Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 467 * 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 467 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 35 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 48 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 1 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 1 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 35 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 48 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 467 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 200419,161201,-3426.2615,2526.0425,7,1.0,34,-27.9,0.8,355.6,9,5.8 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3416.909,2532.577

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 5.67 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo 3.3 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 200419,161201,-3426.2615,2526.0425,7,1.0,34,-27.9,0.8,355.6,9,5.8 MHEAD_RNG_PITCHd_Wd 57.9,20000,-13.1,-10.010,-16.32,4154

SPEED_LIMITS 0.173,0.342 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.1,1.024713 _24V_AH 13.45,144.317

SM_CCo 2803,110.78,0.809,0,0,598,515.37 _10V_AH 13.47,0.000

SM_GC 0.90,13.73,0.00,110.78,0.041,0.000,0.809,127,1813,598,-8.18,0.03,515.37,0,0,0,0,0,0,14.76,14.99,14.09 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3414.71,2523.75,200419,141125 FG_AHR_10Vo 0.000

TT8_MAMPS 0.020972,0.83139 MEM 341056

HUMID 45.58 DATA_FILE_SIZE 13448,493

INTERNAL_PRESSURE 9.30256 CAP_FILE_SIZE 92507,0

TCM_TEMP 18.90 CFSIZE 2097086464,2004779008

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

ALTIM_BOTTOM_PING 110.3,32.8 GPS 200419,174938,-3425.656,2527.524,8,1.4,21,-27.9,1.0,298.4,8,10.0

SC_FREEKB 3676608

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 184 43.15 nil 0 0 0.00

Roll_motor 82 84 93.77 nil 0 0 0.00

VBD_pump_during_apogee 476 1125 7207.52 nil 0 0 0.00

VBD_pump_during_surface 110 808 1204.76 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 2836 36 1390.09

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 3 420 19.77 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 986 9 127.67

LPSleep 420 2 12.40

TT8_Active 637 9 82.54

TT8_Sampling 850 28 324.70

TT8_CF8 170 36 84.19

TT8_Kalman 0 0 0.00

Analog_circuits 1147 12 187.16

GPS_charging 0 0 0.00

Compass 746 17 180.89

RAFOS 0 0 0.00

Transponder 23 30 9.60

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

24 -0.77 -272.5 2815 1798 2231 2144 0.0 0.0 0 31 0.00 0.00 -5.80 0.000 16386 0.000 0.000 2815 1798 2399 2442 2357 0 0 0 0 0 0 15.07 28.83 15.07

34 -0.77 -272.5 2815 1798 2445 2358 6.0 0.0 1 80 1.35 2.42 -34.40 0.000 20996 0.088 0.084 2524 405 3814 3830 3799 0 0 0 0 0 0 14.83 13.45 14.85

140 -0.77 -272.5 2524 405 3832 3799 17.8 -12.3 20 146 0.00 2.33 0.00 0.000 5126 0.000 0.034 2522 1812 3815 3832 3799 0 0 0 0 0 0 14.85 14.77 14.86

211 -0.77 -272.5 2522 1815 3832 3799 27.5 -14.7 33 218 0.00 2.38 0.00 0.000 4356 0.000 0.054 2522 3214 3818 3832 3804 0 0 0 0 0 0 15.09 14.83 15.09

276 -0.77 -272.5 2522 3214 3832 3799 35.4 -10.6 45 283 0.00 2.35 0.00 0.000 5126 0.000 0.042 2522 1813 3815 3832 3799 0 0 0 0 0 0 14.92 14.81 14.92

348 -0.77 -272.5 2522 1813 3832 3799 44.7 -13.9 58 353 0.00 0.00 0.00 0.000 4102 0.000 0.000 2522 1809 3815 3832 3799 0 0 0 0 0 0 15.08 15.09 15.09

417 -0.77 -272.5 2521 1813 3833 3799 54.2 -12.5 71 426 0.00 2.42 0.00 0.000 4612 0.000 0.064 2522 405 3815 3832 3799 0 0 0 0 0 0 15.10 14.83 15.10

433 -0.77 -272.5 2522 405 3830 3799 56.6 -13.5 73 440 0.00 2.33 0.00 0.000 5126 0.000 0.034 2522 1823 3815 3833 3797 0 0 0 0 0 0 14.97 14.88 14.99

505 -0.77 -272.5 2522 1825 3833 3798 64.8 -12.3 86 513 0.00 2.35 0.00 0.000 4356 0.000 0.054 2522 3214 3816 3833 3799 0 0 0 0 0 0 15.10 14.79 15.10

546 -0.77 -272.5 2522 3212 3833 3799 69.3 -10.9 93 553 0.00 2.35 0.00 0.000 5126 0.000 0.039 2522 1805 3816 3833 3799 0 0 0 0 0 0 14.92 14.82 14.93

619 -0.77 -272.5 2522 1805 3834 3799 76.8 -10.0 106 625 0.00 2.38 0.00 0.000 4612 0.000 0.061 2522 410 3816 3834 3799 0 0 0 0 0 0 15.09 14.84 15.10

670 -0.77 -272.5 2522 409 3833 3799 82.4 -9.5 115 677 0.00 2.30 0.00 0.000 5126 0.000 0.033 2522 1816 3816 3833 3799 0 0 0 0 0 0 14.85 14.77 14.86

742 -0.77 -272.5 2522 1818 3834 3799 88.6 -8.2 128 749 0.00 2.35 0.00 0.000 4356 0.000 0.053 2522 3213 3816 3834 3799 0 0 0 0 0 0 15.11 14.85 15.11

782 -0.77 -272.5 2522 3212 3834 3799 91.9 -7.8 135 789 0.00 2.33 0.00 0.000 5126 0.000 0.039 2522 1812 3816 3833 3799 0 0 0 0 0 0 14.97 14.87 14.97

854 -0.77 -272.5 2522 1812 3834 3794 97.4 -8.1 148 861 0.00 2.40 0.00 0.000 4612 0.000 0.061 2522 406 3816 3834 3799 0 0 0 0 0 0 15.09 14.84 15.09

909 -0.77 -272.5 2521 406 3834 3799 102.8 -9.2 158 916 0.00 2.30 0.00 0.000 5126 0.000 0.034 2522 1805 3816 3834 3799 0 0 0 0 0 0 14.86 14.78 14.88

983 -0.77 -272.5 2522 1808 3834 3799 108.3 -8.0 171 990 0.00 2.38 0.00 0.000 4356 0.000 0.055 2522 3213 3816 3834 3798 0 0 0 0 0 0 15.10 14.83 15.11

1057 -0.77 -272.5 2522 3213 3834 3799 114.5 -9.2 184 1064 0.00 2.35 0.00 0.000 5126 0.000 0.037 2522 1803 3815 3834 3797 0 0 0 0 0 0 14.97 14.87 14.98

1129 -0.77 -272.5 2521 1803 3834 3799 120.8 -8.3 197 1136 0.00 2.38 0.00 0.000 4612 0.000 0.063 2522 412 3816 3834 3799 0 0 0 0 0 0 15.10 14.73 15.10

1159 -0.77 -272.5 2522 413 3834 3799 124.2 -11.4 202 1166 0.00 2.30 0.00 0.000 5126 0.000 0.031 2522 1825 3816 3834 3799 0 0 0 0 0 0 14.97 14.88 14.99

1231 -0.77 -272.5 2522 1827 3834 3799 131.6 -12.5 215 1237 0.00 2.33 0.00 0.000 4356 0.000 0.054 2522 3203 3816 3834 3799 0 0 0 0 0 0 15.11 14.78 15.11

1243 end dive: BOTTOM_OBSTACLE_DETECTED

state 1243 begin apogee

1251 -0.17 0.0 2522 1802 3834 3798 133.1 -10.7 217 1462 0.88 0.00 202.15 1.125 10246 0.116 0.000 2702 1800 2699 2730 2668 0 0 0 0 0 0 14.62 14.35 13.87

1464 end apogee: CONTROL_FINISHED_OK

state 1464 begin climb

1467 0.77 272.5 2702 1800 2729 2667 143.0 0.0 255 1692 1.38 2.55 210.57 1.099 10756 0.072 0.070 3003 399 1587 1629 1545 0 0 0 0 0 0 14.40 14.31 13.85

1771 0.77 272.5 3002 399 1622 1545 127.2 12.3 309 1778 0.00 2.33 0.00 0.000 3078 0.000 0.032 3003 1801 1583 1622 1545 0 0 0 0 0 0 14.69 14.60 14.70

1843 0.77 272.5 3002 1803 1622 1542 115.6 16.3 322 1848 0.00 0.00 0.00 0.000 6 0.000 0.000 3003 1803 1582 1622 1542 0 0 0 0 0 0 14.88 14.89 14.89

1911 0.77 272.5 3002 1803 1622 1542 104.8 16.6 335 1917 0.00 0.00 0.00 0.000 2054 0.000 0.000 3003 1800 1581 1622 1541 0 0 0 0 0 0 14.95 14.95 14.95

1980 0.77 272.5 3002 1803 1622 1541 93.9 15.4 348 1987 0.00 2.35 0.00 0.000 2308 0.000 0.048 3003 3195 1581 1622 1541 0 0 0 0 0 0 14.98 14.76 14.97

2030 0.77 272.5 3002 3196 1621 1541 86.3 14.7 357 2037 0.00 2.38 0.00 0.000 1030 0.000 0.052 3003 1803 1581 1621 1542 0 0 0 0 0 0 14.87 14.78 14.89

2102 0.77 272.5 3002 1803 1621 1540 75.9 15.0 370 2109 0.00 2.45 0.00 0.000 516 0.000 0.072 3003 389 1581 1621 1541 0 0 0 0 0 0 15.02 14.68 15.02

2161 0.77 272.5 3001 389 1620 1541 67.3 14.4 381 2168 0.00 2.33 0.00 0.000 1030 0.000 0.033 3002 1796 1580 1621 1540 0 0 0 0 0 0 14.92 14.85 14.93

2233 0.77 272.5 3002 1799 1621 1540 57.8 14.0 394 2240 0.00 2.35 0.00 0.000 2308 0.000 0.046 3003 3207 1580 1621 1540 0 0 0 0 0 0 15.05 14.78 15.06

2287 0.77 272.5 3002 3207 1620 1540 50.3 11.7 404 2294 0.00 2.40 0.00 0.000 1030 0.000 0.050 3003 1791 1580 1620 1540 0 0 0 0 0 0 14.83 14.74 14.84

2358 0.77 272.5 3003 1790 1621 1539 42.9 10.3 417 2365 0.00 2.42 0.00 0.000 516 0.000 0.070 3003 387 1580 1621 1540 0 0 0 0 0 0 15.05 14.76 15.07

2392 0.77 272.5 3002 388 1620 1540 38.7 11.4 423 2399 0.00 2.33 0.00 0.000 1030 0.000 0.031 3003 1814 1580 1621 1540 0 0 0 0 0 0 14.85 14.77 14.86

2464 0.84 325.3 3004 1817 1621 1539 32.2 8.7 436 2515 0.00 2.33 43.55 1.032 10500 0.000 0.045 3003 3195 1372 1422 1322 0 0 0 0 0 0 15.08 14.57 14.16

2564 0.84 325.3 3003 3195 1421 1320 22.1 10.3 454 2571 0.00 2.40 0.00 0.000 3078 0.000 0.049 3003 1803 1370 1420 1320 0 0 0 0 0 0 14.81 14.69 14.81

2636 0.84 325.3 3003 1802 1421 1319 14.6 11.3 467 2642 0.00 2.47 0.00 0.000 2564 0.000 0.073 3003 390 1369 1421 1318 0 0 0 0 0 0 14.95 14.71 14.95

2680 0.87 354.3 3003 391 1420 1319 9.9 9.3 475 2710 0.08 2.33 19.92 0.864 11270 0.184 0.031 3042 1813 1250 1309 1191 0 0 0 0 0 0 14.74 14.79 14.21

2751 end climb: SURFACE_DEPTH_REACHED

state 2752 begin surface coast

2778 end surface coast: CONTROL_FINISHED_OK

state 2778 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	467	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	35	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	48	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	1	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	200419,161201,-3426.2615,2526.0425,7,1.0,34,-27.9,0.8,355.6,9,5.8	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3416.909,2532.577
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	5.67	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	3.3	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	200419,161201,-3426.2615,2526.0425,7,1.0,34,-27.9,0.8,355.6,9,5.8	MHEAD_RNG_PITCHd_Wd	57.9,20000,-13.1,-10.010,-16.32,4154
SPEED_LIMITS	0.173,0.342	D_GRID	1000

FINISH	0.1,1.024713	_24V_AH	13.45,144.317
SM_CCo	2803,110.78,0.809,0,0,598,515.37	_10V_AH	13.47,0.000
SM_GC	0.90,13.73,0.00,110.78,0.041,0.000,0.809,127,1813,598,-8.18,0.03,515.37,0,0,0,0,0,0,14.76,14.99,14.09	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3414.71,2523.75,200419,141125	FG_AHR_10Vo	0.000
TT8_MAMPS	0.020972,0.83139	MEM	341056
HUMID	45.58	DATA_FILE_SIZE	13448,493
INTERNAL_PRESSURE	9.30256	CAP_FILE_SIZE	92507,0
TCM_TEMP	18.90	CFSIZE	2097086464,2004779008
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_BOTTOM_PING	110.3,32.8	GPS	200419,174938,-3425.656,2527.524,8,1.4,21,-27.9,1.0,298.4,8,10.0
SC_FREEKB	3676608

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	184	43.15	nil	0	0	0.00
Roll_motor	82	84	93.77	nil	0	0	0.00
VBD_pump_during_apogee	476	1125	7207.52	nil	0	0	0.00
VBD_pump_during_surface	110	808	1204.76	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	2836	36	1390.09
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	3	420	19.77	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	986	9	127.67
LPSleep	420	2	12.40
TT8_Active	637	9	82.54
TT8_Sampling	850	28	324.70
TT8_CF8	170	36	84.19
TT8_Kalman	0	0	0.00
Analog_circuits	1147	12	187.16
GPS_charging	0	0	0.00
Compass	746	17	180.89
RAFOS	0	0	0.00
Transponder	23	30	9.60

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
24	-0.77	-272.5	2815	1798	2231	2144	0.0	0.0	0	31	0.00	0.00	-5.80	0.000	16386	0.000	0.000	2815	1798	2399	2442	2357	0	0	0	0	0	0	15.07	28.83	15.07
34	-0.77	-272.5	2815	1798	2445	2358	6.0	0.0	1	80	1.35	2.42	-34.40	0.000	20996	0.088	0.084	2524	405	3814	3830	3799	0	0	0	0	0	0	14.83	13.45	14.85
140	-0.77	-272.5	2524	405	3832	3799	17.8	-12.3	20	146	0.00	2.33	0.00	0.000	5126	0.000	0.034	2522	1812	3815	3832	3799	0	0	0	0	0	0	14.85	14.77	14.86
211	-0.77	-272.5	2522	1815	3832	3799	27.5	-14.7	33	218	0.00	2.38	0.00	0.000	4356	0.000	0.054	2522	3214	3818	3832	3804	0	0	0	0	0	0	15.09	14.83	15.09
276	-0.77	-272.5	2522	3214	3832	3799	35.4	-10.6	45	283	0.00	2.35	0.00	0.000	5126	0.000	0.042	2522	1813	3815	3832	3799	0	0	0	0	0	0	14.92	14.81	14.92
348	-0.77	-272.5	2522	1813	3832	3799	44.7	-13.9	58	353	0.00	0.00	0.00	0.000	4102	0.000	0.000	2522	1809	3815	3832	3799	0	0	0	0	0	0	15.08	15.09	15.09
417	-0.77	-272.5	2521	1813	3833	3799	54.2	-12.5	71	426	0.00	2.42	0.00	0.000	4612	0.000	0.064	2522	405	3815	3832	3799	0	0	0	0	0	0	15.10	14.83	15.10
433	-0.77	-272.5	2522	405	3830	3799	56.6	-13.5	73	440	0.00	2.33	0.00	0.000	5126	0.000	0.034	2522	1823	3815	3833	3797	0	0	0	0	0	0	14.97	14.88	14.99
505	-0.77	-272.5	2522	1825	3833	3798	64.8	-12.3	86	513	0.00	2.35	0.00	0.000	4356	0.000	0.054	2522	3214	3816	3833	3799	0	0	0	0	0	0	15.10	14.79	15.10
546	-0.77	-272.5	2522	3212	3833	3799	69.3	-10.9	93	553	0.00	2.35	0.00	0.000	5126	0.000	0.039	2522	1805	3816	3833	3799	0	0	0	0	0	0	14.92	14.82	14.93
619	-0.77	-272.5	2522	1805	3834	3799	76.8	-10.0	106	625	0.00	2.38	0.00	0.000	4612	0.000	0.061	2522	410	3816	3834	3799	0	0	0	0	0	0	15.09	14.84	15.10
670	-0.77	-272.5	2522	409	3833	3799	82.4	-9.5	115	677	0.00	2.30	0.00	0.000	5126	0.000	0.033	2522	1816	3816	3833	3799	0	0	0	0	0	0	14.85	14.77	14.86
742	-0.77	-272.5	2522	1818	3834	3799	88.6	-8.2	128	749	0.00	2.35	0.00	0.000	4356	0.000	0.053	2522	3213	3816	3834	3799	0	0	0	0	0	0	15.11	14.85	15.11
782	-0.77	-272.5	2522	3212	3834	3799	91.9	-7.8	135	789	0.00	2.33	0.00	0.000	5126	0.000	0.039	2522	1812	3816	3833	3799	0	0	0	0	0	0	14.97	14.87	14.97
854	-0.77	-272.5	2522	1812	3834	3794	97.4	-8.1	148	861	0.00	2.40	0.00	0.000	4612	0.000	0.061	2522	406	3816	3834	3799	0	0	0	0	0	0	15.09	14.84	15.09
909	-0.77	-272.5	2521	406	3834	3799	102.8	-9.2	158	916	0.00	2.30	0.00	0.000	5126	0.000	0.034	2522	1805	3816	3834	3799	0	0	0	0	0	0	14.86	14.78	14.88
983	-0.77	-272.5	2522	1808	3834	3799	108.3	-8.0	171	990	0.00	2.38	0.00	0.000	4356	0.000	0.055	2522	3213	3816	3834	3798	0	0	0	0	0	0	15.10	14.83	15.11
1057	-0.77	-272.5	2522	3213	3834	3799	114.5	-9.2	184	1064	0.00	2.35	0.00	0.000	5126	0.000	0.037	2522	1803	3815	3834	3797	0	0	0	0	0	0	14.97	14.87	14.98
1129	-0.77	-272.5	2521	1803	3834	3799	120.8	-8.3	197	1136	0.00	2.38	0.00	0.000	4612	0.000	0.063	2522	412	3816	3834	3799	0	0	0	0	0	0	15.10	14.73	15.10
1159	-0.77	-272.5	2522	413	3834	3799	124.2	-11.4	202	1166	0.00	2.30	0.00	0.000	5126	0.000	0.031	2522	1825	3816	3834	3799	0	0	0	0	0	0	14.97	14.88	14.99
1231	-0.77	-272.5	2522	1827	3834	3799	131.6	-12.5	215	1237	0.00	2.33	0.00	0.000	4356	0.000	0.054	2522	3203	3816	3834	3799	0	0	0	0	0	0	15.11	14.78	15.11
1243	end dive: BOTTOM_OBSTACLE_DETECTED
state	1243	begin apogee
1251	-0.17	0.0	2522	1802	3834	3798	133.1	-10.7	217	1462	0.88	0.00	202.15	1.125	10246	0.116	0.000	2702	1800	2699	2730	2668	0	0	0	0	0	0	14.62	14.35	13.87
1464	end apogee: CONTROL_FINISHED_OK
state	1464	begin climb
1467	0.77	272.5	2702	1800	2729	2667	143.0	0.0	255	1692	1.38	2.55	210.57	1.099	10756	0.072	0.070	3003	399	1587	1629	1545	0	0	0	0	0	0	14.40	14.31	13.85
1771	0.77	272.5	3002	399	1622	1545	127.2	12.3	309	1778	0.00	2.33	0.00	0.000	3078	0.000	0.032	3003	1801	1583	1622	1545	0	0	0	0	0	0	14.69	14.60	14.70
1843	0.77	272.5	3002	1803	1622	1542	115.6	16.3	322	1848	0.00	0.00	0.00	0.000	6	0.000	0.000	3003	1803	1582	1622	1542	0	0	0	0	0	0	14.88	14.89	14.89
1911	0.77	272.5	3002	1803	1622	1542	104.8	16.6	335	1917	0.00	0.00	0.00	0.000	2054	0.000	0.000	3003	1800	1581	1622	1541	0	0	0	0	0	0	14.95	14.95	14.95
1980	0.77	272.5	3002	1803	1622	1541	93.9	15.4	348	1987	0.00	2.35	0.00	0.000	2308	0.000	0.048	3003	3195	1581	1622	1541	0	0	0	0	0	0	14.98	14.76	14.97
2030	0.77	272.5	3002	3196	1621	1541	86.3	14.7	357	2037	0.00	2.38	0.00	0.000	1030	0.000	0.052	3003	1803	1581	1621	1542	0	0	0	0	0	0	14.87	14.78	14.89
2102	0.77	272.5	3002	1803	1621	1540	75.9	15.0	370	2109	0.00	2.45	0.00	0.000	516	0.000	0.072	3003	389	1581	1621	1541	0	0	0	0	0	0	15.02	14.68	15.02
2161	0.77	272.5	3001	389	1620	1541	67.3	14.4	381	2168	0.00	2.33	0.00	0.000	1030	0.000	0.033	3002	1796	1580	1621	1540	0	0	0	0	0	0	14.92	14.85	14.93
2233	0.77	272.5	3002	1799	1621	1540	57.8	14.0	394	2240	0.00	2.35	0.00	0.000	2308	0.000	0.046	3003	3207	1580	1621	1540	0	0	0	0	0	0	15.05	14.78	15.06
2287	0.77	272.5	3002	3207	1620	1540	50.3	11.7	404	2294	0.00	2.40	0.00	0.000	1030	0.000	0.050	3003	1791	1580	1620	1540	0	0	0	0	0	0	14.83	14.74	14.84
2358	0.77	272.5	3003	1790	1621	1539	42.9	10.3	417	2365	0.00	2.42	0.00	0.000	516	0.000	0.070	3003	387	1580	1621	1540	0	0	0	0	0	0	15.05	14.76	15.07
2392	0.77	272.5	3002	388	1620	1540	38.7	11.4	423	2399	0.00	2.33	0.00	0.000	1030	0.000	0.031	3003	1814	1580	1621	1540	0	0	0	0	0	0	14.85	14.77	14.86
2464	0.84	325.3	3004	1817	1621	1539	32.2	8.7	436	2515	0.00	2.33	43.55	1.032	10500	0.000	0.045	3003	3195	1372	1422	1322	0	0	0	0	0	0	15.08	14.57	14.16
2564	0.84	325.3	3003	3195	1421	1320	22.1	10.3	454	2571	0.00	2.40	0.00	0.000	3078	0.000	0.049	3003	1803	1370	1420	1320	0	0	0	0	0	0	14.81	14.69	14.81
2636	0.84	325.3	3003	1802	1421	1319	14.6	11.3	467	2642	0.00	2.47	0.00	0.000	2564	0.000	0.073	3003	390	1369	1421	1318	0	0	0	0	0	0	14.95	14.71	14.95
2680	0.87	354.3	3003	391	1420	1319	9.9	9.3	475	2710	0.08	2.33	19.92	0.864	11270	0.184	0.031	3042	1813	1250	1309	1191	0	0	0	0	0	0	14.74	14.79	14.21
2751	end climb: SURFACE_DEPTH_REACHED
state	2752	begin surface coast
2778	end surface coast: CONTROL_FINISHED_OK
state	2778	begin surface