Glider dive log

SOSCEx Dec13 * SG574 * Dive index * Mission links * Dive 48 * 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 8 HD_C 9.8500004e-06 ROLL_MAX 3798 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 48 HEADING -1 ROLL_DEG 40 ALTIM_PING_DEPTH 1000

D_SURF 3 ESCAPE_HEADING 0 C_ROLL_DIVE 1910 ALTIM_PING_DELTA 5

D_FLARE 3 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1820 ALTIM_FREQUENCY 13

D_TGT 990 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 15 ALTIM_PULSE 3

D_ABORT 1020 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 31 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 210 R_STBD_OVSHOOT 84 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 350 CALL_TRIES 5 VBD_DBAND 2 DEVICE5 -1

T_MISSION 390 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 4 LOGGERDEVICE2 -1

T_NO_W 120 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 3 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 -14961.29 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 0.0043017557

GLIDE_SLOPE 30 C_PITCH 3032 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 2 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 27

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 210

ALTIM_BOTTOM_TURN_MARGIN 20 D_SURF 3 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_TGT 990 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 27 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 350

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 -14961.29

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 390

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 3032 ID 574 ROLL_ADJ_DBAND 0 T_TURN 225

C_ROLL_CLIMB 1820 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_DIVE 1910 INT_PRESSURE_YINT -1.812 ROLL_AD_RATE 350 T_WATCHDOG 10

C_VBD 2600 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 0.5 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 84 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 150 SEABIRD_C_G -9.9136524 VBD_MIN 396

DIVE 48 MINV_10V 8 SEABIRD_C_H 1.1456692 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 1020 MINV_24V 20 SEABIRD_C_I -0.00078246131 VBD_PUMP_AD_RATE_SURFACE 4

D_BOOST 0 MISSION 8 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 121213,082206,-5500.862,0.145,28,0.8,29,-20.2 TGT_NAME SBY

_CALLS 1 TGT_LATLONG -5500.000,0.000

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.97 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 121213,082937,-5500.858,0.230,21,0.7,22,-20.2 MHEAD_RNG_PITCHd_Wd 11.4,1607,-27.8,-9.429

SPEED_LIMITS 0.163,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.7,1.018613 _10V_AH 10.1,33.494

SM_CCo 13290,63.53,1.040,0,0,1743,210.22 FG_AHR_24Vo 0.000

SM_GC 3.15,0.00,0.00,63.53,0.000,0.000,1.040,74,1909,1743,-9.21,-0.03,210.22 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5438.56,-3.75,121213,040455 MEM 354712

TT8_MAMPS 0.026964 DATA_FILE_SIZE 57022,970

HUMID 63.19 CAP_FILE_SIZE 124929,0

INTERNAL_PRESSURE 9.04779 CFSIZE 2097086464,2088665088

TCM_TEMP 4.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 121213,121352,-5459.143,0.338,45,0.9,45,-20.2

_24V_AH 22.0,44.921

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 269 140.55 SBE_CT 695 24 367.00

Roll_motor 46 67 68.28 WL_BB2FLVMT 706 105 1632.13

VBD_pump_during_apogee 247 1614 8775.73 SBE_O2 650 19 272.01

VBD_pump_during_surface 63 1039 1452.94 QSP2150 65 4 6.33

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 57.36 nil 0 0 0.00

Iridium_during_connect 40 160 141.78 nil 0 0 0.00

Iridium_during_xfer 266 223 1308.10 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 25 26 6.94

TT8 2424 14 366.37

LPSleep 8098 2 179.14

TT8_Active 397 14 57.05

TT8_Sampling 2748 37 1039.06

TT8_CF8 138 47 65.92

TT8_Kalman 0 0 0.00

Analog_circuits 1433 12 173.79

GPS_charging 0 0 0.00

Compass 2372 15 376.92

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 -0.90 -57.8 0.0 0.0 0 46 0.00 0.00 -19.95 0.000 2 0.000 0.000 67 1854 2100 0 0 0 0 0 0

48 -0.90 -134.9 3.1 -1.0 3 133 12.25 1.88 -64.88 0.000 4 0.269 0.067 2731 721 3150 0 0 0 0 0 0

213 -0.90 -134.9 11.8 -17.4 30 221 0.05 1.80 0.00 0.000 6 0.211 0.031 2736 1859 3151 0 0 0 0 0 0

270 -0.90 -134.9 21.5 -16.9 39 274 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 1859 3152 0 0 0 0 0 0

415 -0.90 -134.9 47.6 -17.7 64 420 0.00 0.47 0.00 0.000 4 0.000 0.043 2735 2204 3152 0 0 0 0 0 0

675 -0.90 -134.9 95.4 -18.3 110 680 0.00 0.45 0.00 0.000 6 0.000 0.041 2735 1890 3152 0 0 0 0 0 0

1001 -0.90 -134.9 155.2 -16.5 143 1004 0.00 0.57 0.00 0.000 4 0.000 0.034 2733 2303 3152 0 0 0 0 0 0

1050 -0.90 -134.9 163.4 -16.8 147 1055 0.00 0.60 0.00 0.000 6 0.000 0.039 2734 1903 3152 0 0 0 0 0 0

1375 -0.90 -134.9 212.7 -14.2 178 1378 0.00 0.60 0.00 0.000 4 0.000 0.034 2733 2328 3152 0 0 0 0 0 0

1458 -0.90 -134.9 224.7 -14.1 185 1464 0.00 0.62 0.00 0.000 6 0.000 0.037 2734 1907 3152 0 0 0 0 0 0

1783 -0.90 -134.9 271.2 -14.6 216 1787 0.00 0.50 0.00 0.000 4 0.000 0.051 2734 1567 3151 0 0 0 0 0 0

1862 -0.90 -134.9 283.1 -15.1 223 1866 0.00 0.45 0.00 0.000 6 0.000 0.035 2734 1914 3151 0 0 0 0 0 0

2193 -0.90 -134.9 333.8 -15.4 254 2197 0.00 0.55 0.00 0.000 4 0.000 0.040 2731 2311 3150 0 0 0 0 0 0

2274 -0.90 -134.9 345.8 -14.7 261 2278 0.00 0.57 0.00 0.000 6 0.000 0.039 2731 1912 3151 0 0 0 0 0 0

2604 -0.90 -134.9 393.3 -13.9 292 2605 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 1912 3151 0 0 0 0 0 0

2926 -0.90 -134.9 438.2 -14.2 310 2929 0.00 0.47 0.00 0.000 4 0.000 0.052 2731 1581 3151 0 0 0 0 0 0

2980 -0.90 -134.9 446.3 -14.2 312 2984 0.00 0.45 0.00 0.000 6 0.000 0.036 2730 1914 3151 0 0 0 0 0 0

3301 -0.90 -134.9 490.0 -13.5 328 3305 0.00 0.35 0.00 0.000 4 0.000 0.045 2728 2193 3151 0 0 0 0 0 0

3378 -0.90 -134.9 500.7 -13.1 331 3382 0.00 0.43 0.00 0.000 6 0.000 0.041 2728 1896 3151 0 0 0 0 0 0

3699 -0.90 -134.9 542.9 -13.0 347 3703 0.00 0.45 0.00 0.000 4 0.000 0.054 2728 1582 3152 0 0 0 0 0 0

3827 -0.90 -134.9 560.2 -13.0 352 3832 0.00 0.45 0.00 0.000 6 0.000 0.035 2727 1914 3151 0 0 0 0 0 0

4142 -0.90 -134.9 601.7 -13.4 368 4143 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 1915 3152 0 0 0 0 0 0

4452 -0.90 -134.9 642.0 -12.8 383 4455 0.00 0.60 0.00 0.000 4 0.000 0.043 2727 1516 3152 0 0 0 0 0 0

4534 -0.90 -134.9 652.8 -12.2 386 4540 0.05 0.55 0.00 0.000 6 0.256 0.032 2733 1908 3152 0 0 0 0 0 0

4850 -0.90 -134.9 691.4 -12.2 402 4851 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 1908 3152 0 0 0 0 0 0

5159 -0.90 -134.9 728.3 -12.0 417 5163 0.00 0.50 0.00 0.000 4 0.000 0.043 2732 2279 3152 0 0 0 0 0 0

5230 -0.90 -134.9 737.0 -11.7 420 5235 0.00 0.55 0.00 0.000 6 0.000 0.039 2732 1907 3153 0 0 0 0 0 0

5557 -0.90 -134.9 775.4 -11.9 436 5560 0.00 1.05 0.00 0.000 4 0.000 0.050 2735 1238 3153 0 0 0 0 0 0

5624 -0.90 -134.9 784.0 -12.9 439 5628 0.00 0.98 0.00 0.000 6 0.000 0.029 2732 1897 3153 0 0 0 0 0 0

5956 -0.90 -134.9 825.9 -12.8 455 5958 0.00 0.00 0.00 0.000 6 0.000 0.000 2732 1897 3153 0 0 0 0 0 0

6265 -0.90 -134.9 866.7 -12.8 470 6267 0.00 0.00 0.00 0.000 6 0.000 0.000 2732 1897 3153 0 0 0 0 0 0

6575 -0.90 -134.9 906.2 -12.9 485 6576 0.00 0.00 0.00 0.000 6 0.000 0.000 2732 1897 3154 0 0 0 0 0 0

6884 -0.90 -134.9 947.5 -13.2 500 6888 0.00 0.43 0.00 0.000 4 0.000 0.044 2732 1602 3153 0 0 0 0 0 0

7035 -0.90 -134.9 967.6 -13.3 506 7040 0.00 0.45 0.00 0.000 6 0.000 0.035 2731 1934 3156 0 0 0 0 0 0

7204 end dive: TARGET_DEPTH_EXCEEDED

state 7204 begin apogee

7209 -0.16 0.0 990.1 13.4 515 7330 0.88 0.00 117.40 1.614 6 0.171 0.000 2970 1800 2600 0 0 0 0 0 0

7331 end apogee: CONTROL_FINISHED_OK

state 7331 begin climb

7332 0.90 134.9 994.5 0.0 521 7469 1.15 0.57 129.73 1.601 4 0.106 0.047 3317 1455 2051 0 0 0 0 0 0

7722 0.90 134.9 938.7 16.6 539 7726 0.00 0.50 0.00 0.000 6 0.000 0.031 3317 1788 2043 0 0 0 0 0 0

8054 0.90 134.9 884.3 16.3 555 8058 0.00 1.92 0.00 0.000 4 0.000 0.056 3325 629 2042 0 0 0 0 0 0

8216 0.90 134.9 856.4 17.6 562 8221 0.00 1.85 0.00 0.000 6 0.000 0.025 3324 1817 2041 0 0 0 0 0 0

8544 0.90 134.9 801.6 17.1 578 8548 0.00 1.00 0.00 0.000 4 0.000 0.049 3327 1204 2041 0 0 0 0 0 0

8739 0.90 134.9 766.9 17.2 586 8745 0.00 0.95 0.00 0.000 6 0.000 0.027 3326 1837 2041 0 0 0 0 0 0

9055 0.90 134.9 712.1 17.8 602 9059 0.00 1.50 0.00 0.000 4 0.000 0.052 3331 926 2041 0 0 0 0 0 0

9261 0.90 134.9 672.9 19.0 611 9266 0.00 1.38 0.00 0.000 6 0.000 0.026 3331 1824 2040 0 0 0 0 0 0

9589 0.90 134.9 611.0 19.4 627 9593 0.00 1.75 0.00 0.000 4 0.000 0.053 3339 730 2040 0 0 0 0 0 0

9784 0.90 134.9 570.2 20.5 635 9791 0.03 1.65 0.00 0.000 6 0.210 0.025 3330 1819 2040 0 0 0 0 0 0

10100 0.90 134.9 508.9 19.1 651 10104 0.00 1.05 0.00 0.000 4 0.000 0.049 3333 1169 2040 0 0 0 0 0 0

10290 0.90 134.9 472.8 19.2 659 10294 0.00 1.00 0.00 0.000 6 0.000 0.027 3333 1839 2040 0 0 0 0 0 0

10611 0.90 134.9 414.6 17.9 675 10615 0.00 1.77 0.00 0.000 4 0.000 0.053 3340 724 2040 0 0 0 0 0 0

10781 0.90 134.9 383.5 19.1 686 10785 0.08 1.65 0.00 0.000 6 0.211 0.027 3325 1842 2040 0 0 0 0 0 0

11112 0.90 134.9 327.6 17.2 717 11116 0.00 0.43 0.00 0.000 4 0.000 0.047 3325 1561 2040 0 0 0 0 0 0

11372 0.90 134.9 284.8 15.6 740 11375 0.00 0.35 0.00 0.000 6 0.000 0.037 3325 1823 2040 0 0 0 0 0 0

11702 0.90 134.9 234.6 14.8 771 11706 0.00 2.20 0.00 0.000 4 0.000 0.057 3333 456 2040 0 0 0 0 0 0

11890 0.90 134.9 205.2 15.2 787 11894 0.00 2.03 0.00 0.000 6 0.000 0.028 3334 1813 2040 0 0 0 0 0 0

12218 0.90 134.9 154.7 16.3 817 12222 0.00 0.00 0.00 0.000 6 0.000 0.000 3333 1813 2040 0 0 0 0 0 0

12543 0.90 134.9 105.6 15.2 848 12547 0.00 0.85 0.00 0.000 4 0.000 0.050 3337 1283 2041 0 0 0 0 0 0

12805 0.90 134.9 66.9 14.7 890 12810 0.03 0.80 0.00 0.000 6 0.204 0.029 3329 1846 2040 0 0 0 0 0 0

13155 0.90 134.9 18.6 14.4 951 13162 0.00 2.03 0.00 0.000 4 0.000 0.057 3336 615 2041 0 0 0 0 0 0

13251 end climb: SURFACE_DEPTH_REACHED

state 13251 begin surface coast

13272 end surface coast: CONTROL_FINISHED_OK

state 13272 begin surface

ID	574	HD_B	0.010078	ROLL_MIN	160	ALTIM_TOP_TURN_MARGIN	0
MISSION	8	HD_C	9.8500004e-06	ROLL_MAX	3798	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	48	HEADING	-1	ROLL_DEG	40	ALTIM_PING_DEPTH	1000
D_SURF	3	ESCAPE_HEADING	0	C_ROLL_DIVE	1910	ALTIM_PING_DELTA	5
D_FLARE	3	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1820	ALTIM_FREQUENCY	13
D_TGT	990	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	15	ALTIM_PULSE	3
D_ABORT	1020	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	31	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	210	R_STBD_OVSHOOT	84	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	350	CALL_TRIES	5	VBD_DBAND	2	DEVICE5	-1
T_MISSION	390	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	4	LOGGERDEVICE2	-1
T_NO_W	120	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	3	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	-14961.29	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	0.0043017557
GLIDE_SLOPE	30	C_PITCH	3032	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	2	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	27

GPS1	121213,082206,-5500.862,0.145,28,0.8,29,-20.2	TGT_NAME	SBY
_CALLS	1	TGT_LATLONG	-5500.000,0.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.97	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	121213,082937,-5500.858,0.230,21,0.7,22,-20.2	MHEAD_RNG_PITCHd_Wd	11.4,1607,-27.8,-9.429
SPEED_LIMITS	0.163,0.255	D_GRID	990

FINISH	1.7,1.018613	_10V_AH	10.1,33.494
SM_CCo	13290,63.53,1.040,0,0,1743,210.22	FG_AHR_24Vo	0.000
SM_GC	3.15,0.00,0.00,63.53,0.000,0.000,1.040,74,1909,1743,-9.21,-0.03,210.22	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5438.56,-3.75,121213,040455	MEM	354712
TT8_MAMPS	0.026964	DATA_FILE_SIZE	57022,970
HUMID	63.19	CAP_FILE_SIZE	124929,0
INTERNAL_PRESSURE	9.04779	CFSIZE	2097086464,2088665088
TCM_TEMP	4.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	121213,121352,-5459.143,0.338,45,0.9,45,-20.2
_24V_AH	22.0,44.921

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	269	140.55	SBE_CT	695	24	367.00
Roll_motor	46	67	68.28	WL_BB2FLVMT	706	105	1632.13
VBD_pump_during_apogee	247	1614	8775.73	SBE_O2	650	19	272.01
VBD_pump_during_surface	63	1039	1452.94	QSP2150	65	4	6.33
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	57.36	nil	0	0	0.00
Iridium_during_connect	40	160	141.78	nil	0	0	0.00
Iridium_during_xfer	266	223	1308.10	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	25	26	6.94
TT8	2424	14	366.37
LPSleep	8098	2	179.14
TT8_Active	397	14	57.05
TT8_Sampling	2748	37	1039.06
TT8_CF8	138	47	65.92
TT8_Kalman	0	0	0.00
Analog_circuits	1433	12	173.79
GPS_charging	0	0	0.00
Compass	2372	15	376.92
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	-0.90	-57.8	0.0	0.0	0	46	0.00	0.00	-19.95	0.000	2	0.000	0.000	67	1854	2100	0	0	0	0	0	0
48	-0.90	-134.9	3.1	-1.0	3	133	12.25	1.88	-64.88	0.000	4	0.269	0.067	2731	721	3150	0	0	0	0	0	0
213	-0.90	-134.9	11.8	-17.4	30	221	0.05	1.80	0.00	0.000	6	0.211	0.031	2736	1859	3151	0	0	0	0	0	0
270	-0.90	-134.9	21.5	-16.9	39	274	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	1859	3152	0	0	0	0	0	0
415	-0.90	-134.9	47.6	-17.7	64	420	0.00	0.47	0.00	0.000	4	0.000	0.043	2735	2204	3152	0	0	0	0	0	0
675	-0.90	-134.9	95.4	-18.3	110	680	0.00	0.45	0.00	0.000	6	0.000	0.041	2735	1890	3152	0	0	0	0	0	0
1001	-0.90	-134.9	155.2	-16.5	143	1004	0.00	0.57	0.00	0.000	4	0.000	0.034	2733	2303	3152	0	0	0	0	0	0
1050	-0.90	-134.9	163.4	-16.8	147	1055	0.00	0.60	0.00	0.000	6	0.000	0.039	2734	1903	3152	0	0	0	0	0	0
1375	-0.90	-134.9	212.7	-14.2	178	1378	0.00	0.60	0.00	0.000	4	0.000	0.034	2733	2328	3152	0	0	0	0	0	0
1458	-0.90	-134.9	224.7	-14.1	185	1464	0.00	0.62	0.00	0.000	6	0.000	0.037	2734	1907	3152	0	0	0	0	0	0
1783	-0.90	-134.9	271.2	-14.6	216	1787	0.00	0.50	0.00	0.000	4	0.000	0.051	2734	1567	3151	0	0	0	0	0	0
1862	-0.90	-134.9	283.1	-15.1	223	1866	0.00	0.45	0.00	0.000	6	0.000	0.035	2734	1914	3151	0	0	0	0	0	0
2193	-0.90	-134.9	333.8	-15.4	254	2197	0.00	0.55	0.00	0.000	4	0.000	0.040	2731	2311	3150	0	0	0	0	0	0
2274	-0.90	-134.9	345.8	-14.7	261	2278	0.00	0.57	0.00	0.000	6	0.000	0.039	2731	1912	3151	0	0	0	0	0	0
2604	-0.90	-134.9	393.3	-13.9	292	2605	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	1912	3151	0	0	0	0	0	0
2926	-0.90	-134.9	438.2	-14.2	310	2929	0.00	0.47	0.00	0.000	4	0.000	0.052	2731	1581	3151	0	0	0	0	0	0
2980	-0.90	-134.9	446.3	-14.2	312	2984	0.00	0.45	0.00	0.000	6	0.000	0.036	2730	1914	3151	0	0	0	0	0	0
3301	-0.90	-134.9	490.0	-13.5	328	3305	0.00	0.35	0.00	0.000	4	0.000	0.045	2728	2193	3151	0	0	0	0	0	0
3378	-0.90	-134.9	500.7	-13.1	331	3382	0.00	0.43	0.00	0.000	6	0.000	0.041	2728	1896	3151	0	0	0	0	0	0
3699	-0.90	-134.9	542.9	-13.0	347	3703	0.00	0.45	0.00	0.000	4	0.000	0.054	2728	1582	3152	0	0	0	0	0	0
3827	-0.90	-134.9	560.2	-13.0	352	3832	0.00	0.45	0.00	0.000	6	0.000	0.035	2727	1914	3151	0	0	0	0	0	0
4142	-0.90	-134.9	601.7	-13.4	368	4143	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	1915	3152	0	0	0	0	0	0
4452	-0.90	-134.9	642.0	-12.8	383	4455	0.00	0.60	0.00	0.000	4	0.000	0.043	2727	1516	3152	0	0	0	0	0	0
4534	-0.90	-134.9	652.8	-12.2	386	4540	0.05	0.55	0.00	0.000	6	0.256	0.032	2733	1908	3152	0	0	0	0	0	0
4850	-0.90	-134.9	691.4	-12.2	402	4851	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	1908	3152	0	0	0	0	0	0
5159	-0.90	-134.9	728.3	-12.0	417	5163	0.00	0.50	0.00	0.000	4	0.000	0.043	2732	2279	3152	0	0	0	0	0	0
5230	-0.90	-134.9	737.0	-11.7	420	5235	0.00	0.55	0.00	0.000	6	0.000	0.039	2732	1907	3153	0	0	0	0	0	0
5557	-0.90	-134.9	775.4	-11.9	436	5560	0.00	1.05	0.00	0.000	4	0.000	0.050	2735	1238	3153	0	0	0	0	0	0
5624	-0.90	-134.9	784.0	-12.9	439	5628	0.00	0.98	0.00	0.000	6	0.000	0.029	2732	1897	3153	0	0	0	0	0	0
5956	-0.90	-134.9	825.9	-12.8	455	5958	0.00	0.00	0.00	0.000	6	0.000	0.000	2732	1897	3153	0	0	0	0	0	0
6265	-0.90	-134.9	866.7	-12.8	470	6267	0.00	0.00	0.00	0.000	6	0.000	0.000	2732	1897	3153	0	0	0	0	0	0
6575	-0.90	-134.9	906.2	-12.9	485	6576	0.00	0.00	0.00	0.000	6	0.000	0.000	2732	1897	3154	0	0	0	0	0	0
6884	-0.90	-134.9	947.5	-13.2	500	6888	0.00	0.43	0.00	0.000	4	0.000	0.044	2732	1602	3153	0	0	0	0	0	0
7035	-0.90	-134.9	967.6	-13.3	506	7040	0.00	0.45	0.00	0.000	6	0.000	0.035	2731	1934	3156	0	0	0	0	0	0
7204	end dive: TARGET_DEPTH_EXCEEDED
state	7204	begin apogee
7209	-0.16	0.0	990.1	13.4	515	7330	0.88	0.00	117.40	1.614	6	0.171	0.000	2970	1800	2600	0	0	0	0	0	0
7331	end apogee: CONTROL_FINISHED_OK
state	7331	begin climb
7332	0.90	134.9	994.5	0.0	521	7469	1.15	0.57	129.73	1.601	4	0.106	0.047	3317	1455	2051	0	0	0	0	0	0
7722	0.90	134.9	938.7	16.6	539	7726	0.00	0.50	0.00	0.000	6	0.000	0.031	3317	1788	2043	0	0	0	0	0	0
8054	0.90	134.9	884.3	16.3	555	8058	0.00	1.92	0.00	0.000	4	0.000	0.056	3325	629	2042	0	0	0	0	0	0
8216	0.90	134.9	856.4	17.6	562	8221	0.00	1.85	0.00	0.000	6	0.000	0.025	3324	1817	2041	0	0	0	0	0	0
8544	0.90	134.9	801.6	17.1	578	8548	0.00	1.00	0.00	0.000	4	0.000	0.049	3327	1204	2041	0	0	0	0	0	0
8739	0.90	134.9	766.9	17.2	586	8745	0.00	0.95	0.00	0.000	6	0.000	0.027	3326	1837	2041	0	0	0	0	0	0
9055	0.90	134.9	712.1	17.8	602	9059	0.00	1.50	0.00	0.000	4	0.000	0.052	3331	926	2041	0	0	0	0	0	0
9261	0.90	134.9	672.9	19.0	611	9266	0.00	1.38	0.00	0.000	6	0.000	0.026	3331	1824	2040	0	0	0	0	0	0
9589	0.90	134.9	611.0	19.4	627	9593	0.00	1.75	0.00	0.000	4	0.000	0.053	3339	730	2040	0	0	0	0	0	0
9784	0.90	134.9	570.2	20.5	635	9791	0.03	1.65	0.00	0.000	6	0.210	0.025	3330	1819	2040	0	0	0	0	0	0
10100	0.90	134.9	508.9	19.1	651	10104	0.00	1.05	0.00	0.000	4	0.000	0.049	3333	1169	2040	0	0	0	0	0	0
10290	0.90	134.9	472.8	19.2	659	10294	0.00	1.00	0.00	0.000	6	0.000	0.027	3333	1839	2040	0	0	0	0	0	0
10611	0.90	134.9	414.6	17.9	675	10615	0.00	1.77	0.00	0.000	4	0.000	0.053	3340	724	2040	0	0	0	0	0	0
10781	0.90	134.9	383.5	19.1	686	10785	0.08	1.65	0.00	0.000	6	0.211	0.027	3325	1842	2040	0	0	0	0	0	0
11112	0.90	134.9	327.6	17.2	717	11116	0.00	0.43	0.00	0.000	4	0.000	0.047	3325	1561	2040	0	0	0	0	0	0
11372	0.90	134.9	284.8	15.6	740	11375	0.00	0.35	0.00	0.000	6	0.000	0.037	3325	1823	2040	0	0	0	0	0	0
11702	0.90	134.9	234.6	14.8	771	11706	0.00	2.20	0.00	0.000	4	0.000	0.057	3333	456	2040	0	0	0	0	0	0
11890	0.90	134.9	205.2	15.2	787	11894	0.00	2.03	0.00	0.000	6	0.000	0.028	3334	1813	2040	0	0	0	0	0	0
12218	0.90	134.9	154.7	16.3	817	12222	0.00	0.00	0.00	0.000	6	0.000	0.000	3333	1813	2040	0	0	0	0	0	0
12543	0.90	134.9	105.6	15.2	848	12547	0.00	0.85	0.00	0.000	4	0.000	0.050	3337	1283	2041	0	0	0	0	0	0
12805	0.90	134.9	66.9	14.7	890	12810	0.03	0.80	0.00	0.000	6	0.204	0.029	3329	1846	2040	0	0	0	0	0	0
13155	0.90	134.9	18.6	14.4	951	13162	0.00	2.03	0.00	0.000	4	0.000	0.057	3336	615	2041	0	0	0	0	0	0
13251	end climb: SURFACE_DEPTH_REACHED
state	13251	begin surface coast
13272	end surface coast: CONTROL_FINISHED_OK
state	13272	begin surface