Glider dive log

SOSCEx Mar19 * SG573 * Dive index * Mission links * Dive 92 * 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 290 C_ROLL_CLIMB 1987 ALTIM_TOP_TURN_MARGIN 0

DIVE 92 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 50

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 24 ALTIM_FREQUENCY 13

D_FLARE 3 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 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 333 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_MISSION 343 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_ABORT 358 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 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 50 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 358

CALL_TRIES 5 HEADING 290 PROTOCOL 9 T_BOOST 0

CALL_WAIT 60 HEAD_ERRBAND 10 P_OVSHOOT 0.039999999 T_DIVE 333

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 343

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 24 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 92 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 040419,065048,-2903.7566,3209.9241,21,0.9,23,-23.9,0.9,201.1,8,8.4 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -2900.152,3158.326

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.59 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -59.4 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 040419,065603,-2903.8452,3209.9292,16,0.9,21,-23.9,0.7,216.8,8,8.9 MHEAD_RNG_PITCHd_Wd 313.9,20000,-18.3,-10.010,-21.05,2234

SPEED_LIMITS 0.173,0.260 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.2,1.023842 SC_FREEKB 3876384

SM_CCo 2935,125.95,0.757,0,0,598,542.59 _24V_AH 13.88,107.795

SM_GC 0.47,12.57,0.00,125.95,0.055,0.000,0.757,147,1993,598,-7.26,0.17,542.59,0,0,0,0,0,0,14.78,15.03,14.13 _10V_AH 13.30,0.000

IRIDIUM_FIX -2850.67,3209.73,040419,062107 FG_AHR_24Vo 0.000

TT8_MAMPS 0.019474,0.888314 FG_AHR_10Vo 0.000

HUMID 56.45 MEM 339600

INTERNAL_PRESSURE 9.30664 DATA_FILE_SIZE 16785,536

TCM_TEMP 24.30 CAP_FILE_SIZE 100804,0

XPDR_PINGS 0 CFSIZE 1023623168,1010040832

ALTIM_TOP_PING 19.8,18.7 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

ALTIM_BOTTOM_PING 140.0,28.2 GPS 040419,074837,-2903.935,3209.477,24,0.9,29,-23.9,1.3,149.0,9,9.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 335 130.40 nil 0 0 0.00

Roll_motor 61 82 70.18 nil 0 0 0.00

VBD_pump_during_apogee 347 1080 5203.29 nil 0 0 0.00

VBD_pump_during_surface 125 756 1322.65 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 32 12.04 nil 0 0 0.00

Iridium_during_connect 15 160 35.37 SciCon 2936 36 1472.11

Iridium_during_xfer 123 223 382.30 nil 0 0 0.00

Transponder_ping 3 420 17.49 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 23 6.63

TT8 1120 8 127.67

LPSleep 488 2 14.24

TT8_Active 601 8 68.56

TT8_Sampling 1080 28 403.26

TT8_CF8 106 41 58.57

TT8_Kalman 0 0 0.00

Analog_circuits 1119 12 184.67

GPS_charging 0 0 0.00

Compass 808 17 185.24

RAFOS 0 0 0.00

Transponder 20 30 8.32

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 -0.86 -146.0 101 1989 588 577 0.0 0.0 0 115 0.00 0.00 -92.75 0.000 16386 0.000 0.000 91 1990 3129 3133 3125 0 0 0 0 0 0 15.01 28.83 15.02

118 -0.86 -146.0 91 1990 3134 3127 3.4 -7.6 17 143 12.48 2.38 -4.75 0.000 18692 0.310 0.083 2196 3386 3409 3441 3377 0 0 0 0 0 0 14.37 13.88 14.56

240 -0.86 -146.0 2193 3386 3442 3378 31.9 -12.9 40 248 0.05 2.33 0.00 0.000 3078 0.336 0.037 2207 1969 3409 3442 3376 0 0 0 0 0 0 14.58 14.77 14.79

311 -0.86 -146.0 2213 1969 3442 3377 41.5 -13.7 53 316 0.00 0.00 0.00 0.000 2054 0.000 0.000 2207 1968 3407 3437 3377 0 0 0 0 0 0 15.08 15.09 15.09

378 -0.86 -146.0 2207 1968 3442 3376 51.2 -14.7 66 384 0.00 2.42 0.00 0.000 2308 0.000 0.065 2204 3389 3409 3442 3376 0 0 0 0 0 0 15.09 14.81 15.10

448 -0.86 -146.0 2203 3391 3442 3377 60.6 -13.2 79 455 0.00 2.28 0.00 0.000 3078 0.000 0.037 2204 1988 3409 3443 3376 0 0 0 0 0 0 14.97 14.87 14.98

517 -0.86 -146.0 2203 1988 3443 3376 70.0 -12.3 92 527 0.00 2.38 0.00 0.000 2308 0.000 0.066 2204 3390 3409 3443 3375 0 0 0 0 0 0 15.11 14.81 15.11

559 -0.86 -146.0 2203 3390 3443 3376 75.1 -13.0 99 566 0.00 2.30 0.00 0.000 3078 0.000 0.039 2204 1979 3410 3443 3377 0 0 0 0 0 0 14.83 14.73 14.85

628 -0.86 -146.0 2204 1979 3446 3377 84.1 -14.0 112 635 0.00 2.40 0.00 0.000 2308 0.000 0.066 2203 3394 3410 3444 3377 0 0 0 0 0 0 15.11 14.71 15.11

712 -0.86 -146.0 2203 3395 3444 3376 96.0 -13.7 128 719 0.00 2.30 0.00 0.000 3078 0.000 0.038 2203 1973 3411 3445 3377 0 0 0 0 0 0 14.97 14.86 14.99

782 -0.86 -146.0 2203 1973 3443 3377 105.3 -13.2 141 788 0.00 0.00 0.00 0.000 2054 0.000 0.000 2203 1973 3410 3445 3376 0 0 0 0 0 0 15.12 15.12 15.12

850 -0.86 -146.0 2203 1973 3445 3376 113.7 -12.4 154 856 0.00 2.42 0.00 0.000 2308 0.000 0.065 2203 3393 3410 3444 3376 0 0 0 0 0 0 15.12 14.77 15.12

943 -0.86 -146.0 2202 3393 3445 3376 125.5 -12.2 172 950 0.00 2.28 0.00 0.000 3078 0.000 0.037 2203 1987 3409 3444 3375 0 0 0 0 0 0 14.86 14.78 14.88

1013 -0.86 -146.0 2202 1987 3445 3375 134.1 -12.4 185 1019 0.00 0.00 0.00 0.000 2054 0.000 0.000 2203 1986 3410 3444 3376 0 0 0 0 0 0 15.12 15.13 15.13

1083 -0.86 -146.0 2202 1986 3444 3376 143.2 -13.9 198 1089 0.00 0.00 0.00 0.000 2054 0.000 0.000 2203 1986 3410 3445 3375 0 0 0 0 0 0 15.13 15.13 15.13

1151 -0.86 -146.0 2202 1985 3444 3375 151.1 -11.4 211 1157 0.00 2.40 0.00 0.000 2308 0.000 0.066 2203 3385 3409 3444 3374 0 0 0 0 0 0 15.13 14.82 15.14

1173 end dive: BOTTOM_OBSTACLE_DETECTED

state 1173 begin apogee

1179 -0.19 0.0 2202 1981 3443 3374 153.8 -11.0 215 1296 1.10 0.00 107.93 1.080 10246 0.171 0.000 2421 1979 2809 2849 2770 0 0 0 0 0 0 14.64 14.40 14.00

1297 end apogee: CONTROL_FINISHED_OK

state 1297 begin climb

1299 0.86 146.0 2420 1979 2848 2773 158.7 0.0 236 1422 1.55 2.40 111.30 1.061 10756 0.098 0.071 2749 586 2214 2255 2173 0 0 0 0 0 0 14.51 14.42 13.90

1483 0.86 146.0 2749 586 2249 2173 146.4 10.5 269 1490 0.00 2.33 0.00 0.000 3078 0.000 0.041 2749 1994 2211 2249 2173 0 0 0 0 0 0 14.71 14.63 14.73

1553 0.89 169.4 2749 1994 2248 2171 140.2 8.9 282 1578 0.00 2.42 19.02 1.001 10500 0.000 0.066 2749 3386 2120 2162 2078 0 0 0 0 0 0 14.92 14.64 14.03

1630 0.89 172.1 2749 3386 2159 2077 132.6 9.9 296 1637 0.00 2.35 0.00 0.000 3078 0.000 0.043 2749 1980 2118 2159 2077 0 0 0 0 0 0 14.72 14.62 14.73

1700 0.92 196.9 2749 1980 2158 2077 126.5 8.9 309 1729 0.08 0.00 22.90 1.010 10246 0.181 0.000 2803 1980 2007 2051 1963 0 0 0 0 0 0 14.74 14.52 14.08

1791 0.92 196.9 2802 1980 2048 1960 115.8 12.4 326 1797 0.08 0.00 0.00 0.000 4102 0.269 0.000 2784 1980 2003 2047 1960 0 0 0 0 0 0 14.59 14.74 14.69

1860 0.92 196.9 2784 1980 2046 1960 108.3 11.7 339 1866 0.00 0.00 0.00 0.000 6 0.000 0.000 2784 1979 2004 2049 1960 0 0 0 0 0 0 15.00 15.00 15.00

1928 0.92 196.9 2784 1979 2046 1959 101.3 10.4 352 1935 0.00 2.40 0.00 0.000 260 0.000 0.064 2785 3386 2002 2045 1960 0 0 0 0 0 0 15.02 14.76 15.03

1982 0.92 196.9 2783 3386 2045 1960 95.2 11.7 362 1988 0.00 2.33 0.00 0.000 1030 0.000 0.043 2785 1981 2001 2045 1958 0 0 0 0 0 0 14.89 14.78 14.91

2051 0.92 201.5 2783 1980 2045 1958 88.1 9.8 375 2058 0.00 0.00 4.22 0.746 8198 0.000 0.000 2784 1980 1990 2034 1946 0 0 0 0 0 0 15.05 14.78 14.07

2121 0.92 201.5 2784 1980 2032 1945 80.8 10.4 388 2127 0.00 0.00 0.00 0.000 6 0.000 0.000 2784 1980 1988 2032 1945 0 0 0 0 0 0 15.07 15.07 15.07

2189 0.92 201.5 2784 1980 2032 1945 73.7 10.2 401 2194 0.00 0.00 0.00 0.000 6 0.000 0.000 2784 1980 1988 2032 1945 0 0 0 0 0 0 15.07 15.07 15.07

2257 0.93 202.5 2784 1980 2031 1944 66.8 10.0 414 2262 0.00 0.00 0.00 0.000 2054 0.000 0.000 2787 1980 1987 2031 1944 0 0 0 0 0 0 15.09 15.09 15.09

2325 0.93 202.5 2784 1980 2031 1943 59.9 10.4 427 2331 0.00 2.40 0.00 0.000 260 0.000 0.063 2784 3394 1986 2030 1943 0 0 0 0 0 0 15.09 14.70 15.09

2358 0.93 202.5 2784 3394 2030 1944 56.3 11.9 433 2365 0.00 2.33 0.00 0.000 1030 0.000 0.044 2784 1985 1986 2030 1943 0 0 0 0 0 0 14.94 14.83 14.95

2428 0.93 205.7 2784 1985 2030 1943 49.4 9.9 446 2441 0.00 2.38 4.68 0.663 8452 0.000 0.063 2784 3390 1972 2016 1929 0 0 0 0 0 0 15.09 14.83 14.09

2489 0.93 205.7 2784 3390 2016 1928 42.8 10.5 457 2495 0.00 2.30 0.00 0.000 1030 0.000 0.044 2784 1988 1972 2017 1928 0 0 0 0 0 0 14.94 14.85 14.96

2558 0.94 212.4 2784 1988 2015 1927 35.4 9.7 470 2571 0.00 2.38 6.82 0.777 10500 0.000 0.062 2785 3387 1946 1990 1903 0 0 0 0 0 0 15.10 14.66 14.15

2603 1.00 261.2 2784 3387 1989 1902 31.5 7.8 478 2649 0.00 2.30 39.67 0.972 11270 0.000 0.044 2785 1987 1746 1798 1695 0 0 0 0 0 0 14.95 14.84 14.16

2711 1.06 310.9 2784 1987 1794 1690 22.8 7.7 498 2748 0.08 2.40 30.50 0.909 10756 0.181 0.075 2838 591 1541 1598 1485 0 0 0 0 0 0 14.73 14.62 14.08

2825 1.06 310.9 2835 591 1590 1485 10.5 10.5 519 2832 0.00 2.30 0.00 0.000 5126 0.000 0.040 2838 1992 1537 1590 1485 0 0 0 0 0 0 14.74 14.66 14.75

2893 end climb: SURFACE_DEPTH_REACHED

state 2893 begin surface coast

2914 end surface coast: CONTROL_FINISHED_OK

state 2914 begin surface

ID	573	HD_C	9.8500004e-06	C_ROLL_DIVE	1987	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	30	HEADING	290	C_ROLL_CLIMB	1987	ALTIM_TOP_TURN_MARGIN	0
DIVE	92	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	50
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	24	ALTIM_FREQUENCY	13
D_FLARE	3	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	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	333	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_MISSION	343	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_ABORT	358	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	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	040419,065048,-2903.7566,3209.9241,21,0.9,23,-23.9,0.9,201.1,8,8.4	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-2900.152,3158.326
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.59	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-59.4	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	040419,065603,-2903.8452,3209.9292,16,0.9,21,-23.9,0.7,216.8,8,8.9	MHEAD_RNG_PITCHd_Wd	313.9,20000,-18.3,-10.010,-21.05,2234
SPEED_LIMITS	0.173,0.260	D_GRID	1000

FINISH	0.2,1.023842	SC_FREEKB	3876384
SM_CCo	2935,125.95,0.757,0,0,598,542.59	_24V_AH	13.88,107.795
SM_GC	0.47,12.57,0.00,125.95,0.055,0.000,0.757,147,1993,598,-7.26,0.17,542.59,0,0,0,0,0,0,14.78,15.03,14.13	_10V_AH	13.30,0.000
IRIDIUM_FIX	-2850.67,3209.73,040419,062107	FG_AHR_24Vo	0.000
TT8_MAMPS	0.019474,0.888314	FG_AHR_10Vo	0.000
HUMID	56.45	MEM	339600
INTERNAL_PRESSURE	9.30664	DATA_FILE_SIZE	16785,536
TCM_TEMP	24.30	CAP_FILE_SIZE	100804,0
XPDR_PINGS	0	CFSIZE	1023623168,1010040832
ALTIM_TOP_PING	19.8,18.7	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	140.0,28.2	GPS	040419,074837,-2903.935,3209.477,24,0.9,29,-23.9,1.3,149.0,9,9.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	335	130.40	nil	0	0	0.00
Roll_motor	61	82	70.18	nil	0	0	0.00
VBD_pump_during_apogee	347	1080	5203.29	nil	0	0	0.00
VBD_pump_during_surface	125	756	1322.65	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	32	12.04	nil	0	0	0.00
Iridium_during_connect	15	160	35.37	SciCon	2936	36	1472.11
Iridium_during_xfer	123	223	382.30	nil	0	0	0.00
Transponder_ping	3	420	17.49	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	23	6.63
TT8	1120	8	127.67
LPSleep	488	2	14.24
TT8_Active	601	8	68.56
TT8_Sampling	1080	28	403.26
TT8_CF8	106	41	58.57
TT8_Kalman	0	0	0.00
Analog_circuits	1119	12	184.67
GPS_charging	0	0	0.00
Compass	808	17	185.24
RAFOS	0	0	0.00
Transponder	20	30	8.32

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	-0.86	-146.0	101	1989	588	577	0.0	0.0	0	115	0.00	0.00	-92.75	0.000	16386	0.000	0.000	91	1990	3129	3133	3125	0	0	0	0	0	0	15.01	28.83	15.02
118	-0.86	-146.0	91	1990	3134	3127	3.4	-7.6	17	143	12.48	2.38	-4.75	0.000	18692	0.310	0.083	2196	3386	3409	3441	3377	0	0	0	0	0	0	14.37	13.88	14.56
240	-0.86	-146.0	2193	3386	3442	3378	31.9	-12.9	40	248	0.05	2.33	0.00	0.000	3078	0.336	0.037	2207	1969	3409	3442	3376	0	0	0	0	0	0	14.58	14.77	14.79
311	-0.86	-146.0	2213	1969	3442	3377	41.5	-13.7	53	316	0.00	0.00	0.00	0.000	2054	0.000	0.000	2207	1968	3407	3437	3377	0	0	0	0	0	0	15.08	15.09	15.09
378	-0.86	-146.0	2207	1968	3442	3376	51.2	-14.7	66	384	0.00	2.42	0.00	0.000	2308	0.000	0.065	2204	3389	3409	3442	3376	0	0	0	0	0	0	15.09	14.81	15.10
448	-0.86	-146.0	2203	3391	3442	3377	60.6	-13.2	79	455	0.00	2.28	0.00	0.000	3078	0.000	0.037	2204	1988	3409	3443	3376	0	0	0	0	0	0	14.97	14.87	14.98
517	-0.86	-146.0	2203	1988	3443	3376	70.0	-12.3	92	527	0.00	2.38	0.00	0.000	2308	0.000	0.066	2204	3390	3409	3443	3375	0	0	0	0	0	0	15.11	14.81	15.11
559	-0.86	-146.0	2203	3390	3443	3376	75.1	-13.0	99	566	0.00	2.30	0.00	0.000	3078	0.000	0.039	2204	1979	3410	3443	3377	0	0	0	0	0	0	14.83	14.73	14.85
628	-0.86	-146.0	2204	1979	3446	3377	84.1	-14.0	112	635	0.00	2.40	0.00	0.000	2308	0.000	0.066	2203	3394	3410	3444	3377	0	0	0	0	0	0	15.11	14.71	15.11
712	-0.86	-146.0	2203	3395	3444	3376	96.0	-13.7	128	719	0.00	2.30	0.00	0.000	3078	0.000	0.038	2203	1973	3411	3445	3377	0	0	0	0	0	0	14.97	14.86	14.99
782	-0.86	-146.0	2203	1973	3443	3377	105.3	-13.2	141	788	0.00	0.00	0.00	0.000	2054	0.000	0.000	2203	1973	3410	3445	3376	0	0	0	0	0	0	15.12	15.12	15.12
850	-0.86	-146.0	2203	1973	3445	3376	113.7	-12.4	154	856	0.00	2.42	0.00	0.000	2308	0.000	0.065	2203	3393	3410	3444	3376	0	0	0	0	0	0	15.12	14.77	15.12
943	-0.86	-146.0	2202	3393	3445	3376	125.5	-12.2	172	950	0.00	2.28	0.00	0.000	3078	0.000	0.037	2203	1987	3409	3444	3375	0	0	0	0	0	0	14.86	14.78	14.88
1013	-0.86	-146.0	2202	1987	3445	3375	134.1	-12.4	185	1019	0.00	0.00	0.00	0.000	2054	0.000	0.000	2203	1986	3410	3444	3376	0	0	0	0	0	0	15.12	15.13	15.13
1083	-0.86	-146.0	2202	1986	3444	3376	143.2	-13.9	198	1089	0.00	0.00	0.00	0.000	2054	0.000	0.000	2203	1986	3410	3445	3375	0	0	0	0	0	0	15.13	15.13	15.13
1151	-0.86	-146.0	2202	1985	3444	3375	151.1	-11.4	211	1157	0.00	2.40	0.00	0.000	2308	0.000	0.066	2203	3385	3409	3444	3374	0	0	0	0	0	0	15.13	14.82	15.14
1173	end dive: BOTTOM_OBSTACLE_DETECTED
state	1173	begin apogee
1179	-0.19	0.0	2202	1981	3443	3374	153.8	-11.0	215	1296	1.10	0.00	107.93	1.080	10246	0.171	0.000	2421	1979	2809	2849	2770	0	0	0	0	0	0	14.64	14.40	14.00
1297	end apogee: CONTROL_FINISHED_OK
state	1297	begin climb
1299	0.86	146.0	2420	1979	2848	2773	158.7	0.0	236	1422	1.55	2.40	111.30	1.061	10756	0.098	0.071	2749	586	2214	2255	2173	0	0	0	0	0	0	14.51	14.42	13.90
1483	0.86	146.0	2749	586	2249	2173	146.4	10.5	269	1490	0.00	2.33	0.00	0.000	3078	0.000	0.041	2749	1994	2211	2249	2173	0	0	0	0	0	0	14.71	14.63	14.73
1553	0.89	169.4	2749	1994	2248	2171	140.2	8.9	282	1578	0.00	2.42	19.02	1.001	10500	0.000	0.066	2749	3386	2120	2162	2078	0	0	0	0	0	0	14.92	14.64	14.03
1630	0.89	172.1	2749	3386	2159	2077	132.6	9.9	296	1637	0.00	2.35	0.00	0.000	3078	0.000	0.043	2749	1980	2118	2159	2077	0	0	0	0	0	0	14.72	14.62	14.73
1700	0.92	196.9	2749	1980	2158	2077	126.5	8.9	309	1729	0.08	0.00	22.90	1.010	10246	0.181	0.000	2803	1980	2007	2051	1963	0	0	0	0	0	0	14.74	14.52	14.08
1791	0.92	196.9	2802	1980	2048	1960	115.8	12.4	326	1797	0.08	0.00	0.00	0.000	4102	0.269	0.000	2784	1980	2003	2047	1960	0	0	0	0	0	0	14.59	14.74	14.69
1860	0.92	196.9	2784	1980	2046	1960	108.3	11.7	339	1866	0.00	0.00	0.00	0.000	6	0.000	0.000	2784	1979	2004	2049	1960	0	0	0	0	0	0	15.00	15.00	15.00
1928	0.92	196.9	2784	1979	2046	1959	101.3	10.4	352	1935	0.00	2.40	0.00	0.000	260	0.000	0.064	2785	3386	2002	2045	1960	0	0	0	0	0	0	15.02	14.76	15.03
1982	0.92	196.9	2783	3386	2045	1960	95.2	11.7	362	1988	0.00	2.33	0.00	0.000	1030	0.000	0.043	2785	1981	2001	2045	1958	0	0	0	0	0	0	14.89	14.78	14.91
2051	0.92	201.5	2783	1980	2045	1958	88.1	9.8	375	2058	0.00	0.00	4.22	0.746	8198	0.000	0.000	2784	1980	1990	2034	1946	0	0	0	0	0	0	15.05	14.78	14.07
2121	0.92	201.5	2784	1980	2032	1945	80.8	10.4	388	2127	0.00	0.00	0.00	0.000	6	0.000	0.000	2784	1980	1988	2032	1945	0	0	0	0	0	0	15.07	15.07	15.07
2189	0.92	201.5	2784	1980	2032	1945	73.7	10.2	401	2194	0.00	0.00	0.00	0.000	6	0.000	0.000	2784	1980	1988	2032	1945	0	0	0	0	0	0	15.07	15.07	15.07
2257	0.93	202.5	2784	1980	2031	1944	66.8	10.0	414	2262	0.00	0.00	0.00	0.000	2054	0.000	0.000	2787	1980	1987	2031	1944	0	0	0	0	0	0	15.09	15.09	15.09
2325	0.93	202.5	2784	1980	2031	1943	59.9	10.4	427	2331	0.00	2.40	0.00	0.000	260	0.000	0.063	2784	3394	1986	2030	1943	0	0	0	0	0	0	15.09	14.70	15.09
2358	0.93	202.5	2784	3394	2030	1944	56.3	11.9	433	2365	0.00	2.33	0.00	0.000	1030	0.000	0.044	2784	1985	1986	2030	1943	0	0	0	0	0	0	14.94	14.83	14.95
2428	0.93	205.7	2784	1985	2030	1943	49.4	9.9	446	2441	0.00	2.38	4.68	0.663	8452	0.000	0.063	2784	3390	1972	2016	1929	0	0	0	0	0	0	15.09	14.83	14.09
2489	0.93	205.7	2784	3390	2016	1928	42.8	10.5	457	2495	0.00	2.30	0.00	0.000	1030	0.000	0.044	2784	1988	1972	2017	1928	0	0	0	0	0	0	14.94	14.85	14.96
2558	0.94	212.4	2784	1988	2015	1927	35.4	9.7	470	2571	0.00	2.38	6.82	0.777	10500	0.000	0.062	2785	3387	1946	1990	1903	0	0	0	0	0	0	15.10	14.66	14.15
2603	1.00	261.2	2784	3387	1989	1902	31.5	7.8	478	2649	0.00	2.30	39.67	0.972	11270	0.000	0.044	2785	1987	1746	1798	1695	0	0	0	0	0	0	14.95	14.84	14.16
2711	1.06	310.9	2784	1987	1794	1690	22.8	7.7	498	2748	0.08	2.40	30.50	0.909	10756	0.181	0.075	2838	591	1541	1598	1485	0	0	0	0	0	0	14.73	14.62	14.08
2825	1.06	310.9	2835	591	1590	1485	10.5	10.5	519	2832	0.00	2.30	0.00	0.000	5126	0.000	0.040	2838	1992	1537	1590	1485	0	0	0	0	0	0	14.74	14.66	14.75
2893	end climb: SURFACE_DEPTH_REACHED
state	2893	begin surface coast
2914	end surface coast: CONTROL_FINISHED_OK
state	2914	begin surface