Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 410 * 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 20 C_ROLL_CLIMB 1800 ALTIM_TOP_TURN_MARGIN 0

DIVE 410 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 51 ALTIM_PULSE 3

D_TGT 1000 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 2

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 250 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 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 358

CALL_TRIES 5 HEADING 20 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 250 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 51 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 410 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 170419,081728,-3423.8367,2558.8352,6,1.0,15,-28.1,1.5,44.4,8,9.7 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3413.709,2603.136

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.90 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -72.1 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 170419,082725,-3423.8567,2558.6692,6,0.8,39,-28.1,0.5,135.1,10,4.3 MHEAD_RNG_PITCHd_Wd 48.1,20000,-13.9,-10.010,-17.09,3711

SPEED_LIMITS 0.173,0.326 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.1,1.025188 _24V_AH 13.47,129.432

SM_CCo 3151,168.12,0.815,0,0,598,515.37 _10V_AH 13.55,0.000

SM_GC 0.91,13.62,2.40,168.12,0.050,0.049,0.815,128,1811,598,-8.17,0.99,515.37,0,0,0,0,0,0,14.83,14.82,14.07 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3412.10,2557.68,170419,070935 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.946736 MEM 340864

HUMID 45.78 DATA_FILE_SIZE 13427,556

INTERNAL_PRESSURE 9.28303 CAP_FILE_SIZE 110729,0

TCM_TEMP 18.60 CFSIZE 2097086464,2014904320

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

ALTIM_BOTTOM_PING 150.2,34.4 GPS 170419,092410,-3423.713,2558.618,7,0.8,16,-28.1,0.8,340.4,10,9.5

SC_FREEKB 3706048

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 303 125.18 nil 0 0 0.00

Roll_motor 95 85 110.30 nil 0 0 0.00

VBD_pump_during_apogee 389 1175 6171.31 nil 0 0 0.00

VBD_pump_during_surface 168 815 1846.79 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 16 6.22 nil 0 0 0.00

Iridium_during_connect 40 160 86.66 SciCon 3190 36 1571.73

Iridium_during_xfer 258 223 776.83 nil 0 0 0.00

Transponder_ping 5 420 31.12 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 40 11 6.22

TT8 1139 9 148.36

LPSleep 491 2 14.58

TT8_Active 711 9 92.71

TT8_Sampling 1312 28 504.13

TT8_CF8 272 36 134.91

TT8_Kalman 0 0 0.00

Analog_circuits 1275 12 209.29

GPS_charging 0 0 0.00

Compass 836 17 203.73

RAFOS 0 0 0.00

Transponder 37 30 15.29

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 21 begin dive

23 -0.76 -243.3 54 1805 620 551 0.0 0.0 0 118 0.00 0.00 -91.80 0.000 16386 0.000 0.000 52 1805 2837 2797 2877 0 0 0 0 0 0 14.93 28.83 14.94

123 -0.76 -243.3 53 1806 2799 2877 3.2 -6.4 17 159 14.60 2.47 -15.48 0.000 18948 0.304 0.086 2504 406 3696 3714 3678 0 0 0 0 0 0 14.47 13.47 14.71

294 -0.76 -243.3 2503 406 3715 3678 36.1 -14.4 49 301 0.00 2.33 0.00 0.000 3078 0.000 0.037 2501 1803 3697 3716 3678 0 0 0 0 0 0 14.89 14.80 14.90

365 -0.76 -243.3 2501 1806 3715 3678 47.9 -18.3 62 372 0.00 2.40 0.00 0.000 2308 0.000 0.057 2501 3212 3696 3714 3679 0 0 0 0 0 0 15.03 14.71 15.02

424 -0.76 -243.3 2501 3213 3715 3677 55.8 -11.4 73 431 0.00 2.38 0.00 0.000 3078 0.000 0.045 2501 1810 3695 3715 3676 0 0 0 0 0 0 14.87 14.80 14.87

496 -0.76 -243.3 2501 1809 3716 3678 65.1 -14.4 86 502 0.00 0.00 0.00 0.000 2054 0.000 0.000 2501 1808 3696 3715 3678 0 0 0 0 0 0 15.05 15.05 15.05

566 -0.76 -243.3 2501 1809 3714 3678 75.4 -14.0 99 571 0.00 0.00 0.00 0.000 2054 0.000 0.000 2502 1808 3696 3715 3678 0 0 0 0 0 0 15.05 15.05 15.05

636 -0.76 -243.3 2501 1809 3715 3678 85.3 -14.7 112 643 0.00 2.42 0.00 0.000 2308 0.000 0.054 2501 3222 3696 3715 3678 0 0 0 0 0 0 15.07 14.76 15.07

673 -0.76 -243.3 2500 3222 3715 3682 90.1 -12.5 118 680 0.00 2.38 0.00 0.000 3078 0.000 0.044 2501 1810 3696 3715 3678 0 0 0 0 0 0 14.93 14.83 14.95

746 -0.76 -243.3 2501 1810 3715 3678 100.1 -13.8 131 753 0.00 2.45 0.00 0.000 2564 0.000 0.067 2501 401 3696 3715 3678 0 0 0 0 0 0 15.07 14.75 15.07

782 -0.76 -243.3 2501 401 3715 3678 105.2 -14.6 137 788 0.00 2.38 0.00 0.000 3078 0.000 0.036 2501 1823 3696 3715 3678 0 0 0 0 0 0 14.94 14.84 14.95

853 -0.76 -243.3 2501 1826 3715 3678 114.5 -13.5 150 860 0.00 2.35 0.00 0.000 2308 0.000 0.057 2501 3214 3696 3715 3678 0 0 0 0 0 0 15.05 14.81 15.06

893 -0.76 -243.3 2501 3214 3715 3678 120.0 -11.5 157 901 0.00 2.35 0.00 0.000 3078 0.000 0.043 2501 1812 3696 3715 3678 0 0 0 0 0 0 14.94 14.83 14.95

965 -0.76 -243.3 2501 1811 3715 3678 128.3 -13.2 170 970 0.00 0.00 0.00 0.000 2054 0.000 0.000 2501 1811 3696 3715 3678 0 0 0 0 0 0 15.07 15.07 15.08

1035 -0.76 -243.3 2501 1811 3715 3678 138.0 -14.2 183 1041 0.00 0.00 0.00 0.000 2054 0.000 0.000 2501 1812 3696 3715 3678 0 0 0 0 0 0 15.07 15.08 15.08

1105 -0.76 -243.3 2501 1812 3715 3678 147.5 -13.7 196 1112 0.00 2.42 0.00 0.000 2308 0.000 0.054 2501 3222 3696 3715 3678 0 0 0 0 0 0 15.08 14.74 15.08

1137 -0.76 -243.3 2501 3222 3715 3678 151.5 -12.3 201 1144 0.00 2.38 0.00 0.000 3078 0.000 0.044 2501 1813 3696 3715 3678 0 0 0 0 0 0 14.94 14.83 14.96

1209 -0.76 -243.3 2501 1813 3715 3678 160.2 -13.1 214 1215 0.00 2.42 0.00 0.000 2564 0.000 0.067 2501 406 3696 3714 3678 0 0 0 0 0 0 15.07 14.81 15.07

1233 -0.76 -243.3 2500 407 3715 3678 163.9 -14.4 218 1240 0.00 2.33 0.00 0.000 3078 0.000 0.035 2501 1813 3696 3715 3678 0 0 0 0 0 0 14.95 14.86 14.96

1304 -0.76 -243.3 2500 1818 3714 3677 172.3 -12.9 231 1311 0.00 2.38 0.00 0.000 2308 0.000 0.056 2502 3220 3696 3715 3678 0 0 0 0 0 0 15.07 14.81 15.07

1322 end dive: BOTTOM_OBSTACLE_DETECTED

state 1322 begin apogee

1330 -0.17 0.0 2500 1791 3714 3678 175.3 -14.2 234 1523 0.98 0.00 182.70 1.176 10246 0.140 0.000 2697 1791 2698 2733 2664 0 0 0 0 0 0 14.69 14.31 13.84

1527 end apogee: CONTROL_FINISHED_OK

state 1527 begin climb

1529 0.76 243.3 2697 1791 2732 2664 184.2 0.0 269 1732 1.40 2.50 188.77 1.151 10756 0.085 0.070 2998 396 1705 1745 1666 0 0 0 0 0 0 14.37 14.27 13.78

1800 0.76 243.3 2997 396 1738 1665 166.5 14.0 317 1806 0.00 2.38 0.00 0.000 3078 0.000 0.034 2998 1803 1700 1737 1664 0 0 0 0 0 0 14.55 14.47 14.56

1871 0.76 243.3 2997 1806 1738 1661 156.7 14.3 330 1878 0.00 2.38 0.00 0.000 2308 0.000 0.048 2998 3205 1701 1738 1664 0 0 0 0 0 0 14.83 14.62 14.83

1901 0.76 243.3 2997 3205 1736 1660 152.0 14.4 335 1907 0.00 2.42 0.00 0.000 3078 0.000 0.054 2999 1806 1698 1736 1660 0 0 0 0 0 0 14.71 14.61 14.73

1973 0.76 243.3 2998 1806 1736 1659 142.5 13.7 348 1980 0.00 2.47 0.00 0.000 2564 0.000 0.074 2999 391 1698 1737 1659 0 0 0 0 0 0 14.91 14.67 14.90

1998 0.76 243.3 2999 391 1736 1659 138.8 13.0 352 2005 0.00 2.35 0.00 0.000 3078 0.000 0.034 2999 1809 1697 1736 1659 0 0 0 0 0 0 14.83 14.73 14.83

2069 0.76 243.3 2999 1812 1735 1659 128.8 14.3 365 2076 0.00 2.33 0.00 0.000 2308 0.000 0.048 2999 3196 1697 1735 1659 0 0 0 0 0 0 14.97 14.66 14.97

2099 0.76 243.3 2998 3196 1734 1659 124.1 14.5 370 2106 0.00 2.40 0.00 0.000 1030 0.000 0.054 2999 1798 1696 1735 1658 0 0 0 0 0 0 14.85 14.75 14.86

2170 0.76 243.3 2999 1798 1735 1659 114.0 14.9 383 2176 0.00 0.00 0.00 0.000 2054 0.000 0.000 2999 1797 1696 1735 1658 0 0 0 0 0 0 15.00 15.01 15.01

2239 0.76 243.3 2999 1798 1735 1658 103.7 14.3 396 2246 0.00 2.38 0.00 0.000 2308 0.000 0.049 2999 3198 1696 1735 1657 0 0 0 0 0 0 15.02 14.73 15.02

2259 0.76 243.3 2999 3198 1734 1657 100.9 14.2 399 2265 0.00 2.40 0.00 0.000 1030 0.000 0.054 3003 1796 1695 1734 1657 0 0 0 0 0 0 14.88 14.78 14.91

2330 0.76 243.3 3003 1795 1734 1657 91.8 13.3 412 2336 0.00 2.45 0.00 0.000 516 0.000 0.073 3011 387 1695 1734 1656 0 0 0 0 0 0 15.03 14.70 15.04

2359 0.76 243.3 3011 386 1734 1657 87.3 13.6 417 2366 0.00 2.35 0.00 0.000 5126 0.000 0.033 3011 1809 1696 1736 1657 0 0 0 0 0 0 14.82 14.74 14.83

2431 0.76 243.3 3011 1812 1734 1657 77.9 13.3 430 2437 0.00 2.33 0.00 0.000 4356 0.000 0.047 3011 3201 1695 1734 1657 0 0 0 0 0 0 15.05 14.78 15.05

2465 0.76 243.3 3011 3201 1733 1657 73.0 13.7 436 2471 0.00 2.40 0.00 0.000 5126 0.000 0.054 3013 1799 1694 1733 1656 0 0 0 0 0 0 14.84 14.72 14.86

2536 0.76 243.3 3013 1799 1733 1653 64.0 12.4 449 2543 0.00 2.45 0.00 0.000 4612 0.000 0.073 3014 392 1695 1734 1656 0 0 0 0 0 0 15.06 14.79 15.06

2556 0.76 243.3 3013 392 1733 1656 61.5 12.5 452 2563 0.00 2.33 0.00 0.000 5126 0.000 0.033 3014 1805 1694 1733 1656 0 0 0 0 0 0 14.90 14.82 14.90

2627 0.76 243.3 3014 1808 1734 1656 53.7 11.8 465 2634 0.00 2.33 0.00 0.000 4356 0.000 0.049 3014 3198 1694 1733 1656 0 0 0 0 0 0 15.05 14.83 15.05

2704 0.76 243.3 3014 3198 1732 1656 44.5 11.8 479 2710 0.00 2.40 0.00 0.000 5126 0.000 0.054 3014 1790 1693 1732 1655 0 0 0 0 0 0 14.94 14.83 14.96

2775 0.76 243.3 3014 1790 1733 1655 36.5 13.2 492 2781 0.00 2.38 0.00 0.000 4356 0.000 0.049 3014 3195 1694 1733 1655 0 0 0 0 0 0 15.07 14.74 15.07

2851 0.79 266.8 3014 3195 1732 1655 28.5 9.4 506 2875 0.00 2.40 18.17 1.023 9222 0.000 0.050 3014 1797 1610 1651 1569 0 0 0 0 0 0 14.88 14.79 14.23

2939 0.79 266.8 3014 1797 1650 1566 19.9 10.9 522 2945 0.00 2.42 0.00 0.000 516 0.000 0.073 3016 395 1608 1650 1566 0 0 0 0 0 0 15.00 14.75 15.00

2963 0.79 266.8 3017 395 1650 1567 17.3 10.3 526 2970 0.00 2.33 0.00 0.000 5126 0.000 0.034 3017 1805 1608 1649 1567 0 0 0 0 0 0 14.88 14.81 14.90

3034 0.79 266.8 3016 1807 1650 1565 9.8 10.1 539 3041 0.00 2.35 0.00 0.000 4356 0.000 0.049 3017 3202 1607 1649 1565 0 0 0 0 0 0 15.02 14.70 15.02

3096 end climb: SURFACE_DEPTH_REACHED

state 3097 begin surface coast

3124 end surface coast: CONTROL_FINISHED_OK

state 3124 begin surface

ID	574	HD_C	9.8500004e-06	C_ROLL_DIVE	1812	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	3	HEADING	20	C_ROLL_CLIMB	1800	ALTIM_TOP_TURN_MARGIN	0
DIVE	410	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	51	ALTIM_PULSE	3
D_TGT	1000	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	2
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	250	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	170419,081728,-3423.8367,2558.8352,6,1.0,15,-28.1,1.5,44.4,8,9.7	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3413.709,2603.136
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.90	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-72.1	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	170419,082725,-3423.8567,2558.6692,6,0.8,39,-28.1,0.5,135.1,10,4.3	MHEAD_RNG_PITCHd_Wd	48.1,20000,-13.9,-10.010,-17.09,3711
SPEED_LIMITS	0.173,0.326	D_GRID	1000

FINISH	0.1,1.025188	_24V_AH	13.47,129.432
SM_CCo	3151,168.12,0.815,0,0,598,515.37	_10V_AH	13.55,0.000
SM_GC	0.91,13.62,2.40,168.12,0.050,0.049,0.815,128,1811,598,-8.17,0.99,515.37,0,0,0,0,0,0,14.83,14.82,14.07	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3412.10,2557.68,170419,070935	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.946736	MEM	340864
HUMID	45.78	DATA_FILE_SIZE	13427,556
INTERNAL_PRESSURE	9.28303	CAP_FILE_SIZE	110729,0
TCM_TEMP	18.60	CFSIZE	2097086464,2014904320
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	150.2,34.4	GPS	170419,092410,-3423.713,2558.618,7,0.8,16,-28.1,0.8,340.4,10,9.5
SC_FREEKB	3706048

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	303	125.18	nil	0	0	0.00
Roll_motor	95	85	110.30	nil	0	0	0.00
VBD_pump_during_apogee	389	1175	6171.31	nil	0	0	0.00
VBD_pump_during_surface	168	815	1846.79	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	16	6.22	nil	0	0	0.00
Iridium_during_connect	40	160	86.66	SciCon	3190	36	1571.73
Iridium_during_xfer	258	223	776.83	nil	0	0	0.00
Transponder_ping	5	420	31.12	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	40	11	6.22
TT8	1139	9	148.36
LPSleep	491	2	14.58
TT8_Active	711	9	92.71
TT8_Sampling	1312	28	504.13
TT8_CF8	272	36	134.91
TT8_Kalman	0	0	0.00
Analog_circuits	1275	12	209.29
GPS_charging	0	0	0.00
Compass	836	17	203.73
RAFOS	0	0	0.00
Transponder	37	30	15.29

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	21	begin dive
23	-0.76	-243.3	54	1805	620	551	0.0	0.0	0	118	0.00	0.00	-91.80	0.000	16386	0.000	0.000	52	1805	2837	2797	2877	0	0	0	0	0	0	14.93	28.83	14.94
123	-0.76	-243.3	53	1806	2799	2877	3.2	-6.4	17	159	14.60	2.47	-15.48	0.000	18948	0.304	0.086	2504	406	3696	3714	3678	0	0	0	0	0	0	14.47	13.47	14.71
294	-0.76	-243.3	2503	406	3715	3678	36.1	-14.4	49	301	0.00	2.33	0.00	0.000	3078	0.000	0.037	2501	1803	3697	3716	3678	0	0	0	0	0	0	14.89	14.80	14.90
365	-0.76	-243.3	2501	1806	3715	3678	47.9	-18.3	62	372	0.00	2.40	0.00	0.000	2308	0.000	0.057	2501	3212	3696	3714	3679	0	0	0	0	0	0	15.03	14.71	15.02
424	-0.76	-243.3	2501	3213	3715	3677	55.8	-11.4	73	431	0.00	2.38	0.00	0.000	3078	0.000	0.045	2501	1810	3695	3715	3676	0	0	0	0	0	0	14.87	14.80	14.87
496	-0.76	-243.3	2501	1809	3716	3678	65.1	-14.4	86	502	0.00	0.00	0.00	0.000	2054	0.000	0.000	2501	1808	3696	3715	3678	0	0	0	0	0	0	15.05	15.05	15.05
566	-0.76	-243.3	2501	1809	3714	3678	75.4	-14.0	99	571	0.00	0.00	0.00	0.000	2054	0.000	0.000	2502	1808	3696	3715	3678	0	0	0	0	0	0	15.05	15.05	15.05
636	-0.76	-243.3	2501	1809	3715	3678	85.3	-14.7	112	643	0.00	2.42	0.00	0.000	2308	0.000	0.054	2501	3222	3696	3715	3678	0	0	0	0	0	0	15.07	14.76	15.07
673	-0.76	-243.3	2500	3222	3715	3682	90.1	-12.5	118	680	0.00	2.38	0.00	0.000	3078	0.000	0.044	2501	1810	3696	3715	3678	0	0	0	0	0	0	14.93	14.83	14.95
746	-0.76	-243.3	2501	1810	3715	3678	100.1	-13.8	131	753	0.00	2.45	0.00	0.000	2564	0.000	0.067	2501	401	3696	3715	3678	0	0	0	0	0	0	15.07	14.75	15.07
782	-0.76	-243.3	2501	401	3715	3678	105.2	-14.6	137	788	0.00	2.38	0.00	0.000	3078	0.000	0.036	2501	1823	3696	3715	3678	0	0	0	0	0	0	14.94	14.84	14.95
853	-0.76	-243.3	2501	1826	3715	3678	114.5	-13.5	150	860	0.00	2.35	0.00	0.000	2308	0.000	0.057	2501	3214	3696	3715	3678	0	0	0	0	0	0	15.05	14.81	15.06
893	-0.76	-243.3	2501	3214	3715	3678	120.0	-11.5	157	901	0.00	2.35	0.00	0.000	3078	0.000	0.043	2501	1812	3696	3715	3678	0	0	0	0	0	0	14.94	14.83	14.95
965	-0.76	-243.3	2501	1811	3715	3678	128.3	-13.2	170	970	0.00	0.00	0.00	0.000	2054	0.000	0.000	2501	1811	3696	3715	3678	0	0	0	0	0	0	15.07	15.07	15.08
1035	-0.76	-243.3	2501	1811	3715	3678	138.0	-14.2	183	1041	0.00	0.00	0.00	0.000	2054	0.000	0.000	2501	1812	3696	3715	3678	0	0	0	0	0	0	15.07	15.08	15.08
1105	-0.76	-243.3	2501	1812	3715	3678	147.5	-13.7	196	1112	0.00	2.42	0.00	0.000	2308	0.000	0.054	2501	3222	3696	3715	3678	0	0	0	0	0	0	15.08	14.74	15.08
1137	-0.76	-243.3	2501	3222	3715	3678	151.5	-12.3	201	1144	0.00	2.38	0.00	0.000	3078	0.000	0.044	2501	1813	3696	3715	3678	0	0	0	0	0	0	14.94	14.83	14.96
1209	-0.76	-243.3	2501	1813	3715	3678	160.2	-13.1	214	1215	0.00	2.42	0.00	0.000	2564	0.000	0.067	2501	406	3696	3714	3678	0	0	0	0	0	0	15.07	14.81	15.07
1233	-0.76	-243.3	2500	407	3715	3678	163.9	-14.4	218	1240	0.00	2.33	0.00	0.000	3078	0.000	0.035	2501	1813	3696	3715	3678	0	0	0	0	0	0	14.95	14.86	14.96
1304	-0.76	-243.3	2500	1818	3714	3677	172.3	-12.9	231	1311	0.00	2.38	0.00	0.000	2308	0.000	0.056	2502	3220	3696	3715	3678	0	0	0	0	0	0	15.07	14.81	15.07
1322	end dive: BOTTOM_OBSTACLE_DETECTED
state	1322	begin apogee
1330	-0.17	0.0	2500	1791	3714	3678	175.3	-14.2	234	1523	0.98	0.00	182.70	1.176	10246	0.140	0.000	2697	1791	2698	2733	2664	0	0	0	0	0	0	14.69	14.31	13.84
1527	end apogee: CONTROL_FINISHED_OK
state	1527	begin climb
1529	0.76	243.3	2697	1791	2732	2664	184.2	0.0	269	1732	1.40	2.50	188.77	1.151	10756	0.085	0.070	2998	396	1705	1745	1666	0	0	0	0	0	0	14.37	14.27	13.78
1800	0.76	243.3	2997	396	1738	1665	166.5	14.0	317	1806	0.00	2.38	0.00	0.000	3078	0.000	0.034	2998	1803	1700	1737	1664	0	0	0	0	0	0	14.55	14.47	14.56
1871	0.76	243.3	2997	1806	1738	1661	156.7	14.3	330	1878	0.00	2.38	0.00	0.000	2308	0.000	0.048	2998	3205	1701	1738	1664	0	0	0	0	0	0	14.83	14.62	14.83
1901	0.76	243.3	2997	3205	1736	1660	152.0	14.4	335	1907	0.00	2.42	0.00	0.000	3078	0.000	0.054	2999	1806	1698	1736	1660	0	0	0	0	0	0	14.71	14.61	14.73
1973	0.76	243.3	2998	1806	1736	1659	142.5	13.7	348	1980	0.00	2.47	0.00	0.000	2564	0.000	0.074	2999	391	1698	1737	1659	0	0	0	0	0	0	14.91	14.67	14.90
1998	0.76	243.3	2999	391	1736	1659	138.8	13.0	352	2005	0.00	2.35	0.00	0.000	3078	0.000	0.034	2999	1809	1697	1736	1659	0	0	0	0	0	0	14.83	14.73	14.83
2069	0.76	243.3	2999	1812	1735	1659	128.8	14.3	365	2076	0.00	2.33	0.00	0.000	2308	0.000	0.048	2999	3196	1697	1735	1659	0	0	0	0	0	0	14.97	14.66	14.97
2099	0.76	243.3	2998	3196	1734	1659	124.1	14.5	370	2106	0.00	2.40	0.00	0.000	1030	0.000	0.054	2999	1798	1696	1735	1658	0	0	0	0	0	0	14.85	14.75	14.86
2170	0.76	243.3	2999	1798	1735	1659	114.0	14.9	383	2176	0.00	0.00	0.00	0.000	2054	0.000	0.000	2999	1797	1696	1735	1658	0	0	0	0	0	0	15.00	15.01	15.01
2239	0.76	243.3	2999	1798	1735	1658	103.7	14.3	396	2246	0.00	2.38	0.00	0.000	2308	0.000	0.049	2999	3198	1696	1735	1657	0	0	0	0	0	0	15.02	14.73	15.02
2259	0.76	243.3	2999	3198	1734	1657	100.9	14.2	399	2265	0.00	2.40	0.00	0.000	1030	0.000	0.054	3003	1796	1695	1734	1657	0	0	0	0	0	0	14.88	14.78	14.91
2330	0.76	243.3	3003	1795	1734	1657	91.8	13.3	412	2336	0.00	2.45	0.00	0.000	516	0.000	0.073	3011	387	1695	1734	1656	0	0	0	0	0	0	15.03	14.70	15.04
2359	0.76	243.3	3011	386	1734	1657	87.3	13.6	417	2366	0.00	2.35	0.00	0.000	5126	0.000	0.033	3011	1809	1696	1736	1657	0	0	0	0	0	0	14.82	14.74	14.83
2431	0.76	243.3	3011	1812	1734	1657	77.9	13.3	430	2437	0.00	2.33	0.00	0.000	4356	0.000	0.047	3011	3201	1695	1734	1657	0	0	0	0	0	0	15.05	14.78	15.05
2465	0.76	243.3	3011	3201	1733	1657	73.0	13.7	436	2471	0.00	2.40	0.00	0.000	5126	0.000	0.054	3013	1799	1694	1733	1656	0	0	0	0	0	0	14.84	14.72	14.86
2536	0.76	243.3	3013	1799	1733	1653	64.0	12.4	449	2543	0.00	2.45	0.00	0.000	4612	0.000	0.073	3014	392	1695	1734	1656	0	0	0	0	0	0	15.06	14.79	15.06
2556	0.76	243.3	3013	392	1733	1656	61.5	12.5	452	2563	0.00	2.33	0.00	0.000	5126	0.000	0.033	3014	1805	1694	1733	1656	0	0	0	0	0	0	14.90	14.82	14.90
2627	0.76	243.3	3014	1808	1734	1656	53.7	11.8	465	2634	0.00	2.33	0.00	0.000	4356	0.000	0.049	3014	3198	1694	1733	1656	0	0	0	0	0	0	15.05	14.83	15.05
2704	0.76	243.3	3014	3198	1732	1656	44.5	11.8	479	2710	0.00	2.40	0.00	0.000	5126	0.000	0.054	3014	1790	1693	1732	1655	0	0	0	0	0	0	14.94	14.83	14.96
2775	0.76	243.3	3014	1790	1733	1655	36.5	13.2	492	2781	0.00	2.38	0.00	0.000	4356	0.000	0.049	3014	3195	1694	1733	1655	0	0	0	0	0	0	15.07	14.74	15.07
2851	0.79	266.8	3014	3195	1732	1655	28.5	9.4	506	2875	0.00	2.40	18.17	1.023	9222	0.000	0.050	3014	1797	1610	1651	1569	0	0	0	0	0	0	14.88	14.79	14.23
2939	0.79	266.8	3014	1797	1650	1566	19.9	10.9	522	2945	0.00	2.42	0.00	0.000	516	0.000	0.073	3016	395	1608	1650	1566	0	0	0	0	0	0	15.00	14.75	15.00
2963	0.79	266.8	3017	395	1650	1567	17.3	10.3	526	2970	0.00	2.33	0.00	0.000	5126	0.000	0.034	3017	1805	1608	1649	1567	0	0	0	0	0	0	14.88	14.81	14.90
3034	0.79	266.8	3016	1807	1650	1565	9.8	10.1	539	3041	0.00	2.35	0.00	0.000	4356	0.000	0.049	3017	3202	1607	1649	1565	0	0	0	0	0	0	15.02	14.70	15.02
3096	end climb: SURFACE_DEPTH_REACHED
state	3097	begin surface coast
3124	end surface coast: CONTROL_FINISHED_OK
state	3124	begin surface