Glider dive log

SOSCEx Mar19 * SG573 * Dive index * Mission links * Dive 20 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 573 HD_C 9.8500004e-06 C_ROLL_DIVE 1987 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 30 HEADING 90 C_ROLL_CLIMB 1987 ALTIM_TOP_TURN_MARGIN 0

DIVE 20 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 100

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 38 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 33 ALTIM_PULSE 3

D_TGT 500 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 5

D_ABORT 1050 SM_CC 532.59473 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 167 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_MISSION 182 CAPUPLOAD 1 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 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 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 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 500 PITCH_AD_RATE 125 SM_CC 532.59473

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 100 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 5 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 197

CALL_TRIES 5 HEADING 90 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 1 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 182

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 1987 LOGGERDEVICE4 -1 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_ROLL_DIVE 1987 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 38 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 33 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 20 NAV_MODE 3 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 310319,023045,-2847.2151,3220.7400,24,0.8,42,-23.6,0.9,214.8,9,9.5 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -2843.322,3209.311

_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 -65.3 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 310319,024412,-2847.3362,3220.7427,20,0.9,23,-23.6,0.4,159.2,10,9.0 MHEAD_RNG_PITCHd_Wd 315.4,20000,-18.2,-9.980,-21.01,2240

SPEED_LIMITS 0.173,0.260 D_GRID 500

Post-dive calculations and measurements:

FINISH 0.3,1.023157 _24V_AH 13.84,90.281

SM_CCo 3018,74.47,0.789,0,0,637,532.78 _10V_AH 13.50,0.000

SM_GC 0.62,12.77,0.00,74.47,0.056,0.000,0.789,149,1987,637,-7.26,0.00,532.78,0,0,0,0,0,0,14.81,15.09,14.24 FG_AHR_24Vo 0.000

IRIDIUM_FIX -2833.46,3220.92,310319,010408 FG_AHR_10Vo 0.000

TT8_MAMPS 0.019474,0.928011 MEM 339576

HUMID 57.28 DATA_FILE_SIZE 16758,543

INTERNAL_PRESSURE 9.28711 CAP_FILE_SIZE 110101,0

TCM_TEMP 24.20 CFSIZE 1023623168,1018527744

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

ALTIM_TOP_PING 19.9,999.0 CURRENT 0.139,178.28,1

SC_FREEKB 3912832 GPS 310319,033725,-2847.371,3220.357,21,0.8,39,-23.6,0.4,52.7,11,8.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 307 120.24 nil 0 0 0.00

Roll_motor 71 85 84.64 nil 0 0 0.00

VBD_pump_during_apogee 432 1135 6802.90 nil 0 0 0.00

VBD_pump_during_surface 74 788 812.96 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 32 11.86 nil 0 0 0.00

Iridium_during_connect 53 160 117.72 SciCon 3065 35 1507.93

Iridium_during_xfer 500 223 1544.94 nil 0 0 0.00

Transponder_ping 2 420 13.08 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 23 23 7.46

TT8 1172 8 135.70

LPSleep 431 2 12.74

TT8_Active 634 8 73.40

TT8_Sampling 1533 28 580.75

TT8_CF8 132 41 74.19

TT8_Kalman 0 0 0.00

Analog_circuits 1167 12 195.44

GPS_charging 0 0 0.00

Compass 821 17 190.99

RAFOS 0 0 0.00

Transponder 15 30 6.46

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 73 1995 628 620 0.0 0.0 0 110 0.00 0.00 -87.97 0.000 16386 0.000 0.000 74 1995 3097 3093 3102 0 0 0 0 0 0 14.95 28.83 14.95

113 -0.85 -146.0 73 1996 3094 3101 3.6 -9.1 15 139 12.62 2.40 -4.97 0.000 18692 0.308 0.086 2195 3401 3411 3442 3381 0 0 0 0 0 0 14.41 13.85 14.62

351 -0.85 -146.0 2194 3401 3443 3380 62.4 -17.3 61 359 0.08 2.35 0.00 0.000 3078 0.289 0.041 2209 1990 3411 3444 3379 0 0 0 0 0 0 14.55 14.72 14.77

421 -0.85 -146.0 2209 1989 3444 3378 74.2 -16.1 74 429 0.00 2.42 0.00 0.000 2308 0.000 0.068 2209 3396 3411 3444 3378 0 0 0 0 0 0 15.07 14.74 15.07

455 -0.85 -146.0 2208 3394 3444 3379 79.9 -16.7 80 462 0.00 2.33 0.00 0.000 3078 0.000 0.041 2209 1980 3411 3445 3378 0 0 0 0 0 0 14.82 14.69 14.84

525 -0.85 -146.0 2208 1979 3445 3379 91.8 -16.7 93 530 0.00 0.00 0.00 0.000 2054 0.000 0.000 2208 1979 3412 3445 3379 0 0 0 0 0 0 15.06 15.06 15.06

592 -0.85 -146.0 2208 1979 3445 3379 103.2 -15.5 106 600 0.00 2.35 0.00 0.000 2564 0.000 0.067 2209 587 3411 3445 3378 0 0 0 0 0 0 15.07 14.74 15.07

637 -0.85 -146.0 2208 587 3445 3379 109.8 -15.4 114 645 0.00 2.33 0.00 0.000 3078 0.000 0.047 2204 1995 3411 3444 3378 0 0 0 0 0 0 14.91 14.81 14.93

711 -0.85 -146.0 2204 1997 3445 3378 120.8 -15.7 127 717 0.00 2.40 0.00 0.000 2308 0.000 0.072 2204 3393 3411 3445 3378 0 0 0 0 0 0 15.08 14.69 15.08

809 -0.85 -146.0 2203 3393 3445 3378 133.4 -10.2 146 816 0.00 2.30 0.00 0.000 3078 0.000 0.040 2204 1984 3411 3445 3378 0 0 0 0 0 0 14.94 14.83 14.95

881 -0.85 -146.0 2203 1984 3445 3378 141.6 -12.5 159 887 0.00 0.00 0.00 0.000 2054 0.000 0.000 2204 1984 3411 3445 3378 0 0 0 0 0 0 15.10 15.11 15.11

948 -0.85 -146.0 2204 1983 3445 3378 152.5 -21.7 172 955 0.00 2.42 0.00 0.000 2308 0.000 0.070 2204 3397 3411 3445 3378 0 0 0 0 0 0 15.11 14.76 15.11

1042 -0.85 -146.0 2202 3397 3445 3378 167.0 -13.9 190 1049 0.00 2.33 0.00 0.000 3078 0.000 0.039 2204 1985 3411 3445 3377 0 0 0 0 0 0 14.92 14.83 14.95

1113 -0.85 -146.0 2203 1983 3446 3377 174.0 -1.3 203 1119 0.00 2.40 0.00 0.000 2308 0.000 0.070 2204 3391 3411 3445 3377 0 0 0 0 0 0 15.10 14.76 15.10

1239 end dive: NO_VERTICAL_VELOCITY

state 1239 begin apogee

1246 -0.19 0.0 2204 1980 3443 3377 173.9 0.0 228 1360 1.02 0.00 109.20 1.135 10246 0.076 0.000 2434 1979 2811 2850 2773 0 0 0 0 0 0 14.62 14.45 13.94

1362 end apogee: CONTROL_FINISHED_OK

state 1362 begin climb

1363 0.85 146.0 2434 1979 2850 2773 174.1 0.0 248 1482 1.52 2.50 110.32 1.130 11012 0.076 0.064 2764 3390 2216 2258 2174 0 0 0 0 0 0 14.47 14.36 13.84

1529 0.91 187.7 2764 3390 2254 2173 166.4 8.1 276 1572 0.00 2.38 33.42 1.095 11270 0.000 0.043 2770 1984 2044 2089 2000 0 0 0 0 0 0 14.54 14.45 13.91

1634 0.95 220.0 2768 1984 2086 1997 157.6 8.5 295 1670 0.00 2.47 25.90 1.078 10500 0.000 0.065 2769 3389 1913 1958 1868 0 0 0 0 0 0 14.82 14.50 13.95

1683 0.98 249.2 2769 3388 1958 1868 153.7 8.6 303 1715 0.08 2.35 24.42 1.069 11270 0.181 0.044 2813 1981 1794 1843 1746 0 0 0 0 0 0 14.54 14.57 13.97

1777 1.01 275.1 2813 1979 1840 1745 143.4 8.8 320 1801 0.00 0.00 21.50 1.056 8198 0.000 0.000 2814 1979 1689 1741 1637 0 0 0 0 0 0 14.83 14.54 13.97

1863 1.01 275.1 2813 1979 1739 1635 132.2 14.3 336 1869 0.00 2.42 0.00 0.000 260 0.000 0.067 2813 3398 1686 1738 1635 0 0 0 0 0 0 14.85 14.60 14.85

1882 1.01 275.1 2813 3398 1737 1635 129.7 14.4 339 1889 0.00 2.38 0.00 0.000 1030 0.000 0.048 2814 1984 1686 1737 1635 0 0 0 0 0 0 14.74 14.65 14.76

1951 1.01 275.1 2812 1985 1737 1633 121.1 10.5 352 1957 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 1986 1685 1737 1633 0 0 0 0 0 0 14.92 14.93 14.93

2019 1.06 311.5 2814 1985 1737 1633 115.2 8.3 365 2056 0.00 2.42 29.55 1.062 10500 0.000 0.064 2814 3396 1540 1595 1485 0 0 0 0 0 0 14.97 14.54 14.12

2074 1.06 315.7 2814 3396 1594 1485 110.3 9.8 374 2088 0.00 2.38 4.53 0.784 11270 0.000 0.046 2814 1978 1525 1581 1469 0 0 0 0 0 0 14.68 14.58 14.03

2150 1.10 347.8 2814 1978 1576 1470 103.2 8.5 388 2186 0.00 2.42 27.05 1.040 10756 0.000 0.075 2814 588 1393 1450 1337 0 0 0 0 0 0 14.92 14.57 14.05

2223 1.17 405.3 2814 587 1451 1336 97.4 7.3 401 2278 0.15 2.33 47.08 1.049 11270 0.109 0.043 2879 1996 1157 1214 1100 0 0 0 0 0 0 14.69 14.67 14.00

2340 1.17 405.3 2879 1996 1217 1096 83.3 12.8 422 2347 0.00 0.00 0.00 0.000 4102 0.000 0.000 2879 1996 1156 1217 1096 0 0 0 0 0 0 14.83 14.84 14.83

2409 1.17 405.3 2878 1996 1216 1095 74.3 13.7 435 2415 0.00 0.00 0.00 0.000 4102 0.000 0.000 2879 1996 1156 1216 1096 0 0 0 0 0 0 14.90 14.91 14.90

2477 1.17 405.3 2879 1996 1215 1095 65.5 13.6 448 2482 0.00 0.00 0.00 0.000 4102 0.000 0.000 2879 1996 1153 1211 1095 0 0 0 0 0 0 14.96 14.96 14.96

2545 1.17 405.3 2878 1996 1216 1095 55.5 15.1 461 2551 0.00 2.45 0.00 0.000 4612 0.000 0.076 2879 582 1155 1215 1095 0 0 0 0 0 0 14.98 14.63 14.98

2573 1.17 405.3 2879 582 1214 1095 51.5 13.3 466 2581 0.00 2.30 0.00 0.000 5126 0.000 0.042 2882 1986 1154 1215 1094 0 0 0 0 0 0 14.87 14.78 14.88

2644 1.17 405.3 2879 1986 1215 1094 41.7 13.8 479 2650 0.00 0.00 0.00 0.000 4102 0.000 0.000 2879 1986 1154 1215 1094 0 0 0 0 0 0 15.02 15.02 15.02

2712 1.17 405.3 2879 1986 1215 1094 32.1 14.0 492 2719 0.00 2.40 0.00 0.000 4356 0.000 0.068 2880 3391 1153 1214 1093 0 0 0 0 0 0 15.04 14.74 15.04

2746 1.17 405.3 2879 3391 1214 1093 27.7 12.0 498 2753 0.00 2.35 0.00 0.000 5126 0.000 0.045 2880 1978 1153 1214 1093 0 0 0 0 0 0 14.90 14.78 14.91

2819 1.17 405.3 2879 1978 1214 1093 19.9 11.0 511 2826 0.00 2.40 0.00 0.000 4612 0.000 0.077 2879 581 1153 1214 1093 0 0 0 0 0 0 15.06 14.62 15.06

2852 1.17 405.3 2879 581 1214 1093 16.1 11.3 517 2859 0.00 2.33 0.00 0.000 5126 0.000 0.044 2882 1990 1153 1214 1092 0 0 0 0 0 0 14.90 14.82 14.93

2922 1.17 405.3 2879 1990 1214 1092 8.6 10.2 530 2929 0.00 2.38 0.00 0.000 4356 0.000 0.067 2879 3389 1153 1214 1092 0 0 0 0 0 0 15.06 14.76 15.07

2946 1.17 405.3 2879 3389 1213 1091 5.8 11.4 534 2954 0.00 2.33 0.00 0.000 5126 0.000 0.047 2880 1989 1154 1213 1096 0 0 0 0 0 0 14.92 14.81 14.94

2975 end climb: SURFACE_DEPTH_REACHED

state 2975 begin surface coast

2996 end surface coast: CONTROL_FINISHED_OK

state 2997 begin surface

ID	573	HD_C	9.8500004e-06	C_ROLL_DIVE	1987	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	30	HEADING	90	C_ROLL_CLIMB	1987	ALTIM_TOP_TURN_MARGIN	0
DIVE	20	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	100
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	38	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	33	ALTIM_PULSE	3
D_TGT	500	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	5
D_ABORT	1050	SM_CC	532.59473	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	167	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_MISSION	182	CAPUPLOAD	1	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	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	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	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	310319,023045,-2847.2151,3220.7400,24,0.8,42,-23.6,0.9,214.8,9,9.5	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-2843.322,3209.311
_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	-65.3	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	310319,024412,-2847.3362,3220.7427,20,0.9,23,-23.6,0.4,159.2,10,9.0	MHEAD_RNG_PITCHd_Wd	315.4,20000,-18.2,-9.980,-21.01,2240
SPEED_LIMITS	0.173,0.260	D_GRID	500

FINISH	0.3,1.023157	_24V_AH	13.84,90.281
SM_CCo	3018,74.47,0.789,0,0,637,532.78	_10V_AH	13.50,0.000
SM_GC	0.62,12.77,0.00,74.47,0.056,0.000,0.789,149,1987,637,-7.26,0.00,532.78,0,0,0,0,0,0,14.81,15.09,14.24	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-2833.46,3220.92,310319,010408	FG_AHR_10Vo	0.000
TT8_MAMPS	0.019474,0.928011	MEM	339576
HUMID	57.28	DATA_FILE_SIZE	16758,543
INTERNAL_PRESSURE	9.28711	CAP_FILE_SIZE	110101,0
TCM_TEMP	24.20	CFSIZE	1023623168,1018527744
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_TOP_PING	19.9,999.0	CURRENT	0.139,178.28,1
SC_FREEKB	3912832	GPS	310319,033725,-2847.371,3220.357,21,0.8,39,-23.6,0.4,52.7,11,8.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	307	120.24	nil	0	0	0.00
Roll_motor	71	85	84.64	nil	0	0	0.00
VBD_pump_during_apogee	432	1135	6802.90	nil	0	0	0.00
VBD_pump_during_surface	74	788	812.96	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	32	11.86	nil	0	0	0.00
Iridium_during_connect	53	160	117.72	SciCon	3065	35	1507.93
Iridium_during_xfer	500	223	1544.94	nil	0	0	0.00
Transponder_ping	2	420	13.08	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	23	23	7.46
TT8	1172	8	135.70
LPSleep	431	2	12.74
TT8_Active	634	8	73.40
TT8_Sampling	1533	28	580.75
TT8_CF8	132	41	74.19
TT8_Kalman	0	0	0.00
Analog_circuits	1167	12	195.44
GPS_charging	0	0	0.00
Compass	821	17	190.99
RAFOS	0	0	0.00
Transponder	15	30	6.46

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	73	1995	628	620	0.0	0.0	0	110	0.00	0.00	-87.97	0.000	16386	0.000	0.000	74	1995	3097	3093	3102	0	0	0	0	0	0	14.95	28.83	14.95
113	-0.85	-146.0	73	1996	3094	3101	3.6	-9.1	15	139	12.62	2.40	-4.97	0.000	18692	0.308	0.086	2195	3401	3411	3442	3381	0	0	0	0	0	0	14.41	13.85	14.62
351	-0.85	-146.0	2194	3401	3443	3380	62.4	-17.3	61	359	0.08	2.35	0.00	0.000	3078	0.289	0.041	2209	1990	3411	3444	3379	0	0	0	0	0	0	14.55	14.72	14.77
421	-0.85	-146.0	2209	1989	3444	3378	74.2	-16.1	74	429	0.00	2.42	0.00	0.000	2308	0.000	0.068	2209	3396	3411	3444	3378	0	0	0	0	0	0	15.07	14.74	15.07
455	-0.85	-146.0	2208	3394	3444	3379	79.9	-16.7	80	462	0.00	2.33	0.00	0.000	3078	0.000	0.041	2209	1980	3411	3445	3378	0	0	0	0	0	0	14.82	14.69	14.84
525	-0.85	-146.0	2208	1979	3445	3379	91.8	-16.7	93	530	0.00	0.00	0.00	0.000	2054	0.000	0.000	2208	1979	3412	3445	3379	0	0	0	0	0	0	15.06	15.06	15.06
592	-0.85	-146.0	2208	1979	3445	3379	103.2	-15.5	106	600	0.00	2.35	0.00	0.000	2564	0.000	0.067	2209	587	3411	3445	3378	0	0	0	0	0	0	15.07	14.74	15.07
637	-0.85	-146.0	2208	587	3445	3379	109.8	-15.4	114	645	0.00	2.33	0.00	0.000	3078	0.000	0.047	2204	1995	3411	3444	3378	0	0	0	0	0	0	14.91	14.81	14.93
711	-0.85	-146.0	2204	1997	3445	3378	120.8	-15.7	127	717	0.00	2.40	0.00	0.000	2308	0.000	0.072	2204	3393	3411	3445	3378	0	0	0	0	0	0	15.08	14.69	15.08
809	-0.85	-146.0	2203	3393	3445	3378	133.4	-10.2	146	816	0.00	2.30	0.00	0.000	3078	0.000	0.040	2204	1984	3411	3445	3378	0	0	0	0	0	0	14.94	14.83	14.95
881	-0.85	-146.0	2203	1984	3445	3378	141.6	-12.5	159	887	0.00	0.00	0.00	0.000	2054	0.000	0.000	2204	1984	3411	3445	3378	0	0	0	0	0	0	15.10	15.11	15.11
948	-0.85	-146.0	2204	1983	3445	3378	152.5	-21.7	172	955	0.00	2.42	0.00	0.000	2308	0.000	0.070	2204	3397	3411	3445	3378	0	0	0	0	0	0	15.11	14.76	15.11
1042	-0.85	-146.0	2202	3397	3445	3378	167.0	-13.9	190	1049	0.00	2.33	0.00	0.000	3078	0.000	0.039	2204	1985	3411	3445	3377	0	0	0	0	0	0	14.92	14.83	14.95
1113	-0.85	-146.0	2203	1983	3446	3377	174.0	-1.3	203	1119	0.00	2.40	0.00	0.000	2308	0.000	0.070	2204	3391	3411	3445	3377	0	0	0	0	0	0	15.10	14.76	15.10
1239	end dive: NO_VERTICAL_VELOCITY
state	1239	begin apogee
1246	-0.19	0.0	2204	1980	3443	3377	173.9	0.0	228	1360	1.02	0.00	109.20	1.135	10246	0.076	0.000	2434	1979	2811	2850	2773	0	0	0	0	0	0	14.62	14.45	13.94
1362	end apogee: CONTROL_FINISHED_OK
state	1362	begin climb
1363	0.85	146.0	2434	1979	2850	2773	174.1	0.0	248	1482	1.52	2.50	110.32	1.130	11012	0.076	0.064	2764	3390	2216	2258	2174	0	0	0	0	0	0	14.47	14.36	13.84
1529	0.91	187.7	2764	3390	2254	2173	166.4	8.1	276	1572	0.00	2.38	33.42	1.095	11270	0.000	0.043	2770	1984	2044	2089	2000	0	0	0	0	0	0	14.54	14.45	13.91
1634	0.95	220.0	2768	1984	2086	1997	157.6	8.5	295	1670	0.00	2.47	25.90	1.078	10500	0.000	0.065	2769	3389	1913	1958	1868	0	0	0	0	0	0	14.82	14.50	13.95
1683	0.98	249.2	2769	3388	1958	1868	153.7	8.6	303	1715	0.08	2.35	24.42	1.069	11270	0.181	0.044	2813	1981	1794	1843	1746	0	0	0	0	0	0	14.54	14.57	13.97
1777	1.01	275.1	2813	1979	1840	1745	143.4	8.8	320	1801	0.00	0.00	21.50	1.056	8198	0.000	0.000	2814	1979	1689	1741	1637	0	0	0	0	0	0	14.83	14.54	13.97
1863	1.01	275.1	2813	1979	1739	1635	132.2	14.3	336	1869	0.00	2.42	0.00	0.000	260	0.000	0.067	2813	3398	1686	1738	1635	0	0	0	0	0	0	14.85	14.60	14.85
1882	1.01	275.1	2813	3398	1737	1635	129.7	14.4	339	1889	0.00	2.38	0.00	0.000	1030	0.000	0.048	2814	1984	1686	1737	1635	0	0	0	0	0	0	14.74	14.65	14.76
1951	1.01	275.1	2812	1985	1737	1633	121.1	10.5	352	1957	0.00	0.00	0.00	0.000	6	0.000	0.000	2814	1986	1685	1737	1633	0	0	0	0	0	0	14.92	14.93	14.93
2019	1.06	311.5	2814	1985	1737	1633	115.2	8.3	365	2056	0.00	2.42	29.55	1.062	10500	0.000	0.064	2814	3396	1540	1595	1485	0	0	0	0	0	0	14.97	14.54	14.12
2074	1.06	315.7	2814	3396	1594	1485	110.3	9.8	374	2088	0.00	2.38	4.53	0.784	11270	0.000	0.046	2814	1978	1525	1581	1469	0	0	0	0	0	0	14.68	14.58	14.03
2150	1.10	347.8	2814	1978	1576	1470	103.2	8.5	388	2186	0.00	2.42	27.05	1.040	10756	0.000	0.075	2814	588	1393	1450	1337	0	0	0	0	0	0	14.92	14.57	14.05
2223	1.17	405.3	2814	587	1451	1336	97.4	7.3	401	2278	0.15	2.33	47.08	1.049	11270	0.109	0.043	2879	1996	1157	1214	1100	0	0	0	0	0	0	14.69	14.67	14.00
2340	1.17	405.3	2879	1996	1217	1096	83.3	12.8	422	2347	0.00	0.00	0.00	0.000	4102	0.000	0.000	2879	1996	1156	1217	1096	0	0	0	0	0	0	14.83	14.84	14.83
2409	1.17	405.3	2878	1996	1216	1095	74.3	13.7	435	2415	0.00	0.00	0.00	0.000	4102	0.000	0.000	2879	1996	1156	1216	1096	0	0	0	0	0	0	14.90	14.91	14.90
2477	1.17	405.3	2879	1996	1215	1095	65.5	13.6	448	2482	0.00	0.00	0.00	0.000	4102	0.000	0.000	2879	1996	1153	1211	1095	0	0	0	0	0	0	14.96	14.96	14.96
2545	1.17	405.3	2878	1996	1216	1095	55.5	15.1	461	2551	0.00	2.45	0.00	0.000	4612	0.000	0.076	2879	582	1155	1215	1095	0	0	0	0	0	0	14.98	14.63	14.98
2573	1.17	405.3	2879	582	1214	1095	51.5	13.3	466	2581	0.00	2.30	0.00	0.000	5126	0.000	0.042	2882	1986	1154	1215	1094	0	0	0	0	0	0	14.87	14.78	14.88
2644	1.17	405.3	2879	1986	1215	1094	41.7	13.8	479	2650	0.00	0.00	0.00	0.000	4102	0.000	0.000	2879	1986	1154	1215	1094	0	0	0	0	0	0	15.02	15.02	15.02
2712	1.17	405.3	2879	1986	1215	1094	32.1	14.0	492	2719	0.00	2.40	0.00	0.000	4356	0.000	0.068	2880	3391	1153	1214	1093	0	0	0	0	0	0	15.04	14.74	15.04
2746	1.17	405.3	2879	3391	1214	1093	27.7	12.0	498	2753	0.00	2.35	0.00	0.000	5126	0.000	0.045	2880	1978	1153	1214	1093	0	0	0	0	0	0	14.90	14.78	14.91
2819	1.17	405.3	2879	1978	1214	1093	19.9	11.0	511	2826	0.00	2.40	0.00	0.000	4612	0.000	0.077	2879	581	1153	1214	1093	0	0	0	0	0	0	15.06	14.62	15.06
2852	1.17	405.3	2879	581	1214	1093	16.1	11.3	517	2859	0.00	2.33	0.00	0.000	5126	0.000	0.044	2882	1990	1153	1214	1092	0	0	0	0	0	0	14.90	14.82	14.93
2922	1.17	405.3	2879	1990	1214	1092	8.6	10.2	530	2929	0.00	2.38	0.00	0.000	4356	0.000	0.067	2879	3389	1153	1214	1092	0	0	0	0	0	0	15.06	14.76	15.07
2946	1.17	405.3	2879	3389	1213	1091	5.8	11.4	534	2954	0.00	2.33	0.00	0.000	5126	0.000	0.047	2880	1989	1154	1213	1096	0	0	0	0	0	0	14.92	14.81	14.94
2975	end climb: SURFACE_DEPTH_REACHED
state	2975	begin surface coast
2996	end surface coast: CONTROL_FINISHED_OK
state	2997	begin surface