Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 332 * 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 300 C_ROLL_CLIMB 1800 ALTIM_TOP_TURN_MARGIN 0

DIVE 332 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 31 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 52 ALTIM_PULSE 3

D_TGT 1000 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 3

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 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 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 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 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 3 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 300 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 95 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MINV_10V 10 R_PORT_OVSHOOT 31 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 332 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 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 120419,062931,-3349.8894,2713.0427,8,0.9,43,-28.0,2.2,206.2,9,4.9 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3344.898,2701.333

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.78 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -66.9 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 120419,063851,-3350.2974,2712.5806,7,0.8,15,-28.0,1.6,200.8,10,9.2 MHEAD_RNG_PITCHd_Wd 328.0,20000,-23.0,-10.010,-25.49,1417

SPEED_LIMITS 0.173,0.210 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.3,1.025440 _24V_AH 13.66,110.118

SM_CCo 3660,171.95,0.792,0,0,597,515.37 _10V_AH 13.84,0.000

SM_GC 0.73,13.98,0.00,171.95,0.046,0.000,0.792,112,1796,597,-8.21,-0.45,515.37,0,0,0,0,0,0,14.87,15.10,14.15 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3335.73,2721.47,120419,050807 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.939246 MEM 340928

HUMID 44.56 DATA_FILE_SIZE 16776,670

INTERNAL_PRESSURE 9.34163 CAP_FILE_SIZE 120304,0

TCM_TEMP 19.60 CFSIZE 2097086464,2029289472

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

ALTIM_BOTTOM_PING 185.6,35.8 GPS 120419,074406,-3351.105,2710.878,6,1.0,15,-28.0,1.9,237.6,8,9.7

SC_FREEKB 3746784

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 311 131.74 nil 0 0 0.00

Roll_motor 75 71 73.40 nil 0 0 0.00

VBD_pump_during_apogee 262 1018 3647.89 nil 0 0 0.00

VBD_pump_during_surface 171 791 1859.75 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 16 5.52 nil 0 0 0.00

Iridium_during_connect 21 160 47.85 SciCon 3708 34 1762.31

Iridium_during_xfer 272 223 829.73 nil 0 0 0.00

Transponder_ping 7 420 41.59 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 11 2.76

TT8 1445 9 192.25

LPSleep 654 2 19.83

TT8_Active 592 9 78.84

TT8_Sampling 1469 28 576.56

TT8_CF8 238 36 120.72

TT8_Kalman 0 0 0.00

Analog_circuits 1184 12 198.51

GPS_charging 0 0 0.00

Compass 1020 17 254.01

RAFOS 0 0 0.00

Transponder 46 30 19.36

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

22 -0.88 -92.5 80 1806 621 554 0.0 0.0 0 122 0.00 0.00 -97.50 0.000 16386 0.000 0.000 74 1806 3050 3019 3081 0 0 0 0 0 0 14.98 28.83 15.00

127 -0.88 -92.5 75 1804 3018 3081 3.5 -7.6 18 146 13.93 2.38 -0.55 0.000 18692 0.288 0.058 2456 3214 3079 3056 3103 0 0 0 0 0 0 14.59 13.66 14.85

569 -0.88 -92.5 2456 3224 3066 3094 84.1 -14.8 104 577 0.08 2.38 0.00 0.000 3078 0.268 0.047 2470 1804 3080 3067 3093 0 0 0 0 0 0 14.69 14.82 14.85

640 -0.88 -92.5 2471 1804 3068 3093 94.6 -14.4 117 648 0.00 2.38 0.00 0.000 2308 0.000 0.052 2469 3212 3080 3068 3093 0 0 0 0 0 0 15.12 14.83 15.13

666 -0.88 -92.5 2462 3212 3068 3093 98.2 -13.7 121 672 0.00 2.35 0.00 0.000 3078 0.000 0.045 2462 1808 3080 3068 3092 0 0 0 0 0 0 15.00 14.90 15.01

737 -0.88 -92.5 2463 1807 3068 3092 107.8 -13.3 134 743 0.00 0.00 0.00 0.000 2054 0.000 0.000 2462 1807 3080 3067 3093 0 0 0 0 0 0 15.13 15.14 15.13

806 -0.88 -92.5 2462 1807 3068 3092 117.0 -12.7 147 812 0.00 0.00 0.00 0.000 2054 0.000 0.000 2462 1807 3080 3068 3093 0 0 0 0 0 0 15.13 15.14 15.14

875 -0.88 -92.5 2462 1807 3068 3093 126.3 -13.8 160 881 0.00 0.00 0.00 0.000 2054 0.000 0.000 2462 1807 3081 3069 3093 0 0 0 0 0 0 15.14 15.14 15.14

947 -0.88 -92.5 2464 1807 3069 3092 135.5 -14.3 173 954 0.00 2.35 0.00 0.000 2308 0.000 0.052 2453 3206 3080 3069 3092 0 0 0 0 0 0 15.12 14.90 15.13

1109 -0.88 -92.5 2454 3206 3069 3092 157.5 -12.3 204 1116 0.08 2.33 0.00 0.000 3078 0.261 0.045 2469 1808 3080 3069 3092 0 0 0 0 0 0 14.69 14.83 14.85

1179 -0.88 -92.5 2468 1809 3069 3092 165.7 -11.8 217 1186 0.00 2.40 0.00 0.000 2564 0.000 0.065 2469 401 3080 3070 3091 0 0 0 0 0 0 15.14 14.81 15.14

1214 -0.88 -92.5 2469 401 3070 3092 170.4 -13.1 223 1221 0.00 2.30 0.00 0.000 3078 0.000 0.035 2461 1808 3080 3070 3091 0 0 0 0 0 0 14.92 14.84 14.95

1285 -0.88 -92.5 2460 1810 3070 3091 179.6 -14.1 236 1292 0.00 2.35 0.00 0.000 2308 0.000 0.055 2461 3213 3080 3070 3091 0 0 0 0 0 0 15.14 14.83 15.14

1377 -0.88 -92.5 2461 3213 3070 3091 191.9 -13.3 253 1383 0.00 2.33 0.00 0.000 3078 0.000 0.045 2461 1813 3080 3070 3090 0 0 0 0 0 0 15.02 14.92 15.03

1447 -0.88 -92.5 2460 1813 3070 3090 201.3 -13.2 266 1454 0.00 2.35 0.00 0.000 2308 0.000 0.053 2455 3215 3080 3070 3091 0 0 0 0 0 0 15.14 14.91 15.15

1525 end dive: BOTTOM_OBSTACLE_DETECTED

state 1525 begin apogee

1533 -0.17 0.0 2455 1790 3070 3090 211.9 -12.7 281 1610 1.25 0.00 69.68 1.018 10246 0.169 0.000 2696 1790 2699 2712 2687 0 0 0 0 0 0 14.76 14.56 14.19

1614 end apogee: CONTROL_FINISHED_OK

state 1614 begin climb

1616 0.88 92.5 2696 1790 2711 2687 215.0 0.0 295 1701 1.55 0.00 74.82 1.019 10758 0.091 0.000 3025 1790 2321 2341 2301 0 0 0 0 0 0 14.64 14.35 14.04

1764 0.90 106.2 3024 1790 2338 2296 208.4 9.0 321 1782 0.00 2.40 11.25 0.891 10500 0.000 0.049 3025 3201 2267 2290 2245 0 0 0 0 0 0 14.85 14.50 14.07

1850 0.90 106.2 3024 3201 2287 2245 199.6 11.6 337 1857 0.00 2.38 0.00 0.000 3078 0.000 0.046 3033 1796 2266 2287 2245 0 0 0 0 0 0 14.82 14.73 14.83

1921 0.90 106.2 3033 1796 2286 2244 192.5 10.1 350 1928 0.00 2.38 0.00 0.000 2308 0.000 0.050 3033 3203 2265 2286 2244 0 0 0 0 0 0 14.98 14.73 14.99

2060 0.90 106.2 3033 3203 2284 2246 177.6 10.3 377 2067 0.00 2.38 0.00 0.000 3078 0.000 0.050 3032 1795 2262 2283 2242 0 0 0 0 0 0 14.93 14.83 14.95

2132 0.91 114.2 3033 1795 2283 2242 171.0 9.4 390 2144 0.00 0.00 7.68 0.819 10502 0.000 0.000 3033 1795 2233 2255 2211 0 0 0 0 0 0 15.07 14.83 14.29

2208 0.91 114.2 3033 1795 2255 2211 163.2 10.6 404 2213 0.00 0.00 0.00 0.000 2054 0.000 0.000 3033 1795 2233 2255 2211 0 0 0 0 0 0 15.07 15.07 15.07

2276 0.94 140.7 3033 1795 2254 2210 156.8 8.1 417 2305 0.00 2.42 22.30 0.951 10756 0.000 0.070 3033 395 2124 2151 2098 0 0 0 0 0 0 15.09 14.64 14.21

2403 0.94 140.7 3033 395 2147 2097 144.3 10.5 441 2410 0.00 2.33 0.00 0.000 3078 0.000 0.034 3033 1812 2122 2147 2097 0 0 0 0 0 0 14.92 14.85 14.94

2474 0.96 155.8 3033 1813 2147 2096 138.1 8.9 454 2493 0.05 2.38 13.32 0.889 10500 0.255 0.057 3065 3197 2063 2090 2037 0 0 0 0 0 0 14.75 14.77 14.33

2521 0.96 155.8 3065 3197 2089 2035 133.0 11.5 462 2528 0.00 2.35 0.00 0.000 5126 0.000 0.049 3074 1801 2062 2089 2035 0 0 0 0 0 0 14.83 14.75 14.84

2591 0.96 155.8 3074 1801 2088 2034 124.1 13.1 475 2598 0.00 2.35 0.00 0.000 4356 0.000 0.050 3074 3195 2061 2088 2034 0 0 0 0 0 0 15.04 14.77 15.05

2646 0.96 155.8 3073 3196 2087 2034 116.4 14.3 485 2652 0.00 2.35 0.00 0.000 5126 0.000 0.052 3077 1801 2060 2087 2033 0 0 0 0 0 0 14.88 14.84 14.89

2716 0.96 155.8 3076 1800 2087 2033 106.6 14.0 498 2723 0.00 2.45 0.00 0.000 4612 0.000 0.071 3077 389 2059 2086 2033 0 0 0 0 0 0 15.08 14.77 15.08

2797 0.96 155.8 3077 389 2083 2033 95.7 13.0 513 2804 0.00 2.30 0.00 0.000 5126 0.000 0.034 3077 1803 2058 2084 2033 0 0 0 0 0 0 14.94 14.86 14.95

2868 0.96 155.8 3077 1801 2084 2034 86.2 12.9 526 2874 0.00 2.33 0.00 0.000 4356 0.000 0.050 3077 3193 2057 2082 2033 0 0 0 0 0 0 15.11 14.88 15.11

2891 0.96 155.8 3077 3193 2083 2033 82.8 13.6 530 2899 0.08 2.35 0.00 0.000 5126 0.311 0.050 3070 1798 2057 2082 2033 0 0 0 0 0 0 14.66 14.80 14.85

2963 0.96 155.8 3070 1798 2080 2032 74.4 10.9 543 2970 0.00 2.33 0.00 0.000 4356 0.000 0.049 3069 3193 2057 2083 2031 0 0 0 0 0 0 15.11 14.89 15.11

3158 0.98 169.1 3070 3192 2081 2031 58.2 9.0 581 3177 0.00 2.33 10.85 0.819 13318 0.000 0.041 3078 1792 2008 2036 1980 0 0 0 0 0 0 15.03 14.92 14.34

3240 1.06 234.9 3077 1792 2037 1981 53.5 5.2 596 3301 0.00 2.40 52.17 0.885 10500 0.000 0.050 3078 3186 1739 1772 1707 0 0 0 0 0 0 15.09 14.66 14.31

3421 1.06 234.9 3077 3186 1767 1702 29.9 14.6 630 3427 0.00 2.35 0.00 0.000 3078 0.000 0.052 3084 1807 1734 1767 1701 0 0 0 0 0 0 14.81 14.74 14.82

3491 1.06 234.9 3084 1807 1767 1698 19.6 13.7 643 3498 0.00 2.33 0.00 0.000 2308 0.000 0.051 3084 3189 1732 1767 1698 0 0 0 0 0 0 15.03 14.74 15.03

3581 1.06 234.9 3084 3188 1765 1696 7.2 14.5 660 3588 0.00 2.38 0.00 0.000 3078 0.000 0.054 3084 1798 1731 1766 1697 0 0 0 0 0 0 14.87 14.76 14.88

3614 end climb: SURFACE_DEPTH_REACHED

state 3614 begin surface coast

3636 end surface coast: CONTROL_FINISHED_OK

state 3636 begin surface

ID	574	HD_C	9.8500004e-06	C_ROLL_DIVE	1812	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	3	HEADING	300	C_ROLL_CLIMB	1800	ALTIM_TOP_TURN_MARGIN	0
DIVE	332	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	31	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	52	ALTIM_PULSE	3
D_TGT	1000	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	3
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	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	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	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	120419,062931,-3349.8894,2713.0427,8,0.9,43,-28.0,2.2,206.2,9,4.9	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3344.898,2701.333
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.78	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-66.9	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	120419,063851,-3350.2974,2712.5806,7,0.8,15,-28.0,1.6,200.8,10,9.2	MHEAD_RNG_PITCHd_Wd	328.0,20000,-23.0,-10.010,-25.49,1417
SPEED_LIMITS	0.173,0.210	D_GRID	1000

FINISH	0.3,1.025440	_24V_AH	13.66,110.118
SM_CCo	3660,171.95,0.792,0,0,597,515.37	_10V_AH	13.84,0.000
SM_GC	0.73,13.98,0.00,171.95,0.046,0.000,0.792,112,1796,597,-8.21,-0.45,515.37,0,0,0,0,0,0,14.87,15.10,14.15	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3335.73,2721.47,120419,050807	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.939246	MEM	340928
HUMID	44.56	DATA_FILE_SIZE	16776,670
INTERNAL_PRESSURE	9.34163	CAP_FILE_SIZE	120304,0
TCM_TEMP	19.60	CFSIZE	2097086464,2029289472
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	185.6,35.8	GPS	120419,074406,-3351.105,2710.878,6,1.0,15,-28.0,1.9,237.6,8,9.7
SC_FREEKB	3746784

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	311	131.74	nil	0	0	0.00
Roll_motor	75	71	73.40	nil	0	0	0.00
VBD_pump_during_apogee	262	1018	3647.89	nil	0	0	0.00
VBD_pump_during_surface	171	791	1859.75	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	16	5.52	nil	0	0	0.00
Iridium_during_connect	21	160	47.85	SciCon	3708	34	1762.31
Iridium_during_xfer	272	223	829.73	nil	0	0	0.00
Transponder_ping	7	420	41.59	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	11	2.76
TT8	1445	9	192.25
LPSleep	654	2	19.83
TT8_Active	592	9	78.84
TT8_Sampling	1469	28	576.56
TT8_CF8	238	36	120.72
TT8_Kalman	0	0	0.00
Analog_circuits	1184	12	198.51
GPS_charging	0	0	0.00
Compass	1020	17	254.01
RAFOS	0	0	0.00
Transponder	46	30	19.36

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
22	-0.88	-92.5	80	1806	621	554	0.0	0.0	0	122	0.00	0.00	-97.50	0.000	16386	0.000	0.000	74	1806	3050	3019	3081	0	0	0	0	0	0	14.98	28.83	15.00
127	-0.88	-92.5	75	1804	3018	3081	3.5	-7.6	18	146	13.93	2.38	-0.55	0.000	18692	0.288	0.058	2456	3214	3079	3056	3103	0	0	0	0	0	0	14.59	13.66	14.85
569	-0.88	-92.5	2456	3224	3066	3094	84.1	-14.8	104	577	0.08	2.38	0.00	0.000	3078	0.268	0.047	2470	1804	3080	3067	3093	0	0	0	0	0	0	14.69	14.82	14.85
640	-0.88	-92.5	2471	1804	3068	3093	94.6	-14.4	117	648	0.00	2.38	0.00	0.000	2308	0.000	0.052	2469	3212	3080	3068	3093	0	0	0	0	0	0	15.12	14.83	15.13
666	-0.88	-92.5	2462	3212	3068	3093	98.2	-13.7	121	672	0.00	2.35	0.00	0.000	3078	0.000	0.045	2462	1808	3080	3068	3092	0	0	0	0	0	0	15.00	14.90	15.01
737	-0.88	-92.5	2463	1807	3068	3092	107.8	-13.3	134	743	0.00	0.00	0.00	0.000	2054	0.000	0.000	2462	1807	3080	3067	3093	0	0	0	0	0	0	15.13	15.14	15.13
806	-0.88	-92.5	2462	1807	3068	3092	117.0	-12.7	147	812	0.00	0.00	0.00	0.000	2054	0.000	0.000	2462	1807	3080	3068	3093	0	0	0	0	0	0	15.13	15.14	15.14
875	-0.88	-92.5	2462	1807	3068	3093	126.3	-13.8	160	881	0.00	0.00	0.00	0.000	2054	0.000	0.000	2462	1807	3081	3069	3093	0	0	0	0	0	0	15.14	15.14	15.14
947	-0.88	-92.5	2464	1807	3069	3092	135.5	-14.3	173	954	0.00	2.35	0.00	0.000	2308	0.000	0.052	2453	3206	3080	3069	3092	0	0	0	0	0	0	15.12	14.90	15.13
1109	-0.88	-92.5	2454	3206	3069	3092	157.5	-12.3	204	1116	0.08	2.33	0.00	0.000	3078	0.261	0.045	2469	1808	3080	3069	3092	0	0	0	0	0	0	14.69	14.83	14.85
1179	-0.88	-92.5	2468	1809	3069	3092	165.7	-11.8	217	1186	0.00	2.40	0.00	0.000	2564	0.000	0.065	2469	401	3080	3070	3091	0	0	0	0	0	0	15.14	14.81	15.14
1214	-0.88	-92.5	2469	401	3070	3092	170.4	-13.1	223	1221	0.00	2.30	0.00	0.000	3078	0.000	0.035	2461	1808	3080	3070	3091	0	0	0	0	0	0	14.92	14.84	14.95
1285	-0.88	-92.5	2460	1810	3070	3091	179.6	-14.1	236	1292	0.00	2.35	0.00	0.000	2308	0.000	0.055	2461	3213	3080	3070	3091	0	0	0	0	0	0	15.14	14.83	15.14
1377	-0.88	-92.5	2461	3213	3070	3091	191.9	-13.3	253	1383	0.00	2.33	0.00	0.000	3078	0.000	0.045	2461	1813	3080	3070	3090	0	0	0	0	0	0	15.02	14.92	15.03
1447	-0.88	-92.5	2460	1813	3070	3090	201.3	-13.2	266	1454	0.00	2.35	0.00	0.000	2308	0.000	0.053	2455	3215	3080	3070	3091	0	0	0	0	0	0	15.14	14.91	15.15
1525	end dive: BOTTOM_OBSTACLE_DETECTED
state	1525	begin apogee
1533	-0.17	0.0	2455	1790	3070	3090	211.9	-12.7	281	1610	1.25	0.00	69.68	1.018	10246	0.169	0.000	2696	1790	2699	2712	2687	0	0	0	0	0	0	14.76	14.56	14.19
1614	end apogee: CONTROL_FINISHED_OK
state	1614	begin climb
1616	0.88	92.5	2696	1790	2711	2687	215.0	0.0	295	1701	1.55	0.00	74.82	1.019	10758	0.091	0.000	3025	1790	2321	2341	2301	0	0	0	0	0	0	14.64	14.35	14.04
1764	0.90	106.2	3024	1790	2338	2296	208.4	9.0	321	1782	0.00	2.40	11.25	0.891	10500	0.000	0.049	3025	3201	2267	2290	2245	0	0	0	0	0	0	14.85	14.50	14.07
1850	0.90	106.2	3024	3201	2287	2245	199.6	11.6	337	1857	0.00	2.38	0.00	0.000	3078	0.000	0.046	3033	1796	2266	2287	2245	0	0	0	0	0	0	14.82	14.73	14.83
1921	0.90	106.2	3033	1796	2286	2244	192.5	10.1	350	1928	0.00	2.38	0.00	0.000	2308	0.000	0.050	3033	3203	2265	2286	2244	0	0	0	0	0	0	14.98	14.73	14.99
2060	0.90	106.2	3033	3203	2284	2246	177.6	10.3	377	2067	0.00	2.38	0.00	0.000	3078	0.000	0.050	3032	1795	2262	2283	2242	0	0	0	0	0	0	14.93	14.83	14.95
2132	0.91	114.2	3033	1795	2283	2242	171.0	9.4	390	2144	0.00	0.00	7.68	0.819	10502	0.000	0.000	3033	1795	2233	2255	2211	0	0	0	0	0	0	15.07	14.83	14.29
2208	0.91	114.2	3033	1795	2255	2211	163.2	10.6	404	2213	0.00	0.00	0.00	0.000	2054	0.000	0.000	3033	1795	2233	2255	2211	0	0	0	0	0	0	15.07	15.07	15.07
2276	0.94	140.7	3033	1795	2254	2210	156.8	8.1	417	2305	0.00	2.42	22.30	0.951	10756	0.000	0.070	3033	395	2124	2151	2098	0	0	0	0	0	0	15.09	14.64	14.21
2403	0.94	140.7	3033	395	2147	2097	144.3	10.5	441	2410	0.00	2.33	0.00	0.000	3078	0.000	0.034	3033	1812	2122	2147	2097	0	0	0	0	0	0	14.92	14.85	14.94
2474	0.96	155.8	3033	1813	2147	2096	138.1	8.9	454	2493	0.05	2.38	13.32	0.889	10500	0.255	0.057	3065	3197	2063	2090	2037	0	0	0	0	0	0	14.75	14.77	14.33
2521	0.96	155.8	3065	3197	2089	2035	133.0	11.5	462	2528	0.00	2.35	0.00	0.000	5126	0.000	0.049	3074	1801	2062	2089	2035	0	0	0	0	0	0	14.83	14.75	14.84
2591	0.96	155.8	3074	1801	2088	2034	124.1	13.1	475	2598	0.00	2.35	0.00	0.000	4356	0.000	0.050	3074	3195	2061	2088	2034	0	0	0	0	0	0	15.04	14.77	15.05
2646	0.96	155.8	3073	3196	2087	2034	116.4	14.3	485	2652	0.00	2.35	0.00	0.000	5126	0.000	0.052	3077	1801	2060	2087	2033	0	0	0	0	0	0	14.88	14.84	14.89
2716	0.96	155.8	3076	1800	2087	2033	106.6	14.0	498	2723	0.00	2.45	0.00	0.000	4612	0.000	0.071	3077	389	2059	2086	2033	0	0	0	0	0	0	15.08	14.77	15.08
2797	0.96	155.8	3077	389	2083	2033	95.7	13.0	513	2804	0.00	2.30	0.00	0.000	5126	0.000	0.034	3077	1803	2058	2084	2033	0	0	0	0	0	0	14.94	14.86	14.95
2868	0.96	155.8	3077	1801	2084	2034	86.2	12.9	526	2874	0.00	2.33	0.00	0.000	4356	0.000	0.050	3077	3193	2057	2082	2033	0	0	0	0	0	0	15.11	14.88	15.11
2891	0.96	155.8	3077	3193	2083	2033	82.8	13.6	530	2899	0.08	2.35	0.00	0.000	5126	0.311	0.050	3070	1798	2057	2082	2033	0	0	0	0	0	0	14.66	14.80	14.85
2963	0.96	155.8	3070	1798	2080	2032	74.4	10.9	543	2970	0.00	2.33	0.00	0.000	4356	0.000	0.049	3069	3193	2057	2083	2031	0	0	0	0	0	0	15.11	14.89	15.11
3158	0.98	169.1	3070	3192	2081	2031	58.2	9.0	581	3177	0.00	2.33	10.85	0.819	13318	0.000	0.041	3078	1792	2008	2036	1980	0	0	0	0	0	0	15.03	14.92	14.34
3240	1.06	234.9	3077	1792	2037	1981	53.5	5.2	596	3301	0.00	2.40	52.17	0.885	10500	0.000	0.050	3078	3186	1739	1772	1707	0	0	0	0	0	0	15.09	14.66	14.31
3421	1.06	234.9	3077	3186	1767	1702	29.9	14.6	630	3427	0.00	2.35	0.00	0.000	3078	0.000	0.052	3084	1807	1734	1767	1701	0	0	0	0	0	0	14.81	14.74	14.82
3491	1.06	234.9	3084	1807	1767	1698	19.6	13.7	643	3498	0.00	2.33	0.00	0.000	2308	0.000	0.051	3084	3189	1732	1767	1698	0	0	0	0	0	0	15.03	14.74	15.03
3581	1.06	234.9	3084	3188	1765	1696	7.2	14.5	660	3588	0.00	2.38	0.00	0.000	3078	0.000	0.054	3084	1798	1731	1766	1697	0	0	0	0	0	0	14.87	14.76	14.88
3614	end climb: SURFACE_DEPTH_REACHED
state	3614	begin surface coast
3636	end surface coast: CONTROL_FINISHED_OK
state	3636	begin surface