Glider dive log

SOSCEx Feb12 * SG573 * Dive index * Mission links * Dive 575 * 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 4 HD_C 9.8500004e-06 ROLL_MAX 3785 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 575 HEADING -1 ROLL_DEG 40 ALTIM_PING_DEPTH 1050

D_SURF 3 ESCAPE_HEADING 0 C_ROLL_DIVE 1860 ALTIM_PING_DELTA 5

D_FLARE 3 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1560 ALTIM_FREQUENCY 13

D_TGT 990 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 15 ALTIM_PULSE 3

D_ABORT 1100 TGT_DEFAULT_LAT -4235 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 28 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 200 R_STBD_OVSHOOT 30 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 0.5 DEVICE1 2

SURFACE_URGENCY 0 N_NOCOMM 1 VBD_MIN 409 DEVICE2 115

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MAX 3959 DEVICE3 20

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 C_VBD 2862 DEVICE4 134

T_DIVE 340 CALL_TRIES 5 VBD_DBAND 2 DEVICE5 -1

T_MISSION 355 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE6 -1

T_ABORT 720 CAPUPLOAD 0 VBD_TIMEOUT 720 LOGGERS 1

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 -6067.7354 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 170 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 3045 PHONE_SUPPLY 2 SEABIRD_T_H 0.00061930995

SPEED_FACTOR 1 PITCH_DBAND 0.0099999998 PRESSURE_YINT -87.947678 SEABIRD_T_I 2.1971719e-05

RHO 1.0278 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011693723 SEABIRD_T_J 2.301111e-06

MASS 52752 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_C_G -9.9469662

LENGTH 1.8 PITCH_GAIN 16 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 175 COMPASS_USE 0 SEABIRD_C_J 0.00019558761

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 554

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 200

ALTIM_BOTTOM_TURN_MARGIN 20 D_SURF 3 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_ADJ_DBAND 1 STROBE 0

ALTIM_PING_DELTA 5 EBE_ENABLE 0 PITCH_ADJ_GAIN 0.02 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 1050 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 4 FERRY_MAX 45 PITCH_DBAND 0.0099999998 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_GAIN 16 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 100 TGT_DEFAULT_LON -200

CALL_NDIVES 1 GC_LAST_COLLECTION 554 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 0.00011693723 T_BOOST_BLACKOUT 0

CAPMAXSIZE 100000 GPS_DEVICE 32 PRESSURE_YINT -87.947678 T_DIVE 340

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 -6067.7354

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 355

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 3045 ID 573 ROLL_ADJ_DBAND 0 T_TURN 225

C_ROLL_CLIMB 1560 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_DIVE 1860 INT_PRESSURE_YINT -0.55000001 ROLL_AD_RATE 350 T_WATCHDOG 10

C_VBD 2862 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 3785 USE_ICE 0

DEVICE2 115 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE3 20 LOGGERDEVICE3 -1 ROLL_MIN 150 VBD_CNV -0.245296

DEVICE4 134 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE5 -1 LOGGERS 1 R_PORT_OVSHOOT 28 VBD_MAX 3959

DEVICE6 -1 MASS 52752 R_STBD_OVSHOOT 30 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 170 SEABIRD_C_G -9.9469662 VBD_MIN 409

DIVE 575 MINV_10V 8 SEABIRD_C_H 1.155618 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1100 MINV_24V 20 SEABIRD_C_I -0.0016006827 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 0 MISSION 4 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 080213,200553,-4157.399,-319.291,42,1.1,42,-22.4 TGT_NAME ACC_WP1

_CALLS 1 TGT_LATLONG -4130.000,-340.000

_XMS_NAKs 0 TGT_RADIUS 6000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.104,0.252

_SM_DEPTHo 3.14 KALMAN_X 8449.2,219.0,353.3,-23103.5,495.6

_SM_ANGLEo -70.3 KALMAN_Y -17225.4,-89.8,-25.3,42974.6,-2232.0

GPS2 080213,201343,-4157.336,-319.333,21,1.1,21,-22.4 MHEAD_RNG_PITCHd_Wd 359.9,58180,-16.7,-9.706

SPEED_LIMITS 0.168,0.273 D_GRID 990

Post-dive calculations and measurements:

FINISH 2.5,1.011993 _10V_AH 9.8,74.256

SM_CCo 19599,0.00,0.000,0,0,578,560.26 FG_AHR_24Vo 0.000

SM_GC 3.21,8.70,0.00,0.00,0.031,0.000,0.000,81,1870,578,-9.17,0.28,560.26 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4143.80,-345.96,080213,141446 MEM 354536

TT8_MAMPS 0.026964 DATA_FILE_SIZE 56821,934

HUMID 51.02 CAP_FILE_SIZE 140886,0

INTERNAL_PRESSURE 9.03045 CFSIZE 2097086464,2018541568

TCM_TEMP 15.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 1 GPS 090213,014253,-4155.833,-320.305,62,1.0,62,-22.5

_24V_AH 22.3,103.968

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 209 106.11 SBE_CT 628 24 336.13

Roll_motor 93 96 200.55 WL_BB2FLVMT 892 105 2090.26

VBD_pump_during_apogee 655 1249 18267.99 SBE_O2 637 19 269.90

VBD_pump_during_surface 0 0 0.00 QSP2150 77 4 7.55

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 61.99 nil 0 0 0.00

Iridium_during_connect 46 160 167.37 nil 0 0 0.00

Iridium_during_xfer 240 223 1196.57 nil 0 0 0.00

Transponder_ping 0 420 2.34 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 24 26 6.36

TT8 2303 14 337.67

LPSleep 13866 2 297.60

TT8_Active 684 14 95.35

TT8_Sampling 2940 37 1078.61

TT8_CF8 266 47 123.42

TT8_Kalman 33 59 19.34

Analog_circuits 1848 12 217.40

GPS_charging 0 0 0.00

Compass 2595 15 400.14

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

26 -1.05 -165.4 0.0 0.0 0 35 0.00 0.00 -7.18 0.000 2 0.000 0.000 83 1861 597 0 0 0 0 0 0

38 -1.05 -165.4 3.1 -0.0 1 189 10.30 0.82 -134.50 0.000 4 0.210 0.096 2702 1379 3537 0 0 0 0 0 0

456 -1.05 -165.4 34.3 -10.9 71 461 0.00 0.75 0.00 0.000 6 0.000 0.052 2699 1856 3539 0 0 0 0 0 0

801 -1.07 -165.4 67.7 -9.8 125 805 0.00 1.60 0.00 0.000 4 0.000 0.058 2699 894 3540 0 0 0 0 0 0

893 -1.07 -165.4 77.3 -10.3 133 897 0.00 1.58 0.00 0.000 6 0.000 0.047 2691 1864 3540 0 0 0 0 0 0

1329 -1.09 -165.4 122.1 -8.9 167 1333 0.00 2.33 0.00 0.000 4 0.000 0.057 2691 445 3541 0 0 0 0 0 0

1451 -1.09 -165.4 133.0 -8.7 174 1459 0.00 2.28 0.00 0.000 6 0.000 0.046 2680 1858 3541 0 0 0 0 0 0

1991 -1.09 -165.4 187.1 -11.3 209 1995 0.00 2.30 0.00 0.000 4 0.000 0.057 2681 451 3541 0 0 0 0 0 0

2160 -1.09 -165.4 206.6 -10.9 218 2167 0.08 2.28 0.00 0.000 6 0.180 0.044 2689 1878 3541 0 0 0 0 0 0

2685 -1.13 -165.4 260.2 -9.7 244 2689 0.00 2.35 0.00 0.000 4 0.000 0.057 2689 445 3541 0 0 0 0 0 0

2845 -1.13 -165.4 277.0 -10.8 251 2850 0.00 2.22 0.00 0.000 6 0.000 0.046 2679 1858 3541 0 0 0 0 0 0

3377 -1.15 -165.4 338.2 -12.1 272 3381 0.00 2.30 0.00 0.000 4 0.000 0.057 2679 449 3541 0 0 0 0 0 0

3524 -1.15 -165.4 357.1 -12.9 276 3528 0.00 2.25 0.00 0.000 6 0.000 0.045 2668 1860 3541 0 0 0 0 0 0

4056 -1.15 -165.4 425.9 -12.8 294 4060 0.00 2.25 0.00 0.000 4 0.000 0.057 2668 487 3540 0 0 0 0 0 0

4129 -1.12 -165.4 435.0 -11.8 296 4133 0.10 2.17 0.00 0.000 6 0.167 0.046 2684 1861 3540 0 0 0 0 0 0

4674 -1.15 -165.4 492.4 -10.3 314 4678 0.00 2.33 0.00 0.000 4 0.000 0.057 2684 442 3540 0 0 0 0 0 0

4790 -1.15 -165.4 504.6 -10.4 317 4794 0.00 2.25 0.00 0.000 6 0.000 0.046 2674 1864 3540 0 0 0 0 0 0

5329 -1.15 -165.4 557.6 -9.8 335 5333 0.00 0.47 0.00 0.000 4 0.000 0.057 2674 1548 3538 0 0 0 0 0 0

5424 -1.15 -165.4 567.2 -9.4 337 5429 0.00 0.50 0.00 0.000 6 0.000 0.057 2672 1865 3538 0 0 0 0 0 0

5951 -1.15 -165.4 621.4 -10.4 355 5955 0.00 2.33 0.00 0.000 4 0.000 0.058 2672 452 3537 0 0 0 0 0 0

6062 -1.13 -165.4 633.5 -11.2 358 6067 0.08 2.22 0.00 0.000 6 0.189 0.045 2679 1859 3537 0 0 0 0 0 0

6596 -1.17 -165.4 688.7 -10.4 376 6601 0.00 2.33 0.00 0.000 4 0.000 0.060 2680 452 3535 0 0 0 0 0 0

6743 -1.17 -165.4 704.2 -9.8 380 6747 0.00 2.25 0.00 0.000 6 0.000 0.047 2670 1867 3534 0 0 0 0 0 0

7275 -1.17 -165.4 753.6 -8.9 398 7279 0.00 2.33 0.00 0.000 4 0.000 0.059 2669 452 3534 0 0 0 0 0 0

7453 -1.17 -165.4 770.9 -10.1 403 7458 0.00 2.28 0.00 0.000 6 0.000 0.047 2658 1883 3534 0 0 0 0 0 0

7992 -1.17 -165.4 826.9 -11.3 421 7996 0.00 2.38 0.00 0.000 4 0.000 0.059 2658 448 3532 0 0 0 0 0 0

8128 -1.13 -165.4 843.5 -12.0 425 8133 0.12 2.28 0.00 0.000 6 0.158 0.047 2682 1859 3531 0 0 0 0 0 0

8673 -1.18 -165.4 911.8 -12.7 443 8675 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 1859 3530 0 0 0 0 0 0

8978 -1.22 -165.4 947.5 -11.2 453 8980 0.10 0.00 0.00 0.000 6 0.094 0.000 2623 1860 3530 0 0 0 0 0 0

9284 -1.17 -165.4 980.8 -10.4 463 9286 0.15 0.00 0.00 0.000 6 0.150 0.000 2666 1860 3529 0 0 0 0 0 0

9404 end dive: TARGET_DEPTH_EXCEEDED

state 9404 begin apogee

9410 -0.31 0.0 992.4 9.5 467 9557 0.85 0.00 143.27 1.249 6 0.109 0.000 2943 1554 2862 0 0 0 0 0 0

9558 end apogee: CONTROL_FINISHED_OK

state 9558 begin climb

9560 1.05 165.4 1003.0 0.0 472 9718 1.25 2.50 148.88 1.216 4 0.057 0.054 3385 2968 2189 0 0 0 0 0 0

9971 0.79 308.7 1001.3 4.1 484 10107 0.35 2.28 128.12 1.214 6 0.172 0.049 3302 1552 1602 0 0 0 0 0 0

10439 0.77 356.9 966.5 7.8 500 10489 0.00 2.40 43.85 1.185 4 0.000 0.060 3302 2958 1406 0 0 0 0 0 0

10584 0.77 408.7 954.9 7.7 504 10639 0.08 2.28 48.40 1.179 6 0.186 0.051 3294 1555 1195 0 0 0 0 0 0

10970 0.83 476.8 926.4 7.0 517 11037 0.00 0.00 64.85 1.182 6 0.000 0.000 3294 1555 917 0 0 0 0 0 0

11336 0.94 538.5 899.1 7.3 529 11398 0.15 0.00 58.95 1.169 6 0.074 0.000 3365 1555 665 0 0 0 0 0 0

11918 1.00 538.6 846.7 9.7 548 11919 0.00 0.00 0.00 0.000 6 0.000 0.000 3365 1555 656 0 0 0 0 0 0

12437 1.04 538.6 792.1 11.0 565 12438 0.00 0.00 0.00 0.000 6 0.000 0.000 3364 1555 655 0 0 0 0 0 0

12958 1.09 538.6 733.7 11.6 582 12962 0.10 0.77 0.00 0.000 4 0.099 0.065 3420 1074 654 0 0 0 0 0 0

13070 1.05 538.6 720.0 11.8 585 13074 0.10 0.77 0.00 0.000 6 0.137 0.052 3387 1556 653 0 0 0 0 0 0

13614 1.05 538.6 656.2 11.5 603 13619 0.00 2.35 0.00 0.000 4 0.000 0.070 3397 159 653 0 0 0 0 0 0

13726 1.05 538.6 643.3 12.1 606 13730 0.00 2.25 0.00 0.000 6 0.000 0.049 3397 1561 652 0 0 0 0 0 0

14265 1.05 538.6 584.5 10.6 624 14269 0.00 2.28 0.00 0.000 4 0.000 0.069 3407 203 652 0 0 0 0 0 0

14365 1.03 538.6 573.5 10.5 627 14370 0.10 2.20 0.00 0.000 6 0.170 0.049 3382 1565 652 0 0 0 0 0 0

14911 1.06 544.4 519.2 9.5 645 14920 0.00 1.38 4.28 0.643 4 0.000 0.067 3387 765 642 0 0 0 0 0 0

14999 1.08 544.4 510.4 10.0 647 15002 0.00 1.27 0.00 0.000 6 0.000 0.050 3387 1549 642 0 0 0 0 0 0

15531 1.08 544.4 453.9 11.1 665 15533 0.00 0.00 0.00 0.000 6 0.000 0.000 3388 1549 642 0 0 0 0 0 0

16052 1.08 544.4 394.7 11.0 682 16056 0.00 1.23 0.00 0.000 4 0.000 0.066 3393 821 642 0 0 0 0 0 0

16141 1.08 544.4 385.0 10.4 684 16145 0.00 1.20 0.00 0.000 6 0.000 0.049 3393 1559 642 0 0 0 0 0 0

16674 1.08 544.4 323.2 12.0 702 16675 0.00 0.00 0.00 0.000 6 0.000 0.000 3393 1559 642 0 0 0 0 0 0

17200 1.08 544.4 261.7 11.3 724 17204 0.00 2.38 0.00 0.000 4 0.000 0.070 3404 158 642 0 0 0 0 0 0

17322 1.08 544.4 247.9 10.7 729 17330 0.00 2.30 0.00 0.000 6 0.000 0.049 3404 1555 642 0 0 0 0 0 0

17852 1.08 544.4 194.7 10.6 756 17856 0.00 2.35 0.00 0.000 4 0.000 0.070 3413 160 641 0 0 0 0 0 0

17977 1.06 544.4 180.1 13.4 763 17983 0.10 2.30 0.00 0.000 6 0.166 0.049 3388 1577 641 0 0 0 0 0 0

18517 1.09 544.4 110.5 14.0 798 18521 0.00 2.40 0.00 0.000 4 0.000 0.069 3399 159 641 0 0 0 0 0 0

18707 1.09 544.4 84.5 12.9 813 18714 0.00 2.30 0.00 0.000 6 0.000 0.049 3399 1563 642 0 0 0 0 0 0

19159 1.09 559.2 40.2 9.1 873 19182 0.00 0.90 15.15 0.618 4 0.000 0.065 3403 1038 582 0 0 0 0 0 0

19235 1.09 559.2 32.7 9.7 886 19242 0.00 0.85 0.00 0.000 6 0.000 0.050 3403 1566 581 0 0 0 0 0 0

19495 end climb: SURFACE_DEPTH_REACHED

state 19495 begin surface coast

19520 end surface coast: CONTROL_FINISHED_OK

state 19521 begin surface

ID	573	HD_B	0.010078	ROLL_MIN	150	ALTIM_TOP_TURN_MARGIN	0
MISSION	4	HD_C	9.8500004e-06	ROLL_MAX	3785	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	575	HEADING	-1	ROLL_DEG	40	ALTIM_PING_DEPTH	1050
D_SURF	3	ESCAPE_HEADING	0	C_ROLL_DIVE	1860	ALTIM_PING_DELTA	5
D_FLARE	3	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1560	ALTIM_FREQUENCY	13
D_TGT	990	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	15	ALTIM_PULSE	3
D_ABORT	1100	TGT_DEFAULT_LAT	-4235	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	28	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	200	R_STBD_OVSHOOT	30	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	0.5	DEVICE1	2
SURFACE_URGENCY	0	N_NOCOMM	1	VBD_MIN	409	DEVICE2	115
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MAX	3959	DEVICE3	20
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	C_VBD	2862	DEVICE4	134
T_DIVE	340	CALL_TRIES	5	VBD_DBAND	2	DEVICE5	-1
T_MISSION	355	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE6	-1
T_ABORT	720	CAPUPLOAD	0	VBD_TIMEOUT	720	LOGGERS	1
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	-6067.7354	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	170	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	3045	PHONE_SUPPLY	2	SEABIRD_T_H	0.00061930995
SPEED_FACTOR	1	PITCH_DBAND	0.0099999998	PRESSURE_YINT	-87.947678	SEABIRD_T_I	2.1971719e-05
RHO	1.0278	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011693723	SEABIRD_T_J	2.301111e-06
MASS	52752	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_C_G	-9.9469662
LENGTH	1.8	PITCH_GAIN	16	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	175	COMPASS_USE	0	SEABIRD_C_J	0.00019558761
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	554

GPS1	080213,200553,-4157.399,-319.291,42,1.1,42,-22.4	TGT_NAME	ACC_WP1
_CALLS	1	TGT_LATLONG	-4130.000,-340.000
_XMS_NAKs	0	TGT_RADIUS	6000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.104,0.252
_SM_DEPTHo	3.14	KALMAN_X	8449.2,219.0,353.3,-23103.5,495.6
_SM_ANGLEo	-70.3	KALMAN_Y	-17225.4,-89.8,-25.3,42974.6,-2232.0
GPS2	080213,201343,-4157.336,-319.333,21,1.1,21,-22.4	MHEAD_RNG_PITCHd_Wd	359.9,58180,-16.7,-9.706
SPEED_LIMITS	0.168,0.273	D_GRID	990

FINISH	2.5,1.011993	_10V_AH	9.8,74.256
SM_CCo	19599,0.00,0.000,0,0,578,560.26	FG_AHR_24Vo	0.000
SM_GC	3.21,8.70,0.00,0.00,0.031,0.000,0.000,81,1870,578,-9.17,0.28,560.26	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4143.80,-345.96,080213,141446	MEM	354536
TT8_MAMPS	0.026964	DATA_FILE_SIZE	56821,934
HUMID	51.02	CAP_FILE_SIZE	140886,0
INTERNAL_PRESSURE	9.03045	CFSIZE	2097086464,2018541568
TCM_TEMP	15.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	1	GPS	090213,014253,-4155.833,-320.305,62,1.0,62,-22.5
_24V_AH	22.3,103.968

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	209	106.11	SBE_CT	628	24	336.13
Roll_motor	93	96	200.55	WL_BB2FLVMT	892	105	2090.26
VBD_pump_during_apogee	655	1249	18267.99	SBE_O2	637	19	269.90
VBD_pump_during_surface	0	0	0.00	QSP2150	77	4	7.55
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	61.99	nil	0	0	0.00
Iridium_during_connect	46	160	167.37	nil	0	0	0.00
Iridium_during_xfer	240	223	1196.57	nil	0	0	0.00
Transponder_ping	0	420	2.34	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	24	26	6.36
TT8	2303	14	337.67
LPSleep	13866	2	297.60
TT8_Active	684	14	95.35
TT8_Sampling	2940	37	1078.61
TT8_CF8	266	47	123.42
TT8_Kalman	33	59	19.34
Analog_circuits	1848	12	217.40
GPS_charging	0	0	0.00
Compass	2595	15	400.14
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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
26	-1.05	-165.4	0.0	0.0	0	35	0.00	0.00	-7.18	0.000	2	0.000	0.000	83	1861	597	0	0	0	0	0	0
38	-1.05	-165.4	3.1	-0.0	1	189	10.30	0.82	-134.50	0.000	4	0.210	0.096	2702	1379	3537	0	0	0	0	0	0
456	-1.05	-165.4	34.3	-10.9	71	461	0.00	0.75	0.00	0.000	6	0.000	0.052	2699	1856	3539	0	0	0	0	0	0
801	-1.07	-165.4	67.7	-9.8	125	805	0.00	1.60	0.00	0.000	4	0.000	0.058	2699	894	3540	0	0	0	0	0	0
893	-1.07	-165.4	77.3	-10.3	133	897	0.00	1.58	0.00	0.000	6	0.000	0.047	2691	1864	3540	0	0	0	0	0	0
1329	-1.09	-165.4	122.1	-8.9	167	1333	0.00	2.33	0.00	0.000	4	0.000	0.057	2691	445	3541	0	0	0	0	0	0
1451	-1.09	-165.4	133.0	-8.7	174	1459	0.00	2.28	0.00	0.000	6	0.000	0.046	2680	1858	3541	0	0	0	0	0	0
1991	-1.09	-165.4	187.1	-11.3	209	1995	0.00	2.30	0.00	0.000	4	0.000	0.057	2681	451	3541	0	0	0	0	0	0
2160	-1.09	-165.4	206.6	-10.9	218	2167	0.08	2.28	0.00	0.000	6	0.180	0.044	2689	1878	3541	0	0	0	0	0	0
2685	-1.13	-165.4	260.2	-9.7	244	2689	0.00	2.35	0.00	0.000	4	0.000	0.057	2689	445	3541	0	0	0	0	0	0
2845	-1.13	-165.4	277.0	-10.8	251	2850	0.00	2.22	0.00	0.000	6	0.000	0.046	2679	1858	3541	0	0	0	0	0	0
3377	-1.15	-165.4	338.2	-12.1	272	3381	0.00	2.30	0.00	0.000	4	0.000	0.057	2679	449	3541	0	0	0	0	0	0
3524	-1.15	-165.4	357.1	-12.9	276	3528	0.00	2.25	0.00	0.000	6	0.000	0.045	2668	1860	3541	0	0	0	0	0	0
4056	-1.15	-165.4	425.9	-12.8	294	4060	0.00	2.25	0.00	0.000	4	0.000	0.057	2668	487	3540	0	0	0	0	0	0
4129	-1.12	-165.4	435.0	-11.8	296	4133	0.10	2.17	0.00	0.000	6	0.167	0.046	2684	1861	3540	0	0	0	0	0	0
4674	-1.15	-165.4	492.4	-10.3	314	4678	0.00	2.33	0.00	0.000	4	0.000	0.057	2684	442	3540	0	0	0	0	0	0
4790	-1.15	-165.4	504.6	-10.4	317	4794	0.00	2.25	0.00	0.000	6	0.000	0.046	2674	1864	3540	0	0	0	0	0	0
5329	-1.15	-165.4	557.6	-9.8	335	5333	0.00	0.47	0.00	0.000	4	0.000	0.057	2674	1548	3538	0	0	0	0	0	0
5424	-1.15	-165.4	567.2	-9.4	337	5429	0.00	0.50	0.00	0.000	6	0.000	0.057	2672	1865	3538	0	0	0	0	0	0
5951	-1.15	-165.4	621.4	-10.4	355	5955	0.00	2.33	0.00	0.000	4	0.000	0.058	2672	452	3537	0	0	0	0	0	0
6062	-1.13	-165.4	633.5	-11.2	358	6067	0.08	2.22	0.00	0.000	6	0.189	0.045	2679	1859	3537	0	0	0	0	0	0
6596	-1.17	-165.4	688.7	-10.4	376	6601	0.00	2.33	0.00	0.000	4	0.000	0.060	2680	452	3535	0	0	0	0	0	0
6743	-1.17	-165.4	704.2	-9.8	380	6747	0.00	2.25	0.00	0.000	6	0.000	0.047	2670	1867	3534	0	0	0	0	0	0
7275	-1.17	-165.4	753.6	-8.9	398	7279	0.00	2.33	0.00	0.000	4	0.000	0.059	2669	452	3534	0	0	0	0	0	0
7453	-1.17	-165.4	770.9	-10.1	403	7458	0.00	2.28	0.00	0.000	6	0.000	0.047	2658	1883	3534	0	0	0	0	0	0
7992	-1.17	-165.4	826.9	-11.3	421	7996	0.00	2.38	0.00	0.000	4	0.000	0.059	2658	448	3532	0	0	0	0	0	0
8128	-1.13	-165.4	843.5	-12.0	425	8133	0.12	2.28	0.00	0.000	6	0.158	0.047	2682	1859	3531	0	0	0	0	0	0
8673	-1.18	-165.4	911.8	-12.7	443	8675	0.00	0.00	0.00	0.000	6	0.000	0.000	2682	1859	3530	0	0	0	0	0	0
8978	-1.22	-165.4	947.5	-11.2	453	8980	0.10	0.00	0.00	0.000	6	0.094	0.000	2623	1860	3530	0	0	0	0	0	0
9284	-1.17	-165.4	980.8	-10.4	463	9286	0.15	0.00	0.00	0.000	6	0.150	0.000	2666	1860	3529	0	0	0	0	0	0
9404	end dive: TARGET_DEPTH_EXCEEDED
state	9404	begin apogee
9410	-0.31	0.0	992.4	9.5	467	9557	0.85	0.00	143.27	1.249	6	0.109	0.000	2943	1554	2862	0	0	0	0	0	0
9558	end apogee: CONTROL_FINISHED_OK
state	9558	begin climb
9560	1.05	165.4	1003.0	0.0	472	9718	1.25	2.50	148.88	1.216	4	0.057	0.054	3385	2968	2189	0	0	0	0	0	0
9971	0.79	308.7	1001.3	4.1	484	10107	0.35	2.28	128.12	1.214	6	0.172	0.049	3302	1552	1602	0	0	0	0	0	0
10439	0.77	356.9	966.5	7.8	500	10489	0.00	2.40	43.85	1.185	4	0.000	0.060	3302	2958	1406	0	0	0	0	0	0
10584	0.77	408.7	954.9	7.7	504	10639	0.08	2.28	48.40	1.179	6	0.186	0.051	3294	1555	1195	0	0	0	0	0	0
10970	0.83	476.8	926.4	7.0	517	11037	0.00	0.00	64.85	1.182	6	0.000	0.000	3294	1555	917	0	0	0	0	0	0
11336	0.94	538.5	899.1	7.3	529	11398	0.15	0.00	58.95	1.169	6	0.074	0.000	3365	1555	665	0	0	0	0	0	0
11918	1.00	538.6	846.7	9.7	548	11919	0.00	0.00	0.00	0.000	6	0.000	0.000	3365	1555	656	0	0	0	0	0	0
12437	1.04	538.6	792.1	11.0	565	12438	0.00	0.00	0.00	0.000	6	0.000	0.000	3364	1555	655	0	0	0	0	0	0
12958	1.09	538.6	733.7	11.6	582	12962	0.10	0.77	0.00	0.000	4	0.099	0.065	3420	1074	654	0	0	0	0	0	0
13070	1.05	538.6	720.0	11.8	585	13074	0.10	0.77	0.00	0.000	6	0.137	0.052	3387	1556	653	0	0	0	0	0	0
13614	1.05	538.6	656.2	11.5	603	13619	0.00	2.35	0.00	0.000	4	0.000	0.070	3397	159	653	0	0	0	0	0	0
13726	1.05	538.6	643.3	12.1	606	13730	0.00	2.25	0.00	0.000	6	0.000	0.049	3397	1561	652	0	0	0	0	0	0
14265	1.05	538.6	584.5	10.6	624	14269	0.00	2.28	0.00	0.000	4	0.000	0.069	3407	203	652	0	0	0	0	0	0
14365	1.03	538.6	573.5	10.5	627	14370	0.10	2.20	0.00	0.000	6	0.170	0.049	3382	1565	652	0	0	0	0	0	0
14911	1.06	544.4	519.2	9.5	645	14920	0.00	1.38	4.28	0.643	4	0.000	0.067	3387	765	642	0	0	0	0	0	0
14999	1.08	544.4	510.4	10.0	647	15002	0.00	1.27	0.00	0.000	6	0.000	0.050	3387	1549	642	0	0	0	0	0	0
15531	1.08	544.4	453.9	11.1	665	15533	0.00	0.00	0.00	0.000	6	0.000	0.000	3388	1549	642	0	0	0	0	0	0
16052	1.08	544.4	394.7	11.0	682	16056	0.00	1.23	0.00	0.000	4	0.000	0.066	3393	821	642	0	0	0	0	0	0
16141	1.08	544.4	385.0	10.4	684	16145	0.00	1.20	0.00	0.000	6	0.000	0.049	3393	1559	642	0	0	0	0	0	0
16674	1.08	544.4	323.2	12.0	702	16675	0.00	0.00	0.00	0.000	6	0.000	0.000	3393	1559	642	0	0	0	0	0	0
17200	1.08	544.4	261.7	11.3	724	17204	0.00	2.38	0.00	0.000	4	0.000	0.070	3404	158	642	0	0	0	0	0	0
17322	1.08	544.4	247.9	10.7	729	17330	0.00	2.30	0.00	0.000	6	0.000	0.049	3404	1555	642	0	0	0	0	0	0
17852	1.08	544.4	194.7	10.6	756	17856	0.00	2.35	0.00	0.000	4	0.000	0.070	3413	160	641	0	0	0	0	0	0
17977	1.06	544.4	180.1	13.4	763	17983	0.10	2.30	0.00	0.000	6	0.166	0.049	3388	1577	641	0	0	0	0	0	0
18517	1.09	544.4	110.5	14.0	798	18521	0.00	2.40	0.00	0.000	4	0.000	0.069	3399	159	641	0	0	0	0	0	0
18707	1.09	544.4	84.5	12.9	813	18714	0.00	2.30	0.00	0.000	6	0.000	0.049	3399	1563	642	0	0	0	0	0	0
19159	1.09	559.2	40.2	9.1	873	19182	0.00	0.90	15.15	0.618	4	0.000	0.065	3403	1038	582	0	0	0	0	0	0
19235	1.09	559.2	32.7	9.7	886	19242	0.00	0.85	0.00	0.000	6	0.000	0.050	3403	1566	581	0	0	0	0	0	0
19495	end climb: SURFACE_DEPTH_REACHED
state	19495	begin surface coast
19520	end surface coast: CONTROL_FINISHED_OK
state	19521	begin surface