Glider dive log

SOSCEx Dec13 * SG574 * Dive index * Mission links * Dive 129 * 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 129 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 81 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 210 R_STBD_OVSHOOT 41 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 -15229.459 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 108

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 108 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 -15229.459

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 81 VBD_MAX 3960

DEVICE6 -1 MASS 53599 R_STBD_OVSHOOT 41 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 150 SEABIRD_C_G -9.9136524 VBD_MIN 396

DIVE 129 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 251213,133623,-5500.080,2.520,40,0.9,40,-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 2.96 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 251213,134314,-5500.052,2.569,15,0.7,17,-20.3 MHEAD_RNG_PITCHd_Wd 292.3,2731,-27.8,-9.429

SPEED_LIMITS 0.163,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 2.0,1.007200 _10V_AH 10.0,40.967

SM_CCo 12808,59.53,1.053,0,0,1743,210.22 FG_AHR_24Vo 0.000

SM_GC 3.28,0.00,0.00,59.53,0.000,0.000,1.053,80,1923,1743,-9.22,0.37,210.22 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5438.56,0.00,251213,090936 MEM 354736

TT8_MAMPS 0.027713 DATA_FILE_SIZE 53668,930

HUMID 63.34 CAP_FILE_SIZE 120193,0

INTERNAL_PRESSURE 9.05756 CFSIZE 2097086464,2078048256

TCM_TEMP 4.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2

XPDR_PINGS 0 GPS 251213,171921,-5459.218,0.582,27,1.4,42,-20.2

_24V_AH 21.6,57.201

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 273 141.09 SBE_CT 663 24 344.11

Roll_motor 46 69 69.81 WL_BB2FLVMT 667 105 1512.93

VBD_pump_during_apogee 262 1621 9196.48 SBE_O2 628 19 257.84

VBD_pump_during_surface 59 1052 1353.42 QSP2150 63 4 6.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 61.47 nil 0 0 0.00

Iridium_during_connect 19 160 68.24 nil 0 0 0.00

Iridium_during_xfer 251 223 1212.18 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 26 5.49

TT8 2322 14 347.44

LPSleep 7859 2 172.13

TT8_Active 420 14 59.77

TT8_Sampling 2545 37 952.88

TT8_CF8 135 47 63.74

TT8_Kalman 0 0 0.00

Analog_circuits 1398 12 167.87

GPS_charging 0 0 0.00

Compass 2214 15 348.41

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 -20.05 0.000 2 0.000 0.000 67 1898 2085 0 0 0 0 0 0

48 -0.90 -139.7 3.0 -0.5 3 139 12.43 1.77 -71.18 0.000 4 0.274 0.070 2732 839 3169 0 0 0 0 0 0

207 -0.90 -139.7 12.0 -16.2 29 215 0.00 1.70 0.00 0.000 6 0.000 0.031 2725 1919 3171 0 0 0 0 0 0

262 -0.90 -139.7 22.4 -18.4 38 269 0.05 0.00 0.00 0.000 6 0.274 0.000 2733 1920 3172 0 0 0 0 0 0

407 -0.90 -139.7 49.5 -18.2 63 414 0.00 0.47 0.00 0.000 4 0.000 0.043 2732 2265 3171 0 0 0 0 0 0

556 -0.90 -139.7 78.5 -19.6 89 561 0.00 0.47 0.00 0.000 6 0.000 0.039 2732 1927 3171 0 0 0 0 0 0

893 -0.90 -139.7 144.5 -20.5 130 896 0.00 0.43 0.00 0.000 4 0.000 0.050 2732 1628 3172 0 0 0 0 0 0

915 -0.90 -139.7 149.0 -20.2 132 919 0.00 0.43 0.00 0.000 6 0.000 0.038 2731 1944 3171 0 0 0 0 0 0

1245 -0.90 -139.7 204.8 -15.6 163 1249 0.00 0.88 0.00 0.000 4 0.000 0.041 2727 2529 3172 0 0 0 0 0 0

1305 -0.90 -139.7 215.3 -17.0 168 1314 0.00 0.95 0.00 0.000 6 0.000 0.035 2727 1917 3171 0 0 0 0 0 0

1631 -0.90 -139.7 266.3 -15.7 199 1634 0.00 0.43 0.00 0.000 4 0.000 0.052 2727 1617 3171 0 0 0 0 0 0

1676 -0.90 -139.7 273.5 -15.8 203 1680 0.00 0.40 0.00 0.000 6 0.000 0.037 2726 1916 3171 0 0 0 0 0 0

2006 -0.90 -139.7 325.0 -14.9 234 2010 0.05 0.95 0.00 0.000 4 0.269 0.041 2730 2541 3170 0 0 0 0 0 0

2133 -0.90 -139.7 341.7 -12.9 245 2136 0.00 0.98 0.00 0.000 6 0.000 0.035 2730 1901 3170 0 0 0 0 0 0

2463 -0.90 -139.7 385.6 -13.1 276 2464 0.00 0.00 0.00 0.000 6 0.000 0.000 2730 1901 3170 0 0 0 0 0 0

2786 -0.90 -139.7 428.4 -13.3 297 2787 0.00 0.00 0.00 0.000 6 0.000 0.000 2730 1901 3171 0 0 0 0 0 0

3095 -0.90 -139.7 469.5 -13.3 312 3096 0.00 0.00 0.00 0.000 6 0.000 0.000 2730 1901 3171 0 0 0 0 0 0

3404 -0.90 -139.7 511.1 -13.1 327 3408 0.00 0.55 0.00 0.000 4 0.000 0.050 2730 1525 3171 0 0 0 0 0 0

3543 -0.90 -139.7 530.3 -13.6 333 3547 0.00 0.55 0.00 0.000 6 0.000 0.033 2728 1912 3171 0 0 0 0 0 0

3870 -0.90 -139.7 576.2 -14.2 349 3874 0.00 0.68 0.00 0.000 4 0.000 0.041 2725 2386 3172 0 0 0 0 0 0

3983 -0.90 -139.7 592.3 -14.5 354 3986 0.00 0.70 0.00 0.000 6 0.000 0.037 2725 1907 3172 0 0 0 0 0 0

4315 -0.90 -139.7 639.0 -14.2 370 4316 0.05 0.00 0.00 0.000 6 0.250 0.000 2732 1907 3172 0 0 0 0 0 0

4624 -0.90 -139.7 680.2 -13.1 385 4627 0.00 0.80 0.00 0.000 4 0.000 0.048 2734 1385 3173 0 0 0 0 0 0

4701 -0.90 -139.7 690.8 -13.0 388 4706 0.00 0.77 0.00 0.000 6 0.000 0.030 2732 1910 3173 0 0 0 0 0 0

5022 -0.90 -139.7 733.0 -12.8 404 5023 0.00 0.00 0.00 0.000 6 0.000 0.000 2732 1910 3173 0 0 0 0 0 0

5332 -0.90 -139.7 772.1 -12.5 419 5333 0.00 0.00 0.00 0.000 6 0.000 0.000 2732 1910 3173 0 0 0 0 0 0

5641 -0.90 -139.7 811.0 -12.6 434 5642 0.00 0.00 0.00 0.000 6 0.000 0.000 2732 1910 3173 0 0 0 0 0 0

5950 -0.90 -139.7 850.5 -12.6 449 5954 0.00 0.88 0.00 0.000 4 0.000 0.041 2728 2494 3173 0 0 0 0 0 0

6021 -0.90 -139.7 860.0 -12.9 452 6026 0.00 0.90 0.00 0.000 6 0.000 0.034 2728 1905 3173 0 0 0 0 0 0

6349 -0.90 -139.7 902.2 -12.9 468 6350 0.00 0.00 0.00 0.000 6 0.000 0.000 2728 1905 3173 0 0 0 0 0 0

6658 -0.90 -139.7 942.0 -12.6 483 6662 0.00 0.70 0.00 0.000 4 0.000 0.047 2728 1443 3174 0 0 0 0 0 0

6735 -0.90 -139.7 951.9 -12.6 486 6739 0.00 0.70 0.00 0.000 6 0.000 0.031 2725 1919 3174 0 0 0 0 0 0

7034 end dive: TARGET_DEPTH_EXCEEDED

state 7035 begin apogee

7039 -0.16 0.0 990.1 12.8 501 7166 0.93 0.00 123.70 1.622 6 0.181 0.000 2972 1794 2599 0 0 0 0 0 0

7167 end apogee: CONTROL_FINISHED_OK

state 7167 begin climb

7169 0.90 139.7 993.1 0.0 507 7316 1.17 0.73 138.82 1.545 4 0.101 0.053 3322 1403 2029 0 0 0 0 0 0

7568 0.90 139.7 931.9 18.0 526 7573 0.00 0.65 0.00 0.000 6 0.000 0.027 3322 1813 2021 0 0 0 0 0 0

7896 0.90 139.7 876.1 17.2 542 7899 0.00 1.95 0.00 0.000 4 0.000 0.056 3329 644 2019 0 0 0 0 0 0

8017 0.90 139.7 853.8 18.7 547 8023 0.00 1.83 0.00 0.000 6 0.000 0.026 3329 1818 2017 0 0 0 0 0 0

8339 0.90 139.7 796.8 17.9 563 8343 0.00 1.10 0.00 0.000 4 0.000 0.050 3333 1146 2017 0 0 0 0 0 0

8484 0.90 139.7 770.1 18.4 569 8489 0.00 1.05 0.00 0.000 6 0.000 0.028 3333 1836 2017 0 0 0 0 0 0

8806 0.90 139.7 710.2 19.0 585 8809 0.00 1.20 0.00 0.000 4 0.000 0.051 3338 1104 2016 0 0 0 0 0 0

8956 0.90 139.7 681.4 18.9 591 8962 0.03 1.08 0.00 0.000 6 0.200 0.028 3329 1831 2016 0 0 0 0 0 0

9272 0.90 139.7 625.2 17.7 607 9275 0.00 1.15 0.00 0.000 4 0.000 0.050 3333 1123 2016 0 0 0 0 0 0

9399 0.90 139.7 601.6 18.3 612 9405 0.00 1.05 0.00 0.000 6 0.000 0.027 3333 1823 2016 0 0 0 0 0 0

9716 0.90 139.7 543.5 18.8 628 9719 0.00 0.65 0.00 0.000 4 0.000 0.046 3334 1408 2016 0 0 0 0 0 0

9972 0.90 139.7 494.3 19.0 639 9977 0.00 0.60 0.00 0.000 6 0.000 0.029 3335 1814 2015 0 0 0 0 0 0

10294 0.90 139.7 431.2 19.9 655 10297 0.00 1.02 0.00 0.000 4 0.000 0.050 3338 1178 2015 0 0 0 0 0 0

10421 0.90 139.7 405.2 21.0 660 10428 0.05 0.98 0.00 0.000 6 0.238 0.028 3328 1837 2016 0 0 0 0 0 0

10749 0.90 139.7 341.9 20.4 689 10753 0.00 1.33 0.00 0.000 4 0.000 0.051 3332 1025 2016 0 0 0 0 0 0

10887 0.90 139.7 314.3 19.3 701 10890 0.00 1.17 0.00 0.000 6 0.000 0.028 3332 1817 2016 0 0 0 0 0 0

11217 0.90 139.7 252.4 18.2 732 11220 0.00 1.62 0.00 0.000 4 0.000 0.055 3339 832 2016 0 0 0 0 0 0

11331 0.90 139.7 230.8 19.2 742 11335 0.03 1.48 0.00 0.000 6 0.200 0.028 3330 1810 2015 0 0 0 0 0 0

11664 0.90 139.7 172.9 17.5 773 11667 0.00 0.35 0.00 0.000 4 0.000 0.046 3331 1584 2015 0 0 0 0 0 0

11923 0.90 139.7 128.7 16.3 796 11926 0.00 0.32 0.00 0.000 6 0.000 0.036 3330 1836 2015 0 0 0 0 0 0

12257 0.90 139.7 79.8 14.2 839 12262 0.00 1.98 0.00 0.000 4 0.000 0.055 3339 600 2016 0 0 0 0 0 0

12373 0.90 139.7 62.2 15.8 859 12378 0.05 1.83 0.00 0.000 6 0.230 0.028 3328 1813 2016 0 0 0 0 0 0

12728 0.90 139.7 9.1 18.5 920 12735 0.00 2.05 0.00 0.000 4 0.000 0.060 3335 576 2016 0 0 0 0 0 0

12771 end climb: SURFACE_DEPTH_REACHED

state 12771 begin surface coast

12790 end surface coast: CONTROL_FINISHED_OK

state 12790 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	129	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	81	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	210	R_STBD_OVSHOOT	41	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	-15229.459	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	108

GPS1	251213,133623,-5500.080,2.520,40,0.9,40,-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	2.96	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	251213,134314,-5500.052,2.569,15,0.7,17,-20.3	MHEAD_RNG_PITCHd_Wd	292.3,2731,-27.8,-9.429
SPEED_LIMITS	0.163,0.255	D_GRID	990

FINISH	2.0,1.007200	_10V_AH	10.0,40.967
SM_CCo	12808,59.53,1.053,0,0,1743,210.22	FG_AHR_24Vo	0.000
SM_GC	3.28,0.00,0.00,59.53,0.000,0.000,1.053,80,1923,1743,-9.22,0.37,210.22	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5438.56,0.00,251213,090936	MEM	354736
TT8_MAMPS	0.027713	DATA_FILE_SIZE	53668,930
HUMID	63.34	CAP_FILE_SIZE	120193,0
INTERNAL_PRESSURE	9.05756	CFSIZE	2097086464,2078048256
TCM_TEMP	4.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
XPDR_PINGS	0	GPS	251213,171921,-5459.218,0.582,27,1.4,42,-20.2
_24V_AH	21.6,57.201

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	273	141.09	SBE_CT	663	24	344.11
Roll_motor	46	69	69.81	WL_BB2FLVMT	667	105	1512.93
VBD_pump_during_apogee	262	1621	9196.48	SBE_O2	628	19	257.84
VBD_pump_during_surface	59	1052	1353.42	QSP2150	63	4	6.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	61.47	nil	0	0	0.00
Iridium_during_connect	19	160	68.24	nil	0	0	0.00
Iridium_during_xfer	251	223	1212.18	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	26	5.49
TT8	2322	14	347.44
LPSleep	7859	2	172.13
TT8_Active	420	14	59.77
TT8_Sampling	2545	37	952.88
TT8_CF8	135	47	63.74
TT8_Kalman	0	0	0.00
Analog_circuits	1398	12	167.87
GPS_charging	0	0	0.00
Compass	2214	15	348.41
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	-20.05	0.000	2	0.000	0.000	67	1898	2085	0	0	0	0	0	0
48	-0.90	-139.7	3.0	-0.5	3	139	12.43	1.77	-71.18	0.000	4	0.274	0.070	2732	839	3169	0	0	0	0	0	0
207	-0.90	-139.7	12.0	-16.2	29	215	0.00	1.70	0.00	0.000	6	0.000	0.031	2725	1919	3171	0	0	0	0	0	0
262	-0.90	-139.7	22.4	-18.4	38	269	0.05	0.00	0.00	0.000	6	0.274	0.000	2733	1920	3172	0	0	0	0	0	0
407	-0.90	-139.7	49.5	-18.2	63	414	0.00	0.47	0.00	0.000	4	0.000	0.043	2732	2265	3171	0	0	0	0	0	0
556	-0.90	-139.7	78.5	-19.6	89	561	0.00	0.47	0.00	0.000	6	0.000	0.039	2732	1927	3171	0	0	0	0	0	0
893	-0.90	-139.7	144.5	-20.5	130	896	0.00	0.43	0.00	0.000	4	0.000	0.050	2732	1628	3172	0	0	0	0	0	0
915	-0.90	-139.7	149.0	-20.2	132	919	0.00	0.43	0.00	0.000	6	0.000	0.038	2731	1944	3171	0	0	0	0	0	0
1245	-0.90	-139.7	204.8	-15.6	163	1249	0.00	0.88	0.00	0.000	4	0.000	0.041	2727	2529	3172	0	0	0	0	0	0
1305	-0.90	-139.7	215.3	-17.0	168	1314	0.00	0.95	0.00	0.000	6	0.000	0.035	2727	1917	3171	0	0	0	0	0	0
1631	-0.90	-139.7	266.3	-15.7	199	1634	0.00	0.43	0.00	0.000	4	0.000	0.052	2727	1617	3171	0	0	0	0	0	0
1676	-0.90	-139.7	273.5	-15.8	203	1680	0.00	0.40	0.00	0.000	6	0.000	0.037	2726	1916	3171	0	0	0	0	0	0
2006	-0.90	-139.7	325.0	-14.9	234	2010	0.05	0.95	0.00	0.000	4	0.269	0.041	2730	2541	3170	0	0	0	0	0	0
2133	-0.90	-139.7	341.7	-12.9	245	2136	0.00	0.98	0.00	0.000	6	0.000	0.035	2730	1901	3170	0	0	0	0	0	0
2463	-0.90	-139.7	385.6	-13.1	276	2464	0.00	0.00	0.00	0.000	6	0.000	0.000	2730	1901	3170	0	0	0	0	0	0
2786	-0.90	-139.7	428.4	-13.3	297	2787	0.00	0.00	0.00	0.000	6	0.000	0.000	2730	1901	3171	0	0	0	0	0	0
3095	-0.90	-139.7	469.5	-13.3	312	3096	0.00	0.00	0.00	0.000	6	0.000	0.000	2730	1901	3171	0	0	0	0	0	0
3404	-0.90	-139.7	511.1	-13.1	327	3408	0.00	0.55	0.00	0.000	4	0.000	0.050	2730	1525	3171	0	0	0	0	0	0
3543	-0.90	-139.7	530.3	-13.6	333	3547	0.00	0.55	0.00	0.000	6	0.000	0.033	2728	1912	3171	0	0	0	0	0	0
3870	-0.90	-139.7	576.2	-14.2	349	3874	0.00	0.68	0.00	0.000	4	0.000	0.041	2725	2386	3172	0	0	0	0	0	0
3983	-0.90	-139.7	592.3	-14.5	354	3986	0.00	0.70	0.00	0.000	6	0.000	0.037	2725	1907	3172	0	0	0	0	0	0
4315	-0.90	-139.7	639.0	-14.2	370	4316	0.05	0.00	0.00	0.000	6	0.250	0.000	2732	1907	3172	0	0	0	0	0	0
4624	-0.90	-139.7	680.2	-13.1	385	4627	0.00	0.80	0.00	0.000	4	0.000	0.048	2734	1385	3173	0	0	0	0	0	0
4701	-0.90	-139.7	690.8	-13.0	388	4706	0.00	0.77	0.00	0.000	6	0.000	0.030	2732	1910	3173	0	0	0	0	0	0
5022	-0.90	-139.7	733.0	-12.8	404	5023	0.00	0.00	0.00	0.000	6	0.000	0.000	2732	1910	3173	0	0	0	0	0	0
5332	-0.90	-139.7	772.1	-12.5	419	5333	0.00	0.00	0.00	0.000	6	0.000	0.000	2732	1910	3173	0	0	0	0	0	0
5641	-0.90	-139.7	811.0	-12.6	434	5642	0.00	0.00	0.00	0.000	6	0.000	0.000	2732	1910	3173	0	0	0	0	0	0
5950	-0.90	-139.7	850.5	-12.6	449	5954	0.00	0.88	0.00	0.000	4	0.000	0.041	2728	2494	3173	0	0	0	0	0	0
6021	-0.90	-139.7	860.0	-12.9	452	6026	0.00	0.90	0.00	0.000	6	0.000	0.034	2728	1905	3173	0	0	0	0	0	0
6349	-0.90	-139.7	902.2	-12.9	468	6350	0.00	0.00	0.00	0.000	6	0.000	0.000	2728	1905	3173	0	0	0	0	0	0
6658	-0.90	-139.7	942.0	-12.6	483	6662	0.00	0.70	0.00	0.000	4	0.000	0.047	2728	1443	3174	0	0	0	0	0	0
6735	-0.90	-139.7	951.9	-12.6	486	6739	0.00	0.70	0.00	0.000	6	0.000	0.031	2725	1919	3174	0	0	0	0	0	0
7034	end dive: TARGET_DEPTH_EXCEEDED
state	7035	begin apogee
7039	-0.16	0.0	990.1	12.8	501	7166	0.93	0.00	123.70	1.622	6	0.181	0.000	2972	1794	2599	0	0	0	0	0	0
7167	end apogee: CONTROL_FINISHED_OK
state	7167	begin climb
7169	0.90	139.7	993.1	0.0	507	7316	1.17	0.73	138.82	1.545	4	0.101	0.053	3322	1403	2029	0	0	0	0	0	0
7568	0.90	139.7	931.9	18.0	526	7573	0.00	0.65	0.00	0.000	6	0.000	0.027	3322	1813	2021	0	0	0	0	0	0
7896	0.90	139.7	876.1	17.2	542	7899	0.00	1.95	0.00	0.000	4	0.000	0.056	3329	644	2019	0	0	0	0	0	0
8017	0.90	139.7	853.8	18.7	547	8023	0.00	1.83	0.00	0.000	6	0.000	0.026	3329	1818	2017	0	0	0	0	0	0
8339	0.90	139.7	796.8	17.9	563	8343	0.00	1.10	0.00	0.000	4	0.000	0.050	3333	1146	2017	0	0	0	0	0	0
8484	0.90	139.7	770.1	18.4	569	8489	0.00	1.05	0.00	0.000	6	0.000	0.028	3333	1836	2017	0	0	0	0	0	0
8806	0.90	139.7	710.2	19.0	585	8809	0.00	1.20	0.00	0.000	4	0.000	0.051	3338	1104	2016	0	0	0	0	0	0
8956	0.90	139.7	681.4	18.9	591	8962	0.03	1.08	0.00	0.000	6	0.200	0.028	3329	1831	2016	0	0	0	0	0	0
9272	0.90	139.7	625.2	17.7	607	9275	0.00	1.15	0.00	0.000	4	0.000	0.050	3333	1123	2016	0	0	0	0	0	0
9399	0.90	139.7	601.6	18.3	612	9405	0.00	1.05	0.00	0.000	6	0.000	0.027	3333	1823	2016	0	0	0	0	0	0
9716	0.90	139.7	543.5	18.8	628	9719	0.00	0.65	0.00	0.000	4	0.000	0.046	3334	1408	2016	0	0	0	0	0	0
9972	0.90	139.7	494.3	19.0	639	9977	0.00	0.60	0.00	0.000	6	0.000	0.029	3335	1814	2015	0	0	0	0	0	0
10294	0.90	139.7	431.2	19.9	655	10297	0.00	1.02	0.00	0.000	4	0.000	0.050	3338	1178	2015	0	0	0	0	0	0
10421	0.90	139.7	405.2	21.0	660	10428	0.05	0.98	0.00	0.000	6	0.238	0.028	3328	1837	2016	0	0	0	0	0	0
10749	0.90	139.7	341.9	20.4	689	10753	0.00	1.33	0.00	0.000	4	0.000	0.051	3332	1025	2016	0	0	0	0	0	0
10887	0.90	139.7	314.3	19.3	701	10890	0.00	1.17	0.00	0.000	6	0.000	0.028	3332	1817	2016	0	0	0	0	0	0
11217	0.90	139.7	252.4	18.2	732	11220	0.00	1.62	0.00	0.000	4	0.000	0.055	3339	832	2016	0	0	0	0	0	0
11331	0.90	139.7	230.8	19.2	742	11335	0.03	1.48	0.00	0.000	6	0.200	0.028	3330	1810	2015	0	0	0	0	0	0
11664	0.90	139.7	172.9	17.5	773	11667	0.00	0.35	0.00	0.000	4	0.000	0.046	3331	1584	2015	0	0	0	0	0	0
11923	0.90	139.7	128.7	16.3	796	11926	0.00	0.32	0.00	0.000	6	0.000	0.036	3330	1836	2015	0	0	0	0	0	0
12257	0.90	139.7	79.8	14.2	839	12262	0.00	1.98	0.00	0.000	4	0.000	0.055	3339	600	2016	0	0	0	0	0	0
12373	0.90	139.7	62.2	15.8	859	12378	0.05	1.83	0.00	0.000	6	0.230	0.028	3328	1813	2016	0	0	0	0	0	0
12728	0.90	139.7	9.1	18.5	920	12735	0.00	2.05	0.00	0.000	4	0.000	0.060	3335	576	2016	0	0	0	0	0	0
12771	end climb: SURFACE_DEPTH_REACHED
state	12771	begin surface coast
12790	end surface coast: CONTROL_FINISHED_OK
state	12790	begin surface