Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 54 * 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 9 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 0

DIVE 54 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2930 ALTIM_PING_DELTA 5

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2710 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -56 HEAD_ERRBAND 15 ALTIM_PULSE 3

D_TGT 1000 TGT_DEFAULT_LON 0.1 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 2

D_NO_BLEED 500 SM_CC 200 R_PORT_OVSHOOT 29 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 28 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 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 2342 DEVICE3 35

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 134

T_DIVE 350 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 365 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00079999998 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 -21827.264 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 1790 PHONE_SUPPLY 2 SEABIRD_T_G 0.0042910837

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -53.02364 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 53031 PITCH_GAIN 53 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 0.00251332 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.0127788 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 10

HD_C 1.44018e-06 ROLL_MIN 335 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 500 PHONE_DEVICE 48 SM_CC 200

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 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 53 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 -56

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 73 TGT_DEFAULT_LON 0.1

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 0.00079999998 T_BOOST 0

APOGEE_PITCH -7 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011816985 T_DIVE 350

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -53.02364 T_GPS 15

CALL_TRIES 5 HD_A 0.00251332 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0127788 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -21827.264

CAPMAXSIZE 100000 HD_C 1.44018e-06 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 365

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 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 1790 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2710 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 2930 LOGGERDEVICE1 -1 ROLL_MAX 3901 USE_ICE 0

C_VBD 2342 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 29 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 28 VBD_MAXERRORS 1

DEVICE3 35 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 9 SEABIRD_C_J 0.00021125977 VBD_TIMEOUT 720

DIVE 54 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 5 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 191214,174505,-5602.976,-32.703,24,0.8,24,-19.9 TGT_NAME TARGET

_CALLS 1 TGT_LATLONG -5600.000,-30.000

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.037,0.161

_SM_DEPTHo 2.12 KALMAN_X 27117.2,-968.1,-414.2,-59483.4,3264.7

_SM_ANGLEo -72.1 KALMAN_Y 48132.8,-584.6,-242.5,-52442.1,3168.2

GPS2 191214,175212,-5602.951,-32.669,21,0.9,21,-19.9 MHEAD_RNG_PITCHd_Wd 7.0,6124,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.1,1.025057 _10V_AH 10.1,11.236

SM_CCo 12273,24.62,0.197,0,0,1524,200.16 FG_AHR_24Vo 0.000

SM_GC 2.52,0.00,0.00,24.62,0.000,0.000,0.197,59,2942,1524,-5.41,0.34,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5538.94,0.00,191214,141404 MEM 354028

TT8_MAMPS 0.026215 DATA_FILE_SIZE 57084,814

HUMID 56.10 CAP_FILE_SIZE 100538,0

INTERNAL_PRESSURE 8.95509 CFSIZE 259252224,222945280

TCM_TEMP 7.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 191214,211905,-5600.766,-32.938,26,0.9,26,-19.9

_24V_AH 21.7,17.163

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 262 75.59 SBE_CT 578 23 301.03

Roll_motor 52 66 76.26 AA4330 1698 17 662.70

VBD_pump_during_apogee 260 1822 10321.93 WL_BB2F 831 105 1895.56

VBD_pump_during_surface 24 196 105.06 QSP2150 871 17 340.13

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 91 49.80 nil 0 0 0.00

Iridium_during_connect 22 160 78.09 nil 0 0 0.00

Iridium_during_xfer 265 223 1283.77 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 23 31 7.44

TT8 2000 14 292.09

LPSleep 7856 2 173.79

TT8_Active 399 14 58.38

TT8_Sampling 2320 42 988.36

TT8_CF8 149 49 75.10

TT8_Kalman 33 68 23.04

Analog_circuits 1155 15 180.92

GPS_charging 0 0 0.00

Compass 1873 16 311.80

RAFOS 0 0 0.00

Transponder 0 5 0.03

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

14 -0.54 -73.9 0.0 0.0 0 58 0.00 0.00 -41.88 0.000 2 0.000 0.000 61 2934 2444 0 0 0 0 0 0

61 -0.59 -134.5 3.0 -4.3 5 96 6.40 2.33 -15.68 0.000 4 0.262 0.058 1600 1510 2893 0 0 0 0 0 0

152 -0.59 -134.5 14.6 -15.7 18 161 0.00 2.35 0.00 0.000 6 0.000 0.060 1590 2919 2894 0 0 0 0 0 0

236 -0.59 -134.5 29.7 -19.2 31 244 0.00 0.00 0.00 0.000 6 0.000 0.000 1590 2919 2894 0 0 0 0 0 0

317 -0.59 -134.5 45.2 -19.4 44 325 0.00 0.00 0.00 0.000 6 0.000 0.000 1590 2919 2894 0 0 0 0 0 0

432 -0.59 -134.5 66.4 -18.2 63 439 0.00 0.00 0.00 0.000 6 0.000 0.000 1590 2920 2894 0 0 0 0 0 0

546 -0.59 -134.5 86.2 -16.1 82 553 0.00 1.62 0.00 0.000 4 0.000 0.067 1582 3907 2894 0 0 0 0 0 0

611 -0.59 -134.5 98.8 -19.6 93 620 0.00 1.58 0.00 0.000 6 0.000 0.037 1582 2907 2895 0 0 0 0 0 0

841 -0.59 -134.5 140.3 -18.8 115 842 0.00 0.00 0.00 0.000 6 0.000 0.000 1582 2907 2895 0 0 0 0 0 0

1160 -0.59 -134.5 193.4 -14.9 145 1166 0.00 0.00 0.00 0.000 6 0.000 0.000 1582 2907 2894 0 0 0 0 0 0

1486 -0.59 -134.5 244.2 -15.4 176 1487 0.00 0.00 0.00 0.000 6 0.000 0.000 1582 2907 2895 0 0 0 0 0 0

1798 -0.59 -134.5 292.4 -15.6 193 1802 0.00 1.65 0.00 0.000 4 0.000 0.065 1575 3914 2895 0 0 0 0 0 0

1936 -0.59 -134.5 316.3 -17.2 199 1939 0.00 1.55 0.00 0.000 6 0.000 0.036 1579 2922 2895 0 0 0 0 0 0

2270 -0.59 -134.5 370.2 -15.8 215 2274 0.00 1.62 0.00 0.000 4 0.000 0.064 1571 3927 2895 0 0 0 0 0 0

2317 -0.59 -134.5 378.1 -17.4 217 2321 0.00 1.55 0.00 0.000 6 0.000 0.037 1578 2929 2895 0 0 0 0 0 0

2649 -0.59 -134.5 429.4 -15.0 233 2650 0.00 0.00 0.00 0.000 6 0.000 0.000 1578 2923 2895 0 0 0 0 0 0

2959 -0.59 -134.5 473.7 -14.1 248 2960 0.00 0.00 0.00 0.000 6 0.000 0.000 1578 2923 2895 0 0 0 0 0 0

3267 -0.59 -134.5 515.9 -13.1 263 3269 0.00 0.00 0.00 0.000 6 0.000 0.000 1578 2923 2896 0 0 0 0 0 0

3577 -0.59 -134.5 557.4 -13.3 278 3580 0.00 1.62 0.00 0.000 4 0.000 0.065 1572 3906 2896 0 0 0 0 0 0

3660 -0.59 -134.5 569.7 -15.1 281 3667 0.00 1.52 0.00 0.000 6 0.000 0.037 1577 2915 2896 0 0 0 0 0 0

3976 -0.59 -134.5 610.4 -12.9 297 3977 0.00 0.00 0.00 0.000 6 0.000 0.000 1577 2914 2896 0 0 0 0 0 0

4285 -0.59 -134.5 650.7 -13.1 312 4286 0.00 0.00 0.00 0.000 6 0.000 0.000 1577 2913 2896 0 0 0 0 0 0

4595 -0.59 -134.5 691.8 -13.6 327 4599 0.00 1.62 0.00 0.000 4 0.000 0.065 1570 3897 2896 0 0 0 0 0 0

4660 -0.59 -134.5 701.7 -15.4 330 4664 0.00 1.48 0.00 0.000 6 0.000 0.037 1577 2942 2896 0 0 0 0 0 0

4993 -0.59 -134.5 750.0 -14.9 346 4994 0.00 0.00 0.00 0.000 6 0.000 0.000 1576 2939 2896 0 0 0 0 0 0

5301 -0.59 -134.5 798.0 -15.5 361 5303 0.00 0.00 0.00 0.000 6 0.000 0.000 1577 2939 2896 0 0 0 0 0 0

5611 -0.59 -134.5 846.9 -15.9 376 5612 0.00 0.00 0.00 0.000 6 0.000 0.000 1577 2939 2897 0 0 0 0 0 0

5921 -0.59 -134.5 894.7 -15.3 391 5922 0.00 0.00 0.00 0.000 6 0.000 0.000 1576 2939 2896 0 0 0 0 0 0

6230 -0.59 -134.5 939.4 -13.8 406 6231 0.00 0.00 0.00 0.000 6 0.000 0.000 1576 2939 2896 0 0 0 0 0 0

6539 -0.59 -134.5 980.5 -13.0 421 6540 0.00 0.00 0.00 0.000 6 0.000 0.000 1576 2939 2896 0 0 0 0 0 0

6703 end dive: TARGET_DEPTH_EXCEEDED

state 6703 begin apogee

6707 -0.13 0.0 1001.0 12.6 429 6835 0.57 0.00 124.15 1.823 6 0.187 0.000 1742 2703 2342 0 0 0 0 0 0

6836 end apogee: CONTROL_FINISHED_OK

state 6836 begin climb

6837 0.59 134.5 1004.1 0.0 435 6977 0.80 0.00 136.77 1.782 6 0.121 0.000 1979 2703 1792 0 0 0 0 0 0

7273 0.59 134.5 928.4 19.2 457 7278 0.00 2.10 0.00 0.000 4 0.000 0.061 1979 3911 1783 0 0 0 0 0 0

7328 0.59 134.5 916.4 22.3 459 7333 0.00 2.00 0.00 0.000 6 0.000 0.038 1988 2731 1782 0 0 0 0 0 0

7650 0.59 134.5 851.9 19.7 475 7651 0.00 0.00 0.00 0.000 6 0.000 0.000 1988 2731 1781 0 0 0 0 0 0

7960 0.59 134.5 789.5 19.7 490 7961 0.00 0.00 0.00 0.000 6 0.000 0.000 1988 2731 1781 0 0 0 0 0 0

8268 0.59 134.5 729.4 19.2 505 8272 0.00 1.92 0.00 0.000 4 0.000 0.060 1988 3903 1780 0 0 0 0 0 0

8336 0.59 134.5 714.8 23.1 508 8339 0.00 1.92 0.00 0.000 6 0.000 0.040 1997 2710 1778 0 0 0 0 0 0

8668 0.59 134.5 650.0 19.0 524 8669 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2709 1778 0 0 0 0 0 0

8977 0.59 134.5 589.4 20.0 539 8980 0.00 1.98 0.00 0.000 4 0.000 0.060 1997 3904 1777 0 0 0 0 0 0

9070 0.59 134.5 568.2 21.8 543 9075 0.00 1.92 0.00 0.000 6 0.000 0.039 2007 2713 1777 0 0 0 0 0 0

9399 0.59 134.5 500.7 20.9 559 9402 0.00 1.92 0.00 0.000 4 0.000 0.060 2007 3903 1777 0 0 0 0 0 0

9447 0.59 134.5 488.8 24.6 561 9452 0.10 1.92 0.00 0.000 6 0.213 0.039 1989 2710 1776 0 0 0 0 0 0

9775 0.59 134.5 423.5 20.2 577 9776 0.00 0.00 0.00 0.000 6 0.000 0.000 1989 2709 1776 0 0 0 0 0 0

10084 0.59 134.5 362.9 19.2 592 10085 0.00 0.00 0.00 0.000 6 0.000 0.000 1989 2709 1776 0 0 0 0 0 0

10395 0.59 134.5 305.3 18.0 607 10399 0.00 1.95 0.00 0.000 4 0.000 0.061 1989 3912 1776 0 0 0 0 0 0

10467 0.59 134.5 290.5 20.1 610 10472 0.00 1.92 0.00 0.000 6 0.000 0.039 1997 2712 1776 0 0 0 0 0 0

10789 0.59 134.5 235.7 17.5 629 10790 0.00 0.00 0.00 0.000 6 0.000 0.000 1997 2712 1776 0 0 0 0 0 0

11108 0.59 134.5 178.3 17.9 659 11112 0.00 1.92 0.00 0.000 4 0.000 0.060 1997 3905 1776 0 0 0 0 0 0

11203 0.59 134.5 159.1 19.2 667 11207 0.00 1.88 0.00 0.000 6 0.000 0.039 2006 2699 1776 0 0 0 0 0 0

11533 0.59 134.5 103.9 14.9 698 11537 0.00 2.20 0.00 0.000 4 0.000 0.047 2017 1289 1776 0 0 0 0 0 0

11580 0.59 134.5 97.5 14.1 703 11587 0.12 2.28 0.00 0.000 6 0.214 0.056 1988 2734 1776 0 0 0 0 0 0

11821 0.59 134.5 64.4 13.8 744 11830 0.00 1.88 0.00 0.000 4 0.000 0.063 1988 3883 1776 0 0 0 0 0 0

11902 0.59 134.5 51.5 16.9 757 11909 0.00 1.88 0.00 0.000 6 0.000 0.040 1996 2708 1775 0 0 0 0 0 0

12016 0.59 134.5 34.1 14.8 776 12024 0.00 0.00 0.00 0.000 6 0.000 0.000 1996 2709 1776 0 0 0 0 0 0

12134 0.59 134.5 17.0 13.9 795 12143 0.00 0.00 0.00 0.000 6 0.000 0.000 1996 2709 1775 0 0 0 0 0 0

12218 0.59 134.5 4.6 14.1 808 12226 0.00 0.00 0.00 0.000 6 0.000 0.000 1996 2709 1775 0 0 0 0 0 0

12235 end climb: SURFACE_DEPTH_REACHED

state 12235 begin surface coast

12261 end surface coast: CONTROL_FINISHED_OK

state 12261 begin surface

ID	542	HEADING	-1	ROLL_MAX	3901	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	9	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	0
DIVE	54	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2930	ALTIM_PING_DELTA	5
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2710	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-56	HEAD_ERRBAND	15	ALTIM_PULSE	3
D_TGT	1000	TGT_DEFAULT_LON	0.1	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	2
D_NO_BLEED	500	SM_CC	200	R_PORT_OVSHOOT	29	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	28	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	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	2342	DEVICE3	35
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	134
T_DIVE	350	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	365	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00079999998	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	-21827.264	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	1790	PHONE_SUPPLY	2	SEABIRD_T_G	0.0042910837
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-53.02364	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	53031	PITCH_GAIN	53	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	0.00251332	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.0127788	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	10
HD_C	1.44018e-06	ROLL_MIN	335	ALTIM_TOP_TURN_MARGIN	0

GPS1	191214,174505,-5602.976,-32.703,24,0.8,24,-19.9	TGT_NAME	TARGET
_CALLS	1	TGT_LATLONG	-5600.000,-30.000
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.037,0.161
_SM_DEPTHo	2.12	KALMAN_X	27117.2,-968.1,-414.2,-59483.4,3264.7
_SM_ANGLEo	-72.1	KALMAN_Y	48132.8,-584.6,-242.5,-52442.1,3168.2
GPS2	191214,175212,-5602.951,-32.669,21,0.9,21,-19.9	MHEAD_RNG_PITCHd_Wd	7.0,6124,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.1,1.025057	_10V_AH	10.1,11.236
SM_CCo	12273,24.62,0.197,0,0,1524,200.16	FG_AHR_24Vo	0.000
SM_GC	2.52,0.00,0.00,24.62,0.000,0.000,0.197,59,2942,1524,-5.41,0.34,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5538.94,0.00,191214,141404	MEM	354028
TT8_MAMPS	0.026215	DATA_FILE_SIZE	57084,814
HUMID	56.10	CAP_FILE_SIZE	100538,0
INTERNAL_PRESSURE	8.95509	CFSIZE	259252224,222945280
TCM_TEMP	7.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	191214,211905,-5600.766,-32.938,26,0.9,26,-19.9
_24V_AH	21.7,17.163

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	262	75.59	SBE_CT	578	23	301.03
Roll_motor	52	66	76.26	AA4330	1698	17	662.70
VBD_pump_during_apogee	260	1822	10321.93	WL_BB2F	831	105	1895.56
VBD_pump_during_surface	24	196	105.06	QSP2150	871	17	340.13
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	91	49.80	nil	0	0	0.00
Iridium_during_connect	22	160	78.09	nil	0	0	0.00
Iridium_during_xfer	265	223	1283.77	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	23	31	7.44
TT8	2000	14	292.09
LPSleep	7856	2	173.79
TT8_Active	399	14	58.38
TT8_Sampling	2320	42	988.36
TT8_CF8	149	49	75.10
TT8_Kalman	33	68	23.04
Analog_circuits	1155	15	180.92
GPS_charging	0	0	0.00
Compass	1873	16	311.80
RAFOS	0	0	0.00
Transponder	0	5	0.03

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
14	-0.54	-73.9	0.0	0.0	0	58	0.00	0.00	-41.88	0.000	2	0.000	0.000	61	2934	2444	0	0	0	0	0	0
61	-0.59	-134.5	3.0	-4.3	5	96	6.40	2.33	-15.68	0.000	4	0.262	0.058	1600	1510	2893	0	0	0	0	0	0
152	-0.59	-134.5	14.6	-15.7	18	161	0.00	2.35	0.00	0.000	6	0.000	0.060	1590	2919	2894	0	0	0	0	0	0
236	-0.59	-134.5	29.7	-19.2	31	244	0.00	0.00	0.00	0.000	6	0.000	0.000	1590	2919	2894	0	0	0	0	0	0
317	-0.59	-134.5	45.2	-19.4	44	325	0.00	0.00	0.00	0.000	6	0.000	0.000	1590	2919	2894	0	0	0	0	0	0
432	-0.59	-134.5	66.4	-18.2	63	439	0.00	0.00	0.00	0.000	6	0.000	0.000	1590	2920	2894	0	0	0	0	0	0
546	-0.59	-134.5	86.2	-16.1	82	553	0.00	1.62	0.00	0.000	4	0.000	0.067	1582	3907	2894	0	0	0	0	0	0
611	-0.59	-134.5	98.8	-19.6	93	620	0.00	1.58	0.00	0.000	6	0.000	0.037	1582	2907	2895	0	0	0	0	0	0
841	-0.59	-134.5	140.3	-18.8	115	842	0.00	0.00	0.00	0.000	6	0.000	0.000	1582	2907	2895	0	0	0	0	0	0
1160	-0.59	-134.5	193.4	-14.9	145	1166	0.00	0.00	0.00	0.000	6	0.000	0.000	1582	2907	2894	0	0	0	0	0	0
1486	-0.59	-134.5	244.2	-15.4	176	1487	0.00	0.00	0.00	0.000	6	0.000	0.000	1582	2907	2895	0	0	0	0	0	0
1798	-0.59	-134.5	292.4	-15.6	193	1802	0.00	1.65	0.00	0.000	4	0.000	0.065	1575	3914	2895	0	0	0	0	0	0
1936	-0.59	-134.5	316.3	-17.2	199	1939	0.00	1.55	0.00	0.000	6	0.000	0.036	1579	2922	2895	0	0	0	0	0	0
2270	-0.59	-134.5	370.2	-15.8	215	2274	0.00	1.62	0.00	0.000	4	0.000	0.064	1571	3927	2895	0	0	0	0	0	0
2317	-0.59	-134.5	378.1	-17.4	217	2321	0.00	1.55	0.00	0.000	6	0.000	0.037	1578	2929	2895	0	0	0	0	0	0
2649	-0.59	-134.5	429.4	-15.0	233	2650	0.00	0.00	0.00	0.000	6	0.000	0.000	1578	2923	2895	0	0	0	0	0	0
2959	-0.59	-134.5	473.7	-14.1	248	2960	0.00	0.00	0.00	0.000	6	0.000	0.000	1578	2923	2895	0	0	0	0	0	0
3267	-0.59	-134.5	515.9	-13.1	263	3269	0.00	0.00	0.00	0.000	6	0.000	0.000	1578	2923	2896	0	0	0	0	0	0
3577	-0.59	-134.5	557.4	-13.3	278	3580	0.00	1.62	0.00	0.000	4	0.000	0.065	1572	3906	2896	0	0	0	0	0	0
3660	-0.59	-134.5	569.7	-15.1	281	3667	0.00	1.52	0.00	0.000	6	0.000	0.037	1577	2915	2896	0	0	0	0	0	0
3976	-0.59	-134.5	610.4	-12.9	297	3977	0.00	0.00	0.00	0.000	6	0.000	0.000	1577	2914	2896	0	0	0	0	0	0
4285	-0.59	-134.5	650.7	-13.1	312	4286	0.00	0.00	0.00	0.000	6	0.000	0.000	1577	2913	2896	0	0	0	0	0	0
4595	-0.59	-134.5	691.8	-13.6	327	4599	0.00	1.62	0.00	0.000	4	0.000	0.065	1570	3897	2896	0	0	0	0	0	0
4660	-0.59	-134.5	701.7	-15.4	330	4664	0.00	1.48	0.00	0.000	6	0.000	0.037	1577	2942	2896	0	0	0	0	0	0
4993	-0.59	-134.5	750.0	-14.9	346	4994	0.00	0.00	0.00	0.000	6	0.000	0.000	1576	2939	2896	0	0	0	0	0	0
5301	-0.59	-134.5	798.0	-15.5	361	5303	0.00	0.00	0.00	0.000	6	0.000	0.000	1577	2939	2896	0	0	0	0	0	0
5611	-0.59	-134.5	846.9	-15.9	376	5612	0.00	0.00	0.00	0.000	6	0.000	0.000	1577	2939	2897	0	0	0	0	0	0
5921	-0.59	-134.5	894.7	-15.3	391	5922	0.00	0.00	0.00	0.000	6	0.000	0.000	1576	2939	2896	0	0	0	0	0	0
6230	-0.59	-134.5	939.4	-13.8	406	6231	0.00	0.00	0.00	0.000	6	0.000	0.000	1576	2939	2896	0	0	0	0	0	0
6539	-0.59	-134.5	980.5	-13.0	421	6540	0.00	0.00	0.00	0.000	6	0.000	0.000	1576	2939	2896	0	0	0	0	0	0
6703	end dive: TARGET_DEPTH_EXCEEDED
state	6703	begin apogee
6707	-0.13	0.0	1001.0	12.6	429	6835	0.57	0.00	124.15	1.823	6	0.187	0.000	1742	2703	2342	0	0	0	0	0	0
6836	end apogee: CONTROL_FINISHED_OK
state	6836	begin climb
6837	0.59	134.5	1004.1	0.0	435	6977	0.80	0.00	136.77	1.782	6	0.121	0.000	1979	2703	1792	0	0	0	0	0	0
7273	0.59	134.5	928.4	19.2	457	7278	0.00	2.10	0.00	0.000	4	0.000	0.061	1979	3911	1783	0	0	0	0	0	0
7328	0.59	134.5	916.4	22.3	459	7333	0.00	2.00	0.00	0.000	6	0.000	0.038	1988	2731	1782	0	0	0	0	0	0
7650	0.59	134.5	851.9	19.7	475	7651	0.00	0.00	0.00	0.000	6	0.000	0.000	1988	2731	1781	0	0	0	0	0	0
7960	0.59	134.5	789.5	19.7	490	7961	0.00	0.00	0.00	0.000	6	0.000	0.000	1988	2731	1781	0	0	0	0	0	0
8268	0.59	134.5	729.4	19.2	505	8272	0.00	1.92	0.00	0.000	4	0.000	0.060	1988	3903	1780	0	0	0	0	0	0
8336	0.59	134.5	714.8	23.1	508	8339	0.00	1.92	0.00	0.000	6	0.000	0.040	1997	2710	1778	0	0	0	0	0	0
8668	0.59	134.5	650.0	19.0	524	8669	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2709	1778	0	0	0	0	0	0
8977	0.59	134.5	589.4	20.0	539	8980	0.00	1.98	0.00	0.000	4	0.000	0.060	1997	3904	1777	0	0	0	0	0	0
9070	0.59	134.5	568.2	21.8	543	9075	0.00	1.92	0.00	0.000	6	0.000	0.039	2007	2713	1777	0	0	0	0	0	0
9399	0.59	134.5	500.7	20.9	559	9402	0.00	1.92	0.00	0.000	4	0.000	0.060	2007	3903	1777	0	0	0	0	0	0
9447	0.59	134.5	488.8	24.6	561	9452	0.10	1.92	0.00	0.000	6	0.213	0.039	1989	2710	1776	0	0	0	0	0	0
9775	0.59	134.5	423.5	20.2	577	9776	0.00	0.00	0.00	0.000	6	0.000	0.000	1989	2709	1776	0	0	0	0	0	0
10084	0.59	134.5	362.9	19.2	592	10085	0.00	0.00	0.00	0.000	6	0.000	0.000	1989	2709	1776	0	0	0	0	0	0
10395	0.59	134.5	305.3	18.0	607	10399	0.00	1.95	0.00	0.000	4	0.000	0.061	1989	3912	1776	0	0	0	0	0	0
10467	0.59	134.5	290.5	20.1	610	10472	0.00	1.92	0.00	0.000	6	0.000	0.039	1997	2712	1776	0	0	0	0	0	0
10789	0.59	134.5	235.7	17.5	629	10790	0.00	0.00	0.00	0.000	6	0.000	0.000	1997	2712	1776	0	0	0	0	0	0
11108	0.59	134.5	178.3	17.9	659	11112	0.00	1.92	0.00	0.000	4	0.000	0.060	1997	3905	1776	0	0	0	0	0	0
11203	0.59	134.5	159.1	19.2	667	11207	0.00	1.88	0.00	0.000	6	0.000	0.039	2006	2699	1776	0	0	0	0	0	0
11533	0.59	134.5	103.9	14.9	698	11537	0.00	2.20	0.00	0.000	4	0.000	0.047	2017	1289	1776	0	0	0	0	0	0
11580	0.59	134.5	97.5	14.1	703	11587	0.12	2.28	0.00	0.000	6	0.214	0.056	1988	2734	1776	0	0	0	0	0	0
11821	0.59	134.5	64.4	13.8	744	11830	0.00	1.88	0.00	0.000	4	0.000	0.063	1988	3883	1776	0	0	0	0	0	0
11902	0.59	134.5	51.5	16.9	757	11909	0.00	1.88	0.00	0.000	6	0.000	0.040	1996	2708	1775	0	0	0	0	0	0
12016	0.59	134.5	34.1	14.8	776	12024	0.00	0.00	0.00	0.000	6	0.000	0.000	1996	2709	1776	0	0	0	0	0	0
12134	0.59	134.5	17.0	13.9	795	12143	0.00	0.00	0.00	0.000	6	0.000	0.000	1996	2709	1775	0	0	0	0	0	0
12218	0.59	134.5	4.6	14.1	808	12226	0.00	0.00	0.00	0.000	6	0.000	0.000	1996	2709	1775	0	0	0	0	0	0
12235	end climb: SURFACE_DEPTH_REACHED
state	12235	begin surface coast
12261	end surface coast: CONTROL_FINISHED_OK
state	12261	begin surface