Glider dive log

SOSCEx Mar19 * SG573 * Dive index * Mission links * Dive 362 * 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 290 C_ROLL_CLIMB 1964 ALTIM_TOP_TURN_MARGIN 0

DIVE 362 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 45 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 300 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 290 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 300 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 45 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 362 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 230419,140601,-3409.3784,2642.8130,38,0.9,42,-27.9,2.1,220.5,9,8.3 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3406.184,2629.694

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.60 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

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

GPS2 230419,141640,-3409.8777,2641.9492,21,1.0,22,-27.9,2.8,232.1,8,8.8 MHEAD_RNG_PITCHd_Wd 317.9,20000,-12.5,-9.950,-15.82,4474

SPEED_LIMITS 0.172,0.351 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.6,1.023851 SC_FREEKB 3732896

SM_CCo 3557,0.00,0.000,0,0,589,545.29 _24V_AH 12.92,179.856

SM_GC 0.60,12.50,2.42,0.00,0.046,0.044,0.000,145,2038,589,-7.27,-1.24,545.29,0,0,0,0,0,0,14.83,14.85,14.90 _10V_AH 13.01,0.000

IRIDIUM_FIX -3353.88,2644.38,230419,124438 FG_AHR_24Vo 0.000

TT8_MAMPS 0.019474,0.828394 FG_AHR_10Vo 0.000

HUMID 61.85 MEM 339556

INTERNAL_PRESSURE 9.14062 DATA_FILE_SIZE 20137,631

TCM_TEMP 22.30 CAP_FILE_SIZE 114131,0

XPDR_PINGS 0 CFSIZE 1023623168,972783616

ALTIM_TOP_PING 19.8,19.3 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

ALTIM_BOTTOM_PING 150.6,41.6 GPS 230419,151720,-3411.257,2638.801,15,0.8,19,-27.9,2.2,221.1,10,9.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 305 110.62 nil 0 0 0.00

Roll_motor 72 88 82.78 nil 0 0 0.00

VBD_pump_during_apogee 644 1075 8960.89 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 24 32 10.41 nil 0 0 0.00

Iridium_during_connect 15 160 32.30 SciCon 3553 35 1625.44

Iridium_during_xfer 326 223 942.00 nil 0 0 0.00

Transponder_ping 2 420 14.92 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 24 23 7.50

TT8 1203 8 134.24

LPSleep 592 2 16.88

TT8_Active 706 8 78.81

TT8_Sampling 1454 28 530.86

TT8_CF8 239 41 129.20

TT8_Kalman 0 0 0.00

Analog_circuits 1348 12 217.53

GPS_charging 0 0 0.00

Compass 952 17 213.51

RAFOS 0 0 0.00

Transponder 22 30 8.73

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 -292.0 72 1971 572 582 0.0 0.0 0 111 0.00 0.00 -87.18 0.000 16386 0.000 0.000 72 1971 2951 2954 2949 0 0 0 0 0 0 15.00 28.83 15.00

116 -0.82 -292.0 72 1971 2955 2949 3.0 -6.8 16 152 12.82 2.42 -16.77 0.000 18948 0.305 0.089 2214 603 3964 4008 3920 0 0 0 0 0 0 14.30 12.92 14.50

275 -0.82 -292.0 2213 603 4007 3923 37.7 -15.6 46 282 0.00 2.38 0.00 0.000 3078 0.000 0.046 2214 2005 3965 4007 3923 0 0 0 0 0 0 14.81 14.69 14.83

346 -0.82 -292.0 2214 2005 4008 3923 47.3 -13.3 59 353 0.00 2.50 0.00 0.000 2308 0.000 0.074 2214 3420 3965 4007 3923 0 0 0 0 0 0 15.05 14.69 15.06

461 -0.82 -292.0 2213 3419 4006 3923 66.0 -14.0 81 468 0.00 2.38 0.00 0.000 3078 0.000 0.037 2214 2007 3964 4006 3923 0 0 0 0 0 0 14.91 14.81 14.92

531 -0.82 -292.0 2214 2005 4006 3923 76.7 -15.8 94 537 0.00 2.50 0.00 0.000 2308 0.000 0.071 2214 3416 3964 4006 3923 0 0 0 0 0 0 15.08 14.69 15.09

559 -0.82 -292.0 2213 3416 4011 3924 80.8 -13.7 99 566 0.00 2.33 0.00 0.000 3078 0.000 0.037 2214 2013 3964 4006 3923 0 0 0 0 0 0 14.77 14.67 14.78

630 -0.82 -292.0 2213 2014 4006 3923 88.0 -9.3 112 637 0.00 2.47 0.00 0.000 2308 0.000 0.071 2214 3411 3962 4001 3924 0 0 0 0 0 0 15.09 14.71 15.09

692 -0.82 -292.0 2214 3411 4006 3923 92.9 -7.9 123 698 0.00 2.33 0.00 0.000 3078 0.000 0.037 2214 2007 3965 4006 3924 0 0 0 0 0 0 14.92 14.83 14.94

763 -0.82 -292.0 2213 2007 4006 3924 98.2 -7.5 136 769 0.00 0.00 0.00 0.000 2054 0.000 0.000 2214 2007 3965 4006 3924 0 0 0 0 0 0 15.07 15.08 15.08

833 -0.82 -292.0 2219 2007 4006 3924 102.9 -6.0 149 840 0.00 2.47 0.00 0.000 2308 0.000 0.070 2214 3415 3965 4006 3924 0 0 0 0 0 0 15.09 14.59 15.09

883 -0.82 -292.0 2213 3415 4006 3925 105.8 -5.0 158 890 0.00 2.33 0.00 0.000 3078 0.000 0.036 2214 2002 3965 4006 3924 0 0 0 0 0 0 14.94 14.83 14.94

953 -0.82 -292.0 2213 2001 4009 3924 112.2 -12.2 171 959 0.00 0.00 0.00 0.000 2054 0.000 0.000 2214 2001 3965 4007 3924 0 0 0 0 0 0 15.11 15.11 15.11

1022 -0.82 -292.0 2214 2001 4006 3924 122.7 -15.3 184 1029 0.00 2.50 0.00 0.000 2308 0.000 0.071 2214 3411 3966 4007 3925 0 0 0 0 0 0 15.11 14.73 15.11

1139 -0.82 -292.0 2213 3411 4006 3925 140.8 -14.2 206 1146 0.00 2.33 0.00 0.000 3078 0.000 0.036 2214 2013 3965 4006 3924 0 0 0 0 0 0 14.76 14.66 14.77

1212 -0.82 -292.0 2213 2013 4007 3925 150.6 -13.3 219 1219 0.00 2.45 0.00 0.000 2308 0.000 0.070 2214 3419 3965 4006 3924 0 0 0 0 0 0 15.11 14.74 15.11

1277 -0.82 -292.0 2213 3420 4006 3925 158.4 -10.9 231 1284 0.00 2.35 0.00 0.000 3078 0.000 0.036 2214 2010 3965 4006 3924 0 0 0 0 0 0 14.94 14.84 14.95

1348 -0.82 -292.0 2213 2009 4006 3924 165.0 -9.2 244 1355 0.00 2.45 0.00 0.000 2308 0.000 0.070 2214 3411 3965 4006 3924 0 0 0 0 0 0 15.10 14.59 15.10

1483 -0.82 -292.0 2213 3411 4006 3924 174.6 -5.4 270 1490 0.00 2.33 0.00 0.000 3078 0.000 0.040 2214 2004 3965 4006 3925 0 0 0 0 0 0 14.94 14.84 14.95

1516 end dive: BOTTOM_OBSTACLE_DETECTED

state 1516 begin apogee

1521 -0.19 0.0 2214 2002 4007 3924 177.1 -7.6 276 1743 1.02 0.00 209.88 1.076 10246 0.130 0.000 2423 2002 2811 2862 2761 0 0 0 0 0 0 14.53 14.24 13.74

1744 end apogee: CONTROL_FINISHED_OK

state 1744 begin climb

1747 0.82 292.0 2423 2002 2861 2761 187.6 0.0 316 1982 1.50 2.45 224.20 1.069 11012 0.099 0.066 2737 3362 1621 1677 1565 0 0 0 0 0 0 14.45 14.21 13.70

2000 0.86 321.9 2737 3362 1674 1565 169.4 9.3 360 2030 0.00 2.38 24.88 1.018 11270 0.000 0.041 2737 1966 1499 1555 1443 0 0 0 0 0 0 14.65 14.55 13.78

2094 0.96 405.9 2736 1965 1552 1443 160.6 8.0 377 2174 0.15 2.53 68.30 1.047 11012 0.106 0.064 2809 3366 1158 1221 1095 0 0 0 0 0 0 14.66 14.42 13.79

2181 0.96 405.9 2808 3366 1221 1095 150.7 11.1 392 2188 0.00 2.38 0.00 0.000 5126 0.000 0.041 2812 1963 1157 1221 1094 0 0 0 0 0 0 14.66 14.57 14.68

2252 0.96 405.9 2812 1963 1222 1094 142.1 12.5 405 2258 0.00 0.00 0.00 0.000 4102 0.000 0.000 2812 1963 1158 1222 1094 0 0 0 0 0 0 14.92 14.90 14.90

2320 0.96 405.9 2812 1963 1222 1094 134.5 10.7 418 2327 0.00 2.47 0.00 0.000 4356 0.000 0.067 2812 3363 1157 1221 1094 0 0 0 0 0 0 14.97 14.68 14.98

2350 0.96 405.9 2810 3363 1221 1094 130.2 14.6 423 2357 0.00 2.35 0.00 0.000 5126 0.000 0.044 2812 1967 1157 1221 1094 0 0 0 0 0 0 14.85 14.73 14.86

2421 0.96 405.9 2812 1967 1221 1094 120.9 14.9 436 2428 0.00 2.45 0.00 0.000 4612 0.000 0.080 2812 562 1157 1221 1094 0 0 0 0 0 0 15.00 14.69 15.00

2435 0.96 405.9 2812 563 1221 1094 118.9 13.8 438 2442 0.00 2.30 0.00 0.000 5126 0.000 0.037 2812 1971 1161 1228 1094 0 0 0 0 0 0 14.88 14.79 14.90

2506 0.96 405.9 2812 1972 1220 1093 111.4 10.5 451 2513 0.00 2.40 0.00 0.000 4356 0.000 0.066 2812 3357 1157 1221 1093 0 0 0 0 0 0 15.03 14.72 15.02

2546 0.96 405.9 2812 3357 1220 1093 107.2 11.5 458 2553 0.00 2.33 0.00 0.000 5126 0.000 0.043 2812 1960 1156 1220 1093 0 0 0 0 0 0 14.90 14.78 14.91

2617 0.96 405.9 2812 1959 1220 1093 98.2 13.5 471 2622 0.00 0.00 0.00 0.000 4102 0.000 0.000 2813 1959 1156 1220 1093 0 0 0 0 0 0 15.06 15.06 15.06

2685 0.96 405.9 2812 1959 1220 1093 90.1 10.0 484 2691 0.00 0.00 0.00 0.000 4102 0.000 0.000 2812 1959 1156 1220 1093 0 0 0 0 0 0 15.07 15.07 15.07

2754 1.11 523.8 2812 1959 1220 1091 84.9 7.2 497 2861 0.05 0.00 101.15 1.014 10246 0.254 0.000 2855 1959 675 675 676 0 0 0 0 0 0 14.77 14.49 13.85

2924 1.11 523.8 2855 1959 674 669 64.1 12.3 528 2930 0.00 0.00 0.00 0.000 4102 0.000 0.000 2855 1959 669 674 664 0 0 0 0 0 0 14.88 14.89 14.88

2993 1.11 523.8 2855 1959 674 661 56.7 11.2 541 2998 0.00 0.00 0.00 0.000 4102 0.000 0.000 2855 1959 667 674 661 0 0 0 0 0 0 14.95 14.95 14.95

3061 1.11 523.8 2855 1958 674 657 47.8 14.7 554 3067 0.00 0.00 0.00 0.000 4102 0.000 0.000 2855 1959 665 674 656 0 0 0 0 0 0 15.00 15.00 15.00

3130 1.11 523.8 2855 1959 675 655 38.9 10.7 567 3136 0.00 0.00 0.00 0.000 4102 0.000 0.000 2855 1958 664 675 654 0 0 0 0 0 0 15.03 15.04 15.03

3198 1.18 580.5 2855 1958 675 651 32.9 8.6 580 3222 0.00 2.47 16.42 0.888 10500 0.000 0.062 2855 3362 598 595 601 0 0 0 0 0 0 15.04 14.45 13.94

3281 1.23 625.9 2855 3362 595 594 24.8 8.9 595 3288 0.00 2.35 0.00 0.000 3078 0.000 0.041 2856 1956 594 595 593 0 0 0 0 0 0 14.87 14.75 14.89

3352 1.23 625.9 2855 1960 595 590 17.5 10.4 608 3359 0.00 2.42 0.00 0.000 2564 0.000 0.078 2855 568 592 595 590 0 0 0 0 0 0 15.04 14.54 15.04

3450 end climb: SURFACE_DEPTH_REACHED

state 3450 begin surface coast

3472 end surface coast: CONTROL_FINISHED_OK

state 3472 begin surface

ID	573	HD_C	9.8500004e-06	C_ROLL_DIVE	2013	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	30	HEADING	290	C_ROLL_CLIMB	1964	ALTIM_TOP_TURN_MARGIN	0
DIVE	362	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	45	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	300	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	230419,140601,-3409.3784,2642.8130,38,0.9,42,-27.9,2.1,220.5,9,8.3	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3406.184,2629.694
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.60	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-60.5	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	230419,141640,-3409.8777,2641.9492,21,1.0,22,-27.9,2.8,232.1,8,8.8	MHEAD_RNG_PITCHd_Wd	317.9,20000,-12.5,-9.950,-15.82,4474
SPEED_LIMITS	0.172,0.351	D_GRID	1000

FINISH	0.6,1.023851	SC_FREEKB	3732896
SM_CCo	3557,0.00,0.000,0,0,589,545.29	_24V_AH	12.92,179.856
SM_GC	0.60,12.50,2.42,0.00,0.046,0.044,0.000,145,2038,589,-7.27,-1.24,545.29,0,0,0,0,0,0,14.83,14.85,14.90	_10V_AH	13.01,0.000
IRIDIUM_FIX	-3353.88,2644.38,230419,124438	FG_AHR_24Vo	0.000
TT8_MAMPS	0.019474,0.828394	FG_AHR_10Vo	0.000
HUMID	61.85	MEM	339556
INTERNAL_PRESSURE	9.14062	DATA_FILE_SIZE	20137,631
TCM_TEMP	22.30	CAP_FILE_SIZE	114131,0
XPDR_PINGS	0	CFSIZE	1023623168,972783616
ALTIM_TOP_PING	19.8,19.3	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	150.6,41.6	GPS	230419,151720,-3411.257,2638.801,15,0.8,19,-27.9,2.2,221.1,10,9.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	305	110.62	nil	0	0	0.00
Roll_motor	72	88	82.78	nil	0	0	0.00
VBD_pump_during_apogee	644	1075	8960.89	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	24	32	10.41	nil	0	0	0.00
Iridium_during_connect	15	160	32.30	SciCon	3553	35	1625.44
Iridium_during_xfer	326	223	942.00	nil	0	0	0.00
Transponder_ping	2	420	14.92	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	24	23	7.50
TT8	1203	8	134.24
LPSleep	592	2	16.88
TT8_Active	706	8	78.81
TT8_Sampling	1454	28	530.86
TT8_CF8	239	41	129.20
TT8_Kalman	0	0	0.00
Analog_circuits	1348	12	217.53
GPS_charging	0	0	0.00
Compass	952	17	213.51
RAFOS	0	0	0.00
Transponder	22	30	8.73

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	-292.0	72	1971	572	582	0.0	0.0	0	111	0.00	0.00	-87.18	0.000	16386	0.000	0.000	72	1971	2951	2954	2949	0	0	0	0	0	0	15.00	28.83	15.00
116	-0.82	-292.0	72	1971	2955	2949	3.0	-6.8	16	152	12.82	2.42	-16.77	0.000	18948	0.305	0.089	2214	603	3964	4008	3920	0	0	0	0	0	0	14.30	12.92	14.50
275	-0.82	-292.0	2213	603	4007	3923	37.7	-15.6	46	282	0.00	2.38	0.00	0.000	3078	0.000	0.046	2214	2005	3965	4007	3923	0	0	0	0	0	0	14.81	14.69	14.83
346	-0.82	-292.0	2214	2005	4008	3923	47.3	-13.3	59	353	0.00	2.50	0.00	0.000	2308	0.000	0.074	2214	3420	3965	4007	3923	0	0	0	0	0	0	15.05	14.69	15.06
461	-0.82	-292.0	2213	3419	4006	3923	66.0	-14.0	81	468	0.00	2.38	0.00	0.000	3078	0.000	0.037	2214	2007	3964	4006	3923	0	0	0	0	0	0	14.91	14.81	14.92
531	-0.82	-292.0	2214	2005	4006	3923	76.7	-15.8	94	537	0.00	2.50	0.00	0.000	2308	0.000	0.071	2214	3416	3964	4006	3923	0	0	0	0	0	0	15.08	14.69	15.09
559	-0.82	-292.0	2213	3416	4011	3924	80.8	-13.7	99	566	0.00	2.33	0.00	0.000	3078	0.000	0.037	2214	2013	3964	4006	3923	0	0	0	0	0	0	14.77	14.67	14.78
630	-0.82	-292.0	2213	2014	4006	3923	88.0	-9.3	112	637	0.00	2.47	0.00	0.000	2308	0.000	0.071	2214	3411	3962	4001	3924	0	0	0	0	0	0	15.09	14.71	15.09
692	-0.82	-292.0	2214	3411	4006	3923	92.9	-7.9	123	698	0.00	2.33	0.00	0.000	3078	0.000	0.037	2214	2007	3965	4006	3924	0	0	0	0	0	0	14.92	14.83	14.94
763	-0.82	-292.0	2213	2007	4006	3924	98.2	-7.5	136	769	0.00	0.00	0.00	0.000	2054	0.000	0.000	2214	2007	3965	4006	3924	0	0	0	0	0	0	15.07	15.08	15.08
833	-0.82	-292.0	2219	2007	4006	3924	102.9	-6.0	149	840	0.00	2.47	0.00	0.000	2308	0.000	0.070	2214	3415	3965	4006	3924	0	0	0	0	0	0	15.09	14.59	15.09
883	-0.82	-292.0	2213	3415	4006	3925	105.8	-5.0	158	890	0.00	2.33	0.00	0.000	3078	0.000	0.036	2214	2002	3965	4006	3924	0	0	0	0	0	0	14.94	14.83	14.94
953	-0.82	-292.0	2213	2001	4009	3924	112.2	-12.2	171	959	0.00	0.00	0.00	0.000	2054	0.000	0.000	2214	2001	3965	4007	3924	0	0	0	0	0	0	15.11	15.11	15.11
1022	-0.82	-292.0	2214	2001	4006	3924	122.7	-15.3	184	1029	0.00	2.50	0.00	0.000	2308	0.000	0.071	2214	3411	3966	4007	3925	0	0	0	0	0	0	15.11	14.73	15.11
1139	-0.82	-292.0	2213	3411	4006	3925	140.8	-14.2	206	1146	0.00	2.33	0.00	0.000	3078	0.000	0.036	2214	2013	3965	4006	3924	0	0	0	0	0	0	14.76	14.66	14.77
1212	-0.82	-292.0	2213	2013	4007	3925	150.6	-13.3	219	1219	0.00	2.45	0.00	0.000	2308	0.000	0.070	2214	3419	3965	4006	3924	0	0	0	0	0	0	15.11	14.74	15.11
1277	-0.82	-292.0	2213	3420	4006	3925	158.4	-10.9	231	1284	0.00	2.35	0.00	0.000	3078	0.000	0.036	2214	2010	3965	4006	3924	0	0	0	0	0	0	14.94	14.84	14.95
1348	-0.82	-292.0	2213	2009	4006	3924	165.0	-9.2	244	1355	0.00	2.45	0.00	0.000	2308	0.000	0.070	2214	3411	3965	4006	3924	0	0	0	0	0	0	15.10	14.59	15.10
1483	-0.82	-292.0	2213	3411	4006	3924	174.6	-5.4	270	1490	0.00	2.33	0.00	0.000	3078	0.000	0.040	2214	2004	3965	4006	3925	0	0	0	0	0	0	14.94	14.84	14.95
1516	end dive: BOTTOM_OBSTACLE_DETECTED
state	1516	begin apogee
1521	-0.19	0.0	2214	2002	4007	3924	177.1	-7.6	276	1743	1.02	0.00	209.88	1.076	10246	0.130	0.000	2423	2002	2811	2862	2761	0	0	0	0	0	0	14.53	14.24	13.74
1744	end apogee: CONTROL_FINISHED_OK
state	1744	begin climb
1747	0.82	292.0	2423	2002	2861	2761	187.6	0.0	316	1982	1.50	2.45	224.20	1.069	11012	0.099	0.066	2737	3362	1621	1677	1565	0	0	0	0	0	0	14.45	14.21	13.70
2000	0.86	321.9	2737	3362	1674	1565	169.4	9.3	360	2030	0.00	2.38	24.88	1.018	11270	0.000	0.041	2737	1966	1499	1555	1443	0	0	0	0	0	0	14.65	14.55	13.78
2094	0.96	405.9	2736	1965	1552	1443	160.6	8.0	377	2174	0.15	2.53	68.30	1.047	11012	0.106	0.064	2809	3366	1158	1221	1095	0	0	0	0	0	0	14.66	14.42	13.79
2181	0.96	405.9	2808	3366	1221	1095	150.7	11.1	392	2188	0.00	2.38	0.00	0.000	5126	0.000	0.041	2812	1963	1157	1221	1094	0	0	0	0	0	0	14.66	14.57	14.68
2252	0.96	405.9	2812	1963	1222	1094	142.1	12.5	405	2258	0.00	0.00	0.00	0.000	4102	0.000	0.000	2812	1963	1158	1222	1094	0	0	0	0	0	0	14.92	14.90	14.90
2320	0.96	405.9	2812	1963	1222	1094	134.5	10.7	418	2327	0.00	2.47	0.00	0.000	4356	0.000	0.067	2812	3363	1157	1221	1094	0	0	0	0	0	0	14.97	14.68	14.98
2350	0.96	405.9	2810	3363	1221	1094	130.2	14.6	423	2357	0.00	2.35	0.00	0.000	5126	0.000	0.044	2812	1967	1157	1221	1094	0	0	0	0	0	0	14.85	14.73	14.86
2421	0.96	405.9	2812	1967	1221	1094	120.9	14.9	436	2428	0.00	2.45	0.00	0.000	4612	0.000	0.080	2812	562	1157	1221	1094	0	0	0	0	0	0	15.00	14.69	15.00
2435	0.96	405.9	2812	563	1221	1094	118.9	13.8	438	2442	0.00	2.30	0.00	0.000	5126	0.000	0.037	2812	1971	1161	1228	1094	0	0	0	0	0	0	14.88	14.79	14.90
2506	0.96	405.9	2812	1972	1220	1093	111.4	10.5	451	2513	0.00	2.40	0.00	0.000	4356	0.000	0.066	2812	3357	1157	1221	1093	0	0	0	0	0	0	15.03	14.72	15.02
2546	0.96	405.9	2812	3357	1220	1093	107.2	11.5	458	2553	0.00	2.33	0.00	0.000	5126	0.000	0.043	2812	1960	1156	1220	1093	0	0	0	0	0	0	14.90	14.78	14.91
2617	0.96	405.9	2812	1959	1220	1093	98.2	13.5	471	2622	0.00	0.00	0.00	0.000	4102	0.000	0.000	2813	1959	1156	1220	1093	0	0	0	0	0	0	15.06	15.06	15.06
2685	0.96	405.9	2812	1959	1220	1093	90.1	10.0	484	2691	0.00	0.00	0.00	0.000	4102	0.000	0.000	2812	1959	1156	1220	1093	0	0	0	0	0	0	15.07	15.07	15.07
2754	1.11	523.8	2812	1959	1220	1091	84.9	7.2	497	2861	0.05	0.00	101.15	1.014	10246	0.254	0.000	2855	1959	675	675	676	0	0	0	0	0	0	14.77	14.49	13.85
2924	1.11	523.8	2855	1959	674	669	64.1	12.3	528	2930	0.00	0.00	0.00	0.000	4102	0.000	0.000	2855	1959	669	674	664	0	0	0	0	0	0	14.88	14.89	14.88
2993	1.11	523.8	2855	1959	674	661	56.7	11.2	541	2998	0.00	0.00	0.00	0.000	4102	0.000	0.000	2855	1959	667	674	661	0	0	0	0	0	0	14.95	14.95	14.95
3061	1.11	523.8	2855	1958	674	657	47.8	14.7	554	3067	0.00	0.00	0.00	0.000	4102	0.000	0.000	2855	1959	665	674	656	0	0	0	0	0	0	15.00	15.00	15.00
3130	1.11	523.8	2855	1959	675	655	38.9	10.7	567	3136	0.00	0.00	0.00	0.000	4102	0.000	0.000	2855	1958	664	675	654	0	0	0	0	0	0	15.03	15.04	15.03
3198	1.18	580.5	2855	1958	675	651	32.9	8.6	580	3222	0.00	2.47	16.42	0.888	10500	0.000	0.062	2855	3362	598	595	601	0	0	0	0	0	0	15.04	14.45	13.94
3281	1.23	625.9	2855	3362	595	594	24.8	8.9	595	3288	0.00	2.35	0.00	0.000	3078	0.000	0.041	2856	1956	594	595	593	0	0	0	0	0	0	14.87	14.75	14.89
3352	1.23	625.9	2855	1960	595	590	17.5	10.4	608	3359	0.00	2.42	0.00	0.000	2564	0.000	0.078	2855	568	592	595	590	0	0	0	0	0	0	15.04	14.54	15.04
3450	end climb: SURFACE_DEPTH_REACHED
state	3450	begin surface coast
3472	end surface coast: CONTROL_FINISHED_OK
state	3472	begin surface