Glider dive log

SOSCEx Dec13 * SG574 * Dive index * Mission links * Dive 78 * 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 78 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 74 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 210 R_STBD_OVSHOOT 97 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 -15058.426 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 57

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 57 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 -15058.426

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 74 VBD_MAX 3960

DEVICE6 -1 MASS 53599 R_STBD_OVSHOOT 97 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 150 SEABIRD_C_G -9.9136524 VBD_MIN 396

DIVE 78 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 171213,045551,-5459.651,0.378,29,1.5,44,-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 2.84 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 171213,050823,-5459.657,0.609,33,0.8,33,-20.2 MHEAD_RNG_PITCHd_Wd 245.7,906,-27.8,-9.429

SPEED_LIMITS 0.163,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.7,1.027211 _10V_AH 10.1,36.253

SM_CCo 14209,78.82,1.059,1,0,1742,210.22 FG_AHR_24Vo 0.000

SM_GC 3.09,0.00,0.00,78.82,0.000,0.000,1.059,68,1958,1742,-9.23,1.36,210.22 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5438.56,0.00,161213,212109 MEM 354680

TT8_MAMPS 0.026964 DATA_FILE_SIZE 56848,1023

HUMID 62.87 CAP_FILE_SIZE 132724,1

INTERNAL_PRESSURE 9.04779 CFSIZE 2097086464,2084700160

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

XPDR_PINGS 0 GPS 171213,090805,-5500.226,-1.277,32,1.0,32,-20.2

_24V_AH 21.8,49.435

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 294 154.74 SBE_CT 730 24 382.00

Roll_motor 41 63 56.82 WL_BB2FLVMT 716 105 1640.58

VBD_pump_during_apogee 228 1670 8316.18 SBE_O2 687 19 284.72

VBD_pump_during_surface 78 1058 1819.36 QSP2150 65 4 6.27

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 58.99 nil 0 0 0.00

Iridium_during_connect 41 160 144.96 nil 0 0 0.00

Iridium_during_xfer 518 223 2522.46 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 35 26 9.80

TT8 2558 14 386.51

LPSleep 8824 2 195.18

TT8_Active 407 14 58.53

TT8_Sampling 3091 37 1168.82

TT8_CF8 150 47 71.62

TT8_Kalman 0 0 0.00

Analog_circuits 1454 12 176.25

GPS_charging 0 0 0.00

Compass 2448 15 389.03

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

25 -0.90 -57.8 0.0 0.0 0 47 0.00 0.00 -20.10 0.000 2 0.000 0.000 67 1954 2087 0 0 0 0 0 0

49 -0.90 -122.3 3.0 -2.4 3 135 12.62 2.12 -64.47 0.000 4 0.279 0.063 2721 3244 3098 0 0 0 0 0 0

362 -0.90 -122.3 42.5 -19.5 56 368 0.08 2.03 0.00 0.000 6 0.220 0.034 2735 1949 3099 0 0 0 0 0 0

709 -0.90 -122.3 102.7 -17.7 116 712 0.00 0.43 0.00 0.000 4 0.000 0.037 2735 2270 3100 0 0 0 0 0 0

815 -0.90 -122.3 121.1 -17.1 125 820 0.00 0.57 0.00 0.000 6 0.000 0.037 2735 1887 3100 0 0 0 0 0 0

1140 -0.90 -122.3 179.7 -16.8 156 1141 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 1886 3100 0 0 0 0 0 0

1459 -0.90 -122.3 228.6 -14.6 186 1463 0.00 0.85 0.00 0.000 4 0.000 0.050 2735 1341 3100 0 0 0 0 0 0

1572 -0.90 -122.3 244.7 -13.6 196 1576 0.00 0.77 0.00 0.000 6 0.000 0.030 2732 1879 3100 0 0 0 0 0 0

1902 -0.90 -122.3 291.3 -13.8 227 1906 0.00 0.75 0.00 0.000 4 0.000 0.038 2728 2397 3100 0 0 0 0 0 0

2004 -0.90 -122.3 305.5 -14.0 236 2007 0.00 0.73 0.00 0.000 6 0.000 0.037 2729 1910 3100 0 0 0 0 0 0

2333 -0.90 -122.3 351.1 -14.0 267 2337 0.00 0.95 0.00 0.000 4 0.000 0.050 2729 1304 3100 0 0 0 0 0 0

2449 -0.90 -122.3 366.7 -13.5 277 2452 0.00 0.88 0.00 0.000 6 0.000 0.030 2725 1896 3100 0 0 0 0 0 0

2777 -0.90 -122.3 412.7 -13.9 304 2781 0.05 0.47 0.00 0.000 4 0.268 0.041 2732 2242 3100 0 0 0 0 0 0

2921 -0.90 -122.3 431.9 -12.9 310 2925 0.00 0.50 0.00 0.000 6 0.000 0.040 2732 1906 3100 0 0 0 0 0 0

3242 -0.90 -122.3 473.2 -12.8 326 3246 0.00 0.75 0.00 0.000 4 0.000 0.050 2732 1418 3101 0 0 0 0 0 0

3342 -0.90 -122.3 486.4 -13.1 330 3346 0.00 0.75 0.00 0.000 6 0.000 0.030 2730 1928 3101 0 0 0 0 0 0

3663 -0.90 -122.3 525.9 -12.1 346 3664 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 1929 3102 0 0 0 0 0 0

3973 -0.90 -122.3 562.4 -11.5 361 3974 0.00 0.00 0.00 0.000 6 0.000 0.000 2730 1929 3102 0 0 0 0 0 0

4282 -0.90 -122.3 597.6 -11.6 376 4283 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 1929 3102 0 0 0 0 0 0

4591 -0.90 -122.3 633.4 -11.6 391 4592 0.00 0.00 0.00 0.000 6 0.000 0.000 2730 1929 3103 0 0 0 0 0 0

4901 -0.90 -122.3 669.0 -11.6 406 4902 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 1929 3103 0 0 0 0 0 0

5210 -0.90 -122.3 705.1 -12.0 421 5211 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 1929 3103 0 0 0 0 0 0

5519 -0.90 -122.3 741.5 -11.6 436 5520 0.00 0.00 0.00 0.000 6 0.000 0.000 2730 1929 3104 0 0 0 0 0 0

5829 -0.90 -122.3 777.5 -12.0 451 5832 0.00 0.55 0.00 0.000 4 0.000 0.044 2729 1562 3104 0 0 0 0 0 0

5973 -0.90 -122.3 795.0 -11.7 457 5977 0.00 0.50 0.00 0.000 6 0.000 0.034 2728 1919 3104 0 0 0 0 0 0

6294 -0.90 -122.3 831.2 -10.9 473 6295 0.00 0.00 0.00 0.000 6 0.000 0.000 2728 1919 3104 0 0 0 0 0 0

6603 -0.90 -122.3 863.9 -10.3 488 6605 0.00 0.00 0.00 0.000 6 0.000 0.000 2728 1919 3104 0 0 0 0 0 0

6913 -0.90 -122.3 896.8 -10.6 503 6914 0.00 0.00 0.00 0.000 6 0.000 0.000 2728 1919 3105 0 0 0 0 0 0

7222 -0.90 -122.3 929.7 -10.9 518 7226 0.00 0.38 0.00 0.000 4 0.000 0.044 2726 2213 3105 0 0 0 0 0 0

7384 -0.90 -122.3 947.3 -10.6 525 7388 0.00 0.45 0.00 0.000 6 0.000 0.041 2725 1900 3105 0 0 0 0 0 0

7711 -0.90 -122.3 981.9 -10.8 541 7715 0.03 0.88 0.00 0.000 4 0.295 0.050 2734 1349 3106 0 0 0 0 0 0

7786 end dive: TARGET_DEPTH_EXCEEDED

state 7786 begin apogee

7791 -0.16 0.0 990.5 11.5 544 7903 0.88 0.00 108.35 1.671 6 0.180 0.000 2970 1820 2600 0 0 0 0 0 0

7904 end apogee: CONTROL_FINISHED_OK

state 7904 begin climb

7906 0.90 122.3 991.8 0.0 550 8029 1.17 0.00 119.97 1.607 6 0.106 0.000 3318 1820 2101 0 0 0 0 0 0

8332 0.90 122.3 924.3 17.2 571 8336 0.00 1.52 0.00 0.000 4 0.000 0.053 3324 938 2093 0 0 0 0 0 0

8476 0.90 122.3 898.2 17.7 577 8481 0.00 1.38 0.00 0.000 6 0.000 0.026 3323 1803 2093 0 0 0 0 0 0

8798 0.90 122.3 843.7 17.3 593 8802 0.00 0.75 0.00 0.000 4 0.000 0.046 3326 1340 2092 0 0 0 0 0 0

9027 0.90 122.3 802.5 18.4 603 9031 0.00 0.75 0.00 0.000 6 0.000 0.029 3326 1836 2092 0 0 0 0 0 0

9354 0.90 122.3 745.1 17.4 619 9358 0.00 1.12 0.00 0.000 4 0.000 0.050 3330 1149 2091 0 0 0 0 0 0

9605 0.90 122.3 701.1 17.8 630 9610 0.00 1.02 0.00 0.000 6 0.000 0.028 3330 1825 2091 0 0 0 0 0 0

9932 0.90 122.3 647.2 16.3 646 9936 0.00 0.68 0.00 0.000 4 0.000 0.047 3331 1397 2091 0 0 0 0 0 0

10189 0.90 122.3 603.7 17.5 657 10194 0.00 0.62 0.00 0.000 6 0.000 0.030 3332 1827 2091 0 0 0 0 0 0

10511 0.90 122.3 551.0 16.4 673 10515 0.00 1.67 0.00 0.000 4 0.000 0.053 3338 807 2091 0 0 0 0 0 0

10661 0.90 122.3 524.7 17.0 679 10667 0.03 1.52 0.00 0.000 6 0.207 0.028 3330 1813 2091 0 0 0 0 0 0

10977 0.90 122.3 475.4 15.4 695 10978 0.00 0.00 0.00 0.000 6 0.000 0.000 3330 1813 2091 0 0 0 0 0 0

11286 0.90 122.3 429.5 14.7 710 11290 0.00 0.52 0.00 0.000 4 0.000 0.047 3330 1475 2091 0 0 0 0 0 0

11545 0.90 122.3 391.2 14.2 724 11549 0.00 0.50 0.00 0.000 6 0.000 0.035 3331 1846 2091 0 0 0 0 0 0

11875 0.90 122.3 342.5 14.7 755 11879 0.00 0.95 0.00 0.000 4 0.000 0.048 3334 1254 2091 0 0 0 0 0 0

12072 0.90 122.3 310.9 16.6 772 12080 0.00 0.82 0.00 0.000 6 0.000 0.028 3334 1794 2091 0 0 0 0 0 0

12399 0.90 122.3 259.4 15.5 803 12402 0.00 0.88 0.00 0.000 4 0.000 0.049 3337 1252 2091 0 0 0 0 0 0

12527 0.90 122.3 237.9 16.7 814 12534 0.03 0.88 0.00 0.000 6 0.283 0.028 3327 1828 2091 0 0 0 0 0 0

12854 0.90 122.3 187.6 14.8 845 12858 0.00 1.38 0.00 0.000 4 0.000 0.051 3332 984 2091 0 0 0 0 0 0

12992 0.90 122.3 167.6 14.9 857 12996 0.00 1.27 0.00 0.000 6 0.000 0.029 3332 1824 2091 0 0 0 0 0 0

13322 0.90 122.3 122.8 13.3 888 13326 0.00 1.20 0.00 0.000 4 0.000 0.051 3337 1088 2091 0 0 0 0 0 0

13586 0.90 122.3 86.2 14.9 919 13591 0.03 1.10 0.00 0.000 6 0.206 0.028 3329 1825 2092 0 0 0 0 0 0

13934 0.90 122.3 37.3 12.7 980 13941 0.00 2.28 0.00 0.000 4 0.000 0.057 3338 447 2091 0 0 0 0 0 0

14152 0.90 122.3 3.1 15.1 1017 14160 0.03 2.10 0.00 0.000 6 0.160 0.031 3326 1801 2092 0 0 0 0 0 0

14167 end climb: SURFACE_DEPTH_REACHED

state 14167 begin surface coast

14193 end surface coast: CONTROL_FINISHED_OK

state 14193 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	78	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	74	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	210	R_STBD_OVSHOOT	97	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	-15058.426	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	57

GPS1	171213,045551,-5459.651,0.378,29,1.5,44,-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	2.84	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	171213,050823,-5459.657,0.609,33,0.8,33,-20.2	MHEAD_RNG_PITCHd_Wd	245.7,906,-27.8,-9.429
SPEED_LIMITS	0.163,0.255	D_GRID	990

FINISH	1.7,1.027211	_10V_AH	10.1,36.253
SM_CCo	14209,78.82,1.059,1,0,1742,210.22	FG_AHR_24Vo	0.000
SM_GC	3.09,0.00,0.00,78.82,0.000,0.000,1.059,68,1958,1742,-9.23,1.36,210.22	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5438.56,0.00,161213,212109	MEM	354680
TT8_MAMPS	0.026964	DATA_FILE_SIZE	56848,1023
HUMID	62.87	CAP_FILE_SIZE	132724,1
INTERNAL_PRESSURE	9.04779	CFSIZE	2097086464,2084700160
TCM_TEMP	4.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
XPDR_PINGS	0	GPS	171213,090805,-5500.226,-1.277,32,1.0,32,-20.2
_24V_AH	21.8,49.435

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	294	154.74	SBE_CT	730	24	382.00
Roll_motor	41	63	56.82	WL_BB2FLVMT	716	105	1640.58
VBD_pump_during_apogee	228	1670	8316.18	SBE_O2	687	19	284.72
VBD_pump_during_surface	78	1058	1819.36	QSP2150	65	4	6.27
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	58.99	nil	0	0	0.00
Iridium_during_connect	41	160	144.96	nil	0	0	0.00
Iridium_during_xfer	518	223	2522.46	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	35	26	9.80
TT8	2558	14	386.51
LPSleep	8824	2	195.18
TT8_Active	407	14	58.53
TT8_Sampling	3091	37	1168.82
TT8_CF8	150	47	71.62
TT8_Kalman	0	0	0.00
Analog_circuits	1454	12	176.25
GPS_charging	0	0	0.00
Compass	2448	15	389.03
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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
25	-0.90	-57.8	0.0	0.0	0	47	0.00	0.00	-20.10	0.000	2	0.000	0.000	67	1954	2087	0	0	0	0	0	0
49	-0.90	-122.3	3.0	-2.4	3	135	12.62	2.12	-64.47	0.000	4	0.279	0.063	2721	3244	3098	0	0	0	0	0	0
362	-0.90	-122.3	42.5	-19.5	56	368	0.08	2.03	0.00	0.000	6	0.220	0.034	2735	1949	3099	0	0	0	0	0	0
709	-0.90	-122.3	102.7	-17.7	116	712	0.00	0.43	0.00	0.000	4	0.000	0.037	2735	2270	3100	0	0	0	0	0	0
815	-0.90	-122.3	121.1	-17.1	125	820	0.00	0.57	0.00	0.000	6	0.000	0.037	2735	1887	3100	0	0	0	0	0	0
1140	-0.90	-122.3	179.7	-16.8	156	1141	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	1886	3100	0	0	0	0	0	0
1459	-0.90	-122.3	228.6	-14.6	186	1463	0.00	0.85	0.00	0.000	4	0.000	0.050	2735	1341	3100	0	0	0	0	0	0
1572	-0.90	-122.3	244.7	-13.6	196	1576	0.00	0.77	0.00	0.000	6	0.000	0.030	2732	1879	3100	0	0	0	0	0	0
1902	-0.90	-122.3	291.3	-13.8	227	1906	0.00	0.75	0.00	0.000	4	0.000	0.038	2728	2397	3100	0	0	0	0	0	0
2004	-0.90	-122.3	305.5	-14.0	236	2007	0.00	0.73	0.00	0.000	6	0.000	0.037	2729	1910	3100	0	0	0	0	0	0
2333	-0.90	-122.3	351.1	-14.0	267	2337	0.00	0.95	0.00	0.000	4	0.000	0.050	2729	1304	3100	0	0	0	0	0	0
2449	-0.90	-122.3	366.7	-13.5	277	2452	0.00	0.88	0.00	0.000	6	0.000	0.030	2725	1896	3100	0	0	0	0	0	0
2777	-0.90	-122.3	412.7	-13.9	304	2781	0.05	0.47	0.00	0.000	4	0.268	0.041	2732	2242	3100	0	0	0	0	0	0
2921	-0.90	-122.3	431.9	-12.9	310	2925	0.00	0.50	0.00	0.000	6	0.000	0.040	2732	1906	3100	0	0	0	0	0	0
3242	-0.90	-122.3	473.2	-12.8	326	3246	0.00	0.75	0.00	0.000	4	0.000	0.050	2732	1418	3101	0	0	0	0	0	0
3342	-0.90	-122.3	486.4	-13.1	330	3346	0.00	0.75	0.00	0.000	6	0.000	0.030	2730	1928	3101	0	0	0	0	0	0
3663	-0.90	-122.3	525.9	-12.1	346	3664	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	1929	3102	0	0	0	0	0	0
3973	-0.90	-122.3	562.4	-11.5	361	3974	0.00	0.00	0.00	0.000	6	0.000	0.000	2730	1929	3102	0	0	0	0	0	0
4282	-0.90	-122.3	597.6	-11.6	376	4283	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	1929	3102	0	0	0	0	0	0
4591	-0.90	-122.3	633.4	-11.6	391	4592	0.00	0.00	0.00	0.000	6	0.000	0.000	2730	1929	3103	0	0	0	0	0	0
4901	-0.90	-122.3	669.0	-11.6	406	4902	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	1929	3103	0	0	0	0	0	0
5210	-0.90	-122.3	705.1	-12.0	421	5211	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	1929	3103	0	0	0	0	0	0
5519	-0.90	-122.3	741.5	-11.6	436	5520	0.00	0.00	0.00	0.000	6	0.000	0.000	2730	1929	3104	0	0	0	0	0	0
5829	-0.90	-122.3	777.5	-12.0	451	5832	0.00	0.55	0.00	0.000	4	0.000	0.044	2729	1562	3104	0	0	0	0	0	0
5973	-0.90	-122.3	795.0	-11.7	457	5977	0.00	0.50	0.00	0.000	6	0.000	0.034	2728	1919	3104	0	0	0	0	0	0
6294	-0.90	-122.3	831.2	-10.9	473	6295	0.00	0.00	0.00	0.000	6	0.000	0.000	2728	1919	3104	0	0	0	0	0	0
6603	-0.90	-122.3	863.9	-10.3	488	6605	0.00	0.00	0.00	0.000	6	0.000	0.000	2728	1919	3104	0	0	0	0	0	0
6913	-0.90	-122.3	896.8	-10.6	503	6914	0.00	0.00	0.00	0.000	6	0.000	0.000	2728	1919	3105	0	0	0	0	0	0
7222	-0.90	-122.3	929.7	-10.9	518	7226	0.00	0.38	0.00	0.000	4	0.000	0.044	2726	2213	3105	0	0	0	0	0	0
7384	-0.90	-122.3	947.3	-10.6	525	7388	0.00	0.45	0.00	0.000	6	0.000	0.041	2725	1900	3105	0	0	0	0	0	0
7711	-0.90	-122.3	981.9	-10.8	541	7715	0.03	0.88	0.00	0.000	4	0.295	0.050	2734	1349	3106	0	0	0	0	0	0
7786	end dive: TARGET_DEPTH_EXCEEDED
state	7786	begin apogee
7791	-0.16	0.0	990.5	11.5	544	7903	0.88	0.00	108.35	1.671	6	0.180	0.000	2970	1820	2600	0	0	0	0	0	0
7904	end apogee: CONTROL_FINISHED_OK
state	7904	begin climb
7906	0.90	122.3	991.8	0.0	550	8029	1.17	0.00	119.97	1.607	6	0.106	0.000	3318	1820	2101	0	0	0	0	0	0
8332	0.90	122.3	924.3	17.2	571	8336	0.00	1.52	0.00	0.000	4	0.000	0.053	3324	938	2093	0	0	0	0	0	0
8476	0.90	122.3	898.2	17.7	577	8481	0.00	1.38	0.00	0.000	6	0.000	0.026	3323	1803	2093	0	0	0	0	0	0
8798	0.90	122.3	843.7	17.3	593	8802	0.00	0.75	0.00	0.000	4	0.000	0.046	3326	1340	2092	0	0	0	0	0	0
9027	0.90	122.3	802.5	18.4	603	9031	0.00	0.75	0.00	0.000	6	0.000	0.029	3326	1836	2092	0	0	0	0	0	0
9354	0.90	122.3	745.1	17.4	619	9358	0.00	1.12	0.00	0.000	4	0.000	0.050	3330	1149	2091	0	0	0	0	0	0
9605	0.90	122.3	701.1	17.8	630	9610	0.00	1.02	0.00	0.000	6	0.000	0.028	3330	1825	2091	0	0	0	0	0	0
9932	0.90	122.3	647.2	16.3	646	9936	0.00	0.68	0.00	0.000	4	0.000	0.047	3331	1397	2091	0	0	0	0	0	0
10189	0.90	122.3	603.7	17.5	657	10194	0.00	0.62	0.00	0.000	6	0.000	0.030	3332	1827	2091	0	0	0	0	0	0
10511	0.90	122.3	551.0	16.4	673	10515	0.00	1.67	0.00	0.000	4	0.000	0.053	3338	807	2091	0	0	0	0	0	0
10661	0.90	122.3	524.7	17.0	679	10667	0.03	1.52	0.00	0.000	6	0.207	0.028	3330	1813	2091	0	0	0	0	0	0
10977	0.90	122.3	475.4	15.4	695	10978	0.00	0.00	0.00	0.000	6	0.000	0.000	3330	1813	2091	0	0	0	0	0	0
11286	0.90	122.3	429.5	14.7	710	11290	0.00	0.52	0.00	0.000	4	0.000	0.047	3330	1475	2091	0	0	0	0	0	0
11545	0.90	122.3	391.2	14.2	724	11549	0.00	0.50	0.00	0.000	6	0.000	0.035	3331	1846	2091	0	0	0	0	0	0
11875	0.90	122.3	342.5	14.7	755	11879	0.00	0.95	0.00	0.000	4	0.000	0.048	3334	1254	2091	0	0	0	0	0	0
12072	0.90	122.3	310.9	16.6	772	12080	0.00	0.82	0.00	0.000	6	0.000	0.028	3334	1794	2091	0	0	0	0	0	0
12399	0.90	122.3	259.4	15.5	803	12402	0.00	0.88	0.00	0.000	4	0.000	0.049	3337	1252	2091	0	0	0	0	0	0
12527	0.90	122.3	237.9	16.7	814	12534	0.03	0.88	0.00	0.000	6	0.283	0.028	3327	1828	2091	0	0	0	0	0	0
12854	0.90	122.3	187.6	14.8	845	12858	0.00	1.38	0.00	0.000	4	0.000	0.051	3332	984	2091	0	0	0	0	0	0
12992	0.90	122.3	167.6	14.9	857	12996	0.00	1.27	0.00	0.000	6	0.000	0.029	3332	1824	2091	0	0	0	0	0	0
13322	0.90	122.3	122.8	13.3	888	13326	0.00	1.20	0.00	0.000	4	0.000	0.051	3337	1088	2091	0	0	0	0	0	0
13586	0.90	122.3	86.2	14.9	919	13591	0.03	1.10	0.00	0.000	6	0.206	0.028	3329	1825	2092	0	0	0	0	0	0
13934	0.90	122.3	37.3	12.7	980	13941	0.00	2.28	0.00	0.000	4	0.000	0.057	3338	447	2091	0	0	0	0	0	0
14152	0.90	122.3	3.1	15.1	1017	14160	0.03	2.10	0.00	0.000	6	0.160	0.031	3326	1801	2092	0	0	0	0	0	0
14167	end climb: SURFACE_DEPTH_REACHED
state	14167	begin surface coast
14193	end surface coast: CONTROL_FINISHED_OK
state	14193	begin surface