Glider dive log

SOSCEx 08Dec12 * SG543 * Dive index * Mission links * Dive 26 * 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 26 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 3353 ALTIM_PING_DELTA 15

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 3153 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 482.49722 R_PORT_OVSHOOT 54 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 34 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 370 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 385 CAPUPLOAD 1 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 -7871.0054 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 200 PITCH_MAX 3908 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1650 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 52589 PITCH_GAIN 36 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 482.49722

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 36 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 370

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 -7871.0054

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

CAPUPLOAD 1 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 385

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 1650 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 3153 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 3353 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 54 VBD_MAX 3960

DEVICE2 101 MASS 52589 R_STBD_OVSHOOT 34 VBD_MAXERRORS 1

DEVICE3 131 MAX_BUOY 200 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 26 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 121212,225604,-4232.796,821.782,32,1.0,32,-25.0 TGT_NAME GH1

_CALLS 5 TGT_LATLONG -4230.000,820.000

_XMS_NAKs 0 TGT_RADIUS 800.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.216,-0.061

_SM_DEPTHo 1.12 KALMAN_X -1133.9,-80.0,492.5,28636.1,1910.2

_SM_ANGLEo -30.2 KALMAN_Y 33887.8,-856.0,-671.9,-37188.7,6248.5

GPS2 121212,231821,-4232.662,822.123,17,0.9,17,-25.0 MHEAD_RNG_PITCHd_Wd 279.3,5719,-18.2,-9.009

SPEED_LIMITS 0.156,0.284 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.1,1.026324 _10V_AH 10.2,3.148

SM_CCo 12088,124.35,0.774,1,0,506,482.50 FG_AHR_24Vo 0.000

SM_GC 1.36,0.00,0.00,124.35,0.000,0.000,0.774,67,3361,506,-4.95,0.25,482.50 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4215.72,829.68,121212,232329 MEM 354320

TT8_MAMPS 0.025466 DATA_FILE_SIZE 43916,605

HUMID 54.84 CAP_FILE_SIZE 108461,0

INTERNAL_PRESSURE 8.93706 CFSIZE 259252224,256712704

TCM_TEMP 14.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,2

XPDR_PINGS 0 GPS 131212,024405,-4231.435,820.341,29,1.0,29,-25.0

_24V_AH 23.4,7.014

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 11 234 65.46 SBE_CT 394 24 221.44

Roll_motor 66 68 105.15 AA4330 1324 33 1022.42

VBD_pump_during_apogee 391 1202 11019.77 WL_BB2FLVMT 629 105 1547.32

VBD_pump_during_surface 124 774 2252.70 QSP2150 284 4 29.14

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 146 103 353.94 nil 0 0 0.00

Iridium_during_connect 341 160 1278.97 nil 0 0 0.00

Iridium_during_xfer 348 223 1815.94 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 6.02

TT8 1557 14 237.69

LPSleep 8056 2 179.97

TT8_Active 629 14 91.19

TT8_Sampling 2494 37 952.51

TT8_CF8 778 47 374.76

TT8_Kalman 33 59 20.12

Analog_circuits 1411 12 172.81

GPS_charging 0 0 0.00

Compass 1808 15 290.14

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 -0.58 -113.7 0.0 0.0 0 113 0.00 0.00 -90.25 0.000 2 0.000 0.000 61 3375 2790 0 0 0 0 0 0

117 -0.63 -194.7 3.1 -3.5 11 146 5.53 2.22 -12.80 0.000 4 0.234 0.050 1442 1958 3270 0 0 0 0 0 0

185 -0.63 -194.7 12.2 -13.3 19 194 0.00 2.30 0.00 0.000 6 0.000 0.057 1433 3339 3272 0 0 0 0 0 0

274 -0.63 -194.7 26.8 -17.8 32 283 0.00 0.98 0.00 0.000 4 0.000 0.060 1428 3943 3271 0 0 0 0 0 0

347 -0.63 -194.7 39.8 -16.6 43 354 0.00 0.90 0.00 0.000 6 0.000 0.037 1428 3360 3272 0 0 0 0 0 0

584 -0.63 -194.7 79.1 -15.6 84 592 0.00 0.95 0.00 0.000 4 0.000 0.059 1423 3953 3272 0 0 0 0 0 0

684 -0.63 -194.7 95.4 -16.4 100 692 0.00 0.93 0.00 0.000 6 0.000 0.037 1423 3348 3272 0 0 0 0 0 0

1012 -0.63 -194.7 149.8 -16.7 123 1017 0.00 0.95 0.00 0.000 4 0.000 0.059 1419 3945 3272 0 0 0 0 0 0

1127 -0.63 -194.7 170.6 -16.9 129 1133 0.00 0.90 0.00 0.000 6 0.000 0.036 1419 3353 3272 0 0 0 0 0 0

1446 -0.63 -194.7 223.3 -16.0 150 1450 0.00 0.98 0.00 0.000 4 0.000 0.060 1414 3951 3272 0 0 0 0 0 0

1605 -0.63 -194.7 248.7 -15.9 159 1610 0.08 0.93 0.00 0.000 6 0.168 0.036 1438 3340 3272 0 0 0 0 0 0

1934 -0.63 -194.7 292.8 -13.0 175 1940 0.00 0.98 0.00 0.000 4 0.000 0.060 1434 3958 3272 0 0 0 0 0 0

1985 -0.63 -194.7 299.7 -14.0 177 1989 0.00 0.93 0.00 0.000 6 0.000 0.037 1434 3343 3272 0 0 0 0 0 0

2320 -0.63 -194.7 346.6 -14.0 193 2326 0.00 0.95 0.00 0.000 4 0.000 0.060 1430 3948 3272 0 0 0 0 0 0

2416 -0.63 -194.7 360.5 -13.9 197 2420 0.00 0.90 0.00 0.000 6 0.000 0.037 1430 3348 3272 0 0 0 0 0 0

2740 -0.63 -194.7 407.3 -14.7 212 2744 0.00 0.95 0.00 0.000 4 0.000 0.060 1425 3951 3272 0 0 0 0 0 0

2851 -0.63 -194.7 424.4 -15.4 215 2857 0.00 0.90 0.00 0.000 6 0.000 0.037 1425 3347 3272 0 0 0 0 0 0

3184 -0.63 -194.7 472.2 -14.5 226 3188 0.00 0.95 0.00 0.000 4 0.000 0.059 1421 3952 3272 0 0 0 0 0 0

3276 -0.63 -194.7 486.4 -15.2 228 3280 0.00 0.90 0.00 0.000 6 0.000 0.037 1422 3354 3272 0 0 0 0 0 0

3596 -0.63 -194.7 533.6 -14.5 239 3600 0.00 0.98 0.00 0.000 4 0.000 0.060 1417 3956 3271 0 0 0 0 0 0

3668 -0.63 -194.7 544.9 -15.0 241 3672 0.00 0.90 0.00 0.000 6 0.000 0.037 1417 3357 3271 0 0 0 0 0 0

4003 -0.63 -194.7 594.4 -14.9 252 4009 0.12 0.95 0.00 0.000 4 0.182 0.062 1445 3949 3270 0 0 0 0 0 0

4083 -0.63 -194.7 605.2 -12.3 254 4086 0.00 0.90 0.00 0.000 6 0.000 0.038 1445 3348 3271 0 0 0 0 0 0

4413 -0.63 -194.7 643.9 -11.6 265 4418 0.00 0.95 0.00 0.000 4 0.000 0.061 1440 3949 3270 0 0 0 0 0 0

4525 -0.63 -194.7 657.9 -12.6 268 4529 0.00 0.90 0.00 0.000 6 0.000 0.038 1441 3350 3269 0 0 0 0 0 0

4856 -0.63 -194.7 697.3 -12.0 279 4859 0.00 0.95 0.00 0.000 4 0.000 0.062 1436 3952 3269 0 0 0 0 0 0

4957 -0.63 -194.7 709.8 -11.8 282 4963 0.00 0.90 0.00 0.000 6 0.000 0.038 1436 3353 3268 0 0 0 0 0 0

5300 -0.63 -194.7 751.3 -12.0 293 5304 0.00 0.95 0.00 0.000 4 0.000 0.061 1432 3953 3268 0 0 0 0 0 0

5395 -0.63 -194.7 763.6 -12.8 295 5402 0.00 0.90 0.00 0.000 6 0.000 0.039 1432 3354 3268 0 0 0 0 0 0

5708 -0.63 -194.7 800.8 -11.9 306 5712 0.00 0.95 0.00 0.000 4 0.000 0.062 1427 3956 3267 0 0 0 0 0 0

5753 -0.63 -194.7 806.6 -12.3 307 5756 0.00 0.90 0.00 0.000 6 0.000 0.039 1427 3357 3267 0 0 0 0 0 0

6082 -0.63 -194.7 847.0 -12.2 318 6086 0.00 0.95 0.00 0.000 4 0.000 0.063 1423 3956 3266 0 0 0 0 0 0

6152 -0.63 -194.7 856.0 -12.9 320 6156 0.00 0.93 0.00 0.000 6 0.000 0.040 1423 3344 3266 0 0 0 0 0 0

6494 -0.63 -194.7 899.6 -12.7 331 6498 0.00 0.95 0.00 0.000 4 0.000 0.062 1418 3948 3264 0 0 0 0 0 0

6616 -0.63 -194.7 916.5 -13.5 334 6620 0.00 0.90 0.00 0.000 6 0.000 0.040 1418 3350 3264 0 0 0 0 0 0

6935 -0.63 -194.7 957.6 -12.9 345 6939 0.00 0.95 0.00 0.000 4 0.000 0.063 1414 3952 3264 0 0 0 0 0 0

7030 -0.63 -194.7 970.8 -12.9 347 7037 0.08 0.90 0.00 0.000 6 0.168 0.041 1437 3357 3263 0 0 0 0 0 0

7312 end dive: TARGET_DEPTH_EXCEEDED

state 7312 begin apogee

7319 -0.14 0.0 1002.4 10.9 357 7517 0.52 0.00 194.98 1.203 6 0.136 0.000 1602 3147 2473 0 0 0 0 0 0

7518 end apogee: CONTROL_FINISHED_OK

state 7518 begin climb

7521 0.63 194.7 1008.6 0.0 363 7721 0.70 0.00 196.62 1.166 6 0.054 0.000 1859 3147 1679 0 0 0 0 0 0

8017 0.63 194.7 907.2 22.7 380 8021 0.00 2.25 0.00 0.000 4 0.000 0.038 1870 1749 1651 0 0 0 0 0 0

8049 0.63 194.7 899.5 20.3 381 8053 0.00 2.35 0.00 0.000 6 0.000 0.050 1870 3157 1650 0 0 0 0 0 0

8379 0.63 194.7 823.7 23.1 392 8380 0.00 0.00 0.00 0.000 6 0.000 0.000 1870 3157 1649 0 0 0 0 0 0

8685 0.63 194.7 753.3 22.9 402 8689 0.00 2.20 0.00 0.000 4 0.000 0.038 1880 1743 1649 0 0 0 0 0 0

8762 0.63 194.7 738.0 17.6 404 8767 0.00 2.30 0.00 0.000 6 0.000 0.051 1880 3155 1648 0 0 0 0 0 0

9081 0.63 194.7 662.9 24.0 415 9082 0.00 0.00 0.00 0.000 6 0.000 0.000 1881 3154 1647 0 0 0 0 0 0

9387 0.63 194.7 588.5 24.2 425 9388 0.00 0.00 0.00 0.000 6 0.000 0.000 1880 3154 1647 0 0 0 0 0 0

9693 0.63 194.7 515.1 24.0 435 9697 0.00 2.17 0.00 0.000 4 0.000 0.037 1891 1743 1647 0 0 0 0 0 0

9738 0.63 194.7 505.0 20.2 436 9743 0.15 2.28 0.00 0.000 6 0.197 0.050 1855 3154 1646 0 0 0 0 0 0

10057 0.63 194.7 438.1 21.3 447 10061 0.00 2.17 0.00 0.000 4 0.000 0.037 1864 1744 1645 0 0 0 0 0 0

10072 0.63 194.7 434.4 21.6 447 10076 0.00 2.25 0.00 0.000 6 0.000 0.048 1864 3154 1645 0 0 0 0 0 0

10399 0.63 194.7 362.4 22.3 460 10400 0.00 0.00 0.00 0.000 6 0.000 0.000 1864 3154 1645 0 0 0 0 0 0

10709 0.63 194.7 294.0 21.7 475 10714 0.00 2.17 0.00 0.000 4 0.000 0.037 1874 1749 1645 0 0 0 0 0 0

10733 0.63 194.7 288.5 20.7 476 10738 0.00 2.25 0.00 0.000 6 0.000 0.050 1875 3160 1645 0 0 0 0 0 0

11059 0.63 194.7 215.1 22.5 494 11060 0.00 0.00 0.00 0.000 6 0.000 0.000 1875 3161 1644 0 0 0 0 0 0

11372 0.63 194.7 144.6 22.4 514 11376 0.00 1.25 0.00 0.000 4 0.000 0.054 1875 3949 1644 0 0 0 0 0 0

11409 0.63 194.7 135.5 23.2 516 11412 0.00 1.23 0.00 0.000 6 0.000 0.032 1881 3132 1644 0 0 0 0 0 0

11744 0.63 194.7 61.0 22.4 555 11750 0.00 2.10 0.00 0.000 4 0.000 0.037 1891 1764 1644 0 0 0 0 0 0

11813 0.63 194.7 47.5 17.3 566 11822 0.10 2.22 0.00 0.000 6 0.179 0.050 1862 3150 1644 0 0 0 0 0 0

12048 end climb: SURFACE_DEPTH_REACHED

state 12048 begin surface coast

12072 end surface coast: CONTROL_FINISHED_OK

state 12072 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	26	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	3353	ALTIM_PING_DELTA	15
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	3153	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	482.49722	R_PORT_OVSHOOT	54	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	34	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	370	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	385	CAPUPLOAD	1	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	-7871.0054	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	200	PITCH_MAX	3908	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1650	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	52589	PITCH_GAIN	36	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	121212,225604,-4232.796,821.782,32,1.0,32,-25.0	TGT_NAME	GH1
_CALLS	5	TGT_LATLONG	-4230.000,820.000
_XMS_NAKs	0	TGT_RADIUS	800.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.216,-0.061
_SM_DEPTHo	1.12	KALMAN_X	-1133.9,-80.0,492.5,28636.1,1910.2
_SM_ANGLEo	-30.2	KALMAN_Y	33887.8,-856.0,-671.9,-37188.7,6248.5
GPS2	121212,231821,-4232.662,822.123,17,0.9,17,-25.0	MHEAD_RNG_PITCHd_Wd	279.3,5719,-18.2,-9.009
SPEED_LIMITS	0.156,0.284	D_GRID	1000

FINISH	1.1,1.026324	_10V_AH	10.2,3.148
SM_CCo	12088,124.35,0.774,1,0,506,482.50	FG_AHR_24Vo	0.000
SM_GC	1.36,0.00,0.00,124.35,0.000,0.000,0.774,67,3361,506,-4.95,0.25,482.50	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4215.72,829.68,121212,232329	MEM	354320
TT8_MAMPS	0.025466	DATA_FILE_SIZE	43916,605
HUMID	54.84	CAP_FILE_SIZE	108461,0
INTERNAL_PRESSURE	8.93706	CFSIZE	259252224,256712704
TCM_TEMP	14.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
XPDR_PINGS	0	GPS	131212,024405,-4231.435,820.341,29,1.0,29,-25.0
_24V_AH	23.4,7.014

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	11	234	65.46	SBE_CT	394	24	221.44
Roll_motor	66	68	105.15	AA4330	1324	33	1022.42
VBD_pump_during_apogee	391	1202	11019.77	WL_BB2FLVMT	629	105	1547.32
VBD_pump_during_surface	124	774	2252.70	QSP2150	284	4	29.14
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	146	103	353.94	nil	0	0	0.00
Iridium_during_connect	341	160	1278.97	nil	0	0	0.00
Iridium_during_xfer	348	223	1815.94	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	6.02
TT8	1557	14	237.69
LPSleep	8056	2	179.97
TT8_Active	629	14	91.19
TT8_Sampling	2494	37	952.51
TT8_CF8	778	47	374.76
TT8_Kalman	33	59	20.12
Analog_circuits	1411	12	172.81
GPS_charging	0	0	0.00
Compass	1808	15	290.14
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	-0.58	-113.7	0.0	0.0	0	113	0.00	0.00	-90.25	0.000	2	0.000	0.000	61	3375	2790	0	0	0	0	0	0
117	-0.63	-194.7	3.1	-3.5	11	146	5.53	2.22	-12.80	0.000	4	0.234	0.050	1442	1958	3270	0	0	0	0	0	0
185	-0.63	-194.7	12.2	-13.3	19	194	0.00	2.30	0.00	0.000	6	0.000	0.057	1433	3339	3272	0	0	0	0	0	0
274	-0.63	-194.7	26.8	-17.8	32	283	0.00	0.98	0.00	0.000	4	0.000	0.060	1428	3943	3271	0	0	0	0	0	0
347	-0.63	-194.7	39.8	-16.6	43	354	0.00	0.90	0.00	0.000	6	0.000	0.037	1428	3360	3272	0	0	0	0	0	0
584	-0.63	-194.7	79.1	-15.6	84	592	0.00	0.95	0.00	0.000	4	0.000	0.059	1423	3953	3272	0	0	0	0	0	0
684	-0.63	-194.7	95.4	-16.4	100	692	0.00	0.93	0.00	0.000	6	0.000	0.037	1423	3348	3272	0	0	0	0	0	0
1012	-0.63	-194.7	149.8	-16.7	123	1017	0.00	0.95	0.00	0.000	4	0.000	0.059	1419	3945	3272	0	0	0	0	0	0
1127	-0.63	-194.7	170.6	-16.9	129	1133	0.00	0.90	0.00	0.000	6	0.000	0.036	1419	3353	3272	0	0	0	0	0	0
1446	-0.63	-194.7	223.3	-16.0	150	1450	0.00	0.98	0.00	0.000	4	0.000	0.060	1414	3951	3272	0	0	0	0	0	0
1605	-0.63	-194.7	248.7	-15.9	159	1610	0.08	0.93	0.00	0.000	6	0.168	0.036	1438	3340	3272	0	0	0	0	0	0
1934	-0.63	-194.7	292.8	-13.0	175	1940	0.00	0.98	0.00	0.000	4	0.000	0.060	1434	3958	3272	0	0	0	0	0	0
1985	-0.63	-194.7	299.7	-14.0	177	1989	0.00	0.93	0.00	0.000	6	0.000	0.037	1434	3343	3272	0	0	0	0	0	0
2320	-0.63	-194.7	346.6	-14.0	193	2326	0.00	0.95	0.00	0.000	4	0.000	0.060	1430	3948	3272	0	0	0	0	0	0
2416	-0.63	-194.7	360.5	-13.9	197	2420	0.00	0.90	0.00	0.000	6	0.000	0.037	1430	3348	3272	0	0	0	0	0	0
2740	-0.63	-194.7	407.3	-14.7	212	2744	0.00	0.95	0.00	0.000	4	0.000	0.060	1425	3951	3272	0	0	0	0	0	0
2851	-0.63	-194.7	424.4	-15.4	215	2857	0.00	0.90	0.00	0.000	6	0.000	0.037	1425	3347	3272	0	0	0	0	0	0
3184	-0.63	-194.7	472.2	-14.5	226	3188	0.00	0.95	0.00	0.000	4	0.000	0.059	1421	3952	3272	0	0	0	0	0	0
3276	-0.63	-194.7	486.4	-15.2	228	3280	0.00	0.90	0.00	0.000	6	0.000	0.037	1422	3354	3272	0	0	0	0	0	0
3596	-0.63	-194.7	533.6	-14.5	239	3600	0.00	0.98	0.00	0.000	4	0.000	0.060	1417	3956	3271	0	0	0	0	0	0
3668	-0.63	-194.7	544.9	-15.0	241	3672	0.00	0.90	0.00	0.000	6	0.000	0.037	1417	3357	3271	0	0	0	0	0	0
4003	-0.63	-194.7	594.4	-14.9	252	4009	0.12	0.95	0.00	0.000	4	0.182	0.062	1445	3949	3270	0	0	0	0	0	0
4083	-0.63	-194.7	605.2	-12.3	254	4086	0.00	0.90	0.00	0.000	6	0.000	0.038	1445	3348	3271	0	0	0	0	0	0
4413	-0.63	-194.7	643.9	-11.6	265	4418	0.00	0.95	0.00	0.000	4	0.000	0.061	1440	3949	3270	0	0	0	0	0	0
4525	-0.63	-194.7	657.9	-12.6	268	4529	0.00	0.90	0.00	0.000	6	0.000	0.038	1441	3350	3269	0	0	0	0	0	0
4856	-0.63	-194.7	697.3	-12.0	279	4859	0.00	0.95	0.00	0.000	4	0.000	0.062	1436	3952	3269	0	0	0	0	0	0
4957	-0.63	-194.7	709.8	-11.8	282	4963	0.00	0.90	0.00	0.000	6	0.000	0.038	1436	3353	3268	0	0	0	0	0	0
5300	-0.63	-194.7	751.3	-12.0	293	5304	0.00	0.95	0.00	0.000	4	0.000	0.061	1432	3953	3268	0	0	0	0	0	0
5395	-0.63	-194.7	763.6	-12.8	295	5402	0.00	0.90	0.00	0.000	6	0.000	0.039	1432	3354	3268	0	0	0	0	0	0
5708	-0.63	-194.7	800.8	-11.9	306	5712	0.00	0.95	0.00	0.000	4	0.000	0.062	1427	3956	3267	0	0	0	0	0	0
5753	-0.63	-194.7	806.6	-12.3	307	5756	0.00	0.90	0.00	0.000	6	0.000	0.039	1427	3357	3267	0	0	0	0	0	0
6082	-0.63	-194.7	847.0	-12.2	318	6086	0.00	0.95	0.00	0.000	4	0.000	0.063	1423	3956	3266	0	0	0	0	0	0
6152	-0.63	-194.7	856.0	-12.9	320	6156	0.00	0.93	0.00	0.000	6	0.000	0.040	1423	3344	3266	0	0	0	0	0	0
6494	-0.63	-194.7	899.6	-12.7	331	6498	0.00	0.95	0.00	0.000	4	0.000	0.062	1418	3948	3264	0	0	0	0	0	0
6616	-0.63	-194.7	916.5	-13.5	334	6620	0.00	0.90	0.00	0.000	6	0.000	0.040	1418	3350	3264	0	0	0	0	0	0
6935	-0.63	-194.7	957.6	-12.9	345	6939	0.00	0.95	0.00	0.000	4	0.000	0.063	1414	3952	3264	0	0	0	0	0	0
7030	-0.63	-194.7	970.8	-12.9	347	7037	0.08	0.90	0.00	0.000	6	0.168	0.041	1437	3357	3263	0	0	0	0	0	0
7312	end dive: TARGET_DEPTH_EXCEEDED
state	7312	begin apogee
7319	-0.14	0.0	1002.4	10.9	357	7517	0.52	0.00	194.98	1.203	6	0.136	0.000	1602	3147	2473	0	0	0	0	0	0
7518	end apogee: CONTROL_FINISHED_OK
state	7518	begin climb
7521	0.63	194.7	1008.6	0.0	363	7721	0.70	0.00	196.62	1.166	6	0.054	0.000	1859	3147	1679	0	0	0	0	0	0
8017	0.63	194.7	907.2	22.7	380	8021	0.00	2.25	0.00	0.000	4	0.000	0.038	1870	1749	1651	0	0	0	0	0	0
8049	0.63	194.7	899.5	20.3	381	8053	0.00	2.35	0.00	0.000	6	0.000	0.050	1870	3157	1650	0	0	0	0	0	0
8379	0.63	194.7	823.7	23.1	392	8380	0.00	0.00	0.00	0.000	6	0.000	0.000	1870	3157	1649	0	0	0	0	0	0
8685	0.63	194.7	753.3	22.9	402	8689	0.00	2.20	0.00	0.000	4	0.000	0.038	1880	1743	1649	0	0	0	0	0	0
8762	0.63	194.7	738.0	17.6	404	8767	0.00	2.30	0.00	0.000	6	0.000	0.051	1880	3155	1648	0	0	0	0	0	0
9081	0.63	194.7	662.9	24.0	415	9082	0.00	0.00	0.00	0.000	6	0.000	0.000	1881	3154	1647	0	0	0	0	0	0
9387	0.63	194.7	588.5	24.2	425	9388	0.00	0.00	0.00	0.000	6	0.000	0.000	1880	3154	1647	0	0	0	0	0	0
9693	0.63	194.7	515.1	24.0	435	9697	0.00	2.17	0.00	0.000	4	0.000	0.037	1891	1743	1647	0	0	0	0	0	0
9738	0.63	194.7	505.0	20.2	436	9743	0.15	2.28	0.00	0.000	6	0.197	0.050	1855	3154	1646	0	0	0	0	0	0
10057	0.63	194.7	438.1	21.3	447	10061	0.00	2.17	0.00	0.000	4	0.000	0.037	1864	1744	1645	0	0	0	0	0	0
10072	0.63	194.7	434.4	21.6	447	10076	0.00	2.25	0.00	0.000	6	0.000	0.048	1864	3154	1645	0	0	0	0	0	0
10399	0.63	194.7	362.4	22.3	460	10400	0.00	0.00	0.00	0.000	6	0.000	0.000	1864	3154	1645	0	0	0	0	0	0
10709	0.63	194.7	294.0	21.7	475	10714	0.00	2.17	0.00	0.000	4	0.000	0.037	1874	1749	1645	0	0	0	0	0	0
10733	0.63	194.7	288.5	20.7	476	10738	0.00	2.25	0.00	0.000	6	0.000	0.050	1875	3160	1645	0	0	0	0	0	0
11059	0.63	194.7	215.1	22.5	494	11060	0.00	0.00	0.00	0.000	6	0.000	0.000	1875	3161	1644	0	0	0	0	0	0
11372	0.63	194.7	144.6	22.4	514	11376	0.00	1.25	0.00	0.000	4	0.000	0.054	1875	3949	1644	0	0	0	0	0	0
11409	0.63	194.7	135.5	23.2	516	11412	0.00	1.23	0.00	0.000	6	0.000	0.032	1881	3132	1644	0	0	0	0	0	0
11744	0.63	194.7	61.0	22.4	555	11750	0.00	2.10	0.00	0.000	4	0.000	0.037	1891	1764	1644	0	0	0	0	0	0
11813	0.63	194.7	47.5	17.3	566	11822	0.10	2.22	0.00	0.000	6	0.179	0.050	1862	3150	1644	0	0	0	0	0	0
12048	end climb: SURFACE_DEPTH_REACHED
state	12048	begin surface coast
12072	end surface coast: CONTROL_FINISHED_OK
state	12072	begin surface