Glider dive log

SOSCEx 27Jul15 * SG543 * Dive index * Mission links * Dive 54 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 543 HEADING -1 ROLL_MAX 3944 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 14 ESCAPE_HEADING 0 ROLL_DEG 25 ALTIM_PING_DEPTH 0

DIVE 54 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 3230 ALTIM_PING_DELTA 10

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 3060 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -4300 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 1000 TGT_DEFAULT_LON 800 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

D_ABORT 1020 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 2

D_NO_BLEED 200 SM_CC 200 R_PORT_OVSHOOT 60 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 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 20

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 1500 DEVICE3 83

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 117

T_DIVE 335 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 350 CAPUPLOAD 0 VBD_TIMEOUT 800 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.001 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 -24280.566 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 130 PITCH_MAX 3908 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1905 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043512532

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -55.053406 SEABIRD_T_H 0.00062429422

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011638312 SEABIRD_T_I 2.2835797e-05

RHO 1.027 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.3805812e-06

MASS 53008 PITCH_GAIN 52 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.305622

NAV_MODE 1 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1763667

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.0018977363

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00012677554

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 15

HD_C 9.9999997e-06 ROLL_MIN 394 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 200 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 15 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 10 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 52 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3908 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -4300

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 0 PITCH_MIN 86 TGT_DEFAULT_LON 800

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 0.001 T_BOOST 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011638312 T_DIVE 335

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -55.053406 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 -24280.566

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

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 350

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 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 1905 KALMAN_USE 2 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 3060 KERMIT 0 ROLL_DEG 25 USE_BATHY 0

C_ROLL_DIVE 3230 LOGGERDEVICE1 -1 ROLL_MAX 3944 USE_ICE 0

C_VBD 1500 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 60 VBD_MAX 3960

DEVICE2 20 MASS 53008 R_STBD_OVSHOOT 28 VBD_MAXERRORS 1

DEVICE3 83 MAX_BUOY 130 SEABIRD_C_G -10.305622 VBD_MIN 507

DEVICE4 117 MINV_10V 8 SEABIRD_C_H 1.1763667 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.0018977363 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MISSION 14 SEABIRD_C_J 0.00012677554 VBD_TIMEOUT 800

DIVE 54 MOTHERBOARD 4 SEABIRD_T_G 0.0043512532 XPDR_DEVICE 24

D_ABORT 1020 NAV_MODE 1 SEABIRD_T_H 0.00062429422 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 SEABIRD_T_I 2.2835797e-05 XPDR_VALID 2

D_CALL 0 N_GPS 20 SEABIRD_T_J 2.3805812e-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 070815,005534,-4256.658,825.409,56,1.1,56,-25.0 TGT_NAME SAZ_BUT2

_CALLS 3 TGT_LATLONG -4256.000,824.000

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.83 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 070815,010853,-4256.752,825.590,18,1.5,18,-25.0 MHEAD_RNG_PITCHd_Wd 327.9,2567,-27.2,-9.950

SPEED_LIMITS 0.172,0.243 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.2,1.026418 _10V_AH 10.3,6.914

SM_CCo 11574,46.42,0.385,1,0,681,200.16 FG_AHR_24Vo 0.000

SM_GC 1.77,0.00,0.00,46.42,0.000,0.000,0.385,71,3251,681,-5.73,0.59,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4239.11,824.86,020608,141427 MEM 353968

TT8_MAMPS 0.027713 DATA_FILE_SIZE 47099,827

HUMID 62.71 CAP_FILE_SIZE 113829,0

INTERNAL_PRESSURE 11.4079 CFSIZE 259252224,254623744

TCM_TEMP 13.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1

XPDR_PINGS 0 GPS 070815,042428,-4255.820,824.832,53,0.9,53,-25.0

_24V_AH 22.4,14.039

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 237 76.23 SBE_CT 573 24 308.10

Roll_motor 62 70 98.30 SBE_O2 579 19 246.58

VBD_pump_during_apogee 258 1894 10949.80 WL_BBFL2VMT 596 105 1403.89

VBD_pump_during_surface 46 384 400.16 QSP2150 57 4 5.68

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 101 103 234.70 nil 0 0 0.00

Iridium_during_connect 206 160 739.90 nil 0 0 0.00

Iridium_during_xfer 265 223 1328.14 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 5.83

TT8 2065 14 318.33

LPSleep 7349 2 165.78

TT8_Active 399 14 58.48

TT8_Sampling 2511 37 968.34

TT8_CF8 104 47 50.71

TT8_Kalman 0 0 0.00

Analog_circuits 1251 12 154.63

GPS_charging 0 0 0.00

Compass 1905 15 308.74

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -0.59 -62.5 0.0 0.0 0 64 0.00 0.00 -47.17 0.000 6 0.000 0.000 61 3240 1758 0 0 0 0 0 0

66 -0.65 -126.6 2.9 -2.4 6 84 6.65 1.38 -7.78 0.000 4 0.237 0.056 1688 2362 2018 0 0 0 0 0 0

162 -0.65 -126.6 19.8 -19.1 21 171 0.00 1.48 0.00 0.000 6 0.000 0.053 1683 3232 2023 0 0 0 0 0 0

220 -0.65 -126.6 32.6 -23.1 30 229 0.00 1.15 0.00 0.000 4 0.000 0.056 1677 3955 2024 0 0 0 0 0 0

248 -0.65 -126.6 39.2 -22.7 34 257 0.00 1.08 0.00 0.000 6 0.000 0.033 1677 3233 2024 0 0 0 0 0 0

393 -0.65 -126.6 72.8 -22.9 59 400 0.00 1.15 0.00 0.000 4 0.000 0.055 1672 3957 2024 0 0 0 0 0 0

434 -0.65 -126.6 82.2 -24.5 66 442 0.00 1.08 0.00 0.000 6 0.000 0.033 1672 3230 2024 0 0 0 0 0 0

766 -0.65 -126.6 152.6 -21.5 104 770 0.00 1.17 0.00 0.000 4 0.000 0.057 1667 3957 2024 0 0 0 0 0 0

902 -0.65 -126.6 181.3 -21.2 116 905 0.00 1.08 0.00 0.000 6 0.000 0.033 1667 3231 2024 0 0 0 0 0 0

1231 -0.65 -126.6 248.6 -19.9 147 1235 0.00 1.15 0.00 0.000 4 0.000 0.057 1661 3949 2024 0 0 0 0 0 0

1393 -0.65 -126.6 280.8 -19.6 161 1397 0.08 1.05 0.00 0.000 6 0.181 0.033 1683 3236 2024 0 0 0 0 0 0

1722 -0.65 -126.6 337.7 -17.6 192 1725 0.00 1.12 0.00 0.000 4 0.000 0.056 1680 3953 2024 0 0 0 0 0 0

1781 -0.65 -126.6 348.2 -19.4 197 1784 0.00 1.08 0.00 0.000 6 0.000 0.033 1679 3219 2024 0 0 0 0 0 0

2109 -0.65 -126.6 407.5 -17.8 226 2113 0.00 1.15 0.00 0.000 4 0.000 0.057 1674 3954 2024 0 0 0 0 0 0

2225 -0.65 -126.6 429.3 -18.8 231 2230 0.00 1.08 0.00 0.000 6 0.000 0.032 1674 3229 2024 0 0 0 0 0 0

2553 -0.65 -126.6 488.3 -18.3 247 2557 0.00 1.12 0.00 0.000 4 0.000 0.057 1669 3951 2024 0 0 0 0 0 0

2584 -0.65 -126.6 494.5 -19.1 248 2589 0.00 1.08 0.00 0.000 6 0.000 0.033 1669 3225 2024 0 0 0 0 0 0

2906 -0.65 -126.6 554.4 -18.9 264 2909 0.00 1.15 0.00 0.000 4 0.000 0.057 1663 3958 2024 0 0 0 0 0 0

2943 -0.65 -126.6 562.1 -19.9 265 2952 0.12 1.10 0.00 0.000 6 0.200 0.033 1692 3225 2024 0 0 0 0 0 0

3259 -0.65 -126.6 614.4 -16.3 281 3263 0.00 1.15 0.00 0.000 4 0.000 0.058 1688 3958 2024 0 0 0 0 0 0

3336 -0.65 -126.6 627.9 -17.1 284 3341 0.00 1.10 0.00 0.000 6 0.000 0.034 1689 3221 2024 0 0 0 0 0 0

3658 -0.65 -126.6 681.0 -16.5 300 3662 0.00 1.15 0.00 0.000 4 0.000 0.059 1683 3954 2024 0 0 0 0 0 0

3706 -0.65 -126.6 689.9 -18.0 302 3711 0.00 1.08 0.00 0.000 6 0.000 0.034 1683 3230 2024 0 0 0 0 0 0

4034 -0.65 -126.6 742.9 -16.0 318 4037 0.00 1.12 0.00 0.000 4 0.000 0.059 1677 3947 2024 0 0 0 0 0 0

4088 -0.65 -126.6 752.6 -17.2 320 4093 0.00 1.08 0.00 0.000 6 0.000 0.035 1678 3231 2024 0 0 0 0 0 0

4409 -0.65 -126.6 802.8 -15.6 336 4412 0.00 1.12 0.00 0.000 4 0.000 0.060 1672 3947 2024 0 0 0 0 0 0

4476 -0.65 -126.6 814.0 -16.6 339 4480 0.00 1.05 0.00 0.000 6 0.000 0.036 1672 3234 2024 0 0 0 0 0 0

4808 -0.65 -126.6 867.5 -16.4 355 4811 0.00 1.12 0.00 0.000 4 0.000 0.060 1667 3950 2024 0 0 0 0 0 0

4943 -0.65 -126.6 890.5 -17.5 361 4946 0.00 1.08 0.00 0.000 6 0.000 0.036 1667 3225 2024 0 0 0 0 0 0

5274 -0.65 -126.6 944.9 -16.5 377 5278 0.00 1.15 0.00 0.000 4 0.000 0.060 1661 3957 2024 0 0 0 0 0 0

5373 -0.65 -126.6 962.8 -17.5 381 5379 0.12 1.10 0.00 0.000 6 0.203 0.035 1690 3227 2024 0 0 0 0 0 0

5652 end dive: TARGET_DEPTH_EXCEEDED

state 5652 begin apogee

5656 -0.10 0.0 1002.4 14.2 395 5796 0.60 0.00 132.27 1.894 6 0.162 0.000 1869 3058 1500 0 0 0 0 0 0

5797 end apogee: CONTROL_FINISHED_OK

state 5797 begin climb

5798 0.65 126.6 1007.2 0.0 402 5933 0.75 1.55 125.80 1.841 4 0.100 0.034 2113 2173 982 0 0 0 0 0 0

6038 0.65 126.6 977.6 14.8 413 6043 0.00 1.55 0.00 0.000 6 0.000 0.051 2114 3065 978 0 0 0 0 0 0

6365 0.65 126.6 920.5 17.6 429 6366 0.00 0.00 0.00 0.000 6 0.000 0.000 2114 3064 976 0 0 0 0 0 0

6675 0.65 126.6 866.8 17.2 444 6678 0.00 1.38 0.00 0.000 4 0.000 0.037 2120 2186 976 0 0 0 0 0 0

6698 0.65 126.6 863.1 16.6 445 6702 0.00 1.42 0.00 0.000 6 0.000 0.054 2120 3057 976 0 0 0 0 0 0

7030 0.65 126.6 805.1 17.5 461 7031 0.00 0.00 0.00 0.000 6 0.000 0.000 2120 3057 975 0 0 0 0 0 0

7339 0.65 126.6 750.1 17.8 476 7343 0.00 1.35 0.00 0.000 4 0.000 0.036 2127 2181 974 0 0 0 0 0 0

7393 0.65 126.6 740.9 16.3 478 7399 0.00 1.45 0.00 0.000 6 0.000 0.053 2127 3065 974 0 0 0 0 0 0

7715 0.65 126.6 681.5 18.8 494 7718 0.00 1.38 0.00 0.000 4 0.000 0.037 2133 2175 974 0 0 0 0 0 0

7746 0.65 126.6 675.6 17.2 495 7751 0.00 1.45 0.00 0.000 6 0.000 0.053 2133 3063 974 0 0 0 0 0 0

8068 0.65 126.6 615.1 18.8 511 8070 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 3063 973 0 0 0 0 0 0

8378 0.65 126.6 556.5 18.8 526 8379 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 3063 973 0 0 0 0 0 0

8687 0.65 126.6 499.2 18.4 541 8691 0.00 1.35 0.00 0.000 4 0.000 0.037 2140 2180 973 0 0 0 0 0 0

8747 0.65 126.6 488.6 16.8 543 8755 0.00 1.42 0.00 0.000 6 0.000 0.054 2140 3059 973 0 0 0 0 0 0

9063 0.65 126.6 430.2 18.8 559 9067 0.00 1.35 0.00 0.000 4 0.000 0.037 2146 2163 973 0 0 0 0 0 0

9130 0.65 126.6 418.4 16.4 562 9135 0.10 1.42 0.00 0.000 6 0.197 0.054 2120 3053 973 0 0 0 0 0 0

9458 0.65 126.6 362.5 16.5 587 9461 0.00 1.42 0.00 0.000 4 0.000 0.060 2119 3942 973 0 0 0 0 0 0

9506 0.65 126.6 352.8 19.1 591 9514 0.00 1.35 0.00 0.000 6 0.000 0.034 2125 3045 973 0 0 0 0 0 0

9832 0.65 126.6 296.6 17.3 622 9833 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 3045 972 0 0 0 0 0 0

10151 0.65 126.6 242.4 16.5 652 10155 0.00 1.27 0.00 0.000 4 0.000 0.035 2131 2183 972 0 0 0 0 0 0

10185 0.65 126.6 236.8 16.3 655 10189 0.00 1.40 0.00 0.000 6 0.000 0.054 2131 3057 972 0 0 0 0 0 0

10514 0.65 126.6 179.9 16.8 686 10518 0.00 1.30 0.00 0.000 4 0.000 0.034 2137 2176 972 0 0 0 0 0 0

10596 0.65 126.6 167.3 15.4 693 10599 0.00 1.40 0.00 0.000 6 0.000 0.053 2138 3056 972 0 0 0 0 0 0

10925 0.65 126.6 111.7 16.3 724 10926 0.00 0.00 0.00 0.000 6 0.000 0.000 2138 3056 972 0 0 0 0 0 0

11261 0.65 126.6 54.5 18.3 777 11270 0.00 1.30 0.00 0.000 4 0.000 0.034 2144 2175 972 0 0 0 0 0 0

11306 0.65 126.6 47.6 16.0 784 11312 0.00 1.40 0.00 0.000 6 0.000 0.054 2144 3061 973 0 0 0 0 0 0

11548 end climb: SURFACE_DEPTH_REACHED

state 11548 begin surface coast

11561 end surface coast: CONTROL_FINISHED_OK

state 11562 begin surface

ID	543	HEADING	-1	ROLL_MAX	3944	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	14	ESCAPE_HEADING	0	ROLL_DEG	25	ALTIM_PING_DEPTH	0
DIVE	54	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	3230	ALTIM_PING_DELTA	10
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	3060	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-4300	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	1000	TGT_DEFAULT_LON	800	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
D_ABORT	1020	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	2
D_NO_BLEED	200	SM_CC	200	R_PORT_OVSHOOT	60	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	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	20
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	1500	DEVICE3	83
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	117
T_DIVE	335	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	350	CAPUPLOAD	0	VBD_TIMEOUT	800	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.001	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	-24280.566	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	130	PITCH_MAX	3908	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1905	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043512532
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-55.053406	SEABIRD_T_H	0.00062429422
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011638312	SEABIRD_T_I	2.2835797e-05
RHO	1.027	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.3805812e-06
MASS	53008	PITCH_GAIN	52	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.305622
NAV_MODE	1	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1763667
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.0018977363
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00012677554
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	15
HD_C	9.9999997e-06	ROLL_MIN	394	ALTIM_TOP_TURN_MARGIN	0

GPS1	070815,005534,-4256.658,825.409,56,1.1,56,-25.0	TGT_NAME	SAZ_BUT2
_CALLS	3	TGT_LATLONG	-4256.000,824.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.83	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	070815,010853,-4256.752,825.590,18,1.5,18,-25.0	MHEAD_RNG_PITCHd_Wd	327.9,2567,-27.2,-9.950
SPEED_LIMITS	0.172,0.243	D_GRID	1000

FINISH	1.2,1.026418	_10V_AH	10.3,6.914
SM_CCo	11574,46.42,0.385,1,0,681,200.16	FG_AHR_24Vo	0.000
SM_GC	1.77,0.00,0.00,46.42,0.000,0.000,0.385,71,3251,681,-5.73,0.59,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4239.11,824.86,020608,141427	MEM	353968
TT8_MAMPS	0.027713	DATA_FILE_SIZE	47099,827
HUMID	62.71	CAP_FILE_SIZE	113829,0
INTERNAL_PRESSURE	11.4079	CFSIZE	259252224,254623744
TCM_TEMP	13.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
XPDR_PINGS	0	GPS	070815,042428,-4255.820,824.832,53,0.9,53,-25.0
_24V_AH	22.4,14.039

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	237	76.23	SBE_CT	573	24	308.10
Roll_motor	62	70	98.30	SBE_O2	579	19	246.58
VBD_pump_during_apogee	258	1894	10949.80	WL_BBFL2VMT	596	105	1403.89
VBD_pump_during_surface	46	384	400.16	QSP2150	57	4	5.68
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	101	103	234.70	nil	0	0	0.00
Iridium_during_connect	206	160	739.90	nil	0	0	0.00
Iridium_during_xfer	265	223	1328.14	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	5.83
TT8	2065	14	318.33
LPSleep	7349	2	165.78
TT8_Active	399	14	58.48
TT8_Sampling	2511	37	968.34
TT8_CF8	104	47	50.71
TT8_Kalman	0	0	0.00
Analog_circuits	1251	12	154.63
GPS_charging	0	0	0.00
Compass	1905	15	308.74
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-0.59	-62.5	0.0	0.0	0	64	0.00	0.00	-47.17	0.000	6	0.000	0.000	61	3240	1758	0	0	0	0	0	0
66	-0.65	-126.6	2.9	-2.4	6	84	6.65	1.38	-7.78	0.000	4	0.237	0.056	1688	2362	2018	0	0	0	0	0	0
162	-0.65	-126.6	19.8	-19.1	21	171	0.00	1.48	0.00	0.000	6	0.000	0.053	1683	3232	2023	0	0	0	0	0	0
220	-0.65	-126.6	32.6	-23.1	30	229	0.00	1.15	0.00	0.000	4	0.000	0.056	1677	3955	2024	0	0	0	0	0	0
248	-0.65	-126.6	39.2	-22.7	34	257	0.00	1.08	0.00	0.000	6	0.000	0.033	1677	3233	2024	0	0	0	0	0	0
393	-0.65	-126.6	72.8	-22.9	59	400	0.00	1.15	0.00	0.000	4	0.000	0.055	1672	3957	2024	0	0	0	0	0	0
434	-0.65	-126.6	82.2	-24.5	66	442	0.00	1.08	0.00	0.000	6	0.000	0.033	1672	3230	2024	0	0	0	0	0	0
766	-0.65	-126.6	152.6	-21.5	104	770	0.00	1.17	0.00	0.000	4	0.000	0.057	1667	3957	2024	0	0	0	0	0	0
902	-0.65	-126.6	181.3	-21.2	116	905	0.00	1.08	0.00	0.000	6	0.000	0.033	1667	3231	2024	0	0	0	0	0	0
1231	-0.65	-126.6	248.6	-19.9	147	1235	0.00	1.15	0.00	0.000	4	0.000	0.057	1661	3949	2024	0	0	0	0	0	0
1393	-0.65	-126.6	280.8	-19.6	161	1397	0.08	1.05	0.00	0.000	6	0.181	0.033	1683	3236	2024	0	0	0	0	0	0
1722	-0.65	-126.6	337.7	-17.6	192	1725	0.00	1.12	0.00	0.000	4	0.000	0.056	1680	3953	2024	0	0	0	0	0	0
1781	-0.65	-126.6	348.2	-19.4	197	1784	0.00	1.08	0.00	0.000	6	0.000	0.033	1679	3219	2024	0	0	0	0	0	0
2109	-0.65	-126.6	407.5	-17.8	226	2113	0.00	1.15	0.00	0.000	4	0.000	0.057	1674	3954	2024	0	0	0	0	0	0
2225	-0.65	-126.6	429.3	-18.8	231	2230	0.00	1.08	0.00	0.000	6	0.000	0.032	1674	3229	2024	0	0	0	0	0	0
2553	-0.65	-126.6	488.3	-18.3	247	2557	0.00	1.12	0.00	0.000	4	0.000	0.057	1669	3951	2024	0	0	0	0	0	0
2584	-0.65	-126.6	494.5	-19.1	248	2589	0.00	1.08	0.00	0.000	6	0.000	0.033	1669	3225	2024	0	0	0	0	0	0
2906	-0.65	-126.6	554.4	-18.9	264	2909	0.00	1.15	0.00	0.000	4	0.000	0.057	1663	3958	2024	0	0	0	0	0	0
2943	-0.65	-126.6	562.1	-19.9	265	2952	0.12	1.10	0.00	0.000	6	0.200	0.033	1692	3225	2024	0	0	0	0	0	0
3259	-0.65	-126.6	614.4	-16.3	281	3263	0.00	1.15	0.00	0.000	4	0.000	0.058	1688	3958	2024	0	0	0	0	0	0
3336	-0.65	-126.6	627.9	-17.1	284	3341	0.00	1.10	0.00	0.000	6	0.000	0.034	1689	3221	2024	0	0	0	0	0	0
3658	-0.65	-126.6	681.0	-16.5	300	3662	0.00	1.15	0.00	0.000	4	0.000	0.059	1683	3954	2024	0	0	0	0	0	0
3706	-0.65	-126.6	689.9	-18.0	302	3711	0.00	1.08	0.00	0.000	6	0.000	0.034	1683	3230	2024	0	0	0	0	0	0
4034	-0.65	-126.6	742.9	-16.0	318	4037	0.00	1.12	0.00	0.000	4	0.000	0.059	1677	3947	2024	0	0	0	0	0	0
4088	-0.65	-126.6	752.6	-17.2	320	4093	0.00	1.08	0.00	0.000	6	0.000	0.035	1678	3231	2024	0	0	0	0	0	0
4409	-0.65	-126.6	802.8	-15.6	336	4412	0.00	1.12	0.00	0.000	4	0.000	0.060	1672	3947	2024	0	0	0	0	0	0
4476	-0.65	-126.6	814.0	-16.6	339	4480	0.00	1.05	0.00	0.000	6	0.000	0.036	1672	3234	2024	0	0	0	0	0	0
4808	-0.65	-126.6	867.5	-16.4	355	4811	0.00	1.12	0.00	0.000	4	0.000	0.060	1667	3950	2024	0	0	0	0	0	0
4943	-0.65	-126.6	890.5	-17.5	361	4946	0.00	1.08	0.00	0.000	6	0.000	0.036	1667	3225	2024	0	0	0	0	0	0
5274	-0.65	-126.6	944.9	-16.5	377	5278	0.00	1.15	0.00	0.000	4	0.000	0.060	1661	3957	2024	0	0	0	0	0	0
5373	-0.65	-126.6	962.8	-17.5	381	5379	0.12	1.10	0.00	0.000	6	0.203	0.035	1690	3227	2024	0	0	0	0	0	0
5652	end dive: TARGET_DEPTH_EXCEEDED
state	5652	begin apogee
5656	-0.10	0.0	1002.4	14.2	395	5796	0.60	0.00	132.27	1.894	6	0.162	0.000	1869	3058	1500	0	0	0	0	0	0
5797	end apogee: CONTROL_FINISHED_OK
state	5797	begin climb
5798	0.65	126.6	1007.2	0.0	402	5933	0.75	1.55	125.80	1.841	4	0.100	0.034	2113	2173	982	0	0	0	0	0	0
6038	0.65	126.6	977.6	14.8	413	6043	0.00	1.55	0.00	0.000	6	0.000	0.051	2114	3065	978	0	0	0	0	0	0
6365	0.65	126.6	920.5	17.6	429	6366	0.00	0.00	0.00	0.000	6	0.000	0.000	2114	3064	976	0	0	0	0	0	0
6675	0.65	126.6	866.8	17.2	444	6678	0.00	1.38	0.00	0.000	4	0.000	0.037	2120	2186	976	0	0	0	0	0	0
6698	0.65	126.6	863.1	16.6	445	6702	0.00	1.42	0.00	0.000	6	0.000	0.054	2120	3057	976	0	0	0	0	0	0
7030	0.65	126.6	805.1	17.5	461	7031	0.00	0.00	0.00	0.000	6	0.000	0.000	2120	3057	975	0	0	0	0	0	0
7339	0.65	126.6	750.1	17.8	476	7343	0.00	1.35	0.00	0.000	4	0.000	0.036	2127	2181	974	0	0	0	0	0	0
7393	0.65	126.6	740.9	16.3	478	7399	0.00	1.45	0.00	0.000	6	0.000	0.053	2127	3065	974	0	0	0	0	0	0
7715	0.65	126.6	681.5	18.8	494	7718	0.00	1.38	0.00	0.000	4	0.000	0.037	2133	2175	974	0	0	0	0	0	0
7746	0.65	126.6	675.6	17.2	495	7751	0.00	1.45	0.00	0.000	6	0.000	0.053	2133	3063	974	0	0	0	0	0	0
8068	0.65	126.6	615.1	18.8	511	8070	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	3063	973	0	0	0	0	0	0
8378	0.65	126.6	556.5	18.8	526	8379	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	3063	973	0	0	0	0	0	0
8687	0.65	126.6	499.2	18.4	541	8691	0.00	1.35	0.00	0.000	4	0.000	0.037	2140	2180	973	0	0	0	0	0	0
8747	0.65	126.6	488.6	16.8	543	8755	0.00	1.42	0.00	0.000	6	0.000	0.054	2140	3059	973	0	0	0	0	0	0
9063	0.65	126.6	430.2	18.8	559	9067	0.00	1.35	0.00	0.000	4	0.000	0.037	2146	2163	973	0	0	0	0	0	0
9130	0.65	126.6	418.4	16.4	562	9135	0.10	1.42	0.00	0.000	6	0.197	0.054	2120	3053	973	0	0	0	0	0	0
9458	0.65	126.6	362.5	16.5	587	9461	0.00	1.42	0.00	0.000	4	0.000	0.060	2119	3942	973	0	0	0	0	0	0
9506	0.65	126.6	352.8	19.1	591	9514	0.00	1.35	0.00	0.000	6	0.000	0.034	2125	3045	973	0	0	0	0	0	0
9832	0.65	126.6	296.6	17.3	622	9833	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	3045	972	0	0	0	0	0	0
10151	0.65	126.6	242.4	16.5	652	10155	0.00	1.27	0.00	0.000	4	0.000	0.035	2131	2183	972	0	0	0	0	0	0
10185	0.65	126.6	236.8	16.3	655	10189	0.00	1.40	0.00	0.000	6	0.000	0.054	2131	3057	972	0	0	0	0	0	0
10514	0.65	126.6	179.9	16.8	686	10518	0.00	1.30	0.00	0.000	4	0.000	0.034	2137	2176	972	0	0	0	0	0	0
10596	0.65	126.6	167.3	15.4	693	10599	0.00	1.40	0.00	0.000	6	0.000	0.053	2138	3056	972	0	0	0	0	0	0
10925	0.65	126.6	111.7	16.3	724	10926	0.00	0.00	0.00	0.000	6	0.000	0.000	2138	3056	972	0	0	0	0	0	0
11261	0.65	126.6	54.5	18.3	777	11270	0.00	1.30	0.00	0.000	4	0.000	0.034	2144	2175	972	0	0	0	0	0	0
11306	0.65	126.6	47.6	16.0	784	11312	0.00	1.40	0.00	0.000	6	0.000	0.054	2144	3061	973	0	0	0	0	0	0
11548	end climb: SURFACE_DEPTH_REACHED
state	11548	begin surface coast
11561	end surface coast: CONTROL_FINISHED_OK
state	11562	begin surface