Glider dive log

SOSCEx Dec15 * SG574 * Dive index * Mission links * Dive 126 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 574 HD_B 0.010078 ROLL_MIN 245 ALTIM_TOP_TURN_MARGIN 0

MISSION 18 HD_C 9.8500004e-06 ROLL_MAX 3880 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 126 HEADING -1 ROLL_DEG 40 ALTIM_PING_DEPTH 20

D_SURF 3 ESCAPE_HEADING 0 C_ROLL_DIVE 2260 ALTIM_PING_DELTA 10

D_FLARE 3 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1990 ALTIM_FREQUENCY 13

D_TGT 1000 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_ABORT 1020 TGT_DEFAULT_LAT 4808 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

D_NO_BLEED 200 TGT_DEFAULT_LON -12223 ROLL_TIMEOUT 15 XPDR_VALID 2

D_BOOST 5 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 23 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 220 R_STBD_OVSHOOT 27 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST_BLACKOUT 0 N_FILEKB 4 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0

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 500 DEVICE2 20

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MAX 3961 DEVICE3 118

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 C_VBD 2650 DEVICE4 131

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 720 CAPUPLOAD 1 VBD_TIMEOUT 720 LOGGERS 0

T_TURN 500 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 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 -2337527.2 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 145 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 95 RAFOS_DEVICE -1

RELAUNCH 0 RAFOS_CORR_THRESH 60 MINV_24V 19 XPDR_DEVICE 24

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_10V 8.5 SIM_W 0

MAX_BUOY 50 PITCH_MIN 143 FG_AHR_10V 0 SIM_PITCH 0

COURSE_BIAS 0 PITCH_MAX 3888 FG_AHR_24V 0 SEABIRD_T_G 0.0043017557

GLIDE_SLOPE 30 C_PITCH 2871 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062339538

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -47.417881 SEABIRD_T_I 2.3377639e-05

RHO 1.0275 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.0001171049 SEABIRD_T_J 2.5612862e-06

MASS 53452 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_C_G -9.9136524

LENGTH 1.8 PITCH_GAIN 45 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1456692

NAV_MODE 2 PITCH_TIMEOUT 17 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 ALTIM_TOP_PING_RANGE 0 GC_WINDOW 0

HD_A 0.0038360001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 15 GC_LAST_COLLECTION 125

AD7714Ch0Gain 128 D_NO_BLEED 200 N_GPS 20 SEABIRD_T_J 2.5612862e-06

AH0_10V 95 D_OFFGRID 100 N_NOCOMM 1 SIM_PITCH 0

AH0_24V 145 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 0 STROBE 0

ALTIM_PING_DELTA 10 EBE_ENABLE 0 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 20 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 0.1 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_GAIN 45 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_MAX 3888 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 4808

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PITCH_MIN 143 TGT_DEFAULT_LON -12223

CALL_NDIVES 1 GC_LAST_COLLECTION 125 PITCH_TIMEOUT 17 T_ABORT 720

CALL_TRIES 5 GC_WINDOW 0 PITCH_VBD_SHIFT 0.0012300001 T_BOOST 0

CALL_WAIT 60 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001171049 T_BOOST_BLACKOUT 0

CAPMAXSIZE 100000 GPS_DEVICE 32 PRESSURE_YINT -47.417881 T_DIVE 335

CAPUPLOAD 1 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 -2337527.2

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 1.0275 T_RSLEEP 3

C_PITCH 2871 ID 574 ROLL_ADJ_DBAND 0 T_TURN 500

C_ROLL_CLIMB 1990 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_DIVE 2260 INT_PRESSURE_YINT 0 ROLL_AD_RATE 350 T_WATCHDOG 10

C_VBD 2650 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 3880 USE_ICE 0

DEVICE2 20 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE3 118 LOGGERDEVICE3 -1 ROLL_MIN 245 VBD_CNV -0.245296

DEVICE4 131 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE5 -1 LOGGERS 0 R_PORT_OVSHOOT 23 VBD_MAX 3961

DEVICE6 -1 MASS 53452 R_STBD_OVSHOOT 27 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 50 SEABIRD_C_G -9.9136524 VBD_MIN 500

DIVE 126 MINV_10V 8.5 SEABIRD_C_H 1.1456692 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1020 MINV_24V 19 SEABIRD_C_I -0.00078246131 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 5 MISSION 18 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 2 SEABIRD_T_H 0.00062339538 XPDR_INHIBIT 90

D_FLARE 3 N_FILEKB 4 SEABIRD_T_I 2.3377639e-05 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 301215,200757,-4503.205,624.477,67,1.0,67,-24.4 TGT_NAME SAF_BUT1

_CALLS 4 TGT_LATLONG -4504.000,624.000

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.51 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -78.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 301215,203011,-4503.190,624.568,4,1.1,4,-24.4 MHEAD_RNG_PITCHd_Wd 248.2,1674,-27.8,-9.950

SPEED_LIMITS 0.172,0.182 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.4,1.002440 _10V_AH 10.2,17.797

SM_CCo 17509,47.12,0.055,0,0,1752,220.03 FG_AHR_24Vo 0.000

SM_GC 3.31,0.00,0.00,47.12,0.000,0.000,0.055,147,2273,1752,-8.51,0.37,220.03 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4444.39,624.79,261008,090952 MEM 354164

TT8_MAMPS 0.026215 DATA_FILE_SIZE 70198,1218

HUMID 48.22 CAP_FILE_SIZE 196835,0

INTERNAL_PRESSURE 8.90659 CFSIZE 2097086464,2079490048

TCM_TEMP 9.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 CURRENT 0.077, 98.1,1

_24V_AH 23.9,20.265 GPS 311215,012527,-4503.313,623.867,81,1.0,82,-24.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 317 159.72 SBE_CT 860 54 1124.69

Roll_motor 118 64 182.72 SBE_O2 827 2 44.50

VBD_pump_during_apogee 139 1282 4280.85 QSP2150 82 6 13.23

VBD_pump_during_surface 47 55 62.04 WL_BB2FLVMT 868 105 2179.75

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 103 91 225.82 nil 0 0 0.00

Iridium_during_connect 225 160 862.03 nil 0 0 0.00

Iridium_during_xfer 666 223 3554.08 nil 0 0 0.00

Transponder_ping 24 420 248.44 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 8 32 2.95

TT8 3484 13 482.32

LPSleep 9930 2 221.82

TT8_Active 338 13 46.79

TT8_Sampling 4977 41 2095.80

TT8_CF8 163 48 80.33

TT8_Kalman 0 0 0.00

Analog_circuits 1939 15 309.45

GPS_charging 0 0 0.00

Compass 3832 19 761.04

RAFOS 0 0 0.00

Transponder 148 30 45.33

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

23 -0.68 -48.7 0.0 0.0 0 73 0.00 0.00 -44.28 0.000 6 0.000 0.000 143 2273 2851 0 0 0 0 0 0

75 -0.68 -48.7 3.4 -2.0 6 92 10.75 0.00 0.00 0.000 6 0.271 0.000 2641 2273 2851 0 0 0 0 0 0

142 -0.68 -48.7 15.9 -18.0 16 151 0.00 0.00 0.00 0.000 6 0.000 0.000 2641 2273 2851 0 0 0 0 0 0

202 -0.68 -48.7 27.2 -19.0 25 210 0.00 0.00 0.00 0.000 6 0.000 0.000 2640 2273 2851 0 0 0 0 0 0

351 -0.68 -48.7 55.9 -17.6 50 358 0.00 2.25 0.00 0.000 4 0.000 0.053 2631 3681 2852 0 0 0 0 0 0

488 -0.68 -48.7 79.4 -17.1 73 498 0.00 2.22 0.00 0.000 6 0.000 0.037 2631 2253 2852 0 0 0 0 0 0

824 -0.68 -48.7 132.1 -15.2 114 828 0.00 2.25 0.00 0.000 4 0.000 0.052 2622 3669 2852 0 0 0 0 0 0

1005 -0.68 -48.7 161.8 -15.2 129 1013 0.00 2.22 0.00 0.000 6 0.000 0.037 2625 2263 2851 0 0 0 0 0 0

1330 -0.68 -48.7 212.5 -15.6 160 1334 0.00 2.22 0.00 0.000 4 0.000 0.054 2616 3671 2852 0 0 0 0 0 0

1672 -0.68 -48.7 268.6 -16.3 189 1677 0.12 2.22 0.00 0.000 6 0.302 0.041 2647 2253 2852 0 0 0 0 0 0

2002 -0.68 -48.7 316.1 -13.9 220 2006 0.00 2.25 0.00 0.000 4 0.000 0.054 2637 3681 2852 0 0 0 0 0 0

2307 -0.68 -48.7 360.0 -14.0 246 2311 0.00 2.20 0.00 0.000 6 0.000 0.041 2638 2260 2853 0 0 0 0 0 0

2641 -0.68 -48.7 403.4 -13.0 276 2645 0.00 2.22 0.00 0.000 4 0.000 0.056 2629 3672 2852 0 0 0 0 0 0

3018 -0.68 -48.7 452.4 -13.3 293 3022 0.00 2.20 0.00 0.000 6 0.000 0.044 2630 2259 2852 0 0 0 0 0 0

3344 -0.68 -48.7 492.6 -12.2 309 3348 0.00 2.22 0.00 0.000 4 0.000 0.057 2621 3668 2852 0 0 0 0 0 0

3893 -0.68 -48.7 566.6 -12.9 333 3901 0.00 2.25 0.00 0.000 6 0.000 0.046 2621 2256 2851 0 0 0 0 0 0

4210 -0.68 -48.7 605.7 -12.2 349 4215 0.12 2.25 0.00 0.000 4 0.317 0.057 2637 3669 2851 0 0 0 0 0 0

4496 -0.68 -48.7 640.4 -11.3 362 4500 0.00 2.20 0.00 0.000 6 0.000 0.048 2637 2263 2851 0 0 0 0 0 0

4824 -0.68 -48.7 679.9 -11.9 378 4828 0.00 2.25 0.00 0.000 4 0.000 0.060 2628 3666 2850 0 0 0 0 0 0

5085 -0.68 -48.7 714.0 -12.8 389 5093 0.00 2.25 0.00 0.000 6 0.000 0.050 2628 2262 2850 0 0 0 0 0 0

5402 -0.68 -48.7 752.9 -12.5 405 5406 0.00 2.25 0.00 0.000 4 0.000 0.062 2618 3665 2850 0 0 0 0 0 0

5725 -0.68 -48.7 793.9 -12.4 419 5733 0.08 2.25 0.00 0.000 6 0.256 0.051 2641 2258 2850 0 0 0 0 0 0

6043 -0.68 -48.7 827.2 -10.4 435 6047 0.00 2.25 0.00 0.000 4 0.000 0.062 2632 3673 2849 0 0 0 0 0 0

6310 -0.68 -48.7 857.7 -11.0 447 6315 0.00 2.28 0.00 0.000 6 0.000 0.053 2631 2261 2849 0 0 0 0 0 0

6638 -0.68 -48.7 892.7 -10.7 463 6642 0.00 2.25 0.00 0.000 4 0.000 0.063 2622 3671 2848 0 0 0 0 0 0

6933 -0.68 -48.7 926.9 -12.1 476 6938 0.00 2.28 0.00 0.000 6 0.000 0.054 2622 2258 2847 0 0 0 0 0 0

7257 -0.68 -48.7 961.2 -10.6 492 7261 0.00 2.25 0.00 0.000 4 0.000 0.064 2614 3666 2847 0 0 0 0 0 0

7605 end dive: TARGET_DEPTH_EXCEEDED

state 7605 begin apogee

7611 -0.11 0.0 1000.2 11.6 507 7658 0.73 0.00 39.83 1.282 6 0.220 0.000 2823 1975 2649 0 0 0 0 0 0

7659 end apogee: CONTROL_FINISHED_OK

state 7659 begin climb

7660 0.68 48.7 1002.8 0.0 510 7708 0.80 2.40 41.38 1.258 4 0.145 0.056 3089 580 2450 0 0 0 0 0 0

7892 0.68 51.3 982.8 9.7 520 7902 0.00 2.35 3.65 0.717 6 0.000 0.050 3084 1977 2439 0 0 0 0 0 0

8208 0.68 52.6 952.1 9.8 536 8212 0.00 2.30 0.00 0.000 4 0.000 0.057 3094 574 2439 0 0 0 0 0 0

8683 0.68 52.6 902.1 10.9 557 8688 0.00 2.33 0.00 0.000 6 0.000 0.050 3088 1985 2439 0 0 0 0 0 0

9006 0.68 52.6 869.8 10.1 573 9010 0.00 2.28 0.00 0.000 4 0.000 0.057 3097 579 2439 0 0 0 0 0 0

9531 0.68 52.6 815.2 10.0 596 9540 0.00 2.30 0.00 0.000 6 0.000 0.050 3094 1992 2439 0 0 0 0 0 0

9848 0.69 59.4 784.9 9.2 612 9862 0.00 2.35 7.85 0.951 4 0.000 0.055 3103 575 2406 0 0 0 0 0 0

10288 0.70 63.8 740.9 9.5 631 10299 0.00 2.30 4.93 0.763 6 0.000 0.050 3098 1988 2390 0 0 0 0 0 0

10626 0.70 63.8 706.2 10.4 648 10631 0.00 2.28 0.00 0.000 4 0.000 0.057 3107 575 2390 0 0 0 0 0 0

11119 0.70 63.8 654.0 10.4 670 11124 0.00 2.30 0.00 0.000 6 0.000 0.049 3102 1988 2389 0 0 0 0 0 0

11448 0.70 64.4 622.3 9.9 686 11452 0.00 2.30 0.00 0.000 4 0.000 0.057 3111 568 2389 0 0 0 0 0 0

12013 0.70 70.2 563.7 9.3 711 12027 0.00 2.30 6.90 0.819 6 0.000 0.050 3111 1988 2363 0 0 0 0 0 0

12334 0.70 70.2 529.0 11.0 727 12338 0.00 2.28 0.00 0.000 4 0.000 0.057 3121 568 2363 0 0 0 0 0 0

12844 0.70 70.2 471.5 11.5 750 12849 0.00 2.30 0.00 0.000 6 0.000 0.050 3121 2002 2362 0 0 0 0 0 0

13170 0.70 70.2 436.4 10.7 766 13174 0.00 2.28 0.00 0.000 4 0.000 0.057 3131 578 2362 0 0 0 0 0 0

13741 0.70 70.2 372.8 11.4 802 13745 0.12 2.25 0.00 0.000 6 0.279 0.049 3104 2000 2362 0 0 0 0 0 0

14065 0.72 79.1 342.9 9.0 832 14081 0.00 2.30 8.27 0.760 4 0.000 0.055 3113 578 2326 0 0 0 0 0 0

14641 0.72 79.1 283.8 10.1 882 14645 0.00 2.28 0.00 0.000 6 0.000 0.050 3113 1997 2327 0 0 0 0 0 0

14965 0.72 81.7 253.1 9.7 912 14981 0.00 2.35 3.88 0.495 4 0.000 0.056 3123 568 2316 0 0 0 0 0 0

15461 0.72 81.7 202.3 11.1 955 15465 0.00 2.28 0.00 0.000 6 0.000 0.050 3123 1992 2316 0 0 0 0 0 0

15787 0.72 81.7 167.9 11.0 985 15791 0.00 2.25 0.00 0.000 4 0.000 0.055 3134 577 2316 0 0 0 0 0 0

15907 0.72 86.1 156.0 9.5 995 15920 0.00 2.25 4.93 0.549 6 0.000 0.049 3134 2000 2299 0 0 0 0 0 0

16236 0.72 86.1 121.2 10.2 1026 16240 0.00 2.28 0.00 0.000 4 0.000 0.056 3144 573 2298 0 0 0 0 0 0

16802 0.73 88.1 66.2 9.7 1105 16809 0.15 2.25 0.00 0.000 6 0.265 0.049 3110 1997 2299 0 0 0 0 0 0

17154 0.75 105.6 36.8 8.1 1166 17180 0.00 2.33 16.42 0.676 4 0.000 0.054 3119 583 2218 0 0 0 0 0 0

17212 0.75 109.3 31.4 9.6 1174 17222 0.00 2.28 1.67 0.122 6 0.000 0.049 3119 1982 2204 0 0 0 0 0 0

17369 0.75 109.3 14.0 11.3 1199 17378 0.00 2.30 0.00 0.000 4 0.000 0.056 3129 580 2203 0 0 0 0 0 0

17452 0.75 109.3 4.2 12.4 1212 17461 0.00 2.28 0.00 0.000 6 0.000 0.047 3129 1984 2202 0 0 0 0 0 0

17468 end climb: SURFACE_DEPTH_REACHED

state 17468 begin surface coast

17494 end surface coast: CONTROL_FINISHED_OK

state 17494 begin surface

ID	574	HD_B	0.010078	ROLL_MIN	245	ALTIM_TOP_TURN_MARGIN	0
MISSION	18	HD_C	9.8500004e-06	ROLL_MAX	3880	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	126	HEADING	-1	ROLL_DEG	40	ALTIM_PING_DEPTH	20
D_SURF	3	ESCAPE_HEADING	0	C_ROLL_DIVE	2260	ALTIM_PING_DELTA	10
D_FLARE	3	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1990	ALTIM_FREQUENCY	13
D_TGT	1000	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_ABORT	1020	TGT_DEFAULT_LAT	4808	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
D_NO_BLEED	200	TGT_DEFAULT_LON	-12223	ROLL_TIMEOUT	15	XPDR_VALID	2
D_BOOST	5	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	23	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	220	R_STBD_OVSHOOT	27	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST_BLACKOUT	0	N_FILEKB	4	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0
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	500	DEVICE2	20
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MAX	3961	DEVICE3	118
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	C_VBD	2650	DEVICE4	131
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	720	CAPUPLOAD	1	VBD_TIMEOUT	720	LOGGERS	0
T_TURN	500	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	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	-2337527.2	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	145	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	95	RAFOS_DEVICE	-1
RELAUNCH	0	RAFOS_CORR_THRESH	60	MINV_24V	19	XPDR_DEVICE	24
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	8.5	SIM_W	0
MAX_BUOY	50	PITCH_MIN	143	FG_AHR_10V	0	SIM_PITCH	0
COURSE_BIAS	0	PITCH_MAX	3888	FG_AHR_24V	0	SEABIRD_T_G	0.0043017557
GLIDE_SLOPE	30	C_PITCH	2871	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062339538
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-47.417881	SEABIRD_T_I	2.3377639e-05
RHO	1.0275	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.0001171049	SEABIRD_T_J	2.5612862e-06
MASS	53452	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_C_G	-9.9136524
LENGTH	1.8	PITCH_GAIN	45	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1456692
NAV_MODE	2	PITCH_TIMEOUT	17	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	ALTIM_TOP_PING_RANGE	0	GC_WINDOW	0
HD_A	0.0038360001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	15	GC_LAST_COLLECTION	125

GPS1	301215,200757,-4503.205,624.477,67,1.0,67,-24.4	TGT_NAME	SAF_BUT1
_CALLS	4	TGT_LATLONG	-4504.000,624.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.51	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-78.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	301215,203011,-4503.190,624.568,4,1.1,4,-24.4	MHEAD_RNG_PITCHd_Wd	248.2,1674,-27.8,-9.950
SPEED_LIMITS	0.172,0.182	D_GRID	1000

FINISH	1.4,1.002440	_10V_AH	10.2,17.797
SM_CCo	17509,47.12,0.055,0,0,1752,220.03	FG_AHR_24Vo	0.000
SM_GC	3.31,0.00,0.00,47.12,0.000,0.000,0.055,147,2273,1752,-8.51,0.37,220.03	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4444.39,624.79,261008,090952	MEM	354164
TT8_MAMPS	0.026215	DATA_FILE_SIZE	70198,1218
HUMID	48.22	CAP_FILE_SIZE	196835,0
INTERNAL_PRESSURE	8.90659	CFSIZE	2097086464,2079490048
TCM_TEMP	9.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	CURRENT	0.077, 98.1,1
_24V_AH	23.9,20.265	GPS	311215,012527,-4503.313,623.867,81,1.0,82,-24.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	317	159.72	SBE_CT	860	54	1124.69
Roll_motor	118	64	182.72	SBE_O2	827	2	44.50
VBD_pump_during_apogee	139	1282	4280.85	QSP2150	82	6	13.23
VBD_pump_during_surface	47	55	62.04	WL_BB2FLVMT	868	105	2179.75
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	103	91	225.82	nil	0	0	0.00
Iridium_during_connect	225	160	862.03	nil	0	0	0.00
Iridium_during_xfer	666	223	3554.08	nil	0	0	0.00
Transponder_ping	24	420	248.44	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	8	32	2.95
TT8	3484	13	482.32
LPSleep	9930	2	221.82
TT8_Active	338	13	46.79
TT8_Sampling	4977	41	2095.80
TT8_CF8	163	48	80.33
TT8_Kalman	0	0	0.00
Analog_circuits	1939	15	309.45
GPS_charging	0	0	0.00
Compass	3832	19	761.04
RAFOS	0	0	0.00
Transponder	148	30	45.33

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
23	-0.68	-48.7	0.0	0.0	0	73	0.00	0.00	-44.28	0.000	6	0.000	0.000	143	2273	2851	0	0	0	0	0	0
75	-0.68	-48.7	3.4	-2.0	6	92	10.75	0.00	0.00	0.000	6	0.271	0.000	2641	2273	2851	0	0	0	0	0	0
142	-0.68	-48.7	15.9	-18.0	16	151	0.00	0.00	0.00	0.000	6	0.000	0.000	2641	2273	2851	0	0	0	0	0	0
202	-0.68	-48.7	27.2	-19.0	25	210	0.00	0.00	0.00	0.000	6	0.000	0.000	2640	2273	2851	0	0	0	0	0	0
351	-0.68	-48.7	55.9	-17.6	50	358	0.00	2.25	0.00	0.000	4	0.000	0.053	2631	3681	2852	0	0	0	0	0	0
488	-0.68	-48.7	79.4	-17.1	73	498	0.00	2.22	0.00	0.000	6	0.000	0.037	2631	2253	2852	0	0	0	0	0	0
824	-0.68	-48.7	132.1	-15.2	114	828	0.00	2.25	0.00	0.000	4	0.000	0.052	2622	3669	2852	0	0	0	0	0	0
1005	-0.68	-48.7	161.8	-15.2	129	1013	0.00	2.22	0.00	0.000	6	0.000	0.037	2625	2263	2851	0	0	0	0	0	0
1330	-0.68	-48.7	212.5	-15.6	160	1334	0.00	2.22	0.00	0.000	4	0.000	0.054	2616	3671	2852	0	0	0	0	0	0
1672	-0.68	-48.7	268.6	-16.3	189	1677	0.12	2.22	0.00	0.000	6	0.302	0.041	2647	2253	2852	0	0	0	0	0	0
2002	-0.68	-48.7	316.1	-13.9	220	2006	0.00	2.25	0.00	0.000	4	0.000	0.054	2637	3681	2852	0	0	0	0	0	0
2307	-0.68	-48.7	360.0	-14.0	246	2311	0.00	2.20	0.00	0.000	6	0.000	0.041	2638	2260	2853	0	0	0	0	0	0
2641	-0.68	-48.7	403.4	-13.0	276	2645	0.00	2.22	0.00	0.000	4	0.000	0.056	2629	3672	2852	0	0	0	0	0	0
3018	-0.68	-48.7	452.4	-13.3	293	3022	0.00	2.20	0.00	0.000	6	0.000	0.044	2630	2259	2852	0	0	0	0	0	0
3344	-0.68	-48.7	492.6	-12.2	309	3348	0.00	2.22	0.00	0.000	4	0.000	0.057	2621	3668	2852	0	0	0	0	0	0
3893	-0.68	-48.7	566.6	-12.9	333	3901	0.00	2.25	0.00	0.000	6	0.000	0.046	2621	2256	2851	0	0	0	0	0	0
4210	-0.68	-48.7	605.7	-12.2	349	4215	0.12	2.25	0.00	0.000	4	0.317	0.057	2637	3669	2851	0	0	0	0	0	0
4496	-0.68	-48.7	640.4	-11.3	362	4500	0.00	2.20	0.00	0.000	6	0.000	0.048	2637	2263	2851	0	0	0	0	0	0
4824	-0.68	-48.7	679.9	-11.9	378	4828	0.00	2.25	0.00	0.000	4	0.000	0.060	2628	3666	2850	0	0	0	0	0	0
5085	-0.68	-48.7	714.0	-12.8	389	5093	0.00	2.25	0.00	0.000	6	0.000	0.050	2628	2262	2850	0	0	0	0	0	0
5402	-0.68	-48.7	752.9	-12.5	405	5406	0.00	2.25	0.00	0.000	4	0.000	0.062	2618	3665	2850	0	0	0	0	0	0
5725	-0.68	-48.7	793.9	-12.4	419	5733	0.08	2.25	0.00	0.000	6	0.256	0.051	2641	2258	2850	0	0	0	0	0	0
6043	-0.68	-48.7	827.2	-10.4	435	6047	0.00	2.25	0.00	0.000	4	0.000	0.062	2632	3673	2849	0	0	0	0	0	0
6310	-0.68	-48.7	857.7	-11.0	447	6315	0.00	2.28	0.00	0.000	6	0.000	0.053	2631	2261	2849	0	0	0	0	0	0
6638	-0.68	-48.7	892.7	-10.7	463	6642	0.00	2.25	0.00	0.000	4	0.000	0.063	2622	3671	2848	0	0	0	0	0	0
6933	-0.68	-48.7	926.9	-12.1	476	6938	0.00	2.28	0.00	0.000	6	0.000	0.054	2622	2258	2847	0	0	0	0	0	0
7257	-0.68	-48.7	961.2	-10.6	492	7261	0.00	2.25	0.00	0.000	4	0.000	0.064	2614	3666	2847	0	0	0	0	0	0
7605	end dive: TARGET_DEPTH_EXCEEDED
state	7605	begin apogee
7611	-0.11	0.0	1000.2	11.6	507	7658	0.73	0.00	39.83	1.282	6	0.220	0.000	2823	1975	2649	0	0	0	0	0	0
7659	end apogee: CONTROL_FINISHED_OK
state	7659	begin climb
7660	0.68	48.7	1002.8	0.0	510	7708	0.80	2.40	41.38	1.258	4	0.145	0.056	3089	580	2450	0	0	0	0	0	0
7892	0.68	51.3	982.8	9.7	520	7902	0.00	2.35	3.65	0.717	6	0.000	0.050	3084	1977	2439	0	0	0	0	0	0
8208	0.68	52.6	952.1	9.8	536	8212	0.00	2.30	0.00	0.000	4	0.000	0.057	3094	574	2439	0	0	0	0	0	0
8683	0.68	52.6	902.1	10.9	557	8688	0.00	2.33	0.00	0.000	6	0.000	0.050	3088	1985	2439	0	0	0	0	0	0
9006	0.68	52.6	869.8	10.1	573	9010	0.00	2.28	0.00	0.000	4	0.000	0.057	3097	579	2439	0	0	0	0	0	0
9531	0.68	52.6	815.2	10.0	596	9540	0.00	2.30	0.00	0.000	6	0.000	0.050	3094	1992	2439	0	0	0	0	0	0
9848	0.69	59.4	784.9	9.2	612	9862	0.00	2.35	7.85	0.951	4	0.000	0.055	3103	575	2406	0	0	0	0	0	0
10288	0.70	63.8	740.9	9.5	631	10299	0.00	2.30	4.93	0.763	6	0.000	0.050	3098	1988	2390	0	0	0	0	0	0
10626	0.70	63.8	706.2	10.4	648	10631	0.00	2.28	0.00	0.000	4	0.000	0.057	3107	575	2390	0	0	0	0	0	0
11119	0.70	63.8	654.0	10.4	670	11124	0.00	2.30	0.00	0.000	6	0.000	0.049	3102	1988	2389	0	0	0	0	0	0
11448	0.70	64.4	622.3	9.9	686	11452	0.00	2.30	0.00	0.000	4	0.000	0.057	3111	568	2389	0	0	0	0	0	0
12013	0.70	70.2	563.7	9.3	711	12027	0.00	2.30	6.90	0.819	6	0.000	0.050	3111	1988	2363	0	0	0	0	0	0
12334	0.70	70.2	529.0	11.0	727	12338	0.00	2.28	0.00	0.000	4	0.000	0.057	3121	568	2363	0	0	0	0	0	0
12844	0.70	70.2	471.5	11.5	750	12849	0.00	2.30	0.00	0.000	6	0.000	0.050	3121	2002	2362	0	0	0	0	0	0
13170	0.70	70.2	436.4	10.7	766	13174	0.00	2.28	0.00	0.000	4	0.000	0.057	3131	578	2362	0	0	0	0	0	0
13741	0.70	70.2	372.8	11.4	802	13745	0.12	2.25	0.00	0.000	6	0.279	0.049	3104	2000	2362	0	0	0	0	0	0
14065	0.72	79.1	342.9	9.0	832	14081	0.00	2.30	8.27	0.760	4	0.000	0.055	3113	578	2326	0	0	0	0	0	0
14641	0.72	79.1	283.8	10.1	882	14645	0.00	2.28	0.00	0.000	6	0.000	0.050	3113	1997	2327	0	0	0	0	0	0
14965	0.72	81.7	253.1	9.7	912	14981	0.00	2.35	3.88	0.495	4	0.000	0.056	3123	568	2316	0	0	0	0	0	0
15461	0.72	81.7	202.3	11.1	955	15465	0.00	2.28	0.00	0.000	6	0.000	0.050	3123	1992	2316	0	0	0	0	0	0
15787	0.72	81.7	167.9	11.0	985	15791	0.00	2.25	0.00	0.000	4	0.000	0.055	3134	577	2316	0	0	0	0	0	0
15907	0.72	86.1	156.0	9.5	995	15920	0.00	2.25	4.93	0.549	6	0.000	0.049	3134	2000	2299	0	0	0	0	0	0
16236	0.72	86.1	121.2	10.2	1026	16240	0.00	2.28	0.00	0.000	4	0.000	0.056	3144	573	2298	0	0	0	0	0	0
16802	0.73	88.1	66.2	9.7	1105	16809	0.15	2.25	0.00	0.000	6	0.265	0.049	3110	1997	2299	0	0	0	0	0	0
17154	0.75	105.6	36.8	8.1	1166	17180	0.00	2.33	16.42	0.676	4	0.000	0.054	3119	583	2218	0	0	0	0	0	0
17212	0.75	109.3	31.4	9.6	1174	17222	0.00	2.28	1.67	0.122	6	0.000	0.049	3119	1982	2204	0	0	0	0	0	0
17369	0.75	109.3	14.0	11.3	1199	17378	0.00	2.30	0.00	0.000	4	0.000	0.056	3129	580	2203	0	0	0	0	0	0
17452	0.75	109.3	4.2	12.4	1212	17461	0.00	2.28	0.00	0.000	6	0.000	0.047	3129	1984	2202	0	0	0	0	0	0
17468	end climb: SURFACE_DEPTH_REACHED
state	17468	begin surface coast
17494	end surface coast: CONTROL_FINISHED_OK
state	17494	begin surface