Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 156 * 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 156 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 31 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 -22096.738 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 -22096.738

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 31 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 156 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 050115,015104,-5600.104,-27.765,31,1.0,31,-19.9 TGT_NAME TARGET2

_CALLS 2 TGT_LATLONG -5545.000,-30.000

_XMS_NAKs 0 TGT_RADIUS 4000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.151,0.175

_SM_DEPTHo 2.33 KALMAN_X 82722.9,737.9,254.5,-112545.9,-3466.1

_SM_ANGLEo -72.6 KALMAN_Y 28595.5,-187.7,-41.8,-28230.4,226.5

GPS2 050115,020112,-5600.100,-27.889,17,1.3,17,-19.9 MHEAD_RNG_PITCHd_Wd 60.6,28051,-17.2,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.2,1.004180 _10V_AH 9.9,22.149

SM_CCo 16893,12.27,0.174,0,0,1523,200.16 FG_AHR_24Vo 0.000

SM_GC 3.54,0.00,0.00,12.27,0.000,0.000,0.174,62,2939,1523,-5.40,0.25,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5538.94,-30.83,040115,181815 MEM 353824

TT8_MAMPS 0.026215 DATA_FILE_SIZE 73730,1088

HUMID 56.49 CAP_FILE_SIZE 114993,0

INTERNAL_PRESSURE 8.97462 CFSIZE 259252224,216260608

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

XPDR_PINGS 0 GPS 050115,064504,-5558.486,-25.286,36,0.8,36,-19.9

_24V_AH 22.0,33.236

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 251 70.04 SBE_CT 774 23 408.41

Roll_motor 22 81 39.75 AA4330 2251 17 890.66

VBD_pump_during_apogee 304 1783 11941.83 WL_BB2F 1056 105 2440.11

VBD_pump_during_surface 12 173 46.90 QSP2150 1063 17 420.53

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 59 91 121.04 nil 0 0 0.00

Iridium_during_connect 99 160 351.50 nil 0 0 0.00

Iridium_during_xfer 267 223 1310.84 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 31 6.28

TT8 2604 14 372.81

LPSleep 11420 2 247.60

TT8_Active 402 14 57.69

TT8_Sampling 2872 42 1199.13

TT8_CF8 217 49 106.80

TT8_Kalman 33 68 22.59

Analog_circuits 1283 15 196.95

GPS_charging 0 0 0.00

Compass 2285 16 372.91

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 15 begin dive

16 -0.44 -146.1 0.0 0.0 0 52 0.00 0.00 -33.60 0.000 2 0.000 0.000 58 2937 2249 0 0 0 0 0 0

54 -0.44 -146.1 3.2 -3.5 4 97 6.57 1.62 -25.92 0.000 4 0.252 0.082 1630 3892 2940 0 0 0 0 0 0

258 -0.44 -146.1 31.3 -17.1 35 265 0.00 1.55 0.00 0.000 6 0.000 0.031 1630 2896 2940 0 0 0 0 0 0

372 -0.44 -146.1 52.0 -18.1 54 380 0.00 0.00 0.00 0.000 6 0.000 0.000 1630 2895 2941 0 0 0 0 0 0

488 -0.44 -146.1 72.1 -17.8 73 494 0.00 0.00 0.00 0.000 6 0.000 0.000 1630 2895 2941 0 0 0 0 0 0

600 -0.44 -146.1 93.1 -17.8 92 607 0.00 0.00 0.00 0.000 6 0.000 0.000 1630 2895 2941 0 0 0 0 0 0

823 -0.44 -146.1 129.7 -14.5 116 827 0.00 1.62 0.00 0.000 4 0.000 0.059 1623 3893 2941 0 0 0 0 0 0

861 -0.44 -146.1 135.3 -15.4 119 865 0.00 1.48 0.00 0.000 6 0.000 0.031 1623 2931 2941 0 0 0 0 0 0

1191 -0.44 -146.1 187.2 -15.7 150 1192 0.00 0.00 0.00 0.000 6 0.000 0.000 1623 2925 2941 0 0 0 0 0 0

1511 -0.44 -146.1 236.5 -15.1 180 1515 0.00 1.60 0.00 0.000 4 0.000 0.060 1615 3886 2941 0 0 0 0 0 0

1596 -0.44 -146.1 250.4 -16.2 187 1603 0.08 1.45 0.00 0.000 6 0.179 0.031 1638 2936 2941 0 0 0 0 0 0

1913 -0.44 -146.1 292.5 -12.8 203 1914 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2936 2941 0 0 0 0 0 0

2223 -0.44 -146.1 331.4 -12.3 218 2224 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2936 2941 0 0 0 0 0 0

2533 -0.44 -146.1 368.7 -12.1 233 2535 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2936 2941 0 0 0 0 0 0

2839 -0.44 -146.1 404.1 -11.5 248 2840 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2936 2941 0 0 0 0 0 0

3149 -0.44 -146.1 440.2 -11.9 263 3150 0.00 0.00 0.00 0.000 6 0.000 0.000 1637 2936 2941 0 0 0 0 0 0

3458 -0.44 -146.1 475.9 -11.5 278 3459 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2936 2941 0 0 0 0 0 0

3767 -0.44 -146.1 511.7 -11.5 293 3768 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2936 2941 0 0 0 0 0 0

4077 -0.44 -146.1 548.0 -12.0 308 4078 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2936 2941 0 0 0 0 0 0

4386 -0.44 -146.1 583.5 -11.3 323 4387 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2936 2941 0 0 0 0 0 0

4695 -0.44 -146.1 618.0 -11.0 338 4696 0.00 0.00 0.00 0.000 6 0.000 0.000 1637 2936 2941 0 0 0 0 0 0

5005 -0.44 -146.1 651.9 -11.1 353 5006 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2936 2941 0 0 0 0 0 0

5314 -0.44 -146.1 686.9 -11.6 368 5315 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2936 2941 0 0 0 0 0 0

5623 -0.44 -146.1 721.9 -11.3 383 5624 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2936 2941 0 0 0 0 0 0

5933 -0.44 -146.1 755.1 -10.5 398 5935 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2936 2940 0 0 0 0 0 0

6242 -0.44 -146.1 786.1 -9.8 413 6243 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2936 2941 0 0 0 0 0 0

6551 -0.44 -146.1 816.3 -9.8 428 6552 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2936 2941 0 0 0 0 0 0

6862 -0.44 -146.1 844.8 -9.0 443 6863 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2936 2941 0 0 0 0 0 0

7170 -0.44 -146.1 871.6 -8.5 458 7171 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2936 2941 0 0 0 0 0 0

7480 -0.44 -146.1 896.3 -8.0 473 7481 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2936 2941 0 0 0 0 0 0

7790 -0.44 -146.1 920.8 -7.9 488 7791 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2935 2941 0 0 0 0 0 0

8098 -0.44 -146.1 945.0 -7.8 503 8102 0.00 2.12 0.00 0.000 4 0.000 0.040 1638 1534 2941 0 0 0 0 0 0

8136 -0.44 -146.1 948.0 -7.4 504 8144 0.00 2.25 0.00 0.000 6 0.000 0.053 1628 2922 2941 0 0 0 0 0 0

8453 -0.44 -146.1 974.6 -8.8 520 8454 0.00 0.00 0.00 0.000 6 0.000 0.000 1628 2922 2941 0 0 0 0 0 0

8739 end dive: TARGET_DEPTH_EXCEEDED

state 8739 begin apogee

8744 -0.13 0.0 1000.6 9.1 534 8883 0.40 0.00 133.93 1.783 6 0.168 0.000 1745 2704 2342 0 0 0 0 0 0

8884 end apogee: CONTROL_FINISHED_OK

state 8884 begin climb

8886 0.44 146.1 1003.0 0.0 541 9037 0.60 0.00 147.23 1.737 6 0.125 0.000 1922 2704 1746 0 0 0 0 0 0

9338 0.44 146.1 946.9 13.8 563 9339 0.00 0.00 0.00 0.000 6 0.000 0.000 1922 2704 1737 0 0 0 0 0 0

9648 0.44 146.1 903.8 13.7 578 9652 0.00 2.03 0.00 0.000 4 0.000 0.060 1922 3894 1736 0 0 0 0 0 0

9697 0.44 146.1 896.1 15.1 580 9701 0.00 1.88 0.00 0.000 6 0.000 0.034 1931 2745 1734 0 0 0 0 0 0

10025 0.44 146.1 848.8 14.9 596 10026 0.00 0.00 0.00 0.000 6 0.000 0.000 1931 2743 1733 0 0 0 0 0 0

10333 0.44 146.1 806.2 13.5 611 10334 0.00 0.00 0.00 0.000 6 0.000 0.000 1931 2744 1733 0 0 0 0 0 0

10643 0.44 146.1 763.4 13.8 626 10644 0.00 0.00 0.00 0.000 6 0.000 0.000 1931 2744 1732 0 0 0 0 0 0

10953 0.44 146.1 721.1 13.7 641 10954 0.00 0.00 0.00 0.000 6 0.000 0.000 1931 2744 1732 0 0 0 0 0 0

11261 0.44 146.1 679.9 13.5 656 11262 0.00 0.00 0.00 0.000 6 0.000 0.000 1931 2743 1732 0 0 0 0 0 0

11571 0.44 146.1 638.0 13.8 671 11572 0.00 0.00 0.00 0.000 6 0.000 0.000 1931 2743 1731 0 0 0 0 0 0

11881 0.44 146.1 595.7 13.8 686 11882 0.00 0.00 0.00 0.000 6 0.000 0.000 1931 2744 1731 0 0 0 0 0 0

12189 0.44 146.1 552.7 13.9 701 12190 0.00 0.00 0.00 0.000 6 0.000 0.000 1931 2743 1731 0 0 0 0 0 0

12499 0.44 146.1 511.3 13.3 716 12500 0.00 0.00 0.00 0.000 6 0.000 0.000 1931 2744 1731 0 0 0 0 0 0

12809 0.44 146.1 471.4 12.9 731 12810 0.00 0.00 0.00 0.000 6 0.000 0.000 1931 2743 1730 0 0 0 0 0 0

13117 0.44 146.1 432.6 12.5 746 13118 0.00 0.00 0.00 0.000 6 0.000 0.000 1931 2744 1730 0 0 0 0 0 0

13429 0.44 146.1 394.5 12.0 761 13430 0.00 0.00 0.00 0.000 6 0.000 0.000 1931 2744 1730 0 0 0 0 0 0

13738 0.44 146.1 357.5 12.2 776 13739 0.00 0.00 0.00 0.000 6 0.000 0.000 1931 2744 1730 0 0 0 0 0 0

14049 0.44 146.1 320.2 12.0 791 14050 0.00 0.00 0.00 0.000 6 0.000 0.000 1931 2744 1731 0 0 0 0 0 0

14355 0.44 146.1 284.1 11.5 806 14356 0.00 0.00 0.00 0.000 6 0.000 0.000 1931 2744 1730 0 0 0 0 0 0

14667 0.44 146.1 249.1 11.4 821 14668 0.00 0.00 0.00 0.000 6 0.000 0.000 1931 2744 1730 0 0 0 0 0 0

14985 0.44 146.1 214.6 10.0 851 14989 0.00 1.90 0.00 0.000 4 0.000 0.059 1930 3903 1730 0 0 0 0 0 0

15035 0.44 146.1 209.4 10.8 855 15039 0.00 1.88 0.00 0.000 6 0.000 0.034 1940 2699 1729 0 0 0 0 0 0

15365 0.46 173.7 180.7 8.3 886 15398 0.00 0.00 23.25 1.283 6 0.000 0.000 1940 2699 1632 0 0 0 0 0 0

15715 0.46 173.7 144.9 11.8 919 15716 0.00 0.00 0.00 0.000 6 0.000 0.000 1940 2699 1628 0 0 0 0 0 0

16035 0.46 173.7 101.4 15.1 949 16041 0.00 0.00 0.00 0.000 6 0.000 0.000 1940 2699 1628 0 0 0 0 0 0

16391 0.46 173.7 52.0 13.1 1010 16400 0.00 0.00 0.00 0.000 6 0.000 0.000 1940 2699 1628 0 0 0 0 0 0

16506 0.46 173.7 38.7 11.5 1029 16513 0.00 0.00 0.00 0.000 6 0.000 0.000 1941 2699 1628 0 0 0 0 0 0

16621 0.46 173.7 25.7 10.9 1048 16630 0.00 0.00 0.00 0.000 6 0.000 0.000 1940 2699 1628 0 0 0 0 0 0

16705 0.46 173.7 16.9 9.7 1061 16714 0.00 0.00 0.00 0.000 6 0.000 0.000 1940 2699 1628 0 0 0 0 0 0

16791 0.46 173.7 8.2 10.1 1074 16799 0.00 0.00 0.00 0.000 6 0.000 0.000 1940 2699 1628 0 0 0 0 0 0

16842 end climb: SURFACE_DEPTH_REACHED

state 16842 begin surface coast

16881 end surface coast: CONTROL_FINISHED_OK

state 16881 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	156	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	31	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	-22096.738	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	050115,015104,-5600.104,-27.765,31,1.0,31,-19.9	TGT_NAME	TARGET2
_CALLS	2	TGT_LATLONG	-5545.000,-30.000
_XMS_NAKs	0	TGT_RADIUS	4000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.151,0.175
_SM_DEPTHo	2.33	KALMAN_X	82722.9,737.9,254.5,-112545.9,-3466.1
_SM_ANGLEo	-72.6	KALMAN_Y	28595.5,-187.7,-41.8,-28230.4,226.5
GPS2	050115,020112,-5600.100,-27.889,17,1.3,17,-19.9	MHEAD_RNG_PITCHd_Wd	60.6,28051,-17.2,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.2,1.004180	_10V_AH	9.9,22.149
SM_CCo	16893,12.27,0.174,0,0,1523,200.16	FG_AHR_24Vo	0.000
SM_GC	3.54,0.00,0.00,12.27,0.000,0.000,0.174,62,2939,1523,-5.40,0.25,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5538.94,-30.83,040115,181815	MEM	353824
TT8_MAMPS	0.026215	DATA_FILE_SIZE	73730,1088
HUMID	56.49	CAP_FILE_SIZE	114993,0
INTERNAL_PRESSURE	8.97462	CFSIZE	259252224,216260608
TCM_TEMP	7.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	050115,064504,-5558.486,-25.286,36,0.8,36,-19.9
_24V_AH	22.0,33.236

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	251	70.04	SBE_CT	774	23	408.41
Roll_motor	22	81	39.75	AA4330	2251	17	890.66
VBD_pump_during_apogee	304	1783	11941.83	WL_BB2F	1056	105	2440.11
VBD_pump_during_surface	12	173	46.90	QSP2150	1063	17	420.53
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	59	91	121.04	nil	0	0	0.00
Iridium_during_connect	99	160	351.50	nil	0	0	0.00
Iridium_during_xfer	267	223	1310.84	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	31	6.28
TT8	2604	14	372.81
LPSleep	11420	2	247.60
TT8_Active	402	14	57.69
TT8_Sampling	2872	42	1199.13
TT8_CF8	217	49	106.80
TT8_Kalman	33	68	22.59
Analog_circuits	1283	15	196.95
GPS_charging	0	0	0.00
Compass	2285	16	372.91
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	15	begin dive
16	-0.44	-146.1	0.0	0.0	0	52	0.00	0.00	-33.60	0.000	2	0.000	0.000	58	2937	2249	0	0	0	0	0	0
54	-0.44	-146.1	3.2	-3.5	4	97	6.57	1.62	-25.92	0.000	4	0.252	0.082	1630	3892	2940	0	0	0	0	0	0
258	-0.44	-146.1	31.3	-17.1	35	265	0.00	1.55	0.00	0.000	6	0.000	0.031	1630	2896	2940	0	0	0	0	0	0
372	-0.44	-146.1	52.0	-18.1	54	380	0.00	0.00	0.00	0.000	6	0.000	0.000	1630	2895	2941	0	0	0	0	0	0
488	-0.44	-146.1	72.1	-17.8	73	494	0.00	0.00	0.00	0.000	6	0.000	0.000	1630	2895	2941	0	0	0	0	0	0
600	-0.44	-146.1	93.1	-17.8	92	607	0.00	0.00	0.00	0.000	6	0.000	0.000	1630	2895	2941	0	0	0	0	0	0
823	-0.44	-146.1	129.7	-14.5	116	827	0.00	1.62	0.00	0.000	4	0.000	0.059	1623	3893	2941	0	0	0	0	0	0
861	-0.44	-146.1	135.3	-15.4	119	865	0.00	1.48	0.00	0.000	6	0.000	0.031	1623	2931	2941	0	0	0	0	0	0
1191	-0.44	-146.1	187.2	-15.7	150	1192	0.00	0.00	0.00	0.000	6	0.000	0.000	1623	2925	2941	0	0	0	0	0	0
1511	-0.44	-146.1	236.5	-15.1	180	1515	0.00	1.60	0.00	0.000	4	0.000	0.060	1615	3886	2941	0	0	0	0	0	0
1596	-0.44	-146.1	250.4	-16.2	187	1603	0.08	1.45	0.00	0.000	6	0.179	0.031	1638	2936	2941	0	0	0	0	0	0
1913	-0.44	-146.1	292.5	-12.8	203	1914	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2936	2941	0	0	0	0	0	0
2223	-0.44	-146.1	331.4	-12.3	218	2224	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2936	2941	0	0	0	0	0	0
2533	-0.44	-146.1	368.7	-12.1	233	2535	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2936	2941	0	0	0	0	0	0
2839	-0.44	-146.1	404.1	-11.5	248	2840	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2936	2941	0	0	0	0	0	0
3149	-0.44	-146.1	440.2	-11.9	263	3150	0.00	0.00	0.00	0.000	6	0.000	0.000	1637	2936	2941	0	0	0	0	0	0
3458	-0.44	-146.1	475.9	-11.5	278	3459	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2936	2941	0	0	0	0	0	0
3767	-0.44	-146.1	511.7	-11.5	293	3768	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2936	2941	0	0	0	0	0	0
4077	-0.44	-146.1	548.0	-12.0	308	4078	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2936	2941	0	0	0	0	0	0
4386	-0.44	-146.1	583.5	-11.3	323	4387	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2936	2941	0	0	0	0	0	0
4695	-0.44	-146.1	618.0	-11.0	338	4696	0.00	0.00	0.00	0.000	6	0.000	0.000	1637	2936	2941	0	0	0	0	0	0
5005	-0.44	-146.1	651.9	-11.1	353	5006	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2936	2941	0	0	0	0	0	0
5314	-0.44	-146.1	686.9	-11.6	368	5315	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2936	2941	0	0	0	0	0	0
5623	-0.44	-146.1	721.9	-11.3	383	5624	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2936	2941	0	0	0	0	0	0
5933	-0.44	-146.1	755.1	-10.5	398	5935	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2936	2940	0	0	0	0	0	0
6242	-0.44	-146.1	786.1	-9.8	413	6243	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2936	2941	0	0	0	0	0	0
6551	-0.44	-146.1	816.3	-9.8	428	6552	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2936	2941	0	0	0	0	0	0
6862	-0.44	-146.1	844.8	-9.0	443	6863	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2936	2941	0	0	0	0	0	0
7170	-0.44	-146.1	871.6	-8.5	458	7171	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2936	2941	0	0	0	0	0	0
7480	-0.44	-146.1	896.3	-8.0	473	7481	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2936	2941	0	0	0	0	0	0
7790	-0.44	-146.1	920.8	-7.9	488	7791	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2935	2941	0	0	0	0	0	0
8098	-0.44	-146.1	945.0	-7.8	503	8102	0.00	2.12	0.00	0.000	4	0.000	0.040	1638	1534	2941	0	0	0	0	0	0
8136	-0.44	-146.1	948.0	-7.4	504	8144	0.00	2.25	0.00	0.000	6	0.000	0.053	1628	2922	2941	0	0	0	0	0	0
8453	-0.44	-146.1	974.6	-8.8	520	8454	0.00	0.00	0.00	0.000	6	0.000	0.000	1628	2922	2941	0	0	0	0	0	0
8739	end dive: TARGET_DEPTH_EXCEEDED
state	8739	begin apogee
8744	-0.13	0.0	1000.6	9.1	534	8883	0.40	0.00	133.93	1.783	6	0.168	0.000	1745	2704	2342	0	0	0	0	0	0
8884	end apogee: CONTROL_FINISHED_OK
state	8884	begin climb
8886	0.44	146.1	1003.0	0.0	541	9037	0.60	0.00	147.23	1.737	6	0.125	0.000	1922	2704	1746	0	0	0	0	0	0
9338	0.44	146.1	946.9	13.8	563	9339	0.00	0.00	0.00	0.000	6	0.000	0.000	1922	2704	1737	0	0	0	0	0	0
9648	0.44	146.1	903.8	13.7	578	9652	0.00	2.03	0.00	0.000	4	0.000	0.060	1922	3894	1736	0	0	0	0	0	0
9697	0.44	146.1	896.1	15.1	580	9701	0.00	1.88	0.00	0.000	6	0.000	0.034	1931	2745	1734	0	0	0	0	0	0
10025	0.44	146.1	848.8	14.9	596	10026	0.00	0.00	0.00	0.000	6	0.000	0.000	1931	2743	1733	0	0	0	0	0	0
10333	0.44	146.1	806.2	13.5	611	10334	0.00	0.00	0.00	0.000	6	0.000	0.000	1931	2744	1733	0	0	0	0	0	0
10643	0.44	146.1	763.4	13.8	626	10644	0.00	0.00	0.00	0.000	6	0.000	0.000	1931	2744	1732	0	0	0	0	0	0
10953	0.44	146.1	721.1	13.7	641	10954	0.00	0.00	0.00	0.000	6	0.000	0.000	1931	2744	1732	0	0	0	0	0	0
11261	0.44	146.1	679.9	13.5	656	11262	0.00	0.00	0.00	0.000	6	0.000	0.000	1931	2743	1732	0	0	0	0	0	0
11571	0.44	146.1	638.0	13.8	671	11572	0.00	0.00	0.00	0.000	6	0.000	0.000	1931	2743	1731	0	0	0	0	0	0
11881	0.44	146.1	595.7	13.8	686	11882	0.00	0.00	0.00	0.000	6	0.000	0.000	1931	2744	1731	0	0	0	0	0	0
12189	0.44	146.1	552.7	13.9	701	12190	0.00	0.00	0.00	0.000	6	0.000	0.000	1931	2743	1731	0	0	0	0	0	0
12499	0.44	146.1	511.3	13.3	716	12500	0.00	0.00	0.00	0.000	6	0.000	0.000	1931	2744	1731	0	0	0	0	0	0
12809	0.44	146.1	471.4	12.9	731	12810	0.00	0.00	0.00	0.000	6	0.000	0.000	1931	2743	1730	0	0	0	0	0	0
13117	0.44	146.1	432.6	12.5	746	13118	0.00	0.00	0.00	0.000	6	0.000	0.000	1931	2744	1730	0	0	0	0	0	0
13429	0.44	146.1	394.5	12.0	761	13430	0.00	0.00	0.00	0.000	6	0.000	0.000	1931	2744	1730	0	0	0	0	0	0
13738	0.44	146.1	357.5	12.2	776	13739	0.00	0.00	0.00	0.000	6	0.000	0.000	1931	2744	1730	0	0	0	0	0	0
14049	0.44	146.1	320.2	12.0	791	14050	0.00	0.00	0.00	0.000	6	0.000	0.000	1931	2744	1731	0	0	0	0	0	0
14355	0.44	146.1	284.1	11.5	806	14356	0.00	0.00	0.00	0.000	6	0.000	0.000	1931	2744	1730	0	0	0	0	0	0
14667	0.44	146.1	249.1	11.4	821	14668	0.00	0.00	0.00	0.000	6	0.000	0.000	1931	2744	1730	0	0	0	0	0	0
14985	0.44	146.1	214.6	10.0	851	14989	0.00	1.90	0.00	0.000	4	0.000	0.059	1930	3903	1730	0	0	0	0	0	0
15035	0.44	146.1	209.4	10.8	855	15039	0.00	1.88	0.00	0.000	6	0.000	0.034	1940	2699	1729	0	0	0	0	0	0
15365	0.46	173.7	180.7	8.3	886	15398	0.00	0.00	23.25	1.283	6	0.000	0.000	1940	2699	1632	0	0	0	0	0	0
15715	0.46	173.7	144.9	11.8	919	15716	0.00	0.00	0.00	0.000	6	0.000	0.000	1940	2699	1628	0	0	0	0	0	0
16035	0.46	173.7	101.4	15.1	949	16041	0.00	0.00	0.00	0.000	6	0.000	0.000	1940	2699	1628	0	0	0	0	0	0
16391	0.46	173.7	52.0	13.1	1010	16400	0.00	0.00	0.00	0.000	6	0.000	0.000	1940	2699	1628	0	0	0	0	0	0
16506	0.46	173.7	38.7	11.5	1029	16513	0.00	0.00	0.00	0.000	6	0.000	0.000	1941	2699	1628	0	0	0	0	0	0
16621	0.46	173.7	25.7	10.9	1048	16630	0.00	0.00	0.00	0.000	6	0.000	0.000	1940	2699	1628	0	0	0	0	0	0
16705	0.46	173.7	16.9	9.7	1061	16714	0.00	0.00	0.00	0.000	6	0.000	0.000	1940	2699	1628	0	0	0	0	0	0
16791	0.46	173.7	8.2	10.1	1074	16799	0.00	0.00	0.00	0.000	6	0.000	0.000	1940	2699	1628	0	0	0	0	0	0
16842	end climb: SURFACE_DEPTH_REACHED
state	16842	begin surface coast
16881	end surface coast: CONTROL_FINISHED_OK
state	16881	begin surface