Glider dive log

SOSCEx 24Jul16 * SG574 * Dive index * Mission links * Dive 10 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 574 HD_C 9.8500004e-06 ROLL_MAX 3880 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 20 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 10 ESCAPE_HEADING 0 C_ROLL_DIVE 2124 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2097 ALTIM_PING_DEPTH 1050

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 4808 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 500 TGT_DEFAULT_LON -12223 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1020 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 24 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 455.26938 R_STBD_OVSHOOT 24 XPDR_VALID 2

D_BOOST 5 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 0 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3961 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 C_VBD 2356 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 134

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.245296 DEVICE3 147

T_DIVE 167 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 165

T_MISSION 177 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_ABORT 720 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 500 CAPMAXSIZE 400000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 15 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -2361323.2 DBDW 0 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 3 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 48

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 145 RAFOS_DEVICE -1

RELAUNCH 0 RAFOS_HIT_WINDOW 3600 AH0_10V 95 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 143 MINV_24V 19 SIM_W 0

MAX_BUOY 110 PITCH_MAX 3888 MINV_10V 8.5 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2855 FG_AHR_10V 0 SEABIRD_T_G 0.0043017557

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00062339538

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.3377639e-05

RHO 1.0275 P_OVSHOOT 0.039999999 PRESSURE_YINT -47.130039 SEABIRD_T_J 2.5612862e-06

MASS 53162 PITCH_GAIN 45 PRESSURE_SLOPE 0.0001171049 SEABIRD_C_G -9.9136524

MASS_COMP 0 PITCH_TIMEOUT 17 AD7714Ch0Gain 128 SEABIRD_C_H 1.1456692

NAV_MODE 2 PITCH_AD_RATE 175 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.00078246131

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00012677554

KALMAN_USE 2 PITCH_ADJ_GAIN 0 COMPASS_USE 0

HD_A 0.0038360001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.010078 ROLL_MIN 245 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 455.26938

AH0_10V 95 D_PITCH 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

AH0_24V 145 D_SAFE 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_TGT 500 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 45 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 1050 FERRY_MAX 45 PITCH_MAX 3888 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 143 TGT_DEFAULT_LAT 4808

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12223

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 720

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 167

CALL_NDIVES 1 HD_A 0.0038360001 PRESSURE_SLOPE 0.0001171049 T_EPIRB 0

CALL_TRIES 5 HD_B 0.010078 PRESSURE_YINT -47.130039 T_GPS 15

CALL_WAIT 60 HD_C 9.8500004e-06 PROTOCOL 0 T_GPS_ALMANAC 0

CAPMAXSIZE 400000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -2361323.2

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 177

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 574 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 0 T_TURN 500

COMPASS_USE 0 INT_PRESSURE_YINT 0 RHO 1.0275 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2855 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 2097 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2124 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 2356 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3880 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 53162 ROLL_MAXERRORS 1 VBD_CNV -0.245296

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 245 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 110 ROLL_TIMEOUT 15 VBD_MAX 3961

DEVICE2 134 MINV_10V 8.5 R_PORT_OVSHOOT 24 VBD_MAXERRORS 1

DEVICE3 147 MINV_24V 19 R_STBD_OVSHOOT 24 VBD_MIN 500

DEVICE4 165 MISSION 20 SEABIRD_C_G -9.9136524 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1456692 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 2 SEABIRD_C_I -0.00078246131 VBD_TIMEOUT 720

DIVE 10 NOCOMM_ACTION 0 SEABIRD_C_J 0.00012677554 W_ADJ_DBAND 0

D_ABORT 1020 N_DIVES 0 SEABIRD_T_G 0.0043017557 XPDR_DEVICE 24

D_BOOST 5 N_FILEKB 4 SEABIRD_T_H 0.00062339538 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.3377639e-05 XPDR_VALID 2

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 2.5612862e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 500 PHONE_DEVICE 48 SIM_W 0

Pre-dive calculations and measurements:

GPS1 240716,212359,-4700.042,436.946,8,1.0,8,-23.5 TGT_NAME TARGET

_CALLS 5 TGT_LATLONG -4700.000,340.000

_XMS_NAKs 0 TGT_RADIUS 500.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.87 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -74.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240716,214424,-4700.161,436.894,32,0.8,32,-23.5 MHEAD_RNG_PITCHd_Wd 319.4,71861,-21.3,-9.980,-23.89,1645

SPEED_LIMITS 0.173,0.225 D_GRID 500

Post-dive calculations and measurements:

FINISH 1.0,1.022938 _10V_AH 10.2,3.553

SM_CCo 5696,153.00,0.056,0,0,498,455.27 FG_AHR_24Vo 0.000

SM_GC 1.55,7.90,0.03,153.00,0.046,0.221,0.056,132,2121,498,-8.43,-0.74,455.27,0,0,0,0,0,0,26.22,26.34,26.06 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4641.78,434.81,210509,111111 MEM 353348

TT8_MAMPS 0.026215,0.026215 DATA_FILE_SIZE 37033,552

HUMID 57.40 CAP_FILE_SIZE 81529,0

INTERNAL_PRESSURE 8.89683 CFSIZE 2097086464,2092826624

TCM_TEMP 6.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 CURRENT 0.148,142.2,1

_24V_AH 23.6,5.070 GPS 240716,232333,-4700.072,436.485,40,0.8,40,-23.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 266 128.95 SBE_CT 407 54 525.74

Roll_motor 64 221 339.01 QSP2150 300 6 47.76

VBD_pump_during_apogee 194 1002 4598.89 WL_BB2FL 341 105 847.19

VBD_pump_during_surface 153 55 201.65 AA4330 709 43 727.85

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 144 91 310.21 nil 0 0 0.00

Iridium_during_connect 175 160 663.19 nil 0 0 0.00

Iridium_during_xfer 453 223 2386.34 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 36 32 12.22

TT8 1443 13 199.82

LPSleep 2775 2 62.00

TT8_Active 429 13 59.49

TT8_Sampling 2373 41 999.48

TT8_CF8 67 48 33.21

TT8_Kalman 0 0 0.00

Analog_circuits 1005 15 160.35

GPS_charging 0 0 0.00

Compass 1455 19 289.07

RAFOS 0 0 0.00

Transponder 0 5 0.05

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

14 -0.61 -107.1 128 2102 1555 1494 0.0 0.0 0 64 0.00 0.00 -47.10 0.000 16386 0.000 0.000 129 2103 2762 2755 2770 0 0 0 0 0 0 28.83 28.83 28.83

66 -0.61 -107.1 129 2102 2754 2771 3.1 -3.1 5 87 11.00 2.38 -0.62 0.000 19204 0.266 0.070 2636 3547 2794 2792 2796 0 0 0 0 0 0 25.32 25.54 25.75

96 -0.61 -107.1 2636 3547 2796 2793 13.4 -25.4 8 105 0.00 2.35 0.00 0.000 1030 0.000 0.054 2637 2133 2794 2799 2790 0 0 0 0 0 0 28.83 25.57 28.83

164 -0.61 -107.1 2637 2130 2802 2788 29.2 -20.4 17 173 0.00 0.00 0.00 0.000 6 0.000 0.000 2637 2130 2795 2802 2788 0 0 0 0 0 0 28.83 28.83 28.83

314 -0.61 -107.1 2637 2131 2803 2787 61.8 -22.8 42 325 0.00 2.35 0.00 0.000 260 0.000 0.066 2629 3528 2795 2804 2787 0 0 0 0 0 0 28.83 25.72 28.83

373 -0.61 -107.1 1728 3527 2774 2782 75.1 -20.6 52 381 0.00 2.35 0.00 0.000 1030 0.000 0.062 2630 2124 2795 2804 2786 0 0 0 0 0 0 28.83 25.77 28.83

696 -0.61 -107.1 2630 2121 2805 2785 145.2 -22.3 93 704 0.00 2.30 0.00 0.000 260 0.000 0.070 2622 3525 2795 2805 2785 0 0 0 0 0 0 28.83 25.90 28.83

824 -0.61 -107.1 2621 3525 2805 2785 172.0 -19.8 105 833 0.10 2.28 0.00 0.000 3078 0.194 0.063 2653 2122 2795 2805 2785 0 0 0 0 0 0 25.82 25.94 28.83

1131 -0.61 -107.1 2653 2118 2806 2785 229.0 -17.5 136 1135 0.00 2.33 0.00 0.000 260 0.000 0.072 2644 3528 2795 2806 2785 0 0 0 0 0 0 28.83 26.01 28.83

1287 -0.61 -107.1 2644 3528 2806 2784 254.5 -16.2 150 1291 0.00 2.30 0.00 0.000 1030 0.000 0.063 2644 2118 2795 2805 2785 0 0 0 0 0 0 28.83 26.06 28.83

1592 -0.61 -107.1 2644 2114 2807 2784 309.1 -18.3 180 1596 0.00 2.33 0.00 0.000 260 0.000 0.073 2634 3528 2795 2807 2784 0 0 0 0 0 0 28.83 26.10 28.83

1656 -0.61 -107.1 2634 3528 2806 2784 319.4 -17.3 185 1664 0.00 2.33 0.00 0.000 1030 0.000 0.064 2635 2127 2795 2806 2784 0 0 0 0 0 0 28.83 26.13 28.83

1963 -0.61 -107.1 2634 2124 2807 2784 376.6 -18.3 216 1967 0.00 2.30 0.00 0.000 260 0.000 0.076 2625 3528 2795 2807 2784 0 0 0 0 0 0 28.83 26.15 28.83

1983 -0.61 -107.1 2624 3528 2806 2784 379.4 -17.9 217 1992 0.08 2.28 0.00 0.000 3078 0.216 0.069 2649 2123 2795 2806 2784 0 0 0 0 0 0 26.05 26.16 28.83

2290 -0.61 -107.1 2649 2119 2807 2784 432.1 -17.2 239 2291 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2120 2795 2807 2784 0 0 0 0 0 0 28.83 28.83 28.83

2589 -0.61 -107.1 2649 2120 2807 2783 481.8 -16.9 254 2593 0.00 2.33 0.00 0.000 260 0.000 0.076 2640 3529 2795 2807 2784 0 0 0 0 0 0 28.83 26.22 28.83

2664 -0.61 -107.1 2640 3529 2806 2783 493.8 -15.9 258 2669 0.00 2.30 0.00 0.000 1030 0.000 0.071 2640 2122 2794 2806 2783 0 0 0 0 0 0 28.83 26.22 28.83

2719 end dive: TARGET_DEPTH_EXCEEDED

state 2719 begin apogee

2722 -0.11 0.0 2640 2118 2807 2783 503.1 -16.3 261 2810 0.62 0.00 84.65 1.002 10246 0.182 0.000 2816 2118 2355 2389 2322 0 0 0 0 0 0 26.12 28.83 24.03

2811 end apogee: CONTROL_FINISHED_OK

state 2811 begin climb

2812 0.61 107.1 2816 2118 2390 2322 507.3 0.0 265 2910 0.70 2.50 89.82 0.978 10756 0.097 0.052 3053 677 1919 1974 1864 0 0 0 0 0 0 24.70 24.28 23.61

2919 0.63 128.8 2192 677 1940 1859 500.0 8.6 271 2945 0.00 2.47 19.98 0.922 9222 0.000 0.048 3053 2095 1829 1895 1764 0 0 0 0 0 0 28.83 24.51 23.72

3257 0.63 128.8 3053 2094 1890 1758 436.9 18.6 288 3261 0.00 2.33 0.00 0.000 260 0.000 0.056 3053 3515 1824 1890 1758 0 0 0 0 0 0 28.83 25.45 28.83

3293 0.63 128.8 3053 3515 1888 1758 430.1 18.8 290 3297 0.00 2.33 0.00 0.000 1030 0.000 0.049 3064 2084 1823 1888 1758 0 0 0 0 0 0 28.83 25.49 28.83

3599 0.63 128.8 3064 2083 1887 1757 371.5 19.0 312 3603 0.00 2.28 0.00 0.000 516 0.000 0.054 3074 682 1822 1887 1757 0 0 0 0 0 0 28.83 25.73 28.83

3714 0.63 128.8 2240 682 1855 1754 350.1 18.5 322 3723 0.00 2.35 0.00 0.000 1030 0.000 0.049 3075 2106 1819 1881 1757 0 0 0 0 0 0 28.83 25.81 28.83

4025 0.63 128.8 3074 2107 1881 1757 289.9 19.1 353 4033 0.00 2.28 0.00 0.000 516 0.000 0.053 3085 689 1819 1881 1757 0 0 0 0 0 0 28.83 25.93 28.83

4055 0.63 128.8 3085 689 1879 1757 283.5 19.2 356 4059 0.00 2.28 0.00 0.000 1030 0.000 0.049 3085 2105 1818 1879 1757 0 0 0 0 0 0 28.83 25.94 28.83

4360 0.63 128.8 3085 2106 1880 1757 225.4 18.5 386 4364 0.00 2.30 0.00 0.000 516 0.000 0.053 3096 676 1818 1880 1757 0 0 0 0 0 0 28.83 26.02 28.83

4389 0.63 128.8 3096 676 1878 1757 220.7 18.1 388 4400 0.12 2.33 0.00 0.000 5126 0.260 0.050 3066 2094 1818 1879 1757 0 0 0 0 0 0 25.84 26.03 28.83

4697 0.63 128.8 3066 2094 1879 1757 171.5 15.2 419 4701 0.00 2.25 0.00 0.000 260 0.000 0.057 3066 3508 1818 1879 1757 0 0 0 0 0 0 28.83 26.09 28.83

4725 0.63 128.8 3066 3508 1879 1757 167.2 16.0 421 4734 0.00 2.22 0.00 0.000 1030 0.000 0.047 3075 2091 1818 1879 1757 0 0 0 0 0 0 28.83 26.10 28.83

5032 0.63 128.8 3074 2090 1879 1757 113.6 16.9 452 5034 0.00 0.00 0.00 0.000 6 0.000 0.000 3075 2090 1818 1879 1757 0 0 0 0 0 0 28.83 28.83 28.83

5354 0.63 128.8 2176 2088 1851 1753 56.6 16.9 504 5363 0.00 2.28 0.00 0.000 516 0.000 0.053 3086 685 1817 1878 1757 0 0 0 0 0 0 28.83 26.19 28.83

5451 0.63 128.8 2128 685 1845 1753 39.9 17.2 521 5461 0.00 2.30 0.00 0.000 1030 0.000 0.052 3086 2093 1817 1877 1757 0 0 0 0 0 0 28.83 26.20 28.83

5634 0.63 128.8 3086 2098 1878 1757 8.5 18.4 546 5644 0.00 0.00 0.00 0.000 6 0.000 0.000 3087 2098 1817 1878 1756 0 0 0 0 0 0 28.83 28.83 28.83

5665 end climb: SURFACE_DEPTH_REACHED

state 5665 begin surface coast

5682 end surface coast: CONTROL_FINISHED_OK

state 5682 begin surface

ID	574	HD_C	9.8500004e-06	ROLL_MAX	3880	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	20	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	10	ESCAPE_HEADING	0	C_ROLL_DIVE	2124	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2097	ALTIM_PING_DEPTH	1050
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	4808	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	500	TGT_DEFAULT_LON	-12223	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1020	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	24	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	455.26938	R_STBD_OVSHOOT	24	XPDR_VALID	2
D_BOOST	5	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	0	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3961	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	C_VBD	2356	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	134
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.245296	DEVICE3	147
T_DIVE	167	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	165
T_MISSION	177	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_ABORT	720	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	500	CAPMAXSIZE	400000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	15	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-2361323.2	DBDW	0	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	3	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	48
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	145	RAFOS_DEVICE	-1
RELAUNCH	0	RAFOS_HIT_WINDOW	3600	AH0_10V	95	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	143	MINV_24V	19	SIM_W	0
MAX_BUOY	110	PITCH_MAX	3888	MINV_10V	8.5	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2855	FG_AHR_10V	0	SEABIRD_T_G	0.0043017557
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00062339538
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.3377639e-05
RHO	1.0275	P_OVSHOOT	0.039999999	PRESSURE_YINT	-47.130039	SEABIRD_T_J	2.5612862e-06
MASS	53162	PITCH_GAIN	45	PRESSURE_SLOPE	0.0001171049	SEABIRD_C_G	-9.9136524
MASS_COMP	0	PITCH_TIMEOUT	17	AD7714Ch0Gain	128	SEABIRD_C_H	1.1456692
NAV_MODE	2	PITCH_AD_RATE	175	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.00078246131
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00012677554
KALMAN_USE	2	PITCH_ADJ_GAIN	0	COMPASS_USE	0
HD_A	0.0038360001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.010078	ROLL_MIN	245	ALTIM_TOP_PING_RANGE	0

GPS1	240716,212359,-4700.042,436.946,8,1.0,8,-23.5	TGT_NAME	TARGET
_CALLS	5	TGT_LATLONG	-4700.000,340.000
_XMS_NAKs	0	TGT_RADIUS	500.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.87	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-74.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240716,214424,-4700.161,436.894,32,0.8,32,-23.5	MHEAD_RNG_PITCHd_Wd	319.4,71861,-21.3,-9.980,-23.89,1645
SPEED_LIMITS	0.173,0.225	D_GRID	500

FINISH	1.0,1.022938	_10V_AH	10.2,3.553
SM_CCo	5696,153.00,0.056,0,0,498,455.27	FG_AHR_24Vo	0.000
SM_GC	1.55,7.90,0.03,153.00,0.046,0.221,0.056,132,2121,498,-8.43,-0.74,455.27,0,0,0,0,0,0,26.22,26.34,26.06	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4641.78,434.81,210509,111111	MEM	353348
TT8_MAMPS	0.026215,0.026215	DATA_FILE_SIZE	37033,552
HUMID	57.40	CAP_FILE_SIZE	81529,0
INTERNAL_PRESSURE	8.89683	CFSIZE	2097086464,2092826624
TCM_TEMP	6.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	CURRENT	0.148,142.2,1
_24V_AH	23.6,5.070	GPS	240716,232333,-4700.072,436.485,40,0.8,40,-23.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	266	128.95	SBE_CT	407	54	525.74
Roll_motor	64	221	339.01	QSP2150	300	6	47.76
VBD_pump_during_apogee	194	1002	4598.89	WL_BB2FL	341	105	847.19
VBD_pump_during_surface	153	55	201.65	AA4330	709	43	727.85
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	144	91	310.21	nil	0	0	0.00
Iridium_during_connect	175	160	663.19	nil	0	0	0.00
Iridium_during_xfer	453	223	2386.34	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	36	32	12.22
TT8	1443	13	199.82
LPSleep	2775	2	62.00
TT8_Active	429	13	59.49
TT8_Sampling	2373	41	999.48
TT8_CF8	67	48	33.21
TT8_Kalman	0	0	0.00
Analog_circuits	1005	15	160.35
GPS_charging	0	0	0.00
Compass	1455	19	289.07
RAFOS	0	0	0.00
Transponder	0	5	0.05

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
14	-0.61	-107.1	128	2102	1555	1494	0.0	0.0	0	64	0.00	0.00	-47.10	0.000	16386	0.000	0.000	129	2103	2762	2755	2770	0	0	0	0	0	0	28.83	28.83	28.83
66	-0.61	-107.1	129	2102	2754	2771	3.1	-3.1	5	87	11.00	2.38	-0.62	0.000	19204	0.266	0.070	2636	3547	2794	2792	2796	0	0	0	0	0	0	25.32	25.54	25.75
96	-0.61	-107.1	2636	3547	2796	2793	13.4	-25.4	8	105	0.00	2.35	0.00	0.000	1030	0.000	0.054	2637	2133	2794	2799	2790	0	0	0	0	0	0	28.83	25.57	28.83
164	-0.61	-107.1	2637	2130	2802	2788	29.2	-20.4	17	173	0.00	0.00	0.00	0.000	6	0.000	0.000	2637	2130	2795	2802	2788	0	0	0	0	0	0	28.83	28.83	28.83
314	-0.61	-107.1	2637	2131	2803	2787	61.8	-22.8	42	325	0.00	2.35	0.00	0.000	260	0.000	0.066	2629	3528	2795	2804	2787	0	0	0	0	0	0	28.83	25.72	28.83
373	-0.61	-107.1	1728	3527	2774	2782	75.1	-20.6	52	381	0.00	2.35	0.00	0.000	1030	0.000	0.062	2630	2124	2795	2804	2786	0	0	0	0	0	0	28.83	25.77	28.83
696	-0.61	-107.1	2630	2121	2805	2785	145.2	-22.3	93	704	0.00	2.30	0.00	0.000	260	0.000	0.070	2622	3525	2795	2805	2785	0	0	0	0	0	0	28.83	25.90	28.83
824	-0.61	-107.1	2621	3525	2805	2785	172.0	-19.8	105	833	0.10	2.28	0.00	0.000	3078	0.194	0.063	2653	2122	2795	2805	2785	0	0	0	0	0	0	25.82	25.94	28.83
1131	-0.61	-107.1	2653	2118	2806	2785	229.0	-17.5	136	1135	0.00	2.33	0.00	0.000	260	0.000	0.072	2644	3528	2795	2806	2785	0	0	0	0	0	0	28.83	26.01	28.83
1287	-0.61	-107.1	2644	3528	2806	2784	254.5	-16.2	150	1291	0.00	2.30	0.00	0.000	1030	0.000	0.063	2644	2118	2795	2805	2785	0	0	0	0	0	0	28.83	26.06	28.83
1592	-0.61	-107.1	2644	2114	2807	2784	309.1	-18.3	180	1596	0.00	2.33	0.00	0.000	260	0.000	0.073	2634	3528	2795	2807	2784	0	0	0	0	0	0	28.83	26.10	28.83
1656	-0.61	-107.1	2634	3528	2806	2784	319.4	-17.3	185	1664	0.00	2.33	0.00	0.000	1030	0.000	0.064	2635	2127	2795	2806	2784	0	0	0	0	0	0	28.83	26.13	28.83
1963	-0.61	-107.1	2634	2124	2807	2784	376.6	-18.3	216	1967	0.00	2.30	0.00	0.000	260	0.000	0.076	2625	3528	2795	2807	2784	0	0	0	0	0	0	28.83	26.15	28.83
1983	-0.61	-107.1	2624	3528	2806	2784	379.4	-17.9	217	1992	0.08	2.28	0.00	0.000	3078	0.216	0.069	2649	2123	2795	2806	2784	0	0	0	0	0	0	26.05	26.16	28.83
2290	-0.61	-107.1	2649	2119	2807	2784	432.1	-17.2	239	2291	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2120	2795	2807	2784	0	0	0	0	0	0	28.83	28.83	28.83
2589	-0.61	-107.1	2649	2120	2807	2783	481.8	-16.9	254	2593	0.00	2.33	0.00	0.000	260	0.000	0.076	2640	3529	2795	2807	2784	0	0	0	0	0	0	28.83	26.22	28.83
2664	-0.61	-107.1	2640	3529	2806	2783	493.8	-15.9	258	2669	0.00	2.30	0.00	0.000	1030	0.000	0.071	2640	2122	2794	2806	2783	0	0	0	0	0	0	28.83	26.22	28.83
2719	end dive: TARGET_DEPTH_EXCEEDED
state	2719	begin apogee
2722	-0.11	0.0	2640	2118	2807	2783	503.1	-16.3	261	2810	0.62	0.00	84.65	1.002	10246	0.182	0.000	2816	2118	2355	2389	2322	0	0	0	0	0	0	26.12	28.83	24.03
2811	end apogee: CONTROL_FINISHED_OK
state	2811	begin climb
2812	0.61	107.1	2816	2118	2390	2322	507.3	0.0	265	2910	0.70	2.50	89.82	0.978	10756	0.097	0.052	3053	677	1919	1974	1864	0	0	0	0	0	0	24.70	24.28	23.61
2919	0.63	128.8	2192	677	1940	1859	500.0	8.6	271	2945	0.00	2.47	19.98	0.922	9222	0.000	0.048	3053	2095	1829	1895	1764	0	0	0	0	0	0	28.83	24.51	23.72
3257	0.63	128.8	3053	2094	1890	1758	436.9	18.6	288	3261	0.00	2.33	0.00	0.000	260	0.000	0.056	3053	3515	1824	1890	1758	0	0	0	0	0	0	28.83	25.45	28.83
3293	0.63	128.8	3053	3515	1888	1758	430.1	18.8	290	3297	0.00	2.33	0.00	0.000	1030	0.000	0.049	3064	2084	1823	1888	1758	0	0	0	0	0	0	28.83	25.49	28.83
3599	0.63	128.8	3064	2083	1887	1757	371.5	19.0	312	3603	0.00	2.28	0.00	0.000	516	0.000	0.054	3074	682	1822	1887	1757	0	0	0	0	0	0	28.83	25.73	28.83
3714	0.63	128.8	2240	682	1855	1754	350.1	18.5	322	3723	0.00	2.35	0.00	0.000	1030	0.000	0.049	3075	2106	1819	1881	1757	0	0	0	0	0	0	28.83	25.81	28.83
4025	0.63	128.8	3074	2107	1881	1757	289.9	19.1	353	4033	0.00	2.28	0.00	0.000	516	0.000	0.053	3085	689	1819	1881	1757	0	0	0	0	0	0	28.83	25.93	28.83
4055	0.63	128.8	3085	689	1879	1757	283.5	19.2	356	4059	0.00	2.28	0.00	0.000	1030	0.000	0.049	3085	2105	1818	1879	1757	0	0	0	0	0	0	28.83	25.94	28.83
4360	0.63	128.8	3085	2106	1880	1757	225.4	18.5	386	4364	0.00	2.30	0.00	0.000	516	0.000	0.053	3096	676	1818	1880	1757	0	0	0	0	0	0	28.83	26.02	28.83
4389	0.63	128.8	3096	676	1878	1757	220.7	18.1	388	4400	0.12	2.33	0.00	0.000	5126	0.260	0.050	3066	2094	1818	1879	1757	0	0	0	0	0	0	25.84	26.03	28.83
4697	0.63	128.8	3066	2094	1879	1757	171.5	15.2	419	4701	0.00	2.25	0.00	0.000	260	0.000	0.057	3066	3508	1818	1879	1757	0	0	0	0	0	0	28.83	26.09	28.83
4725	0.63	128.8	3066	3508	1879	1757	167.2	16.0	421	4734	0.00	2.22	0.00	0.000	1030	0.000	0.047	3075	2091	1818	1879	1757	0	0	0	0	0	0	28.83	26.10	28.83
5032	0.63	128.8	3074	2090	1879	1757	113.6	16.9	452	5034	0.00	0.00	0.00	0.000	6	0.000	0.000	3075	2090	1818	1879	1757	0	0	0	0	0	0	28.83	28.83	28.83
5354	0.63	128.8	2176	2088	1851	1753	56.6	16.9	504	5363	0.00	2.28	0.00	0.000	516	0.000	0.053	3086	685	1817	1878	1757	0	0	0	0	0	0	28.83	26.19	28.83
5451	0.63	128.8	2128	685	1845	1753	39.9	17.2	521	5461	0.00	2.30	0.00	0.000	1030	0.000	0.052	3086	2093	1817	1877	1757	0	0	0	0	0	0	28.83	26.20	28.83
5634	0.63	128.8	3086	2098	1878	1757	8.5	18.4	546	5644	0.00	0.00	0.00	0.000	6	0.000	0.000	3087	2098	1817	1878	1756	0	0	0	0	0	0	28.83	28.83	28.83
5665	end climb: SURFACE_DEPTH_REACHED
state	5665	begin surface coast
5682	end surface coast: CONTROL_FINISHED_OK
state	5682	begin surface