Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 171 * 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 171 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 29 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 -22140.574 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 -22140.574

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 29 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 171 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 080115,002233,-5559.107,-32.185,38,1.0,42,-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 -0.039,0.228

_SM_DEPTHo 2.35 KALMAN_X 91028.3,-472.6,-91.6,-123791.7,1530.7

_SM_ANGLEo -73.4 KALMAN_Y 44557.8,-268.2,-164.2,-42072.7,3230.6

GPS2 080115,003037,-5559.062,-32.254,15,0.8,16,-19.9 MHEAD_RNG_PITCHd_Wd 10.2,26149,-17.2,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.3,1.014975 _10V_AH 10.0,24.055

SM_CCo 16790,0.77,0.288,0,0,1524,200.16 FG_AHR_24Vo 0.000

SM_GC 1.83,0.00,0.00,0.77,0.000,0.000,0.288,59,2922,1524,-5.41,-0.25,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5535.12,-26.92,070115,191949 MEM 353828

TT8_MAMPS 0.026215 DATA_FILE_SIZE 73792,1100

HUMID 56.77 CAP_FILE_SIZE 125078,0

INTERNAL_PRESSURE 8.97462 CFSIZE 259252224,215134208

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

XPDR_PINGS 0 GPS 080115,051235,-5556.288,-32.663,36,0.9,36,-19.9

_24V_AH 22.0,35.739

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 244 69.12 SBE_CT 782 23 412.46

Roll_motor 44 81 79.39 AA4330 2285 17 904.11

VBD_pump_during_apogee 312 1779 12226.46 WL_BB2F 1095 105 2531.42

VBD_pump_during_surface 0 288 4.92 QSP2150 1118 17 442.60

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 91 55.38 nil 0 0 0.00

Iridium_during_connect 19 160 66.92 nil 0 0 0.00

Iridium_during_xfer 305 223 1497.52 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 31 5.99

TT8 2649 14 383.09

LPSleep 11061 2 242.24

TT8_Active 428 14 62.03

TT8_Sampling 2911 42 1227.81

TT8_CF8 219 49 109.11

TT8_Kalman 33 68 22.82

Analog_circuits 1379 15 213.87

GPS_charging 0 0 0.00

Compass 2386 16 393.26

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -0.44 -146.0 0.0 0.0 0 52 0.00 0.00 -33.30 0.000 2 0.000 0.000 47 2937 2251 0 0 0 0 0 0

54 -0.44 -146.1 3.2 -3.1 4 97 6.50 1.62 -24.90 0.000 4 0.244 0.081 1630 3893 2940 0 0 0 0 0 0

197 -0.44 -146.1 21.5 -16.4 25 206 0.00 1.55 0.00 0.000 6 0.000 0.031 1630 2899 2941 0 0 0 0 0 0

279 -0.44 -146.1 35.3 -17.0 38 287 0.00 1.67 0.00 0.000 4 0.000 0.058 1622 3892 2942 0 0 0 0 0 0

338 -0.44 -146.1 45.4 -17.4 47 345 0.00 1.50 0.00 0.000 6 0.000 0.031 1622 2922 2941 0 0 0 0 0 0

451 -0.44 -146.1 65.0 -17.1 66 459 0.00 0.00 0.00 0.000 6 0.000 0.000 1622 2921 2942 0 0 0 0 0 0

567 -0.44 -146.1 83.4 -15.5 85 573 0.00 0.00 0.00 0.000 6 0.000 0.000 1622 2921 2942 0 0 0 0 0 0

799 -0.44 -146.1 121.8 -16.7 115 803 0.00 1.62 0.00 0.000 4 0.000 0.060 1614 3892 2942 0 0 0 0 0 0

860 -0.44 -146.1 133.1 -17.1 120 870 0.08 1.48 0.00 0.000 6 0.171 0.031 1638 2938 2942 0 0 0 0 0 0

1187 -0.44 -146.1 177.5 -13.7 151 1188 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2937 2942 0 0 0 0 0 0

1507 -0.44 -146.1 220.3 -13.7 181 1510 0.00 1.60 0.00 0.000 4 0.000 0.061 1631 3895 2941 0 0 0 0 0 0

1568 -0.44 -146.1 229.6 -13.4 186 1579 0.00 1.48 0.00 0.000 6 0.000 0.030 1631 2920 2942 0 0 0 0 0 0

1893 -0.44 -146.1 272.2 -13.2 209 1894 0.00 0.00 0.00 0.000 6 0.000 0.000 1631 2920 2942 0 0 0 0 0 0

2199 -0.44 -146.1 312.2 -12.6 224 2203 0.00 1.62 0.00 0.000 4 0.000 0.060 1623 3897 2942 0 0 0 0 0 0

2254 -0.44 -146.1 319.8 -13.7 226 2259 0.00 1.48 0.00 0.000 6 0.000 0.030 1623 2923 2942 0 0 0 0 0 0

2577 -0.44 -146.1 359.6 -11.9 242 2578 0.00 0.00 0.00 0.000 6 0.000 0.000 1624 2918 2942 0 0 0 0 0 0

2887 -0.44 -146.1 394.9 -11.3 257 2891 0.00 1.60 0.00 0.000 4 0.000 0.060 1616 3882 2942 0 0 0 0 0 0

2948 -0.44 -146.1 402.6 -11.7 259 2956 0.08 1.48 0.00 0.000 6 0.166 0.031 1640 2923 2942 0 0 0 0 0 0

3264 -0.44 -146.1 433.1 -9.7 275 3265 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2922 2942 0 0 0 0 0 0

3573 -0.44 -146.1 464.1 -10.1 290 3577 0.00 1.60 0.00 0.000 4 0.000 0.061 1632 3886 2942 0 0 0 0 0 0

3620 -0.44 -146.1 469.1 -11.6 292 3624 0.00 1.45 0.00 0.000 6 0.000 0.031 1632 2933 2942 0 0 0 0 0 0

3953 -0.44 -146.1 507.7 -11.7 308 3954 0.00 0.00 0.00 0.000 6 0.000 0.000 1633 2926 2942 0 0 0 0 0 0

4261 -0.44 -146.1 545.0 -12.2 323 4263 0.00 0.00 0.00 0.000 6 0.000 0.000 1633 2926 2942 0 0 0 0 0 0

4571 -0.44 -146.1 583.2 -12.6 338 4574 0.00 1.60 0.00 0.000 4 0.000 0.060 1625 3892 2942 0 0 0 0 0 0

4617 -0.44 -146.1 589.2 -13.9 340 4620 0.00 1.45 0.00 0.000 6 0.000 0.031 1625 2925 2942 0 0 0 0 0 0

4949 -0.44 -146.1 632.2 -13.1 356 4950 0.00 0.00 0.00 0.000 6 0.000 0.000 1625 2919 2942 0 0 0 0 0 0

5259 -0.44 -146.1 670.6 -12.2 371 5260 0.00 0.00 0.00 0.000 6 0.000 0.000 1625 2919 2942 0 0 0 0 0 0

5567 -0.44 -146.1 706.7 -11.4 386 5571 0.00 1.60 0.00 0.000 4 0.000 0.060 1618 3886 2942 0 0 0 0 0 0

5635 -0.44 -146.1 714.9 -12.7 389 5639 0.00 1.45 0.00 0.000 6 0.000 0.031 1618 2924 2942 0 0 0 0 0 0

5967 -0.44 -146.1 754.6 -11.9 405 5971 0.00 1.60 0.00 0.000 4 0.000 0.060 1610 3886 2942 0 0 0 0 0 0

6016 -0.44 -146.1 761.1 -12.3 407 6021 0.10 1.48 0.00 0.000 6 0.162 0.029 1641 2908 2942 0 0 0 0 0 0

6344 -0.44 -146.1 794.4 -10.2 423 6345 0.00 0.00 0.00 0.000 6 0.000 0.000 1642 2907 2942 0 0 0 0 0 0

6654 -0.44 -146.1 825.3 -10.0 438 6655 0.00 0.00 0.00 0.000 6 0.000 0.000 1642 2907 2942 0 0 0 0 0 0

6963 -0.44 -146.1 855.0 -9.4 453 6964 0.00 0.00 0.00 0.000 6 0.000 0.000 1642 2907 2942 0 0 0 0 0 0

7272 -0.44 -146.1 883.8 -9.3 468 7273 0.00 0.00 0.00 0.000 6 0.000 0.000 1642 2907 2943 0 0 0 0 0 0

7582 -0.44 -146.1 912.7 -9.4 483 7583 0.00 0.00 0.00 0.000 6 0.000 0.000 1642 2907 2942 0 0 0 0 0 0

7891 -0.44 -146.1 941.7 -9.3 498 7892 0.00 0.00 0.00 0.000 6 0.000 0.000 1642 2907 2942 0 0 0 0 0 0

8201 -0.44 -146.1 970.7 -9.4 513 8202 0.00 0.00 0.00 0.000 6 0.000 0.000 1642 2907 2942 0 0 0 0 0 0

8509 -0.44 -146.1 999.3 -9.0 528 8511 0.00 0.00 0.00 0.000 6 0.000 0.000 1641 2907 2942 0 0 0 0 0 0

8528 end dive: TARGET_DEPTH_EXCEEDED

state 8528 begin apogee

8533 -0.13 0.0 1001.2 9.0 529 8672 0.35 0.00 134.77 1.779 6 0.162 0.000 1745 2728 2342 0 0 0 0 0 0

8673 end apogee: CONTROL_FINISHED_OK

state 8673 begin climb

8675 0.44 146.1 1004.6 0.0 536 8826 0.60 0.00 147.55 1.727 6 0.122 0.000 1923 2728 1746 0 0 0 0 0 0

9128 0.44 146.1 950.2 14.0 558 9132 0.00 2.30 0.00 0.000 4 0.000 0.042 1933 1325 1738 0 0 0 0 0 0

9165 0.44 146.1 945.1 12.8 559 9173 0.00 2.35 0.00 0.000 6 0.000 0.050 1933 2719 1737 0 0 0 0 0 0

9481 0.44 146.1 898.4 15.0 575 9483 0.00 0.00 0.00 0.000 6 0.000 0.000 1933 2720 1735 0 0 0 0 0 0

9791 0.44 146.1 851.8 15.0 590 9792 0.00 0.00 0.00 0.000 6 0.000 0.000 1933 2719 1734 0 0 0 0 0 0

10101 0.44 146.1 804.5 15.2 605 10102 0.00 0.00 0.00 0.000 6 0.000 0.000 1933 2720 1733 0 0 0 0 0 0

10409 0.44 146.1 759.0 14.4 620 10411 0.00 0.00 0.00 0.000 6 0.000 0.000 1933 2719 1732 0 0 0 0 0 0

10719 0.44 146.1 716.2 13.7 635 10720 0.00 0.00 0.00 0.000 6 0.000 0.000 1933 2719 1732 0 0 0 0 0 0

11029 0.44 146.1 675.0 13.0 650 11030 0.00 0.00 0.00 0.000 6 0.000 0.000 1933 2720 1732 0 0 0 0 0 0

11337 0.44 146.1 635.3 12.7 665 11339 0.00 0.00 0.00 0.000 6 0.000 0.000 1933 2719 1731 0 0 0 0 0 0

11647 0.44 146.1 596.0 12.9 680 11648 0.00 0.00 0.00 0.000 6 0.000 0.000 1933 2720 1731 0 0 0 0 0 0

11957 0.44 146.1 556.1 13.1 695 11958 0.00 0.00 0.00 0.000 6 0.000 0.000 1933 2719 1731 0 0 0 0 0 0

12265 0.44 146.1 513.5 13.8 710 12267 0.00 0.00 0.00 0.000 6 0.000 0.000 1933 2720 1730 0 0 0 0 0 0

12576 0.44 146.1 471.4 13.4 725 12577 0.00 0.00 0.00 0.000 6 0.000 0.000 1933 2720 1730 0 0 0 0 0 0

12884 0.44 146.1 428.6 13.9 740 12885 0.00 0.00 0.00 0.000 6 0.000 0.000 1933 2719 1730 0 0 0 0 0 0

13196 0.44 146.1 386.5 13.4 755 13197 0.00 0.00 0.00 0.000 6 0.000 0.000 1933 2719 1731 0 0 0 0 0 0

13505 0.44 146.1 344.9 13.2 770 13506 0.00 0.00 0.00 0.000 6 0.000 0.000 1933 2719 1730 0 0 0 0 0 0

13816 0.44 146.1 306.4 11.8 785 13817 0.00 0.00 0.00 0.000 6 0.000 0.000 1933 2719 1730 0 0 0 0 0 0

14121 0.44 146.1 273.6 9.9 800 14123 0.00 0.00 0.00 0.000 6 0.000 0.000 1933 2719 1730 0 0 0 0 0 0

14435 0.44 146.1 243.9 9.7 817 14441 0.00 0.00 0.00 0.000 6 0.000 0.000 1933 2719 1730 0 0 0 0 0 0

14761 0.44 146.1 208.9 11.3 848 14762 0.00 0.00 0.00 0.000 6 0.000 0.000 1933 2719 1730 0 0 0 0 0 0

15082 0.44 146.1 172.7 11.8 878 15090 0.00 0.00 0.00 0.000 6 0.000 0.000 1933 2720 1730 0 0 0 0 0 0

15411 0.46 165.9 139.2 8.7 909 15430 0.00 0.00 11.35 1.168 6 0.000 0.000 1933 2719 1666 0 0 0 0 0 0

15749 0.48 196.0 112.9 8.2 941 15769 0.00 0.00 18.65 1.110 6 0.000 0.000 1933 2719 1543 0 0 0 0 0 0

16102 0.48 196.0 74.9 10.3 992 16111 0.00 1.95 0.00 0.000 4 0.000 0.063 1933 3889 1536 0 0 0 0 0 0

16148 0.48 196.0 69.9 11.7 999 16155 0.00 1.85 0.00 0.000 6 0.000 0.035 1942 2742 1535 0 0 0 0 0 0

16263 0.48 196.0 57.3 11.0 1018 16272 0.00 2.30 0.00 0.000 4 0.000 0.044 1952 1295 1534 0 0 0 0 0 0

16298 0.48 196.0 53.8 10.6 1023 16305 0.00 2.28 0.00 0.000 6 0.000 0.054 1953 2713 1534 0 0 0 0 0 0

16410 0.48 196.0 41.2 11.8 1042 16418 0.00 0.00 0.00 0.000 6 0.000 0.000 1953 2713 1534 0 0 0 0 0 0

16526 0.48 196.0 27.8 10.6 1061 16535 0.00 0.00 0.00 0.000 6 0.000 0.000 1953 2713 1534 0 0 0 0 0 0

16610 0.48 196.0 18.1 12.4 1074 16618 0.00 0.00 0.00 0.000 6 0.000 0.000 1953 2713 1534 0 0 0 0 0 0

16694 0.48 196.0 8.5 11.1 1087 16702 0.00 0.00 0.00 0.000 6 0.000 0.000 1953 2713 1533 0 0 0 0 0 0

16745 end climb: SURFACE_DEPTH_REACHED

state 16745 begin surface coast

16777 end surface coast: CONTROL_FINISHED_OK

state 16777 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	171	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	29	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	-22140.574	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	080115,002233,-5559.107,-32.185,38,1.0,42,-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	-0.039,0.228
_SM_DEPTHo	2.35	KALMAN_X	91028.3,-472.6,-91.6,-123791.7,1530.7
_SM_ANGLEo	-73.4	KALMAN_Y	44557.8,-268.2,-164.2,-42072.7,3230.6
GPS2	080115,003037,-5559.062,-32.254,15,0.8,16,-19.9	MHEAD_RNG_PITCHd_Wd	10.2,26149,-17.2,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.3,1.014975	_10V_AH	10.0,24.055
SM_CCo	16790,0.77,0.288,0,0,1524,200.16	FG_AHR_24Vo	0.000
SM_GC	1.83,0.00,0.00,0.77,0.000,0.000,0.288,59,2922,1524,-5.41,-0.25,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5535.12,-26.92,070115,191949	MEM	353828
TT8_MAMPS	0.026215	DATA_FILE_SIZE	73792,1100
HUMID	56.77	CAP_FILE_SIZE	125078,0
INTERNAL_PRESSURE	8.97462	CFSIZE	259252224,215134208
TCM_TEMP	7.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	080115,051235,-5556.288,-32.663,36,0.9,36,-19.9
_24V_AH	22.0,35.739

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	244	69.12	SBE_CT	782	23	412.46
Roll_motor	44	81	79.39	AA4330	2285	17	904.11
VBD_pump_during_apogee	312	1779	12226.46	WL_BB2F	1095	105	2531.42
VBD_pump_during_surface	0	288	4.92	QSP2150	1118	17	442.60
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	91	55.38	nil	0	0	0.00
Iridium_during_connect	19	160	66.92	nil	0	0	0.00
Iridium_during_xfer	305	223	1497.52	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	31	5.99
TT8	2649	14	383.09
LPSleep	11061	2	242.24
TT8_Active	428	14	62.03
TT8_Sampling	2911	42	1227.81
TT8_CF8	219	49	109.11
TT8_Kalman	33	68	22.82
Analog_circuits	1379	15	213.87
GPS_charging	0	0	0.00
Compass	2386	16	393.26
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-0.44	-146.0	0.0	0.0	0	52	0.00	0.00	-33.30	0.000	2	0.000	0.000	47	2937	2251	0	0	0	0	0	0
54	-0.44	-146.1	3.2	-3.1	4	97	6.50	1.62	-24.90	0.000	4	0.244	0.081	1630	3893	2940	0	0	0	0	0	0
197	-0.44	-146.1	21.5	-16.4	25	206	0.00	1.55	0.00	0.000	6	0.000	0.031	1630	2899	2941	0	0	0	0	0	0
279	-0.44	-146.1	35.3	-17.0	38	287	0.00	1.67	0.00	0.000	4	0.000	0.058	1622	3892	2942	0	0	0	0	0	0
338	-0.44	-146.1	45.4	-17.4	47	345	0.00	1.50	0.00	0.000	6	0.000	0.031	1622	2922	2941	0	0	0	0	0	0
451	-0.44	-146.1	65.0	-17.1	66	459	0.00	0.00	0.00	0.000	6	0.000	0.000	1622	2921	2942	0	0	0	0	0	0
567	-0.44	-146.1	83.4	-15.5	85	573	0.00	0.00	0.00	0.000	6	0.000	0.000	1622	2921	2942	0	0	0	0	0	0
799	-0.44	-146.1	121.8	-16.7	115	803	0.00	1.62	0.00	0.000	4	0.000	0.060	1614	3892	2942	0	0	0	0	0	0
860	-0.44	-146.1	133.1	-17.1	120	870	0.08	1.48	0.00	0.000	6	0.171	0.031	1638	2938	2942	0	0	0	0	0	0
1187	-0.44	-146.1	177.5	-13.7	151	1188	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2937	2942	0	0	0	0	0	0
1507	-0.44	-146.1	220.3	-13.7	181	1510	0.00	1.60	0.00	0.000	4	0.000	0.061	1631	3895	2941	0	0	0	0	0	0
1568	-0.44	-146.1	229.6	-13.4	186	1579	0.00	1.48	0.00	0.000	6	0.000	0.030	1631	2920	2942	0	0	0	0	0	0
1893	-0.44	-146.1	272.2	-13.2	209	1894	0.00	0.00	0.00	0.000	6	0.000	0.000	1631	2920	2942	0	0	0	0	0	0
2199	-0.44	-146.1	312.2	-12.6	224	2203	0.00	1.62	0.00	0.000	4	0.000	0.060	1623	3897	2942	0	0	0	0	0	0
2254	-0.44	-146.1	319.8	-13.7	226	2259	0.00	1.48	0.00	0.000	6	0.000	0.030	1623	2923	2942	0	0	0	0	0	0
2577	-0.44	-146.1	359.6	-11.9	242	2578	0.00	0.00	0.00	0.000	6	0.000	0.000	1624	2918	2942	0	0	0	0	0	0
2887	-0.44	-146.1	394.9	-11.3	257	2891	0.00	1.60	0.00	0.000	4	0.000	0.060	1616	3882	2942	0	0	0	0	0	0
2948	-0.44	-146.1	402.6	-11.7	259	2956	0.08	1.48	0.00	0.000	6	0.166	0.031	1640	2923	2942	0	0	0	0	0	0
3264	-0.44	-146.1	433.1	-9.7	275	3265	0.00	0.00	0.00	0.000	6	0.000	0.000	1640	2922	2942	0	0	0	0	0	0
3573	-0.44	-146.1	464.1	-10.1	290	3577	0.00	1.60	0.00	0.000	4	0.000	0.061	1632	3886	2942	0	0	0	0	0	0
3620	-0.44	-146.1	469.1	-11.6	292	3624	0.00	1.45	0.00	0.000	6	0.000	0.031	1632	2933	2942	0	0	0	0	0	0
3953	-0.44	-146.1	507.7	-11.7	308	3954	0.00	0.00	0.00	0.000	6	0.000	0.000	1633	2926	2942	0	0	0	0	0	0
4261	-0.44	-146.1	545.0	-12.2	323	4263	0.00	0.00	0.00	0.000	6	0.000	0.000	1633	2926	2942	0	0	0	0	0	0
4571	-0.44	-146.1	583.2	-12.6	338	4574	0.00	1.60	0.00	0.000	4	0.000	0.060	1625	3892	2942	0	0	0	0	0	0
4617	-0.44	-146.1	589.2	-13.9	340	4620	0.00	1.45	0.00	0.000	6	0.000	0.031	1625	2925	2942	0	0	0	0	0	0
4949	-0.44	-146.1	632.2	-13.1	356	4950	0.00	0.00	0.00	0.000	6	0.000	0.000	1625	2919	2942	0	0	0	0	0	0
5259	-0.44	-146.1	670.6	-12.2	371	5260	0.00	0.00	0.00	0.000	6	0.000	0.000	1625	2919	2942	0	0	0	0	0	0
5567	-0.44	-146.1	706.7	-11.4	386	5571	0.00	1.60	0.00	0.000	4	0.000	0.060	1618	3886	2942	0	0	0	0	0	0
5635	-0.44	-146.1	714.9	-12.7	389	5639	0.00	1.45	0.00	0.000	6	0.000	0.031	1618	2924	2942	0	0	0	0	0	0
5967	-0.44	-146.1	754.6	-11.9	405	5971	0.00	1.60	0.00	0.000	4	0.000	0.060	1610	3886	2942	0	0	0	0	0	0
6016	-0.44	-146.1	761.1	-12.3	407	6021	0.10	1.48	0.00	0.000	6	0.162	0.029	1641	2908	2942	0	0	0	0	0	0
6344	-0.44	-146.1	794.4	-10.2	423	6345	0.00	0.00	0.00	0.000	6	0.000	0.000	1642	2907	2942	0	0	0	0	0	0
6654	-0.44	-146.1	825.3	-10.0	438	6655	0.00	0.00	0.00	0.000	6	0.000	0.000	1642	2907	2942	0	0	0	0	0	0
6963	-0.44	-146.1	855.0	-9.4	453	6964	0.00	0.00	0.00	0.000	6	0.000	0.000	1642	2907	2942	0	0	0	0	0	0
7272	-0.44	-146.1	883.8	-9.3	468	7273	0.00	0.00	0.00	0.000	6	0.000	0.000	1642	2907	2943	0	0	0	0	0	0
7582	-0.44	-146.1	912.7	-9.4	483	7583	0.00	0.00	0.00	0.000	6	0.000	0.000	1642	2907	2942	0	0	0	0	0	0
7891	-0.44	-146.1	941.7	-9.3	498	7892	0.00	0.00	0.00	0.000	6	0.000	0.000	1642	2907	2942	0	0	0	0	0	0
8201	-0.44	-146.1	970.7	-9.4	513	8202	0.00	0.00	0.00	0.000	6	0.000	0.000	1642	2907	2942	0	0	0	0	0	0
8509	-0.44	-146.1	999.3	-9.0	528	8511	0.00	0.00	0.00	0.000	6	0.000	0.000	1641	2907	2942	0	0	0	0	0	0
8528	end dive: TARGET_DEPTH_EXCEEDED
state	8528	begin apogee
8533	-0.13	0.0	1001.2	9.0	529	8672	0.35	0.00	134.77	1.779	6	0.162	0.000	1745	2728	2342	0	0	0	0	0	0
8673	end apogee: CONTROL_FINISHED_OK
state	8673	begin climb
8675	0.44	146.1	1004.6	0.0	536	8826	0.60	0.00	147.55	1.727	6	0.122	0.000	1923	2728	1746	0	0	0	0	0	0
9128	0.44	146.1	950.2	14.0	558	9132	0.00	2.30	0.00	0.000	4	0.000	0.042	1933	1325	1738	0	0	0	0	0	0
9165	0.44	146.1	945.1	12.8	559	9173	0.00	2.35	0.00	0.000	6	0.000	0.050	1933	2719	1737	0	0	0	0	0	0
9481	0.44	146.1	898.4	15.0	575	9483	0.00	0.00	0.00	0.000	6	0.000	0.000	1933	2720	1735	0	0	0	0	0	0
9791	0.44	146.1	851.8	15.0	590	9792	0.00	0.00	0.00	0.000	6	0.000	0.000	1933	2719	1734	0	0	0	0	0	0
10101	0.44	146.1	804.5	15.2	605	10102	0.00	0.00	0.00	0.000	6	0.000	0.000	1933	2720	1733	0	0	0	0	0	0
10409	0.44	146.1	759.0	14.4	620	10411	0.00	0.00	0.00	0.000	6	0.000	0.000	1933	2719	1732	0	0	0	0	0	0
10719	0.44	146.1	716.2	13.7	635	10720	0.00	0.00	0.00	0.000	6	0.000	0.000	1933	2719	1732	0	0	0	0	0	0
11029	0.44	146.1	675.0	13.0	650	11030	0.00	0.00	0.00	0.000	6	0.000	0.000	1933	2720	1732	0	0	0	0	0	0
11337	0.44	146.1	635.3	12.7	665	11339	0.00	0.00	0.00	0.000	6	0.000	0.000	1933	2719	1731	0	0	0	0	0	0
11647	0.44	146.1	596.0	12.9	680	11648	0.00	0.00	0.00	0.000	6	0.000	0.000	1933	2720	1731	0	0	0	0	0	0
11957	0.44	146.1	556.1	13.1	695	11958	0.00	0.00	0.00	0.000	6	0.000	0.000	1933	2719	1731	0	0	0	0	0	0
12265	0.44	146.1	513.5	13.8	710	12267	0.00	0.00	0.00	0.000	6	0.000	0.000	1933	2720	1730	0	0	0	0	0	0
12576	0.44	146.1	471.4	13.4	725	12577	0.00	0.00	0.00	0.000	6	0.000	0.000	1933	2720	1730	0	0	0	0	0	0
12884	0.44	146.1	428.6	13.9	740	12885	0.00	0.00	0.00	0.000	6	0.000	0.000	1933	2719	1730	0	0	0	0	0	0
13196	0.44	146.1	386.5	13.4	755	13197	0.00	0.00	0.00	0.000	6	0.000	0.000	1933	2719	1731	0	0	0	0	0	0
13505	0.44	146.1	344.9	13.2	770	13506	0.00	0.00	0.00	0.000	6	0.000	0.000	1933	2719	1730	0	0	0	0	0	0
13816	0.44	146.1	306.4	11.8	785	13817	0.00	0.00	0.00	0.000	6	0.000	0.000	1933	2719	1730	0	0	0	0	0	0
14121	0.44	146.1	273.6	9.9	800	14123	0.00	0.00	0.00	0.000	6	0.000	0.000	1933	2719	1730	0	0	0	0	0	0
14435	0.44	146.1	243.9	9.7	817	14441	0.00	0.00	0.00	0.000	6	0.000	0.000	1933	2719	1730	0	0	0	0	0	0
14761	0.44	146.1	208.9	11.3	848	14762	0.00	0.00	0.00	0.000	6	0.000	0.000	1933	2719	1730	0	0	0	0	0	0
15082	0.44	146.1	172.7	11.8	878	15090	0.00	0.00	0.00	0.000	6	0.000	0.000	1933	2720	1730	0	0	0	0	0	0
15411	0.46	165.9	139.2	8.7	909	15430	0.00	0.00	11.35	1.168	6	0.000	0.000	1933	2719	1666	0	0	0	0	0	0
15749	0.48	196.0	112.9	8.2	941	15769	0.00	0.00	18.65	1.110	6	0.000	0.000	1933	2719	1543	0	0	0	0	0	0
16102	0.48	196.0	74.9	10.3	992	16111	0.00	1.95	0.00	0.000	4	0.000	0.063	1933	3889	1536	0	0	0	0	0	0
16148	0.48	196.0	69.9	11.7	999	16155	0.00	1.85	0.00	0.000	6	0.000	0.035	1942	2742	1535	0	0	0	0	0	0
16263	0.48	196.0	57.3	11.0	1018	16272	0.00	2.30	0.00	0.000	4	0.000	0.044	1952	1295	1534	0	0	0	0	0	0
16298	0.48	196.0	53.8	10.6	1023	16305	0.00	2.28	0.00	0.000	6	0.000	0.054	1953	2713	1534	0	0	0	0	0	0
16410	0.48	196.0	41.2	11.8	1042	16418	0.00	0.00	0.00	0.000	6	0.000	0.000	1953	2713	1534	0	0	0	0	0	0
16526	0.48	196.0	27.8	10.6	1061	16535	0.00	0.00	0.00	0.000	6	0.000	0.000	1953	2713	1534	0	0	0	0	0	0
16610	0.48	196.0	18.1	12.4	1074	16618	0.00	0.00	0.00	0.000	6	0.000	0.000	1953	2713	1534	0	0	0	0	0	0
16694	0.48	196.0	8.5	11.1	1087	16702	0.00	0.00	0.00	0.000	6	0.000	0.000	1953	2713	1533	0	0	0	0	0	0
16745	end climb: SURFACE_DEPTH_REACHED
state	16745	begin surface coast
16777	end surface coast: CONTROL_FINISHED_OK
state	16777	begin surface