Glider dive log

SOSCEx Mar19 * SG573 * Dive index * Mission links * Dive 216 * 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 110 C_ROLL_CLIMB 1964 ALTIM_TOP_TURN_MARGIN 0

DIVE 216 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 31 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 40 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 110 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 31 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 40 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 216 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 130419,105218,-3040.1311,3040.0950,18,1.1,21,-25.5,1.5,202.1,8,9.1 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3044.263,3051.665

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.57 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -63.0 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 130419,110129,-3040.5693,3039.8579,20,1.1,21,-25.5,1.8,215.6,8,9.4 MHEAD_RNG_PITCHd_Wd 135.5,20000,-18.2,-9.950,-20.98,2247

SPEED_LIMITS 0.172,0.260 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.2,1.023491 SC_FREEKB 3811456

SM_CCo 2774,119.30,0.722,0,0,598,542.59 _24V_AH 13.13,139.582

SM_GC 0.51,12.50,0.00,119.30,0.051,0.000,0.722,146,1961,598,-7.26,-1.44,542.59,0,0,0,0,0,0,14.81,15.05,14.08 _10V_AH 13.54,0.000

IRIDIUM_FIX -3027.46,3040.64,130419,093818 FG_AHR_24Vo 0.000

TT8_MAMPS 0.019474,0.900298 FG_AHR_10Vo 0.000

HUMID 55.82 MEM 339556

INTERNAL_PRESSURE 9.26758 DATA_FILE_SIZE 16778,500

TCM_TEMP 24.20 CAP_FILE_SIZE 102015,0

XPDR_PINGS 0 CFSIZE 1023623168,992182272

ALTIM_TOP_PING 20.0,19.0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

ALTIM_BOTTOM_PING 100.2,52.2 GPS 130419,115126,-3041.740,3039.599,25,1.1,41,-25.5,2.1,220.3,8,4.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 309 114.74 nil 0 0 0.00

Roll_motor 80 79 84.09 nil 0 0 0.00

VBD_pump_during_apogee 366 1018 4899.13 nil 0 0 0.00

VBD_pump_during_surface 119 722 1131.20 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 32 11.36 nil 0 0 0.00

Iridium_during_connect 16 160 35.49 SciCon 2821 35 1320.10

Iridium_during_xfer 278 223 814.27 nil 0 0 0.00

Transponder_ping 1 420 6.89 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 23 6.90

TT8 1035 8 120.15

LPSleep 437 2 12.96

TT8_Active 618 8 71.79

TT8_Sampling 1210 28 459.83

TT8_CF8 149 41 84.32

TT8_Kalman 0 0 0.00

Analog_circuits 1122 12 188.48

GPS_charging 0 0 0.00

Compass 759 17 177.23

RAFOS 0 0 0.00

Transponder 10 30 4.19

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

21 -0.85 -146.0 73 2011 583 581 0.0 0.0 0 121 0.00 0.00 -97.82 0.000 16386 0.000 0.000 72 2011 3264 3278 3250 0 0 0 0 0 0 14.99 28.83 15.00

125 -0.85 -146.0 72 2011 3278 3251 3.8 -10.0 18 150 12.75 2.42 -2.47 0.000 18948 0.309 0.080 2206 605 3411 3441 3381 0 0 0 0 0 0 14.31 13.13 14.71

172 -0.85 -146.0 2206 605 3441 3381 20.0 -22.6 26 178 0.00 2.33 0.00 0.000 3078 0.000 0.044 2204 2011 3411 3442 3381 0 0 0 0 0 0 14.87 14.76 14.88

242 -0.85 -146.0 2199 2011 3443 3381 31.8 -18.2 39 247 0.00 0.00 0.00 0.000 2054 0.000 0.000 2204 2011 3411 3442 3381 0 0 0 0 0 0 15.03 15.03 15.03

310 -0.85 -146.0 2203 2011 3443 3381 42.7 -13.5 52 316 0.00 2.42 0.00 0.000 2564 0.000 0.063 2204 597 3412 3443 3381 0 0 0 0 0 0 15.05 14.62 15.05

343 -0.85 -146.0 2203 597 3444 3381 47.4 -12.6 58 350 0.00 2.35 0.00 0.000 3078 0.000 0.044 2204 2021 3412 3443 3381 0 0 0 0 0 0 14.90 14.80 14.92

413 -0.85 -146.0 2203 2022 3444 3381 57.8 -14.6 71 420 0.00 2.40 0.00 0.000 2564 0.000 0.065 2204 601 3413 3445 3381 0 0 0 0 0 0 15.08 14.76 15.08

432 -0.85 -146.0 2203 602 3445 3381 60.6 -14.2 74 439 0.00 2.33 0.00 0.000 3078 0.000 0.044 2204 2012 3413 3446 3381 0 0 0 0 0 0 14.92 14.83 14.94

501 -0.85 -146.0 2203 2012 3445 3381 68.3 -11.5 87 508 0.00 2.40 0.00 0.000 2308 0.000 0.071 2204 3409 3416 3452 3381 0 0 0 0 0 0 15.09 14.75 15.09

520 -0.85 -146.0 2203 3408 3446 3381 70.4 -10.9 90 527 0.00 2.33 0.00 0.000 3078 0.000 0.038 2204 2006 3413 3446 3381 0 0 0 0 0 0 14.86 14.76 14.88

590 -0.85 -146.0 2203 2006 3446 3381 77.9 -10.9 103 597 0.00 2.38 0.00 0.000 2564 0.000 0.066 2204 610 3413 3446 3381 0 0 0 0 0 0 15.09 14.70 15.09

611 -0.85 -146.0 2203 610 3446 3381 80.1 -11.3 106 618 0.00 2.33 0.00 0.000 3078 0.000 0.044 2203 2026 3413 3446 3381 0 0 0 0 0 0 14.93 14.82 14.95

681 -0.85 -146.0 2203 2025 3447 3381 86.8 -9.6 119 687 0.00 2.38 0.00 0.000 2308 0.000 0.070 2203 3406 3413 3446 3381 0 0 0 0 0 0 15.09 14.70 15.10

700 -0.85 -146.0 2202 3406 3447 3381 88.7 -9.5 122 706 0.00 2.30 0.00 0.000 3078 0.000 0.037 2203 2007 3413 3447 3380 0 0 0 0 0 0 14.81 14.71 14.81

770 -0.85 -146.0 2202 2007 3447 3381 94.9 -9.4 135 776 0.00 2.38 0.00 0.000 2564 0.000 0.065 2203 606 3413 3447 3380 0 0 0 0 0 0 15.10 14.66 15.10

826 -0.85 -146.0 2202 606 3447 3380 101.0 -10.4 145 833 0.00 2.33 0.00 0.000 3078 0.000 0.044 2203 2021 3413 3447 3380 0 0 0 0 0 0 14.93 14.83 14.96

896 -0.85 -146.0 2202 2021 3447 3381 108.8 -11.0 158 903 0.00 2.40 0.00 0.000 2308 0.000 0.071 2202 3416 3413 3447 3380 0 0 0 0 0 0 15.10 14.77 15.10

945 -0.85 -146.0 2202 3414 3447 3384 113.8 -9.8 167 952 0.00 2.33 0.00 0.000 3078 0.000 0.037 2202 2004 3413 3446 3381 0 0 0 0 0 0 14.89 14.78 14.90

1015 -0.85 -146.0 2202 2004 3448 3381 120.5 -10.3 180 1021 0.00 0.00 0.00 0.000 2054 0.000 0.000 2202 2004 3413 3447 3380 0 0 0 0 0 0 15.10 15.11 15.11

1083 -0.85 -146.0 2202 2004 3448 3380 128.2 -11.2 193 1090 0.00 2.42 0.00 0.000 2308 0.000 0.069 2201 3408 3414 3448 3380 0 0 0 0 0 0 15.12 14.78 15.12

1159 -0.85 -146.0 2200 3408 3447 3380 135.9 -9.4 207 1165 0.00 2.30 0.00 0.000 3078 0.000 0.037 2201 2007 3413 3447 3380 0 0 0 0 0 0 14.95 14.85 14.96

1176 end dive: BOTTOM_OBSTACLE_DETECTED

state 1176 begin apogee

1180 -0.19 0.0 2201 2006 3448 3380 137.9 -9.8 210 1297 1.12 0.00 111.30 1.019 10246 0.166 0.000 2422 2005 2811 2850 2772 0 0 0 0 0 0 14.44 14.52 13.92

1299 end apogee: CONTROL_FINISHED_OK

state 1299 begin climb

1301 0.85 146.0 2422 2005 2850 2772 141.2 0.0 231 1424 1.52 2.50 111.97 1.013 10756 0.094 0.070 2749 558 2213 2257 2170 0 0 0 0 0 0 14.49 14.38 13.86

1442 0.90 186.5 2748 559 2253 2170 134.1 8.1 255 1482 0.00 2.35 32.78 0.980 11270 0.000 0.041 2749 1971 2050 2098 2002 0 0 0 0 0 0 14.55 14.46 13.85

1544 0.90 186.5 2749 1971 2093 2001 123.8 12.4 274 1550 0.00 2.42 0.00 0.000 2308 0.000 0.064 2749 3366 2046 2093 2000 0 0 0 0 0 0 14.85 14.59 14.85

1583 0.90 186.5 2749 3366 2092 2000 119.2 11.5 281 1589 0.00 2.35 0.00 0.000 3078 0.000 0.044 2749 1965 2046 2092 2000 0 0 0 0 0 0 14.72 14.62 14.73

1653 0.90 186.5 2749 1965 2090 1999 111.8 11.1 294 1659 0.00 2.42 0.00 0.000 2564 0.000 0.074 2749 564 2044 2090 1999 0 0 0 0 0 0 14.95 14.62 14.96

1701 0.90 186.5 2749 564 2089 1999 106.3 10.8 303 1708 0.00 2.30 0.00 0.000 3078 0.000 0.041 2749 1968 2044 2089 1999 0 0 0 0 0 0 14.72 14.63 14.73

1772 0.90 186.5 2748 1968 2089 1998 99.6 10.1 316 1778 0.00 2.40 0.00 0.000 2308 0.000 0.064 2749 3364 2043 2088 1998 0 0 0 0 0 0 15.02 14.62 15.02

1815 0.93 212.0 2749 3363 2088 1998 95.5 8.8 324 1845 0.10 2.33 20.92 0.955 11270 0.145 0.044 2801 1963 1945 1991 1899 0 0 0 0 0 0 14.77 14.77 14.01

1907 0.94 214.3 2804 1963 1988 1897 86.5 9.8 341 1914 0.00 2.42 0.00 0.000 4612 0.000 0.074 2811 563 1942 1987 1897 0 0 0 0 0 0 14.98 14.61 14.99

2071 0.94 214.3 2811 563 1984 1897 68.9 10.5 373 2078 0.10 2.30 0.00 0.000 5126 0.243 0.041 2791 1971 1941 1985 1897 0 0 0 0 0 0 14.53 14.81 14.71

2142 0.97 237.1 2791 1971 1985 1895 62.5 8.9 386 2171 0.00 2.38 20.77 0.937 10500 0.000 0.065 2791 3356 1843 1890 1796 0 0 0 0 0 0 15.07 14.73 14.12

2243 1.01 272.4 2791 3356 1888 1794 53.5 8.3 405 2279 0.00 2.35 29.42 0.940 11270 0.000 0.044 2791 1959 1701 1754 1648 0 0 0 0 0 0 14.87 14.76 14.05

2341 1.01 272.4 2791 1960 1749 1644 44.3 10.3 423 2348 0.00 2.42 0.00 0.000 2564 0.000 0.075 2791 560 1696 1749 1644 0 0 0 0 0 0 14.95 14.57 14.95

2470 1.07 320.1 2791 559 1745 1643 32.7 7.8 448 2517 0.10 2.30 39.00 0.924 11270 0.142 0.041 2845 1967 1505 1559 1452 0 0 0 0 0 0 14.78 14.78 14.05

2580 1.07 320.1 2845 1966 1555 1449 20.9 12.0 468 2587 0.00 2.45 0.00 0.000 4612 0.000 0.072 2852 555 1501 1554 1449 0 0 0 0 0 0 14.95 14.66 14.95

2624 1.07 320.1 2851 555 1553 1449 15.1 12.3 476 2632 0.08 2.30 0.00 0.000 5126 0.265 0.041 2836 1959 1501 1553 1449 0 0 0 0 0 0 14.57 14.74 14.76

2694 1.07 320.1 2835 1960 1552 1448 6.4 12.4 489 2700 0.00 0.00 0.00 0.000 4102 0.000 0.000 2836 1961 1500 1552 1448 0 0 0 0 0 0 15.01 15.02 15.01

2726 end climb: SURFACE_DEPTH_REACHED

state 2726 begin surface coast

2752 end surface coast: CONTROL_FINISHED_OK

state 2752 begin surface

ID	573	HD_C	9.8500004e-06	C_ROLL_DIVE	2013	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	30	HEADING	110	C_ROLL_CLIMB	1964	ALTIM_TOP_TURN_MARGIN	0
DIVE	216	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	31	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	40	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	130419,105218,-3040.1311,3040.0950,18,1.1,21,-25.5,1.5,202.1,8,9.1	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3044.263,3051.665
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.57	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-63.0	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	130419,110129,-3040.5693,3039.8579,20,1.1,21,-25.5,1.8,215.6,8,9.4	MHEAD_RNG_PITCHd_Wd	135.5,20000,-18.2,-9.950,-20.98,2247
SPEED_LIMITS	0.172,0.260	D_GRID	1000

FINISH	0.2,1.023491	SC_FREEKB	3811456
SM_CCo	2774,119.30,0.722,0,0,598,542.59	_24V_AH	13.13,139.582
SM_GC	0.51,12.50,0.00,119.30,0.051,0.000,0.722,146,1961,598,-7.26,-1.44,542.59,0,0,0,0,0,0,14.81,15.05,14.08	_10V_AH	13.54,0.000
IRIDIUM_FIX	-3027.46,3040.64,130419,093818	FG_AHR_24Vo	0.000
TT8_MAMPS	0.019474,0.900298	FG_AHR_10Vo	0.000
HUMID	55.82	MEM	339556
INTERNAL_PRESSURE	9.26758	DATA_FILE_SIZE	16778,500
TCM_TEMP	24.20	CAP_FILE_SIZE	102015,0
XPDR_PINGS	0	CFSIZE	1023623168,992182272
ALTIM_TOP_PING	20.0,19.0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	100.2,52.2	GPS	130419,115126,-3041.740,3039.599,25,1.1,41,-25.5,2.1,220.3,8,4.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	309	114.74	nil	0	0	0.00
Roll_motor	80	79	84.09	nil	0	0	0.00
VBD_pump_during_apogee	366	1018	4899.13	nil	0	0	0.00
VBD_pump_during_surface	119	722	1131.20	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	32	11.36	nil	0	0	0.00
Iridium_during_connect	16	160	35.49	SciCon	2821	35	1320.10
Iridium_during_xfer	278	223	814.27	nil	0	0	0.00
Transponder_ping	1	420	6.89	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	23	6.90
TT8	1035	8	120.15
LPSleep	437	2	12.96
TT8_Active	618	8	71.79
TT8_Sampling	1210	28	459.83
TT8_CF8	149	41	84.32
TT8_Kalman	0	0	0.00
Analog_circuits	1122	12	188.48
GPS_charging	0	0	0.00
Compass	759	17	177.23
RAFOS	0	0	0.00
Transponder	10	30	4.19

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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
21	-0.85	-146.0	73	2011	583	581	0.0	0.0	0	121	0.00	0.00	-97.82	0.000	16386	0.000	0.000	72	2011	3264	3278	3250	0	0	0	0	0	0	14.99	28.83	15.00
125	-0.85	-146.0	72	2011	3278	3251	3.8	-10.0	18	150	12.75	2.42	-2.47	0.000	18948	0.309	0.080	2206	605	3411	3441	3381	0	0	0	0	0	0	14.31	13.13	14.71
172	-0.85	-146.0	2206	605	3441	3381	20.0	-22.6	26	178	0.00	2.33	0.00	0.000	3078	0.000	0.044	2204	2011	3411	3442	3381	0	0	0	0	0	0	14.87	14.76	14.88
242	-0.85	-146.0	2199	2011	3443	3381	31.8	-18.2	39	247	0.00	0.00	0.00	0.000	2054	0.000	0.000	2204	2011	3411	3442	3381	0	0	0	0	0	0	15.03	15.03	15.03
310	-0.85	-146.0	2203	2011	3443	3381	42.7	-13.5	52	316	0.00	2.42	0.00	0.000	2564	0.000	0.063	2204	597	3412	3443	3381	0	0	0	0	0	0	15.05	14.62	15.05
343	-0.85	-146.0	2203	597	3444	3381	47.4	-12.6	58	350	0.00	2.35	0.00	0.000	3078	0.000	0.044	2204	2021	3412	3443	3381	0	0	0	0	0	0	14.90	14.80	14.92
413	-0.85	-146.0	2203	2022	3444	3381	57.8	-14.6	71	420	0.00	2.40	0.00	0.000	2564	0.000	0.065	2204	601	3413	3445	3381	0	0	0	0	0	0	15.08	14.76	15.08
432	-0.85	-146.0	2203	602	3445	3381	60.6	-14.2	74	439	0.00	2.33	0.00	0.000	3078	0.000	0.044	2204	2012	3413	3446	3381	0	0	0	0	0	0	14.92	14.83	14.94
501	-0.85	-146.0	2203	2012	3445	3381	68.3	-11.5	87	508	0.00	2.40	0.00	0.000	2308	0.000	0.071	2204	3409	3416	3452	3381	0	0	0	0	0	0	15.09	14.75	15.09
520	-0.85	-146.0	2203	3408	3446	3381	70.4	-10.9	90	527	0.00	2.33	0.00	0.000	3078	0.000	0.038	2204	2006	3413	3446	3381	0	0	0	0	0	0	14.86	14.76	14.88
590	-0.85	-146.0	2203	2006	3446	3381	77.9	-10.9	103	597	0.00	2.38	0.00	0.000	2564	0.000	0.066	2204	610	3413	3446	3381	0	0	0	0	0	0	15.09	14.70	15.09
611	-0.85	-146.0	2203	610	3446	3381	80.1	-11.3	106	618	0.00	2.33	0.00	0.000	3078	0.000	0.044	2203	2026	3413	3446	3381	0	0	0	0	0	0	14.93	14.82	14.95
681	-0.85	-146.0	2203	2025	3447	3381	86.8	-9.6	119	687	0.00	2.38	0.00	0.000	2308	0.000	0.070	2203	3406	3413	3446	3381	0	0	0	0	0	0	15.09	14.70	15.10
700	-0.85	-146.0	2202	3406	3447	3381	88.7	-9.5	122	706	0.00	2.30	0.00	0.000	3078	0.000	0.037	2203	2007	3413	3447	3380	0	0	0	0	0	0	14.81	14.71	14.81
770	-0.85	-146.0	2202	2007	3447	3381	94.9	-9.4	135	776	0.00	2.38	0.00	0.000	2564	0.000	0.065	2203	606	3413	3447	3380	0	0	0	0	0	0	15.10	14.66	15.10
826	-0.85	-146.0	2202	606	3447	3380	101.0	-10.4	145	833	0.00	2.33	0.00	0.000	3078	0.000	0.044	2203	2021	3413	3447	3380	0	0	0	0	0	0	14.93	14.83	14.96
896	-0.85	-146.0	2202	2021	3447	3381	108.8	-11.0	158	903	0.00	2.40	0.00	0.000	2308	0.000	0.071	2202	3416	3413	3447	3380	0	0	0	0	0	0	15.10	14.77	15.10
945	-0.85	-146.0	2202	3414	3447	3384	113.8	-9.8	167	952	0.00	2.33	0.00	0.000	3078	0.000	0.037	2202	2004	3413	3446	3381	0	0	0	0	0	0	14.89	14.78	14.90
1015	-0.85	-146.0	2202	2004	3448	3381	120.5	-10.3	180	1021	0.00	0.00	0.00	0.000	2054	0.000	0.000	2202	2004	3413	3447	3380	0	0	0	0	0	0	15.10	15.11	15.11
1083	-0.85	-146.0	2202	2004	3448	3380	128.2	-11.2	193	1090	0.00	2.42	0.00	0.000	2308	0.000	0.069	2201	3408	3414	3448	3380	0	0	0	0	0	0	15.12	14.78	15.12
1159	-0.85	-146.0	2200	3408	3447	3380	135.9	-9.4	207	1165	0.00	2.30	0.00	0.000	3078	0.000	0.037	2201	2007	3413	3447	3380	0	0	0	0	0	0	14.95	14.85	14.96
1176	end dive: BOTTOM_OBSTACLE_DETECTED
state	1176	begin apogee
1180	-0.19	0.0	2201	2006	3448	3380	137.9	-9.8	210	1297	1.12	0.00	111.30	1.019	10246	0.166	0.000	2422	2005	2811	2850	2772	0	0	0	0	0	0	14.44	14.52	13.92
1299	end apogee: CONTROL_FINISHED_OK
state	1299	begin climb
1301	0.85	146.0	2422	2005	2850	2772	141.2	0.0	231	1424	1.52	2.50	111.97	1.013	10756	0.094	0.070	2749	558	2213	2257	2170	0	0	0	0	0	0	14.49	14.38	13.86
1442	0.90	186.5	2748	559	2253	2170	134.1	8.1	255	1482	0.00	2.35	32.78	0.980	11270	0.000	0.041	2749	1971	2050	2098	2002	0	0	0	0	0	0	14.55	14.46	13.85
1544	0.90	186.5	2749	1971	2093	2001	123.8	12.4	274	1550	0.00	2.42	0.00	0.000	2308	0.000	0.064	2749	3366	2046	2093	2000	0	0	0	0	0	0	14.85	14.59	14.85
1583	0.90	186.5	2749	3366	2092	2000	119.2	11.5	281	1589	0.00	2.35	0.00	0.000	3078	0.000	0.044	2749	1965	2046	2092	2000	0	0	0	0	0	0	14.72	14.62	14.73
1653	0.90	186.5	2749	1965	2090	1999	111.8	11.1	294	1659	0.00	2.42	0.00	0.000	2564	0.000	0.074	2749	564	2044	2090	1999	0	0	0	0	0	0	14.95	14.62	14.96
1701	0.90	186.5	2749	564	2089	1999	106.3	10.8	303	1708	0.00	2.30	0.00	0.000	3078	0.000	0.041	2749	1968	2044	2089	1999	0	0	0	0	0	0	14.72	14.63	14.73
1772	0.90	186.5	2748	1968	2089	1998	99.6	10.1	316	1778	0.00	2.40	0.00	0.000	2308	0.000	0.064	2749	3364	2043	2088	1998	0	0	0	0	0	0	15.02	14.62	15.02
1815	0.93	212.0	2749	3363	2088	1998	95.5	8.8	324	1845	0.10	2.33	20.92	0.955	11270	0.145	0.044	2801	1963	1945	1991	1899	0	0	0	0	0	0	14.77	14.77	14.01
1907	0.94	214.3	2804	1963	1988	1897	86.5	9.8	341	1914	0.00	2.42	0.00	0.000	4612	0.000	0.074	2811	563	1942	1987	1897	0	0	0	0	0	0	14.98	14.61	14.99
2071	0.94	214.3	2811	563	1984	1897	68.9	10.5	373	2078	0.10	2.30	0.00	0.000	5126	0.243	0.041	2791	1971	1941	1985	1897	0	0	0	0	0	0	14.53	14.81	14.71
2142	0.97	237.1	2791	1971	1985	1895	62.5	8.9	386	2171	0.00	2.38	20.77	0.937	10500	0.000	0.065	2791	3356	1843	1890	1796	0	0	0	0	0	0	15.07	14.73	14.12
2243	1.01	272.4	2791	3356	1888	1794	53.5	8.3	405	2279	0.00	2.35	29.42	0.940	11270	0.000	0.044	2791	1959	1701	1754	1648	0	0	0	0	0	0	14.87	14.76	14.05
2341	1.01	272.4	2791	1960	1749	1644	44.3	10.3	423	2348	0.00	2.42	0.00	0.000	2564	0.000	0.075	2791	560	1696	1749	1644	0	0	0	0	0	0	14.95	14.57	14.95
2470	1.07	320.1	2791	559	1745	1643	32.7	7.8	448	2517	0.10	2.30	39.00	0.924	11270	0.142	0.041	2845	1967	1505	1559	1452	0	0	0	0	0	0	14.78	14.78	14.05
2580	1.07	320.1	2845	1966	1555	1449	20.9	12.0	468	2587	0.00	2.45	0.00	0.000	4612	0.000	0.072	2852	555	1501	1554	1449	0	0	0	0	0	0	14.95	14.66	14.95
2624	1.07	320.1	2851	555	1553	1449	15.1	12.3	476	2632	0.08	2.30	0.00	0.000	5126	0.265	0.041	2836	1959	1501	1553	1449	0	0	0	0	0	0	14.57	14.74	14.76
2694	1.07	320.1	2835	1960	1552	1448	6.4	12.4	489	2700	0.00	0.00	0.00	0.000	4102	0.000	0.000	2836	1961	1500	1552	1448	0	0	0	0	0	0	15.01	15.02	15.01
2726	end climb: SURFACE_DEPTH_REACHED
state	2726	begin surface coast
2752	end surface coast: CONTROL_FINISHED_OK
state	2752	begin surface