Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 446 * 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 446 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 27 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 52 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 27 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 52 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 446 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 190419,213528,-3432.1677,2515.2676,17,0.9,43,-27.9,0.9,290.5,9,9.7 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3425.230,2525.056

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.75 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -65.3 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 190419,215007,-3432.1714,2515.0271,7,1.0,16,-27.9,0.9,277.4,8,9.4 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 3.4,1.025542,100 _24V_AH 13.45,139.729

FINISH2 2.1 _10V_AH 13.44,0.000

IRIDIUM_FIX -3417.32,2515.55,190419,192933 FG_AHR_24Vo 0.000

TT8_MAMPS 0.020972,0.919023 FG_AHR_10Vo 0.000

HUMID 46.10 MEM 340864

INTERNAL_PRESSURE 9.42951 DATA_FILE_SIZE 13445,544

TCM_TEMP 19.20 CAP_FILE_SIZE 109353,0

XPDR_PINGS 0 CFSIZE 2097086464,2008186880

ALTIM_BOTTOM_PING 135.3,37.1 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

SC_FREEKB 3687360 GPS 190419,215007,-3432.171,2515.027,7,1.0,16,-27.9,0.9,277.4,8,9.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 303 74.65 nil 0 0 0.00

Roll_motor 80 84 92.23 nil 0 0 0.00

VBD_pump_during_apogee 457 1136 6984.28 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 5.07 nil 0 0 0.00

Iridium_during_connect 17 160 37.55 SciCon 3143 36 1544.03

Iridium_during_xfer 525 223 1576.98 nil 0 0 0.00

Transponder_ping 4 420 26.83 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 11 2.62

TT8 1070 9 138.30

LPSleep 447 2 13.16

TT8_Active 598 9 77.25

TT8_Sampling 1475 28 562.09

TT8_CF8 363 36 178.86

TT8_Kalman 0 0 0.00

Analog_circuits 1168 12 190.23

GPS_charging 0 0 0.00

Compass 822 17 198.79

RAFOS 0 0 0.00

Transponder 33 30 13.42

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 53 1787 625 545 0.0 0.0 0 129 0.00 0.00 -102.82 0.000 16386 0.000 0.000 54 1788 3191 3157 3225 0 0 0 0 0 0 14.92 28.83 14.92

134 -0.77 -272.5 59 1788 3157 3225 4.1 -9.9 19 165 14.62 2.45 -9.38 0.000 18948 0.304 0.085 2502 397 3816 3831 3801 0 0 0 0 0 0 14.48 13.45 14.76

259 -0.77 -272.5 2501 396 3828 3801 38.8 -14.3 42 266 0.00 2.33 0.00 0.000 3078 0.000 0.035 2501 1802 3814 3827 3801 0 0 0 0 0 0 14.78 14.69 14.79

330 -0.77 -272.5 2501 1805 3827 3801 49.2 -15.2 55 337 0.00 2.40 0.00 0.000 2308 0.000 0.054 2501 3219 3814 3827 3801 0 0 0 0 0 0 15.02 14.71 15.02

365 -0.77 -272.5 2501 3219 3827 3801 53.3 -11.4 61 372 0.00 2.38 0.00 0.000 3078 0.000 0.041 2501 1804 3814 3827 3801 0 0 0 0 0 0 14.78 14.68 14.80

437 -0.77 -272.5 2501 1804 3827 3801 61.3 -13.0 74 443 0.00 2.42 0.00 0.000 2564 0.000 0.066 2501 404 3814 3827 3801 0 0 0 0 0 0 15.04 14.76 15.04

456 -0.77 -272.5 2500 403 3827 3800 63.7 -10.8 77 463 0.00 2.35 0.00 0.000 3078 0.000 0.034 2501 1820 3814 3827 3801 0 0 0 0 0 0 14.88 14.77 14.90

529 -0.77 -272.5 2501 1823 3827 3801 72.8 -14.1 90 536 0.00 2.35 0.00 0.000 2308 0.000 0.053 2501 3212 3814 3827 3801 0 0 0 0 0 0 15.05 14.69 15.05

559 -0.77 -272.5 2501 3213 3827 3801 77.6 -14.7 95 565 0.00 2.35 0.00 0.000 3078 0.000 0.042 2501 1809 3814 3827 3801 0 0 0 0 0 0 14.92 14.81 14.94

632 -0.77 -272.5 2501 1809 3825 3800 87.2 -13.4 108 638 0.00 2.42 0.00 0.000 2564 0.000 0.064 2501 404 3814 3828 3800 0 0 0 0 0 0 15.06 14.78 15.07

678 -0.77 -272.5 2501 406 3827 3801 93.4 -12.6 116 684 0.00 2.33 0.00 0.000 3078 0.000 0.034 2501 1814 3813 3826 3800 0 0 0 0 0 0 14.93 14.84 14.95

750 -0.77 -272.5 2501 1816 3827 3800 101.9 -12.0 129 756 0.00 2.35 0.00 0.000 2308 0.000 0.053 2501 3208 3814 3827 3801 0 0 0 0 0 0 15.07 14.67 15.07

812 -0.77 -272.5 2501 3209 3827 3800 108.6 -9.7 140 819 0.00 2.35 0.00 0.000 3078 0.000 0.040 2501 1802 3814 3828 3800 0 0 0 0 0 0 14.93 14.83 14.95

883 -0.77 -272.5 2501 1802 3827 3800 115.5 -10.0 153 890 0.00 2.38 0.00 0.000 2564 0.000 0.063 2501 410 3813 3827 3800 0 0 0 0 0 0 15.07 14.80 15.07

913 -0.77 -272.5 2501 411 3827 3799 118.9 -10.2 158 919 0.00 2.30 0.00 0.000 3078 0.000 0.032 2501 1816 3813 3827 3800 0 0 0 0 0 0 14.95 14.86 14.96

985 -0.77 -272.5 2501 1818 3827 3800 125.3 -9.2 171 992 0.00 2.35 0.00 0.000 2308 0.000 0.054 2501 3204 3812 3825 3800 0 0 0 0 0 0 15.08 14.70 15.08

1015 -0.77 -272.5 2501 3204 3827 3800 129.0 -10.9 176 1022 0.00 2.33 0.00 0.000 3078 0.000 0.041 2501 1814 3815 3831 3800 0 0 0 0 0 0 14.83 14.73 14.84

1089 -0.77 -272.5 2501 1814 3827 3800 137.1 -11.5 189 1096 0.00 2.42 0.00 0.000 2564 0.000 0.063 2502 402 3814 3827 3801 0 0 0 0 0 0 15.09 14.67 15.09

1114 -0.77 -272.5 2501 402 3827 3800 140.2 -13.5 193 1121 0.00 2.33 0.00 0.000 3078 0.000 0.037 2498 1804 3813 3827 3800 0 0 0 0 0 0 14.95 14.85 14.96

1186 -0.77 -272.5 2501 1806 3827 3799 148.4 -11.8 206 1192 0.00 2.40 0.00 0.000 2308 0.000 0.053 2501 3221 3813 3827 3799 0 0 0 0 0 0 15.09 14.76 15.08

1226 -0.77 -272.5 2500 3221 3827 3804 152.2 -9.0 213 1232 0.00 2.38 0.00 0.000 3078 0.000 0.041 2501 1803 3813 3827 3799 0 0 0 0 0 0 14.88 14.78 14.90

1297 -0.77 -272.5 2501 1802 3827 3799 160.0 -12.1 226 1303 0.00 0.00 0.00 0.000 2054 0.000 0.000 2501 1802 3813 3827 3799 0 0 0 0 0 0 15.08 15.09 15.08

1314 end dive: BOTTOM_OBSTACLE_DETECTED

state 1314 begin apogee

1320 -0.17 0.0 2501 1802 3827 3799 162.5 -12.1 229 1531 0.98 0.00 202.68 1.136 10246 0.140 0.000 2696 1802 2699 2736 2663 0 0 0 0 0 0 14.67 14.37 13.85

1533 end apogee: CONTROL_FINISHED_OK

state 1533 begin climb

1535 0.77 272.5 2697 1802 2734 2662 173.3 0.0 267 1754 1.40 0.00 210.95 1.120 10758 0.083 0.000 2990 1802 1589 1633 1546 0 0 0 0 0 0 14.37 14.31 13.81

1817 0.77 272.5 2990 1802 1628 1541 156.1 14.3 317 1823 0.00 0.00 0.00 0.000 2054 0.000 0.000 2990 1802 1584 1628 1541 0 0 0 0 0 0 14.73 14.73 14.73

1886 0.77 272.5 2990 1801 1626 1540 145.6 15.9 330 1892 0.00 0.00 0.00 0.000 2054 0.000 0.000 2990 1801 1583 1626 1540 0 0 0 0 0 0 14.84 14.85 14.84

1955 0.77 272.5 2990 1801 1625 1539 135.4 15.0 343 1961 0.00 0.00 0.00 0.000 2054 0.000 0.000 2990 1802 1582 1625 1539 0 0 0 0 0 0 14.90 14.91 14.91

2024 0.77 272.5 2990 1802 1624 1539 125.3 13.1 356 2030 0.00 2.45 0.00 0.000 2564 0.000 0.072 2992 398 1581 1624 1539 0 0 0 0 0 0 14.95 14.70 14.95

2048 0.77 272.5 2991 398 1622 1538 121.8 14.6 360 2055 0.00 2.35 0.00 0.000 3078 0.000 0.032 2992 1811 1580 1622 1539 0 0 0 0 0 0 14.85 14.78 14.87

2119 0.77 272.5 2992 1814 1622 1536 112.9 11.9 373 2126 0.00 2.30 0.00 0.000 2308 0.000 0.045 2992 3198 1579 1622 1537 0 0 0 0 0 0 14.97 14.77 14.98

2159 0.77 272.5 2991 3198 1622 1537 108.1 12.7 380 2166 0.00 2.38 0.00 0.000 3078 0.000 0.050 2992 1804 1579 1621 1537 0 0 0 0 0 0 14.88 14.78 14.90

2232 0.77 272.5 2992 1804 1621 1536 99.5 12.0 393 2238 0.00 0.00 0.00 0.000 2054 0.000 0.000 2992 1804 1579 1621 1537 0 0 0 0 0 0 15.02 15.03 15.03

2301 0.77 272.5 2992 1805 1622 1536 90.9 11.9 406 2306 0.00 0.00 0.00 0.000 2054 0.000 0.000 2992 1804 1578 1621 1536 0 0 0 0 0 0 15.04 15.05 15.04

2369 0.77 272.5 2992 1804 1621 1536 83.8 10.6 419 2376 0.00 2.45 0.00 0.000 2564 0.000 0.071 2992 389 1578 1621 1535 0 0 0 0 0 0 15.05 14.78 15.05

2399 0.77 272.5 2992 389 1621 1536 80.5 10.1 424 2405 0.00 2.33 0.00 0.000 3078 0.000 0.033 2992 1801 1578 1621 1536 0 0 0 0 0 0 14.94 14.85 14.95

2470 0.77 272.5 2992 1803 1621 1535 71.8 11.6 437 2477 0.00 2.35 0.00 0.000 2308 0.000 0.047 2992 3207 1578 1621 1535 0 0 0 0 0 0 15.06 14.72 15.06

2547 0.77 272.5 2992 3207 1620 1535 63.2 12.3 451 2554 0.00 2.40 0.00 0.000 3078 0.000 0.051 2992 1800 1579 1621 1537 0 0 0 0 0 0 14.89 14.78 14.91

2618 0.77 272.5 2992 1800 1621 1535 55.2 10.5 464 2624 0.00 2.45 0.00 0.000 2564 0.000 0.072 2992 391 1577 1621 1534 0 0 0 0 0 0 15.07 14.80 15.07

2699 0.77 272.5 2992 391 1621 1535 46.4 10.1 479 2706 0.00 2.33 0.00 0.000 3078 0.000 0.033 2992 1806 1578 1621 1535 0 0 0 0 0 0 14.95 14.88 14.97

2771 0.84 326.2 2991 1809 1620 1535 39.7 8.7 492 2823 0.08 2.53 43.47 1.045 11012 0.188 0.070 3037 388 1371 1420 1322 0 0 0 0 0 0 14.83 14.59 14.19

2847 0.84 326.2 3036 388 1419 1321 28.1 18.7 505 2854 0.00 2.35 0.00 0.000 5126 0.000 0.032 3037 1803 1369 1419 1320 0 0 0 0 0 0 14.76 14.69 14.76

2920 0.84 326.2 3037 1806 1418 1318 17.4 14.9 518 2926 0.00 0.00 0.00 0.000 4102 0.000 0.000 3037 1806 1368 1418 1318 0 0 0 0 0 0 14.95 14.95 14.95

2989 0.84 326.2 3037 1806 1417 1318 7.9 12.7 531 2995 0.00 2.35 0.00 0.000 4356 0.000 0.047 3034 3199 1367 1417 1318 0 0 0 0 0 0 14.97 14.75 14.97

3008 0.84 326.2 3037 3200 1417 1317 5.3 13.2 534 3015 0.00 2.40 0.00 0.000 5126 0.000 0.050 3037 1796 1366 1417 1316 0 0 0 0 0 0 14.86 14.75 14.88

3020 end climb: FINISH_DEPTH_REACHED

state 3020 begin subsurface finish

3027 0.12 100.3 3037 1796 1417 1316 3.4 13.3 536 3072 1.20 0.00 -37.40 0.000 20998 0.171 0.000 2810 1796 2286 2332 2240 0 0 0 0 0 0 14.54 14.00 14.65

3073 end subsurface finish: CONTROL_FINISHED_OK

state 3073 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	446	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	27	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	52	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	190419,213528,-3432.1677,2515.2676,17,0.9,43,-27.9,0.9,290.5,9,9.7	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3425.230,2525.056
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.75	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-65.3	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	190419,215007,-3432.1714,2515.0271,7,1.0,16,-27.9,0.9,277.4,8,9.4	MHEAD_RNG_PITCHd_Wd	77.9,20000,-13.1,-10.010,-16.32,4154
SPEED_LIMITS	0.173,0.342	D_GRID	1000

FINISH1	3.4,1.025542,100	_24V_AH	13.45,139.729
FINISH2	2.1	_10V_AH	13.44,0.000
IRIDIUM_FIX	-3417.32,2515.55,190419,192933	FG_AHR_24Vo	0.000
TT8_MAMPS	0.020972,0.919023	FG_AHR_10Vo	0.000
HUMID	46.10	MEM	340864
INTERNAL_PRESSURE	9.42951	DATA_FILE_SIZE	13445,544
TCM_TEMP	19.20	CAP_FILE_SIZE	109353,0
XPDR_PINGS	0	CFSIZE	2097086464,2008186880
ALTIM_BOTTOM_PING	135.3,37.1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
SC_FREEKB	3687360	GPS	190419,215007,-3432.171,2515.027,7,1.0,16,-27.9,0.9,277.4,8,9.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	303	74.65	nil	0	0	0.00
Roll_motor	80	84	92.23	nil	0	0	0.00
VBD_pump_during_apogee	457	1136	6984.28	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	5.07	nil	0	0	0.00
Iridium_during_connect	17	160	37.55	SciCon	3143	36	1544.03
Iridium_during_xfer	525	223	1576.98	nil	0	0	0.00
Transponder_ping	4	420	26.83	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	11	2.62
TT8	1070	9	138.30
LPSleep	447	2	13.16
TT8_Active	598	9	77.25
TT8_Sampling	1475	28	562.09
TT8_CF8	363	36	178.86
TT8_Kalman	0	0	0.00
Analog_circuits	1168	12	190.23
GPS_charging	0	0	0.00
Compass	822	17	198.79
RAFOS	0	0	0.00
Transponder	33	30	13.42

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	53	1787	625	545	0.0	0.0	0	129	0.00	0.00	-102.82	0.000	16386	0.000	0.000	54	1788	3191	3157	3225	0	0	0	0	0	0	14.92	28.83	14.92
134	-0.77	-272.5	59	1788	3157	3225	4.1	-9.9	19	165	14.62	2.45	-9.38	0.000	18948	0.304	0.085	2502	397	3816	3831	3801	0	0	0	0	0	0	14.48	13.45	14.76
259	-0.77	-272.5	2501	396	3828	3801	38.8	-14.3	42	266	0.00	2.33	0.00	0.000	3078	0.000	0.035	2501	1802	3814	3827	3801	0	0	0	0	0	0	14.78	14.69	14.79
330	-0.77	-272.5	2501	1805	3827	3801	49.2	-15.2	55	337	0.00	2.40	0.00	0.000	2308	0.000	0.054	2501	3219	3814	3827	3801	0	0	0	0	0	0	15.02	14.71	15.02
365	-0.77	-272.5	2501	3219	3827	3801	53.3	-11.4	61	372	0.00	2.38	0.00	0.000	3078	0.000	0.041	2501	1804	3814	3827	3801	0	0	0	0	0	0	14.78	14.68	14.80
437	-0.77	-272.5	2501	1804	3827	3801	61.3	-13.0	74	443	0.00	2.42	0.00	0.000	2564	0.000	0.066	2501	404	3814	3827	3801	0	0	0	0	0	0	15.04	14.76	15.04
456	-0.77	-272.5	2500	403	3827	3800	63.7	-10.8	77	463	0.00	2.35	0.00	0.000	3078	0.000	0.034	2501	1820	3814	3827	3801	0	0	0	0	0	0	14.88	14.77	14.90
529	-0.77	-272.5	2501	1823	3827	3801	72.8	-14.1	90	536	0.00	2.35	0.00	0.000	2308	0.000	0.053	2501	3212	3814	3827	3801	0	0	0	0	0	0	15.05	14.69	15.05
559	-0.77	-272.5	2501	3213	3827	3801	77.6	-14.7	95	565	0.00	2.35	0.00	0.000	3078	0.000	0.042	2501	1809	3814	3827	3801	0	0	0	0	0	0	14.92	14.81	14.94
632	-0.77	-272.5	2501	1809	3825	3800	87.2	-13.4	108	638	0.00	2.42	0.00	0.000	2564	0.000	0.064	2501	404	3814	3828	3800	0	0	0	0	0	0	15.06	14.78	15.07
678	-0.77	-272.5	2501	406	3827	3801	93.4	-12.6	116	684	0.00	2.33	0.00	0.000	3078	0.000	0.034	2501	1814	3813	3826	3800	0	0	0	0	0	0	14.93	14.84	14.95
750	-0.77	-272.5	2501	1816	3827	3800	101.9	-12.0	129	756	0.00	2.35	0.00	0.000	2308	0.000	0.053	2501	3208	3814	3827	3801	0	0	0	0	0	0	15.07	14.67	15.07
812	-0.77	-272.5	2501	3209	3827	3800	108.6	-9.7	140	819	0.00	2.35	0.00	0.000	3078	0.000	0.040	2501	1802	3814	3828	3800	0	0	0	0	0	0	14.93	14.83	14.95
883	-0.77	-272.5	2501	1802	3827	3800	115.5	-10.0	153	890	0.00	2.38	0.00	0.000	2564	0.000	0.063	2501	410	3813	3827	3800	0	0	0	0	0	0	15.07	14.80	15.07
913	-0.77	-272.5	2501	411	3827	3799	118.9	-10.2	158	919	0.00	2.30	0.00	0.000	3078	0.000	0.032	2501	1816	3813	3827	3800	0	0	0	0	0	0	14.95	14.86	14.96
985	-0.77	-272.5	2501	1818	3827	3800	125.3	-9.2	171	992	0.00	2.35	0.00	0.000	2308	0.000	0.054	2501	3204	3812	3825	3800	0	0	0	0	0	0	15.08	14.70	15.08
1015	-0.77	-272.5	2501	3204	3827	3800	129.0	-10.9	176	1022	0.00	2.33	0.00	0.000	3078	0.000	0.041	2501	1814	3815	3831	3800	0	0	0	0	0	0	14.83	14.73	14.84
1089	-0.77	-272.5	2501	1814	3827	3800	137.1	-11.5	189	1096	0.00	2.42	0.00	0.000	2564	0.000	0.063	2502	402	3814	3827	3801	0	0	0	0	0	0	15.09	14.67	15.09
1114	-0.77	-272.5	2501	402	3827	3800	140.2	-13.5	193	1121	0.00	2.33	0.00	0.000	3078	0.000	0.037	2498	1804	3813	3827	3800	0	0	0	0	0	0	14.95	14.85	14.96
1186	-0.77	-272.5	2501	1806	3827	3799	148.4	-11.8	206	1192	0.00	2.40	0.00	0.000	2308	0.000	0.053	2501	3221	3813	3827	3799	0	0	0	0	0	0	15.09	14.76	15.08
1226	-0.77	-272.5	2500	3221	3827	3804	152.2	-9.0	213	1232	0.00	2.38	0.00	0.000	3078	0.000	0.041	2501	1803	3813	3827	3799	0	0	0	0	0	0	14.88	14.78	14.90
1297	-0.77	-272.5	2501	1802	3827	3799	160.0	-12.1	226	1303	0.00	0.00	0.00	0.000	2054	0.000	0.000	2501	1802	3813	3827	3799	0	0	0	0	0	0	15.08	15.09	15.08
1314	end dive: BOTTOM_OBSTACLE_DETECTED
state	1314	begin apogee
1320	-0.17	0.0	2501	1802	3827	3799	162.5	-12.1	229	1531	0.98	0.00	202.68	1.136	10246	0.140	0.000	2696	1802	2699	2736	2663	0	0	0	0	0	0	14.67	14.37	13.85
1533	end apogee: CONTROL_FINISHED_OK
state	1533	begin climb
1535	0.77	272.5	2697	1802	2734	2662	173.3	0.0	267	1754	1.40	0.00	210.95	1.120	10758	0.083	0.000	2990	1802	1589	1633	1546	0	0	0	0	0	0	14.37	14.31	13.81
1817	0.77	272.5	2990	1802	1628	1541	156.1	14.3	317	1823	0.00	0.00	0.00	0.000	2054	0.000	0.000	2990	1802	1584	1628	1541	0	0	0	0	0	0	14.73	14.73	14.73
1886	0.77	272.5	2990	1801	1626	1540	145.6	15.9	330	1892	0.00	0.00	0.00	0.000	2054	0.000	0.000	2990	1801	1583	1626	1540	0	0	0	0	0	0	14.84	14.85	14.84
1955	0.77	272.5	2990	1801	1625	1539	135.4	15.0	343	1961	0.00	0.00	0.00	0.000	2054	0.000	0.000	2990	1802	1582	1625	1539	0	0	0	0	0	0	14.90	14.91	14.91
2024	0.77	272.5	2990	1802	1624	1539	125.3	13.1	356	2030	0.00	2.45	0.00	0.000	2564	0.000	0.072	2992	398	1581	1624	1539	0	0	0	0	0	0	14.95	14.70	14.95
2048	0.77	272.5	2991	398	1622	1538	121.8	14.6	360	2055	0.00	2.35	0.00	0.000	3078	0.000	0.032	2992	1811	1580	1622	1539	0	0	0	0	0	0	14.85	14.78	14.87
2119	0.77	272.5	2992	1814	1622	1536	112.9	11.9	373	2126	0.00	2.30	0.00	0.000	2308	0.000	0.045	2992	3198	1579	1622	1537	0	0	0	0	0	0	14.97	14.77	14.98
2159	0.77	272.5	2991	3198	1622	1537	108.1	12.7	380	2166	0.00	2.38	0.00	0.000	3078	0.000	0.050	2992	1804	1579	1621	1537	0	0	0	0	0	0	14.88	14.78	14.90
2232	0.77	272.5	2992	1804	1621	1536	99.5	12.0	393	2238	0.00	0.00	0.00	0.000	2054	0.000	0.000	2992	1804	1579	1621	1537	0	0	0	0	0	0	15.02	15.03	15.03
2301	0.77	272.5	2992	1805	1622	1536	90.9	11.9	406	2306	0.00	0.00	0.00	0.000	2054	0.000	0.000	2992	1804	1578	1621	1536	0	0	0	0	0	0	15.04	15.05	15.04
2369	0.77	272.5	2992	1804	1621	1536	83.8	10.6	419	2376	0.00	2.45	0.00	0.000	2564	0.000	0.071	2992	389	1578	1621	1535	0	0	0	0	0	0	15.05	14.78	15.05
2399	0.77	272.5	2992	389	1621	1536	80.5	10.1	424	2405	0.00	2.33	0.00	0.000	3078	0.000	0.033	2992	1801	1578	1621	1536	0	0	0	0	0	0	14.94	14.85	14.95
2470	0.77	272.5	2992	1803	1621	1535	71.8	11.6	437	2477	0.00	2.35	0.00	0.000	2308	0.000	0.047	2992	3207	1578	1621	1535	0	0	0	0	0	0	15.06	14.72	15.06
2547	0.77	272.5	2992	3207	1620	1535	63.2	12.3	451	2554	0.00	2.40	0.00	0.000	3078	0.000	0.051	2992	1800	1579	1621	1537	0	0	0	0	0	0	14.89	14.78	14.91
2618	0.77	272.5	2992	1800	1621	1535	55.2	10.5	464	2624	0.00	2.45	0.00	0.000	2564	0.000	0.072	2992	391	1577	1621	1534	0	0	0	0	0	0	15.07	14.80	15.07
2699	0.77	272.5	2992	391	1621	1535	46.4	10.1	479	2706	0.00	2.33	0.00	0.000	3078	0.000	0.033	2992	1806	1578	1621	1535	0	0	0	0	0	0	14.95	14.88	14.97
2771	0.84	326.2	2991	1809	1620	1535	39.7	8.7	492	2823	0.08	2.53	43.47	1.045	11012	0.188	0.070	3037	388	1371	1420	1322	0	0	0	0	0	0	14.83	14.59	14.19
2847	0.84	326.2	3036	388	1419	1321	28.1	18.7	505	2854	0.00	2.35	0.00	0.000	5126	0.000	0.032	3037	1803	1369	1419	1320	0	0	0	0	0	0	14.76	14.69	14.76
2920	0.84	326.2	3037	1806	1418	1318	17.4	14.9	518	2926	0.00	0.00	0.00	0.000	4102	0.000	0.000	3037	1806	1368	1418	1318	0	0	0	0	0	0	14.95	14.95	14.95
2989	0.84	326.2	3037	1806	1417	1318	7.9	12.7	531	2995	0.00	2.35	0.00	0.000	4356	0.000	0.047	3034	3199	1367	1417	1318	0	0	0	0	0	0	14.97	14.75	14.97
3008	0.84	326.2	3037	3200	1417	1317	5.3	13.2	534	3015	0.00	2.40	0.00	0.000	5126	0.000	0.050	3037	1796	1366	1417	1316	0	0	0	0	0	0	14.86	14.75	14.88
3020	end climb: FINISH_DEPTH_REACHED
state	3020	begin subsurface finish
3027	0.12	100.3	3037	1796	1417	1316	3.4	13.3	536	3072	1.20	0.00	-37.40	0.000	20998	0.171	0.000	2810	1796	2286	2332	2240	0	0	0	0	0	0	14.54	14.00	14.65
3073	end subsurface finish: CONTROL_FINISHED_OK
state	3073	begin surface