Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 457 * 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 457 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 31 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 51 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 31 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 51 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 457 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 200419,071617,-3429.7668,2518.6479,7,1.0,15,-27.9,0.6,241.8,8,9.8 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3420.415,2525.187

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 4.63 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo 0.1 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 200419,071617,-3429.7668,2518.6479,7,1.0,15,-27.9,0.6,241.8,8,9.8 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 0.1,1.013049 _24V_AH 13.45,142.119

SM_CCo 2621,159.50,0.810,0,0,598,515.37 _10V_AH 13.46,0.000

SM_GC 0.91,13.60,0.00,159.50,0.049,0.000,0.810,125,1796,598,-8.18,-0.45,515.37,0,0,0,0,0,0,14.88,15.10,14.09 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3417.32,2515.55,200419,052603 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.933254 MEM 341064

HUMID 44.95 DATA_FILE_SIZE 10122,463

INTERNAL_PRESSURE 9.30256 CAP_FILE_SIZE 86981,0

TCM_TEMP 19.10 CFSIZE 2097086464,2006417408

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

ALTIM_BOTTOM_PING 100.1,32.9 GPS 200419,084801,-3429.335,2519.817,7,0.8,32,-27.9,0.9,260.4,9,5.1

SC_FREEKB 3681728

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 121 28.14 nil 0 0 0.00

Roll_motor 63 76 65.75 nil 0 0 0.00

VBD_pump_during_apogee 417 1108 6219.34 nil 0 0 0.00

VBD_pump_during_surface 159 810 1737.96 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 2652 36 1298.54

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 3 420 16.95 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 941 9 121.76

LPSleep 406 2 11.97

TT8_Active 628 9 81.31

TT8_Sampling 799 28 305.12

TT8_CF8 155 36 76.57

TT8_Kalman 0 0 0.00

Analog_circuits 1102 12 179.72

GPS_charging 0 0 0.00

Compass 698 17 168.95

RAFOS 0 0 0.00

Transponder 20 30 8.37

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 2814 1824 2266 2171 0.0 0.0 0 31 0.00 0.00 -6.15 0.000 16386 0.000 0.000 2814 1824 2436 2482 2390 0 0 0 0 0 0 15.10 28.83 15.11

34 -0.77 -272.5 2814 1824 2483 2391 5.3 0.0 1 75 1.35 2.38 -33.53 0.000 20740 0.080 0.076 2519 3203 3814 3831 3797 0 0 0 0 0 0 14.83 13.45 14.88

94 -0.77 -272.5 2518 3203 3831 3797 12.1 -13.8 11 101 0.00 2.33 0.00 0.000 5126 0.000 0.041 2518 1809 3812 3832 3792 0 0 0 0 0 0 14.88 14.77 14.90

164 -0.77 -272.5 2519 1809 3832 3797 22.6 -15.9 24 170 0.00 0.00 0.00 0.000 4102 0.000 0.000 2518 1809 3814 3831 3798 0 0 0 0 0 0 15.12 15.13 15.12

233 -0.77 -272.5 2519 1809 3831 3797 33.9 -16.1 37 238 0.00 0.00 0.00 0.000 4102 0.000 0.000 2519 1809 3814 3831 3797 0 0 0 0 0 0 15.11 15.11 15.11

301 -0.77 -272.5 2519 1809 3832 3797 44.0 -14.7 50 307 0.00 0.00 0.00 0.000 4102 0.000 0.000 2519 1809 3816 3832 3801 0 0 0 0 0 0 15.11 15.11 15.11

372 -0.77 -272.5 2519 1808 3832 3796 53.2 -13.5 63 378 0.00 2.38 0.00 0.000 4356 0.000 0.054 2519 3202 3814 3832 3797 0 0 0 0 0 0 15.11 14.85 15.11

412 -0.77 -272.5 2519 3202 3832 3797 57.5 -9.4 70 418 0.00 2.33 0.00 0.000 5126 0.000 0.041 2519 1807 3815 3832 3798 0 0 0 0 0 0 14.98 14.88 15.00

483 -0.77 -272.5 2519 1806 3832 3797 64.6 -10.4 83 491 0.00 2.40 0.00 0.000 4612 0.000 0.064 2519 405 3814 3832 3797 0 0 0 0 0 0 15.09 14.84 15.09

529 -0.77 -272.5 2518 405 3832 3797 69.5 -9.9 91 537 0.00 2.30 0.00 0.000 5126 0.000 0.034 2519 1806 3819 3841 3797 0 0 0 0 0 0 14.85 14.78 14.87

603 -0.77 -272.5 2518 1809 3832 3797 76.3 -8.5 104 610 0.00 2.35 0.00 0.000 4356 0.000 0.054 2518 3210 3814 3832 3797 0 0 0 0 0 0 15.11 14.85 15.11

665 -0.77 -272.5 2518 3210 3832 3797 81.0 -6.5 115 672 0.00 2.35 0.00 0.000 5126 0.000 0.037 2518 1802 3814 3832 3797 0 0 0 0 0 0 14.90 14.78 14.92

737 -0.77 -272.5 2518 1801 3832 3798 85.9 -7.9 128 743 0.00 0.00 0.00 0.000 4102 0.000 0.000 2519 1801 3814 3832 3797 0 0 0 0 0 0 15.10 15.11 15.11

806 -0.77 -272.5 2518 1801 3832 3797 91.5 -8.0 141 811 0.00 0.00 0.00 0.000 4102 0.000 0.000 2519 1801 3814 3832 3797 0 0 0 0 0 0 15.11 15.11 15.11

874 -0.77 -272.5 2518 1801 3833 3797 97.5 -8.6 154 880 0.00 0.00 0.00 0.000 4102 0.000 0.000 2519 1801 3815 3833 3797 0 0 0 0 0 0 15.11 15.12 15.12

947 -0.77 -272.5 2518 1801 3833 3797 103.7 -8.8 167 953 0.00 0.00 0.00 0.000 4102 0.000 0.000 2518 1801 3815 3833 3797 0 0 0 0 0 0 15.09 15.10 15.10

1017 -0.77 -272.5 2519 1801 3833 3797 109.9 -8.2 180 1022 0.00 0.00 0.00 0.000 4102 0.000 0.000 2519 1801 3815 3833 3797 0 0 0 0 0 0 15.11 15.11 15.11

1086 -0.77 -272.5 2518 1801 3833 3797 116.5 -9.9 193 1092 0.00 2.40 0.00 0.000 4356 0.000 0.053 2519 3209 3815 3833 3797 0 0 0 0 0 0 15.11 14.79 15.11

1121 -0.77 -272.5 2518 3209 3833 3798 119.9 -8.9 199 1127 0.00 2.35 0.00 0.000 5126 0.000 0.043 2518 1812 3815 3833 3797 0 0 0 0 0 0 14.92 14.81 14.93

1158 end dive: BOTTOM_OBSTACLE_DETECTED

state 1158 begin apogee

1164 -0.17 0.0 2519 1812 3833 3797 123.5 -9.6 206 1375 0.88 0.00 201.27 1.108 10246 0.122 0.000 2698 1808 2699 2734 2664 0 0 0 0 0 0 14.72 14.40 13.90

1377 end apogee: CONTROL_FINISHED_OK

state 1377 begin climb

1380 0.77 272.5 2699 1808 2733 2664 129.8 0.0 244 1604 1.38 2.53 210.60 1.082 10756 0.069 0.070 3006 395 1587 1629 1545 0 0 0 0 0 0 14.42 14.33 13.86

1622 0.77 272.5 3005 393 1627 1545 115.4 14.8 286 1629 0.00 2.38 0.00 0.000 1030 0.000 0.031 3006 1810 1586 1627 1545 0 0 0 0 0 0 14.54 14.47 14.56

1694 0.77 272.5 3005 1813 1626 1542 104.9 15.1 299 1700 0.00 2.35 0.00 0.000 260 0.000 0.044 3006 3202 1583 1625 1542 0 0 0 0 0 0 14.79 14.61 14.79

1713 0.77 272.5 3006 3202 1623 1541 101.7 15.4 302 1720 0.00 2.40 0.00 0.000 1030 0.000 0.050 3006 1805 1582 1623 1541 0 0 0 0 0 0 14.72 14.63 14.73

1785 0.77 272.5 3006 1805 1623 1541 91.6 14.1 315 1791 0.00 2.45 0.00 0.000 516 0.000 0.071 3006 395 1581 1623 1540 0 0 0 0 0 0 14.91 14.59 14.92

1819 0.77 272.5 3006 395 1622 1541 87.1 14.0 321 1826 0.00 2.33 0.00 0.000 1030 0.000 0.032 3006 1803 1582 1623 1541 0 0 0 0 0 0 14.83 14.76 14.84

1892 0.77 272.5 3006 1806 1622 1540 77.9 12.5 334 1898 0.00 2.33 0.00 0.000 260 0.000 0.047 3006 3197 1581 1622 1540 0 0 0 0 0 0 14.99 14.76 15.00

1951 0.77 272.5 3006 3197 1621 1540 69.2 13.4 345 1958 0.00 2.40 0.00 0.000 1030 0.000 0.051 3007 1792 1580 1621 1540 0 0 0 0 0 0 14.83 14.74 14.85

2023 0.77 272.5 3007 1792 1622 1539 60.2 12.4 358 2030 0.00 2.42 0.00 0.000 516 0.000 0.070 3011 389 1581 1622 1540 0 0 0 0 0 0 15.01 14.78 15.02

2108 0.77 272.5 3012 388 1621 1540 50.2 10.1 374 2115 0.00 2.33 0.00 0.000 5126 0.000 0.031 3011 1808 1580 1621 1539 0 0 0 0 0 0 14.94 14.87 14.95

2180 0.77 272.5 3011 1810 1621 1539 42.7 10.0 387 2186 0.00 2.30 0.00 0.000 4356 0.000 0.046 3011 3194 1580 1621 1539 0 0 0 0 0 0 15.05 14.73 15.06

2244 0.77 272.5 3011 3193 1621 1538 35.3 11.6 399 2251 0.00 2.38 0.00 0.000 5126 0.000 0.050 3013 1792 1579 1620 1538 0 0 0 0 0 0 14.96 14.83 14.97

2316 0.77 272.5 3013 1792 1621 1538 28.1 10.3 412 2322 0.00 2.42 0.00 0.000 4612 0.000 0.070 3013 396 1579 1621 1538 0 0 0 0 0 0 15.08 14.77 15.08

2380 0.77 272.5 3011 396 1621 1538 21.1 10.3 424 2386 0.00 2.30 0.00 0.000 5126 0.000 0.032 3013 1801 1579 1621 1538 0 0 0 0 0 0 14.85 14.78 14.87

2451 0.77 273.1 3013 1804 1621 1539 14.3 10.0 437 2457 0.00 2.33 0.00 0.000 4356 0.000 0.046 3013 3200 1580 1621 1539 0 0 0 0 0 0 15.09 14.81 15.09

2486 0.77 273.1 3013 3199 1621 1537 10.4 10.3 443 2492 0.00 2.38 0.00 0.000 5126 0.000 0.048 3013 1798 1579 1621 1537 0 0 0 0 0 0 14.88 14.76 14.89

2557 0.84 326.1 3013 1798 1621 1537 3.4 8.7 456 2564 0.00 0.00 5.28 0.678 10754 0.000 0.000 3013 1798 1548 1591 1505 0 0 0 0 0 0 15.09 28.83 15.09

2565 end climb: SURFACE_DEPTH_REACHED

state 2565 begin surface coast

2596 end surface coast: CONTROL_FINISHED_OK

state 2597 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	457	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	31	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	51	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	200419,071617,-3429.7668,2518.6479,7,1.0,15,-27.9,0.6,241.8,8,9.8	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3420.415,2525.187
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	4.63	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	0.1	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	200419,071617,-3429.7668,2518.6479,7,1.0,15,-27.9,0.6,241.8,8,9.8	MHEAD_RNG_PITCHd_Wd	57.9,20000,-13.1,-10.010,-16.32,4154
SPEED_LIMITS	0.173,0.342	D_GRID	1000

FINISH	0.1,1.013049	_24V_AH	13.45,142.119
SM_CCo	2621,159.50,0.810,0,0,598,515.37	_10V_AH	13.46,0.000
SM_GC	0.91,13.60,0.00,159.50,0.049,0.000,0.810,125,1796,598,-8.18,-0.45,515.37,0,0,0,0,0,0,14.88,15.10,14.09	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3417.32,2515.55,200419,052603	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.933254	MEM	341064
HUMID	44.95	DATA_FILE_SIZE	10122,463
INTERNAL_PRESSURE	9.30256	CAP_FILE_SIZE	86981,0
TCM_TEMP	19.10	CFSIZE	2097086464,2006417408
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_BOTTOM_PING	100.1,32.9	GPS	200419,084801,-3429.335,2519.817,7,0.8,32,-27.9,0.9,260.4,9,5.1
SC_FREEKB	3681728

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	121	28.14	nil	0	0	0.00
Roll_motor	63	76	65.75	nil	0	0	0.00
VBD_pump_during_apogee	417	1108	6219.34	nil	0	0	0.00
VBD_pump_during_surface	159	810	1737.96	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	2652	36	1298.54
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	3	420	16.95	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	941	9	121.76
LPSleep	406	2	11.97
TT8_Active	628	9	81.31
TT8_Sampling	799	28	305.12
TT8_CF8	155	36	76.57
TT8_Kalman	0	0	0.00
Analog_circuits	1102	12	179.72
GPS_charging	0	0	0.00
Compass	698	17	168.95
RAFOS	0	0	0.00
Transponder	20	30	8.37

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	2814	1824	2266	2171	0.0	0.0	0	31	0.00	0.00	-6.15	0.000	16386	0.000	0.000	2814	1824	2436	2482	2390	0	0	0	0	0	0	15.10	28.83	15.11
34	-0.77	-272.5	2814	1824	2483	2391	5.3	0.0	1	75	1.35	2.38	-33.53	0.000	20740	0.080	0.076	2519	3203	3814	3831	3797	0	0	0	0	0	0	14.83	13.45	14.88
94	-0.77	-272.5	2518	3203	3831	3797	12.1	-13.8	11	101	0.00	2.33	0.00	0.000	5126	0.000	0.041	2518	1809	3812	3832	3792	0	0	0	0	0	0	14.88	14.77	14.90
164	-0.77	-272.5	2519	1809	3832	3797	22.6	-15.9	24	170	0.00	0.00	0.00	0.000	4102	0.000	0.000	2518	1809	3814	3831	3798	0	0	0	0	0	0	15.12	15.13	15.12
233	-0.77	-272.5	2519	1809	3831	3797	33.9	-16.1	37	238	0.00	0.00	0.00	0.000	4102	0.000	0.000	2519	1809	3814	3831	3797	0	0	0	0	0	0	15.11	15.11	15.11
301	-0.77	-272.5	2519	1809	3832	3797	44.0	-14.7	50	307	0.00	0.00	0.00	0.000	4102	0.000	0.000	2519	1809	3816	3832	3801	0	0	0	0	0	0	15.11	15.11	15.11
372	-0.77	-272.5	2519	1808	3832	3796	53.2	-13.5	63	378	0.00	2.38	0.00	0.000	4356	0.000	0.054	2519	3202	3814	3832	3797	0	0	0	0	0	0	15.11	14.85	15.11
412	-0.77	-272.5	2519	3202	3832	3797	57.5	-9.4	70	418	0.00	2.33	0.00	0.000	5126	0.000	0.041	2519	1807	3815	3832	3798	0	0	0	0	0	0	14.98	14.88	15.00
483	-0.77	-272.5	2519	1806	3832	3797	64.6	-10.4	83	491	0.00	2.40	0.00	0.000	4612	0.000	0.064	2519	405	3814	3832	3797	0	0	0	0	0	0	15.09	14.84	15.09
529	-0.77	-272.5	2518	405	3832	3797	69.5	-9.9	91	537	0.00	2.30	0.00	0.000	5126	0.000	0.034	2519	1806	3819	3841	3797	0	0	0	0	0	0	14.85	14.78	14.87
603	-0.77	-272.5	2518	1809	3832	3797	76.3	-8.5	104	610	0.00	2.35	0.00	0.000	4356	0.000	0.054	2518	3210	3814	3832	3797	0	0	0	0	0	0	15.11	14.85	15.11
665	-0.77	-272.5	2518	3210	3832	3797	81.0	-6.5	115	672	0.00	2.35	0.00	0.000	5126	0.000	0.037	2518	1802	3814	3832	3797	0	0	0	0	0	0	14.90	14.78	14.92
737	-0.77	-272.5	2518	1801	3832	3798	85.9	-7.9	128	743	0.00	0.00	0.00	0.000	4102	0.000	0.000	2519	1801	3814	3832	3797	0	0	0	0	0	0	15.10	15.11	15.11
806	-0.77	-272.5	2518	1801	3832	3797	91.5	-8.0	141	811	0.00	0.00	0.00	0.000	4102	0.000	0.000	2519	1801	3814	3832	3797	0	0	0	0	0	0	15.11	15.11	15.11
874	-0.77	-272.5	2518	1801	3833	3797	97.5	-8.6	154	880	0.00	0.00	0.00	0.000	4102	0.000	0.000	2519	1801	3815	3833	3797	0	0	0	0	0	0	15.11	15.12	15.12
947	-0.77	-272.5	2518	1801	3833	3797	103.7	-8.8	167	953	0.00	0.00	0.00	0.000	4102	0.000	0.000	2518	1801	3815	3833	3797	0	0	0	0	0	0	15.09	15.10	15.10
1017	-0.77	-272.5	2519	1801	3833	3797	109.9	-8.2	180	1022	0.00	0.00	0.00	0.000	4102	0.000	0.000	2519	1801	3815	3833	3797	0	0	0	0	0	0	15.11	15.11	15.11
1086	-0.77	-272.5	2518	1801	3833	3797	116.5	-9.9	193	1092	0.00	2.40	0.00	0.000	4356	0.000	0.053	2519	3209	3815	3833	3797	0	0	0	0	0	0	15.11	14.79	15.11
1121	-0.77	-272.5	2518	3209	3833	3798	119.9	-8.9	199	1127	0.00	2.35	0.00	0.000	5126	0.000	0.043	2518	1812	3815	3833	3797	0	0	0	0	0	0	14.92	14.81	14.93
1158	end dive: BOTTOM_OBSTACLE_DETECTED
state	1158	begin apogee
1164	-0.17	0.0	2519	1812	3833	3797	123.5	-9.6	206	1375	0.88	0.00	201.27	1.108	10246	0.122	0.000	2698	1808	2699	2734	2664	0	0	0	0	0	0	14.72	14.40	13.90
1377	end apogee: CONTROL_FINISHED_OK
state	1377	begin climb
1380	0.77	272.5	2699	1808	2733	2664	129.8	0.0	244	1604	1.38	2.53	210.60	1.082	10756	0.069	0.070	3006	395	1587	1629	1545	0	0	0	0	0	0	14.42	14.33	13.86
1622	0.77	272.5	3005	393	1627	1545	115.4	14.8	286	1629	0.00	2.38	0.00	0.000	1030	0.000	0.031	3006	1810	1586	1627	1545	0	0	0	0	0	0	14.54	14.47	14.56
1694	0.77	272.5	3005	1813	1626	1542	104.9	15.1	299	1700	0.00	2.35	0.00	0.000	260	0.000	0.044	3006	3202	1583	1625	1542	0	0	0	0	0	0	14.79	14.61	14.79
1713	0.77	272.5	3006	3202	1623	1541	101.7	15.4	302	1720	0.00	2.40	0.00	0.000	1030	0.000	0.050	3006	1805	1582	1623	1541	0	0	0	0	0	0	14.72	14.63	14.73
1785	0.77	272.5	3006	1805	1623	1541	91.6	14.1	315	1791	0.00	2.45	0.00	0.000	516	0.000	0.071	3006	395	1581	1623	1540	0	0	0	0	0	0	14.91	14.59	14.92
1819	0.77	272.5	3006	395	1622	1541	87.1	14.0	321	1826	0.00	2.33	0.00	0.000	1030	0.000	0.032	3006	1803	1582	1623	1541	0	0	0	0	0	0	14.83	14.76	14.84
1892	0.77	272.5	3006	1806	1622	1540	77.9	12.5	334	1898	0.00	2.33	0.00	0.000	260	0.000	0.047	3006	3197	1581	1622	1540	0	0	0	0	0	0	14.99	14.76	15.00
1951	0.77	272.5	3006	3197	1621	1540	69.2	13.4	345	1958	0.00	2.40	0.00	0.000	1030	0.000	0.051	3007	1792	1580	1621	1540	0	0	0	0	0	0	14.83	14.74	14.85
2023	0.77	272.5	3007	1792	1622	1539	60.2	12.4	358	2030	0.00	2.42	0.00	0.000	516	0.000	0.070	3011	389	1581	1622	1540	0	0	0	0	0	0	15.01	14.78	15.02
2108	0.77	272.5	3012	388	1621	1540	50.2	10.1	374	2115	0.00	2.33	0.00	0.000	5126	0.000	0.031	3011	1808	1580	1621	1539	0	0	0	0	0	0	14.94	14.87	14.95
2180	0.77	272.5	3011	1810	1621	1539	42.7	10.0	387	2186	0.00	2.30	0.00	0.000	4356	0.000	0.046	3011	3194	1580	1621	1539	0	0	0	0	0	0	15.05	14.73	15.06
2244	0.77	272.5	3011	3193	1621	1538	35.3	11.6	399	2251	0.00	2.38	0.00	0.000	5126	0.000	0.050	3013	1792	1579	1620	1538	0	0	0	0	0	0	14.96	14.83	14.97
2316	0.77	272.5	3013	1792	1621	1538	28.1	10.3	412	2322	0.00	2.42	0.00	0.000	4612	0.000	0.070	3013	396	1579	1621	1538	0	0	0	0	0	0	15.08	14.77	15.08
2380	0.77	272.5	3011	396	1621	1538	21.1	10.3	424	2386	0.00	2.30	0.00	0.000	5126	0.000	0.032	3013	1801	1579	1621	1538	0	0	0	0	0	0	14.85	14.78	14.87
2451	0.77	273.1	3013	1804	1621	1539	14.3	10.0	437	2457	0.00	2.33	0.00	0.000	4356	0.000	0.046	3013	3200	1580	1621	1539	0	0	0	0	0	0	15.09	14.81	15.09
2486	0.77	273.1	3013	3199	1621	1537	10.4	10.3	443	2492	0.00	2.38	0.00	0.000	5126	0.000	0.048	3013	1798	1579	1621	1537	0	0	0	0	0	0	14.88	14.76	14.89
2557	0.84	326.1	3013	1798	1621	1537	3.4	8.7	456	2564	0.00	0.00	5.28	0.678	10754	0.000	0.000	3013	1798	1548	1591	1505	0	0	0	0	0	0	15.09	28.83	15.09
2565	end climb: SURFACE_DEPTH_REACHED
state	2565	begin surface coast
2596	end surface coast: CONTROL_FINISHED_OK
state	2597	begin surface