Glider dive log

SOSCEx 27Jul15 * SG543 * Dive index * Mission links * Dive 84 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 543 HEADING -1 ROLL_MAX 3944 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 14 ESCAPE_HEADING 0 ROLL_DEG 25 ALTIM_PING_DEPTH 0

DIVE 84 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 3230 ALTIM_PING_DELTA 10

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 3060 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -4300 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 1000 TGT_DEFAULT_LON 800 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

D_ABORT 1020 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 2

D_NO_BLEED 200 SM_CC 200 R_PORT_OVSHOOT 59 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 33 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 20

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 1500 DEVICE3 83

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 117

T_DIVE 335 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 350 CAPUPLOAD 0 VBD_TIMEOUT 800 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.001 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 -24369.035 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 130 PITCH_MAX 3908 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1905 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043512532

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -55.053406 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 53008 PITCH_GAIN 55 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 0.00012677554

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 15

HD_C 9.9999997e-06 ROLL_MIN 394 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 200 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 15 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 10 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 55 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3908 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -4300

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 0 PITCH_MIN 86 TGT_DEFAULT_LON 800

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 0.001 T_BOOST 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011638312 T_DIVE 335

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -55.053406 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 -24369.035

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

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 350

CF8_MAXERRORS 20 HEAD_ERRBAND 10 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 1905 KALMAN_USE 2 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 3060 KERMIT 0 ROLL_DEG 25 USE_BATHY 0

C_ROLL_DIVE 3230 LOGGERDEVICE1 -1 ROLL_MAX 3944 USE_ICE 0

C_VBD 1500 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 59 VBD_MAX 3960

DEVICE2 20 MASS 53008 R_STBD_OVSHOOT 33 VBD_MAXERRORS 1

DEVICE3 83 MAX_BUOY 130 SEABIRD_C_G -10.305622 VBD_MIN 507

DEVICE4 117 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 14 SEABIRD_C_J 0.00012677554 VBD_TIMEOUT 800

DIVE 84 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 5 N_FILEKB 4 SEABIRD_T_I 2.2835797e-05 XPDR_VALID 2

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 120815,055557,-4255.944,823.076,67,1.2,67,-25.0 TGT_NAME SAZ_BUT2

_CALLS 1 TGT_LATLONG -4256.000,824.000

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.93 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 120815,060238,-4255.934,823.126,26,1.8,26,-25.0 MHEAD_RNG_PITCHd_Wd 120.9,1192,-27.2,-9.950

SPEED_LIMITS 0.172,0.243 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.8,1.026490 _10V_AH 10.3,9.735

SM_CCo 12179,55.58,0.519,2,0,682,200.16 FG_AHR_24Vo 0.000

SM_GC 1.96,0.00,0.00,55.58,0.000,0.000,0.519,62,3262,682,-5.74,0.90,200.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4239.11,824.86,070608,151530 MEM 353952

TT8_MAMPS 0.027713 DATA_FILE_SIZE 50378,891

HUMID 62.08 CAP_FILE_SIZE 112298,0

INTERNAL_PRESSURE 11.3981 CFSIZE 259252224,252600320

TCM_TEMP 13.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,1

XPDR_PINGS 0 GPS 120815,092951,-4256.040,826.030,131,0.9,131,-25.0

_24V_AH 22.4,18.840

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 223 67.80 SBE_CT 617 24 331.99

Roll_motor 56 61 77.15 SBE_O2 619 19 263.77

VBD_pump_during_apogee 254 1858 10597.30 WL_BBFL2VMT 679 105 1597.91

VBD_pump_during_surface 55 518 645.68 QSP2150 68 4 6.77

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 33 103 76.77 nil 0 0 0.00

Iridium_during_connect 20 160 72.10 nil 0 0 0.00

Iridium_during_xfer 238 223 1189.17 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 29 26 8.10

TT8 2187 14 337.13

LPSleep 7644 2 172.44

TT8_Active 409 14 60.01

TT8_Sampling 2306 37 889.31

TT8_CF8 105 47 51.41

TT8_Kalman 0 0 0.00

Analog_circuits 1259 12 155.69

GPS_charging 0 0 0.00

Compass 1975 15 320.02

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -0.56 -62.5 0.0 0.0 0 64 0.00 0.00 -47.08 0.000 6 0.000 0.000 53 3259 1758 0 0 0 0 0 0

66 -0.62 -125.3 3.3 -3.3 6 85 6.47 1.42 -7.43 0.000 4 0.223 0.055 1698 2331 2015 0 0 0 0 0 0

345 -0.62 -125.3 51.8 -14.5 53 352 0.00 1.45 0.00 0.000 6 0.000 0.053 1692 3222 2021 0 0 0 0 0 0

687 -0.62 -125.3 114.3 -18.6 107 688 0.00 0.00 0.00 0.000 6 0.000 0.000 1693 3222 2021 0 0 0 0 0 0

1010 -0.62 -125.3 173.9 -19.3 137 1013 0.00 1.15 0.00 0.000 4 0.000 0.057 1687 3951 2021 0 0 0 0 0 0

1056 -0.62 -125.3 183.8 -20.8 141 1060 0.00 1.05 0.00 0.000 6 0.000 0.034 1687 3239 2022 0 0 0 0 0 0

1386 -0.62 -125.3 248.1 -18.9 172 1390 0.00 1.12 0.00 0.000 4 0.000 0.057 1683 3953 2021 0 0 0 0 0 0

1465 -0.62 -125.3 264.1 -20.0 179 1469 0.00 1.08 0.00 0.000 6 0.000 0.034 1682 3222 2022 0 0 0 0 0 0

1795 -0.62 -125.3 325.5 -18.6 210 1798 0.00 1.15 0.00 0.000 4 0.000 0.057 1676 3956 2022 0 0 0 0 0 0

1896 -0.62 -125.3 345.3 -19.8 219 1900 0.00 1.05 0.00 0.000 6 0.000 0.034 1676 3236 2023 0 0 0 0 0 0

2235 -0.62 -125.3 408.1 -18.2 249 2239 0.00 1.12 0.00 0.000 4 0.000 0.057 1671 3955 2023 0 0 0 0 0 0

2289 -0.62 -125.3 418.9 -18.9 251 2295 0.12 1.08 0.00 0.000 6 0.197 0.032 1700 3233 2023 0 0 0 0 0 0

2611 -0.62 -125.3 469.1 -15.4 267 2612 0.00 0.00 0.00 0.000 6 0.000 0.000 1700 3233 2023 0 0 0 0 0 0

2920 -0.62 -125.3 517.9 -15.9 282 2924 0.00 1.12 0.00 0.000 4 0.000 0.059 1696 3951 2023 0 0 0 0 0 0

2969 -0.62 -125.3 526.4 -17.3 284 2973 0.00 1.05 0.00 0.000 6 0.000 0.034 1696 3232 2023 0 0 0 0 0 0

3296 -0.62 -125.3 578.1 -16.2 300 3297 0.00 0.00 0.00 0.000 6 0.000 0.000 1696 3232 2023 0 0 0 0 0 0

3605 -0.62 -125.3 627.2 -16.5 315 3609 0.00 1.12 0.00 0.000 4 0.000 0.059 1691 3950 2023 0 0 0 0 0 0

3654 -0.62 -125.3 635.7 -17.2 317 3658 0.00 1.08 0.00 0.000 6 0.000 0.034 1691 3228 2023 0 0 0 0 0 0

3981 -0.62 -125.3 687.5 -15.8 333 3984 0.00 1.12 0.00 0.000 4 0.000 0.059 1685 3945 2023 0 0 0 0 0 0

4048 -0.62 -125.3 698.9 -17.0 336 4052 0.00 1.05 0.00 0.000 6 0.000 0.034 1686 3230 2023 0 0 0 0 0 0

4380 -0.62 -125.3 750.3 -15.5 352 4383 0.00 1.12 0.00 0.000 4 0.000 0.059 1681 3948 2022 0 0 0 0 0 0

4440 -0.62 -125.3 761.1 -17.5 354 4447 0.00 1.08 0.00 0.000 6 0.000 0.034 1681 3228 2023 0 0 0 0 0 0

4756 -0.62 -125.3 811.1 -15.9 370 4757 0.00 0.00 0.00 0.000 6 0.000 0.000 1681 3228 2022 0 0 0 0 0 0

5065 -0.62 -125.3 861.1 -16.3 385 5066 0.00 0.00 0.00 0.000 6 0.000 0.000 1680 3228 2023 0 0 0 0 0 0

5374 -0.62 -125.3 911.6 -16.0 400 5378 0.00 1.15 0.00 0.000 4 0.000 0.060 1675 3957 2023 0 0 0 0 0 0

5468 -0.62 -125.3 927.8 -16.9 404 5473 0.00 1.10 0.00 0.000 6 0.000 0.034 1675 3223 2023 0 0 0 0 0 0

5795 -0.62 -125.3 980.5 -16.0 420 5799 0.00 1.15 0.00 0.000 4 0.000 0.060 1669 3953 2023 0 0 0 0 0 0

5863 -0.62 -125.3 992.1 -16.8 423 5867 0.10 1.08 0.00 0.000 6 0.179 0.035 1698 3234 2023 0 0 0 0 0 0

5924 end dive: TARGET_DEPTH_EXCEEDED

state 5924 begin apogee

5928 -0.09 0.0 1001.6 14.3 426 6066 0.57 0.00 130.15 1.858 6 0.158 0.000 1869 3048 1499 0 0 0 0 0 0

6067 end apogee: CONTROL_FINISHED_OK

state 6067 begin climb

6069 0.62 125.3 1005.8 0.0 433 6200 0.70 1.52 124.45 1.847 4 0.096 0.033 2102 2180 989 0 0 0 0 0 0

6272 0.62 125.3 982.9 14.9 442 6280 0.00 1.55 0.00 0.000 6 0.000 0.049 2103 3074 986 0 0 0 0 0 0

6588 0.62 125.3 929.3 17.3 458 6592 0.00 1.45 0.00 0.000 4 0.000 0.059 2102 3955 984 0 0 0 0 0 0

6642 0.62 125.3 918.5 19.5 460 6647 0.00 1.42 0.00 0.000 6 0.000 0.031 2109 3038 983 0 0 0 0 0 0

6964 0.62 125.3 862.8 17.0 476 6966 0.00 0.00 0.00 0.000 6 0.000 0.000 2109 3037 983 0 0 0 0 0 0

7274 0.62 125.3 810.3 17.0 491 7278 0.00 1.48 0.00 0.000 4 0.000 0.059 2110 3948 983 0 0 0 0 0 0

7311 0.62 125.3 803.1 19.2 492 7319 0.00 1.35 0.00 0.000 6 0.000 0.032 2116 3057 982 0 0 0 0 0 0

7627 0.62 125.3 747.7 17.4 508 7629 0.00 0.00 0.00 0.000 6 0.000 0.000 2116 3057 982 0 0 0 0 0 0

7937 0.62 125.3 694.3 17.1 523 7940 0.00 1.42 0.00 0.000 4 0.000 0.057 2116 3947 981 0 0 0 0 0 0

7963 0.62 125.3 689.1 18.5 524 7967 0.00 1.35 0.00 0.000 6 0.000 0.032 2123 3053 982 0 0 0 0 0 0

8290 0.62 125.3 632.0 17.6 540 8291 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 3053 981 0 0 0 0 0 0

8599 0.62 125.3 577.3 17.8 555 8601 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 3053 981 0 0 0 0 0 0

8909 0.62 125.3 522.6 17.6 570 8912 0.00 1.45 0.00 0.000 4 0.000 0.059 2123 3958 981 0 0 0 0 0 0

8969 0.62 125.3 510.7 19.5 572 8977 0.00 1.35 0.00 0.000 6 0.000 0.032 2130 3058 981 0 0 0 0 0 0

9285 0.62 125.3 455.9 17.3 588 9288 0.00 1.42 0.00 0.000 4 0.000 0.059 2130 3955 981 0 0 0 0 0 0

9317 0.62 125.3 449.6 18.8 589 9322 0.10 1.35 0.00 0.000 6 0.209 0.032 2110 3056 981 0 0 0 0 0 0

9638 0.62 125.3 399.4 15.5 605 9639 0.00 0.00 0.00 0.000 6 0.000 0.000 2110 3056 981 0 0 0 0 0 0

9957 0.62 125.3 350.4 15.3 635 9960 0.00 1.42 0.00 0.000 4 0.000 0.059 2110 3953 981 0 0 0 0 0 0

10027 0.62 125.3 338.3 18.6 641 10030 0.00 1.33 0.00 0.000 6 0.000 0.033 2115 3057 981 0 0 0 0 0 0

10357 0.62 125.3 284.0 15.6 672 10360 0.00 1.42 0.00 0.000 4 0.000 0.059 2115 3954 981 0 0 0 0 0 0

10447 0.62 125.3 267.7 17.9 680 10451 0.00 1.33 0.00 0.000 6 0.000 0.032 2122 3055 981 0 0 0 0 0 0

10777 0.62 125.3 216.4 15.6 711 10781 0.00 1.42 0.00 0.000 4 0.000 0.059 2122 3954 981 0 0 0 0 0 0

10871 0.62 125.3 199.3 18.8 719 10879 0.00 1.35 0.00 0.000 6 0.000 0.031 2129 3048 981 0 0 0 0 0 0

11196 0.62 125.3 146.3 15.4 750 11198 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 3047 981 0 0 0 0 0 0

11517 0.62 125.3 95.6 16.2 782 11524 0.00 1.42 0.00 0.000 4 0.000 0.057 2129 3950 981 0 0 0 0 0 0

11565 0.62 125.3 87.3 18.3 790 11572 0.08 1.30 0.00 0.000 6 0.207 0.032 2114 3058 981 0 0 0 0 0 0

11916 0.62 125.3 37.4 14.3 851 11925 0.00 1.40 0.00 0.000 4 0.000 0.056 2114 3951 981 0 0 0 0 0 0

11980 0.62 125.3 27.1 16.4 861 11989 0.00 1.30 0.00 0.000 6 0.000 0.032 2120 3056 981 0 0 0 0 0 0

12133 0.62 125.3 3.5 18.0 886 12141 0.00 0.00 0.00 0.000 6 0.000 0.000 2120 3056 981 0 0 0 0 0 0

12148 end climb: SURFACE_DEPTH_REACHED

state 12148 begin surface coast

12167 end surface coast: CONTROL_FINISHED_OK

state 12167 begin surface

ID	543	HEADING	-1	ROLL_MAX	3944	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	14	ESCAPE_HEADING	0	ROLL_DEG	25	ALTIM_PING_DEPTH	0
DIVE	84	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	3230	ALTIM_PING_DELTA	10
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	3060	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-4300	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	1000	TGT_DEFAULT_LON	800	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
D_ABORT	1020	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	2
D_NO_BLEED	200	SM_CC	200	R_PORT_OVSHOOT	59	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	33	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	20
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	1500	DEVICE3	83
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	117
T_DIVE	335	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	350	CAPUPLOAD	0	VBD_TIMEOUT	800	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.001	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	-24369.035	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	130	PITCH_MAX	3908	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1905	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043512532
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-55.053406	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	53008	PITCH_GAIN	55	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	0.00012677554
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	15
HD_C	9.9999997e-06	ROLL_MIN	394	ALTIM_TOP_TURN_MARGIN	0

GPS1	120815,055557,-4255.944,823.076,67,1.2,67,-25.0	TGT_NAME	SAZ_BUT2
_CALLS	1	TGT_LATLONG	-4256.000,824.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.93	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	120815,060238,-4255.934,823.126,26,1.8,26,-25.0	MHEAD_RNG_PITCHd_Wd	120.9,1192,-27.2,-9.950
SPEED_LIMITS	0.172,0.243	D_GRID	1000

FINISH	0.8,1.026490	_10V_AH	10.3,9.735
SM_CCo	12179,55.58,0.519,2,0,682,200.16	FG_AHR_24Vo	0.000
SM_GC	1.96,0.00,0.00,55.58,0.000,0.000,0.519,62,3262,682,-5.74,0.90,200.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4239.11,824.86,070608,151530	MEM	353952
TT8_MAMPS	0.027713	DATA_FILE_SIZE	50378,891
HUMID	62.08	CAP_FILE_SIZE	112298,0
INTERNAL_PRESSURE	11.3981	CFSIZE	259252224,252600320
TCM_TEMP	13.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
XPDR_PINGS	0	GPS	120815,092951,-4256.040,826.030,131,0.9,131,-25.0
_24V_AH	22.4,18.840

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	223	67.80	SBE_CT	617	24	331.99
Roll_motor	56	61	77.15	SBE_O2	619	19	263.77
VBD_pump_during_apogee	254	1858	10597.30	WL_BBFL2VMT	679	105	1597.91
VBD_pump_during_surface	55	518	645.68	QSP2150	68	4	6.77
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	33	103	76.77	nil	0	0	0.00
Iridium_during_connect	20	160	72.10	nil	0	0	0.00
Iridium_during_xfer	238	223	1189.17	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	29	26	8.10
TT8	2187	14	337.13
LPSleep	7644	2	172.44
TT8_Active	409	14	60.01
TT8_Sampling	2306	37	889.31
TT8_CF8	105	47	51.41
TT8_Kalman	0	0	0.00
Analog_circuits	1259	12	155.69
GPS_charging	0	0	0.00
Compass	1975	15	320.02
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-0.56	-62.5	0.0	0.0	0	64	0.00	0.00	-47.08	0.000	6	0.000	0.000	53	3259	1758	0	0	0	0	0	0
66	-0.62	-125.3	3.3	-3.3	6	85	6.47	1.42	-7.43	0.000	4	0.223	0.055	1698	2331	2015	0	0	0	0	0	0
345	-0.62	-125.3	51.8	-14.5	53	352	0.00	1.45	0.00	0.000	6	0.000	0.053	1692	3222	2021	0	0	0	0	0	0
687	-0.62	-125.3	114.3	-18.6	107	688	0.00	0.00	0.00	0.000	6	0.000	0.000	1693	3222	2021	0	0	0	0	0	0
1010	-0.62	-125.3	173.9	-19.3	137	1013	0.00	1.15	0.00	0.000	4	0.000	0.057	1687	3951	2021	0	0	0	0	0	0
1056	-0.62	-125.3	183.8	-20.8	141	1060	0.00	1.05	0.00	0.000	6	0.000	0.034	1687	3239	2022	0	0	0	0	0	0
1386	-0.62	-125.3	248.1	-18.9	172	1390	0.00	1.12	0.00	0.000	4	0.000	0.057	1683	3953	2021	0	0	0	0	0	0
1465	-0.62	-125.3	264.1	-20.0	179	1469	0.00	1.08	0.00	0.000	6	0.000	0.034	1682	3222	2022	0	0	0	0	0	0
1795	-0.62	-125.3	325.5	-18.6	210	1798	0.00	1.15	0.00	0.000	4	0.000	0.057	1676	3956	2022	0	0	0	0	0	0
1896	-0.62	-125.3	345.3	-19.8	219	1900	0.00	1.05	0.00	0.000	6	0.000	0.034	1676	3236	2023	0	0	0	0	0	0
2235	-0.62	-125.3	408.1	-18.2	249	2239	0.00	1.12	0.00	0.000	4	0.000	0.057	1671	3955	2023	0	0	0	0	0	0
2289	-0.62	-125.3	418.9	-18.9	251	2295	0.12	1.08	0.00	0.000	6	0.197	0.032	1700	3233	2023	0	0	0	0	0	0
2611	-0.62	-125.3	469.1	-15.4	267	2612	0.00	0.00	0.00	0.000	6	0.000	0.000	1700	3233	2023	0	0	0	0	0	0
2920	-0.62	-125.3	517.9	-15.9	282	2924	0.00	1.12	0.00	0.000	4	0.000	0.059	1696	3951	2023	0	0	0	0	0	0
2969	-0.62	-125.3	526.4	-17.3	284	2973	0.00	1.05	0.00	0.000	6	0.000	0.034	1696	3232	2023	0	0	0	0	0	0
3296	-0.62	-125.3	578.1	-16.2	300	3297	0.00	0.00	0.00	0.000	6	0.000	0.000	1696	3232	2023	0	0	0	0	0	0
3605	-0.62	-125.3	627.2	-16.5	315	3609	0.00	1.12	0.00	0.000	4	0.000	0.059	1691	3950	2023	0	0	0	0	0	0
3654	-0.62	-125.3	635.7	-17.2	317	3658	0.00	1.08	0.00	0.000	6	0.000	0.034	1691	3228	2023	0	0	0	0	0	0
3981	-0.62	-125.3	687.5	-15.8	333	3984	0.00	1.12	0.00	0.000	4	0.000	0.059	1685	3945	2023	0	0	0	0	0	0
4048	-0.62	-125.3	698.9	-17.0	336	4052	0.00	1.05	0.00	0.000	6	0.000	0.034	1686	3230	2023	0	0	0	0	0	0
4380	-0.62	-125.3	750.3	-15.5	352	4383	0.00	1.12	0.00	0.000	4	0.000	0.059	1681	3948	2022	0	0	0	0	0	0
4440	-0.62	-125.3	761.1	-17.5	354	4447	0.00	1.08	0.00	0.000	6	0.000	0.034	1681	3228	2023	0	0	0	0	0	0
4756	-0.62	-125.3	811.1	-15.9	370	4757	0.00	0.00	0.00	0.000	6	0.000	0.000	1681	3228	2022	0	0	0	0	0	0
5065	-0.62	-125.3	861.1	-16.3	385	5066	0.00	0.00	0.00	0.000	6	0.000	0.000	1680	3228	2023	0	0	0	0	0	0
5374	-0.62	-125.3	911.6	-16.0	400	5378	0.00	1.15	0.00	0.000	4	0.000	0.060	1675	3957	2023	0	0	0	0	0	0
5468	-0.62	-125.3	927.8	-16.9	404	5473	0.00	1.10	0.00	0.000	6	0.000	0.034	1675	3223	2023	0	0	0	0	0	0
5795	-0.62	-125.3	980.5	-16.0	420	5799	0.00	1.15	0.00	0.000	4	0.000	0.060	1669	3953	2023	0	0	0	0	0	0
5863	-0.62	-125.3	992.1	-16.8	423	5867	0.10	1.08	0.00	0.000	6	0.179	0.035	1698	3234	2023	0	0	0	0	0	0
5924	end dive: TARGET_DEPTH_EXCEEDED
state	5924	begin apogee
5928	-0.09	0.0	1001.6	14.3	426	6066	0.57	0.00	130.15	1.858	6	0.158	0.000	1869	3048	1499	0	0	0	0	0	0
6067	end apogee: CONTROL_FINISHED_OK
state	6067	begin climb
6069	0.62	125.3	1005.8	0.0	433	6200	0.70	1.52	124.45	1.847	4	0.096	0.033	2102	2180	989	0	0	0	0	0	0
6272	0.62	125.3	982.9	14.9	442	6280	0.00	1.55	0.00	0.000	6	0.000	0.049	2103	3074	986	0	0	0	0	0	0
6588	0.62	125.3	929.3	17.3	458	6592	0.00	1.45	0.00	0.000	4	0.000	0.059	2102	3955	984	0	0	0	0	0	0
6642	0.62	125.3	918.5	19.5	460	6647	0.00	1.42	0.00	0.000	6	0.000	0.031	2109	3038	983	0	0	0	0	0	0
6964	0.62	125.3	862.8	17.0	476	6966	0.00	0.00	0.00	0.000	6	0.000	0.000	2109	3037	983	0	0	0	0	0	0
7274	0.62	125.3	810.3	17.0	491	7278	0.00	1.48	0.00	0.000	4	0.000	0.059	2110	3948	983	0	0	0	0	0	0
7311	0.62	125.3	803.1	19.2	492	7319	0.00	1.35	0.00	0.000	6	0.000	0.032	2116	3057	982	0	0	0	0	0	0
7627	0.62	125.3	747.7	17.4	508	7629	0.00	0.00	0.00	0.000	6	0.000	0.000	2116	3057	982	0	0	0	0	0	0
7937	0.62	125.3	694.3	17.1	523	7940	0.00	1.42	0.00	0.000	4	0.000	0.057	2116	3947	981	0	0	0	0	0	0
7963	0.62	125.3	689.1	18.5	524	7967	0.00	1.35	0.00	0.000	6	0.000	0.032	2123	3053	982	0	0	0	0	0	0
8290	0.62	125.3	632.0	17.6	540	8291	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	3053	981	0	0	0	0	0	0
8599	0.62	125.3	577.3	17.8	555	8601	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	3053	981	0	0	0	0	0	0
8909	0.62	125.3	522.6	17.6	570	8912	0.00	1.45	0.00	0.000	4	0.000	0.059	2123	3958	981	0	0	0	0	0	0
8969	0.62	125.3	510.7	19.5	572	8977	0.00	1.35	0.00	0.000	6	0.000	0.032	2130	3058	981	0	0	0	0	0	0
9285	0.62	125.3	455.9	17.3	588	9288	0.00	1.42	0.00	0.000	4	0.000	0.059	2130	3955	981	0	0	0	0	0	0
9317	0.62	125.3	449.6	18.8	589	9322	0.10	1.35	0.00	0.000	6	0.209	0.032	2110	3056	981	0	0	0	0	0	0
9638	0.62	125.3	399.4	15.5	605	9639	0.00	0.00	0.00	0.000	6	0.000	0.000	2110	3056	981	0	0	0	0	0	0
9957	0.62	125.3	350.4	15.3	635	9960	0.00	1.42	0.00	0.000	4	0.000	0.059	2110	3953	981	0	0	0	0	0	0
10027	0.62	125.3	338.3	18.6	641	10030	0.00	1.33	0.00	0.000	6	0.000	0.033	2115	3057	981	0	0	0	0	0	0
10357	0.62	125.3	284.0	15.6	672	10360	0.00	1.42	0.00	0.000	4	0.000	0.059	2115	3954	981	0	0	0	0	0	0
10447	0.62	125.3	267.7	17.9	680	10451	0.00	1.33	0.00	0.000	6	0.000	0.032	2122	3055	981	0	0	0	0	0	0
10777	0.62	125.3	216.4	15.6	711	10781	0.00	1.42	0.00	0.000	4	0.000	0.059	2122	3954	981	0	0	0	0	0	0
10871	0.62	125.3	199.3	18.8	719	10879	0.00	1.35	0.00	0.000	6	0.000	0.031	2129	3048	981	0	0	0	0	0	0
11196	0.62	125.3	146.3	15.4	750	11198	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	3047	981	0	0	0	0	0	0
11517	0.62	125.3	95.6	16.2	782	11524	0.00	1.42	0.00	0.000	4	0.000	0.057	2129	3950	981	0	0	0	0	0	0
11565	0.62	125.3	87.3	18.3	790	11572	0.08	1.30	0.00	0.000	6	0.207	0.032	2114	3058	981	0	0	0	0	0	0
11916	0.62	125.3	37.4	14.3	851	11925	0.00	1.40	0.00	0.000	4	0.000	0.056	2114	3951	981	0	0	0	0	0	0
11980	0.62	125.3	27.1	16.4	861	11989	0.00	1.30	0.00	0.000	6	0.000	0.032	2120	3056	981	0	0	0	0	0	0
12133	0.62	125.3	3.5	18.0	886	12141	0.00	0.00	0.00	0.000	6	0.000	0.000	2120	3056	981	0	0	0	0	0	0
12148	end climb: SURFACE_DEPTH_REACHED
state	12148	begin surface coast
12167	end surface coast: CONTROL_FINISHED_OK
state	12167	begin surface