Glider dive log

SOSCEx 08Dec12 * SG543 * Dive index * Mission links * Dive 141 * 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 6 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 1050

DIVE 141 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 3380 ALTIM_PING_DELTA 15

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 3270 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -4230 HEAD_ERRBAND 15 ALTIM_PULSE 4

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 3

D_NO_BLEED 200 SM_CC 250 R_PORT_OVSHOOT 53 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 32 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 5 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 400 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 420 CAPUPLOAD 0 VBD_TIMEOUT 800 DEVICE6 -1

T_ABORT 1440 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 -8262.082 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 1635 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043127281

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -55.913475 SEABIRD_T_H 0.00062185986

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011638312 SEABIRD_T_I 2.2048062e-05

RHO 1.027 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.2117231e-06

MASS 52459 PITCH_GAIN 37 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.303595

NAV_MODE 1 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1762303

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.001936322

KALMAN_USE 1 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00024357962

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 250

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 1000 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 37 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 -4230

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 86 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 0.00061500003 T_BOOST 5

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011638312 T_DIVE 400

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -55.913475 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 -8262.082

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

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 420

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 1635 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 3270 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 3380 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 53 VBD_MAX 3960

DEVICE2 101 MASS 52459 R_STBD_OVSHOOT 32 VBD_MAXERRORS 1

DEVICE3 131 MAX_BUOY 150 SEABIRD_C_G -10.303595 VBD_MIN 507

DEVICE4 118 MINV_10V 8 SEABIRD_C_H 1.1762303 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.001936322 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MISSION 6 SEABIRD_C_J 0.00024357962 VBD_TIMEOUT 800

DIVE 141 MOTHERBOARD 4 SEABIRD_T_G 0.0043127281 XPDR_DEVICE 24

D_ABORT 1050 NAV_MODE 1 SEABIRD_T_H 0.00062185986 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 SEABIRD_T_I 2.2048062e-05 XPDR_VALID 3

D_CALL 0 N_GPS 20 SEABIRD_T_J 2.2117231e-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 311212,102659,-4157.023,823.323,40,0.9,40,-24.9 TGT_NAME GH2

_CALLS 1 TGT_LATLONG -4200.000,820.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.199,0.063

_SM_DEPTHo 1.83 KALMAN_X -96207.0,429.8,333.0,125027.0,-9318.9

_SM_ANGLEo -53.0 KALMAN_Y 35149.5,834.1,324.7,24720.7,-6901.1

GPS2 311212,103452,-4157.073,823.337,20,0.9,20,-24.9 MHEAD_RNG_PITCHd_Wd 97.4,7105,-18.0,-8.333

SPEED_LIMITS 0.144,0.244 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.1,1.020208 _10V_AH 10.1,14.765

SM_CCo 12944,50.83,0.713,1,0,1451,250.20 FG_AHR_24Vo 0.000

SM_GC 2.19,0.00,0.00,50.83,0.000,0.000,0.713,64,3399,1451,-4.91,0.57,250.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4138.02,807.81,311212,060630 MEM 353960

TT8_MAMPS 0.025466 DATA_FILE_SIZE 47068,654

HUMID 57.24 CAP_FILE_SIZE 107156,0

INTERNAL_PRESSURE 9.03472 CFSIZE 259252224,249856000

TCM_TEMP 15.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,1

XPDR_PINGS 0 GPS 311212,141352,-4156.989,825.018,37,0.9,37,-24.9

_24V_AH 22.4,27.351

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 11 237 63.08 SBE_CT 424 24 228.08

Roll_motor 46 89 93.23 AA4330 1416 33 1047.34

VBD_pump_during_apogee 286 1799 11553.10 WL_BB2FLVMT 655 105 1542.73

VBD_pump_during_surface 50 712 811.71 QSP2150 302 4 29.71

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 70.87 nil 0 0 0.00

Iridium_during_connect 19 160 70.09 nil 0 0 0.00

Iridium_during_xfer 258 223 1289.19 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 26 6.25

TT8 1690 14 255.36

LPSleep 8481 2 187.60

TT8_Active 390 14 55.98

TT8_Sampling 2182 37 825.19

TT8_CF8 733 47 349.53

TT8_Kalman 33 59 19.93

Analog_circuits 1254 12 152.05

GPS_charging 0 0 0.00

Compass 1982 15 314.98

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

20 -0.55 -102.6 0.0 0.0 0 71 0.00 0.00 -49.40 0.000 2 0.000 0.000 51 3388 2644 0 0 0 0 0 0

76 -0.58 -146.1 3.2 -3.3 6 104 5.70 0.90 -12.25 0.000 4 0.237 0.090 1440 3935 3070 0 0 0 0 0 0

381 -0.58 -146.1 55.9 -15.7 54 392 0.00 0.82 0.00 0.000 6 0.000 0.037 1440 3398 3074 0 0 0 0 0 0

631 -0.58 -146.1 86.6 -13.0 95 635 0.00 0.88 0.00 0.000 4 0.000 0.059 1436 3946 3074 0 0 0 0 0 0

896 -0.58 -146.1 126.8 -15.7 121 899 0.00 0.88 0.00 0.000 6 0.000 0.036 1436 3365 3075 0 0 0 0 0 0

1226 -0.58 -146.1 176.1 -14.4 142 1230 0.00 0.90 0.00 0.000 4 0.000 0.058 1432 3932 3077 0 0 0 0 0 0

1415 -0.58 -146.1 204.9 -15.3 152 1423 0.00 0.82 0.00 0.000 6 0.000 0.035 1432 3382 3077 0 0 0 0 0 0

1736 -0.58 -146.1 250.8 -14.0 173 1742 0.00 0.90 0.00 0.000 4 0.000 0.058 1428 3946 3077 0 0 0 0 0 0

1880 -0.58 -146.1 272.4 -15.9 179 1883 0.00 0.85 0.00 0.000 6 0.000 0.036 1428 3379 3077 0 0 0 0 0 0

2215 -0.58 -146.1 321.6 -14.6 195 2220 0.00 0.90 0.00 0.000 4 0.000 0.058 1424 3945 3077 0 0 0 0 0 0

2279 -0.58 -146.1 332.0 -15.9 197 2286 0.00 0.85 0.00 0.000 6 0.000 0.036 1424 3382 3077 0 0 0 0 0 0

2597 -0.58 -146.1 377.5 -14.5 213 2603 0.00 0.88 0.00 0.000 4 0.000 0.059 1419 3934 3077 0 0 0 0 0 0

2695 -0.58 -146.1 393.3 -15.5 217 2701 0.00 0.85 0.00 0.000 6 0.000 0.036 1419 3369 3077 0 0 0 0 0 0

3031 -0.58 -146.1 442.1 -14.7 229 3035 0.00 0.90 0.00 0.000 4 0.000 0.059 1416 3938 3077 0 0 0 0 0 0

3120 -0.58 -146.1 456.2 -15.7 231 3124 0.08 0.82 0.00 0.000 6 0.164 0.037 1439 3388 3076 0 0 0 0 0 0

3438 -0.58 -146.1 495.6 -12.3 242 3442 0.00 0.88 0.00 0.000 4 0.000 0.060 1436 3940 3076 0 0 0 0 0 0

3550 -0.58 -146.1 510.8 -13.4 245 3556 0.00 0.85 0.00 0.000 6 0.000 0.037 1438 3375 3076 0 0 0 0 0 0

3883 -0.58 -146.1 552.2 -12.6 256 3887 0.00 0.90 0.00 0.000 4 0.000 0.060 1434 3944 3076 0 0 0 0 0 0

3939 -0.58 -146.1 560.5 -13.9 257 3943 0.00 0.85 0.00 0.000 6 0.000 0.037 1434 3378 3076 0 0 0 0 0 0

4257 -0.58 -146.1 602.6 -13.0 268 4261 0.00 0.88 0.00 0.000 4 0.000 0.060 1431 3931 3075 0 0 0 0 0 0

4341 -0.58 -146.1 614.8 -14.1 270 4345 0.00 0.82 0.00 0.000 6 0.000 0.037 1430 3384 3075 0 0 0 0 0 0

4666 -0.58 -146.1 658.2 -13.4 281 4670 0.00 0.88 0.00 0.000 4 0.000 0.060 1426 3935 3074 0 0 0 0 0 0

4749 -0.58 -146.1 670.1 -14.2 283 4753 0.00 0.85 0.00 0.000 6 0.000 0.037 1426 3373 3074 0 0 0 0 0 0

5074 -0.58 -146.1 712.6 -13.1 294 5075 0.00 0.00 0.00 0.000 6 0.000 0.000 1426 3372 3073 0 0 0 0 0 0

5380 -0.58 -146.1 752.1 -12.7 304 5385 0.00 0.90 0.00 0.000 4 0.000 0.061 1422 3945 3073 0 0 0 0 0 0

5533 -0.58 -146.1 772.7 -13.0 308 5537 0.00 0.85 0.00 0.000 6 0.000 0.038 1422 3381 3073 0 0 0 0 0 0

5858 -0.58 -146.1 810.5 -11.5 319 5862 0.00 0.88 0.00 0.000 4 0.000 0.061 1418 3931 3072 0 0 0 0 0 0

5970 -0.58 -146.1 825.3 -13.7 322 5976 0.00 0.82 0.00 0.000 6 0.000 0.038 1418 3385 3072 0 0 0 0 0 0

6301 -0.58 -146.1 864.7 -12.0 333 6307 0.10 0.90 0.00 0.000 4 0.193 0.063 1439 3940 3070 0 0 0 0 0 0

6392 -0.58 -146.1 875.3 -11.8 335 6397 0.00 0.85 0.00 0.000 6 0.000 0.039 1439 3381 3070 0 0 0 0 0 0

6711 -0.58 -146.1 909.1 -10.9 346 6713 0.00 0.00 0.00 0.000 6 0.000 0.000 1439 3381 3070 0 0 0 0 0 0

7019 -0.58 -146.1 942.9 -11.1 356 7022 0.00 0.90 0.00 0.000 4 0.000 0.062 1435 3943 3069 0 0 0 0 0 0

7132 -0.58 -146.1 957.1 -12.2 359 7136 0.00 0.85 0.00 0.000 6 0.000 0.039 1435 3384 3069 0 0 0 0 0 0

7464 -0.58 -146.1 995.2 -11.3 370 7465 0.00 0.00 0.00 0.000 6 0.000 0.000 1435 3383 3068 0 0 0 0 0 0

7521 end dive: TARGET_DEPTH_EXCEEDED

state 7521 begin apogee

7528 -0.14 0.0 1002.3 11.3 372 7676 0.50 0.00 139.82 1.799 6 0.144 0.000 1586 3271 2473 0 0 0 0 1 0

7678 end apogee: CONTROL_FINISHED_OK

state 7678 begin climb

7681 0.58 146.1 1006.7 0.0 377 7842 0.70 2.53 146.82 1.769 4 0.083 0.032 1826 1848 1878 0 0 0 0 1 0

7888 0.58 146.1 980.4 14.6 383 7893 0.00 2.50 0.00 0.000 6 0.000 0.052 1826 3256 1875 0 0 0 0 0 0

8213 0.58 146.1 914.6 21.0 394 8218 0.00 1.15 0.00 0.000 4 0.000 0.056 1827 3949 1869 0 0 0 0 0 0

8286 0.58 146.1 897.6 24.5 396 8290 0.00 1.08 0.00 0.000 6 0.000 0.033 1832 3257 1868 0 0 0 0 0 0

8622 0.58 146.1 824.1 21.7 407 8623 0.00 0.00 0.00 0.000 6 0.000 0.000 1832 3256 1867 0 0 0 0 0 0

8928 0.58 146.1 758.6 21.0 417 8932 0.00 1.12 0.00 0.000 4 0.000 0.057 1832 3948 1866 0 0 0 0 0 0

9012 0.58 146.1 739.5 23.3 419 9016 0.00 1.02 0.00 0.000 6 0.000 0.034 1837 3272 1866 0 0 0 0 0 0

9337 0.58 146.1 671.8 20.9 430 9341 0.00 2.15 0.00 0.000 4 0.000 0.034 1848 1854 1865 0 0 0 0 0 0

9375 0.58 146.1 664.3 17.9 431 9379 0.00 2.30 0.00 0.000 6 0.000 0.052 1848 3281 1864 0 0 0 0 0 0

9699 0.58 146.1 597.1 20.9 442 9703 0.00 1.08 0.00 0.000 4 0.000 0.056 1848 3956 1863 0 0 0 0 0 0

9769 0.58 146.1 581.4 24.4 444 9773 0.10 1.02 0.00 0.000 6 0.197 0.033 1826 3268 1862 0 0 0 0 0 0

10110 0.58 146.1 518.2 17.9 455 10111 0.00 0.00 0.00 0.000 6 0.000 0.000 1826 3268 1862 0 0 0 0 0 0

10417 0.58 146.1 462.5 18.2 465 10418 0.00 0.00 0.00 0.000 6 0.000 0.000 1826 3268 1862 0 0 0 0 0 0

10724 0.58 146.1 406.8 18.1 475 10725 0.00 0.00 0.00 0.000 6 0.000 0.000 1826 3268 1861 0 0 0 0 0 0

11037 0.58 146.1 349.8 18.9 489 11038 0.00 0.00 0.00 0.000 6 0.000 0.000 1826 3268 1861 0 0 0 0 0 0

11342 0.58 146.1 292.2 18.5 504 11343 0.00 0.00 0.00 0.000 6 0.000 0.000 1826 3268 1861 0 0 0 0 0 0

11652 0.58 146.1 235.9 17.8 520 11656 0.00 1.10 0.00 0.000 4 0.000 0.056 1826 3957 1861 0 0 0 0 0 0

11693 0.58 146.1 227.7 18.5 522 11696 0.00 1.02 0.00 0.000 6 0.000 0.032 1830 3268 1861 0 0 0 0 0 0

12022 0.58 146.1 167.6 18.7 543 12025 0.00 1.08 0.00 0.000 4 0.000 0.054 1830 3946 1861 0 0 0 0 0 0

12060 0.58 146.1 158.9 21.5 545 12066 0.00 1.00 0.00 0.000 6 0.000 0.032 1835 3269 1861 0 0 0 0 0 0

12383 0.58 146.1 95.5 20.1 567 12389 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 3269 1861 0 0 0 0 0 0

12747 0.58 146.1 27.4 14.7 628 12757 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 3268 1861 0 0 0 0 0 0

12839 0.58 146.1 12.2 16.8 641 12849 0.00 0.00 0.00 0.000 6 0.000 0.000 1834 3268 1861 0 0 0 0 0 0

12902 end climb: SURFACE_DEPTH_REACHED

state 12902 begin surface coast

12928 end surface coast: CONTROL_FINISHED_OK

state 12928 begin surface

ID	543	HEADING	-1	ROLL_MAX	3944	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	6	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	1050
DIVE	141	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	3380	ALTIM_PING_DELTA	15
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	3270	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-4230	HEAD_ERRBAND	15	ALTIM_PULSE	4
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	3
D_NO_BLEED	200	SM_CC	250	R_PORT_OVSHOOT	53	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	32	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	5	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	400	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	420	CAPUPLOAD	0	VBD_TIMEOUT	800	DEVICE6	-1
T_ABORT	1440	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	-8262.082	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	1635	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043127281
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-55.913475	SEABIRD_T_H	0.00062185986
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011638312	SEABIRD_T_I	2.2048062e-05
RHO	1.027	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.2117231e-06
MASS	52459	PITCH_GAIN	37	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.303595
NAV_MODE	1	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1762303
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.001936322
KALMAN_USE	1	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00024357962
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	311212,102659,-4157.023,823.323,40,0.9,40,-24.9	TGT_NAME	GH2
_CALLS	1	TGT_LATLONG	-4200.000,820.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.199,0.063
_SM_DEPTHo	1.83	KALMAN_X	-96207.0,429.8,333.0,125027.0,-9318.9
_SM_ANGLEo	-53.0	KALMAN_Y	35149.5,834.1,324.7,24720.7,-6901.1
GPS2	311212,103452,-4157.073,823.337,20,0.9,20,-24.9	MHEAD_RNG_PITCHd_Wd	97.4,7105,-18.0,-8.333
SPEED_LIMITS	0.144,0.244	D_GRID	1000

FINISH	1.1,1.020208	_10V_AH	10.1,14.765
SM_CCo	12944,50.83,0.713,1,0,1451,250.20	FG_AHR_24Vo	0.000
SM_GC	2.19,0.00,0.00,50.83,0.000,0.000,0.713,64,3399,1451,-4.91,0.57,250.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4138.02,807.81,311212,060630	MEM	353960
TT8_MAMPS	0.025466	DATA_FILE_SIZE	47068,654
HUMID	57.24	CAP_FILE_SIZE	107156,0
INTERNAL_PRESSURE	9.03472	CFSIZE	259252224,249856000
TCM_TEMP	15.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
XPDR_PINGS	0	GPS	311212,141352,-4156.989,825.018,37,0.9,37,-24.9
_24V_AH	22.4,27.351

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	11	237	63.08	SBE_CT	424	24	228.08
Roll_motor	46	89	93.23	AA4330	1416	33	1047.34
VBD_pump_during_apogee	286	1799	11553.10	WL_BB2FLVMT	655	105	1542.73
VBD_pump_during_surface	50	712	811.71	QSP2150	302	4	29.71
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	70.87	nil	0	0	0.00
Iridium_during_connect	19	160	70.09	nil	0	0	0.00
Iridium_during_xfer	258	223	1289.19	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	26	6.25
TT8	1690	14	255.36
LPSleep	8481	2	187.60
TT8_Active	390	14	55.98
TT8_Sampling	2182	37	825.19
TT8_CF8	733	47	349.53
TT8_Kalman	33	59	19.93
Analog_circuits	1254	12	152.05
GPS_charging	0	0	0.00
Compass	1982	15	314.98
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
20	-0.55	-102.6	0.0	0.0	0	71	0.00	0.00	-49.40	0.000	2	0.000	0.000	51	3388	2644	0	0	0	0	0	0
76	-0.58	-146.1	3.2	-3.3	6	104	5.70	0.90	-12.25	0.000	4	0.237	0.090	1440	3935	3070	0	0	0	0	0	0
381	-0.58	-146.1	55.9	-15.7	54	392	0.00	0.82	0.00	0.000	6	0.000	0.037	1440	3398	3074	0	0	0	0	0	0
631	-0.58	-146.1	86.6	-13.0	95	635	0.00	0.88	0.00	0.000	4	0.000	0.059	1436	3946	3074	0	0	0	0	0	0
896	-0.58	-146.1	126.8	-15.7	121	899	0.00	0.88	0.00	0.000	6	0.000	0.036	1436	3365	3075	0	0	0	0	0	0
1226	-0.58	-146.1	176.1	-14.4	142	1230	0.00	0.90	0.00	0.000	4	0.000	0.058	1432	3932	3077	0	0	0	0	0	0
1415	-0.58	-146.1	204.9	-15.3	152	1423	0.00	0.82	0.00	0.000	6	0.000	0.035	1432	3382	3077	0	0	0	0	0	0
1736	-0.58	-146.1	250.8	-14.0	173	1742	0.00	0.90	0.00	0.000	4	0.000	0.058	1428	3946	3077	0	0	0	0	0	0
1880	-0.58	-146.1	272.4	-15.9	179	1883	0.00	0.85	0.00	0.000	6	0.000	0.036	1428	3379	3077	0	0	0	0	0	0
2215	-0.58	-146.1	321.6	-14.6	195	2220	0.00	0.90	0.00	0.000	4	0.000	0.058	1424	3945	3077	0	0	0	0	0	0
2279	-0.58	-146.1	332.0	-15.9	197	2286	0.00	0.85	0.00	0.000	6	0.000	0.036	1424	3382	3077	0	0	0	0	0	0
2597	-0.58	-146.1	377.5	-14.5	213	2603	0.00	0.88	0.00	0.000	4	0.000	0.059	1419	3934	3077	0	0	0	0	0	0
2695	-0.58	-146.1	393.3	-15.5	217	2701	0.00	0.85	0.00	0.000	6	0.000	0.036	1419	3369	3077	0	0	0	0	0	0
3031	-0.58	-146.1	442.1	-14.7	229	3035	0.00	0.90	0.00	0.000	4	0.000	0.059	1416	3938	3077	0	0	0	0	0	0
3120	-0.58	-146.1	456.2	-15.7	231	3124	0.08	0.82	0.00	0.000	6	0.164	0.037	1439	3388	3076	0	0	0	0	0	0
3438	-0.58	-146.1	495.6	-12.3	242	3442	0.00	0.88	0.00	0.000	4	0.000	0.060	1436	3940	3076	0	0	0	0	0	0
3550	-0.58	-146.1	510.8	-13.4	245	3556	0.00	0.85	0.00	0.000	6	0.000	0.037	1438	3375	3076	0	0	0	0	0	0
3883	-0.58	-146.1	552.2	-12.6	256	3887	0.00	0.90	0.00	0.000	4	0.000	0.060	1434	3944	3076	0	0	0	0	0	0
3939	-0.58	-146.1	560.5	-13.9	257	3943	0.00	0.85	0.00	0.000	6	0.000	0.037	1434	3378	3076	0	0	0	0	0	0
4257	-0.58	-146.1	602.6	-13.0	268	4261	0.00	0.88	0.00	0.000	4	0.000	0.060	1431	3931	3075	0	0	0	0	0	0
4341	-0.58	-146.1	614.8	-14.1	270	4345	0.00	0.82	0.00	0.000	6	0.000	0.037	1430	3384	3075	0	0	0	0	0	0
4666	-0.58	-146.1	658.2	-13.4	281	4670	0.00	0.88	0.00	0.000	4	0.000	0.060	1426	3935	3074	0	0	0	0	0	0
4749	-0.58	-146.1	670.1	-14.2	283	4753	0.00	0.85	0.00	0.000	6	0.000	0.037	1426	3373	3074	0	0	0	0	0	0
5074	-0.58	-146.1	712.6	-13.1	294	5075	0.00	0.00	0.00	0.000	6	0.000	0.000	1426	3372	3073	0	0	0	0	0	0
5380	-0.58	-146.1	752.1	-12.7	304	5385	0.00	0.90	0.00	0.000	4	0.000	0.061	1422	3945	3073	0	0	0	0	0	0
5533	-0.58	-146.1	772.7	-13.0	308	5537	0.00	0.85	0.00	0.000	6	0.000	0.038	1422	3381	3073	0	0	0	0	0	0
5858	-0.58	-146.1	810.5	-11.5	319	5862	0.00	0.88	0.00	0.000	4	0.000	0.061	1418	3931	3072	0	0	0	0	0	0
5970	-0.58	-146.1	825.3	-13.7	322	5976	0.00	0.82	0.00	0.000	6	0.000	0.038	1418	3385	3072	0	0	0	0	0	0
6301	-0.58	-146.1	864.7	-12.0	333	6307	0.10	0.90	0.00	0.000	4	0.193	0.063	1439	3940	3070	0	0	0	0	0	0
6392	-0.58	-146.1	875.3	-11.8	335	6397	0.00	0.85	0.00	0.000	6	0.000	0.039	1439	3381	3070	0	0	0	0	0	0
6711	-0.58	-146.1	909.1	-10.9	346	6713	0.00	0.00	0.00	0.000	6	0.000	0.000	1439	3381	3070	0	0	0	0	0	0
7019	-0.58	-146.1	942.9	-11.1	356	7022	0.00	0.90	0.00	0.000	4	0.000	0.062	1435	3943	3069	0	0	0	0	0	0
7132	-0.58	-146.1	957.1	-12.2	359	7136	0.00	0.85	0.00	0.000	6	0.000	0.039	1435	3384	3069	0	0	0	0	0	0
7464	-0.58	-146.1	995.2	-11.3	370	7465	0.00	0.00	0.00	0.000	6	0.000	0.000	1435	3383	3068	0	0	0	0	0	0
7521	end dive: TARGET_DEPTH_EXCEEDED
state	7521	begin apogee
7528	-0.14	0.0	1002.3	11.3	372	7676	0.50	0.00	139.82	1.799	6	0.144	0.000	1586	3271	2473	0	0	0	0	1	0
7678	end apogee: CONTROL_FINISHED_OK
state	7678	begin climb
7681	0.58	146.1	1006.7	0.0	377	7842	0.70	2.53	146.82	1.769	4	0.083	0.032	1826	1848	1878	0	0	0	0	1	0
7888	0.58	146.1	980.4	14.6	383	7893	0.00	2.50	0.00	0.000	6	0.000	0.052	1826	3256	1875	0	0	0	0	0	0
8213	0.58	146.1	914.6	21.0	394	8218	0.00	1.15	0.00	0.000	4	0.000	0.056	1827	3949	1869	0	0	0	0	0	0
8286	0.58	146.1	897.6	24.5	396	8290	0.00	1.08	0.00	0.000	6	0.000	0.033	1832	3257	1868	0	0	0	0	0	0
8622	0.58	146.1	824.1	21.7	407	8623	0.00	0.00	0.00	0.000	6	0.000	0.000	1832	3256	1867	0	0	0	0	0	0
8928	0.58	146.1	758.6	21.0	417	8932	0.00	1.12	0.00	0.000	4	0.000	0.057	1832	3948	1866	0	0	0	0	0	0
9012	0.58	146.1	739.5	23.3	419	9016	0.00	1.02	0.00	0.000	6	0.000	0.034	1837	3272	1866	0	0	0	0	0	0
9337	0.58	146.1	671.8	20.9	430	9341	0.00	2.15	0.00	0.000	4	0.000	0.034	1848	1854	1865	0	0	0	0	0	0
9375	0.58	146.1	664.3	17.9	431	9379	0.00	2.30	0.00	0.000	6	0.000	0.052	1848	3281	1864	0	0	0	0	0	0
9699	0.58	146.1	597.1	20.9	442	9703	0.00	1.08	0.00	0.000	4	0.000	0.056	1848	3956	1863	0	0	0	0	0	0
9769	0.58	146.1	581.4	24.4	444	9773	0.10	1.02	0.00	0.000	6	0.197	0.033	1826	3268	1862	0	0	0	0	0	0
10110	0.58	146.1	518.2	17.9	455	10111	0.00	0.00	0.00	0.000	6	0.000	0.000	1826	3268	1862	0	0	0	0	0	0
10417	0.58	146.1	462.5	18.2	465	10418	0.00	0.00	0.00	0.000	6	0.000	0.000	1826	3268	1862	0	0	0	0	0	0
10724	0.58	146.1	406.8	18.1	475	10725	0.00	0.00	0.00	0.000	6	0.000	0.000	1826	3268	1861	0	0	0	0	0	0
11037	0.58	146.1	349.8	18.9	489	11038	0.00	0.00	0.00	0.000	6	0.000	0.000	1826	3268	1861	0	0	0	0	0	0
11342	0.58	146.1	292.2	18.5	504	11343	0.00	0.00	0.00	0.000	6	0.000	0.000	1826	3268	1861	0	0	0	0	0	0
11652	0.58	146.1	235.9	17.8	520	11656	0.00	1.10	0.00	0.000	4	0.000	0.056	1826	3957	1861	0	0	0	0	0	0
11693	0.58	146.1	227.7	18.5	522	11696	0.00	1.02	0.00	0.000	6	0.000	0.032	1830	3268	1861	0	0	0	0	0	0
12022	0.58	146.1	167.6	18.7	543	12025	0.00	1.08	0.00	0.000	4	0.000	0.054	1830	3946	1861	0	0	0	0	0	0
12060	0.58	146.1	158.9	21.5	545	12066	0.00	1.00	0.00	0.000	6	0.000	0.032	1835	3269	1861	0	0	0	0	0	0
12383	0.58	146.1	95.5	20.1	567	12389	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	3269	1861	0	0	0	0	0	0
12747	0.58	146.1	27.4	14.7	628	12757	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	3268	1861	0	0	0	0	0	0
12839	0.58	146.1	12.2	16.8	641	12849	0.00	0.00	0.00	0.000	6	0.000	0.000	1834	3268	1861	0	0	0	0	0	0
12902	end climb: SURFACE_DEPTH_REACHED
state	12902	begin surface coast
12928	end surface coast: CONTROL_FINISHED_OK
state	12928	begin surface