Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 390 * 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 390 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 32 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 47 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 32 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 47 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 390 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 150419,202528,-3423.3872,2558.2603,8,1.0,18,-28.1,0.8,294.3,8,9.3 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3419.744,2610.441

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.81 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -67.0 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 150419,203416,-3423.4375,2558.1523,6,1.0,19,-28.1,0.8,161.5,8,9.4 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 0.5,1.024792 _24V_AH 13.54,123.717

SM_CCo 2981,174.00,0.802,0,0,597,515.37 _10V_AH 13.70,0.000

SM_GC 0.87,13.62,2.38,174.00,0.044,0.032,0.802,121,1799,597,-8.17,-1.61,515.37,0,0,0,0,0,0,14.84,14.85,14.09 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3409.50,2558.88,150419,192746 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.66661 MEM 340928

HUMID 45.82 DATA_FILE_SIZE 13437,530

INTERNAL_PRESSURE 9.30256 CAP_FILE_SIZE 105798,0

TCM_TEMP 18.80 CFSIZE 2097086464,2018770944

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

ALTIM_BOTTOM_PING 135.5,36.2 GPS 150419,212831,-3423.479,2558.432,6,0.8,31,-28.1,0.0,254.8,11,9.5

SC_FREEKB 3716480

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 326 135.23 nil 0 0 0.00

Roll_motor 85 75 87.62 nil 0 0 0.00

VBD_pump_during_apogee 331 1139 5109.28 nil 0 0 0.00

VBD_pump_during_surface 174 801 1888.82 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 16 5.63 nil 0 0 0.00

Iridium_during_connect 16 160 35.70 SciCon 3013 36 1475.76

Iridium_during_xfer 250 223 756.51 nil 0 0 0.00

Transponder_ping 4 420 27.01 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 11 3.22

TT8 1106 9 145.69

LPSleep 479 2 14.39

TT8_Active 654 9 86.13

TT8_Sampling 1209 28 469.65

TT8_CF8 245 36 122.90

TT8_Kalman 0 0 0.00

Analog_circuits 1184 12 196.60

GPS_charging 0 0 0.00

Compass 803 17 197.92

RAFOS 0 0 0.00

Transponder 34 30 14.14

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 88 1805 623 548 0.0 0.0 0 117 0.00 0.00 -92.07 0.000 16386 0.000 0.000 83 1805 2897 2861 2934 0 0 0 0 0 0 14.96 28.83 14.97

122 -0.76 -194.6 83 1804 2862 2934 3.3 -6.7 17 153 14.32 2.42 -10.05 0.000 18948 0.302 0.076 2504 403 3497 3510 3484 0 0 0 0 0 0 14.48 13.54 14.73

293 -0.76 -194.6 2503 403 3512 3484 41.0 -14.5 49 300 0.00 2.33 0.00 0.000 3078 0.000 0.039 2501 1800 3498 3512 3484 0 0 0 0 0 0 14.92 14.83 14.94

365 -0.76 -194.6 2501 1808 3511 3483 50.4 -12.8 62 372 0.00 2.40 0.00 0.000 2308 0.000 0.055 2501 3222 3498 3512 3484 0 0 0 0 0 0 15.06 14.78 15.04

440 -0.76 -194.6 2501 3222 3513 3482 59.7 -12.2 76 448 0.00 2.38 0.00 0.000 3078 0.000 0.044 2505 1809 3497 3512 3482 0 0 0 0 0 0 14.90 14.81 14.92

512 -0.76 -194.6 2501 1809 3513 3482 69.8 -15.2 89 520 0.00 2.40 0.00 0.000 2564 0.000 0.064 2501 406 3497 3513 3482 0 0 0 0 0 0 15.06 14.83 15.07

543 -0.76 -194.6 2501 406 3513 3482 74.9 -15.7 94 550 0.00 2.35 0.00 0.000 3078 0.000 0.039 2501 1824 3497 3513 3481 0 0 0 0 0 0 14.96 14.87 14.97

615 -0.76 -194.6 2501 1827 3513 3482 84.9 -13.9 107 622 0.00 2.38 0.00 0.000 2308 0.000 0.055 2501 3223 3498 3515 3482 0 0 0 0 0 0 15.08 14.81 15.09

650 -0.76 -194.6 2501 3223 3514 3483 89.2 -11.8 113 657 0.00 2.40 0.00 0.000 3078 0.000 0.044 2501 1800 3498 3514 3482 0 0 0 0 0 0 14.92 14.82 14.93

721 -0.76 -194.6 2501 1800 3514 3481 97.7 -11.5 126 728 0.00 2.40 0.00 0.000 2564 0.000 0.063 2501 401 3498 3514 3482 0 0 0 0 0 0 15.09 14.84 15.09

750 -0.76 -194.6 2500 401 3514 3481 101.9 -12.4 131 757 0.00 2.35 0.00 0.000 3078 0.000 0.037 2500 1820 3497 3514 3481 0 0 0 0 0 0 14.92 14.84 14.94

822 -0.76 -194.6 2500 1823 3514 3482 110.3 -12.0 144 829 0.00 2.35 0.00 0.000 2308 0.000 0.055 2501 3217 3497 3514 3481 0 0 0 0 0 0 15.09 14.85 15.10

876 -0.76 -194.6 2500 3216 3514 3481 116.7 -10.5 154 883 0.00 2.35 0.00 0.000 3078 0.000 0.043 2501 1812 3497 3514 3481 0 0 0 0 0 0 14.97 14.88 14.98

947 -0.76 -194.6 2500 1810 3514 3481 124.2 -11.0 167 955 0.00 2.40 0.00 0.000 2564 0.000 0.063 2501 408 3497 3514 3481 0 0 0 0 0 0 15.09 14.85 15.09

972 -0.76 -194.6 2500 408 3515 3481 127.4 -12.6 171 978 0.00 2.33 0.00 0.000 3078 0.000 0.036 2498 1817 3497 3514 3481 0 0 0 0 0 0 14.98 14.89 14.99

1047 -0.76 -194.6 2498 1820 3514 3481 135.5 -12.3 184 1053 0.00 2.35 0.00 0.000 2308 0.000 0.054 2498 3214 3497 3514 3481 0 0 0 0 0 0 15.10 14.86 15.11

1076 -0.76 -194.6 2497 3214 3514 3481 139.6 -10.3 189 1083 0.00 2.35 0.00 0.000 3078 0.000 0.041 2498 1809 3497 3514 3481 0 0 0 0 0 0 14.97 14.88 14.99

1147 -0.76 -194.6 2498 1808 3514 3481 147.7 -12.4 202 1153 0.00 0.00 0.00 0.000 2054 0.000 0.000 2498 1808 3497 3514 3480 0 0 0 0 0 0 15.09 15.09 15.09

1215 -0.76 -194.6 2498 1808 3514 3481 156.5 -12.9 215 1222 0.00 2.38 0.00 0.000 2308 0.000 0.050 2491 3213 3497 3513 3481 0 0 0 0 0 0 15.11 14.82 15.11

1255 -0.76 -194.6 2490 3213 3514 3481 161.5 -12.3 222 1262 0.08 2.35 0.00 0.000 3078 0.243 0.044 2508 1813 3497 3514 3481 0 0 0 0 0 0 14.71 14.79 14.88

1267 end dive: BOTTOM_OBSTACLE_DETECTED

state 1267 begin apogee

1273 -0.17 0.0 2507 1812 3514 3481 163.2 -12.3 224 1428 0.95 0.00 146.68 1.140 10246 0.147 0.000 2699 1811 2697 2728 2667 0 0 0 0 0 0 14.73 14.40 13.92

1430 end apogee: CONTROL_FINISHED_OK

state 1430 begin climb

1432 0.76 194.6 2699 1811 2728 2667 171.5 0.0 252 1589 1.40 0.00 150.88 1.125 10758 0.057 0.000 3013 1811 1905 1942 1868 0 0 0 0 0 0 14.46 14.33 13.87

1653 0.76 194.6 3012 1811 1936 1862 160.4 13.2 291 1659 0.00 0.00 0.00 0.000 4102 0.000 0.000 3013 1811 1898 1936 1861 0 0 0 0 0 0 14.73 14.74 14.74

1721 0.76 194.6 3013 1811 1931 1860 151.0 14.1 304 1728 0.00 2.38 0.00 0.000 4356 0.000 0.047 3013 3209 1897 1934 1860 0 0 0 0 0 0 14.85 14.65 14.85

1756 0.76 194.6 3013 3210 1932 1860 145.6 14.3 310 1763 0.08 2.42 0.00 0.000 5126 0.302 0.049 3009 1793 1896 1932 1860 0 0 0 0 0 0 14.54 14.68 14.73

1827 0.76 194.6 3008 1793 1930 1859 136.2 13.4 323 1832 0.00 0.00 0.00 0.000 4102 0.000 0.000 3008 1793 1895 1931 1859 0 0 0 0 0 0 14.95 14.95 14.95

1895 0.76 194.6 3008 1793 1931 1858 126.1 14.0 336 1902 0.00 2.38 0.00 0.000 4356 0.000 0.047 3008 3203 1894 1931 1858 0 0 0 0 0 0 14.98 14.77 14.98

1915 0.76 194.6 3008 3204 1930 1858 123.3 13.9 339 1921 0.00 2.40 0.00 0.000 5126 0.000 0.050 3013 1795 1894 1930 1858 0 0 0 0 0 0 14.87 14.77 14.89

1986 0.76 194.6 3012 1795 1929 1858 113.6 14.3 352 1991 0.00 0.00 0.00 0.000 4102 0.000 0.000 3013 1795 1894 1930 1859 0 0 0 0 0 0 15.00 15.01 15.00

2054 0.76 194.6 3013 1795 1930 1857 103.4 14.2 365 2061 0.00 2.38 0.00 0.000 4356 0.000 0.047 3013 3209 1893 1930 1857 0 0 0 0 0 0 15.04 14.82 15.04

2074 0.76 194.6 3013 3209 1929 1857 100.5 14.4 368 2081 0.08 2.40 0.00 0.000 5126 0.302 0.050 3008 1798 1893 1929 1857 0 0 0 0 0 0 14.64 14.78 14.84

2145 0.76 194.6 3008 1798 1929 1857 90.1 15.1 381 2152 0.00 2.42 0.00 0.000 4612 0.000 0.070 3017 388 1893 1929 1857 0 0 0 0 0 0 15.05 14.81 15.06

2221 0.76 194.6 3023 388 1927 1856 78.6 14.5 395 2228 0.00 2.35 0.00 0.000 5126 0.000 0.033 3017 1814 1891 1926 1856 0 0 0 0 0 0 14.95 14.88 14.97

2293 0.76 194.6 3017 1817 1926 1856 69.4 12.8 408 2299 0.00 2.30 0.00 0.000 4356 0.000 0.047 3017 3200 1890 1926 1855 0 0 0 0 0 0 15.07 14.76 15.08

2336 0.76 194.6 3017 3199 1926 1856 63.8 11.3 416 2343 0.00 2.38 0.00 0.000 5126 0.000 0.050 3017 1796 1890 1925 1856 0 0 0 0 0 0 14.96 14.85 14.97

2408 0.76 194.6 3017 1796 1926 1855 56.1 11.7 429 2414 0.00 2.42 0.00 0.000 4612 0.000 0.070 3020 388 1890 1925 1855 0 0 0 0 0 0 15.09 14.76 15.09

2457 0.76 194.6 3020 388 1925 1854 50.3 11.2 438 2465 0.05 2.33 0.00 0.000 5126 0.327 0.033 3011 1810 1889 1925 1854 0 0 0 0 0 0 14.63 14.90 14.83

2529 0.76 194.6 3010 1813 1925 1855 42.4 11.3 451 2536 0.00 2.33 0.00 0.000 4356 0.000 0.048 3010 3204 1889 1925 1854 0 0 0 0 0 0 15.09 14.83 15.09

2594 0.76 194.6 3010 3204 1925 1854 34.5 11.8 463 2600 0.00 2.38 0.00 0.000 5126 0.000 0.049 3017 1800 1889 1925 1854 0 0 0 0 0 0 14.94 14.83 14.94

2665 0.76 194.6 3017 1800 1925 1854 27.0 10.5 476 2671 0.00 2.35 0.00 0.000 4356 0.000 0.047 3018 3202 1889 1925 1854 0 0 0 0 0 0 15.10 14.87 15.10

2694 0.76 194.6 3017 3202 1924 1854 23.7 11.6 481 2701 0.00 2.38 0.00 0.000 5126 0.000 0.050 3018 1799 1889 1924 1854 0 0 0 0 0 0 14.95 14.83 14.97

2765 0.83 248.9 3017 1799 1925 1853 17.6 8.1 494 2806 0.00 2.45 33.50 0.968 10756 0.000 0.070 3026 391 1684 1725 1643 0 0 0 0 0 0 15.09 14.65 14.30

2917 end climb: SURFACE_DEPTH_REACHED

state 2917 begin surface coast

2954 end surface coast: CONTROL_FINISHED_OK

state 2955 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	390	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	32	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	47	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	150419,202528,-3423.3872,2558.2603,8,1.0,18,-28.1,0.8,294.3,8,9.3	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3419.744,2610.441
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.81	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-67.0	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	150419,203416,-3423.4375,2558.1523,6,1.0,19,-28.1,0.8,161.5,8,9.4	MHEAD_RNG_PITCHd_Wd	98.1,20000,-15.7,-10.010,-18.71,2973
SPEED_LIMITS	0.173,0.296	D_GRID	1000

FINISH	0.5,1.024792	_24V_AH	13.54,123.717
SM_CCo	2981,174.00,0.802,0,0,597,515.37	_10V_AH	13.70,0.000
SM_GC	0.87,13.62,2.38,174.00,0.044,0.032,0.802,121,1799,597,-8.17,-1.61,515.37,0,0,0,0,0,0,14.84,14.85,14.09	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3409.50,2558.88,150419,192746	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.66661	MEM	340928
HUMID	45.82	DATA_FILE_SIZE	13437,530
INTERNAL_PRESSURE	9.30256	CAP_FILE_SIZE	105798,0
TCM_TEMP	18.80	CFSIZE	2097086464,2018770944
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	135.5,36.2	GPS	150419,212831,-3423.479,2558.432,6,0.8,31,-28.1,0.0,254.8,11,9.5
SC_FREEKB	3716480

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	326	135.23	nil	0	0	0.00
Roll_motor	85	75	87.62	nil	0	0	0.00
VBD_pump_during_apogee	331	1139	5109.28	nil	0	0	0.00
VBD_pump_during_surface	174	801	1888.82	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	16	5.63	nil	0	0	0.00
Iridium_during_connect	16	160	35.70	SciCon	3013	36	1475.76
Iridium_during_xfer	250	223	756.51	nil	0	0	0.00
Transponder_ping	4	420	27.01	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	11	3.22
TT8	1106	9	145.69
LPSleep	479	2	14.39
TT8_Active	654	9	86.13
TT8_Sampling	1209	28	469.65
TT8_CF8	245	36	122.90
TT8_Kalman	0	0	0.00
Analog_circuits	1184	12	196.60
GPS_charging	0	0	0.00
Compass	803	17	197.92
RAFOS	0	0	0.00
Transponder	34	30	14.14

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	88	1805	623	548	0.0	0.0	0	117	0.00	0.00	-92.07	0.000	16386	0.000	0.000	83	1805	2897	2861	2934	0	0	0	0	0	0	14.96	28.83	14.97
122	-0.76	-194.6	83	1804	2862	2934	3.3	-6.7	17	153	14.32	2.42	-10.05	0.000	18948	0.302	0.076	2504	403	3497	3510	3484	0	0	0	0	0	0	14.48	13.54	14.73
293	-0.76	-194.6	2503	403	3512	3484	41.0	-14.5	49	300	0.00	2.33	0.00	0.000	3078	0.000	0.039	2501	1800	3498	3512	3484	0	0	0	0	0	0	14.92	14.83	14.94
365	-0.76	-194.6	2501	1808	3511	3483	50.4	-12.8	62	372	0.00	2.40	0.00	0.000	2308	0.000	0.055	2501	3222	3498	3512	3484	0	0	0	0	0	0	15.06	14.78	15.04
440	-0.76	-194.6	2501	3222	3513	3482	59.7	-12.2	76	448	0.00	2.38	0.00	0.000	3078	0.000	0.044	2505	1809	3497	3512	3482	0	0	0	0	0	0	14.90	14.81	14.92
512	-0.76	-194.6	2501	1809	3513	3482	69.8	-15.2	89	520	0.00	2.40	0.00	0.000	2564	0.000	0.064	2501	406	3497	3513	3482	0	0	0	0	0	0	15.06	14.83	15.07
543	-0.76	-194.6	2501	406	3513	3482	74.9	-15.7	94	550	0.00	2.35	0.00	0.000	3078	0.000	0.039	2501	1824	3497	3513	3481	0	0	0	0	0	0	14.96	14.87	14.97
615	-0.76	-194.6	2501	1827	3513	3482	84.9	-13.9	107	622	0.00	2.38	0.00	0.000	2308	0.000	0.055	2501	3223	3498	3515	3482	0	0	0	0	0	0	15.08	14.81	15.09
650	-0.76	-194.6	2501	3223	3514	3483	89.2	-11.8	113	657	0.00	2.40	0.00	0.000	3078	0.000	0.044	2501	1800	3498	3514	3482	0	0	0	0	0	0	14.92	14.82	14.93
721	-0.76	-194.6	2501	1800	3514	3481	97.7	-11.5	126	728	0.00	2.40	0.00	0.000	2564	0.000	0.063	2501	401	3498	3514	3482	0	0	0	0	0	0	15.09	14.84	15.09
750	-0.76	-194.6	2500	401	3514	3481	101.9	-12.4	131	757	0.00	2.35	0.00	0.000	3078	0.000	0.037	2500	1820	3497	3514	3481	0	0	0	0	0	0	14.92	14.84	14.94
822	-0.76	-194.6	2500	1823	3514	3482	110.3	-12.0	144	829	0.00	2.35	0.00	0.000	2308	0.000	0.055	2501	3217	3497	3514	3481	0	0	0	0	0	0	15.09	14.85	15.10
876	-0.76	-194.6	2500	3216	3514	3481	116.7	-10.5	154	883	0.00	2.35	0.00	0.000	3078	0.000	0.043	2501	1812	3497	3514	3481	0	0	0	0	0	0	14.97	14.88	14.98
947	-0.76	-194.6	2500	1810	3514	3481	124.2	-11.0	167	955	0.00	2.40	0.00	0.000	2564	0.000	0.063	2501	408	3497	3514	3481	0	0	0	0	0	0	15.09	14.85	15.09
972	-0.76	-194.6	2500	408	3515	3481	127.4	-12.6	171	978	0.00	2.33	0.00	0.000	3078	0.000	0.036	2498	1817	3497	3514	3481	0	0	0	0	0	0	14.98	14.89	14.99
1047	-0.76	-194.6	2498	1820	3514	3481	135.5	-12.3	184	1053	0.00	2.35	0.00	0.000	2308	0.000	0.054	2498	3214	3497	3514	3481	0	0	0	0	0	0	15.10	14.86	15.11
1076	-0.76	-194.6	2497	3214	3514	3481	139.6	-10.3	189	1083	0.00	2.35	0.00	0.000	3078	0.000	0.041	2498	1809	3497	3514	3481	0	0	0	0	0	0	14.97	14.88	14.99
1147	-0.76	-194.6	2498	1808	3514	3481	147.7	-12.4	202	1153	0.00	0.00	0.00	0.000	2054	0.000	0.000	2498	1808	3497	3514	3480	0	0	0	0	0	0	15.09	15.09	15.09
1215	-0.76	-194.6	2498	1808	3514	3481	156.5	-12.9	215	1222	0.00	2.38	0.00	0.000	2308	0.000	0.050	2491	3213	3497	3513	3481	0	0	0	0	0	0	15.11	14.82	15.11
1255	-0.76	-194.6	2490	3213	3514	3481	161.5	-12.3	222	1262	0.08	2.35	0.00	0.000	3078	0.243	0.044	2508	1813	3497	3514	3481	0	0	0	0	0	0	14.71	14.79	14.88
1267	end dive: BOTTOM_OBSTACLE_DETECTED
state	1267	begin apogee
1273	-0.17	0.0	2507	1812	3514	3481	163.2	-12.3	224	1428	0.95	0.00	146.68	1.140	10246	0.147	0.000	2699	1811	2697	2728	2667	0	0	0	0	0	0	14.73	14.40	13.92
1430	end apogee: CONTROL_FINISHED_OK
state	1430	begin climb
1432	0.76	194.6	2699	1811	2728	2667	171.5	0.0	252	1589	1.40	0.00	150.88	1.125	10758	0.057	0.000	3013	1811	1905	1942	1868	0	0	0	0	0	0	14.46	14.33	13.87
1653	0.76	194.6	3012	1811	1936	1862	160.4	13.2	291	1659	0.00	0.00	0.00	0.000	4102	0.000	0.000	3013	1811	1898	1936	1861	0	0	0	0	0	0	14.73	14.74	14.74
1721	0.76	194.6	3013	1811	1931	1860	151.0	14.1	304	1728	0.00	2.38	0.00	0.000	4356	0.000	0.047	3013	3209	1897	1934	1860	0	0	0	0	0	0	14.85	14.65	14.85
1756	0.76	194.6	3013	3210	1932	1860	145.6	14.3	310	1763	0.08	2.42	0.00	0.000	5126	0.302	0.049	3009	1793	1896	1932	1860	0	0	0	0	0	0	14.54	14.68	14.73
1827	0.76	194.6	3008	1793	1930	1859	136.2	13.4	323	1832	0.00	0.00	0.00	0.000	4102	0.000	0.000	3008	1793	1895	1931	1859	0	0	0	0	0	0	14.95	14.95	14.95
1895	0.76	194.6	3008	1793	1931	1858	126.1	14.0	336	1902	0.00	2.38	0.00	0.000	4356	0.000	0.047	3008	3203	1894	1931	1858	0	0	0	0	0	0	14.98	14.77	14.98
1915	0.76	194.6	3008	3204	1930	1858	123.3	13.9	339	1921	0.00	2.40	0.00	0.000	5126	0.000	0.050	3013	1795	1894	1930	1858	0	0	0	0	0	0	14.87	14.77	14.89
1986	0.76	194.6	3012	1795	1929	1858	113.6	14.3	352	1991	0.00	0.00	0.00	0.000	4102	0.000	0.000	3013	1795	1894	1930	1859	0	0	0	0	0	0	15.00	15.01	15.00
2054	0.76	194.6	3013	1795	1930	1857	103.4	14.2	365	2061	0.00	2.38	0.00	0.000	4356	0.000	0.047	3013	3209	1893	1930	1857	0	0	0	0	0	0	15.04	14.82	15.04
2074	0.76	194.6	3013	3209	1929	1857	100.5	14.4	368	2081	0.08	2.40	0.00	0.000	5126	0.302	0.050	3008	1798	1893	1929	1857	0	0	0	0	0	0	14.64	14.78	14.84
2145	0.76	194.6	3008	1798	1929	1857	90.1	15.1	381	2152	0.00	2.42	0.00	0.000	4612	0.000	0.070	3017	388	1893	1929	1857	0	0	0	0	0	0	15.05	14.81	15.06
2221	0.76	194.6	3023	388	1927	1856	78.6	14.5	395	2228	0.00	2.35	0.00	0.000	5126	0.000	0.033	3017	1814	1891	1926	1856	0	0	0	0	0	0	14.95	14.88	14.97
2293	0.76	194.6	3017	1817	1926	1856	69.4	12.8	408	2299	0.00	2.30	0.00	0.000	4356	0.000	0.047	3017	3200	1890	1926	1855	0	0	0	0	0	0	15.07	14.76	15.08
2336	0.76	194.6	3017	3199	1926	1856	63.8	11.3	416	2343	0.00	2.38	0.00	0.000	5126	0.000	0.050	3017	1796	1890	1925	1856	0	0	0	0	0	0	14.96	14.85	14.97
2408	0.76	194.6	3017	1796	1926	1855	56.1	11.7	429	2414	0.00	2.42	0.00	0.000	4612	0.000	0.070	3020	388	1890	1925	1855	0	0	0	0	0	0	15.09	14.76	15.09
2457	0.76	194.6	3020	388	1925	1854	50.3	11.2	438	2465	0.05	2.33	0.00	0.000	5126	0.327	0.033	3011	1810	1889	1925	1854	0	0	0	0	0	0	14.63	14.90	14.83
2529	0.76	194.6	3010	1813	1925	1855	42.4	11.3	451	2536	0.00	2.33	0.00	0.000	4356	0.000	0.048	3010	3204	1889	1925	1854	0	0	0	0	0	0	15.09	14.83	15.09
2594	0.76	194.6	3010	3204	1925	1854	34.5	11.8	463	2600	0.00	2.38	0.00	0.000	5126	0.000	0.049	3017	1800	1889	1925	1854	0	0	0	0	0	0	14.94	14.83	14.94
2665	0.76	194.6	3017	1800	1925	1854	27.0	10.5	476	2671	0.00	2.35	0.00	0.000	4356	0.000	0.047	3018	3202	1889	1925	1854	0	0	0	0	0	0	15.10	14.87	15.10
2694	0.76	194.6	3017	3202	1924	1854	23.7	11.6	481	2701	0.00	2.38	0.00	0.000	5126	0.000	0.050	3018	1799	1889	1924	1854	0	0	0	0	0	0	14.95	14.83	14.97
2765	0.83	248.9	3017	1799	1925	1853	17.6	8.1	494	2806	0.00	2.45	33.50	0.968	10756	0.000	0.070	3026	391	1684	1725	1643	0	0	0	0	0	0	15.09	14.65	14.30
2917	end climb: SURFACE_DEPTH_REACHED
state	2917	begin surface coast
2954	end surface coast: CONTROL_FINISHED_OK
state	2955	begin surface