Glider dive log

SOSCEx Mar19 * SG573 * Dive index * Mission links * Dive 380 * 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 320 C_ROLL_CLIMB 1964 ALTIM_TOP_TURN_MARGIN 0

DIVE 380 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 31 ALTIM_FREQUENCY 13

D_FLARE 6 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 40 ALTIM_PULSE 3

D_TGT 1000 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 2

D_ABORT 1050 SM_CC 350 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 177 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_ABORT 245 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 350 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 350

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 245

CALL_TRIES 5 HEADING 320 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 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 177

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 350 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MINV_10V 10 R_PORT_OVSHOOT 31 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 40 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 380 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 6 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 240419,151322,-3425.2720,2550.9731,17,0.8,18,-27.8,0.6,227.6,11,8.3 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3417.064,2542.392

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.39 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -62.3 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 240419,152236,-3425.3364,2550.7932,19,0.8,21,-27.8,0.6,299.7,11,9.0 MHEAD_RNG_PITCHd_Wd 347.8,20000,-20.9,-19.960,-22.72,2620

SPEED_LIMITS 0.346,0.477 D_GRID 1000

Post-dive calculations and measurements:

FINISH -0.3,1.024929 SC_FREEKB 3723616

SM_CCo 3345,0.00,0.000,0,0,594,544.31 _24V_AH 12.94,185.532

SM_GC 0.36,13.62,0.00,0.00,0.055,0.000,0.000,143,1981,594,-7.27,-0.93,544.31,0,0,0,0,0,0,14.69,14.97,14.76 _10V_AH 12.45,0.000

IRIDIUM_FIX -3412.10,2551.84,240419,140343 FG_AHR_24Vo 0.000

TT8_MAMPS 0.019474,0.889812 FG_AHR_10Vo 0.000

HUMID 62.75 MEM 339556

INTERNAL_PRESSURE 8.87694 DATA_FILE_SIZE 20086,583

TCM_TEMP 19.40 CAP_FILE_SIZE 111332,0

XPDR_PINGS 0 CFSIZE 1023623168,970555392

ALTIM_TOP_PING 19.5,17.8 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

ALTIM_BOTTOM_PING 230.8,41.4 GPS 240419,162004,-3424.957,2550.110,38,0.9,39,-27.8,0.0,259.1,9,7.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 326 127.34 nil 0 0 0.00

Roll_motor 76 84 84.58 nil 0 0 0.00

VBD_pump_during_apogee 673 1294 11283.57 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 25 32 10.79 nil 0 0 0.00

Iridium_during_connect 16 160 33.38 SciCon 3325 30 1327.81

Iridium_during_xfer 267 223 771.33 nil 0 0 0.00

Transponder_ping 4 420 25.82 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 23 6.40

TT8 1095 8 116.91

LPSleep 510 2 13.93

TT8_Active 745 8 79.53

TT8_Sampling 1312 28 458.33

TT8_CF8 238 41 123.47

TT8_Kalman 0 0 0.00

Analog_circuits 1366 12 210.99

GPS_charging 0 0 0.00

Compass 885 17 189.86

RAFOS 0 0 0.00

Transponder 33 30 12.43

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

22 -1.19 -340.6 72 2016 570 597 0.0 0.0 0 151 0.00 0.00 -125.45 0.000 16386 0.000 0.000 72 2017 3869 3989 3750 0 0 0 0 0 0 14.90 28.83 14.91

154 -1.19 -340.6 72 2017 3991 3750 7.2 -24.8 23 173 12.38 2.47 -1.25 0.000 18948 0.314 0.085 2096 597 3967 4010 3924 0 0 0 0 0 0 14.03 12.94 14.25

261 -1.19 -340.6 2095 597 4009 3927 43.4 -20.5 43 268 0.00 2.38 0.00 0.000 3078 0.000 0.047 2094 2008 3967 4008 3927 0 0 0 0 0 0 14.78 14.65 14.79

333 -1.19 -340.6 2094 2008 4008 3927 58.0 -22.0 56 338 0.00 0.00 0.00 0.000 2054 0.000 0.000 2094 2008 3967 4008 3927 0 0 0 0 0 0 14.94 14.94 14.94

401 -1.19 -340.6 2094 2008 4008 3927 72.2 -18.6 69 408 0.00 2.47 0.00 0.000 2308 0.000 0.078 2089 3412 3967 4007 3928 0 0 0 0 0 0 14.98 14.59 14.98

619 -1.19 -340.6 2088 3412 4007 3930 110.2 -15.4 111 627 0.05 2.35 0.00 0.000 3078 0.327 0.040 2099 2000 3968 4007 3930 0 0 0 0 0 0 14.28 14.51 14.51

692 -1.19 -340.6 2100 1999 4007 3930 121.5 -15.6 124 699 0.00 2.47 0.00 0.000 2308 0.000 0.074 2099 3413 3968 4007 3930 0 0 0 0 0 0 15.02 14.62 15.02

742 -1.19 -340.6 2099 3413 4007 3930 129.4 -15.9 133 750 0.00 2.33 0.00 0.000 3078 0.000 0.039 2098 2010 3968 4007 3930 0 0 0 0 0 0 14.83 14.71 14.84

816 -1.19 -340.6 2098 2010 4007 3930 140.6 -15.8 146 823 0.00 2.47 0.00 0.000 2308 0.000 0.073 2095 3413 3968 4007 3930 0 0 0 0 0 0 15.02 14.61 15.02

871 -1.19 -340.6 2095 3413 4007 3930 149.8 -15.6 156 879 0.00 2.35 0.00 0.000 3078 0.000 0.038 2095 2005 3968 4006 3931 0 0 0 0 0 0 14.81 14.64 14.83

943 -1.19 -340.6 2095 2004 4007 3931 161.5 -16.9 169 949 0.00 0.00 0.00 0.000 2054 0.000 0.000 2096 2004 3969 4008 3931 0 0 0 0 0 0 15.03 15.04 15.03

1014 -1.19 -340.6 2095 2004 4007 3931 173.4 -16.8 182 1020 0.00 2.45 0.00 0.000 2308 0.000 0.073 2095 3412 3969 4007 3931 0 0 0 0 0 0 15.00 14.61 15.02

1090 -1.19 -340.6 2094 3413 4006 3931 186.1 -15.7 196 1096 0.00 2.33 0.00 0.000 3078 0.000 0.037 2094 2010 3969 4007 3931 0 0 0 0 0 0 14.64 14.52 14.65

1161 -1.19 -340.6 2094 2009 4007 3931 197.9 -17.1 209 1167 0.00 0.00 0.00 0.000 2054 0.000 0.000 2095 2010 3969 4007 3931 0 0 0 0 0 0 15.02 15.02 15.03

1231 -1.19 -340.6 2094 2010 4006 3935 209.9 -17.1 222 1240 0.00 2.47 0.00 0.000 2308 0.000 0.073 2094 3415 3969 4007 3931 0 0 0 0 0 0 15.03 14.54 15.03

1301 -1.19 -340.6 2093 3415 4007 3931 221.5 -15.4 234 1308 0.00 2.35 0.00 0.000 3078 0.000 0.037 2093 2001 3968 4006 3931 0 0 0 0 0 0 14.83 14.68 14.85

1374 -1.19 -340.6 2093 2001 4006 3931 234.1 -17.2 247 1381 0.00 2.47 0.00 0.000 2308 0.000 0.073 2092 3420 3969 4007 3931 0 0 0 0 0 0 15.05 14.64 15.06

1419 -1.19 -340.6 2092 3420 4006 3931 242.1 -17.7 255 1426 0.00 2.33 0.00 0.000 3078 0.000 0.038 2092 2016 3969 4007 3931 0 0 0 0 0 0 14.63 14.54 14.64

1492 -1.19 -340.6 2092 2015 4007 3931 254.6 -18.0 268 1499 0.00 2.45 0.00 0.000 2308 0.000 0.075 2091 3413 3969 4007 3931 0 0 0 0 0 0 15.05 14.62 15.05

1504 end dive: BOTTOM_OBSTACLE_DETECTED

state 1504 begin apogee

1513 -0.19 0.0 2092 1955 4006 3931 257.6 -17.4 270 1741 1.70 0.00 219.00 1.294 10246 0.178 0.000 2422 1953 2811 2867 2755 0 0 0 0 0 0 14.45 14.05 13.47

1742 end apogee: CONTROL_FINISHED_OK

state 1742 begin climb

1745 1.19 340.6 2422 1952 2867 2754 269.1 0.0 311 2028 2.08 2.50 271.42 1.271 11012 0.076 0.081 2866 567 1423 1480 1366 0 0 0 0 0 0 14.35 14.06 13.47

2038 1.31 436.1 2866 567 1481 1366 241.4 16.2 362 2129 0.10 2.35 81.20 1.219 11270 0.156 0.040 2900 1965 1033 1096 971 0 0 0 0 0 0 14.36 14.40 13.49

2192 1.31 436.1 2900 1966 1097 971 211.6 20.6 390 2199 0.00 2.45 0.00 0.000 2308 0.000 0.066 2899 3373 1034 1097 971 0 0 0 0 0 0 14.75 14.47 14.76

2217 1.31 436.1 2900 3373 1096 969 206.5 21.9 394 2223 0.00 2.38 0.00 0.000 1030 0.000 0.049 2906 1971 1033 1096 970 0 0 0 0 0 0 14.64 14.53 14.66

2288 1.31 436.1 2909 1971 1097 970 192.3 20.8 407 2294 0.00 2.47 0.00 0.000 516 0.000 0.084 2906 557 1033 1096 970 0 0 0 0 0 0 14.85 14.54 14.85

2307 1.31 436.1 2906 556 1096 970 187.9 21.1 410 2314 0.00 2.35 0.00 0.000 1030 0.000 0.038 2906 1977 1033 1096 970 0 0 0 0 0 0 14.71 14.62 14.73

2378 1.31 436.1 2906 1976 1096 970 173.7 20.8 423 2384 0.00 0.00 0.00 0.000 6 0.000 0.000 2906 1976 1033 1096 970 0 0 0 0 0 0 14.88 14.89 14.89

2447 1.31 436.1 2906 1976 1095 970 159.6 20.9 436 2452 0.00 0.00 0.00 0.000 6 0.000 0.000 2906 1976 1033 1096 970 0 0 0 0 0 0 14.92 14.93 14.93

2516 1.31 440.2 2907 1976 1095 970 146.0 19.8 449 2529 0.00 2.40 4.93 0.764 10500 0.000 0.066 2906 3360 1017 1078 956 0 0 0 0 0 0 14.96 14.49 13.57

2536 1.31 440.2 2906 3361 1079 956 141.6 20.9 452 2543 0.00 2.38 0.00 0.000 1030 0.000 0.049 2907 1957 1017 1079 956 0 0 0 0 0 0 14.71 14.60 14.73

2606 1.31 440.2 2907 1957 1080 956 127.9 20.1 465 2612 0.00 0.00 0.00 0.000 2054 0.000 0.000 2907 1957 1017 1079 956 0 0 0 0 0 0 14.96 14.96 14.96

2675 1.31 440.2 2907 1957 1079 956 113.9 20.2 478 2682 0.00 2.47 0.00 0.000 2564 0.000 0.085 2912 555 1017 1079 956 0 0 0 0 0 0 14.98 14.49 14.98

2689 1.32 447.9 2912 554 1079 957 111.2 19.7 480 2702 0.00 2.30 7.90 0.954 9222 0.000 0.037 2912 1960 987 1047 928 0 0 0 0 0 0 14.81 14.73 13.66

2766 1.32 447.9 2912 1961 1048 929 95.2 20.0 494 2772 0.00 2.38 0.00 0.000 260 0.000 0.065 2912 3361 988 1048 928 0 0 0 0 0 0 14.95 14.50 14.96

2780 1.37 483.8 2912 3361 1048 929 92.9 18.6 496 2820 0.00 2.35 33.72 1.109 11270 0.000 0.047 2912 1956 838 882 794 0 0 0 0 0 0 14.69 14.70 13.71

2884 1.43 537.6 2912 1956 883 791 74.7 17.8 515 2940 0.08 0.00 50.10 1.091 10246 0.184 0.000 2953 1956 620 601 639 0 0 0 0 0 0 14.57 14.39 13.66

3004 1.50 594.6 2953 1956 599 634 52.1 17.7 537 3017 0.00 2.42 5.40 0.726 10500 0.000 0.065 2953 3364 599 574 625 0 0 0 0 0 0 14.80 14.47 13.58

3024 1.54 624.6 2953 3365 574 625 48.2 18.8 540 3031 0.00 2.38 0.00 0.000 3078 0.000 0.050 2955 1966 599 574 624 0 0 0 0 0 0 14.66 14.53 14.68

3096 1.62 686.3 2955 1966 575 621 35.3 17.5 553 3103 0.12 2.47 0.00 0.000 2564 0.133 0.082 3005 561 597 573 622 0 0 0 0 0 0 14.59 14.40 14.64

3168 1.62 686.3 3005 561 573 619 19.5 22.4 566 3175 0.00 2.33 0.00 0.000 1030 0.000 0.038 3005 1979 596 574 619 0 0 0 0 0 0 14.75 14.66 14.77

3239 1.62 686.3 3005 1979 573 617 3.4 23.0 579 3245 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1979 593 572 615 0 0 0 0 0 0 14.91 14.92 14.91

3250 end climb: SURFACE_DEPTH_REACHED

state 3250 begin surface coast

3261 end surface coast: CONTROL_FINISHED_OK

state 3262 begin surface

ID	573	HD_C	9.8500004e-06	C_ROLL_DIVE	2013	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	30	HEADING	320	C_ROLL_CLIMB	1964	ALTIM_TOP_TURN_MARGIN	0
DIVE	380	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	31	ALTIM_FREQUENCY	13
D_FLARE	6	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	40	ALTIM_PULSE	3
D_TGT	1000	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	2
D_ABORT	1050	SM_CC	350	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	177	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_ABORT	245	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	350	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	240419,151322,-3425.2720,2550.9731,17,0.8,18,-27.8,0.6,227.6,11,8.3	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3417.064,2542.392
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.39	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-62.3	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	240419,152236,-3425.3364,2550.7932,19,0.8,21,-27.8,0.6,299.7,11,9.0	MHEAD_RNG_PITCHd_Wd	347.8,20000,-20.9,-19.960,-22.72,2620
SPEED_LIMITS	0.346,0.477	D_GRID	1000

FINISH	-0.3,1.024929	SC_FREEKB	3723616
SM_CCo	3345,0.00,0.000,0,0,594,544.31	_24V_AH	12.94,185.532
SM_GC	0.36,13.62,0.00,0.00,0.055,0.000,0.000,143,1981,594,-7.27,-0.93,544.31,0,0,0,0,0,0,14.69,14.97,14.76	_10V_AH	12.45,0.000
IRIDIUM_FIX	-3412.10,2551.84,240419,140343	FG_AHR_24Vo	0.000
TT8_MAMPS	0.019474,0.889812	FG_AHR_10Vo	0.000
HUMID	62.75	MEM	339556
INTERNAL_PRESSURE	8.87694	DATA_FILE_SIZE	20086,583
TCM_TEMP	19.40	CAP_FILE_SIZE	111332,0
XPDR_PINGS	0	CFSIZE	1023623168,970555392
ALTIM_TOP_PING	19.5,17.8	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	230.8,41.4	GPS	240419,162004,-3424.957,2550.110,38,0.9,39,-27.8,0.0,259.1,9,7.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	326	127.34	nil	0	0	0.00
Roll_motor	76	84	84.58	nil	0	0	0.00
VBD_pump_during_apogee	673	1294	11283.57	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	25	32	10.79	nil	0	0	0.00
Iridium_during_connect	16	160	33.38	SciCon	3325	30	1327.81
Iridium_during_xfer	267	223	771.33	nil	0	0	0.00
Transponder_ping	4	420	25.82	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	23	6.40
TT8	1095	8	116.91
LPSleep	510	2	13.93
TT8_Active	745	8	79.53
TT8_Sampling	1312	28	458.33
TT8_CF8	238	41	123.47
TT8_Kalman	0	0	0.00
Analog_circuits	1366	12	210.99
GPS_charging	0	0	0.00
Compass	885	17	189.86
RAFOS	0	0	0.00
Transponder	33	30	12.43

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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
22	-1.19	-340.6	72	2016	570	597	0.0	0.0	0	151	0.00	0.00	-125.45	0.000	16386	0.000	0.000	72	2017	3869	3989	3750	0	0	0	0	0	0	14.90	28.83	14.91
154	-1.19	-340.6	72	2017	3991	3750	7.2	-24.8	23	173	12.38	2.47	-1.25	0.000	18948	0.314	0.085	2096	597	3967	4010	3924	0	0	0	0	0	0	14.03	12.94	14.25
261	-1.19	-340.6	2095	597	4009	3927	43.4	-20.5	43	268	0.00	2.38	0.00	0.000	3078	0.000	0.047	2094	2008	3967	4008	3927	0	0	0	0	0	0	14.78	14.65	14.79
333	-1.19	-340.6	2094	2008	4008	3927	58.0	-22.0	56	338	0.00	0.00	0.00	0.000	2054	0.000	0.000	2094	2008	3967	4008	3927	0	0	0	0	0	0	14.94	14.94	14.94
401	-1.19	-340.6	2094	2008	4008	3927	72.2	-18.6	69	408	0.00	2.47	0.00	0.000	2308	0.000	0.078	2089	3412	3967	4007	3928	0	0	0	0	0	0	14.98	14.59	14.98
619	-1.19	-340.6	2088	3412	4007	3930	110.2	-15.4	111	627	0.05	2.35	0.00	0.000	3078	0.327	0.040	2099	2000	3968	4007	3930	0	0	0	0	0	0	14.28	14.51	14.51
692	-1.19	-340.6	2100	1999	4007	3930	121.5	-15.6	124	699	0.00	2.47	0.00	0.000	2308	0.000	0.074	2099	3413	3968	4007	3930	0	0	0	0	0	0	15.02	14.62	15.02
742	-1.19	-340.6	2099	3413	4007	3930	129.4	-15.9	133	750	0.00	2.33	0.00	0.000	3078	0.000	0.039	2098	2010	3968	4007	3930	0	0	0	0	0	0	14.83	14.71	14.84
816	-1.19	-340.6	2098	2010	4007	3930	140.6	-15.8	146	823	0.00	2.47	0.00	0.000	2308	0.000	0.073	2095	3413	3968	4007	3930	0	0	0	0	0	0	15.02	14.61	15.02
871	-1.19	-340.6	2095	3413	4007	3930	149.8	-15.6	156	879	0.00	2.35	0.00	0.000	3078	0.000	0.038	2095	2005	3968	4006	3931	0	0	0	0	0	0	14.81	14.64	14.83
943	-1.19	-340.6	2095	2004	4007	3931	161.5	-16.9	169	949	0.00	0.00	0.00	0.000	2054	0.000	0.000	2096	2004	3969	4008	3931	0	0	0	0	0	0	15.03	15.04	15.03
1014	-1.19	-340.6	2095	2004	4007	3931	173.4	-16.8	182	1020	0.00	2.45	0.00	0.000	2308	0.000	0.073	2095	3412	3969	4007	3931	0	0	0	0	0	0	15.00	14.61	15.02
1090	-1.19	-340.6	2094	3413	4006	3931	186.1	-15.7	196	1096	0.00	2.33	0.00	0.000	3078	0.000	0.037	2094	2010	3969	4007	3931	0	0	0	0	0	0	14.64	14.52	14.65
1161	-1.19	-340.6	2094	2009	4007	3931	197.9	-17.1	209	1167	0.00	0.00	0.00	0.000	2054	0.000	0.000	2095	2010	3969	4007	3931	0	0	0	0	0	0	15.02	15.02	15.03
1231	-1.19	-340.6	2094	2010	4006	3935	209.9	-17.1	222	1240	0.00	2.47	0.00	0.000	2308	0.000	0.073	2094	3415	3969	4007	3931	0	0	0	0	0	0	15.03	14.54	15.03
1301	-1.19	-340.6	2093	3415	4007	3931	221.5	-15.4	234	1308	0.00	2.35	0.00	0.000	3078	0.000	0.037	2093	2001	3968	4006	3931	0	0	0	0	0	0	14.83	14.68	14.85
1374	-1.19	-340.6	2093	2001	4006	3931	234.1	-17.2	247	1381	0.00	2.47	0.00	0.000	2308	0.000	0.073	2092	3420	3969	4007	3931	0	0	0	0	0	0	15.05	14.64	15.06
1419	-1.19	-340.6	2092	3420	4006	3931	242.1	-17.7	255	1426	0.00	2.33	0.00	0.000	3078	0.000	0.038	2092	2016	3969	4007	3931	0	0	0	0	0	0	14.63	14.54	14.64
1492	-1.19	-340.6	2092	2015	4007	3931	254.6	-18.0	268	1499	0.00	2.45	0.00	0.000	2308	0.000	0.075	2091	3413	3969	4007	3931	0	0	0	0	0	0	15.05	14.62	15.05
1504	end dive: BOTTOM_OBSTACLE_DETECTED
state	1504	begin apogee
1513	-0.19	0.0	2092	1955	4006	3931	257.6	-17.4	270	1741	1.70	0.00	219.00	1.294	10246	0.178	0.000	2422	1953	2811	2867	2755	0	0	0	0	0	0	14.45	14.05	13.47
1742	end apogee: CONTROL_FINISHED_OK
state	1742	begin climb
1745	1.19	340.6	2422	1952	2867	2754	269.1	0.0	311	2028	2.08	2.50	271.42	1.271	11012	0.076	0.081	2866	567	1423	1480	1366	0	0	0	0	0	0	14.35	14.06	13.47
2038	1.31	436.1	2866	567	1481	1366	241.4	16.2	362	2129	0.10	2.35	81.20	1.219	11270	0.156	0.040	2900	1965	1033	1096	971	0	0	0	0	0	0	14.36	14.40	13.49
2192	1.31	436.1	2900	1966	1097	971	211.6	20.6	390	2199	0.00	2.45	0.00	0.000	2308	0.000	0.066	2899	3373	1034	1097	971	0	0	0	0	0	0	14.75	14.47	14.76
2217	1.31	436.1	2900	3373	1096	969	206.5	21.9	394	2223	0.00	2.38	0.00	0.000	1030	0.000	0.049	2906	1971	1033	1096	970	0	0	0	0	0	0	14.64	14.53	14.66
2288	1.31	436.1	2909	1971	1097	970	192.3	20.8	407	2294	0.00	2.47	0.00	0.000	516	0.000	0.084	2906	557	1033	1096	970	0	0	0	0	0	0	14.85	14.54	14.85
2307	1.31	436.1	2906	556	1096	970	187.9	21.1	410	2314	0.00	2.35	0.00	0.000	1030	0.000	0.038	2906	1977	1033	1096	970	0	0	0	0	0	0	14.71	14.62	14.73
2378	1.31	436.1	2906	1976	1096	970	173.7	20.8	423	2384	0.00	0.00	0.00	0.000	6	0.000	0.000	2906	1976	1033	1096	970	0	0	0	0	0	0	14.88	14.89	14.89
2447	1.31	436.1	2906	1976	1095	970	159.6	20.9	436	2452	0.00	0.00	0.00	0.000	6	0.000	0.000	2906	1976	1033	1096	970	0	0	0	0	0	0	14.92	14.93	14.93
2516	1.31	440.2	2907	1976	1095	970	146.0	19.8	449	2529	0.00	2.40	4.93	0.764	10500	0.000	0.066	2906	3360	1017	1078	956	0	0	0	0	0	0	14.96	14.49	13.57
2536	1.31	440.2	2906	3361	1079	956	141.6	20.9	452	2543	0.00	2.38	0.00	0.000	1030	0.000	0.049	2907	1957	1017	1079	956	0	0	0	0	0	0	14.71	14.60	14.73
2606	1.31	440.2	2907	1957	1080	956	127.9	20.1	465	2612	0.00	0.00	0.00	0.000	2054	0.000	0.000	2907	1957	1017	1079	956	0	0	0	0	0	0	14.96	14.96	14.96
2675	1.31	440.2	2907	1957	1079	956	113.9	20.2	478	2682	0.00	2.47	0.00	0.000	2564	0.000	0.085	2912	555	1017	1079	956	0	0	0	0	0	0	14.98	14.49	14.98
2689	1.32	447.9	2912	554	1079	957	111.2	19.7	480	2702	0.00	2.30	7.90	0.954	9222	0.000	0.037	2912	1960	987	1047	928	0	0	0	0	0	0	14.81	14.73	13.66
2766	1.32	447.9	2912	1961	1048	929	95.2	20.0	494	2772	0.00	2.38	0.00	0.000	260	0.000	0.065	2912	3361	988	1048	928	0	0	0	0	0	0	14.95	14.50	14.96
2780	1.37	483.8	2912	3361	1048	929	92.9	18.6	496	2820	0.00	2.35	33.72	1.109	11270	0.000	0.047	2912	1956	838	882	794	0	0	0	0	0	0	14.69	14.70	13.71
2884	1.43	537.6	2912	1956	883	791	74.7	17.8	515	2940	0.08	0.00	50.10	1.091	10246	0.184	0.000	2953	1956	620	601	639	0	0	0	0	0	0	14.57	14.39	13.66
3004	1.50	594.6	2953	1956	599	634	52.1	17.7	537	3017	0.00	2.42	5.40	0.726	10500	0.000	0.065	2953	3364	599	574	625	0	0	0	0	0	0	14.80	14.47	13.58
3024	1.54	624.6	2953	3365	574	625	48.2	18.8	540	3031	0.00	2.38	0.00	0.000	3078	0.000	0.050	2955	1966	599	574	624	0	0	0	0	0	0	14.66	14.53	14.68
3096	1.62	686.3	2955	1966	575	621	35.3	17.5	553	3103	0.12	2.47	0.00	0.000	2564	0.133	0.082	3005	561	597	573	622	0	0	0	0	0	0	14.59	14.40	14.64
3168	1.62	686.3	3005	561	573	619	19.5	22.4	566	3175	0.00	2.33	0.00	0.000	1030	0.000	0.038	3005	1979	596	574	619	0	0	0	0	0	0	14.75	14.66	14.77
3239	1.62	686.3	3005	1979	573	617	3.4	23.0	579	3245	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1979	593	572	615	0	0	0	0	0	0	14.91	14.92	14.91
3250	end climb: SURFACE_DEPTH_REACHED
state	3250	begin surface coast
3261	end surface coast: CONTROL_FINISHED_OK
state	3262	begin surface