Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 105 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 542 HEADING -1 ROLL_MAX 3901 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 9 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 0

DIVE 105 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2930 ALTIM_PING_DELTA 5

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2710 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -56 HEAD_ERRBAND 15 ALTIM_PULSE 3

D_TGT 1000 TGT_DEFAULT_LON 0.1 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 2

D_NO_BLEED 500 SM_CC 200 R_PORT_OVSHOOT 25 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 25 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 2.49

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 KERMIT 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 480 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3961 DEVICE2 101

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2342 DEVICE3 35

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 134

T_DIVE 350 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 365 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00079999998 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 60 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -21951.477 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 1 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -7 PITCH_MIN 73 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3888 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1790 PHONE_SUPPLY 2 SEABIRD_T_G 0.0042910837

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -53.02364 SEABIRD_T_H 0.00061853422

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011816985 SEABIRD_T_I 2.1182957e-05

RHO 1.027 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.0754619e-06

MASS 53031 PITCH_GAIN 53 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.7625904

NAV_MODE 1 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1369455

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.0017508121

KALMAN_USE 1 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021125977

HD_A 0.00251332 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.0127788 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 10

HD_C 1.44018e-06 ROLL_MIN 335 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 500 PHONE_DEVICE 48 SM_CC 200

AH0_10V 100 D_OFFGRID 250 PHONE_SUPPLY 2 SPEED_FACTOR 1

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_TGT 1000 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 53 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3888 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -56

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 73 TGT_DEFAULT_LON 0.1

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 16 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00079999998 T_BOOST 0

APOGEE_PITCH -7 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011816985 T_DIVE 350

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -53.02364 T_GPS 15

CALL_TRIES 5 HD_A 0.00251332 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0127788 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -21951.477

CAPMAXSIZE 100000 HD_C 1.44018e-06 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 365

CF8_MAXERRORS 20 HEAD_ERRBAND 15 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 RELAUNCH 1 T_RSLEEP 1

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RHO 1.027 T_TURN 225

COMPASS_DEVICE 33 ID 542 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_YINT 2.49 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_PITCH 1790 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2710 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 2930 LOGGERDEVICE1 -1 ROLL_MAX 3901 USE_ICE 0

C_VBD 2342 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_MIN 335 VBD_CNV -0.245296

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 25 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 25 VBD_MAXERRORS 1

DEVICE3 35 MAX_BUOY 150 SEABIRD_C_G -9.7625904 VBD_MIN 480

DEVICE4 134 MINV_10V 8 SEABIRD_C_H 1.1369455 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.0017508121 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MISSION 9 SEABIRD_C_J 0.00021125977 VBD_TIMEOUT 720

DIVE 105 MOTHERBOARD 4 SEABIRD_T_G 0.0042910837 XPDR_DEVICE 24

D_ABORT 1050 NAV_MODE 1 SEABIRD_T_H 0.00061853422 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 SEABIRD_T_I 2.1182957e-05 XPDR_VALID 2

D_CALL 0 N_GPS 20 SEABIRD_T_J 2.0754619e-06

D_FINISH 0 N_NOCOMM 1 SIM_PITCH 0

D_FLARE 3 N_NOSURFACE 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 271214,105559,-5558.832,-30.407,38,0.9,38,-19.9 TGT_NAME TARGET

_CALLS 1 TGT_LATLONG -5600.000,-30.000

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.154,0.058

_SM_DEPTHo 1.96 KALMAN_X 58868.0,107.3,-98.5,-90243.4,1968.0

_SM_ANGLEo -66.1 KALMAN_Y 36678.5,185.3,125.8,-34509.5,-2774.7

GPS2 271214,110423,-5558.825,-30.355,18,1.0,18,-19.9 MHEAD_RNG_PITCHd_Wd 310.5,2208,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.2,1.027169 _10V_AH 10.0,16.381

SM_CCo 11775,20.38,0.185,0,0,1523,200.16 FG_AHR_24Vo 0.000

SM_GC 2.88,0.00,0.00,20.38,0.000,0.000,0.185,54,2929,1523,-5.43,-0.03,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5535.12,-30.76,271214,020232 MEM 353948

TT8_MAMPS 0.026215 DATA_FILE_SIZE 53683,767

HUMID 56.77 CAP_FILE_SIZE 104153,0

INTERNAL_PRESSURE 8.96486 CFSIZE 259252224,219750400

TCM_TEMP 7.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 271214,142303,-5559.062,-32.828,27,1.8,36,-19.9

_24V_AH 21.8,25.023

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 240 68.95 SBE_CT 544 23 284.73

Roll_motor 66 83 120.38 AA4330 1588 17 622.46

VBD_pump_during_apogee 280 1782 10885.90 WL_BB2F 749 105 1715.44

VBD_pump_during_surface 20 185 82.23 QSP2150 790 17 309.76

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 33 91 66.79 nil 0 0 0.00

Iridium_during_connect 44 160 156.37 nil 0 0 0.00

Iridium_during_xfer 299 223 1457.02 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 31 6.44

TT8 1904 14 275.38

LPSleep 7517 2 164.63

TT8_Active 393 14 56.85

TT8_Sampling 2312 42 975.35

TT8_CF8 166 49 82.79

TT8_Kalman 33 68 22.81

Analog_circuits 1162 15 180.25

GPS_charging 0 0 0.00

Compass 1801 16 296.87

RAFOS 0 0 0.00

Transponder 0 5 0.03

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

15 end surface: CONTROL_FINISHED_OK

state 16 begin dive

17 -0.54 -73.9 0.0 0.0 0 69 0.00 0.00 -50.03 0.000 2 0.000 0.000 61 2939 2611 0 0 0 0 0 0

71 -0.60 -146.1 3.1 -2.7 6 98 6.07 1.62 -9.85 0.000 4 0.241 0.083 1579 3898 2939 0 0 0 0 0 0

131 -0.60 -146.1 14.6 -21.0 14 140 0.00 1.60 0.00 0.000 6 0.000 0.034 1579 2884 2940 0 0 0 0 0 0

215 -0.60 -146.1 32.7 -21.9 27 222 0.00 0.00 0.00 0.000 6 0.000 0.000 1579 2883 2940 0 0 0 0 0 0

328 -0.60 -146.1 57.4 -20.7 46 336 0.00 0.00 0.00 0.000 6 0.000 0.000 1579 2883 2940 0 0 0 0 0 0

444 -0.60 -146.1 79.9 -19.6 65 451 0.00 1.70 0.00 0.000 4 0.000 0.060 1571 3897 2940 0 0 0 0 0 0

529 -0.60 -146.1 97.8 -22.2 79 535 0.00 1.52 0.00 0.000 6 0.000 0.034 1571 2921 2941 0 0 0 0 0 0

756 -0.60 -146.1 141.2 -18.2 101 760 0.00 1.62 0.00 0.000 4 0.000 0.062 1564 3893 2941 0 0 0 0 0 0

806 -0.60 -146.1 151.6 -20.1 105 814 0.08 1.50 0.00 0.000 6 0.183 0.034 1586 2925 2941 0 0 0 0 0 0

1131 -0.60 -146.1 212.4 -19.3 136 1135 0.00 2.15 0.00 0.000 4 0.000 0.042 1586 1525 2940 0 0 0 0 0 0

1163 -0.60 -146.1 218.7 -18.0 138 1174 0.00 2.30 0.00 0.000 6 0.000 0.057 1576 2926 2941 0 0 0 0 0 0

1495 -0.60 -146.1 281.8 -18.8 162 1496 0.00 0.00 0.00 0.000 6 0.000 0.000 1577 2927 2941 0 0 0 0 0 0

1806 -0.60 -146.1 337.3 -17.2 177 1809 0.00 1.58 0.00 0.000 4 0.000 0.064 1569 3900 2941 0 0 0 0 0 0

1920 -0.60 -146.1 358.4 -17.6 182 1923 0.00 1.50 0.00 0.000 6 0.000 0.034 1569 2922 2941 0 0 0 0 0 0

2252 -0.60 -146.1 415.8 -17.1 198 2253 0.00 0.00 0.00 0.000 6 0.000 0.000 1569 2916 2941 0 0 0 0 0 0

2561 -0.60 -146.1 466.1 -16.2 213 2565 0.00 1.62 0.00 0.000 4 0.000 0.063 1561 3900 2941 0 0 0 0 0 0

2616 -0.60 -146.1 476.1 -18.3 215 2621 0.08 1.50 0.00 0.000 6 0.181 0.034 1585 2922 2941 0 0 0 0 0 0

2937 -0.60 -146.1 524.9 -15.4 231 2938 0.00 0.00 0.00 0.000 6 0.000 0.000 1585 2921 2941 0 0 0 0 0 0

3247 -0.60 -146.1 571.0 -14.6 246 3250 0.00 1.62 0.00 0.000 4 0.000 0.062 1578 3908 2941 0 0 0 0 0 0

3307 -0.60 -146.1 581.1 -16.7 248 3315 0.00 1.52 0.00 0.000 6 0.000 0.032 1577 2910 2942 0 0 0 0 0 0

3623 -0.60 -146.1 628.8 -15.2 264 3624 0.00 0.00 0.00 0.000 6 0.000 0.000 1577 2910 2942 0 0 0 0 0 0

3933 -0.60 -146.1 677.5 -15.8 279 3937 0.00 1.62 0.00 0.000 4 0.000 0.062 1570 3899 2942 0 0 0 0 0 0

3987 -0.60 -146.1 686.7 -16.3 281 3992 0.00 1.48 0.00 0.000 6 0.000 0.032 1570 2936 2942 0 0 0 0 0 0

4309 -0.60 -146.1 736.6 -15.4 297 4310 0.00 0.00 0.00 0.000 6 0.000 0.000 1570 2929 2942 0 0 0 0 0 0

4619 -0.60 -146.1 783.2 -14.7 312 4622 0.00 1.60 0.00 0.000 4 0.000 0.062 1562 3904 2942 0 0 0 0 0 0

4686 -0.60 -146.1 794.4 -16.7 315 4690 0.08 1.48 0.00 0.000 6 0.181 0.034 1585 2940 2942 0 0 0 0 0 0

5019 -0.60 -146.1 841.9 -14.2 331 5020 0.00 0.00 0.00 0.000 6 0.000 0.000 1585 2939 2942 0 0 0 0 0 0

5327 -0.60 -146.1 884.8 -13.5 346 5329 0.00 0.00 0.00 0.000 6 0.000 0.000 1586 2939 2942 0 0 0 0 0 0

5637 -0.60 -146.1 927.4 -13.8 361 5638 0.00 0.00 0.00 0.000 6 0.000 0.000 1586 2939 2942 0 0 0 0 0 0

5947 -0.60 -146.1 968.8 -13.3 376 5948 0.00 0.00 0.00 0.000 6 0.000 0.000 1586 2938 2942 0 0 0 0 0 0

6192 end dive: TARGET_DEPTH_EXCEEDED

state 6192 begin apogee

6196 -0.13 0.0 1001.6 13.2 388 6335 0.52 0.00 133.57 1.782 6 0.166 0.000 1744 2713 2341 0 0 0 0 0 0

6336 end apogee: CONTROL_FINISHED_OK

state 6336 begin climb

6338 0.60 146.1 1006.4 0.0 395 6489 0.77 0.00 146.57 1.730 6 0.120 0.000 1976 2713 1746 0 0 0 0 0 0

6793 0.60 146.1 934.5 18.1 417 6794 0.00 0.00 0.00 0.000 6 0.000 0.000 1976 2712 1737 0 0 0 0 0 0

7103 0.60 146.1 878.4 18.1 432 7107 0.00 2.00 0.00 0.000 4 0.000 0.060 1976 3908 1736 0 0 0 0 0 0

7157 0.60 146.1 867.2 20.3 434 7162 0.00 1.92 0.00 0.000 6 0.000 0.036 1985 2737 1734 0 0 0 0 0 0

7479 0.60 146.1 807.4 18.9 450 7480 0.00 0.00 0.00 0.000 6 0.000 0.000 1986 2737 1733 0 0 0 0 0 0

7789 0.60 146.1 753.7 17.5 465 7790 0.00 0.00 0.00 0.000 6 0.000 0.000 1985 2736 1732 0 0 0 0 0 0

8098 0.60 146.1 697.9 18.4 480 8101 0.00 1.92 0.00 0.000 4 0.000 0.059 1985 3903 1732 0 0 0 0 0 0

8152 0.60 146.1 686.4 20.7 482 8157 0.00 1.92 0.00 0.000 6 0.000 0.037 1994 2709 1731 0 0 0 0 0 0

8475 0.60 146.1 622.1 20.4 498 8478 0.00 1.98 0.00 0.000 4 0.000 0.058 1995 3913 1731 0 0 0 0 0 0

8512 0.60 146.1 613.3 22.4 499 8520 0.00 1.92 0.00 0.000 6 0.000 0.037 2004 2714 1731 0 0 0 0 0 0

8829 0.60 146.1 547.1 21.2 515 8830 0.00 0.00 0.00 0.000 6 0.000 0.000 2004 2715 1731 0 0 0 0 0 0

9138 0.60 146.1 483.6 20.5 530 9141 0.00 1.95 0.00 0.000 4 0.000 0.058 2004 3909 1731 0 0 0 0 0 0

9209 0.60 146.1 466.8 23.5 533 9214 0.00 1.92 0.00 0.000 6 0.000 0.037 2013 2705 1730 0 0 0 0 0 0

9537 0.60 146.1 399.7 20.3 549 9538 0.00 0.00 0.00 0.000 6 0.000 0.000 2013 2704 1730 0 0 0 0 0 0

9846 0.60 146.1 337.1 20.2 564 9849 0.00 1.95 0.00 0.000 4 0.000 0.057 2013 3906 1730 0 0 0 0 0 0

9937 0.60 146.1 316.5 23.3 568 9941 0.15 1.88 0.00 0.000 6 0.220 0.037 1987 2707 1730 0 0 0 0 0 0

10269 0.60 146.1 255.6 18.3 584 10272 0.00 1.95 0.00 0.000 4 0.000 0.057 1987 3909 1730 0 0 0 0 0 0

10336 0.60 146.1 241.4 21.3 588 10340 0.00 1.88 0.00 0.000 6 0.000 0.037 1996 2713 1730 0 0 0 0 0 0

10669 0.60 146.1 178.9 18.4 619 10673 0.00 2.20 0.00 0.000 4 0.000 0.045 2007 1288 1730 0 0 0 0 0 0

10701 0.60 146.1 172.7 17.1 621 10709 0.00 2.30 0.00 0.000 6 0.000 0.052 2007 2730 1730 0 0 0 0 0 0

11027 0.60 146.1 112.2 18.8 652 11031 0.00 2.25 0.00 0.000 4 0.000 0.044 2017 1283 1730 0 0 0 0 0 0

11072 0.60 146.1 104.1 17.5 656 11077 0.12 2.28 0.00 0.000 6 0.213 0.054 1989 2718 1729 0 0 0 0 0 0

11424 0.60 146.1 49.1 14.1 714 11433 0.00 1.90 0.00 0.000 4 0.000 0.062 1989 3890 1730 0 0 0 0 0 0

11494 0.60 146.1 38.2 16.6 725 11501 0.00 1.88 0.00 0.000 6 0.000 0.036 1996 2703 1730 0 0 0 0 0 0

11611 0.60 146.1 20.8 14.5 744 11620 0.00 0.00 0.00 0.000 6 0.000 0.000 1997 2703 1730 0 0 0 0 0 0

11696 0.60 146.1 9.0 12.7 757 11704 0.00 0.00 0.00 0.000 6 0.000 0.000 1997 2703 1730 0 0 0 0 0 0

11736 end climb: SURFACE_DEPTH_REACHED

state 11736 begin surface coast

11762 end surface coast: CONTROL_FINISHED_OK

state 11762 begin surface

ID	542	HEADING	-1	ROLL_MAX	3901	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	9	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	0
DIVE	105	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2930	ALTIM_PING_DELTA	5
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2710	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-56	HEAD_ERRBAND	15	ALTIM_PULSE	3
D_TGT	1000	TGT_DEFAULT_LON	0.1	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	2
D_NO_BLEED	500	SM_CC	200	R_PORT_OVSHOOT	25	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	25	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	2.49
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	KERMIT	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	480	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3961	DEVICE2	101
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2342	DEVICE3	35
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	134
T_DIVE	350	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	365	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00079999998	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	60	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-21951.477	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	1	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-7	PITCH_MIN	73	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3888	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1790	PHONE_SUPPLY	2	SEABIRD_T_G	0.0042910837
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-53.02364	SEABIRD_T_H	0.00061853422
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011816985	SEABIRD_T_I	2.1182957e-05
RHO	1.027	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.0754619e-06
MASS	53031	PITCH_GAIN	53	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.7625904
NAV_MODE	1	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1369455
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.0017508121
KALMAN_USE	1	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021125977
HD_A	0.00251332	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.0127788	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	10
HD_C	1.44018e-06	ROLL_MIN	335	ALTIM_TOP_TURN_MARGIN	0

GPS1	271214,105559,-5558.832,-30.407,38,0.9,38,-19.9	TGT_NAME	TARGET
_CALLS	1	TGT_LATLONG	-5600.000,-30.000
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.154,0.058
_SM_DEPTHo	1.96	KALMAN_X	58868.0,107.3,-98.5,-90243.4,1968.0
_SM_ANGLEo	-66.1	KALMAN_Y	36678.5,185.3,125.8,-34509.5,-2774.7
GPS2	271214,110423,-5558.825,-30.355,18,1.0,18,-19.9	MHEAD_RNG_PITCHd_Wd	310.5,2208,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.2,1.027169	_10V_AH	10.0,16.381
SM_CCo	11775,20.38,0.185,0,0,1523,200.16	FG_AHR_24Vo	0.000
SM_GC	2.88,0.00,0.00,20.38,0.000,0.000,0.185,54,2929,1523,-5.43,-0.03,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5535.12,-30.76,271214,020232	MEM	353948
TT8_MAMPS	0.026215	DATA_FILE_SIZE	53683,767
HUMID	56.77	CAP_FILE_SIZE	104153,0
INTERNAL_PRESSURE	8.96486	CFSIZE	259252224,219750400
TCM_TEMP	7.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	271214,142303,-5559.062,-32.828,27,1.8,36,-19.9
_24V_AH	21.8,25.023

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	240	68.95	SBE_CT	544	23	284.73
Roll_motor	66	83	120.38	AA4330	1588	17	622.46
VBD_pump_during_apogee	280	1782	10885.90	WL_BB2F	749	105	1715.44
VBD_pump_during_surface	20	185	82.23	QSP2150	790	17	309.76
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	33	91	66.79	nil	0	0	0.00
Iridium_during_connect	44	160	156.37	nil	0	0	0.00
Iridium_during_xfer	299	223	1457.02	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	31	6.44
TT8	1904	14	275.38
LPSleep	7517	2	164.63
TT8_Active	393	14	56.85
TT8_Sampling	2312	42	975.35
TT8_CF8	166	49	82.79
TT8_Kalman	33	68	22.81
Analog_circuits	1162	15	180.25
GPS_charging	0	0	0.00
Compass	1801	16	296.87
RAFOS	0	0	0.00
Transponder	0	5	0.03

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
15	end surface: CONTROL_FINISHED_OK
state	16	begin dive
17	-0.54	-73.9	0.0	0.0	0	69	0.00	0.00	-50.03	0.000	2	0.000	0.000	61	2939	2611	0	0	0	0	0	0
71	-0.60	-146.1	3.1	-2.7	6	98	6.07	1.62	-9.85	0.000	4	0.241	0.083	1579	3898	2939	0	0	0	0	0	0
131	-0.60	-146.1	14.6	-21.0	14	140	0.00	1.60	0.00	0.000	6	0.000	0.034	1579	2884	2940	0	0	0	0	0	0
215	-0.60	-146.1	32.7	-21.9	27	222	0.00	0.00	0.00	0.000	6	0.000	0.000	1579	2883	2940	0	0	0	0	0	0
328	-0.60	-146.1	57.4	-20.7	46	336	0.00	0.00	0.00	0.000	6	0.000	0.000	1579	2883	2940	0	0	0	0	0	0
444	-0.60	-146.1	79.9	-19.6	65	451	0.00	1.70	0.00	0.000	4	0.000	0.060	1571	3897	2940	0	0	0	0	0	0
529	-0.60	-146.1	97.8	-22.2	79	535	0.00	1.52	0.00	0.000	6	0.000	0.034	1571	2921	2941	0	0	0	0	0	0
756	-0.60	-146.1	141.2	-18.2	101	760	0.00	1.62	0.00	0.000	4	0.000	0.062	1564	3893	2941	0	0	0	0	0	0
806	-0.60	-146.1	151.6	-20.1	105	814	0.08	1.50	0.00	0.000	6	0.183	0.034	1586	2925	2941	0	0	0	0	0	0
1131	-0.60	-146.1	212.4	-19.3	136	1135	0.00	2.15	0.00	0.000	4	0.000	0.042	1586	1525	2940	0	0	0	0	0	0
1163	-0.60	-146.1	218.7	-18.0	138	1174	0.00	2.30	0.00	0.000	6	0.000	0.057	1576	2926	2941	0	0	0	0	0	0
1495	-0.60	-146.1	281.8	-18.8	162	1496	0.00	0.00	0.00	0.000	6	0.000	0.000	1577	2927	2941	0	0	0	0	0	0
1806	-0.60	-146.1	337.3	-17.2	177	1809	0.00	1.58	0.00	0.000	4	0.000	0.064	1569	3900	2941	0	0	0	0	0	0
1920	-0.60	-146.1	358.4	-17.6	182	1923	0.00	1.50	0.00	0.000	6	0.000	0.034	1569	2922	2941	0	0	0	0	0	0
2252	-0.60	-146.1	415.8	-17.1	198	2253	0.00	0.00	0.00	0.000	6	0.000	0.000	1569	2916	2941	0	0	0	0	0	0
2561	-0.60	-146.1	466.1	-16.2	213	2565	0.00	1.62	0.00	0.000	4	0.000	0.063	1561	3900	2941	0	0	0	0	0	0
2616	-0.60	-146.1	476.1	-18.3	215	2621	0.08	1.50	0.00	0.000	6	0.181	0.034	1585	2922	2941	0	0	0	0	0	0
2937	-0.60	-146.1	524.9	-15.4	231	2938	0.00	0.00	0.00	0.000	6	0.000	0.000	1585	2921	2941	0	0	0	0	0	0
3247	-0.60	-146.1	571.0	-14.6	246	3250	0.00	1.62	0.00	0.000	4	0.000	0.062	1578	3908	2941	0	0	0	0	0	0
3307	-0.60	-146.1	581.1	-16.7	248	3315	0.00	1.52	0.00	0.000	6	0.000	0.032	1577	2910	2942	0	0	0	0	0	0
3623	-0.60	-146.1	628.8	-15.2	264	3624	0.00	0.00	0.00	0.000	6	0.000	0.000	1577	2910	2942	0	0	0	0	0	0
3933	-0.60	-146.1	677.5	-15.8	279	3937	0.00	1.62	0.00	0.000	4	0.000	0.062	1570	3899	2942	0	0	0	0	0	0
3987	-0.60	-146.1	686.7	-16.3	281	3992	0.00	1.48	0.00	0.000	6	0.000	0.032	1570	2936	2942	0	0	0	0	0	0
4309	-0.60	-146.1	736.6	-15.4	297	4310	0.00	0.00	0.00	0.000	6	0.000	0.000	1570	2929	2942	0	0	0	0	0	0
4619	-0.60	-146.1	783.2	-14.7	312	4622	0.00	1.60	0.00	0.000	4	0.000	0.062	1562	3904	2942	0	0	0	0	0	0
4686	-0.60	-146.1	794.4	-16.7	315	4690	0.08	1.48	0.00	0.000	6	0.181	0.034	1585	2940	2942	0	0	0	0	0	0
5019	-0.60	-146.1	841.9	-14.2	331	5020	0.00	0.00	0.00	0.000	6	0.000	0.000	1585	2939	2942	0	0	0	0	0	0
5327	-0.60	-146.1	884.8	-13.5	346	5329	0.00	0.00	0.00	0.000	6	0.000	0.000	1586	2939	2942	0	0	0	0	0	0
5637	-0.60	-146.1	927.4	-13.8	361	5638	0.00	0.00	0.00	0.000	6	0.000	0.000	1586	2939	2942	0	0	0	0	0	0
5947	-0.60	-146.1	968.8	-13.3	376	5948	0.00	0.00	0.00	0.000	6	0.000	0.000	1586	2938	2942	0	0	0	0	0	0
6192	end dive: TARGET_DEPTH_EXCEEDED
state	6192	begin apogee
6196	-0.13	0.0	1001.6	13.2	388	6335	0.52	0.00	133.57	1.782	6	0.166	0.000	1744	2713	2341	0	0	0	0	0	0
6336	end apogee: CONTROL_FINISHED_OK
state	6336	begin climb
6338	0.60	146.1	1006.4	0.0	395	6489	0.77	0.00	146.57	1.730	6	0.120	0.000	1976	2713	1746	0	0	0	0	0	0
6793	0.60	146.1	934.5	18.1	417	6794	0.00	0.00	0.00	0.000	6	0.000	0.000	1976	2712	1737	0	0	0	0	0	0
7103	0.60	146.1	878.4	18.1	432	7107	0.00	2.00	0.00	0.000	4	0.000	0.060	1976	3908	1736	0	0	0	0	0	0
7157	0.60	146.1	867.2	20.3	434	7162	0.00	1.92	0.00	0.000	6	0.000	0.036	1985	2737	1734	0	0	0	0	0	0
7479	0.60	146.1	807.4	18.9	450	7480	0.00	0.00	0.00	0.000	6	0.000	0.000	1986	2737	1733	0	0	0	0	0	0
7789	0.60	146.1	753.7	17.5	465	7790	0.00	0.00	0.00	0.000	6	0.000	0.000	1985	2736	1732	0	0	0	0	0	0
8098	0.60	146.1	697.9	18.4	480	8101	0.00	1.92	0.00	0.000	4	0.000	0.059	1985	3903	1732	0	0	0	0	0	0
8152	0.60	146.1	686.4	20.7	482	8157	0.00	1.92	0.00	0.000	6	0.000	0.037	1994	2709	1731	0	0	0	0	0	0
8475	0.60	146.1	622.1	20.4	498	8478	0.00	1.98	0.00	0.000	4	0.000	0.058	1995	3913	1731	0	0	0	0	0	0
8512	0.60	146.1	613.3	22.4	499	8520	0.00	1.92	0.00	0.000	6	0.000	0.037	2004	2714	1731	0	0	0	0	0	0
8829	0.60	146.1	547.1	21.2	515	8830	0.00	0.00	0.00	0.000	6	0.000	0.000	2004	2715	1731	0	0	0	0	0	0
9138	0.60	146.1	483.6	20.5	530	9141	0.00	1.95	0.00	0.000	4	0.000	0.058	2004	3909	1731	0	0	0	0	0	0
9209	0.60	146.1	466.8	23.5	533	9214	0.00	1.92	0.00	0.000	6	0.000	0.037	2013	2705	1730	0	0	0	0	0	0
9537	0.60	146.1	399.7	20.3	549	9538	0.00	0.00	0.00	0.000	6	0.000	0.000	2013	2704	1730	0	0	0	0	0	0
9846	0.60	146.1	337.1	20.2	564	9849	0.00	1.95	0.00	0.000	4	0.000	0.057	2013	3906	1730	0	0	0	0	0	0
9937	0.60	146.1	316.5	23.3	568	9941	0.15	1.88	0.00	0.000	6	0.220	0.037	1987	2707	1730	0	0	0	0	0	0
10269	0.60	146.1	255.6	18.3	584	10272	0.00	1.95	0.00	0.000	4	0.000	0.057	1987	3909	1730	0	0	0	0	0	0
10336	0.60	146.1	241.4	21.3	588	10340	0.00	1.88	0.00	0.000	6	0.000	0.037	1996	2713	1730	0	0	0	0	0	0
10669	0.60	146.1	178.9	18.4	619	10673	0.00	2.20	0.00	0.000	4	0.000	0.045	2007	1288	1730	0	0	0	0	0	0
10701	0.60	146.1	172.7	17.1	621	10709	0.00	2.30	0.00	0.000	6	0.000	0.052	2007	2730	1730	0	0	0	0	0	0
11027	0.60	146.1	112.2	18.8	652	11031	0.00	2.25	0.00	0.000	4	0.000	0.044	2017	1283	1730	0	0	0	0	0	0
11072	0.60	146.1	104.1	17.5	656	11077	0.12	2.28	0.00	0.000	6	0.213	0.054	1989	2718	1729	0	0	0	0	0	0
11424	0.60	146.1	49.1	14.1	714	11433	0.00	1.90	0.00	0.000	4	0.000	0.062	1989	3890	1730	0	0	0	0	0	0
11494	0.60	146.1	38.2	16.6	725	11501	0.00	1.88	0.00	0.000	6	0.000	0.036	1996	2703	1730	0	0	0	0	0	0
11611	0.60	146.1	20.8	14.5	744	11620	0.00	0.00	0.00	0.000	6	0.000	0.000	1997	2703	1730	0	0	0	0	0	0
11696	0.60	146.1	9.0	12.7	757	11704	0.00	0.00	0.00	0.000	6	0.000	0.000	1997	2703	1730	0	0	0	0	0	0
11736	end climb: SURFACE_DEPTH_REACHED
state	11736	begin surface coast
11762	end surface coast: CONTROL_FINISHED_OK
state	11762	begin surface