Glider dive log

SOSCEx Mar19 * SG573 * Dive index * Mission links * Dive 134 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 573 HD_C 9.8500004e-06 C_ROLL_DIVE 2013 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 30 HEADING 270 C_ROLL_CLIMB 1964 ALTIM_TOP_TURN_MARGIN 0

DIVE 134 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 80

STOP_T 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 10

D_SURF 3 TGT_DEFAULT_LAT 4743.3999 R_PORT_OVSHOOT 37 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 48 ALTIM_PULSE 3

D_TGT 1000 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 2

D_ABORT 1050 SM_CC 542.59473 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 0.0097660003

T_BOOST 0 CALL_NDIVES 1 VBD_MIN 600 INT_PRESSURE_YINT -0.85000002

D_FINISH 0 COMM_SEQ 0 VBD_MAX 3960 DEEPGLIDER 0

D_PITCH 0 PROTOCOL 9 C_VBD 2812 MOTHERBOARD 4

D_SAFE 0 N_NOCOMM 1 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 139 AH0_10V 0 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3926 MINV_24V 11.5 SIM_W 0

RELAUNCH 0 C_PITCH 2490 MINV_10V 10 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_DBAND 0.0099999998 MAXI_24V 3 SEABIRD_T_G 0.0043368991

MAX_BUOY 150 PITCH_CNV 0.003125763 MAXI_10V 2 SEABIRD_T_H 0.00062533951

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.3700677e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 2.5956786e-06

SPEED_FACTOR 1 PITCH_GAIN 27 PHONE_SUPPLY 2 SEABIRD_C_G -9.9432478

RHO 1.0275 PITCH_TIMEOUT 25 PRESSURE_YINT -167.97279 SEABIRD_C_H 1.1588655

MASS 52619 PITCH_AD_RATE 125 PRESSURE_SLOPE 0.00010902 SEABIRD_C_I -0.0013646155

MASS_COMP 0 PITCH_MAXERRORS 1 AD7714Ch0Gain 1 SEABIRD_C_J 0.00018066024

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 167 COMPASS_USE 4 SC_XMITPROFILE 3.0

HD_A 0.0038360001 ROLL_MAX 3807 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0101 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 20

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 542.59473

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 15 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.0099999998 STOP_T 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_GAIN 27 STROBE 0

ALTIM_PING_DELTA 10 FG_AHR_10V 0 PITCH_MAX 3926 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 80 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FILEMGR 0 PITCH_MIN 139 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 20 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 0.00010902 TGT_DEFAULT_LON -12224.2

CALL_NDIVES 1 HD_C 9.8500004e-06 PRESSURE_YINT -167.97279 T_ABORT 358

CALL_TRIES 5 HEADING 270 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 573 RAFOS_DEVICE -1 T_LOITER 0

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_MISSION 343

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -0.85000002 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS_DEVICE 17 KALMAN_USE 2 RELAUNCH 0 T_RSLEEP 2

COMPASS_USE 4 LOGGERDEVICE1 53 RHO 1.0275 T_TURN 500

COURSE_BIAS 0 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

C_PITCH 2490 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_ROLL_CLIMB 1964 LOGGERDEVICE4 -1 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_ROLL_DIVE 2013 LOGGERS 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_VBD 2812 MASS 52619 ROLL_DEG 40 USE_BATHY 0

DBDW 0 MASS_COMP 0 ROLL_MAX 3807 USE_ICE 0

DEEPGLIDER 0 MAXI_10V 2 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MAXI_24V 3 ROLL_MIN 167 VBD_CNV -0.245296

DEVICE2 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MINV_10V 10 R_PORT_OVSHOOT 37 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 48 VBD_MAX 3960

DEVICE5 -1 MISSION 30 SC_PROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MIN 600

DIVE 134 NAV_MODE 0 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1050 NOCOMM_ACTION 259 SEABIRD_C_G -9.9432478 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 0 N_DIVES 0 SEABIRD_C_H 1.1588655 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_I -0.0013646155 W_ADJ_DBAND 0

D_FINISH 0 N_GPS 100840 SEABIRD_C_J 0.00018066024 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_G 0.0043368991 XPDR_INHIBIT 90

D_NO_BLEED 29 N_NOSURFACE 0 SEABIRD_T_H 0.00062533951 XPDR_VALID 2

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_I 2.3700677e-05

D_PITCH 0 PHONE_SUPPLY 2 SEABIRD_T_J 2.5956786e-06

Pre-dive calculations and measurements:

GPS1 070419,070802,-2924.3940,3154.1016,25,0.8,35,-24.3,0.5,96.5,10,4.9 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -2924.475,3141.679

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.68 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -63.1 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 070419,071723,-2924.4753,3154.0754,18,0.8,19,-24.3,0.6,223.0,10,8.4 MHEAD_RNG_PITCHd_Wd 294.3,20000,-18.3,-10.010,-21.05,2234

SPEED_LIMITS 0.173,0.260 D_GRID 1000

Post-dive calculations and measurements:

FINISH -0.1,1.023821 SC_FREEKB 3854080

SM_CCo 2883,83.95,0.733,0,0,599,542.59 _24V_AH 13.34,118.157

SM_GC 0.66,12.68,0.00,83.95,0.052,0.000,0.733,151,1968,599,-7.26,-1.30,542.59,0,0,0,0,0,0,14.78,15.06,14.16 _10V_AH 13.52,0.000

IRIDIUM_FIX -2912.87,3156.39,070419,054801 FG_AHR_24Vo 0.000

TT8_MAMPS 0.019474,0.916027 FG_AHR_10Vo 0.000

HUMID 55.07 MEM 339556

INTERNAL_PRESSURE 9.25781 DATA_FILE_SIZE 16750,524

TCM_TEMP 24.00 CAP_FILE_SIZE 103706,0

XPDR_PINGS 0 CFSIZE 1023623168,1004224512

ALTIM_TOP_PING 19.8,19.3 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

ALTIM_BOTTOM_PING 120.6,48.0 GPS 070419,080810,-2924.644,3153.641,17,1.0,18,-24.3,0.5,330.3,8,7.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 504 189.15 nil 0 0 0.00

Roll_motor 71 78 75.13 nil 0 0 0.00

VBD_pump_during_apogee 416 1054 5865.91 nil 0 0 0.00

VBD_pump_during_surface 83 732 820.74 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 32 11.74 nil 0 0 0.00

Iridium_during_connect 39 160 83.32 SciCon 2928 35 1385.13

Iridium_during_xfer 284 223 847.51 nil 0 0 0.00

Transponder_ping 1 420 9.80 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 23 6.12

TT8 1061 8 123.02

LPSleep 449 2 13.32

TT8_Active 623 8 72.27

TT8_Sampling 1276 28 483.91

TT8_CF8 123 41 69.30

TT8_Kalman 0 0 0.00

Analog_circuits 1149 12 192.78

GPS_charging 0 0 0.00

Compass 794 17 185.12

RAFOS 0 0 0.00

Transponder 13 30 5.44

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 -0.86 -146.0 72 1976 584 581 0.0 0.0 0 122 0.00 0.00 -98.68 0.000 16386 0.000 0.000 72 1977 3295 3310 3280 0 0 0 0 0 0 14.97 28.83 14.98

125 -0.86 -146.0 72 1977 3311 3280 3.6 -8.8 18 150 12.77 2.35 -1.92 0.000 18948 0.313 0.079 2210 606 3409 3440 3378 0 0 0 0 0 0 14.37 13.34 14.70

212 -0.86 -146.0 2209 606 3441 3380 28.4 -19.8 34 218 0.00 2.33 0.00 0.000 3078 0.000 0.046 2207 2008 3410 3441 3380 0 0 0 0 0 0 14.86 14.76 14.88

281 -0.86 -146.0 2207 2007 3441 3380 39.4 -15.5 47 288 0.00 2.42 0.00 0.000 2308 0.000 0.069 2208 3419 3410 3441 3380 0 0 0 0 0 0 15.03 14.72 15.04

360 -0.86 -146.0 2207 3419 3437 3380 50.5 -14.2 62 367 0.00 2.33 0.00 0.000 3078 0.000 0.037 2207 2015 3411 3442 3380 0 0 0 0 0 0 14.84 14.74 14.85

430 -0.86 -146.0 2207 2014 3442 3380 60.7 -15.1 75 436 0.00 0.00 0.00 0.000 2054 0.000 0.000 2208 2015 3410 3442 3379 0 0 0 0 0 0 15.06 15.07 15.06

498 -0.86 -146.0 2207 2015 3442 3380 71.9 -16.1 88 504 0.00 2.40 0.00 0.000 2308 0.000 0.066 2207 3414 3410 3442 3379 0 0 0 0 0 0 15.08 14.76 15.08

531 -0.86 -146.0 2208 3413 3442 3379 76.9 -15.8 94 538 0.00 2.33 0.00 0.000 3078 0.000 0.036 2207 2010 3411 3443 3379 0 0 0 0 0 0 14.91 14.78 14.92

600 -0.86 -146.0 2207 2010 3444 3379 86.2 -13.3 107 607 0.00 2.42 0.00 0.000 2308 0.000 0.067 2207 3414 3411 3443 3379 0 0 0 0 0 0 15.08 14.69 15.08

653 -0.86 -146.0 2214 3413 3443 3379 93.8 -15.1 117 660 0.00 2.33 0.00 0.000 3078 0.000 0.037 2207 1997 3411 3444 3379 0 0 0 0 0 0 14.92 14.82 14.94

723 -0.86 -146.0 2207 1996 3444 3379 104.9 -15.0 130 729 0.00 2.42 0.00 0.000 2308 0.000 0.066 2204 3415 3411 3444 3379 0 0 0 0 0 0 15.09 14.76 15.09

776 -0.86 -146.0 2203 3416 3443 3379 112.4 -15.1 140 783 0.00 2.33 0.00 0.000 3078 0.000 0.037 2204 2007 3411 3444 3379 0 0 0 0 0 0 14.92 14.76 14.94

847 -0.86 -146.0 2203 2007 3444 3379 123.2 -15.0 153 854 0.00 2.42 0.00 0.000 2308 0.000 0.067 2204 3413 3411 3444 3378 0 0 0 0 0 0 15.11 14.76 15.11

910 -0.86 -146.0 2203 3413 3444 3379 131.8 -12.2 165 917 0.00 2.33 0.00 0.000 3078 0.000 0.037 2203 2003 3412 3445 3379 0 0 0 0 0 0 14.86 14.75 14.88

979 -0.86 -146.0 2203 2003 3444 3379 141.1 -13.4 178 985 0.00 0.00 0.00 0.000 2054 0.000 0.000 2204 2002 3411 3444 3378 0 0 0 0 0 0 15.10 15.10 15.09

1047 -0.86 -146.0 2203 2001 3445 3379 150.4 -13.6 191 1054 0.00 2.45 0.00 0.000 2308 0.000 0.068 2204 3416 3412 3445 3379 0 0 0 0 0 0 15.11 14.76 15.11

1120 end dive: BOTTOM_OBSTACLE_DETECTED

state 1120 begin apogee

1127 -0.19 0.0 2204 1957 3445 3379 153.7 -1.3 205 1244 0.93 0.00 109.20 1.055 10246 0.050 0.000 2439 1956 2812 2848 2776 0 0 0 0 0 0 14.82 14.51 13.93

1245 end apogee: CONTROL_FINISHED_OK

state 1245 begin climb

1247 0.86 146.0 2440 1956 2848 2776 154.8 0.0 226 1370 1.48 2.53 109.70 1.051 10500 0.100 0.064 2747 3370 2213 2256 2171 0 0 0 0 0 0 14.48 14.40 13.84

1447 0.86 146.0 2746 3370 2252 2170 144.2 10.0 262 1454 0.00 2.33 0.00 0.000 3078 0.000 0.039 2747 1969 2210 2252 2169 0 0 0 0 0 0 14.69 14.62 14.69

1518 0.86 146.0 2746 1969 2250 2169 137.4 11.5 275 1524 0.00 0.00 0.00 0.000 2054 0.000 0.000 2747 1969 2209 2250 2169 0 0 0 0 0 0 14.92 14.92 14.92

1586 0.90 184.2 2746 1969 2250 2169 131.5 8.3 288 1621 0.05 0.00 30.10 1.003 10758 0.252 0.000 2789 1969 2059 2104 2015 0 0 0 0 0 0 14.64 14.63 14.04

1683 0.90 184.2 2789 1969 2099 2013 122.3 10.6 306 1689 0.00 2.42 0.00 0.000 4356 0.000 0.063 2789 3366 2056 2099 2013 0 0 0 0 0 0 14.92 14.58 14.92

1731 0.90 184.2 2789 3365 2099 2013 116.4 13.0 315 1738 0.00 2.33 0.00 0.000 5126 0.000 0.041 2790 1964 2055 2099 2011 0 0 0 0 0 0 14.83 14.73 14.84

1801 0.96 226.9 2790 1964 2098 2012 109.6 8.0 328 1842 0.00 2.45 33.95 1.003 10500 0.000 0.060 2790 3373 1885 1931 1839 0 0 0 0 0 0 14.99 14.48 14.03

1884 0.96 226.9 2789 3371 1928 1839 100.3 11.5 343 1890 0.00 2.35 0.00 0.000 3078 0.000 0.042 2790 1963 1883 1928 1839 0 0 0 0 0 0 14.74 14.64 14.76

1954 0.97 240.6 2790 1963 1927 1837 93.4 9.4 356 1971 0.00 0.00 11.85 0.893 10246 0.000 0.000 2790 1963 1832 1878 1786 0 0 0 0 0 0 14.96 14.50 14.01

2033 1.00 260.3 2790 1963 1876 1784 85.8 9.1 371 2057 0.00 2.42 17.42 0.955 10500 0.000 0.060 2790 3373 1750 1800 1700 0 0 0 0 0 0 14.97 14.50 14.04

2100 1.00 260.3 2790 3373 1796 1696 79.2 10.3 383 2107 0.00 2.35 0.00 0.000 3078 0.000 0.043 2790 1965 1745 1796 1695 0 0 0 0 0 0 14.81 14.71 14.83

2170 1.05 303.5 2790 1964 1796 1696 73.3 8.0 396 2216 0.08 2.50 35.28 0.952 10756 0.181 0.075 2845 547 1572 1626 1518 0 0 0 0 0 0 14.62 14.61 14.04

2232 1.05 303.5 2844 547 1624 1522 66.6 11.3 407 2240 0.08 2.35 0.00 0.000 5126 0.263 0.041 2829 1976 1571 1624 1518 0 0 0 0 0 0 14.45 14.59 14.61

2303 1.05 303.5 2829 1976 1624 1516 59.1 10.8 420 2308 0.00 0.00 0.00 0.000 6 0.000 0.000 2829 1977 1569 1622 1516 0 0 0 0 0 0 14.94 14.94 14.95

2370 1.05 303.5 2829 1976 1621 1516 52.0 11.7 433 2375 0.00 0.00 0.00 0.000 6 0.000 0.000 2829 1976 1570 1621 1520 0 0 0 0 0 0 14.99 15.00 15.00

2437 1.05 306.7 2829 1976 1620 1516 45.1 9.9 446 2444 0.00 2.42 0.00 0.000 516 0.000 0.074 2829 564 1568 1620 1516 0 0 0 0 0 0 15.01 14.59 15.02

2466 1.16 392.0 2828 563 1621 1515 43.2 6.1 451 2546 0.05 2.30 69.32 0.944 11270 0.252 0.041 2874 1975 1213 1271 1156 0 0 0 0 0 0 14.67 14.78 14.04

2609 1.16 392.0 2874 1975 1270 1154 30.3 11.0 477 2615 0.00 2.40 0.00 0.000 4356 0.000 0.064 2874 3357 1212 1271 1154 0 0 0 0 0 0 14.88 14.59 14.89

2657 1.16 392.0 2874 3357 1269 1153 24.4 12.6 486 2665 0.03 2.33 0.00 0.000 5126 0.504 0.044 2866 1965 1211 1270 1153 0 0 0 0 0 0 14.40 14.62 14.61

2727 1.16 392.0 2866 1964 1270 1153 16.1 12.1 499 2734 0.00 2.42 0.00 0.000 4612 0.000 0.076 2866 564 1211 1270 1153 0 0 0 0 0 0 14.97 14.58 14.97

2751 1.16 392.0 2866 564 1270 1153 13.5 10.8 503 2757 0.00 2.30 0.00 0.000 5126 0.000 0.041 2866 1965 1211 1269 1153 0 0 0 0 0 0 14.85 14.76 14.87

2820 1.16 392.0 2865 1966 1269 1151 5.1 12.2 516 2826 0.00 0.00 0.00 0.000 4102 0.000 0.000 2866 1966 1208 1264 1152 0 0 0 0 0 0 15.01 15.01 15.01

2836 end climb: SURFACE_DEPTH_REACHED

state 2836 begin surface coast

2863 end surface coast: CONTROL_FINISHED_OK

state 2863 begin surface

ID	573	HD_C	9.8500004e-06	C_ROLL_DIVE	2013	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	30	HEADING	270	C_ROLL_CLIMB	1964	ALTIM_TOP_TURN_MARGIN	0
DIVE	134	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	80
STOP_T	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	10
D_SURF	3	TGT_DEFAULT_LAT	4743.3999	R_PORT_OVSHOOT	37	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	48	ALTIM_PULSE	3
D_TGT	1000	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	2
D_ABORT	1050	SM_CC	542.59473	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	0.0097660003
T_BOOST	0	CALL_NDIVES	1	VBD_MIN	600	INT_PRESSURE_YINT	-0.85000002
D_FINISH	0	COMM_SEQ	0	VBD_MAX	3960	DEEPGLIDER	0
D_PITCH	0	PROTOCOL	9	C_VBD	2812	MOTHERBOARD	4
D_SAFE	0	N_NOCOMM	1	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	139	AH0_10V	0	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3926	MINV_24V	11.5	SIM_W	0
RELAUNCH	0	C_PITCH	2490	MINV_10V	10	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_DBAND	0.0099999998	MAXI_24V	3	SEABIRD_T_G	0.0043368991
MAX_BUOY	150	PITCH_CNV	0.003125763	MAXI_10V	2	SEABIRD_T_H	0.00062533951
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.3700677e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	2.5956786e-06
SPEED_FACTOR	1	PITCH_GAIN	27	PHONE_SUPPLY	2	SEABIRD_C_G	-9.9432478
RHO	1.0275	PITCH_TIMEOUT	25	PRESSURE_YINT	-167.97279	SEABIRD_C_H	1.1588655
MASS	52619	PITCH_AD_RATE	125	PRESSURE_SLOPE	0.00010902	SEABIRD_C_I	-0.0013646155
MASS_COMP	0	PITCH_MAXERRORS	1	AD7714Ch0Gain	1	SEABIRD_C_J	0.00018066024
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	167	COMPASS_USE	4	SC_XMITPROFILE	3.0
HD_A	0.0038360001	ROLL_MAX	3807	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0101	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	20

GPS1	070419,070802,-2924.3940,3154.1016,25,0.8,35,-24.3,0.5,96.5,10,4.9	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-2924.475,3141.679
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.68	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-63.1	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	070419,071723,-2924.4753,3154.0754,18,0.8,19,-24.3,0.6,223.0,10,8.4	MHEAD_RNG_PITCHd_Wd	294.3,20000,-18.3,-10.010,-21.05,2234
SPEED_LIMITS	0.173,0.260	D_GRID	1000

FINISH	-0.1,1.023821	SC_FREEKB	3854080
SM_CCo	2883,83.95,0.733,0,0,599,542.59	_24V_AH	13.34,118.157
SM_GC	0.66,12.68,0.00,83.95,0.052,0.000,0.733,151,1968,599,-7.26,-1.30,542.59,0,0,0,0,0,0,14.78,15.06,14.16	_10V_AH	13.52,0.000
IRIDIUM_FIX	-2912.87,3156.39,070419,054801	FG_AHR_24Vo	0.000
TT8_MAMPS	0.019474,0.916027	FG_AHR_10Vo	0.000
HUMID	55.07	MEM	339556
INTERNAL_PRESSURE	9.25781	DATA_FILE_SIZE	16750,524
TCM_TEMP	24.00	CAP_FILE_SIZE	103706,0
XPDR_PINGS	0	CFSIZE	1023623168,1004224512
ALTIM_TOP_PING	19.8,19.3	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	120.6,48.0	GPS	070419,080810,-2924.644,3153.641,17,1.0,18,-24.3,0.5,330.3,8,7.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	504	189.15	nil	0	0	0.00
Roll_motor	71	78	75.13	nil	0	0	0.00
VBD_pump_during_apogee	416	1054	5865.91	nil	0	0	0.00
VBD_pump_during_surface	83	732	820.74	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	32	11.74	nil	0	0	0.00
Iridium_during_connect	39	160	83.32	SciCon	2928	35	1385.13
Iridium_during_xfer	284	223	847.51	nil	0	0	0.00
Transponder_ping	1	420	9.80	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	23	6.12
TT8	1061	8	123.02
LPSleep	449	2	13.32
TT8_Active	623	8	72.27
TT8_Sampling	1276	28	483.91
TT8_CF8	123	41	69.30
TT8_Kalman	0	0	0.00
Analog_circuits	1149	12	192.78
GPS_charging	0	0	0.00
Compass	794	17	185.12
RAFOS	0	0	0.00
Transponder	13	30	5.44

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	-0.86	-146.0	72	1976	584	581	0.0	0.0	0	122	0.00	0.00	-98.68	0.000	16386	0.000	0.000	72	1977	3295	3310	3280	0	0	0	0	0	0	14.97	28.83	14.98
125	-0.86	-146.0	72	1977	3311	3280	3.6	-8.8	18	150	12.77	2.35	-1.92	0.000	18948	0.313	0.079	2210	606	3409	3440	3378	0	0	0	0	0	0	14.37	13.34	14.70
212	-0.86	-146.0	2209	606	3441	3380	28.4	-19.8	34	218	0.00	2.33	0.00	0.000	3078	0.000	0.046	2207	2008	3410	3441	3380	0	0	0	0	0	0	14.86	14.76	14.88
281	-0.86	-146.0	2207	2007	3441	3380	39.4	-15.5	47	288	0.00	2.42	0.00	0.000	2308	0.000	0.069	2208	3419	3410	3441	3380	0	0	0	0	0	0	15.03	14.72	15.04
360	-0.86	-146.0	2207	3419	3437	3380	50.5	-14.2	62	367	0.00	2.33	0.00	0.000	3078	0.000	0.037	2207	2015	3411	3442	3380	0	0	0	0	0	0	14.84	14.74	14.85
430	-0.86	-146.0	2207	2014	3442	3380	60.7	-15.1	75	436	0.00	0.00	0.00	0.000	2054	0.000	0.000	2208	2015	3410	3442	3379	0	0	0	0	0	0	15.06	15.07	15.06
498	-0.86	-146.0	2207	2015	3442	3380	71.9	-16.1	88	504	0.00	2.40	0.00	0.000	2308	0.000	0.066	2207	3414	3410	3442	3379	0	0	0	0	0	0	15.08	14.76	15.08
531	-0.86	-146.0	2208	3413	3442	3379	76.9	-15.8	94	538	0.00	2.33	0.00	0.000	3078	0.000	0.036	2207	2010	3411	3443	3379	0	0	0	0	0	0	14.91	14.78	14.92
600	-0.86	-146.0	2207	2010	3444	3379	86.2	-13.3	107	607	0.00	2.42	0.00	0.000	2308	0.000	0.067	2207	3414	3411	3443	3379	0	0	0	0	0	0	15.08	14.69	15.08
653	-0.86	-146.0	2214	3413	3443	3379	93.8	-15.1	117	660	0.00	2.33	0.00	0.000	3078	0.000	0.037	2207	1997	3411	3444	3379	0	0	0	0	0	0	14.92	14.82	14.94
723	-0.86	-146.0	2207	1996	3444	3379	104.9	-15.0	130	729	0.00	2.42	0.00	0.000	2308	0.000	0.066	2204	3415	3411	3444	3379	0	0	0	0	0	0	15.09	14.76	15.09
776	-0.86	-146.0	2203	3416	3443	3379	112.4	-15.1	140	783	0.00	2.33	0.00	0.000	3078	0.000	0.037	2204	2007	3411	3444	3379	0	0	0	0	0	0	14.92	14.76	14.94
847	-0.86	-146.0	2203	2007	3444	3379	123.2	-15.0	153	854	0.00	2.42	0.00	0.000	2308	0.000	0.067	2204	3413	3411	3444	3378	0	0	0	0	0	0	15.11	14.76	15.11
910	-0.86	-146.0	2203	3413	3444	3379	131.8	-12.2	165	917	0.00	2.33	0.00	0.000	3078	0.000	0.037	2203	2003	3412	3445	3379	0	0	0	0	0	0	14.86	14.75	14.88
979	-0.86	-146.0	2203	2003	3444	3379	141.1	-13.4	178	985	0.00	0.00	0.00	0.000	2054	0.000	0.000	2204	2002	3411	3444	3378	0	0	0	0	0	0	15.10	15.10	15.09
1047	-0.86	-146.0	2203	2001	3445	3379	150.4	-13.6	191	1054	0.00	2.45	0.00	0.000	2308	0.000	0.068	2204	3416	3412	3445	3379	0	0	0	0	0	0	15.11	14.76	15.11
1120	end dive: BOTTOM_OBSTACLE_DETECTED
state	1120	begin apogee
1127	-0.19	0.0	2204	1957	3445	3379	153.7	-1.3	205	1244	0.93	0.00	109.20	1.055	10246	0.050	0.000	2439	1956	2812	2848	2776	0	0	0	0	0	0	14.82	14.51	13.93
1245	end apogee: CONTROL_FINISHED_OK
state	1245	begin climb
1247	0.86	146.0	2440	1956	2848	2776	154.8	0.0	226	1370	1.48	2.53	109.70	1.051	10500	0.100	0.064	2747	3370	2213	2256	2171	0	0	0	0	0	0	14.48	14.40	13.84
1447	0.86	146.0	2746	3370	2252	2170	144.2	10.0	262	1454	0.00	2.33	0.00	0.000	3078	0.000	0.039	2747	1969	2210	2252	2169	0	0	0	0	0	0	14.69	14.62	14.69
1518	0.86	146.0	2746	1969	2250	2169	137.4	11.5	275	1524	0.00	0.00	0.00	0.000	2054	0.000	0.000	2747	1969	2209	2250	2169	0	0	0	0	0	0	14.92	14.92	14.92
1586	0.90	184.2	2746	1969	2250	2169	131.5	8.3	288	1621	0.05	0.00	30.10	1.003	10758	0.252	0.000	2789	1969	2059	2104	2015	0	0	0	0	0	0	14.64	14.63	14.04
1683	0.90	184.2	2789	1969	2099	2013	122.3	10.6	306	1689	0.00	2.42	0.00	0.000	4356	0.000	0.063	2789	3366	2056	2099	2013	0	0	0	0	0	0	14.92	14.58	14.92
1731	0.90	184.2	2789	3365	2099	2013	116.4	13.0	315	1738	0.00	2.33	0.00	0.000	5126	0.000	0.041	2790	1964	2055	2099	2011	0	0	0	0	0	0	14.83	14.73	14.84
1801	0.96	226.9	2790	1964	2098	2012	109.6	8.0	328	1842	0.00	2.45	33.95	1.003	10500	0.000	0.060	2790	3373	1885	1931	1839	0	0	0	0	0	0	14.99	14.48	14.03
1884	0.96	226.9	2789	3371	1928	1839	100.3	11.5	343	1890	0.00	2.35	0.00	0.000	3078	0.000	0.042	2790	1963	1883	1928	1839	0	0	0	0	0	0	14.74	14.64	14.76
1954	0.97	240.6	2790	1963	1927	1837	93.4	9.4	356	1971	0.00	0.00	11.85	0.893	10246	0.000	0.000	2790	1963	1832	1878	1786	0	0	0	0	0	0	14.96	14.50	14.01
2033	1.00	260.3	2790	1963	1876	1784	85.8	9.1	371	2057	0.00	2.42	17.42	0.955	10500	0.000	0.060	2790	3373	1750	1800	1700	0	0	0	0	0	0	14.97	14.50	14.04
2100	1.00	260.3	2790	3373	1796	1696	79.2	10.3	383	2107	0.00	2.35	0.00	0.000	3078	0.000	0.043	2790	1965	1745	1796	1695	0	0	0	0	0	0	14.81	14.71	14.83
2170	1.05	303.5	2790	1964	1796	1696	73.3	8.0	396	2216	0.08	2.50	35.28	0.952	10756	0.181	0.075	2845	547	1572	1626	1518	0	0	0	0	0	0	14.62	14.61	14.04
2232	1.05	303.5	2844	547	1624	1522	66.6	11.3	407	2240	0.08	2.35	0.00	0.000	5126	0.263	0.041	2829	1976	1571	1624	1518	0	0	0	0	0	0	14.45	14.59	14.61
2303	1.05	303.5	2829	1976	1624	1516	59.1	10.8	420	2308	0.00	0.00	0.00	0.000	6	0.000	0.000	2829	1977	1569	1622	1516	0	0	0	0	0	0	14.94	14.94	14.95
2370	1.05	303.5	2829	1976	1621	1516	52.0	11.7	433	2375	0.00	0.00	0.00	0.000	6	0.000	0.000	2829	1976	1570	1621	1520	0	0	0	0	0	0	14.99	15.00	15.00
2437	1.05	306.7	2829	1976	1620	1516	45.1	9.9	446	2444	0.00	2.42	0.00	0.000	516	0.000	0.074	2829	564	1568	1620	1516	0	0	0	0	0	0	15.01	14.59	15.02
2466	1.16	392.0	2828	563	1621	1515	43.2	6.1	451	2546	0.05	2.30	69.32	0.944	11270	0.252	0.041	2874	1975	1213	1271	1156	0	0	0	0	0	0	14.67	14.78	14.04
2609	1.16	392.0	2874	1975	1270	1154	30.3	11.0	477	2615	0.00	2.40	0.00	0.000	4356	0.000	0.064	2874	3357	1212	1271	1154	0	0	0	0	0	0	14.88	14.59	14.89
2657	1.16	392.0	2874	3357	1269	1153	24.4	12.6	486	2665	0.03	2.33	0.00	0.000	5126	0.504	0.044	2866	1965	1211	1270	1153	0	0	0	0	0	0	14.40	14.62	14.61
2727	1.16	392.0	2866	1964	1270	1153	16.1	12.1	499	2734	0.00	2.42	0.00	0.000	4612	0.000	0.076	2866	564	1211	1270	1153	0	0	0	0	0	0	14.97	14.58	14.97
2751	1.16	392.0	2866	564	1270	1153	13.5	10.8	503	2757	0.00	2.30	0.00	0.000	5126	0.000	0.041	2866	1965	1211	1269	1153	0	0	0	0	0	0	14.85	14.76	14.87
2820	1.16	392.0	2865	1966	1269	1151	5.1	12.2	516	2826	0.00	0.00	0.00	0.000	4102	0.000	0.000	2866	1966	1208	1264	1152	0	0	0	0	0	0	15.01	15.01	15.01
2836	end climb: SURFACE_DEPTH_REACHED
state	2836	begin surface coast
2863	end surface coast: CONTROL_FINISHED_OK
state	2863	begin surface