Glider dive log

SOSCEx 18Jul16 * SG542 * Dive index * Mission links * Dive 11 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 542 HD_C 9.8500004e-06 ROLL_MAX 3808 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 14 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 11 ESCAPE_HEADING 0 C_ROLL_DIVE 1995 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1995 ALTIM_PING_DEPTH 1050

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

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 17 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 150 R_STBD_OVSHOOT 18 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 2.49

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 9 VBD_MIN 600 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 2 VBD_MAX 3955 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 3 C_VBD 2700 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 101

T_MISSION 177 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_ABORT 720 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 500 CAPMAXSIZE 100000 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 -39978.004 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 49

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 190 MINV_24V 19 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3947 MINV_10V 8.1999998 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2590 FG_AHR_10V 0 SEABIRD_T_G 0.0042912085

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00061951543

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.2019161e-05

RHO 1.0275 P_OVSHOOT 0.039999999 PRESSURE_YINT -177.17088 SEABIRD_T_J 2.2998063e-06

MASS 53288 PITCH_GAIN 36 PRESSURE_SLOPE 0.00013904 SEABIRD_C_G -9.7531137

MASS_COMP 0 PITCH_TIMEOUT 17 AD7714Ch0Gain 32 SEABIRD_C_H 1.1333146

NAV_MODE 2 PITCH_AD_RATE 175 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.00071571622

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00011341914

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 182 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 32 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 150

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 0 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 5 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 36 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 1050 FERRY_MAX 45 PITCH_MAX 3947 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MIN 190 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 0.00013904 T_EPIRB 0

CALL_TRIES 5 HD_B 0.010078 PRESSURE_YINT -177.17088 T_GPS 15

CALL_WAIT 60 HD_C 9.8500004e-06 PROTOCOL 9 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -39978.004

CAPUPLOAD 1 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 542 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 2.49 RHO 1.0275 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2590 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 1995 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 1995 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 2700 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3808 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 53288 ROLL_MAXERRORS 1 VBD_CNV -0.245296

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 182 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3955

DEVICE2 134 MINV_10V 8.1999998 R_PORT_OVSHOOT 17 VBD_MAXERRORS 1

DEVICE3 147 MINV_24V 19 R_STBD_OVSHOOT 18 VBD_MIN 600

DEVICE4 101 MISSION 14 SEABIRD_C_G -9.7531137 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1333146 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 2 SEABIRD_C_I -0.00071571622 VBD_TIMEOUT 720

DIVE 11 NOCOMM_ACTION 3 SEABIRD_C_J 0.00011341914 W_ADJ_DBAND 0

D_ABORT 1020 N_DIVES 0 SEABIRD_T_G 0.0042912085 XPDR_DEVICE 24

D_BOOST 5 N_FILEKB 4 SEABIRD_T_H 0.00061951543 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.2019161e-05 XPDR_VALID 2

D_FINISH 0 N_NOCOMM 2 SEABIRD_T_J 2.2998063e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 500 PHONE_DEVICE 49 SIM_W 0

Pre-dive calculations and measurements:

GPS1 180716,165834,-4259.113,825.409,15,1.3,15,-25.0 TGT_NAME TARGET1

_CALLS 1 TGT_LATLONG -4300.000,850.000

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.46 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -73.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 180716,170229,-4259.101,825.423,19,1.7,19,-25.0 MHEAD_RNG_PITCHd_Wd 136.8,33331,-18.2,-9.980,-21.00,2240

SPEED_LIMITS 0.173,0.260 D_GRID 500

Post-dive calculations and measurements:

FINISH 2.2,1.026630 _10V_AH 10.4,2.279

SM_CCo 7316,0.00,0.000,0,0,2082,151.35 FG_AHR_24Vo 0.000

SM_GC 1.61,7.62,2.35,0.00,0.105,0.070,0.000,184,1990,2082,-7.46,0.42,151.35,0,0,0,0,0,0,26.44,26.41,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4242.04,825.29,150509,060636 MEM 353388

TT8_MAMPS 0.021721,0.021721 DATA_FILE_SIZE 50305,756

HUMID 62.64 CAP_FILE_SIZE 117265,0

INTERNAL_PRESSURE 9.41409 CFSIZE 259252224,257933312

TCM_TEMP 18.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 CURRENT 0.095, 49.9,1

_24V_AH 23.5,4.265 GPS 180716,190838,-4259.276,827.071,195,1.0,195,-25.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 246 104.63 SBE_CT 531 23 299.32

Roll_motor 65 91 139.75 QSP2150 79 8 16.81

VBD_pump_during_apogee 252 1408 8351.09 WL_BB2FL 534 48 611.15

VBD_pump_during_surface 0 0 0.00 AA4330 770 43 786.09

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 32 7.02

TT8 1919 13 262.15

LPSleep 3602 2 82.06

TT8_Active 364 13 49.83

TT8_Sampling 1439 42 633.93

TT8_CF8 65 48 32.70

TT8_Kalman 0 0 0.00

Analog_circuits 1004 11 121.13

GPS_charging 0 0 0.00

Compass 1356 15 221.84

RAFOS 0 0 0.00

Transponder 1 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 -0.69 -146.0 178 2007 2144 2020 0.0 0.0 0 57 0.00 0.00 -40.45 0.000 16386 0.000 0.000 176 2006 3147 3224 3071 0 0 0 0 0 0 28.83 28.83 28.83

59 -0.69 -146.0 176 2006 3225 3071 3.2 -6.4 6 81 8.52 2.35 -3.33 0.000 18692 0.239 0.090 2347 3405 3298 3385 3212 0 0 0 0 0 0 25.79 25.96 26.27

331 -0.69 -146.0 1472 3404 3375 3209 53.5 -15.6 58 337 0.00 2.30 0.00 0.000 1030 0.000 0.067 2347 1982 3299 3387 3212 0 0 0 0 0 0 28.83 26.11 28.83

646 -0.69 -146.0 2347 1982 3388 3212 103.9 -16.2 118 647 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 1981 3300 3388 3213 0 0 0 0 0 0 28.83 28.83 28.83

947 -0.69 -146.0 2347 1982 3388 3213 152.2 -15.7 148 958 0.00 2.33 0.00 0.000 260 0.000 0.076 2337 3411 3300 3388 3212 0 0 0 0 0 0 28.83 26.26 28.83

1002 -0.69 -146.0 2337 3411 3388 3213 160.5 -15.4 153 1011 0.08 2.25 0.00 0.000 3078 0.169 0.067 2360 1999 3300 3388 3213 0 0 0 0 0 0 26.19 26.28 28.83

1310 -0.69 -146.0 2360 1999 3388 3212 203.1 -13.4 184 1311 0.00 0.00 0.00 0.000 6 0.000 0.000 2360 1999 3300 3388 3212 0 0 0 0 0 0 28.83 28.83 28.83

1609 -0.69 -146.0 2360 1999 3388 3212 243.1 -13.2 214 1614 0.00 2.33 0.00 0.000 516 0.000 0.080 2360 572 3300 3388 3212 0 0 0 0 0 0 28.83 26.34 28.83

1646 -0.69 -146.0 2360 573 3388 3212 248.0 -13.4 217 1655 0.00 2.28 0.00 0.000 1030 0.000 0.070 2352 1995 3300 3388 3212 0 0 0 0 0 0 28.83 26.35 28.83

1955 -0.69 -146.0 2352 1995 3387 3212 290.9 -14.0 248 1959 0.00 2.28 0.00 0.000 260 0.000 0.076 2341 3412 3299 3387 3212 0 0 0 0 0 0 28.83 26.38 28.83

2117 -0.69 -146.0 2341 3412 3388 3212 313.0 -14.0 263 2124 0.00 2.33 0.00 0.000 1030 0.000 0.067 2341 1990 3300 3388 3212 0 0 0 0 0 0 28.83 26.41 28.83

2424 -0.69 -146.0 2341 1989 3387 3212 357.5 -14.1 294 2425 0.00 0.00 0.00 0.000 6 0.000 0.000 2341 1989 3300 3388 3213 0 0 0 0 0 0 28.83 28.83 28.83

2724 -0.69 -146.0 2341 1989 3388 3213 400.5 -14.2 324 2728 0.00 2.28 0.00 0.000 516 0.000 0.082 2341 585 3300 3388 3212 0 0 0 0 0 0 28.83 26.43 28.83

2752 -0.69 -146.0 2341 585 3388 3212 402.8 -14.3 325 2760 0.15 2.30 0.00 0.000 3078 0.191 0.072 2367 2022 3300 3388 3212 0 0 0 0 0 0 26.33 26.43 28.83

3061 -0.69 -146.0 2367 2023 3388 3212 442.6 -12.2 341 3067 0.00 2.22 0.00 0.000 260 0.000 0.080 2358 3405 3299 3387 3212 0 0 0 0 0 0 28.83 26.44 28.83

3142 -0.69 -146.0 1576 3403 3378 3209 452.5 -12.4 345 3147 0.00 2.30 0.00 0.000 1030 0.000 0.070 2358 2000 3300 3388 3212 0 0 0 0 0 0 28.83 26.45 28.83

3461 -0.69 -146.0 2358 2000 3387 3212 494.1 -13.0 361 3463 0.00 0.00 0.00 0.000 6 0.000 0.000 2358 2000 3299 3387 3212 0 0 0 0 0 0 28.83 28.83 28.83

3518 end dive: TARGET_DEPTH_EXCEEDED

state 3518 begin apogee

3521 -0.14 0.0 2358 2000 3388 3212 501.9 -13.0 364 3648 0.60 0.00 122.97 1.408 10246 0.155 0.000 2541 1999 2700 2792 2608 0 0 0 0 0 0 26.39 28.83 23.64

3649 end apogee: CONTROL_FINISHED_OK

state 3649 begin climb

3650 0.69 146.0 2540 1999 2792 2609 505.5 0.0 370 3788 0.85 2.53 129.35 1.376 10500 0.100 0.078 2810 3403 2103 2184 2023 0 0 0 0 0 0 24.54 24.32 23.51

3808 0.69 146.0 2810 3402 2179 2020 493.5 11.4 378 3812 0.00 2.50 0.00 0.000 1030 0.000 0.071 2821 1971 2099 2179 2020 0 0 0 0 0 0 28.83 24.74 28.83

4120 0.69 146.0 2821 1971 2176 2009 444.9 15.4 394 4124 0.00 2.40 0.00 0.000 516 0.000 0.090 2832 583 2092 2176 2009 0 0 0 0 0 0 28.83 25.65 28.83

4157 0.69 146.0 2832 583 2174 2009 439.1 15.7 396 4163 0.00 2.35 0.00 0.000 1030 0.000 0.075 2832 1990 2091 2174 2009 0 0 0 0 0 0 28.83 25.70 28.83

4465 0.69 146.0 2832 1990 2174 2006 391.4 15.2 414 4470 0.00 2.38 0.00 0.000 260 0.000 0.083 2833 3414 2090 2174 2006 0 0 0 0 0 0 28.83 25.94 28.83

4512 0.69 146.0 2833 3414 2172 2006 384.1 15.9 418 4517 0.12 2.35 0.00 0.000 5126 0.246 0.073 2820 1990 2089 2172 2006 0 0 0 0 0 0 25.84 25.96 28.83

4817 0.69 146.0 2819 1989 2173 2005 342.3 13.7 448 4818 0.00 0.00 0.00 0.000 6 0.000 0.000 2819 1989 2088 2172 2005 0 0 0 0 0 0 28.83 28.83 28.83

5117 0.69 146.0 2819 1989 2172 2005 302.1 13.1 478 5121 0.00 2.38 0.00 0.000 516 0.000 0.091 2828 575 2088 2172 2005 0 0 0 0 0 0 28.83 26.17 28.83

5176 0.69 146.0 2828 574 2171 2005 294.0 14.3 483 5184 0.00 2.38 0.00 0.000 1030 0.000 0.076 2829 1988 2088 2171 2005 0 0 0 0 0 0 28.83 26.19 28.83

5483 0.69 146.0 2828 1988 2170 2004 249.4 14.8 514 5487 0.00 2.35 0.00 0.000 260 0.000 0.083 2829 3414 2087 2170 2004 0 0 0 0 0 0 28.83 26.24 28.83

5561 0.69 146.0 2828 3414 2169 2004 237.6 15.5 521 5570 0.00 2.30 0.00 0.000 1030 0.000 0.073 2838 1994 2086 2168 2004 0 0 0 0 0 0 28.83 26.27 28.83

5871 0.69 146.0 2838 1994 2169 2004 191.8 15.1 552 5872 0.00 0.00 0.00 0.000 6 0.000 0.000 2839 1993 2086 2169 2004 0 0 0 0 0 0 28.83 28.83 28.83

6170 0.69 146.0 2838 1993 2168 2004 146.5 15.2 582 6174 0.00 2.35 0.00 0.000 516 0.000 0.090 2850 582 2086 2168 2004 0 0 0 0 0 0 28.83 26.32 28.83

6248 0.69 146.0 2850 582 2168 2004 134.9 15.0 589 6257 0.12 2.30 0.00 0.000 5126 0.230 0.076 2817 1999 2086 2168 2004 0 0 0 0 0 0 26.21 26.34 28.83

6556 0.69 146.0 2817 1999 2168 2004 94.4 12.8 624 6564 0.00 0.00 0.00 0.000 6 0.000 0.000 2817 1999 2086 2168 2004 0 0 0 0 0 0 28.83 28.83 28.83

6870 0.69 146.0 1792 1997 2117 1997 54.1 13.0 685 6876 0.00 2.30 0.00 0.000 260 0.000 0.079 2817 3416 2085 2167 2004 0 0 0 0 0 0 28.83 26.39 28.83

6904 0.69 146.0 2817 3416 2167 2004 49.5 12.3 691 6910 0.00 2.30 0.00 0.000 1030 0.000 0.072 2825 1991 2085 2167 2004 0 0 0 0 0 0 28.83 26.39 28.83

7215 0.69 146.0 1760 1988 2113 1997 5.8 11.4 752 7223 0.00 2.30 0.00 0.000 260 0.000 0.074 2826 3409 2085 2167 2004 0 0 0 0 0 0 28.83 26.41 28.83

7234 end climb: SURFACE_DEPTH_REACHED

state 7234 begin surface coast

7240 end surface coast: CONTROL_FINISHED_OK

state 7240 begin surface

ID	542	HD_C	9.8500004e-06	ROLL_MAX	3808	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	14	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	11	ESCAPE_HEADING	0	C_ROLL_DIVE	1995	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1995	ALTIM_PING_DEPTH	1050
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
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	17	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	150	R_STBD_OVSHOOT	18	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	2.49
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	9	VBD_MIN	600	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	2	VBD_MAX	3955	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	3	C_VBD	2700	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	101
T_MISSION	177	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_ABORT	720	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	500	CAPMAXSIZE	100000	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	-39978.004	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	49
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	190	MINV_24V	19	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3947	MINV_10V	8.1999998	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2590	FG_AHR_10V	0	SEABIRD_T_G	0.0042912085
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00061951543
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.2019161e-05
RHO	1.0275	P_OVSHOOT	0.039999999	PRESSURE_YINT	-177.17088	SEABIRD_T_J	2.2998063e-06
MASS	53288	PITCH_GAIN	36	PRESSURE_SLOPE	0.00013904	SEABIRD_C_G	-9.7531137
MASS_COMP	0	PITCH_TIMEOUT	17	AD7714Ch0Gain	32	SEABIRD_C_H	1.1333146
NAV_MODE	2	PITCH_AD_RATE	175	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.00071571622
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00011341914
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	182	ALTIM_TOP_PING_RANGE	0

GPS1	180716,165834,-4259.113,825.409,15,1.3,15,-25.0	TGT_NAME	TARGET1
_CALLS	1	TGT_LATLONG	-4300.000,850.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.46	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-73.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	180716,170229,-4259.101,825.423,19,1.7,19,-25.0	MHEAD_RNG_PITCHd_Wd	136.8,33331,-18.2,-9.980,-21.00,2240
SPEED_LIMITS	0.173,0.260	D_GRID	500

FINISH	2.2,1.026630	_10V_AH	10.4,2.279
SM_CCo	7316,0.00,0.000,0,0,2082,151.35	FG_AHR_24Vo	0.000
SM_GC	1.61,7.62,2.35,0.00,0.105,0.070,0.000,184,1990,2082,-7.46,0.42,151.35,0,0,0,0,0,0,26.44,26.41,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4242.04,825.29,150509,060636	MEM	353388
TT8_MAMPS	0.021721,0.021721	DATA_FILE_SIZE	50305,756
HUMID	62.64	CAP_FILE_SIZE	117265,0
INTERNAL_PRESSURE	9.41409	CFSIZE	259252224,257933312
TCM_TEMP	18.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	CURRENT	0.095, 49.9,1
_24V_AH	23.5,4.265	GPS	180716,190838,-4259.276,827.071,195,1.0,195,-25.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	246	104.63	SBE_CT	531	23	299.32
Roll_motor	65	91	139.75	QSP2150	79	8	16.81
VBD_pump_during_apogee	252	1408	8351.09	WL_BB2FL	534	48	611.15
VBD_pump_during_surface	0	0	0.00	AA4330	770	43	786.09
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	32	7.02
TT8	1919	13	262.15
LPSleep	3602	2	82.06
TT8_Active	364	13	49.83
TT8_Sampling	1439	42	633.93
TT8_CF8	65	48	32.70
TT8_Kalman	0	0	0.00
Analog_circuits	1004	11	121.13
GPS_charging	0	0	0.00
Compass	1356	15	221.84
RAFOS	0	0	0.00
Transponder	1	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	-0.69	-146.0	178	2007	2144	2020	0.0	0.0	0	57	0.00	0.00	-40.45	0.000	16386	0.000	0.000	176	2006	3147	3224	3071	0	0	0	0	0	0	28.83	28.83	28.83
59	-0.69	-146.0	176	2006	3225	3071	3.2	-6.4	6	81	8.52	2.35	-3.33	0.000	18692	0.239	0.090	2347	3405	3298	3385	3212	0	0	0	0	0	0	25.79	25.96	26.27
331	-0.69	-146.0	1472	3404	3375	3209	53.5	-15.6	58	337	0.00	2.30	0.00	0.000	1030	0.000	0.067	2347	1982	3299	3387	3212	0	0	0	0	0	0	28.83	26.11	28.83
646	-0.69	-146.0	2347	1982	3388	3212	103.9	-16.2	118	647	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	1981	3300	3388	3213	0	0	0	0	0	0	28.83	28.83	28.83
947	-0.69	-146.0	2347	1982	3388	3213	152.2	-15.7	148	958	0.00	2.33	0.00	0.000	260	0.000	0.076	2337	3411	3300	3388	3212	0	0	0	0	0	0	28.83	26.26	28.83
1002	-0.69	-146.0	2337	3411	3388	3213	160.5	-15.4	153	1011	0.08	2.25	0.00	0.000	3078	0.169	0.067	2360	1999	3300	3388	3213	0	0	0	0	0	0	26.19	26.28	28.83
1310	-0.69	-146.0	2360	1999	3388	3212	203.1	-13.4	184	1311	0.00	0.00	0.00	0.000	6	0.000	0.000	2360	1999	3300	3388	3212	0	0	0	0	0	0	28.83	28.83	28.83
1609	-0.69	-146.0	2360	1999	3388	3212	243.1	-13.2	214	1614	0.00	2.33	0.00	0.000	516	0.000	0.080	2360	572	3300	3388	3212	0	0	0	0	0	0	28.83	26.34	28.83
1646	-0.69	-146.0	2360	573	3388	3212	248.0	-13.4	217	1655	0.00	2.28	0.00	0.000	1030	0.000	0.070	2352	1995	3300	3388	3212	0	0	0	0	0	0	28.83	26.35	28.83
1955	-0.69	-146.0	2352	1995	3387	3212	290.9	-14.0	248	1959	0.00	2.28	0.00	0.000	260	0.000	0.076	2341	3412	3299	3387	3212	0	0	0	0	0	0	28.83	26.38	28.83
2117	-0.69	-146.0	2341	3412	3388	3212	313.0	-14.0	263	2124	0.00	2.33	0.00	0.000	1030	0.000	0.067	2341	1990	3300	3388	3212	0	0	0	0	0	0	28.83	26.41	28.83
2424	-0.69	-146.0	2341	1989	3387	3212	357.5	-14.1	294	2425	0.00	0.00	0.00	0.000	6	0.000	0.000	2341	1989	3300	3388	3213	0	0	0	0	0	0	28.83	28.83	28.83
2724	-0.69	-146.0	2341	1989	3388	3213	400.5	-14.2	324	2728	0.00	2.28	0.00	0.000	516	0.000	0.082	2341	585	3300	3388	3212	0	0	0	0	0	0	28.83	26.43	28.83
2752	-0.69	-146.0	2341	585	3388	3212	402.8	-14.3	325	2760	0.15	2.30	0.00	0.000	3078	0.191	0.072	2367	2022	3300	3388	3212	0	0	0	0	0	0	26.33	26.43	28.83
3061	-0.69	-146.0	2367	2023	3388	3212	442.6	-12.2	341	3067	0.00	2.22	0.00	0.000	260	0.000	0.080	2358	3405	3299	3387	3212	0	0	0	0	0	0	28.83	26.44	28.83
3142	-0.69	-146.0	1576	3403	3378	3209	452.5	-12.4	345	3147	0.00	2.30	0.00	0.000	1030	0.000	0.070	2358	2000	3300	3388	3212	0	0	0	0	0	0	28.83	26.45	28.83
3461	-0.69	-146.0	2358	2000	3387	3212	494.1	-13.0	361	3463	0.00	0.00	0.00	0.000	6	0.000	0.000	2358	2000	3299	3387	3212	0	0	0	0	0	0	28.83	28.83	28.83
3518	end dive: TARGET_DEPTH_EXCEEDED
state	3518	begin apogee
3521	-0.14	0.0	2358	2000	3388	3212	501.9	-13.0	364	3648	0.60	0.00	122.97	1.408	10246	0.155	0.000	2541	1999	2700	2792	2608	0	0	0	0	0	0	26.39	28.83	23.64
3649	end apogee: CONTROL_FINISHED_OK
state	3649	begin climb
3650	0.69	146.0	2540	1999	2792	2609	505.5	0.0	370	3788	0.85	2.53	129.35	1.376	10500	0.100	0.078	2810	3403	2103	2184	2023	0	0	0	0	0	0	24.54	24.32	23.51
3808	0.69	146.0	2810	3402	2179	2020	493.5	11.4	378	3812	0.00	2.50	0.00	0.000	1030	0.000	0.071	2821	1971	2099	2179	2020	0	0	0	0	0	0	28.83	24.74	28.83
4120	0.69	146.0	2821	1971	2176	2009	444.9	15.4	394	4124	0.00	2.40	0.00	0.000	516	0.000	0.090	2832	583	2092	2176	2009	0	0	0	0	0	0	28.83	25.65	28.83
4157	0.69	146.0	2832	583	2174	2009	439.1	15.7	396	4163	0.00	2.35	0.00	0.000	1030	0.000	0.075	2832	1990	2091	2174	2009	0	0	0	0	0	0	28.83	25.70	28.83
4465	0.69	146.0	2832	1990	2174	2006	391.4	15.2	414	4470	0.00	2.38	0.00	0.000	260	0.000	0.083	2833	3414	2090	2174	2006	0	0	0	0	0	0	28.83	25.94	28.83
4512	0.69	146.0	2833	3414	2172	2006	384.1	15.9	418	4517	0.12	2.35	0.00	0.000	5126	0.246	0.073	2820	1990	2089	2172	2006	0	0	0	0	0	0	25.84	25.96	28.83
4817	0.69	146.0	2819	1989	2173	2005	342.3	13.7	448	4818	0.00	0.00	0.00	0.000	6	0.000	0.000	2819	1989	2088	2172	2005	0	0	0	0	0	0	28.83	28.83	28.83
5117	0.69	146.0	2819	1989	2172	2005	302.1	13.1	478	5121	0.00	2.38	0.00	0.000	516	0.000	0.091	2828	575	2088	2172	2005	0	0	0	0	0	0	28.83	26.17	28.83
5176	0.69	146.0	2828	574	2171	2005	294.0	14.3	483	5184	0.00	2.38	0.00	0.000	1030	0.000	0.076	2829	1988	2088	2171	2005	0	0	0	0	0	0	28.83	26.19	28.83
5483	0.69	146.0	2828	1988	2170	2004	249.4	14.8	514	5487	0.00	2.35	0.00	0.000	260	0.000	0.083	2829	3414	2087	2170	2004	0	0	0	0	0	0	28.83	26.24	28.83
5561	0.69	146.0	2828	3414	2169	2004	237.6	15.5	521	5570	0.00	2.30	0.00	0.000	1030	0.000	0.073	2838	1994	2086	2168	2004	0	0	0	0	0	0	28.83	26.27	28.83
5871	0.69	146.0	2838	1994	2169	2004	191.8	15.1	552	5872	0.00	0.00	0.00	0.000	6	0.000	0.000	2839	1993	2086	2169	2004	0	0	0	0	0	0	28.83	28.83	28.83
6170	0.69	146.0	2838	1993	2168	2004	146.5	15.2	582	6174	0.00	2.35	0.00	0.000	516	0.000	0.090	2850	582	2086	2168	2004	0	0	0	0	0	0	28.83	26.32	28.83
6248	0.69	146.0	2850	582	2168	2004	134.9	15.0	589	6257	0.12	2.30	0.00	0.000	5126	0.230	0.076	2817	1999	2086	2168	2004	0	0	0	0	0	0	26.21	26.34	28.83
6556	0.69	146.0	2817	1999	2168	2004	94.4	12.8	624	6564	0.00	0.00	0.00	0.000	6	0.000	0.000	2817	1999	2086	2168	2004	0	0	0	0	0	0	28.83	28.83	28.83
6870	0.69	146.0	1792	1997	2117	1997	54.1	13.0	685	6876	0.00	2.30	0.00	0.000	260	0.000	0.079	2817	3416	2085	2167	2004	0	0	0	0	0	0	28.83	26.39	28.83
6904	0.69	146.0	2817	3416	2167	2004	49.5	12.3	691	6910	0.00	2.30	0.00	0.000	1030	0.000	0.072	2825	1991	2085	2167	2004	0	0	0	0	0	0	28.83	26.39	28.83
7215	0.69	146.0	1760	1988	2113	1997	5.8	11.4	752	7223	0.00	2.30	0.00	0.000	260	0.000	0.074	2826	3409	2085	2167	2004	0	0	0	0	0	0	28.83	26.41	28.83
7234	end climb: SURFACE_DEPTH_REACHED
state	7234	begin surface coast
7240	end surface coast: CONTROL_FINISHED_OK
state	7240	begin surface