Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 81 * 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 0 C_ROLL_CLIMB 1800 ALTIM_TOP_TURN_MARGIN 0

DIVE 81 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 55 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 0 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 55 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 81 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 200319,234655,-2951.7905,3112.6497,7,0.9,38,-24.9,0.9,33.3,9,5.2 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -2956.268,3124.009

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.80 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -64.2 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 200319,235347,-2951.7407,3112.6953,6,0.9,15,-24.9,0.5,87.7,9,9.6 MHEAD_RNG_PITCHd_Wd 139.7,20000,-23.0,-9.980,-25.43,1422

SPEED_LIMITS 0.173,0.210 D_GRID 500

Post-dive calculations and measurements:

FINISH 0.4,1.023952 _24V_AH 14.01,50.344

SM_CCo 2997,175.48,0.790,0,0,597,515.37 _10V_AH 14.01,0.000

SM_GC 0.77,13.62,2.35,175.48,0.042,0.040,0.790,120,1803,597,-8.18,-1.44,515.37,0,0,0,0,0,0,14.97,14.95,14.23 FG_AHR_24Vo 0.000

IRIDIUM_FIX -2940.11,3111.04,200319,225311 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.919023 MEM 340864

HUMID 41.96 DATA_FILE_SIZE 13439,548

INTERNAL_PRESSURE 9.50764 CAP_FILE_SIZE 104842,0

TCM_TEMP 21.50 CFSIZE 2097086464,2079784960

XPDR_PINGS 17 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

ALTIM_BOTTOM_PING 145.5,32.7 CURRENT 0.057,42.41,1

SC_FREEKB 3880928 GPS 210319,004756,-2951.812,3113.015,7,1.1,17,-24.9,0.4,239.1,8,9.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 292 123.95 nil 0 0 0.00

Roll_motor 74 71 74.56 nil 0 0 0.00

VBD_pump_during_apogee 237 969 3231.53 nil 0 0 0.00

VBD_pump_during_surface 175 790 1942.74 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 16 5.45 nil 0 0 0.00

Iridium_during_connect 16 160 37.91 SciCon 3018 36 1558.01

Iridium_during_xfer 203 223 636.17 nil 0 0 0.00

Transponder_ping 9 420 55.90 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 11 2.73

TT8 1259 9 169.58

LPSleep 472 2 14.49

TT8_Active 574 9 77.38

TT8_Sampling 1202 28 477.38

TT8_CF8 88 36 45.41

TT8_Kalman 0 0 0.00

Analog_circuits 1074 12 182.31

GPS_charging 0 0 0.00

Compass 831 17 209.40

RAFOS 0 0 0.00

Transponder 34 30 14.49

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

19 -0.88 -92.5 74 1818 628 547 0.0 0.0 0 111 0.00 0.00 -88.90 0.000 16386 0.000 0.000 68 1818 2960 2934 2986 0 0 0 0 0 0 15.08 28.83 15.09

114 -0.88 -92.5 68 1818 2934 2986 3.6 -6.7 16 140 13.73 2.33 -2.12 0.000 18692 0.292 0.071 2458 3208 3081 3071 3091 0 0 0 0 0 0 14.74 14.01 14.95

328 -0.88 -92.5 2458 3208 3072 3088 51.8 -15.0 57 336 0.08 2.30 0.00 0.000 3078 0.271 0.046 2473 1807 3080 3073 3087 0 0 0 0 0 0 14.89 14.98 15.02

398 -0.88 -92.5 2472 1807 3074 3086 60.3 -9.8 70 405 0.00 2.33 0.00 0.000 2308 0.000 0.052 2465 3212 3080 3074 3086 0 0 0 0 0 0 15.18 15.00 15.19

492 -0.88 -92.5 2465 3213 3071 3086 71.8 -13.3 88 499 0.00 2.30 0.00 0.000 3078 0.000 0.044 2465 1804 3080 3075 3086 0 0 0 0 0 0 15.09 15.01 15.11

561 -0.88 -92.5 2464 1804 3076 3086 81.3 -14.3 101 568 0.00 2.33 0.00 0.000 2308 0.000 0.050 2456 3213 3081 3076 3086 0 0 0 0 0 0 15.21 15.01 15.22

615 -0.88 -92.5 2456 3213 3076 3086 88.5 -12.0 111 623 0.08 2.30 0.00 0.000 3078 0.267 0.047 2472 1813 3081 3076 3086 0 0 0 0 0 0 14.92 15.00 15.04

685 -0.88 -92.5 2471 1813 3076 3086 97.0 -12.0 124 690 0.00 0.00 0.00 0.000 2054 0.000 0.000 2472 1813 3081 3077 3085 0 0 0 0 0 0 15.22 15.22 15.22

754 -0.88 -92.5 2471 1813 3076 3086 106.6 -13.4 137 761 0.00 2.35 0.00 0.000 2564 0.000 0.063 2472 404 3081 3077 3086 0 0 0 0 0 0 15.22 14.97 15.23

804 -0.88 -92.5 2472 403 3076 3085 114.1 -14.8 146 811 0.00 2.25 0.00 0.000 3078 0.000 0.037 2469 1800 3080 3076 3085 0 0 0 0 0 0 15.07 15.04 15.08

875 -0.88 -92.5 2471 1803 3077 3085 123.2 -10.7 159 880 0.00 0.00 0.00 0.000 2054 0.000 0.000 2471 1803 3081 3077 3085 0 0 0 0 0 0 15.23 15.23 15.23

944 -0.88 -92.5 2471 1803 3077 3085 130.4 -13.2 172 951 0.00 2.33 0.00 0.000 2564 0.000 0.060 2471 406 3081 3077 3085 0 0 0 0 0 0 15.23 14.98 15.24

1013 -0.88 -92.5 2470 407 3077 3085 142.2 -17.6 185 1020 0.00 2.30 0.00 0.000 3078 0.000 0.040 2470 1819 3080 3077 3084 0 0 0 0 0 0 15.13 15.05 15.14

1084 -0.88 -92.5 2470 1821 3077 3085 152.7 -13.7 198 1090 0.00 0.00 0.00 0.000 2054 0.000 0.000 2470 1821 3081 3077 3085 0 0 0 0 0 0 15.23 15.24 15.23

1152 -0.88 -92.5 2470 1821 3077 3085 161.9 -12.6 211 1159 0.00 2.30 0.00 0.000 2308 0.000 0.054 2461 3226 3079 3077 3082 0 0 0 0 0 0 15.24 15.04 15.25

1210 end dive: BOTTOM_OBSTACLE_DETECTED

state 1210 begin apogee

1216 -0.17 0.0 2461 1800 3077 3084 168.7 -11.3 222 1291 1.20 0.00 68.45 0.968 10246 0.167 0.000 2698 1800 2699 2712 2686 0 0 0 0 0 0 14.92 14.73 14.31

1294 end apogee: CONTROL_FINISHED_OK

state 1294 begin climb

1295 0.88 92.5 2699 1800 2712 2686 170.8 0.0 235 1376 1.50 0.00 72.50 0.969 10246 0.080 0.000 3027 1800 2322 2342 2302 0 0 0 0 0 0 14.74 14.50 14.19

1438 0.88 92.5 3027 1800 2338 2298 160.4 11.5 260 1444 0.00 2.38 0.00 0.000 2308 0.000 0.050 3027 3213 2317 2337 2297 0 0 0 0 0 0 14.94 14.75 14.94

1477 0.88 92.5 3027 3213 2334 2296 155.6 11.1 267 1483 0.00 2.38 0.00 0.000 3078 0.000 0.046 3030 1793 2315 2334 2297 0 0 0 0 0 0 14.87 14.78 14.88

1545 0.88 92.5 3030 1793 2333 2297 148.5 10.1 280 1552 0.00 2.35 0.00 0.000 2308 0.000 0.050 3030 3209 2314 2333 2296 0 0 0 0 0 0 15.05 14.82 15.05

1599 0.89 97.9 3030 3209 2332 2296 143.4 9.6 290 1613 0.00 2.35 4.50 0.640 11270 0.000 0.050 3033 1800 2300 2319 2282 0 0 0 0 0 0 14.98 14.90 14.45

1675 0.89 104.5 3033 1800 2319 2281 136.5 9.5 304 1688 0.00 2.45 7.03 0.751 10756 0.000 0.067 3033 393 2273 2292 2254 0 0 0 0 0 0 15.11 14.88 14.42

1769 0.89 104.5 3033 392 2290 2253 128.2 10.6 322 1777 0.00 2.30 0.00 0.000 3078 0.000 0.036 3033 1818 2271 2289 2253 0 0 0 0 0 0 15.02 14.95 15.04

1841 0.94 140.2 3033 1818 2290 2252 122.9 7.4 335 1877 0.00 2.45 29.45 0.913 10756 0.000 0.067 3033 389 2124 2147 2102 0 0 0 0 0 0 15.15 14.75 14.42

1939 0.94 140.2 3033 389 2144 2099 113.4 12.7 353 1946 0.00 2.30 0.00 0.000 3078 0.000 0.037 3033 1803 2121 2144 2098 0 0 0 0 0 0 14.97 14.90 14.99

2008 0.94 140.2 3033 1805 2143 2096 103.9 15.7 366 2015 0.00 2.40 0.00 0.000 2564 0.000 0.068 3033 391 2119 2143 2095 0 0 0 0 0 0 15.11 14.90 15.11

2032 0.94 140.2 3034 391 2143 2095 100.0 16.0 370 2039 0.00 2.30 0.00 0.000 3078 0.000 0.036 3033 1813 2119 2143 2095 0 0 0 0 0 0 15.00 14.92 15.01

2102 0.94 140.2 3033 1813 2142 2094 89.1 15.4 383 2109 0.00 2.40 0.00 0.000 2564 0.000 0.069 3033 399 2118 2143 2094 0 0 0 0 0 0 15.15 14.93 15.16

2130 0.94 140.2 3033 398 2141 2094 84.7 16.6 388 2137 0.00 2.28 0.00 0.000 3078 0.000 0.037 3033 1808 2117 2141 2094 0 0 0 0 0 0 15.00 14.93 15.01

2199 0.94 140.2 3033 1810 2141 2094 76.0 12.2 401 2206 0.00 2.28 0.00 0.000 2308 0.000 0.051 3033 3205 2116 2140 2093 0 0 0 0 0 0 15.16 14.97 15.17

2258 0.94 140.2 3033 3205 2139 2093 69.8 10.0 412 2265 0.00 2.35 0.00 0.000 3078 0.000 0.050 3034 1796 2116 2139 2093 0 0 0 0 0 0 15.07 14.99 15.09

2327 0.94 140.6 3036 1796 2139 2093 62.5 10.0 425 2334 0.00 2.33 0.00 0.000 2308 0.000 0.052 3037 3200 2115 2138 2093 0 0 0 0 0 0 15.19 14.99 15.20

2616 0.98 175.2 3037 3205 2136 2092 37.8 7.5 482 2649 0.08 2.33 26.40 0.842 11270 0.203 0.049 3066 1798 1985 2012 1958 0 0 0 0 0 0 14.97 15.01 14.47

2711 1.00 186.3 3065 1798 2009 1954 28.2 9.2 499 2729 0.00 2.35 9.60 0.731 10500 0.000 0.050 3065 3195 1938 1967 1909 0 0 0 0 0 0 15.14 14.87 14.51

2747 1.01 199.8 3065 3195 1966 1909 25.3 9.0 505 2761 0.00 2.33 8.45 0.894 11270 0.000 0.050 3074 1802 1884 1914 1855 0 0 0 0 0 0 14.98 14.92 14.39

2824 1.04 219.3 3072 1802 1913 1857 19.1 8.6 519 2842 0.00 2.40 11.60 0.884 10756 0.000 0.070 3074 398 1806 1837 1775 0 0 0 0 0 0 15.11 14.78 14.42

2952 end climb: SURFACE_DEPTH_REACHED

state 2952 begin surface coast

2973 end surface coast: CONTROL_FINISHED_OK

state 2974 begin surface

ID	574	HD_C	9.8500004e-06	C_ROLL_DIVE	1812	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	3	HEADING	0	C_ROLL_CLIMB	1800	ALTIM_TOP_TURN_MARGIN	0
DIVE	81	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	55	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	200319,234655,-2951.7905,3112.6497,7,0.9,38,-24.9,0.9,33.3,9,5.2	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-2956.268,3124.009
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.80	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-64.2	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	200319,235347,-2951.7407,3112.6953,6,0.9,15,-24.9,0.5,87.7,9,9.6	MHEAD_RNG_PITCHd_Wd	139.7,20000,-23.0,-9.980,-25.43,1422
SPEED_LIMITS	0.173,0.210	D_GRID	500

FINISH	0.4,1.023952	_24V_AH	14.01,50.344
SM_CCo	2997,175.48,0.790,0,0,597,515.37	_10V_AH	14.01,0.000
SM_GC	0.77,13.62,2.35,175.48,0.042,0.040,0.790,120,1803,597,-8.18,-1.44,515.37,0,0,0,0,0,0,14.97,14.95,14.23	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-2940.11,3111.04,200319,225311	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.919023	MEM	340864
HUMID	41.96	DATA_FILE_SIZE	13439,548
INTERNAL_PRESSURE	9.50764	CAP_FILE_SIZE	104842,0
TCM_TEMP	21.50	CFSIZE	2097086464,2079784960
XPDR_PINGS	17	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	145.5,32.7	CURRENT	0.057,42.41,1
SC_FREEKB	3880928	GPS	210319,004756,-2951.812,3113.015,7,1.1,17,-24.9,0.4,239.1,8,9.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	292	123.95	nil	0	0	0.00
Roll_motor	74	71	74.56	nil	0	0	0.00
VBD_pump_during_apogee	237	969	3231.53	nil	0	0	0.00
VBD_pump_during_surface	175	790	1942.74	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	16	5.45	nil	0	0	0.00
Iridium_during_connect	16	160	37.91	SciCon	3018	36	1558.01
Iridium_during_xfer	203	223	636.17	nil	0	0	0.00
Transponder_ping	9	420	55.90	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	11	2.73
TT8	1259	9	169.58
LPSleep	472	2	14.49
TT8_Active	574	9	77.38
TT8_Sampling	1202	28	477.38
TT8_CF8	88	36	45.41
TT8_Kalman	0	0	0.00
Analog_circuits	1074	12	182.31
GPS_charging	0	0	0.00
Compass	831	17	209.40
RAFOS	0	0	0.00
Transponder	34	30	14.49

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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
19	-0.88	-92.5	74	1818	628	547	0.0	0.0	0	111	0.00	0.00	-88.90	0.000	16386	0.000	0.000	68	1818	2960	2934	2986	0	0	0	0	0	0	15.08	28.83	15.09
114	-0.88	-92.5	68	1818	2934	2986	3.6	-6.7	16	140	13.73	2.33	-2.12	0.000	18692	0.292	0.071	2458	3208	3081	3071	3091	0	0	0	0	0	0	14.74	14.01	14.95
328	-0.88	-92.5	2458	3208	3072	3088	51.8	-15.0	57	336	0.08	2.30	0.00	0.000	3078	0.271	0.046	2473	1807	3080	3073	3087	0	0	0	0	0	0	14.89	14.98	15.02
398	-0.88	-92.5	2472	1807	3074	3086	60.3	-9.8	70	405	0.00	2.33	0.00	0.000	2308	0.000	0.052	2465	3212	3080	3074	3086	0	0	0	0	0	0	15.18	15.00	15.19
492	-0.88	-92.5	2465	3213	3071	3086	71.8	-13.3	88	499	0.00	2.30	0.00	0.000	3078	0.000	0.044	2465	1804	3080	3075	3086	0	0	0	0	0	0	15.09	15.01	15.11
561	-0.88	-92.5	2464	1804	3076	3086	81.3	-14.3	101	568	0.00	2.33	0.00	0.000	2308	0.000	0.050	2456	3213	3081	3076	3086	0	0	0	0	0	0	15.21	15.01	15.22
615	-0.88	-92.5	2456	3213	3076	3086	88.5	-12.0	111	623	0.08	2.30	0.00	0.000	3078	0.267	0.047	2472	1813	3081	3076	3086	0	0	0	0	0	0	14.92	15.00	15.04
685	-0.88	-92.5	2471	1813	3076	3086	97.0	-12.0	124	690	0.00	0.00	0.00	0.000	2054	0.000	0.000	2472	1813	3081	3077	3085	0	0	0	0	0	0	15.22	15.22	15.22
754	-0.88	-92.5	2471	1813	3076	3086	106.6	-13.4	137	761	0.00	2.35	0.00	0.000	2564	0.000	0.063	2472	404	3081	3077	3086	0	0	0	0	0	0	15.22	14.97	15.23
804	-0.88	-92.5	2472	403	3076	3085	114.1	-14.8	146	811	0.00	2.25	0.00	0.000	3078	0.000	0.037	2469	1800	3080	3076	3085	0	0	0	0	0	0	15.07	15.04	15.08
875	-0.88	-92.5	2471	1803	3077	3085	123.2	-10.7	159	880	0.00	0.00	0.00	0.000	2054	0.000	0.000	2471	1803	3081	3077	3085	0	0	0	0	0	0	15.23	15.23	15.23
944	-0.88	-92.5	2471	1803	3077	3085	130.4	-13.2	172	951	0.00	2.33	0.00	0.000	2564	0.000	0.060	2471	406	3081	3077	3085	0	0	0	0	0	0	15.23	14.98	15.24
1013	-0.88	-92.5	2470	407	3077	3085	142.2	-17.6	185	1020	0.00	2.30	0.00	0.000	3078	0.000	0.040	2470	1819	3080	3077	3084	0	0	0	0	0	0	15.13	15.05	15.14
1084	-0.88	-92.5	2470	1821	3077	3085	152.7	-13.7	198	1090	0.00	0.00	0.00	0.000	2054	0.000	0.000	2470	1821	3081	3077	3085	0	0	0	0	0	0	15.23	15.24	15.23
1152	-0.88	-92.5	2470	1821	3077	3085	161.9	-12.6	211	1159	0.00	2.30	0.00	0.000	2308	0.000	0.054	2461	3226	3079	3077	3082	0	0	0	0	0	0	15.24	15.04	15.25
1210	end dive: BOTTOM_OBSTACLE_DETECTED
state	1210	begin apogee
1216	-0.17	0.0	2461	1800	3077	3084	168.7	-11.3	222	1291	1.20	0.00	68.45	0.968	10246	0.167	0.000	2698	1800	2699	2712	2686	0	0	0	0	0	0	14.92	14.73	14.31
1294	end apogee: CONTROL_FINISHED_OK
state	1294	begin climb
1295	0.88	92.5	2699	1800	2712	2686	170.8	0.0	235	1376	1.50	0.00	72.50	0.969	10246	0.080	0.000	3027	1800	2322	2342	2302	0	0	0	0	0	0	14.74	14.50	14.19
1438	0.88	92.5	3027	1800	2338	2298	160.4	11.5	260	1444	0.00	2.38	0.00	0.000	2308	0.000	0.050	3027	3213	2317	2337	2297	0	0	0	0	0	0	14.94	14.75	14.94
1477	0.88	92.5	3027	3213	2334	2296	155.6	11.1	267	1483	0.00	2.38	0.00	0.000	3078	0.000	0.046	3030	1793	2315	2334	2297	0	0	0	0	0	0	14.87	14.78	14.88
1545	0.88	92.5	3030	1793	2333	2297	148.5	10.1	280	1552	0.00	2.35	0.00	0.000	2308	0.000	0.050	3030	3209	2314	2333	2296	0	0	0	0	0	0	15.05	14.82	15.05
1599	0.89	97.9	3030	3209	2332	2296	143.4	9.6	290	1613	0.00	2.35	4.50	0.640	11270	0.000	0.050	3033	1800	2300	2319	2282	0	0	0	0	0	0	14.98	14.90	14.45
1675	0.89	104.5	3033	1800	2319	2281	136.5	9.5	304	1688	0.00	2.45	7.03	0.751	10756	0.000	0.067	3033	393	2273	2292	2254	0	0	0	0	0	0	15.11	14.88	14.42
1769	0.89	104.5	3033	392	2290	2253	128.2	10.6	322	1777	0.00	2.30	0.00	0.000	3078	0.000	0.036	3033	1818	2271	2289	2253	0	0	0	0	0	0	15.02	14.95	15.04
1841	0.94	140.2	3033	1818	2290	2252	122.9	7.4	335	1877	0.00	2.45	29.45	0.913	10756	0.000	0.067	3033	389	2124	2147	2102	0	0	0	0	0	0	15.15	14.75	14.42
1939	0.94	140.2	3033	389	2144	2099	113.4	12.7	353	1946	0.00	2.30	0.00	0.000	3078	0.000	0.037	3033	1803	2121	2144	2098	0	0	0	0	0	0	14.97	14.90	14.99
2008	0.94	140.2	3033	1805	2143	2096	103.9	15.7	366	2015	0.00	2.40	0.00	0.000	2564	0.000	0.068	3033	391	2119	2143	2095	0	0	0	0	0	0	15.11	14.90	15.11
2032	0.94	140.2	3034	391	2143	2095	100.0	16.0	370	2039	0.00	2.30	0.00	0.000	3078	0.000	0.036	3033	1813	2119	2143	2095	0	0	0	0	0	0	15.00	14.92	15.01
2102	0.94	140.2	3033	1813	2142	2094	89.1	15.4	383	2109	0.00	2.40	0.00	0.000	2564	0.000	0.069	3033	399	2118	2143	2094	0	0	0	0	0	0	15.15	14.93	15.16
2130	0.94	140.2	3033	398	2141	2094	84.7	16.6	388	2137	0.00	2.28	0.00	0.000	3078	0.000	0.037	3033	1808	2117	2141	2094	0	0	0	0	0	0	15.00	14.93	15.01
2199	0.94	140.2	3033	1810	2141	2094	76.0	12.2	401	2206	0.00	2.28	0.00	0.000	2308	0.000	0.051	3033	3205	2116	2140	2093	0	0	0	0	0	0	15.16	14.97	15.17
2258	0.94	140.2	3033	3205	2139	2093	69.8	10.0	412	2265	0.00	2.35	0.00	0.000	3078	0.000	0.050	3034	1796	2116	2139	2093	0	0	0	0	0	0	15.07	14.99	15.09
2327	0.94	140.6	3036	1796	2139	2093	62.5	10.0	425	2334	0.00	2.33	0.00	0.000	2308	0.000	0.052	3037	3200	2115	2138	2093	0	0	0	0	0	0	15.19	14.99	15.20
2616	0.98	175.2	3037	3205	2136	2092	37.8	7.5	482	2649	0.08	2.33	26.40	0.842	11270	0.203	0.049	3066	1798	1985	2012	1958	0	0	0	0	0	0	14.97	15.01	14.47
2711	1.00	186.3	3065	1798	2009	1954	28.2	9.2	499	2729	0.00	2.35	9.60	0.731	10500	0.000	0.050	3065	3195	1938	1967	1909	0	0	0	0	0	0	15.14	14.87	14.51
2747	1.01	199.8	3065	3195	1966	1909	25.3	9.0	505	2761	0.00	2.33	8.45	0.894	11270	0.000	0.050	3074	1802	1884	1914	1855	0	0	0	0	0	0	14.98	14.92	14.39
2824	1.04	219.3	3072	1802	1913	1857	19.1	8.6	519	2842	0.00	2.40	11.60	0.884	10756	0.000	0.070	3074	398	1806	1837	1775	0	0	0	0	0	0	15.11	14.78	14.42
2952	end climb: SURFACE_DEPTH_REACHED
state	2952	begin surface coast
2973	end surface coast: CONTROL_FINISHED_OK
state	2974	begin surface