Glider dive log

SOSCEx Mar19 * SG573 * Dive index * Mission links * Dive 298 * 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 298 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 36 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 53 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 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 36 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 53 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 298 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 210419,081831,-3240.2688,2841.1292,19,0.8,40,-27.1,0.9,229.8,10,8.4 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3251.357,2840.867

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.71 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -63.2 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 210419,082721,-3240.5581,2840.8674,19,0.9,19,-27.1,2.0,224.5,9,8.3 MHEAD_RNG_PITCHd_Wd 207.1,20000,-15.6,-9.950,-18.64,2991

SPEED_LIMITS 0.172,0.295 D_GRID 1000

Post-dive calculations and measurements:

FINISH -0.1,1.023654 SC_FREEKB 3765664

SM_CCo 2817,0.00,0.000,0,0,587,545.78 _24V_AH 13.83,165.989

SM_GC 0.69,12.93,2.22,0.00,0.041,0.037,0.000,119,2017,587,-7.31,1.22,545.78,0,0,0,0,0,0,14.88,14.84,14.95 _10V_AH 13.07,0.000

IRIDIUM_FIX -3226.28,2839.90,210419,073017 FG_AHR_24Vo 0.000

TT8_MAMPS 0.019474,0.86135 FG_AHR_10Vo 0.000

HUMID 57.60 MEM 339556

INTERNAL_PRESSURE 9.27734 DATA_FILE_SIZE 16778,492

TCM_TEMP 24.00 CAP_FILE_SIZE 94938,0

XPDR_PINGS 0 CFSIZE 1023623168,979419136

ALTIM_TOP_PING 19.6,18.0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

ALTIM_BOTTOM_PING 90.1,55.3 GPS 210419,091541,-3241.774,2839.868,20,0.7,21,-27.1,1.8,215.9,12,7.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 312 122.59 nil 0 0 0.00

Roll_motor 65 139 127.30 nil 0 0 0.00

VBD_pump_during_apogee 570 990 7815.76 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 32 12.00 nil 0 0 0.00

Iridium_during_connect 48 160 108.26 SciCon 2779 35 1371.96

Iridium_during_xfer 246 223 761.68 nil 0 0 0.00

Transponder_ping 1 420 5.81 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 23 6.23

TT8 937 8 105.00

LPSleep 448 2 12.83

TT8_Active 626 8 70.16

TT8_Sampling 1168 28 428.41

TT8_CF8 176 41 95.55

TT8_Kalman 0 0 0.00

Analog_circuits 1149 12 186.29

GPS_charging 0 0 0.00

Compass 746 17 168.14

RAFOS 0 0 0.00

Transponder 8 30 3.44

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

22 -0.82 -194.6 72 2005 599 571 0.0 0.0 0 111 0.00 0.00 -86.95 0.000 16386 0.000 0.000 72 2004 2979 2992 2966 0 0 0 0 0 0 15.07 28.83 15.07

116 -0.82 -194.6 71 2004 2993 2966 3.0 -5.8 16 146 12.50 2.42 -10.75 0.000 19204 0.295 0.093 2208 3396 3607 3677 3538 0 0 0 0 0 0 14.43 13.88 14.64

184 -0.82 -194.6 2207 3396 3678 3536 22.4 -20.7 28 191 0.08 2.28 0.00 0.000 3078 0.284 0.039 2223 2008 3607 3677 3538 0 0 0 0 0 0 14.64 14.86 14.85

255 -0.82 -194.6 2222 2008 3678 3538 35.3 -18.7 41 261 0.00 0.00 0.00 0.000 2054 0.000 0.000 2223 2008 3608 3678 3538 0 0 0 0 0 0 15.10 15.11 15.11

323 -0.82 -194.6 2222 2008 3678 3538 47.9 -17.4 54 330 0.00 2.38 0.00 0.000 2564 0.000 0.068 2223 610 3608 3678 3538 0 0 0 0 0 0 15.12 14.82 15.13

412 -0.82 -194.6 2223 610 3677 3538 61.6 -12.6 71 419 0.00 2.28 0.00 0.000 3078 0.000 0.044 2223 2001 3608 3678 3538 0 0 0 0 0 0 15.00 14.89 15.01

482 -0.82 -194.6 2223 2001 3678 3538 70.5 -12.5 84 489 0.00 2.42 0.00 0.000 2308 0.000 0.074 2223 3410 3608 3679 3538 0 0 0 0 0 0 15.12 14.81 15.12

507 -0.82 -194.6 2222 3410 3678 3538 73.5 -11.4 88 513 0.00 2.30 0.00 0.000 3078 0.000 0.037 2223 2008 3608 3678 3538 0 0 0 0 0 0 15.00 14.94 15.01

577 -0.82 -194.6 2223 2008 3678 3538 81.1 -11.2 101 583 0.00 0.00 0.00 0.000 2054 0.000 0.000 2223 2008 3608 3678 3538 0 0 0 0 0 0 15.14 15.14 15.14

646 -0.82 -194.6 2222 2008 3678 3538 88.1 -9.7 114 652 0.00 2.45 0.00 0.000 2308 0.000 0.072 2223 3412 3608 3679 3538 0 0 0 0 0 0 15.16 14.77 15.14

727 -0.82 -194.6 2223 3412 3679 3538 96.9 -11.2 129 734 0.00 2.30 0.00 0.000 3078 0.000 0.037 2223 2007 3610 3679 3542 0 0 0 0 0 0 15.01 14.92 15.02

798 -0.82 -194.6 2223 2006 3679 3538 103.6 -10.2 142 804 0.00 2.35 0.00 0.000 2564 0.000 0.066 2223 611 3608 3679 3538 0 0 0 0 0 0 15.14 14.85 15.15

851 -0.82 -194.6 2222 611 3679 3538 109.8 -11.1 152 858 0.00 2.30 0.00 0.000 3078 0.000 0.044 2223 2018 3608 3679 3538 0 0 0 0 0 0 15.00 14.90 15.02

922 -0.82 -194.6 2222 2018 3679 3538 117.3 -11.2 165 927 0.00 0.00 0.00 0.000 2054 0.000 0.000 2223 2019 3608 3679 3538 0 0 0 0 0 0 15.15 15.15 15.15

990 -0.82 -194.6 2222 2018 3679 3538 125.2 -11.2 178 996 0.00 0.00 0.00 0.000 2054 0.000 0.000 2223 2018 3609 3679 3539 0 0 0 0 0 0 15.16 15.16 15.16

1037 end dive: BOTTOM_OBSTACLE_DETECTED

state 1037 begin apogee

1043 -0.19 0.0 2223 1940 3679 3538 130.9 -11.2 187 1192 0.98 0.00 143.65 0.991 10246 0.148 0.000 2422 1939 2811 2861 2761 0 0 0 0 0 0 14.65 14.52 13.86

1194 end apogee: CONTROL_FINISHED_OK

state 1194 begin climb

1196 0.82 194.6 2422 1939 2860 2762 137.9 0.0 214 1353 1.50 2.35 146.05 0.988 10756 0.099 0.068 2739 581 2018 2064 1972 0 0 0 0 0 0 14.52 14.30 13.83

1396 0.91 270.8 2739 580 2059 1972 128.1 7.3 249 1465 0.10 2.28 59.97 0.968 11270 0.145 0.040 2795 1967 1706 1758 1655 0 0 0 0 0 0 14.67 14.69 13.85

1528 0.91 270.8 2794 1969 1752 1652 114.4 10.9 273 1534 0.00 0.00 0.00 0.000 4102 0.000 0.000 2795 1968 1701 1752 1651 0 0 0 0 0 0 14.93 14.93 14.93

1596 0.91 270.8 2794 1972 1750 1651 107.2 10.3 286 1603 0.00 2.40 0.00 0.000 4612 0.000 0.070 2797 578 1700 1750 1651 0 0 0 0 0 0 15.00 14.61 15.01

1646 0.91 270.8 2796 577 1750 1651 102.1 10.8 295 1653 0.05 2.25 0.00 0.000 5126 0.312 0.041 2786 1965 1700 1749 1651 0 0 0 0 0 0 14.63 14.82 14.83

1717 0.92 277.2 2785 1966 1749 1650 95.2 9.7 308 1730 0.00 2.38 5.43 0.696 12548 0.000 0.068 2785 3358 1681 1732 1631 0 0 0 0 0 0 15.07 14.73 13.91

1752 0.92 277.2 2785 3358 1732 1631 91.3 10.0 314 1759 0.00 2.28 0.00 0.000 1030 0.000 0.041 2785 1982 1681 1732 1631 0 0 0 0 0 0 14.85 14.75 14.87

1823 0.99 333.7 2785 1981 1731 1631 85.4 8.0 327 1874 0.00 0.00 46.85 0.952 10246 0.000 0.000 2786 1982 1450 1507 1394 0 0 0 0 0 0 15.09 14.62 13.97

1936 1.06 395.1 2785 1982 1503 1392 76.5 7.8 348 1993 0.10 2.47 49.12 0.939 10756 0.145 0.073 2845 556 1200 1262 1139 0 0 0 0 0 0 14.76 14.41 13.95

2017 1.06 395.1 2844 557 1262 1139 68.6 10.4 362 2024 0.00 2.33 0.00 0.000 5126 0.000 0.040 2845 1968 1200 1262 1139 0 0 0 0 0 0 14.73 14.63 14.74

2088 1.06 395.1 2845 1968 1261 1138 62.1 10.1 375 2094 0.00 2.42 0.00 0.000 4356 0.000 0.069 2844 3362 1199 1261 1138 0 0 0 0 0 0 14.99 14.66 14.99

2112 1.06 395.1 2844 3362 1261 1137 59.2 11.5 379 2118 0.00 2.33 0.00 0.000 5126 0.000 0.041 2845 1960 1199 1261 1137 0 0 0 0 0 0 14.75 14.65 14.76

2182 1.16 472.8 2844 1960 1261 1137 53.2 7.3 392 2255 0.00 2.42 63.97 0.924 10756 0.000 0.075 2845 555 882 932 832 0 0 0 0 0 0 15.05 14.54 13.98

2313 1.19 497.0 2845 555 933 826 43.0 9.1 416 2343 0.00 2.33 21.02 0.881 11270 0.000 0.037 2845 1972 784 825 743 0 0 0 0 0 0 14.83 14.74 13.99

2405 1.19 497.0 2845 1972 826 735 34.3 10.5 433 2412 0.00 2.40 0.00 0.000 2308 0.000 0.068 2845 3361 780 826 734 0 0 0 0 0 0 15.00 14.71 15.02

2464 1.21 512.8 2844 3361 826 732 28.2 9.4 444 2484 0.05 2.33 14.00 0.847 11270 0.252 0.041 2893 1958 720 753 687 0 0 0 0 0 0 14.69 14.79 14.03

2546 1.34 616.1 2893 1958 753 678 21.3 6.4 459 2574 0.00 2.40 20.38 0.822 10756 0.000 0.074 2893 565 597 595 600 0 0 0 0 0 0 15.02 14.66 14.05

2627 1.40 665.5 2893 564 594 590 14.5 8.3 473 2635 0.12 2.28 0.00 0.000 3078 0.122 0.035 2952 1971 591 594 589 0 0 0 0 0 0 14.70 14.71 14.78

2698 1.40 665.5 2952 1972 595 583 5.5 16.1 486 2705 0.00 2.35 0.00 0.000 4356 0.000 0.063 2952 3345 589 595 583 0 0 0 0 0 0 15.05 14.77 15.06

2715 end climb: SURFACE_DEPTH_REACHED

state 2715 begin surface coast

2731 end surface coast: CONTROL_FINISHED_OK

state 2732 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	298	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	36	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	53	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	210419,081831,-3240.2688,2841.1292,19,0.8,40,-27.1,0.9,229.8,10,8.4	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3251.357,2840.867
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.71	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-63.2	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	210419,082721,-3240.5581,2840.8674,19,0.9,19,-27.1,2.0,224.5,9,8.3	MHEAD_RNG_PITCHd_Wd	207.1,20000,-15.6,-9.950,-18.64,2991
SPEED_LIMITS	0.172,0.295	D_GRID	1000

FINISH	-0.1,1.023654	SC_FREEKB	3765664
SM_CCo	2817,0.00,0.000,0,0,587,545.78	_24V_AH	13.83,165.989
SM_GC	0.69,12.93,2.22,0.00,0.041,0.037,0.000,119,2017,587,-7.31,1.22,545.78,0,0,0,0,0,0,14.88,14.84,14.95	_10V_AH	13.07,0.000
IRIDIUM_FIX	-3226.28,2839.90,210419,073017	FG_AHR_24Vo	0.000
TT8_MAMPS	0.019474,0.86135	FG_AHR_10Vo	0.000
HUMID	57.60	MEM	339556
INTERNAL_PRESSURE	9.27734	DATA_FILE_SIZE	16778,492
TCM_TEMP	24.00	CAP_FILE_SIZE	94938,0
XPDR_PINGS	0	CFSIZE	1023623168,979419136
ALTIM_TOP_PING	19.6,18.0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	90.1,55.3	GPS	210419,091541,-3241.774,2839.868,20,0.7,21,-27.1,1.8,215.9,12,7.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	312	122.59	nil	0	0	0.00
Roll_motor	65	139	127.30	nil	0	0	0.00
VBD_pump_during_apogee	570	990	7815.76	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	32	12.00	nil	0	0	0.00
Iridium_during_connect	48	160	108.26	SciCon	2779	35	1371.96
Iridium_during_xfer	246	223	761.68	nil	0	0	0.00
Transponder_ping	1	420	5.81	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	23	6.23
TT8	937	8	105.00
LPSleep	448	2	12.83
TT8_Active	626	8	70.16
TT8_Sampling	1168	28	428.41
TT8_CF8	176	41	95.55
TT8_Kalman	0	0	0.00
Analog_circuits	1149	12	186.29
GPS_charging	0	0	0.00
Compass	746	17	168.14
RAFOS	0	0	0.00
Transponder	8	30	3.44

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
22	-0.82	-194.6	72	2005	599	571	0.0	0.0	0	111	0.00	0.00	-86.95	0.000	16386	0.000	0.000	72	2004	2979	2992	2966	0	0	0	0	0	0	15.07	28.83	15.07
116	-0.82	-194.6	71	2004	2993	2966	3.0	-5.8	16	146	12.50	2.42	-10.75	0.000	19204	0.295	0.093	2208	3396	3607	3677	3538	0	0	0	0	0	0	14.43	13.88	14.64
184	-0.82	-194.6	2207	3396	3678	3536	22.4	-20.7	28	191	0.08	2.28	0.00	0.000	3078	0.284	0.039	2223	2008	3607	3677	3538	0	0	0	0	0	0	14.64	14.86	14.85
255	-0.82	-194.6	2222	2008	3678	3538	35.3	-18.7	41	261	0.00	0.00	0.00	0.000	2054	0.000	0.000	2223	2008	3608	3678	3538	0	0	0	0	0	0	15.10	15.11	15.11
323	-0.82	-194.6	2222	2008	3678	3538	47.9	-17.4	54	330	0.00	2.38	0.00	0.000	2564	0.000	0.068	2223	610	3608	3678	3538	0	0	0	0	0	0	15.12	14.82	15.13
412	-0.82	-194.6	2223	610	3677	3538	61.6	-12.6	71	419	0.00	2.28	0.00	0.000	3078	0.000	0.044	2223	2001	3608	3678	3538	0	0	0	0	0	0	15.00	14.89	15.01
482	-0.82	-194.6	2223	2001	3678	3538	70.5	-12.5	84	489	0.00	2.42	0.00	0.000	2308	0.000	0.074	2223	3410	3608	3679	3538	0	0	0	0	0	0	15.12	14.81	15.12
507	-0.82	-194.6	2222	3410	3678	3538	73.5	-11.4	88	513	0.00	2.30	0.00	0.000	3078	0.000	0.037	2223	2008	3608	3678	3538	0	0	0	0	0	0	15.00	14.94	15.01
577	-0.82	-194.6	2223	2008	3678	3538	81.1	-11.2	101	583	0.00	0.00	0.00	0.000	2054	0.000	0.000	2223	2008	3608	3678	3538	0	0	0	0	0	0	15.14	15.14	15.14
646	-0.82	-194.6	2222	2008	3678	3538	88.1	-9.7	114	652	0.00	2.45	0.00	0.000	2308	0.000	0.072	2223	3412	3608	3679	3538	0	0	0	0	0	0	15.16	14.77	15.14
727	-0.82	-194.6	2223	3412	3679	3538	96.9	-11.2	129	734	0.00	2.30	0.00	0.000	3078	0.000	0.037	2223	2007	3610	3679	3542	0	0	0	0	0	0	15.01	14.92	15.02
798	-0.82	-194.6	2223	2006	3679	3538	103.6	-10.2	142	804	0.00	2.35	0.00	0.000	2564	0.000	0.066	2223	611	3608	3679	3538	0	0	0	0	0	0	15.14	14.85	15.15
851	-0.82	-194.6	2222	611	3679	3538	109.8	-11.1	152	858	0.00	2.30	0.00	0.000	3078	0.000	0.044	2223	2018	3608	3679	3538	0	0	0	0	0	0	15.00	14.90	15.02
922	-0.82	-194.6	2222	2018	3679	3538	117.3	-11.2	165	927	0.00	0.00	0.00	0.000	2054	0.000	0.000	2223	2019	3608	3679	3538	0	0	0	0	0	0	15.15	15.15	15.15
990	-0.82	-194.6	2222	2018	3679	3538	125.2	-11.2	178	996	0.00	0.00	0.00	0.000	2054	0.000	0.000	2223	2018	3609	3679	3539	0	0	0	0	0	0	15.16	15.16	15.16
1037	end dive: BOTTOM_OBSTACLE_DETECTED
state	1037	begin apogee
1043	-0.19	0.0	2223	1940	3679	3538	130.9	-11.2	187	1192	0.98	0.00	143.65	0.991	10246	0.148	0.000	2422	1939	2811	2861	2761	0	0	0	0	0	0	14.65	14.52	13.86
1194	end apogee: CONTROL_FINISHED_OK
state	1194	begin climb
1196	0.82	194.6	2422	1939	2860	2762	137.9	0.0	214	1353	1.50	2.35	146.05	0.988	10756	0.099	0.068	2739	581	2018	2064	1972	0	0	0	0	0	0	14.52	14.30	13.83
1396	0.91	270.8	2739	580	2059	1972	128.1	7.3	249	1465	0.10	2.28	59.97	0.968	11270	0.145	0.040	2795	1967	1706	1758	1655	0	0	0	0	0	0	14.67	14.69	13.85
1528	0.91	270.8	2794	1969	1752	1652	114.4	10.9	273	1534	0.00	0.00	0.00	0.000	4102	0.000	0.000	2795	1968	1701	1752	1651	0	0	0	0	0	0	14.93	14.93	14.93
1596	0.91	270.8	2794	1972	1750	1651	107.2	10.3	286	1603	0.00	2.40	0.00	0.000	4612	0.000	0.070	2797	578	1700	1750	1651	0	0	0	0	0	0	15.00	14.61	15.01
1646	0.91	270.8	2796	577	1750	1651	102.1	10.8	295	1653	0.05	2.25	0.00	0.000	5126	0.312	0.041	2786	1965	1700	1749	1651	0	0	0	0	0	0	14.63	14.82	14.83
1717	0.92	277.2	2785	1966	1749	1650	95.2	9.7	308	1730	0.00	2.38	5.43	0.696	12548	0.000	0.068	2785	3358	1681	1732	1631	0	0	0	0	0	0	15.07	14.73	13.91
1752	0.92	277.2	2785	3358	1732	1631	91.3	10.0	314	1759	0.00	2.28	0.00	0.000	1030	0.000	0.041	2785	1982	1681	1732	1631	0	0	0	0	0	0	14.85	14.75	14.87
1823	0.99	333.7	2785	1981	1731	1631	85.4	8.0	327	1874	0.00	0.00	46.85	0.952	10246	0.000	0.000	2786	1982	1450	1507	1394	0	0	0	0	0	0	15.09	14.62	13.97
1936	1.06	395.1	2785	1982	1503	1392	76.5	7.8	348	1993	0.10	2.47	49.12	0.939	10756	0.145	0.073	2845	556	1200	1262	1139	0	0	0	0	0	0	14.76	14.41	13.95
2017	1.06	395.1	2844	557	1262	1139	68.6	10.4	362	2024	0.00	2.33	0.00	0.000	5126	0.000	0.040	2845	1968	1200	1262	1139	0	0	0	0	0	0	14.73	14.63	14.74
2088	1.06	395.1	2845	1968	1261	1138	62.1	10.1	375	2094	0.00	2.42	0.00	0.000	4356	0.000	0.069	2844	3362	1199	1261	1138	0	0	0	0	0	0	14.99	14.66	14.99
2112	1.06	395.1	2844	3362	1261	1137	59.2	11.5	379	2118	0.00	2.33	0.00	0.000	5126	0.000	0.041	2845	1960	1199	1261	1137	0	0	0	0	0	0	14.75	14.65	14.76
2182	1.16	472.8	2844	1960	1261	1137	53.2	7.3	392	2255	0.00	2.42	63.97	0.924	10756	0.000	0.075	2845	555	882	932	832	0	0	0	0	0	0	15.05	14.54	13.98
2313	1.19	497.0	2845	555	933	826	43.0	9.1	416	2343	0.00	2.33	21.02	0.881	11270	0.000	0.037	2845	1972	784	825	743	0	0	0	0	0	0	14.83	14.74	13.99
2405	1.19	497.0	2845	1972	826	735	34.3	10.5	433	2412	0.00	2.40	0.00	0.000	2308	0.000	0.068	2845	3361	780	826	734	0	0	0	0	0	0	15.00	14.71	15.02
2464	1.21	512.8	2844	3361	826	732	28.2	9.4	444	2484	0.05	2.33	14.00	0.847	11270	0.252	0.041	2893	1958	720	753	687	0	0	0	0	0	0	14.69	14.79	14.03
2546	1.34	616.1	2893	1958	753	678	21.3	6.4	459	2574	0.00	2.40	20.38	0.822	10756	0.000	0.074	2893	565	597	595	600	0	0	0	0	0	0	15.02	14.66	14.05
2627	1.40	665.5	2893	564	594	590	14.5	8.3	473	2635	0.12	2.28	0.00	0.000	3078	0.122	0.035	2952	1971	591	594	589	0	0	0	0	0	0	14.70	14.71	14.78
2698	1.40	665.5	2952	1972	595	583	5.5	16.1	486	2705	0.00	2.35	0.00	0.000	4356	0.000	0.063	2952	3345	589	595	583	0	0	0	0	0	0	15.05	14.77	15.06
2715	end climb: SURFACE_DEPTH_REACHED
state	2715	begin surface coast
2731	end surface coast: CONTROL_FINISHED_OK
state	2732	begin surface