Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 463 * 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 463 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 50

STOP_T 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

D_SURF 3 TGT_DEFAULT_LAT 4743.3999 R_PORT_OVSHOOT 30 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 58 ALTIM_PULSE 3

D_TGT 1000 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 2

D_ABORT 1020 SM_CC 515.36688 ROLL_MAXERRORS 1 XPDR_VALID 2

D_NO_BLEED 29 N_FILEKB 4 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_BOOST 0 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097655999

T_BOOST 0 CALL_NDIVES 1 VBD_MIN 600 INT_PRESSURE_YINT 3.1600001

D_FINISH 5 COMM_SEQ 0 VBD_MAX 3960 DEEPGLIDER 0

D_PITCH 0 PROTOCOL 9 C_VBD 2701 MOTHERBOARD 4

D_SAFE 0 N_NOCOMM 2 VBD_DBAND 2 DEVICE1 -1

D_CALL 0 NOCOMM_ACTION 259 VBD_CNV -0.245296 DEVICE2 -1

SURFACE_URGENCY 0 N_NOSURFACE 2 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_DIVE 333 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_MISSION 343 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_ABORT 358 CAPMAXSIZE 400000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN 500 HEAPDBG 0 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_NO_W 120 N_GPS 100840 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_LOITER 0 T_RSLEEP 2 DBDW 0 COMPASS_DEVICE 17

T_EPIRB 0 STROBE 0 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_BATHY 0 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 PHONE_DEVICE 49

USE_ICE 0 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 AH0_24V 310 RAFOS_DEVICE -1

D_OFFGRID 100 PITCH_MIN 117 AH0_10V 0 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3869 MINV_24V 11.5 SIM_W 0

RELAUNCH 0 C_PITCH 2759 MINV_10V 10 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_DBAND 0.0099999998 MAXI_24V 3 SEABIRD_T_G 0.0042907312

MAX_BUOY 280 PITCH_CNV 0.003125763 MAXI_10V 2 SEABIRD_T_H 0.00061813911

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.1013675e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 2.0586713e-06

SPEED_FACTOR 1 PITCH_GAIN 30 PHONE_SUPPLY 2 SEABIRD_C_G -9.7689371

RHO 1.0275 PITCH_TIMEOUT 25 PRESSURE_YINT -148.54955 SEABIRD_C_H 1.1415389

MASS 53998 PITCH_AD_RATE 125 PRESSURE_SLOPE 0.0001058 SEABIRD_C_I -0.0022330475

MASS_COMP 0 PITCH_MAXERRORS 1 AD7714Ch0Gain 1 SEABIRD_C_J 0.00024789109

NAV_MODE 0 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 301 COMPASS_USE 0 SC_XMITPROFILE 3.0

HD_A 0.0038360001 ROLL_MAX 3936 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0101 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 1 D_SAFE 0 PITCH_ADJ_DBAND 0 SIM_PITCH 0

AH0_10V 0 D_SURF 3 PITCH_ADJ_GAIN 0 SIM_W 0

AH0_24V 310 D_TGT 1000 PITCH_AD_RATE 125 SM_CC 515.36688

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.0099999998 STOP_T 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_GAIN 30 STROBE 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_MAX 3869 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 50 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FILEMGR 0 PITCH_MIN 117 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 25 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0038360001 PITCH_W_GAIN 0 TGT_DEFAULT_LAT 4743.3999

APOGEE_PITCH -5 HD_B 0.0101 PRESSURE_SLOPE 0.0001058 TGT_DEFAULT_LON -12224.2

CALL_NDIVES 1 HD_C 9.8500004e-06 PRESSURE_YINT -148.54955 T_ABORT 358

CALL_TRIES 5 HEADING 30 PROTOCOL 9 T_BOOST 0

CALL_WAIT 60 HEAD_ERRBAND 10 P_OVSHOOT 0.039999999 T_DIVE 333

CAPMAXSIZE 400000 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_EPIRB 0

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_GPS 15

CF8_MAXERRORS 20 ID 574 RAFOS_DEVICE -1 T_LOITER 0

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097655999 RAFOS_HIT_WINDOW 3600 T_MISSION 343

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 3.1600001 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS_DEVICE 17 KALMAN_USE 2 RELAUNCH 0 T_RSLEEP 2

COMPASS_USE 0 LOGGERDEVICE1 53 RHO 1.0275 T_TURN 500

COURSE_BIAS 0 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

C_PITCH 2759 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_ROLL_CLIMB 1800 LOGGERDEVICE4 -1 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_ROLL_DIVE 1812 LOGGERS 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_VBD 2701 MASS 53998 ROLL_DEG 40 USE_BATHY 0

DBDW 0 MASS_COMP 0 ROLL_MAX 3936 USE_ICE 0

DEEPGLIDER 0 MAXI_10V 2 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MAXI_24V 3 ROLL_MIN 301 VBD_CNV -0.245296

DEVICE2 -1 MAX_BUOY 280 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MINV_10V 10 R_PORT_OVSHOOT 30 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 58 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 463 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 200419,122958,-3428.0010,2522.8772,8,1.0,48,-27.9,1.1,95.8,7,4.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3418.649,2529.414

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 6.16 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo 1.1 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 200419,122958,-3428.0010,2522.8772,8,1.0,48,-27.9,1.1,95.8,7,4.0 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 0.6,1.025364 _24V_AH 13.47,143.416

SM_CCo 2800,112.43,0.812,0,0,598,515.37 _10V_AH 13.49,0.000

SM_GC 0.83,13.68,0.00,112.43,0.044,0.000,0.812,129,1790,598,-8.18,-0.62,515.37,0,0,0,0,0,0,14.72,14.96,14.09 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3417.32,2521.39,200419,103144 FG_AHR_10Vo 0.000

TT8_MAMPS 0.020972,0.959469 MEM 341056

HUMID 45.43 DATA_FILE_SIZE 13432,493

INTERNAL_PRESSURE 9.30256 CAP_FILE_SIZE 93162,0

TCM_TEMP 19.00 CFSIZE 2097086464,2005434368

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

ALTIM_BOTTOM_PING 105.1,34.9 GPS 200419,140649,-3427.232,2524.289,9,1.0,46,-27.9,0.4,2.4,8,4.9

SC_FREEKB 3678656

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 129 30.04 nil 0 0 0.00

Roll_motor 70 78 75.25 nil 0 0 0.00

VBD_pump_during_apogee 468 1119 7065.09 nil 0 0 0.00

VBD_pump_during_surface 112 811 1229.16 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 2831 36 1383.33

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 3 420 18.39 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 995 9 129.08

LPSleep 426 2 12.59

TT8_Active 621 9 80.56

TT8_Sampling 849 28 324.87

TT8_CF8 169 36 83.58

TT8_Kalman 0 0 0.00

Analog_circuits 1129 12 184.48

GPS_charging 0 0 0.00

Compass 742 17 180.00

RAFOS 0 0 0.00

Transponder 22 30 9.01

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 21 begin dive

23 -0.77 -272.5 2809 1801 2308 2211 0.0 0.0 0 31 0.00 0.00 -5.78 0.000 16386 0.000 0.000 2809 1802 2493 2541 2445 0 0 0 0 0 0 15.02 28.83 15.03

34 -0.77 -272.5 2809 1802 2542 2451 7.5 0.0 1 75 1.33 2.40 -28.90 0.000 20740 0.087 0.079 2522 3193 3815 3832 3798 0 0 0 0 0 0 14.76 13.47 14.83

129 -0.77 -272.5 2522 3193 3833 3798 17.1 -9.1 18 136 0.00 2.33 0.00 0.000 5126 0.000 0.044 2521 1806 3815 3833 3798 0 0 0 0 0 0 14.85 14.75 14.85

201 -0.77 -272.5 2522 1806 3833 3798 26.7 -15.2 31 207 0.00 0.00 0.00 0.000 4102 0.000 0.000 2522 1806 3815 3833 3798 0 0 0 0 0 0 15.08 15.08 15.08

270 -0.77 -272.5 2522 1806 3829 3798 38.4 -15.3 44 276 0.00 2.38 0.00 0.000 4356 0.000 0.053 2522 3197 3816 3834 3798 0 0 0 0 0 0 15.09 14.73 15.09

304 -0.77 -272.5 2522 3198 3833 3798 43.3 -13.2 50 311 0.00 2.33 0.00 0.000 5126 0.000 0.041 2522 1807 3817 3836 3798 0 0 0 0 0 0 14.96 14.85 14.97

375 -0.77 -272.5 2522 1806 3833 3798 52.3 -13.2 63 382 0.00 2.40 0.00 0.000 4612 0.000 0.063 2522 409 3815 3832 3798 0 0 0 0 0 0 15.09 14.74 15.09

415 -0.77 -272.5 2522 409 3833 3798 57.4 -10.2 70 421 0.00 2.30 0.00 0.000 5126 0.000 0.034 2522 1808 3816 3834 3798 0 0 0 0 0 0 14.85 14.77 14.85

486 -0.77 -272.5 2521 1811 3833 3798 63.6 -9.2 83 493 0.00 2.38 0.00 0.000 4356 0.000 0.055 2522 3209 3816 3834 3798 0 0 0 0 0 0 15.09 14.79 15.09

526 -0.77 -272.5 2522 3209 3834 3798 66.7 -7.3 90 533 0.00 2.35 0.00 0.000 5126 0.000 0.038 2522 1805 3816 3835 3798 0 0 0 0 0 0 14.92 14.82 14.92

599 -0.77 -272.5 2522 1805 3834 3798 72.2 -7.8 103 606 0.00 2.38 0.00 0.000 4612 0.000 0.062 2522 411 3816 3834 3798 0 0 0 0 0 0 15.08 14.78 15.09

634 -0.77 -272.5 2522 411 3833 3798 75.7 -8.8 109 640 0.00 2.30 0.00 0.000 5126 0.000 0.034 2522 1815 3816 3834 3798 0 0 0 0 0 0 14.97 14.91 14.98

705 -0.77 -272.5 2522 1817 3834 3798 81.7 -8.6 122 711 0.00 0.00 0.00 0.000 4102 0.000 0.000 2522 1817 3818 3834 3802 0 0 0 0 0 0 15.10 15.10 15.10

775 -0.77 -272.5 2522 1820 3834 3798 87.5 -8.0 135 781 0.00 2.42 0.00 0.000 4612 0.000 0.062 2522 410 3816 3834 3798 0 0 0 0 0 0 15.11 14.73 15.11

825 -0.77 -272.5 2522 410 3834 3798 92.0 -9.3 144 832 0.00 2.30 0.00 0.000 5126 0.000 0.034 2522 1812 3816 3834 3798 0 0 0 0 0 0 14.85 14.77 14.86

896 -0.77 -272.5 2522 1813 3843 3798 98.1 -8.0 157 903 0.00 2.38 0.00 0.000 4356 0.000 0.054 2522 3217 3816 3834 3798 0 0 0 0 0 0 15.11 14.85 15.10

927 -0.77 -272.5 2522 3217 3834 3798 100.4 -8.1 162 934 0.00 2.35 0.00 0.000 5126 0.000 0.039 2522 1803 3816 3834 3798 0 0 0 0 0 0 14.97 14.87 14.98

1002 -0.77 -272.5 2522 1802 3834 3798 106.7 -9.1 175 1009 0.00 2.38 0.00 0.000 4612 0.000 0.061 2522 411 3816 3834 3798 0 0 0 0 0 0 15.10 14.84 15.11

1062 -0.77 -272.5 2522 411 3834 3798 112.3 -10.0 186 1069 0.00 2.30 0.00 0.000 5126 0.000 0.034 2522 1813 3815 3833 3798 0 0 0 0 0 0 14.97 14.89 14.99

1134 -0.77 -272.5 2522 1816 3834 3798 118.8 -8.8 199 1141 0.00 2.35 0.00 0.000 4356 0.000 0.054 2522 3210 3816 3834 3798 0 0 0 0 0 0 15.10 14.75 15.10

1184 -0.77 -272.5 2522 3210 3834 3798 123.7 -8.5 208 1191 0.00 2.33 0.00 0.000 5126 0.000 0.035 2522 1799 3816 3834 3798 0 0 0 0 0 0 14.97 14.88 14.97

1248 end dive: BOTTOM_OBSTACLE_DETECTED

state 1248 begin apogee

1255 -0.17 0.0 2522 1800 3834 3798 130.0 -9.3 220 1466 0.88 0.00 201.70 1.120 10246 0.129 0.000 2701 1799 2699 2732 2666 0 0 0 0 0 0 14.73 14.40 13.89

1467 end apogee: CONTROL_FINISHED_OK

state 1468 begin climb

1470 0.77 272.5 2701 1799 2730 2664 140.2 0.0 258 1695 1.38 2.50 210.12 1.099 10756 0.073 0.069 2996 413 1587 1630 1545 0 0 0 0 0 0 14.41 14.32 13.87

1718 0.77 272.5 2996 413 1628 1544 132.9 12.5 301 1725 0.00 2.35 0.00 0.000 3078 0.000 0.031 2996 1812 1586 1628 1544 0 0 0 0 0 0 14.57 14.51 14.59

1790 0.77 272.5 2996 1814 1628 1542 123.1 14.3 314 1796 0.00 0.00 0.00 0.000 2054 0.000 0.000 2996 1815 1584 1626 1542 0 0 0 0 0 0 14.81 14.81 14.81

1859 0.77 272.5 2996 1814 1625 1541 112.7 14.4 327 1865 0.00 0.00 0.00 0.000 2054 0.000 0.000 2996 1814 1583 1625 1541 0 0 0 0 0 0 14.90 14.90 14.90

1928 0.77 272.5 2995 1815 1625 1542 102.8 13.6 340 1934 0.00 2.33 0.00 0.000 2308 0.000 0.046 2996 3195 1582 1624 1541 0 0 0 0 0 0 14.96 14.74 14.96

1977 0.77 272.5 2995 3195 1622 1541 95.7 14.0 349 1984 0.00 2.38 0.00 0.000 3078 0.000 0.053 2997 1811 1581 1622 1540 0 0 0 0 0 0 14.86 14.73 14.88

2049 0.77 272.5 2996 1810 1622 1540 85.7 14.6 362 2056 0.00 2.45 0.00 0.000 2564 0.000 0.071 3004 392 1581 1622 1540 0 0 0 0 0 0 15.00 14.76 15.00

2093 0.77 272.5 3004 392 1622 1540 78.8 15.0 370 2100 0.00 2.33 0.00 0.000 1030 0.000 0.031 3005 1808 1581 1622 1541 0 0 0 0 0 0 14.90 14.84 14.92

2165 0.77 272.5 3004 1811 1622 1539 68.3 15.6 383 2171 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 1811 1580 1621 1540 0 0 0 0 0 0 15.02 15.03 15.03

2234 0.77 272.5 3004 1811 1622 1538 58.6 12.8 396 2240 0.00 2.47 0.00 0.000 516 0.000 0.069 3011 387 1580 1621 1540 0 0 0 0 0 0 15.04 14.79 15.05

2253 0.77 272.5 3010 386 1622 1540 56.3 11.9 399 2260 0.00 2.33 0.00 0.000 5126 0.000 0.032 3011 1799 1581 1622 1540 0 0 0 0 0 0 14.95 14.87 14.96

2325 0.77 272.5 3010 1802 1622 1540 47.6 11.6 412 2331 0.00 2.45 0.00 0.000 4612 0.000 0.070 3017 389 1581 1622 1540 0 0 0 0 0 0 15.05 14.81 15.05

2359 0.77 272.5 3016 389 1621 1539 43.2 12.6 418 2366 0.00 2.30 0.00 0.000 5126 0.000 0.033 3016 1804 1580 1621 1539 0 0 0 0 0 0 14.95 14.86 14.96

2431 0.77 272.5 3016 1807 1621 1539 35.2 11.0 431 2438 0.00 2.33 0.00 0.000 4356 0.000 0.047 3017 3196 1580 1621 1539 0 0 0 0 0 0 15.08 14.76 15.08

2481 0.77 272.5 3016 3196 1621 1539 29.6 10.5 440 2488 0.00 2.38 0.00 0.000 5126 0.000 0.048 3017 1792 1580 1621 1539 0 0 0 0 0 0 14.86 14.76 14.88

2553 0.80 298.7 3016 1791 1621 1539 23.1 9.4 453 2576 0.00 0.00 20.25 0.955 8198 0.000 0.000 3017 1792 1479 1525 1434 0 0 0 0 0 0 15.09 14.76 14.23

2640 0.83 320.5 3016 1791 1524 1433 15.2 9.5 469 2658 0.00 0.00 15.12 0.890 10246 0.000 0.000 3017 1791 1391 1441 1342 0 0 0 0 0 0 15.02 14.76 14.25

2723 0.89 368.3 3017 1791 1439 1340 5.7 8.8 484 2746 0.00 0.00 21.12 0.827 10242 0.000 0.000 3017 1792 1264 1321 1208 0 0 0 0 0 0 14.99 28.83 15.00

2747 end climb: SURFACE_DEPTH_REACHED

state 2747 begin surface coast

2773 end surface coast: CONTROL_FINISHED_OK

state 2774 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	463	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	50
STOP_T	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5
D_SURF	3	TGT_DEFAULT_LAT	4743.3999	R_PORT_OVSHOOT	30	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	58	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	200419,122958,-3428.0010,2522.8772,8,1.0,48,-27.9,1.1,95.8,7,4.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3418.649,2529.414
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	6.16	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	1.1	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	200419,122958,-3428.0010,2522.8772,8,1.0,48,-27.9,1.1,95.8,7,4.0	MHEAD_RNG_PITCHd_Wd	57.9,20000,-13.1,-10.010,-16.32,4154
SPEED_LIMITS	0.173,0.342	D_GRID	1000

FINISH	0.6,1.025364	_24V_AH	13.47,143.416
SM_CCo	2800,112.43,0.812,0,0,598,515.37	_10V_AH	13.49,0.000
SM_GC	0.83,13.68,0.00,112.43,0.044,0.000,0.812,129,1790,598,-8.18,-0.62,515.37,0,0,0,0,0,0,14.72,14.96,14.09	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3417.32,2521.39,200419,103144	FG_AHR_10Vo	0.000
TT8_MAMPS	0.020972,0.959469	MEM	341056
HUMID	45.43	DATA_FILE_SIZE	13432,493
INTERNAL_PRESSURE	9.30256	CAP_FILE_SIZE	93162,0
TCM_TEMP	19.00	CFSIZE	2097086464,2005434368
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_BOTTOM_PING	105.1,34.9	GPS	200419,140649,-3427.232,2524.289,9,1.0,46,-27.9,0.4,2.4,8,4.9
SC_FREEKB	3678656

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	129	30.04	nil	0	0	0.00
Roll_motor	70	78	75.25	nil	0	0	0.00
VBD_pump_during_apogee	468	1119	7065.09	nil	0	0	0.00
VBD_pump_during_surface	112	811	1229.16	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	2831	36	1383.33
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	3	420	18.39	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	995	9	129.08
LPSleep	426	2	12.59
TT8_Active	621	9	80.56
TT8_Sampling	849	28	324.87
TT8_CF8	169	36	83.58
TT8_Kalman	0	0	0.00
Analog_circuits	1129	12	184.48
GPS_charging	0	0	0.00
Compass	742	17	180.00
RAFOS	0	0	0.00
Transponder	22	30	9.01

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	21	begin dive
23	-0.77	-272.5	2809	1801	2308	2211	0.0	0.0	0	31	0.00	0.00	-5.78	0.000	16386	0.000	0.000	2809	1802	2493	2541	2445	0	0	0	0	0	0	15.02	28.83	15.03
34	-0.77	-272.5	2809	1802	2542	2451	7.5	0.0	1	75	1.33	2.40	-28.90	0.000	20740	0.087	0.079	2522	3193	3815	3832	3798	0	0	0	0	0	0	14.76	13.47	14.83
129	-0.77	-272.5	2522	3193	3833	3798	17.1	-9.1	18	136	0.00	2.33	0.00	0.000	5126	0.000	0.044	2521	1806	3815	3833	3798	0	0	0	0	0	0	14.85	14.75	14.85
201	-0.77	-272.5	2522	1806	3833	3798	26.7	-15.2	31	207	0.00	0.00	0.00	0.000	4102	0.000	0.000	2522	1806	3815	3833	3798	0	0	0	0	0	0	15.08	15.08	15.08
270	-0.77	-272.5	2522	1806	3829	3798	38.4	-15.3	44	276	0.00	2.38	0.00	0.000	4356	0.000	0.053	2522	3197	3816	3834	3798	0	0	0	0	0	0	15.09	14.73	15.09
304	-0.77	-272.5	2522	3198	3833	3798	43.3	-13.2	50	311	0.00	2.33	0.00	0.000	5126	0.000	0.041	2522	1807	3817	3836	3798	0	0	0	0	0	0	14.96	14.85	14.97
375	-0.77	-272.5	2522	1806	3833	3798	52.3	-13.2	63	382	0.00	2.40	0.00	0.000	4612	0.000	0.063	2522	409	3815	3832	3798	0	0	0	0	0	0	15.09	14.74	15.09
415	-0.77	-272.5	2522	409	3833	3798	57.4	-10.2	70	421	0.00	2.30	0.00	0.000	5126	0.000	0.034	2522	1808	3816	3834	3798	0	0	0	0	0	0	14.85	14.77	14.85
486	-0.77	-272.5	2521	1811	3833	3798	63.6	-9.2	83	493	0.00	2.38	0.00	0.000	4356	0.000	0.055	2522	3209	3816	3834	3798	0	0	0	0	0	0	15.09	14.79	15.09
526	-0.77	-272.5	2522	3209	3834	3798	66.7	-7.3	90	533	0.00	2.35	0.00	0.000	5126	0.000	0.038	2522	1805	3816	3835	3798	0	0	0	0	0	0	14.92	14.82	14.92
599	-0.77	-272.5	2522	1805	3834	3798	72.2	-7.8	103	606	0.00	2.38	0.00	0.000	4612	0.000	0.062	2522	411	3816	3834	3798	0	0	0	0	0	0	15.08	14.78	15.09
634	-0.77	-272.5	2522	411	3833	3798	75.7	-8.8	109	640	0.00	2.30	0.00	0.000	5126	0.000	0.034	2522	1815	3816	3834	3798	0	0	0	0	0	0	14.97	14.91	14.98
705	-0.77	-272.5	2522	1817	3834	3798	81.7	-8.6	122	711	0.00	0.00	0.00	0.000	4102	0.000	0.000	2522	1817	3818	3834	3802	0	0	0	0	0	0	15.10	15.10	15.10
775	-0.77	-272.5	2522	1820	3834	3798	87.5	-8.0	135	781	0.00	2.42	0.00	0.000	4612	0.000	0.062	2522	410	3816	3834	3798	0	0	0	0	0	0	15.11	14.73	15.11
825	-0.77	-272.5	2522	410	3834	3798	92.0	-9.3	144	832	0.00	2.30	0.00	0.000	5126	0.000	0.034	2522	1812	3816	3834	3798	0	0	0	0	0	0	14.85	14.77	14.86
896	-0.77	-272.5	2522	1813	3843	3798	98.1	-8.0	157	903	0.00	2.38	0.00	0.000	4356	0.000	0.054	2522	3217	3816	3834	3798	0	0	0	0	0	0	15.11	14.85	15.10
927	-0.77	-272.5	2522	3217	3834	3798	100.4	-8.1	162	934	0.00	2.35	0.00	0.000	5126	0.000	0.039	2522	1803	3816	3834	3798	0	0	0	0	0	0	14.97	14.87	14.98
1002	-0.77	-272.5	2522	1802	3834	3798	106.7	-9.1	175	1009	0.00	2.38	0.00	0.000	4612	0.000	0.061	2522	411	3816	3834	3798	0	0	0	0	0	0	15.10	14.84	15.11
1062	-0.77	-272.5	2522	411	3834	3798	112.3	-10.0	186	1069	0.00	2.30	0.00	0.000	5126	0.000	0.034	2522	1813	3815	3833	3798	0	0	0	0	0	0	14.97	14.89	14.99
1134	-0.77	-272.5	2522	1816	3834	3798	118.8	-8.8	199	1141	0.00	2.35	0.00	0.000	4356	0.000	0.054	2522	3210	3816	3834	3798	0	0	0	0	0	0	15.10	14.75	15.10
1184	-0.77	-272.5	2522	3210	3834	3798	123.7	-8.5	208	1191	0.00	2.33	0.00	0.000	5126	0.000	0.035	2522	1799	3816	3834	3798	0	0	0	0	0	0	14.97	14.88	14.97
1248	end dive: BOTTOM_OBSTACLE_DETECTED
state	1248	begin apogee
1255	-0.17	0.0	2522	1800	3834	3798	130.0	-9.3	220	1466	0.88	0.00	201.70	1.120	10246	0.129	0.000	2701	1799	2699	2732	2666	0	0	0	0	0	0	14.73	14.40	13.89
1467	end apogee: CONTROL_FINISHED_OK
state	1468	begin climb
1470	0.77	272.5	2701	1799	2730	2664	140.2	0.0	258	1695	1.38	2.50	210.12	1.099	10756	0.073	0.069	2996	413	1587	1630	1545	0	0	0	0	0	0	14.41	14.32	13.87
1718	0.77	272.5	2996	413	1628	1544	132.9	12.5	301	1725	0.00	2.35	0.00	0.000	3078	0.000	0.031	2996	1812	1586	1628	1544	0	0	0	0	0	0	14.57	14.51	14.59
1790	0.77	272.5	2996	1814	1628	1542	123.1	14.3	314	1796	0.00	0.00	0.00	0.000	2054	0.000	0.000	2996	1815	1584	1626	1542	0	0	0	0	0	0	14.81	14.81	14.81
1859	0.77	272.5	2996	1814	1625	1541	112.7	14.4	327	1865	0.00	0.00	0.00	0.000	2054	0.000	0.000	2996	1814	1583	1625	1541	0	0	0	0	0	0	14.90	14.90	14.90
1928	0.77	272.5	2995	1815	1625	1542	102.8	13.6	340	1934	0.00	2.33	0.00	0.000	2308	0.000	0.046	2996	3195	1582	1624	1541	0	0	0	0	0	0	14.96	14.74	14.96
1977	0.77	272.5	2995	3195	1622	1541	95.7	14.0	349	1984	0.00	2.38	0.00	0.000	3078	0.000	0.053	2997	1811	1581	1622	1540	0	0	0	0	0	0	14.86	14.73	14.88
2049	0.77	272.5	2996	1810	1622	1540	85.7	14.6	362	2056	0.00	2.45	0.00	0.000	2564	0.000	0.071	3004	392	1581	1622	1540	0	0	0	0	0	0	15.00	14.76	15.00
2093	0.77	272.5	3004	392	1622	1540	78.8	15.0	370	2100	0.00	2.33	0.00	0.000	1030	0.000	0.031	3005	1808	1581	1622	1541	0	0	0	0	0	0	14.90	14.84	14.92
2165	0.77	272.5	3004	1811	1622	1539	68.3	15.6	383	2171	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	1811	1580	1621	1540	0	0	0	0	0	0	15.02	15.03	15.03
2234	0.77	272.5	3004	1811	1622	1538	58.6	12.8	396	2240	0.00	2.47	0.00	0.000	516	0.000	0.069	3011	387	1580	1621	1540	0	0	0	0	0	0	15.04	14.79	15.05
2253	0.77	272.5	3010	386	1622	1540	56.3	11.9	399	2260	0.00	2.33	0.00	0.000	5126	0.000	0.032	3011	1799	1581	1622	1540	0	0	0	0	0	0	14.95	14.87	14.96
2325	0.77	272.5	3010	1802	1622	1540	47.6	11.6	412	2331	0.00	2.45	0.00	0.000	4612	0.000	0.070	3017	389	1581	1622	1540	0	0	0	0	0	0	15.05	14.81	15.05
2359	0.77	272.5	3016	389	1621	1539	43.2	12.6	418	2366	0.00	2.30	0.00	0.000	5126	0.000	0.033	3016	1804	1580	1621	1539	0	0	0	0	0	0	14.95	14.86	14.96
2431	0.77	272.5	3016	1807	1621	1539	35.2	11.0	431	2438	0.00	2.33	0.00	0.000	4356	0.000	0.047	3017	3196	1580	1621	1539	0	0	0	0	0	0	15.08	14.76	15.08
2481	0.77	272.5	3016	3196	1621	1539	29.6	10.5	440	2488	0.00	2.38	0.00	0.000	5126	0.000	0.048	3017	1792	1580	1621	1539	0	0	0	0	0	0	14.86	14.76	14.88
2553	0.80	298.7	3016	1791	1621	1539	23.1	9.4	453	2576	0.00	0.00	20.25	0.955	8198	0.000	0.000	3017	1792	1479	1525	1434	0	0	0	0	0	0	15.09	14.76	14.23
2640	0.83	320.5	3016	1791	1524	1433	15.2	9.5	469	2658	0.00	0.00	15.12	0.890	10246	0.000	0.000	3017	1791	1391	1441	1342	0	0	0	0	0	0	15.02	14.76	14.25
2723	0.89	368.3	3017	1791	1439	1340	5.7	8.8	484	2746	0.00	0.00	21.12	0.827	10242	0.000	0.000	3017	1792	1264	1321	1208	0	0	0	0	0	0	14.99	28.83	15.00
2747	end climb: SURFACE_DEPTH_REACHED
state	2747	begin surface coast
2773	end surface coast: CONTROL_FINISHED_OK
state	2774	begin surface