Glider dive log

SOSCEx 27Sep18 * SG573 * Dive index * Mission links * Dive 103 * 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 290 C_ROLL_CLIMB 1910 ALTIM_TOP_TURN_MARGIN 0

DIVE 103 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 28 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 72 ALTIM_PULSE 3

D_TGT 250 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 84 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_MISSION 90 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_ABORT 100 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 250 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 100

CALL_TRIES 5 HEADING 290 PROTOCOL 9 T_BOOST 0

CALL_WAIT 60 HEAD_ERRBAND 10 P_OVSHOOT 0.039999999 T_DIVE 84

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 90

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 1910 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 28 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 72 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 103 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 171018,043703,-3306.9067,2811.4731,20,0.8,36,-27.4,0.7,251.6,10,8.3 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3303.328,2759.228

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 1.02 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -70.5 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 171018,044636,-3307.0217,2811.3352,17,0.9,19,-27.4,0.9,231.0,10,7.6 MHEAD_RNG_PITCHd_Wd 317.4,20000,-18.1,-9.921,-20.94,2253

SPEED_LIMITS 0.172,0.259 D_GRID 250

Post-dive calculations and measurements:

FINISH 0.5,1.025072 _24V_AH 13.68,79.446

SM_CCo 3143,30.75,0.119,0,0,1506,320.11 _10V_AH 13.64,0.000

SM_GC 1.34,12.48,0.10,30.75,0.053,0.117,0.119,130,2006,1506,-7.31,-1.33,320.11,0,0,0,0,0,0,14.85,14.85,14.77 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3251.89,2810.55,171018,030743 FG_AHR_10Vo 0.000

TT8_MAMPS 0.019474,0.929509 MEM 339736

HUMID 54.72 DATA_FILE_SIZE 20106,583

INTERNAL_PRESSURE 8.89647 CAP_FILE_SIZE 102549,0

TCM_TEMP 21.60 CFSIZE 1023623168,1003962368

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

ALTIM_TOP_PING 20.0,19.4 INTR 0,1439.12,0x23609a,1,24

ALTIM_BOTTOM_PING 120.5,54.5 GPS 171018,054052,-3306.688,2811.152,19,0.8,20,-27.4,0.5,200.6,10,7.2

SC_FREEKB 3864928

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 367 138.89 nil 0 0 0.00

Roll_motor 57 117 92.11 nil 0 0 0.00

VBD_pump_during_apogee 314 1207 5198.63 nil 0 0 0.00

VBD_pump_during_surface 30 118 49.88 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 32 11.11 nil 0 0 0.00

Iridium_during_connect 20 160 45.23 SciCon 3189 35 1561.71

Iridium_during_xfer 310 223 948.56 nil 0 0 0.00

Transponder_ping 1 420 7.18 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 23 6.56

TT8 1242 8 145.29

LPSleep 572 2 17.10

TT8_Active 444 8 51.93

TT8_Sampling 1378 28 527.28

TT8_CF8 114 41 64.91

TT8_Kalman 0 0 0.00

Analog_circuits 968 12 163.85

GPS_charging 0 0 0.00

Compass 882 17 207.29

RAFOS 0 0 0.00

Transponder 10 30 4.24

Guidance and control:

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

20 -0.85 -146.0 74 2021 1536 1458 0.0 0.0 0 84 0.00 0.00 -61.40 0.000 16386 0.000 0.000 74 2021 3175 3188 3162 0 0 0 0 0 0 14.98 28.83 15.00

86 -0.85 -146.0 73 2021 3187 3163 4.2 -12.1 11 111 12.45 2.47 -4.00 0.000 18948 0.306 0.094 2209 575 3411 3448 3374 0 0 0 0 0 0 14.57 13.68 14.72

152 -0.85 -146.0 2208 575 3448 3374 25.0 -19.4 23 159 0.00 2.30 0.00 0.000 3078 0.000 0.051 2204 1951 3411 3448 3374 0 0 0 0 0 0 14.90 14.81 14.91

222 -0.85 -146.0 2204 1951 3449 3374 35.2 -14.2 36 228 0.00 2.53 0.00 0.000 2308 0.000 0.075 2201 3396 3411 3449 3374 0 0 0 0 0 0 15.02 14.79 15.04

527 -0.85 -146.0 2201 3396 3449 3374 77.1 -11.4 96 534 0.00 2.35 0.00 0.000 3078 0.000 0.043 2201 1987 3413 3452 3374 0 0 0 0 0 0 14.97 14.88 14.99

596 -0.85 -146.0 2201 1987 3452 3374 85.3 -11.9 109 602 0.00 0.00 0.00 0.000 2054 0.000 0.000 2201 1988 3412 3452 3373 0 0 0 0 0 0 15.11 15.10 15.11

664 -0.85 -146.0 2201 1987 3451 3374 93.1 -11.2 122 670 0.00 2.47 0.00 0.000 2308 0.000 0.074 2196 3391 3413 3452 3374 0 0 0 0 0 0 15.09 14.78 15.11

733 -0.85 -146.0 2194 3391 3453 3374 100.9 -10.5 135 740 0.08 2.35 0.00 0.000 3078 0.276 0.043 2211 1969 3414 3453 3375 0 0 0 0 0 0 14.76 14.88 14.93

803 -0.85 -146.0 2211 1969 3453 3374 108.4 -10.7 148 809 0.00 0.00 0.00 0.000 2054 0.000 0.000 2211 1969 3413 3453 3374 0 0 0 0 0 0 15.11 15.11 15.11

871 -0.85 -146.0 2211 1969 3453 3374 115.6 -11.1 161 876 0.00 0.00 0.00 0.000 2054 0.000 0.000 2211 1969 3414 3454 3374 0 0 0 0 0 0 15.11 15.12 15.12

941 -0.85 -146.0 2211 1969 3453 3374 123.4 -11.0 174 947 0.00 0.00 0.00 0.000 2054 0.000 0.000 2215 1969 3413 3453 3374 0 0 0 0 0 0 15.12 15.12 15.12

1009 -0.85 -146.0 2211 1969 3454 3374 131.1 -10.7 187 1014 0.00 0.00 0.00 0.000 2054 0.000 0.000 2211 1969 3413 3453 3374 0 0 0 0 0 0 15.11 15.12 15.12

1077 -0.85 -146.0 2211 1969 3454 3374 138.6 -11.3 200 1082 0.00 0.00 0.00 0.000 2054 0.000 0.000 2211 1970 3413 3453 3374 0 0 0 0 0 0 15.14 15.14 15.14

1144 -0.85 -146.0 2211 1969 3454 3374 146.2 -10.7 213 1151 0.00 2.47 0.00 0.000 2308 0.000 0.074 2210 3389 3413 3453 3374 0 0 0 0 0 0 15.12 14.80 15.13

1173 -0.85 -146.0 2210 3389 3453 3374 149.1 -9.5 218 1180 0.00 2.33 0.00 0.000 3078 0.000 0.045 2210 1989 3414 3454 3374 0 0 0 0 0 0 15.00 14.90 15.01

1243 -0.85 -146.0 2210 1989 3453 3374 155.6 -9.4 231 1250 0.00 2.40 0.00 0.000 2564 0.000 0.073 2207 580 3413 3453 3374 0 0 0 0 0 0 15.12 14.87 15.12

1285 end dive: BOTTOM_OBSTACLE_DETECTED

state 1285 begin apogee

1291 -0.19 0.0 2210 1917 3452 3374 160.1 -10.3 239 1409 1.05 0.00 110.22 1.207 10246 0.159 0.000 2420 1918 2811 2849 2774 0 0 0 0 0 0 14.73 14.49 13.99

1410 end apogee: CONTROL_FINISHED_OK

state 1410 begin climb

1412 0.85 146.0 2420 1918 2849 2773 164.2 0.0 260 1532 1.55 2.50 110.38 1.191 10756 0.087 0.075 2756 506 2215 2257 2173 0 0 0 0 0 0 14.47 14.35 13.88

1794 0.85 146.0 2755 506 2248 2172 137.8 10.6 332 1801 0.00 2.35 0.00 0.000 3078 0.000 0.047 2756 1912 2210 2249 2172 0 0 0 0 0 0 14.83 14.74 14.85

1863 0.85 146.0 2755 1912 2249 2172 130.7 10.1 345 1870 0.00 2.40 0.00 0.000 2308 0.000 0.069 2756 3308 2210 2248 2172 0 0 0 0 0 0 15.00 14.74 15.00

1917 0.85 146.0 2755 3308 2248 2171 124.8 10.8 355 1924 0.00 2.35 0.00 0.000 1030 0.000 0.046 2765 1897 2210 2249 2171 0 0 0 0 0 0 14.83 14.73 14.84

1987 0.88 166.6 2765 1898 2249 2170 118.7 9.0 368 2011 0.00 2.40 16.60 1.113 10756 0.000 0.074 2776 500 2131 2173 2090 0 0 0 0 0 0 15.04 14.67 14.24

2063 0.88 166.6 2775 500 2170 2088 110.8 10.7 382 2070 0.00 2.35 0.00 0.000 5126 0.000 0.046 2776 1911 2130 2171 2089 0 0 0 0 0 0 14.85 14.77 14.86

2133 0.88 166.6 2775 1911 2170 2088 103.6 10.7 395 2139 0.00 2.40 0.00 0.000 4356 0.000 0.070 2783 3308 2129 2171 2088 0 0 0 0 0 0 15.02 14.73 15.02

2171 0.88 166.6 2776 3307 2171 2088 99.2 11.9 402 2179 0.05 2.33 0.00 0.000 5126 0.367 0.047 2777 1915 2129 2171 2087 0 0 0 0 0 0 14.66 14.83 14.85

2241 0.88 166.6 2776 1915 2171 2087 91.2 11.9 415 2248 0.00 2.40 0.00 0.000 4356 0.000 0.069 2777 3307 2129 2171 2087 0 0 0 0 0 0 15.04 14.81 15.05

2420 0.88 166.6 2777 3307 2171 2087 68.4 13.5 450 2427 0.00 2.33 0.00 0.000 5126 0.000 0.047 2785 1912 2127 2171 2084 0 0 0 0 0 0 14.97 14.88 14.98

2490 0.88 166.6 2784 1913 2171 2087 60.5 11.8 463 2495 0.00 0.00 0.00 0.000 4102 0.000 0.000 2785 1913 2128 2170 2086 0 0 0 0 0 0 15.09 15.09 15.09

2558 0.90 186.2 2785 1912 2170 2086 53.7 9.0 476 2582 0.00 2.42 16.80 1.052 12548 0.000 0.067 2781 3313 2049 2097 2001 0 0 0 0 0 0 15.09 14.70 14.30

2689 0.94 217.7 2785 3313 2097 1999 42.1 8.5 501 2723 0.00 2.38 25.62 1.068 13318 0.000 0.047 2794 1908 1922 1976 1868 0 0 0 0 0 0 14.91 14.83 14.24

2786 0.99 260.2 2793 1908 1974 1872 34.4 8.0 519 2826 0.00 2.53 35.17 1.072 10500 0.000 0.069 2793 3317 1749 1812 1687 0 0 0 0 0 0 14.97 14.62 14.15

2978 0.99 260.2 2793 3317 1808 1681 13.0 11.7 556 2985 0.00 2.38 0.00 0.000 3078 0.000 0.049 2793 1912 1744 1808 1681 0 0 0 0 0 0 14.82 14.71 14.83

3048 0.99 260.2 2792 1913 1808 1680 5.9 10.5 569 3053 0.00 0.00 0.00 0.000 2054 0.000 0.000 2793 1912 1743 1807 1680 0 0 0 0 0 0 15.00 15.00 15.02

3083 end climb: SURFACE_DEPTH_REACHED

state 3084 begin surface coast

3122 end surface coast: CONTROL_FINISHED_OK

state 3122 begin surface

ID	573	HD_C	9.8500004e-06	C_ROLL_DIVE	1987	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	23	HEADING	290	C_ROLL_CLIMB	1910	ALTIM_TOP_TURN_MARGIN	0
DIVE	103	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	28	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	72	ALTIM_PULSE	3
D_TGT	250	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	84	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_MISSION	90	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_ABORT	100	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	171018,043703,-3306.9067,2811.4731,20,0.8,36,-27.4,0.7,251.6,10,8.3	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3303.328,2759.228
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	1.02	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-70.5	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	171018,044636,-3307.0217,2811.3352,17,0.9,19,-27.4,0.9,231.0,10,7.6	MHEAD_RNG_PITCHd_Wd	317.4,20000,-18.1,-9.921,-20.94,2253
SPEED_LIMITS	0.172,0.259	D_GRID	250

FINISH	0.5,1.025072	_24V_AH	13.68,79.446
SM_CCo	3143,30.75,0.119,0,0,1506,320.11	_10V_AH	13.64,0.000
SM_GC	1.34,12.48,0.10,30.75,0.053,0.117,0.119,130,2006,1506,-7.31,-1.33,320.11,0,0,0,0,0,0,14.85,14.85,14.77	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3251.89,2810.55,171018,030743	FG_AHR_10Vo	0.000
TT8_MAMPS	0.019474,0.929509	MEM	339736
HUMID	54.72	DATA_FILE_SIZE	20106,583
INTERNAL_PRESSURE	8.89647	CAP_FILE_SIZE	102549,0
TCM_TEMP	21.60	CFSIZE	1023623168,1003962368
XPDR_PINGS	0	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_TOP_PING	20.0,19.4	INTR	0,1439.12,0x23609a,1,24
ALTIM_BOTTOM_PING	120.5,54.5	GPS	171018,054052,-3306.688,2811.152,19,0.8,20,-27.4,0.5,200.6,10,7.2
SC_FREEKB	3864928

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	367	138.89	nil	0	0	0.00
Roll_motor	57	117	92.11	nil	0	0	0.00
VBD_pump_during_apogee	314	1207	5198.63	nil	0	0	0.00
VBD_pump_during_surface	30	118	49.88	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	32	11.11	nil	0	0	0.00
Iridium_during_connect	20	160	45.23	SciCon	3189	35	1561.71
Iridium_during_xfer	310	223	948.56	nil	0	0	0.00
Transponder_ping	1	420	7.18	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	23	6.56
TT8	1242	8	145.29
LPSleep	572	2	17.10
TT8_Active	444	8	51.93
TT8_Sampling	1378	28	527.28
TT8_CF8	114	41	64.91
TT8_Kalman	0	0	0.00
Analog_circuits	968	12	163.85
GPS_charging	0	0	0.00
Compass	882	17	207.29
RAFOS	0	0	0.00
Transponder	10	30	4.24

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
20	-0.85	-146.0	74	2021	1536	1458	0.0	0.0	0	84	0.00	0.00	-61.40	0.000	16386	0.000	0.000	74	2021	3175	3188	3162	0	0	0	0	0	0	14.98	28.83	15.00
86	-0.85	-146.0	73	2021	3187	3163	4.2	-12.1	11	111	12.45	2.47	-4.00	0.000	18948	0.306	0.094	2209	575	3411	3448	3374	0	0	0	0	0	0	14.57	13.68	14.72
152	-0.85	-146.0	2208	575	3448	3374	25.0	-19.4	23	159	0.00	2.30	0.00	0.000	3078	0.000	0.051	2204	1951	3411	3448	3374	0	0	0	0	0	0	14.90	14.81	14.91
222	-0.85	-146.0	2204	1951	3449	3374	35.2	-14.2	36	228	0.00	2.53	0.00	0.000	2308	0.000	0.075	2201	3396	3411	3449	3374	0	0	0	0	0	0	15.02	14.79	15.04
527	-0.85	-146.0	2201	3396	3449	3374	77.1	-11.4	96	534	0.00	2.35	0.00	0.000	3078	0.000	0.043	2201	1987	3413	3452	3374	0	0	0	0	0	0	14.97	14.88	14.99
596	-0.85	-146.0	2201	1987	3452	3374	85.3	-11.9	109	602	0.00	0.00	0.00	0.000	2054	0.000	0.000	2201	1988	3412	3452	3373	0	0	0	0	0	0	15.11	15.10	15.11
664	-0.85	-146.0	2201	1987	3451	3374	93.1	-11.2	122	670	0.00	2.47	0.00	0.000	2308	0.000	0.074	2196	3391	3413	3452	3374	0	0	0	0	0	0	15.09	14.78	15.11
733	-0.85	-146.0	2194	3391	3453	3374	100.9	-10.5	135	740	0.08	2.35	0.00	0.000	3078	0.276	0.043	2211	1969	3414	3453	3375	0	0	0	0	0	0	14.76	14.88	14.93
803	-0.85	-146.0	2211	1969	3453	3374	108.4	-10.7	148	809	0.00	0.00	0.00	0.000	2054	0.000	0.000	2211	1969	3413	3453	3374	0	0	0	0	0	0	15.11	15.11	15.11
871	-0.85	-146.0	2211	1969	3453	3374	115.6	-11.1	161	876	0.00	0.00	0.00	0.000	2054	0.000	0.000	2211	1969	3414	3454	3374	0	0	0	0	0	0	15.11	15.12	15.12
941	-0.85	-146.0	2211	1969	3453	3374	123.4	-11.0	174	947	0.00	0.00	0.00	0.000	2054	0.000	0.000	2215	1969	3413	3453	3374	0	0	0	0	0	0	15.12	15.12	15.12
1009	-0.85	-146.0	2211	1969	3454	3374	131.1	-10.7	187	1014	0.00	0.00	0.00	0.000	2054	0.000	0.000	2211	1969	3413	3453	3374	0	0	0	0	0	0	15.11	15.12	15.12
1077	-0.85	-146.0	2211	1969	3454	3374	138.6	-11.3	200	1082	0.00	0.00	0.00	0.000	2054	0.000	0.000	2211	1970	3413	3453	3374	0	0	0	0	0	0	15.14	15.14	15.14
1144	-0.85	-146.0	2211	1969	3454	3374	146.2	-10.7	213	1151	0.00	2.47	0.00	0.000	2308	0.000	0.074	2210	3389	3413	3453	3374	0	0	0	0	0	0	15.12	14.80	15.13
1173	-0.85	-146.0	2210	3389	3453	3374	149.1	-9.5	218	1180	0.00	2.33	0.00	0.000	3078	0.000	0.045	2210	1989	3414	3454	3374	0	0	0	0	0	0	15.00	14.90	15.01
1243	-0.85	-146.0	2210	1989	3453	3374	155.6	-9.4	231	1250	0.00	2.40	0.00	0.000	2564	0.000	0.073	2207	580	3413	3453	3374	0	0	0	0	0	0	15.12	14.87	15.12
1285	end dive: BOTTOM_OBSTACLE_DETECTED
state	1285	begin apogee
1291	-0.19	0.0	2210	1917	3452	3374	160.1	-10.3	239	1409	1.05	0.00	110.22	1.207	10246	0.159	0.000	2420	1918	2811	2849	2774	0	0	0	0	0	0	14.73	14.49	13.99
1410	end apogee: CONTROL_FINISHED_OK
state	1410	begin climb
1412	0.85	146.0	2420	1918	2849	2773	164.2	0.0	260	1532	1.55	2.50	110.38	1.191	10756	0.087	0.075	2756	506	2215	2257	2173	0	0	0	0	0	0	14.47	14.35	13.88
1794	0.85	146.0	2755	506	2248	2172	137.8	10.6	332	1801	0.00	2.35	0.00	0.000	3078	0.000	0.047	2756	1912	2210	2249	2172	0	0	0	0	0	0	14.83	14.74	14.85
1863	0.85	146.0	2755	1912	2249	2172	130.7	10.1	345	1870	0.00	2.40	0.00	0.000	2308	0.000	0.069	2756	3308	2210	2248	2172	0	0	0	0	0	0	15.00	14.74	15.00
1917	0.85	146.0	2755	3308	2248	2171	124.8	10.8	355	1924	0.00	2.35	0.00	0.000	1030	0.000	0.046	2765	1897	2210	2249	2171	0	0	0	0	0	0	14.83	14.73	14.84
1987	0.88	166.6	2765	1898	2249	2170	118.7	9.0	368	2011	0.00	2.40	16.60	1.113	10756	0.000	0.074	2776	500	2131	2173	2090	0	0	0	0	0	0	15.04	14.67	14.24
2063	0.88	166.6	2775	500	2170	2088	110.8	10.7	382	2070	0.00	2.35	0.00	0.000	5126	0.000	0.046	2776	1911	2130	2171	2089	0	0	0	0	0	0	14.85	14.77	14.86
2133	0.88	166.6	2775	1911	2170	2088	103.6	10.7	395	2139	0.00	2.40	0.00	0.000	4356	0.000	0.070	2783	3308	2129	2171	2088	0	0	0	0	0	0	15.02	14.73	15.02
2171	0.88	166.6	2776	3307	2171	2088	99.2	11.9	402	2179	0.05	2.33	0.00	0.000	5126	0.367	0.047	2777	1915	2129	2171	2087	0	0	0	0	0	0	14.66	14.83	14.85
2241	0.88	166.6	2776	1915	2171	2087	91.2	11.9	415	2248	0.00	2.40	0.00	0.000	4356	0.000	0.069	2777	3307	2129	2171	2087	0	0	0	0	0	0	15.04	14.81	15.05
2420	0.88	166.6	2777	3307	2171	2087	68.4	13.5	450	2427	0.00	2.33	0.00	0.000	5126	0.000	0.047	2785	1912	2127	2171	2084	0	0	0	0	0	0	14.97	14.88	14.98
2490	0.88	166.6	2784	1913	2171	2087	60.5	11.8	463	2495	0.00	0.00	0.00	0.000	4102	0.000	0.000	2785	1913	2128	2170	2086	0	0	0	0	0	0	15.09	15.09	15.09
2558	0.90	186.2	2785	1912	2170	2086	53.7	9.0	476	2582	0.00	2.42	16.80	1.052	12548	0.000	0.067	2781	3313	2049	2097	2001	0	0	0	0	0	0	15.09	14.70	14.30
2689	0.94	217.7	2785	3313	2097	1999	42.1	8.5	501	2723	0.00	2.38	25.62	1.068	13318	0.000	0.047	2794	1908	1922	1976	1868	0	0	0	0	0	0	14.91	14.83	14.24
2786	0.99	260.2	2793	1908	1974	1872	34.4	8.0	519	2826	0.00	2.53	35.17	1.072	10500	0.000	0.069	2793	3317	1749	1812	1687	0	0	0	0	0	0	14.97	14.62	14.15
2978	0.99	260.2	2793	3317	1808	1681	13.0	11.7	556	2985	0.00	2.38	0.00	0.000	3078	0.000	0.049	2793	1912	1744	1808	1681	0	0	0	0	0	0	14.82	14.71	14.83
3048	0.99	260.2	2792	1913	1808	1680	5.9	10.5	569	3053	0.00	0.00	0.00	0.000	2054	0.000	0.000	2793	1912	1743	1807	1680	0	0	0	0	0	0	15.00	15.00	15.02
3083	end climb: SURFACE_DEPTH_REACHED
state	3084	begin surface coast
3122	end surface coast: CONTROL_FINISHED_OK
state	3122	begin surface