Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 122 * 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 122 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 55 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 21 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 -21998.82 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 -21998.82

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 55 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 21 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 122 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 291214,233533,-5557.074,-34.229,39,1.2,43,-19.9 TGT_NAME TARGET

_CALLS 1 TGT_LATLONG -5600.000,-30.000

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.034,-0.161

_SM_DEPTHo 2.27 KALMAN_X 68394.2,-555.4,-453.6,-102672.5,3706.5

_SM_ANGLEo -70.4 KALMAN_Y 24344.2,324.9,149.6,-19175.8,-2617.5

GPS2 291214,234247,-5557.114,-34.152,17,0.9,17,-19.9 MHEAD_RNG_PITCHd_Wd 187.9,6859,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.2,1.022089 _10V_AH 10.0,18.096

SM_CCo 11725,21.75,0.179,0,0,1523,200.16 FG_AHR_24Vo 0.000

SM_GC 3.11,0.00,0.00,21.75,0.000,0.000,0.179,53,2939,1523,-5.42,0.25,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5538.94,-30.80,291214,202000 MEM 353948

TT8_MAMPS 0.026964 DATA_FILE_SIZE 53632,768

HUMID 56.26 CAP_FILE_SIZE 115344,0

INTERNAL_PRESSURE 8.96486 CFSIZE 259252224,218681344

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

XPDR_PINGS 0 GPS 301214,030035,-5558.993,-33.675,32,1.1,32,-19.9

_24V_AH 21.9,27.616

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 236 69.50 SBE_CT 546 23 286.72

Roll_motor 102 82 184.83 AA4330 1600 17 630.13

VBD_pump_during_apogee 280 1790 10995.51 WL_BB2F 772 105 1776.56

VBD_pump_during_surface 21 179 85.27 QSP2150 805 17 317.28

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 91 49.71 nil 0 0 0.00

Iridium_during_connect 18 160 64.50 nil 0 0 0.00

Iridium_during_xfer 274 223 1341.59 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 31 6.25

TT8 1969 14 284.74

LPSleep 7264 2 159.10

TT8_Active 395 14 57.25

TT8_Sampling 2383 42 1005.06

TT8_CF8 171 49 85.03

TT8_Kalman 33 68 22.81

Analog_circuits 1239 15 192.12

GPS_charging 0 0 0.00

Compass 1920 16 316.44

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 59 0.00 0.00 -42.55 0.000 2 0.000 0.000 45 2885 2455 0 0 0 0 0 0

62 -0.60 -146.1 3.0 -2.5 5 89 6.10 1.75 -15.45 0.000 4 0.236 0.083 1581 3900 2939 0 0 0 0 0 0

357 -0.60 -146.1 62.8 -20.4 53 364 0.00 1.52 0.00 0.000 6 0.000 0.034 1581 2924 2942 0 0 0 0 0 0

469 -0.60 -146.1 86.0 -17.9 72 478 0.00 1.62 0.00 0.000 4 0.000 0.059 1574 3897 2941 0 0 0 0 0 0

533 -0.60 -146.1 98.9 -21.1 82 540 0.00 1.50 0.00 0.000 6 0.000 0.034 1575 2933 2942 0 0 0 0 0 0

754 -0.60 -146.1 142.2 -20.6 103 758 0.00 1.62 0.00 0.000 4 0.000 0.060 1567 3906 2942 0 0 0 0 0 0

880 -0.60 -146.1 171.2 -22.3 114 883 0.00 1.52 0.00 0.000 6 0.000 0.035 1567 2930 2942 0 0 0 0 0 0

1212 -0.60 -146.1 239.0 -19.4 145 1216 0.00 1.62 0.00 0.000 4 0.000 0.061 1559 3905 2942 0 0 0 0 0 0

1330 -0.60 -146.1 264.6 -20.5 153 1336 0.10 1.55 0.00 0.000 6 0.188 0.034 1588 2915 2942 0 0 0 0 0 0

1660 -0.60 -146.1 319.0 -16.3 169 1661 0.00 0.00 0.00 0.000 6 0.000 0.000 1588 2914 2942 0 0 0 0 0 0

1968 -0.60 -146.1 367.5 -15.1 184 1972 0.00 1.62 0.00 0.000 4 0.000 0.062 1581 3898 2942 0 0 0 0 0 0

2018 -0.60 -146.1 376.1 -16.2 186 2023 0.00 1.50 0.00 0.000 6 0.000 0.033 1581 2928 2942 0 0 0 0 0 0

2346 -0.60 -146.1 426.6 -15.6 202 2349 0.00 1.60 0.00 0.000 4 0.000 0.060 1574 3896 2942 0 0 0 0 0 0

2436 -0.60 -146.1 441.6 -16.5 206 2440 0.00 1.48 0.00 0.000 6 0.000 0.034 1574 2933 2942 0 0 0 0 0 0

2768 -0.60 -146.1 494.0 -15.6 222 2772 0.00 1.60 0.00 0.000 4 0.000 0.060 1566 3902 2942 0 0 0 0 0 0

2840 -0.60 -146.1 506.6 -16.4 225 2845 0.00 1.52 0.00 0.000 6 0.000 0.033 1566 2917 2943 0 0 0 0 0 0

3167 -0.60 -146.1 560.7 -16.6 241 3170 0.00 1.62 0.00 0.000 4 0.000 0.060 1559 3904 2943 0 0 0 0 0 0

3244 -0.60 -146.1 575.1 -18.5 244 3249 0.10 1.48 0.00 0.000 6 0.187 0.032 1588 2936 2943 0 0 0 0 0 0

3565 -0.60 -146.1 622.8 -14.5 260 3568 0.00 1.58 0.00 0.000 4 0.000 0.061 1581 3896 2943 0 0 0 0 0 0

3602 -0.60 -146.1 629.0 -16.1 261 3610 0.00 1.50 0.00 0.000 6 0.000 0.032 1581 2915 2943 0 0 0 0 0 0

3919 -0.60 -146.1 676.4 -14.7 277 3923 0.00 1.62 0.00 0.000 4 0.000 0.060 1573 3906 2943 0 0 0 0 0 0

3966 -0.60 -146.1 683.7 -16.8 279 3970 0.00 1.48 0.00 0.000 6 0.000 0.033 1573 2933 2943 0 0 0 0 0 0

4299 -0.60 -146.1 733.3 -14.8 295 4303 0.00 1.60 0.00 0.000 4 0.000 0.060 1565 3905 2943 0 0 0 0 0 0

4354 -0.60 -146.1 742.5 -15.9 297 4358 0.00 1.48 0.00 0.000 6 0.000 0.033 1565 2937 2943 0 0 0 0 0 0

4675 -0.60 -146.1 791.8 -15.1 313 4679 0.00 1.62 0.00 0.000 4 0.000 0.060 1558 3909 2943 0 0 0 0 0 0

4724 -0.60 -146.1 800.2 -16.7 315 4729 0.10 1.50 0.00 0.000 6 0.183 0.032 1587 2928 2943 0 0 0 0 0 0

5052 -0.60 -146.1 842.9 -12.7 331 5056 0.00 1.60 0.00 0.000 4 0.000 0.060 1581 3903 2943 0 0 0 0 0 0

5084 -0.60 -146.1 847.8 -13.8 332 5089 0.00 1.48 0.00 0.000 6 0.000 0.031 1580 2925 2943 0 0 0 0 0 0

5407 -0.60 -146.1 891.9 -13.7 348 5410 0.00 1.60 0.00 0.000 4 0.000 0.060 1573 3900 2943 0 0 0 0 0 0

5461 -0.60 -146.1 900.4 -14.6 350 5466 0.00 1.50 0.00 0.000 6 0.000 0.031 1573 2915 2943 0 0 0 0 0 0

5783 -0.60 -146.1 945.8 -13.9 366 5786 0.00 1.62 0.00 0.000 4 0.000 0.060 1565 3906 2943 0 0 0 0 0 0

5851 -0.60 -146.1 956.1 -16.4 369 5855 0.00 1.48 0.00 0.000 6 0.000 0.033 1565 2929 2943 0 0 0 0 0 0

6161 end dive: TARGET_DEPTH_EXCEEDED

state 6161 begin apogee

6165 -0.13 0.0 1002.6 14.6 384 6304 0.60 0.00 133.48 1.790 6 0.181 0.000 1738 2712 2342 0 0 0 0 0 0

6305 end apogee: CONTROL_FINISHED_OK

state 6305 begin climb

6307 0.60 146.1 1006.7 0.0 391 6463 0.80 2.53 147.00 1.728 4 0.125 0.044 1984 1346 1746 0 0 0 0 0 0

6479 0.60 146.1 984.7 16.3 399 6483 0.00 2.42 0.00 0.000 6 0.000 0.047 1984 2721 1743 0 0 0 0 0 0

6806 0.60 146.1 922.9 18.9 415 6810 0.00 2.00 0.00 0.000 4 0.000 0.057 1984 3893 1737 0 0 0 0 0 0

6828 0.60 146.1 918.5 20.1 416 6832 0.00 1.88 0.00 0.000 6 0.000 0.035 1993 2738 1735 0 0 0 0 0 0

7160 0.60 146.1 851.3 20.1 432 7164 0.00 1.92 0.00 0.000 4 0.000 0.056 1993 3900 1734 0 0 0 0 0 0

7184 0.60 146.1 846.2 22.4 433 7188 0.00 1.95 0.00 0.000 6 0.000 0.037 2002 2709 1733 0 0 0 0 0 0

7515 0.60 146.1 776.8 20.9 449 7519 0.00 1.95 0.00 0.000 4 0.000 0.056 2002 3890 1732 0 0 0 0 0 0

7538 0.60 146.1 771.8 21.9 450 7542 0.00 1.88 0.00 0.000 6 0.000 0.037 2011 2704 1732 0 0 0 0 0 0

7870 0.60 146.1 699.5 21.7 466 7874 0.00 1.98 0.00 0.000 4 0.000 0.056 2011 3889 1732 0 0 0 0 0 0

7915 0.60 146.1 688.9 24.1 468 7919 0.15 1.85 0.00 0.000 6 0.220 0.037 1986 2712 1732 0 0 0 0 0 0

8246 0.60 146.1 623.2 19.5 484 8250 0.00 1.95 0.00 0.000 4 0.000 0.057 1986 3902 1731 0 0 0 0 0 0

8278 0.60 146.1 615.9 23.3 485 8283 0.00 1.92 0.00 0.000 6 0.000 0.036 1995 2706 1731 0 0 0 0 0 0

8601 0.60 146.1 551.1 20.3 501 8602 0.00 0.00 0.00 0.000 6 0.000 0.000 1995 2705 1731 0 0 0 0 0 0

8909 0.60 146.1 489.0 20.3 516 8913 0.00 1.95 0.00 0.000 4 0.000 0.057 1995 3886 1731 0 0 0 0 0 0

8935 0.60 146.1 483.0 21.1 517 8940 0.00 1.90 0.00 0.000 6 0.000 0.035 2004 2700 1731 0 0 0 0 0 0

9264 0.60 146.1 416.6 20.4 533 9267 0.00 1.95 0.00 0.000 4 0.000 0.057 2004 3897 1731 0 0 0 0 0 0

9312 0.60 146.1 405.4 22.8 535 9317 0.00 1.90 0.00 0.000 6 0.000 0.036 2013 2707 1730 0 0 0 0 0 0

9642 0.60 146.1 336.9 20.7 551 9645 0.00 1.92 0.00 0.000 4 0.000 0.057 2013 3890 1730 0 0 0 0 0 0

9689 0.60 146.1 326.5 22.3 553 9694 0.15 1.85 0.00 0.000 6 0.217 0.036 1987 2700 1730 0 0 0 0 0 0

10023 0.60 146.1 268.1 17.0 569 10027 0.00 1.92 0.00 0.000 4 0.000 0.057 1987 3899 1730 0 0 0 0 0 0

10046 0.60 146.1 263.7 17.5 570 10049 0.00 1.85 0.00 0.000 6 0.000 0.036 1995 2707 1730 0 0 0 0 0 0

10377 0.60 146.1 207.4 17.1 597 10378 0.00 0.00 0.00 0.000 6 0.000 0.000 1995 2707 1730 0 0 0 0 0 0

10696 0.60 146.1 154.4 15.9 627 10700 0.00 1.95 0.00 0.000 4 0.000 0.057 1995 3893 1730 0 0 0 0 0 0

10734 0.60 146.1 147.3 18.3 630 10744 0.00 1.88 0.00 0.000 6 0.000 0.035 2004 2711 1730 0 0 0 0 0 0

11061 0.60 146.1 96.5 15.7 663 11070 0.00 1.92 0.00 0.000 4 0.000 0.057 2004 3880 1730 0 0 0 0 0 0

11111 0.60 146.1 87.6 19.6 671 11118 0.00 1.85 0.00 0.000 6 0.000 0.034 2014 2696 1730 0 0 0 0 0 0

11352 0.60 146.1 51.9 16.1 712 11360 0.00 1.98 0.00 0.000 4 0.000 0.057 2014 3897 1730 0 0 0 0 0 0

11375 0.60 146.1 48.2 16.9 715 11383 0.08 1.88 0.00 0.000 6 0.207 0.037 1990 2717 1730 0 0 0 0 0 0

11488 0.60 146.1 32.3 13.0 734 11497 0.00 1.92 0.00 0.000 4 0.000 0.058 1991 3887 1730 0 0 0 0 0 0

11523 0.60 146.1 27.6 14.3 739 11532 0.00 1.88 0.00 0.000 6 0.000 0.037 1998 2713 1730 0 0 0 0 0 0

11609 0.60 146.1 15.4 15.1 752 11617 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2712 1730 0 0 0 0 0 0

11692 end climb: SURFACE_DEPTH_REACHED

state 11692 begin surface coast

11712 end surface coast: CONTROL_FINISHED_OK

state 11713 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	122	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	55	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	21	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	-21998.82	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	291214,233533,-5557.074,-34.229,39,1.2,43,-19.9	TGT_NAME	TARGET
_CALLS	1	TGT_LATLONG	-5600.000,-30.000
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.034,-0.161
_SM_DEPTHo	2.27	KALMAN_X	68394.2,-555.4,-453.6,-102672.5,3706.5
_SM_ANGLEo	-70.4	KALMAN_Y	24344.2,324.9,149.6,-19175.8,-2617.5
GPS2	291214,234247,-5557.114,-34.152,17,0.9,17,-19.9	MHEAD_RNG_PITCHd_Wd	187.9,6859,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.2,1.022089	_10V_AH	10.0,18.096
SM_CCo	11725,21.75,0.179,0,0,1523,200.16	FG_AHR_24Vo	0.000
SM_GC	3.11,0.00,0.00,21.75,0.000,0.000,0.179,53,2939,1523,-5.42,0.25,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5538.94,-30.80,291214,202000	MEM	353948
TT8_MAMPS	0.026964	DATA_FILE_SIZE	53632,768
HUMID	56.26	CAP_FILE_SIZE	115344,0
INTERNAL_PRESSURE	8.96486	CFSIZE	259252224,218681344
TCM_TEMP	6.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	301214,030035,-5558.993,-33.675,32,1.1,32,-19.9
_24V_AH	21.9,27.616

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	236	69.50	SBE_CT	546	23	286.72
Roll_motor	102	82	184.83	AA4330	1600	17	630.13
VBD_pump_during_apogee	280	1790	10995.51	WL_BB2F	772	105	1776.56
VBD_pump_during_surface	21	179	85.27	QSP2150	805	17	317.28
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	91	49.71	nil	0	0	0.00
Iridium_during_connect	18	160	64.50	nil	0	0	0.00
Iridium_during_xfer	274	223	1341.59	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	31	6.25
TT8	1969	14	284.74
LPSleep	7264	2	159.10
TT8_Active	395	14	57.25
TT8_Sampling	2383	42	1005.06
TT8_CF8	171	49	85.03
TT8_Kalman	33	68	22.81
Analog_circuits	1239	15	192.12
GPS_charging	0	0	0.00
Compass	1920	16	316.44
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	59	0.00	0.00	-42.55	0.000	2	0.000	0.000	45	2885	2455	0	0	0	0	0	0
62	-0.60	-146.1	3.0	-2.5	5	89	6.10	1.75	-15.45	0.000	4	0.236	0.083	1581	3900	2939	0	0	0	0	0	0
357	-0.60	-146.1	62.8	-20.4	53	364	0.00	1.52	0.00	0.000	6	0.000	0.034	1581	2924	2942	0	0	0	0	0	0
469	-0.60	-146.1	86.0	-17.9	72	478	0.00	1.62	0.00	0.000	4	0.000	0.059	1574	3897	2941	0	0	0	0	0	0
533	-0.60	-146.1	98.9	-21.1	82	540	0.00	1.50	0.00	0.000	6	0.000	0.034	1575	2933	2942	0	0	0	0	0	0
754	-0.60	-146.1	142.2	-20.6	103	758	0.00	1.62	0.00	0.000	4	0.000	0.060	1567	3906	2942	0	0	0	0	0	0
880	-0.60	-146.1	171.2	-22.3	114	883	0.00	1.52	0.00	0.000	6	0.000	0.035	1567	2930	2942	0	0	0	0	0	0
1212	-0.60	-146.1	239.0	-19.4	145	1216	0.00	1.62	0.00	0.000	4	0.000	0.061	1559	3905	2942	0	0	0	0	0	0
1330	-0.60	-146.1	264.6	-20.5	153	1336	0.10	1.55	0.00	0.000	6	0.188	0.034	1588	2915	2942	0	0	0	0	0	0
1660	-0.60	-146.1	319.0	-16.3	169	1661	0.00	0.00	0.00	0.000	6	0.000	0.000	1588	2914	2942	0	0	0	0	0	0
1968	-0.60	-146.1	367.5	-15.1	184	1972	0.00	1.62	0.00	0.000	4	0.000	0.062	1581	3898	2942	0	0	0	0	0	0
2018	-0.60	-146.1	376.1	-16.2	186	2023	0.00	1.50	0.00	0.000	6	0.000	0.033	1581	2928	2942	0	0	0	0	0	0
2346	-0.60	-146.1	426.6	-15.6	202	2349	0.00	1.60	0.00	0.000	4	0.000	0.060	1574	3896	2942	0	0	0	0	0	0
2436	-0.60	-146.1	441.6	-16.5	206	2440	0.00	1.48	0.00	0.000	6	0.000	0.034	1574	2933	2942	0	0	0	0	0	0
2768	-0.60	-146.1	494.0	-15.6	222	2772	0.00	1.60	0.00	0.000	4	0.000	0.060	1566	3902	2942	0	0	0	0	0	0
2840	-0.60	-146.1	506.6	-16.4	225	2845	0.00	1.52	0.00	0.000	6	0.000	0.033	1566	2917	2943	0	0	0	0	0	0
3167	-0.60	-146.1	560.7	-16.6	241	3170	0.00	1.62	0.00	0.000	4	0.000	0.060	1559	3904	2943	0	0	0	0	0	0
3244	-0.60	-146.1	575.1	-18.5	244	3249	0.10	1.48	0.00	0.000	6	0.187	0.032	1588	2936	2943	0	0	0	0	0	0
3565	-0.60	-146.1	622.8	-14.5	260	3568	0.00	1.58	0.00	0.000	4	0.000	0.061	1581	3896	2943	0	0	0	0	0	0
3602	-0.60	-146.1	629.0	-16.1	261	3610	0.00	1.50	0.00	0.000	6	0.000	0.032	1581	2915	2943	0	0	0	0	0	0
3919	-0.60	-146.1	676.4	-14.7	277	3923	0.00	1.62	0.00	0.000	4	0.000	0.060	1573	3906	2943	0	0	0	0	0	0
3966	-0.60	-146.1	683.7	-16.8	279	3970	0.00	1.48	0.00	0.000	6	0.000	0.033	1573	2933	2943	0	0	0	0	0	0
4299	-0.60	-146.1	733.3	-14.8	295	4303	0.00	1.60	0.00	0.000	4	0.000	0.060	1565	3905	2943	0	0	0	0	0	0
4354	-0.60	-146.1	742.5	-15.9	297	4358	0.00	1.48	0.00	0.000	6	0.000	0.033	1565	2937	2943	0	0	0	0	0	0
4675	-0.60	-146.1	791.8	-15.1	313	4679	0.00	1.62	0.00	0.000	4	0.000	0.060	1558	3909	2943	0	0	0	0	0	0
4724	-0.60	-146.1	800.2	-16.7	315	4729	0.10	1.50	0.00	0.000	6	0.183	0.032	1587	2928	2943	0	0	0	0	0	0
5052	-0.60	-146.1	842.9	-12.7	331	5056	0.00	1.60	0.00	0.000	4	0.000	0.060	1581	3903	2943	0	0	0	0	0	0
5084	-0.60	-146.1	847.8	-13.8	332	5089	0.00	1.48	0.00	0.000	6	0.000	0.031	1580	2925	2943	0	0	0	0	0	0
5407	-0.60	-146.1	891.9	-13.7	348	5410	0.00	1.60	0.00	0.000	4	0.000	0.060	1573	3900	2943	0	0	0	0	0	0
5461	-0.60	-146.1	900.4	-14.6	350	5466	0.00	1.50	0.00	0.000	6	0.000	0.031	1573	2915	2943	0	0	0	0	0	0
5783	-0.60	-146.1	945.8	-13.9	366	5786	0.00	1.62	0.00	0.000	4	0.000	0.060	1565	3906	2943	0	0	0	0	0	0
5851	-0.60	-146.1	956.1	-16.4	369	5855	0.00	1.48	0.00	0.000	6	0.000	0.033	1565	2929	2943	0	0	0	0	0	0
6161	end dive: TARGET_DEPTH_EXCEEDED
state	6161	begin apogee
6165	-0.13	0.0	1002.6	14.6	384	6304	0.60	0.00	133.48	1.790	6	0.181	0.000	1738	2712	2342	0	0	0	0	0	0
6305	end apogee: CONTROL_FINISHED_OK
state	6305	begin climb
6307	0.60	146.1	1006.7	0.0	391	6463	0.80	2.53	147.00	1.728	4	0.125	0.044	1984	1346	1746	0	0	0	0	0	0
6479	0.60	146.1	984.7	16.3	399	6483	0.00	2.42	0.00	0.000	6	0.000	0.047	1984	2721	1743	0	0	0	0	0	0
6806	0.60	146.1	922.9	18.9	415	6810	0.00	2.00	0.00	0.000	4	0.000	0.057	1984	3893	1737	0	0	0	0	0	0
6828	0.60	146.1	918.5	20.1	416	6832	0.00	1.88	0.00	0.000	6	0.000	0.035	1993	2738	1735	0	0	0	0	0	0
7160	0.60	146.1	851.3	20.1	432	7164	0.00	1.92	0.00	0.000	4	0.000	0.056	1993	3900	1734	0	0	0	0	0	0
7184	0.60	146.1	846.2	22.4	433	7188	0.00	1.95	0.00	0.000	6	0.000	0.037	2002	2709	1733	0	0	0	0	0	0
7515	0.60	146.1	776.8	20.9	449	7519	0.00	1.95	0.00	0.000	4	0.000	0.056	2002	3890	1732	0	0	0	0	0	0
7538	0.60	146.1	771.8	21.9	450	7542	0.00	1.88	0.00	0.000	6	0.000	0.037	2011	2704	1732	0	0	0	0	0	0
7870	0.60	146.1	699.5	21.7	466	7874	0.00	1.98	0.00	0.000	4	0.000	0.056	2011	3889	1732	0	0	0	0	0	0
7915	0.60	146.1	688.9	24.1	468	7919	0.15	1.85	0.00	0.000	6	0.220	0.037	1986	2712	1732	0	0	0	0	0	0
8246	0.60	146.1	623.2	19.5	484	8250	0.00	1.95	0.00	0.000	4	0.000	0.057	1986	3902	1731	0	0	0	0	0	0
8278	0.60	146.1	615.9	23.3	485	8283	0.00	1.92	0.00	0.000	6	0.000	0.036	1995	2706	1731	0	0	0	0	0	0
8601	0.60	146.1	551.1	20.3	501	8602	0.00	0.00	0.00	0.000	6	0.000	0.000	1995	2705	1731	0	0	0	0	0	0
8909	0.60	146.1	489.0	20.3	516	8913	0.00	1.95	0.00	0.000	4	0.000	0.057	1995	3886	1731	0	0	0	0	0	0
8935	0.60	146.1	483.0	21.1	517	8940	0.00	1.90	0.00	0.000	6	0.000	0.035	2004	2700	1731	0	0	0	0	0	0
9264	0.60	146.1	416.6	20.4	533	9267	0.00	1.95	0.00	0.000	4	0.000	0.057	2004	3897	1731	0	0	0	0	0	0
9312	0.60	146.1	405.4	22.8	535	9317	0.00	1.90	0.00	0.000	6	0.000	0.036	2013	2707	1730	0	0	0	0	0	0
9642	0.60	146.1	336.9	20.7	551	9645	0.00	1.92	0.00	0.000	4	0.000	0.057	2013	3890	1730	0	0	0	0	0	0
9689	0.60	146.1	326.5	22.3	553	9694	0.15	1.85	0.00	0.000	6	0.217	0.036	1987	2700	1730	0	0	0	0	0	0
10023	0.60	146.1	268.1	17.0	569	10027	0.00	1.92	0.00	0.000	4	0.000	0.057	1987	3899	1730	0	0	0	0	0	0
10046	0.60	146.1	263.7	17.5	570	10049	0.00	1.85	0.00	0.000	6	0.000	0.036	1995	2707	1730	0	0	0	0	0	0
10377	0.60	146.1	207.4	17.1	597	10378	0.00	0.00	0.00	0.000	6	0.000	0.000	1995	2707	1730	0	0	0	0	0	0
10696	0.60	146.1	154.4	15.9	627	10700	0.00	1.95	0.00	0.000	4	0.000	0.057	1995	3893	1730	0	0	0	0	0	0
10734	0.60	146.1	147.3	18.3	630	10744	0.00	1.88	0.00	0.000	6	0.000	0.035	2004	2711	1730	0	0	0	0	0	0
11061	0.60	146.1	96.5	15.7	663	11070	0.00	1.92	0.00	0.000	4	0.000	0.057	2004	3880	1730	0	0	0	0	0	0
11111	0.60	146.1	87.6	19.6	671	11118	0.00	1.85	0.00	0.000	6	0.000	0.034	2014	2696	1730	0	0	0	0	0	0
11352	0.60	146.1	51.9	16.1	712	11360	0.00	1.98	0.00	0.000	4	0.000	0.057	2014	3897	1730	0	0	0	0	0	0
11375	0.60	146.1	48.2	16.9	715	11383	0.08	1.88	0.00	0.000	6	0.207	0.037	1990	2717	1730	0	0	0	0	0	0
11488	0.60	146.1	32.3	13.0	734	11497	0.00	1.92	0.00	0.000	4	0.000	0.058	1991	3887	1730	0	0	0	0	0	0
11523	0.60	146.1	27.6	14.3	739	11532	0.00	1.88	0.00	0.000	6	0.000	0.037	1998	2713	1730	0	0	0	0	0	0
11609	0.60	146.1	15.4	15.1	752	11617	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2712	1730	0	0	0	0	0	0
11692	end climb: SURFACE_DEPTH_REACHED
state	11692	begin surface coast
11712	end surface coast: CONTROL_FINISHED_OK
state	11713	begin surface