Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 469 * 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 45 C_ROLL_CLIMB 1800 ALTIM_TOP_TURN_MARGIN 0

DIVE 469 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 54 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 45 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 54 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 469 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 200419,181255,-3425.3877,2527.5518,8,0.9,42,-27.9,0.6,324.3,10,5.9 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG -3417.752,2536.795

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 5.04 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo 0.1 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 200419,181255,-3425.3877,2527.5518,8,0.9,42,-27.9,0.6,324.3,10,5.9 MHEAD_RNG_PITCHd_Wd 72.9,20000,-13.1,-10.010,-16.32,4154

SPEED_LIMITS 0.173,0.342 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.1,1.024726 _24V_AH 13.43,144.768

SM_CCo 2689,103.12,0.812,0,0,597,515.37 _10V_AH 13.43,0.000

SM_GC 0.82,13.70,0.00,103.12,0.043,0.000,0.812,123,1814,597,-8.18,0.03,515.37,0,0,0,0,0,0,14.84,15.05,14.14 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3412.10,2528.47,200419,175510 FG_AHR_10Vo 0.000

TT8_MAMPS 0.020972,0.944489 MEM 341056

HUMID 45.90 DATA_FILE_SIZE 13441,470

INTERNAL_PRESSURE 9.31233 CAP_FILE_SIZE 90405,0

TCM_TEMP 19.10 CFSIZE 2097086464,2004451328

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

ALTIM_BOTTOM_PING 100.4,34.4 GPS 200419,194608,-3424.887,2529.174,8,1.1,20,-27.9,0.0,176.8,8,8.3

SC_FREEKB 3675584

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 150 35.22 nil 0 0 0.00

Roll_motor 77 79 83.26 nil 0 0 0.00

VBD_pump_during_apogee 485 1103 7195.46 nil 0 0 0.00

VBD_pump_during_surface 103 811 1124.13 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 2720 36 1334.21

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 3 420 16.92 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 935 9 120.79

LPSleep 389 2 11.45

TT8_Active 634 9 81.94

TT8_Sampling 811 28 309.00

TT8_CF8 171 36 84.38

TT8_Kalman 0 0 0.00

Analog_circuits 1132 12 184.16

GPS_charging 0 0 0.00

Compass 704 17 170.06

RAFOS 0 0 0.00

Transponder 20 30 8.35

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 2809 1820 2266 2175 0.0 0.0 0 31 0.00 0.00 -5.93 0.000 16386 0.000 0.000 2809 1820 2431 2476 2386 0 0 0 0 0 0 15.10 28.83 15.11

34 -0.77 -272.5 2809 1820 2476 2387 5.3 0.0 1 80 1.30 2.35 -34.47 0.000 20740 0.080 0.080 2522 3191 3813 3830 3796 0 0 0 0 0 0 14.83 13.43 14.89

88 -0.77 -272.5 2522 3191 3830 3797 9.8 -11.6 10 94 0.00 2.30 0.00 0.000 5126 0.000 0.041 2522 1808 3813 3830 3796 0 0 0 0 0 0 14.99 14.89 15.00

159 -0.77 -272.5 2522 1808 3830 3797 18.4 -12.7 23 164 0.00 0.00 0.00 0.000 4102 0.000 0.000 2522 1808 3813 3830 3797 0 0 0 0 0 0 15.09 15.10 15.10

227 -0.77 -272.5 2522 1808 3830 3797 28.9 -14.5 36 233 0.00 0.00 0.00 0.000 4102 0.000 0.000 2522 1808 3813 3830 3796 0 0 0 0 0 0 15.11 15.12 15.11

297 -0.77 -272.5 2522 1807 3830 3797 36.6 -9.2 49 303 0.00 2.38 0.00 0.000 4356 0.000 0.052 2522 3204 3813 3830 3797 0 0 0 0 0 0 15.12 14.85 15.12

336 -0.77 -272.5 2522 3204 3831 3797 40.5 -10.2 56 343 0.00 2.35 0.00 0.000 5126 0.000 0.044 2522 1805 3814 3831 3797 0 0 0 0 0 0 14.98 14.88 15.00

409 -0.77 -272.5 2522 1805 3831 3797 50.9 -17.0 69 415 0.00 2.38 0.00 0.000 4356 0.000 0.053 2522 3206 3814 3831 3797 0 0 0 0 0 0 15.11 14.85 15.11

454 -0.77 -272.5 2520 3206 3831 3796 56.7 -7.0 77 460 0.00 2.33 0.00 0.000 5126 0.000 0.042 2522 1810 3813 3831 3796 0 0 0 0 0 0 14.98 14.88 15.00

526 -0.77 -272.5 2522 1810 3831 3797 61.6 -7.8 90 532 0.00 2.40 0.00 0.000 4612 0.000 0.063 2522 411 3814 3831 3797 0 0 0 0 0 0 15.11 14.80 15.12

566 -0.77 -272.5 2521 411 3831 3796 65.0 -8.7 97 573 0.00 2.30 0.00 0.000 5126 0.000 0.033 2522 1811 3814 3831 3797 0 0 0 0 0 0 14.93 14.84 14.95

637 -0.77 -272.5 2522 1812 3830 3796 72.3 -11.9 110 644 0.00 2.35 0.00 0.000 4356 0.000 0.054 2522 3207 3814 3831 3797 0 0 0 0 0 0 15.11 14.85 15.11

687 -0.77 -272.5 2522 3207 3831 3797 78.7 -12.6 119 694 0.00 2.33 0.00 0.000 5126 0.000 0.038 2522 1807 3814 3832 3796 0 0 0 0 0 0 14.98 14.88 15.00

759 -0.77 -272.5 2522 1806 3831 3796 87.5 -11.1 132 766 0.00 2.38 0.00 0.000 4612 0.000 0.061 2522 410 3814 3831 3797 0 0 0 0 0 0 15.11 14.73 15.12

790 -0.77 -272.5 2522 411 3831 3796 91.0 -10.4 137 797 0.00 2.30 0.00 0.000 5126 0.000 0.033 2522 1816 3814 3832 3797 0 0 0 0 0 0 14.92 14.82 14.94

862 -0.77 -272.5 2522 1816 3832 3797 97.4 -8.3 150 869 0.00 2.35 0.00 0.000 4356 0.000 0.053 2522 3209 3814 3831 3797 0 0 0 0 0 0 15.11 14.85 15.11

883 -0.77 -272.5 2522 3208 3832 3797 99.2 -7.9 153 889 0.00 2.33 0.00 0.000 5126 0.000 0.037 2522 1802 3813 3831 3796 0 0 0 0 0 0 14.98 14.88 15.00

956 -0.77 -272.5 2522 1802 3832 3796 105.1 -7.4 166 963 0.00 2.38 0.00 0.000 4612 0.000 0.061 2522 412 3814 3831 3797 0 0 0 0 0 0 15.11 14.85 15.12

1035 -0.77 -272.5 2521 413 3831 3801 109.9 -6.1 180 1041 0.00 2.30 0.00 0.000 5126 0.000 0.039 2522 1805 3814 3832 3797 0 0 0 0 0 0 14.85 14.74 14.85

1107 -0.77 -272.5 2522 1804 3832 3796 114.8 -7.0 193 1113 0.00 2.40 0.00 0.000 4356 0.000 0.054 2522 3224 3814 3832 3797 0 0 0 0 0 0 15.12 14.85 15.12

1137 -0.77 -272.5 2522 3224 3832 3797 116.7 -4.8 198 1143 0.00 2.33 0.00 0.000 5126 0.000 0.033 2528 1806 3813 3831 3796 0 0 0 0 0 0 14.98 14.89 15.00

1209 -0.77 -272.5 2522 1806 3832 3797 122.2 -7.5 211 1215 0.00 0.00 0.00 0.000 4102 0.000 0.000 2522 1806 3813 3831 3796 0 0 0 0 0 0 15.10 15.10 15.10

1235 end dive: BOTTOM_OBSTACLE_DETECTED

state 1235 begin apogee

1242 -0.17 0.0 2522 1806 3831 3797 125.5 -11.1 216 1453 0.88 0.00 200.20 1.104 10246 0.116 0.000 2702 1806 2697 2729 2666 0 0 0 0 0 0 14.64 14.29 13.90

1455 end apogee: CONTROL_FINISHED_OK

state 1455 begin climb

1458 0.77 272.5 2701 1806 2728 2665 135.6 0.0 254 1683 1.42 2.50 210.18 1.079 10756 0.104 0.067 2991 416 1587 1629 1545 0 0 0 0 0 0 14.40 14.34 13.88

1748 0.77 272.5 2991 415 1622 1545 119.1 13.2 305 1755 0.00 2.33 0.00 0.000 3078 0.000 0.031 2992 1812 1583 1623 1544 0 0 0 0 0 0 14.60 14.54 14.62

1820 0.77 272.5 2991 1814 1622 1542 109.8 12.4 318 1827 0.00 2.35 0.00 0.000 2308 0.000 0.046 2992 3202 1581 1622 1541 0 0 0 0 0 0 14.89 14.68 14.89

1844 0.77 272.5 2991 3202 1621 1541 106.1 14.5 322 1851 0.00 2.38 0.00 0.000 3078 0.000 0.048 2992 1815 1581 1622 1541 0 0 0 0 0 0 14.75 14.64 14.77

1916 0.77 272.5 2992 1815 1621 1541 96.2 15.4 335 1922 0.00 0.00 0.00 0.000 2054 0.000 0.000 2992 1815 1581 1622 1541 0 0 0 0 0 0 14.97 14.97 14.96

1984 0.77 272.5 2991 1815 1621 1540 85.4 15.1 348 1991 0.00 2.33 0.00 0.000 2308 0.000 0.045 2992 3198 1580 1621 1540 0 0 0 0 0 0 15.00 14.74 15.01

2004 0.77 272.5 2991 3198 1621 1540 82.3 14.8 351 2011 0.00 2.40 0.00 0.000 3078 0.000 0.051 2992 1793 1580 1621 1540 0 0 0 0 0 0 14.83 14.71 14.85

2075 0.77 272.5 2992 1793 1621 1540 72.5 13.7 364 2082 0.00 2.42 0.00 0.000 2564 0.000 0.067 2992 390 1580 1621 1540 0 0 0 0 0 0 15.04 14.78 15.04

2109 0.77 272.5 2992 389 1621 1540 67.0 14.7 370 2116 0.00 2.33 0.00 0.000 3078 0.000 0.033 2992 1798 1580 1621 1540 0 0 0 0 0 0 14.88 14.80 14.90

2181 0.81 305.4 2992 1801 1621 1539 58.9 9.2 383 2216 0.00 2.35 27.60 1.007 10500 0.000 0.045 2992 3198 1453 1499 1407 0 0 0 0 0 0 15.04 14.59 14.20

2251 0.81 305.4 2992 3199 1498 1405 51.6 11.0 395 2258 0.00 2.40 0.00 0.000 3078 0.000 0.050 2992 1795 1451 1498 1404 0 0 0 0 0 0 14.84 14.73 14.85

2323 0.88 362.3 2992 1795 1498 1404 45.6 8.6 408 2373 0.10 0.00 47.38 1.010 10758 0.151 0.000 3041 1795 1222 1279 1165 0 0 0 0 0 0 14.77 14.56 14.06

2438 0.88 362.3 3041 1794 1277 1162 30.7 14.0 429 2444 0.00 2.38 0.00 0.000 260 0.000 0.044 3041 3205 1219 1277 1161 0 0 0 0 0 0 14.89 14.62 14.90

2467 0.88 362.3 3041 3205 1277 1160 26.7 12.8 434 2474 0.00 2.42 0.00 0.000 1030 0.000 0.052 3044 1801 1218 1277 1159 0 0 0 0 0 0 14.79 14.70 14.81

2539 0.88 362.3 3041 1801 1277 1158 17.3 13.5 447 2546 0.00 2.47 0.00 0.000 516 0.000 0.071 3043 389 1217 1277 1158 0 0 0 0 0 0 14.97 14.69 14.97

2589 0.88 362.3 3043 388 1277 1157 9.8 14.3 456 2596 0.00 2.35 0.00 0.000 1030 0.000 0.032 3044 1811 1217 1277 1157 0 0 0 0 0 0 14.82 14.73 14.83

2636 end climb: SURFACE_DEPTH_REACHED

state 2636 begin surface coast

2664 end surface coast: CONTROL_FINISHED_OK

state 2664 begin surface

ID	574	HD_C	9.8500004e-06	C_ROLL_DIVE	1812	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	3	HEADING	45	C_ROLL_CLIMB	1800	ALTIM_TOP_TURN_MARGIN	0
DIVE	469	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	54	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	200419,181255,-3425.3877,2527.5518,8,0.9,42,-27.9,0.6,324.3,10,5.9	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	-3417.752,2536.795
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	5.04	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	0.1	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	200419,181255,-3425.3877,2527.5518,8,0.9,42,-27.9,0.6,324.3,10,5.9	MHEAD_RNG_PITCHd_Wd	72.9,20000,-13.1,-10.010,-16.32,4154
SPEED_LIMITS	0.173,0.342	D_GRID	1000

FINISH	0.1,1.024726	_24V_AH	13.43,144.768
SM_CCo	2689,103.12,0.812,0,0,597,515.37	_10V_AH	13.43,0.000
SM_GC	0.82,13.70,0.00,103.12,0.043,0.000,0.812,123,1814,597,-8.18,0.03,515.37,0,0,0,0,0,0,14.84,15.05,14.14	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3412.10,2528.47,200419,175510	FG_AHR_10Vo	0.000
TT8_MAMPS	0.020972,0.944489	MEM	341056
HUMID	45.90	DATA_FILE_SIZE	13441,470
INTERNAL_PRESSURE	9.31233	CAP_FILE_SIZE	90405,0
TCM_TEMP	19.10	CFSIZE	2097086464,2004451328
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_BOTTOM_PING	100.4,34.4	GPS	200419,194608,-3424.887,2529.174,8,1.1,20,-27.9,0.0,176.8,8,8.3
SC_FREEKB	3675584

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	150	35.22	nil	0	0	0.00
Roll_motor	77	79	83.26	nil	0	0	0.00
VBD_pump_during_apogee	485	1103	7195.46	nil	0	0	0.00
VBD_pump_during_surface	103	811	1124.13	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	2720	36	1334.21
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	3	420	16.92	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	935	9	120.79
LPSleep	389	2	11.45
TT8_Active	634	9	81.94
TT8_Sampling	811	28	309.00
TT8_CF8	171	36	84.38
TT8_Kalman	0	0	0.00
Analog_circuits	1132	12	184.16
GPS_charging	0	0	0.00
Compass	704	17	170.06
RAFOS	0	0	0.00
Transponder	20	30	8.35

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	2809	1820	2266	2175	0.0	0.0	0	31	0.00	0.00	-5.93	0.000	16386	0.000	0.000	2809	1820	2431	2476	2386	0	0	0	0	0	0	15.10	28.83	15.11
34	-0.77	-272.5	2809	1820	2476	2387	5.3	0.0	1	80	1.30	2.35	-34.47	0.000	20740	0.080	0.080	2522	3191	3813	3830	3796	0	0	0	0	0	0	14.83	13.43	14.89
88	-0.77	-272.5	2522	3191	3830	3797	9.8	-11.6	10	94	0.00	2.30	0.00	0.000	5126	0.000	0.041	2522	1808	3813	3830	3796	0	0	0	0	0	0	14.99	14.89	15.00
159	-0.77	-272.5	2522	1808	3830	3797	18.4	-12.7	23	164	0.00	0.00	0.00	0.000	4102	0.000	0.000	2522	1808	3813	3830	3797	0	0	0	0	0	0	15.09	15.10	15.10
227	-0.77	-272.5	2522	1808	3830	3797	28.9	-14.5	36	233	0.00	0.00	0.00	0.000	4102	0.000	0.000	2522	1808	3813	3830	3796	0	0	0	0	0	0	15.11	15.12	15.11
297	-0.77	-272.5	2522	1807	3830	3797	36.6	-9.2	49	303	0.00	2.38	0.00	0.000	4356	0.000	0.052	2522	3204	3813	3830	3797	0	0	0	0	0	0	15.12	14.85	15.12
336	-0.77	-272.5	2522	3204	3831	3797	40.5	-10.2	56	343	0.00	2.35	0.00	0.000	5126	0.000	0.044	2522	1805	3814	3831	3797	0	0	0	0	0	0	14.98	14.88	15.00
409	-0.77	-272.5	2522	1805	3831	3797	50.9	-17.0	69	415	0.00	2.38	0.00	0.000	4356	0.000	0.053	2522	3206	3814	3831	3797	0	0	0	0	0	0	15.11	14.85	15.11
454	-0.77	-272.5	2520	3206	3831	3796	56.7	-7.0	77	460	0.00	2.33	0.00	0.000	5126	0.000	0.042	2522	1810	3813	3831	3796	0	0	0	0	0	0	14.98	14.88	15.00
526	-0.77	-272.5	2522	1810	3831	3797	61.6	-7.8	90	532	0.00	2.40	0.00	0.000	4612	0.000	0.063	2522	411	3814	3831	3797	0	0	0	0	0	0	15.11	14.80	15.12
566	-0.77	-272.5	2521	411	3831	3796	65.0	-8.7	97	573	0.00	2.30	0.00	0.000	5126	0.000	0.033	2522	1811	3814	3831	3797	0	0	0	0	0	0	14.93	14.84	14.95
637	-0.77	-272.5	2522	1812	3830	3796	72.3	-11.9	110	644	0.00	2.35	0.00	0.000	4356	0.000	0.054	2522	3207	3814	3831	3797	0	0	0	0	0	0	15.11	14.85	15.11
687	-0.77	-272.5	2522	3207	3831	3797	78.7	-12.6	119	694	0.00	2.33	0.00	0.000	5126	0.000	0.038	2522	1807	3814	3832	3796	0	0	0	0	0	0	14.98	14.88	15.00
759	-0.77	-272.5	2522	1806	3831	3796	87.5	-11.1	132	766	0.00	2.38	0.00	0.000	4612	0.000	0.061	2522	410	3814	3831	3797	0	0	0	0	0	0	15.11	14.73	15.12
790	-0.77	-272.5	2522	411	3831	3796	91.0	-10.4	137	797	0.00	2.30	0.00	0.000	5126	0.000	0.033	2522	1816	3814	3832	3797	0	0	0	0	0	0	14.92	14.82	14.94
862	-0.77	-272.5	2522	1816	3832	3797	97.4	-8.3	150	869	0.00	2.35	0.00	0.000	4356	0.000	0.053	2522	3209	3814	3831	3797	0	0	0	0	0	0	15.11	14.85	15.11
883	-0.77	-272.5	2522	3208	3832	3797	99.2	-7.9	153	889	0.00	2.33	0.00	0.000	5126	0.000	0.037	2522	1802	3813	3831	3796	0	0	0	0	0	0	14.98	14.88	15.00
956	-0.77	-272.5	2522	1802	3832	3796	105.1	-7.4	166	963	0.00	2.38	0.00	0.000	4612	0.000	0.061	2522	412	3814	3831	3797	0	0	0	0	0	0	15.11	14.85	15.12
1035	-0.77	-272.5	2521	413	3831	3801	109.9	-6.1	180	1041	0.00	2.30	0.00	0.000	5126	0.000	0.039	2522	1805	3814	3832	3797	0	0	0	0	0	0	14.85	14.74	14.85
1107	-0.77	-272.5	2522	1804	3832	3796	114.8	-7.0	193	1113	0.00	2.40	0.00	0.000	4356	0.000	0.054	2522	3224	3814	3832	3797	0	0	0	0	0	0	15.12	14.85	15.12
1137	-0.77	-272.5	2522	3224	3832	3797	116.7	-4.8	198	1143	0.00	2.33	0.00	0.000	5126	0.000	0.033	2528	1806	3813	3831	3796	0	0	0	0	0	0	14.98	14.89	15.00
1209	-0.77	-272.5	2522	1806	3832	3797	122.2	-7.5	211	1215	0.00	0.00	0.00	0.000	4102	0.000	0.000	2522	1806	3813	3831	3796	0	0	0	0	0	0	15.10	15.10	15.10
1235	end dive: BOTTOM_OBSTACLE_DETECTED
state	1235	begin apogee
1242	-0.17	0.0	2522	1806	3831	3797	125.5	-11.1	216	1453	0.88	0.00	200.20	1.104	10246	0.116	0.000	2702	1806	2697	2729	2666	0	0	0	0	0	0	14.64	14.29	13.90
1455	end apogee: CONTROL_FINISHED_OK
state	1455	begin climb
1458	0.77	272.5	2701	1806	2728	2665	135.6	0.0	254	1683	1.42	2.50	210.18	1.079	10756	0.104	0.067	2991	416	1587	1629	1545	0	0	0	0	0	0	14.40	14.34	13.88
1748	0.77	272.5	2991	415	1622	1545	119.1	13.2	305	1755	0.00	2.33	0.00	0.000	3078	0.000	0.031	2992	1812	1583	1623	1544	0	0	0	0	0	0	14.60	14.54	14.62
1820	0.77	272.5	2991	1814	1622	1542	109.8	12.4	318	1827	0.00	2.35	0.00	0.000	2308	0.000	0.046	2992	3202	1581	1622	1541	0	0	0	0	0	0	14.89	14.68	14.89
1844	0.77	272.5	2991	3202	1621	1541	106.1	14.5	322	1851	0.00	2.38	0.00	0.000	3078	0.000	0.048	2992	1815	1581	1622	1541	0	0	0	0	0	0	14.75	14.64	14.77
1916	0.77	272.5	2992	1815	1621	1541	96.2	15.4	335	1922	0.00	0.00	0.00	0.000	2054	0.000	0.000	2992	1815	1581	1622	1541	0	0	0	0	0	0	14.97	14.97	14.96
1984	0.77	272.5	2991	1815	1621	1540	85.4	15.1	348	1991	0.00	2.33	0.00	0.000	2308	0.000	0.045	2992	3198	1580	1621	1540	0	0	0	0	0	0	15.00	14.74	15.01
2004	0.77	272.5	2991	3198	1621	1540	82.3	14.8	351	2011	0.00	2.40	0.00	0.000	3078	0.000	0.051	2992	1793	1580	1621	1540	0	0	0	0	0	0	14.83	14.71	14.85
2075	0.77	272.5	2992	1793	1621	1540	72.5	13.7	364	2082	0.00	2.42	0.00	0.000	2564	0.000	0.067	2992	390	1580	1621	1540	0	0	0	0	0	0	15.04	14.78	15.04
2109	0.77	272.5	2992	389	1621	1540	67.0	14.7	370	2116	0.00	2.33	0.00	0.000	3078	0.000	0.033	2992	1798	1580	1621	1540	0	0	0	0	0	0	14.88	14.80	14.90
2181	0.81	305.4	2992	1801	1621	1539	58.9	9.2	383	2216	0.00	2.35	27.60	1.007	10500	0.000	0.045	2992	3198	1453	1499	1407	0	0	0	0	0	0	15.04	14.59	14.20
2251	0.81	305.4	2992	3199	1498	1405	51.6	11.0	395	2258	0.00	2.40	0.00	0.000	3078	0.000	0.050	2992	1795	1451	1498	1404	0	0	0	0	0	0	14.84	14.73	14.85
2323	0.88	362.3	2992	1795	1498	1404	45.6	8.6	408	2373	0.10	0.00	47.38	1.010	10758	0.151	0.000	3041	1795	1222	1279	1165	0	0	0	0	0	0	14.77	14.56	14.06
2438	0.88	362.3	3041	1794	1277	1162	30.7	14.0	429	2444	0.00	2.38	0.00	0.000	260	0.000	0.044	3041	3205	1219	1277	1161	0	0	0	0	0	0	14.89	14.62	14.90
2467	0.88	362.3	3041	3205	1277	1160	26.7	12.8	434	2474	0.00	2.42	0.00	0.000	1030	0.000	0.052	3044	1801	1218	1277	1159	0	0	0	0	0	0	14.79	14.70	14.81
2539	0.88	362.3	3041	1801	1277	1158	17.3	13.5	447	2546	0.00	2.47	0.00	0.000	516	0.000	0.071	3043	389	1217	1277	1158	0	0	0	0	0	0	14.97	14.69	14.97
2589	0.88	362.3	3043	388	1277	1157	9.8	14.3	456	2596	0.00	2.35	0.00	0.000	1030	0.000	0.032	3044	1811	1217	1277	1157	0	0	0	0	0	0	14.82	14.73	14.83
2636	end climb: SURFACE_DEPTH_REACHED
state	2636	begin surface coast
2664	end surface coast: CONTROL_FINISHED_OK
state	2664	begin surface