Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 175 * 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 175 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 27 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 -22152.215 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 -22152.215

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 27 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 175 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 080115,194759,-5548.065,-30.042,39,1.1,39,-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 -0.023,0.215

_SM_DEPTHo 1.74 KALMAN_X 92075.7,171.1,2.0,-123276.8,517.5

_SM_ANGLEo -57.5 KALMAN_Y 45090.9,24.2,-245.7,-22504.8,1203.9

GPS2 080115,195606,-5548.097,-30.018,16,1.7,16,-19.9 MHEAD_RNG_PITCHd_Wd 13.7,5736,-18.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.2,1.025845 _10V_AH 9.9,24.560

SM_CCo 15023,25.25,0.161,0,0,1524,200.16 FG_AHR_24Vo 0.000

SM_GC 2.62,0.00,0.00,25.25,0.000,0.000,0.161,54,2927,1524,-5.43,-0.08,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5531.31,-30.69,080115,141423 MEM 353520

TT8_MAMPS 0.026215 DATA_FILE_SIZE 66970,988

HUMID 56.61 CAP_FILE_SIZE 112032,0

INTERNAL_PRESSURE 8.97462 CFSIZE 259252224,214867968

TCM_TEMP 7.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 090115,000900,-5545.603,-29.399,36,0.8,37,-19.9

_24V_AH 22.1,36.411

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 249 71.37 SBE_CT 702 23 372.04

Roll_motor 33 81 60.38 AA4330 2050 17 814.61

VBD_pump_during_apogee 280 1780 11051.01 WL_BB2F 980 105 2274.95

VBD_pump_during_surface 25 161 90.07 QSP2150 1016 17 404.03

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 91 54.47 nil 0 0 0.00

Iridium_during_connect 19 160 68.60 nil 0 0 0.00

Iridium_during_xfer 311 223 1534.30 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 6.01

TT8 2372 14 339.68

LPSleep 9875 2 214.11

TT8_Active 406 14 58.20

TT8_Sampling 2682 42 1119.97

TT8_CF8 193 49 95.20

TT8_Kalman 33 68 22.59

Analog_circuits 1288 15 197.72

GPS_charging 0 0 0.00

Compass 2161 16 352.67

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 -0.45 -127.5 0.0 0.0 0 92 0.00 0.00 -73.70 0.000 2 0.000 0.000 48 2943 2405 0 0 0 0 0 0

94 -0.47 -146.1 3.1 -2.8 9 129 6.57 1.62 -16.55 0.000 4 0.249 0.082 1621 3896 2941 0 0 0 0 0 0

149 -0.47 -146.1 11.7 -17.9 16 158 0.00 1.55 0.00 0.000 6 0.000 0.031 1621 2900 2942 0 0 0 0 0 0

234 -0.47 -146.1 27.0 -18.7 29 243 0.00 0.00 0.00 0.000 6 0.000 0.000 1621 2899 2942 0 0 0 0 0 0

314 -0.47 -146.1 41.8 -18.3 42 323 0.00 0.00 0.00 0.000 6 0.000 0.000 1621 2899 2942 0 0 0 0 0 0

430 -0.47 -146.1 61.9 -18.2 61 436 0.00 0.00 0.00 0.000 6 0.000 0.000 1621 2899 2942 0 0 0 0 0 0

542 -0.47 -146.1 81.9 -17.8 80 548 0.00 0.00 0.00 0.000 6 0.000 0.000 1621 2899 2942 0 0 0 0 0 0

770 -0.47 -146.1 119.6 -16.9 110 771 0.00 0.00 0.00 0.000 6 0.000 0.000 1621 2899 2942 0 0 0 0 0 0

1089 -0.47 -146.1 171.9 -16.0 140 1090 0.00 0.00 0.00 0.000 6 0.000 0.000 1621 2899 2943 0 0 0 0 0 0

1408 -0.47 -146.1 223.1 -16.1 170 1409 0.00 0.00 0.00 0.000 6 0.000 0.000 1621 2899 2943 0 0 0 0 0 0

1734 -0.47 -146.1 271.9 -14.4 194 1738 0.00 1.65 0.00 0.000 4 0.000 0.060 1613 3900 2942 0 0 0 0 0 0

1812 -0.47 -146.1 284.0 -14.8 197 1817 0.00 1.52 0.00 0.000 6 0.000 0.031 1613 2909 2943 0 0 0 0 0 0

2136 -0.47 -146.1 328.0 -13.1 213 2137 0.00 0.00 0.00 0.000 6 0.000 0.000 1613 2904 2942 0 0 0 0 0 0

2446 -0.47 -146.1 367.5 -12.9 228 2447 0.00 0.00 0.00 0.000 6 0.000 0.000 1613 2904 2943 0 0 0 0 0 0

2753 -0.47 -146.1 409.3 -13.6 243 2756 0.00 1.65 0.00 0.000 4 0.000 0.060 1605 3910 2943 0 0 0 0 0 0

2830 -0.47 -146.1 420.7 -14.7 246 2835 0.08 1.50 0.00 0.000 6 0.168 0.031 1629 2933 2943 0 0 0 0 0 0

3152 -0.47 -146.1 458.8 -11.5 262 3153 0.00 0.00 0.00 0.000 6 0.000 0.000 1629 2932 2942 0 0 0 0 0 0

3460 -0.47 -146.1 495.9 -11.9 277 3461 0.00 0.00 0.00 0.000 6 0.000 0.000 1629 2932 2942 0 0 0 0 0 0

3770 -0.47 -146.1 532.2 -11.5 292 3774 0.00 1.60 0.00 0.000 4 0.000 0.060 1622 3896 2943 0 0 0 0 0 0

3819 -0.47 -146.1 538.4 -12.2 294 3824 0.00 1.50 0.00 0.000 6 0.000 0.029 1622 2904 2943 0 0 0 0 0 0

4147 -0.47 -146.1 578.7 -12.4 310 4148 0.00 0.00 0.00 0.000 6 0.000 0.000 1622 2902 2943 0 0 0 0 0 0

4457 -0.47 -146.1 618.5 -12.8 325 4458 0.00 0.00 0.00 0.000 6 0.000 0.000 1622 2902 2943 0 0 0 0 0 0

4765 -0.47 -146.1 658.1 -12.8 340 4767 0.00 0.00 0.00 0.000 6 0.000 0.000 1621 2902 2943 0 0 0 0 0 0

5075 -0.47 -146.1 697.9 -12.7 355 5076 0.00 0.00 0.00 0.000 6 0.000 0.000 1622 2902 2943 0 0 0 0 0 0

5385 -0.47 -146.1 736.4 -12.0 370 5386 0.00 0.00 0.00 0.000 6 0.000 0.000 1622 2901 2943 0 0 0 0 0 0

5693 -0.47 -146.1 772.4 -11.4 385 5697 0.00 1.65 0.00 0.000 4 0.000 0.060 1614 3910 2943 0 0 0 0 0 0

5742 -0.47 -146.1 778.6 -11.9 387 5747 0.00 1.50 0.00 0.000 6 0.000 0.029 1614 2932 2943 0 0 0 0 0 0

6071 -0.47 -146.1 818.4 -12.2 403 6072 0.00 0.00 0.00 0.000 6 0.000 0.000 1614 2931 2943 0 0 0 0 0 0

6379 -0.47 -146.1 854.2 -11.2 418 6380 0.00 0.00 0.00 0.000 6 0.000 0.000 1614 2930 2943 0 0 0 0 0 0

6688 -0.47 -146.1 888.1 -10.9 433 6690 0.00 0.00 0.00 0.000 6 0.000 0.000 1614 2930 2943 0 0 0 0 0 0

6998 -0.47 -146.1 924.1 -11.7 448 7000 0.00 0.00 0.00 0.000 6 0.000 0.000 1613 2930 2943 0 0 0 0 0 0

7307 -0.47 -146.1 960.5 -11.9 463 7308 0.00 0.00 0.00 0.000 6 0.000 0.000 1614 2930 2943 0 0 0 0 0 0

7616 -0.47 -146.1 998.0 -12.1 478 7618 0.00 0.00 0.00 0.000 6 0.000 0.000 1614 2930 2943 0 0 0 0 0 0

7636 end dive: TARGET_DEPTH_EXCEEDED

state 7636 begin apogee

7641 -0.13 0.0 1000.6 11.8 479 7779 0.43 0.00 135.15 1.780 6 0.167 0.000 1738 2711 2342 0 0 0 0 0 0

7780 end apogee: CONTROL_FINISHED_OK

state 7780 begin climb

7782 0.47 146.1 1006.3 0.0 486 7935 0.68 2.45 145.75 1.727 4 0.126 0.041 1943 1346 1745 0 0 0 0 0 0

7969 0.47 146.1 990.2 11.5 495 7974 0.00 2.40 0.00 0.000 6 0.000 0.049 1943 2724 1741 0 0 0 0 0 0

8297 0.47 146.1 945.8 13.8 511 8300 0.00 1.98 0.00 0.000 4 0.000 0.057 1943 3897 1736 0 0 0 0 0 0

8345 0.47 146.1 937.6 16.1 513 8350 0.00 1.90 0.00 0.000 6 0.000 0.032 1952 2748 1734 0 0 0 0 0 0

8673 0.47 146.1 889.2 14.7 529 8674 0.00 0.00 0.00 0.000 6 0.000 0.000 1952 2747 1734 0 0 0 0 0 0

8983 0.47 146.1 843.0 15.1 544 8984 0.00 0.00 0.00 0.000 6 0.000 0.000 1952 2747 1733 0 0 0 0 0 0

9292 0.47 146.1 794.8 15.9 559 9293 0.00 0.00 0.00 0.000 6 0.000 0.000 1952 2747 1732 0 0 0 0 0 0

9601 0.47 146.1 745.6 15.7 574 9602 0.00 0.00 0.00 0.000 6 0.000 0.000 1952 2747 1731 0 0 0 0 0 0

9911 0.47 146.1 698.2 15.4 589 9913 0.00 0.00 0.00 0.000 6 0.000 0.000 1952 2747 1732 0 0 0 0 0 0

10220 0.47 146.1 650.1 16.2 604 10221 0.00 0.00 0.00 0.000 6 0.000 0.000 1952 2747 1732 0 0 0 0 0 0

10529 0.47 146.1 600.4 15.6 619 10530 0.00 0.00 0.00 0.000 6 0.000 0.000 1952 2747 1731 0 0 0 0 0 0

10839 0.47 146.1 551.3 16.0 634 10840 0.00 0.00 0.00 0.000 6 0.000 0.000 1951 2746 1731 0 0 0 0 0 0

11148 0.47 146.1 502.8 15.7 649 11149 0.00 0.00 0.00 0.000 6 0.000 0.000 1952 2747 1731 0 0 0 0 0 0

11457 0.47 146.1 456.2 14.7 664 11458 0.00 0.00 0.00 0.000 6 0.000 0.000 1952 2747 1731 0 0 0 0 0 0

11767 0.47 146.1 415.1 12.7 679 11768 0.00 0.00 0.00 0.000 6 0.000 0.000 1952 2747 1731 0 0 0 0 0 0

12076 0.47 146.1 375.8 13.2 694 12077 0.00 0.00 0.00 0.000 6 0.000 0.000 1952 2747 1730 0 0 0 0 0 0

12387 0.47 146.1 333.4 13.8 709 12388 0.00 0.00 0.00 0.000 6 0.000 0.000 1952 2747 1731 0 0 0 0 0 0

12697 0.47 146.1 289.8 14.1 724 12698 0.00 0.00 0.00 0.000 6 0.000 0.000 1952 2747 1730 0 0 0 0 0 0

13007 0.47 146.1 248.2 13.5 739 13014 0.00 0.00 0.00 0.000 6 0.000 0.000 1951 2747 1730 0 0 0 0 0 0

13333 0.47 146.1 204.4 12.8 770 13337 0.00 2.25 0.00 0.000 4 0.000 0.044 1962 1288 1730 0 0 0 0 0 0

13375 0.47 146.1 199.2 11.9 773 13379 0.00 2.28 0.00 0.000 6 0.000 0.052 1963 2719 1730 0 0 0 0 0 0

13702 0.47 146.1 154.8 13.3 803 13708 0.00 0.00 0.00 0.000 6 0.000 0.000 1963 2719 1730 0 0 0 0 0 0

14028 0.47 146.1 113.0 11.6 834 14031 0.00 1.88 0.00 0.000 4 0.000 0.059 1962 3894 1730 0 0 0 0 0 0

14078 0.47 146.1 106.1 12.8 838 14088 0.00 1.88 0.00 0.000 6 0.000 0.034 1971 2711 1728 0 0 0 0 0 0

14425 0.47 146.1 63.7 10.6 894 14433 0.00 0.00 0.00 0.000 6 0.000 0.000 1971 2710 1729 0 0 0 0 0 0

14541 0.47 146.1 52.0 10.5 913 14548 0.00 0.00 0.00 0.000 6 0.000 0.000 1972 2710 1728 0 0 0 0 0 0

14654 0.47 146.1 39.9 11.0 932 14662 0.00 0.00 0.00 0.000 6 0.000 0.000 1972 2710 1728 0 0 0 0 0 0

14769 0.47 146.1 27.6 11.4 951 14778 0.00 0.00 0.00 0.000 6 0.000 0.000 1972 2710 1728 0 0 0 0 0 0

14855 0.47 146.1 18.3 10.4 964 14863 0.00 0.00 0.00 0.000 6 0.000 0.000 1971 2710 1728 0 0 0 0 0 0

14938 0.47 146.1 8.7 11.2 977 14946 0.00 0.00 0.00 0.000 6 0.000 0.000 1972 2710 1728 0 0 0 0 0 0

14984 end climb: SURFACE_DEPTH_REACHED

state 14984 begin surface coast

15010 end surface coast: CONTROL_FINISHED_OK

state 15010 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	175	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	27	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	-22152.215	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	080115,194759,-5548.065,-30.042,39,1.1,39,-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	-0.023,0.215
_SM_DEPTHo	1.74	KALMAN_X	92075.7,171.1,2.0,-123276.8,517.5
_SM_ANGLEo	-57.5	KALMAN_Y	45090.9,24.2,-245.7,-22504.8,1203.9
GPS2	080115,195606,-5548.097,-30.018,16,1.7,16,-19.9	MHEAD_RNG_PITCHd_Wd	13.7,5736,-18.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.2,1.025845	_10V_AH	9.9,24.560
SM_CCo	15023,25.25,0.161,0,0,1524,200.16	FG_AHR_24Vo	0.000
SM_GC	2.62,0.00,0.00,25.25,0.000,0.000,0.161,54,2927,1524,-5.43,-0.08,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5531.31,-30.69,080115,141423	MEM	353520
TT8_MAMPS	0.026215	DATA_FILE_SIZE	66970,988
HUMID	56.61	CAP_FILE_SIZE	112032,0
INTERNAL_PRESSURE	8.97462	CFSIZE	259252224,214867968
TCM_TEMP	7.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	090115,000900,-5545.603,-29.399,36,0.8,37,-19.9
_24V_AH	22.1,36.411

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	249	71.37	SBE_CT	702	23	372.04
Roll_motor	33	81	60.38	AA4330	2050	17	814.61
VBD_pump_during_apogee	280	1780	11051.01	WL_BB2F	980	105	2274.95
VBD_pump_during_surface	25	161	90.07	QSP2150	1016	17	404.03
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	91	54.47	nil	0	0	0.00
Iridium_during_connect	19	160	68.60	nil	0	0	0.00
Iridium_during_xfer	311	223	1534.30	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	6.01
TT8	2372	14	339.68
LPSleep	9875	2	214.11
TT8_Active	406	14	58.20
TT8_Sampling	2682	42	1119.97
TT8_CF8	193	49	95.20
TT8_Kalman	33	68	22.59
Analog_circuits	1288	15	197.72
GPS_charging	0	0	0.00
Compass	2161	16	352.67
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	-0.45	-127.5	0.0	0.0	0	92	0.00	0.00	-73.70	0.000	2	0.000	0.000	48	2943	2405	0	0	0	0	0	0
94	-0.47	-146.1	3.1	-2.8	9	129	6.57	1.62	-16.55	0.000	4	0.249	0.082	1621	3896	2941	0	0	0	0	0	0
149	-0.47	-146.1	11.7	-17.9	16	158	0.00	1.55	0.00	0.000	6	0.000	0.031	1621	2900	2942	0	0	0	0	0	0
234	-0.47	-146.1	27.0	-18.7	29	243	0.00	0.00	0.00	0.000	6	0.000	0.000	1621	2899	2942	0	0	0	0	0	0
314	-0.47	-146.1	41.8	-18.3	42	323	0.00	0.00	0.00	0.000	6	0.000	0.000	1621	2899	2942	0	0	0	0	0	0
430	-0.47	-146.1	61.9	-18.2	61	436	0.00	0.00	0.00	0.000	6	0.000	0.000	1621	2899	2942	0	0	0	0	0	0
542	-0.47	-146.1	81.9	-17.8	80	548	0.00	0.00	0.00	0.000	6	0.000	0.000	1621	2899	2942	0	0	0	0	0	0
770	-0.47	-146.1	119.6	-16.9	110	771	0.00	0.00	0.00	0.000	6	0.000	0.000	1621	2899	2942	0	0	0	0	0	0
1089	-0.47	-146.1	171.9	-16.0	140	1090	0.00	0.00	0.00	0.000	6	0.000	0.000	1621	2899	2943	0	0	0	0	0	0
1408	-0.47	-146.1	223.1	-16.1	170	1409	0.00	0.00	0.00	0.000	6	0.000	0.000	1621	2899	2943	0	0	0	0	0	0
1734	-0.47	-146.1	271.9	-14.4	194	1738	0.00	1.65	0.00	0.000	4	0.000	0.060	1613	3900	2942	0	0	0	0	0	0
1812	-0.47	-146.1	284.0	-14.8	197	1817	0.00	1.52	0.00	0.000	6	0.000	0.031	1613	2909	2943	0	0	0	0	0	0
2136	-0.47	-146.1	328.0	-13.1	213	2137	0.00	0.00	0.00	0.000	6	0.000	0.000	1613	2904	2942	0	0	0	0	0	0
2446	-0.47	-146.1	367.5	-12.9	228	2447	0.00	0.00	0.00	0.000	6	0.000	0.000	1613	2904	2943	0	0	0	0	0	0
2753	-0.47	-146.1	409.3	-13.6	243	2756	0.00	1.65	0.00	0.000	4	0.000	0.060	1605	3910	2943	0	0	0	0	0	0
2830	-0.47	-146.1	420.7	-14.7	246	2835	0.08	1.50	0.00	0.000	6	0.168	0.031	1629	2933	2943	0	0	0	0	0	0
3152	-0.47	-146.1	458.8	-11.5	262	3153	0.00	0.00	0.00	0.000	6	0.000	0.000	1629	2932	2942	0	0	0	0	0	0
3460	-0.47	-146.1	495.9	-11.9	277	3461	0.00	0.00	0.00	0.000	6	0.000	0.000	1629	2932	2942	0	0	0	0	0	0
3770	-0.47	-146.1	532.2	-11.5	292	3774	0.00	1.60	0.00	0.000	4	0.000	0.060	1622	3896	2943	0	0	0	0	0	0
3819	-0.47	-146.1	538.4	-12.2	294	3824	0.00	1.50	0.00	0.000	6	0.000	0.029	1622	2904	2943	0	0	0	0	0	0
4147	-0.47	-146.1	578.7	-12.4	310	4148	0.00	0.00	0.00	0.000	6	0.000	0.000	1622	2902	2943	0	0	0	0	0	0
4457	-0.47	-146.1	618.5	-12.8	325	4458	0.00	0.00	0.00	0.000	6	0.000	0.000	1622	2902	2943	0	0	0	0	0	0
4765	-0.47	-146.1	658.1	-12.8	340	4767	0.00	0.00	0.00	0.000	6	0.000	0.000	1621	2902	2943	0	0	0	0	0	0
5075	-0.47	-146.1	697.9	-12.7	355	5076	0.00	0.00	0.00	0.000	6	0.000	0.000	1622	2902	2943	0	0	0	0	0	0
5385	-0.47	-146.1	736.4	-12.0	370	5386	0.00	0.00	0.00	0.000	6	0.000	0.000	1622	2901	2943	0	0	0	0	0	0
5693	-0.47	-146.1	772.4	-11.4	385	5697	0.00	1.65	0.00	0.000	4	0.000	0.060	1614	3910	2943	0	0	0	0	0	0
5742	-0.47	-146.1	778.6	-11.9	387	5747	0.00	1.50	0.00	0.000	6	0.000	0.029	1614	2932	2943	0	0	0	0	0	0
6071	-0.47	-146.1	818.4	-12.2	403	6072	0.00	0.00	0.00	0.000	6	0.000	0.000	1614	2931	2943	0	0	0	0	0	0
6379	-0.47	-146.1	854.2	-11.2	418	6380	0.00	0.00	0.00	0.000	6	0.000	0.000	1614	2930	2943	0	0	0	0	0	0
6688	-0.47	-146.1	888.1	-10.9	433	6690	0.00	0.00	0.00	0.000	6	0.000	0.000	1614	2930	2943	0	0	0	0	0	0
6998	-0.47	-146.1	924.1	-11.7	448	7000	0.00	0.00	0.00	0.000	6	0.000	0.000	1613	2930	2943	0	0	0	0	0	0
7307	-0.47	-146.1	960.5	-11.9	463	7308	0.00	0.00	0.00	0.000	6	0.000	0.000	1614	2930	2943	0	0	0	0	0	0
7616	-0.47	-146.1	998.0	-12.1	478	7618	0.00	0.00	0.00	0.000	6	0.000	0.000	1614	2930	2943	0	0	0	0	0	0
7636	end dive: TARGET_DEPTH_EXCEEDED
state	7636	begin apogee
7641	-0.13	0.0	1000.6	11.8	479	7779	0.43	0.00	135.15	1.780	6	0.167	0.000	1738	2711	2342	0	0	0	0	0	0
7780	end apogee: CONTROL_FINISHED_OK
state	7780	begin climb
7782	0.47	146.1	1006.3	0.0	486	7935	0.68	2.45	145.75	1.727	4	0.126	0.041	1943	1346	1745	0	0	0	0	0	0
7969	0.47	146.1	990.2	11.5	495	7974	0.00	2.40	0.00	0.000	6	0.000	0.049	1943	2724	1741	0	0	0	0	0	0
8297	0.47	146.1	945.8	13.8	511	8300	0.00	1.98	0.00	0.000	4	0.000	0.057	1943	3897	1736	0	0	0	0	0	0
8345	0.47	146.1	937.6	16.1	513	8350	0.00	1.90	0.00	0.000	6	0.000	0.032	1952	2748	1734	0	0	0	0	0	0
8673	0.47	146.1	889.2	14.7	529	8674	0.00	0.00	0.00	0.000	6	0.000	0.000	1952	2747	1734	0	0	0	0	0	0
8983	0.47	146.1	843.0	15.1	544	8984	0.00	0.00	0.00	0.000	6	0.000	0.000	1952	2747	1733	0	0	0	0	0	0
9292	0.47	146.1	794.8	15.9	559	9293	0.00	0.00	0.00	0.000	6	0.000	0.000	1952	2747	1732	0	0	0	0	0	0
9601	0.47	146.1	745.6	15.7	574	9602	0.00	0.00	0.00	0.000	6	0.000	0.000	1952	2747	1731	0	0	0	0	0	0
9911	0.47	146.1	698.2	15.4	589	9913	0.00	0.00	0.00	0.000	6	0.000	0.000	1952	2747	1732	0	0	0	0	0	0
10220	0.47	146.1	650.1	16.2	604	10221	0.00	0.00	0.00	0.000	6	0.000	0.000	1952	2747	1732	0	0	0	0	0	0
10529	0.47	146.1	600.4	15.6	619	10530	0.00	0.00	0.00	0.000	6	0.000	0.000	1952	2747	1731	0	0	0	0	0	0
10839	0.47	146.1	551.3	16.0	634	10840	0.00	0.00	0.00	0.000	6	0.000	0.000	1951	2746	1731	0	0	0	0	0	0
11148	0.47	146.1	502.8	15.7	649	11149	0.00	0.00	0.00	0.000	6	0.000	0.000	1952	2747	1731	0	0	0	0	0	0
11457	0.47	146.1	456.2	14.7	664	11458	0.00	0.00	0.00	0.000	6	0.000	0.000	1952	2747	1731	0	0	0	0	0	0
11767	0.47	146.1	415.1	12.7	679	11768	0.00	0.00	0.00	0.000	6	0.000	0.000	1952	2747	1731	0	0	0	0	0	0
12076	0.47	146.1	375.8	13.2	694	12077	0.00	0.00	0.00	0.000	6	0.000	0.000	1952	2747	1730	0	0	0	0	0	0
12387	0.47	146.1	333.4	13.8	709	12388	0.00	0.00	0.00	0.000	6	0.000	0.000	1952	2747	1731	0	0	0	0	0	0
12697	0.47	146.1	289.8	14.1	724	12698	0.00	0.00	0.00	0.000	6	0.000	0.000	1952	2747	1730	0	0	0	0	0	0
13007	0.47	146.1	248.2	13.5	739	13014	0.00	0.00	0.00	0.000	6	0.000	0.000	1951	2747	1730	0	0	0	0	0	0
13333	0.47	146.1	204.4	12.8	770	13337	0.00	2.25	0.00	0.000	4	0.000	0.044	1962	1288	1730	0	0	0	0	0	0
13375	0.47	146.1	199.2	11.9	773	13379	0.00	2.28	0.00	0.000	6	0.000	0.052	1963	2719	1730	0	0	0	0	0	0
13702	0.47	146.1	154.8	13.3	803	13708	0.00	0.00	0.00	0.000	6	0.000	0.000	1963	2719	1730	0	0	0	0	0	0
14028	0.47	146.1	113.0	11.6	834	14031	0.00	1.88	0.00	0.000	4	0.000	0.059	1962	3894	1730	0	0	0	0	0	0
14078	0.47	146.1	106.1	12.8	838	14088	0.00	1.88	0.00	0.000	6	0.000	0.034	1971	2711	1728	0	0	0	0	0	0
14425	0.47	146.1	63.7	10.6	894	14433	0.00	0.00	0.00	0.000	6	0.000	0.000	1971	2710	1729	0	0	0	0	0	0
14541	0.47	146.1	52.0	10.5	913	14548	0.00	0.00	0.00	0.000	6	0.000	0.000	1972	2710	1728	0	0	0	0	0	0
14654	0.47	146.1	39.9	11.0	932	14662	0.00	0.00	0.00	0.000	6	0.000	0.000	1972	2710	1728	0	0	0	0	0	0
14769	0.47	146.1	27.6	11.4	951	14778	0.00	0.00	0.00	0.000	6	0.000	0.000	1972	2710	1728	0	0	0	0	0	0
14855	0.47	146.1	18.3	10.4	964	14863	0.00	0.00	0.00	0.000	6	0.000	0.000	1971	2710	1728	0	0	0	0	0	0
14938	0.47	146.1	8.7	11.2	977	14946	0.00	0.00	0.00	0.000	6	0.000	0.000	1972	2710	1728	0	0	0	0	0	0
14984	end climb: SURFACE_DEPTH_REACHED
state	14984	begin surface coast
15010	end surface coast: CONTROL_FINISHED_OK
state	15010	begin surface