Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 373 * 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 315 C_ROLL_CLIMB 1800 ALTIM_TOP_TURN_MARGIN 0

DIVE 373 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 32 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 46 ALTIM_PULSE 3

D_TGT 1000 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 3

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 333 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_MISSION 343 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_ABORT 358 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 200 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 0 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 1000 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 3 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 358

CALL_TRIES 5 HEADING 315 PROTOCOL 9 T_BOOST 0

CALL_WAIT 60 HEAD_ERRBAND 10 P_OVSHOOT 0.039999999 T_DIVE 333

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 343

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 200 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MINV_10V 10 R_PORT_OVSHOOT 32 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 46 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 373 NAV_MODE 0 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 150419,044001,-3423.1143,2557.2456,7,1.0,30,-28.1,1.3,72.4,10,6.5 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3415.450,2548.086

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.81 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -65.3 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 150419,044822,-3423.0862,2557.3254,6,1.0,16,-28.1,1.6,105.8,9,9.9 MHEAD_RNG_PITCHd_Wd 343.1,20000,-15.7,-10.010,-18.71,2973

SPEED_LIMITS 0.173,0.296 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.0,1.011339 _24V_AH 13.83,120.165

SM_CCo 2812,149.82,0.812,0,0,598,515.37 _10V_AH 13.60,0.000

SM_GC 0.82,13.60,0.00,149.82,0.038,0.000,0.812,107,1810,598,-8.22,-0.06,515.37,0,0,0,0,0,0,14.86,15.07,14.10 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3409.50,2556.54,150419,034503 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.896553 MEM 340864

HUMID 44.84 DATA_FILE_SIZE 13437,504

INTERNAL_PRESSURE 9.28303 CAP_FILE_SIZE 95633,0

TCM_TEMP 14.50 CFSIZE 2097086464,2021588992

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

ALTIM_BOTTOM_PING 125.4,35.2 GPS 150419,053931,-3422.895,2557.231,7,0.8,37,-28.1,0.5,269.6,9,5.3

SC_FREEKB 3725184

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 461 195.86 nil 0 0 0.00

Roll_motor 57 73 58.20 nil 0 0 0.00

VBD_pump_during_apogee 373 1148 5933.35 nil 0 0 0.00

VBD_pump_during_surface 149 811 1681.83 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 22 16 5.21 nil 0 0 0.00

Iridium_during_connect 19 160 43.41 SciCon 2842 36 1424.25

Iridium_during_xfer 232 223 715.90 nil 0 0 0.00

Transponder_ping 4 420 24.69 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 11 2.74

TT8 1023 9 133.74

LPSleep 440 2 13.11

TT8_Active 644 9 84.25

TT8_Sampling 1149 28 443.02

TT8_CF8 220 36 109.63

TT8_Kalman 0 0 0.00

Analog_circuits 1152 12 189.74

GPS_charging 0 0 0.00

Compass 766 17 187.48

RAFOS 0 0 0.00

Transponder 28 30 11.55

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

22 -0.76 -194.6 56 1811 622 548 0.0 0.0 0 122 0.00 0.00 -97.68 0.000 16386 0.000 0.000 53 1811 2983 2952 3015 0 0 0 0 0 0 14.96 28.83 14.96

127 -0.76 -194.6 54 1811 2953 3022 3.5 -7.8 18 157 14.57 0.00 -8.80 0.000 18950 0.308 0.000 2504 1811 3494 3506 3483 0 0 0 0 0 0 14.50 13.97 14.77

219 -0.76 -194.6 2503 1811 3508 3483 30.2 -22.7 35 226 0.00 2.42 0.00 0.000 2564 0.000 0.066 2504 406 3495 3508 3482 0 0 0 0 0 0 15.02 14.71 15.02

295 -0.76 -194.6 2503 406 3508 3482 43.8 -14.8 49 302 0.00 2.35 0.00 0.000 3078 0.000 0.038 2498 1806 3495 3508 3482 0 0 0 0 0 0 14.91 14.79 14.89

367 -0.76 -194.6 2498 1810 3508 3482 54.1 -14.2 62 375 0.00 2.38 0.00 0.000 2308 0.000 0.057 2498 3214 3495 3508 3482 0 0 0 0 0 0 15.04 14.81 15.04

408 -0.76 -194.6 2498 3215 3509 3481 59.3 -10.4 69 414 0.00 2.35 0.00 0.000 3078 0.000 0.044 2502 1812 3495 3509 3481 0 0 0 0 0 0 14.93 14.84 14.95

479 -0.76 -194.6 2498 1811 3509 3482 67.4 -12.3 82 486 0.00 2.42 0.00 0.000 2564 0.000 0.065 2498 404 3494 3508 3481 0 0 0 0 0 0 15.06 14.74 15.07

504 -0.76 -194.6 2497 402 3508 3481 70.8 -13.4 86 511 0.00 2.35 0.00 0.000 3078 0.000 0.037 2498 1816 3494 3508 3481 0 0 0 0 0 0 14.86 14.78 14.88

575 -0.76 -194.6 2497 1819 3508 3481 79.0 -12.0 99 582 0.00 2.38 0.00 0.000 2308 0.000 0.055 2498 3216 3494 3509 3480 0 0 0 0 0 0 15.08 14.84 15.09

671 -0.76 -194.6 2498 3216 3510 3480 89.2 -10.4 117 679 0.03 2.38 0.00 0.000 3078 0.461 0.044 2507 1802 3494 3509 3480 0 0 0 0 0 0 14.70 14.86 14.89

742 -0.76 -194.6 2508 1802 3510 3480 97.1 -11.0 130 748 0.00 0.00 0.00 0.000 2054 0.000 0.000 2512 1802 3495 3510 3481 0 0 0 0 0 0 15.09 15.09 15.09

812 -0.76 -194.6 2507 1802 3510 3480 104.5 -11.2 143 821 0.00 2.40 0.00 0.000 2308 0.000 0.053 2505 3217 3495 3509 3481 0 0 0 0 0 0 15.09 14.85 15.09

849 -0.76 -194.6 2505 3217 3510 3481 108.6 -10.4 149 855 0.00 2.35 0.00 0.000 3078 0.000 0.042 2505 1812 3495 3510 3480 0 0 0 0 0 0 14.87 14.78 14.88

920 -0.76 -194.6 2504 1811 3510 3481 116.5 -11.4 162 925 0.00 0.00 0.00 0.000 2054 0.000 0.000 2505 1812 3495 3510 3481 0 0 0 0 0 0 15.09 15.10 15.09

988 -0.76 -194.6 2505 1811 3510 3481 124.8 -12.1 175 997 0.00 0.00 0.00 0.000 2054 0.000 0.000 2505 1812 3495 3509 3481 0 0 0 0 0 0 15.10 15.11 15.10

1062 -0.76 -194.6 2505 1812 3510 3481 133.6 -12.7 188 1067 0.00 0.00 0.00 0.000 2054 0.000 0.000 2504 1812 3495 3510 3480 0 0 0 0 0 0 15.09 15.09 15.09

1129 -0.76 -194.6 2504 1812 3510 3480 142.4 -12.5 201 1135 0.00 0.00 0.00 0.000 2054 0.000 0.000 2505 1811 3495 3510 3480 0 0 0 0 0 0 15.10 15.11 15.11

1191 end dive: BOTTOM_OBSTACLE_DETECTED

state 1191 begin apogee

1196 -0.17 0.0 2505 1812 3510 3481 151.0 -13.2 213 1352 1.00 0.00 145.73 1.148 10246 0.158 0.000 2700 1811 2698 2728 2669 0 0 0 0 0 0 14.69 14.42 13.91

1354 end apogee: CONTROL_FINISHED_OK

state 1354 begin climb

1356 0.76 194.6 2701 1811 2727 2668 159.7 0.0 241 1519 1.42 2.50 150.85 1.136 10756 0.067 0.067 3022 398 1904 1940 1868 0 0 0 0 0 0 14.44 14.32 13.83

1719 0.76 194.6 3022 398 1929 1863 124.6 15.9 308 1726 0.08 2.35 0.00 0.000 5126 0.281 0.034 3008 1810 1895 1929 1862 0 0 0 0 0 0 14.57 14.73 14.76

1789 0.76 194.6 3008 1813 1929 1860 114.7 13.6 321 1795 0.00 0.00 0.00 0.000 4102 0.000 0.000 3008 1813 1894 1929 1860 0 0 0 0 0 0 14.96 14.96 14.96

1858 0.76 194.6 3007 1813 1929 1859 105.0 14.4 334 1864 0.00 2.33 0.00 0.000 4356 0.000 0.049 3008 3201 1894 1929 1859 0 0 0 0 0 0 14.99 14.75 15.00

1912 0.76 194.6 3007 3201 1927 1859 96.9 14.8 344 1919 0.00 2.38 0.00 0.000 5126 0.000 0.051 3010 1805 1893 1927 1859 0 0 0 0 0 0 14.83 14.73 14.85

1983 0.76 194.6 3009 1805 1927 1858 87.5 12.3 357 1989 0.00 0.00 0.00 0.000 4102 0.000 0.000 3010 1805 1892 1927 1858 0 0 0 0 0 0 15.04 15.04 15.04

2052 0.76 194.6 3009 1805 1927 1858 79.1 12.1 370 2058 0.00 2.35 0.00 0.000 4356 0.000 0.047 3010 3204 1892 1927 1858 0 0 0 0 0 0 15.05 14.75 15.05

2122 0.77 203.8 3009 3203 1926 1858 71.7 9.7 383 2135 0.00 2.40 6.55 0.768 13318 0.000 0.050 3014 1791 1868 1905 1831 0 0 0 0 0 0 14.88 14.76 14.21

2198 0.82 243.0 3017 1791 1905 1831 64.6 8.7 397 2238 0.00 2.45 32.88 1.010 10756 0.000 0.071 3021 388 1708 1746 1670 0 0 0 0 0 0 15.05 14.59 14.16

2267 0.83 245.3 3020 388 1745 1666 58.3 9.9 409 2274 0.00 2.35 0.00 0.000 1030 0.000 0.033 3020 1805 1705 1744 1666 0 0 0 0 0 0 14.77 14.71 14.78

2339 0.88 289.4 3020 1808 1744 1663 51.7 8.5 422 2384 0.00 2.35 37.62 1.050 10500 0.000 0.047 3020 3198 1518 1562 1474 0 0 0 0 0 0 14.96 14.58 14.07

2413 0.88 289.4 3020 3198 1562 1474 43.9 11.8 435 2420 0.00 2.42 0.00 0.000 3078 0.000 0.054 3021 1799 1517 1562 1473 0 0 0 0 0 0 14.73 14.62 14.74

2484 0.88 290.4 3021 1799 1561 1471 36.2 10.0 448 2491 0.00 2.47 0.00 0.000 2564 0.000 0.071 3022 387 1516 1561 1472 0 0 0 0 0 0 14.90 14.69 14.90

2534 0.88 290.4 3021 387 1559 1471 30.5 10.7 457 2540 0.00 2.35 0.00 0.000 3078 0.000 0.032 3022 1806 1514 1559 1470 0 0 0 0 0 0 14.85 14.78 14.85

2605 0.88 290.4 3021 1809 1559 1468 23.0 11.1 470 2612 0.00 2.50 0.00 0.000 2564 0.000 0.073 3023 397 1513 1559 1468 0 0 0 0 0 0 14.97 14.73 14.97

2639 0.88 290.4 3026 398 1558 1468 18.9 11.7 476 2646 0.00 2.33 0.00 0.000 3078 0.000 0.034 3027 1807 1512 1557 1468 0 0 0 0 0 0 14.90 14.81 14.90

2710 0.88 290.4 3026 1810 1558 1467 9.9 12.4 489 2716 0.00 0.00 0.00 0.000 2054 0.000 0.000 3026 1810 1512 1558 1467 0 0 0 0 0 0 15.00 15.01 15.01

2760 end climb: SURFACE_DEPTH_REACHED

state 2760 begin surface coast

2788 end surface coast: CONTROL_FINISHED_OK

state 2788 begin surface

ID	574	HD_C	9.8500004e-06	C_ROLL_DIVE	1812	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	3	HEADING	315	C_ROLL_CLIMB	1800	ALTIM_TOP_TURN_MARGIN	0
DIVE	373	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	32	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	46	ALTIM_PULSE	3
D_TGT	1000	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	3
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	333	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_MISSION	343	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_ABORT	358	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	200	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	0	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	150419,044001,-3423.1143,2557.2456,7,1.0,30,-28.1,1.3,72.4,10,6.5	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3415.450,2548.086
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.81	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-65.3	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	150419,044822,-3423.0862,2557.3254,6,1.0,16,-28.1,1.6,105.8,9,9.9	MHEAD_RNG_PITCHd_Wd	343.1,20000,-15.7,-10.010,-18.71,2973
SPEED_LIMITS	0.173,0.296	D_GRID	1000

FINISH	0.0,1.011339	_24V_AH	13.83,120.165
SM_CCo	2812,149.82,0.812,0,0,598,515.37	_10V_AH	13.60,0.000
SM_GC	0.82,13.60,0.00,149.82,0.038,0.000,0.812,107,1810,598,-8.22,-0.06,515.37,0,0,0,0,0,0,14.86,15.07,14.10	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3409.50,2556.54,150419,034503	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.896553	MEM	340864
HUMID	44.84	DATA_FILE_SIZE	13437,504
INTERNAL_PRESSURE	9.28303	CAP_FILE_SIZE	95633,0
TCM_TEMP	14.50	CFSIZE	2097086464,2021588992
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	125.4,35.2	GPS	150419,053931,-3422.895,2557.231,7,0.8,37,-28.1,0.5,269.6,9,5.3
SC_FREEKB	3725184

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	461	195.86	nil	0	0	0.00
Roll_motor	57	73	58.20	nil	0	0	0.00
VBD_pump_during_apogee	373	1148	5933.35	nil	0	0	0.00
VBD_pump_during_surface	149	811	1681.83	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	22	16	5.21	nil	0	0	0.00
Iridium_during_connect	19	160	43.41	SciCon	2842	36	1424.25
Iridium_during_xfer	232	223	715.90	nil	0	0	0.00
Transponder_ping	4	420	24.69	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	11	2.74
TT8	1023	9	133.74
LPSleep	440	2	13.11
TT8_Active	644	9	84.25
TT8_Sampling	1149	28	443.02
TT8_CF8	220	36	109.63
TT8_Kalman	0	0	0.00
Analog_circuits	1152	12	189.74
GPS_charging	0	0	0.00
Compass	766	17	187.48
RAFOS	0	0	0.00
Transponder	28	30	11.55

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
22	-0.76	-194.6	56	1811	622	548	0.0	0.0	0	122	0.00	0.00	-97.68	0.000	16386	0.000	0.000	53	1811	2983	2952	3015	0	0	0	0	0	0	14.96	28.83	14.96
127	-0.76	-194.6	54	1811	2953	3022	3.5	-7.8	18	157	14.57	0.00	-8.80	0.000	18950	0.308	0.000	2504	1811	3494	3506	3483	0	0	0	0	0	0	14.50	13.97	14.77
219	-0.76	-194.6	2503	1811	3508	3483	30.2	-22.7	35	226	0.00	2.42	0.00	0.000	2564	0.000	0.066	2504	406	3495	3508	3482	0	0	0	0	0	0	15.02	14.71	15.02
295	-0.76	-194.6	2503	406	3508	3482	43.8	-14.8	49	302	0.00	2.35	0.00	0.000	3078	0.000	0.038	2498	1806	3495	3508	3482	0	0	0	0	0	0	14.91	14.79	14.89
367	-0.76	-194.6	2498	1810	3508	3482	54.1	-14.2	62	375	0.00	2.38	0.00	0.000	2308	0.000	0.057	2498	3214	3495	3508	3482	0	0	0	0	0	0	15.04	14.81	15.04
408	-0.76	-194.6	2498	3215	3509	3481	59.3	-10.4	69	414	0.00	2.35	0.00	0.000	3078	0.000	0.044	2502	1812	3495	3509	3481	0	0	0	0	0	0	14.93	14.84	14.95
479	-0.76	-194.6	2498	1811	3509	3482	67.4	-12.3	82	486	0.00	2.42	0.00	0.000	2564	0.000	0.065	2498	404	3494	3508	3481	0	0	0	0	0	0	15.06	14.74	15.07
504	-0.76	-194.6	2497	402	3508	3481	70.8	-13.4	86	511	0.00	2.35	0.00	0.000	3078	0.000	0.037	2498	1816	3494	3508	3481	0	0	0	0	0	0	14.86	14.78	14.88
575	-0.76	-194.6	2497	1819	3508	3481	79.0	-12.0	99	582	0.00	2.38	0.00	0.000	2308	0.000	0.055	2498	3216	3494	3509	3480	0	0	0	0	0	0	15.08	14.84	15.09
671	-0.76	-194.6	2498	3216	3510	3480	89.2	-10.4	117	679	0.03	2.38	0.00	0.000	3078	0.461	0.044	2507	1802	3494	3509	3480	0	0	0	0	0	0	14.70	14.86	14.89
742	-0.76	-194.6	2508	1802	3510	3480	97.1	-11.0	130	748	0.00	0.00	0.00	0.000	2054	0.000	0.000	2512	1802	3495	3510	3481	0	0	0	0	0	0	15.09	15.09	15.09
812	-0.76	-194.6	2507	1802	3510	3480	104.5	-11.2	143	821	0.00	2.40	0.00	0.000	2308	0.000	0.053	2505	3217	3495	3509	3481	0	0	0	0	0	0	15.09	14.85	15.09
849	-0.76	-194.6	2505	3217	3510	3481	108.6	-10.4	149	855	0.00	2.35	0.00	0.000	3078	0.000	0.042	2505	1812	3495	3510	3480	0	0	0	0	0	0	14.87	14.78	14.88
920	-0.76	-194.6	2504	1811	3510	3481	116.5	-11.4	162	925	0.00	0.00	0.00	0.000	2054	0.000	0.000	2505	1812	3495	3510	3481	0	0	0	0	0	0	15.09	15.10	15.09
988	-0.76	-194.6	2505	1811	3510	3481	124.8	-12.1	175	997	0.00	0.00	0.00	0.000	2054	0.000	0.000	2505	1812	3495	3509	3481	0	0	0	0	0	0	15.10	15.11	15.10
1062	-0.76	-194.6	2505	1812	3510	3481	133.6	-12.7	188	1067	0.00	0.00	0.00	0.000	2054	0.000	0.000	2504	1812	3495	3510	3480	0	0	0	0	0	0	15.09	15.09	15.09
1129	-0.76	-194.6	2504	1812	3510	3480	142.4	-12.5	201	1135	0.00	0.00	0.00	0.000	2054	0.000	0.000	2505	1811	3495	3510	3480	0	0	0	0	0	0	15.10	15.11	15.11
1191	end dive: BOTTOM_OBSTACLE_DETECTED
state	1191	begin apogee
1196	-0.17	0.0	2505	1812	3510	3481	151.0	-13.2	213	1352	1.00	0.00	145.73	1.148	10246	0.158	0.000	2700	1811	2698	2728	2669	0	0	0	0	0	0	14.69	14.42	13.91
1354	end apogee: CONTROL_FINISHED_OK
state	1354	begin climb
1356	0.76	194.6	2701	1811	2727	2668	159.7	0.0	241	1519	1.42	2.50	150.85	1.136	10756	0.067	0.067	3022	398	1904	1940	1868	0	0	0	0	0	0	14.44	14.32	13.83
1719	0.76	194.6	3022	398	1929	1863	124.6	15.9	308	1726	0.08	2.35	0.00	0.000	5126	0.281	0.034	3008	1810	1895	1929	1862	0	0	0	0	0	0	14.57	14.73	14.76
1789	0.76	194.6	3008	1813	1929	1860	114.7	13.6	321	1795	0.00	0.00	0.00	0.000	4102	0.000	0.000	3008	1813	1894	1929	1860	0	0	0	0	0	0	14.96	14.96	14.96
1858	0.76	194.6	3007	1813	1929	1859	105.0	14.4	334	1864	0.00	2.33	0.00	0.000	4356	0.000	0.049	3008	3201	1894	1929	1859	0	0	0	0	0	0	14.99	14.75	15.00
1912	0.76	194.6	3007	3201	1927	1859	96.9	14.8	344	1919	0.00	2.38	0.00	0.000	5126	0.000	0.051	3010	1805	1893	1927	1859	0	0	0	0	0	0	14.83	14.73	14.85
1983	0.76	194.6	3009	1805	1927	1858	87.5	12.3	357	1989	0.00	0.00	0.00	0.000	4102	0.000	0.000	3010	1805	1892	1927	1858	0	0	0	0	0	0	15.04	15.04	15.04
2052	0.76	194.6	3009	1805	1927	1858	79.1	12.1	370	2058	0.00	2.35	0.00	0.000	4356	0.000	0.047	3010	3204	1892	1927	1858	0	0	0	0	0	0	15.05	14.75	15.05
2122	0.77	203.8	3009	3203	1926	1858	71.7	9.7	383	2135	0.00	2.40	6.55	0.768	13318	0.000	0.050	3014	1791	1868	1905	1831	0	0	0	0	0	0	14.88	14.76	14.21
2198	0.82	243.0	3017	1791	1905	1831	64.6	8.7	397	2238	0.00	2.45	32.88	1.010	10756	0.000	0.071	3021	388	1708	1746	1670	0	0	0	0	0	0	15.05	14.59	14.16
2267	0.83	245.3	3020	388	1745	1666	58.3	9.9	409	2274	0.00	2.35	0.00	0.000	1030	0.000	0.033	3020	1805	1705	1744	1666	0	0	0	0	0	0	14.77	14.71	14.78
2339	0.88	289.4	3020	1808	1744	1663	51.7	8.5	422	2384	0.00	2.35	37.62	1.050	10500	0.000	0.047	3020	3198	1518	1562	1474	0	0	0	0	0	0	14.96	14.58	14.07
2413	0.88	289.4	3020	3198	1562	1474	43.9	11.8	435	2420	0.00	2.42	0.00	0.000	3078	0.000	0.054	3021	1799	1517	1562	1473	0	0	0	0	0	0	14.73	14.62	14.74
2484	0.88	290.4	3021	1799	1561	1471	36.2	10.0	448	2491	0.00	2.47	0.00	0.000	2564	0.000	0.071	3022	387	1516	1561	1472	0	0	0	0	0	0	14.90	14.69	14.90
2534	0.88	290.4	3021	387	1559	1471	30.5	10.7	457	2540	0.00	2.35	0.00	0.000	3078	0.000	0.032	3022	1806	1514	1559	1470	0	0	0	0	0	0	14.85	14.78	14.85
2605	0.88	290.4	3021	1809	1559	1468	23.0	11.1	470	2612	0.00	2.50	0.00	0.000	2564	0.000	0.073	3023	397	1513	1559	1468	0	0	0	0	0	0	14.97	14.73	14.97
2639	0.88	290.4	3026	398	1558	1468	18.9	11.7	476	2646	0.00	2.33	0.00	0.000	3078	0.000	0.034	3027	1807	1512	1557	1468	0	0	0	0	0	0	14.90	14.81	14.90
2710	0.88	290.4	3026	1810	1558	1467	9.9	12.4	489	2716	0.00	0.00	0.00	0.000	2054	0.000	0.000	3026	1810	1512	1558	1467	0	0	0	0	0	0	15.00	15.01	15.01
2760	end climb: SURFACE_DEPTH_REACHED
state	2760	begin surface coast
2788	end surface coast: CONTROL_FINISHED_OK
state	2788	begin surface