Glider dive log

SOSCEx Dec15 * SG574 * Dive index * Mission links * Dive 16 * 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 16 HEADING -1 ROLL_DEG 40 ALTIM_PING_DEPTH 20

D_SURF 3 ESCAPE_HEADING 0 C_ROLL_DIVE 2299 ALTIM_PING_DELTA 10

D_FLARE 3 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2062 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 28 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 300 R_STBD_OVSHOOT 29 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 2929 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 -2327220.8 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 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 200 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 39 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 15

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 300

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 39 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 15 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 -2327220.8

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 2062 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_DIVE 2299 INT_PRESSURE_YINT 0 ROLL_AD_RATE 350 T_WATCHDOG 10

C_VBD 2929 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 28 VBD_MAX 3961

DEVICE6 -1 MASS 53452 R_STBD_OVSHOOT 29 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 200 SEABIRD_C_G -9.9136524 VBD_MIN 500

DIVE 16 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 091215,161323,-4500.776,628.652,30,0.9,30,-24.4 TGT_NAME SAF_BUT1

_CALLS 1 TGT_LATLONG -4504.000,624.000

_XMS_NAKs 28 TGT_RADIUS 1000.000

_XMS_TOUTs 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.39 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -74.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 091215,162811,-4500.535,629.094,9,1.0,10,-24.4 MHEAD_RNG_PITCHd_Wd 265.2,9250,-15.6,-9.950

SPEED_LIMITS 0.172,0.295 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.6,1.014634 _10V_AH 10.3,4.934

SM_CCo 11749,44.72,0.051,0,0,1703,300.24 FG_AHR_24Vo 0.000

SM_GC 2.19,0.00,0.00,44.72,0.000,0.000,0.051,137,2322,1703,-8.55,0.65,300.24 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4441.36,627.47,051008,050513 MEM 354220

TT8_MAMPS 0.026215 DATA_FILE_SIZE 50350,843

HUMID 49.80 CAP_FILE_SIZE 135138,0

INTERNAL_PRESSURE 8.88706 CFSIZE 2097086464,2093907968

TCM_TEMP 8.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 CURRENT 0.075,103.8,1

_24V_AH 22.9,9.247 GPS 091215,194652,-4501.276,627.525,71,0.9,71,-24.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 254 121.78 SBE_CT 594 54 744.97

Roll_motor 121 60 167.77 SBE_O2 577 2 29.76

VBD_pump_during_apogee 324 1287 9561.54 QSP2150 63 6 9.83

VBD_pump_during_surface 44 51 52.50 WL_BB2FLVMT 630 105 1516.71

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 91 65.98 nil 0 0 0.00

Iridium_during_connect 23 160 86.34 nil 0 0 0.00

Iridium_during_xfer 714 223 3647.45 nil 0 0 0.00

Transponder_ping 24 420 238.05 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 12 32 4.39

TT8 2267 13 316.86

LPSleep 7050 2 159.03

TT8_Active 481 13 67.28

TT8_Sampling 2777 41 1180.81

TT8_CF8 97 48 48.26

TT8_Kalman 0 0 0.00

Analog_circuits 1345 15 216.81

GPS_charging 0 0 0.00

Compass 1921 19 385.29

RAFOS 0 0 0.00

Transponder 148 30 45.85

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 -0.64 -194.6 0.0 0.0 0 90 0.00 0.00 -64.47 0.000 2 0.000 0.000 139 2306 3350 0 0 0 0 0 0

92 -0.64 -194.6 3.6 -4.6 8 119 10.73 2.22 -6.78 0.000 4 0.255 0.058 2642 3712 3724 0 0 0 0 0 0

152 -0.64 -194.6 28.0 -37.7 16 161 0.00 2.28 0.00 0.000 6 0.000 0.040 2644 2298 3725 0 0 0 0 0 0

301 -0.64 -194.6 67.9 -27.5 41 307 0.00 0.00 0.00 0.000 6 0.000 0.000 2644 2294 3725 0 0 0 0 0 0

641 -0.64 -194.6 159.9 -27.1 82 645 0.00 2.25 0.00 0.000 4 0.000 0.055 2635 3714 3725 0 0 0 0 0 0

711 -0.64 -194.6 177.5 -19.3 88 721 0.00 2.25 0.00 0.000 6 0.000 0.042 2635 2303 3725 0 0 0 0 0 0

1037 -0.64 -194.6 259.8 -26.7 119 1038 0.00 0.00 0.00 0.000 6 0.000 0.000 2634 2299 3725 0 0 0 0 0 0

1358 -0.64 -194.6 340.6 -25.8 149 1362 0.00 2.22 0.00 0.000 4 0.000 0.048 2638 880 3725 0 0 0 0 0 0

1380 -0.64 -194.6 347.2 -26.5 150 1388 0.12 2.22 0.00 0.000 6 0.191 0.047 2659 2296 3725 0 0 0 0 0 0

1702 -0.64 -194.6 419.3 -22.1 177 1706 0.00 2.22 0.00 0.000 4 0.000 0.057 2649 3720 3725 0 0 0 0 0 0

1778 -0.64 -194.6 434.4 -17.2 180 1783 0.00 2.25 0.00 0.000 6 0.000 0.046 2649 2300 3725 0 0 0 0 0 0

2099 -0.64 -194.6 504.6 -22.6 196 2103 0.00 2.20 0.00 0.000 4 0.000 0.052 2650 882 3725 0 0 0 0 0 0

2138 -0.64 -194.6 512.9 -20.7 198 2142 0.00 2.22 0.00 0.000 6 0.000 0.049 2640 2298 3725 0 0 0 0 0 0

2466 -0.64 -194.6 588.2 -23.7 214 2470 0.00 2.22 0.00 0.000 4 0.000 0.058 2629 3709 3725 0 0 0 0 0 0

2549 -0.64 -194.6 605.9 -18.4 218 2554 0.12 2.20 0.00 0.000 6 0.171 0.049 2661 2292 3725 0 0 0 0 0 0

2875 -0.64 -194.6 669.8 -19.4 234 2882 0.00 2.20 0.00 0.000 4 0.000 0.054 2671 880 3725 0 0 0 0 0 0

2920 -0.64 -194.6 678.0 -15.6 236 2925 0.00 2.22 0.00 0.000 6 0.000 0.050 2662 2297 3725 0 0 0 0 0 0

3246 -0.64 -194.6 739.7 -19.4 252 3251 0.00 2.22 0.00 0.000 4 0.000 0.060 2651 3720 3724 0 0 0 0 0 0

3302 -0.64 -194.6 749.6 -15.2 254 3307 0.00 2.22 0.00 0.000 6 0.000 0.051 2651 2293 3724 0 0 0 0 0 0

3622 -0.64 -194.6 811.9 -19.7 270 3626 0.00 2.20 0.00 0.000 4 0.000 0.057 2652 886 3724 0 0 0 0 0 0

3676 -0.64 -194.6 821.9 -15.3 272 3685 0.00 2.28 0.00 0.000 6 0.000 0.051 2643 2296 3724 0 0 0 0 0 0

3993 -0.64 -194.6 885.1 -20.8 288 3997 0.00 2.22 0.00 0.000 4 0.000 0.060 2632 3721 3723 0 0 0 0 0 0

4064 -0.64 -194.6 899.0 -17.3 291 4069 0.08 2.28 0.00 0.000 6 0.151 0.053 2657 2296 3723 0 0 0 0 0 0

4385 -0.64 -194.6 957.4 -18.1 307 4389 0.00 2.22 0.00 0.000 4 0.000 0.057 2664 874 3723 0 0 0 0 0 0

4417 -0.64 -194.6 963.5 -17.1 308 4425 0.00 2.30 0.00 0.000 6 0.000 0.054 2655 2298 3723 0 0 0 0 0 0

4630 end dive: TARGET_DEPTH_EXCEEDED

state 4630 begin apogee

4634 -0.13 0.0 1001.1 18.2 319 4797 0.57 0.00 159.57 1.287 6 0.149 0.000 2827 2042 2929 0 0 0 0 0 0

4798 end apogee: CONTROL_FINISHED_OK

state 4798 begin climb

4799 0.64 194.6 1010.7 0.0 327 4974 0.73 2.50 164.73 1.265 4 0.068 0.050 3080 662 2134 0 0 0 0 0 0

5085 0.64 194.6 988.9 16.8 340 5090 0.00 2.40 0.00 0.000 6 0.000 0.044 3079 2071 2129 0 0 0 0 0 0

5413 0.64 194.6 937.4 16.4 356 5414 0.00 0.00 0.00 0.000 6 0.000 0.000 3079 2073 2127 0 0 0 0 0 0

5721 0.64 194.6 886.5 16.5 371 5726 0.00 2.30 0.00 0.000 4 0.000 0.050 3089 649 2126 0 0 0 0 0 0

5747 0.64 194.6 881.7 17.0 372 5752 0.00 2.30 0.00 0.000 6 0.000 0.044 3088 2056 2126 0 0 0 0 0 0

6070 0.64 194.6 825.2 17.7 388 6074 0.00 2.25 0.00 0.000 4 0.000 0.049 3098 647 2125 0 0 0 0 0 0

6096 0.64 194.6 820.1 18.3 389 6101 0.00 2.30 0.00 0.000 6 0.000 0.044 3098 2069 2125 0 0 0 0 0 0

6418 0.64 194.6 763.4 17.5 405 6422 0.00 2.25 0.00 0.000 4 0.000 0.049 3108 651 2125 0 0 0 0 0 0

6460 0.64 194.6 755.7 17.0 407 6466 0.10 2.28 0.00 0.000 6 0.183 0.043 3079 2067 2125 0 0 0 0 0 0

6789 0.64 194.6 704.4 16.1 423 6793 0.00 2.22 0.00 0.000 4 0.000 0.048 3088 656 2124 0 0 0 0 0 0

6808 0.64 194.6 700.8 16.1 424 6813 0.00 2.28 0.00 0.000 6 0.000 0.044 3088 2071 2124 0 0 0 0 0 0

7138 0.64 194.6 648.6 15.6 440 7142 0.00 2.22 0.00 0.000 4 0.000 0.047 3099 655 2124 0 0 0 0 0 0

7154 0.64 194.6 645.8 15.9 441 7158 0.00 2.22 0.00 0.000 6 0.000 0.044 3099 2077 2124 0 0 0 0 0 0

7481 0.64 194.6 594.5 15.9 457 7485 0.00 2.22 0.00 0.000 4 0.000 0.047 3109 655 2124 0 0 0 0 0 0

7507 0.64 194.6 589.9 15.7 458 7512 0.10 2.22 0.00 0.000 6 0.184 0.043 3080 2055 2124 0 0 0 0 0 0

7828 0.64 194.6 544.4 13.6 474 7832 0.00 2.20 0.00 0.000 4 0.000 0.053 3080 3469 2124 0 0 0 0 0 0

7848 0.64 194.6 541.3 15.1 475 7853 0.00 2.20 0.00 0.000 6 0.000 0.039 3089 2060 2124 0 0 0 0 0 0

8175 0.64 194.6 494.3 13.8 491 8179 0.00 2.20 0.00 0.000 4 0.000 0.049 3101 648 2124 0 0 0 0 0 0

8283 0.64 194.6 479.3 13.9 496 8287 0.00 2.20 0.00 0.000 6 0.000 0.044 3101 2061 2123 0 0 0 0 0 0

8609 0.64 194.6 431.9 14.4 512 8610 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 2064 2123 0 0 0 0 0 0

8920 0.64 194.6 387.6 14.0 531 8924 0.00 2.20 0.00 0.000 4 0.000 0.052 3101 3479 2123 0 0 0 0 0 0

8950 0.64 194.6 383.3 15.6 533 8955 0.12 2.15 0.00 0.000 6 0.216 0.039 3083 2062 2123 0 0 0 0 0 0

9274 0.64 194.6 340.6 13.4 563 9278 0.00 2.17 0.00 0.000 4 0.000 0.047 3092 654 2123 0 0 0 0 0 0

9350 0.64 194.6 330.5 14.0 569 9354 0.00 2.20 0.00 0.000 6 0.000 0.044 3092 2077 2122 0 0 0 0 0 0

9674 0.64 194.6 284.5 14.8 599 9678 0.00 2.20 0.00 0.000 4 0.000 0.047 3103 655 2122 0 0 0 0 0 0

9703 0.64 194.6 280.3 15.2 601 9707 0.00 2.17 0.00 0.000 6 0.000 0.044 3103 2059 2122 0 0 0 0 0 0

10027 0.64 194.6 232.6 13.9 631 10031 0.00 2.17 0.00 0.000 4 0.000 0.046 3113 654 2123 0 0 0 0 0 0

10103 0.64 194.6 221.6 15.1 637 10108 0.12 2.17 0.00 0.000 6 0.194 0.043 3084 2062 2123 0 0 0 0 0 0

10427 0.64 194.6 176.9 13.6 667 10431 0.00 2.20 0.00 0.000 4 0.000 0.046 3092 645 2123 0 0 0 0 0 0

10490 0.64 194.6 168.1 13.8 672 10494 0.00 2.20 0.00 0.000 6 0.000 0.043 3093 2069 2123 0 0 0 0 0 0

10814 0.64 194.6 123.4 13.1 702 10817 0.00 2.17 0.00 0.000 4 0.000 0.051 3093 3478 2123 0 0 0 0 0 0

10863 0.64 194.6 116.6 13.6 706 10867 0.00 2.15 0.00 0.000 6 0.000 0.039 3103 2056 2124 0 0 0 0 0 0

11203 0.64 194.6 69.4 15.1 754 11210 0.00 2.17 0.00 0.000 4 0.000 0.047 3114 653 2123 0 0 0 0 0 0

11360 0.64 194.6 47.0 15.7 781 11367 0.15 2.20 0.00 0.000 6 0.199 0.044 3078 2062 2122 0 0 0 0 0 0

11708 end climb: SURFACE_DEPTH_REACHED

state 11708 begin surface coast

11734 end surface coast: CONTROL_FINISHED_OK

state 11735 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	16	HEADING	-1	ROLL_DEG	40	ALTIM_PING_DEPTH	20
D_SURF	3	ESCAPE_HEADING	0	C_ROLL_DIVE	2299	ALTIM_PING_DELTA	10
D_FLARE	3	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2062	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	28	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	300	R_STBD_OVSHOOT	29	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	2929	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	-2327220.8	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	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	200	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	39	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	15

GPS1	091215,161323,-4500.776,628.652,30,0.9,30,-24.4	TGT_NAME	SAF_BUT1
_CALLS	1	TGT_LATLONG	-4504.000,624.000
_XMS_NAKs	28	TGT_RADIUS	1000.000
_XMS_TOUTs	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.39	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-74.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	091215,162811,-4500.535,629.094,9,1.0,10,-24.4	MHEAD_RNG_PITCHd_Wd	265.2,9250,-15.6,-9.950
SPEED_LIMITS	0.172,0.295	D_GRID	1000

FINISH	0.6,1.014634	_10V_AH	10.3,4.934
SM_CCo	11749,44.72,0.051,0,0,1703,300.24	FG_AHR_24Vo	0.000
SM_GC	2.19,0.00,0.00,44.72,0.000,0.000,0.051,137,2322,1703,-8.55,0.65,300.24	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4441.36,627.47,051008,050513	MEM	354220
TT8_MAMPS	0.026215	DATA_FILE_SIZE	50350,843
HUMID	49.80	CAP_FILE_SIZE	135138,0
INTERNAL_PRESSURE	8.88706	CFSIZE	2097086464,2093907968
TCM_TEMP	8.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	CURRENT	0.075,103.8,1
_24V_AH	22.9,9.247	GPS	091215,194652,-4501.276,627.525,71,0.9,71,-24.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	254	121.78	SBE_CT	594	54	744.97
Roll_motor	121	60	167.77	SBE_O2	577	2	29.76
VBD_pump_during_apogee	324	1287	9561.54	QSP2150	63	6	9.83
VBD_pump_during_surface	44	51	52.50	WL_BB2FLVMT	630	105	1516.71
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	91	65.98	nil	0	0	0.00
Iridium_during_connect	23	160	86.34	nil	0	0	0.00
Iridium_during_xfer	714	223	3647.45	nil	0	0	0.00
Transponder_ping	24	420	238.05	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	12	32	4.39
TT8	2267	13	316.86
LPSleep	7050	2	159.03
TT8_Active	481	13	67.28
TT8_Sampling	2777	41	1180.81
TT8_CF8	97	48	48.26
TT8_Kalman	0	0	0.00
Analog_circuits	1345	15	216.81
GPS_charging	0	0	0.00
Compass	1921	19	385.29
RAFOS	0	0	0.00
Transponder	148	30	45.85

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	-0.64	-194.6	0.0	0.0	0	90	0.00	0.00	-64.47	0.000	2	0.000	0.000	139	2306	3350	0	0	0	0	0	0
92	-0.64	-194.6	3.6	-4.6	8	119	10.73	2.22	-6.78	0.000	4	0.255	0.058	2642	3712	3724	0	0	0	0	0	0
152	-0.64	-194.6	28.0	-37.7	16	161	0.00	2.28	0.00	0.000	6	0.000	0.040	2644	2298	3725	0	0	0	0	0	0
301	-0.64	-194.6	67.9	-27.5	41	307	0.00	0.00	0.00	0.000	6	0.000	0.000	2644	2294	3725	0	0	0	0	0	0
641	-0.64	-194.6	159.9	-27.1	82	645	0.00	2.25	0.00	0.000	4	0.000	0.055	2635	3714	3725	0	0	0	0	0	0
711	-0.64	-194.6	177.5	-19.3	88	721	0.00	2.25	0.00	0.000	6	0.000	0.042	2635	2303	3725	0	0	0	0	0	0
1037	-0.64	-194.6	259.8	-26.7	119	1038	0.00	0.00	0.00	0.000	6	0.000	0.000	2634	2299	3725	0	0	0	0	0	0
1358	-0.64	-194.6	340.6	-25.8	149	1362	0.00	2.22	0.00	0.000	4	0.000	0.048	2638	880	3725	0	0	0	0	0	0
1380	-0.64	-194.6	347.2	-26.5	150	1388	0.12	2.22	0.00	0.000	6	0.191	0.047	2659	2296	3725	0	0	0	0	0	0
1702	-0.64	-194.6	419.3	-22.1	177	1706	0.00	2.22	0.00	0.000	4	0.000	0.057	2649	3720	3725	0	0	0	0	0	0
1778	-0.64	-194.6	434.4	-17.2	180	1783	0.00	2.25	0.00	0.000	6	0.000	0.046	2649	2300	3725	0	0	0	0	0	0
2099	-0.64	-194.6	504.6	-22.6	196	2103	0.00	2.20	0.00	0.000	4	0.000	0.052	2650	882	3725	0	0	0	0	0	0
2138	-0.64	-194.6	512.9	-20.7	198	2142	0.00	2.22	0.00	0.000	6	0.000	0.049	2640	2298	3725	0	0	0	0	0	0
2466	-0.64	-194.6	588.2	-23.7	214	2470	0.00	2.22	0.00	0.000	4	0.000	0.058	2629	3709	3725	0	0	0	0	0	0
2549	-0.64	-194.6	605.9	-18.4	218	2554	0.12	2.20	0.00	0.000	6	0.171	0.049	2661	2292	3725	0	0	0	0	0	0
2875	-0.64	-194.6	669.8	-19.4	234	2882	0.00	2.20	0.00	0.000	4	0.000	0.054	2671	880	3725	0	0	0	0	0	0
2920	-0.64	-194.6	678.0	-15.6	236	2925	0.00	2.22	0.00	0.000	6	0.000	0.050	2662	2297	3725	0	0	0	0	0	0
3246	-0.64	-194.6	739.7	-19.4	252	3251	0.00	2.22	0.00	0.000	4	0.000	0.060	2651	3720	3724	0	0	0	0	0	0
3302	-0.64	-194.6	749.6	-15.2	254	3307	0.00	2.22	0.00	0.000	6	0.000	0.051	2651	2293	3724	0	0	0	0	0	0
3622	-0.64	-194.6	811.9	-19.7	270	3626	0.00	2.20	0.00	0.000	4	0.000	0.057	2652	886	3724	0	0	0	0	0	0
3676	-0.64	-194.6	821.9	-15.3	272	3685	0.00	2.28	0.00	0.000	6	0.000	0.051	2643	2296	3724	0	0	0	0	0	0
3993	-0.64	-194.6	885.1	-20.8	288	3997	0.00	2.22	0.00	0.000	4	0.000	0.060	2632	3721	3723	0	0	0	0	0	0
4064	-0.64	-194.6	899.0	-17.3	291	4069	0.08	2.28	0.00	0.000	6	0.151	0.053	2657	2296	3723	0	0	0	0	0	0
4385	-0.64	-194.6	957.4	-18.1	307	4389	0.00	2.22	0.00	0.000	4	0.000	0.057	2664	874	3723	0	0	0	0	0	0
4417	-0.64	-194.6	963.5	-17.1	308	4425	0.00	2.30	0.00	0.000	6	0.000	0.054	2655	2298	3723	0	0	0	0	0	0
4630	end dive: TARGET_DEPTH_EXCEEDED
state	4630	begin apogee
4634	-0.13	0.0	1001.1	18.2	319	4797	0.57	0.00	159.57	1.287	6	0.149	0.000	2827	2042	2929	0	0	0	0	0	0
4798	end apogee: CONTROL_FINISHED_OK
state	4798	begin climb
4799	0.64	194.6	1010.7	0.0	327	4974	0.73	2.50	164.73	1.265	4	0.068	0.050	3080	662	2134	0	0	0	0	0	0
5085	0.64	194.6	988.9	16.8	340	5090	0.00	2.40	0.00	0.000	6	0.000	0.044	3079	2071	2129	0	0	0	0	0	0
5413	0.64	194.6	937.4	16.4	356	5414	0.00	0.00	0.00	0.000	6	0.000	0.000	3079	2073	2127	0	0	0	0	0	0
5721	0.64	194.6	886.5	16.5	371	5726	0.00	2.30	0.00	0.000	4	0.000	0.050	3089	649	2126	0	0	0	0	0	0
5747	0.64	194.6	881.7	17.0	372	5752	0.00	2.30	0.00	0.000	6	0.000	0.044	3088	2056	2126	0	0	0	0	0	0
6070	0.64	194.6	825.2	17.7	388	6074	0.00	2.25	0.00	0.000	4	0.000	0.049	3098	647	2125	0	0	0	0	0	0
6096	0.64	194.6	820.1	18.3	389	6101	0.00	2.30	0.00	0.000	6	0.000	0.044	3098	2069	2125	0	0	0	0	0	0
6418	0.64	194.6	763.4	17.5	405	6422	0.00	2.25	0.00	0.000	4	0.000	0.049	3108	651	2125	0	0	0	0	0	0
6460	0.64	194.6	755.7	17.0	407	6466	0.10	2.28	0.00	0.000	6	0.183	0.043	3079	2067	2125	0	0	0	0	0	0
6789	0.64	194.6	704.4	16.1	423	6793	0.00	2.22	0.00	0.000	4	0.000	0.048	3088	656	2124	0	0	0	0	0	0
6808	0.64	194.6	700.8	16.1	424	6813	0.00	2.28	0.00	0.000	6	0.000	0.044	3088	2071	2124	0	0	0	0	0	0
7138	0.64	194.6	648.6	15.6	440	7142	0.00	2.22	0.00	0.000	4	0.000	0.047	3099	655	2124	0	0	0	0	0	0
7154	0.64	194.6	645.8	15.9	441	7158	0.00	2.22	0.00	0.000	6	0.000	0.044	3099	2077	2124	0	0	0	0	0	0
7481	0.64	194.6	594.5	15.9	457	7485	0.00	2.22	0.00	0.000	4	0.000	0.047	3109	655	2124	0	0	0	0	0	0
7507	0.64	194.6	589.9	15.7	458	7512	0.10	2.22	0.00	0.000	6	0.184	0.043	3080	2055	2124	0	0	0	0	0	0
7828	0.64	194.6	544.4	13.6	474	7832	0.00	2.20	0.00	0.000	4	0.000	0.053	3080	3469	2124	0	0	0	0	0	0
7848	0.64	194.6	541.3	15.1	475	7853	0.00	2.20	0.00	0.000	6	0.000	0.039	3089	2060	2124	0	0	0	0	0	0
8175	0.64	194.6	494.3	13.8	491	8179	0.00	2.20	0.00	0.000	4	0.000	0.049	3101	648	2124	0	0	0	0	0	0
8283	0.64	194.6	479.3	13.9	496	8287	0.00	2.20	0.00	0.000	6	0.000	0.044	3101	2061	2123	0	0	0	0	0	0
8609	0.64	194.6	431.9	14.4	512	8610	0.00	0.00	0.00	0.000	6	0.000	0.000	3101	2064	2123	0	0	0	0	0	0
8920	0.64	194.6	387.6	14.0	531	8924	0.00	2.20	0.00	0.000	4	0.000	0.052	3101	3479	2123	0	0	0	0	0	0
8950	0.64	194.6	383.3	15.6	533	8955	0.12	2.15	0.00	0.000	6	0.216	0.039	3083	2062	2123	0	0	0	0	0	0
9274	0.64	194.6	340.6	13.4	563	9278	0.00	2.17	0.00	0.000	4	0.000	0.047	3092	654	2123	0	0	0	0	0	0
9350	0.64	194.6	330.5	14.0	569	9354	0.00	2.20	0.00	0.000	6	0.000	0.044	3092	2077	2122	0	0	0	0	0	0
9674	0.64	194.6	284.5	14.8	599	9678	0.00	2.20	0.00	0.000	4	0.000	0.047	3103	655	2122	0	0	0	0	0	0
9703	0.64	194.6	280.3	15.2	601	9707	0.00	2.17	0.00	0.000	6	0.000	0.044	3103	2059	2122	0	0	0	0	0	0
10027	0.64	194.6	232.6	13.9	631	10031	0.00	2.17	0.00	0.000	4	0.000	0.046	3113	654	2123	0	0	0	0	0	0
10103	0.64	194.6	221.6	15.1	637	10108	0.12	2.17	0.00	0.000	6	0.194	0.043	3084	2062	2123	0	0	0	0	0	0
10427	0.64	194.6	176.9	13.6	667	10431	0.00	2.20	0.00	0.000	4	0.000	0.046	3092	645	2123	0	0	0	0	0	0
10490	0.64	194.6	168.1	13.8	672	10494	0.00	2.20	0.00	0.000	6	0.000	0.043	3093	2069	2123	0	0	0	0	0	0
10814	0.64	194.6	123.4	13.1	702	10817	0.00	2.17	0.00	0.000	4	0.000	0.051	3093	3478	2123	0	0	0	0	0	0
10863	0.64	194.6	116.6	13.6	706	10867	0.00	2.15	0.00	0.000	6	0.000	0.039	3103	2056	2124	0	0	0	0	0	0
11203	0.64	194.6	69.4	15.1	754	11210	0.00	2.17	0.00	0.000	4	0.000	0.047	3114	653	2123	0	0	0	0	0	0
11360	0.64	194.6	47.0	15.7	781	11367	0.15	2.20	0.00	0.000	6	0.199	0.044	3078	2062	2122	0	0	0	0	0	0
11708	end climb: SURFACE_DEPTH_REACHED
state	11708	begin surface coast
11734	end surface coast: CONTROL_FINISHED_OK
state	11735	begin surface