Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 333 * 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 333 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 30 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 56 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 30 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 56 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 333 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 120419,074406,-3351.1047,2710.8779,6,1.0,15,-28.0,1.9,237.6,8,9.7 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3346.068,2659.209

_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 -65.9 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 120419,075349,-3351.4680,2710.4595,6,1.0,14,-28.0,2.3,235.5,8,9.5 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 0.3,1.025593 _24V_AH 13.66,110.309

SM_CCo 3558,205.23,0.793,0,0,599,515.37 _10V_AH 13.79,0.000

SM_GC 0.72,13.82,0.00,205.23,0.049,0.000,0.793,110,1809,599,-8.22,-0.08,515.37,0,0,0,0,0,0,14.90,15.14,14.14 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3335.73,2713.36,120419,063309 FG_AHR_10Vo 0.000

TT8_MAMPS 0.020223,0.838131 MEM 340864

HUMID 44.21 DATA_FILE_SIZE 16744,650

INTERNAL_PRESSURE 9.36116 CAP_FILE_SIZE 118539,0

TCM_TEMP 19.80 CFSIZE 2097086464,2029092864

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

ALTIM_BOTTOM_PING 170.4,37.1 GPS 120419,085819,-3352.138,2709.055,7,0.8,40,-28.0,1.1,220.7,10,4.6

SC_FREEKB 3746272

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 327 138.43 nil 0 0 0.00

Roll_motor 75 73 75.89 nil 0 0 0.00

VBD_pump_during_apogee 219 999 2998.96 nil 0 0 0.00

VBD_pump_during_surface 205 793 2223.93 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 16 5.77 nil 0 0 0.00

Iridium_during_connect 42 160 92.02 SciCon 3601 36 1775.70

Iridium_during_xfer 279 223 852.79 nil 0 0 0.00

Transponder_ping 6 420 37.29 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 11 2.67

TT8 1417 9 187.82

LPSleep 645 2 19.51

TT8_Active 597 9 79.15

TT8_Sampling 1461 28 571.03

TT8_CF8 233 36 117.89

TT8_Kalman 0 0 0.00

Analog_circuits 1170 12 195.51

GPS_charging 0 0 0.00

Compass 991 17 245.81

RAFOS 0 0 0.00

Transponder 43 30 17.99

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 57 1793 622 553 0.0 0.0 0 122 0.00 0.00 -97.25 0.000 16386 0.000 0.000 55 1794 3009 2976 3042 0 0 0 0 0 0 14.99 28.83 15.00

127 -0.88 -92.5 55 1794 2978 3042 3.2 -6.3 18 152 14.07 2.40 -1.30 0.000 18692 0.291 0.067 2458 3216 3080 3061 3100 0 0 0 0 0 0 14.59 13.66 14.85

350 -0.88 -92.5 2458 3217 3067 3093 50.1 -21.0 61 358 0.05 2.38 0.00 0.000 3078 0.327 0.048 2467 1808 3080 3067 3093 0 0 0 0 0 0 14.66 14.83 14.86

421 -0.88 -92.5 2467 1807 3067 3093 65.0 -17.6 74 431 0.00 2.38 0.00 0.000 2308 0.000 0.058 2459 3200 3080 3068 3092 0 0 0 0 0 0 15.10 14.86 15.10

641 -0.88 -92.5 2458 3201 3069 3092 96.6 -14.4 116 648 0.05 2.33 0.00 0.000 3078 0.322 0.046 2468 1812 3080 3069 3092 0 0 0 0 0 0 14.73 14.90 14.92

712 -0.88 -92.5 2468 1811 3069 3092 106.3 -13.6 129 718 0.00 2.40 0.00 0.000 2564 0.000 0.066 2469 405 3080 3070 3091 0 0 0 0 0 0 15.12 14.88 15.13

752 -0.88 -92.5 2469 405 3070 3091 112.6 -16.6 136 759 0.00 2.30 0.00 0.000 3078 0.000 0.037 2461 1804 3080 3070 3091 0 0 0 0 0 0 15.01 14.92 15.02

823 -0.88 -92.5 2460 1807 3071 3091 122.5 -14.2 149 829 0.00 0.00 0.00 0.000 2054 0.000 0.000 2461 1806 3080 3070 3091 0 0 0 0 0 0 15.13 15.14 15.13

893 -0.88 -92.5 2461 1807 3070 3091 132.2 -13.8 162 899 0.00 2.35 0.00 0.000 2308 0.000 0.054 2451 3214 3080 3070 3091 0 0 0 0 0 0 15.12 14.90 15.12

1070 -0.88 -92.5 2450 3215 3071 3090 158.0 -13.2 196 1077 0.10 2.35 0.00 0.000 3078 0.234 0.047 2470 1811 3080 3071 3090 0 0 0 0 0 0 14.71 14.83 14.87

1141 -0.88 -92.5 2470 1810 3071 3090 167.0 -11.9 209 1148 0.00 2.42 0.00 0.000 2564 0.000 0.067 2471 401 3080 3071 3090 0 0 0 0 0 0 15.14 14.88 15.15

1172 -0.88 -92.5 2470 400 3071 3087 171.3 -14.5 214 1179 0.00 2.33 0.00 0.000 3078 0.000 0.037 2463 1814 3080 3071 3089 0 0 0 0 0 0 15.02 14.93 15.03

1242 -0.88 -92.5 2462 1817 3071 3089 180.1 -12.8 227 1248 0.00 0.00 0.00 0.000 2054 0.000 0.000 2462 1818 3080 3071 3089 0 0 0 0 0 0 15.13 15.14 15.13

1311 -0.88 -92.5 2462 1818 3071 3089 189.3 -13.0 240 1318 0.00 2.35 0.00 0.000 2308 0.000 0.054 2453 3217 3079 3070 3089 0 0 0 0 0 0 15.14 14.91 15.15

1374 end dive: BOTTOM_OBSTACLE_DETECTED

state 1374 begin apogee

1382 -0.17 0.0 2453 1794 3071 3089 197.6 -13.1 252 1460 1.27 0.00 70.12 0.999 10246 0.178 0.000 2696 1793 2698 2710 2686 0 0 0 0 0 0 14.70 14.67 14.21

1463 end apogee: CONTROL_FINISHED_OK

state 1463 begin climb

1465 0.88 92.5 2696 1794 2710 2685 201.7 0.0 266 1544 1.58 0.00 73.88 1.000 10758 0.084 0.000 3031 1793 2323 2342 2305 0 0 0 0 0 0 14.64 14.51 14.07

1608 0.89 101.5 3031 1793 2338 2299 194.4 9.4 291 1621 0.00 0.00 8.65 0.829 10246 0.000 0.000 3031 1794 2284 2304 2264 0 0 0 0 0 0 14.84 14.64 14.16

1685 0.89 101.5 3031 1794 2304 2261 186.5 10.5 305 1691 0.00 2.40 0.00 0.000 2308 0.000 0.050 3031 3207 2282 2303 2261 0 0 0 0 0 0 14.90 14.71 14.90

1764 0.89 101.5 3031 3207 2300 2261 177.7 11.9 320 1771 0.00 2.40 0.00 0.000 3078 0.000 0.050 3033 1798 2280 2300 2261 0 0 0 0 0 0 14.87 14.77 14.88

1835 0.89 101.5 3033 1798 2299 2260 169.8 10.7 333 1840 0.00 0.00 0.00 0.000 2054 0.000 0.000 3033 1798 2279 2300 2259 0 0 0 0 0 0 15.01 15.02 15.02

1903 0.91 119.0 3032 1795 2299 2259 163.6 8.7 346 1927 0.00 2.45 15.15 0.907 10756 0.000 0.071 3033 397 2211 2233 2189 0 0 0 0 0 0 15.04 14.75 14.31

1980 0.91 119.0 3033 397 2230 2188 155.5 12.2 360 1987 0.00 2.33 0.00 0.000 3078 0.000 0.034 3033 1814 2208 2230 2187 0 0 0 0 0 0 14.83 14.76 14.85

2052 0.92 124.5 3033 1815 2230 2185 148.0 9.6 373 2064 0.00 2.30 4.75 0.679 10500 0.000 0.051 3033 3197 2191 2214 2168 0 0 0 0 0 0 15.04 14.81 14.17

2168 0.92 124.5 3033 3197 2213 2167 135.7 10.9 395 2174 0.00 2.38 0.00 0.000 3078 0.000 0.049 3040 1795 2191 2214 2168 0 0 0 0 0 0 14.97 14.85 14.97

2238 0.92 124.5 3040 1795 2213 2168 127.8 11.8 408 2245 0.00 2.35 0.00 0.000 2308 0.000 0.050 3040 3193 2192 2214 2170 0 0 0 0 0 0 15.07 14.87 15.07

2263 0.92 124.5 3039 3193 2214 2168 124.8 11.9 412 2269 0.00 2.35 0.00 0.000 3078 0.000 0.049 3044 1797 2191 2214 2168 0 0 0 0 0 0 14.97 14.87 14.98

2333 0.92 124.5 3043 1797 2213 2168 116.9 11.0 425 2340 0.00 2.35 0.00 0.000 2308 0.000 0.050 3044 3197 2190 2213 2168 0 0 0 0 0 0 15.09 14.88 15.09

2443 0.92 124.5 3043 3197 2213 2168 105.2 10.1 446 2450 0.00 2.38 0.00 0.000 3078 0.000 0.050 3047 1793 2190 2213 2167 0 0 0 0 0 0 15.00 14.89 15.01

2514 0.93 134.6 3046 1793 2212 2167 98.2 9.3 459 2532 0.00 2.42 9.43 0.838 10756 0.000 0.072 3046 400 2151 2175 2127 0 0 0 0 0 0 15.11 14.85 14.40

2621 0.93 134.6 3046 401 2173 2126 86.9 10.3 479 2628 0.00 2.28 0.00 0.000 3078 0.000 0.034 3047 1798 2149 2173 2125 0 0 0 0 0 0 14.91 14.84 14.92

2692 0.94 136.5 3046 1798 2173 2125 80.2 9.9 492 2698 0.00 2.42 0.00 0.000 2564 0.000 0.066 3049 387 2148 2173 2124 0 0 0 0 0 0 15.11 14.83 15.11

2711 0.94 136.5 3049 388 2173 2124 77.9 10.6 495 2718 0.00 2.30 0.00 0.000 3078 0.000 0.034 3049 1803 2148 2173 2124 0 0 0 0 0 0 14.92 14.85 14.93

2782 0.96 159.7 3048 1803 2173 2124 71.9 8.3 508 2811 0.00 2.33 21.40 0.896 10500 0.000 0.049 3047 3201 2047 2076 2019 0 0 0 0 0 0 15.12 14.83 14.40

3092 0.97 161.5 3049 3201 2073 2016 43.1 9.9 568 3098 0.00 2.38 0.00 0.000 3078 0.000 0.051 3050 1796 2044 2073 2015 0 0 0 0 0 0 14.94 14.84 14.95

3163 0.98 172.6 3050 1796 2072 2014 36.7 9.2 581 3180 0.00 0.00 10.68 0.783 10246 0.000 0.000 3051 1796 1996 2027 1966 0 0 0 0 0 0 15.11 14.87 14.31

3244 0.99 178.1 3050 1796 2026 1965 29.1 9.6 596 3256 0.00 2.35 5.53 0.656 10500 0.000 0.050 3051 3197 1973 2004 1943 0 0 0 0 0 0 15.08 14.72 14.28

3334 0.99 178.1 3050 3197 2004 1942 20.0 10.7 613 3341 0.00 2.38 0.00 0.000 3078 0.000 0.053 3054 1792 1973 2004 1943 0 0 0 0 0 0 14.97 14.86 14.98

3405 0.99 178.1 3053 1792 2004 1942 12.9 10.2 626 3412 0.00 2.42 0.00 0.000 2564 0.000 0.073 3054 397 1972 2002 1942 0 0 0 0 0 0 15.09 14.78 15.09

3429 0.99 178.1 3053 397 2002 1942 10.0 10.7 630 3436 0.00 2.30 0.00 0.000 3078 0.000 0.035 3054 1808 1971 2002 1941 0 0 0 0 0 0 14.99 14.90 15.00

3498 end climb: SURFACE_DEPTH_REACHED

state 3498 begin surface coast

3534 end surface coast: CONTROL_FINISHED_OK

state 3534 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	333	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	30	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	56	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	120419,074406,-3351.1047,2710.8779,6,1.0,15,-28.0,1.9,237.6,8,9.7	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3346.068,2659.209
_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	-65.9	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	120419,075349,-3351.4680,2710.4595,6,1.0,14,-28.0,2.3,235.5,8,9.5	MHEAD_RNG_PITCHd_Wd	328.0,20000,-23.0,-10.010,-25.49,1417
SPEED_LIMITS	0.173,0.210	D_GRID	1000

FINISH	0.3,1.025593	_24V_AH	13.66,110.309
SM_CCo	3558,205.23,0.793,0,0,599,515.37	_10V_AH	13.79,0.000
SM_GC	0.72,13.82,0.00,205.23,0.049,0.000,0.793,110,1809,599,-8.22,-0.08,515.37,0,0,0,0,0,0,14.90,15.14,14.14	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3335.73,2713.36,120419,063309	FG_AHR_10Vo	0.000
TT8_MAMPS	0.020223,0.838131	MEM	340864
HUMID	44.21	DATA_FILE_SIZE	16744,650
INTERNAL_PRESSURE	9.36116	CAP_FILE_SIZE	118539,0
TCM_TEMP	19.80	CFSIZE	2097086464,2029092864
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	170.4,37.1	GPS	120419,085819,-3352.138,2709.055,7,0.8,40,-28.0,1.1,220.7,10,4.6
SC_FREEKB	3746272

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	327	138.43	nil	0	0	0.00
Roll_motor	75	73	75.89	nil	0	0	0.00
VBD_pump_during_apogee	219	999	2998.96	nil	0	0	0.00
VBD_pump_during_surface	205	793	2223.93	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	16	5.77	nil	0	0	0.00
Iridium_during_connect	42	160	92.02	SciCon	3601	36	1775.70
Iridium_during_xfer	279	223	852.79	nil	0	0	0.00
Transponder_ping	6	420	37.29	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	11	2.67
TT8	1417	9	187.82
LPSleep	645	2	19.51
TT8_Active	597	9	79.15
TT8_Sampling	1461	28	571.03
TT8_CF8	233	36	117.89
TT8_Kalman	0	0	0.00
Analog_circuits	1170	12	195.51
GPS_charging	0	0	0.00
Compass	991	17	245.81
RAFOS	0	0	0.00
Transponder	43	30	17.99

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	57	1793	622	553	0.0	0.0	0	122	0.00	0.00	-97.25	0.000	16386	0.000	0.000	55	1794	3009	2976	3042	0	0	0	0	0	0	14.99	28.83	15.00
127	-0.88	-92.5	55	1794	2978	3042	3.2	-6.3	18	152	14.07	2.40	-1.30	0.000	18692	0.291	0.067	2458	3216	3080	3061	3100	0	0	0	0	0	0	14.59	13.66	14.85
350	-0.88	-92.5	2458	3217	3067	3093	50.1	-21.0	61	358	0.05	2.38	0.00	0.000	3078	0.327	0.048	2467	1808	3080	3067	3093	0	0	0	0	0	0	14.66	14.83	14.86
421	-0.88	-92.5	2467	1807	3067	3093	65.0	-17.6	74	431	0.00	2.38	0.00	0.000	2308	0.000	0.058	2459	3200	3080	3068	3092	0	0	0	0	0	0	15.10	14.86	15.10
641	-0.88	-92.5	2458	3201	3069	3092	96.6	-14.4	116	648	0.05	2.33	0.00	0.000	3078	0.322	0.046	2468	1812	3080	3069	3092	0	0	0	0	0	0	14.73	14.90	14.92
712	-0.88	-92.5	2468	1811	3069	3092	106.3	-13.6	129	718	0.00	2.40	0.00	0.000	2564	0.000	0.066	2469	405	3080	3070	3091	0	0	0	0	0	0	15.12	14.88	15.13
752	-0.88	-92.5	2469	405	3070	3091	112.6	-16.6	136	759	0.00	2.30	0.00	0.000	3078	0.000	0.037	2461	1804	3080	3070	3091	0	0	0	0	0	0	15.01	14.92	15.02
823	-0.88	-92.5	2460	1807	3071	3091	122.5	-14.2	149	829	0.00	0.00	0.00	0.000	2054	0.000	0.000	2461	1806	3080	3070	3091	0	0	0	0	0	0	15.13	15.14	15.13
893	-0.88	-92.5	2461	1807	3070	3091	132.2	-13.8	162	899	0.00	2.35	0.00	0.000	2308	0.000	0.054	2451	3214	3080	3070	3091	0	0	0	0	0	0	15.12	14.90	15.12
1070	-0.88	-92.5	2450	3215	3071	3090	158.0	-13.2	196	1077	0.10	2.35	0.00	0.000	3078	0.234	0.047	2470	1811	3080	3071	3090	0	0	0	0	0	0	14.71	14.83	14.87
1141	-0.88	-92.5	2470	1810	3071	3090	167.0	-11.9	209	1148	0.00	2.42	0.00	0.000	2564	0.000	0.067	2471	401	3080	3071	3090	0	0	0	0	0	0	15.14	14.88	15.15
1172	-0.88	-92.5	2470	400	3071	3087	171.3	-14.5	214	1179	0.00	2.33	0.00	0.000	3078	0.000	0.037	2463	1814	3080	3071	3089	0	0	0	0	0	0	15.02	14.93	15.03
1242	-0.88	-92.5	2462	1817	3071	3089	180.1	-12.8	227	1248	0.00	0.00	0.00	0.000	2054	0.000	0.000	2462	1818	3080	3071	3089	0	0	0	0	0	0	15.13	15.14	15.13
1311	-0.88	-92.5	2462	1818	3071	3089	189.3	-13.0	240	1318	0.00	2.35	0.00	0.000	2308	0.000	0.054	2453	3217	3079	3070	3089	0	0	0	0	0	0	15.14	14.91	15.15
1374	end dive: BOTTOM_OBSTACLE_DETECTED
state	1374	begin apogee
1382	-0.17	0.0	2453	1794	3071	3089	197.6	-13.1	252	1460	1.27	0.00	70.12	0.999	10246	0.178	0.000	2696	1793	2698	2710	2686	0	0	0	0	0	0	14.70	14.67	14.21
1463	end apogee: CONTROL_FINISHED_OK
state	1463	begin climb
1465	0.88	92.5	2696	1794	2710	2685	201.7	0.0	266	1544	1.58	0.00	73.88	1.000	10758	0.084	0.000	3031	1793	2323	2342	2305	0	0	0	0	0	0	14.64	14.51	14.07
1608	0.89	101.5	3031	1793	2338	2299	194.4	9.4	291	1621	0.00	0.00	8.65	0.829	10246	0.000	0.000	3031	1794	2284	2304	2264	0	0	0	0	0	0	14.84	14.64	14.16
1685	0.89	101.5	3031	1794	2304	2261	186.5	10.5	305	1691	0.00	2.40	0.00	0.000	2308	0.000	0.050	3031	3207	2282	2303	2261	0	0	0	0	0	0	14.90	14.71	14.90
1764	0.89	101.5	3031	3207	2300	2261	177.7	11.9	320	1771	0.00	2.40	0.00	0.000	3078	0.000	0.050	3033	1798	2280	2300	2261	0	0	0	0	0	0	14.87	14.77	14.88
1835	0.89	101.5	3033	1798	2299	2260	169.8	10.7	333	1840	0.00	0.00	0.00	0.000	2054	0.000	0.000	3033	1798	2279	2300	2259	0	0	0	0	0	0	15.01	15.02	15.02
1903	0.91	119.0	3032	1795	2299	2259	163.6	8.7	346	1927	0.00	2.45	15.15	0.907	10756	0.000	0.071	3033	397	2211	2233	2189	0	0	0	0	0	0	15.04	14.75	14.31
1980	0.91	119.0	3033	397	2230	2188	155.5	12.2	360	1987	0.00	2.33	0.00	0.000	3078	0.000	0.034	3033	1814	2208	2230	2187	0	0	0	0	0	0	14.83	14.76	14.85
2052	0.92	124.5	3033	1815	2230	2185	148.0	9.6	373	2064	0.00	2.30	4.75	0.679	10500	0.000	0.051	3033	3197	2191	2214	2168	0	0	0	0	0	0	15.04	14.81	14.17
2168	0.92	124.5	3033	3197	2213	2167	135.7	10.9	395	2174	0.00	2.38	0.00	0.000	3078	0.000	0.049	3040	1795	2191	2214	2168	0	0	0	0	0	0	14.97	14.85	14.97
2238	0.92	124.5	3040	1795	2213	2168	127.8	11.8	408	2245	0.00	2.35	0.00	0.000	2308	0.000	0.050	3040	3193	2192	2214	2170	0	0	0	0	0	0	15.07	14.87	15.07
2263	0.92	124.5	3039	3193	2214	2168	124.8	11.9	412	2269	0.00	2.35	0.00	0.000	3078	0.000	0.049	3044	1797	2191	2214	2168	0	0	0	0	0	0	14.97	14.87	14.98
2333	0.92	124.5	3043	1797	2213	2168	116.9	11.0	425	2340	0.00	2.35	0.00	0.000	2308	0.000	0.050	3044	3197	2190	2213	2168	0	0	0	0	0	0	15.09	14.88	15.09
2443	0.92	124.5	3043	3197	2213	2168	105.2	10.1	446	2450	0.00	2.38	0.00	0.000	3078	0.000	0.050	3047	1793	2190	2213	2167	0	0	0	0	0	0	15.00	14.89	15.01
2514	0.93	134.6	3046	1793	2212	2167	98.2	9.3	459	2532	0.00	2.42	9.43	0.838	10756	0.000	0.072	3046	400	2151	2175	2127	0	0	0	0	0	0	15.11	14.85	14.40
2621	0.93	134.6	3046	401	2173	2126	86.9	10.3	479	2628	0.00	2.28	0.00	0.000	3078	0.000	0.034	3047	1798	2149	2173	2125	0	0	0	0	0	0	14.91	14.84	14.92
2692	0.94	136.5	3046	1798	2173	2125	80.2	9.9	492	2698	0.00	2.42	0.00	0.000	2564	0.000	0.066	3049	387	2148	2173	2124	0	0	0	0	0	0	15.11	14.83	15.11
2711	0.94	136.5	3049	388	2173	2124	77.9	10.6	495	2718	0.00	2.30	0.00	0.000	3078	0.000	0.034	3049	1803	2148	2173	2124	0	0	0	0	0	0	14.92	14.85	14.93
2782	0.96	159.7	3048	1803	2173	2124	71.9	8.3	508	2811	0.00	2.33	21.40	0.896	10500	0.000	0.049	3047	3201	2047	2076	2019	0	0	0	0	0	0	15.12	14.83	14.40
3092	0.97	161.5	3049	3201	2073	2016	43.1	9.9	568	3098	0.00	2.38	0.00	0.000	3078	0.000	0.051	3050	1796	2044	2073	2015	0	0	0	0	0	0	14.94	14.84	14.95
3163	0.98	172.6	3050	1796	2072	2014	36.7	9.2	581	3180	0.00	0.00	10.68	0.783	10246	0.000	0.000	3051	1796	1996	2027	1966	0	0	0	0	0	0	15.11	14.87	14.31
3244	0.99	178.1	3050	1796	2026	1965	29.1	9.6	596	3256	0.00	2.35	5.53	0.656	10500	0.000	0.050	3051	3197	1973	2004	1943	0	0	0	0	0	0	15.08	14.72	14.28
3334	0.99	178.1	3050	3197	2004	1942	20.0	10.7	613	3341	0.00	2.38	0.00	0.000	3078	0.000	0.053	3054	1792	1973	2004	1943	0	0	0	0	0	0	14.97	14.86	14.98
3405	0.99	178.1	3053	1792	2004	1942	12.9	10.2	626	3412	0.00	2.42	0.00	0.000	2564	0.000	0.073	3054	397	1972	2002	1942	0	0	0	0	0	0	15.09	14.78	15.09
3429	0.99	178.1	3053	397	2002	1942	10.0	10.7	630	3436	0.00	2.30	0.00	0.000	3078	0.000	0.035	3054	1808	1971	2002	1941	0	0	0	0	0	0	14.99	14.90	15.00
3498	end climb: SURFACE_DEPTH_REACHED
state	3498	begin surface coast
3534	end surface coast: CONTROL_FINISHED_OK
state	3534	begin surface