Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 154 * 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 154 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 32 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 31 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 -22090.936 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 -22090.936

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 32 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 31 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 154 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 040115,184135,-5603.146,-29.754,34,0.9,34,-19.9 TGT_NAME TARGET

_CALLS 1 TGT_LATLONG -5600.000,-30.000

_XMS_NAKs 0 TGT_RADIUS 4000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.128,0.125

_SM_DEPTHo 2.30 KALMAN_X 83981.1,-23.0,153.8,-114881.7,-2930.9

_SM_ANGLEo -72.5 KALMAN_Y 30744.1,-1017.6,-575.1,-34660.6,3188.3

GPS2 040115,184959,-5603.160,-29.771,14,1.2,14,-19.9 MHEAD_RNG_PITCHd_Wd 65.6,5857,-23.5,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.3,1.016531 _10V_AH 10.0,21.924

SM_CCo 12773,21.50,0.178,0,0,1522,200.16 FG_AHR_24Vo 0.000

SM_GC 2.97,0.00,0.00,21.50,0.000,0.000,0.178,55,2933,1522,-5.42,0.08,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5538.94,-26.98,040115,131346 MEM 353824

TT8_MAMPS 0.026215 DATA_FILE_SIZE 57029,850

HUMID 56.85 CAP_FILE_SIZE 113384,0

INTERNAL_PRESSURE 8.97462 CFSIZE 259252224,216412160

TCM_TEMP 6.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 040115,222522,-5602.014,-27.288,39,0.8,39,-19.9

_24V_AH 22.0,32.907

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 251 74.20 SBE_CT 603 23 318.13

Roll_motor 73 83 135.70 AA4330 1766 17 698.77

VBD_pump_during_apogee 281 1786 11054.54 WL_BB2F 858 105 1982.67

VBD_pump_during_surface 21 178 84.31 QSP2150 912 17 360.87

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 91 51.23 nil 0 0 0.00

Iridium_during_connect 40 160 141.40 nil 0 0 0.00

Iridium_during_xfer 312 223 1530.73 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 31 5.24

TT8 2094 14 302.86

LPSleep 8045 2 176.19

TT8_Active 436 14 63.09

TT8_Sampling 2527 42 1066.04

TT8_CF8 191 49 94.87

TT8_Kalman 33 68 22.82

Analog_circuits 1290 15 200.06

GPS_charging 0 0 0.00

Compass 2004 16 330.41

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 -0.51 -86.9 0.0 0.0 0 52 0.00 0.00 -33.83 0.000 2 0.000 0.000 61 2940 2251 0 0 0 0 0 0

54 -0.56 -146.1 3.1 -3.7 4 97 6.43 1.60 -25.95 0.000 4 0.252 0.083 1593 3886 2938 0 0 0 0 0 0

117 -0.56 -146.1 8.6 -13.3 12 126 0.00 1.55 0.00 0.000 6 0.000 0.033 1593 2902 2939 0 0 0 0 0 0

202 -0.56 -146.1 25.0 -20.1 25 210 0.00 0.00 0.00 0.000 6 0.000 0.000 1593 2901 2940 0 0 0 0 0 0

282 -0.56 -146.1 41.2 -18.9 38 290 0.00 0.00 0.00 0.000 6 0.000 0.000 1593 2901 2940 0 0 0 0 0 0

398 -0.56 -146.1 63.7 -20.3 57 404 0.00 0.00 0.00 0.000 6 0.000 0.000 1593 2901 2940 0 0 0 0 0 0

512 -0.56 -146.1 86.0 -19.8 76 519 0.00 1.65 0.00 0.000 4 0.000 0.059 1586 3887 2940 0 0 0 0 0 0

585 -0.56 -146.1 102.4 -20.5 88 596 0.00 1.50 0.00 0.000 6 0.000 0.031 1586 2921 2940 0 0 0 0 0 0

915 -0.56 -146.1 164.2 -17.8 119 921 0.00 0.00 0.00 0.000 6 0.000 0.000 1585 2920 2940 0 0 0 0 0 0

1240 -0.56 -146.1 222.0 -16.8 150 1243 0.00 1.60 0.00 0.000 4 0.000 0.060 1579 3886 2940 0 0 0 0 0 0

1312 -0.56 -146.1 235.4 -17.7 156 1322 0.00 1.48 0.00 0.000 6 0.000 0.032 1579 2923 2940 0 0 0 0 0 0

1632 -0.56 -146.1 290.6 -17.5 176 1633 0.00 0.00 0.00 0.000 6 0.000 0.000 1579 2923 2940 0 0 0 0 0 0

1942 -0.56 -146.1 346.2 -18.3 191 1947 0.10 1.60 0.00 0.000 4 0.215 0.060 1593 3895 2940 0 0 0 0 0 0

2026 -0.56 -146.1 361.4 -16.6 194 2035 0.00 1.48 0.00 0.000 6 0.000 0.032 1593 2925 2940 0 0 0 0 0 0

2341 -0.56 -146.1 413.5 -16.2 210 2342 0.00 0.00 0.00 0.000 6 0.000 0.000 1593 2925 2940 0 0 0 0 0 0

2651 -0.56 -146.1 462.2 -15.7 225 2654 0.00 1.60 0.00 0.000 4 0.000 0.059 1586 3893 2940 0 0 0 0 0 0

2689 -0.56 -146.1 468.9 -17.4 226 2696 0.00 1.48 0.00 0.000 6 0.000 0.032 1586 2923 2940 0 0 0 0 0 0

3005 -0.56 -146.1 519.3 -15.9 242 3008 0.00 1.60 0.00 0.000 4 0.000 0.059 1579 3892 2940 0 0 0 0 0 0

3042 -0.56 -146.1 525.9 -16.9 243 3050 0.00 1.48 0.00 0.000 6 0.000 0.031 1579 2925 2940 0 0 0 0 0 0

3359 -0.56 -146.1 576.7 -15.8 259 3363 0.00 1.60 0.00 0.000 4 0.000 0.059 1572 3896 2940 0 0 0 0 0 0

3406 -0.56 -146.1 584.3 -16.7 261 3410 0.10 1.45 0.00 0.000 6 0.184 0.032 1601 2942 2940 0 0 0 0 0 0

3738 -0.56 -146.1 630.0 -13.4 277 3739 0.00 0.00 0.00 0.000 6 0.000 0.000 1601 2937 2940 0 0 0 0 0 0

4048 -0.56 -146.1 670.3 -12.8 292 4051 0.00 1.58 0.00 0.000 4 0.000 0.060 1594 3892 2940 0 0 0 0 0 0

4108 -0.56 -146.1 679.0 -14.0 294 4116 0.00 1.48 0.00 0.000 6 0.000 0.031 1594 2916 2940 0 0 0 0 0 0

4425 -0.56 -146.1 722.3 -13.9 310 4428 0.00 1.60 0.00 0.000 4 0.000 0.059 1586 3888 2940 0 0 0 0 0 0

4462 -0.56 -146.1 728.2 -15.4 311 4470 0.00 1.48 0.00 0.000 6 0.000 0.031 1586 2916 2940 0 0 0 0 0 0

4779 -0.56 -146.1 774.0 -14.6 327 4780 0.00 0.00 0.00 0.000 6 0.000 0.000 1586 2915 2940 0 0 0 0 0 0

5089 -0.56 -146.1 819.3 -14.7 342 5092 0.00 1.60 0.00 0.000 4 0.000 0.059 1579 3889 2940 0 0 0 0 0 0

5171 -0.56 -146.1 832.8 -16.2 345 5179 0.00 1.45 0.00 0.000 6 0.000 0.031 1579 2927 2940 0 0 0 0 0 0

5488 -0.56 -146.1 880.4 -15.1 361 5489 0.00 0.00 0.00 0.000 6 0.000 0.000 1579 2926 2940 0 0 0 0 0 0

5798 -0.56 -146.1 927.1 -15.0 376 5802 0.00 1.58 0.00 0.000 4 0.000 0.059 1572 3886 2940 0 0 0 0 0 0

5897 -0.56 -146.1 943.4 -16.1 380 5902 0.10 1.42 0.00 0.000 6 0.181 0.031 1601 2948 2940 0 0 0 0 0 0

6220 -0.56 -146.1 986.2 -13.2 396 6221 0.00 0.00 0.00 0.000 6 0.000 0.000 1601 2943 2940 0 0 0 0 0 0

6341 end dive: TARGET_DEPTH_EXCEEDED

state 6341 begin apogee

6346 -0.13 0.0 1002.7 13.2 402 6485 0.47 0.00 133.90 1.786 6 0.171 0.000 1741 2718 2342 0 0 0 0 0 0

6485 end apogee: CONTROL_FINISHED_OK

state 6486 begin climb

6487 0.56 146.1 1007.9 0.0 409 6642 0.75 2.50 147.40 1.753 4 0.122 0.043 1971 1325 1745 0 0 0 0 0 0

6663 0.56 146.1 988.4 15.6 417 6668 0.00 2.47 0.00 0.000 6 0.000 0.049 1971 2702 1743 0 0 0 0 0 0

6986 0.56 146.1 934.0 17.0 433 6990 0.00 2.03 0.00 0.000 4 0.000 0.057 1971 3912 1737 0 0 0 0 0 0

7024 0.56 146.1 926.5 19.1 434 7032 0.00 1.95 0.00 0.000 6 0.000 0.034 1980 2734 1734 0 0 0 0 0 0

7340 0.56 146.1 869.7 18.0 450 7341 0.00 0.00 0.00 0.000 6 0.000 0.000 1980 2734 1733 0 0 0 0 0 0

7650 0.56 146.1 814.3 17.7 465 7651 0.00 0.00 0.00 0.000 6 0.000 0.000 1980 2734 1733 0 0 0 0 0 0

7959 0.56 146.1 760.0 17.1 480 7962 0.00 1.92 0.00 0.000 4 0.000 0.057 1980 3896 1732 0 0 0 0 0 0

8007 0.56 146.1 750.5 20.0 482 8012 0.00 1.90 0.00 0.000 6 0.000 0.035 1989 2712 1731 0 0 0 0 0 0

8335 0.56 146.1 693.3 17.4 498 8336 0.00 0.00 0.00 0.000 6 0.000 0.000 1990 2712 1731 0 0 0 0 0 0

8644 0.56 146.1 639.9 16.9 513 8647 0.00 1.95 0.00 0.000 4 0.000 0.057 1990 3902 1730 0 0 0 0 0 0

8704 0.56 146.1 628.2 18.8 515 8712 0.00 1.90 0.00 0.000 6 0.000 0.034 1999 2710 1730 0 0 0 0 0 0

9021 0.56 146.1 572.9 17.5 531 9022 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2710 1730 0 0 0 0 0 0

9330 0.56 146.1 518.9 17.3 546 9333 0.00 1.95 0.00 0.000 4 0.000 0.057 1999 3893 1729 0 0 0 0 0 0

9390 0.56 146.1 507.2 20.1 548 9398 0.10 1.88 0.00 0.000 6 0.210 0.035 1980 2715 1729 0 0 0 0 0 0

9707 0.56 146.1 457.4 15.5 564 9708 0.00 0.00 0.00 0.000 6 0.000 0.000 1980 2715 1729 0 0 0 0 0 0

10015 0.56 146.1 406.3 17.0 579 10019 0.00 1.92 0.00 0.000 4 0.000 0.056 1980 3894 1729 0 0 0 0 0 0

10064 0.56 146.1 396.8 18.1 581 10069 0.00 1.88 0.00 0.000 6 0.000 0.034 1988 2713 1729 0 0 0 0 0 0

10395 0.56 146.1 337.8 17.9 597 10398 0.00 1.92 0.00 0.000 4 0.000 0.056 1988 3893 1729 0 0 0 0 0 0

10443 0.56 146.1 326.9 21.2 599 10449 0.00 1.88 0.00 0.000 6 0.000 0.034 1997 2706 1729 0 0 0 0 0 0

10774 0.56 146.1 266.1 18.2 615 10778 0.00 1.95 0.00 0.000 4 0.000 0.056 1998 3905 1729 0 0 0 0 0 0

10821 0.56 146.1 256.6 20.5 617 10825 0.15 1.85 0.00 0.000 6 0.223 0.034 1972 2706 1729 0 0 0 0 0 0

11151 0.56 146.1 206.0 14.8 646 11152 0.00 0.00 0.00 0.000 6 0.000 0.000 1972 2706 1729 0 0 0 0 0 0

11470 0.56 146.1 160.5 14.0 676 11471 0.00 0.00 0.00 0.000 6 0.000 0.000 1972 2707 1729 0 0 0 0 0 0

11789 0.56 146.1 123.5 9.6 706 11793 0.00 1.95 0.00 0.000 4 0.000 0.057 1972 3887 1729 0 0 0 0 0 0

11828 0.56 146.1 118.8 11.7 709 11835 0.00 1.88 0.00 0.000 6 0.000 0.035 1980 2708 1729 0 0 0 0 0 0

12165 0.56 146.1 82.0 12.6 753 12173 0.00 0.00 0.00 0.000 6 0.000 0.000 1980 2708 1729 0 0 0 0 0 0

12406 0.56 146.1 49.3 13.9 794 12414 0.00 0.00 0.00 0.000 6 0.000 0.000 1981 2708 1729 0 0 0 0 0 0

12522 0.56 146.1 33.3 14.6 813 12529 0.00 1.92 0.00 0.000 4 0.000 0.057 1980 3894 1729 0 0 0 0 0 0

12586 0.56 146.1 23.2 16.3 823 12595 0.00 1.88 0.00 0.000 6 0.000 0.034 1989 2707 1729 0 0 0 0 0 0

12670 0.56 146.1 11.0 13.6 836 12678 0.00 0.00 0.00 0.000 6 0.000 0.000 1990 2707 1729 0 0 0 0 0 0

12734 end climb: SURFACE_DEPTH_REACHED

state 12734 begin surface coast

12760 end surface coast: CONTROL_FINISHED_OK

state 12760 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	154	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	32	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	31	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	-22090.936	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	040115,184135,-5603.146,-29.754,34,0.9,34,-19.9	TGT_NAME	TARGET
_CALLS	1	TGT_LATLONG	-5600.000,-30.000
_XMS_NAKs	0	TGT_RADIUS	4000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.128,0.125
_SM_DEPTHo	2.30	KALMAN_X	83981.1,-23.0,153.8,-114881.7,-2930.9
_SM_ANGLEo	-72.5	KALMAN_Y	30744.1,-1017.6,-575.1,-34660.6,3188.3
GPS2	040115,184959,-5603.160,-29.771,14,1.2,14,-19.9	MHEAD_RNG_PITCHd_Wd	65.6,5857,-23.5,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.3,1.016531	_10V_AH	10.0,21.924
SM_CCo	12773,21.50,0.178,0,0,1522,200.16	FG_AHR_24Vo	0.000
SM_GC	2.97,0.00,0.00,21.50,0.000,0.000,0.178,55,2933,1522,-5.42,0.08,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5538.94,-26.98,040115,131346	MEM	353824
TT8_MAMPS	0.026215	DATA_FILE_SIZE	57029,850
HUMID	56.85	CAP_FILE_SIZE	113384,0
INTERNAL_PRESSURE	8.97462	CFSIZE	259252224,216412160
TCM_TEMP	6.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	040115,222522,-5602.014,-27.288,39,0.8,39,-19.9
_24V_AH	22.0,32.907

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	251	74.20	SBE_CT	603	23	318.13
Roll_motor	73	83	135.70	AA4330	1766	17	698.77
VBD_pump_during_apogee	281	1786	11054.54	WL_BB2F	858	105	1982.67
VBD_pump_during_surface	21	178	84.31	QSP2150	912	17	360.87
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	91	51.23	nil	0	0	0.00
Iridium_during_connect	40	160	141.40	nil	0	0	0.00
Iridium_during_xfer	312	223	1530.73	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	31	5.24
TT8	2094	14	302.86
LPSleep	8045	2	176.19
TT8_Active	436	14	63.09
TT8_Sampling	2527	42	1066.04
TT8_CF8	191	49	94.87
TT8_Kalman	33	68	22.82
Analog_circuits	1290	15	200.06
GPS_charging	0	0	0.00
Compass	2004	16	330.41
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	-0.51	-86.9	0.0	0.0	0	52	0.00	0.00	-33.83	0.000	2	0.000	0.000	61	2940	2251	0	0	0	0	0	0
54	-0.56	-146.1	3.1	-3.7	4	97	6.43	1.60	-25.95	0.000	4	0.252	0.083	1593	3886	2938	0	0	0	0	0	0
117	-0.56	-146.1	8.6	-13.3	12	126	0.00	1.55	0.00	0.000	6	0.000	0.033	1593	2902	2939	0	0	0	0	0	0
202	-0.56	-146.1	25.0	-20.1	25	210	0.00	0.00	0.00	0.000	6	0.000	0.000	1593	2901	2940	0	0	0	0	0	0
282	-0.56	-146.1	41.2	-18.9	38	290	0.00	0.00	0.00	0.000	6	0.000	0.000	1593	2901	2940	0	0	0	0	0	0
398	-0.56	-146.1	63.7	-20.3	57	404	0.00	0.00	0.00	0.000	6	0.000	0.000	1593	2901	2940	0	0	0	0	0	0
512	-0.56	-146.1	86.0	-19.8	76	519	0.00	1.65	0.00	0.000	4	0.000	0.059	1586	3887	2940	0	0	0	0	0	0
585	-0.56	-146.1	102.4	-20.5	88	596	0.00	1.50	0.00	0.000	6	0.000	0.031	1586	2921	2940	0	0	0	0	0	0
915	-0.56	-146.1	164.2	-17.8	119	921	0.00	0.00	0.00	0.000	6	0.000	0.000	1585	2920	2940	0	0	0	0	0	0
1240	-0.56	-146.1	222.0	-16.8	150	1243	0.00	1.60	0.00	0.000	4	0.000	0.060	1579	3886	2940	0	0	0	0	0	0
1312	-0.56	-146.1	235.4	-17.7	156	1322	0.00	1.48	0.00	0.000	6	0.000	0.032	1579	2923	2940	0	0	0	0	0	0
1632	-0.56	-146.1	290.6	-17.5	176	1633	0.00	0.00	0.00	0.000	6	0.000	0.000	1579	2923	2940	0	0	0	0	0	0
1942	-0.56	-146.1	346.2	-18.3	191	1947	0.10	1.60	0.00	0.000	4	0.215	0.060	1593	3895	2940	0	0	0	0	0	0
2026	-0.56	-146.1	361.4	-16.6	194	2035	0.00	1.48	0.00	0.000	6	0.000	0.032	1593	2925	2940	0	0	0	0	0	0
2341	-0.56	-146.1	413.5	-16.2	210	2342	0.00	0.00	0.00	0.000	6	0.000	0.000	1593	2925	2940	0	0	0	0	0	0
2651	-0.56	-146.1	462.2	-15.7	225	2654	0.00	1.60	0.00	0.000	4	0.000	0.059	1586	3893	2940	0	0	0	0	0	0
2689	-0.56	-146.1	468.9	-17.4	226	2696	0.00	1.48	0.00	0.000	6	0.000	0.032	1586	2923	2940	0	0	0	0	0	0
3005	-0.56	-146.1	519.3	-15.9	242	3008	0.00	1.60	0.00	0.000	4	0.000	0.059	1579	3892	2940	0	0	0	0	0	0
3042	-0.56	-146.1	525.9	-16.9	243	3050	0.00	1.48	0.00	0.000	6	0.000	0.031	1579	2925	2940	0	0	0	0	0	0
3359	-0.56	-146.1	576.7	-15.8	259	3363	0.00	1.60	0.00	0.000	4	0.000	0.059	1572	3896	2940	0	0	0	0	0	0
3406	-0.56	-146.1	584.3	-16.7	261	3410	0.10	1.45	0.00	0.000	6	0.184	0.032	1601	2942	2940	0	0	0	0	0	0
3738	-0.56	-146.1	630.0	-13.4	277	3739	0.00	0.00	0.00	0.000	6	0.000	0.000	1601	2937	2940	0	0	0	0	0	0
4048	-0.56	-146.1	670.3	-12.8	292	4051	0.00	1.58	0.00	0.000	4	0.000	0.060	1594	3892	2940	0	0	0	0	0	0
4108	-0.56	-146.1	679.0	-14.0	294	4116	0.00	1.48	0.00	0.000	6	0.000	0.031	1594	2916	2940	0	0	0	0	0	0
4425	-0.56	-146.1	722.3	-13.9	310	4428	0.00	1.60	0.00	0.000	4	0.000	0.059	1586	3888	2940	0	0	0	0	0	0
4462	-0.56	-146.1	728.2	-15.4	311	4470	0.00	1.48	0.00	0.000	6	0.000	0.031	1586	2916	2940	0	0	0	0	0	0
4779	-0.56	-146.1	774.0	-14.6	327	4780	0.00	0.00	0.00	0.000	6	0.000	0.000	1586	2915	2940	0	0	0	0	0	0
5089	-0.56	-146.1	819.3	-14.7	342	5092	0.00	1.60	0.00	0.000	4	0.000	0.059	1579	3889	2940	0	0	0	0	0	0
5171	-0.56	-146.1	832.8	-16.2	345	5179	0.00	1.45	0.00	0.000	6	0.000	0.031	1579	2927	2940	0	0	0	0	0	0
5488	-0.56	-146.1	880.4	-15.1	361	5489	0.00	0.00	0.00	0.000	6	0.000	0.000	1579	2926	2940	0	0	0	0	0	0
5798	-0.56	-146.1	927.1	-15.0	376	5802	0.00	1.58	0.00	0.000	4	0.000	0.059	1572	3886	2940	0	0	0	0	0	0
5897	-0.56	-146.1	943.4	-16.1	380	5902	0.10	1.42	0.00	0.000	6	0.181	0.031	1601	2948	2940	0	0	0	0	0	0
6220	-0.56	-146.1	986.2	-13.2	396	6221	0.00	0.00	0.00	0.000	6	0.000	0.000	1601	2943	2940	0	0	0	0	0	0
6341	end dive: TARGET_DEPTH_EXCEEDED
state	6341	begin apogee
6346	-0.13	0.0	1002.7	13.2	402	6485	0.47	0.00	133.90	1.786	6	0.171	0.000	1741	2718	2342	0	0	0	0	0	0
6485	end apogee: CONTROL_FINISHED_OK
state	6486	begin climb
6487	0.56	146.1	1007.9	0.0	409	6642	0.75	2.50	147.40	1.753	4	0.122	0.043	1971	1325	1745	0	0	0	0	0	0
6663	0.56	146.1	988.4	15.6	417	6668	0.00	2.47	0.00	0.000	6	0.000	0.049	1971	2702	1743	0	0	0	0	0	0
6986	0.56	146.1	934.0	17.0	433	6990	0.00	2.03	0.00	0.000	4	0.000	0.057	1971	3912	1737	0	0	0	0	0	0
7024	0.56	146.1	926.5	19.1	434	7032	0.00	1.95	0.00	0.000	6	0.000	0.034	1980	2734	1734	0	0	0	0	0	0
7340	0.56	146.1	869.7	18.0	450	7341	0.00	0.00	0.00	0.000	6	0.000	0.000	1980	2734	1733	0	0	0	0	0	0
7650	0.56	146.1	814.3	17.7	465	7651	0.00	0.00	0.00	0.000	6	0.000	0.000	1980	2734	1733	0	0	0	0	0	0
7959	0.56	146.1	760.0	17.1	480	7962	0.00	1.92	0.00	0.000	4	0.000	0.057	1980	3896	1732	0	0	0	0	0	0
8007	0.56	146.1	750.5	20.0	482	8012	0.00	1.90	0.00	0.000	6	0.000	0.035	1989	2712	1731	0	0	0	0	0	0
8335	0.56	146.1	693.3	17.4	498	8336	0.00	0.00	0.00	0.000	6	0.000	0.000	1990	2712	1731	0	0	0	0	0	0
8644	0.56	146.1	639.9	16.9	513	8647	0.00	1.95	0.00	0.000	4	0.000	0.057	1990	3902	1730	0	0	0	0	0	0
8704	0.56	146.1	628.2	18.8	515	8712	0.00	1.90	0.00	0.000	6	0.000	0.034	1999	2710	1730	0	0	0	0	0	0
9021	0.56	146.1	572.9	17.5	531	9022	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2710	1730	0	0	0	0	0	0
9330	0.56	146.1	518.9	17.3	546	9333	0.00	1.95	0.00	0.000	4	0.000	0.057	1999	3893	1729	0	0	0	0	0	0
9390	0.56	146.1	507.2	20.1	548	9398	0.10	1.88	0.00	0.000	6	0.210	0.035	1980	2715	1729	0	0	0	0	0	0
9707	0.56	146.1	457.4	15.5	564	9708	0.00	0.00	0.00	0.000	6	0.000	0.000	1980	2715	1729	0	0	0	0	0	0
10015	0.56	146.1	406.3	17.0	579	10019	0.00	1.92	0.00	0.000	4	0.000	0.056	1980	3894	1729	0	0	0	0	0	0
10064	0.56	146.1	396.8	18.1	581	10069	0.00	1.88	0.00	0.000	6	0.000	0.034	1988	2713	1729	0	0	0	0	0	0
10395	0.56	146.1	337.8	17.9	597	10398	0.00	1.92	0.00	0.000	4	0.000	0.056	1988	3893	1729	0	0	0	0	0	0
10443	0.56	146.1	326.9	21.2	599	10449	0.00	1.88	0.00	0.000	6	0.000	0.034	1997	2706	1729	0	0	0	0	0	0
10774	0.56	146.1	266.1	18.2	615	10778	0.00	1.95	0.00	0.000	4	0.000	0.056	1998	3905	1729	0	0	0	0	0	0
10821	0.56	146.1	256.6	20.5	617	10825	0.15	1.85	0.00	0.000	6	0.223	0.034	1972	2706	1729	0	0	0	0	0	0
11151	0.56	146.1	206.0	14.8	646	11152	0.00	0.00	0.00	0.000	6	0.000	0.000	1972	2706	1729	0	0	0	0	0	0
11470	0.56	146.1	160.5	14.0	676	11471	0.00	0.00	0.00	0.000	6	0.000	0.000	1972	2707	1729	0	0	0	0	0	0
11789	0.56	146.1	123.5	9.6	706	11793	0.00	1.95	0.00	0.000	4	0.000	0.057	1972	3887	1729	0	0	0	0	0	0
11828	0.56	146.1	118.8	11.7	709	11835	0.00	1.88	0.00	0.000	6	0.000	0.035	1980	2708	1729	0	0	0	0	0	0
12165	0.56	146.1	82.0	12.6	753	12173	0.00	0.00	0.00	0.000	6	0.000	0.000	1980	2708	1729	0	0	0	0	0	0
12406	0.56	146.1	49.3	13.9	794	12414	0.00	0.00	0.00	0.000	6	0.000	0.000	1981	2708	1729	0	0	0	0	0	0
12522	0.56	146.1	33.3	14.6	813	12529	0.00	1.92	0.00	0.000	4	0.000	0.057	1980	3894	1729	0	0	0	0	0	0
12586	0.56	146.1	23.2	16.3	823	12595	0.00	1.88	0.00	0.000	6	0.000	0.034	1989	2707	1729	0	0	0	0	0	0
12670	0.56	146.1	11.0	13.6	836	12678	0.00	0.00	0.00	0.000	6	0.000	0.000	1990	2707	1729	0	0	0	0	0	0
12734	end climb: SURFACE_DEPTH_REACHED
state	12734	begin surface coast
12760	end surface coast: CONTROL_FINISHED_OK
state	12760	begin surface