Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 71 * 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 71 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 29 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 30 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 -21867.143 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 -21867.143

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 29 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 30 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 71 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 221214,073453,-5601.074,-35.216,43,0.8,43,-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 0.163,0.026

_SM_DEPTHo 1.93 KALMAN_X 41792.8,-51.6,-318.4,-77680.2,4121.9

_SM_ANGLEo -61.1 KALMAN_Y 54249.3,-313.3,-427.9,-55151.3,1774.0

GPS2 221214,074206,-5601.060,-35.087,16,1.3,16,-19.8 MHEAD_RNG_PITCHd_Wd 100.8,5622,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.0,1.014754 _10V_AH 10.1,12.956

SM_CCo 12373,23.25,0.187,0,0,1525,200.16 FG_AHR_24Vo 0.000

SM_GC 3.11,0.00,0.00,23.25,0.000,0.000,0.187,54,2949,1525,-5.43,0.54,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5538.94,-30.80,221214,030336 MEM 353956

TT8_MAMPS 0.026215 DATA_FILE_SIZE 57159,828

HUMID 56.02 CAP_FILE_SIZE 104722,0

INTERNAL_PRESSURE 8.95509 CFSIZE 259252224,221872128

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

XPDR_PINGS 0 GPS 221214,111052,-5600.778,-31.248,41,0.8,41,-19.9

_24V_AH 21.7,19.828

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 244 70.12 SBE_CT 588 23 306.34

Roll_motor 71 64 99.95 AA4330 1756 17 685.26

VBD_pump_during_apogee 266 1803 10419.62 WL_BB2F 884 105 2016.22

VBD_pump_during_surface 23 186 94.17 QSP2150 925 17 361.24

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 91 55.08 nil 0 0 0.00

Iridium_during_connect 19 160 68.29 nil 0 0 0.00

Iridium_during_xfer 278 223 1347.30 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 31 5.99

TT8 2044 14 298.63

LPSleep 7843 2 173.50

TT8_Active 404 14 59.02

TT8_Sampling 2405 42 1024.54

TT8_CF8 134 49 67.68

TT8_Kalman 33 68 23.04

Analog_circuits 1180 15 184.73

GPS_charging 0 0 0.00

Compass 1931 16 321.49

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

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

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

14 -0.54 -73.9 0.0 0.0 0 66 0.00 0.00 -49.70 0.000 2 0.000 0.000 49 2948 2579 0 0 0 0 0 0

69 -0.60 -138.0 3.1 -4.0 6 95 6.15 2.30 -10.38 0.000 4 0.245 0.056 1599 1516 2907 0 0 0 0 0 0

367 -0.60 -138.0 42.2 -16.2 54 376 0.00 2.33 0.00 0.000 6 0.000 0.057 1589 2924 2908 0 0 0 0 0 0

480 -0.60 -138.0 59.6 -16.5 73 487 0.00 2.17 0.00 0.000 4 0.000 0.040 1594 1509 2909 0 0 0 0 0 0

512 -0.60 -138.0 66.2 -19.8 78 521 0.00 2.35 0.00 0.000 6 0.000 0.056 1584 2936 2909 0 0 0 0 0 0

630 -0.60 -138.0 89.6 -19.4 97 636 0.00 0.00 0.00 0.000 6 0.000 0.000 1584 2936 2909 0 0 0 0 0 0

859 -0.60 -138.0 131.6 -17.2 123 861 0.00 0.00 0.00 0.000 6 0.000 0.000 1584 2936 2909 0 0 0 0 0 0

1179 -0.60 -138.0 182.5 -14.9 153 1180 0.00 0.00 0.00 0.000 6 0.000 0.000 1584 2936 2909 0 0 0 0 0 0

1498 -0.60 -138.0 233.2 -16.5 183 1504 0.00 0.00 0.00 0.000 6 0.000 0.000 1584 2936 2909 0 0 0 0 0 0

1826 -0.60 -138.0 286.9 -15.7 204 1830 0.00 1.55 0.00 0.000 4 0.000 0.064 1577 3897 2909 0 0 0 0 0 0

1864 -0.60 -138.0 293.5 -16.9 205 1872 0.00 1.52 0.00 0.000 6 0.000 0.034 1579 2904 2909 0 0 0 0 0 0

2182 -0.60 -138.0 340.2 -14.0 221 2183 0.00 0.00 0.00 0.000 6 0.000 0.000 1579 2903 2909 0 0 0 0 0 0

2490 -0.60 -138.0 384.0 -14.2 236 2493 0.00 1.65 0.00 0.000 4 0.000 0.062 1571 3922 2909 0 0 0 0 0 0

2584 -0.60 -138.0 399.6 -17.0 240 2589 0.00 1.52 0.00 0.000 6 0.000 0.034 1578 2925 2909 0 0 0 0 0 0

2911 -0.60 -138.0 447.4 -14.3 256 2913 0.00 0.00 0.00 0.000 6 0.000 0.000 1579 2920 2909 0 0 0 0 0 0

3221 -0.60 -138.0 492.3 -14.7 271 3225 0.00 1.60 0.00 0.000 4 0.000 0.062 1571 3896 2909 0 0 0 0 0 0

3266 -0.60 -138.0 499.5 -15.9 273 3270 0.00 1.48 0.00 0.000 6 0.000 0.034 1578 2928 2909 0 0 0 0 0 0

3598 -0.60 -138.0 547.2 -14.3 289 3599 0.00 0.00 0.00 0.000 6 0.000 0.000 1578 2922 2909 0 0 0 0 0 0

3908 -0.60 -138.0 592.1 -14.7 304 3912 0.00 1.60 0.00 0.000 4 0.000 0.061 1571 3900 2909 0 0 0 0 0 0

3961 -0.60 -138.0 601.3 -16.2 306 3967 0.00 1.50 0.00 0.000 6 0.000 0.033 1578 2925 2910 0 0 0 0 0 0

4284 -0.60 -138.0 649.6 -14.8 322 4285 0.00 0.00 0.00 0.000 6 0.000 0.000 1578 2920 2910 0 0 0 0 0 0

4594 -0.60 -138.0 695.1 -14.7 337 4595 0.00 0.00 0.00 0.000 6 0.000 0.000 1578 2920 2910 0 0 0 0 0 0

4902 -0.60 -138.0 739.7 -14.4 352 4903 0.00 0.00 0.00 0.000 6 0.000 0.000 1578 2920 2910 0 0 0 0 0 0

5212 -0.60 -138.0 783.8 -14.0 367 5213 0.00 0.00 0.00 0.000 6 0.000 0.000 1578 2921 2910 0 0 0 0 0 0

5521 -0.60 -138.0 828.1 -14.5 382 5525 0.00 1.60 0.00 0.000 4 0.000 0.062 1571 3898 2910 0 0 0 0 0 0

5576 -0.60 -138.0 836.7 -15.3 384 5581 0.00 1.50 0.00 0.000 6 0.000 0.033 1578 2918 2910 0 0 0 0 0 0

5898 -0.60 -138.0 881.0 -14.2 400 5899 0.00 0.00 0.00 0.000 6 0.000 0.000 1578 2916 2910 0 0 0 0 0 0

6206 -0.60 -138.0 925.1 -14.4 415 6208 0.00 0.00 0.00 0.000 6 0.000 0.000 1578 2917 2910 0 0 0 0 0 0

6516 -0.60 -138.0 968.7 -14.2 430 6517 0.00 0.00 0.00 0.000 6 0.000 0.000 1578 2917 2909 0 0 0 0 0 0

6741 end dive: TARGET_DEPTH_EXCEEDED

state 6741 begin apogee

6746 -0.13 0.0 1000.0 13.6 441 6876 0.55 0.00 126.38 1.803 6 0.174 0.000 1741 2728 2342 0 0 0 0 0 0

6876 end apogee: CONTROL_FINISHED_OK

state 6877 begin climb

6878 0.60 138.0 1004.5 0.0 447 7026 0.77 0.00 139.93 1.758 6 0.124 0.000 1974 2728 1778 0 0 0 0 0 0

7334 0.60 138.0 931.7 17.7 470 7335 0.00 0.00 0.00 0.000 6 0.000 0.000 1974 2728 1769 0 0 0 0 0 0

7643 0.60 138.0 875.4 18.2 485 7647 0.00 1.98 0.00 0.000 4 0.000 0.058 1974 3907 1767 0 0 0 0 0 0

7674 0.60 138.0 868.7 21.1 486 7679 0.00 1.95 0.00 0.000 6 0.000 0.036 1983 2728 1766 0 0 0 0 0 0

7997 0.60 138.0 806.4 19.0 502 7998 0.00 0.00 0.00 0.000 6 0.000 0.000 1983 2728 1766 0 0 0 0 0 0

8306 0.60 138.0 747.5 19.0 517 8309 0.00 1.95 0.00 0.000 4 0.000 0.057 1982 3910 1765 0 0 0 0 0 0

8354 0.60 138.0 737.0 21.5 519 8359 0.00 1.95 0.00 0.000 6 0.000 0.037 1992 2706 1764 0 0 0 0 0 0

8682 0.60 138.0 673.3 19.7 535 8686 0.00 2.00 0.00 0.000 4 0.000 0.057 1992 3930 1764 0 0 0 0 0 0

8713 0.60 138.0 666.1 22.5 536 8718 0.00 1.98 0.00 0.000 6 0.000 0.036 2002 2702 1763 0 0 0 0 0 0

9035 0.60 138.0 600.9 19.9 552 9039 0.00 1.98 0.00 0.000 4 0.000 0.057 2002 3913 1763 0 0 0 0 0 0

9090 0.60 138.0 588.4 22.3 554 9094 0.00 1.92 0.00 0.000 6 0.000 0.037 2011 2713 1763 0 0 0 0 0 0

9412 0.60 138.0 521.8 21.0 570 9415 0.00 1.95 0.00 0.000 4 0.000 0.057 2011 3894 1763 0 0 0 0 0 0

9478 0.60 138.0 506.3 23.0 573 9483 0.15 1.88 0.00 0.000 6 0.220 0.037 1985 2708 1762 0 0 0 0 0 0

9811 0.60 138.0 440.8 19.8 589 9814 0.00 1.95 0.00 0.000 4 0.000 0.057 1985 3903 1762 0 0 0 0 0 0

9856 0.60 138.0 431.3 21.9 591 9859 0.00 1.90 0.00 0.000 6 0.000 0.037 1994 2700 1762 0 0 0 0 0 0

10190 0.60 138.0 366.9 18.9 607 10193 0.00 1.95 0.00 0.000 4 0.000 0.057 1994 3902 1762 0 0 0 0 0 0

10237 0.60 138.0 357.3 21.8 609 10241 0.00 1.85 0.00 0.000 6 0.000 0.037 2003 2711 1762 0 0 0 0 0 0

10571 0.60 138.0 294.3 18.9 625 10574 0.00 1.92 0.00 0.000 4 0.000 0.057 2003 3913 1762 0 0 0 0 0 0

10618 0.60 138.0 284.7 21.1 627 10622 0.00 1.88 0.00 0.000 6 0.000 0.037 2012 2707 1762 0 0 0 0 0 0

10947 0.60 138.0 224.4 17.5 649 10951 0.12 1.95 0.00 0.000 4 0.233 0.057 1985 3914 1762 0 0 0 0 0 0

10995 0.60 138.0 215.9 17.5 653 10999 0.00 1.90 0.00 0.000 6 0.000 0.037 1993 2708 1762 0 0 0 0 0 0

11325 0.60 138.0 157.9 18.0 684 11326 0.00 0.00 0.00 0.000 6 0.000 0.000 1994 2708 1762 0 0 0 0 0 0

11644 0.60 138.0 104.8 18.3 714 11648 0.00 1.95 0.00 0.000 4 0.000 0.058 1994 3897 1761 0 0 0 0 0 0

11713 0.60 138.0 92.9 17.2 723 11722 0.00 1.90 0.00 0.000 6 0.000 0.037 2003 2700 1762 0 0 0 0 0 0

11956 0.60 138.0 56.3 10.8 764 11964 0.00 1.98 0.00 0.000 4 0.000 0.059 2003 3904 1762 0 0 0 0 0 0

11978 0.60 138.0 53.9 11.2 767 11985 0.00 1.90 0.00 0.000 6 0.000 0.037 2012 2709 1762 0 0 0 0 0 0

12090 0.60 138.0 35.9 12.8 786 12099 0.00 1.95 0.00 0.000 4 0.000 0.057 2012 3896 1762 0 0 0 0 0 0

12161 0.60 138.0 23.6 17.7 797 12170 0.12 1.88 0.00 0.000 6 0.207 0.036 1986 2711 1762 0 0 0 0 0 0

12246 0.60 138.0 10.4 14.2 810 12254 0.00 0.00 0.00 0.000 6 0.000 0.000 1986 2710 1762 0 0 0 0 0 0

12316 end climb: SURFACE_DEPTH_REACHED

state 12316 begin surface coast

12360 end surface coast: CONTROL_FINISHED_OK

state 12360 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	71	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	29	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	30	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	-21867.143	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	221214,073453,-5601.074,-35.216,43,0.8,43,-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	0.163,0.026
_SM_DEPTHo	1.93	KALMAN_X	41792.8,-51.6,-318.4,-77680.2,4121.9
_SM_ANGLEo	-61.1	KALMAN_Y	54249.3,-313.3,-427.9,-55151.3,1774.0
GPS2	221214,074206,-5601.060,-35.087,16,1.3,16,-19.8	MHEAD_RNG_PITCHd_Wd	100.8,5622,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.0,1.014754	_10V_AH	10.1,12.956
SM_CCo	12373,23.25,0.187,0,0,1525,200.16	FG_AHR_24Vo	0.000
SM_GC	3.11,0.00,0.00,23.25,0.000,0.000,0.187,54,2949,1525,-5.43,0.54,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5538.94,-30.80,221214,030336	MEM	353956
TT8_MAMPS	0.026215	DATA_FILE_SIZE	57159,828
HUMID	56.02	CAP_FILE_SIZE	104722,0
INTERNAL_PRESSURE	8.95509	CFSIZE	259252224,221872128
TCM_TEMP	7.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	221214,111052,-5600.778,-31.248,41,0.8,41,-19.9
_24V_AH	21.7,19.828

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	244	70.12	SBE_CT	588	23	306.34
Roll_motor	71	64	99.95	AA4330	1756	17	685.26
VBD_pump_during_apogee	266	1803	10419.62	WL_BB2F	884	105	2016.22
VBD_pump_during_surface	23	186	94.17	QSP2150	925	17	361.24
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	91	55.08	nil	0	0	0.00
Iridium_during_connect	19	160	68.29	nil	0	0	0.00
Iridium_during_xfer	278	223	1347.30	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	31	5.99
TT8	2044	14	298.63
LPSleep	7843	2	173.50
TT8_Active	404	14	59.02
TT8_Sampling	2405	42	1024.54
TT8_CF8	134	49	67.68
TT8_Kalman	33	68	23.04
Analog_circuits	1180	15	184.73
GPS_charging	0	0	0.00
Compass	1931	16	321.49
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
14	-0.54	-73.9	0.0	0.0	0	66	0.00	0.00	-49.70	0.000	2	0.000	0.000	49	2948	2579	0	0	0	0	0	0
69	-0.60	-138.0	3.1	-4.0	6	95	6.15	2.30	-10.38	0.000	4	0.245	0.056	1599	1516	2907	0	0	0	0	0	0
367	-0.60	-138.0	42.2	-16.2	54	376	0.00	2.33	0.00	0.000	6	0.000	0.057	1589	2924	2908	0	0	0	0	0	0
480	-0.60	-138.0	59.6	-16.5	73	487	0.00	2.17	0.00	0.000	4	0.000	0.040	1594	1509	2909	0	0	0	0	0	0
512	-0.60	-138.0	66.2	-19.8	78	521	0.00	2.35	0.00	0.000	6	0.000	0.056	1584	2936	2909	0	0	0	0	0	0
630	-0.60	-138.0	89.6	-19.4	97	636	0.00	0.00	0.00	0.000	6	0.000	0.000	1584	2936	2909	0	0	0	0	0	0
859	-0.60	-138.0	131.6	-17.2	123	861	0.00	0.00	0.00	0.000	6	0.000	0.000	1584	2936	2909	0	0	0	0	0	0
1179	-0.60	-138.0	182.5	-14.9	153	1180	0.00	0.00	0.00	0.000	6	0.000	0.000	1584	2936	2909	0	0	0	0	0	0
1498	-0.60	-138.0	233.2	-16.5	183	1504	0.00	0.00	0.00	0.000	6	0.000	0.000	1584	2936	2909	0	0	0	0	0	0
1826	-0.60	-138.0	286.9	-15.7	204	1830	0.00	1.55	0.00	0.000	4	0.000	0.064	1577	3897	2909	0	0	0	0	0	0
1864	-0.60	-138.0	293.5	-16.9	205	1872	0.00	1.52	0.00	0.000	6	0.000	0.034	1579	2904	2909	0	0	0	0	0	0
2182	-0.60	-138.0	340.2	-14.0	221	2183	0.00	0.00	0.00	0.000	6	0.000	0.000	1579	2903	2909	0	0	0	0	0	0
2490	-0.60	-138.0	384.0	-14.2	236	2493	0.00	1.65	0.00	0.000	4	0.000	0.062	1571	3922	2909	0	0	0	0	0	0
2584	-0.60	-138.0	399.6	-17.0	240	2589	0.00	1.52	0.00	0.000	6	0.000	0.034	1578	2925	2909	0	0	0	0	0	0
2911	-0.60	-138.0	447.4	-14.3	256	2913	0.00	0.00	0.00	0.000	6	0.000	0.000	1579	2920	2909	0	0	0	0	0	0
3221	-0.60	-138.0	492.3	-14.7	271	3225	0.00	1.60	0.00	0.000	4	0.000	0.062	1571	3896	2909	0	0	0	0	0	0
3266	-0.60	-138.0	499.5	-15.9	273	3270	0.00	1.48	0.00	0.000	6	0.000	0.034	1578	2928	2909	0	0	0	0	0	0
3598	-0.60	-138.0	547.2	-14.3	289	3599	0.00	0.00	0.00	0.000	6	0.000	0.000	1578	2922	2909	0	0	0	0	0	0
3908	-0.60	-138.0	592.1	-14.7	304	3912	0.00	1.60	0.00	0.000	4	0.000	0.061	1571	3900	2909	0	0	0	0	0	0
3961	-0.60	-138.0	601.3	-16.2	306	3967	0.00	1.50	0.00	0.000	6	0.000	0.033	1578	2925	2910	0	0	0	0	0	0
4284	-0.60	-138.0	649.6	-14.8	322	4285	0.00	0.00	0.00	0.000	6	0.000	0.000	1578	2920	2910	0	0	0	0	0	0
4594	-0.60	-138.0	695.1	-14.7	337	4595	0.00	0.00	0.00	0.000	6	0.000	0.000	1578	2920	2910	0	0	0	0	0	0
4902	-0.60	-138.0	739.7	-14.4	352	4903	0.00	0.00	0.00	0.000	6	0.000	0.000	1578	2920	2910	0	0	0	0	0	0
5212	-0.60	-138.0	783.8	-14.0	367	5213	0.00	0.00	0.00	0.000	6	0.000	0.000	1578	2921	2910	0	0	0	0	0	0
5521	-0.60	-138.0	828.1	-14.5	382	5525	0.00	1.60	0.00	0.000	4	0.000	0.062	1571	3898	2910	0	0	0	0	0	0
5576	-0.60	-138.0	836.7	-15.3	384	5581	0.00	1.50	0.00	0.000	6	0.000	0.033	1578	2918	2910	0	0	0	0	0	0
5898	-0.60	-138.0	881.0	-14.2	400	5899	0.00	0.00	0.00	0.000	6	0.000	0.000	1578	2916	2910	0	0	0	0	0	0
6206	-0.60	-138.0	925.1	-14.4	415	6208	0.00	0.00	0.00	0.000	6	0.000	0.000	1578	2917	2910	0	0	0	0	0	0
6516	-0.60	-138.0	968.7	-14.2	430	6517	0.00	0.00	0.00	0.000	6	0.000	0.000	1578	2917	2909	0	0	0	0	0	0
6741	end dive: TARGET_DEPTH_EXCEEDED
state	6741	begin apogee
6746	-0.13	0.0	1000.0	13.6	441	6876	0.55	0.00	126.38	1.803	6	0.174	0.000	1741	2728	2342	0	0	0	0	0	0
6876	end apogee: CONTROL_FINISHED_OK
state	6877	begin climb
6878	0.60	138.0	1004.5	0.0	447	7026	0.77	0.00	139.93	1.758	6	0.124	0.000	1974	2728	1778	0	0	0	0	0	0
7334	0.60	138.0	931.7	17.7	470	7335	0.00	0.00	0.00	0.000	6	0.000	0.000	1974	2728	1769	0	0	0	0	0	0
7643	0.60	138.0	875.4	18.2	485	7647	0.00	1.98	0.00	0.000	4	0.000	0.058	1974	3907	1767	0	0	0	0	0	0
7674	0.60	138.0	868.7	21.1	486	7679	0.00	1.95	0.00	0.000	6	0.000	0.036	1983	2728	1766	0	0	0	0	0	0
7997	0.60	138.0	806.4	19.0	502	7998	0.00	0.00	0.00	0.000	6	0.000	0.000	1983	2728	1766	0	0	0	0	0	0
8306	0.60	138.0	747.5	19.0	517	8309	0.00	1.95	0.00	0.000	4	0.000	0.057	1982	3910	1765	0	0	0	0	0	0
8354	0.60	138.0	737.0	21.5	519	8359	0.00	1.95	0.00	0.000	6	0.000	0.037	1992	2706	1764	0	0	0	0	0	0
8682	0.60	138.0	673.3	19.7	535	8686	0.00	2.00	0.00	0.000	4	0.000	0.057	1992	3930	1764	0	0	0	0	0	0
8713	0.60	138.0	666.1	22.5	536	8718	0.00	1.98	0.00	0.000	6	0.000	0.036	2002	2702	1763	0	0	0	0	0	0
9035	0.60	138.0	600.9	19.9	552	9039	0.00	1.98	0.00	0.000	4	0.000	0.057	2002	3913	1763	0	0	0	0	0	0
9090	0.60	138.0	588.4	22.3	554	9094	0.00	1.92	0.00	0.000	6	0.000	0.037	2011	2713	1763	0	0	0	0	0	0
9412	0.60	138.0	521.8	21.0	570	9415	0.00	1.95	0.00	0.000	4	0.000	0.057	2011	3894	1763	0	0	0	0	0	0
9478	0.60	138.0	506.3	23.0	573	9483	0.15	1.88	0.00	0.000	6	0.220	0.037	1985	2708	1762	0	0	0	0	0	0
9811	0.60	138.0	440.8	19.8	589	9814	0.00	1.95	0.00	0.000	4	0.000	0.057	1985	3903	1762	0	0	0	0	0	0
9856	0.60	138.0	431.3	21.9	591	9859	0.00	1.90	0.00	0.000	6	0.000	0.037	1994	2700	1762	0	0	0	0	0	0
10190	0.60	138.0	366.9	18.9	607	10193	0.00	1.95	0.00	0.000	4	0.000	0.057	1994	3902	1762	0	0	0	0	0	0
10237	0.60	138.0	357.3	21.8	609	10241	0.00	1.85	0.00	0.000	6	0.000	0.037	2003	2711	1762	0	0	0	0	0	0
10571	0.60	138.0	294.3	18.9	625	10574	0.00	1.92	0.00	0.000	4	0.000	0.057	2003	3913	1762	0	0	0	0	0	0
10618	0.60	138.0	284.7	21.1	627	10622	0.00	1.88	0.00	0.000	6	0.000	0.037	2012	2707	1762	0	0	0	0	0	0
10947	0.60	138.0	224.4	17.5	649	10951	0.12	1.95	0.00	0.000	4	0.233	0.057	1985	3914	1762	0	0	0	0	0	0
10995	0.60	138.0	215.9	17.5	653	10999	0.00	1.90	0.00	0.000	6	0.000	0.037	1993	2708	1762	0	0	0	0	0	0
11325	0.60	138.0	157.9	18.0	684	11326	0.00	0.00	0.00	0.000	6	0.000	0.000	1994	2708	1762	0	0	0	0	0	0
11644	0.60	138.0	104.8	18.3	714	11648	0.00	1.95	0.00	0.000	4	0.000	0.058	1994	3897	1761	0	0	0	0	0	0
11713	0.60	138.0	92.9	17.2	723	11722	0.00	1.90	0.00	0.000	6	0.000	0.037	2003	2700	1762	0	0	0	0	0	0
11956	0.60	138.0	56.3	10.8	764	11964	0.00	1.98	0.00	0.000	4	0.000	0.059	2003	3904	1762	0	0	0	0	0	0
11978	0.60	138.0	53.9	11.2	767	11985	0.00	1.90	0.00	0.000	6	0.000	0.037	2012	2709	1762	0	0	0	0	0	0
12090	0.60	138.0	35.9	12.8	786	12099	0.00	1.95	0.00	0.000	4	0.000	0.057	2012	3896	1762	0	0	0	0	0	0
12161	0.60	138.0	23.6	17.7	797	12170	0.12	1.88	0.00	0.000	6	0.207	0.036	1986	2711	1762	0	0	0	0	0	0
12246	0.60	138.0	10.4	14.2	810	12254	0.00	0.00	0.00	0.000	6	0.000	0.000	1986	2710	1762	0	0	0	0	0	0
12316	end climb: SURFACE_DEPTH_REACHED
state	12316	begin surface coast
12360	end surface coast: CONTROL_FINISHED_OK
state	12360	begin surface