Glider dive log

SOSCEx Sep12 * SG574 * Dive index * Mission links * Dive 291 * 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 4 HD_C 9.8500004e-06 ROLL_MAX 3798 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 291 HEADING -1 ROLL_DEG 40 ALTIM_PING_DEPTH 1000

D_SURF 3 ESCAPE_HEADING 0 C_ROLL_DIVE 1913 ALTIM_PING_DELTA 5

D_FLARE 3 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1651 ALTIM_FREQUENCY 13

D_TGT 1000 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_ABORT 1050 TGT_DEFAULT_LAT -4235 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

D_NO_BLEED 200 TGT_DEFAULT_LON -200 ROLL_TIMEOUT 15 XPDR_VALID 5

D_BOOST 3 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 31 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 250 R_STBD_OVSHOOT 34 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 2827 DEVICE4 134

T_DIVE 180 CALL_TRIES 5 VBD_DBAND 2 DEVICE5 -1

T_MISSION 200 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 -6769.7969 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 150 PITCH_MIN 92 FG_AHR_10V 0 SIM_PITCH 0

COURSE_BIAS 0 PITCH_MAX 3858 FG_AHR_24V 0 SEABIRD_T_G 0.0043508084

GLIDE_SLOPE 30 C_PITCH 3013 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062732975

SPEED_FACTOR 1 PITCH_DBAND 0.0099999998 PRESSURE_YINT -61.017719 SEABIRD_T_I 2.3669163e-05

RHO 1.0278 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011710486 SEABIRD_T_J 2.5502761e-06

MASS 53599 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_C_G -9.9075203

LENGTH 1.8 PITCH_GAIN 24 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1452845

NAV_MODE 0 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00093430834

DIRECT_CONTROL 0 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_J 0.0001541152

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 1 ALTIM_BOTTOM_TURN_MARGIN 20 GC_LAST_COLLECTION 270

AD7714Ch0Gain 128 D_NO_BLEED 200 N_GPS 20 SEABIRD_T_J 2.5502761e-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 250

ALTIM_BOTTOM_TURN_MARGIN 20 D_SURF 3 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_TGT 1000 PITCH_ADJ_DBAND 1 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 24 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 -4235

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PITCH_MIN 92 TGT_DEFAULT_LON -200

CALL_NDIVES 1 GC_LAST_COLLECTION 270 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 -61.017719 T_DIVE 180

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 -6769.7969

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 200

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 3013 ID 574 ROLL_ADJ_DBAND 0 T_TURN 225

C_ROLL_CLIMB 1651 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_DIVE 1913 INT_PRESSURE_YINT -1.812 ROLL_AD_RATE 350 T_WATCHDOG 10

C_VBD 2827 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 31 VBD_MAX 3960

DEVICE6 -1 MASS 53599 R_STBD_OVSHOOT 34 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 150 SEABIRD_C_G -9.9075203 VBD_MIN 396

DIVE 291 MINV_10V 8 SEABIRD_C_H 1.1452845 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1050 MINV_24V 20 SEABIRD_C_I -0.00093430834 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 3 MISSION 4 SEABIRD_C_J 0.0001541152 VBD_TIMEOUT 720

D_CALL 0 MOTHERBOARD 4 SEABIRD_T_G 0.0043508084 XPDR_DEVICE 24

D_FINISH 0 NAV_MODE 0 SEABIRD_T_H 0.00062732975 XPDR_INHIBIT 90

D_FLARE 3 N_FILEKB 4 SEABIRD_T_I 2.3669163e-05 XPDR_VALID 5

Pre-dive calculations and measurements:

GPS1 291112,222453,-4144.926,-626.796,41,1.0,41,-22.2 TGT_NAME ACC_WP2n

_CALLS 1 TGT_LATLONG -4230.000,-600.000

_XMS_NAKs 0 TGT_RADIUS 6000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.151,-0.294

_SM_DEPTHo 2.66 KALMAN_X -416876.5,-282.9,2640.3,608414.6,-7066.0

_SM_ANGLEo -73.0 KALMAN_Y 24843.5,1193.3,-292.0,97677.7,1009.4

GPS2 291112,223135,-4144.967,-626.744,42,1.3,42,-22.2 MHEAD_RNG_PITCHd_Wd 178.6,91045,-27.6,-18.519

SPEED_LIMITS 0.321,0.331 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.8,1.017146 _10V_AH 10.1,46.239

SM_CCo 11100,0.00,0.000,0,0,387,598.52 FG_AHR_24Vo 0.000

SM_GC 2.67,9.23,0.00,0.00,0.051,0.000,0.000,88,1877,387,-9.10,-0.96,598.52 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4129.38,-624.55,291112,191920 MEM 354496

TT8_MAMPS 0.026964 DATA_FILE_SIZE 36981,623

HUMID 49.72 CAP_FILE_SIZE 124418,0

INTERNAL_PRESSURE 9.02826 CFSIZE 2097086464,2053865472

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2

XPDR_PINGS 0 GPS 301112,013904,-4145.050,-626.920,39,1.2,44,-22.2

_24V_AH 22.4,68.512

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 281 162.54 SBE_CT 398 24 214.29

Roll_motor 98 89 197.73 WL_BB2FLVMT 0 0 0.00

VBD_pump_during_apogee 659 1399 20681.63 SBE_O2 409 19 174.09

VBD_pump_during_surface 0 0 0.00 QSP2150 56 4 5.57

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 69.86 nil 0 0 0.00

Iridium_during_connect 40 160 146.55 nil 0 0 0.00

Iridium_during_xfer 195 223 976.80 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 44 26 12.25

TT8 1580 14 238.75

LPSleep 7410 2 163.92

TT8_Active 687 14 98.63

TT8_Sampling 1705 37 644.82

TT8_CF8 139 47 66.57

TT8_Kalman 33 59 19.93

Analog_circuits 1543 12 187.11

GPS_charging 0 0 0.00

Compass 1380 15 219.28

RAFOS 0 0 0.00

Transponder 1 5 0.05

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 -1.16 -145.9 0.0 0.0 0 87 0.00 0.00 -60.33 0.000 2 0.000 0.000 67 1935 2050 0 0 0 0 0 0

89 -1.16 -145.9 3.0 -0.7 12 166 11.62 2.35 -57.70 0.000 4 0.262 0.071 2637 502 3423 0 0 0 0 0 0

174 -0.98 -145.9 5.9 -11.8 28 180 0.25 2.22 0.00 0.000 6 0.202 0.039 2689 1916 3423 0 0 0 0 0 0

248 -0.98 -145.9 17.3 -15.0 41 253 0.00 2.30 0.00 0.000 4 0.000 0.060 2692 509 3424 0 0 0 0 0 0

333 -0.98 -145.9 29.7 -14.3 56 338 0.00 2.20 0.00 0.000 6 0.000 0.037 2683 1921 3425 0 0 0 0 0 0

407 -1.02 -145.9 39.7 -13.8 69 412 0.00 2.20 0.00 0.000 4 0.000 0.048 2672 3320 3424 0 0 0 0 0 0

475 -1.04 -145.9 49.1 -13.7 81 480 0.00 2.17 0.00 0.000 6 0.000 0.044 2672 1916 3425 0 0 0 0 0 0

704 -1.04 -145.9 82.7 -14.5 122 709 0.00 1.62 0.00 0.000 4 0.000 0.054 2672 898 3425 0 0 0 0 0 0

759 -1.04 -145.9 90.9 -14.6 132 765 0.00 1.58 0.00 0.000 6 0.000 0.036 2665 1916 3425 0 0 0 0 0 0

1094 -1.02 -145.9 140.1 -14.7 161 1098 0.08 1.52 0.00 0.000 4 0.233 0.045 2673 2880 3425 0 0 0 0 0 0

1165 -1.02 -145.9 150.9 -14.1 165 1170 0.00 1.52 0.00 0.000 6 0.000 0.042 2673 1908 3426 0 0 0 0 0 0

1492 -1.13 -145.9 191.9 -12.1 186 1496 0.08 2.22 0.00 0.000 4 0.143 0.048 2636 3319 3426 0 0 0 0 0 0

1563 -1.10 -145.9 202.5 -14.4 190 1568 0.10 2.15 0.00 0.000 6 0.202 0.041 2656 1910 3426 0 0 0 0 0 0

1888 -1.06 -145.9 249.2 -14.3 211 1892 0.00 1.45 0.00 0.000 4 0.000 0.053 2657 988 3426 0 0 0 0 0 0

1944 -1.03 -145.9 257.8 -14.8 214 1948 0.08 1.42 0.00 0.000 6 0.186 0.034 2673 1915 3426 0 0 0 0 0 0

2267 -1.12 -145.9 297.1 -11.9 230 2271 0.05 1.83 0.00 0.000 4 0.177 0.044 2646 3090 3426 0 0 0 0 0 0

2316 -1.08 -145.9 304.2 -14.3 232 2320 0.03 1.83 0.00 0.000 6 0.204 0.039 2653 1907 3426 0 0 0 0 0 0

2644 -1.05 -145.9 352.5 -15.1 248 2649 0.08 0.90 0.00 0.000 4 0.226 0.051 2670 1336 3426 0 0 0 0 0 0

2694 -1.05 -145.9 360.4 -14.4 250 2698 0.00 0.90 0.00 0.000 6 0.000 0.034 2667 1926 3426 0 0 0 0 0 0

3032 -1.16 -145.9 405.9 -13.7 266 3036 0.10 2.15 0.00 0.000 4 0.118 0.044 2620 3307 3427 0 0 0 0 0 0

3094 -1.12 -145.9 415.9 -16.1 268 3099 0.12 2.12 0.00 0.000 6 0.194 0.037 2648 1918 3426 0 0 0 0 0 0

3434 -1.20 -145.9 466.2 -14.4 279 3439 0.08 2.25 0.00 0.000 4 0.142 0.054 2623 509 3426 0 0 0 0 0 0

3523 -1.11 -145.9 481.3 -16.6 281 3529 0.15 2.15 0.00 0.000 6 0.210 0.035 2648 1907 3426 0 0 0 0 0 0

3836 -1.08 -145.9 528.4 -15.0 292 3840 0.00 0.77 0.00 0.000 4 0.000 0.044 2646 2432 3426 0 0 0 0 0 0

3885 -1.08 -145.9 536.1 -14.8 293 3890 0.08 0.82 0.00 0.000 6 0.213 0.042 2660 1900 3426 0 0 0 0 0 0

4210 -1.17 -145.9 579.5 -12.7 304 4215 0.08 0.47 0.00 0.000 4 0.142 0.045 2632 2220 3425 0 0 0 0 0 0

4250 -1.20 -145.9 585.2 -14.6 305 4254 0.00 0.45 0.00 0.000 6 0.000 0.048 2632 1911 3425 0 0 0 0 0 0

4585 -1.20 -145.9 632.7 -14.1 316 4589 0.00 2.20 0.00 0.000 4 0.000 0.054 2632 513 3425 0 0 0 0 0 0

4648 -1.13 -145.9 642.7 -16.6 318 4653 0.10 2.15 0.00 0.000 6 0.218 0.036 2642 1912 3424 0 0 0 0 0 0

4988 -1.09 -145.9 694.4 -15.0 329 4993 0.08 2.20 0.00 0.000 4 0.246 0.045 2647 3322 3423 0 0 0 0 0 0

5054 -1.09 -145.9 704.0 -13.3 331 5059 0.00 2.15 0.00 0.000 6 0.000 0.037 2647 1910 3423 0 0 0 0 0 0

5390 -1.06 -145.9 751.8 -14.4 342 5392 0.10 0.00 0.00 0.000 6 0.215 0.000 2668 1906 3422 0 0 0 0 0 0

5696 -1.06 -145.9 792.9 -13.3 352 5700 0.00 0.98 0.00 0.000 4 0.000 0.042 2665 2543 3421 0 0 0 0 0 0

5751 -1.09 -145.9 800.5 -13.3 353 5755 0.00 0.98 0.00 0.000 6 0.000 0.041 2665 1909 3421 0 0 0 0 0 0

6007 end dive: HALF_MISSION_TIME_EXCEEDED

state 6007 begin apogee

6011 -0.21 0.0 835.9 14.2 362 6141 0.98 0.00 126.03 1.399 6 0.163 0.000 2940 1646 2827 0 0 0 0 0 0

6142 end apogee: CONTROL_FINISHED_OK

state 6142 begin climb

6143 1.16 145.9 844.7 0.0 366 6283 1.33 1.65 129.75 1.342 4 0.049 0.041 3396 2572 2231 0 0 0 0 0 0

6415 0.88 275.8 844.7 9.0 375 6540 0.40 1.50 116.22 1.316 6 0.234 0.045 3304 1666 1702 0 0 0 0 0 0

6876 0.84 376.7 795.0 11.1 390 6973 0.08 2.33 90.15 1.316 4 0.252 0.062 3300 315 1291 0 0 0 0 0 0

7018 0.89 460.5 778.1 12.3 394 7103 0.00 2.15 78.18 1.298 6 0.000 0.037 3300 1652 948 0 0 0 0 0 0

7428 1.01 542.2 725.8 12.5 408 7508 0.10 2.53 71.43 1.265 4 0.114 0.067 3344 238 615 0 0 0 0 0 0

7581 1.08 577.5 702.1 15.9 412 7617 0.00 2.28 31.45 1.209 6 0.000 0.037 3344 1659 472 0 0 0 0 0 0

7925 1.18 617.3 648.6 15.6 424 7949 0.15 2.42 16.67 1.148 4 0.098 0.067 3408 245 395 0 0 0 0 0 0

8028 1.18 617.3 628.5 20.0 427 8032 0.03 2.22 0.00 0.000 6 0.282 0.040 3400 1648 392 0 0 0 0 0 0

8362 1.20 617.3 563.8 19.7 438 8366 0.00 2.20 0.00 0.000 4 0.000 0.048 3400 3056 391 0 0 0 0 0 0

8446 1.28 619.4 547.7 18.4 440 8450 0.00 2.22 0.00 0.000 6 0.000 0.050 3409 1654 391 0 0 0 0 0 0

8764 1.28 619.4 483.3 20.5 451 8768 0.00 2.22 0.00 0.000 4 0.000 0.047 3409 3061 390 0 0 0 0 0 0

8826 1.34 619.4 471.5 18.7 453 8831 0.08 2.25 0.00 0.000 6 0.131 0.050 3448 1648 390 0 0 0 0 0 0

9161 1.30 619.4 396.0 22.8 464 9165 0.08 2.22 0.00 0.000 4 0.236 0.047 3433 3060 390 0 0 0 0 0 0

9209 1.33 619.4 385.4 20.1 466 9214 0.00 2.25 0.00 0.000 6 0.000 0.049 3442 1658 390 0 0 0 0 0 0

9531 1.30 619.4 314.3 21.9 482 9535 0.00 1.92 0.00 0.000 4 0.000 0.045 3442 2892 390 0 0 0 0 0 0

9576 1.30 619.4 304.3 20.9 484 9581 0.08 1.95 0.00 0.000 6 0.239 0.050 3437 1648 390 0 0 0 0 0 0

9894 1.28 619.4 236.8 21.2 500 9898 0.00 1.27 0.00 0.000 4 0.000 0.043 3437 2465 390 0 0 0 0 0 0

9928 1.28 619.4 229.5 21.2 502 9932 0.05 1.30 0.00 0.000 6 0.207 0.051 3429 1653 390 0 0 0 0 0 0

10258 1.28 619.4 162.2 20.9 523 10261 0.00 1.12 0.00 0.000 4 0.000 0.042 3429 2381 390 0 0 0 0 0 0

10284 1.28 619.4 156.3 21.3 524 10291 0.00 1.20 0.00 0.000 6 0.000 0.051 3433 1638 390 0 0 0 0 0 0

10607 1.28 619.4 90.3 20.6 549 10611 0.00 2.05 0.00 0.000 4 0.000 0.044 3432 2953 390 0 0 0 0 0 0

10652 1.30 619.4 80.8 20.6 557 10656 0.00 2.08 0.00 0.000 6 0.000 0.049 3441 1646 390 0 0 0 0 0 0

10995 1.30 619.4 6.3 21.3 618 10999 0.00 0.50 0.00 0.000 4 0.000 0.046 3441 1986 390 0 0 0 0 0 0

11010 end climb: SURFACE_DEPTH_REACHED

state 11010 begin surface coast

11022 end surface coast: CONTROL_FINISHED_OK

state 11022 begin surface

ID	574	HD_B	0.010078	ROLL_MIN	160	ALTIM_TOP_TURN_MARGIN	0
MISSION	4	HD_C	9.8500004e-06	ROLL_MAX	3798	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	291	HEADING	-1	ROLL_DEG	40	ALTIM_PING_DEPTH	1000
D_SURF	3	ESCAPE_HEADING	0	C_ROLL_DIVE	1913	ALTIM_PING_DELTA	5
D_FLARE	3	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1651	ALTIM_FREQUENCY	13
D_TGT	1000	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_ABORT	1050	TGT_DEFAULT_LAT	-4235	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
D_NO_BLEED	200	TGT_DEFAULT_LON	-200	ROLL_TIMEOUT	15	XPDR_VALID	5
D_BOOST	3	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	31	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	250	R_STBD_OVSHOOT	34	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	2827	DEVICE4	134
T_DIVE	180	CALL_TRIES	5	VBD_DBAND	2	DEVICE5	-1
T_MISSION	200	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	-6769.7969	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	150	PITCH_MIN	92	FG_AHR_10V	0	SIM_PITCH	0
COURSE_BIAS	0	PITCH_MAX	3858	FG_AHR_24V	0	SEABIRD_T_G	0.0043508084
GLIDE_SLOPE	30	C_PITCH	3013	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062732975
SPEED_FACTOR	1	PITCH_DBAND	0.0099999998	PRESSURE_YINT	-61.017719	SEABIRD_T_I	2.3669163e-05
RHO	1.0278	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011710486	SEABIRD_T_J	2.5502761e-06
MASS	53599	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_C_G	-9.9075203
LENGTH	1.8	PITCH_GAIN	24	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1452845
NAV_MODE	0	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00093430834
DIRECT_CONTROL	0	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_J	0.0001541152
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	1	ALTIM_BOTTOM_TURN_MARGIN	20	GC_LAST_COLLECTION	270

GPS1	291112,222453,-4144.926,-626.796,41,1.0,41,-22.2	TGT_NAME	ACC_WP2n
_CALLS	1	TGT_LATLONG	-4230.000,-600.000
_XMS_NAKs	0	TGT_RADIUS	6000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.151,-0.294
_SM_DEPTHo	2.66	KALMAN_X	-416876.5,-282.9,2640.3,608414.6,-7066.0
_SM_ANGLEo	-73.0	KALMAN_Y	24843.5,1193.3,-292.0,97677.7,1009.4
GPS2	291112,223135,-4144.967,-626.744,42,1.3,42,-22.2	MHEAD_RNG_PITCHd_Wd	178.6,91045,-27.6,-18.519
SPEED_LIMITS	0.321,0.331	D_GRID	1000

FINISH	1.8,1.017146	_10V_AH	10.1,46.239
SM_CCo	11100,0.00,0.000,0,0,387,598.52	FG_AHR_24Vo	0.000
SM_GC	2.67,9.23,0.00,0.00,0.051,0.000,0.000,88,1877,387,-9.10,-0.96,598.52	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4129.38,-624.55,291112,191920	MEM	354496
TT8_MAMPS	0.026964	DATA_FILE_SIZE	36981,623
HUMID	49.72	CAP_FILE_SIZE	124418,0
INTERNAL_PRESSURE	9.02826	CFSIZE	2097086464,2053865472
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
XPDR_PINGS	0	GPS	301112,013904,-4145.050,-626.920,39,1.2,44,-22.2
_24V_AH	22.4,68.512

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	281	162.54	SBE_CT	398	24	214.29
Roll_motor	98	89	197.73	WL_BB2FLVMT	0	0	0.00
VBD_pump_during_apogee	659	1399	20681.63	SBE_O2	409	19	174.09
VBD_pump_during_surface	0	0	0.00	QSP2150	56	4	5.57
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	69.86	nil	0	0	0.00
Iridium_during_connect	40	160	146.55	nil	0	0	0.00
Iridium_during_xfer	195	223	976.80	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	44	26	12.25
TT8	1580	14	238.75
LPSleep	7410	2	163.92
TT8_Active	687	14	98.63
TT8_Sampling	1705	37	644.82
TT8_CF8	139	47	66.57
TT8_Kalman	33	59	19.93
Analog_circuits	1543	12	187.11
GPS_charging	0	0	0.00
Compass	1380	15	219.28
RAFOS	0	0	0.00
Transponder	1	5	0.05

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	-1.16	-145.9	0.0	0.0	0	87	0.00	0.00	-60.33	0.000	2	0.000	0.000	67	1935	2050	0	0	0	0	0	0
89	-1.16	-145.9	3.0	-0.7	12	166	11.62	2.35	-57.70	0.000	4	0.262	0.071	2637	502	3423	0	0	0	0	0	0
174	-0.98	-145.9	5.9	-11.8	28	180	0.25	2.22	0.00	0.000	6	0.202	0.039	2689	1916	3423	0	0	0	0	0	0
248	-0.98	-145.9	17.3	-15.0	41	253	0.00	2.30	0.00	0.000	4	0.000	0.060	2692	509	3424	0	0	0	0	0	0
333	-0.98	-145.9	29.7	-14.3	56	338	0.00	2.20	0.00	0.000	6	0.000	0.037	2683	1921	3425	0	0	0	0	0	0
407	-1.02	-145.9	39.7	-13.8	69	412	0.00	2.20	0.00	0.000	4	0.000	0.048	2672	3320	3424	0	0	0	0	0	0
475	-1.04	-145.9	49.1	-13.7	81	480	0.00	2.17	0.00	0.000	6	0.000	0.044	2672	1916	3425	0	0	0	0	0	0
704	-1.04	-145.9	82.7	-14.5	122	709	0.00	1.62	0.00	0.000	4	0.000	0.054	2672	898	3425	0	0	0	0	0	0
759	-1.04	-145.9	90.9	-14.6	132	765	0.00	1.58	0.00	0.000	6	0.000	0.036	2665	1916	3425	0	0	0	0	0	0
1094	-1.02	-145.9	140.1	-14.7	161	1098	0.08	1.52	0.00	0.000	4	0.233	0.045	2673	2880	3425	0	0	0	0	0	0
1165	-1.02	-145.9	150.9	-14.1	165	1170	0.00	1.52	0.00	0.000	6	0.000	0.042	2673	1908	3426	0	0	0	0	0	0
1492	-1.13	-145.9	191.9	-12.1	186	1496	0.08	2.22	0.00	0.000	4	0.143	0.048	2636	3319	3426	0	0	0	0	0	0
1563	-1.10	-145.9	202.5	-14.4	190	1568	0.10	2.15	0.00	0.000	6	0.202	0.041	2656	1910	3426	0	0	0	0	0	0
1888	-1.06	-145.9	249.2	-14.3	211	1892	0.00	1.45	0.00	0.000	4	0.000	0.053	2657	988	3426	0	0	0	0	0	0
1944	-1.03	-145.9	257.8	-14.8	214	1948	0.08	1.42	0.00	0.000	6	0.186	0.034	2673	1915	3426	0	0	0	0	0	0
2267	-1.12	-145.9	297.1	-11.9	230	2271	0.05	1.83	0.00	0.000	4	0.177	0.044	2646	3090	3426	0	0	0	0	0	0
2316	-1.08	-145.9	304.2	-14.3	232	2320	0.03	1.83	0.00	0.000	6	0.204	0.039	2653	1907	3426	0	0	0	0	0	0
2644	-1.05	-145.9	352.5	-15.1	248	2649	0.08	0.90	0.00	0.000	4	0.226	0.051	2670	1336	3426	0	0	0	0	0	0
2694	-1.05	-145.9	360.4	-14.4	250	2698	0.00	0.90	0.00	0.000	6	0.000	0.034	2667	1926	3426	0	0	0	0	0	0
3032	-1.16	-145.9	405.9	-13.7	266	3036	0.10	2.15	0.00	0.000	4	0.118	0.044	2620	3307	3427	0	0	0	0	0	0
3094	-1.12	-145.9	415.9	-16.1	268	3099	0.12	2.12	0.00	0.000	6	0.194	0.037	2648	1918	3426	0	0	0	0	0	0
3434	-1.20	-145.9	466.2	-14.4	279	3439	0.08	2.25	0.00	0.000	4	0.142	0.054	2623	509	3426	0	0	0	0	0	0
3523	-1.11	-145.9	481.3	-16.6	281	3529	0.15	2.15	0.00	0.000	6	0.210	0.035	2648	1907	3426	0	0	0	0	0	0
3836	-1.08	-145.9	528.4	-15.0	292	3840	0.00	0.77	0.00	0.000	4	0.000	0.044	2646	2432	3426	0	0	0	0	0	0
3885	-1.08	-145.9	536.1	-14.8	293	3890	0.08	0.82	0.00	0.000	6	0.213	0.042	2660	1900	3426	0	0	0	0	0	0
4210	-1.17	-145.9	579.5	-12.7	304	4215	0.08	0.47	0.00	0.000	4	0.142	0.045	2632	2220	3425	0	0	0	0	0	0
4250	-1.20	-145.9	585.2	-14.6	305	4254	0.00	0.45	0.00	0.000	6	0.000	0.048	2632	1911	3425	0	0	0	0	0	0
4585	-1.20	-145.9	632.7	-14.1	316	4589	0.00	2.20	0.00	0.000	4	0.000	0.054	2632	513	3425	0	0	0	0	0	0
4648	-1.13	-145.9	642.7	-16.6	318	4653	0.10	2.15	0.00	0.000	6	0.218	0.036	2642	1912	3424	0	0	0	0	0	0
4988	-1.09	-145.9	694.4	-15.0	329	4993	0.08	2.20	0.00	0.000	4	0.246	0.045	2647	3322	3423	0	0	0	0	0	0
5054	-1.09	-145.9	704.0	-13.3	331	5059	0.00	2.15	0.00	0.000	6	0.000	0.037	2647	1910	3423	0	0	0	0	0	0
5390	-1.06	-145.9	751.8	-14.4	342	5392	0.10	0.00	0.00	0.000	6	0.215	0.000	2668	1906	3422	0	0	0	0	0	0
5696	-1.06	-145.9	792.9	-13.3	352	5700	0.00	0.98	0.00	0.000	4	0.000	0.042	2665	2543	3421	0	0	0	0	0	0
5751	-1.09	-145.9	800.5	-13.3	353	5755	0.00	0.98	0.00	0.000	6	0.000	0.041	2665	1909	3421	0	0	0	0	0	0
6007	end dive: HALF_MISSION_TIME_EXCEEDED
state	6007	begin apogee
6011	-0.21	0.0	835.9	14.2	362	6141	0.98	0.00	126.03	1.399	6	0.163	0.000	2940	1646	2827	0	0	0	0	0	0
6142	end apogee: CONTROL_FINISHED_OK
state	6142	begin climb
6143	1.16	145.9	844.7	0.0	366	6283	1.33	1.65	129.75	1.342	4	0.049	0.041	3396	2572	2231	0	0	0	0	0	0
6415	0.88	275.8	844.7	9.0	375	6540	0.40	1.50	116.22	1.316	6	0.234	0.045	3304	1666	1702	0	0	0	0	0	0
6876	0.84	376.7	795.0	11.1	390	6973	0.08	2.33	90.15	1.316	4	0.252	0.062	3300	315	1291	0	0	0	0	0	0
7018	0.89	460.5	778.1	12.3	394	7103	0.00	2.15	78.18	1.298	6	0.000	0.037	3300	1652	948	0	0	0	0	0	0
7428	1.01	542.2	725.8	12.5	408	7508	0.10	2.53	71.43	1.265	4	0.114	0.067	3344	238	615	0	0	0	0	0	0
7581	1.08	577.5	702.1	15.9	412	7617	0.00	2.28	31.45	1.209	6	0.000	0.037	3344	1659	472	0	0	0	0	0	0
7925	1.18	617.3	648.6	15.6	424	7949	0.15	2.42	16.67	1.148	4	0.098	0.067	3408	245	395	0	0	0	0	0	0
8028	1.18	617.3	628.5	20.0	427	8032	0.03	2.22	0.00	0.000	6	0.282	0.040	3400	1648	392	0	0	0	0	0	0
8362	1.20	617.3	563.8	19.7	438	8366	0.00	2.20	0.00	0.000	4	0.000	0.048	3400	3056	391	0	0	0	0	0	0
8446	1.28	619.4	547.7	18.4	440	8450	0.00	2.22	0.00	0.000	6	0.000	0.050	3409	1654	391	0	0	0	0	0	0
8764	1.28	619.4	483.3	20.5	451	8768	0.00	2.22	0.00	0.000	4	0.000	0.047	3409	3061	390	0	0	0	0	0	0
8826	1.34	619.4	471.5	18.7	453	8831	0.08	2.25	0.00	0.000	6	0.131	0.050	3448	1648	390	0	0	0	0	0	0
9161	1.30	619.4	396.0	22.8	464	9165	0.08	2.22	0.00	0.000	4	0.236	0.047	3433	3060	390	0	0	0	0	0	0
9209	1.33	619.4	385.4	20.1	466	9214	0.00	2.25	0.00	0.000	6	0.000	0.049	3442	1658	390	0	0	0	0	0	0
9531	1.30	619.4	314.3	21.9	482	9535	0.00	1.92	0.00	0.000	4	0.000	0.045	3442	2892	390	0	0	0	0	0	0
9576	1.30	619.4	304.3	20.9	484	9581	0.08	1.95	0.00	0.000	6	0.239	0.050	3437	1648	390	0	0	0	0	0	0
9894	1.28	619.4	236.8	21.2	500	9898	0.00	1.27	0.00	0.000	4	0.000	0.043	3437	2465	390	0	0	0	0	0	0
9928	1.28	619.4	229.5	21.2	502	9932	0.05	1.30	0.00	0.000	6	0.207	0.051	3429	1653	390	0	0	0	0	0	0
10258	1.28	619.4	162.2	20.9	523	10261	0.00	1.12	0.00	0.000	4	0.000	0.042	3429	2381	390	0	0	0	0	0	0
10284	1.28	619.4	156.3	21.3	524	10291	0.00	1.20	0.00	0.000	6	0.000	0.051	3433	1638	390	0	0	0	0	0	0
10607	1.28	619.4	90.3	20.6	549	10611	0.00	2.05	0.00	0.000	4	0.000	0.044	3432	2953	390	0	0	0	0	0	0
10652	1.30	619.4	80.8	20.6	557	10656	0.00	2.08	0.00	0.000	6	0.000	0.049	3441	1646	390	0	0	0	0	0	0
10995	1.30	619.4	6.3	21.3	618	10999	0.00	0.50	0.00	0.000	4	0.000	0.046	3441	1986	390	0	0	0	0	0	0
11010	end climb: SURFACE_DEPTH_REACHED
state	11010	begin surface coast
11022	end surface coast: CONTROL_FINISHED_OK
state	11022	begin surface