Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 344 * 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 140 C_ROLL_CLIMB 1800 ALTIM_TOP_TURN_MARGIN 0

DIVE 344 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 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 140 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 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 344 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 120419,201211,-3402.2578,2653.9895,7,1.0,16,-28.1,1.3,198.1,9,10.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3410.822,2701.898

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.77 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -64.8 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 120419,202143,-3402.5496,2653.5068,7,1.0,18,-28.1,1.7,250.6,9,9.5 MHEAD_RNG_PITCHd_Wd 168.1,20000,-23.0,-10.010,-25.49,1417

SPEED_LIMITS 0.173,0.210 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.8,1.024880 _24V_AH 13.62,112.316

SM_CCo 3371,204.43,0.783,0,0,599,515.37 _10V_AH 13.77,0.000

SM_GC 0.76,14.12,2.35,204.43,0.083,0.034,0.783,127,1809,599,-8.17,-1.61,515.37,0,0,0,0,0,0,14.92,14.95,14.16 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3346.09,2655.99,120419,185308 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.93625 MEM 340928

HUMID 44.29 DATA_FILE_SIZE 16744,613

INTERNAL_PRESSURE 9.37092 CAP_FILE_SIZE 115459,0

TCM_TEMP 19.80 CFSIZE 2097086464,2027192320

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

ALTIM_BOTTOM_PING 180.4,32.6 GPS 120419,212246,-3404.093,2651.784,7,0.9,22,-28.1,1.4,239.6,9,9.7

SC_FREEKB 3740640

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 286 121.32 nil 0 0 0.00

Roll_motor 85 71 83.27 nil 0 0 0.00

VBD_pump_during_apogee 217 1176 3484.21 nil 0 0 0.00

VBD_pump_during_surface 204 783 2181.08 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 16 6.13 nil 0 0 0.00

Iridium_during_connect 15 160 34.81 SciCon 3415 34 1623.93

Iridium_during_xfer 281 223 856.46 nil 0 0 0.00

Transponder_ping 7 420 41.47 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 11 3.21

TT8 1344 9 177.85

LPSleep 596 2 17.98

TT8_Active 591 9 78.30

TT8_Sampling 1389 28 542.18

TT8_CF8 232 36 117.26

TT8_Kalman 0 0 0.00

Analog_circuits 1140 12 190.21

GPS_charging 0 0 0.00

Compass 940 17 232.79

RAFOS 0 0 0.00

Transponder 46 30 19.24

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 92 1795 628 548 0.0 0.0 0 122 0.00 0.00 -97.47 0.000 16390 0.000 0.000 82 1794 3078 3047 3110 0 0 0 0 0 0 15.00 13.62 15.01

127 -0.88 -92.5 82 1795 3047 3111 3.8 -9.2 18 146 13.82 2.42 0.00 0.000 2308 0.284 0.045 2456 3222 3079 3051 3107 0 0 0 0 0 0 14.60 14.81 14.83

422 -0.88 -92.5 2457 3222 3062 3096 67.7 -17.7 75 430 0.08 2.38 0.00 0.000 3078 0.268 0.049 2471 1806 3080 3063 3097 0 0 0 0 0 0 14.75 14.88 14.92

493 -0.88 -92.5 2471 1804 3064 3095 78.2 -14.5 88 500 0.00 2.40 0.00 0.000 2564 0.000 0.066 2472 408 3079 3064 3094 0 0 0 0 0 0 15.11 14.87 15.11

538 -0.88 -92.5 2472 408 3065 3095 85.1 -15.2 96 545 0.00 2.30 0.00 0.000 3078 0.000 0.037 2464 1808 3079 3065 3094 0 0 0 0 0 0 15.00 14.91 15.01

611 -0.88 -92.5 2463 1812 3065 3094 95.6 -15.2 109 617 0.00 2.35 0.00 0.000 2308 0.000 0.053 2454 3215 3079 3065 3094 0 0 0 0 0 0 15.13 14.89 15.14

624 -0.88 -92.5 2453 3216 3065 3094 98.0 -14.6 111 632 0.08 2.35 0.00 0.000 3078 0.266 0.047 2468 1809 3079 3065 3094 0 0 0 0 0 0 14.70 14.82 14.87

696 -0.88 -92.5 2468 1808 3066 3094 108.2 -13.7 124 703 0.00 2.40 0.00 0.000 2564 0.000 0.065 2469 404 3079 3066 3093 0 0 0 0 0 0 15.13 14.88 15.14

726 -0.88 -92.5 2468 404 3066 3093 112.9 -15.4 129 732 0.00 2.33 0.00 0.000 3078 0.000 0.036 2460 1813 3079 3066 3093 0 0 0 0 0 0 15.01 14.91 15.02

798 -0.88 -92.5 2460 1817 3066 3093 122.9 -14.4 142 805 0.00 2.33 0.00 0.000 2308 0.000 0.054 2454 3217 3079 3066 3093 0 0 0 0 0 0 15.14 14.90 15.13

818 -0.88 -92.5 2453 3216 3066 3093 126.1 -14.5 145 825 0.08 2.35 0.00 0.000 3078 0.262 0.046 2469 1810 3079 3066 3093 0 0 0 0 0 0 14.77 14.91 14.95

888 -0.88 -92.5 2468 1810 3067 3093 135.7 -13.0 158 895 0.00 2.40 0.00 0.000 2564 0.000 0.065 2469 401 3080 3067 3093 0 0 0 0 0 0 15.14 14.88 15.14

908 -0.88 -92.5 2469 401 3067 3093 138.5 -13.9 161 914 0.00 2.33 0.00 0.000 3078 0.000 0.037 2460 1820 3080 3067 3093 0 0 0 0 0 0 15.02 14.93 15.03

979 -0.88 -92.5 2460 1823 3067 3093 148.3 -14.5 174 986 0.00 2.33 0.00 0.000 2308 0.000 0.053 2454 3214 3080 3067 3093 0 0 0 0 0 0 15.14 14.81 15.14

999 -0.88 -92.5 2453 3214 3067 3093 151.1 -13.9 177 1006 0.08 2.33 0.00 0.000 3078 0.261 0.045 2469 1811 3079 3066 3093 0 0 0 0 0 0 14.70 14.83 14.87

1070 -0.88 -92.5 2468 1811 3067 3091 160.6 -13.7 190 1076 0.00 2.40 0.00 0.000 2564 0.000 0.067 2469 411 3080 3067 3093 0 0 0 0 0 0 15.14 14.81 15.16

1171 -0.88 -92.5 2469 410 3067 3092 175.0 -13.8 209 1178 0.00 2.30 0.00 0.000 3078 0.000 0.035 2461 1815 3080 3068 3092 0 0 0 0 0 0 15.02 14.95 15.04

1243 -0.88 -92.5 2460 1817 3067 3091 184.7 -12.5 222 1249 0.00 2.40 0.00 0.000 2564 0.000 0.062 2461 409 3079 3067 3092 0 0 0 0 0 0 15.14 14.90 15.15

1286 -0.88 -92.5 2460 409 3073 3092 190.2 -13.6 230 1294 0.08 2.30 0.00 0.000 3078 0.287 0.037 2468 1809 3079 3067 3092 0 0 0 0 0 0 14.76 14.93 14.95

1357 -0.88 -92.5 2468 1812 3067 3096 199.4 -12.9 243 1363 0.00 0.00 0.00 0.000 2054 0.000 0.000 2468 1812 3079 3067 3092 0 0 0 0 0 0 15.15 15.15 15.15

1383 end dive: BOTTOM_OBSTACLE_DETECTED

state 1383 begin apogee

1389 -0.17 0.0 2468 1812 3067 3092 203.1 -12.2 248 1466 1.17 0.00 70.25 1.174 10246 0.168 0.000 2698 1812 2699 2710 2689 0 0 0 0 0 0 14.76 14.59 14.10

1470 end apogee: CONTROL_FINISHED_OK

state 1470 begin climb

1472 0.88 92.5 2698 1812 2710 2690 206.4 0.0 262 1558 1.55 2.38 75.00 1.177 10500 0.073 0.047 3034 3205 2321 2340 2303 0 0 0 0 0 0 14.62 14.33 13.96

1571 0.95 144.4 3033 3205 2337 2303 203.6 6.2 278 1622 0.00 2.42 42.40 1.146 11270 0.000 0.049 3040 1798 2109 2135 2084 0 0 0 0 0 0 14.62 14.54 13.97

1686 0.95 144.4 3040 1798 2132 2082 190.1 14.4 299 1692 0.00 2.45 0.00 0.000 2564 0.000 0.071 3041 396 2106 2132 2081 0 0 0 0 0 0 14.83 14.61 14.83

1947 0.95 144.4 3039 396 2125 2078 150.0 14.4 350 1953 0.00 2.33 0.00 0.000 3078 0.000 0.037 3040 1806 2100 2125 2076 0 0 0 0 0 0 14.94 14.85 14.95

2018 0.95 144.4 3040 1812 2124 2075 140.9 13.1 363 2023 0.00 0.00 0.00 0.000 2054 0.000 0.000 3040 1812 2100 2125 2075 0 0 0 0 0 0 15.07 15.07 15.07

2086 0.95 144.4 3039 1812 2125 2075 131.5 13.4 376 2093 0.00 2.42 0.00 0.000 2564 0.000 0.067 3047 397 2099 2123 2075 0 0 0 0 0 0 15.09 14.85 15.09

2180 0.95 144.4 3046 396 2124 2075 119.0 12.1 394 2187 0.00 2.30 0.00 0.000 3078 0.000 0.036 3047 1804 2099 2124 2074 0 0 0 0 0 0 15.00 14.91 15.00

2251 0.95 146.8 3047 1806 2123 2074 111.2 9.8 407 2258 0.00 2.33 0.00 0.000 2308 0.000 0.051 3047 3205 2096 2123 2069 0 0 0 0 0 0 15.10 14.89 15.11

2316 0.95 146.8 3047 3205 2123 2073 104.8 10.1 419 2322 0.00 2.38 0.00 0.000 3078 0.000 0.052 3051 1794 2097 2122 2073 0 0 0 0 0 0 15.00 14.90 15.01

2386 0.95 148.8 3050 1793 2122 2073 97.6 9.9 432 2393 0.00 2.40 0.00 0.000 2564 0.000 0.072 3052 394 2097 2122 2073 0 0 0 0 0 0 15.11 14.88 15.11

2542 0.95 149.6 3051 394 2121 2072 80.8 10.0 462 2549 0.00 2.30 0.00 0.000 3078 0.000 0.036 3052 1807 2096 2121 2072 0 0 0 0 0 0 15.02 14.93 15.03

2613 0.96 155.8 3051 1809 2122 2071 73.8 9.6 475 2626 0.00 2.35 8.20 0.891 10500 0.000 0.050 3052 3201 2064 2092 2037 0 0 0 0 0 0 15.14 14.91 14.33

2729 0.96 155.8 3051 3201 2090 2036 62.0 10.6 497 2736 0.00 2.38 0.00 0.000 3078 0.000 0.051 3054 1794 2063 2091 2036 0 0 0 0 0 0 15.00 14.89 15.01

2801 0.97 163.5 3053 1794 2091 2036 55.3 9.5 510 2814 0.00 2.45 7.75 0.841 10756 0.000 0.071 3054 395 2033 2061 2005 0 0 0 0 0 0 15.11 14.85 14.31

2827 0.99 178.9 3053 393 2061 2005 52.8 8.9 514 2850 0.00 2.30 13.82 1.033 11270 0.000 0.036 3055 1806 1970 2000 1940 0 0 0 0 0 0 14.98 14.90 14.28

2914 0.99 178.9 3053 1806 1998 1938 43.7 10.4 530 2920 0.00 2.33 0.00 0.000 2308 0.000 0.051 3052 3193 1968 1998 1938 0 0 0 0 0 0 15.05 14.81 15.05

2943 0.99 178.9 3053 3193 1997 1938 40.4 11.4 535 2950 0.00 2.38 0.00 0.000 3078 0.000 0.052 3054 1796 1967 1997 1938 0 0 0 0 0 0 14.88 14.78 14.89

3014 0.99 180.7 3053 1795 1997 1937 33.3 9.9 548 3021 0.00 2.42 0.00 0.000 2564 0.000 0.072 3054 395 1966 1996 1937 0 0 0 0 0 0 15.09 14.83 15.09

3332 end climb: SURFACE_DEPTH_REACHED

state 3332 begin surface coast

3344 end surface coast: CONTROL_FINISHED_OK

state 3344 begin surface

ID	574	HD_C	9.8500004e-06	C_ROLL_DIVE	1812	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	3	HEADING	140	C_ROLL_CLIMB	1800	ALTIM_TOP_TURN_MARGIN	0
DIVE	344	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	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	120419,201211,-3402.2578,2653.9895,7,1.0,16,-28.1,1.3,198.1,9,10.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3410.822,2701.898
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.77	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-64.8	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	120419,202143,-3402.5496,2653.5068,7,1.0,18,-28.1,1.7,250.6,9,9.5	MHEAD_RNG_PITCHd_Wd	168.1,20000,-23.0,-10.010,-25.49,1417
SPEED_LIMITS	0.173,0.210	D_GRID	1000

FINISH	1.8,1.024880	_24V_AH	13.62,112.316
SM_CCo	3371,204.43,0.783,0,0,599,515.37	_10V_AH	13.77,0.000
SM_GC	0.76,14.12,2.35,204.43,0.083,0.034,0.783,127,1809,599,-8.17,-1.61,515.37,0,0,0,0,0,0,14.92,14.95,14.16	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3346.09,2655.99,120419,185308	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.93625	MEM	340928
HUMID	44.29	DATA_FILE_SIZE	16744,613
INTERNAL_PRESSURE	9.37092	CAP_FILE_SIZE	115459,0
TCM_TEMP	19.80	CFSIZE	2097086464,2027192320
XPDR_PINGS	1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	180.4,32.6	GPS	120419,212246,-3404.093,2651.784,7,0.9,22,-28.1,1.4,239.6,9,9.7
SC_FREEKB	3740640

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	286	121.32	nil	0	0	0.00
Roll_motor	85	71	83.27	nil	0	0	0.00
VBD_pump_during_apogee	217	1176	3484.21	nil	0	0	0.00
VBD_pump_during_surface	204	783	2181.08	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	16	6.13	nil	0	0	0.00
Iridium_during_connect	15	160	34.81	SciCon	3415	34	1623.93
Iridium_during_xfer	281	223	856.46	nil	0	0	0.00
Transponder_ping	7	420	41.47	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	11	3.21
TT8	1344	9	177.85
LPSleep	596	2	17.98
TT8_Active	591	9	78.30
TT8_Sampling	1389	28	542.18
TT8_CF8	232	36	117.26
TT8_Kalman	0	0	0.00
Analog_circuits	1140	12	190.21
GPS_charging	0	0	0.00
Compass	940	17	232.79
RAFOS	0	0	0.00
Transponder	46	30	19.24

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	92	1795	628	548	0.0	0.0	0	122	0.00	0.00	-97.47	0.000	16390	0.000	0.000	82	1794	3078	3047	3110	0	0	0	0	0	0	15.00	13.62	15.01
127	-0.88	-92.5	82	1795	3047	3111	3.8	-9.2	18	146	13.82	2.42	0.00	0.000	2308	0.284	0.045	2456	3222	3079	3051	3107	0	0	0	0	0	0	14.60	14.81	14.83
422	-0.88	-92.5	2457	3222	3062	3096	67.7	-17.7	75	430	0.08	2.38	0.00	0.000	3078	0.268	0.049	2471	1806	3080	3063	3097	0	0	0	0	0	0	14.75	14.88	14.92
493	-0.88	-92.5	2471	1804	3064	3095	78.2	-14.5	88	500	0.00	2.40	0.00	0.000	2564	0.000	0.066	2472	408	3079	3064	3094	0	0	0	0	0	0	15.11	14.87	15.11
538	-0.88	-92.5	2472	408	3065	3095	85.1	-15.2	96	545	0.00	2.30	0.00	0.000	3078	0.000	0.037	2464	1808	3079	3065	3094	0	0	0	0	0	0	15.00	14.91	15.01
611	-0.88	-92.5	2463	1812	3065	3094	95.6	-15.2	109	617	0.00	2.35	0.00	0.000	2308	0.000	0.053	2454	3215	3079	3065	3094	0	0	0	0	0	0	15.13	14.89	15.14
624	-0.88	-92.5	2453	3216	3065	3094	98.0	-14.6	111	632	0.08	2.35	0.00	0.000	3078	0.266	0.047	2468	1809	3079	3065	3094	0	0	0	0	0	0	14.70	14.82	14.87
696	-0.88	-92.5	2468	1808	3066	3094	108.2	-13.7	124	703	0.00	2.40	0.00	0.000	2564	0.000	0.065	2469	404	3079	3066	3093	0	0	0	0	0	0	15.13	14.88	15.14
726	-0.88	-92.5	2468	404	3066	3093	112.9	-15.4	129	732	0.00	2.33	0.00	0.000	3078	0.000	0.036	2460	1813	3079	3066	3093	0	0	0	0	0	0	15.01	14.91	15.02
798	-0.88	-92.5	2460	1817	3066	3093	122.9	-14.4	142	805	0.00	2.33	0.00	0.000	2308	0.000	0.054	2454	3217	3079	3066	3093	0	0	0	0	0	0	15.14	14.90	15.13
818	-0.88	-92.5	2453	3216	3066	3093	126.1	-14.5	145	825	0.08	2.35	0.00	0.000	3078	0.262	0.046	2469	1810	3079	3066	3093	0	0	0	0	0	0	14.77	14.91	14.95
888	-0.88	-92.5	2468	1810	3067	3093	135.7	-13.0	158	895	0.00	2.40	0.00	0.000	2564	0.000	0.065	2469	401	3080	3067	3093	0	0	0	0	0	0	15.14	14.88	15.14
908	-0.88	-92.5	2469	401	3067	3093	138.5	-13.9	161	914	0.00	2.33	0.00	0.000	3078	0.000	0.037	2460	1820	3080	3067	3093	0	0	0	0	0	0	15.02	14.93	15.03
979	-0.88	-92.5	2460	1823	3067	3093	148.3	-14.5	174	986	0.00	2.33	0.00	0.000	2308	0.000	0.053	2454	3214	3080	3067	3093	0	0	0	0	0	0	15.14	14.81	15.14
999	-0.88	-92.5	2453	3214	3067	3093	151.1	-13.9	177	1006	0.08	2.33	0.00	0.000	3078	0.261	0.045	2469	1811	3079	3066	3093	0	0	0	0	0	0	14.70	14.83	14.87
1070	-0.88	-92.5	2468	1811	3067	3091	160.6	-13.7	190	1076	0.00	2.40	0.00	0.000	2564	0.000	0.067	2469	411	3080	3067	3093	0	0	0	0	0	0	15.14	14.81	15.16
1171	-0.88	-92.5	2469	410	3067	3092	175.0	-13.8	209	1178	0.00	2.30	0.00	0.000	3078	0.000	0.035	2461	1815	3080	3068	3092	0	0	0	0	0	0	15.02	14.95	15.04
1243	-0.88	-92.5	2460	1817	3067	3091	184.7	-12.5	222	1249	0.00	2.40	0.00	0.000	2564	0.000	0.062	2461	409	3079	3067	3092	0	0	0	0	0	0	15.14	14.90	15.15
1286	-0.88	-92.5	2460	409	3073	3092	190.2	-13.6	230	1294	0.08	2.30	0.00	0.000	3078	0.287	0.037	2468	1809	3079	3067	3092	0	0	0	0	0	0	14.76	14.93	14.95
1357	-0.88	-92.5	2468	1812	3067	3096	199.4	-12.9	243	1363	0.00	0.00	0.00	0.000	2054	0.000	0.000	2468	1812	3079	3067	3092	0	0	0	0	0	0	15.15	15.15	15.15
1383	end dive: BOTTOM_OBSTACLE_DETECTED
state	1383	begin apogee
1389	-0.17	0.0	2468	1812	3067	3092	203.1	-12.2	248	1466	1.17	0.00	70.25	1.174	10246	0.168	0.000	2698	1812	2699	2710	2689	0	0	0	0	0	0	14.76	14.59	14.10
1470	end apogee: CONTROL_FINISHED_OK
state	1470	begin climb
1472	0.88	92.5	2698	1812	2710	2690	206.4	0.0	262	1558	1.55	2.38	75.00	1.177	10500	0.073	0.047	3034	3205	2321	2340	2303	0	0	0	0	0	0	14.62	14.33	13.96
1571	0.95	144.4	3033	3205	2337	2303	203.6	6.2	278	1622	0.00	2.42	42.40	1.146	11270	0.000	0.049	3040	1798	2109	2135	2084	0	0	0	0	0	0	14.62	14.54	13.97
1686	0.95	144.4	3040	1798	2132	2082	190.1	14.4	299	1692	0.00	2.45	0.00	0.000	2564	0.000	0.071	3041	396	2106	2132	2081	0	0	0	0	0	0	14.83	14.61	14.83
1947	0.95	144.4	3039	396	2125	2078	150.0	14.4	350	1953	0.00	2.33	0.00	0.000	3078	0.000	0.037	3040	1806	2100	2125	2076	0	0	0	0	0	0	14.94	14.85	14.95
2018	0.95	144.4	3040	1812	2124	2075	140.9	13.1	363	2023	0.00	0.00	0.00	0.000	2054	0.000	0.000	3040	1812	2100	2125	2075	0	0	0	0	0	0	15.07	15.07	15.07
2086	0.95	144.4	3039	1812	2125	2075	131.5	13.4	376	2093	0.00	2.42	0.00	0.000	2564	0.000	0.067	3047	397	2099	2123	2075	0	0	0	0	0	0	15.09	14.85	15.09
2180	0.95	144.4	3046	396	2124	2075	119.0	12.1	394	2187	0.00	2.30	0.00	0.000	3078	0.000	0.036	3047	1804	2099	2124	2074	0	0	0	0	0	0	15.00	14.91	15.00
2251	0.95	146.8	3047	1806	2123	2074	111.2	9.8	407	2258	0.00	2.33	0.00	0.000	2308	0.000	0.051	3047	3205	2096	2123	2069	0	0	0	0	0	0	15.10	14.89	15.11
2316	0.95	146.8	3047	3205	2123	2073	104.8	10.1	419	2322	0.00	2.38	0.00	0.000	3078	0.000	0.052	3051	1794	2097	2122	2073	0	0	0	0	0	0	15.00	14.90	15.01
2386	0.95	148.8	3050	1793	2122	2073	97.6	9.9	432	2393	0.00	2.40	0.00	0.000	2564	0.000	0.072	3052	394	2097	2122	2073	0	0	0	0	0	0	15.11	14.88	15.11
2542	0.95	149.6	3051	394	2121	2072	80.8	10.0	462	2549	0.00	2.30	0.00	0.000	3078	0.000	0.036	3052	1807	2096	2121	2072	0	0	0	0	0	0	15.02	14.93	15.03
2613	0.96	155.8	3051	1809	2122	2071	73.8	9.6	475	2626	0.00	2.35	8.20	0.891	10500	0.000	0.050	3052	3201	2064	2092	2037	0	0	0	0	0	0	15.14	14.91	14.33
2729	0.96	155.8	3051	3201	2090	2036	62.0	10.6	497	2736	0.00	2.38	0.00	0.000	3078	0.000	0.051	3054	1794	2063	2091	2036	0	0	0	0	0	0	15.00	14.89	15.01
2801	0.97	163.5	3053	1794	2091	2036	55.3	9.5	510	2814	0.00	2.45	7.75	0.841	10756	0.000	0.071	3054	395	2033	2061	2005	0	0	0	0	0	0	15.11	14.85	14.31
2827	0.99	178.9	3053	393	2061	2005	52.8	8.9	514	2850	0.00	2.30	13.82	1.033	11270	0.000	0.036	3055	1806	1970	2000	1940	0	0	0	0	0	0	14.98	14.90	14.28
2914	0.99	178.9	3053	1806	1998	1938	43.7	10.4	530	2920	0.00	2.33	0.00	0.000	2308	0.000	0.051	3052	3193	1968	1998	1938	0	0	0	0	0	0	15.05	14.81	15.05
2943	0.99	178.9	3053	3193	1997	1938	40.4	11.4	535	2950	0.00	2.38	0.00	0.000	3078	0.000	0.052	3054	1796	1967	1997	1938	0	0	0	0	0	0	14.88	14.78	14.89
3014	0.99	180.7	3053	1795	1997	1937	33.3	9.9	548	3021	0.00	2.42	0.00	0.000	2564	0.000	0.072	3054	395	1966	1996	1937	0	0	0	0	0	0	15.09	14.83	15.09
3332	end climb: SURFACE_DEPTH_REACHED
state	3332	begin surface coast
3344	end surface coast: CONTROL_FINISHED_OK
state	3344	begin surface