Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 40 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 574 HD_C 9.8500004e-06 C_ROLL_DIVE 1850 ALTIM_BOTTOM_TURN_MARGIN 10

MISSION 3 HEADING 304 C_ROLL_CLIMB 1800 ALTIM_TOP_TURN_MARGIN 0

DIVE 40 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 43 ALTIM_PULSE 3

D_TGT 500 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 2

D_ABORT 1020 SM_CC 558.35083 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 0 COMM_SEQ 0 VBD_MAX 3960 DEEPGLIDER 0

D_PITCH 0 PROTOCOL 9 C_VBD 2801 MOTHERBOARD 4

D_SAFE 0 N_NOCOMM 1 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 167 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_MISSION 177 CAPUPLOAD 1 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_ABORT 363 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 2785 MINV_10V 10 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_DBAND 0.0099999998 MAXI_24V 3 SEABIRD_T_G 0.0042907312

MAX_BUOY 85 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 2 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 500 PITCH_AD_RATE 125 SM_CC 558.35083

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 2 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 363

CALL_TRIES 5 HEADING 304 PROTOCOL 9 T_BOOST 0

CALL_WAIT 60 HEAD_ERRBAND 10 P_OVSHOOT 0.039999999 T_DIVE 167

CAPMAXSIZE 400000 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_EPIRB 0

CAPUPLOAD 1 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 177

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 2785 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 1850 LOGGERS 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_VBD 2801 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 85 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 43 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 40 NAV_MODE 2 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 0 N_GPS 100840 SEABIRD_C_J 0.00024789109 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 1 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 170319,084230,-2936.2378,3145.9631,5,1.0,17,-24.7,1.4,207.8,8,9.7 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -2930.783,3135.333

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.79 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -66.0 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 170319,085311,-2936.8218,3145.6206,6,1.0,17,-24.7,1.0,199.4,8,9.4 MHEAD_RNG_PITCHd_Wd 13.7,20000,-24.3,-9.980,-26.67,1272

SPEED_LIMITS 0.173,0.199 D_GRID 500

Post-dive calculations and measurements:

FINISH 0.1,1.023670 _24V_AH 13.85,40.049

SM_CCo 4557,0.00,0.000,0,0,599,539.90 _10V_AH 13.82,0.000

SM_GC 0.78,13.98,2.25,0.00,0.059,0.053,0.000,125,1855,599,-8.26,1.30,539.90,0,0,0,0,0,0,15.02,15.01,14.81 FG_AHR_24Vo 0.000

IRIDIUM_FIX -2922.76,3147.98,170319,072659 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.92876 MEM 340936

HUMID 41.69 DATA_FILE_SIZE 20081,817

INTERNAL_PRESSURE 9.52717 CAP_FILE_SIZE 141243,0

TCM_TEMP 22.10 CFSIZE 2097086464,2087747584

XPDR_PINGS 40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

ALTIM_BOTTOM_PING 225.4,34.7 CURRENT 0.879,205.74,1

SC_FREEKB 3902208 GPS 170319,101049,-2938.473,3144.441,5,0.9,40,-24.8,2.1,204.4,9,5.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 304 129.14 nil 0 0 0.00

Roll_motor 74 295 302.85 nil 0 0 0.00

VBD_pump_during_apogee 233 1078 3484.59 nil 0 0 0.00

VBD_pump_during_surface 195 804 2181.03 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 16 5.34 nil 0 0 0.00

Iridium_during_connect 20 160 44.46 SciCon 4392 32 1981.94

Iridium_during_xfer 413 223 1276.98 nil 0 0 0.00

Transponder_ping 19 420 111.98 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 11 2.86

TT8 1887 9 250.74

LPSleep 760 2 23.03

TT8_Active 618 9 82.12

TT8_Sampling 1848 28 724.16

TT8_CF8 92 36 46.68

TT8_Kalman 0 0 0.00

Analog_circuits 1296 12 216.91

GPS_charging 0 0 0.00

Compass 1231 17 306.11

RAFOS 0 0 0.00

Transponder 59 30 24.56

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

19 -0.91 -82.7 90 1850 635 560 0.0 0.0 0 106 0.00 0.00 -84.22 0.000 16386 0.000 0.000 85 1850 2876 2847 2905 0 0 0 0 0 0 15.07 28.83 15.09

108 -0.91 -82.7 85 1850 2847 2905 3.4 -6.6 15 135 13.65 2.38 -4.65 0.000 18692 0.288 0.075 2474 3255 3138 3132 3144 0 0 0 0 0 0 14.74 14.02 14.95

157 -0.91 -82.7 2473 3255 3132 3144 20.2 -28.5 23 164 0.08 2.33 0.00 0.000 3078 0.279 0.047 2488 1846 3138 3133 3144 0 0 0 0 0 0 14.83 14.93 14.97

226 -0.91 -82.7 2487 1843 3135 3142 34.5 -19.9 36 233 0.00 2.35 0.00 0.000 2308 0.000 0.053 2481 3253 3138 3135 3142 0 0 0 0 0 0 15.16 14.95 15.16

289 -0.91 -82.7 2481 3253 3135 3142 45.0 -15.4 48 296 0.00 2.30 0.00 0.000 3078 0.000 0.045 2481 1849 3138 3135 3141 0 0 0 0 0 0 15.02 14.94 15.03

360 -0.91 -82.7 2480 1849 3135 3141 55.0 -15.4 61 366 0.00 0.00 0.00 0.000 2054 0.000 0.000 2481 1849 3138 3135 3141 0 0 0 0 0 0 15.19 15.20 15.19

428 -0.91 -82.7 2480 1847 3135 3141 67.0 -17.1 74 434 0.00 0.00 0.00 0.000 2054 0.000 0.000 2481 1847 3138 3136 3141 0 0 0 0 0 0 15.20 15.20 15.21

497 -0.91 -82.7 2481 1847 3136 3141 77.9 -15.7 87 504 0.00 2.33 0.00 0.000 2308 0.000 0.052 2478 3259 3138 3136 3141 0 0 0 0 0 0 15.22 15.02 15.22

557 -0.91 -82.7 2477 3259 3136 3140 87.0 -15.0 98 564 0.00 2.33 0.00 0.000 3078 0.000 0.044 2477 1843 3138 3136 3140 0 0 0 0 0 0 15.11 15.03 15.13

628 -0.91 -82.7 2477 1841 3137 3140 96.9 -17.3 111 633 0.00 0.00 0.00 0.000 2054 0.000 0.000 2478 1840 3138 3137 3140 0 0 0 0 0 0 15.23 15.23 15.23

696 -0.91 -82.7 2477 1839 3137 3140 106.7 -14.8 124 702 0.00 0.00 0.00 0.000 2054 0.000 0.000 2478 1840 3138 3136 3140 0 0 0 0 0 0 15.24 15.24 15.24

764 -0.91 -82.7 2477 1840 3137 3140 118.1 -15.3 137 769 0.00 0.00 0.00 0.000 2054 0.000 0.000 2477 1839 3138 3137 3140 0 0 0 0 0 0 15.23 15.24 15.24

831 -0.91 -82.7 2477 1839 3137 3140 127.3 -14.4 150 839 0.00 2.35 0.00 0.000 2564 0.000 0.063 2477 438 3138 3137 3140 0 0 0 0 0 0 15.24 15.04 15.26

861 -0.91 -82.7 2477 437 3136 3140 132.1 -15.8 155 868 0.00 2.28 0.00 0.000 3078 0.000 0.038 2477 1852 3137 3136 3138 0 0 0 0 0 0 15.14 15.06 15.15

929 -0.91 -82.7 2477 1855 3137 3139 140.8 -11.9 168 936 0.00 2.28 0.00 0.000 2308 0.000 0.054 2477 3250 3138 3137 3139 0 0 0 0 0 0 15.24 15.01 15.25

978 -0.91 -82.7 2477 3250 3136 3139 146.3 -10.5 177 984 0.00 2.28 0.00 0.000 3078 0.000 0.045 2477 1850 3138 3137 3139 0 0 0 0 0 0 15.14 15.06 15.16

1048 -0.91 -82.7 2477 1850 3137 3139 155.0 -13.2 190 1055 0.00 2.33 0.00 0.000 2308 0.000 0.058 2477 3254 3138 3137 3139 0 0 0 0 0 0 15.24 15.05 15.25

1118 -0.91 -82.7 2477 3254 3137 3138 164.0 -11.8 203 1124 0.00 2.28 0.00 0.000 3078 0.000 0.042 2477 1849 3137 3137 3138 0 0 0 0 0 0 15.15 15.07 15.16

1186 -0.91 -82.7 2477 1848 3137 3138 171.1 -9.0 216 1193 0.00 2.35 0.00 0.000 2564 0.000 0.063 2477 448 3137 3137 3138 0 0 0 0 0 0 15.27 15.05 15.27

1205 -0.91 -82.7 2476 444 3137 3138 173.2 -10.5 219 1212 0.00 2.28 0.00 0.000 3078 0.000 0.043 2480 1841 3137 3136 3138 0 0 0 0 0 0 15.13 15.05 15.14

1276 -0.91 -82.7 2477 1843 3137 3137 181.4 -12.2 232 1282 0.00 2.35 0.00 0.000 2308 0.000 0.062 2477 3264 3137 3137 3137 0 0 0 0 0 0 15.26 15.03 15.26

1335 -0.91 -82.7 2477 3263 3136 3137 189.8 -13.6 243 1344 0.00 2.30 0.00 0.000 3078 0.000 0.044 2477 1846 3137 3137 3137 0 0 0 0 0 0 15.11 15.02 15.12

1405 -0.91 -82.7 2476 1845 3137 3136 199.8 -14.4 256 1412 0.00 0.00 0.00 0.000 2054 0.000 0.000 2477 1845 3136 3137 3135 0 0 0 0 0 0 15.26 15.27 15.27

1474 -0.91 -82.7 2477 1844 3137 3136 209.1 -14.8 269 1481 0.00 2.35 0.00 0.000 2308 0.000 0.061 2470 3260 3137 3138 3136 0 0 0 0 0 0 15.27 15.06 15.27

1508 -0.91 -82.7 2469 3260 3135 3136 213.3 -11.2 275 1515 0.08 2.30 0.00 0.000 3078 0.273 0.043 2486 1839 3136 3137 3136 0 0 0 0 0 0 15.00 15.08 15.12

1577 -0.91 -82.7 2485 1839 3137 3136 221.7 -12.3 288 1583 0.00 0.00 0.00 0.000 2054 0.000 0.000 2485 1839 3136 3137 3136 0 0 0 0 0 0 15.28 15.28 15.29

1648 -0.91 -82.7 2485 1839 3137 3136 229.9 -11.1 301 1655 0.00 2.35 0.00 0.000 2308 0.000 0.057 2486 3261 3135 3136 3134 0 0 0 0 0 0 15.28 15.08 15.29

1692 -0.91 -82.7 2485 3265 3136 3135 234.8 -11.0 309 1698 0.00 2.30 0.00 0.000 3078 0.000 0.044 2486 1847 3135 3136 3134 0 0 0 0 0 0 15.17 15.09 15.19

1760 -0.91 -82.7 2486 1846 3136 3134 244.7 -15.7 322 1766 0.00 0.00 0.00 0.000 2054 0.000 0.000 2486 1846 3135 3136 3134 0 0 0 0 0 0 15.29 15.30 15.30

1802 end dive: BOTTOM_OBSTACLE_DETECTED

state 1802 begin apogee

1806 -0.17 0.0 2486 1792 3136 3134 250.6 -13.0 330 1875 1.17 0.00 60.55 1.079 10246 0.162 0.000 2723 1792 2800 2816 2785 0 0 0 0 0 0 15.00 14.67 14.30

1877 end apogee: CONTROL_FINISHED_OK

state 1877 begin climb

1878 0.91 82.7 2723 1792 2815 2785 252.7 0.0 342 1954 1.58 2.40 66.57 1.079 10756 0.050 0.063 3107 395 2459 2473 2446 0 0 0 0 0 0 14.81 14.59 14.12

2216 0.93 94.8 3102 395 2463 2442 237.4 9.0 406 2236 0.10 2.30 9.40 0.929 13318 0.304 0.037 3090 1824 2411 2426 2397 0 0 0 0 0 0 14.83 14.97 14.35

2298 0.93 94.8 3089 1824 2426 2397 229.8 10.2 421 2304 0.00 0.00 0.00 0.000 4102 0.000 0.000 3089 1824 2411 2426 2397 0 0 0 0 0 0 15.13 15.14 15.13

2365 0.99 148.7 3089 1824 2426 2396 225.0 5.6 434 2419 0.00 2.30 44.20 1.059 10500 0.000 0.051 3089 3192 2189 2210 2169 0 0 0 0 0 0 15.18 14.74 14.31

2922 0.99 148.7 3089 3192 2201 2163 148.4 14.3 543 2929 0.00 2.30 0.00 0.000 3078 0.000 0.047 3097 1800 2182 2201 2163 0 0 0 0 0 0 15.11 15.02 15.11

2992 0.99 148.7 3097 1800 2201 2163 138.4 13.8 556 2999 0.00 2.30 0.00 0.000 2308 0.000 0.054 3098 3197 2181 2200 2163 0 0 0 0 0 0 15.21 15.02 15.22

3205 0.99 148.7 3097 3197 2198 2162 110.7 11.8 598 3212 0.00 2.30 0.00 0.000 5126 0.000 0.047 3107 1798 2180 2199 2161 0 0 0 0 0 0 15.13 15.03 15.14

3274 0.99 148.7 3106 1798 2198 2161 103.5 10.9 611 3281 0.00 2.35 0.00 0.000 4612 0.000 0.069 3117 393 2178 2197 2160 0 0 0 0 0 0 15.23 14.99 15.23

3784 1.02 172.3 3117 393 2192 2160 47.0 8.1 712 3809 0.00 2.25 17.80 0.866 13318 0.000 0.037 3117 1799 2094 2114 2074 0 0 0 0 0 0 15.11 15.04 14.54

3872 1.05 198.7 3117 1798 2112 2072 40.9 7.9 728 3902 0.00 2.40 21.12 0.854 10756 0.000 0.067 3126 402 1985 2006 1964 0 0 0 0 0 0 15.19 14.83 14.46

3963 1.07 214.3 3125 402 2009 1964 33.1 8.7 745 3983 0.00 2.25 13.60 0.802 9222 0.000 0.037 3131 1802 1923 1948 1899 0 0 0 0 0 0 15.02 14.96 14.47

4045 1.07 214.3 3125 1796 1946 1897 25.5 10.3 760 4051 0.00 2.28 0.00 0.000 260 0.000 0.051 3126 3194 1920 1945 1896 0 0 0 0 0 0 15.14 14.89 15.11

4297 end climb: SURFACE_DEPTH_REACHED

state 4297 begin surface coast

4333 end surface coast: CONTROL_FINISHED_OK

state 4333 begin surface

ID	574	HD_C	9.8500004e-06	C_ROLL_DIVE	1850	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	3	HEADING	304	C_ROLL_CLIMB	1800	ALTIM_TOP_TURN_MARGIN	0
DIVE	40	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	43	ALTIM_PULSE	3
D_TGT	500	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	2
D_ABORT	1020	SM_CC	558.35083	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	0	COMM_SEQ	0	VBD_MAX	3960	DEEPGLIDER	0
D_PITCH	0	PROTOCOL	9	C_VBD	2801	MOTHERBOARD	4
D_SAFE	0	N_NOCOMM	1	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	167	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_MISSION	177	CAPUPLOAD	1	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_ABORT	363	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	2785	MINV_10V	10	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_DBAND	0.0099999998	MAXI_24V	3	SEABIRD_T_G	0.0042907312
MAX_BUOY	85	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	2	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	170319,084230,-2936.2378,3145.9631,5,1.0,17,-24.7,1.4,207.8,8,9.7	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-2930.783,3135.333
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.79	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-66.0	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	170319,085311,-2936.8218,3145.6206,6,1.0,17,-24.7,1.0,199.4,8,9.4	MHEAD_RNG_PITCHd_Wd	13.7,20000,-24.3,-9.980,-26.67,1272
SPEED_LIMITS	0.173,0.199	D_GRID	500

FINISH	0.1,1.023670	_24V_AH	13.85,40.049
SM_CCo	4557,0.00,0.000,0,0,599,539.90	_10V_AH	13.82,0.000
SM_GC	0.78,13.98,2.25,0.00,0.059,0.053,0.000,125,1855,599,-8.26,1.30,539.90,0,0,0,0,0,0,15.02,15.01,14.81	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-2922.76,3147.98,170319,072659	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.92876	MEM	340936
HUMID	41.69	DATA_FILE_SIZE	20081,817
INTERNAL_PRESSURE	9.52717	CAP_FILE_SIZE	141243,0
TCM_TEMP	22.10	CFSIZE	2097086464,2087747584
XPDR_PINGS	40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	225.4,34.7	CURRENT	0.879,205.74,1
SC_FREEKB	3902208	GPS	170319,101049,-2938.473,3144.441,5,0.9,40,-24.8,2.1,204.4,9,5.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	304	129.14	nil	0	0	0.00
Roll_motor	74	295	302.85	nil	0	0	0.00
VBD_pump_during_apogee	233	1078	3484.59	nil	0	0	0.00
VBD_pump_during_surface	195	804	2181.03	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	16	5.34	nil	0	0	0.00
Iridium_during_connect	20	160	44.46	SciCon	4392	32	1981.94
Iridium_during_xfer	413	223	1276.98	nil	0	0	0.00
Transponder_ping	19	420	111.98	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	11	2.86
TT8	1887	9	250.74
LPSleep	760	2	23.03
TT8_Active	618	9	82.12
TT8_Sampling	1848	28	724.16
TT8_CF8	92	36	46.68
TT8_Kalman	0	0	0.00
Analog_circuits	1296	12	216.91
GPS_charging	0	0	0.00
Compass	1231	17	306.11
RAFOS	0	0	0.00
Transponder	59	30	24.56

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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
19	-0.91	-82.7	90	1850	635	560	0.0	0.0	0	106	0.00	0.00	-84.22	0.000	16386	0.000	0.000	85	1850	2876	2847	2905	0	0	0	0	0	0	15.07	28.83	15.09
108	-0.91	-82.7	85	1850	2847	2905	3.4	-6.6	15	135	13.65	2.38	-4.65	0.000	18692	0.288	0.075	2474	3255	3138	3132	3144	0	0	0	0	0	0	14.74	14.02	14.95
157	-0.91	-82.7	2473	3255	3132	3144	20.2	-28.5	23	164	0.08	2.33	0.00	0.000	3078	0.279	0.047	2488	1846	3138	3133	3144	0	0	0	0	0	0	14.83	14.93	14.97
226	-0.91	-82.7	2487	1843	3135	3142	34.5	-19.9	36	233	0.00	2.35	0.00	0.000	2308	0.000	0.053	2481	3253	3138	3135	3142	0	0	0	0	0	0	15.16	14.95	15.16
289	-0.91	-82.7	2481	3253	3135	3142	45.0	-15.4	48	296	0.00	2.30	0.00	0.000	3078	0.000	0.045	2481	1849	3138	3135	3141	0	0	0	0	0	0	15.02	14.94	15.03
360	-0.91	-82.7	2480	1849	3135	3141	55.0	-15.4	61	366	0.00	0.00	0.00	0.000	2054	0.000	0.000	2481	1849	3138	3135	3141	0	0	0	0	0	0	15.19	15.20	15.19
428	-0.91	-82.7	2480	1847	3135	3141	67.0	-17.1	74	434	0.00	0.00	0.00	0.000	2054	0.000	0.000	2481	1847	3138	3136	3141	0	0	0	0	0	0	15.20	15.20	15.21
497	-0.91	-82.7	2481	1847	3136	3141	77.9	-15.7	87	504	0.00	2.33	0.00	0.000	2308	0.000	0.052	2478	3259	3138	3136	3141	0	0	0	0	0	0	15.22	15.02	15.22
557	-0.91	-82.7	2477	3259	3136	3140	87.0	-15.0	98	564	0.00	2.33	0.00	0.000	3078	0.000	0.044	2477	1843	3138	3136	3140	0	0	0	0	0	0	15.11	15.03	15.13
628	-0.91	-82.7	2477	1841	3137	3140	96.9	-17.3	111	633	0.00	0.00	0.00	0.000	2054	0.000	0.000	2478	1840	3138	3137	3140	0	0	0	0	0	0	15.23	15.23	15.23
696	-0.91	-82.7	2477	1839	3137	3140	106.7	-14.8	124	702	0.00	0.00	0.00	0.000	2054	0.000	0.000	2478	1840	3138	3136	3140	0	0	0	0	0	0	15.24	15.24	15.24
764	-0.91	-82.7	2477	1840	3137	3140	118.1	-15.3	137	769	0.00	0.00	0.00	0.000	2054	0.000	0.000	2477	1839	3138	3137	3140	0	0	0	0	0	0	15.23	15.24	15.24
831	-0.91	-82.7	2477	1839	3137	3140	127.3	-14.4	150	839	0.00	2.35	0.00	0.000	2564	0.000	0.063	2477	438	3138	3137	3140	0	0	0	0	0	0	15.24	15.04	15.26
861	-0.91	-82.7	2477	437	3136	3140	132.1	-15.8	155	868	0.00	2.28	0.00	0.000	3078	0.000	0.038	2477	1852	3137	3136	3138	0	0	0	0	0	0	15.14	15.06	15.15
929	-0.91	-82.7	2477	1855	3137	3139	140.8	-11.9	168	936	0.00	2.28	0.00	0.000	2308	0.000	0.054	2477	3250	3138	3137	3139	0	0	0	0	0	0	15.24	15.01	15.25
978	-0.91	-82.7	2477	3250	3136	3139	146.3	-10.5	177	984	0.00	2.28	0.00	0.000	3078	0.000	0.045	2477	1850	3138	3137	3139	0	0	0	0	0	0	15.14	15.06	15.16
1048	-0.91	-82.7	2477	1850	3137	3139	155.0	-13.2	190	1055	0.00	2.33	0.00	0.000	2308	0.000	0.058	2477	3254	3138	3137	3139	0	0	0	0	0	0	15.24	15.05	15.25
1118	-0.91	-82.7	2477	3254	3137	3138	164.0	-11.8	203	1124	0.00	2.28	0.00	0.000	3078	0.000	0.042	2477	1849	3137	3137	3138	0	0	0	0	0	0	15.15	15.07	15.16
1186	-0.91	-82.7	2477	1848	3137	3138	171.1	-9.0	216	1193	0.00	2.35	0.00	0.000	2564	0.000	0.063	2477	448	3137	3137	3138	0	0	0	0	0	0	15.27	15.05	15.27
1205	-0.91	-82.7	2476	444	3137	3138	173.2	-10.5	219	1212	0.00	2.28	0.00	0.000	3078	0.000	0.043	2480	1841	3137	3136	3138	0	0	0	0	0	0	15.13	15.05	15.14
1276	-0.91	-82.7	2477	1843	3137	3137	181.4	-12.2	232	1282	0.00	2.35	0.00	0.000	2308	0.000	0.062	2477	3264	3137	3137	3137	0	0	0	0	0	0	15.26	15.03	15.26
1335	-0.91	-82.7	2477	3263	3136	3137	189.8	-13.6	243	1344	0.00	2.30	0.00	0.000	3078	0.000	0.044	2477	1846	3137	3137	3137	0	0	0	0	0	0	15.11	15.02	15.12
1405	-0.91	-82.7	2476	1845	3137	3136	199.8	-14.4	256	1412	0.00	0.00	0.00	0.000	2054	0.000	0.000	2477	1845	3136	3137	3135	0	0	0	0	0	0	15.26	15.27	15.27
1474	-0.91	-82.7	2477	1844	3137	3136	209.1	-14.8	269	1481	0.00	2.35	0.00	0.000	2308	0.000	0.061	2470	3260	3137	3138	3136	0	0	0	0	0	0	15.27	15.06	15.27
1508	-0.91	-82.7	2469	3260	3135	3136	213.3	-11.2	275	1515	0.08	2.30	0.00	0.000	3078	0.273	0.043	2486	1839	3136	3137	3136	0	0	0	0	0	0	15.00	15.08	15.12
1577	-0.91	-82.7	2485	1839	3137	3136	221.7	-12.3	288	1583	0.00	0.00	0.00	0.000	2054	0.000	0.000	2485	1839	3136	3137	3136	0	0	0	0	0	0	15.28	15.28	15.29
1648	-0.91	-82.7	2485	1839	3137	3136	229.9	-11.1	301	1655	0.00	2.35	0.00	0.000	2308	0.000	0.057	2486	3261	3135	3136	3134	0	0	0	0	0	0	15.28	15.08	15.29
1692	-0.91	-82.7	2485	3265	3136	3135	234.8	-11.0	309	1698	0.00	2.30	0.00	0.000	3078	0.000	0.044	2486	1847	3135	3136	3134	0	0	0	0	0	0	15.17	15.09	15.19
1760	-0.91	-82.7	2486	1846	3136	3134	244.7	-15.7	322	1766	0.00	0.00	0.00	0.000	2054	0.000	0.000	2486	1846	3135	3136	3134	0	0	0	0	0	0	15.29	15.30	15.30
1802	end dive: BOTTOM_OBSTACLE_DETECTED
state	1802	begin apogee
1806	-0.17	0.0	2486	1792	3136	3134	250.6	-13.0	330	1875	1.17	0.00	60.55	1.079	10246	0.162	0.000	2723	1792	2800	2816	2785	0	0	0	0	0	0	15.00	14.67	14.30
1877	end apogee: CONTROL_FINISHED_OK
state	1877	begin climb
1878	0.91	82.7	2723	1792	2815	2785	252.7	0.0	342	1954	1.58	2.40	66.57	1.079	10756	0.050	0.063	3107	395	2459	2473	2446	0	0	0	0	0	0	14.81	14.59	14.12
2216	0.93	94.8	3102	395	2463	2442	237.4	9.0	406	2236	0.10	2.30	9.40	0.929	13318	0.304	0.037	3090	1824	2411	2426	2397	0	0	0	0	0	0	14.83	14.97	14.35
2298	0.93	94.8	3089	1824	2426	2397	229.8	10.2	421	2304	0.00	0.00	0.00	0.000	4102	0.000	0.000	3089	1824	2411	2426	2397	0	0	0	0	0	0	15.13	15.14	15.13
2365	0.99	148.7	3089	1824	2426	2396	225.0	5.6	434	2419	0.00	2.30	44.20	1.059	10500	0.000	0.051	3089	3192	2189	2210	2169	0	0	0	0	0	0	15.18	14.74	14.31
2922	0.99	148.7	3089	3192	2201	2163	148.4	14.3	543	2929	0.00	2.30	0.00	0.000	3078	0.000	0.047	3097	1800	2182	2201	2163	0	0	0	0	0	0	15.11	15.02	15.11
2992	0.99	148.7	3097	1800	2201	2163	138.4	13.8	556	2999	0.00	2.30	0.00	0.000	2308	0.000	0.054	3098	3197	2181	2200	2163	0	0	0	0	0	0	15.21	15.02	15.22
3205	0.99	148.7	3097	3197	2198	2162	110.7	11.8	598	3212	0.00	2.30	0.00	0.000	5126	0.000	0.047	3107	1798	2180	2199	2161	0	0	0	0	0	0	15.13	15.03	15.14
3274	0.99	148.7	3106	1798	2198	2161	103.5	10.9	611	3281	0.00	2.35	0.00	0.000	4612	0.000	0.069	3117	393	2178	2197	2160	0	0	0	0	0	0	15.23	14.99	15.23
3784	1.02	172.3	3117	393	2192	2160	47.0	8.1	712	3809	0.00	2.25	17.80	0.866	13318	0.000	0.037	3117	1799	2094	2114	2074	0	0	0	0	0	0	15.11	15.04	14.54
3872	1.05	198.7	3117	1798	2112	2072	40.9	7.9	728	3902	0.00	2.40	21.12	0.854	10756	0.000	0.067	3126	402	1985	2006	1964	0	0	0	0	0	0	15.19	14.83	14.46
3963	1.07	214.3	3125	402	2009	1964	33.1	8.7	745	3983	0.00	2.25	13.60	0.802	9222	0.000	0.037	3131	1802	1923	1948	1899	0	0	0	0	0	0	15.02	14.96	14.47
4045	1.07	214.3	3125	1796	1946	1897	25.5	10.3	760	4051	0.00	2.28	0.00	0.000	260	0.000	0.051	3126	3194	1920	1945	1896	0	0	0	0	0	0	15.14	14.89	15.11
4297	end climb: SURFACE_DEPTH_REACHED
state	4297	begin surface coast
4333	end surface coast: CONTROL_FINISHED_OK
state	4333	begin surface