Glider dive log

SOSCEx Dec13 * SG574 * Dive index * Mission links * Dive 126 * 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 126 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 38 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 210 R_STBD_OVSHOOT 69 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 -15218.694 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 105

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 105 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 -15218.694

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 38 VBD_MAX 3960

DEVICE6 -1 MASS 53599 R_STBD_OVSHOOT 69 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 150 SEABIRD_C_G -9.9136524 VBD_MIN 396

DIVE 126 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 251213,014304,-5459.872,2.240,36,1.0,36,-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 2.93 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -75.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 251213,015455,-5459.883,2.366,16,0.7,17,-20.3 MHEAD_RNG_PITCHd_Wd 285.4,2523,-27.8,-9.429

SPEED_LIMITS 0.163,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.8,1.016331 _10V_AH 10.0,40.690

SM_CCo 13162,77.15,1.063,3,0,1743,210.22 FG_AHR_24Vo 0.000

SM_GC 2.94,0.00,0.00,77.15,0.000,0.000,1.063,78,1927,1743,-9.21,0.48,210.22 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5438.56,0.00,241213,222240 MEM 354656

TT8_MAMPS 0.026964 DATA_FILE_SIZE 53609,960

HUMID 62.32 CAP_FILE_SIZE 127303,3

INTERNAL_PRESSURE 9.04779 CFSIZE 2097086464,2078441472

TCM_TEMP 4.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,2

XPDR_PINGS 0 GPS 251213,053723,-5459.145,0.437,37,0.9,37,-20.2

_24V_AH 21.6,56.739

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 290 150.86 SBE_CT 685 24 355.19

Roll_motor 45 78 76.48 WL_BB2FLVMT 710 105 1610.57

VBD_pump_during_apogee 277 1596 9575.79 SBE_O2 645 19 264.98

VBD_pump_during_surface 77 1063 1772.01 QSP2150 69 4 6.54

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 53.52 nil 0 0 0.00

Iridium_during_connect 26 160 92.90 nil 0 0 0.00

Iridium_during_xfer 510 223 2460.75 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 26 5.16

TT8 2395 14 358.43

LPSleep 8061 2 176.54

TT8_Active 465 14 66.11

TT8_Sampling 2884 37 1079.66

TT8_CF8 145 47 68.61

TT8_Kalman 0 0 0.00

Analog_circuits 1448 12 173.82

GPS_charging 0 0 0.00

Compass 2285 15 359.46

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 -19.98 0.000 2 0.000 0.000 69 1858 2083 0 0 0 0 0 0

48 -0.90 -136.2 3.0 -0.9 3 139 12.55 1.55 -70.72 0.000 4 0.278 0.074 2728 937 3153 0 0 0 0 0 0

301 -0.90 -136.2 23.0 -17.6 45 306 0.03 1.48 0.00 0.000 6 0.232 0.031 2729 1876 3153 0 0 0 0 0 0

447 -0.90 -136.2 50.5 -18.9 70 452 0.00 0.85 0.00 0.000 4 0.000 0.041 2725 2444 3153 0 0 0 0 0 0

551 -0.90 -136.2 69.8 -18.1 88 556 0.00 0.82 0.00 0.000 6 0.000 0.034 2726 1896 3153 0 0 0 0 0 0

891 -0.90 -136.2 130.2 -17.9 134 895 0.03 0.65 0.00 0.000 4 0.291 0.048 2735 1471 3153 0 0 0 0 0 0

928 -0.90 -136.2 136.8 -16.8 137 934 0.00 0.70 0.00 0.000 6 0.000 0.031 2734 1945 3153 0 0 0 0 0 0

1253 -0.90 -136.2 190.1 -16.0 168 1257 0.00 1.30 0.00 0.000 4 0.000 0.041 2728 2783 3154 0 0 0 0 0 0

1358 -0.90 -136.2 205.9 -15.2 177 1361 0.00 1.33 0.00 0.000 6 0.000 0.033 2728 1921 3153 0 0 0 0 0 0

1688 -0.90 -136.2 257.6 -16.1 208 1689 0.00 0.00 0.00 0.000 6 0.000 0.000 2727 1921 3153 0 0 0 0 0 0

2007 -0.90 -136.2 308.1 -16.1 238 2008 0.00 0.00 0.00 0.000 6 0.000 0.000 2728 1921 3153 0 0 0 0 0 0

2326 -0.90 -136.2 360.7 -16.4 268 2329 0.00 0.65 0.00 0.000 4 0.000 0.049 2728 1489 3154 0 0 0 0 0 0

2405 -0.90 -136.2 374.1 -16.9 275 2409 0.00 0.60 0.00 0.000 6 0.000 0.034 2726 1918 3153 0 0 0 0 0 0

2730 -0.90 -136.2 426.5 -15.8 298 2734 0.05 1.08 0.00 0.000 4 0.263 0.040 2730 2618 3153 0 0 0 0 0 0

2806 -0.90 -136.2 438.6 -15.0 301 2811 0.00 1.10 0.00 0.000 6 0.000 0.033 2731 1910 3153 0 0 0 0 0 0

3128 -0.90 -136.2 487.2 -15.0 317 3129 0.00 0.00 0.00 0.000 6 0.000 0.000 2730 1909 3154 0 0 0 0 0 0

3437 -0.90 -136.2 532.7 -14.6 332 3441 0.00 0.60 0.00 0.000 4 0.000 0.048 2730 1503 3154 0 0 0 0 0 0

3514 -0.90 -136.2 544.5 -15.0 335 3519 0.00 0.60 0.00 0.000 6 0.000 0.032 2728 1923 3155 0 0 0 0 0 0

3836 -0.90 -136.2 591.1 -14.6 351 3839 0.00 1.20 0.00 0.000 4 0.000 0.041 2722 2705 3155 0 0 0 0 0 0

3930 -0.90 -136.2 605.0 -14.3 355 3935 0.03 1.23 0.00 0.000 6 0.202 0.032 2730 1913 3154 0 0 0 0 0 0

4256 -0.90 -136.2 648.8 -13.3 371 4258 0.00 0.00 0.00 0.000 6 0.000 0.000 2730 1913 3155 0 0 0 0 0 0

4566 -0.90 -136.2 688.2 -12.5 386 4569 0.00 0.60 0.00 0.000 4 0.000 0.049 2730 1507 3155 0 0 0 0 0 0

4665 -0.90 -136.2 700.8 -11.9 390 4669 0.00 0.57 0.00 0.000 6 0.000 0.032 2729 1914 3155 0 0 0 0 0 0

4986 -0.90 -136.2 737.9 -11.6 406 4990 0.00 0.45 0.00 0.000 4 0.000 0.041 2727 2254 3155 0 0 0 0 0 0

5103 -0.90 -136.2 751.1 -11.0 411 5107 0.00 0.55 0.00 0.000 6 0.000 0.037 2727 1881 3156 0 0 0 0 0 0

5429 -0.90 -136.2 786.7 -10.9 427 5431 0.00 0.00 0.00 0.000 6 0.000 0.000 2727 1881 3156 0 0 0 0 0 0

5739 -0.90 -136.2 820.1 -11.2 442 5740 0.00 0.00 0.00 0.000 6 0.000 0.000 2727 1880 3156 0 0 0 0 0 0

6048 -0.90 -136.2 854.2 -11.0 457 6049 0.00 0.00 0.00 0.000 6 0.000 0.000 2727 1880 3156 0 0 0 0 0 0

6357 -0.90 -136.2 887.7 -10.7 472 6361 0.00 0.68 0.00 0.000 4 0.000 0.048 2727 1438 3156 0 0 0 0 0 0

6462 -0.90 -136.2 899.6 -12.1 476 6469 0.05 0.68 0.00 0.000 6 0.256 0.031 2733 1904 3156 0 0 0 0 0 0

6778 -0.90 -136.2 934.3 -11.3 492 6779 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 1904 3156 0 0 0 0 0 0

7088 -0.90 -136.2 971.0 -12.2 507 7089 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 1904 3157 0 0 0 0 0 0

7251 end dive: TARGET_DEPTH_EXCEEDED

state 7251 begin apogee

7256 -0.16 0.0 991.5 12.6 515 7403 0.88 0.00 143.52 1.597 6 0.179 0.000 2970 1793 2599 0 0 0 0 0 0

7404 end apogee: CONTROL_FINISHED_OK

state 7404 begin climb

7405 0.90 136.2 995.4 0.0 522 7546 1.20 0.52 134.15 1.564 4 0.103 0.053 3320 1506 2043 0 0 0 0 0 0

7800 0.90 136.2 934.6 17.7 541 7804 0.00 0.45 0.00 0.000 6 0.000 0.030 3320 1821 2034 0 0 0 0 0 0

8132 0.90 136.2 874.3 18.5 557 8136 0.00 2.28 0.00 0.000 4 0.000 0.057 3329 461 2033 0 0 0 0 0 0

8293 0.90 136.2 841.6 20.6 564 8297 0.00 2.10 0.00 0.000 6 0.000 0.026 3329 1803 2031 0 0 0 0 0 0

8614 0.90 136.2 776.2 21.0 580 8618 0.00 0.32 0.00 0.000 4 0.000 0.044 3329 1593 2031 0 0 0 0 0 0

8871 0.90 136.2 722.4 21.0 591 8875 0.00 0.35 0.00 0.000 6 0.000 0.035 3330 1838 2031 0 0 0 0 0 0

9192 0.90 136.2 659.1 19.1 607 9196 0.00 2.25 0.00 0.000 4 0.000 0.056 3339 456 2030 0 0 0 0 0 0

9326 0.90 136.2 632.4 20.0 613 9331 0.03 2.08 0.00 0.000 6 0.203 0.027 3330 1816 2030 0 0 0 0 0 0

9652 0.90 136.2 572.4 18.5 629 9656 0.00 0.77 0.00 0.000 4 0.000 0.047 3332 1330 2030 0 0 0 0 0 0

9787 0.90 136.2 547.2 20.0 635 9791 0.00 0.73 0.00 0.000 6 0.000 0.027 3332 1818 2030 0 0 0 0 0 0

10119 0.90 136.2 486.3 17.8 651 10123 0.00 1.25 0.00 0.000 4 0.000 0.050 3337 1045 2030 0 0 0 0 0 0

10232 0.90 136.2 466.7 17.1 656 10236 0.03 1.17 0.00 0.000 6 0.207 0.028 3329 1830 2029 0 0 0 0 0 0

10563 0.90 136.2 410.4 17.3 672 10567 0.00 0.82 0.00 0.000 4 0.000 0.047 3331 1309 2029 0 0 0 0 0 0

10710 0.90 136.2 384.9 17.6 682 10714 0.00 0.75 0.00 0.000 6 0.000 0.028 3331 1814 2029 0 0 0 0 0 0

11043 0.90 136.2 326.0 17.9 713 11047 0.00 0.55 0.00 0.000 4 0.000 0.045 3333 1458 2029 0 0 0 0 0 0

11303 0.90 136.2 278.7 18.5 736 11306 0.00 0.52 0.00 0.000 6 0.000 0.031 3333 1842 2029 0 0 0 0 0 0

11633 0.90 136.2 224.4 15.8 767 11637 0.00 2.22 0.00 0.000 4 0.000 0.056 3342 460 2029 0 0 0 0 0 0

11754 0.90 136.2 203.8 17.5 777 11758 0.08 2.03 0.00 0.000 6 0.208 0.028 3327 1802 2029 0 0 0 0 0 0

12078 0.90 136.2 152.6 15.3 807 12080 0.00 0.00 0.00 0.000 6 0.000 0.000 3327 1803 2029 0 0 0 0 0 0

12401 0.90 136.2 107.1 13.8 837 12405 0.00 1.20 0.00 0.000 4 0.000 0.051 3331 1058 2029 0 0 0 0 0 0

12539 0.90 136.2 86.9 14.0 856 12544 0.00 1.15 0.00 0.000 6 0.000 0.027 3330 1832 2029 0 0 0 0 0 0

12888 0.90 136.2 35.2 14.4 917 12892 0.00 0.00 0.00 0.000 6 0.000 0.000 3331 1832 2029 0 0 0 0 0 0

13033 0.90 136.2 14.3 14.1 942 13040 0.00 1.23 0.00 0.000 4 0.000 0.050 3335 1077 2029 0 0 0 0 0 0

13118 end climb: SURFACE_DEPTH_REACHED

state 13118 begin surface coast

13143 end surface coast: CONTROL_FINISHED_OK

state 13144 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	126	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	38	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	210	R_STBD_OVSHOOT	69	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	-15218.694	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	105

GPS1	251213,014304,-5459.872,2.240,36,1.0,36,-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	2.93	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-75.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	251213,015455,-5459.883,2.366,16,0.7,17,-20.3	MHEAD_RNG_PITCHd_Wd	285.4,2523,-27.8,-9.429
SPEED_LIMITS	0.163,0.255	D_GRID	990

FINISH	1.8,1.016331	_10V_AH	10.0,40.690
SM_CCo	13162,77.15,1.063,3,0,1743,210.22	FG_AHR_24Vo	0.000
SM_GC	2.94,0.00,0.00,77.15,0.000,0.000,1.063,78,1927,1743,-9.21,0.48,210.22	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5438.56,0.00,241213,222240	MEM	354656
TT8_MAMPS	0.026964	DATA_FILE_SIZE	53609,960
HUMID	62.32	CAP_FILE_SIZE	127303,3
INTERNAL_PRESSURE	9.04779	CFSIZE	2097086464,2078441472
TCM_TEMP	4.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,2
XPDR_PINGS	0	GPS	251213,053723,-5459.145,0.437,37,0.9,37,-20.2
_24V_AH	21.6,56.739

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	290	150.86	SBE_CT	685	24	355.19
Roll_motor	45	78	76.48	WL_BB2FLVMT	710	105	1610.57
VBD_pump_during_apogee	277	1596	9575.79	SBE_O2	645	19	264.98
VBD_pump_during_surface	77	1063	1772.01	QSP2150	69	4	6.54
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	53.52	nil	0	0	0.00
Iridium_during_connect	26	160	92.90	nil	0	0	0.00
Iridium_during_xfer	510	223	2460.75	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	26	5.16
TT8	2395	14	358.43
LPSleep	8061	2	176.54
TT8_Active	465	14	66.11
TT8_Sampling	2884	37	1079.66
TT8_CF8	145	47	68.61
TT8_Kalman	0	0	0.00
Analog_circuits	1448	12	173.82
GPS_charging	0	0	0.00
Compass	2285	15	359.46
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	-19.98	0.000	2	0.000	0.000	69	1858	2083	0	0	0	0	0	0
48	-0.90	-136.2	3.0	-0.9	3	139	12.55	1.55	-70.72	0.000	4	0.278	0.074	2728	937	3153	0	0	0	0	0	0
301	-0.90	-136.2	23.0	-17.6	45	306	0.03	1.48	0.00	0.000	6	0.232	0.031	2729	1876	3153	0	0	0	0	0	0
447	-0.90	-136.2	50.5	-18.9	70	452	0.00	0.85	0.00	0.000	4	0.000	0.041	2725	2444	3153	0	0	0	0	0	0
551	-0.90	-136.2	69.8	-18.1	88	556	0.00	0.82	0.00	0.000	6	0.000	0.034	2726	1896	3153	0	0	0	0	0	0
891	-0.90	-136.2	130.2	-17.9	134	895	0.03	0.65	0.00	0.000	4	0.291	0.048	2735	1471	3153	0	0	0	0	0	0
928	-0.90	-136.2	136.8	-16.8	137	934	0.00	0.70	0.00	0.000	6	0.000	0.031	2734	1945	3153	0	0	0	0	0	0
1253	-0.90	-136.2	190.1	-16.0	168	1257	0.00	1.30	0.00	0.000	4	0.000	0.041	2728	2783	3154	0	0	0	0	0	0
1358	-0.90	-136.2	205.9	-15.2	177	1361	0.00	1.33	0.00	0.000	6	0.000	0.033	2728	1921	3153	0	0	0	0	0	0
1688	-0.90	-136.2	257.6	-16.1	208	1689	0.00	0.00	0.00	0.000	6	0.000	0.000	2727	1921	3153	0	0	0	0	0	0
2007	-0.90	-136.2	308.1	-16.1	238	2008	0.00	0.00	0.00	0.000	6	0.000	0.000	2728	1921	3153	0	0	0	0	0	0
2326	-0.90	-136.2	360.7	-16.4	268	2329	0.00	0.65	0.00	0.000	4	0.000	0.049	2728	1489	3154	0	0	0	0	0	0
2405	-0.90	-136.2	374.1	-16.9	275	2409	0.00	0.60	0.00	0.000	6	0.000	0.034	2726	1918	3153	0	0	0	0	0	0
2730	-0.90	-136.2	426.5	-15.8	298	2734	0.05	1.08	0.00	0.000	4	0.263	0.040	2730	2618	3153	0	0	0	0	0	0
2806	-0.90	-136.2	438.6	-15.0	301	2811	0.00	1.10	0.00	0.000	6	0.000	0.033	2731	1910	3153	0	0	0	0	0	0
3128	-0.90	-136.2	487.2	-15.0	317	3129	0.00	0.00	0.00	0.000	6	0.000	0.000	2730	1909	3154	0	0	0	0	0	0
3437	-0.90	-136.2	532.7	-14.6	332	3441	0.00	0.60	0.00	0.000	4	0.000	0.048	2730	1503	3154	0	0	0	0	0	0
3514	-0.90	-136.2	544.5	-15.0	335	3519	0.00	0.60	0.00	0.000	6	0.000	0.032	2728	1923	3155	0	0	0	0	0	0
3836	-0.90	-136.2	591.1	-14.6	351	3839	0.00	1.20	0.00	0.000	4	0.000	0.041	2722	2705	3155	0	0	0	0	0	0
3930	-0.90	-136.2	605.0	-14.3	355	3935	0.03	1.23	0.00	0.000	6	0.202	0.032	2730	1913	3154	0	0	0	0	0	0
4256	-0.90	-136.2	648.8	-13.3	371	4258	0.00	0.00	0.00	0.000	6	0.000	0.000	2730	1913	3155	0	0	0	0	0	0
4566	-0.90	-136.2	688.2	-12.5	386	4569	0.00	0.60	0.00	0.000	4	0.000	0.049	2730	1507	3155	0	0	0	0	0	0
4665	-0.90	-136.2	700.8	-11.9	390	4669	0.00	0.57	0.00	0.000	6	0.000	0.032	2729	1914	3155	0	0	0	0	0	0
4986	-0.90	-136.2	737.9	-11.6	406	4990	0.00	0.45	0.00	0.000	4	0.000	0.041	2727	2254	3155	0	0	0	0	0	0
5103	-0.90	-136.2	751.1	-11.0	411	5107	0.00	0.55	0.00	0.000	6	0.000	0.037	2727	1881	3156	0	0	0	0	0	0
5429	-0.90	-136.2	786.7	-10.9	427	5431	0.00	0.00	0.00	0.000	6	0.000	0.000	2727	1881	3156	0	0	0	0	0	0
5739	-0.90	-136.2	820.1	-11.2	442	5740	0.00	0.00	0.00	0.000	6	0.000	0.000	2727	1880	3156	0	0	0	0	0	0
6048	-0.90	-136.2	854.2	-11.0	457	6049	0.00	0.00	0.00	0.000	6	0.000	0.000	2727	1880	3156	0	0	0	0	0	0
6357	-0.90	-136.2	887.7	-10.7	472	6361	0.00	0.68	0.00	0.000	4	0.000	0.048	2727	1438	3156	0	0	0	0	0	0
6462	-0.90	-136.2	899.6	-12.1	476	6469	0.05	0.68	0.00	0.000	6	0.256	0.031	2733	1904	3156	0	0	0	0	0	0
6778	-0.90	-136.2	934.3	-11.3	492	6779	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	1904	3156	0	0	0	0	0	0
7088	-0.90	-136.2	971.0	-12.2	507	7089	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	1904	3157	0	0	0	0	0	0
7251	end dive: TARGET_DEPTH_EXCEEDED
state	7251	begin apogee
7256	-0.16	0.0	991.5	12.6	515	7403	0.88	0.00	143.52	1.597	6	0.179	0.000	2970	1793	2599	0	0	0	0	0	0
7404	end apogee: CONTROL_FINISHED_OK
state	7404	begin climb
7405	0.90	136.2	995.4	0.0	522	7546	1.20	0.52	134.15	1.564	4	0.103	0.053	3320	1506	2043	0	0	0	0	0	0
7800	0.90	136.2	934.6	17.7	541	7804	0.00	0.45	0.00	0.000	6	0.000	0.030	3320	1821	2034	0	0	0	0	0	0
8132	0.90	136.2	874.3	18.5	557	8136	0.00	2.28	0.00	0.000	4	0.000	0.057	3329	461	2033	0	0	0	0	0	0
8293	0.90	136.2	841.6	20.6	564	8297	0.00	2.10	0.00	0.000	6	0.000	0.026	3329	1803	2031	0	0	0	0	0	0
8614	0.90	136.2	776.2	21.0	580	8618	0.00	0.32	0.00	0.000	4	0.000	0.044	3329	1593	2031	0	0	0	0	0	0
8871	0.90	136.2	722.4	21.0	591	8875	0.00	0.35	0.00	0.000	6	0.000	0.035	3330	1838	2031	0	0	0	0	0	0
9192	0.90	136.2	659.1	19.1	607	9196	0.00	2.25	0.00	0.000	4	0.000	0.056	3339	456	2030	0	0	0	0	0	0
9326	0.90	136.2	632.4	20.0	613	9331	0.03	2.08	0.00	0.000	6	0.203	0.027	3330	1816	2030	0	0	0	0	0	0
9652	0.90	136.2	572.4	18.5	629	9656	0.00	0.77	0.00	0.000	4	0.000	0.047	3332	1330	2030	0	0	0	0	0	0
9787	0.90	136.2	547.2	20.0	635	9791	0.00	0.73	0.00	0.000	6	0.000	0.027	3332	1818	2030	0	0	0	0	0	0
10119	0.90	136.2	486.3	17.8	651	10123	0.00	1.25	0.00	0.000	4	0.000	0.050	3337	1045	2030	0	0	0	0	0	0
10232	0.90	136.2	466.7	17.1	656	10236	0.03	1.17	0.00	0.000	6	0.207	0.028	3329	1830	2029	0	0	0	0	0	0
10563	0.90	136.2	410.4	17.3	672	10567	0.00	0.82	0.00	0.000	4	0.000	0.047	3331	1309	2029	0	0	0	0	0	0
10710	0.90	136.2	384.9	17.6	682	10714	0.00	0.75	0.00	0.000	6	0.000	0.028	3331	1814	2029	0	0	0	0	0	0
11043	0.90	136.2	326.0	17.9	713	11047	0.00	0.55	0.00	0.000	4	0.000	0.045	3333	1458	2029	0	0	0	0	0	0
11303	0.90	136.2	278.7	18.5	736	11306	0.00	0.52	0.00	0.000	6	0.000	0.031	3333	1842	2029	0	0	0	0	0	0
11633	0.90	136.2	224.4	15.8	767	11637	0.00	2.22	0.00	0.000	4	0.000	0.056	3342	460	2029	0	0	0	0	0	0
11754	0.90	136.2	203.8	17.5	777	11758	0.08	2.03	0.00	0.000	6	0.208	0.028	3327	1802	2029	0	0	0	0	0	0
12078	0.90	136.2	152.6	15.3	807	12080	0.00	0.00	0.00	0.000	6	0.000	0.000	3327	1803	2029	0	0	0	0	0	0
12401	0.90	136.2	107.1	13.8	837	12405	0.00	1.20	0.00	0.000	4	0.000	0.051	3331	1058	2029	0	0	0	0	0	0
12539	0.90	136.2	86.9	14.0	856	12544	0.00	1.15	0.00	0.000	6	0.000	0.027	3330	1832	2029	0	0	0	0	0	0
12888	0.90	136.2	35.2	14.4	917	12892	0.00	0.00	0.00	0.000	6	0.000	0.000	3331	1832	2029	0	0	0	0	0	0
13033	0.90	136.2	14.3	14.1	942	13040	0.00	1.23	0.00	0.000	4	0.000	0.050	3335	1077	2029	0	0	0	0	0	0
13118	end climb: SURFACE_DEPTH_REACHED
state	13118	begin surface coast
13143	end surface coast: CONTROL_FINISHED_OK
state	13144	begin surface