Glider dive log

SOSCEx 29Jul15 * SG573 * Dive index * Mission links * Dive 38 * 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 38 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 39 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 -21105.133 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 37

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 37 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 -21105.133

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 39 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 150 SEABIRD_C_G -9.9469662 VBD_MIN 409

DIVE 38 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 040815,070034,-4459.695,630.886,42,1.0,42,-24.4 TGT_NAME SAF_1

_CALLS 1 TGT_LATLONG -4500.000,630.000

_XMS_NAKs 0 TGT_RADIUS 800.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.31 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 040815,070740,-4459.649,630.970,21,1.2,21,-24.4 MHEAD_RNG_PITCHd_Wd 267.3,1426,-27.8,-9.950

SPEED_LIMITS 0.172,0.260 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.3,1.021859 _10V_AH 10.2,7.089

SM_CCo 13114,33.10,0.057,0,0,1062,205.07 FG_AHR_24Vo 0.000

SM_GC 2.39,0.00,0.00,33.10,0.000,0.000,0.057,83,2072,1062,-9.69,0.90,205.07 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4441.36,642.59,300508,161617 MEM 353836

TT8_MAMPS 0.026964 DATA_FILE_SIZE 67050,957

HUMID 62.60 CAP_FILE_SIZE 126172,0

INTERNAL_PRESSURE 9.28436 CFSIZE 2097086464,2087190528

TCM_TEMP 12.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 040815,104827,-4500.720,629.211,45,1.0,46,-24.4

_24V_AH 23.3,10.030

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 279 155.92 SBE_CT 666 23 360.62

Roll_motor 98 74 172.50 AA4330 1770 17 710.61

VBD_pump_during_apogee 245 1298 7414.58 WL_BB2FL 731 105 1790.11

VBD_pump_during_surface 33 57 44.25 QSP2150 405 17 162.94

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 91 53.53 nil 0 0 0.00

Iridium_during_connect 19 160 72.60 nil 0 0 0.00

Iridium_during_xfer 267 223 1391.58 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 23 27 6.74

TT8 2385 13 337.93

LPSleep 8096 2 180.86

TT8_Active 359 13 50.94

TT8_Sampling 2629 40 1095.73

TT8_CF8 102 50 52.70

TT8_Kalman 0 0 0.00

Analog_circuits 1297 15 202.81

GPS_charging 0 0 0.00

Compass 2164 15 347.25

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 23 begin dive

24 -1.34 -62.6 0.0 0.0 0 71 0.00 0.00 -44.25 0.000 2 0.000 0.000 80 2056 1988 0 0 0 0 0 0

72 -1.42 -131.8 3.0 -2.6 7 105 10.98 2.28 -14.73 0.000 4 0.259 0.075 2709 3434 2438 0 0 0 0 0 0

205 -1.26 -131.8 26.8 -25.6 28 213 0.20 2.20 0.00 0.000 6 0.194 0.040 2765 2041 2441 0 0 0 0 0 0

355 -1.17 -131.8 57.2 -18.9 53 360 0.15 0.00 0.00 0.000 6 0.209 0.000 2801 2043 2441 0 0 0 0 0 0

704 -1.12 -131.8 121.0 -19.8 105 708 0.08 2.25 0.00 0.000 4 0.225 0.059 2807 3443 2442 0 0 0 0 0 0

746 -1.08 -131.8 130.4 -18.6 108 755 0.08 2.20 0.00 0.000 6 0.180 0.040 2830 2036 2442 0 0 0 0 0 0

1072 -1.08 -131.8 182.4 -15.6 139 1073 0.00 0.00 0.00 0.000 6 0.000 0.000 2830 2036 2442 0 0 0 0 0 0

1393 -1.08 -131.8 231.2 -14.6 169 1394 0.00 0.00 0.00 0.000 6 0.000 0.000 2829 2036 2443 0 0 0 0 0 0

1709 -1.08 -131.8 276.8 -14.6 199 1710 0.00 0.00 0.00 0.000 6 0.000 0.000 2830 2036 2443 0 0 0 0 0 0

2030 -1.08 -131.8 322.5 -14.8 229 2031 0.00 0.00 0.00 0.000 6 0.000 0.000 2830 2036 2443 0 0 0 0 0 0

2345 -1.08 -131.8 370.5 -14.7 259 2349 0.00 2.25 0.00 0.000 4 0.000 0.060 2821 3438 2443 0 0 0 0 0 0

2396 -1.08 -131.8 378.1 -14.9 263 2400 0.00 2.15 0.00 0.000 6 0.000 0.039 2821 2030 2444 0 0 0 0 0 0

2716 -1.08 -131.8 427.1 -15.2 285 2717 0.00 0.00 0.00 0.000 6 0.000 0.000 2821 2030 2443 0 0 0 0 0 0

3025 -1.08 -131.8 475.1 -15.6 300 3026 0.00 0.00 0.00 0.000 6 0.000 0.000 2821 2031 2443 0 0 0 0 0 0

3334 -1.08 -131.8 521.9 -14.9 315 3335 0.00 0.00 0.00 0.000 6 0.000 0.000 2821 2030 2443 0 0 0 0 0 0

3643 -1.08 -131.8 568.6 -15.3 330 3644 0.00 0.00 0.00 0.000 6 0.000 0.000 2821 2031 2443 0 0 0 0 0 0

3953 -1.08 -131.8 614.2 -14.4 345 3954 0.00 0.00 0.00 0.000 6 0.000 0.000 2821 2030 2443 0 0 0 0 0 0

4262 -1.08 -131.8 659.6 -14.8 360 4263 0.00 0.00 0.00 0.000 6 0.000 0.000 2821 2030 2443 0 0 0 0 0 0

4571 -1.08 -131.8 705.1 -14.4 375 4575 0.00 2.25 0.00 0.000 4 0.000 0.061 2811 3441 2442 0 0 0 0 0 0

4619 -1.08 -131.8 712.5 -14.8 377 4625 0.05 2.15 0.00 0.000 6 0.185 0.040 2827 2046 2443 0 0 0 0 0 0

4941 -1.11 -131.8 757.9 -14.2 393 4945 0.00 2.22 0.00 0.000 4 0.000 0.060 2818 3442 2442 0 0 0 0 0 0

5011 -1.11 -131.8 768.4 -14.6 396 5017 0.00 2.17 0.00 0.000 6 0.000 0.041 2818 2032 2442 0 0 0 0 0 0

5333 -1.11 -131.8 814.3 -14.5 412 5334 0.00 0.00 0.00 0.000 6 0.000 0.000 2818 2032 2441 0 0 0 0 0 0

5643 -1.11 -131.8 857.4 -13.9 427 5647 0.00 2.25 0.00 0.000 4 0.000 0.061 2809 3438 2441 0 0 0 0 0 0

5719 -1.11 -131.8 868.4 -13.9 430 5726 0.03 2.17 0.00 0.000 6 0.202 0.041 2817 2031 2440 0 0 0 0 0 0

6036 -1.11 -131.8 910.4 -13.4 446 6040 0.00 2.25 0.00 0.000 4 0.000 0.061 2808 3439 2440 0 0 0 0 0 0

6090 -1.11 -131.8 918.0 -14.1 448 6097 0.05 2.15 0.00 0.000 6 0.183 0.041 2824 2049 2440 0 0 0 0 0 0

6406 -1.14 -131.8 958.5 -12.8 464 6408 0.00 0.00 0.00 0.000 6 0.000 0.000 2824 2049 2439 0 0 0 0 0 0

6716 -1.17 -131.8 998.8 -13.1 479 6720 0.00 2.22 0.00 0.000 4 0.000 0.060 2815 3445 2439 0 0 0 0 0 0

6724 end dive: TARGET_DEPTH_EXCEEDED

state 6724 begin apogee

6730 -0.23 0.0 1000.2 12.7 479 6855 0.95 0.00 120.32 1.298 6 0.174 0.000 3101 1745 1900 0 0 0 0 0 0

6856 end apogee: CONTROL_FINISHED_OK

state 6856 begin climb

6857 1.42 131.8 1004.2 0.0 486 6993 1.65 2.38 124.80 1.252 4 0.097 0.046 3644 336 1361 0 0 0 0 0 0

7089 1.33 131.8 968.2 21.7 497 7094 0.12 2.33 0.00 0.000 6 0.193 0.033 3615 1753 1354 0 0 0 0 0 0

7416 1.28 131.8 906.0 18.8 513 7421 0.08 2.30 0.00 0.000 4 0.223 0.044 3610 339 1352 0 0 0 0 0 0

7532 1.23 131.8 883.2 19.9 518 7537 0.08 2.28 0.00 0.000 6 0.194 0.033 3586 1755 1350 0 0 0 0 0 0

7853 1.23 131.8 826.3 17.6 534 7857 0.00 2.25 0.00 0.000 4 0.000 0.045 3595 339 1349 0 0 0 0 0 0

7902 1.20 131.8 817.1 18.8 536 7907 0.08 2.25 0.00 0.000 6 0.186 0.033 3572 1755 1349 0 0 0 0 0 0

8228 1.20 131.8 762.1 17.1 552 8233 0.00 2.28 0.00 0.000 4 0.000 0.044 3581 333 1349 0 0 0 0 0 0

8367 1.20 131.8 737.5 17.6 558 8372 0.00 2.22 0.00 0.000 6 0.000 0.032 3581 1741 1348 0 0 0 0 0 0

8689 1.20 131.8 682.4 17.3 574 8690 0.00 0.00 0.00 0.000 6 0.000 0.000 3581 1742 1348 0 0 0 0 0 0

8998 1.20 131.8 628.6 17.1 589 9002 0.00 2.22 0.00 0.000 4 0.000 0.044 3590 341 1348 0 0 0 0 0 0

9098 1.17 131.8 610.3 19.1 593 9105 0.08 2.20 0.00 0.000 6 0.187 0.031 3567 1756 1348 0 0 0 0 0 0

9414 1.17 131.8 559.1 16.0 609 9418 0.00 2.25 0.00 0.000 4 0.000 0.045 3575 336 1348 0 0 0 0 0 0

9445 1.17 131.8 553.7 15.8 610 9452 0.03 2.20 0.00 0.000 6 0.203 0.031 3567 1753 1348 0 0 0 0 0 0

9762 1.19 131.8 503.3 16.1 626 9766 0.00 2.25 0.00 0.000 4 0.000 0.044 3576 330 1348 0 0 0 0 0 0

9872 1.19 131.8 484.0 17.4 631 9877 0.00 2.20 0.00 0.000 6 0.000 0.032 3576 1743 1347 0 0 0 0 0 0

10199 1.19 131.8 428.6 16.8 647 10203 0.00 2.22 0.00 0.000 4 0.000 0.044 3585 332 1347 0 0 0 0 0 0

10270 1.19 131.8 416.1 17.1 650 10276 0.05 2.22 0.00 0.000 6 0.184 0.032 3570 1765 1347 0 0 0 0 0 0

10598 1.21 131.8 365.6 15.2 676 10602 0.00 2.25 0.00 0.000 4 0.000 0.045 3578 339 1347 0 0 0 0 0 0

10707 1.21 131.8 349.1 15.1 685 10712 0.00 2.17 0.00 0.000 6 0.000 0.031 3578 1758 1347 0 0 0 0 0 0

11032 1.21 131.8 300.3 14.8 715 11036 0.00 2.25 0.00 0.000 4 0.000 0.044 3588 330 1347 0 0 0 0 0 0

11127 1.21 131.8 284.8 15.9 723 11132 0.03 2.17 0.00 0.000 6 0.277 0.031 3579 1756 1347 0 0 0 0 0 0

11455 1.21 131.8 235.6 15.1 753 11459 0.00 2.20 0.00 0.000 4 0.000 0.044 3588 339 1347 0 0 0 0 0 0

11508 1.21 131.8 227.1 17.0 757 11512 0.03 2.15 0.00 0.000 6 0.280 0.031 3579 1749 1347 0 0 0 0 0 0

11832 1.21 131.8 176.4 15.3 787 11836 0.00 2.22 0.00 0.000 4 0.000 0.044 3589 332 1347 0 0 0 0 0 0

11952 1.21 131.8 157.5 14.5 797 11957 0.03 2.17 0.00 0.000 6 0.279 0.031 3579 1758 1347 0 0 0 0 0 0

12277 1.21 131.8 112.4 13.2 827 12281 0.00 2.22 0.00 0.000 4 0.000 0.044 3589 338 1347 0 0 0 0 0 0

12536 1.21 131.8 75.3 14.7 864 12544 0.03 2.17 0.00 0.000 6 0.221 0.031 3580 1755 1347 0 0 0 0 0 0

12896 1.23 131.8 24.8 13.8 925 12903 0.00 2.25 0.00 0.000 4 0.000 0.044 3589 335 1347 0 0 0 0 0 0

13057 1.23 131.8 3.1 12.6 951 13065 0.00 2.17 0.00 0.000 6 0.000 0.035 3581 1735 1346 0 0 0 0 0 0

13072 end climb: SURFACE_DEPTH_REACHED

state 13072 begin surface coast

13098 end surface coast: CONTROL_FINISHED_OK

state 13098 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	38	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	39	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	-21105.133	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	37

GPS1	040815,070034,-4459.695,630.886,42,1.0,42,-24.4	TGT_NAME	SAF_1
_CALLS	1	TGT_LATLONG	-4500.000,630.000
_XMS_NAKs	0	TGT_RADIUS	800.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.31	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	040815,070740,-4459.649,630.970,21,1.2,21,-24.4	MHEAD_RNG_PITCHd_Wd	267.3,1426,-27.8,-9.950
SPEED_LIMITS	0.172,0.260	D_GRID	1000

FINISH	1.3,1.021859	_10V_AH	10.2,7.089
SM_CCo	13114,33.10,0.057,0,0,1062,205.07	FG_AHR_24Vo	0.000
SM_GC	2.39,0.00,0.00,33.10,0.000,0.000,0.057,83,2072,1062,-9.69,0.90,205.07	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4441.36,642.59,300508,161617	MEM	353836
TT8_MAMPS	0.026964	DATA_FILE_SIZE	67050,957
HUMID	62.60	CAP_FILE_SIZE	126172,0
INTERNAL_PRESSURE	9.28436	CFSIZE	2097086464,2087190528
TCM_TEMP	12.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	040815,104827,-4500.720,629.211,45,1.0,46,-24.4
_24V_AH	23.3,10.030

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	279	155.92	SBE_CT	666	23	360.62
Roll_motor	98	74	172.50	AA4330	1770	17	710.61
VBD_pump_during_apogee	245	1298	7414.58	WL_BB2FL	731	105	1790.11
VBD_pump_during_surface	33	57	44.25	QSP2150	405	17	162.94
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	91	53.53	nil	0	0	0.00
Iridium_during_connect	19	160	72.60	nil	0	0	0.00
Iridium_during_xfer	267	223	1391.58	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	23	27	6.74
TT8	2385	13	337.93
LPSleep	8096	2	180.86
TT8_Active	359	13	50.94
TT8_Sampling	2629	40	1095.73
TT8_CF8	102	50	52.70
TT8_Kalman	0	0	0.00
Analog_circuits	1297	15	202.81
GPS_charging	0	0	0.00
Compass	2164	15	347.25
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	23	begin dive
24	-1.34	-62.6	0.0	0.0	0	71	0.00	0.00	-44.25	0.000	2	0.000	0.000	80	2056	1988	0	0	0	0	0	0
72	-1.42	-131.8	3.0	-2.6	7	105	10.98	2.28	-14.73	0.000	4	0.259	0.075	2709	3434	2438	0	0	0	0	0	0
205	-1.26	-131.8	26.8	-25.6	28	213	0.20	2.20	0.00	0.000	6	0.194	0.040	2765	2041	2441	0	0	0	0	0	0
355	-1.17	-131.8	57.2	-18.9	53	360	0.15	0.00	0.00	0.000	6	0.209	0.000	2801	2043	2441	0	0	0	0	0	0
704	-1.12	-131.8	121.0	-19.8	105	708	0.08	2.25	0.00	0.000	4	0.225	0.059	2807	3443	2442	0	0	0	0	0	0
746	-1.08	-131.8	130.4	-18.6	108	755	0.08	2.20	0.00	0.000	6	0.180	0.040	2830	2036	2442	0	0	0	0	0	0
1072	-1.08	-131.8	182.4	-15.6	139	1073	0.00	0.00	0.00	0.000	6	0.000	0.000	2830	2036	2442	0	0	0	0	0	0
1393	-1.08	-131.8	231.2	-14.6	169	1394	0.00	0.00	0.00	0.000	6	0.000	0.000	2829	2036	2443	0	0	0	0	0	0
1709	-1.08	-131.8	276.8	-14.6	199	1710	0.00	0.00	0.00	0.000	6	0.000	0.000	2830	2036	2443	0	0	0	0	0	0
2030	-1.08	-131.8	322.5	-14.8	229	2031	0.00	0.00	0.00	0.000	6	0.000	0.000	2830	2036	2443	0	0	0	0	0	0
2345	-1.08	-131.8	370.5	-14.7	259	2349	0.00	2.25	0.00	0.000	4	0.000	0.060	2821	3438	2443	0	0	0	0	0	0
2396	-1.08	-131.8	378.1	-14.9	263	2400	0.00	2.15	0.00	0.000	6	0.000	0.039	2821	2030	2444	0	0	0	0	0	0
2716	-1.08	-131.8	427.1	-15.2	285	2717	0.00	0.00	0.00	0.000	6	0.000	0.000	2821	2030	2443	0	0	0	0	0	0
3025	-1.08	-131.8	475.1	-15.6	300	3026	0.00	0.00	0.00	0.000	6	0.000	0.000	2821	2031	2443	0	0	0	0	0	0
3334	-1.08	-131.8	521.9	-14.9	315	3335	0.00	0.00	0.00	0.000	6	0.000	0.000	2821	2030	2443	0	0	0	0	0	0
3643	-1.08	-131.8	568.6	-15.3	330	3644	0.00	0.00	0.00	0.000	6	0.000	0.000	2821	2031	2443	0	0	0	0	0	0
3953	-1.08	-131.8	614.2	-14.4	345	3954	0.00	0.00	0.00	0.000	6	0.000	0.000	2821	2030	2443	0	0	0	0	0	0
4262	-1.08	-131.8	659.6	-14.8	360	4263	0.00	0.00	0.00	0.000	6	0.000	0.000	2821	2030	2443	0	0	0	0	0	0
4571	-1.08	-131.8	705.1	-14.4	375	4575	0.00	2.25	0.00	0.000	4	0.000	0.061	2811	3441	2442	0	0	0	0	0	0
4619	-1.08	-131.8	712.5	-14.8	377	4625	0.05	2.15	0.00	0.000	6	0.185	0.040	2827	2046	2443	0	0	0	0	0	0
4941	-1.11	-131.8	757.9	-14.2	393	4945	0.00	2.22	0.00	0.000	4	0.000	0.060	2818	3442	2442	0	0	0	0	0	0
5011	-1.11	-131.8	768.4	-14.6	396	5017	0.00	2.17	0.00	0.000	6	0.000	0.041	2818	2032	2442	0	0	0	0	0	0
5333	-1.11	-131.8	814.3	-14.5	412	5334	0.00	0.00	0.00	0.000	6	0.000	0.000	2818	2032	2441	0	0	0	0	0	0
5643	-1.11	-131.8	857.4	-13.9	427	5647	0.00	2.25	0.00	0.000	4	0.000	0.061	2809	3438	2441	0	0	0	0	0	0
5719	-1.11	-131.8	868.4	-13.9	430	5726	0.03	2.17	0.00	0.000	6	0.202	0.041	2817	2031	2440	0	0	0	0	0	0
6036	-1.11	-131.8	910.4	-13.4	446	6040	0.00	2.25	0.00	0.000	4	0.000	0.061	2808	3439	2440	0	0	0	0	0	0
6090	-1.11	-131.8	918.0	-14.1	448	6097	0.05	2.15	0.00	0.000	6	0.183	0.041	2824	2049	2440	0	0	0	0	0	0
6406	-1.14	-131.8	958.5	-12.8	464	6408	0.00	0.00	0.00	0.000	6	0.000	0.000	2824	2049	2439	0	0	0	0	0	0
6716	-1.17	-131.8	998.8	-13.1	479	6720	0.00	2.22	0.00	0.000	4	0.000	0.060	2815	3445	2439	0	0	0	0	0	0
6724	end dive: TARGET_DEPTH_EXCEEDED
state	6724	begin apogee
6730	-0.23	0.0	1000.2	12.7	479	6855	0.95	0.00	120.32	1.298	6	0.174	0.000	3101	1745	1900	0	0	0	0	0	0
6856	end apogee: CONTROL_FINISHED_OK
state	6856	begin climb
6857	1.42	131.8	1004.2	0.0	486	6993	1.65	2.38	124.80	1.252	4	0.097	0.046	3644	336	1361	0	0	0	0	0	0
7089	1.33	131.8	968.2	21.7	497	7094	0.12	2.33	0.00	0.000	6	0.193	0.033	3615	1753	1354	0	0	0	0	0	0
7416	1.28	131.8	906.0	18.8	513	7421	0.08	2.30	0.00	0.000	4	0.223	0.044	3610	339	1352	0	0	0	0	0	0
7532	1.23	131.8	883.2	19.9	518	7537	0.08	2.28	0.00	0.000	6	0.194	0.033	3586	1755	1350	0	0	0	0	0	0
7853	1.23	131.8	826.3	17.6	534	7857	0.00	2.25	0.00	0.000	4	0.000	0.045	3595	339	1349	0	0	0	0	0	0
7902	1.20	131.8	817.1	18.8	536	7907	0.08	2.25	0.00	0.000	6	0.186	0.033	3572	1755	1349	0	0	0	0	0	0
8228	1.20	131.8	762.1	17.1	552	8233	0.00	2.28	0.00	0.000	4	0.000	0.044	3581	333	1349	0	0	0	0	0	0
8367	1.20	131.8	737.5	17.6	558	8372	0.00	2.22	0.00	0.000	6	0.000	0.032	3581	1741	1348	0	0	0	0	0	0
8689	1.20	131.8	682.4	17.3	574	8690	0.00	0.00	0.00	0.000	6	0.000	0.000	3581	1742	1348	0	0	0	0	0	0
8998	1.20	131.8	628.6	17.1	589	9002	0.00	2.22	0.00	0.000	4	0.000	0.044	3590	341	1348	0	0	0	0	0	0
9098	1.17	131.8	610.3	19.1	593	9105	0.08	2.20	0.00	0.000	6	0.187	0.031	3567	1756	1348	0	0	0	0	0	0
9414	1.17	131.8	559.1	16.0	609	9418	0.00	2.25	0.00	0.000	4	0.000	0.045	3575	336	1348	0	0	0	0	0	0
9445	1.17	131.8	553.7	15.8	610	9452	0.03	2.20	0.00	0.000	6	0.203	0.031	3567	1753	1348	0	0	0	0	0	0
9762	1.19	131.8	503.3	16.1	626	9766	0.00	2.25	0.00	0.000	4	0.000	0.044	3576	330	1348	0	0	0	0	0	0
9872	1.19	131.8	484.0	17.4	631	9877	0.00	2.20	0.00	0.000	6	0.000	0.032	3576	1743	1347	0	0	0	0	0	0
10199	1.19	131.8	428.6	16.8	647	10203	0.00	2.22	0.00	0.000	4	0.000	0.044	3585	332	1347	0	0	0	0	0	0
10270	1.19	131.8	416.1	17.1	650	10276	0.05	2.22	0.00	0.000	6	0.184	0.032	3570	1765	1347	0	0	0	0	0	0
10598	1.21	131.8	365.6	15.2	676	10602	0.00	2.25	0.00	0.000	4	0.000	0.045	3578	339	1347	0	0	0	0	0	0
10707	1.21	131.8	349.1	15.1	685	10712	0.00	2.17	0.00	0.000	6	0.000	0.031	3578	1758	1347	0	0	0	0	0	0
11032	1.21	131.8	300.3	14.8	715	11036	0.00	2.25	0.00	0.000	4	0.000	0.044	3588	330	1347	0	0	0	0	0	0
11127	1.21	131.8	284.8	15.9	723	11132	0.03	2.17	0.00	0.000	6	0.277	0.031	3579	1756	1347	0	0	0	0	0	0
11455	1.21	131.8	235.6	15.1	753	11459	0.00	2.20	0.00	0.000	4	0.000	0.044	3588	339	1347	0	0	0	0	0	0
11508	1.21	131.8	227.1	17.0	757	11512	0.03	2.15	0.00	0.000	6	0.280	0.031	3579	1749	1347	0	0	0	0	0	0
11832	1.21	131.8	176.4	15.3	787	11836	0.00	2.22	0.00	0.000	4	0.000	0.044	3589	332	1347	0	0	0	0	0	0
11952	1.21	131.8	157.5	14.5	797	11957	0.03	2.17	0.00	0.000	6	0.279	0.031	3579	1758	1347	0	0	0	0	0	0
12277	1.21	131.8	112.4	13.2	827	12281	0.00	2.22	0.00	0.000	4	0.000	0.044	3589	338	1347	0	0	0	0	0	0
12536	1.21	131.8	75.3	14.7	864	12544	0.03	2.17	0.00	0.000	6	0.221	0.031	3580	1755	1347	0	0	0	0	0	0
12896	1.23	131.8	24.8	13.8	925	12903	0.00	2.25	0.00	0.000	4	0.000	0.044	3589	335	1347	0	0	0	0	0	0
13057	1.23	131.8	3.1	12.6	951	13065	0.00	2.17	0.00	0.000	6	0.000	0.035	3581	1735	1346	0	0	0	0	0	0
13072	end climb: SURFACE_DEPTH_REACHED
state	13072	begin surface coast
13098	end surface coast: CONTROL_FINISHED_OK
state	13098	begin surface