Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 198 * 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 198 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 34 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 56 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 34 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 56 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 198 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 300319,160931,-3001.0823,3104.0437,8,0.9,27,-25.0,0.3,145.6,9,5.7 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -2953.360,3055.335

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.88 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 300319,161751,-3001.0703,3104.0557,8,0.9,14,-25.0,0.0,45.7,9,9.7 MHEAD_RNG_PITCHd_Wd 340.6,20000,-23.0,-9.980,-25.43,1422

SPEED_LIMITS 0.173,0.210 D_GRID 500

Post-dive calculations and measurements:

FINISH 0.1,1.023486 _24V_AH 14.19,78.028

SM_CCo 2971,168.77,0.760,0,0,598,515.37 _10V_AH 13.93,0.000

SM_GC 0.89,13.70,2.33,168.77,0.047,0.034,0.760,121,1796,598,-8.18,-1.61,515.37,0,0,0,0,0,0,15.00,14.99,14.31 FG_AHR_24Vo 0.000

IRIDIUM_FIX -2950.05,3102.52,300319,150108 FG_AHR_10Vo 0.000

TT8_MAMPS 0.020972,0.941493 MEM 340928

HUMID 42.04 DATA_FILE_SIZE 13421,539

INTERNAL_PRESSURE 9.55647 CAP_FILE_SIZE 102995,0

TCM_TEMP 22.40 CFSIZE 2097086464,2057142272

XPDR_PINGS 13 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

ALTIM_BOTTOM_PING 155.1,35.9 CURRENT 0.038,79.62,1

SC_FREEKB 3820288 GPS 300319,171131,-3000.810,3103.904,8,0.9,18,-25.0,0.0,112.7,9,9.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 322 139.62 nil 0 0 0.00

Roll_motor 69 70 69.43 nil 0 0 0.00

VBD_pump_during_apogee 240 947 3230.97 nil 0 0 0.00

VBD_pump_during_surface 168 760 1821.12 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 16 5.58 nil 0 0 0.00

Iridium_during_connect 19 160 44.16 SciCon 3003 36 1554.17

Iridium_during_xfer 250 223 793.55 nil 0 0 0.00

Transponder_ping 9 420 53.64 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 11 2.40

TT8 1232 9 164.94

LPSleep 463 2 14.14

TT8_Active 566 9 75.78

TT8_Sampling 1239 28 489.47

TT8_CF8 147 36 75.27

TT8_Kalman 0 0 0.00

Analog_circuits 1060 12 178.86

GPS_charging 0 0 0.00

Compass 819 17 205.13

RAFOS 0 0 0.00

Transponder 37 30 15.66

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

21 -0.88 -92.5 54 1806 619 557 0.0 0.0 0 108 0.00 0.00 -84.65 0.000 16386 0.000 0.000 52 1807 2902 2873 2932 0 0 0 0 0 0 15.11 28.83 15.11

111 -0.88 -92.5 54 1807 2872 2931 3.7 -7.5 15 137 13.82 2.30 -3.10 0.000 18692 0.286 0.070 2460 3205 3079 3068 3090 0 0 0 0 0 0 14.73 14.20 14.97

229 -0.88 -92.5 2460 3205 3071 3087 33.8 -17.3 37 237 0.05 2.33 0.00 0.000 3078 0.322 0.050 2469 1810 3079 3071 3087 0 0 0 0 0 0 14.77 14.88 14.94

299 -0.88 -92.5 2469 1809 3072 3086 46.9 -18.0 50 306 0.00 0.00 0.00 0.000 2054 0.000 0.000 2469 1809 3079 3072 3086 0 0 0 0 0 0 15.17 15.18 15.18

369 -0.88 -92.5 2469 1809 3073 3086 59.3 -17.6 63 376 0.00 2.33 0.00 0.000 2308 0.000 0.047 2461 3211 3079 3072 3086 0 0 0 0 0 0 15.19 14.99 15.19

430 -0.88 -92.5 2461 3212 3073 3086 70.4 -17.5 74 438 0.00 2.33 0.00 0.000 3078 0.000 0.045 2460 1800 3079 3072 3086 0 0 0 0 0 0 15.04 14.97 15.06

502 -0.88 -92.5 2461 1800 3073 3083 81.7 -12.9 87 509 0.00 2.33 0.00 0.000 2564 0.000 0.059 2460 404 3079 3073 3086 0 0 0 0 0 0 15.21 14.99 15.21

521 -0.88 -92.5 2458 403 3066 3085 84.3 -12.9 90 530 0.10 2.28 0.00 0.000 3078 0.261 0.035 2471 1813 3079 3073 3086 0 0 0 0 0 0 14.89 15.02 15.04

593 -0.88 -92.5 2471 1815 3083 3085 94.7 -15.3 103 601 0.00 2.30 0.00 0.000 2308 0.000 0.050 2462 3215 3079 3074 3085 0 0 0 0 0 0 15.21 15.01 15.22

649 -0.88 -92.5 2462 3215 3074 3085 102.7 -12.3 113 656 0.00 2.30 0.00 0.000 3078 0.000 0.042 2462 1806 3079 3074 3085 0 0 0 0 0 0 15.04 14.96 15.04

720 -0.88 -92.5 2462 1806 3074 3085 113.6 -15.5 126 727 0.00 2.33 0.00 0.000 2308 0.000 0.048 2452 3218 3079 3074 3084 0 0 0 0 0 0 15.22 14.99 15.22

873 -0.88 -92.5 2452 3218 3074 3087 139.3 -16.6 155 881 0.10 2.30 0.00 0.000 3078 0.226 0.042 2473 1804 3079 3074 3085 0 0 0 0 0 0 14.94 15.04 15.07

944 -0.88 -92.5 2472 1804 3075 3085 150.3 -14.8 168 951 0.00 2.33 0.00 0.000 2564 0.000 0.060 2471 406 3079 3074 3085 0 0 0 0 0 0 15.23 14.95 15.23

991 -0.88 -92.5 2473 406 3075 3084 158.0 -16.4 176 998 0.00 2.28 0.00 0.000 3078 0.000 0.034 2473 1816 3080 3075 3085 0 0 0 0 0 0 15.09 15.02 15.11

1061 -0.88 -92.5 2473 1819 3074 3084 168.1 -15.3 189 1068 0.00 2.30 0.00 0.000 2308 0.000 0.051 2464 3216 3080 3075 3085 0 0 0 0 0 0 15.24 15.00 15.24

1085 -0.88 -92.5 2464 3216 3075 3085 171.8 -15.2 193 1091 0.00 2.30 0.00 0.000 3078 0.000 0.042 2464 1806 3079 3075 3084 0 0 0 0 0 0 15.07 14.98 15.07

1147 end dive: BOTTOM_OBSTACLE_DETECTED

state 1148 begin apogee

1153 -0.17 0.0 2464 1805 3075 3085 181.2 -14.5 205 1227 1.17 0.00 67.88 0.943 10246 0.165 0.000 2697 1805 2704 2723 2685 0 0 0 0 0 0 14.92 14.75 14.35

1230 end apogee: CONTROL_FINISHED_OK

state 1230 begin climb

1232 0.88 92.5 2696 1805 2716 2684 184.9 0.0 218 1316 1.52 2.40 73.50 0.948 11012 0.078 0.044 3029 3210 2321 2342 2300 0 0 0 0 0 0 14.76 14.59 14.19

1478 0.89 97.3 3029 3209 2336 2296 170.0 9.6 263 1492 0.00 2.35 4.15 0.581 11270 0.000 0.047 3033 1799 2303 2325 2282 0 0 0 0 0 0 14.94 14.85 14.29

1554 0.95 149.1 3033 1798 2324 2282 164.3 6.2 277 1602 0.00 2.45 41.90 0.918 10756 0.000 0.069 3033 397 2091 2121 2061 0 0 0 0 0 0 15.11 14.74 14.29

1620 0.95 149.1 3032 395 2117 2061 158.5 10.1 288 1627 0.00 2.30 0.00 0.000 3078 0.000 0.032 3033 1816 2089 2117 2061 0 0 0 0 0 0 14.88 14.81 14.90

1690 0.95 149.1 3033 1817 2116 2060 149.6 11.9 301 1695 0.00 0.00 0.00 0.000 2054 0.000 0.000 3033 1818 2088 2116 2060 0 0 0 0 0 0 15.05 15.06 15.06

1757 0.95 149.1 3033 1818 2115 2059 140.1 13.7 314 1764 0.00 2.25 0.00 0.000 2308 0.000 0.047 3033 3188 2086 2114 2059 0 0 0 0 0 0 15.10 14.85 15.11

1816 0.95 149.1 3033 3188 2113 2059 132.4 12.5 325 1822 0.00 2.30 0.00 0.000 3078 0.000 0.047 3034 1799 2086 2113 2059 0 0 0 0 0 0 15.02 14.94 15.04

1885 0.95 149.1 3033 1799 2113 2058 124.8 10.4 338 1891 0.00 0.00 0.00 0.000 2054 0.000 0.000 3033 1798 2085 2113 2058 0 0 0 0 0 0 15.15 15.15 15.15

1953 0.95 149.1 3033 1799 2113 2057 115.9 14.5 351 1961 0.00 2.30 0.00 0.000 2308 0.000 0.047 3033 3191 2084 2112 2057 0 0 0 0 0 0 15.17 14.95 15.18

2057 0.95 149.1 3033 3191 2112 2056 100.3 14.8 371 2064 0.00 2.30 0.00 0.000 3078 0.000 0.048 3033 1799 2083 2111 2056 0 0 0 0 0 0 15.02 14.94 15.04

2128 0.95 149.1 3033 1799 2111 2056 91.0 14.0 384 2135 0.00 2.30 0.00 0.000 2308 0.000 0.046 3033 3198 2083 2111 2056 0 0 0 0 0 0 15.21 14.97 15.21

2217 0.95 149.1 3033 3198 2110 2055 77.1 16.2 401 2224 0.00 2.33 0.00 0.000 3078 0.000 0.050 3034 1800 2082 2110 2055 0 0 0 0 0 0 15.06 15.01 15.07

2287 0.97 162.3 3033 1800 2110 2055 70.0 9.0 414 2307 0.08 2.38 11.00 0.761 10756 0.192 0.067 3077 395 2035 2065 2006 0 0 0 0 0 0 15.01 14.94 14.57

2374 0.99 183.0 3077 395 2061 2006 62.9 8.5 430 2399 0.00 2.25 16.95 0.791 9222 0.000 0.033 3077 1797 1953 1985 1922 0 0 0 0 0 0 15.07 15.01 14.53

2461 0.99 183.0 3077 1798 1982 1918 54.4 12.3 446 2467 0.00 0.00 0.00 0.000 4102 0.000 0.000 3077 1798 1950 1982 1918 0 0 0 0 0 0 15.15 15.14 15.16

2529 0.99 183.0 3077 1798 1981 1917 45.8 12.5 459 2536 0.00 2.28 0.00 0.000 260 0.000 0.047 3077 3198 1949 1981 1917 0 0 0 0 0 0 15.17 14.95 15.18

2633 0.99 183.0 3076 3198 1980 1917 33.1 10.6 479 2641 0.00 2.30 0.00 0.000 5126 0.000 0.046 3083 1796 1948 1980 1916 0 0 0 0 0 0 15.05 14.95 15.07

2704 1.04 219.3 3082 1796 1979 1915 27.6 7.4 492 2734 0.00 2.42 24.85 0.930 10756 0.000 0.067 3084 396 1804 1838 1771 0 0 0 0 0 0 15.21 14.88 14.42

2920 end climb: SURFACE_DEPTH_REACHED

state 2920 begin surface coast

2946 end surface coast: CONTROL_FINISHED_OK

state 2947 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	198	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	34	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	56	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	300319,160931,-3001.0823,3104.0437,8,0.9,27,-25.0,0.3,145.6,9,5.7	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-2953.360,3055.335
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.88	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	300319,161751,-3001.0703,3104.0557,8,0.9,14,-25.0,0.0,45.7,9,9.7	MHEAD_RNG_PITCHd_Wd	340.6,20000,-23.0,-9.980,-25.43,1422
SPEED_LIMITS	0.173,0.210	D_GRID	500

FINISH	0.1,1.023486	_24V_AH	14.19,78.028
SM_CCo	2971,168.77,0.760,0,0,598,515.37	_10V_AH	13.93,0.000
SM_GC	0.89,13.70,2.33,168.77,0.047,0.034,0.760,121,1796,598,-8.18,-1.61,515.37,0,0,0,0,0,0,15.00,14.99,14.31	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-2950.05,3102.52,300319,150108	FG_AHR_10Vo	0.000
TT8_MAMPS	0.020972,0.941493	MEM	340928
HUMID	42.04	DATA_FILE_SIZE	13421,539
INTERNAL_PRESSURE	9.55647	CAP_FILE_SIZE	102995,0
TCM_TEMP	22.40	CFSIZE	2097086464,2057142272
XPDR_PINGS	13	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	155.1,35.9	CURRENT	0.038,79.62,1
SC_FREEKB	3820288	GPS	300319,171131,-3000.810,3103.904,8,0.9,18,-25.0,0.0,112.7,9,9.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	322	139.62	nil	0	0	0.00
Roll_motor	69	70	69.43	nil	0	0	0.00
VBD_pump_during_apogee	240	947	3230.97	nil	0	0	0.00
VBD_pump_during_surface	168	760	1821.12	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	16	5.58	nil	0	0	0.00
Iridium_during_connect	19	160	44.16	SciCon	3003	36	1554.17
Iridium_during_xfer	250	223	793.55	nil	0	0	0.00
Transponder_ping	9	420	53.64	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	11	2.40
TT8	1232	9	164.94
LPSleep	463	2	14.14
TT8_Active	566	9	75.78
TT8_Sampling	1239	28	489.47
TT8_CF8	147	36	75.27
TT8_Kalman	0	0	0.00
Analog_circuits	1060	12	178.86
GPS_charging	0	0	0.00
Compass	819	17	205.13
RAFOS	0	0	0.00
Transponder	37	30	15.66

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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
21	-0.88	-92.5	54	1806	619	557	0.0	0.0	0	108	0.00	0.00	-84.65	0.000	16386	0.000	0.000	52	1807	2902	2873	2932	0	0	0	0	0	0	15.11	28.83	15.11
111	-0.88	-92.5	54	1807	2872	2931	3.7	-7.5	15	137	13.82	2.30	-3.10	0.000	18692	0.286	0.070	2460	3205	3079	3068	3090	0	0	0	0	0	0	14.73	14.20	14.97
229	-0.88	-92.5	2460	3205	3071	3087	33.8	-17.3	37	237	0.05	2.33	0.00	0.000	3078	0.322	0.050	2469	1810	3079	3071	3087	0	0	0	0	0	0	14.77	14.88	14.94
299	-0.88	-92.5	2469	1809	3072	3086	46.9	-18.0	50	306	0.00	0.00	0.00	0.000	2054	0.000	0.000	2469	1809	3079	3072	3086	0	0	0	0	0	0	15.17	15.18	15.18
369	-0.88	-92.5	2469	1809	3073	3086	59.3	-17.6	63	376	0.00	2.33	0.00	0.000	2308	0.000	0.047	2461	3211	3079	3072	3086	0	0	0	0	0	0	15.19	14.99	15.19
430	-0.88	-92.5	2461	3212	3073	3086	70.4	-17.5	74	438	0.00	2.33	0.00	0.000	3078	0.000	0.045	2460	1800	3079	3072	3086	0	0	0	0	0	0	15.04	14.97	15.06
502	-0.88	-92.5	2461	1800	3073	3083	81.7	-12.9	87	509	0.00	2.33	0.00	0.000	2564	0.000	0.059	2460	404	3079	3073	3086	0	0	0	0	0	0	15.21	14.99	15.21
521	-0.88	-92.5	2458	403	3066	3085	84.3	-12.9	90	530	0.10	2.28	0.00	0.000	3078	0.261	0.035	2471	1813	3079	3073	3086	0	0	0	0	0	0	14.89	15.02	15.04
593	-0.88	-92.5	2471	1815	3083	3085	94.7	-15.3	103	601	0.00	2.30	0.00	0.000	2308	0.000	0.050	2462	3215	3079	3074	3085	0	0	0	0	0	0	15.21	15.01	15.22
649	-0.88	-92.5	2462	3215	3074	3085	102.7	-12.3	113	656	0.00	2.30	0.00	0.000	3078	0.000	0.042	2462	1806	3079	3074	3085	0	0	0	0	0	0	15.04	14.96	15.04
720	-0.88	-92.5	2462	1806	3074	3085	113.6	-15.5	126	727	0.00	2.33	0.00	0.000	2308	0.000	0.048	2452	3218	3079	3074	3084	0	0	0	0	0	0	15.22	14.99	15.22
873	-0.88	-92.5	2452	3218	3074	3087	139.3	-16.6	155	881	0.10	2.30	0.00	0.000	3078	0.226	0.042	2473	1804	3079	3074	3085	0	0	0	0	0	0	14.94	15.04	15.07
944	-0.88	-92.5	2472	1804	3075	3085	150.3	-14.8	168	951	0.00	2.33	0.00	0.000	2564	0.000	0.060	2471	406	3079	3074	3085	0	0	0	0	0	0	15.23	14.95	15.23
991	-0.88	-92.5	2473	406	3075	3084	158.0	-16.4	176	998	0.00	2.28	0.00	0.000	3078	0.000	0.034	2473	1816	3080	3075	3085	0	0	0	0	0	0	15.09	15.02	15.11
1061	-0.88	-92.5	2473	1819	3074	3084	168.1	-15.3	189	1068	0.00	2.30	0.00	0.000	2308	0.000	0.051	2464	3216	3080	3075	3085	0	0	0	0	0	0	15.24	15.00	15.24
1085	-0.88	-92.5	2464	3216	3075	3085	171.8	-15.2	193	1091	0.00	2.30	0.00	0.000	3078	0.000	0.042	2464	1806	3079	3075	3084	0	0	0	0	0	0	15.07	14.98	15.07
1147	end dive: BOTTOM_OBSTACLE_DETECTED
state	1148	begin apogee
1153	-0.17	0.0	2464	1805	3075	3085	181.2	-14.5	205	1227	1.17	0.00	67.88	0.943	10246	0.165	0.000	2697	1805	2704	2723	2685	0	0	0	0	0	0	14.92	14.75	14.35
1230	end apogee: CONTROL_FINISHED_OK
state	1230	begin climb
1232	0.88	92.5	2696	1805	2716	2684	184.9	0.0	218	1316	1.52	2.40	73.50	0.948	11012	0.078	0.044	3029	3210	2321	2342	2300	0	0	0	0	0	0	14.76	14.59	14.19
1478	0.89	97.3	3029	3209	2336	2296	170.0	9.6	263	1492	0.00	2.35	4.15	0.581	11270	0.000	0.047	3033	1799	2303	2325	2282	0	0	0	0	0	0	14.94	14.85	14.29
1554	0.95	149.1	3033	1798	2324	2282	164.3	6.2	277	1602	0.00	2.45	41.90	0.918	10756	0.000	0.069	3033	397	2091	2121	2061	0	0	0	0	0	0	15.11	14.74	14.29
1620	0.95	149.1	3032	395	2117	2061	158.5	10.1	288	1627	0.00	2.30	0.00	0.000	3078	0.000	0.032	3033	1816	2089	2117	2061	0	0	0	0	0	0	14.88	14.81	14.90
1690	0.95	149.1	3033	1817	2116	2060	149.6	11.9	301	1695	0.00	0.00	0.00	0.000	2054	0.000	0.000	3033	1818	2088	2116	2060	0	0	0	0	0	0	15.05	15.06	15.06
1757	0.95	149.1	3033	1818	2115	2059	140.1	13.7	314	1764	0.00	2.25	0.00	0.000	2308	0.000	0.047	3033	3188	2086	2114	2059	0	0	0	0	0	0	15.10	14.85	15.11
1816	0.95	149.1	3033	3188	2113	2059	132.4	12.5	325	1822	0.00	2.30	0.00	0.000	3078	0.000	0.047	3034	1799	2086	2113	2059	0	0	0	0	0	0	15.02	14.94	15.04
1885	0.95	149.1	3033	1799	2113	2058	124.8	10.4	338	1891	0.00	0.00	0.00	0.000	2054	0.000	0.000	3033	1798	2085	2113	2058	0	0	0	0	0	0	15.15	15.15	15.15
1953	0.95	149.1	3033	1799	2113	2057	115.9	14.5	351	1961	0.00	2.30	0.00	0.000	2308	0.000	0.047	3033	3191	2084	2112	2057	0	0	0	0	0	0	15.17	14.95	15.18
2057	0.95	149.1	3033	3191	2112	2056	100.3	14.8	371	2064	0.00	2.30	0.00	0.000	3078	0.000	0.048	3033	1799	2083	2111	2056	0	0	0	0	0	0	15.02	14.94	15.04
2128	0.95	149.1	3033	1799	2111	2056	91.0	14.0	384	2135	0.00	2.30	0.00	0.000	2308	0.000	0.046	3033	3198	2083	2111	2056	0	0	0	0	0	0	15.21	14.97	15.21
2217	0.95	149.1	3033	3198	2110	2055	77.1	16.2	401	2224	0.00	2.33	0.00	0.000	3078	0.000	0.050	3034	1800	2082	2110	2055	0	0	0	0	0	0	15.06	15.01	15.07
2287	0.97	162.3	3033	1800	2110	2055	70.0	9.0	414	2307	0.08	2.38	11.00	0.761	10756	0.192	0.067	3077	395	2035	2065	2006	0	0	0	0	0	0	15.01	14.94	14.57
2374	0.99	183.0	3077	395	2061	2006	62.9	8.5	430	2399	0.00	2.25	16.95	0.791	9222	0.000	0.033	3077	1797	1953	1985	1922	0	0	0	0	0	0	15.07	15.01	14.53
2461	0.99	183.0	3077	1798	1982	1918	54.4	12.3	446	2467	0.00	0.00	0.00	0.000	4102	0.000	0.000	3077	1798	1950	1982	1918	0	0	0	0	0	0	15.15	15.14	15.16
2529	0.99	183.0	3077	1798	1981	1917	45.8	12.5	459	2536	0.00	2.28	0.00	0.000	260	0.000	0.047	3077	3198	1949	1981	1917	0	0	0	0	0	0	15.17	14.95	15.18
2633	0.99	183.0	3076	3198	1980	1917	33.1	10.6	479	2641	0.00	2.30	0.00	0.000	5126	0.000	0.046	3083	1796	1948	1980	1916	0	0	0	0	0	0	15.05	14.95	15.07
2704	1.04	219.3	3082	1796	1979	1915	27.6	7.4	492	2734	0.00	2.42	24.85	0.930	10756	0.000	0.067	3084	396	1804	1838	1771	0	0	0	0	0	0	15.21	14.88	14.42
2920	end climb: SURFACE_DEPTH_REACHED
state	2920	begin surface coast
2946	end surface coast: CONTROL_FINISHED_OK
state	2947	begin surface