Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 65 * 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 65 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 26 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 -21852.938 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 -21852.938

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 26 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 65 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 211214,102827,-5600.316,-32.770,70,1.1,70,-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 -0.157,0.051

_SM_DEPTHo 1.81 KALMAN_X 37189.6,-469.3,-273.5,-70218.9,4461.3

_SM_ANGLEo -57.8 KALMAN_Y 51825.5,61.0,-11.4,-52012.9,-97.1

GPS2 211214,103559,-5600.245,-32.691,20,0.8,20,-19.9 MHEAD_RNG_PITCHd_Wd 307.7,2824,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.2,1.027205 _10V_AH 10.1,12.365

SM_CCo 12069,21.02,0.177,0,0,1523,200.16 FG_AHR_24Vo 0.000

SM_GC 2.56,0.00,0.00,21.02,0.000,0.000,0.177,56,2939,1523,-5.42,0.25,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5538.94,-34.65,211214,030301 MEM 353984

TT8_MAMPS 0.026964 DATA_FILE_SIZE 53724,781

HUMID 55.63 CAP_FILE_SIZE 104190,0

INTERNAL_PRESSURE 8.96486 CFSIZE 259252224,222236672

TCM_TEMP 7.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 211214,135933,-5559.759,-34.728,33,1.1,35,-19.8

_24V_AH 21.7,18.864

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 248 70.54 SBE_CT 555 23 288.79

Roll_motor 62 77 104.33 AA4330 1613 17 629.62

VBD_pump_during_apogee 282 1806 11057.55 WL_BB2F 762 105 1737.33

VBD_pump_during_surface 21 176 80.62 QSP2150 787 17 307.09

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 91 59.55 nil 0 0 0.00

Iridium_during_connect 41 160 145.14 nil 0 0 0.00

Iridium_during_xfer 264 223 1280.33 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 31 7.26

TT8 1958 14 286.08

LPSleep 7694 2 170.20

TT8_Active 410 14 59.93

TT8_Sampling 2338 42 995.89

TT8_CF8 143 49 72.18

TT8_Kalman 33 68 23.04

Analog_circuits 1184 15 185.50

GPS_charging 0 0 0.00

Compass 1855 16 308.83

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 67 0.00 0.00 -50.40 0.000 2 0.000 0.000 50 2942 2618 0 0 0 0 0 0

70 -0.60 -146.1 3.1 -2.3 6 96 6.20 1.60 -9.57 0.000 4 0.249 0.077 1579 3900 2940 0 0 0 0 0 0

210 -0.60 -146.1 32.8 -22.0 27 217 0.00 1.60 0.00 0.000 6 0.000 0.035 1579 2899 2941 0 0 0 0 0 0

323 -0.60 -146.1 57.6 -20.0 46 332 0.00 0.00 0.00 0.000 6 0.000 0.000 1579 2898 2941 0 0 0 0 0 0

437 -0.60 -146.1 81.4 -20.6 65 444 0.00 2.12 0.00 0.000 4 0.000 0.043 1579 1526 2941 0 0 0 0 0 0

456 -0.60 -146.1 85.1 -20.6 68 463 0.00 2.28 0.00 0.000 6 0.000 0.054 1569 2932 2941 0 0 0 0 0 0

688 -0.60 -146.1 130.3 -19.8 96 689 0.00 0.00 0.00 0.000 6 0.000 0.000 1569 2932 2941 0 0 0 0 0 0

1006 -0.60 -146.1 189.9 -18.7 126 1010 0.00 1.58 0.00 0.000 4 0.000 0.061 1561 3903 2942 0 0 0 0 0 0

1079 -0.60 -146.1 204.9 -19.5 132 1090 0.10 1.52 0.00 0.000 6 0.194 0.034 1590 2919 2941 0 0 0 0 0 0

1405 -0.60 -146.1 256.9 -15.1 161 1408 0.00 1.62 0.00 0.000 4 0.000 0.062 1583 3899 2941 0 0 0 0 0 0

1460 -0.60 -146.1 266.1 -15.7 163 1464 0.00 1.50 0.00 0.000 6 0.000 0.034 1583 2929 2941 0 0 0 0 0 0

1783 -0.60 -146.1 315.3 -15.2 179 1784 0.00 0.00 0.00 0.000 6 0.000 0.000 1583 2923 2941 0 0 0 0 0 0

2092 -0.60 -146.1 362.3 -14.8 194 2096 0.00 1.60 0.00 0.000 4 0.000 0.060 1575 3896 2941 0 0 0 0 0 0

2193 -0.60 -146.1 378.7 -15.9 198 2197 0.00 1.50 0.00 0.000 6 0.000 0.034 1575 2925 2941 0 0 0 0 0 0

2514 -0.60 -146.1 428.3 -15.5 214 2515 0.00 0.00 0.00 0.000 6 0.000 0.000 1575 2919 2942 0 0 0 0 0 0

2824 -0.60 -146.1 475.0 -15.2 229 2828 0.00 1.60 0.00 0.000 4 0.000 0.060 1568 3894 2942 0 0 0 0 0 0

2940 -0.60 -146.1 493.8 -15.4 234 2945 0.00 1.50 0.00 0.000 6 0.000 0.034 1568 2926 2942 0 0 0 0 0 0

3268 -0.60 -146.1 542.1 -14.9 250 3271 0.00 1.60 0.00 0.000 4 0.000 0.060 1561 3897 2942 0 0 0 0 0 0

3336 -0.60 -146.1 553.2 -17.0 253 3340 0.10 1.48 0.00 0.000 6 0.189 0.034 1589 2939 2942 0 0 0 0 0 0

3667 -0.60 -146.1 598.6 -13.6 269 3668 0.00 0.00 0.00 0.000 6 0.000 0.000 1589 2938 2942 0 0 0 0 0 0

3977 -0.60 -146.1 641.1 -13.8 284 3981 0.00 1.58 0.00 0.000 4 0.000 0.061 1583 3899 2942 0 0 0 0 0 0

4048 -0.60 -146.1 652.0 -14.8 287 4053 0.00 1.52 0.00 0.000 6 0.000 0.033 1582 2916 2943 0 0 0 0 0 0

4376 -0.60 -146.1 698.5 -13.8 303 4379 0.00 1.62 0.00 0.000 4 0.000 0.060 1575 3903 2942 0 0 0 0 0 0

4444 -0.60 -146.1 708.6 -15.2 306 4447 0.00 1.50 0.00 0.000 6 0.000 0.034 1575 2926 2942 0 0 0 0 0 0

4775 -0.60 -146.1 756.9 -14.8 322 4777 0.00 0.00 0.00 0.000 6 0.000 0.000 1575 2920 2942 0 0 0 0 0 0

5085 -0.60 -146.1 801.1 -14.1 337 5088 0.00 1.60 0.00 0.000 4 0.000 0.060 1567 3899 2942 0 0 0 0 0 0

5158 -0.60 -146.1 812.3 -14.8 340 5162 0.00 1.48 0.00 0.000 6 0.000 0.034 1568 2933 2942 0 0 0 0 0 0

5484 -0.60 -146.1 859.6 -14.4 356 5488 0.00 1.58 0.00 0.000 4 0.000 0.060 1561 3893 2942 0 0 0 0 0 0

5539 -0.60 -146.1 868.4 -16.1 358 5544 0.10 1.48 0.00 0.000 6 0.190 0.034 1589 2928 2942 0 0 0 0 0 0

5860 -0.60 -146.1 909.5 -12.6 374 5861 0.00 0.00 0.00 0.000 6 0.000 0.000 1589 2928 2942 0 0 0 0 0 0

6169 -0.60 -146.1 947.3 -12.4 389 6173 0.00 1.58 0.00 0.000 4 0.000 0.060 1582 3892 2942 0 0 0 0 0 0

6260 -0.60 -146.1 959.3 -13.7 393 6263 0.00 1.48 0.00 0.000 6 0.000 0.033 1582 2923 2942 0 0 0 0 0 0

6590 end dive: TARGET_DEPTH_EXCEEDED

state 6590 begin apogee

6594 -0.13 0.0 1001.4 12.4 409 6734 0.55 0.00 133.90 1.806 6 0.179 0.000 1744 2711 2342 0 0 0 0 0 0

6734 end apogee: CONTROL_FINISHED_OK

state 6734 begin climb

6736 0.60 146.1 1004.1 0.0 416 6888 0.77 0.00 148.23 1.765 6 0.126 0.000 1974 2711 1746 0 0 0 0 0 0

7187 0.60 146.1 926.6 19.3 438 7189 0.00 0.00 0.00 0.000 6 0.000 0.000 1974 2711 1737 0 0 0 0 0 0

7497 0.60 146.1 868.5 18.7 453 7501 0.00 2.00 0.00 0.000 4 0.000 0.059 1974 3897 1734 0 0 0 0 0 0

7557 0.60 146.1 855.3 21.3 455 7565 0.00 1.92 0.00 0.000 6 0.000 0.036 1983 2735 1732 0 0 0 0 0 0

7874 0.60 146.1 792.8 19.4 471 7875 0.00 0.00 0.00 0.000 6 0.000 0.000 1983 2735 1732 0 0 0 0 0 0

8183 0.60 146.1 732.4 19.2 486 8184 0.00 0.00 0.00 0.000 6 0.000 0.000 1983 2735 1732 0 0 0 0 0 0

8492 0.60 146.1 672.5 19.7 501 8496 0.00 1.92 0.00 0.000 4 0.000 0.057 1983 3901 1731 0 0 0 0 0 0

8524 0.60 146.1 665.3 23.2 502 8529 0.00 1.92 0.00 0.000 6 0.000 0.036 1992 2716 1731 0 0 0 0 0 0

8847 0.60 146.1 600.7 20.2 518 8848 0.00 0.00 0.00 0.000 6 0.000 0.000 1992 2716 1731 0 0 0 0 0 0

9155 0.60 146.1 539.7 19.6 533 9159 0.00 1.95 0.00 0.000 4 0.000 0.058 1992 3892 1731 0 0 0 0 0 0

9223 0.60 146.1 525.2 22.1 536 9227 0.00 1.88 0.00 0.000 6 0.000 0.037 2001 2707 1730 0 0 0 0 0 0

9555 0.60 146.1 457.2 20.2 552 9556 0.00 0.00 0.00 0.000 6 0.000 0.000 2002 2707 1730 0 0 0 0 0 0

9864 0.60 146.1 396.5 19.2 567 9868 0.00 1.95 0.00 0.000 4 0.000 0.058 2002 3900 1730 0 0 0 0 0 0

9926 0.60 146.1 383.4 22.2 569 9933 0.00 1.88 0.00 0.000 6 0.000 0.037 2011 2712 1730 0 0 0 0 0 0

10243 0.60 146.1 321.8 19.0 585 10244 0.00 0.00 0.00 0.000 6 0.000 0.000 2011 2711 1730 0 0 0 0 0 0

10552 0.60 146.1 263.3 18.7 600 10553 0.00 0.00 0.00 0.000 6 0.000 0.000 2011 2711 1730 0 0 0 0 0 0

10867 0.60 146.1 203.3 19.1 626 10871 0.00 1.92 0.00 0.000 4 0.000 0.059 2010 3897 1729 0 0 0 0 0 0

10942 0.60 146.1 186.7 22.7 632 10953 0.10 1.90 0.00 0.000 6 0.207 0.036 1992 2702 1729 0 0 0 0 0 0

11269 0.60 146.1 129.4 17.9 663 11273 0.00 1.95 0.00 0.000 4 0.000 0.058 1992 3903 1729 0 0 0 0 0 0

11318 0.60 146.1 120.0 19.9 667 11322 0.00 1.88 0.00 0.000 6 0.000 0.037 2001 2709 1729 0 0 0 0 0 0

11664 0.60 146.1 61.5 14.6 718 11672 0.00 0.00 0.00 0.000 6 0.000 0.000 2001 2709 1729 0 0 0 0 0 0

11780 0.60 146.1 44.4 15.5 737 11786 0.00 0.00 0.00 0.000 6 0.000 0.000 2001 2709 1729 0 0 0 0 0 0

11894 0.60 146.1 26.6 17.3 756 11903 0.00 0.00 0.00 0.000 6 0.000 0.000 2001 2709 1729 0 0 0 0 0 0

11979 0.60 146.1 13.1 15.3 769 11987 0.00 0.00 0.00 0.000 6 0.000 0.000 2001 2708 1729 0 0 0 0 0 0

12037 end climb: SURFACE_DEPTH_REACHED

state 12037 begin surface coast

12057 end surface coast: CONTROL_FINISHED_OK

state 12057 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	65	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	26	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	-21852.938	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	211214,102827,-5600.316,-32.770,70,1.1,70,-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	-0.157,0.051
_SM_DEPTHo	1.81	KALMAN_X	37189.6,-469.3,-273.5,-70218.9,4461.3
_SM_ANGLEo	-57.8	KALMAN_Y	51825.5,61.0,-11.4,-52012.9,-97.1
GPS2	211214,103559,-5600.245,-32.691,20,0.8,20,-19.9	MHEAD_RNG_PITCHd_Wd	307.7,2824,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.2,1.027205	_10V_AH	10.1,12.365
SM_CCo	12069,21.02,0.177,0,0,1523,200.16	FG_AHR_24Vo	0.000
SM_GC	2.56,0.00,0.00,21.02,0.000,0.000,0.177,56,2939,1523,-5.42,0.25,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5538.94,-34.65,211214,030301	MEM	353984
TT8_MAMPS	0.026964	DATA_FILE_SIZE	53724,781
HUMID	55.63	CAP_FILE_SIZE	104190,0
INTERNAL_PRESSURE	8.96486	CFSIZE	259252224,222236672
TCM_TEMP	7.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	211214,135933,-5559.759,-34.728,33,1.1,35,-19.8
_24V_AH	21.7,18.864

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	248	70.54	SBE_CT	555	23	288.79
Roll_motor	62	77	104.33	AA4330	1613	17	629.62
VBD_pump_during_apogee	282	1806	11057.55	WL_BB2F	762	105	1737.33
VBD_pump_during_surface	21	176	80.62	QSP2150	787	17	307.09
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	91	59.55	nil	0	0	0.00
Iridium_during_connect	41	160	145.14	nil	0	0	0.00
Iridium_during_xfer	264	223	1280.33	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	31	7.26
TT8	1958	14	286.08
LPSleep	7694	2	170.20
TT8_Active	410	14	59.93
TT8_Sampling	2338	42	995.89
TT8_CF8	143	49	72.18
TT8_Kalman	33	68	23.04
Analog_circuits	1184	15	185.50
GPS_charging	0	0	0.00
Compass	1855	16	308.83
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	67	0.00	0.00	-50.40	0.000	2	0.000	0.000	50	2942	2618	0	0	0	0	0	0
70	-0.60	-146.1	3.1	-2.3	6	96	6.20	1.60	-9.57	0.000	4	0.249	0.077	1579	3900	2940	0	0	0	0	0	0
210	-0.60	-146.1	32.8	-22.0	27	217	0.00	1.60	0.00	0.000	6	0.000	0.035	1579	2899	2941	0	0	0	0	0	0
323	-0.60	-146.1	57.6	-20.0	46	332	0.00	0.00	0.00	0.000	6	0.000	0.000	1579	2898	2941	0	0	0	0	0	0
437	-0.60	-146.1	81.4	-20.6	65	444	0.00	2.12	0.00	0.000	4	0.000	0.043	1579	1526	2941	0	0	0	0	0	0
456	-0.60	-146.1	85.1	-20.6	68	463	0.00	2.28	0.00	0.000	6	0.000	0.054	1569	2932	2941	0	0	0	0	0	0
688	-0.60	-146.1	130.3	-19.8	96	689	0.00	0.00	0.00	0.000	6	0.000	0.000	1569	2932	2941	0	0	0	0	0	0
1006	-0.60	-146.1	189.9	-18.7	126	1010	0.00	1.58	0.00	0.000	4	0.000	0.061	1561	3903	2942	0	0	0	0	0	0
1079	-0.60	-146.1	204.9	-19.5	132	1090	0.10	1.52	0.00	0.000	6	0.194	0.034	1590	2919	2941	0	0	0	0	0	0
1405	-0.60	-146.1	256.9	-15.1	161	1408	0.00	1.62	0.00	0.000	4	0.000	0.062	1583	3899	2941	0	0	0	0	0	0
1460	-0.60	-146.1	266.1	-15.7	163	1464	0.00	1.50	0.00	0.000	6	0.000	0.034	1583	2929	2941	0	0	0	0	0	0
1783	-0.60	-146.1	315.3	-15.2	179	1784	0.00	0.00	0.00	0.000	6	0.000	0.000	1583	2923	2941	0	0	0	0	0	0
2092	-0.60	-146.1	362.3	-14.8	194	2096	0.00	1.60	0.00	0.000	4	0.000	0.060	1575	3896	2941	0	0	0	0	0	0
2193	-0.60	-146.1	378.7	-15.9	198	2197	0.00	1.50	0.00	0.000	6	0.000	0.034	1575	2925	2941	0	0	0	0	0	0
2514	-0.60	-146.1	428.3	-15.5	214	2515	0.00	0.00	0.00	0.000	6	0.000	0.000	1575	2919	2942	0	0	0	0	0	0
2824	-0.60	-146.1	475.0	-15.2	229	2828	0.00	1.60	0.00	0.000	4	0.000	0.060	1568	3894	2942	0	0	0	0	0	0
2940	-0.60	-146.1	493.8	-15.4	234	2945	0.00	1.50	0.00	0.000	6	0.000	0.034	1568	2926	2942	0	0	0	0	0	0
3268	-0.60	-146.1	542.1	-14.9	250	3271	0.00	1.60	0.00	0.000	4	0.000	0.060	1561	3897	2942	0	0	0	0	0	0
3336	-0.60	-146.1	553.2	-17.0	253	3340	0.10	1.48	0.00	0.000	6	0.189	0.034	1589	2939	2942	0	0	0	0	0	0
3667	-0.60	-146.1	598.6	-13.6	269	3668	0.00	0.00	0.00	0.000	6	0.000	0.000	1589	2938	2942	0	0	0	0	0	0
3977	-0.60	-146.1	641.1	-13.8	284	3981	0.00	1.58	0.00	0.000	4	0.000	0.061	1583	3899	2942	0	0	0	0	0	0
4048	-0.60	-146.1	652.0	-14.8	287	4053	0.00	1.52	0.00	0.000	6	0.000	0.033	1582	2916	2943	0	0	0	0	0	0
4376	-0.60	-146.1	698.5	-13.8	303	4379	0.00	1.62	0.00	0.000	4	0.000	0.060	1575	3903	2942	0	0	0	0	0	0
4444	-0.60	-146.1	708.6	-15.2	306	4447	0.00	1.50	0.00	0.000	6	0.000	0.034	1575	2926	2942	0	0	0	0	0	0
4775	-0.60	-146.1	756.9	-14.8	322	4777	0.00	0.00	0.00	0.000	6	0.000	0.000	1575	2920	2942	0	0	0	0	0	0
5085	-0.60	-146.1	801.1	-14.1	337	5088	0.00	1.60	0.00	0.000	4	0.000	0.060	1567	3899	2942	0	0	0	0	0	0
5158	-0.60	-146.1	812.3	-14.8	340	5162	0.00	1.48	0.00	0.000	6	0.000	0.034	1568	2933	2942	0	0	0	0	0	0
5484	-0.60	-146.1	859.6	-14.4	356	5488	0.00	1.58	0.00	0.000	4	0.000	0.060	1561	3893	2942	0	0	0	0	0	0
5539	-0.60	-146.1	868.4	-16.1	358	5544	0.10	1.48	0.00	0.000	6	0.190	0.034	1589	2928	2942	0	0	0	0	0	0
5860	-0.60	-146.1	909.5	-12.6	374	5861	0.00	0.00	0.00	0.000	6	0.000	0.000	1589	2928	2942	0	0	0	0	0	0
6169	-0.60	-146.1	947.3	-12.4	389	6173	0.00	1.58	0.00	0.000	4	0.000	0.060	1582	3892	2942	0	0	0	0	0	0
6260	-0.60	-146.1	959.3	-13.7	393	6263	0.00	1.48	0.00	0.000	6	0.000	0.033	1582	2923	2942	0	0	0	0	0	0
6590	end dive: TARGET_DEPTH_EXCEEDED
state	6590	begin apogee
6594	-0.13	0.0	1001.4	12.4	409	6734	0.55	0.00	133.90	1.806	6	0.179	0.000	1744	2711	2342	0	0	0	0	0	0
6734	end apogee: CONTROL_FINISHED_OK
state	6734	begin climb
6736	0.60	146.1	1004.1	0.0	416	6888	0.77	0.00	148.23	1.765	6	0.126	0.000	1974	2711	1746	0	0	0	0	0	0
7187	0.60	146.1	926.6	19.3	438	7189	0.00	0.00	0.00	0.000	6	0.000	0.000	1974	2711	1737	0	0	0	0	0	0
7497	0.60	146.1	868.5	18.7	453	7501	0.00	2.00	0.00	0.000	4	0.000	0.059	1974	3897	1734	0	0	0	0	0	0
7557	0.60	146.1	855.3	21.3	455	7565	0.00	1.92	0.00	0.000	6	0.000	0.036	1983	2735	1732	0	0	0	0	0	0
7874	0.60	146.1	792.8	19.4	471	7875	0.00	0.00	0.00	0.000	6	0.000	0.000	1983	2735	1732	0	0	0	0	0	0
8183	0.60	146.1	732.4	19.2	486	8184	0.00	0.00	0.00	0.000	6	0.000	0.000	1983	2735	1732	0	0	0	0	0	0
8492	0.60	146.1	672.5	19.7	501	8496	0.00	1.92	0.00	0.000	4	0.000	0.057	1983	3901	1731	0	0	0	0	0	0
8524	0.60	146.1	665.3	23.2	502	8529	0.00	1.92	0.00	0.000	6	0.000	0.036	1992	2716	1731	0	0	0	0	0	0
8847	0.60	146.1	600.7	20.2	518	8848	0.00	0.00	0.00	0.000	6	0.000	0.000	1992	2716	1731	0	0	0	0	0	0
9155	0.60	146.1	539.7	19.6	533	9159	0.00	1.95	0.00	0.000	4	0.000	0.058	1992	3892	1731	0	0	0	0	0	0
9223	0.60	146.1	525.2	22.1	536	9227	0.00	1.88	0.00	0.000	6	0.000	0.037	2001	2707	1730	0	0	0	0	0	0
9555	0.60	146.1	457.2	20.2	552	9556	0.00	0.00	0.00	0.000	6	0.000	0.000	2002	2707	1730	0	0	0	0	0	0
9864	0.60	146.1	396.5	19.2	567	9868	0.00	1.95	0.00	0.000	4	0.000	0.058	2002	3900	1730	0	0	0	0	0	0
9926	0.60	146.1	383.4	22.2	569	9933	0.00	1.88	0.00	0.000	6	0.000	0.037	2011	2712	1730	0	0	0	0	0	0
10243	0.60	146.1	321.8	19.0	585	10244	0.00	0.00	0.00	0.000	6	0.000	0.000	2011	2711	1730	0	0	0	0	0	0
10552	0.60	146.1	263.3	18.7	600	10553	0.00	0.00	0.00	0.000	6	0.000	0.000	2011	2711	1730	0	0	0	0	0	0
10867	0.60	146.1	203.3	19.1	626	10871	0.00	1.92	0.00	0.000	4	0.000	0.059	2010	3897	1729	0	0	0	0	0	0
10942	0.60	146.1	186.7	22.7	632	10953	0.10	1.90	0.00	0.000	6	0.207	0.036	1992	2702	1729	0	0	0	0	0	0
11269	0.60	146.1	129.4	17.9	663	11273	0.00	1.95	0.00	0.000	4	0.000	0.058	1992	3903	1729	0	0	0	0	0	0
11318	0.60	146.1	120.0	19.9	667	11322	0.00	1.88	0.00	0.000	6	0.000	0.037	2001	2709	1729	0	0	0	0	0	0
11664	0.60	146.1	61.5	14.6	718	11672	0.00	0.00	0.00	0.000	6	0.000	0.000	2001	2709	1729	0	0	0	0	0	0
11780	0.60	146.1	44.4	15.5	737	11786	0.00	0.00	0.00	0.000	6	0.000	0.000	2001	2709	1729	0	0	0	0	0	0
11894	0.60	146.1	26.6	17.3	756	11903	0.00	0.00	0.00	0.000	6	0.000	0.000	2001	2709	1729	0	0	0	0	0	0
11979	0.60	146.1	13.1	15.3	769	11987	0.00	0.00	0.00	0.000	6	0.000	0.000	2001	2708	1729	0	0	0	0	0	0
12037	end climb: SURFACE_DEPTH_REACHED
state	12037	begin surface coast
12057	end surface coast: CONTROL_FINISHED_OK
state	12057	begin surface