Glider dive log

SOSCEx 09Dec12.01 * SG575 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 575 HD_B 0.010078 ROLL_MIN 201 ALTIM_TOP_TURN_MARGIN 0

MISSION 3 HD_C 9.8500004e-06 ROLL_MAX 3827 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 5 HEADING -1 ROLL_DEG 40 ALTIM_PING_DEPTH 1000

D_SURF 3 ESCAPE_HEADING 0 C_ROLL_DIVE 2010 ALTIM_PING_DELTA 5

D_FLARE 3 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2010 ALTIM_FREQUENCY 13

D_TGT 1000 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PULSE 2

D_ABORT 1050 TGT_DEFAULT_LAT -4230 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 TGT_DEFAULT_LON -200 ROLL_TIMEOUT 15 XPDR_VALID 5

D_BOOST 0 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 37 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 588.76752 R_STBD_OVSHOOT 42 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST_BLACKOUT 0 N_FILEKB 4 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.83999997

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 405 DEVICE2 115

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE3 20

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 C_VBD 2846 DEVICE4 -1

T_DIVE 333 CALL_TRIES 5 VBD_DBAND 2 DEVICE5 -1

T_MISSION 348 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE6 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_TIMEOUT 720 LOGGERS 7

T_TURN 225 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 5.9999998e-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 -2488.9749 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 19 XPDR_DEVICE 24

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_10V 8 SIM_W 0

MAX_BUOY 200 PITCH_MIN 97 FG_AHR_10V 0 SIM_PITCH 0

COURSE_BIAS 0 PITCH_MAX 3857 FG_AHR_24V 0 SEABIRD_T_G 0.0042703953

GLIDE_SLOPE 30 C_PITCH 3166 PHONE_SUPPLY 2 SEABIRD_T_H 0.00061866472

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -48.908466 SEABIRD_T_I 2.158102e-05

RHO 1.0283 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011644595 SEABIRD_T_J 2.2042e-06

MASS 53539 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_C_G -9.6161814

LENGTH 1.8 PITCH_GAIN 30 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1157404

NAV_MODE 1 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0016421394

DIRECT_CONTROL 0 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_J 0.00020073759

FERRY_MAX 45 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 EBE_ENABLE 0

KALMAN_USE 1 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0 GC_WINDOW 20

HD_A 0.0038360001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 12 GC_LAST_COLLECTION -1

AD7714Ch0Gain 128 D_NO_BLEED 200 N_GPS 20 SEABIRD_T_J 2.2042e-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 588.76752

ALTIM_BOTTOM_TURN_MARGIN 12 D_SURF 3 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_TGT 1000 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_PING_DELTA 5 EBE_ENABLE 0 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 1000 ESCAPE_HEADING 0 PITCH_AD_RATE 175 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 2 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 4 FERRY_MAX 45 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_GAIN 30 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_MAX 3857 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -4230

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PITCH_MIN 97 TGT_DEFAULT_LON -200

CALL_NDIVES 1 GC_LAST_COLLECTION -1 PITCH_TIMEOUT 16 T_ABORT 1440

CALL_TRIES 5 GC_WINDOW 20 PITCH_VBD_SHIFT 5.9999998e-05 T_BOOST 0

CALL_WAIT 60 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011644595 T_BOOST_BLACKOUT 0

CAPMAXSIZE 100000 GPS_DEVICE 32 PRESSURE_YINT -48.908466 T_DIVE 333

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 -2488.9749

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 348

COMPASS_USE 0 HEAPDBG 0 RELAUNCH 0 T_NO_W 120

COURSE_BIAS 0 ICE_FREEZE_MARGIN 0.30000001 RHO 1.0283 T_RSLEEP 3

C_PITCH 3166 ID 575 ROLL_ADJ_DBAND 0 T_TURN 225

C_ROLL_CLIMB 2010 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_DIVE 2010 INT_PRESSURE_YINT 0.83999997 ROLL_AD_RATE 350 T_WATCHDOG 10

C_VBD 2846 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 USE_BATHY 0

DEVICE1 2 LOGGERDEVICE1 -1 ROLL_MAX 3827 USE_ICE 0

DEVICE2 115 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE3 20 LOGGERDEVICE3 -1 ROLL_MIN 201 VBD_CNV -0.245296

DEVICE4 -1 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE5 -1 LOGGERS 7 R_PORT_OVSHOOT 37 VBD_MAX 3960

DEVICE6 -1 MASS 53539 R_STBD_OVSHOOT 42 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 200 SEABIRD_C_G -9.6161814 VBD_MIN 405

DIVE 5 MINV_10V 8 SEABIRD_C_H 1.1157404 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1050 MINV_24V 19 SEABIRD_C_I -0.0016421394 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 0 MISSION 3 SEABIRD_C_J 0.00020073759 VBD_TIMEOUT 720

D_CALL 0 MOTHERBOARD 4 SEABIRD_T_G 0.0042703953 XPDR_DEVICE 24

D_FINISH 0 NAV_MODE 1 SEABIRD_T_H 0.00061866472 XPDR_INHIBIT 90

D_FLARE 3 N_FILEKB 4 SEABIRD_T_I 2.158102e-05 XPDR_VALID 5

Pre-dive calculations and measurements:

GPS1 101212,001752,-4328.592,719.179,37,1.0,37,-24.7 TGT_NAME GH1

_CALLS 1 TGT_LATLONG -4330.000,720.000

_XMS_NAKs 0 TGT_RADIUS 800.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.037,-0.255

_SM_DEPTHo 1.85 KALMAN_X 2444.7,514.8,-323.7,8031.2,1747.4

_SM_ANGLEo -64.7 KALMAN_Y 3527.4,171.2,285.7,-1125.8,2480.8

GPS2 101212,002500,-4328.582,719.250,21,1.8,21,-24.7 MHEAD_RNG_PITCHd_Wd 212.9,2813,-18.4,-10.010

SPEED_LIMITS 0.173,0.296 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.0,0.999800 _10V_AH 10.3,2.206

SM_CCo 13396,186.88,0.545,0,0,444,588.96 FG_AHR_24Vo 0.000

SM_GC 2.05,0.00,0.00,186.88,0.000,0.000,0.545,92,2012,444,-9.61,0.06,588.96 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4314.46,711.18,091212,202036 MEM 354632

TT8_MAMPS 0.026215 DATA_FILE_SIZE 40311,725

HUMID 47.36 CAP_FILE_SIZE 109946,1

INTERNAL_PRESSURE 8.75046 CFSIZE 2097086464,2094399488

TCM_TEMP 10.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1

XPDR_PINGS 0 GPS 101212,041329,-4330.071,718.582,38,1.3,38,-24.7

_24V_AH 23.3,4.983

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 257 137.75 SBE_CT 481 24 268.99

Roll_motor 88 61 126.30 WL_BB2FLVMT 855 105 2093.79

VBD_pump_during_apogee 352 1299 10683.38 SBE_O2 467 19 207.12

VBD_pump_during_surface 186 545 2374.97 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 65.37 nil 0 0 0.00

Iridium_during_connect 40 160 152.40 nil 0 0 0.00

Iridium_during_xfer 259 223 1347.89 nil 0 0 0.00

Transponder_ping 0 420 2.45 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 24 26 6.67

TT8 1761 14 271.36

LPSleep 9239 2 208.41

TT8_Active 635 14 92.97

TT8_Sampling 2304 37 888.60

TT8_CF8 77 47 37.46

TT8_Kalman 33 59 20.32

Analog_circuits 1472 12 181.95

GPS_charging 0 0 0.00

Compass 1933 15 313.23

RAFOS 0 0 0.00

Transponder 2 30 0.87

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

23 -0.62 -143.2 0.0 0.0 0 133 0.00 0.00 -106.80 0.000 2 0.000 0.000 86 2019 3108 0 0 0 0 0 0

135 -0.63 -194.5 3.2 -3.2 18 167 12.18 2.25 -11.70 0.000 4 0.257 0.061 2946 3407 3639 0 0 0 0 0 0

266 -0.63 -194.5 33.8 -22.4 40 273 0.00 2.22 0.00 0.000 6 0.000 0.040 2946 2007 3640 0 0 0 0 0 0

499 -0.63 -194.5 90.8 -24.2 81 505 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 2004 3640 0 0 0 0 0 0

821 -0.63 -194.5 169.9 -23.5 106 822 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 2003 3640 0 0 0 0 0 0

1132 -0.63 -194.5 243.5 -23.9 126 1133 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 2003 3640 0 0 0 0 0 0

1452 -0.63 -194.5 313.1 -21.6 142 1456 0.00 2.20 0.00 0.000 4 0.000 0.050 2936 3418 3641 0 0 0 0 0 0

1561 -0.63 -194.5 335.8 -20.4 147 1565 0.00 2.17 0.00 0.000 6 0.000 0.040 2936 2006 3641 0 0 0 0 0 0

1897 -0.63 -194.5 410.3 -22.1 163 1898 0.00 0.00 0.00 0.000 6 0.000 0.000 2936 2003 3641 0 0 0 0 0 0

2204 -0.63 -194.5 477.9 -22.2 173 2205 0.00 0.00 0.00 0.000 6 0.000 0.000 2936 2003 3641 0 0 0 0 0 0

2510 -0.63 -194.5 543.6 -21.5 183 2511 0.00 0.00 0.00 0.000 6 0.000 0.000 2936 2003 3641 0 0 0 0 0 0

2816 -0.63 -194.5 608.8 -21.0 193 2820 0.00 2.20 0.00 0.000 4 0.000 0.054 2927 3407 3641 0 0 0 0 0 0

2858 -0.63 -194.5 618.1 -20.6 194 2864 0.10 2.17 0.00 0.000 6 0.166 0.041 2957 2010 3641 0 0 0 0 0 0

3182 -0.63 -194.5 678.8 -18.6 205 3183 0.00 0.00 0.00 0.000 6 0.000 0.000 2957 2005 3640 0 0 0 0 0 0

3488 -0.63 -194.5 735.7 -18.3 215 3489 0.00 0.00 0.00 0.000 6 0.000 0.000 2957 2005 3640 0 0 0 0 0 0

3795 -0.63 -194.5 792.5 -18.4 225 3798 0.00 2.17 0.00 0.000 4 0.000 0.054 2948 3408 3640 0 0 0 0 0 0

3877 -0.63 -194.5 807.5 -17.1 227 3882 0.00 2.17 0.00 0.000 6 0.000 0.041 2948 2010 3639 0 0 0 0 0 0

4201 -0.63 -194.5 867.7 -19.2 238 4205 0.00 2.20 0.00 0.000 4 0.000 0.054 2938 3410 3639 0 0 0 0 0 0

4249 -0.63 -194.5 877.1 -19.0 239 4254 0.00 2.17 0.00 0.000 6 0.000 0.041 2938 2008 3638 0 0 0 0 0 0

4568 -0.63 -194.5 937.5 -19.3 250 4569 0.00 0.00 0.00 0.000 6 0.000 0.000 2938 2007 3638 0 0 0 0 0 0

4874 -0.63 -194.5 997.0 -19.2 260 4875 0.00 0.00 0.00 0.000 6 0.000 0.000 2938 2007 3637 0 0 0 0 0 0

4904 end dive: TARGET_DEPTH_EXCEEDED

state 4905 begin apogee

4908 -0.17 0.0 1002.7 18.8 261 5074 0.57 0.00 163.52 1.300 6 0.162 0.000 3107 2002 2846 0 0 0 0 0 0

5075 end apogee: CONTROL_FINISHED_OK

state 5075 begin climb

5076 0.63 194.5 1012.0 0.0 266 5280 0.82 2.47 189.25 1.287 4 0.109 0.057 3372 617 2053 0 0 0 0 1 0

5346 0.63 194.5 992.8 12.4 275 5351 0.00 2.30 0.00 0.000 6 0.000 0.037 3371 1997 2052 0 0 0 0 0 0

5670 0.63 194.5 951.3 13.1 286 5674 0.00 2.30 0.00 0.000 4 0.000 0.058 3382 602 2048 0 0 0 0 0 0

5765 0.63 194.5 938.3 13.5 289 5769 0.00 2.25 0.00 0.000 6 0.000 0.039 3382 2017 2046 0 0 0 0 0 0

6099 0.63 194.5 893.0 13.4 300 6101 0.00 0.00 0.00 0.000 6 0.000 0.000 3382 2018 2045 0 0 0 0 0 0

6404 0.63 194.5 852.1 13.1 310 6408 0.00 2.28 0.00 0.000 4 0.000 0.057 3392 606 2045 0 0 0 0 0 0

6470 0.63 194.5 842.9 13.4 312 6475 0.00 2.22 0.00 0.000 6 0.000 0.038 3392 2010 2044 0 0 0 0 0 0

6805 0.63 194.5 796.9 13.5 323 6809 0.00 2.28 0.00 0.000 4 0.000 0.057 3402 599 2044 0 0 0 0 0 0

6871 0.63 194.5 787.5 13.8 325 6876 0.10 2.22 0.00 0.000 6 0.178 0.037 3373 2021 2043 0 0 0 0 0 0

7206 0.63 194.5 746.6 12.4 336 7207 0.00 0.00 0.00 0.000 6 0.000 0.000 3373 2024 2043 0 0 0 0 0 0

7512 0.63 194.5 707.8 12.7 346 7516 0.00 2.28 0.00 0.000 4 0.000 0.057 3383 599 2043 0 0 0 0 0 0

7578 0.63 194.5 699.1 12.7 348 7583 0.00 2.20 0.00 0.000 6 0.000 0.037 3383 2014 2042 0 0 0 0 0 0

7913 0.63 194.5 655.2 12.8 359 7917 0.00 2.25 0.00 0.000 4 0.000 0.056 3391 604 2042 0 0 0 0 0 0

7967 0.63 194.5 648.0 12.9 360 7974 0.00 2.17 0.00 0.000 6 0.000 0.036 3391 2002 2042 0 0 0 0 0 0

8280 0.63 194.5 608.8 12.6 371 8282 0.00 0.00 0.00 0.000 6 0.000 0.000 3391 2004 2042 0 0 0 0 0 0

8587 0.63 194.5 569.3 13.0 381 8591 0.00 2.22 0.00 0.000 4 0.000 0.056 3401 602 2042 0 0 0 0 0 0

8674 0.63 194.5 557.8 12.7 383 8682 0.10 2.17 0.00 0.000 6 0.174 0.037 3371 2011 2041 0 0 0 0 0 0

8988 0.63 194.5 523.3 11.2 394 8992 0.00 2.22 0.00 0.000 4 0.000 0.055 3380 606 2041 0 0 0 0 0 0

9059 0.63 194.5 514.9 11.8 396 9064 0.00 2.17 0.00 0.000 6 0.000 0.036 3380 2013 2041 0 0 0 0 0 0

9389 0.63 194.5 476.1 11.9 407 9390 0.00 0.00 0.00 0.000 6 0.000 0.000 3380 2016 2041 0 0 0 0 0 0

9695 0.63 194.5 439.2 12.1 417 9699 0.00 2.25 0.00 0.000 4 0.000 0.055 3387 595 2041 0 0 0 0 0 0

9748 0.63 194.5 432.0 13.6 418 9755 0.00 2.17 0.00 0.000 6 0.000 0.036 3388 2009 2041 0 0 0 0 0 0

10062 0.63 194.5 391.7 13.3 430 10066 0.00 2.22 0.00 0.000 4 0.000 0.055 3397 603 2042 0 0 0 0 0 0

10171 0.63 194.5 377.3 13.5 435 10175 0.00 2.15 0.00 0.000 6 0.000 0.037 3397 2015 2041 0 0 0 0 0 0

10498 0.63 194.5 334.0 12.9 451 10502 0.00 2.22 0.00 0.000 4 0.000 0.054 3407 605 2041 0 0 0 0 0 0

10564 0.63 194.5 324.4 13.6 454 10570 0.10 2.15 0.00 0.000 6 0.178 0.036 3376 2008 2041 0 0 0 0 0 0

10891 0.63 194.5 286.0 11.1 470 10893 0.00 0.00 0.00 0.000 6 0.000 0.000 3377 2011 2041 0 0 0 0 0 0

11203 0.63 194.5 251.9 11.0 485 11207 0.00 2.22 0.00 0.000 4 0.000 0.055 3386 596 2041 0 0 0 0 0 0

11266 0.63 194.5 244.4 12.4 489 11270 0.00 2.12 0.00 0.000 6 0.000 0.036 3386 2009 2041 0 0 0 0 0 0

11596 0.63 194.5 205.5 12.3 510 11597 0.00 0.00 0.00 0.000 6 0.000 0.000 3386 2010 2041 0 0 0 0 0 0

11907 0.63 194.5 167.0 12.1 530 11911 0.00 2.20 0.00 0.000 4 0.000 0.054 3394 603 2041 0 0 0 0 0 0

11968 0.63 194.5 159.3 12.4 534 11972 0.00 2.12 0.00 0.000 6 0.000 0.036 3395 2015 2041 0 0 0 0 0 0

12299 0.63 194.5 116.9 12.3 555 12300 0.00 0.00 0.00 0.000 6 0.000 0.000 3394 2016 2041 0 0 0 0 0 0

12624 0.63 194.5 79.2 12.6 595 12628 0.00 2.22 0.00 0.000 4 0.000 0.054 3404 598 2042 0 0 0 0 0 0

12717 0.63 194.5 67.3 12.6 612 12726 0.10 2.15 0.00 0.000 6 0.174 0.034 3374 2011 2042 0 0 0 0 0 0

13070 0.63 194.5 32.1 10.3 673 13075 0.00 2.22 0.00 0.000 4 0.000 0.054 3383 593 2042 0 0 0 0 0 0

13259 0.63 194.5 12.1 10.6 705 13266 0.00 2.15 0.00 0.000 6 0.000 0.035 3383 2006 2042 0 0 0 0 0 0

13338 0.63 194.5 3.4 11.2 718 13344 0.00 0.00 0.00 0.000 6 0.000 0.000 3383 2008 2043 0 0 0 0 0 0

13351 end climb: SURFACE_DEPTH_REACHED

state 13351 begin surface coast

13382 end surface coast: CONTROL_FINISHED_OK

state 13382 begin surface

ID	575	HD_B	0.010078	ROLL_MIN	201	ALTIM_TOP_TURN_MARGIN	0
MISSION	3	HD_C	9.8500004e-06	ROLL_MAX	3827	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	5	HEADING	-1	ROLL_DEG	40	ALTIM_PING_DEPTH	1000
D_SURF	3	ESCAPE_HEADING	0	C_ROLL_DIVE	2010	ALTIM_PING_DELTA	5
D_FLARE	3	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2010	ALTIM_FREQUENCY	13
D_TGT	1000	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PULSE	2
D_ABORT	1050	TGT_DEFAULT_LAT	-4230	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	TGT_DEFAULT_LON	-200	ROLL_TIMEOUT	15	XPDR_VALID	5
D_BOOST	0	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	37	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	588.76752	R_STBD_OVSHOOT	42	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST_BLACKOUT	0	N_FILEKB	4	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.83999997
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	405	DEVICE2	115
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE3	20
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	C_VBD	2846	DEVICE4	-1
T_DIVE	333	CALL_TRIES	5	VBD_DBAND	2	DEVICE5	-1
T_MISSION	348	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE6	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_TIMEOUT	720	LOGGERS	7
T_TURN	225	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	5.9999998e-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	-2488.9749	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	19	XPDR_DEVICE	24
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	8	SIM_W	0
MAX_BUOY	200	PITCH_MIN	97	FG_AHR_10V	0	SIM_PITCH	0
COURSE_BIAS	0	PITCH_MAX	3857	FG_AHR_24V	0	SEABIRD_T_G	0.0042703953
GLIDE_SLOPE	30	C_PITCH	3166	PHONE_SUPPLY	2	SEABIRD_T_H	0.00061866472
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-48.908466	SEABIRD_T_I	2.158102e-05
RHO	1.0283	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011644595	SEABIRD_T_J	2.2042e-06
MASS	53539	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_C_G	-9.6161814
LENGTH	1.8	PITCH_GAIN	30	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1157404
NAV_MODE	1	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0016421394
DIRECT_CONTROL	0	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_J	0.00020073759
FERRY_MAX	45	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	EBE_ENABLE	0
KALMAN_USE	1	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0	GC_WINDOW	20
HD_A	0.0038360001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	12	GC_LAST_COLLECTION	-1

GPS1	101212,001752,-4328.592,719.179,37,1.0,37,-24.7	TGT_NAME	GH1
_CALLS	1	TGT_LATLONG	-4330.000,720.000
_XMS_NAKs	0	TGT_RADIUS	800.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.037,-0.255
_SM_DEPTHo	1.85	KALMAN_X	2444.7,514.8,-323.7,8031.2,1747.4
_SM_ANGLEo	-64.7	KALMAN_Y	3527.4,171.2,285.7,-1125.8,2480.8
GPS2	101212,002500,-4328.582,719.250,21,1.8,21,-24.7	MHEAD_RNG_PITCHd_Wd	212.9,2813,-18.4,-10.010
SPEED_LIMITS	0.173,0.296	D_GRID	1000

FINISH	1.0,0.999800	_10V_AH	10.3,2.206
SM_CCo	13396,186.88,0.545,0,0,444,588.96	FG_AHR_24Vo	0.000
SM_GC	2.05,0.00,0.00,186.88,0.000,0.000,0.545,92,2012,444,-9.61,0.06,588.96	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4314.46,711.18,091212,202036	MEM	354632
TT8_MAMPS	0.026215	DATA_FILE_SIZE	40311,725
HUMID	47.36	CAP_FILE_SIZE	109946,1
INTERNAL_PRESSURE	8.75046	CFSIZE	2097086464,2094399488
TCM_TEMP	10.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
XPDR_PINGS	0	GPS	101212,041329,-4330.071,718.582,38,1.3,38,-24.7
_24V_AH	23.3,4.983

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	257	137.75	SBE_CT	481	24	268.99
Roll_motor	88	61	126.30	WL_BB2FLVMT	855	105	2093.79
VBD_pump_during_apogee	352	1299	10683.38	SBE_O2	467	19	207.12
VBD_pump_during_surface	186	545	2374.97	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	65.37	nil	0	0	0.00
Iridium_during_connect	40	160	152.40	nil	0	0	0.00
Iridium_during_xfer	259	223	1347.89	nil	0	0	0.00
Transponder_ping	0	420	2.45	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	24	26	6.67
TT8	1761	14	271.36
LPSleep	9239	2	208.41
TT8_Active	635	14	92.97
TT8_Sampling	2304	37	888.60
TT8_CF8	77	47	37.46
TT8_Kalman	33	59	20.32
Analog_circuits	1472	12	181.95
GPS_charging	0	0	0.00
Compass	1933	15	313.23
RAFOS	0	0	0.00
Transponder	2	30	0.87

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
23	-0.62	-143.2	0.0	0.0	0	133	0.00	0.00	-106.80	0.000	2	0.000	0.000	86	2019	3108	0	0	0	0	0	0
135	-0.63	-194.5	3.2	-3.2	18	167	12.18	2.25	-11.70	0.000	4	0.257	0.061	2946	3407	3639	0	0	0	0	0	0
266	-0.63	-194.5	33.8	-22.4	40	273	0.00	2.22	0.00	0.000	6	0.000	0.040	2946	2007	3640	0	0	0	0	0	0
499	-0.63	-194.5	90.8	-24.2	81	505	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	2004	3640	0	0	0	0	0	0
821	-0.63	-194.5	169.9	-23.5	106	822	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	2003	3640	0	0	0	0	0	0
1132	-0.63	-194.5	243.5	-23.9	126	1133	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	2003	3640	0	0	0	0	0	0
1452	-0.63	-194.5	313.1	-21.6	142	1456	0.00	2.20	0.00	0.000	4	0.000	0.050	2936	3418	3641	0	0	0	0	0	0
1561	-0.63	-194.5	335.8	-20.4	147	1565	0.00	2.17	0.00	0.000	6	0.000	0.040	2936	2006	3641	0	0	0	0	0	0
1897	-0.63	-194.5	410.3	-22.1	163	1898	0.00	0.00	0.00	0.000	6	0.000	0.000	2936	2003	3641	0	0	0	0	0	0
2204	-0.63	-194.5	477.9	-22.2	173	2205	0.00	0.00	0.00	0.000	6	0.000	0.000	2936	2003	3641	0	0	0	0	0	0
2510	-0.63	-194.5	543.6	-21.5	183	2511	0.00	0.00	0.00	0.000	6	0.000	0.000	2936	2003	3641	0	0	0	0	0	0
2816	-0.63	-194.5	608.8	-21.0	193	2820	0.00	2.20	0.00	0.000	4	0.000	0.054	2927	3407	3641	0	0	0	0	0	0
2858	-0.63	-194.5	618.1	-20.6	194	2864	0.10	2.17	0.00	0.000	6	0.166	0.041	2957	2010	3641	0	0	0	0	0	0
3182	-0.63	-194.5	678.8	-18.6	205	3183	0.00	0.00	0.00	0.000	6	0.000	0.000	2957	2005	3640	0	0	0	0	0	0
3488	-0.63	-194.5	735.7	-18.3	215	3489	0.00	0.00	0.00	0.000	6	0.000	0.000	2957	2005	3640	0	0	0	0	0	0
3795	-0.63	-194.5	792.5	-18.4	225	3798	0.00	2.17	0.00	0.000	4	0.000	0.054	2948	3408	3640	0	0	0	0	0	0
3877	-0.63	-194.5	807.5	-17.1	227	3882	0.00	2.17	0.00	0.000	6	0.000	0.041	2948	2010	3639	0	0	0	0	0	0
4201	-0.63	-194.5	867.7	-19.2	238	4205	0.00	2.20	0.00	0.000	4	0.000	0.054	2938	3410	3639	0	0	0	0	0	0
4249	-0.63	-194.5	877.1	-19.0	239	4254	0.00	2.17	0.00	0.000	6	0.000	0.041	2938	2008	3638	0	0	0	0	0	0
4568	-0.63	-194.5	937.5	-19.3	250	4569	0.00	0.00	0.00	0.000	6	0.000	0.000	2938	2007	3638	0	0	0	0	0	0
4874	-0.63	-194.5	997.0	-19.2	260	4875	0.00	0.00	0.00	0.000	6	0.000	0.000	2938	2007	3637	0	0	0	0	0	0
4904	end dive: TARGET_DEPTH_EXCEEDED
state	4905	begin apogee
4908	-0.17	0.0	1002.7	18.8	261	5074	0.57	0.00	163.52	1.300	6	0.162	0.000	3107	2002	2846	0	0	0	0	0	0
5075	end apogee: CONTROL_FINISHED_OK
state	5075	begin climb
5076	0.63	194.5	1012.0	0.0	266	5280	0.82	2.47	189.25	1.287	4	0.109	0.057	3372	617	2053	0	0	0	0	1	0
5346	0.63	194.5	992.8	12.4	275	5351	0.00	2.30	0.00	0.000	6	0.000	0.037	3371	1997	2052	0	0	0	0	0	0
5670	0.63	194.5	951.3	13.1	286	5674	0.00	2.30	0.00	0.000	4	0.000	0.058	3382	602	2048	0	0	0	0	0	0
5765	0.63	194.5	938.3	13.5	289	5769	0.00	2.25	0.00	0.000	6	0.000	0.039	3382	2017	2046	0	0	0	0	0	0
6099	0.63	194.5	893.0	13.4	300	6101	0.00	0.00	0.00	0.000	6	0.000	0.000	3382	2018	2045	0	0	0	0	0	0
6404	0.63	194.5	852.1	13.1	310	6408	0.00	2.28	0.00	0.000	4	0.000	0.057	3392	606	2045	0	0	0	0	0	0
6470	0.63	194.5	842.9	13.4	312	6475	0.00	2.22	0.00	0.000	6	0.000	0.038	3392	2010	2044	0	0	0	0	0	0
6805	0.63	194.5	796.9	13.5	323	6809	0.00	2.28	0.00	0.000	4	0.000	0.057	3402	599	2044	0	0	0	0	0	0
6871	0.63	194.5	787.5	13.8	325	6876	0.10	2.22	0.00	0.000	6	0.178	0.037	3373	2021	2043	0	0	0	0	0	0
7206	0.63	194.5	746.6	12.4	336	7207	0.00	0.00	0.00	0.000	6	0.000	0.000	3373	2024	2043	0	0	0	0	0	0
7512	0.63	194.5	707.8	12.7	346	7516	0.00	2.28	0.00	0.000	4	0.000	0.057	3383	599	2043	0	0	0	0	0	0
7578	0.63	194.5	699.1	12.7	348	7583	0.00	2.20	0.00	0.000	6	0.000	0.037	3383	2014	2042	0	0	0	0	0	0
7913	0.63	194.5	655.2	12.8	359	7917	0.00	2.25	0.00	0.000	4	0.000	0.056	3391	604	2042	0	0	0	0	0	0
7967	0.63	194.5	648.0	12.9	360	7974	0.00	2.17	0.00	0.000	6	0.000	0.036	3391	2002	2042	0	0	0	0	0	0
8280	0.63	194.5	608.8	12.6	371	8282	0.00	0.00	0.00	0.000	6	0.000	0.000	3391	2004	2042	0	0	0	0	0	0
8587	0.63	194.5	569.3	13.0	381	8591	0.00	2.22	0.00	0.000	4	0.000	0.056	3401	602	2042	0	0	0	0	0	0
8674	0.63	194.5	557.8	12.7	383	8682	0.10	2.17	0.00	0.000	6	0.174	0.037	3371	2011	2041	0	0	0	0	0	0
8988	0.63	194.5	523.3	11.2	394	8992	0.00	2.22	0.00	0.000	4	0.000	0.055	3380	606	2041	0	0	0	0	0	0
9059	0.63	194.5	514.9	11.8	396	9064	0.00	2.17	0.00	0.000	6	0.000	0.036	3380	2013	2041	0	0	0	0	0	0
9389	0.63	194.5	476.1	11.9	407	9390	0.00	0.00	0.00	0.000	6	0.000	0.000	3380	2016	2041	0	0	0	0	0	0
9695	0.63	194.5	439.2	12.1	417	9699	0.00	2.25	0.00	0.000	4	0.000	0.055	3387	595	2041	0	0	0	0	0	0
9748	0.63	194.5	432.0	13.6	418	9755	0.00	2.17	0.00	0.000	6	0.000	0.036	3388	2009	2041	0	0	0	0	0	0
10062	0.63	194.5	391.7	13.3	430	10066	0.00	2.22	0.00	0.000	4	0.000	0.055	3397	603	2042	0	0	0	0	0	0
10171	0.63	194.5	377.3	13.5	435	10175	0.00	2.15	0.00	0.000	6	0.000	0.037	3397	2015	2041	0	0	0	0	0	0
10498	0.63	194.5	334.0	12.9	451	10502	0.00	2.22	0.00	0.000	4	0.000	0.054	3407	605	2041	0	0	0	0	0	0
10564	0.63	194.5	324.4	13.6	454	10570	0.10	2.15	0.00	0.000	6	0.178	0.036	3376	2008	2041	0	0	0	0	0	0
10891	0.63	194.5	286.0	11.1	470	10893	0.00	0.00	0.00	0.000	6	0.000	0.000	3377	2011	2041	0	0	0	0	0	0
11203	0.63	194.5	251.9	11.0	485	11207	0.00	2.22	0.00	0.000	4	0.000	0.055	3386	596	2041	0	0	0	0	0	0
11266	0.63	194.5	244.4	12.4	489	11270	0.00	2.12	0.00	0.000	6	0.000	0.036	3386	2009	2041	0	0	0	0	0	0
11596	0.63	194.5	205.5	12.3	510	11597	0.00	0.00	0.00	0.000	6	0.000	0.000	3386	2010	2041	0	0	0	0	0	0
11907	0.63	194.5	167.0	12.1	530	11911	0.00	2.20	0.00	0.000	4	0.000	0.054	3394	603	2041	0	0	0	0	0	0
11968	0.63	194.5	159.3	12.4	534	11972	0.00	2.12	0.00	0.000	6	0.000	0.036	3395	2015	2041	0	0	0	0	0	0
12299	0.63	194.5	116.9	12.3	555	12300	0.00	0.00	0.00	0.000	6	0.000	0.000	3394	2016	2041	0	0	0	0	0	0
12624	0.63	194.5	79.2	12.6	595	12628	0.00	2.22	0.00	0.000	4	0.000	0.054	3404	598	2042	0	0	0	0	0	0
12717	0.63	194.5	67.3	12.6	612	12726	0.10	2.15	0.00	0.000	6	0.174	0.034	3374	2011	2042	0	0	0	0	0	0
13070	0.63	194.5	32.1	10.3	673	13075	0.00	2.22	0.00	0.000	4	0.000	0.054	3383	593	2042	0	0	0	0	0	0
13259	0.63	194.5	12.1	10.6	705	13266	0.00	2.15	0.00	0.000	6	0.000	0.035	3383	2006	2042	0	0	0	0	0	0
13338	0.63	194.5	3.4	11.2	718	13344	0.00	0.00	0.00	0.000	6	0.000	0.000	3383	2008	2043	0	0	0	0	0	0
13351	end climb: SURFACE_DEPTH_REACHED
state	13351	begin surface coast
13382	end surface coast: CONTROL_FINISHED_OK
state	13382	begin surface