Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 502 * 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 20

MISSION 3 HEADING 30 C_ROLL_CLIMB 1800 ALTIM_TOP_TURN_MARGIN 0

DIVE 502 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 47 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 20 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.0099999998 STOP_T 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_GAIN 30 STROBE 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_MAX 3869 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 50 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FILEMGR 0 PITCH_MIN 117 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 25 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0038360001 PITCH_W_GAIN 0 TGT_DEFAULT_LAT 4743.3999

APOGEE_PITCH -5 HD_B 0.0101 PRESSURE_SLOPE 0.0001058 TGT_DEFAULT_LON -12224.2

CALL_NDIVES 1 HD_C 9.8500004e-06 PRESSURE_YINT -148.54955 T_ABORT 358

CALL_TRIES 5 HEADING 30 PROTOCOL 9 T_BOOST 0

CALL_WAIT 60 HEAD_ERRBAND 10 P_OVSHOOT 0.039999999 T_DIVE 333

CAPMAXSIZE 400000 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_EPIRB 0

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_GPS 15

CF8_MAXERRORS 20 ID 574 RAFOS_DEVICE -1 T_LOITER 0

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097655999 RAFOS_HIT_WINDOW 3600 T_MISSION 343

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 3.1600001 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS_DEVICE 17 KALMAN_USE 2 RELAUNCH 0 T_RSLEEP 2

COMPASS_USE 0 LOGGERDEVICE1 53 RHO 1.0275 T_TURN 500

COURSE_BIAS 0 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

C_PITCH 2759 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_ROLL_CLIMB 1800 LOGGERDEVICE4 -1 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_ROLL_DIVE 1812 LOGGERS 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_VBD 2701 MASS 53998 ROLL_DEG 40 USE_BATHY 0

DBDW 0 MASS_COMP 0 ROLL_MAX 3936 USE_ICE 0

DEEPGLIDER 0 MAXI_10V 2 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MAXI_24V 3 ROLL_MIN 301 VBD_CNV -0.245296

DEVICE2 -1 MAX_BUOY 280 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MINV_10V 10 R_PORT_OVSHOOT 32 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 47 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 502 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 210419,182225,-3419.2322,2546.3254,8,0.8,43,-27.9,0.0,30.9,10,4.3 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3409.846,2552.856

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.89 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -65.0 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 210419,183355,-3419.1982,2546.3308,8,0.9,17,-27.9,0.7,152.0,10,8.0 MHEAD_RNG_PITCHd_Wd 57.9,20000,-13.1,-10.010,-16.32,4154

SPEED_LIMITS 0.173,0.342 D_GRID 1000

Post-dive calculations and measurements:

FINISH1 4.7,1.024939,131 _10V_AH 13.50,0.000

FINISH2 2.9 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3404.29,2546.08,210419,170600 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.865844 MEM 340920

HUMID 45.27 DATA_FILE_SIZE 6789,310

INTERNAL_PRESSURE 9.50764 CAP_FILE_SIZE 58436,0

TCM_TEMP 20.60 CFSIZE 2097086464,1999077376

XPDR_PINGS 0 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0

ALTIM_BOTTOM_PING 70.4,34.1 INTR 0,2825.83,0x2131c2,7,24

SC_FREEKB 3658688 GPS 210419,183355,-3419.198,2546.331,8,0.9,17,-27.9,0.7,152.0,10,8.0

_24V_AH 13.43,150.979

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 296 70.97 nil 0 0 0.00

Roll_motor 33 67 29.86 nil 0 0 0.00

VBD_pump_during_apogee 404 1006 5475.47 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 16 5.29 nil 0 0 0.00

Iridium_during_connect 46 160 99.00 SciCon 1810 36 875.46

Iridium_during_xfer 332 223 994.42 nil 0 0 0.00

Transponder_ping 1 420 8.46 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 11 2.82

TT8 554 9 71.95

LPSleep 228 2 6.75

TT8_Active 457 9 59.32

TT8_Sampling 943 28 360.83

TT8_CF8 276 36 136.32

TT8_Kalman 0 0 0.00

Analog_circuits 816 12 133.55

GPS_charging 0 0 0.00

Compass 473 17 114.91

RAFOS 0 0 0.00

Transponder 11 30 4.70

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 53 1786 635 537 0.0 0.0 0 121 0.00 0.00 -95.68 0.000 16386 0.000 0.000 53 1787 3068 3034 3102 0 0 0 0 0 0 14.98 28.83 14.99

127 -0.77 -272.5 52 1787 3033 3103 3.9 -8.5 17 163 14.48 2.40 -11.57 0.000 18692 0.296 0.064 2494 3205 3813 3827 3799 0 0 0 0 0 0 14.50 13.43 14.78

267 -0.77 -272.5 2494 3206 3829 3799 33.9 -9.8 43 275 0.05 2.35 0.00 0.000 3078 0.293 0.041 2507 1809 3813 3828 3799 0 0 0 0 0 0 14.69 14.83 14.86

340 -0.77 -272.5 2507 1809 3828 3799 42.2 -12.3 56 347 0.00 2.40 0.00 0.000 2564 0.000 0.062 2507 409 3813 3828 3799 0 0 0 0 0 0 15.07 14.80 15.08

360 -0.77 -272.5 2507 409 3827 3798 44.7 -11.3 59 367 0.00 2.30 0.00 0.000 3078 0.000 0.031 2508 1812 3813 3827 3799 0 0 0 0 0 0 14.90 14.81 14.91

431 -0.77 -272.5 2507 1814 3828 3799 53.1 -12.1 72 438 0.00 2.35 0.00 0.000 2308 0.000 0.053 2507 3209 3813 3827 3799 0 0 0 0 0 0 15.09 14.83 15.09

486 -0.77 -272.5 2507 3210 3827 3799 59.3 -10.6 82 494 0.00 2.33 0.00 0.000 3078 0.000 0.038 2507 1810 3813 3828 3799 0 0 0 0 0 0 14.97 14.85 14.97

559 -0.77 -272.5 2506 1810 3828 3799 67.3 -11.7 95 564 0.00 0.00 0.00 0.000 2054 0.000 0.000 2507 1810 3813 3828 3799 0 0 0 0 0 0 15.11 15.11 15.11

632 -0.77 -272.5 2507 1810 3828 3799 75.1 -10.5 108 639 0.00 2.40 0.00 0.000 2564 0.000 0.060 2508 401 3813 3828 3799 0 0 0 0 0 0 15.09 14.84 15.09

677 -0.77 -272.5 2508 400 3828 3799 80.5 -10.4 116 684 0.00 2.33 0.00 0.000 1030 0.000 0.032 2507 1814 3813 3827 3799 0 0 0 0 0 0 14.97 14.90 14.98

715 end dive: BOTTOM_OBSTACLE_DETECTED

state 715 begin apogee

721 -0.17 0.0 2507 1817 3828 3799 84.5 -10.3 123 926 0.95 0.00 198.20 1.007 10246 0.127 0.000 2701 1816 2700 2736 2664 0 0 0 0 0 0 14.69 14.45 13.97

929 end apogee: CONTROL_FINISHED_OK

state 929 begin climb

932 0.77 272.5 2701 1816 2734 2663 97.6 0.0 160 1152 1.40 2.38 206.77 0.998 11012 0.057 0.045 3014 3200 1584 1623 1546 0 0 0 0 0 0 14.49 14.31 13.93

1342 0.77 272.5 3014 3200 1621 1542 51.4 13.4 235 1349 0.00 2.38 0.00 0.000 5126 0.000 0.048 3017 1800 1581 1621 1542 0 0 0 0 0 0 14.85 14.75 14.88

1414 0.77 272.5 3016 1800 1621 1540 42.7 11.9 248 1419 0.00 0.00 0.00 0.000 4102 0.000 0.000 3017 1800 1581 1622 1540 0 0 0 0 0 0 15.02 15.02 15.02

1483 0.77 272.5 3016 1800 1622 1540 33.0 13.8 261 1488 0.00 0.00 0.00 0.000 4102 0.000 0.000 3017 1799 1581 1622 1540 0 0 0 0 0 0 15.05 15.05 15.05

1552 0.77 272.5 3017 1800 1621 1539 23.5 13.4 274 1558 0.00 2.40 0.00 0.000 4612 0.000 0.067 3017 392 1580 1621 1539 0 0 0 0 0 0 15.06 14.81 15.07

1581 0.77 272.5 3017 391 1621 1538 19.9 10.4 279 1588 0.00 2.33 0.00 0.000 5126 0.000 0.031 3017 1807 1580 1621 1539 0 0 0 0 0 0 14.95 14.88 14.97

1653 0.77 272.5 3017 1810 1621 1537 12.4 10.9 292 1660 0.00 2.30 0.00 0.000 4356 0.000 0.045 3017 3198 1579 1621 1537 0 0 0 0 0 0 15.09 14.78 15.09

1722 end climb: FINISH_DEPTH_REACHED

state 1722 begin subsurface finish

1732 0.16 131.3 3017 1797 1621 1536 4.7 10.1 305 1761 0.98 0.00 -20.88 0.000 20486 0.140 0.000 2817 1797 2168 2210 2126 0 0 0 0 0 0 14.74 14.11 14.82

1762 end subsurface finish: CONTROL_FINISHED_OK

state 1762 begin surface

ID	574	HD_C	9.8500004e-06	C_ROLL_DIVE	1812	ALTIM_BOTTOM_TURN_MARGIN	20
MISSION	3	HEADING	30	C_ROLL_CLIMB	1800	ALTIM_TOP_TURN_MARGIN	0
DIVE	502	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	47	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	210419,182225,-3419.2322,2546.3254,8,0.8,43,-27.9,0.0,30.9,10,4.3	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3409.846,2552.856
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.89	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-65.0	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	210419,183355,-3419.1982,2546.3308,8,0.9,17,-27.9,0.7,152.0,10,8.0	MHEAD_RNG_PITCHd_Wd	57.9,20000,-13.1,-10.010,-16.32,4154
SPEED_LIMITS	0.173,0.342	D_GRID	1000

FINISH1	4.7,1.024939,131	_10V_AH	13.50,0.000
FINISH2	2.9	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3404.29,2546.08,210419,170600	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.865844	MEM	340920
HUMID	45.27	DATA_FILE_SIZE	6789,310
INTERNAL_PRESSURE	9.50764	CAP_FILE_SIZE	58436,0
TCM_TEMP	20.60	CFSIZE	2097086464,1999077376
XPDR_PINGS	0	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	70.4,34.1	INTR	0,2825.83,0x2131c2,7,24
SC_FREEKB	3658688	GPS	210419,183355,-3419.198,2546.331,8,0.9,17,-27.9,0.7,152.0,10,8.0
_24V_AH	13.43,150.979

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	296	70.97	nil	0	0	0.00
Roll_motor	33	67	29.86	nil	0	0	0.00
VBD_pump_during_apogee	404	1006	5475.47	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	16	5.29	nil	0	0	0.00
Iridium_during_connect	46	160	99.00	SciCon	1810	36	875.46
Iridium_during_xfer	332	223	994.42	nil	0	0	0.00
Transponder_ping	1	420	8.46	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	11	2.82
TT8	554	9	71.95
LPSleep	228	2	6.75
TT8_Active	457	9	59.32
TT8_Sampling	943	28	360.83
TT8_CF8	276	36	136.32
TT8_Kalman	0	0	0.00
Analog_circuits	816	12	133.55
GPS_charging	0	0	0.00
Compass	473	17	114.91
RAFOS	0	0	0.00
Transponder	11	30	4.70

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	53	1786	635	537	0.0	0.0	0	121	0.00	0.00	-95.68	0.000	16386	0.000	0.000	53	1787	3068	3034	3102	0	0	0	0	0	0	14.98	28.83	14.99
127	-0.77	-272.5	52	1787	3033	3103	3.9	-8.5	17	163	14.48	2.40	-11.57	0.000	18692	0.296	0.064	2494	3205	3813	3827	3799	0	0	0	0	0	0	14.50	13.43	14.78
267	-0.77	-272.5	2494	3206	3829	3799	33.9	-9.8	43	275	0.05	2.35	0.00	0.000	3078	0.293	0.041	2507	1809	3813	3828	3799	0	0	0	0	0	0	14.69	14.83	14.86
340	-0.77	-272.5	2507	1809	3828	3799	42.2	-12.3	56	347	0.00	2.40	0.00	0.000	2564	0.000	0.062	2507	409	3813	3828	3799	0	0	0	0	0	0	15.07	14.80	15.08
360	-0.77	-272.5	2507	409	3827	3798	44.7	-11.3	59	367	0.00	2.30	0.00	0.000	3078	0.000	0.031	2508	1812	3813	3827	3799	0	0	0	0	0	0	14.90	14.81	14.91
431	-0.77	-272.5	2507	1814	3828	3799	53.1	-12.1	72	438	0.00	2.35	0.00	0.000	2308	0.000	0.053	2507	3209	3813	3827	3799	0	0	0	0	0	0	15.09	14.83	15.09
486	-0.77	-272.5	2507	3210	3827	3799	59.3	-10.6	82	494	0.00	2.33	0.00	0.000	3078	0.000	0.038	2507	1810	3813	3828	3799	0	0	0	0	0	0	14.97	14.85	14.97
559	-0.77	-272.5	2506	1810	3828	3799	67.3	-11.7	95	564	0.00	0.00	0.00	0.000	2054	0.000	0.000	2507	1810	3813	3828	3799	0	0	0	0	0	0	15.11	15.11	15.11
632	-0.77	-272.5	2507	1810	3828	3799	75.1	-10.5	108	639	0.00	2.40	0.00	0.000	2564	0.000	0.060	2508	401	3813	3828	3799	0	0	0	0	0	0	15.09	14.84	15.09
677	-0.77	-272.5	2508	400	3828	3799	80.5	-10.4	116	684	0.00	2.33	0.00	0.000	1030	0.000	0.032	2507	1814	3813	3827	3799	0	0	0	0	0	0	14.97	14.90	14.98
715	end dive: BOTTOM_OBSTACLE_DETECTED
state	715	begin apogee
721	-0.17	0.0	2507	1817	3828	3799	84.5	-10.3	123	926	0.95	0.00	198.20	1.007	10246	0.127	0.000	2701	1816	2700	2736	2664	0	0	0	0	0	0	14.69	14.45	13.97
929	end apogee: CONTROL_FINISHED_OK
state	929	begin climb
932	0.77	272.5	2701	1816	2734	2663	97.6	0.0	160	1152	1.40	2.38	206.77	0.998	11012	0.057	0.045	3014	3200	1584	1623	1546	0	0	0	0	0	0	14.49	14.31	13.93
1342	0.77	272.5	3014	3200	1621	1542	51.4	13.4	235	1349	0.00	2.38	0.00	0.000	5126	0.000	0.048	3017	1800	1581	1621	1542	0	0	0	0	0	0	14.85	14.75	14.88
1414	0.77	272.5	3016	1800	1621	1540	42.7	11.9	248	1419	0.00	0.00	0.00	0.000	4102	0.000	0.000	3017	1800	1581	1622	1540	0	0	0	0	0	0	15.02	15.02	15.02
1483	0.77	272.5	3016	1800	1622	1540	33.0	13.8	261	1488	0.00	0.00	0.00	0.000	4102	0.000	0.000	3017	1799	1581	1622	1540	0	0	0	0	0	0	15.05	15.05	15.05
1552	0.77	272.5	3017	1800	1621	1539	23.5	13.4	274	1558	0.00	2.40	0.00	0.000	4612	0.000	0.067	3017	392	1580	1621	1539	0	0	0	0	0	0	15.06	14.81	15.07
1581	0.77	272.5	3017	391	1621	1538	19.9	10.4	279	1588	0.00	2.33	0.00	0.000	5126	0.000	0.031	3017	1807	1580	1621	1539	0	0	0	0	0	0	14.95	14.88	14.97
1653	0.77	272.5	3017	1810	1621	1537	12.4	10.9	292	1660	0.00	2.30	0.00	0.000	4356	0.000	0.045	3017	3198	1579	1621	1537	0	0	0	0	0	0	15.09	14.78	15.09
1722	end climb: FINISH_DEPTH_REACHED
state	1722	begin subsurface finish
1732	0.16	131.3	3017	1797	1621	1536	4.7	10.1	305	1761	0.98	0.00	-20.88	0.000	20486	0.140	0.000	2817	1797	2168	2210	2126	0	0	0	0	0	0	14.74	14.11	14.82
1762	end subsurface finish: CONTROL_FINISHED_OK
state	1762	begin surface