Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 111 * 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 111 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 21 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 -21966.973 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 -21966.973

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 21 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 111 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 281214,080904,-5558.125,-32.284,44,1.0,44,-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 -0.137,0.092

_SM_DEPTHo 2.06 KALMAN_X 63258.8,-177.7,34.6,-96324.6,2784.5

_SM_ANGLEo -60.2 KALMAN_Y 31314.7,528.4,370.2,-28634.3,-3660.1

GPS2 281214,081929,-5558.224,-32.135,20,1.0,20,-19.9 MHEAD_RNG_PITCHd_Wd 323.9,3964,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 2.0,1.027120 _10V_AH 10.0,16.981

SM_CCo 12120,22.75,0.199,0,0,1525,200.16 FG_AHR_24Vo 0.000

SM_GC 2.61,0.00,0.00,22.75,0.000,0.000,0.199,56,2908,1525,-5.42,-0.62,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5535.12,-30.76,281214,080833 MEM 353948

TT8_MAMPS 0.027713 DATA_FILE_SIZE 53686,787

HUMID 55.90 CAP_FILE_SIZE 105999,0

INTERNAL_PRESSURE 8.96486 CFSIZE 259252224,219377664

TCM_TEMP 6.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 281214,114357,-5558.097,-34.588,28,1.4,37,-19.8

_24V_AH 21.9,25.945

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 257 75.01 SBE_CT 559 23 293.88

Roll_motor 66 87 127.34 AA4330 1613 17 635.36

VBD_pump_during_apogee 270 1774 10511.88 WL_BB2F 759 105 1745.89

VBD_pump_during_surface 22 198 99.10 QSP2150 789 17 310.94

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 54 91 109.61 nil 0 0 0.00

Iridium_during_connect 121 160 425.88 nil 0 0 0.00

Iridium_during_xfer 270 223 1321.53 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 31 7.02

TT8 1973 14 285.34

LPSleep 7796 2 170.73

TT8_Active 393 14 56.96

TT8_Sampling 2445 42 1031.33

TT8_CF8 160 49 79.77

TT8_Kalman 33 68 22.81

Analog_circuits 1173 15 181.94

GPS_charging 0 0 0.00

Compass 1858 16 306.27

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -0.54 -73.9 0.0 0.0 0 60 0.00 0.00 -42.62 0.000 2 0.000 0.000 45 2929 2442 0 0 0 0 0 0

62 -0.60 -140.8 3.2 -3.8 5 89 6.45 1.67 -15.00 0.000 4 0.257 0.087 1584 3900 2917 0 0 0 0 0 0

230 -0.60 -140.8 37.1 -21.5 31 237 0.00 1.58 0.00 0.000 6 0.000 0.033 1584 2896 2918 0 0 0 0 0 0

343 -0.60 -140.8 60.1 -20.6 50 352 0.00 0.00 0.00 0.000 6 0.000 0.000 1584 2895 2918 0 0 0 0 0 0

458 -0.60 -140.8 83.2 -20.2 69 466 0.00 0.00 0.00 0.000 6 0.000 0.000 1584 2895 2918 0 0 0 0 0 0

686 -0.60 -140.8 129.0 -20.0 97 690 0.00 1.65 0.00 0.000 4 0.000 0.064 1576 3906 2919 0 0 0 0 0 0

811 -0.60 -140.8 156.8 -21.4 108 815 0.00 1.52 0.00 0.000 6 0.000 0.034 1576 2927 2919 0 0 0 0 0 0

1144 -0.60 -140.8 221.1 -18.6 139 1145 0.00 0.00 0.00 0.000 6 0.000 0.000 1576 2922 2919 0 0 0 0 0 0

1467 -0.60 -140.8 278.8 -17.1 162 1470 0.00 1.62 0.00 0.000 4 0.000 0.063 1569 3903 2919 0 0 0 0 0 0

1558 -0.60 -140.8 295.3 -17.4 166 1562 0.00 1.50 0.00 0.000 6 0.000 0.034 1568 2929 2919 0 0 0 0 0 0

1890 -0.60 -140.8 353.4 -17.3 182 1894 0.00 1.62 0.00 0.000 4 0.000 0.065 1561 3901 2918 0 0 0 0 0 0

1960 -0.60 -140.8 366.1 -18.7 185 1964 0.10 1.50 0.00 0.000 6 0.187 0.034 1590 2933 2919 0 0 0 0 0 0

2292 -0.60 -140.8 416.7 -14.7 201 2293 0.00 0.00 0.00 0.000 6 0.000 0.000 1590 2934 2919 0 0 0 0 0 0

2601 -0.60 -140.8 461.6 -14.5 216 2604 0.00 1.60 0.00 0.000 4 0.000 0.065 1582 3897 2920 0 0 0 0 0 0

2638 -0.60 -140.8 467.7 -15.5 217 2646 0.00 1.50 0.00 0.000 6 0.000 0.032 1583 2913 2919 0 0 0 0 0 0

2955 -0.60 -140.8 513.1 -14.2 233 2959 0.00 1.62 0.00 0.000 4 0.000 0.066 1575 3923 2919 0 0 0 0 0 0

3000 -0.60 -140.8 520.1 -15.3 235 3004 0.00 1.52 0.00 0.000 6 0.000 0.033 1575 2929 2920 0 0 0 0 0 0

3333 -0.60 -140.8 569.0 -14.9 251 3334 0.00 0.00 0.00 0.000 6 0.000 0.000 1575 2922 2920 0 0 0 0 0 0

3641 -0.60 -140.8 616.5 -15.5 266 3645 0.00 1.62 0.00 0.000 4 0.000 0.065 1568 3901 2920 0 0 0 0 0 0

3712 -0.60 -140.8 628.5 -16.1 269 3718 0.00 1.50 0.00 0.000 6 0.000 0.033 1568 2922 2920 0 0 0 0 0 0

4041 -0.60 -140.8 679.6 -15.8 285 4044 0.00 1.62 0.00 0.000 4 0.000 0.065 1560 3930 2920 0 0 0 0 0 0

4089 -0.60 -140.8 688.5 -17.3 287 4095 0.10 1.55 0.00 0.000 6 0.183 0.032 1589 2926 2920 0 0 0 0 0 0

4416 -0.60 -140.8 734.0 -13.6 303 4418 0.00 0.00 0.00 0.000 6 0.000 0.000 1589 2926 2920 0 0 0 0 0 0

4726 -0.60 -140.8 775.5 -13.3 318 4728 0.00 0.00 0.00 0.000 6 0.000 0.000 1589 2926 2920 0 0 0 0 0 0

5035 -0.60 -140.8 816.4 -13.1 333 5039 0.00 1.60 0.00 0.000 4 0.000 0.066 1582 3894 2920 0 0 0 0 0 0

5094 -0.60 -140.8 825.1 -14.6 335 5103 0.00 1.50 0.00 0.000 6 0.000 0.032 1582 2912 2921 0 0 0 0 0 0

5411 -0.60 -140.8 868.2 -13.4 351 5413 0.00 0.00 0.00 0.000 6 0.000 0.000 1582 2912 2921 0 0 0 0 0 0

5720 -0.60 -140.8 908.9 -13.1 366 5721 0.00 0.00 0.00 0.000 6 0.000 0.000 1582 2912 2920 0 0 0 0 0 0

6030 -0.60 -140.8 950.0 -13.6 381 6033 0.00 1.62 0.00 0.000 4 0.000 0.067 1575 3923 2921 0 0 0 0 0 0

6101 -0.60 -140.8 960.9 -15.4 384 6106 0.00 1.52 0.00 0.000 6 0.000 0.032 1574 2936 2921 0 0 0 0 0 0

6386 end dive: TARGET_DEPTH_EXCEEDED

state 6386 begin apogee

6390 -0.13 0.0 1001.2 14.1 398 6522 0.57 0.00 128.60 1.775 6 0.179 0.000 1742 2710 2342 0 0 0 0 0 0

6523 end apogee: CONTROL_FINISHED_OK

state 6523 begin climb

6525 0.60 140.8 1005.2 0.0 404 6671 0.77 0.00 141.85 1.718 6 0.122 0.000 1974 2710 1768 0 0 0 0 0 0

6977 0.60 140.8 931.9 18.3 426 6979 0.00 0.00 0.00 0.000 6 0.000 0.000 1973 2710 1760 0 0 0 0 0 0

7286 0.60 140.8 875.6 18.1 441 7290 0.00 2.03 0.00 0.000 4 0.000 0.064 1974 3913 1757 0 0 0 0 0 0

7354 0.60 140.8 862.1 19.8 444 7357 0.00 1.90 0.00 0.000 6 0.000 0.036 1983 2738 1756 0 0 0 0 0 0

7687 0.60 140.8 799.5 18.7 460 7688 0.00 0.00 0.00 0.000 6 0.000 0.000 1983 2738 1755 0 0 0 0 0 0

7995 0.60 140.8 742.5 18.4 475 7996 0.00 0.00 0.00 0.000 6 0.000 0.000 1983 2738 1754 0 0 0 0 0 0

8304 0.60 140.8 686.4 18.1 490 8308 0.00 1.92 0.00 0.000 4 0.000 0.062 1983 3900 1754 0 0 0 0 0 0

8359 0.60 140.8 675.2 20.5 492 8363 0.00 1.92 0.00 0.000 6 0.000 0.036 1992 2707 1754 0 0 0 0 0 0

8680 0.60 140.8 615.5 18.6 508 8682 0.00 0.00 0.00 0.000 6 0.000 0.000 1993 2707 1754 0 0 0 0 0 0

8990 0.60 140.8 556.7 18.8 523 8994 0.00 2.00 0.00 0.000 4 0.000 0.062 1992 3901 1754 0 0 0 0 0 0

9067 0.60 140.8 540.3 22.0 526 9071 0.00 1.90 0.00 0.000 6 0.000 0.037 2002 2708 1753 0 0 0 0 0 0

9388 0.60 140.8 476.4 20.1 542 9389 0.00 0.00 0.00 0.000 6 0.000 0.000 2002 2708 1753 0 0 0 0 0 0

9698 0.60 140.8 415.6 19.7 557 9702 0.00 1.95 0.00 0.000 4 0.000 0.061 2002 3899 1753 0 0 0 0 0 0

9747 0.60 140.8 404.5 22.4 559 9751 0.00 1.90 0.00 0.000 6 0.000 0.036 2011 2705 1753 0 0 0 0 0 0

10076 0.60 140.8 340.5 19.4 575 10080 0.00 1.95 0.00 0.000 4 0.000 0.060 2011 3900 1753 0 0 0 0 0 0

10160 0.60 140.8 321.8 22.2 578 10170 0.10 1.90 0.00 0.000 6 0.205 0.035 1992 2700 1753 0 0 0 0 0 0

10476 0.60 140.8 267.1 17.2 594 10479 0.00 1.95 0.00 0.000 4 0.000 0.060 1992 3900 1753 0 0 0 0 0 0

10530 0.60 140.8 256.5 19.2 596 10536 0.00 1.88 0.00 0.000 6 0.000 0.034 2001 2716 1752 0 0 0 0 0 0

10865 0.60 140.8 200.1 16.9 625 10869 0.00 1.92 0.00 0.000 4 0.000 0.060 2000 3900 1752 0 0 0 0 0 0

10923 0.60 140.8 188.8 18.7 630 10927 0.00 1.88 0.00 0.000 6 0.000 0.036 2010 2697 1752 0 0 0 0 0 0

11255 0.60 140.8 132.2 17.0 661 11256 0.00 0.00 0.00 0.000 6 0.000 0.000 2009 2697 1752 0 0 0 0 0 0

11581 0.60 140.8 79.3 13.4 703 11588 0.00 0.00 0.00 0.000 6 0.000 0.000 2010 2697 1752 0 0 0 0 0 0

11695 0.60 140.8 63.1 14.6 722 11703 0.00 0.00 0.00 0.000 6 0.000 0.000 2010 2697 1752 0 0 0 0 0 0

11810 0.60 140.8 46.5 14.4 741 11817 0.00 0.00 0.00 0.000 6 0.000 0.000 2009 2697 1752 0 0 0 0 0 0

11925 0.60 140.8 29.6 14.5 760 11934 0.00 2.20 0.00 0.000 4 0.000 0.044 2020 1292 1752 0 0 0 0 0 0

11985 0.60 140.8 21.1 14.2 769 11995 0.10 2.30 0.00 0.000 6 0.194 0.055 1991 2726 1752 0 0 0 0 0 0

12071 0.60 140.8 7.8 14.4 782 12080 0.00 1.88 0.00 0.000 4 0.000 0.063 1987 3880 1752 0 0 0 0 0 0

12099 end climb: SURFACE_DEPTH_REACHED

state 12099 begin surface coast

12107 end surface coast: CONTROL_FINISHED_OK

state 12107 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	111	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	21	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	-21966.973	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	281214,080904,-5558.125,-32.284,44,1.0,44,-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	-0.137,0.092
_SM_DEPTHo	2.06	KALMAN_X	63258.8,-177.7,34.6,-96324.6,2784.5
_SM_ANGLEo	-60.2	KALMAN_Y	31314.7,528.4,370.2,-28634.3,-3660.1
GPS2	281214,081929,-5558.224,-32.135,20,1.0,20,-19.9	MHEAD_RNG_PITCHd_Wd	323.9,3964,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	2.0,1.027120	_10V_AH	10.0,16.981
SM_CCo	12120,22.75,0.199,0,0,1525,200.16	FG_AHR_24Vo	0.000
SM_GC	2.61,0.00,0.00,22.75,0.000,0.000,0.199,56,2908,1525,-5.42,-0.62,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5535.12,-30.76,281214,080833	MEM	353948
TT8_MAMPS	0.027713	DATA_FILE_SIZE	53686,787
HUMID	55.90	CAP_FILE_SIZE	105999,0
INTERNAL_PRESSURE	8.96486	CFSIZE	259252224,219377664
TCM_TEMP	6.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	281214,114357,-5558.097,-34.588,28,1.4,37,-19.8
_24V_AH	21.9,25.945

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	257	75.01	SBE_CT	559	23	293.88
Roll_motor	66	87	127.34	AA4330	1613	17	635.36
VBD_pump_during_apogee	270	1774	10511.88	WL_BB2F	759	105	1745.89
VBD_pump_during_surface	22	198	99.10	QSP2150	789	17	310.94
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	54	91	109.61	nil	0	0	0.00
Iridium_during_connect	121	160	425.88	nil	0	0	0.00
Iridium_during_xfer	270	223	1321.53	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	31	7.02
TT8	1973	14	285.34
LPSleep	7796	2	170.73
TT8_Active	393	14	56.96
TT8_Sampling	2445	42	1031.33
TT8_CF8	160	49	79.77
TT8_Kalman	33	68	22.81
Analog_circuits	1173	15	181.94
GPS_charging	0	0	0.00
Compass	1858	16	306.27
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-0.54	-73.9	0.0	0.0	0	60	0.00	0.00	-42.62	0.000	2	0.000	0.000	45	2929	2442	0	0	0	0	0	0
62	-0.60	-140.8	3.2	-3.8	5	89	6.45	1.67	-15.00	0.000	4	0.257	0.087	1584	3900	2917	0	0	0	0	0	0
230	-0.60	-140.8	37.1	-21.5	31	237	0.00	1.58	0.00	0.000	6	0.000	0.033	1584	2896	2918	0	0	0	0	0	0
343	-0.60	-140.8	60.1	-20.6	50	352	0.00	0.00	0.00	0.000	6	0.000	0.000	1584	2895	2918	0	0	0	0	0	0
458	-0.60	-140.8	83.2	-20.2	69	466	0.00	0.00	0.00	0.000	6	0.000	0.000	1584	2895	2918	0	0	0	0	0	0
686	-0.60	-140.8	129.0	-20.0	97	690	0.00	1.65	0.00	0.000	4	0.000	0.064	1576	3906	2919	0	0	0	0	0	0
811	-0.60	-140.8	156.8	-21.4	108	815	0.00	1.52	0.00	0.000	6	0.000	0.034	1576	2927	2919	0	0	0	0	0	0
1144	-0.60	-140.8	221.1	-18.6	139	1145	0.00	0.00	0.00	0.000	6	0.000	0.000	1576	2922	2919	0	0	0	0	0	0
1467	-0.60	-140.8	278.8	-17.1	162	1470	0.00	1.62	0.00	0.000	4	0.000	0.063	1569	3903	2919	0	0	0	0	0	0
1558	-0.60	-140.8	295.3	-17.4	166	1562	0.00	1.50	0.00	0.000	6	0.000	0.034	1568	2929	2919	0	0	0	0	0	0
1890	-0.60	-140.8	353.4	-17.3	182	1894	0.00	1.62	0.00	0.000	4	0.000	0.065	1561	3901	2918	0	0	0	0	0	0
1960	-0.60	-140.8	366.1	-18.7	185	1964	0.10	1.50	0.00	0.000	6	0.187	0.034	1590	2933	2919	0	0	0	0	0	0
2292	-0.60	-140.8	416.7	-14.7	201	2293	0.00	0.00	0.00	0.000	6	0.000	0.000	1590	2934	2919	0	0	0	0	0	0
2601	-0.60	-140.8	461.6	-14.5	216	2604	0.00	1.60	0.00	0.000	4	0.000	0.065	1582	3897	2920	0	0	0	0	0	0
2638	-0.60	-140.8	467.7	-15.5	217	2646	0.00	1.50	0.00	0.000	6	0.000	0.032	1583	2913	2919	0	0	0	0	0	0
2955	-0.60	-140.8	513.1	-14.2	233	2959	0.00	1.62	0.00	0.000	4	0.000	0.066	1575	3923	2919	0	0	0	0	0	0
3000	-0.60	-140.8	520.1	-15.3	235	3004	0.00	1.52	0.00	0.000	6	0.000	0.033	1575	2929	2920	0	0	0	0	0	0
3333	-0.60	-140.8	569.0	-14.9	251	3334	0.00	0.00	0.00	0.000	6	0.000	0.000	1575	2922	2920	0	0	0	0	0	0
3641	-0.60	-140.8	616.5	-15.5	266	3645	0.00	1.62	0.00	0.000	4	0.000	0.065	1568	3901	2920	0	0	0	0	0	0
3712	-0.60	-140.8	628.5	-16.1	269	3718	0.00	1.50	0.00	0.000	6	0.000	0.033	1568	2922	2920	0	0	0	0	0	0
4041	-0.60	-140.8	679.6	-15.8	285	4044	0.00	1.62	0.00	0.000	4	0.000	0.065	1560	3930	2920	0	0	0	0	0	0
4089	-0.60	-140.8	688.5	-17.3	287	4095	0.10	1.55	0.00	0.000	6	0.183	0.032	1589	2926	2920	0	0	0	0	0	0
4416	-0.60	-140.8	734.0	-13.6	303	4418	0.00	0.00	0.00	0.000	6	0.000	0.000	1589	2926	2920	0	0	0	0	0	0
4726	-0.60	-140.8	775.5	-13.3	318	4728	0.00	0.00	0.00	0.000	6	0.000	0.000	1589	2926	2920	0	0	0	0	0	0
5035	-0.60	-140.8	816.4	-13.1	333	5039	0.00	1.60	0.00	0.000	4	0.000	0.066	1582	3894	2920	0	0	0	0	0	0
5094	-0.60	-140.8	825.1	-14.6	335	5103	0.00	1.50	0.00	0.000	6	0.000	0.032	1582	2912	2921	0	0	0	0	0	0
5411	-0.60	-140.8	868.2	-13.4	351	5413	0.00	0.00	0.00	0.000	6	0.000	0.000	1582	2912	2921	0	0	0	0	0	0
5720	-0.60	-140.8	908.9	-13.1	366	5721	0.00	0.00	0.00	0.000	6	0.000	0.000	1582	2912	2920	0	0	0	0	0	0
6030	-0.60	-140.8	950.0	-13.6	381	6033	0.00	1.62	0.00	0.000	4	0.000	0.067	1575	3923	2921	0	0	0	0	0	0
6101	-0.60	-140.8	960.9	-15.4	384	6106	0.00	1.52	0.00	0.000	6	0.000	0.032	1574	2936	2921	0	0	0	0	0	0
6386	end dive: TARGET_DEPTH_EXCEEDED
state	6386	begin apogee
6390	-0.13	0.0	1001.2	14.1	398	6522	0.57	0.00	128.60	1.775	6	0.179	0.000	1742	2710	2342	0	0	0	0	0	0
6523	end apogee: CONTROL_FINISHED_OK
state	6523	begin climb
6525	0.60	140.8	1005.2	0.0	404	6671	0.77	0.00	141.85	1.718	6	0.122	0.000	1974	2710	1768	0	0	0	0	0	0
6977	0.60	140.8	931.9	18.3	426	6979	0.00	0.00	0.00	0.000	6	0.000	0.000	1973	2710	1760	0	0	0	0	0	0
7286	0.60	140.8	875.6	18.1	441	7290	0.00	2.03	0.00	0.000	4	0.000	0.064	1974	3913	1757	0	0	0	0	0	0
7354	0.60	140.8	862.1	19.8	444	7357	0.00	1.90	0.00	0.000	6	0.000	0.036	1983	2738	1756	0	0	0	0	0	0
7687	0.60	140.8	799.5	18.7	460	7688	0.00	0.00	0.00	0.000	6	0.000	0.000	1983	2738	1755	0	0	0	0	0	0
7995	0.60	140.8	742.5	18.4	475	7996	0.00	0.00	0.00	0.000	6	0.000	0.000	1983	2738	1754	0	0	0	0	0	0
8304	0.60	140.8	686.4	18.1	490	8308	0.00	1.92	0.00	0.000	4	0.000	0.062	1983	3900	1754	0	0	0	0	0	0
8359	0.60	140.8	675.2	20.5	492	8363	0.00	1.92	0.00	0.000	6	0.000	0.036	1992	2707	1754	0	0	0	0	0	0
8680	0.60	140.8	615.5	18.6	508	8682	0.00	0.00	0.00	0.000	6	0.000	0.000	1993	2707	1754	0	0	0	0	0	0
8990	0.60	140.8	556.7	18.8	523	8994	0.00	2.00	0.00	0.000	4	0.000	0.062	1992	3901	1754	0	0	0	0	0	0
9067	0.60	140.8	540.3	22.0	526	9071	0.00	1.90	0.00	0.000	6	0.000	0.037	2002	2708	1753	0	0	0	0	0	0
9388	0.60	140.8	476.4	20.1	542	9389	0.00	0.00	0.00	0.000	6	0.000	0.000	2002	2708	1753	0	0	0	0	0	0
9698	0.60	140.8	415.6	19.7	557	9702	0.00	1.95	0.00	0.000	4	0.000	0.061	2002	3899	1753	0	0	0	0	0	0
9747	0.60	140.8	404.5	22.4	559	9751	0.00	1.90	0.00	0.000	6	0.000	0.036	2011	2705	1753	0	0	0	0	0	0
10076	0.60	140.8	340.5	19.4	575	10080	0.00	1.95	0.00	0.000	4	0.000	0.060	2011	3900	1753	0	0	0	0	0	0
10160	0.60	140.8	321.8	22.2	578	10170	0.10	1.90	0.00	0.000	6	0.205	0.035	1992	2700	1753	0	0	0	0	0	0
10476	0.60	140.8	267.1	17.2	594	10479	0.00	1.95	0.00	0.000	4	0.000	0.060	1992	3900	1753	0	0	0	0	0	0
10530	0.60	140.8	256.5	19.2	596	10536	0.00	1.88	0.00	0.000	6	0.000	0.034	2001	2716	1752	0	0	0	0	0	0
10865	0.60	140.8	200.1	16.9	625	10869	0.00	1.92	0.00	0.000	4	0.000	0.060	2000	3900	1752	0	0	0	0	0	0
10923	0.60	140.8	188.8	18.7	630	10927	0.00	1.88	0.00	0.000	6	0.000	0.036	2010	2697	1752	0	0	0	0	0	0
11255	0.60	140.8	132.2	17.0	661	11256	0.00	0.00	0.00	0.000	6	0.000	0.000	2009	2697	1752	0	0	0	0	0	0
11581	0.60	140.8	79.3	13.4	703	11588	0.00	0.00	0.00	0.000	6	0.000	0.000	2010	2697	1752	0	0	0	0	0	0
11695	0.60	140.8	63.1	14.6	722	11703	0.00	0.00	0.00	0.000	6	0.000	0.000	2010	2697	1752	0	0	0	0	0	0
11810	0.60	140.8	46.5	14.4	741	11817	0.00	0.00	0.00	0.000	6	0.000	0.000	2009	2697	1752	0	0	0	0	0	0
11925	0.60	140.8	29.6	14.5	760	11934	0.00	2.20	0.00	0.000	4	0.000	0.044	2020	1292	1752	0	0	0	0	0	0
11985	0.60	140.8	21.1	14.2	769	11995	0.10	2.30	0.00	0.000	6	0.194	0.055	1991	2726	1752	0	0	0	0	0	0
12071	0.60	140.8	7.8	14.4	782	12080	0.00	1.88	0.00	0.000	4	0.000	0.063	1987	3880	1752	0	0	0	0	0	0
12099	end climb: SURFACE_DEPTH_REACHED
state	12099	begin surface coast
12107	end surface coast: CONTROL_FINISHED_OK
state	12107	begin surface