Glider dive log

SOSCEx Dec13 * SG574 * Dive index * Mission links * Dive 103 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 574 HD_B 0.010078 ROLL_MIN 160 ALTIM_TOP_TURN_MARGIN 0

MISSION 8 HD_C 9.8500004e-06 ROLL_MAX 3798 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 103 HEADING -1 ROLL_DEG 40 ALTIM_PING_DEPTH 1000

D_SURF 3 ESCAPE_HEADING 0 C_ROLL_DIVE 1910 ALTIM_PING_DELTA 5

D_FLARE 3 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1820 ALTIM_FREQUENCY 13

D_TGT 990 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 15 ALTIM_PULSE 3

D_ABORT 1020 TGT_DEFAULT_LAT -4200 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

D_NO_BLEED 200 TGT_DEFAULT_LON -900 ROLL_TIMEOUT 15 XPDR_VALID 5

D_BOOST 0 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 47 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 210 R_STBD_OVSHOOT 98 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST_BLACKOUT 0 N_FILEKB 4 ROLL_AD_RATE 350 INT_PRESSURE_YINT -1.812

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 396 DEVICE2 115

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE3 20

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 C_VBD 2600 DEVICE4 134

T_DIVE 350 CALL_TRIES 5 VBD_DBAND 2 DEVICE5 -1

T_MISSION 390 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE6 -1

T_ABORT 720 CAPUPLOAD 0 VBD_TIMEOUT 720 LOGGERS 7

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

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 4 LOGGERDEVICE2 -1

T_NO_W 120 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 3 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 -15141.555 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 150 PITCH_MIN 92 FG_AHR_10V 0 SIM_PITCH 0

COURSE_BIAS 0 PITCH_MAX 3858 FG_AHR_24V 0 SEABIRD_T_G 0.0043017557

GLIDE_SLOPE 30 C_PITCH 3032 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062339538

SPEED_FACTOR 1 PITCH_DBAND 0.0099999998 PRESSURE_YINT -58.423965 SEABIRD_T_I 2.3377639e-05

RHO 1.0278 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011710486 SEABIRD_T_J 2.5612862e-06

MASS 53599 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_C_G -9.9136524

LENGTH 1.8 PITCH_GAIN 31 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1456692

NAV_MODE 1 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00078246131

DIRECT_CONTROL 0 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_J 0.00012677554

FERRY_MAX 45 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 EBE_ENABLE 0

KALMAN_USE 2 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 0 GC_WINDOW 20

HD_A 0.0038360001 PITCH_ADJ_DBAND 13 ALTIM_BOTTOM_TURN_MARGIN 20 GC_LAST_COLLECTION 82

AD7714Ch0Gain 128 D_NO_BLEED 200 N_GPS 20 SEABIRD_T_J 2.5612862e-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 210

ALTIM_BOTTOM_TURN_MARGIN 20 D_SURF 3 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_ADJ_DBAND 13 STROBE 0

ALTIM_PING_DELTA 5 EBE_ENABLE 0 PITCH_ADJ_GAIN 0.02 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 1000 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 2 FERRY_MAX 45 PITCH_DBAND 0.0099999998 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_GAIN 31 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 -4200

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PITCH_MIN 92 TGT_DEFAULT_LON -900

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 0.00011710486 T_BOOST_BLACKOUT 0

CAPMAXSIZE 100000 GPS_DEVICE 32 PRESSURE_YINT -58.423965 T_DIVE 350

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 -15141.555

COMPASS2_DEVICE -1 HEADING -1 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS_DEVICE 33 HEAD_ERRBAND 15 RAFOS_PEAK_OFFSET 1.5 T_MISSION 390

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 3032 ID 574 ROLL_ADJ_DBAND 0 T_TURN 225

C_ROLL_CLIMB 1820 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_DIVE 1910 INT_PRESSURE_YINT -1.812 ROLL_AD_RATE 350 T_WATCHDOG 10

C_VBD 2600 KALMAN_USE 2 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 3798 USE_ICE 0

DEVICE2 115 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE3 20 LOGGERDEVICE3 -1 ROLL_MIN 160 VBD_CNV -0.245296

DEVICE4 134 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE5 -1 LOGGERS 7 R_PORT_OVSHOOT 47 VBD_MAX 3960

DEVICE6 -1 MASS 53599 R_STBD_OVSHOOT 98 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 150 SEABIRD_C_G -9.9136524 VBD_MIN 396

DIVE 103 MINV_10V 8 SEABIRD_C_H 1.1456692 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 1020 MINV_24V 20 SEABIRD_C_I -0.00078246131 VBD_PUMP_AD_RATE_SURFACE 4

D_BOOST 0 MISSION 8 SEABIRD_C_J 0.00012677554 VBD_TIMEOUT 720

D_CALL 0 MOTHERBOARD 4 SEABIRD_T_G 0.0043017557 XPDR_DEVICE 24

D_FINISH 0 NAV_MODE 1 SEABIRD_T_H 0.00062339538 XPDR_INHIBIT 90

D_FLARE 3 N_FILEKB 4 SEABIRD_T_I 2.3377639e-05 XPDR_VALID 5

Pre-dive calculations and measurements:

GPS1 211213,071504,-5500.219,2.016,62,1.3,62,-20.3 TGT_NAME SBY

_CALLS 1 TGT_LATLONG -5500.000,0.000

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.76 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 211213,072213,-5500.217,2.105,18,1.2,19,-20.3 MHEAD_RNG_PITCHd_Wd 300.5,2272,-27.8,-9.429

SPEED_LIMITS 0.163,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.7,1.026657 _10V_AH 10.0,38.549

SM_CCo 13162,66.00,1.002,0,0,1742,210.22 FG_AHR_24Vo 0.000

SM_GC 2.88,0.00,0.00,66.00,0.000,0.000,1.002,74,1957,1742,-9.20,1.33,210.22 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5438.56,-3.75,201213,232304 MEM 354748

TT8_MAMPS 0.026964 DATA_FILE_SIZE 53543,964

HUMID 63.42 CAP_FILE_SIZE 118681,0

INTERNAL_PRESSURE 9.05756 CFSIZE 2097086464,2081456128

TCM_TEMP 4.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 211213,110458,-5459.660,0.312,79,1.5,79,-20.2

_24V_AH 21.8,53.121

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 276 145.04 SBE_CT 687 24 359.90

Roll_motor 36 74 60.31 WL_BB2FLVMT 690 105 1579.61

VBD_pump_during_apogee 244 1586 8471.49 SBE_O2 648 19 268.75

VBD_pump_during_surface 66 1002 1441.89 QSP2150 63 4 6.06

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 66.75 nil 0 0 0.00

Iridium_during_connect 41 160 144.56 nil 0 0 0.00

Iridium_during_xfer 243 223 1182.37 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 26 6.18

TT8 2371 14 354.81

LPSleep 8246 2 180.60

TT8_Active 421 14 59.89

TT8_Sampling 2499 37 935.72

TT8_CF8 123 47 58.10

TT8_Kalman 0 0 0.00

Analog_circuits 1358 12 163.03

GPS_charging 0 0 0.00

Compass 2146 15 337.61

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 -0.90 -57.8 0.0 0.0 0 51 0.00 0.00 -25.77 0.000 2 0.000 0.000 67 1945 2186 0 0 0 0 0 0

54 -0.90 -130.2 3.0 -1.5 4 127 12.52 1.55 -55.45 0.000 4 0.277 0.067 2726 989 3131 0 0 0 0 0 0

166 -0.90 -130.2 7.9 -12.8 22 173 0.05 1.35 0.00 0.000 6 0.210 0.026 2735 1870 3134 0 0 0 0 0 0

223 -0.90 -130.2 16.9 -15.4 31 230 0.00 0.45 0.00 0.000 4 0.000 0.041 2734 2209 3134 0 0 0 0 0 0

265 -0.90 -130.2 23.5 -14.7 38 273 0.00 0.43 0.00 0.000 6 0.000 0.041 2734 1906 3134 0 0 0 0 0 0

411 -0.90 -130.2 47.0 -19.2 63 418 0.00 0.45 0.00 0.000 4 0.000 0.035 2733 2244 3134 0 0 0 0 0 0

463 -0.90 -130.2 56.5 -17.5 72 470 0.00 0.47 0.00 0.000 6 0.000 0.037 2733 1901 3134 0 0 0 0 0 0

810 -0.90 -130.2 119.0 -16.7 124 814 0.00 1.08 0.00 0.000 4 0.000 0.050 2733 1225 3134 0 0 0 0 0 0

860 -0.90 -130.2 128.4 -18.5 128 868 0.00 1.05 0.00 0.000 6 0.000 0.029 2730 1909 3134 0 0 0 0 0 0

1187 -0.90 -130.2 181.4 -16.5 159 1190 0.00 1.70 0.00 0.000 4 0.000 0.045 2722 3015 3134 0 0 0 0 0 0

1259 -0.90 -130.2 193.4 -15.6 165 1266 0.03 1.67 0.00 0.000 6 0.204 0.032 2730 1933 3134 0 0 0 0 0 0

1584 -0.90 -130.2 243.9 -15.1 196 1588 0.00 0.95 0.00 0.000 4 0.000 0.047 2730 1320 3133 0 0 0 0 0 0

1668 -0.90 -130.2 257.5 -16.4 203 1674 0.00 0.90 0.00 0.000 6 0.000 0.028 2727 1919 3133 0 0 0 0 0 0

1993 -0.90 -130.2 311.3 -16.9 234 1994 0.00 0.00 0.00 0.000 6 0.000 0.000 2727 1919 3133 0 0 0 0 0 0

2312 -0.90 -130.2 363.0 -15.7 264 2316 0.00 0.40 0.00 0.000 4 0.000 0.042 2725 2234 3134 0 0 0 0 0 0

2384 -0.90 -130.2 374.5 -15.3 270 2390 0.05 0.50 0.00 0.000 6 0.246 0.039 2733 1884 3134 0 0 0 0 0 0

2705 -0.90 -130.2 421.6 -14.2 294 2709 0.00 0.65 0.00 0.000 4 0.000 0.047 2734 1451 3135 0 0 0 0 0 0

2805 -0.90 -130.2 436.1 -13.9 298 2809 0.00 0.68 0.00 0.000 6 0.000 0.030 2733 1920 3135 0 0 0 0 0 0

3126 -0.90 -130.2 477.6 -12.6 314 3130 0.00 0.55 0.00 0.000 4 0.000 0.039 2730 2322 3136 0 0 0 0 0 0

3203 -0.90 -130.2 487.4 -12.6 317 3207 0.00 0.60 0.00 0.000 6 0.000 0.037 2730 1914 3136 0 0 0 0 0 0

3525 -0.90 -130.2 527.1 -12.6 333 3528 0.00 0.88 0.00 0.000 4 0.000 0.048 2730 1351 3137 0 0 0 0 0 0

3614 -0.90 -130.2 539.0 -13.3 337 3618 0.00 0.80 0.00 0.000 6 0.000 0.029 2726 1903 3137 0 0 0 0 0 0

3946 -0.90 -130.2 582.6 -13.2 353 3950 0.00 0.50 0.00 0.000 4 0.000 0.041 2727 1565 3138 0 0 0 0 0 0

4068 -0.90 -130.2 599.1 -13.8 358 4072 0.00 0.50 0.00 0.000 6 0.000 0.032 2725 1926 3138 0 0 0 0 0 0

4389 -0.90 -130.2 641.9 -13.7 374 4391 0.05 0.00 0.00 0.000 6 0.264 0.000 2734 1926 3138 0 0 0 0 0 0

4699 -0.90 -130.2 683.3 -13.4 389 4700 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 1927 3139 0 0 0 0 0 0

5008 -0.90 -130.2 724.2 -13.2 404 5009 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 1927 3140 0 0 0 0 0 0

5317 -0.90 -130.2 762.1 -12.4 419 5319 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 1926 3141 0 0 0 0 0 0

5627 -0.90 -130.2 802.4 -12.9 434 5628 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 1927 3141 0 0 0 0 0 0

5936 -0.90 -130.2 840.1 -12.0 449 5937 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 1927 3143 0 0 0 0 0 0

6245 -0.90 -130.2 876.4 -12.2 464 6247 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 1926 3144 0 0 0 0 0 0

6555 -0.90 -130.2 913.6 -12.1 479 6558 0.00 0.55 0.00 0.000 4 0.000 0.040 2732 2325 3144 0 0 0 0 0 0

6660 -0.90 -130.2 926.4 -12.1 483 6665 0.00 0.62 0.00 0.000 6 0.000 0.037 2732 1905 3144 0 0 0 0 0 0

6975 -0.90 -130.2 964.7 -12.3 499 6979 0.00 0.75 0.00 0.000 4 0.000 0.048 2732 1414 3145 0 0 0 0 0 0

7097 -0.90 -130.2 980.3 -12.8 504 7102 0.00 0.73 0.00 0.000 6 0.000 0.028 2730 1910 3145 0 0 0 0 0 0

7190 end dive: TARGET_DEPTH_EXCEEDED

state 7191 begin apogee

7195 -0.16 0.0 991.4 12.0 509 7315 0.90 0.00 116.65 1.587 6 0.178 0.000 2970 1790 2600 0 0 0 0 0 0

7316 end apogee: CONTROL_FINISHED_OK

state 7316 begin climb

7318 0.90 130.2 994.1 0.0 515 7452 1.17 0.00 128.27 1.518 6 0.101 0.000 3319 1790 2069 0 0 0 0 0 0

7762 0.90 130.2 922.9 17.9 537 7766 0.00 1.77 0.00 0.000 4 0.000 0.056 3327 725 2060 0 0 0 0 0 0

7862 0.90 130.2 904.0 18.6 541 7866 0.00 1.70 0.00 0.000 6 0.000 0.024 3325 1801 2058 0 0 0 0 0 0

8184 0.90 130.2 845.5 18.0 557 8185 0.00 0.00 0.00 0.000 6 0.000 0.000 3325 1801 2057 0 0 0 0 0 0

8493 0.90 130.2 791.4 17.5 572 8496 0.00 0.65 0.00 0.000 4 0.000 0.039 3325 2254 2056 0 0 0 0 0 0

8570 0.90 130.2 777.3 18.2 575 8574 0.00 0.62 0.00 0.000 6 0.000 0.039 3326 1848 2056 0 0 0 0 0 0

8891 0.90 130.2 719.8 18.1 591 8895 0.00 1.35 0.00 0.000 4 0.000 0.055 3332 1018 2056 0 0 0 0 0 0

9007 0.90 130.2 697.1 19.3 596 9012 0.00 1.25 0.00 0.000 6 0.000 0.026 3332 1832 2055 0 0 0 0 0 0

9335 0.90 130.2 634.2 19.4 612 9336 0.00 0.00 0.00 0.000 6 0.000 0.000 3332 1832 2055 0 0 0 0 0 0

9644 0.90 130.2 574.9 19.1 627 9645 0.00 0.00 0.00 0.000 6 0.000 0.000 3332 1832 2055 0 0 0 0 0 0

9953 0.90 130.2 515.8 19.3 642 9957 0.00 0.57 0.00 0.000 4 0.000 0.045 3334 1461 2055 0 0 0 0 0 0

10075 0.90 130.2 491.6 19.7 647 10080 0.00 0.55 0.00 0.000 6 0.000 0.031 3334 1865 2055 0 0 0 0 0 0

10397 0.90 130.2 430.6 18.9 663 10400 0.00 0.75 0.00 0.000 4 0.000 0.045 3336 1385 2055 0 0 0 0 0 0

10558 0.90 130.2 399.0 20.0 670 10564 0.00 0.60 0.00 0.000 6 0.000 0.030 3336 1813 2055 0 0 0 0 0 0

10887 0.90 130.2 339.4 17.0 701 10891 0.00 0.00 0.00 0.000 6 0.000 0.000 3336 1813 2055 0 0 0 0 0 0

11212 0.90 130.2 287.6 15.3 732 11213 0.00 0.00 0.00 0.000 6 0.000 0.000 3336 1814 2055 0 0 0 0 0 0

11531 0.90 130.2 238.8 15.3 762 11532 0.00 0.00 0.00 0.000 6 0.000 0.000 3336 1814 2055 0 0 0 0 0 0

11849 0.90 130.2 188.8 15.8 792 11853 0.00 0.93 0.00 0.000 4 0.000 0.047 3339 1237 2055 0 0 0 0 0 0

11908 0.90 130.2 179.6 16.5 797 11913 0.05 0.82 0.00 0.000 6 0.168 0.028 3324 1800 2055 0 0 0 0 0 0

12238 0.90 130.2 131.8 14.6 828 12242 0.00 1.27 0.00 0.000 4 0.000 0.050 3329 1017 2055 0 0 0 0 0 0

12457 0.90 130.2 102.4 12.7 847 12463 0.00 1.23 0.00 0.000 6 0.000 0.024 3328 1831 2055 0 0 0 0 0 0

12803 0.90 130.2 52.1 15.1 906 12810 0.00 0.98 0.00 0.000 4 0.000 0.047 3332 1218 2055 0 0 0 0 0 0

12988 0.90 130.2 23.7 15.1 938 12995 0.00 0.88 0.00 0.000 6 0.000 0.027 3332 1812 2056 0 0 0 0 0 0

13125 end climb: SURFACE_DEPTH_REACHED

state 13125 begin surface coast

13145 end surface coast: CONTROL_FINISHED_OK

state 13145 begin surface

ID	574	HD_B	0.010078	ROLL_MIN	160	ALTIM_TOP_TURN_MARGIN	0
MISSION	8	HD_C	9.8500004e-06	ROLL_MAX	3798	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	103	HEADING	-1	ROLL_DEG	40	ALTIM_PING_DEPTH	1000
D_SURF	3	ESCAPE_HEADING	0	C_ROLL_DIVE	1910	ALTIM_PING_DELTA	5
D_FLARE	3	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1820	ALTIM_FREQUENCY	13
D_TGT	990	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	15	ALTIM_PULSE	3
D_ABORT	1020	TGT_DEFAULT_LAT	-4200	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
D_NO_BLEED	200	TGT_DEFAULT_LON	-900	ROLL_TIMEOUT	15	XPDR_VALID	5
D_BOOST	0	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	47	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	210	R_STBD_OVSHOOT	98	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST_BLACKOUT	0	N_FILEKB	4	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-1.812
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	396	DEVICE2	115
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE3	20
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	C_VBD	2600	DEVICE4	134
T_DIVE	350	CALL_TRIES	5	VBD_DBAND	2	DEVICE5	-1
T_MISSION	390	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE6	-1
T_ABORT	720	CAPUPLOAD	0	VBD_TIMEOUT	720	LOGGERS	7
T_TURN	225	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	4.9999999e-05	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	4	LOGGERDEVICE2	-1
T_NO_W	120	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	3	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	-15141.555	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	150	PITCH_MIN	92	FG_AHR_10V	0	SIM_PITCH	0
COURSE_BIAS	0	PITCH_MAX	3858	FG_AHR_24V	0	SEABIRD_T_G	0.0043017557
GLIDE_SLOPE	30	C_PITCH	3032	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062339538
SPEED_FACTOR	1	PITCH_DBAND	0.0099999998	PRESSURE_YINT	-58.423965	SEABIRD_T_I	2.3377639e-05
RHO	1.0278	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011710486	SEABIRD_T_J	2.5612862e-06
MASS	53599	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_C_G	-9.9136524
LENGTH	1.8	PITCH_GAIN	31	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1456692
NAV_MODE	1	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00078246131
DIRECT_CONTROL	0	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_J	0.00012677554
FERRY_MAX	45	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	EBE_ENABLE	0
KALMAN_USE	2	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	0	GC_WINDOW	20
HD_A	0.0038360001	PITCH_ADJ_DBAND	13	ALTIM_BOTTOM_TURN_MARGIN	20	GC_LAST_COLLECTION	82

GPS1	211213,071504,-5500.219,2.016,62,1.3,62,-20.3	TGT_NAME	SBY
_CALLS	1	TGT_LATLONG	-5500.000,0.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.76	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	211213,072213,-5500.217,2.105,18,1.2,19,-20.3	MHEAD_RNG_PITCHd_Wd	300.5,2272,-27.8,-9.429
SPEED_LIMITS	0.163,0.255	D_GRID	990

FINISH	1.7,1.026657	_10V_AH	10.0,38.549
SM_CCo	13162,66.00,1.002,0,0,1742,210.22	FG_AHR_24Vo	0.000
SM_GC	2.88,0.00,0.00,66.00,0.000,0.000,1.002,74,1957,1742,-9.20,1.33,210.22	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5438.56,-3.75,201213,232304	MEM	354748
TT8_MAMPS	0.026964	DATA_FILE_SIZE	53543,964
HUMID	63.42	CAP_FILE_SIZE	118681,0
INTERNAL_PRESSURE	9.05756	CFSIZE	2097086464,2081456128
TCM_TEMP	4.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	211213,110458,-5459.660,0.312,79,1.5,79,-20.2
_24V_AH	21.8,53.121

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	276	145.04	SBE_CT	687	24	359.90
Roll_motor	36	74	60.31	WL_BB2FLVMT	690	105	1579.61
VBD_pump_during_apogee	244	1586	8471.49	SBE_O2	648	19	268.75
VBD_pump_during_surface	66	1002	1441.89	QSP2150	63	4	6.06
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	66.75	nil	0	0	0.00
Iridium_during_connect	41	160	144.56	nil	0	0	0.00
Iridium_during_xfer	243	223	1182.37	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	26	6.18
TT8	2371	14	354.81
LPSleep	8246	2	180.60
TT8_Active	421	14	59.89
TT8_Sampling	2499	37	935.72
TT8_CF8	123	47	58.10
TT8_Kalman	0	0	0.00
Analog_circuits	1358	12	163.03
GPS_charging	0	0	0.00
Compass	2146	15	337.61
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	-0.90	-57.8	0.0	0.0	0	51	0.00	0.00	-25.77	0.000	2	0.000	0.000	67	1945	2186	0	0	0	0	0	0
54	-0.90	-130.2	3.0	-1.5	4	127	12.52	1.55	-55.45	0.000	4	0.277	0.067	2726	989	3131	0	0	0	0	0	0
166	-0.90	-130.2	7.9	-12.8	22	173	0.05	1.35	0.00	0.000	6	0.210	0.026	2735	1870	3134	0	0	0	0	0	0
223	-0.90	-130.2	16.9	-15.4	31	230	0.00	0.45	0.00	0.000	4	0.000	0.041	2734	2209	3134	0	0	0	0	0	0
265	-0.90	-130.2	23.5	-14.7	38	273	0.00	0.43	0.00	0.000	6	0.000	0.041	2734	1906	3134	0	0	0	0	0	0
411	-0.90	-130.2	47.0	-19.2	63	418	0.00	0.45	0.00	0.000	4	0.000	0.035	2733	2244	3134	0	0	0	0	0	0
463	-0.90	-130.2	56.5	-17.5	72	470	0.00	0.47	0.00	0.000	6	0.000	0.037	2733	1901	3134	0	0	0	0	0	0
810	-0.90	-130.2	119.0	-16.7	124	814	0.00	1.08	0.00	0.000	4	0.000	0.050	2733	1225	3134	0	0	0	0	0	0
860	-0.90	-130.2	128.4	-18.5	128	868	0.00	1.05	0.00	0.000	6	0.000	0.029	2730	1909	3134	0	0	0	0	0	0
1187	-0.90	-130.2	181.4	-16.5	159	1190	0.00	1.70	0.00	0.000	4	0.000	0.045	2722	3015	3134	0	0	0	0	0	0
1259	-0.90	-130.2	193.4	-15.6	165	1266	0.03	1.67	0.00	0.000	6	0.204	0.032	2730	1933	3134	0	0	0	0	0	0
1584	-0.90	-130.2	243.9	-15.1	196	1588	0.00	0.95	0.00	0.000	4	0.000	0.047	2730	1320	3133	0	0	0	0	0	0
1668	-0.90	-130.2	257.5	-16.4	203	1674	0.00	0.90	0.00	0.000	6	0.000	0.028	2727	1919	3133	0	0	0	0	0	0
1993	-0.90	-130.2	311.3	-16.9	234	1994	0.00	0.00	0.00	0.000	6	0.000	0.000	2727	1919	3133	0	0	0	0	0	0
2312	-0.90	-130.2	363.0	-15.7	264	2316	0.00	0.40	0.00	0.000	4	0.000	0.042	2725	2234	3134	0	0	0	0	0	0
2384	-0.90	-130.2	374.5	-15.3	270	2390	0.05	0.50	0.00	0.000	6	0.246	0.039	2733	1884	3134	0	0	0	0	0	0
2705	-0.90	-130.2	421.6	-14.2	294	2709	0.00	0.65	0.00	0.000	4	0.000	0.047	2734	1451	3135	0	0	0	0	0	0
2805	-0.90	-130.2	436.1	-13.9	298	2809	0.00	0.68	0.00	0.000	6	0.000	0.030	2733	1920	3135	0	0	0	0	0	0
3126	-0.90	-130.2	477.6	-12.6	314	3130	0.00	0.55	0.00	0.000	4	0.000	0.039	2730	2322	3136	0	0	0	0	0	0
3203	-0.90	-130.2	487.4	-12.6	317	3207	0.00	0.60	0.00	0.000	6	0.000	0.037	2730	1914	3136	0	0	0	0	0	0
3525	-0.90	-130.2	527.1	-12.6	333	3528	0.00	0.88	0.00	0.000	4	0.000	0.048	2730	1351	3137	0	0	0	0	0	0
3614	-0.90	-130.2	539.0	-13.3	337	3618	0.00	0.80	0.00	0.000	6	0.000	0.029	2726	1903	3137	0	0	0	0	0	0
3946	-0.90	-130.2	582.6	-13.2	353	3950	0.00	0.50	0.00	0.000	4	0.000	0.041	2727	1565	3138	0	0	0	0	0	0
4068	-0.90	-130.2	599.1	-13.8	358	4072	0.00	0.50	0.00	0.000	6	0.000	0.032	2725	1926	3138	0	0	0	0	0	0
4389	-0.90	-130.2	641.9	-13.7	374	4391	0.05	0.00	0.00	0.000	6	0.264	0.000	2734	1926	3138	0	0	0	0	0	0
4699	-0.90	-130.2	683.3	-13.4	389	4700	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	1927	3139	0	0	0	0	0	0
5008	-0.90	-130.2	724.2	-13.2	404	5009	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	1927	3140	0	0	0	0	0	0
5317	-0.90	-130.2	762.1	-12.4	419	5319	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	1926	3141	0	0	0	0	0	0
5627	-0.90	-130.2	802.4	-12.9	434	5628	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	1927	3141	0	0	0	0	0	0
5936	-0.90	-130.2	840.1	-12.0	449	5937	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	1927	3143	0	0	0	0	0	0
6245	-0.90	-130.2	876.4	-12.2	464	6247	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	1926	3144	0	0	0	0	0	0
6555	-0.90	-130.2	913.6	-12.1	479	6558	0.00	0.55	0.00	0.000	4	0.000	0.040	2732	2325	3144	0	0	0	0	0	0
6660	-0.90	-130.2	926.4	-12.1	483	6665	0.00	0.62	0.00	0.000	6	0.000	0.037	2732	1905	3144	0	0	0	0	0	0
6975	-0.90	-130.2	964.7	-12.3	499	6979	0.00	0.75	0.00	0.000	4	0.000	0.048	2732	1414	3145	0	0	0	0	0	0
7097	-0.90	-130.2	980.3	-12.8	504	7102	0.00	0.73	0.00	0.000	6	0.000	0.028	2730	1910	3145	0	0	0	0	0	0
7190	end dive: TARGET_DEPTH_EXCEEDED
state	7191	begin apogee
7195	-0.16	0.0	991.4	12.0	509	7315	0.90	0.00	116.65	1.587	6	0.178	0.000	2970	1790	2600	0	0	0	0	0	0
7316	end apogee: CONTROL_FINISHED_OK
state	7316	begin climb
7318	0.90	130.2	994.1	0.0	515	7452	1.17	0.00	128.27	1.518	6	0.101	0.000	3319	1790	2069	0	0	0	0	0	0
7762	0.90	130.2	922.9	17.9	537	7766	0.00	1.77	0.00	0.000	4	0.000	0.056	3327	725	2060	0	0	0	0	0	0
7862	0.90	130.2	904.0	18.6	541	7866	0.00	1.70	0.00	0.000	6	0.000	0.024	3325	1801	2058	0	0	0	0	0	0
8184	0.90	130.2	845.5	18.0	557	8185	0.00	0.00	0.00	0.000	6	0.000	0.000	3325	1801	2057	0	0	0	0	0	0
8493	0.90	130.2	791.4	17.5	572	8496	0.00	0.65	0.00	0.000	4	0.000	0.039	3325	2254	2056	0	0	0	0	0	0
8570	0.90	130.2	777.3	18.2	575	8574	0.00	0.62	0.00	0.000	6	0.000	0.039	3326	1848	2056	0	0	0	0	0	0
8891	0.90	130.2	719.8	18.1	591	8895	0.00	1.35	0.00	0.000	4	0.000	0.055	3332	1018	2056	0	0	0	0	0	0
9007	0.90	130.2	697.1	19.3	596	9012	0.00	1.25	0.00	0.000	6	0.000	0.026	3332	1832	2055	0	0	0	0	0	0
9335	0.90	130.2	634.2	19.4	612	9336	0.00	0.00	0.00	0.000	6	0.000	0.000	3332	1832	2055	0	0	0	0	0	0
9644	0.90	130.2	574.9	19.1	627	9645	0.00	0.00	0.00	0.000	6	0.000	0.000	3332	1832	2055	0	0	0	0	0	0
9953	0.90	130.2	515.8	19.3	642	9957	0.00	0.57	0.00	0.000	4	0.000	0.045	3334	1461	2055	0	0	0	0	0	0
10075	0.90	130.2	491.6	19.7	647	10080	0.00	0.55	0.00	0.000	6	0.000	0.031	3334	1865	2055	0	0	0	0	0	0
10397	0.90	130.2	430.6	18.9	663	10400	0.00	0.75	0.00	0.000	4	0.000	0.045	3336	1385	2055	0	0	0	0	0	0
10558	0.90	130.2	399.0	20.0	670	10564	0.00	0.60	0.00	0.000	6	0.000	0.030	3336	1813	2055	0	0	0	0	0	0
10887	0.90	130.2	339.4	17.0	701	10891	0.00	0.00	0.00	0.000	6	0.000	0.000	3336	1813	2055	0	0	0	0	0	0
11212	0.90	130.2	287.6	15.3	732	11213	0.00	0.00	0.00	0.000	6	0.000	0.000	3336	1814	2055	0	0	0	0	0	0
11531	0.90	130.2	238.8	15.3	762	11532	0.00	0.00	0.00	0.000	6	0.000	0.000	3336	1814	2055	0	0	0	0	0	0
11849	0.90	130.2	188.8	15.8	792	11853	0.00	0.93	0.00	0.000	4	0.000	0.047	3339	1237	2055	0	0	0	0	0	0
11908	0.90	130.2	179.6	16.5	797	11913	0.05	0.82	0.00	0.000	6	0.168	0.028	3324	1800	2055	0	0	0	0	0	0
12238	0.90	130.2	131.8	14.6	828	12242	0.00	1.27	0.00	0.000	4	0.000	0.050	3329	1017	2055	0	0	0	0	0	0
12457	0.90	130.2	102.4	12.7	847	12463	0.00	1.23	0.00	0.000	6	0.000	0.024	3328	1831	2055	0	0	0	0	0	0
12803	0.90	130.2	52.1	15.1	906	12810	0.00	0.98	0.00	0.000	4	0.000	0.047	3332	1218	2055	0	0	0	0	0	0
12988	0.90	130.2	23.7	15.1	938	12995	0.00	0.88	0.00	0.000	6	0.000	0.027	3332	1812	2056	0	0	0	0	0	0
13125	end climb: SURFACE_DEPTH_REACHED
state	13125	begin surface coast
13145	end surface coast: CONTROL_FINISHED_OK
state	13145	begin surface