Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 340 * 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 120 C_ROLL_CLIMB 1800 ALTIM_TOP_TURN_MARGIN 0

DIVE 340 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 43 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 120 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 43 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 340 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 120419,150027,-3356.2556,2702.4668,6,1.0,14,-28.1,2.7,234.9,8,9.2 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3401.950,2713.302

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.73 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -64.3 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 120419,150838,-3356.5500,2702.0171,6,1.1,14,-28.1,2.0,244.2,8,10.0 MHEAD_RNG_PITCHd_Wd 148.1,20000,-23.0,-10.010,-25.49,1417

SPEED_LIMITS 0.173,0.210 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.2,1.025028 _24V_AH 13.67,111.510

SM_CCo 3490,209.45,0.785,0,0,599,515.37 _10V_AH 13.78,0.000

SM_GC 0.67,13.68,2.35,209.45,0.048,0.035,0.785,121,1814,599,-8.18,-1.58,515.37,0,0,0,0,0,0,14.95,14.97,14.16 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3338.31,2705.25,120419,140406 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.953477 MEM 340928

HUMID 43.97 DATA_FILE_SIZE 16734,638

INTERNAL_PRESSURE 9.39045 CAP_FILE_SIZE 113666,0

TCM_TEMP 20.10 CFSIZE 2097086464,2027945984

XPDR_PINGS 0 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0

ALTIM_BOTTOM_PING 160.4,33.3 INTR 0,1867.53,0x2131ca,1,24

SC_FREEKB 3742688 GPS 120419,161201,-3357.610,2700.956,7,0.8,37,-28.1,2.0,234.6,11,4.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 294 123.00 nil 0 0 0.00

Roll_motor 56 78 60.59 nil 0 0 0.00

VBD_pump_during_apogee 206 988 2790.73 nil 0 0 0.00

VBD_pump_during_surface 209 784 2247.28 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 16 5.88 nil 0 0 0.00

Iridium_during_connect 41 160 90.27 SciCon 3517 36 1753.48

Iridium_during_xfer 207 223 632.86 nil 0 0 0.00

Transponder_ping 6 420 34.45 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 11 2.38

TT8 1401 9 185.54

LPSleep 633 2 19.13

TT8_Active 585 9 77.54

TT8_Sampling 1362 28 532.09

TT8_CF8 220 36 111.04

TT8_Kalman 0 0 0.00

Analog_circuits 1145 12 191.08

GPS_charging 0 0 0.00

Compass 970 17 240.57

RAFOS 0 0 0.00

Transponder 39 30 16.12

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 20 begin dive

22 -0.88 -92.5 87 1812 624 552 0.0 0.0 0 122 0.00 0.00 -97.20 0.000 16386 0.000 0.000 76 1813 3027 2999 3055 0 0 0 0 0 0 15.01 28.83 15.02

127 -0.88 -92.5 76 1813 3000 3055 3.2 -5.2 18 152 13.85 2.40 -0.98 0.000 18948 0.287 0.078 2466 402 3079 3061 3097 0 0 0 0 0 0 14.62 13.67 14.87

210 -0.88 -92.5 2465 402 3067 3093 26.5 -19.6 33 218 0.08 2.33 0.00 0.000 3078 0.295 0.036 2471 1816 3077 3068 3087 0 0 0 0 0 0 14.67 14.83 14.85

282 -0.88 -92.5 2470 1819 3069 3090 39.2 -19.5 46 289 0.00 2.42 0.00 0.000 2564 0.000 0.064 2471 405 3079 3069 3090 0 0 0 0 0 0 15.09 14.85 15.09

398 -0.88 -92.5 2471 404 3069 3090 61.8 -18.5 68 404 0.00 2.30 0.00 0.000 3078 0.000 0.037 2462 1810 3079 3069 3090 0 0 0 0 0 0 15.00 14.90 15.00

470 -0.88 -92.5 2462 1813 3070 3089 73.7 -17.2 81 476 0.00 2.42 0.00 0.000 2564 0.000 0.063 2461 398 3079 3070 3089 0 0 0 0 0 0 15.11 14.80 15.12

511 -0.88 -92.5 2461 398 3070 3089 80.5 -16.9 88 518 0.10 2.33 0.00 0.000 3078 0.261 0.037 2470 1812 3079 3070 3089 0 0 0 0 0 0 14.73 14.88 14.90

581 -0.88 -92.5 2470 1815 3071 3088 91.0 -14.1 101 587 0.00 0.00 0.00 0.000 2054 0.000 0.000 2471 1815 3079 3071 3088 0 0 0 0 0 0 15.13 15.14 15.13

653 -0.88 -92.5 2470 1815 3071 3088 100.2 -12.9 114 659 0.00 0.00 0.00 0.000 2054 0.000 0.000 2471 1815 3079 3071 3088 0 0 0 0 0 0 15.12 15.13 15.12

723 -0.88 -92.5 2470 1815 3072 3088 108.9 -10.9 127 729 0.00 2.40 0.00 0.000 2564 0.000 0.063 2471 405 3079 3071 3088 0 0 0 0 0 0 15.14 14.89 15.14

804 -0.88 -92.5 2470 404 3072 3088 118.5 -11.6 142 811 0.00 2.30 0.00 0.000 3078 0.000 0.037 2462 1810 3079 3071 3088 0 0 0 0 0 0 14.93 14.85 14.95

876 -0.88 -92.5 2462 1813 3072 3088 127.0 -11.1 155 882 0.00 0.00 0.00 0.000 2054 0.000 0.000 2462 1813 3077 3072 3082 0 0 0 0 0 0 15.14 15.15 15.15

947 -0.88 -92.5 2461 1814 3072 3088 135.8 -12.0 168 953 0.00 0.00 0.00 0.000 2054 0.000 0.000 2462 1814 3080 3072 3088 0 0 0 0 0 0 15.14 15.14 15.14

1017 -0.88 -92.5 2461 1814 3072 3087 144.3 -11.5 181 1025 0.00 0.00 0.00 0.000 2054 0.000 0.000 2462 1813 3079 3072 3087 0 0 0 0 0 0 15.15 15.16 15.16

1089 -0.88 -92.5 2462 1813 3072 3088 153.8 -14.7 194 1096 0.00 2.33 0.00 0.000 2308 0.000 0.053 2451 3217 3079 3072 3087 0 0 0 0 0 0 15.15 14.83 15.19

1109 -0.88 -92.5 2452 3217 3071 3087 156.4 -12.9 197 1116 0.10 2.35 0.00 0.000 3078 0.237 0.046 2471 1799 3079 3072 3087 0 0 0 0 0 0 14.78 14.92 14.88

1182 -0.88 -92.5 2471 1798 3072 3087 166.5 -15.1 210 1188 0.00 0.00 0.00 0.000 2054 0.000 0.000 2471 1798 3079 3072 3087 0 0 0 0 0 0 15.16 15.16 15.16

1251 -0.88 -92.5 2471 1798 3072 3087 176.9 -15.3 223 1257 0.00 2.38 0.00 0.000 2308 0.000 0.053 2463 3216 3079 3072 3086 0 0 0 0 0 0 15.16 14.88 15.16

1290 -0.88 -92.5 2462 3215 3072 3087 182.4 -13.4 230 1297 0.00 2.35 0.00 0.000 3078 0.000 0.046 2463 1803 3079 3072 3087 0 0 0 0 0 0 14.97 14.86 14.99

1302 end dive: BOTTOM_OBSTACLE_DETECTED

state 1302 begin apogee

1307 -0.17 0.0 2463 1803 3072 3086 184.3 -13.4 232 1385 1.20 0.00 69.15 0.982 10246 0.168 0.000 2695 1802 2700 2714 2686 0 0 0 0 0 0 14.72 14.55 14.17

1389 end apogee: CONTROL_FINISHED_OK

state 1389 begin climb

1391 0.88 92.5 2695 1802 2713 2686 187.4 0.0 246 1470 1.55 0.00 74.18 0.988 10246 0.083 0.000 3028 1802 2322 2341 2303 0 0 0 0 0 0 14.65 14.52 14.08

1535 0.91 113.2 3028 1802 2341 2297 181.5 8.5 271 1557 0.00 0.00 17.60 0.913 10246 0.000 0.000 3028 1802 2239 2263 2215 0 0 0 0 0 0 14.85 14.64 14.19

1620 0.91 113.2 3027 1802 2260 2211 172.9 10.3 287 1625 0.00 0.00 0.00 0.000 2054 0.000 0.000 3028 1802 2235 2259 2211 0 0 0 0 0 0 14.91 14.91 14.91

1688 0.91 113.2 3028 1802 2259 2210 165.4 10.6 300 1695 0.00 2.38 0.00 0.000 2308 0.000 0.050 3028 3208 2234 2258 2210 0 0 0 0 0 0 14.98 14.77 14.98

1722 0.91 113.2 3027 3208 2256 2210 161.5 11.2 306 1729 0.00 2.38 0.00 0.000 3078 0.000 0.049 3037 1801 2233 2256 2210 0 0 0 0 0 0 14.85 14.74 14.87

1793 0.91 113.2 3036 1801 2256 2209 153.9 11.0 319 1799 0.00 0.00 0.00 0.000 2054 0.000 0.000 3037 1801 2232 2256 2209 0 0 0 0 0 0 15.04 15.04 15.04

1862 0.91 113.2 3036 1801 2255 2209 146.3 10.7 332 1868 0.00 0.00 0.00 0.000 2054 0.000 0.000 3037 1801 2232 2255 2209 0 0 0 0 0 0 15.07 15.07 15.07

1931 0.91 113.2 3037 1800 2255 2205 139.3 10.0 345 1937 0.00 2.40 0.00 0.000 2564 0.000 0.070 3037 389 2230 2254 2207 0 0 0 0 0 0 15.08 14.84 15.09

1950 0.91 115.1 3037 389 2253 2207 137.4 9.9 348 1957 0.00 2.33 0.00 0.000 3078 0.000 0.036 3037 1812 2230 2253 2207 0 0 0 0 0 0 14.97 14.90 14.98

2021 0.92 120.7 3037 1813 2253 2207 130.3 9.6 361 2034 0.00 2.45 6.35 0.746 10756 0.000 0.066 3040 393 2207 2232 2183 0 0 0 0 0 0 15.09 14.73 14.26

2258 0.92 121.0 3039 392 2228 2183 106.5 10.0 407 2265 0.00 2.30 0.00 0.000 3078 0.000 0.036 3040 1800 2204 2227 2182 0 0 0 0 0 0 15.00 14.90 15.01

2329 0.94 137.0 3040 1801 2228 2181 100.3 8.9 420 2353 0.00 2.45 14.35 0.861 10756 0.000 0.067 3045 394 2140 2167 2114 0 0 0 0 0 0 15.12 14.84 14.38

2397 0.94 137.0 3044 393 2165 2113 93.4 11.5 432 2404 0.00 2.30 0.00 0.000 3078 0.000 0.036 3044 1803 2138 2164 2112 0 0 0 0 0 0 14.90 14.81 14.91

2468 0.94 139.3 3044 1803 2164 2111 86.2 9.8 445 2473 0.00 0.00 0.00 0.000 2054 0.000 0.000 3045 1803 2138 2165 2111 0 0 0 0 0 0 15.10 15.10 15.10

2536 0.94 142.5 3045 1803 2164 2110 79.3 9.8 458 2548 0.00 0.00 5.55 0.682 10502 0.000 0.000 3045 1803 2119 2147 2091 0 0 0 0 0 0 15.11 14.76 14.38

2612 0.95 150.6 3044 1804 2146 2089 71.9 9.4 472 2626 0.00 2.47 7.80 0.763 10756 0.000 0.067 3047 390 2087 2116 2058 0 0 0 0 0 0 15.11 14.85 14.40

3061 0.96 152.7 3046 389 2109 2055 32.6 9.9 560 3067 0.00 2.30 0.00 0.000 3078 0.000 0.035 3047 1802 2081 2109 2054 0 0 0 0 0 0 15.02 14.95 15.04

3132 0.97 165.4 3046 1803 2108 2053 27.5 9.1 573 3150 0.00 2.40 11.57 0.878 10756 0.000 0.066 3055 395 2023 2055 1991 0 0 0 0 0 0 15.14 14.76 14.33

3423 end climb: SURFACE_DEPTH_REACHED

state 3423 begin surface coast

3464 end surface coast: CONTROL_FINISHED_OK

state 3464 begin surface

ID	574	HD_C	9.8500004e-06	C_ROLL_DIVE	1812	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	3	HEADING	120	C_ROLL_CLIMB	1800	ALTIM_TOP_TURN_MARGIN	0
DIVE	340	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	43	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	120419,150027,-3356.2556,2702.4668,6,1.0,14,-28.1,2.7,234.9,8,9.2	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3401.950,2713.302
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.73	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-64.3	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	120419,150838,-3356.5500,2702.0171,6,1.1,14,-28.1,2.0,244.2,8,10.0	MHEAD_RNG_PITCHd_Wd	148.1,20000,-23.0,-10.010,-25.49,1417
SPEED_LIMITS	0.173,0.210	D_GRID	1000

FINISH	0.2,1.025028	_24V_AH	13.67,111.510
SM_CCo	3490,209.45,0.785,0,0,599,515.37	_10V_AH	13.78,0.000
SM_GC	0.67,13.68,2.35,209.45,0.048,0.035,0.785,121,1814,599,-8.18,-1.58,515.37,0,0,0,0,0,0,14.95,14.97,14.16	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3338.31,2705.25,120419,140406	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.953477	MEM	340928
HUMID	43.97	DATA_FILE_SIZE	16734,638
INTERNAL_PRESSURE	9.39045	CAP_FILE_SIZE	113666,0
TCM_TEMP	20.10	CFSIZE	2097086464,2027945984
XPDR_PINGS	0	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	160.4,33.3	INTR	0,1867.53,0x2131ca,1,24
SC_FREEKB	3742688	GPS	120419,161201,-3357.610,2700.956,7,0.8,37,-28.1,2.0,234.6,11,4.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	294	123.00	nil	0	0	0.00
Roll_motor	56	78	60.59	nil	0	0	0.00
VBD_pump_during_apogee	206	988	2790.73	nil	0	0	0.00
VBD_pump_during_surface	209	784	2247.28	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	16	5.88	nil	0	0	0.00
Iridium_during_connect	41	160	90.27	SciCon	3517	36	1753.48
Iridium_during_xfer	207	223	632.86	nil	0	0	0.00
Transponder_ping	6	420	34.45	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	11	2.38
TT8	1401	9	185.54
LPSleep	633	2	19.13
TT8_Active	585	9	77.54
TT8_Sampling	1362	28	532.09
TT8_CF8	220	36	111.04
TT8_Kalman	0	0	0.00
Analog_circuits	1145	12	191.08
GPS_charging	0	0	0.00
Compass	970	17	240.57
RAFOS	0	0	0.00
Transponder	39	30	16.12

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	20	begin dive
22	-0.88	-92.5	87	1812	624	552	0.0	0.0	0	122	0.00	0.00	-97.20	0.000	16386	0.000	0.000	76	1813	3027	2999	3055	0	0	0	0	0	0	15.01	28.83	15.02
127	-0.88	-92.5	76	1813	3000	3055	3.2	-5.2	18	152	13.85	2.40	-0.98	0.000	18948	0.287	0.078	2466	402	3079	3061	3097	0	0	0	0	0	0	14.62	13.67	14.87
210	-0.88	-92.5	2465	402	3067	3093	26.5	-19.6	33	218	0.08	2.33	0.00	0.000	3078	0.295	0.036	2471	1816	3077	3068	3087	0	0	0	0	0	0	14.67	14.83	14.85
282	-0.88	-92.5	2470	1819	3069	3090	39.2	-19.5	46	289	0.00	2.42	0.00	0.000	2564	0.000	0.064	2471	405	3079	3069	3090	0	0	0	0	0	0	15.09	14.85	15.09
398	-0.88	-92.5	2471	404	3069	3090	61.8	-18.5	68	404	0.00	2.30	0.00	0.000	3078	0.000	0.037	2462	1810	3079	3069	3090	0	0	0	0	0	0	15.00	14.90	15.00
470	-0.88	-92.5	2462	1813	3070	3089	73.7	-17.2	81	476	0.00	2.42	0.00	0.000	2564	0.000	0.063	2461	398	3079	3070	3089	0	0	0	0	0	0	15.11	14.80	15.12
511	-0.88	-92.5	2461	398	3070	3089	80.5	-16.9	88	518	0.10	2.33	0.00	0.000	3078	0.261	0.037	2470	1812	3079	3070	3089	0	0	0	0	0	0	14.73	14.88	14.90
581	-0.88	-92.5	2470	1815	3071	3088	91.0	-14.1	101	587	0.00	0.00	0.00	0.000	2054	0.000	0.000	2471	1815	3079	3071	3088	0	0	0	0	0	0	15.13	15.14	15.13
653	-0.88	-92.5	2470	1815	3071	3088	100.2	-12.9	114	659	0.00	0.00	0.00	0.000	2054	0.000	0.000	2471	1815	3079	3071	3088	0	0	0	0	0	0	15.12	15.13	15.12
723	-0.88	-92.5	2470	1815	3072	3088	108.9	-10.9	127	729	0.00	2.40	0.00	0.000	2564	0.000	0.063	2471	405	3079	3071	3088	0	0	0	0	0	0	15.14	14.89	15.14
804	-0.88	-92.5	2470	404	3072	3088	118.5	-11.6	142	811	0.00	2.30	0.00	0.000	3078	0.000	0.037	2462	1810	3079	3071	3088	0	0	0	0	0	0	14.93	14.85	14.95
876	-0.88	-92.5	2462	1813	3072	3088	127.0	-11.1	155	882	0.00	0.00	0.00	0.000	2054	0.000	0.000	2462	1813	3077	3072	3082	0	0	0	0	0	0	15.14	15.15	15.15
947	-0.88	-92.5	2461	1814	3072	3088	135.8	-12.0	168	953	0.00	0.00	0.00	0.000	2054	0.000	0.000	2462	1814	3080	3072	3088	0	0	0	0	0	0	15.14	15.14	15.14
1017	-0.88	-92.5	2461	1814	3072	3087	144.3	-11.5	181	1025	0.00	0.00	0.00	0.000	2054	0.000	0.000	2462	1813	3079	3072	3087	0	0	0	0	0	0	15.15	15.16	15.16
1089	-0.88	-92.5	2462	1813	3072	3088	153.8	-14.7	194	1096	0.00	2.33	0.00	0.000	2308	0.000	0.053	2451	3217	3079	3072	3087	0	0	0	0	0	0	15.15	14.83	15.19
1109	-0.88	-92.5	2452	3217	3071	3087	156.4	-12.9	197	1116	0.10	2.35	0.00	0.000	3078	0.237	0.046	2471	1799	3079	3072	3087	0	0	0	0	0	0	14.78	14.92	14.88
1182	-0.88	-92.5	2471	1798	3072	3087	166.5	-15.1	210	1188	0.00	0.00	0.00	0.000	2054	0.000	0.000	2471	1798	3079	3072	3087	0	0	0	0	0	0	15.16	15.16	15.16
1251	-0.88	-92.5	2471	1798	3072	3087	176.9	-15.3	223	1257	0.00	2.38	0.00	0.000	2308	0.000	0.053	2463	3216	3079	3072	3086	0	0	0	0	0	0	15.16	14.88	15.16
1290	-0.88	-92.5	2462	3215	3072	3087	182.4	-13.4	230	1297	0.00	2.35	0.00	0.000	3078	0.000	0.046	2463	1803	3079	3072	3087	0	0	0	0	0	0	14.97	14.86	14.99
1302	end dive: BOTTOM_OBSTACLE_DETECTED
state	1302	begin apogee
1307	-0.17	0.0	2463	1803	3072	3086	184.3	-13.4	232	1385	1.20	0.00	69.15	0.982	10246	0.168	0.000	2695	1802	2700	2714	2686	0	0	0	0	0	0	14.72	14.55	14.17
1389	end apogee: CONTROL_FINISHED_OK
state	1389	begin climb
1391	0.88	92.5	2695	1802	2713	2686	187.4	0.0	246	1470	1.55	0.00	74.18	0.988	10246	0.083	0.000	3028	1802	2322	2341	2303	0	0	0	0	0	0	14.65	14.52	14.08
1535	0.91	113.2	3028	1802	2341	2297	181.5	8.5	271	1557	0.00	0.00	17.60	0.913	10246	0.000	0.000	3028	1802	2239	2263	2215	0	0	0	0	0	0	14.85	14.64	14.19
1620	0.91	113.2	3027	1802	2260	2211	172.9	10.3	287	1625	0.00	0.00	0.00	0.000	2054	0.000	0.000	3028	1802	2235	2259	2211	0	0	0	0	0	0	14.91	14.91	14.91
1688	0.91	113.2	3028	1802	2259	2210	165.4	10.6	300	1695	0.00	2.38	0.00	0.000	2308	0.000	0.050	3028	3208	2234	2258	2210	0	0	0	0	0	0	14.98	14.77	14.98
1722	0.91	113.2	3027	3208	2256	2210	161.5	11.2	306	1729	0.00	2.38	0.00	0.000	3078	0.000	0.049	3037	1801	2233	2256	2210	0	0	0	0	0	0	14.85	14.74	14.87
1793	0.91	113.2	3036	1801	2256	2209	153.9	11.0	319	1799	0.00	0.00	0.00	0.000	2054	0.000	0.000	3037	1801	2232	2256	2209	0	0	0	0	0	0	15.04	15.04	15.04
1862	0.91	113.2	3036	1801	2255	2209	146.3	10.7	332	1868	0.00	0.00	0.00	0.000	2054	0.000	0.000	3037	1801	2232	2255	2209	0	0	0	0	0	0	15.07	15.07	15.07
1931	0.91	113.2	3037	1800	2255	2205	139.3	10.0	345	1937	0.00	2.40	0.00	0.000	2564	0.000	0.070	3037	389	2230	2254	2207	0	0	0	0	0	0	15.08	14.84	15.09
1950	0.91	115.1	3037	389	2253	2207	137.4	9.9	348	1957	0.00	2.33	0.00	0.000	3078	0.000	0.036	3037	1812	2230	2253	2207	0	0	0	0	0	0	14.97	14.90	14.98
2021	0.92	120.7	3037	1813	2253	2207	130.3	9.6	361	2034	0.00	2.45	6.35	0.746	10756	0.000	0.066	3040	393	2207	2232	2183	0	0	0	0	0	0	15.09	14.73	14.26
2258	0.92	121.0	3039	392	2228	2183	106.5	10.0	407	2265	0.00	2.30	0.00	0.000	3078	0.000	0.036	3040	1800	2204	2227	2182	0	0	0	0	0	0	15.00	14.90	15.01
2329	0.94	137.0	3040	1801	2228	2181	100.3	8.9	420	2353	0.00	2.45	14.35	0.861	10756	0.000	0.067	3045	394	2140	2167	2114	0	0	0	0	0	0	15.12	14.84	14.38
2397	0.94	137.0	3044	393	2165	2113	93.4	11.5	432	2404	0.00	2.30	0.00	0.000	3078	0.000	0.036	3044	1803	2138	2164	2112	0	0	0	0	0	0	14.90	14.81	14.91
2468	0.94	139.3	3044	1803	2164	2111	86.2	9.8	445	2473	0.00	0.00	0.00	0.000	2054	0.000	0.000	3045	1803	2138	2165	2111	0	0	0	0	0	0	15.10	15.10	15.10
2536	0.94	142.5	3045	1803	2164	2110	79.3	9.8	458	2548	0.00	0.00	5.55	0.682	10502	0.000	0.000	3045	1803	2119	2147	2091	0	0	0	0	0	0	15.11	14.76	14.38
2612	0.95	150.6	3044	1804	2146	2089	71.9	9.4	472	2626	0.00	2.47	7.80	0.763	10756	0.000	0.067	3047	390	2087	2116	2058	0	0	0	0	0	0	15.11	14.85	14.40
3061	0.96	152.7	3046	389	2109	2055	32.6	9.9	560	3067	0.00	2.30	0.00	0.000	3078	0.000	0.035	3047	1802	2081	2109	2054	0	0	0	0	0	0	15.02	14.95	15.04
3132	0.97	165.4	3046	1803	2108	2053	27.5	9.1	573	3150	0.00	2.40	11.57	0.878	10756	0.000	0.066	3055	395	2023	2055	1991	0	0	0	0	0	0	15.14	14.76	14.33
3423	end climb: SURFACE_DEPTH_REACHED
state	3423	begin surface coast
3464	end surface coast: CONTROL_FINISHED_OK
state	3464	begin surface