Glider dive log

SOSCEx 27Sep18 * SG573 * Dive index * Mission links * Dive 51 * 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 23 HEADING 125 C_ROLL_CLIMB 1950 ALTIM_TOP_TURN_MARGIN 0

DIVE 51 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 32 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 39 ALTIM_PULSE 3

D_TGT 500 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 3

D_ABORT 1050 SM_CC 320 ROLL_MAXERRORS 1 XPDR_VALID 2

D_NO_BLEED 29 N_FILEKB 4 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_BOOST 5 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 2 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 170 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_MISSION 180 CAPUPLOAD 1 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_ABORT 190 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 -167.59918 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 500 PITCH_AD_RATE 125 SM_CC 320

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 3 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 -167.59918 T_ABORT 190

CALL_TRIES 5 HEADING 125 PROTOCOL 9 T_BOOST 0

CALL_WAIT 60 HEAD_ERRBAND 10 P_OVSHOOT 0.039999999 T_DIVE 170

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 180

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 1950 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 32 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 39 VBD_MAX 3960

DEVICE5 -1 MISSION 23 SC_PROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MIN 600

DIVE 51 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 5 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 2 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 101018,224850,-3136.3247,2945.2065,17,0.9,46,-26.2,1.2,229.2,9,7.2 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3142.896,2955.170

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.97 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -67.1 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 101018,230325,-3136.7024,2944.7712,18,1.0,28,-26.2,1.5,241.1,8,9.7 MHEAD_RNG_PITCHd_Wd 151.2,20000,-18.0,-9.804,-20.79,2280

SPEED_LIMITS 0.170,0.258 D_GRID 500

Post-dive calculations and measurements:

FINISH 0.1,1.024903 SC_FREEKB 3894080

SM_CCo 3051,49.65,0.124,0,0,1506,320.11 _24V_AH 13.88,62.896

SM_GC 0.88,12.45,2.42,49.65,0.062,0.047,0.124,138,1984,1506,-7.30,-1.24,320.11,0,0,0,0,0,0,14.85,14.90,14.80 _10V_AH 13.61,0.000

IRIDIUM_FIX -3122.76,2944.07,101018,205204 FG_AHR_24Vo 0.000

TT8_MAMPS 0.019474,0.910784 FG_AHR_10Vo 0.000

HUMID 53.66 MEM 339760

INTERNAL_PRESSURE 8.90623 DATA_FILE_SIZE 20126,561

TCM_TEMP 21.90 CAP_FILE_SIZE 109570,0

XPDR_PINGS 0 CFSIZE 1023623168,1012809728

ALTIM_TOP_PING 19.9,19.9 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

ALTIM_BOTTOM_PING 100.0,63.5 GPS 101018,235651,-3137.290,2944.581,41,0.9,42,-26.2,1.5,218.4,8,7.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 345 131.50 nil 0 0 0.00

Roll_motor 80 90 101.24 nil 0 0 0.00

VBD_pump_during_apogee 283 1215 4777.40 nil 0 0 0.00

VBD_pump_during_surface 49 123 85.41 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 32 10.79 nil 0 0 0.00

Iridium_during_connect 14 160 32.56 SciCon 3106 35 1536.96

Iridium_during_xfer 577 223 1787.87 nil 0 0 0.00

Transponder_ping 0 420 4.37 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 29 23 9.39

TT8 1207 8 140.89

LPSleep 543 2 16.20

TT8_Active 469 8 54.72

TT8_Sampling 1616 28 617.06

TT8_CF8 139 41 78.93

TT8_Kalman 0 0 0.00

Analog_circuits 989 12 166.98

GPS_charging 0 0 0.00

Compass 846 17 198.57

RAFOS 0 0 0.00

Transponder 7 30 2.96

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

17 end surface: CONTROL_FINISHED_OK

state 18 begin dive

19 -0.84 -146.0 99 1989 1527 1460 0.0 0.0 0 82 0.00 0.00 -60.60 0.000 16386 0.000 0.000 98 1990 3143 3152 3135 0 0 0 0 0 0 14.95 28.83 14.96

85 -0.84 -146.0 98 1990 3153 3135 3.8 -11.6 11 109 12.23 2.42 -5.00 0.000 18948 0.296 0.090 2208 575 3407 3450 3365 0 0 0 0 0 0 14.53 14.02 14.69

236 -0.84 -146.0 2208 575 3452 3369 31.5 -14.7 40 243 0.00 2.35 0.00 0.000 3078 0.000 0.050 2204 1983 3410 3451 3369 0 0 0 0 0 0 14.90 14.81 14.92

306 -0.84 -146.0 2203 1983 3452 3369 40.8 -13.8 53 312 0.00 2.42 0.00 0.000 2308 0.000 0.073 2204 3387 3409 3449 3369 0 0 0 0 0 0 15.03 14.78 15.04

334 -0.84 -146.0 2203 3387 3453 3369 45.1 -13.7 58 341 0.00 2.35 0.00 0.000 3078 0.000 0.044 2204 1975 3411 3453 3369 0 0 0 0 0 0 14.85 14.76 14.87

404 -0.84 -146.0 2203 1974 3453 3369 54.4 -13.3 71 410 0.00 2.38 0.00 0.000 2564 0.000 0.073 2204 584 3411 3453 3369 0 0 0 0 0 0 15.04 14.71 15.05

432 -0.84 -146.0 2203 584 3453 3369 58.7 -15.5 76 439 0.00 2.33 0.00 0.000 3078 0.000 0.047 2204 1990 3411 3453 3369 0 0 0 0 0 0 14.95 14.85 14.95

501 -0.84 -146.0 2203 1990 3453 3369 67.9 -14.0 89 507 0.00 2.40 0.00 0.000 2308 0.000 0.073 2204 3390 3410 3453 3367 0 0 0 0 0 0 15.07 14.81 15.07

564 -0.84 -146.0 2203 3390 3453 3369 76.1 -12.2 101 570 0.00 2.33 0.00 0.000 3078 0.000 0.041 2204 1985 3411 3453 3369 0 0 0 0 0 0 14.87 14.78 14.88

633 -0.84 -146.0 2204 1985 3453 3370 84.8 -12.8 114 640 0.00 2.40 0.00 0.000 2564 0.000 0.073 2204 575 3411 3454 3369 0 0 0 0 0 0 15.08 14.83 15.08

657 -0.84 -146.0 2203 575 3453 3369 88.2 -14.1 118 664 0.05 2.35 0.00 0.000 3078 0.346 0.047 2212 1994 3411 3453 3369 0 0 0 0 0 0 14.71 14.88 14.90

727 -0.84 -146.0 2212 1995 3453 3369 96.4 -11.6 131 733 0.00 2.40 0.00 0.000 2308 0.000 0.073 2208 3388 3411 3453 3369 0 0 0 0 0 0 15.09 14.83 15.08

762 -0.84 -146.0 2207 3389 3453 3369 101.1 -13.3 137 768 0.00 2.33 0.00 0.000 3078 0.000 0.042 2207 1984 3411 3453 3369 0 0 0 0 0 0 14.97 14.88 14.99

831 -0.84 -146.0 2207 1987 3453 3369 109.1 -12.3 150 838 0.00 2.40 0.00 0.000 2564 0.000 0.073 2207 575 3411 3454 3369 0 0 0 0 0 0 15.09 14.84 15.09

865 -0.84 -146.0 2207 574 3454 3369 113.1 -11.2 156 872 0.00 2.35 0.00 0.000 3078 0.000 0.047 2212 1988 3411 3453 3369 0 0 0 0 0 0 14.94 14.85 14.95

934 -0.84 -146.0 2207 1988 3454 3369 120.8 -11.4 169 941 0.00 2.40 0.00 0.000 2308 0.000 0.074 2204 3389 3410 3453 3368 0 0 0 0 0 0 15.09 14.78 15.09

978 -0.84 -146.0 2203 3389 3453 3369 125.6 -10.4 177 984 0.00 2.30 0.00 0.000 3078 0.000 0.041 2204 1987 3411 3453 3369 0 0 0 0 0 0 14.98 14.89 15.00

1047 -0.84 -146.0 2203 1987 3453 3369 133.4 -11.8 190 1054 0.00 2.40 0.00 0.000 2564 0.000 0.072 2204 582 3411 3453 3369 0 0 0 0 0 0 15.10 14.85 15.10

1071 -0.84 -146.0 2203 582 3453 3368 136.3 -11.6 194 1077 0.00 2.33 0.00 0.000 3078 0.000 0.047 2204 1989 3411 3453 3369 0 0 0 0 0 0 14.99 14.89 14.99

1142 -0.84 -146.0 2203 1989 3453 3369 145.0 -12.9 207 1148 0.00 2.42 0.00 0.000 2308 0.000 0.074 2204 3397 3411 3453 3369 0 0 0 0 0 0 15.10 14.85 15.11

1169 end dive: BOTTOM_OBSTACLE_DETECTED

state 1169 begin apogee

1176 -0.19 0.0 2204 1941 3454 3370 148.9 -12.0 212 1293 1.10 0.00 109.70 1.216 10246 0.153 0.000 2424 1940 2811 2846 2777 0 0 0 0 0 0 14.73 14.46 13.97

1295 end apogee: CONTROL_FINISHED_OK

state 1295 begin climb

1297 0.84 146.0 2425 1940 2846 2776 155.0 0.0 233 1419 1.50 2.42 111.57 1.195 10756 0.077 0.074 2758 549 2213 2255 2172 0 0 0 0 0 0 14.47 14.33 13.88

1582 0.84 146.0 2758 549 2249 2172 141.4 10.2 286 1588 0.00 2.35 0.00 0.000 1030 0.000 0.045 2762 1961 2210 2249 2172 0 0 0 0 0 0 14.70 14.63 14.71

1651 0.84 146.0 2758 1961 2249 2172 135.0 10.2 299 1658 0.00 2.40 0.00 0.000 2308 0.000 0.068 2759 3357 2210 2248 2172 0 0 0 0 0 0 14.91 14.69 14.92

1680 0.87 164.5 2758 3357 2248 2171 132.1 9.0 304 1703 0.00 2.35 15.27 1.090 9222 0.000 0.044 2768 1946 2139 2181 2097 0 0 0 0 0 0 14.83 14.74 14.16

1765 0.87 164.5 2768 1947 2180 2095 122.7 10.9 320 1771 0.00 0.00 0.00 0.000 6 0.000 0.000 2768 1946 2137 2180 2095 0 0 0 0 0 0 14.92 14.92 14.94

1833 0.87 164.5 2768 1946 2179 2094 114.9 11.6 333 1840 0.00 2.38 0.00 0.000 516 0.000 0.074 2778 550 2136 2178 2094 0 0 0 0 0 0 14.96 14.71 14.96

1876 0.87 164.5 2778 550 2177 2094 109.7 12.5 341 1883 0.00 2.33 0.00 0.000 5126 0.000 0.045 2778 1958 2135 2177 2094 0 0 0 0 0 0 14.88 14.80 14.89

1945 0.87 164.5 2776 1958 2177 2094 102.3 10.8 354 1951 0.00 0.00 0.00 0.000 4102 0.000 0.000 2778 1958 2135 2177 2094 0 0 0 0 0 0 15.00 15.01 15.01

2013 0.87 164.5 2778 1959 2177 2094 94.5 10.7 367 2019 0.00 0.00 0.00 0.000 4102 0.000 0.000 2778 1958 2135 2177 2094 0 0 0 0 0 0 15.03 15.03 15.03

2081 0.87 164.5 2778 1959 2177 2094 87.5 10.4 380 2086 0.00 0.00 0.00 0.000 4102 0.000 0.000 2779 1958 2135 2177 2094 0 0 0 0 0 0 15.04 15.04 15.04

2149 0.87 164.5 2778 1958 2175 2094 80.2 10.9 393 2155 0.00 2.42 0.00 0.000 4612 0.000 0.075 2789 550 2135 2176 2094 0 0 0 0 0 0 15.06 14.82 15.07

2202 0.87 164.5 2788 550 2176 2094 74.2 11.2 403 2209 0.08 2.33 0.00 0.000 5126 0.286 0.047 2774 1960 2135 2176 2094 0 0 0 0 0 0 14.69 14.82 14.85

2273 0.88 175.1 2773 1961 2176 2094 67.3 9.3 416 2291 0.00 2.40 9.07 0.985 8452 0.000 0.069 2773 3347 2097 2141 2054 0 0 0 0 0 0 15.07 14.76 14.31

2378 0.88 175.1 2773 3347 2140 2052 55.7 11.8 436 2385 0.00 2.33 0.00 0.000 5126 0.000 0.047 2780 1949 2095 2140 2051 0 0 0 0 0 0 14.91 14.81 14.92

2448 0.90 193.0 2780 1949 2141 2051 48.5 9.0 449 2471 0.00 2.40 15.75 1.048 8708 0.000 0.076 2780 545 2021 2068 1975 0 0 0 0 0 0 15.06 14.77 14.26

2528 0.90 193.0 2780 544 2067 1975 40.9 9.9 464 2535 0.00 2.33 0.00 0.000 1030 0.000 0.044 2780 1957 2021 2067 1975 0 0 0 0 0 0 14.88 14.81 14.90

2598 0.90 193.0 2780 1957 2066 1975 33.8 10.4 477 2604 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 1957 2020 2066 1975 0 0 0 0 0 0 15.03 15.04 15.04

2666 0.94 224.0 2780 1958 2067 1974 27.7 8.4 490 2695 0.00 2.45 21.77 1.069 10756 0.000 0.074 2780 542 1896 1947 1845 0 0 0 0 0 0 15.04 14.67 14.27

2971 end climb: SURFACE_DEPTH_REACHED

state 2971 begin surface coast

3028 end surface coast: CONTROL_FINISHED_OK

state 3028 begin surface

ID	573	HD_C	9.8500004e-06	C_ROLL_DIVE	1987	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	23	HEADING	125	C_ROLL_CLIMB	1950	ALTIM_TOP_TURN_MARGIN	0
DIVE	51	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	32	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	39	ALTIM_PULSE	3
D_TGT	500	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	3
D_ABORT	1050	SM_CC	320	ROLL_MAXERRORS	1	XPDR_VALID	2
D_NO_BLEED	29	N_FILEKB	4	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_BOOST	5	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	2	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	170	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_MISSION	180	CAPUPLOAD	1	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_ABORT	190	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	-167.59918	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	101018,224850,-3136.3247,2945.2065,17,0.9,46,-26.2,1.2,229.2,9,7.2	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3142.896,2955.170
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.97	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-67.1	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	101018,230325,-3136.7024,2944.7712,18,1.0,28,-26.2,1.5,241.1,8,9.7	MHEAD_RNG_PITCHd_Wd	151.2,20000,-18.0,-9.804,-20.79,2280
SPEED_LIMITS	0.170,0.258	D_GRID	500

FINISH	0.1,1.024903	SC_FREEKB	3894080
SM_CCo	3051,49.65,0.124,0,0,1506,320.11	_24V_AH	13.88,62.896
SM_GC	0.88,12.45,2.42,49.65,0.062,0.047,0.124,138,1984,1506,-7.30,-1.24,320.11,0,0,0,0,0,0,14.85,14.90,14.80	_10V_AH	13.61,0.000
IRIDIUM_FIX	-3122.76,2944.07,101018,205204	FG_AHR_24Vo	0.000
TT8_MAMPS	0.019474,0.910784	FG_AHR_10Vo	0.000
HUMID	53.66	MEM	339760
INTERNAL_PRESSURE	8.90623	DATA_FILE_SIZE	20126,561
TCM_TEMP	21.90	CAP_FILE_SIZE	109570,0
XPDR_PINGS	0	CFSIZE	1023623168,1012809728
ALTIM_TOP_PING	19.9,19.9	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	100.0,63.5	GPS	101018,235651,-3137.290,2944.581,41,0.9,42,-26.2,1.5,218.4,8,7.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	345	131.50	nil	0	0	0.00
Roll_motor	80	90	101.24	nil	0	0	0.00
VBD_pump_during_apogee	283	1215	4777.40	nil	0	0	0.00
VBD_pump_during_surface	49	123	85.41	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	32	10.79	nil	0	0	0.00
Iridium_during_connect	14	160	32.56	SciCon	3106	35	1536.96
Iridium_during_xfer	577	223	1787.87	nil	0	0	0.00
Transponder_ping	0	420	4.37	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	29	23	9.39
TT8	1207	8	140.89
LPSleep	543	2	16.20
TT8_Active	469	8	54.72
TT8_Sampling	1616	28	617.06
TT8_CF8	139	41	78.93
TT8_Kalman	0	0	0.00
Analog_circuits	989	12	166.98
GPS_charging	0	0	0.00
Compass	846	17	198.57
RAFOS	0	0	0.00
Transponder	7	30	2.96

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
17	end surface: CONTROL_FINISHED_OK
state	18	begin dive
19	-0.84	-146.0	99	1989	1527	1460	0.0	0.0	0	82	0.00	0.00	-60.60	0.000	16386	0.000	0.000	98	1990	3143	3152	3135	0	0	0	0	0	0	14.95	28.83	14.96
85	-0.84	-146.0	98	1990	3153	3135	3.8	-11.6	11	109	12.23	2.42	-5.00	0.000	18948	0.296	0.090	2208	575	3407	3450	3365	0	0	0	0	0	0	14.53	14.02	14.69
236	-0.84	-146.0	2208	575	3452	3369	31.5	-14.7	40	243	0.00	2.35	0.00	0.000	3078	0.000	0.050	2204	1983	3410	3451	3369	0	0	0	0	0	0	14.90	14.81	14.92
306	-0.84	-146.0	2203	1983	3452	3369	40.8	-13.8	53	312	0.00	2.42	0.00	0.000	2308	0.000	0.073	2204	3387	3409	3449	3369	0	0	0	0	0	0	15.03	14.78	15.04
334	-0.84	-146.0	2203	3387	3453	3369	45.1	-13.7	58	341	0.00	2.35	0.00	0.000	3078	0.000	0.044	2204	1975	3411	3453	3369	0	0	0	0	0	0	14.85	14.76	14.87
404	-0.84	-146.0	2203	1974	3453	3369	54.4	-13.3	71	410	0.00	2.38	0.00	0.000	2564	0.000	0.073	2204	584	3411	3453	3369	0	0	0	0	0	0	15.04	14.71	15.05
432	-0.84	-146.0	2203	584	3453	3369	58.7	-15.5	76	439	0.00	2.33	0.00	0.000	3078	0.000	0.047	2204	1990	3411	3453	3369	0	0	0	0	0	0	14.95	14.85	14.95
501	-0.84	-146.0	2203	1990	3453	3369	67.9	-14.0	89	507	0.00	2.40	0.00	0.000	2308	0.000	0.073	2204	3390	3410	3453	3367	0	0	0	0	0	0	15.07	14.81	15.07
564	-0.84	-146.0	2203	3390	3453	3369	76.1	-12.2	101	570	0.00	2.33	0.00	0.000	3078	0.000	0.041	2204	1985	3411	3453	3369	0	0	0	0	0	0	14.87	14.78	14.88
633	-0.84	-146.0	2204	1985	3453	3370	84.8	-12.8	114	640	0.00	2.40	0.00	0.000	2564	0.000	0.073	2204	575	3411	3454	3369	0	0	0	0	0	0	15.08	14.83	15.08
657	-0.84	-146.0	2203	575	3453	3369	88.2	-14.1	118	664	0.05	2.35	0.00	0.000	3078	0.346	0.047	2212	1994	3411	3453	3369	0	0	0	0	0	0	14.71	14.88	14.90
727	-0.84	-146.0	2212	1995	3453	3369	96.4	-11.6	131	733	0.00	2.40	0.00	0.000	2308	0.000	0.073	2208	3388	3411	3453	3369	0	0	0	0	0	0	15.09	14.83	15.08
762	-0.84	-146.0	2207	3389	3453	3369	101.1	-13.3	137	768	0.00	2.33	0.00	0.000	3078	0.000	0.042	2207	1984	3411	3453	3369	0	0	0	0	0	0	14.97	14.88	14.99
831	-0.84	-146.0	2207	1987	3453	3369	109.1	-12.3	150	838	0.00	2.40	0.00	0.000	2564	0.000	0.073	2207	575	3411	3454	3369	0	0	0	0	0	0	15.09	14.84	15.09
865	-0.84	-146.0	2207	574	3454	3369	113.1	-11.2	156	872	0.00	2.35	0.00	0.000	3078	0.000	0.047	2212	1988	3411	3453	3369	0	0	0	0	0	0	14.94	14.85	14.95
934	-0.84	-146.0	2207	1988	3454	3369	120.8	-11.4	169	941	0.00	2.40	0.00	0.000	2308	0.000	0.074	2204	3389	3410	3453	3368	0	0	0	0	0	0	15.09	14.78	15.09
978	-0.84	-146.0	2203	3389	3453	3369	125.6	-10.4	177	984	0.00	2.30	0.00	0.000	3078	0.000	0.041	2204	1987	3411	3453	3369	0	0	0	0	0	0	14.98	14.89	15.00
1047	-0.84	-146.0	2203	1987	3453	3369	133.4	-11.8	190	1054	0.00	2.40	0.00	0.000	2564	0.000	0.072	2204	582	3411	3453	3369	0	0	0	0	0	0	15.10	14.85	15.10
1071	-0.84	-146.0	2203	582	3453	3368	136.3	-11.6	194	1077	0.00	2.33	0.00	0.000	3078	0.000	0.047	2204	1989	3411	3453	3369	0	0	0	0	0	0	14.99	14.89	14.99
1142	-0.84	-146.0	2203	1989	3453	3369	145.0	-12.9	207	1148	0.00	2.42	0.00	0.000	2308	0.000	0.074	2204	3397	3411	3453	3369	0	0	0	0	0	0	15.10	14.85	15.11
1169	end dive: BOTTOM_OBSTACLE_DETECTED
state	1169	begin apogee
1176	-0.19	0.0	2204	1941	3454	3370	148.9	-12.0	212	1293	1.10	0.00	109.70	1.216	10246	0.153	0.000	2424	1940	2811	2846	2777	0	0	0	0	0	0	14.73	14.46	13.97
1295	end apogee: CONTROL_FINISHED_OK
state	1295	begin climb
1297	0.84	146.0	2425	1940	2846	2776	155.0	0.0	233	1419	1.50	2.42	111.57	1.195	10756	0.077	0.074	2758	549	2213	2255	2172	0	0	0	0	0	0	14.47	14.33	13.88
1582	0.84	146.0	2758	549	2249	2172	141.4	10.2	286	1588	0.00	2.35	0.00	0.000	1030	0.000	0.045	2762	1961	2210	2249	2172	0	0	0	0	0	0	14.70	14.63	14.71
1651	0.84	146.0	2758	1961	2249	2172	135.0	10.2	299	1658	0.00	2.40	0.00	0.000	2308	0.000	0.068	2759	3357	2210	2248	2172	0	0	0	0	0	0	14.91	14.69	14.92
1680	0.87	164.5	2758	3357	2248	2171	132.1	9.0	304	1703	0.00	2.35	15.27	1.090	9222	0.000	0.044	2768	1946	2139	2181	2097	0	0	0	0	0	0	14.83	14.74	14.16
1765	0.87	164.5	2768	1947	2180	2095	122.7	10.9	320	1771	0.00	0.00	0.00	0.000	6	0.000	0.000	2768	1946	2137	2180	2095	0	0	0	0	0	0	14.92	14.92	14.94
1833	0.87	164.5	2768	1946	2179	2094	114.9	11.6	333	1840	0.00	2.38	0.00	0.000	516	0.000	0.074	2778	550	2136	2178	2094	0	0	0	0	0	0	14.96	14.71	14.96
1876	0.87	164.5	2778	550	2177	2094	109.7	12.5	341	1883	0.00	2.33	0.00	0.000	5126	0.000	0.045	2778	1958	2135	2177	2094	0	0	0	0	0	0	14.88	14.80	14.89
1945	0.87	164.5	2776	1958	2177	2094	102.3	10.8	354	1951	0.00	0.00	0.00	0.000	4102	0.000	0.000	2778	1958	2135	2177	2094	0	0	0	0	0	0	15.00	15.01	15.01
2013	0.87	164.5	2778	1959	2177	2094	94.5	10.7	367	2019	0.00	0.00	0.00	0.000	4102	0.000	0.000	2778	1958	2135	2177	2094	0	0	0	0	0	0	15.03	15.03	15.03
2081	0.87	164.5	2778	1959	2177	2094	87.5	10.4	380	2086	0.00	0.00	0.00	0.000	4102	0.000	0.000	2779	1958	2135	2177	2094	0	0	0	0	0	0	15.04	15.04	15.04
2149	0.87	164.5	2778	1958	2175	2094	80.2	10.9	393	2155	0.00	2.42	0.00	0.000	4612	0.000	0.075	2789	550	2135	2176	2094	0	0	0	0	0	0	15.06	14.82	15.07
2202	0.87	164.5	2788	550	2176	2094	74.2	11.2	403	2209	0.08	2.33	0.00	0.000	5126	0.286	0.047	2774	1960	2135	2176	2094	0	0	0	0	0	0	14.69	14.82	14.85
2273	0.88	175.1	2773	1961	2176	2094	67.3	9.3	416	2291	0.00	2.40	9.07	0.985	8452	0.000	0.069	2773	3347	2097	2141	2054	0	0	0	0	0	0	15.07	14.76	14.31
2378	0.88	175.1	2773	3347	2140	2052	55.7	11.8	436	2385	0.00	2.33	0.00	0.000	5126	0.000	0.047	2780	1949	2095	2140	2051	0	0	0	0	0	0	14.91	14.81	14.92
2448	0.90	193.0	2780	1949	2141	2051	48.5	9.0	449	2471	0.00	2.40	15.75	1.048	8708	0.000	0.076	2780	545	2021	2068	1975	0	0	0	0	0	0	15.06	14.77	14.26
2528	0.90	193.0	2780	544	2067	1975	40.9	9.9	464	2535	0.00	2.33	0.00	0.000	1030	0.000	0.044	2780	1957	2021	2067	1975	0	0	0	0	0	0	14.88	14.81	14.90
2598	0.90	193.0	2780	1957	2066	1975	33.8	10.4	477	2604	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	1957	2020	2066	1975	0	0	0	0	0	0	15.03	15.04	15.04
2666	0.94	224.0	2780	1958	2067	1974	27.7	8.4	490	2695	0.00	2.45	21.77	1.069	10756	0.000	0.074	2780	542	1896	1947	1845	0	0	0	0	0	0	15.04	14.67	14.27
2971	end climb: SURFACE_DEPTH_REACHED
state	2971	begin surface coast
3028	end surface coast: CONTROL_FINISHED_OK
state	3028	begin surface