Glider dive log

SOSCEx 08Dec12 * SG543 * Dive index * Mission links * Dive 224 * 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 224 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 57 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 19 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 -8472.7314 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 -8472.7314

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 57 VBD_MAX 3960

DEVICE2 101 MASS 52459 R_STBD_OVSHOOT 19 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 224 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 150113,171004,-4204.174,902.096,29,1.1,29,-25.1 TGT_NAME GH3

_CALLS 1 TGT_LATLONG -4200.000,900.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.081,0.120

_SM_DEPTHo 1.94 KALMAN_X -147320.0,-135.5,177.7,229785.0,-2018.6

_SM_ANGLEo -53.2 KALMAN_Y 52405.0,-950.8,-464.7,-3016.8,6420.1

GPS2 150113,171800,-4204.153,902.092,19,1.1,19,-25.1 MHEAD_RNG_PITCHd_Wd 351.1,8212,-27.0,-8.333

SPEED_LIMITS 0.144,0.244 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.3,1.019681 _10V_AH 10.1,23.963

SM_CCo 12690,72.38,0.741,1,0,1450,250.20 FG_AHR_24Vo 0.000

SM_GC 1.99,0.00,0.00,72.38,0.000,0.000,0.741,53,3399,1450,-4.94,0.54,250.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4149.58,859.11,150113,131302 MEM 353920

TT8_MAMPS 0.026215 DATA_FILE_SIZE 47116,630

HUMID 56.14 CAP_FILE_SIZE 111515,0

INTERNAL_PRESSURE 9.03472 CFSIZE 259252224,244490240

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

XPDR_PINGS 0 GPS 150113,205306,-4202.496,901.114,35,0.9,35,-25.1

_24V_AH 23.3,38.884

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 226 65.42 SBE_CT 410 24 229.69

Roll_motor 57 72 97.87 AA4330 1387 33 1066.73

VBD_pump_during_apogee 187 1254 5470.07 WL_BB2FLVMT 647 105 1583.20

VBD_pump_during_surface 72 741 1250.06 QSP2150 291 4 29.77

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 67.84 nil 0 0 0.00

Iridium_during_connect 18 160 69.88 nil 0 0 0.00

Iridium_during_xfer 267 223 1389.69 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 26 5.87

TT8 1688 14 255.08

LPSleep 8197 2 181.32

TT8_Active 332 14 47.70

TT8_Sampling 2283 37 863.40

TT8_CF8 748 47 356.45

TT8_Kalman 33 59 19.93

Analog_circuits 1210 12 146.65

GPS_charging 0 0 0.00

Compass 2083 15 331.08

RAFOS 0 0 0.00

Transponder 2 5 0.15

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 -0.76 -48.0 0.0 0.0 0 71 0.00 0.00 -49.42 0.000 2 0.000 0.000 51 3370 2657 0 0 0 0 0 0

75 -0.78 -89.1 3.3 -3.5 6 94 5.38 2.12 -5.57 0.000 4 0.226 0.043 1375 1979 2841 0 0 0 0 0 0

207 -0.78 -89.1 20.1 -14.7 25 215 0.00 2.33 0.00 0.000 6 0.000 0.054 1365 3383 2843 0 0 0 0 0 0

294 -0.78 -89.1 36.3 -18.3 38 303 0.00 0.90 0.00 0.000 4 0.000 0.057 1361 3946 2843 0 0 0 0 0 0

383 -0.78 -89.1 53.4 -19.5 52 391 0.00 0.85 0.00 0.000 6 0.000 0.034 1361 3388 2843 0 0 0 0 0 0

626 -0.78 -89.1 90.3 -14.3 93 633 0.00 0.90 0.00 0.000 4 0.000 0.056 1357 3951 2844 0 0 0 0 0 0

892 -0.78 -89.1 132.1 -15.6 116 895 0.00 0.85 0.00 0.000 6 0.000 0.034 1357 3385 2845 0 0 0 0 0 0

1221 -0.78 -89.1 177.8 -14.4 137 1224 0.00 0.93 0.00 0.000 4 0.000 0.055 1353 3961 2846 0 0 0 0 0 0

1487 -0.78 -89.1 222.4 -17.1 152 1491 0.00 0.88 0.00 0.000 6 0.000 0.034 1353 3378 2847 0 0 0 0 0 0

1819 -0.78 -89.1 274.2 -16.0 171 1823 0.00 0.90 0.00 0.000 4 0.000 0.055 1349 3947 2847 0 0 0 0 0 0

2084 -0.78 -89.1 319.4 -15.3 182 2088 0.10 0.85 0.00 0.000 6 0.176 0.033 1376 3383 2848 0 0 0 0 0 0

2407 -0.78 -89.1 359.9 -11.8 198 2410 0.00 0.90 0.00 0.000 4 0.000 0.056 1374 3952 2847 0 0 0 0 0 0

2562 -0.78 -89.1 380.4 -13.5 204 2570 0.00 0.85 0.00 0.000 6 0.000 0.034 1374 3384 2848 0 0 0 0 0 0

2889 -0.78 -89.1 419.1 -12.1 218 2893 0.00 0.90 0.00 0.000 4 0.000 0.057 1370 3953 2847 0 0 0 0 0 0

2984 -0.78 -89.1 432.2 -13.4 220 2990 0.00 0.85 0.00 0.000 6 0.000 0.034 1369 3385 2848 0 0 0 0 0 0

3298 -0.78 -89.1 471.3 -12.6 231 3302 0.00 2.12 0.00 0.000 4 0.000 0.030 1370 1964 2848 0 0 0 0 0 0

3362 -0.78 -89.1 479.0 -11.4 233 3366 0.00 2.28 0.00 0.000 6 0.000 0.054 1359 3387 2848 0 0 0 0 0 0

3697 -0.78 -89.1 523.6 -13.5 244 3702 0.00 0.88 0.00 0.000 4 0.000 0.057 1355 3946 2848 0 0 0 0 0 0

3905 -0.78 -89.1 555.0 -15.6 250 3909 0.00 0.85 0.00 0.000 6 0.000 0.034 1355 3376 2848 0 0 0 0 0 0

4240 -0.78 -89.1 599.9 -12.9 261 4244 0.00 2.10 0.00 0.000 4 0.000 0.031 1355 1966 2847 0 0 0 0 0 0

4273 -0.78 -89.1 604.1 -11.7 262 4278 0.15 2.30 0.00 0.000 6 0.183 0.054 1380 3387 2847 0 0 0 0 0 0

4604 -0.78 -89.1 642.1 -11.3 273 4605 0.00 0.00 0.00 0.000 6 0.000 0.000 1380 3387 2847 0 0 0 0 0 0

4910 -0.78 -89.1 677.7 -11.6 283 4913 0.00 0.90 0.00 0.000 4 0.000 0.058 1377 3955 2846 0 0 0 0 0 0

4960 -0.78 -89.1 684.2 -12.9 284 4963 0.00 0.88 0.00 0.000 6 0.000 0.035 1377 3375 2846 0 0 0 0 0 0

5284 -0.78 -89.1 721.4 -11.5 295 5285 0.00 0.00 0.00 0.000 6 0.000 0.000 1377 3374 2845 0 0 0 0 0 0

5590 -0.78 -89.1 756.8 -11.8 305 5594 0.00 0.93 0.00 0.000 4 0.000 0.059 1373 3954 2844 0 0 0 0 0 0

5628 -0.78 -89.1 762.1 -12.9 306 5632 0.00 0.88 0.00 0.000 6 0.000 0.036 1373 3377 2844 0 0 0 0 0 0

5964 -0.78 -89.1 803.7 -12.6 317 5968 0.00 0.93 0.00 0.000 4 0.000 0.058 1369 3956 2843 0 0 0 0 0 0

6014 -0.78 -89.1 810.8 -14.1 318 6020 0.00 0.88 0.00 0.000 6 0.000 0.036 1369 3378 2843 0 0 0 0 0 0

6340 -0.78 -89.1 850.4 -11.7 329 6345 0.00 0.90 0.00 0.000 4 0.000 0.058 1365 3943 2842 0 0 0 0 0 0

6410 -0.78 -89.1 859.1 -12.8 331 6413 0.00 0.85 0.00 0.000 6 0.000 0.036 1364 3381 2842 0 0 0 0 0 0

6751 -0.78 -89.1 899.1 -11.3 342 6756 0.00 0.90 0.00 0.000 4 0.000 0.060 1360 3946 2841 0 0 0 0 0 0

6821 -0.78 -89.1 907.7 -11.9 344 6825 0.00 0.85 0.00 0.000 6 0.000 0.037 1360 3385 2841 0 0 0 0 0 0

7162 -0.78 -89.1 947.4 -11.5 355 7163 0.00 0.00 0.00 0.000 6 0.000 0.000 1360 3385 2840 0 0 0 0 0 0

7468 -0.78 -89.1 981.3 -11.2 365 7472 0.00 0.90 0.00 0.000 4 0.000 0.060 1356 3948 2839 0 0 0 0 0 0

7503 -0.78 -89.1 985.2 -11.8 366 7506 0.00 0.88 0.00 0.000 6 0.000 0.037 1356 3372 2839 0 0 0 0 0 0

7659 end dive: TARGET_DEPTH_EXCEEDED

state 7659 begin apogee

7666 -0.14 0.0 1003.2 11.5 371 7763 0.82 0.00 93.43 1.255 6 0.170 0.000 1585 3275 2473 0 0 0 0 0 0

7764 end apogee: CONTROL_FINISHED_OK

state 7764 begin climb

7767 0.78 89.1 1005.6 0.0 374 7869 0.88 1.15 93.70 1.226 4 0.082 0.051 1881 3951 2106 0 0 0 0 0 0

7899 0.78 89.1 985.8 22.8 378 7903 0.00 1.10 0.00 0.000 6 0.000 0.031 1887 3267 2099 0 0 0 0 0 0

8241 0.78 89.1 912.4 20.9 389 8246 0.00 1.12 0.00 0.000 4 0.000 0.054 1887 3948 2090 0 0 0 0 0 0

8320 0.78 89.1 894.1 23.0 391 8323 0.00 1.05 0.00 0.000 6 0.000 0.032 1892 3263 2090 0 0 0 0 0 0

8649 0.78 89.1 823.6 21.3 402 8655 0.00 1.12 0.00 0.000 4 0.000 0.054 1892 3956 2087 0 0 0 0 0 0

8829 0.78 89.1 782.1 23.1 407 8834 0.00 1.02 0.00 0.000 6 0.000 0.031 1896 3275 2086 0 0 0 0 0 0

9160 0.78 89.1 712.7 20.5 418 9165 0.00 1.10 0.00 0.000 4 0.000 0.054 1897 3955 2085 0 0 0 0 0 0

9265 0.78 89.1 689.5 23.4 421 9268 0.00 1.02 0.00 0.000 6 0.000 0.031 1901 3272 2084 0 0 0 0 0 0

9606 0.78 89.1 618.5 20.8 432 9610 0.00 1.10 0.00 0.000 4 0.000 0.054 1902 3958 2083 0 0 0 0 0 0

9715 0.78 89.1 594.3 24.2 435 9719 0.00 1.02 0.00 0.000 6 0.000 0.031 1907 3272 2083 0 0 0 0 0 0

10051 0.78 89.1 524.2 20.6 446 10054 0.00 1.10 0.00 0.000 4 0.000 0.054 1907 3958 2082 0 0 0 0 0 0

10204 0.78 89.1 490.2 22.5 450 10207 0.00 1.02 0.00 0.000 6 0.000 0.031 1912 3272 2082 0 0 0 0 0 0

10528 0.78 89.1 426.1 19.9 461 10532 0.00 1.10 0.00 0.000 4 0.000 0.053 1912 3958 2081 0 0 0 0 0 0

10637 0.78 89.1 402.5 23.5 464 10641 0.08 1.02 0.00 0.000 6 0.210 0.031 1897 3272 2081 0 0 0 0 0 0

10956 0.78 89.1 338.1 20.3 479 10962 0.00 1.08 0.00 0.000 4 0.000 0.054 1897 3946 2081 0 0 0 0 0 0

11074 0.78 89.1 312.7 22.0 484 11078 0.00 1.00 0.00 0.000 6 0.000 0.032 1900 3272 2080 0 0 0 0 0 0

11404 0.78 89.1 246.0 20.2 500 11405 0.00 0.00 0.00 0.000 6 0.000 0.000 1900 3272 2080 0 0 0 0 0 0

11717 0.78 89.1 184.3 19.9 520 11720 0.00 1.08 0.00 0.000 4 0.000 0.054 1900 3947 2080 0 0 0 0 0 0

11845 0.78 89.1 157.2 22.4 527 11848 0.00 1.00 0.00 0.000 6 0.000 0.031 1905 3271 2080 0 0 0 0 0 0

12173 0.78 89.1 94.2 18.8 550 12180 0.00 1.08 0.00 0.000 4 0.000 0.053 1905 3946 2080 0 0 0 0 0 0

12450 0.78 89.1 37.5 18.5 596 12458 0.00 1.00 0.00 0.000 6 0.000 0.031 1911 3269 2080 0 0 0 0 0 0

12654 end climb: SURFACE_DEPTH_REACHED

state 12654 begin surface coast

12674 end surface coast: CONTROL_FINISHED_OK

state 12674 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	224	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	57	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	19	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	-8472.7314	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	150113,171004,-4204.174,902.096,29,1.1,29,-25.1	TGT_NAME	GH3
_CALLS	1	TGT_LATLONG	-4200.000,900.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.081,0.120
_SM_DEPTHo	1.94	KALMAN_X	-147320.0,-135.5,177.7,229785.0,-2018.6
_SM_ANGLEo	-53.2	KALMAN_Y	52405.0,-950.8,-464.7,-3016.8,6420.1
GPS2	150113,171800,-4204.153,902.092,19,1.1,19,-25.1	MHEAD_RNG_PITCHd_Wd	351.1,8212,-27.0,-8.333
SPEED_LIMITS	0.144,0.244	D_GRID	1000

FINISH	1.3,1.019681	_10V_AH	10.1,23.963
SM_CCo	12690,72.38,0.741,1,0,1450,250.20	FG_AHR_24Vo	0.000
SM_GC	1.99,0.00,0.00,72.38,0.000,0.000,0.741,53,3399,1450,-4.94,0.54,250.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4149.58,859.11,150113,131302	MEM	353920
TT8_MAMPS	0.026215	DATA_FILE_SIZE	47116,630
HUMID	56.14	CAP_FILE_SIZE	111515,0
INTERNAL_PRESSURE	9.03472	CFSIZE	259252224,244490240
TCM_TEMP	15.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
XPDR_PINGS	0	GPS	150113,205306,-4202.496,901.114,35,0.9,35,-25.1
_24V_AH	23.3,38.884

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	226	65.42	SBE_CT	410	24	229.69
Roll_motor	57	72	97.87	AA4330	1387	33	1066.73
VBD_pump_during_apogee	187	1254	5470.07	WL_BB2FLVMT	647	105	1583.20
VBD_pump_during_surface	72	741	1250.06	QSP2150	291	4	29.77
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	67.84	nil	0	0	0.00
Iridium_during_connect	18	160	69.88	nil	0	0	0.00
Iridium_during_xfer	267	223	1389.69	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	26	5.87
TT8	1688	14	255.08
LPSleep	8197	2	181.32
TT8_Active	332	14	47.70
TT8_Sampling	2283	37	863.40
TT8_CF8	748	47	356.45
TT8_Kalman	33	59	19.93
Analog_circuits	1210	12	146.65
GPS_charging	0	0	0.00
Compass	2083	15	331.08
RAFOS	0	0	0.00
Transponder	2	5	0.15

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	-0.76	-48.0	0.0	0.0	0	71	0.00	0.00	-49.42	0.000	2	0.000	0.000	51	3370	2657	0	0	0	0	0	0
75	-0.78	-89.1	3.3	-3.5	6	94	5.38	2.12	-5.57	0.000	4	0.226	0.043	1375	1979	2841	0	0	0	0	0	0
207	-0.78	-89.1	20.1	-14.7	25	215	0.00	2.33	0.00	0.000	6	0.000	0.054	1365	3383	2843	0	0	0	0	0	0
294	-0.78	-89.1	36.3	-18.3	38	303	0.00	0.90	0.00	0.000	4	0.000	0.057	1361	3946	2843	0	0	0	0	0	0
383	-0.78	-89.1	53.4	-19.5	52	391	0.00	0.85	0.00	0.000	6	0.000	0.034	1361	3388	2843	0	0	0	0	0	0
626	-0.78	-89.1	90.3	-14.3	93	633	0.00	0.90	0.00	0.000	4	0.000	0.056	1357	3951	2844	0	0	0	0	0	0
892	-0.78	-89.1	132.1	-15.6	116	895	0.00	0.85	0.00	0.000	6	0.000	0.034	1357	3385	2845	0	0	0	0	0	0
1221	-0.78	-89.1	177.8	-14.4	137	1224	0.00	0.93	0.00	0.000	4	0.000	0.055	1353	3961	2846	0	0	0	0	0	0
1487	-0.78	-89.1	222.4	-17.1	152	1491	0.00	0.88	0.00	0.000	6	0.000	0.034	1353	3378	2847	0	0	0	0	0	0
1819	-0.78	-89.1	274.2	-16.0	171	1823	0.00	0.90	0.00	0.000	4	0.000	0.055	1349	3947	2847	0	0	0	0	0	0
2084	-0.78	-89.1	319.4	-15.3	182	2088	0.10	0.85	0.00	0.000	6	0.176	0.033	1376	3383	2848	0	0	0	0	0	0
2407	-0.78	-89.1	359.9	-11.8	198	2410	0.00	0.90	0.00	0.000	4	0.000	0.056	1374	3952	2847	0	0	0	0	0	0
2562	-0.78	-89.1	380.4	-13.5	204	2570	0.00	0.85	0.00	0.000	6	0.000	0.034	1374	3384	2848	0	0	0	0	0	0
2889	-0.78	-89.1	419.1	-12.1	218	2893	0.00	0.90	0.00	0.000	4	0.000	0.057	1370	3953	2847	0	0	0	0	0	0
2984	-0.78	-89.1	432.2	-13.4	220	2990	0.00	0.85	0.00	0.000	6	0.000	0.034	1369	3385	2848	0	0	0	0	0	0
3298	-0.78	-89.1	471.3	-12.6	231	3302	0.00	2.12	0.00	0.000	4	0.000	0.030	1370	1964	2848	0	0	0	0	0	0
3362	-0.78	-89.1	479.0	-11.4	233	3366	0.00	2.28	0.00	0.000	6	0.000	0.054	1359	3387	2848	0	0	0	0	0	0
3697	-0.78	-89.1	523.6	-13.5	244	3702	0.00	0.88	0.00	0.000	4	0.000	0.057	1355	3946	2848	0	0	0	0	0	0
3905	-0.78	-89.1	555.0	-15.6	250	3909	0.00	0.85	0.00	0.000	6	0.000	0.034	1355	3376	2848	0	0	0	0	0	0
4240	-0.78	-89.1	599.9	-12.9	261	4244	0.00	2.10	0.00	0.000	4	0.000	0.031	1355	1966	2847	0	0	0	0	0	0
4273	-0.78	-89.1	604.1	-11.7	262	4278	0.15	2.30	0.00	0.000	6	0.183	0.054	1380	3387	2847	0	0	0	0	0	0
4604	-0.78	-89.1	642.1	-11.3	273	4605	0.00	0.00	0.00	0.000	6	0.000	0.000	1380	3387	2847	0	0	0	0	0	0
4910	-0.78	-89.1	677.7	-11.6	283	4913	0.00	0.90	0.00	0.000	4	0.000	0.058	1377	3955	2846	0	0	0	0	0	0
4960	-0.78	-89.1	684.2	-12.9	284	4963	0.00	0.88	0.00	0.000	6	0.000	0.035	1377	3375	2846	0	0	0	0	0	0
5284	-0.78	-89.1	721.4	-11.5	295	5285	0.00	0.00	0.00	0.000	6	0.000	0.000	1377	3374	2845	0	0	0	0	0	0
5590	-0.78	-89.1	756.8	-11.8	305	5594	0.00	0.93	0.00	0.000	4	0.000	0.059	1373	3954	2844	0	0	0	0	0	0
5628	-0.78	-89.1	762.1	-12.9	306	5632	0.00	0.88	0.00	0.000	6	0.000	0.036	1373	3377	2844	0	0	0	0	0	0
5964	-0.78	-89.1	803.7	-12.6	317	5968	0.00	0.93	0.00	0.000	4	0.000	0.058	1369	3956	2843	0	0	0	0	0	0
6014	-0.78	-89.1	810.8	-14.1	318	6020	0.00	0.88	0.00	0.000	6	0.000	0.036	1369	3378	2843	0	0	0	0	0	0
6340	-0.78	-89.1	850.4	-11.7	329	6345	0.00	0.90	0.00	0.000	4	0.000	0.058	1365	3943	2842	0	0	0	0	0	0
6410	-0.78	-89.1	859.1	-12.8	331	6413	0.00	0.85	0.00	0.000	6	0.000	0.036	1364	3381	2842	0	0	0	0	0	0
6751	-0.78	-89.1	899.1	-11.3	342	6756	0.00	0.90	0.00	0.000	4	0.000	0.060	1360	3946	2841	0	0	0	0	0	0
6821	-0.78	-89.1	907.7	-11.9	344	6825	0.00	0.85	0.00	0.000	6	0.000	0.037	1360	3385	2841	0	0	0	0	0	0
7162	-0.78	-89.1	947.4	-11.5	355	7163	0.00	0.00	0.00	0.000	6	0.000	0.000	1360	3385	2840	0	0	0	0	0	0
7468	-0.78	-89.1	981.3	-11.2	365	7472	0.00	0.90	0.00	0.000	4	0.000	0.060	1356	3948	2839	0	0	0	0	0	0
7503	-0.78	-89.1	985.2	-11.8	366	7506	0.00	0.88	0.00	0.000	6	0.000	0.037	1356	3372	2839	0	0	0	0	0	0
7659	end dive: TARGET_DEPTH_EXCEEDED
state	7659	begin apogee
7666	-0.14	0.0	1003.2	11.5	371	7763	0.82	0.00	93.43	1.255	6	0.170	0.000	1585	3275	2473	0	0	0	0	0	0
7764	end apogee: CONTROL_FINISHED_OK
state	7764	begin climb
7767	0.78	89.1	1005.6	0.0	374	7869	0.88	1.15	93.70	1.226	4	0.082	0.051	1881	3951	2106	0	0	0	0	0	0
7899	0.78	89.1	985.8	22.8	378	7903	0.00	1.10	0.00	0.000	6	0.000	0.031	1887	3267	2099	0	0	0	0	0	0
8241	0.78	89.1	912.4	20.9	389	8246	0.00	1.12	0.00	0.000	4	0.000	0.054	1887	3948	2090	0	0	0	0	0	0
8320	0.78	89.1	894.1	23.0	391	8323	0.00	1.05	0.00	0.000	6	0.000	0.032	1892	3263	2090	0	0	0	0	0	0
8649	0.78	89.1	823.6	21.3	402	8655	0.00	1.12	0.00	0.000	4	0.000	0.054	1892	3956	2087	0	0	0	0	0	0
8829	0.78	89.1	782.1	23.1	407	8834	0.00	1.02	0.00	0.000	6	0.000	0.031	1896	3275	2086	0	0	0	0	0	0
9160	0.78	89.1	712.7	20.5	418	9165	0.00	1.10	0.00	0.000	4	0.000	0.054	1897	3955	2085	0	0	0	0	0	0
9265	0.78	89.1	689.5	23.4	421	9268	0.00	1.02	0.00	0.000	6	0.000	0.031	1901	3272	2084	0	0	0	0	0	0
9606	0.78	89.1	618.5	20.8	432	9610	0.00	1.10	0.00	0.000	4	0.000	0.054	1902	3958	2083	0	0	0	0	0	0
9715	0.78	89.1	594.3	24.2	435	9719	0.00	1.02	0.00	0.000	6	0.000	0.031	1907	3272	2083	0	0	0	0	0	0
10051	0.78	89.1	524.2	20.6	446	10054	0.00	1.10	0.00	0.000	4	0.000	0.054	1907	3958	2082	0	0	0	0	0	0
10204	0.78	89.1	490.2	22.5	450	10207	0.00	1.02	0.00	0.000	6	0.000	0.031	1912	3272	2082	0	0	0	0	0	0
10528	0.78	89.1	426.1	19.9	461	10532	0.00	1.10	0.00	0.000	4	0.000	0.053	1912	3958	2081	0	0	0	0	0	0
10637	0.78	89.1	402.5	23.5	464	10641	0.08	1.02	0.00	0.000	6	0.210	0.031	1897	3272	2081	0	0	0	0	0	0
10956	0.78	89.1	338.1	20.3	479	10962	0.00	1.08	0.00	0.000	4	0.000	0.054	1897	3946	2081	0	0	0	0	0	0
11074	0.78	89.1	312.7	22.0	484	11078	0.00	1.00	0.00	0.000	6	0.000	0.032	1900	3272	2080	0	0	0	0	0	0
11404	0.78	89.1	246.0	20.2	500	11405	0.00	0.00	0.00	0.000	6	0.000	0.000	1900	3272	2080	0	0	0	0	0	0
11717	0.78	89.1	184.3	19.9	520	11720	0.00	1.08	0.00	0.000	4	0.000	0.054	1900	3947	2080	0	0	0	0	0	0
11845	0.78	89.1	157.2	22.4	527	11848	0.00	1.00	0.00	0.000	6	0.000	0.031	1905	3271	2080	0	0	0	0	0	0
12173	0.78	89.1	94.2	18.8	550	12180	0.00	1.08	0.00	0.000	4	0.000	0.053	1905	3946	2080	0	0	0	0	0	0
12450	0.78	89.1	37.5	18.5	596	12458	0.00	1.00	0.00	0.000	6	0.000	0.031	1911	3269	2080	0	0	0	0	0	0
12654	end climb: SURFACE_DEPTH_REACHED
state	12654	begin surface coast
12674	end surface coast: CONTROL_FINISHED_OK
state	12674	begin surface