 -8.5 339 5382 0.00 0.90 0.00 0.000 6 0.000 0.044 1468 3349 3268 0 0 0 0 0 0

5703 -0.53 -194.7 585.5 -9.0 350 5706 0.00 0.95 0.00 0.000 4 0.000 0.067 1463 3951 3267 0 0 0 0 0 0

5950 -0.53 -194.7 608.2 -8.9 357 5956 0.00 0.90 0.00 0.000 6 0.000 0.044 1463 3356 3267 0 0 0 0 0 0

6283 -0.53 -194.7 638.4 -9.4 368 6287 0.00 0.93 0.00 0.000 4 0.000 0.067 1459 3945 3266 0 0 0 0 0 0

6542 -0.53 -194.7 663.1 -8.8 375 6545 0.00 0.90 0.00 0.000 6 0.000 0.044 1459 3354 3266 0 0 0 0 0 0

6862 -0.53 -194.7 693.2 -9.8 386 6866 0.00 0.98 0.00 0.000 4 0.000 0.068 1455 3953 3265 0 0 0 0 0 0

7119 -0.53 -194.7 720.4 -10.1 393 7123 0.00 0.90 0.00 0.000 6 0.000 0.044 1455 3359 3264 0 0 0 0 0 0

7438 -0.53 -194.7 753.9 -10.8 404 7442 0.00 0.93 0.00 0.000 4 0.000 0.067 1450 3944 3264 0 0 0 0 0 0

7701 -0.53 -194.7 782.3 -11.2 411 7704 0.00 0.90 0.00 0.000 6 0.000 0.045 1450 3354 3264 0 0 0 0 0 0

8021 -0.53 -194.7 814.7 -10.0 422 8025 0.00 0.95 0.00 0.000 4 0.000 0.068 1446 3953 3264 0 0 0 0 0 0

8279 -0.53 -194.7 840.8 -9.9 429 8283 0.08 0.93 0.00 0.000 6 0.158 0.045 1469 3348 3263 0 0 0 0 0 0

8600 -0.53 -194.7 865.1 -7.6 440 8603 0.00 0.95 0.00 0.000 4 0.000 0.067 1466 3949 3263 0 0 0 0 0 0

8774 -0.53 -194.7 879.2 -8.3 445 8778 0.00 0.90 0.00 0.000 6 0.000 0.046 1466 3355 3263 0 0 0 0 0 0

9110 -0.53 -194.7 906.3 -8.2 456 9113 0.00 0.93 0.00 0.000 4 0.000 0.067 1462 3942 3262 0 0 0 0 0 0

9258 -0.53 -194.7 919.1 -8.3 460 9261 0.00 0.90 0.00 0.000 6 0.000 0.045 1462 3351 3261 0 0 0 0 0 0

9588 -0.53 -194.7 948.4 -8.9 471 9592 0.00 0.95 0.00 0.000 4 0.000 0.067 1458 3951 3261 0 0 0 0 0 0

9768 -0.53 -194.7 964.8 -9.8 476 9771 0.00 0.93 0.00 0.000 6 0.000 0.045 1458 3345 3261 0 0 0 0 0 0

10098 -0.53 -194.7 994.4 -9.2 487 10102 0.00 0.95 0.00 0.000 4 0.000 0.067 1454 3946 3260 0 0 0 0 0 0

10151 end dive: TARGET_DEPTH_EXCEEDED

state 10151 begin apogee

10159 -0.14 0.0 1000.3 10.2 488 10353 0.45 0.00 184.45 1.867 6 0.137 0.000 1599 3137 2473 0 0 0 0 1 0

10354 end apogee: CONTROL_FINISHED_OK

state 10354 begin climb

10357 0.53 194.7 1009.0 0.0 495 10557 0.62 2.40 186.75 1.830 4 0.058 0.042 1834 1759 1678 0 0 0 0 1 0

10582 0.53 194.7 981.6 16.1 502 10586 0.00 2.45 0.00 0.000 6 0.000 0.056 1833 3151 1678 0 0 0 0 0 0

10911 0.53 194.7 921.9 18.5 513 10913 0.00 0.00 0.00 0.000 6 0.000 0.000 1834 3151 1671 0 0 0 0 0 0

11218 0.53 194.7 865.3 18.8 523 11222 0.00 2.22 0.00 0.000 4 0.000 0.045 1844 1754 1670 0 0 0 0 0 0

11273 0.53 194.7 855.5 15.7 524 11281 0.00 2.35 0.00 0.000 6 0.000 0.057 1844 3154 1669 0 0 0 0 0 0

11586 0.53 194.7 793.2 20.5 535 11587 0.00 0.00 0.00 0.000 6 0.000 0.000 1844 3154 1668 0 0 0 0 0 0

11892 0.53 194.7 730.7 20.1 545 11896 0.00 2.20 0.00 0.000 4 0.000 0.045 1854 1754 1668 0 0 0 0 0 0

11948 0.53 194.7 720.7 16.1 546 11956 0.10 2.33 0.00 0.000 6 0.187 0.060 1826 3154 1667 0 0 0 0 0 0

12261 0.53 194.7 665.8 17.7 557 12262 0.00 0.00 0.00 0.000 6 0.000 0.000 1826 3154 1667 0 0 0 0 0 0

12567 0.53 194.7 610.6 18.0 567 12568 0.00 0.00 0.00 0.000 6 0.000 0.000 1826 3154 1667 0 0 0 0 0 0

12874 0.53 194.7 556.1 18.0 577 12878 0.00 1.27 0.00 0.000 4 0.000 0.063 1825 3947 1667 0 0 0 0 0 0

12918 0.53 194.7 547.2 18.1 578 12922 0.00 1.23 0.00 0.000 6 0.000 0.040 1830 3150 1666 0 0 0 0 0 0

13248 0.53 194.7 488.3 17.8 589 13252 0.00 2.17 0.00 0.000 4 0.000 0.044 1841 1749 1666 0 0 0 0 0 0

13395 0.53 194.7 465.7 14.5 593 13401 0.00 2.30 0.00 0.000 6 0.000 0.057 1841 3155 1665 0 0 0 0 0 0

13722 0.53 194.7 407.0 18.2 604 13726 0.00 2.20 0.00 0.000 4 0.000 0.044 1852 1747 1665 0 0 0 0 0 0

13911 0.53 194.7 377.2 14.8 611 13915 0.00 2.28 0.00 0.000 6 0.000 0.057 1851 3161 1666 0 0 0 0 0 0

14228 0.53 194.7 316.3 20.3 626 14232 0.00 2.20 0.00 0.000 4 0.000 0.044 1862 1748 1665 0 0 0 0 0 0

14380 0.53 194.7 289.1 17.4 632 14388 0.12 2.28 0.00 0.000 6 0.187 0.058 1826 3145 1665 0 0 0 0 0 0

14708 0.53 194.7 231.2 16.8 650 14713 0.00 2.17 0.00 0.000 4 0.000 0.044 1835 1757 1665 0 0 0 0 0 0

14843 0.53 194.7 211.3 13.3 657 14850 0.00 2.25 0.00 0.000 6 0.000 0.056 1835 3162 1666 0 0 0 0 0 0

15162 0.53 194.7 153.8 18.2 678 15168 0.00 2.20 0.00 0.000 4 0.000 0.044 1846 1759 1666 0 0 0 0 0 0

15309 0.53 194.7 131.1 14.4 686 15314 0.00 2.25 0.00 0.000 6 0.000 0.056 1846 3150 1665 0 0 0 0 0 0

15642 0.53 194.7 69.2 18.5 726 15651 0.00 2.17 0.00 0.000 4 0.000 0.043 1857 1757 1666 0 0 0 0 0 0

15775 0.53 194.7 49.4 15.6 747 15782 0.12 2.25 0.00 0.000 6 0.203 0.055 1826 3166 1666 0 0 0 0 0 0

16040 0.53 194.7 5.9 16.3 788 16051 0.00 2.20 0.00 0.000 4 0.000 0.042 1836 1751 1665 0 0 0 0 0 0

16060 end climb: SURFACE_DEPTH_REACHED

state 16060 begin surface coast

16080 end surface coast: CONTROL_FINISHED_OK

state 16080 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	7	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	3353	ALTIM_PING_DELTA	15
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	3153	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	472.49722	R_PORT_OVSHOOT	38	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	35	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	333	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	348	CAPUPLOAD	0	VBD_TIMEOUT	720	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	-7803.5303	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	52589	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	091212,184422,-4229.208,807.449,59,0.9,59,-24.9	TGT_NAME	GH1
_CALLS	2	TGT_LATLONG	-4230.000,820.000
_XMS_NAKs	0	TGT_RADIUS	800.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.279,-0.095
_SM_DEPTHo	0.42	KALMAN_X	-465.1,7.4,-35.7,8468.8,-641.1
_SM_ANGLEo	-14.2	KALMAN_Y	2124.5,24.6,43.9,-523.1,1436.9
GPS2	091212,185812,-4229.132,807.503,14,1.0,15,-24.9	MHEAD_RNG_PITCHd_Wd	133.7,17140,-14.9,-10.010
SPEED_LIMITS	0.173,0.295	D_GRID	1000

FINISH	0.6,1.026402	_10V_AH	10.2,1.175
SM_CCo	16098,125.85,0.789,1,0,545,472.69	FG_AHR_24Vo	0.000
SM_GC	0.83,0.00,0.00,125.85,0.000,0.000,0.789,61,3363,545,-4.96,0.28,472.69	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4212.81,806.15,091212,181816	MEM	354328
TT8_MAMPS	0.025466	DATA_FILE_SIZE	57126,793
HUMID	54.84	CAP_FILE_SIZE	149517,0
INTERNAL_PRESSURE	8.93706	CFSIZE	259252224,257888256
TCM_TEMP	15.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
XPDR_PINGS	0	GPS	091212,233104,-4229.771,809.093,40,1.0,41,-24.9
_24V_AH	22.9,3.332

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	234	65.75	SBE_CT	516	24	283.66
Roll_motor	95	68	149.48	AA4330	1723	33	1302.27
VBD_pump_during_apogee	371	1866	15867.00	WL_BB2FLVMT	785	105	1889.06
VBD_pump_during_surface	125	789	2275.25	QSP2150	361	4	36.21
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	80	103	189.90	nil	0	0	0.00
Iridium_during_connect	95	160	349.15	nil	0	0	0.00
Iridium_during_xfer	439	223	2246.53	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	26	4.62
TT8	2130	14	325.10
LPSleep	10137	2	226.44
TT8_Active	578	14	83.83
TT8_Sampling	3277	37	1251.14
TT8_CF8	949	47	456.63
TT8_Kalman	33	59	20.12
Analog_circuits	1794	12	219.69
GPS_charging	0	0	0.00
Compass	2864	15	459.54
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
20	-0.53	-194.7	0.0	0.0	0	127	0.00	0.00	-104.35	0.000	2	0.000	0.000	61	3374	3212	0	0	0	0	0	0
131	-0.53	-194.7	3.8	-6.1	13	143	5.68	2.30	-1.17	0.000	4	0.235	0.054	1479	1939	3270	0	0	0	0	0	0
246	-0.53	-194.7	23.5	-9.1	29	254	0.00	2.33	0.00	0.000	6	0.000	0.061	1470	3335	3272	0	0	0	0	0	0
333	-0.53	-194.7	33.8	-12.0	42	342	0.00	1.00	0.00	0.000	4	0.000	0.066	1465	3951	3272	0	0	0	0	0	0
564	-0.53	-194.7	61.5	-12.1	79	568	0.00	0.93	0.00	0.000	6	0.000	0.041	1465	3350	3272	0	0	0	0	0	0
929	-0.53	-194.7	102.1	-10.4	140	933	0.00	0.98	0.00	0.000	4	0.000	0.063	1461	3958	3272	0	0	0	0	0	0
1197	-0.53	-194.7	132.7	-11.6	155	1201	0.00	0.93	0.00	0.000	6	0.000	0.041	1460	3350	3272	0	0	0	0	0	0
1522	-0.53	-194.7	170.0	-11.2	176	1526	0.00	2.12	0.00	0.000	4	0.000	0.038	1461	1932	3272	0	0	0	0	0	0
1625	-0.53	-194.7	180.2	-9.2	182	1629	0.00	2.30	0.00	0.000	6	0.000	0.060	1450	3362	3273	0	0	0	0	0	0
1953	-0.53	-194.7	220.3	-12.3	203	1956	0.00	0.93	0.00	0.000	4	0.000	0.063	1445	3949	3272	0	0	0	0	0	0
2222	-0.53	-194.7	255.2	-12.5	218	2226	0.08	0.90	0.00	0.000	6	0.148	0.043	1470	3352	3272	0	0	0	0	0	0
2544	-0.53	-194.7	288.7	-10.3	234	2548	0.00	2.15	0.00	0.000	4	0.000	0.041	1470	1945	3272	0	0	0	0	0	0
2660	-0.53	-194.7	299.3	-8.2	239	2664	0.00	2.28	0.00	0.000	6	0.000	0.060	1461	3360	3272	0	0	0	0	0	0
2983	-0.53	-194.7	333.7	-10.8	255	2989	0.00	0.93	0.00	0.000	4	0.000	0.065	1457	3949	3272	0	0	0	0	0	0
3244	-0.53	-194.7	363.1	-10.4	266	3247	0.00	0.90	0.00	0.000	6	0.000	0.043	1457	3354	3271	0	0	0	0	0	0
3567	-0.53	-194.7	397.5	-11.0	282	3571	0.00	2.15	0.00	0.000	4	0.000	0.041	1457	1932	3271	0	0	0	0	0	0
3677	-0.53	-194.7	408.3	-9.3	286	3681	0.12	2.28	0.00	0.000	6	0.161	0.060	1479	3352	3271	0	0	0	0	0	0
4002	-0.53	-194.7	437.1	-8.8	297	4005	0.00	0.93	0.00	0.000	4	0.000	0.066	1476	3940	3271	0	0	0	0	0	0
4260	-0.53	-194.7	460.5	-9.0	304	4263	0.00	0.90	0.00	0.000	6	0.000	0.044	1476	3350	3270	0	0	0	0	0	0
4578	-0.53	-194.7	488.0	-8.6	315	4582	0.00	0.95	0.00	0.000	4	0.000	0.065	1472	3954	3269	0	0	0	0	0	0
4783	-0.53	-194.7	505.5	-7.9	321	4789	0.00	0.90	0.00	0.000	6	0.000	0.043	1472	3355	3269	0	0	0	0	0	0
5127	-0.53	-194.7	534.9	-8.8	332	5130	0.00	0.93	0.00	0.000	4	0.000	0.066	1468	3943	3269	0	0	0	0	0	0
5378	-0.53	-194.7	556.9	-8.5	339	5382	0.00	0.90	0.00	0.000	6	0.000	0.044	1468	3349	3268	0	0	0	0	0	0
5703	-0.53	-194.7	585.5	-9.0	350	5706	0.00	0.95	0.00	0.000	4	0.000	0.067	1463	3951	3267	0	0	0	0	0	0
5950	-0.53	-194.7	608.2	-8.9	357	5956	0.00	0.90	0.00	0.000	6	0.000	0.044	1463	3356	3267	0	0	0	0	0	0
6283	-0.53	-194.7	638.4	-9.4	368	6287	0.00	0.93	0.00	0.000	4	0.000	0.067	1459	3945	3266	0	0	0	0	0	0
6542	-0.53	-194.7	663.1	-8.8	375	6545	0.00	0.90	0.00	0.000	6	0.000	0.044	1459	3354	3266	0	0	0	0	0	0
6862	-0.53	-194.7	693.2	-9.8	386	6866	0.00	0.98	0.00	0.000	4	0.000	0.068	1455	3953	3265	0	0	0	0	0	0
7119	-0.53	-194.7	720.4	-10.1	393	7123	0.00	0.90	0.00	0.000	6	0.000	0.044	1455	3359	3264	0	0	0	0	0	0
7438	-0.53	-194.7	753.9	-10.8	404	7442	0.00	0.93	0.00	0.000	4	0.000	0.067	1450	3944	3264	0	0	0	0	0	0
7701	-0.53	-194.7	782.3	-11.2	411	7704	0.00	0.90	0.00	0.000	6	0.000	0.045	1450	3354	3264	0	0	0	0	0	0
8021	-0.53	-194.7	814.7	-10.0	422	8025	0.00	0.95	0.00	0.000	4	0.000	0.068	1446	3953	3264	0	0	0	0	0	0
8279	-0.53	-194.7	840.8	-9.9	429	8283	0.08	0.93	0.00	0.000	6	0.158	0.045	1469	3348	3263	0	0	0	0	0	0
8600	-0.53	-194.7	865.1	-7.6	440	8603	0.00	0.95	0.00	0.000	4	0.000	0.067	1466	3949	3263	0	0	0	0	0	0
8774	-0.53	-194.7	879.2	-8.3	445	8778	0.00	0.90	0.00	0.000	6	0.000	0.046	1466	3355	3263	0	0	0	0	0	0
9110	-0.53	-194.7	906.3	-8.2	456	9113	0.00	0.93	0.00	0.000	4	0.000	0.067	1462	3942	3262	0	0	0	0	0	0
9258	-0.53	-194.7	919.1	-8.3	460	9261	0.00	0.90	0.00	0.000	6	0.000	0.045	1462	3351	3261	0	0	0	0	0	0
9588	-0.53	-194.7	948.4	-8.9	471	9592	0.00	0.95	0.00	0.000	4	0.000	0.067	1458	3951	3261	0	0	0	0	0	0
9768	-0.53	-194.7	964.8	-9.8	476	9771	0.00	0.93	0.00	0.000	6	0.000	0.045	1458	3345	3261	0	0	0	0	0	0
10098	-0.53	-194.7	994.4	-9.2	487	10102	0.00	0.95	0.00	0.000	4	0.000	0.067	1454	3946	3260	0	0	0	0	0	0
10151	end dive: TARGET_DEPTH_EXCEEDED
state	10151	begin apogee
10159	-0.14	0.0	1000.3	10.2	488	10353	0.45	0.00	184.45	1.867	6	0.137	0.000	1599	3137	2473	0	0	0	0	1	0
10354	end apogee: CONTROL_FINISHED_OK
state	10354	begin climb
10357	0.53	194.7	1009.0	0.0	495	10557	0.62	2.40	186.75	1.830	4	0.058	0.042	1834	1759	1678	0	0	0	0	1	0
10582	0.53	194.7	981.6	16.1	502	10586	0.00	2.45	0.00	0.000	6	0.000	0.056	1833	3151	1678	0	0	0	0	0	0
10911	0.53	194.7	921.9	18.5	513	10913	0.00	0.00	0.00	0.000	6	0.000	0.000	1834	3151	1671	0	0	0	0	0	0
11218	0.53	194.7	865.3	18.8	523	11222	0.00	2.22	0.00	0.000	4	0.000	0.045	1844	1754	1670	0	0	0	0	0	0
11273	0.53	194.7	855.5	15.7	524	11281	0.00	2.35	0.00	0.000	6	0.000	0.057	1844	3154	1669	0	0	0	0	0	0
11586	0.53	194.7	793.2	20.5	535	11587	0.00	0.00	0.00	0.000	6	0.000	0.000	1844	3154	1668	0	0	0	0	0	0
11892	0.53	194.7	730.7	20.1	545	11896	0.00	2.20	0.00	0.000	4	0.000	0.045	1854	1754	1668	0	0	0	0	0	0
11948	0.53	194.7	720.7	16.1	546	11956	0.10	2.33	0.00	0.000	6	0.187	0.060	1826	3154	1667	0	0	0	0	0	0
12261	0.53	194.7	665.8	17.7	557	12262	0.00	0.00	0.00	0.000	6	0.000	0.000	1826	3154	1667	0	0	0	0	0	0
12567	0.53	194.7	610.6	18.0	567	12568	0.00	0.00	0.00	0.000	6	0.000	0.000	1826	3154	1667	0	0	0	0	0	0
12874	0.53	194.7	556.1	18.0	577	12878	0.00	1.27	0.00	0.000	4	0.000	0.063	1825	3947	1667	0	0	0	0	0	0
12918	0.53	194.7	547.2	18.1	578	12922	0.00	1.23	0.00	0.000	6	0.000	0.040	1830	3150	1666	0	0	0	0	0	0
13248	0.53	194.7	488.3	17.8	589	13252	0.00	2.17	0.00	0.000	4	0.000	0.044	1841	1749	1666	0	0	0	0	0	0
13395	0.53	194.7	465.7	14.5	593	13401	0.00	2.30	0.00	0.000	6	0.000	0.057	1841	3155	1665	0	0	0	0	0	0
13722	0.53	194.7	407.0	18.2	604	13726	0.00	2.20	0.00	0.000	4	0.000	0.044	1852	1747	1665	0	0	0	0	0	0
13911	0.53	194.7	377.2	14.8	611	13915	0.00	2.28	0.00	0.000	6	0.000	0.057	1851	3161	1666	0	0	0	0	0	0
14228	0.53	194.7	316.3	20.3	626	14232	0.00	2.20	0.00	0.000	4	0.000	0.044	1862	1748	1665	0	0	0	0	0	0
14380	0.53	194.7	289.1	17.4	632	14388	0.12	2.28	0.00	0.000	6	0.187	0.058	1826	3145	1665	0	0	0	0	0	0
14708	0.53	194.7	231.2	16.8	650	14713	0.00	2.17	0.00	0.000	4	0.000	0.044	1835	1757	1665	0	0	0	0	0	0
14843	0.53	194.7	211.3	13.3	657	14850	0.00	2.25	0.00	0.000	6	0.000	0.056	1835	3162	1666	0	0	0	0	0	0
15162	0.53	194.7	153.8	18.2	678	15168	0.00	2.20	0.00	0.000	4	0.000	0.044	1846	1759	1666	0	0	0	0	0	0
15309	0.53	194.7	131.1	14.4	686	15314	0.00	2.25	0.00	0.000	6	0.000	0.056	1846	3150	1665	0	0	0	0	0	0
15642	0.53	194.7	69.2	18.5	726	15651	0.00	2.17	0.00	0.000	4	0.000	0.043	1857	1757	1666	0	0	0	0	0	0
15775	0.53	194.7	49.4	15.6	747	15782	0.12	2.25	0.00	0.000	6	0.203	0.055	1826	3166	1666	0	0	0	0	0	0
16040	0.53	194.7	5.9	16.3	788	16051	0.00	2.20	0.00	0.000	4	0.000	0.042	1836	1751	1665	0	0	0	0	0	0
16060	end climb: SURFACE_DEPTH_REACHED
state	16060	begin surface coast
16080	end surface coast: CONTROL_FINISHED_OK
state	16080	begin surface