Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 465 * 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 465 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 33 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 61 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 33 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 61 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 465 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 200419,142007,-3427.0803,2524.4602,7,1.0,15,-27.9,0.0,355.2,8,9.7 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 8.12 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo 2.1 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:

FINISH 2.2,1.025020 _24V_AH 13.85,143.873

SM_CCo 2822,128.15,0.814,0,0,598,515.37 _10V_AH 13.40,0.000

SM_GC 0.82,13.98,2.40,128.15,0.067,0.053,0.814,132,1812,598,-8.18,0.93,515.37,0,0,0,0,0,0,14.74,14.80,14.10 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3412.10,2522.63,200419,122028 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.926513 MEM 341064

HUMID 46.10 DATA_FILE_SIZE 13423,496

INTERNAL_PRESSURE 9.30256 CAP_FILE_SIZE 93887,0

TCM_TEMP 18.90 CFSIZE 2097086464,2005106688

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

ALTIM_BOTTOM_PING 115.3,32.9 GPS 200419,155813,-3426.429,2525.972,8,1.0,20,-27.9,0.7,10.1,8,9.4

SC_FREEKB 3677632

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 185 45.38 nil 0 0 0.00

Roll_motor 82 81 93.73 nil 0 0 0.00

VBD_pump_during_apogee 458 1128 7172.86 nil 0 0 0.00

VBD_pump_during_surface 128 813 1444.68 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 2853 36 1431.75

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 3 420 21.81 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 1006 9 129.55

LPSleep 425 2 12.49

TT8_Active 642 9 82.73

TT8_Sampling 856 28 325.18

TT8_CF8 172 36 84.77

TT8_Kalman 0 0 0.00

Analog_circuits 1153 12 187.21

GPS_charging 0 0 0.00

Compass 749 17 180.66

RAFOS 0 0 0.00

Transponder 27 30 10.92

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 2810 1794 2265 2177 0.0 0.0 0 32 0.00 0.00 -6.80 0.000 16386 0.000 0.000 2810 1793 2526 2567 2485 0 0 0 0 0 0 15.05 28.83 15.06

35 -0.77 -272.5 2810 1794 2568 2485 9.2 0.0 1 70 1.33 2.38 -25.98 0.000 20996 0.089 0.082 2525 402 3814 3831 3797 0 0 0 0 0 0 14.70 14.01 14.75

105 -0.77 -272.5 2525 404 3831 3797 17.5 -13.3 13 112 0.00 2.30 0.00 0.000 5126 0.000 0.034 2522 1797 3814 3832 3797 0 0 0 0 0 0 14.91 14.83 14.91

177 -0.77 -272.5 2522 1799 3831 3794 27.4 -14.9 26 183 0.00 2.40 0.00 0.000 4356 0.000 0.056 2522 3212 3814 3831 3797 0 0 0 0 0 0 15.07 14.83 15.07

253 -0.77 -272.5 2522 3213 3832 3797 36.4 -9.7 40 260 0.00 2.35 0.00 0.000 5126 0.000 0.042 2522 1808 3814 3831 3797 0 0 0 0 0 0 14.90 14.86 14.90

323 -0.77 -272.5 2522 1807 3831 3797 45.8 -14.7 53 329 0.00 0.00 0.00 0.000 4102 0.000 0.000 2522 1807 3814 3832 3797 0 0 0 0 0 0 15.09 15.09 15.09

392 -0.77 -272.5 2522 1807 3831 3797 54.4 -12.0 66 399 0.00 2.40 0.00 0.000 4612 0.000 0.064 2522 408 3814 3832 3797 0 0 0 0 0 0 15.09 14.83 15.09

422 -0.77 -272.5 2521 412 3832 3797 58.1 -11.0 71 429 0.00 2.33 0.00 0.000 5126 0.000 0.034 2522 1823 3814 3832 3797 0 0 0 0 0 0 14.97 14.89 14.99

495 -0.77 -272.5 2522 1826 3832 3797 65.0 -11.1 84 502 0.00 0.00 0.00 0.000 4102 0.000 0.000 2522 1826 3814 3832 3797 0 0 0 0 0 0 15.09 15.10 15.10

565 -0.77 -272.5 2522 1826 3832 3797 73.1 -10.7 97 571 0.00 2.35 0.00 0.000 4356 0.000 0.055 2522 3210 3814 3832 3797 0 0 0 0 0 0 15.10 14.79 15.10

605 -0.77 -272.5 2522 3210 3833 3797 77.3 -9.9 104 612 0.00 2.35 0.00 0.000 5126 0.000 0.039 2522 1799 3815 3834 3797 0 0 0 0 0 0 14.92 14.83 14.93

676 -0.77 -272.5 2522 1799 3833 3797 84.5 -9.6 117 684 0.00 2.38 0.00 0.000 4612 0.000 0.062 2523 409 3814 3832 3797 0 0 0 0 0 0 15.10 14.85 15.10

717 -0.77 -272.5 2522 410 3833 3797 88.6 -10.1 124 723 0.00 2.30 0.00 0.000 5126 0.000 0.033 2522 1819 3815 3833 3797 0 0 0 0 0 0 14.98 14.89 14.99

791 -0.77 -272.5 2521 1819 3833 3797 95.3 -8.7 137 798 0.00 2.35 0.00 0.000 4356 0.000 0.053 2522 3211 3815 3833 3797 0 0 0 0 0 0 15.10 14.85 15.11

836 -0.77 -272.5 2522 3213 3833 3797 98.9 -8.1 145 843 0.00 2.33 0.00 0.000 5126 0.000 0.038 2522 1809 3815 3833 3797 0 0 0 0 0 0 14.97 14.88 14.99

909 -0.77 -272.5 2522 1809 3834 3796 105.1 -8.9 158 916 0.00 2.40 0.00 0.000 4612 0.000 0.061 2522 404 3815 3833 3797 0 0 0 0 0 0 15.10 14.74 15.11

954 -0.77 -272.5 2521 404 3833 3797 109.9 -10.1 166 961 0.00 2.30 0.00 0.000 5126 0.000 0.032 2522 1816 3815 3833 3797 0 0 0 0 0 0 14.85 14.78 14.86

1028 -0.77 -272.5 2522 1816 3834 3797 118.0 -11.3 179 1034 0.00 2.33 0.00 0.000 4356 0.000 0.053 2522 3202 3815 3834 3797 0 0 0 0 0 0 15.10 14.85 15.11

1057 -0.77 -272.5 2522 3202 3833 3797 120.4 -8.7 184 1064 0.00 2.30 0.00 0.000 5126 0.000 0.037 2522 1811 3815 3834 3797 0 0 0 0 0 0 14.97 14.88 14.98

1129 -0.77 -272.5 2520 1810 3834 3797 126.9 -9.2 197 1136 0.00 2.40 0.00 0.000 4612 0.000 0.061 2522 409 3812 3827 3797 0 0 0 0 0 0 15.11 14.74 15.11

1180 -0.77 -272.5 2522 409 3833 3797 132.0 -10.3 206 1186 0.00 2.30 0.00 0.000 5126 0.000 0.034 2522 1808 3815 3833 3797 0 0 0 0 0 0 14.88 14.78 14.90

1244 end dive: BOTTOM_OBSTACLE_DETECTED

state 1244 begin apogee

1250 -0.17 0.0 2522 1811 3833 3797 138.5 -10.8 218 1462 0.88 0.00 201.05 1.128 10246 0.123 0.000 2702 1811 2701 2733 2669 0 0 0 0 0 0 14.64 14.27 13.88

1464 end apogee: CONTROL_FINISHED_OK

state 1464 begin climb

1467 0.77 272.5 2702 1811 2732 2668 149.7 0.0 256 1692 1.38 2.53 211.15 1.106 10756 0.086 0.069 2991 402 1586 1629 1544 0 0 0 0 0 0 14.40 14.28 13.85

1730 0.77 272.5 2992 402 1626 1545 137.3 15.7 302 1737 0.00 2.35 0.00 0.000 3078 0.000 0.034 2992 1799 1585 1626 1545 0 0 0 0 0 0 14.61 14.52 14.62

1802 0.77 272.5 2991 1802 1625 1542 126.9 13.8 315 1808 0.00 2.47 0.00 0.000 2564 0.000 0.074 2992 406 1583 1625 1542 0 0 0 0 0 0 14.83 14.53 14.83

1821 0.77 272.5 2992 406 1624 1542 123.9 14.2 318 1828 0.00 2.33 0.00 0.000 3078 0.000 0.033 2993 1805 1583 1624 1542 0 0 0 0 0 0 14.76 14.69 14.77

1893 0.77 272.5 2992 1808 1624 1541 113.4 15.4 331 1899 0.00 0.00 0.00 0.000 2054 0.000 0.000 2992 1808 1582 1624 1541 0 0 0 0 0 0 14.93 14.94 14.93

1962 0.77 272.5 2992 1808 1624 1541 103.3 14.3 344 1968 0.00 2.35 0.00 0.000 2308 0.000 0.047 2992 3207 1581 1622 1541 0 0 0 0 0 0 14.97 14.74 14.98

2006 0.77 272.5 2992 3207 1622 1541 96.8 15.1 352 2013 0.00 2.38 0.00 0.000 3078 0.000 0.051 2992 1811 1581 1621 1541 0 0 0 0 0 0 14.88 14.77 14.89

2077 0.77 272.5 2991 1810 1622 1541 86.5 14.7 365 2084 0.00 2.45 0.00 0.000 2564 0.000 0.072 2993 393 1581 1621 1541 0 0 0 0 0 0 15.02 14.69 15.02

2117 0.77 272.5 2991 395 1621 1541 80.7 14.0 372 2124 0.00 2.33 0.00 0.000 3078 0.000 0.032 2992 1810 1581 1621 1541 0 0 0 0 0 0 14.83 14.76 14.84

2188 0.77 272.5 2992 1813 1622 1540 71.2 14.1 385 2194 0.00 0.00 0.00 0.000 2054 0.000 0.000 2992 1813 1581 1622 1540 0 0 0 0 0 0 15.04 15.05 15.05

2257 0.77 272.5 2992 1813 1622 1541 62.0 12.4 398 2263 0.00 2.30 0.00 0.000 2308 0.000 0.047 2993 3198 1580 1621 1540 0 0 0 0 0 0 15.06 14.83 15.08

2296 0.77 272.5 2992 3197 1621 1540 57.1 12.5 405 2302 0.00 2.38 0.00 0.000 3078 0.000 0.052 2992 1800 1580 1621 1540 0 0 0 0 0 0 14.94 14.83 14.95

2367 0.77 272.7 2992 1799 1621 1540 49.1 10.0 418 2374 0.00 2.42 0.00 0.000 2564 0.000 0.070 2992 393 1580 1621 1540 0 0 0 0 0 0 15.07 14.72 15.07

2432 0.77 272.7 2992 393 1621 1540 42.8 10.2 430 2439 0.00 2.30 0.00 0.000 3078 0.000 0.032 2992 1805 1580 1620 1540 0 0 0 0 0 0 14.85 14.76 14.86

2504 0.84 329.1 2992 1807 1621 1539 36.3 8.6 443 2561 0.08 2.35 46.78 1.040 10500 0.186 0.047 3037 3184 1356 1407 1305 0 0 0 0 0 0 14.76 14.64 14.14

2594 0.84 329.1 3037 3184 1406 1305 26.0 12.2 459 2601 0.00 2.38 0.00 0.000 5126 0.000 0.050 3037 1799 1355 1406 1305 0 0 0 0 0 0 14.78 14.68 14.80

2666 0.84 329.1 3037 1799 1406 1304 17.3 12.8 472 2671 0.00 0.00 0.00 0.000 4102 0.000 0.000 3038 1799 1355 1406 1304 0 0 0 0 0 0 14.93 14.94 14.94

2734 0.84 329.1 3037 1799 1406 1303 8.9 11.5 485 2741 0.00 2.38 0.00 0.000 4356 0.000 0.049 3037 3191 1354 1405 1303 0 0 0 0 0 0 15.00 14.76 15.00

2786 end climb: SURFACE_DEPTH_REACHED

state 2786 begin surface coast

2795 end surface coast: CONTROL_FINISHED_OK

state 2795 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	465	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	33	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	61	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	200419,142007,-3427.0803,2524.4602,7,1.0,15,-27.9,0.0,355.2,8,9.7	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	8.12	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	2.1	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

FINISH	2.2,1.025020	_24V_AH	13.85,143.873
SM_CCo	2822,128.15,0.814,0,0,598,515.37	_10V_AH	13.40,0.000
SM_GC	0.82,13.98,2.40,128.15,0.067,0.053,0.814,132,1812,598,-8.18,0.93,515.37,0,0,0,0,0,0,14.74,14.80,14.10	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3412.10,2522.63,200419,122028	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.926513	MEM	341064
HUMID	46.10	DATA_FILE_SIZE	13423,496
INTERNAL_PRESSURE	9.30256	CAP_FILE_SIZE	93887,0
TCM_TEMP	18.90	CFSIZE	2097086464,2005106688
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_BOTTOM_PING	115.3,32.9	GPS	200419,155813,-3426.429,2525.972,8,1.0,20,-27.9,0.7,10.1,8,9.4
SC_FREEKB	3677632

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	185	45.38	nil	0	0	0.00
Roll_motor	82	81	93.73	nil	0	0	0.00
VBD_pump_during_apogee	458	1128	7172.86	nil	0	0	0.00
VBD_pump_during_surface	128	813	1444.68	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	2853	36	1431.75
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	3	420	21.81	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	1006	9	129.55
LPSleep	425	2	12.49
TT8_Active	642	9	82.73
TT8_Sampling	856	28	325.18
TT8_CF8	172	36	84.77
TT8_Kalman	0	0	0.00
Analog_circuits	1153	12	187.21
GPS_charging	0	0	0.00
Compass	749	17	180.66
RAFOS	0	0	0.00
Transponder	27	30	10.92

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	2810	1794	2265	2177	0.0	0.0	0	32	0.00	0.00	-6.80	0.000	16386	0.000	0.000	2810	1793	2526	2567	2485	0	0	0	0	0	0	15.05	28.83	15.06
35	-0.77	-272.5	2810	1794	2568	2485	9.2	0.0	1	70	1.33	2.38	-25.98	0.000	20996	0.089	0.082	2525	402	3814	3831	3797	0	0	0	0	0	0	14.70	14.01	14.75
105	-0.77	-272.5	2525	404	3831	3797	17.5	-13.3	13	112	0.00	2.30	0.00	0.000	5126	0.000	0.034	2522	1797	3814	3832	3797	0	0	0	0	0	0	14.91	14.83	14.91
177	-0.77	-272.5	2522	1799	3831	3794	27.4	-14.9	26	183	0.00	2.40	0.00	0.000	4356	0.000	0.056	2522	3212	3814	3831	3797	0	0	0	0	0	0	15.07	14.83	15.07
253	-0.77	-272.5	2522	3213	3832	3797	36.4	-9.7	40	260	0.00	2.35	0.00	0.000	5126	0.000	0.042	2522	1808	3814	3831	3797	0	0	0	0	0	0	14.90	14.86	14.90
323	-0.77	-272.5	2522	1807	3831	3797	45.8	-14.7	53	329	0.00	0.00	0.00	0.000	4102	0.000	0.000	2522	1807	3814	3832	3797	0	0	0	0	0	0	15.09	15.09	15.09
392	-0.77	-272.5	2522	1807	3831	3797	54.4	-12.0	66	399	0.00	2.40	0.00	0.000	4612	0.000	0.064	2522	408	3814	3832	3797	0	0	0	0	0	0	15.09	14.83	15.09
422	-0.77	-272.5	2521	412	3832	3797	58.1	-11.0	71	429	0.00	2.33	0.00	0.000	5126	0.000	0.034	2522	1823	3814	3832	3797	0	0	0	0	0	0	14.97	14.89	14.99
495	-0.77	-272.5	2522	1826	3832	3797	65.0	-11.1	84	502	0.00	0.00	0.00	0.000	4102	0.000	0.000	2522	1826	3814	3832	3797	0	0	0	0	0	0	15.09	15.10	15.10
565	-0.77	-272.5	2522	1826	3832	3797	73.1	-10.7	97	571	0.00	2.35	0.00	0.000	4356	0.000	0.055	2522	3210	3814	3832	3797	0	0	0	0	0	0	15.10	14.79	15.10
605	-0.77	-272.5	2522	3210	3833	3797	77.3	-9.9	104	612	0.00	2.35	0.00	0.000	5126	0.000	0.039	2522	1799	3815	3834	3797	0	0	0	0	0	0	14.92	14.83	14.93
676	-0.77	-272.5	2522	1799	3833	3797	84.5	-9.6	117	684	0.00	2.38	0.00	0.000	4612	0.000	0.062	2523	409	3814	3832	3797	0	0	0	0	0	0	15.10	14.85	15.10
717	-0.77	-272.5	2522	410	3833	3797	88.6	-10.1	124	723	0.00	2.30	0.00	0.000	5126	0.000	0.033	2522	1819	3815	3833	3797	0	0	0	0	0	0	14.98	14.89	14.99
791	-0.77	-272.5	2521	1819	3833	3797	95.3	-8.7	137	798	0.00	2.35	0.00	0.000	4356	0.000	0.053	2522	3211	3815	3833	3797	0	0	0	0	0	0	15.10	14.85	15.11
836	-0.77	-272.5	2522	3213	3833	3797	98.9	-8.1	145	843	0.00	2.33	0.00	0.000	5126	0.000	0.038	2522	1809	3815	3833	3797	0	0	0	0	0	0	14.97	14.88	14.99
909	-0.77	-272.5	2522	1809	3834	3796	105.1	-8.9	158	916	0.00	2.40	0.00	0.000	4612	0.000	0.061	2522	404	3815	3833	3797	0	0	0	0	0	0	15.10	14.74	15.11
954	-0.77	-272.5	2521	404	3833	3797	109.9	-10.1	166	961	0.00	2.30	0.00	0.000	5126	0.000	0.032	2522	1816	3815	3833	3797	0	0	0	0	0	0	14.85	14.78	14.86
1028	-0.77	-272.5	2522	1816	3834	3797	118.0	-11.3	179	1034	0.00	2.33	0.00	0.000	4356	0.000	0.053	2522	3202	3815	3834	3797	0	0	0	0	0	0	15.10	14.85	15.11
1057	-0.77	-272.5	2522	3202	3833	3797	120.4	-8.7	184	1064	0.00	2.30	0.00	0.000	5126	0.000	0.037	2522	1811	3815	3834	3797	0	0	0	0	0	0	14.97	14.88	14.98
1129	-0.77	-272.5	2520	1810	3834	3797	126.9	-9.2	197	1136	0.00	2.40	0.00	0.000	4612	0.000	0.061	2522	409	3812	3827	3797	0	0	0	0	0	0	15.11	14.74	15.11
1180	-0.77	-272.5	2522	409	3833	3797	132.0	-10.3	206	1186	0.00	2.30	0.00	0.000	5126	0.000	0.034	2522	1808	3815	3833	3797	0	0	0	0	0	0	14.88	14.78	14.90
1244	end dive: BOTTOM_OBSTACLE_DETECTED
state	1244	begin apogee
1250	-0.17	0.0	2522	1811	3833	3797	138.5	-10.8	218	1462	0.88	0.00	201.05	1.128	10246	0.123	0.000	2702	1811	2701	2733	2669	0	0	0	0	0	0	14.64	14.27	13.88
1464	end apogee: CONTROL_FINISHED_OK
state	1464	begin climb
1467	0.77	272.5	2702	1811	2732	2668	149.7	0.0	256	1692	1.38	2.53	211.15	1.106	10756	0.086	0.069	2991	402	1586	1629	1544	0	0	0	0	0	0	14.40	14.28	13.85
1730	0.77	272.5	2992	402	1626	1545	137.3	15.7	302	1737	0.00	2.35	0.00	0.000	3078	0.000	0.034	2992	1799	1585	1626	1545	0	0	0	0	0	0	14.61	14.52	14.62
1802	0.77	272.5	2991	1802	1625	1542	126.9	13.8	315	1808	0.00	2.47	0.00	0.000	2564	0.000	0.074	2992	406	1583	1625	1542	0	0	0	0	0	0	14.83	14.53	14.83
1821	0.77	272.5	2992	406	1624	1542	123.9	14.2	318	1828	0.00	2.33	0.00	0.000	3078	0.000	0.033	2993	1805	1583	1624	1542	0	0	0	0	0	0	14.76	14.69	14.77
1893	0.77	272.5	2992	1808	1624	1541	113.4	15.4	331	1899	0.00	0.00	0.00	0.000	2054	0.000	0.000	2992	1808	1582	1624	1541	0	0	0	0	0	0	14.93	14.94	14.93
1962	0.77	272.5	2992	1808	1624	1541	103.3	14.3	344	1968	0.00	2.35	0.00	0.000	2308	0.000	0.047	2992	3207	1581	1622	1541	0	0	0	0	0	0	14.97	14.74	14.98
2006	0.77	272.5	2992	3207	1622	1541	96.8	15.1	352	2013	0.00	2.38	0.00	0.000	3078	0.000	0.051	2992	1811	1581	1621	1541	0	0	0	0	0	0	14.88	14.77	14.89
2077	0.77	272.5	2991	1810	1622	1541	86.5	14.7	365	2084	0.00	2.45	0.00	0.000	2564	0.000	0.072	2993	393	1581	1621	1541	0	0	0	0	0	0	15.02	14.69	15.02
2117	0.77	272.5	2991	395	1621	1541	80.7	14.0	372	2124	0.00	2.33	0.00	0.000	3078	0.000	0.032	2992	1810	1581	1621	1541	0	0	0	0	0	0	14.83	14.76	14.84
2188	0.77	272.5	2992	1813	1622	1540	71.2	14.1	385	2194	0.00	0.00	0.00	0.000	2054	0.000	0.000	2992	1813	1581	1622	1540	0	0	0	0	0	0	15.04	15.05	15.05
2257	0.77	272.5	2992	1813	1622	1541	62.0	12.4	398	2263	0.00	2.30	0.00	0.000	2308	0.000	0.047	2993	3198	1580	1621	1540	0	0	0	0	0	0	15.06	14.83	15.08
2296	0.77	272.5	2992	3197	1621	1540	57.1	12.5	405	2302	0.00	2.38	0.00	0.000	3078	0.000	0.052	2992	1800	1580	1621	1540	0	0	0	0	0	0	14.94	14.83	14.95
2367	0.77	272.7	2992	1799	1621	1540	49.1	10.0	418	2374	0.00	2.42	0.00	0.000	2564	0.000	0.070	2992	393	1580	1621	1540	0	0	0	0	0	0	15.07	14.72	15.07
2432	0.77	272.7	2992	393	1621	1540	42.8	10.2	430	2439	0.00	2.30	0.00	0.000	3078	0.000	0.032	2992	1805	1580	1620	1540	0	0	0	0	0	0	14.85	14.76	14.86
2504	0.84	329.1	2992	1807	1621	1539	36.3	8.6	443	2561	0.08	2.35	46.78	1.040	10500	0.186	0.047	3037	3184	1356	1407	1305	0	0	0	0	0	0	14.76	14.64	14.14
2594	0.84	329.1	3037	3184	1406	1305	26.0	12.2	459	2601	0.00	2.38	0.00	0.000	5126	0.000	0.050	3037	1799	1355	1406	1305	0	0	0	0	0	0	14.78	14.68	14.80
2666	0.84	329.1	3037	1799	1406	1304	17.3	12.8	472	2671	0.00	0.00	0.00	0.000	4102	0.000	0.000	3038	1799	1355	1406	1304	0	0	0	0	0	0	14.93	14.94	14.94
2734	0.84	329.1	3037	1799	1406	1303	8.9	11.5	485	2741	0.00	2.38	0.00	0.000	4356	0.000	0.049	3037	3191	1354	1405	1303	0	0	0	0	0	0	15.00	14.76	15.00
2786	end climb: SURFACE_DEPTH_REACHED
state	2786	begin surface coast
2795	end surface coast: CONTROL_FINISHED_OK
state	2795	begin surface