Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 429 * 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 310 C_ROLL_CLIMB 1800 ALTIM_TOP_TURN_MARGIN 0

DIVE 429 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 56 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 310 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 56 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 429 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 180419,185225,-3427.8689,2531.5166,7,0.8,42,-28.0,0.0,187.8,10,4.5 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG -3421.117,2521.336

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.85 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -67.6 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 180419,190401,-3428.0586,2531.3560,7,0.8,14,-28.0,0.8,214.0,10,9.5 MHEAD_RNG_PITCHd_Wd 338.0,20000,-13.9,-10.010,-17.09,3711

SPEED_LIMITS 0.173,0.326 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.1,1.025727 _24V_AH 13.45,135.175

SM_CCo 3218,174.02,0.816,0,0,598,515.37 _10V_AH 13.61,0.000

SM_GC 0.86,13.62,0.00,174.02,0.047,0.000,0.816,130,1793,598,-8.17,-0.51,515.37,0,0,0,0,0,0,14.81,15.06,14.05 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3414.71,2534.32,180419,174346 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.932505 MEM 340928

HUMID 45.43 DATA_FILE_SIZE 13430,574

INTERNAL_PRESSURE 9.25373 CAP_FILE_SIZE 111978,0

TCM_TEMP 18.40 CFSIZE 2097086464,2011332608

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

ALTIM_BOTTOM_PING 155.5,33.9 GPS 180419,200158,-3428.155,2530.413,7,1.1,17,-28.0,0.9,224.9,8,9.1

SC_FREEKB 3696064

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 323 133.73 nil 0 0 0.00

Roll_motor 62 72 60.85 nil 0 0 0.00

VBD_pump_during_apogee 383 1194 6161.20 nil 0 0 0.00

VBD_pump_during_surface 174 816 1910.56 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 51 16 11.47 nil 0 0 0.00

Iridium_during_connect 62 160 134.58 SciCon 3261 36 1590.16

Iridium_during_xfer 263 223 791.33 nil 0 0 0.00

Transponder_ping 5 420 32.48 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 11 2.44

TT8 1175 9 153.77

LPSleep 564 2 16.84

TT8_Active 709 9 92.83

TT8_Sampling 1375 28 530.59

TT8_CF8 270 36 134.74

TT8_Kalman 0 0 0.00

Analog_circuits 1285 12 211.92

GPS_charging 0 0 0.00

Compass 865 17 211.69

RAFOS 0 0 0.00

Transponder 37 30 15.30

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

22 -0.76 -243.3 53 1789 624 544 0.0 0.0 0 127 0.00 0.00 -102.03 0.000 16386 0.000 0.000 53 1794 3084 3049 3119 0 0 0 0 0 0 14.92 28.83 14.93

133 -0.76 -243.3 53 1794 3050 3119 3.7 -8.5 19 163 14.60 2.45 -10.05 0.000 18692 0.301 0.070 2497 3207 3694 3708 3681 0 0 0 0 0 0 14.45 13.45 14.72

288 -0.76 -243.3 2497 3207 3710 3682 36.2 -13.5 48 294 0.00 2.38 0.00 0.000 3078 0.000 0.044 2497 1802 3695 3709 3682 0 0 0 0 0 0 14.88 14.77 14.89

359 -0.76 -243.3 2497 1802 3710 3681 47.0 -15.1 61 366 0.05 0.00 0.00 0.000 2054 0.324 0.000 2508 1802 3696 3710 3682 0 0 0 0 0 0 14.64 14.83 14.79

430 -0.76 -243.3 2508 1802 3710 3682 56.4 -11.7 74 436 0.00 0.00 0.00 0.000 2054 0.000 0.000 2508 1802 3696 3710 3682 0 0 0 0 0 0 15.03 15.04 15.04

500 -0.76 -243.3 2508 1802 3710 3682 65.3 -11.6 87 505 0.00 0.00 0.00 0.000 2054 0.000 0.000 2508 1802 3696 3710 3682 0 0 0 0 0 0 15.04 15.04 15.04

568 -0.76 -243.3 2508 1802 3710 3682 73.0 -10.5 100 574 0.00 0.00 0.00 0.000 2054 0.000 0.000 2508 1802 3696 3710 3682 0 0 0 0 0 0 15.05 15.05 15.05

639 -0.76 -243.3 2508 1802 3710 3681 80.3 -11.1 113 646 0.00 2.40 0.00 0.000 2308 0.000 0.055 2508 3198 3696 3710 3682 0 0 0 0 0 0 15.06 14.69 15.07

689 -0.76 -243.3 2508 3199 3710 3682 85.8 -9.9 122 696 0.00 2.35 0.00 0.000 3078 0.000 0.043 2508 1804 3696 3710 3682 0 0 0 0 0 0 14.81 14.71 14.83

760 -0.76 -243.3 2508 1803 3710 3681 93.5 -11.6 135 766 0.00 0.00 0.00 0.000 2054 0.000 0.000 2508 1804 3696 3710 3682 0 0 0 0 0 0 15.07 15.07 15.07

832 -0.76 -243.3 2508 1803 3711 3682 101.8 -11.5 148 838 0.00 0.00 0.00 0.000 2054 0.000 0.000 2508 1804 3696 3710 3682 0 0 0 0 0 0 15.04 15.05 15.04

904 -0.76 -243.3 2508 1803 3710 3680 110.3 -11.6 161 910 0.00 0.00 0.00 0.000 2054 0.000 0.000 2508 1804 3696 3710 3682 0 0 0 0 0 0 15.07 15.08 15.08

973 -0.76 -243.3 2508 1804 3711 3681 118.9 -11.8 174 979 0.00 0.00 0.00 0.000 2054 0.000 0.000 2508 1803 3695 3710 3681 0 0 0 0 0 0 15.07 15.08 15.07

1043 -0.76 -243.3 2508 1804 3710 3682 126.8 -12.0 187 1050 0.00 2.38 0.00 0.000 2308 0.000 0.054 2508 3197 3696 3711 3682 0 0 0 0 0 0 15.06 14.70 15.07

1074 -0.76 -243.3 2508 3197 3710 3682 130.6 -11.5 192 1080 0.00 2.33 0.00 0.000 3078 0.000 0.044 2508 1810 3696 3710 3682 0 0 0 0 0 0 14.82 14.71 14.83

1145 -0.76 -243.3 2508 1810 3710 3682 138.7 -11.7 205 1152 0.00 2.45 0.00 0.000 2564 0.000 0.065 2507 401 3695 3710 3681 0 0 0 0 0 0 15.07 14.74 15.08

1165 -0.76 -243.3 2508 401 3709 3681 141.1 -11.2 208 1172 0.00 2.33 0.00 0.000 3078 0.000 0.034 2508 1804 3695 3709 3681 0 0 0 0 0 0 14.88 14.79 14.90

1236 -0.76 -243.3 2508 1807 3709 3682 149.3 -11.8 221 1244 0.00 2.40 0.00 0.000 2308 0.000 0.054 2508 3217 3695 3709 3681 0 0 0 0 0 0 15.07 14.80 15.08

1272 -0.76 -243.3 2508 3217 3708 3681 153.3 -10.2 227 1278 0.00 2.38 0.00 0.000 3078 0.000 0.044 2508 1806 3695 3709 3681 0 0 0 0 0 0 14.93 14.82 14.95

1345 -0.76 -243.3 2508 1806 3709 3681 161.9 -12.5 240 1350 0.00 0.00 0.00 0.000 2054 0.000 0.000 2513 1806 3695 3709 3681 0 0 0 0 0 0 15.07 15.08 15.07

1413 -0.76 -243.3 2508 1806 3709 3681 170.3 -11.7 253 1419 0.00 0.00 0.00 0.000 2054 0.000 0.000 2508 1806 3695 3709 3681 0 0 0 0 0 0 15.08 15.08 15.08

1482 -0.76 -243.3 2508 1806 3709 3681 178.3 -12.2 266 1488 0.00 0.00 0.00 0.000 2054 0.000 0.000 2508 1802 3695 3709 3681 0 0 0 0 0 0 15.07 15.11 15.08

1493 end dive: BOTTOM_OBSTACLE_DETECTED

state 1493 begin apogee

1499 -0.17 0.0 2508 1806 3709 3682 179.8 -12.4 268 1692 0.95 0.00 183.50 1.194 10246 0.143 0.000 2697 1803 2697 2729 2665 0 0 0 0 0 0 14.65 14.22 13.82

1695 end apogee: CONTROL_FINISHED_OK

state 1695 begin climb

1698 0.76 243.3 2697 1802 2728 2664 185.6 0.0 303 1901 1.45 2.45 189.18 1.164 10500 0.067 0.048 3008 3205 1705 1744 1666 0 0 0 0 0 0 14.37 14.25 13.77

1919 0.76 243.3 3007 3205 1741 1665 174.9 16.0 341 1925 0.00 2.47 0.00 0.000 5126 0.000 0.052 3010 1805 1702 1741 1664 0 0 0 0 0 0 14.42 14.33 14.42

1990 0.76 243.3 3010 1805 1739 1662 164.8 14.9 354 1996 0.00 0.00 0.00 0.000 4102 0.000 0.000 3010 1805 1700 1739 1661 0 0 0 0 0 0 14.76 14.76 14.76

2059 0.76 243.3 3009 1805 1739 1663 154.0 14.6 367 2065 0.00 0.00 0.00 0.000 4102 0.000 0.000 3010 1805 1699 1738 1660 0 0 0 0 0 0 14.84 14.84 14.85

2128 0.76 243.3 3010 1805 1738 1660 144.5 14.1 380 2134 0.00 2.38 0.00 0.000 4356 0.000 0.047 3010 3201 1699 1738 1660 0 0 0 0 0 0 14.90 14.62 14.91

2152 0.76 243.3 3009 3200 1737 1660 141.0 14.1 384 2159 0.00 2.42 0.00 0.000 5126 0.000 0.054 3010 1798 1698 1736 1660 0 0 0 0 0 0 14.80 14.69 14.82

2223 0.76 243.3 3009 1797 1736 1659 131.0 14.3 397 2230 0.00 2.47 0.00 0.000 4612 0.000 0.073 3010 388 1697 1736 1659 0 0 0 0 0 0 14.95 14.63 14.96

2248 0.76 243.3 3010 388 1736 1659 127.0 14.9 401 2255 0.00 2.35 0.00 0.000 5126 0.000 0.033 3010 1804 1697 1736 1659 0 0 0 0 0 0 14.76 14.68 14.77

2319 0.76 243.3 3010 1807 1736 1659 117.3 14.3 414 2326 0.00 2.35 0.00 0.000 4356 0.000 0.047 3010 3205 1696 1735 1658 0 0 0 0 0 0 15.00 14.73 15.00

2344 0.76 243.3 3010 3205 1734 1659 113.2 15.9 418 2351 0.00 2.42 0.00 0.000 5126 0.000 0.053 3010 1799 1696 1735 1658 0 0 0 0 0 0 14.83 14.72 14.85

2416 0.76 243.3 3010 1799 1735 1658 103.2 14.4 431 2421 0.00 0.00 0.00 0.000 4102 0.000 0.000 3010 1799 1696 1735 1658 0 0 0 0 0 0 15.02 15.02 15.02

2484 0.76 243.3 3010 1799 1735 1658 93.0 14.9 444 2491 0.00 2.40 0.00 0.000 4356 0.000 0.048 3011 3209 1695 1734 1657 0 0 0 0 0 0 15.02 14.75 15.03

2509 0.76 243.3 3010 3209 1734 1656 89.1 15.6 448 2516 0.00 2.42 0.00 0.000 5126 0.000 0.052 3017 1794 1696 1734 1658 0 0 0 0 0 0 14.85 14.75 14.87

2581 0.76 243.3 3018 1794 1734 1657 77.5 17.5 461 2586 0.00 0.00 0.00 0.000 4102 0.000 0.000 3017 1794 1696 1735 1658 0 0 0 0 0 0 15.04 15.04 15.04

2649 0.76 243.3 3017 1794 1734 1657 64.7 18.3 474 2656 0.00 2.38 0.00 0.000 4356 0.000 0.047 3017 3200 1695 1734 1657 0 0 0 0 0 0 15.05 14.76 15.05

2694 0.76 243.3 3017 3200 1733 1657 57.5 15.2 482 2700 0.00 2.40 0.00 0.000 5126 0.000 0.054 3017 1799 1695 1733 1657 0 0 0 0 0 0 14.83 14.72 14.85

2764 0.76 243.3 3016 1799 1734 1657 48.0 13.3 495 2771 0.00 2.45 0.00 0.000 4612 0.000 0.073 3019 394 1695 1734 1657 0 0 0 0 0 0 15.06 14.74 15.06

2824 0.76 243.3 3018 398 1734 1657 39.0 13.7 506 2831 0.05 2.33 0.00 0.000 5126 0.323 0.033 3009 1809 1695 1734 1657 0 0 0 0 0 0 14.59 14.76 14.81

2896 0.76 243.3 3008 1810 1733 1656 30.6 11.1 519 2902 0.00 2.33 0.00 0.000 4356 0.000 0.049 3009 3196 1694 1732 1656 0 0 0 0 0 0 15.06 14.81 15.07

2945 0.76 243.3 3008 3196 1733 1655 24.6 11.4 528 2952 0.00 2.40 0.00 0.000 5126 0.000 0.051 3009 1794 1694 1733 1656 0 0 0 0 0 0 14.92 14.81 14.95

3017 0.76 243.3 3009 1794 1733 1655 17.2 10.8 541 3022 0.00 0.00 0.00 0.000 4102 0.000 0.000 3009 1794 1694 1733 1655 0 0 0 0 0 0 15.04 15.04 15.05

3085 0.76 243.3 3009 1793 1733 1655 9.9 10.4 554 3091 0.00 0.00 0.00 0.000 4102 0.000 0.000 3009 1793 1694 1733 1655 0 0 0 0 0 0 15.07 15.07 15.07

3154 0.85 311.3 3009 1793 1733 1655 3.8 8.1 567 3167 0.00 0.00 10.93 0.827 10498 0.000 0.000 3010 1794 1630 1670 1590 0 0 0 0 0 0 15.07 28.83 15.08

3168 end climb: SURFACE_DEPTH_REACHED

state 3168 begin surface coast

3193 end surface coast: CONTROL_FINISHED_OK

state 3194 begin surface

ID	574	HD_C	9.8500004e-06	C_ROLL_DIVE	1812	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	3	HEADING	310	C_ROLL_CLIMB	1800	ALTIM_TOP_TURN_MARGIN	0
DIVE	429	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	56	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	180419,185225,-3427.8689,2531.5166,7,0.8,42,-28.0,0.0,187.8,10,4.5	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	-3421.117,2521.336
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.85	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-67.6	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	180419,190401,-3428.0586,2531.3560,7,0.8,14,-28.0,0.8,214.0,10,9.5	MHEAD_RNG_PITCHd_Wd	338.0,20000,-13.9,-10.010,-17.09,3711
SPEED_LIMITS	0.173,0.326	D_GRID	1000

FINISH	0.1,1.025727	_24V_AH	13.45,135.175
SM_CCo	3218,174.02,0.816,0,0,598,515.37	_10V_AH	13.61,0.000
SM_GC	0.86,13.62,0.00,174.02,0.047,0.000,0.816,130,1793,598,-8.17,-0.51,515.37,0,0,0,0,0,0,14.81,15.06,14.05	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3414.71,2534.32,180419,174346	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.932505	MEM	340928
HUMID	45.43	DATA_FILE_SIZE	13430,574
INTERNAL_PRESSURE	9.25373	CAP_FILE_SIZE	111978,0
TCM_TEMP	18.40	CFSIZE	2097086464,2011332608
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	155.5,33.9	GPS	180419,200158,-3428.155,2530.413,7,1.1,17,-28.0,0.9,224.9,8,9.1
SC_FREEKB	3696064

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	323	133.73	nil	0	0	0.00
Roll_motor	62	72	60.85	nil	0	0	0.00
VBD_pump_during_apogee	383	1194	6161.20	nil	0	0	0.00
VBD_pump_during_surface	174	816	1910.56	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	51	16	11.47	nil	0	0	0.00
Iridium_during_connect	62	160	134.58	SciCon	3261	36	1590.16
Iridium_during_xfer	263	223	791.33	nil	0	0	0.00
Transponder_ping	5	420	32.48	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	11	2.44
TT8	1175	9	153.77
LPSleep	564	2	16.84
TT8_Active	709	9	92.83
TT8_Sampling	1375	28	530.59
TT8_CF8	270	36	134.74
TT8_Kalman	0	0	0.00
Analog_circuits	1285	12	211.92
GPS_charging	0	0	0.00
Compass	865	17	211.69
RAFOS	0	0	0.00
Transponder	37	30	15.30

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
22	-0.76	-243.3	53	1789	624	544	0.0	0.0	0	127	0.00	0.00	-102.03	0.000	16386	0.000	0.000	53	1794	3084	3049	3119	0	0	0	0	0	0	14.92	28.83	14.93
133	-0.76	-243.3	53	1794	3050	3119	3.7	-8.5	19	163	14.60	2.45	-10.05	0.000	18692	0.301	0.070	2497	3207	3694	3708	3681	0	0	0	0	0	0	14.45	13.45	14.72
288	-0.76	-243.3	2497	3207	3710	3682	36.2	-13.5	48	294	0.00	2.38	0.00	0.000	3078	0.000	0.044	2497	1802	3695	3709	3682	0	0	0	0	0	0	14.88	14.77	14.89
359	-0.76	-243.3	2497	1802	3710	3681	47.0	-15.1	61	366	0.05	0.00	0.00	0.000	2054	0.324	0.000	2508	1802	3696	3710	3682	0	0	0	0	0	0	14.64	14.83	14.79
430	-0.76	-243.3	2508	1802	3710	3682	56.4	-11.7	74	436	0.00	0.00	0.00	0.000	2054	0.000	0.000	2508	1802	3696	3710	3682	0	0	0	0	0	0	15.03	15.04	15.04
500	-0.76	-243.3	2508	1802	3710	3682	65.3	-11.6	87	505	0.00	0.00	0.00	0.000	2054	0.000	0.000	2508	1802	3696	3710	3682	0	0	0	0	0	0	15.04	15.04	15.04
568	-0.76	-243.3	2508	1802	3710	3682	73.0	-10.5	100	574	0.00	0.00	0.00	0.000	2054	0.000	0.000	2508	1802	3696	3710	3682	0	0	0	0	0	0	15.05	15.05	15.05
639	-0.76	-243.3	2508	1802	3710	3681	80.3	-11.1	113	646	0.00	2.40	0.00	0.000	2308	0.000	0.055	2508	3198	3696	3710	3682	0	0	0	0	0	0	15.06	14.69	15.07
689	-0.76	-243.3	2508	3199	3710	3682	85.8	-9.9	122	696	0.00	2.35	0.00	0.000	3078	0.000	0.043	2508	1804	3696	3710	3682	0	0	0	0	0	0	14.81	14.71	14.83
760	-0.76	-243.3	2508	1803	3710	3681	93.5	-11.6	135	766	0.00	0.00	0.00	0.000	2054	0.000	0.000	2508	1804	3696	3710	3682	0	0	0	0	0	0	15.07	15.07	15.07
832	-0.76	-243.3	2508	1803	3711	3682	101.8	-11.5	148	838	0.00	0.00	0.00	0.000	2054	0.000	0.000	2508	1804	3696	3710	3682	0	0	0	0	0	0	15.04	15.05	15.04
904	-0.76	-243.3	2508	1803	3710	3680	110.3	-11.6	161	910	0.00	0.00	0.00	0.000	2054	0.000	0.000	2508	1804	3696	3710	3682	0	0	0	0	0	0	15.07	15.08	15.08
973	-0.76	-243.3	2508	1804	3711	3681	118.9	-11.8	174	979	0.00	0.00	0.00	0.000	2054	0.000	0.000	2508	1803	3695	3710	3681	0	0	0	0	0	0	15.07	15.08	15.07
1043	-0.76	-243.3	2508	1804	3710	3682	126.8	-12.0	187	1050	0.00	2.38	0.00	0.000	2308	0.000	0.054	2508	3197	3696	3711	3682	0	0	0	0	0	0	15.06	14.70	15.07
1074	-0.76	-243.3	2508	3197	3710	3682	130.6	-11.5	192	1080	0.00	2.33	0.00	0.000	3078	0.000	0.044	2508	1810	3696	3710	3682	0	0	0	0	0	0	14.82	14.71	14.83
1145	-0.76	-243.3	2508	1810	3710	3682	138.7	-11.7	205	1152	0.00	2.45	0.00	0.000	2564	0.000	0.065	2507	401	3695	3710	3681	0	0	0	0	0	0	15.07	14.74	15.08
1165	-0.76	-243.3	2508	401	3709	3681	141.1	-11.2	208	1172	0.00	2.33	0.00	0.000	3078	0.000	0.034	2508	1804	3695	3709	3681	0	0	0	0	0	0	14.88	14.79	14.90
1236	-0.76	-243.3	2508	1807	3709	3682	149.3	-11.8	221	1244	0.00	2.40	0.00	0.000	2308	0.000	0.054	2508	3217	3695	3709	3681	0	0	0	0	0	0	15.07	14.80	15.08
1272	-0.76	-243.3	2508	3217	3708	3681	153.3	-10.2	227	1278	0.00	2.38	0.00	0.000	3078	0.000	0.044	2508	1806	3695	3709	3681	0	0	0	0	0	0	14.93	14.82	14.95
1345	-0.76	-243.3	2508	1806	3709	3681	161.9	-12.5	240	1350	0.00	0.00	0.00	0.000	2054	0.000	0.000	2513	1806	3695	3709	3681	0	0	0	0	0	0	15.07	15.08	15.07
1413	-0.76	-243.3	2508	1806	3709	3681	170.3	-11.7	253	1419	0.00	0.00	0.00	0.000	2054	0.000	0.000	2508	1806	3695	3709	3681	0	0	0	0	0	0	15.08	15.08	15.08
1482	-0.76	-243.3	2508	1806	3709	3681	178.3	-12.2	266	1488	0.00	0.00	0.00	0.000	2054	0.000	0.000	2508	1802	3695	3709	3681	0	0	0	0	0	0	15.07	15.11	15.08
1493	end dive: BOTTOM_OBSTACLE_DETECTED
state	1493	begin apogee
1499	-0.17	0.0	2508	1806	3709	3682	179.8	-12.4	268	1692	0.95	0.00	183.50	1.194	10246	0.143	0.000	2697	1803	2697	2729	2665	0	0	0	0	0	0	14.65	14.22	13.82
1695	end apogee: CONTROL_FINISHED_OK
state	1695	begin climb
1698	0.76	243.3	2697	1802	2728	2664	185.6	0.0	303	1901	1.45	2.45	189.18	1.164	10500	0.067	0.048	3008	3205	1705	1744	1666	0	0	0	0	0	0	14.37	14.25	13.77
1919	0.76	243.3	3007	3205	1741	1665	174.9	16.0	341	1925	0.00	2.47	0.00	0.000	5126	0.000	0.052	3010	1805	1702	1741	1664	0	0	0	0	0	0	14.42	14.33	14.42
1990	0.76	243.3	3010	1805	1739	1662	164.8	14.9	354	1996	0.00	0.00	0.00	0.000	4102	0.000	0.000	3010	1805	1700	1739	1661	0	0	0	0	0	0	14.76	14.76	14.76
2059	0.76	243.3	3009	1805	1739	1663	154.0	14.6	367	2065	0.00	0.00	0.00	0.000	4102	0.000	0.000	3010	1805	1699	1738	1660	0	0	0	0	0	0	14.84	14.84	14.85
2128	0.76	243.3	3010	1805	1738	1660	144.5	14.1	380	2134	0.00	2.38	0.00	0.000	4356	0.000	0.047	3010	3201	1699	1738	1660	0	0	0	0	0	0	14.90	14.62	14.91
2152	0.76	243.3	3009	3200	1737	1660	141.0	14.1	384	2159	0.00	2.42	0.00	0.000	5126	0.000	0.054	3010	1798	1698	1736	1660	0	0	0	0	0	0	14.80	14.69	14.82
2223	0.76	243.3	3009	1797	1736	1659	131.0	14.3	397	2230	0.00	2.47	0.00	0.000	4612	0.000	0.073	3010	388	1697	1736	1659	0	0	0	0	0	0	14.95	14.63	14.96
2248	0.76	243.3	3010	388	1736	1659	127.0	14.9	401	2255	0.00	2.35	0.00	0.000	5126	0.000	0.033	3010	1804	1697	1736	1659	0	0	0	0	0	0	14.76	14.68	14.77
2319	0.76	243.3	3010	1807	1736	1659	117.3	14.3	414	2326	0.00	2.35	0.00	0.000	4356	0.000	0.047	3010	3205	1696	1735	1658	0	0	0	0	0	0	15.00	14.73	15.00
2344	0.76	243.3	3010	3205	1734	1659	113.2	15.9	418	2351	0.00	2.42	0.00	0.000	5126	0.000	0.053	3010	1799	1696	1735	1658	0	0	0	0	0	0	14.83	14.72	14.85
2416	0.76	243.3	3010	1799	1735	1658	103.2	14.4	431	2421	0.00	0.00	0.00	0.000	4102	0.000	0.000	3010	1799	1696	1735	1658	0	0	0	0	0	0	15.02	15.02	15.02
2484	0.76	243.3	3010	1799	1735	1658	93.0	14.9	444	2491	0.00	2.40	0.00	0.000	4356	0.000	0.048	3011	3209	1695	1734	1657	0	0	0	0	0	0	15.02	14.75	15.03
2509	0.76	243.3	3010	3209	1734	1656	89.1	15.6	448	2516	0.00	2.42	0.00	0.000	5126	0.000	0.052	3017	1794	1696	1734	1658	0	0	0	0	0	0	14.85	14.75	14.87
2581	0.76	243.3	3018	1794	1734	1657	77.5	17.5	461	2586	0.00	0.00	0.00	0.000	4102	0.000	0.000	3017	1794	1696	1735	1658	0	0	0	0	0	0	15.04	15.04	15.04
2649	0.76	243.3	3017	1794	1734	1657	64.7	18.3	474	2656	0.00	2.38	0.00	0.000	4356	0.000	0.047	3017	3200	1695	1734	1657	0	0	0	0	0	0	15.05	14.76	15.05
2694	0.76	243.3	3017	3200	1733	1657	57.5	15.2	482	2700	0.00	2.40	0.00	0.000	5126	0.000	0.054	3017	1799	1695	1733	1657	0	0	0	0	0	0	14.83	14.72	14.85
2764	0.76	243.3	3016	1799	1734	1657	48.0	13.3	495	2771	0.00	2.45	0.00	0.000	4612	0.000	0.073	3019	394	1695	1734	1657	0	0	0	0	0	0	15.06	14.74	15.06
2824	0.76	243.3	3018	398	1734	1657	39.0	13.7	506	2831	0.05	2.33	0.00	0.000	5126	0.323	0.033	3009	1809	1695	1734	1657	0	0	0	0	0	0	14.59	14.76	14.81
2896	0.76	243.3	3008	1810	1733	1656	30.6	11.1	519	2902	0.00	2.33	0.00	0.000	4356	0.000	0.049	3009	3196	1694	1732	1656	0	0	0	0	0	0	15.06	14.81	15.07
2945	0.76	243.3	3008	3196	1733	1655	24.6	11.4	528	2952	0.00	2.40	0.00	0.000	5126	0.000	0.051	3009	1794	1694	1733	1656	0	0	0	0	0	0	14.92	14.81	14.95
3017	0.76	243.3	3009	1794	1733	1655	17.2	10.8	541	3022	0.00	0.00	0.00	0.000	4102	0.000	0.000	3009	1794	1694	1733	1655	0	0	0	0	0	0	15.04	15.04	15.05
3085	0.76	243.3	3009	1793	1733	1655	9.9	10.4	554	3091	0.00	0.00	0.00	0.000	4102	0.000	0.000	3009	1793	1694	1733	1655	0	0	0	0	0	0	15.07	15.07	15.07
3154	0.85	311.3	3009	1793	1733	1655	3.8	8.1	567	3167	0.00	0.00	10.93	0.827	10498	0.000	0.000	3010	1794	1630	1670	1590	0	0	0	0	0	0	15.07	28.83	15.08
3168	end climb: SURFACE_DEPTH_REACHED
state	3168	begin surface coast
3193	end surface coast: CONTROL_FINISHED_OK
state	3194	begin surface