Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 316 * 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 125 C_ROLL_CLIMB 1800 ALTIM_TOP_TURN_MARGIN 0

DIVE 316 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 39 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 58 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 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 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 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 125 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 95 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MINV_10V 10 R_PORT_OVSHOOT 39 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 58 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 316 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 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 100419,151301,-3246.9954,2834.4939,9,1.0,33,-27.4,2.0,218.3,8,6.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3253.780,2844.367

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.86 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -64.4 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 100419,152319,-3247.5852,2833.8318,6,1.0,13,-27.4,2.0,242.0,9,9.5 MHEAD_RNG_PITCHd_Wd 152.4,20000,-23.0,-10.010,-25.49,1417

SPEED_LIMITS 0.173,0.210 D_GRID 1000

Post-dive calculations and measurements:

FINISH1 19.9,1.023603,200 _24V_AH 13.76,105.816

FINISH2 17.6 _10V_AH 13.91,0.000

IRIDIUM_FIX -3228.84,2837.65,100419,135052 FG_AHR_24Vo 0.000

TT8_MAMPS 0.020972,0.951979 FG_AHR_10Vo 0.000

HUMID 47.00 MEM 340864

INTERNAL_PRESSURE 9.61506 DATA_FILE_SIZE 20044,700

TCM_TEMP 21.10 CAP_FILE_SIZE 126107,0

XPDR_PINGS 11 CFSIZE 2097086464,2032762880

ALTIM_BOTTOM_PING 200.0,35.8 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

SC_FREEKB 3755552 GPS 100419,152319,-3247.585,2833.832,6,1.0,13,-27.4,2.0,242.0,9,9.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 318 80.90 nil 0 0 0.00

Roll_motor 90 85 106.64 nil 0 0 0.00

VBD_pump_during_apogee 307 1157 4904.15 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 16 5.92 nil 0 0 0.00

Iridium_during_connect 16 160 36.62 SciCon 3871 34 1822.67

Iridium_during_xfer 336 223 1032.93 nil 0 0 0.00

Transponder_ping 10 420 62.13 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 11 2.33

TT8 1501 9 200.65

LPSleep 670 2 20.41

TT8_Active 457 9 61.18

TT8_Sampling 1554 28 612.66

TT8_CF8 266 36 135.85

TT8_Kalman 0 0 0.00

Analog_circuits 1085 12 182.92

GPS_charging 0 0 0.00

Compass 1062 17 265.85

RAFOS 0 0 0.00

Transponder 52 30 21.95

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

21 -0.88 -92.5 54 1804 626 544 0.0 0.0 0 101 0.00 0.00 -76.85 0.000 16386 0.000 0.000 53 1804 2676 2647 2706 0 0 0 0 0 0 15.11 28.83 15.12

104 -0.88 -92.5 53 1804 2648 2705 3.1 -3.2 14 134 13.77 2.35 -7.50 0.000 18948 0.281 0.083 2465 406 3079 3074 3084 0 0 0 0 0 0 14.72 13.77 14.97

247 -0.88 -92.5 2465 406 3075 3084 42.1 -21.2 41 255 0.08 2.25 0.00 0.000 3078 0.296 0.032 2471 1805 3079 3075 3084 0 0 0 0 0 0 14.83 14.99 15.00

317 -0.88 -92.5 2471 1808 3075 3084 54.0 -16.9 54 324 0.00 2.35 0.00 0.000 2564 0.000 0.057 2471 409 3079 3075 3084 0 0 0 0 0 0 15.19 14.97 15.19

397 -0.88 -92.5 2471 408 3076 3084 68.3 -19.0 69 404 0.00 2.28 0.00 0.000 3078 0.000 0.031 2462 1827 3078 3073 3083 0 0 0 0 0 0 15.09 15.02 15.10

468 -0.88 -92.5 2462 1830 3076 3084 79.9 -17.1 82 477 0.00 2.25 0.00 0.000 2308 0.000 0.047 2452 3216 3080 3076 3084 0 0 0 0 0 0 15.21 14.99 15.21

545 -0.88 -92.5 2452 3216 3076 3084 91.4 -13.8 96 553 0.10 2.30 0.00 0.000 3078 0.237 0.040 2472 1805 3080 3076 3084 0 0 0 0 0 0 14.88 14.97 15.04

616 -0.88 -92.5 2471 1804 3077 3083 101.1 -13.0 109 623 0.00 2.33 0.00 0.000 2564 0.000 0.057 2472 408 3080 3078 3083 0 0 0 0 0 0 15.22 15.00 15.23

726 -0.88 -92.5 2472 408 3077 3083 116.2 -13.9 130 733 0.00 2.25 0.00 0.000 3078 0.000 0.031 2464 1824 3080 3077 3083 0 0 0 0 0 0 15.11 15.03 15.13

797 -0.88 -92.5 2463 1827 3077 3083 126.3 -14.5 143 804 0.00 2.38 0.00 0.000 2564 0.000 0.057 2464 401 3079 3076 3083 0 0 0 0 0 0 15.23 15.00 15.23

848 -0.88 -92.5 2463 401 3078 3083 134.9 -15.7 152 856 0.08 2.25 0.00 0.000 3078 0.285 0.030 2468 1814 3079 3077 3082 0 0 0 0 0 0 14.88 15.04 15.04

919 -0.88 -92.5 2468 1817 3077 3083 144.8 -13.0 165 927 0.00 2.28 0.00 0.000 2308 0.000 0.046 2459 3216 3080 3077 3083 0 0 0 0 0 0 15.23 14.95 15.23

994 -0.88 -92.5 2458 3216 3077 3083 154.6 -12.1 179 1002 0.05 2.30 0.00 0.000 3078 0.318 0.039 2469 1802 3080 3077 3083 0 0 0 0 0 0 14.80 14.95 14.98

1065 -0.88 -92.5 2469 1801 3077 3082 163.1 -12.0 192 1071 0.00 0.00 0.00 0.000 2054 0.000 0.000 2470 1801 3080 3077 3083 0 0 0 0 0 0 15.23 15.23 15.24

1135 -0.88 -92.5 2469 1801 3077 3078 171.4 -12.4 205 1141 0.00 0.00 0.00 0.000 2054 0.000 0.000 2469 1801 3079 3077 3082 0 0 0 0 0 0 15.24 15.25 15.24

1205 -0.88 -92.5 2469 1801 3077 3083 180.1 -12.5 218 1212 0.00 2.33 0.00 0.000 2564 0.000 0.057 2469 404 3079 3077 3082 0 0 0 0 0 0 15.24 14.97 15.24

1229 -0.88 -92.5 2469 403 3077 3082 183.4 -12.7 222 1236 0.00 2.25 0.00 0.000 3078 0.000 0.030 2461 1813 3079 3077 3082 0 0 0 0 0 0 15.04 14.97 15.05

1300 -0.88 -92.5 2461 1817 3077 3082 192.7 -12.9 235 1307 0.00 2.38 0.00 0.000 2564 0.000 0.057 2461 402 3079 3076 3082 0 0 0 0 0 0 15.23 14.97 15.24

1324 -0.88 -92.5 2461 401 3077 3082 196.2 -13.9 239 1332 0.08 2.28 0.00 0.000 3078 0.285 0.031 2469 1806 3079 3077 3082 0 0 0 0 0 0 14.80 14.94 14.97

1398 -0.88 -92.5 2468 1809 3076 3081 205.4 -10.5 252 1404 0.00 2.35 0.00 0.000 2564 0.000 0.054 2469 399 3079 3077 3082 0 0 0 0 0 0 15.26 15.02 15.26

1417 -0.88 -92.5 2468 397 3077 3082 207.8 -12.8 255 1424 0.00 2.28 0.00 0.000 3078 0.000 0.031 2460 1827 3079 3077 3081 0 0 0 0 0 0 15.13 15.04 15.14

1487 -0.88 -92.5 2459 1831 3077 3081 215.3 -10.8 268 1494 0.00 2.38 0.00 0.000 2564 0.000 0.050 2460 399 3079 3077 3081 0 0 0 0 0 0 15.26 15.02 15.26

1542 -0.88 -92.5 2459 398 3077 3081 222.1 -14.7 278 1549 0.08 2.28 0.00 0.000 3078 0.286 0.032 2469 1819 3079 3077 3081 0 0 0 0 0 0 14.88 15.05 15.06

1565 end dive: BOTTOM_OBSTACLE_DETECTED

state 1565 begin apogee

1570 -0.17 0.0 2468 1822 3077 3080 225.9 -14.6 282 1648 1.12 0.00 68.90 1.156 10246 0.153 0.000 2695 1823 2699 2718 2681 0 0 0 0 0 0 14.81 14.59 14.20

1651 end apogee: CONTROL_FINISHED_OK

state 1651 begin climb

1653 0.88 92.5 2695 1823 2718 2681 229.3 0.0 296 1739 1.52 2.42 73.95 1.157 10756 0.067 0.056 3043 398 2320 2345 2296 0 0 0 0 0 0 14.74 14.57 14.09

2246 0.88 92.5 3043 398 2333 2290 171.7 10.8 410 2253 0.00 2.28 0.00 0.000 1030 0.000 0.032 3043 1813 2310 2332 2288 0 0 0 0 0 0 15.07 15.00 15.09

2317 0.89 98.2 3043 1814 2332 2287 164.4 9.6 423 2330 0.00 2.40 3.95 0.643 8708 0.000 0.061 3047 401 2299 2324 2274 0 0 0 0 0 0 15.19 14.96 14.37

2408 0.89 98.2 3046 400 2324 2274 154.9 10.6 440 2415 0.00 2.25 0.00 0.000 1030 0.000 0.031 3047 1813 2299 2324 2274 0 0 0 0 0 0 15.08 15.01 15.10

2479 0.90 103.7 3047 1814 2323 2273 148.1 9.6 453 2491 0.00 0.00 6.28 0.946 8198 0.000 0.000 3046 1814 2276 2303 2249 0 0 0 0 0 0 15.21 14.85 14.41

2555 0.93 129.2 3046 1814 2302 2249 141.5 8.2 467 2584 0.00 2.42 21.80 1.082 10756 0.000 0.062 3047 393 2171 2201 2141 0 0 0 0 0 0 15.19 14.78 14.38

2632 0.93 129.2 3047 392 2195 2140 133.8 11.4 481 2639 0.00 2.28 0.00 0.000 3078 0.000 0.031 3047 1803 2167 2196 2139 0 0 0 0 0 0 15.00 14.92 15.02

2703 0.93 129.2 3047 1805 2196 2138 126.7 10.1 494 2710 0.00 2.28 0.00 0.000 2308 0.000 0.046 3047 3195 2166 2195 2138 0 0 0 0 0 0 15.14 14.94 15.14

2716 0.93 129.2 3047 3195 2194 2138 125.1 11.1 496 2723 0.00 2.30 0.00 0.000 3078 0.000 0.044 3050 1802 2167 2195 2140 0 0 0 0 0 0 15.03 14.94 15.05

2787 0.94 143.5 3050 1802 2194 2137 118.2 9.0 509 2805 0.00 2.38 11.35 0.980 10756 0.000 0.063 3054 392 2116 2148 2085 0 0 0 0 0 0 15.15 14.82 14.40

2919 0.95 148.0 3053 394 2145 2084 104.6 9.7 534 2932 0.00 2.25 5.45 0.772 11270 0.000 0.031 3054 1794 2095 2128 2062 0 0 0 0 0 0 14.99 14.92 14.36

2995 0.96 153.3 3053 1794 2127 2062 97.1 9.6 548 3007 0.00 0.00 5.68 0.733 10246 0.000 0.000 3053 1794 2074 2108 2041 0 0 0 0 0 0 15.16 14.77 14.33

3071 0.97 160.7 3053 1794 2107 2040 89.9 9.5 562 3084 0.00 2.42 7.47 0.859 10756 0.000 0.063 3060 393 2044 2079 2010 0 0 0 0 0 0 15.16 14.87 14.39

3143 0.97 160.7 3060 393 2074 2009 82.5 11.1 575 3150 0.00 2.28 0.00 0.000 3078 0.000 0.031 3061 1814 2041 2075 2008 0 0 0 0 0 0 15.04 14.97 15.05

3213 0.97 160.7 3060 1814 2074 2007 75.4 10.3 588 3220 0.00 2.25 0.00 0.000 2308 0.000 0.045 3056 3190 2040 2074 2006 0 0 0 0 0 0 15.17 14.90 15.16

3279 0.98 176.0 3060 3192 2073 2006 69.3 8.9 600 3298 0.00 2.30 13.18 0.957 11270 0.000 0.045 3064 1801 1981 2016 1947 0 0 0 0 0 0 15.00 14.91 14.42

3361 1.02 207.8 3063 1800 2014 1944 61.8 7.7 615 3395 0.00 2.40 25.80 1.008 10756 0.000 0.062 3064 400 1850 1889 1812 0 0 0 0 0 0 15.14 14.81 14.35

3619 1.03 214.9 3063 401 1881 1808 34.0 9.5 665 3631 0.00 2.25 5.88 0.715 11270 0.000 0.031 3064 1798 1821 1860 1783 0 0 0 0 0 0 14.96 14.90 14.37

3695 1.13 294.6 3063 1798 1863 1781 29.3 4.2 679 3763 0.15 2.42 58.25 0.998 10756 0.120 0.065 3125 393 1496 1539 1454 0 0 0 0 0 0 14.95 14.69 14.31

3799 end climb: FINISH_DEPTH_REACHED

state 3799 begin subsurface finish

3808 0.25 200.1 3125 1809 1538 1449 19.9 15.0 698 3822 1.45 2.47 -6.82 0.000 20996 0.175 0.086 2846 400 1888 1934 1843 0 0 0 0 0 0 14.67 13.76 14.87

3823 end subsurface finish: CONTROL_FINISHED_OK

state 3823 begin surface

ID	574	HD_C	9.8500004e-06	C_ROLL_DIVE	1812	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	3	HEADING	125	C_ROLL_CLIMB	1800	ALTIM_TOP_TURN_MARGIN	0
DIVE	316	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	39	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	58	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	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	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	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	100419,151301,-3246.9954,2834.4939,9,1.0,33,-27.4,2.0,218.3,8,6.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3253.780,2844.367
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.86	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-64.4	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	100419,152319,-3247.5852,2833.8318,6,1.0,13,-27.4,2.0,242.0,9,9.5	MHEAD_RNG_PITCHd_Wd	152.4,20000,-23.0,-10.010,-25.49,1417
SPEED_LIMITS	0.173,0.210	D_GRID	1000

FINISH1	19.9,1.023603,200	_24V_AH	13.76,105.816
FINISH2	17.6	_10V_AH	13.91,0.000
IRIDIUM_FIX	-3228.84,2837.65,100419,135052	FG_AHR_24Vo	0.000
TT8_MAMPS	0.020972,0.951979	FG_AHR_10Vo	0.000
HUMID	47.00	MEM	340864
INTERNAL_PRESSURE	9.61506	DATA_FILE_SIZE	20044,700
TCM_TEMP	21.10	CAP_FILE_SIZE	126107,0
XPDR_PINGS	11	CFSIZE	2097086464,2032762880
ALTIM_BOTTOM_PING	200.0,35.8	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
SC_FREEKB	3755552	GPS	100419,152319,-3247.585,2833.832,6,1.0,13,-27.4,2.0,242.0,9,9.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	318	80.90	nil	0	0	0.00
Roll_motor	90	85	106.64	nil	0	0	0.00
VBD_pump_during_apogee	307	1157	4904.15	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	16	5.92	nil	0	0	0.00
Iridium_during_connect	16	160	36.62	SciCon	3871	34	1822.67
Iridium_during_xfer	336	223	1032.93	nil	0	0	0.00
Transponder_ping	10	420	62.13	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	11	2.33
TT8	1501	9	200.65
LPSleep	670	2	20.41
TT8_Active	457	9	61.18
TT8_Sampling	1554	28	612.66
TT8_CF8	266	36	135.85
TT8_Kalman	0	0	0.00
Analog_circuits	1085	12	182.92
GPS_charging	0	0	0.00
Compass	1062	17	265.85
RAFOS	0	0	0.00
Transponder	52	30	21.95

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
21	-0.88	-92.5	54	1804	626	544	0.0	0.0	0	101	0.00	0.00	-76.85	0.000	16386	0.000	0.000	53	1804	2676	2647	2706	0	0	0	0	0	0	15.11	28.83	15.12
104	-0.88	-92.5	53	1804	2648	2705	3.1	-3.2	14	134	13.77	2.35	-7.50	0.000	18948	0.281	0.083	2465	406	3079	3074	3084	0	0	0	0	0	0	14.72	13.77	14.97
247	-0.88	-92.5	2465	406	3075	3084	42.1	-21.2	41	255	0.08	2.25	0.00	0.000	3078	0.296	0.032	2471	1805	3079	3075	3084	0	0	0	0	0	0	14.83	14.99	15.00
317	-0.88	-92.5	2471	1808	3075	3084	54.0	-16.9	54	324	0.00	2.35	0.00	0.000	2564	0.000	0.057	2471	409	3079	3075	3084	0	0	0	0	0	0	15.19	14.97	15.19
397	-0.88	-92.5	2471	408	3076	3084	68.3	-19.0	69	404	0.00	2.28	0.00	0.000	3078	0.000	0.031	2462	1827	3078	3073	3083	0	0	0	0	0	0	15.09	15.02	15.10
468	-0.88	-92.5	2462	1830	3076	3084	79.9	-17.1	82	477	0.00	2.25	0.00	0.000	2308	0.000	0.047	2452	3216	3080	3076	3084	0	0	0	0	0	0	15.21	14.99	15.21
545	-0.88	-92.5	2452	3216	3076	3084	91.4	-13.8	96	553	0.10	2.30	0.00	0.000	3078	0.237	0.040	2472	1805	3080	3076	3084	0	0	0	0	0	0	14.88	14.97	15.04
616	-0.88	-92.5	2471	1804	3077	3083	101.1	-13.0	109	623	0.00	2.33	0.00	0.000	2564	0.000	0.057	2472	408	3080	3078	3083	0	0	0	0	0	0	15.22	15.00	15.23
726	-0.88	-92.5	2472	408	3077	3083	116.2	-13.9	130	733	0.00	2.25	0.00	0.000	3078	0.000	0.031	2464	1824	3080	3077	3083	0	0	0	0	0	0	15.11	15.03	15.13
797	-0.88	-92.5	2463	1827	3077	3083	126.3	-14.5	143	804	0.00	2.38	0.00	0.000	2564	0.000	0.057	2464	401	3079	3076	3083	0	0	0	0	0	0	15.23	15.00	15.23
848	-0.88	-92.5	2463	401	3078	3083	134.9	-15.7	152	856	0.08	2.25	0.00	0.000	3078	0.285	0.030	2468	1814	3079	3077	3082	0	0	0	0	0	0	14.88	15.04	15.04
919	-0.88	-92.5	2468	1817	3077	3083	144.8	-13.0	165	927	0.00	2.28	0.00	0.000	2308	0.000	0.046	2459	3216	3080	3077	3083	0	0	0	0	0	0	15.23	14.95	15.23
994	-0.88	-92.5	2458	3216	3077	3083	154.6	-12.1	179	1002	0.05	2.30	0.00	0.000	3078	0.318	0.039	2469	1802	3080	3077	3083	0	0	0	0	0	0	14.80	14.95	14.98
1065	-0.88	-92.5	2469	1801	3077	3082	163.1	-12.0	192	1071	0.00	0.00	0.00	0.000	2054	0.000	0.000	2470	1801	3080	3077	3083	0	0	0	0	0	0	15.23	15.23	15.24
1135	-0.88	-92.5	2469	1801	3077	3078	171.4	-12.4	205	1141	0.00	0.00	0.00	0.000	2054	0.000	0.000	2469	1801	3079	3077	3082	0	0	0	0	0	0	15.24	15.25	15.24
1205	-0.88	-92.5	2469	1801	3077	3083	180.1	-12.5	218	1212	0.00	2.33	0.00	0.000	2564	0.000	0.057	2469	404	3079	3077	3082	0	0	0	0	0	0	15.24	14.97	15.24
1229	-0.88	-92.5	2469	403	3077	3082	183.4	-12.7	222	1236	0.00	2.25	0.00	0.000	3078	0.000	0.030	2461	1813	3079	3077	3082	0	0	0	0	0	0	15.04	14.97	15.05
1300	-0.88	-92.5	2461	1817	3077	3082	192.7	-12.9	235	1307	0.00	2.38	0.00	0.000	2564	0.000	0.057	2461	402	3079	3076	3082	0	0	0	0	0	0	15.23	14.97	15.24
1324	-0.88	-92.5	2461	401	3077	3082	196.2	-13.9	239	1332	0.08	2.28	0.00	0.000	3078	0.285	0.031	2469	1806	3079	3077	3082	0	0	0	0	0	0	14.80	14.94	14.97
1398	-0.88	-92.5	2468	1809	3076	3081	205.4	-10.5	252	1404	0.00	2.35	0.00	0.000	2564	0.000	0.054	2469	399	3079	3077	3082	0	0	0	0	0	0	15.26	15.02	15.26
1417	-0.88	-92.5	2468	397	3077	3082	207.8	-12.8	255	1424	0.00	2.28	0.00	0.000	3078	0.000	0.031	2460	1827	3079	3077	3081	0	0	0	0	0	0	15.13	15.04	15.14
1487	-0.88	-92.5	2459	1831	3077	3081	215.3	-10.8	268	1494	0.00	2.38	0.00	0.000	2564	0.000	0.050	2460	399	3079	3077	3081	0	0	0	0	0	0	15.26	15.02	15.26
1542	-0.88	-92.5	2459	398	3077	3081	222.1	-14.7	278	1549	0.08	2.28	0.00	0.000	3078	0.286	0.032	2469	1819	3079	3077	3081	0	0	0	0	0	0	14.88	15.05	15.06
1565	end dive: BOTTOM_OBSTACLE_DETECTED
state	1565	begin apogee
1570	-0.17	0.0	2468	1822	3077	3080	225.9	-14.6	282	1648	1.12	0.00	68.90	1.156	10246	0.153	0.000	2695	1823	2699	2718	2681	0	0	0	0	0	0	14.81	14.59	14.20
1651	end apogee: CONTROL_FINISHED_OK
state	1651	begin climb
1653	0.88	92.5	2695	1823	2718	2681	229.3	0.0	296	1739	1.52	2.42	73.95	1.157	10756	0.067	0.056	3043	398	2320	2345	2296	0	0	0	0	0	0	14.74	14.57	14.09
2246	0.88	92.5	3043	398	2333	2290	171.7	10.8	410	2253	0.00	2.28	0.00	0.000	1030	0.000	0.032	3043	1813	2310	2332	2288	0	0	0	0	0	0	15.07	15.00	15.09
2317	0.89	98.2	3043	1814	2332	2287	164.4	9.6	423	2330	0.00	2.40	3.95	0.643	8708	0.000	0.061	3047	401	2299	2324	2274	0	0	0	0	0	0	15.19	14.96	14.37
2408	0.89	98.2	3046	400	2324	2274	154.9	10.6	440	2415	0.00	2.25	0.00	0.000	1030	0.000	0.031	3047	1813	2299	2324	2274	0	0	0	0	0	0	15.08	15.01	15.10
2479	0.90	103.7	3047	1814	2323	2273	148.1	9.6	453	2491	0.00	0.00	6.28	0.946	8198	0.000	0.000	3046	1814	2276	2303	2249	0	0	0	0	0	0	15.21	14.85	14.41
2555	0.93	129.2	3046	1814	2302	2249	141.5	8.2	467	2584	0.00	2.42	21.80	1.082	10756	0.000	0.062	3047	393	2171	2201	2141	0	0	0	0	0	0	15.19	14.78	14.38
2632	0.93	129.2	3047	392	2195	2140	133.8	11.4	481	2639	0.00	2.28	0.00	0.000	3078	0.000	0.031	3047	1803	2167	2196	2139	0	0	0	0	0	0	15.00	14.92	15.02
2703	0.93	129.2	3047	1805	2196	2138	126.7	10.1	494	2710	0.00	2.28	0.00	0.000	2308	0.000	0.046	3047	3195	2166	2195	2138	0	0	0	0	0	0	15.14	14.94	15.14
2716	0.93	129.2	3047	3195	2194	2138	125.1	11.1	496	2723	0.00	2.30	0.00	0.000	3078	0.000	0.044	3050	1802	2167	2195	2140	0	0	0	0	0	0	15.03	14.94	15.05
2787	0.94	143.5	3050	1802	2194	2137	118.2	9.0	509	2805	0.00	2.38	11.35	0.980	10756	0.000	0.063	3054	392	2116	2148	2085	0	0	0	0	0	0	15.15	14.82	14.40
2919	0.95	148.0	3053	394	2145	2084	104.6	9.7	534	2932	0.00	2.25	5.45	0.772	11270	0.000	0.031	3054	1794	2095	2128	2062	0	0	0	0	0	0	14.99	14.92	14.36
2995	0.96	153.3	3053	1794	2127	2062	97.1	9.6	548	3007	0.00	0.00	5.68	0.733	10246	0.000	0.000	3053	1794	2074	2108	2041	0	0	0	0	0	0	15.16	14.77	14.33
3071	0.97	160.7	3053	1794	2107	2040	89.9	9.5	562	3084	0.00	2.42	7.47	0.859	10756	0.000	0.063	3060	393	2044	2079	2010	0	0	0	0	0	0	15.16	14.87	14.39
3143	0.97	160.7	3060	393	2074	2009	82.5	11.1	575	3150	0.00	2.28	0.00	0.000	3078	0.000	0.031	3061	1814	2041	2075	2008	0	0	0	0	0	0	15.04	14.97	15.05
3213	0.97	160.7	3060	1814	2074	2007	75.4	10.3	588	3220	0.00	2.25	0.00	0.000	2308	0.000	0.045	3056	3190	2040	2074	2006	0	0	0	0	0	0	15.17	14.90	15.16
3279	0.98	176.0	3060	3192	2073	2006	69.3	8.9	600	3298	0.00	2.30	13.18	0.957	11270	0.000	0.045	3064	1801	1981	2016	1947	0	0	0	0	0	0	15.00	14.91	14.42
3361	1.02	207.8	3063	1800	2014	1944	61.8	7.7	615	3395	0.00	2.40	25.80	1.008	10756	0.000	0.062	3064	400	1850	1889	1812	0	0	0	0	0	0	15.14	14.81	14.35
3619	1.03	214.9	3063	401	1881	1808	34.0	9.5	665	3631	0.00	2.25	5.88	0.715	11270	0.000	0.031	3064	1798	1821	1860	1783	0	0	0	0	0	0	14.96	14.90	14.37
3695	1.13	294.6	3063	1798	1863	1781	29.3	4.2	679	3763	0.15	2.42	58.25	0.998	10756	0.120	0.065	3125	393	1496	1539	1454	0	0	0	0	0	0	14.95	14.69	14.31
3799	end climb: FINISH_DEPTH_REACHED
state	3799	begin subsurface finish
3808	0.25	200.1	3125	1809	1538	1449	19.9	15.0	698	3822	1.45	2.47	-6.82	0.000	20996	0.175	0.086	2846	400	1888	1934	1843	0	0	0	0	0	0	14.67	13.76	14.87
3823	end subsurface finish: CONTROL_FINISHED_OK
state	3823	begin surface