Glider dive log

SOSCEx Dec13 * SG574 * Dive index * Mission links * Dive 73 * 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 73 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 39 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 210 R_STBD_OVSHOOT 56 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 -15042.166 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 52

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 52 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 -15042.166

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 39 VBD_MAX 3960

DEVICE6 -1 MASS 53599 R_STBD_OVSHOOT 56 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 150 SEABIRD_C_G -9.9136524 VBD_MIN 396

DIVE 73 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 161213,094132,-5459.432,0.094,41,0.8,41,-20.2 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 -74.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 161213,094841,-5459.476,0.162,18,1.0,18,-20.2 MHEAD_RNG_PITCHd_Wd 210.3,986,-27.8,-9.429

SPEED_LIMITS 0.163,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.8,1.009150 _10V_AH 10.1,35.792

SM_CCo 14062,74.15,1.033,0,0,1742,210.22 FG_AHR_24Vo 0.000

SM_GC 2.79,0.00,0.00,74.15,0.000,0.000,1.033,77,1859,1742,-9.21,-1.44,210.22 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5438.56,0.00,161213,050533 MEM 354640

TT8_MAMPS 0.027713 DATA_FILE_SIZE 56983,1013

HUMID 62.52 CAP_FILE_SIZE 128963,0

INTERNAL_PRESSURE 9.04779 CFSIZE 2097086464,2085388288

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

XPDR_PINGS 0 GPS 161213,134606,-5500.331,-1.028,53,0.8,53,-20.2

_24V_AH 21.9,48.613

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 276 144.25 SBE_CT 726 24 381.66

Roll_motor 39 91 79.01 WL_BB2FLVMT 716 105 1647.75

VBD_pump_during_apogee 224 1618 7948.87 SBE_O2 680 19 283.32

VBD_pump_during_surface 74 1032 1677.07 QSP2150 66 4 6.42

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 69.19 nil 0 0 0.00

Iridium_during_connect 43 160 151.48 nil 0 0 0.00

Iridium_during_xfer 242 223 1183.47 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 26 5.90

TT8 2554 14 385.99

LPSleep 8608 2 190.42

TT8_Active 385 14 55.26

TT8_Sampling 2884 37 1090.63

TT8_CF8 136 47 65.05

TT8_Kalman 0 0 0.00

Analog_circuits 1468 12 178.03

GPS_charging 0 0 0.00

Compass 2524 15 401.05

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 -19.65 0.000 2 0.000 0.000 68 1934 2087 0 0 0 0 0 0

48 -0.90 -120.7 3.1 -2.6 3 134 12.50 2.22 -62.08 0.000 4 0.276 0.057 2722 3297 3094 0 0 0 0 0 0

396 -0.90 -120.7 46.6 -16.2 62 402 0.08 2.17 0.00 0.000 6 0.220 0.033 2737 1907 3096 0 0 0 0 0 0

749 -0.90 -120.7 105.7 -16.7 121 753 0.00 0.35 0.00 0.000 4 0.000 0.037 2737 2182 3096 0 0 0 0 0 0

828 -0.90 -120.7 118.7 -15.8 128 832 0.00 0.40 0.00 0.000 6 0.000 0.041 2736 1889 3097 0 0 0 0 0 0

1158 -0.90 -120.7 168.1 -14.3 159 1159 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 1889 3097 0 0 0 0 0 0

1480 -0.90 -120.7 214.8 -14.6 189 1483 0.00 1.40 0.00 0.000 4 0.000 0.035 2732 2787 3096 0 0 0 0 0 0

1739 -0.90 -120.7 250.6 -13.8 212 1743 0.00 1.33 0.00 0.000 6 0.000 0.033 2732 1933 3096 0 0 0 0 0 0

2069 -0.90 -120.7 295.1 -13.5 243 2073 0.00 0.60 0.00 0.000 4 0.000 0.048 2732 1528 3096 0 0 0 0 0 0

2205 -0.90 -120.7 313.5 -13.9 255 2208 0.00 0.55 0.00 0.000 6 0.000 0.031 2730 1932 3096 0 0 0 0 0 0

2535 -0.90 -120.7 360.6 -14.3 286 2538 0.00 0.50 0.00 0.000 4 0.000 0.040 2727 2309 3096 0 0 0 0 0 0

2797 -0.90 -120.7 398.1 -14.8 309 2801 0.00 0.60 0.00 0.000 6 0.000 0.037 2727 1894 3096 0 0 0 0 0 0

3129 -0.90 -120.7 444.8 -13.7 326 3130 0.00 0.00 0.00 0.000 6 0.000 0.000 2727 1893 3097 0 0 0 0 0 0

3438 -0.90 -120.7 484.4 -12.5 341 3439 0.00 0.00 0.00 0.000 6 0.000 0.000 2727 1894 3096 0 0 0 0 0 0

3747 -0.90 -120.7 522.8 -12.3 356 3751 0.00 0.62 0.00 0.000 4 0.000 0.031 2725 2339 3097 0 0 0 0 0 0

3898 -0.90 -120.7 542.4 -12.4 362 3904 0.05 0.65 0.00 0.000 6 0.243 0.036 2733 1900 3097 0 0 0 0 0 0

4214 -0.90 -120.7 581.9 -12.7 378 4215 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 1900 3097 0 0 0 0 0 0

4523 -0.90 -120.7 619.6 -12.4 393 4524 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 1900 3098 0 0 0 0 0 0

4832 -0.90 -120.7 656.1 -11.6 408 4833 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 1900 3098 0 0 0 0 0 0

5142 -0.90 -120.7 691.8 -11.4 423 5143 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 1900 3098 0 0 0 0 0 0

5451 -0.90 -120.7 726.0 -10.9 438 5452 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 1900 3099 0 0 0 0 0 0

5760 -0.90 -120.7 759.1 -10.6 453 5764 0.00 0.52 0.00 0.000 4 0.000 0.052 2734 1545 3099 0 0 0 0 0 0

5930 -0.90 -120.7 777.6 -11.3 460 5933 0.00 0.50 0.00 0.000 6 0.000 0.032 2734 1922 3099 0 0 0 0 0 0

6250 -0.90 -120.7 812.1 -11.0 476 6254 0.00 0.45 0.00 0.000 4 0.000 0.040 2731 2267 3099 0 0 0 0 0 0

6445 -0.90 -120.7 833.1 -11.3 484 6450 0.00 0.52 0.00 0.000 6 0.000 0.037 2731 1909 3099 0 0 0 0 0 0

6761 -0.90 -120.7 866.0 -10.6 500 6762 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 1909 3100 0 0 0 0 0 0

7070 -0.90 -120.7 899.7 -10.8 515 7074 0.00 0.38 0.00 0.000 4 0.000 0.054 2731 1642 3100 0 0 0 0 0 0

7198 -0.90 -120.7 913.6 -10.6 520 7203 0.00 0.35 0.00 0.000 6 0.000 0.035 2730 1900 3100 0 0 0 0 0 0

7513 -0.90 -120.7 949.0 -11.3 536 7517 0.00 0.90 0.00 0.000 4 0.000 0.037 2726 2511 3100 0 0 0 0 0 0

7671 -0.90 -120.7 966.6 -11.3 543 7675 0.00 0.90 0.00 0.000 6 0.000 0.035 2726 1913 3100 0 0 0 0 0 0

7878 end dive: TARGET_DEPTH_EXCEEDED

state 7878 begin apogee

7883 -0.16 0.0 991.3 11.9 553 7993 0.93 0.00 106.53 1.619 6 0.178 0.000 2973 1801 2600 0 0 0 0 0 0

7993 end apogee: CONTROL_FINISHED_OK

state 7993 begin climb

7995 0.90 120.7 994.4 0.0 558 8117 1.12 0.00 117.70 1.549 6 0.104 0.000 3314 1800 2107 0 0 0 0 0 0

8425 0.90 120.7 931.1 16.7 579 8429 0.00 1.48 0.00 0.000 4 0.000 0.055 3321 942 2097 0 0 0 0 0 0

8593 0.90 120.7 901.7 18.0 586 8597 0.00 1.35 0.00 0.000 6 0.000 0.024 3321 1810 2096 0 0 0 0 0 0

8914 0.90 120.7 845.5 17.1 602 8918 0.00 1.02 0.00 0.000 4 0.000 0.048 3324 1188 2094 0 0 0 0 0 0

9171 0.90 120.7 799.8 18.6 613 9176 0.00 0.98 0.00 0.000 6 0.000 0.026 3324 1835 2094 0 0 0 0 0 0

9493 0.90 120.7 745.2 16.9 629 9496 0.00 1.38 0.00 0.000 4 0.000 0.050 3329 1001 2094 0 0 0 0 0 0

9732 0.90 120.7 703.3 17.6 639 9739 0.00 1.25 0.00 0.000 6 0.000 0.024 3329 1824 2094 0 0 0 0 0 0

10049 0.90 120.7 646.6 18.2 655 10052 0.00 1.40 0.00 0.000 4 0.000 0.050 3334 968 2094 0 0 0 0 0 0

10217 0.90 120.7 615.2 19.4 662 10221 0.00 1.27 0.00 0.000 6 0.000 0.026 3335 1818 2093 0 0 0 0 0 0

10538 0.90 120.7 556.6 18.2 678 10542 0.00 1.27 0.00 0.000 4 0.000 0.049 3339 1031 2093 0 0 0 0 0 0

10772 0.90 120.7 513.8 18.5 688 10777 0.05 1.20 0.00 0.000 6 0.244 0.026 3329 1826 2093 0 0 0 0 0 0

11094 0.90 120.7 460.2 16.7 704 11097 0.00 0.75 0.00 0.000 4 0.000 0.046 3330 1353 2093 0 0 0 0 0 0

11351 0.90 120.7 417.5 17.7 715 11355 0.00 0.70 0.00 0.000 6 0.000 0.028 3330 1837 2093 0 0 0 0 0 0

11683 0.90 120.7 364.2 16.4 741 11686 0.00 1.95 0.00 0.000 4 0.000 0.053 3338 622 2093 0 0 0 0 0 0

11865 0.90 120.7 332.8 18.2 757 11870 0.05 1.77 0.00 0.000 6 0.236 0.026 3328 1811 2093 0 0 0 0 0 0

12195 0.90 120.7 280.7 15.1 788 12198 0.00 0.47 0.00 0.000 4 0.000 0.046 3328 1495 2093 0 0 0 0 0 0

12454 0.90 120.7 242.2 14.4 811 12458 0.00 0.45 0.00 0.000 6 0.000 0.032 3328 1840 2093 0 0 0 0 0 0

12784 0.90 120.7 192.2 15.8 842 12788 0.00 1.27 0.00 0.000 4 0.000 0.049 3333 1052 2094 0 0 0 0 0 0

13001 0.90 120.7 155.6 16.9 861 13005 0.00 1.10 0.00 0.000 6 0.000 0.028 3333 1796 2093 0 0 0 0 0 0

13331 0.90 120.7 101.7 15.9 892 13335 0.00 0.47 0.00 0.000 4 0.000 0.047 3335 1485 2093 0 0 0 0 0 0

13578 0.90 120.7 63.3 15.1 934 13584 0.00 0.47 0.00 0.000 6 0.000 0.034 3335 1846 2093 0 0 0 0 0 0

13929 0.90 120.7 14.2 12.2 995 13936 0.00 0.00 0.00 0.000 6 0.000 0.000 3335 1846 2093 0 0 0 0 0 0

13985 0.90 120.7 6.2 15.2 1004 13992 0.00 0.68 0.00 0.000 4 0.000 0.046 3337 1416 2093 0 0 0 0 0 0

14006 0.90 120.7 3.1 15.3 1007 14014 0.03 0.55 0.00 0.000 6 0.174 0.029 3327 1847 2093 0 0 0 0 0 0

14021 end climb: SURFACE_DEPTH_REACHED

state 14021 begin surface coast

14046 end surface coast: CONTROL_FINISHED_OK

state 14047 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	73	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	39	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	210	R_STBD_OVSHOOT	56	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	-15042.166	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	52

GPS1	161213,094132,-5459.432,0.094,41,0.8,41,-20.2	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	-74.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	161213,094841,-5459.476,0.162,18,1.0,18,-20.2	MHEAD_RNG_PITCHd_Wd	210.3,986,-27.8,-9.429
SPEED_LIMITS	0.163,0.255	D_GRID	990

FINISH	1.8,1.009150	_10V_AH	10.1,35.792
SM_CCo	14062,74.15,1.033,0,0,1742,210.22	FG_AHR_24Vo	0.000
SM_GC	2.79,0.00,0.00,74.15,0.000,0.000,1.033,77,1859,1742,-9.21,-1.44,210.22	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5438.56,0.00,161213,050533	MEM	354640
TT8_MAMPS	0.027713	DATA_FILE_SIZE	56983,1013
HUMID	62.52	CAP_FILE_SIZE	128963,0
INTERNAL_PRESSURE	9.04779	CFSIZE	2097086464,2085388288
TCM_TEMP	4.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	161213,134606,-5500.331,-1.028,53,0.8,53,-20.2
_24V_AH	21.9,48.613

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	276	144.25	SBE_CT	726	24	381.66
Roll_motor	39	91	79.01	WL_BB2FLVMT	716	105	1647.75
VBD_pump_during_apogee	224	1618	7948.87	SBE_O2	680	19	283.32
VBD_pump_during_surface	74	1032	1677.07	QSP2150	66	4	6.42
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	69.19	nil	0	0	0.00
Iridium_during_connect	43	160	151.48	nil	0	0	0.00
Iridium_during_xfer	242	223	1183.47	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	26	5.90
TT8	2554	14	385.99
LPSleep	8608	2	190.42
TT8_Active	385	14	55.26
TT8_Sampling	2884	37	1090.63
TT8_CF8	136	47	65.05
TT8_Kalman	0	0	0.00
Analog_circuits	1468	12	178.03
GPS_charging	0	0	0.00
Compass	2524	15	401.05
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	-19.65	0.000	2	0.000	0.000	68	1934	2087	0	0	0	0	0	0
48	-0.90	-120.7	3.1	-2.6	3	134	12.50	2.22	-62.08	0.000	4	0.276	0.057	2722	3297	3094	0	0	0	0	0	0
396	-0.90	-120.7	46.6	-16.2	62	402	0.08	2.17	0.00	0.000	6	0.220	0.033	2737	1907	3096	0	0	0	0	0	0
749	-0.90	-120.7	105.7	-16.7	121	753	0.00	0.35	0.00	0.000	4	0.000	0.037	2737	2182	3096	0	0	0	0	0	0
828	-0.90	-120.7	118.7	-15.8	128	832	0.00	0.40	0.00	0.000	6	0.000	0.041	2736	1889	3097	0	0	0	0	0	0
1158	-0.90	-120.7	168.1	-14.3	159	1159	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	1889	3097	0	0	0	0	0	0
1480	-0.90	-120.7	214.8	-14.6	189	1483	0.00	1.40	0.00	0.000	4	0.000	0.035	2732	2787	3096	0	0	0	0	0	0
1739	-0.90	-120.7	250.6	-13.8	212	1743	0.00	1.33	0.00	0.000	6	0.000	0.033	2732	1933	3096	0	0	0	0	0	0
2069	-0.90	-120.7	295.1	-13.5	243	2073	0.00	0.60	0.00	0.000	4	0.000	0.048	2732	1528	3096	0	0	0	0	0	0
2205	-0.90	-120.7	313.5	-13.9	255	2208	0.00	0.55	0.00	0.000	6	0.000	0.031	2730	1932	3096	0	0	0	0	0	0
2535	-0.90	-120.7	360.6	-14.3	286	2538	0.00	0.50	0.00	0.000	4	0.000	0.040	2727	2309	3096	0	0	0	0	0	0
2797	-0.90	-120.7	398.1	-14.8	309	2801	0.00	0.60	0.00	0.000	6	0.000	0.037	2727	1894	3096	0	0	0	0	0	0
3129	-0.90	-120.7	444.8	-13.7	326	3130	0.00	0.00	0.00	0.000	6	0.000	0.000	2727	1893	3097	0	0	0	0	0	0
3438	-0.90	-120.7	484.4	-12.5	341	3439	0.00	0.00	0.00	0.000	6	0.000	0.000	2727	1894	3096	0	0	0	0	0	0
3747	-0.90	-120.7	522.8	-12.3	356	3751	0.00	0.62	0.00	0.000	4	0.000	0.031	2725	2339	3097	0	0	0	0	0	0
3898	-0.90	-120.7	542.4	-12.4	362	3904	0.05	0.65	0.00	0.000	6	0.243	0.036	2733	1900	3097	0	0	0	0	0	0
4214	-0.90	-120.7	581.9	-12.7	378	4215	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	1900	3097	0	0	0	0	0	0
4523	-0.90	-120.7	619.6	-12.4	393	4524	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	1900	3098	0	0	0	0	0	0
4832	-0.90	-120.7	656.1	-11.6	408	4833	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	1900	3098	0	0	0	0	0	0
5142	-0.90	-120.7	691.8	-11.4	423	5143	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	1900	3098	0	0	0	0	0	0
5451	-0.90	-120.7	726.0	-10.9	438	5452	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	1900	3099	0	0	0	0	0	0
5760	-0.90	-120.7	759.1	-10.6	453	5764	0.00	0.52	0.00	0.000	4	0.000	0.052	2734	1545	3099	0	0	0	0	0	0
5930	-0.90	-120.7	777.6	-11.3	460	5933	0.00	0.50	0.00	0.000	6	0.000	0.032	2734	1922	3099	0	0	0	0	0	0
6250	-0.90	-120.7	812.1	-11.0	476	6254	0.00	0.45	0.00	0.000	4	0.000	0.040	2731	2267	3099	0	0	0	0	0	0
6445	-0.90	-120.7	833.1	-11.3	484	6450	0.00	0.52	0.00	0.000	6	0.000	0.037	2731	1909	3099	0	0	0	0	0	0
6761	-0.90	-120.7	866.0	-10.6	500	6762	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	1909	3100	0	0	0	0	0	0
7070	-0.90	-120.7	899.7	-10.8	515	7074	0.00	0.38	0.00	0.000	4	0.000	0.054	2731	1642	3100	0	0	0	0	0	0
7198	-0.90	-120.7	913.6	-10.6	520	7203	0.00	0.35	0.00	0.000	6	0.000	0.035	2730	1900	3100	0	0	0	0	0	0
7513	-0.90	-120.7	949.0	-11.3	536	7517	0.00	0.90	0.00	0.000	4	0.000	0.037	2726	2511	3100	0	0	0	0	0	0
7671	-0.90	-120.7	966.6	-11.3	543	7675	0.00	0.90	0.00	0.000	6	0.000	0.035	2726	1913	3100	0	0	0	0	0	0
7878	end dive: TARGET_DEPTH_EXCEEDED
state	7878	begin apogee
7883	-0.16	0.0	991.3	11.9	553	7993	0.93	0.00	106.53	1.619	6	0.178	0.000	2973	1801	2600	0	0	0	0	0	0
7993	end apogee: CONTROL_FINISHED_OK
state	7993	begin climb
7995	0.90	120.7	994.4	0.0	558	8117	1.12	0.00	117.70	1.549	6	0.104	0.000	3314	1800	2107	0	0	0	0	0	0
8425	0.90	120.7	931.1	16.7	579	8429	0.00	1.48	0.00	0.000	4	0.000	0.055	3321	942	2097	0	0	0	0	0	0
8593	0.90	120.7	901.7	18.0	586	8597	0.00	1.35	0.00	0.000	6	0.000	0.024	3321	1810	2096	0	0	0	0	0	0
8914	0.90	120.7	845.5	17.1	602	8918	0.00	1.02	0.00	0.000	4	0.000	0.048	3324	1188	2094	0	0	0	0	0	0
9171	0.90	120.7	799.8	18.6	613	9176	0.00	0.98	0.00	0.000	6	0.000	0.026	3324	1835	2094	0	0	0	0	0	0
9493	0.90	120.7	745.2	16.9	629	9496	0.00	1.38	0.00	0.000	4	0.000	0.050	3329	1001	2094	0	0	0	0	0	0
9732	0.90	120.7	703.3	17.6	639	9739	0.00	1.25	0.00	0.000	6	0.000	0.024	3329	1824	2094	0	0	0	0	0	0
10049	0.90	120.7	646.6	18.2	655	10052	0.00	1.40	0.00	0.000	4	0.000	0.050	3334	968	2094	0	0	0	0	0	0
10217	0.90	120.7	615.2	19.4	662	10221	0.00	1.27	0.00	0.000	6	0.000	0.026	3335	1818	2093	0	0	0	0	0	0
10538	0.90	120.7	556.6	18.2	678	10542	0.00	1.27	0.00	0.000	4	0.000	0.049	3339	1031	2093	0	0	0	0	0	0
10772	0.90	120.7	513.8	18.5	688	10777	0.05	1.20	0.00	0.000	6	0.244	0.026	3329	1826	2093	0	0	0	0	0	0
11094	0.90	120.7	460.2	16.7	704	11097	0.00	0.75	0.00	0.000	4	0.000	0.046	3330	1353	2093	0	0	0	0	0	0
11351	0.90	120.7	417.5	17.7	715	11355	0.00	0.70	0.00	0.000	6	0.000	0.028	3330	1837	2093	0	0	0	0	0	0
11683	0.90	120.7	364.2	16.4	741	11686	0.00	1.95	0.00	0.000	4	0.000	0.053	3338	622	2093	0	0	0	0	0	0
11865	0.90	120.7	332.8	18.2	757	11870	0.05	1.77	0.00	0.000	6	0.236	0.026	3328	1811	2093	0	0	0	0	0	0
12195	0.90	120.7	280.7	15.1	788	12198	0.00	0.47	0.00	0.000	4	0.000	0.046	3328	1495	2093	0	0	0	0	0	0
12454	0.90	120.7	242.2	14.4	811	12458	0.00	0.45	0.00	0.000	6	0.000	0.032	3328	1840	2093	0	0	0	0	0	0
12784	0.90	120.7	192.2	15.8	842	12788	0.00	1.27	0.00	0.000	4	0.000	0.049	3333	1052	2094	0	0	0	0	0	0
13001	0.90	120.7	155.6	16.9	861	13005	0.00	1.10	0.00	0.000	6	0.000	0.028	3333	1796	2093	0	0	0	0	0	0
13331	0.90	120.7	101.7	15.9	892	13335	0.00	0.47	0.00	0.000	4	0.000	0.047	3335	1485	2093	0	0	0	0	0	0
13578	0.90	120.7	63.3	15.1	934	13584	0.00	0.47	0.00	0.000	6	0.000	0.034	3335	1846	2093	0	0	0	0	0	0
13929	0.90	120.7	14.2	12.2	995	13936	0.00	0.00	0.00	0.000	6	0.000	0.000	3335	1846	2093	0	0	0	0	0	0
13985	0.90	120.7	6.2	15.2	1004	13992	0.00	0.68	0.00	0.000	4	0.000	0.046	3337	1416	2093	0	0	0	0	0	0
14006	0.90	120.7	3.1	15.3	1007	14014	0.03	0.55	0.00	0.000	6	0.174	0.029	3327	1847	2093	0	0	0	0	0	0
14021	end climb: SURFACE_DEPTH_REACHED
state	14021	begin surface coast
14046	end surface coast: CONTROL_FINISHED_OK
state	14047	begin surface