Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 332 * 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 332 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 36 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 35 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 -22670.688 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 -22670.688

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 36 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 35 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 332 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 090215,122640,-5701.135,-4.440,42,1.0,42,-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 -0.108,0.125

_SM_DEPTHo 2.49 KALMAN_X 337025.0,-302.7,-91.7,-340833.0,2542.0

_SM_ANGLEo -65.6 KALMAN_Y -132630.2,-661.0,-82.2,20659.9,1499.8

GPS2 090215,123529,-5701.034,-4.128,26,0.9,27,-20.0 MHEAD_RNG_PITCHd_Wd 339.2,2877,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.2,1.027186 _10V_AH 9.8,45.343

SM_CCo 12555,24.45,0.148,0,0,1524,200.16 FG_AHR_24Vo 0.000

SM_GC 2.83,0.00,0.00,24.45,0.000,0.000,0.148,57,2974,1524,-5.41,1.27,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5640.91,0.00,090215,080851 MEM 353908

TT8_MAMPS 0.025466 DATA_FILE_SIZE 60461,842

HUMID 57.48 CAP_FILE_SIZE 113766,0

INTERNAL_PRESSURE 8.98439 CFSIZE 259252224,202911744

TCM_TEMP 7.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 090215,160735,-5659.569,-5.804,56,0.9,56,-20.0

_24V_AH 21.1,65.029

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 246 71.60 SBE_CT 598 23 302.58

Roll_motor 75 58 93.81 AA4330 1767 17 670.40

VBD_pump_during_apogee 300 1779 11299.21 WL_BB2F 878 105 1945.34

VBD_pump_during_surface 24 147 76.17 QSP2150 937 17 355.54

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 91 72.90 nil 0 0 0.00

Iridium_during_connect 21 160 73.36 nil 0 0 0.00

Iridium_during_xfer 314 223 1479.29 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 29 31 9.06

TT8 2092 14 296.53

LPSleep 7800 2 167.42

TT8_Active 425 14 60.35

TT8_Sampling 2545 42 1052.12

TT8_CF8 238 49 116.08

TT8_Kalman 33 68 22.36

Analog_circuits 1281 15 194.67

GPS_charging 0 0 0.00

Compass 2021 16 326.41

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

16 -0.54 -73.9 0.0 0.0 0 51 0.00 0.00 -32.85 0.000 2 0.000 0.000 44 2953 2225 0 0 0 0 0 0

54 -0.60 -146.1 3.0 -2.4 4 88 6.55 0.00 -25.17 0.000 6 0.246 0.000 1588 2953 2939 0 0 0 0 0 0

163 -0.60 -146.1 18.4 -19.0 20 172 0.00 0.00 0.00 0.000 6 0.000 0.000 1588 2953 2941 0 0 0 0 0 0

245 -0.60 -146.1 36.3 -23.2 33 252 0.00 0.00 0.00 0.000 6 0.000 0.000 1588 2953 2941 0 0 0 0 0 0

359 -0.60 -146.1 58.9 -20.3 52 368 0.00 2.28 0.00 0.000 4 0.000 0.039 1588 1507 2941 0 0 0 0 0 0

464 -0.60 -146.1 77.6 -18.5 69 471 0.00 2.30 0.00 0.000 6 0.000 0.053 1578 2923 2942 0 0 0 0 0 0

577 -0.60 -146.1 97.3 -17.6 88 584 0.00 0.00 0.00 0.000 6 0.000 0.000 1578 2923 2942 0 0 0 0 0 0

797 -0.60 -146.1 138.4 -18.6 110 798 0.00 0.00 0.00 0.000 6 0.000 0.000 1578 2923 2942 0 0 0 0 0 0

1118 -0.60 -146.1 197.0 -18.4 140 1119 0.00 0.00 0.00 0.000 6 0.000 0.000 1578 2923 2942 0 0 0 0 0 0

1437 -0.60 -146.1 255.6 -18.7 169 1440 0.00 1.58 0.00 0.000 4 0.000 0.059 1571 3896 2942 0 0 0 0 0 0

1484 -0.60 -146.1 265.1 -20.4 171 1488 0.00 1.52 0.00 0.000 6 0.000 0.031 1571 2898 2942 0 0 0 0 0 0

1819 -0.60 -146.1 327.3 -18.6 187 1823 0.00 1.67 0.00 0.000 4 0.000 0.059 1563 3909 2942 0 0 0 0 0 0

1857 -0.60 -146.1 335.6 -19.9 188 1868 0.08 1.50 0.00 0.000 6 0.172 0.032 1585 2933 2942 0 0 0 0 0 0

2175 -0.60 -146.1 389.8 -17.1 204 2176 0.00 0.00 0.00 0.000 6 0.000 0.000 1585 2933 2941 0 0 0 0 0 0

2483 -0.60 -146.1 441.6 -16.5 219 2484 0.00 0.00 0.00 0.000 6 0.000 0.000 1585 2933 2941 0 0 0 0 0 0

2792 -0.60 -146.1 493.3 -16.6 234 2796 0.00 1.62 0.00 0.000 4 0.000 0.059 1578 3903 2942 0 0 0 0 0 0

2854 -0.60 -146.1 504.4 -17.8 236 2860 0.00 1.50 0.00 0.000 6 0.000 0.031 1578 2914 2942 0 0 0 0 0 0

3169 -0.60 -146.1 558.3 -17.3 252 3170 0.00 0.00 0.00 0.000 6 0.000 0.000 1578 2914 2942 0 0 0 0 0 0

3479 -0.60 -146.1 611.6 -17.4 267 3482 0.00 1.65 0.00 0.000 4 0.000 0.059 1571 3897 2942 0 0 0 0 0 0

3526 -0.60 -146.1 619.8 -18.1 269 3530 0.00 1.45 0.00 0.000 6 0.000 0.031 1571 2940 2942 0 0 0 0 0 0

3859 -0.60 -146.1 679.3 -17.4 285 3860 0.00 0.00 0.00 0.000 6 0.000 0.000 1571 2933 2942 0 0 0 0 0 0

4168 -0.60 -146.1 731.4 -16.5 300 4172 0.00 1.62 0.00 0.000 4 0.000 0.059 1563 3929 2942 0 0 0 0 0 0

4230 -0.60 -146.1 742.5 -18.1 302 4237 0.08 1.52 0.00 0.000 6 0.171 0.032 1586 2934 2942 0 0 0 0 0 0

4545 -0.60 -146.1 790.7 -14.9 318 4546 0.00 0.00 0.00 0.000 6 0.000 0.000 1586 2934 2942 0 0 0 0 0 0

4855 -0.60 -146.1 836.4 -14.6 333 4859 0.00 1.62 0.00 0.000 4 0.000 0.058 1579 3910 2942 0 0 0 0 0 0

4893 -0.60 -146.1 842.7 -16.4 334 4901 0.00 1.50 0.00 0.000 6 0.000 0.030 1579 2919 2942 0 0 0 0 0 0

5210 -0.60 -146.1 890.8 -15.3 350 5211 0.00 0.00 0.00 0.000 6 0.000 0.000 1579 2918 2942 0 0 0 0 0 0

5520 -0.60 -146.1 936.7 -14.5 365 5524 0.00 1.65 0.00 0.000 4 0.000 0.058 1572 3901 2942 0 0 0 0 0 0

5569 -0.60 -146.1 944.7 -16.0 367 5573 0.00 1.48 0.00 0.000 6 0.000 0.031 1572 2929 2942 0 0 0 0 0 0

5896 -0.60 -146.1 993.0 -14.8 383 5897 0.00 0.00 0.00 0.000 6 0.000 0.000 1572 2923 2942 0 0 0 0 0 0

5956 end dive: TARGET_DEPTH_EXCEEDED

state 5956 begin apogee

5962 -0.13 0.0 1002.2 14.7 386 6107 0.60 0.00 141.30 1.779 6 0.174 0.000 1740 2705 2342 0 0 0 0 0 0

6108 end apogee: CONTROL_FINISHED_OK

state 6108 begin climb

6110 0.60 146.1 1007.1 0.0 393 6272 0.80 2.47 154.27 1.723 4 0.116 0.043 1982 1340 1745 0 0 0 0 0 0

6305 0.60 146.1 986.9 13.9 401 6309 0.00 2.47 0.00 0.000 6 0.000 0.047 1982 2718 1742 0 0 0 0 0 0

6627 0.60 146.1 934.1 16.5 417 6630 0.00 1.98 0.00 0.000 4 0.000 0.055 1982 3899 1735 0 0 0 0 0 0

6688 0.60 146.1 922.5 19.2 419 6695 0.00 1.85 0.00 0.000 6 0.000 0.034 1991 2747 1734 0 0 0 0 0 0

7003 0.60 146.1 868.4 17.4 435 7005 0.00 0.00 0.00 0.000 6 0.000 0.000 1991 2745 1734 0 0 0 0 0 0

7313 0.60 146.1 815.5 17.0 450 7317 0.00 1.92 0.00 0.000 4 0.000 0.054 1991 3893 1732 0 0 0 0 0 0

7374 0.60 146.1 803.8 20.1 452 7381 0.00 1.88 0.00 0.000 6 0.000 0.036 2001 2697 1732 0 0 0 0 0 0

7690 0.60 146.1 749.0 17.4 468 7693 0.00 1.98 0.00 0.000 4 0.000 0.054 2001 3900 1731 0 0 0 0 0 0

7739 0.60 146.1 739.3 19.8 470 7743 0.00 1.90 0.00 0.000 6 0.000 0.035 2010 2709 1731 0 0 0 0 0 0

8067 0.60 146.1 682.4 17.1 486 8071 0.00 1.95 0.00 0.000 4 0.000 0.054 2010 3898 1730 0 0 0 0 0 0

8127 0.60 146.1 670.5 19.5 488 8135 0.12 1.90 0.00 0.000 6 0.211 0.036 1986 2704 1730 0 0 0 0 0 0

8444 0.60 146.1 621.6 15.3 504 8445 0.00 0.00 0.00 0.000 6 0.000 0.000 1986 2703 1730 0 0 0 0 0 0

8753 0.60 146.1 574.5 14.9 519 8756 0.00 1.95 0.00 0.000 4 0.000 0.054 1986 3894 1730 0 0 0 0 0 0

8830 0.60 146.1 561.0 17.7 522 8834 0.00 1.88 0.00 0.000 6 0.000 0.035 1994 2711 1730 0 0 0 0 0 0

9153 0.60 146.1 510.0 15.9 538 9156 0.00 1.95 0.00 0.000 4 0.000 0.054 1994 3899 1730 0 0 0 0 0 0

9202 0.60 146.1 500.9 18.6 540 9207 0.00 1.88 0.00 0.000 6 0.000 0.035 2003 2714 1730 0 0 0 0 0 0

9530 0.60 146.1 447.0 16.5 556 9531 0.00 0.00 0.00 0.000 6 0.000 0.000 2003 2714 1730 0 0 0 0 0 0

9840 0.60 146.1 397.4 15.8 571 9843 0.00 1.95 0.00 0.000 4 0.000 0.054 2004 3902 1729 0 0 0 0 0 0

9933 0.60 146.1 380.8 18.2 575 9936 0.00 1.85 0.00 0.000 6 0.000 0.035 2012 2703 1729 0 0 0 0 0 0

10268 0.60 146.1 323.9 17.2 591 10269 0.00 0.00 0.00 0.000 6 0.000 0.000 2012 2704 1730 0 0 0 0 0 0

10574 0.60 146.1 269.7 17.4 606 10578 0.00 1.95 0.00 0.000 4 0.000 0.054 2012 3890 1729 0 0 0 0 0 0

10669 0.60 146.1 250.9 18.9 610 10674 0.12 1.85 0.00 0.000 6 0.211 0.034 1987 2718 1729 0 0 0 0 0 0

10995 0.60 146.1 199.6 15.6 640 10996 0.00 0.00 0.00 0.000 6 0.000 0.000 1988 2718 1729 0 0 0 0 0 0

11315 0.60 146.1 151.2 15.3 670 11319 0.00 1.92 0.00 0.000 4 0.000 0.054 1988 3890 1729 0 0 0 0 0 0

11366 0.60 146.1 142.7 15.6 674 11376 0.00 1.88 0.00 0.000 6 0.000 0.033 1996 2706 1729 0 0 0 0 0 0

11694 0.60 146.1 99.8 12.9 705 11702 0.00 0.00 0.00 0.000 6 0.000 0.000 1996 2706 1729 0 0 0 0 0 0

11932 0.60 146.1 70.2 10.9 746 11940 0.00 0.00 0.00 0.000 6 0.000 0.000 1996 2706 1729 0 0 0 0 0 0

12048 0.60 146.1 57.8 10.4 765 12054 0.00 0.00 0.00 0.000 6 0.000 0.000 1996 2705 1729 0 0 0 0 0 0

12161 0.60 146.1 44.0 11.6 784 12170 0.00 2.22 0.00 0.000 4 0.000 0.041 2007 1292 1729 0 0 0 0 0 0

12231 0.60 146.1 36.2 12.3 795 12238 0.00 2.28 0.00 0.000 6 0.000 0.048 2006 2728 1729 0 0 0 0 0 0

12349 0.60 146.1 19.8 13.4 814 12358 0.00 2.25 0.00 0.000 4 0.000 0.040 2017 1293 1729 0 0 0 0 0 0

12409 0.61 157.6 14.4 8.5 823 12420 0.00 2.28 5.38 0.672 6 0.000 0.050 2017 2696 1698 0 0 0 0 0 0

12496 0.61 157.6 6.4 12.3 836 12505 0.00 0.00 0.00 0.000 6 0.000 0.000 2017 2696 1695 0 0 0 0 0 0

12520 end climb: SURFACE_DEPTH_REACHED

state 12521 begin surface coast

12541 end surface coast: CONTROL_FINISHED_OK

state 12541 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	332	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	36	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	35	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	-22670.688	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	090215,122640,-5701.135,-4.440,42,1.0,42,-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	-0.108,0.125
_SM_DEPTHo	2.49	KALMAN_X	337025.0,-302.7,-91.7,-340833.0,2542.0
_SM_ANGLEo	-65.6	KALMAN_Y	-132630.2,-661.0,-82.2,20659.9,1499.8
GPS2	090215,123529,-5701.034,-4.128,26,0.9,27,-20.0	MHEAD_RNG_PITCHd_Wd	339.2,2877,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.2,1.027186	_10V_AH	9.8,45.343
SM_CCo	12555,24.45,0.148,0,0,1524,200.16	FG_AHR_24Vo	0.000
SM_GC	2.83,0.00,0.00,24.45,0.000,0.000,0.148,57,2974,1524,-5.41,1.27,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5640.91,0.00,090215,080851	MEM	353908
TT8_MAMPS	0.025466	DATA_FILE_SIZE	60461,842
HUMID	57.48	CAP_FILE_SIZE	113766,0
INTERNAL_PRESSURE	8.98439	CFSIZE	259252224,202911744
TCM_TEMP	7.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	090215,160735,-5659.569,-5.804,56,0.9,56,-20.0
_24V_AH	21.1,65.029

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	246	71.60	SBE_CT	598	23	302.58
Roll_motor	75	58	93.81	AA4330	1767	17	670.40
VBD_pump_during_apogee	300	1779	11299.21	WL_BB2F	878	105	1945.34
VBD_pump_during_surface	24	147	76.17	QSP2150	937	17	355.54
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	91	72.90	nil	0	0	0.00
Iridium_during_connect	21	160	73.36	nil	0	0	0.00
Iridium_during_xfer	314	223	1479.29	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	29	31	9.06
TT8	2092	14	296.53
LPSleep	7800	2	167.42
TT8_Active	425	14	60.35
TT8_Sampling	2545	42	1052.12
TT8_CF8	238	49	116.08
TT8_Kalman	33	68	22.36
Analog_circuits	1281	15	194.67
GPS_charging	0	0	0.00
Compass	2021	16	326.41
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
16	-0.54	-73.9	0.0	0.0	0	51	0.00	0.00	-32.85	0.000	2	0.000	0.000	44	2953	2225	0	0	0	0	0	0
54	-0.60	-146.1	3.0	-2.4	4	88	6.55	0.00	-25.17	0.000	6	0.246	0.000	1588	2953	2939	0	0	0	0	0	0
163	-0.60	-146.1	18.4	-19.0	20	172	0.00	0.00	0.00	0.000	6	0.000	0.000	1588	2953	2941	0	0	0	0	0	0
245	-0.60	-146.1	36.3	-23.2	33	252	0.00	0.00	0.00	0.000	6	0.000	0.000	1588	2953	2941	0	0	0	0	0	0
359	-0.60	-146.1	58.9	-20.3	52	368	0.00	2.28	0.00	0.000	4	0.000	0.039	1588	1507	2941	0	0	0	0	0	0
464	-0.60	-146.1	77.6	-18.5	69	471	0.00	2.30	0.00	0.000	6	0.000	0.053	1578	2923	2942	0	0	0	0	0	0
577	-0.60	-146.1	97.3	-17.6	88	584	0.00	0.00	0.00	0.000	6	0.000	0.000	1578	2923	2942	0	0	0	0	0	0
797	-0.60	-146.1	138.4	-18.6	110	798	0.00	0.00	0.00	0.000	6	0.000	0.000	1578	2923	2942	0	0	0	0	0	0
1118	-0.60	-146.1	197.0	-18.4	140	1119	0.00	0.00	0.00	0.000	6	0.000	0.000	1578	2923	2942	0	0	0	0	0	0
1437	-0.60	-146.1	255.6	-18.7	169	1440	0.00	1.58	0.00	0.000	4	0.000	0.059	1571	3896	2942	0	0	0	0	0	0
1484	-0.60	-146.1	265.1	-20.4	171	1488	0.00	1.52	0.00	0.000	6	0.000	0.031	1571	2898	2942	0	0	0	0	0	0
1819	-0.60	-146.1	327.3	-18.6	187	1823	0.00	1.67	0.00	0.000	4	0.000	0.059	1563	3909	2942	0	0	0	0	0	0
1857	-0.60	-146.1	335.6	-19.9	188	1868	0.08	1.50	0.00	0.000	6	0.172	0.032	1585	2933	2942	0	0	0	0	0	0
2175	-0.60	-146.1	389.8	-17.1	204	2176	0.00	0.00	0.00	0.000	6	0.000	0.000	1585	2933	2941	0	0	0	0	0	0
2483	-0.60	-146.1	441.6	-16.5	219	2484	0.00	0.00	0.00	0.000	6	0.000	0.000	1585	2933	2941	0	0	0	0	0	0
2792	-0.60	-146.1	493.3	-16.6	234	2796	0.00	1.62	0.00	0.000	4	0.000	0.059	1578	3903	2942	0	0	0	0	0	0
2854	-0.60	-146.1	504.4	-17.8	236	2860	0.00	1.50	0.00	0.000	6	0.000	0.031	1578	2914	2942	0	0	0	0	0	0
3169	-0.60	-146.1	558.3	-17.3	252	3170	0.00	0.00	0.00	0.000	6	0.000	0.000	1578	2914	2942	0	0	0	0	0	0
3479	-0.60	-146.1	611.6	-17.4	267	3482	0.00	1.65	0.00	0.000	4	0.000	0.059	1571	3897	2942	0	0	0	0	0	0
3526	-0.60	-146.1	619.8	-18.1	269	3530	0.00	1.45	0.00	0.000	6	0.000	0.031	1571	2940	2942	0	0	0	0	0	0
3859	-0.60	-146.1	679.3	-17.4	285	3860	0.00	0.00	0.00	0.000	6	0.000	0.000	1571	2933	2942	0	0	0	0	0	0
4168	-0.60	-146.1	731.4	-16.5	300	4172	0.00	1.62	0.00	0.000	4	0.000	0.059	1563	3929	2942	0	0	0	0	0	0
4230	-0.60	-146.1	742.5	-18.1	302	4237	0.08	1.52	0.00	0.000	6	0.171	0.032	1586	2934	2942	0	0	0	0	0	0
4545	-0.60	-146.1	790.7	-14.9	318	4546	0.00	0.00	0.00	0.000	6	0.000	0.000	1586	2934	2942	0	0	0	0	0	0
4855	-0.60	-146.1	836.4	-14.6	333	4859	0.00	1.62	0.00	0.000	4	0.000	0.058	1579	3910	2942	0	0	0	0	0	0
4893	-0.60	-146.1	842.7	-16.4	334	4901	0.00	1.50	0.00	0.000	6	0.000	0.030	1579	2919	2942	0	0	0	0	0	0
5210	-0.60	-146.1	890.8	-15.3	350	5211	0.00	0.00	0.00	0.000	6	0.000	0.000	1579	2918	2942	0	0	0	0	0	0
5520	-0.60	-146.1	936.7	-14.5	365	5524	0.00	1.65	0.00	0.000	4	0.000	0.058	1572	3901	2942	0	0	0	0	0	0
5569	-0.60	-146.1	944.7	-16.0	367	5573	0.00	1.48	0.00	0.000	6	0.000	0.031	1572	2929	2942	0	0	0	0	0	0
5896	-0.60	-146.1	993.0	-14.8	383	5897	0.00	0.00	0.00	0.000	6	0.000	0.000	1572	2923	2942	0	0	0	0	0	0
5956	end dive: TARGET_DEPTH_EXCEEDED
state	5956	begin apogee
5962	-0.13	0.0	1002.2	14.7	386	6107	0.60	0.00	141.30	1.779	6	0.174	0.000	1740	2705	2342	0	0	0	0	0	0
6108	end apogee: CONTROL_FINISHED_OK
state	6108	begin climb
6110	0.60	146.1	1007.1	0.0	393	6272	0.80	2.47	154.27	1.723	4	0.116	0.043	1982	1340	1745	0	0	0	0	0	0
6305	0.60	146.1	986.9	13.9	401	6309	0.00	2.47	0.00	0.000	6	0.000	0.047	1982	2718	1742	0	0	0	0	0	0
6627	0.60	146.1	934.1	16.5	417	6630	0.00	1.98	0.00	0.000	4	0.000	0.055	1982	3899	1735	0	0	0	0	0	0
6688	0.60	146.1	922.5	19.2	419	6695	0.00	1.85	0.00	0.000	6	0.000	0.034	1991	2747	1734	0	0	0	0	0	0
7003	0.60	146.1	868.4	17.4	435	7005	0.00	0.00	0.00	0.000	6	0.000	0.000	1991	2745	1734	0	0	0	0	0	0
7313	0.60	146.1	815.5	17.0	450	7317	0.00	1.92	0.00	0.000	4	0.000	0.054	1991	3893	1732	0	0	0	0	0	0
7374	0.60	146.1	803.8	20.1	452	7381	0.00	1.88	0.00	0.000	6	0.000	0.036	2001	2697	1732	0	0	0	0	0	0
7690	0.60	146.1	749.0	17.4	468	7693	0.00	1.98	0.00	0.000	4	0.000	0.054	2001	3900	1731	0	0	0	0	0	0
7739	0.60	146.1	739.3	19.8	470	7743	0.00	1.90	0.00	0.000	6	0.000	0.035	2010	2709	1731	0	0	0	0	0	0
8067	0.60	146.1	682.4	17.1	486	8071	0.00	1.95	0.00	0.000	4	0.000	0.054	2010	3898	1730	0	0	0	0	0	0
8127	0.60	146.1	670.5	19.5	488	8135	0.12	1.90	0.00	0.000	6	0.211	0.036	1986	2704	1730	0	0	0	0	0	0
8444	0.60	146.1	621.6	15.3	504	8445	0.00	0.00	0.00	0.000	6	0.000	0.000	1986	2703	1730	0	0	0	0	0	0
8753	0.60	146.1	574.5	14.9	519	8756	0.00	1.95	0.00	0.000	4	0.000	0.054	1986	3894	1730	0	0	0	0	0	0
8830	0.60	146.1	561.0	17.7	522	8834	0.00	1.88	0.00	0.000	6	0.000	0.035	1994	2711	1730	0	0	0	0	0	0
9153	0.60	146.1	510.0	15.9	538	9156	0.00	1.95	0.00	0.000	4	0.000	0.054	1994	3899	1730	0	0	0	0	0	0
9202	0.60	146.1	500.9	18.6	540	9207	0.00	1.88	0.00	0.000	6	0.000	0.035	2003	2714	1730	0	0	0	0	0	0
9530	0.60	146.1	447.0	16.5	556	9531	0.00	0.00	0.00	0.000	6	0.000	0.000	2003	2714	1730	0	0	0	0	0	0
9840	0.60	146.1	397.4	15.8	571	9843	0.00	1.95	0.00	0.000	4	0.000	0.054	2004	3902	1729	0	0	0	0	0	0
9933	0.60	146.1	380.8	18.2	575	9936	0.00	1.85	0.00	0.000	6	0.000	0.035	2012	2703	1729	0	0	0	0	0	0
10268	0.60	146.1	323.9	17.2	591	10269	0.00	0.00	0.00	0.000	6	0.000	0.000	2012	2704	1730	0	0	0	0	0	0
10574	0.60	146.1	269.7	17.4	606	10578	0.00	1.95	0.00	0.000	4	0.000	0.054	2012	3890	1729	0	0	0	0	0	0
10669	0.60	146.1	250.9	18.9	610	10674	0.12	1.85	0.00	0.000	6	0.211	0.034	1987	2718	1729	0	0	0	0	0	0
10995	0.60	146.1	199.6	15.6	640	10996	0.00	0.00	0.00	0.000	6	0.000	0.000	1988	2718	1729	0	0	0	0	0	0
11315	0.60	146.1	151.2	15.3	670	11319	0.00	1.92	0.00	0.000	4	0.000	0.054	1988	3890	1729	0	0	0	0	0	0
11366	0.60	146.1	142.7	15.6	674	11376	0.00	1.88	0.00	0.000	6	0.000	0.033	1996	2706	1729	0	0	0	0	0	0
11694	0.60	146.1	99.8	12.9	705	11702	0.00	0.00	0.00	0.000	6	0.000	0.000	1996	2706	1729	0	0	0	0	0	0
11932	0.60	146.1	70.2	10.9	746	11940	0.00	0.00	0.00	0.000	6	0.000	0.000	1996	2706	1729	0	0	0	0	0	0
12048	0.60	146.1	57.8	10.4	765	12054	0.00	0.00	0.00	0.000	6	0.000	0.000	1996	2705	1729	0	0	0	0	0	0
12161	0.60	146.1	44.0	11.6	784	12170	0.00	2.22	0.00	0.000	4	0.000	0.041	2007	1292	1729	0	0	0	0	0	0
12231	0.60	146.1	36.2	12.3	795	12238	0.00	2.28	0.00	0.000	6	0.000	0.048	2006	2728	1729	0	0	0	0	0	0
12349	0.60	146.1	19.8	13.4	814	12358	0.00	2.25	0.00	0.000	4	0.000	0.040	2017	1293	1729	0	0	0	0	0	0
12409	0.61	157.6	14.4	8.5	823	12420	0.00	2.28	5.38	0.672	6	0.000	0.050	2017	2696	1698	0	0	0	0	0	0
12496	0.61	157.6	6.4	12.3	836	12505	0.00	0.00	0.00	0.000	6	0.000	0.000	2017	2696	1695	0	0	0	0	0	0
12520	end climb: SURFACE_DEPTH_REACHED
state	12521	begin surface coast
12541	end surface coast: CONTROL_FINISHED_OK
state	12541	begin surface