Glider dive log

SOSCEx Mar19 * SG573 * Dive index * Mission links * Dive 32 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 573 HD_C 9.8500004e-06 C_ROLL_DIVE 1987 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 30 HEADING 90 C_ROLL_CLIMB 1987 ALTIM_TOP_TURN_MARGIN 0

DIVE 32 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 100

STOP_T 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 10

D_SURF 3 TGT_DEFAULT_LAT 4743.3999 R_PORT_OVSHOOT 29 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 35 ALTIM_PULSE 3

D_TGT 500 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 167 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_MISSION 182 CAPUPLOAD 1 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_ABORT 197 CAPMAXSIZE 400000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN 500 HEAPDBG 0 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_NO_W 120 N_GPS 100840 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_LOITER 0 T_RSLEEP 2 DBDW 0 COMPASS_DEVICE 17

T_EPIRB 0 STROBE 0 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_BATHY 0 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 PHONE_DEVICE 49

USE_ICE 0 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 AH0_24V 310 RAFOS_DEVICE -1

D_OFFGRID 100 PITCH_MIN 139 AH0_10V 0 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3926 MINV_24V 11.5 SIM_W 0

RELAUNCH 0 C_PITCH 2490 MINV_10V 10 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_DBAND 0.0099999998 MAXI_24V 3 SEABIRD_T_G 0.0043368991

MAX_BUOY 150 PITCH_CNV 0.003125763 MAXI_10V 2 SEABIRD_T_H 0.00062533951

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.3700677e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 2.5956786e-06

SPEED_FACTOR 1 PITCH_GAIN 27 PHONE_SUPPLY 2 SEABIRD_C_G -9.9432478

RHO 1.0275 PITCH_TIMEOUT 25 PRESSURE_YINT -167.97279 SEABIRD_C_H 1.1588655

MASS 52619 PITCH_AD_RATE 125 PRESSURE_SLOPE 0.00010902 SEABIRD_C_I -0.0013646155

MASS_COMP 0 PITCH_MAXERRORS 1 AD7714Ch0Gain 1 SEABIRD_C_J 0.00018066024

NAV_MODE 3 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 167 COMPASS_USE 4 SC_XMITPROFILE 3.0

HD_A 0.0038360001 ROLL_MAX 3807 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0101 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 1 D_SAFE 0 PITCH_ADJ_DBAND 0 SIM_PITCH 0

AH0_10V 0 D_SURF 3 PITCH_ADJ_GAIN 0 SIM_W 0

AH0_24V 310 D_TGT 500 PITCH_AD_RATE 125 SM_CC 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 100 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FILEMGR 0 PITCH_MIN 139 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 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 197

CALL_TRIES 5 HEADING 90 PROTOCOL 9 T_BOOST 0

CALL_WAIT 60 HEAD_ERRBAND 10 P_OVSHOOT 0.039999999 T_DIVE 167

CAPMAXSIZE 400000 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_EPIRB 0

CAPUPLOAD 1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_GPS 15

CF8_MAXERRORS 20 ID 573 RAFOS_DEVICE -1 T_LOITER 0

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_MISSION 182

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -0.85000002 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS_DEVICE 17 KALMAN_USE 2 RELAUNCH 0 T_RSLEEP 2

COMPASS_USE 4 LOGGERDEVICE1 53 RHO 1.0275 T_TURN 500

COURSE_BIAS 0 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

C_PITCH 2490 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_ROLL_CLIMB 1987 LOGGERDEVICE4 -1 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_ROLL_DIVE 1987 LOGGERS 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_VBD 2812 MASS 52619 ROLL_DEG 40 USE_BATHY 0

DBDW 0 MASS_COMP 0 ROLL_MAX 3807 USE_ICE 0

DEEPGLIDER 0 MAXI_10V 2 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MAXI_24V 3 ROLL_MIN 167 VBD_CNV -0.245296

DEVICE2 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MINV_10V 10 R_PORT_OVSHOOT 29 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 35 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 32 NAV_MODE 3 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1050 NOCOMM_ACTION 259 SEABIRD_C_G -9.9432478 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 0 N_DIVES 0 SEABIRD_C_H 1.1588655 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_I -0.0013646155 W_ADJ_DBAND 0

D_FINISH 0 N_GPS 100840 SEABIRD_C_J 0.00018066024 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_G 0.0043368991 XPDR_INHIBIT 90

D_NO_BLEED 29 N_NOSURFACE 0 SEABIRD_T_H 0.00062533951 XPDR_VALID 2

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_I 2.3700677e-05

D_PITCH 0 PHONE_SUPPLY 2 SEABIRD_T_J 2.5956786e-06

Pre-dive calculations and measurements:

GPS1 310319,222228,-2851.4324,3217.9951,16,0.8,22,-23.7,0.8,169.1,11,10.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -2845.869,3207.499

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.55 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -62.2 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 310319,223731,-2851.7791,3217.8096,17,0.8,27,-23.7,0.8,207.9,10,5.7 MHEAD_RNG_PITCHd_Wd 326.9,20000,-18.2,-9.980,-21.01,2240

SPEED_LIMITS 0.173,0.260 D_GRID 500

Post-dive calculations and measurements:

FINISH 0.3,1.023133 _24V_AH 13.32,93.443

SM_CCo 2718,74.80,0.770,0,0,598,542.59 _10V_AH 13.45,0.000

SM_GC 0.53,12.62,0.00,74.80,0.050,0.000,0.770,140,1981,598,-7.27,-0.20,542.59,0,0,0,0,0,0,14.71,14.96,14.14 FG_AHR_24Vo 0.000

IRIDIUM_FIX -2840.83,3216.76,310319,202514 FG_AHR_10Vo 0.000

TT8_MAMPS 0.019474,0.935501 MEM 339576

HUMID 55.71 DATA_FILE_SIZE 16787,487

INTERNAL_PRESSURE 9.27734 CAP_FILE_SIZE 102693,0

TCM_TEMP 24.40 CFSIZE 1023623168,1017020416

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

ALTIM_TOP_PING 19.7,18.7 CURRENT 0.305,216.38,1

ALTIM_BOTTOM_PING 100.5,57.3 GPS 310319,232534,-2851.941,3217.164,24,1.0,29,-23.7,1.3,204.8,8,9.4

SC_FREEKB 3906592

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 306 114.74 nil 0 0 0.00

Roll_motor 62 85 70.93 nil 0 0 0.00

VBD_pump_during_apogee 426 1083 6155.31 nil 0 0 0.00

VBD_pump_during_surface 74 769 766.77 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 32 10.61 nil 0 0 0.00

Iridium_during_connect 42 160 91.61 SciCon 2776 35 1326.97

Iridium_during_xfer 581 223 1728.26 nil 0 0 0.00

Transponder_ping 0 420 4.20 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 28 23 8.85

TT8 1046 8 120.64

LPSleep 373 2 11.01

TT8_Active 609 8 70.23

TT8_Sampling 1528 28 576.53

TT8_CF8 136 41 76.41

TT8_Kalman 0 0 0.00

Analog_circuits 1100 12 183.55

GPS_charging 0 0 0.00

Compass 736 17 170.65

RAFOS 0 0 0.00

Transponder 7 30 2.91

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

20 -0.85 -146.0 72 1984 580 583 0.0 0.0 0 109 0.00 0.00 -87.10 0.000 16386 0.000 0.000 73 1984 2994 3007 2982 0 0 0 0 0 0 14.90 28.83 14.90

112 -0.85 -146.0 72 1984 3006 2982 3.3 -8.7 15 139 12.68 2.45 -6.93 0.000 18948 0.306 0.086 2205 575 3410 3443 3377 0 0 0 0 0 0 14.36 13.32 14.56

160 -0.85 -146.0 2205 575 3445 3377 20.6 -28.9 23 167 0.00 2.38 0.00 0.000 3078 0.000 0.046 2204 1998 3411 3445 3377 0 0 0 0 0 0 14.71 14.59 14.73

229 -0.85 -146.0 2203 1998 3445 3377 34.2 -19.8 36 236 0.00 2.40 0.00 0.000 2308 0.000 0.074 2204 3386 3411 3445 3377 0 0 0 0 0 0 14.95 14.51 14.96

333 -0.85 -146.0 2203 3386 3445 3377 52.8 -16.5 56 340 0.00 2.33 0.00 0.000 3078 0.000 0.041 2204 1983 3411 3446 3377 0 0 0 0 0 0 14.84 14.73 14.85

402 -0.85 -146.0 2203 1983 3446 3377 63.9 -16.4 69 409 0.00 2.45 0.00 0.000 2308 0.000 0.070 2204 3391 3411 3446 3377 0 0 0 0 0 0 15.00 14.69 15.02

466 -0.85 -146.0 2203 3392 3445 3377 74.3 -13.7 81 474 0.00 2.35 0.00 0.000 3078 0.000 0.039 2203 1978 3411 3446 3377 0 0 0 0 0 0 14.79 14.69 14.81

537 -0.85 -146.0 2203 1978 3446 3377 84.9 -15.0 94 543 0.00 0.00 0.00 0.000 2054 0.000 0.000 2204 1979 3414 3451 3377 0 0 0 0 0 0 15.02 15.02 15.02

604 -0.85 -146.0 2203 1978 3446 3376 95.2 -15.4 107 611 0.00 2.45 0.00 0.000 2308 0.000 0.070 2204 3391 3411 3446 3377 0 0 0 0 0 0 15.02 14.55 15.02

689 -0.85 -146.0 2203 3392 3446 3377 107.8 -13.9 123 696 0.00 2.33 0.00 0.000 3078 0.000 0.041 2204 1975 3411 3446 3377 0 0 0 0 0 0 14.87 14.76 14.87

760 -0.85 -146.0 2203 1974 3446 3377 117.5 -12.9 136 766 0.00 2.45 0.00 0.000 2308 0.000 0.070 2203 3387 3411 3446 3377 0 0 0 0 0 0 15.04 14.59 15.04

863 -0.85 -146.0 2203 3387 3446 3377 130.8 -12.0 156 870 0.00 2.30 0.00 0.000 3078 0.000 0.039 2204 1991 3411 3446 3377 0 0 0 0 0 0 14.89 14.78 14.90

933 -0.85 -146.0 2203 1990 3446 3377 139.3 -12.0 169 939 0.00 0.00 0.00 0.000 2054 0.000 0.000 2203 1990 3411 3446 3377 0 0 0 0 0 0 15.05 15.06 15.06

964 end dive: BOTTOM_OBSTACLE_DETECTED

state 964 begin apogee

968 -0.19 0.0 2203 1991 3446 3377 143.2 -12.6 175 1084 1.12 0.00 109.20 1.083 10246 0.175 0.000 2422 1989 2811 2849 2774 0 0 0 0 0 0 14.54 14.45 13.93

1085 end apogee: CONTROL_FINISHED_OK

state 1085 begin climb

1087 0.85 146.0 2422 1988 2850 2774 147.1 0.0 195 1204 1.55 0.00 111.03 1.073 10758 0.093 0.000 2746 1988 2215 2257 2174 0 0 0 0 0 0 14.43 14.33 13.83

1268 0.88 165.5 2746 1988 2252 2173 137.6 9.1 226 1292 0.00 0.00 16.20 0.999 10246 0.000 0.000 2747 1988 2136 2177 2096 0 0 0 0 0 0 14.72 14.30 13.87

1354 0.91 193.5 2746 1988 2175 2095 130.0 8.7 242 1384 0.08 0.00 23.52 1.022 10246 0.181 0.000 2794 1988 2021 2064 1978 0 0 0 0 0 0 14.50 14.37 13.93

1446 0.91 193.5 2794 1988 2062 1976 120.6 10.4 259 1453 0.00 2.42 0.00 0.000 4356 0.000 0.064 2794 3389 2018 2061 1976 0 0 0 0 0 0 14.82 14.57 14.82

1500 0.91 193.5 2794 3388 2061 1976 115.1 10.0 269 1508 0.00 2.35 0.00 0.000 5126 0.000 0.043 2796 1981 2017 2061 1974 0 0 0 0 0 0 14.74 14.63 14.76

1571 0.92 196.2 2796 1981 2060 1975 108.1 9.9 282 1578 0.00 2.42 0.00 0.000 4356 0.000 0.065 2796 3389 2017 2060 1975 0 0 0 0 0 0 14.91 14.64 14.92

1590 0.92 196.2 2796 3389 2060 1975 105.9 10.9 285 1598 0.00 2.35 0.00 0.000 5126 0.000 0.044 2797 1981 2017 2060 1975 0 0 0 0 0 0 14.81 14.71 14.81

1661 0.92 196.2 2797 1980 2060 1975 98.8 10.0 298 1667 0.00 0.00 0.00 0.000 4102 0.000 0.000 2797 1980 2017 2059 1975 0 0 0 0 0 0 14.95 14.96 14.96

1728 0.94 215.0 2797 1980 2059 1975 92.3 9.1 311 1753 0.00 2.42 18.02 0.998 12548 0.000 0.063 2797 3396 1933 1976 1890 0 0 0 0 0 0 14.98 14.57 14.13

1785 0.94 215.0 2797 3396 1975 1889 86.7 11.3 321 1793 0.00 2.35 0.00 0.000 5126 0.000 0.044 2797 1985 1931 1975 1888 0 0 0 0 0 0 14.80 14.70 14.81

1858 0.95 225.4 2797 1985 1975 1887 79.3 9.5 334 1876 0.00 2.42 9.32 0.920 8708 0.000 0.075 2797 592 1892 1936 1848 0 0 0 0 0 0 14.95 14.61 14.10

1888 0.98 251.1 2797 591 1935 1856 75.9 8.8 339 1918 0.00 2.30 21.88 0.991 11270 0.000 0.043 2797 1983 1787 1835 1740 0 0 0 0 0 0 14.77 14.67 14.07

1981 1.01 274.0 2797 1984 1832 1738 67.7 8.9 356 2006 0.00 2.47 19.33 0.976 10500 0.000 0.066 2796 3401 1693 1745 1641 0 0 0 0 0 0 14.90 14.59 14.03

2039 1.01 274.0 2797 3402 1744 1640 61.7 10.7 366 2046 0.00 2.38 0.00 0.000 3078 0.000 0.044 2797 1984 1691 1744 1639 0 0 0 0 0 0 14.73 14.61 14.74

2108 1.03 289.0 2797 1985 1744 1638 54.8 9.3 379 2128 0.00 2.47 13.15 0.936 10500 0.000 0.065 2797 3394 1632 1685 1579 0 0 0 0 0 0 14.91 14.64 14.06

2145 1.08 331.5 2796 3394 1684 1578 51.6 8.0 385 2188 0.10 2.35 34.95 0.985 11270 0.145 0.044 2845 1988 1459 1514 1404 0 0 0 0 0 0 14.68 14.66 14.03

2250 1.08 331.5 2844 1987 1512 1403 40.2 12.1 404 2257 0.00 2.45 0.00 0.000 4612 0.000 0.077 2845 580 1457 1511 1403 0 0 0 0 0 0 14.85 14.57 14.85

2294 1.08 331.5 2845 580 1510 1403 34.4 12.0 412 2301 0.00 2.35 0.00 0.000 5126 0.000 0.042 2845 1992 1456 1510 1403 0 0 0 0 0 0 14.72 14.62 14.73

2363 1.08 331.5 2844 1992 1509 1402 27.4 11.3 425 2369 0.00 0.00 0.00 0.000 4102 0.000 0.000 2845 1992 1455 1509 1402 0 0 0 0 0 0 14.93 14.94 14.94

2432 1.13 371.9 2845 1992 1509 1401 21.4 8.1 438 2464 0.00 2.40 25.08 0.906 10500 0.000 0.064 2845 3389 1294 1352 1237 0 0 0 0 0 0 14.96 14.56 14.16

2546 1.18 413.7 2845 3390 1350 1234 13.1 8.1 459 2577 0.00 2.35 24.92 0.842 11270 0.000 0.044 2845 1982 1124 1180 1069 0 0 0 0 0 0 14.80 14.71 14.12

2639 1.18 413.7 2845 1982 1180 1062 5.8 10.1 476 2645 0.00 0.00 0.00 0.000 2054 0.000 0.000 2845 1982 1121 1180 1062 0 0 0 0 0 0 14.90 14.90 14.90

2671 end climb: SURFACE_DEPTH_REACHED

state 2671 begin surface coast

2696 end surface coast: CONTROL_FINISHED_OK

state 2696 begin surface

ID	573	HD_C	9.8500004e-06	C_ROLL_DIVE	1987	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	30	HEADING	90	C_ROLL_CLIMB	1987	ALTIM_TOP_TURN_MARGIN	0
DIVE	32	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	100
STOP_T	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	10
D_SURF	3	TGT_DEFAULT_LAT	4743.3999	R_PORT_OVSHOOT	29	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	35	ALTIM_PULSE	3
D_TGT	500	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	167	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_MISSION	182	CAPUPLOAD	1	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_ABORT	197	CAPMAXSIZE	400000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN	500	HEAPDBG	0	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_NO_W	120	N_GPS	100840	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_LOITER	0	T_RSLEEP	2	DBDW	0	COMPASS_DEVICE	17
T_EPIRB	0	STROBE	0	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_BATHY	0	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	PHONE_DEVICE	49
USE_ICE	0	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	AH0_24V	310	RAFOS_DEVICE	-1
D_OFFGRID	100	PITCH_MIN	139	AH0_10V	0	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3926	MINV_24V	11.5	SIM_W	0
RELAUNCH	0	C_PITCH	2490	MINV_10V	10	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_DBAND	0.0099999998	MAXI_24V	3	SEABIRD_T_G	0.0043368991
MAX_BUOY	150	PITCH_CNV	0.003125763	MAXI_10V	2	SEABIRD_T_H	0.00062533951
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.3700677e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	2.5956786e-06
SPEED_FACTOR	1	PITCH_GAIN	27	PHONE_SUPPLY	2	SEABIRD_C_G	-9.9432478
RHO	1.0275	PITCH_TIMEOUT	25	PRESSURE_YINT	-167.97279	SEABIRD_C_H	1.1588655
MASS	52619	PITCH_AD_RATE	125	PRESSURE_SLOPE	0.00010902	SEABIRD_C_I	-0.0013646155
MASS_COMP	0	PITCH_MAXERRORS	1	AD7714Ch0Gain	1	SEABIRD_C_J	0.00018066024
NAV_MODE	3	PITCH_ADJ_GAIN	0	TCM_PITCH_OFFSET	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	TCM_ROLL_OFFSET	0	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	167	COMPASS_USE	4	SC_XMITPROFILE	3.0
HD_A	0.0038360001	ROLL_MAX	3807	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0101	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	20

GPS1	310319,222228,-2851.4324,3217.9951,16,0.8,22,-23.7,0.8,169.1,11,10.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-2845.869,3207.499
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.55	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-62.2	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	310319,223731,-2851.7791,3217.8096,17,0.8,27,-23.7,0.8,207.9,10,5.7	MHEAD_RNG_PITCHd_Wd	326.9,20000,-18.2,-9.980,-21.01,2240
SPEED_LIMITS	0.173,0.260	D_GRID	500

FINISH	0.3,1.023133	_24V_AH	13.32,93.443
SM_CCo	2718,74.80,0.770,0,0,598,542.59	_10V_AH	13.45,0.000
SM_GC	0.53,12.62,0.00,74.80,0.050,0.000,0.770,140,1981,598,-7.27,-0.20,542.59,0,0,0,0,0,0,14.71,14.96,14.14	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-2840.83,3216.76,310319,202514	FG_AHR_10Vo	0.000
TT8_MAMPS	0.019474,0.935501	MEM	339576
HUMID	55.71	DATA_FILE_SIZE	16787,487
INTERNAL_PRESSURE	9.27734	CAP_FILE_SIZE	102693,0
TCM_TEMP	24.40	CFSIZE	1023623168,1017020416
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_TOP_PING	19.7,18.7	CURRENT	0.305,216.38,1
ALTIM_BOTTOM_PING	100.5,57.3	GPS	310319,232534,-2851.941,3217.164,24,1.0,29,-23.7,1.3,204.8,8,9.4
SC_FREEKB	3906592

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	306	114.74	nil	0	0	0.00
Roll_motor	62	85	70.93	nil	0	0	0.00
VBD_pump_during_apogee	426	1083	6155.31	nil	0	0	0.00
VBD_pump_during_surface	74	769	766.77	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	32	10.61	nil	0	0	0.00
Iridium_during_connect	42	160	91.61	SciCon	2776	35	1326.97
Iridium_during_xfer	581	223	1728.26	nil	0	0	0.00
Transponder_ping	0	420	4.20	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	28	23	8.85
TT8	1046	8	120.64
LPSleep	373	2	11.01
TT8_Active	609	8	70.23
TT8_Sampling	1528	28	576.53
TT8_CF8	136	41	76.41
TT8_Kalman	0	0	0.00
Analog_circuits	1100	12	183.55
GPS_charging	0	0	0.00
Compass	736	17	170.65
RAFOS	0	0	0.00
Transponder	7	30	2.91

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
20	-0.85	-146.0	72	1984	580	583	0.0	0.0	0	109	0.00	0.00	-87.10	0.000	16386	0.000	0.000	73	1984	2994	3007	2982	0	0	0	0	0	0	14.90	28.83	14.90
112	-0.85	-146.0	72	1984	3006	2982	3.3	-8.7	15	139	12.68	2.45	-6.93	0.000	18948	0.306	0.086	2205	575	3410	3443	3377	0	0	0	0	0	0	14.36	13.32	14.56
160	-0.85	-146.0	2205	575	3445	3377	20.6	-28.9	23	167	0.00	2.38	0.00	0.000	3078	0.000	0.046	2204	1998	3411	3445	3377	0	0	0	0	0	0	14.71	14.59	14.73
229	-0.85	-146.0	2203	1998	3445	3377	34.2	-19.8	36	236	0.00	2.40	0.00	0.000	2308	0.000	0.074	2204	3386	3411	3445	3377	0	0	0	0	0	0	14.95	14.51	14.96
333	-0.85	-146.0	2203	3386	3445	3377	52.8	-16.5	56	340	0.00	2.33	0.00	0.000	3078	0.000	0.041	2204	1983	3411	3446	3377	0	0	0	0	0	0	14.84	14.73	14.85
402	-0.85	-146.0	2203	1983	3446	3377	63.9	-16.4	69	409	0.00	2.45	0.00	0.000	2308	0.000	0.070	2204	3391	3411	3446	3377	0	0	0	0	0	0	15.00	14.69	15.02
466	-0.85	-146.0	2203	3392	3445	3377	74.3	-13.7	81	474	0.00	2.35	0.00	0.000	3078	0.000	0.039	2203	1978	3411	3446	3377	0	0	0	0	0	0	14.79	14.69	14.81
537	-0.85	-146.0	2203	1978	3446	3377	84.9	-15.0	94	543	0.00	0.00	0.00	0.000	2054	0.000	0.000	2204	1979	3414	3451	3377	0	0	0	0	0	0	15.02	15.02	15.02
604	-0.85	-146.0	2203	1978	3446	3376	95.2	-15.4	107	611	0.00	2.45	0.00	0.000	2308	0.000	0.070	2204	3391	3411	3446	3377	0	0	0	0	0	0	15.02	14.55	15.02
689	-0.85	-146.0	2203	3392	3446	3377	107.8	-13.9	123	696	0.00	2.33	0.00	0.000	3078	0.000	0.041	2204	1975	3411	3446	3377	0	0	0	0	0	0	14.87	14.76	14.87
760	-0.85	-146.0	2203	1974	3446	3377	117.5	-12.9	136	766	0.00	2.45	0.00	0.000	2308	0.000	0.070	2203	3387	3411	3446	3377	0	0	0	0	0	0	15.04	14.59	15.04
863	-0.85	-146.0	2203	3387	3446	3377	130.8	-12.0	156	870	0.00	2.30	0.00	0.000	3078	0.000	0.039	2204	1991	3411	3446	3377	0	0	0	0	0	0	14.89	14.78	14.90
933	-0.85	-146.0	2203	1990	3446	3377	139.3	-12.0	169	939	0.00	0.00	0.00	0.000	2054	0.000	0.000	2203	1990	3411	3446	3377	0	0	0	0	0	0	15.05	15.06	15.06
964	end dive: BOTTOM_OBSTACLE_DETECTED
state	964	begin apogee
968	-0.19	0.0	2203	1991	3446	3377	143.2	-12.6	175	1084	1.12	0.00	109.20	1.083	10246	0.175	0.000	2422	1989	2811	2849	2774	0	0	0	0	0	0	14.54	14.45	13.93
1085	end apogee: CONTROL_FINISHED_OK
state	1085	begin climb
1087	0.85	146.0	2422	1988	2850	2774	147.1	0.0	195	1204	1.55	0.00	111.03	1.073	10758	0.093	0.000	2746	1988	2215	2257	2174	0	0	0	0	0	0	14.43	14.33	13.83
1268	0.88	165.5	2746	1988	2252	2173	137.6	9.1	226	1292	0.00	0.00	16.20	0.999	10246	0.000	0.000	2747	1988	2136	2177	2096	0	0	0	0	0	0	14.72	14.30	13.87
1354	0.91	193.5	2746	1988	2175	2095	130.0	8.7	242	1384	0.08	0.00	23.52	1.022	10246	0.181	0.000	2794	1988	2021	2064	1978	0	0	0	0	0	0	14.50	14.37	13.93
1446	0.91	193.5	2794	1988	2062	1976	120.6	10.4	259	1453	0.00	2.42	0.00	0.000	4356	0.000	0.064	2794	3389	2018	2061	1976	0	0	0	0	0	0	14.82	14.57	14.82
1500	0.91	193.5	2794	3388	2061	1976	115.1	10.0	269	1508	0.00	2.35	0.00	0.000	5126	0.000	0.043	2796	1981	2017	2061	1974	0	0	0	0	0	0	14.74	14.63	14.76
1571	0.92	196.2	2796	1981	2060	1975	108.1	9.9	282	1578	0.00	2.42	0.00	0.000	4356	0.000	0.065	2796	3389	2017	2060	1975	0	0	0	0	0	0	14.91	14.64	14.92
1590	0.92	196.2	2796	3389	2060	1975	105.9	10.9	285	1598	0.00	2.35	0.00	0.000	5126	0.000	0.044	2797	1981	2017	2060	1975	0	0	0	0	0	0	14.81	14.71	14.81
1661	0.92	196.2	2797	1980	2060	1975	98.8	10.0	298	1667	0.00	0.00	0.00	0.000	4102	0.000	0.000	2797	1980	2017	2059	1975	0	0	0	0	0	0	14.95	14.96	14.96
1728	0.94	215.0	2797	1980	2059	1975	92.3	9.1	311	1753	0.00	2.42	18.02	0.998	12548	0.000	0.063	2797	3396	1933	1976	1890	0	0	0	0	0	0	14.98	14.57	14.13
1785	0.94	215.0	2797	3396	1975	1889	86.7	11.3	321	1793	0.00	2.35	0.00	0.000	5126	0.000	0.044	2797	1985	1931	1975	1888	0	0	0	0	0	0	14.80	14.70	14.81
1858	0.95	225.4	2797	1985	1975	1887	79.3	9.5	334	1876	0.00	2.42	9.32	0.920	8708	0.000	0.075	2797	592	1892	1936	1848	0	0	0	0	0	0	14.95	14.61	14.10
1888	0.98	251.1	2797	591	1935	1856	75.9	8.8	339	1918	0.00	2.30	21.88	0.991	11270	0.000	0.043	2797	1983	1787	1835	1740	0	0	0	0	0	0	14.77	14.67	14.07
1981	1.01	274.0	2797	1984	1832	1738	67.7	8.9	356	2006	0.00	2.47	19.33	0.976	10500	0.000	0.066	2796	3401	1693	1745	1641	0	0	0	0	0	0	14.90	14.59	14.03
2039	1.01	274.0	2797	3402	1744	1640	61.7	10.7	366	2046	0.00	2.38	0.00	0.000	3078	0.000	0.044	2797	1984	1691	1744	1639	0	0	0	0	0	0	14.73	14.61	14.74
2108	1.03	289.0	2797	1985	1744	1638	54.8	9.3	379	2128	0.00	2.47	13.15	0.936	10500	0.000	0.065	2797	3394	1632	1685	1579	0	0	0	0	0	0	14.91	14.64	14.06
2145	1.08	331.5	2796	3394	1684	1578	51.6	8.0	385	2188	0.10	2.35	34.95	0.985	11270	0.145	0.044	2845	1988	1459	1514	1404	0	0	0	0	0	0	14.68	14.66	14.03
2250	1.08	331.5	2844	1987	1512	1403	40.2	12.1	404	2257	0.00	2.45	0.00	0.000	4612	0.000	0.077	2845	580	1457	1511	1403	0	0	0	0	0	0	14.85	14.57	14.85
2294	1.08	331.5	2845	580	1510	1403	34.4	12.0	412	2301	0.00	2.35	0.00	0.000	5126	0.000	0.042	2845	1992	1456	1510	1403	0	0	0	0	0	0	14.72	14.62	14.73
2363	1.08	331.5	2844	1992	1509	1402	27.4	11.3	425	2369	0.00	0.00	0.00	0.000	4102	0.000	0.000	2845	1992	1455	1509	1402	0	0	0	0	0	0	14.93	14.94	14.94
2432	1.13	371.9	2845	1992	1509	1401	21.4	8.1	438	2464	0.00	2.40	25.08	0.906	10500	0.000	0.064	2845	3389	1294	1352	1237	0	0	0	0	0	0	14.96	14.56	14.16
2546	1.18	413.7	2845	3390	1350	1234	13.1	8.1	459	2577	0.00	2.35	24.92	0.842	11270	0.000	0.044	2845	1982	1124	1180	1069	0	0	0	0	0	0	14.80	14.71	14.12
2639	1.18	413.7	2845	1982	1180	1062	5.8	10.1	476	2645	0.00	0.00	0.00	0.000	2054	0.000	0.000	2845	1982	1121	1180	1062	0	0	0	0	0	0	14.90	14.90	14.90
2671	end climb: SURFACE_DEPTH_REACHED
state	2671	begin surface coast
2696	end surface coast: CONTROL_FINISHED_OK
state	2696	begin surface