Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 255 * 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 255 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 25 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 17 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 -22406.285 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 -22406.285

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 25 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 17 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 255 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 240115,195204,-5545.095,-105.015,40,0.8,40,-19.6 TGT_NAME TARGET4

_CALLS 3 TGT_LATLONG -5545.000,-100.000

_XMS_NAKs 0 TGT_RADIUS 4000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.100,0.168

_SM_DEPTHo 1.70 KALMAN_X 217377.7,-390.1,-211.8,-283941.0,2995.4

_SM_ANGLEo -58.8 KALMAN_Y -51371.9,598.2,287.2,78221.6,-3170.9

GPS2 240115,200835,-5545.184,-104.931,15,1.3,15,-19.6 MHEAD_RNG_PITCHd_Wd 50.4,5151,-21.3,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.1,1.026670 _10V_AH 9.8,34.992

SM_CCo 14561,19.48,0.178,0,0,1523,200.16 FG_AHR_24Vo 0.000

SM_GC 3.14,0.00,0.00,19.48,0.000,0.000,0.178,59,2937,1523,-5.41,0.17,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5519.90,-105.00,240115,191959 MEM 353444

TT8_MAMPS 0.026215 DATA_FILE_SIZE 66997,959

HUMID 56.65 CAP_FILE_SIZE 129735,0

INTERNAL_PRESSURE 8.99416 CFSIZE 259252224,208842752

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

XPDR_PINGS 0 GPS 250115,001352,-5543.726,-101.582,44,0.8,44,-19.7

_24V_AH 21.9,50.448

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 238 69.78 SBE_CT 681 23 357.57

Roll_motor 71 79 124.62 AA4330 1997 17 786.56

VBD_pump_during_apogee 287 1762 11104.27 WL_BB2F 970 105 2231.21

VBD_pump_during_surface 19 178 76.02 QSP2150 1013 17 398.91

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 73 91 148.18 nil 0 0 0.00

Iridium_during_connect 163 160 571.65 nil 0 0 0.00

Iridium_during_xfer 476 223 2324.83 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 6.09

TT8 2368 14 335.62

LPSleep 9346 2 200.59

TT8_Active 450 14 63.90

TT8_Sampling 3165 42 1308.39

TT8_CF8 235 49 114.38

TT8_Kalman 33 68 22.36

Analog_circuits 1403 15 213.22

GPS_charging 0 0 0.00

Compass 2271 16 366.87

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.48 -103.0 0.0 0.0 0 75 0.00 0.00 -57.28 0.000 2 0.000 0.000 60 2921 2209 0 0 0 0 0 0

77 -0.52 -146.1 3.1 -3.5 7 120 6.43 1.65 -25.35 0.000 4 0.239 0.080 1609 3897 2940 0 0 0 0 0 0

135 -0.52 -146.1 8.8 -12.7 14 144 0.00 1.58 0.00 0.000 6 0.000 0.031 1609 2885 2941 0 0 0 0 0 0

220 -0.52 -146.1 25.5 -20.1 27 228 0.00 0.00 0.00 0.000 6 0.000 0.000 1609 2884 2941 0 0 0 0 0 0

301 -0.52 -146.1 42.4 -20.1 40 309 0.00 0.00 0.00 0.000 6 0.000 0.000 1609 2885 2942 0 0 0 0 0 0

416 -0.52 -146.1 64.9 -19.9 59 422 0.00 0.00 0.00 0.000 6 0.000 0.000 1609 2885 2942 0 0 0 0 0 0

528 -0.52 -146.1 86.9 -19.8 78 536 0.00 0.00 0.00 0.000 6 0.000 0.000 1609 2885 2942 0 0 0 0 0 0

761 -0.52 -146.1 126.7 -15.9 105 765 0.00 2.05 0.00 0.000 4 0.000 0.040 1609 1536 2942 0 0 0 0 0 0

826 -0.52 -146.1 136.2 -13.0 110 830 0.00 2.28 0.00 0.000 6 0.000 0.053 1599 2936 2942 0 0 0 0 0 0

1150 -0.52 -146.1 190.5 -16.9 140 1154 0.00 1.58 0.00 0.000 4 0.000 0.060 1591 3900 2942 0 0 0 0 0 0

1259 -0.52 -146.1 210.1 -17.0 149 1267 0.08 1.48 0.00 0.000 6 0.187 0.031 1613 2936 2942 0 0 0 0 0 0

1596 -0.52 -146.1 259.0 -14.3 178 1597 0.00 0.00 0.00 0.000 6 0.000 0.000 1613 2936 2942 0 0 0 0 0 0

1907 -0.52 -146.1 301.5 -13.5 193 1908 0.00 0.00 0.00 0.000 6 0.000 0.000 1613 2936 2942 0 0 0 0 0 0

2212 -0.52 -146.1 342.6 -12.9 208 2215 0.00 1.60 0.00 0.000 4 0.000 0.060 1606 3897 2942 0 0 0 0 0 0

2272 -0.52 -146.1 351.1 -13.5 210 2282 0.00 1.48 0.00 0.000 6 0.000 0.030 1606 2909 2942 0 0 0 0 0 0

2591 -0.52 -146.1 392.7 -13.4 226 2592 0.00 0.00 0.00 0.000 6 0.000 0.000 1606 2908 2942 0 0 0 0 0 0

2898 -0.52 -146.1 434.1 -13.5 241 2902 0.00 1.65 0.00 0.000 4 0.000 0.059 1598 3897 2942 0 0 0 0 0 0

2947 -0.52 -146.1 441.7 -15.5 243 2951 0.00 1.45 0.00 0.000 6 0.000 0.030 1598 2937 2942 0 0 0 0 0 0

3275 -0.52 -146.1 489.6 -15.0 259 3279 0.00 1.65 0.00 0.000 4 0.000 0.060 1591 3904 2942 0 0 0 0 0 0

3324 -0.52 -146.1 497.8 -15.6 261 3329 0.08 1.48 0.00 0.000 6 0.182 0.030 1613 2935 2942 0 0 0 0 0 0

3651 -0.52 -146.1 542.4 -13.5 277 3652 0.00 0.00 0.00 0.000 6 0.000 0.000 1613 2933 2942 0 0 0 0 0 0

3961 -0.52 -146.1 584.5 -13.5 292 3965 0.00 1.60 0.00 0.000 4 0.000 0.059 1606 3896 2942 0 0 0 0 0 0

4040 -0.52 -146.1 596.0 -14.7 295 4043 0.00 1.48 0.00 0.000 6 0.000 0.031 1606 2920 2942 0 0 0 0 0 0

4361 -0.52 -146.1 640.3 -13.8 311 4362 0.00 0.00 0.00 0.000 6 0.000 0.000 1606 2915 2942 0 0 0 0 0 0

4670 -0.52 -146.1 681.6 -13.3 326 4673 0.00 1.62 0.00 0.000 4 0.000 0.060 1598 3917 2942 0 0 0 0 0 0

4739 -0.52 -146.1 691.1 -13.7 329 4742 0.00 1.50 0.00 0.000 6 0.000 0.030 1598 2924 2942 0 0 0 0 0 0

5072 -0.52 -146.1 737.5 -14.0 345 5073 0.00 0.00 0.00 0.000 6 0.000 0.000 1599 2919 2942 0 0 0 0 0 0

5380 -0.52 -146.1 780.4 -13.4 360 5384 0.00 1.62 0.00 0.000 4 0.000 0.058 1591 3892 2942 0 0 0 0 0 0

5429 -0.52 -146.1 787.8 -14.7 362 5435 0.08 1.45 0.00 0.000 6 0.177 0.029 1614 2937 2943 0 0 0 0 0 0

5757 -0.52 -146.1 827.0 -11.9 378 5758 0.00 0.00 0.00 0.000 6 0.000 0.000 1614 2937 2942 0 0 0 0 0 0

6065 -0.52 -146.1 863.3 -11.9 393 6066 0.00 0.00 0.00 0.000 6 0.000 0.000 1614 2937 2942 0 0 0 0 0 0

6375 -0.52 -146.1 899.3 -11.3 408 6376 0.00 0.00 0.00 0.000 6 0.000 0.000 1614 2937 2942 0 0 0 0 0 0

6685 -0.52 -146.1 936.3 -12.2 423 6686 0.00 0.00 0.00 0.000 6 0.000 0.000 1614 2937 2942 0 0 0 0 0 0

6993 -0.52 -146.1 974.0 -11.9 438 6997 0.00 1.60 0.00 0.000 4 0.000 0.060 1607 3893 2942 0 0 0 0 0 0

7049 -0.52 -146.1 981.4 -13.7 440 7053 0.00 1.48 0.00 0.000 6 0.000 0.031 1607 2923 2942 0 0 0 0 0 0

7204 end dive: TARGET_DEPTH_EXCEEDED

state 7204 begin apogee

7209 -0.13 0.0 1000.9 12.6 448 7349 0.47 0.00 136.38 1.763 6 0.165 0.000 1744 2712 2342 0 0 0 0 0 0

7350 end apogee: CONTROL_FINISHED_OK

state 7350 begin climb

7352 0.52 146.1 1006.7 0.0 455 7505 0.70 0.00 147.98 1.721 6 0.119 0.000 1949 2712 1746 0 0 0 0 0 0

7805 0.52 146.1 954.1 13.6 477 7806 0.00 0.00 0.00 0.000 6 0.000 0.000 1949 2712 1738 0 0 0 0 0 0

8114 0.52 146.1 911.3 13.7 492 8118 0.00 2.00 0.00 0.000 4 0.000 0.056 1949 3913 1736 0 0 0 0 0 0

8174 0.52 146.1 901.4 16.8 494 8181 0.00 1.90 0.00 0.000 6 0.000 0.034 1958 2747 1734 0 0 0 0 0 0

8490 0.52 146.1 853.6 15.0 510 8491 0.00 0.00 0.00 0.000 6 0.000 0.000 1958 2745 1734 0 0 0 0 0 0

8800 0.52 146.1 808.0 14.6 525 8804 0.00 1.92 0.00 0.000 4 0.000 0.055 1958 3909 1733 0 0 0 0 0 0

8867 0.52 146.1 796.6 18.0 528 8871 0.00 1.90 0.00 0.000 6 0.000 0.035 1967 2709 1732 0 0 0 0 0 0

9199 0.52 146.1 746.2 14.7 544 9203 0.00 1.98 0.00 0.000 4 0.000 0.054 1967 3893 1732 0 0 0 0 0 0

9260 0.52 146.1 735.8 17.2 546 9267 0.00 1.90 0.00 0.000 6 0.000 0.034 1976 2707 1731 0 0 0 0 0 0

9576 0.52 146.1 687.9 15.3 562 9577 0.00 0.00 0.00 0.000 6 0.000 0.000 1976 2707 1731 0 0 0 0 0 0

9885 0.52 146.1 641.2 15.3 577 9889 0.00 1.95 0.00 0.000 4 0.000 0.054 1976 3909 1731 0 0 0 0 0 0

10002 0.52 146.1 620.0 18.4 582 10006 0.00 1.92 0.00 0.000 6 0.000 0.034 1986 2701 1731 0 0 0 0 0 0

10329 0.52 146.1 566.4 16.7 598 10332 0.00 1.95 0.00 0.000 4 0.000 0.054 1986 3906 1731 0 0 0 0 0 0

10412 0.52 146.1 550.5 20.1 601 10420 0.12 1.90 0.00 0.000 6 0.203 0.035 1952 2713 1730 0 0 0 0 0 0

10728 0.52 146.1 507.5 12.7 617 10729 0.00 0.00 0.00 0.000 6 0.000 0.000 1952 2712 1730 0 0 0 0 0 0

11037 0.52 146.1 467.8 13.0 632 11041 0.00 1.98 0.00 0.000 4 0.000 0.055 1952 3898 1730 0 0 0 0 0 0

11120 0.52 146.1 454.9 16.1 635 11127 0.00 1.90 0.00 0.000 6 0.000 0.034 1961 2701 1730 0 0 0 0 0 0

11436 0.52 146.1 409.7 14.5 651 11437 0.00 0.00 0.00 0.000 6 0.000 0.000 1961 2701 1730 0 0 0 0 0 0

11746 0.52 146.1 366.2 13.8 666 11749 0.00 1.98 0.00 0.000 4 0.000 0.055 1960 3900 1730 0 0 0 0 0 0

11806 0.52 146.1 356.2 15.2 668 11816 0.00 1.90 0.00 0.000 6 0.000 0.033 1969 2701 1730 0 0 0 0 0 0

12124 0.52 146.1 310.6 13.9 684 12127 0.00 1.98 0.00 0.000 4 0.000 0.054 1970 3904 1730 0 0 0 0 0 0

12174 0.52 146.1 302.1 17.2 686 12178 0.00 1.90 0.00 0.000 6 0.000 0.034 1979 2711 1730 0 0 0 0 0 0

12501 0.52 146.1 252.5 15.5 702 12502 0.00 0.00 0.00 0.000 6 0.000 0.000 1979 2711 1730 0 0 0 0 0 0

12823 0.52 146.1 204.3 14.8 731 12827 0.00 1.95 0.00 0.000 4 0.000 0.054 1979 3900 1730 0 0 0 0 0 0

12898 0.52 146.1 190.7 16.4 737 12906 0.10 1.88 0.00 0.000 6 0.203 0.033 1961 2715 1730 0 0 0 0 0 0

13224 0.52 146.1 146.7 13.5 768 13228 0.00 1.98 0.00 0.000 4 0.000 0.054 1961 3903 1730 0 0 0 0 0 0

13285 0.52 146.1 137.3 15.4 773 13293 0.00 1.90 0.00 0.000 6 0.000 0.034 1969 2710 1730 0 0 0 0 0 0

13614 0.52 146.1 96.6 11.7 806 13620 0.00 0.00 0.00 0.000 6 0.000 0.000 1969 2710 1730 0 0 0 0 0 0

13853 0.52 146.1 71.2 10.2 847 13859 0.00 0.00 0.00 0.000 6 0.000 0.000 1969 2710 1730 0 0 0 0 0 0

13966 0.52 146.1 59.5 10.2 866 13975 0.00 0.00 0.00 0.000 6 0.000 0.000 1969 2710 1730 0 0 0 0 0 0

14082 0.52 148.5 48.0 9.4 885 14088 0.00 0.00 0.00 0.000 6 0.000 0.000 1969 2710 1730 0 0 0 0 0 0

14195 0.53 155.3 37.2 9.1 904 14204 0.00 0.00 3.33 0.639 6 0.000 0.000 1970 2710 1707 0 0 0 0 0 0

14313 0.53 155.3 25.6 10.8 923 14322 0.00 0.00 0.00 0.000 6 0.000 0.000 1970 2709 1707 0 0 0 0 0 0

14397 0.53 155.3 15.6 11.6 936 14406 0.00 0.00 0.00 0.000 6 0.000 0.000 1969 2709 1707 0 0 0 0 0 0

14481 0.53 155.3 6.7 11.1 949 14489 0.00 0.00 0.00 0.000 6 0.000 0.000 1969 2709 1706 0 0 0 0 0 0

14515 end climb: SURFACE_DEPTH_REACHED

state 14515 begin surface coast

14547 end surface coast: CONTROL_FINISHED_OK

state 14547 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	255	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	25	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	17	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	-22406.285	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	240115,195204,-5545.095,-105.015,40,0.8,40,-19.6	TGT_NAME	TARGET4
_CALLS	3	TGT_LATLONG	-5545.000,-100.000
_XMS_NAKs	0	TGT_RADIUS	4000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.100,0.168
_SM_DEPTHo	1.70	KALMAN_X	217377.7,-390.1,-211.8,-283941.0,2995.4
_SM_ANGLEo	-58.8	KALMAN_Y	-51371.9,598.2,287.2,78221.6,-3170.9
GPS2	240115,200835,-5545.184,-104.931,15,1.3,15,-19.6	MHEAD_RNG_PITCHd_Wd	50.4,5151,-21.3,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.1,1.026670	_10V_AH	9.8,34.992
SM_CCo	14561,19.48,0.178,0,0,1523,200.16	FG_AHR_24Vo	0.000
SM_GC	3.14,0.00,0.00,19.48,0.000,0.000,0.178,59,2937,1523,-5.41,0.17,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5519.90,-105.00,240115,191959	MEM	353444
TT8_MAMPS	0.026215	DATA_FILE_SIZE	66997,959
HUMID	56.65	CAP_FILE_SIZE	129735,0
INTERNAL_PRESSURE	8.99416	CFSIZE	259252224,208842752
TCM_TEMP	7.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	250115,001352,-5543.726,-101.582,44,0.8,44,-19.7
_24V_AH	21.9,50.448

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	238	69.78	SBE_CT	681	23	357.57
Roll_motor	71	79	124.62	AA4330	1997	17	786.56
VBD_pump_during_apogee	287	1762	11104.27	WL_BB2F	970	105	2231.21
VBD_pump_during_surface	19	178	76.02	QSP2150	1013	17	398.91
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	73	91	148.18	nil	0	0	0.00
Iridium_during_connect	163	160	571.65	nil	0	0	0.00
Iridium_during_xfer	476	223	2324.83	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	6.09
TT8	2368	14	335.62
LPSleep	9346	2	200.59
TT8_Active	450	14	63.90
TT8_Sampling	3165	42	1308.39
TT8_CF8	235	49	114.38
TT8_Kalman	33	68	22.36
Analog_circuits	1403	15	213.22
GPS_charging	0	0	0.00
Compass	2271	16	366.87
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.48	-103.0	0.0	0.0	0	75	0.00	0.00	-57.28	0.000	2	0.000	0.000	60	2921	2209	0	0	0	0	0	0
77	-0.52	-146.1	3.1	-3.5	7	120	6.43	1.65	-25.35	0.000	4	0.239	0.080	1609	3897	2940	0	0	0	0	0	0
135	-0.52	-146.1	8.8	-12.7	14	144	0.00	1.58	0.00	0.000	6	0.000	0.031	1609	2885	2941	0	0	0	0	0	0
220	-0.52	-146.1	25.5	-20.1	27	228	0.00	0.00	0.00	0.000	6	0.000	0.000	1609	2884	2941	0	0	0	0	0	0
301	-0.52	-146.1	42.4	-20.1	40	309	0.00	0.00	0.00	0.000	6	0.000	0.000	1609	2885	2942	0	0	0	0	0	0
416	-0.52	-146.1	64.9	-19.9	59	422	0.00	0.00	0.00	0.000	6	0.000	0.000	1609	2885	2942	0	0	0	0	0	0
528	-0.52	-146.1	86.9	-19.8	78	536	0.00	0.00	0.00	0.000	6	0.000	0.000	1609	2885	2942	0	0	0	0	0	0
761	-0.52	-146.1	126.7	-15.9	105	765	0.00	2.05	0.00	0.000	4	0.000	0.040	1609	1536	2942	0	0	0	0	0	0
826	-0.52	-146.1	136.2	-13.0	110	830	0.00	2.28	0.00	0.000	6	0.000	0.053	1599	2936	2942	0	0	0	0	0	0
1150	-0.52	-146.1	190.5	-16.9	140	1154	0.00	1.58	0.00	0.000	4	0.000	0.060	1591	3900	2942	0	0	0	0	0	0
1259	-0.52	-146.1	210.1	-17.0	149	1267	0.08	1.48	0.00	0.000	6	0.187	0.031	1613	2936	2942	0	0	0	0	0	0
1596	-0.52	-146.1	259.0	-14.3	178	1597	0.00	0.00	0.00	0.000	6	0.000	0.000	1613	2936	2942	0	0	0	0	0	0
1907	-0.52	-146.1	301.5	-13.5	193	1908	0.00	0.00	0.00	0.000	6	0.000	0.000	1613	2936	2942	0	0	0	0	0	0
2212	-0.52	-146.1	342.6	-12.9	208	2215	0.00	1.60	0.00	0.000	4	0.000	0.060	1606	3897	2942	0	0	0	0	0	0
2272	-0.52	-146.1	351.1	-13.5	210	2282	0.00	1.48	0.00	0.000	6	0.000	0.030	1606	2909	2942	0	0	0	0	0	0
2591	-0.52	-146.1	392.7	-13.4	226	2592	0.00	0.00	0.00	0.000	6	0.000	0.000	1606	2908	2942	0	0	0	0	0	0
2898	-0.52	-146.1	434.1	-13.5	241	2902	0.00	1.65	0.00	0.000	4	0.000	0.059	1598	3897	2942	0	0	0	0	0	0
2947	-0.52	-146.1	441.7	-15.5	243	2951	0.00	1.45	0.00	0.000	6	0.000	0.030	1598	2937	2942	0	0	0	0	0	0
3275	-0.52	-146.1	489.6	-15.0	259	3279	0.00	1.65	0.00	0.000	4	0.000	0.060	1591	3904	2942	0	0	0	0	0	0
3324	-0.52	-146.1	497.8	-15.6	261	3329	0.08	1.48	0.00	0.000	6	0.182	0.030	1613	2935	2942	0	0	0	0	0	0
3651	-0.52	-146.1	542.4	-13.5	277	3652	0.00	0.00	0.00	0.000	6	0.000	0.000	1613	2933	2942	0	0	0	0	0	0
3961	-0.52	-146.1	584.5	-13.5	292	3965	0.00	1.60	0.00	0.000	4	0.000	0.059	1606	3896	2942	0	0	0	0	0	0
4040	-0.52	-146.1	596.0	-14.7	295	4043	0.00	1.48	0.00	0.000	6	0.000	0.031	1606	2920	2942	0	0	0	0	0	0
4361	-0.52	-146.1	640.3	-13.8	311	4362	0.00	0.00	0.00	0.000	6	0.000	0.000	1606	2915	2942	0	0	0	0	0	0
4670	-0.52	-146.1	681.6	-13.3	326	4673	0.00	1.62	0.00	0.000	4	0.000	0.060	1598	3917	2942	0	0	0	0	0	0
4739	-0.52	-146.1	691.1	-13.7	329	4742	0.00	1.50	0.00	0.000	6	0.000	0.030	1598	2924	2942	0	0	0	0	0	0
5072	-0.52	-146.1	737.5	-14.0	345	5073	0.00	0.00	0.00	0.000	6	0.000	0.000	1599	2919	2942	0	0	0	0	0	0
5380	-0.52	-146.1	780.4	-13.4	360	5384	0.00	1.62	0.00	0.000	4	0.000	0.058	1591	3892	2942	0	0	0	0	0	0
5429	-0.52	-146.1	787.8	-14.7	362	5435	0.08	1.45	0.00	0.000	6	0.177	0.029	1614	2937	2943	0	0	0	0	0	0
5757	-0.52	-146.1	827.0	-11.9	378	5758	0.00	0.00	0.00	0.000	6	0.000	0.000	1614	2937	2942	0	0	0	0	0	0
6065	-0.52	-146.1	863.3	-11.9	393	6066	0.00	0.00	0.00	0.000	6	0.000	0.000	1614	2937	2942	0	0	0	0	0	0
6375	-0.52	-146.1	899.3	-11.3	408	6376	0.00	0.00	0.00	0.000	6	0.000	0.000	1614	2937	2942	0	0	0	0	0	0
6685	-0.52	-146.1	936.3	-12.2	423	6686	0.00	0.00	0.00	0.000	6	0.000	0.000	1614	2937	2942	0	0	0	0	0	0
6993	-0.52	-146.1	974.0	-11.9	438	6997	0.00	1.60	0.00	0.000	4	0.000	0.060	1607	3893	2942	0	0	0	0	0	0
7049	-0.52	-146.1	981.4	-13.7	440	7053	0.00	1.48	0.00	0.000	6	0.000	0.031	1607	2923	2942	0	0	0	0	0	0
7204	end dive: TARGET_DEPTH_EXCEEDED
state	7204	begin apogee
7209	-0.13	0.0	1000.9	12.6	448	7349	0.47	0.00	136.38	1.763	6	0.165	0.000	1744	2712	2342	0	0	0	0	0	0
7350	end apogee: CONTROL_FINISHED_OK
state	7350	begin climb
7352	0.52	146.1	1006.7	0.0	455	7505	0.70	0.00	147.98	1.721	6	0.119	0.000	1949	2712	1746	0	0	0	0	0	0
7805	0.52	146.1	954.1	13.6	477	7806	0.00	0.00	0.00	0.000	6	0.000	0.000	1949	2712	1738	0	0	0	0	0	0
8114	0.52	146.1	911.3	13.7	492	8118	0.00	2.00	0.00	0.000	4	0.000	0.056	1949	3913	1736	0	0	0	0	0	0
8174	0.52	146.1	901.4	16.8	494	8181	0.00	1.90	0.00	0.000	6	0.000	0.034	1958	2747	1734	0	0	0	0	0	0
8490	0.52	146.1	853.6	15.0	510	8491	0.00	0.00	0.00	0.000	6	0.000	0.000	1958	2745	1734	0	0	0	0	0	0
8800	0.52	146.1	808.0	14.6	525	8804	0.00	1.92	0.00	0.000	4	0.000	0.055	1958	3909	1733	0	0	0	0	0	0
8867	0.52	146.1	796.6	18.0	528	8871	0.00	1.90	0.00	0.000	6	0.000	0.035	1967	2709	1732	0	0	0	0	0	0
9199	0.52	146.1	746.2	14.7	544	9203	0.00	1.98	0.00	0.000	4	0.000	0.054	1967	3893	1732	0	0	0	0	0	0
9260	0.52	146.1	735.8	17.2	546	9267	0.00	1.90	0.00	0.000	6	0.000	0.034	1976	2707	1731	0	0	0	0	0	0
9576	0.52	146.1	687.9	15.3	562	9577	0.00	0.00	0.00	0.000	6	0.000	0.000	1976	2707	1731	0	0	0	0	0	0
9885	0.52	146.1	641.2	15.3	577	9889	0.00	1.95	0.00	0.000	4	0.000	0.054	1976	3909	1731	0	0	0	0	0	0
10002	0.52	146.1	620.0	18.4	582	10006	0.00	1.92	0.00	0.000	6	0.000	0.034	1986	2701	1731	0	0	0	0	0	0
10329	0.52	146.1	566.4	16.7	598	10332	0.00	1.95	0.00	0.000	4	0.000	0.054	1986	3906	1731	0	0	0	0	0	0
10412	0.52	146.1	550.5	20.1	601	10420	0.12	1.90	0.00	0.000	6	0.203	0.035	1952	2713	1730	0	0	0	0	0	0
10728	0.52	146.1	507.5	12.7	617	10729	0.00	0.00	0.00	0.000	6	0.000	0.000	1952	2712	1730	0	0	0	0	0	0
11037	0.52	146.1	467.8	13.0	632	11041	0.00	1.98	0.00	0.000	4	0.000	0.055	1952	3898	1730	0	0	0	0	0	0
11120	0.52	146.1	454.9	16.1	635	11127	0.00	1.90	0.00	0.000	6	0.000	0.034	1961	2701	1730	0	0	0	0	0	0
11436	0.52	146.1	409.7	14.5	651	11437	0.00	0.00	0.00	0.000	6	0.000	0.000	1961	2701	1730	0	0	0	0	0	0
11746	0.52	146.1	366.2	13.8	666	11749	0.00	1.98	0.00	0.000	4	0.000	0.055	1960	3900	1730	0	0	0	0	0	0
11806	0.52	146.1	356.2	15.2	668	11816	0.00	1.90	0.00	0.000	6	0.000	0.033	1969	2701	1730	0	0	0	0	0	0
12124	0.52	146.1	310.6	13.9	684	12127	0.00	1.98	0.00	0.000	4	0.000	0.054	1970	3904	1730	0	0	0	0	0	0
12174	0.52	146.1	302.1	17.2	686	12178	0.00	1.90	0.00	0.000	6	0.000	0.034	1979	2711	1730	0	0	0	0	0	0
12501	0.52	146.1	252.5	15.5	702	12502	0.00	0.00	0.00	0.000	6	0.000	0.000	1979	2711	1730	0	0	0	0	0	0
12823	0.52	146.1	204.3	14.8	731	12827	0.00	1.95	0.00	0.000	4	0.000	0.054	1979	3900	1730	0	0	0	0	0	0
12898	0.52	146.1	190.7	16.4	737	12906	0.10	1.88	0.00	0.000	6	0.203	0.033	1961	2715	1730	0	0	0	0	0	0
13224	0.52	146.1	146.7	13.5	768	13228	0.00	1.98	0.00	0.000	4	0.000	0.054	1961	3903	1730	0	0	0	0	0	0
13285	0.52	146.1	137.3	15.4	773	13293	0.00	1.90	0.00	0.000	6	0.000	0.034	1969	2710	1730	0	0	0	0	0	0
13614	0.52	146.1	96.6	11.7	806	13620	0.00	0.00	0.00	0.000	6	0.000	0.000	1969	2710	1730	0	0	0	0	0	0
13853	0.52	146.1	71.2	10.2	847	13859	0.00	0.00	0.00	0.000	6	0.000	0.000	1969	2710	1730	0	0	0	0	0	0
13966	0.52	146.1	59.5	10.2	866	13975	0.00	0.00	0.00	0.000	6	0.000	0.000	1969	2710	1730	0	0	0	0	0	0
14082	0.52	148.5	48.0	9.4	885	14088	0.00	0.00	0.00	0.000	6	0.000	0.000	1969	2710	1730	0	0	0	0	0	0
14195	0.53	155.3	37.2	9.1	904	14204	0.00	0.00	3.33	0.639	6	0.000	0.000	1970	2710	1707	0	0	0	0	0	0
14313	0.53	155.3	25.6	10.8	923	14322	0.00	0.00	0.00	0.000	6	0.000	0.000	1970	2709	1707	0	0	0	0	0	0
14397	0.53	155.3	15.6	11.6	936	14406	0.00	0.00	0.00	0.000	6	0.000	0.000	1969	2709	1707	0	0	0	0	0	0
14481	0.53	155.3	6.7	11.1	949	14489	0.00	0.00	0.00	0.000	6	0.000	0.000	1969	2709	1706	0	0	0	0	0	0
14515	end climb: SURFACE_DEPTH_REACHED
state	14515	begin surface coast
14547	end surface coast: CONTROL_FINISHED_OK
state	14547	begin surface