Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 150 * 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 270 C_ROLL_CLIMB 1800 ALTIM_TOP_TURN_MARGIN 0

DIVE 150 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 29 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 52 ALTIM_PULSE 3

D_TGT 500 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 20 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 0 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 167 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_MISSION 182 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_ABORT 197 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 95 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 3 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 500 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 197

CALL_TRIES 5 HEADING 270 PROTOCOL 9 T_BOOST 0

CALL_WAIT 60 HEAD_ERRBAND 10 P_OVSHOOT 0.039999999 T_DIVE 167

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 182

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 95 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MINV_10V 10 R_PORT_OVSHOOT 29 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 52 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 150 NAV_MODE 3 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 20 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 0 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 270319,011044,-3007.8057,3100.1726,7,0.9,13,-25.1,0.0,290.4,9,9.8 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3005.490,3047.857

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.94 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -70.7 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 270319,011907,-3007.7766,3100.0557,7,0.9,13,-25.1,0.6,278.4,9,10.0 MHEAD_RNG_PITCHd_Wd 307.3,20000,-23.0,-9.980,-25.43,1422

SPEED_LIMITS 0.173,0.210 D_GRID 500

Post-dive calculations and measurements:

FINISH 0.5,1.023299 _24V_AH 14.01,67.306

SM_CCo 3338,125.15,0.771,0,0,600,515.37 _10V_AH 13.97,0.000

SM_GC 0.88,13.98,2.33,125.15,0.049,0.039,0.771,127,1809,600,-8.17,0.99,515.37,0,0,0,0,0,0,14.88,14.88,14.28 FG_AHR_24Vo 0.000

IRIDIUM_FIX -2955.02,3059.54,260319,235438 FG_AHR_10Vo 0.000

TT8_MAMPS 0.020972,0.949732 MEM 340928

HUMID 42.12 DATA_FILE_SIZE 16748,605

INTERNAL_PRESSURE 9.5467 CAP_FILE_SIZE 117532,0

TCM_TEMP 22.10 CFSIZE 2097086464,2066284544

XPDR_PINGS 20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

ALTIM_BOTTOM_PING 180.0,35.3 CURRENT 0.075,13.27,1

SC_FREEKB 3845088 GPS 270319,021815,-3007.544,3059.688,7,1.0,24,-25.1,0.0,298.6,9,10.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 376 162.94 nil 0 0 0.00

Roll_motor 78 71 78.44 nil 0 0 0.00

VBD_pump_during_apogee 291 993 4059.03 nil 0 0 0.00

VBD_pump_during_surface 125 771 1352.04 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 16 5.74 nil 0 0 0.00

Iridium_during_connect 16 160 36.29 SciCon 3375 35 1667.60

Iridium_during_xfer 264 223 825.53 nil 0 0 0.00

Transponder_ping 12 420 70.61 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 11 2.25

TT8 1376 9 184.74

LPSleep 508 2 15.55

TT8_Active 593 9 79.70

TT8_Sampling 1359 28 538.06

TT8_CF8 135 36 69.32

TT8_Kalman 0 0 0.00

Analog_circuits 1155 12 195.56

GPS_charging 0 0 0.00

Compass 915 17 229.95

RAFOS 0 0 0.00

Transponder 45 30 18.90

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

20 -0.88 -92.5 73 1811 620 558 0.0 0.0 0 107 0.00 0.00 -84.72 0.000 16386 0.000 0.000 68 1812 2901 2875 2928 0 0 0 0 0 0 15.08 28.83 15.08

111 -0.88 -92.5 68 1812 2876 2930 3.6 -8.0 15 137 13.75 2.33 -3.00 0.000 18948 0.289 0.066 2468 388 3079 3065 3094 0 0 0 0 0 0 14.73 14.01 14.95

144 -0.88 -92.5 2467 388 3066 3093 19.4 -46.0 20 151 0.05 2.33 0.00 0.000 3078 0.376 0.042 2468 1800 3080 3068 3093 0 0 0 0 0 0 14.72 14.88 14.90

214 -0.88 -92.5 2467 1804 3072 3087 39.5 -28.3 33 219 0.00 0.00 0.00 0.000 2054 0.000 0.000 2468 1804 3079 3072 3087 0 0 0 0 0 0 15.14 15.14 15.14

281 -0.88 -92.5 2466 1803 3074 3086 54.9 -17.7 46 289 0.00 2.33 0.00 0.000 2308 0.000 0.050 2459 3224 3079 3073 3086 0 0 0 0 0 0 15.17 14.96 15.17

321 -0.88 -92.5 2458 3223 3073 3084 60.9 -12.8 53 328 0.05 2.33 0.00 0.000 3078 0.324 0.042 2468 1804 3079 3073 3086 0 0 0 0 0 0 14.85 14.97 15.01

392 -0.88 -92.5 2469 1804 3074 3085 72.1 -18.0 66 399 0.00 0.00 0.00 0.000 2054 0.000 0.000 2469 1804 3079 3073 3085 0 0 0 0 0 0 15.19 15.19 15.19

462 -0.88 -92.5 2469 1804 3074 3086 84.4 -18.0 79 469 0.00 0.00 0.00 0.000 2054 0.000 0.000 2469 1804 3079 3073 3085 0 0 0 0 0 0 15.19 15.20 15.20

531 -0.88 -92.5 2469 1804 3074 3085 96.6 -16.1 92 538 0.00 2.33 0.00 0.000 2564 0.000 0.061 2469 406 3079 3074 3085 0 0 0 0 0 0 15.20 14.99 15.21

555 -0.88 -92.5 2469 407 3074 3085 100.1 -14.2 96 562 0.00 2.28 0.00 0.000 3078 0.000 0.035 2462 1825 3080 3075 3085 0 0 0 0 0 0 15.07 15.00 15.08

625 -0.88 -92.5 2461 1828 3075 3085 111.5 -16.9 109 631 0.00 2.25 0.00 0.000 2308 0.000 0.050 2451 3212 3080 3075 3085 0 0 0 0 0 0 15.21 14.96 15.21

653 -0.88 -92.5 2450 3212 3075 3085 116.7 -17.7 114 662 0.10 2.28 0.00 0.000 3078 0.239 0.044 2471 1812 3080 3075 3085 0 0 0 0 0 0 14.92 15.02 15.06

725 -0.88 -92.5 2470 1812 3076 3085 128.5 -16.4 127 731 0.00 2.30 0.00 0.000 2308 0.000 0.050 2463 3213 3080 3076 3085 0 0 0 0 0 0 15.22 14.99 15.22

799 -0.88 -92.5 2462 3213 3076 3085 139.7 -13.4 141 808 0.00 2.30 0.00 0.000 3078 0.000 0.044 2463 1803 3080 3076 3085 0 0 0 0 0 0 15.06 14.97 15.07

871 -0.88 -92.5 2462 1803 3076 3085 149.8 -14.0 154 879 0.00 2.33 0.00 0.000 2308 0.000 0.050 2454 3212 3080 3076 3085 0 0 0 0 0 0 15.23 15.02 15.23

912 -0.88 -92.5 2454 3213 3076 3085 155.6 -14.3 161 919 0.08 2.30 0.00 0.000 3078 0.265 0.044 2469 1806 3080 3076 3084 0 0 0 0 0 0 14.92 15.03 15.07

982 -0.88 -92.5 2469 1805 3076 3085 165.8 -15.2 174 988 0.00 0.00 0.00 0.000 2054 0.000 0.000 2469 1805 3080 3076 3085 0 0 0 0 0 0 15.23 15.23 15.23

1054 -0.88 -92.5 2469 1805 3076 3084 175.2 -14.1 187 1060 0.00 2.33 0.00 0.000 2308 0.000 0.050 2463 3215 3080 3076 3084 0 0 0 0 0 0 15.24 14.97 15.24

1111 -0.88 -92.5 2463 3216 3076 3085 183.5 -13.5 197 1117 0.00 2.30 0.00 0.000 3078 0.000 0.045 2463 1813 3079 3074 3085 0 0 0 0 0 0 15.12 15.03 15.13

1180 -0.88 -92.5 2463 1813 3076 3084 193.4 -14.6 210 1187 0.00 2.35 0.00 0.000 2564 0.000 0.061 2462 405 3080 3076 3084 0 0 0 0 0 0 15.23 14.97 15.24

1194 -0.88 -92.5 2463 405 3076 3084 195.7 -15.0 212 1200 0.00 2.28 0.00 0.000 3078 0.000 0.037 2461 1814 3080 3076 3084 0 0 0 0 0 0 15.07 15.00 15.08

1262 end dive: BOTTOM_OBSTACLE_DETECTED

state 1263 begin apogee

1267 -0.17 0.0 2461 1817 3076 3084 205.7 -14.1 225 1342 1.20 0.00 67.93 0.985 10246 0.167 0.000 2698 1818 2699 2716 2683 0 0 0 0 0 0 14.92 14.77 14.33

1344 end apogee: CONTROL_FINISHED_OK

state 1344 begin climb

1346 0.88 92.5 2698 1818 2716 2683 209.1 0.0 238 1429 1.50 2.45 73.30 0.994 10756 0.070 0.061 3029 396 2321 2343 2300 0 0 0 0 0 0 14.76 14.52 14.19

1486 0.88 92.5 3033 396 2340 2297 201.6 10.1 262 1493 0.00 2.30 0.00 0.000 3078 0.000 0.034 3033 1810 2317 2339 2296 0 0 0 0 0 0 14.85 14.78 14.85

1556 0.88 92.5 3033 1811 2339 2294 194.8 10.3 275 1563 0.00 2.28 0.00 0.000 2308 0.000 0.048 3033 3197 2316 2338 2294 0 0 0 0 0 0 15.03 14.78 15.03

1631 0.88 92.6 3033 3196 2336 2293 187.8 10.0 289 1637 0.00 2.33 0.00 0.000 3078 0.000 0.047 3037 1792 2315 2336 2294 0 0 0 0 0 0 14.92 14.85 14.94

1701 0.91 112.9 3037 1791 2335 2293 181.7 8.5 302 1720 0.00 0.00 16.62 0.907 10246 0.000 0.000 3037 1792 2240 2264 2216 0 0 0 0 0 0 15.12 14.87 14.42

1782 0.91 112.9 3037 1792 2262 2214 172.7 11.9 317 1787 0.00 0.00 0.00 0.000 2054 0.000 0.000 3037 1792 2237 2262 2213 0 0 0 0 0 0 15.09 15.09 15.09

1849 0.91 112.9 3037 1792 2268 2212 165.1 11.4 330 1855 0.00 0.00 0.00 0.000 2054 0.000 0.000 3037 1792 2236 2261 2212 0 0 0 0 0 0 15.12 15.13 15.13

1917 0.91 112.9 3037 1792 2260 2211 157.0 11.6 343 1925 0.00 2.35 0.00 0.000 2308 0.000 0.048 3037 3204 2235 2259 2211 0 0 0 0 0 0 15.15 14.97 15.16

2148 0.91 112.9 3037 3204 2257 2211 130.0 10.3 388 2154 0.00 2.33 0.00 0.000 3078 0.000 0.047 3040 1795 2233 2256 2211 0 0 0 0 0 0 15.07 14.97 15.09

2217 0.91 112.9 3039 1794 2257 2210 122.9 10.7 401 2222 0.00 0.00 0.00 0.000 2054 0.000 0.000 3040 1795 2233 2256 2210 0 0 0 0 0 0 15.21 15.21 15.21

2284 0.91 112.9 3039 1795 2257 2210 115.5 11.3 414 2291 0.00 2.35 0.00 0.000 2564 0.000 0.068 3040 399 2233 2256 2210 0 0 0 0 0 0 15.21 14.99 15.21

2353 0.91 112.9 3039 399 2255 2210 107.6 11.5 427 2361 0.00 2.25 0.00 0.000 3078 0.000 0.035 3039 1807 2232 2254 2210 0 0 0 0 0 0 15.11 15.02 15.12

2424 0.91 112.9 3039 1807 2255 2210 100.2 10.6 440 2431 0.00 2.25 0.00 0.000 2308 0.000 0.050 3040 3190 2232 2255 2210 0 0 0 0 0 0 15.21 15.02 15.22

2573 0.92 123.3 3039 3190 2253 2209 84.7 9.2 469 2586 0.00 2.30 8.45 0.765 11270 0.000 0.051 3040 1802 2197 2222 2173 0 0 0 0 0 0 15.11 15.00 14.50

2649 1.01 195.7 3040 1802 2221 2172 80.1 4.7 483 2714 0.08 2.40 56.50 0.881 10756 0.208 0.068 3074 388 1901 1935 1868 0 0 0 0 0 0 14.91 14.72 14.33

2832 1.01 195.7 3073 388 1926 1866 58.5 17.2 517 2839 0.00 2.28 0.00 0.000 3078 0.000 0.036 3074 1786 1895 1926 1865 0 0 0 0 0 0 14.96 14.89 14.97

2902 1.01 195.7 3073 1789 1926 1862 47.0 16.9 530 2908 0.00 2.33 0.00 0.000 2308 0.000 0.048 3074 3210 1893 1926 1861 0 0 0 0 0 0 15.12 14.88 15.13

2960 1.01 195.7 3073 3210 1924 1861 38.6 13.2 541 2966 0.00 2.35 0.00 0.000 3078 0.000 0.049 3077 1800 1892 1924 1861 0 0 0 0 0 0 15.04 14.95 15.05

3029 1.02 205.2 3077 1801 1924 1860 31.5 9.3 554 3042 0.00 0.00 6.45 0.654 10246 0.000 0.000 3077 1802 1865 1898 1833 0 0 0 0 0 0 15.16 14.83 14.45

3105 1.05 228.7 3077 1800 1898 1834 25.3 8.3 568 3130 0.00 2.38 15.55 0.939 10756 0.000 0.071 3077 395 1766 1800 1732 0 0 0 0 0 0 15.15 14.83 14.45

3142 1.14 301.8 3077 395 1803 1732 22.9 4.7 574 3196 0.12 2.30 46.75 0.935 11270 0.142 0.035 3119 1820 1468 1508 1429 0 0 0 0 0 0 14.88 14.90 14.32

3258 1.14 301.8 3119 1820 1507 1425 8.3 13.8 595 3266 0.00 2.28 0.00 0.000 2308 0.000 0.049 3119 3190 1466 1508 1424 0 0 0 0 0 0 15.02 14.82 15.02

3296 end climb: SURFACE_DEPTH_REACHED

state 3296 begin surface coast

3313 end surface coast: CONTROL_FINISHED_OK

state 3313 begin surface

ID	574	HD_C	9.8500004e-06	C_ROLL_DIVE	1812	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	3	HEADING	270	C_ROLL_CLIMB	1800	ALTIM_TOP_TURN_MARGIN	0
DIVE	150	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	29	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	52	ALTIM_PULSE	3
D_TGT	500	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	20	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	0	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	167	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_MISSION	182	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_ABORT	197	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	95	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	3	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	270319,011044,-3007.8057,3100.1726,7,0.9,13,-25.1,0.0,290.4,9,9.8	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3005.490,3047.857
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.94	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-70.7	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	270319,011907,-3007.7766,3100.0557,7,0.9,13,-25.1,0.6,278.4,9,10.0	MHEAD_RNG_PITCHd_Wd	307.3,20000,-23.0,-9.980,-25.43,1422
SPEED_LIMITS	0.173,0.210	D_GRID	500

FINISH	0.5,1.023299	_24V_AH	14.01,67.306
SM_CCo	3338,125.15,0.771,0,0,600,515.37	_10V_AH	13.97,0.000
SM_GC	0.88,13.98,2.33,125.15,0.049,0.039,0.771,127,1809,600,-8.17,0.99,515.37,0,0,0,0,0,0,14.88,14.88,14.28	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-2955.02,3059.54,260319,235438	FG_AHR_10Vo	0.000
TT8_MAMPS	0.020972,0.949732	MEM	340928
HUMID	42.12	DATA_FILE_SIZE	16748,605
INTERNAL_PRESSURE	9.5467	CAP_FILE_SIZE	117532,0
TCM_TEMP	22.10	CFSIZE	2097086464,2066284544
XPDR_PINGS	20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	180.0,35.3	CURRENT	0.075,13.27,1
SC_FREEKB	3845088	GPS	270319,021815,-3007.544,3059.688,7,1.0,24,-25.1,0.0,298.6,9,10.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	376	162.94	nil	0	0	0.00
Roll_motor	78	71	78.44	nil	0	0	0.00
VBD_pump_during_apogee	291	993	4059.03	nil	0	0	0.00
VBD_pump_during_surface	125	771	1352.04	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	16	5.74	nil	0	0	0.00
Iridium_during_connect	16	160	36.29	SciCon	3375	35	1667.60
Iridium_during_xfer	264	223	825.53	nil	0	0	0.00
Transponder_ping	12	420	70.61	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	11	2.25
TT8	1376	9	184.74
LPSleep	508	2	15.55
TT8_Active	593	9	79.70
TT8_Sampling	1359	28	538.06
TT8_CF8	135	36	69.32
TT8_Kalman	0	0	0.00
Analog_circuits	1155	12	195.56
GPS_charging	0	0	0.00
Compass	915	17	229.95
RAFOS	0	0	0.00
Transponder	45	30	18.90

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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
20	-0.88	-92.5	73	1811	620	558	0.0	0.0	0	107	0.00	0.00	-84.72	0.000	16386	0.000	0.000	68	1812	2901	2875	2928	0	0	0	0	0	0	15.08	28.83	15.08
111	-0.88	-92.5	68	1812	2876	2930	3.6	-8.0	15	137	13.75	2.33	-3.00	0.000	18948	0.289	0.066	2468	388	3079	3065	3094	0	0	0	0	0	0	14.73	14.01	14.95
144	-0.88	-92.5	2467	388	3066	3093	19.4	-46.0	20	151	0.05	2.33	0.00	0.000	3078	0.376	0.042	2468	1800	3080	3068	3093	0	0	0	0	0	0	14.72	14.88	14.90
214	-0.88	-92.5	2467	1804	3072	3087	39.5	-28.3	33	219	0.00	0.00	0.00	0.000	2054	0.000	0.000	2468	1804	3079	3072	3087	0	0	0	0	0	0	15.14	15.14	15.14
281	-0.88	-92.5	2466	1803	3074	3086	54.9	-17.7	46	289	0.00	2.33	0.00	0.000	2308	0.000	0.050	2459	3224	3079	3073	3086	0	0	0	0	0	0	15.17	14.96	15.17
321	-0.88	-92.5	2458	3223	3073	3084	60.9	-12.8	53	328	0.05	2.33	0.00	0.000	3078	0.324	0.042	2468	1804	3079	3073	3086	0	0	0	0	0	0	14.85	14.97	15.01
392	-0.88	-92.5	2469	1804	3074	3085	72.1	-18.0	66	399	0.00	0.00	0.00	0.000	2054	0.000	0.000	2469	1804	3079	3073	3085	0	0	0	0	0	0	15.19	15.19	15.19
462	-0.88	-92.5	2469	1804	3074	3086	84.4	-18.0	79	469	0.00	0.00	0.00	0.000	2054	0.000	0.000	2469	1804	3079	3073	3085	0	0	0	0	0	0	15.19	15.20	15.20
531	-0.88	-92.5	2469	1804	3074	3085	96.6	-16.1	92	538	0.00	2.33	0.00	0.000	2564	0.000	0.061	2469	406	3079	3074	3085	0	0	0	0	0	0	15.20	14.99	15.21
555	-0.88	-92.5	2469	407	3074	3085	100.1	-14.2	96	562	0.00	2.28	0.00	0.000	3078	0.000	0.035	2462	1825	3080	3075	3085	0	0	0	0	0	0	15.07	15.00	15.08
625	-0.88	-92.5	2461	1828	3075	3085	111.5	-16.9	109	631	0.00	2.25	0.00	0.000	2308	0.000	0.050	2451	3212	3080	3075	3085	0	0	0	0	0	0	15.21	14.96	15.21
653	-0.88	-92.5	2450	3212	3075	3085	116.7	-17.7	114	662	0.10	2.28	0.00	0.000	3078	0.239	0.044	2471	1812	3080	3075	3085	0	0	0	0	0	0	14.92	15.02	15.06
725	-0.88	-92.5	2470	1812	3076	3085	128.5	-16.4	127	731	0.00	2.30	0.00	0.000	2308	0.000	0.050	2463	3213	3080	3076	3085	0	0	0	0	0	0	15.22	14.99	15.22
799	-0.88	-92.5	2462	3213	3076	3085	139.7	-13.4	141	808	0.00	2.30	0.00	0.000	3078	0.000	0.044	2463	1803	3080	3076	3085	0	0	0	0	0	0	15.06	14.97	15.07
871	-0.88	-92.5	2462	1803	3076	3085	149.8	-14.0	154	879	0.00	2.33	0.00	0.000	2308	0.000	0.050	2454	3212	3080	3076	3085	0	0	0	0	0	0	15.23	15.02	15.23
912	-0.88	-92.5	2454	3213	3076	3085	155.6	-14.3	161	919	0.08	2.30	0.00	0.000	3078	0.265	0.044	2469	1806	3080	3076	3084	0	0	0	0	0	0	14.92	15.03	15.07
982	-0.88	-92.5	2469	1805	3076	3085	165.8	-15.2	174	988	0.00	0.00	0.00	0.000	2054	0.000	0.000	2469	1805	3080	3076	3085	0	0	0	0	0	0	15.23	15.23	15.23
1054	-0.88	-92.5	2469	1805	3076	3084	175.2	-14.1	187	1060	0.00	2.33	0.00	0.000	2308	0.000	0.050	2463	3215	3080	3076	3084	0	0	0	0	0	0	15.24	14.97	15.24
1111	-0.88	-92.5	2463	3216	3076	3085	183.5	-13.5	197	1117	0.00	2.30	0.00	0.000	3078	0.000	0.045	2463	1813	3079	3074	3085	0	0	0	0	0	0	15.12	15.03	15.13
1180	-0.88	-92.5	2463	1813	3076	3084	193.4	-14.6	210	1187	0.00	2.35	0.00	0.000	2564	0.000	0.061	2462	405	3080	3076	3084	0	0	0	0	0	0	15.23	14.97	15.24
1194	-0.88	-92.5	2463	405	3076	3084	195.7	-15.0	212	1200	0.00	2.28	0.00	0.000	3078	0.000	0.037	2461	1814	3080	3076	3084	0	0	0	0	0	0	15.07	15.00	15.08
1262	end dive: BOTTOM_OBSTACLE_DETECTED
state	1263	begin apogee
1267	-0.17	0.0	2461	1817	3076	3084	205.7	-14.1	225	1342	1.20	0.00	67.93	0.985	10246	0.167	0.000	2698	1818	2699	2716	2683	0	0	0	0	0	0	14.92	14.77	14.33
1344	end apogee: CONTROL_FINISHED_OK
state	1344	begin climb
1346	0.88	92.5	2698	1818	2716	2683	209.1	0.0	238	1429	1.50	2.45	73.30	0.994	10756	0.070	0.061	3029	396	2321	2343	2300	0	0	0	0	0	0	14.76	14.52	14.19
1486	0.88	92.5	3033	396	2340	2297	201.6	10.1	262	1493	0.00	2.30	0.00	0.000	3078	0.000	0.034	3033	1810	2317	2339	2296	0	0	0	0	0	0	14.85	14.78	14.85
1556	0.88	92.5	3033	1811	2339	2294	194.8	10.3	275	1563	0.00	2.28	0.00	0.000	2308	0.000	0.048	3033	3197	2316	2338	2294	0	0	0	0	0	0	15.03	14.78	15.03
1631	0.88	92.6	3033	3196	2336	2293	187.8	10.0	289	1637	0.00	2.33	0.00	0.000	3078	0.000	0.047	3037	1792	2315	2336	2294	0	0	0	0	0	0	14.92	14.85	14.94
1701	0.91	112.9	3037	1791	2335	2293	181.7	8.5	302	1720	0.00	0.00	16.62	0.907	10246	0.000	0.000	3037	1792	2240	2264	2216	0	0	0	0	0	0	15.12	14.87	14.42
1782	0.91	112.9	3037	1792	2262	2214	172.7	11.9	317	1787	0.00	0.00	0.00	0.000	2054	0.000	0.000	3037	1792	2237	2262	2213	0	0	0	0	0	0	15.09	15.09	15.09
1849	0.91	112.9	3037	1792	2268	2212	165.1	11.4	330	1855	0.00	0.00	0.00	0.000	2054	0.000	0.000	3037	1792	2236	2261	2212	0	0	0	0	0	0	15.12	15.13	15.13
1917	0.91	112.9	3037	1792	2260	2211	157.0	11.6	343	1925	0.00	2.35	0.00	0.000	2308	0.000	0.048	3037	3204	2235	2259	2211	0	0	0	0	0	0	15.15	14.97	15.16
2148	0.91	112.9	3037	3204	2257	2211	130.0	10.3	388	2154	0.00	2.33	0.00	0.000	3078	0.000	0.047	3040	1795	2233	2256	2211	0	0	0	0	0	0	15.07	14.97	15.09
2217	0.91	112.9	3039	1794	2257	2210	122.9	10.7	401	2222	0.00	0.00	0.00	0.000	2054	0.000	0.000	3040	1795	2233	2256	2210	0	0	0	0	0	0	15.21	15.21	15.21
2284	0.91	112.9	3039	1795	2257	2210	115.5	11.3	414	2291	0.00	2.35	0.00	0.000	2564	0.000	0.068	3040	399	2233	2256	2210	0	0	0	0	0	0	15.21	14.99	15.21
2353	0.91	112.9	3039	399	2255	2210	107.6	11.5	427	2361	0.00	2.25	0.00	0.000	3078	0.000	0.035	3039	1807	2232	2254	2210	0	0	0	0	0	0	15.11	15.02	15.12
2424	0.91	112.9	3039	1807	2255	2210	100.2	10.6	440	2431	0.00	2.25	0.00	0.000	2308	0.000	0.050	3040	3190	2232	2255	2210	0	0	0	0	0	0	15.21	15.02	15.22
2573	0.92	123.3	3039	3190	2253	2209	84.7	9.2	469	2586	0.00	2.30	8.45	0.765	11270	0.000	0.051	3040	1802	2197	2222	2173	0	0	0	0	0	0	15.11	15.00	14.50
2649	1.01	195.7	3040	1802	2221	2172	80.1	4.7	483	2714	0.08	2.40	56.50	0.881	10756	0.208	0.068	3074	388	1901	1935	1868	0	0	0	0	0	0	14.91	14.72	14.33
2832	1.01	195.7	3073	388	1926	1866	58.5	17.2	517	2839	0.00	2.28	0.00	0.000	3078	0.000	0.036	3074	1786	1895	1926	1865	0	0	0	0	0	0	14.96	14.89	14.97
2902	1.01	195.7	3073	1789	1926	1862	47.0	16.9	530	2908	0.00	2.33	0.00	0.000	2308	0.000	0.048	3074	3210	1893	1926	1861	0	0	0	0	0	0	15.12	14.88	15.13
2960	1.01	195.7	3073	3210	1924	1861	38.6	13.2	541	2966	0.00	2.35	0.00	0.000	3078	0.000	0.049	3077	1800	1892	1924	1861	0	0	0	0	0	0	15.04	14.95	15.05
3029	1.02	205.2	3077	1801	1924	1860	31.5	9.3	554	3042	0.00	0.00	6.45	0.654	10246	0.000	0.000	3077	1802	1865	1898	1833	0	0	0	0	0	0	15.16	14.83	14.45
3105	1.05	228.7	3077	1800	1898	1834	25.3	8.3	568	3130	0.00	2.38	15.55	0.939	10756	0.000	0.071	3077	395	1766	1800	1732	0	0	0	0	0	0	15.15	14.83	14.45
3142	1.14	301.8	3077	395	1803	1732	22.9	4.7	574	3196	0.12	2.30	46.75	0.935	11270	0.142	0.035	3119	1820	1468	1508	1429	0	0	0	0	0	0	14.88	14.90	14.32
3258	1.14	301.8	3119	1820	1507	1425	8.3	13.8	595	3266	0.00	2.28	0.00	0.000	2308	0.000	0.049	3119	3190	1466	1508	1424	0	0	0	0	0	0	15.02	14.82	15.02
3296	end climb: SURFACE_DEPTH_REACHED
state	3296	begin surface coast
3313	end surface coast: CONTROL_FINISHED_OK
state	3313	begin surface