Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 261 * 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 6 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 1050

DIVE 261 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2860 ALTIM_PING_DELTA 5

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2670 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -4230 HEAD_ERRBAND 10 ALTIM_PULSE 3

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 2

D_NO_BLEED 200 SM_CC 230 R_PORT_OVSHOOT 57 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 24 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 5 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 2820 DEVICE3 115

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 134

T_DIVE 353 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 368 CAPUPLOAD 0 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 -11326.064 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 1830 PHONE_SUPPLY 2 SEABIRD_T_G 0.0042910837

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -48.034508 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 52816 PITCH_GAIN 39 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 200 PHONE_DEVICE 48 SM_CC 230

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 1000 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 1050 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 39 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 -4230

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 73 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 0.0012300001 T_BOOST 5

APOGEE_PITCH -7 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011816985 T_DIVE 353

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -48.034508 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 -11326.064

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

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 368

CF8_MAXERRORS 20 HEAD_ERRBAND 10 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 1830 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2670 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 2860 LOGGERDEVICE1 -1 ROLL_MAX 3901 USE_ICE 0

C_VBD 2820 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 57 VBD_MAX 3961

DEVICE2 101 MASS 52816 R_STBD_OVSHOOT 24 VBD_MAXERRORS 1

DEVICE3 115 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 6 SEABIRD_C_J 0.00021125977 VBD_TIMEOUT 720

DIVE 261 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 0 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 190113,204128,-4632.608,438.880,72,1.0,72,-23.5 TGT_NAME GH4

_CALLS 2 TGT_LATLONG -4700.000,440.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.197,-0.164

_SM_DEPTHo 1.71 KALMAN_X -205112.7,646.7,481.3,232038.4,-4155.3

_SM_ANGLEo -56.6 KALMAN_Y 114160.4,33.2,-98.7,-79366.5,2897.0

GPS2 190113,205722,-4632.521,439.158,24,1.4,24,-23.5 MHEAD_RNG_PITCHd_Wd 153.3,50901,-16.5,-9.443

SPEED_LIMITS 0.164,0.256 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.7,1.014726 _10V_AH 10.0,24.100

SM_CCo 14751,42.65,0.753,1,0,1877,230.09 FG_AHR_24Vo 0.000

SM_GC 1.92,0.00,0.00,42.65,0.000,0.000,0.753,57,2866,1877,-5.54,0.17,230.09 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4613.60,438.55,190113,202001 MEM 353904

TT8_MAMPS 0.026215 DATA_FILE_SIZE 53715,733

HUMID 58.58 CAP_FILE_SIZE 102067,0

INTERNAL_PRESSURE 9.33597 CFSIZE 259252224,213237760

TCM_TEMP 10.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,1

XPDR_PINGS 0 GPS 200113,010622,-4633.197,441.435,41,0.9,41,-23.5

_24V_AH 22.0,49.595

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 254 77.76 SBE_CT 483 24 255.35

Roll_motor 53 79 92.90 AA4330 1422 33 1032.65

VBD_pump_during_apogee 298 1778 11687.08 WL_BB2FLVMT 739 105 1708.28

VBD_pump_during_surface 42 752 706.31 QSP2150 286 4 27.65

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 52 103 119.99 nil 0 0 0.00

Iridium_during_connect 94 160 331.94 nil 0 0 0.00

Iridium_during_xfer 467 223 2294.04 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 26 7.08

TT8 1772 14 265.20

LPSleep 10564 2 231.35

TT8_Active 411 14 58.54

TT8_Sampling 2370 37 887.34

TT8_CF8 619 47 292.06

TT8_Kalman 33 59 19.74

Analog_circuits 1120 12 134.40

GPS_charging 0 0 0.00

Compass 1679 15 264.17

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

27 -0.60 -146.1 0.0 0.0 0 100 0.00 0.00 -71.15 0.000 2 0.000 0.000 49 2823 3311 0 0 0 0 0 0

107 -0.60 -146.1 4.0 -3.0 9 125 6.80 1.77 -2.45 0.000 4 0.255 0.069 1623 3907 3418 0 0 0 0 0 0

350 -0.60 -146.1 48.6 -17.6 47 357 0.00 1.60 0.00 0.000 6 0.000 0.031 1623 2853 3419 0 0 0 0 0 0

592 -0.60 -146.1 88.1 -14.5 88 599 0.00 1.70 0.00 0.000 4 0.000 0.059 1615 3892 3419 0 0 0 0 0 0

685 -0.60 -146.1 101.2 -13.4 103 689 0.00 1.55 0.00 0.000 6 0.000 0.031 1615 2867 3420 0 0 0 0 0 0

1017 -0.60 -146.1 148.0 -14.2 124 1021 0.00 1.67 0.00 0.000 4 0.000 0.058 1607 3906 3421 0 0 0 0 0 0

1088 -0.60 -146.1 158.1 -14.3 128 1092 0.00 1.58 0.00 0.000 6 0.000 0.031 1607 2856 3422 0 0 0 0 0 0

1423 -0.60 -146.1 202.0 -12.9 149 1424 0.00 0.00 0.00 0.000 6 0.000 0.000 1607 2851 3422 0 0 0 0 0 0

1735 -0.60 -146.1 245.2 -14.4 169 1736 0.00 0.00 0.00 0.000 6 0.000 0.000 1607 2851 3422 0 0 0 0 0 0

2050 -0.60 -146.1 288.0 -13.6 185 2051 0.00 0.00 0.00 0.000 6 0.000 0.000 1606 2851 3422 0 0 0 0 0 0

2358 -0.60 -146.1 330.1 -13.5 200 2359 0.00 0.00 0.00 0.000 6 0.000 0.000 1607 2851 3422 0 0 0 0 0 0

2669 -0.60 -146.1 370.1 -12.6 215 2670 0.00 0.00 0.00 0.000 6 0.000 0.000 1607 2851 3422 0 0 0 0 0 0

2975 -0.60 -146.1 408.4 -12.4 229 2977 0.00 0.00 0.00 0.000 6 0.000 0.000 1607 2851 3422 0 0 0 0 0 0

3283 -0.60 -146.1 445.4 -12.1 239 3284 0.00 0.00 0.00 0.000 6 0.000 0.000 1607 2850 3422 0 0 0 0 0 0

3588 -0.60 -146.1 481.5 -11.6 249 3589 0.00 0.00 0.00 0.000 6 0.000 0.000 1606 2851 3422 0 0 0 0 0 0

3896 -0.60 -146.1 514.2 -10.4 259 3897 0.00 0.00 0.00 0.000 6 0.000 0.000 1606 2851 3421 0 0 0 0 0 0

4200 -0.60 -146.1 545.6 -10.4 269 4201 0.00 0.00 0.00 0.000 6 0.000 0.000 1607 2851 3421 0 0 0 0 0 0

4507 -0.60 -146.1 578.7 -11.0 279 4508 0.00 0.00 0.00 0.000 6 0.000 0.000 1607 2851 3420 0 0 0 0 0 0

4813 -0.60 -146.1 613.0 -11.1 289 4814 0.00 0.00 0.00 0.000 6 0.000 0.000 1607 2851 3420 0 0 0 0 0 0

5121 -0.60 -146.1 647.3 -11.2 299 5122 0.00 0.00 0.00 0.000 6 0.000 0.000 1607 2851 3420 0 0 0 0 0 0

5425 -0.60 -146.1 682.4 -11.6 309 5426 0.00 0.00 0.00 0.000 6 0.000 0.000 1607 2851 3420 0 0 0 0 0 0

5732 -0.60 -146.1 717.8 -11.6 319 5733 0.00 0.00 0.00 0.000 6 0.000 0.000 1607 2851 3419 0 0 0 0 0 0

6038 -0.60 -146.1 751.5 -10.6 329 6042 0.00 2.08 0.00 0.000 4 0.000 0.038 1607 1480 3420 0 0 0 0 0 0

6078 -0.60 -146.1 756.0 -10.4 330 6083 0.15 2.20 0.00 0.000 6 0.182 0.054 1634 2862 3419 0 0 0 0 0 0

6406 -0.60 -146.1 781.0 -7.4 341 6407 0.00 0.00 0.00 0.000 6 0.000 0.000 1634 2862 3419 0 0 0 0 0 0

6712 -0.60 -146.1 803.8 -7.6 351 6713 0.00 0.00 0.00 0.000 6 0.000 0.000 1634 2862 3419 0 0 0 0 0 0

7018 -0.60 -146.1 827.3 -7.6 361 7022 0.00 2.10 0.00 0.000 4 0.000 0.037 1635 1485 3419 0 0 0 0 0 0

7053 -0.60 -146.1 830.4 -7.8 362 7058 0.00 2.20 0.00 0.000 6 0.000 0.054 1625 2860 3419 0 0 0 0 0 0

7386 -0.60 -146.1 857.0 -8.0 373 7387 0.00 0.00 0.00 0.000 6 0.000 0.000 1626 2861 3419 0 0 0 0 0 0

7692 -0.60 -146.1 881.2 -8.0 383 7693 0.00 0.00 0.00 0.000 6 0.000 0.000 1626 2861 3419 0 0 0 0 0 0

7998 -0.60 -146.1 905.6 -8.0 393 8000 0.00 0.00 0.00 0.000 6 0.000 0.000 1626 2861 3419 0 0 0 0 0 0

8304 -0.60 -146.1 931.1 -8.4 403 8306 0.00 0.00 0.00 0.000 6 0.000 0.000 1626 2861 3419 0 0 0 0 0 0

8611 -0.60 -146.1 956.6 -8.2 413 8612 0.00 0.00 0.00 0.000 6 0.000 0.000 1626 2860 3419 0 0 0 0 0 0

8917 -0.60 -146.1 980.1 -7.4 423 8918 0.00 0.00 0.00 0.000 6 0.000 0.000 1626 2861 3419 0 0 0 0 0 0

9218 end dive: TARGET_DEPTH_EXCEEDED

state 9218 begin apogee

9229 -0.18 0.0 1001.3 6.7 433 9379 0.47 0.00 147.27 1.231 6 0.158 0.000 1764 2691 2819 0 0 0 0 0 0

9381 end apogee: CONTROL_FINISHED_OK

state 9381 begin climb

9386 0.60 146.1 1002.4 0.0 438 9552 0.80 2.55 151.40 1.779 4 0.102 0.042 2029 1281 2225 0 0 0 0 1 0

9572 0.60 146.1 973.5 20.4 443 9579 0.00 2.47 0.00 0.000 6 0.000 0.050 2029 2665 2224 0 0 0 0 0 0

9888 0.60 146.1 904.8 21.6 454 9891 0.00 2.03 0.00 0.000 4 0.000 0.060 2029 3903 2218 0 0 0 0 0 0

9924 0.60 146.1 896.1 24.3 455 9928 0.00 1.98 0.00 0.000 6 0.000 0.035 2039 2671 2217 0 0 0 0 0 0

10267 0.60 146.1 821.7 21.7 466 10268 0.00 0.00 0.00 0.000 6 0.000 0.000 2039 2666 2216 0 0 0 0 0 0

10574 0.60 146.1 758.6 21.0 476 10578 0.00 2.20 0.00 0.000 4 0.000 0.043 2049 1269 2216 0 0 0 0 0 0

10614 0.60 146.1 750.2 19.0 477 10618 0.00 2.28 0.00 0.000 6 0.000 0.052 2049 2672 2214 0 0 0 0 0 0

10954 0.60 146.1 679.7 21.3 488 10955 0.00 0.00 0.00 0.000 6 0.000 0.000 2050 2672 2214 0 0 0 0 0 0

11259 0.60 146.1 615.2 21.5 498 11262 0.00 1.98 0.00 0.000 4 0.000 0.060 2049 3904 2213 0 0 0 0 0 0

11299 0.60 146.1 605.1 26.5 499 11303 0.15 1.92 0.00 0.000 6 0.235 0.037 2026 2661 2213 0 0 0 0 0 0

11633 0.60 146.1 540.5 19.2 510 11634 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2656 2213 0 0 0 0 0 0

11938 0.60 146.1 480.2 19.3 520 11939 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2656 2213 0 0 0 0 0 0

12244 0.60 146.1 422.1 18.6 530 12245 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2656 2213 0 0 0 0 0 0

12564 0.60 146.1 366.3 17.3 543 12565 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2656 2213 0 0 0 0 0 0

12871 0.60 146.1 313.5 17.3 558 12873 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2656 2213 0 0 0 0 0 0

13182 0.60 146.1 257.6 18.6 573 13186 0.00 2.03 0.00 0.000 4 0.000 0.060 2026 3906 2212 0 0 0 0 0 0

13233 0.60 146.1 247.4 20.2 575 13240 0.00 1.90 0.00 0.000 6 0.000 0.037 2035 2666 2212 0 0 0 0 0 0

13554 0.60 146.1 185.4 17.0 596 13558 0.00 2.15 0.00 0.000 4 0.000 0.043 2045 1273 2212 0 0 0 0 0 0

13600 0.60 146.1 177.9 14.1 598 13609 0.00 2.28 0.00 0.000 6 0.000 0.051 2045 2668 2210 0 0 0 0 0 0

13924 0.60 146.1 127.4 15.8 619 13927 0.00 1.98 0.00 0.000 4 0.000 0.060 2045 3906 2210 0 0 0 0 0 0

14004 0.60 146.1 112.4 17.1 623 14012 0.12 1.90 0.00 0.000 6 0.232 0.037 2028 2668 2211 0 0 0 0 0 0

14346 0.60 146.1 63.2 13.7 672 14355 0.00 2.20 0.00 0.000 4 0.000 0.041 2037 1270 2210 0 0 0 0 0 0

14468 0.60 146.1 46.1 13.6 691 14475 0.00 2.25 0.00 0.000 6 0.000 0.050 2038 2670 2208 0 0 0 0 0 0

14708 end climb: SURFACE_DEPTH_REACHED

state 14708 begin surface coast

14729 end surface coast: CONTROL_FINISHED_OK

state 14729 begin surface

ID	542	HEADING	-1	ROLL_MAX	3901	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	6	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	1050
DIVE	261	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2860	ALTIM_PING_DELTA	5
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2670	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-4230	HEAD_ERRBAND	10	ALTIM_PULSE	3
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	2
D_NO_BLEED	200	SM_CC	230	R_PORT_OVSHOOT	57	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	24	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	5	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	2820	DEVICE3	115
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	134
T_DIVE	353	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	368	CAPUPLOAD	0	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	-11326.064	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	1830	PHONE_SUPPLY	2	SEABIRD_T_G	0.0042910837
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-48.034508	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	52816	PITCH_GAIN	39	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	190113,204128,-4632.608,438.880,72,1.0,72,-23.5	TGT_NAME	GH4
_CALLS	2	TGT_LATLONG	-4700.000,440.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.197,-0.164
_SM_DEPTHo	1.71	KALMAN_X	-205112.7,646.7,481.3,232038.4,-4155.3
_SM_ANGLEo	-56.6	KALMAN_Y	114160.4,33.2,-98.7,-79366.5,2897.0
GPS2	190113,205722,-4632.521,439.158,24,1.4,24,-23.5	MHEAD_RNG_PITCHd_Wd	153.3,50901,-16.5,-9.443
SPEED_LIMITS	0.164,0.256	D_GRID	1000

FINISH	0.7,1.014726	_10V_AH	10.0,24.100
SM_CCo	14751,42.65,0.753,1,0,1877,230.09	FG_AHR_24Vo	0.000
SM_GC	1.92,0.00,0.00,42.65,0.000,0.000,0.753,57,2866,1877,-5.54,0.17,230.09	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4613.60,438.55,190113,202001	MEM	353904
TT8_MAMPS	0.026215	DATA_FILE_SIZE	53715,733
HUMID	58.58	CAP_FILE_SIZE	102067,0
INTERNAL_PRESSURE	9.33597	CFSIZE	259252224,213237760
TCM_TEMP	10.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
XPDR_PINGS	0	GPS	200113,010622,-4633.197,441.435,41,0.9,41,-23.5
_24V_AH	22.0,49.595

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	254	77.76	SBE_CT	483	24	255.35
Roll_motor	53	79	92.90	AA4330	1422	33	1032.65
VBD_pump_during_apogee	298	1778	11687.08	WL_BB2FLVMT	739	105	1708.28
VBD_pump_during_surface	42	752	706.31	QSP2150	286	4	27.65
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	52	103	119.99	nil	0	0	0.00
Iridium_during_connect	94	160	331.94	nil	0	0	0.00
Iridium_during_xfer	467	223	2294.04	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	26	7.08
TT8	1772	14	265.20
LPSleep	10564	2	231.35
TT8_Active	411	14	58.54
TT8_Sampling	2370	37	887.34
TT8_CF8	619	47	292.06
TT8_Kalman	33	59	19.74
Analog_circuits	1120	12	134.40
GPS_charging	0	0	0.00
Compass	1679	15	264.17
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
27	-0.60	-146.1	0.0	0.0	0	100	0.00	0.00	-71.15	0.000	2	0.000	0.000	49	2823	3311	0	0	0	0	0	0
107	-0.60	-146.1	4.0	-3.0	9	125	6.80	1.77	-2.45	0.000	4	0.255	0.069	1623	3907	3418	0	0	0	0	0	0
350	-0.60	-146.1	48.6	-17.6	47	357	0.00	1.60	0.00	0.000	6	0.000	0.031	1623	2853	3419	0	0	0	0	0	0
592	-0.60	-146.1	88.1	-14.5	88	599	0.00	1.70	0.00	0.000	4	0.000	0.059	1615	3892	3419	0	0	0	0	0	0
685	-0.60	-146.1	101.2	-13.4	103	689	0.00	1.55	0.00	0.000	6	0.000	0.031	1615	2867	3420	0	0	0	0	0	0
1017	-0.60	-146.1	148.0	-14.2	124	1021	0.00	1.67	0.00	0.000	4	0.000	0.058	1607	3906	3421	0	0	0	0	0	0
1088	-0.60	-146.1	158.1	-14.3	128	1092	0.00	1.58	0.00	0.000	6	0.000	0.031	1607	2856	3422	0	0	0	0	0	0
1423	-0.60	-146.1	202.0	-12.9	149	1424	0.00	0.00	0.00	0.000	6	0.000	0.000	1607	2851	3422	0	0	0	0	0	0
1735	-0.60	-146.1	245.2	-14.4	169	1736	0.00	0.00	0.00	0.000	6	0.000	0.000	1607	2851	3422	0	0	0	0	0	0
2050	-0.60	-146.1	288.0	-13.6	185	2051	0.00	0.00	0.00	0.000	6	0.000	0.000	1606	2851	3422	0	0	0	0	0	0
2358	-0.60	-146.1	330.1	-13.5	200	2359	0.00	0.00	0.00	0.000	6	0.000	0.000	1607	2851	3422	0	0	0	0	0	0
2669	-0.60	-146.1	370.1	-12.6	215	2670	0.00	0.00	0.00	0.000	6	0.000	0.000	1607	2851	3422	0	0	0	0	0	0
2975	-0.60	-146.1	408.4	-12.4	229	2977	0.00	0.00	0.00	0.000	6	0.000	0.000	1607	2851	3422	0	0	0	0	0	0
3283	-0.60	-146.1	445.4	-12.1	239	3284	0.00	0.00	0.00	0.000	6	0.000	0.000	1607	2850	3422	0	0	0	0	0	0
3588	-0.60	-146.1	481.5	-11.6	249	3589	0.00	0.00	0.00	0.000	6	0.000	0.000	1606	2851	3422	0	0	0	0	0	0
3896	-0.60	-146.1	514.2	-10.4	259	3897	0.00	0.00	0.00	0.000	6	0.000	0.000	1606	2851	3421	0	0	0	0	0	0
4200	-0.60	-146.1	545.6	-10.4	269	4201	0.00	0.00	0.00	0.000	6	0.000	0.000	1607	2851	3421	0	0	0	0	0	0
4507	-0.60	-146.1	578.7	-11.0	279	4508	0.00	0.00	0.00	0.000	6	0.000	0.000	1607	2851	3420	0	0	0	0	0	0
4813	-0.60	-146.1	613.0	-11.1	289	4814	0.00	0.00	0.00	0.000	6	0.000	0.000	1607	2851	3420	0	0	0	0	0	0
5121	-0.60	-146.1	647.3	-11.2	299	5122	0.00	0.00	0.00	0.000	6	0.000	0.000	1607	2851	3420	0	0	0	0	0	0
5425	-0.60	-146.1	682.4	-11.6	309	5426	0.00	0.00	0.00	0.000	6	0.000	0.000	1607	2851	3420	0	0	0	0	0	0
5732	-0.60	-146.1	717.8	-11.6	319	5733	0.00	0.00	0.00	0.000	6	0.000	0.000	1607	2851	3419	0	0	0	0	0	0
6038	-0.60	-146.1	751.5	-10.6	329	6042	0.00	2.08	0.00	0.000	4	0.000	0.038	1607	1480	3420	0	0	0	0	0	0
6078	-0.60	-146.1	756.0	-10.4	330	6083	0.15	2.20	0.00	0.000	6	0.182	0.054	1634	2862	3419	0	0	0	0	0	0
6406	-0.60	-146.1	781.0	-7.4	341	6407	0.00	0.00	0.00	0.000	6	0.000	0.000	1634	2862	3419	0	0	0	0	0	0
6712	-0.60	-146.1	803.8	-7.6	351	6713	0.00	0.00	0.00	0.000	6	0.000	0.000	1634	2862	3419	0	0	0	0	0	0
7018	-0.60	-146.1	827.3	-7.6	361	7022	0.00	2.10	0.00	0.000	4	0.000	0.037	1635	1485	3419	0	0	0	0	0	0
7053	-0.60	-146.1	830.4	-7.8	362	7058	0.00	2.20	0.00	0.000	6	0.000	0.054	1625	2860	3419	0	0	0	0	0	0
7386	-0.60	-146.1	857.0	-8.0	373	7387	0.00	0.00	0.00	0.000	6	0.000	0.000	1626	2861	3419	0	0	0	0	0	0
7692	-0.60	-146.1	881.2	-8.0	383	7693	0.00	0.00	0.00	0.000	6	0.000	0.000	1626	2861	3419	0	0	0	0	0	0
7998	-0.60	-146.1	905.6	-8.0	393	8000	0.00	0.00	0.00	0.000	6	0.000	0.000	1626	2861	3419	0	0	0	0	0	0
8304	-0.60	-146.1	931.1	-8.4	403	8306	0.00	0.00	0.00	0.000	6	0.000	0.000	1626	2861	3419	0	0	0	0	0	0
8611	-0.60	-146.1	956.6	-8.2	413	8612	0.00	0.00	0.00	0.000	6	0.000	0.000	1626	2860	3419	0	0	0	0	0	0
8917	-0.60	-146.1	980.1	-7.4	423	8918	0.00	0.00	0.00	0.000	6	0.000	0.000	1626	2861	3419	0	0	0	0	0	0
9218	end dive: TARGET_DEPTH_EXCEEDED
state	9218	begin apogee
9229	-0.18	0.0	1001.3	6.7	433	9379	0.47	0.00	147.27	1.231	6	0.158	0.000	1764	2691	2819	0	0	0	0	0	0
9381	end apogee: CONTROL_FINISHED_OK
state	9381	begin climb
9386	0.60	146.1	1002.4	0.0	438	9552	0.80	2.55	151.40	1.779	4	0.102	0.042	2029	1281	2225	0	0	0	0	1	0
9572	0.60	146.1	973.5	20.4	443	9579	0.00	2.47	0.00	0.000	6	0.000	0.050	2029	2665	2224	0	0	0	0	0	0
9888	0.60	146.1	904.8	21.6	454	9891	0.00	2.03	0.00	0.000	4	0.000	0.060	2029	3903	2218	0	0	0	0	0	0
9924	0.60	146.1	896.1	24.3	455	9928	0.00	1.98	0.00	0.000	6	0.000	0.035	2039	2671	2217	0	0	0	0	0	0
10267	0.60	146.1	821.7	21.7	466	10268	0.00	0.00	0.00	0.000	6	0.000	0.000	2039	2666	2216	0	0	0	0	0	0
10574	0.60	146.1	758.6	21.0	476	10578	0.00	2.20	0.00	0.000	4	0.000	0.043	2049	1269	2216	0	0	0	0	0	0
10614	0.60	146.1	750.2	19.0	477	10618	0.00	2.28	0.00	0.000	6	0.000	0.052	2049	2672	2214	0	0	0	0	0	0
10954	0.60	146.1	679.7	21.3	488	10955	0.00	0.00	0.00	0.000	6	0.000	0.000	2050	2672	2214	0	0	0	0	0	0
11259	0.60	146.1	615.2	21.5	498	11262	0.00	1.98	0.00	0.000	4	0.000	0.060	2049	3904	2213	0	0	0	0	0	0
11299	0.60	146.1	605.1	26.5	499	11303	0.15	1.92	0.00	0.000	6	0.235	0.037	2026	2661	2213	0	0	0	0	0	0
11633	0.60	146.1	540.5	19.2	510	11634	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2656	2213	0	0	0	0	0	0
11938	0.60	146.1	480.2	19.3	520	11939	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2656	2213	0	0	0	0	0	0
12244	0.60	146.1	422.1	18.6	530	12245	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2656	2213	0	0	0	0	0	0
12564	0.60	146.1	366.3	17.3	543	12565	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2656	2213	0	0	0	0	0	0
12871	0.60	146.1	313.5	17.3	558	12873	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2656	2213	0	0	0	0	0	0
13182	0.60	146.1	257.6	18.6	573	13186	0.00	2.03	0.00	0.000	4	0.000	0.060	2026	3906	2212	0	0	0	0	0	0
13233	0.60	146.1	247.4	20.2	575	13240	0.00	1.90	0.00	0.000	6	0.000	0.037	2035	2666	2212	0	0	0	0	0	0
13554	0.60	146.1	185.4	17.0	596	13558	0.00	2.15	0.00	0.000	4	0.000	0.043	2045	1273	2212	0	0	0	0	0	0
13600	0.60	146.1	177.9	14.1	598	13609	0.00	2.28	0.00	0.000	6	0.000	0.051	2045	2668	2210	0	0	0	0	0	0
13924	0.60	146.1	127.4	15.8	619	13927	0.00	1.98	0.00	0.000	4	0.000	0.060	2045	3906	2210	0	0	0	0	0	0
14004	0.60	146.1	112.4	17.1	623	14012	0.12	1.90	0.00	0.000	6	0.232	0.037	2028	2668	2211	0	0	0	0	0	0
14346	0.60	146.1	63.2	13.7	672	14355	0.00	2.20	0.00	0.000	4	0.000	0.041	2037	1270	2210	0	0	0	0	0	0
14468	0.60	146.1	46.1	13.6	691	14475	0.00	2.25	0.00	0.000	6	0.000	0.050	2038	2670	2208	0	0	0	0	0	0
14708	end climb: SURFACE_DEPTH_REACHED
state	14708	begin surface coast
14729	end surface coast: CONTROL_FINISHED_OK
state	14729	begin surface