Glider dive log

SOSCEx Mar19 * SG573 * Dive index * Mission links * Dive 193 * 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 120 C_ROLL_CLIMB 1964 ALTIM_TOP_TURN_MARGIN 0

DIVE 193 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 42 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 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 335 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_MISSION 345 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_ABORT 360 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 360

CALL_TRIES 5 HEADING 120 PROTOCOL 9 T_BOOST 0

CALL_WAIT 60 HEAD_ERRBAND 10 P_OVSHOOT 0.039999999 T_DIVE 335

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 345

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 42 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 50 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 193 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 110419,100401,-3001.7578,3102.5217,18,0.8,28,-24.8,0.5,160.2,11,6.7 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3007.306,3113.306

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.66 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -62.5 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 110419,101111,-3001.9065,3102.4939,18,0.8,19,-24.8,0.9,196.6,10,7.9 MHEAD_RNG_PITCHd_Wd 144.8,20000,-18.2,-9.950,-20.98,2247

SPEED_LIMITS 0.172,0.260 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.0,1.023537 SC_FREEKB 3823744

SM_CCo 2752,112.00,0.724,0,0,599,542.59 _24V_AH 13.83,133.086

SM_GC 0.58,12.52,2.28,112.00,0.048,0.044,0.724,129,2013,599,-7.31,0.96,542.59,0,0,0,0,0,0,14.78,14.78,14.11 _10V_AH 13.23,0.000

IRIDIUM_FIX -2950.05,3059.11,110419,092226 FG_AHR_24Vo 0.000

TT8_MAMPS 0.019474,0.907039 FG_AHR_10Vo 0.000

HUMID 56.77 MEM 339556

INTERNAL_PRESSURE 9.30664 DATA_FILE_SIZE 16817,500

TCM_TEMP 24.20 CAP_FILE_SIZE 97135,0

XPDR_PINGS 0 CFSIZE 1023623168,995770368

ALTIM_TOP_PING 19.7,19.0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

ALTIM_BOTTOM_PING 90.2,58.0 GPS 110419,110017,-3002.452,3102.552,18,1.1,20,-24.8,0.8,172.7,8,8.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 361 139.37 nil 0 0 0.00

Roll_motor 70 81 78.70 nil 0 0 0.00

VBD_pump_during_apogee 343 1016 4822.84 nil 0 0 0.00

VBD_pump_during_surface 112 724 1122.15 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 32 11.84 nil 0 0 0.00

Iridium_during_connect 41 160 90.80 SciCon 2766 35 1368.45

Iridium_during_xfer 189 223 583.45 nil 0 0 0.00

Transponder_ping 1 420 5.81 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 23 6.19

TT8 1041 8 118.12

LPSleep 446 2 12.93

TT8_Active 581 8 65.98

TT8_Sampling 1115 28 413.86

TT8_CF8 124 41 68.22

TT8_Kalman 0 0 0.00

Analog_circuits 1073 12 176.06

GPS_charging 0 0 0.00

Compass 757 17 172.57

RAFOS 0 0 0.00

Transponder 8 30 3.49

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 -0.85 -146.0 86 1974 585 578 0.0 0.0 0 116 0.00 0.00 -92.78 0.000 16386 0.000 0.000 78 1974 3130 3133 3128 0 0 0 0 0 0 15.04 28.83 15.04

120 -0.85 -146.0 77 1974 3133 3129 3.1 -6.7 17 144 12.50 2.28 -4.78 0.000 18948 0.304 0.081 2207 607 3410 3441 3379 0 0 0 0 0 0 14.33 13.83 14.55

226 -0.85 -146.0 2207 607 3442 3379 29.5 -16.1 37 232 0.00 2.30 0.00 0.000 3078 0.000 0.042 2203 2012 3410 3442 3379 0 0 0 0 0 0 14.90 14.77 14.89

295 -0.85 -146.0 2202 2013 3443 3379 39.4 -15.1 50 301 0.00 0.00 0.00 0.000 2054 0.000 0.000 2203 2013 3409 3440 3379 0 0 0 0 0 0 15.10 15.10 15.10

363 -0.85 -146.0 2202 2013 3443 3379 48.1 -11.2 63 370 0.00 2.38 0.00 0.000 2308 0.000 0.069 2200 3412 3411 3443 3379 0 0 0 0 0 0 15.10 14.79 15.11

447 -0.85 -146.0 2200 3412 3443 3379 58.7 -13.1 79 453 0.00 2.28 0.00 0.000 3078 0.000 0.036 2200 2014 3411 3444 3379 0 0 0 0 0 0 14.97 14.88 14.99

516 -0.85 -146.0 2200 2014 3444 3380 66.8 -11.4 92 523 0.05 2.40 0.00 0.000 2308 0.362 0.063 2207 3410 3411 3444 3379 0 0 0 0 0 0 14.69 14.76 14.85

535 -0.85 -146.0 2207 3410 3444 3379 69.0 -11.5 95 541 0.00 2.28 0.00 0.000 3078 0.000 0.036 2207 2014 3412 3445 3379 0 0 0 0 0 0 14.85 14.77 14.86

604 -0.85 -146.0 2206 2014 3445 3379 76.5 -10.9 108 610 0.00 2.35 0.00 0.000 2564 0.000 0.063 2207 611 3412 3445 3380 0 0 0 0 0 0 15.13 14.83 15.13

647 -0.85 -146.0 2207 612 3445 3379 81.8 -11.7 116 654 0.00 2.28 0.00 0.000 3078 0.000 0.042 2207 2013 3412 3445 3379 0 0 0 0 0 0 14.98 14.88 15.00

717 -0.85 -146.0 2207 2013 3445 3379 88.8 -10.5 129 723 0.00 0.00 0.00 0.000 2054 0.000 0.000 2207 2013 3412 3446 3379 0 0 0 0 0 0 15.12 15.13 15.13

787 -0.85 -146.0 2206 2013 3445 3379 96.8 -11.6 142 794 0.00 2.38 0.00 0.000 2308 0.000 0.069 2207 3414 3412 3445 3379 0 0 0 0 0 0 15.13 14.81 15.13

876 -0.85 -146.0 2206 3413 3445 3379 107.2 -11.6 159 883 0.00 2.30 0.00 0.000 3078 0.000 0.036 2207 2005 3412 3445 3379 0 0 0 0 0 0 14.98 14.88 15.00

945 -0.85 -146.0 2206 2005 3445 3379 115.3 -12.2 172 952 0.00 2.45 0.00 0.000 2308 0.000 0.067 2207 3416 3412 3445 3379 0 0 0 0 0 0 15.14 14.76 15.14

974 -0.85 -146.0 2206 3416 3445 3379 119.0 -12.7 177 981 0.00 2.30 0.00 0.000 3078 0.000 0.036 2207 2003 3412 3445 3379 0 0 0 0 0 0 14.87 14.75 14.85

1044 -0.85 -146.0 2206 2002 3446 3379 126.5 -10.2 190 1051 0.00 2.42 0.00 0.000 2308 0.000 0.067 2206 3413 3411 3445 3377 0 0 0 0 0 0 15.14 14.67 15.14

1078 -0.85 -146.0 2206 3414 3445 3379 130.4 -10.9 196 1085 0.00 2.30 0.00 0.000 3078 0.000 0.036 2207 2005 3411 3445 3378 0 0 0 0 0 0 14.99 14.90 15.00

1105 end dive: BOTTOM_OBSTACLE_DETECTED

state 1105 begin apogee

1110 -0.19 0.0 2207 2005 3445 3379 133.9 -12.2 201 1226 1.08 0.00 107.85 1.017 10246 0.166 0.000 2421 2004 2809 2849 2770 0 0 0 0 0 0 14.64 14.42 13.98

1228 end apogee: CONTROL_FINISHED_OK

state 1228 begin climb

1230 0.85 146.0 2421 2004 2849 2773 138.4 0.0 222 1346 1.52 0.00 109.15 1.013 10758 0.097 0.000 2746 2004 2214 2257 2171 0 0 0 0 0 0 14.54 14.47 13.90

1410 0.89 173.1 2746 2004 2252 2170 129.2 8.7 254 1438 0.00 0.00 21.45 0.969 10246 0.000 0.000 2746 2004 2104 2148 2060 0 0 0 0 0 0 14.86 14.54 13.93

1500 0.89 177.2 2746 2004 2143 2059 120.3 9.8 271 1513 0.00 2.38 4.25 0.718 10500 0.000 0.062 2746 3369 2089 2132 2046 0 0 0 0 0 0 14.92 14.57 13.96

1575 0.90 187.4 2746 3369 2130 2046 113.2 9.5 285 1593 0.00 2.33 9.73 0.903 11270 0.000 0.041 2754 1964 2046 2091 2002 0 0 0 0 0 0 14.76 14.66 13.97

1655 0.93 205.6 2754 1966 2088 2000 105.7 9.1 300 1674 0.05 0.00 15.40 0.937 10758 0.252 0.000 2796 1963 1972 2017 1927 0 0 0 0 0 0 14.71 14.70 14.06

1735 0.93 205.6 2796 1963 2014 1925 96.8 11.2 315 1742 0.00 2.42 0.00 0.000 4356 0.000 0.063 2797 3366 1968 2013 1924 0 0 0 0 0 0 14.99 14.64 14.99

1794 0.93 205.6 2797 3366 2013 1924 89.9 11.9 326 1801 0.08 2.33 0.00 0.000 5126 0.288 0.041 2792 1952 1968 2013 1924 0 0 0 0 0 0 14.61 14.77 14.81

1864 0.93 205.6 2791 1952 2012 1923 82.5 10.6 339 1871 0.00 2.38 0.00 0.000 4612 0.000 0.074 2797 570 1967 2012 1923 0 0 0 0 0 0 15.05 14.75 15.05

1903 0.93 205.6 2797 570 2012 1923 78.1 11.1 346 1910 0.00 2.28 0.00 0.000 5126 0.000 0.040 2797 1972 1967 2012 1923 0 0 0 0 0 0 14.93 14.83 14.94

1973 0.93 205.6 2797 1972 2012 1923 70.3 10.7 359 1980 0.00 2.42 0.00 0.000 4612 0.000 0.073 2797 566 1967 2012 1923 0 0 0 0 0 0 15.07 14.77 15.07

2032 0.93 205.6 2795 565 2011 1923 64.2 10.3 370 2038 0.00 2.28 0.00 0.000 5126 0.000 0.038 2797 1965 1965 2011 1920 0 0 0 0 0 0 14.94 14.81 14.95

2101 0.93 205.6 2797 1965 2012 1922 56.8 10.8 383 2108 0.00 2.42 0.00 0.000 4612 0.000 0.072 2797 568 1966 2011 1922 0 0 0 0 0 0 15.09 14.73 15.10

2125 0.93 205.6 2797 568 2010 1922 54.2 10.5 387 2132 0.00 2.28 0.00 0.000 5126 0.000 0.041 2797 1970 1966 2010 1922 0 0 0 0 0 0 14.83 14.73 14.85

2197 0.94 213.0 2797 1966 2010 1922 47.4 9.6 400 2210 0.00 2.38 6.68 0.754 12548 0.000 0.063 2797 3357 1942 1986 1898 0 0 0 0 0 0 15.11 14.57 14.06

2332 0.94 215.8 2797 3357 1984 1897 32.9 9.8 426 2339 0.00 2.30 0.00 0.000 5126 0.000 0.041 2798 1969 1940 1985 1896 0 0 0 0 0 0 14.97 14.85 14.97

2402 0.96 235.3 2798 1968 1984 1895 26.5 9.1 439 2426 0.00 2.42 14.23 0.878 8708 0.000 0.073 2798 560 1850 1897 1803 0 0 0 0 0 0 15.11 14.78 14.14

2544 1.06 314.1 2797 560 1892 1803 16.2 6.3 466 2596 0.05 2.28 44.22 0.842 11270 0.256 0.040 2841 1971 1530 1585 1475 0 0 0 0 0 0 14.73 14.85 14.18

2658 1.09 334.6 2841 1971 1579 1472 6.6 9.0 487 2677 0.00 2.35 10.05 0.700 12548 0.000 0.065 2841 3350 1446 1501 1392 0 0 0 0 0 0 15.01 14.71 14.12

2697 end climb: SURFACE_DEPTH_REACHED

state 2697 begin surface coast

2728 end surface coast: CONTROL_FINISHED_OK

state 2728 begin surface

ID	573	HD_C	9.8500004e-06	C_ROLL_DIVE	2013	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	30	HEADING	120	C_ROLL_CLIMB	1964	ALTIM_TOP_TURN_MARGIN	0
DIVE	193	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	42	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	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	335	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_MISSION	345	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_ABORT	360	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	110419,100401,-3001.7578,3102.5217,18,0.8,28,-24.8,0.5,160.2,11,6.7	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3007.306,3113.306
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.66	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-62.5	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	110419,101111,-3001.9065,3102.4939,18,0.8,19,-24.8,0.9,196.6,10,7.9	MHEAD_RNG_PITCHd_Wd	144.8,20000,-18.2,-9.950,-20.98,2247
SPEED_LIMITS	0.172,0.260	D_GRID	1000

FINISH	0.0,1.023537	SC_FREEKB	3823744
SM_CCo	2752,112.00,0.724,0,0,599,542.59	_24V_AH	13.83,133.086
SM_GC	0.58,12.52,2.28,112.00,0.048,0.044,0.724,129,2013,599,-7.31,0.96,542.59,0,0,0,0,0,0,14.78,14.78,14.11	_10V_AH	13.23,0.000
IRIDIUM_FIX	-2950.05,3059.11,110419,092226	FG_AHR_24Vo	0.000
TT8_MAMPS	0.019474,0.907039	FG_AHR_10Vo	0.000
HUMID	56.77	MEM	339556
INTERNAL_PRESSURE	9.30664	DATA_FILE_SIZE	16817,500
TCM_TEMP	24.20	CAP_FILE_SIZE	97135,0
XPDR_PINGS	0	CFSIZE	1023623168,995770368
ALTIM_TOP_PING	19.7,19.0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	90.2,58.0	GPS	110419,110017,-3002.452,3102.552,18,1.1,20,-24.8,0.8,172.7,8,8.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	361	139.37	nil	0	0	0.00
Roll_motor	70	81	78.70	nil	0	0	0.00
VBD_pump_during_apogee	343	1016	4822.84	nil	0	0	0.00
VBD_pump_during_surface	112	724	1122.15	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	32	11.84	nil	0	0	0.00
Iridium_during_connect	41	160	90.80	SciCon	2766	35	1368.45
Iridium_during_xfer	189	223	583.45	nil	0	0	0.00
Transponder_ping	1	420	5.81	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	23	6.19
TT8	1041	8	118.12
LPSleep	446	2	12.93
TT8_Active	581	8	65.98
TT8_Sampling	1115	28	413.86
TT8_CF8	124	41	68.22
TT8_Kalman	0	0	0.00
Analog_circuits	1073	12	176.06
GPS_charging	0	0	0.00
Compass	757	17	172.57
RAFOS	0	0	0.00
Transponder	8	30	3.49

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	-0.85	-146.0	86	1974	585	578	0.0	0.0	0	116	0.00	0.00	-92.78	0.000	16386	0.000	0.000	78	1974	3130	3133	3128	0	0	0	0	0	0	15.04	28.83	15.04
120	-0.85	-146.0	77	1974	3133	3129	3.1	-6.7	17	144	12.50	2.28	-4.78	0.000	18948	0.304	0.081	2207	607	3410	3441	3379	0	0	0	0	0	0	14.33	13.83	14.55
226	-0.85	-146.0	2207	607	3442	3379	29.5	-16.1	37	232	0.00	2.30	0.00	0.000	3078	0.000	0.042	2203	2012	3410	3442	3379	0	0	0	0	0	0	14.90	14.77	14.89
295	-0.85	-146.0	2202	2013	3443	3379	39.4	-15.1	50	301	0.00	0.00	0.00	0.000	2054	0.000	0.000	2203	2013	3409	3440	3379	0	0	0	0	0	0	15.10	15.10	15.10
363	-0.85	-146.0	2202	2013	3443	3379	48.1	-11.2	63	370	0.00	2.38	0.00	0.000	2308	0.000	0.069	2200	3412	3411	3443	3379	0	0	0	0	0	0	15.10	14.79	15.11
447	-0.85	-146.0	2200	3412	3443	3379	58.7	-13.1	79	453	0.00	2.28	0.00	0.000	3078	0.000	0.036	2200	2014	3411	3444	3379	0	0	0	0	0	0	14.97	14.88	14.99
516	-0.85	-146.0	2200	2014	3444	3380	66.8	-11.4	92	523	0.05	2.40	0.00	0.000	2308	0.362	0.063	2207	3410	3411	3444	3379	0	0	0	0	0	0	14.69	14.76	14.85
535	-0.85	-146.0	2207	3410	3444	3379	69.0	-11.5	95	541	0.00	2.28	0.00	0.000	3078	0.000	0.036	2207	2014	3412	3445	3379	0	0	0	0	0	0	14.85	14.77	14.86
604	-0.85	-146.0	2206	2014	3445	3379	76.5	-10.9	108	610	0.00	2.35	0.00	0.000	2564	0.000	0.063	2207	611	3412	3445	3380	0	0	0	0	0	0	15.13	14.83	15.13
647	-0.85	-146.0	2207	612	3445	3379	81.8	-11.7	116	654	0.00	2.28	0.00	0.000	3078	0.000	0.042	2207	2013	3412	3445	3379	0	0	0	0	0	0	14.98	14.88	15.00
717	-0.85	-146.0	2207	2013	3445	3379	88.8	-10.5	129	723	0.00	0.00	0.00	0.000	2054	0.000	0.000	2207	2013	3412	3446	3379	0	0	0	0	0	0	15.12	15.13	15.13
787	-0.85	-146.0	2206	2013	3445	3379	96.8	-11.6	142	794	0.00	2.38	0.00	0.000	2308	0.000	0.069	2207	3414	3412	3445	3379	0	0	0	0	0	0	15.13	14.81	15.13
876	-0.85	-146.0	2206	3413	3445	3379	107.2	-11.6	159	883	0.00	2.30	0.00	0.000	3078	0.000	0.036	2207	2005	3412	3445	3379	0	0	0	0	0	0	14.98	14.88	15.00
945	-0.85	-146.0	2206	2005	3445	3379	115.3	-12.2	172	952	0.00	2.45	0.00	0.000	2308	0.000	0.067	2207	3416	3412	3445	3379	0	0	0	0	0	0	15.14	14.76	15.14
974	-0.85	-146.0	2206	3416	3445	3379	119.0	-12.7	177	981	0.00	2.30	0.00	0.000	3078	0.000	0.036	2207	2003	3412	3445	3379	0	0	0	0	0	0	14.87	14.75	14.85
1044	-0.85	-146.0	2206	2002	3446	3379	126.5	-10.2	190	1051	0.00	2.42	0.00	0.000	2308	0.000	0.067	2206	3413	3411	3445	3377	0	0	0	0	0	0	15.14	14.67	15.14
1078	-0.85	-146.0	2206	3414	3445	3379	130.4	-10.9	196	1085	0.00	2.30	0.00	0.000	3078	0.000	0.036	2207	2005	3411	3445	3378	0	0	0	0	0	0	14.99	14.90	15.00
1105	end dive: BOTTOM_OBSTACLE_DETECTED
state	1105	begin apogee
1110	-0.19	0.0	2207	2005	3445	3379	133.9	-12.2	201	1226	1.08	0.00	107.85	1.017	10246	0.166	0.000	2421	2004	2809	2849	2770	0	0	0	0	0	0	14.64	14.42	13.98
1228	end apogee: CONTROL_FINISHED_OK
state	1228	begin climb
1230	0.85	146.0	2421	2004	2849	2773	138.4	0.0	222	1346	1.52	0.00	109.15	1.013	10758	0.097	0.000	2746	2004	2214	2257	2171	0	0	0	0	0	0	14.54	14.47	13.90
1410	0.89	173.1	2746	2004	2252	2170	129.2	8.7	254	1438	0.00	0.00	21.45	0.969	10246	0.000	0.000	2746	2004	2104	2148	2060	0	0	0	0	0	0	14.86	14.54	13.93
1500	0.89	177.2	2746	2004	2143	2059	120.3	9.8	271	1513	0.00	2.38	4.25	0.718	10500	0.000	0.062	2746	3369	2089	2132	2046	0	0	0	0	0	0	14.92	14.57	13.96
1575	0.90	187.4	2746	3369	2130	2046	113.2	9.5	285	1593	0.00	2.33	9.73	0.903	11270	0.000	0.041	2754	1964	2046	2091	2002	0	0	0	0	0	0	14.76	14.66	13.97
1655	0.93	205.6	2754	1966	2088	2000	105.7	9.1	300	1674	0.05	0.00	15.40	0.937	10758	0.252	0.000	2796	1963	1972	2017	1927	0	0	0	0	0	0	14.71	14.70	14.06
1735	0.93	205.6	2796	1963	2014	1925	96.8	11.2	315	1742	0.00	2.42	0.00	0.000	4356	0.000	0.063	2797	3366	1968	2013	1924	0	0	0	0	0	0	14.99	14.64	14.99
1794	0.93	205.6	2797	3366	2013	1924	89.9	11.9	326	1801	0.08	2.33	0.00	0.000	5126	0.288	0.041	2792	1952	1968	2013	1924	0	0	0	0	0	0	14.61	14.77	14.81
1864	0.93	205.6	2791	1952	2012	1923	82.5	10.6	339	1871	0.00	2.38	0.00	0.000	4612	0.000	0.074	2797	570	1967	2012	1923	0	0	0	0	0	0	15.05	14.75	15.05
1903	0.93	205.6	2797	570	2012	1923	78.1	11.1	346	1910	0.00	2.28	0.00	0.000	5126	0.000	0.040	2797	1972	1967	2012	1923	0	0	0	0	0	0	14.93	14.83	14.94
1973	0.93	205.6	2797	1972	2012	1923	70.3	10.7	359	1980	0.00	2.42	0.00	0.000	4612	0.000	0.073	2797	566	1967	2012	1923	0	0	0	0	0	0	15.07	14.77	15.07
2032	0.93	205.6	2795	565	2011	1923	64.2	10.3	370	2038	0.00	2.28	0.00	0.000	5126	0.000	0.038	2797	1965	1965	2011	1920	0	0	0	0	0	0	14.94	14.81	14.95
2101	0.93	205.6	2797	1965	2012	1922	56.8	10.8	383	2108	0.00	2.42	0.00	0.000	4612	0.000	0.072	2797	568	1966	2011	1922	0	0	0	0	0	0	15.09	14.73	15.10
2125	0.93	205.6	2797	568	2010	1922	54.2	10.5	387	2132	0.00	2.28	0.00	0.000	5126	0.000	0.041	2797	1970	1966	2010	1922	0	0	0	0	0	0	14.83	14.73	14.85
2197	0.94	213.0	2797	1966	2010	1922	47.4	9.6	400	2210	0.00	2.38	6.68	0.754	12548	0.000	0.063	2797	3357	1942	1986	1898	0	0	0	0	0	0	15.11	14.57	14.06
2332	0.94	215.8	2797	3357	1984	1897	32.9	9.8	426	2339	0.00	2.30	0.00	0.000	5126	0.000	0.041	2798	1969	1940	1985	1896	0	0	0	0	0	0	14.97	14.85	14.97
2402	0.96	235.3	2798	1968	1984	1895	26.5	9.1	439	2426	0.00	2.42	14.23	0.878	8708	0.000	0.073	2798	560	1850	1897	1803	0	0	0	0	0	0	15.11	14.78	14.14
2544	1.06	314.1	2797	560	1892	1803	16.2	6.3	466	2596	0.05	2.28	44.22	0.842	11270	0.256	0.040	2841	1971	1530	1585	1475	0	0	0	0	0	0	14.73	14.85	14.18
2658	1.09	334.6	2841	1971	1579	1472	6.6	9.0	487	2677	0.00	2.35	10.05	0.700	12548	0.000	0.065	2841	3350	1446	1501	1392	0	0	0	0	0	0	15.01	14.71	14.12
2697	end climb: SURFACE_DEPTH_REACHED
state	2697	begin surface coast
2728	end surface coast: CONTROL_FINISHED_OK
state	2728	begin surface