Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 116 * 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 116 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 23 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 -21982.209 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 -21982.209

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 23 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 116 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 291214,021704,-5559.011,-32.457,45,0.8,46,-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 0.075,0.147

_SM_DEPTHo 2.11 KALMAN_X 63280.1,-138.4,-171.1,-96369.4,1523.4

_SM_ANGLEo -55.1 KALMAN_Y 27229.3,549.8,0.8,-25619.6,-3556.3

GPS2 291214,022425,-5558.999,-32.319,30,1.2,30,-19.9 MHEAD_RNG_PITCHd_Wd 47.0,3034,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.0,1.019738 _10V_AH 10.0,17.494

SM_CCo 11959,20.58,0.191,0,0,1522,200.16 FG_AHR_24Vo 0.000

SM_GC 3.56,0.00,0.00,20.58,0.000,0.000,0.191,53,2950,1522,-5.43,0.57,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5538.94,-30.80,281214,222236 MEM 353948

TT8_MAMPS 0.026215 DATA_FILE_SIZE 53693,795

HUMID 56.34 CAP_FILE_SIZE 104108,0

INTERNAL_PRESSURE 8.96486 CFSIZE 259252224,219070464

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

XPDR_PINGS 0 GPS 291214,054631,-5557.795,-29.782,57,1.0,58,-19.9

_24V_AH 21.9,26.698

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 245 70.85 SBE_CT 565 23 296.85

Roll_motor 65 65 92.74 AA4330 1664 17 655.35

VBD_pump_during_apogee 279 1762 10807.05 WL_BB2F 815 105 1875.04

VBD_pump_during_surface 20 191 86.18 QSP2150 858 17 337.93

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 91 49.57 nil 0 0 0.00

Iridium_during_connect 20 160 72.59 nil 0 0 0.00

Iridium_during_xfer 268 223 1309.31 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 33 31 10.48

TT8 1972 14 285.28

LPSleep 7542 2 165.17

TT8_Active 389 14 56.29

TT8_Sampling 2362 42 996.35

TT8_CF8 156 49 77.69

TT8_Kalman 33 68 22.81

Analog_circuits 1184 15 183.66

GPS_charging 0 0 0.00

Compass 1892 16 311.96

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 67 0.00 0.00 -50.60 0.000 2 0.000 0.000 45 2932 2632 0 0 0 0 0 0

70 -0.60 -146.1 3.0 -1.8 6 97 6.22 2.25 -8.40 0.000 4 0.246 0.054 1588 1512 2941 0 0 0 0 0 0

306 -0.60 -146.1 47.8 -19.7 44 315 0.00 2.35 0.00 0.000 6 0.000 0.060 1578 2919 2942 0 0 0 0 0 0

423 -0.60 -146.1 72.4 -23.3 63 429 0.00 0.00 0.00 0.000 6 0.000 0.000 1578 2919 2942 0 0 0 0 0 0

536 -0.60 -146.1 97.0 -20.0 82 543 0.00 1.62 0.00 0.000 4 0.000 0.063 1570 3914 2941 0 0 0 0 0 0

607 -0.60 -146.1 112.2 -20.8 90 611 0.00 1.58 0.00 0.000 6 0.000 0.034 1570 2905 2942 0 0 0 0 0 0

940 -0.60 -146.1 176.1 -19.8 121 943 0.00 1.67 0.00 0.000 4 0.000 0.064 1562 3919 2942 0 0 0 0 0 0

989 -0.60 -146.1 187.1 -20.7 125 998 0.12 1.55 0.00 0.000 6 0.207 0.033 1591 2920 2942 0 0 0 0 0 0

1315 -0.60 -146.1 242.3 -16.6 156 1319 0.00 1.65 0.00 0.000 4 0.000 0.065 1584 3926 2942 0 0 0 0 0 0

1370 -0.60 -146.1 252.3 -17.9 160 1375 0.00 1.55 0.00 0.000 6 0.000 0.032 1584 2926 2942 0 0 0 0 0 0

1693 -0.60 -146.1 307.3 -17.0 176 1696 0.00 1.65 0.00 0.000 4 0.000 0.064 1577 3930 2942 0 0 0 0 0 0

1764 -0.60 -146.1 319.9 -18.2 179 1767 0.00 1.52 0.00 0.000 6 0.000 0.033 1576 2939 2942 0 0 0 0 0 0

2098 -0.60 -146.1 375.7 -16.2 195 2099 0.00 0.00 0.00 0.000 6 0.000 0.000 1576 2933 2942 0 0 0 0 0 0

2405 -0.60 -146.1 424.3 -15.6 210 2409 0.00 1.62 0.00 0.000 4 0.000 0.064 1569 3913 2942 0 0 0 0 0 0

2460 -0.60 -146.1 433.8 -16.1 212 2465 0.00 1.52 0.00 0.000 6 0.000 0.033 1569 2928 2942 0 0 0 0 0 0

2782 -0.60 -146.1 484.8 -16.0 228 2785 0.00 1.62 0.00 0.000 4 0.000 0.064 1561 3933 2942 0 0 0 0 0 0

2865 -0.60 -146.1 499.6 -17.8 231 2873 0.08 1.55 0.00 0.000 6 0.184 0.033 1584 2932 2942 0 0 0 0 0 0

3180 -0.60 -146.1 546.1 -14.6 247 3181 0.00 0.00 0.00 0.000 6 0.000 0.000 1584 2932 2942 0 0 0 0 0 0

3490 -0.60 -146.1 591.7 -14.6 262 3491 0.00 0.00 0.00 0.000 6 0.000 0.000 1584 2932 2942 0 0 0 0 0 0

3799 -0.60 -146.1 636.2 -14.1 277 3803 0.00 1.62 0.00 0.000 4 0.000 0.064 1577 3916 2942 0 0 0 0 0 0

3847 -0.60 -146.1 643.8 -15.5 279 3852 0.00 1.52 0.00 0.000 6 0.000 0.032 1576 2914 2942 0 0 0 0 0 0

4175 -0.60 -146.1 692.3 -15.0 295 4176 0.00 0.00 0.00 0.000 6 0.000 0.000 1577 2909 2942 0 0 0 0 0 0

4484 -0.60 -146.1 739.3 -15.2 310 4488 0.00 1.65 0.00 0.000 4 0.000 0.065 1569 3920 2942 0 0 0 0 0 0

4551 -0.60 -146.1 750.2 -15.9 313 4555 0.00 1.50 0.00 0.000 6 0.000 0.034 1569 2936 2942 0 0 0 0 0 0

4884 -0.60 -146.1 803.3 -16.2 329 4885 0.00 0.00 0.00 0.000 6 0.000 0.000 1569 2929 2942 0 0 0 0 0 0

5193 -0.60 -146.1 852.8 -15.8 344 5196 0.00 1.62 0.00 0.000 4 0.000 0.064 1561 3914 2942 0 0 0 0 0 0

5241 -0.60 -146.1 861.6 -17.1 346 5247 0.08 1.52 0.00 0.000 6 0.182 0.032 1585 2920 2942 0 0 0 0 0 0

5569 -0.60 -146.1 910.6 -15.0 362 5573 0.00 1.62 0.00 0.000 4 0.000 0.064 1577 3907 2942 0 0 0 0 0 0

5618 -0.60 -146.1 918.8 -16.2 364 5623 0.00 1.50 0.00 0.000 6 0.000 0.031 1577 2927 2942 0 0 0 0 0 0

5946 -0.60 -146.1 969.5 -15.7 380 5947 0.00 0.00 0.00 0.000 6 0.000 0.000 1577 2922 2942 0 0 0 0 0 0

6150 end dive: TARGET_DEPTH_EXCEEDED

state 6150 begin apogee

6154 -0.13 0.0 1001.3 15.6 390 6293 0.55 0.00 133.32 1.763 6 0.171 0.000 1740 2721 2342 0 0 0 0 0 0

6294 end apogee: CONTROL_FINISHED_OK

state 6294 begin climb

6296 0.60 146.1 1007.1 0.0 397 6452 0.80 2.58 146.65 1.714 4 0.125 0.044 1987 1328 1745 0 0 0 0 0 0

6490 0.60 146.1 983.5 15.5 406 6495 0.00 2.53 0.00 0.000 6 0.000 0.053 1987 2731 1742 0 0 0 0 0 0

6818 0.60 146.1 924.4 18.3 422 6819 0.00 0.00 0.00 0.000 6 0.000 0.000 1987 2731 1737 0 0 0 0 0 0

7127 0.60 146.1 867.3 18.3 437 7130 0.00 1.95 0.00 0.000 4 0.000 0.060 1987 3906 1735 0 0 0 0 0 0

7175 0.60 146.1 856.9 21.3 439 7180 0.00 1.92 0.00 0.000 6 0.000 0.036 1996 2729 1733 0 0 0 0 0 0

7504 0.60 146.1 795.6 18.8 455 7505 0.00 0.00 0.00 0.000 6 0.000 0.000 1996 2730 1733 0 0 0 0 0 0

7812 0.60 146.1 736.7 19.0 470 7814 0.00 0.00 0.00 0.000 6 0.000 0.000 1996 2730 1732 0 0 0 0 0 0

8122 0.60 146.1 676.5 19.2 485 8123 0.00 0.00 0.00 0.000 6 0.000 0.000 1996 2730 1732 0 0 0 0 0 0

8431 0.60 146.1 617.0 19.3 500 8435 0.00 1.95 0.00 0.000 4 0.000 0.060 1996 3897 1732 0 0 0 0 0 0

8498 0.60 146.1 602.7 21.7 503 8501 0.00 1.85 0.00 0.000 6 0.000 0.037 2005 2711 1730 0 0 0 0 0 0

8831 0.60 146.1 537.5 19.4 519 8832 0.00 0.00 0.00 0.000 6 0.000 0.000 2005 2711 1731 0 0 0 0 0 0

9139 0.60 146.1 476.9 19.6 534 9143 0.00 1.95 0.00 0.000 4 0.000 0.060 2005 3901 1731 0 0 0 0 0 0

9193 0.60 146.1 464.9 21.8 536 9198 0.00 1.90 0.00 0.000 6 0.000 0.036 2014 2709 1731 0 0 0 0 0 0

9515 0.60 146.1 400.6 19.7 552 9517 0.00 0.00 0.00 0.000 6 0.000 0.000 2015 2708 1730 0 0 0 0 0 0

9826 0.60 146.1 340.0 19.6 567 9830 0.12 1.95 0.00 0.000 4 0.239 0.059 1987 3908 1731 0 0 0 0 0 0

9875 0.60 146.1 329.7 19.2 569 9879 0.00 1.92 0.00 0.000 6 0.000 0.036 1995 2702 1730 0 0 0 0 0 0

10205 0.60 146.1 271.9 18.3 585 10206 0.00 0.00 0.00 0.000 6 0.000 0.000 1995 2701 1730 0 0 0 0 0 0

10520 0.60 146.1 214.8 18.4 609 10523 0.00 1.95 0.00 0.000 4 0.000 0.060 1995 3896 1730 0 0 0 0 0 0

10578 0.60 146.1 202.9 20.5 614 10582 0.00 1.88 0.00 0.000 6 0.000 0.037 2004 2702 1730 0 0 0 0 0 0

10911 0.60 146.1 143.5 17.5 645 10912 0.00 0.00 0.00 0.000 6 0.000 0.000 2004 2702 1730 0 0 0 0 0 0

11229 0.60 146.1 95.5 12.5 678 11238 0.00 1.98 0.00 0.000 4 0.000 0.060 2004 3896 1730 0 0 0 0 0 0

11346 0.60 146.1 77.1 16.6 698 11356 0.08 1.88 0.00 0.000 6 0.202 0.034 1992 2706 1730 0 0 0 0 0 0

11463 0.60 146.1 62.9 12.5 717 11470 0.00 0.00 0.00 0.000 6 0.000 0.000 1993 2705 1730 0 0 0 0 0 0

11574 0.60 146.1 48.6 12.3 736 11583 0.00 0.00 0.00 0.000 6 0.000 0.000 1993 2706 1730 0 0 0 0 0 0

11690 0.60 146.1 34.1 11.1 755 11696 0.00 0.00 0.00 0.000 6 0.000 0.000 1993 2705 1730 0 0 0 0 0 0

11809 0.60 146.1 16.8 16.8 774 11818 0.00 0.00 0.00 0.000 6 0.000 0.000 1993 2705 1730 0 0 0 0 0 0

11893 0.60 146.1 6.4 10.3 787 11901 0.00 0.00 0.00 0.000 6 0.000 0.000 1992 2706 1730 0 0 0 0 0 0

11920 end climb: SURFACE_DEPTH_REACHED

state 11920 begin surface coast

11946 end surface coast: CONTROL_FINISHED_OK

state 11947 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	116	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	23	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	-21982.209	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	291214,021704,-5559.011,-32.457,45,0.8,46,-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	0.075,0.147
_SM_DEPTHo	2.11	KALMAN_X	63280.1,-138.4,-171.1,-96369.4,1523.4
_SM_ANGLEo	-55.1	KALMAN_Y	27229.3,549.8,0.8,-25619.6,-3556.3
GPS2	291214,022425,-5558.999,-32.319,30,1.2,30,-19.9	MHEAD_RNG_PITCHd_Wd	47.0,3034,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.0,1.019738	_10V_AH	10.0,17.494
SM_CCo	11959,20.58,0.191,0,0,1522,200.16	FG_AHR_24Vo	0.000
SM_GC	3.56,0.00,0.00,20.58,0.000,0.000,0.191,53,2950,1522,-5.43,0.57,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5538.94,-30.80,281214,222236	MEM	353948
TT8_MAMPS	0.026215	DATA_FILE_SIZE	53693,795
HUMID	56.34	CAP_FILE_SIZE	104108,0
INTERNAL_PRESSURE	8.96486	CFSIZE	259252224,219070464
TCM_TEMP	7.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	291214,054631,-5557.795,-29.782,57,1.0,58,-19.9
_24V_AH	21.9,26.698

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	245	70.85	SBE_CT	565	23	296.85
Roll_motor	65	65	92.74	AA4330	1664	17	655.35
VBD_pump_during_apogee	279	1762	10807.05	WL_BB2F	815	105	1875.04
VBD_pump_during_surface	20	191	86.18	QSP2150	858	17	337.93
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	91	49.57	nil	0	0	0.00
Iridium_during_connect	20	160	72.59	nil	0	0	0.00
Iridium_during_xfer	268	223	1309.31	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	33	31	10.48
TT8	1972	14	285.28
LPSleep	7542	2	165.17
TT8_Active	389	14	56.29
TT8_Sampling	2362	42	996.35
TT8_CF8	156	49	77.69
TT8_Kalman	33	68	22.81
Analog_circuits	1184	15	183.66
GPS_charging	0	0	0.00
Compass	1892	16	311.96
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	67	0.00	0.00	-50.60	0.000	2	0.000	0.000	45	2932	2632	0	0	0	0	0	0
70	-0.60	-146.1	3.0	-1.8	6	97	6.22	2.25	-8.40	0.000	4	0.246	0.054	1588	1512	2941	0	0	0	0	0	0
306	-0.60	-146.1	47.8	-19.7	44	315	0.00	2.35	0.00	0.000	6	0.000	0.060	1578	2919	2942	0	0	0	0	0	0
423	-0.60	-146.1	72.4	-23.3	63	429	0.00	0.00	0.00	0.000	6	0.000	0.000	1578	2919	2942	0	0	0	0	0	0
536	-0.60	-146.1	97.0	-20.0	82	543	0.00	1.62	0.00	0.000	4	0.000	0.063	1570	3914	2941	0	0	0	0	0	0
607	-0.60	-146.1	112.2	-20.8	90	611	0.00	1.58	0.00	0.000	6	0.000	0.034	1570	2905	2942	0	0	0	0	0	0
940	-0.60	-146.1	176.1	-19.8	121	943	0.00	1.67	0.00	0.000	4	0.000	0.064	1562	3919	2942	0	0	0	0	0	0
989	-0.60	-146.1	187.1	-20.7	125	998	0.12	1.55	0.00	0.000	6	0.207	0.033	1591	2920	2942	0	0	0	0	0	0
1315	-0.60	-146.1	242.3	-16.6	156	1319	0.00	1.65	0.00	0.000	4	0.000	0.065	1584	3926	2942	0	0	0	0	0	0
1370	-0.60	-146.1	252.3	-17.9	160	1375	0.00	1.55	0.00	0.000	6	0.000	0.032	1584	2926	2942	0	0	0	0	0	0
1693	-0.60	-146.1	307.3	-17.0	176	1696	0.00	1.65	0.00	0.000	4	0.000	0.064	1577	3930	2942	0	0	0	0	0	0
1764	-0.60	-146.1	319.9	-18.2	179	1767	0.00	1.52	0.00	0.000	6	0.000	0.033	1576	2939	2942	0	0	0	0	0	0
2098	-0.60	-146.1	375.7	-16.2	195	2099	0.00	0.00	0.00	0.000	6	0.000	0.000	1576	2933	2942	0	0	0	0	0	0
2405	-0.60	-146.1	424.3	-15.6	210	2409	0.00	1.62	0.00	0.000	4	0.000	0.064	1569	3913	2942	0	0	0	0	0	0
2460	-0.60	-146.1	433.8	-16.1	212	2465	0.00	1.52	0.00	0.000	6	0.000	0.033	1569	2928	2942	0	0	0	0	0	0
2782	-0.60	-146.1	484.8	-16.0	228	2785	0.00	1.62	0.00	0.000	4	0.000	0.064	1561	3933	2942	0	0	0	0	0	0
2865	-0.60	-146.1	499.6	-17.8	231	2873	0.08	1.55	0.00	0.000	6	0.184	0.033	1584	2932	2942	0	0	0	0	0	0
3180	-0.60	-146.1	546.1	-14.6	247	3181	0.00	0.00	0.00	0.000	6	0.000	0.000	1584	2932	2942	0	0	0	0	0	0
3490	-0.60	-146.1	591.7	-14.6	262	3491	0.00	0.00	0.00	0.000	6	0.000	0.000	1584	2932	2942	0	0	0	0	0	0
3799	-0.60	-146.1	636.2	-14.1	277	3803	0.00	1.62	0.00	0.000	4	0.000	0.064	1577	3916	2942	0	0	0	0	0	0
3847	-0.60	-146.1	643.8	-15.5	279	3852	0.00	1.52	0.00	0.000	6	0.000	0.032	1576	2914	2942	0	0	0	0	0	0
4175	-0.60	-146.1	692.3	-15.0	295	4176	0.00	0.00	0.00	0.000	6	0.000	0.000	1577	2909	2942	0	0	0	0	0	0
4484	-0.60	-146.1	739.3	-15.2	310	4488	0.00	1.65	0.00	0.000	4	0.000	0.065	1569	3920	2942	0	0	0	0	0	0
4551	-0.60	-146.1	750.2	-15.9	313	4555	0.00	1.50	0.00	0.000	6	0.000	0.034	1569	2936	2942	0	0	0	0	0	0
4884	-0.60	-146.1	803.3	-16.2	329	4885	0.00	0.00	0.00	0.000	6	0.000	0.000	1569	2929	2942	0	0	0	0	0	0
5193	-0.60	-146.1	852.8	-15.8	344	5196	0.00	1.62	0.00	0.000	4	0.000	0.064	1561	3914	2942	0	0	0	0	0	0
5241	-0.60	-146.1	861.6	-17.1	346	5247	0.08	1.52	0.00	0.000	6	0.182	0.032	1585	2920	2942	0	0	0	0	0	0
5569	-0.60	-146.1	910.6	-15.0	362	5573	0.00	1.62	0.00	0.000	4	0.000	0.064	1577	3907	2942	0	0	0	0	0	0
5618	-0.60	-146.1	918.8	-16.2	364	5623	0.00	1.50	0.00	0.000	6	0.000	0.031	1577	2927	2942	0	0	0	0	0	0
5946	-0.60	-146.1	969.5	-15.7	380	5947	0.00	0.00	0.00	0.000	6	0.000	0.000	1577	2922	2942	0	0	0	0	0	0
6150	end dive: TARGET_DEPTH_EXCEEDED
state	6150	begin apogee
6154	-0.13	0.0	1001.3	15.6	390	6293	0.55	0.00	133.32	1.763	6	0.171	0.000	1740	2721	2342	0	0	0	0	0	0
6294	end apogee: CONTROL_FINISHED_OK
state	6294	begin climb
6296	0.60	146.1	1007.1	0.0	397	6452	0.80	2.58	146.65	1.714	4	0.125	0.044	1987	1328	1745	0	0	0	0	0	0
6490	0.60	146.1	983.5	15.5	406	6495	0.00	2.53	0.00	0.000	6	0.000	0.053	1987	2731	1742	0	0	0	0	0	0
6818	0.60	146.1	924.4	18.3	422	6819	0.00	0.00	0.00	0.000	6	0.000	0.000	1987	2731	1737	0	0	0	0	0	0
7127	0.60	146.1	867.3	18.3	437	7130	0.00	1.95	0.00	0.000	4	0.000	0.060	1987	3906	1735	0	0	0	0	0	0
7175	0.60	146.1	856.9	21.3	439	7180	0.00	1.92	0.00	0.000	6	0.000	0.036	1996	2729	1733	0	0	0	0	0	0
7504	0.60	146.1	795.6	18.8	455	7505	0.00	0.00	0.00	0.000	6	0.000	0.000	1996	2730	1733	0	0	0	0	0	0
7812	0.60	146.1	736.7	19.0	470	7814	0.00	0.00	0.00	0.000	6	0.000	0.000	1996	2730	1732	0	0	0	0	0	0
8122	0.60	146.1	676.5	19.2	485	8123	0.00	0.00	0.00	0.000	6	0.000	0.000	1996	2730	1732	0	0	0	0	0	0
8431	0.60	146.1	617.0	19.3	500	8435	0.00	1.95	0.00	0.000	4	0.000	0.060	1996	3897	1732	0	0	0	0	0	0
8498	0.60	146.1	602.7	21.7	503	8501	0.00	1.85	0.00	0.000	6	0.000	0.037	2005	2711	1730	0	0	0	0	0	0
8831	0.60	146.1	537.5	19.4	519	8832	0.00	0.00	0.00	0.000	6	0.000	0.000	2005	2711	1731	0	0	0	0	0	0
9139	0.60	146.1	476.9	19.6	534	9143	0.00	1.95	0.00	0.000	4	0.000	0.060	2005	3901	1731	0	0	0	0	0	0
9193	0.60	146.1	464.9	21.8	536	9198	0.00	1.90	0.00	0.000	6	0.000	0.036	2014	2709	1731	0	0	0	0	0	0
9515	0.60	146.1	400.6	19.7	552	9517	0.00	0.00	0.00	0.000	6	0.000	0.000	2015	2708	1730	0	0	0	0	0	0
9826	0.60	146.1	340.0	19.6	567	9830	0.12	1.95	0.00	0.000	4	0.239	0.059	1987	3908	1731	0	0	0	0	0	0
9875	0.60	146.1	329.7	19.2	569	9879	0.00	1.92	0.00	0.000	6	0.000	0.036	1995	2702	1730	0	0	0	0	0	0
10205	0.60	146.1	271.9	18.3	585	10206	0.00	0.00	0.00	0.000	6	0.000	0.000	1995	2701	1730	0	0	0	0	0	0
10520	0.60	146.1	214.8	18.4	609	10523	0.00	1.95	0.00	0.000	4	0.000	0.060	1995	3896	1730	0	0	0	0	0	0
10578	0.60	146.1	202.9	20.5	614	10582	0.00	1.88	0.00	0.000	6	0.000	0.037	2004	2702	1730	0	0	0	0	0	0
10911	0.60	146.1	143.5	17.5	645	10912	0.00	0.00	0.00	0.000	6	0.000	0.000	2004	2702	1730	0	0	0	0	0	0
11229	0.60	146.1	95.5	12.5	678	11238	0.00	1.98	0.00	0.000	4	0.000	0.060	2004	3896	1730	0	0	0	0	0	0
11346	0.60	146.1	77.1	16.6	698	11356	0.08	1.88	0.00	0.000	6	0.202	0.034	1992	2706	1730	0	0	0	0	0	0
11463	0.60	146.1	62.9	12.5	717	11470	0.00	0.00	0.00	0.000	6	0.000	0.000	1993	2705	1730	0	0	0	0	0	0
11574	0.60	146.1	48.6	12.3	736	11583	0.00	0.00	0.00	0.000	6	0.000	0.000	1993	2706	1730	0	0	0	0	0	0
11690	0.60	146.1	34.1	11.1	755	11696	0.00	0.00	0.00	0.000	6	0.000	0.000	1993	2705	1730	0	0	0	0	0	0
11809	0.60	146.1	16.8	16.8	774	11818	0.00	0.00	0.00	0.000	6	0.000	0.000	1993	2705	1730	0	0	0	0	0	0
11893	0.60	146.1	6.4	10.3	787	11901	0.00	0.00	0.00	0.000	6	0.000	0.000	1992	2706	1730	0	0	0	0	0	0
11920	end climb: SURFACE_DEPTH_REACHED
state	11920	begin surface coast
11946	end surface coast: CONTROL_FINISHED_OK
state	11947	begin surface