Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 384 * 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 70 C_ROLL_CLIMB 1800 ALTIM_TOP_TURN_MARGIN 0

DIVE 384 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 30 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 49 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 70 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 30 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 49 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 384 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 150419,142601,-3422.3784,2556.0317,7,1.0,40,-28.1,0.7,30.5,8,4.4 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3418.731,2608.291

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.82 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -68.8 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 150419,143349,-3422.4246,2556.0049,7,1.0,16,-28.1,1.0,184.8,8,9.8 MHEAD_RNG_PITCHd_Wd 98.1,20000,-15.7,-10.010,-18.71,2973

SPEED_LIMITS 0.173,0.296 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.1,1.025454 _24V_AH 13.89,122.410

SM_CCo 2677,180.65,0.793,0,0,597,515.37 _10V_AH 13.63,0.000

SM_GC 0.85,13.68,0.00,180.65,0.051,0.000,0.793,124,1798,597,-8.18,-0.40,515.37,0,0,0,0,0,0,14.87,15.09,14.12 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3406.89,2553.05,150419,133605 FG_AHR_10Vo 0.000

TT8_MAMPS 0.020972,0.937748 MEM 340928

HUMID 45.35 DATA_FILE_SIZE 13401,473

INTERNAL_PRESSURE 9.30256 CAP_FILE_SIZE 96444,0

TCM_TEMP 19.10 CFSIZE 2097086464,2019786752

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

ALTIM_BOTTOM_PING 110.5,36.4 GPS 150419,152246,-3422.587,2556.431,7,1.0,14,-28.1,0.6,123.8,8,9.3

SC_FREEKB 3719552

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 353 150.83 nil 0 0 0.00

Roll_motor 75 72 76.57 nil 0 0 0.00

VBD_pump_during_apogee 325 1116 5045.88 nil 0 0 0.00

VBD_pump_during_surface 180 793 1990.58 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 16 5.49 nil 0 0 0.00

Iridium_during_connect 17 160 39.35 SciCon 2704 36 1367.92

Iridium_during_xfer 208 223 646.23 nil 0 0 0.00

Transponder_ping 3 420 20.42 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 11 2.63

TT8 985 9 129.06

LPSleep 411 2 12.28

TT8_Active 648 9 84.95

TT8_Sampling 1068 28 412.79

TT8_CF8 223 36 111.47

TT8_Kalman 0 0 0.00

Analog_circuits 1135 12 187.45

GPS_charging 0 0 0.00

Compass 718 17 176.03

RAFOS 0 0 0.00

Transponder 23 30 9.72

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -0.76 -194.6 54 1791 623 547 0.0 0.0 0 123 0.00 0.00 -97.72 0.000 16386 0.000 0.000 53 1791 3013 2984 3043 0 0 0 0 0 0 14.97 28.83 14.97

128 -0.76 -194.6 53 1791 2984 3044 3.5 -7.1 18 158 14.45 2.40 -8.40 0.000 18692 0.298 0.073 2494 3207 3494 3507 3481 0 0 0 0 0 0 14.55 13.99 14.80

276 -0.76 -194.6 2494 3207 3509 3481 34.9 -13.6 46 284 0.08 2.38 0.00 0.000 3078 0.251 0.046 2509 1800 3494 3509 3480 0 0 0 0 0 0 14.71 14.83 14.87

348 -0.76 -194.6 2510 1801 3518 3480 44.8 -14.1 59 355 0.00 2.40 0.00 0.000 2564 0.000 0.063 2511 405 3494 3509 3480 0 0 0 0 0 0 15.06 14.82 15.07

362 -0.76 -194.6 2510 405 3509 3480 47.0 -14.0 61 369 0.00 2.33 0.00 0.000 3078 0.000 0.035 2508 1813 3494 3509 3479 0 0 0 0 0 0 14.95 14.86 14.96

435 -0.76 -194.6 2508 1816 3509 3480 56.5 -13.0 74 441 0.00 2.35 0.00 0.000 2308 0.000 0.054 2509 3215 3494 3509 3480 0 0 0 0 0 0 15.08 14.77 15.08

490 -0.76 -194.6 2508 3212 3510 3479 63.0 -10.9 84 497 0.00 2.35 0.00 0.000 3078 0.000 0.044 2509 1811 3494 3510 3479 0 0 0 0 0 0 14.92 14.82 14.93

561 -0.76 -194.6 2508 1813 3510 3479 70.8 -11.7 97 568 0.00 2.40 0.00 0.000 2564 0.000 0.062 2508 408 3494 3510 3479 0 0 0 0 0 0 15.09 14.85 15.09

590 -0.76 -194.6 2508 408 3511 3479 74.4 -12.2 102 598 0.00 2.33 0.00 0.000 3078 0.000 0.035 2511 1818 3494 3510 3479 0 0 0 0 0 0 14.93 14.85 14.95

664 -0.76 -194.6 2508 1820 3510 3479 82.4 -12.3 115 670 0.00 2.35 0.00 0.000 2308 0.000 0.053 2509 3219 3493 3510 3477 0 0 0 0 0 0 15.09 14.86 15.10

725 -0.76 -194.6 2508 3220 3510 3479 89.4 -9.8 126 733 0.00 2.35 0.00 0.000 3078 0.000 0.041 2508 1812 3495 3511 3479 0 0 0 0 0 0 14.94 14.84 14.95

796 -0.76 -194.6 2508 1809 3511 3478 96.9 -11.2 139 803 0.00 2.40 0.00 0.000 2564 0.000 0.063 2509 406 3494 3511 3478 0 0 0 0 0 0 15.11 14.86 15.11

816 -0.76 -194.6 2508 406 3511 3478 99.4 -11.5 142 823 0.00 2.33 0.00 0.000 3078 0.000 0.034 2508 1819 3494 3510 3478 0 0 0 0 0 0 14.95 14.86 14.95

887 -0.76 -194.6 2508 1822 3511 3478 107.1 -11.8 155 894 0.00 2.33 0.00 0.000 2308 0.000 0.053 2508 3210 3494 3511 3478 0 0 0 0 0 0 15.10 14.87 15.11

933 -0.76 -194.6 2508 3210 3511 3478 112.4 -11.0 163 940 0.00 2.33 0.00 0.000 3078 0.000 0.044 2508 1812 3494 3511 3478 0 0 0 0 0 0 14.99 14.89 15.00

1004 -0.76 -194.6 2508 1812 3511 3478 119.1 -10.4 176 1010 0.00 0.00 0.00 0.000 2054 0.000 0.000 2508 1812 3494 3511 3478 0 0 0 0 0 0 15.10 15.11 15.11

1073 -0.76 -194.6 2508 1812 3511 3477 127.2 -12.3 189 1079 0.00 2.38 0.00 0.000 2308 0.000 0.053 2508 3216 3494 3511 3478 0 0 0 0 0 0 15.11 14.88 15.11

1107 -0.76 -194.6 2508 3217 3511 3478 131.0 -10.9 195 1114 0.00 2.35 0.00 0.000 3078 0.000 0.043 2508 1811 3495 3512 3478 0 0 0 0 0 0 14.99 14.89 15.00

1156 end dive: BOTTOM_OBSTACLE_DETECTED

state 1156 begin apogee

1161 -0.17 0.0 2509 1810 3511 3477 137.6 -14.1 204 1315 0.95 0.00 144.93 1.116 10246 0.147 0.000 2697 1810 2699 2729 2669 0 0 0 0 0 0 14.68 14.33 13.95

1317 end apogee: CONTROL_FINISHED_OK

state 1317 begin climb

1320 0.76 194.6 2697 1810 2728 2667 146.4 0.0 232 1483 1.45 2.53 150.27 1.098 11012 0.073 0.067 3003 403 1902 1938 1866 0 0 0 0 0 0 14.45 14.34 13.89

1506 0.76 194.6 3003 403 1935 1865 139.7 11.8 264 1513 0.00 2.35 0.00 0.000 1030 0.000 0.032 3003 1800 1899 1934 1864 0 0 0 0 0 0 14.54 14.49 14.56

1577 0.76 194.6 3002 1804 1934 1860 130.1 15.3 277 1584 0.00 2.38 0.00 0.000 260 0.000 0.045 3003 3208 1896 1932 1860 0 0 0 0 0 0 14.81 14.62 14.82

1597 0.76 194.6 3002 3208 1932 1860 126.7 15.4 280 1604 0.00 2.42 0.00 0.000 5126 0.000 0.048 3011 1795 1895 1931 1860 0 0 0 0 0 0 14.75 14.64 14.76

1669 0.76 194.6 3011 1794 1931 1858 115.5 16.0 293 1675 0.00 0.00 0.00 0.000 4102 0.000 0.000 3011 1794 1895 1931 1859 0 0 0 0 0 0 14.92 14.92 14.92

1738 0.76 194.6 3011 1794 1933 1858 104.8 14.7 306 1744 0.00 2.38 0.00 0.000 4356 0.000 0.046 3012 3207 1895 1931 1859 0 0 0 0 0 0 14.97 14.76 14.97

1762 0.76 194.6 3011 3209 1929 1859 101.3 15.0 310 1768 0.00 2.40 0.00 0.000 5126 0.000 0.049 3017 1800 1893 1929 1858 0 0 0 0 0 0 14.87 14.76 14.88

1833 0.76 194.6 3017 1800 1930 1858 92.0 13.0 323 1838 0.00 0.00 0.00 0.000 4102 0.000 0.000 3018 1800 1893 1929 1858 0 0 0 0 0 0 15.00 15.01 15.01

1902 0.76 194.6 3017 1800 1929 1857 83.2 11.9 336 1908 0.00 2.42 0.00 0.000 4612 0.000 0.068 3023 385 1892 1928 1857 0 0 0 0 0 0 15.04 14.80 15.04

1921 0.76 194.6 3022 385 1928 1857 80.7 12.3 339 1928 0.08 2.33 0.00 0.000 5126 0.282 0.033 3009 1803 1892 1928 1857 0 0 0 0 0 0 14.66 14.82 14.85

1992 0.76 194.6 3008 1806 1928 1857 71.3 13.8 352 1999 0.00 2.33 0.00 0.000 4356 0.000 0.047 3008 3205 1892 1928 1857 0 0 0 0 0 0 15.06 14.84 15.06

2016 0.76 194.6 3007 3205 1927 1857 67.8 14.0 356 2023 0.00 2.40 0.00 0.000 5126 0.000 0.050 3016 1796 1891 1927 1856 0 0 0 0 0 0 14.91 14.81 14.92

2087 0.76 194.6 3016 1796 1927 1856 58.9 12.2 369 2094 0.00 2.35 0.00 0.000 4356 0.000 0.046 3016 3200 1891 1927 1856 0 0 0 0 0 0 15.07 14.85 15.08

2131 0.76 194.6 3016 3201 1926 1856 53.5 11.1 377 2138 0.05 2.38 0.00 0.000 5126 0.353 0.050 3010 1799 1891 1927 1856 0 0 0 0 0 0 14.66 14.81 14.87

2203 0.77 201.1 3009 1799 1926 1856 45.9 9.8 390 2210 0.00 0.00 4.20 0.594 12294 0.000 0.000 3010 1799 1877 1917 1838 0 0 0 0 0 0 15.09 14.81 14.31

2274 0.80 222.4 3009 1799 1916 1842 39.5 9.3 403 2298 0.00 2.47 18.80 1.017 10756 0.000 0.070 3018 392 1792 1831 1754 0 0 0 0 0 0 15.07 14.78 14.27

2392 0.80 222.4 3018 392 1826 1753 25.6 12.4 425 2399 0.00 2.33 0.00 0.000 5126 0.000 0.032 3018 1815 1789 1826 1752 0 0 0 0 0 0 14.92 14.84 14.93

2463 0.81 234.3 3018 1817 1826 1750 18.2 9.6 438 2476 0.00 2.33 7.28 0.854 8452 0.000 0.047 3018 3187 1746 1782 1710 0 0 0 0 0 0 15.03 14.77 14.27

2513 0.81 234.3 3018 3187 1781 1701 13.4 10.6 447 2520 0.00 2.35 0.00 0.000 1030 0.000 0.051 3020 1802 1741 1781 1701 0 0 0 0 0 0 14.90 14.81 14.92

2584 0.81 234.3 3019 1801 1781 1699 6.6 10.4 460 2590 0.00 0.00 0.00 0.000 6 0.000 0.000 3020 1801 1740 1781 1699 0 0 0 0 0 0 15.03 15.04 15.04

2620 end climb: SURFACE_DEPTH_REACHED

state 2620 begin surface coast

2653 end surface coast: CONTROL_FINISHED_OK

state 2653 begin surface

ID	574	HD_C	9.8500004e-06	C_ROLL_DIVE	1812	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	3	HEADING	70	C_ROLL_CLIMB	1800	ALTIM_TOP_TURN_MARGIN	0
DIVE	384	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	30	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	49	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	150419,142601,-3422.3784,2556.0317,7,1.0,40,-28.1,0.7,30.5,8,4.4	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3418.731,2608.291
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.82	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-68.8	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	150419,143349,-3422.4246,2556.0049,7,1.0,16,-28.1,1.0,184.8,8,9.8	MHEAD_RNG_PITCHd_Wd	98.1,20000,-15.7,-10.010,-18.71,2973
SPEED_LIMITS	0.173,0.296	D_GRID	1000

FINISH	0.1,1.025454	_24V_AH	13.89,122.410
SM_CCo	2677,180.65,0.793,0,0,597,515.37	_10V_AH	13.63,0.000
SM_GC	0.85,13.68,0.00,180.65,0.051,0.000,0.793,124,1798,597,-8.18,-0.40,515.37,0,0,0,0,0,0,14.87,15.09,14.12	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3406.89,2553.05,150419,133605	FG_AHR_10Vo	0.000
TT8_MAMPS	0.020972,0.937748	MEM	340928
HUMID	45.35	DATA_FILE_SIZE	13401,473
INTERNAL_PRESSURE	9.30256	CAP_FILE_SIZE	96444,0
TCM_TEMP	19.10	CFSIZE	2097086464,2019786752
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	110.5,36.4	GPS	150419,152246,-3422.587,2556.431,7,1.0,14,-28.1,0.6,123.8,8,9.3
SC_FREEKB	3719552

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	353	150.83	nil	0	0	0.00
Roll_motor	75	72	76.57	nil	0	0	0.00
VBD_pump_during_apogee	325	1116	5045.88	nil	0	0	0.00
VBD_pump_during_surface	180	793	1990.58	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	16	5.49	nil	0	0	0.00
Iridium_during_connect	17	160	39.35	SciCon	2704	36	1367.92
Iridium_during_xfer	208	223	646.23	nil	0	0	0.00
Transponder_ping	3	420	20.42	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	11	2.63
TT8	985	9	129.06
LPSleep	411	2	12.28
TT8_Active	648	9	84.95
TT8_Sampling	1068	28	412.79
TT8_CF8	223	36	111.47
TT8_Kalman	0	0	0.00
Analog_circuits	1135	12	187.45
GPS_charging	0	0	0.00
Compass	718	17	176.03
RAFOS	0	0	0.00
Transponder	23	30	9.72

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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-0.76	-194.6	54	1791	623	547	0.0	0.0	0	123	0.00	0.00	-97.72	0.000	16386	0.000	0.000	53	1791	3013	2984	3043	0	0	0	0	0	0	14.97	28.83	14.97
128	-0.76	-194.6	53	1791	2984	3044	3.5	-7.1	18	158	14.45	2.40	-8.40	0.000	18692	0.298	0.073	2494	3207	3494	3507	3481	0	0	0	0	0	0	14.55	13.99	14.80
276	-0.76	-194.6	2494	3207	3509	3481	34.9	-13.6	46	284	0.08	2.38	0.00	0.000	3078	0.251	0.046	2509	1800	3494	3509	3480	0	0	0	0	0	0	14.71	14.83	14.87
348	-0.76	-194.6	2510	1801	3518	3480	44.8	-14.1	59	355	0.00	2.40	0.00	0.000	2564	0.000	0.063	2511	405	3494	3509	3480	0	0	0	0	0	0	15.06	14.82	15.07
362	-0.76	-194.6	2510	405	3509	3480	47.0	-14.0	61	369	0.00	2.33	0.00	0.000	3078	0.000	0.035	2508	1813	3494	3509	3479	0	0	0	0	0	0	14.95	14.86	14.96
435	-0.76	-194.6	2508	1816	3509	3480	56.5	-13.0	74	441	0.00	2.35	0.00	0.000	2308	0.000	0.054	2509	3215	3494	3509	3480	0	0	0	0	0	0	15.08	14.77	15.08
490	-0.76	-194.6	2508	3212	3510	3479	63.0	-10.9	84	497	0.00	2.35	0.00	0.000	3078	0.000	0.044	2509	1811	3494	3510	3479	0	0	0	0	0	0	14.92	14.82	14.93
561	-0.76	-194.6	2508	1813	3510	3479	70.8	-11.7	97	568	0.00	2.40	0.00	0.000	2564	0.000	0.062	2508	408	3494	3510	3479	0	0	0	0	0	0	15.09	14.85	15.09
590	-0.76	-194.6	2508	408	3511	3479	74.4	-12.2	102	598	0.00	2.33	0.00	0.000	3078	0.000	0.035	2511	1818	3494	3510	3479	0	0	0	0	0	0	14.93	14.85	14.95
664	-0.76	-194.6	2508	1820	3510	3479	82.4	-12.3	115	670	0.00	2.35	0.00	0.000	2308	0.000	0.053	2509	3219	3493	3510	3477	0	0	0	0	0	0	15.09	14.86	15.10
725	-0.76	-194.6	2508	3220	3510	3479	89.4	-9.8	126	733	0.00	2.35	0.00	0.000	3078	0.000	0.041	2508	1812	3495	3511	3479	0	0	0	0	0	0	14.94	14.84	14.95
796	-0.76	-194.6	2508	1809	3511	3478	96.9	-11.2	139	803	0.00	2.40	0.00	0.000	2564	0.000	0.063	2509	406	3494	3511	3478	0	0	0	0	0	0	15.11	14.86	15.11
816	-0.76	-194.6	2508	406	3511	3478	99.4	-11.5	142	823	0.00	2.33	0.00	0.000	3078	0.000	0.034	2508	1819	3494	3510	3478	0	0	0	0	0	0	14.95	14.86	14.95
887	-0.76	-194.6	2508	1822	3511	3478	107.1	-11.8	155	894	0.00	2.33	0.00	0.000	2308	0.000	0.053	2508	3210	3494	3511	3478	0	0	0	0	0	0	15.10	14.87	15.11
933	-0.76	-194.6	2508	3210	3511	3478	112.4	-11.0	163	940	0.00	2.33	0.00	0.000	3078	0.000	0.044	2508	1812	3494	3511	3478	0	0	0	0	0	0	14.99	14.89	15.00
1004	-0.76	-194.6	2508	1812	3511	3478	119.1	-10.4	176	1010	0.00	0.00	0.00	0.000	2054	0.000	0.000	2508	1812	3494	3511	3478	0	0	0	0	0	0	15.10	15.11	15.11
1073	-0.76	-194.6	2508	1812	3511	3477	127.2	-12.3	189	1079	0.00	2.38	0.00	0.000	2308	0.000	0.053	2508	3216	3494	3511	3478	0	0	0	0	0	0	15.11	14.88	15.11
1107	-0.76	-194.6	2508	3217	3511	3478	131.0	-10.9	195	1114	0.00	2.35	0.00	0.000	3078	0.000	0.043	2508	1811	3495	3512	3478	0	0	0	0	0	0	14.99	14.89	15.00
1156	end dive: BOTTOM_OBSTACLE_DETECTED
state	1156	begin apogee
1161	-0.17	0.0	2509	1810	3511	3477	137.6	-14.1	204	1315	0.95	0.00	144.93	1.116	10246	0.147	0.000	2697	1810	2699	2729	2669	0	0	0	0	0	0	14.68	14.33	13.95
1317	end apogee: CONTROL_FINISHED_OK
state	1317	begin climb
1320	0.76	194.6	2697	1810	2728	2667	146.4	0.0	232	1483	1.45	2.53	150.27	1.098	11012	0.073	0.067	3003	403	1902	1938	1866	0	0	0	0	0	0	14.45	14.34	13.89
1506	0.76	194.6	3003	403	1935	1865	139.7	11.8	264	1513	0.00	2.35	0.00	0.000	1030	0.000	0.032	3003	1800	1899	1934	1864	0	0	0	0	0	0	14.54	14.49	14.56
1577	0.76	194.6	3002	1804	1934	1860	130.1	15.3	277	1584	0.00	2.38	0.00	0.000	260	0.000	0.045	3003	3208	1896	1932	1860	0	0	0	0	0	0	14.81	14.62	14.82
1597	0.76	194.6	3002	3208	1932	1860	126.7	15.4	280	1604	0.00	2.42	0.00	0.000	5126	0.000	0.048	3011	1795	1895	1931	1860	0	0	0	0	0	0	14.75	14.64	14.76
1669	0.76	194.6	3011	1794	1931	1858	115.5	16.0	293	1675	0.00	0.00	0.00	0.000	4102	0.000	0.000	3011	1794	1895	1931	1859	0	0	0	0	0	0	14.92	14.92	14.92
1738	0.76	194.6	3011	1794	1933	1858	104.8	14.7	306	1744	0.00	2.38	0.00	0.000	4356	0.000	0.046	3012	3207	1895	1931	1859	0	0	0	0	0	0	14.97	14.76	14.97
1762	0.76	194.6	3011	3209	1929	1859	101.3	15.0	310	1768	0.00	2.40	0.00	0.000	5126	0.000	0.049	3017	1800	1893	1929	1858	0	0	0	0	0	0	14.87	14.76	14.88
1833	0.76	194.6	3017	1800	1930	1858	92.0	13.0	323	1838	0.00	0.00	0.00	0.000	4102	0.000	0.000	3018	1800	1893	1929	1858	0	0	0	0	0	0	15.00	15.01	15.01
1902	0.76	194.6	3017	1800	1929	1857	83.2	11.9	336	1908	0.00	2.42	0.00	0.000	4612	0.000	0.068	3023	385	1892	1928	1857	0	0	0	0	0	0	15.04	14.80	15.04
1921	0.76	194.6	3022	385	1928	1857	80.7	12.3	339	1928	0.08	2.33	0.00	0.000	5126	0.282	0.033	3009	1803	1892	1928	1857	0	0	0	0	0	0	14.66	14.82	14.85
1992	0.76	194.6	3008	1806	1928	1857	71.3	13.8	352	1999	0.00	2.33	0.00	0.000	4356	0.000	0.047	3008	3205	1892	1928	1857	0	0	0	0	0	0	15.06	14.84	15.06
2016	0.76	194.6	3007	3205	1927	1857	67.8	14.0	356	2023	0.00	2.40	0.00	0.000	5126	0.000	0.050	3016	1796	1891	1927	1856	0	0	0	0	0	0	14.91	14.81	14.92
2087	0.76	194.6	3016	1796	1927	1856	58.9	12.2	369	2094	0.00	2.35	0.00	0.000	4356	0.000	0.046	3016	3200	1891	1927	1856	0	0	0	0	0	0	15.07	14.85	15.08
2131	0.76	194.6	3016	3201	1926	1856	53.5	11.1	377	2138	0.05	2.38	0.00	0.000	5126	0.353	0.050	3010	1799	1891	1927	1856	0	0	0	0	0	0	14.66	14.81	14.87
2203	0.77	201.1	3009	1799	1926	1856	45.9	9.8	390	2210	0.00	0.00	4.20	0.594	12294	0.000	0.000	3010	1799	1877	1917	1838	0	0	0	0	0	0	15.09	14.81	14.31
2274	0.80	222.4	3009	1799	1916	1842	39.5	9.3	403	2298	0.00	2.47	18.80	1.017	10756	0.000	0.070	3018	392	1792	1831	1754	0	0	0	0	0	0	15.07	14.78	14.27
2392	0.80	222.4	3018	392	1826	1753	25.6	12.4	425	2399	0.00	2.33	0.00	0.000	5126	0.000	0.032	3018	1815	1789	1826	1752	0	0	0	0	0	0	14.92	14.84	14.93
2463	0.81	234.3	3018	1817	1826	1750	18.2	9.6	438	2476	0.00	2.33	7.28	0.854	8452	0.000	0.047	3018	3187	1746	1782	1710	0	0	0	0	0	0	15.03	14.77	14.27
2513	0.81	234.3	3018	3187	1781	1701	13.4	10.6	447	2520	0.00	2.35	0.00	0.000	1030	0.000	0.051	3020	1802	1741	1781	1701	0	0	0	0	0	0	14.90	14.81	14.92
2584	0.81	234.3	3019	1801	1781	1699	6.6	10.4	460	2590	0.00	0.00	0.00	0.000	6	0.000	0.000	3020	1801	1740	1781	1699	0	0	0	0	0	0	15.03	15.04	15.04
2620	end climb: SURFACE_DEPTH_REACHED
state	2620	begin surface coast
2653	end surface coast: CONTROL_FINISHED_OK
state	2653	begin surface