Glider dive log

SOSCEx Mar19 * SG573 * Dive index * Mission links * Dive 293 * 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 260 C_ROLL_CLIMB 1964 ALTIM_TOP_TURN_MARGIN 0

DIVE 293 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 80

STOP_T 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 10

D_SURF 3 TGT_DEFAULT_LAT 4743.3999 R_PORT_OVSHOOT 37 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 44 ALTIM_PULSE 3

D_TGT 1000 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 3

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 3 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 260 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 37 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 44 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 293 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 210419,040238,-3234.1272,2847.9324,19,1.0,22,-27.0,1.1,210.8,10,8.8 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3236.314,2834.887

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.61 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -60.5 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 210419,041253,-3234.4392,2847.5117,17,1.0,18,-27.0,3.0,218.0,10,8.0 MHEAD_RNG_PITCHd_Wd 287.0,20000,-15.6,-9.950,-18.64,2991

SPEED_LIMITS 0.172,0.295 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.4,1.023692 SC_FREEKB 3768224

SM_CCo 2869,2.08,0.208,0,0,599,542.59 _24V_AH 12.87,164.948

SM_GC 0.69,12.73,2.42,2.08,0.054,0.044,0.208,136,1998,599,-7.27,-1.47,542.59,0,0,0,0,0,0,14.82,14.76,12.87 _10V_AH 13.43,0.000

IRIDIUM_FIX -3218.62,2848.87,210419,024107 FG_AHR_24Vo 0.000

TT8_MAMPS 0.019474,0.862099 FG_AHR_10Vo 0.000

HUMID 57.75 MEM 339556

INTERNAL_PRESSURE 9.20898 DATA_FILE_SIZE 16780,511

TCM_TEMP 23.60 CAP_FILE_SIZE 103066,0

XPDR_PINGS 0 CFSIZE 1023623168,979894272

ALTIM_TOP_PING 19.8,17.9 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

ALTIM_BOTTOM_PING 110.2,40.6 GPS 210419,050213,-3235.245,2846.212,22,0.8,25,-27.0,0.9,251.6,11,9.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 334 123.05 nil 0 0 0.00

Roll_motor 81 87 92.16 nil 0 0 0.00

VBD_pump_during_apogee 576 1008 7480.91 nil 0 0 0.00

VBD_pump_during_surface 2 208 5.56 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 32 10.67 nil 0 0 0.00

Iridium_during_connect 21 160 43.35 SciCon 2921 35 1338.28

Iridium_during_xfer 317 223 910.42 nil 0 0 0.00

Transponder_ping 1 420 8.11 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 23 6.09

TT8 981 8 113.01

LPSleep 401 2 11.80

TT8_Active 649 8 74.73

TT8_Sampling 1264 28 476.30

TT8_CF8 192 41 107.40

TT8_Kalman 0 0 0.00

Analog_circuits 1191 12 198.49

GPS_charging 0 0 0.00

Compass 775 17 179.43

RAFOS 0 0 0.00

Transponder 11 30 4.77

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 72 1969 602 577 0.0 0.0 0 117 0.00 0.00 -93.12 0.000 16386 0.000 0.000 72 1969 3131 3133 3129 0 0 0 0 0 0 14.99 28.83 15.00

122 -0.82 -194.6 72 1970 3134 3129 3.0 -6.9 17 151 12.85 2.33 -8.23 0.000 18948 0.311 0.088 2217 608 3609 3677 3541 0 0 0 0 0 0 14.33 12.94 14.70

168 -0.82 -194.6 2217 607 3678 3541 19.0 -27.1 25 175 0.00 2.33 0.00 0.000 3078 0.000 0.047 2216 2008 3609 3678 3541 0 0 0 0 0 0 14.86 14.75 14.88

239 -0.82 -194.6 2215 2008 3678 3544 32.8 -19.0 38 245 0.00 2.42 0.00 0.000 2308 0.000 0.075 2211 3409 3609 3678 3541 0 0 0 0 0 0 15.03 14.57 15.04

302 -0.82 -194.6 2210 3409 3679 3541 44.5 -17.4 50 310 0.05 2.35 0.00 0.000 3078 0.332 0.042 2221 2005 3610 3679 3541 0 0 0 0 0 0 14.56 14.78 14.78

373 -0.82 -194.6 2221 2005 3679 3541 56.0 -12.8 63 380 0.00 2.47 0.00 0.000 2308 0.000 0.073 2217 3411 3610 3679 3541 0 0 0 0 0 0 15.05 14.71 15.06

579 -0.82 -194.6 2217 3411 3679 3541 80.4 -11.8 103 586 0.00 2.33 0.00 0.000 3078 0.000 0.039 2217 2008 3610 3680 3541 0 0 0 0 0 0 14.79 14.69 14.80

650 -0.82 -194.6 2217 2008 3680 3541 89.1 -11.8 116 656 0.00 2.47 0.00 0.000 2308 0.000 0.074 2217 3410 3610 3680 3541 0 0 0 0 0 0 15.09 14.62 15.08

699 -0.82 -194.6 2217 3410 3680 3541 94.7 -10.5 125 705 0.00 2.33 0.00 0.000 3078 0.000 0.039 2217 2005 3611 3681 3541 0 0 0 0 0 0 14.92 14.83 14.92

770 -0.82 -194.6 2216 2005 3681 3541 102.0 -9.4 138 776 0.00 2.47 0.00 0.000 2308 0.000 0.073 2217 3411 3611 3681 3541 0 0 0 0 0 0 15.09 14.66 15.10

799 -0.82 -194.6 2216 3410 3681 3541 104.7 -10.0 143 806 0.00 2.33 0.00 0.000 3078 0.000 0.038 2217 2011 3611 3681 3541 0 0 0 0 0 0 14.81 14.71 14.81

871 -0.82 -194.6 2216 2011 3682 3540 111.6 -9.0 156 876 0.00 0.00 0.00 0.000 2054 0.000 0.000 2217 2011 3611 3681 3541 0 0 0 0 0 0 15.09 15.10 15.09

939 -0.82 -194.6 2217 2011 3681 3541 119.4 -11.2 169 946 0.00 2.47 0.00 0.000 2308 0.000 0.073 2217 3415 3611 3681 3541 0 0 0 0 0 0 15.10 14.59 15.11

998 -0.82 -194.6 2216 3414 3681 3541 126.0 -11.3 180 1005 0.00 2.33 0.00 0.000 3078 0.000 0.038 2217 2009 3611 3682 3541 0 0 0 0 0 0 14.94 14.83 14.95

1069 -0.82 -194.6 2216 2008 3681 3541 133.9 -11.3 193 1075 0.00 2.47 0.00 0.000 2308 0.000 0.073 2216 3411 3611 3682 3541 0 0 0 0 0 0 15.10 14.64 15.10

1086 end dive: BOTTOM_OBSTACLE_DETECTED

state 1086 begin apogee

1094 -0.19 0.0 2217 1946 3682 3541 136.2 -11.1 196 1249 1.02 0.00 146.27 1.008 10246 0.153 0.000 2422 1945 2811 2861 2762 0 0 0 0 0 0 14.59 14.26 13.77

1251 end apogee: CONTROL_FINISHED_OK

state 1251 begin climb

1253 0.82 194.6 2422 1944 2860 2762 144.4 0.0 224 1410 1.50 2.42 147.38 1.007 10756 0.098 0.072 2737 569 2018 2064 1972 0 0 0 0 0 0 14.46 14.24 13.76

1478 0.91 269.7 2736 569 2058 1972 133.2 7.4 264 1548 0.12 2.30 59.90 0.987 11270 0.119 0.040 2794 1971 1711 1763 1659 0 0 0 0 0 0 14.54 14.54 13.81

1611 0.91 269.7 2794 1971 1759 1657 120.1 10.8 288 1617 0.00 2.42 0.00 0.000 4356 0.000 0.068 2794 3358 1707 1758 1656 0 0 0 0 0 0 14.88 14.59 14.88

1644 0.91 269.7 2794 3358 1757 1655 116.1 12.0 294 1652 0.05 2.35 0.00 0.000 5126 0.334 0.042 2787 1964 1706 1757 1655 0 0 0 0 0 0 14.45 14.62 14.65

1714 0.91 269.7 2786 1966 1757 1655 108.4 10.8 307 1720 0.00 0.00 0.00 0.000 4102 0.000 0.000 2787 1966 1705 1756 1655 0 0 0 0 0 0 14.97 14.97 14.97

1782 0.91 269.7 2787 1966 1755 1655 101.5 10.3 320 1789 0.00 2.42 0.00 0.000 4612 0.000 0.076 2787 567 1705 1755 1655 0 0 0 0 0 0 15.01 14.69 15.01

1802 0.92 280.7 2786 567 1754 1655 99.8 9.6 323 1820 0.00 2.28 9.48 0.879 9222 0.000 0.040 2787 1961 1667 1719 1616 0 0 0 0 0 0 14.87 14.79 13.92

1883 0.93 282.4 2786 1961 1717 1615 91.6 9.9 338 1889 0.00 2.40 0.00 0.000 260 0.000 0.067 2787 3366 1665 1717 1614 0 0 0 0 0 0 15.01 14.60 15.02

1927 0.93 282.4 2786 3366 1717 1614 87.2 10.6 346 1933 0.00 2.33 0.00 0.000 1030 0.000 0.043 2787 1965 1665 1716 1614 0 0 0 0 0 0 14.87 14.78 14.90

1997 0.94 294.2 2786 1966 1717 1614 80.2 9.5 359 2016 0.00 2.47 12.68 0.867 10500 0.000 0.066 2786 3362 1611 1665 1558 0 0 0 0 0 0 15.04 14.73 13.95

2043 0.94 294.2 2786 3362 1663 1557 75.2 11.8 367 2050 0.00 2.33 0.00 0.000 3078 0.000 0.042 2786 1965 1610 1663 1557 0 0 0 0 0 0 14.74 14.64 14.76

2114 0.97 317.1 2786 1964 1662 1557 69.1 9.2 380 2137 0.00 0.00 20.05 0.927 10246 0.000 0.000 2786 1964 1518 1574 1463 0 0 0 0 0 0 15.04 14.65 13.97

2200 1.01 350.7 2786 1969 1571 1462 61.4 8.8 396 2236 0.00 2.53 28.60 0.920 10500 0.000 0.066 2786 3365 1381 1440 1323 0 0 0 0 0 0 15.01 14.61 13.96

2269 1.05 383.5 2786 3365 1437 1323 55.6 8.8 408 2305 0.10 2.35 27.33 0.924 11270 0.144 0.041 2838 1964 1248 1308 1188 0 0 0 0 0 0 14.66 14.66 13.93

2369 1.08 409.5 2838 1964 1308 1188 46.2 9.1 426 2398 0.00 2.45 22.38 0.904 8452 0.000 0.067 2838 3357 1143 1204 1082 0 0 0 0 0 0 14.93 14.38 13.90

2432 1.12 441.0 2838 3357 1203 1082 40.7 8.9 437 2467 0.00 2.33 27.52 0.887 11270 0.000 0.041 2838 1963 1015 1073 957 0 0 0 0 0 0 14.78 14.68 13.90

2530 1.17 480.0 2838 1963 1072 951 32.3 8.6 455 2570 0.00 2.47 33.00 0.897 10500 0.000 0.065 2838 3366 856 905 808 0 0 0 0 0 0 14.92 14.38 13.91

2583 1.21 513.8 2840 3366 904 806 27.5 8.8 464 2618 0.10 2.35 27.50 0.875 11270 0.141 0.041 2896 1965 716 738 694 0 0 0 0 0 0 14.54 14.54 13.91

2682 1.21 513.8 2895 1965 738 682 17.8 11.6 482 2689 0.08 2.42 0.00 0.000 4612 0.243 0.074 2872 562 710 738 682 0 0 0 0 0 0 14.57 14.62 14.66

2702 1.24 536.6 2872 562 738 681 16.0 9.2 485 2726 0.00 2.33 14.43 0.774 11270 0.000 0.037 2872 1980 621 628 615 0 0 0 0 0 0 14.80 14.71 13.96

2789 1.24 536.6 2871 1980 627 605 6.8 10.8 501 2796 0.00 2.47 0.00 0.000 2564 0.000 0.075 2872 560 615 627 604 0 0 0 0 0 0 14.95 14.60 14.96

2826 end climb: SURFACE_DEPTH_REACHED

state 2826 begin surface coast

2844 end surface coast: CONTROL_FINISHED_OK

state 2844 begin surface

ID	573	HD_C	9.8500004e-06	C_ROLL_DIVE	2013	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	30	HEADING	260	C_ROLL_CLIMB	1964	ALTIM_TOP_TURN_MARGIN	0
DIVE	293	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	80
STOP_T	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	10
D_SURF	3	TGT_DEFAULT_LAT	4743.3999	R_PORT_OVSHOOT	37	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	44	ALTIM_PULSE	3
D_TGT	1000	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	3
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	210419,040238,-3234.1272,2847.9324,19,1.0,22,-27.0,1.1,210.8,10,8.8	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3236.314,2834.887
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.61	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-60.5	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	210419,041253,-3234.4392,2847.5117,17,1.0,18,-27.0,3.0,218.0,10,8.0	MHEAD_RNG_PITCHd_Wd	287.0,20000,-15.6,-9.950,-18.64,2991
SPEED_LIMITS	0.172,0.295	D_GRID	1000

FINISH	1.4,1.023692	SC_FREEKB	3768224
SM_CCo	2869,2.08,0.208,0,0,599,542.59	_24V_AH	12.87,164.948
SM_GC	0.69,12.73,2.42,2.08,0.054,0.044,0.208,136,1998,599,-7.27,-1.47,542.59,0,0,0,0,0,0,14.82,14.76,12.87	_10V_AH	13.43,0.000
IRIDIUM_FIX	-3218.62,2848.87,210419,024107	FG_AHR_24Vo	0.000
TT8_MAMPS	0.019474,0.862099	FG_AHR_10Vo	0.000
HUMID	57.75	MEM	339556
INTERNAL_PRESSURE	9.20898	DATA_FILE_SIZE	16780,511
TCM_TEMP	23.60	CAP_FILE_SIZE	103066,0
XPDR_PINGS	0	CFSIZE	1023623168,979894272
ALTIM_TOP_PING	19.8,17.9	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	110.2,40.6	GPS	210419,050213,-3235.245,2846.212,22,0.8,25,-27.0,0.9,251.6,11,9.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	334	123.05	nil	0	0	0.00
Roll_motor	81	87	92.16	nil	0	0	0.00
VBD_pump_during_apogee	576	1008	7480.91	nil	0	0	0.00
VBD_pump_during_surface	2	208	5.56	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	32	10.67	nil	0	0	0.00
Iridium_during_connect	21	160	43.35	SciCon	2921	35	1338.28
Iridium_during_xfer	317	223	910.42	nil	0	0	0.00
Transponder_ping	1	420	8.11	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	23	6.09
TT8	981	8	113.01
LPSleep	401	2	11.80
TT8_Active	649	8	74.73
TT8_Sampling	1264	28	476.30
TT8_CF8	192	41	107.40
TT8_Kalman	0	0	0.00
Analog_circuits	1191	12	198.49
GPS_charging	0	0	0.00
Compass	775	17	179.43
RAFOS	0	0	0.00
Transponder	11	30	4.77

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	72	1969	602	577	0.0	0.0	0	117	0.00	0.00	-93.12	0.000	16386	0.000	0.000	72	1969	3131	3133	3129	0	0	0	0	0	0	14.99	28.83	15.00
122	-0.82	-194.6	72	1970	3134	3129	3.0	-6.9	17	151	12.85	2.33	-8.23	0.000	18948	0.311	0.088	2217	608	3609	3677	3541	0	0	0	0	0	0	14.33	12.94	14.70
168	-0.82	-194.6	2217	607	3678	3541	19.0	-27.1	25	175	0.00	2.33	0.00	0.000	3078	0.000	0.047	2216	2008	3609	3678	3541	0	0	0	0	0	0	14.86	14.75	14.88
239	-0.82	-194.6	2215	2008	3678	3544	32.8	-19.0	38	245	0.00	2.42	0.00	0.000	2308	0.000	0.075	2211	3409	3609	3678	3541	0	0	0	0	0	0	15.03	14.57	15.04
302	-0.82	-194.6	2210	3409	3679	3541	44.5	-17.4	50	310	0.05	2.35	0.00	0.000	3078	0.332	0.042	2221	2005	3610	3679	3541	0	0	0	0	0	0	14.56	14.78	14.78
373	-0.82	-194.6	2221	2005	3679	3541	56.0	-12.8	63	380	0.00	2.47	0.00	0.000	2308	0.000	0.073	2217	3411	3610	3679	3541	0	0	0	0	0	0	15.05	14.71	15.06
579	-0.82	-194.6	2217	3411	3679	3541	80.4	-11.8	103	586	0.00	2.33	0.00	0.000	3078	0.000	0.039	2217	2008	3610	3680	3541	0	0	0	0	0	0	14.79	14.69	14.80
650	-0.82	-194.6	2217	2008	3680	3541	89.1	-11.8	116	656	0.00	2.47	0.00	0.000	2308	0.000	0.074	2217	3410	3610	3680	3541	0	0	0	0	0	0	15.09	14.62	15.08
699	-0.82	-194.6	2217	3410	3680	3541	94.7	-10.5	125	705	0.00	2.33	0.00	0.000	3078	0.000	0.039	2217	2005	3611	3681	3541	0	0	0	0	0	0	14.92	14.83	14.92
770	-0.82	-194.6	2216	2005	3681	3541	102.0	-9.4	138	776	0.00	2.47	0.00	0.000	2308	0.000	0.073	2217	3411	3611	3681	3541	0	0	0	0	0	0	15.09	14.66	15.10
799	-0.82	-194.6	2216	3410	3681	3541	104.7	-10.0	143	806	0.00	2.33	0.00	0.000	3078	0.000	0.038	2217	2011	3611	3681	3541	0	0	0	0	0	0	14.81	14.71	14.81
871	-0.82	-194.6	2216	2011	3682	3540	111.6	-9.0	156	876	0.00	0.00	0.00	0.000	2054	0.000	0.000	2217	2011	3611	3681	3541	0	0	0	0	0	0	15.09	15.10	15.09
939	-0.82	-194.6	2217	2011	3681	3541	119.4	-11.2	169	946	0.00	2.47	0.00	0.000	2308	0.000	0.073	2217	3415	3611	3681	3541	0	0	0	0	0	0	15.10	14.59	15.11
998	-0.82	-194.6	2216	3414	3681	3541	126.0	-11.3	180	1005	0.00	2.33	0.00	0.000	3078	0.000	0.038	2217	2009	3611	3682	3541	0	0	0	0	0	0	14.94	14.83	14.95
1069	-0.82	-194.6	2216	2008	3681	3541	133.9	-11.3	193	1075	0.00	2.47	0.00	0.000	2308	0.000	0.073	2216	3411	3611	3682	3541	0	0	0	0	0	0	15.10	14.64	15.10
1086	end dive: BOTTOM_OBSTACLE_DETECTED
state	1086	begin apogee
1094	-0.19	0.0	2217	1946	3682	3541	136.2	-11.1	196	1249	1.02	0.00	146.27	1.008	10246	0.153	0.000	2422	1945	2811	2861	2762	0	0	0	0	0	0	14.59	14.26	13.77
1251	end apogee: CONTROL_FINISHED_OK
state	1251	begin climb
1253	0.82	194.6	2422	1944	2860	2762	144.4	0.0	224	1410	1.50	2.42	147.38	1.007	10756	0.098	0.072	2737	569	2018	2064	1972	0	0	0	0	0	0	14.46	14.24	13.76
1478	0.91	269.7	2736	569	2058	1972	133.2	7.4	264	1548	0.12	2.30	59.90	0.987	11270	0.119	0.040	2794	1971	1711	1763	1659	0	0	0	0	0	0	14.54	14.54	13.81
1611	0.91	269.7	2794	1971	1759	1657	120.1	10.8	288	1617	0.00	2.42	0.00	0.000	4356	0.000	0.068	2794	3358	1707	1758	1656	0	0	0	0	0	0	14.88	14.59	14.88
1644	0.91	269.7	2794	3358	1757	1655	116.1	12.0	294	1652	0.05	2.35	0.00	0.000	5126	0.334	0.042	2787	1964	1706	1757	1655	0	0	0	0	0	0	14.45	14.62	14.65
1714	0.91	269.7	2786	1966	1757	1655	108.4	10.8	307	1720	0.00	0.00	0.00	0.000	4102	0.000	0.000	2787	1966	1705	1756	1655	0	0	0	0	0	0	14.97	14.97	14.97
1782	0.91	269.7	2787	1966	1755	1655	101.5	10.3	320	1789	0.00	2.42	0.00	0.000	4612	0.000	0.076	2787	567	1705	1755	1655	0	0	0	0	0	0	15.01	14.69	15.01
1802	0.92	280.7	2786	567	1754	1655	99.8	9.6	323	1820	0.00	2.28	9.48	0.879	9222	0.000	0.040	2787	1961	1667	1719	1616	0	0	0	0	0	0	14.87	14.79	13.92
1883	0.93	282.4	2786	1961	1717	1615	91.6	9.9	338	1889	0.00	2.40	0.00	0.000	260	0.000	0.067	2787	3366	1665	1717	1614	0	0	0	0	0	0	15.01	14.60	15.02
1927	0.93	282.4	2786	3366	1717	1614	87.2	10.6	346	1933	0.00	2.33	0.00	0.000	1030	0.000	0.043	2787	1965	1665	1716	1614	0	0	0	0	0	0	14.87	14.78	14.90
1997	0.94	294.2	2786	1966	1717	1614	80.2	9.5	359	2016	0.00	2.47	12.68	0.867	10500	0.000	0.066	2786	3362	1611	1665	1558	0	0	0	0	0	0	15.04	14.73	13.95
2043	0.94	294.2	2786	3362	1663	1557	75.2	11.8	367	2050	0.00	2.33	0.00	0.000	3078	0.000	0.042	2786	1965	1610	1663	1557	0	0	0	0	0	0	14.74	14.64	14.76
2114	0.97	317.1	2786	1964	1662	1557	69.1	9.2	380	2137	0.00	0.00	20.05	0.927	10246	0.000	0.000	2786	1964	1518	1574	1463	0	0	0	0	0	0	15.04	14.65	13.97
2200	1.01	350.7	2786	1969	1571	1462	61.4	8.8	396	2236	0.00	2.53	28.60	0.920	10500	0.000	0.066	2786	3365	1381	1440	1323	0	0	0	0	0	0	15.01	14.61	13.96
2269	1.05	383.5	2786	3365	1437	1323	55.6	8.8	408	2305	0.10	2.35	27.33	0.924	11270	0.144	0.041	2838	1964	1248	1308	1188	0	0	0	0	0	0	14.66	14.66	13.93
2369	1.08	409.5	2838	1964	1308	1188	46.2	9.1	426	2398	0.00	2.45	22.38	0.904	8452	0.000	0.067	2838	3357	1143	1204	1082	0	0	0	0	0	0	14.93	14.38	13.90
2432	1.12	441.0	2838	3357	1203	1082	40.7	8.9	437	2467	0.00	2.33	27.52	0.887	11270	0.000	0.041	2838	1963	1015	1073	957	0	0	0	0	0	0	14.78	14.68	13.90
2530	1.17	480.0	2838	1963	1072	951	32.3	8.6	455	2570	0.00	2.47	33.00	0.897	10500	0.000	0.065	2838	3366	856	905	808	0	0	0	0	0	0	14.92	14.38	13.91
2583	1.21	513.8	2840	3366	904	806	27.5	8.8	464	2618	0.10	2.35	27.50	0.875	11270	0.141	0.041	2896	1965	716	738	694	0	0	0	0	0	0	14.54	14.54	13.91
2682	1.21	513.8	2895	1965	738	682	17.8	11.6	482	2689	0.08	2.42	0.00	0.000	4612	0.243	0.074	2872	562	710	738	682	0	0	0	0	0	0	14.57	14.62	14.66
2702	1.24	536.6	2872	562	738	681	16.0	9.2	485	2726	0.00	2.33	14.43	0.774	11270	0.000	0.037	2872	1980	621	628	615	0	0	0	0	0	0	14.80	14.71	13.96
2789	1.24	536.6	2871	1980	627	605	6.8	10.8	501	2796	0.00	2.47	0.00	0.000	2564	0.000	0.075	2872	560	615	627	604	0	0	0	0	0	0	14.95	14.60	14.96
2826	end climb: SURFACE_DEPTH_REACHED
state	2826	begin surface coast
2844	end surface coast: CONTROL_FINISHED_OK
state	2844	begin surface