Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 108 * 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 108 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 30 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 28 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 -21958.807 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 -21958.807

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 30 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 28 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 108 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 271214,212253,-5558.492,-31.729,40,0.9,40,-19.9 TGT_NAME TARGET

_CALLS 2 TGT_LATLONG -5600.000,-30.000

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.102,0.130

_SM_DEPTHo 2.03 KALMAN_X 61905.6,-407.4,-73.9,-94136.1,2999.6

_SM_ANGLEo -68.3 KALMAN_Y 33025.5,432.7,237.7,-30561.2,-4471.5

GPS2 271214,213253,-5558.468,-31.656,16,1.7,16,-19.9 MHEAD_RNG_PITCHd_Wd 341.8,3315,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.3,1.027140 _10V_AH 10.0,16.680

SM_CCo 11855,21.15,0.197,0,0,1523,200.16 FG_AHR_24Vo 0.000

SM_GC 2.59,0.00,0.00,21.15,0.000,0.000,0.197,60,2927,1523,-5.40,-0.08,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5535.12,-26.95,271214,212120 MEM 353964

TT8_MAMPS 0.026215 DATA_FILE_SIZE 53746,782

HUMID 56.06 CAP_FILE_SIZE 104331,0

INTERNAL_PRESSURE 8.96486 CFSIZE 259252224,219566080

TCM_TEMP 6.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 281214,005258,-5557.773,-33.746,39,0.9,39,-19.9

_24V_AH 21.8,25.497

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 245 70.66 SBE_CT 555 23 290.36

Roll_motor 60 65 87.24 AA4330 1618 17 634.23

VBD_pump_during_apogee 276 1782 10755.73 WL_BB2F 779 105 1783.67

VBD_pump_during_surface 21 196 90.65 QSP2150 822 17 322.32

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 53 91 107.10 nil 0 0 0.00

Iridium_during_connect 121 160 424.97 nil 0 0 0.00

Iridium_during_xfer 252 223 1227.86 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 31 5.91

TT8 1944 14 281.18

LPSleep 7553 2 165.43

TT8_Active 393 14 56.83

TT8_Sampling 2443 42 1030.39

TT8_CF8 145 49 72.10

TT8_Kalman 33 68 22.82

Analog_circuits 1187 15 184.11

GPS_charging 0 0 0.00

Compass 1866 16 307.65

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.54 -73.9 0.0 0.0 0 50 0.00 0.00 -32.88 0.000 2 0.000 0.000 45 2942 2217 0 0 0 0 0 0

52 -0.60 -144.3 3.0 -3.5 4 94 6.22 0.00 -26.50 0.000 6 0.246 0.000 1587 2942 2932 0 0 0 0 0 0

169 -0.60 -144.3 20.1 -21.8 21 178 0.00 2.28 0.00 0.000 4 0.000 0.041 1587 1511 2933 0 0 0 0 0 0

217 -0.60 -144.3 29.6 -18.8 28 226 0.00 2.35 0.00 0.000 6 0.000 0.059 1576 2917 2933 0 0 0 0 0 0

299 -0.60 -144.3 46.6 -21.3 41 306 0.00 0.00 0.00 0.000 6 0.000 0.000 1576 2917 2934 0 0 0 0 0 0

411 -0.60 -144.3 70.8 -20.2 60 419 0.00 0.00 0.00 0.000 6 0.000 0.000 1576 2917 2934 0 0 0 0 0 0

525 -0.60 -144.3 93.9 -20.7 79 531 0.00 0.00 0.00 0.000 6 0.000 0.000 1576 2917 2934 0 0 0 0 0 0

747 -0.60 -144.3 137.4 -18.4 102 750 0.00 1.62 0.00 0.000 4 0.000 0.065 1569 3907 2934 0 0 0 0 0 0

819 -0.60 -144.3 152.9 -20.2 108 829 0.00 1.60 0.00 0.000 6 0.000 0.033 1569 2882 2935 0 0 0 0 0 0

1147 -0.60 -144.3 217.9 -20.5 139 1148 0.00 0.00 0.00 0.000 6 0.000 0.000 1568 2881 2934 0 0 0 0 0 0

1468 -0.60 -144.3 282.6 -19.4 162 1472 0.00 1.70 0.00 0.000 4 0.000 0.066 1561 3901 2934 0 0 0 0 0 0

1586 -0.60 -144.3 307.2 -20.3 167 1591 0.08 1.50 0.00 0.000 6 0.184 0.034 1583 2935 2935 0 0 0 0 0 0

1915 -0.60 -144.3 363.8 -16.8 183 1916 0.00 0.00 0.00 0.000 6 0.000 0.000 1583 2934 2934 0 0 0 0 0 0

2223 -0.60 -144.3 413.9 -15.7 198 2226 0.00 1.60 0.00 0.000 4 0.000 0.065 1577 3900 2934 0 0 0 0 0 0

2290 -0.60 -144.3 425.1 -17.0 201 2294 0.00 1.50 0.00 0.000 6 0.000 0.033 1576 2918 2935 0 0 0 0 0 0

2622 -0.60 -144.3 477.0 -15.4 217 2623 0.00 0.00 0.00 0.000 6 0.000 0.000 1577 2913 2935 0 0 0 0 0 0

2932 -0.60 -144.3 524.5 -15.3 232 2935 0.00 1.62 0.00 0.000 4 0.000 0.064 1569 3896 2935 0 0 0 0 0 0

3009 -0.60 -144.3 537.4 -16.1 235 3013 0.00 1.48 0.00 0.000 6 0.000 0.033 1569 2923 2935 0 0 0 0 0 0

3330 -0.60 -144.3 587.2 -15.5 251 3334 0.00 1.62 0.00 0.000 4 0.000 0.063 1561 3933 2935 0 0 0 0 0 0

3385 -0.60 -144.3 596.7 -16.9 253 3390 0.08 1.52 0.00 0.000 6 0.184 0.032 1584 2938 2936 0 0 0 0 0 0

3706 -0.60 -144.3 643.9 -14.6 269 3707 0.00 0.00 0.00 0.000 6 0.000 0.000 1584 2938 2936 0 0 0 0 0 0

4016 -0.60 -144.3 688.8 -14.4 284 4020 0.00 1.60 0.00 0.000 4 0.000 0.064 1577 3909 2936 0 0 0 0 0 0

4076 -0.60 -144.3 698.4 -15.5 286 4084 0.00 1.52 0.00 0.000 6 0.000 0.032 1577 2911 2936 0 0 0 0 0 0

4392 -0.60 -144.3 745.6 -15.5 302 4394 0.00 0.00 0.00 0.000 6 0.000 0.000 1577 2910 2936 0 0 0 0 0 0

4702 -0.60 -144.3 793.2 -15.6 317 4706 0.00 1.62 0.00 0.000 4 0.000 0.064 1570 3897 2936 0 0 0 0 0 0

4779 -0.60 -144.3 806.4 -17.1 320 4784 0.00 1.48 0.00 0.000 6 0.000 0.032 1569 2933 2936 0 0 0 0 0 0

5101 -0.60 -144.3 856.0 -15.2 336 5105 0.00 1.60 0.00 0.000 4 0.000 0.063 1562 3901 2936 0 0 0 0 0 0

5156 -0.60 -144.3 865.2 -16.2 338 5161 0.08 1.48 0.00 0.000 6 0.184 0.032 1585 2935 2936 0 0 0 0 0 0

5477 -0.60 -144.3 909.9 -13.8 354 5478 0.00 0.00 0.00 0.000 6 0.000 0.000 1585 2935 2936 0 0 0 0 0 0

5787 -0.60 -144.3 952.3 -13.8 369 5791 0.00 1.60 0.00 0.000 4 0.000 0.065 1578 3905 2936 0 0 0 0 0 0

5846 -0.60 -144.3 961.5 -15.0 371 5854 0.00 1.52 0.00 0.000 6 0.000 0.031 1578 2908 2936 0 0 0 0 0 0

6141 end dive: TARGET_DEPTH_EXCEEDED

state 6141 begin apogee

6145 -0.13 0.0 1002.5 13.9 386 6284 0.55 0.00 131.98 1.782 6 0.181 0.000 1738 2736 2342 0 0 0 0 0 0

6284 end apogee: CONTROL_FINISHED_OK

state 6285 begin climb

6287 0.60 144.3 1006.7 0.0 393 6436 0.80 0.00 144.82 1.733 6 0.123 0.000 1977 2736 1753 0 0 0 0 0 0

6743 0.60 144.3 929.8 19.6 415 6744 0.00 0.00 0.00 0.000 6 0.000 0.000 1976 2736 1744 0 0 0 0 0 0

7052 0.60 144.3 869.6 19.7 430 7053 0.00 0.00 0.00 0.000 6 0.000 0.000 1977 2736 1742 0 0 0 0 0 0

7361 0.60 144.3 809.3 19.2 445 7362 0.00 0.00 0.00 0.000 6 0.000 0.000 1977 2736 1741 0 0 0 0 0 0

7671 0.60 144.3 750.0 18.9 460 7675 0.00 1.98 0.00 0.000 4 0.000 0.063 1977 3904 1740 0 0 0 0 0 0

7747 0.60 144.3 733.4 22.0 463 7752 0.00 1.90 0.00 0.000 6 0.000 0.037 1986 2726 1739 0 0 0 0 0 0

8070 0.60 144.3 671.7 19.0 479 8071 0.00 0.00 0.00 0.000 6 0.000 0.000 1986 2725 1738 0 0 0 0 0 0

8378 0.60 144.3 614.3 18.4 494 8382 0.00 1.95 0.00 0.000 4 0.000 0.060 1986 3907 1738 0 0 0 0 0 0

8449 0.60 144.3 599.7 19.5 497 8454 0.00 1.92 0.00 0.000 6 0.000 0.036 1995 2705 1737 0 0 0 0 0 0

8778 0.60 144.3 538.3 19.0 513 8779 0.00 0.00 0.00 0.000 6 0.000 0.000 1996 2705 1737 0 0 0 0 0 0

9086 0.60 144.3 479.0 18.9 528 9090 0.00 1.98 0.00 0.000 4 0.000 0.060 1996 3911 1737 0 0 0 0 0 0

9131 0.60 144.3 469.9 20.5 530 9135 0.00 1.88 0.00 0.000 6 0.000 0.037 2004 2709 1737 0 0 0 0 0 0

9464 0.60 144.3 404.4 19.4 546 9465 0.00 0.00 0.00 0.000 6 0.000 0.000 2005 2709 1737 0 0 0 0 0 0

9775 0.60 144.3 342.8 19.9 561 9778 0.00 1.95 0.00 0.000 4 0.000 0.060 2005 3909 1737 0 0 0 0 0 0

9888 0.60 144.3 317.9 22.5 566 9892 0.00 1.88 0.00 0.000 6 0.000 0.037 2014 2701 1737 0 0 0 0 0 0

10220 0.60 144.3 251.2 19.9 582 10224 0.00 1.95 0.00 0.000 4 0.000 0.060 2014 3903 1737 0 0 0 0 0 0

10279 0.60 144.3 239.0 21.4 586 10283 0.15 1.88 0.00 0.000 6 0.223 0.036 1988 2702 1737 0 0 0 0 0 0

10611 0.60 144.3 182.8 16.3 617 10612 0.00 0.00 0.00 0.000 6 0.000 0.000 1988 2702 1737 0 0 0 0 0 0

10931 0.60 144.3 131.0 16.1 647 10937 0.00 0.00 0.00 0.000 6 0.000 0.000 1989 2702 1737 0 0 0 0 0 0

11265 0.60 144.3 82.0 14.3 689 11271 0.00 0.00 0.00 0.000 6 0.000 0.000 1989 2702 1736 0 0 0 0 0 0

11504 0.60 144.3 48.8 14.3 730 11513 0.00 2.20 0.00 0.000 4 0.000 0.045 1998 1296 1736 0 0 0 0 0 0

11550 0.60 144.3 42.9 12.9 737 11557 0.00 2.25 0.00 0.000 6 0.000 0.055 1998 2726 1736 0 0 0 0 0 0

11667 0.60 144.3 26.7 13.7 756 11676 0.00 1.88 0.00 0.000 4 0.000 0.063 1998 3880 1736 0 0 0 0 0 0

11722 0.60 144.3 17.9 16.0 764 11731 0.00 1.85 0.00 0.000 6 0.000 0.037 2008 2712 1736 0 0 0 0 0 0

11807 0.60 144.3 4.7 15.5 777 11815 0.00 0.00 0.00 0.000 6 0.000 0.000 2007 2712 1736 0 0 0 0 0 0

11822 end climb: SURFACE_DEPTH_REACHED

state 11822 begin surface coast

11842 end surface coast: CONTROL_FINISHED_OK

state 11843 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	108	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	30	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	28	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	-21958.807	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	271214,212253,-5558.492,-31.729,40,0.9,40,-19.9	TGT_NAME	TARGET
_CALLS	2	TGT_LATLONG	-5600.000,-30.000
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.102,0.130
_SM_DEPTHo	2.03	KALMAN_X	61905.6,-407.4,-73.9,-94136.1,2999.6
_SM_ANGLEo	-68.3	KALMAN_Y	33025.5,432.7,237.7,-30561.2,-4471.5
GPS2	271214,213253,-5558.468,-31.656,16,1.7,16,-19.9	MHEAD_RNG_PITCHd_Wd	341.8,3315,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.3,1.027140	_10V_AH	10.0,16.680
SM_CCo	11855,21.15,0.197,0,0,1523,200.16	FG_AHR_24Vo	0.000
SM_GC	2.59,0.00,0.00,21.15,0.000,0.000,0.197,60,2927,1523,-5.40,-0.08,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5535.12,-26.95,271214,212120	MEM	353964
TT8_MAMPS	0.026215	DATA_FILE_SIZE	53746,782
HUMID	56.06	CAP_FILE_SIZE	104331,0
INTERNAL_PRESSURE	8.96486	CFSIZE	259252224,219566080
TCM_TEMP	6.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	281214,005258,-5557.773,-33.746,39,0.9,39,-19.9
_24V_AH	21.8,25.497

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	245	70.66	SBE_CT	555	23	290.36
Roll_motor	60	65	87.24	AA4330	1618	17	634.23
VBD_pump_during_apogee	276	1782	10755.73	WL_BB2F	779	105	1783.67
VBD_pump_during_surface	21	196	90.65	QSP2150	822	17	322.32
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	53	91	107.10	nil	0	0	0.00
Iridium_during_connect	121	160	424.97	nil	0	0	0.00
Iridium_during_xfer	252	223	1227.86	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	31	5.91
TT8	1944	14	281.18
LPSleep	7553	2	165.43
TT8_Active	393	14	56.83
TT8_Sampling	2443	42	1030.39
TT8_CF8	145	49	72.10
TT8_Kalman	33	68	22.82
Analog_circuits	1187	15	184.11
GPS_charging	0	0	0.00
Compass	1866	16	307.65
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.54	-73.9	0.0	0.0	0	50	0.00	0.00	-32.88	0.000	2	0.000	0.000	45	2942	2217	0	0	0	0	0	0
52	-0.60	-144.3	3.0	-3.5	4	94	6.22	0.00	-26.50	0.000	6	0.246	0.000	1587	2942	2932	0	0	0	0	0	0
169	-0.60	-144.3	20.1	-21.8	21	178	0.00	2.28	0.00	0.000	4	0.000	0.041	1587	1511	2933	0	0	0	0	0	0
217	-0.60	-144.3	29.6	-18.8	28	226	0.00	2.35	0.00	0.000	6	0.000	0.059	1576	2917	2933	0	0	0	0	0	0
299	-0.60	-144.3	46.6	-21.3	41	306	0.00	0.00	0.00	0.000	6	0.000	0.000	1576	2917	2934	0	0	0	0	0	0
411	-0.60	-144.3	70.8	-20.2	60	419	0.00	0.00	0.00	0.000	6	0.000	0.000	1576	2917	2934	0	0	0	0	0	0
525	-0.60	-144.3	93.9	-20.7	79	531	0.00	0.00	0.00	0.000	6	0.000	0.000	1576	2917	2934	0	0	0	0	0	0
747	-0.60	-144.3	137.4	-18.4	102	750	0.00	1.62	0.00	0.000	4	0.000	0.065	1569	3907	2934	0	0	0	0	0	0
819	-0.60	-144.3	152.9	-20.2	108	829	0.00	1.60	0.00	0.000	6	0.000	0.033	1569	2882	2935	0	0	0	0	0	0
1147	-0.60	-144.3	217.9	-20.5	139	1148	0.00	0.00	0.00	0.000	6	0.000	0.000	1568	2881	2934	0	0	0	0	0	0
1468	-0.60	-144.3	282.6	-19.4	162	1472	0.00	1.70	0.00	0.000	4	0.000	0.066	1561	3901	2934	0	0	0	0	0	0
1586	-0.60	-144.3	307.2	-20.3	167	1591	0.08	1.50	0.00	0.000	6	0.184	0.034	1583	2935	2935	0	0	0	0	0	0
1915	-0.60	-144.3	363.8	-16.8	183	1916	0.00	0.00	0.00	0.000	6	0.000	0.000	1583	2934	2934	0	0	0	0	0	0
2223	-0.60	-144.3	413.9	-15.7	198	2226	0.00	1.60	0.00	0.000	4	0.000	0.065	1577	3900	2934	0	0	0	0	0	0
2290	-0.60	-144.3	425.1	-17.0	201	2294	0.00	1.50	0.00	0.000	6	0.000	0.033	1576	2918	2935	0	0	0	0	0	0
2622	-0.60	-144.3	477.0	-15.4	217	2623	0.00	0.00	0.00	0.000	6	0.000	0.000	1577	2913	2935	0	0	0	0	0	0
2932	-0.60	-144.3	524.5	-15.3	232	2935	0.00	1.62	0.00	0.000	4	0.000	0.064	1569	3896	2935	0	0	0	0	0	0
3009	-0.60	-144.3	537.4	-16.1	235	3013	0.00	1.48	0.00	0.000	6	0.000	0.033	1569	2923	2935	0	0	0	0	0	0
3330	-0.60	-144.3	587.2	-15.5	251	3334	0.00	1.62	0.00	0.000	4	0.000	0.063	1561	3933	2935	0	0	0	0	0	0
3385	-0.60	-144.3	596.7	-16.9	253	3390	0.08	1.52	0.00	0.000	6	0.184	0.032	1584	2938	2936	0	0	0	0	0	0
3706	-0.60	-144.3	643.9	-14.6	269	3707	0.00	0.00	0.00	0.000	6	0.000	0.000	1584	2938	2936	0	0	0	0	0	0
4016	-0.60	-144.3	688.8	-14.4	284	4020	0.00	1.60	0.00	0.000	4	0.000	0.064	1577	3909	2936	0	0	0	0	0	0
4076	-0.60	-144.3	698.4	-15.5	286	4084	0.00	1.52	0.00	0.000	6	0.000	0.032	1577	2911	2936	0	0	0	0	0	0
4392	-0.60	-144.3	745.6	-15.5	302	4394	0.00	0.00	0.00	0.000	6	0.000	0.000	1577	2910	2936	0	0	0	0	0	0
4702	-0.60	-144.3	793.2	-15.6	317	4706	0.00	1.62	0.00	0.000	4	0.000	0.064	1570	3897	2936	0	0	0	0	0	0
4779	-0.60	-144.3	806.4	-17.1	320	4784	0.00	1.48	0.00	0.000	6	0.000	0.032	1569	2933	2936	0	0	0	0	0	0
5101	-0.60	-144.3	856.0	-15.2	336	5105	0.00	1.60	0.00	0.000	4	0.000	0.063	1562	3901	2936	0	0	0	0	0	0
5156	-0.60	-144.3	865.2	-16.2	338	5161	0.08	1.48	0.00	0.000	6	0.184	0.032	1585	2935	2936	0	0	0	0	0	0
5477	-0.60	-144.3	909.9	-13.8	354	5478	0.00	0.00	0.00	0.000	6	0.000	0.000	1585	2935	2936	0	0	0	0	0	0
5787	-0.60	-144.3	952.3	-13.8	369	5791	0.00	1.60	0.00	0.000	4	0.000	0.065	1578	3905	2936	0	0	0	0	0	0
5846	-0.60	-144.3	961.5	-15.0	371	5854	0.00	1.52	0.00	0.000	6	0.000	0.031	1578	2908	2936	0	0	0	0	0	0
6141	end dive: TARGET_DEPTH_EXCEEDED
state	6141	begin apogee
6145	-0.13	0.0	1002.5	13.9	386	6284	0.55	0.00	131.98	1.782	6	0.181	0.000	1738	2736	2342	0	0	0	0	0	0
6284	end apogee: CONTROL_FINISHED_OK
state	6285	begin climb
6287	0.60	144.3	1006.7	0.0	393	6436	0.80	0.00	144.82	1.733	6	0.123	0.000	1977	2736	1753	0	0	0	0	0	0
6743	0.60	144.3	929.8	19.6	415	6744	0.00	0.00	0.00	0.000	6	0.000	0.000	1976	2736	1744	0	0	0	0	0	0
7052	0.60	144.3	869.6	19.7	430	7053	0.00	0.00	0.00	0.000	6	0.000	0.000	1977	2736	1742	0	0	0	0	0	0
7361	0.60	144.3	809.3	19.2	445	7362	0.00	0.00	0.00	0.000	6	0.000	0.000	1977	2736	1741	0	0	0	0	0	0
7671	0.60	144.3	750.0	18.9	460	7675	0.00	1.98	0.00	0.000	4	0.000	0.063	1977	3904	1740	0	0	0	0	0	0
7747	0.60	144.3	733.4	22.0	463	7752	0.00	1.90	0.00	0.000	6	0.000	0.037	1986	2726	1739	0	0	0	0	0	0
8070	0.60	144.3	671.7	19.0	479	8071	0.00	0.00	0.00	0.000	6	0.000	0.000	1986	2725	1738	0	0	0	0	0	0
8378	0.60	144.3	614.3	18.4	494	8382	0.00	1.95	0.00	0.000	4	0.000	0.060	1986	3907	1738	0	0	0	0	0	0
8449	0.60	144.3	599.7	19.5	497	8454	0.00	1.92	0.00	0.000	6	0.000	0.036	1995	2705	1737	0	0	0	0	0	0
8778	0.60	144.3	538.3	19.0	513	8779	0.00	0.00	0.00	0.000	6	0.000	0.000	1996	2705	1737	0	0	0	0	0	0
9086	0.60	144.3	479.0	18.9	528	9090	0.00	1.98	0.00	0.000	4	0.000	0.060	1996	3911	1737	0	0	0	0	0	0
9131	0.60	144.3	469.9	20.5	530	9135	0.00	1.88	0.00	0.000	6	0.000	0.037	2004	2709	1737	0	0	0	0	0	0
9464	0.60	144.3	404.4	19.4	546	9465	0.00	0.00	0.00	0.000	6	0.000	0.000	2005	2709	1737	0	0	0	0	0	0
9775	0.60	144.3	342.8	19.9	561	9778	0.00	1.95	0.00	0.000	4	0.000	0.060	2005	3909	1737	0	0	0	0	0	0
9888	0.60	144.3	317.9	22.5	566	9892	0.00	1.88	0.00	0.000	6	0.000	0.037	2014	2701	1737	0	0	0	0	0	0
10220	0.60	144.3	251.2	19.9	582	10224	0.00	1.95	0.00	0.000	4	0.000	0.060	2014	3903	1737	0	0	0	0	0	0
10279	0.60	144.3	239.0	21.4	586	10283	0.15	1.88	0.00	0.000	6	0.223	0.036	1988	2702	1737	0	0	0	0	0	0
10611	0.60	144.3	182.8	16.3	617	10612	0.00	0.00	0.00	0.000	6	0.000	0.000	1988	2702	1737	0	0	0	0	0	0
10931	0.60	144.3	131.0	16.1	647	10937	0.00	0.00	0.00	0.000	6	0.000	0.000	1989	2702	1737	0	0	0	0	0	0
11265	0.60	144.3	82.0	14.3	689	11271	0.00	0.00	0.00	0.000	6	0.000	0.000	1989	2702	1736	0	0	0	0	0	0
11504	0.60	144.3	48.8	14.3	730	11513	0.00	2.20	0.00	0.000	4	0.000	0.045	1998	1296	1736	0	0	0	0	0	0
11550	0.60	144.3	42.9	12.9	737	11557	0.00	2.25	0.00	0.000	6	0.000	0.055	1998	2726	1736	0	0	0	0	0	0
11667	0.60	144.3	26.7	13.7	756	11676	0.00	1.88	0.00	0.000	4	0.000	0.063	1998	3880	1736	0	0	0	0	0	0
11722	0.60	144.3	17.9	16.0	764	11731	0.00	1.85	0.00	0.000	6	0.000	0.037	2008	2712	1736	0	0	0	0	0	0
11807	0.60	144.3	4.7	15.5	777	11815	0.00	0.00	0.00	0.000	6	0.000	0.000	2007	2712	1736	0	0	0	0	0	0
11822	end climb: SURFACE_DEPTH_REACHED
state	11822	begin surface coast
11842	end surface coast: CONTROL_FINISHED_OK
state	11843	begin surface