Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 453 * 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 453 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 50

STOP_T 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

D_SURF 3 TGT_DEFAULT_LAT 4743.3999 R_PORT_OVSHOOT 32 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 49 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 32 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 49 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 453 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 200419,034801,-3430.4888,2516.9243,7,1.1,31,-27.9,0.6,281.3,9,5.7 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3421.136,2523.465

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 5.02 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo 1.2 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 200419,034801,-3430.4888,2516.9243,7,1.1,31,-27.9,0.6,281.3,9,5.7 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:

FINISH 0.0,1.025192 _24V_AH 13.53,141.275

SM_CCo 2736,121.03,0.794,0,0,598,515.37 _10V_AH 13.48,0.000

SM_GC 0.87,13.68,0.00,121.03,0.033,0.000,0.794,106,1800,598,-8.21,-0.34,515.37,0,0,0,0,0,0,14.81,14.99,14.10 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3417.32,2515.55,200419,014737 FG_AHR_10Vo 0.000

TT8_MAMPS 0.020972,0.871087 MEM 341064

HUMID 45.07 DATA_FILE_SIZE 13425,486

INTERNAL_PRESSURE 9.30256 CAP_FILE_SIZE 88121,0

TCM_TEMP 19.10 CFSIZE 2097086464,2007072768

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

ALTIM_BOTTOM_PING 105.0,35.2 GPS 200419,052131,-3430.155,2517.749,8,1.0,34,-27.9,0.3,22.9,8,6.7

SC_FREEKB 3683776

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 183 43.04 nil 0 0 0.00

Roll_motor 57 72 56.10 nil 0 0 0.00

VBD_pump_during_apogee 458 1116 6923.57 nil 0 0 0.00

VBD_pump_during_surface 121 794 1300.26 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 2764 36 1355.23

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 3 420 18.47 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 970 9 125.78

LPSleep 420 2 12.41

TT8_Active 619 9 80.24

TT8_Sampling 834 28 318.65

TT8_CF8 157 36 77.45

TT8_Kalman 0 0 0.00

Analog_circuits 1114 12 181.95

GPS_charging 0 0 0.00

Compass 734 17 177.90

RAFOS 0 0 0.00

Transponder 22 30 9.00

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 2813 1796 2241 2145 0.0 0.0 0 31 0.00 0.00 -6.05 0.000 16386 0.000 0.000 2813 1796 2411 2458 2365 0 0 0 0 0 0 15.08 28.83 15.08

34 -0.77 -272.5 2813 1796 2458 2367 5.6 0.0 1 74 1.33 0.00 -34.20 0.000 20998 0.086 0.000 2527 1796 3813 3832 3795 0 0 0 0 0 0 14.81 13.53 14.86

138 -0.77 -272.5 2526 1796 3832 3795 18.9 -14.8 20 144 0.00 2.40 0.00 0.000 4356 0.000 0.054 2525 3206 3814 3832 3796 0 0 0 0 0 0 15.09 14.84 15.09

192 -0.77 -272.5 2523 3206 3833 3797 25.8 -12.4 30 199 0.00 2.35 0.00 0.000 5126 0.000 0.044 2526 1808 3814 3833 3796 0 0 0 0 0 0 14.97 14.86 14.98

263 -0.77 -272.5 2525 1808 3833 3795 35.6 -15.4 43 269 0.00 0.00 0.00 0.000 4102 0.000 0.000 2525 1808 3814 3833 3795 0 0 0 0 0 0 15.11 15.07 15.08

332 -0.77 -272.5 2524 1808 3833 3795 46.3 -14.7 56 337 0.00 0.00 0.00 0.000 4102 0.000 0.000 2526 1808 3814 3833 3796 0 0 0 0 0 0 15.10 15.10 15.10

401 -0.77 -272.5 2525 1807 3833 3800 55.5 -13.4 69 407 0.00 2.40 0.00 0.000 4356 0.000 0.054 2526 3211 3814 3833 3796 0 0 0 0 0 0 15.10 14.80 15.10

431 -0.77 -272.5 2525 3211 3833 3795 58.5 -9.6 74 437 0.00 2.35 0.00 0.000 5126 0.000 0.041 2526 1808 3814 3834 3795 0 0 0 0 0 0 14.92 14.82 14.93

502 -0.77 -272.5 2525 1807 3833 3795 65.6 -11.0 87 508 0.00 2.42 0.00 0.000 4612 0.000 0.063 2526 404 3814 3833 3795 0 0 0 0 0 0 15.10 14.83 15.10

536 -0.77 -272.5 2525 403 3833 3795 69.2 -9.9 93 543 0.00 2.33 0.00 0.000 5126 0.000 0.033 2525 1814 3814 3833 3795 0 0 0 0 0 0 14.97 14.88 14.98

609 -0.77 -272.5 2525 1816 3833 3796 76.0 -9.5 106 615 0.00 2.35 0.00 0.000 4356 0.000 0.054 2525 3211 3814 3833 3795 0 0 0 0 0 0 15.10 14.84 15.10

668 -0.77 -272.5 2525 3211 3834 3793 82.4 -10.4 117 675 0.00 2.35 0.00 0.000 5126 0.000 0.037 2525 1800 3814 3833 3796 0 0 0 0 0 0 14.97 14.87 14.98

740 -0.77 -272.5 2525 1800 3834 3795 89.6 -10.1 130 746 0.00 0.00 0.00 0.000 4102 0.000 0.000 2526 1799 3815 3834 3796 0 0 0 0 0 0 15.10 15.10 15.11

809 -0.77 -272.5 2525 1799 3834 3796 96.6 -10.1 143 815 0.00 2.40 0.00 0.000 4356 0.000 0.054 2526 3213 3814 3834 3795 0 0 0 0 0 0 15.11 14.78 15.11

911 -0.77 -272.5 2526 3213 3834 3796 105.5 -7.7 162 918 0.00 2.35 0.00 0.000 5126 0.000 0.041 2525 1813 3815 3834 3796 0 0 0 0 0 0 14.91 14.81 14.92

983 -0.77 -272.5 2525 1813 3833 3795 111.7 -8.8 175 990 0.00 2.40 0.00 0.000 4612 0.000 0.063 2525 409 3814 3834 3795 0 0 0 0 0 0 15.09 14.83 15.09

1048 -0.77 -272.5 2525 410 3834 3795 118.1 -11.2 187 1055 0.00 2.30 0.00 0.000 5126 0.000 0.034 2525 1814 3814 3834 3795 0 0 0 0 0 0 14.97 14.89 14.98

1120 -0.77 -272.5 2525 1816 3834 3795 124.1 -8.4 200 1127 0.00 2.38 0.00 0.000 4356 0.000 0.057 2525 3213 3815 3834 3796 0 0 0 0 0 0 15.10 14.73 15.10

1191 end dive: BOTTOM_OBSTACLE_DETECTED

state 1191 begin apogee

1199 -0.17 0.0 2526 1795 3831 3792 130.8 -10.0 213 1410 0.85 0.00 200.88 1.116 10246 0.123 0.000 2700 1795 2699 2735 2664 0 0 0 0 0 0 14.72 14.37 13.90

1412 end apogee: CONTROL_FINISHED_OK

state 1412 begin climb

1415 0.77 272.5 2700 1795 2733 2662 138.7 0.0 251 1640 1.40 2.53 209.70 1.092 10756 0.095 0.068 2995 399 1586 1629 1544 0 0 0 0 0 0 14.38 14.31 13.84

1653 0.77 272.5 2995 399 1629 1544 125.0 14.8 292 1659 0.00 2.38 0.00 0.000 3078 0.000 0.031 2995 1808 1585 1628 1543 0 0 0 0 0 0 14.54 14.47 14.54

1724 0.77 272.5 2994 1810 1627 1541 114.7 15.3 305 1730 0.00 0.00 0.00 0.000 2054 0.000 0.000 2995 1810 1584 1627 1541 0 0 0 0 0 0 14.78 14.78 14.78

1793 0.77 272.5 2995 1810 1626 1541 104.0 15.7 318 1799 0.00 0.00 0.00 0.000 2054 0.000 0.000 2995 1810 1583 1626 1541 0 0 0 0 0 0 14.88 14.88 14.88

1861 0.77 272.5 2995 1810 1625 1540 92.9 16.3 331 1867 0.00 0.00 0.00 0.000 2054 0.000 0.000 2995 1810 1582 1625 1540 0 0 0 0 0 0 14.95 14.95 14.95

1930 0.77 272.5 2995 1810 1624 1540 82.5 15.0 344 1936 0.00 0.00 0.00 0.000 2054 0.000 0.000 2995 1811 1582 1624 1540 0 0 0 0 0 0 14.98 14.99 14.99

1999 0.77 272.5 2994 1810 1624 1540 73.5 12.3 357 2006 0.00 2.33 0.00 0.000 2308 0.000 0.047 2995 3204 1581 1623 1539 0 0 0 0 0 0 15.00 14.78 15.01

2029 0.77 272.5 2995 3204 1622 1539 69.8 11.0 362 2036 0.00 2.40 0.00 0.000 3078 0.000 0.052 2995 1798 1579 1620 1539 0 0 0 0 0 0 14.90 14.78 14.91

2101 0.77 272.5 2995 1798 1622 1538 61.0 12.3 375 2107 0.00 2.45 0.00 0.000 2564 0.000 0.073 2995 388 1580 1622 1538 0 0 0 0 0 0 15.04 14.70 15.04

2182 0.77 272.5 2995 388 1621 1539 51.3 11.3 390 2189 0.00 2.33 0.00 0.000 3078 0.000 0.032 2996 1803 1580 1622 1538 0 0 0 0 0 0 14.93 14.85 14.95

2255 0.77 275.1 2995 1806 1622 1537 43.8 9.9 403 2262 0.00 2.33 0.00 0.000 2308 0.000 0.047 2996 3193 1579 1622 1537 0 0 0 0 0 0 15.07 14.73 15.07

2290 0.77 275.1 2995 3190 1621 1537 40.3 10.5 409 2297 0.00 2.38 0.00 0.000 3078 0.000 0.049 2995 1796 1579 1621 1537 0 0 0 0 0 0 14.85 14.74 14.86

2362 0.79 291.8 2995 1797 1621 1537 33.7 9.6 422 2385 0.00 0.00 16.40 0.942 10246 0.000 0.000 2996 1796 1507 1553 1462 0 0 0 0 0 0 15.07 14.64 14.21

2448 0.79 291.8 2995 1796 1553 1462 24.7 10.5 438 2453 0.00 0.00 0.00 0.000 2054 0.000 0.000 2996 1796 1507 1553 1462 0 0 0 0 0 0 15.02 15.02 15.02

2517 0.80 298.0 3000 1796 1552 1461 17.7 9.9 451 2529 0.00 2.40 3.92 0.675 10500 0.000 0.048 2996 3193 1483 1530 1437 0 0 0 0 0 0 15.04 14.73 14.19

2557 0.80 298.0 2995 3193 1530 1437 13.6 10.4 458 2563 0.00 2.38 0.00 0.000 3078 0.000 0.051 2996 1802 1483 1530 1437 0 0 0 0 0 0 14.90 14.77 14.92

2629 0.85 338.5 2996 1801 1530 1436 6.8 9.0 471 2663 0.08 0.00 27.58 0.844 10246 0.184 0.000 3042 1800 1318 1370 1267 0 0 0 0 0 0 14.77 14.61 14.25

2673 end climb: SURFACE_DEPTH_REACHED

state 2673 begin surface coast

2711 end surface coast: CONTROL_FINISHED_OK

state 2711 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	453	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	50
STOP_T	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5
D_SURF	3	TGT_DEFAULT_LAT	4743.3999	R_PORT_OVSHOOT	32	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	49	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	200419,034801,-3430.4888,2516.9243,7,1.1,31,-27.9,0.6,281.3,9,5.7	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3421.136,2523.465
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	5.02	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	1.2	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	200419,034801,-3430.4888,2516.9243,7,1.1,31,-27.9,0.6,281.3,9,5.7	MHEAD_RNG_PITCHd_Wd	57.9,20000,-13.1,-10.010,-16.32,4154
SPEED_LIMITS	0.173,0.342	D_GRID	1000

FINISH	0.0,1.025192	_24V_AH	13.53,141.275
SM_CCo	2736,121.03,0.794,0,0,598,515.37	_10V_AH	13.48,0.000
SM_GC	0.87,13.68,0.00,121.03,0.033,0.000,0.794,106,1800,598,-8.21,-0.34,515.37,0,0,0,0,0,0,14.81,14.99,14.10	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3417.32,2515.55,200419,014737	FG_AHR_10Vo	0.000
TT8_MAMPS	0.020972,0.871087	MEM	341064
HUMID	45.07	DATA_FILE_SIZE	13425,486
INTERNAL_PRESSURE	9.30256	CAP_FILE_SIZE	88121,0
TCM_TEMP	19.10	CFSIZE	2097086464,2007072768
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_BOTTOM_PING	105.0,35.2	GPS	200419,052131,-3430.155,2517.749,8,1.0,34,-27.9,0.3,22.9,8,6.7
SC_FREEKB	3683776

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	183	43.04	nil	0	0	0.00
Roll_motor	57	72	56.10	nil	0	0	0.00
VBD_pump_during_apogee	458	1116	6923.57	nil	0	0	0.00
VBD_pump_during_surface	121	794	1300.26	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	2764	36	1355.23
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	3	420	18.47	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	970	9	125.78
LPSleep	420	2	12.41
TT8_Active	619	9	80.24
TT8_Sampling	834	28	318.65
TT8_CF8	157	36	77.45
TT8_Kalman	0	0	0.00
Analog_circuits	1114	12	181.95
GPS_charging	0	0	0.00
Compass	734	17	177.90
RAFOS	0	0	0.00
Transponder	22	30	9.00

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	2813	1796	2241	2145	0.0	0.0	0	31	0.00	0.00	-6.05	0.000	16386	0.000	0.000	2813	1796	2411	2458	2365	0	0	0	0	0	0	15.08	28.83	15.08
34	-0.77	-272.5	2813	1796	2458	2367	5.6	0.0	1	74	1.33	0.00	-34.20	0.000	20998	0.086	0.000	2527	1796	3813	3832	3795	0	0	0	0	0	0	14.81	13.53	14.86
138	-0.77	-272.5	2526	1796	3832	3795	18.9	-14.8	20	144	0.00	2.40	0.00	0.000	4356	0.000	0.054	2525	3206	3814	3832	3796	0	0	0	0	0	0	15.09	14.84	15.09
192	-0.77	-272.5	2523	3206	3833	3797	25.8	-12.4	30	199	0.00	2.35	0.00	0.000	5126	0.000	0.044	2526	1808	3814	3833	3796	0	0	0	0	0	0	14.97	14.86	14.98
263	-0.77	-272.5	2525	1808	3833	3795	35.6	-15.4	43	269	0.00	0.00	0.00	0.000	4102	0.000	0.000	2525	1808	3814	3833	3795	0	0	0	0	0	0	15.11	15.07	15.08
332	-0.77	-272.5	2524	1808	3833	3795	46.3	-14.7	56	337	0.00	0.00	0.00	0.000	4102	0.000	0.000	2526	1808	3814	3833	3796	0	0	0	0	0	0	15.10	15.10	15.10
401	-0.77	-272.5	2525	1807	3833	3800	55.5	-13.4	69	407	0.00	2.40	0.00	0.000	4356	0.000	0.054	2526	3211	3814	3833	3796	0	0	0	0	0	0	15.10	14.80	15.10
431	-0.77	-272.5	2525	3211	3833	3795	58.5	-9.6	74	437	0.00	2.35	0.00	0.000	5126	0.000	0.041	2526	1808	3814	3834	3795	0	0	0	0	0	0	14.92	14.82	14.93
502	-0.77	-272.5	2525	1807	3833	3795	65.6	-11.0	87	508	0.00	2.42	0.00	0.000	4612	0.000	0.063	2526	404	3814	3833	3795	0	0	0	0	0	0	15.10	14.83	15.10
536	-0.77	-272.5	2525	403	3833	3795	69.2	-9.9	93	543	0.00	2.33	0.00	0.000	5126	0.000	0.033	2525	1814	3814	3833	3795	0	0	0	0	0	0	14.97	14.88	14.98
609	-0.77	-272.5	2525	1816	3833	3796	76.0	-9.5	106	615	0.00	2.35	0.00	0.000	4356	0.000	0.054	2525	3211	3814	3833	3795	0	0	0	0	0	0	15.10	14.84	15.10
668	-0.77	-272.5	2525	3211	3834	3793	82.4	-10.4	117	675	0.00	2.35	0.00	0.000	5126	0.000	0.037	2525	1800	3814	3833	3796	0	0	0	0	0	0	14.97	14.87	14.98
740	-0.77	-272.5	2525	1800	3834	3795	89.6	-10.1	130	746	0.00	0.00	0.00	0.000	4102	0.000	0.000	2526	1799	3815	3834	3796	0	0	0	0	0	0	15.10	15.10	15.11
809	-0.77	-272.5	2525	1799	3834	3796	96.6	-10.1	143	815	0.00	2.40	0.00	0.000	4356	0.000	0.054	2526	3213	3814	3834	3795	0	0	0	0	0	0	15.11	14.78	15.11
911	-0.77	-272.5	2526	3213	3834	3796	105.5	-7.7	162	918	0.00	2.35	0.00	0.000	5126	0.000	0.041	2525	1813	3815	3834	3796	0	0	0	0	0	0	14.91	14.81	14.92
983	-0.77	-272.5	2525	1813	3833	3795	111.7	-8.8	175	990	0.00	2.40	0.00	0.000	4612	0.000	0.063	2525	409	3814	3834	3795	0	0	0	0	0	0	15.09	14.83	15.09
1048	-0.77	-272.5	2525	410	3834	3795	118.1	-11.2	187	1055	0.00	2.30	0.00	0.000	5126	0.000	0.034	2525	1814	3814	3834	3795	0	0	0	0	0	0	14.97	14.89	14.98
1120	-0.77	-272.5	2525	1816	3834	3795	124.1	-8.4	200	1127	0.00	2.38	0.00	0.000	4356	0.000	0.057	2525	3213	3815	3834	3796	0	0	0	0	0	0	15.10	14.73	15.10
1191	end dive: BOTTOM_OBSTACLE_DETECTED
state	1191	begin apogee
1199	-0.17	0.0	2526	1795	3831	3792	130.8	-10.0	213	1410	0.85	0.00	200.88	1.116	10246	0.123	0.000	2700	1795	2699	2735	2664	0	0	0	0	0	0	14.72	14.37	13.90
1412	end apogee: CONTROL_FINISHED_OK
state	1412	begin climb
1415	0.77	272.5	2700	1795	2733	2662	138.7	0.0	251	1640	1.40	2.53	209.70	1.092	10756	0.095	0.068	2995	399	1586	1629	1544	0	0	0	0	0	0	14.38	14.31	13.84
1653	0.77	272.5	2995	399	1629	1544	125.0	14.8	292	1659	0.00	2.38	0.00	0.000	3078	0.000	0.031	2995	1808	1585	1628	1543	0	0	0	0	0	0	14.54	14.47	14.54
1724	0.77	272.5	2994	1810	1627	1541	114.7	15.3	305	1730	0.00	0.00	0.00	0.000	2054	0.000	0.000	2995	1810	1584	1627	1541	0	0	0	0	0	0	14.78	14.78	14.78
1793	0.77	272.5	2995	1810	1626	1541	104.0	15.7	318	1799	0.00	0.00	0.00	0.000	2054	0.000	0.000	2995	1810	1583	1626	1541	0	0	0	0	0	0	14.88	14.88	14.88
1861	0.77	272.5	2995	1810	1625	1540	92.9	16.3	331	1867	0.00	0.00	0.00	0.000	2054	0.000	0.000	2995	1810	1582	1625	1540	0	0	0	0	0	0	14.95	14.95	14.95
1930	0.77	272.5	2995	1810	1624	1540	82.5	15.0	344	1936	0.00	0.00	0.00	0.000	2054	0.000	0.000	2995	1811	1582	1624	1540	0	0	0	0	0	0	14.98	14.99	14.99
1999	0.77	272.5	2994	1810	1624	1540	73.5	12.3	357	2006	0.00	2.33	0.00	0.000	2308	0.000	0.047	2995	3204	1581	1623	1539	0	0	0	0	0	0	15.00	14.78	15.01
2029	0.77	272.5	2995	3204	1622	1539	69.8	11.0	362	2036	0.00	2.40	0.00	0.000	3078	0.000	0.052	2995	1798	1579	1620	1539	0	0	0	0	0	0	14.90	14.78	14.91
2101	0.77	272.5	2995	1798	1622	1538	61.0	12.3	375	2107	0.00	2.45	0.00	0.000	2564	0.000	0.073	2995	388	1580	1622	1538	0	0	0	0	0	0	15.04	14.70	15.04
2182	0.77	272.5	2995	388	1621	1539	51.3	11.3	390	2189	0.00	2.33	0.00	0.000	3078	0.000	0.032	2996	1803	1580	1622	1538	0	0	0	0	0	0	14.93	14.85	14.95
2255	0.77	275.1	2995	1806	1622	1537	43.8	9.9	403	2262	0.00	2.33	0.00	0.000	2308	0.000	0.047	2996	3193	1579	1622	1537	0	0	0	0	0	0	15.07	14.73	15.07
2290	0.77	275.1	2995	3190	1621	1537	40.3	10.5	409	2297	0.00	2.38	0.00	0.000	3078	0.000	0.049	2995	1796	1579	1621	1537	0	0	0	0	0	0	14.85	14.74	14.86
2362	0.79	291.8	2995	1797	1621	1537	33.7	9.6	422	2385	0.00	0.00	16.40	0.942	10246	0.000	0.000	2996	1796	1507	1553	1462	0	0	0	0	0	0	15.07	14.64	14.21
2448	0.79	291.8	2995	1796	1553	1462	24.7	10.5	438	2453	0.00	0.00	0.00	0.000	2054	0.000	0.000	2996	1796	1507	1553	1462	0	0	0	0	0	0	15.02	15.02	15.02
2517	0.80	298.0	3000	1796	1552	1461	17.7	9.9	451	2529	0.00	2.40	3.92	0.675	10500	0.000	0.048	2996	3193	1483	1530	1437	0	0	0	0	0	0	15.04	14.73	14.19
2557	0.80	298.0	2995	3193	1530	1437	13.6	10.4	458	2563	0.00	2.38	0.00	0.000	3078	0.000	0.051	2996	1802	1483	1530	1437	0	0	0	0	0	0	14.90	14.77	14.92
2629	0.85	338.5	2996	1801	1530	1436	6.8	9.0	471	2663	0.08	0.00	27.58	0.844	10246	0.184	0.000	3042	1800	1318	1370	1267	0	0	0	0	0	0	14.77	14.61	14.25
2673	end climb: SURFACE_DEPTH_REACHED
state	2673	begin surface coast
2711	end surface coast: CONTROL_FINISHED_OK
state	2711	begin surface