Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 328 * 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 328 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 25 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 -22657.051 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 -22657.051

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 25 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 328 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 080215,205305,-5659.955,0.407,27,0.9,28,-20.0 TGT_NAME TARGET1

_CALLS 1 TGT_LATLONG -5700.000,-2.000

_XMS_NAKs 0 TGT_RADIUS 4000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.081,-0.143

_SM_DEPTHo 2.51 KALMAN_X 331321.1,315.6,132.8,-331092.3,-1084.0

_SM_ANGLEo -63.5 KALMAN_Y -133319.2,-151.0,-83.1,22848.1,2717.1

GPS2 080215,210217,-5659.944,0.609,18,1.1,19,-20.0 MHEAD_RNG_PITCHd_Wd 229.6,2634,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.2,1.026517 _10V_AH 9.7,44.892

SM_CCo 12833,25.73,0.168,0,0,1525,200.16 FG_AHR_24Vo 0.000

SM_GC 2.54,0.00,0.00,25.73,0.000,0.000,0.168,59,2924,1525,-5.40,-0.17,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5633.07,0.00,080215,151559 MEM 353884

TT8_MAMPS 0.026215 DATA_FILE_SIZE 57151,850

HUMID 57.75 CAP_FILE_SIZE 122123,0

INTERNAL_PRESSURE 8.97462 CFSIZE 259252224,203177984

TCM_TEMP 6.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 090215,003834,-5701.015,0.097,25,1.2,25,-20.0

_24V_AH 21.1,64.366

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 237 70.03 SBE_CT 604 23 305.51

Roll_motor 104 77 170.37 AA4330 1785 17 677.23

VBD_pump_during_apogee 287 1777 10766.19 WL_BB2F 878 105 1945.44

VBD_pump_during_surface 25 167 90.94 QSP2150 925 17 351.06

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 91 48.81 nil 0 0 0.00

Iridium_during_connect 24 160 83.51 nil 0 0 0.00

Iridium_during_xfer 349 223 1643.71 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 31 6.48

TT8 2146 14 301.03

LPSleep 7975 2 169.42

TT8_Active 444 14 62.36

TT8_Sampling 2581 42 1055.90

TT8_CF8 256 49 123.63

TT8_Kalman 33 68 22.14

Analog_circuits 1309 15 196.92

GPS_charging 0 0 0.00

Compass 2037 16 325.78

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

17 -0.54 -73.9 0.0 0.0 0 52 0.00 0.00 -33.25 0.000 2 0.000 0.000 45 2929 2223 0 0 0 0 0 0

54 -0.60 -142.5 3.1 -3.6 4 97 6.40 1.65 -26.17 0.000 4 0.238 0.077 1580 3891 2924 0 0 0 0 0 0

366 -0.60 -142.5 59.6 -20.0 54 376 0.00 1.55 0.00 0.000 6 0.000 0.031 1581 2885 2925 0 0 0 0 0 0

484 -0.60 -142.5 81.9 -19.2 73 490 0.00 1.70 0.00 0.000 4 0.000 0.057 1574 3907 2925 0 0 0 0 0 0

544 -0.60 -142.5 94.9 -20.8 83 551 0.00 1.50 0.00 0.000 6 0.000 0.032 1578 2933 2925 0 0 0 0 0 0

773 -0.60 -142.5 140.1 -20.2 106 777 0.00 2.12 0.00 0.000 4 0.000 0.037 1579 1534 2925 0 0 0 0 0 0

806 -0.60 -142.5 147.2 -18.3 108 817 0.00 2.28 0.00 0.000 6 0.000 0.051 1569 2929 2926 0 0 0 0 0 0

1134 -0.60 -142.5 211.8 -19.9 139 1138 0.00 1.58 0.00 0.000 4 0.000 0.057 1561 3898 2926 0 0 0 0 0 0

1184 -0.60 -142.5 222.9 -20.1 143 1192 0.08 1.48 0.00 0.000 6 0.177 0.031 1584 2929 2926 0 0 0 0 0 0

1519 -0.60 -142.5 279.5 -17.2 167 1520 0.00 0.00 0.00 0.000 6 0.000 0.000 1583 2929 2925 0 0 0 0 0 0

1825 -0.60 -142.5 331.6 -16.4 182 1828 0.00 1.62 0.00 0.000 4 0.000 0.060 1576 3898 2925 0 0 0 0 0 0

1859 -0.60 -142.5 337.6 -17.8 183 1862 0.00 1.48 0.00 0.000 6 0.000 0.031 1576 2924 2926 0 0 0 0 0 0

2183 -0.60 -142.5 393.7 -17.7 199 2186 0.00 1.62 0.00 0.000 4 0.000 0.057 1569 3895 2925 0 0 0 0 0 0

2209 -0.60 -142.5 399.3 -18.6 200 2214 0.00 1.48 0.00 0.000 6 0.000 0.031 1569 2921 2925 0 0 0 0 0 0

2537 -0.60 -142.5 457.2 -17.4 216 2540 0.00 1.65 0.00 0.000 4 0.000 0.059 1561 3919 2925 0 0 0 0 0 0

2583 -0.60 -142.5 465.7 -19.6 218 2587 0.08 1.50 0.00 0.000 6 0.177 0.031 1584 2937 2925 0 0 0 0 0 0

2916 -0.60 -142.5 520.1 -16.0 234 2917 0.00 0.00 0.00 0.000 6 0.000 0.000 1584 2935 2926 0 0 0 0 0 0

3226 -0.60 -142.5 569.3 -15.9 249 3230 0.00 1.60 0.00 0.000 4 0.000 0.058 1577 3894 2925 0 0 0 0 0 0

3272 -0.60 -142.5 577.0 -16.2 251 3276 0.00 1.48 0.00 0.000 6 0.000 0.031 1577 2923 2925 0 0 0 0 0 0

3605 -0.60 -142.5 630.7 -16.1 267 3608 0.00 1.65 0.00 0.000 4 0.000 0.058 1569 3919 2926 0 0 0 0 0 0

3643 -0.60 -142.5 637.5 -17.3 268 3650 0.00 1.50 0.00 0.000 6 0.000 0.031 1570 2924 2925 0 0 0 0 0 0

3959 -0.60 -142.5 689.5 -16.1 284 3963 0.00 1.62 0.00 0.000 4 0.000 0.058 1562 3898 2925 0 0 0 0 0 0

3996 -0.60 -142.5 696.2 -16.7 285 4005 0.08 1.45 0.00 0.000 6 0.177 0.031 1585 2937 2925 0 0 0 0 0 0

4314 -0.60 -142.5 741.9 -14.1 301 4315 0.00 0.00 0.00 0.000 6 0.000 0.000 1585 2937 2925 0 0 0 0 0 0

4622 -0.60 -142.5 785.6 -14.1 316 4626 0.00 1.62 0.00 0.000 4 0.000 0.058 1578 3906 2925 0 0 0 0 0 0

4677 -0.60 -142.5 794.2 -14.9 318 4682 0.00 1.48 0.00 0.000 6 0.000 0.031 1578 2934 2925 0 0 0 0 0 0

4999 -0.60 -142.5 840.7 -14.6 334 5000 0.00 0.00 0.00 0.000 6 0.000 0.000 1579 2928 2925 0 0 0 0 0 0

5308 -0.60 -142.5 884.9 -14.1 349 5311 0.00 1.62 0.00 0.000 4 0.000 0.057 1571 3898 2925 0 0 0 0 0 0

5368 -0.60 -142.5 894.3 -15.6 351 5376 0.00 1.48 0.00 0.000 6 0.000 0.031 1571 2918 2925 0 0 0 0 0 0

5685 -0.60 -142.5 941.0 -15.1 367 5686 0.00 0.00 0.00 0.000 6 0.000 0.000 1571 2917 2925 0 0 0 0 0 0

5994 -0.60 -142.5 986.1 -14.4 382 5997 0.00 1.65 0.00 0.000 4 0.000 0.057 1563 3913 2925 0 0 0 0 0 0

6048 -0.60 -142.5 994.8 -16.1 384 6053 0.08 1.50 0.00 0.000 6 0.176 0.030 1586 2933 2925 0 0 0 0 0 0

6099 end dive: TARGET_DEPTH_EXCEEDED

state 6100 begin apogee

6106 -0.13 0.0 1001.8 13.8 387 6246 0.55 0.00 137.02 1.778 6 0.171 0.000 1742 2699 2342 0 0 0 0 0 0

6247 end apogee: CONTROL_FINISHED_OK

state 6247 begin climb

6249 0.60 142.5 1006.2 0.0 394 6403 0.80 0.00 149.98 1.724 6 0.116 0.000 1975 2699 1761 0 0 0 0 0 0

6701 0.60 142.5 943.9 16.0 416 6702 0.00 0.00 0.00 0.000 6 0.000 0.000 1975 2699 1753 0 0 0 0 0 0

7010 0.60 142.5 895.5 15.6 431 7014 0.00 2.00 0.00 0.000 4 0.000 0.056 1975 3897 1751 0 0 0 0 0 0

7057 0.60 142.5 887.7 18.3 433 7061 0.00 1.85 0.00 0.000 6 0.000 0.034 1984 2729 1749 0 0 0 0 0 0

7390 0.60 142.5 833.0 16.1 449 7393 0.00 1.95 0.00 0.000 4 0.000 0.055 1985 3903 1749 0 0 0 0 0 0

7413 0.60 142.5 829.1 17.3 450 7416 0.00 1.88 0.00 0.000 6 0.000 0.034 1994 2708 1748 0 0 0 0 0 0

7746 0.60 142.5 773.3 16.9 466 7750 0.00 2.00 0.00 0.000 4 0.000 0.057 1994 3923 1748 0 0 0 0 0 0

7784 0.60 142.5 765.8 18.9 467 7791 0.00 1.92 0.00 0.000 6 0.000 0.034 2003 2713 1747 0 0 0 0 0 0

8101 0.60 142.5 710.5 17.4 483 8104 0.00 1.98 0.00 0.000 4 0.000 0.055 2003 3907 1747 0 0 0 0 0 0

8138 0.60 142.5 702.8 19.7 484 8146 0.00 1.90 0.00 0.000 6 0.000 0.034 2013 2712 1747 0 0 0 0 0 0

8454 0.60 142.5 646.6 17.5 500 8458 0.00 1.98 0.00 0.000 4 0.000 0.054 2013 3920 1747 0 0 0 0 0 0

8501 0.60 142.5 637.8 20.1 502 8506 0.15 1.90 0.00 0.000 6 0.230 0.034 1989 2706 1746 0 0 0 0 0 0

8834 0.60 142.5 585.3 15.5 518 8838 0.00 1.98 0.00 0.000 4 0.000 0.054 1988 3906 1746 0 0 0 0 0 0

8879 0.60 142.5 577.0 18.5 520 8883 0.00 1.88 0.00 0.000 6 0.000 0.034 1997 2704 1746 0 0 0 0 0 0

9213 0.60 142.5 523.8 15.8 536 9216 0.00 1.98 0.00 0.000 4 0.000 0.054 1997 3906 1746 0 0 0 0 0 0

9258 0.60 142.5 515.7 19.3 538 9261 0.00 1.88 0.00 0.000 6 0.000 0.034 2006 2702 1746 0 0 0 0 0 0

9590 0.60 142.5 460.8 16.2 554 9594 0.00 1.95 0.00 0.000 4 0.000 0.054 2006 3899 1746 0 0 0 0 0 0

9662 0.60 142.5 447.7 18.7 557 9667 0.10 1.88 0.00 0.000 6 0.216 0.034 1989 2713 1746 0 0 0 0 0 0

9989 0.60 142.5 400.2 14.2 573 9992 0.00 1.92 0.00 0.000 4 0.000 0.054 1989 3899 1746 0 0 0 0 0 0

10022 0.60 142.5 394.8 16.6 574 10025 0.00 1.85 0.00 0.000 6 0.000 0.034 1998 2706 1746 0 0 0 0 0 0

10343 0.60 142.5 345.8 15.5 590 10346 0.00 1.98 0.00 0.000 4 0.000 0.054 1997 3906 1746 0 0 0 0 0 0

10381 0.60 142.5 338.8 17.9 591 10389 0.00 1.88 0.00 0.000 6 0.000 0.034 2007 2718 1745 0 0 0 0 0 0

10700 0.60 142.5 287.1 16.5 607 10704 0.00 1.92 0.00 0.000 4 0.000 0.054 2007 3900 1746 0 0 0 0 0 0

10748 0.60 142.5 278.4 18.9 609 10753 0.12 1.85 0.00 0.000 6 0.236 0.034 1989 2708 1745 0 0 0 0 0 0

11077 0.60 142.5 229.5 14.1 631 11083 0.00 0.00 0.00 0.000 6 0.000 0.000 1989 2708 1745 0 0 0 0 0 0

11403 0.60 142.5 183.4 14.0 662 11407 0.00 1.98 0.00 0.000 4 0.000 0.054 1989 3903 1746 0 0 0 0 0 0

11450 0.60 142.5 175.9 16.0 666 11453 0.00 1.88 0.00 0.000 6 0.000 0.034 1998 2699 1745 0 0 0 0 0 0

11782 0.60 142.5 129.6 14.4 697 11786 0.00 1.95 0.00 0.000 4 0.000 0.054 1998 3897 1746 0 0 0 0 0 0

11840 0.60 142.5 120.7 15.4 702 11843 0.00 1.85 0.00 0.000 6 0.000 0.033 2007 2708 1745 0 0 0 0 0 0

12184 0.60 142.5 73.9 13.9 749 12190 0.00 0.00 0.00 0.000 6 0.000 0.000 2007 2708 1745 0 0 0 0 0 0

12297 0.60 142.5 58.7 12.3 768 12306 0.00 2.22 0.00 0.000 4 0.000 0.042 2018 1295 1745 0 0 0 0 0 0

12402 0.60 142.5 47.4 9.6 785 12410 0.08 2.30 0.00 0.000 6 0.184 0.050 1986 2726 1745 0 0 0 0 0 0

12517 0.60 142.5 34.9 10.4 804 12525 0.00 1.90 0.00 0.000 4 0.000 0.057 1987 3877 1745 0 0 0 0 0 0

12612 0.60 142.5 23.3 12.5 819 12622 0.00 1.83 0.00 0.000 6 0.000 0.035 1994 2722 1745 0 0 0 0 0 0

12697 0.60 142.5 14.0 9.6 832 12706 0.00 1.95 0.00 0.000 4 0.000 0.055 1994 3887 1745 0 0 0 0 0 0

12733 0.60 142.5 10.0 11.3 837 12742 0.00 1.88 0.00 0.000 6 0.000 0.036 2003 2708 1745 0 0 0 0 0 0

12792 end climb: SURFACE_DEPTH_REACHED

state 12792 begin surface coast

12819 end surface coast: CONTROL_FINISHED_OK

state 12819 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	328	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	25	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	-22657.051	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	080215,205305,-5659.955,0.407,27,0.9,28,-20.0	TGT_NAME	TARGET1
_CALLS	1	TGT_LATLONG	-5700.000,-2.000
_XMS_NAKs	0	TGT_RADIUS	4000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.081,-0.143
_SM_DEPTHo	2.51	KALMAN_X	331321.1,315.6,132.8,-331092.3,-1084.0
_SM_ANGLEo	-63.5	KALMAN_Y	-133319.2,-151.0,-83.1,22848.1,2717.1
GPS2	080215,210217,-5659.944,0.609,18,1.1,19,-20.0	MHEAD_RNG_PITCHd_Wd	229.6,2634,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.2,1.026517	_10V_AH	9.7,44.892
SM_CCo	12833,25.73,0.168,0,0,1525,200.16	FG_AHR_24Vo	0.000
SM_GC	2.54,0.00,0.00,25.73,0.000,0.000,0.168,59,2924,1525,-5.40,-0.17,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5633.07,0.00,080215,151559	MEM	353884
TT8_MAMPS	0.026215	DATA_FILE_SIZE	57151,850
HUMID	57.75	CAP_FILE_SIZE	122123,0
INTERNAL_PRESSURE	8.97462	CFSIZE	259252224,203177984
TCM_TEMP	6.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	090215,003834,-5701.015,0.097,25,1.2,25,-20.0
_24V_AH	21.1,64.366

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	237	70.03	SBE_CT	604	23	305.51
Roll_motor	104	77	170.37	AA4330	1785	17	677.23
VBD_pump_during_apogee	287	1777	10766.19	WL_BB2F	878	105	1945.44
VBD_pump_during_surface	25	167	90.94	QSP2150	925	17	351.06
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	91	48.81	nil	0	0	0.00
Iridium_during_connect	24	160	83.51	nil	0	0	0.00
Iridium_during_xfer	349	223	1643.71	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	31	6.48
TT8	2146	14	301.03
LPSleep	7975	2	169.42
TT8_Active	444	14	62.36
TT8_Sampling	2581	42	1055.90
TT8_CF8	256	49	123.63
TT8_Kalman	33	68	22.14
Analog_circuits	1309	15	196.92
GPS_charging	0	0	0.00
Compass	2037	16	325.78
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
17	-0.54	-73.9	0.0	0.0	0	52	0.00	0.00	-33.25	0.000	2	0.000	0.000	45	2929	2223	0	0	0	0	0	0
54	-0.60	-142.5	3.1	-3.6	4	97	6.40	1.65	-26.17	0.000	4	0.238	0.077	1580	3891	2924	0	0	0	0	0	0
366	-0.60	-142.5	59.6	-20.0	54	376	0.00	1.55	0.00	0.000	6	0.000	0.031	1581	2885	2925	0	0	0	0	0	0
484	-0.60	-142.5	81.9	-19.2	73	490	0.00	1.70	0.00	0.000	4	0.000	0.057	1574	3907	2925	0	0	0	0	0	0
544	-0.60	-142.5	94.9	-20.8	83	551	0.00	1.50	0.00	0.000	6	0.000	0.032	1578	2933	2925	0	0	0	0	0	0
773	-0.60	-142.5	140.1	-20.2	106	777	0.00	2.12	0.00	0.000	4	0.000	0.037	1579	1534	2925	0	0	0	0	0	0
806	-0.60	-142.5	147.2	-18.3	108	817	0.00	2.28	0.00	0.000	6	0.000	0.051	1569	2929	2926	0	0	0	0	0	0
1134	-0.60	-142.5	211.8	-19.9	139	1138	0.00	1.58	0.00	0.000	4	0.000	0.057	1561	3898	2926	0	0	0	0	0	0
1184	-0.60	-142.5	222.9	-20.1	143	1192	0.08	1.48	0.00	0.000	6	0.177	0.031	1584	2929	2926	0	0	0	0	0	0
1519	-0.60	-142.5	279.5	-17.2	167	1520	0.00	0.00	0.00	0.000	6	0.000	0.000	1583	2929	2925	0	0	0	0	0	0
1825	-0.60	-142.5	331.6	-16.4	182	1828	0.00	1.62	0.00	0.000	4	0.000	0.060	1576	3898	2925	0	0	0	0	0	0
1859	-0.60	-142.5	337.6	-17.8	183	1862	0.00	1.48	0.00	0.000	6	0.000	0.031	1576	2924	2926	0	0	0	0	0	0
2183	-0.60	-142.5	393.7	-17.7	199	2186	0.00	1.62	0.00	0.000	4	0.000	0.057	1569	3895	2925	0	0	0	0	0	0
2209	-0.60	-142.5	399.3	-18.6	200	2214	0.00	1.48	0.00	0.000	6	0.000	0.031	1569	2921	2925	0	0	0	0	0	0
2537	-0.60	-142.5	457.2	-17.4	216	2540	0.00	1.65	0.00	0.000	4	0.000	0.059	1561	3919	2925	0	0	0	0	0	0
2583	-0.60	-142.5	465.7	-19.6	218	2587	0.08	1.50	0.00	0.000	6	0.177	0.031	1584	2937	2925	0	0	0	0	0	0
2916	-0.60	-142.5	520.1	-16.0	234	2917	0.00	0.00	0.00	0.000	6	0.000	0.000	1584	2935	2926	0	0	0	0	0	0
3226	-0.60	-142.5	569.3	-15.9	249	3230	0.00	1.60	0.00	0.000	4	0.000	0.058	1577	3894	2925	0	0	0	0	0	0
3272	-0.60	-142.5	577.0	-16.2	251	3276	0.00	1.48	0.00	0.000	6	0.000	0.031	1577	2923	2925	0	0	0	0	0	0
3605	-0.60	-142.5	630.7	-16.1	267	3608	0.00	1.65	0.00	0.000	4	0.000	0.058	1569	3919	2926	0	0	0	0	0	0
3643	-0.60	-142.5	637.5	-17.3	268	3650	0.00	1.50	0.00	0.000	6	0.000	0.031	1570	2924	2925	0	0	0	0	0	0
3959	-0.60	-142.5	689.5	-16.1	284	3963	0.00	1.62	0.00	0.000	4	0.000	0.058	1562	3898	2925	0	0	0	0	0	0
3996	-0.60	-142.5	696.2	-16.7	285	4005	0.08	1.45	0.00	0.000	6	0.177	0.031	1585	2937	2925	0	0	0	0	0	0
4314	-0.60	-142.5	741.9	-14.1	301	4315	0.00	0.00	0.00	0.000	6	0.000	0.000	1585	2937	2925	0	0	0	0	0	0
4622	-0.60	-142.5	785.6	-14.1	316	4626	0.00	1.62	0.00	0.000	4	0.000	0.058	1578	3906	2925	0	0	0	0	0	0
4677	-0.60	-142.5	794.2	-14.9	318	4682	0.00	1.48	0.00	0.000	6	0.000	0.031	1578	2934	2925	0	0	0	0	0	0
4999	-0.60	-142.5	840.7	-14.6	334	5000	0.00	0.00	0.00	0.000	6	0.000	0.000	1579	2928	2925	0	0	0	0	0	0
5308	-0.60	-142.5	884.9	-14.1	349	5311	0.00	1.62	0.00	0.000	4	0.000	0.057	1571	3898	2925	0	0	0	0	0	0
5368	-0.60	-142.5	894.3	-15.6	351	5376	0.00	1.48	0.00	0.000	6	0.000	0.031	1571	2918	2925	0	0	0	0	0	0
5685	-0.60	-142.5	941.0	-15.1	367	5686	0.00	0.00	0.00	0.000	6	0.000	0.000	1571	2917	2925	0	0	0	0	0	0
5994	-0.60	-142.5	986.1	-14.4	382	5997	0.00	1.65	0.00	0.000	4	0.000	0.057	1563	3913	2925	0	0	0	0	0	0
6048	-0.60	-142.5	994.8	-16.1	384	6053	0.08	1.50	0.00	0.000	6	0.176	0.030	1586	2933	2925	0	0	0	0	0	0
6099	end dive: TARGET_DEPTH_EXCEEDED
state	6100	begin apogee
6106	-0.13	0.0	1001.8	13.8	387	6246	0.55	0.00	137.02	1.778	6	0.171	0.000	1742	2699	2342	0	0	0	0	0	0
6247	end apogee: CONTROL_FINISHED_OK
state	6247	begin climb
6249	0.60	142.5	1006.2	0.0	394	6403	0.80	0.00	149.98	1.724	6	0.116	0.000	1975	2699	1761	0	0	0	0	0	0
6701	0.60	142.5	943.9	16.0	416	6702	0.00	0.00	0.00	0.000	6	0.000	0.000	1975	2699	1753	0	0	0	0	0	0
7010	0.60	142.5	895.5	15.6	431	7014	0.00	2.00	0.00	0.000	4	0.000	0.056	1975	3897	1751	0	0	0	0	0	0
7057	0.60	142.5	887.7	18.3	433	7061	0.00	1.85	0.00	0.000	6	0.000	0.034	1984	2729	1749	0	0	0	0	0	0
7390	0.60	142.5	833.0	16.1	449	7393	0.00	1.95	0.00	0.000	4	0.000	0.055	1985	3903	1749	0	0	0	0	0	0
7413	0.60	142.5	829.1	17.3	450	7416	0.00	1.88	0.00	0.000	6	0.000	0.034	1994	2708	1748	0	0	0	0	0	0
7746	0.60	142.5	773.3	16.9	466	7750	0.00	2.00	0.00	0.000	4	0.000	0.057	1994	3923	1748	0	0	0	0	0	0
7784	0.60	142.5	765.8	18.9	467	7791	0.00	1.92	0.00	0.000	6	0.000	0.034	2003	2713	1747	0	0	0	0	0	0
8101	0.60	142.5	710.5	17.4	483	8104	0.00	1.98	0.00	0.000	4	0.000	0.055	2003	3907	1747	0	0	0	0	0	0
8138	0.60	142.5	702.8	19.7	484	8146	0.00	1.90	0.00	0.000	6	0.000	0.034	2013	2712	1747	0	0	0	0	0	0
8454	0.60	142.5	646.6	17.5	500	8458	0.00	1.98	0.00	0.000	4	0.000	0.054	2013	3920	1747	0	0	0	0	0	0
8501	0.60	142.5	637.8	20.1	502	8506	0.15	1.90	0.00	0.000	6	0.230	0.034	1989	2706	1746	0	0	0	0	0	0
8834	0.60	142.5	585.3	15.5	518	8838	0.00	1.98	0.00	0.000	4	0.000	0.054	1988	3906	1746	0	0	0	0	0	0
8879	0.60	142.5	577.0	18.5	520	8883	0.00	1.88	0.00	0.000	6	0.000	0.034	1997	2704	1746	0	0	0	0	0	0
9213	0.60	142.5	523.8	15.8	536	9216	0.00	1.98	0.00	0.000	4	0.000	0.054	1997	3906	1746	0	0	0	0	0	0
9258	0.60	142.5	515.7	19.3	538	9261	0.00	1.88	0.00	0.000	6	0.000	0.034	2006	2702	1746	0	0	0	0	0	0
9590	0.60	142.5	460.8	16.2	554	9594	0.00	1.95	0.00	0.000	4	0.000	0.054	2006	3899	1746	0	0	0	0	0	0
9662	0.60	142.5	447.7	18.7	557	9667	0.10	1.88	0.00	0.000	6	0.216	0.034	1989	2713	1746	0	0	0	0	0	0
9989	0.60	142.5	400.2	14.2	573	9992	0.00	1.92	0.00	0.000	4	0.000	0.054	1989	3899	1746	0	0	0	0	0	0
10022	0.60	142.5	394.8	16.6	574	10025	0.00	1.85	0.00	0.000	6	0.000	0.034	1998	2706	1746	0	0	0	0	0	0
10343	0.60	142.5	345.8	15.5	590	10346	0.00	1.98	0.00	0.000	4	0.000	0.054	1997	3906	1746	0	0	0	0	0	0
10381	0.60	142.5	338.8	17.9	591	10389	0.00	1.88	0.00	0.000	6	0.000	0.034	2007	2718	1745	0	0	0	0	0	0
10700	0.60	142.5	287.1	16.5	607	10704	0.00	1.92	0.00	0.000	4	0.000	0.054	2007	3900	1746	0	0	0	0	0	0
10748	0.60	142.5	278.4	18.9	609	10753	0.12	1.85	0.00	0.000	6	0.236	0.034	1989	2708	1745	0	0	0	0	0	0
11077	0.60	142.5	229.5	14.1	631	11083	0.00	0.00	0.00	0.000	6	0.000	0.000	1989	2708	1745	0	0	0	0	0	0
11403	0.60	142.5	183.4	14.0	662	11407	0.00	1.98	0.00	0.000	4	0.000	0.054	1989	3903	1746	0	0	0	0	0	0
11450	0.60	142.5	175.9	16.0	666	11453	0.00	1.88	0.00	0.000	6	0.000	0.034	1998	2699	1745	0	0	0	0	0	0
11782	0.60	142.5	129.6	14.4	697	11786	0.00	1.95	0.00	0.000	4	0.000	0.054	1998	3897	1746	0	0	0	0	0	0
11840	0.60	142.5	120.7	15.4	702	11843	0.00	1.85	0.00	0.000	6	0.000	0.033	2007	2708	1745	0	0	0	0	0	0
12184	0.60	142.5	73.9	13.9	749	12190	0.00	0.00	0.00	0.000	6	0.000	0.000	2007	2708	1745	0	0	0	0	0	0
12297	0.60	142.5	58.7	12.3	768	12306	0.00	2.22	0.00	0.000	4	0.000	0.042	2018	1295	1745	0	0	0	0	0	0
12402	0.60	142.5	47.4	9.6	785	12410	0.08	2.30	0.00	0.000	6	0.184	0.050	1986	2726	1745	0	0	0	0	0	0
12517	0.60	142.5	34.9	10.4	804	12525	0.00	1.90	0.00	0.000	4	0.000	0.057	1987	3877	1745	0	0	0	0	0	0
12612	0.60	142.5	23.3	12.5	819	12622	0.00	1.83	0.00	0.000	6	0.000	0.035	1994	2722	1745	0	0	0	0	0	0
12697	0.60	142.5	14.0	9.6	832	12706	0.00	1.95	0.00	0.000	4	0.000	0.055	1994	3887	1745	0	0	0	0	0	0
12733	0.60	142.5	10.0	11.3	837	12742	0.00	1.88	0.00	0.000	6	0.000	0.036	2003	2708	1745	0	0	0	0	0	0
12792	end climb: SURFACE_DEPTH_REACHED
state	12792	begin surface coast
12819	end surface coast: CONTROL_FINISHED_OK
state	12819	begin surface