Glider dive log

SOSCEx Feb12 * SG573 * Dive index * Mission links * Dive 103 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 573 HD_B 0.010078 ROLL_MIN 150 ALTIM_TOP_TURN_MARGIN 0

MISSION 4 HD_C 9.8500004e-06 ROLL_MAX 3785 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 103 HEADING -1 ROLL_DEG 40 ALTIM_PING_DEPTH 1050

D_SURF 3 ESCAPE_HEADING 0 C_ROLL_DIVE 1819 ALTIM_PING_DELTA 5

D_FLARE 3 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1646 ALTIM_FREQUENCY 13

D_TGT 800 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_ABORT 1100 TGT_DEFAULT_LAT -4235 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 TGT_DEFAULT_LON -200 ROLL_TIMEOUT 15 XPDR_VALID 5

D_BOOST 0 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 38 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 250 R_STBD_OVSHOOT 37 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST_BLACKOUT 0 N_FILEKB 4 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.55000001

D_FINISH 0 FILEMGR 0 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 KERMIT 0 ROLL_GAIN_P 0.5 DEVICE1 2

SURFACE_URGENCY 0 N_NOCOMM 1 VBD_MIN 409 DEVICE2 115

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MAX 3959 DEVICE3 20

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 C_VBD 2862 DEVICE4 134

T_DIVE 267 CALL_TRIES 5 VBD_DBAND 2 DEVICE5 -1

T_MISSION 283 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE6 -1

T_ABORT 720 CAPUPLOAD 0 VBD_TIMEOUT 720 LOGGERS 1

T_TURN 225 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 4.9999999e-05 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 -1

T_NO_W 120 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_LOITER 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_ALMANAC 0 UNCOM_BLEED 60 COMPASS_DEVICE 33

USE_ICE 0 T_GPS_CHARGE -4610.3584 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 CF8_MAXERRORS 20 PHONE_DEVICE 48

D_OFFGRID 100 STROBE 0 AH0_24V 150 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 RAFOS_DEVICE -1

RELAUNCH 0 RAFOS_CORR_THRESH 60 MINV_24V 20 XPDR_DEVICE 24

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_10V 8 SIM_W 0

MAX_BUOY 125 PITCH_MIN 100 FG_AHR_10V 0 SIM_PITCH 0

COURSE_BIAS 0 PITCH_MAX 3858 FG_AHR_24V 0 SEABIRD_T_G 0.0042828661

GLIDE_SLOPE 30 C_PITCH 3022 PHONE_SUPPLY 2 SEABIRD_T_H 0.00061930995

SPEED_FACTOR 1 PITCH_DBAND 0.0099999998 PRESSURE_YINT -87.947678 SEABIRD_T_I 2.1971719e-05

RHO 1.0278 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011693723 SEABIRD_T_J 2.301111e-06

MASS 52752 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_C_G -9.9469662

LENGTH 1.8 PITCH_GAIN 22 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.155618

NAV_MODE 1 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0016006827

DIRECT_CONTROL 0 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_J 0.00019558761

FERRY_MAX 45 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 EBE_ENABLE 0

KALMAN_USE 1 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 0 GC_WINDOW 20

HD_A 0.0038360001 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 20 GC_LAST_COLLECTION 82

AD7714Ch0Gain 128 D_NO_BLEED 200 N_GPS 20 SEABIRD_T_J 2.301111e-06

AH0_10V 100 D_OFFGRID 100 N_NOCOMM 1 SIM_PITCH 0

AH0_24V 150 D_PITCH 0 N_NOSURFACE 0 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PHONE_DEVICE 48 SM_CC 250

ALTIM_BOTTOM_TURN_MARGIN 20 D_SURF 3 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_TGT 800 PITCH_ADJ_DBAND 1 STROBE 0

ALTIM_PING_DELTA 5 EBE_ENABLE 0 PITCH_ADJ_GAIN 0.02 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 1050 ESCAPE_HEADING 0 PITCH_AD_RATE 175 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 4 FERRY_MAX 45 PITCH_DBAND 0.0099999998 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_GAIN 22 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_MAX 3858 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -4235

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PITCH_MIN 100 TGT_DEFAULT_LON -200

CALL_NDIVES 1 GC_LAST_COLLECTION 82 PITCH_TIMEOUT 16 T_ABORT 720

CALL_TRIES 5 GC_WINDOW 20 PITCH_VBD_SHIFT 4.9999999e-05 T_BOOST 0

CALL_WAIT 60 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011693723 T_BOOST_BLACKOUT 0

CAPMAXSIZE 100000 GPS_DEVICE 32 PRESSURE_YINT -87.947678 T_DIVE 267

CAPUPLOAD 0 HD_A 0.0038360001 P_OVSHOOT 0.039999999 T_GPS 15

CF8_MAXERRORS 20 HD_B 0.010078 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

COMM_SEQ 0 HD_C 9.8500004e-06 RAFOS_DEVICE -1 T_GPS_CHARGE -4610.3584

COMPASS2_DEVICE -1 HEADING -1 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS_DEVICE 33 HEAD_ERRBAND 10 RAFOS_PEAK_OFFSET 1.5 T_MISSION 283

COMPASS_USE 0 HEAPDBG 0 RELAUNCH 0 T_NO_W 120

COURSE_BIAS 0 ICE_FREEZE_MARGIN 0.30000001 RHO 1.0278 T_RSLEEP 3

C_PITCH 3022 ID 573 ROLL_ADJ_DBAND 0 T_TURN 225

C_ROLL_CLIMB 1646 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_DIVE 1819 INT_PRESSURE_YINT -0.55000001 ROLL_AD_RATE 350 T_WATCHDOG 10

C_VBD 2862 KALMAN_USE 1 ROLL_CNV 0.028270001 UNCOM_BLEED 60

DEEPGLIDER 0 KERMIT 0 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 LENGTH 1.8 ROLL_GAIN_P 0.5 USE_BATHY 0

DEVICE1 2 LOGGERDEVICE1 -1 ROLL_MAX 3785 USE_ICE 0

DEVICE2 115 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE3 20 LOGGERDEVICE3 -1 ROLL_MIN 150 VBD_CNV -0.245296

DEVICE4 134 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE5 -1 LOGGERS 1 R_PORT_OVSHOOT 38 VBD_MAX 3959

DEVICE6 -1 MASS 52752 R_STBD_OVSHOOT 37 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 125 SEABIRD_C_G -9.9469662 VBD_MIN 409

DIVE 103 MINV_10V 8 SEABIRD_C_H 1.155618 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1100 MINV_24V 20 SEABIRD_C_I -0.0016006827 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 0 MISSION 4 SEABIRD_C_J 0.00019558761 VBD_TIMEOUT 720

D_CALL 0 MOTHERBOARD 4 SEABIRD_T_G 0.0042828661 XPDR_DEVICE 24

D_FINISH 0 NAV_MODE 1 SEABIRD_T_H 0.00061930995 XPDR_INHIBIT 90

D_FLARE 3 N_FILEKB 4 SEABIRD_T_I 2.1971719e-05 XPDR_VALID 5

Pre-dive calculations and measurements:

GPS1 191012,023153,-4311.742,-833.385,82,1.2,82,-21.3 TGT_NAME ACC_WP4s

_CALLS 1 TGT_LATLONG -4340.000,-820.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.201,-0.130

_SM_DEPTHo 2.59 KALMAN_X -102040.9,365.3,362.8,221483.0,-2055.9

_SM_ANGLEo -69.4 KALMAN_Y -196473.4,443.2,-109.4,136893.1,-1269.9

GPS2 191012,023847,-4311.761,-833.345,44,1.2,44,-21.3 MHEAD_RNG_PITCHd_Wd 144.2,55271,-20.0,-9.988

SPEED_LIMITS 0.173,0.239 D_GRID 800

Post-dive calculations and measurements:

FINISH 1.5,1.021171 _10V_AH 10.3,18.046

SM_CCo 14078,0.00,0.000,0,0,1567,317.41 FG_AHR_24Vo 0.000

SM_GC 2.44,8.57,0.00,0.00,0.035,0.000,0.000,94,1822,1567,-9.10,0.08,317.41 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4253.80,-835.35,181012,222209 MEM 354376

TT8_MAMPS 0.026964 DATA_FILE_SIZE 47084,810

HUMID 43.18 CAP_FILE_SIZE 126286,0

INTERNAL_PRESSURE 9.09881 CFSIZE 2097086464,2080866304

TCM_TEMP 15.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2

XPDR_PINGS 0 GPS 191012,063529,-4312.661,-831.221,38,1.6,38,-21.3

_24V_AH 24.0,19.138

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 250 129.38 SBE_CT 536 24 309.27

Roll_motor 40 68 66.46 WL_BB2FLVMT 1097 105 2765.85

VBD_pump_during_apogee 364 1171 10237.36 SBE_O2 509 19 232.35

VBD_pump_during_surface 0 0 0.00 QSP2150 67 4 7.12

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 63.39 nil 0 0 0.00

Iridium_during_connect 38 160 149.41 nil 0 0 0.00

Iridium_during_xfer 221 223 1185.36 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 45 26 12.73

TT8 2017 14 310.85

LPSleep 9147 2 206.33

TT8_Active 372 14 54.51

TT8_Sampling 2847 37 1097.74

TT8_CF8 110 47 53.58

TT8_Kalman 33 59 20.31

Analog_circuits 1380 12 170.59

GPS_charging 0 0 0.00

Compass 2490 15 403.50

RAFOS 0 0 0.00

Transponder 1 5 0.05

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

24 -0.92 -121.6 0.0 0.0 0 69 0.00 0.00 -42.92 0.000 2 0.000 0.000 82 1809 2865 0 0 0 0 0 0

71 -0.92 -121.6 3.0 -1.7 7 103 10.85 2.25 -14.88 0.000 4 0.250 0.068 2730 409 3355 0 0 0 0 0 0

302 -0.79 -121.6 36.5 -18.5 46 309 0.12 2.22 0.00 0.000 6 0.157 0.044 2759 1808 3356 0 0 0 0 0 0

538 -0.75 -121.6 70.4 -13.1 87 544 0.08 1.20 0.00 0.000 4 0.224 0.054 2771 2572 3357 0 0 0 0 0 0

667 -0.72 -121.6 88.5 -14.2 110 673 0.03 1.15 0.00 0.000 6 0.183 0.045 2779 1827 3357 0 0 0 0 0 0

994 -0.72 -121.6 130.4 -12.9 141 998 0.00 0.73 0.00 0.000 4 0.000 0.051 2777 2302 3357 0 0 0 0 0 0

1131 -0.72 -121.6 147.8 -12.6 149 1135 0.00 0.73 0.00 0.000 6 0.000 0.047 2777 1818 3357 0 0 0 0 0 0

1460 -0.72 -121.6 190.1 -12.7 170 1464 0.00 0.88 0.00 0.000 4 0.000 0.052 2773 2385 3357 0 0 0 0 0 0

1605 -0.72 -121.6 208.6 -12.2 178 1613 0.00 0.88 0.00 0.000 6 0.000 0.044 2773 1814 3357 0 0 0 0 0 0

1926 -0.70 -121.6 247.3 -12.2 199 1931 0.08 0.60 0.00 0.000 4 0.211 0.053 2788 2209 3357 0 0 0 0 0 0

2041 -0.70 -121.6 260.8 -12.0 205 2045 0.00 0.57 0.00 0.000 6 0.000 0.049 2788 1818 3358 0 0 0 0 0 0

2374 -0.70 -121.6 299.6 -11.7 221 2378 0.00 0.93 0.00 0.000 4 0.000 0.052 2784 2421 3358 0 0 0 0 0 0

2502 -0.70 -121.6 315.7 -11.7 226 2511 0.00 0.93 0.00 0.000 6 0.000 0.045 2784 1820 3358 0 0 0 0 0 0

2819 -0.70 -121.6 355.4 -12.8 242 2822 0.00 1.50 0.00 0.000 4 0.000 0.054 2777 2771 3358 0 0 0 0 0 0

3003 -0.70 -121.6 378.2 -11.5 250 3009 0.08 1.48 0.00 0.000 6 0.193 0.042 2794 1820 3358 0 0 0 0 0 0

3331 -0.70 -121.6 414.8 -11.0 266 3332 0.00 0.00 0.00 0.000 6 0.000 0.000 2794 1820 3358 0 0 0 0 0 0

3643 -0.72 -121.6 449.2 -10.8 281 3646 0.00 0.88 0.00 0.000 4 0.000 0.051 2790 2393 3358 0 0 0 0 0 0

3788 -0.72 -121.6 465.0 -10.6 287 3792 0.00 0.88 0.00 0.000 6 0.000 0.045 2791 1818 3358 0 0 0 0 0 0

4111 -0.72 -121.6 499.6 -10.9 303 4115 0.00 0.65 0.00 0.000 4 0.000 0.051 2788 2262 3358 0 0 0 0 0 0

4249 -0.72 -121.6 515.1 -11.5 308 4253 0.00 0.68 0.00 0.000 6 0.000 0.047 2788 1818 3358 0 0 0 0 0 0

4584 -0.72 -121.6 554.0 -11.5 319 4588 0.00 0.82 0.00 0.000 4 0.000 0.052 2785 2369 3358 0 0 0 0 0 0

4719 -0.72 -121.6 569.6 -11.7 323 4722 0.00 0.82 0.00 0.000 6 0.000 0.047 2784 1820 3358 0 0 0 0 0 0

5059 -0.72 -121.6 611.2 -12.3 334 5062 0.00 0.62 0.00 0.000 4 0.000 0.053 2782 2242 3357 0 0 0 0 0 0

5186 -0.72 -121.6 626.3 -11.9 337 5192 0.00 0.65 0.00 0.000 6 0.000 0.049 2782 1814 3357 0 0 0 0 0 0

5499 -0.72 -121.6 662.7 -11.7 348 5503 0.00 0.32 0.00 0.000 4 0.000 0.058 2780 2048 3357 0 0 0 0 0 0

5755 -0.72 -121.6 694.5 -12.4 355 5757 0.00 0.35 0.00 0.000 6 0.000 0.056 2781 1808 3356 0 0 0 0 0 0

6069 -0.72 -121.6 733.2 -12.5 366 6073 0.00 2.25 0.00 0.000 4 0.000 0.058 2770 3234 3356 0 0 0 0 0 0

6220 -0.72 -121.6 752.2 -12.8 370 6225 0.03 2.17 0.00 0.000 6 0.196 0.044 2778 1829 3355 0 0 0 0 0 0

6537 -0.72 -121.6 790.8 -12.0 381 6541 0.00 0.75 0.00 0.000 4 0.000 0.054 2777 2319 3355 0 0 0 0 0 0

6613 end dive: TARGET_DEPTH_EXCEEDED

state 6613 begin apogee

6618 -0.23 0.0 800.3 12.2 383 6719 0.50 0.00 97.82 1.171 6 0.142 0.000 2938 1644 2862 0 0 0 0 0 0

6719 end apogee: CONTROL_FINISHED_OK

state 6720 begin climb

6721 0.92 121.6 804.8 0.0 386 6828 1.12 1.62 99.88 1.141 4 0.099 0.054 3316 716 2366 0 0 0 0 0 0

6928 0.92 167.1 796.8 7.5 392 6974 0.00 1.55 39.42 1.112 6 0.000 0.044 3316 1654 2180 0 0 0 0 0 0

7309 0.92 193.6 764.9 8.5 405 7339 0.00 0.77 23.12 1.091 4 0.000 0.051 3316 2134 2071 0 0 0 0 0 0

7434 0.94 215.0 754.0 8.8 408 7459 0.00 0.77 19.67 1.072 6 0.000 0.051 3319 1649 1984 0 0 0 0 0 0

7778 0.98 227.1 722.1 9.3 420 7792 0.00 0.40 11.00 1.014 4 0.000 0.049 3319 1914 1935 0 0 0 0 0 0

7955 1.01 232.0 705.0 9.7 425 7966 0.08 0.45 5.70 0.816 6 0.125 0.058 3355 1634 1916 0 0 0 0 0 0

8283 1.01 232.0 668.4 11.3 436 8284 0.00 0.00 0.00 0.000 6 0.000 0.000 3355 1634 1914 0 0 0 0 0 0

8590 1.01 232.0 632.6 11.8 446 8591 0.00 0.00 0.00 0.000 6 0.000 0.000 3355 1634 1913 0 0 0 0 0 0

8896 1.01 232.0 597.1 11.4 456 8899 0.00 0.32 0.00 0.000 4 0.000 0.066 3357 1409 1912 0 0 0 0 0 0

8984 1.01 232.0 586.7 11.0 458 8988 0.00 0.38 0.00 0.000 6 0.000 0.057 3357 1654 1912 0 0 0 0 0 0

9302 1.01 232.0 550.9 11.4 469 9303 0.00 0.00 0.00 0.000 6 0.000 0.000 3357 1654 1912 0 0 0 0 0 0

9608 1.01 232.0 515.6 11.4 479 9611 0.00 0.40 0.00 0.000 4 0.000 0.063 3359 1389 1911 0 0 0 0 0 0

9742 1.01 232.0 500.3 12.0 483 9746 0.00 0.38 0.00 0.000 6 0.000 0.058 3359 1645 1911 0 0 0 0 0 0

10065 1.01 232.0 463.8 11.7 498 10066 0.00 0.00 0.00 0.000 6 0.000 0.000 3359 1645 1911 0 0 0 0 0 0

10376 1.01 232.0 427.2 11.7 513 10380 0.00 0.45 0.00 0.000 4 0.000 0.056 3359 1967 1911 0 0 0 0 0 0

10481 1.01 232.0 414.5 11.1 517 10487 0.00 0.50 0.00 0.000 6 0.000 0.056 3361 1645 1911 0 0 0 0 0 0

10799 1.01 232.0 377.7 11.7 533 10800 0.00 0.00 0.00 0.000 6 0.000 0.000 3361 1646 1910 0 0 0 0 0 0

11106 1.01 232.0 342.4 11.6 548 11107 0.00 0.00 0.00 0.000 6 0.000 0.000 3361 1646 1911 0 0 0 0 0 0

11418 1.01 232.0 307.1 11.3 563 11419 0.00 0.00 0.00 0.000 6 0.000 0.000 3361 1646 1911 0 0 0 0 0 0

11725 1.01 232.0 269.9 12.2 578 11729 0.00 0.32 0.00 0.000 4 0.000 0.057 3361 1874 1911 0 0 0 0 0 0

11861 1.01 232.0 253.4 11.7 584 11865 0.03 0.35 0.00 0.000 6 0.204 0.060 3353 1643 1911 0 0 0 0 0 0

12185 1.01 232.0 214.3 12.1 604 12186 0.00 0.00 0.00 0.000 6 0.000 0.000 3353 1643 1911 0 0 0 0 0 0

12497 1.01 232.0 177.4 11.2 624 12498 0.00 0.00 0.00 0.000 6 0.000 0.000 3353 1643 1911 0 0 0 0 0 0

12811 1.01 232.0 141.5 11.5 644 12812 0.00 0.00 0.00 0.000 6 0.000 0.000 3353 1643 1911 0 0 0 0 0 0

13122 1.01 232.0 107.2 11.7 664 13123 0.00 0.00 0.00 0.000 6 0.000 0.000 3353 1643 1911 0 0 0 0 0 0

13452 1.02 284.2 67.1 7.1 716 13500 0.00 0.68 43.28 0.701 4 0.000 0.050 3353 2068 1703 0 0 0 0 0 0

13570 1.04 313.0 57.0 8.4 737 13598 0.00 0.65 24.30 0.676 6 0.000 0.050 3355 1646 1586 0 0 0 0 0 0

13831 1.07 313.0 23.7 15.2 782 13838 0.00 0.75 0.00 0.000 4 0.000 0.056 3359 1163 1577 0 0 0 0 0 0

13928 1.11 313.0 9.8 13.0 798 13935 0.00 0.75 0.00 0.000 6 0.000 0.046 3359 1651 1576 0 0 0 0 0 0

13977 end climb: SURFACE_DEPTH_REACHED

state 13977 begin surface coast

14002 end surface coast: CONTROL_FINISHED_OK

state 14003 begin surface

ID	573	HD_B	0.010078	ROLL_MIN	150	ALTIM_TOP_TURN_MARGIN	0
MISSION	4	HD_C	9.8500004e-06	ROLL_MAX	3785	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	103	HEADING	-1	ROLL_DEG	40	ALTIM_PING_DEPTH	1050
D_SURF	3	ESCAPE_HEADING	0	C_ROLL_DIVE	1819	ALTIM_PING_DELTA	5
D_FLARE	3	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1646	ALTIM_FREQUENCY	13
D_TGT	800	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_ABORT	1100	TGT_DEFAULT_LAT	-4235	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	TGT_DEFAULT_LON	-200	ROLL_TIMEOUT	15	XPDR_VALID	5
D_BOOST	0	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	38	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	250	R_STBD_OVSHOOT	37	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST_BLACKOUT	0	N_FILEKB	4	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.55000001
D_FINISH	0	FILEMGR	0	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	KERMIT	0	ROLL_GAIN_P	0.5	DEVICE1	2
SURFACE_URGENCY	0	N_NOCOMM	1	VBD_MIN	409	DEVICE2	115
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MAX	3959	DEVICE3	20
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	C_VBD	2862	DEVICE4	134
T_DIVE	267	CALL_TRIES	5	VBD_DBAND	2	DEVICE5	-1
T_MISSION	283	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE6	-1
T_ABORT	720	CAPUPLOAD	0	VBD_TIMEOUT	720	LOGGERS	1
T_TURN	225	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	4.9999999e-05	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	-1
T_NO_W	120	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_LOITER	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_ALMANAC	0	UNCOM_BLEED	60	COMPASS_DEVICE	33
USE_ICE	0	T_GPS_CHARGE	-4610.3584	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	CF8_MAXERRORS	20	PHONE_DEVICE	48
D_OFFGRID	100	STROBE	0	AH0_24V	150	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	RAFOS_DEVICE	-1
RELAUNCH	0	RAFOS_CORR_THRESH	60	MINV_24V	20	XPDR_DEVICE	24
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	8	SIM_W	0
MAX_BUOY	125	PITCH_MIN	100	FG_AHR_10V	0	SIM_PITCH	0
COURSE_BIAS	0	PITCH_MAX	3858	FG_AHR_24V	0	SEABIRD_T_G	0.0042828661
GLIDE_SLOPE	30	C_PITCH	3022	PHONE_SUPPLY	2	SEABIRD_T_H	0.00061930995
SPEED_FACTOR	1	PITCH_DBAND	0.0099999998	PRESSURE_YINT	-87.947678	SEABIRD_T_I	2.1971719e-05
RHO	1.0278	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011693723	SEABIRD_T_J	2.301111e-06
MASS	52752	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_C_G	-9.9469662
LENGTH	1.8	PITCH_GAIN	22	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.155618
NAV_MODE	1	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0016006827
DIRECT_CONTROL	0	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_J	0.00019558761
FERRY_MAX	45	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	EBE_ENABLE	0
KALMAN_USE	1	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	0	GC_WINDOW	20
HD_A	0.0038360001	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	20	GC_LAST_COLLECTION	82

GPS1	191012,023153,-4311.742,-833.385,82,1.2,82,-21.3	TGT_NAME	ACC_WP4s
_CALLS	1	TGT_LATLONG	-4340.000,-820.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.201,-0.130
_SM_DEPTHo	2.59	KALMAN_X	-102040.9,365.3,362.8,221483.0,-2055.9
_SM_ANGLEo	-69.4	KALMAN_Y	-196473.4,443.2,-109.4,136893.1,-1269.9
GPS2	191012,023847,-4311.761,-833.345,44,1.2,44,-21.3	MHEAD_RNG_PITCHd_Wd	144.2,55271,-20.0,-9.988
SPEED_LIMITS	0.173,0.239	D_GRID	800

FINISH	1.5,1.021171	_10V_AH	10.3,18.046
SM_CCo	14078,0.00,0.000,0,0,1567,317.41	FG_AHR_24Vo	0.000
SM_GC	2.44,8.57,0.00,0.00,0.035,0.000,0.000,94,1822,1567,-9.10,0.08,317.41	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4253.80,-835.35,181012,222209	MEM	354376
TT8_MAMPS	0.026964	DATA_FILE_SIZE	47084,810
HUMID	43.18	CAP_FILE_SIZE	126286,0
INTERNAL_PRESSURE	9.09881	CFSIZE	2097086464,2080866304
TCM_TEMP	15.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
XPDR_PINGS	0	GPS	191012,063529,-4312.661,-831.221,38,1.6,38,-21.3
_24V_AH	24.0,19.138

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	250	129.38	SBE_CT	536	24	309.27
Roll_motor	40	68	66.46	WL_BB2FLVMT	1097	105	2765.85
VBD_pump_during_apogee	364	1171	10237.36	SBE_O2	509	19	232.35
VBD_pump_during_surface	0	0	0.00	QSP2150	67	4	7.12
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	63.39	nil	0	0	0.00
Iridium_during_connect	38	160	149.41	nil	0	0	0.00
Iridium_during_xfer	221	223	1185.36	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	45	26	12.73
TT8	2017	14	310.85
LPSleep	9147	2	206.33
TT8_Active	372	14	54.51
TT8_Sampling	2847	37	1097.74
TT8_CF8	110	47	53.58
TT8_Kalman	33	59	20.31
Analog_circuits	1380	12	170.59
GPS_charging	0	0	0.00
Compass	2490	15	403.50
RAFOS	0	0	0.00
Transponder	1	5	0.05

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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
24	-0.92	-121.6	0.0	0.0	0	69	0.00	0.00	-42.92	0.000	2	0.000	0.000	82	1809	2865	0	0	0	0	0	0
71	-0.92	-121.6	3.0	-1.7	7	103	10.85	2.25	-14.88	0.000	4	0.250	0.068	2730	409	3355	0	0	0	0	0	0
302	-0.79	-121.6	36.5	-18.5	46	309	0.12	2.22	0.00	0.000	6	0.157	0.044	2759	1808	3356	0	0	0	0	0	0
538	-0.75	-121.6	70.4	-13.1	87	544	0.08	1.20	0.00	0.000	4	0.224	0.054	2771	2572	3357	0	0	0	0	0	0
667	-0.72	-121.6	88.5	-14.2	110	673	0.03	1.15	0.00	0.000	6	0.183	0.045	2779	1827	3357	0	0	0	0	0	0
994	-0.72	-121.6	130.4	-12.9	141	998	0.00	0.73	0.00	0.000	4	0.000	0.051	2777	2302	3357	0	0	0	0	0	0
1131	-0.72	-121.6	147.8	-12.6	149	1135	0.00	0.73	0.00	0.000	6	0.000	0.047	2777	1818	3357	0	0	0	0	0	0
1460	-0.72	-121.6	190.1	-12.7	170	1464	0.00	0.88	0.00	0.000	4	0.000	0.052	2773	2385	3357	0	0	0	0	0	0
1605	-0.72	-121.6	208.6	-12.2	178	1613	0.00	0.88	0.00	0.000	6	0.000	0.044	2773	1814	3357	0	0	0	0	0	0
1926	-0.70	-121.6	247.3	-12.2	199	1931	0.08	0.60	0.00	0.000	4	0.211	0.053	2788	2209	3357	0	0	0	0	0	0
2041	-0.70	-121.6	260.8	-12.0	205	2045	0.00	0.57	0.00	0.000	6	0.000	0.049	2788	1818	3358	0	0	0	0	0	0
2374	-0.70	-121.6	299.6	-11.7	221	2378	0.00	0.93	0.00	0.000	4	0.000	0.052	2784	2421	3358	0	0	0	0	0	0
2502	-0.70	-121.6	315.7	-11.7	226	2511	0.00	0.93	0.00	0.000	6	0.000	0.045	2784	1820	3358	0	0	0	0	0	0
2819	-0.70	-121.6	355.4	-12.8	242	2822	0.00	1.50	0.00	0.000	4	0.000	0.054	2777	2771	3358	0	0	0	0	0	0
3003	-0.70	-121.6	378.2	-11.5	250	3009	0.08	1.48	0.00	0.000	6	0.193	0.042	2794	1820	3358	0	0	0	0	0	0
3331	-0.70	-121.6	414.8	-11.0	266	3332	0.00	0.00	0.00	0.000	6	0.000	0.000	2794	1820	3358	0	0	0	0	0	0
3643	-0.72	-121.6	449.2	-10.8	281	3646	0.00	0.88	0.00	0.000	4	0.000	0.051	2790	2393	3358	0	0	0	0	0	0
3788	-0.72	-121.6	465.0	-10.6	287	3792	0.00	0.88	0.00	0.000	6	0.000	0.045	2791	1818	3358	0	0	0	0	0	0
4111	-0.72	-121.6	499.6	-10.9	303	4115	0.00	0.65	0.00	0.000	4	0.000	0.051	2788	2262	3358	0	0	0	0	0	0
4249	-0.72	-121.6	515.1	-11.5	308	4253	0.00	0.68	0.00	0.000	6	0.000	0.047	2788	1818	3358	0	0	0	0	0	0
4584	-0.72	-121.6	554.0	-11.5	319	4588	0.00	0.82	0.00	0.000	4	0.000	0.052	2785	2369	3358	0	0	0	0	0	0
4719	-0.72	-121.6	569.6	-11.7	323	4722	0.00	0.82	0.00	0.000	6	0.000	0.047	2784	1820	3358	0	0	0	0	0	0
5059	-0.72	-121.6	611.2	-12.3	334	5062	0.00	0.62	0.00	0.000	4	0.000	0.053	2782	2242	3357	0	0	0	0	0	0
5186	-0.72	-121.6	626.3	-11.9	337	5192	0.00	0.65	0.00	0.000	6	0.000	0.049	2782	1814	3357	0	0	0	0	0	0
5499	-0.72	-121.6	662.7	-11.7	348	5503	0.00	0.32	0.00	0.000	4	0.000	0.058	2780	2048	3357	0	0	0	0	0	0
5755	-0.72	-121.6	694.5	-12.4	355	5757	0.00	0.35	0.00	0.000	6	0.000	0.056	2781	1808	3356	0	0	0	0	0	0
6069	-0.72	-121.6	733.2	-12.5	366	6073	0.00	2.25	0.00	0.000	4	0.000	0.058	2770	3234	3356	0	0	0	0	0	0
6220	-0.72	-121.6	752.2	-12.8	370	6225	0.03	2.17	0.00	0.000	6	0.196	0.044	2778	1829	3355	0	0	0	0	0	0
6537	-0.72	-121.6	790.8	-12.0	381	6541	0.00	0.75	0.00	0.000	4	0.000	0.054	2777	2319	3355	0	0	0	0	0	0
6613	end dive: TARGET_DEPTH_EXCEEDED
state	6613	begin apogee
6618	-0.23	0.0	800.3	12.2	383	6719	0.50	0.00	97.82	1.171	6	0.142	0.000	2938	1644	2862	0	0	0	0	0	0
6719	end apogee: CONTROL_FINISHED_OK
state	6720	begin climb
6721	0.92	121.6	804.8	0.0	386	6828	1.12	1.62	99.88	1.141	4	0.099	0.054	3316	716	2366	0	0	0	0	0	0
6928	0.92	167.1	796.8	7.5	392	6974	0.00	1.55	39.42	1.112	6	0.000	0.044	3316	1654	2180	0	0	0	0	0	0
7309	0.92	193.6	764.9	8.5	405	7339	0.00	0.77	23.12	1.091	4	0.000	0.051	3316	2134	2071	0	0	0	0	0	0
7434	0.94	215.0	754.0	8.8	408	7459	0.00	0.77	19.67	1.072	6	0.000	0.051	3319	1649	1984	0	0	0	0	0	0
7778	0.98	227.1	722.1	9.3	420	7792	0.00	0.40	11.00	1.014	4	0.000	0.049	3319	1914	1935	0	0	0	0	0	0
7955	1.01	232.0	705.0	9.7	425	7966	0.08	0.45	5.70	0.816	6	0.125	0.058	3355	1634	1916	0	0	0	0	0	0
8283	1.01	232.0	668.4	11.3	436	8284	0.00	0.00	0.00	0.000	6	0.000	0.000	3355	1634	1914	0	0	0	0	0	0
8590	1.01	232.0	632.6	11.8	446	8591	0.00	0.00	0.00	0.000	6	0.000	0.000	3355	1634	1913	0	0	0	0	0	0
8896	1.01	232.0	597.1	11.4	456	8899	0.00	0.32	0.00	0.000	4	0.000	0.066	3357	1409	1912	0	0	0	0	0	0
8984	1.01	232.0	586.7	11.0	458	8988	0.00	0.38	0.00	0.000	6	0.000	0.057	3357	1654	1912	0	0	0	0	0	0
9302	1.01	232.0	550.9	11.4	469	9303	0.00	0.00	0.00	0.000	6	0.000	0.000	3357	1654	1912	0	0	0	0	0	0
9608	1.01	232.0	515.6	11.4	479	9611	0.00	0.40	0.00	0.000	4	0.000	0.063	3359	1389	1911	0	0	0	0	0	0
9742	1.01	232.0	500.3	12.0	483	9746	0.00	0.38	0.00	0.000	6	0.000	0.058	3359	1645	1911	0	0	0	0	0	0
10065	1.01	232.0	463.8	11.7	498	10066	0.00	0.00	0.00	0.000	6	0.000	0.000	3359	1645	1911	0	0	0	0	0	0
10376	1.01	232.0	427.2	11.7	513	10380	0.00	0.45	0.00	0.000	4	0.000	0.056	3359	1967	1911	0	0	0	0	0	0
10481	1.01	232.0	414.5	11.1	517	10487	0.00	0.50	0.00	0.000	6	0.000	0.056	3361	1645	1911	0	0	0	0	0	0
10799	1.01	232.0	377.7	11.7	533	10800	0.00	0.00	0.00	0.000	6	0.000	0.000	3361	1646	1910	0	0	0	0	0	0
11106	1.01	232.0	342.4	11.6	548	11107	0.00	0.00	0.00	0.000	6	0.000	0.000	3361	1646	1911	0	0	0	0	0	0
11418	1.01	232.0	307.1	11.3	563	11419	0.00	0.00	0.00	0.000	6	0.000	0.000	3361	1646	1911	0	0	0	0	0	0
11725	1.01	232.0	269.9	12.2	578	11729	0.00	0.32	0.00	0.000	4	0.000	0.057	3361	1874	1911	0	0	0	0	0	0
11861	1.01	232.0	253.4	11.7	584	11865	0.03	0.35	0.00	0.000	6	0.204	0.060	3353	1643	1911	0	0	0	0	0	0
12185	1.01	232.0	214.3	12.1	604	12186	0.00	0.00	0.00	0.000	6	0.000	0.000	3353	1643	1911	0	0	0	0	0	0
12497	1.01	232.0	177.4	11.2	624	12498	0.00	0.00	0.00	0.000	6	0.000	0.000	3353	1643	1911	0	0	0	0	0	0
12811	1.01	232.0	141.5	11.5	644	12812	0.00	0.00	0.00	0.000	6	0.000	0.000	3353	1643	1911	0	0	0	0	0	0
13122	1.01	232.0	107.2	11.7	664	13123	0.00	0.00	0.00	0.000	6	0.000	0.000	3353	1643	1911	0	0	0	0	0	0
13452	1.02	284.2	67.1	7.1	716	13500	0.00	0.68	43.28	0.701	4	0.000	0.050	3353	2068	1703	0	0	0	0	0	0
13570	1.04	313.0	57.0	8.4	737	13598	0.00	0.65	24.30	0.676	6	0.000	0.050	3355	1646	1586	0	0	0	0	0	0
13831	1.07	313.0	23.7	15.2	782	13838	0.00	0.75	0.00	0.000	4	0.000	0.056	3359	1163	1577	0	0	0	0	0	0
13928	1.11	313.0	9.8	13.0	798	13935	0.00	0.75	0.00	0.000	6	0.000	0.046	3359	1651	1576	0	0	0	0	0	0
13977	end climb: SURFACE_DEPTH_REACHED
state	13977	begin surface coast
14002	end surface coast: CONTROL_FINISHED_OK
state	14003	begin surface