Glider dive log

SOSCEx 08Dec12 * SG543 * Dive index * Mission links * Dive 62 * 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 62 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 3353 ALTIM_PING_DELTA 15

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 3250 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 482.49722 R_PORT_OVSHOOT 50 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 37 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 370 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 385 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 -7997.5137 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 200 PITCH_MAX 3908 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1650 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 36 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 482.49722

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 36 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 370

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 -7997.5137

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

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 385

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 1650 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 3250 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 3353 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 50 VBD_MAX 3960

DEVICE2 101 MASS 52459 R_STBD_OVSHOOT 37 VBD_MAXERRORS 1

DEVICE3 131 MAX_BUOY 200 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 62 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 181212,175904,-4231.938,824.055,36,0.9,36,-25.0 TGT_NAME GH1

_CALLS 1 TGT_LATLONG -4230.000,820.000

_XMS_NAKs 1 TGT_RADIUS 800.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.161,0.111

_SM_DEPTHo 0.89 KALMAN_X -5503.5,467.2,311.4,35375.4,-2049.2

_SM_ANGLEo -16.5 KALMAN_Y 83892.0,-368.9,-172.3,-86791.0,1046.9

GPS2 181212,180752,-4231.903,824.127,18,0.8,20,-25.0 MHEAD_RNG_PITCHd_Wd 329.6,6647,-21.4,-9.009

SPEED_LIMITS 0.156,0.284 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.9,1.002677 _10V_AH 10.1,6.811

SM_CCo 11560,146.07,0.740,1,0,502,482.50 FG_AHR_24Vo 0.000

SM_GC 1.52,0.00,0.00,146.07,0.000,0.000,0.740,57,3361,502,-4.98,0.23,482.50 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4215.72,827.22,181212,141409 MEM 354204

TT8_MAMPS 0.025466 DATA_FILE_SIZE 43832,583

HUMID 54.68 CAP_FILE_SIZE 105411,0

INTERNAL_PRESSURE 8.94683 CFSIZE 259252224,254599168

TCM_TEMP 13.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1

XPDR_PINGS 0 GPS 181212,212522,-4230.650,822.473,41,0.9,41,-25.0

_24V_AH 23.5,13.559

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 240 68.73 SBE_CT 378 24 213.35

Roll_motor 66 66 104.40 AA4330 1282 33 994.82

VBD_pump_during_apogee 299 1188 8354.08 WL_BB2FLVMT 607 105 1498.94

VBD_pump_during_surface 146 739 2539.40 QSP2150 273 4 28.14

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 60.37 nil 0 0 0.00

Iridium_during_connect 42 160 159.15 nil 0 0 0.00

Iridium_during_xfer 307 223 1609.67 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 26 6.00

TT8 1516 14 229.09

LPSleep 7457 2 164.94

TT8_Active 519 14 74.60

TT8_Sampling 2053 37 776.28

TT8_CF8 695 47 331.42

TT8_Kalman 33 59 19.92

Analog_circuits 1333 12 161.68

GPS_charging 0 0 0.00

Compass 1818 15 288.99

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

16 end surface: CONTROL_FINISHED_OK

state 17 begin dive

20 -0.65 -84.4 0.0 0.0 0 118 0.00 0.00 -93.90 0.000 6 0.000 0.000 61 3377 2819 0 0 0 0 0 0

122 -0.69 -146.1 3.4 -4.6 12 142 5.43 2.20 -6.32 0.000 4 0.231 0.046 1424 1950 3070 0 0 0 0 0 0

180 -0.69 -146.1 12.3 -13.7 19 189 0.00 2.33 0.00 0.000 6 0.000 0.056 1414 3338 3072 0 0 0 0 0 0

269 -0.69 -146.1 29.8 -19.4 32 277 0.00 0.00 0.00 0.000 6 0.000 0.000 1414 3338 3073 0 0 0 0 0 0

353 -0.69 -146.1 45.3 -18.1 45 361 0.00 2.15 0.00 0.000 4 0.000 0.033 1415 1960 3073 0 0 0 0 0 0

393 -0.69 -146.1 51.2 -14.3 51 400 0.00 2.30 0.00 0.000 6 0.000 0.061 1404 3354 3073 0 0 0 0 0 0

633 -0.69 -146.1 88.6 -15.5 92 640 0.00 0.95 0.00 0.000 4 0.000 0.058 1400 3949 3073 0 0 0 0 0 0

901 -0.69 -146.1 137.0 -16.9 115 904 0.00 0.90 0.00 0.000 6 0.000 0.035 1399 3356 3074 0 0 0 0 0 0

1227 -0.69 -146.1 190.4 -15.7 136 1230 0.00 0.95 0.00 0.000 4 0.000 0.057 1396 3957 3074 0 0 0 0 0 0

1320 -0.69 -146.1 205.6 -16.5 141 1324 0.08 0.90 0.00 0.000 6 0.180 0.036 1417 3359 3074 0 0 0 0 0 0

1658 -0.69 -146.1 255.0 -14.7 162 1662 0.00 2.12 0.00 0.000 4 0.000 0.032 1417 1942 3074 0 0 0 0 0 0

1680 -0.69 -146.1 258.1 -14.8 163 1684 0.00 2.28 0.00 0.000 6 0.000 0.057 1408 3362 3075 0 0 0 0 0 0

2009 -0.69 -146.1 309.4 -15.6 179 2015 0.00 0.93 0.00 0.000 4 0.000 0.057 1403 3950 3075 0 0 0 0 0 0

2135 -0.69 -146.1 331.0 -16.4 184 2139 0.00 0.90 0.00 0.000 6 0.000 0.035 1404 3348 3075 0 0 0 0 0 0

2458 -0.69 -146.1 383.3 -16.4 200 2462 0.00 0.95 0.00 0.000 4 0.000 0.057 1399 3953 3075 0 0 0 0 0 0

2531 -0.69 -146.1 395.7 -17.5 203 2535 0.00 0.90 0.00 0.000 6 0.000 0.035 1399 3350 3075 0 0 0 0 0 0

2861 -0.69 -146.1 451.7 -16.8 214 2866 0.00 0.95 0.00 0.000 4 0.000 0.057 1395 3955 3074 0 0 0 0 0 0

2917 -0.69 -146.1 461.7 -17.6 215 2921 0.08 0.90 0.00 0.000 6 0.178 0.035 1417 3356 3074 0 0 0 0 0 0

3237 -0.69 -146.1 507.9 -14.2 226 3240 0.00 0.93 0.00 0.000 4 0.000 0.059 1414 3946 3074 0 0 0 0 0 0

3273 -0.69 -146.1 513.1 -14.6 227 3276 0.00 0.90 0.00 0.000 6 0.000 0.037 1414 3346 3074 0 0 0 0 0 0

3614 -0.69 -146.1 559.5 -13.2 238 3618 0.00 2.10 0.00 0.000 4 0.000 0.032 1414 1934 3074 0 0 0 0 0 0

3629 -0.69 -146.1 561.9 -13.6 238 3634 0.00 2.28 0.00 0.000 6 0.000 0.057 1403 3354 3074 0 0 0 0 0 0

3945 -0.69 -146.1 606.1 -14.3 248 3948 0.00 0.93 0.00 0.000 4 0.000 0.059 1399 3947 3073 0 0 0 0 0 0

4062 -0.69 -146.1 624.9 -15.1 251 4066 0.00 0.90 0.00 0.000 6 0.000 0.037 1399 3347 3073 0 0 0 0 0 0

4387 -0.69 -146.1 672.5 -14.7 262 4390 0.00 0.95 0.00 0.000 4 0.000 0.059 1395 3951 3073 0 0 0 0 0 0

4430 -0.69 -146.1 679.4 -15.6 263 4435 0.08 0.90 0.00 0.000 6 0.179 0.037 1417 3351 3072 0 0 0 0 0 0

4760 -0.69 -146.1 721.1 -12.6 274 4766 0.00 0.95 0.00 0.000 4 0.000 0.060 1413 3954 3072 0 0 0 0 0 0

4908 -0.69 -146.1 741.2 -13.5 278 4912 0.00 0.90 0.00 0.000 6 0.000 0.037 1413 3355 3071 0 0 0 0 0 0

5240 -0.69 -146.1 783.8 -12.8 289 5243 0.00 0.93 0.00 0.000 4 0.000 0.060 1409 3945 3070 0 0 0 0 0 0

5319 -0.69 -146.1 794.5 -12.7 291 5323 0.00 0.90 0.00 0.000 6 0.000 0.037 1409 3347 3070 0 0 0 0 0 0

5650 -0.69 -146.1 835.6 -12.5 302 5651 0.00 0.00 0.00 0.000 6 0.000 0.000 1409 3346 3070 0 0 0 0 0 0

5955 -0.69 -146.1 873.6 -12.5 312 5960 0.00 0.95 0.00 0.000 4 0.000 0.061 1405 3950 3069 0 0 0 0 0 0

6039 -0.69 -146.1 885.2 -13.8 314 6043 0.00 0.90 0.00 0.000 6 0.000 0.038 1405 3353 3068 0 0 0 0 0 0

6364 -0.69 -146.1 926.5 -12.8 325 6365 0.00 0.00 0.00 0.000 6 0.000 0.000 1405 3352 3068 0 0 0 0 0 0

6670 -0.69 -146.1 965.8 -12.9 335 6674 0.00 0.95 0.00 0.000 4 0.000 0.061 1400 3955 3067 0 0 0 0 0 0

6745 -0.69 -146.1 976.1 -14.4 337 6748 0.00 0.90 0.00 0.000 6 0.000 0.039 1400 3358 3067 0 0 0 0 0 0

6925 end dive: TARGET_DEPTH_EXCEEDED

state 6925 begin apogee

6932 -0.14 0.0 1000.6 13.6 343 7085 0.68 0.00 149.95 1.188 6 0.156 0.000 1602 3249 2473 0 0 0 0 0 0

7087 end apogee: CONTROL_FINISHED_OK

state 7087 begin climb

7090 0.69 146.1 1004.3 0.0 348 7250 0.75 2.35 149.27 1.155 4 0.051 0.031 1889 1830 1865 0 0 0 0 0 0

7289 0.69 146.1 970.5 19.7 354 7294 0.00 2.45 0.00 0.000 6 0.000 0.050 1889 3258 1854 0 0 0 0 0 0

7619 0.69 146.1 891.1 24.3 365 7625 0.00 1.12 0.00 0.000 4 0.000 0.055 1889 3942 1846 0 0 0 0 0 0

7676 0.69 146.1 876.5 25.6 366 7679 0.00 1.10 0.00 0.000 6 0.000 0.032 1895 3232 1845 0 0 0 0 0 0

7996 0.69 146.1 800.8 24.0 377 7997 0.00 0.00 0.00 0.000 6 0.000 0.000 1895 3233 1844 0 0 0 0 0 0

8301 0.69 146.1 728.3 23.4 387 8306 0.00 1.15 0.00 0.000 4 0.000 0.055 1895 3945 1843 0 0 0 0 0 0

8441 0.69 146.1 692.8 25.9 391 8447 0.00 1.05 0.00 0.000 6 0.000 0.033 1900 3250 1843 0 0 0 0 0 0

8779 0.69 146.1 613.8 23.6 402 8782 0.00 1.12 0.00 0.000 4 0.000 0.054 1900 3955 1842 0 0 0 0 0 0

8846 0.69 146.1 596.2 27.1 404 8852 0.10 1.05 0.00 0.000 6 0.216 0.033 1879 3253 1842 0 0 0 0 0 0

9190 0.69 146.1 518.9 22.0 415 9191 0.00 0.00 0.00 0.000 6 0.000 0.000 1879 3252 1841 0 0 0 0 0 0

9495 0.69 146.1 450.5 22.5 425 9501 0.00 1.10 0.00 0.000 4 0.000 0.054 1877 3947 1841 0 0 0 0 0 0

9543 0.69 146.1 439.3 24.9 426 9547 0.00 1.05 0.00 0.000 6 0.000 0.033 1881 3244 1841 0 0 0 0 0 0

9868 0.69 146.1 368.7 21.5 439 9872 0.00 1.12 0.00 0.000 4 0.000 0.054 1881 3957 1840 0 0 0 0 0 0

9947 0.69 146.1 349.2 23.6 442 9951 0.00 1.05 0.00 0.000 6 0.000 0.033 1886 3251 1840 0 0 0 0 0 0

10270 0.69 146.1 277.3 22.5 458 10274 0.00 1.10 0.00 0.000 4 0.000 0.053 1886 3947 1840 0 0 0 0 0 0

10373 0.69 146.1 251.7 24.7 462 10377 0.00 1.02 0.00 0.000 6 0.000 0.033 1892 3255 1839 0 0 0 0 0 0

10701 0.69 146.1 177.7 22.6 483 10705 0.00 1.10 0.00 0.000 4 0.000 0.053 1892 3953 1839 0 0 0 0 0 0

10740 0.69 146.1 168.4 25.1 485 10744 0.00 1.05 0.00 0.000 6 0.000 0.032 1897 3243 1840 0 0 0 0 0 0

11062 0.69 146.1 97.2 20.8 506 11069 0.00 1.12 0.00 0.000 4 0.000 0.052 1897 3958 1840 0 0 0 0 0 0

11129 0.69 146.1 81.9 24.1 517 11134 0.00 1.05 0.00 0.000 6 0.000 0.032 1903 3248 1840 0 0 0 0 0 0

11503 0.69 146.1 4.9 20.3 578 11513 0.12 2.12 0.00 0.000 4 0.240 0.034 1885 1847 1840 0 0 0 0 0 0

11519 end climb: SURFACE_DEPTH_REACHED

state 11519 begin surface coast

11542 end surface coast: CONTROL_FINISHED_OK

state 11542 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	62	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	3353	ALTIM_PING_DELTA	15
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	3250	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	482.49722	R_PORT_OVSHOOT	50	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	37	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	370	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	385	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	-7997.5137	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	200	PITCH_MAX	3908	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1650	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	36	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	181212,175904,-4231.938,824.055,36,0.9,36,-25.0	TGT_NAME	GH1
_CALLS	1	TGT_LATLONG	-4230.000,820.000
_XMS_NAKs	1	TGT_RADIUS	800.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.161,0.111
_SM_DEPTHo	0.89	KALMAN_X	-5503.5,467.2,311.4,35375.4,-2049.2
_SM_ANGLEo	-16.5	KALMAN_Y	83892.0,-368.9,-172.3,-86791.0,1046.9
GPS2	181212,180752,-4231.903,824.127,18,0.8,20,-25.0	MHEAD_RNG_PITCHd_Wd	329.6,6647,-21.4,-9.009
SPEED_LIMITS	0.156,0.284	D_GRID	1000

FINISH	0.9,1.002677	_10V_AH	10.1,6.811
SM_CCo	11560,146.07,0.740,1,0,502,482.50	FG_AHR_24Vo	0.000
SM_GC	1.52,0.00,0.00,146.07,0.000,0.000,0.740,57,3361,502,-4.98,0.23,482.50	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4215.72,827.22,181212,141409	MEM	354204
TT8_MAMPS	0.025466	DATA_FILE_SIZE	43832,583
HUMID	54.68	CAP_FILE_SIZE	105411,0
INTERNAL_PRESSURE	8.94683	CFSIZE	259252224,254599168
TCM_TEMP	13.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
XPDR_PINGS	0	GPS	181212,212522,-4230.650,822.473,41,0.9,41,-25.0
_24V_AH	23.5,13.559

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	240	68.73	SBE_CT	378	24	213.35
Roll_motor	66	66	104.40	AA4330	1282	33	994.82
VBD_pump_during_apogee	299	1188	8354.08	WL_BB2FLVMT	607	105	1498.94
VBD_pump_during_surface	146	739	2539.40	QSP2150	273	4	28.14
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	60.37	nil	0	0	0.00
Iridium_during_connect	42	160	159.15	nil	0	0	0.00
Iridium_during_xfer	307	223	1609.67	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	26	6.00
TT8	1516	14	229.09
LPSleep	7457	2	164.94
TT8_Active	519	14	74.60
TT8_Sampling	2053	37	776.28
TT8_CF8	695	47	331.42
TT8_Kalman	33	59	19.92
Analog_circuits	1333	12	161.68
GPS_charging	0	0	0.00
Compass	1818	15	288.99
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
16	end surface: CONTROL_FINISHED_OK
state	17	begin dive
20	-0.65	-84.4	0.0	0.0	0	118	0.00	0.00	-93.90	0.000	6	0.000	0.000	61	3377	2819	0	0	0	0	0	0
122	-0.69	-146.1	3.4	-4.6	12	142	5.43	2.20	-6.32	0.000	4	0.231	0.046	1424	1950	3070	0	0	0	0	0	0
180	-0.69	-146.1	12.3	-13.7	19	189	0.00	2.33	0.00	0.000	6	0.000	0.056	1414	3338	3072	0	0	0	0	0	0
269	-0.69	-146.1	29.8	-19.4	32	277	0.00	0.00	0.00	0.000	6	0.000	0.000	1414	3338	3073	0	0	0	0	0	0
353	-0.69	-146.1	45.3	-18.1	45	361	0.00	2.15	0.00	0.000	4	0.000	0.033	1415	1960	3073	0	0	0	0	0	0
393	-0.69	-146.1	51.2	-14.3	51	400	0.00	2.30	0.00	0.000	6	0.000	0.061	1404	3354	3073	0	0	0	0	0	0
633	-0.69	-146.1	88.6	-15.5	92	640	0.00	0.95	0.00	0.000	4	0.000	0.058	1400	3949	3073	0	0	0	0	0	0
901	-0.69	-146.1	137.0	-16.9	115	904	0.00	0.90	0.00	0.000	6	0.000	0.035	1399	3356	3074	0	0	0	0	0	0
1227	-0.69	-146.1	190.4	-15.7	136	1230	0.00	0.95	0.00	0.000	4	0.000	0.057	1396	3957	3074	0	0	0	0	0	0
1320	-0.69	-146.1	205.6	-16.5	141	1324	0.08	0.90	0.00	0.000	6	0.180	0.036	1417	3359	3074	0	0	0	0	0	0
1658	-0.69	-146.1	255.0	-14.7	162	1662	0.00	2.12	0.00	0.000	4	0.000	0.032	1417	1942	3074	0	0	0	0	0	0
1680	-0.69	-146.1	258.1	-14.8	163	1684	0.00	2.28	0.00	0.000	6	0.000	0.057	1408	3362	3075	0	0	0	0	0	0
2009	-0.69	-146.1	309.4	-15.6	179	2015	0.00	0.93	0.00	0.000	4	0.000	0.057	1403	3950	3075	0	0	0	0	0	0
2135	-0.69	-146.1	331.0	-16.4	184	2139	0.00	0.90	0.00	0.000	6	0.000	0.035	1404	3348	3075	0	0	0	0	0	0
2458	-0.69	-146.1	383.3	-16.4	200	2462	0.00	0.95	0.00	0.000	4	0.000	0.057	1399	3953	3075	0	0	0	0	0	0
2531	-0.69	-146.1	395.7	-17.5	203	2535	0.00	0.90	0.00	0.000	6	0.000	0.035	1399	3350	3075	0	0	0	0	0	0
2861	-0.69	-146.1	451.7	-16.8	214	2866	0.00	0.95	0.00	0.000	4	0.000	0.057	1395	3955	3074	0	0	0	0	0	0
2917	-0.69	-146.1	461.7	-17.6	215	2921	0.08	0.90	0.00	0.000	6	0.178	0.035	1417	3356	3074	0	0	0	0	0	0
3237	-0.69	-146.1	507.9	-14.2	226	3240	0.00	0.93	0.00	0.000	4	0.000	0.059	1414	3946	3074	0	0	0	0	0	0
3273	-0.69	-146.1	513.1	-14.6	227	3276	0.00	0.90	0.00	0.000	6	0.000	0.037	1414	3346	3074	0	0	0	0	0	0
3614	-0.69	-146.1	559.5	-13.2	238	3618	0.00	2.10	0.00	0.000	4	0.000	0.032	1414	1934	3074	0	0	0	0	0	0
3629	-0.69	-146.1	561.9	-13.6	238	3634	0.00	2.28	0.00	0.000	6	0.000	0.057	1403	3354	3074	0	0	0	0	0	0
3945	-0.69	-146.1	606.1	-14.3	248	3948	0.00	0.93	0.00	0.000	4	0.000	0.059	1399	3947	3073	0	0	0	0	0	0
4062	-0.69	-146.1	624.9	-15.1	251	4066	0.00	0.90	0.00	0.000	6	0.000	0.037	1399	3347	3073	0	0	0	0	0	0
4387	-0.69	-146.1	672.5	-14.7	262	4390	0.00	0.95	0.00	0.000	4	0.000	0.059	1395	3951	3073	0	0	0	0	0	0
4430	-0.69	-146.1	679.4	-15.6	263	4435	0.08	0.90	0.00	0.000	6	0.179	0.037	1417	3351	3072	0	0	0	0	0	0
4760	-0.69	-146.1	721.1	-12.6	274	4766	0.00	0.95	0.00	0.000	4	0.000	0.060	1413	3954	3072	0	0	0	0	0	0
4908	-0.69	-146.1	741.2	-13.5	278	4912	0.00	0.90	0.00	0.000	6	0.000	0.037	1413	3355	3071	0	0	0	0	0	0
5240	-0.69	-146.1	783.8	-12.8	289	5243	0.00	0.93	0.00	0.000	4	0.000	0.060	1409	3945	3070	0	0	0	0	0	0
5319	-0.69	-146.1	794.5	-12.7	291	5323	0.00	0.90	0.00	0.000	6	0.000	0.037	1409	3347	3070	0	0	0	0	0	0
5650	-0.69	-146.1	835.6	-12.5	302	5651	0.00	0.00	0.00	0.000	6	0.000	0.000	1409	3346	3070	0	0	0	0	0	0
5955	-0.69	-146.1	873.6	-12.5	312	5960	0.00	0.95	0.00	0.000	4	0.000	0.061	1405	3950	3069	0	0	0	0	0	0
6039	-0.69	-146.1	885.2	-13.8	314	6043	0.00	0.90	0.00	0.000	6	0.000	0.038	1405	3353	3068	0	0	0	0	0	0
6364	-0.69	-146.1	926.5	-12.8	325	6365	0.00	0.00	0.00	0.000	6	0.000	0.000	1405	3352	3068	0	0	0	0	0	0
6670	-0.69	-146.1	965.8	-12.9	335	6674	0.00	0.95	0.00	0.000	4	0.000	0.061	1400	3955	3067	0	0	0	0	0	0
6745	-0.69	-146.1	976.1	-14.4	337	6748	0.00	0.90	0.00	0.000	6	0.000	0.039	1400	3358	3067	0	0	0	0	0	0
6925	end dive: TARGET_DEPTH_EXCEEDED
state	6925	begin apogee
6932	-0.14	0.0	1000.6	13.6	343	7085	0.68	0.00	149.95	1.188	6	0.156	0.000	1602	3249	2473	0	0	0	0	0	0
7087	end apogee: CONTROL_FINISHED_OK
state	7087	begin climb
7090	0.69	146.1	1004.3	0.0	348	7250	0.75	2.35	149.27	1.155	4	0.051	0.031	1889	1830	1865	0	0	0	0	0	0
7289	0.69	146.1	970.5	19.7	354	7294	0.00	2.45	0.00	0.000	6	0.000	0.050	1889	3258	1854	0	0	0	0	0	0
7619	0.69	146.1	891.1	24.3	365	7625	0.00	1.12	0.00	0.000	4	0.000	0.055	1889	3942	1846	0	0	0	0	0	0
7676	0.69	146.1	876.5	25.6	366	7679	0.00	1.10	0.00	0.000	6	0.000	0.032	1895	3232	1845	0	0	0	0	0	0
7996	0.69	146.1	800.8	24.0	377	7997	0.00	0.00	0.00	0.000	6	0.000	0.000	1895	3233	1844	0	0	0	0	0	0
8301	0.69	146.1	728.3	23.4	387	8306	0.00	1.15	0.00	0.000	4	0.000	0.055	1895	3945	1843	0	0	0	0	0	0
8441	0.69	146.1	692.8	25.9	391	8447	0.00	1.05	0.00	0.000	6	0.000	0.033	1900	3250	1843	0	0	0	0	0	0
8779	0.69	146.1	613.8	23.6	402	8782	0.00	1.12	0.00	0.000	4	0.000	0.054	1900	3955	1842	0	0	0	0	0	0
8846	0.69	146.1	596.2	27.1	404	8852	0.10	1.05	0.00	0.000	6	0.216	0.033	1879	3253	1842	0	0	0	0	0	0
9190	0.69	146.1	518.9	22.0	415	9191	0.00	0.00	0.00	0.000	6	0.000	0.000	1879	3252	1841	0	0	0	0	0	0
9495	0.69	146.1	450.5	22.5	425	9501	0.00	1.10	0.00	0.000	4	0.000	0.054	1877	3947	1841	0	0	0	0	0	0
9543	0.69	146.1	439.3	24.9	426	9547	0.00	1.05	0.00	0.000	6	0.000	0.033	1881	3244	1841	0	0	0	0	0	0
9868	0.69	146.1	368.7	21.5	439	9872	0.00	1.12	0.00	0.000	4	0.000	0.054	1881	3957	1840	0	0	0	0	0	0
9947	0.69	146.1	349.2	23.6	442	9951	0.00	1.05	0.00	0.000	6	0.000	0.033	1886	3251	1840	0	0	0	0	0	0
10270	0.69	146.1	277.3	22.5	458	10274	0.00	1.10	0.00	0.000	4	0.000	0.053	1886	3947	1840	0	0	0	0	0	0
10373	0.69	146.1	251.7	24.7	462	10377	0.00	1.02	0.00	0.000	6	0.000	0.033	1892	3255	1839	0	0	0	0	0	0
10701	0.69	146.1	177.7	22.6	483	10705	0.00	1.10	0.00	0.000	4	0.000	0.053	1892	3953	1839	0	0	0	0	0	0
10740	0.69	146.1	168.4	25.1	485	10744	0.00	1.05	0.00	0.000	6	0.000	0.032	1897	3243	1840	0	0	0	0	0	0
11062	0.69	146.1	97.2	20.8	506	11069	0.00	1.12	0.00	0.000	4	0.000	0.052	1897	3958	1840	0	0	0	0	0	0
11129	0.69	146.1	81.9	24.1	517	11134	0.00	1.05	0.00	0.000	6	0.000	0.032	1903	3248	1840	0	0	0	0	0	0
11503	0.69	146.1	4.9	20.3	578	11513	0.12	2.12	0.00	0.000	4	0.240	0.034	1885	1847	1840	0	0	0	0	0	0
11519	end climb: SURFACE_DEPTH_REACHED
state	11519	begin surface coast
11542	end surface coast: CONTROL_FINISHED_OK
state	11542	begin surface