Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 197 * 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 197 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 50

STOP_T 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

D_SURF 3 TGT_DEFAULT_LAT 4743.3999 R_PORT_OVSHOOT 35 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 54 ALTIM_PULSE 3

D_TGT 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 35 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 54 VBD_MAX 3960

DEVICE5 -1 MISSION 3 SC_PROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MIN 600

DIVE 197 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 300319,145801,-3001.5615,3104.1304,8,1.0,36,-25.0,0.0,30.0,8,5.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -2955.700,3053.637

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.87 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -69.6 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 300319,150652,-3001.5059,3104.1438,7,1.0,20,-25.0,0.0,321.1,8,9.5 MHEAD_RNG_PITCHd_Wd 327.5,20000,-23.0,-9.980,-25.43,1422

SPEED_LIMITS 0.173,0.210 D_GRID 500

Post-dive calculations and measurements:

FINISH 0.0,1.023548 _24V_AH 14.18,77.857

SM_CCo 3495,174.55,0.770,0,0,598,515.37 _10V_AH 13.96,0.000

SM_GC 0.87,13.65,0.00,174.55,0.047,0.000,0.770,123,1802,598,-8.18,-0.28,515.37,0,0,0,0,0,0,15.00,15.20,14.28 FG_AHR_24Vo 0.000

IRIDIUM_FIX -2950.05,3104.65,300319,134708 FG_AHR_10Vo 0.000

TT8_MAMPS 0.020972,0.602196 MEM 340864

HUMID 42.00 DATA_FILE_SIZE 16728,639

INTERNAL_PRESSURE 9.5467 CAP_FILE_SIZE 120031,0

TCM_TEMP 22.30 CFSIZE 2097086464,2057338880

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

ALTIM_BOTTOM_PING 185.5,33.3 CURRENT 0.143,45.56,1

SC_FREEKB 3820800 GPS 300319,160931,-3001.082,3104.044,8,0.9,27,-25.0,0.3,145.6,9,5.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 286 123.77 nil 0 0 0.00

Roll_motor 78 68 76.86 nil 0 0 0.00

VBD_pump_during_apogee 239 989 3360.65 nil 0 0 0.00

VBD_pump_during_surface 174 769 1904.83 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 16 6.13 nil 0 0 0.00

Iridium_during_connect 22 160 49.99 SciCon 3534 34 1749.92

Iridium_during_xfer 266 223 843.06 nil 0 0 0.00

Transponder_ping 11 420 69.98 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 11 3.41

TT8 1478 9 198.39

LPSleep 545 2 16.66

TT8_Active 593 9 79.64

TT8_Sampling 1428 28 565.28

TT8_CF8 162 36 82.91

TT8_Kalman 0 0 0.00

Analog_circuits 1163 12 196.74

GPS_charging 0 0 0.00

Compass 969 17 243.47

RAFOS 0 0 0.00

Transponder 46 30 19.53

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

22 -0.88 -92.5 61 1834 621 556 0.0 0.0 0 110 0.00 0.00 -85.82 0.000 16386 0.000 0.000 53 1834 2904 2874 2935 0 0 0 0 0 0 15.09 28.83 15.11

113 -0.88 -92.5 53 1834 2874 2934 3.8 -9.4 15 139 13.77 2.28 -3.00 0.000 18692 0.285 0.069 2457 3213 3074 3062 3086 0 0 0 0 0 0 14.71 14.21 14.90

256 -0.88 -92.5 2456 3213 3065 3084 37.1 -18.6 42 264 0.08 2.33 0.00 0.000 3078 0.275 0.044 2471 1801 3075 3067 3083 0 0 0 0 0 0 14.83 14.93 14.97

328 -0.88 -92.5 2471 1802 3067 3082 49.6 -18.5 55 335 0.00 0.00 0.00 0.000 2054 0.000 0.000 2471 1801 3074 3066 3082 0 0 0 0 0 0 15.18 15.19 15.18

397 -0.88 -92.5 2471 1802 3067 3082 63.3 -20.5 68 404 0.00 2.35 0.00 0.000 2564 0.000 0.063 2471 403 3074 3067 3081 0 0 0 0 0 0 15.19 14.97 15.19

481 -0.88 -92.5 2471 402 3068 3081 78.8 -14.2 84 488 0.00 2.28 0.00 0.000 3078 0.000 0.035 2463 1806 3074 3068 3081 0 0 0 0 0 0 15.03 14.96 15.04

551 -0.88 -92.5 2463 1809 3069 3081 88.3 -15.1 97 557 0.00 2.30 0.00 0.000 2308 0.000 0.052 2453 3212 3074 3069 3080 0 0 0 0 0 0 15.21 14.97 15.21

721 -0.88 -92.5 2453 3212 3069 3080 115.7 -17.9 130 729 0.10 2.30 0.00 0.000 3078 0.236 0.044 2473 1811 3074 3069 3080 0 0 0 0 0 0 14.90 14.99 15.04

792 -0.88 -92.5 2472 1811 3070 3080 128.0 -17.3 143 799 0.00 2.35 0.00 0.000 2308 0.000 0.054 2472 3218 3075 3070 3080 0 0 0 0 0 0 15.23 15.02 15.27

862 -0.88 -92.5 2473 3218 3070 3080 139.0 -14.3 156 872 0.00 2.30 0.00 0.000 3078 0.000 0.040 2473 1805 3075 3070 3080 0 0 0 0 0 0 15.11 15.03 15.13

936 -0.88 -92.5 2472 1805 3070 3080 150.7 -17.4 169 942 0.00 0.00 0.00 0.000 2054 0.000 0.000 2473 1805 3075 3070 3080 0 0 0 0 0 0 15.23 15.23 15.23

1005 -0.88 -92.5 2473 1804 3069 3079 161.5 -16.2 182 1012 0.00 2.35 0.00 0.000 2308 0.000 0.057 2464 3218 3075 3070 3080 0 0 0 0 0 0 15.23 15.02 15.23

1044 -0.88 -92.5 2468 3218 3068 3080 167.8 -16.8 189 1051 0.00 2.30 0.00 0.000 3078 0.000 0.045 2464 1814 3075 3070 3080 0 0 0 0 0 0 15.12 15.03 15.13

1114 -0.88 -92.5 2464 1813 3070 3080 178.6 -14.9 202 1121 0.00 2.35 0.00 0.000 2564 0.000 0.060 2464 402 3075 3070 3080 0 0 0 0 0 0 15.24 15.01 15.23

1145 -0.88 -92.5 2463 402 3070 3080 183.5 -16.3 207 1152 0.08 2.28 0.00 0.000 3078 0.287 0.034 2470 1824 3075 3070 3080 0 0 0 0 0 0 14.85 14.99 15.00

1217 -0.88 -92.5 2470 1827 3070 3080 194.2 -17.0 220 1224 0.00 2.38 0.00 0.000 2564 0.000 0.057 2471 404 3075 3070 3080 0 0 0 0 0 0 15.24 15.02 15.24

1240 -0.88 -92.5 2470 404 3070 3080 198.1 -16.9 224 1247 0.00 2.25 0.00 0.000 3078 0.000 0.035 2463 1807 3075 3070 3080 0 0 0 0 0 0 15.05 14.98 15.05

1309 end dive: BOTTOM_OBSTACLE_DETECTED

state 1309 begin apogee

1313 -0.17 0.0 2463 1810 3070 3080 209.4 -15.4 237 1388 1.17 0.00 67.12 0.986 10246 0.163 0.000 2700 1811 2699 2715 2683 0 0 0 0 0 0 14.92 14.74 14.28

1390 end apogee: CONTROL_FINISHED_OK

state 1391 begin climb

1392 0.88 92.5 2696 1810 2715 2682 213.1 0.0 250 1477 1.52 2.45 73.60 0.989 10756 0.081 0.061 3030 393 2320 2342 2299 0 0 0 0 0 0 14.76 14.53 14.18

1589 0.91 116.0 3030 392 2337 2292 202.6 8.3 285 1614 0.00 2.30 19.33 0.919 11270 0.000 0.034 3030 1807 2226 2251 2202 0 0 0 0 0 0 14.90 14.82 14.28

1676 0.91 116.0 3030 1807 2249 2198 194.8 11.0 301 1681 0.00 0.00 0.00 0.000 2054 0.000 0.000 3030 1807 2223 2249 2198 0 0 0 0 0 0 15.04 15.04 15.04

1743 0.91 116.0 3036 1807 2248 2197 185.6 12.1 314 1750 0.00 2.28 0.00 0.000 2308 0.000 0.047 3030 3196 2221 2246 2196 0 0 0 0 0 0 15.09 14.86 15.09

1798 0.91 116.0 3030 3196 2245 2197 178.8 11.6 324 1804 0.00 2.33 0.00 0.000 3078 0.000 0.045 3033 1789 2221 2245 2197 0 0 0 0 0 0 14.94 14.86 14.96

1867 0.91 116.0 3033 1789 2244 2196 170.9 13.0 337 1873 0.00 0.00 0.00 0.000 2054 0.000 0.000 3032 1789 2220 2244 2196 0 0 0 0 0 0 15.14 15.14 15.14

1935 0.91 116.0 3033 1789 2244 2196 161.9 10.0 350 1941 0.00 2.35 0.00 0.000 2564 0.000 0.066 3033 394 2219 2243 2196 0 0 0 0 0 0 15.17 14.94 15.17

2000 0.92 123.3 3033 393 2242 2196 154.7 9.4 362 2014 0.00 2.28 6.43 0.726 11270 0.000 0.033 3033 1808 2196 2221 2172 0 0 0 0 0 0 15.07 15.00 14.48

2077 0.92 123.3 3032 1808 2221 2170 146.4 11.3 376 2082 0.00 0.00 0.00 0.000 2054 0.000 0.000 3033 1808 2195 2221 2170 0 0 0 0 0 0 15.16 15.18 15.16

2144 0.92 123.3 3033 1808 2220 2169 138.7 10.6 389 2151 0.00 2.28 0.00 0.000 2308 0.000 0.047 3033 3197 2194 2219 2169 0 0 0 0 0 0 15.19 14.95 15.19

2284 0.92 123.3 3033 3197 2218 2168 123.7 10.1 416 2290 0.00 2.30 0.00 0.000 3078 0.000 0.047 3033 1800 2193 2218 2168 0 0 0 0 0 0 15.07 14.97 15.07

2353 0.92 123.3 3033 1801 2218 2168 116.8 10.9 429 2360 0.00 2.38 0.00 0.000 2564 0.000 0.067 3033 398 2192 2218 2166 0 0 0 0 0 0 15.21 14.94 15.22

2382 0.92 123.3 3033 398 2215 2168 113.4 10.6 434 2389 0.00 2.25 0.00 0.000 3078 0.000 0.034 3033 1806 2192 2217 2167 0 0 0 0 0 0 15.10 15.02 15.11

2451 0.93 130.8 3033 1807 2217 2168 106.9 9.4 447 2465 0.00 2.28 7.12 0.734 10500 0.000 0.047 3033 3195 2166 2193 2140 0 0 0 0 0 0 15.21 14.93 14.52

2647 0.93 134.9 3033 3195 2190 2138 87.4 9.7 485 2660 0.00 2.30 4.68 0.605 11270 0.000 0.050 3033 1803 2147 2175 2120 0 0 0 0 0 0 15.04 14.96 14.46

2722 0.93 134.9 3033 1803 2176 2121 79.5 11.7 499 2729 0.00 2.30 0.00 0.000 2308 0.000 0.049 3033 3198 2147 2175 2120 0 0 0 0 0 0 15.21 14.95 15.21

2807 0.97 166.7 3032 3198 2175 2121 70.0 7.7 515 2839 0.05 2.33 25.98 0.844 11270 0.271 0.047 3061 1794 2020 2051 1989 0 0 0 0 0 0 14.93 15.02 14.48

2902 0.97 166.7 3061 1794 2048 1985 61.7 12.3 532 2909 0.00 2.38 0.00 0.000 2564 0.000 0.066 3071 388 2015 2046 1985 0 0 0 0 0 0 15.14 14.92 15.14

2940 0.97 166.7 3071 388 2043 1985 57.3 11.4 539 2948 0.00 2.28 0.00 0.000 1030 0.000 0.034 3071 1799 2014 2043 1985 0 0 0 0 0 0 15.03 14.97 15.04

3012 1.00 190.8 3071 1799 2043 1984 51.1 8.2 552 3036 0.00 0.00 19.33 0.804 10758 0.000 0.000 3071 1799 1919 1952 1887 0 0 0 0 0 0 15.16 14.89 14.49

3098 1.00 190.8 3071 1799 1951 1885 42.3 11.3 568 3104 0.00 2.30 0.00 0.000 2308 0.000 0.049 3071 3193 1918 1951 1885 0 0 0 0 0 0 15.12 14.86 15.13

3146 1.00 190.8 3071 3195 1949 1885 36.0 13.7 577 3153 0.00 2.33 0.00 0.000 3078 0.000 0.050 3074 1797 1917 1950 1885 0 0 0 0 0 0 15.03 14.94 15.04

3216 1.03 213.1 3073 1797 1950 1884 29.3 8.4 590 3241 0.00 2.42 16.02 0.888 10756 0.000 0.068 3074 391 1829 1864 1795 0 0 0 0 0 0 15.16 14.82 14.43

3435 1.03 213.1 3078 389 1860 1794 3.4 10.6 632 3441 0.00 2.28 0.00 0.000 3078 0.000 0.035 3074 1800 1827 1860 1794 0 0 0 0 0 0 15.07 15.00 15.08

3446 end climb: SURFACE_DEPTH_REACHED

state 3446 begin surface coast

3473 end surface coast: CONTROL_FINISHED_OK

state 3473 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	197	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	50
STOP_T	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5
D_SURF	3	TGT_DEFAULT_LAT	4743.3999	R_PORT_OVSHOOT	35	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	54	ALTIM_PULSE	3
D_TGT	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	300319,145801,-3001.5615,3104.1304,8,1.0,36,-25.0,0.0,30.0,8,5.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-2955.700,3053.637
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.87	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-69.6	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	300319,150652,-3001.5059,3104.1438,7,1.0,20,-25.0,0.0,321.1,8,9.5	MHEAD_RNG_PITCHd_Wd	327.5,20000,-23.0,-9.980,-25.43,1422
SPEED_LIMITS	0.173,0.210	D_GRID	500

FINISH	0.0,1.023548	_24V_AH	14.18,77.857
SM_CCo	3495,174.55,0.770,0,0,598,515.37	_10V_AH	13.96,0.000
SM_GC	0.87,13.65,0.00,174.55,0.047,0.000,0.770,123,1802,598,-8.18,-0.28,515.37,0,0,0,0,0,0,15.00,15.20,14.28	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-2950.05,3104.65,300319,134708	FG_AHR_10Vo	0.000
TT8_MAMPS	0.020972,0.602196	MEM	340864
HUMID	42.00	DATA_FILE_SIZE	16728,639
INTERNAL_PRESSURE	9.5467	CAP_FILE_SIZE	120031,0
TCM_TEMP	22.30	CFSIZE	2097086464,2057338880
XPDR_PINGS	18	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	185.5,33.3	CURRENT	0.143,45.56,1
SC_FREEKB	3820800	GPS	300319,160931,-3001.082,3104.044,8,0.9,27,-25.0,0.3,145.6,9,5.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	286	123.77	nil	0	0	0.00
Roll_motor	78	68	76.86	nil	0	0	0.00
VBD_pump_during_apogee	239	989	3360.65	nil	0	0	0.00
VBD_pump_during_surface	174	769	1904.83	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	16	6.13	nil	0	0	0.00
Iridium_during_connect	22	160	49.99	SciCon	3534	34	1749.92
Iridium_during_xfer	266	223	843.06	nil	0	0	0.00
Transponder_ping	11	420	69.98	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	11	3.41
TT8	1478	9	198.39
LPSleep	545	2	16.66
TT8_Active	593	9	79.64
TT8_Sampling	1428	28	565.28
TT8_CF8	162	36	82.91
TT8_Kalman	0	0	0.00
Analog_circuits	1163	12	196.74
GPS_charging	0	0	0.00
Compass	969	17	243.47
RAFOS	0	0	0.00
Transponder	46	30	19.53

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
22	-0.88	-92.5	61	1834	621	556	0.0	0.0	0	110	0.00	0.00	-85.82	0.000	16386	0.000	0.000	53	1834	2904	2874	2935	0	0	0	0	0	0	15.09	28.83	15.11
113	-0.88	-92.5	53	1834	2874	2934	3.8	-9.4	15	139	13.77	2.28	-3.00	0.000	18692	0.285	0.069	2457	3213	3074	3062	3086	0	0	0	0	0	0	14.71	14.21	14.90
256	-0.88	-92.5	2456	3213	3065	3084	37.1	-18.6	42	264	0.08	2.33	0.00	0.000	3078	0.275	0.044	2471	1801	3075	3067	3083	0	0	0	0	0	0	14.83	14.93	14.97
328	-0.88	-92.5	2471	1802	3067	3082	49.6	-18.5	55	335	0.00	0.00	0.00	0.000	2054	0.000	0.000	2471	1801	3074	3066	3082	0	0	0	0	0	0	15.18	15.19	15.18
397	-0.88	-92.5	2471	1802	3067	3082	63.3	-20.5	68	404	0.00	2.35	0.00	0.000	2564	0.000	0.063	2471	403	3074	3067	3081	0	0	0	0	0	0	15.19	14.97	15.19
481	-0.88	-92.5	2471	402	3068	3081	78.8	-14.2	84	488	0.00	2.28	0.00	0.000	3078	0.000	0.035	2463	1806	3074	3068	3081	0	0	0	0	0	0	15.03	14.96	15.04
551	-0.88	-92.5	2463	1809	3069	3081	88.3	-15.1	97	557	0.00	2.30	0.00	0.000	2308	0.000	0.052	2453	3212	3074	3069	3080	0	0	0	0	0	0	15.21	14.97	15.21
721	-0.88	-92.5	2453	3212	3069	3080	115.7	-17.9	130	729	0.10	2.30	0.00	0.000	3078	0.236	0.044	2473	1811	3074	3069	3080	0	0	0	0	0	0	14.90	14.99	15.04
792	-0.88	-92.5	2472	1811	3070	3080	128.0	-17.3	143	799	0.00	2.35	0.00	0.000	2308	0.000	0.054	2472	3218	3075	3070	3080	0	0	0	0	0	0	15.23	15.02	15.27
862	-0.88	-92.5	2473	3218	3070	3080	139.0	-14.3	156	872	0.00	2.30	0.00	0.000	3078	0.000	0.040	2473	1805	3075	3070	3080	0	0	0	0	0	0	15.11	15.03	15.13
936	-0.88	-92.5	2472	1805	3070	3080	150.7	-17.4	169	942	0.00	0.00	0.00	0.000	2054	0.000	0.000	2473	1805	3075	3070	3080	0	0	0	0	0	0	15.23	15.23	15.23
1005	-0.88	-92.5	2473	1804	3069	3079	161.5	-16.2	182	1012	0.00	2.35	0.00	0.000	2308	0.000	0.057	2464	3218	3075	3070	3080	0	0	0	0	0	0	15.23	15.02	15.23
1044	-0.88	-92.5	2468	3218	3068	3080	167.8	-16.8	189	1051	0.00	2.30	0.00	0.000	3078	0.000	0.045	2464	1814	3075	3070	3080	0	0	0	0	0	0	15.12	15.03	15.13
1114	-0.88	-92.5	2464	1813	3070	3080	178.6	-14.9	202	1121	0.00	2.35	0.00	0.000	2564	0.000	0.060	2464	402	3075	3070	3080	0	0	0	0	0	0	15.24	15.01	15.23
1145	-0.88	-92.5	2463	402	3070	3080	183.5	-16.3	207	1152	0.08	2.28	0.00	0.000	3078	0.287	0.034	2470	1824	3075	3070	3080	0	0	0	0	0	0	14.85	14.99	15.00
1217	-0.88	-92.5	2470	1827	3070	3080	194.2	-17.0	220	1224	0.00	2.38	0.00	0.000	2564	0.000	0.057	2471	404	3075	3070	3080	0	0	0	0	0	0	15.24	15.02	15.24
1240	-0.88	-92.5	2470	404	3070	3080	198.1	-16.9	224	1247	0.00	2.25	0.00	0.000	3078	0.000	0.035	2463	1807	3075	3070	3080	0	0	0	0	0	0	15.05	14.98	15.05
1309	end dive: BOTTOM_OBSTACLE_DETECTED
state	1309	begin apogee
1313	-0.17	0.0	2463	1810	3070	3080	209.4	-15.4	237	1388	1.17	0.00	67.12	0.986	10246	0.163	0.000	2700	1811	2699	2715	2683	0	0	0	0	0	0	14.92	14.74	14.28
1390	end apogee: CONTROL_FINISHED_OK
state	1391	begin climb
1392	0.88	92.5	2696	1810	2715	2682	213.1	0.0	250	1477	1.52	2.45	73.60	0.989	10756	0.081	0.061	3030	393	2320	2342	2299	0	0	0	0	0	0	14.76	14.53	14.18
1589	0.91	116.0	3030	392	2337	2292	202.6	8.3	285	1614	0.00	2.30	19.33	0.919	11270	0.000	0.034	3030	1807	2226	2251	2202	0	0	0	0	0	0	14.90	14.82	14.28
1676	0.91	116.0	3030	1807	2249	2198	194.8	11.0	301	1681	0.00	0.00	0.00	0.000	2054	0.000	0.000	3030	1807	2223	2249	2198	0	0	0	0	0	0	15.04	15.04	15.04
1743	0.91	116.0	3036	1807	2248	2197	185.6	12.1	314	1750	0.00	2.28	0.00	0.000	2308	0.000	0.047	3030	3196	2221	2246	2196	0	0	0	0	0	0	15.09	14.86	15.09
1798	0.91	116.0	3030	3196	2245	2197	178.8	11.6	324	1804	0.00	2.33	0.00	0.000	3078	0.000	0.045	3033	1789	2221	2245	2197	0	0	0	0	0	0	14.94	14.86	14.96
1867	0.91	116.0	3033	1789	2244	2196	170.9	13.0	337	1873	0.00	0.00	0.00	0.000	2054	0.000	0.000	3032	1789	2220	2244	2196	0	0	0	0	0	0	15.14	15.14	15.14
1935	0.91	116.0	3033	1789	2244	2196	161.9	10.0	350	1941	0.00	2.35	0.00	0.000	2564	0.000	0.066	3033	394	2219	2243	2196	0	0	0	0	0	0	15.17	14.94	15.17
2000	0.92	123.3	3033	393	2242	2196	154.7	9.4	362	2014	0.00	2.28	6.43	0.726	11270	0.000	0.033	3033	1808	2196	2221	2172	0	0	0	0	0	0	15.07	15.00	14.48
2077	0.92	123.3	3032	1808	2221	2170	146.4	11.3	376	2082	0.00	0.00	0.00	0.000	2054	0.000	0.000	3033	1808	2195	2221	2170	0	0	0	0	0	0	15.16	15.18	15.16
2144	0.92	123.3	3033	1808	2220	2169	138.7	10.6	389	2151	0.00	2.28	0.00	0.000	2308	0.000	0.047	3033	3197	2194	2219	2169	0	0	0	0	0	0	15.19	14.95	15.19
2284	0.92	123.3	3033	3197	2218	2168	123.7	10.1	416	2290	0.00	2.30	0.00	0.000	3078	0.000	0.047	3033	1800	2193	2218	2168	0	0	0	0	0	0	15.07	14.97	15.07
2353	0.92	123.3	3033	1801	2218	2168	116.8	10.9	429	2360	0.00	2.38	0.00	0.000	2564	0.000	0.067	3033	398	2192	2218	2166	0	0	0	0	0	0	15.21	14.94	15.22
2382	0.92	123.3	3033	398	2215	2168	113.4	10.6	434	2389	0.00	2.25	0.00	0.000	3078	0.000	0.034	3033	1806	2192	2217	2167	0	0	0	0	0	0	15.10	15.02	15.11
2451	0.93	130.8	3033	1807	2217	2168	106.9	9.4	447	2465	0.00	2.28	7.12	0.734	10500	0.000	0.047	3033	3195	2166	2193	2140	0	0	0	0	0	0	15.21	14.93	14.52
2647	0.93	134.9	3033	3195	2190	2138	87.4	9.7	485	2660	0.00	2.30	4.68	0.605	11270	0.000	0.050	3033	1803	2147	2175	2120	0	0	0	0	0	0	15.04	14.96	14.46
2722	0.93	134.9	3033	1803	2176	2121	79.5	11.7	499	2729	0.00	2.30	0.00	0.000	2308	0.000	0.049	3033	3198	2147	2175	2120	0	0	0	0	0	0	15.21	14.95	15.21
2807	0.97	166.7	3032	3198	2175	2121	70.0	7.7	515	2839	0.05	2.33	25.98	0.844	11270	0.271	0.047	3061	1794	2020	2051	1989	0	0	0	0	0	0	14.93	15.02	14.48
2902	0.97	166.7	3061	1794	2048	1985	61.7	12.3	532	2909	0.00	2.38	0.00	0.000	2564	0.000	0.066	3071	388	2015	2046	1985	0	0	0	0	0	0	15.14	14.92	15.14
2940	0.97	166.7	3071	388	2043	1985	57.3	11.4	539	2948	0.00	2.28	0.00	0.000	1030	0.000	0.034	3071	1799	2014	2043	1985	0	0	0	0	0	0	15.03	14.97	15.04
3012	1.00	190.8	3071	1799	2043	1984	51.1	8.2	552	3036	0.00	0.00	19.33	0.804	10758	0.000	0.000	3071	1799	1919	1952	1887	0	0	0	0	0	0	15.16	14.89	14.49
3098	1.00	190.8	3071	1799	1951	1885	42.3	11.3	568	3104	0.00	2.30	0.00	0.000	2308	0.000	0.049	3071	3193	1918	1951	1885	0	0	0	0	0	0	15.12	14.86	15.13
3146	1.00	190.8	3071	3195	1949	1885	36.0	13.7	577	3153	0.00	2.33	0.00	0.000	3078	0.000	0.050	3074	1797	1917	1950	1885	0	0	0	0	0	0	15.03	14.94	15.04
3216	1.03	213.1	3073	1797	1950	1884	29.3	8.4	590	3241	0.00	2.42	16.02	0.888	10756	0.000	0.068	3074	391	1829	1864	1795	0	0	0	0	0	0	15.16	14.82	14.43
3435	1.03	213.1	3078	389	1860	1794	3.4	10.6	632	3441	0.00	2.28	0.00	0.000	3078	0.000	0.035	3074	1800	1827	1860	1794	0	0	0	0	0	0	15.07	15.00	15.08
3446	end climb: SURFACE_DEPTH_REACHED
state	3446	begin surface coast
3473	end surface coast: CONTROL_FINISHED_OK
state	3473	begin surface