Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 411 * 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 411 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 30 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 30 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 411 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 170419,092410,-3423.7134,2558.6184,7,0.8,16,-28.1,0.8,340.4,10,9.5 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3413.594,2602.872

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.89 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -70.9 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 170419,093334,-3423.7415,2558.4050,6,0.8,18,-28.1,1.3,228.5,10,9.9 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 1.8,1.025429 _24V_AH 13.48,129.679

SM_CCo 3039,91.18,0.800,0,0,598,515.37 _10V_AH 13.53,0.000

SM_GC 0.93,13.88,2.40,91.18,0.044,0.031,0.800,127,1804,598,-8.18,-1.41,515.37,0,0,0,0,0,0,14.72,14.74,14.09 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3409.50,2558.88,170419,082114 FG_AHR_10Vo 0.000

TT8_MAMPS 0.020972,0.954226 MEM 340928

HUMID 45.58 DATA_FILE_SIZE 13448,542

INTERNAL_PRESSURE 9.27327 CAP_FILE_SIZE 102506,0

TCM_TEMP 18.60 CFSIZE 2097086464,2014740480

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

ALTIM_BOTTOM_PING 145.2,33.9 GPS 170419,102731,-3423.641,2558.394,7,1.2,39,-28.1,0.9,359.6,8,6.1

SC_FREEKB 3705536

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 452 188.63 nil 0 0 0.00

Roll_motor 66 74 67.68 nil 0 0 0.00

VBD_pump_during_apogee 479 1164 7520.34 nil 0 0 0.00

VBD_pump_during_surface 91 800 983.46 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 16 5.64 nil 0 0 0.00

Iridium_during_connect 37 160 79.94 SciCon 3075 36 1499.41

Iridium_during_xfer 251 223 755.31 nil 0 0 0.00

Transponder_ping 5 420 29.72 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 11 3.03

TT8 1068 9 138.93

LPSleep 453 2 13.44

TT8_Active 675 9 87.77

TT8_Sampling 1257 28 482.19

TT8_CF8 249 36 123.60

TT8_Kalman 0 0 0.00

Analog_circuits 1228 12 201.34

GPS_charging 0 0 0.00

Compass 817 17 198.88

RAFOS 0 0 0.00

Transponder 36 30 14.66

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

23 -0.76 -243.3 54 1803 621 549 0.0 0.0 0 118 0.00 0.00 -92.20 0.000 16386 0.000 0.000 53 1806 2862 2822 2902 0 0 0 0 0 0 14.92 28.83 14.94

123 -0.76 -243.3 53 1806 2824 2902 3.1 -6.1 17 159 14.57 2.42 -14.80 0.000 18692 0.301 0.073 2497 3204 3695 3714 3677 0 0 0 0 0 0 14.47 13.48 14.74

314 -0.76 -243.3 2497 3205 3714 3677 35.9 -10.6 53 322 0.03 2.35 0.00 0.000 3078 0.452 0.044 2507 1810 3695 3714 3677 0 0 0 0 0 0 14.55 14.71 14.73

386 -0.76 -243.3 2507 1810 3720 3677 44.7 -13.0 66 392 0.00 0.00 0.00 0.000 2054 0.000 0.000 2508 1810 3695 3714 3677 0 0 0 0 0 0 15.04 15.04 15.04

455 -0.76 -243.3 2507 1810 3714 3677 53.8 -12.3 79 461 0.00 2.38 0.00 0.000 2308 0.000 0.053 2505 3203 3695 3714 3677 0 0 0 0 0 0 15.05 14.69 15.05

499 -0.76 -243.3 2505 3203 3714 3677 58.9 -10.6 87 506 0.00 2.35 0.00 0.000 3078 0.000 0.045 2505 1809 3695 3714 3677 0 0 0 0 0 0 14.92 14.82 14.92

571 -0.76 -243.3 2504 1808 3714 3677 68.7 -14.9 100 577 0.00 0.00 0.00 0.000 2054 0.000 0.000 2505 1808 3695 3714 3677 0 0 0 0 0 0 15.06 15.07 15.07

639 -0.76 -243.3 2505 1808 3714 3677 78.7 -14.4 113 645 0.00 0.00 0.00 0.000 2054 0.000 0.000 2506 1808 3695 3714 3677 0 0 0 0 0 0 15.07 15.07 15.07

708 -0.76 -243.3 2505 1808 3714 3677 88.3 -13.7 126 713 0.00 0.00 0.00 0.000 2054 0.000 0.000 2504 1808 3695 3714 3677 0 0 0 0 0 0 15.07 15.07 15.07

777 -0.76 -243.3 2505 1808 3714 3677 97.7 -13.8 139 783 0.00 0.00 0.00 0.000 2054 0.000 0.000 2505 1808 3695 3714 3677 0 0 0 0 0 0 15.07 15.07 15.07

847 -0.76 -243.3 2505 1808 3714 3677 106.5 -12.2 152 853 0.00 0.00 0.00 0.000 2054 0.000 0.000 2505 1808 3695 3714 3677 0 0 0 0 0 0 15.06 15.07 15.07

916 -0.76 -243.3 2504 1808 3715 3677 114.8 -11.8 165 925 0.00 0.00 0.00 0.000 2054 0.000 0.000 2505 1808 3695 3714 3677 0 0 0 0 0 0 15.08 15.09 15.08

988 -0.76 -243.3 2504 1808 3715 3677 123.4 -12.3 178 994 0.00 0.00 0.00 0.000 2054 0.000 0.000 2505 1808 3695 3714 3677 0 0 0 0 0 0 15.07 15.07 15.07

1059 -0.76 -243.3 2504 1808 3715 3677 132.4 -12.7 191 1066 0.00 2.38 0.00 0.000 2308 0.000 0.054 2501 3203 3695 3714 3677 0 0 0 0 0 0 15.08 14.71 15.09

1101 -0.76 -243.3 2500 3203 3714 3677 137.3 -9.7 198 1107 0.00 2.35 0.00 0.000 3078 0.000 0.043 2501 1806 3695 3715 3676 0 0 0 0 0 0 14.90 14.80 14.91

1175 -0.76 -243.3 2500 1806 3714 3677 146.6 -13.0 211 1181 0.00 2.42 0.00 0.000 2564 0.000 0.065 2501 399 3695 3714 3677 0 0 0 0 0 0 15.09 14.72 15.09

1204 -0.76 -243.3 2500 399 3714 3677 150.4 -13.6 216 1211 0.00 2.33 0.00 0.000 3078 0.000 0.035 2501 1804 3695 3714 3677 0 0 0 0 0 0 14.85 14.76 14.86

1276 -0.76 -243.3 2500 1807 3714 3677 158.9 -12.6 229 1282 0.00 2.38 0.00 0.000 2308 0.000 0.054 2501 3212 3695 3714 3677 0 0 0 0 0 0 15.09 14.78 15.09

1315 -0.76 -243.3 2500 3211 3714 3677 163.6 -10.7 236 1322 0.00 2.35 0.00 0.000 3078 0.000 0.044 2501 1813 3695 3714 3677 0 0 0 0 0 0 14.85 14.75 14.86

1362 end dive: BOTTOM_OBSTACLE_DETECTED

state 1362 begin apogee

1368 -0.17 0.0 2500 1813 3714 3677 169.5 -12.8 245 1556 1.00 0.00 182.05 1.164 10246 0.147 0.000 2699 1813 2702 2738 2667 0 0 0 0 0 0 14.68 14.34 13.85

1559 end apogee: CONTROL_FINISHED_OK

state 1559 begin climb

1562 0.76 243.3 2699 1813 2735 2665 179.0 0.0 279 1765 1.38 2.53 189.10 1.138 10756 0.079 0.070 2999 400 1705 1745 1665 0 0 0 0 0 0 14.36 14.28 13.80

1864 0.76 243.3 2997 400 1737 1665 154.2 14.7 333 1870 0.00 2.38 0.00 0.000 3078 0.000 0.034 2998 1807 1700 1737 1663 0 0 0 0 0 0 14.64 14.57 14.66

1935 0.76 243.3 2998 1810 1737 1661 144.0 14.7 346 1942 0.00 2.35 0.00 0.000 2308 0.000 0.049 2998 3201 1699 1737 1661 0 0 0 0 0 0 14.86 14.66 14.86

1955 0.76 243.3 2998 3200 1736 1660 140.9 14.8 349 1962 0.00 2.42 0.00 0.000 3078 0.000 0.052 2999 1803 1698 1737 1660 0 0 0 0 0 0 14.78 14.67 14.79

2026 0.76 243.3 2998 1802 1737 1659 130.9 14.5 362 2032 0.00 0.00 0.00 0.000 2054 0.000 0.000 2999 1801 1698 1737 1659 0 0 0 0 0 0 14.92 14.92 14.92

2095 0.76 243.3 2999 1803 1737 1659 120.5 14.7 375 2101 0.00 0.00 0.00 0.000 2054 0.000 0.000 2999 1802 1698 1737 1660 0 0 0 0 0 0 14.97 14.97 14.97

2164 0.76 243.3 2998 1804 1737 1659 109.9 16.0 388 2170 0.00 2.38 0.00 0.000 2308 0.000 0.048 2999 3206 1697 1736 1658 0 0 0 0 0 0 15.00 14.73 15.00

2208 0.76 243.3 2999 3206 1735 1658 102.7 15.9 396 2215 0.00 2.42 0.00 0.000 3078 0.000 0.054 2999 1794 1696 1735 1658 0 0 0 0 0 0 14.85 14.73 14.86

2279 0.76 243.3 2999 1794 1735 1658 92.4 15.2 409 2286 0.00 2.45 0.00 0.000 2564 0.000 0.074 2999 394 1696 1735 1657 0 0 0 0 0 0 15.02 14.76 15.03

2314 0.76 243.3 2998 394 1735 1658 86.2 16.6 415 2321 0.00 2.33 0.00 0.000 3078 0.000 0.034 2999 1802 1696 1735 1658 0 0 0 0 0 0 14.92 14.83 14.93

2385 0.76 243.3 2999 1805 1735 1657 76.2 14.1 428 2392 0.00 2.33 0.00 0.000 2308 0.000 0.049 2998 3198 1696 1735 1657 0 0 0 0 0 0 15.03 14.82 15.02

2425 0.76 243.3 2998 3198 1734 1656 70.2 14.0 435 2431 0.00 2.40 0.00 0.000 3078 0.000 0.053 2999 1792 1695 1734 1656 0 0 0 0 0 0 14.92 14.81 14.94

2496 0.76 243.3 2999 1792 1734 1656 61.3 12.6 448 2502 0.00 2.38 0.00 0.000 2308 0.000 0.049 2999 3202 1695 1734 1656 0 0 0 0 0 0 15.04 14.83 15.04

2540 0.76 243.3 2999 3203 1734 1656 55.5 12.6 456 2546 0.00 2.40 0.00 0.000 1030 0.000 0.053 3003 1797 1695 1734 1656 0 0 0 0 0 0 14.92 14.82 14.95

2610 0.76 243.3 3003 1798 1734 1656 47.0 12.2 469 2617 0.00 2.45 0.00 0.000 516 0.000 0.074 3006 385 1695 1734 1656 0 0 0 0 0 0 15.04 14.79 15.04

2682 0.78 256.2 3005 386 1733 1655 40.0 9.7 482 2700 0.00 2.35 10.35 0.911 9222 0.000 0.034 3006 1810 1653 1694 1612 0 0 0 0 0 0 14.85 14.78 14.21

2764 0.93 379.5 3005 1810 1693 1612 33.3 6.6 497 2871 0.10 2.42 97.65 1.037 10500 0.155 0.047 3054 3192 1150 1209 1092 0 0 0 0 0 0 14.82 14.43 14.03

2909 0.93 379.5 3054 3191 1207 1090 16.5 12.6 523 2915 0.00 2.42 0.00 0.000 1030 0.000 0.054 3057 1801 1148 1207 1089 0 0 0 0 0 0 14.61 14.52 14.63

2979 0.93 379.5 3057 1801 1208 1092 7.3 13.9 536 2986 0.00 2.47 0.00 0.000 516 0.000 0.075 3058 392 1147 1207 1088 0 0 0 0 0 0 14.85 14.62 14.86

3006 end climb: SURFACE_DEPTH_REACHED

state 3007 begin surface coast

3012 end surface coast: CONTROL_FINISHED_OK

state 3012 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	411	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	30	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	170419,092410,-3423.7134,2558.6184,7,0.8,16,-28.1,0.8,340.4,10,9.5	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3413.594,2602.872
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.89	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-70.9	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	170419,093334,-3423.7415,2558.4050,6,0.8,18,-28.1,1.3,228.5,10,9.9	MHEAD_RNG_PITCHd_Wd	48.1,20000,-13.9,-10.010,-17.09,3711
SPEED_LIMITS	0.173,0.326	D_GRID	1000

FINISH	1.8,1.025429	_24V_AH	13.48,129.679
SM_CCo	3039,91.18,0.800,0,0,598,515.37	_10V_AH	13.53,0.000
SM_GC	0.93,13.88,2.40,91.18,0.044,0.031,0.800,127,1804,598,-8.18,-1.41,515.37,0,0,0,0,0,0,14.72,14.74,14.09	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3409.50,2558.88,170419,082114	FG_AHR_10Vo	0.000
TT8_MAMPS	0.020972,0.954226	MEM	340928
HUMID	45.58	DATA_FILE_SIZE	13448,542
INTERNAL_PRESSURE	9.27327	CAP_FILE_SIZE	102506,0
TCM_TEMP	18.60	CFSIZE	2097086464,2014740480
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	145.2,33.9	GPS	170419,102731,-3423.641,2558.394,7,1.2,39,-28.1,0.9,359.6,8,6.1
SC_FREEKB	3705536

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	452	188.63	nil	0	0	0.00
Roll_motor	66	74	67.68	nil	0	0	0.00
VBD_pump_during_apogee	479	1164	7520.34	nil	0	0	0.00
VBD_pump_during_surface	91	800	983.46	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	16	5.64	nil	0	0	0.00
Iridium_during_connect	37	160	79.94	SciCon	3075	36	1499.41
Iridium_during_xfer	251	223	755.31	nil	0	0	0.00
Transponder_ping	5	420	29.72	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	11	3.03
TT8	1068	9	138.93
LPSleep	453	2	13.44
TT8_Active	675	9	87.77
TT8_Sampling	1257	28	482.19
TT8_CF8	249	36	123.60
TT8_Kalman	0	0	0.00
Analog_circuits	1228	12	201.34
GPS_charging	0	0	0.00
Compass	817	17	198.88
RAFOS	0	0	0.00
Transponder	36	30	14.66

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
23	-0.76	-243.3	54	1803	621	549	0.0	0.0	0	118	0.00	0.00	-92.20	0.000	16386	0.000	0.000	53	1806	2862	2822	2902	0	0	0	0	0	0	14.92	28.83	14.94
123	-0.76	-243.3	53	1806	2824	2902	3.1	-6.1	17	159	14.57	2.42	-14.80	0.000	18692	0.301	0.073	2497	3204	3695	3714	3677	0	0	0	0	0	0	14.47	13.48	14.74
314	-0.76	-243.3	2497	3205	3714	3677	35.9	-10.6	53	322	0.03	2.35	0.00	0.000	3078	0.452	0.044	2507	1810	3695	3714	3677	0	0	0	0	0	0	14.55	14.71	14.73
386	-0.76	-243.3	2507	1810	3720	3677	44.7	-13.0	66	392	0.00	0.00	0.00	0.000	2054	0.000	0.000	2508	1810	3695	3714	3677	0	0	0	0	0	0	15.04	15.04	15.04
455	-0.76	-243.3	2507	1810	3714	3677	53.8	-12.3	79	461	0.00	2.38	0.00	0.000	2308	0.000	0.053	2505	3203	3695	3714	3677	0	0	0	0	0	0	15.05	14.69	15.05
499	-0.76	-243.3	2505	3203	3714	3677	58.9	-10.6	87	506	0.00	2.35	0.00	0.000	3078	0.000	0.045	2505	1809	3695	3714	3677	0	0	0	0	0	0	14.92	14.82	14.92
571	-0.76	-243.3	2504	1808	3714	3677	68.7	-14.9	100	577	0.00	0.00	0.00	0.000	2054	0.000	0.000	2505	1808	3695	3714	3677	0	0	0	0	0	0	15.06	15.07	15.07
639	-0.76	-243.3	2505	1808	3714	3677	78.7	-14.4	113	645	0.00	0.00	0.00	0.000	2054	0.000	0.000	2506	1808	3695	3714	3677	0	0	0	0	0	0	15.07	15.07	15.07
708	-0.76	-243.3	2505	1808	3714	3677	88.3	-13.7	126	713	0.00	0.00	0.00	0.000	2054	0.000	0.000	2504	1808	3695	3714	3677	0	0	0	0	0	0	15.07	15.07	15.07
777	-0.76	-243.3	2505	1808	3714	3677	97.7	-13.8	139	783	0.00	0.00	0.00	0.000	2054	0.000	0.000	2505	1808	3695	3714	3677	0	0	0	0	0	0	15.07	15.07	15.07
847	-0.76	-243.3	2505	1808	3714	3677	106.5	-12.2	152	853	0.00	0.00	0.00	0.000	2054	0.000	0.000	2505	1808	3695	3714	3677	0	0	0	0	0	0	15.06	15.07	15.07
916	-0.76	-243.3	2504	1808	3715	3677	114.8	-11.8	165	925	0.00	0.00	0.00	0.000	2054	0.000	0.000	2505	1808	3695	3714	3677	0	0	0	0	0	0	15.08	15.09	15.08
988	-0.76	-243.3	2504	1808	3715	3677	123.4	-12.3	178	994	0.00	0.00	0.00	0.000	2054	0.000	0.000	2505	1808	3695	3714	3677	0	0	0	0	0	0	15.07	15.07	15.07
1059	-0.76	-243.3	2504	1808	3715	3677	132.4	-12.7	191	1066	0.00	2.38	0.00	0.000	2308	0.000	0.054	2501	3203	3695	3714	3677	0	0	0	0	0	0	15.08	14.71	15.09
1101	-0.76	-243.3	2500	3203	3714	3677	137.3	-9.7	198	1107	0.00	2.35	0.00	0.000	3078	0.000	0.043	2501	1806	3695	3715	3676	0	0	0	0	0	0	14.90	14.80	14.91
1175	-0.76	-243.3	2500	1806	3714	3677	146.6	-13.0	211	1181	0.00	2.42	0.00	0.000	2564	0.000	0.065	2501	399	3695	3714	3677	0	0	0	0	0	0	15.09	14.72	15.09
1204	-0.76	-243.3	2500	399	3714	3677	150.4	-13.6	216	1211	0.00	2.33	0.00	0.000	3078	0.000	0.035	2501	1804	3695	3714	3677	0	0	0	0	0	0	14.85	14.76	14.86
1276	-0.76	-243.3	2500	1807	3714	3677	158.9	-12.6	229	1282	0.00	2.38	0.00	0.000	2308	0.000	0.054	2501	3212	3695	3714	3677	0	0	0	0	0	0	15.09	14.78	15.09
1315	-0.76	-243.3	2500	3211	3714	3677	163.6	-10.7	236	1322	0.00	2.35	0.00	0.000	3078	0.000	0.044	2501	1813	3695	3714	3677	0	0	0	0	0	0	14.85	14.75	14.86
1362	end dive: BOTTOM_OBSTACLE_DETECTED
state	1362	begin apogee
1368	-0.17	0.0	2500	1813	3714	3677	169.5	-12.8	245	1556	1.00	0.00	182.05	1.164	10246	0.147	0.000	2699	1813	2702	2738	2667	0	0	0	0	0	0	14.68	14.34	13.85
1559	end apogee: CONTROL_FINISHED_OK
state	1559	begin climb
1562	0.76	243.3	2699	1813	2735	2665	179.0	0.0	279	1765	1.38	2.53	189.10	1.138	10756	0.079	0.070	2999	400	1705	1745	1665	0	0	0	0	0	0	14.36	14.28	13.80
1864	0.76	243.3	2997	400	1737	1665	154.2	14.7	333	1870	0.00	2.38	0.00	0.000	3078	0.000	0.034	2998	1807	1700	1737	1663	0	0	0	0	0	0	14.64	14.57	14.66
1935	0.76	243.3	2998	1810	1737	1661	144.0	14.7	346	1942	0.00	2.35	0.00	0.000	2308	0.000	0.049	2998	3201	1699	1737	1661	0	0	0	0	0	0	14.86	14.66	14.86
1955	0.76	243.3	2998	3200	1736	1660	140.9	14.8	349	1962	0.00	2.42	0.00	0.000	3078	0.000	0.052	2999	1803	1698	1737	1660	0	0	0	0	0	0	14.78	14.67	14.79
2026	0.76	243.3	2998	1802	1737	1659	130.9	14.5	362	2032	0.00	0.00	0.00	0.000	2054	0.000	0.000	2999	1801	1698	1737	1659	0	0	0	0	0	0	14.92	14.92	14.92
2095	0.76	243.3	2999	1803	1737	1659	120.5	14.7	375	2101	0.00	0.00	0.00	0.000	2054	0.000	0.000	2999	1802	1698	1737	1660	0	0	0	0	0	0	14.97	14.97	14.97
2164	0.76	243.3	2998	1804	1737	1659	109.9	16.0	388	2170	0.00	2.38	0.00	0.000	2308	0.000	0.048	2999	3206	1697	1736	1658	0	0	0	0	0	0	15.00	14.73	15.00
2208	0.76	243.3	2999	3206	1735	1658	102.7	15.9	396	2215	0.00	2.42	0.00	0.000	3078	0.000	0.054	2999	1794	1696	1735	1658	0	0	0	0	0	0	14.85	14.73	14.86
2279	0.76	243.3	2999	1794	1735	1658	92.4	15.2	409	2286	0.00	2.45	0.00	0.000	2564	0.000	0.074	2999	394	1696	1735	1657	0	0	0	0	0	0	15.02	14.76	15.03
2314	0.76	243.3	2998	394	1735	1658	86.2	16.6	415	2321	0.00	2.33	0.00	0.000	3078	0.000	0.034	2999	1802	1696	1735	1658	0	0	0	0	0	0	14.92	14.83	14.93
2385	0.76	243.3	2999	1805	1735	1657	76.2	14.1	428	2392	0.00	2.33	0.00	0.000	2308	0.000	0.049	2998	3198	1696	1735	1657	0	0	0	0	0	0	15.03	14.82	15.02
2425	0.76	243.3	2998	3198	1734	1656	70.2	14.0	435	2431	0.00	2.40	0.00	0.000	3078	0.000	0.053	2999	1792	1695	1734	1656	0	0	0	0	0	0	14.92	14.81	14.94
2496	0.76	243.3	2999	1792	1734	1656	61.3	12.6	448	2502	0.00	2.38	0.00	0.000	2308	0.000	0.049	2999	3202	1695	1734	1656	0	0	0	0	0	0	15.04	14.83	15.04
2540	0.76	243.3	2999	3203	1734	1656	55.5	12.6	456	2546	0.00	2.40	0.00	0.000	1030	0.000	0.053	3003	1797	1695	1734	1656	0	0	0	0	0	0	14.92	14.82	14.95
2610	0.76	243.3	3003	1798	1734	1656	47.0	12.2	469	2617	0.00	2.45	0.00	0.000	516	0.000	0.074	3006	385	1695	1734	1656	0	0	0	0	0	0	15.04	14.79	15.04
2682	0.78	256.2	3005	386	1733	1655	40.0	9.7	482	2700	0.00	2.35	10.35	0.911	9222	0.000	0.034	3006	1810	1653	1694	1612	0	0	0	0	0	0	14.85	14.78	14.21
2764	0.93	379.5	3005	1810	1693	1612	33.3	6.6	497	2871	0.10	2.42	97.65	1.037	10500	0.155	0.047	3054	3192	1150	1209	1092	0	0	0	0	0	0	14.82	14.43	14.03
2909	0.93	379.5	3054	3191	1207	1090	16.5	12.6	523	2915	0.00	2.42	0.00	0.000	1030	0.000	0.054	3057	1801	1148	1207	1089	0	0	0	0	0	0	14.61	14.52	14.63
2979	0.93	379.5	3057	1801	1208	1092	7.3	13.9	536	2986	0.00	2.47	0.00	0.000	516	0.000	0.075	3058	392	1147	1207	1088	0	0	0	0	0	0	14.85	14.62	14.86
3006	end climb: SURFACE_DEPTH_REACHED
state	3007	begin surface coast
3012	end surface coast: CONTROL_FINISHED_OK
state	3012	begin surface