Glider dive log

SOSCEx Mar19 * SG573 * Dive index * Mission links * Dive 363 * 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 363 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 41 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 65 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 41 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 65 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 363 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 230419,151720,-3411.2573,2638.8013,15,0.8,19,-27.9,2.2,221.1,10,9.2 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3408.117,2625.663

_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 -57.9 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 230419,152816,-3411.8101,2637.9231,18,0.8,23,-28.0,2.8,224.4,11,9.6 MHEAD_RNG_PITCHd_Wd 318.0,20000,-12.5,-9.950,-15.82,4474

SPEED_LIMITS 0.172,0.351 D_GRID 1000

Post-dive calculations and measurements:

FINISH -0.1,1.023889 SC_FREEKB 3732384

SM_CCo 3294,0.00,0.000,0,0,583,546.76 _24V_AH 13.04,180.127

SM_GC 0.67,13.18,0.00,0.00,0.057,0.000,0.000,149,1985,583,-7.27,-0.79,546.76,0,0,0,0,0,0,14.79,15.11,14.89 _10V_AH 13.43,0.000

IRIDIUM_FIX -3356.48,2642.06,230419,141002 FG_AHR_24Vo 0.000

TT8_MAMPS 0.019474,0.897302 FG_AHR_10Vo 0.000

HUMID 61.14 MEM 339556

INTERNAL_PRESSURE 9.17968 DATA_FILE_SIZE 20122,578

TCM_TEMP 22.60 CAP_FILE_SIZE 107546,0

XPDR_PINGS 0 CFSIZE 1023623168,972685312

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 120.4,51.5 GPS 230419,162459,-3413.110,2634.908,43,1.0,44,-28.0,1.5,224.0,9,8.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 302 113.97 nil 0 0 0.00

Roll_motor 76 81 82.06 nil 0 0 0.00

VBD_pump_during_apogee 646 1051 8865.63 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 10.26 nil 0 0 0.00

Iridium_during_connect 47 160 99.32 SciCon 3280 35 1520.90

Iridium_during_xfer 323 223 939.96 nil 0 0 0.00

Transponder_ping 1 420 9.58 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 24 23 7.53

TT8 1089 8 125.36

LPSleep 521 2 15.34

TT8_Active 708 8 81.57

TT8_Sampling 1406 28 529.89

TT8_CF8 229 41 127.80

TT8_Kalman 0 0 0.00

Analog_circuits 1315 12 219.14

GPS_charging 0 0 0.00

Compass 877 17 203.04

RAFOS 0 0 0.00

Transponder 13 30 5.40

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 71 2046 593 577 0.0 0.0 0 117 0.00 0.00 -92.60 0.000 16386 0.000 0.000 72 2045 3153 3164 3142 0 0 0 0 0 0 15.00 28.83 15.01

122 -0.82 -292.0 72 2046 3164 3142 3.8 -10.6 17 157 12.80 2.45 -12.57 0.000 18948 0.302 0.079 2220 614 3965 4007 3924 0 0 0 0 0 0 14.31 13.04 14.50

305 -0.82 -292.0 2216 614 4007 3925 45.6 -17.4 52 312 0.00 2.28 0.00 0.000 3078 0.000 0.044 2216 1987 3965 4006 3924 0 0 0 0 0 0 14.83 14.73 14.85

376 -0.82 -292.0 2216 1987 4007 3925 57.0 -16.0 65 383 0.00 2.47 0.00 0.000 2308 0.000 0.073 2216 3415 3965 4006 3925 0 0 0 0 0 0 15.05 14.71 15.06

472 -0.82 -292.0 2216 3415 4006 3925 70.5 -12.9 83 478 0.00 2.33 0.00 0.000 3078 0.000 0.037 2216 2013 3965 4006 3925 0 0 0 0 0 0 14.92 14.82 14.93

542 -0.82 -292.0 2217 2012 4006 3925 80.0 -13.5 96 551 0.00 0.00 0.00 0.000 2054 0.000 0.000 2216 2013 3965 4006 3925 0 0 0 0 0 0 15.07 15.07 15.07

614 -0.82 -292.0 2216 2012 4006 3925 88.7 -11.3 109 620 0.00 2.47 0.00 0.000 2308 0.000 0.071 2216 3415 3965 4006 3925 0 0 0 0 0 0 15.10 14.56 15.10

680 -0.82 -292.0 2216 3416 4006 3925 95.4 -9.5 121 687 0.00 2.35 0.00 0.000 3078 0.000 0.037 2216 2007 3965 4006 3925 0 0 0 0 0 0 14.78 14.68 14.81

751 -0.82 -292.0 2216 2007 4006 3925 100.8 -6.8 134 757 0.00 0.00 0.00 0.000 2054 0.000 0.000 2216 2007 3966 4007 3925 0 0 0 0 0 0 15.10 15.11 15.11

819 -0.82 -292.0 2216 2006 4006 3925 105.1 -6.5 147 826 0.00 2.50 0.00 0.000 2308 0.000 0.070 2216 3414 3965 4006 3925 0 0 0 0 0 0 15.11 14.59 15.11

915 -0.82 -292.0 2215 3414 4007 3925 113.1 -8.9 165 921 0.00 2.33 0.00 0.000 3078 0.000 0.036 2216 2012 3965 4006 3925 0 0 0 0 0 0 14.85 14.76 14.87

987 -0.82 -292.0 2216 2013 4006 3925 120.9 -10.6 178 993 0.00 2.47 0.00 0.000 2308 0.000 0.071 2216 3415 3965 4006 3925 0 0 0 0 0 0 15.11 14.75 15.11

1071 -0.82 -292.0 2216 3415 4006 3926 129.3 -9.1 194 1078 0.00 2.35 0.00 0.000 3078 0.000 0.036 2216 2005 3965 4006 3925 0 0 0 0 0 0 14.94 14.84 14.95

1143 -0.82 -292.0 2216 2005 4006 3925 136.0 -9.6 207 1149 0.00 2.47 0.00 0.000 2308 0.000 0.071 2219 3414 3965 4006 3925 0 0 0 0 0 0 15.10 14.74 15.10

1233 -0.82 -292.0 2216 3414 4006 3925 143.7 -8.9 224 1240 0.00 2.33 0.00 0.000 3078 0.000 0.037 2216 2008 3966 4007 3925 0 0 0 0 0 0 14.94 14.83 14.95

1304 -0.82 -292.0 2216 2007 4006 3925 149.6 -6.6 237 1311 0.00 2.50 0.00 0.000 2308 0.000 0.071 2216 3415 3965 4006 3925 0 0 0 0 0 0 15.11 14.59 15.11

1394 -0.82 -292.0 2215 3415 4006 3925 155.5 -5.8 254 1401 0.00 2.35 0.00 0.000 3078 0.000 0.037 2216 2007 3965 4006 3925 0 0 0 0 0 0 14.74 14.63 14.76

1411 end dive: BOTTOM_OBSTACLE_DETECTED

state 1412 begin apogee

1417 -0.19 0.0 2216 2007 4006 3925 157.0 -7.8 257 1639 1.02 0.00 210.48 1.052 10246 0.134 0.000 2425 2005 2811 2861 2762 0 0 0 0 0 0 14.59 14.21 13.73

1641 end apogee: CONTROL_FINISHED_OK

state 1641 begin climb

1643 0.82 292.0 2425 2005 2861 2762 171.8 0.0 297 1879 1.45 2.58 223.12 1.048 10756 0.079 0.080 2743 565 1620 1676 1565 0 0 0 0 0 0 14.47 14.43 13.76

1887 0.90 357.8 2742 564 1675 1565 153.1 8.4 339 1949 0.08 2.33 53.05 1.018 11270 0.177 0.037 2790 1974 1353 1413 1294 0 0 0 0 0 0 14.51 14.55 13.79

2014 0.95 393.8 2790 1974 1411 1294 140.4 9.1 362 2050 0.00 2.47 29.77 0.997 8452 0.000 0.067 2790 3351 1206 1272 1141 0 0 0 0 0 0 14.87 14.52 13.84

2108 0.95 393.8 2789 3351 1274 1142 130.0 13.1 379 2114 0.00 2.35 0.00 0.000 1030 0.000 0.047 2790 1966 1207 1274 1141 0 0 0 0 0 0 14.76 14.66 14.77

2179 0.95 393.8 2790 1964 1274 1141 121.5 13.5 392 2185 0.00 2.45 0.00 0.000 260 0.000 0.070 2790 3355 1207 1273 1141 0 0 0 0 0 0 14.96 14.55 14.97

2223 0.95 393.8 2790 3356 1273 1141 115.2 12.2 400 2230 0.00 2.33 0.00 0.000 1030 0.000 0.042 2790 1954 1207 1273 1141 0 0 0 0 0 0 14.84 14.74 14.85

2294 1.05 480.0 2789 1954 1272 1141 109.7 8.0 413 2380 0.08 2.50 73.25 1.011 10500 0.179 0.061 2840 3352 854 901 807 0 0 0 0 0 0 14.76 14.45 13.86

2403 1.05 480.0 2840 3352 900 804 91.0 17.7 432 2410 0.00 2.33 0.00 0.000 5126 0.000 0.044 2840 1974 852 902 803 0 0 0 0 0 0 14.73 14.62 14.73

2473 1.08 501.0 2840 1972 902 800 83.2 9.5 445 2498 0.00 2.53 19.00 0.946 12804 0.000 0.080 2840 563 768 805 731 0 0 0 0 0 0 14.93 14.61 13.88

2511 1.32 696.4 2840 562 805 729 80.8 5.5 451 2557 0.25 2.30 37.67 0.972 11270 0.078 0.037 2923 1967 598 586 611 0 0 0 0 0 0 14.71 14.67 13.86

2620 1.32 696.4 2922 1967 584 602 67.0 19.2 471 2627 0.00 2.42 0.00 0.000 4356 0.000 0.063 2923 3356 593 585 601 0 0 0 0 0 0 14.90 14.62 14.91

2645 1.32 696.4 2922 3356 584 599 62.3 19.9 475 2651 0.00 2.38 0.00 0.000 5126 0.000 0.046 2923 1958 592 585 599 0 0 0 0 0 0 14.74 14.62 14.76

2716 1.32 696.4 2923 1959 585 595 52.0 14.0 488 2722 0.00 2.45 0.00 0.000 4612 0.000 0.082 2923 564 588 582 595 0 0 0 0 0 0 14.99 14.65 14.99

2735 1.32 696.4 2923 564 585 594 49.3 13.0 491 2742 0.00 2.30 0.00 0.000 5126 0.000 0.037 2923 1965 589 585 594 0 0 0 0 0 0 14.80 14.71 14.81

2807 1.41 768.4 2923 1965 585 592 42.8 8.3 504 2813 0.00 2.42 0.00 0.000 2308 0.000 0.063 2923 3367 588 585 592 0 0 0 0 0 0 15.02 14.72 15.02

2866 1.43 787.4 2923 3367 585 590 37.4 9.5 515 2873 0.00 2.38 0.00 0.000 3078 0.000 0.045 2923 1958 587 585 589 0 0 0 0 0 0 14.89 14.77 14.91

2937 1.43 787.4 2923 1957 586 586 30.6 11.4 528 2943 0.00 0.00 0.00 0.000 2054 0.000 0.000 2924 1957 586 586 586 0 0 0 0 0 0 15.03 15.04 15.04

3006 1.43 787.4 2922 1957 586 585 22.9 12.8 541 3011 0.00 0.00 0.00 0.000 2054 0.000 0.000 2923 1957 585 586 585 0 0 0 0 0 0 15.07 15.07 15.07

3077 1.47 818.7 2923 1957 586 584 15.7 9.2 554 3084 0.08 0.00 0.00 0.000 2054 0.182 0.000 2970 1957 585 586 584 0 0 0 0 0 0 14.74 14.80 14.78

3148 1.47 818.7 2971 1957 586 583 7.9 14.7 567 3154 0.00 2.42 0.00 0.000 4612 0.000 0.080 2971 562 584 586 583 0 0 0 0 0 0 15.07 14.72 15.08

3177 1.47 818.7 2971 562 586 582 3.5 14.0 572 3184 0.00 2.30 0.00 0.000 5126 0.000 0.037 2971 1982 584 586 582 0 0 0 0 0 0 14.95 14.85 14.96

3189 end climb: SURFACE_DEPTH_REACHED

state 3189 begin surface coast

3211 end surface coast: CONTROL_FINISHED_OK

state 3211 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	363	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	41	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	65	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	230419,151720,-3411.2573,2638.8013,15,0.8,19,-27.9,2.2,221.1,10,9.2	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3408.117,2625.663
_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	-57.9	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	230419,152816,-3411.8101,2637.9231,18,0.8,23,-28.0,2.8,224.4,11,9.6	MHEAD_RNG_PITCHd_Wd	318.0,20000,-12.5,-9.950,-15.82,4474
SPEED_LIMITS	0.172,0.351	D_GRID	1000

FINISH	-0.1,1.023889	SC_FREEKB	3732384
SM_CCo	3294,0.00,0.000,0,0,583,546.76	_24V_AH	13.04,180.127
SM_GC	0.67,13.18,0.00,0.00,0.057,0.000,0.000,149,1985,583,-7.27,-0.79,546.76,0,0,0,0,0,0,14.79,15.11,14.89	_10V_AH	13.43,0.000
IRIDIUM_FIX	-3356.48,2642.06,230419,141002	FG_AHR_24Vo	0.000
TT8_MAMPS	0.019474,0.897302	FG_AHR_10Vo	0.000
HUMID	61.14	MEM	339556
INTERNAL_PRESSURE	9.17968	DATA_FILE_SIZE	20122,578
TCM_TEMP	22.60	CAP_FILE_SIZE	107546,0
XPDR_PINGS	0	CFSIZE	1023623168,972685312
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	120.4,51.5	GPS	230419,162459,-3413.110,2634.908,43,1.0,44,-28.0,1.5,224.0,9,8.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	302	113.97	nil	0	0	0.00
Roll_motor	76	81	82.06	nil	0	0	0.00
VBD_pump_during_apogee	646	1051	8865.63	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	10.26	nil	0	0	0.00
Iridium_during_connect	47	160	99.32	SciCon	3280	35	1520.90
Iridium_during_xfer	323	223	939.96	nil	0	0	0.00
Transponder_ping	1	420	9.58	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	24	23	7.53
TT8	1089	8	125.36
LPSleep	521	2	15.34
TT8_Active	708	8	81.57
TT8_Sampling	1406	28	529.89
TT8_CF8	229	41	127.80
TT8_Kalman	0	0	0.00
Analog_circuits	1315	12	219.14
GPS_charging	0	0	0.00
Compass	877	17	203.04
RAFOS	0	0	0.00
Transponder	13	30	5.40

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	71	2046	593	577	0.0	0.0	0	117	0.00	0.00	-92.60	0.000	16386	0.000	0.000	72	2045	3153	3164	3142	0	0	0	0	0	0	15.00	28.83	15.01
122	-0.82	-292.0	72	2046	3164	3142	3.8	-10.6	17	157	12.80	2.45	-12.57	0.000	18948	0.302	0.079	2220	614	3965	4007	3924	0	0	0	0	0	0	14.31	13.04	14.50
305	-0.82	-292.0	2216	614	4007	3925	45.6	-17.4	52	312	0.00	2.28	0.00	0.000	3078	0.000	0.044	2216	1987	3965	4006	3924	0	0	0	0	0	0	14.83	14.73	14.85
376	-0.82	-292.0	2216	1987	4007	3925	57.0	-16.0	65	383	0.00	2.47	0.00	0.000	2308	0.000	0.073	2216	3415	3965	4006	3925	0	0	0	0	0	0	15.05	14.71	15.06
472	-0.82	-292.0	2216	3415	4006	3925	70.5	-12.9	83	478	0.00	2.33	0.00	0.000	3078	0.000	0.037	2216	2013	3965	4006	3925	0	0	0	0	0	0	14.92	14.82	14.93
542	-0.82	-292.0	2217	2012	4006	3925	80.0	-13.5	96	551	0.00	0.00	0.00	0.000	2054	0.000	0.000	2216	2013	3965	4006	3925	0	0	0	0	0	0	15.07	15.07	15.07
614	-0.82	-292.0	2216	2012	4006	3925	88.7	-11.3	109	620	0.00	2.47	0.00	0.000	2308	0.000	0.071	2216	3415	3965	4006	3925	0	0	0	0	0	0	15.10	14.56	15.10
680	-0.82	-292.0	2216	3416	4006	3925	95.4	-9.5	121	687	0.00	2.35	0.00	0.000	3078	0.000	0.037	2216	2007	3965	4006	3925	0	0	0	0	0	0	14.78	14.68	14.81
751	-0.82	-292.0	2216	2007	4006	3925	100.8	-6.8	134	757	0.00	0.00	0.00	0.000	2054	0.000	0.000	2216	2007	3966	4007	3925	0	0	0	0	0	0	15.10	15.11	15.11
819	-0.82	-292.0	2216	2006	4006	3925	105.1	-6.5	147	826	0.00	2.50	0.00	0.000	2308	0.000	0.070	2216	3414	3965	4006	3925	0	0	0	0	0	0	15.11	14.59	15.11
915	-0.82	-292.0	2215	3414	4007	3925	113.1	-8.9	165	921	0.00	2.33	0.00	0.000	3078	0.000	0.036	2216	2012	3965	4006	3925	0	0	0	0	0	0	14.85	14.76	14.87
987	-0.82	-292.0	2216	2013	4006	3925	120.9	-10.6	178	993	0.00	2.47	0.00	0.000	2308	0.000	0.071	2216	3415	3965	4006	3925	0	0	0	0	0	0	15.11	14.75	15.11
1071	-0.82	-292.0	2216	3415	4006	3926	129.3	-9.1	194	1078	0.00	2.35	0.00	0.000	3078	0.000	0.036	2216	2005	3965	4006	3925	0	0	0	0	0	0	14.94	14.84	14.95
1143	-0.82	-292.0	2216	2005	4006	3925	136.0	-9.6	207	1149	0.00	2.47	0.00	0.000	2308	0.000	0.071	2219	3414	3965	4006	3925	0	0	0	0	0	0	15.10	14.74	15.10
1233	-0.82	-292.0	2216	3414	4006	3925	143.7	-8.9	224	1240	0.00	2.33	0.00	0.000	3078	0.000	0.037	2216	2008	3966	4007	3925	0	0	0	0	0	0	14.94	14.83	14.95
1304	-0.82	-292.0	2216	2007	4006	3925	149.6	-6.6	237	1311	0.00	2.50	0.00	0.000	2308	0.000	0.071	2216	3415	3965	4006	3925	0	0	0	0	0	0	15.11	14.59	15.11
1394	-0.82	-292.0	2215	3415	4006	3925	155.5	-5.8	254	1401	0.00	2.35	0.00	0.000	3078	0.000	0.037	2216	2007	3965	4006	3925	0	0	0	0	0	0	14.74	14.63	14.76
1411	end dive: BOTTOM_OBSTACLE_DETECTED
state	1412	begin apogee
1417	-0.19	0.0	2216	2007	4006	3925	157.0	-7.8	257	1639	1.02	0.00	210.48	1.052	10246	0.134	0.000	2425	2005	2811	2861	2762	0	0	0	0	0	0	14.59	14.21	13.73
1641	end apogee: CONTROL_FINISHED_OK
state	1641	begin climb
1643	0.82	292.0	2425	2005	2861	2762	171.8	0.0	297	1879	1.45	2.58	223.12	1.048	10756	0.079	0.080	2743	565	1620	1676	1565	0	0	0	0	0	0	14.47	14.43	13.76
1887	0.90	357.8	2742	564	1675	1565	153.1	8.4	339	1949	0.08	2.33	53.05	1.018	11270	0.177	0.037	2790	1974	1353	1413	1294	0	0	0	0	0	0	14.51	14.55	13.79
2014	0.95	393.8	2790	1974	1411	1294	140.4	9.1	362	2050	0.00	2.47	29.77	0.997	8452	0.000	0.067	2790	3351	1206	1272	1141	0	0	0	0	0	0	14.87	14.52	13.84
2108	0.95	393.8	2789	3351	1274	1142	130.0	13.1	379	2114	0.00	2.35	0.00	0.000	1030	0.000	0.047	2790	1966	1207	1274	1141	0	0	0	0	0	0	14.76	14.66	14.77
2179	0.95	393.8	2790	1964	1274	1141	121.5	13.5	392	2185	0.00	2.45	0.00	0.000	260	0.000	0.070	2790	3355	1207	1273	1141	0	0	0	0	0	0	14.96	14.55	14.97
2223	0.95	393.8	2790	3356	1273	1141	115.2	12.2	400	2230	0.00	2.33	0.00	0.000	1030	0.000	0.042	2790	1954	1207	1273	1141	0	0	0	0	0	0	14.84	14.74	14.85
2294	1.05	480.0	2789	1954	1272	1141	109.7	8.0	413	2380	0.08	2.50	73.25	1.011	10500	0.179	0.061	2840	3352	854	901	807	0	0	0	0	0	0	14.76	14.45	13.86
2403	1.05	480.0	2840	3352	900	804	91.0	17.7	432	2410	0.00	2.33	0.00	0.000	5126	0.000	0.044	2840	1974	852	902	803	0	0	0	0	0	0	14.73	14.62	14.73
2473	1.08	501.0	2840	1972	902	800	83.2	9.5	445	2498	0.00	2.53	19.00	0.946	12804	0.000	0.080	2840	563	768	805	731	0	0	0	0	0	0	14.93	14.61	13.88
2511	1.32	696.4	2840	562	805	729	80.8	5.5	451	2557	0.25	2.30	37.67	0.972	11270	0.078	0.037	2923	1967	598	586	611	0	0	0	0	0	0	14.71	14.67	13.86
2620	1.32	696.4	2922	1967	584	602	67.0	19.2	471	2627	0.00	2.42	0.00	0.000	4356	0.000	0.063	2923	3356	593	585	601	0	0	0	0	0	0	14.90	14.62	14.91
2645	1.32	696.4	2922	3356	584	599	62.3	19.9	475	2651	0.00	2.38	0.00	0.000	5126	0.000	0.046	2923	1958	592	585	599	0	0	0	0	0	0	14.74	14.62	14.76
2716	1.32	696.4	2923	1959	585	595	52.0	14.0	488	2722	0.00	2.45	0.00	0.000	4612	0.000	0.082	2923	564	588	582	595	0	0	0	0	0	0	14.99	14.65	14.99
2735	1.32	696.4	2923	564	585	594	49.3	13.0	491	2742	0.00	2.30	0.00	0.000	5126	0.000	0.037	2923	1965	589	585	594	0	0	0	0	0	0	14.80	14.71	14.81
2807	1.41	768.4	2923	1965	585	592	42.8	8.3	504	2813	0.00	2.42	0.00	0.000	2308	0.000	0.063	2923	3367	588	585	592	0	0	0	0	0	0	15.02	14.72	15.02
2866	1.43	787.4	2923	3367	585	590	37.4	9.5	515	2873	0.00	2.38	0.00	0.000	3078	0.000	0.045	2923	1958	587	585	589	0	0	0	0	0	0	14.89	14.77	14.91
2937	1.43	787.4	2923	1957	586	586	30.6	11.4	528	2943	0.00	0.00	0.00	0.000	2054	0.000	0.000	2924	1957	586	586	586	0	0	0	0	0	0	15.03	15.04	15.04
3006	1.43	787.4	2922	1957	586	585	22.9	12.8	541	3011	0.00	0.00	0.00	0.000	2054	0.000	0.000	2923	1957	585	586	585	0	0	0	0	0	0	15.07	15.07	15.07
3077	1.47	818.7	2923	1957	586	584	15.7	9.2	554	3084	0.08	0.00	0.00	0.000	2054	0.182	0.000	2970	1957	585	586	584	0	0	0	0	0	0	14.74	14.80	14.78
3148	1.47	818.7	2971	1957	586	583	7.9	14.7	567	3154	0.00	2.42	0.00	0.000	4612	0.000	0.080	2971	562	584	586	583	0	0	0	0	0	0	15.07	14.72	15.08
3177	1.47	818.7	2971	562	586	582	3.5	14.0	572	3184	0.00	2.30	0.00	0.000	5126	0.000	0.037	2971	1982	584	586	582	0	0	0	0	0	0	14.95	14.85	14.96
3189	end climb: SURFACE_DEPTH_REACHED
state	3189	begin surface coast
3211	end surface coast: CONTROL_FINISHED_OK
state	3211	begin surface