Glider dive log

SOSCEx Feb12 * SG573 * Dive index * Mission links * Dive 599 * 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 599 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 34 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 280 CALL_TRIES 5 VBD_DBAND 2 DEVICE5 -1

T_MISSION 300 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 -6124.3486 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 578

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 578 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 280

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 -6124.3486

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 300

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 34 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 170 SEABIRD_C_G -9.9469662 VBD_MIN 409

DIVE 599 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 140213,103129,-4137.234,-316.731,42,0.9,43,-22.6 TGT_NAME ACC_WP1

_CALLS 1 TGT_LATLONG -4130.000,-323.000

_XMS_NAKs 0 TGT_RADIUS 6000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.289,0.031

_SM_DEPTHo 3.34 KALMAN_X 100935.3,437.7,-375.1,-111395.8,5270.2

_SM_ANGLEo -67.1 KALMAN_Y -74967.2,928.7,-304.5,137283.8,-1163.4

GPS2 140213,103942,-4137.186,-316.649,18,0.9,18,-22.6 MHEAD_RNG_PITCHd_Wd 298.7,15960,-19.6,-11.786

SPEED_LIMITS 0.204,0.290 D_GRID 990

Post-dive calculations and measurements:

FINISH 2.7,1.004511 _10V_AH 9.8,76.852

SM_CCo 17876,0.00,0.000,0,0,400,603.92 FG_AHR_24Vo 0.000

SM_GC 3.59,8.93,0.00,0.00,0.035,0.000,0.000,70,1855,400,-9.18,-0.14,603.92 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4123.62,-318.78,140213,050513 MEM 354508

TT8_MAMPS 0.026964 DATA_FILE_SIZE 50290,833

HUMID 51.06 CAP_FILE_SIZE 145961,0

INTERNAL_PRESSURE 9.02068 CFSIZE 2097086464,2015395840

TCM_TEMP 15.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2

XPDR_PINGS 0 GPS 140213,153935,-4136.511,-316.021,27,1.6,27,-22.6

_24V_AH 22.3,109.786

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 249 127.50 SBE_CT 558 24 298.73

Roll_motor 113 68 174.92 WL_BB2FLVMT 787 105 1843.91

VBD_pump_during_apogee 695 1250 19404.66 SBE_O2 574 19 243.22

VBD_pump_during_surface 0 0 0.00 QSP2150 63 4 6.18

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 60.28 nil 0 0 0.00

Iridium_during_connect 39 160 139.43 nil 0 0 0.00

Iridium_during_xfer 279 223 1387.75 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 26 5.38

TT8 2120 14 310.91

LPSleep 12398 2 266.10

TT8_Active 673 14 93.74

TT8_Sampling 2881 37 1057.03

TT8_CF8 288 47 133.41

TT8_Kalman 33 59 19.34

Analog_circuits 1873 12 220.32

GPS_charging 0 0 0.00

Compass 2523 15 388.99

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

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

26 -1.23 -165.4 0.0 0.0 0 35 0.00 0.00 -6.43 0.000 2 0.000 0.000 81 1879 560 0 0 0 0 0 0

38 -1.23 -165.4 3.3 -0.0 1 183 10.07 0.00 -129.57 0.000 6 0.208 0.000 2646 1879 3537 0 0 0 0 0 0

256 -1.23 -165.4 14.5 -12.5 37 262 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 1879 3540 0 0 0 0 0 0

336 -1.26 -165.4 25.4 -13.0 50 342 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 1879 3540 0 0 0 0 0 0

415 -1.28 -165.4 36.1 -13.7 63 420 0.00 1.05 0.00 0.000 4 0.000 0.057 2642 2537 3540 0 0 0 0 0 0

675 -1.32 -165.4 71.6 -13.1 102 679 0.03 1.10 0.00 0.000 6 0.095 0.052 2606 1851 3540 0 0 0 0 0 0

1105 -1.32 -165.4 120.4 -11.9 137 1110 0.05 2.33 0.00 0.000 4 0.219 0.059 2606 3268 3541 0 0 0 0 0 0

1307 -1.32 -165.4 145.0 -12.1 149 1311 0.03 2.25 0.00 0.000 6 0.249 0.047 2617 1849 3541 0 0 0 0 0 0

1836 -1.32 -165.4 198.1 -9.0 183 1840 0.00 2.00 0.00 0.000 4 0.000 0.055 2617 606 3542 0 0 0 0 0 0

1892 -1.29 -165.4 203.3 -9.3 186 1896 0.08 2.00 0.00 0.000 6 0.188 0.044 2626 1864 3541 0 0 0 0 0 0

2419 -1.32 -165.4 261.2 -12.6 212 2423 0.00 2.30 0.00 0.000 4 0.000 0.057 2626 450 3542 0 0 0 0 0 0

2497 -1.32 -165.4 271.9 -13.6 215 2502 0.00 2.25 0.00 0.000 6 0.000 0.044 2616 1864 3542 0 0 0 0 0 0

3016 -1.32 -165.4 342.6 -12.8 236 3020 0.00 2.33 0.00 0.000 4 0.000 0.057 2616 448 3542 0 0 0 0 0 0

3117 -1.29 -165.4 355.3 -12.4 239 3122 0.10 2.25 0.00 0.000 6 0.174 0.044 2631 1861 3542 0 0 0 0 0 0

3663 -1.34 -165.4 412.7 -10.4 257 3667 0.00 2.30 0.00 0.000 4 0.000 0.057 2632 448 3541 0 0 0 0 0 0

3763 -1.34 -165.4 423.7 -10.5 260 3767 0.00 2.25 0.00 0.000 6 0.000 0.044 2621 1861 3541 0 0 0 0 0 0

4309 -1.37 -165.4 482.4 -10.9 278 4313 0.00 2.25 0.00 0.000 4 0.000 0.059 2611 3266 3541 0 0 0 0 0 0

4567 -1.39 -165.4 511.4 -10.8 285 4572 0.00 2.25 0.00 0.000 6 0.000 0.048 2611 1851 3540 0 0 0 0 0 0

5095 -1.39 -165.4 567.9 -10.5 303 5099 0.00 2.28 0.00 0.000 4 0.000 0.058 2611 451 3540 0 0 0 0 0 0

5184 -1.36 -165.4 577.4 -10.2 305 5189 0.00 2.25 0.00 0.000 6 0.000 0.044 2600 1861 3539 0 0 0 0 0 0

5711 -1.36 -165.4 632.1 -10.5 323 5715 0.00 2.28 0.00 0.000 4 0.000 0.060 2589 3263 3538 0 0 0 0 0 0

5957 -1.36 -165.4 659.7 -12.0 330 5962 0.05 2.22 0.00 0.000 6 0.205 0.047 2602 1858 3537 0 0 0 0 0 0

6497 -1.36 -165.4 719.1 -10.7 348 6501 0.00 2.30 0.00 0.000 4 0.000 0.061 2591 3263 3536 0 0 0 0 0 0

6665 -1.36 -165.4 736.9 -10.4 353 6669 0.00 2.25 0.00 0.000 6 0.000 0.050 2591 1853 3535 0 0 0 0 0 0

7208 -1.36 -165.4 797.6 -12.1 371 7212 0.00 2.30 0.00 0.000 4 0.000 0.060 2591 449 3534 0 0 0 0 0 0

7298 -1.32 -165.4 809.0 -12.5 373 7304 0.12 2.28 0.00 0.000 6 0.173 0.046 2613 1864 3534 0 0 0 0 0 0

7827 -1.35 -165.4 877.1 -13.1 391 7831 0.00 2.35 0.00 0.000 4 0.000 0.060 2613 445 3532 0 0 0 0 0 0

7889 -1.35 -165.4 885.5 -13.5 393 7893 0.00 2.28 0.00 0.000 6 0.000 0.047 2603 1860 3532 0 0 0 0 0 0

8408 -1.35 -165.4 949.3 -11.6 410 8412 0.00 2.33 0.00 0.000 4 0.000 0.061 2603 454 3531 0 0 0 0 0 0

8475 -1.32 -165.4 957.3 -11.4 412 8479 0.10 2.28 0.00 0.000 6 0.175 0.047 2618 1864 3531 0 0 0 0 0 0

8802 end dive: TARGET_DEPTH_EXCEEDED

state 8802 begin apogee

8808 -0.31 0.0 991.9 10.3 423 8954 1.02 0.00 142.88 1.251 6 0.115 0.000 2944 1559 2862 0 0 0 0 0 0

8955 end apogee: CONTROL_FINISHED_OK

state 8955 begin climb

8957 1.23 165.4 1003.3 0.0 428 9114 1.40 2.53 147.80 1.220 4 0.053 0.060 3458 155 2187 0 0 0 0 0 0

9367 0.94 431.9 1013.3 -0.9 440 9620 0.40 2.25 240.62 1.221 6 0.180 0.043 3351 1566 1100 0 0 0 0 0 0

9956 0.96 455.1 957.3 10.7 460 9982 0.00 2.20 21.55 1.145 4 0.000 0.065 3361 308 1005 0 0 0 0 0 0

10057 0.99 479.7 946.4 10.6 462 10087 0.00 2.03 25.15 1.147 6 0.000 0.047 3362 1558 906 0 0 0 0 0 0

10418 1.04 522.0 909.4 9.8 474 10463 0.00 0.75 41.28 1.167 4 0.000 0.048 3361 2049 732 0 0 0 0 0 0

10536 1.12 574.8 897.7 9.3 477 10591 0.08 0.80 50.80 1.156 6 0.061 0.058 3414 1558 518 0 0 0 0 0 0

11125 1.16 594.7 835.6 10.8 497 11149 0.00 1.77 17.90 1.097 4 0.000 0.067 3422 529 436 0 0 0 0 0 0

11219 1.20 631.0 825.5 10.1 499 11233 0.00 1.67 7.72 0.963 6 0.000 0.049 3422 1567 408 0 0 0 0 0 0

11748 1.25 631.0 763.6 12.2 517 11752 0.08 1.45 0.00 0.000 4 0.123 0.064 3469 704 404 0 0 0 0 0 0

11841 1.25 631.0 750.9 13.6 519 11847 0.05 1.40 0.00 0.000 6 0.151 0.047 3451 1567 403 0 0 0 0 0 0

12369 1.25 631.0 679.7 13.3 537 12373 0.00 2.30 0.00 0.000 4 0.000 0.067 3462 188 403 0 0 0 0 0 0

12441 1.22 631.0 669.9 14.0 539 12446 0.10 2.22 0.00 0.000 6 0.172 0.047 3435 1569 402 0 0 0 0 0 0

12981 1.24 631.0 601.4 12.3 557 12984 0.00 1.80 0.00 0.000 4 0.000 0.066 3444 476 402 0 0 0 0 0 0

13083 1.26 631.0 588.6 12.9 560 13086 0.00 1.73 0.00 0.000 6 0.000 0.048 3444 1560 402 0 0 0 0 0 0

13607 1.26 631.0 523.4 12.9 577 13611 0.00 2.00 0.00 0.000 4 0.000 0.068 3453 360 402 0 0 0 0 0 0

13685 1.26 631.0 513.3 12.2 579 13689 0.00 1.95 0.00 0.000 6 0.000 0.050 3453 1554 401 0 0 0 0 0 0

14229 1.26 631.0 440.9 13.3 597 14234 0.00 2.35 0.00 0.000 4 0.000 0.069 3464 157 401 0 0 0 0 0 0

14409 1.24 631.0 417.0 12.1 602 14413 0.08 2.28 0.00 0.000 6 0.187 0.049 3447 1563 401 0 0 0 0 0 0

14943 1.24 643.7 355.0 11.2 620 14947 0.00 2.38 0.00 0.000 4 0.000 0.069 3457 153 401 0 0 0 0 0 0

15026 1.24 648.7 345.2 11.5 622 15030 0.00 2.30 0.00 0.000 6 0.000 0.049 3457 1568 401 0 0 0 0 0 0

15556 1.24 648.7 283.4 12.6 641 15560 0.00 2.40 0.00 0.000 4 0.000 0.067 3468 150 401 0 0 0 0 0 0

15691 1.21 648.7 265.1 13.4 647 15696 0.12 2.30 0.00 0.000 6 0.160 0.048 3434 1567 401 0 0 0 0 0 0

16216 1.24 648.7 196.5 12.7 673 16220 0.00 2.40 0.00 0.000 4 0.000 0.067 3445 150 401 0 0 0 0 0 0

16329 1.26 648.7 181.9 12.4 680 16333 0.00 2.30 0.00 0.000 6 0.000 0.048 3445 1570 401 0 0 0 0 0 0

16858 1.26 653.7 119.8 11.5 714 16862 0.00 2.30 0.00 0.000 4 0.000 0.066 3456 210 401 0 0 0 0 0 0

16988 1.26 653.7 103.9 12.8 722 16992 0.00 2.17 0.00 0.000 6 0.000 0.047 3455 1562 401 0 0 0 0 0 0

17542 1.28 653.7 30.3 13.4 791 17547 0.00 2.38 0.00 0.000 4 0.000 0.065 3466 157 401 0 0 0 0 0 0

17716 1.25 662.9 9.4 11.3 820 17724 0.05 2.28 0.00 0.000 6 0.150 0.047 3449 1556 401 0 0 0 0 0 0

17772 end climb: SURFACE_DEPTH_REACHED

state 17772 begin surface coast

17797 end surface coast: CONTROL_FINISHED_OK

state 17797 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	599	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	34	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	280	CALL_TRIES	5	VBD_DBAND	2	DEVICE5	-1
T_MISSION	300	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	-6124.3486	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	578

GPS1	140213,103129,-4137.234,-316.731,42,0.9,43,-22.6	TGT_NAME	ACC_WP1
_CALLS	1	TGT_LATLONG	-4130.000,-323.000
_XMS_NAKs	0	TGT_RADIUS	6000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.289,0.031
_SM_DEPTHo	3.34	KALMAN_X	100935.3,437.7,-375.1,-111395.8,5270.2
_SM_ANGLEo	-67.1	KALMAN_Y	-74967.2,928.7,-304.5,137283.8,-1163.4
GPS2	140213,103942,-4137.186,-316.649,18,0.9,18,-22.6	MHEAD_RNG_PITCHd_Wd	298.7,15960,-19.6,-11.786
SPEED_LIMITS	0.204,0.290	D_GRID	990

FINISH	2.7,1.004511	_10V_AH	9.8,76.852
SM_CCo	17876,0.00,0.000,0,0,400,603.92	FG_AHR_24Vo	0.000
SM_GC	3.59,8.93,0.00,0.00,0.035,0.000,0.000,70,1855,400,-9.18,-0.14,603.92	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4123.62,-318.78,140213,050513	MEM	354508
TT8_MAMPS	0.026964	DATA_FILE_SIZE	50290,833
HUMID	51.06	CAP_FILE_SIZE	145961,0
INTERNAL_PRESSURE	9.02068	CFSIZE	2097086464,2015395840
TCM_TEMP	15.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
XPDR_PINGS	0	GPS	140213,153935,-4136.511,-316.021,27,1.6,27,-22.6
_24V_AH	22.3,109.786

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	249	127.50	SBE_CT	558	24	298.73
Roll_motor	113	68	174.92	WL_BB2FLVMT	787	105	1843.91
VBD_pump_during_apogee	695	1250	19404.66	SBE_O2	574	19	243.22
VBD_pump_during_surface	0	0	0.00	QSP2150	63	4	6.18
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	60.28	nil	0	0	0.00
Iridium_during_connect	39	160	139.43	nil	0	0	0.00
Iridium_during_xfer	279	223	1387.75	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	26	5.38
TT8	2120	14	310.91
LPSleep	12398	2	266.10
TT8_Active	673	14	93.74
TT8_Sampling	2881	37	1057.03
TT8_CF8	288	47	133.41
TT8_Kalman	33	59	19.34
Analog_circuits	1873	12	220.32
GPS_charging	0	0	0.00
Compass	2523	15	388.99
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
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
26	-1.23	-165.4	0.0	0.0	0	35	0.00	0.00	-6.43	0.000	2	0.000	0.000	81	1879	560	0	0	0	0	0	0
38	-1.23	-165.4	3.3	-0.0	1	183	10.07	0.00	-129.57	0.000	6	0.208	0.000	2646	1879	3537	0	0	0	0	0	0
256	-1.23	-165.4	14.5	-12.5	37	262	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	1879	3540	0	0	0	0	0	0
336	-1.26	-165.4	25.4	-13.0	50	342	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	1879	3540	0	0	0	0	0	0
415	-1.28	-165.4	36.1	-13.7	63	420	0.00	1.05	0.00	0.000	4	0.000	0.057	2642	2537	3540	0	0	0	0	0	0
675	-1.32	-165.4	71.6	-13.1	102	679	0.03	1.10	0.00	0.000	6	0.095	0.052	2606	1851	3540	0	0	0	0	0	0
1105	-1.32	-165.4	120.4	-11.9	137	1110	0.05	2.33	0.00	0.000	4	0.219	0.059	2606	3268	3541	0	0	0	0	0	0
1307	-1.32	-165.4	145.0	-12.1	149	1311	0.03	2.25	0.00	0.000	6	0.249	0.047	2617	1849	3541	0	0	0	0	0	0
1836	-1.32	-165.4	198.1	-9.0	183	1840	0.00	2.00	0.00	0.000	4	0.000	0.055	2617	606	3542	0	0	0	0	0	0
1892	-1.29	-165.4	203.3	-9.3	186	1896	0.08	2.00	0.00	0.000	6	0.188	0.044	2626	1864	3541	0	0	0	0	0	0
2419	-1.32	-165.4	261.2	-12.6	212	2423	0.00	2.30	0.00	0.000	4	0.000	0.057	2626	450	3542	0	0	0	0	0	0
2497	-1.32	-165.4	271.9	-13.6	215	2502	0.00	2.25	0.00	0.000	6	0.000	0.044	2616	1864	3542	0	0	0	0	0	0
3016	-1.32	-165.4	342.6	-12.8	236	3020	0.00	2.33	0.00	0.000	4	0.000	0.057	2616	448	3542	0	0	0	0	0	0
3117	-1.29	-165.4	355.3	-12.4	239	3122	0.10	2.25	0.00	0.000	6	0.174	0.044	2631	1861	3542	0	0	0	0	0	0
3663	-1.34	-165.4	412.7	-10.4	257	3667	0.00	2.30	0.00	0.000	4	0.000	0.057	2632	448	3541	0	0	0	0	0	0
3763	-1.34	-165.4	423.7	-10.5	260	3767	0.00	2.25	0.00	0.000	6	0.000	0.044	2621	1861	3541	0	0	0	0	0	0
4309	-1.37	-165.4	482.4	-10.9	278	4313	0.00	2.25	0.00	0.000	4	0.000	0.059	2611	3266	3541	0	0	0	0	0	0
4567	-1.39	-165.4	511.4	-10.8	285	4572	0.00	2.25	0.00	0.000	6	0.000	0.048	2611	1851	3540	0	0	0	0	0	0
5095	-1.39	-165.4	567.9	-10.5	303	5099	0.00	2.28	0.00	0.000	4	0.000	0.058	2611	451	3540	0	0	0	0	0	0
5184	-1.36	-165.4	577.4	-10.2	305	5189	0.00	2.25	0.00	0.000	6	0.000	0.044	2600	1861	3539	0	0	0	0	0	0
5711	-1.36	-165.4	632.1	-10.5	323	5715	0.00	2.28	0.00	0.000	4	0.000	0.060	2589	3263	3538	0	0	0	0	0	0
5957	-1.36	-165.4	659.7	-12.0	330	5962	0.05	2.22	0.00	0.000	6	0.205	0.047	2602	1858	3537	0	0	0	0	0	0
6497	-1.36	-165.4	719.1	-10.7	348	6501	0.00	2.30	0.00	0.000	4	0.000	0.061	2591	3263	3536	0	0	0	0	0	0
6665	-1.36	-165.4	736.9	-10.4	353	6669	0.00	2.25	0.00	0.000	6	0.000	0.050	2591	1853	3535	0	0	0	0	0	0
7208	-1.36	-165.4	797.6	-12.1	371	7212	0.00	2.30	0.00	0.000	4	0.000	0.060	2591	449	3534	0	0	0	0	0	0
7298	-1.32	-165.4	809.0	-12.5	373	7304	0.12	2.28	0.00	0.000	6	0.173	0.046	2613	1864	3534	0	0	0	0	0	0
7827	-1.35	-165.4	877.1	-13.1	391	7831	0.00	2.35	0.00	0.000	4	0.000	0.060	2613	445	3532	0	0	0	0	0	0
7889	-1.35	-165.4	885.5	-13.5	393	7893	0.00	2.28	0.00	0.000	6	0.000	0.047	2603	1860	3532	0	0	0	0	0	0
8408	-1.35	-165.4	949.3	-11.6	410	8412	0.00	2.33	0.00	0.000	4	0.000	0.061	2603	454	3531	0	0	0	0	0	0
8475	-1.32	-165.4	957.3	-11.4	412	8479	0.10	2.28	0.00	0.000	6	0.175	0.047	2618	1864	3531	0	0	0	0	0	0
8802	end dive: TARGET_DEPTH_EXCEEDED
state	8802	begin apogee
8808	-0.31	0.0	991.9	10.3	423	8954	1.02	0.00	142.88	1.251	6	0.115	0.000	2944	1559	2862	0	0	0	0	0	0
8955	end apogee: CONTROL_FINISHED_OK
state	8955	begin climb
8957	1.23	165.4	1003.3	0.0	428	9114	1.40	2.53	147.80	1.220	4	0.053	0.060	3458	155	2187	0	0	0	0	0	0
9367	0.94	431.9	1013.3	-0.9	440	9620	0.40	2.25	240.62	1.221	6	0.180	0.043	3351	1566	1100	0	0	0	0	0	0
9956	0.96	455.1	957.3	10.7	460	9982	0.00	2.20	21.55	1.145	4	0.000	0.065	3361	308	1005	0	0	0	0	0	0
10057	0.99	479.7	946.4	10.6	462	10087	0.00	2.03	25.15	1.147	6	0.000	0.047	3362	1558	906	0	0	0	0	0	0
10418	1.04	522.0	909.4	9.8	474	10463	0.00	0.75	41.28	1.167	4	0.000	0.048	3361	2049	732	0	0	0	0	0	0
10536	1.12	574.8	897.7	9.3	477	10591	0.08	0.80	50.80	1.156	6	0.061	0.058	3414	1558	518	0	0	0	0	0	0
11125	1.16	594.7	835.6	10.8	497	11149	0.00	1.77	17.90	1.097	4	0.000	0.067	3422	529	436	0	0	0	0	0	0
11219	1.20	631.0	825.5	10.1	499	11233	0.00	1.67	7.72	0.963	6	0.000	0.049	3422	1567	408	0	0	0	0	0	0
11748	1.25	631.0	763.6	12.2	517	11752	0.08	1.45	0.00	0.000	4	0.123	0.064	3469	704	404	0	0	0	0	0	0
11841	1.25	631.0	750.9	13.6	519	11847	0.05	1.40	0.00	0.000	6	0.151	0.047	3451	1567	403	0	0	0	0	0	0
12369	1.25	631.0	679.7	13.3	537	12373	0.00	2.30	0.00	0.000	4	0.000	0.067	3462	188	403	0	0	0	0	0	0
12441	1.22	631.0	669.9	14.0	539	12446	0.10	2.22	0.00	0.000	6	0.172	0.047	3435	1569	402	0	0	0	0	0	0
12981	1.24	631.0	601.4	12.3	557	12984	0.00	1.80	0.00	0.000	4	0.000	0.066	3444	476	402	0	0	0	0	0	0
13083	1.26	631.0	588.6	12.9	560	13086	0.00	1.73	0.00	0.000	6	0.000	0.048	3444	1560	402	0	0	0	0	0	0
13607	1.26	631.0	523.4	12.9	577	13611	0.00	2.00	0.00	0.000	4	0.000	0.068	3453	360	402	0	0	0	0	0	0
13685	1.26	631.0	513.3	12.2	579	13689	0.00	1.95	0.00	0.000	6	0.000	0.050	3453	1554	401	0	0	0	0	0	0
14229	1.26	631.0	440.9	13.3	597	14234	0.00	2.35	0.00	0.000	4	0.000	0.069	3464	157	401	0	0	0	0	0	0
14409	1.24	631.0	417.0	12.1	602	14413	0.08	2.28	0.00	0.000	6	0.187	0.049	3447	1563	401	0	0	0	0	0	0
14943	1.24	643.7	355.0	11.2	620	14947	0.00	2.38	0.00	0.000	4	0.000	0.069	3457	153	401	0	0	0	0	0	0
15026	1.24	648.7	345.2	11.5	622	15030	0.00	2.30	0.00	0.000	6	0.000	0.049	3457	1568	401	0	0	0	0	0	0
15556	1.24	648.7	283.4	12.6	641	15560	0.00	2.40	0.00	0.000	4	0.000	0.067	3468	150	401	0	0	0	0	0	0
15691	1.21	648.7	265.1	13.4	647	15696	0.12	2.30	0.00	0.000	6	0.160	0.048	3434	1567	401	0	0	0	0	0	0
16216	1.24	648.7	196.5	12.7	673	16220	0.00	2.40	0.00	0.000	4	0.000	0.067	3445	150	401	0	0	0	0	0	0
16329	1.26	648.7	181.9	12.4	680	16333	0.00	2.30	0.00	0.000	6	0.000	0.048	3445	1570	401	0	0	0	0	0	0
16858	1.26	653.7	119.8	11.5	714	16862	0.00	2.30	0.00	0.000	4	0.000	0.066	3456	210	401	0	0	0	0	0	0
16988	1.26	653.7	103.9	12.8	722	16992	0.00	2.17	0.00	0.000	6	0.000	0.047	3455	1562	401	0	0	0	0	0	0
17542	1.28	653.7	30.3	13.4	791	17547	0.00	2.38	0.00	0.000	4	0.000	0.065	3466	157	401	0	0	0	0	0	0
17716	1.25	662.9	9.4	11.3	820	17724	0.05	2.28	0.00	0.000	6	0.150	0.047	3449	1556	401	0	0	0	0	0	0
17772	end climb: SURFACE_DEPTH_REACHED
state	17772	begin surface coast
17797	end surface coast: CONTROL_FINISHED_OK
state	17797	begin surface