Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 174 * 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 174 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 61 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 36 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 -22149.354 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 -22149.354

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 61 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 36 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 174 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 080115,144936,-5550.700,-32.244,32,1.0,32,-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 0.074,0.219

_SM_DEPTHo 2.03 KALMAN_X 91080.0,164.3,159.3,-124786.5,-80.8

_SM_ANGLEo -61.9 KALMAN_Y 45278.6,-414.0,-161.0,-27184.2,1954.2

GPS2 080115,145759,-5550.713,-32.300,17,1.2,17,-19.9 MHEAD_RNG_PITCHd_Wd 38.6,10849,-17.2,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.1,1.014284 _10V_AH 10.0,24.443

SM_CCo 17273,0.00,0.000,0,0,796,379.23 FG_AHR_24Vo 0.000

SM_GC 1.63,5.35,0.00,0.00,0.057,0.000,0.000,62,2933,796,-5.32,0.08,379.23 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5531.31,-26.89,080115,050521 MEM 353504

TT8_MAMPS 0.024717 DATA_FILE_SIZE 76871,1132

HUMID 56.30 CAP_FILE_SIZE 122023,0

INTERNAL_PRESSURE 8.91603 CFSIZE 259252224,214917120

TCM_TEMP 6.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 080115,194759,-5548.065,-30.042,39,1.1,39,-19.9

_24V_AH 22.1,36.251

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 244 70.25 SBE_CT 804 23 425.99

Roll_motor 27 61 37.69 AA4330 2353 17 935.19

VBD_pump_during_apogee 393 1782 15518.54 WL_BB2F 1141 105 2649.88

VBD_pump_during_surface 0 0 0.00 QSP2150 1161 17 461.52

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 91 61.70 nil 0 0 0.00

Iridium_during_connect 22 160 78.78 nil 0 0 0.00

Iridium_during_xfer 316 223 1561.37 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 6.27

TT8 2680 14 387.57

LPSleep 11476 2 251.33

TT8_Active 440 14 63.69

TT8_Sampling 2953 42 1245.64

TT8_CF8 219 49 109.01

TT8_Kalman 33 68 22.82

Analog_circuits 1404 15 217.63

GPS_charging 0 0 0.00

Compass 2408 16 396.86

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -0.44 -146.0 0.0 0.0 0 53 0.00 0.00 -33.30 0.000 2 0.000 0.000 45 2890 2231 0 0 0 0 0 0

55 -0.44 -146.1 3.0 -3.0 4 97 6.53 0.00 -26.08 0.000 6 0.244 0.000 1637 2891 2938 0 0 0 0 0 0

172 -0.44 -146.1 17.5 -16.6 21 180 0.00 0.00 0.00 0.000 6 0.000 0.000 1637 2891 2940 0 0 0 0 0 0

256 -0.44 -146.1 30.9 -15.5 34 264 0.00 0.00 0.00 0.000 6 0.000 0.000 1637 2891 2940 0 0 0 0 0 0

373 -0.44 -146.1 50.2 -15.9 53 380 0.00 0.00 0.00 0.000 6 0.000 0.000 1637 2891 2940 0 0 0 0 0 0

485 -0.44 -146.1 68.4 -15.8 72 493 0.00 0.00 0.00 0.000 6 0.000 0.000 1637 2891 2940 0 0 0 0 0 0

600 -0.44 -146.1 85.7 -14.9 91 606 0.00 1.65 0.00 0.000 4 0.000 0.062 1630 3888 2940 0 0 0 0 0 0

654 -0.44 -146.1 94.1 -15.1 100 661 0.00 1.50 0.00 0.000 6 0.000 0.032 1629 2910 2940 0 0 0 0 0 0

876 -0.44 -146.1 130.8 -16.7 124 878 0.00 0.00 0.00 0.000 6 0.000 0.000 1629 2909 2940 0 0 0 0 0 0

1196 -0.44 -146.1 181.6 -16.0 154 1200 0.00 1.62 0.00 0.000 4 0.000 0.061 1622 3881 2940 0 0 0 0 0 0

1258 -0.44 -146.1 192.7 -17.3 159 1267 0.00 1.48 0.00 0.000 6 0.000 0.031 1622 2916 2940 0 0 0 0 0 0

1584 -0.44 -146.1 239.7 -13.2 190 1586 0.00 0.00 0.00 0.000 6 0.000 0.000 1622 2915 2940 0 0 0 0 0 0

1898 -0.44 -146.1 279.2 -12.4 209 1899 0.00 0.00 0.00 0.000 6 0.000 0.000 1622 2915 2940 0 0 0 0 0 0

2207 -0.44 -146.1 316.2 -12.0 224 2210 0.00 1.62 0.00 0.000 4 0.000 0.060 1614 3892 2940 0 0 0 0 0 0

2277 -0.44 -146.1 325.2 -14.0 227 2281 0.08 1.45 0.00 0.000 6 0.170 0.031 1639 2947 2940 0 0 0 0 0 0

2611 -0.44 -146.1 361.9 -10.6 243 2612 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2944 2940 0 0 0 0 0 0

2920 -0.44 -146.1 396.8 -11.7 258 2921 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2944 2940 0 0 0 0 0 0

3227 -0.44 -146.1 433.0 -11.3 273 3229 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2944 2940 0 0 0 0 0 0

3537 -0.44 -146.1 467.2 -11.1 288 3538 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2944 2941 0 0 0 0 0 0

3847 -0.44 -146.1 501.9 -11.5 303 3848 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2943 2940 0 0 0 0 0 0

4155 -0.44 -146.1 537.9 -11.7 318 4156 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2943 2941 0 0 0 0 0 0

4465 -0.44 -146.1 573.1 -11.2 333 4466 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2944 2941 0 0 0 0 0 0

4775 -0.44 -146.1 606.3 -10.6 348 4776 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2943 2941 0 0 0 0 0 0

5083 -0.44 -146.1 639.3 -10.9 363 5084 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2943 2940 0 0 0 0 0 0

5393 -0.44 -146.1 672.3 -10.6 378 5394 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2943 2941 0 0 0 0 0 0

5703 -0.44 -146.1 703.7 -9.9 393 5704 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2943 2941 0 0 0 0 0 0

6012 -0.44 -146.1 733.7 -9.4 408 6013 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2943 2941 0 0 0 0 0 0

6321 -0.44 -146.1 764.7 -10.2 423 6323 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2943 2941 0 0 0 0 0 0

6630 -0.44 -146.1 795.7 -10.0 438 6631 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2943 2941 0 0 0 0 0 0

6939 -0.44 -146.1 826.9 -10.2 453 6943 0.00 2.15 0.00 0.000 4 0.000 0.037 1638 1532 2941 0 0 0 0 0 0

6980 -0.44 -146.1 830.7 -9.4 455 6984 0.00 2.22 0.00 0.000 6 0.000 0.053 1628 2918 2941 0 0 0 0 0 0

7306 -0.44 -146.1 867.4 -11.4 471 7307 0.00 0.00 0.00 0.000 6 0.000 0.000 1628 2919 2941 0 0 0 0 0 0

7615 -0.44 -146.1 903.5 -11.8 486 7616 0.00 0.00 0.00 0.000 6 0.000 0.000 1628 2919 2941 0 0 0 0 0 0

7925 -0.44 -146.1 939.5 -11.6 501 7926 0.00 0.00 0.00 0.000 6 0.000 0.000 1628 2919 2941 0 0 0 0 0 0

8234 -0.44 -146.1 974.2 -11.1 516 8235 0.00 0.00 0.00 0.000 6 0.000 0.000 1628 2919 2941 0 0 0 0 0 0

8480 end dive: TARGET_DEPTH_EXCEEDED

state 8480 begin apogee

8484 -0.13 0.0 1001.4 11.0 528 8623 0.40 0.00 134.55 1.782 6 0.169 0.000 1744 2711 2342 0 0 0 0 0 0

8624 end apogee: CONTROL_FINISHED_OK

state 8624 begin climb

8626 0.44 146.1 1006.3 0.0 535 8779 0.60 0.00 147.80 1.718 6 0.124 0.000 1921 2709 1745 0 0 0 0 0 0

9081 0.44 146.1 958.8 11.8 557 9082 0.00 0.00 0.00 0.000 6 0.000 0.000 1921 2710 1738 0 0 0 0 0 0

9390 0.44 146.1 920.2 12.8 572 9391 0.00 0.00 0.00 0.000 6 0.000 0.000 1921 2710 1735 0 0 0 0 0 0

9699 0.44 146.1 882.1 12.5 587 9700 0.00 0.00 0.00 0.000 6 0.000 0.000 1921 2710 1735 0 0 0 0 0 0

10009 0.44 146.1 842.9 12.7 602 10013 0.00 2.00 0.00 0.000 4 0.000 0.060 1921 3894 1734 0 0 0 0 0 0

10055 0.44 146.1 836.4 14.6 604 10059 0.00 1.85 0.00 0.000 6 0.000 0.034 1930 2729 1732 0 0 0 0 0 0

10387 0.44 146.1 789.9 14.2 620 10388 0.00 0.00 0.00 0.000 6 0.000 0.000 1930 2729 1732 0 0 0 0 0 0

10697 0.44 146.1 745.9 14.3 635 10698 0.00 0.00 0.00 0.000 6 0.000 0.000 1930 2730 1732 0 0 0 0 0 0

11005 0.44 146.1 701.8 14.3 650 11006 0.00 0.00 0.00 0.000 6 0.000 0.000 1930 2729 1731 0 0 0 0 0 0

11315 0.44 146.1 658.1 14.0 665 11316 0.00 0.00 0.00 0.000 6 0.000 0.000 1930 2729 1731 0 0 0 0 0 0

11625 0.44 146.1 615.4 13.8 680 11626 0.00 0.00 0.00 0.000 6 0.000 0.000 1930 2729 1731 0 0 0 0 0 0

11933 0.44 146.1 574.4 12.9 695 11934 0.00 0.00 0.00 0.000 6 0.000 0.000 1930 2729 1730 0 0 0 0 0 0

12243 0.44 146.1 535.8 12.3 710 12244 0.00 0.00 0.00 0.000 6 0.000 0.000 1930 2730 1730 0 0 0 0 0 0

12553 0.44 146.1 498.2 12.2 725 12554 0.00 0.00 0.00 0.000 6 0.000 0.000 1930 2729 1730 0 0 0 0 0 0

12861 0.44 146.1 459.1 12.5 740 12862 0.00 0.00 0.00 0.000 6 0.000 0.000 1930 2729 1730 0 0 0 0 0 0

13171 0.44 146.1 421.1 12.0 755 13173 0.00 0.00 0.00 0.000 6 0.000 0.000 1930 2729 1730 0 0 0 0 0 0

13482 0.44 146.1 385.5 11.3 770 13483 0.00 0.00 0.00 0.000 6 0.000 0.000 1930 2729 1730 0 0 0 0 0 0

13793 0.44 146.1 350.0 11.3 785 13794 0.00 0.00 0.00 0.000 6 0.000 0.000 1930 2729 1730 0 0 0 0 0 0

14099 0.44 146.1 315.3 11.1 800 14100 0.00 0.00 0.00 0.000 6 0.000 0.000 1930 2730 1730 0 0 0 0 0 0

14410 0.44 146.1 282.3 10.3 815 14411 0.00 0.00 0.00 0.000 6 0.000 0.000 1930 2729 1730 0 0 0 0 0 0

14717 0.44 146.1 250.3 10.3 830 14718 0.00 0.00 0.00 0.000 6 0.000 0.000 1930 2730 1730 0 0 0 0 0 0

15039 0.44 146.1 218.0 10.4 859 15045 0.00 0.00 0.00 0.000 6 0.000 0.000 1930 2729 1730 0 0 0 0 0 0

15366 0.44 146.1 183.6 11.2 890 15367 0.00 0.00 0.00 0.000 6 0.000 0.000 1930 2729 1730 0 0 0 0 0 0

15683 0.44 146.1 147.7 11.0 920 15685 0.00 0.00 0.00 0.000 6 0.000 0.000 1930 2729 1730 0 0 0 0 0 0

16001 0.44 146.1 113.3 11.0 950 16002 0.00 0.00 0.00 0.000 6 0.000 0.000 1930 2729 1730 0 0 0 0 0 0

16336 0.46 170.1 78.8 8.5 998 16351 0.00 0.00 13.05 0.988 6 0.000 0.000 1930 2729 1646 0 0 0 0 0 0

16458 0.47 183.3 67.8 9.0 1018 16474 0.00 2.30 8.55 0.885 4 0.000 0.044 1941 1294 1593 0 0 0 0 0 0

16511 0.50 217.7 63.1 8.0 1026 16535 0.00 2.33 17.70 0.933 6 0.000 0.050 1941 2730 1452 0 0 0 0 0 0

16643 0.50 217.7 50.7 10.4 1047 16649 0.00 0.00 0.00 0.000 6 0.000 0.000 1941 2730 1446 0 0 0 0 0 0

16755 0.50 217.7 39.4 9.9 1066 16763 0.00 0.00 0.00 0.000 6 0.000 0.000 1941 2729 1444 0 0 0 0 0 0

16870 0.50 217.7 28.4 9.7 1085 16879 0.00 0.00 0.00 0.000 6 0.000 0.000 1940 2729 1443 0 0 0 0 0 0

16955 0.50 217.7 19.9 10.8 1098 16963 0.00 0.00 0.00 0.000 6 0.000 0.000 1940 2729 1442 0 0 0 0 0 0

17040 0.56 294.0 13.2 6.2 1111 17090 0.00 2.38 37.62 0.787 4 0.000 0.045 1950 1301 1136 0 0 0 0 0 0

17123 0.62 375.2 7.4 6.0 1122 17165 0.08 2.33 34.67 0.762 6 0.076 0.050 1988 2712 806 0 0 0 0 0 0

17172 end climb: SURFACE_DEPTH_REACHED

state 17172 begin surface coast

17200 end surface coast: CONTROL_FINISHED_OK

state 17200 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	174	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	61	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	36	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	-22149.354	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	080115,144936,-5550.700,-32.244,32,1.0,32,-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	0.074,0.219
_SM_DEPTHo	2.03	KALMAN_X	91080.0,164.3,159.3,-124786.5,-80.8
_SM_ANGLEo	-61.9	KALMAN_Y	45278.6,-414.0,-161.0,-27184.2,1954.2
GPS2	080115,145759,-5550.713,-32.300,17,1.2,17,-19.9	MHEAD_RNG_PITCHd_Wd	38.6,10849,-17.2,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.1,1.014284	_10V_AH	10.0,24.443
SM_CCo	17273,0.00,0.000,0,0,796,379.23	FG_AHR_24Vo	0.000
SM_GC	1.63,5.35,0.00,0.00,0.057,0.000,0.000,62,2933,796,-5.32,0.08,379.23	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5531.31,-26.89,080115,050521	MEM	353504
TT8_MAMPS	0.024717	DATA_FILE_SIZE	76871,1132
HUMID	56.30	CAP_FILE_SIZE	122023,0
INTERNAL_PRESSURE	8.91603	CFSIZE	259252224,214917120
TCM_TEMP	6.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	080115,194759,-5548.065,-30.042,39,1.1,39,-19.9
_24V_AH	22.1,36.251

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	244	70.25	SBE_CT	804	23	425.99
Roll_motor	27	61	37.69	AA4330	2353	17	935.19
VBD_pump_during_apogee	393	1782	15518.54	WL_BB2F	1141	105	2649.88
VBD_pump_during_surface	0	0	0.00	QSP2150	1161	17	461.52
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	91	61.70	nil	0	0	0.00
Iridium_during_connect	22	160	78.78	nil	0	0	0.00
Iridium_during_xfer	316	223	1561.37	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	6.27
TT8	2680	14	387.57
LPSleep	11476	2	251.33
TT8_Active	440	14	63.69
TT8_Sampling	2953	42	1245.64
TT8_CF8	219	49	109.01
TT8_Kalman	33	68	22.82
Analog_circuits	1404	15	217.63
GPS_charging	0	0	0.00
Compass	2408	16	396.86
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-0.44	-146.0	0.0	0.0	0	53	0.00	0.00	-33.30	0.000	2	0.000	0.000	45	2890	2231	0	0	0	0	0	0
55	-0.44	-146.1	3.0	-3.0	4	97	6.53	0.00	-26.08	0.000	6	0.244	0.000	1637	2891	2938	0	0	0	0	0	0
172	-0.44	-146.1	17.5	-16.6	21	180	0.00	0.00	0.00	0.000	6	0.000	0.000	1637	2891	2940	0	0	0	0	0	0
256	-0.44	-146.1	30.9	-15.5	34	264	0.00	0.00	0.00	0.000	6	0.000	0.000	1637	2891	2940	0	0	0	0	0	0
373	-0.44	-146.1	50.2	-15.9	53	380	0.00	0.00	0.00	0.000	6	0.000	0.000	1637	2891	2940	0	0	0	0	0	0
485	-0.44	-146.1	68.4	-15.8	72	493	0.00	0.00	0.00	0.000	6	0.000	0.000	1637	2891	2940	0	0	0	0	0	0
600	-0.44	-146.1	85.7	-14.9	91	606	0.00	1.65	0.00	0.000	4	0.000	0.062	1630	3888	2940	0	0	0	0	0	0
654	-0.44	-146.1	94.1	-15.1	100	661	0.00	1.50	0.00	0.000	6	0.000	0.032	1629	2910	2940	0	0	0	0	0	0
876	-0.44	-146.1	130.8	-16.7	124	878	0.00	0.00	0.00	0.000	6	0.000	0.000	1629	2909	2940	0	0	0	0	0	0
1196	-0.44	-146.1	181.6	-16.0	154	1200	0.00	1.62	0.00	0.000	4	0.000	0.061	1622	3881	2940	0	0	0	0	0	0
1258	-0.44	-146.1	192.7	-17.3	159	1267	0.00	1.48	0.00	0.000	6	0.000	0.031	1622	2916	2940	0	0	0	0	0	0
1584	-0.44	-146.1	239.7	-13.2	190	1586	0.00	0.00	0.00	0.000	6	0.000	0.000	1622	2915	2940	0	0	0	0	0	0
1898	-0.44	-146.1	279.2	-12.4	209	1899	0.00	0.00	0.00	0.000	6	0.000	0.000	1622	2915	2940	0	0	0	0	0	0
2207	-0.44	-146.1	316.2	-12.0	224	2210	0.00	1.62	0.00	0.000	4	0.000	0.060	1614	3892	2940	0	0	0	0	0	0
2277	-0.44	-146.1	325.2	-14.0	227	2281	0.08	1.45	0.00	0.000	6	0.170	0.031	1639	2947	2940	0	0	0	0	0	0
2611	-0.44	-146.1	361.9	-10.6	243	2612	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2944	2940	0	0	0	0	0	0
2920	-0.44	-146.1	396.8	-11.7	258	2921	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2944	2940	0	0	0	0	0	0
3227	-0.44	-146.1	433.0	-11.3	273	3229	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2944	2940	0	0	0	0	0	0
3537	-0.44	-146.1	467.2	-11.1	288	3538	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2944	2941	0	0	0	0	0	0
3847	-0.44	-146.1	501.9	-11.5	303	3848	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2943	2940	0	0	0	0	0	0
4155	-0.44	-146.1	537.9	-11.7	318	4156	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2943	2941	0	0	0	0	0	0
4465	-0.44	-146.1	573.1	-11.2	333	4466	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2944	2941	0	0	0	0	0	0
4775	-0.44	-146.1	606.3	-10.6	348	4776	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2943	2941	0	0	0	0	0	0
5083	-0.44	-146.1	639.3	-10.9	363	5084	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2943	2940	0	0	0	0	0	0
5393	-0.44	-146.1	672.3	-10.6	378	5394	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2943	2941	0	0	0	0	0	0
5703	-0.44	-146.1	703.7	-9.9	393	5704	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2943	2941	0	0	0	0	0	0
6012	-0.44	-146.1	733.7	-9.4	408	6013	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2943	2941	0	0	0	0	0	0
6321	-0.44	-146.1	764.7	-10.2	423	6323	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2943	2941	0	0	0	0	0	0
6630	-0.44	-146.1	795.7	-10.0	438	6631	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2943	2941	0	0	0	0	0	0
6939	-0.44	-146.1	826.9	-10.2	453	6943	0.00	2.15	0.00	0.000	4	0.000	0.037	1638	1532	2941	0	0	0	0	0	0
6980	-0.44	-146.1	830.7	-9.4	455	6984	0.00	2.22	0.00	0.000	6	0.000	0.053	1628	2918	2941	0	0	0	0	0	0
7306	-0.44	-146.1	867.4	-11.4	471	7307	0.00	0.00	0.00	0.000	6	0.000	0.000	1628	2919	2941	0	0	0	0	0	0
7615	-0.44	-146.1	903.5	-11.8	486	7616	0.00	0.00	0.00	0.000	6	0.000	0.000	1628	2919	2941	0	0	0	0	0	0
7925	-0.44	-146.1	939.5	-11.6	501	7926	0.00	0.00	0.00	0.000	6	0.000	0.000	1628	2919	2941	0	0	0	0	0	0
8234	-0.44	-146.1	974.2	-11.1	516	8235	0.00	0.00	0.00	0.000	6	0.000	0.000	1628	2919	2941	0	0	0	0	0	0
8480	end dive: TARGET_DEPTH_EXCEEDED
state	8480	begin apogee
8484	-0.13	0.0	1001.4	11.0	528	8623	0.40	0.00	134.55	1.782	6	0.169	0.000	1744	2711	2342	0	0	0	0	0	0
8624	end apogee: CONTROL_FINISHED_OK
state	8624	begin climb
8626	0.44	146.1	1006.3	0.0	535	8779	0.60	0.00	147.80	1.718	6	0.124	0.000	1921	2709	1745	0	0	0	0	0	0
9081	0.44	146.1	958.8	11.8	557	9082	0.00	0.00	0.00	0.000	6	0.000	0.000	1921	2710	1738	0	0	0	0	0	0
9390	0.44	146.1	920.2	12.8	572	9391	0.00	0.00	0.00	0.000	6	0.000	0.000	1921	2710	1735	0	0	0	0	0	0
9699	0.44	146.1	882.1	12.5	587	9700	0.00	0.00	0.00	0.000	6	0.000	0.000	1921	2710	1735	0	0	0	0	0	0
10009	0.44	146.1	842.9	12.7	602	10013	0.00	2.00	0.00	0.000	4	0.000	0.060	1921	3894	1734	0	0	0	0	0	0
10055	0.44	146.1	836.4	14.6	604	10059	0.00	1.85	0.00	0.000	6	0.000	0.034	1930	2729	1732	0	0	0	0	0	0
10387	0.44	146.1	789.9	14.2	620	10388	0.00	0.00	0.00	0.000	6	0.000	0.000	1930	2729	1732	0	0	0	0	0	0
10697	0.44	146.1	745.9	14.3	635	10698	0.00	0.00	0.00	0.000	6	0.000	0.000	1930	2730	1732	0	0	0	0	0	0
11005	0.44	146.1	701.8	14.3	650	11006	0.00	0.00	0.00	0.000	6	0.000	0.000	1930	2729	1731	0	0	0	0	0	0
11315	0.44	146.1	658.1	14.0	665	11316	0.00	0.00	0.00	0.000	6	0.000	0.000	1930	2729	1731	0	0	0	0	0	0
11625	0.44	146.1	615.4	13.8	680	11626	0.00	0.00	0.00	0.000	6	0.000	0.000	1930	2729	1731	0	0	0	0	0	0
11933	0.44	146.1	574.4	12.9	695	11934	0.00	0.00	0.00	0.000	6	0.000	0.000	1930	2729	1730	0	0	0	0	0	0
12243	0.44	146.1	535.8	12.3	710	12244	0.00	0.00	0.00	0.000	6	0.000	0.000	1930	2730	1730	0	0	0	0	0	0
12553	0.44	146.1	498.2	12.2	725	12554	0.00	0.00	0.00	0.000	6	0.000	0.000	1930	2729	1730	0	0	0	0	0	0
12861	0.44	146.1	459.1	12.5	740	12862	0.00	0.00	0.00	0.000	6	0.000	0.000	1930	2729	1730	0	0	0	0	0	0
13171	0.44	146.1	421.1	12.0	755	13173	0.00	0.00	0.00	0.000	6	0.000	0.000	1930	2729	1730	0	0	0	0	0	0
13482	0.44	146.1	385.5	11.3	770	13483	0.00	0.00	0.00	0.000	6	0.000	0.000	1930	2729	1730	0	0	0	0	0	0
13793	0.44	146.1	350.0	11.3	785	13794	0.00	0.00	0.00	0.000	6	0.000	0.000	1930	2729	1730	0	0	0	0	0	0
14099	0.44	146.1	315.3	11.1	800	14100	0.00	0.00	0.00	0.000	6	0.000	0.000	1930	2730	1730	0	0	0	0	0	0
14410	0.44	146.1	282.3	10.3	815	14411	0.00	0.00	0.00	0.000	6	0.000	0.000	1930	2729	1730	0	0	0	0	0	0
14717	0.44	146.1	250.3	10.3	830	14718	0.00	0.00	0.00	0.000	6	0.000	0.000	1930	2730	1730	0	0	0	0	0	0
15039	0.44	146.1	218.0	10.4	859	15045	0.00	0.00	0.00	0.000	6	0.000	0.000	1930	2729	1730	0	0	0	0	0	0
15366	0.44	146.1	183.6	11.2	890	15367	0.00	0.00	0.00	0.000	6	0.000	0.000	1930	2729	1730	0	0	0	0	0	0
15683	0.44	146.1	147.7	11.0	920	15685	0.00	0.00	0.00	0.000	6	0.000	0.000	1930	2729	1730	0	0	0	0	0	0
16001	0.44	146.1	113.3	11.0	950	16002	0.00	0.00	0.00	0.000	6	0.000	0.000	1930	2729	1730	0	0	0	0	0	0
16336	0.46	170.1	78.8	8.5	998	16351	0.00	0.00	13.05	0.988	6	0.000	0.000	1930	2729	1646	0	0	0	0	0	0
16458	0.47	183.3	67.8	9.0	1018	16474	0.00	2.30	8.55	0.885	4	0.000	0.044	1941	1294	1593	0	0	0	0	0	0
16511	0.50	217.7	63.1	8.0	1026	16535	0.00	2.33	17.70	0.933	6	0.000	0.050	1941	2730	1452	0	0	0	0	0	0
16643	0.50	217.7	50.7	10.4	1047	16649	0.00	0.00	0.00	0.000	6	0.000	0.000	1941	2730	1446	0	0	0	0	0	0
16755	0.50	217.7	39.4	9.9	1066	16763	0.00	0.00	0.00	0.000	6	0.000	0.000	1941	2729	1444	0	0	0	0	0	0
16870	0.50	217.7	28.4	9.7	1085	16879	0.00	0.00	0.00	0.000	6	0.000	0.000	1940	2729	1443	0	0	0	0	0	0
16955	0.50	217.7	19.9	10.8	1098	16963	0.00	0.00	0.00	0.000	6	0.000	0.000	1940	2729	1442	0	0	0	0	0	0
17040	0.56	294.0	13.2	6.2	1111	17090	0.00	2.38	37.62	0.787	4	0.000	0.045	1950	1301	1136	0	0	0	0	0	0
17123	0.62	375.2	7.4	6.0	1122	17165	0.08	2.33	34.67	0.762	6	0.076	0.050	1988	2712	806	0	0	0	0	0	0
17172	end climb: SURFACE_DEPTH_REACHED
state	17172	begin surface coast
17200	end surface coast: CONTROL_FINISHED_OK
state	17200	begin surface