Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 15 * 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 120

DIVE 15 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2500 ALTIM_PING_DELTA 5

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2500 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -56 HEAD_ERRBAND 20 ALTIM_PULSE 3

D_TGT 500 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 250 R_PORT_OVSHOOT 17 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 16 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 2500 DEVICE3 35

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 134

T_DIVE 165 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 180 CAPUPLOAD 1 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 60 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -21732.854 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 1802 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 41 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.7625904

NAV_MODE 1 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1369455

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.0017508121

KALMAN_USE 1 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021125977

HD_A 0.003 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 10

HD_C 9.9999997e-06 ROLL_MIN 335 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 500 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 10 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_TGT 500 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 120 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 41 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 0.0012300001 T_BOOST 0

APOGEE_PITCH -7 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011816985 T_DIVE 165

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -53.02364 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 -21732.854

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

CAPUPLOAD 1 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 180

CF8_MAXERRORS 20 HEAD_ERRBAND 20 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 1802 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2500 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 2500 LOGGERDEVICE1 -1 ROLL_MAX 3901 USE_ICE 0

C_VBD 2500 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 17 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 16 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 15 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 131214,121357,-5558.561,-0.105,37,1.3,41,-20.1 TGT_NAME TARGET

_CALLS 1 TGT_LATLONG -56.000,-0.300

_XMS_NAKs 3 TGT_RADIUS 1000.000

_XMS_TOUTs 2 KALMAN_CONTROL -0.056,0.273

_SM_DEPTHo 1.24 KALMAN_X 1734.4,473.7,230.0,-2558.6,552.2

_SM_ANGLEo -63.7 KALMAN_Y -7655.5,-1119.0,488.1,11294.5,-2266.3

GPS2 131214,122754,-5558.542,-0.178,21,0.9,21,-20.1 MHEAD_RNG_PITCHd_Wd 8.6,6116304,-16.2,-10.101

SPEED_LIMITS 0.175,0.261 D_GRID 500

Post-dive calculations and measurements:

FINISH 0.6,1.027321 _10V_AH 10.1,5.605

SM_CCo 6516,41.47,0.175,0,0,1476,250.45 FG_AHR_24Vo 0.000

SM_GC 1.61,0.00,0.00,41.47,0.000,0.000,0.175,58,2497,1476,-5.45,-0.11,250.45 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5538.94,0.00,131214,101017 MEM 354440

TT8_MAMPS 0.026215 DATA_FILE_SIZE 77148,1049

HUMID 55.27 CAP_FILE_SIZE 123288,0

INTERNAL_PRESSURE 8.92579 CFSIZE 259252224,226009088

TCM_TEMP 6.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 131214,141859,-5557.863,-0.271,16,1.1,16,-20.1

_24V_AH 22.1,10.698

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 263 82.53 SBE_CT 742 23 393.31

Roll_motor 98 81 176.34 AA4330 2688 17 1068.30

VBD_pump_during_apogee 261 1517 8773.04 WL_BB2F 1823 105 4231.61

VBD_pump_during_surface 41 175 160.57 QSP2150 2891 17 1149.07

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 91 53.61 nil 0 0 0.00

Iridium_during_connect 19 160 68.32 nil 0 0 0.00

Iridium_during_xfer 644 223 3177.08 nil 0 0 0.00

Transponder_ping 19 420 178.68 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 23 31 7.46

TT8 2418 14 353.18

LPSleep 620 2 13.73

TT8_Active 474 14 69.31

TT8_Sampling 3690 42 1571.66

TT8_CF8 177 49 89.01

TT8_Kalman 33 68 23.02

Analog_circuits 1446 15 226.39

GPS_charging 0 0 0.00

Compass 2639 16 439.37

RAFOS 0 0 0.00

Transponder 125 30 37.93

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 -0.58 -146.1 0.0 0.0 0 83 0.00 0.00 -66.05 0.000 2 0.000 0.000 64 2482 2980 0 0 0 0 0 0

85 -0.58 -146.1 3.2 -3.1 8 103 6.65 2.45 -2.85 0.000 4 0.264 0.081 1595 3906 3097 0 0 0 0 0 0

373 -0.58 -146.1 63.6 -19.9 55 380 0.00 2.33 0.00 0.000 6 0.000 0.055 1595 2496 3098 0 0 0 0 0 0

485 -0.58 -146.1 85.4 -18.3 74 494 0.00 2.42 0.00 0.000 4 0.000 0.078 1584 3900 3098 0 0 0 0 0 0

724 -0.58 -146.1 136.3 -21.7 113 732 0.12 2.30 0.00 0.000 6 0.210 0.054 1613 2494 3098 0 0 0 0 0 0

840 -0.58 -146.1 158.5 -17.9 132 849 0.00 2.40 0.00 0.000 4 0.000 0.077 1603 3893 3098 0 0 0 0 0 0

932 -0.58 -146.1 176.9 -20.0 146 941 0.00 2.30 0.00 0.000 6 0.000 0.054 1602 2504 3097 0 0 0 0 0 0

1060 -0.58 -146.1 200.5 -19.2 165 1067 0.00 2.35 0.00 0.000 4 0.000 0.078 1592 3903 3098 0 0 0 0 0 0

1111 -0.58 -146.1 211.2 -20.4 173 1118 0.00 2.28 0.00 0.000 6 0.000 0.054 1591 2497 3098 0 0 0 0 0 0

1226 -0.58 -146.1 233.3 -18.2 192 1235 0.00 2.40 0.00 0.000 4 0.000 0.078 1581 3904 3098 0 0 0 0 0 0

1329 -0.58 -146.1 252.9 -18.6 209 1337 0.12 2.28 0.00 0.000 6 0.206 0.054 1610 2501 3098 0 0 0 0 0 0

1447 -0.58 -146.1 270.2 -13.6 228 1456 0.00 2.38 0.00 0.000 4 0.000 0.078 1599 3896 3098 0 0 0 0 0 0

1510 -0.58 -146.1 279.9 -14.5 238 1522 0.00 2.30 0.00 0.000 6 0.000 0.054 1599 2500 3098 0 0 0 0 0 0

1631 -0.58 -146.1 295.7 -13.1 257 1638 0.00 2.38 0.00 0.000 4 0.000 0.078 1588 3900 3098 0 0 0 0 0 0

1734 -0.58 -146.1 310.7 -14.3 274 1743 0.00 2.30 0.00 0.000 6 0.000 0.054 1588 2499 3098 0 0 0 0 0 0

1854 -0.58 -146.1 326.3 -12.1 293 1861 0.00 2.35 0.00 0.000 4 0.000 0.077 1578 3902 3098 0 0 0 0 0 0

1922 -0.58 -146.1 336.0 -14.8 304 1931 0.12 2.30 0.00 0.000 6 0.187 0.054 1614 2499 3098 0 0 0 0 0 0

2042 -0.58 -146.1 349.3 -11.2 323 2050 0.00 2.35 0.00 0.000 4 0.000 0.077 1603 3903 3098 0 0 0 0 0 0

2116 -0.58 -146.1 358.7 -12.4 335 2123 0.00 2.28 0.00 0.000 6 0.000 0.054 1603 2494 3098 0 0 0 0 0 0

2234 -0.58 -146.1 374.2 -12.7 354 2246 0.00 2.38 0.00 0.000 4 0.000 0.077 1593 3897 3098 0 0 0 0 0 0

2323 -0.58 -146.1 387.4 -14.5 368 2332 0.00 2.28 0.00 0.000 6 0.000 0.053 1592 2504 3098 0 0 0 0 0 0

2441 -0.58 -146.1 404.2 -14.6 387 2449 0.00 2.35 0.00 0.000 4 0.000 0.077 1582 3911 3098 0 0 0 0 0 0

2518 -0.58 -146.1 416.0 -16.4 399 2526 0.12 2.28 0.00 0.000 6 0.202 0.052 1611 2499 3098 0 0 0 0 0 0

2637 -0.58 -146.1 432.0 -12.6 418 2646 0.00 2.38 0.00 0.000 4 0.000 0.077 1601 3905 3098 0 0 0 0 0 0

2722 -0.58 -146.1 444.2 -14.5 432 2731 0.00 2.30 0.00 0.000 6 0.000 0.054 1600 2493 3098 0 0 0 0 0 0

2841 -0.58 -146.1 460.3 -13.4 451 2848 0.00 2.33 0.00 0.000 4 0.000 0.076 1590 3900 3098 0 0 0 0 0 0

2925 -0.58 -146.1 473.0 -15.0 465 2932 0.00 2.25 0.00 0.000 6 0.000 0.052 1589 2498 3099 0 0 0 0 0 0

3043 -0.58 -146.1 490.2 -13.8 484 3052 0.00 2.35 0.00 0.000 4 0.000 0.076 1579 3895 3099 0 0 0 0 0 0

3106 end dive: TARGET_DEPTH_EXCEEDED

state 3106 begin apogee

3113 -0.17 0.0 500.7 16.1 494 3247 0.52 0.00 126.35 1.518 6 0.173 0.000 1737 2486 2502 0 0 0 0 0 0

3248 end apogee: CONTROL_FINISHED_OK

state 3248 begin climb

3249 0.58 146.1 508.0 0.0 513 3391 0.80 0.00 135.20 1.473 6 0.122 0.000 1978 2486 1904 0 0 0 0 0 0

3498 0.58 146.1 481.4 15.2 551 3504 0.00 0.00 0.00 0.000 6 0.000 0.000 1978 2486 1898 0 0 0 0 0 0

3610 0.58 146.1 463.7 15.2 570 3619 0.00 0.00 0.00 0.000 6 0.000 0.000 1978 2486 1897 0 0 0 0 0 0

3726 0.58 146.1 446.1 15.1 589 3733 0.00 2.50 0.00 0.000 4 0.000 0.073 1978 3901 1895 0 0 0 0 0 0

3823 0.58 146.1 428.2 17.9 605 3830 0.00 2.38 0.00 0.000 6 0.000 0.053 1988 2502 1893 0 0 0 0 0 0

3937 0.58 146.1 407.9 17.6 624 3945 0.00 0.00 0.00 0.000 6 0.000 0.000 1988 2501 1893 0 0 0 0 0 0

4052 0.58 146.1 389.2 15.1 643 4058 0.00 0.00 0.00 0.000 6 0.000 0.000 1988 2501 1893 0 0 0 0 0 0

4164 0.58 146.1 370.4 16.4 662 4173 0.00 2.45 0.00 0.000 4 0.000 0.073 1988 3901 1893 0 0 0 0 0 0

4244 0.58 146.1 355.2 19.5 675 4251 0.00 2.35 0.00 0.000 6 0.000 0.054 2000 2491 1892 0 0 0 0 0 0

4356 0.58 146.1 334.4 17.4 694 4364 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2491 1892 0 0 0 0 0 0

4472 0.58 146.1 314.4 17.7 713 4478 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2491 1892 0 0 0 0 0 0

4584 0.58 146.1 295.0 16.8 732 4593 0.00 2.42 0.00 0.000 4 0.000 0.074 2000 3894 1892 0 0 0 0 0 0

4687 0.58 146.1 274.8 19.7 749 4694 0.00 2.30 0.00 0.000 6 0.000 0.053 2010 2495 1891 0 0 0 0 0 0

4801 0.58 146.1 254.0 17.5 768 4809 0.00 0.00 0.00 0.000 6 0.000 0.000 2011 2495 1892 0 0 0 0 0 0

4916 0.58 146.1 234.0 16.9 787 4922 0.00 0.00 0.00 0.000 6 0.000 0.000 2010 2495 1892 0 0 0 0 0 0

5029 0.58 146.1 214.1 17.7 806 5038 0.00 2.40 0.00 0.000 4 0.000 0.073 2010 3897 1891 0 0 0 0 0 0

5110 0.58 146.1 198.2 19.8 819 5117 0.12 2.30 0.00 0.000 6 0.247 0.052 1996 2488 1891 0 0 0 0 0 0

5223 0.58 146.1 179.7 15.0 838 5233 0.00 0.00 0.00 0.000 6 0.000 0.000 1996 2488 1891 0 0 0 0 0 0

5340 0.58 146.1 163.1 13.9 857 5346 0.00 0.00 0.00 0.000 6 0.000 0.000 1996 2488 1891 0 0 0 0 0 0

5452 0.58 146.1 148.5 12.3 876 5461 0.00 2.38 0.00 0.000 4 0.000 0.073 1996 3890 1891 0 0 0 0 0 0

5535 0.58 146.1 136.1 14.4 890 5544 0.00 2.30 0.00 0.000 6 0.000 0.054 2006 2491 1891 0 0 0 0 0 0

5651 0.58 146.1 122.3 11.6 909 5658 0.00 0.00 0.00 0.000 6 0.000 0.000 2006 2491 1891 0 0 0 0 0 0

5764 0.58 146.1 109.6 10.9 928 5773 0.00 2.40 0.00 0.000 4 0.000 0.073 2006 3904 1891 0 0 0 0 0 0

5907 0.58 146.1 88.2 15.9 952 5916 0.00 2.30 0.00 0.000 6 0.000 0.054 2017 2504 1891 0 0 0 0 0 0

6022 0.58 146.1 72.4 13.7 971 6029 0.00 0.00 0.00 0.000 6 0.000 0.000 2017 2504 1891 0 0 0 0 0 0

6135 0.58 146.1 56.0 14.8 990 6143 0.00 0.00 0.00 0.000 6 0.000 0.000 2017 2504 1891 0 0 0 0 0 0

6249 0.58 146.1 39.6 14.5 1009 6256 0.00 2.33 0.00 0.000 4 0.000 0.074 2017 3902 1891 0 0 0 0 0 0

6379 0.58 146.1 17.0 17.2 1030 6389 0.12 2.30 0.00 0.000 6 0.235 0.054 1996 2498 1890 0 0 0 0 0 0

6463 0.58 146.1 4.7 14.1 1043 6471 0.00 0.00 0.00 0.000 6 0.000 0.000 1996 2498 1890 0 0 0 0 0 0

6478 end climb: SURFACE_DEPTH_REACHED

state 6479 begin surface coast

6504 end surface coast: CONTROL_FINISHED_OK

state 6505 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	120
DIVE	15	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2500	ALTIM_PING_DELTA	5
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2500	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-56	HEAD_ERRBAND	20	ALTIM_PULSE	3
D_TGT	500	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	250	R_PORT_OVSHOOT	17	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	16	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	2500	DEVICE3	35
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	134
T_DIVE	165	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	180	CAPUPLOAD	1	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	60	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-21732.854	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	1802	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	41	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.7625904
NAV_MODE	1	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1369455
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.0017508121
KALMAN_USE	1	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021125977
HD_A	0.003	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	10
HD_C	9.9999997e-06	ROLL_MIN	335	ALTIM_TOP_TURN_MARGIN	0

GPS1	131214,121357,-5558.561,-0.105,37,1.3,41,-20.1	TGT_NAME	TARGET
_CALLS	1	TGT_LATLONG	-56.000,-0.300
_XMS_NAKs	3	TGT_RADIUS	1000.000
_XMS_TOUTs	2	KALMAN_CONTROL	-0.056,0.273
_SM_DEPTHo	1.24	KALMAN_X	1734.4,473.7,230.0,-2558.6,552.2
_SM_ANGLEo	-63.7	KALMAN_Y	-7655.5,-1119.0,488.1,11294.5,-2266.3
GPS2	131214,122754,-5558.542,-0.178,21,0.9,21,-20.1	MHEAD_RNG_PITCHd_Wd	8.6,6116304,-16.2,-10.101
SPEED_LIMITS	0.175,0.261	D_GRID	500

FINISH	0.6,1.027321	_10V_AH	10.1,5.605
SM_CCo	6516,41.47,0.175,0,0,1476,250.45	FG_AHR_24Vo	0.000
SM_GC	1.61,0.00,0.00,41.47,0.000,0.000,0.175,58,2497,1476,-5.45,-0.11,250.45	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5538.94,0.00,131214,101017	MEM	354440
TT8_MAMPS	0.026215	DATA_FILE_SIZE	77148,1049
HUMID	55.27	CAP_FILE_SIZE	123288,0
INTERNAL_PRESSURE	8.92579	CFSIZE	259252224,226009088
TCM_TEMP	6.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	131214,141859,-5557.863,-0.271,16,1.1,16,-20.1
_24V_AH	22.1,10.698

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	263	82.53	SBE_CT	742	23	393.31
Roll_motor	98	81	176.34	AA4330	2688	17	1068.30
VBD_pump_during_apogee	261	1517	8773.04	WL_BB2F	1823	105	4231.61
VBD_pump_during_surface	41	175	160.57	QSP2150	2891	17	1149.07
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	91	53.61	nil	0	0	0.00
Iridium_during_connect	19	160	68.32	nil	0	0	0.00
Iridium_during_xfer	644	223	3177.08	nil	0	0	0.00
Transponder_ping	19	420	178.68	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	23	31	7.46
TT8	2418	14	353.18
LPSleep	620	2	13.73
TT8_Active	474	14	69.31
TT8_Sampling	3690	42	1571.66
TT8_CF8	177	49	89.01
TT8_Kalman	33	68	23.02
Analog_circuits	1446	15	226.39
GPS_charging	0	0	0.00
Compass	2639	16	439.37
RAFOS	0	0	0.00
Transponder	125	30	37.93

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	-0.58	-146.1	0.0	0.0	0	83	0.00	0.00	-66.05	0.000	2	0.000	0.000	64	2482	2980	0	0	0	0	0	0
85	-0.58	-146.1	3.2	-3.1	8	103	6.65	2.45	-2.85	0.000	4	0.264	0.081	1595	3906	3097	0	0	0	0	0	0
373	-0.58	-146.1	63.6	-19.9	55	380	0.00	2.33	0.00	0.000	6	0.000	0.055	1595	2496	3098	0	0	0	0	0	0
485	-0.58	-146.1	85.4	-18.3	74	494	0.00	2.42	0.00	0.000	4	0.000	0.078	1584	3900	3098	0	0	0	0	0	0
724	-0.58	-146.1	136.3	-21.7	113	732	0.12	2.30	0.00	0.000	6	0.210	0.054	1613	2494	3098	0	0	0	0	0	0
840	-0.58	-146.1	158.5	-17.9	132	849	0.00	2.40	0.00	0.000	4	0.000	0.077	1603	3893	3098	0	0	0	0	0	0
932	-0.58	-146.1	176.9	-20.0	146	941	0.00	2.30	0.00	0.000	6	0.000	0.054	1602	2504	3097	0	0	0	0	0	0
1060	-0.58	-146.1	200.5	-19.2	165	1067	0.00	2.35	0.00	0.000	4	0.000	0.078	1592	3903	3098	0	0	0	0	0	0
1111	-0.58	-146.1	211.2	-20.4	173	1118	0.00	2.28	0.00	0.000	6	0.000	0.054	1591	2497	3098	0	0	0	0	0	0
1226	-0.58	-146.1	233.3	-18.2	192	1235	0.00	2.40	0.00	0.000	4	0.000	0.078	1581	3904	3098	0	0	0	0	0	0
1329	-0.58	-146.1	252.9	-18.6	209	1337	0.12	2.28	0.00	0.000	6	0.206	0.054	1610	2501	3098	0	0	0	0	0	0
1447	-0.58	-146.1	270.2	-13.6	228	1456	0.00	2.38	0.00	0.000	4	0.000	0.078	1599	3896	3098	0	0	0	0	0	0
1510	-0.58	-146.1	279.9	-14.5	238	1522	0.00	2.30	0.00	0.000	6	0.000	0.054	1599	2500	3098	0	0	0	0	0	0
1631	-0.58	-146.1	295.7	-13.1	257	1638	0.00	2.38	0.00	0.000	4	0.000	0.078	1588	3900	3098	0	0	0	0	0	0
1734	-0.58	-146.1	310.7	-14.3	274	1743	0.00	2.30	0.00	0.000	6	0.000	0.054	1588	2499	3098	0	0	0	0	0	0
1854	-0.58	-146.1	326.3	-12.1	293	1861	0.00	2.35	0.00	0.000	4	0.000	0.077	1578	3902	3098	0	0	0	0	0	0
1922	-0.58	-146.1	336.0	-14.8	304	1931	0.12	2.30	0.00	0.000	6	0.187	0.054	1614	2499	3098	0	0	0	0	0	0
2042	-0.58	-146.1	349.3	-11.2	323	2050	0.00	2.35	0.00	0.000	4	0.000	0.077	1603	3903	3098	0	0	0	0	0	0
2116	-0.58	-146.1	358.7	-12.4	335	2123	0.00	2.28	0.00	0.000	6	0.000	0.054	1603	2494	3098	0	0	0	0	0	0
2234	-0.58	-146.1	374.2	-12.7	354	2246	0.00	2.38	0.00	0.000	4	0.000	0.077	1593	3897	3098	0	0	0	0	0	0
2323	-0.58	-146.1	387.4	-14.5	368	2332	0.00	2.28	0.00	0.000	6	0.000	0.053	1592	2504	3098	0	0	0	0	0	0
2441	-0.58	-146.1	404.2	-14.6	387	2449	0.00	2.35	0.00	0.000	4	0.000	0.077	1582	3911	3098	0	0	0	0	0	0
2518	-0.58	-146.1	416.0	-16.4	399	2526	0.12	2.28	0.00	0.000	6	0.202	0.052	1611	2499	3098	0	0	0	0	0	0
2637	-0.58	-146.1	432.0	-12.6	418	2646	0.00	2.38	0.00	0.000	4	0.000	0.077	1601	3905	3098	0	0	0	0	0	0
2722	-0.58	-146.1	444.2	-14.5	432	2731	0.00	2.30	0.00	0.000	6	0.000	0.054	1600	2493	3098	0	0	0	0	0	0
2841	-0.58	-146.1	460.3	-13.4	451	2848	0.00	2.33	0.00	0.000	4	0.000	0.076	1590	3900	3098	0	0	0	0	0	0
2925	-0.58	-146.1	473.0	-15.0	465	2932	0.00	2.25	0.00	0.000	6	0.000	0.052	1589	2498	3099	0	0	0	0	0	0
3043	-0.58	-146.1	490.2	-13.8	484	3052	0.00	2.35	0.00	0.000	4	0.000	0.076	1579	3895	3099	0	0	0	0	0	0
3106	end dive: TARGET_DEPTH_EXCEEDED
state	3106	begin apogee
3113	-0.17	0.0	500.7	16.1	494	3247	0.52	0.00	126.35	1.518	6	0.173	0.000	1737	2486	2502	0	0	0	0	0	0
3248	end apogee: CONTROL_FINISHED_OK
state	3248	begin climb
3249	0.58	146.1	508.0	0.0	513	3391	0.80	0.00	135.20	1.473	6	0.122	0.000	1978	2486	1904	0	0	0	0	0	0
3498	0.58	146.1	481.4	15.2	551	3504	0.00	0.00	0.00	0.000	6	0.000	0.000	1978	2486	1898	0	0	0	0	0	0
3610	0.58	146.1	463.7	15.2	570	3619	0.00	0.00	0.00	0.000	6	0.000	0.000	1978	2486	1897	0	0	0	0	0	0
3726	0.58	146.1	446.1	15.1	589	3733	0.00	2.50	0.00	0.000	4	0.000	0.073	1978	3901	1895	0	0	0	0	0	0
3823	0.58	146.1	428.2	17.9	605	3830	0.00	2.38	0.00	0.000	6	0.000	0.053	1988	2502	1893	0	0	0	0	0	0
3937	0.58	146.1	407.9	17.6	624	3945	0.00	0.00	0.00	0.000	6	0.000	0.000	1988	2501	1893	0	0	0	0	0	0
4052	0.58	146.1	389.2	15.1	643	4058	0.00	0.00	0.00	0.000	6	0.000	0.000	1988	2501	1893	0	0	0	0	0	0
4164	0.58	146.1	370.4	16.4	662	4173	0.00	2.45	0.00	0.000	4	0.000	0.073	1988	3901	1893	0	0	0	0	0	0
4244	0.58	146.1	355.2	19.5	675	4251	0.00	2.35	0.00	0.000	6	0.000	0.054	2000	2491	1892	0	0	0	0	0	0
4356	0.58	146.1	334.4	17.4	694	4364	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2491	1892	0	0	0	0	0	0
4472	0.58	146.1	314.4	17.7	713	4478	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2491	1892	0	0	0	0	0	0
4584	0.58	146.1	295.0	16.8	732	4593	0.00	2.42	0.00	0.000	4	0.000	0.074	2000	3894	1892	0	0	0	0	0	0
4687	0.58	146.1	274.8	19.7	749	4694	0.00	2.30	0.00	0.000	6	0.000	0.053	2010	2495	1891	0	0	0	0	0	0
4801	0.58	146.1	254.0	17.5	768	4809	0.00	0.00	0.00	0.000	6	0.000	0.000	2011	2495	1892	0	0	0	0	0	0
4916	0.58	146.1	234.0	16.9	787	4922	0.00	0.00	0.00	0.000	6	0.000	0.000	2010	2495	1892	0	0	0	0	0	0
5029	0.58	146.1	214.1	17.7	806	5038	0.00	2.40	0.00	0.000	4	0.000	0.073	2010	3897	1891	0	0	0	0	0	0
5110	0.58	146.1	198.2	19.8	819	5117	0.12	2.30	0.00	0.000	6	0.247	0.052	1996	2488	1891	0	0	0	0	0	0
5223	0.58	146.1	179.7	15.0	838	5233	0.00	0.00	0.00	0.000	6	0.000	0.000	1996	2488	1891	0	0	0	0	0	0
5340	0.58	146.1	163.1	13.9	857	5346	0.00	0.00	0.00	0.000	6	0.000	0.000	1996	2488	1891	0	0	0	0	0	0
5452	0.58	146.1	148.5	12.3	876	5461	0.00	2.38	0.00	0.000	4	0.000	0.073	1996	3890	1891	0	0	0	0	0	0
5535	0.58	146.1	136.1	14.4	890	5544	0.00	2.30	0.00	0.000	6	0.000	0.054	2006	2491	1891	0	0	0	0	0	0
5651	0.58	146.1	122.3	11.6	909	5658	0.00	0.00	0.00	0.000	6	0.000	0.000	2006	2491	1891	0	0	0	0	0	0
5764	0.58	146.1	109.6	10.9	928	5773	0.00	2.40	0.00	0.000	4	0.000	0.073	2006	3904	1891	0	0	0	0	0	0
5907	0.58	146.1	88.2	15.9	952	5916	0.00	2.30	0.00	0.000	6	0.000	0.054	2017	2504	1891	0	0	0	0	0	0
6022	0.58	146.1	72.4	13.7	971	6029	0.00	0.00	0.00	0.000	6	0.000	0.000	2017	2504	1891	0	0	0	0	0	0
6135	0.58	146.1	56.0	14.8	990	6143	0.00	0.00	0.00	0.000	6	0.000	0.000	2017	2504	1891	0	0	0	0	0	0
6249	0.58	146.1	39.6	14.5	1009	6256	0.00	2.33	0.00	0.000	4	0.000	0.074	2017	3902	1891	0	0	0	0	0	0
6379	0.58	146.1	17.0	17.2	1030	6389	0.12	2.30	0.00	0.000	6	0.235	0.054	1996	2498	1890	0	0	0	0	0	0
6463	0.58	146.1	4.7	14.1	1043	6471	0.00	0.00	0.00	0.000	6	0.000	0.000	1996	2498	1890	0	0	0	0	0	0
6478	end climb: SURFACE_DEPTH_REACHED
state	6479	begin surface coast
6504	end surface coast: CONTROL_FINISHED_OK
state	6505	begin surface