Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 533 * 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 30 C_ROLL_CLIMB 1800 ALTIM_TOP_TURN_MARGIN 0

DIVE 533 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 47 ALTIM_PULSE 3

D_TGT 1000 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 5 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 2 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 280 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 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 358

CALL_TRIES 5 HEADING 30 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 280 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 47 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 533 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 5 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 2 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 220419,150247,-3416.6377,2544.4631,7,0.9,14,-27.9,0.9,331.2,10,9.7 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3407.285,2550.986

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 1.69 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo 1.5 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 220419,150247,-3416.6377,2544.4631,7,0.9,14,-27.9,0.9,331.2,10,9.7 MHEAD_RNG_PITCHd_Wd 57.9,20000,-13.1,-10.010,-16.32,4154

SPEED_LIMITS 0.173,0.342 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.9,1.025371 _24V_AH 13.40,156.714

SM_CCo 2487,118.22,0.788,0,0,598,515.37 _10V_AH 13.40,0.000

SM_GC 1.03,13.70,2.38,118.22,0.043,0.031,0.788,125,1799,598,-8.18,-1.55,515.37,0,0,0,0,0,0,14.81,14.84,14.12 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3401.68,2542.60,220419,132202 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.918274 MEM 341064

HUMID 45.19 DATA_FILE_SIZE 10127,432

INTERNAL_PRESSURE 9.31233 CAP_FILE_SIZE 83025,0

TCM_TEMP 19.50 CFSIZE 2097086464,1993965568

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

ALTIM_BOTTOM_PING 85.1,36.2 GPS 220419,163002,-3416.211,2544.140,8,1.0,17,-27.8,1.5,304.7,8,8.5

SC_FREEKB 3642784

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 255 59.15 nil 0 0 0.00

Roll_motor 73 80 79.14 nil 0 0 0.00

VBD_pump_during_apogee 459 1073 6613.99 nil 0 0 0.00

VBD_pump_during_surface 118 787 1248.28 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 2516 36 1232.40

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 12.66 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 851 9 109.71

LPSleep 357 2 10.48

TT8_Active 627 9 80.87

TT8_Sampling 753 28 286.02

TT8_CF8 168 36 82.54

TT8_Kalman 0 0 0.00

Analog_circuits 1089 12 176.76

GPS_charging 0 0 0.00

Compass 648 17 156.33

RAFOS 0 0 0.00

Transponder 16 30 6.50

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

20 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -0.77 -272.5 2805 1804 2299 2218 0.0 0.0 0 69 0.00 0.00 -43.00 0.000 16386 0.000 0.000 2806 1805 3426 3438 3415 0 0 0 0 0 0 15.07 28.83 15.08

73 -0.77 -272.5 2805 1804 3439 3415 3.5 -7.5 8 92 1.30 2.45 -11.07 0.000 20996 0.093 0.080 2527 398 3813 3834 3792 0 0 0 0 0 0 14.78 13.40 14.85

105 -0.77 -272.5 2527 398 3834 3791 7.0 -11.6 13 112 0.00 2.33 0.00 0.000 5126 0.000 0.034 2527 1813 3813 3834 3792 0 0 0 0 0 0 14.92 14.83 14.93

175 -0.77 -272.5 2527 1814 3834 3792 16.4 -14.5 26 182 0.00 2.35 0.00 0.000 4356 0.000 0.053 2527 3207 3813 3834 3792 0 0 0 0 0 0 15.11 14.80 15.11

230 -0.77 -272.5 2527 3207 3834 3792 23.4 -11.3 36 237 0.00 2.35 0.00 0.000 5126 0.000 0.041 2527 1806 3813 3834 3792 0 0 0 0 0 0 14.87 14.77 14.89

302 -0.77 -272.5 2526 1806 3834 3792 31.9 -12.4 49 308 0.00 0.00 0.00 0.000 4102 0.000 0.000 2527 1805 3813 3834 3792 0 0 0 0 0 0 15.09 15.09 15.09

371 -0.77 -272.5 2527 1806 3831 3792 40.3 -11.6 62 377 0.00 0.00 0.00 0.000 4102 0.000 0.000 2527 1806 3813 3834 3792 0 0 0 0 0 0 15.13 15.11 15.11

441 -0.77 -272.5 2527 1806 3834 3792 48.3 -11.6 75 446 0.00 0.00 0.00 0.000 4102 0.000 0.000 2527 1806 3813 3834 3793 0 0 0 0 0 0 15.11 15.12 15.11

510 -0.77 -272.5 2527 1806 3834 3792 56.1 -11.4 88 516 0.00 0.00 0.00 0.000 4102 0.000 0.000 2527 1806 3813 3834 3792 0 0 0 0 0 0 15.12 15.12 15.15

578 -0.77 -272.5 2526 1806 3834 3792 63.7 -10.6 101 585 0.00 2.38 0.00 0.000 4356 0.000 0.053 2526 3209 3813 3835 3792 0 0 0 0 0 0 15.11 14.85 15.11

609 -0.77 -272.5 2525 3209 3835 3792 66.5 -9.7 106 615 0.00 2.33 0.00 0.000 5126 0.000 0.041 2525 1812 3813 3835 3792 0 0 0 0 0 0 14.97 14.88 15.00

681 -0.77 -272.5 2525 1811 3835 3792 73.2 -9.6 119 687 0.00 0.00 0.00 0.000 4102 0.000 0.000 2525 1812 3813 3835 3792 0 0 0 0 0 0 15.12 15.12 15.12

751 -0.77 -272.5 2525 1810 3835 3792 79.7 -9.4 132 760 0.00 2.40 0.00 0.000 4356 0.000 0.054 2525 3216 3813 3835 3792 0 0 0 0 0 0 15.12 14.80 15.12

774 -0.77 -272.5 2525 3215 3835 3792 82.0 -9.5 135 780 0.00 2.35 0.00 0.000 5126 0.000 0.041 2525 1803 3813 3835 3792 0 0 0 0 0 0 14.98 14.88 15.00

848 -0.77 -272.5 2525 1803 3835 3792 88.1 -8.5 148 855 0.00 2.38 0.00 0.000 4612 0.000 0.060 2525 408 3813 3835 3792 0 0 0 0 0 0 15.11 14.85 15.11

873 -0.77 -272.5 2525 408 3835 3792 90.7 -9.3 152 879 0.00 2.30 0.00 0.000 5126 0.000 0.033 2526 1815 3813 3835 3792 0 0 0 0 0 0 14.98 14.90 15.00

945 -0.77 -272.5 2525 1816 3835 3792 97.1 -8.9 165 952 0.00 2.35 0.00 0.000 4356 0.000 0.052 2526 3208 3813 3835 3792 0 0 0 0 0 0 15.11 14.78 15.11

995 -0.77 -272.5 2525 3208 3835 3792 101.5 -7.8 174 1002 0.00 2.33 0.00 0.000 5126 0.000 0.039 2526 1807 3813 3834 3792 0 0 0 0 0 0 14.91 14.81 14.92

1068 -0.77 -272.5 2525 1807 3835 3792 107.1 -8.7 187 1074 0.00 2.38 0.00 0.000 4612 0.000 0.061 2525 413 3813 3835 3792 0 0 0 0 0 0 15.11 14.84 15.11

1110 end dive: BOTTOM_OBSTACLE_DETECTED

state 1110 begin apogee

1119 -0.17 0.0 2525 1812 3835 3792 111.5 -9.7 195 1331 0.85 0.00 200.02 1.073 10246 0.120 0.000 2701 1813 2697 2733 2662 0 0 0 0 0 0 14.72 14.28 13.90

1333 end apogee: CONTROL_FINISHED_OK

state 1333 begin climb

1336 0.77 272.5 2701 1813 2732 2661 121.9 0.0 233 1557 1.38 2.45 208.93 1.047 11012 0.075 0.046 2994 3205 1587 1630 1545 0 0 0 0 0 0 14.44 14.38 13.89

1628 0.77 272.5 2994 3205 1626 1543 96.7 13.6 284 1634 0.00 2.42 0.00 0.000 3078 0.000 0.050 2996 1807 1584 1626 1543 0 0 0 0 0 0 14.70 14.57 14.71

1701 0.77 272.5 2995 1807 1626 1541 86.7 13.9 297 1708 0.00 2.47 0.00 0.000 2564 0.000 0.071 2996 395 1583 1625 1541 0 0 0 0 0 0 14.92 14.59 14.92

1726 0.77 272.5 2996 395 1625 1541 83.0 12.8 301 1733 0.00 2.33 0.00 0.000 3078 0.000 0.031 2996 1803 1582 1623 1541 0 0 0 0 0 0 14.73 14.67 14.75

1798 0.77 272.5 2996 1806 1625 1540 73.4 14.5 314 1804 0.00 2.35 0.00 0.000 2308 0.000 0.047 2996 3198 1582 1625 1540 0 0 0 0 0 0 15.00 14.76 15.00

1838 0.77 272.5 2996 3199 1623 1540 67.3 13.4 321 1844 0.00 2.40 0.00 0.000 3078 0.000 0.050 2997 1795 1581 1623 1540 0 0 0 0 0 0 14.89 14.78 14.90

1910 0.77 272.5 2996 1795 1623 1540 58.6 12.2 334 1916 0.00 2.45 0.00 0.000 2564 0.000 0.071 2998 385 1581 1623 1539 0 0 0 0 0 0 15.02 14.76 15.01

1935 0.77 272.5 2996 385 1624 1540 55.6 11.3 338 1941 0.00 2.33 0.00 0.000 3078 0.000 0.032 2996 1806 1583 1623 1543 0 0 0 0 0 0 14.92 14.85 14.94

2007 0.78 276.7 2996 1808 1623 1539 48.4 9.9 351 2014 0.00 2.33 0.00 0.000 2308 0.000 0.048 2996 3191 1581 1623 1539 0 0 0 0 0 0 15.06 14.78 15.06

2042 0.78 276.7 2996 3192 1622 1538 44.4 11.3 357 2049 0.00 2.38 0.00 0.000 3078 0.000 0.050 2996 1797 1580 1622 1539 0 0 0 0 0 0 14.90 14.79 14.91

2115 0.78 276.7 2996 1797 1622 1538 37.3 10.2 370 2121 0.00 2.45 0.00 0.000 2564 0.000 0.070 2997 389 1580 1622 1539 0 0 0 0 0 0 15.06 14.81 15.06

2170 0.82 311.7 2996 389 1622 1538 31.8 9.1 380 2210 0.00 2.30 32.40 0.965 11270 0.000 0.032 2997 1802 1428 1476 1380 0 0 0 0 0 0 14.97 14.89 14.20

2274 0.82 311.7 2996 1802 1476 1377 21.2 10.7 399 2280 0.00 2.35 0.00 0.000 2308 0.000 0.048 2997 3193 1427 1476 1378 0 0 0 0 0 0 14.97 14.76 14.98

2346 0.85 338.7 2996 3193 1474 1376 14.4 9.3 412 2371 0.05 2.38 18.52 0.850 11270 0.256 0.048 3029 1795 1318 1370 1267 0 0 0 0 0 0 14.61 14.69 14.24

2435 0.85 338.7 3029 1796 1368 1262 4.0 12.5 428 2442 0.00 2.42 0.00 0.000 516 0.000 0.071 3030 392 1315 1369 1262 0 0 0 0 0 0 14.99 14.66 15.00

2447 end climb: SURFACE_DEPTH_REACHED

state 2447 begin surface coast

2459 end surface coast: CONTROL_FINISHED_OK

state 2459 begin surface

ID	574	HD_C	9.8500004e-06	C_ROLL_DIVE	1812	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	3	HEADING	30	C_ROLL_CLIMB	1800	ALTIM_TOP_TURN_MARGIN	0
DIVE	533	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	47	ALTIM_PULSE	3
D_TGT	1000	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	5	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	2	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	280	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	220419,150247,-3416.6377,2544.4631,7,0.9,14,-27.9,0.9,331.2,10,9.7	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3407.285,2550.986
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	1.69	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	1.5	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	220419,150247,-3416.6377,2544.4631,7,0.9,14,-27.9,0.9,331.2,10,9.7	MHEAD_RNG_PITCHd_Wd	57.9,20000,-13.1,-10.010,-16.32,4154
SPEED_LIMITS	0.173,0.342	D_GRID	1000

FINISH	0.9,1.025371	_24V_AH	13.40,156.714
SM_CCo	2487,118.22,0.788,0,0,598,515.37	_10V_AH	13.40,0.000
SM_GC	1.03,13.70,2.38,118.22,0.043,0.031,0.788,125,1799,598,-8.18,-1.55,515.37,0,0,0,0,0,0,14.81,14.84,14.12	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3401.68,2542.60,220419,132202	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.918274	MEM	341064
HUMID	45.19	DATA_FILE_SIZE	10127,432
INTERNAL_PRESSURE	9.31233	CAP_FILE_SIZE	83025,0
TCM_TEMP	19.50	CFSIZE	2097086464,1993965568
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_BOTTOM_PING	85.1,36.2	GPS	220419,163002,-3416.211,2544.140,8,1.0,17,-27.8,1.5,304.7,8,8.5
SC_FREEKB	3642784

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	255	59.15	nil	0	0	0.00
Roll_motor	73	80	79.14	nil	0	0	0.00
VBD_pump_during_apogee	459	1073	6613.99	nil	0	0	0.00
VBD_pump_during_surface	118	787	1248.28	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	2516	36	1232.40
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	12.66	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	851	9	109.71
LPSleep	357	2	10.48
TT8_Active	627	9	80.87
TT8_Sampling	753	28	286.02
TT8_CF8	168	36	82.54
TT8_Kalman	0	0	0.00
Analog_circuits	1089	12	176.76
GPS_charging	0	0	0.00
Compass	648	17	156.33
RAFOS	0	0	0.00
Transponder	16	30	6.50

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
20	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-0.77	-272.5	2805	1804	2299	2218	0.0	0.0	0	69	0.00	0.00	-43.00	0.000	16386	0.000	0.000	2806	1805	3426	3438	3415	0	0	0	0	0	0	15.07	28.83	15.08
73	-0.77	-272.5	2805	1804	3439	3415	3.5	-7.5	8	92	1.30	2.45	-11.07	0.000	20996	0.093	0.080	2527	398	3813	3834	3792	0	0	0	0	0	0	14.78	13.40	14.85
105	-0.77	-272.5	2527	398	3834	3791	7.0	-11.6	13	112	0.00	2.33	0.00	0.000	5126	0.000	0.034	2527	1813	3813	3834	3792	0	0	0	0	0	0	14.92	14.83	14.93
175	-0.77	-272.5	2527	1814	3834	3792	16.4	-14.5	26	182	0.00	2.35	0.00	0.000	4356	0.000	0.053	2527	3207	3813	3834	3792	0	0	0	0	0	0	15.11	14.80	15.11
230	-0.77	-272.5	2527	3207	3834	3792	23.4	-11.3	36	237	0.00	2.35	0.00	0.000	5126	0.000	0.041	2527	1806	3813	3834	3792	0	0	0	0	0	0	14.87	14.77	14.89
302	-0.77	-272.5	2526	1806	3834	3792	31.9	-12.4	49	308	0.00	0.00	0.00	0.000	4102	0.000	0.000	2527	1805	3813	3834	3792	0	0	0	0	0	0	15.09	15.09	15.09
371	-0.77	-272.5	2527	1806	3831	3792	40.3	-11.6	62	377	0.00	0.00	0.00	0.000	4102	0.000	0.000	2527	1806	3813	3834	3792	0	0	0	0	0	0	15.13	15.11	15.11
441	-0.77	-272.5	2527	1806	3834	3792	48.3	-11.6	75	446	0.00	0.00	0.00	0.000	4102	0.000	0.000	2527	1806	3813	3834	3793	0	0	0	0	0	0	15.11	15.12	15.11
510	-0.77	-272.5	2527	1806	3834	3792	56.1	-11.4	88	516	0.00	0.00	0.00	0.000	4102	0.000	0.000	2527	1806	3813	3834	3792	0	0	0	0	0	0	15.12	15.12	15.15
578	-0.77	-272.5	2526	1806	3834	3792	63.7	-10.6	101	585	0.00	2.38	0.00	0.000	4356	0.000	0.053	2526	3209	3813	3835	3792	0	0	0	0	0	0	15.11	14.85	15.11
609	-0.77	-272.5	2525	3209	3835	3792	66.5	-9.7	106	615	0.00	2.33	0.00	0.000	5126	0.000	0.041	2525	1812	3813	3835	3792	0	0	0	0	0	0	14.97	14.88	15.00
681	-0.77	-272.5	2525	1811	3835	3792	73.2	-9.6	119	687	0.00	0.00	0.00	0.000	4102	0.000	0.000	2525	1812	3813	3835	3792	0	0	0	0	0	0	15.12	15.12	15.12
751	-0.77	-272.5	2525	1810	3835	3792	79.7	-9.4	132	760	0.00	2.40	0.00	0.000	4356	0.000	0.054	2525	3216	3813	3835	3792	0	0	0	0	0	0	15.12	14.80	15.12
774	-0.77	-272.5	2525	3215	3835	3792	82.0	-9.5	135	780	0.00	2.35	0.00	0.000	5126	0.000	0.041	2525	1803	3813	3835	3792	0	0	0	0	0	0	14.98	14.88	15.00
848	-0.77	-272.5	2525	1803	3835	3792	88.1	-8.5	148	855	0.00	2.38	0.00	0.000	4612	0.000	0.060	2525	408	3813	3835	3792	0	0	0	0	0	0	15.11	14.85	15.11
873	-0.77	-272.5	2525	408	3835	3792	90.7	-9.3	152	879	0.00	2.30	0.00	0.000	5126	0.000	0.033	2526	1815	3813	3835	3792	0	0	0	0	0	0	14.98	14.90	15.00
945	-0.77	-272.5	2525	1816	3835	3792	97.1	-8.9	165	952	0.00	2.35	0.00	0.000	4356	0.000	0.052	2526	3208	3813	3835	3792	0	0	0	0	0	0	15.11	14.78	15.11
995	-0.77	-272.5	2525	3208	3835	3792	101.5	-7.8	174	1002	0.00	2.33	0.00	0.000	5126	0.000	0.039	2526	1807	3813	3834	3792	0	0	0	0	0	0	14.91	14.81	14.92
1068	-0.77	-272.5	2525	1807	3835	3792	107.1	-8.7	187	1074	0.00	2.38	0.00	0.000	4612	0.000	0.061	2525	413	3813	3835	3792	0	0	0	0	0	0	15.11	14.84	15.11
1110	end dive: BOTTOM_OBSTACLE_DETECTED
state	1110	begin apogee
1119	-0.17	0.0	2525	1812	3835	3792	111.5	-9.7	195	1331	0.85	0.00	200.02	1.073	10246	0.120	0.000	2701	1813	2697	2733	2662	0	0	0	0	0	0	14.72	14.28	13.90
1333	end apogee: CONTROL_FINISHED_OK
state	1333	begin climb
1336	0.77	272.5	2701	1813	2732	2661	121.9	0.0	233	1557	1.38	2.45	208.93	1.047	11012	0.075	0.046	2994	3205	1587	1630	1545	0	0	0	0	0	0	14.44	14.38	13.89
1628	0.77	272.5	2994	3205	1626	1543	96.7	13.6	284	1634	0.00	2.42	0.00	0.000	3078	0.000	0.050	2996	1807	1584	1626	1543	0	0	0	0	0	0	14.70	14.57	14.71
1701	0.77	272.5	2995	1807	1626	1541	86.7	13.9	297	1708	0.00	2.47	0.00	0.000	2564	0.000	0.071	2996	395	1583	1625	1541	0	0	0	0	0	0	14.92	14.59	14.92
1726	0.77	272.5	2996	395	1625	1541	83.0	12.8	301	1733	0.00	2.33	0.00	0.000	3078	0.000	0.031	2996	1803	1582	1623	1541	0	0	0	0	0	0	14.73	14.67	14.75
1798	0.77	272.5	2996	1806	1625	1540	73.4	14.5	314	1804	0.00	2.35	0.00	0.000	2308	0.000	0.047	2996	3198	1582	1625	1540	0	0	0	0	0	0	15.00	14.76	15.00
1838	0.77	272.5	2996	3199	1623	1540	67.3	13.4	321	1844	0.00	2.40	0.00	0.000	3078	0.000	0.050	2997	1795	1581	1623	1540	0	0	0	0	0	0	14.89	14.78	14.90
1910	0.77	272.5	2996	1795	1623	1540	58.6	12.2	334	1916	0.00	2.45	0.00	0.000	2564	0.000	0.071	2998	385	1581	1623	1539	0	0	0	0	0	0	15.02	14.76	15.01
1935	0.77	272.5	2996	385	1624	1540	55.6	11.3	338	1941	0.00	2.33	0.00	0.000	3078	0.000	0.032	2996	1806	1583	1623	1543	0	0	0	0	0	0	14.92	14.85	14.94
2007	0.78	276.7	2996	1808	1623	1539	48.4	9.9	351	2014	0.00	2.33	0.00	0.000	2308	0.000	0.048	2996	3191	1581	1623	1539	0	0	0	0	0	0	15.06	14.78	15.06
2042	0.78	276.7	2996	3192	1622	1538	44.4	11.3	357	2049	0.00	2.38	0.00	0.000	3078	0.000	0.050	2996	1797	1580	1622	1539	0	0	0	0	0	0	14.90	14.79	14.91
2115	0.78	276.7	2996	1797	1622	1538	37.3	10.2	370	2121	0.00	2.45	0.00	0.000	2564	0.000	0.070	2997	389	1580	1622	1539	0	0	0	0	0	0	15.06	14.81	15.06
2170	0.82	311.7	2996	389	1622	1538	31.8	9.1	380	2210	0.00	2.30	32.40	0.965	11270	0.000	0.032	2997	1802	1428	1476	1380	0	0	0	0	0	0	14.97	14.89	14.20
2274	0.82	311.7	2996	1802	1476	1377	21.2	10.7	399	2280	0.00	2.35	0.00	0.000	2308	0.000	0.048	2997	3193	1427	1476	1378	0	0	0	0	0	0	14.97	14.76	14.98
2346	0.85	338.7	2996	3193	1474	1376	14.4	9.3	412	2371	0.05	2.38	18.52	0.850	11270	0.256	0.048	3029	1795	1318	1370	1267	0	0	0	0	0	0	14.61	14.69	14.24
2435	0.85	338.7	3029	1796	1368	1262	4.0	12.5	428	2442	0.00	2.42	0.00	0.000	516	0.000	0.071	3030	392	1315	1369	1262	0	0	0	0	0	0	14.99	14.66	15.00
2447	end climb: SURFACE_DEPTH_REACHED
state	2447	begin surface coast
2459	end surface coast: CONTROL_FINISHED_OK
state	2459	begin surface