Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 196 * 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 196 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 36 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 35 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 36 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 35 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 196 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 300319,134355,-3002.2244,3104.1379,8,0.9,43,-25.1,0.5,10.1,8,4.2 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -2955.606,3054.284

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.85 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -68.5 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 300319,135257,-3002.1731,3104.1758,8,0.9,15,-25.1,0.9,27.2,8,9.2 MHEAD_RNG_PITCHd_Wd 332.6,20000,-23.0,-9.980,-25.43,1422

SPEED_LIMITS 0.173,0.210 D_GRID 500

Post-dive calculations and measurements:

FINISH 2.1,1.023504 _24V_AH 14.19,77.674

SM_CCo 3631,174.07,0.775,0,0,599,515.37 _10V_AH 13.95,0.000

SM_GC 0.86,14.27,2.33,174.07,0.093,0.031,0.775,124,1820,599,-8.18,-1.41,515.37,0,0,0,0,0,0,14.98,15.00,14.28 FG_AHR_24Vo 0.000

IRIDIUM_FIX -2952.53,3207.45,300319,122301 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.916776 MEM 340928

HUMID 42.04 DATA_FILE_SIZE 16738,664

INTERNAL_PRESSURE 9.53694 CAP_FILE_SIZE 124266,0

TCM_TEMP 22.10 CFSIZE 2097086464,2057535488

XPDR_PINGS 18 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

ALTIM_BOTTOM_PING 210.2,11.4 CURRENT 0.229,32.52,1

SC_FREEKB 3821312 GPS 300319,145801,-3001.562,3104.130,8,1.0,36,-25.0,0.0,30.0,8,5.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 348 154.07 nil 0 0 0.00

Roll_motor 69 71 70.64 nil 0 0 0.00

VBD_pump_during_apogee 241 997 3418.88 nil 0 0 0.00

VBD_pump_during_surface 174 774 1914.21 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 16 5.42 nil 0 0 0.00

Iridium_during_connect 18 160 41.88 SciCon 3675 34 1816.85

Iridium_during_xfer 277 223 878.41 nil 0 0 0.00

Transponder_ping 13 420 77.48 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 11 2.56

TT8 1541 9 206.62

LPSleep 570 2 17.43

TT8_Active 596 9 79.97

TT8_Sampling 1479 28 585.05

TT8_CF8 164 36 83.99

TT8_Kalman 0 0 0.00

Analog_circuits 1184 12 200.17

GPS_charging 0 0 0.00

Compass 1008 17 253.04

RAFOS 0 0 0.00

Transponder 57 30 23.86

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

21 -0.88 -92.5 61 1802 620 557 0.0 0.0 0 107 0.00 0.00 -83.97 0.000 16386 0.000 0.000 54 1803 2832 2804 2861 0 0 0 0 0 0 15.09 28.83 15.09

110 -0.88 -92.5 55 1803 2804 2861 3.2 -5.9 15 137 13.82 2.35 -4.47 0.000 18692 0.286 0.071 2459 3227 3079 3071 3087 0 0 0 0 0 0 14.73 14.19 14.95

249 -0.88 -92.5 2463 3228 3072 3086 35.8 -19.1 41 256 0.05 2.33 0.00 0.000 3078 0.322 0.044 2469 1813 3079 3073 3085 0 0 0 0 0 0 14.77 14.89 14.93

319 -0.88 -92.5 2469 1813 3073 3086 48.1 -19.0 54 327 0.00 2.35 0.00 0.000 2308 0.000 0.049 2460 3231 3078 3073 3084 0 0 0 0 0 0 15.17 14.90 15.17

344 -0.88 -92.5 2460 3231 3073 3086 53.0 -19.6 58 352 0.00 2.35 0.00 0.000 3078 0.000 0.046 2461 1810 3080 3075 3086 0 0 0 0 0 0 15.04 14.97 15.05

415 -0.88 -92.5 2460 1807 3070 3086 65.9 -18.3 71 422 0.05 2.35 0.00 0.000 2564 0.349 0.060 2472 398 3079 3074 3085 0 0 0 0 0 0 14.85 14.91 15.01

481 -0.88 -92.5 2470 398 3074 3085 76.6 -15.2 83 487 0.00 2.30 0.00 0.000 3078 0.000 0.035 2462 1824 3079 3074 3085 0 0 0 0 0 0 15.05 14.97 15.06

552 -0.88 -92.5 2462 1828 3075 3085 86.0 -14.3 96 559 0.00 2.28 0.00 0.000 2308 0.000 0.053 2452 3212 3079 3073 3085 0 0 0 0 0 0 15.21 14.99 15.20

728 -0.88 -92.5 2452 3213 3076 3085 110.1 -13.4 130 736 0.10 2.30 0.00 0.000 3078 0.234 0.044 2478 1805 3080 3076 3085 0 0 0 0 0 0 14.91 15.02 15.05

799 -0.88 -92.5 2472 1805 3076 3083 120.7 -15.0 143 805 0.00 0.00 0.00 0.000 2054 0.000 0.000 2472 1805 3080 3076 3084 0 0 0 0 0 0 15.22 15.22 15.22

867 -0.88 -92.5 2472 1802 3077 3084 129.8 -11.9 156 874 0.00 0.00 0.00 0.000 2054 0.000 0.000 2472 1802 3080 3077 3084 0 0 0 0 0 0 15.23 15.23 15.23

937 -0.88 -92.5 2471 1802 3077 3084 136.9 -8.1 169 944 0.00 2.33 0.00 0.000 2308 0.000 0.050 2464 3215 3080 3077 3084 0 0 0 0 0 0 15.22 15.02 15.22

986 -0.88 -92.5 2464 3215 3077 3084 141.7 -9.8 178 994 0.00 2.30 0.00 0.000 3078 0.000 0.042 2466 1813 3080 3077 3084 0 0 0 0 0 0 15.11 15.02 15.13

1058 -0.88 -92.5 2464 1813 3076 3084 149.9 -11.4 191 1066 0.00 2.33 0.00 0.000 2564 0.000 0.054 2464 401 3080 3077 3084 0 0 0 0 0 0 15.23 15.02 15.23

1210 -0.88 -92.5 2464 401 3077 3084 171.0 -14.2 220 1216 0.00 2.28 0.00 0.000 3078 0.000 0.034 2461 1815 3080 3077 3083 0 0 0 0 0 0 15.05 14.97 15.06

1280 -0.88 -92.5 2460 1819 3077 3083 179.1 -15.0 233 1286 0.00 0.00 0.00 0.000 2054 0.000 0.000 2457 1819 3080 3077 3083 0 0 0 0 0 0 15.23 15.23 15.24

1348 -0.88 -92.5 2460 1819 3077 3083 188.3 -13.8 246 1356 0.00 2.35 0.00 0.000 2564 0.000 0.057 2461 410 3080 3077 3083 0 0 0 0 0 0 15.23 15.02 15.23

1363 -0.88 -92.5 2460 409 3077 3082 190.5 -14.6 248 1370 0.08 2.28 0.00 0.000 3078 0.287 0.035 2470 1821 3080 3077 3083 0 0 0 0 0 0 14.91 15.04 15.07

1432 -0.88 -92.5 2466 1824 3072 3082 199.1 -11.7 261 1438 0.00 0.00 0.00 0.000 2054 0.000 0.000 2469 1824 3079 3077 3082 0 0 0 0 0 0 15.24 15.24 15.24

1506 -0.88 -92.5 2469 1825 3077 3077 210.2 -16.8 274 1512 0.00 0.00 0.00 0.000 2054 0.000 0.000 2469 1825 3079 3077 3082 0 0 0 0 0 0 15.24 15.25 15.25

1517 end dive: BOTTOM_OBSTACLE_DETECTED

state 1517 begin apogee

1522 -0.17 0.0 2469 1825 3077 3082 212.8 -14.3 276 1597 1.15 0.00 68.43 0.995 10246 0.166 0.000 2695 1825 2699 2716 2682 0 0 0 0 0 0 14.88 14.74 14.30

1599 end apogee: CONTROL_FINISHED_OK

state 1599 begin climb

1601 0.88 92.5 2697 1825 2716 2682 216.7 0.0 289 1683 1.52 0.00 73.80 0.998 10246 0.076 0.000 3032 1825 2322 2344 2300 0 0 0 0 0 0 14.75 14.51 14.19

1746 0.91 114.8 3032 1825 2341 2295 211.8 8.4 314 1771 0.00 2.35 18.67 0.929 10500 0.000 0.048 3032 3211 2230 2256 2205 0 0 0 0 0 0 14.96 14.71 14.26

1810 0.91 114.8 3032 3210 2253 2205 205.5 11.0 325 1816 0.00 2.35 0.00 0.000 3078 0.000 0.047 3033 1805 2228 2253 2204 0 0 0 0 0 0 14.87 14.78 14.88

1879 0.92 125.8 3033 1804 2252 2203 198.7 9.2 338 1892 0.00 0.00 10.05 0.844 10246 0.000 0.000 3033 1804 2186 2212 2160 0 0 0 0 0 0 15.04 14.80 14.33

1955 0.92 125.8 3033 1804 2210 2157 189.7 15.2 352 1961 0.00 0.00 0.00 0.000 2054 0.000 0.000 3033 1804 2183 2210 2157 0 0 0 0 0 0 15.06 15.07 15.06

2023 0.92 125.8 3033 1804 2209 2156 181.1 11.7 365 2028 0.00 0.00 0.00 0.000 2054 0.000 0.000 3033 1803 2182 2209 2155 0 0 0 0 0 0 15.11 15.12 15.11

2090 0.93 136.8 3033 1804 2208 2155 174.1 9.2 378 2105 0.00 2.42 9.32 0.828 10756 0.000 0.065 3033 394 2143 2171 2115 0 0 0 0 0 0 15.14 14.89 14.43

2132 0.94 139.2 3033 394 2167 2115 169.5 9.8 385 2139 0.00 2.30 0.00 0.000 3078 0.000 0.036 3033 1804 2141 2167 2115 0 0 0 0 0 0 14.98 14.94 14.99

2202 0.94 139.2 3033 1806 2167 2114 158.3 17.1 398 2209 0.00 0.00 0.00 0.000 2054 0.000 0.000 3033 1806 2140 2166 2114 0 0 0 0 0 0 15.14 15.14 15.14

2272 0.94 139.2 3032 1806 2167 2113 151.1 13.7 411 2278 0.00 2.40 0.00 0.000 2564 0.000 0.065 3040 394 2139 2166 2113 0 0 0 0 0 0 15.16 14.88 15.16

2396 0.94 139.2 3039 394 2164 2113 134.5 19.1 435 2402 0.00 2.28 0.00 0.000 3078 0.000 0.036 3041 1802 2138 2164 2113 0 0 0 0 0 0 15.08 15.00 15.09

2465 0.94 139.2 3040 1805 2164 2112 124.2 11.9 448 2472 0.00 2.30 0.00 0.000 2308 0.000 0.052 3040 3206 2138 2164 2112 0 0 0 0 0 0 15.19 14.99 15.19

2584 0.94 139.2 3039 3206 2163 2112 108.8 11.9 471 2591 0.00 2.33 0.00 0.000 3078 0.000 0.047 3040 1797 2137 2163 2111 0 0 0 0 0 0 15.09 15.00 15.11

2654 0.94 140.6 3040 1797 2163 2111 101.2 9.9 484 2666 0.00 2.40 4.22 0.569 10756 0.000 0.067 3040 391 2124 2151 2097 0 0 0 0 0 0 15.21 14.95 14.51

2674 0.94 140.6 3040 391 2151 2097 98.9 10.4 487 2680 0.00 2.30 0.00 0.000 3078 0.000 0.037 3040 1808 2124 2151 2098 0 0 0 0 0 0 15.09 15.01 15.10

2743 0.94 140.6 3039 1809 2151 2097 91.2 10.8 500 2750 0.00 2.30 0.00 0.000 2308 0.000 0.050 3040 3210 2124 2151 2097 0 0 0 0 0 0 15.20 14.97 15.21

3093 1.00 186.3 3040 3210 2149 2096 54.0 6.7 569 3136 0.08 2.35 35.62 0.850 11270 0.199 0.050 3075 1793 1942 1974 1910 0 0 0 0 0 0 14.95 14.99 14.52

3198 1.00 186.3 3075 1793 1970 1907 45.7 10.6 588 3204 0.00 0.00 0.00 0.000 6 0.000 0.000 3075 1794 1938 1970 1907 0 0 0 0 0 0 15.11 15.11 15.11

3266 1.00 186.3 3075 1794 1969 1906 37.1 13.1 601 3271 0.00 0.00 0.00 0.000 6 0.000 0.000 3075 1794 1937 1969 1905 0 0 0 0 0 0 15.13 15.13 15.14

3334 1.01 201.9 3075 1794 1969 1904 29.7 8.9 614 3353 0.00 2.42 13.45 0.767 10756 0.000 0.069 3078 395 1875 1908 1842 0 0 0 0 0 0 15.16 14.88 14.53

3441 1.01 201.9 3077 395 1902 1839 17.7 11.9 634 3449 0.00 2.28 0.00 0.000 3078 0.000 0.036 3077 1803 1870 1902 1838 0 0 0 0 0 0 14.98 14.91 14.99

3513 1.03 211.6 3077 1803 1902 1836 11.1 9.3 647 3519 0.00 0.00 4.88 0.669 10502 0.000 0.000 3077 1803 1836 1871 1801 0 0 0 0 0 0 15.16 14.96 14.47

3582 1.03 217.2 3077 1803 1870 1800 4.6 9.6 660 3595 0.00 2.42 3.08 0.457 10756 0.000 0.063 3084 398 1812 1849 1776 0 0 0 0 0 0 15.16 14.94 14.50

3601 end climb: SURFACE_DEPTH_REACHED

state 3601 begin surface coast

3606 end surface coast: CONTROL_FINISHED_OK

state 3606 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	196	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	36	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	35	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	300319,134355,-3002.2244,3104.1379,8,0.9,43,-25.1,0.5,10.1,8,4.2	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-2955.606,3054.284
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.85	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-68.5	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	300319,135257,-3002.1731,3104.1758,8,0.9,15,-25.1,0.9,27.2,8,9.2	MHEAD_RNG_PITCHd_Wd	332.6,20000,-23.0,-9.980,-25.43,1422
SPEED_LIMITS	0.173,0.210	D_GRID	500

FINISH	2.1,1.023504	_24V_AH	14.19,77.674
SM_CCo	3631,174.07,0.775,0,0,599,515.37	_10V_AH	13.95,0.000
SM_GC	0.86,14.27,2.33,174.07,0.093,0.031,0.775,124,1820,599,-8.18,-1.41,515.37,0,0,0,0,0,0,14.98,15.00,14.28	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-2952.53,3207.45,300319,122301	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.916776	MEM	340928
HUMID	42.04	DATA_FILE_SIZE	16738,664
INTERNAL_PRESSURE	9.53694	CAP_FILE_SIZE	124266,0
TCM_TEMP	22.10	CFSIZE	2097086464,2057535488
XPDR_PINGS	18	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	210.2,11.4	CURRENT	0.229,32.52,1
SC_FREEKB	3821312	GPS	300319,145801,-3001.562,3104.130,8,1.0,36,-25.0,0.0,30.0,8,5.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	348	154.07	nil	0	0	0.00
Roll_motor	69	71	70.64	nil	0	0	0.00
VBD_pump_during_apogee	241	997	3418.88	nil	0	0	0.00
VBD_pump_during_surface	174	774	1914.21	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	16	5.42	nil	0	0	0.00
Iridium_during_connect	18	160	41.88	SciCon	3675	34	1816.85
Iridium_during_xfer	277	223	878.41	nil	0	0	0.00
Transponder_ping	13	420	77.48	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	11	2.56
TT8	1541	9	206.62
LPSleep	570	2	17.43
TT8_Active	596	9	79.97
TT8_Sampling	1479	28	585.05
TT8_CF8	164	36	83.99
TT8_Kalman	0	0	0.00
Analog_circuits	1184	12	200.17
GPS_charging	0	0	0.00
Compass	1008	17	253.04
RAFOS	0	0	0.00
Transponder	57	30	23.86

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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
21	-0.88	-92.5	61	1802	620	557	0.0	0.0	0	107	0.00	0.00	-83.97	0.000	16386	0.000	0.000	54	1803	2832	2804	2861	0	0	0	0	0	0	15.09	28.83	15.09
110	-0.88	-92.5	55	1803	2804	2861	3.2	-5.9	15	137	13.82	2.35	-4.47	0.000	18692	0.286	0.071	2459	3227	3079	3071	3087	0	0	0	0	0	0	14.73	14.19	14.95
249	-0.88	-92.5	2463	3228	3072	3086	35.8	-19.1	41	256	0.05	2.33	0.00	0.000	3078	0.322	0.044	2469	1813	3079	3073	3085	0	0	0	0	0	0	14.77	14.89	14.93
319	-0.88	-92.5	2469	1813	3073	3086	48.1	-19.0	54	327	0.00	2.35	0.00	0.000	2308	0.000	0.049	2460	3231	3078	3073	3084	0	0	0	0	0	0	15.17	14.90	15.17
344	-0.88	-92.5	2460	3231	3073	3086	53.0	-19.6	58	352	0.00	2.35	0.00	0.000	3078	0.000	0.046	2461	1810	3080	3075	3086	0	0	0	0	0	0	15.04	14.97	15.05
415	-0.88	-92.5	2460	1807	3070	3086	65.9	-18.3	71	422	0.05	2.35	0.00	0.000	2564	0.349	0.060	2472	398	3079	3074	3085	0	0	0	0	0	0	14.85	14.91	15.01
481	-0.88	-92.5	2470	398	3074	3085	76.6	-15.2	83	487	0.00	2.30	0.00	0.000	3078	0.000	0.035	2462	1824	3079	3074	3085	0	0	0	0	0	0	15.05	14.97	15.06
552	-0.88	-92.5	2462	1828	3075	3085	86.0	-14.3	96	559	0.00	2.28	0.00	0.000	2308	0.000	0.053	2452	3212	3079	3073	3085	0	0	0	0	0	0	15.21	14.99	15.20
728	-0.88	-92.5	2452	3213	3076	3085	110.1	-13.4	130	736	0.10	2.30	0.00	0.000	3078	0.234	0.044	2478	1805	3080	3076	3085	0	0	0	0	0	0	14.91	15.02	15.05
799	-0.88	-92.5	2472	1805	3076	3083	120.7	-15.0	143	805	0.00	0.00	0.00	0.000	2054	0.000	0.000	2472	1805	3080	3076	3084	0	0	0	0	0	0	15.22	15.22	15.22
867	-0.88	-92.5	2472	1802	3077	3084	129.8	-11.9	156	874	0.00	0.00	0.00	0.000	2054	0.000	0.000	2472	1802	3080	3077	3084	0	0	0	0	0	0	15.23	15.23	15.23
937	-0.88	-92.5	2471	1802	3077	3084	136.9	-8.1	169	944	0.00	2.33	0.00	0.000	2308	0.000	0.050	2464	3215	3080	3077	3084	0	0	0	0	0	0	15.22	15.02	15.22
986	-0.88	-92.5	2464	3215	3077	3084	141.7	-9.8	178	994	0.00	2.30	0.00	0.000	3078	0.000	0.042	2466	1813	3080	3077	3084	0	0	0	0	0	0	15.11	15.02	15.13
1058	-0.88	-92.5	2464	1813	3076	3084	149.9	-11.4	191	1066	0.00	2.33	0.00	0.000	2564	0.000	0.054	2464	401	3080	3077	3084	0	0	0	0	0	0	15.23	15.02	15.23
1210	-0.88	-92.5	2464	401	3077	3084	171.0	-14.2	220	1216	0.00	2.28	0.00	0.000	3078	0.000	0.034	2461	1815	3080	3077	3083	0	0	0	0	0	0	15.05	14.97	15.06
1280	-0.88	-92.5	2460	1819	3077	3083	179.1	-15.0	233	1286	0.00	0.00	0.00	0.000	2054	0.000	0.000	2457	1819	3080	3077	3083	0	0	0	0	0	0	15.23	15.23	15.24
1348	-0.88	-92.5	2460	1819	3077	3083	188.3	-13.8	246	1356	0.00	2.35	0.00	0.000	2564	0.000	0.057	2461	410	3080	3077	3083	0	0	0	0	0	0	15.23	15.02	15.23
1363	-0.88	-92.5	2460	409	3077	3082	190.5	-14.6	248	1370	0.08	2.28	0.00	0.000	3078	0.287	0.035	2470	1821	3080	3077	3083	0	0	0	0	0	0	14.91	15.04	15.07
1432	-0.88	-92.5	2466	1824	3072	3082	199.1	-11.7	261	1438	0.00	0.00	0.00	0.000	2054	0.000	0.000	2469	1824	3079	3077	3082	0	0	0	0	0	0	15.24	15.24	15.24
1506	-0.88	-92.5	2469	1825	3077	3077	210.2	-16.8	274	1512	0.00	0.00	0.00	0.000	2054	0.000	0.000	2469	1825	3079	3077	3082	0	0	0	0	0	0	15.24	15.25	15.25
1517	end dive: BOTTOM_OBSTACLE_DETECTED
state	1517	begin apogee
1522	-0.17	0.0	2469	1825	3077	3082	212.8	-14.3	276	1597	1.15	0.00	68.43	0.995	10246	0.166	0.000	2695	1825	2699	2716	2682	0	0	0	0	0	0	14.88	14.74	14.30
1599	end apogee: CONTROL_FINISHED_OK
state	1599	begin climb
1601	0.88	92.5	2697	1825	2716	2682	216.7	0.0	289	1683	1.52	0.00	73.80	0.998	10246	0.076	0.000	3032	1825	2322	2344	2300	0	0	0	0	0	0	14.75	14.51	14.19
1746	0.91	114.8	3032	1825	2341	2295	211.8	8.4	314	1771	0.00	2.35	18.67	0.929	10500	0.000	0.048	3032	3211	2230	2256	2205	0	0	0	0	0	0	14.96	14.71	14.26
1810	0.91	114.8	3032	3210	2253	2205	205.5	11.0	325	1816	0.00	2.35	0.00	0.000	3078	0.000	0.047	3033	1805	2228	2253	2204	0	0	0	0	0	0	14.87	14.78	14.88
1879	0.92	125.8	3033	1804	2252	2203	198.7	9.2	338	1892	0.00	0.00	10.05	0.844	10246	0.000	0.000	3033	1804	2186	2212	2160	0	0	0	0	0	0	15.04	14.80	14.33
1955	0.92	125.8	3033	1804	2210	2157	189.7	15.2	352	1961	0.00	0.00	0.00	0.000	2054	0.000	0.000	3033	1804	2183	2210	2157	0	0	0	0	0	0	15.06	15.07	15.06
2023	0.92	125.8	3033	1804	2209	2156	181.1	11.7	365	2028	0.00	0.00	0.00	0.000	2054	0.000	0.000	3033	1803	2182	2209	2155	0	0	0	0	0	0	15.11	15.12	15.11
2090	0.93	136.8	3033	1804	2208	2155	174.1	9.2	378	2105	0.00	2.42	9.32	0.828	10756	0.000	0.065	3033	394	2143	2171	2115	0	0	0	0	0	0	15.14	14.89	14.43
2132	0.94	139.2	3033	394	2167	2115	169.5	9.8	385	2139	0.00	2.30	0.00	0.000	3078	0.000	0.036	3033	1804	2141	2167	2115	0	0	0	0	0	0	14.98	14.94	14.99
2202	0.94	139.2	3033	1806	2167	2114	158.3	17.1	398	2209	0.00	0.00	0.00	0.000	2054	0.000	0.000	3033	1806	2140	2166	2114	0	0	0	0	0	0	15.14	15.14	15.14
2272	0.94	139.2	3032	1806	2167	2113	151.1	13.7	411	2278	0.00	2.40	0.00	0.000	2564	0.000	0.065	3040	394	2139	2166	2113	0	0	0	0	0	0	15.16	14.88	15.16
2396	0.94	139.2	3039	394	2164	2113	134.5	19.1	435	2402	0.00	2.28	0.00	0.000	3078	0.000	0.036	3041	1802	2138	2164	2113	0	0	0	0	0	0	15.08	15.00	15.09
2465	0.94	139.2	3040	1805	2164	2112	124.2	11.9	448	2472	0.00	2.30	0.00	0.000	2308	0.000	0.052	3040	3206	2138	2164	2112	0	0	0	0	0	0	15.19	14.99	15.19
2584	0.94	139.2	3039	3206	2163	2112	108.8	11.9	471	2591	0.00	2.33	0.00	0.000	3078	0.000	0.047	3040	1797	2137	2163	2111	0	0	0	0	0	0	15.09	15.00	15.11
2654	0.94	140.6	3040	1797	2163	2111	101.2	9.9	484	2666	0.00	2.40	4.22	0.569	10756	0.000	0.067	3040	391	2124	2151	2097	0	0	0	0	0	0	15.21	14.95	14.51
2674	0.94	140.6	3040	391	2151	2097	98.9	10.4	487	2680	0.00	2.30	0.00	0.000	3078	0.000	0.037	3040	1808	2124	2151	2098	0	0	0	0	0	0	15.09	15.01	15.10
2743	0.94	140.6	3039	1809	2151	2097	91.2	10.8	500	2750	0.00	2.30	0.00	0.000	2308	0.000	0.050	3040	3210	2124	2151	2097	0	0	0	0	0	0	15.20	14.97	15.21
3093	1.00	186.3	3040	3210	2149	2096	54.0	6.7	569	3136	0.08	2.35	35.62	0.850	11270	0.199	0.050	3075	1793	1942	1974	1910	0	0	0	0	0	0	14.95	14.99	14.52
3198	1.00	186.3	3075	1793	1970	1907	45.7	10.6	588	3204	0.00	0.00	0.00	0.000	6	0.000	0.000	3075	1794	1938	1970	1907	0	0	0	0	0	0	15.11	15.11	15.11
3266	1.00	186.3	3075	1794	1969	1906	37.1	13.1	601	3271	0.00	0.00	0.00	0.000	6	0.000	0.000	3075	1794	1937	1969	1905	0	0	0	0	0	0	15.13	15.13	15.14
3334	1.01	201.9	3075	1794	1969	1904	29.7	8.9	614	3353	0.00	2.42	13.45	0.767	10756	0.000	0.069	3078	395	1875	1908	1842	0	0	0	0	0	0	15.16	14.88	14.53
3441	1.01	201.9	3077	395	1902	1839	17.7	11.9	634	3449	0.00	2.28	0.00	0.000	3078	0.000	0.036	3077	1803	1870	1902	1838	0	0	0	0	0	0	14.98	14.91	14.99
3513	1.03	211.6	3077	1803	1902	1836	11.1	9.3	647	3519	0.00	0.00	4.88	0.669	10502	0.000	0.000	3077	1803	1836	1871	1801	0	0	0	0	0	0	15.16	14.96	14.47
3582	1.03	217.2	3077	1803	1870	1800	4.6	9.6	660	3595	0.00	2.42	3.08	0.457	10756	0.000	0.063	3084	398	1812	1849	1776	0	0	0	0	0	0	15.16	14.94	14.50
3601	end climb: SURFACE_DEPTH_REACHED
state	3601	begin surface coast
3606	end surface coast: CONTROL_FINISHED_OK
state	3606	begin surface