Glider dive log

SOSCEx Dec13 * SG574 * Dive index * Mission links * Dive 123 * 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 123 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 40 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 210 R_STBD_OVSHOOT 91 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 -15208.8 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 102

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 102 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 -15208.8

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 40 VBD_MAX 3960

DEVICE6 -1 MASS 53599 R_STBD_OVSHOOT 91 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 150 SEABIRD_C_G -9.9136524 VBD_MIN 396

DIVE 123 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 241213,141834,-5459.952,2.893,43,0.8,43,-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 2.95 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -74.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 241213,142530,-5459.922,2.998,20,1.4,20,-20.3 MHEAD_RNG_PITCHd_Wd 287.7,3188,-27.8,-9.429

SPEED_LIMITS 0.163,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.7,1.003604 _10V_AH 10.0,40.409

SM_CCo 13116,60.72,1.093,1,0,1743,210.22 FG_AHR_24Vo 0.000

SM_GC 2.74,0.00,0.00,60.72,0.000,0.000,1.093,71,1907,1743,-9.24,0.06,210.22 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5438.56,0.00,241213,101019 MEM 354740

TT8_MAMPS 0.026964 DATA_FILE_SIZE 53596,949

HUMID 63.58 CAP_FILE_SIZE 123385,1

INTERNAL_PRESSURE 9.05756 CFSIZE 2097086464,2078834688

TCM_TEMP 4.80 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,2

XPDR_PINGS 0 GPS 241213,180636,-5459.187,0.586,27,0.7,27,-20.3

_24V_AH 21.6,56.207

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 278 143.90 SBE_CT 676 24 350.89

Roll_motor 47 117 119.46 WL_BB2FLVMT 653 105 1482.78

VBD_pump_during_apogee 270 1653 9642.15 SBE_O2 638 19 262.04

VBD_pump_during_surface 60 1093 1433.89 QSP2150 59 4 5.61

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 65.22 nil 0 0 0.00

Iridium_during_connect 25 160 86.64 nil 0 0 0.00

Iridium_during_xfer 243 223 1172.90 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 6.14

TT8 2371 14 354.78

LPSleep 8119 2 177.82

TT8_Active 408 14 58.00

TT8_Sampling 2579 37 965.61

TT8_CF8 123 47 58.02

TT8_Kalman 0 0 0.00

Analog_circuits 1407 12 168.91

GPS_charging 0 0 0.00

Compass 2236 15 351.73

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 46 0.00 0.00 -20.00 0.000 2 0.000 0.000 66 1960 2086 0 0 0 0 0 0

48 -0.90 -137.6 3.0 -0.7 3 128 12.60 0.55 -62.38 0.000 4 0.278 0.106 2729 1612 3161 0 0 0 0 0 0

137 -0.90 -143.6 4.9 -8.8 17 145 0.00 0.38 -0.77 0.000 6 0.000 0.037 2728 1883 3186 0 0 0 0 0 0

194 -0.90 -143.6 16.0 -20.0 26 201 0.00 0.57 0.00 0.000 4 0.000 0.042 2725 2288 3187 0 0 0 0 0 0

261 -0.90 -143.6 30.0 -18.3 37 267 0.03 0.57 0.00 0.000 6 0.239 0.037 2732 1885 3187 0 0 0 0 0 0

405 -0.90 -143.6 57.0 -19.1 62 409 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 1885 3188 0 0 0 0 0 0

749 -0.90 -143.6 121.6 -18.5 113 753 0.00 1.23 0.00 0.000 4 0.000 0.049 2733 1119 3188 0 0 0 0 0 0

829 -0.90 -143.6 135.7 -17.3 120 832 0.00 1.20 0.00 0.000 6 0.000 0.030 2728 1901 3188 0 0 0 0 0 0

1158 -0.90 -143.6 192.0 -16.5 151 1162 0.00 1.90 0.00 0.000 4 0.000 0.047 2719 3122 3187 0 0 0 0 0 0

1283 -0.90 -143.6 212.4 -15.8 162 1287 0.08 1.83 0.00 0.000 6 0.217 0.031 2736 1930 3187 0 0 0 0 0 0

1614 -0.90 -143.6 261.6 -14.3 193 1618 0.00 0.60 0.00 0.000 4 0.000 0.049 2736 1522 3186 0 0 0 0 0 0

1674 -0.90 -143.6 270.8 -14.2 198 1680 0.00 0.60 0.00 0.000 6 0.000 0.033 2735 1941 3186 0 0 0 0 0 0

2003 -0.90 -143.6 315.7 -14.1 229 2006 0.00 0.55 0.00 0.000 4 0.000 0.041 2733 2342 3186 0 0 0 0 0 0

2097 -0.90 -143.6 329.8 -13.7 237 2102 0.00 0.68 0.00 0.000 6 0.000 0.037 2733 1892 3186 0 0 0 0 0 0

2422 -0.90 -143.6 375.7 -14.2 268 2423 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 1892 3186 0 0 0 0 0 0

2736 -0.90 -143.6 422.4 -15.1 291 2737 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 1892 3187 0 0 0 0 0 0

3045 -0.90 -143.6 467.4 -14.5 306 3047 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 1892 3187 0 0 0 0 0 0

3355 -0.90 -143.6 511.3 -14.2 321 3358 0.00 0.65 0.00 0.000 4 0.000 0.048 2732 1461 3187 0 0 0 0 0 0

3424 -0.90 -143.6 520.9 -14.3 324 3427 0.00 0.62 0.00 0.000 6 0.000 0.032 2731 1910 3188 0 0 0 0 0 0

3756 -0.90 -143.6 567.5 -13.7 340 3759 0.00 0.43 0.00 0.000 4 0.000 0.043 2728 2233 3188 0 0 0 0 0 0

4013 -0.90 -143.6 603.3 -14.5 351 4017 0.00 0.47 0.00 0.000 6 0.000 0.039 2729 1905 3188 0 0 0 0 0 0

4334 -0.90 -143.6 647.0 -13.6 367 4335 0.00 0.00 0.00 0.000 6 0.000 0.000 2728 1905 3188 0 0 0 0 0 0

4643 -0.90 -143.6 687.5 -12.8 382 4647 0.00 0.47 0.00 0.000 4 0.000 0.051 2729 1574 3189 0 0 0 0 0 0

4748 -0.90 -143.6 701.5 -13.3 386 4754 0.00 0.47 0.00 0.000 6 0.000 0.034 2727 1915 3188 0 0 0 0 0 0

5064 -0.90 -143.6 740.0 -12.1 402 5065 0.00 0.00 0.00 0.000 6 0.000 0.000 2727 1914 3189 0 0 0 0 0 0

5373 -0.90 -143.6 777.1 -12.1 417 5377 0.00 0.70 0.00 0.000 4 0.000 0.039 2724 2402 3189 0 0 0 0 0 0

5450 -0.90 -143.6 786.5 -11.8 420 5455 0.08 0.75 0.00 0.000 6 0.213 0.036 2738 1905 3189 0 0 0 0 0 0

5771 -0.90 -143.6 823.1 -11.6 436 5775 0.00 0.62 0.00 0.000 4 0.000 0.049 2738 1485 3192 0 0 0 0 0 0

5861 -0.90 -143.6 834.3 -13.0 440 5864 0.00 0.57 0.00 0.000 6 0.000 0.033 2737 1905 3192 0 0 0 0 0 0

6192 -0.90 -143.6 873.0 -11.5 456 6194 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 1905 3192 0 0 0 0 0 0

6502 -0.90 -143.6 909.4 -11.9 471 6505 0.00 0.60 0.00 0.000 4 0.000 0.040 2734 2335 3193 0 0 0 0 0 0

6579 -0.90 -143.6 918.6 -12.3 474 6583 0.00 0.65 0.00 0.000 6 0.000 0.036 2734 1897 3193 0 0 0 0 0 0

6900 -0.90 -143.6 955.5 -11.5 490 6901 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 1897 3193 0 0 0 0 0 0

7208 end dive: TARGET_DEPTH_EXCEEDED

state 7208 begin apogee

7213 -0.16 0.0 991.9 11.9 505 7344 0.88 0.00 128.30 1.653 6 0.173 0.000 2972 1831 2600 0 0 0 0 0 0

7345 end apogee: CONTROL_FINISHED_OK

state 7345 begin climb

7347 0.90 143.6 994.2 0.0 511 7494 1.15 0.00 141.73 1.570 6 0.101 0.000 3315 1831 2014 0 0 0 0 0 0

7798 0.90 143.6 924.5 17.1 533 7802 0.00 2.17 0.00 0.000 4 0.000 0.059 3325 546 2005 0 0 0 0 0 0

7914 0.90 143.6 903.4 18.2 538 7919 0.00 1.98 0.00 0.000 6 0.000 0.026 3325 1791 2004 0 0 0 0 0 0

8236 0.90 143.6 847.2 17.3 554 8239 0.00 0.95 0.00 0.000 4 0.000 0.049 3327 1214 2003 0 0 0 0 0 0

8425 0.90 143.6 813.5 17.5 562 8430 0.00 0.95 0.00 0.000 6 0.000 0.026 3327 1844 2003 0 0 0 0 0 0

8747 0.90 143.6 758.3 17.3 578 8751 0.00 2.17 0.00 0.000 4 0.000 0.056 3336 507 2003 0 0 0 0 0 0

8857 0.90 143.6 737.7 17.9 583 8863 0.03 2.00 0.00 0.000 6 0.202 0.026 3328 1810 2003 0 0 0 0 0 0

9185 0.90 143.6 679.2 18.3 599 9188 0.00 1.05 0.00 0.000 4 0.000 0.049 3331 1160 2003 0 0 0 0 0 0

9297 0.90 143.6 658.2 20.0 604 9301 0.00 1.00 0.00 0.000 6 0.000 0.028 3331 1840 2002 0 0 0 0 0 0

9629 0.90 143.6 596.1 18.6 620 9632 0.00 1.05 0.00 0.000 4 0.000 0.048 3335 1186 2003 0 0 0 0 0 0

9773 0.90 143.6 568.4 19.5 626 9778 0.00 0.95 0.00 0.000 6 0.000 0.027 3335 1829 2002 0 0 0 0 0 0

10095 0.90 143.6 507.0 19.4 642 10099 0.00 1.65 0.00 0.000 4 0.000 0.052 3342 786 2003 0 0 0 0 0 0

10230 0.90 143.6 479.9 20.4 648 10234 0.05 1.52 0.00 0.000 6 0.182 0.026 3327 1801 2003 0 0 0 0 0 0

10561 0.90 143.6 417.8 18.9 664 10562 0.00 0.00 0.00 0.000 6 0.000 0.000 3327 1801 2003 0 0 0 0 0 0

10879 0.90 143.6 358.4 19.0 689 10882 0.00 1.65 0.00 0.000 4 0.000 0.053 3333 795 2003 0 0 0 0 0 0

10996 0.90 143.6 335.0 20.1 699 11002 0.00 1.55 0.00 0.000 6 0.000 0.026 3333 1821 2003 0 0 0 0 0 0

11321 0.90 143.6 275.7 18.0 730 11325 0.00 0.95 0.00 0.000 4 0.000 0.048 3336 1226 2003 0 0 0 0 0 0

11505 0.90 143.6 243.6 16.9 746 11511 0.00 0.90 0.00 0.000 6 0.000 0.024 3336 1824 2003 0 0 0 0 0 0

11834 0.90 143.6 190.7 17.3 777 11838 0.00 0.90 0.00 0.000 4 0.000 0.047 3339 1261 2003 0 0 0 0 0 0

11913 0.90 143.6 176.4 17.0 784 11917 0.03 0.82 0.00 0.000 6 0.200 0.027 3329 1819 2003 0 0 0 0 0 0

12242 0.90 143.6 124.1 14.7 815 12246 0.00 1.50 0.00 0.000 4 0.000 0.052 3334 905 2003 0 0 0 0 0 0

12371 0.90 143.6 104.1 14.9 826 12378 0.00 1.40 0.00 0.000 6 0.000 0.026 3334 1825 2003 0 0 0 0 0 0

12716 0.90 143.6 55.4 14.4 884 12721 0.00 0.00 0.00 0.000 6 0.000 0.000 3334 1825 2004 0 0 0 0 0 0

13071 0.90 143.6 3.5 13.8 945 13078 0.00 1.15 0.00 0.000 4 0.000 0.054 3340 1121 2004 0 0 0 0 0 0

13085 end climb: SURFACE_DEPTH_REACHED

state 13085 begin surface coast

13098 end surface coast: CONTROL_FINISHED_OK

state 13099 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	123	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	40	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	210	R_STBD_OVSHOOT	91	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	-15208.8	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	102

GPS1	241213,141834,-5459.952,2.893,43,0.8,43,-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	2.95	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-74.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	241213,142530,-5459.922,2.998,20,1.4,20,-20.3	MHEAD_RNG_PITCHd_Wd	287.7,3188,-27.8,-9.429
SPEED_LIMITS	0.163,0.255	D_GRID	990

FINISH	1.7,1.003604	_10V_AH	10.0,40.409
SM_CCo	13116,60.72,1.093,1,0,1743,210.22	FG_AHR_24Vo	0.000
SM_GC	2.74,0.00,0.00,60.72,0.000,0.000,1.093,71,1907,1743,-9.24,0.06,210.22	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5438.56,0.00,241213,101019	MEM	354740
TT8_MAMPS	0.026964	DATA_FILE_SIZE	53596,949
HUMID	63.58	CAP_FILE_SIZE	123385,1
INTERNAL_PRESSURE	9.05756	CFSIZE	2097086464,2078834688
TCM_TEMP	4.80	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,2
XPDR_PINGS	0	GPS	241213,180636,-5459.187,0.586,27,0.7,27,-20.3
_24V_AH	21.6,56.207

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	278	143.90	SBE_CT	676	24	350.89
Roll_motor	47	117	119.46	WL_BB2FLVMT	653	105	1482.78
VBD_pump_during_apogee	270	1653	9642.15	SBE_O2	638	19	262.04
VBD_pump_during_surface	60	1093	1433.89	QSP2150	59	4	5.61
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	65.22	nil	0	0	0.00
Iridium_during_connect	25	160	86.64	nil	0	0	0.00
Iridium_during_xfer	243	223	1172.90	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	6.14
TT8	2371	14	354.78
LPSleep	8119	2	177.82
TT8_Active	408	14	58.00
TT8_Sampling	2579	37	965.61
TT8_CF8	123	47	58.02
TT8_Kalman	0	0	0.00
Analog_circuits	1407	12	168.91
GPS_charging	0	0	0.00
Compass	2236	15	351.73
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	46	0.00	0.00	-20.00	0.000	2	0.000	0.000	66	1960	2086	0	0	0	0	0	0
48	-0.90	-137.6	3.0	-0.7	3	128	12.60	0.55	-62.38	0.000	4	0.278	0.106	2729	1612	3161	0	0	0	0	0	0
137	-0.90	-143.6	4.9	-8.8	17	145	0.00	0.38	-0.77	0.000	6	0.000	0.037	2728	1883	3186	0	0	0	0	0	0
194	-0.90	-143.6	16.0	-20.0	26	201	0.00	0.57	0.00	0.000	4	0.000	0.042	2725	2288	3187	0	0	0	0	0	0
261	-0.90	-143.6	30.0	-18.3	37	267	0.03	0.57	0.00	0.000	6	0.239	0.037	2732	1885	3187	0	0	0	0	0	0
405	-0.90	-143.6	57.0	-19.1	62	409	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	1885	3188	0	0	0	0	0	0
749	-0.90	-143.6	121.6	-18.5	113	753	0.00	1.23	0.00	0.000	4	0.000	0.049	2733	1119	3188	0	0	0	0	0	0
829	-0.90	-143.6	135.7	-17.3	120	832	0.00	1.20	0.00	0.000	6	0.000	0.030	2728	1901	3188	0	0	0	0	0	0
1158	-0.90	-143.6	192.0	-16.5	151	1162	0.00	1.90	0.00	0.000	4	0.000	0.047	2719	3122	3187	0	0	0	0	0	0
1283	-0.90	-143.6	212.4	-15.8	162	1287	0.08	1.83	0.00	0.000	6	0.217	0.031	2736	1930	3187	0	0	0	0	0	0
1614	-0.90	-143.6	261.6	-14.3	193	1618	0.00	0.60	0.00	0.000	4	0.000	0.049	2736	1522	3186	0	0	0	0	0	0
1674	-0.90	-143.6	270.8	-14.2	198	1680	0.00	0.60	0.00	0.000	6	0.000	0.033	2735	1941	3186	0	0	0	0	0	0
2003	-0.90	-143.6	315.7	-14.1	229	2006	0.00	0.55	0.00	0.000	4	0.000	0.041	2733	2342	3186	0	0	0	0	0	0
2097	-0.90	-143.6	329.8	-13.7	237	2102	0.00	0.68	0.00	0.000	6	0.000	0.037	2733	1892	3186	0	0	0	0	0	0
2422	-0.90	-143.6	375.7	-14.2	268	2423	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	1892	3186	0	0	0	0	0	0
2736	-0.90	-143.6	422.4	-15.1	291	2737	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	1892	3187	0	0	0	0	0	0
3045	-0.90	-143.6	467.4	-14.5	306	3047	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	1892	3187	0	0	0	0	0	0
3355	-0.90	-143.6	511.3	-14.2	321	3358	0.00	0.65	0.00	0.000	4	0.000	0.048	2732	1461	3187	0	0	0	0	0	0
3424	-0.90	-143.6	520.9	-14.3	324	3427	0.00	0.62	0.00	0.000	6	0.000	0.032	2731	1910	3188	0	0	0	0	0	0
3756	-0.90	-143.6	567.5	-13.7	340	3759	0.00	0.43	0.00	0.000	4	0.000	0.043	2728	2233	3188	0	0	0	0	0	0
4013	-0.90	-143.6	603.3	-14.5	351	4017	0.00	0.47	0.00	0.000	6	0.000	0.039	2729	1905	3188	0	0	0	0	0	0
4334	-0.90	-143.6	647.0	-13.6	367	4335	0.00	0.00	0.00	0.000	6	0.000	0.000	2728	1905	3188	0	0	0	0	0	0
4643	-0.90	-143.6	687.5	-12.8	382	4647	0.00	0.47	0.00	0.000	4	0.000	0.051	2729	1574	3189	0	0	0	0	0	0
4748	-0.90	-143.6	701.5	-13.3	386	4754	0.00	0.47	0.00	0.000	6	0.000	0.034	2727	1915	3188	0	0	0	0	0	0
5064	-0.90	-143.6	740.0	-12.1	402	5065	0.00	0.00	0.00	0.000	6	0.000	0.000	2727	1914	3189	0	0	0	0	0	0
5373	-0.90	-143.6	777.1	-12.1	417	5377	0.00	0.70	0.00	0.000	4	0.000	0.039	2724	2402	3189	0	0	0	0	0	0
5450	-0.90	-143.6	786.5	-11.8	420	5455	0.08	0.75	0.00	0.000	6	0.213	0.036	2738	1905	3189	0	0	0	0	0	0
5771	-0.90	-143.6	823.1	-11.6	436	5775	0.00	0.62	0.00	0.000	4	0.000	0.049	2738	1485	3192	0	0	0	0	0	0
5861	-0.90	-143.6	834.3	-13.0	440	5864	0.00	0.57	0.00	0.000	6	0.000	0.033	2737	1905	3192	0	0	0	0	0	0
6192	-0.90	-143.6	873.0	-11.5	456	6194	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	1905	3192	0	0	0	0	0	0
6502	-0.90	-143.6	909.4	-11.9	471	6505	0.00	0.60	0.00	0.000	4	0.000	0.040	2734	2335	3193	0	0	0	0	0	0
6579	-0.90	-143.6	918.6	-12.3	474	6583	0.00	0.65	0.00	0.000	6	0.000	0.036	2734	1897	3193	0	0	0	0	0	0
6900	-0.90	-143.6	955.5	-11.5	490	6901	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	1897	3193	0	0	0	0	0	0
7208	end dive: TARGET_DEPTH_EXCEEDED
state	7208	begin apogee
7213	-0.16	0.0	991.9	11.9	505	7344	0.88	0.00	128.30	1.653	6	0.173	0.000	2972	1831	2600	0	0	0	0	0	0
7345	end apogee: CONTROL_FINISHED_OK
state	7345	begin climb
7347	0.90	143.6	994.2	0.0	511	7494	1.15	0.00	141.73	1.570	6	0.101	0.000	3315	1831	2014	0	0	0	0	0	0
7798	0.90	143.6	924.5	17.1	533	7802	0.00	2.17	0.00	0.000	4	0.000	0.059	3325	546	2005	0	0	0	0	0	0
7914	0.90	143.6	903.4	18.2	538	7919	0.00	1.98	0.00	0.000	6	0.000	0.026	3325	1791	2004	0	0	0	0	0	0
8236	0.90	143.6	847.2	17.3	554	8239	0.00	0.95	0.00	0.000	4	0.000	0.049	3327	1214	2003	0	0	0	0	0	0
8425	0.90	143.6	813.5	17.5	562	8430	0.00	0.95	0.00	0.000	6	0.000	0.026	3327	1844	2003	0	0	0	0	0	0
8747	0.90	143.6	758.3	17.3	578	8751	0.00	2.17	0.00	0.000	4	0.000	0.056	3336	507	2003	0	0	0	0	0	0
8857	0.90	143.6	737.7	17.9	583	8863	0.03	2.00	0.00	0.000	6	0.202	0.026	3328	1810	2003	0	0	0	0	0	0
9185	0.90	143.6	679.2	18.3	599	9188	0.00	1.05	0.00	0.000	4	0.000	0.049	3331	1160	2003	0	0	0	0	0	0
9297	0.90	143.6	658.2	20.0	604	9301	0.00	1.00	0.00	0.000	6	0.000	0.028	3331	1840	2002	0	0	0	0	0	0
9629	0.90	143.6	596.1	18.6	620	9632	0.00	1.05	0.00	0.000	4	0.000	0.048	3335	1186	2003	0	0	0	0	0	0
9773	0.90	143.6	568.4	19.5	626	9778	0.00	0.95	0.00	0.000	6	0.000	0.027	3335	1829	2002	0	0	0	0	0	0
10095	0.90	143.6	507.0	19.4	642	10099	0.00	1.65	0.00	0.000	4	0.000	0.052	3342	786	2003	0	0	0	0	0	0
10230	0.90	143.6	479.9	20.4	648	10234	0.05	1.52	0.00	0.000	6	0.182	0.026	3327	1801	2003	0	0	0	0	0	0
10561	0.90	143.6	417.8	18.9	664	10562	0.00	0.00	0.00	0.000	6	0.000	0.000	3327	1801	2003	0	0	0	0	0	0
10879	0.90	143.6	358.4	19.0	689	10882	0.00	1.65	0.00	0.000	4	0.000	0.053	3333	795	2003	0	0	0	0	0	0
10996	0.90	143.6	335.0	20.1	699	11002	0.00	1.55	0.00	0.000	6	0.000	0.026	3333	1821	2003	0	0	0	0	0	0
11321	0.90	143.6	275.7	18.0	730	11325	0.00	0.95	0.00	0.000	4	0.000	0.048	3336	1226	2003	0	0	0	0	0	0
11505	0.90	143.6	243.6	16.9	746	11511	0.00	0.90	0.00	0.000	6	0.000	0.024	3336	1824	2003	0	0	0	0	0	0
11834	0.90	143.6	190.7	17.3	777	11838	0.00	0.90	0.00	0.000	4	0.000	0.047	3339	1261	2003	0	0	0	0	0	0
11913	0.90	143.6	176.4	17.0	784	11917	0.03	0.82	0.00	0.000	6	0.200	0.027	3329	1819	2003	0	0	0	0	0	0
12242	0.90	143.6	124.1	14.7	815	12246	0.00	1.50	0.00	0.000	4	0.000	0.052	3334	905	2003	0	0	0	0	0	0
12371	0.90	143.6	104.1	14.9	826	12378	0.00	1.40	0.00	0.000	6	0.000	0.026	3334	1825	2003	0	0	0	0	0	0
12716	0.90	143.6	55.4	14.4	884	12721	0.00	0.00	0.00	0.000	6	0.000	0.000	3334	1825	2004	0	0	0	0	0	0
13071	0.90	143.6	3.5	13.8	945	13078	0.00	1.15	0.00	0.000	4	0.000	0.054	3340	1121	2004	0	0	0	0	0	0
13085	end climb: SURFACE_DEPTH_REACHED
state	13085	begin surface coast
13098	end surface coast: CONTROL_FINISHED_OK
state	13099	begin surface