Glider dive log

SOSCEx Mar19 * SG573 * Dive index * Mission links * Dive 353 * 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 353 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 30 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 32 ALTIM_PULSE 3

D_TGT 1000 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 2

D_ABORT 1050 SM_CC 542.59473 ROLL_MAXERRORS 1 XPDR_VALID 2

D_NO_BLEED 29 N_FILEKB 4 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_BOOST 0 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 CALL_NDIVES 1 VBD_MIN 600 INT_PRESSURE_YINT -0.85000002

D_FINISH 0 COMM_SEQ 0 VBD_MAX 3960 DEEPGLIDER 0

D_PITCH 0 PROTOCOL 9 C_VBD 2812 MOTHERBOARD 4

D_SAFE 0 N_NOCOMM 1 VBD_DBAND 2 DEVICE1 -1

D_CALL 0 NOCOMM_ACTION 259 VBD_CNV -0.245296 DEVICE2 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_DIVE 335 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_MISSION 345 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_ABORT 360 CAPMAXSIZE 400000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN 500 HEAPDBG 0 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_NO_W 120 N_GPS 100840 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_LOITER 0 T_RSLEEP 2 DBDW 0 COMPASS_DEVICE 17

T_EPIRB 0 STROBE 0 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_BATHY 0 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 PHONE_DEVICE 49

USE_ICE 0 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 AH0_24V 310 RAFOS_DEVICE -1

D_OFFGRID 100 PITCH_MIN 139 AH0_10V 0 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3926 MINV_24V 11.5 SIM_W 0

RELAUNCH 0 C_PITCH 2490 MINV_10V 10 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_DBAND 0.0099999998 MAXI_24V 3 SEABIRD_T_G 0.0043368991

MAX_BUOY 280 PITCH_CNV 0.003125763 MAXI_10V 2 SEABIRD_T_H 0.00062533951

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.3700677e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 2.5956786e-06

SPEED_FACTOR 1 PITCH_GAIN 27 PHONE_SUPPLY 2 SEABIRD_C_G -9.9432478

RHO 1.0275 PITCH_TIMEOUT 25 PRESSURE_YINT -167.97279 SEABIRD_C_H 1.1588655

MASS 52619 PITCH_AD_RATE 125 PRESSURE_SLOPE 0.00010902 SEABIRD_C_I -0.0013646155

MASS_COMP 0 PITCH_MAXERRORS 1 AD7714Ch0Gain 1 SEABIRD_C_J 0.00018066024

NAV_MODE 0 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 167 COMPASS_USE 4 SC_XMITPROFILE 3.0

HD_A 0.0038360001 ROLL_MAX 3807 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0101 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 1 D_SAFE 0 PITCH_ADJ_DBAND 0 SIM_PITCH 0

AH0_10V 0 D_SURF 3 PITCH_ADJ_GAIN 0 SIM_W 0

AH0_24V 310 D_TGT 1000 PITCH_AD_RATE 125 SM_CC 542.59473

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 15 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.0099999998 STOP_T 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_GAIN 27 STROBE 0

ALTIM_PING_DELTA 10 FG_AHR_10V 0 PITCH_MAX 3926 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 80 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FILEMGR 0 PITCH_MIN 139 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 25 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 20 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0038360001 PITCH_W_GAIN 0 TGT_DEFAULT_LAT 4743.3999

APOGEE_PITCH -5 HD_B 0.0101 PRESSURE_SLOPE 0.00010902 TGT_DEFAULT_LON -12224.2

CALL_NDIVES 1 HD_C 9.8500004e-06 PRESSURE_YINT -167.97279 T_ABORT 360

CALL_TRIES 5 HEADING 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 280 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MINV_10V 10 R_PORT_OVSHOOT 30 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 32 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 353 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 230419,014657,-3345.2161,2716.5205,31,1.0,37,-27.7,2.2,227.7,10,8.7 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3356.432,2716.008

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.69 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -59.4 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 230419,015534,-3345.6328,2716.0083,24,1.0,43,-27.7,0.0,211.6,10,9.9 MHEAD_RNG_PITCHd_Wd 207.7,20000,-13.0,-9.950,-16.26,4178

SPEED_LIMITS 0.172,0.341 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.6,1.023606 SC_FREEKB 3737504

SM_CCo 2742,0.00,0.000,0,0,584,546.76 _24V_AH 13.02,177.205

SM_GC 0.66,12.90,2.40,0.00,0.044,0.033,0.000,149,2005,584,-7.26,-1.27,546.76,0,0,0,0,0,0,14.85,14.90,14.94 _10V_AH 13.58,0.000

IRIDIUM_FIX -3327.96,2709.81,230419,005846 FG_AHR_24Vo 0.000

TT8_MAMPS 0.019474,0.854609 FG_AHR_10Vo 0.000

HUMID 59.84 MEM 339556

INTERNAL_PRESSURE 9.28711 DATA_FILE_SIZE 16798,470

TCM_TEMP 24.00 CAP_FILE_SIZE 94330,0

XPDR_PINGS 0 CFSIZE 1023623168,974012416

ALTIM_TOP_PING 19.9,999.0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

ALTIM_BOTTOM_PING 90.7,48.5 GPS 230419,024300,-3347.490,2714.295,30,0.8,39,-27.8,2.2,210.5,11,9.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 310 115.55 nil 0 0 0.00

Roll_motor 80 116 121.95 nil 0 0 0.00

VBD_pump_during_apogee 635 979 8097.96 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 23 32 10.13 nil 0 0 0.00

Iridium_during_connect 17 160 37.09 SciCon 2708 35 1256.46

Iridium_during_xfer 223 223 648.56 nil 0 0 0.00

Transponder_ping 1 420 6.84 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 44 23 13.92

TT8 863 8 100.55

LPSleep 406 2 12.10

TT8_Active 682 8 79.48

TT8_Sampling 1110 28 422.95

TT8_CF8 205 41 115.70

TT8_Kalman 0 0 0.00

Analog_circuits 1210 12 203.90

GPS_charging 0 0 0.00

Compass 712 17 166.69

RAFOS 0 0 0.00

Transponder 11 30 4.73

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 -272.5 71 2007 558 598 0.0 0.0 0 117 0.00 0.00 -92.88 0.000 16386 0.000 0.000 72 2008 3168 3179 3158 0 0 0 0 0 0 15.08 28.83 15.09

122 -0.82 -272.5 71 2007 3180 3158 3.7 -9.8 17 153 12.57 2.45 -11.85 0.000 18948 0.294 0.086 2216 603 3928 3986 3871 0 0 0 0 0 0 14.42 13.02 14.64

190 -0.82 -272.5 2216 603 3982 3878 23.6 -17.8 29 197 0.00 2.35 0.00 0.000 3078 0.000 0.045 2214 2024 3930 3982 3878 0 0 0 0 0 0 14.88 14.76 14.89

261 -0.82 -272.5 2213 2024 3982 3878 36.2 -20.2 42 268 0.00 2.40 0.00 0.000 2308 0.000 0.071 2214 3411 3930 3982 3878 0 0 0 0 0 0 15.10 14.78 15.10

306 -0.82 -272.5 2214 3411 3982 3878 45.1 -18.5 50 312 0.00 2.33 0.00 0.000 3078 0.000 0.040 2214 2004 3929 3981 3878 0 0 0 0 0 0 14.95 14.82 14.97

376 -0.82 -272.5 2213 2004 3981 3878 56.6 -14.4 63 383 0.00 2.38 0.00 0.000 2564 0.000 0.066 2214 609 3929 3981 3878 0 0 0 0 0 0 15.11 14.81 15.11

430 -0.82 -272.5 2213 608 3981 3878 63.0 -10.2 73 437 0.00 2.33 0.00 0.000 3078 0.000 0.044 2214 2022 3929 3981 3878 0 0 0 0 0 0 14.93 14.80 14.95

501 -0.82 -272.5 2213 2023 3981 3878 70.5 -11.7 86 508 0.00 2.40 0.00 0.000 2308 0.000 0.073 2214 3413 3929 3981 3878 0 0 0 0 0 0 15.11 14.81 15.12

586 -0.82 -272.5 2213 3414 3981 3878 80.1 -11.8 101 593 0.00 2.30 0.00 0.000 3078 0.000 0.037 2214 2011 3930 3982 3878 0 0 0 0 0 0 15.00 14.90 15.01

656 -0.82 -272.5 2213 2011 3981 3878 89.5 -12.7 114 668 0.00 2.38 0.00 0.000 2564 0.000 0.065 2214 612 3929 3980 3878 0 0 0 0 0 0 15.13 14.82 15.13

685 -0.82 -272.5 2213 612 3987 3878 93.3 -12.1 118 692 0.00 2.30 0.00 0.000 3078 0.000 0.043 2214 2016 3929 3981 3878 0 0 0 0 0 0 14.92 14.81 14.93

756 -0.82 -272.5 2213 2018 3981 3878 101.0 -10.5 131 763 0.00 2.42 0.00 0.000 2308 0.000 0.071 2213 3411 3930 3982 3878 0 0 0 0 0 0 15.14 14.81 15.14

806 -0.82 -272.5 2213 3411 3981 3878 106.3 -9.6 140 813 0.00 2.30 0.00 0.000 3078 0.000 0.036 2214 2010 3929 3981 3878 0 0 0 0 0 0 15.00 14.91 15.02

876 -0.82 -272.5 2213 2008 3981 3878 113.5 -11.7 153 883 0.00 2.38 0.00 0.000 2564 0.000 0.065 2214 605 3929 3981 3878 0 0 0 0 0 0 15.14 14.83 15.14

910 -0.82 -272.5 2213 607 3981 3878 117.4 -11.0 159 917 0.00 2.33 0.00 0.000 3078 0.000 0.044 2214 2024 3929 3981 3878 0 0 0 0 0 0 14.95 14.81 14.97

974 end dive: BOTTOM_OBSTACLE_DETECTED

state 974 begin apogee

980 -0.19 0.0 2213 1925 3981 3879 124.7 -11.5 171 1192 1.02 0.00 200.38 0.979 10246 0.132 0.000 2424 1924 2812 2859 2765 0 0 0 0 0 0 14.57 14.31 13.83

1193 end apogee: CONTROL_FINISHED_OK

state 1194 begin climb

1196 0.82 272.5 2424 1924 2859 2765 136.9 0.0 209 1415 1.45 2.47 206.30 0.978 11012 0.087 0.063 2736 3359 1700 1753 1647 0 0 0 0 0 0 14.54 14.31 13.85

1428 0.93 363.8 2735 3359 1750 1646 126.2 7.7 249 1509 0.15 2.30 72.35 0.962 11270 0.103 0.038 2810 1982 1328 1388 1268 0 0 0 0 0 0 14.64 14.57 13.84

1572 0.93 363.8 2809 1982 1386 1268 113.0 10.0 275 1579 0.08 2.45 0.00 0.000 4612 0.257 0.072 2790 564 1327 1387 1268 0 0 0 0 0 0 14.58 14.60 14.67

1638 0.96 393.2 2790 564 1386 1268 107.1 9.2 287 1668 0.00 2.30 24.20 0.938 11270 0.000 0.037 2790 1974 1208 1269 1148 0 0 0 0 0 0 14.87 14.78 13.97

1731 0.98 407.2 2790 1974 1270 1148 98.7 9.6 304 1750 0.00 2.42 13.18 0.884 10500 0.000 0.065 2790 3359 1151 1212 1091 0 0 0 0 0 0 15.00 14.67 13.97

1773 0.98 407.2 2789 3360 1212 1091 94.2 10.7 311 1780 0.00 2.33 0.00 0.000 3078 0.000 0.041 2790 1961 1152 1213 1091 0 0 0 0 0 0 14.80 14.70 14.81

1844 1.03 443.6 2790 1961 1212 1091 87.7 9.1 324 1884 0.00 2.45 31.38 0.929 10756 0.000 0.075 2790 565 1004 1061 948 0 0 0 0 0 0 15.03 14.64 14.01

1928 1.09 491.4 2790 565 1061 944 80.1 8.8 339 1979 0.12 2.28 40.67 0.930 11270 0.118 0.036 2854 1970 807 847 767 0 0 0 0 0 0 14.73 14.73 13.97

2043 1.09 491.4 2853 1972 849 759 68.2 11.9 360 2050 0.05 2.40 0.00 0.000 4356 0.311 0.063 2842 3358 803 849 758 0 0 0 0 0 0 14.62 14.65 14.76

2073 1.09 491.4 2842 3359 849 757 64.1 13.6 365 2080 0.00 2.35 0.00 0.000 5126 0.000 0.042 2842 1959 802 849 756 0 0 0 0 0 0 14.81 14.71 14.83

2143 1.09 491.4 2841 1958 850 755 55.4 12.1 378 2150 0.00 2.42 0.00 0.000 4612 0.000 0.075 2842 561 802 850 755 0 0 0 0 0 0 15.04 14.73 15.05

2193 1.09 498.9 2841 560 850 754 50.3 9.8 387 2206 0.00 2.28 7.28 0.793 9222 0.000 0.036 2842 1969 777 820 734 0 0 0 0 0 0 14.86 14.79 14.00

2270 1.22 602.1 2841 1968 820 728 43.7 7.4 401 2316 0.08 2.45 39.45 0.901 10500 0.180 0.067 2875 3355 597 585 610 0 0 0 0 0 0 14.78 14.66 14.00

2355 1.31 674.6 2874 3355 584 603 36.6 8.2 416 2362 0.08 2.30 0.00 0.000 3078 0.177 0.037 2913 1962 593 584 602 0 0 0 0 0 0 14.71 14.76 14.83

2427 1.31 674.6 2913 1961 584 596 29.0 12.1 429 2433 0.00 2.40 0.00 0.000 4612 0.000 0.073 2914 564 589 584 595 0 0 0 0 0 0 15.03 14.63 15.04

2450 1.31 674.6 2913 564 583 594 25.8 12.3 433 2457 0.00 2.28 0.00 0.000 5126 0.000 0.038 2914 1968 589 585 594 0 0 0 0 0 0 14.91 14.83 14.93

2522 1.36 713.6 2913 1968 584 591 18.1 9.0 446 2528 0.00 2.40 0.00 0.000 2308 0.000 0.067 2913 3360 587 584 591 0 0 0 0 0 0 15.07 14.66 15.08

2545 1.36 713.6 2913 3360 584 590 15.1 11.8 450 2552 0.00 2.33 0.00 0.000 3078 0.000 0.044 2914 1960 586 584 589 0 0 0 0 0 0 14.93 14.83 14.95

2617 1.46 794.3 2913 1959 584 586 7.2 8.0 463 2624 0.08 2.42 0.00 0.000 2564 0.180 0.078 2967 558 583 581 586 0 0 0 0 0 0 14.85 14.66 14.88

2644 end climb: SURFACE_DEPTH_REACHED

state 2644 begin surface coast

2655 end surface coast: CONTROL_FINISHED_OK

state 2655 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	353	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	30	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	32	ALTIM_PULSE	3
D_TGT	1000	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	2
D_ABORT	1050	SM_CC	542.59473	ROLL_MAXERRORS	1	XPDR_VALID	2
D_NO_BLEED	29	N_FILEKB	4	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_BOOST	0	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	CALL_NDIVES	1	VBD_MIN	600	INT_PRESSURE_YINT	-0.85000002
D_FINISH	0	COMM_SEQ	0	VBD_MAX	3960	DEEPGLIDER	0
D_PITCH	0	PROTOCOL	9	C_VBD	2812	MOTHERBOARD	4
D_SAFE	0	N_NOCOMM	1	VBD_DBAND	2	DEVICE1	-1
D_CALL	0	NOCOMM_ACTION	259	VBD_CNV	-0.245296	DEVICE2	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_DIVE	335	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_MISSION	345	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_ABORT	360	CAPMAXSIZE	400000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN	500	HEAPDBG	0	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_NO_W	120	N_GPS	100840	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_LOITER	0	T_RSLEEP	2	DBDW	0	COMPASS_DEVICE	17
T_EPIRB	0	STROBE	0	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_BATHY	0	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	PHONE_DEVICE	49
USE_ICE	0	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	AH0_24V	310	RAFOS_DEVICE	-1
D_OFFGRID	100	PITCH_MIN	139	AH0_10V	0	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3926	MINV_24V	11.5	SIM_W	0
RELAUNCH	0	C_PITCH	2490	MINV_10V	10	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_DBAND	0.0099999998	MAXI_24V	3	SEABIRD_T_G	0.0043368991
MAX_BUOY	280	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	230419,014657,-3345.2161,2716.5205,31,1.0,37,-27.7,2.2,227.7,10,8.7	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3356.432,2716.008
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.69	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-59.4	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	230419,015534,-3345.6328,2716.0083,24,1.0,43,-27.7,0.0,211.6,10,9.9	MHEAD_RNG_PITCHd_Wd	207.7,20000,-13.0,-9.950,-16.26,4178
SPEED_LIMITS	0.172,0.341	D_GRID	1000

FINISH	1.6,1.023606	SC_FREEKB	3737504
SM_CCo	2742,0.00,0.000,0,0,584,546.76	_24V_AH	13.02,177.205
SM_GC	0.66,12.90,2.40,0.00,0.044,0.033,0.000,149,2005,584,-7.26,-1.27,546.76,0,0,0,0,0,0,14.85,14.90,14.94	_10V_AH	13.58,0.000
IRIDIUM_FIX	-3327.96,2709.81,230419,005846	FG_AHR_24Vo	0.000
TT8_MAMPS	0.019474,0.854609	FG_AHR_10Vo	0.000
HUMID	59.84	MEM	339556
INTERNAL_PRESSURE	9.28711	DATA_FILE_SIZE	16798,470
TCM_TEMP	24.00	CAP_FILE_SIZE	94330,0
XPDR_PINGS	0	CFSIZE	1023623168,974012416
ALTIM_TOP_PING	19.9,999.0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	90.7,48.5	GPS	230419,024300,-3347.490,2714.295,30,0.8,39,-27.8,2.2,210.5,11,9.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	310	115.55	nil	0	0	0.00
Roll_motor	80	116	121.95	nil	0	0	0.00
VBD_pump_during_apogee	635	979	8097.96	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	23	32	10.13	nil	0	0	0.00
Iridium_during_connect	17	160	37.09	SciCon	2708	35	1256.46
Iridium_during_xfer	223	223	648.56	nil	0	0	0.00
Transponder_ping	1	420	6.84	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	44	23	13.92
TT8	863	8	100.55
LPSleep	406	2	12.10
TT8_Active	682	8	79.48
TT8_Sampling	1110	28	422.95
TT8_CF8	205	41	115.70
TT8_Kalman	0	0	0.00
Analog_circuits	1210	12	203.90
GPS_charging	0	0	0.00
Compass	712	17	166.69
RAFOS	0	0	0.00
Transponder	11	30	4.73

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	-272.5	71	2007	558	598	0.0	0.0	0	117	0.00	0.00	-92.88	0.000	16386	0.000	0.000	72	2008	3168	3179	3158	0	0	0	0	0	0	15.08	28.83	15.09
122	-0.82	-272.5	71	2007	3180	3158	3.7	-9.8	17	153	12.57	2.45	-11.85	0.000	18948	0.294	0.086	2216	603	3928	3986	3871	0	0	0	0	0	0	14.42	13.02	14.64
190	-0.82	-272.5	2216	603	3982	3878	23.6	-17.8	29	197	0.00	2.35	0.00	0.000	3078	0.000	0.045	2214	2024	3930	3982	3878	0	0	0	0	0	0	14.88	14.76	14.89
261	-0.82	-272.5	2213	2024	3982	3878	36.2	-20.2	42	268	0.00	2.40	0.00	0.000	2308	0.000	0.071	2214	3411	3930	3982	3878	0	0	0	0	0	0	15.10	14.78	15.10
306	-0.82	-272.5	2214	3411	3982	3878	45.1	-18.5	50	312	0.00	2.33	0.00	0.000	3078	0.000	0.040	2214	2004	3929	3981	3878	0	0	0	0	0	0	14.95	14.82	14.97
376	-0.82	-272.5	2213	2004	3981	3878	56.6	-14.4	63	383	0.00	2.38	0.00	0.000	2564	0.000	0.066	2214	609	3929	3981	3878	0	0	0	0	0	0	15.11	14.81	15.11
430	-0.82	-272.5	2213	608	3981	3878	63.0	-10.2	73	437	0.00	2.33	0.00	0.000	3078	0.000	0.044	2214	2022	3929	3981	3878	0	0	0	0	0	0	14.93	14.80	14.95
501	-0.82	-272.5	2213	2023	3981	3878	70.5	-11.7	86	508	0.00	2.40	0.00	0.000	2308	0.000	0.073	2214	3413	3929	3981	3878	0	0	0	0	0	0	15.11	14.81	15.12
586	-0.82	-272.5	2213	3414	3981	3878	80.1	-11.8	101	593	0.00	2.30	0.00	0.000	3078	0.000	0.037	2214	2011	3930	3982	3878	0	0	0	0	0	0	15.00	14.90	15.01
656	-0.82	-272.5	2213	2011	3981	3878	89.5	-12.7	114	668	0.00	2.38	0.00	0.000	2564	0.000	0.065	2214	612	3929	3980	3878	0	0	0	0	0	0	15.13	14.82	15.13
685	-0.82	-272.5	2213	612	3987	3878	93.3	-12.1	118	692	0.00	2.30	0.00	0.000	3078	0.000	0.043	2214	2016	3929	3981	3878	0	0	0	0	0	0	14.92	14.81	14.93
756	-0.82	-272.5	2213	2018	3981	3878	101.0	-10.5	131	763	0.00	2.42	0.00	0.000	2308	0.000	0.071	2213	3411	3930	3982	3878	0	0	0	0	0	0	15.14	14.81	15.14
806	-0.82	-272.5	2213	3411	3981	3878	106.3	-9.6	140	813	0.00	2.30	0.00	0.000	3078	0.000	0.036	2214	2010	3929	3981	3878	0	0	0	0	0	0	15.00	14.91	15.02
876	-0.82	-272.5	2213	2008	3981	3878	113.5	-11.7	153	883	0.00	2.38	0.00	0.000	2564	0.000	0.065	2214	605	3929	3981	3878	0	0	0	0	0	0	15.14	14.83	15.14
910	-0.82	-272.5	2213	607	3981	3878	117.4	-11.0	159	917	0.00	2.33	0.00	0.000	3078	0.000	0.044	2214	2024	3929	3981	3878	0	0	0	0	0	0	14.95	14.81	14.97
974	end dive: BOTTOM_OBSTACLE_DETECTED
state	974	begin apogee
980	-0.19	0.0	2213	1925	3981	3879	124.7	-11.5	171	1192	1.02	0.00	200.38	0.979	10246	0.132	0.000	2424	1924	2812	2859	2765	0	0	0	0	0	0	14.57	14.31	13.83
1193	end apogee: CONTROL_FINISHED_OK
state	1194	begin climb
1196	0.82	272.5	2424	1924	2859	2765	136.9	0.0	209	1415	1.45	2.47	206.30	0.978	11012	0.087	0.063	2736	3359	1700	1753	1647	0	0	0	0	0	0	14.54	14.31	13.85
1428	0.93	363.8	2735	3359	1750	1646	126.2	7.7	249	1509	0.15	2.30	72.35	0.962	11270	0.103	0.038	2810	1982	1328	1388	1268	0	0	0	0	0	0	14.64	14.57	13.84
1572	0.93	363.8	2809	1982	1386	1268	113.0	10.0	275	1579	0.08	2.45	0.00	0.000	4612	0.257	0.072	2790	564	1327	1387	1268	0	0	0	0	0	0	14.58	14.60	14.67
1638	0.96	393.2	2790	564	1386	1268	107.1	9.2	287	1668	0.00	2.30	24.20	0.938	11270	0.000	0.037	2790	1974	1208	1269	1148	0	0	0	0	0	0	14.87	14.78	13.97
1731	0.98	407.2	2790	1974	1270	1148	98.7	9.6	304	1750	0.00	2.42	13.18	0.884	10500	0.000	0.065	2790	3359	1151	1212	1091	0	0	0	0	0	0	15.00	14.67	13.97
1773	0.98	407.2	2789	3360	1212	1091	94.2	10.7	311	1780	0.00	2.33	0.00	0.000	3078	0.000	0.041	2790	1961	1152	1213	1091	0	0	0	0	0	0	14.80	14.70	14.81
1844	1.03	443.6	2790	1961	1212	1091	87.7	9.1	324	1884	0.00	2.45	31.38	0.929	10756	0.000	0.075	2790	565	1004	1061	948	0	0	0	0	0	0	15.03	14.64	14.01
1928	1.09	491.4	2790	565	1061	944	80.1	8.8	339	1979	0.12	2.28	40.67	0.930	11270	0.118	0.036	2854	1970	807	847	767	0	0	0	0	0	0	14.73	14.73	13.97
2043	1.09	491.4	2853	1972	849	759	68.2	11.9	360	2050	0.05	2.40	0.00	0.000	4356	0.311	0.063	2842	3358	803	849	758	0	0	0	0	0	0	14.62	14.65	14.76
2073	1.09	491.4	2842	3359	849	757	64.1	13.6	365	2080	0.00	2.35	0.00	0.000	5126	0.000	0.042	2842	1959	802	849	756	0	0	0	0	0	0	14.81	14.71	14.83
2143	1.09	491.4	2841	1958	850	755	55.4	12.1	378	2150	0.00	2.42	0.00	0.000	4612	0.000	0.075	2842	561	802	850	755	0	0	0	0	0	0	15.04	14.73	15.05
2193	1.09	498.9	2841	560	850	754	50.3	9.8	387	2206	0.00	2.28	7.28	0.793	9222	0.000	0.036	2842	1969	777	820	734	0	0	0	0	0	0	14.86	14.79	14.00
2270	1.22	602.1	2841	1968	820	728	43.7	7.4	401	2316	0.08	2.45	39.45	0.901	10500	0.180	0.067	2875	3355	597	585	610	0	0	0	0	0	0	14.78	14.66	14.00
2355	1.31	674.6	2874	3355	584	603	36.6	8.2	416	2362	0.08	2.30	0.00	0.000	3078	0.177	0.037	2913	1962	593	584	602	0	0	0	0	0	0	14.71	14.76	14.83
2427	1.31	674.6	2913	1961	584	596	29.0	12.1	429	2433	0.00	2.40	0.00	0.000	4612	0.000	0.073	2914	564	589	584	595	0	0	0	0	0	0	15.03	14.63	15.04
2450	1.31	674.6	2913	564	583	594	25.8	12.3	433	2457	0.00	2.28	0.00	0.000	5126	0.000	0.038	2914	1968	589	585	594	0	0	0	0	0	0	14.91	14.83	14.93
2522	1.36	713.6	2913	1968	584	591	18.1	9.0	446	2528	0.00	2.40	0.00	0.000	2308	0.000	0.067	2913	3360	587	584	591	0	0	0	0	0	0	15.07	14.66	15.08
2545	1.36	713.6	2913	3360	584	590	15.1	11.8	450	2552	0.00	2.33	0.00	0.000	3078	0.000	0.044	2914	1960	586	584	589	0	0	0	0	0	0	14.93	14.83	14.95
2617	1.46	794.3	2913	1959	584	586	7.2	8.0	463	2624	0.08	2.42	0.00	0.000	2564	0.180	0.078	2967	558	583	581	586	0	0	0	0	0	0	14.85	14.66	14.88
2644	end climb: SURFACE_DEPTH_REACHED
state	2644	begin surface coast
2655	end surface coast: CONTROL_FINISHED_OK
state	2655	begin surface