Glider dive log

SOSCEx 01Dec13 * SG543 * Dive index * Mission links * Dive 72 * 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 9 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 1050

DIVE 72 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 3320 ALTIM_PING_DELTA 15

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 3180 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -4300 HEAD_ERRBAND 15 ALTIM_PULSE 4

D_TGT 990 TGT_DEFAULT_LON -800 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1020 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 3

D_NO_BLEED 200 SM_CC 225 R_PORT_OVSHOOT 45 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 23 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 101

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2474 DEVICE3 35

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_DIVE 350 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 390 CAPUPLOAD 0 VBD_TIMEOUT 800 DEVICE6 -1

T_ABORT 720 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 -12617.654 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 150 PITCH_MAX 3908 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1695 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043512532

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -59.073162 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 52459 PITCH_GAIN 47 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 0.00023287861

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 225

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 990 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 47 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 -4300

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 86 TGT_DEFAULT_LON -800

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 16 T_ABORT 720

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00061500003 T_BOOST 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011638312 T_DIVE 350

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -59.073162 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 -12617.654

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

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 390

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 1695 KALMAN_USE 2 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 3180 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 3320 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 45 VBD_MAX 3960

DEVICE2 101 MASS 52459 R_STBD_OVSHOOT 23 VBD_MAXERRORS 1

DEVICE3 35 MAX_BUOY 150 SEABIRD_C_G -10.305622 VBD_MIN 507

DEVICE4 -1 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 9 SEABIRD_C_J 0.00023287861 VBD_TIMEOUT 800

DIVE 72 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 0 N_FILEKB 4 SEABIRD_T_I 2.2835797e-05 XPDR_VALID 3

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 121213,093504,-4259.420,831.930,31,0.8,31,-25.1 TGT_NAME SAZ

_CALLS 1 TGT_LATLONG -4300.000,830.000

_XMS_NAKs 0 TGT_RADIUS 500.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.66 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 121213,094219,-4259.415,832.100,14,1.0,14,-25.1 MHEAD_RNG_PITCHd_Wd 274.2,3043,-27.2,-9.429

SPEED_LIMITS 0.163,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.025223 _10V_AH 10.1,8.243

SM_CCo 12514,46.92,0.805,0,0,1554,225.18 FG_AHR_24Vo 0.000

SM_GC 1.45,0.00,0.00,46.92,0.000,0.000,0.805,68,3335,1554,-5.08,0.42,225.18 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4242.04,830.68,121213,060656 MEM 355208

TT8_MAMPS 0.026215 DATA_FILE_SIZE 63732,922

HUMID 61.49 CAP_FILE_SIZE 121476,0

INTERNAL_PRESSURE 9.53279 CFSIZE 259252224,253362176

TCM_TEMP 13.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 121213,131304,-4259.531,831.846,30,0.9,30,-25.1

_24V_AH 22.9,12.403

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 234 67.09 SBE_CT 639 24 351.26

Roll_motor 62 87 125.21 AA4330 1598 33 1207.71

VBD_pump_during_apogee 194 1862 8281.96 WL_BB2F 676 105 1627.30

VBD_pump_during_surface 46 804 864.80 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 59.69 nil 0 0 0.00

Iridium_during_connect 41 160 153.08 nil 0 0 0.00

Iridium_during_xfer 264 223 1349.13 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 26 4.69

TT8 2327 14 351.71

LPSleep 7520 2 166.34

TT8_Active 342 14 49.21

TT8_Sampling 2666 37 1008.16

TT8_CF8 140 47 66.89

TT8_Kalman 0 0 0.00

Analog_circuits 1302 12 157.92

GPS_charging 0 0 0.00

Compass 2236 15 355.29

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -0.61 -57.7 0.0 0.0 0 57 0.00 0.00 -41.20 0.000 2 0.000 0.000 60 3322 2480 0 0 0 0 0 0

59 -0.64 -97.4 3.0 -5.1 5 85 5.75 1.02 -11.10 0.000 4 0.235 0.088 1478 3946 2872 0 0 0 0 0 0

123 -0.64 -97.4 14.7 -20.6 14 131 0.00 0.98 0.00 0.000 6 0.000 0.037 1480 3313 2874 0 0 0 0 0 0

180 -0.64 -97.4 27.3 -21.8 23 186 0.00 1.02 0.00 0.000 4 0.000 0.059 1476 3948 2875 0 0 0 0 0 0

219 -0.64 -97.4 35.8 -22.8 29 226 0.00 0.98 0.00 0.000 6 0.000 0.036 1477 3314 2875 0 0 0 0 0 0

362 -0.64 -97.4 66.9 -19.7 54 371 0.00 1.02 0.00 0.000 4 0.000 0.060 1474 3951 2877 0 0 0 0 0 0

451 -0.64 -97.4 85.4 -21.2 69 460 0.00 0.95 0.00 0.000 6 0.000 0.036 1474 3326 2877 0 0 0 0 0 0

783 -0.64 -97.4 150.3 -19.6 106 786 0.00 1.00 0.00 0.000 4 0.000 0.060 1469 3951 2878 0 0 0 0 0 0

987 -0.64 -97.4 194.4 -21.7 124 990 0.00 0.95 0.00 0.000 6 0.000 0.036 1469 3319 2879 0 0 0 0 0 0

1316 -0.64 -97.4 260.0 -18.6 155 1320 0.00 1.00 0.00 0.000 4 0.000 0.061 1465 3947 2879 0 0 0 0 0 0

1373 -0.64 -97.4 271.2 -20.9 160 1376 0.00 0.95 0.00 0.000 6 0.000 0.036 1465 3317 2879 0 0 0 0 0 0

1703 -0.64 -97.4 334.3 -19.0 191 1706 0.00 1.00 0.00 0.000 4 0.000 0.060 1460 3949 2879 0 0 0 0 0 0

1927 -0.64 -97.4 380.9 -20.9 211 1931 0.00 0.95 0.00 0.000 6 0.000 0.037 1460 3314 2879 0 0 0 0 0 0

2260 -0.64 -97.4 444.8 -19.1 232 2264 0.00 1.00 0.00 0.000 4 0.000 0.060 1456 3947 2879 0 0 0 0 0 0

2388 -0.64 -97.4 471.3 -20.5 237 2396 0.12 0.95 0.00 0.000 6 0.200 0.036 1484 3321 2880 0 0 0 0 0 0

2704 -0.64 -97.4 524.0 -16.7 253 2708 0.00 1.00 0.00 0.000 4 0.000 0.061 1481 3953 2880 0 0 0 0 0 0

2771 -0.64 -97.4 535.7 -18.2 256 2775 0.00 0.95 0.00 0.000 6 0.000 0.037 1481 3321 2880 0 0 0 0 0 0

3104 -0.64 -97.4 591.8 -16.4 272 3108 0.00 1.00 0.00 0.000 4 0.000 0.062 1476 3954 2880 0 0 0 0 0 0

3175 -0.64 -97.4 605.0 -18.0 275 3180 0.00 0.98 0.00 0.000 6 0.000 0.037 1476 3315 2879 0 0 0 0 0 0

3503 -0.64 -97.4 658.6 -16.1 291 3506 0.00 1.00 0.00 0.000 4 0.000 0.063 1472 3945 2880 0 0 0 0 0 0

3638 -0.64 -97.4 682.7 -17.8 297 3641 0.00 0.95 0.00 0.000 6 0.000 0.038 1472 3315 2879 0 0 0 0 0 0

3970 -0.64 -97.4 737.8 -16.4 313 3973 0.00 1.00 0.00 0.000 4 0.000 0.063 1467 3944 2878 0 0 0 0 0 0

4046 -0.64 -97.4 751.4 -17.4 316 4051 0.00 0.98 0.00 0.000 6 0.000 0.037 1467 3309 2878 0 0 0 0 0 0

4368 -0.64 -97.4 805.0 -16.7 332 4369 0.00 0.00 0.00 0.000 6 0.000 0.000 1467 3309 2878 0 0 0 0 0 0

4679 -0.64 -97.4 855.7 -16.1 347 4683 0.00 1.00 0.00 0.000 4 0.000 0.063 1462 3940 2877 0 0 0 0 0 0

4716 -0.64 -97.4 862.8 -17.6 348 4724 0.00 0.95 0.00 0.000 6 0.000 0.039 1462 3319 2877 0 0 0 0 0 0

5032 -0.64 -97.4 914.4 -16.5 364 5033 0.00 0.00 0.00 0.000 6 0.000 0.000 1462 3319 2876 0 0 0 0 0 0

5342 -0.64 -97.4 964.0 -15.8 379 5345 0.00 1.00 0.00 0.000 4 0.000 0.063 1458 3947 2876 0 0 0 0 0 0

5491 end dive: TARGET_DEPTH_EXCEEDED

state 5491 begin apogee

5496 -0.11 0.0 990.4 17.9 385 5594 0.62 0.00 94.57 1.863 6 0.168 0.000 1645 3168 2473 0 0 0 0 0 0

5595 end apogee: CONTROL_FINISHED_OK

state 5595 begin climb

5596 0.64 97.4 994.7 0.0 390 5704 0.80 2.38 97.30 1.815 4 0.108 0.037 1904 1780 2075 0 0 0 0 0 0

5731 0.64 97.4 982.7 13.1 396 5736 0.00 2.45 0.00 0.000 6 0.000 0.052 1904 3177 2072 0 0 0 0 0 0

6059 0.64 97.4 931.6 15.5 412 6062 0.00 1.30 0.00 0.000 4 0.000 0.061 1904 3953 2064 0 0 0 0 0 0

6242 0.64 97.4 899.5 18.2 420 6247 0.00 1.23 0.00 0.000 6 0.000 0.036 1910 3170 2063 0 0 0 0 0 0

6570 0.64 97.4 848.3 15.5 436 6571 0.00 0.00 0.00 0.000 6 0.000 0.000 1910 3170 2061 0 0 0 0 0 0

6879 0.64 97.4 800.0 15.3 451 6880 0.00 0.00 0.00 0.000 6 0.000 0.000 1910 3170 2059 0 0 0 0 0 0

7190 0.64 97.4 752.7 15.0 466 7191 0.00 0.00 0.00 0.000 6 0.000 0.000 1910 3170 2059 0 0 0 0 0 0

7498 0.64 97.4 706.6 14.9 481 7501 0.00 1.27 0.00 0.000 4 0.000 0.063 1910 3953 2058 0 0 0 0 0 0

7591 0.64 97.4 690.4 18.1 485 7596 0.00 1.20 0.00 0.000 6 0.000 0.037 1915 3179 2058 0 0 0 0 0 0

7919 0.64 97.4 638.5 15.9 501 7922 0.00 1.25 0.00 0.000 4 0.000 0.062 1916 3950 2057 0 0 0 0 0 0

8057 0.64 97.4 614.5 16.7 507 8062 0.00 1.20 0.00 0.000 6 0.000 0.037 1921 3174 2057 0 0 0 0 0 0

8385 0.64 97.4 565.1 14.8 523 8389 0.00 1.27 0.00 0.000 4 0.000 0.061 1922 3957 2057 0 0 0 0 0 0

8546 0.64 97.4 538.2 16.7 530 8551 0.00 1.20 0.00 0.000 6 0.000 0.037 1927 3182 2057 0 0 0 0 0 0

8874 0.64 97.4 490.6 14.4 546 8877 0.00 1.25 0.00 0.000 4 0.000 0.061 1927 3953 2056 0 0 0 0 0 0

8922 0.64 97.4 482.6 15.8 548 8928 0.12 1.20 0.00 0.000 6 0.215 0.037 1905 3176 2056 0 0 0 0 0 0

9249 0.64 97.4 438.0 13.8 564 9250 0.00 0.00 0.00 0.000 6 0.000 0.000 1905 3176 2055 0 0 0 0 0 0

9560 0.64 97.4 394.7 14.1 580 9563 0.00 1.25 0.00 0.000 4 0.000 0.060 1904 3951 2055 0 0 0 0 0 0

9819 0.64 97.4 352.1 17.0 603 9823 0.00 1.17 0.00 0.000 6 0.000 0.037 1909 3179 2055 0 0 0 0 0 0

10149 0.64 97.4 305.3 13.9 634 10153 0.00 1.25 0.00 0.000 4 0.000 0.061 1909 3956 2055 0 0 0 0 0 0

10230 0.64 97.4 292.9 16.1 641 10233 0.00 1.17 0.00 0.000 6 0.000 0.037 1915 3180 2054 0 0 0 0 0 0

10560 0.64 97.4 245.6 13.8 672 10563 0.00 1.25 0.00 0.000 4 0.000 0.063 1915 3956 2054 0 0 0 0 0 0

10699 0.64 97.4 224.0 15.7 684 10709 0.00 1.17 0.00 0.000 6 0.000 0.037 1921 3181 2054 0 0 0 0 0 0

11024 0.64 97.4 181.0 12.9 715 11028 0.00 1.25 0.00 0.000 4 0.000 0.062 1921 3955 2054 0 0 0 0 0 0

11125 0.64 97.4 166.3 15.7 724 11129 0.00 1.17 0.00 0.000 6 0.000 0.037 1927 3179 2054 0 0 0 0 0 0

11455 0.64 97.4 120.4 14.2 755 11459 0.00 1.25 0.00 0.000 4 0.000 0.061 1927 3957 2054 0 0 0 0 0 0

11659 0.64 97.4 87.4 16.0 779 11666 0.10 1.17 0.00 0.000 6 0.194 0.037 1904 3179 2054 0 0 0 0 0 0

12009 0.64 97.4 48.9 9.8 840 12017 0.00 1.25 0.00 0.000 4 0.000 0.061 1904 3956 2054 0 0 0 0 0 0

12057 0.64 97.4 43.3 11.8 848 12064 0.00 1.17 0.00 0.000 6 0.000 0.037 1909 3178 2054 0 0 0 0 0 0

12416 0.64 108.4 5.3 8.2 909 12426 0.00 2.10 2.28 0.360 4 0.000 0.033 1921 1770 2027 0 0 0 0 0 0

12450 end climb: SURFACE_DEPTH_REACHED

state 12450 begin surface coast

12499 end surface coast: CONTROL_FINISHED_OK

state 12500 begin surface

ID	543	HEADING	-1	ROLL_MAX	3944	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	9	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	1050
DIVE	72	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	3320	ALTIM_PING_DELTA	15
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	3180	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-4300	HEAD_ERRBAND	15	ALTIM_PULSE	4
D_TGT	990	TGT_DEFAULT_LON	-800	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1020	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	3
D_NO_BLEED	200	SM_CC	225	R_PORT_OVSHOOT	45	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	23	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	101
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2474	DEVICE3	35
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_DIVE	350	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	390	CAPUPLOAD	0	VBD_TIMEOUT	800	DEVICE6	-1
T_ABORT	720	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	-12617.654	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	150	PITCH_MAX	3908	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1695	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043512532
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-59.073162	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	52459	PITCH_GAIN	47	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	0.00023287861
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	121213,093504,-4259.420,831.930,31,0.8,31,-25.1	TGT_NAME	SAZ
_CALLS	1	TGT_LATLONG	-4300.000,830.000
_XMS_NAKs	0	TGT_RADIUS	500.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.66	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	121213,094219,-4259.415,832.100,14,1.0,14,-25.1	MHEAD_RNG_PITCHd_Wd	274.2,3043,-27.2,-9.429
SPEED_LIMITS	0.163,0.255	D_GRID	990

FINISH	0.7,1.025223	_10V_AH	10.1,8.243
SM_CCo	12514,46.92,0.805,0,0,1554,225.18	FG_AHR_24Vo	0.000
SM_GC	1.45,0.00,0.00,46.92,0.000,0.000,0.805,68,3335,1554,-5.08,0.42,225.18	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4242.04,830.68,121213,060656	MEM	355208
TT8_MAMPS	0.026215	DATA_FILE_SIZE	63732,922
HUMID	61.49	CAP_FILE_SIZE	121476,0
INTERNAL_PRESSURE	9.53279	CFSIZE	259252224,253362176
TCM_TEMP	13.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	121213,131304,-4259.531,831.846,30,0.9,30,-25.1
_24V_AH	22.9,12.403

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	234	67.09	SBE_CT	639	24	351.26
Roll_motor	62	87	125.21	AA4330	1598	33	1207.71
VBD_pump_during_apogee	194	1862	8281.96	WL_BB2F	676	105	1627.30
VBD_pump_during_surface	46	804	864.80	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	59.69	nil	0	0	0.00
Iridium_during_connect	41	160	153.08	nil	0	0	0.00
Iridium_during_xfer	264	223	1349.13	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	26	4.69
TT8	2327	14	351.71
LPSleep	7520	2	166.34
TT8_Active	342	14	49.21
TT8_Sampling	2666	37	1008.16
TT8_CF8	140	47	66.89
TT8_Kalman	0	0	0.00
Analog_circuits	1302	12	157.92
GPS_charging	0	0	0.00
Compass	2236	15	355.29
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-0.61	-57.7	0.0	0.0	0	57	0.00	0.00	-41.20	0.000	2	0.000	0.000	60	3322	2480	0	0	0	0	0	0
59	-0.64	-97.4	3.0	-5.1	5	85	5.75	1.02	-11.10	0.000	4	0.235	0.088	1478	3946	2872	0	0	0	0	0	0
123	-0.64	-97.4	14.7	-20.6	14	131	0.00	0.98	0.00	0.000	6	0.000	0.037	1480	3313	2874	0	0	0	0	0	0
180	-0.64	-97.4	27.3	-21.8	23	186	0.00	1.02	0.00	0.000	4	0.000	0.059	1476	3948	2875	0	0	0	0	0	0
219	-0.64	-97.4	35.8	-22.8	29	226	0.00	0.98	0.00	0.000	6	0.000	0.036	1477	3314	2875	0	0	0	0	0	0
362	-0.64	-97.4	66.9	-19.7	54	371	0.00	1.02	0.00	0.000	4	0.000	0.060	1474	3951	2877	0	0	0	0	0	0
451	-0.64	-97.4	85.4	-21.2	69	460	0.00	0.95	0.00	0.000	6	0.000	0.036	1474	3326	2877	0	0	0	0	0	0
783	-0.64	-97.4	150.3	-19.6	106	786	0.00	1.00	0.00	0.000	4	0.000	0.060	1469	3951	2878	0	0	0	0	0	0
987	-0.64	-97.4	194.4	-21.7	124	990	0.00	0.95	0.00	0.000	6	0.000	0.036	1469	3319	2879	0	0	0	0	0	0
1316	-0.64	-97.4	260.0	-18.6	155	1320	0.00	1.00	0.00	0.000	4	0.000	0.061	1465	3947	2879	0	0	0	0	0	0
1373	-0.64	-97.4	271.2	-20.9	160	1376	0.00	0.95	0.00	0.000	6	0.000	0.036	1465	3317	2879	0	0	0	0	0	0
1703	-0.64	-97.4	334.3	-19.0	191	1706	0.00	1.00	0.00	0.000	4	0.000	0.060	1460	3949	2879	0	0	0	0	0	0
1927	-0.64	-97.4	380.9	-20.9	211	1931	0.00	0.95	0.00	0.000	6	0.000	0.037	1460	3314	2879	0	0	0	0	0	0
2260	-0.64	-97.4	444.8	-19.1	232	2264	0.00	1.00	0.00	0.000	4	0.000	0.060	1456	3947	2879	0	0	0	0	0	0
2388	-0.64	-97.4	471.3	-20.5	237	2396	0.12	0.95	0.00	0.000	6	0.200	0.036	1484	3321	2880	0	0	0	0	0	0
2704	-0.64	-97.4	524.0	-16.7	253	2708	0.00	1.00	0.00	0.000	4	0.000	0.061	1481	3953	2880	0	0	0	0	0	0
2771	-0.64	-97.4	535.7	-18.2	256	2775	0.00	0.95	0.00	0.000	6	0.000	0.037	1481	3321	2880	0	0	0	0	0	0
3104	-0.64	-97.4	591.8	-16.4	272	3108	0.00	1.00	0.00	0.000	4	0.000	0.062	1476	3954	2880	0	0	0	0	0	0
3175	-0.64	-97.4	605.0	-18.0	275	3180	0.00	0.98	0.00	0.000	6	0.000	0.037	1476	3315	2879	0	0	0	0	0	0
3503	-0.64	-97.4	658.6	-16.1	291	3506	0.00	1.00	0.00	0.000	4	0.000	0.063	1472	3945	2880	0	0	0	0	0	0
3638	-0.64	-97.4	682.7	-17.8	297	3641	0.00	0.95	0.00	0.000	6	0.000	0.038	1472	3315	2879	0	0	0	0	0	0
3970	-0.64	-97.4	737.8	-16.4	313	3973	0.00	1.00	0.00	0.000	4	0.000	0.063	1467	3944	2878	0	0	0	0	0	0
4046	-0.64	-97.4	751.4	-17.4	316	4051	0.00	0.98	0.00	0.000	6	0.000	0.037	1467	3309	2878	0	0	0	0	0	0
4368	-0.64	-97.4	805.0	-16.7	332	4369	0.00	0.00	0.00	0.000	6	0.000	0.000	1467	3309	2878	0	0	0	0	0	0
4679	-0.64	-97.4	855.7	-16.1	347	4683	0.00	1.00	0.00	0.000	4	0.000	0.063	1462	3940	2877	0	0	0	0	0	0
4716	-0.64	-97.4	862.8	-17.6	348	4724	0.00	0.95	0.00	0.000	6	0.000	0.039	1462	3319	2877	0	0	0	0	0	0
5032	-0.64	-97.4	914.4	-16.5	364	5033	0.00	0.00	0.00	0.000	6	0.000	0.000	1462	3319	2876	0	0	0	0	0	0
5342	-0.64	-97.4	964.0	-15.8	379	5345	0.00	1.00	0.00	0.000	4	0.000	0.063	1458	3947	2876	0	0	0	0	0	0
5491	end dive: TARGET_DEPTH_EXCEEDED
state	5491	begin apogee
5496	-0.11	0.0	990.4	17.9	385	5594	0.62	0.00	94.57	1.863	6	0.168	0.000	1645	3168	2473	0	0	0	0	0	0
5595	end apogee: CONTROL_FINISHED_OK
state	5595	begin climb
5596	0.64	97.4	994.7	0.0	390	5704	0.80	2.38	97.30	1.815	4	0.108	0.037	1904	1780	2075	0	0	0	0	0	0
5731	0.64	97.4	982.7	13.1	396	5736	0.00	2.45	0.00	0.000	6	0.000	0.052	1904	3177	2072	0	0	0	0	0	0
6059	0.64	97.4	931.6	15.5	412	6062	0.00	1.30	0.00	0.000	4	0.000	0.061	1904	3953	2064	0	0	0	0	0	0
6242	0.64	97.4	899.5	18.2	420	6247	0.00	1.23	0.00	0.000	6	0.000	0.036	1910	3170	2063	0	0	0	0	0	0
6570	0.64	97.4	848.3	15.5	436	6571	0.00	0.00	0.00	0.000	6	0.000	0.000	1910	3170	2061	0	0	0	0	0	0
6879	0.64	97.4	800.0	15.3	451	6880	0.00	0.00	0.00	0.000	6	0.000	0.000	1910	3170	2059	0	0	0	0	0	0
7190	0.64	97.4	752.7	15.0	466	7191	0.00	0.00	0.00	0.000	6	0.000	0.000	1910	3170	2059	0	0	0	0	0	0
7498	0.64	97.4	706.6	14.9	481	7501	0.00	1.27	0.00	0.000	4	0.000	0.063	1910	3953	2058	0	0	0	0	0	0
7591	0.64	97.4	690.4	18.1	485	7596	0.00	1.20	0.00	0.000	6	0.000	0.037	1915	3179	2058	0	0	0	0	0	0
7919	0.64	97.4	638.5	15.9	501	7922	0.00	1.25	0.00	0.000	4	0.000	0.062	1916	3950	2057	0	0	0	0	0	0
8057	0.64	97.4	614.5	16.7	507	8062	0.00	1.20	0.00	0.000	6	0.000	0.037	1921	3174	2057	0	0	0	0	0	0
8385	0.64	97.4	565.1	14.8	523	8389	0.00	1.27	0.00	0.000	4	0.000	0.061	1922	3957	2057	0	0	0	0	0	0
8546	0.64	97.4	538.2	16.7	530	8551	0.00	1.20	0.00	0.000	6	0.000	0.037	1927	3182	2057	0	0	0	0	0	0
8874	0.64	97.4	490.6	14.4	546	8877	0.00	1.25	0.00	0.000	4	0.000	0.061	1927	3953	2056	0	0	0	0	0	0
8922	0.64	97.4	482.6	15.8	548	8928	0.12	1.20	0.00	0.000	6	0.215	0.037	1905	3176	2056	0	0	0	0	0	0
9249	0.64	97.4	438.0	13.8	564	9250	0.00	0.00	0.00	0.000	6	0.000	0.000	1905	3176	2055	0	0	0	0	0	0
9560	0.64	97.4	394.7	14.1	580	9563	0.00	1.25	0.00	0.000	4	0.000	0.060	1904	3951	2055	0	0	0	0	0	0
9819	0.64	97.4	352.1	17.0	603	9823	0.00	1.17	0.00	0.000	6	0.000	0.037	1909	3179	2055	0	0	0	0	0	0
10149	0.64	97.4	305.3	13.9	634	10153	0.00	1.25	0.00	0.000	4	0.000	0.061	1909	3956	2055	0	0	0	0	0	0
10230	0.64	97.4	292.9	16.1	641	10233	0.00	1.17	0.00	0.000	6	0.000	0.037	1915	3180	2054	0	0	0	0	0	0
10560	0.64	97.4	245.6	13.8	672	10563	0.00	1.25	0.00	0.000	4	0.000	0.063	1915	3956	2054	0	0	0	0	0	0
10699	0.64	97.4	224.0	15.7	684	10709	0.00	1.17	0.00	0.000	6	0.000	0.037	1921	3181	2054	0	0	0	0	0	0
11024	0.64	97.4	181.0	12.9	715	11028	0.00	1.25	0.00	0.000	4	0.000	0.062	1921	3955	2054	0	0	0	0	0	0
11125	0.64	97.4	166.3	15.7	724	11129	0.00	1.17	0.00	0.000	6	0.000	0.037	1927	3179	2054	0	0	0	0	0	0
11455	0.64	97.4	120.4	14.2	755	11459	0.00	1.25	0.00	0.000	4	0.000	0.061	1927	3957	2054	0	0	0	0	0	0
11659	0.64	97.4	87.4	16.0	779	11666	0.10	1.17	0.00	0.000	6	0.194	0.037	1904	3179	2054	0	0	0	0	0	0
12009	0.64	97.4	48.9	9.8	840	12017	0.00	1.25	0.00	0.000	4	0.000	0.061	1904	3956	2054	0	0	0	0	0	0
12057	0.64	97.4	43.3	11.8	848	12064	0.00	1.17	0.00	0.000	6	0.000	0.037	1909	3178	2054	0	0	0	0	0	0
12416	0.64	108.4	5.3	8.2	909	12426	0.00	2.10	2.28	0.360	4	0.000	0.033	1921	1770	2027	0	0	0	0	0	0
12450	end climb: SURFACE_DEPTH_REACHED
state	12450	begin surface coast
12499	end surface coast: CONTROL_FINISHED_OK
state	12500	begin surface