Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 342 * 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 342 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 32 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 34 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 32 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 34 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 342 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 120419,172857,-3359.1433,2659.1138,7,0.9,16,-28.1,2.5,240.1,9,9.1 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3404.862,2709.896

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.76 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -63.6 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 120419,173845,-3359.4626,2658.6042,7,0.9,14,-28.1,1.7,231.8,9,10.0 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 0.1,1.025357 _24V_AH 13.61,111.911

SM_CCo 3975,174.75,0.778,0,0,598,515.37 _10V_AH 13.80,0.000

SM_GC 0.79,13.90,0.00,174.75,0.046,0.000,0.778,123,1799,598,-8.17,-0.37,515.37,0,0,0,0,0,0,14.86,15.07,14.16 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3343.50,2658.31,120419,161531 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.913031 MEM 340928

HUMID 45.31 DATA_FILE_SIZE 20079,726

INTERNAL_PRESSURE 9.38069 CAP_FILE_SIZE 130767,0

TCM_TEMP 19.80 CFSIZE 2097086464,2027585536

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

ALTIM_BOTTOM_PING 195.4,31.8 GPS 120419,184931,-3400.900,2656.802,7,0.8,30,-28.1,1.5,234.2,11,7.4

SC_FREEKB 3741664

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 289 122.72 nil 0 0 0.00

Roll_motor 94 73 94.48 nil 0 0 0.00

VBD_pump_during_apogee 247 1189 4005.43 nil 0 0 0.00

VBD_pump_during_surface 174 778 1850.37 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 16 6.17 nil 0 0 0.00

Iridium_during_connect 40 160 88.06 SciCon 4020 34 1890.91

Iridium_during_xfer 281 223 853.73 nil 0 0 0.00

Transponder_ping 8 420 45.73 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 11 2.66

TT8 1584 9 210.13

LPSleep 724 2 21.90

TT8_Active 596 9 79.15

TT8_Sampling 1582 28 618.71

TT8_CF8 257 36 129.92

TT8_Kalman 0 0 0.00

Analog_circuits 1230 12 205.67

GPS_charging 0 0 0.00

Compass 1111 17 275.71

RAFOS 0 0 0.00

Transponder 49 30 20.55

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 72 1814 624 553 0.0 0.0 0 122 0.00 0.00 -96.97 0.000 16390 0.000 0.000 66 1814 3078 3048 3109 0 0 0 0 0 0 15.00 13.61 15.02

127 -0.88 -92.5 66 1814 3049 3109 3.9 -9.7 18 146 13.98 2.42 0.00 0.000 2308 0.290 0.047 2463 3240 3079 3052 3106 0 0 0 0 0 0 14.60 14.79 14.84

204 -0.88 -92.5 2456 3240 3061 3099 30.6 -24.8 32 211 0.08 2.40 0.00 0.000 3078 0.283 0.048 2469 1810 3080 3062 3098 0 0 0 0 0 0 14.62 14.84 14.80

275 -0.88 -92.5 2469 1810 3064 3095 44.4 -18.6 45 282 0.00 2.42 0.00 0.000 2564 0.000 0.066 2470 396 3080 3065 3095 0 0 0 0 0 0 15.08 14.79 15.08

539 -0.88 -92.5 2469 396 3065 3094 89.3 -18.4 96 547 0.00 2.35 0.00 0.000 3078 0.000 0.038 2461 1823 3080 3067 3093 0 0 0 0 0 0 14.90 14.82 14.92

612 -0.88 -92.5 2461 1826 3068 3093 100.0 -13.9 109 620 0.00 2.33 0.00 0.000 2308 0.000 0.054 2451 3221 3080 3067 3093 0 0 0 0 0 0 15.14 14.90 15.13

686 -0.88 -92.5 2450 3221 3067 3093 110.1 -13.8 122 694 0.10 2.38 0.00 0.000 3078 0.237 0.047 2470 1801 3080 3067 3093 0 0 0 0 0 0 14.78 14.90 14.95

757 -0.88 -92.5 2470 1801 3068 3092 119.2 -12.1 135 764 0.00 2.40 0.00 0.000 2564 0.000 0.065 2471 399 3080 3068 3092 0 0 0 0 0 0 15.14 14.89 15.14

802 -0.88 -92.5 2470 399 3068 3091 125.4 -14.5 143 809 0.00 2.33 0.00 0.000 3078 0.000 0.037 2462 1813 3079 3068 3091 0 0 0 0 0 0 15.02 14.91 15.03

874 -0.88 -92.5 2462 1816 3069 3091 134.3 -13.3 156 881 0.00 2.33 0.00 0.000 2308 0.000 0.052 2452 3215 3079 3068 3091 0 0 0 0 0 0 15.14 14.83 15.14

970 -0.88 -92.5 2451 3215 3068 3091 147.4 -12.3 174 977 0.10 2.35 0.00 0.000 3078 0.234 0.047 2471 1805 3079 3068 3091 0 0 0 0 0 0 14.72 14.84 14.88

1041 -0.88 -92.5 2471 1805 3069 3091 156.3 -12.4 187 1047 0.00 2.40 0.00 0.000 2564 0.000 0.066 2471 399 3079 3069 3090 0 0 0 0 0 0 15.15 14.85 15.15

1080 -0.88 -92.5 2471 399 3069 3090 161.4 -13.3 194 1086 0.00 2.33 0.00 0.000 3078 0.000 0.037 2463 1815 3078 3069 3087 0 0 0 0 0 0 14.95 14.89 14.95

1151 -0.88 -92.5 2462 1818 3069 3090 170.5 -13.2 207 1158 0.00 2.33 0.00 0.000 2308 0.000 0.052 2452 3216 3079 3069 3090 0 0 0 0 0 0 15.15 14.92 15.16

1176 -0.88 -92.5 2452 3215 3069 3090 173.9 -12.3 211 1183 0.10 2.35 0.00 0.000 3078 0.233 0.047 2472 1807 3079 3069 3090 0 0 0 0 0 0 14.76 14.88 14.92

1247 -0.88 -92.5 2472 1814 3069 3090 182.6 -12.7 224 1253 0.00 2.40 0.00 0.000 2564 0.000 0.066 2473 399 3079 3069 3090 0 0 0 0 0 0 15.15 14.90 15.16

1291 -0.88 -92.5 2472 399 3069 3090 188.3 -12.7 232 1298 0.00 2.33 0.00 0.000 3078 0.000 0.037 2464 1813 3079 3069 3090 0 0 0 0 0 0 14.99 14.90 15.01

1364 -0.88 -92.5 2463 1817 3069 3089 197.8 -13.4 245 1370 0.00 2.40 0.00 0.000 2564 0.000 0.064 2464 408 3079 3069 3090 0 0 0 0 0 0 15.15 14.83 15.16

1397 -0.88 -92.5 2463 408 3069 3089 202.5 -13.2 251 1405 0.08 2.30 0.00 0.000 3078 0.288 0.037 2468 1814 3079 3069 3089 0 0 0 0 0 0 14.77 14.95 14.95

1469 -0.88 -92.5 2472 1817 3070 3090 211.3 -12.9 264 1475 0.00 2.33 0.00 0.000 2308 0.000 0.053 2460 3216 3081 3073 3089 0 0 0 0 0 0 15.17 14.92 15.18

1493 -0.88 -92.5 2459 3216 3069 3089 214.6 -13.3 268 1500 0.00 2.33 0.00 0.000 3078 0.000 0.047 2459 1813 3079 3069 3089 0 0 0 0 0 0 15.03 14.92 15.04

1514 end dive: BOTTOM_OBSTACLE_DETECTED

state 1515 begin apogee

1520 -0.17 0.0 2459 1813 3069 3089 217.7 -13.3 272 1598 1.23 0.00 70.07 1.190 10246 0.164 0.000 2698 1813 2700 2712 2688 0 0 0 0 0 0 14.66 14.59 14.09

1601 end apogee: CONTROL_FINISHED_OK

state 1601 begin climb

1603 0.88 92.5 2698 1813 2712 2688 221.3 0.0 286 1689 1.55 0.00 75.43 1.189 10502 0.073 0.000 3033 1813 2321 2341 2302 0 0 0 0 0 0 14.62 14.33 13.93

1752 0.89 95.1 3032 1813 2338 2297 214.4 9.8 312 1758 0.00 2.47 0.00 0.000 2564 0.000 0.067 3040 392 2317 2338 2297 0 0 0 0 0 0 14.84 14.62 14.84

1791 0.89 95.1 3039 392 2336 2297 210.2 10.7 319 1798 0.00 2.35 0.00 0.000 1030 0.000 0.035 3040 1806 2315 2335 2296 0 0 0 0 0 0 14.79 14.73 14.80

1862 0.89 95.1 3040 1809 2335 2294 202.8 10.3 332 1868 0.00 2.42 0.00 0.000 516 0.000 0.067 3040 398 2314 2335 2294 0 0 0 0 0 0 14.96 14.74 14.97

2179 0.89 95.1 3040 398 2331 2293 170.4 10.3 394 2185 0.00 2.30 0.00 0.000 1030 0.000 0.036 3040 1805 2311 2331 2292 0 0 0 0 0 0 14.88 14.83 14.90

2250 0.90 109.8 3040 1805 2330 2292 164.4 8.9 407 2269 0.00 2.47 13.82 1.066 10756 0.000 0.068 3049 389 2251 2274 2229 0 0 0 0 0 0 15.11 14.78 14.30

2423 0.90 109.8 3049 390 2270 2228 145.4 10.3 440 2430 0.00 2.33 0.00 0.000 1030 0.000 0.037 3049 1801 2247 2268 2227 0 0 0 0 0 0 14.97 14.90 14.98

2494 0.92 122.4 3049 1802 2270 2226 139.0 9.1 453 2512 0.00 2.33 11.27 1.018 10500 0.000 0.049 3049 3198 2199 2224 2175 0 0 0 0 0 0 15.10 14.71 14.27

2590 0.92 122.4 3048 3198 2223 2175 128.0 11.4 471 2597 0.00 2.35 0.00 0.000 1030 0.000 0.050 3051 1801 2199 2223 2175 0 0 0 0 0 0 14.92 14.83 14.95

2662 0.92 122.4 3050 1802 2223 2175 120.3 10.8 484 2668 0.00 2.40 0.00 0.000 516 0.000 0.071 3051 394 2198 2222 2175 0 0 0 0 0 0 15.07 14.85 15.08

2686 0.92 122.4 3050 395 2220 2174 117.6 10.7 488 2692 0.00 2.30 0.00 0.000 1030 0.000 0.036 3051 1805 2197 2220 2174 0 0 0 0 0 0 14.97 14.89 14.98

2757 0.93 127.7 3050 1806 2220 2174 110.9 9.6 501 2770 0.00 2.40 5.38 0.707 10756 0.000 0.070 3059 397 2179 2203 2155 0 0 0 0 0 0 15.09 14.87 14.27

2868 0.93 127.7 3059 398 2201 2154 99.1 11.3 522 2874 0.00 2.28 0.00 0.000 5126 0.000 0.036 3059 1794 2177 2201 2154 0 0 0 0 0 0 15.00 14.91 15.00

2938 0.93 127.7 3059 1794 2201 2153 91.7 10.8 535 2944 0.00 2.40 0.00 0.000 4612 0.000 0.067 3068 396 2177 2201 2154 0 0 0 0 0 0 15.11 14.88 15.11

2987 0.93 127.7 3067 396 2200 2153 86.7 10.5 544 2994 0.00 2.30 0.00 0.000 5126 0.000 0.037 3068 1805 2177 2201 2153 0 0 0 0 0 0 15.01 14.93 15.02

3058 0.96 152.7 3068 1806 2201 2153 80.2 8.2 557 3087 0.00 2.42 21.50 1.065 12804 0.000 0.067 3077 391 2075 2103 2047 0 0 0 0 0 0 15.11 14.78 14.31

3251 0.96 152.7 3077 391 2100 2046 62.0 10.3 594 3258 0.00 2.33 0.00 0.000 5126 0.000 0.037 3078 1806 2072 2099 2045 0 0 0 0 0 0 14.97 14.89 14.97

3322 0.99 181.1 3077 1807 2099 2043 56.4 7.9 607 3352 0.00 2.38 23.20 0.993 8452 0.000 0.051 3077 3200 1959 1991 1928 0 0 0 0 0 0 15.07 14.78 14.26

3390 0.99 181.1 3077 3200 1990 1928 50.1 10.6 619 3397 0.00 2.38 0.00 0.000 5126 0.000 0.051 3081 1802 1958 1989 1928 0 0 0 0 0 0 14.85 14.76 14.87

3461 0.99 181.1 3080 1802 1988 1926 42.5 11.0 632 3468 0.00 2.45 0.00 0.000 4612 0.000 0.073 3081 392 1956 1987 1926 0 0 0 0 0 0 15.04 14.80 15.04

3793 0.99 181.1 3080 392 1982 1923 9.1 10.8 697 3800 0.00 2.30 0.00 0.000 5126 0.000 0.038 3081 1798 1952 1982 1922 0 0 0 0 0 0 15.00 14.91 15.01

3864 1.07 246.5 3080 1799 1982 1922 4.7 5.3 710 3893 0.00 0.00 26.73 0.821 10498 0.000 0.000 3081 1799 1766 1800 1732 0 0 0 0 0 0 15.12 28.83 15.11

3894 end climb: SURFACE_DEPTH_REACHED

state 3894 begin surface coast

3951 end surface coast: CONTROL_FINISHED_OK

state 3951 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	342	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	32	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	34	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	120419,172857,-3359.1433,2659.1138,7,0.9,16,-28.1,2.5,240.1,9,9.1	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3404.862,2709.896
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.76	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-63.6	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	120419,173845,-3359.4626,2658.6042,7,0.9,14,-28.1,1.7,231.8,9,10.0	MHEAD_RNG_PITCHd_Wd	148.1,20000,-23.0,-10.010,-25.49,1417
SPEED_LIMITS	0.173,0.210	D_GRID	1000

FINISH	0.1,1.025357	_24V_AH	13.61,111.911
SM_CCo	3975,174.75,0.778,0,0,598,515.37	_10V_AH	13.80,0.000
SM_GC	0.79,13.90,0.00,174.75,0.046,0.000,0.778,123,1799,598,-8.17,-0.37,515.37,0,0,0,0,0,0,14.86,15.07,14.16	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3343.50,2658.31,120419,161531	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.913031	MEM	340928
HUMID	45.31	DATA_FILE_SIZE	20079,726
INTERNAL_PRESSURE	9.38069	CAP_FILE_SIZE	130767,0
TCM_TEMP	19.80	CFSIZE	2097086464,2027585536
XPDR_PINGS	1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	195.4,31.8	GPS	120419,184931,-3400.900,2656.802,7,0.8,30,-28.1,1.5,234.2,11,7.4
SC_FREEKB	3741664

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	289	122.72	nil	0	0	0.00
Roll_motor	94	73	94.48	nil	0	0	0.00
VBD_pump_during_apogee	247	1189	4005.43	nil	0	0	0.00
VBD_pump_during_surface	174	778	1850.37	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	16	6.17	nil	0	0	0.00
Iridium_during_connect	40	160	88.06	SciCon	4020	34	1890.91
Iridium_during_xfer	281	223	853.73	nil	0	0	0.00
Transponder_ping	8	420	45.73	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	11	2.66
TT8	1584	9	210.13
LPSleep	724	2	21.90
TT8_Active	596	9	79.15
TT8_Sampling	1582	28	618.71
TT8_CF8	257	36	129.92
TT8_Kalman	0	0	0.00
Analog_circuits	1230	12	205.67
GPS_charging	0	0	0.00
Compass	1111	17	275.71
RAFOS	0	0	0.00
Transponder	49	30	20.55

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	72	1814	624	553	0.0	0.0	0	122	0.00	0.00	-96.97	0.000	16390	0.000	0.000	66	1814	3078	3048	3109	0	0	0	0	0	0	15.00	13.61	15.02
127	-0.88	-92.5	66	1814	3049	3109	3.9	-9.7	18	146	13.98	2.42	0.00	0.000	2308	0.290	0.047	2463	3240	3079	3052	3106	0	0	0	0	0	0	14.60	14.79	14.84
204	-0.88	-92.5	2456	3240	3061	3099	30.6	-24.8	32	211	0.08	2.40	0.00	0.000	3078	0.283	0.048	2469	1810	3080	3062	3098	0	0	0	0	0	0	14.62	14.84	14.80
275	-0.88	-92.5	2469	1810	3064	3095	44.4	-18.6	45	282	0.00	2.42	0.00	0.000	2564	0.000	0.066	2470	396	3080	3065	3095	0	0	0	0	0	0	15.08	14.79	15.08
539	-0.88	-92.5	2469	396	3065	3094	89.3	-18.4	96	547	0.00	2.35	0.00	0.000	3078	0.000	0.038	2461	1823	3080	3067	3093	0	0	0	0	0	0	14.90	14.82	14.92
612	-0.88	-92.5	2461	1826	3068	3093	100.0	-13.9	109	620	0.00	2.33	0.00	0.000	2308	0.000	0.054	2451	3221	3080	3067	3093	0	0	0	0	0	0	15.14	14.90	15.13
686	-0.88	-92.5	2450	3221	3067	3093	110.1	-13.8	122	694	0.10	2.38	0.00	0.000	3078	0.237	0.047	2470	1801	3080	3067	3093	0	0	0	0	0	0	14.78	14.90	14.95
757	-0.88	-92.5	2470	1801	3068	3092	119.2	-12.1	135	764	0.00	2.40	0.00	0.000	2564	0.000	0.065	2471	399	3080	3068	3092	0	0	0	0	0	0	15.14	14.89	15.14
802	-0.88	-92.5	2470	399	3068	3091	125.4	-14.5	143	809	0.00	2.33	0.00	0.000	3078	0.000	0.037	2462	1813	3079	3068	3091	0	0	0	0	0	0	15.02	14.91	15.03
874	-0.88	-92.5	2462	1816	3069	3091	134.3	-13.3	156	881	0.00	2.33	0.00	0.000	2308	0.000	0.052	2452	3215	3079	3068	3091	0	0	0	0	0	0	15.14	14.83	15.14
970	-0.88	-92.5	2451	3215	3068	3091	147.4	-12.3	174	977	0.10	2.35	0.00	0.000	3078	0.234	0.047	2471	1805	3079	3068	3091	0	0	0	0	0	0	14.72	14.84	14.88
1041	-0.88	-92.5	2471	1805	3069	3091	156.3	-12.4	187	1047	0.00	2.40	0.00	0.000	2564	0.000	0.066	2471	399	3079	3069	3090	0	0	0	0	0	0	15.15	14.85	15.15
1080	-0.88	-92.5	2471	399	3069	3090	161.4	-13.3	194	1086	0.00	2.33	0.00	0.000	3078	0.000	0.037	2463	1815	3078	3069	3087	0	0	0	0	0	0	14.95	14.89	14.95
1151	-0.88	-92.5	2462	1818	3069	3090	170.5	-13.2	207	1158	0.00	2.33	0.00	0.000	2308	0.000	0.052	2452	3216	3079	3069	3090	0	0	0	0	0	0	15.15	14.92	15.16
1176	-0.88	-92.5	2452	3215	3069	3090	173.9	-12.3	211	1183	0.10	2.35	0.00	0.000	3078	0.233	0.047	2472	1807	3079	3069	3090	0	0	0	0	0	0	14.76	14.88	14.92
1247	-0.88	-92.5	2472	1814	3069	3090	182.6	-12.7	224	1253	0.00	2.40	0.00	0.000	2564	0.000	0.066	2473	399	3079	3069	3090	0	0	0	0	0	0	15.15	14.90	15.16
1291	-0.88	-92.5	2472	399	3069	3090	188.3	-12.7	232	1298	0.00	2.33	0.00	0.000	3078	0.000	0.037	2464	1813	3079	3069	3090	0	0	0	0	0	0	14.99	14.90	15.01
1364	-0.88	-92.5	2463	1817	3069	3089	197.8	-13.4	245	1370	0.00	2.40	0.00	0.000	2564	0.000	0.064	2464	408	3079	3069	3090	0	0	0	0	0	0	15.15	14.83	15.16
1397	-0.88	-92.5	2463	408	3069	3089	202.5	-13.2	251	1405	0.08	2.30	0.00	0.000	3078	0.288	0.037	2468	1814	3079	3069	3089	0	0	0	0	0	0	14.77	14.95	14.95
1469	-0.88	-92.5	2472	1817	3070	3090	211.3	-12.9	264	1475	0.00	2.33	0.00	0.000	2308	0.000	0.053	2460	3216	3081	3073	3089	0	0	0	0	0	0	15.17	14.92	15.18
1493	-0.88	-92.5	2459	3216	3069	3089	214.6	-13.3	268	1500	0.00	2.33	0.00	0.000	3078	0.000	0.047	2459	1813	3079	3069	3089	0	0	0	0	0	0	15.03	14.92	15.04
1514	end dive: BOTTOM_OBSTACLE_DETECTED
state	1515	begin apogee
1520	-0.17	0.0	2459	1813	3069	3089	217.7	-13.3	272	1598	1.23	0.00	70.07	1.190	10246	0.164	0.000	2698	1813	2700	2712	2688	0	0	0	0	0	0	14.66	14.59	14.09
1601	end apogee: CONTROL_FINISHED_OK
state	1601	begin climb
1603	0.88	92.5	2698	1813	2712	2688	221.3	0.0	286	1689	1.55	0.00	75.43	1.189	10502	0.073	0.000	3033	1813	2321	2341	2302	0	0	0	0	0	0	14.62	14.33	13.93
1752	0.89	95.1	3032	1813	2338	2297	214.4	9.8	312	1758	0.00	2.47	0.00	0.000	2564	0.000	0.067	3040	392	2317	2338	2297	0	0	0	0	0	0	14.84	14.62	14.84
1791	0.89	95.1	3039	392	2336	2297	210.2	10.7	319	1798	0.00	2.35	0.00	0.000	1030	0.000	0.035	3040	1806	2315	2335	2296	0	0	0	0	0	0	14.79	14.73	14.80
1862	0.89	95.1	3040	1809	2335	2294	202.8	10.3	332	1868	0.00	2.42	0.00	0.000	516	0.000	0.067	3040	398	2314	2335	2294	0	0	0	0	0	0	14.96	14.74	14.97
2179	0.89	95.1	3040	398	2331	2293	170.4	10.3	394	2185	0.00	2.30	0.00	0.000	1030	0.000	0.036	3040	1805	2311	2331	2292	0	0	0	0	0	0	14.88	14.83	14.90
2250	0.90	109.8	3040	1805	2330	2292	164.4	8.9	407	2269	0.00	2.47	13.82	1.066	10756	0.000	0.068	3049	389	2251	2274	2229	0	0	0	0	0	0	15.11	14.78	14.30
2423	0.90	109.8	3049	390	2270	2228	145.4	10.3	440	2430	0.00	2.33	0.00	0.000	1030	0.000	0.037	3049	1801	2247	2268	2227	0	0	0	0	0	0	14.97	14.90	14.98
2494	0.92	122.4	3049	1802	2270	2226	139.0	9.1	453	2512	0.00	2.33	11.27	1.018	10500	0.000	0.049	3049	3198	2199	2224	2175	0	0	0	0	0	0	15.10	14.71	14.27
2590	0.92	122.4	3048	3198	2223	2175	128.0	11.4	471	2597	0.00	2.35	0.00	0.000	1030	0.000	0.050	3051	1801	2199	2223	2175	0	0	0	0	0	0	14.92	14.83	14.95
2662	0.92	122.4	3050	1802	2223	2175	120.3	10.8	484	2668	0.00	2.40	0.00	0.000	516	0.000	0.071	3051	394	2198	2222	2175	0	0	0	0	0	0	15.07	14.85	15.08
2686	0.92	122.4	3050	395	2220	2174	117.6	10.7	488	2692	0.00	2.30	0.00	0.000	1030	0.000	0.036	3051	1805	2197	2220	2174	0	0	0	0	0	0	14.97	14.89	14.98
2757	0.93	127.7	3050	1806	2220	2174	110.9	9.6	501	2770	0.00	2.40	5.38	0.707	10756	0.000	0.070	3059	397	2179	2203	2155	0	0	0	0	0	0	15.09	14.87	14.27
2868	0.93	127.7	3059	398	2201	2154	99.1	11.3	522	2874	0.00	2.28	0.00	0.000	5126	0.000	0.036	3059	1794	2177	2201	2154	0	0	0	0	0	0	15.00	14.91	15.00
2938	0.93	127.7	3059	1794	2201	2153	91.7	10.8	535	2944	0.00	2.40	0.00	0.000	4612	0.000	0.067	3068	396	2177	2201	2154	0	0	0	0	0	0	15.11	14.88	15.11
2987	0.93	127.7	3067	396	2200	2153	86.7	10.5	544	2994	0.00	2.30	0.00	0.000	5126	0.000	0.037	3068	1805	2177	2201	2153	0	0	0	0	0	0	15.01	14.93	15.02
3058	0.96	152.7	3068	1806	2201	2153	80.2	8.2	557	3087	0.00	2.42	21.50	1.065	12804	0.000	0.067	3077	391	2075	2103	2047	0	0	0	0	0	0	15.11	14.78	14.31
3251	0.96	152.7	3077	391	2100	2046	62.0	10.3	594	3258	0.00	2.33	0.00	0.000	5126	0.000	0.037	3078	1806	2072	2099	2045	0	0	0	0	0	0	14.97	14.89	14.97
3322	0.99	181.1	3077	1807	2099	2043	56.4	7.9	607	3352	0.00	2.38	23.20	0.993	8452	0.000	0.051	3077	3200	1959	1991	1928	0	0	0	0	0	0	15.07	14.78	14.26
3390	0.99	181.1	3077	3200	1990	1928	50.1	10.6	619	3397	0.00	2.38	0.00	0.000	5126	0.000	0.051	3081	1802	1958	1989	1928	0	0	0	0	0	0	14.85	14.76	14.87
3461	0.99	181.1	3080	1802	1988	1926	42.5	11.0	632	3468	0.00	2.45	0.00	0.000	4612	0.000	0.073	3081	392	1956	1987	1926	0	0	0	0	0	0	15.04	14.80	15.04
3793	0.99	181.1	3080	392	1982	1923	9.1	10.8	697	3800	0.00	2.30	0.00	0.000	5126	0.000	0.038	3081	1798	1952	1982	1922	0	0	0	0	0	0	15.00	14.91	15.01
3864	1.07	246.5	3080	1799	1982	1922	4.7	5.3	710	3893	0.00	0.00	26.73	0.821	10498	0.000	0.000	3081	1799	1766	1800	1732	0	0	0	0	0	0	15.12	28.83	15.11
3894	end climb: SURFACE_DEPTH_REACHED
state	3894	begin surface coast
3951	end surface coast: CONTROL_FINISHED_OK
state	3951	begin surface