Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 264 * 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 264 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 35 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 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 -11336.865 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 -11336.865

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 35 VBD_MAX 3961

DEVICE2 101 MASS 52816 R_STBD_OVSHOOT 34 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 264 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 200113,094505,-4635.689,442.892,25,1.1,25,-23.6 TGT_NAME GH4

_CALLS 1 TGT_LATLONG -4700.000,440.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.176,-0.186

_SM_DEPTHo 1.70 KALMAN_X -207703.6,-49.9,543.9,240144.7,-3669.3

_SM_ANGLEo -60.2 KALMAN_Y 120460.7,-623.5,-279.0,-90724.0,4538.3

GPS2 200113,095530,-4635.713,443.001,18,1.0,18,-23.6 MHEAD_RNG_PITCHd_Wd 160.2,45139,-16.5,-9.443

SPEED_LIMITS 0.164,0.256 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.8,1.014774 _10V_AH 10.0,24.398

SM_CCo 14576,42.45,0.767,1,0,1881,230.09 FG_AHR_24Vo 0.000

SM_GC 2.25,0.00,0.00,42.45,0.000,0.000,0.767,61,2885,1881,-5.53,0.71,230.09 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4616.72,445.30,200113,050551 MEM 353884

TT8_MAMPS 0.026964 DATA_FILE_SIZE 53876,736

HUMID 58.38 CAP_FILE_SIZE 100368,0

INTERNAL_PRESSURE 9.33597 CFSIZE 259252224,213069824

TCM_TEMP 11.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

XPDR_PINGS 0 GPS 200113,140135,-4637.031,445.061,41,0.9,41,-23.6

_24V_AH 21.9,50.082

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 258 78.57 SBE_CT 485 24 255.39

Roll_motor 51 73 83.11 AA4330 1449 33 1047.50

VBD_pump_during_apogee 298 1784 11656.40 WL_BB2FLVMT 775 105 1783.76

VBD_pump_during_surface 42 767 713.32 QSP2150 293 4 28.11

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 55.25 nil 0 0 0.00

Iridium_during_connect 44 160 155.24 nil 0 0 0.00

Iridium_during_xfer 322 223 1574.83 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 24 26 6.53

TT8 1788 14 267.54

LPSleep 10245 2 224.37

TT8_Active 405 14 57.57

TT8_Sampling 2205 37 825.64

TT8_CF8 590 47 278.73

TT8_Kalman 33 59 19.74

Analog_circuits 1134 12 136.09

GPS_charging 0 0 0.00

Compass 1742 15 274.10

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

21 end surface: CONTROL_FINISHED_OK

state 22 begin dive

27 -0.60 -146.1 0.0 0.0 0 92 0.00 0.00 -62.95 0.000 2 0.000 0.000 52 2875 3073 0 0 0 0 0 0

99 -0.60 -146.1 3.0 -2.5 8 125 6.85 1.67 -9.73 0.000 4 0.259 0.073 1621 3893 3416 0 0 0 0 0 0

398 -0.60 -146.1 50.1 -14.6 55 405 0.00 1.62 0.00 0.000 6 0.000 0.031 1621 2829 3418 0 0 0 0 0 0

636 -0.60 -146.1 83.8 -12.8 96 645 0.00 0.00 0.00 0.000 6 0.000 0.000 1621 2829 3418 0 0 0 0 0 0

988 -0.60 -146.1 127.3 -12.1 131 992 0.00 1.70 0.00 0.000 4 0.000 0.057 1613 3890 3420 0 0 0 0 0 0

1096 -0.60 -146.1 141.7 -12.5 137 1100 0.00 1.55 0.00 0.000 6 0.000 0.031 1613 2856 3420 0 0 0 0 0 0

1429 -0.60 -146.1 185.4 -12.9 158 1430 0.00 0.00 0.00 0.000 6 0.000 0.000 1613 2853 3421 0 0 0 0 0 0

1744 -0.60 -146.1 224.1 -12.4 178 1745 0.00 0.00 0.00 0.000 6 0.000 0.000 1613 2852 3421 0 0 0 0 0 0

2064 -0.60 -146.1 262.6 -11.7 197 2065 0.00 0.00 0.00 0.000 6 0.000 0.000 1613 2852 3421 0 0 0 0 0 0

2372 -0.60 -146.1 298.0 -11.6 212 2375 0.00 1.65 0.00 0.000 4 0.000 0.059 1605 3897 3421 0 0 0 0 0 0

2445 -0.60 -146.1 306.9 -13.1 215 2450 0.05 1.55 0.00 0.000 6 0.160 0.032 1621 2873 3421 0 0 0 0 0 0

2783 -0.60 -146.1 344.9 -11.3 231 2785 0.00 0.00 0.00 0.000 6 0.000 0.000 1621 2869 3421 0 0 0 0 0 0

3090 -0.60 -146.1 378.9 -10.7 246 3091 0.00 0.00 0.00 0.000 6 0.000 0.000 1621 2869 3421 0 0 0 0 0 0

3419 -0.60 -146.1 412.7 -9.9 260 3420 0.00 0.00 0.00 0.000 6 0.000 0.000 1621 2869 3421 0 0 0 0 0 0

3725 -0.60 -146.1 443.8 -10.5 270 3727 0.00 0.00 0.00 0.000 6 0.000 0.000 1621 2869 3421 0 0 0 0 0 0

4031 -0.60 -146.1 475.8 -10.5 280 4035 0.00 2.12 0.00 0.000 4 0.000 0.037 1622 1475 3420 0 0 0 0 0 0

4077 -0.60 -146.1 480.8 -9.8 281 4081 0.00 2.20 0.00 0.000 6 0.000 0.053 1612 2852 3420 0 0 0 0 0 0

4409 -0.60 -146.1 517.0 -11.0 292 4410 0.00 0.00 0.00 0.000 6 0.000 0.000 1612 2853 3420 0 0 0 0 0 0

4716 -0.60 -146.1 550.9 -11.2 302 4717 0.00 0.00 0.00 0.000 6 0.000 0.000 1612 2853 3419 0 0 0 0 0 0

5022 -0.60 -146.1 586.1 -11.5 312 5023 0.00 0.00 0.00 0.000 6 0.000 0.000 1612 2853 3419 0 0 0 0 0 0

5328 -0.60 -146.1 620.8 -11.6 322 5331 0.00 1.65 0.00 0.000 4 0.000 0.060 1604 3900 3418 0 0 0 0 0 0

5357 -0.60 -146.1 624.6 -12.8 322 5364 0.08 1.58 0.00 0.000 6 0.159 0.033 1627 2859 3418 0 0 0 0 0 0

5674 -0.60 -146.1 656.9 -10.1 333 5678 0.00 2.12 0.00 0.000 4 0.000 0.038 1627 1471 3418 0 0 0 0 0 0

5714 -0.60 -146.1 661.3 -9.4 334 5718 0.00 2.22 0.00 0.000 6 0.000 0.053 1618 2867 3418 0 0 0 0 0 0

6041 -0.60 -146.1 696.4 -10.9 345 6042 0.00 0.00 0.00 0.000 6 0.000 0.000 1618 2867 3418 0 0 0 0 0 0

6347 -0.60 -146.1 728.7 -10.6 355 6348 0.00 0.00 0.00 0.000 6 0.000 0.000 1618 2867 3417 0 0 0 0 0 0

6653 -0.60 -146.1 759.4 -9.6 365 6654 0.00 0.00 0.00 0.000 6 0.000 0.000 1618 2867 3418 0 0 0 0 0 0

6960 -0.60 -146.1 789.7 -9.9 375 6961 0.00 0.00 0.00 0.000 6 0.000 0.000 1617 2867 3417 0 0 0 0 0 0

7266 -0.60 -146.1 819.1 -9.4 385 7267 0.00 0.00 0.00 0.000 6 0.000 0.000 1618 2867 3418 0 0 0 0 0 0

7572 -0.60 -146.1 846.9 -9.0 395 7576 0.00 2.15 0.00 0.000 4 0.000 0.037 1618 1475 3417 0 0 0 0 0 0

7609 -0.60 -146.1 850.2 -8.6 396 7613 0.00 2.22 0.00 0.000 6 0.000 0.054 1607 2865 3417 0 0 0 0 0 0

7954 -0.60 -146.1 883.0 -9.6 407 7956 0.00 0.00 0.00 0.000 6 0.000 0.000 1607 2866 3417 0 0 0 0 0 0

8259 -0.60 -146.1 911.8 -9.5 417 8260 0.00 0.00 0.00 0.000 6 0.000 0.000 1607 2866 3417 0 0 0 0 0 0

8565 -0.60 -146.1 942.5 -10.4 427 8566 0.00 0.00 0.00 0.000 6 0.000 0.000 1607 2866 3417 0 0 0 0 0 0

8871 -0.60 -146.1 975.1 -10.8 437 8873 0.00 0.00 0.00 0.000 6 0.000 0.000 1607 2866 3417 0 0 0 0 0 0

9111 end dive: TARGET_DEPTH_EXCEEDED

state 9112 begin apogee

9122 -0.18 0.0 1000.3 10.2 445 9272 0.55 0.00 146.52 1.235 6 0.164 0.000 1766 2677 2819 0 0 0 0 0 0

9274 end apogee: CONTROL_FINISHED_OK

state 9274 begin climb

9279 0.60 146.1 1004.9 0.0 450 9441 0.77 0.00 151.70 1.785 6 0.097 0.000 2017 2678 2223 0 0 0 0 1 0

9778 0.60 146.1 914.3 21.5 466 9779 0.00 0.00 0.00 0.000 6 0.000 0.000 2017 2678 2218 0 0 0 0 0 0

10081 0.60 146.1 850.6 20.8 476 10085 0.00 2.22 0.00 0.000 4 0.000 0.042 2028 1273 2215 0 0 0 0 0 0

10112 0.60 146.1 844.2 20.7 477 10117 0.00 2.30 0.00 0.000 6 0.000 0.051 2028 2673 2214 0 0 0 0 0 0

10450 0.60 146.1 772.6 21.3 488 10451 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2674 2214 0 0 0 0 0 0

10757 0.60 146.1 706.8 21.3 498 10758 0.00 0.00 0.00 0.000 6 0.000 0.000 2028 2674 2214 0 0 0 0 0 0

11062 0.60 146.1 645.2 19.1 508 11064 0.00 0.00 0.00 0.000 6 0.000 0.000 2028 2674 2213 0 0 0 0 0 0

11369 0.60 146.1 588.4 18.8 518 11373 0.00 1.98 0.00 0.000 4 0.000 0.060 2028 3891 2213 0 0 0 0 0 0

11409 0.60 146.1 579.5 23.3 519 11413 0.00 1.90 0.00 0.000 6 0.000 0.037 2038 2676 2213 0 0 0 0 0 0

11748 0.60 146.1 511.2 20.6 530 11752 0.00 2.20 0.00 0.000 4 0.000 0.043 2047 1269 2213 0 0 0 0 0 0

11817 0.60 146.1 497.5 18.2 532 11821 0.00 2.28 0.00 0.000 6 0.000 0.050 2048 2678 2211 0 0 0 0 0 0

12149 0.60 146.1 428.2 21.3 543 12150 0.00 0.00 0.00 0.000 6 0.000 0.000 2048 2679 2211 0 0 0 0 0 0

12467 0.60 146.1 363.2 20.8 556 12471 0.00 1.92 0.00 0.000 4 0.000 0.059 2048 3901 2211 0 0 0 0 0 0

12502 0.60 146.1 355.3 22.7 557 12507 0.12 1.90 0.00 0.000 6 0.236 0.037 2031 2664 2211 0 0 0 0 0 0

12829 0.60 146.1 297.5 17.4 573 12830 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2659 2211 0 0 0 0 0 0

13148 0.60 146.1 241.7 17.3 589 13149 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2659 2211 0 0 0 0 0 0

13461 0.60 146.1 186.6 17.8 609 13462 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2659 2211 0 0 0 0 0 0

13773 0.60 146.1 131.3 17.5 629 13777 0.00 2.17 0.00 0.000 4 0.000 0.044 2041 1256 2211 0 0 0 0 0 0

13855 0.60 146.1 117.8 14.7 634 13859 0.00 2.28 0.00 0.000 6 0.000 0.051 2041 2670 2208 0 0 0 0 0 0

14195 0.60 146.1 63.5 15.3 680 14202 0.00 1.95 0.00 0.000 4 0.000 0.059 2040 3900 2209 0 0 0 0 0 0

14243 0.60 146.1 55.4 19.4 687 14250 0.00 1.90 0.00 0.000 6 0.000 0.037 2050 2653 2209 0 0 0 0 0 0

14497 0.60 146.1 10.3 17.8 728 14507 0.00 0.00 0.00 0.000 6 0.000 0.000 2050 2651 2209 0 0 0 0 0 0

14533 end climb: SURFACE_DEPTH_REACHED

state 14533 begin surface coast

14553 end surface coast: CONTROL_FINISHED_OK

state 14553 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	264	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	35	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	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	-11336.865	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	200113,094505,-4635.689,442.892,25,1.1,25,-23.6	TGT_NAME	GH4
_CALLS	1	TGT_LATLONG	-4700.000,440.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.176,-0.186
_SM_DEPTHo	1.70	KALMAN_X	-207703.6,-49.9,543.9,240144.7,-3669.3
_SM_ANGLEo	-60.2	KALMAN_Y	120460.7,-623.5,-279.0,-90724.0,4538.3
GPS2	200113,095530,-4635.713,443.001,18,1.0,18,-23.6	MHEAD_RNG_PITCHd_Wd	160.2,45139,-16.5,-9.443
SPEED_LIMITS	0.164,0.256	D_GRID	1000

FINISH	0.8,1.014774	_10V_AH	10.0,24.398
SM_CCo	14576,42.45,0.767,1,0,1881,230.09	FG_AHR_24Vo	0.000
SM_GC	2.25,0.00,0.00,42.45,0.000,0.000,0.767,61,2885,1881,-5.53,0.71,230.09	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4616.72,445.30,200113,050551	MEM	353884
TT8_MAMPS	0.026964	DATA_FILE_SIZE	53876,736
HUMID	58.38	CAP_FILE_SIZE	100368,0
INTERNAL_PRESSURE	9.33597	CFSIZE	259252224,213069824
TCM_TEMP	11.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS	0	GPS	200113,140135,-4637.031,445.061,41,0.9,41,-23.6
_24V_AH	21.9,50.082

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	258	78.57	SBE_CT	485	24	255.39
Roll_motor	51	73	83.11	AA4330	1449	33	1047.50
VBD_pump_during_apogee	298	1784	11656.40	WL_BB2FLVMT	775	105	1783.76
VBD_pump_during_surface	42	767	713.32	QSP2150	293	4	28.11
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	55.25	nil	0	0	0.00
Iridium_during_connect	44	160	155.24	nil	0	0	0.00
Iridium_during_xfer	322	223	1574.83	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	24	26	6.53
TT8	1788	14	267.54
LPSleep	10245	2	224.37
TT8_Active	405	14	57.57
TT8_Sampling	2205	37	825.64
TT8_CF8	590	47	278.73
TT8_Kalman	33	59	19.74
Analog_circuits	1134	12	136.09
GPS_charging	0	0	0.00
Compass	1742	15	274.10
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
21	end surface: CONTROL_FINISHED_OK
state	22	begin dive
27	-0.60	-146.1	0.0	0.0	0	92	0.00	0.00	-62.95	0.000	2	0.000	0.000	52	2875	3073	0	0	0	0	0	0
99	-0.60	-146.1	3.0	-2.5	8	125	6.85	1.67	-9.73	0.000	4	0.259	0.073	1621	3893	3416	0	0	0	0	0	0
398	-0.60	-146.1	50.1	-14.6	55	405	0.00	1.62	0.00	0.000	6	0.000	0.031	1621	2829	3418	0	0	0	0	0	0
636	-0.60	-146.1	83.8	-12.8	96	645	0.00	0.00	0.00	0.000	6	0.000	0.000	1621	2829	3418	0	0	0	0	0	0
988	-0.60	-146.1	127.3	-12.1	131	992	0.00	1.70	0.00	0.000	4	0.000	0.057	1613	3890	3420	0	0	0	0	0	0
1096	-0.60	-146.1	141.7	-12.5	137	1100	0.00	1.55	0.00	0.000	6	0.000	0.031	1613	2856	3420	0	0	0	0	0	0
1429	-0.60	-146.1	185.4	-12.9	158	1430	0.00	0.00	0.00	0.000	6	0.000	0.000	1613	2853	3421	0	0	0	0	0	0
1744	-0.60	-146.1	224.1	-12.4	178	1745	0.00	0.00	0.00	0.000	6	0.000	0.000	1613	2852	3421	0	0	0	0	0	0
2064	-0.60	-146.1	262.6	-11.7	197	2065	0.00	0.00	0.00	0.000	6	0.000	0.000	1613	2852	3421	0	0	0	0	0	0
2372	-0.60	-146.1	298.0	-11.6	212	2375	0.00	1.65	0.00	0.000	4	0.000	0.059	1605	3897	3421	0	0	0	0	0	0
2445	-0.60	-146.1	306.9	-13.1	215	2450	0.05	1.55	0.00	0.000	6	0.160	0.032	1621	2873	3421	0	0	0	0	0	0
2783	-0.60	-146.1	344.9	-11.3	231	2785	0.00	0.00	0.00	0.000	6	0.000	0.000	1621	2869	3421	0	0	0	0	0	0
3090	-0.60	-146.1	378.9	-10.7	246	3091	0.00	0.00	0.00	0.000	6	0.000	0.000	1621	2869	3421	0	0	0	0	0	0
3419	-0.60	-146.1	412.7	-9.9	260	3420	0.00	0.00	0.00	0.000	6	0.000	0.000	1621	2869	3421	0	0	0	0	0	0
3725	-0.60	-146.1	443.8	-10.5	270	3727	0.00	0.00	0.00	0.000	6	0.000	0.000	1621	2869	3421	0	0	0	0	0	0
4031	-0.60	-146.1	475.8	-10.5	280	4035	0.00	2.12	0.00	0.000	4	0.000	0.037	1622	1475	3420	0	0	0	0	0	0
4077	-0.60	-146.1	480.8	-9.8	281	4081	0.00	2.20	0.00	0.000	6	0.000	0.053	1612	2852	3420	0	0	0	0	0	0
4409	-0.60	-146.1	517.0	-11.0	292	4410	0.00	0.00	0.00	0.000	6	0.000	0.000	1612	2853	3420	0	0	0	0	0	0
4716	-0.60	-146.1	550.9	-11.2	302	4717	0.00	0.00	0.00	0.000	6	0.000	0.000	1612	2853	3419	0	0	0	0	0	0
5022	-0.60	-146.1	586.1	-11.5	312	5023	0.00	0.00	0.00	0.000	6	0.000	0.000	1612	2853	3419	0	0	0	0	0	0
5328	-0.60	-146.1	620.8	-11.6	322	5331	0.00	1.65	0.00	0.000	4	0.000	0.060	1604	3900	3418	0	0	0	0	0	0
5357	-0.60	-146.1	624.6	-12.8	322	5364	0.08	1.58	0.00	0.000	6	0.159	0.033	1627	2859	3418	0	0	0	0	0	0
5674	-0.60	-146.1	656.9	-10.1	333	5678	0.00	2.12	0.00	0.000	4	0.000	0.038	1627	1471	3418	0	0	0	0	0	0
5714	-0.60	-146.1	661.3	-9.4	334	5718	0.00	2.22	0.00	0.000	6	0.000	0.053	1618	2867	3418	0	0	0	0	0	0
6041	-0.60	-146.1	696.4	-10.9	345	6042	0.00	0.00	0.00	0.000	6	0.000	0.000	1618	2867	3418	0	0	0	0	0	0
6347	-0.60	-146.1	728.7	-10.6	355	6348	0.00	0.00	0.00	0.000	6	0.000	0.000	1618	2867	3417	0	0	0	0	0	0
6653	-0.60	-146.1	759.4	-9.6	365	6654	0.00	0.00	0.00	0.000	6	0.000	0.000	1618	2867	3418	0	0	0	0	0	0
6960	-0.60	-146.1	789.7	-9.9	375	6961	0.00	0.00	0.00	0.000	6	0.000	0.000	1617	2867	3417	0	0	0	0	0	0
7266	-0.60	-146.1	819.1	-9.4	385	7267	0.00	0.00	0.00	0.000	6	0.000	0.000	1618	2867	3418	0	0	0	0	0	0
7572	-0.60	-146.1	846.9	-9.0	395	7576	0.00	2.15	0.00	0.000	4	0.000	0.037	1618	1475	3417	0	0	0	0	0	0
7609	-0.60	-146.1	850.2	-8.6	396	7613	0.00	2.22	0.00	0.000	6	0.000	0.054	1607	2865	3417	0	0	0	0	0	0
7954	-0.60	-146.1	883.0	-9.6	407	7956	0.00	0.00	0.00	0.000	6	0.000	0.000	1607	2866	3417	0	0	0	0	0	0
8259	-0.60	-146.1	911.8	-9.5	417	8260	0.00	0.00	0.00	0.000	6	0.000	0.000	1607	2866	3417	0	0	0	0	0	0
8565	-0.60	-146.1	942.5	-10.4	427	8566	0.00	0.00	0.00	0.000	6	0.000	0.000	1607	2866	3417	0	0	0	0	0	0
8871	-0.60	-146.1	975.1	-10.8	437	8873	0.00	0.00	0.00	0.000	6	0.000	0.000	1607	2866	3417	0	0	0	0	0	0
9111	end dive: TARGET_DEPTH_EXCEEDED
state	9112	begin apogee
9122	-0.18	0.0	1000.3	10.2	445	9272	0.55	0.00	146.52	1.235	6	0.164	0.000	1766	2677	2819	0	0	0	0	0	0
9274	end apogee: CONTROL_FINISHED_OK
state	9274	begin climb
9279	0.60	146.1	1004.9	0.0	450	9441	0.77	0.00	151.70	1.785	6	0.097	0.000	2017	2678	2223	0	0	0	0	1	0
9778	0.60	146.1	914.3	21.5	466	9779	0.00	0.00	0.00	0.000	6	0.000	0.000	2017	2678	2218	0	0	0	0	0	0
10081	0.60	146.1	850.6	20.8	476	10085	0.00	2.22	0.00	0.000	4	0.000	0.042	2028	1273	2215	0	0	0	0	0	0
10112	0.60	146.1	844.2	20.7	477	10117	0.00	2.30	0.00	0.000	6	0.000	0.051	2028	2673	2214	0	0	0	0	0	0
10450	0.60	146.1	772.6	21.3	488	10451	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2674	2214	0	0	0	0	0	0
10757	0.60	146.1	706.8	21.3	498	10758	0.00	0.00	0.00	0.000	6	0.000	0.000	2028	2674	2214	0	0	0	0	0	0
11062	0.60	146.1	645.2	19.1	508	11064	0.00	0.00	0.00	0.000	6	0.000	0.000	2028	2674	2213	0	0	0	0	0	0
11369	0.60	146.1	588.4	18.8	518	11373	0.00	1.98	0.00	0.000	4	0.000	0.060	2028	3891	2213	0	0	0	0	0	0
11409	0.60	146.1	579.5	23.3	519	11413	0.00	1.90	0.00	0.000	6	0.000	0.037	2038	2676	2213	0	0	0	0	0	0
11748	0.60	146.1	511.2	20.6	530	11752	0.00	2.20	0.00	0.000	4	0.000	0.043	2047	1269	2213	0	0	0	0	0	0
11817	0.60	146.1	497.5	18.2	532	11821	0.00	2.28	0.00	0.000	6	0.000	0.050	2048	2678	2211	0	0	0	0	0	0
12149	0.60	146.1	428.2	21.3	543	12150	0.00	0.00	0.00	0.000	6	0.000	0.000	2048	2679	2211	0	0	0	0	0	0
12467	0.60	146.1	363.2	20.8	556	12471	0.00	1.92	0.00	0.000	4	0.000	0.059	2048	3901	2211	0	0	0	0	0	0
12502	0.60	146.1	355.3	22.7	557	12507	0.12	1.90	0.00	0.000	6	0.236	0.037	2031	2664	2211	0	0	0	0	0	0
12829	0.60	146.1	297.5	17.4	573	12830	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2659	2211	0	0	0	0	0	0
13148	0.60	146.1	241.7	17.3	589	13149	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2659	2211	0	0	0	0	0	0
13461	0.60	146.1	186.6	17.8	609	13462	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2659	2211	0	0	0	0	0	0
13773	0.60	146.1	131.3	17.5	629	13777	0.00	2.17	0.00	0.000	4	0.000	0.044	2041	1256	2211	0	0	0	0	0	0
13855	0.60	146.1	117.8	14.7	634	13859	0.00	2.28	0.00	0.000	6	0.000	0.051	2041	2670	2208	0	0	0	0	0	0
14195	0.60	146.1	63.5	15.3	680	14202	0.00	1.95	0.00	0.000	4	0.000	0.059	2040	3900	2209	0	0	0	0	0	0
14243	0.60	146.1	55.4	19.4	687	14250	0.00	1.90	0.00	0.000	6	0.000	0.037	2050	2653	2209	0	0	0	0	0	0
14497	0.60	146.1	10.3	17.8	728	14507	0.00	0.00	0.00	0.000	6	0.000	0.000	2050	2651	2209	0	0	0	0	0	0
14533	end climb: SURFACE_DEPTH_REACHED
state	14533	begin surface coast
14553	end surface coast: CONTROL_FINISHED_OK
state	14553	begin surface