Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 464 * 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 464 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 57 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 57 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 464 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 200419,140649,-3427.2319,2524.2891,9,1.0,46,-27.9,0.4,2.4,8,4.9 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3417.728,2530.996

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.79 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -60.4 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 200419,142007,-3427.0803,2524.4602,7,1.0,15,-27.9,0.0,355.2,8,9.7 MHEAD_RNG_PITCHd_Wd 57.9,20000,-13.1,-10.010,-16.32,4154

SPEED_LIMITS 0.173,0.342 D_GRID 1000

Post-dive calculations and measurements:

FINISH1 4.7,1.025175,119 _24V_AH 13.43,143.650

FINISH2 4.9 _10V_AH 13.45,0.000

IRIDIUM_FIX -3412.10,2522.63,200419,122028 FG_AHR_24Vo 0.000

TT8_MAMPS 0.021721,0.936999 FG_AHR_10Vo 0.000

HUMID 45.90 MEM 340920

INTERNAL_PRESSURE 9.45881 DATA_FILE_SIZE 13452,468

TCM_TEMP 19.40 CAP_FILE_SIZE 94936,0

XPDR_PINGS 0 CFSIZE 2097086464,2005270528

ALTIM_BOTTOM_PING 110.1,36.3 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

SC_FREEKB 3678144 GPS 200419,142007,-3427.080,2524.460,7,1.0,15,-27.9,0.0,355.2,8,9.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 302 73.96 nil 0 0 0.00

Roll_motor 78 88 93.47 nil 0 0 0.00

VBD_pump_during_apogee 497 1099 7341.60 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 5.60 nil 0 0 0.00

Iridium_during_connect 38 160 81.98 SciCon 2717 36 1332.66

Iridium_during_xfer 432 223 1295.48 nil 0 0 0.00

Transponder_ping 3 420 19.74 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 11 2.50

TT8 877 9 113.47

LPSleep 360 2 10.61

TT8_Active 603 9 77.99

TT8_Sampling 1283 28 489.20

TT8_CF8 336 36 165.55

TT8_Kalman 0 0 0.00

Analog_circuits 1119 12 182.37

GPS_charging 0 0 0.00

Compass 702 17 169.83

RAFOS 0 0 0.00

Transponder 25 30 10.36

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 54 1786 633 538 0.0 0.0 0 123 0.00 0.00 -97.03 0.000 16386 0.000 0.000 54 1787 3026 2987 3066 0 0 0 0 0 0 14.95 28.83 14.95

129 -0.77 -272.5 53 1787 2987 3065 3.7 -8.9 18 164 14.57 2.40 -12.52 0.000 18948 0.302 0.089 2502 406 3813 3828 3799 0 0 0 0 0 0 14.47 13.43 14.75

288 -0.77 -272.5 2502 405 3828 3799 43.1 -15.5 48 295 0.00 2.30 0.00 0.000 3078 0.000 0.034 2501 1798 3813 3828 3799 0 0 0 0 0 0 14.91 14.83 14.92

361 -0.77 -272.5 2501 1801 3829 3799 52.4 -12.9 61 368 0.00 2.40 0.00 0.000 2308 0.000 0.054 2501 3211 3813 3828 3799 0 0 0 0 0 0 15.05 14.75 15.05

420 -0.77 -272.5 2501 3212 3829 3799 58.7 -8.2 72 427 0.00 2.35 0.00 0.000 3078 0.000 0.042 2501 1809 3813 3828 3799 0 0 0 0 0 0 14.88 14.76 14.88

492 -0.77 -272.5 2501 1809 3829 3799 66.0 -12.1 85 498 0.00 2.40 0.00 0.000 2564 0.000 0.063 2501 408 3814 3829 3799 0 0 0 0 0 0 15.07 14.81 15.07

521 -0.77 -272.5 2500 409 3829 3799 69.5 -10.7 90 528 0.00 2.33 0.00 0.000 3078 0.000 0.032 2501 1823 3812 3825 3799 0 0 0 0 0 0 14.90 14.81 14.90

594 -0.77 -272.5 2501 1823 3829 3799 78.2 -13.0 103 601 0.00 2.35 0.00 0.000 2308 0.000 0.054 2501 3213 3814 3829 3799 0 0 0 0 0 0 15.08 14.71 15.09

624 -0.77 -272.5 2501 3214 3829 3799 82.3 -12.3 108 631 0.00 2.35 0.00 0.000 3078 0.000 0.040 2503 1806 3814 3829 3799 0 0 0 0 0 0 14.95 14.85 14.97

696 -0.77 -272.5 2501 1807 3829 3799 90.3 -11.4 121 702 0.00 0.00 0.00 0.000 2054 0.000 0.000 2501 1806 3814 3829 3799 0 0 0 0 0 0 15.09 15.09 15.09

765 -0.77 -272.5 2501 1806 3829 3799 98.6 -12.0 134 772 0.00 2.40 0.00 0.000 2564 0.000 0.062 2501 406 3814 3829 3799 0 0 0 0 0 0 15.09 14.73 15.09

784 -0.77 -272.5 2501 406 3829 3799 101.0 -12.9 137 791 0.00 2.30 0.00 0.000 3078 0.000 0.033 2501 1808 3814 3829 3799 0 0 0 0 0 0 14.85 14.78 14.86

857 -0.77 -272.5 2501 1811 3829 3799 108.6 -10.8 150 863 0.00 2.38 0.00 0.000 2308 0.000 0.054 2501 3214 3814 3829 3799 0 0 0 0 0 0 15.10 14.83 15.10

925 -0.77 -272.5 2501 3214 3829 3798 115.1 -9.7 162 932 0.00 2.35 0.00 0.000 3078 0.000 0.040 2501 1805 3814 3829 3799 0 0 0 0 0 0 14.86 14.76 14.86

997 -0.77 -272.5 2501 1805 3828 3799 122.9 -11.4 175 1003 0.00 2.40 0.00 0.000 2564 0.000 0.063 2501 409 3813 3828 3799 0 0 0 0 0 0 15.11 14.83 15.11

1026 -0.77 -272.5 2501 409 3828 3799 126.7 -11.9 180 1033 0.00 2.33 0.00 0.000 3078 0.000 0.032 2501 1823 3813 3828 3799 0 0 0 0 0 0 14.92 14.83 14.93

1098 -0.77 -272.5 2500 1826 3828 3799 135.0 -12.3 193 1104 0.00 2.33 0.00 0.000 2308 0.000 0.054 2501 3204 3813 3828 3799 0 0 0 0 0 0 15.08 14.83 15.09

1110 end dive: BOTTOM_OBSTACLE_DETECTED

state 1110 begin apogee

1118 -0.17 0.0 2501 1800 3828 3799 136.8 -12.2 195 1330 0.98 0.00 200.25 1.099 10246 0.130 0.000 2699 1799 2699 2732 2667 0 0 0 0 0 0 14.71 14.26 13.88

1332 end apogee: CONTROL_FINISHED_OK

state 1332 begin climb

1334 0.77 272.5 2700 1799 2732 2667 146.7 0.0 233 1560 1.40 2.53 210.15 1.088 10756 0.080 0.066 2995 395 1587 1629 1545 0 0 0 0 0 0 14.43 14.36 13.88

1598 0.77 272.5 2996 395 1621 1545 137.1 15.2 279 1604 0.00 2.35 0.00 0.000 3078 0.000 0.031 2996 1793 1583 1623 1544 0 0 0 0 0 0 14.62 14.55 14.63

1669 0.77 272.5 2996 1796 1622 1542 127.7 13.6 292 1676 0.00 2.40 0.00 0.000 2308 0.000 0.052 2995 3207 1582 1623 1542 0 0 0 0 0 0 14.84 14.57 14.85

1689 0.77 272.5 2996 3207 1631 1541 124.8 13.4 295 1696 0.00 2.42 0.00 0.000 3078 0.000 0.051 2996 1796 1581 1621 1541 0 0 0 0 0 0 14.76 14.66 14.78

1761 0.77 272.5 2996 1796 1621 1540 114.9 13.4 308 1766 0.00 0.00 0.00 0.000 2054 0.000 0.000 2996 1796 1581 1621 1541 0 0 0 0 0 0 14.95 14.95 14.95

1830 0.77 272.5 2996 1796 1621 1540 105.1 14.0 321 1836 0.00 2.38 0.00 0.000 2308 0.000 0.047 2996 3204 1580 1621 1540 0 0 0 0 0 0 14.99 14.67 14.99

1869 0.77 272.5 2996 3204 1620 1540 99.5 14.1 328 1876 0.00 2.40 0.00 0.000 3078 0.000 0.051 2996 1797 1580 1621 1540 0 0 0 0 0 0 14.88 14.77 14.90

1941 0.77 272.5 2996 1798 1620 1539 90.1 14.0 341 1947 0.00 2.45 0.00 0.000 2564 0.000 0.071 2999 386 1580 1621 1540 0 0 0 0 0 0 15.03 14.73 15.03

1971 0.77 272.5 2999 385 1621 1539 85.2 14.9 346 1977 0.00 2.35 0.00 0.000 3078 0.000 0.031 2999 1814 1580 1620 1540 0 0 0 0 0 0 14.88 14.81 14.89

2042 0.77 272.5 2999 1817 1621 1539 74.5 16.0 359 2049 0.00 2.47 0.00 0.000 2564 0.000 0.070 3003 395 1580 1621 1539 0 0 0 0 0 0 15.04 14.79 15.05

2067 0.77 272.5 3002 395 1620 1539 70.0 17.6 363 2074 0.00 2.33 0.00 0.000 1030 0.000 0.032 3003 1809 1579 1620 1539 0 0 0 0 0 0 14.92 14.86 14.94

2138 0.77 272.5 3002 1812 1620 1538 59.4 15.3 376 2145 0.00 2.30 0.00 0.000 260 0.000 0.045 3003 3199 1579 1620 1538 0 0 0 0 0 0 15.04 14.83 15.04

2153 0.77 272.5 3002 3200 1620 1538 56.9 15.4 378 2159 0.00 2.38 0.00 0.000 1030 0.000 0.050 3002 1799 1579 1621 1538 0 0 0 0 0 0 14.92 14.83 14.95

2224 0.77 272.5 3003 1799 1620 1538 47.8 11.0 391 2231 0.00 2.42 0.00 0.000 516 0.000 0.070 3002 390 1579 1620 1538 0 0 0 0 0 0 15.05 14.81 15.06

2284 0.81 303.5 3002 390 1620 1538 41.6 9.2 402 2318 0.00 2.33 25.65 1.016 11270 0.000 0.032 3003 1822 1459 1506 1412 0 0 0 0 0 0 14.96 14.87 14.20

2383 0.90 377.6 3002 1822 1505 1411 33.6 8.2 420 2451 0.08 2.38 61.22 1.014 10500 0.187 0.047 3046 3184 1158 1218 1099 0 0 0 0 0 0 14.72 14.50 14.07

2476 0.90 377.6 3045 3187 1217 1096 22.8 14.5 436 2482 0.00 2.40 0.00 0.000 1030 0.000 0.049 3046 1797 1156 1218 1095 0 0 0 0 0 0 14.66 14.57 14.67

2547 0.90 377.6 3046 1797 1217 1094 13.4 14.6 449 2553 0.00 0.00 0.00 0.000 6 0.000 0.000 3046 1797 1155 1217 1094 0 0 0 0 0 0 14.89 14.90 14.90

2608 end climb: FINISH_DEPTH_REACHED

state 2608 begin subsurface finish

2616 0.15 119.2 3046 1796 1216 1093 4.7 11.9 461 2657 1.20 2.40 -33.85 0.000 21252 0.151 0.068 2810 3186 2219 2266 2172 0 0 0 0 0 0 14.54 13.49 14.64

2658 end subsurface finish: CONTROL_FINISHED_OK

state 2658 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	464	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	57	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	200419,140649,-3427.2319,2524.2891,9,1.0,46,-27.9,0.4,2.4,8,4.9	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3417.728,2530.996
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.79	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-60.4	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	200419,142007,-3427.0803,2524.4602,7,1.0,15,-27.9,0.0,355.2,8,9.7	MHEAD_RNG_PITCHd_Wd	57.9,20000,-13.1,-10.010,-16.32,4154
SPEED_LIMITS	0.173,0.342	D_GRID	1000

FINISH1	4.7,1.025175,119	_24V_AH	13.43,143.650
FINISH2	4.9	_10V_AH	13.45,0.000
IRIDIUM_FIX	-3412.10,2522.63,200419,122028	FG_AHR_24Vo	0.000
TT8_MAMPS	0.021721,0.936999	FG_AHR_10Vo	0.000
HUMID	45.90	MEM	340920
INTERNAL_PRESSURE	9.45881	DATA_FILE_SIZE	13452,468
TCM_TEMP	19.40	CAP_FILE_SIZE	94936,0
XPDR_PINGS	0	CFSIZE	2097086464,2005270528
ALTIM_BOTTOM_PING	110.1,36.3	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
SC_FREEKB	3678144	GPS	200419,142007,-3427.080,2524.460,7,1.0,15,-27.9,0.0,355.2,8,9.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	302	73.96	nil	0	0	0.00
Roll_motor	78	88	93.47	nil	0	0	0.00
VBD_pump_during_apogee	497	1099	7341.60	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	5.60	nil	0	0	0.00
Iridium_during_connect	38	160	81.98	SciCon	2717	36	1332.66
Iridium_during_xfer	432	223	1295.48	nil	0	0	0.00
Transponder_ping	3	420	19.74	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	11	2.50
TT8	877	9	113.47
LPSleep	360	2	10.61
TT8_Active	603	9	77.99
TT8_Sampling	1283	28	489.20
TT8_CF8	336	36	165.55
TT8_Kalman	0	0	0.00
Analog_circuits	1119	12	182.37
GPS_charging	0	0	0.00
Compass	702	17	169.83
RAFOS	0	0	0.00
Transponder	25	30	10.36

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	54	1786	633	538	0.0	0.0	0	123	0.00	0.00	-97.03	0.000	16386	0.000	0.000	54	1787	3026	2987	3066	0	0	0	0	0	0	14.95	28.83	14.95
129	-0.77	-272.5	53	1787	2987	3065	3.7	-8.9	18	164	14.57	2.40	-12.52	0.000	18948	0.302	0.089	2502	406	3813	3828	3799	0	0	0	0	0	0	14.47	13.43	14.75
288	-0.77	-272.5	2502	405	3828	3799	43.1	-15.5	48	295	0.00	2.30	0.00	0.000	3078	0.000	0.034	2501	1798	3813	3828	3799	0	0	0	0	0	0	14.91	14.83	14.92
361	-0.77	-272.5	2501	1801	3829	3799	52.4	-12.9	61	368	0.00	2.40	0.00	0.000	2308	0.000	0.054	2501	3211	3813	3828	3799	0	0	0	0	0	0	15.05	14.75	15.05
420	-0.77	-272.5	2501	3212	3829	3799	58.7	-8.2	72	427	0.00	2.35	0.00	0.000	3078	0.000	0.042	2501	1809	3813	3828	3799	0	0	0	0	0	0	14.88	14.76	14.88
492	-0.77	-272.5	2501	1809	3829	3799	66.0	-12.1	85	498	0.00	2.40	0.00	0.000	2564	0.000	0.063	2501	408	3814	3829	3799	0	0	0	0	0	0	15.07	14.81	15.07
521	-0.77	-272.5	2500	409	3829	3799	69.5	-10.7	90	528	0.00	2.33	0.00	0.000	3078	0.000	0.032	2501	1823	3812	3825	3799	0	0	0	0	0	0	14.90	14.81	14.90
594	-0.77	-272.5	2501	1823	3829	3799	78.2	-13.0	103	601	0.00	2.35	0.00	0.000	2308	0.000	0.054	2501	3213	3814	3829	3799	0	0	0	0	0	0	15.08	14.71	15.09
624	-0.77	-272.5	2501	3214	3829	3799	82.3	-12.3	108	631	0.00	2.35	0.00	0.000	3078	0.000	0.040	2503	1806	3814	3829	3799	0	0	0	0	0	0	14.95	14.85	14.97
696	-0.77	-272.5	2501	1807	3829	3799	90.3	-11.4	121	702	0.00	0.00	0.00	0.000	2054	0.000	0.000	2501	1806	3814	3829	3799	0	0	0	0	0	0	15.09	15.09	15.09
765	-0.77	-272.5	2501	1806	3829	3799	98.6	-12.0	134	772	0.00	2.40	0.00	0.000	2564	0.000	0.062	2501	406	3814	3829	3799	0	0	0	0	0	0	15.09	14.73	15.09
784	-0.77	-272.5	2501	406	3829	3799	101.0	-12.9	137	791	0.00	2.30	0.00	0.000	3078	0.000	0.033	2501	1808	3814	3829	3799	0	0	0	0	0	0	14.85	14.78	14.86
857	-0.77	-272.5	2501	1811	3829	3799	108.6	-10.8	150	863	0.00	2.38	0.00	0.000	2308	0.000	0.054	2501	3214	3814	3829	3799	0	0	0	0	0	0	15.10	14.83	15.10
925	-0.77	-272.5	2501	3214	3829	3798	115.1	-9.7	162	932	0.00	2.35	0.00	0.000	3078	0.000	0.040	2501	1805	3814	3829	3799	0	0	0	0	0	0	14.86	14.76	14.86
997	-0.77	-272.5	2501	1805	3828	3799	122.9	-11.4	175	1003	0.00	2.40	0.00	0.000	2564	0.000	0.063	2501	409	3813	3828	3799	0	0	0	0	0	0	15.11	14.83	15.11
1026	-0.77	-272.5	2501	409	3828	3799	126.7	-11.9	180	1033	0.00	2.33	0.00	0.000	3078	0.000	0.032	2501	1823	3813	3828	3799	0	0	0	0	0	0	14.92	14.83	14.93
1098	-0.77	-272.5	2500	1826	3828	3799	135.0	-12.3	193	1104	0.00	2.33	0.00	0.000	2308	0.000	0.054	2501	3204	3813	3828	3799	0	0	0	0	0	0	15.08	14.83	15.09
1110	end dive: BOTTOM_OBSTACLE_DETECTED
state	1110	begin apogee
1118	-0.17	0.0	2501	1800	3828	3799	136.8	-12.2	195	1330	0.98	0.00	200.25	1.099	10246	0.130	0.000	2699	1799	2699	2732	2667	0	0	0	0	0	0	14.71	14.26	13.88
1332	end apogee: CONTROL_FINISHED_OK
state	1332	begin climb
1334	0.77	272.5	2700	1799	2732	2667	146.7	0.0	233	1560	1.40	2.53	210.15	1.088	10756	0.080	0.066	2995	395	1587	1629	1545	0	0	0	0	0	0	14.43	14.36	13.88
1598	0.77	272.5	2996	395	1621	1545	137.1	15.2	279	1604	0.00	2.35	0.00	0.000	3078	0.000	0.031	2996	1793	1583	1623	1544	0	0	0	0	0	0	14.62	14.55	14.63
1669	0.77	272.5	2996	1796	1622	1542	127.7	13.6	292	1676	0.00	2.40	0.00	0.000	2308	0.000	0.052	2995	3207	1582	1623	1542	0	0	0	0	0	0	14.84	14.57	14.85
1689	0.77	272.5	2996	3207	1631	1541	124.8	13.4	295	1696	0.00	2.42	0.00	0.000	3078	0.000	0.051	2996	1796	1581	1621	1541	0	0	0	0	0	0	14.76	14.66	14.78
1761	0.77	272.5	2996	1796	1621	1540	114.9	13.4	308	1766	0.00	0.00	0.00	0.000	2054	0.000	0.000	2996	1796	1581	1621	1541	0	0	0	0	0	0	14.95	14.95	14.95
1830	0.77	272.5	2996	1796	1621	1540	105.1	14.0	321	1836	0.00	2.38	0.00	0.000	2308	0.000	0.047	2996	3204	1580	1621	1540	0	0	0	0	0	0	14.99	14.67	14.99
1869	0.77	272.5	2996	3204	1620	1540	99.5	14.1	328	1876	0.00	2.40	0.00	0.000	3078	0.000	0.051	2996	1797	1580	1621	1540	0	0	0	0	0	0	14.88	14.77	14.90
1941	0.77	272.5	2996	1798	1620	1539	90.1	14.0	341	1947	0.00	2.45	0.00	0.000	2564	0.000	0.071	2999	386	1580	1621	1540	0	0	0	0	0	0	15.03	14.73	15.03
1971	0.77	272.5	2999	385	1621	1539	85.2	14.9	346	1977	0.00	2.35	0.00	0.000	3078	0.000	0.031	2999	1814	1580	1620	1540	0	0	0	0	0	0	14.88	14.81	14.89
2042	0.77	272.5	2999	1817	1621	1539	74.5	16.0	359	2049	0.00	2.47	0.00	0.000	2564	0.000	0.070	3003	395	1580	1621	1539	0	0	0	0	0	0	15.04	14.79	15.05
2067	0.77	272.5	3002	395	1620	1539	70.0	17.6	363	2074	0.00	2.33	0.00	0.000	1030	0.000	0.032	3003	1809	1579	1620	1539	0	0	0	0	0	0	14.92	14.86	14.94
2138	0.77	272.5	3002	1812	1620	1538	59.4	15.3	376	2145	0.00	2.30	0.00	0.000	260	0.000	0.045	3003	3199	1579	1620	1538	0	0	0	0	0	0	15.04	14.83	15.04
2153	0.77	272.5	3002	3200	1620	1538	56.9	15.4	378	2159	0.00	2.38	0.00	0.000	1030	0.000	0.050	3002	1799	1579	1621	1538	0	0	0	0	0	0	14.92	14.83	14.95
2224	0.77	272.5	3003	1799	1620	1538	47.8	11.0	391	2231	0.00	2.42	0.00	0.000	516	0.000	0.070	3002	390	1579	1620	1538	0	0	0	0	0	0	15.05	14.81	15.06
2284	0.81	303.5	3002	390	1620	1538	41.6	9.2	402	2318	0.00	2.33	25.65	1.016	11270	0.000	0.032	3003	1822	1459	1506	1412	0	0	0	0	0	0	14.96	14.87	14.20
2383	0.90	377.6	3002	1822	1505	1411	33.6	8.2	420	2451	0.08	2.38	61.22	1.014	10500	0.187	0.047	3046	3184	1158	1218	1099	0	0	0	0	0	0	14.72	14.50	14.07
2476	0.90	377.6	3045	3187	1217	1096	22.8	14.5	436	2482	0.00	2.40	0.00	0.000	1030	0.000	0.049	3046	1797	1156	1218	1095	0	0	0	0	0	0	14.66	14.57	14.67
2547	0.90	377.6	3046	1797	1217	1094	13.4	14.6	449	2553	0.00	0.00	0.00	0.000	6	0.000	0.000	3046	1797	1155	1217	1094	0	0	0	0	0	0	14.89	14.90	14.90
2608	end climb: FINISH_DEPTH_REACHED
state	2608	begin subsurface finish
2616	0.15	119.2	3046	1796	1216	1093	4.7	11.9	461	2657	1.20	2.40	-33.85	0.000	21252	0.151	0.068	2810	3186	2219	2266	2172	0	0	0	0	0	0	14.54	13.49	14.64
2658	end subsurface finish: CONTROL_FINISHED_OK
state	2658	begin surface