Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 158 * 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 158 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 29 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 -22102.596 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 -22102.596

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 29 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 158 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 050115,114334,-5556.090,-23.513,24,0.9,24,-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 0.036,0.228

_SM_DEPTHo 2.42 KALMAN_X 83066.9,232.6,323.6,-107895.2,-1831.6

_SM_ANGLEo -74.3 KALMAN_Y 27196.5,355.4,193.0,-20098.3,-1525.0

GPS2 050115,115206,-5556.036,-23.486,18,1.7,18,-19.9 MHEAD_RNG_PITCHd_Wd 28.9,21537,-17.2,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.3,1.011930 _10V_AH 10.0,22.406

SM_CCo 16686,29.73,0.147,0,0,1523,200.16 FG_AHR_24Vo 0.000

SM_GC 2.08,0.00,0.00,29.73,0.000,0.000,0.147,53,2937,1523,-5.42,0.23,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5535.12,-26.92,050115,060647 MEM 353836

TT8_MAMPS 0.026215 DATA_FILE_SIZE 77087,1098

HUMID 56.85 CAP_FILE_SIZE 117168,0

INTERNAL_PRESSURE 8.97462 CFSIZE 259252224,216121344

TCM_TEMP 7.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 050115,163251,-5553.424,-22.998,24,1.2,40,-19.9

_24V_AH 22.0,33.560

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 253 72.00 SBE_CT 781 23 412.34

Roll_motor 31 80 55.58 AA4330 2295 17 907.90

VBD_pump_during_apogee 282 1797 11184.88 WL_BB2F 1112 105 2569.31

VBD_pump_during_surface 29 146 96.05 QSP2150 1138 17 450.39

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 91 54.70 nil 0 0 0.00

Iridium_during_connect 40 160 143.25 nil 0 0 0.00

Iridium_during_xfer 313 223 1539.72 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 31 6.61

TT8 2630 14 380.36

LPSleep 11066 2 242.36

TT8_Active 427 14 61.78

TT8_Sampling 2879 42 1214.46

TT8_CF8 219 49 109.12

TT8_Kalman 33 68 22.81

Analog_circuits 1306 15 202.52

GPS_charging 0 0 0.00

Compass 2335 16 384.94

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 -33.85 0.000 2 0.000 0.000 62 2948 2265 0 0 0 0 0 0

54 -0.44 -146.1 3.2 -3.2 4 97 6.60 1.60 -24.77 0.000 4 0.253 0.080 1630 3891 2940 0 0 0 0 0 0

367 -0.44 -146.1 50.1 -15.8 54 376 0.00 1.55 0.00 0.000 6 0.000 0.031 1630 2893 2942 0 0 0 0 0 0

483 -0.44 -146.1 68.2 -15.8 73 491 0.00 1.67 0.00 0.000 4 0.000 0.058 1622 3891 2942 0 0 0 0 0 0

534 -0.44 -146.1 76.9 -17.5 81 541 0.00 1.48 0.00 0.000 6 0.000 0.031 1622 2930 2942 0 0 0 0 0 0

649 -0.44 -146.1 96.3 -16.3 100 656 0.00 0.00 0.00 0.000 6 0.000 0.000 1622 2930 2942 0 0 0 0 0 0

869 -0.44 -146.1 131.7 -14.9 122 870 0.00 0.00 0.00 0.000 6 0.000 0.000 1622 2930 2942 0 0 0 0 0 0

1189 -0.44 -146.1 178.5 -14.2 152 1190 0.00 0.00 0.00 0.000 6 0.000 0.000 1622 2930 2941 0 0 0 0 0 0

1507 -0.44 -146.1 221.8 -13.4 182 1511 0.00 1.62 0.00 0.000 4 0.000 0.060 1614 3895 2941 0 0 0 0 0 0

1568 -0.44 -146.1 230.1 -14.2 187 1572 0.08 1.48 0.00 0.000 6 0.177 0.031 1638 2936 2942 0 0 0 0 0 0

1893 -0.44 -146.1 271.2 -12.6 210 1894 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2935 2942 0 0 0 0 0 0

2204 -0.44 -146.1 307.5 -11.7 225 2205 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2935 2942 0 0 0 0 0 0

2513 -0.44 -146.1 344.7 -12.0 240 2515 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2934 2942 0 0 0 0 0 0

2824 -0.44 -146.1 380.9 -11.7 255 2827 0.00 1.60 0.00 0.000 4 0.000 0.061 1630 3898 2941 0 0 0 0 0 0

2873 -0.44 -146.1 387.5 -11.9 257 2878 0.00 1.50 0.00 0.000 6 0.000 0.031 1630 2914 2942 0 0 0 0 0 0

3201 -0.44 -146.1 426.6 -12.0 273 3202 0.00 0.00 0.00 0.000 6 0.000 0.000 1630 2910 2942 0 0 0 0 0 0

3510 -0.44 -146.1 463.2 -12.0 288 3513 0.00 1.62 0.00 0.000 4 0.000 0.060 1623 3894 2942 0 0 0 0 0 0

3559 -0.44 -146.1 469.8 -13.0 290 3563 0.00 1.45 0.00 0.000 6 0.000 0.030 1623 2931 2942 0 0 0 0 0 0

3886 -0.44 -146.1 511.0 -12.7 306 3887 0.00 0.00 0.00 0.000 6 0.000 0.000 1623 2925 2942 0 0 0 0 0 0

4195 -0.44 -146.1 550.3 -12.8 321 4199 0.00 1.60 0.00 0.000 4 0.000 0.060 1615 3896 2942 0 0 0 0 0 0

4251 -0.44 -146.1 558.1 -13.6 323 4255 0.08 1.45 0.00 0.000 6 0.171 0.030 1639 2942 2942 0 0 0 0 0 0

4571 -0.44 -146.1 594.5 -11.4 339 4572 0.00 0.00 0.00 0.000 6 0.000 0.000 1639 2939 2942 0 0 0 0 0 0

4881 -0.44 -146.1 629.1 -11.0 354 4882 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2939 2942 0 0 0 0 0 0

5191 -0.44 -146.1 661.8 -10.4 369 5192 0.00 0.00 0.00 0.000 6 0.000 0.000 1639 2939 2942 0 0 0 0 0 0

5499 -0.44 -146.1 693.8 -10.6 384 5500 0.00 0.00 0.00 0.000 6 0.000 0.000 1639 2939 2941 0 0 0 0 0 0

5809 -0.44 -146.1 725.7 -10.4 399 5810 0.00 0.00 0.00 0.000 6 0.000 0.000 1639 2939 2942 0 0 0 0 0 0

6119 -0.44 -146.1 757.3 -10.2 414 6120 0.00 0.00 0.00 0.000 6 0.000 0.000 1639 2939 2942 0 0 0 0 0 0

6427 -0.44 -146.1 788.8 -10.4 429 6428 0.00 0.00 0.00 0.000 6 0.000 0.000 1639 2938 2941 0 0 0 0 0 0

6737 -0.44 -146.1 821.8 -11.0 444 6738 0.00 0.00 0.00 0.000 6 0.000 0.000 1639 2939 2941 0 0 0 0 0 0

7047 -0.44 -146.1 855.5 -10.7 459 7048 0.00 0.00 0.00 0.000 6 0.000 0.000 1639 2939 2941 0 0 0 0 0 0

7355 -0.44 -146.1 888.0 -10.5 474 7356 0.00 0.00 0.00 0.000 6 0.000 0.000 1639 2939 2941 0 0 0 0 0 0

7665 -0.44 -146.1 919.7 -10.0 489 7666 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2939 2941 0 0 0 0 0 0

7975 -0.44 -146.1 949.1 -9.4 504 7976 0.00 0.00 0.00 0.000 6 0.000 0.000 1639 2939 2941 0 0 0 0 0 0

8283 -0.44 -146.1 978.2 -9.9 519 8284 0.00 0.00 0.00 0.000 6 0.000 0.000 1639 2939 2941 0 0 0 0 0 0

8509 end dive: TARGET_DEPTH_EXCEEDED

state 8509 begin apogee

8514 -0.13 0.0 1001.0 10.0 530 8652 0.35 0.00 134.48 1.798 6 0.164 0.000 1742 2717 2341 0 0 0 0 0 0

8653 end apogee: CONTROL_FINISHED_OK

state 8653 begin climb

8655 0.44 146.1 1006.0 0.0 537 8811 0.65 0.00 148.32 1.742 6 0.125 0.000 1926 2716 1745 0 0 0 0 0 0

9120 0.44 146.1 952.6 13.4 560 9121 0.00 0.00 0.00 0.000 6 0.000 0.000 1926 2716 1736 0 0 0 0 0 0

9428 0.44 146.1 911.1 13.6 575 9432 0.00 1.98 0.00 0.000 4 0.000 0.058 1926 3892 1735 0 0 0 0 0 0

9477 0.44 146.1 903.2 16.1 577 9482 0.00 1.90 0.00 0.000 6 0.000 0.035 1935 2730 1734 0 0 0 0 0 0

9805 0.44 146.1 854.4 15.2 593 9807 0.00 0.00 0.00 0.000 6 0.000 0.000 1934 2730 1733 0 0 0 0 0 0

10114 0.44 146.1 808.4 15.0 608 10115 0.00 0.00 0.00 0.000 6 0.000 0.000 1935 2730 1732 0 0 0 0 0 0

10423 0.44 146.1 761.8 15.0 623 10425 0.00 0.00 0.00 0.000 6 0.000 0.000 1935 2730 1732 0 0 0 0 0 0

10734 0.44 146.1 716.2 14.5 638 10735 0.00 0.00 0.00 0.000 6 0.000 0.000 1935 2730 1732 0 0 0 0 0 0

11042 0.44 146.1 671.3 14.3 653 11043 0.00 0.00 0.00 0.000 6 0.000 0.000 1935 2729 1731 0 0 0 0 0 0

11351 0.44 146.1 628.6 13.3 668 11353 0.00 0.00 0.00 0.000 6 0.000 0.000 1935 2730 1731 0 0 0 0 0 0

11662 0.44 146.1 588.5 12.9 683 11663 0.00 0.00 0.00 0.000 6 0.000 0.000 1936 2730 1731 0 0 0 0 0 0

11970 0.44 146.1 549.5 12.5 698 11971 0.00 0.00 0.00 0.000 6 0.000 0.000 1935 2730 1731 0 0 0 0 0 0

12279 0.44 146.1 510.6 12.7 713 12281 0.00 0.00 0.00 0.000 6 0.000 0.000 1935 2730 1731 0 0 0 0 0 0

12590 0.44 146.1 470.3 13.1 728 12591 0.00 0.00 0.00 0.000 6 0.000 0.000 1935 2730 1731 0 0 0 0 0 0

12898 0.44 146.1 429.4 13.4 743 12899 0.00 0.00 0.00 0.000 6 0.000 0.000 1936 2730 1731 0 0 0 0 0 0

13208 0.44 146.1 388.8 12.8 758 13209 0.00 0.00 0.00 0.000 6 0.000 0.000 1935 2730 1731 0 0 0 0 0 0

13520 0.44 146.1 349.6 12.3 773 13521 0.00 0.00 0.00 0.000 6 0.000 0.000 1935 2730 1730 0 0 0 0 0 0

13826 0.44 146.1 312.5 11.8 788 13827 0.00 0.00 0.00 0.000 6 0.000 0.000 1935 2730 1731 0 0 0 0 0 0

14139 0.44 146.1 274.6 13.2 803 14140 0.00 0.00 0.00 0.000 6 0.000 0.000 1935 2730 1730 0 0 0 0 0 0

14450 0.44 146.1 235.8 11.8 823 14452 0.00 0.00 0.00 0.000 6 0.000 0.000 1935 2730 1730 0 0 0 0 0 0

14769 0.44 146.1 199.2 11.2 853 14775 0.00 0.00 0.00 0.000 6 0.000 0.000 1935 2730 1730 0 0 0 0 0 0

15095 0.44 146.1 161.7 10.3 884 15096 0.00 0.00 0.00 0.000 6 0.000 0.000 1935 2730 1730 0 0 0 0 0 0

15416 0.44 146.1 130.0 10.1 914 15417 0.00 0.00 0.00 0.000 6 0.000 0.000 1935 2730 1730 0 0 0 0 0 0

15733 0.44 146.1 97.8 10.3 945 15742 0.00 2.25 0.00 0.000 4 0.000 0.044 1946 1300 1730 0 0 0 0 0 0

15800 0.44 146.1 90.7 10.9 956 15807 0.00 2.25 0.00 0.000 6 0.000 0.052 1946 2725 1730 0 0 0 0 0 0

16041 0.44 146.1 64.8 10.9 997 16048 0.00 1.90 0.00 0.000 4 0.000 0.059 1946 3890 1729 0 0 0 0 0 0

16102 0.44 146.1 57.3 12.3 1007 16109 0.00 1.88 0.00 0.000 6 0.000 0.034 1955 2699 1729 0 0 0 0 0 0

16216 0.44 146.1 44.4 11.1 1026 16224 0.00 0.00 0.00 0.000 6 0.000 0.000 1955 2699 1729 0 0 0 0 0 0

16331 0.44 146.1 32.3 10.2 1045 16337 0.00 0.00 0.00 0.000 6 0.000 0.000 1955 2699 1729 0 0 0 0 0 0

16450 0.44 146.1 20.0 10.3 1064 16458 0.00 0.00 0.00 0.000 6 0.000 0.000 1955 2699 1729 0 0 0 0 0 0

16534 0.44 146.1 11.3 10.1 1077 16542 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2699 1728 0 0 0 0 0 0

16617 0.44 146.1 3.0 10.1 1090 16626 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2699 1729 0 0 0 0 0 0

16634 end climb: SURFACE_DEPTH_REACHED

state 16634 begin surface coast

16673 end surface coast: CONTROL_FINISHED_OK

state 16673 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	158	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	29	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	-22102.596	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	050115,114334,-5556.090,-23.513,24,0.9,24,-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	0.036,0.228
_SM_DEPTHo	2.42	KALMAN_X	83066.9,232.6,323.6,-107895.2,-1831.6
_SM_ANGLEo	-74.3	KALMAN_Y	27196.5,355.4,193.0,-20098.3,-1525.0
GPS2	050115,115206,-5556.036,-23.486,18,1.7,18,-19.9	MHEAD_RNG_PITCHd_Wd	28.9,21537,-17.2,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.3,1.011930	_10V_AH	10.0,22.406
SM_CCo	16686,29.73,0.147,0,0,1523,200.16	FG_AHR_24Vo	0.000
SM_GC	2.08,0.00,0.00,29.73,0.000,0.000,0.147,53,2937,1523,-5.42,0.23,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5535.12,-26.92,050115,060647	MEM	353836
TT8_MAMPS	0.026215	DATA_FILE_SIZE	77087,1098
HUMID	56.85	CAP_FILE_SIZE	117168,0
INTERNAL_PRESSURE	8.97462	CFSIZE	259252224,216121344
TCM_TEMP	7.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	050115,163251,-5553.424,-22.998,24,1.2,40,-19.9
_24V_AH	22.0,33.560

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	253	72.00	SBE_CT	781	23	412.34
Roll_motor	31	80	55.58	AA4330	2295	17	907.90
VBD_pump_during_apogee	282	1797	11184.88	WL_BB2F	1112	105	2569.31
VBD_pump_during_surface	29	146	96.05	QSP2150	1138	17	450.39
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	91	54.70	nil	0	0	0.00
Iridium_during_connect	40	160	143.25	nil	0	0	0.00
Iridium_during_xfer	313	223	1539.72	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	31	6.61
TT8	2630	14	380.36
LPSleep	11066	2	242.36
TT8_Active	427	14	61.78
TT8_Sampling	2879	42	1214.46
TT8_CF8	219	49	109.12
TT8_Kalman	33	68	22.81
Analog_circuits	1306	15	202.52
GPS_charging	0	0	0.00
Compass	2335	16	384.94
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	-33.85	0.000	2	0.000	0.000	62	2948	2265	0	0	0	0	0	0
54	-0.44	-146.1	3.2	-3.2	4	97	6.60	1.60	-24.77	0.000	4	0.253	0.080	1630	3891	2940	0	0	0	0	0	0
367	-0.44	-146.1	50.1	-15.8	54	376	0.00	1.55	0.00	0.000	6	0.000	0.031	1630	2893	2942	0	0	0	0	0	0
483	-0.44	-146.1	68.2	-15.8	73	491	0.00	1.67	0.00	0.000	4	0.000	0.058	1622	3891	2942	0	0	0	0	0	0
534	-0.44	-146.1	76.9	-17.5	81	541	0.00	1.48	0.00	0.000	6	0.000	0.031	1622	2930	2942	0	0	0	0	0	0
649	-0.44	-146.1	96.3	-16.3	100	656	0.00	0.00	0.00	0.000	6	0.000	0.000	1622	2930	2942	0	0	0	0	0	0
869	-0.44	-146.1	131.7	-14.9	122	870	0.00	0.00	0.00	0.000	6	0.000	0.000	1622	2930	2942	0	0	0	0	0	0
1189	-0.44	-146.1	178.5	-14.2	152	1190	0.00	0.00	0.00	0.000	6	0.000	0.000	1622	2930	2941	0	0	0	0	0	0
1507	-0.44	-146.1	221.8	-13.4	182	1511	0.00	1.62	0.00	0.000	4	0.000	0.060	1614	3895	2941	0	0	0	0	0	0
1568	-0.44	-146.1	230.1	-14.2	187	1572	0.08	1.48	0.00	0.000	6	0.177	0.031	1638	2936	2942	0	0	0	0	0	0
1893	-0.44	-146.1	271.2	-12.6	210	1894	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2935	2942	0	0	0	0	0	0
2204	-0.44	-146.1	307.5	-11.7	225	2205	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2935	2942	0	0	0	0	0	0
2513	-0.44	-146.1	344.7	-12.0	240	2515	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2934	2942	0	0	0	0	0	0
2824	-0.44	-146.1	380.9	-11.7	255	2827	0.00	1.60	0.00	0.000	4	0.000	0.061	1630	3898	2941	0	0	0	0	0	0
2873	-0.44	-146.1	387.5	-11.9	257	2878	0.00	1.50	0.00	0.000	6	0.000	0.031	1630	2914	2942	0	0	0	0	0	0
3201	-0.44	-146.1	426.6	-12.0	273	3202	0.00	0.00	0.00	0.000	6	0.000	0.000	1630	2910	2942	0	0	0	0	0	0
3510	-0.44	-146.1	463.2	-12.0	288	3513	0.00	1.62	0.00	0.000	4	0.000	0.060	1623	3894	2942	0	0	0	0	0	0
3559	-0.44	-146.1	469.8	-13.0	290	3563	0.00	1.45	0.00	0.000	6	0.000	0.030	1623	2931	2942	0	0	0	0	0	0
3886	-0.44	-146.1	511.0	-12.7	306	3887	0.00	0.00	0.00	0.000	6	0.000	0.000	1623	2925	2942	0	0	0	0	0	0
4195	-0.44	-146.1	550.3	-12.8	321	4199	0.00	1.60	0.00	0.000	4	0.000	0.060	1615	3896	2942	0	0	0	0	0	0
4251	-0.44	-146.1	558.1	-13.6	323	4255	0.08	1.45	0.00	0.000	6	0.171	0.030	1639	2942	2942	0	0	0	0	0	0
4571	-0.44	-146.1	594.5	-11.4	339	4572	0.00	0.00	0.00	0.000	6	0.000	0.000	1639	2939	2942	0	0	0	0	0	0
4881	-0.44	-146.1	629.1	-11.0	354	4882	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2939	2942	0	0	0	0	0	0
5191	-0.44	-146.1	661.8	-10.4	369	5192	0.00	0.00	0.00	0.000	6	0.000	0.000	1639	2939	2942	0	0	0	0	0	0
5499	-0.44	-146.1	693.8	-10.6	384	5500	0.00	0.00	0.00	0.000	6	0.000	0.000	1639	2939	2941	0	0	0	0	0	0
5809	-0.44	-146.1	725.7	-10.4	399	5810	0.00	0.00	0.00	0.000	6	0.000	0.000	1639	2939	2942	0	0	0	0	0	0
6119	-0.44	-146.1	757.3	-10.2	414	6120	0.00	0.00	0.00	0.000	6	0.000	0.000	1639	2939	2942	0	0	0	0	0	0
6427	-0.44	-146.1	788.8	-10.4	429	6428	0.00	0.00	0.00	0.000	6	0.000	0.000	1639	2938	2941	0	0	0	0	0	0
6737	-0.44	-146.1	821.8	-11.0	444	6738	0.00	0.00	0.00	0.000	6	0.000	0.000	1639	2939	2941	0	0	0	0	0	0
7047	-0.44	-146.1	855.5	-10.7	459	7048	0.00	0.00	0.00	0.000	6	0.000	0.000	1639	2939	2941	0	0	0	0	0	0
7355	-0.44	-146.1	888.0	-10.5	474	7356	0.00	0.00	0.00	0.000	6	0.000	0.000	1639	2939	2941	0	0	0	0	0	0
7665	-0.44	-146.1	919.7	-10.0	489	7666	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2939	2941	0	0	0	0	0	0
7975	-0.44	-146.1	949.1	-9.4	504	7976	0.00	0.00	0.00	0.000	6	0.000	0.000	1639	2939	2941	0	0	0	0	0	0
8283	-0.44	-146.1	978.2	-9.9	519	8284	0.00	0.00	0.00	0.000	6	0.000	0.000	1639	2939	2941	0	0	0	0	0	0
8509	end dive: TARGET_DEPTH_EXCEEDED
state	8509	begin apogee
8514	-0.13	0.0	1001.0	10.0	530	8652	0.35	0.00	134.48	1.798	6	0.164	0.000	1742	2717	2341	0	0	0	0	0	0
8653	end apogee: CONTROL_FINISHED_OK
state	8653	begin climb
8655	0.44	146.1	1006.0	0.0	537	8811	0.65	0.00	148.32	1.742	6	0.125	0.000	1926	2716	1745	0	0	0	0	0	0
9120	0.44	146.1	952.6	13.4	560	9121	0.00	0.00	0.00	0.000	6	0.000	0.000	1926	2716	1736	0	0	0	0	0	0
9428	0.44	146.1	911.1	13.6	575	9432	0.00	1.98	0.00	0.000	4	0.000	0.058	1926	3892	1735	0	0	0	0	0	0
9477	0.44	146.1	903.2	16.1	577	9482	0.00	1.90	0.00	0.000	6	0.000	0.035	1935	2730	1734	0	0	0	0	0	0
9805	0.44	146.1	854.4	15.2	593	9807	0.00	0.00	0.00	0.000	6	0.000	0.000	1934	2730	1733	0	0	0	0	0	0
10114	0.44	146.1	808.4	15.0	608	10115	0.00	0.00	0.00	0.000	6	0.000	0.000	1935	2730	1732	0	0	0	0	0	0
10423	0.44	146.1	761.8	15.0	623	10425	0.00	0.00	0.00	0.000	6	0.000	0.000	1935	2730	1732	0	0	0	0	0	0
10734	0.44	146.1	716.2	14.5	638	10735	0.00	0.00	0.00	0.000	6	0.000	0.000	1935	2730	1732	0	0	0	0	0	0
11042	0.44	146.1	671.3	14.3	653	11043	0.00	0.00	0.00	0.000	6	0.000	0.000	1935	2729	1731	0	0	0	0	0	0
11351	0.44	146.1	628.6	13.3	668	11353	0.00	0.00	0.00	0.000	6	0.000	0.000	1935	2730	1731	0	0	0	0	0	0
11662	0.44	146.1	588.5	12.9	683	11663	0.00	0.00	0.00	0.000	6	0.000	0.000	1936	2730	1731	0	0	0	0	0	0
11970	0.44	146.1	549.5	12.5	698	11971	0.00	0.00	0.00	0.000	6	0.000	0.000	1935	2730	1731	0	0	0	0	0	0
12279	0.44	146.1	510.6	12.7	713	12281	0.00	0.00	0.00	0.000	6	0.000	0.000	1935	2730	1731	0	0	0	0	0	0
12590	0.44	146.1	470.3	13.1	728	12591	0.00	0.00	0.00	0.000	6	0.000	0.000	1935	2730	1731	0	0	0	0	0	0
12898	0.44	146.1	429.4	13.4	743	12899	0.00	0.00	0.00	0.000	6	0.000	0.000	1936	2730	1731	0	0	0	0	0	0
13208	0.44	146.1	388.8	12.8	758	13209	0.00	0.00	0.00	0.000	6	0.000	0.000	1935	2730	1731	0	0	0	0	0	0
13520	0.44	146.1	349.6	12.3	773	13521	0.00	0.00	0.00	0.000	6	0.000	0.000	1935	2730	1730	0	0	0	0	0	0
13826	0.44	146.1	312.5	11.8	788	13827	0.00	0.00	0.00	0.000	6	0.000	0.000	1935	2730	1731	0	0	0	0	0	0
14139	0.44	146.1	274.6	13.2	803	14140	0.00	0.00	0.00	0.000	6	0.000	0.000	1935	2730	1730	0	0	0	0	0	0
14450	0.44	146.1	235.8	11.8	823	14452	0.00	0.00	0.00	0.000	6	0.000	0.000	1935	2730	1730	0	0	0	0	0	0
14769	0.44	146.1	199.2	11.2	853	14775	0.00	0.00	0.00	0.000	6	0.000	0.000	1935	2730	1730	0	0	0	0	0	0
15095	0.44	146.1	161.7	10.3	884	15096	0.00	0.00	0.00	0.000	6	0.000	0.000	1935	2730	1730	0	0	0	0	0	0
15416	0.44	146.1	130.0	10.1	914	15417	0.00	0.00	0.00	0.000	6	0.000	0.000	1935	2730	1730	0	0	0	0	0	0
15733	0.44	146.1	97.8	10.3	945	15742	0.00	2.25	0.00	0.000	4	0.000	0.044	1946	1300	1730	0	0	0	0	0	0
15800	0.44	146.1	90.7	10.9	956	15807	0.00	2.25	0.00	0.000	6	0.000	0.052	1946	2725	1730	0	0	0	0	0	0
16041	0.44	146.1	64.8	10.9	997	16048	0.00	1.90	0.00	0.000	4	0.000	0.059	1946	3890	1729	0	0	0	0	0	0
16102	0.44	146.1	57.3	12.3	1007	16109	0.00	1.88	0.00	0.000	6	0.000	0.034	1955	2699	1729	0	0	0	0	0	0
16216	0.44	146.1	44.4	11.1	1026	16224	0.00	0.00	0.00	0.000	6	0.000	0.000	1955	2699	1729	0	0	0	0	0	0
16331	0.44	146.1	32.3	10.2	1045	16337	0.00	0.00	0.00	0.000	6	0.000	0.000	1955	2699	1729	0	0	0	0	0	0
16450	0.44	146.1	20.0	10.3	1064	16458	0.00	0.00	0.00	0.000	6	0.000	0.000	1955	2699	1729	0	0	0	0	0	0
16534	0.44	146.1	11.3	10.1	1077	16542	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2699	1728	0	0	0	0	0	0
16617	0.44	146.1	3.0	10.1	1090	16626	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2699	1729	0	0	0	0	0	0
16634	end climb: SURFACE_DEPTH_REACHED
state	16634	begin surface coast
16673	end surface coast: CONTROL_FINISHED_OK
state	16673	begin surface