Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 151 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 574 HD_C 9.8500004e-06 C_ROLL_DIVE 1812 ALTIM_BOTTOM_TURN_MARGIN 10

MISSION 3 HEADING 270 C_ROLL_CLIMB 1800 ALTIM_TOP_TURN_MARGIN 0

DIVE 151 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 50

STOP_T 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

D_SURF 3 TGT_DEFAULT_LAT 4743.3999 R_PORT_OVSHOOT 35 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 57 ALTIM_PULSE 3

D_TGT 500 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 2

D_ABORT 1020 SM_CC 515.36688 ROLL_MAXERRORS 1 XPDR_VALID 2

D_NO_BLEED 29 N_FILEKB 4 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_BOOST 0 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097655999

T_BOOST 0 CALL_NDIVES 1 VBD_MIN 600 INT_PRESSURE_YINT 3.1600001

D_FINISH 20 COMM_SEQ 0 VBD_MAX 3960 DEEPGLIDER 0

D_PITCH 0 PROTOCOL 9 C_VBD 2701 MOTHERBOARD 4

D_SAFE 0 N_NOCOMM 2 VBD_DBAND 2 DEVICE1 -1

D_CALL 0 NOCOMM_ACTION 259 VBD_CNV -0.245296 DEVICE2 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_DIVE 167 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_MISSION 182 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_ABORT 197 CAPMAXSIZE 400000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN 500 HEAPDBG 0 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_NO_W 120 N_GPS 100840 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_LOITER 0 T_RSLEEP 2 DBDW 0 COMPASS_DEVICE 17

T_EPIRB 0 STROBE 0 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_BATHY 0 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 PHONE_DEVICE 49

USE_ICE 0 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 AH0_24V 310 RAFOS_DEVICE -1

D_OFFGRID 100 PITCH_MIN 117 AH0_10V 0 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3869 MINV_24V 11.5 SIM_W 0

RELAUNCH 0 C_PITCH 2759 MINV_10V 10 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_DBAND 0.0099999998 MAXI_24V 3 SEABIRD_T_G 0.0042907312

MAX_BUOY 95 PITCH_CNV 0.003125763 MAXI_10V 2 SEABIRD_T_H 0.00061813911

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.1013675e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 2.0586713e-06

SPEED_FACTOR 1 PITCH_GAIN 30 PHONE_SUPPLY 2 SEABIRD_C_G -9.7689371

RHO 1.0275 PITCH_TIMEOUT 25 PRESSURE_YINT -148.54955 SEABIRD_C_H 1.1415389

MASS 53998 PITCH_AD_RATE 125 PRESSURE_SLOPE 0.0001058 SEABIRD_C_I -0.0022330475

MASS_COMP 0 PITCH_MAXERRORS 1 AD7714Ch0Gain 1 SEABIRD_C_J 0.00024789109

NAV_MODE 3 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 301 COMPASS_USE 0 SC_XMITPROFILE 3.0

HD_A 0.0038360001 ROLL_MAX 3936 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0101 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 1 D_SAFE 0 PITCH_ADJ_DBAND 0 SIM_PITCH 0

AH0_10V 0 D_SURF 3 PITCH_ADJ_GAIN 0 SIM_W 0

AH0_24V 310 D_TGT 500 PITCH_AD_RATE 125 SM_CC 515.36688

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.0099999998 STOP_T 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_GAIN 30 STROBE 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_MAX 3869 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 50 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FILEMGR 0 PITCH_MIN 117 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 25 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0038360001 PITCH_W_GAIN 0 TGT_DEFAULT_LAT 4743.3999

APOGEE_PITCH -5 HD_B 0.0101 PRESSURE_SLOPE 0.0001058 TGT_DEFAULT_LON -12224.2

CALL_NDIVES 1 HD_C 9.8500004e-06 PRESSURE_YINT -148.54955 T_ABORT 197

CALL_TRIES 5 HEADING 270 PROTOCOL 9 T_BOOST 0

CALL_WAIT 60 HEAD_ERRBAND 10 P_OVSHOOT 0.039999999 T_DIVE 167

CAPMAXSIZE 400000 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_EPIRB 0

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_GPS 15

CF8_MAXERRORS 20 ID 574 RAFOS_DEVICE -1 T_LOITER 0

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097655999 RAFOS_HIT_WINDOW 3600 T_MISSION 182

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 3.1600001 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS_DEVICE 17 KALMAN_USE 2 RELAUNCH 0 T_RSLEEP 2

COMPASS_USE 0 LOGGERDEVICE1 53 RHO 1.0275 T_TURN 500

COURSE_BIAS 0 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

C_PITCH 2759 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_ROLL_CLIMB 1800 LOGGERDEVICE4 -1 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_ROLL_DIVE 1812 LOGGERS 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_VBD 2701 MASS 53998 ROLL_DEG 40 USE_BATHY 0

DBDW 0 MASS_COMP 0 ROLL_MAX 3936 USE_ICE 0

DEEPGLIDER 0 MAXI_10V 2 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MAXI_24V 3 ROLL_MIN 301 VBD_CNV -0.245296

DEVICE2 -1 MAX_BUOY 95 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MINV_10V 10 R_PORT_OVSHOOT 35 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 57 VBD_MAX 3960

DEVICE5 -1 MISSION 3 SC_PROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MIN 600

DIVE 151 NAV_MODE 3 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1020 NOCOMM_ACTION 259 SEABIRD_C_G -9.7689371 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 0 N_DIVES 0 SEABIRD_C_H 1.1415389 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_I -0.0022330475 W_ADJ_DBAND 0

D_FINISH 20 N_GPS 100840 SEABIRD_C_J 0.00024789109 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 2 SEABIRD_T_G 0.0042907312 XPDR_INHIBIT 90

D_NO_BLEED 29 N_NOSURFACE 0 SEABIRD_T_H 0.00061813911 XPDR_VALID 2

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_I 2.1013675e-05

D_PITCH 0 PHONE_SUPPLY 2 SEABIRD_T_J 2.0586713e-06

Pre-dive calculations and measurements:

GPS1 270319,021815,-3007.5444,3059.6875,7,1.0,24,-25.1,0.0,298.6,9,10.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3005.051,3047.456

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.94 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -71.6 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 270319,022551,-3007.5293,3059.6035,7,1.1,25,-25.1,0.0,328.9,9,9.7 MHEAD_RNG_PITCHd_Wd 308.4,20000,-23.0,-9.980,-25.43,1422

SPEED_LIMITS 0.173,0.210 D_GRID 500

Post-dive calculations and measurements:

FINISH 0.3,1.018127 _10V_AH 13.98,0.000

SM_CCo 2945,161.15,0.773,0,0,599,515.37 FG_AHR_24Vo 0.000

SM_GC 0.92,13.70,2.33,161.15,0.043,0.049,0.773,110,1816,599,-8.21,1.22,515.37,0,0,0,0,0,0,14.99,14.97,14.29 FG_AHR_10Vo 0.000

IRIDIUM_FIX -2955.02,3101.67,270319,011342 MEM 340864

TT8_MAMPS 0.020972,0.956473 DATA_FILE_SIZE 13421,539

HUMID 41.69 CAP_FILE_SIZE 101251,0

INTERNAL_PRESSURE 9.56623 CFSIZE 2097086464,2066120704

TCM_TEMP 22.60 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0

XPDR_PINGS 17 INTR 0,612.18,0x2131c2,0,24

ALTIM_BOTTOM_PING 145.3,35.0 CURRENT 0.083,3.96,1

SC_FREEKB 3844576 GPS 270319,031919,-3007.296,3059.278,9,0.9,39,-25.1,0.5,40.3,11,8.1

_24V_AH 14.20,67.475

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 292 126.27 nil 0 0 0.00

Roll_motor 60 75 64.61 nil 0 0 0.00

VBD_pump_during_apogee 245 940 3284.59 nil 0 0 0.00

VBD_pump_during_surface 161 773 1769.83 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 22 16 5.22 nil 0 0 0.00

Iridium_during_connect 16 160 37.34 SciCon 2973 36 1539.13

Iridium_during_xfer 217 223 689.13 nil 0 0 0.00

Transponder_ping 9 420 56.66 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 11 4.13

TT8 1226 9 164.80

LPSleep 457 2 14.01

TT8_Active 560 9 75.30

TT8_Sampling 1212 28 480.36

TT8_CF8 115 36 59.02

TT8_Kalman 0 0 0.00

Analog_circuits 1056 12 178.95

GPS_charging 0 0 0.00

Compass 818 17 205.68

RAFOS 0 0 0.00

Transponder 34 30 14.43

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

18 end surface: CONTROL_FINISHED_OK

state 19 begin dive

20 -0.88 -92.5 93 1804 621 556 0.0 0.0 0 107 0.00 0.00 -83.55 0.000 16386 0.000 0.000 87 1804 2867 2840 2895 0 0 0 0 0 0 15.10 28.83 15.11

110 -0.88 -92.5 87 1804 2836 2895 3.5 -6.9 15 136 13.68 2.35 -3.67 0.000 19204 0.293 0.076 2458 3211 3079 3069 3090 0 0 0 0 0 0 14.75 14.23 14.97

243 -0.88 -92.5 2457 3211 3072 3087 43.3 -17.7 40 250 0.08 2.33 0.00 0.000 3078 0.270 0.048 2472 1807 3079 3073 3086 0 0 0 0 0 0 14.86 14.96 15.00

312 -0.88 -92.5 2470 1807 3074 3086 54.6 -17.2 53 320 0.00 0.00 0.00 0.000 2054 0.000 0.000 2472 1806 3080 3074 3086 0 0 0 0 0 0 15.19 15.19 15.19

383 -0.88 -92.5 2472 1806 3074 3086 65.5 -15.5 66 391 0.00 2.30 0.00 0.000 2308 0.000 0.046 2464 3211 3079 3074 3084 0 0 0 0 0 0 15.19 15.00 15.19

414 -0.88 -92.5 2463 3211 3074 3085 70.2 -15.5 71 421 0.00 2.30 0.00 0.000 3078 0.000 0.044 2464 1810 3079 3074 3085 0 0 0 0 0 0 15.03 14.98 15.03

484 -0.88 -92.5 2463 1806 3075 3085 81.6 -16.4 84 489 0.00 0.00 0.00 0.000 2054 0.000 0.000 2464 1806 3080 3075 3086 0 0 0 0 0 0 15.20 15.20 15.20

552 -0.88 -92.5 2464 1806 3076 3086 92.5 -14.4 97 559 0.00 2.35 0.00 0.000 2564 0.000 0.063 2463 400 3079 3075 3084 0 0 0 0 0 0 15.21 15.00 15.22

606 -0.88 -92.5 2463 399 3076 3085 99.3 -12.5 107 615 0.10 2.25 0.00 0.000 3078 0.264 0.034 2473 1806 3081 3076 3086 0 0 0 0 0 0 14.91 15.03 15.06

677 -0.88 -92.5 2472 1808 3077 3085 108.9 -13.3 120 684 0.00 2.30 0.00 0.000 2308 0.000 0.051 2473 3215 3081 3077 3085 0 0 0 0 0 0 15.23 15.02 15.23

720 -0.88 -92.5 2472 3214 3076 3085 114.4 -13.5 128 728 0.00 2.30 0.00 0.000 3078 0.000 0.044 2473 1807 3080 3076 3085 0 0 0 0 0 0 15.08 14.98 15.09

791 -0.88 -92.5 2473 1807 3077 3085 124.7 -14.7 141 799 0.00 2.30 0.00 0.000 2308 0.000 0.047 2465 3212 3080 3077 3084 0 0 0 0 0 0 15.23 15.03 15.23

866 -0.88 -92.5 2465 3212 3077 3085 134.7 -12.7 155 874 0.00 2.30 0.00 0.000 3078 0.000 0.043 2465 1803 3081 3077 3085 0 0 0 0 0 0 15.09 15.01 15.10

936 -0.88 -92.5 2465 1803 3078 3085 144.4 -14.6 168 944 0.00 0.00 0.00 0.000 2054 0.000 0.000 2465 1803 3081 3077 3085 0 0 0 0 0 0 15.23 15.24 15.24

1007 -0.88 -92.5 2465 1803 3077 3085 154.4 -12.6 181 1014 0.00 2.33 0.00 0.000 2308 0.000 0.047 2455 3220 3080 3077 3083 0 0 0 0 0 0 15.23 15.04 15.24

1096 -0.88 -92.5 2454 3218 3076 3085 165.8 -11.5 198 1104 0.08 2.30 0.00 0.000 3078 0.269 0.043 2469 1812 3081 3077 3085 0 0 0 0 0 0 14.92 15.02 15.06

1129 end dive: BOTTOM_OBSTACLE_DETECTED

state 1129 begin apogee

1133 -0.17 0.0 2470 1811 3076 3085 170.7 -14.2 204 1208 1.12 0.00 67.88 0.940 10246 0.171 0.000 2694 1817 2700 2716 2684 0 0 0 0 0 0 14.92 14.76 14.33

1210 end apogee: CONTROL_FINISHED_OK

state 1210 begin climb

1212 0.88 92.5 2694 1812 2716 2684 173.7 0.0 217 1295 1.52 2.42 73.07 0.941 10756 0.075 0.063 3030 399 2321 2343 2300 0 0 0 0 0 0 14.76 14.54 14.20

1323 0.92 122.7 3030 399 2341 2299 169.4 7.8 235 1354 0.00 2.30 24.92 0.897 11270 0.000 0.034 3030 1806 2198 2224 2172 0 0 0 0 0 0 14.78 14.71 14.23

1415 0.92 122.7 3030 1806 2221 2168 159.5 12.8 252 1422 0.00 2.33 0.00 0.000 2308 0.000 0.050 3030 3205 2194 2220 2168 0 0 0 0 0 0 14.97 14.78 14.97

1549 0.92 122.7 3030 3204 2217 2167 142.4 11.7 278 1557 0.00 2.33 0.00 0.000 3078 0.000 0.047 3033 1801 2192 2217 2167 0 0 0 0 0 0 14.99 14.90 15.00

1620 0.92 122.7 3033 1801 2217 2166 134.6 11.5 291 1626 0.00 0.00 0.00 0.000 2054 0.000 0.000 3033 1801 2191 2217 2166 0 0 0 0 0 0 15.13 15.13 15.13

1687 0.92 122.7 3033 1801 2216 2166 127.2 10.6 304 1694 0.00 2.30 0.00 0.000 2308 0.000 0.048 3033 3201 2190 2215 2166 0 0 0 0 0 0 15.15 14.90 15.16

1811 0.95 152.9 3033 3202 2214 2166 115.7 7.8 328 1841 0.00 2.30 23.40 0.869 11270 0.000 0.046 3037 1800 2075 2105 2046 0 0 0 0 0 0 15.08 14.99 14.42

1903 0.95 152.9 3037 1800 2103 2045 105.5 13.5 345 1909 0.00 0.00 0.00 0.000 2054 0.000 0.000 3037 1800 2073 2103 2044 0 0 0 0 0 0 15.12 15.12 15.12

1970 0.95 152.9 3037 1800 2102 2044 96.5 11.7 358 1978 0.00 2.38 0.00 0.000 2564 0.000 0.067 3037 396 2072 2101 2043 0 0 0 0 0 0 15.15 14.93 15.15

2089 0.95 152.9 3037 396 2098 2043 83.4 13.1 381 2096 0.00 2.28 0.00 0.000 3078 0.000 0.034 3038 1809 2070 2098 2042 0 0 0 0 0 0 15.08 15.01 15.09

2158 0.95 152.9 3037 1810 2098 2042 75.6 11.4 394 2165 0.00 0.00 0.00 0.000 2054 0.000 0.000 3037 1810 2070 2099 2042 0 0 0 0 0 0 15.19 15.20 15.21

2227 0.95 152.9 3037 1810 2098 2041 67.9 11.3 407 2233 0.00 0.00 0.00 0.000 2054 0.000 0.000 3037 1809 2070 2098 2042 0 0 0 0 0 0 15.20 15.21 15.21

2294 0.95 152.9 3037 1810 2098 2041 59.7 12.3 420 2300 0.00 0.00 0.00 0.000 2054 0.000 0.000 3037 1810 2069 2098 2041 0 0 0 0 0 0 15.22 15.22 15.22

2362 0.95 152.9 3036 1810 2098 2041 51.7 10.5 433 2369 0.00 2.25 0.00 0.000 2308 0.000 0.048 3037 3198 2069 2097 2041 0 0 0 0 0 0 15.21 14.96 15.22

2426 0.95 152.9 3037 3198 2097 2041 44.0 12.6 445 2433 0.00 2.30 0.00 0.000 3078 0.000 0.047 3038 1799 2068 2096 2040 0 0 0 0 0 0 15.12 15.02 15.13

2495 1.01 197.2 3037 1799 2096 2041 38.5 6.8 458 2538 0.08 2.35 33.92 0.819 10756 0.203 0.066 3081 396 1894 1926 1862 0 0 0 0 0 0 14.96 14.88 14.41

2715 1.06 235.3 3081 395 1922 1858 18.5 7.2 500 2745 0.00 2.28 22.62 0.893 11270 0.000 0.034 3081 1822 1740 1779 1701 0 0 0 0 0 0 15.07 14.98 14.45

2807 1.06 235.3 3081 1823 1774 1698 10.8 10.0 517 2814 0.00 2.25 0.00 0.000 2308 0.000 0.048 3079 3194 1736 1774 1698 0 0 0 0 0 0 15.10 14.86 15.11

2889 end climb: SURFACE_DEPTH_REACHED

state 2889 begin surface coast

2921 end surface coast: CONTROL_FINISHED_OK

state 2921 begin surface

ID	574	HD_C	9.8500004e-06	C_ROLL_DIVE	1812	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	3	HEADING	270	C_ROLL_CLIMB	1800	ALTIM_TOP_TURN_MARGIN	0
DIVE	151	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	50
STOP_T	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5
D_SURF	3	TGT_DEFAULT_LAT	4743.3999	R_PORT_OVSHOOT	35	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	57	ALTIM_PULSE	3
D_TGT	500	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	2
D_ABORT	1020	SM_CC	515.36688	ROLL_MAXERRORS	1	XPDR_VALID	2
D_NO_BLEED	29	N_FILEKB	4	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_BOOST	0	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097655999
T_BOOST	0	CALL_NDIVES	1	VBD_MIN	600	INT_PRESSURE_YINT	3.1600001
D_FINISH	20	COMM_SEQ	0	VBD_MAX	3960	DEEPGLIDER	0
D_PITCH	0	PROTOCOL	9	C_VBD	2701	MOTHERBOARD	4
D_SAFE	0	N_NOCOMM	2	VBD_DBAND	2	DEVICE1	-1
D_CALL	0	NOCOMM_ACTION	259	VBD_CNV	-0.245296	DEVICE2	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_DIVE	167	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_MISSION	182	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_ABORT	197	CAPMAXSIZE	400000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN	500	HEAPDBG	0	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_NO_W	120	N_GPS	100840	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_LOITER	0	T_RSLEEP	2	DBDW	0	COMPASS_DEVICE	17
T_EPIRB	0	STROBE	0	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_BATHY	0	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	PHONE_DEVICE	49
USE_ICE	0	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	AH0_24V	310	RAFOS_DEVICE	-1
D_OFFGRID	100	PITCH_MIN	117	AH0_10V	0	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3869	MINV_24V	11.5	SIM_W	0
RELAUNCH	0	C_PITCH	2759	MINV_10V	10	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_DBAND	0.0099999998	MAXI_24V	3	SEABIRD_T_G	0.0042907312
MAX_BUOY	95	PITCH_CNV	0.003125763	MAXI_10V	2	SEABIRD_T_H	0.00061813911
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.1013675e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	2.0586713e-06
SPEED_FACTOR	1	PITCH_GAIN	30	PHONE_SUPPLY	2	SEABIRD_C_G	-9.7689371
RHO	1.0275	PITCH_TIMEOUT	25	PRESSURE_YINT	-148.54955	SEABIRD_C_H	1.1415389
MASS	53998	PITCH_AD_RATE	125	PRESSURE_SLOPE	0.0001058	SEABIRD_C_I	-0.0022330475
MASS_COMP	0	PITCH_MAXERRORS	1	AD7714Ch0Gain	1	SEABIRD_C_J	0.00024789109
NAV_MODE	3	PITCH_ADJ_GAIN	0	TCM_PITCH_OFFSET	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	TCM_ROLL_OFFSET	0	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	301	COMPASS_USE	0	SC_XMITPROFILE	3.0
HD_A	0.0038360001	ROLL_MAX	3936	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0101	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0

GPS1	270319,021815,-3007.5444,3059.6875,7,1.0,24,-25.1,0.0,298.6,9,10.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3005.051,3047.456
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.94	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-71.6	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	270319,022551,-3007.5293,3059.6035,7,1.1,25,-25.1,0.0,328.9,9,9.7	MHEAD_RNG_PITCHd_Wd	308.4,20000,-23.0,-9.980,-25.43,1422
SPEED_LIMITS	0.173,0.210	D_GRID	500

FINISH	0.3,1.018127	_10V_AH	13.98,0.000
SM_CCo	2945,161.15,0.773,0,0,599,515.37	FG_AHR_24Vo	0.000
SM_GC	0.92,13.70,2.33,161.15,0.043,0.049,0.773,110,1816,599,-8.21,1.22,515.37,0,0,0,0,0,0,14.99,14.97,14.29	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-2955.02,3101.67,270319,011342	MEM	340864
TT8_MAMPS	0.020972,0.956473	DATA_FILE_SIZE	13421,539
HUMID	41.69	CAP_FILE_SIZE	101251,0
INTERNAL_PRESSURE	9.56623	CFSIZE	2097086464,2066120704
TCM_TEMP	22.60	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS	17	INTR	0,612.18,0x2131c2,0,24
ALTIM_BOTTOM_PING	145.3,35.0	CURRENT	0.083,3.96,1
SC_FREEKB	3844576	GPS	270319,031919,-3007.296,3059.278,9,0.9,39,-25.1,0.5,40.3,11,8.1
_24V_AH	14.20,67.475

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	292	126.27	nil	0	0	0.00
Roll_motor	60	75	64.61	nil	0	0	0.00
VBD_pump_during_apogee	245	940	3284.59	nil	0	0	0.00
VBD_pump_during_surface	161	773	1769.83	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	22	16	5.22	nil	0	0	0.00
Iridium_during_connect	16	160	37.34	SciCon	2973	36	1539.13
Iridium_during_xfer	217	223	689.13	nil	0	0	0.00
Transponder_ping	9	420	56.66	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	11	4.13
TT8	1226	9	164.80
LPSleep	457	2	14.01
TT8_Active	560	9	75.30
TT8_Sampling	1212	28	480.36
TT8_CF8	115	36	59.02
TT8_Kalman	0	0	0.00
Analog_circuits	1056	12	178.95
GPS_charging	0	0	0.00
Compass	818	17	205.68
RAFOS	0	0	0.00
Transponder	34	30	14.43

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	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	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
18	end surface: CONTROL_FINISHED_OK
state	19	begin dive
20	-0.88	-92.5	93	1804	621	556	0.0	0.0	0	107	0.00	0.00	-83.55	0.000	16386	0.000	0.000	87	1804	2867	2840	2895	0	0	0	0	0	0	15.10	28.83	15.11
110	-0.88	-92.5	87	1804	2836	2895	3.5	-6.9	15	136	13.68	2.35	-3.67	0.000	19204	0.293	0.076	2458	3211	3079	3069	3090	0	0	0	0	0	0	14.75	14.23	14.97
243	-0.88	-92.5	2457	3211	3072	3087	43.3	-17.7	40	250	0.08	2.33	0.00	0.000	3078	0.270	0.048	2472	1807	3079	3073	3086	0	0	0	0	0	0	14.86	14.96	15.00
312	-0.88	-92.5	2470	1807	3074	3086	54.6	-17.2	53	320	0.00	0.00	0.00	0.000	2054	0.000	0.000	2472	1806	3080	3074	3086	0	0	0	0	0	0	15.19	15.19	15.19
383	-0.88	-92.5	2472	1806	3074	3086	65.5	-15.5	66	391	0.00	2.30	0.00	0.000	2308	0.000	0.046	2464	3211	3079	3074	3084	0	0	0	0	0	0	15.19	15.00	15.19
414	-0.88	-92.5	2463	3211	3074	3085	70.2	-15.5	71	421	0.00	2.30	0.00	0.000	3078	0.000	0.044	2464	1810	3079	3074	3085	0	0	0	0	0	0	15.03	14.98	15.03
484	-0.88	-92.5	2463	1806	3075	3085	81.6	-16.4	84	489	0.00	0.00	0.00	0.000	2054	0.000	0.000	2464	1806	3080	3075	3086	0	0	0	0	0	0	15.20	15.20	15.20
552	-0.88	-92.5	2464	1806	3076	3086	92.5	-14.4	97	559	0.00	2.35	0.00	0.000	2564	0.000	0.063	2463	400	3079	3075	3084	0	0	0	0	0	0	15.21	15.00	15.22
606	-0.88	-92.5	2463	399	3076	3085	99.3	-12.5	107	615	0.10	2.25	0.00	0.000	3078	0.264	0.034	2473	1806	3081	3076	3086	0	0	0	0	0	0	14.91	15.03	15.06
677	-0.88	-92.5	2472	1808	3077	3085	108.9	-13.3	120	684	0.00	2.30	0.00	0.000	2308	0.000	0.051	2473	3215	3081	3077	3085	0	0	0	0	0	0	15.23	15.02	15.23
720	-0.88	-92.5	2472	3214	3076	3085	114.4	-13.5	128	728	0.00	2.30	0.00	0.000	3078	0.000	0.044	2473	1807	3080	3076	3085	0	0	0	0	0	0	15.08	14.98	15.09
791	-0.88	-92.5	2473	1807	3077	3085	124.7	-14.7	141	799	0.00	2.30	0.00	0.000	2308	0.000	0.047	2465	3212	3080	3077	3084	0	0	0	0	0	0	15.23	15.03	15.23
866	-0.88	-92.5	2465	3212	3077	3085	134.7	-12.7	155	874	0.00	2.30	0.00	0.000	3078	0.000	0.043	2465	1803	3081	3077	3085	0	0	0	0	0	0	15.09	15.01	15.10
936	-0.88	-92.5	2465	1803	3078	3085	144.4	-14.6	168	944	0.00	0.00	0.00	0.000	2054	0.000	0.000	2465	1803	3081	3077	3085	0	0	0	0	0	0	15.23	15.24	15.24
1007	-0.88	-92.5	2465	1803	3077	3085	154.4	-12.6	181	1014	0.00	2.33	0.00	0.000	2308	0.000	0.047	2455	3220	3080	3077	3083	0	0	0	0	0	0	15.23	15.04	15.24
1096	-0.88	-92.5	2454	3218	3076	3085	165.8	-11.5	198	1104	0.08	2.30	0.00	0.000	3078	0.269	0.043	2469	1812	3081	3077	3085	0	0	0	0	0	0	14.92	15.02	15.06
1129	end dive: BOTTOM_OBSTACLE_DETECTED
state	1129	begin apogee
1133	-0.17	0.0	2470	1811	3076	3085	170.7	-14.2	204	1208	1.12	0.00	67.88	0.940	10246	0.171	0.000	2694	1817	2700	2716	2684	0	0	0	0	0	0	14.92	14.76	14.33
1210	end apogee: CONTROL_FINISHED_OK
state	1210	begin climb
1212	0.88	92.5	2694	1812	2716	2684	173.7	0.0	217	1295	1.52	2.42	73.07	0.941	10756	0.075	0.063	3030	399	2321	2343	2300	0	0	0	0	0	0	14.76	14.54	14.20
1323	0.92	122.7	3030	399	2341	2299	169.4	7.8	235	1354	0.00	2.30	24.92	0.897	11270	0.000	0.034	3030	1806	2198	2224	2172	0	0	0	0	0	0	14.78	14.71	14.23
1415	0.92	122.7	3030	1806	2221	2168	159.5	12.8	252	1422	0.00	2.33	0.00	0.000	2308	0.000	0.050	3030	3205	2194	2220	2168	0	0	0	0	0	0	14.97	14.78	14.97
1549	0.92	122.7	3030	3204	2217	2167	142.4	11.7	278	1557	0.00	2.33	0.00	0.000	3078	0.000	0.047	3033	1801	2192	2217	2167	0	0	0	0	0	0	14.99	14.90	15.00
1620	0.92	122.7	3033	1801	2217	2166	134.6	11.5	291	1626	0.00	0.00	0.00	0.000	2054	0.000	0.000	3033	1801	2191	2217	2166	0	0	0	0	0	0	15.13	15.13	15.13
1687	0.92	122.7	3033	1801	2216	2166	127.2	10.6	304	1694	0.00	2.30	0.00	0.000	2308	0.000	0.048	3033	3201	2190	2215	2166	0	0	0	0	0	0	15.15	14.90	15.16
1811	0.95	152.9	3033	3202	2214	2166	115.7	7.8	328	1841	0.00	2.30	23.40	0.869	11270	0.000	0.046	3037	1800	2075	2105	2046	0	0	0	0	0	0	15.08	14.99	14.42
1903	0.95	152.9	3037	1800	2103	2045	105.5	13.5	345	1909	0.00	0.00	0.00	0.000	2054	0.000	0.000	3037	1800	2073	2103	2044	0	0	0	0	0	0	15.12	15.12	15.12
1970	0.95	152.9	3037	1800	2102	2044	96.5	11.7	358	1978	0.00	2.38	0.00	0.000	2564	0.000	0.067	3037	396	2072	2101	2043	0	0	0	0	0	0	15.15	14.93	15.15
2089	0.95	152.9	3037	396	2098	2043	83.4	13.1	381	2096	0.00	2.28	0.00	0.000	3078	0.000	0.034	3038	1809	2070	2098	2042	0	0	0	0	0	0	15.08	15.01	15.09
2158	0.95	152.9	3037	1810	2098	2042	75.6	11.4	394	2165	0.00	0.00	0.00	0.000	2054	0.000	0.000	3037	1810	2070	2099	2042	0	0	0	0	0	0	15.19	15.20	15.21
2227	0.95	152.9	3037	1810	2098	2041	67.9	11.3	407	2233	0.00	0.00	0.00	0.000	2054	0.000	0.000	3037	1809	2070	2098	2042	0	0	0	0	0	0	15.20	15.21	15.21
2294	0.95	152.9	3037	1810	2098	2041	59.7	12.3	420	2300	0.00	0.00	0.00	0.000	2054	0.000	0.000	3037	1810	2069	2098	2041	0	0	0	0	0	0	15.22	15.22	15.22
2362	0.95	152.9	3036	1810	2098	2041	51.7	10.5	433	2369	0.00	2.25	0.00	0.000	2308	0.000	0.048	3037	3198	2069	2097	2041	0	0	0	0	0	0	15.21	14.96	15.22
2426	0.95	152.9	3037	3198	2097	2041	44.0	12.6	445	2433	0.00	2.30	0.00	0.000	3078	0.000	0.047	3038	1799	2068	2096	2040	0	0	0	0	0	0	15.12	15.02	15.13
2495	1.01	197.2	3037	1799	2096	2041	38.5	6.8	458	2538	0.08	2.35	33.92	0.819	10756	0.203	0.066	3081	396	1894	1926	1862	0	0	0	0	0	0	14.96	14.88	14.41
2715	1.06	235.3	3081	395	1922	1858	18.5	7.2	500	2745	0.00	2.28	22.62	0.893	11270	0.000	0.034	3081	1822	1740	1779	1701	0	0	0	0	0	0	15.07	14.98	14.45
2807	1.06	235.3	3081	1823	1774	1698	10.8	10.0	517	2814	0.00	2.25	0.00	0.000	2308	0.000	0.048	3079	3194	1736	1774	1698	0	0	0	0	0	0	15.10	14.86	15.11
2889	end climb: SURFACE_DEPTH_REACHED
state	2889	begin surface coast
2921	end surface coast: CONTROL_FINISHED_OK
state	2921	begin surface