Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 569 * 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 20

MISSION 3 HEADING 310 C_ROLL_CLIMB 1800 ALTIM_TOP_TURN_MARGIN 0

DIVE 569 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 31 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 300 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 20 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 310 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 300 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MINV_10V 10 R_PORT_OVSHOOT 31 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 569 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 230419,180901,-3417.7664,2523.8237,8,0.8,28,-27.7,0.5,160.5,11,6.6 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3410.825,2513.824

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 2.03 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo 1.2 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 230419,180901,-3417.7664,2523.8237,8,0.8,28,-27.7,0.5,160.5,11,6.6 MHEAD_RNG_PITCHd_Wd 337.7,20000,-12.6,-10.010,-15.87,4448

SPEED_LIMITS 0.173,0.352 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.1,1.025455 _24V_AH 13.43,163.839

SM_CCo 2402,153.48,0.802,0,0,598,515.37 _10V_AH 13.37,0.000

SM_GC 0.93,13.55,2.38,153.48,0.043,0.032,0.802,126,1804,598,-8.17,-1.47,515.37,0,0,0,0,0,0,14.89,14.88,14.09 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3406.89,2405.70,230419,163109 FG_AHR_10Vo 0.000

TT8_MAMPS 0.020972,0.871087 MEM 341064

HUMID 45.23 DATA_FILE_SIZE 10126,416

INTERNAL_PRESSURE 9.2928 CAP_FILE_SIZE 80413,0

TCM_TEMP 19.00 CFSIZE 2097086464,1988067328

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

ALTIM_BOTTOM_PING 85.1,35.8 GPS 230419,193015,-3417.449,2522.124,8,1.0,15,-27.7,0.0,245.6,9,10.0

SC_FREEKB 3624352

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 126 29.16 nil 0 0 0.00

Roll_motor 61 70 58.44 nil 0 0 0.00

VBD_pump_during_apogee 438 1071 6307.72 nil 0 0 0.00

VBD_pump_during_surface 153 802 1654.06 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 2425 36 1176.93

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 12.69 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 821 9 105.52

LPSleep 337 2 9.88

TT8_Active 641 9 82.45

TT8_Sampling 722 28 273.62

TT8_CF8 183 36 89.50

TT8_Kalman 0 0 0.00

Analog_circuits 1092 12 176.92

GPS_charging 0 0 0.00

Compass 628 17 151.06

RAFOS 0 0 0.00

Transponder 16 30 6.49

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -0.78 -292.0 2806 1799 2325 2233 0.0 0.0 0 65 0.00 0.00 -37.80 0.000 16386 0.000 0.000 2806 1798 3287 3308 3267 0 0 0 0 0 0 15.08 28.83 15.09

69 -0.78 -292.0 2806 1798 3308 3268 3.1 -6.5 7 92 1.30 0.00 -17.77 0.000 20998 0.076 0.000 2524 1798 3893 3912 3874 0 0 0 0 0 0 14.81 13.43 14.85

157 -0.78 -292.0 2521 1798 3913 3874 12.4 -12.2 23 164 0.00 2.42 0.00 0.000 4356 0.000 0.051 2521 3216 3893 3913 3874 0 0 0 0 0 0 15.10 14.85 15.11

202 -0.78 -292.0 2521 3216 3914 3880 17.5 -10.3 31 209 0.00 2.38 0.00 0.000 5126 0.000 0.039 2521 1802 3893 3913 3874 0 0 0 0 0 0 14.97 14.87 14.99

275 -0.78 -292.0 2521 1802 3914 3874 25.1 -11.5 44 281 0.00 0.00 0.00 0.000 4102 0.000 0.000 2521 1802 3895 3917 3874 0 0 0 0 0 0 15.11 15.11 15.11

344 -0.78 -292.0 2519 1802 3913 3874 33.7 -11.5 57 351 0.00 2.40 0.00 0.000 4356 0.000 0.053 2518 3207 3893 3913 3874 0 0 0 0 0 0 15.11 14.85 15.11

374 -0.78 -292.0 2520 3207 3914 3874 36.9 -11.8 62 381 0.00 2.33 0.00 0.000 5126 0.000 0.041 2521 1809 3894 3914 3874 0 0 0 0 0 0 14.97 14.87 14.98

446 -0.78 -292.0 2520 1809 3913 3874 43.9 -9.3 75 452 0.00 0.00 0.00 0.000 4102 0.000 0.000 2521 1809 3893 3913 3874 0 0 0 0 0 0 15.11 15.11 15.11

515 -0.78 -292.0 2520 1809 3913 3874 51.3 -10.0 88 521 0.00 0.00 0.00 0.000 4102 0.000 0.000 2524 1809 3893 3913 3874 0 0 0 0 0 0 15.11 15.12 15.11

584 -0.78 -292.0 2521 1809 3914 3874 58.0 -8.7 101 590 0.00 0.00 0.00 0.000 4102 0.000 0.000 2521 1809 3893 3913 3874 0 0 0 0 0 0 15.11 15.11 15.11

657 -0.78 -292.0 2521 1809 3914 3874 63.3 -8.1 114 663 0.00 0.00 0.00 0.000 4102 0.000 0.000 2520 1809 3893 3914 3873 0 0 0 0 0 0 15.11 15.11 15.11

728 -0.78 -292.0 2521 1808 3914 3873 69.1 -7.9 127 734 0.00 0.00 0.00 0.000 4102 0.000 0.000 2521 1806 3894 3914 3874 0 0 0 0 0 0 15.09 15.09 15.09

799 -0.78 -292.0 2520 1807 3914 3874 74.0 -6.6 140 805 0.00 0.00 0.00 0.000 4102 0.000 0.000 2521 1807 3894 3914 3874 0 0 0 0 0 0 15.09 15.09 15.09

870 -0.78 -292.0 2518 1807 3914 3874 80.6 -9.4 153 877 0.00 2.40 0.00 0.000 4356 0.000 0.054 2521 3212 3894 3914 3874 0 0 0 0 0 0 15.11 14.72 15.11

916 -0.78 -292.0 2521 3212 3914 3874 84.0 -7.3 161 922 0.00 2.33 0.00 0.000 5126 0.000 0.037 2521 1812 3894 3914 3874 0 0 0 0 0 0 14.90 14.79 14.91

990 -0.78 -292.0 2520 1811 3914 3874 89.7 -8.5 174 996 0.00 2.40 0.00 0.000 4612 0.000 0.063 2521 413 3894 3914 3874 0 0 0 0 0 0 15.11 14.70 15.11

1015 -0.78 -292.0 2520 413 3913 3873 92.1 -8.6 178 1021 0.00 2.30 0.00 0.000 5126 0.000 0.031 2521 1824 3894 3914 3874 0 0 0 0 0 0 14.83 14.76 14.84

1087 -0.78 -292.0 2521 1826 3914 3874 96.7 -4.3 191 1094 0.00 2.35 0.00 0.000 4356 0.000 0.053 2521 3216 3894 3914 3874 0 0 0 0 0 0 15.11 14.83 15.11

1138 -0.78 -292.0 2521 3216 3914 3874 100.6 -8.9 200 1145 0.00 2.33 0.00 0.000 5126 0.000 0.037 2521 1809 3894 3914 3874 0 0 0 0 0 0 14.97 14.87 14.98

1150 end dive: BOTTOM_OBSTACLE_DETECTED

state 1150 begin apogee

1157 -0.17 0.0 2521 1809 3913 3874 102.0 -9.4 202 1380 0.90 0.00 214.38 1.072 10246 0.126 0.000 2702 1808 2698 2736 2661 0 0 0 0 0 0 14.60 14.41 13.88

1382 end apogee: CONTROL_FINISHED_OK

state 1382 begin climb

1385 0.78 292.0 2702 1808 2734 2659 115.9 0.0 242 1621 1.45 2.53 223.85 1.050 10756 0.069 0.068 3017 403 1510 1557 1464 0 0 0 0 0 0 14.42 14.23 13.85

1645 0.78 292.0 3016 403 1553 1464 98.2 14.2 287 1652 0.00 2.35 0.00 0.000 5126 0.000 0.031 3017 1803 1507 1552 1463 0 0 0 0 0 0 14.59 14.52 14.60

1717 0.78 292.0 3017 1806 1551 1459 87.8 15.8 300 1724 0.00 2.38 0.00 0.000 4356 0.000 0.043 3017 3202 1506 1551 1461 0 0 0 0 0 0 14.85 14.64 14.85

1752 0.78 292.0 3017 3202 1550 1461 81.4 15.1 306 1759 0.00 2.40 0.00 0.000 5126 0.000 0.049 3018 1808 1505 1549 1462 0 0 0 0 0 0 14.78 14.67 14.79

1824 0.78 292.0 3017 1808 1554 1460 69.7 18.3 319 1831 0.00 2.47 0.00 0.000 4612 0.000 0.070 3020 391 1505 1550 1460 0 0 0 0 0 0 14.94 14.70 14.93

1854 0.78 292.0 3020 391 1549 1460 64.3 16.3 324 1861 0.00 2.33 0.00 0.000 5126 0.000 0.030 3019 1806 1504 1549 1460 0 0 0 0 0 0 14.86 14.79 14.87

1927 0.78 292.0 3020 1809 1549 1459 54.0 13.8 337 1934 0.00 2.33 0.00 0.000 4356 0.000 0.045 3020 3194 1504 1549 1459 0 0 0 0 0 0 15.01 14.73 15.01

1947 0.78 292.0 3020 3194 1548 1459 50.3 16.4 340 1954 0.00 2.40 0.00 0.000 5126 0.000 0.052 3021 1794 1504 1549 1459 0 0 0 0 0 0 14.85 14.73 14.86

2019 0.78 292.0 3020 1793 1548 1459 40.9 13.0 353 2026 0.00 2.45 0.00 0.000 4612 0.000 0.070 3021 389 1503 1548 1459 0 0 0 0 0 0 15.02 14.77 15.01

2044 0.78 292.0 3020 389 1548 1459 37.7 11.3 357 2051 0.00 2.30 0.00 0.000 5126 0.000 0.031 3021 1796 1503 1548 1458 0 0 0 0 0 0 14.92 14.85 14.94

2116 0.78 292.0 3020 1799 1548 1458 29.1 13.2 370 2123 0.00 2.35 0.00 0.000 4356 0.000 0.047 3021 3195 1503 1548 1459 0 0 0 0 0 0 15.05 14.77 15.05

2147 0.78 292.0 3021 3195 1551 1458 25.4 11.1 375 2153 0.00 2.38 0.00 0.000 5126 0.000 0.050 3021 1799 1503 1548 1458 0 0 0 0 0 0 14.88 14.78 14.90

2219 0.78 292.0 3021 1798 1548 1458 17.4 11.7 388 2225 0.00 2.35 0.00 0.000 4356 0.000 0.045 3021 3198 1502 1547 1458 0 0 0 0 0 0 15.04 14.83 15.05

2273 0.78 292.0 3021 3198 1548 1457 11.4 10.5 398 2280 0.00 2.40 0.00 0.000 5126 0.000 0.050 3021 1792 1502 1548 1457 0 0 0 0 0 0 14.95 14.83 14.96

2346 0.78 292.0 3021 1792 1548 1457 4.0 11.1 411 2353 0.00 2.42 0.00 0.000 4612 0.000 0.069 3021 389 1501 1548 1455 0 0 0 0 0 0 15.07 14.70 15.08

2358 end climb: SURFACE_DEPTH_REACHED

state 2358 begin surface coast

2373 end surface coast: CONTROL_FINISHED_OK

state 2374 begin surface

ID	574	HD_C	9.8500004e-06	C_ROLL_DIVE	1812	ALTIM_BOTTOM_TURN_MARGIN	20
MISSION	3	HEADING	310	C_ROLL_CLIMB	1800	ALTIM_TOP_TURN_MARGIN	0
DIVE	569	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	31	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	300	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	230419,180901,-3417.7664,2523.8237,8,0.8,28,-27.7,0.5,160.5,11,6.6	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3410.825,2513.824
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	2.03	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	1.2	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	230419,180901,-3417.7664,2523.8237,8,0.8,28,-27.7,0.5,160.5,11,6.6	MHEAD_RNG_PITCHd_Wd	337.7,20000,-12.6,-10.010,-15.87,4448
SPEED_LIMITS	0.173,0.352	D_GRID	1000

FINISH	1.1,1.025455	_24V_AH	13.43,163.839
SM_CCo	2402,153.48,0.802,0,0,598,515.37	_10V_AH	13.37,0.000
SM_GC	0.93,13.55,2.38,153.48,0.043,0.032,0.802,126,1804,598,-8.17,-1.47,515.37,0,0,0,0,0,0,14.89,14.88,14.09	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3406.89,2405.70,230419,163109	FG_AHR_10Vo	0.000
TT8_MAMPS	0.020972,0.871087	MEM	341064
HUMID	45.23	DATA_FILE_SIZE	10126,416
INTERNAL_PRESSURE	9.2928	CAP_FILE_SIZE	80413,0
TCM_TEMP	19.00	CFSIZE	2097086464,1988067328
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_BOTTOM_PING	85.1,35.8	GPS	230419,193015,-3417.449,2522.124,8,1.0,15,-27.7,0.0,245.6,9,10.0
SC_FREEKB	3624352

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	126	29.16	nil	0	0	0.00
Roll_motor	61	70	58.44	nil	0	0	0.00
VBD_pump_during_apogee	438	1071	6307.72	nil	0	0	0.00
VBD_pump_during_surface	153	802	1654.06	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	2425	36	1176.93
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	12.69	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	821	9	105.52
LPSleep	337	2	9.88
TT8_Active	641	9	82.45
TT8_Sampling	722	28	273.62
TT8_CF8	183	36	89.50
TT8_Kalman	0	0	0.00
Analog_circuits	1092	12	176.92
GPS_charging	0	0	0.00
Compass	628	17	151.06
RAFOS	0	0	0.00
Transponder	16	30	6.49

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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-0.78	-292.0	2806	1799	2325	2233	0.0	0.0	0	65	0.00	0.00	-37.80	0.000	16386	0.000	0.000	2806	1798	3287	3308	3267	0	0	0	0	0	0	15.08	28.83	15.09
69	-0.78	-292.0	2806	1798	3308	3268	3.1	-6.5	7	92	1.30	0.00	-17.77	0.000	20998	0.076	0.000	2524	1798	3893	3912	3874	0	0	0	0	0	0	14.81	13.43	14.85
157	-0.78	-292.0	2521	1798	3913	3874	12.4	-12.2	23	164	0.00	2.42	0.00	0.000	4356	0.000	0.051	2521	3216	3893	3913	3874	0	0	0	0	0	0	15.10	14.85	15.11
202	-0.78	-292.0	2521	3216	3914	3880	17.5	-10.3	31	209	0.00	2.38	0.00	0.000	5126	0.000	0.039	2521	1802	3893	3913	3874	0	0	0	0	0	0	14.97	14.87	14.99
275	-0.78	-292.0	2521	1802	3914	3874	25.1	-11.5	44	281	0.00	0.00	0.00	0.000	4102	0.000	0.000	2521	1802	3895	3917	3874	0	0	0	0	0	0	15.11	15.11	15.11
344	-0.78	-292.0	2519	1802	3913	3874	33.7	-11.5	57	351	0.00	2.40	0.00	0.000	4356	0.000	0.053	2518	3207	3893	3913	3874	0	0	0	0	0	0	15.11	14.85	15.11
374	-0.78	-292.0	2520	3207	3914	3874	36.9	-11.8	62	381	0.00	2.33	0.00	0.000	5126	0.000	0.041	2521	1809	3894	3914	3874	0	0	0	0	0	0	14.97	14.87	14.98
446	-0.78	-292.0	2520	1809	3913	3874	43.9	-9.3	75	452	0.00	0.00	0.00	0.000	4102	0.000	0.000	2521	1809	3893	3913	3874	0	0	0	0	0	0	15.11	15.11	15.11
515	-0.78	-292.0	2520	1809	3913	3874	51.3	-10.0	88	521	0.00	0.00	0.00	0.000	4102	0.000	0.000	2524	1809	3893	3913	3874	0	0	0	0	0	0	15.11	15.12	15.11
584	-0.78	-292.0	2521	1809	3914	3874	58.0	-8.7	101	590	0.00	0.00	0.00	0.000	4102	0.000	0.000	2521	1809	3893	3913	3874	0	0	0	0	0	0	15.11	15.11	15.11
657	-0.78	-292.0	2521	1809	3914	3874	63.3	-8.1	114	663	0.00	0.00	0.00	0.000	4102	0.000	0.000	2520	1809	3893	3914	3873	0	0	0	0	0	0	15.11	15.11	15.11
728	-0.78	-292.0	2521	1808	3914	3873	69.1	-7.9	127	734	0.00	0.00	0.00	0.000	4102	0.000	0.000	2521	1806	3894	3914	3874	0	0	0	0	0	0	15.09	15.09	15.09
799	-0.78	-292.0	2520	1807	3914	3874	74.0	-6.6	140	805	0.00	0.00	0.00	0.000	4102	0.000	0.000	2521	1807	3894	3914	3874	0	0	0	0	0	0	15.09	15.09	15.09
870	-0.78	-292.0	2518	1807	3914	3874	80.6	-9.4	153	877	0.00	2.40	0.00	0.000	4356	0.000	0.054	2521	3212	3894	3914	3874	0	0	0	0	0	0	15.11	14.72	15.11
916	-0.78	-292.0	2521	3212	3914	3874	84.0	-7.3	161	922	0.00	2.33	0.00	0.000	5126	0.000	0.037	2521	1812	3894	3914	3874	0	0	0	0	0	0	14.90	14.79	14.91
990	-0.78	-292.0	2520	1811	3914	3874	89.7	-8.5	174	996	0.00	2.40	0.00	0.000	4612	0.000	0.063	2521	413	3894	3914	3874	0	0	0	0	0	0	15.11	14.70	15.11
1015	-0.78	-292.0	2520	413	3913	3873	92.1	-8.6	178	1021	0.00	2.30	0.00	0.000	5126	0.000	0.031	2521	1824	3894	3914	3874	0	0	0	0	0	0	14.83	14.76	14.84
1087	-0.78	-292.0	2521	1826	3914	3874	96.7	-4.3	191	1094	0.00	2.35	0.00	0.000	4356	0.000	0.053	2521	3216	3894	3914	3874	0	0	0	0	0	0	15.11	14.83	15.11
1138	-0.78	-292.0	2521	3216	3914	3874	100.6	-8.9	200	1145	0.00	2.33	0.00	0.000	5126	0.000	0.037	2521	1809	3894	3914	3874	0	0	0	0	0	0	14.97	14.87	14.98
1150	end dive: BOTTOM_OBSTACLE_DETECTED
state	1150	begin apogee
1157	-0.17	0.0	2521	1809	3913	3874	102.0	-9.4	202	1380	0.90	0.00	214.38	1.072	10246	0.126	0.000	2702	1808	2698	2736	2661	0	0	0	0	0	0	14.60	14.41	13.88
1382	end apogee: CONTROL_FINISHED_OK
state	1382	begin climb
1385	0.78	292.0	2702	1808	2734	2659	115.9	0.0	242	1621	1.45	2.53	223.85	1.050	10756	0.069	0.068	3017	403	1510	1557	1464	0	0	0	0	0	0	14.42	14.23	13.85
1645	0.78	292.0	3016	403	1553	1464	98.2	14.2	287	1652	0.00	2.35	0.00	0.000	5126	0.000	0.031	3017	1803	1507	1552	1463	0	0	0	0	0	0	14.59	14.52	14.60
1717	0.78	292.0	3017	1806	1551	1459	87.8	15.8	300	1724	0.00	2.38	0.00	0.000	4356	0.000	0.043	3017	3202	1506	1551	1461	0	0	0	0	0	0	14.85	14.64	14.85
1752	0.78	292.0	3017	3202	1550	1461	81.4	15.1	306	1759	0.00	2.40	0.00	0.000	5126	0.000	0.049	3018	1808	1505	1549	1462	0	0	0	0	0	0	14.78	14.67	14.79
1824	0.78	292.0	3017	1808	1554	1460	69.7	18.3	319	1831	0.00	2.47	0.00	0.000	4612	0.000	0.070	3020	391	1505	1550	1460	0	0	0	0	0	0	14.94	14.70	14.93
1854	0.78	292.0	3020	391	1549	1460	64.3	16.3	324	1861	0.00	2.33	0.00	0.000	5126	0.000	0.030	3019	1806	1504	1549	1460	0	0	0	0	0	0	14.86	14.79	14.87
1927	0.78	292.0	3020	1809	1549	1459	54.0	13.8	337	1934	0.00	2.33	0.00	0.000	4356	0.000	0.045	3020	3194	1504	1549	1459	0	0	0	0	0	0	15.01	14.73	15.01
1947	0.78	292.0	3020	3194	1548	1459	50.3	16.4	340	1954	0.00	2.40	0.00	0.000	5126	0.000	0.052	3021	1794	1504	1549	1459	0	0	0	0	0	0	14.85	14.73	14.86
2019	0.78	292.0	3020	1793	1548	1459	40.9	13.0	353	2026	0.00	2.45	0.00	0.000	4612	0.000	0.070	3021	389	1503	1548	1459	0	0	0	0	0	0	15.02	14.77	15.01
2044	0.78	292.0	3020	389	1548	1459	37.7	11.3	357	2051	0.00	2.30	0.00	0.000	5126	0.000	0.031	3021	1796	1503	1548	1458	0	0	0	0	0	0	14.92	14.85	14.94
2116	0.78	292.0	3020	1799	1548	1458	29.1	13.2	370	2123	0.00	2.35	0.00	0.000	4356	0.000	0.047	3021	3195	1503	1548	1459	0	0	0	0	0	0	15.05	14.77	15.05
2147	0.78	292.0	3021	3195	1551	1458	25.4	11.1	375	2153	0.00	2.38	0.00	0.000	5126	0.000	0.050	3021	1799	1503	1548	1458	0	0	0	0	0	0	14.88	14.78	14.90
2219	0.78	292.0	3021	1798	1548	1458	17.4	11.7	388	2225	0.00	2.35	0.00	0.000	4356	0.000	0.045	3021	3198	1502	1547	1458	0	0	0	0	0	0	15.04	14.83	15.05
2273	0.78	292.0	3021	3198	1548	1457	11.4	10.5	398	2280	0.00	2.40	0.00	0.000	5126	0.000	0.050	3021	1792	1502	1548	1457	0	0	0	0	0	0	14.95	14.83	14.96
2346	0.78	292.0	3021	1792	1548	1457	4.0	11.1	411	2353	0.00	2.42	0.00	0.000	4612	0.000	0.069	3021	389	1501	1548	1455	0	0	0	0	0	0	15.07	14.70	15.08
2358	end climb: SURFACE_DEPTH_REACHED
state	2358	begin surface coast
2373	end surface coast: CONTROL_FINISHED_OK
state	2374	begin surface