Glider dive log

SOSCEx Dec13 * SG574 * Dive index * Mission links * Dive 111 * 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 111 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 44 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 210 R_STBD_OVSHOOT 60 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 -15168.095 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 90

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 90 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 -15168.095

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 44 VBD_MAX 3960

DEVICE6 -1 MASS 53599 R_STBD_OVSHOOT 60 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 150 SEABIRD_C_G -9.9136524 VBD_MIN 396

DIVE 111 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 221213,140804,-5500.823,0.154,68,1.0,68,-20.2 TGT_NAME SBY

_CALLS 1 TGT_LATLONG -5500.000,0.000

_XMS_NAKs 9 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.82 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 221213,142245,-5500.765,0.321,51,1.3,51,-20.2 MHEAD_RNG_PITCHd_Wd 6.7,1458,-27.8,-9.429

SPEED_LIMITS 0.163,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.7,1.013760 _10V_AH 10.0,39.277

SM_CCo 13237,84.93,1.108,4,0,1740,210.71 FG_AHR_24Vo 0.000

SM_GC 2.88,0.00,0.00,84.93,0.000,0.000,1.108,72,1967,1740,-9.20,1.61,210.71 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5438.56,-3.75,221213,101006 MEM 354688

TT8_MAMPS 0.027713 DATA_FILE_SIZE 53544,956

HUMID 62.64 CAP_FILE_SIZE 128059,4

INTERNAL_PRESSURE 9.05756 CFSIZE 2097086464,2080407552

TCM_TEMP 4.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,4,1

XPDR_PINGS 0 GPS 221213,180634,-5458.776,0.046,31,0.9,31,-20.2

_24V_AH 21.7,54.322

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 279 145.67 SBE_CT 683 24 355.86

Roll_motor 40 95 84.97 WL_BB2FLVMT 676 105 1542.53

VBD_pump_during_apogee 251 1617 8818.77 SBE_O2 651 19 268.56

VBD_pump_during_surface 84 1108 2042.80 QSP2150 62 4 5.97

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 63.47 nil 0 0 0.00

Iridium_during_connect 51 160 178.56 nil 0 0 0.00

Iridium_during_xfer 616 223 2985.25 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 54 26 14.66

TT8 2387 14 357.22

LPSleep 8169 2 178.92

TT8_Active 445 14 63.37

TT8_Sampling 3049 37 1141.51

TT8_CF8 156 47 74.01

TT8_Kalman 0 0 0.00

Analog_circuits 1454 12 174.50

GPS_charging 0 0 0.00

Compass 2292 15 360.59

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 -19.70 0.000 2 0.000 0.000 67 1919 2075 0 0 0 0 0 0

48 -0.90 -134.0 3.1 -1.1 3 134 12.62 1.98 -64.60 0.000 4 0.278 0.063 2730 723 3148 0 0 0 0 0 0

172 -0.90 -134.0 10.6 -17.7 23 180 0.03 1.83 0.00 0.000 6 0.225 0.027 2729 1891 3150 0 0 0 0 0 0

229 -0.90 -134.0 20.4 -16.8 32 236 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 1891 3150 0 0 0 0 0 0

374 -0.90 -134.0 47.0 -18.6 57 380 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 1891 3150 0 0 0 0 0 0

717 -0.90 -134.0 115.2 -19.4 111 721 0.00 2.25 0.00 0.000 4 0.000 0.049 2719 3313 3150 0 0 0 0 0 0

851 -0.90 -134.0 141.4 -19.5 122 858 0.03 2.17 0.00 0.000 6 0.208 0.031 2731 1920 3150 0 0 0 0 0 0

1178 -0.90 -134.0 198.0 -17.2 153 1182 0.00 0.43 0.00 0.000 4 0.000 0.050 2731 1620 3150 0 0 0 0 0 0

1246 -0.90 -134.0 210.0 -16.8 159 1250 0.00 0.43 0.00 0.000 6 0.000 0.035 2731 1946 3150 0 0 0 0 0 0

1576 -0.90 -134.0 263.4 -15.7 190 1579 0.00 0.25 0.00 0.000 4 0.000 0.050 2729 2173 3150 0 0 0 0 0 0

1633 -0.90 -134.0 272.3 -15.8 195 1636 0.00 0.40 0.00 0.000 6 0.000 0.041 2730 1880 3150 0 0 0 0 0 0

1962 -0.90 -134.0 323.9 -15.4 226 1964 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 1879 3150 0 0 0 0 0 0

2282 -0.90 -134.0 370.7 -14.2 256 2283 0.00 0.00 0.00 0.000 6 0.000 0.000 2730 1879 3150 0 0 0 0 0 0

2597 -0.90 -134.0 415.8 -14.2 281 2598 0.00 0.00 0.00 0.000 6 0.000 0.000 2730 1879 3150 0 0 0 0 0 0

2906 -0.90 -134.0 459.0 -13.8 296 2910 0.00 0.68 0.00 0.000 4 0.000 0.048 2729 1432 3150 0 0 0 0 0 0

3000 -0.90 -134.0 472.8 -14.5 300 3004 0.00 0.68 0.00 0.000 6 0.000 0.030 2727 1899 3150 0 0 0 0 0 0

3327 -0.90 -134.0 519.5 -14.6 316 3330 0.00 0.43 0.00 0.000 4 0.000 0.042 2725 2228 3151 0 0 0 0 0 0

3489 -0.90 -134.0 543.1 -14.4 323 3494 0.05 0.47 0.00 0.000 6 0.243 0.038 2733 1888 3151 0 0 0 0 0 0

3816 -0.90 -134.0 589.9 -14.5 339 3817 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 1889 3151 0 0 0 0 0 0

4125 -0.90 -134.0 632.8 -13.8 354 4128 0.00 0.85 0.00 0.000 4 0.000 0.046 2734 1339 3151 0 0 0 0 0 0

4192 -0.90 -134.0 642.2 -13.9 357 4196 0.00 0.82 0.00 0.000 6 0.000 0.028 2732 1908 3151 0 0 0 0 0 0

4524 -0.90 -134.0 685.5 -12.1 373 4525 0.00 0.00 0.00 0.000 6 0.000 0.000 2732 1908 3152 0 0 0 0 0 0

4833 -0.90 -134.0 721.3 -11.0 388 4837 0.00 0.52 0.00 0.000 4 0.000 0.041 2732 1551 3152 0 0 0 0 0 0

4925 -0.90 -134.0 731.1 -11.2 392 4929 0.00 0.50 0.00 0.000 6 0.000 0.033 2730 1921 3152 0 0 0 0 0 0

5257 -0.90 -134.0 765.1 -10.2 408 5260 0.00 0.73 0.00 0.000 4 0.000 0.039 2727 2421 3152 0 0 0 0 0 0

5369 -0.90 -134.0 776.3 -9.9 413 5373 0.00 0.73 0.00 0.000 6 0.000 0.035 2727 1927 3152 0 0 0 0 0 0

5701 -0.90 -134.0 810.3 -10.4 429 5705 0.00 0.50 0.00 0.000 4 0.000 0.049 2727 1577 3152 0 0 0 0 0 0

5869 -0.90 -134.0 829.2 -11.5 436 5873 0.00 0.47 0.00 0.000 6 0.000 0.033 2725 1921 3152 0 0 0 0 0 0

6190 -0.90 -134.0 866.4 -11.7 452 6192 0.05 0.00 0.00 0.000 6 0.256 0.000 2734 1921 3153 0 0 0 0 0 0

6499 -0.90 -134.0 902.3 -11.7 467 6500 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 1922 3153 0 0 0 0 0 0

6809 -0.90 -134.0 939.6 -12.4 482 6810 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 1922 3153 0 0 0 0 0 0

7118 -0.90 -134.0 978.4 -12.8 497 7121 0.00 0.57 0.00 0.000 4 0.000 0.041 2734 1532 3153 0 0 0 0 0 0

7210 end dive: TARGET_DEPTH_EXCEEDED

state 7210 begin apogee

7215 -0.16 0.0 990.5 13.2 501 7337 0.85 0.00 118.65 1.618 6 0.178 0.000 2966 1833 2600 0 0 0 0 0 0

7338 end apogee: CONTROL_FINISHED_OK

state 7338 begin climb

7340 0.90 134.0 992.9 0.0 507 7479 1.20 0.77 132.52 1.545 4 0.104 0.044 3321 1418 2053 0 0 0 0 0 0

7732 0.90 134.0 930.1 18.2 525 7737 0.00 0.60 0.00 0.000 6 0.000 0.025 3321 1804 2044 0 0 0 0 0 0

8047 0.90 134.0 873.5 17.9 541 8051 0.00 1.50 0.00 0.000 4 0.000 0.050 3326 912 2043 0 0 0 0 0 0

8169 0.90 134.0 850.3 18.7 546 8174 0.00 1.42 0.00 0.000 6 0.000 0.024 3327 1826 2041 0 0 0 0 0 0

8491 0.90 134.0 791.2 18.0 562 8495 0.00 1.08 0.00 0.000 4 0.000 0.047 3331 1167 2041 0 0 0 0 0 0

8653 0.90 134.0 761.1 17.9 569 8658 0.00 0.98 0.00 0.000 6 0.000 0.026 3330 1828 2040 0 0 0 0 0 0

8980 0.90 134.0 701.7 18.3 585 8983 0.00 0.57 0.00 0.000 4 0.000 0.044 3332 1461 2040 0 0 0 0 0 0

9237 0.90 134.0 656.5 17.6 596 9241 0.00 0.52 0.00 0.000 6 0.000 0.029 3332 1831 2040 0 0 0 0 0 0

9558 0.90 134.0 601.2 17.2 612 9562 0.00 1.85 0.00 0.000 4 0.000 0.052 3340 674 2040 0 0 0 0 0 0

9702 0.90 134.0 574.1 18.9 618 9708 0.03 1.70 0.00 0.000 6 0.203 0.024 3330 1801 2039 0 0 0 0 0 0

10024 0.90 134.0 517.7 17.3 634 10025 0.00 0.00 0.00 0.000 6 0.000 0.000 3330 1801 2039 0 0 0 0 0 0

10333 0.90 134.0 463.4 17.6 649 10337 0.00 1.75 0.00 0.000 4 0.000 0.053 3336 729 2039 0 0 0 0 0 0

10492 0.90 134.0 434.2 18.1 656 10496 0.03 1.65 0.00 0.000 6 0.195 0.026 3328 1822 2038 0 0 0 0 0 0

10819 0.90 134.0 376.4 17.5 677 10820 0.00 0.00 0.00 0.000 6 0.000 0.000 3329 1822 2038 0 0 0 0 0 0

11135 0.90 134.0 320.5 17.5 707 11139 0.00 1.52 0.00 0.000 4 0.000 0.051 3334 889 2038 0 0 0 0 0 0

11284 0.90 134.0 294.7 17.4 720 11287 0.00 1.40 0.00 0.000 6 0.000 0.025 3333 1820 2038 0 0 0 0 0 0

11614 0.90 134.0 239.1 16.9 751 11615 0.00 0.00 0.00 0.000 6 0.000 0.000 3333 1820 2038 0 0 0 0 0 0

11935 0.90 134.0 185.3 16.9 781 11939 0.00 0.90 0.00 0.000 4 0.000 0.047 3337 1250 2038 0 0 0 0 0 0

12165 0.90 134.0 147.4 15.8 801 12172 0.03 0.85 0.00 0.000 6 0.280 0.027 3327 1825 2038 0 0 0 0 0 0

12490 0.90 134.0 101.2 12.8 832 12494 0.00 0.68 0.00 0.000 4 0.000 0.038 3325 2296 2038 0 0 0 0 0 0

12576 0.90 134.0 89.8 13.9 846 12583 0.00 0.70 0.00 0.000 6 0.000 0.039 3326 1825 2038 0 0 0 0 0 0

12927 0.90 134.0 41.6 15.9 907 12932 0.00 1.23 0.00 0.000 4 0.000 0.054 3332 1059 2038 0 0 0 0 0 0

13125 0.90 134.0 12.3 13.4 941 13132 0.00 1.12 0.00 0.000 6 0.000 0.027 3332 1821 2038 0 0 0 0 0 0

13182 0.90 134.0 3.7 14.4 950 13188 0.00 0.00 0.00 0.000 6 0.000 0.000 3332 1821 2039 0 0 0 0 0 0

13195 end climb: SURFACE_DEPTH_REACHED

state 13195 begin surface coast

13220 end surface coast: CONTROL_FINISHED_OK

state 13221 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	111	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	44	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	210	R_STBD_OVSHOOT	60	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	-15168.095	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	90

GPS1	221213,140804,-5500.823,0.154,68,1.0,68,-20.2	TGT_NAME	SBY
_CALLS	1	TGT_LATLONG	-5500.000,0.000
_XMS_NAKs	9	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.82	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	221213,142245,-5500.765,0.321,51,1.3,51,-20.2	MHEAD_RNG_PITCHd_Wd	6.7,1458,-27.8,-9.429
SPEED_LIMITS	0.163,0.255	D_GRID	990

FINISH	1.7,1.013760	_10V_AH	10.0,39.277
SM_CCo	13237,84.93,1.108,4,0,1740,210.71	FG_AHR_24Vo	0.000
SM_GC	2.88,0.00,0.00,84.93,0.000,0.000,1.108,72,1967,1740,-9.20,1.61,210.71	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5438.56,-3.75,221213,101006	MEM	354688
TT8_MAMPS	0.027713	DATA_FILE_SIZE	53544,956
HUMID	62.64	CAP_FILE_SIZE	128059,4
INTERNAL_PRESSURE	9.05756	CFSIZE	2097086464,2080407552
TCM_TEMP	4.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,4,1
XPDR_PINGS	0	GPS	221213,180634,-5458.776,0.046,31,0.9,31,-20.2
_24V_AH	21.7,54.322

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	279	145.67	SBE_CT	683	24	355.86
Roll_motor	40	95	84.97	WL_BB2FLVMT	676	105	1542.53
VBD_pump_during_apogee	251	1617	8818.77	SBE_O2	651	19	268.56
VBD_pump_during_surface	84	1108	2042.80	QSP2150	62	4	5.97
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	63.47	nil	0	0	0.00
Iridium_during_connect	51	160	178.56	nil	0	0	0.00
Iridium_during_xfer	616	223	2985.25	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	54	26	14.66
TT8	2387	14	357.22
LPSleep	8169	2	178.92
TT8_Active	445	14	63.37
TT8_Sampling	3049	37	1141.51
TT8_CF8	156	47	74.01
TT8_Kalman	0	0	0.00
Analog_circuits	1454	12	174.50
GPS_charging	0	0	0.00
Compass	2292	15	360.59
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	-19.70	0.000	2	0.000	0.000	67	1919	2075	0	0	0	0	0	0
48	-0.90	-134.0	3.1	-1.1	3	134	12.62	1.98	-64.60	0.000	4	0.278	0.063	2730	723	3148	0	0	0	0	0	0
172	-0.90	-134.0	10.6	-17.7	23	180	0.03	1.83	0.00	0.000	6	0.225	0.027	2729	1891	3150	0	0	0	0	0	0
229	-0.90	-134.0	20.4	-16.8	32	236	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	1891	3150	0	0	0	0	0	0
374	-0.90	-134.0	47.0	-18.6	57	380	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	1891	3150	0	0	0	0	0	0
717	-0.90	-134.0	115.2	-19.4	111	721	0.00	2.25	0.00	0.000	4	0.000	0.049	2719	3313	3150	0	0	0	0	0	0
851	-0.90	-134.0	141.4	-19.5	122	858	0.03	2.17	0.00	0.000	6	0.208	0.031	2731	1920	3150	0	0	0	0	0	0
1178	-0.90	-134.0	198.0	-17.2	153	1182	0.00	0.43	0.00	0.000	4	0.000	0.050	2731	1620	3150	0	0	0	0	0	0
1246	-0.90	-134.0	210.0	-16.8	159	1250	0.00	0.43	0.00	0.000	6	0.000	0.035	2731	1946	3150	0	0	0	0	0	0
1576	-0.90	-134.0	263.4	-15.7	190	1579	0.00	0.25	0.00	0.000	4	0.000	0.050	2729	2173	3150	0	0	0	0	0	0
1633	-0.90	-134.0	272.3	-15.8	195	1636	0.00	0.40	0.00	0.000	6	0.000	0.041	2730	1880	3150	0	0	0	0	0	0
1962	-0.90	-134.0	323.9	-15.4	226	1964	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	1879	3150	0	0	0	0	0	0
2282	-0.90	-134.0	370.7	-14.2	256	2283	0.00	0.00	0.00	0.000	6	0.000	0.000	2730	1879	3150	0	0	0	0	0	0
2597	-0.90	-134.0	415.8	-14.2	281	2598	0.00	0.00	0.00	0.000	6	0.000	0.000	2730	1879	3150	0	0	0	0	0	0
2906	-0.90	-134.0	459.0	-13.8	296	2910	0.00	0.68	0.00	0.000	4	0.000	0.048	2729	1432	3150	0	0	0	0	0	0
3000	-0.90	-134.0	472.8	-14.5	300	3004	0.00	0.68	0.00	0.000	6	0.000	0.030	2727	1899	3150	0	0	0	0	0	0
3327	-0.90	-134.0	519.5	-14.6	316	3330	0.00	0.43	0.00	0.000	4	0.000	0.042	2725	2228	3151	0	0	0	0	0	0
3489	-0.90	-134.0	543.1	-14.4	323	3494	0.05	0.47	0.00	0.000	6	0.243	0.038	2733	1888	3151	0	0	0	0	0	0
3816	-0.90	-134.0	589.9	-14.5	339	3817	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	1889	3151	0	0	0	0	0	0
4125	-0.90	-134.0	632.8	-13.8	354	4128	0.00	0.85	0.00	0.000	4	0.000	0.046	2734	1339	3151	0	0	0	0	0	0
4192	-0.90	-134.0	642.2	-13.9	357	4196	0.00	0.82	0.00	0.000	6	0.000	0.028	2732	1908	3151	0	0	0	0	0	0
4524	-0.90	-134.0	685.5	-12.1	373	4525	0.00	0.00	0.00	0.000	6	0.000	0.000	2732	1908	3152	0	0	0	0	0	0
4833	-0.90	-134.0	721.3	-11.0	388	4837	0.00	0.52	0.00	0.000	4	0.000	0.041	2732	1551	3152	0	0	0	0	0	0
4925	-0.90	-134.0	731.1	-11.2	392	4929	0.00	0.50	0.00	0.000	6	0.000	0.033	2730	1921	3152	0	0	0	0	0	0
5257	-0.90	-134.0	765.1	-10.2	408	5260	0.00	0.73	0.00	0.000	4	0.000	0.039	2727	2421	3152	0	0	0	0	0	0
5369	-0.90	-134.0	776.3	-9.9	413	5373	0.00	0.73	0.00	0.000	6	0.000	0.035	2727	1927	3152	0	0	0	0	0	0
5701	-0.90	-134.0	810.3	-10.4	429	5705	0.00	0.50	0.00	0.000	4	0.000	0.049	2727	1577	3152	0	0	0	0	0	0
5869	-0.90	-134.0	829.2	-11.5	436	5873	0.00	0.47	0.00	0.000	6	0.000	0.033	2725	1921	3152	0	0	0	0	0	0
6190	-0.90	-134.0	866.4	-11.7	452	6192	0.05	0.00	0.00	0.000	6	0.256	0.000	2734	1921	3153	0	0	0	0	0	0
6499	-0.90	-134.0	902.3	-11.7	467	6500	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	1922	3153	0	0	0	0	0	0
6809	-0.90	-134.0	939.6	-12.4	482	6810	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	1922	3153	0	0	0	0	0	0
7118	-0.90	-134.0	978.4	-12.8	497	7121	0.00	0.57	0.00	0.000	4	0.000	0.041	2734	1532	3153	0	0	0	0	0	0
7210	end dive: TARGET_DEPTH_EXCEEDED
state	7210	begin apogee
7215	-0.16	0.0	990.5	13.2	501	7337	0.85	0.00	118.65	1.618	6	0.178	0.000	2966	1833	2600	0	0	0	0	0	0
7338	end apogee: CONTROL_FINISHED_OK
state	7338	begin climb
7340	0.90	134.0	992.9	0.0	507	7479	1.20	0.77	132.52	1.545	4	0.104	0.044	3321	1418	2053	0	0	0	0	0	0
7732	0.90	134.0	930.1	18.2	525	7737	0.00	0.60	0.00	0.000	6	0.000	0.025	3321	1804	2044	0	0	0	0	0	0
8047	0.90	134.0	873.5	17.9	541	8051	0.00	1.50	0.00	0.000	4	0.000	0.050	3326	912	2043	0	0	0	0	0	0
8169	0.90	134.0	850.3	18.7	546	8174	0.00	1.42	0.00	0.000	6	0.000	0.024	3327	1826	2041	0	0	0	0	0	0
8491	0.90	134.0	791.2	18.0	562	8495	0.00	1.08	0.00	0.000	4	0.000	0.047	3331	1167	2041	0	0	0	0	0	0
8653	0.90	134.0	761.1	17.9	569	8658	0.00	0.98	0.00	0.000	6	0.000	0.026	3330	1828	2040	0	0	0	0	0	0
8980	0.90	134.0	701.7	18.3	585	8983	0.00	0.57	0.00	0.000	4	0.000	0.044	3332	1461	2040	0	0	0	0	0	0
9237	0.90	134.0	656.5	17.6	596	9241	0.00	0.52	0.00	0.000	6	0.000	0.029	3332	1831	2040	0	0	0	0	0	0
9558	0.90	134.0	601.2	17.2	612	9562	0.00	1.85	0.00	0.000	4	0.000	0.052	3340	674	2040	0	0	0	0	0	0
9702	0.90	134.0	574.1	18.9	618	9708	0.03	1.70	0.00	0.000	6	0.203	0.024	3330	1801	2039	0	0	0	0	0	0
10024	0.90	134.0	517.7	17.3	634	10025	0.00	0.00	0.00	0.000	6	0.000	0.000	3330	1801	2039	0	0	0	0	0	0
10333	0.90	134.0	463.4	17.6	649	10337	0.00	1.75	0.00	0.000	4	0.000	0.053	3336	729	2039	0	0	0	0	0	0
10492	0.90	134.0	434.2	18.1	656	10496	0.03	1.65	0.00	0.000	6	0.195	0.026	3328	1822	2038	0	0	0	0	0	0
10819	0.90	134.0	376.4	17.5	677	10820	0.00	0.00	0.00	0.000	6	0.000	0.000	3329	1822	2038	0	0	0	0	0	0
11135	0.90	134.0	320.5	17.5	707	11139	0.00	1.52	0.00	0.000	4	0.000	0.051	3334	889	2038	0	0	0	0	0	0
11284	0.90	134.0	294.7	17.4	720	11287	0.00	1.40	0.00	0.000	6	0.000	0.025	3333	1820	2038	0	0	0	0	0	0
11614	0.90	134.0	239.1	16.9	751	11615	0.00	0.00	0.00	0.000	6	0.000	0.000	3333	1820	2038	0	0	0	0	0	0
11935	0.90	134.0	185.3	16.9	781	11939	0.00	0.90	0.00	0.000	4	0.000	0.047	3337	1250	2038	0	0	0	0	0	0
12165	0.90	134.0	147.4	15.8	801	12172	0.03	0.85	0.00	0.000	6	0.280	0.027	3327	1825	2038	0	0	0	0	0	0
12490	0.90	134.0	101.2	12.8	832	12494	0.00	0.68	0.00	0.000	4	0.000	0.038	3325	2296	2038	0	0	0	0	0	0
12576	0.90	134.0	89.8	13.9	846	12583	0.00	0.70	0.00	0.000	6	0.000	0.039	3326	1825	2038	0	0	0	0	0	0
12927	0.90	134.0	41.6	15.9	907	12932	0.00	1.23	0.00	0.000	4	0.000	0.054	3332	1059	2038	0	0	0	0	0	0
13125	0.90	134.0	12.3	13.4	941	13132	0.00	1.12	0.00	0.000	6	0.000	0.027	3332	1821	2038	0	0	0	0	0	0
13182	0.90	134.0	3.7	14.4	950	13188	0.00	0.00	0.00	0.000	6	0.000	0.000	3332	1821	2039	0	0	0	0	0	0
13195	end climb: SURFACE_DEPTH_REACHED
state	13195	begin surface coast
13220	end surface coast: CONTROL_FINISHED_OK
state	13221	begin surface