Glider dive log

SOSCEx Dec13 * SG574 * Dive index * Mission links * Dive 109 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 574 HD_B 0.010078 ROLL_MIN 160 ALTIM_TOP_TURN_MARGIN 0

MISSION 8 HD_C 9.8500004e-06 ROLL_MAX 3798 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 109 HEADING -1 ROLL_DEG 40 ALTIM_PING_DEPTH 1000

D_SURF 3 ESCAPE_HEADING 0 C_ROLL_DIVE 1910 ALTIM_PING_DELTA 5

D_FLARE 3 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1820 ALTIM_FREQUENCY 13

D_TGT 990 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 15 ALTIM_PULSE 3

D_ABORT 1020 TGT_DEFAULT_LAT -4200 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

D_NO_BLEED 200 TGT_DEFAULT_LON -900 ROLL_TIMEOUT 15 XPDR_VALID 5

D_BOOST 0 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 66 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 210 R_STBD_OVSHOOT 42 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST_BLACKOUT 0 N_FILEKB 4 ROLL_AD_RATE 350 INT_PRESSURE_YINT -1.812

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 396 DEVICE2 115

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE3 20

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 C_VBD 2600 DEVICE4 134

T_DIVE 350 CALL_TRIES 5 VBD_DBAND 2 DEVICE5 -1

T_MISSION 390 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE6 -1

T_ABORT 720 CAPUPLOAD 0 VBD_TIMEOUT 720 LOGGERS 7

T_TURN 225 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 4.9999999e-05 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 4 LOGGERDEVICE2 -1

T_NO_W 120 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 3 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 -15161.42 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 150 PITCH_MIN 92 FG_AHR_10V 0 SIM_PITCH 0

COURSE_BIAS 0 PITCH_MAX 3858 FG_AHR_24V 0 SEABIRD_T_G 0.0043017557

GLIDE_SLOPE 30 C_PITCH 3032 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062339538

SPEED_FACTOR 1 PITCH_DBAND 0.0099999998 PRESSURE_YINT -58.423965 SEABIRD_T_I 2.3377639e-05

RHO 1.0278 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011710486 SEABIRD_T_J 2.5612862e-06

MASS 53599 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_C_G -9.9136524

LENGTH 1.8 PITCH_GAIN 31 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1456692

NAV_MODE 1 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00078246131

DIRECT_CONTROL 0 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_J 0.00012677554

FERRY_MAX 45 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 EBE_ENABLE 0

KALMAN_USE 2 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 0 GC_WINDOW 20

HD_A 0.0038360001 PITCH_ADJ_DBAND 13 ALTIM_BOTTOM_TURN_MARGIN 20 GC_LAST_COLLECTION 88

AD7714Ch0Gain 128 D_NO_BLEED 200 N_GPS 20 SEABIRD_T_J 2.5612862e-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 210

ALTIM_BOTTOM_TURN_MARGIN 20 D_SURF 3 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_ADJ_DBAND 13 STROBE 0

ALTIM_PING_DELTA 5 EBE_ENABLE 0 PITCH_ADJ_GAIN 0.02 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 1000 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 2 FERRY_MAX 45 PITCH_DBAND 0.0099999998 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_GAIN 31 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 -4200

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PITCH_MIN 92 TGT_DEFAULT_LON -900

CALL_NDIVES 1 GC_LAST_COLLECTION 88 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 0.00011710486 T_BOOST_BLACKOUT 0

CAPMAXSIZE 100000 GPS_DEVICE 32 PRESSURE_YINT -58.423965 T_DIVE 350

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 -15161.42

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 390

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 3032 ID 574 ROLL_ADJ_DBAND 0 T_TURN 225

C_ROLL_CLIMB 1820 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_DIVE 1910 INT_PRESSURE_YINT -1.812 ROLL_AD_RATE 350 T_WATCHDOG 10

C_VBD 2600 KALMAN_USE 2 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 3798 USE_ICE 0

DEVICE2 115 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE3 20 LOGGERDEVICE3 -1 ROLL_MIN 160 VBD_CNV -0.245296

DEVICE4 134 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE5 -1 LOGGERS 7 R_PORT_OVSHOOT 66 VBD_MAX 3960

DEVICE6 -1 MASS 53599 R_STBD_OVSHOOT 42 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 150 SEABIRD_C_G -9.9136524 VBD_MIN 396

DIVE 109 MINV_10V 8 SEABIRD_C_H 1.1456692 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 1020 MINV_24V 20 SEABIRD_C_I -0.00078246131 VBD_PUMP_AD_RATE_SURFACE 4

D_BOOST 0 MISSION 8 SEABIRD_C_J 0.00012677554 VBD_TIMEOUT 720

D_CALL 0 MOTHERBOARD 4 SEABIRD_T_G 0.0043017557 XPDR_DEVICE 24

D_FINISH 0 NAV_MODE 1 SEABIRD_T_H 0.00062339538 XPDR_INHIBIT 90

D_FLARE 3 N_FILEKB 4 SEABIRD_T_I 2.3377639e-05 XPDR_VALID 5

Pre-dive calculations and measurements:

GPS1 221213,062801,-5458.987,1.834,70,0.8,70,-20.3 TGT_NAME SBY

_CALLS 1 TGT_LATLONG -5500.000,0.000

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.89 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -73.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 221213,063515,-5458.980,1.924,28,0.8,28,-20.3 MHEAD_RNG_PITCHd_Wd 247.6,2782,-27.8,-9.429

SPEED_LIMITS 0.163,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.9,1.027206 _10V_AH 10.1,39.092

SM_CCo 13146,61.30,0.998,0,0,1744,210.22 FG_AHR_24Vo 0.000

SM_GC 3.00,0.00,0.00,61.30,0.000,0.000,0.998,73,1977,1744,-9.20,1.67,210.22 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5442.29,3.75,221213,020236 MEM 354664

TT8_MAMPS 0.026964 DATA_FILE_SIZE 53681,954

HUMID 62.95 CAP_FILE_SIZE 124100,0

INTERNAL_PRESSURE 9.04779 CFSIZE 2097086464,2080669696

TCM_TEMP 4.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 221213,101735,-5459.755,-0.070,75,0.9,75,-20.2

_24V_AH 21.7,54.000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 279 147.03 SBE_CT 682 24 355.58

Roll_motor 35 65 50.97 WL_BB2FLVMT 683 105 1557.61

VBD_pump_during_apogee 251 1578 8607.83 SBE_O2 641 19 264.30

VBD_pump_during_surface 61 998 1327.98 QSP2150 61 4 5.85

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 65.68 nil 0 0 0.00

Iridium_during_connect 28 160 99.59 nil 0 0 0.00

Iridium_during_xfer 251 223 1214.93 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 31 26 8.48

TT8 2394 14 361.80

LPSleep 8005 2 177.06

TT8_Active 388 14 55.73

TT8_Sampling 2720 37 1028.37

TT8_CF8 139 47 66.25

TT8_Kalman 0 0 0.00

Analog_circuits 1438 12 174.32

GPS_charging 0 0 0.00

Compass 2357 15 374.51

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

24 -0.90 -57.8 0.0 0.0 0 46 0.00 0.00 -20.23 0.000 2 0.000 0.000 67 1973 2086 0 0 0 0 0 0

48 -0.90 -135.3 3.0 -1.0 3 139 12.68 0.00 -69.97 0.000 6 0.280 0.000 2730 1980 3151 0 0 0 0 0 0

189 -0.90 -135.3 9.3 -16.9 26 196 0.00 1.00 0.00 0.000 4 0.000 0.037 2726 2623 3151 0 0 0 0 0 0

329 -0.90 -135.3 36.8 -18.3 50 337 0.00 1.08 0.00 0.000 6 0.000 0.032 2726 1921 3151 0 0 0 0 0 0

474 -0.90 -135.3 65.7 -19.2 75 480 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 1921 3152 0 0 0 0 0 0

812 -0.90 -135.3 126.1 -16.9 122 816 0.00 0.62 0.00 0.000 4 0.000 0.035 2724 2361 3152 0 0 0 0 0 0

1054 -0.90 -135.3 164.7 -15.2 143 1061 0.08 0.70 0.00 0.000 6 0.225 0.035 2737 1888 3152 0 0 0 0 0 0

1379 -0.90 -135.3 210.0 -14.2 174 1381 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 1888 3152 0 0 0 0 0 0

1699 -0.90 -135.3 255.2 -14.9 204 1702 0.00 0.40 0.00 0.000 4 0.000 0.053 2737 1607 3152 0 0 0 0 0 0

1915 -0.90 -135.3 287.1 -15.4 223 1919 0.00 0.45 0.00 0.000 6 0.000 0.034 2737 1951 3152 0 0 0 0 0 0

2245 -0.90 -135.3 337.8 -15.1 254 2249 0.00 0.47 0.00 0.000 4 0.000 0.041 2737 1631 3152 0 0 0 0 0 0

2393 -0.90 -135.3 360.6 -15.3 267 2396 0.00 0.35 0.00 0.000 6 0.000 0.037 2737 1891 3152 0 0 0 0 0 0

2721 -0.90 -135.3 409.1 -14.3 295 2724 0.00 0.52 0.00 0.000 4 0.000 0.041 2734 2278 3152 0 0 0 0 0 0

2811 -0.90 -135.3 421.6 -13.8 299 2814 0.00 0.52 0.00 0.000 6 0.000 0.039 2733 1911 3152 0 0 0 0 0 0

3143 -0.90 -135.3 467.4 -13.5 315 3144 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 1910 3152 0 0 0 0 0 0

3452 -0.90 -135.3 509.6 -13.7 330 3456 0.00 0.93 0.00 0.000 4 0.000 0.047 2734 1315 3152 0 0 0 0 0 0

3569 -0.90 -135.3 526.2 -14.1 335 3573 0.00 0.90 0.00 0.000 6 0.000 0.028 2730 1919 3153 0 0 0 0 0 0

3896 -0.90 -135.3 570.4 -13.4 351 3897 0.00 0.00 0.00 0.000 6 0.000 0.000 2730 1919 3153 0 0 0 0 0 0

4205 -0.90 -135.3 612.0 -13.3 366 4209 0.00 0.68 0.00 0.000 4 0.000 0.039 2727 2394 3153 0 0 0 0 0 0

4299 -0.90 -135.3 624.3 -12.5 370 4303 0.00 0.73 0.00 0.000 6 0.000 0.035 2727 1912 3153 0 0 0 0 0 0

4626 -0.90 -135.3 663.6 -11.6 386 4630 0.00 0.88 0.00 0.000 4 0.000 0.047 2727 1347 3153 0 0 0 0 0 0

4731 -0.90 -135.3 676.9 -12.0 390 4738 0.08 0.85 0.00 0.000 6 0.226 0.027 2737 1924 3153 0 0 0 0 0 0

5047 -0.90 -135.3 713.6 -11.8 406 5048 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 1924 3153 0 0 0 0 0 0

5356 -0.90 -135.3 749.6 -11.5 421 5358 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 1924 3154 0 0 0 0 0 0

5666 -0.90 -135.3 786.1 -11.8 436 5667 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 1926 3154 0 0 0 0 0 0

5975 -0.90 -135.3 823.2 -12.0 451 5979 0.00 0.35 0.00 0.000 4 0.000 0.044 2737 2205 3154 0 0 0 0 0 0

6119 -0.90 -135.3 841.1 -12.0 457 6124 0.00 0.45 0.00 0.000 6 0.000 0.040 2737 1893 3154 0 0 0 0 0 0

6441 -0.90 -135.3 882.1 -13.5 473 6442 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 1894 3154 0 0 0 0 0 0

6750 -0.90 -135.3 921.1 -12.5 488 6754 0.00 0.77 0.00 0.000 4 0.000 0.048 2737 1389 3154 0 0 0 0 0 0

6889 -0.90 -135.3 939.9 -12.7 494 6894 0.00 0.77 0.00 0.000 6 0.000 0.028 2734 1916 3155 0 0 0 0 0 0

7216 -0.90 -135.3 980.1 -12.3 510 7218 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 1916 3155 0 0 0 0 0 0

7297 end dive: TARGET_DEPTH_EXCEEDED

state 7297 begin apogee

7302 -0.16 0.0 990.1 12.0 514 7424 0.90 0.00 118.75 1.579 6 0.181 0.000 2973 1792 2601 0 0 0 0 0 0

7425 end apogee: CONTROL_FINISHED_OK

state 7425 begin climb

7427 0.90 135.3 992.6 0.0 520 7569 1.15 0.85 132.48 1.506 4 0.106 0.050 3320 1322 2047 0 0 0 0 0 0

7707 0.90 135.3 951.0 18.1 533 7712 0.00 0.77 0.00 0.000 6 0.000 0.024 3320 1805 2040 0 0 0 0 0 0

8035 0.90 135.3 892.6 18.2 549 8038 0.00 0.98 0.00 0.000 4 0.000 0.047 3323 1220 2036 0 0 0 0 0 0

8151 0.90 135.3 871.8 16.5 554 8155 0.00 0.95 0.00 0.000 6 0.000 0.025 3323 1840 2035 0 0 0 0 0 0

8478 0.90 135.3 812.8 18.7 570 8482 0.00 0.75 0.00 0.000 4 0.000 0.044 3325 1372 2034 0 0 0 0 0 0

8690 0.90 135.3 772.5 18.4 579 8694 0.00 0.68 0.00 0.000 6 0.000 0.028 3325 1834 2034 0 0 0 0 0 0

9011 0.90 135.3 710.6 19.4 595 9015 0.00 1.08 0.00 0.000 4 0.000 0.047 3329 1171 2034 0 0 0 0 0 0

9184 0.90 135.3 676.5 19.0 602 9190 0.00 0.98 0.00 0.000 6 0.000 0.025 3329 1832 2033 0 0 0 0 0 0

9500 0.90 135.3 614.4 19.5 618 9503 0.00 1.33 0.00 0.000 4 0.000 0.049 3334 1020 2033 0 0 0 0 0 0

9658 0.90 135.3 583.2 19.8 625 9662 0.00 1.17 0.00 0.000 6 0.000 0.025 3334 1812 2033 0 0 0 0 0 0

9990 0.90 135.3 518.9 19.0 641 9994 0.00 0.75 0.00 0.000 4 0.000 0.044 3337 1338 2033 0 0 0 0 0 0

10224 0.90 135.3 474.9 19.5 651 10229 0.05 0.73 0.00 0.000 6 0.236 0.026 3327 1826 2033 0 0 0 0 0 0

10545 0.90 135.3 418.7 17.6 667 10549 0.00 1.27 0.00 0.000 4 0.000 0.048 3331 1040 2033 0 0 0 0 0 0

10662 0.90 135.3 397.6 18.5 672 10670 0.00 1.17 0.00 0.000 6 0.000 0.024 3331 1824 2033 0 0 0 0 0 0

10987 0.90 135.3 341.7 16.6 703 10988 0.00 0.00 0.00 0.000 6 0.000 0.000 3331 1824 2033 0 0 0 0 0 0

11310 0.90 135.3 290.4 16.1 733 11314 0.00 1.42 0.00 0.000 4 0.000 0.049 3337 944 2033 0 0 0 0 0 0

11438 0.90 135.3 268.3 16.9 744 11447 0.03 1.33 0.00 0.000 6 0.273 0.024 3327 1821 2033 0 0 0 0 0 0

11763 0.90 135.3 213.9 17.4 775 11767 0.00 0.38 0.00 0.000 4 0.000 0.045 3327 1565 2033 0 0 0 0 0 0

12025 0.90 135.3 167.7 17.5 798 12029 0.00 0.32 0.00 0.000 6 0.000 0.036 3327 1812 2033 0 0 0 0 0 0

12358 0.90 135.3 114.0 15.1 829 12362 0.00 0.38 0.00 0.000 4 0.000 0.043 3327 2109 2033 0 0 0 0 0 0

12437 0.90 135.3 101.0 16.2 836 12441 0.00 0.38 0.00 0.000 6 0.000 0.044 3328 1840 2033 0 0 0 0 0 0

12785 0.90 135.3 50.4 12.6 896 12790 0.00 2.28 0.00 0.000 4 0.000 0.059 3339 437 2033 0 0 0 0 0 0

13022 0.90 135.3 16.3 15.7 937 13029 0.03 2.10 0.00 0.000 6 0.197 0.028 3330 1809 2033 0 0 0 0 0 0

13079 0.90 135.3 8.2 14.9 946 13086 0.00 0.00 0.00 0.000 6 0.000 0.000 3329 1809 2033 0 0 0 0 0 0

13110 end climb: SURFACE_DEPTH_REACHED

state 13110 begin surface coast

13130 end surface coast: CONTROL_FINISHED_OK

state 13130 begin surface

ID	574	HD_B	0.010078	ROLL_MIN	160	ALTIM_TOP_TURN_MARGIN	0
MISSION	8	HD_C	9.8500004e-06	ROLL_MAX	3798	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	109	HEADING	-1	ROLL_DEG	40	ALTIM_PING_DEPTH	1000
D_SURF	3	ESCAPE_HEADING	0	C_ROLL_DIVE	1910	ALTIM_PING_DELTA	5
D_FLARE	3	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1820	ALTIM_FREQUENCY	13
D_TGT	990	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	15	ALTIM_PULSE	3
D_ABORT	1020	TGT_DEFAULT_LAT	-4200	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
D_NO_BLEED	200	TGT_DEFAULT_LON	-900	ROLL_TIMEOUT	15	XPDR_VALID	5
D_BOOST	0	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	66	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	210	R_STBD_OVSHOOT	42	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST_BLACKOUT	0	N_FILEKB	4	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-1.812
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	396	DEVICE2	115
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE3	20
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	C_VBD	2600	DEVICE4	134
T_DIVE	350	CALL_TRIES	5	VBD_DBAND	2	DEVICE5	-1
T_MISSION	390	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE6	-1
T_ABORT	720	CAPUPLOAD	0	VBD_TIMEOUT	720	LOGGERS	7
T_TURN	225	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	4.9999999e-05	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	4	LOGGERDEVICE2	-1
T_NO_W	120	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	3	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	-15161.42	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	150	PITCH_MIN	92	FG_AHR_10V	0	SIM_PITCH	0
COURSE_BIAS	0	PITCH_MAX	3858	FG_AHR_24V	0	SEABIRD_T_G	0.0043017557
GLIDE_SLOPE	30	C_PITCH	3032	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062339538
SPEED_FACTOR	1	PITCH_DBAND	0.0099999998	PRESSURE_YINT	-58.423965	SEABIRD_T_I	2.3377639e-05
RHO	1.0278	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011710486	SEABIRD_T_J	2.5612862e-06
MASS	53599	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_C_G	-9.9136524
LENGTH	1.8	PITCH_GAIN	31	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1456692
NAV_MODE	1	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00078246131
DIRECT_CONTROL	0	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_J	0.00012677554
FERRY_MAX	45	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	EBE_ENABLE	0
KALMAN_USE	2	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	0	GC_WINDOW	20
HD_A	0.0038360001	PITCH_ADJ_DBAND	13	ALTIM_BOTTOM_TURN_MARGIN	20	GC_LAST_COLLECTION	88

GPS1	221213,062801,-5458.987,1.834,70,0.8,70,-20.3	TGT_NAME	SBY
_CALLS	1	TGT_LATLONG	-5500.000,0.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.89	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-73.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	221213,063515,-5458.980,1.924,28,0.8,28,-20.3	MHEAD_RNG_PITCHd_Wd	247.6,2782,-27.8,-9.429
SPEED_LIMITS	0.163,0.255	D_GRID	990

FINISH	1.9,1.027206	_10V_AH	10.1,39.092
SM_CCo	13146,61.30,0.998,0,0,1744,210.22	FG_AHR_24Vo	0.000
SM_GC	3.00,0.00,0.00,61.30,0.000,0.000,0.998,73,1977,1744,-9.20,1.67,210.22	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5442.29,3.75,221213,020236	MEM	354664
TT8_MAMPS	0.026964	DATA_FILE_SIZE	53681,954
HUMID	62.95	CAP_FILE_SIZE	124100,0
INTERNAL_PRESSURE	9.04779	CFSIZE	2097086464,2080669696
TCM_TEMP	4.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	221213,101735,-5459.755,-0.070,75,0.9,75,-20.2
_24V_AH	21.7,54.000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	279	147.03	SBE_CT	682	24	355.58
Roll_motor	35	65	50.97	WL_BB2FLVMT	683	105	1557.61
VBD_pump_during_apogee	251	1578	8607.83	SBE_O2	641	19	264.30
VBD_pump_during_surface	61	998	1327.98	QSP2150	61	4	5.85
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	65.68	nil	0	0	0.00
Iridium_during_connect	28	160	99.59	nil	0	0	0.00
Iridium_during_xfer	251	223	1214.93	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	31	26	8.48
TT8	2394	14	361.80
LPSleep	8005	2	177.06
TT8_Active	388	14	55.73
TT8_Sampling	2720	37	1028.37
TT8_CF8	139	47	66.25
TT8_Kalman	0	0	0.00
Analog_circuits	1438	12	174.32
GPS_charging	0	0	0.00
Compass	2357	15	374.51
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
24	-0.90	-57.8	0.0	0.0	0	46	0.00	0.00	-20.23	0.000	2	0.000	0.000	67	1973	2086	0	0	0	0	0	0
48	-0.90	-135.3	3.0	-1.0	3	139	12.68	0.00	-69.97	0.000	6	0.280	0.000	2730	1980	3151	0	0	0	0	0	0
189	-0.90	-135.3	9.3	-16.9	26	196	0.00	1.00	0.00	0.000	4	0.000	0.037	2726	2623	3151	0	0	0	0	0	0
329	-0.90	-135.3	36.8	-18.3	50	337	0.00	1.08	0.00	0.000	6	0.000	0.032	2726	1921	3151	0	0	0	0	0	0
474	-0.90	-135.3	65.7	-19.2	75	480	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	1921	3152	0	0	0	0	0	0
812	-0.90	-135.3	126.1	-16.9	122	816	0.00	0.62	0.00	0.000	4	0.000	0.035	2724	2361	3152	0	0	0	0	0	0
1054	-0.90	-135.3	164.7	-15.2	143	1061	0.08	0.70	0.00	0.000	6	0.225	0.035	2737	1888	3152	0	0	0	0	0	0
1379	-0.90	-135.3	210.0	-14.2	174	1381	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	1888	3152	0	0	0	0	0	0
1699	-0.90	-135.3	255.2	-14.9	204	1702	0.00	0.40	0.00	0.000	4	0.000	0.053	2737	1607	3152	0	0	0	0	0	0
1915	-0.90	-135.3	287.1	-15.4	223	1919	0.00	0.45	0.00	0.000	6	0.000	0.034	2737	1951	3152	0	0	0	0	0	0
2245	-0.90	-135.3	337.8	-15.1	254	2249	0.00	0.47	0.00	0.000	4	0.000	0.041	2737	1631	3152	0	0	0	0	0	0
2393	-0.90	-135.3	360.6	-15.3	267	2396	0.00	0.35	0.00	0.000	6	0.000	0.037	2737	1891	3152	0	0	0	0	0	0
2721	-0.90	-135.3	409.1	-14.3	295	2724	0.00	0.52	0.00	0.000	4	0.000	0.041	2734	2278	3152	0	0	0	0	0	0
2811	-0.90	-135.3	421.6	-13.8	299	2814	0.00	0.52	0.00	0.000	6	0.000	0.039	2733	1911	3152	0	0	0	0	0	0
3143	-0.90	-135.3	467.4	-13.5	315	3144	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	1910	3152	0	0	0	0	0	0
3452	-0.90	-135.3	509.6	-13.7	330	3456	0.00	0.93	0.00	0.000	4	0.000	0.047	2734	1315	3152	0	0	0	0	0	0
3569	-0.90	-135.3	526.2	-14.1	335	3573	0.00	0.90	0.00	0.000	6	0.000	0.028	2730	1919	3153	0	0	0	0	0	0
3896	-0.90	-135.3	570.4	-13.4	351	3897	0.00	0.00	0.00	0.000	6	0.000	0.000	2730	1919	3153	0	0	0	0	0	0
4205	-0.90	-135.3	612.0	-13.3	366	4209	0.00	0.68	0.00	0.000	4	0.000	0.039	2727	2394	3153	0	0	0	0	0	0
4299	-0.90	-135.3	624.3	-12.5	370	4303	0.00	0.73	0.00	0.000	6	0.000	0.035	2727	1912	3153	0	0	0	0	0	0
4626	-0.90	-135.3	663.6	-11.6	386	4630	0.00	0.88	0.00	0.000	4	0.000	0.047	2727	1347	3153	0	0	0	0	0	0
4731	-0.90	-135.3	676.9	-12.0	390	4738	0.08	0.85	0.00	0.000	6	0.226	0.027	2737	1924	3153	0	0	0	0	0	0
5047	-0.90	-135.3	713.6	-11.8	406	5048	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	1924	3153	0	0	0	0	0	0
5356	-0.90	-135.3	749.6	-11.5	421	5358	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	1924	3154	0	0	0	0	0	0
5666	-0.90	-135.3	786.1	-11.8	436	5667	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	1926	3154	0	0	0	0	0	0
5975	-0.90	-135.3	823.2	-12.0	451	5979	0.00	0.35	0.00	0.000	4	0.000	0.044	2737	2205	3154	0	0	0	0	0	0
6119	-0.90	-135.3	841.1	-12.0	457	6124	0.00	0.45	0.00	0.000	6	0.000	0.040	2737	1893	3154	0	0	0	0	0	0
6441	-0.90	-135.3	882.1	-13.5	473	6442	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	1894	3154	0	0	0	0	0	0
6750	-0.90	-135.3	921.1	-12.5	488	6754	0.00	0.77	0.00	0.000	4	0.000	0.048	2737	1389	3154	0	0	0	0	0	0
6889	-0.90	-135.3	939.9	-12.7	494	6894	0.00	0.77	0.00	0.000	6	0.000	0.028	2734	1916	3155	0	0	0	0	0	0
7216	-0.90	-135.3	980.1	-12.3	510	7218	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	1916	3155	0	0	0	0	0	0
7297	end dive: TARGET_DEPTH_EXCEEDED
state	7297	begin apogee
7302	-0.16	0.0	990.1	12.0	514	7424	0.90	0.00	118.75	1.579	6	0.181	0.000	2973	1792	2601	0	0	0	0	0	0
7425	end apogee: CONTROL_FINISHED_OK
state	7425	begin climb
7427	0.90	135.3	992.6	0.0	520	7569	1.15	0.85	132.48	1.506	4	0.106	0.050	3320	1322	2047	0	0	0	0	0	0
7707	0.90	135.3	951.0	18.1	533	7712	0.00	0.77	0.00	0.000	6	0.000	0.024	3320	1805	2040	0	0	0	0	0	0
8035	0.90	135.3	892.6	18.2	549	8038	0.00	0.98	0.00	0.000	4	0.000	0.047	3323	1220	2036	0	0	0	0	0	0
8151	0.90	135.3	871.8	16.5	554	8155	0.00	0.95	0.00	0.000	6	0.000	0.025	3323	1840	2035	0	0	0	0	0	0
8478	0.90	135.3	812.8	18.7	570	8482	0.00	0.75	0.00	0.000	4	0.000	0.044	3325	1372	2034	0	0	0	0	0	0
8690	0.90	135.3	772.5	18.4	579	8694	0.00	0.68	0.00	0.000	6	0.000	0.028	3325	1834	2034	0	0	0	0	0	0
9011	0.90	135.3	710.6	19.4	595	9015	0.00	1.08	0.00	0.000	4	0.000	0.047	3329	1171	2034	0	0	0	0	0	0
9184	0.90	135.3	676.5	19.0	602	9190	0.00	0.98	0.00	0.000	6	0.000	0.025	3329	1832	2033	0	0	0	0	0	0
9500	0.90	135.3	614.4	19.5	618	9503	0.00	1.33	0.00	0.000	4	0.000	0.049	3334	1020	2033	0	0	0	0	0	0
9658	0.90	135.3	583.2	19.8	625	9662	0.00	1.17	0.00	0.000	6	0.000	0.025	3334	1812	2033	0	0	0	0	0	0
9990	0.90	135.3	518.9	19.0	641	9994	0.00	0.75	0.00	0.000	4	0.000	0.044	3337	1338	2033	0	0	0	0	0	0
10224	0.90	135.3	474.9	19.5	651	10229	0.05	0.73	0.00	0.000	6	0.236	0.026	3327	1826	2033	0	0	0	0	0	0
10545	0.90	135.3	418.7	17.6	667	10549	0.00	1.27	0.00	0.000	4	0.000	0.048	3331	1040	2033	0	0	0	0	0	0
10662	0.90	135.3	397.6	18.5	672	10670	0.00	1.17	0.00	0.000	6	0.000	0.024	3331	1824	2033	0	0	0	0	0	0
10987	0.90	135.3	341.7	16.6	703	10988	0.00	0.00	0.00	0.000	6	0.000	0.000	3331	1824	2033	0	0	0	0	0	0
11310	0.90	135.3	290.4	16.1	733	11314	0.00	1.42	0.00	0.000	4	0.000	0.049	3337	944	2033	0	0	0	0	0	0
11438	0.90	135.3	268.3	16.9	744	11447	0.03	1.33	0.00	0.000	6	0.273	0.024	3327	1821	2033	0	0	0	0	0	0
11763	0.90	135.3	213.9	17.4	775	11767	0.00	0.38	0.00	0.000	4	0.000	0.045	3327	1565	2033	0	0	0	0	0	0
12025	0.90	135.3	167.7	17.5	798	12029	0.00	0.32	0.00	0.000	6	0.000	0.036	3327	1812	2033	0	0	0	0	0	0
12358	0.90	135.3	114.0	15.1	829	12362	0.00	0.38	0.00	0.000	4	0.000	0.043	3327	2109	2033	0	0	0	0	0	0
12437	0.90	135.3	101.0	16.2	836	12441	0.00	0.38	0.00	0.000	6	0.000	0.044	3328	1840	2033	0	0	0	0	0	0
12785	0.90	135.3	50.4	12.6	896	12790	0.00	2.28	0.00	0.000	4	0.000	0.059	3339	437	2033	0	0	0	0	0	0
13022	0.90	135.3	16.3	15.7	937	13029	0.03	2.10	0.00	0.000	6	0.197	0.028	3330	1809	2033	0	0	0	0	0	0
13079	0.90	135.3	8.2	14.9	946	13086	0.00	0.00	0.00	0.000	6	0.000	0.000	3329	1809	2033	0	0	0	0	0	0
13110	end climb: SURFACE_DEPTH_REACHED
state	13110	begin surface coast
13130	end surface coast: CONTROL_FINISHED_OK
state	13130	begin surface