Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 84 * 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 84 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 31 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 -21899.297 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 -21899.297

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 31 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 84 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 241214,060934,-5559.574,-35.674,35,1.0,35,-19.8 TGT_NAME TARGET

_CALLS 1 TGT_LATLONG -5600.000,-30.000

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.161,0.038

_SM_DEPTHo 1.68 KALMAN_X 50573.5,-556.1,-413.8,-86506.0,3849.0

_SM_ANGLEo -59.0 KALMAN_Y 48773.7,-101.3,-136.9,-47459.6,-1250.0

GPS2 241214,061647,-5559.586,-35.715,19,1.0,19,-19.8 MHEAD_RNG_PITCHd_Wd 96.5,5968,-25.7,-9.524

SPEED_LIMITS 0.165,0.231 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.0,1.014063 _10V_AH 10.0,14.249

SM_CCo 11531,21.08,0.202,0,0,1522,200.16 FG_AHR_24Vo 0.000

SM_GC 2.64,0.00,0.00,21.08,0.000,0.000,0.202,65,2943,1522,-5.39,0.37,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5535.12,-30.76,241214,020226 MEM 353964

TT8_MAMPS 0.026215 DATA_FILE_SIZE 53722,759

HUMID 56.26 CAP_FILE_SIZE 104281,0

INTERNAL_PRESSURE 8.96486 CFSIZE 259252224,221065216

TCM_TEMP 6.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 241214,093128,-5600.012,-32.703,39,1.4,39,-19.9

_24V_AH 21.8,21.833

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 252 74.02 SBE_CT 539 23 281.91

Roll_motor 74 78 126.56 AA4330 1574 17 617.26

VBD_pump_during_apogee 275 1794 10779.71 WL_BB2F 759 105 1737.93

VBD_pump_during_surface 21 201 92.79 QSP2150 790 17 309.87

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 91 52.54 nil 0 0 0.00

Iridium_during_connect 39 160 139.12 nil 0 0 0.00

Iridium_during_xfer 252 223 1229.31 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 6.95

TT8 1906 14 275.64

LPSleep 7270 2 159.23

TT8_Active 381 14 55.18

TT8_Sampling 2284 42 963.27

TT8_CF8 145 49 72.06

TT8_Kalman 33 68 22.81

Analog_circuits 1163 15 180.34

GPS_charging 0 0 0.00

Compass 1825 16 300.91

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 66 0.00 0.00 -49.70 0.000 2 0.000 0.000 53 2931 2590 0 0 0 0 0 0

69 -0.60 -143.7 3.1 -3.5 6 95 6.28 1.62 -10.23 0.000 4 0.252 0.078 1583 3903 2929 0 0 0 0 0 0

252 -0.60 -143.7 43.4 -25.7 35 259 0.00 1.58 0.00 0.000 6 0.000 0.034 1583 2906 2931 0 0 0 0 0 0

365 -0.60 -143.7 67.4 -20.5 54 374 0.00 0.00 0.00 0.000 6 0.000 0.000 1583 2903 2931 0 0 0 0 0 0

479 -0.60 -143.7 90.8 -21.9 73 485 0.00 0.00 0.00 0.000 6 0.000 0.000 1583 2903 2931 0 0 0 0 0 0

706 -0.60 -143.7 138.0 -20.2 98 707 0.00 0.00 0.00 0.000 6 0.000 0.000 1582 2903 2931 0 0 0 0 0 0

1025 -0.60 -143.7 197.2 -17.6 128 1029 0.00 1.65 0.00 0.000 4 0.000 0.062 1575 3895 2931 0 0 0 0 0 0

1110 -0.60 -143.7 212.0 -17.9 135 1113 0.00 1.50 0.00 0.000 6 0.000 0.034 1575 2929 2931 0 0 0 0 0 0

1439 -0.60 -143.7 269.2 -17.5 161 1441 0.00 0.00 0.00 0.000 6 0.000 0.000 1575 2923 2931 0 0 0 0 0 0

1746 -0.60 -143.7 321.5 -16.7 176 1749 0.00 1.60 0.00 0.000 4 0.000 0.061 1568 3893 2931 0 0 0 0 0 0

1792 -0.60 -143.7 329.9 -19.0 178 1796 0.00 1.50 0.00 0.000 6 0.000 0.034 1567 2922 2931 0 0 0 0 0 0

2124 -0.60 -143.7 386.5 -16.8 194 2128 0.00 1.62 0.00 0.000 4 0.000 0.061 1560 3903 2931 0 0 0 0 0 0

2218 -0.60 -143.7 403.4 -17.7 198 2224 0.12 1.52 0.00 0.000 6 0.207 0.033 1595 2917 2931 0 0 0 0 0 0

2546 -0.60 -143.7 449.3 -14.1 214 2547 0.00 0.00 0.00 0.000 6 0.000 0.000 1595 2916 2931 0 0 0 0 0 0

2854 -0.60 -143.7 493.3 -14.1 229 2858 0.00 1.62 0.00 0.000 4 0.000 0.063 1587 3899 2931 0 0 0 0 0 0

2926 -0.60 -143.7 504.5 -14.9 232 2931 0.00 1.48 0.00 0.000 6 0.000 0.033 1587 2931 2931 0 0 0 0 0 0

3253 -0.60 -143.7 553.5 -15.1 248 3254 0.00 0.00 0.00 0.000 6 0.000 0.000 1587 2925 2931 0 0 0 0 0 0

3563 -0.60 -143.7 601.5 -15.7 263 3567 0.00 1.60 0.00 0.000 4 0.000 0.061 1580 3900 2932 0 0 0 0 0 0

3610 -0.60 -143.7 608.9 -16.6 265 3613 0.00 1.48 0.00 0.000 6 0.000 0.033 1580 2930 2932 0 0 0 0 0 0

3942 -0.60 -143.7 663.4 -16.5 281 3945 0.00 1.60 0.00 0.000 4 0.000 0.062 1573 3900 2932 0 0 0 0 0 0

3987 -0.60 -143.7 671.7 -18.3 283 3990 0.00 1.48 0.00 0.000 6 0.000 0.033 1573 2931 2932 0 0 0 0 0 0

4319 -0.60 -143.7 730.1 -17.1 299 4323 0.00 1.60 0.00 0.000 4 0.000 0.062 1565 3900 2932 0 0 0 0 0 0

4373 -0.60 -143.7 740.8 -18.5 301 4379 0.10 1.50 0.00 0.000 6 0.210 0.032 1588 2920 2932 0 0 0 0 0 0

4696 -0.60 -143.7 791.0 -15.9 317 4699 0.00 1.60 0.00 0.000 4 0.000 0.061 1581 3897 2932 0 0 0 0 0 0

4750 -0.60 -143.7 800.4 -17.2 319 4755 0.00 1.48 0.00 0.000 6 0.000 0.032 1581 2934 2932 0 0 0 0 0 0

5072 -0.60 -143.7 850.4 -15.4 335 5073 0.00 0.00 0.00 0.000 6 0.000 0.000 1581 2928 2932 0 0 0 0 0 0

5382 -0.60 -143.7 896.5 -14.8 350 5386 0.00 1.60 0.00 0.000 4 0.000 0.061 1573 3905 2932 0 0 0 0 0 0

5449 -0.60 -143.7 907.2 -16.6 353 5453 0.00 1.48 0.00 0.000 6 0.000 0.033 1574 2932 2932 0 0 0 0 0 0

5780 -0.60 -143.7 956.1 -14.4 369 5784 0.00 1.60 0.00 0.000 4 0.000 0.060 1566 3905 2932 0 0 0 0 0 0

5830 -0.60 -143.7 964.0 -15.7 371 5834 0.00 1.48 0.00 0.000 6 0.000 0.033 1566 2930 2932 0 0 0 0 0 0

6094 end dive: TARGET_DEPTH_EXCEEDED

state 6094 begin apogee

6098 -0.13 0.0 1002.5 14.7 384 6237 0.60 0.00 131.00 1.795 6 0.189 0.000 1738 2715 2343 0 0 0 0 0 0

6238 end apogee: CONTROL_FINISHED_OK

state 6238 begin climb

6240 0.60 143.7 1006.8 0.0 391 6392 0.80 2.55 144.52 1.748 4 0.128 0.044 1986 1325 1755 0 0 0 0 0 0

6413 0.60 143.7 983.4 17.6 399 6418 0.00 2.53 0.00 0.000 6 0.000 0.048 1986 2720 1752 0 0 0 0 0 0

6736 0.60 143.7 918.7 20.4 415 6737 0.00 0.00 0.00 0.000 6 0.000 0.000 1986 2720 1746 0 0 0 0 0 0

7044 0.60 143.7 856.0 20.4 430 7048 0.00 1.98 0.00 0.000 4 0.000 0.058 1986 3896 1744 0 0 0 0 0 0

7082 0.60 143.7 847.4 22.9 431 7090 0.00 1.90 0.00 0.000 6 0.000 0.036 1995 2739 1743 0 0 0 0 0 0

7398 0.60 143.7 780.9 21.2 447 7399 0.00 0.00 0.00 0.000 6 0.000 0.000 1995 2739 1742 0 0 0 0 0 0

7707 0.60 143.7 715.8 21.1 462 7711 0.00 1.92 0.00 0.000 4 0.000 0.057 1995 3903 1742 0 0 0 0 0 0

7753 0.60 143.7 705.3 23.5 464 7757 0.00 1.92 0.00 0.000 6 0.000 0.037 2004 2701 1741 0 0 0 0 0 0

8085 0.60 143.7 633.7 21.5 480 8086 0.00 0.00 0.00 0.000 6 0.000 0.000 2004 2700 1741 0 0 0 0 0 0

8394 0.60 143.7 569.5 20.9 495 8398 0.00 1.95 0.00 0.000 4 0.000 0.058 2004 3894 1741 0 0 0 0 0 0

8449 0.60 143.7 556.9 22.1 497 8453 0.00 1.90 0.00 0.000 6 0.000 0.037 2013 2709 1740 0 0 0 0 0 0

8770 0.60 143.7 490.7 20.3 513 8774 0.00 1.95 0.00 0.000 4 0.000 0.057 2014 3890 1740 0 0 0 0 0 0

8807 0.60 143.7 482.1 24.0 514 8815 0.12 1.90 0.00 0.000 6 0.204 0.036 1988 2707 1739 0 0 0 0 0 0

9124 0.60 143.7 423.0 18.3 530 9127 0.00 1.95 0.00 0.000 4 0.000 0.057 1988 3903 1740 0 0 0 0 0 0

9168 0.60 143.7 413.8 20.0 532 9172 0.00 1.90 0.00 0.000 6 0.000 0.037 1996 2702 1739 0 0 0 0 0 0

9500 0.60 143.7 350.1 18.9 548 9501 0.00 0.00 0.00 0.000 6 0.000 0.000 1996 2701 1739 0 0 0 0 0 0

9812 0.60 143.7 292.0 18.4 563 9816 0.00 1.92 0.00 0.000 4 0.000 0.057 1996 3899 1739 0 0 0 0 0 0

9861 0.60 143.7 281.2 21.7 565 9866 0.00 1.90 0.00 0.000 6 0.000 0.036 2005 2707 1739 0 0 0 0 0 0

10185 0.60 143.7 220.4 19.2 587 10187 0.00 0.00 0.00 0.000 6 0.000 0.000 2005 2707 1739 0 0 0 0 0 0

10505 0.60 143.7 161.6 18.3 617 10508 0.00 1.90 0.00 0.000 4 0.000 0.057 2006 3897 1739 0 0 0 0 0 0

10539 0.60 143.7 154.2 20.2 620 10543 0.00 1.88 0.00 0.000 6 0.000 0.036 2015 2702 1739 0 0 0 0 0 0

10866 0.60 143.7 96.2 16.7 652 10873 0.12 0.00 0.00 0.000 6 0.233 0.000 1987 2700 1739 0 0 0 0 0 0

11108 0.60 143.7 65.1 13.0 693 11115 0.00 1.95 0.00 0.000 4 0.000 0.058 1987 3892 1739 0 0 0 0 0 0

11169 0.60 143.7 55.5 16.4 703 11176 0.00 1.88 0.00 0.000 6 0.000 0.035 1995 2710 1739 0 0 0 0 0 0

11281 0.60 143.7 38.8 13.9 722 11289 0.00 0.00 0.00 0.000 6 0.000 0.000 1995 2709 1739 0 0 0 0 0 0

11398 0.60 143.7 21.2 15.4 741 11406 0.00 1.92 0.00 0.000 4 0.000 0.057 1995 3886 1739 0 0 0 0 0 0

11445 0.60 143.7 11.9 20.2 748 11454 0.00 1.88 0.00 0.000 6 0.000 0.037 2004 2709 1739 0 0 0 0 0 0

11497 end climb: SURFACE_DEPTH_REACHED

state 11498 begin surface coast

11519 end surface coast: CONTROL_FINISHED_OK

state 11519 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	84	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	31	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	-21899.297	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	241214,060934,-5559.574,-35.674,35,1.0,35,-19.8	TGT_NAME	TARGET
_CALLS	1	TGT_LATLONG	-5600.000,-30.000
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.161,0.038
_SM_DEPTHo	1.68	KALMAN_X	50573.5,-556.1,-413.8,-86506.0,3849.0
_SM_ANGLEo	-59.0	KALMAN_Y	48773.7,-101.3,-136.9,-47459.6,-1250.0
GPS2	241214,061647,-5559.586,-35.715,19,1.0,19,-19.8	MHEAD_RNG_PITCHd_Wd	96.5,5968,-25.7,-9.524
SPEED_LIMITS	0.165,0.231	D_GRID	1000

FINISH	1.0,1.014063	_10V_AH	10.0,14.249
SM_CCo	11531,21.08,0.202,0,0,1522,200.16	FG_AHR_24Vo	0.000
SM_GC	2.64,0.00,0.00,21.08,0.000,0.000,0.202,65,2943,1522,-5.39,0.37,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5535.12,-30.76,241214,020226	MEM	353964
TT8_MAMPS	0.026215	DATA_FILE_SIZE	53722,759
HUMID	56.26	CAP_FILE_SIZE	104281,0
INTERNAL_PRESSURE	8.96486	CFSIZE	259252224,221065216
TCM_TEMP	6.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	241214,093128,-5600.012,-32.703,39,1.4,39,-19.9
_24V_AH	21.8,21.833

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	252	74.02	SBE_CT	539	23	281.91
Roll_motor	74	78	126.56	AA4330	1574	17	617.26
VBD_pump_during_apogee	275	1794	10779.71	WL_BB2F	759	105	1737.93
VBD_pump_during_surface	21	201	92.79	QSP2150	790	17	309.87
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	91	52.54	nil	0	0	0.00
Iridium_during_connect	39	160	139.12	nil	0	0	0.00
Iridium_during_xfer	252	223	1229.31	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	6.95
TT8	1906	14	275.64
LPSleep	7270	2	159.23
TT8_Active	381	14	55.18
TT8_Sampling	2284	42	963.27
TT8_CF8	145	49	72.06
TT8_Kalman	33	68	22.81
Analog_circuits	1163	15	180.34
GPS_charging	0	0	0.00
Compass	1825	16	300.91
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	66	0.00	0.00	-49.70	0.000	2	0.000	0.000	53	2931	2590	0	0	0	0	0	0
69	-0.60	-143.7	3.1	-3.5	6	95	6.28	1.62	-10.23	0.000	4	0.252	0.078	1583	3903	2929	0	0	0	0	0	0
252	-0.60	-143.7	43.4	-25.7	35	259	0.00	1.58	0.00	0.000	6	0.000	0.034	1583	2906	2931	0	0	0	0	0	0
365	-0.60	-143.7	67.4	-20.5	54	374	0.00	0.00	0.00	0.000	6	0.000	0.000	1583	2903	2931	0	0	0	0	0	0
479	-0.60	-143.7	90.8	-21.9	73	485	0.00	0.00	0.00	0.000	6	0.000	0.000	1583	2903	2931	0	0	0	0	0	0
706	-0.60	-143.7	138.0	-20.2	98	707	0.00	0.00	0.00	0.000	6	0.000	0.000	1582	2903	2931	0	0	0	0	0	0
1025	-0.60	-143.7	197.2	-17.6	128	1029	0.00	1.65	0.00	0.000	4	0.000	0.062	1575	3895	2931	0	0	0	0	0	0
1110	-0.60	-143.7	212.0	-17.9	135	1113	0.00	1.50	0.00	0.000	6	0.000	0.034	1575	2929	2931	0	0	0	0	0	0
1439	-0.60	-143.7	269.2	-17.5	161	1441	0.00	0.00	0.00	0.000	6	0.000	0.000	1575	2923	2931	0	0	0	0	0	0
1746	-0.60	-143.7	321.5	-16.7	176	1749	0.00	1.60	0.00	0.000	4	0.000	0.061	1568	3893	2931	0	0	0	0	0	0
1792	-0.60	-143.7	329.9	-19.0	178	1796	0.00	1.50	0.00	0.000	6	0.000	0.034	1567	2922	2931	0	0	0	0	0	0
2124	-0.60	-143.7	386.5	-16.8	194	2128	0.00	1.62	0.00	0.000	4	0.000	0.061	1560	3903	2931	0	0	0	0	0	0
2218	-0.60	-143.7	403.4	-17.7	198	2224	0.12	1.52	0.00	0.000	6	0.207	0.033	1595	2917	2931	0	0	0	0	0	0
2546	-0.60	-143.7	449.3	-14.1	214	2547	0.00	0.00	0.00	0.000	6	0.000	0.000	1595	2916	2931	0	0	0	0	0	0
2854	-0.60	-143.7	493.3	-14.1	229	2858	0.00	1.62	0.00	0.000	4	0.000	0.063	1587	3899	2931	0	0	0	0	0	0
2926	-0.60	-143.7	504.5	-14.9	232	2931	0.00	1.48	0.00	0.000	6	0.000	0.033	1587	2931	2931	0	0	0	0	0	0
3253	-0.60	-143.7	553.5	-15.1	248	3254	0.00	0.00	0.00	0.000	6	0.000	0.000	1587	2925	2931	0	0	0	0	0	0
3563	-0.60	-143.7	601.5	-15.7	263	3567	0.00	1.60	0.00	0.000	4	0.000	0.061	1580	3900	2932	0	0	0	0	0	0
3610	-0.60	-143.7	608.9	-16.6	265	3613	0.00	1.48	0.00	0.000	6	0.000	0.033	1580	2930	2932	0	0	0	0	0	0
3942	-0.60	-143.7	663.4	-16.5	281	3945	0.00	1.60	0.00	0.000	4	0.000	0.062	1573	3900	2932	0	0	0	0	0	0
3987	-0.60	-143.7	671.7	-18.3	283	3990	0.00	1.48	0.00	0.000	6	0.000	0.033	1573	2931	2932	0	0	0	0	0	0
4319	-0.60	-143.7	730.1	-17.1	299	4323	0.00	1.60	0.00	0.000	4	0.000	0.062	1565	3900	2932	0	0	0	0	0	0
4373	-0.60	-143.7	740.8	-18.5	301	4379	0.10	1.50	0.00	0.000	6	0.210	0.032	1588	2920	2932	0	0	0	0	0	0
4696	-0.60	-143.7	791.0	-15.9	317	4699	0.00	1.60	0.00	0.000	4	0.000	0.061	1581	3897	2932	0	0	0	0	0	0
4750	-0.60	-143.7	800.4	-17.2	319	4755	0.00	1.48	0.00	0.000	6	0.000	0.032	1581	2934	2932	0	0	0	0	0	0
5072	-0.60	-143.7	850.4	-15.4	335	5073	0.00	0.00	0.00	0.000	6	0.000	0.000	1581	2928	2932	0	0	0	0	0	0
5382	-0.60	-143.7	896.5	-14.8	350	5386	0.00	1.60	0.00	0.000	4	0.000	0.061	1573	3905	2932	0	0	0	0	0	0
5449	-0.60	-143.7	907.2	-16.6	353	5453	0.00	1.48	0.00	0.000	6	0.000	0.033	1574	2932	2932	0	0	0	0	0	0
5780	-0.60	-143.7	956.1	-14.4	369	5784	0.00	1.60	0.00	0.000	4	0.000	0.060	1566	3905	2932	0	0	0	0	0	0
5830	-0.60	-143.7	964.0	-15.7	371	5834	0.00	1.48	0.00	0.000	6	0.000	0.033	1566	2930	2932	0	0	0	0	0	0
6094	end dive: TARGET_DEPTH_EXCEEDED
state	6094	begin apogee
6098	-0.13	0.0	1002.5	14.7	384	6237	0.60	0.00	131.00	1.795	6	0.189	0.000	1738	2715	2343	0	0	0	0	0	0
6238	end apogee: CONTROL_FINISHED_OK
state	6238	begin climb
6240	0.60	143.7	1006.8	0.0	391	6392	0.80	2.55	144.52	1.748	4	0.128	0.044	1986	1325	1755	0	0	0	0	0	0
6413	0.60	143.7	983.4	17.6	399	6418	0.00	2.53	0.00	0.000	6	0.000	0.048	1986	2720	1752	0	0	0	0	0	0
6736	0.60	143.7	918.7	20.4	415	6737	0.00	0.00	0.00	0.000	6	0.000	0.000	1986	2720	1746	0	0	0	0	0	0
7044	0.60	143.7	856.0	20.4	430	7048	0.00	1.98	0.00	0.000	4	0.000	0.058	1986	3896	1744	0	0	0	0	0	0
7082	0.60	143.7	847.4	22.9	431	7090	0.00	1.90	0.00	0.000	6	0.000	0.036	1995	2739	1743	0	0	0	0	0	0
7398	0.60	143.7	780.9	21.2	447	7399	0.00	0.00	0.00	0.000	6	0.000	0.000	1995	2739	1742	0	0	0	0	0	0
7707	0.60	143.7	715.8	21.1	462	7711	0.00	1.92	0.00	0.000	4	0.000	0.057	1995	3903	1742	0	0	0	0	0	0
7753	0.60	143.7	705.3	23.5	464	7757	0.00	1.92	0.00	0.000	6	0.000	0.037	2004	2701	1741	0	0	0	0	0	0
8085	0.60	143.7	633.7	21.5	480	8086	0.00	0.00	0.00	0.000	6	0.000	0.000	2004	2700	1741	0	0	0	0	0	0
8394	0.60	143.7	569.5	20.9	495	8398	0.00	1.95	0.00	0.000	4	0.000	0.058	2004	3894	1741	0	0	0	0	0	0
8449	0.60	143.7	556.9	22.1	497	8453	0.00	1.90	0.00	0.000	6	0.000	0.037	2013	2709	1740	0	0	0	0	0	0
8770	0.60	143.7	490.7	20.3	513	8774	0.00	1.95	0.00	0.000	4	0.000	0.057	2014	3890	1740	0	0	0	0	0	0
8807	0.60	143.7	482.1	24.0	514	8815	0.12	1.90	0.00	0.000	6	0.204	0.036	1988	2707	1739	0	0	0	0	0	0
9124	0.60	143.7	423.0	18.3	530	9127	0.00	1.95	0.00	0.000	4	0.000	0.057	1988	3903	1740	0	0	0	0	0	0
9168	0.60	143.7	413.8	20.0	532	9172	0.00	1.90	0.00	0.000	6	0.000	0.037	1996	2702	1739	0	0	0	0	0	0
9500	0.60	143.7	350.1	18.9	548	9501	0.00	0.00	0.00	0.000	6	0.000	0.000	1996	2701	1739	0	0	0	0	0	0
9812	0.60	143.7	292.0	18.4	563	9816	0.00	1.92	0.00	0.000	4	0.000	0.057	1996	3899	1739	0	0	0	0	0	0
9861	0.60	143.7	281.2	21.7	565	9866	0.00	1.90	0.00	0.000	6	0.000	0.036	2005	2707	1739	0	0	0	0	0	0
10185	0.60	143.7	220.4	19.2	587	10187	0.00	0.00	0.00	0.000	6	0.000	0.000	2005	2707	1739	0	0	0	0	0	0
10505	0.60	143.7	161.6	18.3	617	10508	0.00	1.90	0.00	0.000	4	0.000	0.057	2006	3897	1739	0	0	0	0	0	0
10539	0.60	143.7	154.2	20.2	620	10543	0.00	1.88	0.00	0.000	6	0.000	0.036	2015	2702	1739	0	0	0	0	0	0
10866	0.60	143.7	96.2	16.7	652	10873	0.12	0.00	0.00	0.000	6	0.233	0.000	1987	2700	1739	0	0	0	0	0	0
11108	0.60	143.7	65.1	13.0	693	11115	0.00	1.95	0.00	0.000	4	0.000	0.058	1987	3892	1739	0	0	0	0	0	0
11169	0.60	143.7	55.5	16.4	703	11176	0.00	1.88	0.00	0.000	6	0.000	0.035	1995	2710	1739	0	0	0	0	0	0
11281	0.60	143.7	38.8	13.9	722	11289	0.00	0.00	0.00	0.000	6	0.000	0.000	1995	2709	1739	0	0	0	0	0	0
11398	0.60	143.7	21.2	15.4	741	11406	0.00	1.92	0.00	0.000	4	0.000	0.057	1995	3886	1739	0	0	0	0	0	0
11445	0.60	143.7	11.9	20.2	748	11454	0.00	1.88	0.00	0.000	6	0.000	0.037	2004	2709	1739	0	0	0	0	0	0
11497	end climb: SURFACE_DEPTH_REACHED
state	11498	begin surface coast
11519	end surface coast: CONTROL_FINISHED_OK
state	11519	begin surface