Glider dive log

SOSCEx Feb12 * SG573 * Dive index * Mission links * Dive 578 * 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 578 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 27 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 200 R_STBD_OVSHOOT 33 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 -6074.9531 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 557

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 557 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 -6074.9531

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 27 VBD_MAX 3959

DEVICE6 -1 MASS 52752 R_STBD_OVSHOOT 33 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 170 SEABIRD_C_G -9.9469662 VBD_MIN 409

DIVE 578 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 090213,125535,-4153.806,-321.833,60,1.0,60,-22.5 TGT_NAME ACC_WP1

_CALLS 1 TGT_LATLONG -4130.000,-340.000

_XMS_NAKs 0 TGT_RADIUS 6000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.137,0.236

_SM_DEPTHo 2.89 KALMAN_X 13309.5,-22.7,13.1,-30728.1,1738.9

_SM_ANGLEo -56.2 KALMAN_Y -25661.6,-122.5,87.5,57765.5,-2958.6

GPS2 090213,130306,-4153.865,-321.770,21,0.9,21,-22.5 MHEAD_RNG_PITCHd_Wd 352.4,50920,-16.7,-9.706

SPEED_LIMITS 0.168,0.273 D_GRID 990

Post-dive calculations and measurements:

FINISH 2.2,1.015556 _10V_AH 9.8,74.574

SM_CCo 19489,0.00,0.000,0,0,680,535.24 FG_AHR_24Vo 0.000

SM_GC 3.15,8.68,0.00,0.00,0.031,0.000,0.000,76,1867,680,-9.18,0.20,535.24 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4140.91,-322.67,090213,070740 MEM 354472

TT8_MAMPS 0.026215 DATA_FILE_SIZE 56966,927

HUMID 51.26 CAP_FILE_SIZE 132843,0

INTERNAL_PRESSURE 9.04021 CFSIZE 2097086464,2018148352

TCM_TEMP 15.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 1 GPS 090213,183005,-4152.800,-322.046,41,1.0,41,-22.5

_24V_AH 22.2,104.675

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 209 103.42 SBE_CT 623 24 332.05

Roll_motor 53 74 87.97 WL_BB2FLVMT 883 105 2058.59

VBD_pump_during_apogee 640 1243 17675.26 SBE_O2 631 19 266.36

VBD_pump_during_surface 0 0 0.00 QSP2150 77 4 7.58

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 58.23 nil 0 0 0.00

Iridium_during_connect 41 160 148.74 nil 0 0 0.00

Iridium_during_xfer 227 223 1127.48 nil 0 0 0.00

Transponder_ping 0 420 2.33 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 23 26 6.21

TT8 2247 14 329.55

LPSleep 14028 2 301.08

TT8_Active 627 14 87.43

TT8_Sampling 2775 37 1018.12

TT8_CF8 253 47 117.24

TT8_Kalman 33 59 19.34

Analog_circuits 1737 12 204.29

GPS_charging 0 0 0.00

Compass 2452 15 378.10

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 -6.82 0.000 2 0.000 0.000 74 1862 694 0 0 0 0 0 0

38 -1.05 -165.4 3.0 -0.0 1 183 10.32 1.67 -127.50 0.000 4 0.210 0.074 2695 2892 3538 0 0 0 0 0 0

295 -1.05 -165.4 21.9 -11.2 44 302 0.00 1.67 0.00 0.000 6 0.000 0.049 2696 1851 3540 0 0 0 0 0 0

375 -1.05 -165.4 31.8 -11.7 57 380 0.00 0.52 0.00 0.000 4 0.000 0.058 2693 2193 3540 0 0 0 0 0 0

404 -1.05 -165.4 35.2 -10.7 62 411 0.00 0.50 0.00 0.000 6 0.000 0.058 2693 1865 3540 0 0 0 0 0 0

750 -1.05 -165.4 66.5 -10.1 117 751 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 1865 3541 0 0 0 0 0 0

1180 -1.08 -165.4 118.5 -12.8 153 1183 0.00 1.60 0.00 0.000 4 0.000 0.058 2686 2847 3541 0 0 0 0 0 0

1259 -1.11 -165.4 128.8 -12.3 157 1264 0.00 1.58 0.00 0.000 6 0.000 0.047 2686 1856 3541 0 0 0 0 0 0

1798 -1.14 -165.4 192.7 -11.7 192 1802 0.00 1.00 0.00 0.000 4 0.000 0.057 2681 2481 3542 0 0 0 0 0 0

1876 -1.14 -165.4 201.9 -10.6 196 1880 0.00 0.98 0.00 0.000 6 0.000 0.050 2682 1862 3542 0 0 0 0 0 0

2407 -1.14 -165.4 256.4 -9.8 222 2408 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 1862 3542 0 0 0 0 0 0

2920 -1.16 -165.4 306.9 -9.9 246 2923 0.00 0.85 0.00 0.000 4 0.000 0.057 2678 2403 3542 0 0 0 0 0 0

3026 -1.18 -165.4 318.0 -10.2 249 3029 0.00 0.85 0.00 0.000 6 0.000 0.052 2677 1859 3542 0 0 0 0 0 0

3545 -1.21 -165.4 375.1 -11.7 266 3550 0.05 0.55 0.00 0.000 4 0.161 0.059 2631 2212 3541 0 0 0 0 0 0

3589 -1.17 -165.4 380.8 -11.6 267 3593 0.10 0.52 0.00 0.000 6 0.129 0.056 2666 1862 3541 0 0 0 0 0 0

4134 -1.17 -165.4 448.4 -12.5 285 4135 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 1862 3541 0 0 0 0 0 0

4653 -1.17 -165.4 509.9 -11.7 302 4656 0.00 0.77 0.00 0.000 4 0.000 0.059 2663 2355 3540 0 0 0 0 0 0

4714 -1.17 -165.4 517.1 -11.5 303 4719 0.00 0.77 0.00 0.000 6 0.000 0.053 2663 1859 3540 0 0 0 0 0 0

5241 -1.17 -165.4 577.2 -11.3 321 5245 0.00 1.50 0.00 0.000 4 0.000 0.058 2663 943 3538 0 0 0 0 0 0

5363 -1.17 -165.4 591.8 -12.3 324 5367 0.00 1.50 0.00 0.000 6 0.000 0.049 2656 1864 3538 0 0 0 0 0 0

5896 -1.17 -165.4 652.0 -11.2 342 5897 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 1864 3537 0 0 0 0 0 0

6417 -1.17 -165.4 710.0 -11.3 359 6421 0.00 2.28 0.00 0.000 4 0.000 0.060 2645 3265 3535 0 0 0 0 0 0

6617 -1.17 -165.4 733.0 -11.3 365 6622 0.10 2.22 0.00 0.000 6 0.155 0.050 2673 1858 3535 0 0 0 0 0 0

7138 -1.20 -165.4 789.7 -10.9 382 7139 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 1858 3533 0 0 0 0 0 0

7657 -1.23 -165.4 846.4 -11.0 399 7659 0.08 0.00 0.00 0.000 6 0.116 0.000 2622 1858 3533 0 0 0 0 0 0

8177 -1.19 -165.4 908.3 -11.8 416 8182 0.15 0.95 0.00 0.000 4 0.153 0.060 2662 2433 3531 0 0 0 0 0 0

8255 -1.19 -165.4 917.1 -10.9 418 8259 0.00 0.90 0.00 0.000 6 0.000 0.053 2662 1860 3531 0 0 0 0 0 0

8585 -1.19 -165.4 953.5 -11.3 429 8586 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 1859 3530 0 0 0 0 0 0

8891 -1.19 -165.4 986.6 -10.8 439 8895 0.00 0.93 0.00 0.000 4 0.000 0.060 2658 2433 3530 0 0 0 0 0 0

8924 end dive: TARGET_DEPTH_EXCEEDED

state 8924 begin apogee

8931 -0.31 0.0 990.2 10.4 440 9078 0.90 0.00 143.82 1.244 6 0.112 0.000 2946 1562 2862 0 0 0 0 0 0

9079 end apogee: CONTROL_FINISHED_OK

state 9079 begin climb

9081 1.05 165.4 1003.6 0.0 445 9241 1.23 2.42 149.85 1.213 4 0.059 0.056 3380 2962 2186 0 0 0 0 0 0

9493 0.80 387.0 1012.7 1.0 457 9701 0.32 2.28 199.62 1.218 6 0.171 0.050 3304 1556 1284 0 0 0 0 0 0

10016 0.83 396.0 972.8 9.3 475 10027 0.00 0.00 8.12 1.013 6 0.000 0.000 3303 1556 1247 0 0 0 0 0 0

10351 0.87 411.6 941.8 9.1 486 10370 0.05 0.00 16.17 1.114 6 0.170 0.000 3337 1555 1184 0 0 0 0 0 0

10657 0.87 411.6 912.1 9.9 496 10661 0.00 0.43 0.00 0.000 4 0.000 0.067 3339 1283 1180 0 0 0 0 0 0

10758 0.87 411.6 902.1 10.8 499 10762 0.03 0.43 0.00 0.000 6 0.171 0.057 3330 1557 1179 0 0 0 0 0 0

11099 0.87 419.1 869.3 9.4 510 11109 0.00 0.00 7.93 0.981 6 0.000 0.000 3330 1557 1152 0 0 0 0 0 0

11620 0.87 419.1 819.0 9.7 527 11623 0.00 0.65 0.00 0.000 4 0.000 0.067 3332 1160 1151 0 0 0 0 0 0

11714 0.87 421.1 809.7 9.6 529 11720 0.00 0.62 0.00 0.000 6 0.000 0.055 3333 1550 1151 0 0 0 0 0 0

12242 0.87 421.1 757.7 10.1 547 12243 0.00 0.00 0.00 0.000 6 0.000 0.000 3333 1550 1150 0 0 0 0 0 0

12762 0.87 421.1 704.5 10.5 564 12763 0.00 0.00 0.00 0.000 6 0.000 0.000 3333 1550 1150 0 0 0 0 0 0

13283 0.87 427.5 653.6 9.5 581 13297 0.00 0.82 8.90 0.929 4 0.000 0.067 3336 1077 1119 0 0 0 0 0 0

13405 0.87 457.6 642.8 8.5 584 13440 0.00 0.77 30.58 1.031 6 0.000 0.053 3336 1556 997 0 0 0 0 0 0

13968 0.90 501.9 596.6 8.0 603 14018 0.00 1.98 42.75 1.017 4 0.000 0.069 3345 439 814 0 0 0 0 0 0

14114 0.96 523.8 584.0 8.8 607 14140 0.00 1.83 21.23 0.972 6 0.000 0.050 3345 1569 726 0 0 0 0 0 0

14678 1.03 523.8 529.7 10.0 626 14683 0.10 0.70 0.00 0.000 4 0.099 0.067 3400 1151 718 0 0 0 0 0 0

14780 1.03 523.8 518.6 11.0 629 14784 0.05 0.65 0.00 0.000 6 0.144 0.054 3382 1561 718 0 0 0 0 0 0

15305 1.03 523.8 456.3 12.3 646 15309 0.00 0.80 0.00 0.000 4 0.000 0.068 3385 1075 718 0 0 0 0 0 0

15383 1.03 523.8 446.2 12.2 648 15387 0.00 0.80 0.00 0.000 6 0.000 0.052 3385 1571 717 0 0 0 0 0 0

15927 1.03 523.8 376.6 12.6 666 15928 0.00 0.00 0.00 0.000 6 0.000 0.000 3385 1571 717 0 0 0 0 0 0

16448 1.03 523.8 316.5 10.6 683 16452 0.00 2.33 0.00 0.000 4 0.000 0.067 3396 185 717 0 0 0 0 0 0

16570 1.03 529.6 304.0 9.5 686 16580 0.08 2.25 4.88 0.602 6 0.177 0.048 3377 1572 702 0 0 0 0 0 0

17117 1.06 529.6 253.4 9.8 712 17118 0.00 0.00 0.00 0.000 6 0.000 0.000 3377 1572 701 0 0 0 0 0 0

17636 1.06 529.6 192.0 13.1 738 17637 0.00 0.00 0.00 0.000 6 0.000 0.000 3377 1573 701 0 0 0 0 0 0

18167 1.08 529.6 128.0 10.5 772 18171 0.00 2.15 0.00 0.000 4 0.000 0.067 3386 283 701 0 0 0 0 0 0

18290 1.08 529.6 114.7 10.5 779 18296 0.00 2.08 0.00 0.000 6 0.000 0.047 3386 1555 702 0 0 0 0 0 0

18828 1.08 529.6 56.8 10.4 828 18835 0.00 1.73 0.00 0.000 4 0.000 0.066 3394 534 701 0 0 0 0 0 0

19038 1.08 534.6 36.6 9.5 864 19049 0.00 1.67 6.22 0.518 6 0.000 0.048 3394 1566 682 0 0 0 0 0 0

19372 end climb: SURFACE_DEPTH_REACHED

state 19372 begin surface coast

19410 end surface coast: CONTROL_FINISHED_OK

state 19411 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	578	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	27	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	200	R_STBD_OVSHOOT	33	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	-6074.9531	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	557

GPS1	090213,125535,-4153.806,-321.833,60,1.0,60,-22.5	TGT_NAME	ACC_WP1
_CALLS	1	TGT_LATLONG	-4130.000,-340.000
_XMS_NAKs	0	TGT_RADIUS	6000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.137,0.236
_SM_DEPTHo	2.89	KALMAN_X	13309.5,-22.7,13.1,-30728.1,1738.9
_SM_ANGLEo	-56.2	KALMAN_Y	-25661.6,-122.5,87.5,57765.5,-2958.6
GPS2	090213,130306,-4153.865,-321.770,21,0.9,21,-22.5	MHEAD_RNG_PITCHd_Wd	352.4,50920,-16.7,-9.706
SPEED_LIMITS	0.168,0.273	D_GRID	990

FINISH	2.2,1.015556	_10V_AH	9.8,74.574
SM_CCo	19489,0.00,0.000,0,0,680,535.24	FG_AHR_24Vo	0.000
SM_GC	3.15,8.68,0.00,0.00,0.031,0.000,0.000,76,1867,680,-9.18,0.20,535.24	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4140.91,-322.67,090213,070740	MEM	354472
TT8_MAMPS	0.026215	DATA_FILE_SIZE	56966,927
HUMID	51.26	CAP_FILE_SIZE	132843,0
INTERNAL_PRESSURE	9.04021	CFSIZE	2097086464,2018148352
TCM_TEMP	15.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	1	GPS	090213,183005,-4152.800,-322.046,41,1.0,41,-22.5
_24V_AH	22.2,104.675

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	209	103.42	SBE_CT	623	24	332.05
Roll_motor	53	74	87.97	WL_BB2FLVMT	883	105	2058.59
VBD_pump_during_apogee	640	1243	17675.26	SBE_O2	631	19	266.36
VBD_pump_during_surface	0	0	0.00	QSP2150	77	4	7.58
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	58.23	nil	0	0	0.00
Iridium_during_connect	41	160	148.74	nil	0	0	0.00
Iridium_during_xfer	227	223	1127.48	nil	0	0	0.00
Transponder_ping	0	420	2.33	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	23	26	6.21
TT8	2247	14	329.55
LPSleep	14028	2	301.08
TT8_Active	627	14	87.43
TT8_Sampling	2775	37	1018.12
TT8_CF8	253	47	117.24
TT8_Kalman	33	59	19.34
Analog_circuits	1737	12	204.29
GPS_charging	0	0	0.00
Compass	2452	15	378.10
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	-6.82	0.000	2	0.000	0.000	74	1862	694	0	0	0	0	0	0
38	-1.05	-165.4	3.0	-0.0	1	183	10.32	1.67	-127.50	0.000	4	0.210	0.074	2695	2892	3538	0	0	0	0	0	0
295	-1.05	-165.4	21.9	-11.2	44	302	0.00	1.67	0.00	0.000	6	0.000	0.049	2696	1851	3540	0	0	0	0	0	0
375	-1.05	-165.4	31.8	-11.7	57	380	0.00	0.52	0.00	0.000	4	0.000	0.058	2693	2193	3540	0	0	0	0	0	0
404	-1.05	-165.4	35.2	-10.7	62	411	0.00	0.50	0.00	0.000	6	0.000	0.058	2693	1865	3540	0	0	0	0	0	0
750	-1.05	-165.4	66.5	-10.1	117	751	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	1865	3541	0	0	0	0	0	0
1180	-1.08	-165.4	118.5	-12.8	153	1183	0.00	1.60	0.00	0.000	4	0.000	0.058	2686	2847	3541	0	0	0	0	0	0
1259	-1.11	-165.4	128.8	-12.3	157	1264	0.00	1.58	0.00	0.000	6	0.000	0.047	2686	1856	3541	0	0	0	0	0	0
1798	-1.14	-165.4	192.7	-11.7	192	1802	0.00	1.00	0.00	0.000	4	0.000	0.057	2681	2481	3542	0	0	0	0	0	0
1876	-1.14	-165.4	201.9	-10.6	196	1880	0.00	0.98	0.00	0.000	6	0.000	0.050	2682	1862	3542	0	0	0	0	0	0
2407	-1.14	-165.4	256.4	-9.8	222	2408	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	1862	3542	0	0	0	0	0	0
2920	-1.16	-165.4	306.9	-9.9	246	2923	0.00	0.85	0.00	0.000	4	0.000	0.057	2678	2403	3542	0	0	0	0	0	0
3026	-1.18	-165.4	318.0	-10.2	249	3029	0.00	0.85	0.00	0.000	6	0.000	0.052	2677	1859	3542	0	0	0	0	0	0
3545	-1.21	-165.4	375.1	-11.7	266	3550	0.05	0.55	0.00	0.000	4	0.161	0.059	2631	2212	3541	0	0	0	0	0	0
3589	-1.17	-165.4	380.8	-11.6	267	3593	0.10	0.52	0.00	0.000	6	0.129	0.056	2666	1862	3541	0	0	0	0	0	0
4134	-1.17	-165.4	448.4	-12.5	285	4135	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	1862	3541	0	0	0	0	0	0
4653	-1.17	-165.4	509.9	-11.7	302	4656	0.00	0.77	0.00	0.000	4	0.000	0.059	2663	2355	3540	0	0	0	0	0	0
4714	-1.17	-165.4	517.1	-11.5	303	4719	0.00	0.77	0.00	0.000	6	0.000	0.053	2663	1859	3540	0	0	0	0	0	0
5241	-1.17	-165.4	577.2	-11.3	321	5245	0.00	1.50	0.00	0.000	4	0.000	0.058	2663	943	3538	0	0	0	0	0	0
5363	-1.17	-165.4	591.8	-12.3	324	5367	0.00	1.50	0.00	0.000	6	0.000	0.049	2656	1864	3538	0	0	0	0	0	0
5896	-1.17	-165.4	652.0	-11.2	342	5897	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	1864	3537	0	0	0	0	0	0
6417	-1.17	-165.4	710.0	-11.3	359	6421	0.00	2.28	0.00	0.000	4	0.000	0.060	2645	3265	3535	0	0	0	0	0	0
6617	-1.17	-165.4	733.0	-11.3	365	6622	0.10	2.22	0.00	0.000	6	0.155	0.050	2673	1858	3535	0	0	0	0	0	0
7138	-1.20	-165.4	789.7	-10.9	382	7139	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	1858	3533	0	0	0	0	0	0
7657	-1.23	-165.4	846.4	-11.0	399	7659	0.08	0.00	0.00	0.000	6	0.116	0.000	2622	1858	3533	0	0	0	0	0	0
8177	-1.19	-165.4	908.3	-11.8	416	8182	0.15	0.95	0.00	0.000	4	0.153	0.060	2662	2433	3531	0	0	0	0	0	0
8255	-1.19	-165.4	917.1	-10.9	418	8259	0.00	0.90	0.00	0.000	6	0.000	0.053	2662	1860	3531	0	0	0	0	0	0
8585	-1.19	-165.4	953.5	-11.3	429	8586	0.00	0.00	0.00	0.000	6	0.000	0.000	2661	1859	3530	0	0	0	0	0	0
8891	-1.19	-165.4	986.6	-10.8	439	8895	0.00	0.93	0.00	0.000	4	0.000	0.060	2658	2433	3530	0	0	0	0	0	0
8924	end dive: TARGET_DEPTH_EXCEEDED
state	8924	begin apogee
8931	-0.31	0.0	990.2	10.4	440	9078	0.90	0.00	143.82	1.244	6	0.112	0.000	2946	1562	2862	0	0	0	0	0	0
9079	end apogee: CONTROL_FINISHED_OK
state	9079	begin climb
9081	1.05	165.4	1003.6	0.0	445	9241	1.23	2.42	149.85	1.213	4	0.059	0.056	3380	2962	2186	0	0	0	0	0	0
9493	0.80	387.0	1012.7	1.0	457	9701	0.32	2.28	199.62	1.218	6	0.171	0.050	3304	1556	1284	0	0	0	0	0	0
10016	0.83	396.0	972.8	9.3	475	10027	0.00	0.00	8.12	1.013	6	0.000	0.000	3303	1556	1247	0	0	0	0	0	0
10351	0.87	411.6	941.8	9.1	486	10370	0.05	0.00	16.17	1.114	6	0.170	0.000	3337	1555	1184	0	0	0	0	0	0
10657	0.87	411.6	912.1	9.9	496	10661	0.00	0.43	0.00	0.000	4	0.000	0.067	3339	1283	1180	0	0	0	0	0	0
10758	0.87	411.6	902.1	10.8	499	10762	0.03	0.43	0.00	0.000	6	0.171	0.057	3330	1557	1179	0	0	0	0	0	0
11099	0.87	419.1	869.3	9.4	510	11109	0.00	0.00	7.93	0.981	6	0.000	0.000	3330	1557	1152	0	0	0	0	0	0
11620	0.87	419.1	819.0	9.7	527	11623	0.00	0.65	0.00	0.000	4	0.000	0.067	3332	1160	1151	0	0	0	0	0	0
11714	0.87	421.1	809.7	9.6	529	11720	0.00	0.62	0.00	0.000	6	0.000	0.055	3333	1550	1151	0	0	0	0	0	0
12242	0.87	421.1	757.7	10.1	547	12243	0.00	0.00	0.00	0.000	6	0.000	0.000	3333	1550	1150	0	0	0	0	0	0
12762	0.87	421.1	704.5	10.5	564	12763	0.00	0.00	0.00	0.000	6	0.000	0.000	3333	1550	1150	0	0	0	0	0	0
13283	0.87	427.5	653.6	9.5	581	13297	0.00	0.82	8.90	0.929	4	0.000	0.067	3336	1077	1119	0	0	0	0	0	0
13405	0.87	457.6	642.8	8.5	584	13440	0.00	0.77	30.58	1.031	6	0.000	0.053	3336	1556	997	0	0	0	0	0	0
13968	0.90	501.9	596.6	8.0	603	14018	0.00	1.98	42.75	1.017	4	0.000	0.069	3345	439	814	0	0	0	0	0	0
14114	0.96	523.8	584.0	8.8	607	14140	0.00	1.83	21.23	0.972	6	0.000	0.050	3345	1569	726	0	0	0	0	0	0
14678	1.03	523.8	529.7	10.0	626	14683	0.10	0.70	0.00	0.000	4	0.099	0.067	3400	1151	718	0	0	0	0	0	0
14780	1.03	523.8	518.6	11.0	629	14784	0.05	0.65	0.00	0.000	6	0.144	0.054	3382	1561	718	0	0	0	0	0	0
15305	1.03	523.8	456.3	12.3	646	15309	0.00	0.80	0.00	0.000	4	0.000	0.068	3385	1075	718	0	0	0	0	0	0
15383	1.03	523.8	446.2	12.2	648	15387	0.00	0.80	0.00	0.000	6	0.000	0.052	3385	1571	717	0	0	0	0	0	0
15927	1.03	523.8	376.6	12.6	666	15928	0.00	0.00	0.00	0.000	6	0.000	0.000	3385	1571	717	0	0	0	0	0	0
16448	1.03	523.8	316.5	10.6	683	16452	0.00	2.33	0.00	0.000	4	0.000	0.067	3396	185	717	0	0	0	0	0	0
16570	1.03	529.6	304.0	9.5	686	16580	0.08	2.25	4.88	0.602	6	0.177	0.048	3377	1572	702	0	0	0	0	0	0
17117	1.06	529.6	253.4	9.8	712	17118	0.00	0.00	0.00	0.000	6	0.000	0.000	3377	1572	701	0	0	0	0	0	0
17636	1.06	529.6	192.0	13.1	738	17637	0.00	0.00	0.00	0.000	6	0.000	0.000	3377	1573	701	0	0	0	0	0	0
18167	1.08	529.6	128.0	10.5	772	18171	0.00	2.15	0.00	0.000	4	0.000	0.067	3386	283	701	0	0	0	0	0	0
18290	1.08	529.6	114.7	10.5	779	18296	0.00	2.08	0.00	0.000	6	0.000	0.047	3386	1555	702	0	0	0	0	0	0
18828	1.08	529.6	56.8	10.4	828	18835	0.00	1.73	0.00	0.000	4	0.000	0.066	3394	534	701	0	0	0	0	0	0
19038	1.08	534.6	36.6	9.5	864	19049	0.00	1.67	6.22	0.518	6	0.000	0.048	3394	1566	682	0	0	0	0	0	0
19372	end climb: SURFACE_DEPTH_REACHED
state	19372	begin surface coast
19410	end surface coast: CONTROL_FINISHED_OK
state	19411	begin surface