Glider dive log

SOSCEx Feb12 * SG573 * Dive index * Mission links * Dive 588 * 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 588 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 24 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 200 R_STBD_OVSHOOT 29 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 -6098.5508 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 567

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 567 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 -6098.5508

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 24 VBD_MAX 3959

DEVICE6 -1 MASS 52752 R_STBD_OVSHOOT 29 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 170 SEABIRD_C_G -9.9469662 VBD_MIN 409

DIVE 588 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 110213,212353,-4144.287,-323.483,42,1.0,42,-22.5 TGT_NAME ACC_WP1

_CALLS 2 TGT_LATLONG -4130.000,-340.000

_XMS_NAKs 0 TGT_RADIUS 6000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.196,0.189

_SM_DEPTHo 3.03 KALMAN_X 43087.6,540.8,124.0,-63215.0,3166.5

_SM_ANGLEo -59.7 KALMAN_Y -52800.8,185.8,35.8,102436.8,-2895.8

GPS2 110213,213435,-4144.255,-323.249,31,1.2,31,-22.5 MHEAD_RNG_PITCHd_Wd 336.4,35168,-16.7,-9.706

SPEED_LIMITS 0.168,0.273 D_GRID 990

Post-dive calculations and measurements:

FINISH 2.3,1.011886 _10V_AH 9.8,75.645

SM_CCo 18558,0.00,0.000,0,0,484,583.31 FG_AHR_24Vo 0.000

SM_GC 3.23,8.88,0.00,0.00,0.040,0.000,0.000,76,1867,484,-9.18,0.20,583.31 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4129.38,-324.87,110213,212103 MEM 354424

TT8_MAMPS 0.026964 DATA_FILE_SIZE 50332,861

HUMID 51.69 CAP_FILE_SIZE 141925,0

INTERNAL_PRESSURE 9.02068 CFSIZE 2097086464,2016837632

TCM_TEMP 15.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2

XPDR_PINGS 0 GPS 120213,024607,-4143.459,-322.801,44,1.0,44,-22.5

_24V_AH 22.0,107.061

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 210 106.22 SBE_CT 576 24 304.38

Roll_motor 89 100 198.72 WL_BB2FLVMT 783 105 1810.32

VBD_pump_during_apogee 686 1251 18893.75 SBE_O2 587 19 245.37

VBD_pump_during_surface 0 0 0.00 QSP2150 66 4 6.40

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 50 103 114.22 nil 0 0 0.00

Iridium_during_connect 127 160 447.47 nil 0 0 0.00

Iridium_during_xfer 237 223 1163.31 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 33 26 8.84

TT8 2159 14 316.65

LPSleep 13137 2 281.96

TT8_Active 647 14 90.11

TT8_Sampling 2980 37 1093.19

TT8_CF8 268 47 123.93

TT8_Kalman 33 59 19.34

Analog_circuits 1846 12 217.12

GPS_charging 0 0 0.00

Compass 2521 15 388.63

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 24 begin dive

26 -1.05 -165.4 0.0 0.0 0 35 0.00 0.00 -6.68 0.000 2 0.000 0.000 81 1857 585 0 0 0 0 0 0

38 -1.05 -165.4 3.0 -0.0 1 177 10.23 0.77 -122.72 0.000 4 0.205 0.101 2702 1403 3537 0 0 0 0 0 0

198 -1.00 -165.4 10.5 -16.8 27 206 0.05 0.73 0.00 0.000 6 0.141 0.054 2717 1858 3539 0 0 0 0 0 0

280 -1.06 -165.4 22.9 -15.0 40 286 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 1858 3540 0 0 0 0 0 0

360 -1.14 -165.4 34.0 -13.3 53 365 0.12 0.00 0.00 0.000 6 0.083 0.000 2648 1858 3540 0 0 0 0 0 0

704 -1.09 -165.4 72.1 -10.0 103 708 0.15 1.38 0.00 0.000 4 0.152 0.058 2691 1030 3540 0 0 0 0 0 0

773 -1.09 -165.4 79.0 -9.9 109 777 0.00 1.35 0.00 0.000 6 0.000 0.049 2685 1864 3540 0 0 0 0 0 0

1208 -1.11 -165.4 123.9 -11.9 143 1212 0.00 1.80 0.00 0.000 4 0.000 0.057 2677 2993 3541 0 0 0 0 0 0

1313 -1.14 -165.4 136.7 -13.1 149 1317 0.00 1.83 0.00 0.000 6 0.000 0.048 2677 1853 3541 0 0 0 0 0 0

1851 -1.14 -165.4 204.0 -12.2 183 1855 0.00 2.30 0.00 0.000 4 0.000 0.059 2666 3274 3541 0 0 0 0 0 0

1962 -1.14 -165.4 217.5 -11.4 188 1967 0.00 2.25 0.00 0.000 6 0.000 0.047 2666 1850 3541 0 0 0 0 0 0

2501 -1.14 -165.4 275.9 -10.8 214 2505 0.00 1.90 0.00 0.000 4 0.000 0.057 2657 3030 3541 0 0 0 0 0 0

2596 -1.14 -165.4 286.6 -10.5 218 2600 0.05 1.88 0.00 0.000 6 0.135 0.046 2677 1852 3541 0 0 0 0 0 0

3138 -1.17 -165.4 338.0 -9.1 238 3142 0.00 1.85 0.00 0.000 4 0.000 0.057 2668 2986 3541 0 0 0 0 0 0

3215 -1.17 -165.4 345.5 -9.4 240 3219 0.00 1.77 0.00 0.000 6 0.000 0.047 2668 1856 3541 0 0 0 0 0 0

3762 -1.19 -165.4 395.3 -9.5 258 3766 0.00 2.25 0.00 0.000 4 0.000 0.058 2658 3265 3540 0 0 0 0 0 0

3919 -1.19 -165.4 411.3 -9.9 262 3924 0.00 2.22 0.00 0.000 6 0.000 0.047 2658 1858 3540 0 0 0 0 0 0

4446 -1.19 -165.4 471.7 -12.3 280 4450 0.00 0.77 0.00 0.000 4 0.000 0.057 2654 2350 3539 0 0 0 0 0 0

4664 -1.19 -165.4 500.0 -12.5 286 4668 0.00 0.77 0.00 0.000 6 0.000 0.052 2654 1858 3539 0 0 0 0 0 0

5203 -1.19 -165.4 563.3 -10.8 304 5207 0.00 2.30 0.00 0.000 4 0.000 0.060 2644 3266 3538 0 0 0 0 0 0

5308 -1.19 -165.4 574.9 -10.7 307 5313 0.08 2.22 0.00 0.000 6 0.170 0.048 2662 1861 3537 0 0 0 0 0 0

5853 -1.19 -165.4 629.9 -10.3 325 5857 0.00 1.65 0.00 0.000 4 0.000 0.059 2656 2892 3536 0 0 0 0 0 0

5926 -1.19 -165.4 637.7 -10.8 327 5930 0.00 1.65 0.00 0.000 6 0.000 0.049 2655 1862 3536 0 0 0 0 0 0

6445 -1.19 -165.4 697.4 -12.3 344 6449 0.00 1.12 0.00 0.000 4 0.000 0.059 2650 2558 3534 0 0 0 0 0 0

6584 -1.19 -165.4 715.4 -12.6 348 6588 0.00 1.12 0.00 0.000 6 0.000 0.052 2650 1858 3534 0 0 0 0 0 0

7104 -1.19 -165.4 780.7 -12.5 365 7108 0.00 2.30 0.00 0.000 4 0.000 0.062 2639 3274 3532 0 0 0 0 0 0

7250 -1.19 -165.4 798.6 -12.2 369 7254 0.08 2.28 0.00 0.000 6 0.170 0.050 2658 1852 3532 0 0 0 0 0 0

7782 -1.19 -165.4 856.2 -10.6 387 7785 0.00 1.60 0.00 0.000 4 0.000 0.059 2652 2826 3531 0 0 0 0 0 0

7865 -1.19 -165.4 865.2 -10.3 389 7869 0.00 1.55 0.00 0.000 6 0.000 0.051 2652 1864 3531 0 0 0 0 0 0

8404 -1.19 -165.4 925.1 -11.6 407 8405 0.00 0.00 0.00 0.000 6 0.000 0.000 2652 1864 3529 0 0 0 0 0 0

8710 -1.19 -165.4 961.8 -12.0 417 8711 0.00 0.00 0.00 0.000 6 0.000 0.000 2652 1864 3529 0 0 0 0 0 0

8953 end dive: TARGET_DEPTH_EXCEEDED

state 8953 begin apogee

8959 -0.31 0.0 991.4 12.0 425 9105 0.90 0.00 143.30 1.252 6 0.112 0.000 2939 1553 2862 0 0 0 0 0 0

9106 end apogee: CONTROL_FINISHED_OK

state 9106 begin climb

9109 1.05 165.4 1006.9 0.0 430 9266 1.27 2.47 149.02 1.222 4 0.061 0.053 3385 2965 2188 0 0 0 0 0 0

9300 0.78 471.6 1019.8 -2.4 436 9597 0.38 2.38 288.00 1.211 6 0.166 0.048 3299 1560 939 0 0 0 0 0 0

9928 0.87 481.0 973.9 9.3 457 9942 0.08 2.40 8.70 1.024 4 0.118 0.067 3356 162 901 0 0 0 0 0 0

10082 0.87 481.0 958.3 10.1 461 10087 0.10 2.28 0.00 0.000 6 0.157 0.047 3329 1572 899 0 0 0 0 0 0

10401 0.92 481.0 927.1 9.8 472 10405 0.00 1.15 0.00 0.000 4 0.000 0.055 3329 2299 898 0 0 0 0 0 0

10503 0.95 481.0 916.9 10.0 475 10506 0.00 1.20 0.00 0.000 6 0.000 0.059 3334 1559 898 0 0 0 0 0 0

10844 0.99 481.0 883.0 9.9 486 10846 0.08 0.00 0.00 0.000 6 0.123 0.000 3376 1559 897 0 0 0 0 0 0

11364 0.97 481.0 831.4 9.9 503 11366 0.08 0.00 0.00 0.000 6 0.182 0.000 3359 1559 896 0 0 0 0 0 0

11885 0.97 516.1 784.7 8.3 520 11924 0.00 1.20 35.25 1.127 4 0.000 0.063 3364 834 759 0 0 0 0 0 0

12032 1.00 563.1 771.9 7.9 524 12082 0.00 1.17 46.25 1.113 6 0.000 0.050 3364 1551 566 0 0 0 0 0 0

12596 1.14 563.1 717.9 10.0 543 12600 0.12 1.60 0.00 0.000 4 0.084 0.069 3432 589 556 0 0 0 0 0 0

12679 1.09 563.1 708.4 11.0 545 12683 0.10 1.58 0.00 0.000 6 0.132 0.047 3399 1563 556 0 0 0 0 0 0

13217 1.09 563.1 637.2 14.5 563 13220 0.00 0.52 0.00 0.000 4 0.000 0.068 3400 1239 555 0 0 0 0 0 0

13311 1.09 563.1 623.0 14.3 565 13317 0.00 0.52 0.00 0.000 6 0.000 0.055 3400 1564 555 0 0 0 0 0 0

13839 1.09 563.1 546.5 14.0 583 13842 0.00 1.00 0.00 0.000 4 0.000 0.065 3404 968 555 0 0 0 0 0 0

14002 1.09 563.1 524.7 13.1 587 14007 0.00 0.95 0.00 0.000 6 0.000 0.050 3405 1554 554 0 0 0 0 0 0

14529 1.09 563.1 463.0 10.7 605 14533 0.00 1.05 0.00 0.000 4 0.000 0.067 3409 933 554 0 0 0 0 0 0

14631 1.09 563.1 452.4 10.4 608 14635 0.03 1.02 0.00 0.000 6 0.175 0.050 3400 1566 554 0 0 0 0 0 0

15156 1.09 563.1 397.8 10.6 625 15160 0.00 1.85 0.00 0.000 4 0.000 0.067 3408 446 554 0 0 0 0 0 0

15303 1.09 563.1 381.3 11.2 629 15307 0.00 1.80 0.00 0.000 6 0.000 0.048 3408 1567 554 0 0 0 0 0 0

15847 1.09 563.1 313.0 13.0 647 15851 0.00 2.38 0.00 0.000 4 0.000 0.067 3419 154 553 0 0 0 0 0 0

15994 1.09 563.1 293.9 12.2 651 16002 0.05 2.30 0.00 0.000 6 0.149 0.048 3401 1557 553 0 0 0 0 0 0

16516 1.09 563.1 233.0 11.5 677 16520 0.00 2.38 0.00 0.000 4 0.000 0.070 3411 159 553 0 0 0 0 0 0

16672 1.09 563.1 215.4 10.5 684 16677 0.05 2.28 0.00 0.000 6 0.210 0.049 3399 1564 553 0 0 0 0 0 0

17205 1.09 563.1 154.4 11.7 716 17210 0.00 2.40 0.00 0.000 4 0.000 0.068 3409 152 553 0 0 0 0 0 0

17369 1.09 563.1 133.5 14.5 726 17374 0.00 2.30 0.00 0.000 6 0.000 0.049 3409 1568 553 0 0 0 0 0 0

17910 1.09 563.1 65.1 11.6 769 17914 0.00 2.40 0.00 0.000 4 0.000 0.067 3420 148 553 0 0 0 0 0 0

18135 1.09 581.7 40.5 9.0 803 18159 0.10 2.28 15.68 0.634 6 0.161 0.047 3393 1563 489 0 0 0 0 0 0

18435 end climb: SURFACE_DEPTH_REACHED

state 18435 begin surface coast

18479 end surface coast: CONTROL_FINISHED_OK

state 18479 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	588	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	24	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	200	R_STBD_OVSHOOT	29	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	-6098.5508	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	567

GPS1	110213,212353,-4144.287,-323.483,42,1.0,42,-22.5	TGT_NAME	ACC_WP1
_CALLS	2	TGT_LATLONG	-4130.000,-340.000
_XMS_NAKs	0	TGT_RADIUS	6000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.196,0.189
_SM_DEPTHo	3.03	KALMAN_X	43087.6,540.8,124.0,-63215.0,3166.5
_SM_ANGLEo	-59.7	KALMAN_Y	-52800.8,185.8,35.8,102436.8,-2895.8
GPS2	110213,213435,-4144.255,-323.249,31,1.2,31,-22.5	MHEAD_RNG_PITCHd_Wd	336.4,35168,-16.7,-9.706
SPEED_LIMITS	0.168,0.273	D_GRID	990

FINISH	2.3,1.011886	_10V_AH	9.8,75.645
SM_CCo	18558,0.00,0.000,0,0,484,583.31	FG_AHR_24Vo	0.000
SM_GC	3.23,8.88,0.00,0.00,0.040,0.000,0.000,76,1867,484,-9.18,0.20,583.31	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4129.38,-324.87,110213,212103	MEM	354424
TT8_MAMPS	0.026964	DATA_FILE_SIZE	50332,861
HUMID	51.69	CAP_FILE_SIZE	141925,0
INTERNAL_PRESSURE	9.02068	CFSIZE	2097086464,2016837632
TCM_TEMP	15.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
XPDR_PINGS	0	GPS	120213,024607,-4143.459,-322.801,44,1.0,44,-22.5
_24V_AH	22.0,107.061

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	210	106.22	SBE_CT	576	24	304.38
Roll_motor	89	100	198.72	WL_BB2FLVMT	783	105	1810.32
VBD_pump_during_apogee	686	1251	18893.75	SBE_O2	587	19	245.37
VBD_pump_during_surface	0	0	0.00	QSP2150	66	4	6.40
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	50	103	114.22	nil	0	0	0.00
Iridium_during_connect	127	160	447.47	nil	0	0	0.00
Iridium_during_xfer	237	223	1163.31	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	33	26	8.84
TT8	2159	14	316.65
LPSleep	13137	2	281.96
TT8_Active	647	14	90.11
TT8_Sampling	2980	37	1093.19
TT8_CF8	268	47	123.93
TT8_Kalman	33	59	19.34
Analog_circuits	1846	12	217.12
GPS_charging	0	0	0.00
Compass	2521	15	388.63
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	24	begin dive
26	-1.05	-165.4	0.0	0.0	0	35	0.00	0.00	-6.68	0.000	2	0.000	0.000	81	1857	585	0	0	0	0	0	0
38	-1.05	-165.4	3.0	-0.0	1	177	10.23	0.77	-122.72	0.000	4	0.205	0.101	2702	1403	3537	0	0	0	0	0	0
198	-1.00	-165.4	10.5	-16.8	27	206	0.05	0.73	0.00	0.000	6	0.141	0.054	2717	1858	3539	0	0	0	0	0	0
280	-1.06	-165.4	22.9	-15.0	40	286	0.00	0.00	0.00	0.000	6	0.000	0.000	2717	1858	3540	0	0	0	0	0	0
360	-1.14	-165.4	34.0	-13.3	53	365	0.12	0.00	0.00	0.000	6	0.083	0.000	2648	1858	3540	0	0	0	0	0	0
704	-1.09	-165.4	72.1	-10.0	103	708	0.15	1.38	0.00	0.000	4	0.152	0.058	2691	1030	3540	0	0	0	0	0	0
773	-1.09	-165.4	79.0	-9.9	109	777	0.00	1.35	0.00	0.000	6	0.000	0.049	2685	1864	3540	0	0	0	0	0	0
1208	-1.11	-165.4	123.9	-11.9	143	1212	0.00	1.80	0.00	0.000	4	0.000	0.057	2677	2993	3541	0	0	0	0	0	0
1313	-1.14	-165.4	136.7	-13.1	149	1317	0.00	1.83	0.00	0.000	6	0.000	0.048	2677	1853	3541	0	0	0	0	0	0
1851	-1.14	-165.4	204.0	-12.2	183	1855	0.00	2.30	0.00	0.000	4	0.000	0.059	2666	3274	3541	0	0	0	0	0	0
1962	-1.14	-165.4	217.5	-11.4	188	1967	0.00	2.25	0.00	0.000	6	0.000	0.047	2666	1850	3541	0	0	0	0	0	0
2501	-1.14	-165.4	275.9	-10.8	214	2505	0.00	1.90	0.00	0.000	4	0.000	0.057	2657	3030	3541	0	0	0	0	0	0
2596	-1.14	-165.4	286.6	-10.5	218	2600	0.05	1.88	0.00	0.000	6	0.135	0.046	2677	1852	3541	0	0	0	0	0	0
3138	-1.17	-165.4	338.0	-9.1	238	3142	0.00	1.85	0.00	0.000	4	0.000	0.057	2668	2986	3541	0	0	0	0	0	0
3215	-1.17	-165.4	345.5	-9.4	240	3219	0.00	1.77	0.00	0.000	6	0.000	0.047	2668	1856	3541	0	0	0	0	0	0
3762	-1.19	-165.4	395.3	-9.5	258	3766	0.00	2.25	0.00	0.000	4	0.000	0.058	2658	3265	3540	0	0	0	0	0	0
3919	-1.19	-165.4	411.3	-9.9	262	3924	0.00	2.22	0.00	0.000	6	0.000	0.047	2658	1858	3540	0	0	0	0	0	0
4446	-1.19	-165.4	471.7	-12.3	280	4450	0.00	0.77	0.00	0.000	4	0.000	0.057	2654	2350	3539	0	0	0	0	0	0
4664	-1.19	-165.4	500.0	-12.5	286	4668	0.00	0.77	0.00	0.000	6	0.000	0.052	2654	1858	3539	0	0	0	0	0	0
5203	-1.19	-165.4	563.3	-10.8	304	5207	0.00	2.30	0.00	0.000	4	0.000	0.060	2644	3266	3538	0	0	0	0	0	0
5308	-1.19	-165.4	574.9	-10.7	307	5313	0.08	2.22	0.00	0.000	6	0.170	0.048	2662	1861	3537	0	0	0	0	0	0
5853	-1.19	-165.4	629.9	-10.3	325	5857	0.00	1.65	0.00	0.000	4	0.000	0.059	2656	2892	3536	0	0	0	0	0	0
5926	-1.19	-165.4	637.7	-10.8	327	5930	0.00	1.65	0.00	0.000	6	0.000	0.049	2655	1862	3536	0	0	0	0	0	0
6445	-1.19	-165.4	697.4	-12.3	344	6449	0.00	1.12	0.00	0.000	4	0.000	0.059	2650	2558	3534	0	0	0	0	0	0
6584	-1.19	-165.4	715.4	-12.6	348	6588	0.00	1.12	0.00	0.000	6	0.000	0.052	2650	1858	3534	0	0	0	0	0	0
7104	-1.19	-165.4	780.7	-12.5	365	7108	0.00	2.30	0.00	0.000	4	0.000	0.062	2639	3274	3532	0	0	0	0	0	0
7250	-1.19	-165.4	798.6	-12.2	369	7254	0.08	2.28	0.00	0.000	6	0.170	0.050	2658	1852	3532	0	0	0	0	0	0
7782	-1.19	-165.4	856.2	-10.6	387	7785	0.00	1.60	0.00	0.000	4	0.000	0.059	2652	2826	3531	0	0	0	0	0	0
7865	-1.19	-165.4	865.2	-10.3	389	7869	0.00	1.55	0.00	0.000	6	0.000	0.051	2652	1864	3531	0	0	0	0	0	0
8404	-1.19	-165.4	925.1	-11.6	407	8405	0.00	0.00	0.00	0.000	6	0.000	0.000	2652	1864	3529	0	0	0	0	0	0
8710	-1.19	-165.4	961.8	-12.0	417	8711	0.00	0.00	0.00	0.000	6	0.000	0.000	2652	1864	3529	0	0	0	0	0	0
8953	end dive: TARGET_DEPTH_EXCEEDED
state	8953	begin apogee
8959	-0.31	0.0	991.4	12.0	425	9105	0.90	0.00	143.30	1.252	6	0.112	0.000	2939	1553	2862	0	0	0	0	0	0
9106	end apogee: CONTROL_FINISHED_OK
state	9106	begin climb
9109	1.05	165.4	1006.9	0.0	430	9266	1.27	2.47	149.02	1.222	4	0.061	0.053	3385	2965	2188	0	0	0	0	0	0
9300	0.78	471.6	1019.8	-2.4	436	9597	0.38	2.38	288.00	1.211	6	0.166	0.048	3299	1560	939	0	0	0	0	0	0
9928	0.87	481.0	973.9	9.3	457	9942	0.08	2.40	8.70	1.024	4	0.118	0.067	3356	162	901	0	0	0	0	0	0
10082	0.87	481.0	958.3	10.1	461	10087	0.10	2.28	0.00	0.000	6	0.157	0.047	3329	1572	899	0	0	0	0	0	0
10401	0.92	481.0	927.1	9.8	472	10405	0.00	1.15	0.00	0.000	4	0.000	0.055	3329	2299	898	0	0	0	0	0	0
10503	0.95	481.0	916.9	10.0	475	10506	0.00	1.20	0.00	0.000	6	0.000	0.059	3334	1559	898	0	0	0	0	0	0
10844	0.99	481.0	883.0	9.9	486	10846	0.08	0.00	0.00	0.000	6	0.123	0.000	3376	1559	897	0	0	0	0	0	0
11364	0.97	481.0	831.4	9.9	503	11366	0.08	0.00	0.00	0.000	6	0.182	0.000	3359	1559	896	0	0	0	0	0	0
11885	0.97	516.1	784.7	8.3	520	11924	0.00	1.20	35.25	1.127	4	0.000	0.063	3364	834	759	0	0	0	0	0	0
12032	1.00	563.1	771.9	7.9	524	12082	0.00	1.17	46.25	1.113	6	0.000	0.050	3364	1551	566	0	0	0	0	0	0
12596	1.14	563.1	717.9	10.0	543	12600	0.12	1.60	0.00	0.000	4	0.084	0.069	3432	589	556	0	0	0	0	0	0
12679	1.09	563.1	708.4	11.0	545	12683	0.10	1.58	0.00	0.000	6	0.132	0.047	3399	1563	556	0	0	0	0	0	0
13217	1.09	563.1	637.2	14.5	563	13220	0.00	0.52	0.00	0.000	4	0.000	0.068	3400	1239	555	0	0	0	0	0	0
13311	1.09	563.1	623.0	14.3	565	13317	0.00	0.52	0.00	0.000	6	0.000	0.055	3400	1564	555	0	0	0	0	0	0
13839	1.09	563.1	546.5	14.0	583	13842	0.00	1.00	0.00	0.000	4	0.000	0.065	3404	968	555	0	0	0	0	0	0
14002	1.09	563.1	524.7	13.1	587	14007	0.00	0.95	0.00	0.000	6	0.000	0.050	3405	1554	554	0	0	0	0	0	0
14529	1.09	563.1	463.0	10.7	605	14533	0.00	1.05	0.00	0.000	4	0.000	0.067	3409	933	554	0	0	0	0	0	0
14631	1.09	563.1	452.4	10.4	608	14635	0.03	1.02	0.00	0.000	6	0.175	0.050	3400	1566	554	0	0	0	0	0	0
15156	1.09	563.1	397.8	10.6	625	15160	0.00	1.85	0.00	0.000	4	0.000	0.067	3408	446	554	0	0	0	0	0	0
15303	1.09	563.1	381.3	11.2	629	15307	0.00	1.80	0.00	0.000	6	0.000	0.048	3408	1567	554	0	0	0	0	0	0
15847	1.09	563.1	313.0	13.0	647	15851	0.00	2.38	0.00	0.000	4	0.000	0.067	3419	154	553	0	0	0	0	0	0
15994	1.09	563.1	293.9	12.2	651	16002	0.05	2.30	0.00	0.000	6	0.149	0.048	3401	1557	553	0	0	0	0	0	0
16516	1.09	563.1	233.0	11.5	677	16520	0.00	2.38	0.00	0.000	4	0.000	0.070	3411	159	553	0	0	0	0	0	0
16672	1.09	563.1	215.4	10.5	684	16677	0.05	2.28	0.00	0.000	6	0.210	0.049	3399	1564	553	0	0	0	0	0	0
17205	1.09	563.1	154.4	11.7	716	17210	0.00	2.40	0.00	0.000	4	0.000	0.068	3409	152	553	0	0	0	0	0	0
17369	1.09	563.1	133.5	14.5	726	17374	0.00	2.30	0.00	0.000	6	0.000	0.049	3409	1568	553	0	0	0	0	0	0
17910	1.09	563.1	65.1	11.6	769	17914	0.00	2.40	0.00	0.000	4	0.000	0.067	3420	148	553	0	0	0	0	0	0
18135	1.09	581.7	40.5	9.0	803	18159	0.10	2.28	15.68	0.634	6	0.161	0.047	3393	1563	489	0	0	0	0	0	0
18435	end climb: SURFACE_DEPTH_REACHED
state	18435	begin surface coast
18479	end surface coast: CONTROL_FINISHED_OK
state	18479	begin surface