Glider dive log

SOSCEx 29Jul15 * SG573 * Dive index * Mission links * Dive 12 * 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 12 HD_C 9.8500004e-06 ROLL_MAX 3785 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 12 HEADING -1 ROLL_DEG 40 ALTIM_PING_DEPTH 0

D_SURF 3 ESCAPE_HEADING 0 C_ROLL_DIVE 2040 ALTIM_PING_DELTA 10

D_FLARE 3 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1790 ALTIM_FREQUENCY 13

D_TGT 1000 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_ABORT 1020 TGT_DEFAULT_LAT -4300 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 TGT_DEFAULT_LON 800 ROLL_TIMEOUT 15 XPDR_VALID 5

D_BOOST 5 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 46 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 220 R_STBD_OVSHOOT 39 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 DEVICE1 2

SURFACE_URGENCY 0 N_NOCOMM 1 VBD_MIN 409 DEVICE2 101

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MAX 3959 DEVICE3 163

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 C_VBD 1882 DEVICE4 135

T_DIVE 335 CALL_TRIES 5 VBD_DBAND 2 DEVICE5 -1

T_MISSION 350 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE6 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_TIMEOUT 720 LOGGERS 1

T_TURN 225 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012000001 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 -21042.24 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 1 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 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 3184 PHONE_SUPPLY 2 SEABIRD_T_H 0.00061930995

SPEED_FACTOR 1 PITCH_DBAND 0.0099999998 PRESSURE_YINT -87.994217 SEABIRD_T_I 2.1971719e-05

RHO 1.0278 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011693723 SEABIRD_T_J 2.301111e-06

MASS 53040 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 160 COMPASS_USE 0 SEABIRD_C_J 0.00019558761

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 0

HD_A 0.0038360001 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 15 GC_LAST_COLLECTION 11

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 220

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_TGT 1000 PITCH_ADJ_DBAND 1 STROBE 0

ALTIM_PING_DELTA 10 EBE_ENABLE 0 PITCH_ADJ_GAIN 0.02 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 PITCH_AD_RATE 160 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 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 -4300

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PITCH_MIN 100 TGT_DEFAULT_LON 800

CALL_NDIVES 1 GC_LAST_COLLECTION 11 PITCH_TIMEOUT 16 T_ABORT 1440

CALL_TRIES 5 GC_WINDOW 0 PITCH_VBD_SHIFT 0.0012000001 T_BOOST 0

CALL_WAIT 60 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011693723 T_BOOST_BLACKOUT 0

CAPMAXSIZE 100000 GPS_DEVICE 32 PRESSURE_YINT -87.994217 T_DIVE 335

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 -21042.24

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 350

COMPASS_USE 0 HEAPDBG 0 RELAUNCH 0 T_NO_W 120

COURSE_BIAS 0 ICE_FREEZE_MARGIN 0.30000001 RHO 1.0278 T_RSLEEP 1

C_PITCH 3184 ID 573 ROLL_ADJ_DBAND 0 T_TURN 225

C_ROLL_CLIMB 1790 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_DIVE 2040 INT_PRESSURE_YINT -0.55000001 ROLL_AD_RATE 350 T_WATCHDOG 10

C_VBD 1882 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 USE_BATHY 0

DEVICE1 2 LOGGERDEVICE1 -1 ROLL_MAX 3785 USE_ICE 0

DEVICE2 101 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE3 163 LOGGERDEVICE3 -1 ROLL_MIN 150 VBD_CNV -0.245296

DEVICE4 135 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE5 -1 LOGGERS 1 R_PORT_OVSHOOT 46 VBD_MAX 3959

DEVICE6 -1 MASS 53040 R_STBD_OVSHOOT 39 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 150 SEABIRD_C_G -9.9469662 VBD_MIN 409

DIVE 12 MINV_10V 8 SEABIRD_C_H 1.155618 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1020 MINV_24V 20 SEABIRD_C_I -0.0016006827 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 5 MISSION 12 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 300715,225757,-4500.917,631.357,70,0.9,71,-24.4 TGT_NAME SAF_1

_CALLS 1 TGT_LATLONG -4500.000,630.000

_XMS_NAKs 0 TGT_RADIUS 800.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.14 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 300715,230458,-4500.933,631.433,16,1.1,16,-24.4 MHEAD_RNG_PITCHd_Wd 337.0,2551,-27.8,-9.950

SPEED_LIMITS 0.172,0.260 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.1,1.001975 _10V_AH 10.2,4.406

SM_CCo 13113,41.00,0.057,0,0,983,220.03 FG_AHR_24Vo 0.000

SM_GC 2.43,0.00,0.00,41.00,0.000,0.000,0.057,85,2054,983,-9.68,0.40,220.03 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4444.39,636.90,260508,080830 MEM 353784

TT8_MAMPS 0.026964 DATA_FILE_SIZE 67001,952

HUMID 62.60 CAP_FILE_SIZE 126125,0

INTERNAL_PRESSURE 9.28436 CFSIZE 2097086464,2090598400

TCM_TEMP 12.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 310715,024557,-4459.438,630.915,50,1.0,50,-24.4

_24V_AH 23.3,7.345

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 273 152.67 SBE_CT 662 23 358.59

Roll_motor 98 67 154.58 AA4330 1749 17 702.32

VBD_pump_during_apogee 243 1308 7427.19 WL_BB2FL 715 105 1749.77

VBD_pump_during_surface 41 56 54.08 QSP2150 396 17 158.99

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 19 91 40.82 nil 0 0 0.00

Iridium_during_connect 27 160 103.09 nil 0 0 0.00

Iridium_during_xfer 270 223 1403.20 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 27 5.31

TT8 2372 13 336.19

LPSleep 8085 2 180.62

TT8_Active 370 13 52.46

TT8_Sampling 2648 40 1103.35

TT8_CF8 99 50 51.31

TT8_Kalman 0 0 0.00

Analog_circuits 1319 15 206.24

GPS_charging 0 0 0.00

Compass 2186 15 350.82

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

24 -1.34 -62.6 0.0 0.0 0 77 0.00 0.00 -50.12 0.000 2 0.000 0.000 80 2057 2105 0 0 0 0 0 0

78 -1.43 -134.6 3.3 -2.3 8 105 10.93 2.28 -8.35 0.000 4 0.256 0.060 2719 645 2431 0 0 0 0 0 0

223 -1.28 -134.6 34.0 -23.6 31 231 0.20 2.22 0.00 0.000 6 0.196 0.043 2766 2027 2432 0 0 0 0 0 0

370 -1.20 -134.6 64.0 -19.4 56 376 0.12 0.00 0.00 0.000 6 0.235 0.000 2792 2028 2433 0 0 0 0 0 0

712 -1.16 -134.6 132.9 -20.7 103 716 0.05 2.30 0.00 0.000 4 0.268 0.067 2794 3448 2433 0 0 0 0 0 0

796 -1.13 -134.6 148.8 -17.8 110 801 0.10 2.17 0.00 0.000 6 0.197 0.039 2818 2039 2433 0 0 0 0 0 0

1120 -1.13 -134.6 206.4 -17.7 140 1124 0.00 2.25 0.00 0.000 4 0.000 0.061 2809 3447 2433 0 0 0 0 0 0

1160 -1.13 -134.6 213.9 -18.7 143 1164 0.00 2.17 0.00 0.000 6 0.000 0.038 2809 2031 2433 0 0 0 0 0 0

1487 -1.13 -134.6 271.7 -17.9 173 1491 0.00 2.28 0.00 0.000 4 0.000 0.062 2800 3445 2434 0 0 0 0 0 0

1520 -1.13 -134.6 278.5 -18.7 175 1526 0.08 2.15 0.00 0.000 6 0.203 0.037 2815 2034 2434 0 0 0 0 0 0

1845 -1.13 -134.6 335.3 -17.8 206 1846 0.00 0.00 0.00 0.000 6 0.000 0.000 2816 2034 2434 0 0 0 0 0 0

2164 -1.13 -134.6 391.6 -17.8 236 2165 0.00 0.00 0.00 0.000 6 0.000 0.000 2816 2034 2434 0 0 0 0 0 0

2485 -1.13 -134.6 445.6 -16.5 254 2486 0.00 0.00 0.00 0.000 6 0.000 0.000 2816 2034 2434 0 0 0 0 0 0

2794 -1.13 -134.6 497.8 -16.9 269 2795 0.00 0.00 0.00 0.000 6 0.000 0.000 2816 2034 2434 0 0 0 0 0 0

3103 -1.13 -134.6 548.8 -16.1 284 3104 0.00 0.00 0.00 0.000 6 0.000 0.000 2816 2034 2434 0 0 0 0 0 0

3413 -1.13 -134.6 597.2 -15.2 299 3414 0.00 0.00 0.00 0.000 6 0.000 0.000 2816 2034 2433 0 0 0 0 0 0

3722 -1.13 -134.6 644.2 -15.3 314 3726 0.00 2.28 0.00 0.000 4 0.000 0.063 2807 3449 2433 0 0 0 0 0 0

3787 -1.13 -134.6 654.7 -15.6 317 3792 0.00 2.17 0.00 0.000 6 0.000 0.038 2807 2042 2432 0 0 0 0 0 0

4114 -1.13 -134.6 705.3 -15.4 333 4115 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 2042 2433 0 0 0 0 0 0

4424 -1.13 -134.6 753.1 -15.3 348 4425 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 2042 2433 0 0 0 0 0 0

4733 -1.13 -134.6 801.3 -15.8 363 4734 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 2041 2433 0 0 0 0 0 0

5042 -1.13 -134.6 847.9 -15.1 378 5043 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 2042 2433 0 0 0 0 0 0

5352 -1.13 -134.6 894.1 -14.8 393 5353 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 2042 2432 0 0 0 0 0 0

5661 -1.13 -134.6 940.6 -14.8 408 5665 0.00 2.17 0.00 0.000 4 0.000 0.050 2808 639 2432 0 0 0 0 0 0

5692 -1.13 -134.6 945.8 -16.1 409 5699 0.05 2.20 0.00 0.000 6 0.204 0.041 2813 2039 2433 0 0 0 0 0 0

6009 -1.15 -134.6 991.9 -14.9 425 6013 0.00 2.22 0.00 0.000 4 0.000 0.067 2804 3455 2432 0 0 0 0 0 0

6062 end dive: TARGET_DEPTH_EXCEEDED

state 6062 begin apogee

6068 -0.23 0.0 1000.2 14.8 427 6193 1.00 0.00 118.75 1.308 6 0.177 0.000 3104 1793 1882 0 0 0 0 0 0

6194 end apogee: CONTROL_FINISHED_OK

state 6194 begin climb

6196 1.43 134.6 1004.8 0.0 434 6331 1.65 2.38 124.93 1.258 4 0.097 0.047 3646 391 1333 0 0 0 0 0 0

6397 1.32 134.6 977.9 18.8 443 6404 0.10 2.35 0.00 0.000 6 0.180 0.037 3617 1789 1330 0 0 0 0 0 0

6713 1.27 134.6 922.6 17.3 459 6718 0.10 2.30 0.00 0.000 4 0.216 0.047 3605 386 1327 0 0 0 0 0 0

6864 1.21 134.6 896.1 18.3 466 6869 0.10 2.25 0.00 0.000 6 0.203 0.036 3578 1792 1326 0 0 0 0 0 0

7190 1.21 134.6 841.7 16.6 482 7194 0.00 2.28 0.00 0.000 4 0.000 0.046 3586 387 1326 0 0 0 0 0 0

7352 1.18 134.6 813.0 17.5 489 7357 0.05 2.25 0.00 0.000 6 0.198 0.036 3571 1793 1325 0 0 0 0 0 0

7673 1.18 134.6 759.1 16.7 505 7677 0.00 2.25 0.00 0.000 4 0.000 0.047 3581 379 1325 0 0 0 0 0 0

7824 1.18 134.6 733.4 16.4 512 7829 0.05 2.22 0.00 0.000 6 0.240 0.037 3571 1792 1325 0 0 0 0 0 0

8150 1.18 134.6 681.7 15.3 528 8154 0.00 2.22 0.00 0.000 4 0.000 0.047 3580 386 1324 0 0 0 0 0 0

8204 1.18 134.6 672.8 15.8 530 8211 0.03 2.22 0.00 0.000 6 0.211 0.036 3572 1794 1324 0 0 0 0 0 0

8521 1.18 134.6 627.3 14.1 546 8525 0.00 2.22 0.00 0.000 4 0.000 0.047 3581 385 1324 0 0 0 0 0 0

8597 1.18 134.6 616.0 14.1 549 8604 0.03 2.22 0.00 0.000 6 0.210 0.036 3573 1798 1324 0 0 0 0 0 0

8913 1.18 134.6 573.5 13.4 565 8917 0.00 2.22 0.00 0.000 4 0.000 0.047 3581 382 1324 0 0 0 0 0 0

8990 1.18 134.6 562.4 14.1 568 8997 0.05 2.22 0.00 0.000 6 0.191 0.035 3566 1792 1324 0 0 0 0 0 0

9306 1.18 134.6 520.6 13.4 584 9310 0.00 2.22 0.00 0.000 4 0.000 0.047 3575 386 1323 0 0 0 0 0 0

9435 1.18 134.6 502.5 14.7 590 9439 0.00 2.17 0.00 0.000 6 0.000 0.035 3575 1787 1324 0 0 0 0 0 0

9761 1.18 134.6 457.7 13.6 606 9765 0.00 2.22 0.00 0.000 4 0.000 0.047 3584 384 1323 0 0 0 0 0 0

9832 1.18 134.6 447.5 14.2 609 9838 0.05 2.20 0.00 0.000 6 0.188 0.035 3569 1789 1323 0 0 0 0 0 0

10154 1.18 134.6 405.1 13.3 625 10158 0.00 2.20 0.00 0.000 4 0.000 0.048 3577 386 1323 0 0 0 0 0 0

10241 1.18 134.6 392.6 14.7 631 10248 0.00 2.20 0.00 0.000 6 0.000 0.035 3577 1790 1323 0 0 0 0 0 0

10567 1.18 134.6 346.4 14.3 662 10571 0.00 2.20 0.00 0.000 4 0.000 0.047 3587 386 1323 0 0 0 0 0 0

10720 1.18 134.6 323.5 15.2 675 10725 0.08 2.17 0.00 0.000 6 0.216 0.036 3570 1794 1323 0 0 0 0 0 0

11046 1.18 134.6 279.2 13.6 705 11050 0.00 2.20 0.00 0.000 4 0.000 0.047 3579 384 1323 0 0 0 0 0 0

11098 1.18 134.6 271.9 14.4 709 11103 0.03 2.17 0.00 0.000 6 0.274 0.037 3570 1796 1323 0 0 0 0 0 0

11428 1.21 134.6 224.8 14.9 740 11429 0.00 0.00 0.00 0.000 6 0.000 0.000 3570 1797 1323 0 0 0 0 0 0

11746 1.21 134.6 178.1 14.6 770 11750 0.00 2.22 0.00 0.000 4 0.000 0.047 3579 386 1323 0 0 0 0 0 0

11808 1.21 134.6 168.6 15.0 775 11812 0.00 2.17 0.00 0.000 6 0.000 0.036 3579 1791 1323 0 0 0 0 0 0

12135 1.21 134.6 123.5 12.2 805 12139 0.00 2.20 0.00 0.000 4 0.000 0.046 3588 380 1324 0 0 0 0 0 0

12394 1.21 134.6 90.1 10.9 834 12402 0.00 2.20 0.00 0.000 6 0.000 0.038 3588 1781 1323 0 0 0 0 0 0

12746 1.18 134.6 46.0 12.9 895 12752 0.10 2.17 0.00 0.000 4 0.207 0.047 3573 385 1323 0 0 0 0 0 0

12982 1.18 134.6 16.2 13.7 934 12989 0.00 2.20 0.00 0.000 6 0.000 0.034 3573 1807 1323 0 0 0 0 0 0

13040 1.18 134.6 7.9 14.1 943 13047 0.00 0.00 0.00 0.000 6 0.000 0.000 3573 1807 1323 0 0 0 0 0 0

13078 end climb: SURFACE_DEPTH_REACHED

state 13078 begin surface coast

13098 end surface coast: CONTROL_FINISHED_OK

state 13098 begin surface

ID	573	HD_B	0.010078	ROLL_MIN	150	ALTIM_TOP_TURN_MARGIN	0
MISSION	12	HD_C	9.8500004e-06	ROLL_MAX	3785	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	12	HEADING	-1	ROLL_DEG	40	ALTIM_PING_DEPTH	0
D_SURF	3	ESCAPE_HEADING	0	C_ROLL_DIVE	2040	ALTIM_PING_DELTA	10
D_FLARE	3	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1790	ALTIM_FREQUENCY	13
D_TGT	1000	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_ABORT	1020	TGT_DEFAULT_LAT	-4300	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	TGT_DEFAULT_LON	800	ROLL_TIMEOUT	15	XPDR_VALID	5
D_BOOST	5	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	46	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	220	R_STBD_OVSHOOT	39	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	DEVICE1	2
SURFACE_URGENCY	0	N_NOCOMM	1	VBD_MIN	409	DEVICE2	101
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MAX	3959	DEVICE3	163
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	C_VBD	1882	DEVICE4	135
T_DIVE	335	CALL_TRIES	5	VBD_DBAND	2	DEVICE5	-1
T_MISSION	350	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE6	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_TIMEOUT	720	LOGGERS	1
T_TURN	225	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012000001	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	-21042.24	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	1	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	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	3184	PHONE_SUPPLY	2	SEABIRD_T_H	0.00061930995
SPEED_FACTOR	1	PITCH_DBAND	0.0099999998	PRESSURE_YINT	-87.994217	SEABIRD_T_I	2.1971719e-05
RHO	1.0278	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011693723	SEABIRD_T_J	2.301111e-06
MASS	53040	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	160	COMPASS_USE	0	SEABIRD_C_J	0.00019558761
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	0
HD_A	0.0038360001	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	15	GC_LAST_COLLECTION	11

GPS1	300715,225757,-4500.917,631.357,70,0.9,71,-24.4	TGT_NAME	SAF_1
_CALLS	1	TGT_LATLONG	-4500.000,630.000
_XMS_NAKs	0	TGT_RADIUS	800.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.14	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	300715,230458,-4500.933,631.433,16,1.1,16,-24.4	MHEAD_RNG_PITCHd_Wd	337.0,2551,-27.8,-9.950
SPEED_LIMITS	0.172,0.260	D_GRID	1000

FINISH	1.1,1.001975	_10V_AH	10.2,4.406
SM_CCo	13113,41.00,0.057,0,0,983,220.03	FG_AHR_24Vo	0.000
SM_GC	2.43,0.00,0.00,41.00,0.000,0.000,0.057,85,2054,983,-9.68,0.40,220.03	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4444.39,636.90,260508,080830	MEM	353784
TT8_MAMPS	0.026964	DATA_FILE_SIZE	67001,952
HUMID	62.60	CAP_FILE_SIZE	126125,0
INTERNAL_PRESSURE	9.28436	CFSIZE	2097086464,2090598400
TCM_TEMP	12.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	310715,024557,-4459.438,630.915,50,1.0,50,-24.4
_24V_AH	23.3,7.345

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	273	152.67	SBE_CT	662	23	358.59
Roll_motor	98	67	154.58	AA4330	1749	17	702.32
VBD_pump_during_apogee	243	1308	7427.19	WL_BB2FL	715	105	1749.77
VBD_pump_during_surface	41	56	54.08	QSP2150	396	17	158.99
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	19	91	40.82	nil	0	0	0.00
Iridium_during_connect	27	160	103.09	nil	0	0	0.00
Iridium_during_xfer	270	223	1403.20	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	27	5.31
TT8	2372	13	336.19
LPSleep	8085	2	180.62
TT8_Active	370	13	52.46
TT8_Sampling	2648	40	1103.35
TT8_CF8	99	50	51.31
TT8_Kalman	0	0	0.00
Analog_circuits	1319	15	206.24
GPS_charging	0	0	0.00
Compass	2186	15	350.82
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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
24	-1.34	-62.6	0.0	0.0	0	77	0.00	0.00	-50.12	0.000	2	0.000	0.000	80	2057	2105	0	0	0	0	0	0
78	-1.43	-134.6	3.3	-2.3	8	105	10.93	2.28	-8.35	0.000	4	0.256	0.060	2719	645	2431	0	0	0	0	0	0
223	-1.28	-134.6	34.0	-23.6	31	231	0.20	2.22	0.00	0.000	6	0.196	0.043	2766	2027	2432	0	0	0	0	0	0
370	-1.20	-134.6	64.0	-19.4	56	376	0.12	0.00	0.00	0.000	6	0.235	0.000	2792	2028	2433	0	0	0	0	0	0
712	-1.16	-134.6	132.9	-20.7	103	716	0.05	2.30	0.00	0.000	4	0.268	0.067	2794	3448	2433	0	0	0	0	0	0
796	-1.13	-134.6	148.8	-17.8	110	801	0.10	2.17	0.00	0.000	6	0.197	0.039	2818	2039	2433	0	0	0	0	0	0
1120	-1.13	-134.6	206.4	-17.7	140	1124	0.00	2.25	0.00	0.000	4	0.000	0.061	2809	3447	2433	0	0	0	0	0	0
1160	-1.13	-134.6	213.9	-18.7	143	1164	0.00	2.17	0.00	0.000	6	0.000	0.038	2809	2031	2433	0	0	0	0	0	0
1487	-1.13	-134.6	271.7	-17.9	173	1491	0.00	2.28	0.00	0.000	4	0.000	0.062	2800	3445	2434	0	0	0	0	0	0
1520	-1.13	-134.6	278.5	-18.7	175	1526	0.08	2.15	0.00	0.000	6	0.203	0.037	2815	2034	2434	0	0	0	0	0	0
1845	-1.13	-134.6	335.3	-17.8	206	1846	0.00	0.00	0.00	0.000	6	0.000	0.000	2816	2034	2434	0	0	0	0	0	0
2164	-1.13	-134.6	391.6	-17.8	236	2165	0.00	0.00	0.00	0.000	6	0.000	0.000	2816	2034	2434	0	0	0	0	0	0
2485	-1.13	-134.6	445.6	-16.5	254	2486	0.00	0.00	0.00	0.000	6	0.000	0.000	2816	2034	2434	0	0	0	0	0	0
2794	-1.13	-134.6	497.8	-16.9	269	2795	0.00	0.00	0.00	0.000	6	0.000	0.000	2816	2034	2434	0	0	0	0	0	0
3103	-1.13	-134.6	548.8	-16.1	284	3104	0.00	0.00	0.00	0.000	6	0.000	0.000	2816	2034	2434	0	0	0	0	0	0
3413	-1.13	-134.6	597.2	-15.2	299	3414	0.00	0.00	0.00	0.000	6	0.000	0.000	2816	2034	2433	0	0	0	0	0	0
3722	-1.13	-134.6	644.2	-15.3	314	3726	0.00	2.28	0.00	0.000	4	0.000	0.063	2807	3449	2433	0	0	0	0	0	0
3787	-1.13	-134.6	654.7	-15.6	317	3792	0.00	2.17	0.00	0.000	6	0.000	0.038	2807	2042	2432	0	0	0	0	0	0
4114	-1.13	-134.6	705.3	-15.4	333	4115	0.00	0.00	0.00	0.000	6	0.000	0.000	2807	2042	2433	0	0	0	0	0	0
4424	-1.13	-134.6	753.1	-15.3	348	4425	0.00	0.00	0.00	0.000	6	0.000	0.000	2807	2042	2433	0	0	0	0	0	0
4733	-1.13	-134.6	801.3	-15.8	363	4734	0.00	0.00	0.00	0.000	6	0.000	0.000	2807	2041	2433	0	0	0	0	0	0
5042	-1.13	-134.6	847.9	-15.1	378	5043	0.00	0.00	0.00	0.000	6	0.000	0.000	2807	2042	2433	0	0	0	0	0	0
5352	-1.13	-134.6	894.1	-14.8	393	5353	0.00	0.00	0.00	0.000	6	0.000	0.000	2807	2042	2432	0	0	0	0	0	0
5661	-1.13	-134.6	940.6	-14.8	408	5665	0.00	2.17	0.00	0.000	4	0.000	0.050	2808	639	2432	0	0	0	0	0	0
5692	-1.13	-134.6	945.8	-16.1	409	5699	0.05	2.20	0.00	0.000	6	0.204	0.041	2813	2039	2433	0	0	0	0	0	0
6009	-1.15	-134.6	991.9	-14.9	425	6013	0.00	2.22	0.00	0.000	4	0.000	0.067	2804	3455	2432	0	0	0	0	0	0
6062	end dive: TARGET_DEPTH_EXCEEDED
state	6062	begin apogee
6068	-0.23	0.0	1000.2	14.8	427	6193	1.00	0.00	118.75	1.308	6	0.177	0.000	3104	1793	1882	0	0	0	0	0	0
6194	end apogee: CONTROL_FINISHED_OK
state	6194	begin climb
6196	1.43	134.6	1004.8	0.0	434	6331	1.65	2.38	124.93	1.258	4	0.097	0.047	3646	391	1333	0	0	0	0	0	0
6397	1.32	134.6	977.9	18.8	443	6404	0.10	2.35	0.00	0.000	6	0.180	0.037	3617	1789	1330	0	0	0	0	0	0
6713	1.27	134.6	922.6	17.3	459	6718	0.10	2.30	0.00	0.000	4	0.216	0.047	3605	386	1327	0	0	0	0	0	0
6864	1.21	134.6	896.1	18.3	466	6869	0.10	2.25	0.00	0.000	6	0.203	0.036	3578	1792	1326	0	0	0	0	0	0
7190	1.21	134.6	841.7	16.6	482	7194	0.00	2.28	0.00	0.000	4	0.000	0.046	3586	387	1326	0	0	0	0	0	0
7352	1.18	134.6	813.0	17.5	489	7357	0.05	2.25	0.00	0.000	6	0.198	0.036	3571	1793	1325	0	0	0	0	0	0
7673	1.18	134.6	759.1	16.7	505	7677	0.00	2.25	0.00	0.000	4	0.000	0.047	3581	379	1325	0	0	0	0	0	0
7824	1.18	134.6	733.4	16.4	512	7829	0.05	2.22	0.00	0.000	6	0.240	0.037	3571	1792	1325	0	0	0	0	0	0
8150	1.18	134.6	681.7	15.3	528	8154	0.00	2.22	0.00	0.000	4	0.000	0.047	3580	386	1324	0	0	0	0	0	0
8204	1.18	134.6	672.8	15.8	530	8211	0.03	2.22	0.00	0.000	6	0.211	0.036	3572	1794	1324	0	0	0	0	0	0
8521	1.18	134.6	627.3	14.1	546	8525	0.00	2.22	0.00	0.000	4	0.000	0.047	3581	385	1324	0	0	0	0	0	0
8597	1.18	134.6	616.0	14.1	549	8604	0.03	2.22	0.00	0.000	6	0.210	0.036	3573	1798	1324	0	0	0	0	0	0
8913	1.18	134.6	573.5	13.4	565	8917	0.00	2.22	0.00	0.000	4	0.000	0.047	3581	382	1324	0	0	0	0	0	0
8990	1.18	134.6	562.4	14.1	568	8997	0.05	2.22	0.00	0.000	6	0.191	0.035	3566	1792	1324	0	0	0	0	0	0
9306	1.18	134.6	520.6	13.4	584	9310	0.00	2.22	0.00	0.000	4	0.000	0.047	3575	386	1323	0	0	0	0	0	0
9435	1.18	134.6	502.5	14.7	590	9439	0.00	2.17	0.00	0.000	6	0.000	0.035	3575	1787	1324	0	0	0	0	0	0
9761	1.18	134.6	457.7	13.6	606	9765	0.00	2.22	0.00	0.000	4	0.000	0.047	3584	384	1323	0	0	0	0	0	0
9832	1.18	134.6	447.5	14.2	609	9838	0.05	2.20	0.00	0.000	6	0.188	0.035	3569	1789	1323	0	0	0	0	0	0
10154	1.18	134.6	405.1	13.3	625	10158	0.00	2.20	0.00	0.000	4	0.000	0.048	3577	386	1323	0	0	0	0	0	0
10241	1.18	134.6	392.6	14.7	631	10248	0.00	2.20	0.00	0.000	6	0.000	0.035	3577	1790	1323	0	0	0	0	0	0
10567	1.18	134.6	346.4	14.3	662	10571	0.00	2.20	0.00	0.000	4	0.000	0.047	3587	386	1323	0	0	0	0	0	0
10720	1.18	134.6	323.5	15.2	675	10725	0.08	2.17	0.00	0.000	6	0.216	0.036	3570	1794	1323	0	0	0	0	0	0
11046	1.18	134.6	279.2	13.6	705	11050	0.00	2.20	0.00	0.000	4	0.000	0.047	3579	384	1323	0	0	0	0	0	0
11098	1.18	134.6	271.9	14.4	709	11103	0.03	2.17	0.00	0.000	6	0.274	0.037	3570	1796	1323	0	0	0	0	0	0
11428	1.21	134.6	224.8	14.9	740	11429	0.00	0.00	0.00	0.000	6	0.000	0.000	3570	1797	1323	0	0	0	0	0	0
11746	1.21	134.6	178.1	14.6	770	11750	0.00	2.22	0.00	0.000	4	0.000	0.047	3579	386	1323	0	0	0	0	0	0
11808	1.21	134.6	168.6	15.0	775	11812	0.00	2.17	0.00	0.000	6	0.000	0.036	3579	1791	1323	0	0	0	0	0	0
12135	1.21	134.6	123.5	12.2	805	12139	0.00	2.20	0.00	0.000	4	0.000	0.046	3588	380	1324	0	0	0	0	0	0
12394	1.21	134.6	90.1	10.9	834	12402	0.00	2.20	0.00	0.000	6	0.000	0.038	3588	1781	1323	0	0	0	0	0	0
12746	1.18	134.6	46.0	12.9	895	12752	0.10	2.17	0.00	0.000	4	0.207	0.047	3573	385	1323	0	0	0	0	0	0
12982	1.18	134.6	16.2	13.7	934	12989	0.00	2.20	0.00	0.000	6	0.000	0.034	3573	1807	1323	0	0	0	0	0	0
13040	1.18	134.6	7.9	14.1	943	13047	0.00	0.00	0.00	0.000	6	0.000	0.000	3573	1807	1323	0	0	0	0	0	0
13078	end climb: SURFACE_DEPTH_REACHED
state	13078	begin surface coast
13098	end surface coast: CONTROL_FINISHED_OK
state	13098	begin surface