Glider dive log

SOSCEx Mar19 * SG573 * Dive index * Mission links * Dive 354 * 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 354 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 35 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 33 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 35 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 33 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 354 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 230419,024300,-3347.4905,2714.2954,30,0.8,39,-27.8,2.2,210.5,11,9.8 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3358.708,2713.756

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.67 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -57.9 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 230419,025203,-3347.9087,2713.7563,19,1.0,19,-27.8,2.0,214.3,10,9.6 MHEAD_RNG_PITCHd_Wd 207.8,20000,-13.0,-9.950,-16.26,4178

SPEED_LIMITS 0.172,0.341 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.3,1.023607 SC_FREEKB 3736992

SM_CCo 3010,0.00,0.000,0,0,594,544.07 _24V_AH 13.00,177.452

SM_GC 0.70,12.35,2.40,0.00,0.042,0.045,0.000,138,1998,594,-7.27,-1.53,544.07,0,0,0,0,0,0,14.90,14.90,14.97 _10V_AH 13.02,0.000

IRIDIUM_FIX -3330.55,2716.79,230419,015008 FG_AHR_24Vo 0.000

TT8_MAMPS 0.018725,0.909286 FG_AHR_10Vo 0.000

HUMID 59.41 MEM 339556

INTERNAL_PRESSURE 9.26758 DATA_FILE_SIZE 16786,526

TCM_TEMP 23.80 CAP_FILE_SIZE 98318,0

XPDR_PINGS 0 CFSIZE 1023623168,973897728

ALTIM_TOP_PING 19.7,19.1 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

ALTIM_BOTTOM_PING 100.4,56.6 GPS 230419,034355,-3349.915,2711.810,24,1.2,37,-27.8,2.0,235.5,8,9.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 299 107.99 nil 0 0 0.00

Roll_motor 71 141 130.72 nil 0 0 0.00

VBD_pump_during_apogee 632 1006 8282.50 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 41 32 17.62 nil 0 0 0.00

Iridium_during_connect 40 160 84.73 SciCon 2983 35 1381.54

Iridium_during_xfer 233 223 678.33 nil 0 0 0.00

Transponder_ping 1 420 8.19 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 23 6.19

TT8 978 8 109.21

LPSleep 472 2 13.49

TT8_Active 682 8 76.10

TT8_Sampling 1221 28 446.09

TT8_CF8 206 41 111.76

TT8_Kalman 0 0 0.00

Analog_circuits 1239 12 200.11

GPS_charging 0 0 0.00

Compass 796 17 178.59

RAFOS 0 0 0.00

Transponder 13 30 5.14

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 2018 590 576 0.0 0.0 0 117 0.00 0.00 -92.72 0.000 16386 0.000 0.000 73 2018 3141 3140 3142 0 0 0 0 0 0 15.06 28.83 15.07

122 -0.82 -272.5 72 2018 3142 3141 3.5 -9.6 17 153 12.62 2.45 -12.48 0.000 18948 0.300 0.085 2216 609 3930 3987 3873 0 0 0 0 0 0 14.39 13.00 14.60

196 -0.82 -272.5 2216 609 3984 3879 24.2 -17.3 30 203 0.00 2.33 0.00 0.000 3078 0.000 0.044 2214 2021 3931 3983 3879 0 0 0 0 0 0 14.94 14.83 14.97

267 -0.82 -272.5 2214 2021 3983 3879 38.2 -22.4 43 274 0.00 2.40 0.00 0.000 2308 0.000 0.073 2214 3416 3931 3983 3879 0 0 0 0 0 0 15.09 14.77 15.09

291 -0.82 -272.5 2214 3417 3983 3879 43.4 -19.8 47 297 0.00 2.33 0.00 0.000 3078 0.000 0.038 2214 2008 3933 3983 3883 0 0 0 0 0 0 14.96 14.84 14.97

362 -0.82 -272.5 2214 2008 3983 3879 56.3 -17.0 60 368 0.00 2.45 0.00 0.000 2308 0.000 0.070 2213 3411 3931 3983 3879 0 0 0 0 0 0 15.10 14.78 15.10

386 -0.82 -272.5 2213 3411 3983 3879 60.4 -15.2 64 392 0.00 2.30 0.00 0.000 3078 0.000 0.038 2214 2014 3930 3982 3879 0 0 0 0 0 0 14.97 14.85 14.98

455 -0.82 -272.5 2213 2014 3983 3879 69.0 -11.2 77 462 0.00 2.40 0.00 0.000 2564 0.000 0.067 2213 607 3931 3983 3879 0 0 0 0 0 0 15.13 14.75 15.13

514 -0.82 -272.5 2213 607 3983 3879 75.9 -11.9 88 521 0.00 2.30 0.00 0.000 3078 0.000 0.043 2213 2013 3931 3983 3879 0 0 0 0 0 0 14.84 14.74 14.85

585 -0.82 -272.5 2213 2013 3983 3878 84.4 -11.8 101 592 0.00 2.40 0.00 0.000 2308 0.000 0.072 2213 3409 3931 3983 3879 0 0 0 0 0 0 15.14 14.76 15.14

648 -0.82 -272.5 2213 3410 3986 3879 90.8 -9.9 112 654 0.00 2.30 0.00 0.000 3078 0.000 0.035 2213 2007 3931 3983 3879 0 0 0 0 0 0 15.00 14.91 15.02

717 -0.82 -272.5 2213 2007 3983 3879 98.4 -10.3 125 723 0.00 0.00 0.00 0.000 2054 0.000 0.000 2213 2007 3931 3983 3879 0 0 0 0 0 0 15.15 15.15 15.15

791 -0.82 -272.5 2213 2007 3983 3879 106.1 -11.4 138 796 0.00 0.00 0.00 0.000 2054 0.000 0.000 2213 2006 3931 3983 3879 0 0 0 0 0 0 15.15 15.15 15.15

859 -0.82 -272.5 2213 2007 3983 3879 114.1 -11.1 151 866 0.00 2.45 0.00 0.000 2308 0.000 0.070 2213 3414 3931 3984 3879 0 0 0 0 0 0 15.15 14.68 15.16

888 -0.82 -272.5 2213 3414 3983 3879 117.2 -10.6 156 895 0.00 2.30 0.00 0.000 3078 0.000 0.036 2213 2004 3931 3983 3879 0 0 0 0 0 0 15.01 14.92 15.02

959 -0.82 -272.5 2213 2004 3983 3879 124.7 -10.8 169 965 0.00 0.00 0.00 0.000 2054 0.000 0.000 2213 2004 3931 3983 3879 0 0 0 0 0 0 15.14 15.16 15.16

1027 -0.82 -272.5 2213 2004 3983 3880 132.1 -10.8 182 1034 0.00 2.35 0.00 0.000 2564 0.000 0.064 2213 613 3931 3983 3879 0 0 0 0 0 0 15.16 14.84 15.17

1071 -0.82 -272.5 2213 613 3983 3879 137.1 -12.3 190 1078 0.00 2.30 0.00 0.000 3078 0.000 0.042 2213 2023 3931 3983 3879 0 0 0 0 0 0 14.99 14.88 15.01

1113 end dive: BOTTOM_OBSTACLE_DETECTED

state 1113 begin apogee

1120 -0.19 0.0 2213 1938 3983 3879 142.5 -12.3 198 1330 1.00 0.00 199.62 1.007 10246 0.134 0.000 2421 1935 2813 2861 2766 0 0 0 0 0 0 14.69 14.30 13.82

1332 end apogee: CONTROL_FINISHED_OK

state 1332 begin climb

1334 0.82 272.5 2421 1935 2861 2767 156.7 0.0 236 1552 1.48 0.00 205.68 1.002 10758 0.081 0.000 2741 1935 1700 1754 1646 0 0 0 0 0 0 14.54 14.31 13.83

1617 0.90 340.9 2741 1935 1750 1644 140.4 8.3 286 1680 0.08 2.47 54.70 0.981 10500 0.176 0.063 2797 3358 1422 1479 1365 0 0 0 0 0 0 14.61 14.33 13.86

1714 0.90 340.9 2799 3358 1476 1365 129.5 11.9 303 1721 0.08 2.28 0.00 0.000 5126 0.264 0.041 2782 1993 1420 1476 1364 0 0 0 0 0 0 14.54 14.69 14.71

1784 0.91 350.6 2782 1994 1476 1364 122.4 9.7 316 1802 0.00 2.50 9.05 0.862 8708 0.000 0.074 2782 560 1382 1438 1326 0 0 0 0 0 0 14.99 14.66 13.93

1846 0.91 350.6 2782 559 1438 1326 115.4 10.7 327 1853 0.00 2.30 0.00 0.000 1030 0.000 0.038 2782 1972 1381 1438 1325 0 0 0 0 0 0 14.81 14.74 14.83

1918 0.94 376.2 2782 1972 1437 1326 108.4 9.3 340 1947 0.00 2.38 21.73 0.935 10500 0.000 0.064 2782 3361 1279 1340 1218 0 0 0 0 0 0 15.04 14.51 14.00

1976 0.95 382.6 2782 3362 1339 1218 103.1 9.8 350 1989 0.00 2.33 6.68 0.822 11270 0.000 0.041 2778 1960 1254 1314 1194 0 0 0 0 0 0 14.83 14.73 13.97

2053 1.05 465.5 2782 1960 1314 1193 96.4 7.9 364 2133 0.10 2.45 68.65 0.965 10756 0.141 0.075 2840 570 913 963 864 0 0 0 0 0 0 14.76 14.55 13.92

2180 1.05 465.5 2840 569 964 860 81.9 11.1 387 2187 0.00 2.28 0.00 0.000 5126 0.000 0.037 2841 1967 911 964 858 0 0 0 0 0 0 14.71 14.64 14.73

2251 1.05 465.5 2841 1967 963 855 74.5 10.9 400 2258 0.00 2.40 0.00 0.000 4356 0.000 0.066 2841 3354 909 964 855 0 0 0 0 0 0 15.01 14.71 15.01

2271 1.05 465.5 2840 3353 964 854 72.0 11.9 403 2277 0.00 2.33 0.00 0.000 5126 0.000 0.041 2840 1963 907 961 854 0 0 0 0 0 0 14.82 14.68 14.83

2341 1.05 465.5 2840 1963 964 854 65.0 10.1 416 2348 0.00 2.42 0.00 0.000 4612 0.000 0.076 2840 565 909 964 854 0 0 0 0 0 0 15.06 14.74 15.05

2396 1.12 517.4 2840 564 963 853 59.7 8.7 426 2447 0.00 2.28 44.17 0.928 11270 0.000 0.037 2840 1965 699 713 685 0 0 0 0 0 0 14.88 14.80 14.00

2511 1.13 528.7 2840 1965 717 674 50.0 9.7 447 2529 0.00 2.40 10.35 0.836 10500 0.000 0.067 2841 3360 655 669 641 0 0 0 0 0 0 15.00 14.71 14.00

2562 1.15 541.2 2840 3361 668 636 44.7 9.6 456 2581 0.00 2.33 12.23 0.849 11270 0.000 0.039 2841 1961 605 610 600 0 0 0 0 0 0 14.88 14.77 13.97

2644 1.15 541.2 2840 1960 609 590 36.9 10.8 471 2651 0.00 2.40 0.00 0.000 2564 0.000 0.072 2840 562 599 609 590 0 0 0 0 0 0 15.02 14.64 15.02

2903 end climb: SURFACE_DEPTH_REACHED

state 2903 begin surface coast

2925 end surface coast: CONTROL_FINISHED_OK

state 2925 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	354	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	35	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	33	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	230419,024300,-3347.4905,2714.2954,30,0.8,39,-27.8,2.2,210.5,11,9.8	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3358.708,2713.756
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.67	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-57.9	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	230419,025203,-3347.9087,2713.7563,19,1.0,19,-27.8,2.0,214.3,10,9.6	MHEAD_RNG_PITCHd_Wd	207.8,20000,-13.0,-9.950,-16.26,4178
SPEED_LIMITS	0.172,0.341	D_GRID	1000

FINISH	0.3,1.023607	SC_FREEKB	3736992
SM_CCo	3010,0.00,0.000,0,0,594,544.07	_24V_AH	13.00,177.452
SM_GC	0.70,12.35,2.40,0.00,0.042,0.045,0.000,138,1998,594,-7.27,-1.53,544.07,0,0,0,0,0,0,14.90,14.90,14.97	_10V_AH	13.02,0.000
IRIDIUM_FIX	-3330.55,2716.79,230419,015008	FG_AHR_24Vo	0.000
TT8_MAMPS	0.018725,0.909286	FG_AHR_10Vo	0.000
HUMID	59.41	MEM	339556
INTERNAL_PRESSURE	9.26758	DATA_FILE_SIZE	16786,526
TCM_TEMP	23.80	CAP_FILE_SIZE	98318,0
XPDR_PINGS	0	CFSIZE	1023623168,973897728
ALTIM_TOP_PING	19.7,19.1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	100.4,56.6	GPS	230419,034355,-3349.915,2711.810,24,1.2,37,-27.8,2.0,235.5,8,9.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	299	107.99	nil	0	0	0.00
Roll_motor	71	141	130.72	nil	0	0	0.00
VBD_pump_during_apogee	632	1006	8282.50	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	41	32	17.62	nil	0	0	0.00
Iridium_during_connect	40	160	84.73	SciCon	2983	35	1381.54
Iridium_during_xfer	233	223	678.33	nil	0	0	0.00
Transponder_ping	1	420	8.19	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	23	6.19
TT8	978	8	109.21
LPSleep	472	2	13.49
TT8_Active	682	8	76.10
TT8_Sampling	1221	28	446.09
TT8_CF8	206	41	111.76
TT8_Kalman	0	0	0.00
Analog_circuits	1239	12	200.11
GPS_charging	0	0	0.00
Compass	796	17	178.59
RAFOS	0	0	0.00
Transponder	13	30	5.14

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	2018	590	576	0.0	0.0	0	117	0.00	0.00	-92.72	0.000	16386	0.000	0.000	73	2018	3141	3140	3142	0	0	0	0	0	0	15.06	28.83	15.07
122	-0.82	-272.5	72	2018	3142	3141	3.5	-9.6	17	153	12.62	2.45	-12.48	0.000	18948	0.300	0.085	2216	609	3930	3987	3873	0	0	0	0	0	0	14.39	13.00	14.60
196	-0.82	-272.5	2216	609	3984	3879	24.2	-17.3	30	203	0.00	2.33	0.00	0.000	3078	0.000	0.044	2214	2021	3931	3983	3879	0	0	0	0	0	0	14.94	14.83	14.97
267	-0.82	-272.5	2214	2021	3983	3879	38.2	-22.4	43	274	0.00	2.40	0.00	0.000	2308	0.000	0.073	2214	3416	3931	3983	3879	0	0	0	0	0	0	15.09	14.77	15.09
291	-0.82	-272.5	2214	3417	3983	3879	43.4	-19.8	47	297	0.00	2.33	0.00	0.000	3078	0.000	0.038	2214	2008	3933	3983	3883	0	0	0	0	0	0	14.96	14.84	14.97
362	-0.82	-272.5	2214	2008	3983	3879	56.3	-17.0	60	368	0.00	2.45	0.00	0.000	2308	0.000	0.070	2213	3411	3931	3983	3879	0	0	0	0	0	0	15.10	14.78	15.10
386	-0.82	-272.5	2213	3411	3983	3879	60.4	-15.2	64	392	0.00	2.30	0.00	0.000	3078	0.000	0.038	2214	2014	3930	3982	3879	0	0	0	0	0	0	14.97	14.85	14.98
455	-0.82	-272.5	2213	2014	3983	3879	69.0	-11.2	77	462	0.00	2.40	0.00	0.000	2564	0.000	0.067	2213	607	3931	3983	3879	0	0	0	0	0	0	15.13	14.75	15.13
514	-0.82	-272.5	2213	607	3983	3879	75.9	-11.9	88	521	0.00	2.30	0.00	0.000	3078	0.000	0.043	2213	2013	3931	3983	3879	0	0	0	0	0	0	14.84	14.74	14.85
585	-0.82	-272.5	2213	2013	3983	3878	84.4	-11.8	101	592	0.00	2.40	0.00	0.000	2308	0.000	0.072	2213	3409	3931	3983	3879	0	0	0	0	0	0	15.14	14.76	15.14
648	-0.82	-272.5	2213	3410	3986	3879	90.8	-9.9	112	654	0.00	2.30	0.00	0.000	3078	0.000	0.035	2213	2007	3931	3983	3879	0	0	0	0	0	0	15.00	14.91	15.02
717	-0.82	-272.5	2213	2007	3983	3879	98.4	-10.3	125	723	0.00	0.00	0.00	0.000	2054	0.000	0.000	2213	2007	3931	3983	3879	0	0	0	0	0	0	15.15	15.15	15.15
791	-0.82	-272.5	2213	2007	3983	3879	106.1	-11.4	138	796	0.00	0.00	0.00	0.000	2054	0.000	0.000	2213	2006	3931	3983	3879	0	0	0	0	0	0	15.15	15.15	15.15
859	-0.82	-272.5	2213	2007	3983	3879	114.1	-11.1	151	866	0.00	2.45	0.00	0.000	2308	0.000	0.070	2213	3414	3931	3984	3879	0	0	0	0	0	0	15.15	14.68	15.16
888	-0.82	-272.5	2213	3414	3983	3879	117.2	-10.6	156	895	0.00	2.30	0.00	0.000	3078	0.000	0.036	2213	2004	3931	3983	3879	0	0	0	0	0	0	15.01	14.92	15.02
959	-0.82	-272.5	2213	2004	3983	3879	124.7	-10.8	169	965	0.00	0.00	0.00	0.000	2054	0.000	0.000	2213	2004	3931	3983	3879	0	0	0	0	0	0	15.14	15.16	15.16
1027	-0.82	-272.5	2213	2004	3983	3880	132.1	-10.8	182	1034	0.00	2.35	0.00	0.000	2564	0.000	0.064	2213	613	3931	3983	3879	0	0	0	0	0	0	15.16	14.84	15.17
1071	-0.82	-272.5	2213	613	3983	3879	137.1	-12.3	190	1078	0.00	2.30	0.00	0.000	3078	0.000	0.042	2213	2023	3931	3983	3879	0	0	0	0	0	0	14.99	14.88	15.01
1113	end dive: BOTTOM_OBSTACLE_DETECTED
state	1113	begin apogee
1120	-0.19	0.0	2213	1938	3983	3879	142.5	-12.3	198	1330	1.00	0.00	199.62	1.007	10246	0.134	0.000	2421	1935	2813	2861	2766	0	0	0	0	0	0	14.69	14.30	13.82
1332	end apogee: CONTROL_FINISHED_OK
state	1332	begin climb
1334	0.82	272.5	2421	1935	2861	2767	156.7	0.0	236	1552	1.48	0.00	205.68	1.002	10758	0.081	0.000	2741	1935	1700	1754	1646	0	0	0	0	0	0	14.54	14.31	13.83
1617	0.90	340.9	2741	1935	1750	1644	140.4	8.3	286	1680	0.08	2.47	54.70	0.981	10500	0.176	0.063	2797	3358	1422	1479	1365	0	0	0	0	0	0	14.61	14.33	13.86
1714	0.90	340.9	2799	3358	1476	1365	129.5	11.9	303	1721	0.08	2.28	0.00	0.000	5126	0.264	0.041	2782	1993	1420	1476	1364	0	0	0	0	0	0	14.54	14.69	14.71
1784	0.91	350.6	2782	1994	1476	1364	122.4	9.7	316	1802	0.00	2.50	9.05	0.862	8708	0.000	0.074	2782	560	1382	1438	1326	0	0	0	0	0	0	14.99	14.66	13.93
1846	0.91	350.6	2782	559	1438	1326	115.4	10.7	327	1853	0.00	2.30	0.00	0.000	1030	0.000	0.038	2782	1972	1381	1438	1325	0	0	0	0	0	0	14.81	14.74	14.83
1918	0.94	376.2	2782	1972	1437	1326	108.4	9.3	340	1947	0.00	2.38	21.73	0.935	10500	0.000	0.064	2782	3361	1279	1340	1218	0	0	0	0	0	0	15.04	14.51	14.00
1976	0.95	382.6	2782	3362	1339	1218	103.1	9.8	350	1989	0.00	2.33	6.68	0.822	11270	0.000	0.041	2778	1960	1254	1314	1194	0	0	0	0	0	0	14.83	14.73	13.97
2053	1.05	465.5	2782	1960	1314	1193	96.4	7.9	364	2133	0.10	2.45	68.65	0.965	10756	0.141	0.075	2840	570	913	963	864	0	0	0	0	0	0	14.76	14.55	13.92
2180	1.05	465.5	2840	569	964	860	81.9	11.1	387	2187	0.00	2.28	0.00	0.000	5126	0.000	0.037	2841	1967	911	964	858	0	0	0	0	0	0	14.71	14.64	14.73
2251	1.05	465.5	2841	1967	963	855	74.5	10.9	400	2258	0.00	2.40	0.00	0.000	4356	0.000	0.066	2841	3354	909	964	855	0	0	0	0	0	0	15.01	14.71	15.01
2271	1.05	465.5	2840	3353	964	854	72.0	11.9	403	2277	0.00	2.33	0.00	0.000	5126	0.000	0.041	2840	1963	907	961	854	0	0	0	0	0	0	14.82	14.68	14.83
2341	1.05	465.5	2840	1963	964	854	65.0	10.1	416	2348	0.00	2.42	0.00	0.000	4612	0.000	0.076	2840	565	909	964	854	0	0	0	0	0	0	15.06	14.74	15.05
2396	1.12	517.4	2840	564	963	853	59.7	8.7	426	2447	0.00	2.28	44.17	0.928	11270	0.000	0.037	2840	1965	699	713	685	0	0	0	0	0	0	14.88	14.80	14.00
2511	1.13	528.7	2840	1965	717	674	50.0	9.7	447	2529	0.00	2.40	10.35	0.836	10500	0.000	0.067	2841	3360	655	669	641	0	0	0	0	0	0	15.00	14.71	14.00
2562	1.15	541.2	2840	3361	668	636	44.7	9.6	456	2581	0.00	2.33	12.23	0.849	11270	0.000	0.039	2841	1961	605	610	600	0	0	0	0	0	0	14.88	14.77	13.97
2644	1.15	541.2	2840	1960	609	590	36.9	10.8	471	2651	0.00	2.40	0.00	0.000	2564	0.000	0.072	2840	562	599	609	590	0	0	0	0	0	0	15.02	14.64	15.02
2903	end climb: SURFACE_DEPTH_REACHED
state	2903	begin surface coast
2925	end surface coast: CONTROL_FINISHED_OK
state	2925	begin surface