Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 449 * 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 449 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 30 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 48 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 30 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 48 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 449 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 190419,235617,-3431.8511,2515.7285,7,1.0,17,-27.9,0.6,129.3,10,9.8 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 6.91 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo 2.3 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:

FINISH 0.5,1.025252 _24V_AH 13.40,140.424

SM_CCo 2955,153.65,0.811,0,0,598,515.37 _10V_AH 13.45,0.000

SM_GC 0.71,13.68,2.47,153.65,0.053,0.067,0.811,130,1810,598,-8.18,0.76,515.37,0,0,0,0,0,0,14.79,14.79,14.07 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3419.93,2515.55,190419,214014 FG_AHR_10Vo 0.000

TT8_MAMPS 0.02247,0.934003 MEM 341064

HUMID 45.47 DATA_FILE_SIZE 13438,518

INTERNAL_PRESSURE 9.28303 CAP_FILE_SIZE 101822,0

TCM_TEMP 18.70 CFSIZE 2097086464,2007695360

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

ALTIM_BOTTOM_PING 120.3,36.0 GPS 200419,014302,-3431.235,2516.348,9,0.9,27,-27.9,0.8,299.3,10,8.8

SC_FREEKB 3685824

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 103 23.84 nil 0 0 0.00

Roll_motor 85 80 92.08 nil 0 0 0.00

VBD_pump_during_apogee 429 1149 6608.01 nil 0 0 0.00

VBD_pump_during_surface 153 810 1669.57 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 2990 36 1459.52

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 4 420 22.51 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 1071 9 138.47

LPSleep 451 2 13.30

TT8_Active 664 9 85.94

TT8_Sampling 894 28 340.85

TT8_CF8 181 36 89.45

TT8_Kalman 0 0 0.00

Analog_circuits 1195 12 194.70

GPS_charging 0 0 0.00

Compass 782 17 189.33

RAFOS 0 0 0.00

Transponder 26 30 10.82

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -0.77 -272.5 2805 1798 2332 2237 0.0 0.0 0 32 0.00 0.00 -6.50 0.000 16386 0.000 0.000 2805 1798 2573 2615 2532 0 0 0 0 0 0 15.04 28.83 15.05

35 -0.77 -272.5 2805 1798 2616 2531 8.9 0.0 1 70 1.33 2.40 -25.23 0.000 20740 0.103 0.080 2526 3204 3813 3833 3793 0 0 0 0 0 0 14.74 13.40 14.81

95 -0.77 -272.5 2525 3204 3834 3794 14.6 -9.6 11 102 0.00 2.35 0.00 0.000 5126 0.000 0.043 2524 1804 3813 3833 3793 0 0 0 0 0 0 14.83 14.73 14.85

167 -0.77 -272.5 2525 1803 3833 3794 24.7 -15.5 24 174 0.00 2.42 0.00 0.000 4612 0.000 0.067 2526 409 3813 3833 3793 0 0 0 0 0 0 15.07 14.80 15.08

192 -0.77 -272.5 2525 409 3833 3794 28.7 -15.0 28 198 0.00 2.33 0.00 0.000 5126 0.000 0.034 2526 1813 3813 3833 3793 0 0 0 0 0 0 14.90 14.83 14.92

263 -0.77 -272.5 2525 1815 3834 3794 37.9 -13.7 41 269 0.00 0.00 0.00 0.000 4102 0.000 0.000 2525 1818 3813 3833 3794 0 0 0 0 0 0 15.06 15.07 15.07

332 -0.77 -272.5 2525 1815 3834 3794 47.7 -13.8 54 337 0.00 0.00 0.00 0.000 4102 0.000 0.000 2529 1815 3814 3834 3794 0 0 0 0 0 0 15.08 15.08 15.08

400 -0.77 -272.5 2525 1815 3834 3793 56.0 -12.3 67 407 0.00 2.35 0.00 0.000 4356 0.000 0.055 2524 3209 3813 3833 3793 0 0 0 0 0 0 15.09 14.71 15.08

430 -0.77 -272.5 2525 3208 3834 3794 59.1 -10.6 72 437 0.00 2.35 0.00 0.000 5126 0.000 0.041 2525 1801 3813 3834 3793 0 0 0 0 0 0 14.83 14.74 14.84

501 -0.77 -272.5 2525 1800 3834 3793 66.6 -10.7 85 508 0.00 2.42 0.00 0.000 4612 0.000 0.065 2526 402 3814 3834 3794 0 0 0 0 0 0 15.08 14.76 15.09

527 -0.77 -272.5 2525 402 3834 3794 69.0 -9.8 89 533 0.00 2.33 0.00 0.000 5126 0.000 0.034 2526 1813 3814 3834 3794 0 0 0 0 0 0 14.90 14.82 14.91

597 -0.77 -272.5 2522 1815 3834 3793 75.9 -10.3 102 604 0.00 2.35 0.00 0.000 4356 0.000 0.054 2526 3210 3814 3834 3794 0 0 0 0 0 0 15.09 14.82 15.09

637 -0.77 -272.5 2524 3210 3834 3794 79.5 -8.2 109 645 0.00 2.35 0.00 0.000 5126 0.000 0.041 2525 1806 3814 3834 3794 0 0 0 0 0 0 14.95 14.85 14.97

711 -0.77 -272.5 2525 1806 3834 3794 86.3 -10.4 122 717 0.00 0.00 0.00 0.000 4102 0.000 0.000 2525 1806 3814 3834 3794 0 0 0 0 0 0 15.09 15.09 15.09

780 -0.77 -272.5 2525 1806 3833 3794 92.4 -8.2 135 786 0.00 0.00 0.00 0.000 4102 0.000 0.000 2525 1806 3814 3834 3794 0 0 0 0 0 0 15.09 15.10 15.09

850 -0.77 -272.5 2525 1806 3835 3794 98.8 -8.6 148 856 0.00 2.40 0.00 0.000 4356 0.000 0.054 2525 3216 3814 3835 3794 0 0 0 0 0 0 15.09 14.73 15.09

870 -0.77 -272.5 2525 3217 3835 3794 100.5 -8.3 151 876 0.00 2.35 0.00 0.000 5126 0.000 0.042 2525 1813 3812 3835 3790 0 0 0 0 0 0 14.84 14.74 14.85

941 -0.77 -272.5 2525 1814 3835 3794 106.7 -9.2 164 948 0.00 2.42 0.00 0.000 4612 0.000 0.064 2526 405 3814 3835 3794 0 0 0 0 0 0 15.09 14.73 15.09

967 -0.77 -272.5 2525 405 3835 3794 109.1 -8.4 168 973 0.00 2.33 0.00 0.000 5126 0.000 0.033 2525 1817 3814 3835 3793 0 0 0 0 0 0 14.90 14.81 14.91

1039 -0.77 -272.5 2525 1818 3835 3794 115.3 -8.8 181 1046 0.00 2.35 0.00 0.000 4356 0.000 0.054 2525 3211 3814 3835 3794 0 0 0 0 0 0 15.09 14.82 15.09

1084 -0.77 -272.5 2525 3211 3835 3794 119.9 -8.9 189 1096 0.00 2.33 0.00 0.000 5126 0.000 0.037 2525 1807 3815 3836 3794 0 0 0 0 0 0 14.95 14.85 14.97

1159 -0.77 -272.5 2525 1807 3835 3794 126.7 -9.8 202 1166 0.00 2.38 0.00 0.000 4612 0.000 0.062 2526 412 3814 3835 3794 0 0 0 0 0 0 15.09 14.82 15.09

1199 -0.77 -272.5 2525 412 3835 3794 130.6 -10.0 209 1206 0.00 2.30 0.00 0.000 5126 0.000 0.032 2525 1822 3814 3835 3794 0 0 0 0 0 0 14.96 14.88 14.97

1273 -0.77 -272.5 2525 1823 3828 3793 137.1 -9.4 222 1279 0.00 2.35 0.00 0.000 4356 0.000 0.054 2525 3210 3814 3835 3794 0 0 0 0 0 0 15.09 14.82 15.09

1298 -0.77 -272.5 2525 3210 3835 3794 139.3 -7.6 226 1304 0.00 2.33 0.00 0.000 5126 0.000 0.036 2526 1809 3814 3835 3793 0 0 0 0 0 0 14.95 14.85 14.97

1369 -0.77 -272.5 2525 1809 3835 3794 145.3 -8.8 239 1375 0.00 0.00 0.00 0.000 4102 0.000 0.000 2525 1815 3814 3835 3793 0 0 0 0 0 0 15.07 15.08 15.07

1380 end dive: BOTTOM_OBSTACLE_DETECTED

state 1380 begin apogee

1386 -0.17 0.0 2525 1809 3835 3793 146.6 -8.3 241 1598 0.82 0.00 202.62 1.149 10246 0.103 0.000 2700 1806 2700 2736 2664 0 0 0 0 0 0 14.62 14.33 13.83

1599 end apogee: CONTROL_FINISHED_OK

state 1599 begin climb

1602 0.77 272.5 2700 1806 2734 2663 155.8 0.0 279 1826 1.40 2.53 210.85 1.125 10756 0.090 0.069 2998 402 1590 1633 1547 0 0 0 0 0 0 14.35 14.21 13.82

1849 0.77 272.5 2998 402 1630 1547 143.4 14.4 322 1856 0.00 2.35 0.00 0.000 3078 0.000 0.031 2998 1795 1588 1630 1546 0 0 0 0 0 0 14.53 14.47 14.54

1921 0.77 272.5 2998 1797 1629 1544 132.8 15.7 335 1927 0.00 2.40 0.00 0.000 2308 0.000 0.047 2998 3206 1586 1629 1543 0 0 0 0 0 0 14.77 14.58 14.77

1945 0.77 272.5 2998 3207 1635 1543 128.6 15.9 339 1952 0.00 2.42 0.00 0.000 1030 0.000 0.052 2999 1805 1585 1627 1543 0 0 0 0 0 0 14.70 14.60 14.71

2017 0.77 272.5 2999 1805 1627 1542 117.8 16.1 352 2022 0.00 0.00 0.00 0.000 2054 0.000 0.000 2999 1805 1585 1627 1543 0 0 0 0 0 0 14.88 14.89 14.89

2085 0.77 272.5 2999 1805 1627 1542 106.4 15.9 365 2092 0.00 2.47 0.00 0.000 2564 0.000 0.074 2999 395 1584 1627 1542 0 0 0 0 0 0 14.94 14.69 14.95

2120 0.77 272.5 2999 394 1627 1542 100.6 17.0 371 2126 0.00 2.33 0.00 0.000 3078 0.000 0.033 3000 1801 1584 1627 1542 0 0 0 0 0 0 14.85 14.77 14.86

2191 0.77 272.5 2999 1803 1626 1541 88.8 16.4 384 2197 0.00 0.00 0.00 0.000 2054 0.000 0.000 3000 1803 1584 1627 1542 0 0 0 0 0 0 14.96 14.97 14.97

2260 0.77 272.5 2999 1803 1626 1542 78.3 13.9 397 2267 0.00 2.35 0.00 0.000 2308 0.000 0.048 3000 3202 1583 1626 1541 0 0 0 0 0 0 15.00 14.78 15.01

2304 0.77 272.5 2999 3202 1624 1541 72.3 13.5 405 2311 0.00 2.40 0.00 0.000 3078 0.000 0.050 3000 1796 1583 1625 1541 0 0 0 0 0 0 14.90 14.78 14.91

2377 0.77 272.5 3000 1796 1625 1541 63.1 13.5 418 2383 0.00 2.45 0.00 0.000 2564 0.000 0.072 3007 390 1582 1625 1540 0 0 0 0 0 0 15.04 14.69 15.04

2458 0.77 272.5 3007 389 1624 1541 51.6 15.2 433 2465 0.00 2.33 0.00 0.000 1030 0.000 0.034 3007 1797 1582 1624 1541 0 0 0 0 0 0 14.87 14.79 14.88

2530 0.77 272.5 3007 1801 1624 1541 42.0 11.4 446 2536 0.00 2.35 0.00 0.000 260 0.000 0.047 3007 3201 1582 1624 1541 0 0 0 0 0 0 15.04 14.82 15.05

2559 0.77 272.5 3007 3201 1623 1544 38.3 13.4 451 2566 0.00 2.40 0.00 0.000 1030 0.000 0.052 3008 1796 1582 1623 1541 0 0 0 0 0 0 14.92 14.81 14.93

2631 0.77 272.5 3007 1795 1624 1541 30.3 11.4 464 2637 0.00 0.00 0.00 0.000 6 0.000 0.000 3007 1795 1582 1624 1541 0 0 0 0 0 0 15.04 15.05 15.05

2700 0.77 274.1 3007 1795 1624 1541 22.8 10.0 477 2705 0.00 0.00 0.00 0.000 6 0.000 0.000 3007 1795 1582 1624 1541 0 0 0 0 0 0 15.06 15.07 15.07

2769 0.78 280.3 3007 1795 1623 1540 16.3 9.9 490 2781 0.00 2.35 4.65 0.743 8452 0.000 0.048 3007 3200 1555 1600 1511 0 0 0 0 0 0 15.07 14.81 14.21

2809 0.78 280.3 3007 3200 1600 1512 12.0 10.5 497 2816 0.00 2.40 0.00 0.000 1030 0.000 0.052 3008 1796 1555 1599 1512 0 0 0 0 0 0 14.92 14.82 14.94

2881 0.80 296.3 3007 1796 1600 1512 5.2 9.6 510 2899 0.00 2.38 11.05 0.815 10500 0.000 0.046 3007 3205 1488 1534 1442 0 0 0 0 0 0 15.04 14.69 14.28

2904 end climb: SURFACE_DEPTH_REACHED

state 2904 begin surface coast

2928 end surface coast: CONTROL_FINISHED_OK

state 2928 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	449	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	30	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	48	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	190419,235617,-3431.8511,2515.7285,7,1.0,17,-27.9,0.6,129.3,10,9.8	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	6.91	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	2.3	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

FINISH	0.5,1.025252	_24V_AH	13.40,140.424
SM_CCo	2955,153.65,0.811,0,0,598,515.37	_10V_AH	13.45,0.000
SM_GC	0.71,13.68,2.47,153.65,0.053,0.067,0.811,130,1810,598,-8.18,0.76,515.37,0,0,0,0,0,0,14.79,14.79,14.07	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3419.93,2515.55,190419,214014	FG_AHR_10Vo	0.000
TT8_MAMPS	0.02247,0.934003	MEM	341064
HUMID	45.47	DATA_FILE_SIZE	13438,518
INTERNAL_PRESSURE	9.28303	CAP_FILE_SIZE	101822,0
TCM_TEMP	18.70	CFSIZE	2097086464,2007695360
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_BOTTOM_PING	120.3,36.0	GPS	200419,014302,-3431.235,2516.348,9,0.9,27,-27.9,0.8,299.3,10,8.8
SC_FREEKB	3685824

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	103	23.84	nil	0	0	0.00
Roll_motor	85	80	92.08	nil	0	0	0.00
VBD_pump_during_apogee	429	1149	6608.01	nil	0	0	0.00
VBD_pump_during_surface	153	810	1669.57	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	2990	36	1459.52
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	4	420	22.51	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	1071	9	138.47
LPSleep	451	2	13.30
TT8_Active	664	9	85.94
TT8_Sampling	894	28	340.85
TT8_CF8	181	36	89.45
TT8_Kalman	0	0	0.00
Analog_circuits	1195	12	194.70
GPS_charging	0	0	0.00
Compass	782	17	189.33
RAFOS	0	0	0.00
Transponder	26	30	10.82

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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-0.77	-272.5	2805	1798	2332	2237	0.0	0.0	0	32	0.00	0.00	-6.50	0.000	16386	0.000	0.000	2805	1798	2573	2615	2532	0	0	0	0	0	0	15.04	28.83	15.05
35	-0.77	-272.5	2805	1798	2616	2531	8.9	0.0	1	70	1.33	2.40	-25.23	0.000	20740	0.103	0.080	2526	3204	3813	3833	3793	0	0	0	0	0	0	14.74	13.40	14.81
95	-0.77	-272.5	2525	3204	3834	3794	14.6	-9.6	11	102	0.00	2.35	0.00	0.000	5126	0.000	0.043	2524	1804	3813	3833	3793	0	0	0	0	0	0	14.83	14.73	14.85
167	-0.77	-272.5	2525	1803	3833	3794	24.7	-15.5	24	174	0.00	2.42	0.00	0.000	4612	0.000	0.067	2526	409	3813	3833	3793	0	0	0	0	0	0	15.07	14.80	15.08
192	-0.77	-272.5	2525	409	3833	3794	28.7	-15.0	28	198	0.00	2.33	0.00	0.000	5126	0.000	0.034	2526	1813	3813	3833	3793	0	0	0	0	0	0	14.90	14.83	14.92
263	-0.77	-272.5	2525	1815	3834	3794	37.9	-13.7	41	269	0.00	0.00	0.00	0.000	4102	0.000	0.000	2525	1818	3813	3833	3794	0	0	0	0	0	0	15.06	15.07	15.07
332	-0.77	-272.5	2525	1815	3834	3794	47.7	-13.8	54	337	0.00	0.00	0.00	0.000	4102	0.000	0.000	2529	1815	3814	3834	3794	0	0	0	0	0	0	15.08	15.08	15.08
400	-0.77	-272.5	2525	1815	3834	3793	56.0	-12.3	67	407	0.00	2.35	0.00	0.000	4356	0.000	0.055	2524	3209	3813	3833	3793	0	0	0	0	0	0	15.09	14.71	15.08
430	-0.77	-272.5	2525	3208	3834	3794	59.1	-10.6	72	437	0.00	2.35	0.00	0.000	5126	0.000	0.041	2525	1801	3813	3834	3793	0	0	0	0	0	0	14.83	14.74	14.84
501	-0.77	-272.5	2525	1800	3834	3793	66.6	-10.7	85	508	0.00	2.42	0.00	0.000	4612	0.000	0.065	2526	402	3814	3834	3794	0	0	0	0	0	0	15.08	14.76	15.09
527	-0.77	-272.5	2525	402	3834	3794	69.0	-9.8	89	533	0.00	2.33	0.00	0.000	5126	0.000	0.034	2526	1813	3814	3834	3794	0	0	0	0	0	0	14.90	14.82	14.91
597	-0.77	-272.5	2522	1815	3834	3793	75.9	-10.3	102	604	0.00	2.35	0.00	0.000	4356	0.000	0.054	2526	3210	3814	3834	3794	0	0	0	0	0	0	15.09	14.82	15.09
637	-0.77	-272.5	2524	3210	3834	3794	79.5	-8.2	109	645	0.00	2.35	0.00	0.000	5126	0.000	0.041	2525	1806	3814	3834	3794	0	0	0	0	0	0	14.95	14.85	14.97
711	-0.77	-272.5	2525	1806	3834	3794	86.3	-10.4	122	717	0.00	0.00	0.00	0.000	4102	0.000	0.000	2525	1806	3814	3834	3794	0	0	0	0	0	0	15.09	15.09	15.09
780	-0.77	-272.5	2525	1806	3833	3794	92.4	-8.2	135	786	0.00	0.00	0.00	0.000	4102	0.000	0.000	2525	1806	3814	3834	3794	0	0	0	0	0	0	15.09	15.10	15.09
850	-0.77	-272.5	2525	1806	3835	3794	98.8	-8.6	148	856	0.00	2.40	0.00	0.000	4356	0.000	0.054	2525	3216	3814	3835	3794	0	0	0	0	0	0	15.09	14.73	15.09
870	-0.77	-272.5	2525	3217	3835	3794	100.5	-8.3	151	876	0.00	2.35	0.00	0.000	5126	0.000	0.042	2525	1813	3812	3835	3790	0	0	0	0	0	0	14.84	14.74	14.85
941	-0.77	-272.5	2525	1814	3835	3794	106.7	-9.2	164	948	0.00	2.42	0.00	0.000	4612	0.000	0.064	2526	405	3814	3835	3794	0	0	0	0	0	0	15.09	14.73	15.09
967	-0.77	-272.5	2525	405	3835	3794	109.1	-8.4	168	973	0.00	2.33	0.00	0.000	5126	0.000	0.033	2525	1817	3814	3835	3793	0	0	0	0	0	0	14.90	14.81	14.91
1039	-0.77	-272.5	2525	1818	3835	3794	115.3	-8.8	181	1046	0.00	2.35	0.00	0.000	4356	0.000	0.054	2525	3211	3814	3835	3794	0	0	0	0	0	0	15.09	14.82	15.09
1084	-0.77	-272.5	2525	3211	3835	3794	119.9	-8.9	189	1096	0.00	2.33	0.00	0.000	5126	0.000	0.037	2525	1807	3815	3836	3794	0	0	0	0	0	0	14.95	14.85	14.97
1159	-0.77	-272.5	2525	1807	3835	3794	126.7	-9.8	202	1166	0.00	2.38	0.00	0.000	4612	0.000	0.062	2526	412	3814	3835	3794	0	0	0	0	0	0	15.09	14.82	15.09
1199	-0.77	-272.5	2525	412	3835	3794	130.6	-10.0	209	1206	0.00	2.30	0.00	0.000	5126	0.000	0.032	2525	1822	3814	3835	3794	0	0	0	0	0	0	14.96	14.88	14.97
1273	-0.77	-272.5	2525	1823	3828	3793	137.1	-9.4	222	1279	0.00	2.35	0.00	0.000	4356	0.000	0.054	2525	3210	3814	3835	3794	0	0	0	0	0	0	15.09	14.82	15.09
1298	-0.77	-272.5	2525	3210	3835	3794	139.3	-7.6	226	1304	0.00	2.33	0.00	0.000	5126	0.000	0.036	2526	1809	3814	3835	3793	0	0	0	0	0	0	14.95	14.85	14.97
1369	-0.77	-272.5	2525	1809	3835	3794	145.3	-8.8	239	1375	0.00	0.00	0.00	0.000	4102	0.000	0.000	2525	1815	3814	3835	3793	0	0	0	0	0	0	15.07	15.08	15.07
1380	end dive: BOTTOM_OBSTACLE_DETECTED
state	1380	begin apogee
1386	-0.17	0.0	2525	1809	3835	3793	146.6	-8.3	241	1598	0.82	0.00	202.62	1.149	10246	0.103	0.000	2700	1806	2700	2736	2664	0	0	0	0	0	0	14.62	14.33	13.83
1599	end apogee: CONTROL_FINISHED_OK
state	1599	begin climb
1602	0.77	272.5	2700	1806	2734	2663	155.8	0.0	279	1826	1.40	2.53	210.85	1.125	10756	0.090	0.069	2998	402	1590	1633	1547	0	0	0	0	0	0	14.35	14.21	13.82
1849	0.77	272.5	2998	402	1630	1547	143.4	14.4	322	1856	0.00	2.35	0.00	0.000	3078	0.000	0.031	2998	1795	1588	1630	1546	0	0	0	0	0	0	14.53	14.47	14.54
1921	0.77	272.5	2998	1797	1629	1544	132.8	15.7	335	1927	0.00	2.40	0.00	0.000	2308	0.000	0.047	2998	3206	1586	1629	1543	0	0	0	0	0	0	14.77	14.58	14.77
1945	0.77	272.5	2998	3207	1635	1543	128.6	15.9	339	1952	0.00	2.42	0.00	0.000	1030	0.000	0.052	2999	1805	1585	1627	1543	0	0	0	0	0	0	14.70	14.60	14.71
2017	0.77	272.5	2999	1805	1627	1542	117.8	16.1	352	2022	0.00	0.00	0.00	0.000	2054	0.000	0.000	2999	1805	1585	1627	1543	0	0	0	0	0	0	14.88	14.89	14.89
2085	0.77	272.5	2999	1805	1627	1542	106.4	15.9	365	2092	0.00	2.47	0.00	0.000	2564	0.000	0.074	2999	395	1584	1627	1542	0	0	0	0	0	0	14.94	14.69	14.95
2120	0.77	272.5	2999	394	1627	1542	100.6	17.0	371	2126	0.00	2.33	0.00	0.000	3078	0.000	0.033	3000	1801	1584	1627	1542	0	0	0	0	0	0	14.85	14.77	14.86
2191	0.77	272.5	2999	1803	1626	1541	88.8	16.4	384	2197	0.00	0.00	0.00	0.000	2054	0.000	0.000	3000	1803	1584	1627	1542	0	0	0	0	0	0	14.96	14.97	14.97
2260	0.77	272.5	2999	1803	1626	1542	78.3	13.9	397	2267	0.00	2.35	0.00	0.000	2308	0.000	0.048	3000	3202	1583	1626	1541	0	0	0	0	0	0	15.00	14.78	15.01
2304	0.77	272.5	2999	3202	1624	1541	72.3	13.5	405	2311	0.00	2.40	0.00	0.000	3078	0.000	0.050	3000	1796	1583	1625	1541	0	0	0	0	0	0	14.90	14.78	14.91
2377	0.77	272.5	3000	1796	1625	1541	63.1	13.5	418	2383	0.00	2.45	0.00	0.000	2564	0.000	0.072	3007	390	1582	1625	1540	0	0	0	0	0	0	15.04	14.69	15.04
2458	0.77	272.5	3007	389	1624	1541	51.6	15.2	433	2465	0.00	2.33	0.00	0.000	1030	0.000	0.034	3007	1797	1582	1624	1541	0	0	0	0	0	0	14.87	14.79	14.88
2530	0.77	272.5	3007	1801	1624	1541	42.0	11.4	446	2536	0.00	2.35	0.00	0.000	260	0.000	0.047	3007	3201	1582	1624	1541	0	0	0	0	0	0	15.04	14.82	15.05
2559	0.77	272.5	3007	3201	1623	1544	38.3	13.4	451	2566	0.00	2.40	0.00	0.000	1030	0.000	0.052	3008	1796	1582	1623	1541	0	0	0	0	0	0	14.92	14.81	14.93
2631	0.77	272.5	3007	1795	1624	1541	30.3	11.4	464	2637	0.00	0.00	0.00	0.000	6	0.000	0.000	3007	1795	1582	1624	1541	0	0	0	0	0	0	15.04	15.05	15.05
2700	0.77	274.1	3007	1795	1624	1541	22.8	10.0	477	2705	0.00	0.00	0.00	0.000	6	0.000	0.000	3007	1795	1582	1624	1541	0	0	0	0	0	0	15.06	15.07	15.07
2769	0.78	280.3	3007	1795	1623	1540	16.3	9.9	490	2781	0.00	2.35	4.65	0.743	8452	0.000	0.048	3007	3200	1555	1600	1511	0	0	0	0	0	0	15.07	14.81	14.21
2809	0.78	280.3	3007	3200	1600	1512	12.0	10.5	497	2816	0.00	2.40	0.00	0.000	1030	0.000	0.052	3008	1796	1555	1599	1512	0	0	0	0	0	0	14.92	14.82	14.94
2881	0.80	296.3	3007	1796	1600	1512	5.2	9.6	510	2899	0.00	2.38	11.05	0.815	10500	0.000	0.046	3007	3205	1488	1534	1442	0	0	0	0	0	0	15.04	14.69	14.28
2904	end climb: SURFACE_DEPTH_REACHED
state	2904	begin surface coast
2928	end surface coast: CONTROL_FINISHED_OK
state	2928	begin surface