Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 471 * 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 471 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 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 35 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 471 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 200419,195955,-3424.8254,2529.2644,7,1.1,48,-27.9,0.4,165.7,7,4.2 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3417.189,2538.507

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 7.32 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 200419,195955,-3424.8254,2529.2644,7,1.1,48,-27.9,0.4,165.7,7,4.2 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 0.4,1.024589 _24V_AH 13.42,145.179

SM_CCo 2538,136.70,0.810,0,0,597,515.37 _10V_AH 13.41,0.000

SM_GC 0.97,13.55,0.00,136.70,0.037,0.000,0.810,111,1796,597,-8.22,-0.45,515.37,0,0,0,0,0,0,14.84,15.06,14.11 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3412.10,2528.47,200419,180824 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.948234 MEM 341064

HUMID 45.35 DATA_FILE_SIZE 10109,445

INTERNAL_PRESSURE 9.32209 CAP_FILE_SIZE 84534,0

TCM_TEMP 19.10 CFSIZE 2097086464,2004123648

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

ALTIM_BOTTOM_PING 90.2,37.4 GPS 200419,213025,-3424.189,2530.759,9,0.9,42,-27.9,0.5,323.1,9,8.7

SC_FREEKB 3674560

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 123 28.69 nil 0 0 0.00

Roll_motor 68 84 77.24 nil 0 0 0.00

VBD_pump_during_apogee 442 1097 6515.90 nil 0 0 0.00

VBD_pump_during_surface 136 810 1486.20 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 2568 36 1250.44

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 14.09 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 895 9 115.38

LPSleep 375 2 11.02

TT8_Active 618 9 79.74

TT8_Sampling 773 28 294.08

TT8_CF8 164 36 80.91

TT8_Kalman 0 0 0.00

Analog_circuits 1085 12 176.21

GPS_charging 0 0 0.00

Compass 672 17 162.26

RAFOS 0 0 0.00

Transponder 17 30 7.12

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 2822 1796 2144 2062 0.0 0.0 0 32 0.00 0.00 -6.60 0.000 16386 0.000 0.000 2821 1796 2378 2421 2336 0 0 0 0 0 0 15.09 28.83 15.11

35 -0.77 -272.5 2822 1796 2422 2335 8.1 0.0 1 75 1.38 2.35 -30.25 0.000 20996 0.083 0.084 2524 411 3815 3832 3798 0 0 0 0 0 0 14.74 13.42 14.79

119 -0.77 -272.5 2523 407 3832 3798 18.1 -11.9 16 125 0.00 2.28 0.00 0.000 5126 0.000 0.033 2522 1805 3815 3832 3798 0 0 0 0 0 0 14.93 14.90 14.96

190 -0.77 -272.5 2522 1807 3831 3798 27.4 -13.8 29 197 0.00 2.38 0.00 0.000 4356 0.000 0.054 2522 3207 3814 3830 3798 0 0 0 0 0 0 15.12 14.81 15.12

235 -0.77 -272.5 2522 3207 3832 3798 33.0 -11.9 37 242 0.00 2.35 0.00 0.000 5126 0.000 0.042 2522 1811 3815 3832 3798 0 0 0 0 0 0 14.92 14.81 14.94

305 -0.77 -272.5 2522 1812 3832 3798 42.1 -13.4 50 312 0.00 2.42 0.00 0.000 4612 0.000 0.066 2522 402 3815 3832 3798 0 0 0 0 0 0 15.11 14.79 15.12

339 -0.77 -272.5 2522 403 3832 3798 46.8 -13.1 56 346 0.00 2.33 0.00 0.000 5126 0.000 0.034 2522 1819 3815 3832 3798 0 0 0 0 0 0 14.86 14.78 14.87

412 -0.77 -272.5 2522 1822 3832 3798 55.0 -11.5 69 420 0.00 2.35 0.00 0.000 4356 0.000 0.054 2522 3213 3815 3832 3798 0 0 0 0 0 0 15.10 14.85 15.10

469 -0.77 -272.5 2522 3210 3833 3798 60.8 -9.3 79 476 0.00 2.33 0.00 0.000 5126 0.000 0.038 2522 1810 3815 3833 3798 0 0 0 0 0 0 14.85 14.76 14.87

541 -0.77 -272.5 2521 1809 3833 3798 67.8 -8.7 92 548 0.00 2.40 0.00 0.000 4612 0.000 0.061 2522 405 3815 3832 3798 0 0 0 0 0 0 15.11 14.85 15.12

572 -0.77 -272.5 2522 405 3832 3798 70.8 -8.7 97 579 0.00 2.30 0.00 0.000 5126 0.000 0.032 2522 1821 3814 3831 3797 0 0 0 0 0 0 14.99 14.90 15.00

644 -0.77 -272.5 2522 1822 3833 3798 76.7 -8.1 110 651 0.00 2.33 0.00 0.000 4356 0.000 0.051 2522 3207 3818 3838 3798 0 0 0 0 0 0 15.11 14.76 15.11

674 -0.77 -272.5 2522 3207 3833 3798 79.5 -8.6 115 681 0.00 2.33 0.00 0.000 5126 0.000 0.038 2522 1802 3815 3833 3798 0 0 0 0 0 0 14.85 14.76 14.86

745 -0.77 -272.5 2522 1802 3833 3798 85.6 -9.0 128 752 0.00 2.38 0.00 0.000 4612 0.000 0.061 2522 412 3815 3833 3798 0 0 0 0 0 0 15.11 14.80 15.11

803 -0.77 -272.5 2521 412 3833 3798 91.2 -11.3 138 809 0.00 2.28 0.00 0.000 5126 0.000 0.031 2522 1814 3815 3833 3798 0 0 0 0 0 0 14.98 14.90 15.00

875 -0.77 -272.5 2522 1815 3833 3797 97.0 -8.7 151 881 0.00 2.35 0.00 0.000 4356 0.000 0.052 2522 3210 3815 3833 3798 0 0 0 0 0 0 15.11 14.78 15.11

960 -0.77 -272.5 2522 3210 3834 3798 104.2 -9.3 167 967 0.00 2.33 0.00 0.000 5126 0.000 0.041 2522 1816 3816 3834 3798 0 0 0 0 0 0 14.92 14.83 14.93

1033 -0.77 -272.5 2522 1814 3833 3798 109.0 -7.9 180 1038 0.00 0.00 0.00 0.000 4102 0.000 0.000 2522 1814 3815 3833 3798 0 0 0 0 0 0 15.10 15.11 15.10

1101 -0.77 -272.5 2522 1814 3833 3798 115.2 -10.3 193 1107 0.00 0.00 0.00 0.000 4102 0.000 0.000 2522 1814 3815 3833 3797 0 0 0 0 0 0 15.11 15.11 15.11

1127 end dive: BOTTOM_OBSTACLE_DETECTED

state 1127 begin apogee

1134 -0.17 0.0 2522 1814 3833 3798 118.1 -8.9 198 1345 0.88 0.00 201.02 1.097 10246 0.124 0.000 2702 1813 2698 2729 2667 0 0 0 0 0 0 14.73 14.40 13.91

1346 end apogee: CONTROL_FINISHED_OK

state 1346 begin climb

1349 0.77 272.5 2701 1814 2727 2665 127.0 0.0 236 1574 1.45 2.55 210.20 1.077 11012 0.079 0.071 3007 408 1587 1629 1545 0 0 0 0 0 0 14.42 14.33 13.86

1607 0.77 272.5 3005 405 1625 1545 115.8 12.5 281 1614 0.00 2.33 0.00 0.000 1030 0.000 0.031 3007 1799 1585 1625 1545 0 0 0 0 0 0 14.60 14.52 14.62

1679 0.77 272.5 3007 1802 1618 1542 106.1 14.5 294 1685 0.00 0.00 0.00 0.000 6 0.000 0.000 3007 1802 1583 1624 1542 0 0 0 0 0 0 14.84 14.85 14.84

1748 0.77 272.5 3007 1801 1623 1542 95.1 15.8 307 1754 0.00 2.35 0.00 0.000 260 0.000 0.047 3007 3198 1584 1623 1546 0 0 0 0 0 0 14.92 14.71 14.92

1788 0.77 272.5 3007 3199 1622 1541 88.7 16.2 314 1794 0.00 2.38 0.00 0.000 1030 0.000 0.052 3007 1809 1581 1621 1541 0 0 0 0 0 0 14.83 14.73 14.85

1859 0.77 272.5 3007 1808 1626 1541 77.6 16.5 327 1865 0.00 2.45 0.00 0.000 516 0.000 0.070 3015 389 1581 1621 1541 0 0 0 0 0 0 14.97 14.75 14.97

1878 0.77 272.5 3015 389 1621 1541 74.6 14.6 330 1885 0.00 2.33 0.00 0.000 5126 0.000 0.031 3015 1803 1581 1621 1541 0 0 0 0 0 0 14.89 14.81 14.90

1950 0.77 272.5 3015 1808 1620 1540 63.5 17.4 343 1956 0.00 0.00 0.00 0.000 4102 0.000 0.000 3016 1809 1580 1621 1540 0 0 0 0 0 0 15.02 15.03 15.03

2019 0.77 272.5 3015 1809 1621 1540 53.2 13.2 356 2026 0.00 2.33 0.00 0.000 4356 0.000 0.047 3015 3201 1580 1621 1540 0 0 0 0 0 0 15.04 14.82 15.05

2063 0.77 272.5 3015 3200 1621 1540 47.2 12.9 364 2070 0.00 2.40 0.00 0.000 5126 0.000 0.050 3017 1786 1580 1620 1540 0 0 0 0 0 0 14.93 14.82 14.94

2136 0.80 297.2 3016 1786 1620 1539 39.8 9.4 377 2159 0.00 0.00 20.50 0.985 8198 0.000 0.000 3017 1786 1486 1531 1442 0 0 0 0 0 0 15.07 14.73 14.25

2223 0.80 297.2 3016 1786 1530 1442 30.3 10.5 393 2229 0.00 2.38 0.00 0.000 260 0.000 0.047 3017 3190 1485 1530 1441 0 0 0 0 0 0 14.99 14.78 15.00

2247 0.80 297.2 3016 3190 1531 1441 27.4 12.0 397 2254 0.00 2.40 0.00 0.000 1030 0.000 0.050 3016 1794 1485 1530 1440 0 0 0 0 0 0 14.88 14.78 14.90

2319 0.80 297.2 3016 1796 1529 1440 19.2 12.2 410 2326 0.00 2.40 0.00 0.000 516 0.000 0.070 3016 396 1484 1529 1440 0 0 0 0 0 0 15.02 14.70 15.02

2390 0.80 297.2 3016 396 1529 1440 10.2 12.3 423 2397 0.00 2.30 0.00 0.000 1030 0.000 0.034 3017 1793 1484 1529 1440 0 0 0 0 0 0 14.84 14.77 14.85

2462 0.86 349.0 3016 1796 1529 1439 3.9 8.7 436 2475 0.00 0.00 10.88 0.792 10498 0.000 0.000 3016 1796 1419 1467 1372 0 0 0 0 0 0 15.07 28.83 15.07

2476 end climb: SURFACE_DEPTH_REACHED

state 2476 begin surface coast

2512 end surface coast: CONTROL_FINISHED_OK

state 2512 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	471	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	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	200419,195955,-3424.8254,2529.2644,7,1.1,48,-27.9,0.4,165.7,7,4.2	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3417.189,2538.507
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	7.32	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	200419,195955,-3424.8254,2529.2644,7,1.1,48,-27.9,0.4,165.7,7,4.2	MHEAD_RNG_PITCHd_Wd	72.9,20000,-13.1,-10.010,-16.32,4154
SPEED_LIMITS	0.173,0.342	D_GRID	1000

FINISH	0.4,1.024589	_24V_AH	13.42,145.179
SM_CCo	2538,136.70,0.810,0,0,597,515.37	_10V_AH	13.41,0.000
SM_GC	0.97,13.55,0.00,136.70,0.037,0.000,0.810,111,1796,597,-8.22,-0.45,515.37,0,0,0,0,0,0,14.84,15.06,14.11	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3412.10,2528.47,200419,180824	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.948234	MEM	341064
HUMID	45.35	DATA_FILE_SIZE	10109,445
INTERNAL_PRESSURE	9.32209	CAP_FILE_SIZE	84534,0
TCM_TEMP	19.10	CFSIZE	2097086464,2004123648
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_BOTTOM_PING	90.2,37.4	GPS	200419,213025,-3424.189,2530.759,9,0.9,42,-27.9,0.5,323.1,9,8.7
SC_FREEKB	3674560

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	123	28.69	nil	0	0	0.00
Roll_motor	68	84	77.24	nil	0	0	0.00
VBD_pump_during_apogee	442	1097	6515.90	nil	0	0	0.00
VBD_pump_during_surface	136	810	1486.20	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	2568	36	1250.44
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	14.09	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	895	9	115.38
LPSleep	375	2	11.02
TT8_Active	618	9	79.74
TT8_Sampling	773	28	294.08
TT8_CF8	164	36	80.91
TT8_Kalman	0	0	0.00
Analog_circuits	1085	12	176.21
GPS_charging	0	0	0.00
Compass	672	17	162.26
RAFOS	0	0	0.00
Transponder	17	30	7.12

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	2822	1796	2144	2062	0.0	0.0	0	32	0.00	0.00	-6.60	0.000	16386	0.000	0.000	2821	1796	2378	2421	2336	0	0	0	0	0	0	15.09	28.83	15.11
35	-0.77	-272.5	2822	1796	2422	2335	8.1	0.0	1	75	1.38	2.35	-30.25	0.000	20996	0.083	0.084	2524	411	3815	3832	3798	0	0	0	0	0	0	14.74	13.42	14.79
119	-0.77	-272.5	2523	407	3832	3798	18.1	-11.9	16	125	0.00	2.28	0.00	0.000	5126	0.000	0.033	2522	1805	3815	3832	3798	0	0	0	0	0	0	14.93	14.90	14.96
190	-0.77	-272.5	2522	1807	3831	3798	27.4	-13.8	29	197	0.00	2.38	0.00	0.000	4356	0.000	0.054	2522	3207	3814	3830	3798	0	0	0	0	0	0	15.12	14.81	15.12
235	-0.77	-272.5	2522	3207	3832	3798	33.0	-11.9	37	242	0.00	2.35	0.00	0.000	5126	0.000	0.042	2522	1811	3815	3832	3798	0	0	0	0	0	0	14.92	14.81	14.94
305	-0.77	-272.5	2522	1812	3832	3798	42.1	-13.4	50	312	0.00	2.42	0.00	0.000	4612	0.000	0.066	2522	402	3815	3832	3798	0	0	0	0	0	0	15.11	14.79	15.12
339	-0.77	-272.5	2522	403	3832	3798	46.8	-13.1	56	346	0.00	2.33	0.00	0.000	5126	0.000	0.034	2522	1819	3815	3832	3798	0	0	0	0	0	0	14.86	14.78	14.87
412	-0.77	-272.5	2522	1822	3832	3798	55.0	-11.5	69	420	0.00	2.35	0.00	0.000	4356	0.000	0.054	2522	3213	3815	3832	3798	0	0	0	0	0	0	15.10	14.85	15.10
469	-0.77	-272.5	2522	3210	3833	3798	60.8	-9.3	79	476	0.00	2.33	0.00	0.000	5126	0.000	0.038	2522	1810	3815	3833	3798	0	0	0	0	0	0	14.85	14.76	14.87
541	-0.77	-272.5	2521	1809	3833	3798	67.8	-8.7	92	548	0.00	2.40	0.00	0.000	4612	0.000	0.061	2522	405	3815	3832	3798	0	0	0	0	0	0	15.11	14.85	15.12
572	-0.77	-272.5	2522	405	3832	3798	70.8	-8.7	97	579	0.00	2.30	0.00	0.000	5126	0.000	0.032	2522	1821	3814	3831	3797	0	0	0	0	0	0	14.99	14.90	15.00
644	-0.77	-272.5	2522	1822	3833	3798	76.7	-8.1	110	651	0.00	2.33	0.00	0.000	4356	0.000	0.051	2522	3207	3818	3838	3798	0	0	0	0	0	0	15.11	14.76	15.11
674	-0.77	-272.5	2522	3207	3833	3798	79.5	-8.6	115	681	0.00	2.33	0.00	0.000	5126	0.000	0.038	2522	1802	3815	3833	3798	0	0	0	0	0	0	14.85	14.76	14.86
745	-0.77	-272.5	2522	1802	3833	3798	85.6	-9.0	128	752	0.00	2.38	0.00	0.000	4612	0.000	0.061	2522	412	3815	3833	3798	0	0	0	0	0	0	15.11	14.80	15.11
803	-0.77	-272.5	2521	412	3833	3798	91.2	-11.3	138	809	0.00	2.28	0.00	0.000	5126	0.000	0.031	2522	1814	3815	3833	3798	0	0	0	0	0	0	14.98	14.90	15.00
875	-0.77	-272.5	2522	1815	3833	3797	97.0	-8.7	151	881	0.00	2.35	0.00	0.000	4356	0.000	0.052	2522	3210	3815	3833	3798	0	0	0	0	0	0	15.11	14.78	15.11
960	-0.77	-272.5	2522	3210	3834	3798	104.2	-9.3	167	967	0.00	2.33	0.00	0.000	5126	0.000	0.041	2522	1816	3816	3834	3798	0	0	0	0	0	0	14.92	14.83	14.93
1033	-0.77	-272.5	2522	1814	3833	3798	109.0	-7.9	180	1038	0.00	0.00	0.00	0.000	4102	0.000	0.000	2522	1814	3815	3833	3798	0	0	0	0	0	0	15.10	15.11	15.10
1101	-0.77	-272.5	2522	1814	3833	3798	115.2	-10.3	193	1107	0.00	0.00	0.00	0.000	4102	0.000	0.000	2522	1814	3815	3833	3797	0	0	0	0	0	0	15.11	15.11	15.11
1127	end dive: BOTTOM_OBSTACLE_DETECTED
state	1127	begin apogee
1134	-0.17	0.0	2522	1814	3833	3798	118.1	-8.9	198	1345	0.88	0.00	201.02	1.097	10246	0.124	0.000	2702	1813	2698	2729	2667	0	0	0	0	0	0	14.73	14.40	13.91
1346	end apogee: CONTROL_FINISHED_OK
state	1346	begin climb
1349	0.77	272.5	2701	1814	2727	2665	127.0	0.0	236	1574	1.45	2.55	210.20	1.077	11012	0.079	0.071	3007	408	1587	1629	1545	0	0	0	0	0	0	14.42	14.33	13.86
1607	0.77	272.5	3005	405	1625	1545	115.8	12.5	281	1614	0.00	2.33	0.00	0.000	1030	0.000	0.031	3007	1799	1585	1625	1545	0	0	0	0	0	0	14.60	14.52	14.62
1679	0.77	272.5	3007	1802	1618	1542	106.1	14.5	294	1685	0.00	0.00	0.00	0.000	6	0.000	0.000	3007	1802	1583	1624	1542	0	0	0	0	0	0	14.84	14.85	14.84
1748	0.77	272.5	3007	1801	1623	1542	95.1	15.8	307	1754	0.00	2.35	0.00	0.000	260	0.000	0.047	3007	3198	1584	1623	1546	0	0	0	0	0	0	14.92	14.71	14.92
1788	0.77	272.5	3007	3199	1622	1541	88.7	16.2	314	1794	0.00	2.38	0.00	0.000	1030	0.000	0.052	3007	1809	1581	1621	1541	0	0	0	0	0	0	14.83	14.73	14.85
1859	0.77	272.5	3007	1808	1626	1541	77.6	16.5	327	1865	0.00	2.45	0.00	0.000	516	0.000	0.070	3015	389	1581	1621	1541	0	0	0	0	0	0	14.97	14.75	14.97
1878	0.77	272.5	3015	389	1621	1541	74.6	14.6	330	1885	0.00	2.33	0.00	0.000	5126	0.000	0.031	3015	1803	1581	1621	1541	0	0	0	0	0	0	14.89	14.81	14.90
1950	0.77	272.5	3015	1808	1620	1540	63.5	17.4	343	1956	0.00	0.00	0.00	0.000	4102	0.000	0.000	3016	1809	1580	1621	1540	0	0	0	0	0	0	15.02	15.03	15.03
2019	0.77	272.5	3015	1809	1621	1540	53.2	13.2	356	2026	0.00	2.33	0.00	0.000	4356	0.000	0.047	3015	3201	1580	1621	1540	0	0	0	0	0	0	15.04	14.82	15.05
2063	0.77	272.5	3015	3200	1621	1540	47.2	12.9	364	2070	0.00	2.40	0.00	0.000	5126	0.000	0.050	3017	1786	1580	1620	1540	0	0	0	0	0	0	14.93	14.82	14.94
2136	0.80	297.2	3016	1786	1620	1539	39.8	9.4	377	2159	0.00	0.00	20.50	0.985	8198	0.000	0.000	3017	1786	1486	1531	1442	0	0	0	0	0	0	15.07	14.73	14.25
2223	0.80	297.2	3016	1786	1530	1442	30.3	10.5	393	2229	0.00	2.38	0.00	0.000	260	0.000	0.047	3017	3190	1485	1530	1441	0	0	0	0	0	0	14.99	14.78	15.00
2247	0.80	297.2	3016	3190	1531	1441	27.4	12.0	397	2254	0.00	2.40	0.00	0.000	1030	0.000	0.050	3016	1794	1485	1530	1440	0	0	0	0	0	0	14.88	14.78	14.90
2319	0.80	297.2	3016	1796	1529	1440	19.2	12.2	410	2326	0.00	2.40	0.00	0.000	516	0.000	0.070	3016	396	1484	1529	1440	0	0	0	0	0	0	15.02	14.70	15.02
2390	0.80	297.2	3016	396	1529	1440	10.2	12.3	423	2397	0.00	2.30	0.00	0.000	1030	0.000	0.034	3017	1793	1484	1529	1440	0	0	0	0	0	0	14.84	14.77	14.85
2462	0.86	349.0	3016	1796	1529	1439	3.9	8.7	436	2475	0.00	0.00	10.88	0.792	10498	0.000	0.000	3016	1796	1419	1467	1372	0	0	0	0	0	0	15.07	28.83	15.07
2476	end climb: SURFACE_DEPTH_REACHED
state	2476	begin surface coast
2512	end surface coast: CONTROL_FINISHED_OK
state	2512	begin surface