Glider dive log

SOSCEx 01Dec13 * SG543 * Dive index * Mission links * Dive 122 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 543 HEADING -1 ROLL_MAX 3944 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 9 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 1050

DIVE 122 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 3420 ALTIM_PING_DELTA 15

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 3280 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -4300 HEAD_ERRBAND 15 ALTIM_PULSE 4

D_TGT 990 TGT_DEFAULT_LON -800 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1020 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 3

D_NO_BLEED 200 SM_CC 225 R_PORT_OVSHOOT 42 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 24 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.050000001

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 507 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 101

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2474 DEVICE3 131

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 118

T_DIVE 350 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 390 CAPUPLOAD 0 VBD_TIMEOUT 800 DEVICE6 -1

T_ABORT 720 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00061500003 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 -12896.451 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 -5 PITCH_MIN 86 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3908 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1700 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043512532

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -59.073162 SEABIRD_T_H 0.00062429422

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011638312 SEABIRD_T_I 2.2835797e-05

RHO 1.027 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.3805812e-06

MASS 52459 PITCH_GAIN 52 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.305622

NAV_MODE 1 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1763667

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.0018977363

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00023287861

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 20

HD_C 9.9999997e-06 ROLL_MIN 394 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SM_CC 225

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 20 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 15 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 1050 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 52 TCM_ROLL_OFFSET 0

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_MAX 3908 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -4300

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 86 TGT_DEFAULT_LON -800

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 16 T_ABORT 720

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00061500003 T_BOOST 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011638312 T_DIVE 350

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -59.073162 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 -12896.451

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

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 390

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 543 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 0.050000001 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_PITCH 1700 KALMAN_USE 2 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 3280 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 3420 LOGGERDEVICE1 -1 ROLL_MAX 3944 USE_ICE 0

C_VBD 2474 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_MIN 394 VBD_CNV -0.245296

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 42 VBD_MAX 3960

DEVICE2 101 MASS 52459 R_STBD_OVSHOOT 24 VBD_MAXERRORS 1

DEVICE3 131 MAX_BUOY 150 SEABIRD_C_G -10.305622 VBD_MIN 507

DEVICE4 118 MINV_10V 8 SEABIRD_C_H 1.1763667 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.0018977363 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MISSION 9 SEABIRD_C_J 0.00023287861 VBD_TIMEOUT 800

DIVE 122 MOTHERBOARD 4 SEABIRD_T_G 0.0043512532 XPDR_DEVICE 24

D_ABORT 1020 NAV_MODE 1 SEABIRD_T_H 0.00062429422 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 SEABIRD_T_I 2.2835797e-05 XPDR_VALID 3

D_CALL 0 N_GPS 20 SEABIRD_T_J 2.3805812e-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 191213,161255,-4300.737,830.419,35,0.7,35,-25.0 TGT_NAME SAZ

_CALLS 1 TGT_LATLONG -4300.000,830.000

_XMS_NAKs 0 TGT_RADIUS 500.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.67 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 191213,162029,-4300.745,830.478,14,1.7,14,-25.0 MHEAD_RNG_PITCHd_Wd 359.9,1524,-27.2,-9.429

SPEED_LIMITS 0.163,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.025756 _10V_AH 10.0,13.100

SM_CCo 13447,48.38,0.809,0,0,1554,225.18 FG_AHR_24Vo 0.000

SM_GC 1.03,0.00,0.00,48.38,0.000,0.000,0.809,62,3444,1554,-5.12,0.68,225.18 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4236.17,1138.19,191213,121253 MEM 354444

TT8_MAMPS 0.026215 DATA_FILE_SIZE 70390,988

HUMID 61.77 CAP_FILE_SIZE 117230,0

INTERNAL_PRESSURE 9.54255 CFSIZE 259252224,250191872

TCM_TEMP 13.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 191213,200658,-4259.395,830.366,38,0.9,38,-25.0

_24V_AH 22.6,19.184

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 237 66.14 SBE_CT 685 24 372.07

Roll_motor 45 71 73.32 AA4330 1724 33 1286.35

VBD_pump_during_apogee 197 1881 8388.16 WL_BB2FLVMT 703 105 1668.63

VBD_pump_during_surface 48 809 884.86 QSP2150 370 4 36.63

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 62.55 nil 0 0 0.00

Iridium_during_connect 38 160 140.42 nil 0 0 0.00

Iridium_during_xfer 276 223 1391.49 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 26 4.71

TT8 2436 14 364.53

LPSleep 8380 2 183.54

TT8_Active 337 14 48.01

TT8_Sampling 2633 37 985.67

TT8_CF8 160 47 75.89

TT8_Kalman 0 0 0.00

Analog_circuits 1250 12 150.03

GPS_charging 0 0 0.00

Compass 2174 15 342.07

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

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.56 -57.7 0.0 0.0 0 66 0.00 0.00 -49.15 0.000 2 0.000 0.000 61 3435 2674 0 0 0 0 0 0

68 -0.58 -100.3 3.3 -4.8 6 87 5.93 2.22 -5.57 0.000 4 0.238 0.044 1506 2000 2885 0 0 0 0 0 0

156 -0.58 -100.3 19.9 -17.5 19 165 0.00 2.33 0.00 0.000 6 0.000 0.053 1497 3414 2888 0 0 0 0 0 0

212 -0.58 -100.3 30.9 -20.6 28 220 0.00 0.00 0.00 0.000 6 0.000 0.000 1497 3414 2888 0 0 0 0 0 0

359 -0.58 -100.3 60.6 -21.0 53 365 0.00 0.88 0.00 0.000 4 0.000 0.059 1493 3959 2889 0 0 0 0 0 0

480 -0.58 -100.3 88.7 -24.4 74 486 0.00 0.82 0.00 0.000 6 0.000 0.037 1493 3418 2889 0 0 0 0 0 0

813 -0.58 -100.3 156.9 -19.4 110 817 0.00 0.88 0.00 0.000 4 0.000 0.060 1489 3954 2891 0 0 0 0 0 0

997 -0.58 -100.3 193.4 -18.7 126 1005 0.00 0.82 0.00 0.000 6 0.000 0.035 1489 3415 2892 0 0 0 0 0 0

1325 -0.58 -100.3 252.0 -17.6 157 1326 0.00 0.00 0.00 0.000 6 0.000 0.000 1489 3415 2892 0 0 0 0 0 0

1642 -0.58 -100.3 308.7 -17.2 187 1645 0.00 0.88 0.00 0.000 4 0.000 0.060 1485 3959 2892 0 0 0 0 0 0

1721 -0.58 -100.3 323.5 -18.7 194 1725 0.00 0.80 0.00 0.000 6 0.000 0.037 1485 3428 2893 0 0 0 0 0 0

2053 -0.58 -100.3 381.1 -18.0 225 2054 0.00 0.00 0.00 0.000 6 0.000 0.000 1485 3428 2892 0 0 0 0 0 0

2363 -0.58 -100.3 439.1 -19.0 245 2367 0.00 0.82 0.00 0.000 4 0.000 0.061 1481 3947 2892 0 0 0 0 0 0

2521 -0.58 -100.3 471.6 -21.2 252 2525 0.00 0.80 0.00 0.000 6 0.000 0.038 1481 3416 2892 0 0 0 0 0 0

2855 -0.58 -100.3 536.6 -19.4 268 2859 0.12 0.88 0.00 0.000 4 0.196 0.062 1508 3956 2892 0 0 0 0 0 0

2925 -0.58 -100.3 550.4 -18.4 271 2930 0.00 0.82 0.00 0.000 6 0.000 0.038 1508 3418 2892 0 0 0 0 0 0

3253 -0.58 -100.3 606.1 -16.8 287 3254 0.00 0.00 0.00 0.000 6 0.000 0.000 1507 3418 2892 0 0 0 0 0 0

3562 -0.58 -100.3 654.7 -14.9 302 3565 0.00 0.85 0.00 0.000 4 0.000 0.063 1504 3952 2891 0 0 0 0 0 0

3633 -0.58 -100.3 666.3 -16.2 305 3637 0.00 0.82 0.00 0.000 6 0.000 0.038 1504 3414 2891 0 0 0 0 0 0

3961 -0.58 -100.3 715.0 -14.8 321 3962 0.00 0.00 0.00 0.000 6 0.000 0.000 1504 3413 2890 0 0 0 0 0 0

4271 -0.58 -100.3 759.6 -13.9 336 4272 0.00 0.00 0.00 0.000 6 0.000 0.000 1504 3413 2890 0 0 0 0 0 0

4579 -0.58 -100.3 803.7 -14.4 351 4580 0.00 0.00 0.00 0.000 6 0.000 0.000 1504 3413 2889 0 0 0 0 0 0

4888 -0.58 -100.3 846.0 -13.4 366 4889 0.00 0.00 0.00 0.000 6 0.000 0.000 1504 3413 2888 0 0 0 0 0 0

5197 -0.58 -100.3 888.7 -14.1 381 5199 0.00 0.00 0.00 0.000 6 0.000 0.000 1504 3413 2888 0 0 0 0 0 0

5507 -0.58 -100.3 931.4 -14.0 396 5508 0.00 0.00 0.00 0.000 6 0.000 0.000 1504 3413 2887 0 0 0 0 0 0

5818 -0.58 -100.3 975.0 -13.8 411 5822 0.00 2.12 0.00 0.000 4 0.000 0.034 1503 2004 2887 0 0 0 0 0 0

5859 -0.58 -100.3 980.1 -11.9 413 5863 0.00 2.28 0.00 0.000 6 0.000 0.055 1493 3431 2887 0 0 0 0 0 0

5935 end dive: TARGET_DEPTH_EXCEEDED

state 5936 begin apogee

5940 -0.10 0.0 990.8 13.9 417 6040 0.57 0.00 96.78 1.882 6 0.162 0.000 1661 3275 2474 0 0 0 0 0 0

6041 end apogee: CONTROL_FINISHED_OK

state 6041 begin climb

6042 0.58 100.3 995.0 0.0 422 6148 0.68 0.00 100.45 1.830 6 0.097 0.000 1879 3275 2064 0 0 0 0 0 0

6457 0.58 100.3 947.7 12.6 442 6461 0.00 2.25 0.00 0.000 4 0.000 0.035 1890 1863 2055 0 0 0 0 0 0

6505 0.58 100.3 942.0 11.5 444 6510 0.00 2.38 0.00 0.000 6 0.000 0.050 1890 3277 2052 0 0 0 0 0 0

6827 0.58 100.3 899.2 13.6 460 6828 0.00 0.00 0.00 0.000 6 0.000 0.000 1890 3277 2051 0 0 0 0 0 0

7138 0.58 100.3 857.6 13.5 475 7142 0.00 1.10 0.00 0.000 4 0.000 0.060 1889 3953 2050 0 0 0 0 0 0

7205 0.58 100.3 846.8 15.8 478 7209 0.00 1.05 0.00 0.000 6 0.000 0.037 1895 3273 2050 0 0 0 0 0 0

7537 0.58 100.3 797.2 14.9 494 7541 0.00 2.17 0.00 0.000 4 0.000 0.037 1905 1858 2048 0 0 0 0 0 0

7599 0.58 100.3 788.6 13.7 497 7604 0.00 2.30 0.00 0.000 6 0.000 0.052 1906 3286 2047 0 0 0 0 0 0

7926 0.58 100.3 739.3 15.1 513 7929 0.00 1.08 0.00 0.000 4 0.000 0.061 1906 3952 2047 0 0 0 0 0 0

7996 0.58 100.3 727.4 17.2 516 8001 0.00 1.05 0.00 0.000 6 0.000 0.037 1910 3276 2047 0 0 0 0 0 0

8324 0.58 100.3 678.1 14.6 532 8325 0.00 0.00 0.00 0.000 6 0.000 0.000 1911 3277 2046 0 0 0 0 0 0

8633 0.58 100.3 634.4 13.8 547 8634 0.00 0.00 0.00 0.000 6 0.000 0.000 1911 3276 2045 0 0 0 0 0 0

8943 0.58 100.3 592.5 13.5 562 8944 0.00 0.00 0.00 0.000 6 0.000 0.000 1911 3277 2045 0 0 0 0 0 0

9253 0.58 100.3 549.7 13.7 577 9257 0.00 1.10 0.00 0.000 4 0.000 0.062 1911 3953 2045 0 0 0 0 0 0

9433 0.58 100.3 520.9 16.4 585 9437 0.00 1.02 0.00 0.000 6 0.000 0.038 1916 3281 2045 0 0 0 0 0 0

9764 0.58 100.3 472.4 14.8 601 9768 0.00 1.08 0.00 0.000 4 0.000 0.062 1916 3949 2044 0 0 0 0 0 0

9900 0.58 100.3 450.2 16.2 607 9904 0.10 1.02 0.00 0.000 6 0.192 0.038 1893 3274 2044 0 0 0 0 0 0

10231 0.58 100.3 405.4 13.1 623 10235 0.00 1.10 0.00 0.000 4 0.000 0.061 1893 3956 2044 0 0 0 0 0 0

10291 0.58 100.3 396.5 15.4 626 10299 0.00 1.05 0.00 0.000 6 0.000 0.037 1897 3274 2043 0 0 0 0 0 0

10619 0.58 100.3 353.0 13.5 657 10620 0.00 0.00 0.00 0.000 6 0.000 0.000 1897 3275 2043 0 0 0 0 0 0

10936 0.58 100.3 310.8 13.3 687 10937 0.00 0.00 0.00 0.000 6 0.000 0.000 1897 3274 2043 0 0 0 0 0 0

11256 0.58 100.3 268.6 13.5 717 11257 0.00 0.00 0.00 0.000 6 0.000 0.000 1897 3274 2043 0 0 0 0 0 0

11572 0.58 100.3 228.7 12.3 747 11576 0.00 1.10 0.00 0.000 4 0.000 0.062 1897 3953 2043 0 0 0 0 0 0

11689 0.58 100.3 212.2 13.9 757 11697 0.00 1.05 0.00 0.000 6 0.000 0.036 1902 3270 2043 0 0 0 0 0 0

12015 0.58 100.3 170.8 12.9 788 12016 0.00 0.00 0.00 0.000 6 0.000 0.000 1902 3270 2043 0 0 0 0 0 0

12334 0.58 100.3 128.7 13.7 818 12338 0.00 1.10 0.00 0.000 4 0.000 0.060 1902 3955 2043 0 0 0 0 0 0

12401 0.58 100.3 118.7 15.1 824 12405 0.00 1.02 0.00 0.000 6 0.000 0.037 1907 3272 2043 0 0 0 0 0 0

12740 0.58 100.3 76.0 10.8 872 12747 0.00 1.08 0.00 0.000 4 0.000 0.060 1908 3943 2043 0 0 0 0 0 0

12966 0.58 100.3 49.2 11.8 911 12972 0.00 1.00 0.00 0.000 6 0.000 0.037 1913 3279 2043 0 0 0 0 0 0

13328 0.59 102.8 9.5 9.2 972 13337 0.00 0.00 0.00 0.000 6 0.000 0.000 1912 3279 2043 0 0 0 0 0 0

13388 0.59 102.8 3.3 11.8 981 13396 0.00 0.00 0.00 0.000 6 0.000 0.000 1912 3279 2043 0 0 0 0 0 0

13403 end climb: SURFACE_DEPTH_REACHED

state 13403 begin surface coast

13435 end surface coast: CONTROL_FINISHED_OK

state 13435 begin surface

ID	543	HEADING	-1	ROLL_MAX	3944	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	9	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	1050
DIVE	122	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	3420	ALTIM_PING_DELTA	15
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	3280	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-4300	HEAD_ERRBAND	15	ALTIM_PULSE	4
D_TGT	990	TGT_DEFAULT_LON	-800	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1020	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	3
D_NO_BLEED	200	SM_CC	225	R_PORT_OVSHOOT	42	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	24	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.050000001
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	507	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	101
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2474	DEVICE3	131
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	118
T_DIVE	350	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	390	CAPUPLOAD	0	VBD_TIMEOUT	800	DEVICE6	-1
T_ABORT	720	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00061500003	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	-12896.451	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	-5	PITCH_MIN	86	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3908	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1700	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043512532
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-59.073162	SEABIRD_T_H	0.00062429422
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011638312	SEABIRD_T_I	2.2835797e-05
RHO	1.027	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.3805812e-06
MASS	52459	PITCH_GAIN	52	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.305622
NAV_MODE	1	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1763667
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.0018977363
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00023287861
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	20
HD_C	9.9999997e-06	ROLL_MIN	394	ALTIM_TOP_TURN_MARGIN	0

GPS1	191213,161255,-4300.737,830.419,35,0.7,35,-25.0	TGT_NAME	SAZ
_CALLS	1	TGT_LATLONG	-4300.000,830.000
_XMS_NAKs	0	TGT_RADIUS	500.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.67	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	191213,162029,-4300.745,830.478,14,1.7,14,-25.0	MHEAD_RNG_PITCHd_Wd	359.9,1524,-27.2,-9.429
SPEED_LIMITS	0.163,0.255	D_GRID	990

FINISH	0.6,1.025756	_10V_AH	10.0,13.100
SM_CCo	13447,48.38,0.809,0,0,1554,225.18	FG_AHR_24Vo	0.000
SM_GC	1.03,0.00,0.00,48.38,0.000,0.000,0.809,62,3444,1554,-5.12,0.68,225.18	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4236.17,1138.19,191213,121253	MEM	354444
TT8_MAMPS	0.026215	DATA_FILE_SIZE	70390,988
HUMID	61.77	CAP_FILE_SIZE	117230,0
INTERNAL_PRESSURE	9.54255	CFSIZE	259252224,250191872
TCM_TEMP	13.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	191213,200658,-4259.395,830.366,38,0.9,38,-25.0
_24V_AH	22.6,19.184

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	237	66.14	SBE_CT	685	24	372.07
Roll_motor	45	71	73.32	AA4330	1724	33	1286.35
VBD_pump_during_apogee	197	1881	8388.16	WL_BB2FLVMT	703	105	1668.63
VBD_pump_during_surface	48	809	884.86	QSP2150	370	4	36.63
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	62.55	nil	0	0	0.00
Iridium_during_connect	38	160	140.42	nil	0	0	0.00
Iridium_during_xfer	276	223	1391.49	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	26	4.71
TT8	2436	14	364.53
LPSleep	8380	2	183.54
TT8_Active	337	14	48.01
TT8_Sampling	2633	37	985.67
TT8_CF8	160	47	75.89
TT8_Kalman	0	0	0.00
Analog_circuits	1250	12	150.03
GPS_charging	0	0	0.00
Compass	2174	15	342.07
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
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.56	-57.7	0.0	0.0	0	66	0.00	0.00	-49.15	0.000	2	0.000	0.000	61	3435	2674	0	0	0	0	0	0
68	-0.58	-100.3	3.3	-4.8	6	87	5.93	2.22	-5.57	0.000	4	0.238	0.044	1506	2000	2885	0	0	0	0	0	0
156	-0.58	-100.3	19.9	-17.5	19	165	0.00	2.33	0.00	0.000	6	0.000	0.053	1497	3414	2888	0	0	0	0	0	0
212	-0.58	-100.3	30.9	-20.6	28	220	0.00	0.00	0.00	0.000	6	0.000	0.000	1497	3414	2888	0	0	0	0	0	0
359	-0.58	-100.3	60.6	-21.0	53	365	0.00	0.88	0.00	0.000	4	0.000	0.059	1493	3959	2889	0	0	0	0	0	0
480	-0.58	-100.3	88.7	-24.4	74	486	0.00	0.82	0.00	0.000	6	0.000	0.037	1493	3418	2889	0	0	0	0	0	0
813	-0.58	-100.3	156.9	-19.4	110	817	0.00	0.88	0.00	0.000	4	0.000	0.060	1489	3954	2891	0	0	0	0	0	0
997	-0.58	-100.3	193.4	-18.7	126	1005	0.00	0.82	0.00	0.000	6	0.000	0.035	1489	3415	2892	0	0	0	0	0	0
1325	-0.58	-100.3	252.0	-17.6	157	1326	0.00	0.00	0.00	0.000	6	0.000	0.000	1489	3415	2892	0	0	0	0	0	0
1642	-0.58	-100.3	308.7	-17.2	187	1645	0.00	0.88	0.00	0.000	4	0.000	0.060	1485	3959	2892	0	0	0	0	0	0
1721	-0.58	-100.3	323.5	-18.7	194	1725	0.00	0.80	0.00	0.000	6	0.000	0.037	1485	3428	2893	0	0	0	0	0	0
2053	-0.58	-100.3	381.1	-18.0	225	2054	0.00	0.00	0.00	0.000	6	0.000	0.000	1485	3428	2892	0	0	0	0	0	0
2363	-0.58	-100.3	439.1	-19.0	245	2367	0.00	0.82	0.00	0.000	4	0.000	0.061	1481	3947	2892	0	0	0	0	0	0
2521	-0.58	-100.3	471.6	-21.2	252	2525	0.00	0.80	0.00	0.000	6	0.000	0.038	1481	3416	2892	0	0	0	0	0	0
2855	-0.58	-100.3	536.6	-19.4	268	2859	0.12	0.88	0.00	0.000	4	0.196	0.062	1508	3956	2892	0	0	0	0	0	0
2925	-0.58	-100.3	550.4	-18.4	271	2930	0.00	0.82	0.00	0.000	6	0.000	0.038	1508	3418	2892	0	0	0	0	0	0
3253	-0.58	-100.3	606.1	-16.8	287	3254	0.00	0.00	0.00	0.000	6	0.000	0.000	1507	3418	2892	0	0	0	0	0	0
3562	-0.58	-100.3	654.7	-14.9	302	3565	0.00	0.85	0.00	0.000	4	0.000	0.063	1504	3952	2891	0	0	0	0	0	0
3633	-0.58	-100.3	666.3	-16.2	305	3637	0.00	0.82	0.00	0.000	6	0.000	0.038	1504	3414	2891	0	0	0	0	0	0
3961	-0.58	-100.3	715.0	-14.8	321	3962	0.00	0.00	0.00	0.000	6	0.000	0.000	1504	3413	2890	0	0	0	0	0	0
4271	-0.58	-100.3	759.6	-13.9	336	4272	0.00	0.00	0.00	0.000	6	0.000	0.000	1504	3413	2890	0	0	0	0	0	0
4579	-0.58	-100.3	803.7	-14.4	351	4580	0.00	0.00	0.00	0.000	6	0.000	0.000	1504	3413	2889	0	0	0	0	0	0
4888	-0.58	-100.3	846.0	-13.4	366	4889	0.00	0.00	0.00	0.000	6	0.000	0.000	1504	3413	2888	0	0	0	0	0	0
5197	-0.58	-100.3	888.7	-14.1	381	5199	0.00	0.00	0.00	0.000	6	0.000	0.000	1504	3413	2888	0	0	0	0	0	0
5507	-0.58	-100.3	931.4	-14.0	396	5508	0.00	0.00	0.00	0.000	6	0.000	0.000	1504	3413	2887	0	0	0	0	0	0
5818	-0.58	-100.3	975.0	-13.8	411	5822	0.00	2.12	0.00	0.000	4	0.000	0.034	1503	2004	2887	0	0	0	0	0	0
5859	-0.58	-100.3	980.1	-11.9	413	5863	0.00	2.28	0.00	0.000	6	0.000	0.055	1493	3431	2887	0	0	0	0	0	0
5935	end dive: TARGET_DEPTH_EXCEEDED
state	5936	begin apogee
5940	-0.10	0.0	990.8	13.9	417	6040	0.57	0.00	96.78	1.882	6	0.162	0.000	1661	3275	2474	0	0	0	0	0	0
6041	end apogee: CONTROL_FINISHED_OK
state	6041	begin climb
6042	0.58	100.3	995.0	0.0	422	6148	0.68	0.00	100.45	1.830	6	0.097	0.000	1879	3275	2064	0	0	0	0	0	0
6457	0.58	100.3	947.7	12.6	442	6461	0.00	2.25	0.00	0.000	4	0.000	0.035	1890	1863	2055	0	0	0	0	0	0
6505	0.58	100.3	942.0	11.5	444	6510	0.00	2.38	0.00	0.000	6	0.000	0.050	1890	3277	2052	0	0	0	0	0	0
6827	0.58	100.3	899.2	13.6	460	6828	0.00	0.00	0.00	0.000	6	0.000	0.000	1890	3277	2051	0	0	0	0	0	0
7138	0.58	100.3	857.6	13.5	475	7142	0.00	1.10	0.00	0.000	4	0.000	0.060	1889	3953	2050	0	0	0	0	0	0
7205	0.58	100.3	846.8	15.8	478	7209	0.00	1.05	0.00	0.000	6	0.000	0.037	1895	3273	2050	0	0	0	0	0	0
7537	0.58	100.3	797.2	14.9	494	7541	0.00	2.17	0.00	0.000	4	0.000	0.037	1905	1858	2048	0	0	0	0	0	0
7599	0.58	100.3	788.6	13.7	497	7604	0.00	2.30	0.00	0.000	6	0.000	0.052	1906	3286	2047	0	0	0	0	0	0
7926	0.58	100.3	739.3	15.1	513	7929	0.00	1.08	0.00	0.000	4	0.000	0.061	1906	3952	2047	0	0	0	0	0	0
7996	0.58	100.3	727.4	17.2	516	8001	0.00	1.05	0.00	0.000	6	0.000	0.037	1910	3276	2047	0	0	0	0	0	0
8324	0.58	100.3	678.1	14.6	532	8325	0.00	0.00	0.00	0.000	6	0.000	0.000	1911	3277	2046	0	0	0	0	0	0
8633	0.58	100.3	634.4	13.8	547	8634	0.00	0.00	0.00	0.000	6	0.000	0.000	1911	3276	2045	0	0	0	0	0	0
8943	0.58	100.3	592.5	13.5	562	8944	0.00	0.00	0.00	0.000	6	0.000	0.000	1911	3277	2045	0	0	0	0	0	0
9253	0.58	100.3	549.7	13.7	577	9257	0.00	1.10	0.00	0.000	4	0.000	0.062	1911	3953	2045	0	0	0	0	0	0
9433	0.58	100.3	520.9	16.4	585	9437	0.00	1.02	0.00	0.000	6	0.000	0.038	1916	3281	2045	0	0	0	0	0	0
9764	0.58	100.3	472.4	14.8	601	9768	0.00	1.08	0.00	0.000	4	0.000	0.062	1916	3949	2044	0	0	0	0	0	0
9900	0.58	100.3	450.2	16.2	607	9904	0.10	1.02	0.00	0.000	6	0.192	0.038	1893	3274	2044	0	0	0	0	0	0
10231	0.58	100.3	405.4	13.1	623	10235	0.00	1.10	0.00	0.000	4	0.000	0.061	1893	3956	2044	0	0	0	0	0	0
10291	0.58	100.3	396.5	15.4	626	10299	0.00	1.05	0.00	0.000	6	0.000	0.037	1897	3274	2043	0	0	0	0	0	0
10619	0.58	100.3	353.0	13.5	657	10620	0.00	0.00	0.00	0.000	6	0.000	0.000	1897	3275	2043	0	0	0	0	0	0
10936	0.58	100.3	310.8	13.3	687	10937	0.00	0.00	0.00	0.000	6	0.000	0.000	1897	3274	2043	0	0	0	0	0	0
11256	0.58	100.3	268.6	13.5	717	11257	0.00	0.00	0.00	0.000	6	0.000	0.000	1897	3274	2043	0	0	0	0	0	0
11572	0.58	100.3	228.7	12.3	747	11576	0.00	1.10	0.00	0.000	4	0.000	0.062	1897	3953	2043	0	0	0	0	0	0
11689	0.58	100.3	212.2	13.9	757	11697	0.00	1.05	0.00	0.000	6	0.000	0.036	1902	3270	2043	0	0	0	0	0	0
12015	0.58	100.3	170.8	12.9	788	12016	0.00	0.00	0.00	0.000	6	0.000	0.000	1902	3270	2043	0	0	0	0	0	0
12334	0.58	100.3	128.7	13.7	818	12338	0.00	1.10	0.00	0.000	4	0.000	0.060	1902	3955	2043	0	0	0	0	0	0
12401	0.58	100.3	118.7	15.1	824	12405	0.00	1.02	0.00	0.000	6	0.000	0.037	1907	3272	2043	0	0	0	0	0	0
12740	0.58	100.3	76.0	10.8	872	12747	0.00	1.08	0.00	0.000	4	0.000	0.060	1908	3943	2043	0	0	0	0	0	0
12966	0.58	100.3	49.2	11.8	911	12972	0.00	1.00	0.00	0.000	6	0.000	0.037	1913	3279	2043	0	0	0	0	0	0
13328	0.59	102.8	9.5	9.2	972	13337	0.00	0.00	0.00	0.000	6	0.000	0.000	1912	3279	2043	0	0	0	0	0	0
13388	0.59	102.8	3.3	11.8	981	13396	0.00	0.00	0.00	0.000	6	0.000	0.000	1912	3279	2043	0	0	0	0	0	0
13403	end climb: SURFACE_DEPTH_REACHED
state	13403	begin surface coast
13435	end surface coast: CONTROL_FINISHED_OK
state	13435	begin surface