Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 537 * 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 15

MISSION 3 HEADING 30 C_ROLL_CLIMB 1800 ALTIM_TOP_TURN_MARGIN 0

DIVE 537 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 50

STOP_T 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

D_SURF 3 TGT_DEFAULT_LAT 4743.3999 R_PORT_OVSHOOT 33 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 57 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 15 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.0099999998 STOP_T 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_GAIN 30 STROBE 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_MAX 3869 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 50 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FILEMGR 0 PITCH_MIN 117 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 25 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0038360001 PITCH_W_GAIN 0 TGT_DEFAULT_LAT 4743.3999

APOGEE_PITCH -5 HD_B 0.0101 PRESSURE_SLOPE 0.0001058 TGT_DEFAULT_LON -12224.2

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

CALL_TRIES 5 HEADING 30 PROTOCOL 9 T_BOOST 0

CALL_WAIT 60 HEAD_ERRBAND 10 P_OVSHOOT 0.039999999 T_DIVE 333

CAPMAXSIZE 400000 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_EPIRB 0

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_GPS 15

CF8_MAXERRORS 20 ID 574 RAFOS_DEVICE -1 T_LOITER 0

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097655999 RAFOS_HIT_WINDOW 3600 T_MISSION 343

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 3.1600001 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS_DEVICE 17 KALMAN_USE 2 RELAUNCH 0 T_RSLEEP 2

COMPASS_USE 0 LOGGERDEVICE1 53 RHO 1.0275 T_TURN 500

COURSE_BIAS 0 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

C_PITCH 2759 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_ROLL_CLIMB 1800 LOGGERDEVICE4 -1 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_ROLL_DIVE 1812 LOGGERS 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_VBD 2701 MASS 53998 ROLL_DEG 40 USE_BATHY 0

DBDW 0 MASS_COMP 0 ROLL_MAX 3936 USE_ICE 0

DEEPGLIDER 0 MAXI_10V 2 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MAXI_24V 3 ROLL_MIN 301 VBD_CNV -0.245296

DEVICE2 -1 MAX_BUOY 280 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MINV_10V 10 R_PORT_OVSHOOT 33 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 57 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 537 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 220419,181956,-3416.0103,2543.3132,8,0.8,14,-27.8,0.7,181.1,10,9.2 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3406.658,2549.835

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 3.19 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo 2.5 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 220419,181956,-3416.0103,2543.3132,8,0.8,14,-27.8,0.7,181.1,10,9.2 MHEAD_RNG_PITCHd_Wd 57.8,20000,-13.1,-10.010,-16.32,4154

SPEED_LIMITS 0.173,0.342 D_GRID 1000

Post-dive calculations and measurements:

FINISH 2.1,1.025398 _24V_AH 13.32,157.506

SM_CCo 2475,118.78,0.795,0,0,599,515.37 _10V_AH 13.28,0.000

SM_GC 0.93,14.07,2.40,118.78,0.078,0.036,0.795,129,1791,599,-8.17,-1.67,515.37,0,0,0,0,0,0,14.73,14.75,14.08 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3401.68,2614.09,220419,163458 FG_AHR_10Vo 0.000

TT8_MAMPS 0.020972,0.925015 MEM 341064

HUMID 45.27 DATA_FILE_SIZE 10127,427

INTERNAL_PRESSURE 9.30256 CAP_FILE_SIZE 83885,0

TCM_TEMP 19.10 CFSIZE 2097086464,1993310208

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

ALTIM_BOTTOM_PING 85.0,36.6 GPS 220419,194435,-3415.726,2542.958,8,1.1,18,-27.8,1.1,358.1,8,9.5

SC_FREEKB 3640736

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 124 29.27 nil 0 0 0.00

Roll_motor 83 86 95.60 nil 0 0 0.00

VBD_pump_during_apogee 455 1074 6521.25 nil 0 0 0.00

VBD_pump_during_surface 118 794 1257.49 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 2501 36 1203.74

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 12.59 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 850 9 108.54

LPSleep 352 2 10.27

TT8_Active 619 9 79.10

TT8_Sampling 742 28 279.33

TT8_CF8 179 36 87.28

TT8_Kalman 0 0 0.00

Analog_circuits 1076 12 173.18

GPS_charging 0 0 0.00

Compass 642 17 153.49

RAFOS 0 0 0.00

Transponder 16 30 6.44

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 2807 1797 2301 2223 0.0 0.0 0 32 0.00 0.00 -5.80 0.000 16386 0.000 0.000 2807 1796 2447 2488 2406 0 0 0 0 0 0 15.10 28.83 15.11

35 -0.77 -272.5 2806 1796 2491 2407 4.3 0.0 1 80 1.30 2.38 -35.62 0.000 20996 0.083 0.086 2524 406 3812 3831 3793 0 0 0 0 0 0 14.72 13.32 14.78

120 -0.77 -272.5 2524 406 3828 3794 13.0 -10.0 16 127 0.00 2.30 0.00 0.000 5126 0.000 0.034 2522 1800 3812 3831 3794 0 0 0 0 0 0 14.93 14.84 14.95

193 -0.77 -272.5 2522 1802 3832 3794 22.2 -13.8 29 199 0.00 0.00 0.00 0.000 4102 0.000 0.000 2522 1802 3812 3831 3794 0 0 0 0 0 0 15.11 15.10 15.10

262 -0.77 -272.5 2522 1802 3832 3794 31.5 -12.6 42 268 0.00 2.40 0.00 0.000 4356 0.000 0.055 2522 3217 3813 3832 3794 0 0 0 0 0 0 15.11 14.85 15.11

292 -0.77 -272.5 2522 3217 3832 3794 34.8 -9.5 47 299 0.00 2.35 0.00 0.000 5126 0.000 0.041 2522 1811 3813 3832 3794 0 0 0 0 0 0 14.97 14.87 15.00

362 -0.77 -272.5 2522 1810 3832 3794 42.2 -10.8 60 369 0.00 2.42 0.00 0.000 4612 0.000 0.064 2522 405 3812 3831 3793 0 0 0 0 0 0 15.11 14.83 15.11

397 -0.77 -272.5 2522 405 3832 3794 45.9 -10.3 66 404 0.00 2.33 0.00 0.000 5126 0.000 0.034 2522 1818 3812 3830 3794 0 0 0 0 0 0 14.98 14.89 15.00

470 -0.77 -272.5 2523 1819 3831 3794 52.6 -9.7 79 476 0.00 2.35 0.00 0.000 4356 0.000 0.054 2522 3207 3813 3832 3794 0 0 0 0 0 0 15.11 14.73 15.11

519 -0.77 -272.5 2522 3207 3832 3794 57.1 -7.7 88 526 0.00 2.33 0.00 0.000 5126 0.000 0.041 2522 1809 3812 3832 3793 0 0 0 0 0 0 14.84 14.74 14.85

592 -0.77 -272.5 2521 1809 3832 3794 63.2 -9.0 101 599 0.00 2.40 0.00 0.000 4612 0.000 0.064 2522 410 3813 3832 3794 0 0 0 0 0 0 15.11 14.83 15.11

614 -0.77 -272.5 2522 411 3832 3794 65.1 -8.2 104 621 0.00 2.30 0.00 0.000 5126 0.000 0.033 2522 1812 3813 3832 3794 0 0 0 0 0 0 14.84 14.76 14.85

687 -0.77 -272.5 2522 1815 3832 3793 71.5 -8.9 117 693 0.00 2.38 0.00 0.000 4356 0.000 0.054 2522 3214 3813 3833 3794 0 0 0 0 0 0 15.11 14.83 15.11

722 -0.77 -272.5 2522 3213 3832 3794 74.3 -7.8 123 729 0.00 2.35 0.00 0.000 5126 0.000 0.040 2522 1806 3813 3832 3794 0 0 0 0 0 0 14.97 14.87 14.99

795 -0.77 -272.5 2522 1805 3831 3794 80.2 -8.4 136 801 0.00 0.00 0.00 0.000 4102 0.000 0.000 2522 1805 3813 3832 3794 0 0 0 0 0 0 15.11 15.11 15.11

869 -0.77 -272.5 2522 1805 3831 3794 86.1 -6.4 149 875 0.00 2.38 0.00 0.000 4612 0.000 0.061 2522 408 3813 3832 3794 0 0 0 0 0 0 15.09 14.83 15.10

904 -0.77 -272.5 2520 408 3832 3794 89.6 -9.5 155 911 0.00 2.30 0.00 0.000 5126 0.000 0.034 2522 1814 3813 3832 3794 0 0 0 0 0 0 14.85 14.78 14.87

976 -0.77 -272.5 2522 1816 3832 3794 95.5 -8.4 168 982 0.00 2.35 0.00 0.000 4356 0.000 0.053 2522 3208 3813 3832 3794 0 0 0 0 0 0 15.12 14.78 15.12

1030 -0.77 -272.5 2522 3208 3832 3794 99.9 -8.5 178 1037 0.00 2.35 0.00 0.000 5126 0.000 0.038 2522 1808 3812 3831 3794 0 0 0 0 0 0 14.90 14.81 14.92

1103 -0.77 -272.5 2522 1808 3832 3794 105.9 -8.6 191 1110 0.00 2.38 0.00 0.000 4612 0.000 0.061 2522 415 3813 3832 3794 0 0 0 0 0 0 15.11 14.83 15.11

1115 end dive: BOTTOM_OBSTACLE_DETECTED

state 1115 begin apogee

1124 -0.17 0.0 2522 1808 3832 3794 107.3 -8.8 193 1335 0.88 0.00 200.45 1.074 10246 0.125 0.000 2701 1806 2697 2734 2661 0 0 0 0 0 0 14.71 14.40 13.90

1337 end apogee: CONTROL_FINISHED_OK

state 1337 begin climb

1340 0.77 272.5 2701 1806 2732 2660 121.4 0.0 231 1562 1.38 2.45 209.90 1.050 10500 0.075 0.047 2994 3200 1587 1630 1545 0 0 0 0 0 0 14.44 14.38 13.88

1627 0.77 272.5 2994 3200 1625 1542 101.2 13.5 281 1634 0.00 2.42 0.00 0.000 3078 0.000 0.051 2996 1803 1583 1625 1542 0 0 0 0 0 0 14.69 14.58 14.69

1699 0.77 272.5 2996 1803 1625 1541 91.4 14.1 294 1706 0.00 2.50 0.00 0.000 2564 0.000 0.072 2997 385 1582 1624 1541 0 0 0 0 0 0 14.88 14.65 14.88

1735 0.77 272.5 2997 385 1623 1541 86.3 13.6 300 1741 0.00 2.35 0.00 0.000 3078 0.000 0.033 2997 1800 1582 1623 1541 0 0 0 0 0 0 14.82 14.75 14.83

1806 0.77 272.5 2996 1803 1623 1540 75.9 16.4 313 1813 0.00 2.35 0.00 0.000 2308 0.000 0.047 2997 3202 1581 1623 1539 0 0 0 0 0 0 14.97 14.71 14.98

1841 0.77 272.5 2997 3203 1622 1539 71.0 13.6 319 1848 0.00 2.40 0.00 0.000 3078 0.000 0.051 2999 1799 1581 1622 1540 0 0 0 0 0 0 14.83 14.73 14.85

1913 0.77 272.5 2998 1799 1622 1540 61.8 13.2 332 1920 0.00 2.45 0.00 0.000 2564 0.000 0.071 3003 385 1581 1622 1540 0 0 0 0 0 0 15.01 14.76 15.01

1978 0.77 272.5 3002 385 1622 1539 52.5 13.0 344 1985 0.00 2.35 0.00 0.000 1030 0.000 0.033 3003 1812 1580 1622 1539 0 0 0 0 0 0 14.91 14.84 14.93

2051 0.77 272.5 3002 1814 1622 1539 43.9 12.1 357 2057 0.00 2.33 0.00 0.000 2308 0.000 0.047 3003 3197 1580 1622 1539 0 0 0 0 0 0 15.05 14.73 15.05

2086 0.77 272.5 3003 3197 1622 1538 39.6 11.8 363 2092 0.00 2.38 0.00 0.000 1030 0.000 0.050 3004 1796 1579 1621 1538 0 0 0 0 0 0 14.82 14.72 14.85

2158 0.77 272.5 3003 1796 1622 1538 32.2 10.1 376 2165 0.00 2.42 0.00 0.000 516 0.000 0.070 3006 392 1580 1622 1538 0 0 0 0 0 0 15.06 14.80 15.06

2203 0.77 272.5 3006 392 1621 1538 27.2 10.3 384 2210 0.00 2.33 0.00 0.000 1030 0.000 0.032 3006 1809 1579 1621 1537 0 0 0 0 0 0 14.95 14.87 14.97

2275 0.77 272.5 3006 1812 1621 1538 20.0 10.3 397 2282 0.00 2.30 0.00 0.000 260 0.000 0.047 3005 3193 1579 1621 1537 0 0 0 0 0 0 15.07 14.75 15.08

2305 0.77 272.5 3006 3200 1621 1537 16.6 10.8 402 2311 0.00 2.35 0.00 0.000 1030 0.000 0.050 3007 1800 1579 1621 1537 0 0 0 0 0 0 14.84 14.77 14.85

2377 0.85 339.6 3007 1800 1621 1537 10.0 8.4 415 2428 0.00 2.53 45.47 0.856 10756 0.000 0.070 3008 391 1311 1364 1258 0 0 0 0 0 0 15.09 14.69 14.22

2441 end climb: SURFACE_DEPTH_REACHED

state 2441 begin surface coast

2447 end surface coast: CONTROL_FINISHED_OK

state 2447 begin surface

ID	574	HD_C	9.8500004e-06	C_ROLL_DIVE	1812	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	3	HEADING	30	C_ROLL_CLIMB	1800	ALTIM_TOP_TURN_MARGIN	0
DIVE	537	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	50
STOP_T	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5
D_SURF	3	TGT_DEFAULT_LAT	4743.3999	R_PORT_OVSHOOT	33	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	57	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	220419,181956,-3416.0103,2543.3132,8,0.8,14,-27.8,0.7,181.1,10,9.2	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3406.658,2549.835
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	3.19	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	2.5	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	220419,181956,-3416.0103,2543.3132,8,0.8,14,-27.8,0.7,181.1,10,9.2	MHEAD_RNG_PITCHd_Wd	57.8,20000,-13.1,-10.010,-16.32,4154
SPEED_LIMITS	0.173,0.342	D_GRID	1000

FINISH	2.1,1.025398	_24V_AH	13.32,157.506
SM_CCo	2475,118.78,0.795,0,0,599,515.37	_10V_AH	13.28,0.000
SM_GC	0.93,14.07,2.40,118.78,0.078,0.036,0.795,129,1791,599,-8.17,-1.67,515.37,0,0,0,0,0,0,14.73,14.75,14.08	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3401.68,2614.09,220419,163458	FG_AHR_10Vo	0.000
TT8_MAMPS	0.020972,0.925015	MEM	341064
HUMID	45.27	DATA_FILE_SIZE	10127,427
INTERNAL_PRESSURE	9.30256	CAP_FILE_SIZE	83885,0
TCM_TEMP	19.10	CFSIZE	2097086464,1993310208
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_BOTTOM_PING	85.0,36.6	GPS	220419,194435,-3415.726,2542.958,8,1.1,18,-27.8,1.1,358.1,8,9.5
SC_FREEKB	3640736

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	124	29.27	nil	0	0	0.00
Roll_motor	83	86	95.60	nil	0	0	0.00
VBD_pump_during_apogee	455	1074	6521.25	nil	0	0	0.00
VBD_pump_during_surface	118	794	1257.49	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	2501	36	1203.74
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	12.59	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	850	9	108.54
LPSleep	352	2	10.27
TT8_Active	619	9	79.10
TT8_Sampling	742	28	279.33
TT8_CF8	179	36	87.28
TT8_Kalman	0	0	0.00
Analog_circuits	1076	12	173.18
GPS_charging	0	0	0.00
Compass	642	17	153.49
RAFOS	0	0	0.00
Transponder	16	30	6.44

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	2807	1797	2301	2223	0.0	0.0	0	32	0.00	0.00	-5.80	0.000	16386	0.000	0.000	2807	1796	2447	2488	2406	0	0	0	0	0	0	15.10	28.83	15.11
35	-0.77	-272.5	2806	1796	2491	2407	4.3	0.0	1	80	1.30	2.38	-35.62	0.000	20996	0.083	0.086	2524	406	3812	3831	3793	0	0	0	0	0	0	14.72	13.32	14.78
120	-0.77	-272.5	2524	406	3828	3794	13.0	-10.0	16	127	0.00	2.30	0.00	0.000	5126	0.000	0.034	2522	1800	3812	3831	3794	0	0	0	0	0	0	14.93	14.84	14.95
193	-0.77	-272.5	2522	1802	3832	3794	22.2	-13.8	29	199	0.00	0.00	0.00	0.000	4102	0.000	0.000	2522	1802	3812	3831	3794	0	0	0	0	0	0	15.11	15.10	15.10
262	-0.77	-272.5	2522	1802	3832	3794	31.5	-12.6	42	268	0.00	2.40	0.00	0.000	4356	0.000	0.055	2522	3217	3813	3832	3794	0	0	0	0	0	0	15.11	14.85	15.11
292	-0.77	-272.5	2522	3217	3832	3794	34.8	-9.5	47	299	0.00	2.35	0.00	0.000	5126	0.000	0.041	2522	1811	3813	3832	3794	0	0	0	0	0	0	14.97	14.87	15.00
362	-0.77	-272.5	2522	1810	3832	3794	42.2	-10.8	60	369	0.00	2.42	0.00	0.000	4612	0.000	0.064	2522	405	3812	3831	3793	0	0	0	0	0	0	15.11	14.83	15.11
397	-0.77	-272.5	2522	405	3832	3794	45.9	-10.3	66	404	0.00	2.33	0.00	0.000	5126	0.000	0.034	2522	1818	3812	3830	3794	0	0	0	0	0	0	14.98	14.89	15.00
470	-0.77	-272.5	2523	1819	3831	3794	52.6	-9.7	79	476	0.00	2.35	0.00	0.000	4356	0.000	0.054	2522	3207	3813	3832	3794	0	0	0	0	0	0	15.11	14.73	15.11
519	-0.77	-272.5	2522	3207	3832	3794	57.1	-7.7	88	526	0.00	2.33	0.00	0.000	5126	0.000	0.041	2522	1809	3812	3832	3793	0	0	0	0	0	0	14.84	14.74	14.85
592	-0.77	-272.5	2521	1809	3832	3794	63.2	-9.0	101	599	0.00	2.40	0.00	0.000	4612	0.000	0.064	2522	410	3813	3832	3794	0	0	0	0	0	0	15.11	14.83	15.11
614	-0.77	-272.5	2522	411	3832	3794	65.1	-8.2	104	621	0.00	2.30	0.00	0.000	5126	0.000	0.033	2522	1812	3813	3832	3794	0	0	0	0	0	0	14.84	14.76	14.85
687	-0.77	-272.5	2522	1815	3832	3793	71.5	-8.9	117	693	0.00	2.38	0.00	0.000	4356	0.000	0.054	2522	3214	3813	3833	3794	0	0	0	0	0	0	15.11	14.83	15.11
722	-0.77	-272.5	2522	3213	3832	3794	74.3	-7.8	123	729	0.00	2.35	0.00	0.000	5126	0.000	0.040	2522	1806	3813	3832	3794	0	0	0	0	0	0	14.97	14.87	14.99
795	-0.77	-272.5	2522	1805	3831	3794	80.2	-8.4	136	801	0.00	0.00	0.00	0.000	4102	0.000	0.000	2522	1805	3813	3832	3794	0	0	0	0	0	0	15.11	15.11	15.11
869	-0.77	-272.5	2522	1805	3831	3794	86.1	-6.4	149	875	0.00	2.38	0.00	0.000	4612	0.000	0.061	2522	408	3813	3832	3794	0	0	0	0	0	0	15.09	14.83	15.10
904	-0.77	-272.5	2520	408	3832	3794	89.6	-9.5	155	911	0.00	2.30	0.00	0.000	5126	0.000	0.034	2522	1814	3813	3832	3794	0	0	0	0	0	0	14.85	14.78	14.87
976	-0.77	-272.5	2522	1816	3832	3794	95.5	-8.4	168	982	0.00	2.35	0.00	0.000	4356	0.000	0.053	2522	3208	3813	3832	3794	0	0	0	0	0	0	15.12	14.78	15.12
1030	-0.77	-272.5	2522	3208	3832	3794	99.9	-8.5	178	1037	0.00	2.35	0.00	0.000	5126	0.000	0.038	2522	1808	3812	3831	3794	0	0	0	0	0	0	14.90	14.81	14.92
1103	-0.77	-272.5	2522	1808	3832	3794	105.9	-8.6	191	1110	0.00	2.38	0.00	0.000	4612	0.000	0.061	2522	415	3813	3832	3794	0	0	0	0	0	0	15.11	14.83	15.11
1115	end dive: BOTTOM_OBSTACLE_DETECTED
state	1115	begin apogee
1124	-0.17	0.0	2522	1808	3832	3794	107.3	-8.8	193	1335	0.88	0.00	200.45	1.074	10246	0.125	0.000	2701	1806	2697	2734	2661	0	0	0	0	0	0	14.71	14.40	13.90
1337	end apogee: CONTROL_FINISHED_OK
state	1337	begin climb
1340	0.77	272.5	2701	1806	2732	2660	121.4	0.0	231	1562	1.38	2.45	209.90	1.050	10500	0.075	0.047	2994	3200	1587	1630	1545	0	0	0	0	0	0	14.44	14.38	13.88
1627	0.77	272.5	2994	3200	1625	1542	101.2	13.5	281	1634	0.00	2.42	0.00	0.000	3078	0.000	0.051	2996	1803	1583	1625	1542	0	0	0	0	0	0	14.69	14.58	14.69
1699	0.77	272.5	2996	1803	1625	1541	91.4	14.1	294	1706	0.00	2.50	0.00	0.000	2564	0.000	0.072	2997	385	1582	1624	1541	0	0	0	0	0	0	14.88	14.65	14.88
1735	0.77	272.5	2997	385	1623	1541	86.3	13.6	300	1741	0.00	2.35	0.00	0.000	3078	0.000	0.033	2997	1800	1582	1623	1541	0	0	0	0	0	0	14.82	14.75	14.83
1806	0.77	272.5	2996	1803	1623	1540	75.9	16.4	313	1813	0.00	2.35	0.00	0.000	2308	0.000	0.047	2997	3202	1581	1623	1539	0	0	0	0	0	0	14.97	14.71	14.98
1841	0.77	272.5	2997	3203	1622	1539	71.0	13.6	319	1848	0.00	2.40	0.00	0.000	3078	0.000	0.051	2999	1799	1581	1622	1540	0	0	0	0	0	0	14.83	14.73	14.85
1913	0.77	272.5	2998	1799	1622	1540	61.8	13.2	332	1920	0.00	2.45	0.00	0.000	2564	0.000	0.071	3003	385	1581	1622	1540	0	0	0	0	0	0	15.01	14.76	15.01
1978	0.77	272.5	3002	385	1622	1539	52.5	13.0	344	1985	0.00	2.35	0.00	0.000	1030	0.000	0.033	3003	1812	1580	1622	1539	0	0	0	0	0	0	14.91	14.84	14.93
2051	0.77	272.5	3002	1814	1622	1539	43.9	12.1	357	2057	0.00	2.33	0.00	0.000	2308	0.000	0.047	3003	3197	1580	1622	1539	0	0	0	0	0	0	15.05	14.73	15.05
2086	0.77	272.5	3003	3197	1622	1538	39.6	11.8	363	2092	0.00	2.38	0.00	0.000	1030	0.000	0.050	3004	1796	1579	1621	1538	0	0	0	0	0	0	14.82	14.72	14.85
2158	0.77	272.5	3003	1796	1622	1538	32.2	10.1	376	2165	0.00	2.42	0.00	0.000	516	0.000	0.070	3006	392	1580	1622	1538	0	0	0	0	0	0	15.06	14.80	15.06
2203	0.77	272.5	3006	392	1621	1538	27.2	10.3	384	2210	0.00	2.33	0.00	0.000	1030	0.000	0.032	3006	1809	1579	1621	1537	0	0	0	0	0	0	14.95	14.87	14.97
2275	0.77	272.5	3006	1812	1621	1538	20.0	10.3	397	2282	0.00	2.30	0.00	0.000	260	0.000	0.047	3005	3193	1579	1621	1537	0	0	0	0	0	0	15.07	14.75	15.08
2305	0.77	272.5	3006	3200	1621	1537	16.6	10.8	402	2311	0.00	2.35	0.00	0.000	1030	0.000	0.050	3007	1800	1579	1621	1537	0	0	0	0	0	0	14.84	14.77	14.85
2377	0.85	339.6	3007	1800	1621	1537	10.0	8.4	415	2428	0.00	2.53	45.47	0.856	10756	0.000	0.070	3008	391	1311	1364	1258	0	0	0	0	0	0	15.09	14.69	14.22
2441	end climb: SURFACE_DEPTH_REACHED
state	2441	begin surface coast
2447	end surface coast: CONTROL_FINISHED_OK
state	2447	begin surface