Glider dive log

SOSCEx Mar19 * SG573 * Dive index * Mission links * Dive 244 * 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 180 C_ROLL_CLIMB 1964 ALTIM_TOP_TURN_MARGIN 0

DIVE 244 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 33 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 54 ALTIM_PULSE 3

D_TGT 1000 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 4

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 200 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 4 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 180 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 200 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MINV_10V 10 R_PORT_OVSHOOT 33 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 54 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 244 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 170419,070946,-3120.2300,3005.7378,19,0.9,20,-26.0,1.0,193.3,9,10.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3131.291,3005.556

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.62 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -62.0 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 170419,072005,-3120.4919,3005.5559,16,1.0,18,-26.0,0.7,175.4,8,8.6 MHEAD_RNG_PITCHd_Wd 206.0,20000,-15.6,-9.950,-18.64,2991

SPEED_LIMITS 0.172,0.295 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.1,1.023813 SC_FREEKB 3794720

SM_CCo 2985,59.78,0.714,0,0,599,542.59 _24V_AH 13.07,150.470

SM_GC 0.59,12.40,0.00,59.78,0.043,0.000,0.714,140,1965,599,-7.27,-1.36,542.59,0,0,0,0,0,0,14.78,15.03,14.07 _10V_AH 13.42,0.000

IRIDIUM_FIX -3107.63,3007.22,170419,053545 FG_AHR_24Vo 0.000

TT8_MAMPS 0.019474,0.8988 FG_AHR_10Vo 0.000

HUMID 54.44 MEM 339556

INTERNAL_PRESSURE 9.26758 DATA_FILE_SIZE 16796,541

TCM_TEMP 24.50 CAP_FILE_SIZE 105593,0

XPDR_PINGS 0 CFSIZE 1023623168,986923008

ALTIM_TOP_PING 19.9,19.9 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

ALTIM_BOTTOM_PING 100.3,57.1 GPS 170419,081231,-3121.401,3005.028,15,0.8,36,-26.1,1.3,196.4,10,6.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 330 121.59 nil 0 0 0.00

Roll_motor 56 156 116.21 nil 0 0 0.00

VBD_pump_during_apogee 488 1024 6543.41 nil 0 0 0.00

VBD_pump_during_surface 59 713 557.62 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 32 10.23 nil 0 0 0.00

Iridium_during_connect 17 160 36.64 SciCon 3041 35 1398.90

Iridium_during_xfer 333 223 971.19 nil 0 0 0.00

Transponder_ping 1 420 6.86 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 23 6.20

TT8 1078 8 124.04

LPSleep 456 2 13.41

TT8_Active 637 8 73.30

TT8_Sampling 1324 28 498.48

TT8_CF8 172 41 96.25

TT8_Kalman 0 0 0.00

Analog_circuits 1182 12 196.77

GPS_charging 0 0 0.00

Compass 822 17 190.09

RAFOS 0 0 0.00

Transponder 10 30 4.16

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 -0.82 -194.6 73 2027 592 576 0.0 0.0 0 116 0.00 0.00 -92.57 0.000 16386 0.000 0.000 72 2027 3110 3110 3111 0 0 0 0 0 0 14.97 28.83 14.98

120 -0.82 -194.6 72 2026 3111 3112 3.1 -6.5 17 150 12.98 2.40 -8.32 0.000 18692 0.319 0.096 2215 3394 3609 3677 3541 0 0 0 0 0 0 14.34 13.07 14.70

332 -0.82 -194.6 2215 3394 3679 3541 45.4 -14.7 58 339 0.00 2.30 0.00 0.000 3078 0.000 0.037 2215 2007 3610 3679 3541 0 0 0 0 0 0 14.88 14.79 14.90

402 -0.82 -194.6 2215 2007 3679 3541 55.1 -14.7 71 409 0.00 2.45 0.00 0.000 2308 0.000 0.072 2210 3394 3610 3680 3541 0 0 0 0 0 0 15.04 14.70 15.04

436 -0.82 -194.6 2212 3394 3679 3541 60.0 -13.2 77 444 0.05 2.30 0.00 0.000 3078 0.330 0.037 2221 2008 3610 3679 3541 0 0 0 0 0 0 14.57 14.80 14.78

507 -0.82 -194.6 2221 2007 3680 3541 68.5 -12.3 90 513 0.00 0.00 0.00 0.000 2054 0.000 0.000 2222 2007 3610 3680 3541 0 0 0 0 0 0 15.07 15.07 15.07

575 -0.82 -194.6 2221 2007 3675 3540 77.1 -12.3 103 581 0.00 0.00 0.00 0.000 2054 0.000 0.000 2221 2007 3611 3681 3541 0 0 0 0 0 0 15.07 15.07 15.07

646 -0.82 -194.6 2221 2007 3681 3541 85.0 -9.7 116 652 0.00 0.00 0.00 0.000 2054 0.000 0.000 2221 2007 3610 3681 3540 0 0 0 0 0 0 15.07 15.08 15.07

716 -0.82 -194.6 2221 2007 3681 3541 92.1 -10.2 129 722 0.00 2.45 0.00 0.000 2308 0.000 0.072 2221 3400 3611 3682 3541 0 0 0 0 0 0 15.08 14.67 15.09

765 -0.82 -194.6 2220 3401 3682 3541 97.2 -9.9 138 771 0.00 2.30 0.00 0.000 3078 0.000 0.037 2221 2005 3611 3682 3541 0 0 0 0 0 0 14.78 14.69 14.78

837 -0.82 -194.6 2220 2006 3682 3541 104.5 -10.3 151 842 0.00 0.00 0.00 0.000 2054 0.000 0.000 2221 2005 3611 3682 3541 0 0 0 0 0 0 15.09 15.09 15.09

905 -0.82 -194.6 2220 2005 3682 3541 111.5 -9.9 164 911 0.00 0.00 0.00 0.000 2054 0.000 0.000 2221 2005 3611 3682 3541 0 0 0 0 0 0 15.08 15.09 15.09

973 -0.82 -194.6 2220 2009 3682 3541 119.2 -11.0 177 979 0.00 0.00 0.00 0.000 2054 0.000 0.000 2221 2005 3612 3683 3541 0 0 0 0 0 0 15.10 15.10 15.10

1041 -0.82 -194.6 2220 2005 3683 3541 126.2 -10.6 190 1047 0.00 0.00 0.00 0.000 2054 0.000 0.000 2221 2005 3611 3682 3541 0 0 0 0 0 0 15.10 15.10 15.10

1109 -0.82 -194.6 2220 2005 3683 3541 133.2 -10.5 203 1116 0.00 2.45 0.00 0.000 2308 0.000 0.073 2221 3397 3611 3682 3541 0 0 0 0 0 0 15.11 14.57 15.10

1143 -0.82 -194.6 2220 3397 3682 3541 136.8 -9.9 209 1150 0.00 2.28 0.00 0.000 3078 0.000 0.038 2221 2018 3612 3683 3541 0 0 0 0 0 0 14.93 14.83 14.95

1196 end dive: BOTTOM_OBSTACLE_DETECTED

state 1196 begin apogee

1202 -0.19 0.0 2221 1930 3682 3541 142.6 -10.1 219 1356 1.02 0.00 147.27 1.024 10246 0.157 0.000 2424 1929 2811 2860 2762 0 0 0 0 0 0 14.50 14.38 13.77

1358 end apogee: CONTROL_FINISHED_OK

state 1358 begin climb

1360 0.82 194.6 2424 1929 2859 2762 148.6 0.0 247 1522 1.48 2.40 148.80 1.017 10756 0.096 0.073 2736 586 2015 2060 1970 0 0 0 0 0 0 14.44 14.35 13.78

1559 0.85 220.2 2735 586 2057 1970 137.7 9.1 282 1589 0.00 2.28 21.05 0.966 11270 0.000 0.041 2736 1957 1911 1958 1865 0 0 0 0 0 0 14.66 14.57 13.78

1651 0.87 238.8 2735 1957 1955 1863 129.0 9.3 299 1676 0.08 2.45 16.08 0.940 10500 0.181 0.065 2786 3360 1835 1882 1789 0 0 0 0 0 0 14.62 14.33 13.83

1708 0.87 238.8 2786 3361 1878 1789 122.3 12.8 309 1716 0.08 2.30 0.00 0.000 5126 0.288 0.044 2772 1989 1833 1878 1788 0 0 0 0 0 0 14.47 14.64 14.67

1778 0.87 238.8 2772 1989 1878 1788 114.7 10.1 322 1785 0.00 2.45 0.00 0.000 516 0.000 0.077 2773 566 1832 1877 1788 0 0 0 0 0 0 14.93 14.63 14.94

1827 0.89 252.1 2771 565 1877 1788 110.0 9.5 331 1846 0.00 2.30 11.80 0.914 9222 0.000 0.042 2773 1961 1783 1830 1736 0 0 0 0 0 0 14.81 14.69 13.95

1908 0.89 252.1 2773 1961 1826 1734 101.7 12.0 346 1914 0.00 0.00 0.00 0.000 6 0.000 0.000 2773 1961 1780 1827 1734 0 0 0 0 0 0 14.97 14.97 14.97

1976 0.92 275.1 2773 1961 1826 1733 95.1 9.2 359 2005 0.00 2.45 19.77 0.945 10500 0.000 0.067 2773 3364 1688 1739 1638 0 0 0 0 0 0 15.00 14.58 13.97

2043 0.92 275.1 2773 3364 1737 1638 87.6 12.1 371 2050 0.00 2.35 0.00 0.000 3078 0.000 0.044 2772 1962 1687 1737 1637 0 0 0 0 0 0 14.82 14.71 14.83

2114 0.92 275.1 2776 1962 1736 1637 79.8 11.5 384 2120 0.00 2.42 0.00 0.000 2564 0.000 0.079 2776 564 1686 1736 1637 0 0 0 0 0 0 14.97 14.67 14.98

2153 0.95 300.8 2776 563 1735 1637 75.9 9.1 391 2182 0.00 2.30 21.90 0.941 11270 0.000 0.041 2776 1967 1584 1637 1531 0 0 0 0 0 0 14.87 14.77 13.95

2244 0.99 330.2 2776 1966 1634 1528 68.2 8.9 408 2273 0.00 0.00 25.12 0.937 10246 0.000 0.000 2776 1966 1464 1520 1409 0 0 0 0 0 0 14.97 14.61 13.95

2335 1.01 354.0 2776 1966 1516 1409 60.1 9.1 425 2359 0.08 0.00 20.52 0.917 10246 0.185 0.000 2825 1967 1367 1424 1310 0 0 0 0 0 0 14.68 14.59 13.93

2421 1.01 354.0 2825 1967 1422 1309 50.5 11.5 441 2428 0.00 2.47 0.00 0.000 4612 0.000 0.076 2826 563 1365 1421 1309 0 0 0 0 0 0 14.92 14.58 14.92

2450 1.01 354.0 2825 562 1421 1309 47.5 10.3 446 2457 0.00 2.33 0.00 0.000 5126 0.000 0.041 2826 1969 1365 1421 1309 0 0 0 0 0 0 14.71 14.62 14.72

2520 1.01 354.0 2825 1968 1419 1309 40.7 10.3 459 2527 0.00 2.42 0.00 0.000 4356 0.000 0.069 2826 3357 1364 1419 1309 0 0 0 0 0 0 14.99 14.55 15.00

2570 1.01 354.0 2826 3357 1418 1308 35.5 10.4 468 2576 0.00 2.33 0.00 0.000 5126 0.000 0.044 2826 1963 1362 1417 1308 0 0 0 0 0 0 14.87 14.76 14.89

2640 1.06 387.8 2826 1963 1417 1308 29.2 8.8 481 2675 0.00 2.42 27.77 0.891 8708 0.000 0.076 2826 564 1230 1289 1171 0 0 0 0 0 0 15.02 14.42 13.94

2712 1.06 390.4 2826 563 1289 1172 22.1 9.9 494 2719 0.00 2.30 1.45 0.208 9222 0.000 0.040 2826 1963 1220 1280 1160 0 0 0 0 0 0 14.76 14.68 14.50

2783 1.11 431.7 2825 1963 1280 1159 15.8 8.5 507 2811 0.00 0.00 24.88 0.812 10502 0.000 0.000 2826 1963 1049 1107 992 0 0 0 0 0 0 15.00 14.57 14.00

2875 1.12 436.8 2826 1963 1107 989 7.9 9.8 524 2881 0.00 0.00 2.33 0.333 10246 0.000 0.000 2826 1963 1030 1089 971 0 0 0 0 0 0 14.97 14.63 13.94

2927 end climb: SURFACE_DEPTH_REACHED

state 2927 begin surface coast

2963 end surface coast: CONTROL_FINISHED_OK

state 2964 begin surface

ID	573	HD_C	9.8500004e-06	C_ROLL_DIVE	2013	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	30	HEADING	180	C_ROLL_CLIMB	1964	ALTIM_TOP_TURN_MARGIN	0
DIVE	244	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	33	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	54	ALTIM_PULSE	3
D_TGT	1000	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	4
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	200	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	170419,070946,-3120.2300,3005.7378,19,0.9,20,-26.0,1.0,193.3,9,10.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3131.291,3005.556
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.62	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-62.0	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	170419,072005,-3120.4919,3005.5559,16,1.0,18,-26.0,0.7,175.4,8,8.6	MHEAD_RNG_PITCHd_Wd	206.0,20000,-15.6,-9.950,-18.64,2991
SPEED_LIMITS	0.172,0.295	D_GRID	1000

FINISH	0.1,1.023813	SC_FREEKB	3794720
SM_CCo	2985,59.78,0.714,0,0,599,542.59	_24V_AH	13.07,150.470
SM_GC	0.59,12.40,0.00,59.78,0.043,0.000,0.714,140,1965,599,-7.27,-1.36,542.59,0,0,0,0,0,0,14.78,15.03,14.07	_10V_AH	13.42,0.000
IRIDIUM_FIX	-3107.63,3007.22,170419,053545	FG_AHR_24Vo	0.000
TT8_MAMPS	0.019474,0.8988	FG_AHR_10Vo	0.000
HUMID	54.44	MEM	339556
INTERNAL_PRESSURE	9.26758	DATA_FILE_SIZE	16796,541
TCM_TEMP	24.50	CAP_FILE_SIZE	105593,0
XPDR_PINGS	0	CFSIZE	1023623168,986923008
ALTIM_TOP_PING	19.9,19.9	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	100.3,57.1	GPS	170419,081231,-3121.401,3005.028,15,0.8,36,-26.1,1.3,196.4,10,6.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	330	121.59	nil	0	0	0.00
Roll_motor	56	156	116.21	nil	0	0	0.00
VBD_pump_during_apogee	488	1024	6543.41	nil	0	0	0.00
VBD_pump_during_surface	59	713	557.62	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	32	10.23	nil	0	0	0.00
Iridium_during_connect	17	160	36.64	SciCon	3041	35	1398.90
Iridium_during_xfer	333	223	971.19	nil	0	0	0.00
Transponder_ping	1	420	6.86	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	23	6.20
TT8	1078	8	124.04
LPSleep	456	2	13.41
TT8_Active	637	8	73.30
TT8_Sampling	1324	28	498.48
TT8_CF8	172	41	96.25
TT8_Kalman	0	0	0.00
Analog_circuits	1182	12	196.77
GPS_charging	0	0	0.00
Compass	822	17	190.09
RAFOS	0	0	0.00
Transponder	10	30	4.16

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	-0.82	-194.6	73	2027	592	576	0.0	0.0	0	116	0.00	0.00	-92.57	0.000	16386	0.000	0.000	72	2027	3110	3110	3111	0	0	0	0	0	0	14.97	28.83	14.98
120	-0.82	-194.6	72	2026	3111	3112	3.1	-6.5	17	150	12.98	2.40	-8.32	0.000	18692	0.319	0.096	2215	3394	3609	3677	3541	0	0	0	0	0	0	14.34	13.07	14.70
332	-0.82	-194.6	2215	3394	3679	3541	45.4	-14.7	58	339	0.00	2.30	0.00	0.000	3078	0.000	0.037	2215	2007	3610	3679	3541	0	0	0	0	0	0	14.88	14.79	14.90
402	-0.82	-194.6	2215	2007	3679	3541	55.1	-14.7	71	409	0.00	2.45	0.00	0.000	2308	0.000	0.072	2210	3394	3610	3680	3541	0	0	0	0	0	0	15.04	14.70	15.04
436	-0.82	-194.6	2212	3394	3679	3541	60.0	-13.2	77	444	0.05	2.30	0.00	0.000	3078	0.330	0.037	2221	2008	3610	3679	3541	0	0	0	0	0	0	14.57	14.80	14.78
507	-0.82	-194.6	2221	2007	3680	3541	68.5	-12.3	90	513	0.00	0.00	0.00	0.000	2054	0.000	0.000	2222	2007	3610	3680	3541	0	0	0	0	0	0	15.07	15.07	15.07
575	-0.82	-194.6	2221	2007	3675	3540	77.1	-12.3	103	581	0.00	0.00	0.00	0.000	2054	0.000	0.000	2221	2007	3611	3681	3541	0	0	0	0	0	0	15.07	15.07	15.07
646	-0.82	-194.6	2221	2007	3681	3541	85.0	-9.7	116	652	0.00	0.00	0.00	0.000	2054	0.000	0.000	2221	2007	3610	3681	3540	0	0	0	0	0	0	15.07	15.08	15.07
716	-0.82	-194.6	2221	2007	3681	3541	92.1	-10.2	129	722	0.00	2.45	0.00	0.000	2308	0.000	0.072	2221	3400	3611	3682	3541	0	0	0	0	0	0	15.08	14.67	15.09
765	-0.82	-194.6	2220	3401	3682	3541	97.2	-9.9	138	771	0.00	2.30	0.00	0.000	3078	0.000	0.037	2221	2005	3611	3682	3541	0	0	0	0	0	0	14.78	14.69	14.78
837	-0.82	-194.6	2220	2006	3682	3541	104.5	-10.3	151	842	0.00	0.00	0.00	0.000	2054	0.000	0.000	2221	2005	3611	3682	3541	0	0	0	0	0	0	15.09	15.09	15.09
905	-0.82	-194.6	2220	2005	3682	3541	111.5	-9.9	164	911	0.00	0.00	0.00	0.000	2054	0.000	0.000	2221	2005	3611	3682	3541	0	0	0	0	0	0	15.08	15.09	15.09
973	-0.82	-194.6	2220	2009	3682	3541	119.2	-11.0	177	979	0.00	0.00	0.00	0.000	2054	0.000	0.000	2221	2005	3612	3683	3541	0	0	0	0	0	0	15.10	15.10	15.10
1041	-0.82	-194.6	2220	2005	3683	3541	126.2	-10.6	190	1047	0.00	0.00	0.00	0.000	2054	0.000	0.000	2221	2005	3611	3682	3541	0	0	0	0	0	0	15.10	15.10	15.10
1109	-0.82	-194.6	2220	2005	3683	3541	133.2	-10.5	203	1116	0.00	2.45	0.00	0.000	2308	0.000	0.073	2221	3397	3611	3682	3541	0	0	0	0	0	0	15.11	14.57	15.10
1143	-0.82	-194.6	2220	3397	3682	3541	136.8	-9.9	209	1150	0.00	2.28	0.00	0.000	3078	0.000	0.038	2221	2018	3612	3683	3541	0	0	0	0	0	0	14.93	14.83	14.95
1196	end dive: BOTTOM_OBSTACLE_DETECTED
state	1196	begin apogee
1202	-0.19	0.0	2221	1930	3682	3541	142.6	-10.1	219	1356	1.02	0.00	147.27	1.024	10246	0.157	0.000	2424	1929	2811	2860	2762	0	0	0	0	0	0	14.50	14.38	13.77
1358	end apogee: CONTROL_FINISHED_OK
state	1358	begin climb
1360	0.82	194.6	2424	1929	2859	2762	148.6	0.0	247	1522	1.48	2.40	148.80	1.017	10756	0.096	0.073	2736	586	2015	2060	1970	0	0	0	0	0	0	14.44	14.35	13.78
1559	0.85	220.2	2735	586	2057	1970	137.7	9.1	282	1589	0.00	2.28	21.05	0.966	11270	0.000	0.041	2736	1957	1911	1958	1865	0	0	0	0	0	0	14.66	14.57	13.78
1651	0.87	238.8	2735	1957	1955	1863	129.0	9.3	299	1676	0.08	2.45	16.08	0.940	10500	0.181	0.065	2786	3360	1835	1882	1789	0	0	0	0	0	0	14.62	14.33	13.83
1708	0.87	238.8	2786	3361	1878	1789	122.3	12.8	309	1716	0.08	2.30	0.00	0.000	5126	0.288	0.044	2772	1989	1833	1878	1788	0	0	0	0	0	0	14.47	14.64	14.67
1778	0.87	238.8	2772	1989	1878	1788	114.7	10.1	322	1785	0.00	2.45	0.00	0.000	516	0.000	0.077	2773	566	1832	1877	1788	0	0	0	0	0	0	14.93	14.63	14.94
1827	0.89	252.1	2771	565	1877	1788	110.0	9.5	331	1846	0.00	2.30	11.80	0.914	9222	0.000	0.042	2773	1961	1783	1830	1736	0	0	0	0	0	0	14.81	14.69	13.95
1908	0.89	252.1	2773	1961	1826	1734	101.7	12.0	346	1914	0.00	0.00	0.00	0.000	6	0.000	0.000	2773	1961	1780	1827	1734	0	0	0	0	0	0	14.97	14.97	14.97
1976	0.92	275.1	2773	1961	1826	1733	95.1	9.2	359	2005	0.00	2.45	19.77	0.945	10500	0.000	0.067	2773	3364	1688	1739	1638	0	0	0	0	0	0	15.00	14.58	13.97
2043	0.92	275.1	2773	3364	1737	1638	87.6	12.1	371	2050	0.00	2.35	0.00	0.000	3078	0.000	0.044	2772	1962	1687	1737	1637	0	0	0	0	0	0	14.82	14.71	14.83
2114	0.92	275.1	2776	1962	1736	1637	79.8	11.5	384	2120	0.00	2.42	0.00	0.000	2564	0.000	0.079	2776	564	1686	1736	1637	0	0	0	0	0	0	14.97	14.67	14.98
2153	0.95	300.8	2776	563	1735	1637	75.9	9.1	391	2182	0.00	2.30	21.90	0.941	11270	0.000	0.041	2776	1967	1584	1637	1531	0	0	0	0	0	0	14.87	14.77	13.95
2244	0.99	330.2	2776	1966	1634	1528	68.2	8.9	408	2273	0.00	0.00	25.12	0.937	10246	0.000	0.000	2776	1966	1464	1520	1409	0	0	0	0	0	0	14.97	14.61	13.95
2335	1.01	354.0	2776	1966	1516	1409	60.1	9.1	425	2359	0.08	0.00	20.52	0.917	10246	0.185	0.000	2825	1967	1367	1424	1310	0	0	0	0	0	0	14.68	14.59	13.93
2421	1.01	354.0	2825	1967	1422	1309	50.5	11.5	441	2428	0.00	2.47	0.00	0.000	4612	0.000	0.076	2826	563	1365	1421	1309	0	0	0	0	0	0	14.92	14.58	14.92
2450	1.01	354.0	2825	562	1421	1309	47.5	10.3	446	2457	0.00	2.33	0.00	0.000	5126	0.000	0.041	2826	1969	1365	1421	1309	0	0	0	0	0	0	14.71	14.62	14.72
2520	1.01	354.0	2825	1968	1419	1309	40.7	10.3	459	2527	0.00	2.42	0.00	0.000	4356	0.000	0.069	2826	3357	1364	1419	1309	0	0	0	0	0	0	14.99	14.55	15.00
2570	1.01	354.0	2826	3357	1418	1308	35.5	10.4	468	2576	0.00	2.33	0.00	0.000	5126	0.000	0.044	2826	1963	1362	1417	1308	0	0	0	0	0	0	14.87	14.76	14.89
2640	1.06	387.8	2826	1963	1417	1308	29.2	8.8	481	2675	0.00	2.42	27.77	0.891	8708	0.000	0.076	2826	564	1230	1289	1171	0	0	0	0	0	0	15.02	14.42	13.94
2712	1.06	390.4	2826	563	1289	1172	22.1	9.9	494	2719	0.00	2.30	1.45	0.208	9222	0.000	0.040	2826	1963	1220	1280	1160	0	0	0	0	0	0	14.76	14.68	14.50
2783	1.11	431.7	2825	1963	1280	1159	15.8	8.5	507	2811	0.00	0.00	24.88	0.812	10502	0.000	0.000	2826	1963	1049	1107	992	0	0	0	0	0	0	15.00	14.57	14.00
2875	1.12	436.8	2826	1963	1107	989	7.9	9.8	524	2881	0.00	0.00	2.33	0.333	10246	0.000	0.000	2826	1963	1030	1089	971	0	0	0	0	0	0	14.97	14.63	13.94
2927	end climb: SURFACE_DEPTH_REACHED
state	2927	begin surface coast
2963	end surface coast: CONTROL_FINISHED_OK
state	2964	begin surface