Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 385 * 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 385 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 59 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 29 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 59 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 385 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 150419,152246,-3422.5872,2556.4307,7,1.0,14,-28.1,0.6,123.8,8,9.3 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3418.940,2608.699

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.86 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -67.3 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 150419,153053,-3422.6333,2556.4131,7,1.0,14,-28.1,1.2,168.5,8,9.4 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 0.4,1.017391 _24V_AH 13.59,122.626

SM_CCo 2843,158.98,0.806,0,0,599,515.37 _10V_AH 13.77,0.000

SM_GC 0.85,13.45,0.00,158.98,0.035,0.000,0.806,123,1789,599,-8.17,-0.65,515.37,0,0,0,0,0,0,14.87,15.07,14.12 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3409.50,2556.54,150419,142916 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.950481 MEM 340864

HUMID 45.11 DATA_FILE_SIZE 13418,505

INTERNAL_PRESSURE 9.2928 CAP_FILE_SIZE 101052,0

TCM_TEMP 18.90 CFSIZE 2097086464,2019590144

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

ALTIM_BOTTOM_PING 120.2,35.8 GPS 150419,162231,-3422.779,2556.909,8,0.9,27,-28.1,1.2,300.5,10,6.7

SC_FREEKB 3719040

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 299 123.99 nil 0 0 0.00

Roll_motor 71 72 70.54 nil 0 0 0.00

VBD_pump_during_apogee 359 1133 5546.28 nil 0 0 0.00

VBD_pump_during_surface 158 806 1742.01 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 16 5.46 nil 0 0 0.00

Iridium_during_connect 16 160 34.83 SciCon 2874 36 1424.55

Iridium_during_xfer 220 223 668.39 nil 0 0 0.00

Transponder_ping 4 420 22.83 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 11 2.35

TT8 1034 9 136.83

LPSleep 434 2 13.11

TT8_Active 667 9 88.28

TT8_Sampling 1136 28 443.63

TT8_CF8 229 36 115.39

TT8_Kalman 0 0 0.00

Analog_circuits 1186 12 197.89

GPS_charging 0 0 0.00

Compass 765 17 189.47

RAFOS 0 0 0.00

Transponder 28 30 11.74

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

22 -0.76 -194.6 53 1796 622 547 0.0 0.0 0 127 0.00 0.00 -102.07 0.000 16386 0.000 0.000 53 1796 3133 3101 3165 0 0 0 0 0 0 14.97 28.83 14.97

132 -0.76 -194.6 53 1797 3101 3165 4.0 -10.3 19 162 14.45 2.40 -5.93 0.000 18692 0.300 0.071 2494 3202 3497 3507 3487 0 0 0 0 0 0 14.50 13.59 14.74

322 -0.76 -194.6 2494 3203 3508 3486 43.6 -13.9 55 329 0.08 2.35 0.00 0.000 3078 0.252 0.046 2510 1807 3498 3511 3485 0 0 0 0 0 0 14.71 14.83 14.88

393 -0.76 -194.6 2510 1810 3511 3485 54.1 -15.2 68 399 0.00 0.00 0.00 0.000 2054 0.000 0.000 2510 1807 3503 3521 3485 0 0 0 0 0 0 15.07 15.07 15.07

461 -0.76 -194.6 2510 1806 3511 3485 62.9 -12.7 81 467 0.00 0.00 0.00 0.000 2054 0.000 0.000 2510 1807 3498 3511 3485 0 0 0 0 0 0 15.08 15.08 15.08

531 -0.76 -194.6 2510 1806 3511 3485 70.3 -10.1 94 536 0.00 0.00 0.00 0.000 2054 0.000 0.000 2510 1806 3497 3511 3484 0 0 0 0 0 0 15.09 15.09 15.09

601 -0.76 -194.6 2509 1806 3512 3485 77.2 -9.9 107 608 0.00 2.38 0.00 0.000 2308 0.000 0.052 2504 3200 3498 3512 3485 0 0 0 0 0 0 15.09 14.85 15.10

626 -0.76 -194.6 2503 3201 3512 3485 79.8 -10.2 111 633 0.00 2.35 0.00 0.000 3078 0.000 0.044 2504 1802 3497 3510 3485 0 0 0 0 0 0 14.93 14.83 14.94

697 -0.76 -194.6 2503 1802 3512 3485 87.3 -11.3 124 704 0.00 2.40 0.00 0.000 2564 0.000 0.064 2504 398 3498 3512 3484 0 0 0 0 0 0 15.09 14.85 15.09

724 -0.76 -194.6 2503 398 3512 3484 90.3 -11.3 128 730 0.00 2.30 0.00 0.000 3078 0.000 0.036 2502 1797 3498 3512 3484 0 0 0 0 0 0 14.98 14.89 14.99

796 -0.76 -194.6 2501 1799 3512 3484 98.2 -10.7 141 803 0.00 2.38 0.00 0.000 2308 0.000 0.054 2501 3211 3500 3512 3489 0 0 0 0 0 0 15.11 14.86 15.11

846 -0.76 -194.6 2501 3211 3512 3484 102.8 -8.7 150 853 0.00 2.35 0.00 0.000 3078 0.000 0.044 2501 1811 3498 3513 3484 0 0 0 0 0 0 14.94 14.84 14.95

916 -0.76 -194.6 2501 1811 3513 3484 109.8 -11.1 163 924 0.00 2.40 0.00 0.000 2564 0.000 0.064 2502 409 3498 3512 3484 0 0 0 0 0 0 15.11 14.85 15.11

936 -0.76 -194.6 2501 410 3513 3484 112.5 -12.0 166 943 0.00 2.33 0.00 0.000 3078 0.000 0.035 2502 1816 3498 3513 3483 0 0 0 0 0 0 14.99 14.90 15.00

1010 -0.76 -194.6 2501 1820 3512 3484 121.3 -12.7 179 1017 0.00 2.35 0.00 0.000 2308 0.000 0.054 2502 3214 3498 3512 3484 0 0 0 0 0 0 15.11 14.83 15.11

1059 -0.76 -194.6 2501 3214 3513 3484 126.8 -10.7 188 1066 0.00 2.35 0.00 0.000 3078 0.000 0.044 2502 1811 3497 3511 3483 0 0 0 0 0 0 14.88 14.78 14.90

1130 -0.76 -194.6 2501 1811 3512 3484 135.0 -12.6 201 1136 0.00 0.00 0.00 0.000 2054 0.000 0.000 2501 1811 3498 3513 3484 0 0 0 0 0 0 15.12 15.13 15.13

1199 -0.76 -194.6 2501 1810 3511 3483 143.6 -12.3 214 1205 0.00 0.00 0.00 0.000 2054 0.000 0.000 2501 1810 3498 3513 3483 0 0 0 0 0 0 15.12 15.12 15.12

1215 end dive: BOTTOM_OBSTACLE_DETECTED

state 1216 begin apogee

1221 -0.17 0.0 2504 1811 3512 3483 146.3 -13.2 217 1377 0.98 0.00 145.77 1.134 10246 0.146 0.000 2694 1809 2698 2727 2669 0 0 0 0 0 0 14.68 14.39 13.94

1378 end apogee: CONTROL_FINISHED_OK

state 1379 begin climb

1381 0.76 194.6 2695 1809 2727 2668 154.2 0.0 245 1544 1.40 2.55 150.70 1.109 10756 0.093 0.067 2996 396 1903 1940 1866 0 0 0 0 0 0 14.42 14.32 13.88

1568 0.76 194.6 2995 396 1936 1866 146.6 12.7 277 1574 0.00 2.38 0.00 0.000 3078 0.000 0.034 2996 1801 1899 1935 1863 0 0 0 0 0 0 14.54 14.47 14.54

1639 0.76 194.6 2995 1805 1934 1860 138.0 12.8 290 1645 0.00 2.38 0.00 0.000 2308 0.000 0.044 2996 3212 1897 1934 1860 0 0 0 0 0 0 14.81 14.62 14.82

1668 0.76 194.6 2996 3212 1931 1860 133.7 15.8 295 1675 0.00 2.42 0.00 0.000 1030 0.000 0.047 3004 1792 1895 1931 1860 0 0 0 0 0 0 14.74 14.66 14.76

1739 0.76 194.6 3004 1792 1931 1859 124.1 14.8 308 1745 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 1792 1895 1931 1859 0 0 0 0 0 0 14.90 14.92 14.92

1808 0.76 194.6 3004 1792 1931 1858 114.2 13.3 321 1813 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 1792 1894 1931 1858 0 0 0 0 0 0 14.97 14.97 14.97

1876 0.76 194.6 3004 1791 1930 1858 104.7 14.0 334 1883 0.00 2.38 0.00 0.000 260 0.000 0.047 3005 3206 1894 1930 1858 0 0 0 0 0 0 15.02 14.71 15.01

1901 0.76 194.6 3004 3206 1929 1858 101.3 13.9 338 1907 0.00 2.38 0.00 0.000 5126 0.000 0.050 3013 1802 1894 1930 1858 0 0 0 0 0 0 14.90 14.79 14.92

1971 0.76 194.6 3012 1802 1929 1857 91.7 13.8 351 1977 0.00 0.00 0.00 0.000 4102 0.000 0.000 3013 1802 1893 1929 1857 0 0 0 0 0 0 15.04 15.04 15.04

2040 0.76 194.6 3012 1802 1929 1857 81.8 13.7 364 2046 0.00 2.42 0.00 0.000 4612 0.000 0.072 3016 394 1893 1929 1857 0 0 0 0 0 0 15.05 14.80 15.06

2064 0.76 194.6 3016 393 1928 1857 78.1 14.7 368 2071 0.00 2.33 0.00 0.000 5126 0.000 0.033 3016 1809 1892 1928 1857 0 0 0 0 0 0 14.95 14.88 14.96

2135 0.76 194.6 3015 1812 1928 1857 69.3 11.4 381 2142 0.00 2.47 0.00 0.000 4612 0.000 0.069 3029 388 1892 1928 1856 0 0 0 0 0 0 15.05 14.82 15.06

2154 0.76 194.6 3023 388 1928 1855 66.8 12.0 384 2162 0.08 2.33 0.00 0.000 5126 0.281 0.034 3009 1805 1892 1928 1856 0 0 0 0 0 0 14.71 14.88 14.90

2226 0.78 207.6 3009 1808 1927 1856 59.5 9.6 397 2244 0.00 2.35 10.07 0.966 8452 0.000 0.049 3009 3197 1850 1889 1812 0 0 0 0 0 0 15.09 14.76 14.26

2272 0.78 207.6 3009 3196 1889 1813 54.8 10.1 405 2278 0.00 2.38 0.00 0.000 1030 0.000 0.054 3010 1801 1850 1889 1812 0 0 0 0 0 0 14.85 14.76 14.86

2343 0.83 252.6 3009 1801 1888 1811 48.3 8.5 418 2383 0.00 0.00 36.70 1.014 10246 0.000 0.000 3009 1801 1669 1712 1627 0 0 0 0 0 0 15.06 14.69 14.18

2446 0.83 252.6 3009 1801 1707 1624 38.7 11.3 437 2452 0.00 2.47 0.00 0.000 2564 0.000 0.073 3010 395 1665 1707 1624 0 0 0 0 0 0 14.94 14.64 14.94

2470 0.86 272.1 3009 395 1705 1623 36.3 9.3 441 2494 0.00 2.33 16.73 0.910 11270 0.000 0.033 3010 1800 1586 1626 1547 0 0 0 0 0 0 14.85 14.77 14.13

2558 0.86 272.1 3009 1800 1629 1544 26.8 10.2 457 2564 0.00 2.47 0.00 0.000 2564 0.000 0.071 3010 394 1589 1635 1544 0 0 0 0 0 0 14.95 14.68 14.95

2592 0.86 272.1 3009 393 1628 1544 23.2 11.0 463 2599 0.00 2.33 0.00 0.000 3078 0.000 0.034 3010 1801 1585 1627 1543 0 0 0 0 0 0 14.83 14.74 14.83

2663 0.86 272.1 3010 1803 1627 1542 16.2 10.1 476 2669 0.00 0.00 0.00 0.000 2054 0.000 0.000 3010 1803 1584 1627 1542 0 0 0 0 0 0 15.00 15.01 15.01

2732 0.86 272.1 3010 1803 1627 1541 8.9 10.6 489 2739 0.00 2.35 0.00 0.000 2308 0.000 0.049 3010 3201 1584 1627 1541 0 0 0 0 0 0 15.02 14.75 15.03

2746 0.86 272.1 3010 3201 1626 1541 7.5 10.2 491 2752 0.00 2.40 0.00 0.000 3078 0.000 0.054 3010 1792 1583 1626 1541 0 0 0 0 0 0 14.91 14.80 14.92

2787 end climb: SURFACE_DEPTH_REACHED

state 2788 begin surface coast

2819 end surface coast: CONTROL_FINISHED_OK

state 2819 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	385	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	59	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	150419,152246,-3422.5872,2556.4307,7,1.0,14,-28.1,0.6,123.8,8,9.3	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3418.940,2608.699
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.86	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-67.3	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	150419,153053,-3422.6333,2556.4131,7,1.0,14,-28.1,1.2,168.5,8,9.4	MHEAD_RNG_PITCHd_Wd	98.1,20000,-15.7,-10.010,-18.71,2973
SPEED_LIMITS	0.173,0.296	D_GRID	1000

FINISH	0.4,1.017391	_24V_AH	13.59,122.626
SM_CCo	2843,158.98,0.806,0,0,599,515.37	_10V_AH	13.77,0.000
SM_GC	0.85,13.45,0.00,158.98,0.035,0.000,0.806,123,1789,599,-8.17,-0.65,515.37,0,0,0,0,0,0,14.87,15.07,14.12	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3409.50,2556.54,150419,142916	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.950481	MEM	340864
HUMID	45.11	DATA_FILE_SIZE	13418,505
INTERNAL_PRESSURE	9.2928	CAP_FILE_SIZE	101052,0
TCM_TEMP	18.90	CFSIZE	2097086464,2019590144
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	120.2,35.8	GPS	150419,162231,-3422.779,2556.909,8,0.9,27,-28.1,1.2,300.5,10,6.7
SC_FREEKB	3719040

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	299	123.99	nil	0	0	0.00
Roll_motor	71	72	70.54	nil	0	0	0.00
VBD_pump_during_apogee	359	1133	5546.28	nil	0	0	0.00
VBD_pump_during_surface	158	806	1742.01	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	16	5.46	nil	0	0	0.00
Iridium_during_connect	16	160	34.83	SciCon	2874	36	1424.55
Iridium_during_xfer	220	223	668.39	nil	0	0	0.00
Transponder_ping	4	420	22.83	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	11	2.35
TT8	1034	9	136.83
LPSleep	434	2	13.11
TT8_Active	667	9	88.28
TT8_Sampling	1136	28	443.63
TT8_CF8	229	36	115.39
TT8_Kalman	0	0	0.00
Analog_circuits	1186	12	197.89
GPS_charging	0	0	0.00
Compass	765	17	189.47
RAFOS	0	0	0.00
Transponder	28	30	11.74

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
22	-0.76	-194.6	53	1796	622	547	0.0	0.0	0	127	0.00	0.00	-102.07	0.000	16386	0.000	0.000	53	1796	3133	3101	3165	0	0	0	0	0	0	14.97	28.83	14.97
132	-0.76	-194.6	53	1797	3101	3165	4.0	-10.3	19	162	14.45	2.40	-5.93	0.000	18692	0.300	0.071	2494	3202	3497	3507	3487	0	0	0	0	0	0	14.50	13.59	14.74
322	-0.76	-194.6	2494	3203	3508	3486	43.6	-13.9	55	329	0.08	2.35	0.00	0.000	3078	0.252	0.046	2510	1807	3498	3511	3485	0	0	0	0	0	0	14.71	14.83	14.88
393	-0.76	-194.6	2510	1810	3511	3485	54.1	-15.2	68	399	0.00	0.00	0.00	0.000	2054	0.000	0.000	2510	1807	3503	3521	3485	0	0	0	0	0	0	15.07	15.07	15.07
461	-0.76	-194.6	2510	1806	3511	3485	62.9	-12.7	81	467	0.00	0.00	0.00	0.000	2054	0.000	0.000	2510	1807	3498	3511	3485	0	0	0	0	0	0	15.08	15.08	15.08
531	-0.76	-194.6	2510	1806	3511	3485	70.3	-10.1	94	536	0.00	0.00	0.00	0.000	2054	0.000	0.000	2510	1806	3497	3511	3484	0	0	0	0	0	0	15.09	15.09	15.09
601	-0.76	-194.6	2509	1806	3512	3485	77.2	-9.9	107	608	0.00	2.38	0.00	0.000	2308	0.000	0.052	2504	3200	3498	3512	3485	0	0	0	0	0	0	15.09	14.85	15.10
626	-0.76	-194.6	2503	3201	3512	3485	79.8	-10.2	111	633	0.00	2.35	0.00	0.000	3078	0.000	0.044	2504	1802	3497	3510	3485	0	0	0	0	0	0	14.93	14.83	14.94
697	-0.76	-194.6	2503	1802	3512	3485	87.3	-11.3	124	704	0.00	2.40	0.00	0.000	2564	0.000	0.064	2504	398	3498	3512	3484	0	0	0	0	0	0	15.09	14.85	15.09
724	-0.76	-194.6	2503	398	3512	3484	90.3	-11.3	128	730	0.00	2.30	0.00	0.000	3078	0.000	0.036	2502	1797	3498	3512	3484	0	0	0	0	0	0	14.98	14.89	14.99
796	-0.76	-194.6	2501	1799	3512	3484	98.2	-10.7	141	803	0.00	2.38	0.00	0.000	2308	0.000	0.054	2501	3211	3500	3512	3489	0	0	0	0	0	0	15.11	14.86	15.11
846	-0.76	-194.6	2501	3211	3512	3484	102.8	-8.7	150	853	0.00	2.35	0.00	0.000	3078	0.000	0.044	2501	1811	3498	3513	3484	0	0	0	0	0	0	14.94	14.84	14.95
916	-0.76	-194.6	2501	1811	3513	3484	109.8	-11.1	163	924	0.00	2.40	0.00	0.000	2564	0.000	0.064	2502	409	3498	3512	3484	0	0	0	0	0	0	15.11	14.85	15.11
936	-0.76	-194.6	2501	410	3513	3484	112.5	-12.0	166	943	0.00	2.33	0.00	0.000	3078	0.000	0.035	2502	1816	3498	3513	3483	0	0	0	0	0	0	14.99	14.90	15.00
1010	-0.76	-194.6	2501	1820	3512	3484	121.3	-12.7	179	1017	0.00	2.35	0.00	0.000	2308	0.000	0.054	2502	3214	3498	3512	3484	0	0	0	0	0	0	15.11	14.83	15.11
1059	-0.76	-194.6	2501	3214	3513	3484	126.8	-10.7	188	1066	0.00	2.35	0.00	0.000	3078	0.000	0.044	2502	1811	3497	3511	3483	0	0	0	0	0	0	14.88	14.78	14.90
1130	-0.76	-194.6	2501	1811	3512	3484	135.0	-12.6	201	1136	0.00	0.00	0.00	0.000	2054	0.000	0.000	2501	1811	3498	3513	3484	0	0	0	0	0	0	15.12	15.13	15.13
1199	-0.76	-194.6	2501	1810	3511	3483	143.6	-12.3	214	1205	0.00	0.00	0.00	0.000	2054	0.000	0.000	2501	1810	3498	3513	3483	0	0	0	0	0	0	15.12	15.12	15.12
1215	end dive: BOTTOM_OBSTACLE_DETECTED
state	1216	begin apogee
1221	-0.17	0.0	2504	1811	3512	3483	146.3	-13.2	217	1377	0.98	0.00	145.77	1.134	10246	0.146	0.000	2694	1809	2698	2727	2669	0	0	0	0	0	0	14.68	14.39	13.94
1378	end apogee: CONTROL_FINISHED_OK
state	1379	begin climb
1381	0.76	194.6	2695	1809	2727	2668	154.2	0.0	245	1544	1.40	2.55	150.70	1.109	10756	0.093	0.067	2996	396	1903	1940	1866	0	0	0	0	0	0	14.42	14.32	13.88
1568	0.76	194.6	2995	396	1936	1866	146.6	12.7	277	1574	0.00	2.38	0.00	0.000	3078	0.000	0.034	2996	1801	1899	1935	1863	0	0	0	0	0	0	14.54	14.47	14.54
1639	0.76	194.6	2995	1805	1934	1860	138.0	12.8	290	1645	0.00	2.38	0.00	0.000	2308	0.000	0.044	2996	3212	1897	1934	1860	0	0	0	0	0	0	14.81	14.62	14.82
1668	0.76	194.6	2996	3212	1931	1860	133.7	15.8	295	1675	0.00	2.42	0.00	0.000	1030	0.000	0.047	3004	1792	1895	1931	1860	0	0	0	0	0	0	14.74	14.66	14.76
1739	0.76	194.6	3004	1792	1931	1859	124.1	14.8	308	1745	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	1792	1895	1931	1859	0	0	0	0	0	0	14.90	14.92	14.92
1808	0.76	194.6	3004	1792	1931	1858	114.2	13.3	321	1813	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	1792	1894	1931	1858	0	0	0	0	0	0	14.97	14.97	14.97
1876	0.76	194.6	3004	1791	1930	1858	104.7	14.0	334	1883	0.00	2.38	0.00	0.000	260	0.000	0.047	3005	3206	1894	1930	1858	0	0	0	0	0	0	15.02	14.71	15.01
1901	0.76	194.6	3004	3206	1929	1858	101.3	13.9	338	1907	0.00	2.38	0.00	0.000	5126	0.000	0.050	3013	1802	1894	1930	1858	0	0	0	0	0	0	14.90	14.79	14.92
1971	0.76	194.6	3012	1802	1929	1857	91.7	13.8	351	1977	0.00	0.00	0.00	0.000	4102	0.000	0.000	3013	1802	1893	1929	1857	0	0	0	0	0	0	15.04	15.04	15.04
2040	0.76	194.6	3012	1802	1929	1857	81.8	13.7	364	2046	0.00	2.42	0.00	0.000	4612	0.000	0.072	3016	394	1893	1929	1857	0	0	0	0	0	0	15.05	14.80	15.06
2064	0.76	194.6	3016	393	1928	1857	78.1	14.7	368	2071	0.00	2.33	0.00	0.000	5126	0.000	0.033	3016	1809	1892	1928	1857	0	0	0	0	0	0	14.95	14.88	14.96
2135	0.76	194.6	3015	1812	1928	1857	69.3	11.4	381	2142	0.00	2.47	0.00	0.000	4612	0.000	0.069	3029	388	1892	1928	1856	0	0	0	0	0	0	15.05	14.82	15.06
2154	0.76	194.6	3023	388	1928	1855	66.8	12.0	384	2162	0.08	2.33	0.00	0.000	5126	0.281	0.034	3009	1805	1892	1928	1856	0	0	0	0	0	0	14.71	14.88	14.90
2226	0.78	207.6	3009	1808	1927	1856	59.5	9.6	397	2244	0.00	2.35	10.07	0.966	8452	0.000	0.049	3009	3197	1850	1889	1812	0	0	0	0	0	0	15.09	14.76	14.26
2272	0.78	207.6	3009	3196	1889	1813	54.8	10.1	405	2278	0.00	2.38	0.00	0.000	1030	0.000	0.054	3010	1801	1850	1889	1812	0	0	0	0	0	0	14.85	14.76	14.86
2343	0.83	252.6	3009	1801	1888	1811	48.3	8.5	418	2383	0.00	0.00	36.70	1.014	10246	0.000	0.000	3009	1801	1669	1712	1627	0	0	0	0	0	0	15.06	14.69	14.18
2446	0.83	252.6	3009	1801	1707	1624	38.7	11.3	437	2452	0.00	2.47	0.00	0.000	2564	0.000	0.073	3010	395	1665	1707	1624	0	0	0	0	0	0	14.94	14.64	14.94
2470	0.86	272.1	3009	395	1705	1623	36.3	9.3	441	2494	0.00	2.33	16.73	0.910	11270	0.000	0.033	3010	1800	1586	1626	1547	0	0	0	0	0	0	14.85	14.77	14.13
2558	0.86	272.1	3009	1800	1629	1544	26.8	10.2	457	2564	0.00	2.47	0.00	0.000	2564	0.000	0.071	3010	394	1589	1635	1544	0	0	0	0	0	0	14.95	14.68	14.95
2592	0.86	272.1	3009	393	1628	1544	23.2	11.0	463	2599	0.00	2.33	0.00	0.000	3078	0.000	0.034	3010	1801	1585	1627	1543	0	0	0	0	0	0	14.83	14.74	14.83
2663	0.86	272.1	3010	1803	1627	1542	16.2	10.1	476	2669	0.00	0.00	0.00	0.000	2054	0.000	0.000	3010	1803	1584	1627	1542	0	0	0	0	0	0	15.00	15.01	15.01
2732	0.86	272.1	3010	1803	1627	1541	8.9	10.6	489	2739	0.00	2.35	0.00	0.000	2308	0.000	0.049	3010	3201	1584	1627	1541	0	0	0	0	0	0	15.02	14.75	15.03
2746	0.86	272.1	3010	3201	1626	1541	7.5	10.2	491	2752	0.00	2.40	0.00	0.000	3078	0.000	0.054	3010	1792	1583	1626	1541	0	0	0	0	0	0	14.91	14.80	14.92
2787	end climb: SURFACE_DEPTH_REACHED
state	2788	begin surface coast
2819	end surface coast: CONTROL_FINISHED_OK
state	2819	begin surface