Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 450 * 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 450 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 25 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 45 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 25 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 45 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 450 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 200419,014302,-3431.2354,2516.3484,9,0.9,27,-27.9,0.8,299.3,10,8.8 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3421.793,2522.793

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.77 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -66.6 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 200419,015709,-3431.1450,2516.2517,7,1.0,14,-27.9,0.0,285.3,10,9.7 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 4.8,1.024981,129 _10V_AH 13.43,0.000

FINISH2 3.3 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3417.32,2515.55,190419,234644 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.932505 MEM 340864

HUMID 46.06 DATA_FILE_SIZE 10104,461

INTERNAL_PRESSURE 9.43928 CAP_FILE_SIZE 91789,0

TCM_TEMP 19.40 CFSIZE 2097086464,2007564288

XPDR_PINGS 0 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0

ALTIM_BOTTOM_PING 115.3,35.3 INTR 0,1502.04,0x23609a,1,24

SC_FREEKB 3685312 GPS 200419,015709,-3431.145,2516.252,7,1.0,14,-27.9,0.0,285.3,10,9.7

_24V_AH 13.85,140.635

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 303 76.34 nil 0 0 0.00

Roll_motor 66 84 77.80 nil 0 0 0.00

VBD_pump_during_apogee 408 1100 6230.13 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 38 160 85.08 SciCon 2675 36 1351.06

Iridium_during_xfer 483 223 1492.84 nil 0 0 0.00

Transponder_ping 3 420 21.81 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 11 2.32

TT8 898 9 116.02

LPSleep 378 2 11.12

TT8_Active 534 9 68.95

TT8_Sampling 1317 28 501.57

TT8_CF8 334 36 164.40

TT8_Kalman 0 0 0.00

Analog_circuits 1029 12 167.42

GPS_charging 0 0 0.00

Compass 694 17 167.74

RAFOS 0 0 0.00

Transponder 25 30 10.19

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 1805 626 542 0.0 0.0 0 123 0.00 0.00 -97.32 0.000 16386 0.000 0.000 54 1805 3004 2972 3036 0 0 0 0 0 0 14.92 28.83 14.94

129 -0.77 -272.5 54 1805 2971 3037 3.2 -6.2 18 164 14.62 2.45 -13.60 0.000 18948 0.304 0.084 2504 392 3813 3830 3796 0 0 0 0 0 0 14.49 13.85 14.77

273 -0.77 -272.5 2504 393 3830 3796 35.7 -14.1 45 280 0.00 2.35 0.00 0.000 3078 0.000 0.035 2504 1811 3812 3828 3796 0 0 0 0 0 0 14.89 14.80 14.90

345 -0.77 -272.5 2504 1814 3830 3795 47.6 -19.6 58 351 0.00 2.38 0.00 0.000 2308 0.000 0.054 2504 3214 3812 3830 3795 0 0 0 0 0 0 15.03 14.69 15.04

394 -0.77 -272.5 2504 3214 3830 3796 56.1 -15.8 67 401 0.00 2.38 0.00 0.000 3078 0.000 0.041 2504 1795 3812 3830 3795 0 0 0 0 0 0 14.81 14.71 14.81

465 -0.77 -272.5 2504 1794 3830 3796 65.8 -13.5 80 472 0.00 2.40 0.00 0.000 2564 0.000 0.063 2504 408 3812 3829 3796 0 0 0 0 0 0 15.04 14.72 15.05

505 -0.77 -272.5 2504 408 3829 3796 71.1 -13.0 87 511 0.00 2.33 0.00 0.000 3078 0.000 0.034 2504 1817 3812 3830 3795 0 0 0 0 0 0 14.81 14.72 14.82

577 -0.77 -272.5 2504 1820 3830 3796 79.8 -12.5 100 586 0.00 2.35 0.00 0.000 2308 0.000 0.054 2504 3210 3813 3830 3796 0 0 0 0 0 0 15.07 14.80 15.07

653 -0.77 -272.5 2504 3209 3829 3796 87.4 -9.1 113 659 0.00 2.35 0.00 0.000 3078 0.000 0.041 2504 1804 3813 3830 3796 0 0 0 0 0 0 14.94 14.83 14.95

724 -0.77 -272.5 2504 1803 3830 3795 94.5 -10.3 126 731 0.00 0.00 0.00 0.000 2054 0.000 0.000 2504 1804 3813 3830 3796 0 0 0 0 0 0 15.07 15.07 15.07

796 -0.77 -272.5 2507 1803 3829 3796 102.2 -10.6 139 801 0.00 0.00 0.00 0.000 2054 0.000 0.000 2504 1804 3812 3830 3795 0 0 0 0 0 0 15.06 15.09 15.09

864 -0.77 -272.5 2504 1804 3830 3795 109.7 -11.0 152 873 0.00 0.00 0.00 0.000 2054 0.000 0.000 2504 1804 3813 3830 3796 0 0 0 0 0 0 15.09 15.09 15.09

941 -0.77 -272.5 2508 1803 3830 3795 118.1 -11.1 165 947 0.00 0.00 0.00 0.000 2054 0.000 0.000 2504 1804 3813 3830 3796 0 0 0 0 0 0 15.09 15.09 15.09

1009 -0.77 -272.5 2504 1804 3830 3796 125.7 -10.4 178 1016 0.00 2.40 0.00 0.000 2308 0.000 0.053 2501 3209 3813 3830 3796 0 0 0 0 0 0 15.09 14.71 15.09

1044 -0.77 -272.5 2501 3209 3829 3796 129.1 -9.1 184 1051 0.00 2.33 0.00 0.000 3078 0.000 0.041 2501 1813 3811 3829 3794 0 0 0 0 0 0 14.83 14.74 14.83

1116 -0.77 -272.5 2501 1813 3829 3795 137.4 -13.6 197 1122 0.00 2.42 0.00 0.000 2564 0.000 0.064 2501 408 3812 3829 3795 0 0 0 0 0 0 15.09 14.76 15.09

1135 -0.77 -272.5 2501 406 3829 3795 139.7 -11.5 200 1142 0.00 2.33 0.00 0.000 3078 0.000 0.032 2498 1821 3812 3829 3795 0 0 0 0 0 0 14.86 14.77 14.88

1147 end dive: BOTTOM_OBSTACLE_DETECTED

state 1147 begin apogee

1153 -0.17 0.0 2498 1826 3829 3795 141.4 -12.1 202 1364 1.00 0.00 200.48 1.101 10246 0.134 0.000 2699 1826 2699 2735 2664 0 0 0 0 0 0 14.69 14.34 13.86

1366 end apogee: CONTROL_FINISHED_OK

state 1366 begin climb

1368 0.77 272.5 2699 1826 2733 2662 150.3 0.0 240 1591 1.50 2.60 208.15 1.089 10756 0.099 0.071 3006 404 1587 1630 1545 0 0 0 0 0 0 14.38 14.30 13.85

1604 0.77 272.5 3006 405 1628 1545 137.6 15.9 280 1611 0.00 2.38 0.00 0.000 1030 0.000 0.034 3006 1801 1585 1627 1544 0 0 0 0 0 0 14.45 14.40 14.47

1676 0.77 272.5 3006 1802 1626 1541 126.7 16.6 293 1682 0.00 2.38 0.00 0.000 260 0.000 0.044 3006 3204 1583 1626 1541 0 0 0 0 0 0 14.78 14.59 14.79

1700 0.77 272.5 3005 3204 1624 1541 122.8 15.4 297 1706 0.00 2.42 0.00 0.000 1030 0.000 0.051 3006 1802 1582 1624 1540 0 0 0 0 0 0 14.66 14.57 14.68

1771 0.77 272.5 3006 1803 1624 1540 112.0 15.9 310 1778 0.00 2.47 0.00 0.000 516 0.000 0.071 3011 385 1582 1624 1540 0 0 0 0 0 0 14.90 14.66 14.90

1796 0.77 272.5 3011 385 1623 1540 107.6 17.5 314 1803 0.00 2.35 0.00 0.000 5126 0.000 0.032 3011 1809 1581 1623 1540 0 0 0 0 0 0 14.81 14.73 14.83

1868 0.77 272.5 3010 1812 1622 1539 95.8 17.2 327 1873 0.00 0.00 0.00 0.000 4102 0.000 0.000 3011 1811 1580 1621 1540 0 0 0 0 0 0 14.95 14.95 14.95

1936 0.77 272.5 3011 1812 1623 1539 84.0 16.2 340 1943 0.00 2.33 0.00 0.000 4356 0.000 0.046 3011 3204 1582 1622 1543 0 0 0 0 0 0 15.00 14.77 15.00

1966 0.77 272.5 3011 3204 1621 1538 79.6 15.9 345 1973 0.00 2.40 0.00 0.000 5126 0.000 0.049 3013 1796 1580 1622 1539 0 0 0 0 0 0 14.89 14.78 14.90

2039 0.77 272.5 3013 1796 1622 1538 69.4 14.8 358 2045 0.00 0.00 0.00 0.000 4102 0.000 0.000 3013 1796 1579 1621 1538 0 0 0 0 0 0 15.02 15.04 15.04

2108 0.77 272.5 3013 1796 1621 1538 58.8 14.6 371 2114 0.00 2.42 0.00 0.000 4612 0.000 0.073 3013 395 1579 1621 1538 0 0 0 0 0 0 15.04 14.78 15.04

2179 0.77 272.5 3013 395 1621 1538 48.2 14.9 384 2186 0.00 2.33 0.00 0.000 5126 0.000 0.034 3013 1806 1579 1621 1538 0 0 0 0 0 0 14.85 14.77 14.86

2251 0.77 272.5 3013 1809 1621 1537 39.6 10.7 397 2257 0.00 2.33 0.00 0.000 4356 0.000 0.047 3013 3203 1579 1621 1537 0 0 0 0 0 0 15.07 14.83 15.07

2275 0.77 272.5 3013 3203 1621 1536 36.4 12.5 401 2282 0.00 2.38 0.00 0.000 5126 0.000 0.050 3013 1803 1578 1621 1536 0 0 0 0 0 0 14.89 14.78 14.90

2346 0.77 272.5 3013 1802 1621 1537 29.2 10.4 414 2352 0.00 0.00 0.00 0.000 4102 0.000 0.000 3013 1802 1578 1621 1536 0 0 0 0 0 0 15.06 15.07 15.07

2416 0.77 272.5 3013 1802 1621 1536 21.6 10.9 427 2422 0.00 2.35 0.00 0.000 4356 0.000 0.048 3013 3197 1578 1621 1536 0 0 0 0 0 0 15.07 14.83 15.08

2460 0.77 272.5 3013 3198 1620 1536 16.6 11.3 435 2467 0.00 2.38 0.00 0.000 5126 0.000 0.050 3014 1799 1578 1621 1536 0 0 0 0 0 0 14.90 14.79 14.92

2531 0.77 272.5 3014 1802 1620 1536 9.2 10.8 448 2538 0.00 2.38 0.00 0.000 4356 0.000 0.048 3015 3203 1578 1620 1536 0 0 0 0 0 0 15.09 14.84 15.09

2573 end climb: FINISH_DEPTH_REACHED

state 2574 begin subsurface finish

2584 0.16 129.1 3017 1798 1621 1535 4.8 8.6 456 2613 1.02 0.00 -21.10 0.000 20998 0.170 0.000 2816 1796 2176 2221 2131 0 0 0 0 0 0 14.67 14.02 14.79

2613 end subsurface finish: CONTROL_FINISHED_OK

state 2614 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	450	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	25	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	45	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	200419,014302,-3431.2354,2516.3484,9,0.9,27,-27.9,0.8,299.3,10,8.8	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3421.793,2522.793
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.77	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-66.6	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	200419,015709,-3431.1450,2516.2517,7,1.0,14,-27.9,0.0,285.3,10,9.7	MHEAD_RNG_PITCHd_Wd	57.9,20000,-13.1,-10.010,-16.32,4154
SPEED_LIMITS	0.173,0.342	D_GRID	1000

FINISH1	4.8,1.024981,129	_10V_AH	13.43,0.000
FINISH2	3.3	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3417.32,2515.55,190419,234644	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.932505	MEM	340864
HUMID	46.06	DATA_FILE_SIZE	10104,461
INTERNAL_PRESSURE	9.43928	CAP_FILE_SIZE	91789,0
TCM_TEMP	19.40	CFSIZE	2097086464,2007564288
XPDR_PINGS	0	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	115.3,35.3	INTR	0,1502.04,0x23609a,1,24
SC_FREEKB	3685312	GPS	200419,015709,-3431.145,2516.252,7,1.0,14,-27.9,0.0,285.3,10,9.7
_24V_AH	13.85,140.635

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	303	76.34	nil	0	0	0.00
Roll_motor	66	84	77.80	nil	0	0	0.00
VBD_pump_during_apogee	408	1100	6230.13	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	38	160	85.08	SciCon	2675	36	1351.06
Iridium_during_xfer	483	223	1492.84	nil	0	0	0.00
Transponder_ping	3	420	21.81	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	11	2.32
TT8	898	9	116.02
LPSleep	378	2	11.12
TT8_Active	534	9	68.95
TT8_Sampling	1317	28	501.57
TT8_CF8	334	36	164.40
TT8_Kalman	0	0	0.00
Analog_circuits	1029	12	167.42
GPS_charging	0	0	0.00
Compass	694	17	167.74
RAFOS	0	0	0.00
Transponder	25	30	10.19

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	1805	626	542	0.0	0.0	0	123	0.00	0.00	-97.32	0.000	16386	0.000	0.000	54	1805	3004	2972	3036	0	0	0	0	0	0	14.92	28.83	14.94
129	-0.77	-272.5	54	1805	2971	3037	3.2	-6.2	18	164	14.62	2.45	-13.60	0.000	18948	0.304	0.084	2504	392	3813	3830	3796	0	0	0	0	0	0	14.49	13.85	14.77
273	-0.77	-272.5	2504	393	3830	3796	35.7	-14.1	45	280	0.00	2.35	0.00	0.000	3078	0.000	0.035	2504	1811	3812	3828	3796	0	0	0	0	0	0	14.89	14.80	14.90
345	-0.77	-272.5	2504	1814	3830	3795	47.6	-19.6	58	351	0.00	2.38	0.00	0.000	2308	0.000	0.054	2504	3214	3812	3830	3795	0	0	0	0	0	0	15.03	14.69	15.04
394	-0.77	-272.5	2504	3214	3830	3796	56.1	-15.8	67	401	0.00	2.38	0.00	0.000	3078	0.000	0.041	2504	1795	3812	3830	3795	0	0	0	0	0	0	14.81	14.71	14.81
465	-0.77	-272.5	2504	1794	3830	3796	65.8	-13.5	80	472	0.00	2.40	0.00	0.000	2564	0.000	0.063	2504	408	3812	3829	3796	0	0	0	0	0	0	15.04	14.72	15.05
505	-0.77	-272.5	2504	408	3829	3796	71.1	-13.0	87	511	0.00	2.33	0.00	0.000	3078	0.000	0.034	2504	1817	3812	3830	3795	0	0	0	0	0	0	14.81	14.72	14.82
577	-0.77	-272.5	2504	1820	3830	3796	79.8	-12.5	100	586	0.00	2.35	0.00	0.000	2308	0.000	0.054	2504	3210	3813	3830	3796	0	0	0	0	0	0	15.07	14.80	15.07
653	-0.77	-272.5	2504	3209	3829	3796	87.4	-9.1	113	659	0.00	2.35	0.00	0.000	3078	0.000	0.041	2504	1804	3813	3830	3796	0	0	0	0	0	0	14.94	14.83	14.95
724	-0.77	-272.5	2504	1803	3830	3795	94.5	-10.3	126	731	0.00	0.00	0.00	0.000	2054	0.000	0.000	2504	1804	3813	3830	3796	0	0	0	0	0	0	15.07	15.07	15.07
796	-0.77	-272.5	2507	1803	3829	3796	102.2	-10.6	139	801	0.00	0.00	0.00	0.000	2054	0.000	0.000	2504	1804	3812	3830	3795	0	0	0	0	0	0	15.06	15.09	15.09
864	-0.77	-272.5	2504	1804	3830	3795	109.7	-11.0	152	873	0.00	0.00	0.00	0.000	2054	0.000	0.000	2504	1804	3813	3830	3796	0	0	0	0	0	0	15.09	15.09	15.09
941	-0.77	-272.5	2508	1803	3830	3795	118.1	-11.1	165	947	0.00	0.00	0.00	0.000	2054	0.000	0.000	2504	1804	3813	3830	3796	0	0	0	0	0	0	15.09	15.09	15.09
1009	-0.77	-272.5	2504	1804	3830	3796	125.7	-10.4	178	1016	0.00	2.40	0.00	0.000	2308	0.000	0.053	2501	3209	3813	3830	3796	0	0	0	0	0	0	15.09	14.71	15.09
1044	-0.77	-272.5	2501	3209	3829	3796	129.1	-9.1	184	1051	0.00	2.33	0.00	0.000	3078	0.000	0.041	2501	1813	3811	3829	3794	0	0	0	0	0	0	14.83	14.74	14.83
1116	-0.77	-272.5	2501	1813	3829	3795	137.4	-13.6	197	1122	0.00	2.42	0.00	0.000	2564	0.000	0.064	2501	408	3812	3829	3795	0	0	0	0	0	0	15.09	14.76	15.09
1135	-0.77	-272.5	2501	406	3829	3795	139.7	-11.5	200	1142	0.00	2.33	0.00	0.000	3078	0.000	0.032	2498	1821	3812	3829	3795	0	0	0	0	0	0	14.86	14.77	14.88
1147	end dive: BOTTOM_OBSTACLE_DETECTED
state	1147	begin apogee
1153	-0.17	0.0	2498	1826	3829	3795	141.4	-12.1	202	1364	1.00	0.00	200.48	1.101	10246	0.134	0.000	2699	1826	2699	2735	2664	0	0	0	0	0	0	14.69	14.34	13.86
1366	end apogee: CONTROL_FINISHED_OK
state	1366	begin climb
1368	0.77	272.5	2699	1826	2733	2662	150.3	0.0	240	1591	1.50	2.60	208.15	1.089	10756	0.099	0.071	3006	404	1587	1630	1545	0	0	0	0	0	0	14.38	14.30	13.85
1604	0.77	272.5	3006	405	1628	1545	137.6	15.9	280	1611	0.00	2.38	0.00	0.000	1030	0.000	0.034	3006	1801	1585	1627	1544	0	0	0	0	0	0	14.45	14.40	14.47
1676	0.77	272.5	3006	1802	1626	1541	126.7	16.6	293	1682	0.00	2.38	0.00	0.000	260	0.000	0.044	3006	3204	1583	1626	1541	0	0	0	0	0	0	14.78	14.59	14.79
1700	0.77	272.5	3005	3204	1624	1541	122.8	15.4	297	1706	0.00	2.42	0.00	0.000	1030	0.000	0.051	3006	1802	1582	1624	1540	0	0	0	0	0	0	14.66	14.57	14.68
1771	0.77	272.5	3006	1803	1624	1540	112.0	15.9	310	1778	0.00	2.47	0.00	0.000	516	0.000	0.071	3011	385	1582	1624	1540	0	0	0	0	0	0	14.90	14.66	14.90
1796	0.77	272.5	3011	385	1623	1540	107.6	17.5	314	1803	0.00	2.35	0.00	0.000	5126	0.000	0.032	3011	1809	1581	1623	1540	0	0	0	0	0	0	14.81	14.73	14.83
1868	0.77	272.5	3010	1812	1622	1539	95.8	17.2	327	1873	0.00	0.00	0.00	0.000	4102	0.000	0.000	3011	1811	1580	1621	1540	0	0	0	0	0	0	14.95	14.95	14.95
1936	0.77	272.5	3011	1812	1623	1539	84.0	16.2	340	1943	0.00	2.33	0.00	0.000	4356	0.000	0.046	3011	3204	1582	1622	1543	0	0	0	0	0	0	15.00	14.77	15.00
1966	0.77	272.5	3011	3204	1621	1538	79.6	15.9	345	1973	0.00	2.40	0.00	0.000	5126	0.000	0.049	3013	1796	1580	1622	1539	0	0	0	0	0	0	14.89	14.78	14.90
2039	0.77	272.5	3013	1796	1622	1538	69.4	14.8	358	2045	0.00	0.00	0.00	0.000	4102	0.000	0.000	3013	1796	1579	1621	1538	0	0	0	0	0	0	15.02	15.04	15.04
2108	0.77	272.5	3013	1796	1621	1538	58.8	14.6	371	2114	0.00	2.42	0.00	0.000	4612	0.000	0.073	3013	395	1579	1621	1538	0	0	0	0	0	0	15.04	14.78	15.04
2179	0.77	272.5	3013	395	1621	1538	48.2	14.9	384	2186	0.00	2.33	0.00	0.000	5126	0.000	0.034	3013	1806	1579	1621	1538	0	0	0	0	0	0	14.85	14.77	14.86
2251	0.77	272.5	3013	1809	1621	1537	39.6	10.7	397	2257	0.00	2.33	0.00	0.000	4356	0.000	0.047	3013	3203	1579	1621	1537	0	0	0	0	0	0	15.07	14.83	15.07
2275	0.77	272.5	3013	3203	1621	1536	36.4	12.5	401	2282	0.00	2.38	0.00	0.000	5126	0.000	0.050	3013	1803	1578	1621	1536	0	0	0	0	0	0	14.89	14.78	14.90
2346	0.77	272.5	3013	1802	1621	1537	29.2	10.4	414	2352	0.00	0.00	0.00	0.000	4102	0.000	0.000	3013	1802	1578	1621	1536	0	0	0	0	0	0	15.06	15.07	15.07
2416	0.77	272.5	3013	1802	1621	1536	21.6	10.9	427	2422	0.00	2.35	0.00	0.000	4356	0.000	0.048	3013	3197	1578	1621	1536	0	0	0	0	0	0	15.07	14.83	15.08
2460	0.77	272.5	3013	3198	1620	1536	16.6	11.3	435	2467	0.00	2.38	0.00	0.000	5126	0.000	0.050	3014	1799	1578	1621	1536	0	0	0	0	0	0	14.90	14.79	14.92
2531	0.77	272.5	3014	1802	1620	1536	9.2	10.8	448	2538	0.00	2.38	0.00	0.000	4356	0.000	0.048	3015	3203	1578	1620	1536	0	0	0	0	0	0	15.09	14.84	15.09
2573	end climb: FINISH_DEPTH_REACHED
state	2574	begin subsurface finish
2584	0.16	129.1	3017	1798	1621	1535	4.8	8.6	456	2613	1.02	0.00	-21.10	0.000	20998	0.170	0.000	2816	1796	2176	2221	2131	0	0	0	0	0	0	14.67	14.02	14.79
2613	end subsurface finish: CONTROL_FINISHED_OK
state	2614	begin surface