Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 460 * 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 460 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 29 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 50 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 29 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 50 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 460 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 200419,102725,-3428.8630,2521.0918,8,1.2,48,-27.9,1.0,131.7,7,4.5 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3419.529,2527.834

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.81 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -61.9 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 200419,103944,-3428.8813,2521.2954,7,1.2,47,-27.9,0.5,145.8,7,4.6 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 4.2,1.025349,110 _24V_AH 13.55,142.745

FINISH2 1.6 _10V_AH 13.45,0.000

IRIDIUM_FIX -3417.32,2521.39,200419,085410 FG_AHR_24Vo 0.000

TT8_MAMPS 0.020972,0.933254 FG_AHR_10Vo 0.000

HUMID 46.02 MEM 340920

INTERNAL_PRESSURE 9.45881 DATA_FILE_SIZE 10114,452

TCM_TEMP 19.60 CAP_FILE_SIZE 91253,0

XPDR_PINGS 0 CFSIZE 2097086464,2005925888

ALTIM_BOTTOM_PING 110.0,33.1 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

SC_FREEKB 3680192 GPS 200419,103944,-3428.881,2521.295,7,1.2,47,-27.9,0.5,145.8,7,4.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 299 73.66 nil 0 0 0.00

Roll_motor 71 85 82.49 nil 0 0 0.00

VBD_pump_during_apogee 493 1098 7338.41 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 25 16 5.76 nil 0 0 0.00

Iridium_during_connect 16 160 36.04 SciCon 2631 36 1295.99

Iridium_during_xfer 375 223 1134.86 nil 0 0 0.00

Transponder_ping 3 420 19.92 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 49 11 7.42

TT8 843 9 108.99

LPSleep 345 2 10.17

TT8_Active 599 9 77.52

TT8_Sampling 1223 28 466.19

TT8_CF8 311 36 153.06

TT8_Kalman 0 0 0.00

Analog_circuits 1103 12 179.75

GPS_charging 0 0 0.00

Compass 680 17 164.49

RAFOS 0 0 0.00

Transponder 23 30 9.59

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 1809 632 537 0.0 0.0 0 123 0.00 0.00 -96.95 0.000 16386 0.000 0.000 53 1809 3022 2986 3059 0 0 0 0 0 0 14.98 28.83 14.99

129 -0.77 -272.5 53 1808 2987 3058 3.4 -7.1 18 164 14.50 2.45 -13.18 0.000 18948 0.299 0.086 2503 396 3813 3829 3798 0 0 0 0 0 0 14.50 13.90 14.78

203 -0.77 -272.5 2502 397 3830 3798 24.7 -18.0 31 210 0.00 2.35 0.00 0.000 3078 0.000 0.038 2501 1808 3814 3830 3798 0 0 0 0 0 0 14.90 14.81 14.92

275 -0.77 -272.5 2501 1810 3832 3797 35.1 -15.8 44 281 0.00 2.40 0.00 0.000 2308 0.000 0.055 2501 3224 3814 3830 3798 0 0 0 0 0 0 15.04 14.71 15.04

299 -0.77 -272.5 2501 3224 3830 3798 39.1 -15.5 48 306 0.00 2.38 0.00 0.000 3078 0.000 0.042 2501 1808 3814 3830 3798 0 0 0 0 0 0 14.92 14.82 14.92

371 -0.77 -272.5 2501 1808 3830 3798 49.4 -14.9 61 377 0.00 0.00 0.00 0.000 2054 0.000 0.000 2501 1808 3813 3829 3798 0 0 0 0 0 0 15.07 15.07 15.07

443 -0.77 -272.5 2501 1808 3830 3798 60.4 -16.9 74 449 0.00 2.40 0.00 0.000 2564 0.000 0.063 2503 406 3814 3830 3798 0 0 0 0 0 0 15.05 14.81 15.06

473 -0.77 -272.5 2501 406 3830 3796 65.1 -13.8 79 480 0.00 2.33 0.00 0.000 3078 0.000 0.036 2501 1818 3813 3830 3797 0 0 0 0 0 0 14.95 14.86 14.97

545 -0.77 -272.5 2501 1820 3830 3798 73.8 -11.8 92 552 0.00 2.35 0.00 0.000 2308 0.000 0.053 2501 3212 3814 3830 3798 0 0 0 0 0 0 15.09 14.74 15.09

580 -0.77 -272.5 2501 3212 3830 3798 77.6 -10.5 98 586 0.00 2.35 0.00 0.000 3078 0.000 0.041 2501 1802 3814 3831 3798 0 0 0 0 0 0 14.84 14.74 14.85

651 -0.77 -272.5 2500 1802 3830 3798 85.0 -10.6 111 658 0.00 0.00 0.00 0.000 2054 0.000 0.000 2501 1802 3813 3829 3798 0 0 0 0 0 0 15.09 15.10 15.09

721 -0.77 -272.5 2501 1798 3829 3798 93.0 -12.1 124 728 0.00 2.40 0.00 0.000 2308 0.000 0.051 2501 3213 3814 3830 3798 0 0 0 0 0 0 15.10 14.83 15.10

761 -0.77 -272.5 2500 3213 3830 3798 97.0 -9.1 131 768 0.00 2.35 0.00 0.000 3078 0.000 0.041 2501 1807 3813 3829 3798 0 0 0 0 0 0 14.97 14.85 14.97

833 -0.77 -272.5 2501 1805 3829 3798 104.0 -10.9 144 839 0.00 2.38 0.00 0.000 2564 0.000 0.062 2501 411 3813 3829 3798 0 0 0 0 0 0 15.09 14.83 15.10

867 -0.77 -272.5 2501 411 3830 3797 108.1 -10.5 150 874 0.00 2.30 0.00 0.000 3078 0.000 0.034 2501 1813 3814 3830 3798 0 0 0 0 0 0 14.97 14.88 14.99

942 -0.77 -272.5 2501 1817 3829 3798 116.1 -12.0 163 949 0.00 2.35 0.00 0.000 2308 0.000 0.053 2501 3211 3813 3829 3798 0 0 0 0 0 0 15.10 14.84 15.10

997 -0.77 -272.5 2501 3211 3829 3798 122.1 -10.0 173 1004 0.00 2.33 0.00 0.000 3078 0.000 0.039 2501 1813 3813 3829 3798 0 0 0 0 0 0 14.97 14.87 14.99

1069 -0.77 -272.5 2500 1812 3829 3798 130.0 -11.6 186 1075 0.00 2.40 0.00 0.000 2564 0.000 0.063 2501 408 3813 3829 3798 0 0 0 0 0 0 15.09 14.83 15.09

1091 end dive: BOTTOM_OBSTACLE_DETECTED

state 1091 begin apogee

1099 -0.17 0.0 2501 1803 3829 3798 133.2 -13.1 190 1310 0.95 0.00 200.45 1.099 10246 0.122 0.000 2697 1806 2699 2733 2665 0 0 0 0 0 0 14.73 14.40 13.91

1312 end apogee: CONTROL_FINISHED_OK

state 1312 begin climb

1314 0.77 272.5 2697 1806 2732 2664 140.1 0.0 228 1535 1.40 2.58 208.52 1.085 10756 0.080 0.068 2996 399 1587 1630 1545 0 0 0 0 0 0 14.42 14.35 13.87

1553 0.77 272.5 2996 399 1627 1545 127.7 13.2 269 1560 0.00 2.35 0.00 0.000 3078 0.000 0.031 2996 1809 1586 1628 1544 0 0 0 0 0 0 14.57 14.50 14.57

1625 0.77 272.5 2996 1812 1626 1541 117.7 14.3 282 1631 0.00 2.33 0.00 0.000 2308 0.000 0.046 2996 3190 1583 1625 1541 0 0 0 0 0 0 14.83 14.54 14.83

1644 0.77 272.5 2994 3190 1623 1541 114.9 13.8 285 1651 0.00 2.38 0.00 0.000 3078 0.000 0.050 2996 1805 1582 1623 1541 0 0 0 0 0 0 14.74 14.63 14.76

1716 0.77 272.5 2996 1807 1623 1540 105.4 13.6 298 1722 0.00 0.00 0.00 0.000 2054 0.000 0.000 2996 1806 1581 1623 1540 0 0 0 0 0 0 14.93 14.93 14.93

1785 0.77 272.5 2991 1805 1622 1540 94.6 15.2 311 1791 0.00 2.33 0.00 0.000 2308 0.000 0.044 2996 3191 1580 1621 1540 0 0 0 0 0 0 14.98 14.68 14.99

1821 0.77 272.5 2996 3192 1621 1539 89.6 14.7 317 1827 0.00 2.38 0.00 0.000 3078 0.000 0.051 2996 1800 1580 1621 1539 0 0 0 0 0 0 14.83 14.71 14.85

1892 0.77 272.5 2996 1800 1621 1539 79.1 15.4 330 1898 0.00 2.42 0.00 0.000 2564 0.000 0.072 2997 396 1580 1621 1539 0 0 0 0 0 0 15.02 14.76 15.03

1926 0.77 272.5 2996 395 1621 1539 73.5 15.3 336 1933 0.00 2.30 0.00 0.000 3078 0.000 0.031 2996 1797 1580 1621 1539 0 0 0 0 0 0 14.88 14.80 14.89

1999 0.77 272.5 2996 1799 1620 1537 64.1 13.8 349 2005 0.00 2.30 0.00 0.000 2308 0.000 0.045 2997 3195 1579 1621 1538 0 0 0 0 0 0 15.05 14.83 15.06

2033 0.77 272.5 2996 3196 1620 1538 59.6 11.0 355 2040 0.00 2.38 0.00 0.000 3078 0.000 0.049 2996 1797 1579 1621 1537 0 0 0 0 0 0 14.93 14.83 14.95

2105 0.77 272.5 2996 1797 1621 1537 51.9 11.5 368 2112 0.00 2.40 0.00 0.000 2564 0.000 0.067 2999 395 1579 1621 1537 0 0 0 0 0 0 15.07 14.72 15.07

2165 0.77 272.5 2998 394 1621 1538 45.6 11.0 379 2171 0.00 2.30 0.00 0.000 3078 0.000 0.032 2999 1805 1579 1621 1537 0 0 0 0 0 0 14.86 14.79 14.88

2237 0.79 291.0 2999 1807 1621 1537 38.8 9.6 392 2254 0.00 0.00 15.60 0.968 10246 0.000 0.000 2999 1808 1513 1558 1468 0 0 0 0 0 0 15.09 14.77 14.24

2319 0.90 377.5 2999 1807 1557 1465 31.2 7.9 407 2391 0.10 0.00 68.43 1.000 10246 0.150 0.000 3047 1809 1160 1220 1101 0 0 0 0 0 0 14.82 14.54 14.07

2456 0.90 377.5 3047 1807 1218 1099 13.2 15.9 432 2462 0.00 2.47 0.00 0.000 516 0.000 0.071 3050 396 1158 1218 1098 0 0 0 0 0 0 14.87 14.60 14.88

2490 0.90 377.5 3050 396 1217 1096 8.6 13.0 438 2497 0.00 2.33 0.00 0.000 1030 0.000 0.034 3051 1794 1156 1217 1095 0 0 0 0 0 0 14.70 14.64 14.71

2517 end climb: FINISH_DEPTH_REACHED

state 2517 begin subsurface finish

2525 0.14 110.3 3050 1796 1217 1094 4.2 14.0 443 2575 1.23 0.00 -44.88 0.000 20998 0.158 0.000 2810 1797 2254 2300 2208 0 0 0 0 0 0 14.59 13.55 14.70

2576 end subsurface finish: CONTROL_FINISHED_OK

state 2576 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	460	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	29	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	50	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	200419,102725,-3428.8630,2521.0918,8,1.2,48,-27.9,1.0,131.7,7,4.5	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3419.529,2527.834
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.81	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-61.9	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	200419,103944,-3428.8813,2521.2954,7,1.2,47,-27.9,0.5,145.8,7,4.6	MHEAD_RNG_PITCHd_Wd	57.9,20000,-13.1,-10.010,-16.32,4154
SPEED_LIMITS	0.173,0.342	D_GRID	1000

FINISH1	4.2,1.025349,110	_24V_AH	13.55,142.745
FINISH2	1.6	_10V_AH	13.45,0.000
IRIDIUM_FIX	-3417.32,2521.39,200419,085410	FG_AHR_24Vo	0.000
TT8_MAMPS	0.020972,0.933254	FG_AHR_10Vo	0.000
HUMID	46.02	MEM	340920
INTERNAL_PRESSURE	9.45881	DATA_FILE_SIZE	10114,452
TCM_TEMP	19.60	CAP_FILE_SIZE	91253,0
XPDR_PINGS	0	CFSIZE	2097086464,2005925888
ALTIM_BOTTOM_PING	110.0,33.1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
SC_FREEKB	3680192	GPS	200419,103944,-3428.881,2521.295,7,1.2,47,-27.9,0.5,145.8,7,4.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	299	73.66	nil	0	0	0.00
Roll_motor	71	85	82.49	nil	0	0	0.00
VBD_pump_during_apogee	493	1098	7338.41	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	25	16	5.76	nil	0	0	0.00
Iridium_during_connect	16	160	36.04	SciCon	2631	36	1295.99
Iridium_during_xfer	375	223	1134.86	nil	0	0	0.00
Transponder_ping	3	420	19.92	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	49	11	7.42
TT8	843	9	108.99
LPSleep	345	2	10.17
TT8_Active	599	9	77.52
TT8_Sampling	1223	28	466.19
TT8_CF8	311	36	153.06
TT8_Kalman	0	0	0.00
Analog_circuits	1103	12	179.75
GPS_charging	0	0	0.00
Compass	680	17	164.49
RAFOS	0	0	0.00
Transponder	23	30	9.59

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	1809	632	537	0.0	0.0	0	123	0.00	0.00	-96.95	0.000	16386	0.000	0.000	53	1809	3022	2986	3059	0	0	0	0	0	0	14.98	28.83	14.99
129	-0.77	-272.5	53	1808	2987	3058	3.4	-7.1	18	164	14.50	2.45	-13.18	0.000	18948	0.299	0.086	2503	396	3813	3829	3798	0	0	0	0	0	0	14.50	13.90	14.78
203	-0.77	-272.5	2502	397	3830	3798	24.7	-18.0	31	210	0.00	2.35	0.00	0.000	3078	0.000	0.038	2501	1808	3814	3830	3798	0	0	0	0	0	0	14.90	14.81	14.92
275	-0.77	-272.5	2501	1810	3832	3797	35.1	-15.8	44	281	0.00	2.40	0.00	0.000	2308	0.000	0.055	2501	3224	3814	3830	3798	0	0	0	0	0	0	15.04	14.71	15.04
299	-0.77	-272.5	2501	3224	3830	3798	39.1	-15.5	48	306	0.00	2.38	0.00	0.000	3078	0.000	0.042	2501	1808	3814	3830	3798	0	0	0	0	0	0	14.92	14.82	14.92
371	-0.77	-272.5	2501	1808	3830	3798	49.4	-14.9	61	377	0.00	0.00	0.00	0.000	2054	0.000	0.000	2501	1808	3813	3829	3798	0	0	0	0	0	0	15.07	15.07	15.07
443	-0.77	-272.5	2501	1808	3830	3798	60.4	-16.9	74	449	0.00	2.40	0.00	0.000	2564	0.000	0.063	2503	406	3814	3830	3798	0	0	0	0	0	0	15.05	14.81	15.06
473	-0.77	-272.5	2501	406	3830	3796	65.1	-13.8	79	480	0.00	2.33	0.00	0.000	3078	0.000	0.036	2501	1818	3813	3830	3797	0	0	0	0	0	0	14.95	14.86	14.97
545	-0.77	-272.5	2501	1820	3830	3798	73.8	-11.8	92	552	0.00	2.35	0.00	0.000	2308	0.000	0.053	2501	3212	3814	3830	3798	0	0	0	0	0	0	15.09	14.74	15.09
580	-0.77	-272.5	2501	3212	3830	3798	77.6	-10.5	98	586	0.00	2.35	0.00	0.000	3078	0.000	0.041	2501	1802	3814	3831	3798	0	0	0	0	0	0	14.84	14.74	14.85
651	-0.77	-272.5	2500	1802	3830	3798	85.0	-10.6	111	658	0.00	0.00	0.00	0.000	2054	0.000	0.000	2501	1802	3813	3829	3798	0	0	0	0	0	0	15.09	15.10	15.09
721	-0.77	-272.5	2501	1798	3829	3798	93.0	-12.1	124	728	0.00	2.40	0.00	0.000	2308	0.000	0.051	2501	3213	3814	3830	3798	0	0	0	0	0	0	15.10	14.83	15.10
761	-0.77	-272.5	2500	3213	3830	3798	97.0	-9.1	131	768	0.00	2.35	0.00	0.000	3078	0.000	0.041	2501	1807	3813	3829	3798	0	0	0	0	0	0	14.97	14.85	14.97
833	-0.77	-272.5	2501	1805	3829	3798	104.0	-10.9	144	839	0.00	2.38	0.00	0.000	2564	0.000	0.062	2501	411	3813	3829	3798	0	0	0	0	0	0	15.09	14.83	15.10
867	-0.77	-272.5	2501	411	3830	3797	108.1	-10.5	150	874	0.00	2.30	0.00	0.000	3078	0.000	0.034	2501	1813	3814	3830	3798	0	0	0	0	0	0	14.97	14.88	14.99
942	-0.77	-272.5	2501	1817	3829	3798	116.1	-12.0	163	949	0.00	2.35	0.00	0.000	2308	0.000	0.053	2501	3211	3813	3829	3798	0	0	0	0	0	0	15.10	14.84	15.10
997	-0.77	-272.5	2501	3211	3829	3798	122.1	-10.0	173	1004	0.00	2.33	0.00	0.000	3078	0.000	0.039	2501	1813	3813	3829	3798	0	0	0	0	0	0	14.97	14.87	14.99
1069	-0.77	-272.5	2500	1812	3829	3798	130.0	-11.6	186	1075	0.00	2.40	0.00	0.000	2564	0.000	0.063	2501	408	3813	3829	3798	0	0	0	0	0	0	15.09	14.83	15.09
1091	end dive: BOTTOM_OBSTACLE_DETECTED
state	1091	begin apogee
1099	-0.17	0.0	2501	1803	3829	3798	133.2	-13.1	190	1310	0.95	0.00	200.45	1.099	10246	0.122	0.000	2697	1806	2699	2733	2665	0	0	0	0	0	0	14.73	14.40	13.91
1312	end apogee: CONTROL_FINISHED_OK
state	1312	begin climb
1314	0.77	272.5	2697	1806	2732	2664	140.1	0.0	228	1535	1.40	2.58	208.52	1.085	10756	0.080	0.068	2996	399	1587	1630	1545	0	0	0	0	0	0	14.42	14.35	13.87
1553	0.77	272.5	2996	399	1627	1545	127.7	13.2	269	1560	0.00	2.35	0.00	0.000	3078	0.000	0.031	2996	1809	1586	1628	1544	0	0	0	0	0	0	14.57	14.50	14.57
1625	0.77	272.5	2996	1812	1626	1541	117.7	14.3	282	1631	0.00	2.33	0.00	0.000	2308	0.000	0.046	2996	3190	1583	1625	1541	0	0	0	0	0	0	14.83	14.54	14.83
1644	0.77	272.5	2994	3190	1623	1541	114.9	13.8	285	1651	0.00	2.38	0.00	0.000	3078	0.000	0.050	2996	1805	1582	1623	1541	0	0	0	0	0	0	14.74	14.63	14.76
1716	0.77	272.5	2996	1807	1623	1540	105.4	13.6	298	1722	0.00	0.00	0.00	0.000	2054	0.000	0.000	2996	1806	1581	1623	1540	0	0	0	0	0	0	14.93	14.93	14.93
1785	0.77	272.5	2991	1805	1622	1540	94.6	15.2	311	1791	0.00	2.33	0.00	0.000	2308	0.000	0.044	2996	3191	1580	1621	1540	0	0	0	0	0	0	14.98	14.68	14.99
1821	0.77	272.5	2996	3192	1621	1539	89.6	14.7	317	1827	0.00	2.38	0.00	0.000	3078	0.000	0.051	2996	1800	1580	1621	1539	0	0	0	0	0	0	14.83	14.71	14.85
1892	0.77	272.5	2996	1800	1621	1539	79.1	15.4	330	1898	0.00	2.42	0.00	0.000	2564	0.000	0.072	2997	396	1580	1621	1539	0	0	0	0	0	0	15.02	14.76	15.03
1926	0.77	272.5	2996	395	1621	1539	73.5	15.3	336	1933	0.00	2.30	0.00	0.000	3078	0.000	0.031	2996	1797	1580	1621	1539	0	0	0	0	0	0	14.88	14.80	14.89
1999	0.77	272.5	2996	1799	1620	1537	64.1	13.8	349	2005	0.00	2.30	0.00	0.000	2308	0.000	0.045	2997	3195	1579	1621	1538	0	0	0	0	0	0	15.05	14.83	15.06
2033	0.77	272.5	2996	3196	1620	1538	59.6	11.0	355	2040	0.00	2.38	0.00	0.000	3078	0.000	0.049	2996	1797	1579	1621	1537	0	0	0	0	0	0	14.93	14.83	14.95
2105	0.77	272.5	2996	1797	1621	1537	51.9	11.5	368	2112	0.00	2.40	0.00	0.000	2564	0.000	0.067	2999	395	1579	1621	1537	0	0	0	0	0	0	15.07	14.72	15.07
2165	0.77	272.5	2998	394	1621	1538	45.6	11.0	379	2171	0.00	2.30	0.00	0.000	3078	0.000	0.032	2999	1805	1579	1621	1537	0	0	0	0	0	0	14.86	14.79	14.88
2237	0.79	291.0	2999	1807	1621	1537	38.8	9.6	392	2254	0.00	0.00	15.60	0.968	10246	0.000	0.000	2999	1808	1513	1558	1468	0	0	0	0	0	0	15.09	14.77	14.24
2319	0.90	377.5	2999	1807	1557	1465	31.2	7.9	407	2391	0.10	0.00	68.43	1.000	10246	0.150	0.000	3047	1809	1160	1220	1101	0	0	0	0	0	0	14.82	14.54	14.07
2456	0.90	377.5	3047	1807	1218	1099	13.2	15.9	432	2462	0.00	2.47	0.00	0.000	516	0.000	0.071	3050	396	1158	1218	1098	0	0	0	0	0	0	14.87	14.60	14.88
2490	0.90	377.5	3050	396	1217	1096	8.6	13.0	438	2497	0.00	2.33	0.00	0.000	1030	0.000	0.034	3051	1794	1156	1217	1095	0	0	0	0	0	0	14.70	14.64	14.71
2517	end climb: FINISH_DEPTH_REACHED
state	2517	begin subsurface finish
2525	0.14	110.3	3050	1796	1217	1094	4.2	14.0	443	2575	1.23	0.00	-44.88	0.000	20998	0.158	0.000	2810	1797	2254	2300	2208	0	0	0	0	0	0	14.59	13.55	14.70
2576	end subsurface finish: CONTROL_FINISHED_OK
state	2576	begin surface