Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 448 * 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 30 C_ROLL_CLIMB 1800 ALTIM_TOP_TURN_MARGIN 0

DIVE 448 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 30 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 448 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 190419,234201,-3431.8059,2515.7991,8,0.9,28,-27.9,0.7,244.8,10,9.1 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3422.499,2522.271

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.79 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -65.5 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 190419,235617,-3431.8511,2515.7285,7,1.0,17,-27.9,0.6,129.3,10,9.8 MHEAD_RNG_PITCHd_Wd 57.9,20000,-13.1,-10.010,-16.32,4154

SPEED_LIMITS 0.173,0.342 D_GRID 1000

Post-dive calculations and measurements:

FINISH1 4.6,1.025484,103 _24V_AH 13.44,140.201

FINISH2 3.3 _10V_AH 13.42,0.000

IRIDIUM_FIX -3419.93,2515.55,190419,214014 FG_AHR_24Vo 0.000

TT8_MAMPS 0.021721,0.823151 FG_AHR_10Vo 0.000

HUMID 46.49 MEM 340920

INTERNAL_PRESSURE 9.43928 DATA_FILE_SIZE 13442,532

TCM_TEMP 19.10 CAP_FILE_SIZE 108418,0

XPDR_PINGS 0 CFSIZE 2097086464,2007859200

ALTIM_BOTTOM_PING 135.6,34.1 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

SC_FREEKB 3686336 GPS 190419,235617,-3431.851,2515.729,7,1.0,17,-27.9,0.6,129.3,10,9.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 306 75.35 nil 0 0 0.00

Roll_motor 85 84 96.78 nil 0 0 0.00

VBD_pump_during_apogee 464 1144 7141.91 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 23 16 5.23 nil 0 0 0.00

Iridium_during_connect 20 160 43.91 SciCon 3071 36 1499.78

Iridium_during_xfer 495 223 1485.97 nil 0 0 0.00

Transponder_ping 4 420 26.81 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 11 2.77

TT8 1034 9 133.44

LPSleep 431 2 12.68

TT8_Active 609 9 78.66

TT8_Sampling 1433 28 545.17

TT8_CF8 357 36 175.28

TT8_Kalman 0 0 0.00

Analog_circuits 1174 12 190.91

GPS_charging 0 0 0.00

Compass 802 17 193.60

RAFOS 0 0 0.00

Transponder 31 30 12.63

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 1797 626 545 0.0 0.0 0 129 0.00 0.00 -102.38 0.000 16386 0.000 0.000 54 1797 3138 3104 3172 0 0 0 0 0 0 14.92 28.83 14.93

134 -0.77 -272.5 53 1797 3105 3173 4.0 -10.2 19 170 14.68 2.47 -10.60 0.000 18948 0.307 0.084 2504 394 3814 3828 3800 0 0 0 0 0 0 14.45 13.44 14.73

264 -0.77 -272.5 2503 394 3829 3800 34.5 -12.8 43 270 0.00 2.35 0.00 0.000 3078 0.000 0.034 2501 1810 3814 3829 3800 0 0 0 0 0 0 14.89 14.80 14.90

334 -0.77 -272.5 2501 1813 3829 3798 44.1 -15.5 56 341 0.00 2.38 0.00 0.000 2308 0.000 0.054 2501 3213 3814 3829 3800 0 0 0 0 0 0 15.02 14.66 15.02

394 -0.77 -272.5 2501 3213 3829 3800 53.4 -12.8 67 401 0.00 2.35 0.00 0.000 3078 0.000 0.041 2502 1803 3814 3829 3800 0 0 0 0 0 0 14.81 14.71 14.81

467 -0.77 -272.5 2501 1804 3829 3800 62.6 -12.3 80 474 0.00 2.40 0.00 0.000 2564 0.000 0.063 2501 409 3814 3829 3800 0 0 0 0 0 0 15.04 14.78 15.05

497 -0.77 -272.5 2501 409 3828 3800 66.7 -11.9 85 503 0.00 2.33 0.00 0.000 3078 0.000 0.033 2501 1820 3814 3829 3800 0 0 0 0 0 0 14.92 14.84 14.94

567 -0.77 -272.5 2501 1823 3829 3800 75.0 -11.9 98 575 0.00 2.35 0.00 0.000 2308 0.000 0.054 2501 3209 3814 3829 3800 0 0 0 0 0 0 15.04 14.80 15.05

608 -0.77 -272.5 2501 3208 3828 3800 79.4 -9.8 105 616 0.00 2.35 0.00 0.000 3078 0.000 0.041 2501 1804 3814 3829 3800 0 0 0 0 0 0 14.93 14.85 14.94

680 -0.77 -272.5 2501 1804 3829 3800 86.9 -10.1 118 685 0.00 0.00 0.00 0.000 2054 0.000 0.000 2501 1804 3814 3828 3800 0 0 0 0 0 0 15.07 15.07 15.07

750 -0.77 -272.5 2501 1804 3829 3800 94.4 -9.9 131 757 0.00 2.40 0.00 0.000 2308 0.000 0.054 2501 3208 3814 3829 3800 0 0 0 0 0 0 15.08 14.71 15.08

780 -0.77 -272.5 2501 3209 3829 3800 96.8 -8.0 136 787 0.00 2.35 0.00 0.000 3078 0.000 0.041 2501 1806 3814 3829 3800 0 0 0 0 0 0 14.83 14.73 14.85

851 -0.77 -272.5 2501 1806 3829 3800 102.7 -9.8 149 858 0.00 2.40 0.00 0.000 2564 0.000 0.063 2502 410 3814 3828 3800 0 0 0 0 0 0 15.08 14.76 15.08

871 -0.77 -272.5 2501 409 3828 3800 104.7 -10.0 152 881 0.00 2.33 0.00 0.000 3078 0.000 0.033 2501 1818 3814 3829 3800 0 0 0 0 0 0 14.89 14.81 14.90

947 -0.77 -272.5 2501 1819 3828 3800 112.2 -9.9 165 954 0.00 2.35 0.00 0.000 2308 0.000 0.054 2501 3209 3814 3829 3800 0 0 0 0 0 0 15.08 14.81 15.08

978 -0.77 -272.5 2501 3209 3828 3800 115.2 -8.6 170 984 0.00 2.35 0.00 0.000 3078 0.000 0.041 2501 1803 3814 3829 3800 0 0 0 0 0 0 14.95 14.84 14.96

1049 -0.77 -272.5 2501 1803 3829 3800 122.3 -10.8 183 1055 0.00 2.40 0.00 0.000 2564 0.000 0.063 2502 403 3813 3827 3799 0 0 0 0 0 0 15.07 14.81 15.07

1073 -0.77 -272.5 2501 403 3829 3799 125.3 -11.9 187 1080 0.00 2.33 0.00 0.000 3078 0.000 0.033 2501 1819 3814 3828 3800 0 0 0 0 0 0 14.95 14.86 14.97

1144 -0.77 -272.5 2501 1822 3828 3798 133.0 -11.5 200 1150 0.00 2.35 0.00 0.000 2308 0.000 0.054 2501 3214 3814 3828 3800 0 0 0 0 0 0 15.08 14.82 15.08

1190 -0.77 -272.5 2505 3215 3828 3799 138.0 -9.8 208 1197 0.00 2.35 0.00 0.000 3078 0.000 0.041 2501 1811 3813 3828 3799 0 0 0 0 0 0 14.89 14.78 14.90

1262 -0.77 -272.5 2501 1811 3828 3799 146.2 -12.2 221 1268 0.00 2.40 0.00 0.000 2564 0.000 0.061 2501 410 3813 3828 3799 0 0 0 0 0 0 15.09 14.81 15.09

1286 -0.77 -272.5 2501 409 3828 3799 149.4 -12.0 225 1293 0.00 2.33 0.00 0.000 3078 0.000 0.033 2501 1819 3813 3828 3799 0 0 0 0 0 0 14.90 14.81 14.91

1358 -0.77 -272.5 2501 1822 3828 3799 156.9 -10.4 238 1364 0.00 2.35 0.00 0.000 2308 0.000 0.052 2501 3214 3813 3828 3799 0 0 0 0 0 0 15.07 14.82 15.07

1385 end dive: BOTTOM_OBSTACLE_DETECTED

state 1385 begin apogee

1394 -0.17 0.0 2502 1791 3828 3799 160.3 -10.5 243 1605 0.98 0.00 201.68 1.144 10246 0.131 0.000 2699 1788 2699 2734 2664 0 0 0 0 0 0 14.69 14.36 13.85

1607 end apogee: CONTROL_FINISHED_OK

state 1607 begin climb

1609 0.77 272.5 2699 1788 2734 2664 166.1 0.0 281 1832 1.40 0.00 210.52 1.121 10758 0.077 0.000 2995 1788 1588 1631 1546 0 0 0 0 0 0 14.39 14.19 13.82

1896 0.77 272.5 2995 1788 1629 1543 148.8 15.3 332 1902 0.00 2.50 0.00 0.000 2564 0.000 0.073 2999 389 1585 1629 1542 0 0 0 0 0 0 14.73 14.47 14.73

1915 0.77 272.5 2999 389 1627 1542 146.4 12.9 335 1922 0.00 2.38 0.00 0.000 3078 0.000 0.032 2998 1808 1584 1627 1542 0 0 0 0 0 0 14.60 14.53 14.62

1987 0.77 272.5 2998 1810 1627 1541 136.5 14.6 348 1993 0.00 2.35 0.00 0.000 2308 0.000 0.046 2999 3197 1583 1626 1541 0 0 0 0 0 0 14.88 14.68 14.88

2011 0.77 272.5 2998 3197 1624 1540 132.5 15.8 352 2018 0.00 2.42 0.00 0.000 3078 0.000 0.052 3000 1803 1582 1624 1540 0 0 0 0 0 0 14.74 14.64 14.75

2083 0.77 272.5 2999 1803 1625 1540 122.0 15.6 365 2089 0.00 2.47 0.00 0.000 2564 0.000 0.072 2999 392 1582 1625 1540 0 0 0 0 0 0 14.93 14.69 14.94

2102 0.77 272.5 2999 392 1624 1540 118.6 16.1 368 2109 0.00 2.33 0.00 0.000 3078 0.000 0.031 2999 1803 1581 1624 1539 0 0 0 0 0 0 14.85 14.77 14.85

2174 0.77 272.5 2999 1806 1624 1539 107.1 17.7 381 2179 0.00 0.00 0.00 0.000 2054 0.000 0.000 2999 1806 1581 1624 1539 0 0 0 0 0 0 14.97 14.97 14.97

2242 0.77 272.5 2999 1806 1624 1540 95.2 16.1 394 2248 0.00 2.33 0.00 0.000 2308 0.000 0.046 2999 3196 1581 1624 1539 0 0 0 0 0 0 15.01 14.78 15.02

2271 0.77 272.5 2999 3195 1622 1539 90.6 16.5 399 2278 0.00 2.40 0.00 0.000 3078 0.000 0.050 2999 1798 1578 1622 1534 0 0 0 0 0 0 14.85 14.75 14.87

2343 0.77 272.5 2999 1797 1622 1539 80.9 13.9 412 2349 0.00 0.00 0.00 0.000 2054 0.000 0.000 2999 1797 1580 1622 1539 0 0 0 0 0 0 15.02 15.02 15.02

2412 0.77 272.5 2999 1797 1622 1538 70.9 15.0 425 2418 0.00 0.00 0.00 0.000 2054 0.000 0.000 2999 1798 1580 1622 1538 0 0 0 0 0 0 15.05 15.05 15.05

2481 0.77 272.5 2997 1797 1622 1538 60.2 15.7 438 2486 0.00 0.00 0.00 0.000 2054 0.000 0.000 2999 1797 1580 1622 1538 0 0 0 0 0 0 15.06 15.06 15.06

2549 0.77 272.5 2999 1805 1622 1538 49.8 15.5 451 2556 0.00 2.42 0.00 0.000 2564 0.000 0.073 2999 396 1579 1622 1537 0 0 0 0 0 0 15.07 14.70 15.07

2650 0.77 272.5 2998 396 1622 1538 38.1 10.3 470 2657 0.00 2.30 0.00 0.000 3078 0.000 0.032 2999 1801 1579 1621 1537 0 0 0 0 0 0 14.85 14.78 14.87

2722 0.85 336.3 2999 1803 1621 1537 32.2 8.4 483 2784 0.05 2.53 52.12 1.040 10756 0.260 0.072 3033 392 1328 1379 1277 0 0 0 0 0 0 14.71 14.55 14.13

2814 0.85 336.3 3032 392 1378 1275 22.4 12.4 499 2821 0.00 2.33 0.00 0.000 1030 0.000 0.033 3033 1798 1326 1378 1274 0 0 0 0 0 0 14.76 14.69 14.76

2887 0.85 336.3 3032 1800 1377 1273 14.2 12.1 512 2894 0.00 2.35 0.00 0.000 260 0.000 0.046 3033 3197 1325 1377 1273 0 0 0 0 0 0 14.92 14.71 14.94

2916 0.85 336.3 3033 3197 1376 1272 9.8 13.6 517 2923 0.00 2.40 0.00 0.000 1030 0.000 0.051 3033 1798 1323 1376 1271 0 0 0 0 0 0 14.81 14.71 14.83

2958 end climb: FINISH_DEPTH_REACHED

state 2959 begin subsurface finish

2966 0.13 103.3 3033 1797 1376 1271 4.6 11.2 525 3006 1.17 0.00 -34.33 0.000 20998 0.167 0.000 2805 1798 2281 2327 2236 0 0 0 0 0 0 14.52 13.48 14.62

3007 end subsurface finish: CONTROL_FINISHED_OK

state 3007 begin surface

ID	574	HD_C	9.8500004e-06	C_ROLL_DIVE	1812	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	3	HEADING	30	C_ROLL_CLIMB	1800	ALTIM_TOP_TURN_MARGIN	0
DIVE	448	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	190419,234201,-3431.8059,2515.7991,8,0.9,28,-27.9,0.7,244.8,10,9.1	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3422.499,2522.271
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.79	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-65.5	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	190419,235617,-3431.8511,2515.7285,7,1.0,17,-27.9,0.6,129.3,10,9.8	MHEAD_RNG_PITCHd_Wd	57.9,20000,-13.1,-10.010,-16.32,4154
SPEED_LIMITS	0.173,0.342	D_GRID	1000

FINISH1	4.6,1.025484,103	_24V_AH	13.44,140.201
FINISH2	3.3	_10V_AH	13.42,0.000
IRIDIUM_FIX	-3419.93,2515.55,190419,214014	FG_AHR_24Vo	0.000
TT8_MAMPS	0.021721,0.823151	FG_AHR_10Vo	0.000
HUMID	46.49	MEM	340920
INTERNAL_PRESSURE	9.43928	DATA_FILE_SIZE	13442,532
TCM_TEMP	19.10	CAP_FILE_SIZE	108418,0
XPDR_PINGS	0	CFSIZE	2097086464,2007859200
ALTIM_BOTTOM_PING	135.6,34.1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
SC_FREEKB	3686336	GPS	190419,235617,-3431.851,2515.729,7,1.0,17,-27.9,0.6,129.3,10,9.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	306	75.35	nil	0	0	0.00
Roll_motor	85	84	96.78	nil	0	0	0.00
VBD_pump_during_apogee	464	1144	7141.91	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	23	16	5.23	nil	0	0	0.00
Iridium_during_connect	20	160	43.91	SciCon	3071	36	1499.78
Iridium_during_xfer	495	223	1485.97	nil	0	0	0.00
Transponder_ping	4	420	26.81	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	11	2.77
TT8	1034	9	133.44
LPSleep	431	2	12.68
TT8_Active	609	9	78.66
TT8_Sampling	1433	28	545.17
TT8_CF8	357	36	175.28
TT8_Kalman	0	0	0.00
Analog_circuits	1174	12	190.91
GPS_charging	0	0	0.00
Compass	802	17	193.60
RAFOS	0	0	0.00
Transponder	31	30	12.63

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	1797	626	545	0.0	0.0	0	129	0.00	0.00	-102.38	0.000	16386	0.000	0.000	54	1797	3138	3104	3172	0	0	0	0	0	0	14.92	28.83	14.93
134	-0.77	-272.5	53	1797	3105	3173	4.0	-10.2	19	170	14.68	2.47	-10.60	0.000	18948	0.307	0.084	2504	394	3814	3828	3800	0	0	0	0	0	0	14.45	13.44	14.73
264	-0.77	-272.5	2503	394	3829	3800	34.5	-12.8	43	270	0.00	2.35	0.00	0.000	3078	0.000	0.034	2501	1810	3814	3829	3800	0	0	0	0	0	0	14.89	14.80	14.90
334	-0.77	-272.5	2501	1813	3829	3798	44.1	-15.5	56	341	0.00	2.38	0.00	0.000	2308	0.000	0.054	2501	3213	3814	3829	3800	0	0	0	0	0	0	15.02	14.66	15.02
394	-0.77	-272.5	2501	3213	3829	3800	53.4	-12.8	67	401	0.00	2.35	0.00	0.000	3078	0.000	0.041	2502	1803	3814	3829	3800	0	0	0	0	0	0	14.81	14.71	14.81
467	-0.77	-272.5	2501	1804	3829	3800	62.6	-12.3	80	474	0.00	2.40	0.00	0.000	2564	0.000	0.063	2501	409	3814	3829	3800	0	0	0	0	0	0	15.04	14.78	15.05
497	-0.77	-272.5	2501	409	3828	3800	66.7	-11.9	85	503	0.00	2.33	0.00	0.000	3078	0.000	0.033	2501	1820	3814	3829	3800	0	0	0	0	0	0	14.92	14.84	14.94
567	-0.77	-272.5	2501	1823	3829	3800	75.0	-11.9	98	575	0.00	2.35	0.00	0.000	2308	0.000	0.054	2501	3209	3814	3829	3800	0	0	0	0	0	0	15.04	14.80	15.05
608	-0.77	-272.5	2501	3208	3828	3800	79.4	-9.8	105	616	0.00	2.35	0.00	0.000	3078	0.000	0.041	2501	1804	3814	3829	3800	0	0	0	0	0	0	14.93	14.85	14.94
680	-0.77	-272.5	2501	1804	3829	3800	86.9	-10.1	118	685	0.00	0.00	0.00	0.000	2054	0.000	0.000	2501	1804	3814	3828	3800	0	0	0	0	0	0	15.07	15.07	15.07
750	-0.77	-272.5	2501	1804	3829	3800	94.4	-9.9	131	757	0.00	2.40	0.00	0.000	2308	0.000	0.054	2501	3208	3814	3829	3800	0	0	0	0	0	0	15.08	14.71	15.08
780	-0.77	-272.5	2501	3209	3829	3800	96.8	-8.0	136	787	0.00	2.35	0.00	0.000	3078	0.000	0.041	2501	1806	3814	3829	3800	0	0	0	0	0	0	14.83	14.73	14.85
851	-0.77	-272.5	2501	1806	3829	3800	102.7	-9.8	149	858	0.00	2.40	0.00	0.000	2564	0.000	0.063	2502	410	3814	3828	3800	0	0	0	0	0	0	15.08	14.76	15.08
871	-0.77	-272.5	2501	409	3828	3800	104.7	-10.0	152	881	0.00	2.33	0.00	0.000	3078	0.000	0.033	2501	1818	3814	3829	3800	0	0	0	0	0	0	14.89	14.81	14.90
947	-0.77	-272.5	2501	1819	3828	3800	112.2	-9.9	165	954	0.00	2.35	0.00	0.000	2308	0.000	0.054	2501	3209	3814	3829	3800	0	0	0	0	0	0	15.08	14.81	15.08
978	-0.77	-272.5	2501	3209	3828	3800	115.2	-8.6	170	984	0.00	2.35	0.00	0.000	3078	0.000	0.041	2501	1803	3814	3829	3800	0	0	0	0	0	0	14.95	14.84	14.96
1049	-0.77	-272.5	2501	1803	3829	3800	122.3	-10.8	183	1055	0.00	2.40	0.00	0.000	2564	0.000	0.063	2502	403	3813	3827	3799	0	0	0	0	0	0	15.07	14.81	15.07
1073	-0.77	-272.5	2501	403	3829	3799	125.3	-11.9	187	1080	0.00	2.33	0.00	0.000	3078	0.000	0.033	2501	1819	3814	3828	3800	0	0	0	0	0	0	14.95	14.86	14.97
1144	-0.77	-272.5	2501	1822	3828	3798	133.0	-11.5	200	1150	0.00	2.35	0.00	0.000	2308	0.000	0.054	2501	3214	3814	3828	3800	0	0	0	0	0	0	15.08	14.82	15.08
1190	-0.77	-272.5	2505	3215	3828	3799	138.0	-9.8	208	1197	0.00	2.35	0.00	0.000	3078	0.000	0.041	2501	1811	3813	3828	3799	0	0	0	0	0	0	14.89	14.78	14.90
1262	-0.77	-272.5	2501	1811	3828	3799	146.2	-12.2	221	1268	0.00	2.40	0.00	0.000	2564	0.000	0.061	2501	410	3813	3828	3799	0	0	0	0	0	0	15.09	14.81	15.09
1286	-0.77	-272.5	2501	409	3828	3799	149.4	-12.0	225	1293	0.00	2.33	0.00	0.000	3078	0.000	0.033	2501	1819	3813	3828	3799	0	0	0	0	0	0	14.90	14.81	14.91
1358	-0.77	-272.5	2501	1822	3828	3799	156.9	-10.4	238	1364	0.00	2.35	0.00	0.000	2308	0.000	0.052	2501	3214	3813	3828	3799	0	0	0	0	0	0	15.07	14.82	15.07
1385	end dive: BOTTOM_OBSTACLE_DETECTED
state	1385	begin apogee
1394	-0.17	0.0	2502	1791	3828	3799	160.3	-10.5	243	1605	0.98	0.00	201.68	1.144	10246	0.131	0.000	2699	1788	2699	2734	2664	0	0	0	0	0	0	14.69	14.36	13.85
1607	end apogee: CONTROL_FINISHED_OK
state	1607	begin climb
1609	0.77	272.5	2699	1788	2734	2664	166.1	0.0	281	1832	1.40	0.00	210.52	1.121	10758	0.077	0.000	2995	1788	1588	1631	1546	0	0	0	0	0	0	14.39	14.19	13.82
1896	0.77	272.5	2995	1788	1629	1543	148.8	15.3	332	1902	0.00	2.50	0.00	0.000	2564	0.000	0.073	2999	389	1585	1629	1542	0	0	0	0	0	0	14.73	14.47	14.73
1915	0.77	272.5	2999	389	1627	1542	146.4	12.9	335	1922	0.00	2.38	0.00	0.000	3078	0.000	0.032	2998	1808	1584	1627	1542	0	0	0	0	0	0	14.60	14.53	14.62
1987	0.77	272.5	2998	1810	1627	1541	136.5	14.6	348	1993	0.00	2.35	0.00	0.000	2308	0.000	0.046	2999	3197	1583	1626	1541	0	0	0	0	0	0	14.88	14.68	14.88
2011	0.77	272.5	2998	3197	1624	1540	132.5	15.8	352	2018	0.00	2.42	0.00	0.000	3078	0.000	0.052	3000	1803	1582	1624	1540	0	0	0	0	0	0	14.74	14.64	14.75
2083	0.77	272.5	2999	1803	1625	1540	122.0	15.6	365	2089	0.00	2.47	0.00	0.000	2564	0.000	0.072	2999	392	1582	1625	1540	0	0	0	0	0	0	14.93	14.69	14.94
2102	0.77	272.5	2999	392	1624	1540	118.6	16.1	368	2109	0.00	2.33	0.00	0.000	3078	0.000	0.031	2999	1803	1581	1624	1539	0	0	0	0	0	0	14.85	14.77	14.85
2174	0.77	272.5	2999	1806	1624	1539	107.1	17.7	381	2179	0.00	0.00	0.00	0.000	2054	0.000	0.000	2999	1806	1581	1624	1539	0	0	0	0	0	0	14.97	14.97	14.97
2242	0.77	272.5	2999	1806	1624	1540	95.2	16.1	394	2248	0.00	2.33	0.00	0.000	2308	0.000	0.046	2999	3196	1581	1624	1539	0	0	0	0	0	0	15.01	14.78	15.02
2271	0.77	272.5	2999	3195	1622	1539	90.6	16.5	399	2278	0.00	2.40	0.00	0.000	3078	0.000	0.050	2999	1798	1578	1622	1534	0	0	0	0	0	0	14.85	14.75	14.87
2343	0.77	272.5	2999	1797	1622	1539	80.9	13.9	412	2349	0.00	0.00	0.00	0.000	2054	0.000	0.000	2999	1797	1580	1622	1539	0	0	0	0	0	0	15.02	15.02	15.02
2412	0.77	272.5	2999	1797	1622	1538	70.9	15.0	425	2418	0.00	0.00	0.00	0.000	2054	0.000	0.000	2999	1798	1580	1622	1538	0	0	0	0	0	0	15.05	15.05	15.05
2481	0.77	272.5	2997	1797	1622	1538	60.2	15.7	438	2486	0.00	0.00	0.00	0.000	2054	0.000	0.000	2999	1797	1580	1622	1538	0	0	0	0	0	0	15.06	15.06	15.06
2549	0.77	272.5	2999	1805	1622	1538	49.8	15.5	451	2556	0.00	2.42	0.00	0.000	2564	0.000	0.073	2999	396	1579	1622	1537	0	0	0	0	0	0	15.07	14.70	15.07
2650	0.77	272.5	2998	396	1622	1538	38.1	10.3	470	2657	0.00	2.30	0.00	0.000	3078	0.000	0.032	2999	1801	1579	1621	1537	0	0	0	0	0	0	14.85	14.78	14.87
2722	0.85	336.3	2999	1803	1621	1537	32.2	8.4	483	2784	0.05	2.53	52.12	1.040	10756	0.260	0.072	3033	392	1328	1379	1277	0	0	0	0	0	0	14.71	14.55	14.13
2814	0.85	336.3	3032	392	1378	1275	22.4	12.4	499	2821	0.00	2.33	0.00	0.000	1030	0.000	0.033	3033	1798	1326	1378	1274	0	0	0	0	0	0	14.76	14.69	14.76
2887	0.85	336.3	3032	1800	1377	1273	14.2	12.1	512	2894	0.00	2.35	0.00	0.000	260	0.000	0.046	3033	3197	1325	1377	1273	0	0	0	0	0	0	14.92	14.71	14.94
2916	0.85	336.3	3033	3197	1376	1272	9.8	13.6	517	2923	0.00	2.40	0.00	0.000	1030	0.000	0.051	3033	1798	1323	1376	1271	0	0	0	0	0	0	14.81	14.71	14.83
2958	end climb: FINISH_DEPTH_REACHED
state	2959	begin subsurface finish
2966	0.13	103.3	3033	1797	1376	1271	4.6	11.2	525	3006	1.17	0.00	-34.33	0.000	20998	0.167	0.000	2805	1798	2281	2327	2236	0	0	0	0	0	0	14.52	13.48	14.62
3007	end subsurface finish: CONTROL_FINISHED_OK
state	3007	begin surface