Glider dive log

SOSCEx 29Jul15 * SG573 * Dive index * Mission links * Dive 23 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 573 HD_B 0.010078 ROLL_MIN 150 ALTIM_TOP_TURN_MARGIN 0

MISSION 12 HD_C 9.8500004e-06 ROLL_MAX 3785 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 23 HEADING -1 ROLL_DEG 40 ALTIM_PING_DEPTH 0

D_SURF 3 ESCAPE_HEADING 0 C_ROLL_DIVE 2040 ALTIM_PING_DELTA 10

D_FLARE 3 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1750 ALTIM_FREQUENCY 13

D_TGT 1000 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_ABORT 1020 TGT_DEFAULT_LAT -4300 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 TGT_DEFAULT_LON 800 ROLL_TIMEOUT 15 XPDR_VALID 5

D_BOOST 5 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 38 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 205 R_STBD_OVSHOOT 41 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST_BLACKOUT 0 N_FILEKB 4 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.55000001

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 409 DEVICE2 101

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MAX 3959 DEVICE3 163

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 C_VBD 1900 DEVICE4 135

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 1440 CAPUPLOAD 0 VBD_TIMEOUT 720 LOGGERS 1

T_TURN 225 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012000001 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 -21068.865 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 1 CF8_MAXERRORS 20 PHONE_DEVICE 48

D_OFFGRID 100 STROBE 0 AH0_24V 150 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 RAFOS_DEVICE -1

RELAUNCH 0 RAFOS_CORR_THRESH 60 MINV_24V 20 XPDR_DEVICE 24

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_10V 8 SIM_W 0

MAX_BUOY 150 PITCH_MIN 100 FG_AHR_10V 0 SIM_PITCH 0

COURSE_BIAS 0 PITCH_MAX 3858 FG_AHR_24V 0 SEABIRD_T_G 0.0042828661

GLIDE_SLOPE 30 C_PITCH 3184 PHONE_SUPPLY 2 SEABIRD_T_H 0.00061930995

SPEED_FACTOR 1 PITCH_DBAND 0.0099999998 PRESSURE_YINT -87.994217 SEABIRD_T_I 2.1971719e-05

RHO 1.0278 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011693723 SEABIRD_T_J 2.301111e-06

MASS 53040 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_C_G -9.9469662

LENGTH 1.8 PITCH_GAIN 22 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.155618

NAV_MODE 1 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0016006827

DIRECT_CONTROL 0 PITCH_AD_RATE 160 COMPASS_USE 0 SEABIRD_C_J 0.00019558761

FERRY_MAX 45 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 EBE_ENABLE 0

KALMAN_USE 2 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 0 GC_WINDOW 0

HD_A 0.0038360001 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 15 GC_LAST_COLLECTION 22

AD7714Ch0Gain 128 D_NO_BLEED 200 N_GPS 20 SEABIRD_T_J 2.301111e-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 205

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_TGT 1000 PITCH_ADJ_DBAND 1 STROBE 0

ALTIM_PING_DELTA 10 EBE_ENABLE 0 PITCH_ADJ_GAIN 0.02 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 PITCH_AD_RATE 160 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 FERRY_MAX 45 PITCH_DBAND 0.0099999998 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_GAIN 22 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 -4300

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PITCH_MIN 100 TGT_DEFAULT_LON 800

CALL_NDIVES 1 GC_LAST_COLLECTION 22 PITCH_TIMEOUT 16 T_ABORT 1440

CALL_TRIES 5 GC_WINDOW 0 PITCH_VBD_SHIFT 0.0012000001 T_BOOST 0

CALL_WAIT 60 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011693723 T_BOOST_BLACKOUT 0

CAPMAXSIZE 100000 GPS_DEVICE 32 PRESSURE_YINT -87.994217 T_DIVE 335

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 -21068.865

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 1.0278 T_RSLEEP 1

C_PITCH 3184 ID 573 ROLL_ADJ_DBAND 0 T_TURN 225

C_ROLL_CLIMB 1750 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_DIVE 2040 INT_PRESSURE_YINT -0.55000001 ROLL_AD_RATE 350 T_WATCHDOG 10

C_VBD 1900 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 3785 USE_ICE 0

DEVICE2 101 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE3 163 LOGGERDEVICE3 -1 ROLL_MIN 150 VBD_CNV -0.245296

DEVICE4 135 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE5 -1 LOGGERS 1 R_PORT_OVSHOOT 38 VBD_MAX 3959

DEVICE6 -1 MASS 53040 R_STBD_OVSHOOT 41 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 150 SEABIRD_C_G -9.9469662 VBD_MIN 409

DIVE 23 MINV_10V 8 SEABIRD_C_H 1.155618 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1020 MINV_24V 20 SEABIRD_C_I -0.0016006827 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 5 MISSION 12 SEABIRD_C_J 0.00019558761 VBD_TIMEOUT 720

D_CALL 0 MOTHERBOARD 4 SEABIRD_T_G 0.0042828661 XPDR_DEVICE 24

D_FINISH 0 NAV_MODE 1 SEABIRD_T_H 0.00061930995 XPDR_INHIBIT 90

D_FLARE 3 N_FILEKB 4 SEABIRD_T_I 2.1971719e-05 XPDR_VALID 5

Pre-dive calculations and measurements:

GPS1 010815,182050,-4500.739,629.162,19,2.5,38,-24.4 TGT_NAME SAF_1

_CALLS 2 TGT_LATLONG -4500.000,630.000

_XMS_NAKs 0 TGT_RADIUS 800.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.46 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 010815,183126,-4500.700,629.143,27,1.4,42,-24.4 MHEAD_RNG_PITCHd_Wd 65.3,1714,-27.8,-9.950

SPEED_LIMITS 0.172,0.260 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.1,1.007893 _10V_AH 10.2,5.532

SM_CCo 13201,36.15,0.058,0,0,1062,205.07 FG_AHR_24Vo 0.000

SM_GC 2.68,0.00,0.00,36.15,0.000,0.000,0.058,82,2027,1062,-9.70,-0.37,205.07 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4444.39,627.81,280508,070733 MEM 353672

TT8_MAMPS 0.026964 DATA_FILE_SIZE 67129,960

HUMID 62.20 CAP_FILE_SIZE 121496,0

INTERNAL_PRESSURE 9.28436 CFSIZE 2097086464,2089156608

TCM_TEMP 12.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 010815,221333,-4500.452,631.985,35,0.9,36,-24.4

_24V_AH 23.4,8.481

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 263 149.33 SBE_CT 668 23 363.21

Roll_motor 80 81 153.57 AA4330 1784 17 719.45

VBD_pump_during_apogee 235 1306 7204.21 WL_BB2FL 725 105 1781.54

VBD_pump_during_surface 36 58 49.18 QSP2150 403 17 162.68

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 53 91 113.08 nil 0 0 0.00

Iridium_during_connect 63 160 236.79 nil 0 0 0.00

Iridium_during_xfer 309 223 1617.62 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 45 27 12.73

TT8 2361 13 334.52

LPSleep 8327 2 186.01

TT8_Active 361 13 51.18

TT8_Sampling 2728 40 1136.68

TT8_CF8 97 50 50.13

TT8_Kalman 0 0 0.00

Analog_circuits 1258 15 196.63

GPS_charging 0 0 0.00

Compass 2110 15 338.68

RAFOS 0 0 0.00

Transponder 0 5 0.03

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 -1.34 -62.6 0.0 0.0 0 58 0.00 0.00 -32.53 0.000 2 0.000 0.000 67 2044 1733 0 0 0 0 0 0

60 -1.42 -127.3 3.0 -3.1 5 106 11.25 2.35 -25.08 0.000 4 0.263 0.082 2710 3437 2420 0 0 0 0 0 0

374 -1.25 -127.3 64.8 -22.0 57 382 0.22 2.22 0.00 0.000 6 0.194 0.043 2772 2040 2423 0 0 0 0 0 0

717 -1.18 -127.3 134.7 -19.5 103 722 0.12 2.25 0.00 0.000 4 0.223 0.061 2792 3435 2423 0 0 0 0 0 0

847 -1.14 -127.3 159.3 -17.4 114 852 0.10 2.17 0.00 0.000 6 0.203 0.042 2816 2028 2423 0 0 0 0 0 0

1179 -1.14 -127.3 213.8 -17.2 145 1180 0.00 0.00 0.00 0.000 6 0.000 0.000 2815 2028 2423 0 0 0 0 0 0

1496 -1.14 -127.3 265.4 -15.8 175 1497 0.00 0.00 0.00 0.000 6 0.000 0.000 2816 2028 2424 0 0 0 0 0 0

1816 -1.14 -127.3 315.7 -15.9 205 1818 0.00 0.00 0.00 0.000 6 0.000 0.000 2815 2029 2424 0 0 0 0 0 0

2133 -1.14 -127.3 367.2 -16.6 235 2134 0.00 0.00 0.00 0.000 6 0.000 0.000 2816 2028 2424 0 0 0 0 0 0

2458 -1.14 -127.3 421.1 -16.4 260 2459 0.00 0.00 0.00 0.000 6 0.000 0.000 2815 2028 2424 0 0 0 0 0 0

2767 -1.14 -127.3 470.4 -16.3 275 2769 0.00 0.00 0.00 0.000 6 0.000 0.000 2815 2028 2424 0 0 0 0 0 0

3077 -1.14 -127.3 521.1 -16.5 290 3078 0.00 0.00 0.00 0.000 6 0.000 0.000 2815 2028 2424 0 0 0 0 0 0

3386 -1.14 -127.3 572.6 -16.8 305 3387 0.00 0.00 0.00 0.000 6 0.000 0.000 2815 2029 2424 0 0 0 0 0 0

3695 -1.14 -127.3 620.9 -15.0 320 3697 0.00 0.00 0.00 0.000 6 0.000 0.000 2815 2028 2424 0 0 0 0 0 0

4005 -1.14 -127.3 668.6 -15.8 335 4006 0.00 0.00 0.00 0.000 6 0.000 0.000 2816 2028 2424 0 0 0 0 0 0

4314 -1.14 -127.3 718.3 -15.8 350 4318 0.00 2.25 0.00 0.000 4 0.000 0.064 2806 3444 2423 0 0 0 0 0 0

4368 -1.14 -127.3 727.3 -15.9 352 4374 0.00 2.20 0.00 0.000 6 0.000 0.044 2806 2035 2423 0 0 0 0 0 0

4684 -1.14 -127.3 776.4 -15.8 368 4688 0.00 2.25 0.00 0.000 4 0.000 0.064 2797 3434 2423 0 0 0 0 0 0

4715 -1.14 -127.3 781.7 -15.9 369 4722 0.03 2.17 0.00 0.000 6 0.191 0.041 2805 2033 2423 0 0 0 0 0 0

5031 -1.14 -127.3 829.1 -14.8 385 5033 0.00 0.00 0.00 0.000 6 0.000 0.000 2805 2033 2423 0 0 0 0 0 0

5341 -1.14 -127.3 874.6 -14.7 400 5342 0.00 0.00 0.00 0.000 6 0.000 0.000 2805 2033 2423 0 0 0 0 0 0

5650 -1.14 -127.3 919.2 -14.4 415 5651 0.00 0.00 0.00 0.000 6 0.000 0.000 2805 2033 2422 0 0 0 0 0 0

5959 -1.14 -127.3 965.1 -14.7 430 5961 0.00 0.00 0.00 0.000 6 0.000 0.000 2805 2033 2422 0 0 0 0 0 0

6206 end dive: TARGET_DEPTH_EXCEEDED

state 6206 begin apogee

6210 -0.23 0.0 1000.9 14.4 442 6329 1.00 0.00 116.22 1.307 6 0.174 0.000 3104 1739 1900 0 0 0 0 0 0

6330 end apogee: CONTROL_FINISHED_OK

state 6330 begin climb

6332 1.42 127.3 1005.5 0.0 448 6461 1.67 2.45 119.40 1.261 4 0.097 0.047 3648 346 1381 0 0 0 0 0 0

6528 1.31 127.3 978.9 19.4 457 6535 0.12 2.33 0.00 0.000 6 0.176 0.034 3613 1741 1375 0 0 0 0 0 0

6844 1.27 127.3 926.2 16.5 473 6849 0.08 2.28 0.00 0.000 4 0.231 0.047 3608 338 1372 0 0 0 0 0 0

6966 1.21 127.3 905.7 16.7 478 6972 0.08 2.28 0.00 0.000 6 0.183 0.034 3575 1750 1372 0 0 0 0 0 0

7282 1.21 127.3 859.1 15.0 494 7286 0.00 2.28 0.00 0.000 4 0.000 0.047 3584 345 1372 0 0 0 0 0 0

7353 1.18 127.3 847.7 15.7 497 7358 0.05 2.25 0.00 0.000 6 0.190 0.034 3569 1758 1370 0 0 0 0 0 0

7676 1.18 127.3 800.4 15.1 513 7680 0.00 2.28 0.00 0.000 4 0.000 0.047 3577 344 1370 0 0 0 0 0 0

7746 1.18 127.3 788.4 17.0 516 7752 0.03 2.22 0.00 0.000 6 0.207 0.033 3571 1755 1369 0 0 0 0 0 0

8069 1.18 127.3 737.9 16.2 532 8071 0.00 0.00 0.00 0.000 6 0.000 0.000 3570 1756 1369 0 0 0 0 0 0

8379 1.18 127.3 689.8 15.5 547 8383 0.00 2.22 0.00 0.000 4 0.000 0.046 3579 345 1369 0 0 0 0 0 0

8433 1.18 127.3 680.4 16.6 549 8440 0.03 2.20 0.00 0.000 6 0.208 0.033 3571 1751 1369 0 0 0 0 0 0

8749 1.18 127.3 631.5 15.5 565 8750 0.00 0.00 0.00 0.000 6 0.000 0.000 3571 1751 1369 0 0 0 0 0 0

9058 1.18 127.3 583.4 15.6 580 9062 0.00 2.22 0.00 0.000 4 0.000 0.047 3579 338 1369 0 0 0 0 0 0

9146 1.18 127.3 568.8 15.7 584 9152 0.03 2.20 0.00 0.000 6 0.212 0.034 3571 1746 1369 0 0 0 0 0 0

9474 1.18 127.3 519.4 15.0 600 9475 0.00 0.00 0.00 0.000 6 0.000 0.000 3571 1746 1369 0 0 0 0 0 0

9783 1.18 127.3 474.6 14.3 615 9787 0.00 2.22 0.00 0.000 4 0.000 0.047 3579 340 1369 0 0 0 0 0 0

9881 1.18 127.3 459.8 14.8 619 9888 0.03 2.20 0.00 0.000 6 0.210 0.034 3572 1754 1369 0 0 0 0 0 0

10197 1.18 127.3 416.2 13.6 635 10201 0.00 2.22 0.00 0.000 4 0.000 0.046 3580 343 1369 0 0 0 0 0 0

10284 1.18 127.3 403.3 14.8 639 10290 0.03 2.17 0.00 0.000 6 0.210 0.032 3572 1752 1368 0 0 0 0 0 0

10609 1.18 127.3 359.2 13.4 668 10613 0.00 2.22 0.00 0.000 4 0.000 0.046 3580 342 1368 0 0 0 0 0 0

10683 1.18 127.3 349.1 13.6 674 10687 0.08 2.15 0.00 0.000 6 0.216 0.032 3565 1749 1368 0 0 0 0 0 0

11007 1.21 127.3 306.4 13.5 704 11011 0.00 2.22 0.00 0.000 4 0.000 0.047 3574 338 1368 0 0 0 0 0 0

11061 1.21 127.3 298.7 14.3 708 11070 0.00 2.17 0.00 0.000 6 0.000 0.033 3574 1742 1368 0 0 0 0 0 0

11386 1.21 127.3 253.6 13.6 739 11390 0.00 2.20 0.00 0.000 4 0.000 0.047 3582 344 1368 0 0 0 0 0 0

11448 1.21 127.3 244.6 14.6 744 11452 0.00 2.17 0.00 0.000 6 0.000 0.033 3582 1760 1368 0 0 0 0 0 0

11772 1.21 127.3 196.4 15.1 774 11776 0.00 2.22 0.00 0.000 4 0.000 0.047 3592 338 1368 0 0 0 0 0 0

11834 1.19 127.3 186.7 15.7 779 11839 0.10 2.17 0.00 0.000 6 0.201 0.033 3568 1759 1368 0 0 0 0 0 0

12161 1.22 127.3 137.9 14.8 809 12165 0.00 2.22 0.00 0.000 4 0.000 0.047 3576 344 1368 0 0 0 0 0 0

12328 1.22 127.3 113.3 14.0 823 12334 0.00 2.17 0.00 0.000 6 0.000 0.031 3576 1754 1368 0 0 0 0 0 0

12670 1.22 127.3 66.8 15.4 875 12674 0.00 0.00 0.00 0.000 6 0.000 0.000 3576 1754 1368 0 0 0 0 0 0

13028 1.24 127.3 19.1 13.0 936 13035 0.00 0.00 0.00 0.000 6 0.000 0.000 3576 1754 1368 0 0 0 0 0 0

13085 1.24 127.3 11.5 13.3 945 13092 0.00 0.00 0.00 0.000 6 0.000 0.000 3576 1755 1368 0 0 0 0 0 0

13142 1.24 127.3 4.1 12.9 954 13150 0.00 2.20 0.00 0.000 4 0.000 0.057 3576 3138 1368 0 0 0 0 0 0

13158 end climb: SURFACE_DEPTH_REACHED

state 13158 begin surface coast

13184 end surface coast: CONTROL_FINISHED_OK

state 13184 begin surface

ID	573	HD_B	0.010078	ROLL_MIN	150	ALTIM_TOP_TURN_MARGIN	0
MISSION	12	HD_C	9.8500004e-06	ROLL_MAX	3785	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	23	HEADING	-1	ROLL_DEG	40	ALTIM_PING_DEPTH	0
D_SURF	3	ESCAPE_HEADING	0	C_ROLL_DIVE	2040	ALTIM_PING_DELTA	10
D_FLARE	3	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1750	ALTIM_FREQUENCY	13
D_TGT	1000	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_ABORT	1020	TGT_DEFAULT_LAT	-4300	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	TGT_DEFAULT_LON	800	ROLL_TIMEOUT	15	XPDR_VALID	5
D_BOOST	5	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	38	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	205	R_STBD_OVSHOOT	41	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST_BLACKOUT	0	N_FILEKB	4	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.55000001
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	409	DEVICE2	101
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MAX	3959	DEVICE3	163
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	C_VBD	1900	DEVICE4	135
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	1440	CAPUPLOAD	0	VBD_TIMEOUT	720	LOGGERS	1
T_TURN	225	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012000001	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	-21068.865	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	1	CF8_MAXERRORS	20	PHONE_DEVICE	48
D_OFFGRID	100	STROBE	0	AH0_24V	150	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	RAFOS_DEVICE	-1
RELAUNCH	0	RAFOS_CORR_THRESH	60	MINV_24V	20	XPDR_DEVICE	24
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	8	SIM_W	0
MAX_BUOY	150	PITCH_MIN	100	FG_AHR_10V	0	SIM_PITCH	0
COURSE_BIAS	0	PITCH_MAX	3858	FG_AHR_24V	0	SEABIRD_T_G	0.0042828661
GLIDE_SLOPE	30	C_PITCH	3184	PHONE_SUPPLY	2	SEABIRD_T_H	0.00061930995
SPEED_FACTOR	1	PITCH_DBAND	0.0099999998	PRESSURE_YINT	-87.994217	SEABIRD_T_I	2.1971719e-05
RHO	1.0278	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011693723	SEABIRD_T_J	2.301111e-06
MASS	53040	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_C_G	-9.9469662
LENGTH	1.8	PITCH_GAIN	22	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.155618
NAV_MODE	1	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0016006827
DIRECT_CONTROL	0	PITCH_AD_RATE	160	COMPASS_USE	0	SEABIRD_C_J	0.00019558761
FERRY_MAX	45	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	EBE_ENABLE	0
KALMAN_USE	2	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	0	GC_WINDOW	0
HD_A	0.0038360001	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	15	GC_LAST_COLLECTION	22

GPS1	010815,182050,-4500.739,629.162,19,2.5,38,-24.4	TGT_NAME	SAF_1
_CALLS	2	TGT_LATLONG	-4500.000,630.000
_XMS_NAKs	0	TGT_RADIUS	800.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.46	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	010815,183126,-4500.700,629.143,27,1.4,42,-24.4	MHEAD_RNG_PITCHd_Wd	65.3,1714,-27.8,-9.950
SPEED_LIMITS	0.172,0.260	D_GRID	1000

FINISH	1.1,1.007893	_10V_AH	10.2,5.532
SM_CCo	13201,36.15,0.058,0,0,1062,205.07	FG_AHR_24Vo	0.000
SM_GC	2.68,0.00,0.00,36.15,0.000,0.000,0.058,82,2027,1062,-9.70,-0.37,205.07	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4444.39,627.81,280508,070733	MEM	353672
TT8_MAMPS	0.026964	DATA_FILE_SIZE	67129,960
HUMID	62.20	CAP_FILE_SIZE	121496,0
INTERNAL_PRESSURE	9.28436	CFSIZE	2097086464,2089156608
TCM_TEMP	12.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	010815,221333,-4500.452,631.985,35,0.9,36,-24.4
_24V_AH	23.4,8.481

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	263	149.33	SBE_CT	668	23	363.21
Roll_motor	80	81	153.57	AA4330	1784	17	719.45
VBD_pump_during_apogee	235	1306	7204.21	WL_BB2FL	725	105	1781.54
VBD_pump_during_surface	36	58	49.18	QSP2150	403	17	162.68
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	53	91	113.08	nil	0	0	0.00
Iridium_during_connect	63	160	236.79	nil	0	0	0.00
Iridium_during_xfer	309	223	1617.62	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	45	27	12.73
TT8	2361	13	334.52
LPSleep	8327	2	186.01
TT8_Active	361	13	51.18
TT8_Sampling	2728	40	1136.68
TT8_CF8	97	50	50.13
TT8_Kalman	0	0	0.00
Analog_circuits	1258	15	196.63
GPS_charging	0	0	0.00
Compass	2110	15	338.68
RAFOS	0	0	0.00
Transponder	0	5	0.03

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	-1.34	-62.6	0.0	0.0	0	58	0.00	0.00	-32.53	0.000	2	0.000	0.000	67	2044	1733	0	0	0	0	0	0
60	-1.42	-127.3	3.0	-3.1	5	106	11.25	2.35	-25.08	0.000	4	0.263	0.082	2710	3437	2420	0	0	0	0	0	0
374	-1.25	-127.3	64.8	-22.0	57	382	0.22	2.22	0.00	0.000	6	0.194	0.043	2772	2040	2423	0	0	0	0	0	0
717	-1.18	-127.3	134.7	-19.5	103	722	0.12	2.25	0.00	0.000	4	0.223	0.061	2792	3435	2423	0	0	0	0	0	0
847	-1.14	-127.3	159.3	-17.4	114	852	0.10	2.17	0.00	0.000	6	0.203	0.042	2816	2028	2423	0	0	0	0	0	0
1179	-1.14	-127.3	213.8	-17.2	145	1180	0.00	0.00	0.00	0.000	6	0.000	0.000	2815	2028	2423	0	0	0	0	0	0
1496	-1.14	-127.3	265.4	-15.8	175	1497	0.00	0.00	0.00	0.000	6	0.000	0.000	2816	2028	2424	0	0	0	0	0	0
1816	-1.14	-127.3	315.7	-15.9	205	1818	0.00	0.00	0.00	0.000	6	0.000	0.000	2815	2029	2424	0	0	0	0	0	0
2133	-1.14	-127.3	367.2	-16.6	235	2134	0.00	0.00	0.00	0.000	6	0.000	0.000	2816	2028	2424	0	0	0	0	0	0
2458	-1.14	-127.3	421.1	-16.4	260	2459	0.00	0.00	0.00	0.000	6	0.000	0.000	2815	2028	2424	0	0	0	0	0	0
2767	-1.14	-127.3	470.4	-16.3	275	2769	0.00	0.00	0.00	0.000	6	0.000	0.000	2815	2028	2424	0	0	0	0	0	0
3077	-1.14	-127.3	521.1	-16.5	290	3078	0.00	0.00	0.00	0.000	6	0.000	0.000	2815	2028	2424	0	0	0	0	0	0
3386	-1.14	-127.3	572.6	-16.8	305	3387	0.00	0.00	0.00	0.000	6	0.000	0.000	2815	2029	2424	0	0	0	0	0	0
3695	-1.14	-127.3	620.9	-15.0	320	3697	0.00	0.00	0.00	0.000	6	0.000	0.000	2815	2028	2424	0	0	0	0	0	0
4005	-1.14	-127.3	668.6	-15.8	335	4006	0.00	0.00	0.00	0.000	6	0.000	0.000	2816	2028	2424	0	0	0	0	0	0
4314	-1.14	-127.3	718.3	-15.8	350	4318	0.00	2.25	0.00	0.000	4	0.000	0.064	2806	3444	2423	0	0	0	0	0	0
4368	-1.14	-127.3	727.3	-15.9	352	4374	0.00	2.20	0.00	0.000	6	0.000	0.044	2806	2035	2423	0	0	0	0	0	0
4684	-1.14	-127.3	776.4	-15.8	368	4688	0.00	2.25	0.00	0.000	4	0.000	0.064	2797	3434	2423	0	0	0	0	0	0
4715	-1.14	-127.3	781.7	-15.9	369	4722	0.03	2.17	0.00	0.000	6	0.191	0.041	2805	2033	2423	0	0	0	0	0	0
5031	-1.14	-127.3	829.1	-14.8	385	5033	0.00	0.00	0.00	0.000	6	0.000	0.000	2805	2033	2423	0	0	0	0	0	0
5341	-1.14	-127.3	874.6	-14.7	400	5342	0.00	0.00	0.00	0.000	6	0.000	0.000	2805	2033	2423	0	0	0	0	0	0
5650	-1.14	-127.3	919.2	-14.4	415	5651	0.00	0.00	0.00	0.000	6	0.000	0.000	2805	2033	2422	0	0	0	0	0	0
5959	-1.14	-127.3	965.1	-14.7	430	5961	0.00	0.00	0.00	0.000	6	0.000	0.000	2805	2033	2422	0	0	0	0	0	0
6206	end dive: TARGET_DEPTH_EXCEEDED
state	6206	begin apogee
6210	-0.23	0.0	1000.9	14.4	442	6329	1.00	0.00	116.22	1.307	6	0.174	0.000	3104	1739	1900	0	0	0	0	0	0
6330	end apogee: CONTROL_FINISHED_OK
state	6330	begin climb
6332	1.42	127.3	1005.5	0.0	448	6461	1.67	2.45	119.40	1.261	4	0.097	0.047	3648	346	1381	0	0	0	0	0	0
6528	1.31	127.3	978.9	19.4	457	6535	0.12	2.33	0.00	0.000	6	0.176	0.034	3613	1741	1375	0	0	0	0	0	0
6844	1.27	127.3	926.2	16.5	473	6849	0.08	2.28	0.00	0.000	4	0.231	0.047	3608	338	1372	0	0	0	0	0	0
6966	1.21	127.3	905.7	16.7	478	6972	0.08	2.28	0.00	0.000	6	0.183	0.034	3575	1750	1372	0	0	0	0	0	0
7282	1.21	127.3	859.1	15.0	494	7286	0.00	2.28	0.00	0.000	4	0.000	0.047	3584	345	1372	0	0	0	0	0	0
7353	1.18	127.3	847.7	15.7	497	7358	0.05	2.25	0.00	0.000	6	0.190	0.034	3569	1758	1370	0	0	0	0	0	0
7676	1.18	127.3	800.4	15.1	513	7680	0.00	2.28	0.00	0.000	4	0.000	0.047	3577	344	1370	0	0	0	0	0	0
7746	1.18	127.3	788.4	17.0	516	7752	0.03	2.22	0.00	0.000	6	0.207	0.033	3571	1755	1369	0	0	0	0	0	0
8069	1.18	127.3	737.9	16.2	532	8071	0.00	0.00	0.00	0.000	6	0.000	0.000	3570	1756	1369	0	0	0	0	0	0
8379	1.18	127.3	689.8	15.5	547	8383	0.00	2.22	0.00	0.000	4	0.000	0.046	3579	345	1369	0	0	0	0	0	0
8433	1.18	127.3	680.4	16.6	549	8440	0.03	2.20	0.00	0.000	6	0.208	0.033	3571	1751	1369	0	0	0	0	0	0
8749	1.18	127.3	631.5	15.5	565	8750	0.00	0.00	0.00	0.000	6	0.000	0.000	3571	1751	1369	0	0	0	0	0	0
9058	1.18	127.3	583.4	15.6	580	9062	0.00	2.22	0.00	0.000	4	0.000	0.047	3579	338	1369	0	0	0	0	0	0
9146	1.18	127.3	568.8	15.7	584	9152	0.03	2.20	0.00	0.000	6	0.212	0.034	3571	1746	1369	0	0	0	0	0	0
9474	1.18	127.3	519.4	15.0	600	9475	0.00	0.00	0.00	0.000	6	0.000	0.000	3571	1746	1369	0	0	0	0	0	0
9783	1.18	127.3	474.6	14.3	615	9787	0.00	2.22	0.00	0.000	4	0.000	0.047	3579	340	1369	0	0	0	0	0	0
9881	1.18	127.3	459.8	14.8	619	9888	0.03	2.20	0.00	0.000	6	0.210	0.034	3572	1754	1369	0	0	0	0	0	0
10197	1.18	127.3	416.2	13.6	635	10201	0.00	2.22	0.00	0.000	4	0.000	0.046	3580	343	1369	0	0	0	0	0	0
10284	1.18	127.3	403.3	14.8	639	10290	0.03	2.17	0.00	0.000	6	0.210	0.032	3572	1752	1368	0	0	0	0	0	0
10609	1.18	127.3	359.2	13.4	668	10613	0.00	2.22	0.00	0.000	4	0.000	0.046	3580	342	1368	0	0	0	0	0	0
10683	1.18	127.3	349.1	13.6	674	10687	0.08	2.15	0.00	0.000	6	0.216	0.032	3565	1749	1368	0	0	0	0	0	0
11007	1.21	127.3	306.4	13.5	704	11011	0.00	2.22	0.00	0.000	4	0.000	0.047	3574	338	1368	0	0	0	0	0	0
11061	1.21	127.3	298.7	14.3	708	11070	0.00	2.17	0.00	0.000	6	0.000	0.033	3574	1742	1368	0	0	0	0	0	0
11386	1.21	127.3	253.6	13.6	739	11390	0.00	2.20	0.00	0.000	4	0.000	0.047	3582	344	1368	0	0	0	0	0	0
11448	1.21	127.3	244.6	14.6	744	11452	0.00	2.17	0.00	0.000	6	0.000	0.033	3582	1760	1368	0	0	0	0	0	0
11772	1.21	127.3	196.4	15.1	774	11776	0.00	2.22	0.00	0.000	4	0.000	0.047	3592	338	1368	0	0	0	0	0	0
11834	1.19	127.3	186.7	15.7	779	11839	0.10	2.17	0.00	0.000	6	0.201	0.033	3568	1759	1368	0	0	0	0	0	0
12161	1.22	127.3	137.9	14.8	809	12165	0.00	2.22	0.00	0.000	4	0.000	0.047	3576	344	1368	0	0	0	0	0	0
12328	1.22	127.3	113.3	14.0	823	12334	0.00	2.17	0.00	0.000	6	0.000	0.031	3576	1754	1368	0	0	0	0	0	0
12670	1.22	127.3	66.8	15.4	875	12674	0.00	0.00	0.00	0.000	6	0.000	0.000	3576	1754	1368	0	0	0	0	0	0
13028	1.24	127.3	19.1	13.0	936	13035	0.00	0.00	0.00	0.000	6	0.000	0.000	3576	1754	1368	0	0	0	0	0	0
13085	1.24	127.3	11.5	13.3	945	13092	0.00	0.00	0.00	0.000	6	0.000	0.000	3576	1755	1368	0	0	0	0	0	0
13142	1.24	127.3	4.1	12.9	954	13150	0.00	2.20	0.00	0.000	4	0.000	0.057	3576	3138	1368	0	0	0	0	0	0
13158	end climb: SURFACE_DEPTH_REACHED
state	13158	begin surface coast
13184	end surface coast: CONTROL_FINISHED_OK
state	13184	begin surface