Glider dive log

SOSCEx Dec13 * SG574 * Dive index * Mission links * Dive 72 * 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 72 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 42 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 210 R_STBD_OVSHOOT 48 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 -15039.079 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 51

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 51 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 -15039.079

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 42 VBD_MAX 3960

DEVICE6 -1 MASS 53599 R_STBD_OVSHOOT 48 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 150 SEABIRD_C_G -9.9136524 VBD_MIN 396

DIVE 72 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 161213,055404,-5500.273,1.577,43,0.8,43,-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 2.94 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -73.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 161213,060100,-5500.292,1.575,14,2.0,14,-20.3 MHEAD_RNG_PITCHd_Wd 308.2,1758,-27.8,-9.429

SPEED_LIMITS 0.163,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.8,1.003390 _10V_AH 10.1,35.697

SM_CCo 13073,61.12,1.034,0,0,1743,210.22 FG_AHR_24Vo 0.000

SM_GC 3.03,0.00,0.00,61.12,0.000,0.000,1.034,72,1941,1743,-9.22,0.88,210.22 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5438.56,-3.75,161213,020223 MEM 354652

TT8_MAMPS 0.026964 DATA_FILE_SIZE 53628,946

HUMID 63.58 CAP_FILE_SIZE 121554,0

INTERNAL_PRESSURE 9.04779 CFSIZE 2097086464,2085519360

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

XPDR_PINGS 0 GPS 161213,094132,-5459.432,0.094,41,0.8,41,-20.2

_24V_AH 21.9,48.474

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 271 141.40 SBE_CT 676 24 355.37

Roll_motor 42 102 96.37 WL_BB2FLVMT 667 105 1534.17

VBD_pump_during_apogee 251 1614 8905.32 SBE_O2 631 19 262.62

VBD_pump_during_surface 61 1033 1383.50 QSP2150 63 4 6.11

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 56.88 nil 0 0 0.00

Iridium_during_connect 48 160 171.01 nil 0 0 0.00

Iridium_during_xfer 232 223 1135.05 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 26 4.91

TT8 2361 14 356.80

LPSleep 8059 2 178.26

TT8_Active 420 14 60.33

TT8_Sampling 2593 37 980.61

TT8_CF8 120 47 57.51

TT8_Kalman 0 0 0.00

Analog_circuits 1399 12 169.60

GPS_charging 0 0 0.00

Compass 2246 15 356.95

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 -20.02 0.000 2 0.000 0.000 67 1930 2097 0 0 0 0 0 0

48 -0.90 -136.2 3.1 -0.9 3 133 12.30 1.30 -65.43 0.000 4 0.272 0.062 2723 2737 3152 0 0 0 0 0 0

253 -0.90 -136.2 20.9 -18.4 37 259 0.03 1.27 0.00 0.000 6 0.216 0.032 2730 1926 3153 0 0 0 0 0 0

399 -0.90 -136.2 47.7 -19.1 62 403 0.00 0.00 0.00 0.000 6 0.000 0.000 2730 1926 3154 0 0 0 0 0 0

746 -0.90 -136.2 113.1 -18.6 118 748 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 1926 3154 0 0 0 0 0 0

1066 -0.90 -136.2 171.5 -18.7 148 1069 0.00 1.35 0.00 0.000 4 0.000 0.050 2729 1080 3153 0 0 0 0 0 0

1127 -0.90 -136.2 182.7 -17.6 153 1133 0.00 1.30 0.00 0.000 6 0.000 0.028 2725 1923 3154 0 0 0 0 0 0

1452 -0.90 -136.2 240.3 -17.6 184 1456 0.05 1.33 0.00 0.000 4 0.265 0.041 2728 2766 3154 0 0 0 0 0 0

1547 -0.90 -136.2 256.0 -15.8 192 1555 0.00 1.38 0.00 0.000 6 0.000 0.034 2728 1889 3154 0 0 0 0 0 0

1874 -0.90 -136.2 305.5 -15.0 223 1875 0.00 0.00 0.00 0.000 6 0.000 0.000 2728 1889 3153 0 0 0 0 0 0

2194 -0.90 -136.2 353.1 -14.9 253 2195 0.00 0.00 0.00 0.000 6 0.000 0.000 2728 1889 3153 0 0 0 0 0 0

2510 -0.90 -136.2 399.5 -14.5 283 2514 0.00 1.00 0.00 0.000 4 0.000 0.049 2728 1252 3154 0 0 0 0 0 0

2587 -0.90 -136.2 411.4 -14.5 287 2593 0.05 1.00 0.00 0.000 6 0.253 0.027 2733 1923 3153 0 0 0 0 0 0

2908 -0.90 -136.2 456.2 -14.1 303 2910 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 1923 3153 0 0 0 0 0 0

3218 -0.90 -136.2 497.9 -13.1 318 3221 0.00 0.47 0.00 0.000 4 0.000 0.041 2734 1598 3153 0 0 0 0 0 0

3285 -0.90 -136.2 506.8 -13.8 321 3289 0.00 0.43 0.00 0.000 6 0.000 0.035 2733 1924 3154 0 0 0 0 0 0

3617 -0.90 -136.2 551.3 -13.4 337 3621 0.00 0.68 0.00 0.000 4 0.000 0.038 2730 2400 3154 0 0 0 0 0 0

3739 -0.90 -136.2 567.9 -13.0 342 3744 0.00 0.75 0.00 0.000 6 0.000 0.035 2730 1903 3154 0 0 0 0 0 0

4060 -0.90 -136.2 610.0 -13.1 358 4062 0.00 0.00 0.00 0.000 6 0.000 0.000 2730 1903 3154 0 0 0 0 0 0

4370 -0.90 -136.2 650.2 -12.6 373 4373 0.00 0.43 0.00 0.000 4 0.000 0.052 2730 1603 3155 0 0 0 0 0 0

4430 -0.90 -136.2 657.8 -11.9 375 4435 0.00 0.43 0.00 0.000 6 0.000 0.034 2728 1922 3155 0 0 0 0 0 0

4745 -0.90 -136.2 695.1 -11.9 391 4749 0.00 0.73 0.00 0.000 4 0.000 0.039 2725 2427 3155 0 0 0 0 0 0

4873 -0.90 -136.2 710.6 -12.0 396 4879 0.05 0.80 0.00 0.000 6 0.244 0.035 2734 1896 3155 0 0 0 0 0 0

5189 -0.90 -136.2 746.5 -11.4 412 5190 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 1896 3155 0 0 0 0 0 0

5498 -0.90 -136.2 782.5 -12.1 427 5502 0.00 0.35 0.00 0.000 4 0.000 0.037 2733 2174 3155 0 0 0 0 0 0

5603 -0.90 -136.2 795.0 -11.8 431 5608 0.00 0.38 0.00 0.000 6 0.000 0.041 2734 1911 3155 0 0 0 0 0 0

5919 -0.90 -136.2 832.1 -11.9 447 5920 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 1911 3155 0 0 0 0 0 0

6229 -0.90 -136.2 868.6 -11.4 462 6233 0.00 0.45 0.00 0.000 4 0.000 0.052 2733 1598 3156 0 0 0 0 0 0

6297 -0.90 -136.2 876.4 -11.3 465 6300 0.00 0.40 0.00 0.000 6 0.000 0.034 2733 1912 3156 0 0 0 0 0 0

6629 -0.90 -136.2 914.0 -11.3 481 6632 0.00 0.50 0.00 0.000 4 0.000 0.039 2730 2288 3156 0 0 0 0 0 0

6711 -0.90 -136.2 924.0 -12.6 484 6717 0.00 0.55 0.00 0.000 6 0.000 0.037 2731 1909 3156 0 0 0 0 0 0

7027 -0.90 -136.2 960.6 -11.6 500 7028 0.00 0.00 0.00 0.000 6 0.000 0.000 2730 1909 3156 0 0 0 0 0 0

7294 end dive: TARGET_DEPTH_EXCEEDED

state 7294 begin apogee

7298 -0.16 0.0 991.9 11.6 513 7420 0.90 0.00 118.62 1.615 6 0.176 0.000 2972 1827 2600 0 0 0 0 0 0

7421 end apogee: CONTROL_FINISHED_OK

state 7421 begin climb

7423 0.90 136.2 994.0 0.0 519 7561 1.17 0.57 133.18 1.542 4 0.102 0.053 3322 1513 2043 0 0 0 0 0 0

7813 0.90 136.2 929.0 18.7 537 7818 0.00 0.43 0.00 0.000 6 0.000 0.030 3321 1797 2036 0 0 0 0 0 0

8128 0.90 136.2 871.6 18.4 553 8132 0.00 2.30 0.00 0.000 4 0.000 0.057 3330 424 2032 0 0 0 0 0 0

8267 0.90 136.2 845.3 19.5 559 8272 0.00 2.15 0.00 0.000 6 0.000 0.025 3331 1800 2031 0 0 0 0 0 0

8589 0.90 136.2 787.8 18.1 575 8593 0.00 0.55 0.00 0.000 4 0.000 0.047 3333 1455 2031 0 0 0 0 0 0

8846 0.90 136.2 740.7 18.3 586 8850 0.00 0.57 0.00 0.000 6 0.000 0.030 3332 1862 2031 0 0 0 0 0 0

9167 0.90 136.2 683.5 17.8 602 9171 0.00 1.55 0.00 0.000 4 0.000 0.052 3339 920 2031 0 0 0 0 0 0

9302 0.90 136.2 658.7 19.3 608 9306 0.03 1.33 0.00 0.000 6 0.201 0.024 3330 1803 2031 0 0 0 0 0 0

9633 0.90 136.2 599.4 18.1 624 9637 0.00 0.82 0.00 0.000 4 0.000 0.046 3333 1285 2031 0 0 0 0 0 0

9761 0.90 136.2 575.5 18.4 629 9767 0.00 0.80 0.00 0.000 6 0.000 0.025 3332 1813 2031 0 0 0 0 0 0

10077 0.90 136.2 516.3 18.9 645 10081 0.00 0.55 0.00 0.000 4 0.000 0.047 3334 1459 2031 0 0 0 0 0 0

10334 0.90 136.2 465.7 20.2 656 10338 0.00 0.55 0.00 0.000 6 0.000 0.029 3334 1857 2031 0 0 0 0 0 0

10655 0.90 136.2 402.2 19.4 672 10659 0.00 1.65 0.00 0.000 4 0.000 0.051 3340 818 2031 0 0 0 0 0 0

10794 0.90 136.2 374.3 19.6 683 10801 0.03 1.48 0.00 0.000 6 0.200 0.024 3330 1801 2031 0 0 0 0 0 0

11120 0.90 136.2 315.2 18.1 714 11124 0.00 0.70 0.00 0.000 4 0.000 0.047 3331 1357 2031 0 0 0 0 0 0

11191 0.90 136.2 301.8 18.7 720 11200 0.00 0.70 0.00 0.000 6 0.000 0.027 3331 1839 2030 0 0 0 0 0 0

11517 0.90 136.2 243.4 18.8 751 11520 0.00 1.33 0.00 0.000 4 0.000 0.050 3336 1021 2031 0 0 0 0 0 0

11678 0.90 136.2 213.1 18.5 765 11682 0.00 1.17 0.00 0.000 6 0.000 0.026 3336 1813 2031 0 0 0 0 0 0

12008 0.90 136.2 154.7 16.5 796 12012 0.00 0.62 0.00 0.000 4 0.000 0.039 3336 2259 2031 0 0 0 0 0 0

12053 0.90 136.2 147.2 15.8 800 12058 0.03 0.65 0.00 0.000 6 0.219 0.039 3331 1822 2031 0 0 0 0 0 0

12383 0.90 136.2 100.5 13.6 831 12387 0.00 2.10 0.00 0.000 4 0.000 0.058 3340 513 2031 0 0 0 0 0 0

12516 0.90 136.2 80.2 16.0 853 12522 0.05 1.95 0.00 0.000 6 0.233 0.025 3328 1811 2031 0 0 0 0 0 0

12865 0.90 136.2 30.3 13.8 914 12872 0.00 0.45 0.00 0.000 4 0.000 0.047 3328 1510 2030 0 0 0 0 0 0

13043 end climb: SURFACE_DEPTH_REACHED

state 13043 begin surface coast

13056 end surface coast: CONTROL_FINISHED_OK

state 13056 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	72	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	42	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	210	R_STBD_OVSHOOT	48	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	-15039.079	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	51

GPS1	161213,055404,-5500.273,1.577,43,0.8,43,-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	2.94	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-73.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	161213,060100,-5500.292,1.575,14,2.0,14,-20.3	MHEAD_RNG_PITCHd_Wd	308.2,1758,-27.8,-9.429
SPEED_LIMITS	0.163,0.255	D_GRID	990

FINISH	1.8,1.003390	_10V_AH	10.1,35.697
SM_CCo	13073,61.12,1.034,0,0,1743,210.22	FG_AHR_24Vo	0.000
SM_GC	3.03,0.00,0.00,61.12,0.000,0.000,1.034,72,1941,1743,-9.22,0.88,210.22	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5438.56,-3.75,161213,020223	MEM	354652
TT8_MAMPS	0.026964	DATA_FILE_SIZE	53628,946
HUMID	63.58	CAP_FILE_SIZE	121554,0
INTERNAL_PRESSURE	9.04779	CFSIZE	2097086464,2085519360
TCM_TEMP	4.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	161213,094132,-5459.432,0.094,41,0.8,41,-20.2
_24V_AH	21.9,48.474

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	271	141.40	SBE_CT	676	24	355.37
Roll_motor	42	102	96.37	WL_BB2FLVMT	667	105	1534.17
VBD_pump_during_apogee	251	1614	8905.32	SBE_O2	631	19	262.62
VBD_pump_during_surface	61	1033	1383.50	QSP2150	63	4	6.11
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	56.88	nil	0	0	0.00
Iridium_during_connect	48	160	171.01	nil	0	0	0.00
Iridium_during_xfer	232	223	1135.05	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	26	4.91
TT8	2361	14	356.80
LPSleep	8059	2	178.26
TT8_Active	420	14	60.33
TT8_Sampling	2593	37	980.61
TT8_CF8	120	47	57.51
TT8_Kalman	0	0	0.00
Analog_circuits	1399	12	169.60
GPS_charging	0	0	0.00
Compass	2246	15	356.95
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	-20.02	0.000	2	0.000	0.000	67	1930	2097	0	0	0	0	0	0
48	-0.90	-136.2	3.1	-0.9	3	133	12.30	1.30	-65.43	0.000	4	0.272	0.062	2723	2737	3152	0	0	0	0	0	0
253	-0.90	-136.2	20.9	-18.4	37	259	0.03	1.27	0.00	0.000	6	0.216	0.032	2730	1926	3153	0	0	0	0	0	0
399	-0.90	-136.2	47.7	-19.1	62	403	0.00	0.00	0.00	0.000	6	0.000	0.000	2730	1926	3154	0	0	0	0	0	0
746	-0.90	-136.2	113.1	-18.6	118	748	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	1926	3154	0	0	0	0	0	0
1066	-0.90	-136.2	171.5	-18.7	148	1069	0.00	1.35	0.00	0.000	4	0.000	0.050	2729	1080	3153	0	0	0	0	0	0
1127	-0.90	-136.2	182.7	-17.6	153	1133	0.00	1.30	0.00	0.000	6	0.000	0.028	2725	1923	3154	0	0	0	0	0	0
1452	-0.90	-136.2	240.3	-17.6	184	1456	0.05	1.33	0.00	0.000	4	0.265	0.041	2728	2766	3154	0	0	0	0	0	0
1547	-0.90	-136.2	256.0	-15.8	192	1555	0.00	1.38	0.00	0.000	6	0.000	0.034	2728	1889	3154	0	0	0	0	0	0
1874	-0.90	-136.2	305.5	-15.0	223	1875	0.00	0.00	0.00	0.000	6	0.000	0.000	2728	1889	3153	0	0	0	0	0	0
2194	-0.90	-136.2	353.1	-14.9	253	2195	0.00	0.00	0.00	0.000	6	0.000	0.000	2728	1889	3153	0	0	0	0	0	0
2510	-0.90	-136.2	399.5	-14.5	283	2514	0.00	1.00	0.00	0.000	4	0.000	0.049	2728	1252	3154	0	0	0	0	0	0
2587	-0.90	-136.2	411.4	-14.5	287	2593	0.05	1.00	0.00	0.000	6	0.253	0.027	2733	1923	3153	0	0	0	0	0	0
2908	-0.90	-136.2	456.2	-14.1	303	2910	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	1923	3153	0	0	0	0	0	0
3218	-0.90	-136.2	497.9	-13.1	318	3221	0.00	0.47	0.00	0.000	4	0.000	0.041	2734	1598	3153	0	0	0	0	0	0
3285	-0.90	-136.2	506.8	-13.8	321	3289	0.00	0.43	0.00	0.000	6	0.000	0.035	2733	1924	3154	0	0	0	0	0	0
3617	-0.90	-136.2	551.3	-13.4	337	3621	0.00	0.68	0.00	0.000	4	0.000	0.038	2730	2400	3154	0	0	0	0	0	0
3739	-0.90	-136.2	567.9	-13.0	342	3744	0.00	0.75	0.00	0.000	6	0.000	0.035	2730	1903	3154	0	0	0	0	0	0
4060	-0.90	-136.2	610.0	-13.1	358	4062	0.00	0.00	0.00	0.000	6	0.000	0.000	2730	1903	3154	0	0	0	0	0	0
4370	-0.90	-136.2	650.2	-12.6	373	4373	0.00	0.43	0.00	0.000	4	0.000	0.052	2730	1603	3155	0	0	0	0	0	0
4430	-0.90	-136.2	657.8	-11.9	375	4435	0.00	0.43	0.00	0.000	6	0.000	0.034	2728	1922	3155	0	0	0	0	0	0
4745	-0.90	-136.2	695.1	-11.9	391	4749	0.00	0.73	0.00	0.000	4	0.000	0.039	2725	2427	3155	0	0	0	0	0	0
4873	-0.90	-136.2	710.6	-12.0	396	4879	0.05	0.80	0.00	0.000	6	0.244	0.035	2734	1896	3155	0	0	0	0	0	0
5189	-0.90	-136.2	746.5	-11.4	412	5190	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	1896	3155	0	0	0	0	0	0
5498	-0.90	-136.2	782.5	-12.1	427	5502	0.00	0.35	0.00	0.000	4	0.000	0.037	2733	2174	3155	0	0	0	0	0	0
5603	-0.90	-136.2	795.0	-11.8	431	5608	0.00	0.38	0.00	0.000	6	0.000	0.041	2734	1911	3155	0	0	0	0	0	0
5919	-0.90	-136.2	832.1	-11.9	447	5920	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	1911	3155	0	0	0	0	0	0
6229	-0.90	-136.2	868.6	-11.4	462	6233	0.00	0.45	0.00	0.000	4	0.000	0.052	2733	1598	3156	0	0	0	0	0	0
6297	-0.90	-136.2	876.4	-11.3	465	6300	0.00	0.40	0.00	0.000	6	0.000	0.034	2733	1912	3156	0	0	0	0	0	0
6629	-0.90	-136.2	914.0	-11.3	481	6632	0.00	0.50	0.00	0.000	4	0.000	0.039	2730	2288	3156	0	0	0	0	0	0
6711	-0.90	-136.2	924.0	-12.6	484	6717	0.00	0.55	0.00	0.000	6	0.000	0.037	2731	1909	3156	0	0	0	0	0	0
7027	-0.90	-136.2	960.6	-11.6	500	7028	0.00	0.00	0.00	0.000	6	0.000	0.000	2730	1909	3156	0	0	0	0	0	0
7294	end dive: TARGET_DEPTH_EXCEEDED
state	7294	begin apogee
7298	-0.16	0.0	991.9	11.6	513	7420	0.90	0.00	118.62	1.615	6	0.176	0.000	2972	1827	2600	0	0	0	0	0	0
7421	end apogee: CONTROL_FINISHED_OK
state	7421	begin climb
7423	0.90	136.2	994.0	0.0	519	7561	1.17	0.57	133.18	1.542	4	0.102	0.053	3322	1513	2043	0	0	0	0	0	0
7813	0.90	136.2	929.0	18.7	537	7818	0.00	0.43	0.00	0.000	6	0.000	0.030	3321	1797	2036	0	0	0	0	0	0
8128	0.90	136.2	871.6	18.4	553	8132	0.00	2.30	0.00	0.000	4	0.000	0.057	3330	424	2032	0	0	0	0	0	0
8267	0.90	136.2	845.3	19.5	559	8272	0.00	2.15	0.00	0.000	6	0.000	0.025	3331	1800	2031	0	0	0	0	0	0
8589	0.90	136.2	787.8	18.1	575	8593	0.00	0.55	0.00	0.000	4	0.000	0.047	3333	1455	2031	0	0	0	0	0	0
8846	0.90	136.2	740.7	18.3	586	8850	0.00	0.57	0.00	0.000	6	0.000	0.030	3332	1862	2031	0	0	0	0	0	0
9167	0.90	136.2	683.5	17.8	602	9171	0.00	1.55	0.00	0.000	4	0.000	0.052	3339	920	2031	0	0	0	0	0	0
9302	0.90	136.2	658.7	19.3	608	9306	0.03	1.33	0.00	0.000	6	0.201	0.024	3330	1803	2031	0	0	0	0	0	0
9633	0.90	136.2	599.4	18.1	624	9637	0.00	0.82	0.00	0.000	4	0.000	0.046	3333	1285	2031	0	0	0	0	0	0
9761	0.90	136.2	575.5	18.4	629	9767	0.00	0.80	0.00	0.000	6	0.000	0.025	3332	1813	2031	0	0	0	0	0	0
10077	0.90	136.2	516.3	18.9	645	10081	0.00	0.55	0.00	0.000	4	0.000	0.047	3334	1459	2031	0	0	0	0	0	0
10334	0.90	136.2	465.7	20.2	656	10338	0.00	0.55	0.00	0.000	6	0.000	0.029	3334	1857	2031	0	0	0	0	0	0
10655	0.90	136.2	402.2	19.4	672	10659	0.00	1.65	0.00	0.000	4	0.000	0.051	3340	818	2031	0	0	0	0	0	0
10794	0.90	136.2	374.3	19.6	683	10801	0.03	1.48	0.00	0.000	6	0.200	0.024	3330	1801	2031	0	0	0	0	0	0
11120	0.90	136.2	315.2	18.1	714	11124	0.00	0.70	0.00	0.000	4	0.000	0.047	3331	1357	2031	0	0	0	0	0	0
11191	0.90	136.2	301.8	18.7	720	11200	0.00	0.70	0.00	0.000	6	0.000	0.027	3331	1839	2030	0	0	0	0	0	0
11517	0.90	136.2	243.4	18.8	751	11520	0.00	1.33	0.00	0.000	4	0.000	0.050	3336	1021	2031	0	0	0	0	0	0
11678	0.90	136.2	213.1	18.5	765	11682	0.00	1.17	0.00	0.000	6	0.000	0.026	3336	1813	2031	0	0	0	0	0	0
12008	0.90	136.2	154.7	16.5	796	12012	0.00	0.62	0.00	0.000	4	0.000	0.039	3336	2259	2031	0	0	0	0	0	0
12053	0.90	136.2	147.2	15.8	800	12058	0.03	0.65	0.00	0.000	6	0.219	0.039	3331	1822	2031	0	0	0	0	0	0
12383	0.90	136.2	100.5	13.6	831	12387	0.00	2.10	0.00	0.000	4	0.000	0.058	3340	513	2031	0	0	0	0	0	0
12516	0.90	136.2	80.2	16.0	853	12522	0.05	1.95	0.00	0.000	6	0.233	0.025	3328	1811	2031	0	0	0	0	0	0
12865	0.90	136.2	30.3	13.8	914	12872	0.00	0.45	0.00	0.000	4	0.000	0.047	3328	1510	2030	0	0	0	0	0	0
13043	end climb: SURFACE_DEPTH_REACHED
state	13043	begin surface coast
13056	end surface coast: CONTROL_FINISHED_OK
state	13056	begin surface