Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 413 * 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 413 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 28 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 42 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 28 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 42 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 413 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 170419,113155,-3423.6599,2558.1699,7,0.8,42,-28.1,0.0,216.6,9,5.2 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3413.616,2602.486

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.88 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -69.0 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 170419,114055,-3423.7644,2558.0190,7,0.8,15,-28.1,0.0,212.4,9,8.8 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 0.4,1.025422 _24V_AH 13.50,130.166

SM_CCo 3095,166.55,0.815,0,0,598,515.37 _10V_AH 13.55,0.000

SM_GC 0.89,13.60,0.00,166.55,0.044,0.000,0.815,127,1804,598,-8.17,-0.25,515.37,0,0,0,0,0,0,14.85,15.07,14.07 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3409.50,2556.54,170419,103106 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.918274 MEM 340928

HUMID 45.98 DATA_FILE_SIZE 13422,553

INTERNAL_PRESSURE 9.28303 CAP_FILE_SIZE 105206,0

TCM_TEMP 18.70 CFSIZE 2097086464,2014412800

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

ALTIM_BOTTOM_PING 145.3,36.6 GPS 170419,123713,-3423.810,2557.829,6,1.0,46,-28.1,0.9,233.4,7,3.8

SC_FREEKB 3704512

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 300 123.99 nil 0 0 0.00

Roll_motor 62 85 71.74 nil 0 0 0.00

VBD_pump_during_apogee 393 1162 6170.28 nil 0 0 0.00

VBD_pump_during_surface 166 814 1831.85 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 16 5.34 nil 0 0 0.00

Iridium_during_connect 19 160 41.21 SciCon 3132 36 1536.40

Iridium_during_xfer 258 223 777.43 nil 0 0 0.00

Transponder_ping 5 420 29.77 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 11 2.47

TT8 1116 9 145.42

LPSleep 487 2 14.47

TT8_Active 700 9 91.18

TT8_Sampling 1251 28 480.48

TT8_CF8 258 36 128.27

TT8_Kalman 0 0 0.00

Analog_circuits 1256 12 206.17

GPS_charging 0 0 0.00

Compass 831 17 202.62

RAFOS 0 0 0.00

Transponder 36 30 14.64

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 53 1805 620 550 0.0 0.0 0 122 0.00 0.00 -96.80 0.000 16386 0.000 0.000 54 1805 2978 2943 3013 0 0 0 0 0 0 14.94 28.83 14.95

127 -0.76 -243.3 54 1805 2943 3013 3.6 -8.5 18 163 14.55 2.42 -12.12 0.000 19204 0.301 0.086 2509 397 3696 3712 3681 0 0 0 0 0 0 14.45 13.50 14.72

299 -0.76 -243.3 2503 397 3713 3681 40.3 -14.3 50 305 0.00 2.35 0.00 0.000 3078 0.000 0.038 2501 1809 3696 3713 3680 0 0 0 0 0 0 14.90 14.81 14.92

369 -0.76 -243.3 2501 1812 3713 3680 51.4 -16.6 63 376 0.00 2.40 0.00 0.000 2308 0.000 0.056 2501 3223 3696 3712 3681 0 0 0 0 0 0 15.04 14.71 15.04

404 -0.76 -243.3 2501 3222 3713 3681 56.2 -12.4 69 411 0.00 2.40 0.00 0.000 3078 0.000 0.044 2501 1799 3697 3713 3681 0 0 0 0 0 0 14.81 14.71 14.83

476 -0.76 -243.3 2501 1798 3713 3681 64.7 -11.8 82 482 0.00 0.00 0.00 0.000 2054 0.000 0.000 2502 1798 3697 3713 3681 0 0 0 0 0 0 15.06 15.06 15.06

545 -0.76 -243.3 2501 1798 3713 3681 73.4 -11.8 95 552 0.00 2.45 0.00 0.000 2308 0.000 0.054 2501 3223 3697 3713 3681 0 0 0 0 0 0 15.07 14.77 15.07

575 -0.76 -243.3 2501 3224 3714 3681 76.9 -11.6 100 581 0.00 2.38 0.00 0.000 3078 0.000 0.044 2501 1811 3697 3713 3681 0 0 0 0 0 0 14.84 14.74 14.86

645 -0.76 -243.3 2501 1811 3713 3681 85.9 -14.6 113 651 0.00 0.00 0.00 0.000 2054 0.000 0.000 2501 1812 3697 3713 3681 0 0 0 0 0 0 15.07 15.07 15.07

715 -0.76 -243.3 2501 1811 3714 3681 96.9 -14.7 126 721 0.00 0.00 0.00 0.000 2054 0.000 0.000 2501 1811 3697 3713 3681 0 0 0 0 0 0 15.07 15.07 15.07

785 -0.76 -243.3 2501 1812 3713 3681 107.0 -14.8 139 791 0.00 0.00 0.00 0.000 2054 0.000 0.000 2501 1811 3697 3714 3680 0 0 0 0 0 0 15.08 15.08 15.08

855 -0.76 -243.3 2498 1812 3714 3681 117.5 -14.5 152 861 0.00 0.00 0.00 0.000 2054 0.000 0.000 2501 1811 3697 3714 3681 0 0 0 0 0 0 15.09 15.09 15.09

927 -0.76 -243.3 2501 1809 3714 3681 127.1 -12.9 165 933 0.00 2.40 0.00 0.000 2308 0.000 0.053 2501 3218 3697 3714 3681 0 0 0 0 0 0 15.08 14.83 15.08

956 -0.76 -243.3 2501 3218 3714 3681 131.0 -11.4 170 962 0.00 2.38 0.00 0.000 3078 0.000 0.043 2500 1806 3697 3714 3681 0 0 0 0 0 0 14.90 14.81 14.92

1028 -0.76 -243.3 2501 1809 3714 3681 139.6 -12.8 183 1035 0.00 0.00 0.00 0.000 2054 0.000 0.000 2501 1806 3697 3714 3681 0 0 0 0 0 0 15.08 15.09 15.09

1102 -0.76 -243.3 2501 1806 3714 3681 149.2 -12.7 196 1107 0.00 0.00 0.00 0.000 2054 0.000 0.000 2502 1806 3697 3714 3681 0 0 0 0 0 0 15.09 15.09 15.09

1170 -0.76 -243.3 2501 1806 3713 3681 158.0 -12.4 209 1175 0.00 0.00 0.00 0.000 2054 0.000 0.000 2501 1806 3696 3711 3681 0 0 0 0 0 0 15.09 15.09 15.09

1238 -0.76 -243.3 2501 1806 3714 3681 166.8 -12.3 222 1244 0.00 0.00 0.00 0.000 2054 0.000 0.000 2501 1806 3697 3714 3681 0 0 0 0 0 0 15.10 15.10 15.09

1280 end dive: BOTTOM_OBSTACLE_DETECTED

state 1280 begin apogee

1286 -0.17 0.0 2501 1806 3713 3681 172.0 -12.5 230 1479 1.00 0.00 183.05 1.162 10246 0.148 0.000 2699 1806 2698 2733 2664 0 0 0 0 0 0 14.60 14.31 13.84

1482 end apogee: CONTROL_FINISHED_OK

state 1482 begin climb

1485 0.76 243.3 2699 1806 2732 2663 181.8 0.0 265 1688 1.40 2.53 189.18 1.140 10756 0.084 0.072 2997 396 1706 1746 1666 0 0 0 0 0 0 14.38 14.29 13.81

1797 0.76 243.3 2997 396 1736 1665 155.3 14.3 321 1804 0.00 2.38 0.00 0.000 3078 0.000 0.034 2997 1812 1700 1737 1663 0 0 0 0 0 0 14.71 14.63 14.71

1868 0.76 243.3 2997 1814 1737 1661 145.7 13.6 334 1874 0.00 0.00 0.00 0.000 2054 0.000 0.000 2998 1814 1699 1737 1661 0 0 0 0 0 0 14.89 14.88 14.87

1937 0.76 243.3 2997 1815 1737 1660 136.2 13.7 347 1944 0.00 2.33 0.00 0.000 2308 0.000 0.048 2997 3198 1698 1737 1660 0 0 0 0 0 0 14.94 14.72 14.95

1962 0.76 243.3 2997 3198 1735 1659 132.7 14.4 351 1968 0.00 2.40 0.00 0.000 3078 0.000 0.053 2999 1803 1695 1735 1656 0 0 0 0 0 0 14.80 14.69 14.81

2033 0.76 243.3 2999 1802 1735 1659 123.2 13.7 364 2039 0.00 0.00 0.00 0.000 2054 0.000 0.000 2999 1803 1695 1735 1656 0 0 0 0 0 0 14.97 14.98 14.98

2101 0.76 243.3 2999 1803 1735 1658 113.6 13.7 377 2108 0.00 2.35 0.00 0.000 2308 0.000 0.047 2999 3198 1696 1735 1658 0 0 0 0 0 0 15.01 14.75 15.01

2126 0.76 243.3 2999 3199 1734 1658 110.2 13.5 381 2132 0.00 2.40 0.00 0.000 3078 0.000 0.054 2999 1798 1696 1734 1658 0 0 0 0 0 0 14.83 14.72 14.85

2197 0.76 243.3 2999 1797 1734 1658 101.4 13.0 394 2203 0.00 0.00 0.00 0.000 2054 0.000 0.000 2999 1797 1696 1735 1657 0 0 0 0 0 0 15.03 15.04 15.04

2266 0.76 243.3 2999 1797 1735 1657 92.1 13.0 407 2272 0.00 0.00 0.00 0.000 2054 0.000 0.000 3000 1797 1696 1735 1657 0 0 0 0 0 0 15.04 15.04 15.04

2335 0.76 243.3 2999 1793 1735 1656 84.0 12.3 420 2341 0.00 2.35 0.00 0.000 260 0.000 0.048 2999 3197 1695 1734 1656 0 0 0 0 0 0 15.04 14.83 15.06

2364 0.76 243.3 2999 3197 1734 1656 80.4 10.7 425 2371 0.00 2.38 0.00 0.000 1030 0.000 0.053 3005 1799 1695 1734 1656 0 0 0 0 0 0 14.92 14.83 14.95

2435 0.76 243.3 3005 1799 1734 1656 72.7 10.6 438 2442 0.00 2.42 0.00 0.000 516 0.000 0.072 3014 395 1694 1734 1655 0 0 0 0 0 0 15.06 14.71 15.06

2460 0.76 243.3 3013 394 1734 1656 69.7 10.9 442 2466 0.00 2.33 0.00 0.000 5126 0.000 0.034 3013 1809 1695 1734 1656 0 0 0 0 0 0 14.86 14.78 14.87

2531 0.76 243.3 3010 1812 1734 1656 61.2 13.0 455 2538 0.00 2.33 0.00 0.000 4356 0.000 0.047 3011 3204 1695 1734 1656 0 0 0 0 0 0 15.07 14.80 15.08

2561 0.76 243.3 3013 3204 1733 1656 56.8 13.9 460 2567 0.00 2.42 0.00 0.000 5126 0.000 0.054 3014 1793 1694 1733 1656 0 0 0 0 0 0 14.86 14.75 14.88

2632 0.76 243.3 3014 1793 1733 1655 48.3 11.6 473 2639 0.00 2.42 0.00 0.000 4612 0.000 0.073 3019 394 1694 1733 1656 0 0 0 0 0 0 15.08 14.81 15.08

2677 0.76 243.3 3018 394 1733 1656 42.3 12.6 481 2683 0.00 2.33 0.00 0.000 5126 0.000 0.034 3018 1804 1694 1733 1656 0 0 0 0 0 0 14.91 14.83 14.91

2748 0.80 269.2 3018 1807 1733 1656 35.5 9.3 494 2777 0.00 2.33 21.10 0.985 12548 0.000 0.049 3019 3198 1599 1641 1558 0 0 0 0 0 0 15.08 14.78 14.21

2840 0.80 269.2 3018 3198 1639 1558 25.8 12.2 511 2847 0.00 2.40 0.00 0.000 5126 0.000 0.052 3020 1796 1598 1639 1557 0 0 0 0 0 0 14.81 14.69 14.82

2912 0.80 269.2 3019 1796 1639 1556 18.2 11.5 524 2918 0.00 0.00 0.00 0.000 4102 0.000 0.000 3020 1795 1597 1639 1556 0 0 0 0 0 0 15.03 15.03 15.03

2981 0.80 269.2 3020 1796 1639 1555 10.2 11.4 537 2987 0.00 2.45 0.00 0.000 4612 0.000 0.073 3020 395 1597 1639 1555 0 0 0 0 0 0 15.04 14.70 15.04

3005 0.80 269.2 3017 395 1638 1554 7.4 11.1 541 3012 0.00 2.33 0.00 0.000 5126 0.000 0.033 3020 1802 1596 1638 1555 0 0 0 0 0 0 14.82 14.75 14.83

3042 end climb: SURFACE_DEPTH_REACHED

state 3042 begin surface coast

3071 end surface coast: CONTROL_FINISHED_OK

state 3071 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	413	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	28	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	42	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	170419,113155,-3423.6599,2558.1699,7,0.8,42,-28.1,0.0,216.6,9,5.2	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3413.616,2602.486
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.88	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-69.0	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	170419,114055,-3423.7644,2558.0190,7,0.8,15,-28.1,0.0,212.4,9,8.8	MHEAD_RNG_PITCHd_Wd	48.1,20000,-13.9,-10.010,-17.09,3711
SPEED_LIMITS	0.173,0.326	D_GRID	1000

FINISH	0.4,1.025422	_24V_AH	13.50,130.166
SM_CCo	3095,166.55,0.815,0,0,598,515.37	_10V_AH	13.55,0.000
SM_GC	0.89,13.60,0.00,166.55,0.044,0.000,0.815,127,1804,598,-8.17,-0.25,515.37,0,0,0,0,0,0,14.85,15.07,14.07	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3409.50,2556.54,170419,103106	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.918274	MEM	340928
HUMID	45.98	DATA_FILE_SIZE	13422,553
INTERNAL_PRESSURE	9.28303	CAP_FILE_SIZE	105206,0
TCM_TEMP	18.70	CFSIZE	2097086464,2014412800
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	145.3,36.6	GPS	170419,123713,-3423.810,2557.829,6,1.0,46,-28.1,0.9,233.4,7,3.8
SC_FREEKB	3704512

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	300	123.99	nil	0	0	0.00
Roll_motor	62	85	71.74	nil	0	0	0.00
VBD_pump_during_apogee	393	1162	6170.28	nil	0	0	0.00
VBD_pump_during_surface	166	814	1831.85	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	16	5.34	nil	0	0	0.00
Iridium_during_connect	19	160	41.21	SciCon	3132	36	1536.40
Iridium_during_xfer	258	223	777.43	nil	0	0	0.00
Transponder_ping	5	420	29.77	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	11	2.47
TT8	1116	9	145.42
LPSleep	487	2	14.47
TT8_Active	700	9	91.18
TT8_Sampling	1251	28	480.48
TT8_CF8	258	36	128.27
TT8_Kalman	0	0	0.00
Analog_circuits	1256	12	206.17
GPS_charging	0	0	0.00
Compass	831	17	202.62
RAFOS	0	0	0.00
Transponder	36	30	14.64

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	53	1805	620	550	0.0	0.0	0	122	0.00	0.00	-96.80	0.000	16386	0.000	0.000	54	1805	2978	2943	3013	0	0	0	0	0	0	14.94	28.83	14.95
127	-0.76	-243.3	54	1805	2943	3013	3.6	-8.5	18	163	14.55	2.42	-12.12	0.000	19204	0.301	0.086	2509	397	3696	3712	3681	0	0	0	0	0	0	14.45	13.50	14.72
299	-0.76	-243.3	2503	397	3713	3681	40.3	-14.3	50	305	0.00	2.35	0.00	0.000	3078	0.000	0.038	2501	1809	3696	3713	3680	0	0	0	0	0	0	14.90	14.81	14.92
369	-0.76	-243.3	2501	1812	3713	3680	51.4	-16.6	63	376	0.00	2.40	0.00	0.000	2308	0.000	0.056	2501	3223	3696	3712	3681	0	0	0	0	0	0	15.04	14.71	15.04
404	-0.76	-243.3	2501	3222	3713	3681	56.2	-12.4	69	411	0.00	2.40	0.00	0.000	3078	0.000	0.044	2501	1799	3697	3713	3681	0	0	0	0	0	0	14.81	14.71	14.83
476	-0.76	-243.3	2501	1798	3713	3681	64.7	-11.8	82	482	0.00	0.00	0.00	0.000	2054	0.000	0.000	2502	1798	3697	3713	3681	0	0	0	0	0	0	15.06	15.06	15.06
545	-0.76	-243.3	2501	1798	3713	3681	73.4	-11.8	95	552	0.00	2.45	0.00	0.000	2308	0.000	0.054	2501	3223	3697	3713	3681	0	0	0	0	0	0	15.07	14.77	15.07
575	-0.76	-243.3	2501	3224	3714	3681	76.9	-11.6	100	581	0.00	2.38	0.00	0.000	3078	0.000	0.044	2501	1811	3697	3713	3681	0	0	0	0	0	0	14.84	14.74	14.86
645	-0.76	-243.3	2501	1811	3713	3681	85.9	-14.6	113	651	0.00	0.00	0.00	0.000	2054	0.000	0.000	2501	1812	3697	3713	3681	0	0	0	0	0	0	15.07	15.07	15.07
715	-0.76	-243.3	2501	1811	3714	3681	96.9	-14.7	126	721	0.00	0.00	0.00	0.000	2054	0.000	0.000	2501	1811	3697	3713	3681	0	0	0	0	0	0	15.07	15.07	15.07
785	-0.76	-243.3	2501	1812	3713	3681	107.0	-14.8	139	791	0.00	0.00	0.00	0.000	2054	0.000	0.000	2501	1811	3697	3714	3680	0	0	0	0	0	0	15.08	15.08	15.08
855	-0.76	-243.3	2498	1812	3714	3681	117.5	-14.5	152	861	0.00	0.00	0.00	0.000	2054	0.000	0.000	2501	1811	3697	3714	3681	0	0	0	0	0	0	15.09	15.09	15.09
927	-0.76	-243.3	2501	1809	3714	3681	127.1	-12.9	165	933	0.00	2.40	0.00	0.000	2308	0.000	0.053	2501	3218	3697	3714	3681	0	0	0	0	0	0	15.08	14.83	15.08
956	-0.76	-243.3	2501	3218	3714	3681	131.0	-11.4	170	962	0.00	2.38	0.00	0.000	3078	0.000	0.043	2500	1806	3697	3714	3681	0	0	0	0	0	0	14.90	14.81	14.92
1028	-0.76	-243.3	2501	1809	3714	3681	139.6	-12.8	183	1035	0.00	0.00	0.00	0.000	2054	0.000	0.000	2501	1806	3697	3714	3681	0	0	0	0	0	0	15.08	15.09	15.09
1102	-0.76	-243.3	2501	1806	3714	3681	149.2	-12.7	196	1107	0.00	0.00	0.00	0.000	2054	0.000	0.000	2502	1806	3697	3714	3681	0	0	0	0	0	0	15.09	15.09	15.09
1170	-0.76	-243.3	2501	1806	3713	3681	158.0	-12.4	209	1175	0.00	0.00	0.00	0.000	2054	0.000	0.000	2501	1806	3696	3711	3681	0	0	0	0	0	0	15.09	15.09	15.09
1238	-0.76	-243.3	2501	1806	3714	3681	166.8	-12.3	222	1244	0.00	0.00	0.00	0.000	2054	0.000	0.000	2501	1806	3697	3714	3681	0	0	0	0	0	0	15.10	15.10	15.09
1280	end dive: BOTTOM_OBSTACLE_DETECTED
state	1280	begin apogee
1286	-0.17	0.0	2501	1806	3713	3681	172.0	-12.5	230	1479	1.00	0.00	183.05	1.162	10246	0.148	0.000	2699	1806	2698	2733	2664	0	0	0	0	0	0	14.60	14.31	13.84
1482	end apogee: CONTROL_FINISHED_OK
state	1482	begin climb
1485	0.76	243.3	2699	1806	2732	2663	181.8	0.0	265	1688	1.40	2.53	189.18	1.140	10756	0.084	0.072	2997	396	1706	1746	1666	0	0	0	0	0	0	14.38	14.29	13.81
1797	0.76	243.3	2997	396	1736	1665	155.3	14.3	321	1804	0.00	2.38	0.00	0.000	3078	0.000	0.034	2997	1812	1700	1737	1663	0	0	0	0	0	0	14.71	14.63	14.71
1868	0.76	243.3	2997	1814	1737	1661	145.7	13.6	334	1874	0.00	0.00	0.00	0.000	2054	0.000	0.000	2998	1814	1699	1737	1661	0	0	0	0	0	0	14.89	14.88	14.87
1937	0.76	243.3	2997	1815	1737	1660	136.2	13.7	347	1944	0.00	2.33	0.00	0.000	2308	0.000	0.048	2997	3198	1698	1737	1660	0	0	0	0	0	0	14.94	14.72	14.95
1962	0.76	243.3	2997	3198	1735	1659	132.7	14.4	351	1968	0.00	2.40	0.00	0.000	3078	0.000	0.053	2999	1803	1695	1735	1656	0	0	0	0	0	0	14.80	14.69	14.81
2033	0.76	243.3	2999	1802	1735	1659	123.2	13.7	364	2039	0.00	0.00	0.00	0.000	2054	0.000	0.000	2999	1803	1695	1735	1656	0	0	0	0	0	0	14.97	14.98	14.98
2101	0.76	243.3	2999	1803	1735	1658	113.6	13.7	377	2108	0.00	2.35	0.00	0.000	2308	0.000	0.047	2999	3198	1696	1735	1658	0	0	0	0	0	0	15.01	14.75	15.01
2126	0.76	243.3	2999	3199	1734	1658	110.2	13.5	381	2132	0.00	2.40	0.00	0.000	3078	0.000	0.054	2999	1798	1696	1734	1658	0	0	0	0	0	0	14.83	14.72	14.85
2197	0.76	243.3	2999	1797	1734	1658	101.4	13.0	394	2203	0.00	0.00	0.00	0.000	2054	0.000	0.000	2999	1797	1696	1735	1657	0	0	0	0	0	0	15.03	15.04	15.04
2266	0.76	243.3	2999	1797	1735	1657	92.1	13.0	407	2272	0.00	0.00	0.00	0.000	2054	0.000	0.000	3000	1797	1696	1735	1657	0	0	0	0	0	0	15.04	15.04	15.04
2335	0.76	243.3	2999	1793	1735	1656	84.0	12.3	420	2341	0.00	2.35	0.00	0.000	260	0.000	0.048	2999	3197	1695	1734	1656	0	0	0	0	0	0	15.04	14.83	15.06
2364	0.76	243.3	2999	3197	1734	1656	80.4	10.7	425	2371	0.00	2.38	0.00	0.000	1030	0.000	0.053	3005	1799	1695	1734	1656	0	0	0	0	0	0	14.92	14.83	14.95
2435	0.76	243.3	3005	1799	1734	1656	72.7	10.6	438	2442	0.00	2.42	0.00	0.000	516	0.000	0.072	3014	395	1694	1734	1655	0	0	0	0	0	0	15.06	14.71	15.06
2460	0.76	243.3	3013	394	1734	1656	69.7	10.9	442	2466	0.00	2.33	0.00	0.000	5126	0.000	0.034	3013	1809	1695	1734	1656	0	0	0	0	0	0	14.86	14.78	14.87
2531	0.76	243.3	3010	1812	1734	1656	61.2	13.0	455	2538	0.00	2.33	0.00	0.000	4356	0.000	0.047	3011	3204	1695	1734	1656	0	0	0	0	0	0	15.07	14.80	15.08
2561	0.76	243.3	3013	3204	1733	1656	56.8	13.9	460	2567	0.00	2.42	0.00	0.000	5126	0.000	0.054	3014	1793	1694	1733	1656	0	0	0	0	0	0	14.86	14.75	14.88
2632	0.76	243.3	3014	1793	1733	1655	48.3	11.6	473	2639	0.00	2.42	0.00	0.000	4612	0.000	0.073	3019	394	1694	1733	1656	0	0	0	0	0	0	15.08	14.81	15.08
2677	0.76	243.3	3018	394	1733	1656	42.3	12.6	481	2683	0.00	2.33	0.00	0.000	5126	0.000	0.034	3018	1804	1694	1733	1656	0	0	0	0	0	0	14.91	14.83	14.91
2748	0.80	269.2	3018	1807	1733	1656	35.5	9.3	494	2777	0.00	2.33	21.10	0.985	12548	0.000	0.049	3019	3198	1599	1641	1558	0	0	0	0	0	0	15.08	14.78	14.21
2840	0.80	269.2	3018	3198	1639	1558	25.8	12.2	511	2847	0.00	2.40	0.00	0.000	5126	0.000	0.052	3020	1796	1598	1639	1557	0	0	0	0	0	0	14.81	14.69	14.82
2912	0.80	269.2	3019	1796	1639	1556	18.2	11.5	524	2918	0.00	0.00	0.00	0.000	4102	0.000	0.000	3020	1795	1597	1639	1556	0	0	0	0	0	0	15.03	15.03	15.03
2981	0.80	269.2	3020	1796	1639	1555	10.2	11.4	537	2987	0.00	2.45	0.00	0.000	4612	0.000	0.073	3020	395	1597	1639	1555	0	0	0	0	0	0	15.04	14.70	15.04
3005	0.80	269.2	3017	395	1638	1554	7.4	11.1	541	3012	0.00	2.33	0.00	0.000	5126	0.000	0.033	3020	1802	1596	1638	1555	0	0	0	0	0	0	14.82	14.75	14.83
3042	end climb: SURFACE_DEPTH_REACHED
state	3042	begin surface coast
3071	end surface coast: CONTROL_FINISHED_OK
state	3071	begin surface