Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 114 * 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 6 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 1050

DIVE 114 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2923 ALTIM_PING_DELTA 5

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2734 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -4230 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 1000 TGT_DEFAULT_LON -200 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 2

D_NO_BLEED 200 SM_CC 563.99261 R_PORT_OVSHOOT 53 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 37 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 5 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 2820 DEVICE3 115

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 134

T_DIVE 333 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 348 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 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 -10732.457 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 200 PITCH_MAX 3888 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1870 PHONE_SUPPLY 2 SEABIRD_T_G 0.0042910837

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -48.034508 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 52816 PITCH_GAIN 37 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 0.003 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 10

HD_C 9.9999997e-06 ROLL_MIN 335 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SM_CC 563.99261

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 1050 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 37 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 -4230

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 73 TGT_DEFAULT_LON -200

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 0.0012300001 T_BOOST 5

APOGEE_PITCH -7 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011816985 T_DIVE 333

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -48.034508 T_GPS 15

CALL_TRIES 5 HD_A 0.003 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -10732.457

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 348

CF8_MAXERRORS 20 HEAD_ERRBAND 10 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 1870 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2734 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 2923 LOGGERDEVICE1 -1 ROLL_MAX 3901 USE_ICE 0

C_VBD 2820 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 53 VBD_MAX 3961

DEVICE2 101 MASS 52816 R_STBD_OVSHOOT 37 VBD_MAXERRORS 1

DEVICE3 115 MAX_BUOY 200 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 6 SEABIRD_C_J 0.00021125977 VBD_TIMEOUT 720

DIVE 114 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 0 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 261212,114034,-4629.310,403.005,38,1.1,38,-23.3 TGT_NAME GH2

_CALLS 1 TGT_LATLONG -4630.000,400.000

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.203,-0.022

_SM_DEPTHo 0.65 KALMAN_X -67426.7,15.3,389.5,49415.9,162.9

_SM_ANGLEo -26.3 KALMAN_Y 30855.4,-472.6,182.9,10118.0,-843.7

GPS2 261212,115042,-4629.307,403.094,15,1.1,17,-23.3 MHEAD_RNG_PITCHd_Wd 287.1,4148,-23.0,-10.010

SPEED_LIMITS 0.173,0.295 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.6,1.026430 _10V_AH 10.1,10.179

SM_CCo 11391,169.90,0.795,1,0,517,564.18 FG_AHR_24Vo 0.000

SM_GC 0.77,0.00,0.00,169.90,0.000,0.000,0.795,72,2941,517,-5.62,0.51,564.18 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4613.60,400.91,261212,080844 MEM 354208

TT8_MAMPS 0.026215 DATA_FILE_SIZE 40474,566

HUMID 56.73 CAP_FILE_SIZE 97679,0

INTERNAL_PRESSURE 9.20901 CFSIZE 259252224,221753344

TCM_TEMP 10.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,2

XPDR_PINGS 0 GPS 261212,150552,-4628.809,401.103,39,0.9,39,-23.3

_24V_AH 21.6,23.886

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 255 85.41 SBE_CT 373 24 193.55

Roll_motor 94 79 162.83 AA4330 1140 33 812.74

VBD_pump_during_apogee 310 1821 12222.10 WL_BB2FLVMT 617 105 1400.46

VBD_pump_during_surface 169 794 2916.92 QSP2150 242 4 22.92

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 62.96 nil 0 0 0.00

Iridium_during_connect 24 160 83.83 nil 0 0 0.00

Iridium_during_xfer 331 223 1596.05 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 26 5.34

TT8 1410 14 213.06

LPSleep 7703 2 170.40

TT8_Active 626 14 89.87

TT8_Sampling 1860 37 703.50

TT8_CF8 569 47 271.08

TT8_Kalman 33 59 19.93

Analog_circuits 1321 12 160.17

GPS_charging 0 0 0.00

Compass 1436 15 228.27

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

26 -0.73 -87.3 0.0 0.0 0 163 0.00 0.00 -134.00 0.000 2 0.000 0.000 55 2941 3040 0 0 0 0 0 0

170 -0.79 -136.0 3.3 -6.3 17 196 6.28 2.25 -9.62 0.000 4 0.244 0.050 1619 1520 3377 0 0 0 0 0 0

297 -0.79 -139.2 17.1 -9.8 35 306 0.00 2.28 0.00 0.000 6 0.000 0.055 1610 2906 3379 0 0 0 0 0 0

386 -0.79 -139.2 29.3 -17.2 48 396 0.00 1.62 -0.17 0.000 4 0.000 0.080 1602 3903 3390 0 0 0 0 0 0

438 -0.79 -139.2 39.9 -20.2 55 444 0.00 1.50 0.00 0.000 6 0.000 0.031 1602 2912 3390 0 0 0 0 0 0

680 -0.79 -139.2 82.7 -19.1 96 689 0.00 2.10 0.00 0.000 4 0.000 0.036 1602 1544 3390 0 0 0 0 0 0

766 -0.79 -139.2 95.8 -14.2 110 773 0.00 2.22 0.00 0.000 6 0.000 0.052 1591 2935 3390 0 0 0 0 0 0

1097 -0.79 -139.2 149.6 -16.4 134 1101 0.00 1.52 0.00 0.000 4 0.000 0.058 1584 3897 3391 0 0 0 0 0 0

1161 -0.79 -139.2 161.0 -17.3 137 1167 0.00 1.45 0.00 0.000 6 0.000 0.031 1584 2936 3391 0 0 0 0 0 0

1482 -0.79 -139.2 214.0 -16.8 158 1486 0.12 2.12 0.00 0.000 4 0.207 0.037 1619 1528 3391 0 0 0 0 0 0

1505 -0.79 -139.2 217.2 -16.3 159 1509 0.00 2.22 0.00 0.000 6 0.000 0.052 1609 2932 3391 0 0 0 0 0 0

1844 -0.79 -139.2 262.4 -13.6 179 1847 0.00 1.52 0.00 0.000 4 0.000 0.060 1602 3895 3391 0 0 0 0 0 0

1901 -0.79 -139.2 271.1 -14.1 181 1904 0.00 1.48 0.00 0.000 6 0.000 0.033 1602 2917 3391 0 0 0 0 0 0

2226 -0.79 -139.2 313.2 -13.4 197 2230 0.00 2.05 0.00 0.000 4 0.000 0.037 1602 1537 3391 0 0 0 0 0 0

2252 -0.79 -139.2 316.8 -13.0 198 2256 0.00 2.22 0.00 0.000 6 0.000 0.053 1591 2935 3391 0 0 0 0 0 0

2587 -0.79 -139.2 364.4 -14.5 214 2591 0.00 1.52 0.00 0.000 4 0.000 0.060 1584 3901 3391 0 0 0 0 0 0

2637 -0.79 -139.2 372.1 -15.3 216 2641 0.08 1.48 0.00 0.000 6 0.185 0.033 1605 2926 3391 0 0 0 0 0 0

2971 -0.79 -139.2 416.5 -13.0 230 2975 0.00 1.60 0.00 0.000 4 0.000 0.063 1598 3901 3391 0 0 0 0 0 0

3000 -0.79 -139.2 420.5 -13.6 230 3007 0.00 1.48 0.00 0.000 6 0.000 0.034 1599 2919 3390 0 0 0 0 0 0

3317 -0.79 -139.2 462.0 -13.0 241 3320 0.00 1.58 0.00 0.000 4 0.000 0.061 1591 3897 3390 0 0 0 0 0 0

3346 -0.79 -139.2 466.3 -14.0 241 3353 0.00 1.48 0.00 0.000 6 0.000 0.033 1591 2915 3390 0 0 0 0 0 0

3661 -0.79 -139.2 507.5 -12.8 252 3662 0.00 0.00 0.00 0.000 6 0.000 0.000 1591 2915 3390 0 0 0 0 0 0

3970 -0.79 -139.2 545.3 -12.3 262 3971 0.00 0.00 0.00 0.000 6 0.000 0.000 1591 2915 3389 0 0 0 0 0 0

4273 -0.79 -139.2 583.6 -12.4 272 4274 0.00 0.00 0.00 0.000 6 0.000 0.000 1591 2915 3389 0 0 0 0 0 0

4581 -0.79 -139.2 622.1 -12.7 282 4582 0.00 0.00 0.00 0.000 6 0.000 0.000 1591 2915 3389 0 0 0 0 0 0

4886 -0.79 -139.2 661.0 -12.8 292 4887 0.00 0.00 0.00 0.000 6 0.000 0.000 1591 2915 3388 0 0 0 0 0 0

5194 -0.79 -139.2 699.7 -12.7 302 5195 0.00 0.00 0.00 0.000 6 0.000 0.000 1591 2915 3388 0 0 0 0 0 0

5498 -0.79 -139.2 737.7 -12.2 312 5499 0.00 0.00 0.00 0.000 6 0.000 0.000 1591 2915 3388 0 0 0 0 0 0

5805 -0.79 -139.2 774.6 -12.1 322 5806 0.00 0.00 0.00 0.000 6 0.000 0.000 1591 2915 3388 0 0 0 0 0 0

6111 -0.79 -139.2 810.9 -11.8 332 6114 0.00 2.08 0.00 0.000 4 0.000 0.039 1591 1537 3388 0 0 0 0 0 0

6140 -0.79 -139.2 814.7 -12.1 332 6147 0.12 2.20 0.00 0.000 6 0.205 0.055 1610 2922 3387 0 0 0 0 0 0

6455 -0.80 -147.2 844.8 -9.4 343 6459 0.00 2.12 0.00 0.000 4 0.000 0.038 1610 1524 3387 0 0 0 0 0 0

6490 -0.82 -163.9 848.2 -8.7 344 6494 0.00 2.22 0.00 0.000 6 0.000 0.055 1601 2924 3387 0 0 0 0 0 0

6822 -0.82 -163.9 881.4 -10.3 355 6823 0.00 0.00 0.00 0.000 6 0.000 0.000 1601 2925 3387 0 0 0 0 0 0

7128 -0.82 -163.9 914.7 -11.0 365 7132 0.00 2.10 0.00 0.000 4 0.000 0.038 1601 1530 3387 0 0 0 0 0 0

7192 -0.83 -167.2 921.4 -9.8 366 7198 0.00 2.20 0.00 0.000 6 0.000 0.056 1590 2922 3387 0 0 0 0 0 0

7507 -0.83 -167.2 955.3 -11.0 377 7508 0.00 0.00 0.00 0.000 6 0.000 0.000 1590 2922 3387 0 0 0 0 0 0

7813 -0.83 -167.2 988.3 -10.8 387 7817 0.00 2.10 0.00 0.000 4 0.000 0.038 1590 1526 3387 0 0 0 0 0 0

7843 -0.83 -167.2 991.6 -10.9 387 7849 0.00 2.22 0.00 0.000 6 0.000 0.055 1579 2934 3387 0 0 0 0 0 0

7939 end dive: TARGET_DEPTH_EXCEEDED

state 7939 begin apogee

7949 -0.19 0.0 1002.5 11.0 391 8094 0.77 0.00 140.75 1.246 6 0.183 0.000 1803 2741 2819 0 0 0 0 0 0

8095 end apogee: CONTROL_FINISHED_OK

state 8096 begin climb

8100 0.83 167.2 1005.0 0.0 396 8288 0.93 2.62 169.90 1.821 4 0.058 0.046 2149 1342 2138 0 0 0 0 1 0

8302 0.83 167.2 959.6 32.8 402 8307 0.00 2.55 0.00 0.000 6 0.000 0.050 2149 2737 2138 0 0 0 0 0 0

8629 0.83 167.2 848.4 34.7 413 8634 0.00 2.33 0.00 0.000 4 0.000 0.049 2158 1337 2131 0 0 0 0 0 0

8698 0.83 167.2 825.6 30.7 415 8702 0.00 2.35 0.00 0.000 6 0.000 0.053 2159 2742 2129 0 0 0 0 0 0

9037 0.83 167.2 710.3 35.1 426 9041 0.00 2.28 0.00 0.000 4 0.000 0.047 2169 1339 2128 0 0 0 0 0 0

9106 0.83 167.2 687.5 30.1 428 9111 0.12 2.30 0.00 0.000 6 0.256 0.052 2145 2742 2127 0 0 0 0 0 0

9439 0.83 167.2 580.3 32.4 439 9443 0.00 2.25 0.00 0.000 4 0.000 0.047 2154 1338 2126 0 0 0 0 0 0

9490 0.83 167.2 564.0 28.3 440 9494 0.00 2.28 0.00 0.000 6 0.000 0.052 2155 2741 2125 0 0 0 0 0 0

9811 0.83 167.2 463.0 31.8 451 9815 0.00 2.22 0.00 0.000 4 0.000 0.047 2165 1334 2125 0 0 0 0 0 0

9840 0.83 167.2 453.3 30.7 451 9847 0.00 2.25 0.00 0.000 6 0.000 0.051 2164 2736 2125 0 0 0 0 0 0

10157 0.83 167.2 354.4 31.6 464 10161 0.00 2.20 0.00 0.000 4 0.000 0.047 2174 1342 2124 0 0 0 0 0 0

10175 0.83 167.2 348.3 31.2 464 10184 0.10 2.25 0.00 0.000 6 0.248 0.051 2147 2730 2124 0 0 0 0 0 0

10493 0.83 167.2 254.8 29.1 480 10497 0.00 2.20 0.00 0.000 4 0.000 0.047 2156 1338 2124 0 0 0 0 0 0

10543 0.83 167.2 240.5 27.7 483 10547 0.00 2.22 0.00 0.000 6 0.000 0.054 2156 2733 2123 0 0 0 0 0 0

10876 0.83 167.2 145.1 28.8 504 10880 0.00 2.20 0.00 0.000 4 0.000 0.047 2166 1337 2124 0 0 0 0 0 0

10911 0.83 167.2 134.9 27.8 506 10915 0.00 2.25 0.00 0.000 6 0.000 0.052 2166 2741 2123 0 0 0 0 0 0

11255 0.83 167.2 35.0 31.4 550 11264 0.00 2.22 0.00 0.000 4 0.000 0.045 2176 1339 2123 0 0 0 0 0 0

11294 0.83 167.2 24.0 32.0 555 11303 0.10 2.25 0.00 0.000 6 0.242 0.051 2146 2738 2123 0 0 0 0 0 0

11359 end climb: SURFACE_DEPTH_REACHED

state 11360 begin surface coast

11367 end surface coast: CONTROL_FINISHED_OK

state 11367 begin surface

ID	542	HEADING	-1	ROLL_MAX	3901	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	6	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	1050
DIVE	114	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2923	ALTIM_PING_DELTA	5
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2734	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-4230	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	1000	TGT_DEFAULT_LON	-200	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	2
D_NO_BLEED	200	SM_CC	563.99261	R_PORT_OVSHOOT	53	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	37	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	5	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	2820	DEVICE3	115
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	134
T_DIVE	333	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	348	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	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	-10732.457	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	200	PITCH_MAX	3888	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1870	PHONE_SUPPLY	2	SEABIRD_T_G	0.0042910837
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-48.034508	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	52816	PITCH_GAIN	37	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	0.003	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	10
HD_C	9.9999997e-06	ROLL_MIN	335	ALTIM_TOP_TURN_MARGIN	0

GPS1	261212,114034,-4629.310,403.005,38,1.1,38,-23.3	TGT_NAME	GH2
_CALLS	1	TGT_LATLONG	-4630.000,400.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.203,-0.022
_SM_DEPTHo	0.65	KALMAN_X	-67426.7,15.3,389.5,49415.9,162.9
_SM_ANGLEo	-26.3	KALMAN_Y	30855.4,-472.6,182.9,10118.0,-843.7
GPS2	261212,115042,-4629.307,403.094,15,1.1,17,-23.3	MHEAD_RNG_PITCHd_Wd	287.1,4148,-23.0,-10.010
SPEED_LIMITS	0.173,0.295	D_GRID	1000

FINISH	0.6,1.026430	_10V_AH	10.1,10.179
SM_CCo	11391,169.90,0.795,1,0,517,564.18	FG_AHR_24Vo	0.000
SM_GC	0.77,0.00,0.00,169.90,0.000,0.000,0.795,72,2941,517,-5.62,0.51,564.18	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4613.60,400.91,261212,080844	MEM	354208
TT8_MAMPS	0.026215	DATA_FILE_SIZE	40474,566
HUMID	56.73	CAP_FILE_SIZE	97679,0
INTERNAL_PRESSURE	9.20901	CFSIZE	259252224,221753344
TCM_TEMP	10.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
XPDR_PINGS	0	GPS	261212,150552,-4628.809,401.103,39,0.9,39,-23.3
_24V_AH	21.6,23.886

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	255	85.41	SBE_CT	373	24	193.55
Roll_motor	94	79	162.83	AA4330	1140	33	812.74
VBD_pump_during_apogee	310	1821	12222.10	WL_BB2FLVMT	617	105	1400.46
VBD_pump_during_surface	169	794	2916.92	QSP2150	242	4	22.92
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	62.96	nil	0	0	0.00
Iridium_during_connect	24	160	83.83	nil	0	0	0.00
Iridium_during_xfer	331	223	1596.05	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	26	5.34
TT8	1410	14	213.06
LPSleep	7703	2	170.40
TT8_Active	626	14	89.87
TT8_Sampling	1860	37	703.50
TT8_CF8	569	47	271.08
TT8_Kalman	33	59	19.93
Analog_circuits	1321	12	160.17
GPS_charging	0	0	0.00
Compass	1436	15	228.27
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
26	-0.73	-87.3	0.0	0.0	0	163	0.00	0.00	-134.00	0.000	2	0.000	0.000	55	2941	3040	0	0	0	0	0	0
170	-0.79	-136.0	3.3	-6.3	17	196	6.28	2.25	-9.62	0.000	4	0.244	0.050	1619	1520	3377	0	0	0	0	0	0
297	-0.79	-139.2	17.1	-9.8	35	306	0.00	2.28	0.00	0.000	6	0.000	0.055	1610	2906	3379	0	0	0	0	0	0
386	-0.79	-139.2	29.3	-17.2	48	396	0.00	1.62	-0.17	0.000	4	0.000	0.080	1602	3903	3390	0	0	0	0	0	0
438	-0.79	-139.2	39.9	-20.2	55	444	0.00	1.50	0.00	0.000	6	0.000	0.031	1602	2912	3390	0	0	0	0	0	0
680	-0.79	-139.2	82.7	-19.1	96	689	0.00	2.10	0.00	0.000	4	0.000	0.036	1602	1544	3390	0	0	0	0	0	0
766	-0.79	-139.2	95.8	-14.2	110	773	0.00	2.22	0.00	0.000	6	0.000	0.052	1591	2935	3390	0	0	0	0	0	0
1097	-0.79	-139.2	149.6	-16.4	134	1101	0.00	1.52	0.00	0.000	4	0.000	0.058	1584	3897	3391	0	0	0	0	0	0
1161	-0.79	-139.2	161.0	-17.3	137	1167	0.00	1.45	0.00	0.000	6	0.000	0.031	1584	2936	3391	0	0	0	0	0	0
1482	-0.79	-139.2	214.0	-16.8	158	1486	0.12	2.12	0.00	0.000	4	0.207	0.037	1619	1528	3391	0	0	0	0	0	0
1505	-0.79	-139.2	217.2	-16.3	159	1509	0.00	2.22	0.00	0.000	6	0.000	0.052	1609	2932	3391	0	0	0	0	0	0
1844	-0.79	-139.2	262.4	-13.6	179	1847	0.00	1.52	0.00	0.000	4	0.000	0.060	1602	3895	3391	0	0	0	0	0	0
1901	-0.79	-139.2	271.1	-14.1	181	1904	0.00	1.48	0.00	0.000	6	0.000	0.033	1602	2917	3391	0	0	0	0	0	0
2226	-0.79	-139.2	313.2	-13.4	197	2230	0.00	2.05	0.00	0.000	4	0.000	0.037	1602	1537	3391	0	0	0	0	0	0
2252	-0.79	-139.2	316.8	-13.0	198	2256	0.00	2.22	0.00	0.000	6	0.000	0.053	1591	2935	3391	0	0	0	0	0	0
2587	-0.79	-139.2	364.4	-14.5	214	2591	0.00	1.52	0.00	0.000	4	0.000	0.060	1584	3901	3391	0	0	0	0	0	0
2637	-0.79	-139.2	372.1	-15.3	216	2641	0.08	1.48	0.00	0.000	6	0.185	0.033	1605	2926	3391	0	0	0	0	0	0
2971	-0.79	-139.2	416.5	-13.0	230	2975	0.00	1.60	0.00	0.000	4	0.000	0.063	1598	3901	3391	0	0	0	0	0	0
3000	-0.79	-139.2	420.5	-13.6	230	3007	0.00	1.48	0.00	0.000	6	0.000	0.034	1599	2919	3390	0	0	0	0	0	0
3317	-0.79	-139.2	462.0	-13.0	241	3320	0.00	1.58	0.00	0.000	4	0.000	0.061	1591	3897	3390	0	0	0	0	0	0
3346	-0.79	-139.2	466.3	-14.0	241	3353	0.00	1.48	0.00	0.000	6	0.000	0.033	1591	2915	3390	0	0	0	0	0	0
3661	-0.79	-139.2	507.5	-12.8	252	3662	0.00	0.00	0.00	0.000	6	0.000	0.000	1591	2915	3390	0	0	0	0	0	0
3970	-0.79	-139.2	545.3	-12.3	262	3971	0.00	0.00	0.00	0.000	6	0.000	0.000	1591	2915	3389	0	0	0	0	0	0
4273	-0.79	-139.2	583.6	-12.4	272	4274	0.00	0.00	0.00	0.000	6	0.000	0.000	1591	2915	3389	0	0	0	0	0	0
4581	-0.79	-139.2	622.1	-12.7	282	4582	0.00	0.00	0.00	0.000	6	0.000	0.000	1591	2915	3389	0	0	0	0	0	0
4886	-0.79	-139.2	661.0	-12.8	292	4887	0.00	0.00	0.00	0.000	6	0.000	0.000	1591	2915	3388	0	0	0	0	0	0
5194	-0.79	-139.2	699.7	-12.7	302	5195	0.00	0.00	0.00	0.000	6	0.000	0.000	1591	2915	3388	0	0	0	0	0	0
5498	-0.79	-139.2	737.7	-12.2	312	5499	0.00	0.00	0.00	0.000	6	0.000	0.000	1591	2915	3388	0	0	0	0	0	0
5805	-0.79	-139.2	774.6	-12.1	322	5806	0.00	0.00	0.00	0.000	6	0.000	0.000	1591	2915	3388	0	0	0	0	0	0
6111	-0.79	-139.2	810.9	-11.8	332	6114	0.00	2.08	0.00	0.000	4	0.000	0.039	1591	1537	3388	0	0	0	0	0	0
6140	-0.79	-139.2	814.7	-12.1	332	6147	0.12	2.20	0.00	0.000	6	0.205	0.055	1610	2922	3387	0	0	0	0	0	0
6455	-0.80	-147.2	844.8	-9.4	343	6459	0.00	2.12	0.00	0.000	4	0.000	0.038	1610	1524	3387	0	0	0	0	0	0
6490	-0.82	-163.9	848.2	-8.7	344	6494	0.00	2.22	0.00	0.000	6	0.000	0.055	1601	2924	3387	0	0	0	0	0	0
6822	-0.82	-163.9	881.4	-10.3	355	6823	0.00	0.00	0.00	0.000	6	0.000	0.000	1601	2925	3387	0	0	0	0	0	0
7128	-0.82	-163.9	914.7	-11.0	365	7132	0.00	2.10	0.00	0.000	4	0.000	0.038	1601	1530	3387	0	0	0	0	0	0
7192	-0.83	-167.2	921.4	-9.8	366	7198	0.00	2.20	0.00	0.000	6	0.000	0.056	1590	2922	3387	0	0	0	0	0	0
7507	-0.83	-167.2	955.3	-11.0	377	7508	0.00	0.00	0.00	0.000	6	0.000	0.000	1590	2922	3387	0	0	0	0	0	0
7813	-0.83	-167.2	988.3	-10.8	387	7817	0.00	2.10	0.00	0.000	4	0.000	0.038	1590	1526	3387	0	0	0	0	0	0
7843	-0.83	-167.2	991.6	-10.9	387	7849	0.00	2.22	0.00	0.000	6	0.000	0.055	1579	2934	3387	0	0	0	0	0	0
7939	end dive: TARGET_DEPTH_EXCEEDED
state	7939	begin apogee
7949	-0.19	0.0	1002.5	11.0	391	8094	0.77	0.00	140.75	1.246	6	0.183	0.000	1803	2741	2819	0	0	0	0	0	0
8095	end apogee: CONTROL_FINISHED_OK
state	8096	begin climb
8100	0.83	167.2	1005.0	0.0	396	8288	0.93	2.62	169.90	1.821	4	0.058	0.046	2149	1342	2138	0	0	0	0	1	0
8302	0.83	167.2	959.6	32.8	402	8307	0.00	2.55	0.00	0.000	6	0.000	0.050	2149	2737	2138	0	0	0	0	0	0
8629	0.83	167.2	848.4	34.7	413	8634	0.00	2.33	0.00	0.000	4	0.000	0.049	2158	1337	2131	0	0	0	0	0	0
8698	0.83	167.2	825.6	30.7	415	8702	0.00	2.35	0.00	0.000	6	0.000	0.053	2159	2742	2129	0	0	0	0	0	0
9037	0.83	167.2	710.3	35.1	426	9041	0.00	2.28	0.00	0.000	4	0.000	0.047	2169	1339	2128	0	0	0	0	0	0
9106	0.83	167.2	687.5	30.1	428	9111	0.12	2.30	0.00	0.000	6	0.256	0.052	2145	2742	2127	0	0	0	0	0	0
9439	0.83	167.2	580.3	32.4	439	9443	0.00	2.25	0.00	0.000	4	0.000	0.047	2154	1338	2126	0	0	0	0	0	0
9490	0.83	167.2	564.0	28.3	440	9494	0.00	2.28	0.00	0.000	6	0.000	0.052	2155	2741	2125	0	0	0	0	0	0
9811	0.83	167.2	463.0	31.8	451	9815	0.00	2.22	0.00	0.000	4	0.000	0.047	2165	1334	2125	0	0	0	0	0	0
9840	0.83	167.2	453.3	30.7	451	9847	0.00	2.25	0.00	0.000	6	0.000	0.051	2164	2736	2125	0	0	0	0	0	0
10157	0.83	167.2	354.4	31.6	464	10161	0.00	2.20	0.00	0.000	4	0.000	0.047	2174	1342	2124	0	0	0	0	0	0
10175	0.83	167.2	348.3	31.2	464	10184	0.10	2.25	0.00	0.000	6	0.248	0.051	2147	2730	2124	0	0	0	0	0	0
10493	0.83	167.2	254.8	29.1	480	10497	0.00	2.20	0.00	0.000	4	0.000	0.047	2156	1338	2124	0	0	0	0	0	0
10543	0.83	167.2	240.5	27.7	483	10547	0.00	2.22	0.00	0.000	6	0.000	0.054	2156	2733	2123	0	0	0	0	0	0
10876	0.83	167.2	145.1	28.8	504	10880	0.00	2.20	0.00	0.000	4	0.000	0.047	2166	1337	2124	0	0	0	0	0	0
10911	0.83	167.2	134.9	27.8	506	10915	0.00	2.25	0.00	0.000	6	0.000	0.052	2166	2741	2123	0	0	0	0	0	0
11255	0.83	167.2	35.0	31.4	550	11264	0.00	2.22	0.00	0.000	4	0.000	0.045	2176	1339	2123	0	0	0	0	0	0
11294	0.83	167.2	24.0	32.0	555	11303	0.10	2.25	0.00	0.000	6	0.242	0.051	2146	2738	2123	0	0	0	0	0	0
11359	end climb: SURFACE_DEPTH_REACHED
state	11360	begin surface coast
11367	end surface coast: CONTROL_FINISHED_OK
state	11367	begin surface