Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 377 * 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 377 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 53 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 53 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 377 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 150419,082419,-3422.3550,2556.8518,7,1.0,18,-28.1,0.5,234.2,8,9.9 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3414.675,2547.543

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.81 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -64.5 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 150419,083231,-3422.3108,2556.7810,7,0.9,27,-28.1,1.1,356.7,9,5.6 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 0.3,1.014965 _24V_AH 13.88,121.006

SM_CCo 2408,144.93,0.791,0,0,600,515.37 _10V_AH 13.56,0.000

SM_GC 0.93,13.65,0.00,144.93,0.050,0.000,0.791,118,1796,600,-8.18,-0.40,515.37,0,0,0,0,0,0,14.86,15.05,14.12 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3409.50,2556.54,150419,073343 FG_AHR_10Vo 0.000

TT8_MAMPS 0.02247,0.950481 MEM 340864

HUMID 45.15 DATA_FILE_SIZE 10147,425

INTERNAL_PRESSURE 9.30256 CAP_FILE_SIZE 87231,0

TCM_TEMP 19.20 CFSIZE 2097086464,2020933632

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

ALTIM_BOTTOM_PING 105.0,33.9 GPS 150419,091626,-3422.209,2556.568,6,0.9,13,-28.1,0.5,5.1,8,9.9

SC_FREEKB 3723136

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 322 138.12 nil 0 0 0.00

Roll_motor 66 87 80.83 nil 0 0 0.00

VBD_pump_during_apogee 374 1110 5767.61 nil 0 0 0.00

VBD_pump_during_surface 144 791 1591.16 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 16 5.31 nil 0 0 0.00

Iridium_during_connect 20 160 46.30 SciCon 2437 36 1228.27

Iridium_during_xfer 217 223 672.83 nil 0 0 0.00

Transponder_ping 3 420 18.95 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 28 11 4.28

TT8 855 9 111.44

LPSleep 344 2 10.24

TT8_Active 630 9 82.22

TT8_Sampling 1018 28 391.44

TT8_CF8 209 36 103.87

TT8_Kalman 0 0 0.00

Analog_circuits 1083 12 177.88

GPS_charging 0 0 0.00

Compass 647 17 157.80

RAFOS 0 0 0.00

Transponder 22 30 9.05

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 1809 623 547 0.0 0.0 0 122 0.00 0.00 -97.25 0.000 16386 0.000 0.000 54 1809 3007 2981 3033 0 0 0 0 0 0 14.97 28.83 14.97

127 -0.76 -194.6 54 1808 2981 3034 3.5 -7.4 18 157 14.60 2.45 -8.32 0.000 18948 0.308 0.087 2503 396 3495 3507 3484 0 0 0 0 0 0 14.50 13.98 14.76

211 -0.76 -194.6 2503 396 3508 3484 27.9 -18.8 33 218 0.00 2.38 0.00 0.000 3078 0.000 0.040 2501 1803 3496 3508 3484 0 0 0 0 0 0 14.90 14.81 14.91

283 -0.76 -194.6 2501 1806 3509 3483 40.4 -17.8 46 289 0.00 2.40 0.00 0.000 2308 0.000 0.057 2501 3218 3496 3509 3484 0 0 0 0 0 0 15.02 14.81 15.02

342 -0.76 -194.6 2501 3219 3510 3483 48.4 -12.3 57 349 0.00 2.38 0.00 0.000 3078 0.000 0.043 2501 1804 3496 3509 3483 0 0 0 0 0 0 14.93 14.83 14.95

414 -0.76 -194.6 2501 1806 3510 3482 57.8 -15.2 70 421 0.00 2.40 0.00 0.000 2564 0.000 0.064 2502 406 3495 3509 3482 0 0 0 0 0 0 15.06 14.75 15.07

445 -0.76 -194.6 2501 406 3509 3482 61.6 -12.5 75 452 0.00 2.35 0.00 0.000 3078 0.000 0.037 2501 1819 3496 3510 3482 0 0 0 0 0 0 14.91 14.82 14.92

515 -0.76 -194.6 2500 1822 3510 3482 69.8 -12.5 88 523 0.00 2.38 0.00 0.000 2308 0.000 0.056 2501 3217 3496 3510 3482 0 0 0 0 0 0 15.08 14.81 15.08

602 -0.76 -194.6 2501 3216 3511 3481 80.1 -10.6 104 608 0.00 2.35 0.00 0.000 3078 0.000 0.043 2501 1813 3496 3511 3482 0 0 0 0 0 0 14.96 14.86 14.97

674 -0.76 -194.6 2501 1812 3511 3482 88.6 -12.9 117 679 0.00 0.00 0.00 0.000 2054 0.000 0.000 2501 1812 3496 3511 3481 0 0 0 0 0 0 15.09 15.09 15.07

744 -0.76 -194.6 2501 1812 3510 3481 98.1 -13.8 130 750 0.00 2.40 0.00 0.000 2308 0.000 0.053 2498 3224 3496 3511 3482 0 0 0 0 0 0 15.09 14.78 15.09

772 -0.76 -194.6 2498 3224 3512 3481 102.1 -12.8 135 779 0.00 2.38 0.00 0.000 3078 0.000 0.043 2497 1803 3496 3511 3481 0 0 0 0 0 0 14.97 14.88 14.99

844 -0.76 -194.6 2498 1803 3511 3481 110.5 -13.1 148 850 0.00 0.00 0.00 0.000 2054 0.000 0.000 2498 1803 3496 3511 3481 0 0 0 0 0 0 15.10 15.10 15.10

913 -0.76 -194.6 2498 1803 3510 3481 119.7 -13.2 161 919 0.00 0.00 0.00 0.000 2054 0.000 0.000 2498 1803 3496 3511 3481 0 0 0 0 0 0 15.11 15.11 15.11

981 -0.76 -194.6 2498 1803 3511 3481 128.1 -12.4 174 987 0.00 0.00 0.00 0.000 2054 0.000 0.000 2498 1803 3496 3511 3481 0 0 0 0 0 0 15.11 15.11 15.11

992 end dive: BOTTOM_OBSTACLE_DETECTED

state 992 begin apogee

997 -0.17 0.0 2498 1803 3511 3481 129.9 -13.5 176 1148 1.00 0.00 144.88 1.110 10246 0.151 0.000 2696 1802 2701 2733 2669 0 0 0 0 0 0 14.74 14.43 13.94

1149 end apogee: CONTROL_FINISHED_OK

state 1150 begin climb

1152 0.76 194.6 2696 1802 2728 2668 137.5 0.0 203 1314 1.45 2.53 149.43 1.097 10756 0.068 0.067 3019 399 1902 1938 1867 0 0 0 0 0 0 14.43 14.33 13.88

1397 0.76 194.6 3019 399 1932 1863 114.5 16.4 247 1404 0.05 2.35 0.00 0.000 5126 0.323 0.033 3010 1808 1896 1931 1862 0 0 0 0 0 0 14.40 14.62 14.59

1467 0.76 194.6 3010 1810 1931 1860 103.0 16.1 260 1474 0.00 2.33 0.00 0.000 4356 0.000 0.047 3010 3197 1895 1931 1859 0 0 0 0 0 0 14.88 14.61 14.89

1507 0.76 194.6 3009 3197 1929 1860 96.4 16.6 267 1513 0.00 2.38 0.00 0.000 5126 0.000 0.048 3017 1803 1894 1929 1860 0 0 0 0 0 0 14.76 14.71 14.76

1578 0.76 194.6 3017 1803 1929 1859 85.7 15.9 280 1584 0.00 2.35 0.00 0.000 4356 0.000 0.047 3017 3198 1893 1929 1858 0 0 0 0 0 0 14.97 14.69 14.97

1607 0.76 194.6 3017 3199 1928 1859 80.4 16.3 285 1614 0.00 2.38 0.00 0.000 5126 0.000 0.050 3017 1799 1893 1928 1859 0 0 0 0 0 0 14.78 14.69 14.80

1677 0.76 194.6 3016 1799 1928 1858 70.9 13.3 298 1684 0.00 2.42 0.00 0.000 4612 0.000 0.067 3023 393 1893 1928 1858 0 0 0 0 0 0 15.00 14.70 15.04

1697 0.76 194.6 3023 394 1927 1858 67.8 14.2 301 1704 0.08 2.33 0.00 0.000 5126 0.276 0.033 3009 1810 1892 1927 1858 0 0 0 0 0 0 14.60 14.76 14.77

1769 0.76 194.6 3009 1812 1927 1856 59.6 10.8 314 1775 0.00 2.33 0.00 0.000 4356 0.000 0.047 3008 3208 1892 1927 1857 0 0 0 0 0 0 15.04 14.79 15.04

1840 0.77 203.3 3008 3208 1926 1857 52.1 9.7 327 1853 0.00 2.40 6.15 0.739 13318 0.000 0.050 3010 1792 1871 1908 1834 0 0 0 0 0 0 14.94 14.83 14.23

1917 0.83 249.8 3009 1792 1907 1833 45.3 8.4 341 1963 0.00 2.38 38.60 1.025 10500 0.000 0.045 3010 3198 1678 1720 1637 0 0 0 0 0 0 15.05 14.54 14.18

1982 0.86 270.4 3010 3198 1719 1636 40.1 9.3 352 2006 0.00 2.40 17.65 0.946 11270 0.000 0.049 3016 1795 1595 1638 1553 0 0 0 0 0 0 14.73 14.62 14.14

2069 0.88 291.3 3016 1794 1635 1550 32.5 9.3 368 2093 0.00 2.45 17.65 0.947 10500 0.000 0.046 3016 3208 1512 1557 1467 0 0 0 0 0 0 14.90 14.59 14.12

2111 0.88 291.3 3016 3208 1556 1466 28.7 10.3 375 2117 0.00 2.42 0.00 0.000 3078 0.000 0.052 3017 1799 1511 1556 1466 0 0 0 0 0 0 14.76 14.66 14.77

2182 0.88 291.3 3015 1799 1555 1463 21.1 10.2 388 2189 0.00 2.47 0.00 0.000 2564 0.000 0.072 3017 389 1508 1554 1463 0 0 0 0 0 0 14.92 14.64 14.92

2236 0.88 291.3 3016 389 1552 1463 15.6 10.4 398 2243 0.00 2.33 0.00 0.000 3078 0.000 0.031 3017 1803 1507 1552 1463 0 0 0 0 0 0 14.86 14.80 14.87

2307 0.88 291.3 3016 1806 1552 1461 8.2 10.2 411 2313 0.00 2.33 0.00 0.000 2308 0.000 0.047 3016 3194 1506 1552 1461 0 0 0 0 0 0 15.00 14.72 15.00

2346 0.88 291.3 3016 3194 1551 1460 4.1 10.8 418 2353 0.00 2.38 0.00 0.000 3078 0.000 0.052 3016 1799 1505 1551 1460 0 0 0 0 0 0 14.90 14.80 14.92

2358 end climb: SURFACE_DEPTH_REACHED

state 2358 begin surface coast

2384 end surface coast: CONTROL_FINISHED_OK

state 2385 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	377	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	53	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	150419,082419,-3422.3550,2556.8518,7,1.0,18,-28.1,0.5,234.2,8,9.9	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3414.675,2547.543
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.81	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-64.5	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	150419,083231,-3422.3108,2556.7810,7,0.9,27,-28.1,1.1,356.7,9,5.6	MHEAD_RNG_PITCHd_Wd	343.1,20000,-15.7,-10.010,-18.71,2973
SPEED_LIMITS	0.173,0.296	D_GRID	1000

FINISH	0.3,1.014965	_24V_AH	13.88,121.006
SM_CCo	2408,144.93,0.791,0,0,600,515.37	_10V_AH	13.56,0.000
SM_GC	0.93,13.65,0.00,144.93,0.050,0.000,0.791,118,1796,600,-8.18,-0.40,515.37,0,0,0,0,0,0,14.86,15.05,14.12	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3409.50,2556.54,150419,073343	FG_AHR_10Vo	0.000
TT8_MAMPS	0.02247,0.950481	MEM	340864
HUMID	45.15	DATA_FILE_SIZE	10147,425
INTERNAL_PRESSURE	9.30256	CAP_FILE_SIZE	87231,0
TCM_TEMP	19.20	CFSIZE	2097086464,2020933632
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	105.0,33.9	GPS	150419,091626,-3422.209,2556.568,6,0.9,13,-28.1,0.5,5.1,8,9.9
SC_FREEKB	3723136

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	322	138.12	nil	0	0	0.00
Roll_motor	66	87	80.83	nil	0	0	0.00
VBD_pump_during_apogee	374	1110	5767.61	nil	0	0	0.00
VBD_pump_during_surface	144	791	1591.16	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	16	5.31	nil	0	0	0.00
Iridium_during_connect	20	160	46.30	SciCon	2437	36	1228.27
Iridium_during_xfer	217	223	672.83	nil	0	0	0.00
Transponder_ping	3	420	18.95	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	28	11	4.28
TT8	855	9	111.44
LPSleep	344	2	10.24
TT8_Active	630	9	82.22
TT8_Sampling	1018	28	391.44
TT8_CF8	209	36	103.87
TT8_Kalman	0	0	0.00
Analog_circuits	1083	12	177.88
GPS_charging	0	0	0.00
Compass	647	17	157.80
RAFOS	0	0	0.00
Transponder	22	30	9.05

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	1809	623	547	0.0	0.0	0	122	0.00	0.00	-97.25	0.000	16386	0.000	0.000	54	1809	3007	2981	3033	0	0	0	0	0	0	14.97	28.83	14.97
127	-0.76	-194.6	54	1808	2981	3034	3.5	-7.4	18	157	14.60	2.45	-8.32	0.000	18948	0.308	0.087	2503	396	3495	3507	3484	0	0	0	0	0	0	14.50	13.98	14.76
211	-0.76	-194.6	2503	396	3508	3484	27.9	-18.8	33	218	0.00	2.38	0.00	0.000	3078	0.000	0.040	2501	1803	3496	3508	3484	0	0	0	0	0	0	14.90	14.81	14.91
283	-0.76	-194.6	2501	1806	3509	3483	40.4	-17.8	46	289	0.00	2.40	0.00	0.000	2308	0.000	0.057	2501	3218	3496	3509	3484	0	0	0	0	0	0	15.02	14.81	15.02
342	-0.76	-194.6	2501	3219	3510	3483	48.4	-12.3	57	349	0.00	2.38	0.00	0.000	3078	0.000	0.043	2501	1804	3496	3509	3483	0	0	0	0	0	0	14.93	14.83	14.95
414	-0.76	-194.6	2501	1806	3510	3482	57.8	-15.2	70	421	0.00	2.40	0.00	0.000	2564	0.000	0.064	2502	406	3495	3509	3482	0	0	0	0	0	0	15.06	14.75	15.07
445	-0.76	-194.6	2501	406	3509	3482	61.6	-12.5	75	452	0.00	2.35	0.00	0.000	3078	0.000	0.037	2501	1819	3496	3510	3482	0	0	0	0	0	0	14.91	14.82	14.92
515	-0.76	-194.6	2500	1822	3510	3482	69.8	-12.5	88	523	0.00	2.38	0.00	0.000	2308	0.000	0.056	2501	3217	3496	3510	3482	0	0	0	0	0	0	15.08	14.81	15.08
602	-0.76	-194.6	2501	3216	3511	3481	80.1	-10.6	104	608	0.00	2.35	0.00	0.000	3078	0.000	0.043	2501	1813	3496	3511	3482	0	0	0	0	0	0	14.96	14.86	14.97
674	-0.76	-194.6	2501	1812	3511	3482	88.6	-12.9	117	679	0.00	0.00	0.00	0.000	2054	0.000	0.000	2501	1812	3496	3511	3481	0	0	0	0	0	0	15.09	15.09	15.07
744	-0.76	-194.6	2501	1812	3510	3481	98.1	-13.8	130	750	0.00	2.40	0.00	0.000	2308	0.000	0.053	2498	3224	3496	3511	3482	0	0	0	0	0	0	15.09	14.78	15.09
772	-0.76	-194.6	2498	3224	3512	3481	102.1	-12.8	135	779	0.00	2.38	0.00	0.000	3078	0.000	0.043	2497	1803	3496	3511	3481	0	0	0	0	0	0	14.97	14.88	14.99
844	-0.76	-194.6	2498	1803	3511	3481	110.5	-13.1	148	850	0.00	0.00	0.00	0.000	2054	0.000	0.000	2498	1803	3496	3511	3481	0	0	0	0	0	0	15.10	15.10	15.10
913	-0.76	-194.6	2498	1803	3510	3481	119.7	-13.2	161	919	0.00	0.00	0.00	0.000	2054	0.000	0.000	2498	1803	3496	3511	3481	0	0	0	0	0	0	15.11	15.11	15.11
981	-0.76	-194.6	2498	1803	3511	3481	128.1	-12.4	174	987	0.00	0.00	0.00	0.000	2054	0.000	0.000	2498	1803	3496	3511	3481	0	0	0	0	0	0	15.11	15.11	15.11
992	end dive: BOTTOM_OBSTACLE_DETECTED
state	992	begin apogee
997	-0.17	0.0	2498	1803	3511	3481	129.9	-13.5	176	1148	1.00	0.00	144.88	1.110	10246	0.151	0.000	2696	1802	2701	2733	2669	0	0	0	0	0	0	14.74	14.43	13.94
1149	end apogee: CONTROL_FINISHED_OK
state	1150	begin climb
1152	0.76	194.6	2696	1802	2728	2668	137.5	0.0	203	1314	1.45	2.53	149.43	1.097	10756	0.068	0.067	3019	399	1902	1938	1867	0	0	0	0	0	0	14.43	14.33	13.88
1397	0.76	194.6	3019	399	1932	1863	114.5	16.4	247	1404	0.05	2.35	0.00	0.000	5126	0.323	0.033	3010	1808	1896	1931	1862	0	0	0	0	0	0	14.40	14.62	14.59
1467	0.76	194.6	3010	1810	1931	1860	103.0	16.1	260	1474	0.00	2.33	0.00	0.000	4356	0.000	0.047	3010	3197	1895	1931	1859	0	0	0	0	0	0	14.88	14.61	14.89
1507	0.76	194.6	3009	3197	1929	1860	96.4	16.6	267	1513	0.00	2.38	0.00	0.000	5126	0.000	0.048	3017	1803	1894	1929	1860	0	0	0	0	0	0	14.76	14.71	14.76
1578	0.76	194.6	3017	1803	1929	1859	85.7	15.9	280	1584	0.00	2.35	0.00	0.000	4356	0.000	0.047	3017	3198	1893	1929	1858	0	0	0	0	0	0	14.97	14.69	14.97
1607	0.76	194.6	3017	3199	1928	1859	80.4	16.3	285	1614	0.00	2.38	0.00	0.000	5126	0.000	0.050	3017	1799	1893	1928	1859	0	0	0	0	0	0	14.78	14.69	14.80
1677	0.76	194.6	3016	1799	1928	1858	70.9	13.3	298	1684	0.00	2.42	0.00	0.000	4612	0.000	0.067	3023	393	1893	1928	1858	0	0	0	0	0	0	15.00	14.70	15.04
1697	0.76	194.6	3023	394	1927	1858	67.8	14.2	301	1704	0.08	2.33	0.00	0.000	5126	0.276	0.033	3009	1810	1892	1927	1858	0	0	0	0	0	0	14.60	14.76	14.77
1769	0.76	194.6	3009	1812	1927	1856	59.6	10.8	314	1775	0.00	2.33	0.00	0.000	4356	0.000	0.047	3008	3208	1892	1927	1857	0	0	0	0	0	0	15.04	14.79	15.04
1840	0.77	203.3	3008	3208	1926	1857	52.1	9.7	327	1853	0.00	2.40	6.15	0.739	13318	0.000	0.050	3010	1792	1871	1908	1834	0	0	0	0	0	0	14.94	14.83	14.23
1917	0.83	249.8	3009	1792	1907	1833	45.3	8.4	341	1963	0.00	2.38	38.60	1.025	10500	0.000	0.045	3010	3198	1678	1720	1637	0	0	0	0	0	0	15.05	14.54	14.18
1982	0.86	270.4	3010	3198	1719	1636	40.1	9.3	352	2006	0.00	2.40	17.65	0.946	11270	0.000	0.049	3016	1795	1595	1638	1553	0	0	0	0	0	0	14.73	14.62	14.14
2069	0.88	291.3	3016	1794	1635	1550	32.5	9.3	368	2093	0.00	2.45	17.65	0.947	10500	0.000	0.046	3016	3208	1512	1557	1467	0	0	0	0	0	0	14.90	14.59	14.12
2111	0.88	291.3	3016	3208	1556	1466	28.7	10.3	375	2117	0.00	2.42	0.00	0.000	3078	0.000	0.052	3017	1799	1511	1556	1466	0	0	0	0	0	0	14.76	14.66	14.77
2182	0.88	291.3	3015	1799	1555	1463	21.1	10.2	388	2189	0.00	2.47	0.00	0.000	2564	0.000	0.072	3017	389	1508	1554	1463	0	0	0	0	0	0	14.92	14.64	14.92
2236	0.88	291.3	3016	389	1552	1463	15.6	10.4	398	2243	0.00	2.33	0.00	0.000	3078	0.000	0.031	3017	1803	1507	1552	1463	0	0	0	0	0	0	14.86	14.80	14.87
2307	0.88	291.3	3016	1806	1552	1461	8.2	10.2	411	2313	0.00	2.33	0.00	0.000	2308	0.000	0.047	3016	3194	1506	1552	1461	0	0	0	0	0	0	15.00	14.72	15.00
2346	0.88	291.3	3016	3194	1551	1460	4.1	10.8	418	2353	0.00	2.38	0.00	0.000	3078	0.000	0.052	3016	1799	1505	1551	1460	0	0	0	0	0	0	14.90	14.80	14.92
2358	end climb: SURFACE_DEPTH_REACHED
state	2358	begin surface coast
2384	end surface coast: CONTROL_FINISHED_OK
state	2385	begin surface