Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 61 * 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 61 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 26 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 22 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 -21843.555 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 -21843.555

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 26 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 22 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 61 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 201214,194752,-5602.219,-31.740,35,0.9,35,-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 -0.164,0.017

_SM_DEPTHo 2.08 KALMAN_X 33131.5,-318.9,-6.4,-65544.9,4028.5

_SM_ANGLEo -64.9 KALMAN_Y 53853.7,-370.2,-617.2,-56676.7,3887.6

GPS2 201214,195505,-5602.236,-31.683,15,1.2,15,-19.9 MHEAD_RNG_PITCHd_Wd 295.7,4493,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.2,1.014999 _10V_AH 10.0,11.957

SM_CCo 12570,25.77,0.185,0,0,1524,200.16 FG_AHR_24Vo 0.000

SM_GC 2.17,0.00,0.00,25.77,0.000,0.000,0.185,66,2939,1524,-5.39,0.28,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5538.94,-30.80,201214,151556 MEM 353956

TT8_MAMPS 0.026215 DATA_FILE_SIZE 57173,816

HUMID 56.53 CAP_FILE_SIZE 104228,0

INTERNAL_PRESSURE 8.96486 CFSIZE 259252224,222494720

TCM_TEMP 7.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 201214,232704,-5602.131,-33.408,34,0.8,34,-19.8

_24V_AH 21.7,18.244

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 257 72.51 SBE_CT 580 23 302.02

Roll_motor 59 83 108.11 AA4330 1684 17 657.34

VBD_pump_during_apogee 252 1803 9882.88 WL_BB2F 798 105 1820.27

VBD_pump_during_surface 25 185 103.55 QSP2150 824 17 321.70

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 91 56.16 nil 0 0 0.00

Iridium_during_connect 18 160 64.12 nil 0 0 0.00

Iridium_during_xfer 269 223 1305.52 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 31 5.59

TT8 2027 14 293.13

LPSleep 8137 2 178.21

TT8_Active 377 14 54.59

TT8_Sampling 2338 42 985.99

TT8_CF8 149 49 74.09

TT8_Kalman 33 68 22.81

Analog_circuits 1150 15 178.32

GPS_charging 0 0 0.00

Compass 1881 16 310.12

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 51 0.00 0.00 -34.35 0.000 2 0.000 0.000 59 2930 2262 0 0 0 0 0 0

53 -0.59 -131.4 3.0 -4.6 4 88 6.30 1.60 -21.83 0.000 4 0.257 0.083 1582 3900 2878 0 0 0 0 0 0

288 -0.59 -131.4 43.7 -19.2 41 295 0.00 1.58 0.00 0.000 6 0.000 0.036 1582 2901 2880 0 0 0 0 0 0

401 -0.59 -131.4 65.5 -18.9 60 409 0.00 0.00 0.00 0.000 6 0.000 0.000 1582 2900 2880 0 0 0 0 0 0

516 -0.59 -131.4 86.5 -18.1 79 523 0.00 1.65 0.00 0.000 4 0.000 0.063 1574 3899 2880 0 0 0 0 0 0

623 -0.59 -131.4 107.4 -17.9 94 633 0.00 1.52 0.00 0.000 6 0.000 0.036 1579 2921 2881 0 0 0 0 0 0

950 -0.59 -131.4 165.4 -17.2 125 954 0.00 1.62 0.00 0.000 4 0.000 0.063 1571 3897 2880 0 0 0 0 0 0

1098 -0.59 -131.4 194.7 -19.0 138 1102 0.00 1.50 0.00 0.000 6 0.000 0.036 1578 2933 2880 0 0 0 0 0 0

1441 -0.59 -131.4 254.7 -17.3 169 1443 0.00 0.00 0.00 0.000 6 0.000 0.000 1578 2926 2880 0 0 0 0 0 0

1748 -0.59 -131.4 308.2 -17.1 184 1751 0.00 1.60 0.00 0.000 4 0.000 0.064 1571 3893 2880 0 0 0 0 0 0

1818 -0.59 -131.4 320.8 -18.3 187 1821 0.00 1.50 0.00 0.000 6 0.000 0.037 1577 2927 2880 0 0 0 0 0 0

2151 -0.59 -131.4 378.5 -17.0 203 2153 0.00 0.00 0.00 0.000 6 0.000 0.000 1577 2922 2881 0 0 0 0 0 0

2460 -0.59 -131.4 431.6 -17.1 218 2463 0.00 1.60 0.00 0.000 4 0.000 0.063 1570 3893 2880 0 0 0 0 0 0

2536 -0.59 -131.4 445.6 -18.0 221 2541 0.00 1.50 0.00 0.000 6 0.000 0.035 1576 2923 2880 0 0 0 0 0 0

2859 -0.59 -131.4 496.8 -15.7 237 2862 0.00 1.62 0.00 0.000 4 0.000 0.063 1568 3902 2880 0 0 0 0 0 0

2926 -0.59 -131.4 508.2 -16.8 240 2930 0.00 1.50 0.00 0.000 6 0.000 0.036 1568 2928 2880 0 0 0 0 0 0

3258 -0.59 -131.4 558.6 -14.7 256 3259 0.00 0.00 0.00 0.000 6 0.000 0.000 1569 2922 2881 0 0 0 0 0 0

3568 -0.59 -131.4 602.9 -13.8 271 3572 0.10 1.60 0.00 0.000 4 0.219 0.065 1583 3900 2881 0 0 0 0 0 0

3628 -0.59 -131.4 611.5 -13.9 273 3635 0.00 1.50 0.00 0.000 6 0.000 0.035 1588 2920 2881 0 0 0 0 0 0

3944 -0.59 -131.4 648.8 -11.6 289 3945 0.00 0.00 0.00 0.000 6 0.000 0.000 1588 2919 2881 0 0 0 0 0 0

4254 -0.59 -131.4 683.6 -11.4 304 4255 0.00 0.00 0.00 0.000 6 0.000 0.000 1588 2919 2881 0 0 0 0 0 0

4562 -0.59 -131.4 718.0 -11.1 319 4566 0.00 1.62 0.00 0.000 4 0.000 0.064 1581 3904 2881 0 0 0 0 0 0

4633 -0.59 -131.4 727.1 -12.4 322 4638 0.00 1.50 0.00 0.000 6 0.000 0.035 1581 2932 2881 0 0 0 0 0 0

4962 -0.59 -131.4 768.5 -12.9 338 4963 0.00 0.00 0.00 0.000 6 0.000 0.000 1581 2926 2881 0 0 0 0 0 0

5270 -0.59 -131.4 807.7 -12.7 353 5271 0.00 0.00 0.00 0.000 6 0.000 0.000 1581 2926 2881 0 0 0 0 0 0

5580 -0.59 -131.4 847.5 -12.8 368 5584 0.00 1.60 0.00 0.000 4 0.000 0.065 1574 3897 2881 0 0 0 0 0 0

5625 -0.59 -131.4 854.1 -15.3 370 5629 0.00 1.48 0.00 0.000 6 0.000 0.036 1578 2938 2881 0 0 0 0 0 0

5958 -0.59 -131.4 898.2 -13.3 386 5959 0.00 0.00 0.00 0.000 6 0.000 0.000 1579 2934 2881 0 0 0 0 0 0

6267 -0.59 -131.4 939.1 -13.5 401 6268 0.00 0.00 0.00 0.000 6 0.000 0.000 1579 2935 2881 0 0 0 0 0 0

6575 -0.59 -131.4 979.8 -13.0 416 6577 0.00 0.00 0.00 0.000 6 0.000 0.000 1579 2935 2882 0 0 0 0 0 0

6739 end dive: TARGET_DEPTH_EXCEEDED

state 6739 begin apogee

6743 -0.13 0.0 1001.5 13.1 424 6867 0.55 0.00 120.25 1.804 6 0.184 0.000 1738 2717 2342 0 0 0 0 0 0

6868 end apogee: CONTROL_FINISHED_OK

state 6868 begin climb

6870 0.59 131.4 1006.1 0.0 430 7006 0.77 0.00 132.23 1.755 6 0.126 0.000 1970 2717 1805 0 0 0 0 0 0

7302 0.59 131.4 940.5 17.8 451 7303 0.00 0.00 0.00 0.000 6 0.000 0.000 1971 2717 1796 0 0 0 0 0 0

7610 0.59 131.4 886.7 17.4 466 7614 0.00 2.00 0.00 0.000 4 0.000 0.061 1967 3897 1794 0 0 0 0 0 0

7648 0.59 131.4 879.2 19.6 467 7656 0.00 1.92 0.00 0.000 6 0.000 0.037 1976 2734 1793 0 0 0 0 0 0

7965 0.59 131.4 822.5 18.1 483 7966 0.00 0.00 0.00 0.000 6 0.000 0.000 1976 2734 1792 0 0 0 0 0 0

8273 0.59 131.4 766.4 18.3 498 8274 0.00 0.00 0.00 0.000 6 0.000 0.000 1975 2734 1792 0 0 0 0 0 0

8583 0.59 131.4 709.4 18.5 513 8586 0.00 1.95 0.00 0.000 4 0.000 0.061 1976 3906 1792 0 0 0 0 0 0

8637 0.59 131.4 697.8 22.4 515 8642 0.00 1.95 0.00 0.000 6 0.000 0.039 1985 2701 1790 0 0 0 0 0 0

8959 0.59 131.4 636.4 19.0 531 8962 0.00 1.98 0.00 0.000 4 0.000 0.060 1985 3897 1790 0 0 0 0 0 0

9004 0.59 131.4 627.1 21.2 533 9007 0.00 1.90 0.00 0.000 6 0.000 0.038 1994 2706 1790 0 0 0 0 0 0

9336 0.59 131.4 563.1 19.3 549 9337 0.00 0.00 0.00 0.000 6 0.000 0.000 1995 2705 1790 0 0 0 0 0 0

9645 0.59 131.4 505.4 18.2 564 9649 0.00 1.98 0.00 0.000 4 0.000 0.060 1994 3893 1790 0 0 0 0 0 0

9676 0.59 131.4 498.6 20.8 565 9681 0.00 1.90 0.00 0.000 6 0.000 0.037 2004 2710 1789 0 0 0 0 0 0

9999 0.59 131.4 437.3 18.8 581 10000 0.00 0.00 0.00 0.000 6 0.000 0.000 2004 2710 1789 0 0 0 0 0 0

10309 0.59 131.4 379.6 18.2 596 10313 0.00 1.95 0.00 0.000 4 0.000 0.060 2004 3908 1789 0 0 0 0 0 0

10370 0.59 131.4 366.6 20.5 598 10380 0.10 1.92 0.00 0.000 6 0.215 0.038 1986 2704 1789 0 0 0 0 0 0

10687 0.59 131.4 314.1 16.7 614 10688 0.00 0.00 0.00 0.000 6 0.000 0.000 1986 2704 1789 0 0 0 0 0 0

10998 0.59 131.4 263.1 16.7 629 11001 0.00 1.95 0.00 0.000 4 0.000 0.060 1986 3898 1789 0 0 0 0 0 0

11035 0.59 131.4 255.5 19.2 630 11045 0.00 1.90 0.00 0.000 6 0.000 0.037 1994 2706 1789 0 0 0 0 0 0

11362 0.59 131.4 199.6 17.7 659 11363 0.00 0.00 0.00 0.000 6 0.000 0.000 1994 2705 1788 0 0 0 0 0 0

11681 0.59 131.4 142.9 17.2 689 11685 0.00 1.95 0.00 0.000 4 0.000 0.060 1994 3902 1788 0 0 0 0 0 0

11729 0.59 131.4 133.3 20.8 693 11733 0.00 1.88 0.00 0.000 6 0.000 0.039 2003 2707 1788 0 0 0 0 0 0

12066 0.59 131.4 75.0 15.2 736 12075 0.00 1.95 0.00 0.000 4 0.000 0.060 2004 3893 1789 0 0 0 0 0 0

12217 0.59 131.4 48.8 17.6 761 12224 0.10 1.88 0.00 0.000 6 0.207 0.037 1985 2710 1789 0 0 0 0 0 0

12330 0.59 131.4 33.1 11.9 780 12338 0.00 0.00 0.00 0.000 6 0.000 0.000 1985 2710 1789 0 0 0 0 0 0

12449 0.59 131.4 15.1 16.7 799 12457 0.00 0.00 0.00 0.000 6 0.000 0.000 1985 2710 1788 0 0 0 0 0 0

12532 end climb: SURFACE_DEPTH_REACHED

state 12532 begin surface coast

12558 end surface coast: CONTROL_FINISHED_OK

state 12558 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	61	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	26	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	22	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	-21843.555	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	201214,194752,-5602.219,-31.740,35,0.9,35,-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	-0.164,0.017
_SM_DEPTHo	2.08	KALMAN_X	33131.5,-318.9,-6.4,-65544.9,4028.5
_SM_ANGLEo	-64.9	KALMAN_Y	53853.7,-370.2,-617.2,-56676.7,3887.6
GPS2	201214,195505,-5602.236,-31.683,15,1.2,15,-19.9	MHEAD_RNG_PITCHd_Wd	295.7,4493,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.2,1.014999	_10V_AH	10.0,11.957
SM_CCo	12570,25.77,0.185,0,0,1524,200.16	FG_AHR_24Vo	0.000
SM_GC	2.17,0.00,0.00,25.77,0.000,0.000,0.185,66,2939,1524,-5.39,0.28,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5538.94,-30.80,201214,151556	MEM	353956
TT8_MAMPS	0.026215	DATA_FILE_SIZE	57173,816
HUMID	56.53	CAP_FILE_SIZE	104228,0
INTERNAL_PRESSURE	8.96486	CFSIZE	259252224,222494720
TCM_TEMP	7.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	201214,232704,-5602.131,-33.408,34,0.8,34,-19.8
_24V_AH	21.7,18.244

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	257	72.51	SBE_CT	580	23	302.02
Roll_motor	59	83	108.11	AA4330	1684	17	657.34
VBD_pump_during_apogee	252	1803	9882.88	WL_BB2F	798	105	1820.27
VBD_pump_during_surface	25	185	103.55	QSP2150	824	17	321.70
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	91	56.16	nil	0	0	0.00
Iridium_during_connect	18	160	64.12	nil	0	0	0.00
Iridium_during_xfer	269	223	1305.52	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	31	5.59
TT8	2027	14	293.13
LPSleep	8137	2	178.21
TT8_Active	377	14	54.59
TT8_Sampling	2338	42	985.99
TT8_CF8	149	49	74.09
TT8_Kalman	33	68	22.81
Analog_circuits	1150	15	178.32
GPS_charging	0	0	0.00
Compass	1881	16	310.12
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	51	0.00	0.00	-34.35	0.000	2	0.000	0.000	59	2930	2262	0	0	0	0	0	0
53	-0.59	-131.4	3.0	-4.6	4	88	6.30	1.60	-21.83	0.000	4	0.257	0.083	1582	3900	2878	0	0	0	0	0	0
288	-0.59	-131.4	43.7	-19.2	41	295	0.00	1.58	0.00	0.000	6	0.000	0.036	1582	2901	2880	0	0	0	0	0	0
401	-0.59	-131.4	65.5	-18.9	60	409	0.00	0.00	0.00	0.000	6	0.000	0.000	1582	2900	2880	0	0	0	0	0	0
516	-0.59	-131.4	86.5	-18.1	79	523	0.00	1.65	0.00	0.000	4	0.000	0.063	1574	3899	2880	0	0	0	0	0	0
623	-0.59	-131.4	107.4	-17.9	94	633	0.00	1.52	0.00	0.000	6	0.000	0.036	1579	2921	2881	0	0	0	0	0	0
950	-0.59	-131.4	165.4	-17.2	125	954	0.00	1.62	0.00	0.000	4	0.000	0.063	1571	3897	2880	0	0	0	0	0	0
1098	-0.59	-131.4	194.7	-19.0	138	1102	0.00	1.50	0.00	0.000	6	0.000	0.036	1578	2933	2880	0	0	0	0	0	0
1441	-0.59	-131.4	254.7	-17.3	169	1443	0.00	0.00	0.00	0.000	6	0.000	0.000	1578	2926	2880	0	0	0	0	0	0
1748	-0.59	-131.4	308.2	-17.1	184	1751	0.00	1.60	0.00	0.000	4	0.000	0.064	1571	3893	2880	0	0	0	0	0	0
1818	-0.59	-131.4	320.8	-18.3	187	1821	0.00	1.50	0.00	0.000	6	0.000	0.037	1577	2927	2880	0	0	0	0	0	0
2151	-0.59	-131.4	378.5	-17.0	203	2153	0.00	0.00	0.00	0.000	6	0.000	0.000	1577	2922	2881	0	0	0	0	0	0
2460	-0.59	-131.4	431.6	-17.1	218	2463	0.00	1.60	0.00	0.000	4	0.000	0.063	1570	3893	2880	0	0	0	0	0	0
2536	-0.59	-131.4	445.6	-18.0	221	2541	0.00	1.50	0.00	0.000	6	0.000	0.035	1576	2923	2880	0	0	0	0	0	0
2859	-0.59	-131.4	496.8	-15.7	237	2862	0.00	1.62	0.00	0.000	4	0.000	0.063	1568	3902	2880	0	0	0	0	0	0
2926	-0.59	-131.4	508.2	-16.8	240	2930	0.00	1.50	0.00	0.000	6	0.000	0.036	1568	2928	2880	0	0	0	0	0	0
3258	-0.59	-131.4	558.6	-14.7	256	3259	0.00	0.00	0.00	0.000	6	0.000	0.000	1569	2922	2881	0	0	0	0	0	0
3568	-0.59	-131.4	602.9	-13.8	271	3572	0.10	1.60	0.00	0.000	4	0.219	0.065	1583	3900	2881	0	0	0	0	0	0
3628	-0.59	-131.4	611.5	-13.9	273	3635	0.00	1.50	0.00	0.000	6	0.000	0.035	1588	2920	2881	0	0	0	0	0	0
3944	-0.59	-131.4	648.8	-11.6	289	3945	0.00	0.00	0.00	0.000	6	0.000	0.000	1588	2919	2881	0	0	0	0	0	0
4254	-0.59	-131.4	683.6	-11.4	304	4255	0.00	0.00	0.00	0.000	6	0.000	0.000	1588	2919	2881	0	0	0	0	0	0
4562	-0.59	-131.4	718.0	-11.1	319	4566	0.00	1.62	0.00	0.000	4	0.000	0.064	1581	3904	2881	0	0	0	0	0	0
4633	-0.59	-131.4	727.1	-12.4	322	4638	0.00	1.50	0.00	0.000	6	0.000	0.035	1581	2932	2881	0	0	0	0	0	0
4962	-0.59	-131.4	768.5	-12.9	338	4963	0.00	0.00	0.00	0.000	6	0.000	0.000	1581	2926	2881	0	0	0	0	0	0
5270	-0.59	-131.4	807.7	-12.7	353	5271	0.00	0.00	0.00	0.000	6	0.000	0.000	1581	2926	2881	0	0	0	0	0	0
5580	-0.59	-131.4	847.5	-12.8	368	5584	0.00	1.60	0.00	0.000	4	0.000	0.065	1574	3897	2881	0	0	0	0	0	0
5625	-0.59	-131.4	854.1	-15.3	370	5629	0.00	1.48	0.00	0.000	6	0.000	0.036	1578	2938	2881	0	0	0	0	0	0
5958	-0.59	-131.4	898.2	-13.3	386	5959	0.00	0.00	0.00	0.000	6	0.000	0.000	1579	2934	2881	0	0	0	0	0	0
6267	-0.59	-131.4	939.1	-13.5	401	6268	0.00	0.00	0.00	0.000	6	0.000	0.000	1579	2935	2881	0	0	0	0	0	0
6575	-0.59	-131.4	979.8	-13.0	416	6577	0.00	0.00	0.00	0.000	6	0.000	0.000	1579	2935	2882	0	0	0	0	0	0
6739	end dive: TARGET_DEPTH_EXCEEDED
state	6739	begin apogee
6743	-0.13	0.0	1001.5	13.1	424	6867	0.55	0.00	120.25	1.804	6	0.184	0.000	1738	2717	2342	0	0	0	0	0	0
6868	end apogee: CONTROL_FINISHED_OK
state	6868	begin climb
6870	0.59	131.4	1006.1	0.0	430	7006	0.77	0.00	132.23	1.755	6	0.126	0.000	1970	2717	1805	0	0	0	0	0	0
7302	0.59	131.4	940.5	17.8	451	7303	0.00	0.00	0.00	0.000	6	0.000	0.000	1971	2717	1796	0	0	0	0	0	0
7610	0.59	131.4	886.7	17.4	466	7614	0.00	2.00	0.00	0.000	4	0.000	0.061	1967	3897	1794	0	0	0	0	0	0
7648	0.59	131.4	879.2	19.6	467	7656	0.00	1.92	0.00	0.000	6	0.000	0.037	1976	2734	1793	0	0	0	0	0	0
7965	0.59	131.4	822.5	18.1	483	7966	0.00	0.00	0.00	0.000	6	0.000	0.000	1976	2734	1792	0	0	0	0	0	0
8273	0.59	131.4	766.4	18.3	498	8274	0.00	0.00	0.00	0.000	6	0.000	0.000	1975	2734	1792	0	0	0	0	0	0
8583	0.59	131.4	709.4	18.5	513	8586	0.00	1.95	0.00	0.000	4	0.000	0.061	1976	3906	1792	0	0	0	0	0	0
8637	0.59	131.4	697.8	22.4	515	8642	0.00	1.95	0.00	0.000	6	0.000	0.039	1985	2701	1790	0	0	0	0	0	0
8959	0.59	131.4	636.4	19.0	531	8962	0.00	1.98	0.00	0.000	4	0.000	0.060	1985	3897	1790	0	0	0	0	0	0
9004	0.59	131.4	627.1	21.2	533	9007	0.00	1.90	0.00	0.000	6	0.000	0.038	1994	2706	1790	0	0	0	0	0	0
9336	0.59	131.4	563.1	19.3	549	9337	0.00	0.00	0.00	0.000	6	0.000	0.000	1995	2705	1790	0	0	0	0	0	0
9645	0.59	131.4	505.4	18.2	564	9649	0.00	1.98	0.00	0.000	4	0.000	0.060	1994	3893	1790	0	0	0	0	0	0
9676	0.59	131.4	498.6	20.8	565	9681	0.00	1.90	0.00	0.000	6	0.000	0.037	2004	2710	1789	0	0	0	0	0	0
9999	0.59	131.4	437.3	18.8	581	10000	0.00	0.00	0.00	0.000	6	0.000	0.000	2004	2710	1789	0	0	0	0	0	0
10309	0.59	131.4	379.6	18.2	596	10313	0.00	1.95	0.00	0.000	4	0.000	0.060	2004	3908	1789	0	0	0	0	0	0
10370	0.59	131.4	366.6	20.5	598	10380	0.10	1.92	0.00	0.000	6	0.215	0.038	1986	2704	1789	0	0	0	0	0	0
10687	0.59	131.4	314.1	16.7	614	10688	0.00	0.00	0.00	0.000	6	0.000	0.000	1986	2704	1789	0	0	0	0	0	0
10998	0.59	131.4	263.1	16.7	629	11001	0.00	1.95	0.00	0.000	4	0.000	0.060	1986	3898	1789	0	0	0	0	0	0
11035	0.59	131.4	255.5	19.2	630	11045	0.00	1.90	0.00	0.000	6	0.000	0.037	1994	2706	1789	0	0	0	0	0	0
11362	0.59	131.4	199.6	17.7	659	11363	0.00	0.00	0.00	0.000	6	0.000	0.000	1994	2705	1788	0	0	0	0	0	0
11681	0.59	131.4	142.9	17.2	689	11685	0.00	1.95	0.00	0.000	4	0.000	0.060	1994	3902	1788	0	0	0	0	0	0
11729	0.59	131.4	133.3	20.8	693	11733	0.00	1.88	0.00	0.000	6	0.000	0.039	2003	2707	1788	0	0	0	0	0	0
12066	0.59	131.4	75.0	15.2	736	12075	0.00	1.95	0.00	0.000	4	0.000	0.060	2004	3893	1789	0	0	0	0	0	0
12217	0.59	131.4	48.8	17.6	761	12224	0.10	1.88	0.00	0.000	6	0.207	0.037	1985	2710	1789	0	0	0	0	0	0
12330	0.59	131.4	33.1	11.9	780	12338	0.00	0.00	0.00	0.000	6	0.000	0.000	1985	2710	1789	0	0	0	0	0	0
12449	0.59	131.4	15.1	16.7	799	12457	0.00	0.00	0.00	0.000	6	0.000	0.000	1985	2710	1788	0	0	0	0	0	0
12532	end climb: SURFACE_DEPTH_REACHED
state	12532	begin surface coast
12558	end surface coast: CONTROL_FINISHED_OK
state	12558	begin surface