Glider dive log

SOSCEx Oct13 * SG574 * Dive index * Mission links * Dive 176 * 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 7 HD_C 9.8500004e-06 ROLL_MAX 3798 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 176 HEADING -1 ROLL_DEG 40 ALTIM_PING_DEPTH 1000

D_SURF 3 ESCAPE_HEADING 0 C_ROLL_DIVE 1950 ALTIM_PING_DELTA 5

D_FLARE 3 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1810 ALTIM_FREQUENCY 13

D_TGT 1000 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 15 ALTIM_PULSE 3

D_ABORT 1050 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 50 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 185 R_STBD_OVSHOOT 81 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 340 CALL_TRIES 5 VBD_DBAND 2 DEVICE5 -1

T_MISSION 380 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 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 -13916.917 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 160 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 3040 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 30 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 1 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 155

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 185

ALTIM_BOTTOM_TURN_MARGIN 20 D_SURF 3 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_TGT 1000 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 30 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 155 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 340

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 -13916.917

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 380

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 3040 ID 574 ROLL_ADJ_DBAND 0 T_TURN 225

C_ROLL_CLIMB 1810 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_DIVE 1950 INT_PRESSURE_YINT -1.812 ROLL_AD_RATE 350 T_WATCHDOG 10

C_VBD 2600 KALMAN_USE 1 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 50 VBD_MAX 3960

DEVICE6 -1 MASS 53599 R_STBD_OVSHOOT 81 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 160 SEABIRD_C_G -9.9136524 VBD_MIN 396

DIVE 176 MINV_10V 8 SEABIRD_C_H 1.1456692 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1050 MINV_24V 20 SEABIRD_C_I -0.00078246131 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 0 MISSION 7 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 221113,064422,-4302.037,828.948,68,0.9,68,-25.0 TGT_NAME WP1

_CALLS 2 TGT_LATLONG -4300.000,830.000

_XMS_NAKs 3 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.065,-0.223

_SM_DEPTHo 2.80 KALMAN_X -146573.5,-128.4,152.8,39575.5,2622.2

_SM_ANGLEo -71.1 KALMAN_Y 564513.4,-513.9,-219.3,-777295.7,8214.7

GPS2 221113,065635,-4301.989,829.079,22,1.1,22,-25.0 MHEAD_RNG_PITCHd_Wd 221.3,3889,-20.2,-9.804

SPEED_LIMITS 0.170,0.266 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.6,1.026580 _10V_AH 10.2,23.446

SM_CCo 15970,23.60,1.321,1,0,1845,185.20 FG_AHR_24Vo 0.000

SM_GC 3.15,0.00,0.00,23.60,0.000,0.000,1.321,79,1942,1845,-9.24,-0.40,185.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4247.91,846.56,221113,060649 MEM 354612

TT8_MAMPS 0.026964 DATA_FILE_SIZE 66667,1151

HUMID 62.99 CAP_FILE_SIZE 136359,1

INTERNAL_PRESSURE 9.26264 CFSIZE 2097086464,2072018944

TCM_TEMP 9.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1

XPDR_PINGS 0 GPS 221113,112728,-4302.049,828.190,163,1.1,163,-25.0

_24V_AH 22.5,28.623

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 281 147.11 SBE_CT 806 24 435.50

Roll_motor 26 55 32.73 WL_BB2FLVMT 781 105 1847.05

VBD_pump_during_apogee 283 1794 11431.73 SBE_O2 770 19 329.24

VBD_pump_during_surface 23 1321 701.53 QSP2150 70 4 6.93

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 61 103 142.12 nil 0 0 0.00

Iridium_during_connect 108 160 389.15 nil 0 0 0.00

Iridium_during_xfer 354 223 1777.67 nil 0 0 0.00

Transponder_ping 0 420 2.36 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 24 26 6.68

TT8 2825 14 431.22

LPSleep 10133 2 226.36

TT8_Active 367 14 53.25

TT8_Sampling 3266 37 1247.05

TT8_CF8 148 47 71.56

TT8_Kalman 33 59 20.13

Analog_circuits 1500 12 183.62

GPS_charging 0 0 0.00

Compass 2666 15 427.76

RAFOS 0 0 0.00

Transponder 2 30 0.87

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 -0.68 -115.4 0.0 0.0 0 45 0.00 0.00 -19.52 0.000 2 0.000 0.000 65 1977 2251 0 0 0 0 0 0

48 -0.68 -155.7 3.0 -1.5 3 109 12.82 0.00 -43.90 0.000 6 0.282 0.000 2805 1980 3236 0 0 0 0 0 0

158 -0.68 -155.7 10.4 -13.4 21 164 0.00 0.00 0.00 0.000 6 0.000 0.000 2805 1980 3239 0 0 0 0 0 0

213 -0.68 -155.7 18.7 -16.7 30 220 0.00 0.32 0.00 0.000 4 0.000 0.042 2804 2242 3239 0 0 0 0 0 0

421 -0.68 -155.7 52.3 -14.8 66 428 0.00 0.43 0.00 0.000 6 0.000 0.041 2804 1939 3239 0 0 0 0 0 0

774 -0.68 -155.7 101.5 -14.1 127 775 0.00 0.00 0.00 0.000 6 0.000 0.000 2804 1938 3240 0 0 0 0 0 0

1097 -0.68 -155.7 147.3 -14.7 157 1101 0.00 0.00 0.00 0.000 6 0.000 0.000 2804 1938 3241 0 0 0 0 0 0

1422 -0.68 -155.7 195.7 -14.3 188 1426 0.00 0.32 0.00 0.000 4 0.000 0.054 2804 1697 3241 0 0 0 0 0 0

1574 -0.68 -155.7 217.8 -13.9 201 1579 0.00 0.32 0.00 0.000 6 0.000 0.038 2804 1943 3242 0 0 0 0 0 0

1899 -0.68 -155.7 262.9 -13.9 232 1903 0.05 0.68 0.00 0.000 4 0.252 0.041 2810 2409 3242 0 0 0 0 0 0

2115 -0.68 -155.7 290.6 -13.2 251 2119 0.00 0.68 0.00 0.000 6 0.000 0.037 2810 1949 3242 0 0 0 0 0 0

2445 -0.68 -155.7 332.9 -12.6 282 2446 0.00 0.00 0.00 0.000 6 0.000 0.000 2810 1949 3242 0 0 0 0 0 0

2765 -0.68 -155.7 372.9 -12.2 312 2766 0.00 0.00 0.00 0.000 6 0.000 0.000 2810 1949 3242 0 0 0 0 0 0

3080 -0.68 -155.7 411.1 -12.0 338 3082 0.00 0.00 0.00 0.000 6 0.000 0.000 2810 1949 3242 0 0 0 0 0 0

3390 -0.68 -155.7 447.8 -11.7 353 3391 0.00 0.00 0.00 0.000 6 0.000 0.000 2810 1949 3242 0 0 0 0 0 0

3699 -0.68 -155.7 483.6 -11.7 368 3703 0.00 0.47 0.00 0.000 4 0.000 0.050 2810 1618 3242 0 0 0 0 0 0

3860 -0.68 -155.7 502.2 -10.8 375 3865 0.00 0.47 0.00 0.000 6 0.000 0.036 2808 1957 3242 0 0 0 0 0 0

4187 -0.68 -155.7 538.8 -11.3 391 4188 0.00 0.00 0.00 0.000 6 0.000 0.000 2809 1957 3242 0 0 0 0 0 0

4496 -0.68 -155.7 572.8 -11.3 406 4497 0.00 0.00 0.00 0.000 6 0.000 0.000 2809 1957 3241 0 0 0 0 0 0

4806 -0.68 -155.7 609.1 -11.8 421 4809 0.00 0.95 0.00 0.000 4 0.000 0.043 2804 2592 3240 0 0 0 0 0 0

5017 -0.68 -155.7 633.9 -11.5 430 5022 0.00 0.98 0.00 0.000 6 0.000 0.034 2804 1953 3240 0 0 0 0 0 0

5339 -0.68 -155.7 673.3 -12.4 446 5342 0.00 0.43 0.00 0.000 4 0.000 0.052 2804 1651 3240 0 0 0 0 0 0

5573 -0.68 -155.7 702.5 -12.5 456 5578 0.05 0.43 0.00 0.000 6 0.240 0.035 2813 1975 3239 0 0 0 0 0 0

5894 -0.68 -155.7 738.3 -10.9 472 5895 0.00 0.00 0.00 0.000 6 0.000 0.000 2813 1975 3239 0 0 0 0 0 0

6203 -0.68 -155.7 772.0 -11.0 487 6205 0.00 0.00 0.00 0.000 6 0.000 0.000 2813 1975 3239 0 0 0 0 0 0

6513 -0.68 -155.7 805.4 -10.4 502 6514 0.00 0.00 0.00 0.000 6 0.000 0.000 2813 1976 3239 0 0 0 0 0 0

6822 -0.68 -155.7 837.6 -10.6 517 6823 0.00 0.00 0.00 0.000 6 0.000 0.000 2812 1975 3238 0 0 0 0 0 0

7131 -0.68 -155.7 871.8 -11.1 532 7133 0.00 0.00 0.00 0.000 6 0.000 0.000 2812 1975 3238 0 0 0 0 0 0

7441 -0.68 -155.7 906.3 -11.0 547 7444 0.00 1.00 0.00 0.000 4 0.000 0.042 2809 2636 3237 0 0 0 0 0 0

7624 -0.68 -155.7 926.1 -10.4 555 7629 0.00 1.08 0.00 0.000 6 0.000 0.036 2809 1944 3236 0 0 0 0 0 0

7952 -0.68 -155.7 960.3 -10.5 571 7955 0.00 0.38 0.00 0.000 4 0.000 0.056 2809 1679 3236 0 0 0 0 0 0

8090 -0.68 -155.7 975.0 -10.6 577 8095 0.00 0.35 0.00 0.000 6 0.000 0.040 2808 1935 3236 0 0 0 0 0 0

8355 end dive: TARGET_DEPTH_EXCEEDED

state 8355 begin apogee

8359 -0.17 0.0 1001.1 9.6 590 8500 0.60 0.00 137.95 1.795 6 0.168 0.000 2977 1790 2599 0 0 0 0 0 0

8501 end apogee: CONTROL_FINISHED_OK

state 8501 begin climb

8503 0.68 155.7 1003.0 0.0 597 8657 0.93 1.05 145.15 1.624 4 0.108 0.054 3253 1210 1965 0 0 0 0 0 0

8801 0.68 155.7 964.1 15.2 611 8806 0.00 0.95 0.00 0.000 6 0.000 0.027 3253 1810 1957 0 0 0 0 0 0

9123 0.68 155.7 914.7 15.4 627 9127 0.00 0.68 0.00 0.000 4 0.000 0.047 3254 1396 1954 0 0 0 0 0 0

9285 0.68 155.7 890.6 15.2 634 9289 0.00 0.62 0.00 0.000 6 0.000 0.029 3254 1802 1954 0 0 0 0 0 0

9612 0.68 155.7 843.0 14.6 650 9613 0.00 0.00 0.00 0.000 6 0.000 0.000 3254 1802 1954 0 0 0 0 0 0

9921 0.68 155.7 798.2 14.6 665 9922 0.00 0.00 0.00 0.000 6 0.000 0.000 3254 1802 1953 0 0 0 0 0 0

10230 0.68 155.7 755.2 14.1 680 10234 0.00 1.38 0.00 0.000 4 0.000 0.053 3259 962 1954 0 0 0 0 0 0

10365 0.68 155.7 736.2 14.3 686 10369 0.00 1.30 0.00 0.000 6 0.000 0.027 3259 1822 1953 0 0 0 0 0 0

10697 0.68 155.7 691.8 13.0 702 10701 0.00 0.70 0.00 0.000 4 0.000 0.046 3260 1375 1953 0 0 0 0 0 0

10909 0.68 155.7 664.1 12.8 711 10913 0.00 0.65 0.00 0.000 6 0.000 0.027 3260 1819 1953 0 0 0 0 0 0

11230 0.68 155.7 622.5 12.9 727 11231 0.00 0.00 0.00 0.000 6 0.000 0.000 3260 1819 1953 0 0 0 0 0 0

11539 0.68 155.7 582.8 12.7 742 11543 0.00 0.85 0.00 0.000 4 0.000 0.048 3262 1284 1953 0 0 0 0 0 0

11723 0.68 155.7 558.4 14.1 750 11728 0.00 0.77 0.00 0.000 6 0.000 0.027 3262 1812 1953 0 0 0 0 0 0

12049 0.68 155.7 514.1 13.5 766 12051 0.00 0.00 0.00 0.000 6 0.000 0.000 3262 1813 1954 0 0 0 0 0 0

12359 0.68 155.7 472.4 13.3 781 12362 0.00 0.75 0.00 0.000 4 0.000 0.047 3264 1336 1953 0 0 0 0 0 0

12498 0.68 155.7 453.7 12.8 787 12502 0.00 0.70 0.00 0.000 6 0.000 0.028 3264 1827 1953 0 0 0 0 0 0

12825 0.68 155.7 410.1 13.2 803 12826 0.00 0.00 0.00 0.000 6 0.000 0.000 3264 1828 1954 0 0 0 0 0 0

13145 0.68 155.7 367.9 13.2 829 13149 0.00 0.00 0.00 0.000 6 0.000 0.000 3264 1828 1954 0 0 0 0 0 0

13470 0.68 155.7 324.3 13.1 860 13473 0.00 0.43 0.00 0.000 4 0.000 0.046 3265 1538 1953 0 0 0 0 0 0

13711 0.68 155.7 292.0 12.2 881 13716 0.00 0.38 0.00 0.000 6 0.000 0.035 3266 1820 1953 0 0 0 0 0 0

14035 0.68 155.7 247.9 13.4 912 14037 0.00 0.00 0.00 0.000 6 0.000 0.000 3265 1820 1954 0 0 0 0 0 0

14355 0.68 155.7 206.8 12.2 942 14356 0.00 0.00 0.00 0.000 6 0.000 0.000 3266 1820 1953 0 0 0 0 0 0

14673 0.68 155.7 167.1 12.4 972 14677 0.00 1.15 0.00 0.000 4 0.000 0.050 3270 1106 1953 0 0 0 0 0 0

14823 0.68 155.7 148.6 12.9 985 14827 0.00 1.00 0.00 0.000 6 0.000 0.026 3270 1802 1953 0 0 0 0 0 0

15152 0.68 155.7 105.3 13.1 1016 15154 0.00 0.00 0.00 0.000 6 0.000 0.000 3270 1802 1954 0 0 0 0 0 0

15492 0.68 155.7 59.8 12.7 1072 15496 0.00 0.00 0.00 0.000 6 0.000 0.000 3270 1803 1954 0 0 0 0 0 0

15842 0.68 155.7 15.2 13.8 1133 15849 0.00 1.55 0.00 0.000 4 0.000 0.052 3276 842 1955 0 0 0 0 0 0

15927 end climb: SURFACE_DEPTH_REACHED

state 15927 begin surface coast

15952 end surface coast: CONTROL_FINISHED_OK

state 15953 begin surface

ID	574	HD_B	0.010078	ROLL_MIN	160	ALTIM_TOP_TURN_MARGIN	0
MISSION	7	HD_C	9.8500004e-06	ROLL_MAX	3798	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	176	HEADING	-1	ROLL_DEG	40	ALTIM_PING_DEPTH	1000
D_SURF	3	ESCAPE_HEADING	0	C_ROLL_DIVE	1950	ALTIM_PING_DELTA	5
D_FLARE	3	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1810	ALTIM_FREQUENCY	13
D_TGT	1000	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	15	ALTIM_PULSE	3
D_ABORT	1050	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	50	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	185	R_STBD_OVSHOOT	81	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	340	CALL_TRIES	5	VBD_DBAND	2	DEVICE5	-1
T_MISSION	380	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	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	-13916.917	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	160	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	3040	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	30	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	1	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	155

GPS1	221113,064422,-4302.037,828.948,68,0.9,68,-25.0	TGT_NAME	WP1
_CALLS	2	TGT_LATLONG	-4300.000,830.000
_XMS_NAKs	3	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.065,-0.223
_SM_DEPTHo	2.80	KALMAN_X	-146573.5,-128.4,152.8,39575.5,2622.2
_SM_ANGLEo	-71.1	KALMAN_Y	564513.4,-513.9,-219.3,-777295.7,8214.7
GPS2	221113,065635,-4301.989,829.079,22,1.1,22,-25.0	MHEAD_RNG_PITCHd_Wd	221.3,3889,-20.2,-9.804
SPEED_LIMITS	0.170,0.266	D_GRID	1000

FINISH	1.6,1.026580	_10V_AH	10.2,23.446
SM_CCo	15970,23.60,1.321,1,0,1845,185.20	FG_AHR_24Vo	0.000
SM_GC	3.15,0.00,0.00,23.60,0.000,0.000,1.321,79,1942,1845,-9.24,-0.40,185.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4247.91,846.56,221113,060649	MEM	354612
TT8_MAMPS	0.026964	DATA_FILE_SIZE	66667,1151
HUMID	62.99	CAP_FILE_SIZE	136359,1
INTERNAL_PRESSURE	9.26264	CFSIZE	2097086464,2072018944
TCM_TEMP	9.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
XPDR_PINGS	0	GPS	221113,112728,-4302.049,828.190,163,1.1,163,-25.0
_24V_AH	22.5,28.623

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	281	147.11	SBE_CT	806	24	435.50
Roll_motor	26	55	32.73	WL_BB2FLVMT	781	105	1847.05
VBD_pump_during_apogee	283	1794	11431.73	SBE_O2	770	19	329.24
VBD_pump_during_surface	23	1321	701.53	QSP2150	70	4	6.93
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	61	103	142.12	nil	0	0	0.00
Iridium_during_connect	108	160	389.15	nil	0	0	0.00
Iridium_during_xfer	354	223	1777.67	nil	0	0	0.00
Transponder_ping	0	420	2.36	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	24	26	6.68
TT8	2825	14	431.22
LPSleep	10133	2	226.36
TT8_Active	367	14	53.25
TT8_Sampling	3266	37	1247.05
TT8_CF8	148	47	71.56
TT8_Kalman	33	59	20.13
Analog_circuits	1500	12	183.62
GPS_charging	0	0	0.00
Compass	2666	15	427.76
RAFOS	0	0	0.00
Transponder	2	30	0.87

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	-0.68	-115.4	0.0	0.0	0	45	0.00	0.00	-19.52	0.000	2	0.000	0.000	65	1977	2251	0	0	0	0	0	0
48	-0.68	-155.7	3.0	-1.5	3	109	12.82	0.00	-43.90	0.000	6	0.282	0.000	2805	1980	3236	0	0	0	0	0	0
158	-0.68	-155.7	10.4	-13.4	21	164	0.00	0.00	0.00	0.000	6	0.000	0.000	2805	1980	3239	0	0	0	0	0	0
213	-0.68	-155.7	18.7	-16.7	30	220	0.00	0.32	0.00	0.000	4	0.000	0.042	2804	2242	3239	0	0	0	0	0	0
421	-0.68	-155.7	52.3	-14.8	66	428	0.00	0.43	0.00	0.000	6	0.000	0.041	2804	1939	3239	0	0	0	0	0	0
774	-0.68	-155.7	101.5	-14.1	127	775	0.00	0.00	0.00	0.000	6	0.000	0.000	2804	1938	3240	0	0	0	0	0	0
1097	-0.68	-155.7	147.3	-14.7	157	1101	0.00	0.00	0.00	0.000	6	0.000	0.000	2804	1938	3241	0	0	0	0	0	0
1422	-0.68	-155.7	195.7	-14.3	188	1426	0.00	0.32	0.00	0.000	4	0.000	0.054	2804	1697	3241	0	0	0	0	0	0
1574	-0.68	-155.7	217.8	-13.9	201	1579	0.00	0.32	0.00	0.000	6	0.000	0.038	2804	1943	3242	0	0	0	0	0	0
1899	-0.68	-155.7	262.9	-13.9	232	1903	0.05	0.68	0.00	0.000	4	0.252	0.041	2810	2409	3242	0	0	0	0	0	0
2115	-0.68	-155.7	290.6	-13.2	251	2119	0.00	0.68	0.00	0.000	6	0.000	0.037	2810	1949	3242	0	0	0	0	0	0
2445	-0.68	-155.7	332.9	-12.6	282	2446	0.00	0.00	0.00	0.000	6	0.000	0.000	2810	1949	3242	0	0	0	0	0	0
2765	-0.68	-155.7	372.9	-12.2	312	2766	0.00	0.00	0.00	0.000	6	0.000	0.000	2810	1949	3242	0	0	0	0	0	0
3080	-0.68	-155.7	411.1	-12.0	338	3082	0.00	0.00	0.00	0.000	6	0.000	0.000	2810	1949	3242	0	0	0	0	0	0
3390	-0.68	-155.7	447.8	-11.7	353	3391	0.00	0.00	0.00	0.000	6	0.000	0.000	2810	1949	3242	0	0	0	0	0	0
3699	-0.68	-155.7	483.6	-11.7	368	3703	0.00	0.47	0.00	0.000	4	0.000	0.050	2810	1618	3242	0	0	0	0	0	0
3860	-0.68	-155.7	502.2	-10.8	375	3865	0.00	0.47	0.00	0.000	6	0.000	0.036	2808	1957	3242	0	0	0	0	0	0
4187	-0.68	-155.7	538.8	-11.3	391	4188	0.00	0.00	0.00	0.000	6	0.000	0.000	2809	1957	3242	0	0	0	0	0	0
4496	-0.68	-155.7	572.8	-11.3	406	4497	0.00	0.00	0.00	0.000	6	0.000	0.000	2809	1957	3241	0	0	0	0	0	0
4806	-0.68	-155.7	609.1	-11.8	421	4809	0.00	0.95	0.00	0.000	4	0.000	0.043	2804	2592	3240	0	0	0	0	0	0
5017	-0.68	-155.7	633.9	-11.5	430	5022	0.00	0.98	0.00	0.000	6	0.000	0.034	2804	1953	3240	0	0	0	0	0	0
5339	-0.68	-155.7	673.3	-12.4	446	5342	0.00	0.43	0.00	0.000	4	0.000	0.052	2804	1651	3240	0	0	0	0	0	0
5573	-0.68	-155.7	702.5	-12.5	456	5578	0.05	0.43	0.00	0.000	6	0.240	0.035	2813	1975	3239	0	0	0	0	0	0
5894	-0.68	-155.7	738.3	-10.9	472	5895	0.00	0.00	0.00	0.000	6	0.000	0.000	2813	1975	3239	0	0	0	0	0	0
6203	-0.68	-155.7	772.0	-11.0	487	6205	0.00	0.00	0.00	0.000	6	0.000	0.000	2813	1975	3239	0	0	0	0	0	0
6513	-0.68	-155.7	805.4	-10.4	502	6514	0.00	0.00	0.00	0.000	6	0.000	0.000	2813	1976	3239	0	0	0	0	0	0
6822	-0.68	-155.7	837.6	-10.6	517	6823	0.00	0.00	0.00	0.000	6	0.000	0.000	2812	1975	3238	0	0	0	0	0	0
7131	-0.68	-155.7	871.8	-11.1	532	7133	0.00	0.00	0.00	0.000	6	0.000	0.000	2812	1975	3238	0	0	0	0	0	0
7441	-0.68	-155.7	906.3	-11.0	547	7444	0.00	1.00	0.00	0.000	4	0.000	0.042	2809	2636	3237	0	0	0	0	0	0
7624	-0.68	-155.7	926.1	-10.4	555	7629	0.00	1.08	0.00	0.000	6	0.000	0.036	2809	1944	3236	0	0	0	0	0	0
7952	-0.68	-155.7	960.3	-10.5	571	7955	0.00	0.38	0.00	0.000	4	0.000	0.056	2809	1679	3236	0	0	0	0	0	0
8090	-0.68	-155.7	975.0	-10.6	577	8095	0.00	0.35	0.00	0.000	6	0.000	0.040	2808	1935	3236	0	0	0	0	0	0
8355	end dive: TARGET_DEPTH_EXCEEDED
state	8355	begin apogee
8359	-0.17	0.0	1001.1	9.6	590	8500	0.60	0.00	137.95	1.795	6	0.168	0.000	2977	1790	2599	0	0	0	0	0	0
8501	end apogee: CONTROL_FINISHED_OK
state	8501	begin climb
8503	0.68	155.7	1003.0	0.0	597	8657	0.93	1.05	145.15	1.624	4	0.108	0.054	3253	1210	1965	0	0	0	0	0	0
8801	0.68	155.7	964.1	15.2	611	8806	0.00	0.95	0.00	0.000	6	0.000	0.027	3253	1810	1957	0	0	0	0	0	0
9123	0.68	155.7	914.7	15.4	627	9127	0.00	0.68	0.00	0.000	4	0.000	0.047	3254	1396	1954	0	0	0	0	0	0
9285	0.68	155.7	890.6	15.2	634	9289	0.00	0.62	0.00	0.000	6	0.000	0.029	3254	1802	1954	0	0	0	0	0	0
9612	0.68	155.7	843.0	14.6	650	9613	0.00	0.00	0.00	0.000	6	0.000	0.000	3254	1802	1954	0	0	0	0	0	0
9921	0.68	155.7	798.2	14.6	665	9922	0.00	0.00	0.00	0.000	6	0.000	0.000	3254	1802	1953	0	0	0	0	0	0
10230	0.68	155.7	755.2	14.1	680	10234	0.00	1.38	0.00	0.000	4	0.000	0.053	3259	962	1954	0	0	0	0	0	0
10365	0.68	155.7	736.2	14.3	686	10369	0.00	1.30	0.00	0.000	6	0.000	0.027	3259	1822	1953	0	0	0	0	0	0
10697	0.68	155.7	691.8	13.0	702	10701	0.00	0.70	0.00	0.000	4	0.000	0.046	3260	1375	1953	0	0	0	0	0	0
10909	0.68	155.7	664.1	12.8	711	10913	0.00	0.65	0.00	0.000	6	0.000	0.027	3260	1819	1953	0	0	0	0	0	0
11230	0.68	155.7	622.5	12.9	727	11231	0.00	0.00	0.00	0.000	6	0.000	0.000	3260	1819	1953	0	0	0	0	0	0
11539	0.68	155.7	582.8	12.7	742	11543	0.00	0.85	0.00	0.000	4	0.000	0.048	3262	1284	1953	0	0	0	0	0	0
11723	0.68	155.7	558.4	14.1	750	11728	0.00	0.77	0.00	0.000	6	0.000	0.027	3262	1812	1953	0	0	0	0	0	0
12049	0.68	155.7	514.1	13.5	766	12051	0.00	0.00	0.00	0.000	6	0.000	0.000	3262	1813	1954	0	0	0	0	0	0
12359	0.68	155.7	472.4	13.3	781	12362	0.00	0.75	0.00	0.000	4	0.000	0.047	3264	1336	1953	0	0	0	0	0	0
12498	0.68	155.7	453.7	12.8	787	12502	0.00	0.70	0.00	0.000	6	0.000	0.028	3264	1827	1953	0	0	0	0	0	0
12825	0.68	155.7	410.1	13.2	803	12826	0.00	0.00	0.00	0.000	6	0.000	0.000	3264	1828	1954	0	0	0	0	0	0
13145	0.68	155.7	367.9	13.2	829	13149	0.00	0.00	0.00	0.000	6	0.000	0.000	3264	1828	1954	0	0	0	0	0	0
13470	0.68	155.7	324.3	13.1	860	13473	0.00	0.43	0.00	0.000	4	0.000	0.046	3265	1538	1953	0	0	0	0	0	0
13711	0.68	155.7	292.0	12.2	881	13716	0.00	0.38	0.00	0.000	6	0.000	0.035	3266	1820	1953	0	0	0	0	0	0
14035	0.68	155.7	247.9	13.4	912	14037	0.00	0.00	0.00	0.000	6	0.000	0.000	3265	1820	1954	0	0	0	0	0	0
14355	0.68	155.7	206.8	12.2	942	14356	0.00	0.00	0.00	0.000	6	0.000	0.000	3266	1820	1953	0	0	0	0	0	0
14673	0.68	155.7	167.1	12.4	972	14677	0.00	1.15	0.00	0.000	4	0.000	0.050	3270	1106	1953	0	0	0	0	0	0
14823	0.68	155.7	148.6	12.9	985	14827	0.00	1.00	0.00	0.000	6	0.000	0.026	3270	1802	1953	0	0	0	0	0	0
15152	0.68	155.7	105.3	13.1	1016	15154	0.00	0.00	0.00	0.000	6	0.000	0.000	3270	1802	1954	0	0	0	0	0	0
15492	0.68	155.7	59.8	12.7	1072	15496	0.00	0.00	0.00	0.000	6	0.000	0.000	3270	1803	1954	0	0	0	0	0	0
15842	0.68	155.7	15.2	13.8	1133	15849	0.00	1.55	0.00	0.000	4	0.000	0.052	3276	842	1955	0	0	0	0	0	0
15927	end climb: SURFACE_DEPTH_REACHED
state	15927	begin surface coast
15952	end surface coast: CONTROL_FINISHED_OK
state	15953	begin surface