Glider dive log

SOSCEx 08Dec12 * SG543 * Dive index * Mission links * Dive 453 * 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 453 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 3400 ALTIM_PING_DELTA 15

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 3280 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 230 R_PORT_OVSHOOT 48 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 30 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 333 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 348 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 -9188.7314 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 1628 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 39 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 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 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 39 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 333

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 -9188.7314

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

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 348

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 1628 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 3280 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 3400 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 48 VBD_MAX 3960

DEVICE2 101 MASS 52459 R_STBD_OVSHOOT 30 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 453 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 020313,005404,-4244.062,857.461,40,0.8,40,-25.2 TGT_NAME FLOAT1

_CALLS 1 TGT_LATLONG -4242.865,900.185

_XMS_NAKs 0 TGT_RADIUS 500.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.072,-0.158

_SM_DEPTHo 2.03 KALMAN_X 140118.8,153.6,-418.4,-63598.3,4646.8

_SM_ANGLEo -57.0 KALMAN_Y 431129.9,-610.2,-91.2,-456187.0,4168.2

GPS2 020313,010329,-4243.952,857.495,18,1.2,19,-25.2 MHEAD_RNG_PITCHd_Wd 229.9,4177,-27.2,-10.010

SPEED_LIMITS 0.173,0.260 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.2,1.026239 _10V_AH 9.7,52.742

SM_CCo 13897,41.17,0.692,1,0,1533,230.09 FG_AHR_24Vo 0.000

SM_GC 2.31,0.00,0.00,41.17,0.000,0.000,0.692,74,3392,1533,-4.85,-0.23,230.09 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4227.40,855.46,010313,202050 MEM 354336

TT8_MAMPS 0.025466 DATA_FILE_SIZE 53772,714

HUMID 58.11 CAP_FILE_SIZE 113367,0

INTERNAL_PRESSURE 9.00542 CFSIZE 259252224,228556800

TCM_TEMP 15.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,1

XPDR_PINGS 0 GPS 020313,045803,-4244.986,857.844,21,1.1,32,-25.2

_24V_AH 21.4,71.928

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 232 62.71 SBE_CT 464 24 238.66

Roll_motor 58 60 76.11 AA4330 1578 33 1114.53

VBD_pump_during_apogee 277 1777 10564.69 WL_BB2FLVMT 738 105 1658.49

VBD_pump_during_surface 41 692 610.04 QSP2150 340 4 31.88

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 59.54 nil 0 0 0.00

Iridium_during_connect 23 160 80.28 nil 0 0 0.00

Iridium_during_xfer 326 223 1558.36 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 26 5.43

TT8 1837 14 266.71

LPSleep 8987 2 190.91

TT8_Active 421 14 58.07

TT8_Sampling 2405 37 873.44

TT8_CF8 853 47 390.49

TT8_Kalman 33 59 19.15

Analog_circuits 1305 12 151.99

GPS_charging 0 0 0.00

Compass 2237 15 341.41

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 -0.74 -63.1 0.0 0.0 0 64 0.00 0.00 -41.58 0.000 2 0.000 0.000 51 3412 2513 0 0 0 0 0 0

68 -0.77 -116.7 3.3 -4.3 5 94 5.57 0.00 -12.80 0.000 6 0.233 0.000 1370 3412 2951 0 0 0 0 0 0

174 -0.77 -116.7 18.8 -13.3 20 182 0.00 0.00 0.00 0.000 6 0.000 0.000 1371 3413 2953 0 0 0 0 0 0

261 -0.77 -116.7 32.1 -14.6 33 268 0.00 0.00 0.00 0.000 6 0.000 0.000 1371 3413 2953 0 0 0 0 0 0

507 -0.77 -116.7 68.3 -13.5 74 514 0.00 2.15 0.00 0.000 4 0.000 0.029 1371 1978 2953 0 0 0 0 0 0

599 -0.77 -117.0 77.7 -10.0 88 606 0.00 2.28 0.00 0.000 6 0.000 0.053 1362 3391 2954 0 0 0 0 0 0

941 -0.77 -117.0 119.6 -12.7 129 946 0.00 0.88 0.00 0.000 4 0.000 0.057 1358 3945 2954 0 0 0 0 0 0

1013 -0.77 -117.0 129.4 -14.0 133 1016 0.00 0.80 0.00 0.000 6 0.000 0.034 1358 3413 2955 0 0 0 0 0 0

1344 -0.77 -117.0 172.5 -13.1 154 1348 0.00 2.15 0.00 0.000 4 0.000 0.028 1357 1978 2955 0 0 0 0 0 0

1383 -0.77 -117.0 177.4 -11.3 156 1392 0.08 2.35 0.00 0.000 6 0.159 0.057 1369 3404 2955 0 0 0 0 0 0

1706 -0.77 -117.0 214.7 -11.8 177 1712 0.00 0.88 0.00 0.000 4 0.000 0.057 1367 3959 2956 0 0 0 0 0 0

1781 -0.77 -117.0 224.1 -12.4 181 1785 0.00 0.85 0.00 0.000 6 0.000 0.034 1367 3397 2956 0 0 0 0 0 0

2101 -0.77 -117.0 261.2 -11.6 200 2102 0.00 0.00 0.00 0.000 6 0.000 0.000 1366 3396 2956 0 0 0 0 0 0

2413 -0.77 -117.0 297.8 -11.6 215 2414 0.00 0.00 0.00 0.000 6 0.000 0.000 1367 3397 2956 0 0 0 0 0 0

2721 -0.77 -117.0 333.5 -11.6 230 2724 0.00 0.90 0.00 0.000 4 0.000 0.057 1362 3958 2956 0 0 0 0 0 0

2848 -0.77 -117.0 350.0 -12.0 235 2851 0.00 0.85 0.00 0.000 6 0.000 0.034 1362 3398 2956 0 0 0 0 0 0

3171 -0.77 -117.0 386.7 -11.2 251 3177 0.00 2.15 0.00 0.000 4 0.000 0.029 1363 1975 2956 0 0 0 0 0 0

3297 -0.77 -119.2 399.7 -9.8 256 3301 0.00 2.30 0.00 0.000 6 0.000 0.053 1352 3401 2956 0 0 0 0 0 0

3611 -0.77 -119.2 435.4 -11.6 266 3614 0.00 0.88 0.00 0.000 4 0.000 0.057 1347 3955 2956 0 0 0 0 0 0

3705 -0.77 -119.2 447.4 -12.1 268 3713 0.08 0.85 0.00 0.000 6 0.170 0.033 1369 3392 2956 0 0 0 0 0 0

4019 -0.77 -119.2 481.1 -10.7 279 4020 0.00 0.00 0.00 0.000 6 0.000 0.000 1368 3392 2956 0 0 0 0 0 0

4326 -0.77 -119.2 513.7 -11.2 289 4329 0.00 0.90 0.00 0.000 4 0.000 0.058 1366 3957 2956 0 0 0 0 0 0

4369 -0.77 -119.2 519.3 -12.0 290 4373 0.00 0.85 0.00 0.000 6 0.000 0.033 1366 3393 2956 0 0 0 0 0 0

4699 -0.77 -119.2 555.5 -10.9 301 4703 0.00 2.12 0.00 0.000 4 0.000 0.029 1366 1975 2956 0 0 0 0 0 0

4755 -0.77 -119.2 561.9 -10.6 302 4763 0.00 2.35 0.00 0.000 6 0.000 0.056 1355 3400 2956 0 0 0 0 0 0

5068 -0.77 -119.2 599.5 -12.5 313 5069 0.00 0.00 0.00 0.000 6 0.000 0.000 1356 3400 2956 0 0 0 0 0 0

5375 -0.77 -119.2 637.7 -12.5 323 5376 0.00 0.00 0.00 0.000 6 0.000 0.000 1355 3400 2956 0 0 0 0 0 0

5682 -0.77 -119.2 676.0 -12.4 333 5683 0.00 0.00 0.00 0.000 6 0.000 0.000 1355 3400 2955 0 0 0 0 0 0

5987 -0.77 -119.2 715.4 -12.9 343 5992 0.00 2.20 0.00 0.000 4 0.000 0.030 1355 1972 2954 0 0 0 0 0 0

6092 -0.77 -119.2 727.3 -11.8 346 6097 0.12 2.33 0.00 0.000 6 0.175 0.053 1374 3409 2954 0 0 0 0 0 0

6429 -0.77 -119.2 766.2 -11.7 357 6430 0.00 0.00 0.00 0.000 6 0.000 0.000 1374 3409 2953 0 0 0 0 0 0

6734 -0.77 -119.2 800.6 -11.1 367 6735 0.00 0.00 0.00 0.000 6 0.000 0.000 1374 3409 2952 0 0 0 0 0 0

7042 -0.77 -119.2 832.2 -10.0 377 7043 0.00 0.00 0.00 0.000 6 0.000 0.000 1374 3409 2952 0 0 0 0 0 0

7347 -0.78 -124.6 861.9 -9.4 387 7353 0.00 2.17 0.00 0.000 4 0.000 0.029 1374 1977 2951 0 0 0 0 0 0

7432 -0.78 -140.3 869.5 -8.3 389 7436 0.00 2.33 0.00 0.000 6 0.000 0.053 1365 3410 2951 0 0 0 0 0 0

7751 -0.79 -142.3 900.5 -9.8 400 7755 0.00 2.15 0.00 0.000 4 0.000 0.029 1365 1980 2950 0 0 0 0 0 0

7816 -0.79 -146.1 906.4 -9.2 402 7820 0.00 2.33 0.00 0.000 6 0.000 0.057 1354 3399 2950 0 0 0 0 0 0

8151 -0.79 -146.1 942.7 -11.0 413 8152 0.00 0.00 0.00 0.000 6 0.000 0.000 1354 3399 2950 0 0 0 0 0 0

8458 -0.79 -146.1 976.2 -10.9 423 8459 0.00 0.00 0.00 0.000 6 0.000 0.000 1354 3399 2949 0 0 0 0 0 0

8669 end dive: TARGET_DEPTH_EXCEEDED

state 8669 begin apogee

8676 -0.13 0.0 1000.8 11.7 430 8804 0.82 0.00 118.97 1.777 6 0.164 0.000 1581 3274 2473 0 0 0 0 1 0

8805 end apogee: CONTROL_FINISHED_OK

state 8805 begin climb

8808 0.79 146.1 1003.1 0.0 434 8975 0.93 0.00 158.82 1.742 6 0.070 0.000 1879 3274 1877 0 0 0 0 1 0

9279 0.79 146.1 914.4 20.9 450 9283 0.00 1.12 0.00 0.000 4 0.000 0.054 1879 3957 1869 0 0 0 0 0 0

9497 0.79 146.1 862.5 23.7 456 9501 0.00 1.05 0.00 0.000 6 0.000 0.030 1884 3259 1867 0 0 0 0 0 0

9822 0.79 146.1 791.5 22.2 467 9826 0.00 1.12 0.00 0.000 4 0.000 0.054 1884 3958 1865 0 0 0 0 0 0

9986 0.79 146.1 752.4 23.8 471 9994 0.00 1.00 0.00 0.000 6 0.000 0.029 1889 3282 1865 0 0 0 0 0 0

10300 0.79 146.1 686.7 20.4 482 10305 0.00 1.08 0.00 0.000 4 0.000 0.054 1889 3955 1863 0 0 0 0 0 0

10538 0.79 146.1 632.9 22.5 489 10544 0.00 1.00 0.00 0.000 6 0.000 0.030 1895 3278 1863 0 0 0 0 0 0

10882 0.79 146.1 561.3 21.0 500 10885 0.00 1.08 0.00 0.000 4 0.000 0.053 1895 3953 1862 0 0 0 0 0 0

11139 0.79 146.1 501.1 23.5 507 11143 0.00 1.00 0.00 0.000 6 0.000 0.029 1900 3275 1862 0 0 0 0 0 0

11457 0.79 146.1 433.8 20.8 518 11461 0.00 1.10 0.00 0.000 4 0.000 0.054 1900 3958 1861 0 0 0 0 0 0

11716 0.79 146.1 375.7 21.6 527 11722 0.00 1.00 0.00 0.000 6 0.000 0.030 1905 3285 1860 0 0 0 0 0 0

12041 0.79 146.1 313.6 18.7 543 12047 0.00 1.08 0.00 0.000 4 0.000 0.053 1905 3959 1860 0 0 0 0 0 0

12303 0.79 146.1 259.7 19.0 554 12307 0.00 1.00 0.00 0.000 6 0.000 0.030 1910 3280 1860 0 0 0 0 0 0

12624 0.79 146.1 203.4 17.6 574 12628 0.00 1.08 0.00 0.000 4 0.000 0.054 1910 3956 1860 0 0 0 0 0 0

12804 0.79 146.1 169.8 19.3 584 12811 0.08 1.00 0.00 0.000 6 0.205 0.029 1894 3276 1860 0 0 0 0 0 0

13144 0.79 146.1 116.3 15.7 605 13148 0.00 1.10 0.00 0.000 4 0.000 0.053 1894 3961 1859 0 0 0 0 0 0

13357 0.79 146.1 77.2 18.9 631 13362 0.00 1.00 0.00 0.000 6 0.000 0.028 1898 3282 1859 0 0 0 0 0 0

13728 0.79 146.1 22.1 14.3 692 13738 0.00 1.08 0.00 0.000 4 0.000 0.053 1898 3954 1859 0 0 0 0 0 0

13851 end climb: SURFACE_DEPTH_REACHED

state 13851 begin surface coast

13880 end surface coast: CONTROL_FINISHED_OK

state 13880 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	453	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	3400	ALTIM_PING_DELTA	15
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	3280	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	230	R_PORT_OVSHOOT	48	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	30	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	333	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	348	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	-9188.7314	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	1628	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	39	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	020313,005404,-4244.062,857.461,40,0.8,40,-25.2	TGT_NAME	FLOAT1
_CALLS	1	TGT_LATLONG	-4242.865,900.185
_XMS_NAKs	0	TGT_RADIUS	500.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.072,-0.158
_SM_DEPTHo	2.03	KALMAN_X	140118.8,153.6,-418.4,-63598.3,4646.8
_SM_ANGLEo	-57.0	KALMAN_Y	431129.9,-610.2,-91.2,-456187.0,4168.2
GPS2	020313,010329,-4243.952,857.495,18,1.2,19,-25.2	MHEAD_RNG_PITCHd_Wd	229.9,4177,-27.2,-10.010
SPEED_LIMITS	0.173,0.260	D_GRID	1000

FINISH	1.2,1.026239	_10V_AH	9.7,52.742
SM_CCo	13897,41.17,0.692,1,0,1533,230.09	FG_AHR_24Vo	0.000
SM_GC	2.31,0.00,0.00,41.17,0.000,0.000,0.692,74,3392,1533,-4.85,-0.23,230.09	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4227.40,855.46,010313,202050	MEM	354336
TT8_MAMPS	0.025466	DATA_FILE_SIZE	53772,714
HUMID	58.11	CAP_FILE_SIZE	113367,0
INTERNAL_PRESSURE	9.00542	CFSIZE	259252224,228556800
TCM_TEMP	15.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
XPDR_PINGS	0	GPS	020313,045803,-4244.986,857.844,21,1.1,32,-25.2
_24V_AH	21.4,71.928

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	232	62.71	SBE_CT	464	24	238.66
Roll_motor	58	60	76.11	AA4330	1578	33	1114.53
VBD_pump_during_apogee	277	1777	10564.69	WL_BB2FLVMT	738	105	1658.49
VBD_pump_during_surface	41	692	610.04	QSP2150	340	4	31.88
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	59.54	nil	0	0	0.00
Iridium_during_connect	23	160	80.28	nil	0	0	0.00
Iridium_during_xfer	326	223	1558.36	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	26	5.43
TT8	1837	14	266.71
LPSleep	8987	2	190.91
TT8_Active	421	14	58.07
TT8_Sampling	2405	37	873.44
TT8_CF8	853	47	390.49
TT8_Kalman	33	59	19.15
Analog_circuits	1305	12	151.99
GPS_charging	0	0	0.00
Compass	2237	15	341.41
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	-0.74	-63.1	0.0	0.0	0	64	0.00	0.00	-41.58	0.000	2	0.000	0.000	51	3412	2513	0	0	0	0	0	0
68	-0.77	-116.7	3.3	-4.3	5	94	5.57	0.00	-12.80	0.000	6	0.233	0.000	1370	3412	2951	0	0	0	0	0	0
174	-0.77	-116.7	18.8	-13.3	20	182	0.00	0.00	0.00	0.000	6	0.000	0.000	1371	3413	2953	0	0	0	0	0	0
261	-0.77	-116.7	32.1	-14.6	33	268	0.00	0.00	0.00	0.000	6	0.000	0.000	1371	3413	2953	0	0	0	0	0	0
507	-0.77	-116.7	68.3	-13.5	74	514	0.00	2.15	0.00	0.000	4	0.000	0.029	1371	1978	2953	0	0	0	0	0	0
599	-0.77	-117.0	77.7	-10.0	88	606	0.00	2.28	0.00	0.000	6	0.000	0.053	1362	3391	2954	0	0	0	0	0	0
941	-0.77	-117.0	119.6	-12.7	129	946	0.00	0.88	0.00	0.000	4	0.000	0.057	1358	3945	2954	0	0	0	0	0	0
1013	-0.77	-117.0	129.4	-14.0	133	1016	0.00	0.80	0.00	0.000	6	0.000	0.034	1358	3413	2955	0	0	0	0	0	0
1344	-0.77	-117.0	172.5	-13.1	154	1348	0.00	2.15	0.00	0.000	4	0.000	0.028	1357	1978	2955	0	0	0	0	0	0
1383	-0.77	-117.0	177.4	-11.3	156	1392	0.08	2.35	0.00	0.000	6	0.159	0.057	1369	3404	2955	0	0	0	0	0	0
1706	-0.77	-117.0	214.7	-11.8	177	1712	0.00	0.88	0.00	0.000	4	0.000	0.057	1367	3959	2956	0	0	0	0	0	0
1781	-0.77	-117.0	224.1	-12.4	181	1785	0.00	0.85	0.00	0.000	6	0.000	0.034	1367	3397	2956	0	0	0	0	0	0
2101	-0.77	-117.0	261.2	-11.6	200	2102	0.00	0.00	0.00	0.000	6	0.000	0.000	1366	3396	2956	0	0	0	0	0	0
2413	-0.77	-117.0	297.8	-11.6	215	2414	0.00	0.00	0.00	0.000	6	0.000	0.000	1367	3397	2956	0	0	0	0	0	0
2721	-0.77	-117.0	333.5	-11.6	230	2724	0.00	0.90	0.00	0.000	4	0.000	0.057	1362	3958	2956	0	0	0	0	0	0
2848	-0.77	-117.0	350.0	-12.0	235	2851	0.00	0.85	0.00	0.000	6	0.000	0.034	1362	3398	2956	0	0	0	0	0	0
3171	-0.77	-117.0	386.7	-11.2	251	3177	0.00	2.15	0.00	0.000	4	0.000	0.029	1363	1975	2956	0	0	0	0	0	0
3297	-0.77	-119.2	399.7	-9.8	256	3301	0.00	2.30	0.00	0.000	6	0.000	0.053	1352	3401	2956	0	0	0	0	0	0
3611	-0.77	-119.2	435.4	-11.6	266	3614	0.00	0.88	0.00	0.000	4	0.000	0.057	1347	3955	2956	0	0	0	0	0	0
3705	-0.77	-119.2	447.4	-12.1	268	3713	0.08	0.85	0.00	0.000	6	0.170	0.033	1369	3392	2956	0	0	0	0	0	0
4019	-0.77	-119.2	481.1	-10.7	279	4020	0.00	0.00	0.00	0.000	6	0.000	0.000	1368	3392	2956	0	0	0	0	0	0
4326	-0.77	-119.2	513.7	-11.2	289	4329	0.00	0.90	0.00	0.000	4	0.000	0.058	1366	3957	2956	0	0	0	0	0	0
4369	-0.77	-119.2	519.3	-12.0	290	4373	0.00	0.85	0.00	0.000	6	0.000	0.033	1366	3393	2956	0	0	0	0	0	0
4699	-0.77	-119.2	555.5	-10.9	301	4703	0.00	2.12	0.00	0.000	4	0.000	0.029	1366	1975	2956	0	0	0	0	0	0
4755	-0.77	-119.2	561.9	-10.6	302	4763	0.00	2.35	0.00	0.000	6	0.000	0.056	1355	3400	2956	0	0	0	0	0	0
5068	-0.77	-119.2	599.5	-12.5	313	5069	0.00	0.00	0.00	0.000	6	0.000	0.000	1356	3400	2956	0	0	0	0	0	0
5375	-0.77	-119.2	637.7	-12.5	323	5376	0.00	0.00	0.00	0.000	6	0.000	0.000	1355	3400	2956	0	0	0	0	0	0
5682	-0.77	-119.2	676.0	-12.4	333	5683	0.00	0.00	0.00	0.000	6	0.000	0.000	1355	3400	2955	0	0	0	0	0	0
5987	-0.77	-119.2	715.4	-12.9	343	5992	0.00	2.20	0.00	0.000	4	0.000	0.030	1355	1972	2954	0	0	0	0	0	0
6092	-0.77	-119.2	727.3	-11.8	346	6097	0.12	2.33	0.00	0.000	6	0.175	0.053	1374	3409	2954	0	0	0	0	0	0
6429	-0.77	-119.2	766.2	-11.7	357	6430	0.00	0.00	0.00	0.000	6	0.000	0.000	1374	3409	2953	0	0	0	0	0	0
6734	-0.77	-119.2	800.6	-11.1	367	6735	0.00	0.00	0.00	0.000	6	0.000	0.000	1374	3409	2952	0	0	0	0	0	0
7042	-0.77	-119.2	832.2	-10.0	377	7043	0.00	0.00	0.00	0.000	6	0.000	0.000	1374	3409	2952	0	0	0	0	0	0
7347	-0.78	-124.6	861.9	-9.4	387	7353	0.00	2.17	0.00	0.000	4	0.000	0.029	1374	1977	2951	0	0	0	0	0	0
7432	-0.78	-140.3	869.5	-8.3	389	7436	0.00	2.33	0.00	0.000	6	0.000	0.053	1365	3410	2951	0	0	0	0	0	0
7751	-0.79	-142.3	900.5	-9.8	400	7755	0.00	2.15	0.00	0.000	4	0.000	0.029	1365	1980	2950	0	0	0	0	0	0
7816	-0.79	-146.1	906.4	-9.2	402	7820	0.00	2.33	0.00	0.000	6	0.000	0.057	1354	3399	2950	0	0	0	0	0	0
8151	-0.79	-146.1	942.7	-11.0	413	8152	0.00	0.00	0.00	0.000	6	0.000	0.000	1354	3399	2950	0	0	0	0	0	0
8458	-0.79	-146.1	976.2	-10.9	423	8459	0.00	0.00	0.00	0.000	6	0.000	0.000	1354	3399	2949	0	0	0	0	0	0
8669	end dive: TARGET_DEPTH_EXCEEDED
state	8669	begin apogee
8676	-0.13	0.0	1000.8	11.7	430	8804	0.82	0.00	118.97	1.777	6	0.164	0.000	1581	3274	2473	0	0	0	0	1	0
8805	end apogee: CONTROL_FINISHED_OK
state	8805	begin climb
8808	0.79	146.1	1003.1	0.0	434	8975	0.93	0.00	158.82	1.742	6	0.070	0.000	1879	3274	1877	0	0	0	0	1	0
9279	0.79	146.1	914.4	20.9	450	9283	0.00	1.12	0.00	0.000	4	0.000	0.054	1879	3957	1869	0	0	0	0	0	0
9497	0.79	146.1	862.5	23.7	456	9501	0.00	1.05	0.00	0.000	6	0.000	0.030	1884	3259	1867	0	0	0	0	0	0
9822	0.79	146.1	791.5	22.2	467	9826	0.00	1.12	0.00	0.000	4	0.000	0.054	1884	3958	1865	0	0	0	0	0	0
9986	0.79	146.1	752.4	23.8	471	9994	0.00	1.00	0.00	0.000	6	0.000	0.029	1889	3282	1865	0	0	0	0	0	0
10300	0.79	146.1	686.7	20.4	482	10305	0.00	1.08	0.00	0.000	4	0.000	0.054	1889	3955	1863	0	0	0	0	0	0
10538	0.79	146.1	632.9	22.5	489	10544	0.00	1.00	0.00	0.000	6	0.000	0.030	1895	3278	1863	0	0	0	0	0	0
10882	0.79	146.1	561.3	21.0	500	10885	0.00	1.08	0.00	0.000	4	0.000	0.053	1895	3953	1862	0	0	0	0	0	0
11139	0.79	146.1	501.1	23.5	507	11143	0.00	1.00	0.00	0.000	6	0.000	0.029	1900	3275	1862	0	0	0	0	0	0
11457	0.79	146.1	433.8	20.8	518	11461	0.00	1.10	0.00	0.000	4	0.000	0.054	1900	3958	1861	0	0	0	0	0	0
11716	0.79	146.1	375.7	21.6	527	11722	0.00	1.00	0.00	0.000	6	0.000	0.030	1905	3285	1860	0	0	0	0	0	0
12041	0.79	146.1	313.6	18.7	543	12047	0.00	1.08	0.00	0.000	4	0.000	0.053	1905	3959	1860	0	0	0	0	0	0
12303	0.79	146.1	259.7	19.0	554	12307	0.00	1.00	0.00	0.000	6	0.000	0.030	1910	3280	1860	0	0	0	0	0	0
12624	0.79	146.1	203.4	17.6	574	12628	0.00	1.08	0.00	0.000	4	0.000	0.054	1910	3956	1860	0	0	0	0	0	0
12804	0.79	146.1	169.8	19.3	584	12811	0.08	1.00	0.00	0.000	6	0.205	0.029	1894	3276	1860	0	0	0	0	0	0
13144	0.79	146.1	116.3	15.7	605	13148	0.00	1.10	0.00	0.000	4	0.000	0.053	1894	3961	1859	0	0	0	0	0	0
13357	0.79	146.1	77.2	18.9	631	13362	0.00	1.00	0.00	0.000	6	0.000	0.028	1898	3282	1859	0	0	0	0	0	0
13728	0.79	146.1	22.1	14.3	692	13738	0.00	1.08	0.00	0.000	4	0.000	0.053	1898	3954	1859	0	0	0	0	0	0
13851	end climb: SURFACE_DEPTH_REACHED
state	13851	begin surface coast
13880	end surface coast: CONTROL_FINISHED_OK
state	13880	begin surface