Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 414 * 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 414 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 50 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 29 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 50 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 414 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 170419,123713,-3423.8101,2557.8291,6,1.0,46,-28.1,0.9,233.4,7,3.8 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3413.807,2602.052

_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 -69.9 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 170419,124637,-3423.9551,2557.5845,7,1.0,47,-28.1,0.7,234.3,7,3.9 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 0.1,1.013141 _24V_AH 13.51,130.414

SM_CCo 3341,143.43,0.817,0,0,597,515.37 _10V_AH 13.49,0.000

SM_GC 0.88,13.60,2.40,143.43,0.044,0.044,0.817,128,1807,597,-8.17,0.82,515.37,0,0,0,0,0,0,14.80,14.79,14.09 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3412.10,2557.68,170419,113530 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.947485 MEM 340864

HUMID 46.18 DATA_FILE_SIZE 16746,597

INTERNAL_PRESSURE 9.28303 CAP_FILE_SIZE 113594,0

TCM_TEMP 18.50 CFSIZE 2097086464,2014248960

XPDR_PINGS 0 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0

ALTIM_BOTTOM_PING 155.7,36.1 INTR 0,1794.93,0x23609a,1,24

SC_FREEKB 3704000 GPS 170419,134637,-3424.112,2557.322,6,1.2,46,-28.1,1.3,226.6,7,4.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 301 124.30 nil 0 0 0.00

Roll_motor 76 72 74.91 nil 0 0 0.00

VBD_pump_during_apogee 415 1183 6638.82 nil 0 0 0.00

VBD_pump_during_surface 143 817 1583.12 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 16 5.81 nil 0 0 0.00

Iridium_during_connect 17 160 37.82 SciCon 3376 36 1675.25

Iridium_during_xfer 249 223 750.22 nil 0 0 0.00

Transponder_ping 5 420 32.63 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 48 11 7.35

TT8 1216 9 157.71

LPSleep 527 2 15.58

TT8_Active 706 9 91.61

TT8_Sampling 1342 28 513.06

TT8_CF8 268 36 132.44

TT8_Kalman 0 0 0.00

Analog_circuits 1300 12 212.50

GPS_charging 0 0 0.00

Compass 900 17 218.30

RAFOS 0 0 0.00

Transponder 39 30 15.80

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 55 1809 621 548 0.0 0.0 0 123 0.00 0.00 -97.45 0.000 16386 0.000 0.000 54 1809 2999 2965 3033 0 0 0 0 0 0 14.96 28.83 14.97

129 -0.76 -243.3 54 1809 2966 3034 3.4 -7.0 18 164 14.52 2.40 -11.62 0.000 18692 0.301 0.070 2494 3207 3699 3718 3680 0 0 0 0 0 0 14.49 13.51 14.77

283 -0.76 -243.3 2494 3207 3710 3680 36.5 -12.5 47 291 0.08 2.38 0.00 0.000 3078 0.243 0.045 2510 1802 3695 3710 3680 0 0 0 0 0 0 14.69 14.80 14.84

355 -0.76 -243.3 2510 1802 3707 3680 45.5 -12.9 60 361 0.00 0.00 0.00 0.000 2054 0.000 0.000 2511 1802 3697 3714 3680 0 0 0 0 0 0 15.04 15.04 15.05

424 -0.76 -243.3 2510 1802 3710 3680 54.1 -12.4 73 430 0.00 0.00 0.00 0.000 2054 0.000 0.000 2511 1802 3695 3710 3680 0 0 0 0 0 0 15.06 15.06 15.06

492 -0.76 -243.3 2510 1802 3710 3680 62.4 -12.4 86 499 0.00 2.42 0.00 0.000 2564 0.000 0.066 2511 398 3695 3710 3680 0 0 0 0 0 0 15.05 14.80 15.06

522 -0.76 -243.3 2510 398 3710 3680 66.3 -12.0 91 528 0.00 2.35 0.00 0.000 3078 0.000 0.038 2511 1807 3695 3710 3680 0 0 0 0 0 0 14.94 14.84 14.95

594 -0.76 -243.3 2510 1809 3710 3680 74.6 -12.5 104 603 0.00 2.38 0.00 0.000 2308 0.000 0.056 2511 3213 3695 3710 3680 0 0 0 0 0 0 15.05 14.82 15.06

655 -0.76 -243.3 2510 3212 3710 3680 81.2 -9.6 114 661 0.00 2.35 0.00 0.000 3078 0.000 0.042 2511 1809 3695 3711 3680 0 0 0 0 0 0 14.83 14.75 14.84

727 -0.76 -243.3 2510 1809 3711 3680 89.4 -11.6 127 735 0.00 2.42 0.00 0.000 2564 0.000 0.065 2511 403 3695 3710 3680 0 0 0 0 0 0 15.08 14.81 15.08

742 -0.76 -243.3 2510 403 3711 3680 91.3 -11.1 129 748 0.00 2.35 0.00 0.000 3078 0.000 0.037 2511 1822 3695 3710 3680 0 0 0 0 0 0 14.95 14.86 14.97

812 -0.76 -243.3 2510 1824 3710 3680 99.2 -11.7 142 820 0.00 2.35 0.00 0.000 2308 0.000 0.054 2511 3213 3695 3710 3680 0 0 0 0 0 0 15.07 14.83 15.08

843 -0.76 -243.3 2511 3212 3710 3680 102.7 -9.7 147 850 0.00 2.35 0.00 0.000 3078 0.000 0.043 2511 1811 3695 3711 3679 0 0 0 0 0 0 14.95 14.85 14.97

915 -0.76 -243.3 2510 1809 3711 3680 110.3 -9.6 160 921 0.00 0.00 0.00 0.000 2054 0.000 0.000 2511 1811 3695 3711 3680 0 0 0 0 0 0 15.09 15.09 15.09

985 -0.76 -243.3 2510 1811 3711 3680 118.3 -11.0 173 990 0.00 0.00 0.00 0.000 2054 0.000 0.000 2511 1811 3695 3711 3679 0 0 0 0 0 0 15.09 15.09 15.09

1056 -0.76 -243.3 2510 1811 3711 3680 126.2 -11.4 186 1062 0.00 0.00 0.00 0.000 2054 0.000 0.000 2511 1810 3695 3710 3680 0 0 0 0 0 0 15.09 15.09 15.09

1125 -0.76 -243.3 2510 1811 3710 3680 134.2 -11.8 199 1131 0.00 0.00 0.00 0.000 2054 0.000 0.000 2511 1811 3695 3711 3680 0 0 0 0 0 0 15.09 15.10 15.09

1196 -0.76 -243.3 2510 1810 3711 3680 142.5 -10.3 212 1202 0.00 2.40 0.00 0.000 2308 0.000 0.051 2511 3219 3695 3710 3680 0 0 0 0 0 0 15.09 14.79 15.10

1225 -0.76 -243.3 2510 3219 3711 3680 145.9 -11.8 217 1231 0.00 2.35 0.00 0.000 3078 0.000 0.044 2511 1814 3695 3711 3680 0 0 0 0 0 0 14.84 14.73 14.85

1295 -0.76 -243.3 2510 1814 3711 3680 153.9 -12.9 230 1301 0.00 0.00 0.00 0.000 2054 0.000 0.000 2511 1814 3695 3710 3680 0 0 0 0 0 0 15.09 15.10 15.09

1366 -0.76 -243.3 2510 1814 3711 3680 162.5 -13.1 243 1372 0.00 0.00 0.00 0.000 2054 0.000 0.000 2511 1814 3695 3710 3680 0 0 0 0 0 0 15.09 15.10 15.10

1435 -0.76 -243.3 2510 1814 3711 3680 171.2 -12.3 256 1441 0.00 0.00 0.00 0.000 2054 0.000 0.000 2510 1814 3694 3710 3679 0 0 0 0 0 0 15.10 15.10 15.10

1503 -0.76 -243.3 2511 1814 3710 3679 179.6 -12.3 269 1509 0.00 0.00 0.00 0.000 2054 0.000 0.000 2511 1814 3695 3710 3680 0 0 0 0 0 0 15.10 15.10 15.10

1524 end dive: BOTTOM_OBSTACLE_DETECTED

state 1525 begin apogee

1530 -0.17 0.0 2511 1814 3710 3679 182.1 -10.9 273 1723 0.95 0.00 182.90 1.183 10246 0.143 0.000 2701 1814 2698 2733 2664 0 0 0 0 0 0 14.69 14.22 13.85

1726 end apogee: CONTROL_FINISHED_OK

state 1726 begin climb

1729 0.76 243.3 2701 1814 2732 2663 190.9 0.0 308 1928 1.38 2.58 188.98 1.159 10756 0.090 0.070 2991 393 1707 1750 1665 0 0 0 0 0 0 14.37 14.17 13.79

2037 0.76 243.3 2990 394 1737 1665 167.9 13.5 363 2044 0.00 2.38 0.00 0.000 3078 0.000 0.034 2990 1810 1700 1737 1663 0 0 0 0 0 0 14.70 14.62 14.71

2108 0.76 243.3 2990 1813 1737 1661 158.7 13.4 376 2115 0.00 2.35 0.00 0.000 2308 0.000 0.049 2991 3206 1699 1737 1661 0 0 0 0 0 0 14.88 14.64 14.88

2128 0.76 243.3 2990 3206 1736 1660 156.1 12.3 379 2134 0.00 2.40 0.00 0.000 3078 0.000 0.051 2991 1805 1698 1736 1660 0 0 0 0 0 0 14.78 14.69 14.81

2199 0.76 243.3 2991 1804 1738 1659 146.7 13.6 392 2205 0.00 0.00 0.00 0.000 2054 0.000 0.000 2992 1804 1698 1737 1659 0 0 0 0 0 0 14.95 14.95 14.95

2267 0.76 243.3 2991 1803 1736 1659 137.1 13.9 405 2274 0.00 2.38 0.00 0.000 2308 0.000 0.048 2991 3213 1698 1737 1659 0 0 0 0 0 0 14.98 14.73 14.98

2292 0.76 243.3 2991 3211 1735 1658 133.0 16.7 409 2298 0.00 2.42 0.00 0.000 3078 0.000 0.053 2995 1795 1697 1735 1659 0 0 0 0 0 0 14.88 14.76 14.89

2363 0.76 243.3 2991 1794 1736 1658 122.7 15.3 422 2369 0.00 0.00 0.00 0.000 2054 0.000 0.000 2992 1795 1696 1735 1658 0 0 0 0 0 0 15.00 15.00 15.00

2431 0.76 243.3 2991 1795 1735 1657 111.4 16.7 435 2438 0.00 2.42 0.00 0.000 2564 0.000 0.072 3000 393 1696 1735 1658 0 0 0 0 0 0 15.03 14.77 15.03

2456 0.76 243.3 2999 391 1735 1658 107.3 17.5 439 2463 0.00 2.33 0.00 0.000 1030 0.000 0.034 3000 1804 1696 1735 1658 0 0 0 0 0 0 14.91 14.84 14.93

2527 0.76 243.3 2999 1806 1735 1657 96.0 16.8 452 2533 0.00 2.33 0.00 0.000 260 0.000 0.048 2999 3197 1696 1735 1657 0 0 0 0 0 0 15.03 14.82 15.04

2576 0.76 243.3 2997 3195 1734 1657 87.6 16.4 461 2583 0.00 2.40 0.00 0.000 1030 0.000 0.052 3000 1792 1695 1734 1656 0 0 0 0 0 0 14.91 14.82 14.94

2647 0.76 243.3 3000 1792 1734 1656 76.9 15.6 474 2654 0.00 2.42 0.00 0.000 516 0.000 0.072 3008 391 1695 1734 1656 0 0 0 0 0 0 15.04 14.80 15.05

2681 0.76 243.3 3008 391 1734 1657 71.1 15.8 480 2688 0.00 2.33 0.00 0.000 5126 0.000 0.034 3008 1801 1695 1734 1656 0 0 0 0 0 0 14.95 14.87 14.96

2753 0.76 243.3 3008 1803 1734 1656 61.6 13.1 493 2759 0.00 2.33 0.00 0.000 4356 0.000 0.048 3008 3197 1695 1734 1656 0 0 0 0 0 0 15.05 14.83 15.05

2812 0.76 243.3 3008 3197 1733 1656 53.1 14.5 504 2819 0.00 2.40 0.00 0.000 5126 0.000 0.053 3010 1800 1694 1733 1656 0 0 0 0 0 0 14.95 14.83 14.97

2883 0.76 243.3 3009 1800 1733 1656 43.9 11.6 517 2890 0.00 2.42 0.00 0.000 4612 0.000 0.073 3010 396 1694 1733 1656 0 0 0 0 0 0 15.07 14.73 15.07

3019 0.76 243.3 3009 395 1733 1656 28.9 10.7 543 3026 0.00 2.33 0.00 0.000 5126 0.000 0.034 3010 1810 1694 1733 1656 0 0 0 0 0 0 14.85 14.77 14.87

3091 0.84 304.3 3009 1811 1733 1655 22.8 8.3 556 3141 0.00 2.35 43.35 1.001 10500 0.000 0.047 3010 3197 1458 1505 1412 0 0 0 0 0 0 15.09 14.57 14.19

3210 0.84 304.3 3009 3197 1502 1410 11.6 10.5 578 3216 0.00 2.42 0.00 0.000 3078 0.000 0.052 3010 1787 1455 1502 1409 0 0 0 0 0 0 14.78 14.68 14.79

3281 0.84 304.3 3009 1786 1502 1407 3.4 14.3 591 3288 0.00 2.42 0.00 0.000 2308 0.000 0.050 3010 3199 1454 1502 1407 0 0 0 0 0 0 14.98 14.73 14.98

3292 end climb: SURFACE_DEPTH_REACHED

state 3293 begin surface coast

3314 end surface coast: CONTROL_FINISHED_OK

state 3314 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	414	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	50	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	170419,123713,-3423.8101,2557.8291,6,1.0,46,-28.1,0.9,233.4,7,3.8	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3413.807,2602.052
_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	-69.9	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	170419,124637,-3423.9551,2557.5845,7,1.0,47,-28.1,0.7,234.3,7,3.9	MHEAD_RNG_PITCHd_Wd	48.1,20000,-13.9,-10.010,-17.09,3711
SPEED_LIMITS	0.173,0.326	D_GRID	1000

FINISH	0.1,1.013141	_24V_AH	13.51,130.414
SM_CCo	3341,143.43,0.817,0,0,597,515.37	_10V_AH	13.49,0.000
SM_GC	0.88,13.60,2.40,143.43,0.044,0.044,0.817,128,1807,597,-8.17,0.82,515.37,0,0,0,0,0,0,14.80,14.79,14.09	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3412.10,2557.68,170419,113530	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.947485	MEM	340864
HUMID	46.18	DATA_FILE_SIZE	16746,597
INTERNAL_PRESSURE	9.28303	CAP_FILE_SIZE	113594,0
TCM_TEMP	18.50	CFSIZE	2097086464,2014248960
XPDR_PINGS	0	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	155.7,36.1	INTR	0,1794.93,0x23609a,1,24
SC_FREEKB	3704000	GPS	170419,134637,-3424.112,2557.322,6,1.2,46,-28.1,1.3,226.6,7,4.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	301	124.30	nil	0	0	0.00
Roll_motor	76	72	74.91	nil	0	0	0.00
VBD_pump_during_apogee	415	1183	6638.82	nil	0	0	0.00
VBD_pump_during_surface	143	817	1583.12	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	16	5.81	nil	0	0	0.00
Iridium_during_connect	17	160	37.82	SciCon	3376	36	1675.25
Iridium_during_xfer	249	223	750.22	nil	0	0	0.00
Transponder_ping	5	420	32.63	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	48	11	7.35
TT8	1216	9	157.71
LPSleep	527	2	15.58
TT8_Active	706	9	91.61
TT8_Sampling	1342	28	513.06
TT8_CF8	268	36	132.44
TT8_Kalman	0	0	0.00
Analog_circuits	1300	12	212.50
GPS_charging	0	0	0.00
Compass	900	17	218.30
RAFOS	0	0	0.00
Transponder	39	30	15.80

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	55	1809	621	548	0.0	0.0	0	123	0.00	0.00	-97.45	0.000	16386	0.000	0.000	54	1809	2999	2965	3033	0	0	0	0	0	0	14.96	28.83	14.97
129	-0.76	-243.3	54	1809	2966	3034	3.4	-7.0	18	164	14.52	2.40	-11.62	0.000	18692	0.301	0.070	2494	3207	3699	3718	3680	0	0	0	0	0	0	14.49	13.51	14.77
283	-0.76	-243.3	2494	3207	3710	3680	36.5	-12.5	47	291	0.08	2.38	0.00	0.000	3078	0.243	0.045	2510	1802	3695	3710	3680	0	0	0	0	0	0	14.69	14.80	14.84
355	-0.76	-243.3	2510	1802	3707	3680	45.5	-12.9	60	361	0.00	0.00	0.00	0.000	2054	0.000	0.000	2511	1802	3697	3714	3680	0	0	0	0	0	0	15.04	15.04	15.05
424	-0.76	-243.3	2510	1802	3710	3680	54.1	-12.4	73	430	0.00	0.00	0.00	0.000	2054	0.000	0.000	2511	1802	3695	3710	3680	0	0	0	0	0	0	15.06	15.06	15.06
492	-0.76	-243.3	2510	1802	3710	3680	62.4	-12.4	86	499	0.00	2.42	0.00	0.000	2564	0.000	0.066	2511	398	3695	3710	3680	0	0	0	0	0	0	15.05	14.80	15.06
522	-0.76	-243.3	2510	398	3710	3680	66.3	-12.0	91	528	0.00	2.35	0.00	0.000	3078	0.000	0.038	2511	1807	3695	3710	3680	0	0	0	0	0	0	14.94	14.84	14.95
594	-0.76	-243.3	2510	1809	3710	3680	74.6	-12.5	104	603	0.00	2.38	0.00	0.000	2308	0.000	0.056	2511	3213	3695	3710	3680	0	0	0	0	0	0	15.05	14.82	15.06
655	-0.76	-243.3	2510	3212	3710	3680	81.2	-9.6	114	661	0.00	2.35	0.00	0.000	3078	0.000	0.042	2511	1809	3695	3711	3680	0	0	0	0	0	0	14.83	14.75	14.84
727	-0.76	-243.3	2510	1809	3711	3680	89.4	-11.6	127	735	0.00	2.42	0.00	0.000	2564	0.000	0.065	2511	403	3695	3710	3680	0	0	0	0	0	0	15.08	14.81	15.08
742	-0.76	-243.3	2510	403	3711	3680	91.3	-11.1	129	748	0.00	2.35	0.00	0.000	3078	0.000	0.037	2511	1822	3695	3710	3680	0	0	0	0	0	0	14.95	14.86	14.97
812	-0.76	-243.3	2510	1824	3710	3680	99.2	-11.7	142	820	0.00	2.35	0.00	0.000	2308	0.000	0.054	2511	3213	3695	3710	3680	0	0	0	0	0	0	15.07	14.83	15.08
843	-0.76	-243.3	2511	3212	3710	3680	102.7	-9.7	147	850	0.00	2.35	0.00	0.000	3078	0.000	0.043	2511	1811	3695	3711	3679	0	0	0	0	0	0	14.95	14.85	14.97
915	-0.76	-243.3	2510	1809	3711	3680	110.3	-9.6	160	921	0.00	0.00	0.00	0.000	2054	0.000	0.000	2511	1811	3695	3711	3680	0	0	0	0	0	0	15.09	15.09	15.09
985	-0.76	-243.3	2510	1811	3711	3680	118.3	-11.0	173	990	0.00	0.00	0.00	0.000	2054	0.000	0.000	2511	1811	3695	3711	3679	0	0	0	0	0	0	15.09	15.09	15.09
1056	-0.76	-243.3	2510	1811	3711	3680	126.2	-11.4	186	1062	0.00	0.00	0.00	0.000	2054	0.000	0.000	2511	1810	3695	3710	3680	0	0	0	0	0	0	15.09	15.09	15.09
1125	-0.76	-243.3	2510	1811	3710	3680	134.2	-11.8	199	1131	0.00	0.00	0.00	0.000	2054	0.000	0.000	2511	1811	3695	3711	3680	0	0	0	0	0	0	15.09	15.10	15.09
1196	-0.76	-243.3	2510	1810	3711	3680	142.5	-10.3	212	1202	0.00	2.40	0.00	0.000	2308	0.000	0.051	2511	3219	3695	3710	3680	0	0	0	0	0	0	15.09	14.79	15.10
1225	-0.76	-243.3	2510	3219	3711	3680	145.9	-11.8	217	1231	0.00	2.35	0.00	0.000	3078	0.000	0.044	2511	1814	3695	3711	3680	0	0	0	0	0	0	14.84	14.73	14.85
1295	-0.76	-243.3	2510	1814	3711	3680	153.9	-12.9	230	1301	0.00	0.00	0.00	0.000	2054	0.000	0.000	2511	1814	3695	3710	3680	0	0	0	0	0	0	15.09	15.10	15.09
1366	-0.76	-243.3	2510	1814	3711	3680	162.5	-13.1	243	1372	0.00	0.00	0.00	0.000	2054	0.000	0.000	2511	1814	3695	3710	3680	0	0	0	0	0	0	15.09	15.10	15.10
1435	-0.76	-243.3	2510	1814	3711	3680	171.2	-12.3	256	1441	0.00	0.00	0.00	0.000	2054	0.000	0.000	2510	1814	3694	3710	3679	0	0	0	0	0	0	15.10	15.10	15.10
1503	-0.76	-243.3	2511	1814	3710	3679	179.6	-12.3	269	1509	0.00	0.00	0.00	0.000	2054	0.000	0.000	2511	1814	3695	3710	3680	0	0	0	0	0	0	15.10	15.10	15.10
1524	end dive: BOTTOM_OBSTACLE_DETECTED
state	1525	begin apogee
1530	-0.17	0.0	2511	1814	3710	3679	182.1	-10.9	273	1723	0.95	0.00	182.90	1.183	10246	0.143	0.000	2701	1814	2698	2733	2664	0	0	0	0	0	0	14.69	14.22	13.85
1726	end apogee: CONTROL_FINISHED_OK
state	1726	begin climb
1729	0.76	243.3	2701	1814	2732	2663	190.9	0.0	308	1928	1.38	2.58	188.98	1.159	10756	0.090	0.070	2991	393	1707	1750	1665	0	0	0	0	0	0	14.37	14.17	13.79
2037	0.76	243.3	2990	394	1737	1665	167.9	13.5	363	2044	0.00	2.38	0.00	0.000	3078	0.000	0.034	2990	1810	1700	1737	1663	0	0	0	0	0	0	14.70	14.62	14.71
2108	0.76	243.3	2990	1813	1737	1661	158.7	13.4	376	2115	0.00	2.35	0.00	0.000	2308	0.000	0.049	2991	3206	1699	1737	1661	0	0	0	0	0	0	14.88	14.64	14.88
2128	0.76	243.3	2990	3206	1736	1660	156.1	12.3	379	2134	0.00	2.40	0.00	0.000	3078	0.000	0.051	2991	1805	1698	1736	1660	0	0	0	0	0	0	14.78	14.69	14.81
2199	0.76	243.3	2991	1804	1738	1659	146.7	13.6	392	2205	0.00	0.00	0.00	0.000	2054	0.000	0.000	2992	1804	1698	1737	1659	0	0	0	0	0	0	14.95	14.95	14.95
2267	0.76	243.3	2991	1803	1736	1659	137.1	13.9	405	2274	0.00	2.38	0.00	0.000	2308	0.000	0.048	2991	3213	1698	1737	1659	0	0	0	0	0	0	14.98	14.73	14.98
2292	0.76	243.3	2991	3211	1735	1658	133.0	16.7	409	2298	0.00	2.42	0.00	0.000	3078	0.000	0.053	2995	1795	1697	1735	1659	0	0	0	0	0	0	14.88	14.76	14.89
2363	0.76	243.3	2991	1794	1736	1658	122.7	15.3	422	2369	0.00	0.00	0.00	0.000	2054	0.000	0.000	2992	1795	1696	1735	1658	0	0	0	0	0	0	15.00	15.00	15.00
2431	0.76	243.3	2991	1795	1735	1657	111.4	16.7	435	2438	0.00	2.42	0.00	0.000	2564	0.000	0.072	3000	393	1696	1735	1658	0	0	0	0	0	0	15.03	14.77	15.03
2456	0.76	243.3	2999	391	1735	1658	107.3	17.5	439	2463	0.00	2.33	0.00	0.000	1030	0.000	0.034	3000	1804	1696	1735	1658	0	0	0	0	0	0	14.91	14.84	14.93
2527	0.76	243.3	2999	1806	1735	1657	96.0	16.8	452	2533	0.00	2.33	0.00	0.000	260	0.000	0.048	2999	3197	1696	1735	1657	0	0	0	0	0	0	15.03	14.82	15.04
2576	0.76	243.3	2997	3195	1734	1657	87.6	16.4	461	2583	0.00	2.40	0.00	0.000	1030	0.000	0.052	3000	1792	1695	1734	1656	0	0	0	0	0	0	14.91	14.82	14.94
2647	0.76	243.3	3000	1792	1734	1656	76.9	15.6	474	2654	0.00	2.42	0.00	0.000	516	0.000	0.072	3008	391	1695	1734	1656	0	0	0	0	0	0	15.04	14.80	15.05
2681	0.76	243.3	3008	391	1734	1657	71.1	15.8	480	2688	0.00	2.33	0.00	0.000	5126	0.000	0.034	3008	1801	1695	1734	1656	0	0	0	0	0	0	14.95	14.87	14.96
2753	0.76	243.3	3008	1803	1734	1656	61.6	13.1	493	2759	0.00	2.33	0.00	0.000	4356	0.000	0.048	3008	3197	1695	1734	1656	0	0	0	0	0	0	15.05	14.83	15.05
2812	0.76	243.3	3008	3197	1733	1656	53.1	14.5	504	2819	0.00	2.40	0.00	0.000	5126	0.000	0.053	3010	1800	1694	1733	1656	0	0	0	0	0	0	14.95	14.83	14.97
2883	0.76	243.3	3009	1800	1733	1656	43.9	11.6	517	2890	0.00	2.42	0.00	0.000	4612	0.000	0.073	3010	396	1694	1733	1656	0	0	0	0	0	0	15.07	14.73	15.07
3019	0.76	243.3	3009	395	1733	1656	28.9	10.7	543	3026	0.00	2.33	0.00	0.000	5126	0.000	0.034	3010	1810	1694	1733	1656	0	0	0	0	0	0	14.85	14.77	14.87
3091	0.84	304.3	3009	1811	1733	1655	22.8	8.3	556	3141	0.00	2.35	43.35	1.001	10500	0.000	0.047	3010	3197	1458	1505	1412	0	0	0	0	0	0	15.09	14.57	14.19
3210	0.84	304.3	3009	3197	1502	1410	11.6	10.5	578	3216	0.00	2.42	0.00	0.000	3078	0.000	0.052	3010	1787	1455	1502	1409	0	0	0	0	0	0	14.78	14.68	14.79
3281	0.84	304.3	3009	1786	1502	1407	3.4	14.3	591	3288	0.00	2.42	0.00	0.000	2308	0.000	0.050	3010	3199	1454	1502	1407	0	0	0	0	0	0	14.98	14.73	14.98
3292	end climb: SURFACE_DEPTH_REACHED
state	3293	begin surface coast
3314	end surface coast: CONTROL_FINISHED_OK
state	3314	begin surface