Glider dive log

SOSCEx Oct13 * SG574 * Dive index * Mission links * Dive 182 * 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 182 HEADING -1 ROLL_DEG 40 ALTIM_PING_DEPTH 1000

D_SURF 3 ESCAPE_HEADING 0 C_ROLL_DIVE 1930 ALTIM_PING_DELTA 5

D_FLARE 3 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1830 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 80 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 380 CALL_TRIES 5 VBD_DBAND 2 DEVICE5 -1

T_MISSION 420 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 -13932.014 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 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 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 161

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 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 161 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 380

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 -13932.014

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 420

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 1830 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_DIVE 1930 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 80 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 160 SEABIRD_C_G -9.9136524 VBD_MIN 396

DIVE 182 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 231113,084828,-4304.417,830.879,52,1.0,52,-25.1 TGT_NAME WP1

_CALLS 1 TGT_LATLONG -4300.000,830.000

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.142,0.053

_SM_DEPTHo 2.81 KALMAN_X -145142.3,-71.9,191.0,40626.6,829.6

_SM_ANGLEo -71.8 KALMAN_Y 579222.4,-645.7,-577.9,-795959.3,7328.5

GPS2 231113,090106,-4304.402,830.925,29,1.4,30,-25.1 MHEAD_RNG_PITCHd_Wd 315.5,8249,-27.7,-8.772

SPEED_LIMITS 0.152,0.256 D_GRID 1000

Post-dive calculations and measurements:

FINISH 2.3,1.026584 _10V_AH 10.2,24.026

SM_CCo 11026,20.55,1.375,1,0,1844,185.20 FG_AHR_24Vo 0.000

SM_GC 2.58,0.00,0.00,20.55,0.000,0.000,1.375,79,1929,1844,-9.24,-0.03,185.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4250.85,826.16,231113,040426 MEM 354524

TT8_MAMPS 0.026215 DATA_FILE_SIZE 46823,803

HUMID 64.09 CAP_FILE_SIZE 118243,1

INTERNAL_PRESSURE 9.26264 CFSIZE 2097086464,2071298048

TCM_TEMP 9.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1

XPDR_PINGS 0 GPS 231113,120729,-4302.472,830.636,41,1.0,41,-25.1

_24V_AH 22.5,29.671

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 276 152.81 SBE_CT 561 24 303.01

Roll_motor 78 62 110.55 WL_BB2FLVMT 574 105 1356.20

VBD_pump_during_apogee 278 1793 11234.37 SBE_O2 530 19 226.96

VBD_pump_during_surface 20 1374 635.63 QSP2150 53 4 5.24

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 62.99 nil 0 0 0.00

Iridium_during_connect 28 160 102.23 nil 0 0 0.00

Iridium_during_xfer 543 223 2726.27 nil 0 0 0.00

Transponder_ping 0 420 4.72 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 32 26 8.90

TT8 2005 14 306.01

LPSleep 6791 2 151.70

TT8_Active 375 14 54.48

TT8_Sampling 2490 37 950.83

TT8_CF8 134 47 64.72

TT8_Kalman 33 59 20.13

Analog_circuits 1229 12 150.46

GPS_charging 0 0 0.00

Compass 1841 15 295.43

RAFOS 0 0 0.00

Transponder 5 30 1.63

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 23 begin dive

24 -0.90 -51.9 0.0 0.0 0 45 0.00 0.00 -18.92 0.000 2 0.000 0.000 66 1961 2241 0 0 0 0 0 0

47 -0.90 -110.1 3.0 -2.2 3 109 12.30 2.10 -42.38 0.000 4 0.275 0.051 2733 3297 3049 0 0 0 0 0 0

136 -1.30 -155.7 1.6 0.3 17 156 0.28 2.15 -9.45 0.000 6 0.047 0.032 2616 1940 3232 0 0 0 0 0 0

206 -1.03 -155.7 12.8 -24.8 28 214 0.32 2.15 0.00 0.000 4 0.217 0.039 2690 3282 3233 0 0 0 0 0 0

239 -1.03 -155.7 20.9 -23.6 33 244 0.00 2.12 0.00 0.000 6 0.000 0.032 2697 1919 3234 0 0 0 0 0 0

383 -1.03 -155.7 52.3 -22.3 58 388 0.00 1.00 0.00 0.000 4 0.000 0.048 2697 1284 3234 0 0 0 0 0 0

419 -1.03 -155.7 60.5 -22.6 64 424 0.00 0.93 0.00 0.000 6 0.000 0.030 2694 1905 3235 0 0 0 0 0 0

761 -1.03 -155.7 129.8 -19.9 112 765 0.00 2.20 0.00 0.000 4 0.000 0.044 2684 3313 3236 0 0 0 0 0 0

891 -1.03 -155.7 155.0 -19.4 123 895 0.10 2.15 0.00 0.000 6 0.210 0.034 2705 1926 3236 0 0 0 0 0 0

1217 -1.03 -155.7 217.0 -19.2 153 1220 0.00 1.60 0.00 0.000 4 0.000 0.037 2699 2952 3237 0 0 0 0 0 0

1243 -1.03 -155.7 222.7 -19.0 155 1249 0.00 1.60 0.00 0.000 6 0.000 0.034 2699 1926 3237 0 0 0 0 0 0

1569 -1.03 -155.7 285.6 -18.9 186 1572 0.00 1.65 0.00 0.000 4 0.000 0.037 2693 3014 3237 0 0 0 0 0 0

1605 -1.03 -155.7 291.8 -18.5 189 1608 0.00 1.67 0.00 0.000 6 0.000 0.033 2695 1915 3237 0 0 0 0 0 0

1934 -1.03 -155.7 355.1 -20.3 220 1938 0.00 0.57 0.00 0.000 4 0.000 0.033 2694 2336 3237 0 0 0 0 0 0

1969 -1.03 -155.7 362.2 -20.6 223 1972 0.00 0.60 0.00 0.000 6 0.000 0.037 2694 1917 3237 0 0 0 0 0 0

2305 -1.03 -155.7 432.4 -20.9 248 2307 0.00 0.00 0.00 0.000 6 0.000 0.000 2694 1917 3236 0 0 0 0 0 0

2614 -1.03 -155.7 495.9 -20.5 263 2615 0.00 0.00 0.00 0.000 6 0.000 0.000 2694 1917 3237 0 0 0 0 0 0

2923 -1.03 -155.7 560.1 -20.7 278 2925 0.00 0.00 0.00 0.000 6 0.000 0.000 2694 1916 3237 0 0 0 0 0 0

3233 -1.03 -155.7 621.1 -19.0 293 3236 0.00 0.65 0.00 0.000 4 0.000 0.049 2694 1477 3237 0 0 0 0 0 0

3293 -1.03 -155.7 632.7 -18.3 295 3298 0.00 0.68 0.00 0.000 6 0.000 0.030 2692 1953 3236 0 0 0 0 0 0

3609 -1.03 -155.7 691.3 -18.7 311 3613 0.05 1.62 0.00 0.000 4 0.277 0.041 2693 3023 3236 0 0 0 0 0 0

3630 -1.03 -155.7 695.2 -17.8 312 3634 0.00 1.67 0.00 0.000 6 0.000 0.034 2698 1923 3236 0 0 0 0 0 0

3962 -1.03 -155.7 753.5 -17.3 328 3966 0.00 0.68 0.00 0.000 4 0.000 0.048 2698 1470 3236 0 0 0 0 0 0

3988 -1.03 -155.7 758.4 -17.3 329 3993 0.00 0.65 0.00 0.000 6 0.000 0.031 2697 1930 3236 0 0 0 0 0 0

4315 -1.03 -155.7 814.4 -17.1 345 4317 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 1931 3236 0 0 0 0 0 0

4625 -1.03 -155.7 868.1 -17.1 360 4628 0.00 1.83 0.00 0.000 4 0.000 0.044 2688 3129 3235 0 0 0 0 0 0

4657 -1.03 -155.7 874.2 -18.0 361 4662 0.05 1.88 0.00 0.000 6 0.191 0.034 2702 1922 3235 0 0 0 0 0 0

4978 -1.03 -155.7 927.1 -16.2 377 4981 0.00 0.47 0.00 0.000 4 0.000 0.053 2702 1591 3235 0 0 0 0 0 0

5023 -1.03 -155.7 934.4 -15.9 379 5026 0.00 0.45 0.00 0.000 6 0.000 0.035 2701 1935 3235 0 0 0 0 0 0

5355 -1.03 -155.7 988.0 -16.6 395 5356 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 1935 3235 0 0 0 0 0 0

5440 end dive: TARGET_DEPTH_EXCEEDED

state 5440 begin apogee

5444 -0.16 0.0 1001.3 16.3 399 5580 1.05 0.00 132.02 1.793 6 0.197 0.000 2980 1794 2600 0 0 0 0 0 0

5581 end apogee: CONTROL_FINISHED_OK

state 5581 begin climb

5582 0.90 155.7 1005.1 0.0 406 5738 1.12 2.47 146.43 1.714 4 0.109 0.061 3328 464 1964 0 0 0 0 0 0

5799 0.90 155.7 973.4 20.1 416 5804 0.00 2.20 0.00 0.000 6 0.000 0.026 3328 1792 1959 0 0 0 0 0 0

6121 0.90 155.7 911.7 19.1 432 6125 0.00 2.28 0.00 0.000 4 0.000 0.060 3337 453 1954 0 0 0 0 0 0

6182 0.90 155.7 899.3 20.7 435 6187 0.00 2.17 0.00 0.000 6 0.000 0.028 3337 1838 1954 0 0 0 0 0 0

6509 0.90 155.7 835.2 19.9 451 6512 0.00 0.85 0.00 0.000 4 0.000 0.049 3340 1317 1952 0 0 0 0 0 0

6621 0.90 155.7 813.0 20.3 456 6625 0.00 0.80 0.00 0.000 6 0.000 0.031 3339 1855 1952 0 0 0 0 0 0

6953 0.90 155.7 746.8 19.9 472 6957 0.00 2.28 0.00 0.000 4 0.000 0.059 3348 457 1950 0 0 0 0 0 0

7119 0.90 155.7 713.1 19.8 479 7126 0.05 2.10 0.00 0.000 6 0.184 0.028 3334 1820 1950 0 0 0 0 0 0

7435 0.90 155.7 654.7 18.6 495 7439 0.00 1.62 0.00 0.000 4 0.000 0.054 3339 828 1949 0 0 0 0 0 0

7484 0.90 155.7 645.2 18.8 497 7489 0.00 1.55 0.00 0.000 6 0.000 0.028 3339 1832 1949 0 0 0 0 0 0

7812 0.90 155.7 584.9 18.3 513 7815 0.00 1.48 0.00 0.000 4 0.000 0.053 3343 925 1949 0 0 0 0 0 0

7894 0.90 155.7 569.5 18.7 516 7900 0.00 1.40 0.00 0.000 6 0.000 0.028 3344 1838 1949 0 0 0 0 0 0

8210 0.90 155.7 512.2 18.2 532 8214 0.00 1.62 0.00 0.000 4 0.000 0.054 3349 840 1949 0 0 0 0 0 0

8281 0.90 155.7 498.3 19.2 535 8287 0.05 1.52 0.00 0.000 6 0.192 0.027 3336 1840 1948 0 0 0 0 0 0

8608 0.90 155.7 437.1 19.1 551 8612 0.00 0.38 0.00 0.000 4 0.000 0.044 3335 2135 1948 0 0 0 0 0 0

8635 0.90 155.7 431.7 19.1 552 8639 0.00 0.43 0.00 0.000 6 0.000 0.043 3336 1848 1948 0 0 0 0 0 0

8955 0.90 155.7 369.7 19.9 574 8959 0.00 2.28 0.00 0.000 4 0.000 0.062 3346 440 1948 0 0 0 0 0 0

9073 0.90 155.7 346.2 20.2 584 9078 0.05 2.08 0.00 0.000 6 0.243 0.028 3337 1820 1948 0 0 0 0 0 0

9398 0.90 155.7 286.6 18.5 614 9401 0.00 0.75 0.00 0.000 4 0.000 0.038 3336 2338 1948 0 0 0 0 0 0

9443 0.90 155.7 278.1 18.8 618 9447 0.00 0.75 0.00 0.000 6 0.000 0.041 3338 1840 1947 0 0 0 0 0 0

9776 0.90 155.7 218.5 16.7 649 9781 0.00 2.25 0.00 0.000 4 0.000 0.061 3349 433 1948 0 0 0 0 0 0

9876 0.90 155.7 201.3 16.8 657 9880 0.08 2.10 0.00 0.000 6 0.216 0.028 3333 1831 1947 0 0 0 0 0 0

10200 0.90 155.7 147.0 16.5 687 10203 0.00 0.40 0.00 0.000 4 0.000 0.049 3334 1565 1947 0 0 0 0 0 0

10416 0.90 155.7 109.6 17.7 706 10419 0.00 0.38 0.00 0.000 6 0.000 0.037 3334 1853 1947 0 0 0 0 0 0

10759 0.90 155.7 46.8 18.4 761 10764 0.00 2.30 0.00 0.000 4 0.000 0.058 3344 427 1948 0 0 0 0 0 0

10828 0.90 155.7 34.2 18.5 773 10834 0.00 2.08 0.00 0.000 6 0.000 0.028 3344 1816 1947 0 0 0 0 0 0

10975 0.90 155.7 6.9 19.1 798 10982 0.00 2.28 0.00 0.000 4 0.000 0.063 3353 434 1947 0 0 0 0 0 0

10995 end climb: SURFACE_DEPTH_REACHED

state 10995 begin surface coast

11008 end surface coast: CONTROL_FINISHED_OK

state 11008 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	182	HEADING	-1	ROLL_DEG	40	ALTIM_PING_DEPTH	1000
D_SURF	3	ESCAPE_HEADING	0	C_ROLL_DIVE	1930	ALTIM_PING_DELTA	5
D_FLARE	3	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1830	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	80	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	380	CALL_TRIES	5	VBD_DBAND	2	DEVICE5	-1
T_MISSION	420	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	-13932.014	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	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	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	161

GPS1	231113,084828,-4304.417,830.879,52,1.0,52,-25.1	TGT_NAME	WP1
_CALLS	1	TGT_LATLONG	-4300.000,830.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.142,0.053
_SM_DEPTHo	2.81	KALMAN_X	-145142.3,-71.9,191.0,40626.6,829.6
_SM_ANGLEo	-71.8	KALMAN_Y	579222.4,-645.7,-577.9,-795959.3,7328.5
GPS2	231113,090106,-4304.402,830.925,29,1.4,30,-25.1	MHEAD_RNG_PITCHd_Wd	315.5,8249,-27.7,-8.772
SPEED_LIMITS	0.152,0.256	D_GRID	1000

FINISH	2.3,1.026584	_10V_AH	10.2,24.026
SM_CCo	11026,20.55,1.375,1,0,1844,185.20	FG_AHR_24Vo	0.000
SM_GC	2.58,0.00,0.00,20.55,0.000,0.000,1.375,79,1929,1844,-9.24,-0.03,185.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4250.85,826.16,231113,040426	MEM	354524
TT8_MAMPS	0.026215	DATA_FILE_SIZE	46823,803
HUMID	64.09	CAP_FILE_SIZE	118243,1
INTERNAL_PRESSURE	9.26264	CFSIZE	2097086464,2071298048
TCM_TEMP	9.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
XPDR_PINGS	0	GPS	231113,120729,-4302.472,830.636,41,1.0,41,-25.1
_24V_AH	22.5,29.671

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	276	152.81	SBE_CT	561	24	303.01
Roll_motor	78	62	110.55	WL_BB2FLVMT	574	105	1356.20
VBD_pump_during_apogee	278	1793	11234.37	SBE_O2	530	19	226.96
VBD_pump_during_surface	20	1374	635.63	QSP2150	53	4	5.24
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	62.99	nil	0	0	0.00
Iridium_during_connect	28	160	102.23	nil	0	0	0.00
Iridium_during_xfer	543	223	2726.27	nil	0	0	0.00
Transponder_ping	0	420	4.72	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	32	26	8.90
TT8	2005	14	306.01
LPSleep	6791	2	151.70
TT8_Active	375	14	54.48
TT8_Sampling	2490	37	950.83
TT8_CF8	134	47	64.72
TT8_Kalman	33	59	20.13
Analog_circuits	1229	12	150.46
GPS_charging	0	0	0.00
Compass	1841	15	295.43
RAFOS	0	0	0.00
Transponder	5	30	1.63

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	23	begin dive
24	-0.90	-51.9	0.0	0.0	0	45	0.00	0.00	-18.92	0.000	2	0.000	0.000	66	1961	2241	0	0	0	0	0	0
47	-0.90	-110.1	3.0	-2.2	3	109	12.30	2.10	-42.38	0.000	4	0.275	0.051	2733	3297	3049	0	0	0	0	0	0
136	-1.30	-155.7	1.6	0.3	17	156	0.28	2.15	-9.45	0.000	6	0.047	0.032	2616	1940	3232	0	0	0	0	0	0
206	-1.03	-155.7	12.8	-24.8	28	214	0.32	2.15	0.00	0.000	4	0.217	0.039	2690	3282	3233	0	0	0	0	0	0
239	-1.03	-155.7	20.9	-23.6	33	244	0.00	2.12	0.00	0.000	6	0.000	0.032	2697	1919	3234	0	0	0	0	0	0
383	-1.03	-155.7	52.3	-22.3	58	388	0.00	1.00	0.00	0.000	4	0.000	0.048	2697	1284	3234	0	0	0	0	0	0
419	-1.03	-155.7	60.5	-22.6	64	424	0.00	0.93	0.00	0.000	6	0.000	0.030	2694	1905	3235	0	0	0	0	0	0
761	-1.03	-155.7	129.8	-19.9	112	765	0.00	2.20	0.00	0.000	4	0.000	0.044	2684	3313	3236	0	0	0	0	0	0
891	-1.03	-155.7	155.0	-19.4	123	895	0.10	2.15	0.00	0.000	6	0.210	0.034	2705	1926	3236	0	0	0	0	0	0
1217	-1.03	-155.7	217.0	-19.2	153	1220	0.00	1.60	0.00	0.000	4	0.000	0.037	2699	2952	3237	0	0	0	0	0	0
1243	-1.03	-155.7	222.7	-19.0	155	1249	0.00	1.60	0.00	0.000	6	0.000	0.034	2699	1926	3237	0	0	0	0	0	0
1569	-1.03	-155.7	285.6	-18.9	186	1572	0.00	1.65	0.00	0.000	4	0.000	0.037	2693	3014	3237	0	0	0	0	0	0
1605	-1.03	-155.7	291.8	-18.5	189	1608	0.00	1.67	0.00	0.000	6	0.000	0.033	2695	1915	3237	0	0	0	0	0	0
1934	-1.03	-155.7	355.1	-20.3	220	1938	0.00	0.57	0.00	0.000	4	0.000	0.033	2694	2336	3237	0	0	0	0	0	0
1969	-1.03	-155.7	362.2	-20.6	223	1972	0.00	0.60	0.00	0.000	6	0.000	0.037	2694	1917	3237	0	0	0	0	0	0
2305	-1.03	-155.7	432.4	-20.9	248	2307	0.00	0.00	0.00	0.000	6	0.000	0.000	2694	1917	3236	0	0	0	0	0	0
2614	-1.03	-155.7	495.9	-20.5	263	2615	0.00	0.00	0.00	0.000	6	0.000	0.000	2694	1917	3237	0	0	0	0	0	0
2923	-1.03	-155.7	560.1	-20.7	278	2925	0.00	0.00	0.00	0.000	6	0.000	0.000	2694	1916	3237	0	0	0	0	0	0
3233	-1.03	-155.7	621.1	-19.0	293	3236	0.00	0.65	0.00	0.000	4	0.000	0.049	2694	1477	3237	0	0	0	0	0	0
3293	-1.03	-155.7	632.7	-18.3	295	3298	0.00	0.68	0.00	0.000	6	0.000	0.030	2692	1953	3236	0	0	0	0	0	0
3609	-1.03	-155.7	691.3	-18.7	311	3613	0.05	1.62	0.00	0.000	4	0.277	0.041	2693	3023	3236	0	0	0	0	0	0
3630	-1.03	-155.7	695.2	-17.8	312	3634	0.00	1.67	0.00	0.000	6	0.000	0.034	2698	1923	3236	0	0	0	0	0	0
3962	-1.03	-155.7	753.5	-17.3	328	3966	0.00	0.68	0.00	0.000	4	0.000	0.048	2698	1470	3236	0	0	0	0	0	0
3988	-1.03	-155.7	758.4	-17.3	329	3993	0.00	0.65	0.00	0.000	6	0.000	0.031	2697	1930	3236	0	0	0	0	0	0
4315	-1.03	-155.7	814.4	-17.1	345	4317	0.00	0.00	0.00	0.000	6	0.000	0.000	2697	1931	3236	0	0	0	0	0	0
4625	-1.03	-155.7	868.1	-17.1	360	4628	0.00	1.83	0.00	0.000	4	0.000	0.044	2688	3129	3235	0	0	0	0	0	0
4657	-1.03	-155.7	874.2	-18.0	361	4662	0.05	1.88	0.00	0.000	6	0.191	0.034	2702	1922	3235	0	0	0	0	0	0
4978	-1.03	-155.7	927.1	-16.2	377	4981	0.00	0.47	0.00	0.000	4	0.000	0.053	2702	1591	3235	0	0	0	0	0	0
5023	-1.03	-155.7	934.4	-15.9	379	5026	0.00	0.45	0.00	0.000	6	0.000	0.035	2701	1935	3235	0	0	0	0	0	0
5355	-1.03	-155.7	988.0	-16.6	395	5356	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	1935	3235	0	0	0	0	0	0
5440	end dive: TARGET_DEPTH_EXCEEDED
state	5440	begin apogee
5444	-0.16	0.0	1001.3	16.3	399	5580	1.05	0.00	132.02	1.793	6	0.197	0.000	2980	1794	2600	0	0	0	0	0	0
5581	end apogee: CONTROL_FINISHED_OK
state	5581	begin climb
5582	0.90	155.7	1005.1	0.0	406	5738	1.12	2.47	146.43	1.714	4	0.109	0.061	3328	464	1964	0	0	0	0	0	0
5799	0.90	155.7	973.4	20.1	416	5804	0.00	2.20	0.00	0.000	6	0.000	0.026	3328	1792	1959	0	0	0	0	0	0
6121	0.90	155.7	911.7	19.1	432	6125	0.00	2.28	0.00	0.000	4	0.000	0.060	3337	453	1954	0	0	0	0	0	0
6182	0.90	155.7	899.3	20.7	435	6187	0.00	2.17	0.00	0.000	6	0.000	0.028	3337	1838	1954	0	0	0	0	0	0
6509	0.90	155.7	835.2	19.9	451	6512	0.00	0.85	0.00	0.000	4	0.000	0.049	3340	1317	1952	0	0	0	0	0	0
6621	0.90	155.7	813.0	20.3	456	6625	0.00	0.80	0.00	0.000	6	0.000	0.031	3339	1855	1952	0	0	0	0	0	0
6953	0.90	155.7	746.8	19.9	472	6957	0.00	2.28	0.00	0.000	4	0.000	0.059	3348	457	1950	0	0	0	0	0	0
7119	0.90	155.7	713.1	19.8	479	7126	0.05	2.10	0.00	0.000	6	0.184	0.028	3334	1820	1950	0	0	0	0	0	0
7435	0.90	155.7	654.7	18.6	495	7439	0.00	1.62	0.00	0.000	4	0.000	0.054	3339	828	1949	0	0	0	0	0	0
7484	0.90	155.7	645.2	18.8	497	7489	0.00	1.55	0.00	0.000	6	0.000	0.028	3339	1832	1949	0	0	0	0	0	0
7812	0.90	155.7	584.9	18.3	513	7815	0.00	1.48	0.00	0.000	4	0.000	0.053	3343	925	1949	0	0	0	0	0	0
7894	0.90	155.7	569.5	18.7	516	7900	0.00	1.40	0.00	0.000	6	0.000	0.028	3344	1838	1949	0	0	0	0	0	0
8210	0.90	155.7	512.2	18.2	532	8214	0.00	1.62	0.00	0.000	4	0.000	0.054	3349	840	1949	0	0	0	0	0	0
8281	0.90	155.7	498.3	19.2	535	8287	0.05	1.52	0.00	0.000	6	0.192	0.027	3336	1840	1948	0	0	0	0	0	0
8608	0.90	155.7	437.1	19.1	551	8612	0.00	0.38	0.00	0.000	4	0.000	0.044	3335	2135	1948	0	0	0	0	0	0
8635	0.90	155.7	431.7	19.1	552	8639	0.00	0.43	0.00	0.000	6	0.000	0.043	3336	1848	1948	0	0	0	0	0	0
8955	0.90	155.7	369.7	19.9	574	8959	0.00	2.28	0.00	0.000	4	0.000	0.062	3346	440	1948	0	0	0	0	0	0
9073	0.90	155.7	346.2	20.2	584	9078	0.05	2.08	0.00	0.000	6	0.243	0.028	3337	1820	1948	0	0	0	0	0	0
9398	0.90	155.7	286.6	18.5	614	9401	0.00	0.75	0.00	0.000	4	0.000	0.038	3336	2338	1948	0	0	0	0	0	0
9443	0.90	155.7	278.1	18.8	618	9447	0.00	0.75	0.00	0.000	6	0.000	0.041	3338	1840	1947	0	0	0	0	0	0
9776	0.90	155.7	218.5	16.7	649	9781	0.00	2.25	0.00	0.000	4	0.000	0.061	3349	433	1948	0	0	0	0	0	0
9876	0.90	155.7	201.3	16.8	657	9880	0.08	2.10	0.00	0.000	6	0.216	0.028	3333	1831	1947	0	0	0	0	0	0
10200	0.90	155.7	147.0	16.5	687	10203	0.00	0.40	0.00	0.000	4	0.000	0.049	3334	1565	1947	0	0	0	0	0	0
10416	0.90	155.7	109.6	17.7	706	10419	0.00	0.38	0.00	0.000	6	0.000	0.037	3334	1853	1947	0	0	0	0	0	0
10759	0.90	155.7	46.8	18.4	761	10764	0.00	2.30	0.00	0.000	4	0.000	0.058	3344	427	1948	0	0	0	0	0	0
10828	0.90	155.7	34.2	18.5	773	10834	0.00	2.08	0.00	0.000	6	0.000	0.028	3344	1816	1947	0	0	0	0	0	0
10975	0.90	155.7	6.9	19.1	798	10982	0.00	2.28	0.00	0.000	4	0.000	0.063	3353	434	1947	0	0	0	0	0	0
10995	end climb: SURFACE_DEPTH_REACHED
state	10995	begin surface coast
11008	end surface coast: CONTROL_FINISHED_OK
state	11008	begin surface