Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 331 * 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 331 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 28 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 28 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 -22667.223 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 -22667.223

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 28 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 28 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 331 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 090215,081557,-5702.438,-3.036,53,3.9,72,-20.0 TGT_NAME TARGET1

_CALLS 2 TGT_LATLONG -5700.000,-2.000

_XMS_NAKs 0 TGT_RADIUS 4000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.096,0.134

_SM_DEPTHo 2.41 KALMAN_X 336085.4,90.0,-155.1,-338975.0,2744.3

_SM_ANGLEo -61.4 KALMAN_Y -132140.6,-695.6,-451.9,17661.1,2321.1

GPS2 090215,083004,-5702.615,-2.915,82,0.9,82,-20.0 MHEAD_RNG_PITCHd_Wd 344.2,4930,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.2,1.001554 _10V_AH 9.7,45.235

SM_CCo 14040,22.55,0.151,0,0,1525,200.16 FG_AHR_24Vo 0.000

SM_GC 2.53,0.00,0.00,22.55,0.000,0.000,0.151,56,2951,1525,-5.42,0.59,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5640.91,-3.96,090215,080850 MEM 353884

TT8_MAMPS 0.026215 DATA_FILE_SIZE 63798,929

HUMID 57.87 CAP_FILE_SIZE 125049,0

INTERNAL_PRESSURE 8.98439 CFSIZE 259252224,202964992

TCM_TEMP 7.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 1 GPS 090215,122640,-5701.135,-4.440,42,1.0,42,-20.0

_24V_AH 21.1,64.861

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 239 69.09 SBE_CT 660 23 334.09

Roll_motor 75 61 97.24 AA4330 1919 17 728.26

VBD_pump_during_apogee 270 1790 10209.53 WL_BB2F 930 105 2062.01

VBD_pump_during_surface 22 150 71.71 QSP2150 975 17 370.20

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 51 91 98.94 nil 0 0 0.00

Iridium_during_connect 63 160 213.71 nil 0 0 0.00

Iridium_during_xfer 449 223 2117.22 nil 0 0 0.00

Transponder_ping 0 420 2.22 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 83 31 25.62

TT8 2314 14 324.68

LPSleep 8915 2 189.39

TT8_Active 391 14 54.94

TT8_Sampling 3021 42 1235.95

TT8_CF8 264 49 127.18

TT8_Kalman 33 68 22.14

Analog_circuits 1327 15 199.59

GPS_charging 0 0 0.00

Compass 2222 16 355.26

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.54 -73.9 0.0 0.0 0 43 0.00 0.00 -25.77 0.000 2 0.000 0.000 44 2949 2065 0 0 0 0 0 0

46 -0.58 -121.5 3.2 -5.4 3 88 6.43 0.00 -30.23 0.000 6 0.230 0.000 1592 2949 2839 0 0 0 0 0 0

164 -0.58 -121.5 19.0 -21.4 20 172 0.00 0.00 0.00 0.000 6 0.000 0.000 1592 2949 2840 0 0 0 0 0 0

247 -0.58 -121.5 34.6 -17.1 33 253 0.00 0.00 0.00 0.000 6 0.000 0.000 1592 2949 2841 0 0 0 0 0 0

361 -0.58 -121.5 56.9 -18.0 52 369 0.00 0.00 0.00 0.000 6 0.000 0.000 1592 2949 2841 0 0 0 0 0 0

476 -0.58 -121.5 77.6 -17.0 71 482 0.00 0.00 0.00 0.000 6 0.000 0.000 1592 2949 2841 0 0 0 0 0 0

585 -0.58 -121.5 94.2 -15.3 90 593 0.00 0.00 0.00 0.000 6 0.000 0.000 1592 2949 2841 0 0 0 0 0 0

810 -0.58 -121.5 128.9 -17.0 114 814 0.00 1.58 0.00 0.000 4 0.000 0.061 1585 3889 2841 0 0 0 0 0 0

871 -0.58 -121.5 138.7 -17.7 119 874 0.00 1.52 0.00 0.000 6 0.000 0.031 1585 2890 2842 0 0 0 0 0 0

1201 -0.58 -121.5 198.1 -18.0 150 1202 0.00 0.00 0.00 0.000 6 0.000 0.000 1585 2886 2842 0 0 0 0 0 0

1522 -0.58 -121.5 250.1 -16.0 180 1526 0.00 1.65 0.00 0.000 4 0.000 0.058 1578 3898 2842 0 0 0 0 0 0

1583 -0.58 -121.5 261.2 -17.0 182 1593 0.00 1.48 0.00 0.000 6 0.000 0.031 1577 2926 2842 0 0 0 0 0 0

1901 -0.58 -121.5 312.6 -16.2 198 1902 0.00 0.00 0.00 0.000 6 0.000 0.000 1578 2925 2841 0 0 0 0 0 0

2211 -0.58 -121.5 361.3 -15.4 213 2212 0.00 0.00 0.00 0.000 6 0.000 0.000 1578 2925 2842 0 0 0 0 0 0

2519 -0.58 -121.5 407.4 -14.7 228 2520 0.00 0.00 0.00 0.000 6 0.000 0.000 1578 2924 2842 0 0 0 0 0 0

2828 -0.58 -121.5 454.0 -15.1 243 2829 0.00 0.00 0.00 0.000 6 0.000 0.000 1578 2924 2841 0 0 0 0 0 0

3137 -0.58 -121.5 499.6 -14.6 258 3141 0.00 1.62 0.00 0.000 4 0.000 0.059 1570 3895 2841 0 0 0 0 0 0

3206 -0.58 -121.5 510.4 -15.8 261 3210 0.08 1.48 0.00 0.000 6 0.175 0.032 1592 2933 2841 0 0 0 0 0 0

3538 -0.58 -121.5 556.7 -13.9 277 3539 0.00 0.00 0.00 0.000 6 0.000 0.000 1593 2930 2841 0 0 0 0 0 0

3847 -0.58 -121.5 599.7 -13.7 292 3848 0.00 0.00 0.00 0.000 6 0.000 0.000 1592 2930 2841 0 0 0 0 0 0

4157 -0.58 -121.5 642.1 -13.5 307 4161 0.00 1.62 0.00 0.000 4 0.000 0.059 1585 3896 2841 0 0 0 0 0 0

4204 -0.58 -121.5 648.9 -15.5 309 4208 0.00 1.48 0.00 0.000 6 0.000 0.031 1585 2925 2841 0 0 0 0 0 0

4537 -0.58 -121.5 695.3 -13.7 325 4538 0.00 0.00 0.00 0.000 6 0.000 0.000 1585 2919 2841 0 0 0 0 0 0

4847 -0.58 -121.5 738.0 -13.6 340 4848 0.00 0.00 0.00 0.000 6 0.000 0.000 1586 2920 2841 0 0 0 0 0 0

5155 -0.58 -121.5 780.7 -13.8 355 5159 0.00 1.62 0.00 0.000 4 0.000 0.058 1578 3890 2841 0 0 0 0 0 0

5215 -0.58 -121.5 790.0 -14.8 357 5223 0.00 1.48 0.00 0.000 6 0.000 0.031 1578 2919 2841 0 0 0 0 0 0

5533 -0.58 -121.5 834.2 -14.1 373 5534 0.00 0.00 0.00 0.000 6 0.000 0.000 1578 2919 2841 0 0 0 0 0 0

5841 -0.58 -121.5 876.8 -13.9 388 5842 0.00 0.00 0.00 0.000 6 0.000 0.000 1578 2919 2841 0 0 0 0 0 0

6152 -0.58 -121.5 919.0 -13.5 403 6155 0.00 1.62 0.00 0.000 4 0.000 0.058 1571 3917 2841 0 0 0 0 0 0

6201 -0.58 -121.5 926.5 -14.4 405 6206 0.08 1.50 0.00 0.000 6 0.176 0.031 1593 2937 2841 0 0 0 0 0 0

6528 -0.58 -121.5 966.3 -12.1 421 6529 0.00 0.00 0.00 0.000 6 0.000 0.000 1593 2937 2841 0 0 0 0 0 0

6815 end dive: TARGET_DEPTH_EXCEEDED

state 6815 begin apogee

6821 -0.13 0.0 1000.9 11.8 435 6941 0.52 0.00 116.80 1.790 6 0.165 0.000 1743 2714 2342 0 0 0 0 0 0

6941 end apogee: CONTROL_FINISHED_OK

state 6942 begin climb

6943 0.58 121.5 1004.5 0.0 441 7081 0.75 2.53 127.88 1.737 4 0.114 0.041 1976 1325 1846 0 0 0 0 0 0

7125 0.58 121.5 986.6 13.2 449 7130 0.00 2.47 0.00 0.000 6 0.000 0.049 1976 2710 1842 0 0 0 0 0 0

7447 0.58 121.5 938.6 14.9 465 7451 0.00 1.98 0.00 0.000 4 0.000 0.055 1976 3894 1836 0 0 0 0 0 0

7531 0.58 121.5 923.9 18.3 468 7538 0.00 1.85 0.00 0.000 6 0.000 0.033 1985 2729 1834 0 0 0 0 0 0

7847 0.58 121.5 874.8 15.4 484 7849 0.00 0.00 0.00 0.000 6 0.000 0.000 1985 2729 1833 0 0 0 0 0 0

8156 0.58 121.5 827.9 15.2 499 8160 0.00 1.95 0.00 0.000 4 0.000 0.055 1985 3901 1833 0 0 0 0 0 0

8247 0.58 121.5 812.2 17.8 503 8250 0.00 1.88 0.00 0.000 6 0.000 0.034 1994 2706 1832 0 0 0 0 0 0

8579 0.58 121.5 760.1 15.7 519 8583 0.00 1.95 0.00 0.000 4 0.000 0.054 1994 3892 1832 0 0 0 0 0 0

8640 0.58 121.5 749.1 18.0 521 8647 0.00 1.85 0.00 0.000 6 0.000 0.033 2003 2703 1831 0 0 0 0 0 0

8956 0.58 121.5 699.0 15.9 537 8960 0.00 1.98 0.00 0.000 4 0.000 0.054 2004 3889 1831 0 0 0 0 0 0

9023 0.58 121.5 687.1 18.3 540 9027 0.12 1.83 0.00 0.000 6 0.239 0.034 1986 2705 1830 0 0 0 0 0 0

9356 0.58 121.5 638.7 14.2 556 9360 0.00 1.95 0.00 0.000 4 0.000 0.054 1985 3893 1831 0 0 0 0 0 0

9411 0.58 121.5 629.6 16.8 558 9416 0.00 1.88 0.00 0.000 6 0.000 0.033 1994 2708 1830 0 0 0 0 0 0

9734 0.58 121.5 582.2 14.7 574 9738 0.00 1.98 0.00 0.000 4 0.000 0.054 1994 3894 1830 0 0 0 0 0 0

9788 0.58 121.5 572.7 17.4 576 9793 0.00 1.88 0.00 0.000 6 0.000 0.033 2003 2711 1830 0 0 0 0 0 0

10110 0.58 121.5 523.5 15.3 592 10114 0.00 1.95 0.00 0.000 4 0.000 0.054 2003 3896 1830 0 0 0 0 0 0

10183 0.58 121.5 511.0 18.0 595 10187 0.12 1.83 0.00 0.000 6 0.239 0.034 1985 2708 1830 0 0 0 0 0 0

10509 0.58 121.5 465.4 13.9 611 10510 0.00 0.00 0.00 0.000 6 0.000 0.000 1985 2708 1830 0 0 0 0 0 0

10819 0.58 121.5 423.4 13.5 626 10823 0.00 1.98 0.00 0.000 4 0.000 0.055 1985 3892 1830 0 0 0 0 0 0

10924 0.58 121.5 406.8 15.7 630 10931 0.00 1.85 0.00 0.000 6 0.000 0.033 1994 2717 1830 0 0 0 0 0 0

11240 0.58 121.5 362.7 13.8 646 11244 0.00 1.95 0.00 0.000 4 0.000 0.054 1994 3902 1830 0 0 0 0 0 0

11302 0.58 121.5 352.8 17.0 648 11311 0.00 1.88 0.00 0.000 6 0.000 0.033 2002 2712 1830 0 0 0 0 0 0

11619 0.58 121.5 308.1 14.1 664 11620 0.00 0.00 0.00 0.000 6 0.000 0.000 2003 2712 1830 0 0 0 0 0 0

11931 0.58 121.5 265.3 13.9 679 11935 0.00 1.95 0.00 0.000 4 0.000 0.054 2003 3896 1829 0 0 0 0 0 0

12003 0.58 121.5 253.1 16.6 682 12008 0.10 1.88 0.00 0.000 6 0.219 0.033 1986 2711 1829 0 0 0 0 0 0

12331 0.58 121.5 209.5 12.9 711 12338 0.00 0.00 0.00 0.000 6 0.000 0.000 1986 2709 1830 0 0 0 0 0 0

12659 0.58 121.5 166.5 12.5 742 12663 0.00 1.95 0.00 0.000 4 0.000 0.054 1986 3893 1829 0 0 0 0 0 0

12880 0.58 121.5 133.9 14.4 761 12883 0.00 1.85 0.00 0.000 6 0.000 0.032 1994 2697 1829 0 0 0 0 0 0

13211 0.58 121.5 90.4 11.6 798 13219 0.00 0.00 0.00 0.000 6 0.000 0.000 1994 2697 1829 0 0 0 0 0 0

13453 0.60 140.2 66.3 7.9 839 13469 0.00 2.22 11.18 0.938 4 0.000 0.040 2004 1297 1769 0 0 0 0 0 0

13584 0.61 159.6 57.2 7.9 860 13607 0.00 2.30 14.45 0.906 6 0.000 0.049 2004 2723 1691 0 0 0 0 0 0

13715 0.61 159.6 41.9 14.2 881 13721 0.00 0.00 0.00 0.000 6 0.000 0.000 2004 2724 1687 0 0 0 0 0 0

13831 0.61 159.6 27.2 13.1 900 13840 0.00 2.22 0.00 0.000 4 0.000 0.037 2015 1305 1687 0 0 0 0 0 0

13875 0.61 159.6 21.1 13.9 906 13884 0.00 2.28 0.00 0.000 6 0.000 0.050 2015 2705 1686 0 0 0 0 0 0

13959 0.61 159.6 8.4 15.0 919 13967 0.00 0.00 0.00 0.000 6 0.000 0.000 2015 2705 1685 0 0 0 0 0 0

13998 end climb: SURFACE_DEPTH_REACHED

state 13999 begin surface coast

14025 end surface coast: CONTROL_FINISHED_OK

state 14025 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	331	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	28	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	28	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	-22667.223	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	090215,081557,-5702.438,-3.036,53,3.9,72,-20.0	TGT_NAME	TARGET1
_CALLS	2	TGT_LATLONG	-5700.000,-2.000
_XMS_NAKs	0	TGT_RADIUS	4000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.096,0.134
_SM_DEPTHo	2.41	KALMAN_X	336085.4,90.0,-155.1,-338975.0,2744.3
_SM_ANGLEo	-61.4	KALMAN_Y	-132140.6,-695.6,-451.9,17661.1,2321.1
GPS2	090215,083004,-5702.615,-2.915,82,0.9,82,-20.0	MHEAD_RNG_PITCHd_Wd	344.2,4930,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.2,1.001554	_10V_AH	9.7,45.235
SM_CCo	14040,22.55,0.151,0,0,1525,200.16	FG_AHR_24Vo	0.000
SM_GC	2.53,0.00,0.00,22.55,0.000,0.000,0.151,56,2951,1525,-5.42,0.59,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5640.91,-3.96,090215,080850	MEM	353884
TT8_MAMPS	0.026215	DATA_FILE_SIZE	63798,929
HUMID	57.87	CAP_FILE_SIZE	125049,0
INTERNAL_PRESSURE	8.98439	CFSIZE	259252224,202964992
TCM_TEMP	7.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	1	GPS	090215,122640,-5701.135,-4.440,42,1.0,42,-20.0
_24V_AH	21.1,64.861

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	239	69.09	SBE_CT	660	23	334.09
Roll_motor	75	61	97.24	AA4330	1919	17	728.26
VBD_pump_during_apogee	270	1790	10209.53	WL_BB2F	930	105	2062.01
VBD_pump_during_surface	22	150	71.71	QSP2150	975	17	370.20
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	51	91	98.94	nil	0	0	0.00
Iridium_during_connect	63	160	213.71	nil	0	0	0.00
Iridium_during_xfer	449	223	2117.22	nil	0	0	0.00
Transponder_ping	0	420	2.22	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	83	31	25.62
TT8	2314	14	324.68
LPSleep	8915	2	189.39
TT8_Active	391	14	54.94
TT8_Sampling	3021	42	1235.95
TT8_CF8	264	49	127.18
TT8_Kalman	33	68	22.14
Analog_circuits	1327	15	199.59
GPS_charging	0	0	0.00
Compass	2222	16	355.26
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.54	-73.9	0.0	0.0	0	43	0.00	0.00	-25.77	0.000	2	0.000	0.000	44	2949	2065	0	0	0	0	0	0
46	-0.58	-121.5	3.2	-5.4	3	88	6.43	0.00	-30.23	0.000	6	0.230	0.000	1592	2949	2839	0	0	0	0	0	0
164	-0.58	-121.5	19.0	-21.4	20	172	0.00	0.00	0.00	0.000	6	0.000	0.000	1592	2949	2840	0	0	0	0	0	0
247	-0.58	-121.5	34.6	-17.1	33	253	0.00	0.00	0.00	0.000	6	0.000	0.000	1592	2949	2841	0	0	0	0	0	0
361	-0.58	-121.5	56.9	-18.0	52	369	0.00	0.00	0.00	0.000	6	0.000	0.000	1592	2949	2841	0	0	0	0	0	0
476	-0.58	-121.5	77.6	-17.0	71	482	0.00	0.00	0.00	0.000	6	0.000	0.000	1592	2949	2841	0	0	0	0	0	0
585	-0.58	-121.5	94.2	-15.3	90	593	0.00	0.00	0.00	0.000	6	0.000	0.000	1592	2949	2841	0	0	0	0	0	0
810	-0.58	-121.5	128.9	-17.0	114	814	0.00	1.58	0.00	0.000	4	0.000	0.061	1585	3889	2841	0	0	0	0	0	0
871	-0.58	-121.5	138.7	-17.7	119	874	0.00	1.52	0.00	0.000	6	0.000	0.031	1585	2890	2842	0	0	0	0	0	0
1201	-0.58	-121.5	198.1	-18.0	150	1202	0.00	0.00	0.00	0.000	6	0.000	0.000	1585	2886	2842	0	0	0	0	0	0
1522	-0.58	-121.5	250.1	-16.0	180	1526	0.00	1.65	0.00	0.000	4	0.000	0.058	1578	3898	2842	0	0	0	0	0	0
1583	-0.58	-121.5	261.2	-17.0	182	1593	0.00	1.48	0.00	0.000	6	0.000	0.031	1577	2926	2842	0	0	0	0	0	0
1901	-0.58	-121.5	312.6	-16.2	198	1902	0.00	0.00	0.00	0.000	6	0.000	0.000	1578	2925	2841	0	0	0	0	0	0
2211	-0.58	-121.5	361.3	-15.4	213	2212	0.00	0.00	0.00	0.000	6	0.000	0.000	1578	2925	2842	0	0	0	0	0	0
2519	-0.58	-121.5	407.4	-14.7	228	2520	0.00	0.00	0.00	0.000	6	0.000	0.000	1578	2924	2842	0	0	0	0	0	0
2828	-0.58	-121.5	454.0	-15.1	243	2829	0.00	0.00	0.00	0.000	6	0.000	0.000	1578	2924	2841	0	0	0	0	0	0
3137	-0.58	-121.5	499.6	-14.6	258	3141	0.00	1.62	0.00	0.000	4	0.000	0.059	1570	3895	2841	0	0	0	0	0	0
3206	-0.58	-121.5	510.4	-15.8	261	3210	0.08	1.48	0.00	0.000	6	0.175	0.032	1592	2933	2841	0	0	0	0	0	0
3538	-0.58	-121.5	556.7	-13.9	277	3539	0.00	0.00	0.00	0.000	6	0.000	0.000	1593	2930	2841	0	0	0	0	0	0
3847	-0.58	-121.5	599.7	-13.7	292	3848	0.00	0.00	0.00	0.000	6	0.000	0.000	1592	2930	2841	0	0	0	0	0	0
4157	-0.58	-121.5	642.1	-13.5	307	4161	0.00	1.62	0.00	0.000	4	0.000	0.059	1585	3896	2841	0	0	0	0	0	0
4204	-0.58	-121.5	648.9	-15.5	309	4208	0.00	1.48	0.00	0.000	6	0.000	0.031	1585	2925	2841	0	0	0	0	0	0
4537	-0.58	-121.5	695.3	-13.7	325	4538	0.00	0.00	0.00	0.000	6	0.000	0.000	1585	2919	2841	0	0	0	0	0	0
4847	-0.58	-121.5	738.0	-13.6	340	4848	0.00	0.00	0.00	0.000	6	0.000	0.000	1586	2920	2841	0	0	0	0	0	0
5155	-0.58	-121.5	780.7	-13.8	355	5159	0.00	1.62	0.00	0.000	4	0.000	0.058	1578	3890	2841	0	0	0	0	0	0
5215	-0.58	-121.5	790.0	-14.8	357	5223	0.00	1.48	0.00	0.000	6	0.000	0.031	1578	2919	2841	0	0	0	0	0	0
5533	-0.58	-121.5	834.2	-14.1	373	5534	0.00	0.00	0.00	0.000	6	0.000	0.000	1578	2919	2841	0	0	0	0	0	0
5841	-0.58	-121.5	876.8	-13.9	388	5842	0.00	0.00	0.00	0.000	6	0.000	0.000	1578	2919	2841	0	0	0	0	0	0
6152	-0.58	-121.5	919.0	-13.5	403	6155	0.00	1.62	0.00	0.000	4	0.000	0.058	1571	3917	2841	0	0	0	0	0	0
6201	-0.58	-121.5	926.5	-14.4	405	6206	0.08	1.50	0.00	0.000	6	0.176	0.031	1593	2937	2841	0	0	0	0	0	0
6528	-0.58	-121.5	966.3	-12.1	421	6529	0.00	0.00	0.00	0.000	6	0.000	0.000	1593	2937	2841	0	0	0	0	0	0
6815	end dive: TARGET_DEPTH_EXCEEDED
state	6815	begin apogee
6821	-0.13	0.0	1000.9	11.8	435	6941	0.52	0.00	116.80	1.790	6	0.165	0.000	1743	2714	2342	0	0	0	0	0	0
6941	end apogee: CONTROL_FINISHED_OK
state	6942	begin climb
6943	0.58	121.5	1004.5	0.0	441	7081	0.75	2.53	127.88	1.737	4	0.114	0.041	1976	1325	1846	0	0	0	0	0	0
7125	0.58	121.5	986.6	13.2	449	7130	0.00	2.47	0.00	0.000	6	0.000	0.049	1976	2710	1842	0	0	0	0	0	0
7447	0.58	121.5	938.6	14.9	465	7451	0.00	1.98	0.00	0.000	4	0.000	0.055	1976	3894	1836	0	0	0	0	0	0
7531	0.58	121.5	923.9	18.3	468	7538	0.00	1.85	0.00	0.000	6	0.000	0.033	1985	2729	1834	0	0	0	0	0	0
7847	0.58	121.5	874.8	15.4	484	7849	0.00	0.00	0.00	0.000	6	0.000	0.000	1985	2729	1833	0	0	0	0	0	0
8156	0.58	121.5	827.9	15.2	499	8160	0.00	1.95	0.00	0.000	4	0.000	0.055	1985	3901	1833	0	0	0	0	0	0
8247	0.58	121.5	812.2	17.8	503	8250	0.00	1.88	0.00	0.000	6	0.000	0.034	1994	2706	1832	0	0	0	0	0	0
8579	0.58	121.5	760.1	15.7	519	8583	0.00	1.95	0.00	0.000	4	0.000	0.054	1994	3892	1832	0	0	0	0	0	0
8640	0.58	121.5	749.1	18.0	521	8647	0.00	1.85	0.00	0.000	6	0.000	0.033	2003	2703	1831	0	0	0	0	0	0
8956	0.58	121.5	699.0	15.9	537	8960	0.00	1.98	0.00	0.000	4	0.000	0.054	2004	3889	1831	0	0	0	0	0	0
9023	0.58	121.5	687.1	18.3	540	9027	0.12	1.83	0.00	0.000	6	0.239	0.034	1986	2705	1830	0	0	0	0	0	0
9356	0.58	121.5	638.7	14.2	556	9360	0.00	1.95	0.00	0.000	4	0.000	0.054	1985	3893	1831	0	0	0	0	0	0
9411	0.58	121.5	629.6	16.8	558	9416	0.00	1.88	0.00	0.000	6	0.000	0.033	1994	2708	1830	0	0	0	0	0	0
9734	0.58	121.5	582.2	14.7	574	9738	0.00	1.98	0.00	0.000	4	0.000	0.054	1994	3894	1830	0	0	0	0	0	0
9788	0.58	121.5	572.7	17.4	576	9793	0.00	1.88	0.00	0.000	6	0.000	0.033	2003	2711	1830	0	0	0	0	0	0
10110	0.58	121.5	523.5	15.3	592	10114	0.00	1.95	0.00	0.000	4	0.000	0.054	2003	3896	1830	0	0	0	0	0	0
10183	0.58	121.5	511.0	18.0	595	10187	0.12	1.83	0.00	0.000	6	0.239	0.034	1985	2708	1830	0	0	0	0	0	0
10509	0.58	121.5	465.4	13.9	611	10510	0.00	0.00	0.00	0.000	6	0.000	0.000	1985	2708	1830	0	0	0	0	0	0
10819	0.58	121.5	423.4	13.5	626	10823	0.00	1.98	0.00	0.000	4	0.000	0.055	1985	3892	1830	0	0	0	0	0	0
10924	0.58	121.5	406.8	15.7	630	10931	0.00	1.85	0.00	0.000	6	0.000	0.033	1994	2717	1830	0	0	0	0	0	0
11240	0.58	121.5	362.7	13.8	646	11244	0.00	1.95	0.00	0.000	4	0.000	0.054	1994	3902	1830	0	0	0	0	0	0
11302	0.58	121.5	352.8	17.0	648	11311	0.00	1.88	0.00	0.000	6	0.000	0.033	2002	2712	1830	0	0	0	0	0	0
11619	0.58	121.5	308.1	14.1	664	11620	0.00	0.00	0.00	0.000	6	0.000	0.000	2003	2712	1830	0	0	0	0	0	0
11931	0.58	121.5	265.3	13.9	679	11935	0.00	1.95	0.00	0.000	4	0.000	0.054	2003	3896	1829	0	0	0	0	0	0
12003	0.58	121.5	253.1	16.6	682	12008	0.10	1.88	0.00	0.000	6	0.219	0.033	1986	2711	1829	0	0	0	0	0	0
12331	0.58	121.5	209.5	12.9	711	12338	0.00	0.00	0.00	0.000	6	0.000	0.000	1986	2709	1830	0	0	0	0	0	0
12659	0.58	121.5	166.5	12.5	742	12663	0.00	1.95	0.00	0.000	4	0.000	0.054	1986	3893	1829	0	0	0	0	0	0
12880	0.58	121.5	133.9	14.4	761	12883	0.00	1.85	0.00	0.000	6	0.000	0.032	1994	2697	1829	0	0	0	0	0	0
13211	0.58	121.5	90.4	11.6	798	13219	0.00	0.00	0.00	0.000	6	0.000	0.000	1994	2697	1829	0	0	0	0	0	0
13453	0.60	140.2	66.3	7.9	839	13469	0.00	2.22	11.18	0.938	4	0.000	0.040	2004	1297	1769	0	0	0	0	0	0
13584	0.61	159.6	57.2	7.9	860	13607	0.00	2.30	14.45	0.906	6	0.000	0.049	2004	2723	1691	0	0	0	0	0	0
13715	0.61	159.6	41.9	14.2	881	13721	0.00	0.00	0.00	0.000	6	0.000	0.000	2004	2724	1687	0	0	0	0	0	0
13831	0.61	159.6	27.2	13.1	900	13840	0.00	2.22	0.00	0.000	4	0.000	0.037	2015	1305	1687	0	0	0	0	0	0
13875	0.61	159.6	21.1	13.9	906	13884	0.00	2.28	0.00	0.000	6	0.000	0.050	2015	2705	1686	0	0	0	0	0	0
13959	0.61	159.6	8.4	15.0	919	13967	0.00	0.00	0.00	0.000	6	0.000	0.000	2015	2705	1685	0	0	0	0	0	0
13998	end climb: SURFACE_DEPTH_REACHED
state	13999	begin surface coast
14025	end surface coast: CONTROL_FINISHED_OK
state	14025	begin surface