Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 333 * 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 333 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 33 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 58 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 -22674.158 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 -22674.158

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 33 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 58 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 333 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 090215,160735,-5659.569,-5.804,56,0.9,56,-20.0 TGT_NAME TARGET1

_CALLS 1 TGT_LATLONG -5700.000,-2.000

_XMS_NAKs 2 TGT_RADIUS 4000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.037,-0.161

_SM_DEPTHo 2.79 KALMAN_X 337954.7,-654.1,-223.8,-342919.3,3399.3

_SM_ANGLEo -70.2 KALMAN_Y -132888.2,-171.0,-10.0,23383.7,774.0

GPS2 090215,161717,-5659.396,-5.712,25,0.9,26,-20.0 MHEAD_RNG_PITCHd_Wd 187.1,3908,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.2,1.005476 _10V_AH 9.8,45.452

SM_CCo 12783,25.60,0.169,0,0,1524,200.16 FG_AHR_24Vo 0.000

SM_GC 2.62,0.00,0.00,25.60,0.000,0.000,0.169,56,2933,1524,-5.42,0.08,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5636.99,0.00,090215,121249 MEM 353896

TT8_MAMPS 0.026215 DATA_FILE_SIZE 60377,850

HUMID 57.60 CAP_FILE_SIZE 120599,0

INTERNAL_PRESSURE 8.98439 CFSIZE 259252224,202838016

TCM_TEMP 6.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 090215,195328,-5700.622,-5.056,69,0.8,69,-20.0

_24V_AH 21.1,65.198

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 232 69.31 SBE_CT 604 23 305.90

Roll_motor 101 71 154.46 AA4330 1756 17 666.47

VBD_pump_during_apogee 290 1774 10863.74 WL_BB2F 861 105 1908.65

VBD_pump_during_surface 25 169 91.32 QSP2150 899 17 341.37

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 91 50.78 nil 0 0 0.00

Iridium_during_connect 23 160 79.16 nil 0 0 0.00

Iridium_during_xfer 375 223 1765.29 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 28 31 8.71

TT8 2148 14 304.46

LPSleep 7951 2 170.66

TT8_Active 408 14 57.82

TT8_Sampling 2630 42 1087.11

TT8_CF8 252 49 122.91

TT8_Kalman 33 68 22.36

Analog_circuits 1274 15 193.54

GPS_charging 0 0 0.00

Compass 2044 16 330.16

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 59 0.00 0.00 -41.78 0.000 2 0.000 0.000 44 2977 2445 0 0 0 0 0 0

62 -0.60 -143.7 3.5 -3.5 5 88 6.20 1.48 -13.65 0.000 4 0.220 0.072 1581 3879 2927 0 0 0 0 0 0

329 -0.60 -143.7 57.4 -19.9 48 338 0.00 1.52 0.00 0.000 6 0.000 0.031 1581 2899 2930 0 0 0 0 0 0

445 -0.60 -143.7 77.4 -17.2 67 452 0.00 2.10 0.00 0.000 4 0.000 0.037 1581 1524 2930 0 0 0 0 0 0

489 -0.60 -143.7 84.8 -15.8 74 496 0.00 2.22 0.00 0.000 6 0.000 0.051 1572 2906 2930 0 0 0 0 0 0

718 -0.60 -143.7 127.0 -20.3 102 719 0.00 0.00 0.00 0.000 6 0.000 0.000 1571 2906 2930 0 0 0 0 0 0

1035 -0.60 -143.7 187.1 -18.0 132 1039 0.00 1.60 0.00 0.000 4 0.000 0.058 1564 3890 2930 0 0 0 0 0 0

1074 -0.60 -143.7 193.9 -19.0 135 1078 0.08 1.48 0.00 0.000 6 0.177 0.031 1586 2925 2930 0 0 0 0 0 0

1403 -0.60 -143.7 250.7 -16.4 166 1407 0.00 1.62 0.00 0.000 4 0.000 0.057 1579 3892 2930 0 0 0 0 0 0

1454 -0.60 -143.7 259.8 -17.2 168 1457 0.00 1.48 0.00 0.000 6 0.000 0.031 1579 2917 2930 0 0 0 0 0 0

1780 -0.60 -143.7 316.2 -17.1 184 1784 0.00 1.65 0.00 0.000 4 0.000 0.057 1572 3917 2930 0 0 0 0 0 0

1814 -0.60 -143.7 322.5 -18.7 185 1818 0.00 1.50 0.00 0.000 6 0.000 0.031 1571 2930 2930 0 0 0 0 0 0

2138 -0.60 -143.7 380.6 -18.1 201 2140 0.00 0.00 0.00 0.000 6 0.000 0.000 1572 2924 2930 0 0 0 0 0 0

2445 -0.60 -143.7 436.2 -17.9 216 2446 0.00 0.00 0.00 0.000 6 0.000 0.000 1572 2924 2930 0 0 0 0 0 0

2754 -0.60 -143.7 490.7 -17.5 231 2758 0.00 1.62 0.00 0.000 4 0.000 0.059 1564 3893 2930 0 0 0 0 0 0

2800 -0.60 -143.7 499.2 -18.9 233 2804 0.00 1.45 0.00 0.000 6 0.000 0.031 1564 2938 2930 0 0 0 0 0 0

3133 -0.60 -143.7 557.8 -17.5 249 3135 0.12 0.00 0.00 0.000 6 0.205 0.000 1594 2931 2930 0 0 0 0 0 0

3443 -0.60 -143.7 602.8 -14.3 264 3447 0.00 1.60 0.00 0.000 4 0.000 0.058 1586 3892 2930 0 0 0 0 0 0

3481 -0.60 -143.7 609.0 -15.4 265 3489 0.00 1.45 0.00 0.000 6 0.000 0.030 1586 2926 2930 0 0 0 0 0 0

3797 -0.60 -143.7 654.4 -14.2 281 3801 0.00 1.62 0.00 0.000 4 0.000 0.058 1579 3897 2930 0 0 0 0 0 0

3836 -0.60 -143.7 660.6 -15.5 282 3843 0.00 1.45 0.00 0.000 6 0.000 0.031 1579 2933 2930 0 0 0 0 0 0

4152 -0.60 -143.7 708.0 -14.9 298 4153 0.00 0.00 0.00 0.000 6 0.000 0.000 1579 2932 2930 0 0 0 0 0 0

4461 -0.60 -143.7 753.8 -14.7 313 4465 0.00 1.62 0.00 0.000 4 0.000 0.058 1572 3909 2930 0 0 0 0 0 0

4489 -0.60 -143.7 758.3 -16.0 314 4493 0.00 1.48 0.00 0.000 6 0.000 0.031 1572 2935 2930 0 0 0 0 0 0

4816 -0.60 -143.7 809.7 -15.7 330 4817 0.00 0.00 0.00 0.000 6 0.000 0.000 1572 2927 2930 0 0 0 0 0 0

5125 -0.60 -143.7 857.3 -15.2 345 5129 0.00 1.62 0.00 0.000 4 0.000 0.057 1564 3900 2930 0 0 0 0 0 0

5194 -0.60 -143.7 868.6 -16.9 348 5198 0.00 1.48 0.00 0.000 6 0.000 0.031 1564 2928 2930 0 0 0 0 0 0

5526 -0.60 -143.7 922.4 -16.2 364 5528 0.12 0.00 0.00 0.000 6 0.202 0.000 1594 2921 2930 0 0 0 0 0 0

5836 -0.60 -143.7 965.4 -13.8 379 5840 0.00 1.62 0.00 0.000 4 0.000 0.058 1587 3893 2930 0 0 0 0 0 0

5886 -0.60 -143.7 972.9 -15.5 381 5890 0.00 1.45 0.00 0.000 6 0.000 0.031 1586 2934 2930 0 0 0 0 0 0

6087 end dive: TARGET_DEPTH_EXCEEDED

state 6087 begin apogee

6092 -0.13 0.0 1001.7 14.4 391 6234 0.55 0.00 138.30 1.774 6 0.171 0.000 1741 2703 2342 0 0 0 0 0 0

6235 end apogee: CONTROL_FINISHED_OK

state 6235 begin climb

6238 0.60 143.7 1007.4 0.0 398 6395 0.80 0.00 151.93 1.723 6 0.117 0.000 1972 2704 1756 0 0 0 0 0 0

6694 0.60 143.7 950.5 14.8 420 6698 0.00 2.03 0.00 0.000 4 0.000 0.054 1972 3891 1748 0 0 0 0 0 0

6717 0.60 143.7 946.9 15.6 421 6720 0.00 1.88 0.00 0.000 6 0.000 0.033 1981 2742 1746 0 0 0 0 0 0

7049 0.60 143.7 895.3 15.6 437 7053 0.00 1.90 0.00 0.000 4 0.000 0.054 1981 3894 1746 0 0 0 0 0 0

7076 0.60 143.7 890.5 17.2 438 7080 0.00 1.90 0.00 0.000 6 0.000 0.034 1990 2714 1744 0 0 0 0 0 0

7404 0.60 143.7 836.5 16.8 454 7408 0.00 1.95 0.00 0.000 4 0.000 0.054 1991 3896 1744 0 0 0 0 0 0

7453 0.60 143.7 826.9 19.7 456 7458 0.00 1.90 0.00 0.000 6 0.000 0.034 1999 2709 1743 0 0 0 0 0 0

7782 0.60 143.7 771.0 16.9 472 7785 0.00 1.95 0.00 0.000 4 0.000 0.054 2000 3896 1743 0 0 0 0 0 0

7836 0.60 143.7 760.3 18.7 474 7841 0.00 1.88 0.00 0.000 6 0.000 0.034 2008 2715 1743 0 0 0 0 0 0

8158 0.60 143.7 704.0 17.5 490 8162 0.00 1.95 0.00 0.000 4 0.000 0.053 2009 3889 1743 0 0 0 0 0 0

8214 0.60 143.7 692.9 20.2 492 8218 0.12 1.83 0.00 0.000 6 0.233 0.034 1991 2709 1743 0 0 0 0 0 0

8535 0.60 143.7 641.4 15.9 508 8539 0.00 1.95 0.00 0.000 4 0.000 0.054 1991 3899 1742 0 0 0 0 0 0

8580 0.60 143.7 633.5 18.0 510 8584 0.00 1.85 0.00 0.000 6 0.000 0.035 1999 2703 1742 0 0 0 0 0 0

8914 0.60 143.7 579.0 16.3 526 8918 0.00 1.95 0.00 0.000 4 0.000 0.053 1999 3893 1742 0 0 0 0 0 0

8969 0.60 143.7 568.3 18.2 528 8973 0.00 1.88 0.00 0.000 6 0.000 0.034 2008 2711 1742 0 0 0 0 0 0

9292 0.60 143.7 512.6 17.3 544 9295 0.00 1.95 0.00 0.000 4 0.000 0.053 2009 3900 1742 0 0 0 0 0 0

9341 0.60 143.7 502.6 19.2 546 9346 0.10 1.88 0.00 0.000 6 0.213 0.033 1991 2714 1742 0 0 0 0 0 0

9668 0.60 143.7 449.6 15.7 562 9672 0.00 1.95 0.00 0.000 4 0.000 0.054 1991 3888 1742 0 0 0 0 0 0

9719 0.60 143.7 440.7 18.0 564 9722 0.00 1.83 0.00 0.000 6 0.000 0.034 1999 2707 1742 0 0 0 0 0 0

10047 0.60 143.7 387.9 15.8 580 10051 0.00 1.92 0.00 0.000 4 0.000 0.053 1999 3896 1741 0 0 0 0 0 0

10085 0.60 143.7 380.5 18.9 581 10093 0.00 1.88 0.00 0.000 6 0.000 0.034 2008 2711 1741 0 0 0 0 0 0

10404 0.60 143.7 327.9 16.6 597 10408 0.00 1.95 0.00 0.000 4 0.000 0.054 2009 3903 1741 0 0 0 0 0 0

10473 0.60 143.7 314.6 19.5 600 10477 0.12 1.85 0.00 0.000 6 0.230 0.034 1991 2703 1741 0 0 0 0 0 0

10806 0.60 143.7 264.4 14.6 616 10809 0.00 1.95 0.00 0.000 4 0.000 0.054 1991 3895 1741 0 0 0 0 0 0

10876 0.60 143.7 253.2 16.4 619 10880 0.00 1.83 0.00 0.000 6 0.000 0.034 1999 2708 1741 0 0 0 0 0 0

11210 0.60 143.7 205.3 13.7 649 11216 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2708 1741 0 0 0 0 0 0

11536 0.60 143.7 160.0 13.2 680 11540 0.00 1.98 0.00 0.000 4 0.000 0.054 1999 3894 1741 0 0 0 0 0 0

11560 0.60 143.7 156.4 14.2 682 11563 0.00 1.83 0.00 0.000 6 0.000 0.034 2008 2707 1741 0 0 0 0 0 0

11894 0.60 143.7 111.3 12.8 713 11897 0.00 1.95 0.00 0.000 4 0.000 0.054 2008 3893 1741 0 0 0 0 0 0

11929 0.60 143.7 105.6 15.0 716 11933 0.12 1.85 0.00 0.000 6 0.229 0.034 1990 2705 1741 0 0 0 0 0 0

12277 0.60 143.7 65.8 13.8 773 12284 0.00 2.17 0.00 0.000 4 0.000 0.041 2000 1294 1741 0 0 0 0 0 0

12410 0.60 143.7 49.6 12.1 795 12417 0.00 2.28 0.00 0.000 6 0.000 0.049 2000 2732 1740 0 0 0 0 0 0

12524 0.60 143.7 34.5 14.4 814 12533 0.00 1.90 0.00 0.000 4 0.000 0.059 2000 3889 1741 0 0 0 0 0 0

12590 0.60 143.7 25.2 13.9 824 12599 0.00 1.85 0.00 0.000 6 0.000 0.033 2009 2712 1741 0 0 0 0 0 0

12676 0.60 143.7 13.1 16.0 837 12685 0.00 2.22 0.00 0.000 4 0.000 0.041 2020 1292 1740 0 0 0 0 0 0

12694 0.60 143.7 10.1 16.8 839 12705 0.10 2.30 0.00 0.000 6 0.191 0.054 1992 2707 1740 0 0 0 0 0 0

12742 end climb: SURFACE_DEPTH_REACHED

state 12742 begin surface coast

12768 end surface coast: CONTROL_FINISHED_OK

state 12769 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	333	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	33	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	58	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	-22674.158	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	090215,160735,-5659.569,-5.804,56,0.9,56,-20.0	TGT_NAME	TARGET1
_CALLS	1	TGT_LATLONG	-5700.000,-2.000
_XMS_NAKs	2	TGT_RADIUS	4000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.037,-0.161
_SM_DEPTHo	2.79	KALMAN_X	337954.7,-654.1,-223.8,-342919.3,3399.3
_SM_ANGLEo	-70.2	KALMAN_Y	-132888.2,-171.0,-10.0,23383.7,774.0
GPS2	090215,161717,-5659.396,-5.712,25,0.9,26,-20.0	MHEAD_RNG_PITCHd_Wd	187.1,3908,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.2,1.005476	_10V_AH	9.8,45.452
SM_CCo	12783,25.60,0.169,0,0,1524,200.16	FG_AHR_24Vo	0.000
SM_GC	2.62,0.00,0.00,25.60,0.000,0.000,0.169,56,2933,1524,-5.42,0.08,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5636.99,0.00,090215,121249	MEM	353896
TT8_MAMPS	0.026215	DATA_FILE_SIZE	60377,850
HUMID	57.60	CAP_FILE_SIZE	120599,0
INTERNAL_PRESSURE	8.98439	CFSIZE	259252224,202838016
TCM_TEMP	6.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	090215,195328,-5700.622,-5.056,69,0.8,69,-20.0
_24V_AH	21.1,65.198

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	232	69.31	SBE_CT	604	23	305.90
Roll_motor	101	71	154.46	AA4330	1756	17	666.47
VBD_pump_during_apogee	290	1774	10863.74	WL_BB2F	861	105	1908.65
VBD_pump_during_surface	25	169	91.32	QSP2150	899	17	341.37
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	91	50.78	nil	0	0	0.00
Iridium_during_connect	23	160	79.16	nil	0	0	0.00
Iridium_during_xfer	375	223	1765.29	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	28	31	8.71
TT8	2148	14	304.46
LPSleep	7951	2	170.66
TT8_Active	408	14	57.82
TT8_Sampling	2630	42	1087.11
TT8_CF8	252	49	122.91
TT8_Kalman	33	68	22.36
Analog_circuits	1274	15	193.54
GPS_charging	0	0	0.00
Compass	2044	16	330.16
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	59	0.00	0.00	-41.78	0.000	2	0.000	0.000	44	2977	2445	0	0	0	0	0	0
62	-0.60	-143.7	3.5	-3.5	5	88	6.20	1.48	-13.65	0.000	4	0.220	0.072	1581	3879	2927	0	0	0	0	0	0
329	-0.60	-143.7	57.4	-19.9	48	338	0.00	1.52	0.00	0.000	6	0.000	0.031	1581	2899	2930	0	0	0	0	0	0
445	-0.60	-143.7	77.4	-17.2	67	452	0.00	2.10	0.00	0.000	4	0.000	0.037	1581	1524	2930	0	0	0	0	0	0
489	-0.60	-143.7	84.8	-15.8	74	496	0.00	2.22	0.00	0.000	6	0.000	0.051	1572	2906	2930	0	0	0	0	0	0
718	-0.60	-143.7	127.0	-20.3	102	719	0.00	0.00	0.00	0.000	6	0.000	0.000	1571	2906	2930	0	0	0	0	0	0
1035	-0.60	-143.7	187.1	-18.0	132	1039	0.00	1.60	0.00	0.000	4	0.000	0.058	1564	3890	2930	0	0	0	0	0	0
1074	-0.60	-143.7	193.9	-19.0	135	1078	0.08	1.48	0.00	0.000	6	0.177	0.031	1586	2925	2930	0	0	0	0	0	0
1403	-0.60	-143.7	250.7	-16.4	166	1407	0.00	1.62	0.00	0.000	4	0.000	0.057	1579	3892	2930	0	0	0	0	0	0
1454	-0.60	-143.7	259.8	-17.2	168	1457	0.00	1.48	0.00	0.000	6	0.000	0.031	1579	2917	2930	0	0	0	0	0	0
1780	-0.60	-143.7	316.2	-17.1	184	1784	0.00	1.65	0.00	0.000	4	0.000	0.057	1572	3917	2930	0	0	0	0	0	0
1814	-0.60	-143.7	322.5	-18.7	185	1818	0.00	1.50	0.00	0.000	6	0.000	0.031	1571	2930	2930	0	0	0	0	0	0
2138	-0.60	-143.7	380.6	-18.1	201	2140	0.00	0.00	0.00	0.000	6	0.000	0.000	1572	2924	2930	0	0	0	0	0	0
2445	-0.60	-143.7	436.2	-17.9	216	2446	0.00	0.00	0.00	0.000	6	0.000	0.000	1572	2924	2930	0	0	0	0	0	0
2754	-0.60	-143.7	490.7	-17.5	231	2758	0.00	1.62	0.00	0.000	4	0.000	0.059	1564	3893	2930	0	0	0	0	0	0
2800	-0.60	-143.7	499.2	-18.9	233	2804	0.00	1.45	0.00	0.000	6	0.000	0.031	1564	2938	2930	0	0	0	0	0	0
3133	-0.60	-143.7	557.8	-17.5	249	3135	0.12	0.00	0.00	0.000	6	0.205	0.000	1594	2931	2930	0	0	0	0	0	0
3443	-0.60	-143.7	602.8	-14.3	264	3447	0.00	1.60	0.00	0.000	4	0.000	0.058	1586	3892	2930	0	0	0	0	0	0
3481	-0.60	-143.7	609.0	-15.4	265	3489	0.00	1.45	0.00	0.000	6	0.000	0.030	1586	2926	2930	0	0	0	0	0	0
3797	-0.60	-143.7	654.4	-14.2	281	3801	0.00	1.62	0.00	0.000	4	0.000	0.058	1579	3897	2930	0	0	0	0	0	0
3836	-0.60	-143.7	660.6	-15.5	282	3843	0.00	1.45	0.00	0.000	6	0.000	0.031	1579	2933	2930	0	0	0	0	0	0
4152	-0.60	-143.7	708.0	-14.9	298	4153	0.00	0.00	0.00	0.000	6	0.000	0.000	1579	2932	2930	0	0	0	0	0	0
4461	-0.60	-143.7	753.8	-14.7	313	4465	0.00	1.62	0.00	0.000	4	0.000	0.058	1572	3909	2930	0	0	0	0	0	0
4489	-0.60	-143.7	758.3	-16.0	314	4493	0.00	1.48	0.00	0.000	6	0.000	0.031	1572	2935	2930	0	0	0	0	0	0
4816	-0.60	-143.7	809.7	-15.7	330	4817	0.00	0.00	0.00	0.000	6	0.000	0.000	1572	2927	2930	0	0	0	0	0	0
5125	-0.60	-143.7	857.3	-15.2	345	5129	0.00	1.62	0.00	0.000	4	0.000	0.057	1564	3900	2930	0	0	0	0	0	0
5194	-0.60	-143.7	868.6	-16.9	348	5198	0.00	1.48	0.00	0.000	6	0.000	0.031	1564	2928	2930	0	0	0	0	0	0
5526	-0.60	-143.7	922.4	-16.2	364	5528	0.12	0.00	0.00	0.000	6	0.202	0.000	1594	2921	2930	0	0	0	0	0	0
5836	-0.60	-143.7	965.4	-13.8	379	5840	0.00	1.62	0.00	0.000	4	0.000	0.058	1587	3893	2930	0	0	0	0	0	0
5886	-0.60	-143.7	972.9	-15.5	381	5890	0.00	1.45	0.00	0.000	6	0.000	0.031	1586	2934	2930	0	0	0	0	0	0
6087	end dive: TARGET_DEPTH_EXCEEDED
state	6087	begin apogee
6092	-0.13	0.0	1001.7	14.4	391	6234	0.55	0.00	138.30	1.774	6	0.171	0.000	1741	2703	2342	0	0	0	0	0	0
6235	end apogee: CONTROL_FINISHED_OK
state	6235	begin climb
6238	0.60	143.7	1007.4	0.0	398	6395	0.80	0.00	151.93	1.723	6	0.117	0.000	1972	2704	1756	0	0	0	0	0	0
6694	0.60	143.7	950.5	14.8	420	6698	0.00	2.03	0.00	0.000	4	0.000	0.054	1972	3891	1748	0	0	0	0	0	0
6717	0.60	143.7	946.9	15.6	421	6720	0.00	1.88	0.00	0.000	6	0.000	0.033	1981	2742	1746	0	0	0	0	0	0
7049	0.60	143.7	895.3	15.6	437	7053	0.00	1.90	0.00	0.000	4	0.000	0.054	1981	3894	1746	0	0	0	0	0	0
7076	0.60	143.7	890.5	17.2	438	7080	0.00	1.90	0.00	0.000	6	0.000	0.034	1990	2714	1744	0	0	0	0	0	0
7404	0.60	143.7	836.5	16.8	454	7408	0.00	1.95	0.00	0.000	4	0.000	0.054	1991	3896	1744	0	0	0	0	0	0
7453	0.60	143.7	826.9	19.7	456	7458	0.00	1.90	0.00	0.000	6	0.000	0.034	1999	2709	1743	0	0	0	0	0	0
7782	0.60	143.7	771.0	16.9	472	7785	0.00	1.95	0.00	0.000	4	0.000	0.054	2000	3896	1743	0	0	0	0	0	0
7836	0.60	143.7	760.3	18.7	474	7841	0.00	1.88	0.00	0.000	6	0.000	0.034	2008	2715	1743	0	0	0	0	0	0
8158	0.60	143.7	704.0	17.5	490	8162	0.00	1.95	0.00	0.000	4	0.000	0.053	2009	3889	1743	0	0	0	0	0	0
8214	0.60	143.7	692.9	20.2	492	8218	0.12	1.83	0.00	0.000	6	0.233	0.034	1991	2709	1743	0	0	0	0	0	0
8535	0.60	143.7	641.4	15.9	508	8539	0.00	1.95	0.00	0.000	4	0.000	0.054	1991	3899	1742	0	0	0	0	0	0
8580	0.60	143.7	633.5	18.0	510	8584	0.00	1.85	0.00	0.000	6	0.000	0.035	1999	2703	1742	0	0	0	0	0	0
8914	0.60	143.7	579.0	16.3	526	8918	0.00	1.95	0.00	0.000	4	0.000	0.053	1999	3893	1742	0	0	0	0	0	0
8969	0.60	143.7	568.3	18.2	528	8973	0.00	1.88	0.00	0.000	6	0.000	0.034	2008	2711	1742	0	0	0	0	0	0
9292	0.60	143.7	512.6	17.3	544	9295	0.00	1.95	0.00	0.000	4	0.000	0.053	2009	3900	1742	0	0	0	0	0	0
9341	0.60	143.7	502.6	19.2	546	9346	0.10	1.88	0.00	0.000	6	0.213	0.033	1991	2714	1742	0	0	0	0	0	0
9668	0.60	143.7	449.6	15.7	562	9672	0.00	1.95	0.00	0.000	4	0.000	0.054	1991	3888	1742	0	0	0	0	0	0
9719	0.60	143.7	440.7	18.0	564	9722	0.00	1.83	0.00	0.000	6	0.000	0.034	1999	2707	1742	0	0	0	0	0	0
10047	0.60	143.7	387.9	15.8	580	10051	0.00	1.92	0.00	0.000	4	0.000	0.053	1999	3896	1741	0	0	0	0	0	0
10085	0.60	143.7	380.5	18.9	581	10093	0.00	1.88	0.00	0.000	6	0.000	0.034	2008	2711	1741	0	0	0	0	0	0
10404	0.60	143.7	327.9	16.6	597	10408	0.00	1.95	0.00	0.000	4	0.000	0.054	2009	3903	1741	0	0	0	0	0	0
10473	0.60	143.7	314.6	19.5	600	10477	0.12	1.85	0.00	0.000	6	0.230	0.034	1991	2703	1741	0	0	0	0	0	0
10806	0.60	143.7	264.4	14.6	616	10809	0.00	1.95	0.00	0.000	4	0.000	0.054	1991	3895	1741	0	0	0	0	0	0
10876	0.60	143.7	253.2	16.4	619	10880	0.00	1.83	0.00	0.000	6	0.000	0.034	1999	2708	1741	0	0	0	0	0	0
11210	0.60	143.7	205.3	13.7	649	11216	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2708	1741	0	0	0	0	0	0
11536	0.60	143.7	160.0	13.2	680	11540	0.00	1.98	0.00	0.000	4	0.000	0.054	1999	3894	1741	0	0	0	0	0	0
11560	0.60	143.7	156.4	14.2	682	11563	0.00	1.83	0.00	0.000	6	0.000	0.034	2008	2707	1741	0	0	0	0	0	0
11894	0.60	143.7	111.3	12.8	713	11897	0.00	1.95	0.00	0.000	4	0.000	0.054	2008	3893	1741	0	0	0	0	0	0
11929	0.60	143.7	105.6	15.0	716	11933	0.12	1.85	0.00	0.000	6	0.229	0.034	1990	2705	1741	0	0	0	0	0	0
12277	0.60	143.7	65.8	13.8	773	12284	0.00	2.17	0.00	0.000	4	0.000	0.041	2000	1294	1741	0	0	0	0	0	0
12410	0.60	143.7	49.6	12.1	795	12417	0.00	2.28	0.00	0.000	6	0.000	0.049	2000	2732	1740	0	0	0	0	0	0
12524	0.60	143.7	34.5	14.4	814	12533	0.00	1.90	0.00	0.000	4	0.000	0.059	2000	3889	1741	0	0	0	0	0	0
12590	0.60	143.7	25.2	13.9	824	12599	0.00	1.85	0.00	0.000	6	0.000	0.033	2009	2712	1741	0	0	0	0	0	0
12676	0.60	143.7	13.1	16.0	837	12685	0.00	2.22	0.00	0.000	4	0.000	0.041	2020	1292	1740	0	0	0	0	0	0
12694	0.60	143.7	10.1	16.8	839	12705	0.10	2.30	0.00	0.000	6	0.191	0.054	1992	2707	1740	0	0	0	0	0	0
12742	end climb: SURFACE_DEPTH_REACHED
state	12742	begin surface coast
12768	end surface coast: CONTROL_FINISHED_OK
state	12769	begin surface