Glider dive log

SOSCEx Feb12 * SG573 * Dive index * Mission links * Dive 151 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 573 HD_B 0.010078 ROLL_MIN 150 ALTIM_TOP_TURN_MARGIN 0

MISSION 4 HD_C 9.8500004e-06 ROLL_MAX 3785 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 151 HEADING -1 ROLL_DEG 40 ALTIM_PING_DEPTH 1050

D_SURF 3 ESCAPE_HEADING 0 C_ROLL_DIVE 1819 ALTIM_PING_DELTA 5

D_FLARE 3 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1646 ALTIM_FREQUENCY 13

D_TGT 1000 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_ABORT 1100 TGT_DEFAULT_LAT -4235 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 TGT_DEFAULT_LON -200 ROLL_TIMEOUT 15 XPDR_VALID 5

D_BOOST 0 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 27 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 250 R_STBD_OVSHOOT 38 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST_BLACKOUT 0 N_FILEKB 4 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.55000001

D_FINISH 0 FILEMGR 0 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 KERMIT 0 ROLL_GAIN_P 0.5 DEVICE1 2

SURFACE_URGENCY 0 N_NOCOMM 1 VBD_MIN 409 DEVICE2 115

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MAX 3959 DEVICE3 20

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 C_VBD 2862 DEVICE4 134

T_DIVE 450 CALL_TRIES 5 VBD_DBAND 2 DEVICE5 -1

T_MISSION 520 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE6 -1

T_ABORT 720 CAPUPLOAD 0 VBD_TIMEOUT 720 LOGGERS 1

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

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 -1

T_NO_W 120 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_LOITER 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_ALMANAC 0 UNCOM_BLEED 60 COMPASS_DEVICE 33

USE_ICE 0 T_GPS_CHARGE -4768.397 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 125 PITCH_MIN 100 FG_AHR_10V 0 SIM_PITCH 0

COURSE_BIAS 0 PITCH_MAX 3858 FG_AHR_24V 0 SEABIRD_T_G 0.0042828661

GLIDE_SLOPE 30 C_PITCH 3022 PHONE_SUPPLY 2 SEABIRD_T_H 0.00061930995

SPEED_FACTOR 1 PITCH_DBAND 0.0099999998 PRESSURE_YINT -87.947678 SEABIRD_T_I 2.1971719e-05

RHO 1.0278 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011693723 SEABIRD_T_J 2.301111e-06

MASS 52752 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_C_G -9.9469662

LENGTH 1.8 PITCH_GAIN 22 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.155618

NAV_MODE 1 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0016006827

DIRECT_CONTROL 0 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_J 0.00019558761

FERRY_MAX 45 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 EBE_ENABLE 0

KALMAN_USE 1 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 0 GC_WINDOW 20

HD_A 0.0038360001 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 20 GC_LAST_COLLECTION 130

AD7714Ch0Gain 128 D_NO_BLEED 200 N_GPS 20 SEABIRD_T_J 2.301111e-06

AH0_10V 100 D_OFFGRID 100 N_NOCOMM 1 SIM_PITCH 0

AH0_24V 150 D_PITCH 0 N_NOSURFACE 0 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PHONE_DEVICE 48 SM_CC 250

ALTIM_BOTTOM_TURN_MARGIN 20 D_SURF 3 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_TGT 1000 PITCH_ADJ_DBAND 1 STROBE 0

ALTIM_PING_DELTA 5 EBE_ENABLE 0 PITCH_ADJ_GAIN 0.02 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 1050 ESCAPE_HEADING 0 PITCH_AD_RATE 175 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 4 FERRY_MAX 45 PITCH_DBAND 0.0099999998 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_GAIN 22 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_MAX 3858 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -4235

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PITCH_MIN 100 TGT_DEFAULT_LON -200

CALL_NDIVES 1 GC_LAST_COLLECTION 130 PITCH_TIMEOUT 16 T_ABORT 720

CALL_TRIES 5 GC_WINDOW 20 PITCH_VBD_SHIFT 4.9999999e-05 T_BOOST 0

CALL_WAIT 60 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011693723 T_BOOST_BLACKOUT 0

CAPMAXSIZE 100000 GPS_DEVICE 32 PRESSURE_YINT -87.947678 T_DIVE 450

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 -4768.397

COMPASS2_DEVICE -1 HEADING -1 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS_DEVICE 33 HEAD_ERRBAND 10 RAFOS_PEAK_OFFSET 1.5 T_MISSION 520

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 3022 ID 573 ROLL_ADJ_DBAND 0 T_TURN 225

C_ROLL_CLIMB 1646 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_DIVE 1819 INT_PRESSURE_YINT -0.55000001 ROLL_AD_RATE 350 T_WATCHDOG 10

C_VBD 2862 KALMAN_USE 1 ROLL_CNV 0.028270001 UNCOM_BLEED 60

DEEPGLIDER 0 KERMIT 0 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 LENGTH 1.8 ROLL_GAIN_P 0.5 USE_BATHY 0

DEVICE1 2 LOGGERDEVICE1 -1 ROLL_MAX 3785 USE_ICE 0

DEVICE2 115 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE3 20 LOGGERDEVICE3 -1 ROLL_MIN 150 VBD_CNV -0.245296

DEVICE4 134 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE5 -1 LOGGERS 1 R_PORT_OVSHOOT 27 VBD_MAX 3959

DEVICE6 -1 MASS 52752 R_STBD_OVSHOOT 38 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 125 SEABIRD_C_G -9.9469662 VBD_MIN 409

DIVE 151 MINV_10V 8 SEABIRD_C_H 1.155618 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1100 MINV_24V 20 SEABIRD_C_I -0.0016006827 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 0 MISSION 4 SEABIRD_C_J 0.00019558761 VBD_TIMEOUT 720

D_CALL 0 MOTHERBOARD 4 SEABIRD_T_G 0.0042828661 XPDR_DEVICE 24

D_FINISH 0 NAV_MODE 1 SEABIRD_T_H 0.00061930995 XPDR_INHIBIT 90

D_FLARE 3 N_FILEKB 4 SEABIRD_T_I 2.1971719e-05 XPDR_VALID 5

Pre-dive calculations and measurements:

GPS1 311012,134335,-4240.610,-749.191,29,1.0,29,-21.7 TGT_NAME ACC_WP8n

_CALLS 2 TGT_LATLONG -4200.000,-720.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.127,0.176

_SM_DEPTHo 2.43 KALMAN_X -187150.6,624.9,66.5,366564.5,-11829.5

_SM_ANGLEo -72.6 KALMAN_Y -157294.8,-1125.5,-588.4,157635.4,3313.5

GPS2 311012,135429,-4240.521,-749.321,40,1.4,41,-21.7 MHEAD_RNG_PITCHd_Wd 57.5,85208,-15.4,-7.407

SPEED_LIMITS 0.128,0.217 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.6,1.013351 _10V_AH 10.2,24.389

SM_CCo 11452,0.00,0.000,0,0,1795,261.73 FG_AHR_24Vo 0.000

SM_GC 2.44,8.50,0.00,0.00,0.043,0.000,0.000,83,1860,1795,-9.11,1.13,261.73 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4221.55,-833.87,311012,131300 MEM 353992

TT8_MAMPS 0.026964 DATA_FILE_SIZE 46988,798

HUMID 43.81 CAP_FILE_SIZE 114090,1

INTERNAL_PRESSURE 9.13787 CFSIZE 2097086464,2074574848

TCM_TEMP 15.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,2

XPDR_PINGS 0 GPS 311012,170730,-4239.259,-750.206,42,1.1,42,-21.7

_24V_AH 24.2,25.851

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 242 125.44 SBE_CT 518 24 301.34

Roll_motor 45 73 80.64 WL_BB2FLVMT 1233 105 3133.31

VBD_pump_during_apogee 305 973 7192.31 SBE_O2 471 19 217.03

VBD_pump_during_surface 0 0 0.00 QSP2150 98 4 10.40

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 59 103 148.66 nil 0 0 0.00

Iridium_during_connect 88 160 341.15 nil 0 0 0.00

Iridium_during_xfer 304 223 1644.65 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 43 26 11.87

TT8 1916 14 292.40

LPSleep 6863 2 153.31

TT8_Active 373 14 54.19

TT8_Sampling 2852 37 1089.15

TT8_CF8 106 47 51.27

TT8_Kalman 33 59 20.13

Analog_circuits 1249 12 152.91

GPS_charging 0 0 0.00

Compass 2323 15 372.80

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 -0.71 -121.6 0.0 0.0 0 87 0.00 0.00 -60.28 0.000 2 0.000 0.000 87 1820 2776 0 0 0 0 0 0

89 -0.71 -121.6 3.1 -1.5 10 127 10.95 2.28 -18.62 0.000 4 0.243 0.073 2776 3216 3361 0 0 0 0 0 0

247 -0.62 -121.6 19.7 -12.7 36 255 0.12 2.22 0.00 0.000 6 0.142 0.043 2817 1810 3361 0 0 0 0 0 0

327 -0.57 -121.6 28.5 -11.1 49 335 0.08 0.90 0.00 0.000 4 0.194 0.054 2837 1237 3362 0 0 0 0 0 0

424 -0.55 -121.6 38.3 -9.6 65 429 0.00 0.90 0.00 0.000 6 0.000 0.045 2833 1819 3362 0 0 0 0 0 0

657 -0.55 -121.6 58.4 -8.2 106 664 0.00 0.32 0.00 0.000 4 0.000 0.058 2831 2064 3362 0 0 0 0 0 0

794 -0.55 -121.6 69.8 -8.4 130 799 0.00 0.38 0.00 0.000 6 0.000 0.054 2832 1804 3362 0 0 0 0 0 0

1137 -0.55 -121.6 100.0 -9.0 191 1140 0.00 0.95 0.00 0.000 4 0.000 0.051 2827 2417 3362 0 0 0 0 0 0

1225 -0.55 -121.6 108.4 -9.4 196 1230 0.05 0.93 0.00 0.000 6 0.213 0.044 2841 1819 3362 0 0 0 0 0 0

1552 -0.55 -121.6 139.7 -9.5 217 1556 0.00 0.82 0.00 0.000 4 0.000 0.051 2837 2362 3362 0 0 0 0 0 0

1640 -0.55 -121.6 148.0 -8.6 222 1645 0.00 0.85 0.00 0.000 6 0.000 0.044 2837 1807 3362 0 0 0 0 0 0

1967 -0.55 -121.6 175.0 -8.2 243 1971 0.00 0.98 0.00 0.000 4 0.000 0.050 2832 2439 3362 0 0 0 0 0 0

2061 -0.55 -121.6 182.9 -8.2 248 2069 0.00 0.98 0.00 0.000 6 0.000 0.044 2832 1808 3362 0 0 0 0 0 0

2382 -0.55 -121.6 209.8 -9.0 269 2386 0.00 1.05 0.00 0.000 4 0.000 0.050 2828 2484 3362 0 0 0 0 0 0

2468 -0.55 -121.6 217.5 -9.0 274 2471 0.00 1.00 0.00 0.000 6 0.000 0.044 2828 1824 3362 0 0 0 0 0 0

2800 -0.53 -121.6 248.6 -9.4 295 2804 0.08 0.73 0.00 0.000 4 0.196 0.051 2844 2299 3362 0 0 0 0 0 0

2889 -0.53 -121.6 256.9 -9.2 300 2893 0.00 0.73 0.00 0.000 6 0.000 0.046 2844 1813 3362 0 0 0 0 0 0

3221 -0.53 -121.6 287.7 -8.9 316 3225 0.00 1.27 0.00 0.000 4 0.000 0.053 2838 2627 3362 0 0 0 0 0 0

3321 -0.53 -121.6 296.5 -8.5 320 3326 0.00 1.25 0.00 0.000 6 0.000 0.042 2838 1821 3362 0 0 0 0 0 0

3643 -0.53 -121.6 324.6 -8.6 336 3646 0.00 0.90 0.00 0.000 4 0.000 0.050 2834 2411 3362 0 0 0 0 0 0

3713 -0.53 -121.6 330.3 -8.7 339 3716 0.00 0.90 0.00 0.000 6 0.000 0.044 2834 1815 3362 0 0 0 0 0 0

4046 -0.53 -121.6 364.5 -10.9 355 4050 0.00 0.95 0.00 0.000 4 0.000 0.050 2829 2434 3362 0 0 0 0 0 0

4123 -0.53 -121.6 373.9 -11.6 358 4129 0.08 0.95 0.00 0.000 6 0.177 0.043 2850 1814 3362 0 0 0 0 0 0

4454 -0.53 -121.6 411.6 -11.3 373 4458 0.00 1.25 0.00 0.000 4 0.000 0.052 2844 2622 3362 0 0 0 0 0 0

4556 -0.56 -121.6 422.8 -10.2 376 4560 0.00 1.23 0.00 0.000 6 0.000 0.043 2844 1822 3362 0 0 0 0 0 0

4896 -0.56 -121.6 459.1 -10.8 387 4899 0.00 1.27 0.00 0.000 4 0.000 0.052 2838 2643 3362 0 0 0 0 0 0

5012 -0.56 -121.6 470.8 -8.6 390 5017 0.00 1.30 0.00 0.000 6 0.000 0.043 2838 1808 3362 0 0 0 0 0 0

5336 -0.56 -121.6 502.2 -9.7 401 5340 0.00 1.08 0.00 0.000 4 0.000 0.052 2833 2497 3361 0 0 0 0 0 0

5458 -0.56 -121.6 514.2 -8.3 404 5463 0.00 1.05 0.00 0.000 6 0.000 0.043 2834 1818 3362 0 0 0 0 0 0

5776 end dive: NO_VERTICAL_VELOCITY

state 5776 begin apogee

5780 -0.23 0.0 519.8 0.0 415 5879 0.32 0.00 95.95 0.973 6 0.075 0.000 2959 1645 2862 0 0 0 0 0 0

5879 end apogee: CONTROL_FINISHED_OK

state 5879 begin climb

5881 0.71 121.6 519.7 0.0 418 5981 0.85 0.00 96.47 0.940 6 0.073 0.000 3253 1644 2366 0 0 0 0 0 0

6289 0.71 197.2 504.0 4.3 431 6358 0.00 2.33 61.60 0.935 4 0.000 0.054 3253 2998 2056 0 0 0 0 0 0

6442 0.74 224.2 494.9 6.3 435 6472 0.00 2.17 22.95 0.896 6 0.000 0.043 3263 1660 1948 0 0 0 0 0 0

6786 0.77 257.6 474.2 6.0 447 6820 0.00 1.70 28.45 0.913 4 0.000 0.053 3263 2683 1810 0 0 0 0 0 0

6888 0.81 257.6 467.1 7.6 450 6892 0.00 1.67 0.00 0.000 6 0.000 0.046 3269 1651 1806 0 0 0 0 0 0

7224 0.86 261.1 443.5 7.3 461 7226 0.10 0.00 0.00 0.000 6 0.099 0.000 3325 1651 1804 0 0 0 0 0 0

7530 0.83 261.1 415.2 9.1 471 7534 0.12 0.43 0.00 0.000 4 0.154 0.063 3291 1365 1803 0 0 0 0 0 0

7617 0.83 261.1 407.9 8.6 473 7621 0.00 0.45 0.00 0.000 6 0.000 0.050 3291 1655 1803 0 0 0 0 0 0

7947 0.83 261.1 380.3 7.9 488 7951 0.00 0.80 0.00 0.000 4 0.000 0.050 3292 2188 1801 0 0 0 0 0 0

8017 0.83 261.1 374.8 8.4 491 8021 0.00 0.82 0.00 0.000 6 0.000 0.050 3295 1642 1801 0 0 1 0 0 0

8350 0.83 261.1 345.5 9.4 507 8354 0.00 0.70 0.00 0.000 4 0.000 0.049 3295 2106 1800 0 0 0 0 0 0

8426 0.83 261.1 337.5 10.1 510 8431 0.00 0.73 0.00 0.000 6 0.000 0.050 3298 1644 1800 0 0 0 0 0 0

8748 0.83 261.1 303.6 11.3 526 8751 0.00 0.50 0.00 0.000 4 0.000 0.057 3300 1305 1800 0 0 0 0 0 0

8825 0.83 261.1 293.7 13.3 529 8829 0.00 0.52 0.00 0.000 6 0.000 0.047 3301 1651 1800 0 0 0 0 0 0

9148 0.83 261.1 252.4 13.1 545 9149 0.00 0.00 0.00 0.000 6 0.000 0.000 3300 1651 1800 0 0 0 0 0 0

9466 0.83 261.1 210.2 13.0 565 9467 0.00 0.00 0.00 0.000 6 0.000 0.000 3300 1651 1800 0 0 0 0 0 0

9778 0.83 261.1 169.8 12.9 585 9780 0.00 0.00 0.00 0.000 6 0.000 0.000 3301 1651 1800 0 0 0 0 0 0

10091 0.83 261.1 130.8 12.0 605 10094 0.00 0.62 0.00 0.000 4 0.000 0.054 3304 1244 1800 0 0 0 0 0 0

10160 0.83 261.1 122.4 12.6 609 10164 0.00 0.60 0.00 0.000 6 0.000 0.047 3304 1647 1800 0 0 0 0 0 0

10490 0.83 261.1 83.5 11.0 646 10495 0.05 0.00 0.00 0.000 6 0.218 0.000 3291 1648 1800 0 0 0 0 0 0

10836 0.85 261.1 49.4 9.7 707 10841 0.00 0.70 0.00 0.000 4 0.000 0.055 3294 1186 1800 0 0 0 0 0 0

10918 0.87 261.1 41.5 9.5 721 10923 0.00 0.68 0.00 0.000 6 0.000 0.045 3294 1641 1800 0 0 0 0 0 0

11158 0.90 261.1 19.5 8.6 762 11164 0.00 0.00 0.00 0.000 6 0.000 0.000 3293 1641 1800 0 0 0 0 0 0

11237 0.92 261.1 13.1 7.9 775 11245 0.08 0.30 0.00 0.000 4 0.123 0.059 3334 1858 1800 0 0 0 0 0 0

11345 end climb: SURFACE_DEPTH_REACHED

state 11345 begin surface coast

11377 end surface coast: CONTROL_FINISHED_OK

state 11377 begin surface

ID	573	HD_B	0.010078	ROLL_MIN	150	ALTIM_TOP_TURN_MARGIN	0
MISSION	4	HD_C	9.8500004e-06	ROLL_MAX	3785	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	151	HEADING	-1	ROLL_DEG	40	ALTIM_PING_DEPTH	1050
D_SURF	3	ESCAPE_HEADING	0	C_ROLL_DIVE	1819	ALTIM_PING_DELTA	5
D_FLARE	3	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1646	ALTIM_FREQUENCY	13
D_TGT	1000	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_ABORT	1100	TGT_DEFAULT_LAT	-4235	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	TGT_DEFAULT_LON	-200	ROLL_TIMEOUT	15	XPDR_VALID	5
D_BOOST	0	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	27	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	250	R_STBD_OVSHOOT	38	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST_BLACKOUT	0	N_FILEKB	4	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.55000001
D_FINISH	0	FILEMGR	0	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	KERMIT	0	ROLL_GAIN_P	0.5	DEVICE1	2
SURFACE_URGENCY	0	N_NOCOMM	1	VBD_MIN	409	DEVICE2	115
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MAX	3959	DEVICE3	20
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	C_VBD	2862	DEVICE4	134
T_DIVE	450	CALL_TRIES	5	VBD_DBAND	2	DEVICE5	-1
T_MISSION	520	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE6	-1
T_ABORT	720	CAPUPLOAD	0	VBD_TIMEOUT	720	LOGGERS	1
T_TURN	225	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	4.9999999e-05	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	-1
T_NO_W	120	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_LOITER	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_ALMANAC	0	UNCOM_BLEED	60	COMPASS_DEVICE	33
USE_ICE	0	T_GPS_CHARGE	-4768.397	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	125	PITCH_MIN	100	FG_AHR_10V	0	SIM_PITCH	0
COURSE_BIAS	0	PITCH_MAX	3858	FG_AHR_24V	0	SEABIRD_T_G	0.0042828661
GLIDE_SLOPE	30	C_PITCH	3022	PHONE_SUPPLY	2	SEABIRD_T_H	0.00061930995
SPEED_FACTOR	1	PITCH_DBAND	0.0099999998	PRESSURE_YINT	-87.947678	SEABIRD_T_I	2.1971719e-05
RHO	1.0278	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011693723	SEABIRD_T_J	2.301111e-06
MASS	52752	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_C_G	-9.9469662
LENGTH	1.8	PITCH_GAIN	22	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.155618
NAV_MODE	1	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0016006827
DIRECT_CONTROL	0	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_J	0.00019558761
FERRY_MAX	45	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	EBE_ENABLE	0
KALMAN_USE	1	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	0	GC_WINDOW	20
HD_A	0.0038360001	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	20	GC_LAST_COLLECTION	130

GPS1	311012,134335,-4240.610,-749.191,29,1.0,29,-21.7	TGT_NAME	ACC_WP8n
_CALLS	2	TGT_LATLONG	-4200.000,-720.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.127,0.176
_SM_DEPTHo	2.43	KALMAN_X	-187150.6,624.9,66.5,366564.5,-11829.5
_SM_ANGLEo	-72.6	KALMAN_Y	-157294.8,-1125.5,-588.4,157635.4,3313.5
GPS2	311012,135429,-4240.521,-749.321,40,1.4,41,-21.7	MHEAD_RNG_PITCHd_Wd	57.5,85208,-15.4,-7.407
SPEED_LIMITS	0.128,0.217	D_GRID	1000

FINISH	1.6,1.013351	_10V_AH	10.2,24.389
SM_CCo	11452,0.00,0.000,0,0,1795,261.73	FG_AHR_24Vo	0.000
SM_GC	2.44,8.50,0.00,0.00,0.043,0.000,0.000,83,1860,1795,-9.11,1.13,261.73	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4221.55,-833.87,311012,131300	MEM	353992
TT8_MAMPS	0.026964	DATA_FILE_SIZE	46988,798
HUMID	43.81	CAP_FILE_SIZE	114090,1
INTERNAL_PRESSURE	9.13787	CFSIZE	2097086464,2074574848
TCM_TEMP	15.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,2
XPDR_PINGS	0	GPS	311012,170730,-4239.259,-750.206,42,1.1,42,-21.7
_24V_AH	24.2,25.851

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	242	125.44	SBE_CT	518	24	301.34
Roll_motor	45	73	80.64	WL_BB2FLVMT	1233	105	3133.31
VBD_pump_during_apogee	305	973	7192.31	SBE_O2	471	19	217.03
VBD_pump_during_surface	0	0	0.00	QSP2150	98	4	10.40
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	59	103	148.66	nil	0	0	0.00
Iridium_during_connect	88	160	341.15	nil	0	0	0.00
Iridium_during_xfer	304	223	1644.65	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	43	26	11.87
TT8	1916	14	292.40
LPSleep	6863	2	153.31
TT8_Active	373	14	54.19
TT8_Sampling	2852	37	1089.15
TT8_CF8	106	47	51.27
TT8_Kalman	33	59	20.13
Analog_circuits	1249	12	152.91
GPS_charging	0	0	0.00
Compass	2323	15	372.80
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	-0.71	-121.6	0.0	0.0	0	87	0.00	0.00	-60.28	0.000	2	0.000	0.000	87	1820	2776	0	0	0	0	0	0
89	-0.71	-121.6	3.1	-1.5	10	127	10.95	2.28	-18.62	0.000	4	0.243	0.073	2776	3216	3361	0	0	0	0	0	0
247	-0.62	-121.6	19.7	-12.7	36	255	0.12	2.22	0.00	0.000	6	0.142	0.043	2817	1810	3361	0	0	0	0	0	0
327	-0.57	-121.6	28.5	-11.1	49	335	0.08	0.90	0.00	0.000	4	0.194	0.054	2837	1237	3362	0	0	0	0	0	0
424	-0.55	-121.6	38.3	-9.6	65	429	0.00	0.90	0.00	0.000	6	0.000	0.045	2833	1819	3362	0	0	0	0	0	0
657	-0.55	-121.6	58.4	-8.2	106	664	0.00	0.32	0.00	0.000	4	0.000	0.058	2831	2064	3362	0	0	0	0	0	0
794	-0.55	-121.6	69.8	-8.4	130	799	0.00	0.38	0.00	0.000	6	0.000	0.054	2832	1804	3362	0	0	0	0	0	0
1137	-0.55	-121.6	100.0	-9.0	191	1140	0.00	0.95	0.00	0.000	4	0.000	0.051	2827	2417	3362	0	0	0	0	0	0
1225	-0.55	-121.6	108.4	-9.4	196	1230	0.05	0.93	0.00	0.000	6	0.213	0.044	2841	1819	3362	0	0	0	0	0	0
1552	-0.55	-121.6	139.7	-9.5	217	1556	0.00	0.82	0.00	0.000	4	0.000	0.051	2837	2362	3362	0	0	0	0	0	0
1640	-0.55	-121.6	148.0	-8.6	222	1645	0.00	0.85	0.00	0.000	6	0.000	0.044	2837	1807	3362	0	0	0	0	0	0
1967	-0.55	-121.6	175.0	-8.2	243	1971	0.00	0.98	0.00	0.000	4	0.000	0.050	2832	2439	3362	0	0	0	0	0	0
2061	-0.55	-121.6	182.9	-8.2	248	2069	0.00	0.98	0.00	0.000	6	0.000	0.044	2832	1808	3362	0	0	0	0	0	0
2382	-0.55	-121.6	209.8	-9.0	269	2386	0.00	1.05	0.00	0.000	4	0.000	0.050	2828	2484	3362	0	0	0	0	0	0
2468	-0.55	-121.6	217.5	-9.0	274	2471	0.00	1.00	0.00	0.000	6	0.000	0.044	2828	1824	3362	0	0	0	0	0	0
2800	-0.53	-121.6	248.6	-9.4	295	2804	0.08	0.73	0.00	0.000	4	0.196	0.051	2844	2299	3362	0	0	0	0	0	0
2889	-0.53	-121.6	256.9	-9.2	300	2893	0.00	0.73	0.00	0.000	6	0.000	0.046	2844	1813	3362	0	0	0	0	0	0
3221	-0.53	-121.6	287.7	-8.9	316	3225	0.00	1.27	0.00	0.000	4	0.000	0.053	2838	2627	3362	0	0	0	0	0	0
3321	-0.53	-121.6	296.5	-8.5	320	3326	0.00	1.25	0.00	0.000	6	0.000	0.042	2838	1821	3362	0	0	0	0	0	0
3643	-0.53	-121.6	324.6	-8.6	336	3646	0.00	0.90	0.00	0.000	4	0.000	0.050	2834	2411	3362	0	0	0	0	0	0
3713	-0.53	-121.6	330.3	-8.7	339	3716	0.00	0.90	0.00	0.000	6	0.000	0.044	2834	1815	3362	0	0	0	0	0	0
4046	-0.53	-121.6	364.5	-10.9	355	4050	0.00	0.95	0.00	0.000	4	0.000	0.050	2829	2434	3362	0	0	0	0	0	0
4123	-0.53	-121.6	373.9	-11.6	358	4129	0.08	0.95	0.00	0.000	6	0.177	0.043	2850	1814	3362	0	0	0	0	0	0
4454	-0.53	-121.6	411.6	-11.3	373	4458	0.00	1.25	0.00	0.000	4	0.000	0.052	2844	2622	3362	0	0	0	0	0	0
4556	-0.56	-121.6	422.8	-10.2	376	4560	0.00	1.23	0.00	0.000	6	0.000	0.043	2844	1822	3362	0	0	0	0	0	0
4896	-0.56	-121.6	459.1	-10.8	387	4899	0.00	1.27	0.00	0.000	4	0.000	0.052	2838	2643	3362	0	0	0	0	0	0
5012	-0.56	-121.6	470.8	-8.6	390	5017	0.00	1.30	0.00	0.000	6	0.000	0.043	2838	1808	3362	0	0	0	0	0	0
5336	-0.56	-121.6	502.2	-9.7	401	5340	0.00	1.08	0.00	0.000	4	0.000	0.052	2833	2497	3361	0	0	0	0	0	0
5458	-0.56	-121.6	514.2	-8.3	404	5463	0.00	1.05	0.00	0.000	6	0.000	0.043	2834	1818	3362	0	0	0	0	0	0
5776	end dive: NO_VERTICAL_VELOCITY
state	5776	begin apogee
5780	-0.23	0.0	519.8	0.0	415	5879	0.32	0.00	95.95	0.973	6	0.075	0.000	2959	1645	2862	0	0	0	0	0	0
5879	end apogee: CONTROL_FINISHED_OK
state	5879	begin climb
5881	0.71	121.6	519.7	0.0	418	5981	0.85	0.00	96.47	0.940	6	0.073	0.000	3253	1644	2366	0	0	0	0	0	0
6289	0.71	197.2	504.0	4.3	431	6358	0.00	2.33	61.60	0.935	4	0.000	0.054	3253	2998	2056	0	0	0	0	0	0
6442	0.74	224.2	494.9	6.3	435	6472	0.00	2.17	22.95	0.896	6	0.000	0.043	3263	1660	1948	0	0	0	0	0	0
6786	0.77	257.6	474.2	6.0	447	6820	0.00	1.70	28.45	0.913	4	0.000	0.053	3263	2683	1810	0	0	0	0	0	0
6888	0.81	257.6	467.1	7.6	450	6892	0.00	1.67	0.00	0.000	6	0.000	0.046	3269	1651	1806	0	0	0	0	0	0
7224	0.86	261.1	443.5	7.3	461	7226	0.10	0.00	0.00	0.000	6	0.099	0.000	3325	1651	1804	0	0	0	0	0	0
7530	0.83	261.1	415.2	9.1	471	7534	0.12	0.43	0.00	0.000	4	0.154	0.063	3291	1365	1803	0	0	0	0	0	0
7617	0.83	261.1	407.9	8.6	473	7621	0.00	0.45	0.00	0.000	6	0.000	0.050	3291	1655	1803	0	0	0	0	0	0
7947	0.83	261.1	380.3	7.9	488	7951	0.00	0.80	0.00	0.000	4	0.000	0.050	3292	2188	1801	0	0	0	0	0	0
8017	0.83	261.1	374.8	8.4	491	8021	0.00	0.82	0.00	0.000	6	0.000	0.050	3295	1642	1801	0	0	1	0	0	0
8350	0.83	261.1	345.5	9.4	507	8354	0.00	0.70	0.00	0.000	4	0.000	0.049	3295	2106	1800	0	0	0	0	0	0
8426	0.83	261.1	337.5	10.1	510	8431	0.00	0.73	0.00	0.000	6	0.000	0.050	3298	1644	1800	0	0	0	0	0	0
8748	0.83	261.1	303.6	11.3	526	8751	0.00	0.50	0.00	0.000	4	0.000	0.057	3300	1305	1800	0	0	0	0	0	0
8825	0.83	261.1	293.7	13.3	529	8829	0.00	0.52	0.00	0.000	6	0.000	0.047	3301	1651	1800	0	0	0	0	0	0
9148	0.83	261.1	252.4	13.1	545	9149	0.00	0.00	0.00	0.000	6	0.000	0.000	3300	1651	1800	0	0	0	0	0	0
9466	0.83	261.1	210.2	13.0	565	9467	0.00	0.00	0.00	0.000	6	0.000	0.000	3300	1651	1800	0	0	0	0	0	0
9778	0.83	261.1	169.8	12.9	585	9780	0.00	0.00	0.00	0.000	6	0.000	0.000	3301	1651	1800	0	0	0	0	0	0
10091	0.83	261.1	130.8	12.0	605	10094	0.00	0.62	0.00	0.000	4	0.000	0.054	3304	1244	1800	0	0	0	0	0	0
10160	0.83	261.1	122.4	12.6	609	10164	0.00	0.60	0.00	0.000	6	0.000	0.047	3304	1647	1800	0	0	0	0	0	0
10490	0.83	261.1	83.5	11.0	646	10495	0.05	0.00	0.00	0.000	6	0.218	0.000	3291	1648	1800	0	0	0	0	0	0
10836	0.85	261.1	49.4	9.7	707	10841	0.00	0.70	0.00	0.000	4	0.000	0.055	3294	1186	1800	0	0	0	0	0	0
10918	0.87	261.1	41.5	9.5	721	10923	0.00	0.68	0.00	0.000	6	0.000	0.045	3294	1641	1800	0	0	0	0	0	0
11158	0.90	261.1	19.5	8.6	762	11164	0.00	0.00	0.00	0.000	6	0.000	0.000	3293	1641	1800	0	0	0	0	0	0
11237	0.92	261.1	13.1	7.9	775	11245	0.08	0.30	0.00	0.000	4	0.123	0.059	3334	1858	1800	0	0	0	0	0	0
11345	end climb: SURFACE_DEPTH_REACHED
state	11345	begin surface coast
11377	end surface coast: CONTROL_FINISHED_OK
state	11377	begin surface