Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 159 * 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 159 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 34 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 -22105.504 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 -22105.504

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 34 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 159 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 050115,163251,-5553.424,-22.998,24,1.2,40,-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 -0.062,0.222

_SM_DEPTHo 2.50 KALMAN_X 83390.7,40.7,35.3,-107248.0,-491.5

_SM_ANGLEo -73.8 KALMAN_Y 27651.9,91.5,161.5,-15418.5,-786.3

GPS2 050115,164129,-5553.420,-23.016,19,1.2,19,-19.9 MHEAD_RNG_PITCHd_Wd 4.3,17210,-17.2,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.3,1.010486 _10V_AH 10.0,22.532

SM_CCo 16350,20.38,0.165,0,0,1526,200.16 FG_AHR_24Vo 0.000

SM_GC 3.23,0.00,0.00,20.38,0.000,0.000,0.165,59,2929,1526,-5.41,-0.03,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5535.12,-19.21,050115,111116 MEM 353828

TT8_MAMPS 0.026215 DATA_FILE_SIZE 73786,1072

HUMID 56.57 CAP_FILE_SIZE 115322,0

INTERNAL_PRESSURE 8.97462 CFSIZE 259252224,216051712

TCM_TEMP 7.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 050115,211629,-5551.179,-25.114,39,0.9,39,-19.9

_24V_AH 22.0,33.726

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 248 70.42 SBE_CT 762 23 402.34

Roll_motor 29 61 40.49 AA4330 2231 17 882.50

VBD_pump_during_apogee 293 1793 11582.39 WL_BB2F 1072 105 2478.11

VBD_pump_during_surface 20 165 74.07 QSP2150 1101 17 435.76

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 91 52.61 nil 0 0 0.00

Iridium_during_connect 42 160 151.28 nil 0 0 0.00

Iridium_during_xfer 318 223 1560.63 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 6.78

TT8 2559 14 370.12

LPSleep 10865 2 237.96

TT8_Active 436 14 63.15

TT8_Sampling 2822 42 1190.22

TT8_CF8 201 49 100.12

TT8_Kalman 33 68 22.82

Analog_circuits 1304 15 202.26

GPS_charging 0 0 0.00

Compass 2265 16 373.40

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 -33.75 0.000 2 0.000 0.000 49 2938 2266 0 0 0 0 0 0

54 -0.44 -146.1 3.1 -2.9 4 97 6.60 2.28 -24.88 0.000 4 0.249 0.054 1641 1514 2940 0 0 0 0 0 0

210 -0.44 -146.1 19.8 -13.2 27 219 0.00 2.33 0.00 0.000 6 0.000 0.054 1630 2918 2941 0 0 0 0 0 0

292 -0.44 -146.1 33.3 -17.5 40 300 0.00 0.00 0.00 0.000 6 0.000 0.000 1630 2918 2941 0 0 0 0 0 0

407 -0.44 -146.1 54.3 -19.3 59 414 0.00 0.00 0.00 0.000 6 0.000 0.000 1630 2918 2941 0 0 0 0 0 0

520 -0.44 -146.1 76.2 -18.8 78 528 0.00 1.60 0.00 0.000 4 0.000 0.061 1623 3897 2941 0 0 0 0 0 0

549 -0.44 -146.1 81.3 -18.7 82 556 0.00 1.55 0.00 0.000 6 0.000 0.031 1623 2889 2941 0 0 0 0 0 0

779 -0.44 -146.1 124.4 -19.8 111 780 0.00 0.00 0.00 0.000 6 0.000 0.000 1623 2889 2941 0 0 0 0 0 0

1098 -0.44 -146.1 170.8 -14.6 141 1104 0.00 0.00 0.00 0.000 6 0.000 0.000 1623 2889 2942 0 0 0 0 0 0

1423 -0.44 -146.1 217.4 -14.8 172 1426 0.00 1.67 0.00 0.000 4 0.000 0.061 1615 3905 2941 0 0 0 0 0 0

1487 -0.44 -146.1 227.8 -16.0 177 1495 0.08 1.48 0.00 0.000 6 0.177 0.032 1638 2939 2942 0 0 0 0 0 0

1821 -0.44 -146.1 274.0 -13.5 201 1823 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2939 2942 0 0 0 0 0 0

2127 -0.44 -146.1 313.3 -12.4 216 2128 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2939 2942 0 0 0 0 0 0

2438 -0.44 -146.1 352.8 -12.8 231 2439 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2939 2941 0 0 0 0 0 0

2745 -0.44 -146.1 390.5 -11.4 246 2749 0.00 1.60 0.00 0.000 4 0.000 0.062 1631 3902 2941 0 0 0 0 0 0

2791 -0.44 -146.1 395.9 -11.6 248 2794 0.00 1.48 0.00 0.000 6 0.000 0.031 1631 2924 2942 0 0 0 0 0 0

3124 -0.44 -146.1 432.3 -11.4 264 3125 0.00 0.00 0.00 0.000 6 0.000 0.000 1631 2919 2942 0 0 0 0 0 0

3432 -0.44 -146.1 469.9 -12.7 279 3433 0.00 0.00 0.00 0.000 6 0.000 0.000 1631 2919 2942 0 0 0 0 0 0

3742 -0.44 -146.1 508.0 -12.0 294 3743 0.00 0.00 0.00 0.000 6 0.000 0.000 1631 2919 2941 0 0 0 0 0 0

4051 -0.44 -146.1 545.7 -11.9 309 4052 0.00 0.00 0.00 0.000 6 0.000 0.000 1631 2919 2941 0 0 0 0 0 0

4360 -0.44 -146.1 583.5 -12.1 324 4361 0.00 0.00 0.00 0.000 6 0.000 0.000 1631 2919 2942 0 0 0 0 0 0

4670 -0.44 -146.1 620.9 -12.0 339 4671 0.00 0.00 0.00 0.000 6 0.000 0.000 1631 2919 2942 0 0 0 0 0 0

4979 -0.44 -146.1 657.4 -11.5 354 4980 0.00 0.00 0.00 0.000 6 0.000 0.000 1631 2919 2942 0 0 0 0 0 0

5288 -0.44 -146.1 692.1 -11.0 369 5289 0.00 0.00 0.00 0.000 6 0.000 0.000 1631 2919 2942 0 0 0 0 0 0

5598 -0.44 -146.1 726.1 -11.1 384 5599 0.00 0.00 0.00 0.000 6 0.000 0.000 1630 2919 2942 0 0 0 0 0 0

5907 -0.44 -146.1 761.4 -11.5 399 5908 0.00 0.00 0.00 0.000 6 0.000 0.000 1631 2919 2941 0 0 0 0 0 0

6216 -0.44 -146.1 795.5 -10.6 414 6220 0.00 1.62 0.00 0.000 4 0.000 0.061 1623 3899 2941 0 0 0 0 0 0

6254 -0.44 -146.1 799.8 -11.4 415 6261 0.00 1.45 0.00 0.000 6 0.000 0.031 1624 2923 2941 0 0 0 0 0 0

6569 -0.44 -146.1 835.0 -11.1 431 6570 0.00 0.00 0.00 0.000 6 0.000 0.000 1623 2923 2941 0 0 0 0 0 0

6879 -0.44 -146.1 867.8 -10.4 446 6880 0.00 0.00 0.00 0.000 6 0.000 0.000 1623 2923 2942 0 0 0 0 0 0

7189 -0.44 -146.1 898.5 -9.7 461 7190 0.00 0.00 0.00 0.000 6 0.000 0.000 1623 2923 2941 0 0 0 0 0 0

7498 -0.44 -146.1 927.7 -9.5 476 7499 0.00 0.00 0.00 0.000 6 0.000 0.000 1623 2923 2941 0 0 0 0 0 0

7807 -0.44 -146.1 958.8 -10.3 491 7808 0.00 0.00 0.00 0.000 6 0.000 0.000 1623 2923 2941 0 0 0 0 0 0

8117 -0.44 -146.1 990.7 -10.1 506 8118 0.00 0.00 0.00 0.000 6 0.000 0.000 1623 2923 2941 0 0 0 0 0 0

8218 end dive: TARGET_DEPTH_EXCEEDED

state 8218 begin apogee

8222 -0.13 0.0 1001.4 10.4 511 8361 0.40 0.00 134.32 1.794 6 0.171 0.000 1739 2724 2342 0 0 0 0 0 0

8362 end apogee: CONTROL_FINISHED_OK

state 8362 begin climb

8363 0.44 146.1 1005.2 0.0 518 8520 0.65 0.00 148.55 1.742 6 0.124 0.000 1925 2724 1745 0 0 0 0 0 0

8830 0.44 146.1 949.3 13.5 541 8831 0.00 0.00 0.00 0.000 6 0.000 0.000 1925 2724 1736 0 0 0 0 0 0

9138 0.44 146.1 907.7 13.3 556 9139 0.00 0.00 0.00 0.000 6 0.000 0.000 1925 2724 1735 0 0 0 0 0 0

9448 0.44 146.1 867.0 12.7 571 9449 0.00 0.00 0.00 0.000 6 0.000 0.000 1925 2724 1734 0 0 0 0 0 0

9756 0.44 146.1 827.1 13.4 586 9760 0.00 1.98 0.00 0.000 4 0.000 0.060 1925 3910 1733 0 0 0 0 0 0

9801 0.44 146.1 820.5 16.0 588 9805 0.00 1.83 0.00 0.000 6 0.000 0.034 1934 2740 1732 0 0 0 0 0 0

10134 0.44 146.1 773.5 14.1 604 10135 0.00 0.00 0.00 0.000 6 0.000 0.000 1934 2739 1732 0 0 0 0 0 0

10442 0.44 146.1 731.5 13.3 619 10444 0.00 0.00 0.00 0.000 6 0.000 0.000 1934 2739 1732 0 0 0 0 0 0

10752 0.44 146.1 691.1 12.9 634 10753 0.00 0.00 0.00 0.000 6 0.000 0.000 1934 2739 1731 0 0 0 0 0 0

11062 0.44 146.1 650.6 13.6 649 11063 0.00 0.00 0.00 0.000 6 0.000 0.000 1934 2739 1731 0 0 0 0 0 0

11370 0.44 146.1 608.8 13.6 664 11372 0.00 0.00 0.00 0.000 6 0.000 0.000 1934 2739 1730 0 0 0 0 0 0

11681 0.44 146.1 567.7 13.0 679 11682 0.00 0.00 0.00 0.000 6 0.000 0.000 1934 2739 1731 0 0 0 0 0 0

11989 0.44 146.1 526.2 13.8 694 11990 0.00 0.00 0.00 0.000 6 0.000 0.000 1934 2739 1731 0 0 0 0 0 0

12299 0.44 146.1 482.0 14.9 709 12300 0.00 0.00 0.00 0.000 6 0.000 0.000 1934 2739 1731 0 0 0 0 0 0

12609 0.44 146.1 435.7 15.0 724 12610 0.00 0.00 0.00 0.000 6 0.000 0.000 1934 2739 1731 0 0 0 0 0 0

12919 0.44 146.1 389.6 14.7 739 12920 0.00 0.00 0.00 0.000 6 0.000 0.000 1934 2740 1731 0 0 0 0 0 0

13227 0.44 146.1 346.3 13.4 754 13228 0.00 0.00 0.00 0.000 6 0.000 0.000 1934 2739 1730 0 0 0 0 0 0

13538 0.44 146.1 306.8 12.5 769 13540 0.00 0.00 0.00 0.000 6 0.000 0.000 1934 2739 1730 0 0 0 0 0 0

13845 0.44 146.1 268.1 12.8 784 13846 0.00 0.00 0.00 0.000 6 0.000 0.000 1934 2740 1730 0 0 0 0 0 0

14161 0.44 146.1 230.9 11.4 806 14162 0.00 0.00 0.00 0.000 6 0.000 0.000 1934 2739 1730 0 0 0 0 0 0

14479 0.44 146.1 196.2 11.1 836 14480 0.00 0.00 0.00 0.000 6 0.000 0.000 1934 2740 1730 0 0 0 0 0 0

14798 0.45 154.0 166.2 9.2 866 14809 0.00 0.00 5.05 1.078 6 0.000 0.000 1934 2739 1715 0 0 0 0 0 0

15127 0.45 154.0 133.1 10.4 897 15131 0.00 2.25 0.00 0.000 4 0.000 0.044 1945 1287 1715 0 0 0 0 0 0

15182 0.45 160.9 128.0 9.2 901 15194 0.00 2.28 5.55 1.020 6 0.000 0.053 1945 2731 1686 0 0 0 0 0 0

15518 0.45 160.9 91.3 10.5 939 15527 0.00 1.88 0.00 0.000 4 0.000 0.060 1945 3883 1684 0 0 0 0 0 0

15620 0.45 160.9 78.4 13.5 956 15629 0.00 1.85 0.00 0.000 6 0.000 0.034 1954 2713 1683 0 0 0 0 0 0

15737 0.45 160.9 65.1 11.2 975 15743 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2713 1683 0 0 0 0 0 0

15850 0.45 160.9 52.4 11.6 994 15858 0.00 0.00 0.00 0.000 6 0.000 0.000 1953 2713 1683 0 0 0 0 0 0

15964 0.45 160.9 39.9 11.5 1013 15970 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2713 1683 0 0 0 0 0 0

16079 0.45 160.9 27.0 10.8 1032 16087 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2713 1683 0 0 0 0 0 0

16163 0.45 160.9 17.8 10.6 1045 16171 0.00 0.00 0.00 0.000 6 0.000 0.000 1953 2713 1683 0 0 0 0 0 0

16247 0.45 160.9 9.0 10.1 1058 16256 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2713 1683 0 0 0 0 0 0

16305 end climb: SURFACE_DEPTH_REACHED

state 16305 begin surface coast

16337 end surface coast: CONTROL_FINISHED_OK

state 16337 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	159	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	34	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	-22105.504	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	050115,163251,-5553.424,-22.998,24,1.2,40,-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	-0.062,0.222
_SM_DEPTHo	2.50	KALMAN_X	83390.7,40.7,35.3,-107248.0,-491.5
_SM_ANGLEo	-73.8	KALMAN_Y	27651.9,91.5,161.5,-15418.5,-786.3
GPS2	050115,164129,-5553.420,-23.016,19,1.2,19,-19.9	MHEAD_RNG_PITCHd_Wd	4.3,17210,-17.2,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.3,1.010486	_10V_AH	10.0,22.532
SM_CCo	16350,20.38,0.165,0,0,1526,200.16	FG_AHR_24Vo	0.000
SM_GC	3.23,0.00,0.00,20.38,0.000,0.000,0.165,59,2929,1526,-5.41,-0.03,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5535.12,-19.21,050115,111116	MEM	353828
TT8_MAMPS	0.026215	DATA_FILE_SIZE	73786,1072
HUMID	56.57	CAP_FILE_SIZE	115322,0
INTERNAL_PRESSURE	8.97462	CFSIZE	259252224,216051712
TCM_TEMP	7.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	050115,211629,-5551.179,-25.114,39,0.9,39,-19.9
_24V_AH	22.0,33.726

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	248	70.42	SBE_CT	762	23	402.34
Roll_motor	29	61	40.49	AA4330	2231	17	882.50
VBD_pump_during_apogee	293	1793	11582.39	WL_BB2F	1072	105	2478.11
VBD_pump_during_surface	20	165	74.07	QSP2150	1101	17	435.76
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	91	52.61	nil	0	0	0.00
Iridium_during_connect	42	160	151.28	nil	0	0	0.00
Iridium_during_xfer	318	223	1560.63	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	6.78
TT8	2559	14	370.12
LPSleep	10865	2	237.96
TT8_Active	436	14	63.15
TT8_Sampling	2822	42	1190.22
TT8_CF8	201	49	100.12
TT8_Kalman	33	68	22.82
Analog_circuits	1304	15	202.26
GPS_charging	0	0	0.00
Compass	2265	16	373.40
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	-33.75	0.000	2	0.000	0.000	49	2938	2266	0	0	0	0	0	0
54	-0.44	-146.1	3.1	-2.9	4	97	6.60	2.28	-24.88	0.000	4	0.249	0.054	1641	1514	2940	0	0	0	0	0	0
210	-0.44	-146.1	19.8	-13.2	27	219	0.00	2.33	0.00	0.000	6	0.000	0.054	1630	2918	2941	0	0	0	0	0	0
292	-0.44	-146.1	33.3	-17.5	40	300	0.00	0.00	0.00	0.000	6	0.000	0.000	1630	2918	2941	0	0	0	0	0	0
407	-0.44	-146.1	54.3	-19.3	59	414	0.00	0.00	0.00	0.000	6	0.000	0.000	1630	2918	2941	0	0	0	0	0	0
520	-0.44	-146.1	76.2	-18.8	78	528	0.00	1.60	0.00	0.000	4	0.000	0.061	1623	3897	2941	0	0	0	0	0	0
549	-0.44	-146.1	81.3	-18.7	82	556	0.00	1.55	0.00	0.000	6	0.000	0.031	1623	2889	2941	0	0	0	0	0	0
779	-0.44	-146.1	124.4	-19.8	111	780	0.00	0.00	0.00	0.000	6	0.000	0.000	1623	2889	2941	0	0	0	0	0	0
1098	-0.44	-146.1	170.8	-14.6	141	1104	0.00	0.00	0.00	0.000	6	0.000	0.000	1623	2889	2942	0	0	0	0	0	0
1423	-0.44	-146.1	217.4	-14.8	172	1426	0.00	1.67	0.00	0.000	4	0.000	0.061	1615	3905	2941	0	0	0	0	0	0
1487	-0.44	-146.1	227.8	-16.0	177	1495	0.08	1.48	0.00	0.000	6	0.177	0.032	1638	2939	2942	0	0	0	0	0	0
1821	-0.44	-146.1	274.0	-13.5	201	1823	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2939	2942	0	0	0	0	0	0
2127	-0.44	-146.1	313.3	-12.4	216	2128	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2939	2942	0	0	0	0	0	0
2438	-0.44	-146.1	352.8	-12.8	231	2439	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2939	2941	0	0	0	0	0	0
2745	-0.44	-146.1	390.5	-11.4	246	2749	0.00	1.60	0.00	0.000	4	0.000	0.062	1631	3902	2941	0	0	0	0	0	0
2791	-0.44	-146.1	395.9	-11.6	248	2794	0.00	1.48	0.00	0.000	6	0.000	0.031	1631	2924	2942	0	0	0	0	0	0
3124	-0.44	-146.1	432.3	-11.4	264	3125	0.00	0.00	0.00	0.000	6	0.000	0.000	1631	2919	2942	0	0	0	0	0	0
3432	-0.44	-146.1	469.9	-12.7	279	3433	0.00	0.00	0.00	0.000	6	0.000	0.000	1631	2919	2942	0	0	0	0	0	0
3742	-0.44	-146.1	508.0	-12.0	294	3743	0.00	0.00	0.00	0.000	6	0.000	0.000	1631	2919	2941	0	0	0	0	0	0
4051	-0.44	-146.1	545.7	-11.9	309	4052	0.00	0.00	0.00	0.000	6	0.000	0.000	1631	2919	2941	0	0	0	0	0	0
4360	-0.44	-146.1	583.5	-12.1	324	4361	0.00	0.00	0.00	0.000	6	0.000	0.000	1631	2919	2942	0	0	0	0	0	0
4670	-0.44	-146.1	620.9	-12.0	339	4671	0.00	0.00	0.00	0.000	6	0.000	0.000	1631	2919	2942	0	0	0	0	0	0
4979	-0.44	-146.1	657.4	-11.5	354	4980	0.00	0.00	0.00	0.000	6	0.000	0.000	1631	2919	2942	0	0	0	0	0	0
5288	-0.44	-146.1	692.1	-11.0	369	5289	0.00	0.00	0.00	0.000	6	0.000	0.000	1631	2919	2942	0	0	0	0	0	0
5598	-0.44	-146.1	726.1	-11.1	384	5599	0.00	0.00	0.00	0.000	6	0.000	0.000	1630	2919	2942	0	0	0	0	0	0
5907	-0.44	-146.1	761.4	-11.5	399	5908	0.00	0.00	0.00	0.000	6	0.000	0.000	1631	2919	2941	0	0	0	0	0	0
6216	-0.44	-146.1	795.5	-10.6	414	6220	0.00	1.62	0.00	0.000	4	0.000	0.061	1623	3899	2941	0	0	0	0	0	0
6254	-0.44	-146.1	799.8	-11.4	415	6261	0.00	1.45	0.00	0.000	6	0.000	0.031	1624	2923	2941	0	0	0	0	0	0
6569	-0.44	-146.1	835.0	-11.1	431	6570	0.00	0.00	0.00	0.000	6	0.000	0.000	1623	2923	2941	0	0	0	0	0	0
6879	-0.44	-146.1	867.8	-10.4	446	6880	0.00	0.00	0.00	0.000	6	0.000	0.000	1623	2923	2942	0	0	0	0	0	0
7189	-0.44	-146.1	898.5	-9.7	461	7190	0.00	0.00	0.00	0.000	6	0.000	0.000	1623	2923	2941	0	0	0	0	0	0
7498	-0.44	-146.1	927.7	-9.5	476	7499	0.00	0.00	0.00	0.000	6	0.000	0.000	1623	2923	2941	0	0	0	0	0	0
7807	-0.44	-146.1	958.8	-10.3	491	7808	0.00	0.00	0.00	0.000	6	0.000	0.000	1623	2923	2941	0	0	0	0	0	0
8117	-0.44	-146.1	990.7	-10.1	506	8118	0.00	0.00	0.00	0.000	6	0.000	0.000	1623	2923	2941	0	0	0	0	0	0
8218	end dive: TARGET_DEPTH_EXCEEDED
state	8218	begin apogee
8222	-0.13	0.0	1001.4	10.4	511	8361	0.40	0.00	134.32	1.794	6	0.171	0.000	1739	2724	2342	0	0	0	0	0	0
8362	end apogee: CONTROL_FINISHED_OK
state	8362	begin climb
8363	0.44	146.1	1005.2	0.0	518	8520	0.65	0.00	148.55	1.742	6	0.124	0.000	1925	2724	1745	0	0	0	0	0	0
8830	0.44	146.1	949.3	13.5	541	8831	0.00	0.00	0.00	0.000	6	0.000	0.000	1925	2724	1736	0	0	0	0	0	0
9138	0.44	146.1	907.7	13.3	556	9139	0.00	0.00	0.00	0.000	6	0.000	0.000	1925	2724	1735	0	0	0	0	0	0
9448	0.44	146.1	867.0	12.7	571	9449	0.00	0.00	0.00	0.000	6	0.000	0.000	1925	2724	1734	0	0	0	0	0	0
9756	0.44	146.1	827.1	13.4	586	9760	0.00	1.98	0.00	0.000	4	0.000	0.060	1925	3910	1733	0	0	0	0	0	0
9801	0.44	146.1	820.5	16.0	588	9805	0.00	1.83	0.00	0.000	6	0.000	0.034	1934	2740	1732	0	0	0	0	0	0
10134	0.44	146.1	773.5	14.1	604	10135	0.00	0.00	0.00	0.000	6	0.000	0.000	1934	2739	1732	0	0	0	0	0	0
10442	0.44	146.1	731.5	13.3	619	10444	0.00	0.00	0.00	0.000	6	0.000	0.000	1934	2739	1732	0	0	0	0	0	0
10752	0.44	146.1	691.1	12.9	634	10753	0.00	0.00	0.00	0.000	6	0.000	0.000	1934	2739	1731	0	0	0	0	0	0
11062	0.44	146.1	650.6	13.6	649	11063	0.00	0.00	0.00	0.000	6	0.000	0.000	1934	2739	1731	0	0	0	0	0	0
11370	0.44	146.1	608.8	13.6	664	11372	0.00	0.00	0.00	0.000	6	0.000	0.000	1934	2739	1730	0	0	0	0	0	0
11681	0.44	146.1	567.7	13.0	679	11682	0.00	0.00	0.00	0.000	6	0.000	0.000	1934	2739	1731	0	0	0	0	0	0
11989	0.44	146.1	526.2	13.8	694	11990	0.00	0.00	0.00	0.000	6	0.000	0.000	1934	2739	1731	0	0	0	0	0	0
12299	0.44	146.1	482.0	14.9	709	12300	0.00	0.00	0.00	0.000	6	0.000	0.000	1934	2739	1731	0	0	0	0	0	0
12609	0.44	146.1	435.7	15.0	724	12610	0.00	0.00	0.00	0.000	6	0.000	0.000	1934	2739	1731	0	0	0	0	0	0
12919	0.44	146.1	389.6	14.7	739	12920	0.00	0.00	0.00	0.000	6	0.000	0.000	1934	2740	1731	0	0	0	0	0	0
13227	0.44	146.1	346.3	13.4	754	13228	0.00	0.00	0.00	0.000	6	0.000	0.000	1934	2739	1730	0	0	0	0	0	0
13538	0.44	146.1	306.8	12.5	769	13540	0.00	0.00	0.00	0.000	6	0.000	0.000	1934	2739	1730	0	0	0	0	0	0
13845	0.44	146.1	268.1	12.8	784	13846	0.00	0.00	0.00	0.000	6	0.000	0.000	1934	2740	1730	0	0	0	0	0	0
14161	0.44	146.1	230.9	11.4	806	14162	0.00	0.00	0.00	0.000	6	0.000	0.000	1934	2739	1730	0	0	0	0	0	0
14479	0.44	146.1	196.2	11.1	836	14480	0.00	0.00	0.00	0.000	6	0.000	0.000	1934	2740	1730	0	0	0	0	0	0
14798	0.45	154.0	166.2	9.2	866	14809	0.00	0.00	5.05	1.078	6	0.000	0.000	1934	2739	1715	0	0	0	0	0	0
15127	0.45	154.0	133.1	10.4	897	15131	0.00	2.25	0.00	0.000	4	0.000	0.044	1945	1287	1715	0	0	0	0	0	0
15182	0.45	160.9	128.0	9.2	901	15194	0.00	2.28	5.55	1.020	6	0.000	0.053	1945	2731	1686	0	0	0	0	0	0
15518	0.45	160.9	91.3	10.5	939	15527	0.00	1.88	0.00	0.000	4	0.000	0.060	1945	3883	1684	0	0	0	0	0	0
15620	0.45	160.9	78.4	13.5	956	15629	0.00	1.85	0.00	0.000	6	0.000	0.034	1954	2713	1683	0	0	0	0	0	0
15737	0.45	160.9	65.1	11.2	975	15743	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2713	1683	0	0	0	0	0	0
15850	0.45	160.9	52.4	11.6	994	15858	0.00	0.00	0.00	0.000	6	0.000	0.000	1953	2713	1683	0	0	0	0	0	0
15964	0.45	160.9	39.9	11.5	1013	15970	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2713	1683	0	0	0	0	0	0
16079	0.45	160.9	27.0	10.8	1032	16087	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2713	1683	0	0	0	0	0	0
16163	0.45	160.9	17.8	10.6	1045	16171	0.00	0.00	0.00	0.000	6	0.000	0.000	1953	2713	1683	0	0	0	0	0	0
16247	0.45	160.9	9.0	10.1	1058	16256	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2713	1683	0	0	0	0	0	0
16305	end climb: SURFACE_DEPTH_REACHED
state	16305	begin surface coast
16337	end surface coast: CONTROL_FINISHED_OK
state	16337	begin surface