Glider dive log

SOSCEx Feb12 * SG573 * Dive index * Mission links * Dive 596 * 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 596 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 25 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 -6117.2378 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 575

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 575 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 -6117.2378

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 25 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 596 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 130213,175435,-4139.157,-318.393,36,1.0,36,-22.5 TGT_NAME ACC_WP1

_CALLS 1 TGT_LATLONG -4130.000,-323.000

_XMS_NAKs 0 TGT_RADIUS 6000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.167,0.215

_SM_DEPTHo 3.25 KALMAN_X 85963.6,-203.9,-640.4,-97946.0,7285.2

_SM_ANGLEo -65.1 KALMAN_Y -68034.6,-66.1,-804.5,128225.0,-580.3

GPS2 130213,180326,-4139.153,-318.432,20,1.9,22,-22.5 MHEAD_RNG_PITCHd_Wd 344.7,18097,-16.7,-9.706

SPEED_LIMITS 0.168,0.273 D_GRID 990

Post-dive calculations and measurements:

FINISH 2.6,1.016577 _10V_AH 9.8,76.531

SM_CCo 19371,0.00,0.000,0,0,396,604.90 FG_AHR_24Vo 0.000

SM_GC 3.45,8.77,0.00,0.00,0.034,0.000,0.000,77,1860,396,-9.18,0.00,604.90 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4126.50,-324.87,130213,121238 MEM 354428

TT8_MAMPS 0.026964 DATA_FILE_SIZE 53660,886

HUMID 50.78 CAP_FILE_SIZE 157727,0

INTERNAL_PRESSURE 9.02068 CFSIZE 2097086464,2015789056

TCM_TEMP 14.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 2 GPS 130213,232829,-4138.613,-317.735,42,1.4,42,-22.5

_24V_AH 22.2,109.042

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 211 105.70 SBE_CT 594 24 316.78

Roll_motor 114 71 182.87 WL_BB2FLVMT 818 105 1907.53

VBD_pump_during_apogee 700 1254 19501.36 SBE_O2 612 19 258.26

VBD_pump_during_surface 0 0 0.00 QSP2150 64 4 6.31

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 59.58 nil 0 0 0.00

Iridium_during_connect 48 160 173.46 nil 0 0 0.00

Iridium_during_xfer 294 223 1460.08 nil 0 0 0.00

Transponder_ping 0 420 4.66 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 24 26 6.48

TT8 2292 14 336.04

LPSleep 13311 2 285.69

TT8_Active 675 14 94.08

TT8_Sampling 3293 37 1207.93

TT8_CF8 322 47 149.20

TT8_Kalman 33 59 19.36

Analog_circuits 2039 12 239.80

GPS_charging 0 0 0.00

Compass 2901 15 447.27

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 -6.65 0.000 2 0.000 0.000 82 1869 661 0 0 0 0 0 0

38 -1.05 -165.4 3.3 -0.0 1 178 10.12 2.42 -117.80 0.000 4 0.200 0.072 2706 446 3539 0 0 0 0 0 0

251 -1.08 -165.4 17.6 -12.5 36 259 0.00 2.30 0.00 0.000 6 0.000 0.048 2695 1856 3540 0 0 0 0 0 0

332 -1.12 -165.4 27.8 -13.1 49 339 0.00 1.62 0.00 0.000 4 0.000 0.058 2689 2856 3540 0 0 0 0 0 0

602 -1.19 -165.4 58.4 -11.8 95 607 0.05 1.60 0.00 0.000 6 0.063 0.050 2629 1862 3540 0 0 0 0 0 0

935 -1.16 -165.4 100.6 -11.9 127 940 0.15 2.33 0.00 0.000 4 0.155 0.059 2662 3277 3541 0 0 0 0 0 0

1194 -1.19 -165.4 126.9 -8.1 142 1201 0.00 2.28 0.00 0.000 6 0.000 0.046 2662 1854 3541 0 0 0 0 0 0

1734 -1.19 -165.4 175.0 -9.7 177 1738 0.00 2.28 0.00 0.000 4 0.000 0.058 2662 446 3541 0 0 0 0 0 0

1894 -1.17 -165.4 191.9 -10.5 186 1902 0.03 2.30 0.00 0.000 6 0.172 0.045 2662 1869 3541 0 0 0 0 0 0

2435 -1.19 -165.4 252.9 -12.0 214 2439 0.00 2.25 0.00 0.000 4 0.000 0.058 2652 3268 3541 0 0 0 0 0 0

2693 -1.22 -165.4 283.7 -11.8 225 2700 0.00 2.25 0.00 0.000 6 0.000 0.047 2653 1859 3541 0 0 0 0 0 0

3212 -1.22 -165.4 337.4 -10.0 245 3216 0.00 2.30 0.00 0.000 4 0.000 0.059 2652 455 3541 0 0 0 0 0 0

3301 -1.19 -165.4 346.9 -10.3 247 3307 0.08 2.25 0.00 0.000 6 0.178 0.044 2660 1870 3541 0 0 0 0 0 0

3830 -1.22 -165.4 401.2 -10.7 265 3834 0.00 2.22 0.00 0.000 4 0.000 0.059 2650 3263 3541 0 0 0 0 0 0

4061 -1.24 -165.4 427.4 -10.8 272 4065 0.00 2.20 0.00 0.000 6 0.000 0.047 2650 1858 3540 0 0 0 0 0 0

4579 -1.24 -165.4 485.2 -10.8 289 4584 0.00 2.28 0.00 0.000 4 0.000 0.058 2650 449 3540 0 0 0 0 0 0

4747 -1.21 -165.4 505.2 -11.4 294 4752 0.05 2.25 0.00 0.000 6 0.211 0.046 2652 1859 3539 0 0 0 0 0 0

5292 -1.21 -165.4 566.0 -11.1 312 5296 0.00 2.25 0.00 0.000 4 0.000 0.058 2642 3268 3538 0 0 0 0 0 0

5492 -1.21 -165.4 588.5 -10.7 318 5496 0.00 2.22 0.00 0.000 6 0.000 0.048 2642 1855 3538 0 0 0 0 0 0

6012 -1.21 -165.4 641.2 -9.8 335 6015 0.00 1.75 0.00 0.000 4 0.000 0.059 2634 2952 3537 0 0 0 0 0 0

6190 -1.21 -165.4 658.8 -10.3 340 6195 0.05 1.75 0.00 0.000 6 0.137 0.048 2653 1859 3536 0 0 0 0 0 0

6736 -1.24 -165.4 709.7 -9.7 358 6740 0.00 0.40 0.00 0.000 4 0.000 0.063 2653 1586 3535 0 0 0 0 0 0

6848 -1.26 -165.4 721.1 -10.4 361 6852 0.00 0.43 0.00 0.000 6 0.000 0.059 2651 1858 3534 0 0 0 0 0 0

7392 -1.28 -165.4 783.6 -12.4 379 7397 0.05 1.25 0.00 0.000 4 0.163 0.059 2604 2626 3533 0 0 0 0 0 0

7461 -1.24 -165.4 792.7 -13.9 381 7465 0.10 1.23 0.00 0.000 6 0.127 0.052 2639 1862 3533 0 0 0 0 0 0

7985 -1.24 -165.4 858.4 -12.0 398 7989 0.00 2.28 0.00 0.000 4 0.000 0.061 2629 3263 3531 0 0 0 0 0 0

8085 -1.24 -165.4 870.0 -11.0 401 8090 0.05 2.22 0.00 0.000 6 0.202 0.050 2642 1858 3531 0 0 0 0 0 0

8606 -1.24 -165.4 922.1 -9.6 418 8607 0.00 0.00 0.00 0.000 6 0.000 0.000 2642 1858 3530 0 0 0 0 0 0

8911 -1.24 -165.4 949.5 -8.9 428 8914 0.00 0.68 0.00 0.000 4 0.000 0.060 2639 2288 3530 0 0 0 0 0 0

8984 -1.27 -165.4 956.0 -8.8 430 8987 0.00 0.68 0.00 0.000 6 0.000 0.057 2639 1859 3530 0 0 0 0 0 0

9319 -1.27 -165.4 986.4 -9.4 441 9323 0.00 0.65 0.00 0.000 4 0.000 0.059 2636 2284 3529 0 0 0 0 0 0

9355 end dive: TARGET_DEPTH_EXCEEDED

state 9355 begin apogee

9362 -0.31 0.0 990.3 9.2 442 9508 0.93 0.00 142.77 1.255 6 0.113 0.000 2937 1564 2862 0 0 0 0 0 0

9509 end apogee: CONTROL_FINISHED_OK

state 9509 begin climb

9512 1.05 165.4 1001.9 0.0 447 9669 1.25 2.40 148.98 1.223 4 0.055 0.055 3381 2957 2186 0 0 0 0 0 0

9867 0.80 456.9 1015.0 -1.8 458 10143 0.32 2.25 265.42 1.226 6 0.170 0.049 3305 1554 998 0 0 0 0 0 0

10481 0.88 487.3 972.6 8.5 478 10513 0.08 0.00 29.25 1.178 6 0.120 0.000 3349 1554 875 0 0 0 0 0 0

10821 0.91 487.3 939.2 10.2 489 10825 0.00 2.35 0.00 0.000 4 0.000 0.067 3359 155 868 0 0 0 0 0 0

11078 0.94 487.3 910.3 12.2 496 11082 0.00 2.25 0.00 0.000 6 0.000 0.048 3359 1563 867 0 0 0 0 0 0

11391 0.94 487.3 874.7 11.5 506 11395 0.00 2.22 0.00 0.000 4 0.000 0.068 3369 238 866 0 0 0 0 0 0

11593 0.94 487.3 851.0 11.5 512 11598 0.08 2.12 0.00 0.000 6 0.176 0.048 3349 1558 865 0 0 0 0 0 0

12114 0.96 495.6 798.0 9.4 529 12128 0.00 2.45 7.65 0.996 4 0.000 0.070 3359 153 840 0 0 0 0 0 0

12383 0.99 528.1 774.2 8.4 537 12423 0.00 2.30 33.33 1.121 6 0.000 0.051 3360 1566 708 0 0 0 0 0 0

12938 1.04 532.0 723.6 9.6 555 12947 0.00 2.42 3.95 0.660 4 0.000 0.070 3371 162 693 0 0 0 0 0 0

13200 1.08 532.0 695.7 10.0 562 13205 0.08 2.28 0.00 0.000 6 0.122 0.050 3410 1566 691 0 0 0 0 0 0

13729 1.05 532.0 629.4 13.3 580 13733 0.10 2.30 0.00 0.000 4 0.170 0.057 3384 2972 691 0 0 0 0 0 0

13840 1.05 532.0 613.6 14.3 583 13844 0.00 2.28 0.00 0.000 6 0.000 0.054 3394 1556 692 0 0 0 0 0 0

14378 1.05 532.0 544.2 11.9 601 14382 0.00 2.35 0.00 0.000 4 0.000 0.067 3404 158 690 0 0 0 0 0 0

14635 1.05 532.0 515.6 9.8 608 14641 0.10 2.28 0.00 0.000 6 0.163 0.050 3378 1560 690 0 0 0 0 0 0

15165 1.07 534.8 465.1 9.6 626 15174 0.00 2.42 4.07 0.602 4 0.000 0.070 3389 149 681 0 0 0 0 0 0

15426 1.07 541.6 439.2 9.4 633 15441 0.00 2.30 8.10 0.803 6 0.000 0.049 3389 1561 654 0 0 0 0 0 0

15957 1.09 541.6 382.9 11.4 651 15961 0.00 2.25 0.00 0.000 4 0.000 0.059 3389 2962 653 0 0 0 0 0 0

16103 1.09 541.6 365.9 11.5 655 16107 0.00 2.28 0.00 0.000 6 0.000 0.054 3399 1550 652 0 0 0 0 0 0

16635 1.09 541.6 304.5 11.5 673 16639 0.00 2.30 0.00 0.000 4 0.000 0.060 3399 2963 652 0 0 0 0 0 0

16781 1.09 541.6 286.9 11.1 678 16788 0.00 2.33 0.00 0.000 6 0.000 0.055 3408 1553 652 0 0 0 0 0 0

17305 1.09 541.6 221.3 12.3 704 17309 0.00 2.35 0.00 0.000 4 0.000 0.068 3419 150 652 0 0 0 0 0 0

17564 1.06 541.6 190.1 11.8 717 17570 0.12 2.28 0.00 0.000 6 0.155 0.047 3386 1562 651 0 0 0 0 0 0

18104 1.06 544.9 132.1 9.6 752 18113 0.00 2.30 4.50 0.496 4 0.000 0.057 3386 2964 640 0 0 0 0 0 0

18259 1.06 610.4 118.6 7.1 761 18318 0.00 2.28 52.15 0.702 6 0.000 0.054 3396 1548 408 0 0 0 0 0 0

18850 1.12 610.4 56.3 14.5 811 18855 0.00 2.33 0.00 0.000 4 0.000 0.060 3396 2964 398 0 0 0 0 0 0

18983 1.16 610.4 37.5 13.1 834 18991 0.00 2.33 0.00 0.000 6 0.000 0.056 3405 1554 398 0 0 0 0 0 0

19255 end climb: SURFACE_DEPTH_REACHED

state 19255 begin surface coast

19292 end surface coast: CONTROL_FINISHED_OK

state 19292 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	596	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	25	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	-6117.2378	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	575

GPS1	130213,175435,-4139.157,-318.393,36,1.0,36,-22.5	TGT_NAME	ACC_WP1
_CALLS	1	TGT_LATLONG	-4130.000,-323.000
_XMS_NAKs	0	TGT_RADIUS	6000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.167,0.215
_SM_DEPTHo	3.25	KALMAN_X	85963.6,-203.9,-640.4,-97946.0,7285.2
_SM_ANGLEo	-65.1	KALMAN_Y	-68034.6,-66.1,-804.5,128225.0,-580.3
GPS2	130213,180326,-4139.153,-318.432,20,1.9,22,-22.5	MHEAD_RNG_PITCHd_Wd	344.7,18097,-16.7,-9.706
SPEED_LIMITS	0.168,0.273	D_GRID	990

FINISH	2.6,1.016577	_10V_AH	9.8,76.531
SM_CCo	19371,0.00,0.000,0,0,396,604.90	FG_AHR_24Vo	0.000
SM_GC	3.45,8.77,0.00,0.00,0.034,0.000,0.000,77,1860,396,-9.18,0.00,604.90	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4126.50,-324.87,130213,121238	MEM	354428
TT8_MAMPS	0.026964	DATA_FILE_SIZE	53660,886
HUMID	50.78	CAP_FILE_SIZE	157727,0
INTERNAL_PRESSURE	9.02068	CFSIZE	2097086464,2015789056
TCM_TEMP	14.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	2	GPS	130213,232829,-4138.613,-317.735,42,1.4,42,-22.5
_24V_AH	22.2,109.042

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	211	105.70	SBE_CT	594	24	316.78
Roll_motor	114	71	182.87	WL_BB2FLVMT	818	105	1907.53
VBD_pump_during_apogee	700	1254	19501.36	SBE_O2	612	19	258.26
VBD_pump_during_surface	0	0	0.00	QSP2150	64	4	6.31
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	59.58	nil	0	0	0.00
Iridium_during_connect	48	160	173.46	nil	0	0	0.00
Iridium_during_xfer	294	223	1460.08	nil	0	0	0.00
Transponder_ping	0	420	4.66	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	24	26	6.48
TT8	2292	14	336.04
LPSleep	13311	2	285.69
TT8_Active	675	14	94.08
TT8_Sampling	3293	37	1207.93
TT8_CF8	322	47	149.20
TT8_Kalman	33	59	19.36
Analog_circuits	2039	12	239.80
GPS_charging	0	0	0.00
Compass	2901	15	447.27
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	-6.65	0.000	2	0.000	0.000	82	1869	661	0	0	0	0	0	0
38	-1.05	-165.4	3.3	-0.0	1	178	10.12	2.42	-117.80	0.000	4	0.200	0.072	2706	446	3539	0	0	0	0	0	0
251	-1.08	-165.4	17.6	-12.5	36	259	0.00	2.30	0.00	0.000	6	0.000	0.048	2695	1856	3540	0	0	0	0	0	0
332	-1.12	-165.4	27.8	-13.1	49	339	0.00	1.62	0.00	0.000	4	0.000	0.058	2689	2856	3540	0	0	0	0	0	0
602	-1.19	-165.4	58.4	-11.8	95	607	0.05	1.60	0.00	0.000	6	0.063	0.050	2629	1862	3540	0	0	0	0	0	0
935	-1.16	-165.4	100.6	-11.9	127	940	0.15	2.33	0.00	0.000	4	0.155	0.059	2662	3277	3541	0	0	0	0	0	0
1194	-1.19	-165.4	126.9	-8.1	142	1201	0.00	2.28	0.00	0.000	6	0.000	0.046	2662	1854	3541	0	0	0	0	0	0
1734	-1.19	-165.4	175.0	-9.7	177	1738	0.00	2.28	0.00	0.000	4	0.000	0.058	2662	446	3541	0	0	0	0	0	0
1894	-1.17	-165.4	191.9	-10.5	186	1902	0.03	2.30	0.00	0.000	6	0.172	0.045	2662	1869	3541	0	0	0	0	0	0
2435	-1.19	-165.4	252.9	-12.0	214	2439	0.00	2.25	0.00	0.000	4	0.000	0.058	2652	3268	3541	0	0	0	0	0	0
2693	-1.22	-165.4	283.7	-11.8	225	2700	0.00	2.25	0.00	0.000	6	0.000	0.047	2653	1859	3541	0	0	0	0	0	0
3212	-1.22	-165.4	337.4	-10.0	245	3216	0.00	2.30	0.00	0.000	4	0.000	0.059	2652	455	3541	0	0	0	0	0	0
3301	-1.19	-165.4	346.9	-10.3	247	3307	0.08	2.25	0.00	0.000	6	0.178	0.044	2660	1870	3541	0	0	0	0	0	0
3830	-1.22	-165.4	401.2	-10.7	265	3834	0.00	2.22	0.00	0.000	4	0.000	0.059	2650	3263	3541	0	0	0	0	0	0
4061	-1.24	-165.4	427.4	-10.8	272	4065	0.00	2.20	0.00	0.000	6	0.000	0.047	2650	1858	3540	0	0	0	0	0	0
4579	-1.24	-165.4	485.2	-10.8	289	4584	0.00	2.28	0.00	0.000	4	0.000	0.058	2650	449	3540	0	0	0	0	0	0
4747	-1.21	-165.4	505.2	-11.4	294	4752	0.05	2.25	0.00	0.000	6	0.211	0.046	2652	1859	3539	0	0	0	0	0	0
5292	-1.21	-165.4	566.0	-11.1	312	5296	0.00	2.25	0.00	0.000	4	0.000	0.058	2642	3268	3538	0	0	0	0	0	0
5492	-1.21	-165.4	588.5	-10.7	318	5496	0.00	2.22	0.00	0.000	6	0.000	0.048	2642	1855	3538	0	0	0	0	0	0
6012	-1.21	-165.4	641.2	-9.8	335	6015	0.00	1.75	0.00	0.000	4	0.000	0.059	2634	2952	3537	0	0	0	0	0	0
6190	-1.21	-165.4	658.8	-10.3	340	6195	0.05	1.75	0.00	0.000	6	0.137	0.048	2653	1859	3536	0	0	0	0	0	0
6736	-1.24	-165.4	709.7	-9.7	358	6740	0.00	0.40	0.00	0.000	4	0.000	0.063	2653	1586	3535	0	0	0	0	0	0
6848	-1.26	-165.4	721.1	-10.4	361	6852	0.00	0.43	0.00	0.000	6	0.000	0.059	2651	1858	3534	0	0	0	0	0	0
7392	-1.28	-165.4	783.6	-12.4	379	7397	0.05	1.25	0.00	0.000	4	0.163	0.059	2604	2626	3533	0	0	0	0	0	0
7461	-1.24	-165.4	792.7	-13.9	381	7465	0.10	1.23	0.00	0.000	6	0.127	0.052	2639	1862	3533	0	0	0	0	0	0
7985	-1.24	-165.4	858.4	-12.0	398	7989	0.00	2.28	0.00	0.000	4	0.000	0.061	2629	3263	3531	0	0	0	0	0	0
8085	-1.24	-165.4	870.0	-11.0	401	8090	0.05	2.22	0.00	0.000	6	0.202	0.050	2642	1858	3531	0	0	0	0	0	0
8606	-1.24	-165.4	922.1	-9.6	418	8607	0.00	0.00	0.00	0.000	6	0.000	0.000	2642	1858	3530	0	0	0	0	0	0
8911	-1.24	-165.4	949.5	-8.9	428	8914	0.00	0.68	0.00	0.000	4	0.000	0.060	2639	2288	3530	0	0	0	0	0	0
8984	-1.27	-165.4	956.0	-8.8	430	8987	0.00	0.68	0.00	0.000	6	0.000	0.057	2639	1859	3530	0	0	0	0	0	0
9319	-1.27	-165.4	986.4	-9.4	441	9323	0.00	0.65	0.00	0.000	4	0.000	0.059	2636	2284	3529	0	0	0	0	0	0
9355	end dive: TARGET_DEPTH_EXCEEDED
state	9355	begin apogee
9362	-0.31	0.0	990.3	9.2	442	9508	0.93	0.00	142.77	1.255	6	0.113	0.000	2937	1564	2862	0	0	0	0	0	0
9509	end apogee: CONTROL_FINISHED_OK
state	9509	begin climb
9512	1.05	165.4	1001.9	0.0	447	9669	1.25	2.40	148.98	1.223	4	0.055	0.055	3381	2957	2186	0	0	0	0	0	0
9867	0.80	456.9	1015.0	-1.8	458	10143	0.32	2.25	265.42	1.226	6	0.170	0.049	3305	1554	998	0	0	0	0	0	0
10481	0.88	487.3	972.6	8.5	478	10513	0.08	0.00	29.25	1.178	6	0.120	0.000	3349	1554	875	0	0	0	0	0	0
10821	0.91	487.3	939.2	10.2	489	10825	0.00	2.35	0.00	0.000	4	0.000	0.067	3359	155	868	0	0	0	0	0	0
11078	0.94	487.3	910.3	12.2	496	11082	0.00	2.25	0.00	0.000	6	0.000	0.048	3359	1563	867	0	0	0	0	0	0
11391	0.94	487.3	874.7	11.5	506	11395	0.00	2.22	0.00	0.000	4	0.000	0.068	3369	238	866	0	0	0	0	0	0
11593	0.94	487.3	851.0	11.5	512	11598	0.08	2.12	0.00	0.000	6	0.176	0.048	3349	1558	865	0	0	0	0	0	0
12114	0.96	495.6	798.0	9.4	529	12128	0.00	2.45	7.65	0.996	4	0.000	0.070	3359	153	840	0	0	0	0	0	0
12383	0.99	528.1	774.2	8.4	537	12423	0.00	2.30	33.33	1.121	6	0.000	0.051	3360	1566	708	0	0	0	0	0	0
12938	1.04	532.0	723.6	9.6	555	12947	0.00	2.42	3.95	0.660	4	0.000	0.070	3371	162	693	0	0	0	0	0	0
13200	1.08	532.0	695.7	10.0	562	13205	0.08	2.28	0.00	0.000	6	0.122	0.050	3410	1566	691	0	0	0	0	0	0
13729	1.05	532.0	629.4	13.3	580	13733	0.10	2.30	0.00	0.000	4	0.170	0.057	3384	2972	691	0	0	0	0	0	0
13840	1.05	532.0	613.6	14.3	583	13844	0.00	2.28	0.00	0.000	6	0.000	0.054	3394	1556	692	0	0	0	0	0	0
14378	1.05	532.0	544.2	11.9	601	14382	0.00	2.35	0.00	0.000	4	0.000	0.067	3404	158	690	0	0	0	0	0	0
14635	1.05	532.0	515.6	9.8	608	14641	0.10	2.28	0.00	0.000	6	0.163	0.050	3378	1560	690	0	0	0	0	0	0
15165	1.07	534.8	465.1	9.6	626	15174	0.00	2.42	4.07	0.602	4	0.000	0.070	3389	149	681	0	0	0	0	0	0
15426	1.07	541.6	439.2	9.4	633	15441	0.00	2.30	8.10	0.803	6	0.000	0.049	3389	1561	654	0	0	0	0	0	0
15957	1.09	541.6	382.9	11.4	651	15961	0.00	2.25	0.00	0.000	4	0.000	0.059	3389	2962	653	0	0	0	0	0	0
16103	1.09	541.6	365.9	11.5	655	16107	0.00	2.28	0.00	0.000	6	0.000	0.054	3399	1550	652	0	0	0	0	0	0
16635	1.09	541.6	304.5	11.5	673	16639	0.00	2.30	0.00	0.000	4	0.000	0.060	3399	2963	652	0	0	0	0	0	0
16781	1.09	541.6	286.9	11.1	678	16788	0.00	2.33	0.00	0.000	6	0.000	0.055	3408	1553	652	0	0	0	0	0	0
17305	1.09	541.6	221.3	12.3	704	17309	0.00	2.35	0.00	0.000	4	0.000	0.068	3419	150	652	0	0	0	0	0	0
17564	1.06	541.6	190.1	11.8	717	17570	0.12	2.28	0.00	0.000	6	0.155	0.047	3386	1562	651	0	0	0	0	0	0
18104	1.06	544.9	132.1	9.6	752	18113	0.00	2.30	4.50	0.496	4	0.000	0.057	3386	2964	640	0	0	0	0	0	0
18259	1.06	610.4	118.6	7.1	761	18318	0.00	2.28	52.15	0.702	6	0.000	0.054	3396	1548	408	0	0	0	0	0	0
18850	1.12	610.4	56.3	14.5	811	18855	0.00	2.33	0.00	0.000	4	0.000	0.060	3396	2964	398	0	0	0	0	0	0
18983	1.16	610.4	37.5	13.1	834	18991	0.00	2.33	0.00	0.000	6	0.000	0.056	3405	1554	398	0	0	0	0	0	0
19255	end climb: SURFACE_DEPTH_REACHED
state	19255	begin surface coast
19292	end surface coast: CONTROL_FINISHED_OK
state	19292	begin surface