Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 386 * 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 386 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 386 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 150419,162231,-3422.7786,2556.9092,8,0.9,27,-28.1,1.2,300.5,10,6.7 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3419.146,2609.206

_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 -67.6 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 150419,163128,-3422.8394,2556.9187,7,0.9,14,-28.1,0.6,200.6,10,9.8 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 0.1,1.025299 _24V_AH 13.88,122.840

SM_CCo 2769,170.70,0.807,0,0,598,515.37 _10V_AH 13.56,0.000

SM_GC 0.82,13.70,2.38,170.70,0.049,0.035,0.807,124,1805,598,-8.18,-1.58,515.37,0,0,0,0,0,0,14.83,14.84,14.09 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3409.50,2550.70,150419,152604 FG_AHR_10Vo 0.000

TT8_MAMPS 0.020972,0.920521 MEM 340928

HUMID 45.74 DATA_FILE_SIZE 13439,492

INTERNAL_PRESSURE 9.2928 CAP_FILE_SIZE 99713,0

TCM_TEMP 18.80 CFSIZE 2097086464,2019426304

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

ALTIM_BOTTOM_PING 120.5,36.6 GPS 150419,172155,-3422.991,2557.325,7,0.9,17,-28.1,1.0,172.1,9,10.0

SC_FREEKB 3718528

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 346 148.03 nil 0 0 0.00

Roll_motor 76 72 76.74 nil 0 0 0.00

VBD_pump_during_apogee 335 1130 5269.16 nil 0 0 0.00

VBD_pump_during_surface 170 807 1912.22 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 16 5.70 nil 0 0 0.00

Iridium_during_connect 35 160 79.06 SciCon 2798 36 1420.24

Iridium_during_xfer 241 223 747.48 nil 0 0 0.00

Transponder_ping 4 420 23.32 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 11 2.31

TT8 1016 9 132.50

LPSleep 421 2 12.52

TT8_Active 658 9 85.85

TT8_Sampling 1162 28 446.76

TT8_CF8 231 36 114.93

TT8_Kalman 0 0 0.00

Analog_circuits 1162 12 190.83

GPS_charging 0 0 0.00

Compass 743 17 181.29

RAFOS 0 0 0.00

Transponder 26 30 10.91

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 1787 621 548 0.0 0.0 0 122 0.00 0.00 -97.38 0.000 16386 0.000 0.000 53 1787 2975 2942 3009 0 0 0 0 0 0 14.96 28.83 14.97

127 -0.76 -194.6 53 1787 2942 3009 3.4 -7.5 18 158 14.48 2.40 -9.12 0.000 18692 0.300 0.071 2495 3209 3494 3508 3481 0 0 0 0 0 0 14.50 13.93 14.75

342 -0.76 -194.6 2495 3210 3510 3481 44.0 -15.4 59 349 0.05 2.38 0.00 0.000 3078 0.304 0.046 2507 1801 3494 3509 3480 0 0 0 0 0 0 14.69 14.83 14.87

412 -0.76 -194.6 2507 1801 3510 3481 54.2 -12.7 72 418 0.00 0.00 0.00 0.000 2054 0.000 0.000 2507 1801 3495 3510 3480 0 0 0 0 0 0 15.07 15.07 15.07

481 -0.76 -194.6 2507 1801 3510 3481 62.7 -10.9 85 488 0.00 2.40 0.00 0.000 2308 0.000 0.055 2507 3208 3495 3510 3481 0 0 0 0 0 0 15.07 14.83 15.08

510 -0.76 -194.6 2506 3208 3511 3480 65.9 -9.6 90 517 0.00 2.38 0.00 0.000 3078 0.000 0.046 2508 1807 3495 3511 3480 0 0 0 0 0 0 14.92 14.81 14.95

582 -0.76 -194.6 2507 1807 3511 3480 74.4 -13.1 103 589 0.00 2.40 0.00 0.000 2564 0.000 0.063 2508 405 3495 3511 3480 0 0 0 0 0 0 15.08 14.84 15.08

602 -0.76 -194.6 2507 405 3510 3479 77.4 -13.3 106 608 0.00 2.33 0.00 0.000 3078 0.000 0.035 2508 1816 3495 3511 3480 0 0 0 0 0 0 14.97 14.88 14.97

674 -0.76 -194.6 2507 1819 3511 3480 85.6 -11.1 119 680 0.00 2.35 0.00 0.000 2308 0.000 0.054 2508 3213 3495 3511 3480 0 0 0 0 0 0 15.09 14.76 15.10

698 -0.76 -194.6 2507 3213 3511 3479 88.6 -11.6 123 704 0.00 2.35 0.00 0.000 3078 0.000 0.044 2508 1807 3495 3511 3480 0 0 0 0 0 0 14.97 14.87 14.97

770 -0.76 -194.6 2507 1806 3511 3480 95.7 -10.4 136 776 0.00 2.40 0.00 0.000 2564 0.000 0.063 2507 406 3495 3511 3479 0 0 0 0 0 0 15.10 14.81 15.10

799 -0.76 -194.6 2507 406 3511 3479 99.0 -11.7 141 806 0.00 2.33 0.00 0.000 3078 0.000 0.034 2507 1817 3495 3511 3479 0 0 0 0 0 0 14.89 14.80 14.90

870 -0.76 -194.6 2507 1820 3511 3479 106.8 -11.6 154 877 0.00 2.35 0.00 0.000 2308 0.000 0.053 2507 3214 3495 3511 3479 0 0 0 0 0 0 15.10 14.82 15.09

933 -0.76 -194.6 2507 3214 3511 3479 113.6 -10.0 165 940 0.00 2.35 0.00 0.000 3078 0.000 0.044 2515 1806 3495 3511 3479 0 0 0 0 0 0 14.98 14.88 15.00

1006 -0.76 -194.6 2507 1806 3511 3479 122.6 -11.9 178 1012 0.00 0.00 0.00 0.000 2054 0.000 0.000 2508 1806 3495 3511 3479 0 0 0 0 0 0 15.11 15.11 15.11

1074 -0.76 -194.6 2507 1806 3511 3478 131.6 -13.9 191 1080 0.00 0.00 0.00 0.000 2054 0.000 0.000 2507 1806 3495 3511 3479 0 0 0 0 0 0 15.11 15.11 15.11

1143 -0.76 -194.6 2507 1806 3511 3479 141.3 -13.5 204 1149 0.00 2.38 0.00 0.000 2308 0.000 0.053 2508 3211 3495 3511 3479 0 0 0 0 0 0 15.11 14.87 15.11

1167 -0.76 -194.6 2511 3211 3511 3479 144.2 -12.4 208 1174 0.00 2.35 0.00 0.000 3078 0.000 0.044 2508 1809 3495 3511 3479 0 0 0 0 0 0 14.98 14.88 15.00

1194 end dive: BOTTOM_OBSTACLE_DETECTED

state 1194 begin apogee

1200 -0.17 0.0 2508 1809 3515 3478 147.2 -10.1 213 1355 0.95 0.00 145.68 1.131 10246 0.148 0.000 2698 1809 2698 2728 2669 0 0 0 0 0 0 14.66 14.31 13.93

1356 end apogee: CONTROL_FINISHED_OK

state 1357 begin climb

1359 0.76 194.6 2697 1809 2728 2668 156.4 0.0 241 1522 1.40 2.55 150.32 1.116 11012 0.054 0.067 3020 396 1902 1938 1866 0 0 0 0 0 0 14.47 14.33 13.88

1545 0.76 194.6 3019 396 1934 1866 149.8 13.0 273 1553 0.05 2.38 0.00 0.000 5126 0.324 0.033 3010 1804 1899 1934 1864 0 0 0 0 0 0 14.33 14.47 14.50

1616 0.76 194.6 3010 1808 1934 1860 139.9 14.4 286 1623 0.00 2.38 0.00 0.000 4356 0.000 0.047 3010 3202 1897 1933 1861 0 0 0 0 0 0 14.82 14.61 14.82

1641 0.76 194.6 3009 3203 1931 1860 136.3 14.2 290 1647 0.00 2.40 0.00 0.000 5126 0.000 0.049 3017 1807 1895 1931 1860 0 0 0 0 0 0 14.71 14.61 14.71

1712 0.76 194.6 3018 1803 1931 1859 126.0 15.2 303 1718 0.00 0.00 0.00 0.000 4102 0.000 0.000 3018 1803 1895 1931 1859 0 0 0 0 0 0 14.91 14.91 14.95

1780 0.76 194.6 3018 1803 1930 1859 116.5 12.9 316 1787 0.00 2.35 0.00 0.000 4356 0.000 0.047 3018 3198 1894 1930 1858 0 0 0 0 0 0 14.97 14.72 14.97

1810 0.76 194.6 3017 3198 1929 1859 112.7 13.1 321 1817 0.10 2.40 0.00 0.000 5126 0.287 0.050 3007 1791 1893 1929 1858 0 0 0 0 0 0 14.59 14.71 14.78

1880 0.76 194.6 3008 1789 1929 1858 104.7 11.2 334 1886 0.00 0.00 0.00 0.000 4102 0.000 0.000 3008 1791 1893 1929 1858 0 0 0 0 0 0 15.01 15.02 15.01

1949 0.76 194.6 3008 1791 1929 1858 96.1 13.7 347 1956 0.00 2.38 0.00 0.000 4356 0.000 0.047 3007 3205 1893 1929 1857 0 0 0 0 0 0 15.04 14.73 15.04

1963 0.76 194.6 3007 3205 1924 1857 94.2 14.2 349 1969 0.00 2.40 0.00 0.000 5126 0.000 0.052 3015 1792 1893 1928 1858 0 0 0 0 0 0 14.92 14.81 14.93

2033 0.76 194.6 3014 1792 1928 1857 84.0 14.3 362 2040 0.00 2.40 0.00 0.000 4612 0.000 0.070 3020 394 1892 1928 1857 0 0 0 0 0 0 15.03 14.81 15.04

2104 0.76 194.6 3020 394 1927 1857 72.8 17.3 375 2111 0.00 2.33 0.00 0.000 5126 0.000 0.032 3020 1805 1891 1926 1857 0 0 0 0 0 0 14.86 14.80 14.88

2176 0.76 194.6 3019 1807 1927 1856 62.4 14.1 388 2183 0.05 2.33 0.00 0.000 4356 0.347 0.047 3010 3200 1891 1926 1856 0 0 0 0 0 0 14.71 14.82 14.87

2231 0.76 194.6 3010 3200 1925 1856 54.1 14.2 398 2237 0.00 2.38 0.00 0.000 5126 0.000 0.050 3016 1798 1891 1926 1856 0 0 0 0 0 0 14.92 14.81 14.93

2301 0.76 194.6 3017 1798 1926 1855 45.4 11.5 411 2307 0.00 0.00 0.00 0.000 4102 0.000 0.000 3017 1798 1890 1926 1855 0 0 0 0 0 0 15.08 15.09 15.08

2370 0.76 194.6 3016 1799 1926 1855 37.1 11.7 424 2375 0.00 0.00 0.00 0.000 4102 0.000 0.000 3017 1799 1890 1926 1855 0 0 0 0 0 0 15.09 15.10 15.09

2438 0.76 194.6 3016 1798 1925 1855 29.7 10.1 437 2445 0.00 2.42 0.00 0.000 4612 0.000 0.070 3017 388 1890 1926 1854 0 0 0 0 0 0 15.09 14.84 15.10

2488 0.82 238.4 3016 389 1925 1854 25.3 8.5 446 2528 0.00 2.33 29.83 1.008 11270 0.000 0.034 3017 1808 1725 1765 1686 0 0 0 0 0 0 14.98 14.91 14.27

2591 0.84 254.3 3016 1808 1763 1683 15.8 9.5 465 2609 0.00 2.33 9.93 0.879 10500 0.000 0.048 3017 3199 1661 1703 1620 0 0 0 0 0 0 14.97 14.73 14.23

2627 0.84 254.3 3017 3200 1701 1618 12.1 10.8 471 2633 0.00 2.40 0.00 0.000 3078 0.000 0.052 3017 1799 1659 1701 1618 0 0 0 0 0 0 14.85 14.74 14.86

2698 0.84 254.3 3016 1799 1701 1616 5.1 10.6 484 2705 0.00 2.45 0.00 0.000 2564 0.000 0.073 3017 396 1658 1699 1617 0 0 0 0 0 0 14.98 14.75 14.98

2715 end climb: SURFACE_DEPTH_REACHED

state 2715 begin surface coast

2741 end surface coast: CONTROL_FINISHED_OK

state 2741 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	386	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	150419,162231,-3422.7786,2556.9092,8,0.9,27,-28.1,1.2,300.5,10,6.7	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3419.146,2609.206
_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	-67.6	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	150419,163128,-3422.8394,2556.9187,7,0.9,14,-28.1,0.6,200.6,10,9.8	MHEAD_RNG_PITCHd_Wd	98.1,20000,-15.7,-10.010,-18.71,2973
SPEED_LIMITS	0.173,0.296	D_GRID	1000

FINISH	0.1,1.025299	_24V_AH	13.88,122.840
SM_CCo	2769,170.70,0.807,0,0,598,515.37	_10V_AH	13.56,0.000
SM_GC	0.82,13.70,2.38,170.70,0.049,0.035,0.807,124,1805,598,-8.18,-1.58,515.37,0,0,0,0,0,0,14.83,14.84,14.09	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3409.50,2550.70,150419,152604	FG_AHR_10Vo	0.000
TT8_MAMPS	0.020972,0.920521	MEM	340928
HUMID	45.74	DATA_FILE_SIZE	13439,492
INTERNAL_PRESSURE	9.2928	CAP_FILE_SIZE	99713,0
TCM_TEMP	18.80	CFSIZE	2097086464,2019426304
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	120.5,36.6	GPS	150419,172155,-3422.991,2557.325,7,0.9,17,-28.1,1.0,172.1,9,10.0
SC_FREEKB	3718528

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	346	148.03	nil	0	0	0.00
Roll_motor	76	72	76.74	nil	0	0	0.00
VBD_pump_during_apogee	335	1130	5269.16	nil	0	0	0.00
VBD_pump_during_surface	170	807	1912.22	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	16	5.70	nil	0	0	0.00
Iridium_during_connect	35	160	79.06	SciCon	2798	36	1420.24
Iridium_during_xfer	241	223	747.48	nil	0	0	0.00
Transponder_ping	4	420	23.32	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	11	2.31
TT8	1016	9	132.50
LPSleep	421	2	12.52
TT8_Active	658	9	85.85
TT8_Sampling	1162	28	446.76
TT8_CF8	231	36	114.93
TT8_Kalman	0	0	0.00
Analog_circuits	1162	12	190.83
GPS_charging	0	0	0.00
Compass	743	17	181.29
RAFOS	0	0	0.00
Transponder	26	30	10.91

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	1787	621	548	0.0	0.0	0	122	0.00	0.00	-97.38	0.000	16386	0.000	0.000	53	1787	2975	2942	3009	0	0	0	0	0	0	14.96	28.83	14.97
127	-0.76	-194.6	53	1787	2942	3009	3.4	-7.5	18	158	14.48	2.40	-9.12	0.000	18692	0.300	0.071	2495	3209	3494	3508	3481	0	0	0	0	0	0	14.50	13.93	14.75
342	-0.76	-194.6	2495	3210	3510	3481	44.0	-15.4	59	349	0.05	2.38	0.00	0.000	3078	0.304	0.046	2507	1801	3494	3509	3480	0	0	0	0	0	0	14.69	14.83	14.87
412	-0.76	-194.6	2507	1801	3510	3481	54.2	-12.7	72	418	0.00	0.00	0.00	0.000	2054	0.000	0.000	2507	1801	3495	3510	3480	0	0	0	0	0	0	15.07	15.07	15.07
481	-0.76	-194.6	2507	1801	3510	3481	62.7	-10.9	85	488	0.00	2.40	0.00	0.000	2308	0.000	0.055	2507	3208	3495	3510	3481	0	0	0	0	0	0	15.07	14.83	15.08
510	-0.76	-194.6	2506	3208	3511	3480	65.9	-9.6	90	517	0.00	2.38	0.00	0.000	3078	0.000	0.046	2508	1807	3495	3511	3480	0	0	0	0	0	0	14.92	14.81	14.95
582	-0.76	-194.6	2507	1807	3511	3480	74.4	-13.1	103	589	0.00	2.40	0.00	0.000	2564	0.000	0.063	2508	405	3495	3511	3480	0	0	0	0	0	0	15.08	14.84	15.08
602	-0.76	-194.6	2507	405	3510	3479	77.4	-13.3	106	608	0.00	2.33	0.00	0.000	3078	0.000	0.035	2508	1816	3495	3511	3480	0	0	0	0	0	0	14.97	14.88	14.97
674	-0.76	-194.6	2507	1819	3511	3480	85.6	-11.1	119	680	0.00	2.35	0.00	0.000	2308	0.000	0.054	2508	3213	3495	3511	3480	0	0	0	0	0	0	15.09	14.76	15.10
698	-0.76	-194.6	2507	3213	3511	3479	88.6	-11.6	123	704	0.00	2.35	0.00	0.000	3078	0.000	0.044	2508	1807	3495	3511	3480	0	0	0	0	0	0	14.97	14.87	14.97
770	-0.76	-194.6	2507	1806	3511	3480	95.7	-10.4	136	776	0.00	2.40	0.00	0.000	2564	0.000	0.063	2507	406	3495	3511	3479	0	0	0	0	0	0	15.10	14.81	15.10
799	-0.76	-194.6	2507	406	3511	3479	99.0	-11.7	141	806	0.00	2.33	0.00	0.000	3078	0.000	0.034	2507	1817	3495	3511	3479	0	0	0	0	0	0	14.89	14.80	14.90
870	-0.76	-194.6	2507	1820	3511	3479	106.8	-11.6	154	877	0.00	2.35	0.00	0.000	2308	0.000	0.053	2507	3214	3495	3511	3479	0	0	0	0	0	0	15.10	14.82	15.09
933	-0.76	-194.6	2507	3214	3511	3479	113.6	-10.0	165	940	0.00	2.35	0.00	0.000	3078	0.000	0.044	2515	1806	3495	3511	3479	0	0	0	0	0	0	14.98	14.88	15.00
1006	-0.76	-194.6	2507	1806	3511	3479	122.6	-11.9	178	1012	0.00	0.00	0.00	0.000	2054	0.000	0.000	2508	1806	3495	3511	3479	0	0	0	0	0	0	15.11	15.11	15.11
1074	-0.76	-194.6	2507	1806	3511	3478	131.6	-13.9	191	1080	0.00	0.00	0.00	0.000	2054	0.000	0.000	2507	1806	3495	3511	3479	0	0	0	0	0	0	15.11	15.11	15.11
1143	-0.76	-194.6	2507	1806	3511	3479	141.3	-13.5	204	1149	0.00	2.38	0.00	0.000	2308	0.000	0.053	2508	3211	3495	3511	3479	0	0	0	0	0	0	15.11	14.87	15.11
1167	-0.76	-194.6	2511	3211	3511	3479	144.2	-12.4	208	1174	0.00	2.35	0.00	0.000	3078	0.000	0.044	2508	1809	3495	3511	3479	0	0	0	0	0	0	14.98	14.88	15.00
1194	end dive: BOTTOM_OBSTACLE_DETECTED
state	1194	begin apogee
1200	-0.17	0.0	2508	1809	3515	3478	147.2	-10.1	213	1355	0.95	0.00	145.68	1.131	10246	0.148	0.000	2698	1809	2698	2728	2669	0	0	0	0	0	0	14.66	14.31	13.93
1356	end apogee: CONTROL_FINISHED_OK
state	1357	begin climb
1359	0.76	194.6	2697	1809	2728	2668	156.4	0.0	241	1522	1.40	2.55	150.32	1.116	11012	0.054	0.067	3020	396	1902	1938	1866	0	0	0	0	0	0	14.47	14.33	13.88
1545	0.76	194.6	3019	396	1934	1866	149.8	13.0	273	1553	0.05	2.38	0.00	0.000	5126	0.324	0.033	3010	1804	1899	1934	1864	0	0	0	0	0	0	14.33	14.47	14.50
1616	0.76	194.6	3010	1808	1934	1860	139.9	14.4	286	1623	0.00	2.38	0.00	0.000	4356	0.000	0.047	3010	3202	1897	1933	1861	0	0	0	0	0	0	14.82	14.61	14.82
1641	0.76	194.6	3009	3203	1931	1860	136.3	14.2	290	1647	0.00	2.40	0.00	0.000	5126	0.000	0.049	3017	1807	1895	1931	1860	0	0	0	0	0	0	14.71	14.61	14.71
1712	0.76	194.6	3018	1803	1931	1859	126.0	15.2	303	1718	0.00	0.00	0.00	0.000	4102	0.000	0.000	3018	1803	1895	1931	1859	0	0	0	0	0	0	14.91	14.91	14.95
1780	0.76	194.6	3018	1803	1930	1859	116.5	12.9	316	1787	0.00	2.35	0.00	0.000	4356	0.000	0.047	3018	3198	1894	1930	1858	0	0	0	0	0	0	14.97	14.72	14.97
1810	0.76	194.6	3017	3198	1929	1859	112.7	13.1	321	1817	0.10	2.40	0.00	0.000	5126	0.287	0.050	3007	1791	1893	1929	1858	0	0	0	0	0	0	14.59	14.71	14.78
1880	0.76	194.6	3008	1789	1929	1858	104.7	11.2	334	1886	0.00	0.00	0.00	0.000	4102	0.000	0.000	3008	1791	1893	1929	1858	0	0	0	0	0	0	15.01	15.02	15.01
1949	0.76	194.6	3008	1791	1929	1858	96.1	13.7	347	1956	0.00	2.38	0.00	0.000	4356	0.000	0.047	3007	3205	1893	1929	1857	0	0	0	0	0	0	15.04	14.73	15.04
1963	0.76	194.6	3007	3205	1924	1857	94.2	14.2	349	1969	0.00	2.40	0.00	0.000	5126	0.000	0.052	3015	1792	1893	1928	1858	0	0	0	0	0	0	14.92	14.81	14.93
2033	0.76	194.6	3014	1792	1928	1857	84.0	14.3	362	2040	0.00	2.40	0.00	0.000	4612	0.000	0.070	3020	394	1892	1928	1857	0	0	0	0	0	0	15.03	14.81	15.04
2104	0.76	194.6	3020	394	1927	1857	72.8	17.3	375	2111	0.00	2.33	0.00	0.000	5126	0.000	0.032	3020	1805	1891	1926	1857	0	0	0	0	0	0	14.86	14.80	14.88
2176	0.76	194.6	3019	1807	1927	1856	62.4	14.1	388	2183	0.05	2.33	0.00	0.000	4356	0.347	0.047	3010	3200	1891	1926	1856	0	0	0	0	0	0	14.71	14.82	14.87
2231	0.76	194.6	3010	3200	1925	1856	54.1	14.2	398	2237	0.00	2.38	0.00	0.000	5126	0.000	0.050	3016	1798	1891	1926	1856	0	0	0	0	0	0	14.92	14.81	14.93
2301	0.76	194.6	3017	1798	1926	1855	45.4	11.5	411	2307	0.00	0.00	0.00	0.000	4102	0.000	0.000	3017	1798	1890	1926	1855	0	0	0	0	0	0	15.08	15.09	15.08
2370	0.76	194.6	3016	1799	1926	1855	37.1	11.7	424	2375	0.00	0.00	0.00	0.000	4102	0.000	0.000	3017	1799	1890	1926	1855	0	0	0	0	0	0	15.09	15.10	15.09
2438	0.76	194.6	3016	1798	1925	1855	29.7	10.1	437	2445	0.00	2.42	0.00	0.000	4612	0.000	0.070	3017	388	1890	1926	1854	0	0	0	0	0	0	15.09	14.84	15.10
2488	0.82	238.4	3016	389	1925	1854	25.3	8.5	446	2528	0.00	2.33	29.83	1.008	11270	0.000	0.034	3017	1808	1725	1765	1686	0	0	0	0	0	0	14.98	14.91	14.27
2591	0.84	254.3	3016	1808	1763	1683	15.8	9.5	465	2609	0.00	2.33	9.93	0.879	10500	0.000	0.048	3017	3199	1661	1703	1620	0	0	0	0	0	0	14.97	14.73	14.23
2627	0.84	254.3	3017	3200	1701	1618	12.1	10.8	471	2633	0.00	2.40	0.00	0.000	3078	0.000	0.052	3017	1799	1659	1701	1618	0	0	0	0	0	0	14.85	14.74	14.86
2698	0.84	254.3	3016	1799	1701	1616	5.1	10.6	484	2705	0.00	2.45	0.00	0.000	2564	0.000	0.073	3017	396	1658	1699	1617	0	0	0	0	0	0	14.98	14.75	14.98
2715	end climb: SURFACE_DEPTH_REACHED
state	2715	begin surface coast
2741	end surface coast: CONTROL_FINISHED_OK
state	2741	begin surface