Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 383 * 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 70 C_ROLL_CLIMB 1800 ALTIM_TOP_TURN_MARGIN 0

DIVE 383 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 28 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 50 ALTIM_PULSE 3

D_TGT 1000 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 3

D_ABORT 1020 SM_CC 515.36688 ROLL_MAXERRORS 1 XPDR_VALID 2

D_NO_BLEED 29 N_FILEKB 4 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_BOOST 0 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097655999

T_BOOST 0 CALL_NDIVES 1 VBD_MIN 600 INT_PRESSURE_YINT 3.1600001

D_FINISH 20 COMM_SEQ 0 VBD_MAX 3960 DEEPGLIDER 0

D_PITCH 0 PROTOCOL 9 C_VBD 2701 MOTHERBOARD 4

D_SAFE 0 N_NOCOMM 2 VBD_DBAND 2 DEVICE1 -1

D_CALL 0 NOCOMM_ACTION 259 VBD_CNV -0.245296 DEVICE2 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_DIVE 333 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_MISSION 343 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_ABORT 358 CAPMAXSIZE 400000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN 500 HEAPDBG 0 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_NO_W 120 N_GPS 100840 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_LOITER 0 T_RSLEEP 2 DBDW 0 COMPASS_DEVICE 17

T_EPIRB 0 STROBE 0 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_BATHY 0 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 PHONE_DEVICE 49

USE_ICE 0 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 AH0_24V 310 RAFOS_DEVICE -1

D_OFFGRID 100 PITCH_MIN 117 AH0_10V 0 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3869 MINV_24V 11.5 SIM_W 0

RELAUNCH 0 C_PITCH 2759 MINV_10V 10 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_DBAND 0.0099999998 MAXI_24V 3 SEABIRD_T_G 0.0042907312

MAX_BUOY 200 PITCH_CNV 0.003125763 MAXI_10V 2 SEABIRD_T_H 0.00061813911

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.1013675e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 2.0586713e-06

SPEED_FACTOR 1 PITCH_GAIN 30 PHONE_SUPPLY 2 SEABIRD_C_G -9.7689371

RHO 1.0275 PITCH_TIMEOUT 25 PRESSURE_YINT -148.54955 SEABIRD_C_H 1.1415389

MASS 53998 PITCH_AD_RATE 125 PRESSURE_SLOPE 0.0001058 SEABIRD_C_I -0.0022330475

MASS_COMP 0 PITCH_MAXERRORS 1 AD7714Ch0Gain 1 SEABIRD_C_J 0.00024789109

NAV_MODE 0 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 301 COMPASS_USE 0 SC_XMITPROFILE 3.0

HD_A 0.0038360001 ROLL_MAX 3936 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0101 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 1 D_SAFE 0 PITCH_ADJ_DBAND 0 SIM_PITCH 0

AH0_10V 0 D_SURF 3 PITCH_ADJ_GAIN 0 SIM_W 0

AH0_24V 310 D_TGT 1000 PITCH_AD_RATE 125 SM_CC 515.36688

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.0099999998 STOP_T 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_GAIN 30 STROBE 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_MAX 3869 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 50 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FILEMGR 0 PITCH_MIN 117 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 25 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0038360001 PITCH_W_GAIN 0 TGT_DEFAULT_LAT 4743.3999

APOGEE_PITCH -5 HD_B 0.0101 PRESSURE_SLOPE 0.0001058 TGT_DEFAULT_LON -12224.2

CALL_NDIVES 1 HD_C 9.8500004e-06 PRESSURE_YINT -148.54955 T_ABORT 358

CALL_TRIES 5 HEADING 70 PROTOCOL 9 T_BOOST 0

CALL_WAIT 60 HEAD_ERRBAND 10 P_OVSHOOT 0.039999999 T_DIVE 333

CAPMAXSIZE 400000 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_EPIRB 0

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_GPS 15

CF8_MAXERRORS 20 ID 574 RAFOS_DEVICE -1 T_LOITER 0

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097655999 RAFOS_HIT_WINDOW 3600 T_MISSION 343

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 3.1600001 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS_DEVICE 17 KALMAN_USE 2 RELAUNCH 0 T_RSLEEP 2

COMPASS_USE 0 LOGGERDEVICE1 53 RHO 1.0275 T_TURN 500

COURSE_BIAS 0 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

C_PITCH 2759 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_ROLL_CLIMB 1800 LOGGERDEVICE4 -1 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_ROLL_DIVE 1812 LOGGERS 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_VBD 2701 MASS 53998 ROLL_DEG 40 USE_BATHY 0

DBDW 0 MASS_COMP 0 ROLL_MAX 3936 USE_ICE 0

DEEPGLIDER 0 MAXI_10V 2 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MAXI_24V 3 ROLL_MIN 301 VBD_CNV -0.245296

DEVICE2 -1 MAX_BUOY 200 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MINV_10V 10 R_PORT_OVSHOOT 28 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 50 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 383 NAV_MODE 0 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1020 NOCOMM_ACTION 259 SEABIRD_C_G -9.7689371 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 0 N_DIVES 0 SEABIRD_C_H 1.1415389 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_I -0.0022330475 W_ADJ_DBAND 0

D_FINISH 20 N_GPS 100840 SEABIRD_C_J 0.00024789109 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 2 SEABIRD_T_G 0.0042907312 XPDR_INHIBIT 90

D_NO_BLEED 29 N_NOSURFACE 0 SEABIRD_T_H 0.00061813911 XPDR_VALID 2

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_I 2.1013675e-05

D_PITCH 0 PHONE_SUPPLY 2 SEABIRD_T_J 2.0586713e-06

Pre-dive calculations and measurements:

GPS1 150419,133302,-3422.2126,2555.7056,7,1.2,47,-28.1,0.7,278.2,7,4.6 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3418.550,2607.921

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

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

_SM_ANGLEo -65.0 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 150419,134050,-3422.2434,2555.6355,6,1.2,46,-28.1,1.0,171.8,7,4.6 MHEAD_RNG_PITCHd_Wd 98.1,20000,-15.7,-10.010,-18.71,2973

SPEED_LIMITS 0.173,0.296 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.1,1.025436 _24V_AH 13.91,122.204

SM_CCo 2443,159.82,0.792,0,0,597,515.37 _10V_AH 13.61,0.000

SM_GC 0.81,13.70,0.00,159.82,0.049,0.000,0.792,107,1793,597,-8.21,-0.54,515.37,0,0,0,0,0,0,14.85,15.04,14.11 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3409.50,2553.05,150419,124512 FG_AHR_10Vo 0.000

TT8_MAMPS 0.020972,0.932505 MEM 340864

HUMID 44.48 DATA_FILE_SIZE 10116,431

INTERNAL_PRESSURE 9.31233 CAP_FILE_SIZE 87967,0

TCM_TEMP 19.20 CFSIZE 2097086464,2019950592

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

ALTIM_BOTTOM_PING 100.1,36.9 GPS 150419,142601,-3422.378,2556.032,7,1.0,40,-28.1,0.7,30.5,8,4.4

SC_FREEKB 3720064

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 312 133.18 nil 0 0 0.00

Roll_motor 61 71 61.79 nil 0 0 0.00

VBD_pump_during_apogee 344 1099 5268.25 nil 0 0 0.00

VBD_pump_during_surface 159 791 1760.25 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 22 16 5.11 nil 0 0 0.00

Iridium_during_connect 16 160 37.17 SciCon 2467 36 1245.74

Iridium_during_xfer 181 223 562.08 nil 0 0 0.00

Transponder_ping 3 420 17.53 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 47 11 7.22

TT8 877 9 114.74

LPSleep 361 2 10.76

TT8_Active 631 9 82.64

TT8_Sampling 1012 28 390.58

TT8_CF8 202 36 100.97

TT8_Kalman 0 0 0.00

Analog_circuits 1087 12 179.28

GPS_charging 0 0 0.00

Compass 651 17 159.45

RAFOS 0 0 0.00

Transponder 20 30 8.46

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 20 begin dive

23 -0.76 -194.6 53 1797 624 545 0.0 0.0 0 123 0.00 0.00 -97.60 0.000 16386 0.000 0.000 54 1798 3016 2985 3047 0 0 0 0 0 0 15.00 28.83 15.00

128 -0.76 -194.6 54 1798 2986 3047 3.6 -7.7 18 158 14.43 2.38 -8.20 0.000 18692 0.298 0.072 2495 3208 3495 3508 3483 0 0 0 0 0 0 14.54 14.00 14.78

287 -0.76 -194.6 2495 3208 3510 3481 36.6 -13.1 48 294 0.05 2.38 0.00 0.000 3078 0.312 0.044 2507 1798 3496 3510 3482 0 0 0 0 0 0 14.69 14.84 14.88

359 -0.76 -194.6 2506 1798 3510 3481 46.6 -14.9 61 365 0.00 2.38 0.00 0.000 2564 0.000 0.064 2507 409 3495 3510 3481 0 0 0 0 0 0 15.07 14.83 15.07

398 -0.76 -194.6 2506 409 3511 3481 53.4 -15.2 68 405 0.00 2.30 0.00 0.000 3078 0.000 0.035 2507 1805 3495 3510 3481 0 0 0 0 0 0 14.96 14.88 14.97

470 -0.76 -194.6 2507 1808 3510 3481 63.3 -14.7 81 476 0.00 2.38 0.00 0.000 2308 0.000 0.055 2507 3216 3495 3510 3481 0 0 0 0 0 0 15.09 14.77 15.09

509 -0.76 -194.6 2506 3216 3511 3481 68.5 -11.5 88 516 0.00 2.35 0.00 0.000 3078 0.000 0.043 2507 1809 3496 3511 3481 0 0 0 0 0 0 14.97 14.87 14.98

580 -0.76 -194.6 2507 1805 3510 3481 77.0 -13.1 101 586 0.00 0.00 0.00 0.000 2054 0.000 0.000 2507 1809 3495 3511 3480 0 0 0 0 0 0 15.09 15.10 15.10

649 -0.76 -194.6 2507 1809 3511 3481 85.0 -11.9 114 657 0.00 0.00 0.00 0.000 2054 0.000 0.000 2506 1808 3495 3511 3480 0 0 0 0 0 0 15.10 15.11 15.11

723 -0.76 -194.6 2506 1809 3511 3481 92.3 -9.3 127 730 0.00 2.38 0.00 0.000 2308 0.000 0.052 2505 3215 3496 3511 3481 0 0 0 0 0 0 15.09 14.88 15.09

743 -0.76 -194.6 2504 3214 3512 3481 94.3 -9.6 130 751 0.00 2.35 0.00 0.000 3078 0.000 0.043 2505 1807 3496 3511 3481 0 0 0 0 0 0 14.98 14.88 15.00

816 -0.76 -194.6 2505 1806 3511 3481 101.7 -9.2 143 823 0.00 2.40 0.00 0.000 2564 0.000 0.062 2505 405 3494 3511 3478 0 0 0 0 0 0 15.11 14.82 15.11

835 -0.76 -194.6 2504 405 3511 3481 103.8 -10.4 146 842 0.00 2.33 0.00 0.000 3078 0.000 0.034 2505 1820 3496 3511 3481 0 0 0 0 0 0 14.90 14.83 14.92

906 -0.76 -194.6 2505 1823 3511 3481 112.2 -11.2 159 913 0.00 2.35 0.00 0.000 2308 0.000 0.054 2505 3215 3496 3512 3481 0 0 0 0 0 0 15.11 14.83 15.11

955 -0.76 -194.6 2504 3216 3511 3480 117.8 -10.8 168 962 0.00 2.35 0.00 0.000 3078 0.000 0.043 2505 1812 3496 3512 3480 0 0 0 0 0 0 14.94 14.82 14.95

1026 -0.76 -194.6 2505 1812 3512 3480 126.3 -12.5 181 1032 0.00 0.00 0.00 0.000 2054 0.000 0.000 2505 1812 3496 3512 3480 0 0 0 0 0 0 15.11 15.12 15.12

1037 end dive: BOTTOM_OBSTACLE_DETECTED

state 1037 begin apogee

1043 -0.17 0.0 2505 1812 3512 3481 128.4 -13.3 183 1193 0.98 0.00 144.82 1.099 10246 0.145 0.000 2700 1812 2700 2730 2670 0 0 0 0 0 0 14.76 14.45 13.95

1195 end apogee: CONTROL_FINISHED_OK

state 1195 begin climb

1197 0.76 194.6 2699 1811 2728 2667 135.4 0.0 210 1355 1.40 2.45 149.12 1.090 11012 0.041 0.043 3029 3201 1904 1939 1869 0 0 0 0 0 0 14.48 14.36 13.91

1370 0.76 194.6 3029 3200 1932 1868 126.3 14.8 239 1377 0.12 2.42 0.00 0.000 5126 0.252 0.047 3011 1804 1901 1935 1867 0 0 0 0 0 0 14.35 14.45 14.50

1440 0.76 194.6 3010 1804 1933 1863 116.6 13.0 252 1446 0.00 0.00 0.00 0.000 4102 0.000 0.000 3010 1804 1898 1933 1863 0 0 0 0 0 0 14.80 14.81 14.81

1509 0.76 194.6 3010 1803 1932 1862 106.8 14.1 265 1516 0.00 2.38 0.00 0.000 4356 0.000 0.046 3010 3207 1896 1932 1861 0 0 0 0 0 0 14.89 14.69 14.90

1533 0.76 194.6 3010 3206 1930 1861 103.1 14.8 269 1540 0.00 2.42 0.00 0.000 5126 0.000 0.051 3010 1800 1895 1930 1861 0 0 0 0 0 0 14.78 14.68 14.79

1605 0.76 194.6 3010 1800 1930 1861 92.7 15.7 282 1610 0.00 0.00 0.00 0.000 4102 0.000 0.000 3010 1800 1895 1930 1860 0 0 0 0 0 0 14.97 14.97 14.97

1673 0.76 194.6 3010 1800 1930 1860 81.8 15.8 295 1679 0.00 0.00 0.00 0.000 4102 0.000 0.000 3007 1800 1894 1929 1860 0 0 0 0 0 0 15.00 15.01 15.01

1742 0.76 194.6 3009 1800 1929 1860 72.6 12.3 308 1748 0.00 0.00 0.00 0.000 4102 0.000 0.000 3010 1800 1894 1930 1859 0 0 0 0 0 0 15.03 15.03 15.03

1810 0.76 194.6 3009 1800 1929 1859 63.1 13.7 321 1817 0.00 2.35 0.00 0.000 4356 0.000 0.047 3010 3208 1894 1929 1859 0 0 0 0 0 0 15.04 14.83 15.04

1845 0.76 194.6 3010 3208 1928 1859 58.5 13.1 327 1851 0.00 2.40 0.00 0.000 5126 0.000 0.050 3010 1796 1894 1929 1859 0 0 0 0 0 0 14.94 14.83 14.95

1916 0.76 194.6 3010 1797 1928 1858 50.9 10.0 340 1922 0.00 2.42 0.00 0.000 4612 0.000 0.070 3010 386 1893 1928 1858 0 0 0 0 0 0 15.05 14.82 15.06

1930 0.78 211.3 3005 386 1926 1858 49.3 9.4 342 1949 0.00 2.33 12.95 0.830 9222 0.000 0.032 3010 1808 1836 1874 1799 0 0 0 0 0 0 14.95 14.90 14.25

2012 0.78 211.3 3010 1808 1871 1796 41.0 10.6 357 2017 0.00 0.00 0.00 0.000 6 0.000 0.000 3010 1807 1833 1870 1796 0 0 0 0 0 0 15.03 15.04 15.04

2080 0.78 211.3 3010 1813 1871 1795 33.5 10.6 370 2087 0.00 2.33 0.00 0.000 260 0.000 0.049 3010 3197 1832 1870 1794 0 0 0 0 0 0 15.04 14.84 15.06

2100 0.78 211.3 3010 3197 1870 1795 31.5 10.1 373 2106 0.00 2.38 0.00 0.000 1030 0.000 0.050 3011 1798 1832 1870 1795 0 0 0 0 0 0 14.93 14.84 14.95

2171 0.84 253.5 3010 1798 1870 1794 25.3 8.6 386 2211 0.00 2.47 30.23 0.975 10756 0.000 0.071 3013 388 1663 1705 1622 0 0 0 0 0 0 15.06 14.70 14.26

2269 0.84 253.5 3012 388 1700 1622 15.3 10.9 404 2276 0.00 2.33 0.00 0.000 3078 0.000 0.033 3013 1796 1659 1698 1620 0 0 0 0 0 0 14.83 14.76 14.84

2340 0.85 267.1 3012 1799 1700 1618 8.3 9.5 417 2353 0.00 2.40 7.40 0.761 10500 0.000 0.047 3013 3206 1609 1651 1568 0 0 0 0 0 0 15.01 14.72 14.26

2381 0.85 267.1 3012 3207 1650 1566 3.6 11.4 424 2387 0.00 2.40 0.00 0.000 3078 0.000 0.050 3012 1796 1608 1650 1566 0 0 0 0 0 0 14.88 14.78 14.90

2392 end climb: SURFACE_DEPTH_REACHED

state 2392 begin surface coast

2419 end surface coast: CONTROL_FINISHED_OK

state 2419 begin surface

ID	574	HD_C	9.8500004e-06	C_ROLL_DIVE	1812	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	3	HEADING	70	C_ROLL_CLIMB	1800	ALTIM_TOP_TURN_MARGIN	0
DIVE	383	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	28	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	50	ALTIM_PULSE	3
D_TGT	1000	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	3
D_ABORT	1020	SM_CC	515.36688	ROLL_MAXERRORS	1	XPDR_VALID	2
D_NO_BLEED	29	N_FILEKB	4	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_BOOST	0	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097655999
T_BOOST	0	CALL_NDIVES	1	VBD_MIN	600	INT_PRESSURE_YINT	3.1600001
D_FINISH	20	COMM_SEQ	0	VBD_MAX	3960	DEEPGLIDER	0
D_PITCH	0	PROTOCOL	9	C_VBD	2701	MOTHERBOARD	4
D_SAFE	0	N_NOCOMM	2	VBD_DBAND	2	DEVICE1	-1
D_CALL	0	NOCOMM_ACTION	259	VBD_CNV	-0.245296	DEVICE2	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_DIVE	333	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_MISSION	343	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_ABORT	358	CAPMAXSIZE	400000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN	500	HEAPDBG	0	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_NO_W	120	N_GPS	100840	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_LOITER	0	T_RSLEEP	2	DBDW	0	COMPASS_DEVICE	17
T_EPIRB	0	STROBE	0	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_BATHY	0	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	PHONE_DEVICE	49
USE_ICE	0	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	AH0_24V	310	RAFOS_DEVICE	-1
D_OFFGRID	100	PITCH_MIN	117	AH0_10V	0	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3869	MINV_24V	11.5	SIM_W	0
RELAUNCH	0	C_PITCH	2759	MINV_10V	10	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_DBAND	0.0099999998	MAXI_24V	3	SEABIRD_T_G	0.0042907312
MAX_BUOY	200	PITCH_CNV	0.003125763	MAXI_10V	2	SEABIRD_T_H	0.00061813911
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.1013675e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	2.0586713e-06
SPEED_FACTOR	1	PITCH_GAIN	30	PHONE_SUPPLY	2	SEABIRD_C_G	-9.7689371
RHO	1.0275	PITCH_TIMEOUT	25	PRESSURE_YINT	-148.54955	SEABIRD_C_H	1.1415389
MASS	53998	PITCH_AD_RATE	125	PRESSURE_SLOPE	0.0001058	SEABIRD_C_I	-0.0022330475
MASS_COMP	0	PITCH_MAXERRORS	1	AD7714Ch0Gain	1	SEABIRD_C_J	0.00024789109
NAV_MODE	0	PITCH_ADJ_GAIN	0	TCM_PITCH_OFFSET	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	TCM_ROLL_OFFSET	0	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	301	COMPASS_USE	0	SC_XMITPROFILE	3.0
HD_A	0.0038360001	ROLL_MAX	3936	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0101	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0

GPS1	150419,133302,-3422.2126,2555.7056,7,1.2,47,-28.1,0.7,278.2,7,4.6	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3418.550,2607.921
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.81	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-65.0	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	150419,134050,-3422.2434,2555.6355,6,1.2,46,-28.1,1.0,171.8,7,4.6	MHEAD_RNG_PITCHd_Wd	98.1,20000,-15.7,-10.010,-18.71,2973
SPEED_LIMITS	0.173,0.296	D_GRID	1000

FINISH	0.1,1.025436	_24V_AH	13.91,122.204
SM_CCo	2443,159.82,0.792,0,0,597,515.37	_10V_AH	13.61,0.000
SM_GC	0.81,13.70,0.00,159.82,0.049,0.000,0.792,107,1793,597,-8.21,-0.54,515.37,0,0,0,0,0,0,14.85,15.04,14.11	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3409.50,2553.05,150419,124512	FG_AHR_10Vo	0.000
TT8_MAMPS	0.020972,0.932505	MEM	340864
HUMID	44.48	DATA_FILE_SIZE	10116,431
INTERNAL_PRESSURE	9.31233	CAP_FILE_SIZE	87967,0
TCM_TEMP	19.20	CFSIZE	2097086464,2019950592
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	100.1,36.9	GPS	150419,142601,-3422.378,2556.032,7,1.0,40,-28.1,0.7,30.5,8,4.4
SC_FREEKB	3720064

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	312	133.18	nil	0	0	0.00
Roll_motor	61	71	61.79	nil	0	0	0.00
VBD_pump_during_apogee	344	1099	5268.25	nil	0	0	0.00
VBD_pump_during_surface	159	791	1760.25	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	22	16	5.11	nil	0	0	0.00
Iridium_during_connect	16	160	37.17	SciCon	2467	36	1245.74
Iridium_during_xfer	181	223	562.08	nil	0	0	0.00
Transponder_ping	3	420	17.53	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	47	11	7.22
TT8	877	9	114.74
LPSleep	361	2	10.76
TT8_Active	631	9	82.64
TT8_Sampling	1012	28	390.58
TT8_CF8	202	36	100.97
TT8_Kalman	0	0	0.00
Analog_circuits	1087	12	179.28
GPS_charging	0	0	0.00
Compass	651	17	159.45
RAFOS	0	0	0.00
Transponder	20	30	8.46

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	20	begin dive
23	-0.76	-194.6	53	1797	624	545	0.0	0.0	0	123	0.00	0.00	-97.60	0.000	16386	0.000	0.000	54	1798	3016	2985	3047	0	0	0	0	0	0	15.00	28.83	15.00
128	-0.76	-194.6	54	1798	2986	3047	3.6	-7.7	18	158	14.43	2.38	-8.20	0.000	18692	0.298	0.072	2495	3208	3495	3508	3483	0	0	0	0	0	0	14.54	14.00	14.78
287	-0.76	-194.6	2495	3208	3510	3481	36.6	-13.1	48	294	0.05	2.38	0.00	0.000	3078	0.312	0.044	2507	1798	3496	3510	3482	0	0	0	0	0	0	14.69	14.84	14.88
359	-0.76	-194.6	2506	1798	3510	3481	46.6	-14.9	61	365	0.00	2.38	0.00	0.000	2564	0.000	0.064	2507	409	3495	3510	3481	0	0	0	0	0	0	15.07	14.83	15.07
398	-0.76	-194.6	2506	409	3511	3481	53.4	-15.2	68	405	0.00	2.30	0.00	0.000	3078	0.000	0.035	2507	1805	3495	3510	3481	0	0	0	0	0	0	14.96	14.88	14.97
470	-0.76	-194.6	2507	1808	3510	3481	63.3	-14.7	81	476	0.00	2.38	0.00	0.000	2308	0.000	0.055	2507	3216	3495	3510	3481	0	0	0	0	0	0	15.09	14.77	15.09
509	-0.76	-194.6	2506	3216	3511	3481	68.5	-11.5	88	516	0.00	2.35	0.00	0.000	3078	0.000	0.043	2507	1809	3496	3511	3481	0	0	0	0	0	0	14.97	14.87	14.98
580	-0.76	-194.6	2507	1805	3510	3481	77.0	-13.1	101	586	0.00	0.00	0.00	0.000	2054	0.000	0.000	2507	1809	3495	3511	3480	0	0	0	0	0	0	15.09	15.10	15.10
649	-0.76	-194.6	2507	1809	3511	3481	85.0	-11.9	114	657	0.00	0.00	0.00	0.000	2054	0.000	0.000	2506	1808	3495	3511	3480	0	0	0	0	0	0	15.10	15.11	15.11
723	-0.76	-194.6	2506	1809	3511	3481	92.3	-9.3	127	730	0.00	2.38	0.00	0.000	2308	0.000	0.052	2505	3215	3496	3511	3481	0	0	0	0	0	0	15.09	14.88	15.09
743	-0.76	-194.6	2504	3214	3512	3481	94.3	-9.6	130	751	0.00	2.35	0.00	0.000	3078	0.000	0.043	2505	1807	3496	3511	3481	0	0	0	0	0	0	14.98	14.88	15.00
816	-0.76	-194.6	2505	1806	3511	3481	101.7	-9.2	143	823	0.00	2.40	0.00	0.000	2564	0.000	0.062	2505	405	3494	3511	3478	0	0	0	0	0	0	15.11	14.82	15.11
835	-0.76	-194.6	2504	405	3511	3481	103.8	-10.4	146	842	0.00	2.33	0.00	0.000	3078	0.000	0.034	2505	1820	3496	3511	3481	0	0	0	0	0	0	14.90	14.83	14.92
906	-0.76	-194.6	2505	1823	3511	3481	112.2	-11.2	159	913	0.00	2.35	0.00	0.000	2308	0.000	0.054	2505	3215	3496	3512	3481	0	0	0	0	0	0	15.11	14.83	15.11
955	-0.76	-194.6	2504	3216	3511	3480	117.8	-10.8	168	962	0.00	2.35	0.00	0.000	3078	0.000	0.043	2505	1812	3496	3512	3480	0	0	0	0	0	0	14.94	14.82	14.95
1026	-0.76	-194.6	2505	1812	3512	3480	126.3	-12.5	181	1032	0.00	0.00	0.00	0.000	2054	0.000	0.000	2505	1812	3496	3512	3480	0	0	0	0	0	0	15.11	15.12	15.12
1037	end dive: BOTTOM_OBSTACLE_DETECTED
state	1037	begin apogee
1043	-0.17	0.0	2505	1812	3512	3481	128.4	-13.3	183	1193	0.98	0.00	144.82	1.099	10246	0.145	0.000	2700	1812	2700	2730	2670	0	0	0	0	0	0	14.76	14.45	13.95
1195	end apogee: CONTROL_FINISHED_OK
state	1195	begin climb
1197	0.76	194.6	2699	1811	2728	2667	135.4	0.0	210	1355	1.40	2.45	149.12	1.090	11012	0.041	0.043	3029	3201	1904	1939	1869	0	0	0	0	0	0	14.48	14.36	13.91
1370	0.76	194.6	3029	3200	1932	1868	126.3	14.8	239	1377	0.12	2.42	0.00	0.000	5126	0.252	0.047	3011	1804	1901	1935	1867	0	0	0	0	0	0	14.35	14.45	14.50
1440	0.76	194.6	3010	1804	1933	1863	116.6	13.0	252	1446	0.00	0.00	0.00	0.000	4102	0.000	0.000	3010	1804	1898	1933	1863	0	0	0	0	0	0	14.80	14.81	14.81
1509	0.76	194.6	3010	1803	1932	1862	106.8	14.1	265	1516	0.00	2.38	0.00	0.000	4356	0.000	0.046	3010	3207	1896	1932	1861	0	0	0	0	0	0	14.89	14.69	14.90
1533	0.76	194.6	3010	3206	1930	1861	103.1	14.8	269	1540	0.00	2.42	0.00	0.000	5126	0.000	0.051	3010	1800	1895	1930	1861	0	0	0	0	0	0	14.78	14.68	14.79
1605	0.76	194.6	3010	1800	1930	1861	92.7	15.7	282	1610	0.00	0.00	0.00	0.000	4102	0.000	0.000	3010	1800	1895	1930	1860	0	0	0	0	0	0	14.97	14.97	14.97
1673	0.76	194.6	3010	1800	1930	1860	81.8	15.8	295	1679	0.00	0.00	0.00	0.000	4102	0.000	0.000	3007	1800	1894	1929	1860	0	0	0	0	0	0	15.00	15.01	15.01
1742	0.76	194.6	3009	1800	1929	1860	72.6	12.3	308	1748	0.00	0.00	0.00	0.000	4102	0.000	0.000	3010	1800	1894	1930	1859	0	0	0	0	0	0	15.03	15.03	15.03
1810	0.76	194.6	3009	1800	1929	1859	63.1	13.7	321	1817	0.00	2.35	0.00	0.000	4356	0.000	0.047	3010	3208	1894	1929	1859	0	0	0	0	0	0	15.04	14.83	15.04
1845	0.76	194.6	3010	3208	1928	1859	58.5	13.1	327	1851	0.00	2.40	0.00	0.000	5126	0.000	0.050	3010	1796	1894	1929	1859	0	0	0	0	0	0	14.94	14.83	14.95
1916	0.76	194.6	3010	1797	1928	1858	50.9	10.0	340	1922	0.00	2.42	0.00	0.000	4612	0.000	0.070	3010	386	1893	1928	1858	0	0	0	0	0	0	15.05	14.82	15.06
1930	0.78	211.3	3005	386	1926	1858	49.3	9.4	342	1949	0.00	2.33	12.95	0.830	9222	0.000	0.032	3010	1808	1836	1874	1799	0	0	0	0	0	0	14.95	14.90	14.25
2012	0.78	211.3	3010	1808	1871	1796	41.0	10.6	357	2017	0.00	0.00	0.00	0.000	6	0.000	0.000	3010	1807	1833	1870	1796	0	0	0	0	0	0	15.03	15.04	15.04
2080	0.78	211.3	3010	1813	1871	1795	33.5	10.6	370	2087	0.00	2.33	0.00	0.000	260	0.000	0.049	3010	3197	1832	1870	1794	0	0	0	0	0	0	15.04	14.84	15.06
2100	0.78	211.3	3010	3197	1870	1795	31.5	10.1	373	2106	0.00	2.38	0.00	0.000	1030	0.000	0.050	3011	1798	1832	1870	1795	0	0	0	0	0	0	14.93	14.84	14.95
2171	0.84	253.5	3010	1798	1870	1794	25.3	8.6	386	2211	0.00	2.47	30.23	0.975	10756	0.000	0.071	3013	388	1663	1705	1622	0	0	0	0	0	0	15.06	14.70	14.26
2269	0.84	253.5	3012	388	1700	1622	15.3	10.9	404	2276	0.00	2.33	0.00	0.000	3078	0.000	0.033	3013	1796	1659	1698	1620	0	0	0	0	0	0	14.83	14.76	14.84
2340	0.85	267.1	3012	1799	1700	1618	8.3	9.5	417	2353	0.00	2.40	7.40	0.761	10500	0.000	0.047	3013	3206	1609	1651	1568	0	0	0	0	0	0	15.01	14.72	14.26
2381	0.85	267.1	3012	3207	1650	1566	3.6	11.4	424	2387	0.00	2.40	0.00	0.000	3078	0.000	0.050	3012	1796	1608	1650	1566	0	0	0	0	0	0	14.88	14.78	14.90
2392	end climb: SURFACE_DEPTH_REACHED
state	2392	begin surface coast
2419	end surface coast: CONTROL_FINISHED_OK
state	2419	begin surface