Glider dive log

SOSCEx Mar19 * SG573 * Dive index * Mission links * Dive 37 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 573 HD_C 9.8500004e-06 C_ROLL_DIVE 1987 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 30 HEADING 270 C_ROLL_CLIMB 1987 ALTIM_TOP_TURN_MARGIN 0

DIVE 37 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 100

STOP_T 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 10

D_SURF 3 TGT_DEFAULT_LAT 4743.3999 R_PORT_OVSHOOT 39 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 47 ALTIM_PULSE 3

D_TGT 500 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 4

D_ABORT 1050 SM_CC 542.59473 ROLL_MAXERRORS 1 XPDR_VALID 2

D_NO_BLEED 29 N_FILEKB 4 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_BOOST 0 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 CALL_NDIVES 1 VBD_MIN 600 INT_PRESSURE_YINT -0.85000002

D_FINISH 0 COMM_SEQ 0 VBD_MAX 3960 DEEPGLIDER 0

D_PITCH 0 PROTOCOL 9 C_VBD 2812 MOTHERBOARD 4

D_SAFE 0 N_NOCOMM 1 VBD_DBAND 2 DEVICE1 -1

D_CALL 0 NOCOMM_ACTION 259 VBD_CNV -0.245296 DEVICE2 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_DIVE 167 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_MISSION 182 CAPUPLOAD 1 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_ABORT 197 CAPMAXSIZE 400000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN 500 HEAPDBG 0 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_NO_W 120 N_GPS 100840 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_LOITER 0 T_RSLEEP 2 DBDW 0 COMPASS_DEVICE 17

T_EPIRB 0 STROBE 0 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_BATHY 0 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 PHONE_DEVICE 49

USE_ICE 0 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 AH0_24V 310 RAFOS_DEVICE -1

D_OFFGRID 100 PITCH_MIN 139 AH0_10V 0 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3926 MINV_24V 11.5 SIM_W 0

RELAUNCH 0 C_PITCH 2490 MINV_10V 10 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_DBAND 0.0099999998 MAXI_24V 3 SEABIRD_T_G 0.0043368991

MAX_BUOY 150 PITCH_CNV 0.003125763 MAXI_10V 2 SEABIRD_T_H 0.00062533951

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.3700677e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 2.5956786e-06

SPEED_FACTOR 1 PITCH_GAIN 27 PHONE_SUPPLY 2 SEABIRD_C_G -9.9432478

RHO 1.0275 PITCH_TIMEOUT 25 PRESSURE_YINT -167.97279 SEABIRD_C_H 1.1588655

MASS 52619 PITCH_AD_RATE 125 PRESSURE_SLOPE 0.00010902 SEABIRD_C_I -0.0013646155

MASS_COMP 0 PITCH_MAXERRORS 1 AD7714Ch0Gain 1 SEABIRD_C_J 0.00018066024

NAV_MODE 3 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 167 COMPASS_USE 4 SC_XMITPROFILE 3.0

HD_A 0.0038360001 ROLL_MAX 3807 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0101 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 1 D_SAFE 0 PITCH_ADJ_DBAND 0 SIM_PITCH 0

AH0_10V 0 D_SURF 3 PITCH_ADJ_GAIN 0 SIM_W 0

AH0_24V 310 D_TGT 500 PITCH_AD_RATE 125 SM_CC 542.59473

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 15 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.0099999998 STOP_T 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_GAIN 27 STROBE 0

ALTIM_PING_DELTA 10 FG_AHR_10V 0 PITCH_MAX 3926 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 100 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FILEMGR 0 PITCH_MIN 139 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 4 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 25 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 20 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0038360001 PITCH_W_GAIN 0 TGT_DEFAULT_LAT 4743.3999

APOGEE_PITCH -5 HD_B 0.0101 PRESSURE_SLOPE 0.00010902 TGT_DEFAULT_LON -12224.2

CALL_NDIVES 1 HD_C 9.8500004e-06 PRESSURE_YINT -167.97279 T_ABORT 197

CALL_TRIES 5 HEADING 270 PROTOCOL 9 T_BOOST 0

CALL_WAIT 60 HEAD_ERRBAND 10 P_OVSHOOT 0.039999999 T_DIVE 167

CAPMAXSIZE 400000 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_EPIRB 0

CAPUPLOAD 1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_GPS 15

CF8_MAXERRORS 20 ID 573 RAFOS_DEVICE -1 T_LOITER 0

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_MISSION 182

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -0.85000002 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS_DEVICE 17 KALMAN_USE 2 RELAUNCH 0 T_RSLEEP 2

COMPASS_USE 4 LOGGERDEVICE1 53 RHO 1.0275 T_TURN 500

COURSE_BIAS 0 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

C_PITCH 2490 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_ROLL_CLIMB 1987 LOGGERDEVICE4 -1 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_ROLL_DIVE 1987 LOGGERS 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_VBD 2812 MASS 52619 ROLL_DEG 40 USE_BATHY 0

DBDW 0 MASS_COMP 0 ROLL_MAX 3807 USE_ICE 0

DEEPGLIDER 0 MAXI_10V 2 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MAXI_24V 3 ROLL_MIN 167 VBD_CNV -0.245296

DEVICE2 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MINV_10V 10 R_PORT_OVSHOOT 39 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 47 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 37 NAV_MODE 3 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1050 NOCOMM_ACTION 259 SEABIRD_C_G -9.9432478 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 0 N_DIVES 0 SEABIRD_C_H 1.1588655 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_I -0.0013646155 W_ADJ_DBAND 0

D_FINISH 0 N_GPS 100840 SEABIRD_C_J 0.00018066024 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_G 0.0043368991 XPDR_INHIBIT 90

D_NO_BLEED 29 N_NOSURFACE 0 SEABIRD_T_H 0.00062533951 XPDR_VALID 2

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_I 2.3700677e-05

D_PITCH 0 PHONE_SUPPLY 2 SEABIRD_T_J 2.5956786e-06

Pre-dive calculations and measurements:

GPS1 010419,024453,-2854.6094,3215.7104,16,1.0,41,-23.7,0.8,209.6,10,9.6 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -2859.679,3226.696

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.63 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -59.2 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 010419,025347,-2854.8391,3215.6587,16,0.8,18,-23.7,1.9,212.7,11,8.9 MHEAD_RNG_PITCHd_Wd 140.3,20000,-18.2,-9.980,-21.01,2240

SPEED_LIMITS 0.173,0.260 D_GRID 500

Post-dive calculations and measurements:

FINISH -0.1,1.023358 _24V_AH 13.41,94.405

SM_CCo 2802,44.50,0.750,0,0,599,542.59 _10V_AH 13.79,0.000

SM_GC 0.49,12.88,0.00,44.50,0.050,0.000,0.750,141,1993,599,-7.27,0.17,542.59,0,0,0,0,0,0,14.70,14.92,14.16 FG_AHR_24Vo 0.000

IRIDIUM_FIX -2843.29,3218.07,010419,015940 FG_AHR_10Vo 0.000

TT8_MAMPS 0.019474,0.938497 MEM 339588

HUMID 55.74 DATA_FILE_SIZE 16797,504

INTERNAL_PRESSURE 9.31641 CAP_FILE_SIZE 98832,0

TCM_TEMP 24.60 CFSIZE 1023623168,1016528896

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

ALTIM_TOP_PING 19.9,999.0 CURRENT 0.313,215.37,1

ALTIM_BOTTOM_PING 100.4,62.1 GPS 010419,034256,-2855.414,3215.709,25,1.0,41,-23.7,0.7,214.4,9,9.4

SC_FREEKB 3904032

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 358 136.47 nil 0 0 0.00

Roll_motor 61 84 69.03 nil 0 0 0.00

VBD_pump_during_apogee 440 1072 6328.72 nil 0 0 0.00

VBD_pump_during_surface 44 750 447.84 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 22 32 9.89 nil 0 0 0.00

Iridium_during_connect 49 160 105.84 SciCon 2814 35 1356.11

Iridium_during_xfer 291 223 870.84 nil 0 0 0.00

Transponder_ping 0 420 4.22 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 23 6.21

TT8 1071 8 126.69

LPSleep 387 2 11.72

TT8_Active 601 8 71.04

TT8_Sampling 1225 28 473.98

TT8_CF8 109 41 62.74

TT8_Kalman 0 0 0.00

Analog_circuits 1106 12 189.18

GPS_charging 0 0 0.00

Compass 762 17 181.14

RAFOS 0 0 0.00

Transponder 7 30 3.00

Guidance and control:

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

20 -0.85 -146.0 72 1999 580 581 0.0 0.0 0 115 0.00 0.00 -92.53 0.000 16386 0.000 0.000 73 1999 3181 3188 3174 0 0 0 0 0 0 15.01 28.83 15.01

117 -0.85 -146.0 73 1999 3189 3174 4.0 -11.6 16 143 12.55 2.40 -3.70 0.000 18948 0.304 0.084 2209 583 3410 3440 3380 0 0 0 0 0 0 14.50 13.41 14.81

265 -0.85 -146.0 2208 583 3441 3380 42.3 -15.8 44 272 0.00 2.30 0.00 0.000 3078 0.000 0.044 2204 1989 3411 3442 3380 0 0 0 0 0 0 14.88 14.78 14.89

335 -0.85 -146.0 2204 1988 3442 3379 52.7 -15.9 57 342 0.00 2.38 0.00 0.000 2308 0.000 0.068 2204 3389 3410 3442 3379 0 0 0 0 0 0 15.07 14.69 15.08

389 -0.85 -146.0 2203 3390 3441 3378 60.9 -14.1 67 395 0.00 2.28 0.00 0.000 3078 0.000 0.037 2204 1988 3410 3442 3378 0 0 0 0 0 0 14.95 14.86 14.96

457 -0.85 -146.0 2203 1987 3442 3378 71.1 -13.1 80 463 0.00 0.00 0.00 0.000 2054 0.000 0.000 2204 1987 3410 3442 3379 0 0 0 0 0 0 15.11 15.11 15.11

525 -0.85 -146.0 2203 1987 3442 3378 80.5 -14.2 93 532 0.00 2.38 0.00 0.000 2308 0.000 0.067 2204 3383 3410 3443 3378 0 0 0 0 0 0 15.10 14.73 15.10

549 -0.85 -146.0 2204 3383 3442 3378 83.8 -13.8 97 556 0.00 2.28 0.00 0.000 3078 0.000 0.037 2204 1981 3410 3442 3378 0 0 0 0 0 0 14.97 14.88 14.99

619 -0.85 -146.0 2203 1979 3443 3378 92.4 -11.8 110 625 0.00 2.40 0.00 0.000 2308 0.000 0.067 2204 3392 3410 3443 3378 0 0 0 0 0 0 15.11 14.81 15.11

657 -0.85 -146.0 2203 3392 3442 3378 97.7 -12.7 117 664 0.00 2.30 0.00 0.000 3078 0.000 0.037 2204 1978 3410 3443 3378 0 0 0 0 0 0 14.97 14.88 14.99

729 -0.85 -146.0 2203 1977 3443 3378 107.0 -13.8 130 735 0.00 0.00 0.00 0.000 2054 0.000 0.000 2204 1978 3410 3443 3378 0 0 0 0 0 0 15.11 15.12 15.12

797 -0.85 -146.0 2204 1978 3443 3378 117.2 -14.4 143 803 0.00 0.00 0.00 0.000 2054 0.000 0.000 2204 1978 3410 3443 3378 0 0 0 0 0 0 15.13 15.14 15.13

865 -0.85 -146.0 2203 1978 3443 3378 126.3 -13.4 156 871 0.00 0.00 0.00 0.000 2054 0.000 0.000 2204 1978 3410 3443 3378 0 0 0 0 0 0 15.12 15.12 15.12

932 -0.85 -146.0 2203 1978 3443 3378 136.1 -14.7 169 938 0.00 0.00 0.00 0.000 2054 0.000 0.000 2204 1978 3410 3442 3378 0 0 0 0 0 0 15.14 15.14 15.14

1001 -0.85 -146.0 2203 1978 3443 3378 145.4 -13.6 182 1007 0.00 0.00 0.00 0.000 2054 0.000 0.000 2204 1978 3410 3443 3378 0 0 0 0 0 0 15.13 15.14 15.14

1017 end dive: BOTTOM_OBSTACLE_DETECTED

state 1017 begin apogee

1021 -0.19 0.0 2204 1978 3442 3375 147.9 -13.7 185 1137 1.12 0.00 106.18 1.073 10246 0.171 0.000 2424 1976 2811 2848 2775 0 0 0 0 0 0 14.61 14.42 14.04

1138 end apogee: CONTROL_FINISHED_OK

state 1139 begin climb

1140 0.85 146.0 2425 1976 2848 2774 152.5 0.0 205 1258 1.55 2.42 108.40 1.063 10756 0.099 0.067 2749 583 2214 2255 2174 0 0 0 0 0 0 14.53 14.33 13.95

1326 0.89 173.7 2749 583 2249 2174 142.0 8.7 237 1356 0.00 2.33 22.20 1.013 11270 0.000 0.041 2749 1990 2101 2143 2059 0 0 0 0 0 0 14.67 14.57 14.02

1419 0.91 190.1 2749 1990 2140 2058 134.0 9.2 254 1439 0.05 2.42 13.80 0.948 10500 0.253 0.063 2794 3384 2036 2078 1994 0 0 0 0 0 0 14.60 14.62 14.03

1456 0.91 190.1 2792 3384 2077 1993 129.6 11.6 260 1463 0.05 2.33 0.00 0.000 5126 0.358 0.042 2787 1978 2034 2077 1992 0 0 0 0 0 0 14.44 14.59 14.62

1525 0.91 190.1 2786 1978 2079 1991 122.0 10.7 273 1532 0.00 2.38 0.00 0.000 4612 0.000 0.071 2790 583 2033 2075 1991 0 0 0 0 0 0 14.95 14.69 14.95

1579 0.91 190.1 2790 583 2074 1991 116.4 10.7 283 1586 0.00 2.30 0.00 0.000 5126 0.000 0.041 2790 1997 2033 2075 1991 0 0 0 0 0 0 14.87 14.78 14.88

1648 0.91 190.1 2790 1994 2074 1990 108.8 10.1 296 1654 0.00 0.00 0.00 0.000 4102 0.000 0.000 2790 1994 2032 2075 1989 0 0 0 0 0 0 15.02 15.02 15.02

1716 0.93 204.1 2790 1994 2074 1989 102.1 9.3 309 1735 0.00 2.38 12.18 0.924 12804 0.000 0.068 2790 593 1978 2021 1935 0 0 0 0 0 0 15.02 14.62 14.18

1787 0.93 204.1 2790 591 2017 1935 94.2 11.4 322 1794 0.00 2.30 0.00 0.000 5126 0.000 0.043 2790 1984 1978 2022 1934 0 0 0 0 0 0 14.86 14.77 14.87

1858 0.93 204.1 2790 1984 2017 1932 86.7 10.8 335 1864 0.00 2.38 0.00 0.000 4356 0.000 0.064 2790 3390 1974 2017 1932 0 0 0 0 0 0 15.05 14.78 15.05

1902 0.93 204.1 2790 3390 2016 1926 81.7 10.8 343 1908 0.00 2.30 0.00 0.000 5126 0.000 0.043 2790 1987 1974 2017 1931 0 0 0 0 0 0 14.88 14.77 14.89

1971 0.93 204.1 2789 1987 2016 1931 75.0 10.0 356 1977 0.00 0.00 0.00 0.000 4102 0.000 0.000 2790 1987 1973 2016 1931 0 0 0 0 0 0 15.09 15.09 15.09

2038 0.93 204.1 2790 1987 2016 1931 68.3 10.0 369 2044 0.00 0.00 0.00 0.000 4102 0.000 0.000 2790 1987 1973 2016 1931 0 0 0 0 0 0 15.09 15.10 15.10

2106 0.97 236.3 2790 1986 2016 1931 61.8 8.5 382 2138 0.00 2.42 25.58 0.977 10756 0.000 0.072 2790 593 1849 1892 1806 0 0 0 0 0 0 15.08 14.76 14.25

2171 1.00 262.5 2790 593 1889 1801 56.4 8.8 393 2201 0.00 2.30 21.40 0.975 11270 0.000 0.042 2790 1996 1740 1790 1690 0 0 0 0 0 0 14.80 14.72 14.16

2263 1.03 286.4 2790 1996 1787 1687 48.1 8.9 410 2288 0.00 2.42 19.58 0.929 10500 0.000 0.063 2790 3396 1643 1696 1590 0 0 0 0 0 0 14.98 14.68 14.12

2335 1.04 298.4 2790 3396 1693 1584 41.4 9.4 423 2355 0.08 2.33 10.70 0.851 11270 0.180 0.042 2835 1990 1594 1648 1541 0 0 0 0 0 0 14.62 14.66 14.12

2417 1.04 298.4 2835 1991 1645 1539 32.6 10.5 438 2424 0.00 2.40 0.00 0.000 4612 0.000 0.072 2836 586 1591 1644 1539 0 0 0 0 0 0 14.98 14.66 14.98

2516 1.06 315.5 2835 586 1643 1539 23.3 9.2 457 2535 0.00 2.30 10.73 0.864 13318 0.000 0.041 2835 1992 1523 1576 1470 0 0 0 0 0 0 14.83 14.73 14.20

2598 1.15 386.7 2835 1992 1574 1469 17.6 6.7 472 2647 0.00 2.45 42.78 0.889 10756 0.000 0.068 2836 584 1234 1291 1177 0 0 0 0 0 0 15.04 14.63 14.21

2660 1.25 465.6 2835 584 1291 1176 13.6 6.4 482 2715 0.15 2.33 46.53 0.832 11270 0.107 0.047 2903 1993 911 957 865 0 0 0 0 0 0 14.73 14.71 14.15

2756 end climb: SURFACE_DEPTH_REACHED

state 2756 begin surface coast

2781 end surface coast: CONTROL_FINISHED_OK

state 2782 begin surface

ID	573	HD_C	9.8500004e-06	C_ROLL_DIVE	1987	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	30	HEADING	270	C_ROLL_CLIMB	1987	ALTIM_TOP_TURN_MARGIN	0
DIVE	37	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	100
STOP_T	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	10
D_SURF	3	TGT_DEFAULT_LAT	4743.3999	R_PORT_OVSHOOT	39	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	47	ALTIM_PULSE	3
D_TGT	500	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	4
D_ABORT	1050	SM_CC	542.59473	ROLL_MAXERRORS	1	XPDR_VALID	2
D_NO_BLEED	29	N_FILEKB	4	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_BOOST	0	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	CALL_NDIVES	1	VBD_MIN	600	INT_PRESSURE_YINT	-0.85000002
D_FINISH	0	COMM_SEQ	0	VBD_MAX	3960	DEEPGLIDER	0
D_PITCH	0	PROTOCOL	9	C_VBD	2812	MOTHERBOARD	4
D_SAFE	0	N_NOCOMM	1	VBD_DBAND	2	DEVICE1	-1
D_CALL	0	NOCOMM_ACTION	259	VBD_CNV	-0.245296	DEVICE2	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_DIVE	167	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_MISSION	182	CAPUPLOAD	1	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_ABORT	197	CAPMAXSIZE	400000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN	500	HEAPDBG	0	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_NO_W	120	N_GPS	100840	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_LOITER	0	T_RSLEEP	2	DBDW	0	COMPASS_DEVICE	17
T_EPIRB	0	STROBE	0	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_BATHY	0	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	PHONE_DEVICE	49
USE_ICE	0	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	AH0_24V	310	RAFOS_DEVICE	-1
D_OFFGRID	100	PITCH_MIN	139	AH0_10V	0	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3926	MINV_24V	11.5	SIM_W	0
RELAUNCH	0	C_PITCH	2490	MINV_10V	10	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_DBAND	0.0099999998	MAXI_24V	3	SEABIRD_T_G	0.0043368991
MAX_BUOY	150	PITCH_CNV	0.003125763	MAXI_10V	2	SEABIRD_T_H	0.00062533951
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.3700677e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	2.5956786e-06
SPEED_FACTOR	1	PITCH_GAIN	27	PHONE_SUPPLY	2	SEABIRD_C_G	-9.9432478
RHO	1.0275	PITCH_TIMEOUT	25	PRESSURE_YINT	-167.97279	SEABIRD_C_H	1.1588655
MASS	52619	PITCH_AD_RATE	125	PRESSURE_SLOPE	0.00010902	SEABIRD_C_I	-0.0013646155
MASS_COMP	0	PITCH_MAXERRORS	1	AD7714Ch0Gain	1	SEABIRD_C_J	0.00018066024
NAV_MODE	3	PITCH_ADJ_GAIN	0	TCM_PITCH_OFFSET	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	TCM_ROLL_OFFSET	0	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	167	COMPASS_USE	4	SC_XMITPROFILE	3.0
HD_A	0.0038360001	ROLL_MAX	3807	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0101	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	20

GPS1	010419,024453,-2854.6094,3215.7104,16,1.0,41,-23.7,0.8,209.6,10,9.6	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-2859.679,3226.696
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.63	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-59.2	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	010419,025347,-2854.8391,3215.6587,16,0.8,18,-23.7,1.9,212.7,11,8.9	MHEAD_RNG_PITCHd_Wd	140.3,20000,-18.2,-9.980,-21.01,2240
SPEED_LIMITS	0.173,0.260	D_GRID	500

FINISH	-0.1,1.023358	_24V_AH	13.41,94.405
SM_CCo	2802,44.50,0.750,0,0,599,542.59	_10V_AH	13.79,0.000
SM_GC	0.49,12.88,0.00,44.50,0.050,0.000,0.750,141,1993,599,-7.27,0.17,542.59,0,0,0,0,0,0,14.70,14.92,14.16	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-2843.29,3218.07,010419,015940	FG_AHR_10Vo	0.000
TT8_MAMPS	0.019474,0.938497	MEM	339588
HUMID	55.74	DATA_FILE_SIZE	16797,504
INTERNAL_PRESSURE	9.31641	CAP_FILE_SIZE	98832,0
TCM_TEMP	24.60	CFSIZE	1023623168,1016528896
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_TOP_PING	19.9,999.0	CURRENT	0.313,215.37,1
ALTIM_BOTTOM_PING	100.4,62.1	GPS	010419,034256,-2855.414,3215.709,25,1.0,41,-23.7,0.7,214.4,9,9.4
SC_FREEKB	3904032

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	358	136.47	nil	0	0	0.00
Roll_motor	61	84	69.03	nil	0	0	0.00
VBD_pump_during_apogee	440	1072	6328.72	nil	0	0	0.00
VBD_pump_during_surface	44	750	447.84	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	22	32	9.89	nil	0	0	0.00
Iridium_during_connect	49	160	105.84	SciCon	2814	35	1356.11
Iridium_during_xfer	291	223	870.84	nil	0	0	0.00
Transponder_ping	0	420	4.22	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	23	6.21
TT8	1071	8	126.69
LPSleep	387	2	11.72
TT8_Active	601	8	71.04
TT8_Sampling	1225	28	473.98
TT8_CF8	109	41	62.74
TT8_Kalman	0	0	0.00
Analog_circuits	1106	12	189.18
GPS_charging	0	0	0.00
Compass	762	17	181.14
RAFOS	0	0	0.00
Transponder	7	30	3.00

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
20	-0.85	-146.0	72	1999	580	581	0.0	0.0	0	115	0.00	0.00	-92.53	0.000	16386	0.000	0.000	73	1999	3181	3188	3174	0	0	0	0	0	0	15.01	28.83	15.01
117	-0.85	-146.0	73	1999	3189	3174	4.0	-11.6	16	143	12.55	2.40	-3.70	0.000	18948	0.304	0.084	2209	583	3410	3440	3380	0	0	0	0	0	0	14.50	13.41	14.81
265	-0.85	-146.0	2208	583	3441	3380	42.3	-15.8	44	272	0.00	2.30	0.00	0.000	3078	0.000	0.044	2204	1989	3411	3442	3380	0	0	0	0	0	0	14.88	14.78	14.89
335	-0.85	-146.0	2204	1988	3442	3379	52.7	-15.9	57	342	0.00	2.38	0.00	0.000	2308	0.000	0.068	2204	3389	3410	3442	3379	0	0	0	0	0	0	15.07	14.69	15.08
389	-0.85	-146.0	2203	3390	3441	3378	60.9	-14.1	67	395	0.00	2.28	0.00	0.000	3078	0.000	0.037	2204	1988	3410	3442	3378	0	0	0	0	0	0	14.95	14.86	14.96
457	-0.85	-146.0	2203	1987	3442	3378	71.1	-13.1	80	463	0.00	0.00	0.00	0.000	2054	0.000	0.000	2204	1987	3410	3442	3379	0	0	0	0	0	0	15.11	15.11	15.11
525	-0.85	-146.0	2203	1987	3442	3378	80.5	-14.2	93	532	0.00	2.38	0.00	0.000	2308	0.000	0.067	2204	3383	3410	3443	3378	0	0	0	0	0	0	15.10	14.73	15.10
549	-0.85	-146.0	2204	3383	3442	3378	83.8	-13.8	97	556	0.00	2.28	0.00	0.000	3078	0.000	0.037	2204	1981	3410	3442	3378	0	0	0	0	0	0	14.97	14.88	14.99
619	-0.85	-146.0	2203	1979	3443	3378	92.4	-11.8	110	625	0.00	2.40	0.00	0.000	2308	0.000	0.067	2204	3392	3410	3443	3378	0	0	0	0	0	0	15.11	14.81	15.11
657	-0.85	-146.0	2203	3392	3442	3378	97.7	-12.7	117	664	0.00	2.30	0.00	0.000	3078	0.000	0.037	2204	1978	3410	3443	3378	0	0	0	0	0	0	14.97	14.88	14.99
729	-0.85	-146.0	2203	1977	3443	3378	107.0	-13.8	130	735	0.00	0.00	0.00	0.000	2054	0.000	0.000	2204	1978	3410	3443	3378	0	0	0	0	0	0	15.11	15.12	15.12
797	-0.85	-146.0	2204	1978	3443	3378	117.2	-14.4	143	803	0.00	0.00	0.00	0.000	2054	0.000	0.000	2204	1978	3410	3443	3378	0	0	0	0	0	0	15.13	15.14	15.13
865	-0.85	-146.0	2203	1978	3443	3378	126.3	-13.4	156	871	0.00	0.00	0.00	0.000	2054	0.000	0.000	2204	1978	3410	3443	3378	0	0	0	0	0	0	15.12	15.12	15.12
932	-0.85	-146.0	2203	1978	3443	3378	136.1	-14.7	169	938	0.00	0.00	0.00	0.000	2054	0.000	0.000	2204	1978	3410	3442	3378	0	0	0	0	0	0	15.14	15.14	15.14
1001	-0.85	-146.0	2203	1978	3443	3378	145.4	-13.6	182	1007	0.00	0.00	0.00	0.000	2054	0.000	0.000	2204	1978	3410	3443	3378	0	0	0	0	0	0	15.13	15.14	15.14
1017	end dive: BOTTOM_OBSTACLE_DETECTED
state	1017	begin apogee
1021	-0.19	0.0	2204	1978	3442	3375	147.9	-13.7	185	1137	1.12	0.00	106.18	1.073	10246	0.171	0.000	2424	1976	2811	2848	2775	0	0	0	0	0	0	14.61	14.42	14.04
1138	end apogee: CONTROL_FINISHED_OK
state	1139	begin climb
1140	0.85	146.0	2425	1976	2848	2774	152.5	0.0	205	1258	1.55	2.42	108.40	1.063	10756	0.099	0.067	2749	583	2214	2255	2174	0	0	0	0	0	0	14.53	14.33	13.95
1326	0.89	173.7	2749	583	2249	2174	142.0	8.7	237	1356	0.00	2.33	22.20	1.013	11270	0.000	0.041	2749	1990	2101	2143	2059	0	0	0	0	0	0	14.67	14.57	14.02
1419	0.91	190.1	2749	1990	2140	2058	134.0	9.2	254	1439	0.05	2.42	13.80	0.948	10500	0.253	0.063	2794	3384	2036	2078	1994	0	0	0	0	0	0	14.60	14.62	14.03
1456	0.91	190.1	2792	3384	2077	1993	129.6	11.6	260	1463	0.05	2.33	0.00	0.000	5126	0.358	0.042	2787	1978	2034	2077	1992	0	0	0	0	0	0	14.44	14.59	14.62
1525	0.91	190.1	2786	1978	2079	1991	122.0	10.7	273	1532	0.00	2.38	0.00	0.000	4612	0.000	0.071	2790	583	2033	2075	1991	0	0	0	0	0	0	14.95	14.69	14.95
1579	0.91	190.1	2790	583	2074	1991	116.4	10.7	283	1586	0.00	2.30	0.00	0.000	5126	0.000	0.041	2790	1997	2033	2075	1991	0	0	0	0	0	0	14.87	14.78	14.88
1648	0.91	190.1	2790	1994	2074	1990	108.8	10.1	296	1654	0.00	0.00	0.00	0.000	4102	0.000	0.000	2790	1994	2032	2075	1989	0	0	0	0	0	0	15.02	15.02	15.02
1716	0.93	204.1	2790	1994	2074	1989	102.1	9.3	309	1735	0.00	2.38	12.18	0.924	12804	0.000	0.068	2790	593	1978	2021	1935	0	0	0	0	0	0	15.02	14.62	14.18
1787	0.93	204.1	2790	591	2017	1935	94.2	11.4	322	1794	0.00	2.30	0.00	0.000	5126	0.000	0.043	2790	1984	1978	2022	1934	0	0	0	0	0	0	14.86	14.77	14.87
1858	0.93	204.1	2790	1984	2017	1932	86.7	10.8	335	1864	0.00	2.38	0.00	0.000	4356	0.000	0.064	2790	3390	1974	2017	1932	0	0	0	0	0	0	15.05	14.78	15.05
1902	0.93	204.1	2790	3390	2016	1926	81.7	10.8	343	1908	0.00	2.30	0.00	0.000	5126	0.000	0.043	2790	1987	1974	2017	1931	0	0	0	0	0	0	14.88	14.77	14.89
1971	0.93	204.1	2789	1987	2016	1931	75.0	10.0	356	1977	0.00	0.00	0.00	0.000	4102	0.000	0.000	2790	1987	1973	2016	1931	0	0	0	0	0	0	15.09	15.09	15.09
2038	0.93	204.1	2790	1987	2016	1931	68.3	10.0	369	2044	0.00	0.00	0.00	0.000	4102	0.000	0.000	2790	1987	1973	2016	1931	0	0	0	0	0	0	15.09	15.10	15.10
2106	0.97	236.3	2790	1986	2016	1931	61.8	8.5	382	2138	0.00	2.42	25.58	0.977	10756	0.000	0.072	2790	593	1849	1892	1806	0	0	0	0	0	0	15.08	14.76	14.25
2171	1.00	262.5	2790	593	1889	1801	56.4	8.8	393	2201	0.00	2.30	21.40	0.975	11270	0.000	0.042	2790	1996	1740	1790	1690	0	0	0	0	0	0	14.80	14.72	14.16
2263	1.03	286.4	2790	1996	1787	1687	48.1	8.9	410	2288	0.00	2.42	19.58	0.929	10500	0.000	0.063	2790	3396	1643	1696	1590	0	0	0	0	0	0	14.98	14.68	14.12
2335	1.04	298.4	2790	3396	1693	1584	41.4	9.4	423	2355	0.08	2.33	10.70	0.851	11270	0.180	0.042	2835	1990	1594	1648	1541	0	0	0	0	0	0	14.62	14.66	14.12
2417	1.04	298.4	2835	1991	1645	1539	32.6	10.5	438	2424	0.00	2.40	0.00	0.000	4612	0.000	0.072	2836	586	1591	1644	1539	0	0	0	0	0	0	14.98	14.66	14.98
2516	1.06	315.5	2835	586	1643	1539	23.3	9.2	457	2535	0.00	2.30	10.73	0.864	13318	0.000	0.041	2835	1992	1523	1576	1470	0	0	0	0	0	0	14.83	14.73	14.20
2598	1.15	386.7	2835	1992	1574	1469	17.6	6.7	472	2647	0.00	2.45	42.78	0.889	10756	0.000	0.068	2836	584	1234	1291	1177	0	0	0	0	0	0	15.04	14.63	14.21
2660	1.25	465.6	2835	584	1291	1176	13.6	6.4	482	2715	0.15	2.33	46.53	0.832	11270	0.107	0.047	2903	1993	911	957	865	0	0	0	0	0	0	14.73	14.71	14.15
2756	end climb: SURFACE_DEPTH_REACHED
state	2756	begin surface coast
2781	end surface coast: CONTROL_FINISHED_OK
state	2782	begin surface