Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 370 * 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 315 C_ROLL_CLIMB 1800 ALTIM_TOP_TURN_MARGIN 0

DIVE 370 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 29 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 50 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 200 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 315 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 200 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MINV_10V 10 R_PORT_OVSHOOT 29 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 50 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 370 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 150419,013455,-3423.5527,2557.1238,7,1.2,25,-28.1,0.3,287.4,8,9.7 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3415.888,2547.978

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.74 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -60.9 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 150419,014456,-3423.5239,2557.2173,7,1.2,41,-28.1,0.6,285.6,8,8.0 MHEAD_RNG_PITCHd_Wd 343.1,20000,-15.7,-10.010,-18.71,2973

SPEED_LIMITS 0.173,0.296 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.3,1.025502 _24V_AH 13.83,119.503

SM_CCo 2836,155.05,0.808,0,0,598,515.37 _10V_AH 13.51,0.000

SM_GC 0.82,13.60,2.38,155.05,0.041,0.030,0.808,124,1806,598,-8.18,-1.44,515.37,0,0,0,0,0,0,14.79,14.81,14.09 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3409.50,2556.54,150419,003147 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.914529 MEM 340928

HUMID 44.17 DATA_FILE_SIZE 13452,507

INTERNAL_PRESSURE 9.2928 CAP_FILE_SIZE 99052,0

TCM_TEMP 19.00 CFSIZE 2097086464,2022047744

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

ALTIM_BOTTOM_PING 140.4,32.1 GPS 150419,023631,-3423.414,2557.194,12,1.0,33,-28.1,1.2,84.2,9,7.7

SC_FREEKB 3726720

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 365 155.38 nil 0 0 0.00

Roll_motor 61 74 63.53 nil 0 0 0.00

VBD_pump_during_apogee 353 1152 5638.59 nil 0 0 0.00

VBD_pump_during_surface 155 807 1732.28 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 16 8.98 nil 0 0 0.00

Iridium_during_connect 51 160 114.25 SciCon 2870 36 1445.47

Iridium_during_xfer 250 223 773.07 nil 0 0 0.00

Transponder_ping 5 420 29.04 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 42 11 6.40

TT8 1040 9 135.05

LPSleep 442 2 13.09

TT8_Active 646 9 83.96

TT8_Sampling 1249 28 478.34

TT8_CF8 226 36 112.06

TT8_Kalman 0 0 0.00

Analog_circuits 1157 12 189.30

GPS_charging 0 0 0.00

Compass 765 17 185.85

RAFOS 0 0 0.00

Transponder 32 30 13.33

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 -0.76 -194.6 54 1814 627 544 0.0 0.0 0 122 0.00 0.00 -97.32 0.000 16386 0.000 0.000 53 1815 2983 2948 3018 0 0 0 0 0 0 14.96 28.83 14.97

127 -0.76 -194.6 53 1815 2948 3016 3.5 -7.4 18 158 14.52 2.35 -8.85 0.000 18692 0.302 0.067 2497 3213 3495 3507 3484 0 0 0 0 0 0 14.50 13.96 14.75

196 -0.76 -194.6 2495 3213 3508 3483 23.2 -16.0 30 203 0.05 2.40 0.00 0.000 3078 0.301 0.049 2508 1805 3495 3508 3483 0 0 0 0 0 0 14.64 14.75 14.83

267 -0.76 -194.6 2508 1805 3509 3482 32.9 -14.5 43 274 0.00 2.42 0.00 0.000 2564 0.000 0.066 2509 398 3495 3509 3482 0 0 0 0 0 0 15.02 14.78 15.02

298 -0.76 -194.6 2508 398 3509 3481 37.6 -14.3 48 305 0.00 2.35 0.00 0.000 3078 0.000 0.039 2509 1805 3495 3509 3482 0 0 0 0 0 0 14.92 14.83 14.93

368 -0.76 -194.6 2508 1809 3509 3482 47.7 -15.0 61 375 0.00 2.40 0.00 0.000 2308 0.000 0.057 2509 3224 3495 3508 3482 0 0 0 0 0 0 15.04 14.81 15.04

403 -0.76 -194.6 2508 3224 3509 3482 52.9 -13.7 67 409 0.00 2.40 0.00 0.000 3078 0.000 0.045 2508 1799 3493 3506 3481 0 0 0 0 0 0 14.93 14.83 14.95

474 -0.76 -194.6 2508 1800 3509 3481 62.5 -15.4 80 480 0.00 0.00 0.00 0.000 2054 0.000 0.000 2509 1797 3495 3510 3481 0 0 0 0 0 0 15.06 15.07 15.07

544 -0.76 -194.6 2508 1799 3509 3479 72.0 -11.0 93 549 0.00 0.00 0.00 0.000 2054 0.000 0.000 2508 1799 3495 3509 3481 0 0 0 0 0 0 15.07 15.08 15.08

613 -0.76 -194.6 2508 1798 3509 3481 80.8 -14.3 106 620 0.00 2.42 0.00 0.000 2308 0.000 0.054 2509 3219 3495 3510 3481 0 0 0 0 0 0 15.07 14.85 15.07

643 -0.76 -194.6 2508 3219 3510 3481 85.5 -16.0 111 650 0.00 2.38 0.00 0.000 3078 0.000 0.044 2508 1802 3495 3510 3481 0 0 0 0 0 0 14.96 14.85 14.97

714 -0.76 -194.6 2508 1802 3510 3481 94.7 -15.1 124 721 0.00 0.00 0.00 0.000 2054 0.000 0.000 2509 1802 3495 3510 3481 0 0 0 0 0 0 15.09 15.09 15.09

786 -0.76 -194.6 2508 1802 3510 3481 106.0 -14.8 137 791 0.00 0.00 0.00 0.000 2054 0.000 0.000 2509 1802 3495 3510 3481 0 0 0 0 0 0 15.09 15.10 15.09

857 -0.76 -194.6 2508 1802 3510 3481 116.7 -15.6 150 864 0.00 2.40 0.00 0.000 2308 0.000 0.053 2509 3217 3495 3510 3481 0 0 0 0 0 0 15.08 14.85 15.09

931 -0.76 -194.6 2509 3217 3510 3481 126.4 -11.2 164 937 0.00 2.35 0.00 0.000 3078 0.000 0.042 2508 1811 3495 3510 3481 0 0 0 0 0 0 14.97 14.86 14.98

1001 -0.76 -194.6 2508 1811 3510 3481 134.4 -12.0 177 1008 0.00 0.00 0.00 0.000 2054 0.000 0.000 2509 1811 3495 3510 3481 0 0 0 0 0 0 15.10 15.11 15.11

1074 -0.76 -194.6 2508 1811 3510 3481 143.3 -12.6 190 1080 0.00 0.00 0.00 0.000 2054 0.000 0.000 2508 1811 3495 3510 3481 0 0 0 0 0 0 15.10 15.11 15.10

1142 -0.76 -194.6 2507 1810 3519 3481 151.4 -11.7 203 1148 0.00 0.00 0.00 0.000 2054 0.000 0.000 2509 1811 3495 3510 3481 0 0 0 0 0 0 15.10 15.11 15.10

1210 -0.76 -194.6 2508 1810 3510 3480 158.9 -10.5 216 1216 0.00 0.00 0.00 0.000 2054 0.000 0.000 2508 1811 3495 3510 3481 0 0 0 0 0 0 15.11 15.11 15.11

1237 end dive: BOTTOM_OBSTACLE_DETECTED

state 1237 begin apogee

1242 -0.17 0.0 2509 1811 3510 3481 162.5 -12.0 221 1398 0.95 0.00 145.82 1.153 10246 0.153 0.000 2696 1810 2699 2728 2670 0 0 0 0 0 0 14.72 14.30 13.90

1399 end apogee: CONTROL_FINISHED_OK

state 1399 begin climb

1402 0.76 194.6 2696 1810 2728 2670 169.2 0.0 249 1564 1.45 2.55 149.98 1.148 10756 0.068 0.067 3018 397 1902 1937 1868 0 0 0 0 0 0 14.43 14.30 13.83

1709 0.76 194.6 3017 396 1930 1863 141.5 15.1 305 1715 0.00 2.35 0.00 0.000 5126 0.000 0.034 3018 1809 1895 1929 1862 0 0 0 0 0 0 14.75 14.66 14.76

1780 0.76 194.6 3018 1812 1929 1860 131.1 15.0 318 1786 0.00 2.33 0.00 0.000 4356 0.000 0.048 3018 3200 1894 1929 1860 0 0 0 0 0 0 14.92 14.71 14.92

1818 0.76 194.6 3018 3199 1928 1860 124.7 16.2 325 1826 0.10 2.38 0.00 0.000 5126 0.274 0.049 3007 1802 1893 1927 1860 0 0 0 0 0 0 14.58 14.71 14.76

1889 0.76 194.6 3007 1801 1928 1859 114.3 13.8 338 1895 0.00 2.35 0.00 0.000 4356 0.000 0.047 3007 3200 1893 1928 1859 0 0 0 0 0 0 14.98 14.78 15.00

1918 0.76 194.6 3007 3201 1927 1860 110.3 14.9 343 1925 0.00 2.38 0.00 0.000 5126 0.000 0.048 3014 1797 1893 1927 1859 0 0 0 0 0 0 14.85 14.75 14.86

1991 0.76 194.6 3014 1797 1927 1857 101.4 13.7 356 1997 0.00 2.35 0.00 0.000 4356 0.000 0.047 3015 3200 1892 1927 1858 0 0 0 0 0 0 15.02 14.81 15.02

2045 0.76 194.6 3014 3200 1926 1858 92.9 14.9 366 2052 0.00 2.38 0.00 0.000 5126 0.000 0.050 3017 1801 1892 1926 1858 0 0 0 0 0 0 14.92 14.81 14.93

2116 0.76 194.6 3017 1801 1926 1858 82.9 14.0 379 2122 0.00 0.00 0.00 0.000 4102 0.000 0.000 3017 1800 1891 1925 1858 0 0 0 0 0 0 15.04 15.04 15.04

2185 0.76 194.6 3017 1801 1925 1857 73.2 14.5 392 2190 0.00 0.00 0.00 0.000 4102 0.000 0.000 3018 1801 1892 1926 1858 0 0 0 0 0 0 15.07 15.06 15.06

2253 0.76 194.6 3017 1801 1926 1857 62.5 15.3 405 2260 0.00 2.35 0.00 0.000 4356 0.000 0.050 3017 3202 1894 1931 1857 0 0 0 0 0 0 15.07 14.81 15.07

2334 0.76 194.6 3017 3203 1925 1857 51.2 13.8 420 2341 0.05 2.40 0.00 0.000 5126 0.366 0.051 3011 1792 1891 1925 1857 0 0 0 0 0 0 14.67 14.85 14.90

2406 0.76 194.6 3010 1791 1925 1857 43.4 10.8 433 2412 0.00 2.40 0.00 0.000 4612 0.000 0.070 3018 391 1890 1925 1856 0 0 0 0 0 0 15.08 14.83 15.08

2435 0.76 194.6 3018 392 1925 1856 40.1 11.4 438 2442 0.00 2.33 0.00 0.000 5126 0.000 0.032 3018 1810 1890 1925 1856 0 0 0 0 0 0 14.97 14.90 14.99

2506 0.76 194.6 3017 1812 1925 1860 32.8 10.1 451 2512 0.00 0.00 0.00 0.000 4102 0.000 0.000 3018 1812 1890 1925 1855 0 0 0 0 0 0 15.09 15.08 15.08

2575 0.78 211.3 3018 1812 1925 1855 25.9 9.4 464 2593 0.00 2.30 11.55 0.948 12548 0.000 0.047 3018 3198 1835 1873 1798 0 0 0 0 0 0 15.09 14.73 14.29

2601 0.87 278.8 3018 3198 1871 1798 24.0 7.7 468 2657 0.00 2.38 46.30 0.998 11270 0.000 0.050 3019 1795 1560 1602 1518 0 0 0 0 0 0 14.93 14.83 14.14

2721 0.87 278.8 3019 1795 1598 1514 11.7 11.9 490 2727 0.00 2.45 0.00 0.000 2564 0.000 0.074 3020 397 1557 1600 1514 0 0 0 0 0 0 14.90 14.66 14.90

2789 end climb: SURFACE_DEPTH_REACHED

state 2789 begin surface coast

2810 end surface coast: CONTROL_FINISHED_OK

state 2810 begin surface

ID	574	HD_C	9.8500004e-06	C_ROLL_DIVE	1812	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	3	HEADING	315	C_ROLL_CLIMB	1800	ALTIM_TOP_TURN_MARGIN	0
DIVE	370	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	29	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	50	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	200	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	150419,013455,-3423.5527,2557.1238,7,1.2,25,-28.1,0.3,287.4,8,9.7	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3415.888,2547.978
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.74	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-60.9	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	150419,014456,-3423.5239,2557.2173,7,1.2,41,-28.1,0.6,285.6,8,8.0	MHEAD_RNG_PITCHd_Wd	343.1,20000,-15.7,-10.010,-18.71,2973
SPEED_LIMITS	0.173,0.296	D_GRID	1000

FINISH	0.3,1.025502	_24V_AH	13.83,119.503
SM_CCo	2836,155.05,0.808,0,0,598,515.37	_10V_AH	13.51,0.000
SM_GC	0.82,13.60,2.38,155.05,0.041,0.030,0.808,124,1806,598,-8.18,-1.44,515.37,0,0,0,0,0,0,14.79,14.81,14.09	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3409.50,2556.54,150419,003147	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.914529	MEM	340928
HUMID	44.17	DATA_FILE_SIZE	13452,507
INTERNAL_PRESSURE	9.2928	CAP_FILE_SIZE	99052,0
TCM_TEMP	19.00	CFSIZE	2097086464,2022047744
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	140.4,32.1	GPS	150419,023631,-3423.414,2557.194,12,1.0,33,-28.1,1.2,84.2,9,7.7
SC_FREEKB	3726720

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	365	155.38	nil	0	0	0.00
Roll_motor	61	74	63.53	nil	0	0	0.00
VBD_pump_during_apogee	353	1152	5638.59	nil	0	0	0.00
VBD_pump_during_surface	155	807	1732.28	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	16	8.98	nil	0	0	0.00
Iridium_during_connect	51	160	114.25	SciCon	2870	36	1445.47
Iridium_during_xfer	250	223	773.07	nil	0	0	0.00
Transponder_ping	5	420	29.04	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	42	11	6.40
TT8	1040	9	135.05
LPSleep	442	2	13.09
TT8_Active	646	9	83.96
TT8_Sampling	1249	28	478.34
TT8_CF8	226	36	112.06
TT8_Kalman	0	0	0.00
Analog_circuits	1157	12	189.30
GPS_charging	0	0	0.00
Compass	765	17	185.85
RAFOS	0	0	0.00
Transponder	32	30	13.33

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	-0.76	-194.6	54	1814	627	544	0.0	0.0	0	122	0.00	0.00	-97.32	0.000	16386	0.000	0.000	53	1815	2983	2948	3018	0	0	0	0	0	0	14.96	28.83	14.97
127	-0.76	-194.6	53	1815	2948	3016	3.5	-7.4	18	158	14.52	2.35	-8.85	0.000	18692	0.302	0.067	2497	3213	3495	3507	3484	0	0	0	0	0	0	14.50	13.96	14.75
196	-0.76	-194.6	2495	3213	3508	3483	23.2	-16.0	30	203	0.05	2.40	0.00	0.000	3078	0.301	0.049	2508	1805	3495	3508	3483	0	0	0	0	0	0	14.64	14.75	14.83
267	-0.76	-194.6	2508	1805	3509	3482	32.9	-14.5	43	274	0.00	2.42	0.00	0.000	2564	0.000	0.066	2509	398	3495	3509	3482	0	0	0	0	0	0	15.02	14.78	15.02
298	-0.76	-194.6	2508	398	3509	3481	37.6	-14.3	48	305	0.00	2.35	0.00	0.000	3078	0.000	0.039	2509	1805	3495	3509	3482	0	0	0	0	0	0	14.92	14.83	14.93
368	-0.76	-194.6	2508	1809	3509	3482	47.7	-15.0	61	375	0.00	2.40	0.00	0.000	2308	0.000	0.057	2509	3224	3495	3508	3482	0	0	0	0	0	0	15.04	14.81	15.04
403	-0.76	-194.6	2508	3224	3509	3482	52.9	-13.7	67	409	0.00	2.40	0.00	0.000	3078	0.000	0.045	2508	1799	3493	3506	3481	0	0	0	0	0	0	14.93	14.83	14.95
474	-0.76	-194.6	2508	1800	3509	3481	62.5	-15.4	80	480	0.00	0.00	0.00	0.000	2054	0.000	0.000	2509	1797	3495	3510	3481	0	0	0	0	0	0	15.06	15.07	15.07
544	-0.76	-194.6	2508	1799	3509	3479	72.0	-11.0	93	549	0.00	0.00	0.00	0.000	2054	0.000	0.000	2508	1799	3495	3509	3481	0	0	0	0	0	0	15.07	15.08	15.08
613	-0.76	-194.6	2508	1798	3509	3481	80.8	-14.3	106	620	0.00	2.42	0.00	0.000	2308	0.000	0.054	2509	3219	3495	3510	3481	0	0	0	0	0	0	15.07	14.85	15.07
643	-0.76	-194.6	2508	3219	3510	3481	85.5	-16.0	111	650	0.00	2.38	0.00	0.000	3078	0.000	0.044	2508	1802	3495	3510	3481	0	0	0	0	0	0	14.96	14.85	14.97
714	-0.76	-194.6	2508	1802	3510	3481	94.7	-15.1	124	721	0.00	0.00	0.00	0.000	2054	0.000	0.000	2509	1802	3495	3510	3481	0	0	0	0	0	0	15.09	15.09	15.09
786	-0.76	-194.6	2508	1802	3510	3481	106.0	-14.8	137	791	0.00	0.00	0.00	0.000	2054	0.000	0.000	2509	1802	3495	3510	3481	0	0	0	0	0	0	15.09	15.10	15.09
857	-0.76	-194.6	2508	1802	3510	3481	116.7	-15.6	150	864	0.00	2.40	0.00	0.000	2308	0.000	0.053	2509	3217	3495	3510	3481	0	0	0	0	0	0	15.08	14.85	15.09
931	-0.76	-194.6	2509	3217	3510	3481	126.4	-11.2	164	937	0.00	2.35	0.00	0.000	3078	0.000	0.042	2508	1811	3495	3510	3481	0	0	0	0	0	0	14.97	14.86	14.98
1001	-0.76	-194.6	2508	1811	3510	3481	134.4	-12.0	177	1008	0.00	0.00	0.00	0.000	2054	0.000	0.000	2509	1811	3495	3510	3481	0	0	0	0	0	0	15.10	15.11	15.11
1074	-0.76	-194.6	2508	1811	3510	3481	143.3	-12.6	190	1080	0.00	0.00	0.00	0.000	2054	0.000	0.000	2508	1811	3495	3510	3481	0	0	0	0	0	0	15.10	15.11	15.10
1142	-0.76	-194.6	2507	1810	3519	3481	151.4	-11.7	203	1148	0.00	0.00	0.00	0.000	2054	0.000	0.000	2509	1811	3495	3510	3481	0	0	0	0	0	0	15.10	15.11	15.10
1210	-0.76	-194.6	2508	1810	3510	3480	158.9	-10.5	216	1216	0.00	0.00	0.00	0.000	2054	0.000	0.000	2508	1811	3495	3510	3481	0	0	0	0	0	0	15.11	15.11	15.11
1237	end dive: BOTTOM_OBSTACLE_DETECTED
state	1237	begin apogee
1242	-0.17	0.0	2509	1811	3510	3481	162.5	-12.0	221	1398	0.95	0.00	145.82	1.153	10246	0.153	0.000	2696	1810	2699	2728	2670	0	0	0	0	0	0	14.72	14.30	13.90
1399	end apogee: CONTROL_FINISHED_OK
state	1399	begin climb
1402	0.76	194.6	2696	1810	2728	2670	169.2	0.0	249	1564	1.45	2.55	149.98	1.148	10756	0.068	0.067	3018	397	1902	1937	1868	0	0	0	0	0	0	14.43	14.30	13.83
1709	0.76	194.6	3017	396	1930	1863	141.5	15.1	305	1715	0.00	2.35	0.00	0.000	5126	0.000	0.034	3018	1809	1895	1929	1862	0	0	0	0	0	0	14.75	14.66	14.76
1780	0.76	194.6	3018	1812	1929	1860	131.1	15.0	318	1786	0.00	2.33	0.00	0.000	4356	0.000	0.048	3018	3200	1894	1929	1860	0	0	0	0	0	0	14.92	14.71	14.92
1818	0.76	194.6	3018	3199	1928	1860	124.7	16.2	325	1826	0.10	2.38	0.00	0.000	5126	0.274	0.049	3007	1802	1893	1927	1860	0	0	0	0	0	0	14.58	14.71	14.76
1889	0.76	194.6	3007	1801	1928	1859	114.3	13.8	338	1895	0.00	2.35	0.00	0.000	4356	0.000	0.047	3007	3200	1893	1928	1859	0	0	0	0	0	0	14.98	14.78	15.00
1918	0.76	194.6	3007	3201	1927	1860	110.3	14.9	343	1925	0.00	2.38	0.00	0.000	5126	0.000	0.048	3014	1797	1893	1927	1859	0	0	0	0	0	0	14.85	14.75	14.86
1991	0.76	194.6	3014	1797	1927	1857	101.4	13.7	356	1997	0.00	2.35	0.00	0.000	4356	0.000	0.047	3015	3200	1892	1927	1858	0	0	0	0	0	0	15.02	14.81	15.02
2045	0.76	194.6	3014	3200	1926	1858	92.9	14.9	366	2052	0.00	2.38	0.00	0.000	5126	0.000	0.050	3017	1801	1892	1926	1858	0	0	0	0	0	0	14.92	14.81	14.93
2116	0.76	194.6	3017	1801	1926	1858	82.9	14.0	379	2122	0.00	0.00	0.00	0.000	4102	0.000	0.000	3017	1800	1891	1925	1858	0	0	0	0	0	0	15.04	15.04	15.04
2185	0.76	194.6	3017	1801	1925	1857	73.2	14.5	392	2190	0.00	0.00	0.00	0.000	4102	0.000	0.000	3018	1801	1892	1926	1858	0	0	0	0	0	0	15.07	15.06	15.06
2253	0.76	194.6	3017	1801	1926	1857	62.5	15.3	405	2260	0.00	2.35	0.00	0.000	4356	0.000	0.050	3017	3202	1894	1931	1857	0	0	0	0	0	0	15.07	14.81	15.07
2334	0.76	194.6	3017	3203	1925	1857	51.2	13.8	420	2341	0.05	2.40	0.00	0.000	5126	0.366	0.051	3011	1792	1891	1925	1857	0	0	0	0	0	0	14.67	14.85	14.90
2406	0.76	194.6	3010	1791	1925	1857	43.4	10.8	433	2412	0.00	2.40	0.00	0.000	4612	0.000	0.070	3018	391	1890	1925	1856	0	0	0	0	0	0	15.08	14.83	15.08
2435	0.76	194.6	3018	392	1925	1856	40.1	11.4	438	2442	0.00	2.33	0.00	0.000	5126	0.000	0.032	3018	1810	1890	1925	1856	0	0	0	0	0	0	14.97	14.90	14.99
2506	0.76	194.6	3017	1812	1925	1860	32.8	10.1	451	2512	0.00	0.00	0.00	0.000	4102	0.000	0.000	3018	1812	1890	1925	1855	0	0	0	0	0	0	15.09	15.08	15.08
2575	0.78	211.3	3018	1812	1925	1855	25.9	9.4	464	2593	0.00	2.30	11.55	0.948	12548	0.000	0.047	3018	3198	1835	1873	1798	0	0	0	0	0	0	15.09	14.73	14.29
2601	0.87	278.8	3018	3198	1871	1798	24.0	7.7	468	2657	0.00	2.38	46.30	0.998	11270	0.000	0.050	3019	1795	1560	1602	1518	0	0	0	0	0	0	14.93	14.83	14.14
2721	0.87	278.8	3019	1795	1598	1514	11.7	11.9	490	2727	0.00	2.45	0.00	0.000	2564	0.000	0.074	3020	397	1557	1600	1514	0	0	0	0	0	0	14.90	14.66	14.90
2789	end climb: SURFACE_DEPTH_REACHED
state	2789	begin surface coast
2810	end surface coast: CONTROL_FINISHED_OK
state	2810	begin surface