Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 388 * 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 388 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 52 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 52 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 388 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 150419,182601,-3423.1909,2557.7090,7,0.8,38,-28.1,0.6,242.9,11,5.8 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3419.572,2609.920

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.80 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -68.4 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 150419,183453,-3423.2659,2557.6323,7,0.8,13,-28.1,1.1,235.7,11,9.7 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 0.8,1.024949 _24V_AH 13.61,123.280

SM_CCo 2726,162.27,0.802,0,0,597,515.37 _10V_AH 13.61,0.000

SM_GC 0.82,13.62,0.00,162.27,0.041,0.000,0.802,123,1803,597,-8.18,-0.25,515.37,0,0,0,0,0,0,14.86,15.09,14.11 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3409.50,2556.54,150419,172725 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.940744 MEM 340928

HUMID 45.70 DATA_FILE_SIZE 13429,485

INTERNAL_PRESSURE 9.2928 CAP_FILE_SIZE 95404,0

TCM_TEMP 18.80 CFSIZE 2097086464,2019131392

XPDR_PINGS 0 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0

ALTIM_BOTTOM_PING 130.2,37.1 INTR 0,134.18,0x23609a,0,24

SC_FREEKB 3717504 GPS 150419,192428,-3423.289,2557.979,8,1.0,16,-28.1,0.7,255.0,9,9.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 308 128.18 nil 0 0 0.00

Roll_motor 57 78 60.85 nil 0 0 0.00

VBD_pump_during_apogee 353 1140 5485.32 nil 0 0 0.00

VBD_pump_during_surface 162 802 1772.34 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 16 6.09 nil 0 0 0.00

Iridium_during_connect 16 160 36.29 SciCon 2762 36 1378.49

Iridium_during_xfer 258 223 785.40 nil 0 0 0.00

Transponder_ping 4 420 25.72 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 11 2.17

TT8 991 9 129.63

LPSleep 424 2 12.65

TT8_Active 643 9 84.12

TT8_Sampling 1143 28 441.21

TT8_CF8 232 36 115.81

TT8_Kalman 0 0 0.00

Analog_circuits 1138 12 187.59

GPS_charging 0 0 0.00

Compass 735 17 179.98

RAFOS 0 0 0.00

Transponder 31 30 12.80

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 63 1796 622 549 0.0 0.0 0 122 0.00 0.00 -97.38 0.000 16386 0.000 0.000 56 1801 3043 3010 3077 0 0 0 0 0 0 14.95 28.83 14.96

127 -0.76 -194.6 56 1801 3011 3077 3.9 -9.7 18 156 14.50 2.45 -7.28 0.000 18948 0.308 0.078 2503 399 3496 3507 3485 0 0 0 0 0 0 14.51 13.61 14.77

336 -0.76 -194.6 2503 394 3509 3485 45.1 -14.1 57 342 0.00 2.35 0.00 0.000 3078 0.000 0.037 2501 1808 3496 3509 3484 0 0 0 0 0 0 14.92 14.83 14.94

407 -0.76 -194.6 2501 1811 3510 3485 54.9 -14.6 70 414 0.00 2.38 0.00 0.000 2308 0.000 0.056 2501 3214 3497 3510 3485 0 0 0 0 0 0 15.04 14.82 15.05

437 -0.76 -194.6 2501 3216 3511 3484 59.4 -12.8 75 444 0.00 2.38 0.00 0.000 3078 0.000 0.044 2501 1801 3496 3508 3484 0 0 0 0 0 0 14.94 14.83 14.95

509 -0.76 -194.6 2501 1801 3511 3484 68.8 -15.7 88 515 0.00 0.00 0.00 0.000 2054 0.000 0.000 2501 1801 3498 3512 3484 0 0 0 0 0 0 15.07 15.07 15.07

577 -0.76 -194.6 2501 1801 3512 3484 77.5 -12.9 101 583 0.00 2.40 0.00 0.000 2564 0.000 0.064 2501 402 3498 3512 3484 0 0 0 0 0 0 15.08 14.83 15.07

616 -0.76 -194.6 2509 401 3511 3484 82.8 -13.6 108 623 0.00 2.35 0.00 0.000 3078 0.000 0.035 2501 1823 3498 3512 3484 0 0 0 0 0 0 14.96 14.88 14.97

688 -0.76 -194.6 2501 1825 3511 3484 91.8 -12.7 121 693 0.00 0.00 0.00 0.000 2054 0.000 0.000 2501 1825 3498 3512 3484 0 0 0 0 0 0 15.09 15.09 15.09

760 -0.76 -194.6 2501 1825 3512 3484 100.5 -12.1 134 767 0.00 2.35 0.00 0.000 2308 0.000 0.054 2501 3215 3497 3510 3484 0 0 0 0 0 0 15.10 14.81 15.11

794 -0.76 -194.6 2500 3215 3513 3484 104.8 -10.7 140 802 0.00 2.38 0.00 0.000 3078 0.000 0.044 2500 1804 3497 3512 3483 0 0 0 0 0 0 14.86 14.76 14.88

866 -0.76 -194.6 2500 1804 3512 3483 112.6 -11.8 153 871 0.00 0.00 0.00 0.000 2054 0.000 0.000 2501 1804 3497 3512 3483 0 0 0 0 0 0 15.09 15.10 15.10

936 -0.76 -194.6 2500 1804 3512 3483 121.3 -11.4 166 942 0.00 0.00 0.00 0.000 2054 0.000 0.000 2501 1804 3497 3512 3483 0 0 0 0 0 0 15.10 15.11 15.10

1009 -0.76 -194.6 2500 1804 3512 3481 130.2 -12.6 179 1015 0.00 0.00 0.00 0.000 2054 0.000 0.000 2501 1804 3497 3512 3483 0 0 0 0 0 0 15.11 15.11 15.11

1078 -0.76 -194.6 2500 1804 3513 3483 139.5 -13.0 192 1084 0.00 2.38 0.00 0.000 2308 0.000 0.051 2498 3212 3497 3512 3483 0 0 0 0 0 0 15.11 14.85 15.11

1142 -0.76 -194.6 2498 3212 3512 3482 146.9 -11.9 204 1148 0.00 2.35 0.00 0.000 3078 0.000 0.044 2498 1810 3497 3513 3482 0 0 0 0 0 0 14.98 14.88 15.00

1213 -0.76 -194.6 2498 1809 3509 3482 155.7 -13.4 217 1219 0.00 0.00 0.00 0.000 2054 0.000 0.000 2498 1809 3497 3512 3482 0 0 0 0 0 0 15.09 15.10 15.09

1223 end dive: BOTTOM_OBSTACLE_DETECTED

state 1223 begin apogee

1229 -0.17 0.0 2498 1810 3513 3482 157.5 -13.1 219 1384 1.00 0.00 146.40 1.141 10246 0.154 0.000 2696 1809 2697 2728 2667 0 0 0 0 0 0 14.73 14.30 13.90

1386 end apogee: CONTROL_FINISHED_OK

state 1386 begin climb

1389 0.76 194.6 2696 1809 2727 2667 166.6 0.0 247 1552 1.42 2.55 150.10 1.127 10756 0.063 0.067 3019 399 1904 1941 1868 0 0 0 0 0 0 14.45 14.35 13.85

1561 0.83 246.7 3019 399 1937 1867 164.2 8.2 276 1612 0.00 2.38 41.70 1.087 9222 0.000 0.033 3020 1806 1693 1734 1652 0 0 0 0 0 0 14.50 14.45 13.90

1674 0.83 246.7 3018 1806 1731 1648 146.8 16.3 297 1681 0.00 2.38 0.00 0.000 2308 0.000 0.047 3019 3198 1689 1731 1648 0 0 0 0 0 0 14.76 14.51 14.76

1710 0.83 246.7 3019 3198 1728 1647 141.0 16.8 303 1717 0.00 2.40 0.00 0.000 1030 0.000 0.050 3021 1803 1687 1728 1647 0 0 0 0 0 0 14.66 14.59 14.68

1781 0.83 246.7 3022 1803 1728 1645 128.7 17.7 316 1788 0.00 2.38 0.00 0.000 260 0.000 0.047 3023 3195 1686 1726 1646 0 0 0 0 0 0 14.89 14.69 14.90

1811 0.83 246.7 3021 3195 1726 1645 123.1 19.1 321 1817 0.00 2.40 0.00 0.000 1030 0.000 0.053 3026 1802 1685 1726 1645 0 0 0 0 0 0 14.78 14.69 14.81

1883 0.83 246.7 3026 1802 1726 1644 111.0 17.5 334 1890 0.00 2.45 0.00 0.000 516 0.000 0.073 3026 393 1683 1726 1641 0 0 0 0 0 0 14.96 14.73 14.97

1908 0.83 246.7 3026 393 1726 1645 106.4 16.1 338 1914 0.00 2.33 0.00 0.000 1030 0.000 0.033 3026 1802 1685 1727 1644 0 0 0 0 0 0 14.86 14.80 14.88

1979 0.83 246.7 3026 1805 1726 1644 93.9 18.0 351 1985 0.00 0.00 0.00 0.000 6 0.000 0.000 3027 1805 1685 1726 1644 0 0 0 0 0 0 15.00 15.01 15.00

2048 0.83 246.7 3026 1805 1725 1644 81.8 16.4 364 2054 0.00 2.47 0.00 0.000 516 0.000 0.073 3027 388 1686 1728 1644 0 0 0 0 0 0 15.02 14.78 15.03

2077 0.83 246.7 3026 387 1725 1644 76.8 16.5 369 2084 0.00 2.33 0.00 0.000 5126 0.000 0.034 3027 1800 1684 1725 1644 0 0 0 0 0 0 14.92 14.84 14.94

2148 0.83 246.7 3026 1802 1724 1643 66.8 14.7 382 2155 0.00 2.35 0.00 0.000 260 0.000 0.050 3026 3204 1683 1723 1643 0 0 0 0 0 0 15.03 14.83 15.04

2224 0.83 246.7 3026 3204 1723 1643 56.8 13.0 396 2231 0.00 2.40 0.00 0.000 5126 0.000 0.051 3029 1791 1683 1723 1643 0 0 0 0 0 0 14.87 14.77 14.88

2295 0.83 246.7 3029 1790 1724 1641 48.8 11.0 409 2301 0.00 0.00 0.00 0.000 4102 0.000 0.000 3029 1791 1682 1723 1642 0 0 0 0 0 0 15.07 15.08 15.07

2363 0.83 246.7 3029 1791 1724 1642 39.7 13.1 422 2369 0.00 0.00 0.00 0.000 4102 0.000 0.000 3029 1791 1682 1723 1642 0 0 0 0 0 0 15.09 15.09 15.09

2432 0.83 246.7 3029 1791 1723 1642 30.7 12.3 435 2438 0.00 0.00 0.00 0.000 4102 0.000 0.000 3029 1790 1682 1723 1642 0 0 0 0 0 0 15.08 15.09 15.09

2501 0.85 267.7 3029 1791 1723 1641 23.7 9.3 448 2519 0.00 0.00 15.15 0.956 10246 0.000 0.000 3029 1791 1607 1650 1565 0 0 0 0 0 0 15.09 14.78 14.25

2583 0.85 267.7 3029 1791 1649 1562 15.2 11.2 463 2589 0.00 2.42 0.00 0.000 516 0.000 0.074 3031 396 1605 1648 1562 0 0 0 0 0 0 15.02 14.79 15.03

2612 0.85 267.7 3029 397 1647 1562 11.9 10.8 468 2619 0.00 2.33 0.00 0.000 1030 0.000 0.035 3031 1801 1604 1647 1562 0 0 0 0 0 0 14.92 14.85 14.93

2681 end climb: SURFACE_DEPTH_REACHED

state 2681 begin surface coast

2702 end surface coast: CONTROL_FINISHED_OK

state 2703 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	388	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	52	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	150419,182601,-3423.1909,2557.7090,7,0.8,38,-28.1,0.6,242.9,11,5.8	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3419.572,2609.920
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.80	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-68.4	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	150419,183453,-3423.2659,2557.6323,7,0.8,13,-28.1,1.1,235.7,11,9.7	MHEAD_RNG_PITCHd_Wd	98.1,20000,-15.7,-10.010,-18.71,2973
SPEED_LIMITS	0.173,0.296	D_GRID	1000

FINISH	0.8,1.024949	_24V_AH	13.61,123.280
SM_CCo	2726,162.27,0.802,0,0,597,515.37	_10V_AH	13.61,0.000
SM_GC	0.82,13.62,0.00,162.27,0.041,0.000,0.802,123,1803,597,-8.18,-0.25,515.37,0,0,0,0,0,0,14.86,15.09,14.11	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3409.50,2556.54,150419,172725	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.940744	MEM	340928
HUMID	45.70	DATA_FILE_SIZE	13429,485
INTERNAL_PRESSURE	9.2928	CAP_FILE_SIZE	95404,0
TCM_TEMP	18.80	CFSIZE	2097086464,2019131392
XPDR_PINGS	0	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	130.2,37.1	INTR	0,134.18,0x23609a,0,24
SC_FREEKB	3717504	GPS	150419,192428,-3423.289,2557.979,8,1.0,16,-28.1,0.7,255.0,9,9.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	308	128.18	nil	0	0	0.00
Roll_motor	57	78	60.85	nil	0	0	0.00
VBD_pump_during_apogee	353	1140	5485.32	nil	0	0	0.00
VBD_pump_during_surface	162	802	1772.34	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	16	6.09	nil	0	0	0.00
Iridium_during_connect	16	160	36.29	SciCon	2762	36	1378.49
Iridium_during_xfer	258	223	785.40	nil	0	0	0.00
Transponder_ping	4	420	25.72	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	11	2.17
TT8	991	9	129.63
LPSleep	424	2	12.65
TT8_Active	643	9	84.12
TT8_Sampling	1143	28	441.21
TT8_CF8	232	36	115.81
TT8_Kalman	0	0	0.00
Analog_circuits	1138	12	187.59
GPS_charging	0	0	0.00
Compass	735	17	179.98
RAFOS	0	0	0.00
Transponder	31	30	12.80

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	63	1796	622	549	0.0	0.0	0	122	0.00	0.00	-97.38	0.000	16386	0.000	0.000	56	1801	3043	3010	3077	0	0	0	0	0	0	14.95	28.83	14.96
127	-0.76	-194.6	56	1801	3011	3077	3.9	-9.7	18	156	14.50	2.45	-7.28	0.000	18948	0.308	0.078	2503	399	3496	3507	3485	0	0	0	0	0	0	14.51	13.61	14.77
336	-0.76	-194.6	2503	394	3509	3485	45.1	-14.1	57	342	0.00	2.35	0.00	0.000	3078	0.000	0.037	2501	1808	3496	3509	3484	0	0	0	0	0	0	14.92	14.83	14.94
407	-0.76	-194.6	2501	1811	3510	3485	54.9	-14.6	70	414	0.00	2.38	0.00	0.000	2308	0.000	0.056	2501	3214	3497	3510	3485	0	0	0	0	0	0	15.04	14.82	15.05
437	-0.76	-194.6	2501	3216	3511	3484	59.4	-12.8	75	444	0.00	2.38	0.00	0.000	3078	0.000	0.044	2501	1801	3496	3508	3484	0	0	0	0	0	0	14.94	14.83	14.95
509	-0.76	-194.6	2501	1801	3511	3484	68.8	-15.7	88	515	0.00	0.00	0.00	0.000	2054	0.000	0.000	2501	1801	3498	3512	3484	0	0	0	0	0	0	15.07	15.07	15.07
577	-0.76	-194.6	2501	1801	3512	3484	77.5	-12.9	101	583	0.00	2.40	0.00	0.000	2564	0.000	0.064	2501	402	3498	3512	3484	0	0	0	0	0	0	15.08	14.83	15.07
616	-0.76	-194.6	2509	401	3511	3484	82.8	-13.6	108	623	0.00	2.35	0.00	0.000	3078	0.000	0.035	2501	1823	3498	3512	3484	0	0	0	0	0	0	14.96	14.88	14.97
688	-0.76	-194.6	2501	1825	3511	3484	91.8	-12.7	121	693	0.00	0.00	0.00	0.000	2054	0.000	0.000	2501	1825	3498	3512	3484	0	0	0	0	0	0	15.09	15.09	15.09
760	-0.76	-194.6	2501	1825	3512	3484	100.5	-12.1	134	767	0.00	2.35	0.00	0.000	2308	0.000	0.054	2501	3215	3497	3510	3484	0	0	0	0	0	0	15.10	14.81	15.11
794	-0.76	-194.6	2500	3215	3513	3484	104.8	-10.7	140	802	0.00	2.38	0.00	0.000	3078	0.000	0.044	2500	1804	3497	3512	3483	0	0	0	0	0	0	14.86	14.76	14.88
866	-0.76	-194.6	2500	1804	3512	3483	112.6	-11.8	153	871	0.00	0.00	0.00	0.000	2054	0.000	0.000	2501	1804	3497	3512	3483	0	0	0	0	0	0	15.09	15.10	15.10
936	-0.76	-194.6	2500	1804	3512	3483	121.3	-11.4	166	942	0.00	0.00	0.00	0.000	2054	0.000	0.000	2501	1804	3497	3512	3483	0	0	0	0	0	0	15.10	15.11	15.10
1009	-0.76	-194.6	2500	1804	3512	3481	130.2	-12.6	179	1015	0.00	0.00	0.00	0.000	2054	0.000	0.000	2501	1804	3497	3512	3483	0	0	0	0	0	0	15.11	15.11	15.11
1078	-0.76	-194.6	2500	1804	3513	3483	139.5	-13.0	192	1084	0.00	2.38	0.00	0.000	2308	0.000	0.051	2498	3212	3497	3512	3483	0	0	0	0	0	0	15.11	14.85	15.11
1142	-0.76	-194.6	2498	3212	3512	3482	146.9	-11.9	204	1148	0.00	2.35	0.00	0.000	3078	0.000	0.044	2498	1810	3497	3513	3482	0	0	0	0	0	0	14.98	14.88	15.00
1213	-0.76	-194.6	2498	1809	3509	3482	155.7	-13.4	217	1219	0.00	0.00	0.00	0.000	2054	0.000	0.000	2498	1809	3497	3512	3482	0	0	0	0	0	0	15.09	15.10	15.09
1223	end dive: BOTTOM_OBSTACLE_DETECTED
state	1223	begin apogee
1229	-0.17	0.0	2498	1810	3513	3482	157.5	-13.1	219	1384	1.00	0.00	146.40	1.141	10246	0.154	0.000	2696	1809	2697	2728	2667	0	0	0	0	0	0	14.73	14.30	13.90
1386	end apogee: CONTROL_FINISHED_OK
state	1386	begin climb
1389	0.76	194.6	2696	1809	2727	2667	166.6	0.0	247	1552	1.42	2.55	150.10	1.127	10756	0.063	0.067	3019	399	1904	1941	1868	0	0	0	0	0	0	14.45	14.35	13.85
1561	0.83	246.7	3019	399	1937	1867	164.2	8.2	276	1612	0.00	2.38	41.70	1.087	9222	0.000	0.033	3020	1806	1693	1734	1652	0	0	0	0	0	0	14.50	14.45	13.90
1674	0.83	246.7	3018	1806	1731	1648	146.8	16.3	297	1681	0.00	2.38	0.00	0.000	2308	0.000	0.047	3019	3198	1689	1731	1648	0	0	0	0	0	0	14.76	14.51	14.76
1710	0.83	246.7	3019	3198	1728	1647	141.0	16.8	303	1717	0.00	2.40	0.00	0.000	1030	0.000	0.050	3021	1803	1687	1728	1647	0	0	0	0	0	0	14.66	14.59	14.68
1781	0.83	246.7	3022	1803	1728	1645	128.7	17.7	316	1788	0.00	2.38	0.00	0.000	260	0.000	0.047	3023	3195	1686	1726	1646	0	0	0	0	0	0	14.89	14.69	14.90
1811	0.83	246.7	3021	3195	1726	1645	123.1	19.1	321	1817	0.00	2.40	0.00	0.000	1030	0.000	0.053	3026	1802	1685	1726	1645	0	0	0	0	0	0	14.78	14.69	14.81
1883	0.83	246.7	3026	1802	1726	1644	111.0	17.5	334	1890	0.00	2.45	0.00	0.000	516	0.000	0.073	3026	393	1683	1726	1641	0	0	0	0	0	0	14.96	14.73	14.97
1908	0.83	246.7	3026	393	1726	1645	106.4	16.1	338	1914	0.00	2.33	0.00	0.000	1030	0.000	0.033	3026	1802	1685	1727	1644	0	0	0	0	0	0	14.86	14.80	14.88
1979	0.83	246.7	3026	1805	1726	1644	93.9	18.0	351	1985	0.00	0.00	0.00	0.000	6	0.000	0.000	3027	1805	1685	1726	1644	0	0	0	0	0	0	15.00	15.01	15.00
2048	0.83	246.7	3026	1805	1725	1644	81.8	16.4	364	2054	0.00	2.47	0.00	0.000	516	0.000	0.073	3027	388	1686	1728	1644	0	0	0	0	0	0	15.02	14.78	15.03
2077	0.83	246.7	3026	387	1725	1644	76.8	16.5	369	2084	0.00	2.33	0.00	0.000	5126	0.000	0.034	3027	1800	1684	1725	1644	0	0	0	0	0	0	14.92	14.84	14.94
2148	0.83	246.7	3026	1802	1724	1643	66.8	14.7	382	2155	0.00	2.35	0.00	0.000	260	0.000	0.050	3026	3204	1683	1723	1643	0	0	0	0	0	0	15.03	14.83	15.04
2224	0.83	246.7	3026	3204	1723	1643	56.8	13.0	396	2231	0.00	2.40	0.00	0.000	5126	0.000	0.051	3029	1791	1683	1723	1643	0	0	0	0	0	0	14.87	14.77	14.88
2295	0.83	246.7	3029	1790	1724	1641	48.8	11.0	409	2301	0.00	0.00	0.00	0.000	4102	0.000	0.000	3029	1791	1682	1723	1642	0	0	0	0	0	0	15.07	15.08	15.07
2363	0.83	246.7	3029	1791	1724	1642	39.7	13.1	422	2369	0.00	0.00	0.00	0.000	4102	0.000	0.000	3029	1791	1682	1723	1642	0	0	0	0	0	0	15.09	15.09	15.09
2432	0.83	246.7	3029	1791	1723	1642	30.7	12.3	435	2438	0.00	0.00	0.00	0.000	4102	0.000	0.000	3029	1790	1682	1723	1642	0	0	0	0	0	0	15.08	15.09	15.09
2501	0.85	267.7	3029	1791	1723	1641	23.7	9.3	448	2519	0.00	0.00	15.15	0.956	10246	0.000	0.000	3029	1791	1607	1650	1565	0	0	0	0	0	0	15.09	14.78	14.25
2583	0.85	267.7	3029	1791	1649	1562	15.2	11.2	463	2589	0.00	2.42	0.00	0.000	516	0.000	0.074	3031	396	1605	1648	1562	0	0	0	0	0	0	15.02	14.79	15.03
2612	0.85	267.7	3029	397	1647	1562	11.9	10.8	468	2619	0.00	2.33	0.00	0.000	1030	0.000	0.035	3031	1801	1604	1647	1562	0	0	0	0	0	0	14.92	14.85	14.93
2681	end climb: SURFACE_DEPTH_REACHED
state	2681	begin surface coast
2702	end surface coast: CONTROL_FINISHED_OK
state	2703	begin surface