Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 389 * 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 389 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 31 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 44 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 31 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 44 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 389 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 150419,192428,-3423.2888,2557.9792,8,1.0,16,-28.1,0.7,255.0,9,9.8 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3419.657,2610.208

_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 -67.1 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 150419,193306,-3423.3511,2557.9202,7,1.0,15,-28.1,0.5,257.3,9,9.4 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 0.7,1.024782 _24V_AH 13.57,123.500

SM_CCo 2897,158.25,0.802,0,0,597,515.37 _10V_AH 13.60,0.000

SM_GC 0.81,13.60,0.00,158.25,0.046,0.000,0.802,127,1798,597,-8.17,-0.37,515.37,0,0,0,0,0,0,14.80,15.02,14.09 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3409.50,2556.54,150419,182930 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.941493 MEM 340864

HUMID 46.10 DATA_FILE_SIZE 13425,516

INTERNAL_PRESSURE 9.30256 CAP_FILE_SIZE 101442,0

TCM_TEMP 18.80 CFSIZE 2097086464,2018934784

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

ALTIM_BOTTOM_PING 135.7,34.5 GPS 150419,202528,-3423.387,2558.260,8,1.0,18,-28.1,0.8,294.3,8,9.3

SC_FREEKB 3716992

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 508 211.93 nil 0 0 0.00

Roll_motor 71 79 76.92 nil 0 0 0.00

VBD_pump_during_apogee 359 1143 5576.61 nil 0 0 0.00

VBD_pump_during_surface 158 802 1723.30 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 16 5.28 nil 0 0 0.00

Iridium_during_connect 41 160 89.62 SciCon 2927 36 1457.50

Iridium_during_xfer 216 223 656.22 nil 0 0 0.00

Transponder_ping 4 420 27.07 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 11 2.62

TT8 1057 9 138.24

LPSleep 449 2 13.40

TT8_Active 661 9 86.48

TT8_Sampling 1185 28 456.93

TT8_CF8 230 36 114.74

TT8_Kalman 0 0 0.00

Analog_circuits 1184 12 195.03

GPS_charging 0 0 0.00

Compass 783 17 191.71

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

22 -0.76 -194.6 73 1812 623 548 0.0 0.0 0 122 0.00 0.00 -97.22 0.000 16386 0.000 0.000 69 1809 3033 3000 3067 0 0 0 0 0 0 14.95 28.83 14.96

127 -0.76 -194.6 68 1809 3000 3067 3.8 -9.1 18 158 14.52 2.40 -7.57 0.000 18948 0.308 0.080 2503 401 3496 3509 3484 0 0 0 0 0 0 14.50 13.57 14.75

308 -0.76 -194.6 2503 401 3510 3484 44.4 -14.4 52 315 0.00 2.35 0.00 0.000 3078 0.000 0.039 2497 1809 3497 3510 3484 0 0 0 0 0 0 14.92 14.82 14.95

379 -0.76 -194.6 2497 1812 3510 3484 55.9 -15.0 65 386 0.03 2.38 0.00 0.000 2308 0.509 0.054 2499 3223 3497 3510 3484 0 0 0 0 0 0 14.69 14.74 14.90

434 -0.76 -194.6 2499 3223 3511 3483 63.7 -11.8 75 441 0.00 2.40 0.00 0.000 3078 0.000 0.044 2499 1799 3497 3512 3482 0 0 0 0 0 0 14.95 14.84 14.95

504 -0.76 -194.6 2498 1800 3516 3482 71.7 -11.3 88 511 0.00 2.40 0.00 0.000 2564 0.000 0.064 2499 402 3497 3512 3483 0 0 0 0 0 0 15.07 14.73 15.07

538 -0.76 -194.6 2498 402 3512 3482 75.6 -10.8 94 545 0.00 2.35 0.00 0.000 3078 0.000 0.039 2498 1818 3497 3512 3482 0 0 0 0 0 0 14.95 14.86 14.97

609 -0.76 -194.6 2497 1820 3512 3482 81.9 -9.0 107 616 0.00 2.35 0.00 0.000 2308 0.000 0.055 2498 3216 3497 3512 3482 0 0 0 0 0 0 15.08 14.75 15.08

649 -0.76 -194.6 2498 3216 3512 3482 85.5 -8.7 114 655 0.00 2.35 0.00 0.000 3078 0.000 0.043 2498 1809 3497 3512 3482 0 0 0 0 0 0 14.96 14.86 14.97

720 -0.76 -194.6 2498 1809 3512 3482 92.6 -11.4 127 726 0.00 2.40 0.00 0.000 2564 0.000 0.063 2498 409 3496 3512 3481 0 0 0 0 0 0 15.09 14.76 15.09

754 -0.76 -194.6 2497 409 3512 3481 96.5 -10.7 133 761 0.00 2.33 0.00 0.000 3078 0.000 0.037 2498 1815 3496 3512 3481 0 0 0 0 0 0 14.88 14.79 14.88

826 -0.76 -194.6 2498 1818 3512 3481 104.6 -12.4 146 835 0.00 2.38 0.00 0.000 2308 0.000 0.055 2498 3220 3497 3513 3481 0 0 0 0 0 0 15.09 14.81 15.10

853 -0.76 -194.6 2497 3220 3513 3481 108.1 -12.4 150 859 0.00 2.35 0.00 0.000 3078 0.000 0.044 2498 1813 3497 3513 3481 0 0 0 0 0 0 14.97 14.87 14.98

923 -0.76 -194.6 2498 1813 3512 3481 115.8 -12.2 163 929 0.00 0.00 0.00 0.000 2054 0.000 0.000 2498 1813 3496 3511 3481 0 0 0 0 0 0 15.09 15.09 15.09

992 -0.76 -194.6 2498 1812 3512 3481 124.4 -12.0 176 999 0.00 0.00 0.00 0.000 2054 0.000 0.000 2498 1812 3496 3512 3481 0 0 0 0 0 0 15.10 15.11 15.10

1065 -0.76 -194.6 2498 1812 3512 3480 133.8 -12.5 189 1071 0.00 2.38 0.00 0.000 2308 0.000 0.054 2498 3215 3497 3513 3482 0 0 0 0 0 0 15.11 14.78 15.11

1111 -0.76 -194.6 2497 3215 3513 3481 139.2 -11.8 197 1118 0.03 2.35 0.00 0.000 3078 0.456 0.044 2508 1812 3497 3513 3481 0 0 0 0 0 0 14.71 14.83 14.90

1182 -0.76 -194.6 2508 1811 3512 3480 147.4 -11.6 210 1188 0.00 0.00 0.00 0.000 2054 0.000 0.000 2508 1812 3496 3512 3481 0 0 0 0 0 0 15.10 15.11 15.11

1251 -0.76 -194.6 2508 1811 3513 3481 155.5 -11.7 223 1257 0.00 0.00 0.00 0.000 2054 0.000 0.000 2508 1811 3497 3513 3481 0 0 0 0 0 0 15.11 15.11 15.11

1287 end dive: BOTTOM_OBSTACLE_DETECTED

state 1287 begin apogee

1293 -0.17 0.0 2508 1812 3513 3481 160.3 -11.9 230 1448 0.95 0.00 146.12 1.144 10246 0.148 0.000 2698 1811 2697 2728 2667 0 0 0 0 0 0 14.73 14.28 13.90

1450 end apogee: CONTROL_FINISHED_OK

state 1450 begin climb

1453 0.76 194.6 2698 1811 2727 2667 168.6 0.0 258 1615 1.42 2.55 149.52 1.136 10756 0.057 0.069 3020 405 1905 1941 1869 0 0 0 0 0 0 14.45 14.31 13.84

1630 0.76 194.6 3019 404 1936 1868 161.1 13.4 288 1637 0.05 2.38 0.00 0.000 5126 0.325 0.034 3011 1808 1901 1937 1866 0 0 0 0 0 0 14.32 14.47 14.48

1700 0.76 194.6 3010 1810 1936 1862 150.9 14.7 301 1707 0.00 2.35 0.00 0.000 4356 0.000 0.047 3010 3197 1898 1935 1862 0 0 0 0 0 0 14.79 14.59 14.79

1735 0.76 194.6 3010 3197 1933 1862 146.0 14.7 307 1742 0.00 2.40 0.00 0.000 5126 0.000 0.049 3018 1802 1898 1934 1862 0 0 0 0 0 0 14.73 14.64 14.74

1806 0.76 194.6 3018 1801 1933 1861 135.7 15.3 320 1812 0.00 0.00 0.00 0.000 4102 0.000 0.000 3018 1801 1897 1933 1861 0 0 0 0 0 0 14.90 14.90 14.90

1875 0.76 194.6 3018 1801 1933 1861 124.5 15.5 333 1881 0.00 2.38 0.00 0.000 4356 0.000 0.047 3018 3207 1896 1932 1860 0 0 0 0 0 0 14.96 14.75 14.97

1909 0.76 194.6 3018 3206 1931 1860 118.7 16.2 339 1916 0.10 2.40 0.00 0.000 5126 0.281 0.050 3008 1800 1895 1931 1860 0 0 0 0 0 0 14.60 14.73 14.78

1980 0.76 194.6 3008 1800 1931 1860 108.0 15.7 352 1986 0.00 0.00 0.00 0.000 4102 0.000 0.000 3008 1800 1895 1931 1860 0 0 0 0 0 0 15.01 15.01 15.01

2049 0.76 194.6 3008 1800 1931 1860 96.8 15.5 365 2054 0.00 0.00 0.00 0.000 4102 0.000 0.000 3008 1800 1895 1931 1860 0 0 0 0 0 0 15.03 15.03 15.03

2117 0.76 194.6 3008 1800 1931 1859 86.0 16.2 378 2124 0.00 2.40 0.00 0.000 4612 0.000 0.070 3017 395 1894 1930 1859 0 0 0 0 0 0 15.04 14.80 15.05

2202 0.76 194.6 3016 394 1928 1859 73.5 13.1 394 2209 0.00 2.33 0.00 0.000 5126 0.000 0.033 3017 1813 1894 1929 1859 0 0 0 0 0 0 14.95 14.87 14.96

2273 0.76 194.6 3017 1815 1929 1858 66.0 10.9 407 2280 0.00 2.30 0.00 0.000 4356 0.000 0.049 3017 3194 1893 1928 1858 0 0 0 0 0 0 15.07 14.77 15.07

2298 0.76 194.6 3016 3194 1928 1858 63.0 11.4 411 2304 0.00 2.38 0.00 0.000 5126 0.000 0.051 3017 1792 1893 1928 1858 0 0 0 0 0 0 14.87 14.78 14.88

2368 0.76 194.6 3017 1792 1929 1858 55.4 11.8 424 2374 0.00 0.00 0.00 0.000 4102 0.000 0.000 3017 1792 1892 1928 1857 0 0 0 0 0 0 15.08 15.09 15.09

2437 0.76 194.6 3017 1792 1933 1857 47.3 10.4 437 2444 0.00 2.35 0.00 0.000 4356 0.000 0.047 3017 3197 1892 1928 1857 0 0 0 0 0 0 15.08 14.86 15.09

2456 0.76 194.6 3016 3197 1928 1857 45.2 11.4 440 2463 0.00 2.38 0.00 0.000 5126 0.000 0.049 3017 1792 1892 1928 1857 0 0 0 0 0 0 14.96 14.85 14.98

2528 0.80 222.5 3017 1792 1928 1857 38.0 9.0 453 2557 0.00 2.38 22.02 1.041 12548 0.000 0.046 3017 3198 1790 1828 1752 0 0 0 0 0 0 15.09 14.65 14.23

2602 0.86 273.9 3017 3194 1826 1750 31.8 8.2 466 2653 0.00 2.38 41.65 1.023 11270 0.000 0.049 3017 1797 1581 1623 1540 0 0 0 0 0 0 14.88 14.78 14.11

2717 0.86 273.9 3018 1798 1621 1536 20.3 12.4 487 2723 0.00 2.45 0.00 0.000 2564 0.000 0.072 3018 397 1578 1621 1536 0 0 0 0 0 0 14.89 14.66 14.90

2793 0.86 273.9 3017 398 1618 1535 9.8 13.1 501 2800 0.00 2.33 0.00 0.000 3078 0.000 0.034 3017 1796 1576 1618 1534 0 0 0 0 0 0 14.77 14.70 14.78

2845 end climb: SURFACE_DEPTH_REACHED

state 2845 begin surface coast

2872 end surface coast: CONTROL_FINISHED_OK

state 2873 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	389	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	31	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	44	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	150419,192428,-3423.2888,2557.9792,8,1.0,16,-28.1,0.7,255.0,9,9.8	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3419.657,2610.208
_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	-67.1	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	150419,193306,-3423.3511,2557.9202,7,1.0,15,-28.1,0.5,257.3,9,9.4	MHEAD_RNG_PITCHd_Wd	98.1,20000,-15.7,-10.010,-18.71,2973
SPEED_LIMITS	0.173,0.296	D_GRID	1000

FINISH	0.7,1.024782	_24V_AH	13.57,123.500
SM_CCo	2897,158.25,0.802,0,0,597,515.37	_10V_AH	13.60,0.000
SM_GC	0.81,13.60,0.00,158.25,0.046,0.000,0.802,127,1798,597,-8.17,-0.37,515.37,0,0,0,0,0,0,14.80,15.02,14.09	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3409.50,2556.54,150419,182930	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.941493	MEM	340864
HUMID	46.10	DATA_FILE_SIZE	13425,516
INTERNAL_PRESSURE	9.30256	CAP_FILE_SIZE	101442,0
TCM_TEMP	18.80	CFSIZE	2097086464,2018934784
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	135.7,34.5	GPS	150419,202528,-3423.387,2558.260,8,1.0,18,-28.1,0.8,294.3,8,9.3
SC_FREEKB	3716992

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	508	211.93	nil	0	0	0.00
Roll_motor	71	79	76.92	nil	0	0	0.00
VBD_pump_during_apogee	359	1143	5576.61	nil	0	0	0.00
VBD_pump_during_surface	158	802	1723.30	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	16	5.28	nil	0	0	0.00
Iridium_during_connect	41	160	89.62	SciCon	2927	36	1457.50
Iridium_during_xfer	216	223	656.22	nil	0	0	0.00
Transponder_ping	4	420	27.07	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	11	2.62
TT8	1057	9	138.24
LPSleep	449	2	13.40
TT8_Active	661	9	86.48
TT8_Sampling	1185	28	456.93
TT8_CF8	230	36	114.74
TT8_Kalman	0	0	0.00
Analog_circuits	1184	12	195.03
GPS_charging	0	0	0.00
Compass	783	17	191.71
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
22	-0.76	-194.6	73	1812	623	548	0.0	0.0	0	122	0.00	0.00	-97.22	0.000	16386	0.000	0.000	69	1809	3033	3000	3067	0	0	0	0	0	0	14.95	28.83	14.96
127	-0.76	-194.6	68	1809	3000	3067	3.8	-9.1	18	158	14.52	2.40	-7.57	0.000	18948	0.308	0.080	2503	401	3496	3509	3484	0	0	0	0	0	0	14.50	13.57	14.75
308	-0.76	-194.6	2503	401	3510	3484	44.4	-14.4	52	315	0.00	2.35	0.00	0.000	3078	0.000	0.039	2497	1809	3497	3510	3484	0	0	0	0	0	0	14.92	14.82	14.95
379	-0.76	-194.6	2497	1812	3510	3484	55.9	-15.0	65	386	0.03	2.38	0.00	0.000	2308	0.509	0.054	2499	3223	3497	3510	3484	0	0	0	0	0	0	14.69	14.74	14.90
434	-0.76	-194.6	2499	3223	3511	3483	63.7	-11.8	75	441	0.00	2.40	0.00	0.000	3078	0.000	0.044	2499	1799	3497	3512	3482	0	0	0	0	0	0	14.95	14.84	14.95
504	-0.76	-194.6	2498	1800	3516	3482	71.7	-11.3	88	511	0.00	2.40	0.00	0.000	2564	0.000	0.064	2499	402	3497	3512	3483	0	0	0	0	0	0	15.07	14.73	15.07
538	-0.76	-194.6	2498	402	3512	3482	75.6	-10.8	94	545	0.00	2.35	0.00	0.000	3078	0.000	0.039	2498	1818	3497	3512	3482	0	0	0	0	0	0	14.95	14.86	14.97
609	-0.76	-194.6	2497	1820	3512	3482	81.9	-9.0	107	616	0.00	2.35	0.00	0.000	2308	0.000	0.055	2498	3216	3497	3512	3482	0	0	0	0	0	0	15.08	14.75	15.08
649	-0.76	-194.6	2498	3216	3512	3482	85.5	-8.7	114	655	0.00	2.35	0.00	0.000	3078	0.000	0.043	2498	1809	3497	3512	3482	0	0	0	0	0	0	14.96	14.86	14.97
720	-0.76	-194.6	2498	1809	3512	3482	92.6	-11.4	127	726	0.00	2.40	0.00	0.000	2564	0.000	0.063	2498	409	3496	3512	3481	0	0	0	0	0	0	15.09	14.76	15.09
754	-0.76	-194.6	2497	409	3512	3481	96.5	-10.7	133	761	0.00	2.33	0.00	0.000	3078	0.000	0.037	2498	1815	3496	3512	3481	0	0	0	0	0	0	14.88	14.79	14.88
826	-0.76	-194.6	2498	1818	3512	3481	104.6	-12.4	146	835	0.00	2.38	0.00	0.000	2308	0.000	0.055	2498	3220	3497	3513	3481	0	0	0	0	0	0	15.09	14.81	15.10
853	-0.76	-194.6	2497	3220	3513	3481	108.1	-12.4	150	859	0.00	2.35	0.00	0.000	3078	0.000	0.044	2498	1813	3497	3513	3481	0	0	0	0	0	0	14.97	14.87	14.98
923	-0.76	-194.6	2498	1813	3512	3481	115.8	-12.2	163	929	0.00	0.00	0.00	0.000	2054	0.000	0.000	2498	1813	3496	3511	3481	0	0	0	0	0	0	15.09	15.09	15.09
992	-0.76	-194.6	2498	1812	3512	3481	124.4	-12.0	176	999	0.00	0.00	0.00	0.000	2054	0.000	0.000	2498	1812	3496	3512	3481	0	0	0	0	0	0	15.10	15.11	15.10
1065	-0.76	-194.6	2498	1812	3512	3480	133.8	-12.5	189	1071	0.00	2.38	0.00	0.000	2308	0.000	0.054	2498	3215	3497	3513	3482	0	0	0	0	0	0	15.11	14.78	15.11
1111	-0.76	-194.6	2497	3215	3513	3481	139.2	-11.8	197	1118	0.03	2.35	0.00	0.000	3078	0.456	0.044	2508	1812	3497	3513	3481	0	0	0	0	0	0	14.71	14.83	14.90
1182	-0.76	-194.6	2508	1811	3512	3480	147.4	-11.6	210	1188	0.00	0.00	0.00	0.000	2054	0.000	0.000	2508	1812	3496	3512	3481	0	0	0	0	0	0	15.10	15.11	15.11
1251	-0.76	-194.6	2508	1811	3513	3481	155.5	-11.7	223	1257	0.00	0.00	0.00	0.000	2054	0.000	0.000	2508	1811	3497	3513	3481	0	0	0	0	0	0	15.11	15.11	15.11
1287	end dive: BOTTOM_OBSTACLE_DETECTED
state	1287	begin apogee
1293	-0.17	0.0	2508	1812	3513	3481	160.3	-11.9	230	1448	0.95	0.00	146.12	1.144	10246	0.148	0.000	2698	1811	2697	2728	2667	0	0	0	0	0	0	14.73	14.28	13.90
1450	end apogee: CONTROL_FINISHED_OK
state	1450	begin climb
1453	0.76	194.6	2698	1811	2727	2667	168.6	0.0	258	1615	1.42	2.55	149.52	1.136	10756	0.057	0.069	3020	405	1905	1941	1869	0	0	0	0	0	0	14.45	14.31	13.84
1630	0.76	194.6	3019	404	1936	1868	161.1	13.4	288	1637	0.05	2.38	0.00	0.000	5126	0.325	0.034	3011	1808	1901	1937	1866	0	0	0	0	0	0	14.32	14.47	14.48
1700	0.76	194.6	3010	1810	1936	1862	150.9	14.7	301	1707	0.00	2.35	0.00	0.000	4356	0.000	0.047	3010	3197	1898	1935	1862	0	0	0	0	0	0	14.79	14.59	14.79
1735	0.76	194.6	3010	3197	1933	1862	146.0	14.7	307	1742	0.00	2.40	0.00	0.000	5126	0.000	0.049	3018	1802	1898	1934	1862	0	0	0	0	0	0	14.73	14.64	14.74
1806	0.76	194.6	3018	1801	1933	1861	135.7	15.3	320	1812	0.00	0.00	0.00	0.000	4102	0.000	0.000	3018	1801	1897	1933	1861	0	0	0	0	0	0	14.90	14.90	14.90
1875	0.76	194.6	3018	1801	1933	1861	124.5	15.5	333	1881	0.00	2.38	0.00	0.000	4356	0.000	0.047	3018	3207	1896	1932	1860	0	0	0	0	0	0	14.96	14.75	14.97
1909	0.76	194.6	3018	3206	1931	1860	118.7	16.2	339	1916	0.10	2.40	0.00	0.000	5126	0.281	0.050	3008	1800	1895	1931	1860	0	0	0	0	0	0	14.60	14.73	14.78
1980	0.76	194.6	3008	1800	1931	1860	108.0	15.7	352	1986	0.00	0.00	0.00	0.000	4102	0.000	0.000	3008	1800	1895	1931	1860	0	0	0	0	0	0	15.01	15.01	15.01
2049	0.76	194.6	3008	1800	1931	1860	96.8	15.5	365	2054	0.00	0.00	0.00	0.000	4102	0.000	0.000	3008	1800	1895	1931	1860	0	0	0	0	0	0	15.03	15.03	15.03
2117	0.76	194.6	3008	1800	1931	1859	86.0	16.2	378	2124	0.00	2.40	0.00	0.000	4612	0.000	0.070	3017	395	1894	1930	1859	0	0	0	0	0	0	15.04	14.80	15.05
2202	0.76	194.6	3016	394	1928	1859	73.5	13.1	394	2209	0.00	2.33	0.00	0.000	5126	0.000	0.033	3017	1813	1894	1929	1859	0	0	0	0	0	0	14.95	14.87	14.96
2273	0.76	194.6	3017	1815	1929	1858	66.0	10.9	407	2280	0.00	2.30	0.00	0.000	4356	0.000	0.049	3017	3194	1893	1928	1858	0	0	0	0	0	0	15.07	14.77	15.07
2298	0.76	194.6	3016	3194	1928	1858	63.0	11.4	411	2304	0.00	2.38	0.00	0.000	5126	0.000	0.051	3017	1792	1893	1928	1858	0	0	0	0	0	0	14.87	14.78	14.88
2368	0.76	194.6	3017	1792	1929	1858	55.4	11.8	424	2374	0.00	0.00	0.00	0.000	4102	0.000	0.000	3017	1792	1892	1928	1857	0	0	0	0	0	0	15.08	15.09	15.09
2437	0.76	194.6	3017	1792	1933	1857	47.3	10.4	437	2444	0.00	2.35	0.00	0.000	4356	0.000	0.047	3017	3197	1892	1928	1857	0	0	0	0	0	0	15.08	14.86	15.09
2456	0.76	194.6	3016	3197	1928	1857	45.2	11.4	440	2463	0.00	2.38	0.00	0.000	5126	0.000	0.049	3017	1792	1892	1928	1857	0	0	0	0	0	0	14.96	14.85	14.98
2528	0.80	222.5	3017	1792	1928	1857	38.0	9.0	453	2557	0.00	2.38	22.02	1.041	12548	0.000	0.046	3017	3198	1790	1828	1752	0	0	0	0	0	0	15.09	14.65	14.23
2602	0.86	273.9	3017	3194	1826	1750	31.8	8.2	466	2653	0.00	2.38	41.65	1.023	11270	0.000	0.049	3017	1797	1581	1623	1540	0	0	0	0	0	0	14.88	14.78	14.11
2717	0.86	273.9	3018	1798	1621	1536	20.3	12.4	487	2723	0.00	2.45	0.00	0.000	2564	0.000	0.072	3018	397	1578	1621	1536	0	0	0	0	0	0	14.89	14.66	14.90
2793	0.86	273.9	3017	398	1618	1535	9.8	13.1	501	2800	0.00	2.33	0.00	0.000	3078	0.000	0.034	3017	1796	1576	1618	1534	0	0	0	0	0	0	14.77	14.70	14.78
2845	end climb: SURFACE_DEPTH_REACHED
state	2845	begin surface coast
2872	end surface coast: CONTROL_FINISHED_OK
state	2873	begin surface