Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 115 * 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 115 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 28 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 29 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 -21979.443 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 -21979.443

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 28 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 29 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 115 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 281214,224204,-5559.302,-30.518,36,0.8,36,-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 -0.119,0.114

_SM_DEPTHo 1.85 KALMAN_X 63499.7,-554.7,-276.0,-94024.3,1928.7

_SM_ANGLEo -57.0 KALMAN_Y 28751.2,410.0,227.5,-27901.3,-2679.6

GPS2 281214,224941,-5559.354,-30.347,21,0.9,21,-19.9 MHEAD_RNG_PITCHd_Wd 333.5,1248,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.9,1.015250 _10V_AH 10.0,17.394

SM_CCo 12302,4.95,0.203,0,0,1523,200.16 FG_AHR_24Vo 0.000

SM_GC 3.20,0.00,0.00,4.95,0.000,0.000,0.203,57,2923,1523,-5.42,-0.20,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5538.94,-26.95,281214,191927 MEM 353972

TT8_MAMPS 0.026964 DATA_FILE_SIZE 57019,812

HUMID 56.22 CAP_FILE_SIZE 103435,0

INTERNAL_PRESSURE 8.96486 CFSIZE 259252224,219127808

TCM_TEMP 7.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 291214,021704,-5559.011,-32.457,45,0.8,46,-19.9

_24V_AH 21.9,26.542

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 248 72.96 SBE_CT 577 23 303.00

Roll_motor 54 70 83.73 AA4330 1685 17 663.81

VBD_pump_during_apogee 282 1766 10918.51 WL_BB2F 818 105 1882.52

VBD_pump_during_surface 4 202 21.98 QSP2150 853 17 336.02

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 91 55.47 nil 0 0 0.00

Iridium_during_connect 21 160 74.91 nil 0 0 0.00

Iridium_during_xfer 287 223 1404.47 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 23 31 7.46

TT8 2010 14 290.79

LPSleep 7827 2 171.43

TT8_Active 391 14 56.63

TT8_Sampling 2384 42 1005.72

TT8_CF8 150 49 74.85

TT8_Kalman 33 68 22.81

Analog_circuits 1167 15 180.90

GPS_charging 0 0 0.00

Compass 1896 16 312.57

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 59 0.00 0.00 -42.55 0.000 2 0.000 0.000 45 2948 2428 0 0 0 0 0 0

62 -0.59 -135.7 3.1 -4.2 5 88 6.30 0.00 -15.70 0.000 6 0.249 0.000 1591 2948 2897 0 0 0 0 0 0

163 -0.59 -135.7 18.6 -19.5 20 171 0.00 0.00 0.00 0.000 6 0.000 0.000 1591 2948 2899 0 0 0 0 0 0

245 -0.59 -135.7 35.8 -19.6 33 251 0.00 0.00 0.00 0.000 6 0.000 0.000 1591 2948 2900 0 0 0 0 0 0

358 -0.59 -135.7 59.5 -18.9 52 366 0.00 0.00 0.00 0.000 6 0.000 0.000 1591 2948 2900 0 0 0 0 0 0

473 -0.59 -135.7 80.7 -19.1 71 479 0.00 0.00 0.00 0.000 6 0.000 0.000 1591 2948 2900 0 0 0 0 0 0

707 -0.59 -135.7 124.7 -18.8 101 708 0.00 0.00 0.00 0.000 6 0.000 0.000 1591 2948 2900 0 0 0 0 0 0

1025 -0.59 -135.7 182.6 -18.1 131 1026 0.00 0.00 0.00 0.000 6 0.000 0.000 1591 2948 2900 0 0 0 0 0 0

1344 -0.59 -135.7 235.7 -16.5 161 1348 0.00 1.55 0.00 0.000 4 0.000 0.065 1584 3886 2900 0 0 0 0 0 0

1401 -0.59 -135.7 246.4 -17.2 166 1405 0.00 1.52 0.00 0.000 6 0.000 0.034 1584 2903 2901 0 0 0 0 0 0

1725 -0.59 -135.7 298.0 -15.8 183 1728 0.00 1.65 0.00 0.000 4 0.000 0.062 1576 3910 2900 0 0 0 0 0 0

1774 -0.59 -135.7 307.2 -17.9 185 1779 0.00 1.52 0.00 0.000 6 0.000 0.033 1577 2919 2900 0 0 0 0 0 0

2103 -0.59 -135.7 360.7 -16.5 201 2104 0.00 0.00 0.00 0.000 6 0.000 0.000 1576 2914 2900 0 0 0 0 0 0

2411 -0.59 -135.7 410.6 -15.8 216 2415 0.00 1.62 0.00 0.000 4 0.000 0.063 1568 3905 2900 0 0 0 0 0 0

2494 -0.59 -135.7 425.7 -17.5 219 2502 0.00 1.52 0.00 0.000 6 0.000 0.034 1569 2918 2900 0 0 0 0 0 0

2810 -0.59 -135.7 479.1 -17.0 235 2811 0.00 0.00 0.00 0.000 6 0.000 0.000 1569 2918 2901 0 0 0 0 0 0

3120 -0.59 -135.7 531.3 -16.7 250 3124 0.00 1.60 0.00 0.000 4 0.000 0.062 1561 3889 2900 0 0 0 0 0 0

3209 -0.59 -135.7 547.6 -18.6 254 3214 0.08 1.45 0.00 0.000 6 0.187 0.034 1584 2942 2901 0 0 0 0 0 0

3541 -0.59 -135.7 599.9 -15.5 270 3542 0.00 0.00 0.00 0.000 6 0.000 0.000 1584 2941 2900 0 0 0 0 0 0

3850 -0.59 -135.7 647.7 -15.1 285 3851 0.00 0.00 0.00 0.000 6 0.000 0.000 1584 2941 2900 0 0 0 0 0 0

4159 -0.59 -135.7 693.8 -14.7 300 4160 0.00 0.00 0.00 0.000 6 0.000 0.000 1584 2941 2901 0 0 0 0 0 0

4469 -0.59 -135.7 738.6 -14.3 315 4470 0.00 0.00 0.00 0.000 6 0.000 0.000 1584 2940 2901 0 0 0 0 0 0

4778 -0.59 -135.7 783.3 -14.3 330 4782 0.00 1.58 0.00 0.000 4 0.000 0.063 1577 3897 2901 0 0 0 0 0 0

4839 -0.59 -135.7 793.0 -15.4 332 4846 0.00 1.48 0.00 0.000 6 0.000 0.033 1577 2922 2901 0 0 0 0 0 0

5155 -0.59 -135.7 840.0 -14.7 348 5156 0.00 0.00 0.00 0.000 6 0.000 0.000 1577 2922 2901 0 0 0 0 0 0

5464 -0.59 -135.7 884.4 -14.3 363 5465 0.00 0.00 0.00 0.000 6 0.000 0.000 1577 2922 2901 0 0 0 0 0 0

5773 -0.59 -135.7 929.0 -14.2 378 5774 0.00 0.00 0.00 0.000 6 0.000 0.000 1576 2922 2901 0 0 0 0 0 0

6083 -0.59 -135.7 974.6 -14.5 393 6087 0.00 1.60 0.00 0.000 4 0.000 0.063 1569 3893 2901 0 0 0 0 0 0

6156 -0.59 -135.7 986.4 -17.0 396 6159 0.00 1.45 0.00 0.000 6 0.000 0.034 1570 2939 2901 0 0 0 0 0 0

6254 end dive: TARGET_DEPTH_EXCEEDED

state 6254 begin apogee

6258 -0.13 0.0 1001.8 15.4 401 6385 0.57 0.00 123.82 1.766 6 0.176 0.000 1738 2706 2342 0 0 0 0 0 0

6386 end apogee: CONTROL_FINISHED_OK

state 6386 begin climb

6388 0.59 135.7 1007.3 0.0 407 6531 0.77 0.00 137.00 1.717 6 0.128 0.000 1969 2706 1788 0 0 0 0 0 0

6838 0.59 135.7 940.9 16.7 429 6842 0.00 2.03 0.00 0.000 4 0.000 0.059 1967 3891 1779 0 0 0 0 0 0

6899 0.59 135.7 929.5 19.3 431 6907 0.00 1.92 0.00 0.000 6 0.000 0.035 1975 2738 1776 0 0 0 0 0 0

7214 0.59 135.7 875.7 17.0 447 7216 0.00 0.00 0.00 0.000 6 0.000 0.000 1975 2738 1776 0 0 0 0 0 0

7525 0.59 135.7 823.6 16.4 462 7526 0.00 0.00 0.00 0.000 6 0.000 0.000 1975 2738 1774 0 0 0 0 0 0

7833 0.59 135.7 771.5 17.0 477 7837 0.00 1.92 0.00 0.000 4 0.000 0.058 1975 3902 1774 0 0 0 0 0 0

7916 0.59 135.7 755.6 19.0 480 7924 0.00 1.92 0.00 0.000 6 0.000 0.036 1984 2711 1773 0 0 0 0 0 0

8233 0.59 135.7 700.7 17.2 496 8234 0.00 0.00 0.00 0.000 6 0.000 0.000 1984 2711 1773 0 0 0 0 0 0

8541 0.59 135.7 646.7 17.7 511 8545 0.00 1.95 0.00 0.000 4 0.000 0.057 1984 3884 1773 0 0 0 0 0 0

8612 0.59 135.7 632.5 20.6 514 8617 0.00 1.90 0.00 0.000 6 0.000 0.036 1993 2704 1772 0 0 0 0 0 0

8941 0.59 135.7 572.0 18.5 530 8944 0.00 1.95 0.00 0.000 4 0.000 0.057 1993 3900 1772 0 0 0 0 0 0

9008 0.59 135.7 558.2 21.0 533 9012 0.00 1.88 0.00 0.000 6 0.000 0.036 2003 2697 1772 0 0 0 0 0 0

9341 0.59 135.7 496.1 18.8 549 9345 0.00 1.95 0.00 0.000 4 0.000 0.057 2003 3896 1772 0 0 0 0 0 0

9401 0.59 135.7 483.2 21.7 551 9409 0.00 1.88 0.00 0.000 6 0.000 0.036 2012 2717 1772 0 0 0 0 0 0

9717 0.59 135.7 421.9 19.6 567 9721 0.00 1.95 0.00 0.000 4 0.000 0.057 2011 3899 1772 0 0 0 0 0 0

9785 0.59 135.7 407.2 22.0 570 9790 0.15 1.85 0.00 0.000 6 0.218 0.036 1986 2705 1771 0 0 0 0 0 0

10117 0.59 135.7 350.1 16.5 586 10121 0.00 1.92 0.00 0.000 4 0.000 0.057 1986 3892 1771 0 0 0 0 0 0

10177 0.59 135.7 338.6 19.0 588 10188 0.00 1.88 0.00 0.000 6 0.000 0.035 1994 2710 1771 0 0 0 0 0 0

10496 0.59 135.7 284.2 17.2 604 10497 0.00 0.00 0.00 0.000 6 0.000 0.000 1994 2710 1771 0 0 0 0 0 0

10808 0.59 135.7 230.7 16.7 624 10809 0.00 0.00 0.00 0.000 6 0.000 0.000 1994 2710 1771 0 0 0 0 0 0

11126 0.59 135.7 177.3 17.0 654 11130 0.00 1.92 0.00 0.000 4 0.000 0.058 1994 3901 1771 0 0 0 0 0 0

11232 0.59 135.7 157.4 19.0 663 11236 0.00 1.85 0.00 0.000 6 0.000 0.037 2003 2707 1771 0 0 0 0 0 0

11562 0.59 135.7 102.8 16.0 694 11563 0.00 0.00 0.00 0.000 6 0.000 0.000 2004 2707 1771 0 0 0 0 0 0

11908 0.59 135.7 50.9 15.8 752 11917 0.00 2.22 0.00 0.000 4 0.000 0.046 2014 1291 1771 0 0 0 0 0 0

12023 0.63 185.4 40.8 5.2 771 12052 0.00 2.25 21.42 0.900 6 0.000 0.054 2014 2720 1585 0 0 0 0 0 0

12164 0.63 185.4 22.4 12.1 793 12172 0.00 0.00 0.00 0.000 6 0.000 0.000 2014 2720 1579 0 0 0 0 0 0

12248 0.63 185.4 9.1 16.9 806 12256 0.00 0.00 0.00 0.000 6 0.000 0.000 2014 2719 1577 0 0 0 0 0 0

12275 end climb: SURFACE_DEPTH_REACHED

state 12275 begin surface coast

12289 end surface coast: CONTROL_FINISHED_OK

state 12289 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	115	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	28	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	29	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	-21979.443	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	281214,224204,-5559.302,-30.518,36,0.8,36,-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	-0.119,0.114
_SM_DEPTHo	1.85	KALMAN_X	63499.7,-554.7,-276.0,-94024.3,1928.7
_SM_ANGLEo	-57.0	KALMAN_Y	28751.2,410.0,227.5,-27901.3,-2679.6
GPS2	281214,224941,-5559.354,-30.347,21,0.9,21,-19.9	MHEAD_RNG_PITCHd_Wd	333.5,1248,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	0.9,1.015250	_10V_AH	10.0,17.394
SM_CCo	12302,4.95,0.203,0,0,1523,200.16	FG_AHR_24Vo	0.000
SM_GC	3.20,0.00,0.00,4.95,0.000,0.000,0.203,57,2923,1523,-5.42,-0.20,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5538.94,-26.95,281214,191927	MEM	353972
TT8_MAMPS	0.026964	DATA_FILE_SIZE	57019,812
HUMID	56.22	CAP_FILE_SIZE	103435,0
INTERNAL_PRESSURE	8.96486	CFSIZE	259252224,219127808
TCM_TEMP	7.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	291214,021704,-5559.011,-32.457,45,0.8,46,-19.9
_24V_AH	21.9,26.542

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	248	72.96	SBE_CT	577	23	303.00
Roll_motor	54	70	83.73	AA4330	1685	17	663.81
VBD_pump_during_apogee	282	1766	10918.51	WL_BB2F	818	105	1882.52
VBD_pump_during_surface	4	202	21.98	QSP2150	853	17	336.02
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	91	55.47	nil	0	0	0.00
Iridium_during_connect	21	160	74.91	nil	0	0	0.00
Iridium_during_xfer	287	223	1404.47	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	23	31	7.46
TT8	2010	14	290.79
LPSleep	7827	2	171.43
TT8_Active	391	14	56.63
TT8_Sampling	2384	42	1005.72
TT8_CF8	150	49	74.85
TT8_Kalman	33	68	22.81
Analog_circuits	1167	15	180.90
GPS_charging	0	0	0.00
Compass	1896	16	312.57
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	59	0.00	0.00	-42.55	0.000	2	0.000	0.000	45	2948	2428	0	0	0	0	0	0
62	-0.59	-135.7	3.1	-4.2	5	88	6.30	0.00	-15.70	0.000	6	0.249	0.000	1591	2948	2897	0	0	0	0	0	0
163	-0.59	-135.7	18.6	-19.5	20	171	0.00	0.00	0.00	0.000	6	0.000	0.000	1591	2948	2899	0	0	0	0	0	0
245	-0.59	-135.7	35.8	-19.6	33	251	0.00	0.00	0.00	0.000	6	0.000	0.000	1591	2948	2900	0	0	0	0	0	0
358	-0.59	-135.7	59.5	-18.9	52	366	0.00	0.00	0.00	0.000	6	0.000	0.000	1591	2948	2900	0	0	0	0	0	0
473	-0.59	-135.7	80.7	-19.1	71	479	0.00	0.00	0.00	0.000	6	0.000	0.000	1591	2948	2900	0	0	0	0	0	0
707	-0.59	-135.7	124.7	-18.8	101	708	0.00	0.00	0.00	0.000	6	0.000	0.000	1591	2948	2900	0	0	0	0	0	0
1025	-0.59	-135.7	182.6	-18.1	131	1026	0.00	0.00	0.00	0.000	6	0.000	0.000	1591	2948	2900	0	0	0	0	0	0
1344	-0.59	-135.7	235.7	-16.5	161	1348	0.00	1.55	0.00	0.000	4	0.000	0.065	1584	3886	2900	0	0	0	0	0	0
1401	-0.59	-135.7	246.4	-17.2	166	1405	0.00	1.52	0.00	0.000	6	0.000	0.034	1584	2903	2901	0	0	0	0	0	0
1725	-0.59	-135.7	298.0	-15.8	183	1728	0.00	1.65	0.00	0.000	4	0.000	0.062	1576	3910	2900	0	0	0	0	0	0
1774	-0.59	-135.7	307.2	-17.9	185	1779	0.00	1.52	0.00	0.000	6	0.000	0.033	1577	2919	2900	0	0	0	0	0	0
2103	-0.59	-135.7	360.7	-16.5	201	2104	0.00	0.00	0.00	0.000	6	0.000	0.000	1576	2914	2900	0	0	0	0	0	0
2411	-0.59	-135.7	410.6	-15.8	216	2415	0.00	1.62	0.00	0.000	4	0.000	0.063	1568	3905	2900	0	0	0	0	0	0
2494	-0.59	-135.7	425.7	-17.5	219	2502	0.00	1.52	0.00	0.000	6	0.000	0.034	1569	2918	2900	0	0	0	0	0	0
2810	-0.59	-135.7	479.1	-17.0	235	2811	0.00	0.00	0.00	0.000	6	0.000	0.000	1569	2918	2901	0	0	0	0	0	0
3120	-0.59	-135.7	531.3	-16.7	250	3124	0.00	1.60	0.00	0.000	4	0.000	0.062	1561	3889	2900	0	0	0	0	0	0
3209	-0.59	-135.7	547.6	-18.6	254	3214	0.08	1.45	0.00	0.000	6	0.187	0.034	1584	2942	2901	0	0	0	0	0	0
3541	-0.59	-135.7	599.9	-15.5	270	3542	0.00	0.00	0.00	0.000	6	0.000	0.000	1584	2941	2900	0	0	0	0	0	0
3850	-0.59	-135.7	647.7	-15.1	285	3851	0.00	0.00	0.00	0.000	6	0.000	0.000	1584	2941	2900	0	0	0	0	0	0
4159	-0.59	-135.7	693.8	-14.7	300	4160	0.00	0.00	0.00	0.000	6	0.000	0.000	1584	2941	2901	0	0	0	0	0	0
4469	-0.59	-135.7	738.6	-14.3	315	4470	0.00	0.00	0.00	0.000	6	0.000	0.000	1584	2940	2901	0	0	0	0	0	0
4778	-0.59	-135.7	783.3	-14.3	330	4782	0.00	1.58	0.00	0.000	4	0.000	0.063	1577	3897	2901	0	0	0	0	0	0
4839	-0.59	-135.7	793.0	-15.4	332	4846	0.00	1.48	0.00	0.000	6	0.000	0.033	1577	2922	2901	0	0	0	0	0	0
5155	-0.59	-135.7	840.0	-14.7	348	5156	0.00	0.00	0.00	0.000	6	0.000	0.000	1577	2922	2901	0	0	0	0	0	0
5464	-0.59	-135.7	884.4	-14.3	363	5465	0.00	0.00	0.00	0.000	6	0.000	0.000	1577	2922	2901	0	0	0	0	0	0
5773	-0.59	-135.7	929.0	-14.2	378	5774	0.00	0.00	0.00	0.000	6	0.000	0.000	1576	2922	2901	0	0	0	0	0	0
6083	-0.59	-135.7	974.6	-14.5	393	6087	0.00	1.60	0.00	0.000	4	0.000	0.063	1569	3893	2901	0	0	0	0	0	0
6156	-0.59	-135.7	986.4	-17.0	396	6159	0.00	1.45	0.00	0.000	6	0.000	0.034	1570	2939	2901	0	0	0	0	0	0
6254	end dive: TARGET_DEPTH_EXCEEDED
state	6254	begin apogee
6258	-0.13	0.0	1001.8	15.4	401	6385	0.57	0.00	123.82	1.766	6	0.176	0.000	1738	2706	2342	0	0	0	0	0	0
6386	end apogee: CONTROL_FINISHED_OK
state	6386	begin climb
6388	0.59	135.7	1007.3	0.0	407	6531	0.77	0.00	137.00	1.717	6	0.128	0.000	1969	2706	1788	0	0	0	0	0	0
6838	0.59	135.7	940.9	16.7	429	6842	0.00	2.03	0.00	0.000	4	0.000	0.059	1967	3891	1779	0	0	0	0	0	0
6899	0.59	135.7	929.5	19.3	431	6907	0.00	1.92	0.00	0.000	6	0.000	0.035	1975	2738	1776	0	0	0	0	0	0
7214	0.59	135.7	875.7	17.0	447	7216	0.00	0.00	0.00	0.000	6	0.000	0.000	1975	2738	1776	0	0	0	0	0	0
7525	0.59	135.7	823.6	16.4	462	7526	0.00	0.00	0.00	0.000	6	0.000	0.000	1975	2738	1774	0	0	0	0	0	0
7833	0.59	135.7	771.5	17.0	477	7837	0.00	1.92	0.00	0.000	4	0.000	0.058	1975	3902	1774	0	0	0	0	0	0
7916	0.59	135.7	755.6	19.0	480	7924	0.00	1.92	0.00	0.000	6	0.000	0.036	1984	2711	1773	0	0	0	0	0	0
8233	0.59	135.7	700.7	17.2	496	8234	0.00	0.00	0.00	0.000	6	0.000	0.000	1984	2711	1773	0	0	0	0	0	0
8541	0.59	135.7	646.7	17.7	511	8545	0.00	1.95	0.00	0.000	4	0.000	0.057	1984	3884	1773	0	0	0	0	0	0
8612	0.59	135.7	632.5	20.6	514	8617	0.00	1.90	0.00	0.000	6	0.000	0.036	1993	2704	1772	0	0	0	0	0	0
8941	0.59	135.7	572.0	18.5	530	8944	0.00	1.95	0.00	0.000	4	0.000	0.057	1993	3900	1772	0	0	0	0	0	0
9008	0.59	135.7	558.2	21.0	533	9012	0.00	1.88	0.00	0.000	6	0.000	0.036	2003	2697	1772	0	0	0	0	0	0
9341	0.59	135.7	496.1	18.8	549	9345	0.00	1.95	0.00	0.000	4	0.000	0.057	2003	3896	1772	0	0	0	0	0	0
9401	0.59	135.7	483.2	21.7	551	9409	0.00	1.88	0.00	0.000	6	0.000	0.036	2012	2717	1772	0	0	0	0	0	0
9717	0.59	135.7	421.9	19.6	567	9721	0.00	1.95	0.00	0.000	4	0.000	0.057	2011	3899	1772	0	0	0	0	0	0
9785	0.59	135.7	407.2	22.0	570	9790	0.15	1.85	0.00	0.000	6	0.218	0.036	1986	2705	1771	0	0	0	0	0	0
10117	0.59	135.7	350.1	16.5	586	10121	0.00	1.92	0.00	0.000	4	0.000	0.057	1986	3892	1771	0	0	0	0	0	0
10177	0.59	135.7	338.6	19.0	588	10188	0.00	1.88	0.00	0.000	6	0.000	0.035	1994	2710	1771	0	0	0	0	0	0
10496	0.59	135.7	284.2	17.2	604	10497	0.00	0.00	0.00	0.000	6	0.000	0.000	1994	2710	1771	0	0	0	0	0	0
10808	0.59	135.7	230.7	16.7	624	10809	0.00	0.00	0.00	0.000	6	0.000	0.000	1994	2710	1771	0	0	0	0	0	0
11126	0.59	135.7	177.3	17.0	654	11130	0.00	1.92	0.00	0.000	4	0.000	0.058	1994	3901	1771	0	0	0	0	0	0
11232	0.59	135.7	157.4	19.0	663	11236	0.00	1.85	0.00	0.000	6	0.000	0.037	2003	2707	1771	0	0	0	0	0	0
11562	0.59	135.7	102.8	16.0	694	11563	0.00	0.00	0.00	0.000	6	0.000	0.000	2004	2707	1771	0	0	0	0	0	0
11908	0.59	135.7	50.9	15.8	752	11917	0.00	2.22	0.00	0.000	4	0.000	0.046	2014	1291	1771	0	0	0	0	0	0
12023	0.63	185.4	40.8	5.2	771	12052	0.00	2.25	21.42	0.900	6	0.000	0.054	2014	2720	1585	0	0	0	0	0	0
12164	0.63	185.4	22.4	12.1	793	12172	0.00	0.00	0.00	0.000	6	0.000	0.000	2014	2720	1579	0	0	0	0	0	0
12248	0.63	185.4	9.1	16.9	806	12256	0.00	0.00	0.00	0.000	6	0.000	0.000	2014	2719	1577	0	0	0	0	0	0
12275	end climb: SURFACE_DEPTH_REACHED
state	12275	begin surface coast
12289	end surface coast: CONTROL_FINISHED_OK
state	12289	begin surface