Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 135 * 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 135 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 28 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 35 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 -22035.289 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 -22035.289

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 28 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 35 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 135 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 010115,012304,-5552.678,-28.760,35,0.8,35,-19.9 TGT_NAME TARGET2

_CALLS 1 TGT_LATLONG -5545.000,-30.000

_XMS_NAKs 0 TGT_RADIUS 4000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.005,0.231

_SM_DEPTHo 2.12 KALMAN_X 70351.9,251.0,131.7,-100311.0,-328.3

_SM_ANGLEo -72.6 KALMAN_Y 12544.1,507.3,61.2,716.0,-2716.4

GPS2 010115,013123,-5552.692,-28.617,17,0.9,17,-19.9 MHEAD_RNG_PITCHd_Wd 21.3,14318,-17.2,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.1,1.004510 _10V_AH 10.0,19.533

SM_CCo 16158,14.18,0.183,0,0,1523,200.16 FG_AHR_24Vo 0.000

SM_GC 3.38,0.00,0.00,14.18,0.000,0.000,0.183,58,2926,1523,-5.41,-0.11,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5531.31,-30.73,311214,202009 MEM 353844

TT8_MAMPS 0.026215 DATA_FILE_SIZE 73821,1061

HUMID 56.53 CAP_FILE_SIZE 116263,0

INTERNAL_PRESSURE 8.95509 CFSIZE 259252224,217800704

TCM_TEMP 6.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 2 GPS 010115,060311,-5550.839,-27.724,46,1.0,46,-19.9

_24V_AH 21.9,29.757

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 247 69.62 SBE_CT 755 23 396.65

Roll_motor 40 66 59.10 AA4330 2208 17 869.62

VBD_pump_during_apogee 289 1785 11309.47 WL_BB2F 1072 105 2466.94

VBD_pump_during_surface 14 182 56.76 QSP2150 1082 17 426.26

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 91 53.64 nil 0 0 0.00

Iridium_during_connect 42 160 150.27 nil 0 0 0.00

Iridium_during_xfer 303 223 1480.66 nil 0 0 0.00

Transponder_ping 0 420 4.60 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 31 6.12

TT8 2551 14 368.90

LPSleep 10696 2 234.26

TT8_Active 416 14 60.29

TT8_Sampling 2821 42 1189.86

TT8_CF8 182 49 90.52

TT8_Kalman 33 68 22.81

Analog_circuits 1287 15 199.49

GPS_charging 0 0 0.00

Compass 2274 16 374.82

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -0.44 -146.1 0.0 0.0 0 52 0.00 0.00 -34.00 0.000 2 0.000 0.000 44 2943 2237 0 0 0 0 0 0

54 -0.44 -146.1 3.0 -3.3 4 97 6.53 2.30 -26.58 0.000 4 0.248 0.054 1637 1505 2936 0 0 0 0 0 0

215 -0.44 -146.1 20.3 -14.1 28 225 0.00 2.35 0.00 0.000 6 0.000 0.057 1627 2917 2938 0 0 0 0 0 0

300 -0.44 -146.1 34.2 -17.6 41 307 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2917 2938 0 0 0 0 0 0

414 -0.44 -146.1 55.6 -18.3 60 422 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2917 2938 0 0 0 0 0 0

530 -0.44 -146.1 76.7 -18.8 79 536 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2917 2938 0 0 0 0 0 0

639 -0.44 -146.1 97.3 -16.4 98 646 0.00 0.00 0.00 0.000 6 0.000 0.000 1626 2917 2938 0 0 0 0 0 0

859 -0.44 -146.1 134.5 -17.2 120 860 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2917 2938 0 0 0 0 0 0

1179 -0.44 -146.1 181.5 -13.9 150 1180 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2917 2938 0 0 0 0 0 0

1497 -0.44 -146.1 223.7 -13.2 180 1498 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2917 2938 0 0 0 0 0 0

1815 -0.44 -146.1 263.4 -12.3 205 1816 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2917 2938 0 0 0 0 0 0

2121 -0.44 -146.1 300.8 -11.8 220 2122 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2917 2938 0 0 0 0 0 0

2433 -0.44 -146.1 336.8 -11.6 235 2434 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2917 2938 0 0 0 0 0 0

2742 -0.44 -146.1 372.0 -11.4 250 2743 0.00 0.00 0.00 0.000 6 0.000 0.000 1626 2917 2938 0 0 0 0 0 0

3049 -0.44 -146.1 406.9 -11.3 265 3050 0.00 0.00 0.00 0.000 6 0.000 0.000 1627 2917 2938 0 0 0 0 0 0

3359 -0.44 -146.1 441.9 -11.1 280 3362 0.00 1.60 0.00 0.000 4 0.000 0.067 1619 3900 2938 0 0 0 0 0 0

3404 -0.44 -146.1 447.2 -11.5 282 3408 0.00 1.52 0.00 0.000 6 0.000 0.033 1619 2903 2938 0 0 0 0 0 0

3736 -0.44 -146.1 485.5 -11.6 298 3737 0.00 0.00 0.00 0.000 6 0.000 0.000 1619 2899 2938 0 0 0 0 0 0

4046 -0.44 -146.1 521.5 -11.6 313 4047 0.00 0.00 0.00 0.000 6 0.000 0.000 1619 2899 2938 0 0 0 0 0 0

4355 -0.44 -146.1 557.4 -11.4 328 4356 0.00 0.00 0.00 0.000 6 0.000 0.000 1619 2899 2938 0 0 0 0 0 0

4664 -0.44 -146.1 593.3 -11.8 343 4668 0.00 1.65 0.00 0.000 4 0.000 0.063 1611 3909 2938 0 0 0 0 0 0

4709 -0.44 -146.1 599.1 -13.3 345 4714 0.08 1.50 0.00 0.000 6 0.173 0.034 1636 2926 2938 0 0 0 0 0 0

5042 -0.44 -146.1 636.0 -11.2 361 5043 0.00 0.00 0.00 0.000 6 0.000 0.000 1636 2923 2939 0 0 0 0 0 0

5351 -0.44 -146.1 670.1 -11.0 376 5352 0.00 0.00 0.00 0.000 6 0.000 0.000 1636 2923 2939 0 0 0 0 0 0

5661 -0.44 -146.1 703.6 -10.8 391 5662 0.00 0.00 0.00 0.000 6 0.000 0.000 1636 2923 2939 0 0 0 0 0 0

5969 -0.44 -146.1 738.2 -11.4 406 5970 0.00 0.00 0.00 0.000 6 0.000 0.000 1636 2923 2939 0 0 0 0 0 0

6279 -0.44 -146.1 773.0 -11.3 421 6280 0.00 0.00 0.00 0.000 6 0.000 0.000 1636 2923 2939 0 0 0 0 0 0

6589 -0.44 -146.1 807.3 -11.0 436 6590 0.00 0.00 0.00 0.000 6 0.000 0.000 1636 2923 2939 0 0 0 0 0 0

6897 -0.44 -146.1 840.6 -10.8 451 6898 0.00 0.00 0.00 0.000 6 0.000 0.000 1636 2923 2939 0 0 0 0 0 0

7206 -0.44 -146.1 874.4 -11.0 466 7208 0.00 0.00 0.00 0.000 6 0.000 0.000 1636 2923 2939 0 0 0 0 0 0

7516 -0.44 -146.1 908.5 -11.0 481 7518 0.00 0.00 0.00 0.000 6 0.000 0.000 1636 2923 2939 0 0 0 0 0 0

7825 -0.44 -146.1 942.9 -11.1 496 7826 0.00 0.00 0.00 0.000 6 0.000 0.000 1636 2923 2939 0 0 0 0 0 0

8134 -0.44 -146.1 977.1 -10.9 511 8136 0.00 0.00 0.00 0.000 6 0.000 0.000 1636 2923 2939 0 0 0 0 0 0

8360 end dive: TARGET_DEPTH_EXCEEDED

state 8360 begin apogee

8365 -0.13 0.0 1002.1 11.1 522 8503 0.35 0.00 133.85 1.786 6 0.162 0.000 1740 2716 2342 0 0 0 0 0 0

8504 end apogee: CONTROL_FINISHED_OK

state 8504 begin climb

8506 0.44 146.1 1008.0 0.0 529 8656 0.65 0.00 147.00 1.736 6 0.122 0.000 1927 2717 1746 0 0 0 0 0 0

8951 0.44 146.1 959.0 12.5 551 8955 0.00 2.05 0.00 0.000 4 0.000 0.060 1927 3906 1736 0 0 0 0 0 0

8997 0.44 146.1 952.6 14.4 553 9001 0.00 1.95 0.00 0.000 6 0.000 0.037 1936 2728 1735 0 0 0 0 0 0

9329 0.44 146.1 907.4 13.6 569 9333 0.00 2.28 0.00 0.000 4 0.000 0.046 1947 1294 1734 0 0 0 0 0 0

9361 0.44 146.1 902.9 12.2 570 9368 0.00 2.38 0.00 0.000 6 0.000 0.052 1947 2729 1733 0 0 0 0 0 0

9676 0.44 146.1 856.9 15.0 586 9678 0.00 0.00 0.00 0.000 6 0.000 0.000 1947 2730 1733 0 0 0 0 0 0

9986 0.44 146.1 811.2 15.1 601 9990 0.00 1.92 0.00 0.000 4 0.000 0.061 1947 3894 1732 0 0 0 0 0 0

10035 0.44 146.1 802.7 17.2 603 10039 0.00 1.90 0.00 0.000 6 0.000 0.036 1956 2714 1730 0 0 0 0 0 0

10361 0.44 146.1 750.5 16.1 619 10363 0.00 0.00 0.00 0.000 6 0.000 0.000 1956 2712 1730 0 0 0 0 0 0

10671 0.44 146.1 700.5 15.8 634 10673 0.00 0.00 0.00 0.000 6 0.000 0.000 1956 2713 1730 0 0 0 0 0 0

10980 0.44 146.1 650.2 16.3 649 10981 0.00 0.00 0.00 0.000 6 0.000 0.000 1956 2713 1730 0 0 0 0 0 0

11289 0.44 146.1 601.1 15.7 664 11291 0.00 0.00 0.00 0.000 6 0.000 0.000 1956 2713 1730 0 0 0 0 0 0

11599 0.44 146.1 553.5 15.2 679 11603 0.00 1.92 0.00 0.000 4 0.000 0.059 1956 3892 1730 0 0 0 0 0 0

11648 0.44 146.1 544.6 17.7 681 11654 0.10 1.88 0.00 0.000 6 0.201 0.036 1937 2711 1729 0 0 0 0 0 0

11975 0.44 146.1 501.3 13.1 697 11976 0.00 0.00 0.00 0.000 6 0.000 0.000 1937 2710 1729 0 0 0 0 0 0

12285 0.44 146.1 460.8 12.9 712 12286 0.00 0.00 0.00 0.000 6 0.000 0.000 1937 2710 1729 0 0 0 0 0 0

12594 0.44 146.1 418.5 13.6 727 12595 0.00 0.00 0.00 0.000 6 0.000 0.000 1937 2710 1729 0 0 0 0 0 0

12903 0.44 146.1 376.7 13.3 742 12904 0.00 0.00 0.00 0.000 6 0.000 0.000 1937 2710 1729 0 0 0 0 0 0

13215 0.44 146.1 336.5 13.0 757 13216 0.00 0.00 0.00 0.000 6 0.000 0.000 1937 2710 1729 0 0 0 0 0 0

13522 0.44 146.1 296.6 12.4 772 13523 0.00 0.00 0.00 0.000 6 0.000 0.000 1937 2710 1729 0 0 0 0 0 0

13833 0.44 146.1 258.8 12.1 787 13834 0.00 0.00 0.00 0.000 6 0.000 0.000 1937 2710 1729 0 0 0 0 0 0

14150 0.44 146.1 219.3 12.3 813 14151 0.00 0.00 0.00 0.000 6 0.000 0.000 1937 2710 1729 0 0 0 0 0 0

14470 0.44 146.1 183.8 10.9 843 14476 0.00 0.00 0.00 0.000 6 0.000 0.000 1937 2710 1729 0 0 0 0 0 0

14795 0.44 146.1 148.8 10.2 874 14799 0.00 2.20 0.00 0.000 4 0.000 0.045 1947 1283 1729 0 0 0 0 0 0

14840 0.46 164.7 144.5 8.7 877 14853 0.00 2.30 8.38 1.180 6 0.000 0.053 1947 2722 1669 0 0 0 0 0 0

15171 0.46 164.7 110.2 10.8 908 15172 0.00 0.00 0.00 0.000 6 0.000 0.000 1947 2723 1668 0 0 0 0 0 0

15513 0.46 164.7 73.2 11.4 959 15520 0.00 1.88 0.00 0.000 4 0.000 0.062 1947 3877 1666 0 0 0 0 0 0

15576 0.46 164.7 65.0 12.8 970 15586 0.00 1.85 0.00 0.000 6 0.000 0.036 1956 2710 1666 0 0 0 0 0 0

15694 0.46 164.7 51.7 11.2 989 15700 0.00 0.00 0.00 0.000 6 0.000 0.000 1956 2710 1666 0 0 0 0 0 0

15806 0.46 164.7 38.5 11.4 1008 15815 0.00 2.22 0.00 0.000 4 0.000 0.045 1966 1286 1666 0 0 0 0 0 0

15845 0.46 164.7 34.3 10.4 1014 15854 0.00 2.30 0.00 0.000 6 0.000 0.054 1966 2713 1665 0 0 0 0 0 0

15964 0.46 164.7 20.4 12.7 1033 15973 0.00 0.00 0.00 0.000 6 0.000 0.000 1966 2713 1665 0 0 0 0 0 0

16048 0.46 164.7 10.1 12.6 1046 16056 0.00 0.00 0.00 0.000 6 0.000 0.000 1966 2713 1665 0 0 0 0 0 0

16111 end climb: SURFACE_DEPTH_REACHED

state 16112 begin surface coast

16145 end surface coast: CONTROL_FINISHED_OK

state 16145 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	135	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	28	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	35	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	-22035.289	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	010115,012304,-5552.678,-28.760,35,0.8,35,-19.9	TGT_NAME	TARGET2
_CALLS	1	TGT_LATLONG	-5545.000,-30.000
_XMS_NAKs	0	TGT_RADIUS	4000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.005,0.231
_SM_DEPTHo	2.12	KALMAN_X	70351.9,251.0,131.7,-100311.0,-328.3
_SM_ANGLEo	-72.6	KALMAN_Y	12544.1,507.3,61.2,716.0,-2716.4
GPS2	010115,013123,-5552.692,-28.617,17,0.9,17,-19.9	MHEAD_RNG_PITCHd_Wd	21.3,14318,-17.2,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.1,1.004510	_10V_AH	10.0,19.533
SM_CCo	16158,14.18,0.183,0,0,1523,200.16	FG_AHR_24Vo	0.000
SM_GC	3.38,0.00,0.00,14.18,0.000,0.000,0.183,58,2926,1523,-5.41,-0.11,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5531.31,-30.73,311214,202009	MEM	353844
TT8_MAMPS	0.026215	DATA_FILE_SIZE	73821,1061
HUMID	56.53	CAP_FILE_SIZE	116263,0
INTERNAL_PRESSURE	8.95509	CFSIZE	259252224,217800704
TCM_TEMP	6.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	2	GPS	010115,060311,-5550.839,-27.724,46,1.0,46,-19.9
_24V_AH	21.9,29.757

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	247	69.62	SBE_CT	755	23	396.65
Roll_motor	40	66	59.10	AA4330	2208	17	869.62
VBD_pump_during_apogee	289	1785	11309.47	WL_BB2F	1072	105	2466.94
VBD_pump_during_surface	14	182	56.76	QSP2150	1082	17	426.26
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	91	53.64	nil	0	0	0.00
Iridium_during_connect	42	160	150.27	nil	0	0	0.00
Iridium_during_xfer	303	223	1480.66	nil	0	0	0.00
Transponder_ping	0	420	4.60	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	31	6.12
TT8	2551	14	368.90
LPSleep	10696	2	234.26
TT8_Active	416	14	60.29
TT8_Sampling	2821	42	1189.86
TT8_CF8	182	49	90.52
TT8_Kalman	33	68	22.81
Analog_circuits	1287	15	199.49
GPS_charging	0	0	0.00
Compass	2274	16	374.82
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-0.44	-146.1	0.0	0.0	0	52	0.00	0.00	-34.00	0.000	2	0.000	0.000	44	2943	2237	0	0	0	0	0	0
54	-0.44	-146.1	3.0	-3.3	4	97	6.53	2.30	-26.58	0.000	4	0.248	0.054	1637	1505	2936	0	0	0	0	0	0
215	-0.44	-146.1	20.3	-14.1	28	225	0.00	2.35	0.00	0.000	6	0.000	0.057	1627	2917	2938	0	0	0	0	0	0
300	-0.44	-146.1	34.2	-17.6	41	307	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2917	2938	0	0	0	0	0	0
414	-0.44	-146.1	55.6	-18.3	60	422	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2917	2938	0	0	0	0	0	0
530	-0.44	-146.1	76.7	-18.8	79	536	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2917	2938	0	0	0	0	0	0
639	-0.44	-146.1	97.3	-16.4	98	646	0.00	0.00	0.00	0.000	6	0.000	0.000	1626	2917	2938	0	0	0	0	0	0
859	-0.44	-146.1	134.5	-17.2	120	860	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2917	2938	0	0	0	0	0	0
1179	-0.44	-146.1	181.5	-13.9	150	1180	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2917	2938	0	0	0	0	0	0
1497	-0.44	-146.1	223.7	-13.2	180	1498	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2917	2938	0	0	0	0	0	0
1815	-0.44	-146.1	263.4	-12.3	205	1816	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2917	2938	0	0	0	0	0	0
2121	-0.44	-146.1	300.8	-11.8	220	2122	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2917	2938	0	0	0	0	0	0
2433	-0.44	-146.1	336.8	-11.6	235	2434	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2917	2938	0	0	0	0	0	0
2742	-0.44	-146.1	372.0	-11.4	250	2743	0.00	0.00	0.00	0.000	6	0.000	0.000	1626	2917	2938	0	0	0	0	0	0
3049	-0.44	-146.1	406.9	-11.3	265	3050	0.00	0.00	0.00	0.000	6	0.000	0.000	1627	2917	2938	0	0	0	0	0	0
3359	-0.44	-146.1	441.9	-11.1	280	3362	0.00	1.60	0.00	0.000	4	0.000	0.067	1619	3900	2938	0	0	0	0	0	0
3404	-0.44	-146.1	447.2	-11.5	282	3408	0.00	1.52	0.00	0.000	6	0.000	0.033	1619	2903	2938	0	0	0	0	0	0
3736	-0.44	-146.1	485.5	-11.6	298	3737	0.00	0.00	0.00	0.000	6	0.000	0.000	1619	2899	2938	0	0	0	0	0	0
4046	-0.44	-146.1	521.5	-11.6	313	4047	0.00	0.00	0.00	0.000	6	0.000	0.000	1619	2899	2938	0	0	0	0	0	0
4355	-0.44	-146.1	557.4	-11.4	328	4356	0.00	0.00	0.00	0.000	6	0.000	0.000	1619	2899	2938	0	0	0	0	0	0
4664	-0.44	-146.1	593.3	-11.8	343	4668	0.00	1.65	0.00	0.000	4	0.000	0.063	1611	3909	2938	0	0	0	0	0	0
4709	-0.44	-146.1	599.1	-13.3	345	4714	0.08	1.50	0.00	0.000	6	0.173	0.034	1636	2926	2938	0	0	0	0	0	0
5042	-0.44	-146.1	636.0	-11.2	361	5043	0.00	0.00	0.00	0.000	6	0.000	0.000	1636	2923	2939	0	0	0	0	0	0
5351	-0.44	-146.1	670.1	-11.0	376	5352	0.00	0.00	0.00	0.000	6	0.000	0.000	1636	2923	2939	0	0	0	0	0	0
5661	-0.44	-146.1	703.6	-10.8	391	5662	0.00	0.00	0.00	0.000	6	0.000	0.000	1636	2923	2939	0	0	0	0	0	0
5969	-0.44	-146.1	738.2	-11.4	406	5970	0.00	0.00	0.00	0.000	6	0.000	0.000	1636	2923	2939	0	0	0	0	0	0
6279	-0.44	-146.1	773.0	-11.3	421	6280	0.00	0.00	0.00	0.000	6	0.000	0.000	1636	2923	2939	0	0	0	0	0	0
6589	-0.44	-146.1	807.3	-11.0	436	6590	0.00	0.00	0.00	0.000	6	0.000	0.000	1636	2923	2939	0	0	0	0	0	0
6897	-0.44	-146.1	840.6	-10.8	451	6898	0.00	0.00	0.00	0.000	6	0.000	0.000	1636	2923	2939	0	0	0	0	0	0
7206	-0.44	-146.1	874.4	-11.0	466	7208	0.00	0.00	0.00	0.000	6	0.000	0.000	1636	2923	2939	0	0	0	0	0	0
7516	-0.44	-146.1	908.5	-11.0	481	7518	0.00	0.00	0.00	0.000	6	0.000	0.000	1636	2923	2939	0	0	0	0	0	0
7825	-0.44	-146.1	942.9	-11.1	496	7826	0.00	0.00	0.00	0.000	6	0.000	0.000	1636	2923	2939	0	0	0	0	0	0
8134	-0.44	-146.1	977.1	-10.9	511	8136	0.00	0.00	0.00	0.000	6	0.000	0.000	1636	2923	2939	0	0	0	0	0	0
8360	end dive: TARGET_DEPTH_EXCEEDED
state	8360	begin apogee
8365	-0.13	0.0	1002.1	11.1	522	8503	0.35	0.00	133.85	1.786	6	0.162	0.000	1740	2716	2342	0	0	0	0	0	0
8504	end apogee: CONTROL_FINISHED_OK
state	8504	begin climb
8506	0.44	146.1	1008.0	0.0	529	8656	0.65	0.00	147.00	1.736	6	0.122	0.000	1927	2717	1746	0	0	0	0	0	0
8951	0.44	146.1	959.0	12.5	551	8955	0.00	2.05	0.00	0.000	4	0.000	0.060	1927	3906	1736	0	0	0	0	0	0
8997	0.44	146.1	952.6	14.4	553	9001	0.00	1.95	0.00	0.000	6	0.000	0.037	1936	2728	1735	0	0	0	0	0	0
9329	0.44	146.1	907.4	13.6	569	9333	0.00	2.28	0.00	0.000	4	0.000	0.046	1947	1294	1734	0	0	0	0	0	0
9361	0.44	146.1	902.9	12.2	570	9368	0.00	2.38	0.00	0.000	6	0.000	0.052	1947	2729	1733	0	0	0	0	0	0
9676	0.44	146.1	856.9	15.0	586	9678	0.00	0.00	0.00	0.000	6	0.000	0.000	1947	2730	1733	0	0	0	0	0	0
9986	0.44	146.1	811.2	15.1	601	9990	0.00	1.92	0.00	0.000	4	0.000	0.061	1947	3894	1732	0	0	0	0	0	0
10035	0.44	146.1	802.7	17.2	603	10039	0.00	1.90	0.00	0.000	6	0.000	0.036	1956	2714	1730	0	0	0	0	0	0
10361	0.44	146.1	750.5	16.1	619	10363	0.00	0.00	0.00	0.000	6	0.000	0.000	1956	2712	1730	0	0	0	0	0	0
10671	0.44	146.1	700.5	15.8	634	10673	0.00	0.00	0.00	0.000	6	0.000	0.000	1956	2713	1730	0	0	0	0	0	0
10980	0.44	146.1	650.2	16.3	649	10981	0.00	0.00	0.00	0.000	6	0.000	0.000	1956	2713	1730	0	0	0	0	0	0
11289	0.44	146.1	601.1	15.7	664	11291	0.00	0.00	0.00	0.000	6	0.000	0.000	1956	2713	1730	0	0	0	0	0	0
11599	0.44	146.1	553.5	15.2	679	11603	0.00	1.92	0.00	0.000	4	0.000	0.059	1956	3892	1730	0	0	0	0	0	0
11648	0.44	146.1	544.6	17.7	681	11654	0.10	1.88	0.00	0.000	6	0.201	0.036	1937	2711	1729	0	0	0	0	0	0
11975	0.44	146.1	501.3	13.1	697	11976	0.00	0.00	0.00	0.000	6	0.000	0.000	1937	2710	1729	0	0	0	0	0	0
12285	0.44	146.1	460.8	12.9	712	12286	0.00	0.00	0.00	0.000	6	0.000	0.000	1937	2710	1729	0	0	0	0	0	0
12594	0.44	146.1	418.5	13.6	727	12595	0.00	0.00	0.00	0.000	6	0.000	0.000	1937	2710	1729	0	0	0	0	0	0
12903	0.44	146.1	376.7	13.3	742	12904	0.00	0.00	0.00	0.000	6	0.000	0.000	1937	2710	1729	0	0	0	0	0	0
13215	0.44	146.1	336.5	13.0	757	13216	0.00	0.00	0.00	0.000	6	0.000	0.000	1937	2710	1729	0	0	0	0	0	0
13522	0.44	146.1	296.6	12.4	772	13523	0.00	0.00	0.00	0.000	6	0.000	0.000	1937	2710	1729	0	0	0	0	0	0
13833	0.44	146.1	258.8	12.1	787	13834	0.00	0.00	0.00	0.000	6	0.000	0.000	1937	2710	1729	0	0	0	0	0	0
14150	0.44	146.1	219.3	12.3	813	14151	0.00	0.00	0.00	0.000	6	0.000	0.000	1937	2710	1729	0	0	0	0	0	0
14470	0.44	146.1	183.8	10.9	843	14476	0.00	0.00	0.00	0.000	6	0.000	0.000	1937	2710	1729	0	0	0	0	0	0
14795	0.44	146.1	148.8	10.2	874	14799	0.00	2.20	0.00	0.000	4	0.000	0.045	1947	1283	1729	0	0	0	0	0	0
14840	0.46	164.7	144.5	8.7	877	14853	0.00	2.30	8.38	1.180	6	0.000	0.053	1947	2722	1669	0	0	0	0	0	0
15171	0.46	164.7	110.2	10.8	908	15172	0.00	0.00	0.00	0.000	6	0.000	0.000	1947	2723	1668	0	0	0	0	0	0
15513	0.46	164.7	73.2	11.4	959	15520	0.00	1.88	0.00	0.000	4	0.000	0.062	1947	3877	1666	0	0	0	0	0	0
15576	0.46	164.7	65.0	12.8	970	15586	0.00	1.85	0.00	0.000	6	0.000	0.036	1956	2710	1666	0	0	0	0	0	0
15694	0.46	164.7	51.7	11.2	989	15700	0.00	0.00	0.00	0.000	6	0.000	0.000	1956	2710	1666	0	0	0	0	0	0
15806	0.46	164.7	38.5	11.4	1008	15815	0.00	2.22	0.00	0.000	4	0.000	0.045	1966	1286	1666	0	0	0	0	0	0
15845	0.46	164.7	34.3	10.4	1014	15854	0.00	2.30	0.00	0.000	6	0.000	0.054	1966	2713	1665	0	0	0	0	0	0
15964	0.46	164.7	20.4	12.7	1033	15973	0.00	0.00	0.00	0.000	6	0.000	0.000	1966	2713	1665	0	0	0	0	0	0
16048	0.46	164.7	10.1	12.6	1046	16056	0.00	0.00	0.00	0.000	6	0.000	0.000	1966	2713	1665	0	0	0	0	0	0
16111	end climb: SURFACE_DEPTH_REACHED
state	16112	begin surface coast
16145	end surface coast: CONTROL_FINISHED_OK
state	16145	begin surface