Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 387 * 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 387 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 46 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 46 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 387 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 150419,172155,-3422.9912,2557.3250,7,0.9,17,-28.1,1.0,172.1,9,10.0 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG -3419.375,2609.562

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.96 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -72.9 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 150419,173210,-3423.0681,2557.2744,6,0.9,18,-28.1,0.0,251.5,8,9.4 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 0.0,1.025019 _24V_AH 13.88,123.062

SM_CCo 2963,158.93,0.810,0,0,598,515.37 _10V_AH 13.61,0.000

SM_GC 0.87,13.75,2.40,158.93,0.049,0.050,0.810,127,1808,598,-8.18,0.82,515.37,0,0,0,0,0,0,14.83,14.81,14.10 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3409.50,2556.54,150419,172515 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.832139 MEM 340864

HUMID 45.15 DATA_FILE_SIZE 13428,528

INTERNAL_PRESSURE 9.28303 CAP_FILE_SIZE 104173,0

TCM_TEMP 18.60 CFSIZE 2097086464,2019262464

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

ALTIM_BOTTOM_PING 130.4,32.4 GPS 150419,182601,-3423.191,2557.709,7,0.8,38,-28.1,0.6,242.9,11,5.8

SC_FREEKB 3718016

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 300 127.90 nil 0 0 0.00

Roll_motor 76 73 77.67 nil 0 0 0.00

VBD_pump_during_apogee 359 1140 5695.86 nil 0 0 0.00

VBD_pump_during_surface 158 810 1787.06 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 50 16 11.54 nil 0 0 0.00

Iridium_during_connect 59 160 132.15 SciCon 2992 36 1520.79

Iridium_during_xfer 213 223 659.40 nil 0 0 0.00

Transponder_ping 4 420 26.23 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 11 3.06

TT8 1088 9 142.42

LPSleep 526 2 15.70

TT8_Active 663 9 86.74

TT8_Sampling 1239 28 477.97

TT8_CF8 232 36 115.89

TT8_Kalman 0 0 0.00

Analog_circuits 1194 12 196.91

GPS_charging 0 0 0.00

Compass 796 17 194.92

RAFOS 0 0 0.00

Transponder 29 30 12.18

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

22 -0.76 -194.6 53 1821 622 550 0.0 0.0 0 122 0.00 0.00 -97.07 0.000 16386 0.000 0.000 53 1822 2997 2963 3031 0 0 0 0 0 0 14.96 28.83 14.97

127 -0.76 -194.6 53 1822 2964 3032 3.5 -7.3 18 157 14.48 2.35 -8.62 0.000 18692 0.301 0.072 2494 3213 3496 3510 3483 0 0 0 0 0 0 14.50 13.97 14.76

367 -0.76 -194.6 2494 3213 3512 3482 48.1 -13.1 64 374 0.08 2.38 0.00 0.000 3078 0.250 0.045 2511 1801 3497 3512 3482 0 0 0 0 0 0 14.71 14.83 14.87

438 -0.76 -194.6 2510 1801 3512 3482 58.0 -14.2 77 445 0.00 2.42 0.00 0.000 2564 0.000 0.067 2511 400 3496 3511 3481 0 0 0 0 0 0 15.07 14.82 15.07

458 -0.76 -194.6 2511 400 3512 3481 60.7 -13.4 80 465 0.00 2.35 0.00 0.000 3078 0.000 0.039 2511 1815 3495 3510 3481 0 0 0 0 0 0 14.95 14.86 14.97

529 -0.76 -194.6 2510 1818 3512 3481 69.7 -12.4 93 536 0.00 2.38 0.00 0.000 2308 0.000 0.057 2511 3217 3496 3512 3481 0 0 0 0 0 0 15.08 14.74 15.08

554 -0.76 -194.6 2511 3218 3512 3481 72.2 -9.6 97 560 0.00 2.35 0.00 0.000 3078 0.000 0.044 2511 1812 3496 3512 3481 0 0 0 0 0 0 14.85 14.76 14.86

626 -0.76 -194.6 2511 1811 3512 3481 78.5 -8.9 110 632 0.00 2.42 0.00 0.000 2564 0.000 0.064 2511 400 3496 3512 3481 0 0 0 0 0 0 15.09 14.83 15.09

660 -0.76 -194.6 2511 399 3512 3481 81.8 -10.1 116 666 0.00 2.35 0.00 0.000 3078 0.000 0.038 2511 1813 3496 3512 3481 0 0 0 0 0 0 14.92 14.83 14.93

731 -0.76 -194.6 2511 1815 3512 3481 89.3 -10.5 129 736 0.00 0.00 0.00 0.000 2054 0.000 0.000 2511 1816 3496 3512 3481 0 0 0 0 0 0 15.10 15.10 15.10

801 -0.76 -194.6 2511 1814 3512 3481 96.6 -10.6 142 808 0.00 2.38 0.00 0.000 2308 0.000 0.056 2511 3217 3497 3513 3481 0 0 0 0 0 0 15.10 14.85 15.10

835 -0.76 -194.6 2511 3214 3513 3481 99.9 -9.3 148 845 0.00 2.35 0.00 0.000 3078 0.000 0.043 2511 1810 3497 3513 3481 0 0 0 0 0 0 14.92 14.83 14.94

909 -0.76 -194.6 2511 1811 3513 3481 107.8 -10.9 161 916 0.00 2.38 0.00 0.000 516 0.000 0.063 2511 409 3496 3512 3481 0 0 0 0 0 0 15.09 14.77 15.10

939 -0.76 -194.6 2511 409 3513 3481 111.3 -12.5 166 945 0.00 2.33 0.00 0.000 3078 0.000 0.037 2511 1819 3497 3513 3481 0 0 0 0 0 0 14.88 14.81 14.89

1009 -0.76 -194.6 2511 1822 3512 3481 119.5 -12.6 179 1017 0.00 2.35 0.00 0.000 2308 0.000 0.055 2511 3213 3497 3513 3481 0 0 0 0 0 0 15.10 14.78 15.11

1071 -0.76 -194.6 2511 3213 3513 3481 126.3 -10.7 190 1078 0.00 2.35 0.00 0.000 3078 0.000 0.043 2511 1813 3496 3513 3480 0 0 0 0 0 0 14.98 14.88 14.99

1144 -0.76 -194.6 2511 1813 3512 3480 135.1 -12.0 203 1150 0.00 0.00 0.00 0.000 2054 0.000 0.000 2511 1813 3497 3513 3481 0 0 0 0 0 0 15.11 15.11 15.11

1213 -0.76 -194.6 2511 1813 3513 3480 144.0 -12.9 216 1218 0.00 0.00 0.00 0.000 2054 0.000 0.000 2511 1813 3496 3512 3480 0 0 0 0 0 0 15.11 15.11 15.11

1281 -0.76 -194.6 2511 1813 3513 3480 152.2 -12.9 229 1288 0.00 2.38 0.00 0.000 2308 0.000 0.051 2511 3215 3496 3513 3480 0 0 0 0 0 0 15.11 14.87 15.11

1293 end dive: BOTTOM_OBSTACLE_DETECTED

state 1293 begin apogee

1302 -0.17 0.0 2511 1798 3512 3486 153.9 -12.6 231 1457 0.93 0.00 145.73 1.141 10246 0.142 0.000 2697 1798 2698 2728 2669 0 0 0 0 0 0 14.71 14.31 13.91

1459 end apogee: CONTROL_FINISHED_OK

state 1459 begin climb

1462 0.76 194.6 2697 1798 2728 2668 162.8 0.0 259 1619 1.38 0.00 151.32 1.125 10758 0.076 0.000 2991 1798 1904 1941 1868 0 0 0 0 0 0 14.44 14.35 13.88

1682 0.76 194.6 2990 1797 1936 1861 151.7 11.8 298 1688 0.00 0.00 0.00 0.000 2054 0.000 0.000 2991 1798 1900 1936 1864 0 0 0 0 0 0 14.73 14.74 14.74

1750 0.76 194.6 2991 1797 1935 1860 143.5 12.7 311 1756 0.00 0.00 0.00 0.000 2054 0.000 0.000 2991 1798 1897 1934 1860 0 0 0 0 0 0 14.85 14.85 14.85

1819 0.76 194.6 2991 1798 1934 1859 135.4 11.9 324 1826 0.00 2.40 0.00 0.000 2308 0.000 0.047 2991 3205 1895 1932 1859 0 0 0 0 0 0 14.92 14.71 14.92

1858 0.76 194.6 2990 3205 1931 1859 130.5 12.4 331 1865 0.00 2.40 0.00 0.000 3078 0.000 0.051 2991 1803 1895 1931 1859 0 0 0 0 0 0 14.81 14.70 14.83

1929 0.76 194.6 2991 1803 1931 1858 122.4 11.8 344 1935 0.00 0.00 0.00 0.000 2054 0.000 0.000 2990 1803 1894 1931 1857 0 0 0 0 0 0 14.99 15.00 15.00

1997 0.76 194.6 2992 1803 1930 1858 114.4 12.0 357 2004 0.00 2.38 0.00 0.000 2308 0.000 0.049 2992 3210 1895 1930 1861 0 0 0 0 0 0 15.02 14.73 15.02

2057 0.76 194.6 2991 3210 1929 1858 106.9 13.4 368 2063 0.00 2.42 0.00 0.000 3078 0.000 0.053 2992 1793 1893 1929 1858 0 0 0 0 0 0 14.83 14.73 14.84

2128 0.76 194.6 2992 1793 1929 1857 97.4 13.7 381 2134 0.00 0.00 0.00 0.000 2054 0.000 0.000 2992 1794 1893 1930 1857 0 0 0 0 0 0 15.05 15.05 15.05

2196 0.76 194.6 2992 1793 1929 1857 88.1 13.7 394 2203 0.00 2.42 0.00 0.000 2564 0.000 0.073 2992 395 1892 1929 1856 0 0 0 0 0 0 15.07 14.73 15.07

2246 0.76 194.6 2991 395 1927 1856 81.5 13.4 403 2253 0.00 2.33 0.00 0.000 3078 0.000 0.034 2993 1815 1891 1927 1855 0 0 0 0 0 0 14.96 14.88 14.96

2318 0.76 194.6 2992 1814 1927 1855 72.4 13.1 416 2324 0.00 2.47 0.00 0.000 2564 0.000 0.068 3002 388 1891 1927 1855 0 0 0 0 0 0 15.08 14.78 15.08

2388 0.76 194.6 3001 388 1926 1856 63.3 11.7 429 2395 0.00 2.33 0.00 0.000 1030 0.000 0.034 3001 1801 1890 1926 1855 0 0 0 0 0 0 14.92 14.85 14.93

2459 0.76 194.6 3001 1802 1926 1855 54.8 12.2 442 2466 0.00 2.33 0.00 0.000 260 0.000 0.050 3001 3195 1888 1926 1851 0 0 0 0 0 0 15.09 14.85 15.09

2509 0.78 205.2 3001 3195 1925 1855 49.4 9.6 451 2522 0.00 2.38 7.57 0.785 11270 0.000 0.050 3003 1794 1860 1900 1821 0 0 0 0 0 0 14.97 14.85 14.22

2586 0.86 273.3 3003 1794 1899 1823 42.5 7.7 465 2649 0.05 2.47 55.15 1.017 10756 0.262 0.070 3033 385 1582 1624 1541 0 0 0 0 0 0 14.79 14.52 14.13

2673 0.86 273.3 3032 386 1621 1541 31.7 14.8 480 2680 0.00 2.38 0.00 0.000 1030 0.000 0.034 3033 1805 1580 1621 1540 0 0 0 0 0 0 14.71 14.66 14.73

2744 0.86 273.3 3032 1808 1621 1537 22.6 12.1 493 2751 0.00 2.50 0.00 0.000 516 0.000 0.071 3034 385 1579 1621 1538 0 0 0 0 0 0 14.91 14.68 14.92

2764 0.86 273.3 3033 385 1620 1538 20.3 11.3 496 2771 0.00 2.35 0.00 0.000 1030 0.000 0.034 3033 1805 1579 1621 1537 0 0 0 0 0 0 14.83 14.76 14.83

2835 0.86 273.3 3033 1807 1620 1535 13.1 11.1 509 2841 0.00 0.00 0.00 0.000 6 0.000 0.000 3033 1807 1577 1620 1535 0 0 0 0 0 0 14.95 14.97 14.97

2904 0.86 273.3 3033 1806 1620 1534 4.2 14.1 522 2911 0.00 2.33 0.00 0.000 260 0.000 0.047 3033 3194 1576 1620 1533 0 0 0 0 0 0 15.00 14.78 15.01

2916 end climb: SURFACE_DEPTH_REACHED

state 2916 begin surface coast

2937 end surface coast: CONTROL_FINISHED_OK

state 2937 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	387	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	46	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	150419,172155,-3422.9912,2557.3250,7,0.9,17,-28.1,1.0,172.1,9,10.0	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	-3419.375,2609.562
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.96	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-72.9	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	150419,173210,-3423.0681,2557.2744,6,0.9,18,-28.1,0.0,251.5,8,9.4	MHEAD_RNG_PITCHd_Wd	98.1,20000,-15.7,-10.010,-18.71,2973
SPEED_LIMITS	0.173,0.296	D_GRID	1000

FINISH	0.0,1.025019	_24V_AH	13.88,123.062
SM_CCo	2963,158.93,0.810,0,0,598,515.37	_10V_AH	13.61,0.000
SM_GC	0.87,13.75,2.40,158.93,0.049,0.050,0.810,127,1808,598,-8.18,0.82,515.37,0,0,0,0,0,0,14.83,14.81,14.10	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3409.50,2556.54,150419,172515	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.832139	MEM	340864
HUMID	45.15	DATA_FILE_SIZE	13428,528
INTERNAL_PRESSURE	9.28303	CAP_FILE_SIZE	104173,0
TCM_TEMP	18.60	CFSIZE	2097086464,2019262464
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	130.4,32.4	GPS	150419,182601,-3423.191,2557.709,7,0.8,38,-28.1,0.6,242.9,11,5.8
SC_FREEKB	3718016

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	300	127.90	nil	0	0	0.00
Roll_motor	76	73	77.67	nil	0	0	0.00
VBD_pump_during_apogee	359	1140	5695.86	nil	0	0	0.00
VBD_pump_during_surface	158	810	1787.06	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	50	16	11.54	nil	0	0	0.00
Iridium_during_connect	59	160	132.15	SciCon	2992	36	1520.79
Iridium_during_xfer	213	223	659.40	nil	0	0	0.00
Transponder_ping	4	420	26.23	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	11	3.06
TT8	1088	9	142.42
LPSleep	526	2	15.70
TT8_Active	663	9	86.74
TT8_Sampling	1239	28	477.97
TT8_CF8	232	36	115.89
TT8_Kalman	0	0	0.00
Analog_circuits	1194	12	196.91
GPS_charging	0	0	0.00
Compass	796	17	194.92
RAFOS	0	0	0.00
Transponder	29	30	12.18

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
22	-0.76	-194.6	53	1821	622	550	0.0	0.0	0	122	0.00	0.00	-97.07	0.000	16386	0.000	0.000	53	1822	2997	2963	3031	0	0	0	0	0	0	14.96	28.83	14.97
127	-0.76	-194.6	53	1822	2964	3032	3.5	-7.3	18	157	14.48	2.35	-8.62	0.000	18692	0.301	0.072	2494	3213	3496	3510	3483	0	0	0	0	0	0	14.50	13.97	14.76
367	-0.76	-194.6	2494	3213	3512	3482	48.1	-13.1	64	374	0.08	2.38	0.00	0.000	3078	0.250	0.045	2511	1801	3497	3512	3482	0	0	0	0	0	0	14.71	14.83	14.87
438	-0.76	-194.6	2510	1801	3512	3482	58.0	-14.2	77	445	0.00	2.42	0.00	0.000	2564	0.000	0.067	2511	400	3496	3511	3481	0	0	0	0	0	0	15.07	14.82	15.07
458	-0.76	-194.6	2511	400	3512	3481	60.7	-13.4	80	465	0.00	2.35	0.00	0.000	3078	0.000	0.039	2511	1815	3495	3510	3481	0	0	0	0	0	0	14.95	14.86	14.97
529	-0.76	-194.6	2510	1818	3512	3481	69.7	-12.4	93	536	0.00	2.38	0.00	0.000	2308	0.000	0.057	2511	3217	3496	3512	3481	0	0	0	0	0	0	15.08	14.74	15.08
554	-0.76	-194.6	2511	3218	3512	3481	72.2	-9.6	97	560	0.00	2.35	0.00	0.000	3078	0.000	0.044	2511	1812	3496	3512	3481	0	0	0	0	0	0	14.85	14.76	14.86
626	-0.76	-194.6	2511	1811	3512	3481	78.5	-8.9	110	632	0.00	2.42	0.00	0.000	2564	0.000	0.064	2511	400	3496	3512	3481	0	0	0	0	0	0	15.09	14.83	15.09
660	-0.76	-194.6	2511	399	3512	3481	81.8	-10.1	116	666	0.00	2.35	0.00	0.000	3078	0.000	0.038	2511	1813	3496	3512	3481	0	0	0	0	0	0	14.92	14.83	14.93
731	-0.76	-194.6	2511	1815	3512	3481	89.3	-10.5	129	736	0.00	0.00	0.00	0.000	2054	0.000	0.000	2511	1816	3496	3512	3481	0	0	0	0	0	0	15.10	15.10	15.10
801	-0.76	-194.6	2511	1814	3512	3481	96.6	-10.6	142	808	0.00	2.38	0.00	0.000	2308	0.000	0.056	2511	3217	3497	3513	3481	0	0	0	0	0	0	15.10	14.85	15.10
835	-0.76	-194.6	2511	3214	3513	3481	99.9	-9.3	148	845	0.00	2.35	0.00	0.000	3078	0.000	0.043	2511	1810	3497	3513	3481	0	0	0	0	0	0	14.92	14.83	14.94
909	-0.76	-194.6	2511	1811	3513	3481	107.8	-10.9	161	916	0.00	2.38	0.00	0.000	516	0.000	0.063	2511	409	3496	3512	3481	0	0	0	0	0	0	15.09	14.77	15.10
939	-0.76	-194.6	2511	409	3513	3481	111.3	-12.5	166	945	0.00	2.33	0.00	0.000	3078	0.000	0.037	2511	1819	3497	3513	3481	0	0	0	0	0	0	14.88	14.81	14.89
1009	-0.76	-194.6	2511	1822	3512	3481	119.5	-12.6	179	1017	0.00	2.35	0.00	0.000	2308	0.000	0.055	2511	3213	3497	3513	3481	0	0	0	0	0	0	15.10	14.78	15.11
1071	-0.76	-194.6	2511	3213	3513	3481	126.3	-10.7	190	1078	0.00	2.35	0.00	0.000	3078	0.000	0.043	2511	1813	3496	3513	3480	0	0	0	0	0	0	14.98	14.88	14.99
1144	-0.76	-194.6	2511	1813	3512	3480	135.1	-12.0	203	1150	0.00	0.00	0.00	0.000	2054	0.000	0.000	2511	1813	3497	3513	3481	0	0	0	0	0	0	15.11	15.11	15.11
1213	-0.76	-194.6	2511	1813	3513	3480	144.0	-12.9	216	1218	0.00	0.00	0.00	0.000	2054	0.000	0.000	2511	1813	3496	3512	3480	0	0	0	0	0	0	15.11	15.11	15.11
1281	-0.76	-194.6	2511	1813	3513	3480	152.2	-12.9	229	1288	0.00	2.38	0.00	0.000	2308	0.000	0.051	2511	3215	3496	3513	3480	0	0	0	0	0	0	15.11	14.87	15.11
1293	end dive: BOTTOM_OBSTACLE_DETECTED
state	1293	begin apogee
1302	-0.17	0.0	2511	1798	3512	3486	153.9	-12.6	231	1457	0.93	0.00	145.73	1.141	10246	0.142	0.000	2697	1798	2698	2728	2669	0	0	0	0	0	0	14.71	14.31	13.91
1459	end apogee: CONTROL_FINISHED_OK
state	1459	begin climb
1462	0.76	194.6	2697	1798	2728	2668	162.8	0.0	259	1619	1.38	0.00	151.32	1.125	10758	0.076	0.000	2991	1798	1904	1941	1868	0	0	0	0	0	0	14.44	14.35	13.88
1682	0.76	194.6	2990	1797	1936	1861	151.7	11.8	298	1688	0.00	0.00	0.00	0.000	2054	0.000	0.000	2991	1798	1900	1936	1864	0	0	0	0	0	0	14.73	14.74	14.74
1750	0.76	194.6	2991	1797	1935	1860	143.5	12.7	311	1756	0.00	0.00	0.00	0.000	2054	0.000	0.000	2991	1798	1897	1934	1860	0	0	0	0	0	0	14.85	14.85	14.85
1819	0.76	194.6	2991	1798	1934	1859	135.4	11.9	324	1826	0.00	2.40	0.00	0.000	2308	0.000	0.047	2991	3205	1895	1932	1859	0	0	0	0	0	0	14.92	14.71	14.92
1858	0.76	194.6	2990	3205	1931	1859	130.5	12.4	331	1865	0.00	2.40	0.00	0.000	3078	0.000	0.051	2991	1803	1895	1931	1859	0	0	0	0	0	0	14.81	14.70	14.83
1929	0.76	194.6	2991	1803	1931	1858	122.4	11.8	344	1935	0.00	0.00	0.00	0.000	2054	0.000	0.000	2990	1803	1894	1931	1857	0	0	0	0	0	0	14.99	15.00	15.00
1997	0.76	194.6	2992	1803	1930	1858	114.4	12.0	357	2004	0.00	2.38	0.00	0.000	2308	0.000	0.049	2992	3210	1895	1930	1861	0	0	0	0	0	0	15.02	14.73	15.02
2057	0.76	194.6	2991	3210	1929	1858	106.9	13.4	368	2063	0.00	2.42	0.00	0.000	3078	0.000	0.053	2992	1793	1893	1929	1858	0	0	0	0	0	0	14.83	14.73	14.84
2128	0.76	194.6	2992	1793	1929	1857	97.4	13.7	381	2134	0.00	0.00	0.00	0.000	2054	0.000	0.000	2992	1794	1893	1930	1857	0	0	0	0	0	0	15.05	15.05	15.05
2196	0.76	194.6	2992	1793	1929	1857	88.1	13.7	394	2203	0.00	2.42	0.00	0.000	2564	0.000	0.073	2992	395	1892	1929	1856	0	0	0	0	0	0	15.07	14.73	15.07
2246	0.76	194.6	2991	395	1927	1856	81.5	13.4	403	2253	0.00	2.33	0.00	0.000	3078	0.000	0.034	2993	1815	1891	1927	1855	0	0	0	0	0	0	14.96	14.88	14.96
2318	0.76	194.6	2992	1814	1927	1855	72.4	13.1	416	2324	0.00	2.47	0.00	0.000	2564	0.000	0.068	3002	388	1891	1927	1855	0	0	0	0	0	0	15.08	14.78	15.08
2388	0.76	194.6	3001	388	1926	1856	63.3	11.7	429	2395	0.00	2.33	0.00	0.000	1030	0.000	0.034	3001	1801	1890	1926	1855	0	0	0	0	0	0	14.92	14.85	14.93
2459	0.76	194.6	3001	1802	1926	1855	54.8	12.2	442	2466	0.00	2.33	0.00	0.000	260	0.000	0.050	3001	3195	1888	1926	1851	0	0	0	0	0	0	15.09	14.85	15.09
2509	0.78	205.2	3001	3195	1925	1855	49.4	9.6	451	2522	0.00	2.38	7.57	0.785	11270	0.000	0.050	3003	1794	1860	1900	1821	0	0	0	0	0	0	14.97	14.85	14.22
2586	0.86	273.3	3003	1794	1899	1823	42.5	7.7	465	2649	0.05	2.47	55.15	1.017	10756	0.262	0.070	3033	385	1582	1624	1541	0	0	0	0	0	0	14.79	14.52	14.13
2673	0.86	273.3	3032	386	1621	1541	31.7	14.8	480	2680	0.00	2.38	0.00	0.000	1030	0.000	0.034	3033	1805	1580	1621	1540	0	0	0	0	0	0	14.71	14.66	14.73
2744	0.86	273.3	3032	1808	1621	1537	22.6	12.1	493	2751	0.00	2.50	0.00	0.000	516	0.000	0.071	3034	385	1579	1621	1538	0	0	0	0	0	0	14.91	14.68	14.92
2764	0.86	273.3	3033	385	1620	1538	20.3	11.3	496	2771	0.00	2.35	0.00	0.000	1030	0.000	0.034	3033	1805	1579	1621	1537	0	0	0	0	0	0	14.83	14.76	14.83
2835	0.86	273.3	3033	1807	1620	1535	13.1	11.1	509	2841	0.00	0.00	0.00	0.000	6	0.000	0.000	3033	1807	1577	1620	1535	0	0	0	0	0	0	14.95	14.97	14.97
2904	0.86	273.3	3033	1806	1620	1534	4.2	14.1	522	2911	0.00	2.33	0.00	0.000	260	0.000	0.047	3033	3194	1576	1620	1533	0	0	0	0	0	0	15.00	14.78	15.01
2916	end climb: SURFACE_DEPTH_REACHED
state	2916	begin surface coast
2937	end surface coast: CONTROL_FINISHED_OK
state	2937	begin surface