Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 444 * 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 50 C_ROLL_CLIMB 1800 ALTIM_TOP_TURN_MARGIN 0

DIVE 444 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 50

STOP_T 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

D_SURF 3 TGT_DEFAULT_LAT 4743.3999 R_PORT_OVSHOOT 32 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 40 ALTIM_PULSE 3

D_TGT 1000 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 2

D_ABORT 1020 SM_CC 515.36688 ROLL_MAXERRORS 1 XPDR_VALID 2

D_NO_BLEED 29 N_FILEKB 4 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_BOOST 0 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097655999

T_BOOST 0 CALL_NDIVES 1 VBD_MIN 600 INT_PRESSURE_YINT 3.1600001

D_FINISH 5 COMM_SEQ 0 VBD_MAX 3960 DEEPGLIDER 0

D_PITCH 0 PROTOCOL 9 C_VBD 2701 MOTHERBOARD 4

D_SAFE 0 N_NOCOMM 2 VBD_DBAND 2 DEVICE1 -1

D_CALL 0 NOCOMM_ACTION 259 VBD_CNV -0.245296 DEVICE2 -1

SURFACE_URGENCY 0 N_NOSURFACE 2 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_DIVE 333 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_MISSION 343 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_ABORT 358 CAPMAXSIZE 400000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN 500 HEAPDBG 0 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_NO_W 120 N_GPS 100840 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_LOITER 0 T_RSLEEP 2 DBDW 0 COMPASS_DEVICE 17

T_EPIRB 0 STROBE 0 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_BATHY 0 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 PHONE_DEVICE 49

USE_ICE 0 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 AH0_24V 310 RAFOS_DEVICE -1

D_OFFGRID 100 PITCH_MIN 117 AH0_10V 0 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3869 MINV_24V 11.5 SIM_W 0

RELAUNCH 0 C_PITCH 2759 MINV_10V 10 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_DBAND 0.0099999998 MAXI_24V 3 SEABIRD_T_G 0.0042907312

MAX_BUOY 280 PITCH_CNV 0.003125763 MAXI_10V 2 SEABIRD_T_H 0.00061813911

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.1013675e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 2.0586713e-06

SPEED_FACTOR 1 PITCH_GAIN 30 PHONE_SUPPLY 2 SEABIRD_C_G -9.7689371

RHO 1.0275 PITCH_TIMEOUT 25 PRESSURE_YINT -148.54955 SEABIRD_C_H 1.1415389

MASS 53998 PITCH_AD_RATE 125 PRESSURE_SLOPE 0.0001058 SEABIRD_C_I -0.0022330475

MASS_COMP 0 PITCH_MAXERRORS 1 AD7714Ch0Gain 1 SEABIRD_C_J 0.00024789109

NAV_MODE 0 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 301 COMPASS_USE 0 SC_XMITPROFILE 3.0

HD_A 0.0038360001 ROLL_MAX 3936 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0101 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 1 D_SAFE 0 PITCH_ADJ_DBAND 0 SIM_PITCH 0

AH0_10V 0 D_SURF 3 PITCH_ADJ_GAIN 0 SIM_W 0

AH0_24V 310 D_TGT 1000 PITCH_AD_RATE 125 SM_CC 515.36688

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.0099999998 STOP_T 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_GAIN 30 STROBE 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_MAX 3869 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 50 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FILEMGR 0 PITCH_MIN 117 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 25 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0038360001 PITCH_W_GAIN 0 TGT_DEFAULT_LAT 4743.3999

APOGEE_PITCH -5 HD_B 0.0101 PRESSURE_SLOPE 0.0001058 TGT_DEFAULT_LON -12224.2

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

CALL_TRIES 5 HEADING 50 PROTOCOL 9 T_BOOST 0

CALL_WAIT 60 HEAD_ERRBAND 10 P_OVSHOOT 0.039999999 T_DIVE 333

CAPMAXSIZE 400000 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_EPIRB 0

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_GPS 15

CF8_MAXERRORS 20 ID 574 RAFOS_DEVICE -1 T_LOITER 0

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097655999 RAFOS_HIT_WINDOW 3600 T_MISSION 343

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 3.1600001 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS_DEVICE 17 KALMAN_USE 2 RELAUNCH 0 T_RSLEEP 2

COMPASS_USE 0 LOGGERDEVICE1 53 RHO 1.0275 T_TURN 500

COURSE_BIAS 0 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

C_PITCH 2759 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_ROLL_CLIMB 1800 LOGGERDEVICE4 -1 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_ROLL_DIVE 1812 LOGGERS 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_VBD 2701 MASS 53998 ROLL_DEG 40 USE_BATHY 0

DBDW 0 MASS_COMP 0 ROLL_MAX 3936 USE_ICE 0

DEEPGLIDER 0 MAXI_10V 2 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MAXI_24V 3 ROLL_MIN 301 VBD_CNV -0.245296

DEVICE2 -1 MAX_BUOY 280 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MINV_10V 10 R_PORT_OVSHOOT 32 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 40 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 444 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 190419,192449,-3432.1497,2514.8359,16,1.2,39,-27.9,0.2,276.5,8,5.3 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3425.285,2524.694

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.76 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -66.4 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 190419,193931,-3432.2263,2514.6655,7,1.2,17,-27.9,0.4,218.4,8,9.4 MHEAD_RNG_PITCHd_Wd 77.9,20000,-13.1,-10.010,-16.32,4154

SPEED_LIMITS 0.173,0.342 D_GRID 1000

Post-dive calculations and measurements:

FINISH1 4.1,1.025571,99 _24V_AH 13.43,139.260

FINISH2 2.0 _10V_AH 13.56,0.000

IRIDIUM_FIX -3417.32,2509.70,190419,171258 FG_AHR_24Vo 0.000

TT8_MAMPS 0.021721,0.932505 FG_AHR_10Vo 0.000

HUMID 46.10 MEM 340920

INTERNAL_PRESSURE 9.42951 DATA_FILE_SIZE 13438,554

TCM_TEMP 19.20 CAP_FILE_SIZE 110917,0

XPDR_PINGS 0 CFSIZE 2097086464,2008514560

ALTIM_BOTTOM_PING 135.3,34.5 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

SC_FREEKB 3688384 GPS 190419,193931,-3432.226,2514.666,7,1.2,17,-27.9,0.4,218.4,8,9.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 306 74.47 nil 0 0 0.00

Roll_motor 85 84 96.99 nil 0 0 0.00

VBD_pump_during_apogee 429 1139 6579.08 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 22 16 5.04 nil 0 0 0.00

Iridium_during_connect 18 160 38.99 SciCon 3177 36 1551.80

Iridium_during_xfer 523 223 1568.76 nil 0 0 0.00

Transponder_ping 4 420 26.79 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 11 2.81

TT8 1095 9 142.80

LPSleep 462 2 13.74

TT8_Active 579 9 75.51

TT8_Sampling 1497 28 575.30

TT8_CF8 359 36 178.31

TT8_Kalman 0 0 0.00

Analog_circuits 1155 12 189.68

GPS_charging 0 0 0.00

Compass 834 17 203.47

RAFOS 0 0 0.00

Transponder 33 30 13.49

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -0.77 -272.5 81 1814 625 545 0.0 0.0 0 128 0.00 0.00 -102.47 0.000 16386 0.000 0.000 78 1814 3083 3051 3115 0 0 0 0 0 0 14.91 28.83 14.92

134 -0.77 -272.5 76 1814 3051 3116 3.3 -7.0 19 169 14.57 2.47 -12.07 0.000 18948 0.307 0.084 2504 379 3813 3829 3798 0 0 0 0 0 0 14.46 13.43 14.76

248 -0.77 -272.5 2503 379 3831 3798 31.8 -13.3 40 255 0.00 2.40 0.00 0.000 3078 0.000 0.036 2502 1821 3814 3831 3798 0 0 0 0 0 0 14.87 14.77 14.88

318 -0.77 -272.5 2501 1823 3830 3798 42.2 -17.8 53 324 0.00 2.38 0.00 0.000 2308 0.000 0.055 2501 3214 3813 3830 3797 0 0 0 0 0 0 15.00 14.75 15.01

377 -0.77 -272.5 2501 3213 3830 3798 51.0 -13.0 64 383 0.00 2.38 0.00 0.000 3078 0.000 0.041 2501 1805 3814 3830 3798 0 0 0 0 0 0 14.88 14.78 14.90

448 -0.77 -272.5 2501 1804 3830 3798 59.9 -13.0 77 455 0.00 2.40 0.00 0.000 2564 0.000 0.064 2501 410 3814 3830 3798 0 0 0 0 0 0 15.00 14.76 15.02

463 -0.77 -272.5 2500 411 3830 3798 62.1 -13.2 79 469 0.00 2.33 0.00 0.000 3078 0.000 0.034 2501 1816 3814 3830 3798 0 0 0 0 0 0 14.90 14.81 14.91

535 -0.77 -272.5 2501 1819 3830 3798 70.4 -11.4 92 541 0.00 2.38 0.00 0.000 2308 0.000 0.055 2501 3214 3814 3830 3798 0 0 0 0 0 0 15.04 14.66 15.05

584 -0.77 -272.5 2501 3216 3830 3798 75.5 -9.5 101 591 0.00 2.38 0.00 0.000 3078 0.000 0.040 2501 1801 3814 3830 3798 0 0 0 0 0 0 14.85 14.81 14.85

657 -0.77 -272.5 2501 1801 3830 3798 82.5 -8.9 114 664 0.00 2.40 0.00 0.000 2564 0.000 0.064 2501 408 3814 3830 3798 0 0 0 0 0 0 15.05 14.77 15.04

707 -0.77 -272.5 2501 409 3830 3798 88.1 -10.7 123 714 0.00 2.33 0.00 0.000 3078 0.000 0.034 2501 1815 3814 3830 3798 0 0 0 0 0 0 14.92 14.83 14.94

778 -0.77 -272.5 2501 1817 3830 3798 95.6 -11.3 136 785 0.00 2.35 0.00 0.000 2308 0.000 0.054 2501 3209 3814 3830 3798 0 0 0 0 0 0 15.06 14.79 15.06

833 -0.77 -272.5 2501 3208 3830 3798 101.2 -9.9 146 840 0.00 2.35 0.00 0.000 3078 0.000 0.041 2501 1811 3814 3830 3798 0 0 0 0 0 0 14.92 14.83 14.94

905 -0.77 -272.5 2501 1811 3830 3798 109.2 -12.0 159 911 0.00 2.42 0.00 0.000 2564 0.000 0.063 2501 402 3814 3830 3798 0 0 0 0 0 0 15.07 14.66 15.07

929 -0.77 -272.5 2502 402 3830 3798 112.1 -11.8 163 936 0.00 2.33 0.00 0.000 3078 0.000 0.034 2501 1815 3813 3830 3797 0 0 0 0 0 0 14.82 14.73 14.83

1001 -0.77 -272.5 2501 1813 3830 3798 118.6 -8.7 176 1008 0.00 2.38 0.00 0.000 2308 0.000 0.057 2501 3210 3813 3829 3798 0 0 0 0 0 0 15.07 14.79 15.07

1061 -0.77 -272.5 2501 3210 3830 3798 123.6 -10.1 187 1067 0.00 2.35 0.00 0.000 3078 0.000 0.044 2501 1813 3813 3828 3798 0 0 0 0 0 0 14.88 14.77 14.89

1132 -0.77 -272.5 2501 1813 3830 3798 131.0 -11.0 200 1137 0.00 0.00 0.00 0.000 2054 0.000 0.000 2501 1813 3813 3828 3798 0 0 0 0 0 0 15.07 15.07 15.07

1204 -0.77 -272.5 2501 1813 3830 3798 139.0 -11.5 213 1210 0.00 2.40 0.00 0.000 2308 0.000 0.054 2501 3220 3814 3830 3798 0 0 0 0 0 0 15.06 14.81 15.06

1229 -0.77 -272.5 2500 3220 3829 3798 142.1 -11.8 217 1235 0.00 2.35 0.00 0.000 3078 0.000 0.041 2501 1811 3813 3829 3798 0 0 0 0 0 0 14.93 14.85 14.95

1300 -0.77 -272.5 2501 1812 3830 3798 149.6 -11.6 230 1306 0.00 2.42 0.00 0.000 2564 0.000 0.063 2501 405 3813 3829 3798 0 0 0 0 0 0 15.07 14.69 15.08

1324 -0.77 -272.5 2501 406 3829 3797 152.7 -11.8 234 1331 0.00 2.33 0.00 0.000 3078 0.000 0.033 2499 1826 3813 3829 3797 0 0 0 0 0 0 14.94 14.86 14.95

1381 end dive: BOTTOM_OBSTACLE_DETECTED

state 1381 begin apogee

1389 -0.17 0.0 2501 1829 3829 3797 159.8 -13.0 245 1601 1.00 0.00 203.02 1.140 10246 0.142 0.000 2701 1829 2699 2735 2664 0 0 0 0 0 0 14.66 14.35 13.83

1603 end apogee: CONTROL_FINISHED_OK

state 1603 begin climb

1605 0.77 272.5 2700 1829 2734 2663 172.3 0.0 283 1831 1.42 2.58 211.80 1.121 10756 0.092 0.066 3003 402 1589 1632 1546 0 0 0 0 0 0 14.34 14.20 13.80

1844 0.77 272.5 3002 401 1629 1546 163.0 12.4 324 1850 0.00 2.38 0.00 0.000 1030 0.000 0.034 3003 1797 1587 1629 1545 0 0 0 0 0 0 14.48 14.42 14.49

1915 0.77 272.5 3002 1799 1628 1543 153.3 14.5 337 1921 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 1799 1585 1628 1542 0 0 0 0 0 0 14.74 14.76 14.75

1984 0.77 272.5 3002 1799 1627 1542 142.6 15.8 350 1990 0.00 2.38 0.00 0.000 2308 0.000 0.046 3003 3204 1583 1626 1541 0 0 0 0 0 0 14.85 14.64 14.85

2055 0.77 272.5 3002 3201 1623 1541 132.7 13.1 363 2062 0.00 2.38 0.00 0.000 1030 0.000 0.047 3003 1803 1582 1623 1541 0 0 0 0 0 0 14.73 14.70 14.74

2127 0.77 272.5 3002 1803 1623 1540 123.7 12.7 376 2133 0.00 2.45 0.00 0.000 516 0.000 0.072 3003 398 1582 1624 1540 0 0 0 0 0 0 14.95 14.66 14.96

2146 0.77 272.5 3002 396 1623 1540 120.3 15.1 379 2153 0.00 2.33 0.00 0.000 3078 0.000 0.032 3003 1806 1581 1623 1540 0 0 0 0 0 0 14.78 14.71 14.79

2218 0.77 272.5 3003 1809 1623 1541 109.5 15.0 392 2224 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 1809 1581 1623 1540 0 0 0 0 0 0 14.98 15.00 15.00

2287 0.77 272.5 3002 1809 1623 1539 99.2 14.4 405 2292 0.00 0.00 0.00 0.000 6 0.000 0.000 3003 1809 1581 1623 1540 0 0 0 0 0 0 15.01 15.02 15.02

2355 0.77 272.5 3002 1809 1623 1540 89.3 13.4 418 2361 0.00 2.47 0.00 0.000 516 0.000 0.070 3011 388 1581 1623 1540 0 0 0 0 0 0 15.02 14.76 15.02

2384 0.77 272.5 3011 388 1622 1540 85.3 12.6 423 2391 0.00 2.35 0.00 0.000 5126 0.000 0.032 3011 1802 1580 1622 1539 0 0 0 0 0 0 14.92 14.85 14.93

2456 0.77 272.5 3011 1804 1622 1539 75.0 13.7 436 2463 0.00 2.47 0.00 0.000 4612 0.000 0.072 3013 390 1580 1622 1539 0 0 0 0 0 0 15.04 14.69 15.07

2490 0.77 272.5 3011 390 1622 1539 70.0 14.3 442 2497 0.00 2.33 0.00 0.000 5126 0.000 0.033 3013 1802 1580 1622 1539 0 0 0 0 0 0 14.92 14.84 14.94

2562 0.77 272.5 3013 1805 1622 1546 60.3 14.6 455 2568 0.00 2.35 0.00 0.000 4356 0.000 0.046 3013 3206 1580 1622 1539 0 0 0 0 0 0 15.05 14.77 15.06

2677 0.77 272.5 3012 3206 1621 1538 45.1 11.5 477 2683 0.00 2.40 0.00 0.000 5126 0.000 0.050 3013 1799 1579 1621 1538 0 0 0 0 0 0 14.88 14.78 14.90

2749 0.77 272.5 3012 1799 1621 1538 37.6 10.7 490 2755 0.00 2.42 0.00 0.000 4612 0.000 0.072 3010 398 1579 1621 1538 0 0 0 0 0 0 15.05 14.79 15.06

2788 0.77 272.5 3013 397 1621 1538 33.2 10.3 497 2794 0.00 2.33 0.00 0.000 5126 0.000 0.032 3013 1808 1579 1621 1538 0 0 0 0 0 0 14.95 14.86 14.96

2859 0.77 272.5 3012 1813 1621 1538 26.1 10.5 510 2866 0.00 2.33 0.00 0.000 4356 0.000 0.047 3013 3206 1579 1621 1538 0 0 0 0 0 0 15.05 14.83 15.06

2899 0.77 272.5 3013 3207 1621 1537 21.5 10.9 517 2905 0.00 2.40 0.00 0.000 5126 0.000 0.050 3013 1796 1579 1621 1537 0 0 0 0 0 0 14.94 14.82 14.95

2969 0.77 272.5 3013 1796 1621 1538 14.2 10.9 530 2975 0.00 0.00 0.00 0.000 4102 0.000 0.000 3013 1796 1579 1621 1537 0 0 0 0 0 0 15.05 15.06 15.05

3038 0.80 295.9 3013 1796 1621 1537 6.8 9.4 543 3056 0.00 0.00 14.95 0.850 8710 0.000 0.000 3013 1796 1491 1537 1445 0 0 0 0 0 0 15.07 14.78 14.28

3061 end climb: FINISH_DEPTH_REACHED

state 3061 begin subsurface finish

3069 0.12 98.9 3013 1795 1535 1444 4.1 10.7 547 3108 1.08 0.00 -31.77 0.000 20998 0.171 0.000 2805 1796 2298 2345 2252 0 0 0 0 0 0 14.64 14.04 14.78

3109 end subsurface finish: CONTROL_FINISHED_OK

state 3109 begin surface

ID	574	HD_C	9.8500004e-06	C_ROLL_DIVE	1812	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	3	HEADING	50	C_ROLL_CLIMB	1800	ALTIM_TOP_TURN_MARGIN	0
DIVE	444	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	50
STOP_T	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5
D_SURF	3	TGT_DEFAULT_LAT	4743.3999	R_PORT_OVSHOOT	32	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	40	ALTIM_PULSE	3
D_TGT	1000	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	2
D_ABORT	1020	SM_CC	515.36688	ROLL_MAXERRORS	1	XPDR_VALID	2
D_NO_BLEED	29	N_FILEKB	4	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_BOOST	0	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097655999
T_BOOST	0	CALL_NDIVES	1	VBD_MIN	600	INT_PRESSURE_YINT	3.1600001
D_FINISH	5	COMM_SEQ	0	VBD_MAX	3960	DEEPGLIDER	0
D_PITCH	0	PROTOCOL	9	C_VBD	2701	MOTHERBOARD	4
D_SAFE	0	N_NOCOMM	2	VBD_DBAND	2	DEVICE1	-1
D_CALL	0	NOCOMM_ACTION	259	VBD_CNV	-0.245296	DEVICE2	-1
SURFACE_URGENCY	0	N_NOSURFACE	2	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_DIVE	333	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_MISSION	343	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_ABORT	358	CAPMAXSIZE	400000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN	500	HEAPDBG	0	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_NO_W	120	N_GPS	100840	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_LOITER	0	T_RSLEEP	2	DBDW	0	COMPASS_DEVICE	17
T_EPIRB	0	STROBE	0	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_BATHY	0	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	PHONE_DEVICE	49
USE_ICE	0	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	AH0_24V	310	RAFOS_DEVICE	-1
D_OFFGRID	100	PITCH_MIN	117	AH0_10V	0	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3869	MINV_24V	11.5	SIM_W	0
RELAUNCH	0	C_PITCH	2759	MINV_10V	10	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_DBAND	0.0099999998	MAXI_24V	3	SEABIRD_T_G	0.0042907312
MAX_BUOY	280	PITCH_CNV	0.003125763	MAXI_10V	2	SEABIRD_T_H	0.00061813911
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.1013675e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	2.0586713e-06
SPEED_FACTOR	1	PITCH_GAIN	30	PHONE_SUPPLY	2	SEABIRD_C_G	-9.7689371
RHO	1.0275	PITCH_TIMEOUT	25	PRESSURE_YINT	-148.54955	SEABIRD_C_H	1.1415389
MASS	53998	PITCH_AD_RATE	125	PRESSURE_SLOPE	0.0001058	SEABIRD_C_I	-0.0022330475
MASS_COMP	0	PITCH_MAXERRORS	1	AD7714Ch0Gain	1	SEABIRD_C_J	0.00024789109
NAV_MODE	0	PITCH_ADJ_GAIN	0	TCM_PITCH_OFFSET	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	TCM_ROLL_OFFSET	0	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	301	COMPASS_USE	0	SC_XMITPROFILE	3.0
HD_A	0.0038360001	ROLL_MAX	3936	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0101	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0

GPS1	190419,192449,-3432.1497,2514.8359,16,1.2,39,-27.9,0.2,276.5,8,5.3	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3425.285,2524.694
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.76	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-66.4	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	190419,193931,-3432.2263,2514.6655,7,1.2,17,-27.9,0.4,218.4,8,9.4	MHEAD_RNG_PITCHd_Wd	77.9,20000,-13.1,-10.010,-16.32,4154
SPEED_LIMITS	0.173,0.342	D_GRID	1000

FINISH1	4.1,1.025571,99	_24V_AH	13.43,139.260
FINISH2	2.0	_10V_AH	13.56,0.000
IRIDIUM_FIX	-3417.32,2509.70,190419,171258	FG_AHR_24Vo	0.000
TT8_MAMPS	0.021721,0.932505	FG_AHR_10Vo	0.000
HUMID	46.10	MEM	340920
INTERNAL_PRESSURE	9.42951	DATA_FILE_SIZE	13438,554
TCM_TEMP	19.20	CAP_FILE_SIZE	110917,0
XPDR_PINGS	0	CFSIZE	2097086464,2008514560
ALTIM_BOTTOM_PING	135.3,34.5	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
SC_FREEKB	3688384	GPS	190419,193931,-3432.226,2514.666,7,1.2,17,-27.9,0.4,218.4,8,9.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	306	74.47	nil	0	0	0.00
Roll_motor	85	84	96.99	nil	0	0	0.00
VBD_pump_during_apogee	429	1139	6579.08	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	22	16	5.04	nil	0	0	0.00
Iridium_during_connect	18	160	38.99	SciCon	3177	36	1551.80
Iridium_during_xfer	523	223	1568.76	nil	0	0	0.00
Transponder_ping	4	420	26.79	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	11	2.81
TT8	1095	9	142.80
LPSleep	462	2	13.74
TT8_Active	579	9	75.51
TT8_Sampling	1497	28	575.30
TT8_CF8	359	36	178.31
TT8_Kalman	0	0	0.00
Analog_circuits	1155	12	189.68
GPS_charging	0	0	0.00
Compass	834	17	203.47
RAFOS	0	0	0.00
Transponder	33	30	13.49

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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-0.77	-272.5	81	1814	625	545	0.0	0.0	0	128	0.00	0.00	-102.47	0.000	16386	0.000	0.000	78	1814	3083	3051	3115	0	0	0	0	0	0	14.91	28.83	14.92
134	-0.77	-272.5	76	1814	3051	3116	3.3	-7.0	19	169	14.57	2.47	-12.07	0.000	18948	0.307	0.084	2504	379	3813	3829	3798	0	0	0	0	0	0	14.46	13.43	14.76
248	-0.77	-272.5	2503	379	3831	3798	31.8	-13.3	40	255	0.00	2.40	0.00	0.000	3078	0.000	0.036	2502	1821	3814	3831	3798	0	0	0	0	0	0	14.87	14.77	14.88
318	-0.77	-272.5	2501	1823	3830	3798	42.2	-17.8	53	324	0.00	2.38	0.00	0.000	2308	0.000	0.055	2501	3214	3813	3830	3797	0	0	0	0	0	0	15.00	14.75	15.01
377	-0.77	-272.5	2501	3213	3830	3798	51.0	-13.0	64	383	0.00	2.38	0.00	0.000	3078	0.000	0.041	2501	1805	3814	3830	3798	0	0	0	0	0	0	14.88	14.78	14.90
448	-0.77	-272.5	2501	1804	3830	3798	59.9	-13.0	77	455	0.00	2.40	0.00	0.000	2564	0.000	0.064	2501	410	3814	3830	3798	0	0	0	0	0	0	15.00	14.76	15.02
463	-0.77	-272.5	2500	411	3830	3798	62.1	-13.2	79	469	0.00	2.33	0.00	0.000	3078	0.000	0.034	2501	1816	3814	3830	3798	0	0	0	0	0	0	14.90	14.81	14.91
535	-0.77	-272.5	2501	1819	3830	3798	70.4	-11.4	92	541	0.00	2.38	0.00	0.000	2308	0.000	0.055	2501	3214	3814	3830	3798	0	0	0	0	0	0	15.04	14.66	15.05
584	-0.77	-272.5	2501	3216	3830	3798	75.5	-9.5	101	591	0.00	2.38	0.00	0.000	3078	0.000	0.040	2501	1801	3814	3830	3798	0	0	0	0	0	0	14.85	14.81	14.85
657	-0.77	-272.5	2501	1801	3830	3798	82.5	-8.9	114	664	0.00	2.40	0.00	0.000	2564	0.000	0.064	2501	408	3814	3830	3798	0	0	0	0	0	0	15.05	14.77	15.04
707	-0.77	-272.5	2501	409	3830	3798	88.1	-10.7	123	714	0.00	2.33	0.00	0.000	3078	0.000	0.034	2501	1815	3814	3830	3798	0	0	0	0	0	0	14.92	14.83	14.94
778	-0.77	-272.5	2501	1817	3830	3798	95.6	-11.3	136	785	0.00	2.35	0.00	0.000	2308	0.000	0.054	2501	3209	3814	3830	3798	0	0	0	0	0	0	15.06	14.79	15.06
833	-0.77	-272.5	2501	3208	3830	3798	101.2	-9.9	146	840	0.00	2.35	0.00	0.000	3078	0.000	0.041	2501	1811	3814	3830	3798	0	0	0	0	0	0	14.92	14.83	14.94
905	-0.77	-272.5	2501	1811	3830	3798	109.2	-12.0	159	911	0.00	2.42	0.00	0.000	2564	0.000	0.063	2501	402	3814	3830	3798	0	0	0	0	0	0	15.07	14.66	15.07
929	-0.77	-272.5	2502	402	3830	3798	112.1	-11.8	163	936	0.00	2.33	0.00	0.000	3078	0.000	0.034	2501	1815	3813	3830	3797	0	0	0	0	0	0	14.82	14.73	14.83
1001	-0.77	-272.5	2501	1813	3830	3798	118.6	-8.7	176	1008	0.00	2.38	0.00	0.000	2308	0.000	0.057	2501	3210	3813	3829	3798	0	0	0	0	0	0	15.07	14.79	15.07
1061	-0.77	-272.5	2501	3210	3830	3798	123.6	-10.1	187	1067	0.00	2.35	0.00	0.000	3078	0.000	0.044	2501	1813	3813	3828	3798	0	0	0	0	0	0	14.88	14.77	14.89
1132	-0.77	-272.5	2501	1813	3830	3798	131.0	-11.0	200	1137	0.00	0.00	0.00	0.000	2054	0.000	0.000	2501	1813	3813	3828	3798	0	0	0	0	0	0	15.07	15.07	15.07
1204	-0.77	-272.5	2501	1813	3830	3798	139.0	-11.5	213	1210	0.00	2.40	0.00	0.000	2308	0.000	0.054	2501	3220	3814	3830	3798	0	0	0	0	0	0	15.06	14.81	15.06
1229	-0.77	-272.5	2500	3220	3829	3798	142.1	-11.8	217	1235	0.00	2.35	0.00	0.000	3078	0.000	0.041	2501	1811	3813	3829	3798	0	0	0	0	0	0	14.93	14.85	14.95
1300	-0.77	-272.5	2501	1812	3830	3798	149.6	-11.6	230	1306	0.00	2.42	0.00	0.000	2564	0.000	0.063	2501	405	3813	3829	3798	0	0	0	0	0	0	15.07	14.69	15.08
1324	-0.77	-272.5	2501	406	3829	3797	152.7	-11.8	234	1331	0.00	2.33	0.00	0.000	3078	0.000	0.033	2499	1826	3813	3829	3797	0	0	0	0	0	0	14.94	14.86	14.95
1381	end dive: BOTTOM_OBSTACLE_DETECTED
state	1381	begin apogee
1389	-0.17	0.0	2501	1829	3829	3797	159.8	-13.0	245	1601	1.00	0.00	203.02	1.140	10246	0.142	0.000	2701	1829	2699	2735	2664	0	0	0	0	0	0	14.66	14.35	13.83
1603	end apogee: CONTROL_FINISHED_OK
state	1603	begin climb
1605	0.77	272.5	2700	1829	2734	2663	172.3	0.0	283	1831	1.42	2.58	211.80	1.121	10756	0.092	0.066	3003	402	1589	1632	1546	0	0	0	0	0	0	14.34	14.20	13.80
1844	0.77	272.5	3002	401	1629	1546	163.0	12.4	324	1850	0.00	2.38	0.00	0.000	1030	0.000	0.034	3003	1797	1587	1629	1545	0	0	0	0	0	0	14.48	14.42	14.49
1915	0.77	272.5	3002	1799	1628	1543	153.3	14.5	337	1921	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	1799	1585	1628	1542	0	0	0	0	0	0	14.74	14.76	14.75
1984	0.77	272.5	3002	1799	1627	1542	142.6	15.8	350	1990	0.00	2.38	0.00	0.000	2308	0.000	0.046	3003	3204	1583	1626	1541	0	0	0	0	0	0	14.85	14.64	14.85
2055	0.77	272.5	3002	3201	1623	1541	132.7	13.1	363	2062	0.00	2.38	0.00	0.000	1030	0.000	0.047	3003	1803	1582	1623	1541	0	0	0	0	0	0	14.73	14.70	14.74
2127	0.77	272.5	3002	1803	1623	1540	123.7	12.7	376	2133	0.00	2.45	0.00	0.000	516	0.000	0.072	3003	398	1582	1624	1540	0	0	0	0	0	0	14.95	14.66	14.96
2146	0.77	272.5	3002	396	1623	1540	120.3	15.1	379	2153	0.00	2.33	0.00	0.000	3078	0.000	0.032	3003	1806	1581	1623	1540	0	0	0	0	0	0	14.78	14.71	14.79
2218	0.77	272.5	3003	1809	1623	1541	109.5	15.0	392	2224	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	1809	1581	1623	1540	0	0	0	0	0	0	14.98	15.00	15.00
2287	0.77	272.5	3002	1809	1623	1539	99.2	14.4	405	2292	0.00	0.00	0.00	0.000	6	0.000	0.000	3003	1809	1581	1623	1540	0	0	0	0	0	0	15.01	15.02	15.02
2355	0.77	272.5	3002	1809	1623	1540	89.3	13.4	418	2361	0.00	2.47	0.00	0.000	516	0.000	0.070	3011	388	1581	1623	1540	0	0	0	0	0	0	15.02	14.76	15.02
2384	0.77	272.5	3011	388	1622	1540	85.3	12.6	423	2391	0.00	2.35	0.00	0.000	5126	0.000	0.032	3011	1802	1580	1622	1539	0	0	0	0	0	0	14.92	14.85	14.93
2456	0.77	272.5	3011	1804	1622	1539	75.0	13.7	436	2463	0.00	2.47	0.00	0.000	4612	0.000	0.072	3013	390	1580	1622	1539	0	0	0	0	0	0	15.04	14.69	15.07
2490	0.77	272.5	3011	390	1622	1539	70.0	14.3	442	2497	0.00	2.33	0.00	0.000	5126	0.000	0.033	3013	1802	1580	1622	1539	0	0	0	0	0	0	14.92	14.84	14.94
2562	0.77	272.5	3013	1805	1622	1546	60.3	14.6	455	2568	0.00	2.35	0.00	0.000	4356	0.000	0.046	3013	3206	1580	1622	1539	0	0	0	0	0	0	15.05	14.77	15.06
2677	0.77	272.5	3012	3206	1621	1538	45.1	11.5	477	2683	0.00	2.40	0.00	0.000	5126	0.000	0.050	3013	1799	1579	1621	1538	0	0	0	0	0	0	14.88	14.78	14.90
2749	0.77	272.5	3012	1799	1621	1538	37.6	10.7	490	2755	0.00	2.42	0.00	0.000	4612	0.000	0.072	3010	398	1579	1621	1538	0	0	0	0	0	0	15.05	14.79	15.06
2788	0.77	272.5	3013	397	1621	1538	33.2	10.3	497	2794	0.00	2.33	0.00	0.000	5126	0.000	0.032	3013	1808	1579	1621	1538	0	0	0	0	0	0	14.95	14.86	14.96
2859	0.77	272.5	3012	1813	1621	1538	26.1	10.5	510	2866	0.00	2.33	0.00	0.000	4356	0.000	0.047	3013	3206	1579	1621	1538	0	0	0	0	0	0	15.05	14.83	15.06
2899	0.77	272.5	3013	3207	1621	1537	21.5	10.9	517	2905	0.00	2.40	0.00	0.000	5126	0.000	0.050	3013	1796	1579	1621	1537	0	0	0	0	0	0	14.94	14.82	14.95
2969	0.77	272.5	3013	1796	1621	1538	14.2	10.9	530	2975	0.00	0.00	0.00	0.000	4102	0.000	0.000	3013	1796	1579	1621	1537	0	0	0	0	0	0	15.05	15.06	15.05
3038	0.80	295.9	3013	1796	1621	1537	6.8	9.4	543	3056	0.00	0.00	14.95	0.850	8710	0.000	0.000	3013	1796	1491	1537	1445	0	0	0	0	0	0	15.07	14.78	14.28
3061	end climb: FINISH_DEPTH_REACHED
state	3061	begin subsurface finish
3069	0.12	98.9	3013	1795	1535	1444	4.1	10.7	547	3108	1.08	0.00	-31.77	0.000	20998	0.171	0.000	2805	1796	2298	2345	2252	0	0	0	0	0	0	14.64	14.04	14.78
3109	end subsurface finish: CONTROL_FINISHED_OK
state	3109	begin surface