Glider dive log

SOSCEx Feb12 * SG573 * Dive index * Mission links * Dive 601 * 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 601 HEADING -1 ROLL_DEG 40 ALTIM_PING_DEPTH 1050

D_SURF 3 ESCAPE_HEADING 0 C_ROLL_DIVE 1860 ALTIM_PING_DELTA 5

D_FLARE 3 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1560 ALTIM_FREQUENCY 13

D_TGT 990 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 15 ALTIM_PULSE 3

D_ABORT 1100 TGT_DEFAULT_LAT -4235 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 TGT_DEFAULT_LON -200 ROLL_TIMEOUT 15 XPDR_VALID 5

D_BOOST 0 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 28 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 200 R_STBD_OVSHOOT 31 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 -6129.0088 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 580

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 580 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 -6129.0088

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 28 VBD_MAX 3959

DEVICE6 -1 MASS 52752 R_STBD_OVSHOOT 31 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 170 SEABIRD_C_G -9.9469662 VBD_MIN 409

DIVE 601 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 140213,205429,-4135.751,-314.808,39,1.8,39,-22.6 TGT_NAME ACC_WP1

_CALLS 3 TGT_LATLONG -4130.000,-323.000

_XMS_NAKs 0 TGT_RADIUS 6000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.275,0.095

_SM_DEPTHo 3.18 KALMAN_X 111235.4,68.8,95.8,-118662.5,3479.2

_SM_ANGLEo -63.6 KALMAN_Y -75956.3,-110.1,-548.4,142057.7,-552.7

GPS2 140213,211305,-4135.836,-314.357,39,1.3,39,-22.6 MHEAD_RNG_PITCHd_Wd 311.6,16142,-19.6,-11.786

SPEED_LIMITS 0.204,0.290 D_GRID 990

Post-dive calculations and measurements:

FINISH 2.5,1.011951 _10V_AH 9.8,77.066

SM_CCo 18285,0.00,0.000,0,0,399,604.41 FG_AHR_24Vo 0.000

SM_GC 3.26,8.80,0.00,0.00,0.029,0.000,0.000,78,1864,399,-9.18,0.11,604.41 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4120.75,-315.90,140213,202022 MEM 354488

TT8_MAMPS 0.026964 DATA_FILE_SIZE 50332,862

HUMID 51.10 CAP_FILE_SIZE 154322,1

INTERNAL_PRESSURE 9.03045 CFSIZE 2097086464,2015133696

TCM_TEMP 15.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2

XPDR_PINGS 1 GPS 150213,022004,-4135.197,-313.479,44,1.9,44,-22.6

_24V_AH 22.2,110.321

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 218 111.20 SBE_CT 579 24 308.77

Roll_motor 95 83 176.92 WL_BB2FLVMT 836 105 1950.79

VBD_pump_during_apogee 699 1252 19450.39 SBE_O2 589 19 248.46

VBD_pump_during_surface 0 0 0.00 QSP2150 72 4 7.08

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 90 103 207.53 nil 0 0 0.00

Iridium_during_connect 152 160 540.82 nil 0 0 0.00

Iridium_during_xfer 515 223 2553.69 nil 0 0 0.00

Transponder_ping 0 420 2.33 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 41 26 11.04

TT8 2195 14 321.95

LPSleep 12733 2 273.30

TT8_Active 675 14 94.12

TT8_Sampling 3393 37 1244.74

TT8_CF8 378 47 175.19

TT8_Kalman 33 59 19.34

Analog_circuits 1904 12 223.96

GPS_charging 0 0 0.00

Compass 2634 15 406.07

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 -6.55 0.000 2 0.000 0.000 83 1860 567 0 0 0 0 0 0

38 -1.23 -165.4 3.0 -0.0 1 189 10.12 1.15 -129.00 0.000 4 0.208 0.083 2641 2558 3538 0 0 0 0 0 0

268 -1.23 -165.4 13.6 -10.5 39 276 0.00 1.12 0.00 0.000 6 0.000 0.052 2641 1857 3539 0 0 0 0 0 0

349 -1.21 -165.4 23.4 -13.3 52 356 0.05 0.00 0.00 0.000 6 0.218 0.000 2653 1857 3540 0 0 0 0 0 0

430 -1.27 -165.4 32.7 -9.5 65 434 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 1856 3540 0 0 0 0 0 0

780 -1.29 -165.4 69.8 -11.5 119 782 0.08 0.00 0.00 0.000 6 0.119 0.000 2607 1856 3539 0 0 0 0 0 0

1202 -1.27 -165.4 129.2 -15.7 153 1207 0.10 2.30 0.00 0.000 4 0.167 0.059 2623 3269 3539 0 0 0 0 0 0

1280 -1.27 -165.4 141.6 -15.0 157 1286 0.00 2.22 0.00 0.000 6 0.000 0.047 2623 1856 3539 0 0 0 0 0 0

1825 -1.27 -165.4 203.4 -10.2 192 1829 0.00 2.28 0.00 0.000 4 0.000 0.059 2613 3264 3539 0 0 0 0 0 0

1915 -1.27 -165.4 213.4 -11.2 196 1920 0.08 2.22 0.00 0.000 6 0.171 0.046 2632 1850 3540 0 0 0 0 0 0

2443 -1.27 -165.4 268.6 -10.2 222 2447 0.00 2.28 0.00 0.000 4 0.000 0.058 2621 3268 3540 0 0 0 0 0 0

2600 -1.27 -165.4 285.3 -10.6 229 2604 0.00 2.22 0.00 0.000 6 0.000 0.046 2622 1856 3539 0 0 0 0 0 0

3139 -1.27 -165.4 347.8 -11.9 249 3143 0.00 0.52 0.00 0.000 4 0.000 0.056 2619 2207 3539 0 0 0 0 0 0

3370 -1.27 -165.4 375.2 -11.7 255 3375 0.03 0.52 0.00 0.000 6 0.163 0.054 2630 1859 3539 0 0 0 0 0 0

3899 -1.31 -165.4 434.8 -10.9 273 3903 0.00 2.25 0.00 0.000 4 0.000 0.059 2619 3265 3538 0 0 0 0 0 0

4066 -1.31 -165.4 452.8 -10.5 278 4070 0.00 2.22 0.00 0.000 6 0.000 0.047 2619 1854 3538 0 0 0 0 0 0

4585 -1.31 -165.4 503.1 -9.5 295 4588 0.00 2.03 0.00 0.000 4 0.000 0.058 2610 3115 3537 0 0 0 0 0 0

4663 -1.31 -165.4 510.7 -9.2 297 4666 0.00 1.98 0.00 0.000 6 0.000 0.047 2610 1859 3537 0 0 0 0 0 0

5207 -1.31 -165.4 564.6 -10.8 315 5211 0.00 2.30 0.00 0.000 4 0.000 0.059 2600 3269 3536 0 0 0 0 0 0

5404 -1.28 -165.4 587.2 -12.1 321 5409 0.12 2.25 0.00 0.000 6 0.151 0.047 2634 1851 3535 0 0 0 0 0 0

5925 -1.33 -165.4 652.4 -12.7 338 5926 0.00 0.00 0.00 0.000 6 0.000 0.000 2635 1851 3534 0 0 0 0 0 0

6444 -1.37 -165.4 713.3 -11.1 355 6448 0.10 0.82 0.00 0.000 4 0.098 0.057 2578 2369 3532 0 0 0 0 0 0

6702 -1.33 -165.4 743.1 -11.4 362 6706 0.10 0.80 0.00 0.000 6 0.141 0.053 2611 1859 3532 0 0 0 0 0 0

7234 -1.33 -165.4 799.8 -10.8 380 7238 0.00 2.30 0.00 0.000 4 0.000 0.061 2601 3273 3530 0 0 0 0 0 0

7346 -1.33 -165.4 812.2 -10.9 383 7351 0.05 2.25 0.00 0.000 6 0.201 0.049 2613 1860 3530 0 0 0 0 0 0

7878 -1.33 -165.4 872.4 -12.0 401 7882 0.00 2.30 0.00 0.000 4 0.000 0.061 2604 3263 3529 0 0 0 0 0 0

7978 -1.33 -165.4 884.8 -12.2 404 7983 0.00 2.25 0.00 0.000 6 0.000 0.050 2604 1860 3528 0 0 0 0 0 0

8498 -1.33 -165.4 949.4 -12.8 421 8499 0.00 0.00 0.00 0.000 6 0.000 0.000 2603 1860 3526 0 0 0 0 0 0

8804 -1.33 -165.4 990.0 -13.2 431 8805 0.00 0.00 0.00 0.000 6 0.000 0.000 2603 1860 3525 0 0 0 0 0 0

8832 end dive: TARGET_DEPTH_EXCEEDED

state 8833 begin apogee

8838 -0.31 0.0 994.0 13.2 432 8984 1.10 0.00 141.95 1.252 6 0.122 0.000 2945 1560 2862 0 0 0 0 0 0

8985 end apogee: CONTROL_FINISHED_OK

state 8985 begin climb

8988 1.23 165.4 1010.4 0.0 437 9145 1.40 0.93 148.30 1.229 4 0.054 0.047 3445 2100 2185 0 0 0 0 0 0

9397 0.99 487.3 1033.6 -3.6 449 9699 0.28 0.88 294.20 1.234 6 0.172 0.055 3371 1556 875 0 0 0 0 0 0

10020 1.02 509.0 982.4 10.8 470 10046 0.00 2.35 20.85 1.151 4 0.000 0.057 3370 2971 786 0 0 0 0 0 0

10149 1.05 509.0 966.6 12.6 473 10153 0.00 2.30 0.00 0.000 6 0.000 0.051 3381 1554 783 0 0 0 0 0 0

10484 1.09 509.0 925.3 12.4 484 10487 0.00 1.10 0.00 0.000 4 0.000 0.063 3385 888 781 0 0 0 0 0 0

10573 1.13 509.0 914.0 12.9 486 10578 0.03 1.08 0.00 0.000 6 0.097 0.047 3413 1555 780 0 0 0 0 0 0

10892 1.13 509.0 873.8 12.4 497 10895 0.00 1.27 0.00 0.000 4 0.000 0.065 3419 797 780 0 0 0 0 0 0

10975 1.13 509.4 863.3 11.8 499 10979 0.00 1.23 0.00 0.000 6 0.000 0.048 3419 1558 780 0 0 0 0 0 0

11514 1.13 525.9 802.0 11.0 517 11535 0.00 2.08 16.42 1.080 4 0.000 0.067 3429 369 717 0 0 0 0 0 0

11621 1.10 525.9 789.8 12.1 520 11625 0.12 1.92 0.00 0.000 6 0.164 0.047 3397 1566 715 0 0 0 0 0 0

12166 1.13 530.7 727.8 11.6 538 12175 0.00 0.55 5.43 0.815 4 0.000 0.061 3398 1231 698 0 0 0 0 0 0

12244 1.16 544.8 718.9 11.1 540 12265 0.00 0.52 15.98 1.035 6 0.000 0.054 3398 1564 639 0 0 0 0 0 0

12788 1.21 553.2 656.7 11.4 558 12803 0.10 1.10 8.55 0.915 4 0.102 0.065 3452 931 606 0 0 0 0 0 0

12900 1.17 553.2 643.2 12.0 561 12904 0.08 1.02 0.00 0.000 6 0.148 0.047 3426 1565 605 0 0 0 0 0 0

13445 1.17 583.5 585.1 10.3 579 13479 0.00 1.52 30.05 1.004 4 0.000 0.063 3433 651 483 0 0 0 0 0 0

13577 1.18 620.2 571.6 10.0 583 13601 0.00 1.48 17.90 0.954 6 0.000 0.050 3433 1551 409 0 0 0 0 0 0

14130 1.20 620.2 507.3 12.8 601 14134 0.00 2.38 0.00 0.000 4 0.000 0.069 3443 150 401 0 0 0 0 0 0

14259 1.20 620.2 489.4 14.8 605 14263 0.00 2.30 0.00 0.000 6 0.000 0.049 3443 1571 401 0 0 0 0 0 0

14777 1.20 620.2 414.1 15.0 622 14782 0.00 2.38 0.00 0.000 4 0.000 0.068 3454 156 400 0 0 0 0 0 0

14979 1.20 620.2 383.8 15.2 628 14984 0.10 2.28 0.00 0.000 6 0.161 0.048 3428 1565 400 0 0 0 0 0 0

15525 1.24 640.0 316.4 10.8 646 15530 0.00 2.38 0.00 0.000 4 0.000 0.068 3439 153 400 0 0 0 0 0 0

15657 1.24 669.2 302.6 10.4 650 15662 0.00 2.30 0.00 0.000 6 0.000 0.049 3439 1571 400 0 0 0 0 0 0

16182 1.24 686.4 248.8 11.0 675 16186 0.00 2.40 0.00 0.000 4 0.000 0.067 3450 153 400 0 0 0 0 0 0

16316 1.24 686.4 233.0 12.6 681 16320 0.00 2.28 0.00 0.000 6 0.000 0.048 3450 1563 400 0 0 0 0 0 0

16854 1.24 686.4 162.5 14.4 711 16858 0.00 2.38 0.00 0.000 4 0.000 0.066 3461 157 400 0 0 0 0 0 0

17021 1.24 686.4 138.0 16.9 721 17026 0.08 2.28 0.00 0.000 6 0.179 0.047 3442 1567 400 0 0 0 0 0 0

17552 1.24 692.0 73.4 11.5 762 17556 0.00 2.35 0.00 0.000 4 0.000 0.065 3453 158 399 0 0 0 0 0 0

17737 1.24 712.9 52.4 10.8 783 17742 0.00 2.28 0.00 0.000 6 0.000 0.047 3453 1568 400 0 0 0 0 0 0

18010 1.21 627.8 21.9 10.5 830 18018 0.08 2.40 0.00 0.000 4 0.190 0.065 3445 160 400 0 0 0 0 0 0

18173 end climb: SURFACE_DEPTH_REACHED

state 18173 begin surface coast

18204 end surface coast: CONTROL_FINISHED_OK

state 18204 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	601	HEADING	-1	ROLL_DEG	40	ALTIM_PING_DEPTH	1050
D_SURF	3	ESCAPE_HEADING	0	C_ROLL_DIVE	1860	ALTIM_PING_DELTA	5
D_FLARE	3	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1560	ALTIM_FREQUENCY	13
D_TGT	990	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	15	ALTIM_PULSE	3
D_ABORT	1100	TGT_DEFAULT_LAT	-4235	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	TGT_DEFAULT_LON	-200	ROLL_TIMEOUT	15	XPDR_VALID	5
D_BOOST	0	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	28	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	200	R_STBD_OVSHOOT	31	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	-6129.0088	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	580

GPS1	140213,205429,-4135.751,-314.808,39,1.8,39,-22.6	TGT_NAME	ACC_WP1
_CALLS	3	TGT_LATLONG	-4130.000,-323.000
_XMS_NAKs	0	TGT_RADIUS	6000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.275,0.095
_SM_DEPTHo	3.18	KALMAN_X	111235.4,68.8,95.8,-118662.5,3479.2
_SM_ANGLEo	-63.6	KALMAN_Y	-75956.3,-110.1,-548.4,142057.7,-552.7
GPS2	140213,211305,-4135.836,-314.357,39,1.3,39,-22.6	MHEAD_RNG_PITCHd_Wd	311.6,16142,-19.6,-11.786
SPEED_LIMITS	0.204,0.290	D_GRID	990

FINISH	2.5,1.011951	_10V_AH	9.8,77.066
SM_CCo	18285,0.00,0.000,0,0,399,604.41	FG_AHR_24Vo	0.000
SM_GC	3.26,8.80,0.00,0.00,0.029,0.000,0.000,78,1864,399,-9.18,0.11,604.41	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4120.75,-315.90,140213,202022	MEM	354488
TT8_MAMPS	0.026964	DATA_FILE_SIZE	50332,862
HUMID	51.10	CAP_FILE_SIZE	154322,1
INTERNAL_PRESSURE	9.03045	CFSIZE	2097086464,2015133696
TCM_TEMP	15.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
XPDR_PINGS	1	GPS	150213,022004,-4135.197,-313.479,44,1.9,44,-22.6
_24V_AH	22.2,110.321

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	218	111.20	SBE_CT	579	24	308.77
Roll_motor	95	83	176.92	WL_BB2FLVMT	836	105	1950.79
VBD_pump_during_apogee	699	1252	19450.39	SBE_O2	589	19	248.46
VBD_pump_during_surface	0	0	0.00	QSP2150	72	4	7.08
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	90	103	207.53	nil	0	0	0.00
Iridium_during_connect	152	160	540.82	nil	0	0	0.00
Iridium_during_xfer	515	223	2553.69	nil	0	0	0.00
Transponder_ping	0	420	2.33	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	41	26	11.04
TT8	2195	14	321.95
LPSleep	12733	2	273.30
TT8_Active	675	14	94.12
TT8_Sampling	3393	37	1244.74
TT8_CF8	378	47	175.19
TT8_Kalman	33	59	19.34
Analog_circuits	1904	12	223.96
GPS_charging	0	0	0.00
Compass	2634	15	406.07
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	-6.55	0.000	2	0.000	0.000	83	1860	567	0	0	0	0	0	0
38	-1.23	-165.4	3.0	-0.0	1	189	10.12	1.15	-129.00	0.000	4	0.208	0.083	2641	2558	3538	0	0	0	0	0	0
268	-1.23	-165.4	13.6	-10.5	39	276	0.00	1.12	0.00	0.000	6	0.000	0.052	2641	1857	3539	0	0	0	0	0	0
349	-1.21	-165.4	23.4	-13.3	52	356	0.05	0.00	0.00	0.000	6	0.218	0.000	2653	1857	3540	0	0	0	0	0	0
430	-1.27	-165.4	32.7	-9.5	65	434	0.00	0.00	0.00	0.000	6	0.000	0.000	2653	1856	3540	0	0	0	0	0	0
780	-1.29	-165.4	69.8	-11.5	119	782	0.08	0.00	0.00	0.000	6	0.119	0.000	2607	1856	3539	0	0	0	0	0	0
1202	-1.27	-165.4	129.2	-15.7	153	1207	0.10	2.30	0.00	0.000	4	0.167	0.059	2623	3269	3539	0	0	0	0	0	0
1280	-1.27	-165.4	141.6	-15.0	157	1286	0.00	2.22	0.00	0.000	6	0.000	0.047	2623	1856	3539	0	0	0	0	0	0
1825	-1.27	-165.4	203.4	-10.2	192	1829	0.00	2.28	0.00	0.000	4	0.000	0.059	2613	3264	3539	0	0	0	0	0	0
1915	-1.27	-165.4	213.4	-11.2	196	1920	0.08	2.22	0.00	0.000	6	0.171	0.046	2632	1850	3540	0	0	0	0	0	0
2443	-1.27	-165.4	268.6	-10.2	222	2447	0.00	2.28	0.00	0.000	4	0.000	0.058	2621	3268	3540	0	0	0	0	0	0
2600	-1.27	-165.4	285.3	-10.6	229	2604	0.00	2.22	0.00	0.000	6	0.000	0.046	2622	1856	3539	0	0	0	0	0	0
3139	-1.27	-165.4	347.8	-11.9	249	3143	0.00	0.52	0.00	0.000	4	0.000	0.056	2619	2207	3539	0	0	0	0	0	0
3370	-1.27	-165.4	375.2	-11.7	255	3375	0.03	0.52	0.00	0.000	6	0.163	0.054	2630	1859	3539	0	0	0	0	0	0
3899	-1.31	-165.4	434.8	-10.9	273	3903	0.00	2.25	0.00	0.000	4	0.000	0.059	2619	3265	3538	0	0	0	0	0	0
4066	-1.31	-165.4	452.8	-10.5	278	4070	0.00	2.22	0.00	0.000	6	0.000	0.047	2619	1854	3538	0	0	0	0	0	0
4585	-1.31	-165.4	503.1	-9.5	295	4588	0.00	2.03	0.00	0.000	4	0.000	0.058	2610	3115	3537	0	0	0	0	0	0
4663	-1.31	-165.4	510.7	-9.2	297	4666	0.00	1.98	0.00	0.000	6	0.000	0.047	2610	1859	3537	0	0	0	0	0	0
5207	-1.31	-165.4	564.6	-10.8	315	5211	0.00	2.30	0.00	0.000	4	0.000	0.059	2600	3269	3536	0	0	0	0	0	0
5404	-1.28	-165.4	587.2	-12.1	321	5409	0.12	2.25	0.00	0.000	6	0.151	0.047	2634	1851	3535	0	0	0	0	0	0
5925	-1.33	-165.4	652.4	-12.7	338	5926	0.00	0.00	0.00	0.000	6	0.000	0.000	2635	1851	3534	0	0	0	0	0	0
6444	-1.37	-165.4	713.3	-11.1	355	6448	0.10	0.82	0.00	0.000	4	0.098	0.057	2578	2369	3532	0	0	0	0	0	0
6702	-1.33	-165.4	743.1	-11.4	362	6706	0.10	0.80	0.00	0.000	6	0.141	0.053	2611	1859	3532	0	0	0	0	0	0
7234	-1.33	-165.4	799.8	-10.8	380	7238	0.00	2.30	0.00	0.000	4	0.000	0.061	2601	3273	3530	0	0	0	0	0	0
7346	-1.33	-165.4	812.2	-10.9	383	7351	0.05	2.25	0.00	0.000	6	0.201	0.049	2613	1860	3530	0	0	0	0	0	0
7878	-1.33	-165.4	872.4	-12.0	401	7882	0.00	2.30	0.00	0.000	4	0.000	0.061	2604	3263	3529	0	0	0	0	0	0
7978	-1.33	-165.4	884.8	-12.2	404	7983	0.00	2.25	0.00	0.000	6	0.000	0.050	2604	1860	3528	0	0	0	0	0	0
8498	-1.33	-165.4	949.4	-12.8	421	8499	0.00	0.00	0.00	0.000	6	0.000	0.000	2603	1860	3526	0	0	0	0	0	0
8804	-1.33	-165.4	990.0	-13.2	431	8805	0.00	0.00	0.00	0.000	6	0.000	0.000	2603	1860	3525	0	0	0	0	0	0
8832	end dive: TARGET_DEPTH_EXCEEDED
state	8833	begin apogee
8838	-0.31	0.0	994.0	13.2	432	8984	1.10	0.00	141.95	1.252	6	0.122	0.000	2945	1560	2862	0	0	0	0	0	0
8985	end apogee: CONTROL_FINISHED_OK
state	8985	begin climb
8988	1.23	165.4	1010.4	0.0	437	9145	1.40	0.93	148.30	1.229	4	0.054	0.047	3445	2100	2185	0	0	0	0	0	0
9397	0.99	487.3	1033.6	-3.6	449	9699	0.28	0.88	294.20	1.234	6	0.172	0.055	3371	1556	875	0	0	0	0	0	0
10020	1.02	509.0	982.4	10.8	470	10046	0.00	2.35	20.85	1.151	4	0.000	0.057	3370	2971	786	0	0	0	0	0	0
10149	1.05	509.0	966.6	12.6	473	10153	0.00	2.30	0.00	0.000	6	0.000	0.051	3381	1554	783	0	0	0	0	0	0
10484	1.09	509.0	925.3	12.4	484	10487	0.00	1.10	0.00	0.000	4	0.000	0.063	3385	888	781	0	0	0	0	0	0
10573	1.13	509.0	914.0	12.9	486	10578	0.03	1.08	0.00	0.000	6	0.097	0.047	3413	1555	780	0	0	0	0	0	0
10892	1.13	509.0	873.8	12.4	497	10895	0.00	1.27	0.00	0.000	4	0.000	0.065	3419	797	780	0	0	0	0	0	0
10975	1.13	509.4	863.3	11.8	499	10979	0.00	1.23	0.00	0.000	6	0.000	0.048	3419	1558	780	0	0	0	0	0	0
11514	1.13	525.9	802.0	11.0	517	11535	0.00	2.08	16.42	1.080	4	0.000	0.067	3429	369	717	0	0	0	0	0	0
11621	1.10	525.9	789.8	12.1	520	11625	0.12	1.92	0.00	0.000	6	0.164	0.047	3397	1566	715	0	0	0	0	0	0
12166	1.13	530.7	727.8	11.6	538	12175	0.00	0.55	5.43	0.815	4	0.000	0.061	3398	1231	698	0	0	0	0	0	0
12244	1.16	544.8	718.9	11.1	540	12265	0.00	0.52	15.98	1.035	6	0.000	0.054	3398	1564	639	0	0	0	0	0	0
12788	1.21	553.2	656.7	11.4	558	12803	0.10	1.10	8.55	0.915	4	0.102	0.065	3452	931	606	0	0	0	0	0	0
12900	1.17	553.2	643.2	12.0	561	12904	0.08	1.02	0.00	0.000	6	0.148	0.047	3426	1565	605	0	0	0	0	0	0
13445	1.17	583.5	585.1	10.3	579	13479	0.00	1.52	30.05	1.004	4	0.000	0.063	3433	651	483	0	0	0	0	0	0
13577	1.18	620.2	571.6	10.0	583	13601	0.00	1.48	17.90	0.954	6	0.000	0.050	3433	1551	409	0	0	0	0	0	0
14130	1.20	620.2	507.3	12.8	601	14134	0.00	2.38	0.00	0.000	4	0.000	0.069	3443	150	401	0	0	0	0	0	0
14259	1.20	620.2	489.4	14.8	605	14263	0.00	2.30	0.00	0.000	6	0.000	0.049	3443	1571	401	0	0	0	0	0	0
14777	1.20	620.2	414.1	15.0	622	14782	0.00	2.38	0.00	0.000	4	0.000	0.068	3454	156	400	0	0	0	0	0	0
14979	1.20	620.2	383.8	15.2	628	14984	0.10	2.28	0.00	0.000	6	0.161	0.048	3428	1565	400	0	0	0	0	0	0
15525	1.24	640.0	316.4	10.8	646	15530	0.00	2.38	0.00	0.000	4	0.000	0.068	3439	153	400	0	0	0	0	0	0
15657	1.24	669.2	302.6	10.4	650	15662	0.00	2.30	0.00	0.000	6	0.000	0.049	3439	1571	400	0	0	0	0	0	0
16182	1.24	686.4	248.8	11.0	675	16186	0.00	2.40	0.00	0.000	4	0.000	0.067	3450	153	400	0	0	0	0	0	0
16316	1.24	686.4	233.0	12.6	681	16320	0.00	2.28	0.00	0.000	6	0.000	0.048	3450	1563	400	0	0	0	0	0	0
16854	1.24	686.4	162.5	14.4	711	16858	0.00	2.38	0.00	0.000	4	0.000	0.066	3461	157	400	0	0	0	0	0	0
17021	1.24	686.4	138.0	16.9	721	17026	0.08	2.28	0.00	0.000	6	0.179	0.047	3442	1567	400	0	0	0	0	0	0
17552	1.24	692.0	73.4	11.5	762	17556	0.00	2.35	0.00	0.000	4	0.000	0.065	3453	158	399	0	0	0	0	0	0
17737	1.24	712.9	52.4	10.8	783	17742	0.00	2.28	0.00	0.000	6	0.000	0.047	3453	1568	400	0	0	0	0	0	0
18010	1.21	627.8	21.9	10.5	830	18018	0.08	2.40	0.00	0.000	4	0.190	0.065	3445	160	400	0	0	0	0	0	0
18173	end climb: SURFACE_DEPTH_REACHED
state	18173	begin surface coast
18204	end surface coast: CONTROL_FINISHED_OK
state	18204	begin surface