Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 78 * 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 270 C_ROLL_CLIMB 1800 ALTIM_TOP_TURN_MARGIN 0

DIVE 78 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 50

STOP_T 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

D_SURF 3 TGT_DEFAULT_LAT 4743.3999 R_PORT_OVSHOOT 31 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 49 ALTIM_PULSE 3

D_TGT 500 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 167 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_MISSION 182 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_ABORT 197 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 95 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 3 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 500 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 197

CALL_TRIES 5 HEADING 270 PROTOCOL 9 T_BOOST 0

CALL_WAIT 60 HEAD_ERRBAND 10 P_OVSHOOT 0.039999999 T_DIVE 167

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 182

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 95 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MINV_10V 10 R_PORT_OVSHOOT 31 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 49 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 78 NAV_MODE 3 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 200319,201031,-2953.0730,3112.4749,10,0.8,36,-24.9,0.5,6.4,10,9.8 TGT_NAME HEADING

_CALLS 5 TGT_LATLONG -2951.593,3100.235

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.82 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -66.1 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 200319,203133,-2952.7898,3112.6108,7,1.0,14,-24.9,0.4,22.0,8,9.7 MHEAD_RNG_PITCHd_Wd 301.3,20000,-23.0,-9.980,-25.43,1422

SPEED_LIMITS 0.173,0.210 D_GRID 500

Post-dive calculations and measurements:

FINISH 0.1,1.024076 _24V_AH 14.02,49.820

SM_CCo 3774,170.25,0.796,0,0,598,515.37 _10V_AH 13.93,0.000

SM_GC 0.73,13.85,0.00,170.25,0.047,0.000,0.796,126,1813,598,-8.18,0.03,515.37,0,0,0,0,0,0,14.89,15.09,14.22 FG_AHR_24Vo 0.000

IRIDIUM_FIX -2940.11,3113.17,200319,202641 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.901047 MEM 340928

HUMID 42.16 DATA_FILE_SIZE 16778,699

INTERNAL_PRESSURE 9.49787 CAP_FILE_SIZE 134573,0

TCM_TEMP 21.50 CFSIZE 2097086464,2080276480

XPDR_PINGS 35 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

ALTIM_BOTTOM_PING 190.7,34.1 CURRENT 0.103,56.18,1

SC_FREEKB 3882464 GPS 200319,213855,-2952.596,3112.379,7,0.9,37,-24.9,0.3,322.1,10,4.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 374 161.40 nil 0 0 0.00

Roll_motor 60 72 61.67 nil 0 0 0.00

VBD_pump_during_apogee 243 1031 3519.81 nil 0 0 0.00

VBD_pump_during_surface 170 795 1899.02 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 125 16 28.98 nil 0 0 0.00

Iridium_during_connect 110 160 247.74 SciCon 3812 34 1852.32

Iridium_during_xfer 525 223 1641.95 nil 0 0 0.00

Transponder_ping 16 420 95.69 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 11 2.30

TT8 1606 9 215.02

LPSleep 860 2 26.25

TT8_Active 606 9 81.22

TT8_Sampling 2024 28 799.18

TT8_CF8 116 36 59.27

TT8_Kalman 0 0 0.00

Analog_circuits 1222 12 206.21

GPS_charging 0 0 0.00

Compass 1056 17 264.52

RAFOS 0 0 0.00

Transponder 48 30 20.33

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

20 -0.88 -92.5 54 1805 626 550 0.0 0.0 0 113 0.00 0.00 -90.97 0.000 16386 0.000 0.000 54 1806 3018 2993 3043 0 0 0 0 0 0 15.11 28.83 15.13

116 -0.88 -92.5 54 1806 2994 3044 3.5 -7.7 16 142 13.90 2.35 -1.08 0.000 18948 0.301 0.073 2468 399 3080 3066 3094 0 0 0 0 0 0 14.78 14.02 14.98

239 -0.88 -92.5 2463 399 3071 3089 34.5 -15.4 39 247 0.05 2.28 0.00 0.000 3078 0.374 0.036 2468 1811 3079 3073 3086 0 0 0 0 0 0 14.83 14.97 15.00

309 -0.88 -92.5 2468 1814 3073 3085 45.5 -16.8 52 315 0.00 0.00 0.00 0.000 2054 0.000 0.000 2468 1814 3079 3073 3086 0 0 0 0 0 0 15.17 15.18 15.17

378 -0.88 -92.5 2468 1815 3073 3085 57.3 -17.2 65 385 0.00 2.30 0.00 0.000 2308 0.000 0.052 2460 3212 3079 3074 3085 0 0 0 0 0 0 15.18 14.98 15.18

391 -0.88 -92.5 2460 3212 3074 3084 59.5 -16.5 67 400 0.05 2.33 0.00 0.000 3078 0.327 0.046 2470 1798 3079 3074 3085 0 0 0 0 0 0 14.88 14.99 15.03

463 -0.88 -92.5 2469 1802 3074 3084 70.8 -14.9 80 469 0.00 0.00 0.00 0.000 2054 0.000 0.000 2470 1799 3079 3074 3085 0 0 0 0 0 0 15.19 15.19 15.19

531 -0.88 -92.5 2470 1799 3074 3084 80.9 -15.3 93 538 0.00 2.35 0.00 0.000 2308 0.000 0.054 2463 3215 3079 3074 3084 0 0 0 0 0 0 15.21 15.00 15.21

610 -0.88 -92.5 2462 3216 3074 3084 91.9 -13.7 108 617 0.00 2.30 0.00 0.000 3078 0.000 0.044 2463 1809 3079 3074 3084 0 0 0 0 0 0 15.07 14.99 15.09

680 -0.88 -92.5 2462 1809 3075 3083 101.6 -14.1 121 686 0.00 0.00 0.00 0.000 2054 0.000 0.000 2463 1809 3079 3075 3084 0 0 0 0 0 0 15.21 15.22 15.22

749 -0.88 -92.5 2462 1809 3075 3078 111.7 -14.0 134 754 0.00 0.00 0.00 0.000 2054 0.000 0.000 2463 1809 3079 3075 3083 0 0 0 0 0 0 15.21 15.22 15.21

817 -0.88 -92.5 2462 1809 3074 3084 121.9 -15.6 147 824 0.00 2.33 0.00 0.000 2308 0.000 0.051 2454 3217 3079 3075 3083 0 0 0 0 0 0 15.22 15.03 15.22

907 -0.88 -92.5 2453 3215 3074 3083 135.4 -14.4 164 915 0.08 2.30 0.00 0.000 3078 0.271 0.043 2469 1804 3078 3074 3083 0 0 0 0 0 0 14.94 15.04 15.07

977 -0.88 -92.5 2469 1804 3075 3083 146.6 -17.1 177 984 0.00 2.33 0.00 0.000 2308 0.000 0.052 2462 3212 3078 3074 3083 0 0 0 0 0 0 15.23 15.02 15.23

1050 -0.88 -92.5 2462 3212 3074 3082 158.0 -14.6 191 1058 0.00 2.30 0.00 0.000 3078 0.000 0.045 2462 1807 3078 3074 3082 0 0 0 0 0 0 15.10 15.02 15.11

1122 -0.88 -92.5 2462 1807 3075 3082 169.4 -16.9 204 1128 0.00 0.00 0.00 0.000 2054 0.000 0.000 2462 1807 3078 3075 3082 0 0 0 0 0 0 15.23 15.23 15.23

1192 -0.88 -92.5 2462 1807 3075 3082 180.1 -16.0 217 1198 0.00 0.00 0.00 0.000 2054 0.000 0.000 2462 1807 3078 3074 3082 0 0 0 0 0 0 15.23 15.23 15.23

1260 -0.88 -92.5 2462 1805 3074 3081 189.9 -14.3 230 1270 0.00 0.00 0.00 0.000 2054 0.000 0.000 2462 1807 3078 3074 3082 0 0 0 0 0 0 15.23 15.23 15.23

1332 -0.88 -92.5 2462 1807 3075 3081 199.8 -12.5 243 1339 0.00 2.33 0.00 0.000 2308 0.000 0.054 2457 3208 3077 3074 3081 0 0 0 0 0 0 15.23 15.03 15.23

1391 -0.88 -92.5 2457 3208 3074 3081 207.9 -13.3 254 1399 0.08 2.28 0.00 0.000 3078 0.271 0.044 2472 1814 3077 3073 3081 0 0 0 0 0 0 14.95 15.05 15.09

1445 end dive: BOTTOM_OBSTACLE_DETECTED

state 1445 begin apogee

1449 -0.17 0.0 2471 1813 3082 3081 215.5 -14.1 264 1524 1.12 0.00 67.65 1.032 10246 0.169 0.000 2697 1812 2704 2721 2687 0 0 0 0 0 0 14.95 14.74 14.26

1526 end apogee: CONTROL_FINISHED_OK

state 1527 begin climb

1528 0.88 92.5 2697 1813 2715 2686 219.3 0.0 277 1609 1.52 0.00 73.80 1.030 10246 0.080 0.000 3029 1813 2323 2343 2303 0 0 0 0 0 0 14.73 14.57 14.16

1672 0.89 103.1 3029 1813 2341 2299 212.1 9.2 302 1685 0.00 0.00 10.20 0.881 10246 0.000 0.000 3029 1813 2277 2299 2255 0 0 0 0 0 0 14.92 14.71 14.26

1747 0.89 103.1 3029 1813 2296 2253 204.2 11.6 316 1753 0.00 0.00 0.00 0.000 2054 0.000 0.000 3029 1813 2272 2290 2254 0 0 0 0 0 0 14.98 14.98 14.98

1814 0.89 103.1 3029 1813 2294 2251 196.2 11.2 329 1820 0.00 0.00 0.00 0.000 2054 0.000 0.000 3029 1813 2273 2295 2251 0 0 0 0 0 0 15.04 15.04 15.04

1881 0.89 103.1 3029 1813 2294 2250 188.4 12.4 342 1888 0.00 2.33 0.00 0.000 2308 0.000 0.050 3029 3208 2272 2293 2251 0 0 0 0 0 0 15.09 14.90 15.10

1910 0.89 103.1 3029 3208 2292 2250 184.4 13.5 347 1917 0.00 2.35 0.00 0.000 3078 0.000 0.049 3033 1800 2271 2292 2250 0 0 0 0 0 0 15.00 14.90 15.00

1980 0.89 103.1 3032 1800 2292 2250 176.4 11.7 360 1986 0.00 0.00 0.00 0.000 2054 0.000 0.000 3033 1800 2271 2292 2250 0 0 0 0 0 0 15.12 15.13 15.13

2047 0.89 103.1 3033 1800 2291 2250 168.9 10.8 373 2053 0.00 0.00 0.00 0.000 2054 0.000 0.000 3033 1800 2270 2291 2250 0 0 0 0 0 0 15.14 15.15 15.15

2114 0.89 103.1 3033 1800 2290 2249 162.2 10.0 386 2120 0.00 0.00 0.00 0.000 2054 0.000 0.000 3033 1800 2269 2290 2249 0 0 0 0 0 0 15.16 15.17 15.16

2182 0.89 103.1 3033 1800 2290 2249 155.6 10.0 399 2188 0.00 0.00 0.00 0.000 2054 0.000 0.000 3033 1800 2269 2290 2249 0 0 0 0 0 0 15.17 15.18 15.17

2251 0.89 103.9 3033 1800 2289 2248 148.7 9.9 412 2257 0.00 0.00 0.00 0.000 2054 0.000 0.000 3033 1800 2268 2289 2248 0 0 0 0 0 0 15.19 15.19 15.19

2318 0.90 110.7 3033 1800 2288 2247 142.1 9.5 425 2331 0.00 2.33 5.57 0.726 10500 0.000 0.049 3033 3208 2248 2269 2227 0 0 0 0 0 0 15.19 14.88 14.45

2422 0.90 112.5 3033 3208 2268 2226 131.6 9.9 445 2429 0.00 2.35 0.00 0.000 3078 0.000 0.050 3033 1794 2247 2268 2227 0 0 0 0 0 0 15.08 14.99 15.09

2492 0.94 137.5 3033 1794 2268 2227 126.0 8.2 458 2521 0.00 2.35 22.95 0.933 10500 0.000 0.050 3033 3202 2138 2162 2114 0 0 0 0 0 0 15.19 14.81 14.46

2559 0.94 142.6 3033 3202 2161 2112 120.0 9.6 470 2573 0.00 2.35 5.32 0.669 11270 0.000 0.049 3033 1796 2117 2143 2091 0 0 0 0 0 0 14.97 14.89 14.43

2635 0.94 143.8 3033 1796 2141 2091 112.8 9.9 484 2641 0.00 2.35 0.00 0.000 2308 0.000 0.052 3033 3201 2115 2140 2090 0 0 0 0 0 0 15.12 14.92 15.12

2663 0.94 143.8 3037 3201 2140 2091 109.7 11.0 489 2669 0.00 2.35 0.00 0.000 3078 0.000 0.050 3037 1800 2114 2139 2090 0 0 0 0 0 0 15.02 14.92 15.03

2732 0.94 143.8 3036 1800 2139 2090 102.2 11.7 502 2737 0.00 0.00 0.00 0.000 2054 0.000 0.000 3037 1800 2114 2139 2090 0 0 0 0 0 0 15.14 15.14 15.14

2799 0.94 143.8 3036 1800 2138 2089 93.8 12.0 515 2806 0.00 2.40 0.00 0.000 2564 0.000 0.072 3037 392 2113 2137 2089 0 0 0 0 0 0 15.16 14.89 15.16

2869 0.94 143.8 3036 391 2135 2088 84.9 13.2 528 2875 0.00 2.30 0.00 0.000 3078 0.000 0.038 3037 1806 2112 2135 2089 0 0 0 0 0 0 15.03 14.95 15.04

2937 0.94 143.8 3036 1809 2135 2088 77.1 11.2 541 2944 0.00 2.30 0.00 0.000 2308 0.000 0.054 3037 3205 2111 2135 2088 0 0 0 0 0 0 15.18 14.99 15.19

3066 0.94 143.8 3037 3205 2133 2087 62.7 10.9 566 3072 0.00 2.35 0.00 0.000 3078 0.000 0.052 3037 1792 2110 2134 2087 0 0 0 0 0 0 15.09 15.00 15.10

3135 0.97 163.7 3035 1793 2134 2086 56.5 8.5 579 3160 0.05 2.38 17.08 0.855 10756 0.271 0.071 3064 388 2030 2056 2004 0 0 0 0 0 0 14.96 14.91 14.52

3663 1.05 234.2 3063 388 2048 2001 8.5 4.9 683 3711 0.08 2.30 40.70 0.871 11270 0.197 0.037 3095 1811 1743 1775 1712 0 0 0 0 0 0 14.95 15.01 14.44

3731 end climb: SURFACE_DEPTH_REACHED

state 3731 begin surface coast

3753 end surface coast: CONTROL_FINISHED_OK

state 3753 begin surface

ID	574	HD_C	9.8500004e-06	C_ROLL_DIVE	1812	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	3	HEADING	270	C_ROLL_CLIMB	1800	ALTIM_TOP_TURN_MARGIN	0
DIVE	78	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	50
STOP_T	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5
D_SURF	3	TGT_DEFAULT_LAT	4743.3999	R_PORT_OVSHOOT	31	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	49	ALTIM_PULSE	3
D_TGT	500	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	167	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_MISSION	182	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_ABORT	197	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	95	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	3	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	200319,201031,-2953.0730,3112.4749,10,0.8,36,-24.9,0.5,6.4,10,9.8	TGT_NAME	HEADING
_CALLS	5	TGT_LATLONG	-2951.593,3100.235
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.82	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-66.1	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	200319,203133,-2952.7898,3112.6108,7,1.0,14,-24.9,0.4,22.0,8,9.7	MHEAD_RNG_PITCHd_Wd	301.3,20000,-23.0,-9.980,-25.43,1422
SPEED_LIMITS	0.173,0.210	D_GRID	500

FINISH	0.1,1.024076	_24V_AH	14.02,49.820
SM_CCo	3774,170.25,0.796,0,0,598,515.37	_10V_AH	13.93,0.000
SM_GC	0.73,13.85,0.00,170.25,0.047,0.000,0.796,126,1813,598,-8.18,0.03,515.37,0,0,0,0,0,0,14.89,15.09,14.22	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-2940.11,3113.17,200319,202641	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.901047	MEM	340928
HUMID	42.16	DATA_FILE_SIZE	16778,699
INTERNAL_PRESSURE	9.49787	CAP_FILE_SIZE	134573,0
TCM_TEMP	21.50	CFSIZE	2097086464,2080276480
XPDR_PINGS	35	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	190.7,34.1	CURRENT	0.103,56.18,1
SC_FREEKB	3882464	GPS	200319,213855,-2952.596,3112.379,7,0.9,37,-24.9,0.3,322.1,10,4.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	374	161.40	nil	0	0	0.00
Roll_motor	60	72	61.67	nil	0	0	0.00
VBD_pump_during_apogee	243	1031	3519.81	nil	0	0	0.00
VBD_pump_during_surface	170	795	1899.02	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	125	16	28.98	nil	0	0	0.00
Iridium_during_connect	110	160	247.74	SciCon	3812	34	1852.32
Iridium_during_xfer	525	223	1641.95	nil	0	0	0.00
Transponder_ping	16	420	95.69	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	11	2.30
TT8	1606	9	215.02
LPSleep	860	2	26.25
TT8_Active	606	9	81.22
TT8_Sampling	2024	28	799.18
TT8_CF8	116	36	59.27
TT8_Kalman	0	0	0.00
Analog_circuits	1222	12	206.21
GPS_charging	0	0	0.00
Compass	1056	17	264.52
RAFOS	0	0	0.00
Transponder	48	30	20.33

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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
20	-0.88	-92.5	54	1805	626	550	0.0	0.0	0	113	0.00	0.00	-90.97	0.000	16386	0.000	0.000	54	1806	3018	2993	3043	0	0	0	0	0	0	15.11	28.83	15.13
116	-0.88	-92.5	54	1806	2994	3044	3.5	-7.7	16	142	13.90	2.35	-1.08	0.000	18948	0.301	0.073	2468	399	3080	3066	3094	0	0	0	0	0	0	14.78	14.02	14.98
239	-0.88	-92.5	2463	399	3071	3089	34.5	-15.4	39	247	0.05	2.28	0.00	0.000	3078	0.374	0.036	2468	1811	3079	3073	3086	0	0	0	0	0	0	14.83	14.97	15.00
309	-0.88	-92.5	2468	1814	3073	3085	45.5	-16.8	52	315	0.00	0.00	0.00	0.000	2054	0.000	0.000	2468	1814	3079	3073	3086	0	0	0	0	0	0	15.17	15.18	15.17
378	-0.88	-92.5	2468	1815	3073	3085	57.3	-17.2	65	385	0.00	2.30	0.00	0.000	2308	0.000	0.052	2460	3212	3079	3074	3085	0	0	0	0	0	0	15.18	14.98	15.18
391	-0.88	-92.5	2460	3212	3074	3084	59.5	-16.5	67	400	0.05	2.33	0.00	0.000	3078	0.327	0.046	2470	1798	3079	3074	3085	0	0	0	0	0	0	14.88	14.99	15.03
463	-0.88	-92.5	2469	1802	3074	3084	70.8	-14.9	80	469	0.00	0.00	0.00	0.000	2054	0.000	0.000	2470	1799	3079	3074	3085	0	0	0	0	0	0	15.19	15.19	15.19
531	-0.88	-92.5	2470	1799	3074	3084	80.9	-15.3	93	538	0.00	2.35	0.00	0.000	2308	0.000	0.054	2463	3215	3079	3074	3084	0	0	0	0	0	0	15.21	15.00	15.21
610	-0.88	-92.5	2462	3216	3074	3084	91.9	-13.7	108	617	0.00	2.30	0.00	0.000	3078	0.000	0.044	2463	1809	3079	3074	3084	0	0	0	0	0	0	15.07	14.99	15.09
680	-0.88	-92.5	2462	1809	3075	3083	101.6	-14.1	121	686	0.00	0.00	0.00	0.000	2054	0.000	0.000	2463	1809	3079	3075	3084	0	0	0	0	0	0	15.21	15.22	15.22
749	-0.88	-92.5	2462	1809	3075	3078	111.7	-14.0	134	754	0.00	0.00	0.00	0.000	2054	0.000	0.000	2463	1809	3079	3075	3083	0	0	0	0	0	0	15.21	15.22	15.21
817	-0.88	-92.5	2462	1809	3074	3084	121.9	-15.6	147	824	0.00	2.33	0.00	0.000	2308	0.000	0.051	2454	3217	3079	3075	3083	0	0	0	0	0	0	15.22	15.03	15.22
907	-0.88	-92.5	2453	3215	3074	3083	135.4	-14.4	164	915	0.08	2.30	0.00	0.000	3078	0.271	0.043	2469	1804	3078	3074	3083	0	0	0	0	0	0	14.94	15.04	15.07
977	-0.88	-92.5	2469	1804	3075	3083	146.6	-17.1	177	984	0.00	2.33	0.00	0.000	2308	0.000	0.052	2462	3212	3078	3074	3083	0	0	0	0	0	0	15.23	15.02	15.23
1050	-0.88	-92.5	2462	3212	3074	3082	158.0	-14.6	191	1058	0.00	2.30	0.00	0.000	3078	0.000	0.045	2462	1807	3078	3074	3082	0	0	0	0	0	0	15.10	15.02	15.11
1122	-0.88	-92.5	2462	1807	3075	3082	169.4	-16.9	204	1128	0.00	0.00	0.00	0.000	2054	0.000	0.000	2462	1807	3078	3075	3082	0	0	0	0	0	0	15.23	15.23	15.23
1192	-0.88	-92.5	2462	1807	3075	3082	180.1	-16.0	217	1198	0.00	0.00	0.00	0.000	2054	0.000	0.000	2462	1807	3078	3074	3082	0	0	0	0	0	0	15.23	15.23	15.23
1260	-0.88	-92.5	2462	1805	3074	3081	189.9	-14.3	230	1270	0.00	0.00	0.00	0.000	2054	0.000	0.000	2462	1807	3078	3074	3082	0	0	0	0	0	0	15.23	15.23	15.23
1332	-0.88	-92.5	2462	1807	3075	3081	199.8	-12.5	243	1339	0.00	2.33	0.00	0.000	2308	0.000	0.054	2457	3208	3077	3074	3081	0	0	0	0	0	0	15.23	15.03	15.23
1391	-0.88	-92.5	2457	3208	3074	3081	207.9	-13.3	254	1399	0.08	2.28	0.00	0.000	3078	0.271	0.044	2472	1814	3077	3073	3081	0	0	0	0	0	0	14.95	15.05	15.09
1445	end dive: BOTTOM_OBSTACLE_DETECTED
state	1445	begin apogee
1449	-0.17	0.0	2471	1813	3082	3081	215.5	-14.1	264	1524	1.12	0.00	67.65	1.032	10246	0.169	0.000	2697	1812	2704	2721	2687	0	0	0	0	0	0	14.95	14.74	14.26
1526	end apogee: CONTROL_FINISHED_OK
state	1527	begin climb
1528	0.88	92.5	2697	1813	2715	2686	219.3	0.0	277	1609	1.52	0.00	73.80	1.030	10246	0.080	0.000	3029	1813	2323	2343	2303	0	0	0	0	0	0	14.73	14.57	14.16
1672	0.89	103.1	3029	1813	2341	2299	212.1	9.2	302	1685	0.00	0.00	10.20	0.881	10246	0.000	0.000	3029	1813	2277	2299	2255	0	0	0	0	0	0	14.92	14.71	14.26
1747	0.89	103.1	3029	1813	2296	2253	204.2	11.6	316	1753	0.00	0.00	0.00	0.000	2054	0.000	0.000	3029	1813	2272	2290	2254	0	0	0	0	0	0	14.98	14.98	14.98
1814	0.89	103.1	3029	1813	2294	2251	196.2	11.2	329	1820	0.00	0.00	0.00	0.000	2054	0.000	0.000	3029	1813	2273	2295	2251	0	0	0	0	0	0	15.04	15.04	15.04
1881	0.89	103.1	3029	1813	2294	2250	188.4	12.4	342	1888	0.00	2.33	0.00	0.000	2308	0.000	0.050	3029	3208	2272	2293	2251	0	0	0	0	0	0	15.09	14.90	15.10
1910	0.89	103.1	3029	3208	2292	2250	184.4	13.5	347	1917	0.00	2.35	0.00	0.000	3078	0.000	0.049	3033	1800	2271	2292	2250	0	0	0	0	0	0	15.00	14.90	15.00
1980	0.89	103.1	3032	1800	2292	2250	176.4	11.7	360	1986	0.00	0.00	0.00	0.000	2054	0.000	0.000	3033	1800	2271	2292	2250	0	0	0	0	0	0	15.12	15.13	15.13
2047	0.89	103.1	3033	1800	2291	2250	168.9	10.8	373	2053	0.00	0.00	0.00	0.000	2054	0.000	0.000	3033	1800	2270	2291	2250	0	0	0	0	0	0	15.14	15.15	15.15
2114	0.89	103.1	3033	1800	2290	2249	162.2	10.0	386	2120	0.00	0.00	0.00	0.000	2054	0.000	0.000	3033	1800	2269	2290	2249	0	0	0	0	0	0	15.16	15.17	15.16
2182	0.89	103.1	3033	1800	2290	2249	155.6	10.0	399	2188	0.00	0.00	0.00	0.000	2054	0.000	0.000	3033	1800	2269	2290	2249	0	0	0	0	0	0	15.17	15.18	15.17
2251	0.89	103.9	3033	1800	2289	2248	148.7	9.9	412	2257	0.00	0.00	0.00	0.000	2054	0.000	0.000	3033	1800	2268	2289	2248	0	0	0	0	0	0	15.19	15.19	15.19
2318	0.90	110.7	3033	1800	2288	2247	142.1	9.5	425	2331	0.00	2.33	5.57	0.726	10500	0.000	0.049	3033	3208	2248	2269	2227	0	0	0	0	0	0	15.19	14.88	14.45
2422	0.90	112.5	3033	3208	2268	2226	131.6	9.9	445	2429	0.00	2.35	0.00	0.000	3078	0.000	0.050	3033	1794	2247	2268	2227	0	0	0	0	0	0	15.08	14.99	15.09
2492	0.94	137.5	3033	1794	2268	2227	126.0	8.2	458	2521	0.00	2.35	22.95	0.933	10500	0.000	0.050	3033	3202	2138	2162	2114	0	0	0	0	0	0	15.19	14.81	14.46
2559	0.94	142.6	3033	3202	2161	2112	120.0	9.6	470	2573	0.00	2.35	5.32	0.669	11270	0.000	0.049	3033	1796	2117	2143	2091	0	0	0	0	0	0	14.97	14.89	14.43
2635	0.94	143.8	3033	1796	2141	2091	112.8	9.9	484	2641	0.00	2.35	0.00	0.000	2308	0.000	0.052	3033	3201	2115	2140	2090	0	0	0	0	0	0	15.12	14.92	15.12
2663	0.94	143.8	3037	3201	2140	2091	109.7	11.0	489	2669	0.00	2.35	0.00	0.000	3078	0.000	0.050	3037	1800	2114	2139	2090	0	0	0	0	0	0	15.02	14.92	15.03
2732	0.94	143.8	3036	1800	2139	2090	102.2	11.7	502	2737	0.00	0.00	0.00	0.000	2054	0.000	0.000	3037	1800	2114	2139	2090	0	0	0	0	0	0	15.14	15.14	15.14
2799	0.94	143.8	3036	1800	2138	2089	93.8	12.0	515	2806	0.00	2.40	0.00	0.000	2564	0.000	0.072	3037	392	2113	2137	2089	0	0	0	0	0	0	15.16	14.89	15.16
2869	0.94	143.8	3036	391	2135	2088	84.9	13.2	528	2875	0.00	2.30	0.00	0.000	3078	0.000	0.038	3037	1806	2112	2135	2089	0	0	0	0	0	0	15.03	14.95	15.04
2937	0.94	143.8	3036	1809	2135	2088	77.1	11.2	541	2944	0.00	2.30	0.00	0.000	2308	0.000	0.054	3037	3205	2111	2135	2088	0	0	0	0	0	0	15.18	14.99	15.19
3066	0.94	143.8	3037	3205	2133	2087	62.7	10.9	566	3072	0.00	2.35	0.00	0.000	3078	0.000	0.052	3037	1792	2110	2134	2087	0	0	0	0	0	0	15.09	15.00	15.10
3135	0.97	163.7	3035	1793	2134	2086	56.5	8.5	579	3160	0.05	2.38	17.08	0.855	10756	0.271	0.071	3064	388	2030	2056	2004	0	0	0	0	0	0	14.96	14.91	14.52
3663	1.05	234.2	3063	388	2048	2001	8.5	4.9	683	3711	0.08	2.30	40.70	0.871	11270	0.197	0.037	3095	1811	1743	1775	1712	0	0	0	0	0	0	14.95	15.01	14.44
3731	end climb: SURFACE_DEPTH_REACHED
state	3731	begin surface coast
3753	end surface coast: CONTROL_FINISHED_OK
state	3753	begin surface