Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 371 * 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 371 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 41 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 31 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 41 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 371 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 150419,023631,-3423.4138,2557.1943,12,1.0,33,-28.1,1.2,84.2,9,7.7 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG -3415.764,2548.055

_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 -62.3 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 150419,024707,-3423.4004,2557.2942,6,1.0,14,-28.1,0.0,91.1,10,8.7 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 0.3,1.025519 _24V_AH 13.85,119.723

SM_CCo 2937,149.73,0.809,0,0,597,515.37 _10V_AH 13.56,0.000

SM_GC 0.81,13.57,0.00,149.73,0.040,0.000,0.809,113,1801,597,-8.18,-0.31,515.37,0,0,0,0,0,0,14.80,14.97,14.09 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3409.50,2554.19,150419,023944 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.912282 MEM 340864

HUMID 44.80 DATA_FILE_SIZE 13446,528

INTERNAL_PRESSURE 9.28303 CAP_FILE_SIZE 101131,0

TCM_TEMP 18.70 CFSIZE 2097086464,2021883904

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

ALTIM_BOTTOM_PING 135.0,33.5 GPS 150419,034001,-3423.276,2557.214,7,0.9,16,-28.1,0.6,114.3,10,9.6

SC_FREEKB 3726208

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 345 145.27 nil 0 0 0.00

Roll_motor 62 84 72.29 nil 0 0 0.00

VBD_pump_during_apogee 358 1149 5708.77 nil 0 0 0.00

VBD_pump_during_surface 149 808 1676.80 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 45 16 10.30 nil 0 0 0.00

Iridium_during_connect 90 160 200.34 SciCon 2966 36 1499.76

Iridium_during_xfer 218 223 673.74 nil 0 0 0.00

Transponder_ping 4 420 27.63 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 11 2.40

TT8 1079 9 140.71

LPSleep 531 2 15.78

TT8_Active 646 9 84.22

TT8_Sampling 1265 28 486.40

TT8_CF8 215 36 107.02

TT8_Kalman 0 0 0.00

Analog_circuits 1170 12 192.29

GPS_charging 0 0 0.00

Compass 799 17 194.90

RAFOS 0 0 0.00

Transponder 31 30 12.76

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 53 1846 625 544 0.0 0.0 0 122 0.00 0.00 -97.62 0.000 16386 0.000 0.000 53 1843 2988 2955 3022 0 0 0 0 0 0 14.95 28.83 14.96

127 -0.76 -194.6 53 1843 2956 3022 3.5 -7.8 18 158 14.45 2.47 -8.93 0.000 18948 0.298 0.084 2504 406 3494 3508 3481 0 0 0 0 0 0 14.50 13.90 14.75

226 -0.76 -194.6 2503 406 3509 3482 31.2 -22.2 36 232 0.00 2.35 0.00 0.000 3078 0.000 0.040 2497 1810 3495 3509 3481 0 0 0 0 0 0 14.90 14.81 14.91

296 -0.76 -194.6 2497 1814 3508 3482 44.1 -18.6 49 304 0.05 2.38 0.00 0.000 2308 0.345 0.054 2508 3221 3495 3509 3481 0 0 0 0 0 0 14.62 14.79 14.76

326 -0.76 -194.6 2507 3221 3509 3481 49.2 -14.4 54 334 0.00 2.38 0.00 0.000 3078 0.000 0.044 2508 1811 3495 3510 3481 0 0 0 0 0 0 14.92 14.82 14.93

397 -0.76 -194.6 2508 1811 3509 3481 59.0 -13.9 67 404 0.00 0.00 0.00 0.000 2054 0.000 0.000 2508 1811 3495 3509 3481 0 0 0 0 0 0 15.04 15.04 15.05

467 -0.76 -194.6 2508 1810 3509 3481 68.2 -13.0 80 473 0.00 0.00 0.00 0.000 2054 0.000 0.000 2508 1810 3495 3509 3481 0 0 0 0 0 0 15.07 15.07 15.07

535 -0.76 -194.6 2508 1811 3509 3481 76.7 -12.6 93 541 0.00 0.00 0.00 0.000 2054 0.000 0.000 2508 1811 3495 3509 3481 0 0 0 0 0 0 15.07 15.08 15.08

605 -0.76 -194.6 2507 1811 3510 3481 85.5 -12.8 106 611 0.00 2.40 0.00 0.000 2308 0.000 0.054 2508 3219 3495 3509 3481 0 0 0 0 0 0 15.08 14.80 15.08

664 -0.76 -194.6 2507 3219 3510 3481 92.0 -10.1 117 671 0.00 2.38 0.00 0.000 3078 0.000 0.044 2508 1804 3495 3510 3480 0 0 0 0 0 0 14.88 14.78 14.89

736 -0.76 -194.6 2508 1803 3510 3479 100.2 -12.6 130 741 0.00 0.00 0.00 0.000 2054 0.000 0.000 2508 1804 3495 3510 3481 0 0 0 0 0 0 15.09 15.10 15.09

804 -0.76 -194.6 2508 1804 3510 3481 108.7 -11.4 143 811 0.00 2.42 0.00 0.000 2308 0.000 0.055 2508 3217 3495 3510 3480 0 0 0 0 0 0 15.10 14.78 15.10

834 -0.76 -194.6 2508 3217 3510 3480 112.0 -11.2 148 840 0.00 2.35 0.00 0.000 3078 0.000 0.043 2508 1811 3495 3510 3480 0 0 0 0 0 0 14.87 14.77 14.88

904 -0.76 -194.6 2508 1810 3510 3480 119.5 -11.2 161 911 0.00 0.00 0.00 0.000 2054 0.000 0.000 2507 1811 3495 3510 3480 0 0 0 0 0 0 15.10 15.11 15.10

975 -0.76 -194.6 2508 1811 3510 3480 127.5 -11.3 174 982 0.00 2.40 0.00 0.000 2308 0.000 0.053 2508 3223 3495 3510 3481 0 0 0 0 0 0 15.10 14.85 15.11

1010 -0.76 -194.6 2508 3222 3510 3480 131.2 -10.3 180 1016 0.00 2.38 0.00 0.000 3078 0.000 0.044 2508 1807 3495 3511 3480 0 0 0 0 0 0 14.93 14.83 14.94

1082 -0.76 -194.6 2508 1806 3510 3479 140.0 -13.4 193 1088 0.00 0.00 0.00 0.000 2054 0.000 0.000 2508 1806 3495 3510 3480 0 0 0 0 0 0 15.10 15.11 15.11

1151 -0.76 -194.6 2507 1806 3510 3480 148.1 -12.3 206 1157 0.00 0.00 0.00 0.000 2054 0.000 0.000 2508 1807 3495 3511 3480 0 0 0 0 0 0 15.10 15.11 15.11

1219 -0.76 -194.6 2507 1806 3509 3485 156.3 -11.5 219 1226 0.00 2.40 0.00 0.000 2564 0.000 0.065 2508 408 3495 3510 3480 0 0 0 0 0 0 15.11 14.77 15.11

1236 end dive: BOTTOM_OBSTACLE_DETECTED

state 1237 begin apogee

1245 -0.17 0.0 2507 1806 3510 3480 158.8 -12.4 222 1400 0.95 0.00 145.12 1.149 10246 0.145 0.000 2698 1810 2699 2729 2670 0 0 0 0 0 0 14.73 14.40 13.90

1401 end apogee: CONTROL_FINISHED_OK

state 1401 begin climb

1404 0.76 194.6 2698 1810 2728 2669 167.4 0.0 250 1566 1.38 2.53 150.93 1.139 10756 0.067 0.069 2999 396 1905 1942 1869 0 0 0 0 0 0 14.44 14.32 13.85

1725 0.76 194.6 2999 396 1933 1866 143.2 13.6 309 1732 0.00 2.35 0.00 0.000 3078 0.000 0.035 2999 1803 1898 1933 1864 0 0 0 0 0 0 14.74 14.66 14.74

1796 0.76 194.6 2999 1806 1933 1861 133.7 14.1 322 1803 0.00 2.35 0.00 0.000 2308 0.000 0.050 2999 3201 1896 1932 1861 0 0 0 0 0 0 14.94 14.72 14.95

1830 0.76 194.6 2999 3201 1930 1861 128.5 15.1 328 1836 0.00 2.40 0.00 0.000 1030 0.000 0.050 3003 1795 1896 1931 1861 0 0 0 0 0 0 14.76 14.69 14.78

1901 0.76 194.6 3002 1794 1931 1860 118.9 14.2 341 1907 0.00 0.00 0.00 0.000 6 0.000 0.000 3003 1795 1896 1931 1861 0 0 0 0 0 0 14.99 15.00 15.00

1969 0.76 194.6 3002 1795 1931 1860 108.4 15.4 354 1976 0.00 2.38 0.00 0.000 260 0.000 0.049 3003 3207 1895 1931 1860 0 0 0 0 0 0 15.01 14.72 15.02

2028 0.76 194.6 3002 3206 1929 1860 99.4 14.5 365 2035 0.00 2.40 0.00 0.000 1030 0.000 0.051 3003 1799 1895 1930 1860 0 0 0 0 0 0 14.90 14.81 14.92

2100 0.76 194.6 3002 1799 1930 1860 90.4 13.1 378 2105 0.00 0.00 0.00 0.000 6 0.000 0.000 3003 1799 1896 1929 1863 0 0 0 0 0 0 15.04 15.05 15.05

2168 0.76 194.6 3002 1799 1930 1860 81.6 12.7 391 2175 0.00 2.38 0.00 0.000 260 0.000 0.049 3003 3209 1894 1929 1859 0 0 0 0 0 0 15.05 14.84 15.07

2233 0.76 194.6 3003 3209 1929 1860 74.0 11.3 403 2239 0.00 2.40 0.00 0.000 5126 0.000 0.050 3011 1792 1893 1929 1858 0 0 0 0 0 0 14.95 14.84 14.97

2304 0.76 194.6 3011 1791 1930 1859 66.4 10.1 416 2310 0.00 0.00 0.00 0.000 4102 0.000 0.000 3011 1791 1894 1929 1859 0 0 0 0 0 0 15.07 15.07 15.07

2372 0.76 194.6 3011 1792 1928 1859 57.8 13.3 429 2379 0.00 2.40 0.00 0.000 4612 0.000 0.070 3017 395 1893 1928 1859 0 0 0 0 0 0 15.08 14.83 15.09

2402 0.76 194.6 3016 395 1928 1858 53.4 14.4 434 2409 0.00 2.33 0.00 0.000 5126 0.000 0.033 3017 1812 1893 1928 1859 0 0 0 0 0 0 14.97 14.89 14.99

2473 0.76 194.6 3016 1813 1928 1858 44.7 11.8 447 2479 0.00 0.00 0.00 0.000 4102 0.000 0.000 3017 1814 1897 1928 1866 0 0 0 0 0 0 15.07 15.08 15.08

2541 0.76 194.6 3016 1814 1928 1858 36.3 11.9 460 2548 0.00 2.30 0.00 0.000 4356 0.000 0.048 3016 3196 1893 1928 1858 0 0 0 0 0 0 15.09 14.87 15.09

2581 0.76 194.6 3016 3197 1928 1857 31.5 11.9 467 2588 0.00 2.40 0.00 0.000 5126 0.000 0.050 3017 1790 1892 1927 1858 0 0 0 0 0 0 14.96 14.83 14.99

2652 0.79 214.1 3016 1789 1927 1857 24.4 9.3 480 2670 0.00 0.00 13.55 0.974 12294 0.000 0.000 3017 1789 1825 1864 1787 0 0 0 0 0 0 15.09 14.83 14.27

2734 0.88 287.6 3016 1789 1862 1785 17.7 7.5 495 2790 0.00 2.45 49.12 0.957 10756 0.000 0.070 3017 391 1523 1567 1480 0 0 0 0 0 0 15.04 14.55 14.19

2869 0.88 287.6 3016 391 1563 1476 3.8 11.6 520 2875 0.00 2.33 0.00 0.000 3078 0.000 0.033 3016 1799 1519 1563 1475 0 0 0 0 0 0 14.81 14.74 14.81

2880 end climb: SURFACE_DEPTH_REACHED

state 2880 begin surface coast

2912 end surface coast: CONTROL_FINISHED_OK

state 2912 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	371	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	41	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	150419,023631,-3423.4138,2557.1943,12,1.0,33,-28.1,1.2,84.2,9,7.7	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	-3415.764,2548.055
_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	-62.3	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	150419,024707,-3423.4004,2557.2942,6,1.0,14,-28.1,0.0,91.1,10,8.7	MHEAD_RNG_PITCHd_Wd	343.1,20000,-15.7,-10.010,-18.71,2973
SPEED_LIMITS	0.173,0.296	D_GRID	1000

FINISH	0.3,1.025519	_24V_AH	13.85,119.723
SM_CCo	2937,149.73,0.809,0,0,597,515.37	_10V_AH	13.56,0.000
SM_GC	0.81,13.57,0.00,149.73,0.040,0.000,0.809,113,1801,597,-8.18,-0.31,515.37,0,0,0,0,0,0,14.80,14.97,14.09	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3409.50,2554.19,150419,023944	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.912282	MEM	340864
HUMID	44.80	DATA_FILE_SIZE	13446,528
INTERNAL_PRESSURE	9.28303	CAP_FILE_SIZE	101131,0
TCM_TEMP	18.70	CFSIZE	2097086464,2021883904
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	135.0,33.5	GPS	150419,034001,-3423.276,2557.214,7,0.9,16,-28.1,0.6,114.3,10,9.6
SC_FREEKB	3726208

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	345	145.27	nil	0	0	0.00
Roll_motor	62	84	72.29	nil	0	0	0.00
VBD_pump_during_apogee	358	1149	5708.77	nil	0	0	0.00
VBD_pump_during_surface	149	808	1676.80	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	45	16	10.30	nil	0	0	0.00
Iridium_during_connect	90	160	200.34	SciCon	2966	36	1499.76
Iridium_during_xfer	218	223	673.74	nil	0	0	0.00
Transponder_ping	4	420	27.63	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	11	2.40
TT8	1079	9	140.71
LPSleep	531	2	15.78
TT8_Active	646	9	84.22
TT8_Sampling	1265	28	486.40
TT8_CF8	215	36	107.02
TT8_Kalman	0	0	0.00
Analog_circuits	1170	12	192.29
GPS_charging	0	0	0.00
Compass	799	17	194.90
RAFOS	0	0	0.00
Transponder	31	30	12.76

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	53	1846	625	544	0.0	0.0	0	122	0.00	0.00	-97.62	0.000	16386	0.000	0.000	53	1843	2988	2955	3022	0	0	0	0	0	0	14.95	28.83	14.96
127	-0.76	-194.6	53	1843	2956	3022	3.5	-7.8	18	158	14.45	2.47	-8.93	0.000	18948	0.298	0.084	2504	406	3494	3508	3481	0	0	0	0	0	0	14.50	13.90	14.75
226	-0.76	-194.6	2503	406	3509	3482	31.2	-22.2	36	232	0.00	2.35	0.00	0.000	3078	0.000	0.040	2497	1810	3495	3509	3481	0	0	0	0	0	0	14.90	14.81	14.91
296	-0.76	-194.6	2497	1814	3508	3482	44.1	-18.6	49	304	0.05	2.38	0.00	0.000	2308	0.345	0.054	2508	3221	3495	3509	3481	0	0	0	0	0	0	14.62	14.79	14.76
326	-0.76	-194.6	2507	3221	3509	3481	49.2	-14.4	54	334	0.00	2.38	0.00	0.000	3078	0.000	0.044	2508	1811	3495	3510	3481	0	0	0	0	0	0	14.92	14.82	14.93
397	-0.76	-194.6	2508	1811	3509	3481	59.0	-13.9	67	404	0.00	0.00	0.00	0.000	2054	0.000	0.000	2508	1811	3495	3509	3481	0	0	0	0	0	0	15.04	15.04	15.05
467	-0.76	-194.6	2508	1810	3509	3481	68.2	-13.0	80	473	0.00	0.00	0.00	0.000	2054	0.000	0.000	2508	1810	3495	3509	3481	0	0	0	0	0	0	15.07	15.07	15.07
535	-0.76	-194.6	2508	1811	3509	3481	76.7	-12.6	93	541	0.00	0.00	0.00	0.000	2054	0.000	0.000	2508	1811	3495	3509	3481	0	0	0	0	0	0	15.07	15.08	15.08
605	-0.76	-194.6	2507	1811	3510	3481	85.5	-12.8	106	611	0.00	2.40	0.00	0.000	2308	0.000	0.054	2508	3219	3495	3509	3481	0	0	0	0	0	0	15.08	14.80	15.08
664	-0.76	-194.6	2507	3219	3510	3481	92.0	-10.1	117	671	0.00	2.38	0.00	0.000	3078	0.000	0.044	2508	1804	3495	3510	3480	0	0	0	0	0	0	14.88	14.78	14.89
736	-0.76	-194.6	2508	1803	3510	3479	100.2	-12.6	130	741	0.00	0.00	0.00	0.000	2054	0.000	0.000	2508	1804	3495	3510	3481	0	0	0	0	0	0	15.09	15.10	15.09
804	-0.76	-194.6	2508	1804	3510	3481	108.7	-11.4	143	811	0.00	2.42	0.00	0.000	2308	0.000	0.055	2508	3217	3495	3510	3480	0	0	0	0	0	0	15.10	14.78	15.10
834	-0.76	-194.6	2508	3217	3510	3480	112.0	-11.2	148	840	0.00	2.35	0.00	0.000	3078	0.000	0.043	2508	1811	3495	3510	3480	0	0	0	0	0	0	14.87	14.77	14.88
904	-0.76	-194.6	2508	1810	3510	3480	119.5	-11.2	161	911	0.00	0.00	0.00	0.000	2054	0.000	0.000	2507	1811	3495	3510	3480	0	0	0	0	0	0	15.10	15.11	15.10
975	-0.76	-194.6	2508	1811	3510	3480	127.5	-11.3	174	982	0.00	2.40	0.00	0.000	2308	0.000	0.053	2508	3223	3495	3510	3481	0	0	0	0	0	0	15.10	14.85	15.11
1010	-0.76	-194.6	2508	3222	3510	3480	131.2	-10.3	180	1016	0.00	2.38	0.00	0.000	3078	0.000	0.044	2508	1807	3495	3511	3480	0	0	0	0	0	0	14.93	14.83	14.94
1082	-0.76	-194.6	2508	1806	3510	3479	140.0	-13.4	193	1088	0.00	0.00	0.00	0.000	2054	0.000	0.000	2508	1806	3495	3510	3480	0	0	0	0	0	0	15.10	15.11	15.11
1151	-0.76	-194.6	2507	1806	3510	3480	148.1	-12.3	206	1157	0.00	0.00	0.00	0.000	2054	0.000	0.000	2508	1807	3495	3511	3480	0	0	0	0	0	0	15.10	15.11	15.11
1219	-0.76	-194.6	2507	1806	3509	3485	156.3	-11.5	219	1226	0.00	2.40	0.00	0.000	2564	0.000	0.065	2508	408	3495	3510	3480	0	0	0	0	0	0	15.11	14.77	15.11
1236	end dive: BOTTOM_OBSTACLE_DETECTED
state	1237	begin apogee
1245	-0.17	0.0	2507	1806	3510	3480	158.8	-12.4	222	1400	0.95	0.00	145.12	1.149	10246	0.145	0.000	2698	1810	2699	2729	2670	0	0	0	0	0	0	14.73	14.40	13.90
1401	end apogee: CONTROL_FINISHED_OK
state	1401	begin climb
1404	0.76	194.6	2698	1810	2728	2669	167.4	0.0	250	1566	1.38	2.53	150.93	1.139	10756	0.067	0.069	2999	396	1905	1942	1869	0	0	0	0	0	0	14.44	14.32	13.85
1725	0.76	194.6	2999	396	1933	1866	143.2	13.6	309	1732	0.00	2.35	0.00	0.000	3078	0.000	0.035	2999	1803	1898	1933	1864	0	0	0	0	0	0	14.74	14.66	14.74
1796	0.76	194.6	2999	1806	1933	1861	133.7	14.1	322	1803	0.00	2.35	0.00	0.000	2308	0.000	0.050	2999	3201	1896	1932	1861	0	0	0	0	0	0	14.94	14.72	14.95
1830	0.76	194.6	2999	3201	1930	1861	128.5	15.1	328	1836	0.00	2.40	0.00	0.000	1030	0.000	0.050	3003	1795	1896	1931	1861	0	0	0	0	0	0	14.76	14.69	14.78
1901	0.76	194.6	3002	1794	1931	1860	118.9	14.2	341	1907	0.00	0.00	0.00	0.000	6	0.000	0.000	3003	1795	1896	1931	1861	0	0	0	0	0	0	14.99	15.00	15.00
1969	0.76	194.6	3002	1795	1931	1860	108.4	15.4	354	1976	0.00	2.38	0.00	0.000	260	0.000	0.049	3003	3207	1895	1931	1860	0	0	0	0	0	0	15.01	14.72	15.02
2028	0.76	194.6	3002	3206	1929	1860	99.4	14.5	365	2035	0.00	2.40	0.00	0.000	1030	0.000	0.051	3003	1799	1895	1930	1860	0	0	0	0	0	0	14.90	14.81	14.92
2100	0.76	194.6	3002	1799	1930	1860	90.4	13.1	378	2105	0.00	0.00	0.00	0.000	6	0.000	0.000	3003	1799	1896	1929	1863	0	0	0	0	0	0	15.04	15.05	15.05
2168	0.76	194.6	3002	1799	1930	1860	81.6	12.7	391	2175	0.00	2.38	0.00	0.000	260	0.000	0.049	3003	3209	1894	1929	1859	0	0	0	0	0	0	15.05	14.84	15.07
2233	0.76	194.6	3003	3209	1929	1860	74.0	11.3	403	2239	0.00	2.40	0.00	0.000	5126	0.000	0.050	3011	1792	1893	1929	1858	0	0	0	0	0	0	14.95	14.84	14.97
2304	0.76	194.6	3011	1791	1930	1859	66.4	10.1	416	2310	0.00	0.00	0.00	0.000	4102	0.000	0.000	3011	1791	1894	1929	1859	0	0	0	0	0	0	15.07	15.07	15.07
2372	0.76	194.6	3011	1792	1928	1859	57.8	13.3	429	2379	0.00	2.40	0.00	0.000	4612	0.000	0.070	3017	395	1893	1928	1859	0	0	0	0	0	0	15.08	14.83	15.09
2402	0.76	194.6	3016	395	1928	1858	53.4	14.4	434	2409	0.00	2.33	0.00	0.000	5126	0.000	0.033	3017	1812	1893	1928	1859	0	0	0	0	0	0	14.97	14.89	14.99
2473	0.76	194.6	3016	1813	1928	1858	44.7	11.8	447	2479	0.00	0.00	0.00	0.000	4102	0.000	0.000	3017	1814	1897	1928	1866	0	0	0	0	0	0	15.07	15.08	15.08
2541	0.76	194.6	3016	1814	1928	1858	36.3	11.9	460	2548	0.00	2.30	0.00	0.000	4356	0.000	0.048	3016	3196	1893	1928	1858	0	0	0	0	0	0	15.09	14.87	15.09
2581	0.76	194.6	3016	3197	1928	1857	31.5	11.9	467	2588	0.00	2.40	0.00	0.000	5126	0.000	0.050	3017	1790	1892	1927	1858	0	0	0	0	0	0	14.96	14.83	14.99
2652	0.79	214.1	3016	1789	1927	1857	24.4	9.3	480	2670	0.00	0.00	13.55	0.974	12294	0.000	0.000	3017	1789	1825	1864	1787	0	0	0	0	0	0	15.09	14.83	14.27
2734	0.88	287.6	3016	1789	1862	1785	17.7	7.5	495	2790	0.00	2.45	49.12	0.957	10756	0.000	0.070	3017	391	1523	1567	1480	0	0	0	0	0	0	15.04	14.55	14.19
2869	0.88	287.6	3016	391	1563	1476	3.8	11.6	520	2875	0.00	2.33	0.00	0.000	3078	0.000	0.033	3016	1799	1519	1563	1475	0	0	0	0	0	0	14.81	14.74	14.81
2880	end climb: SURFACE_DEPTH_REACHED
state	2880	begin surface coast
2912	end surface coast: CONTROL_FINISHED_OK
state	2912	begin surface