Glider dive log

SOSCEx 24Jul16 * SG574 * Dive index * Mission links * Dive 11 * 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 11 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 22 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 200 R_STBD_OVSHOOT 14 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 -2361378.2 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 200

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 -2361378.2

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 22 VBD_MAXERRORS 1

DEVICE3 147 MINV_24V 19 R_STBD_OVSHOOT 14 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 11 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 240716,232333,-4700.072,436.485,40,0.8,40,-23.5 TGT_NAME TARGET

_CALLS 1 TGT_LATLONG -4700.000,340.000

_XMS_NAKs 0 TGT_RADIUS 500.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.69 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240716,233106,-4700.107,436.530,5,0.7,5,-23.5 MHEAD_RNG_PITCHd_Wd 324.9,71401,-21.3,-9.980,-23.89,1645

SPEED_LIMITS 0.173,0.225 D_GRID 500

Post-dive calculations and measurements:

FINISH 0.8,1.022905 _10V_AH 10.2,3.627

SM_CCo 6172,39.95,0.058,0,0,1539,200.16 FG_AHR_24Vo 0.000

SM_GC 1.43,7.95,0.03,39.95,0.057,0.224,0.058,130,2118,1539,-8.44,-0.79,200.16,0,0,0,0,0,0,26.27,26.39,26.22 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4638.64,437.96,210509,111125 MEM 353396

TT8_MAMPS 0.026215,0.026215 DATA_FILE_SIZE 40426,604

HUMID 58.66 CAP_FILE_SIZE 76103,0

INTERNAL_PRESSURE 8.99449 CFSIZE 2097086464,2092793856

TCM_TEMP 6.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 CURRENT 0.173,127.5,1

_24V_AH 23.6,5.142 GPS 250716,011551,-4659.952,436.402,13,1.2,13,-23.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 279 136.24 SBE_CT 444 54 573.32

Roll_motor 64 224 343.04 QSP2150 325 6 51.80

VBD_pump_during_apogee 175 1002 4150.11 WL_BB2FL 389 105 965.56

VBD_pump_during_surface 39 58 54.82 AA4330 794 43 814.45

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 91 55.66 nil 0 0 0.00

Iridium_during_connect 23 160 89.73 nil 0 0 0.00

Iridium_during_xfer 322 223 1697.45 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 9 32 3.09

TT8 1550 13 214.55

LPSleep 2784 2 62.19

TT8_Active 353 13 48.90

TT8_Sampling 1935 41 814.81

TT8_CF8 59 48 29.28

TT8_Kalman 0 0 0.00

Analog_circuits 947 15 151.14

GPS_charging 0 0 0.00

Compass 1540 19 305.97

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

15 -0.61 -107.1 132 2124 509 426 0.0 0.0 0 105 0.00 0.00 -88.05 0.000 16390 0.000 0.000 133 2125 2794 2782 2806 0 0 0 0 0 0 28.83 28.83 25.96

107 -0.61 -107.1 132 2124 2785 2806 3.3 -3.1 10 127 10.88 2.35 0.00 0.000 2308 0.264 0.053 2637 3549 2796 2791 2802 0 0 0 0 0 0 25.40 25.61 28.83

171 -0.61 -107.1 2637 3549 2800 2793 23.3 -26.1 18 181 0.00 2.40 0.00 0.000 1030 0.000 0.061 2639 2124 2796 2802 2791 0 0 0 0 0 0 28.83 25.64 28.83

332 -0.61 -107.1 2639 2121 2805 2790 58.8 -22.1 43 339 0.00 2.38 0.00 0.000 260 0.000 0.069 2630 3549 2797 2805 2790 0 0 0 0 0 0 28.83 25.74 28.83

389 -0.61 -107.1 1680 3548 2773 2785 71.6 -21.5 53 396 0.00 2.35 0.00 0.000 1030 0.000 0.060 2631 2118 2797 2805 2790 0 0 0 0 0 0 28.83 25.78 28.83

706 -0.61 -107.1 2631 2115 2805 2790 142.8 -22.2 95 710 0.00 2.35 0.00 0.000 260 0.000 0.070 2622 3541 2797 2805 2790 0 0 0 0 0 0 28.83 25.91 28.83

779 -0.61 -107.1 2622 3541 2805 2790 157.3 -20.0 101 788 0.10 2.38 0.00 0.000 3078 0.184 0.063 2651 2124 2798 2806 2790 0 0 0 0 0 0 25.83 25.95 28.83

1087 -0.61 -107.1 2651 2120 2807 2790 215.7 -17.4 132 1099 0.00 2.35 0.00 0.000 260 0.000 0.072 2642 3546 2798 2807 2789 0 0 0 0 0 0 28.83 26.02 28.83

1242 -0.61 -107.1 2642 3546 2807 2789 241.0 -16.5 146 1249 0.00 2.33 0.00 0.000 1030 0.000 0.065 2642 2122 2798 2807 2789 0 0 0 0 0 0 28.83 26.06 28.83

1551 -0.61 -107.1 2642 2119 2808 2788 299.0 -19.0 177 1560 0.00 2.33 0.00 0.000 260 0.000 0.073 2632 3539 2798 2808 2788 0 0 0 0 0 0 28.83 26.11 28.83

1596 -0.61 -107.1 2631 3539 2808 2788 306.9 -18.4 181 1604 0.00 2.35 0.00 0.000 1030 0.000 0.067 2632 2133 2798 2808 2788 0 0 0 0 0 0 28.83 26.13 28.83

1904 -0.61 -107.1 2631 2130 2808 2788 369.1 -20.7 212 1908 0.00 2.33 0.00 0.000 260 0.000 0.076 2622 3539 2798 2808 2788 0 0 0 0 0 0 28.83 26.15 28.83

1953 -0.61 -107.1 2622 3539 2808 2788 378.8 -20.2 216 1966 0.15 2.33 0.00 0.000 3078 0.210 0.071 2656 2122 2798 2808 2788 0 0 0 0 0 0 26.05 26.16 28.83

2263 -0.61 -107.1 2656 2119 2809 2788 433.3 -17.6 238 2264 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2119 2798 2809 2788 0 0 0 0 0 0 28.83 28.83 28.83

2562 -0.61 -107.1 2656 2119 2809 2787 485.3 -17.0 253 2567 0.00 2.35 0.00 0.000 260 0.000 0.078 2647 3540 2798 2809 2787 0 0 0 0 0 0 28.83 26.22 28.83

2606 -0.61 -107.1 2647 3540 2809 2787 491.2 -16.8 255 2611 0.00 2.38 0.00 0.000 1030 0.000 0.073 2647 2128 2798 2809 2787 0 0 0 0 0 0 28.83 26.23 28.83

2657 end dive: TARGET_DEPTH_EXCEEDED

state 2657 begin apogee

2661 -0.11 0.0 2647 2093 2809 2787 501.2 -16.6 258 2749 0.57 0.00 85.00 1.002 10246 0.175 0.000 2811 2093 2355 2389 2322 0 0 0 0 0 0 26.12 28.83 24.03

2750 end apogee: CONTROL_FINISHED_OK

state 2750 begin climb

2751 0.61 107.1 2811 2093 2389 2321 506.6 0.0 262 2845 0.75 0.00 90.47 0.984 10246 0.103 0.000 3044 2093 1918 1975 1862 0 0 0 0 0 0 24.68 28.83 23.61

3138 0.61 107.1 3043 2093 1969 1857 459.4 14.5 282 3139 0.00 0.00 0.00 0.000 6 0.000 0.000 3044 2092 1913 1969 1857 0 0 0 0 0 0 28.83 28.83 28.83

3438 0.61 107.1 3044 2093 1968 1856 416.6 14.1 297 3442 0.00 2.30 0.00 0.000 516 0.000 0.051 3054 672 1912 1968 1856 0 0 0 0 0 0 28.83 25.70 28.83

3518 0.61 107.1 3054 672 1964 1855 405.6 14.4 301 3523 0.00 2.33 0.00 0.000 1030 0.000 0.047 3055 2112 1909 1964 1855 0 0 0 0 0 0 28.83 25.76 28.83

3829 0.61 107.1 3054 2112 1963 1855 358.1 15.0 330 3833 0.00 2.33 0.00 0.000 516 0.000 0.050 3065 669 1909 1964 1855 0 0 0 0 0 0 28.83 25.90 28.83

3877 0.61 107.1 3065 669 1962 1854 350.7 15.3 334 3881 0.00 2.30 0.00 0.000 1030 0.000 0.047 3065 2104 1907 1961 1854 0 0 0 0 0 0 28.83 25.93 28.83

4183 0.61 107.1 3065 2104 1962 1854 300.9 16.6 364 4184 0.00 0.00 0.00 0.000 6 0.000 0.000 3066 2104 1908 1962 1854 0 0 0 0 0 0 28.83 28.83 28.83

4482 0.61 107.1 3065 2104 1961 1854 251.1 16.5 394 4487 0.00 2.28 0.00 0.000 516 0.000 0.050 3076 677 1908 1962 1854 0 0 0 0 0 0 28.83 26.08 28.83

4511 0.61 107.1 2240 676 1933 1850 246.8 16.5 396 4522 0.00 2.33 0.00 0.000 1030 0.000 0.047 3076 2103 1906 1960 1853 0 0 0 0 0 0 28.83 26.10 28.83

4818 0.61 107.1 3076 2103 1960 1853 195.4 16.1 427 4819 0.00 0.00 0.00 0.000 6 0.000 0.000 3076 2103 1906 1960 1853 0 0 0 0 0 0 28.83 28.83 28.83

5123 0.61 107.1 3076 2102 1960 1853 148.8 17.0 457 5131 0.00 2.20 0.00 0.000 260 0.000 0.054 3076 3504 1907 1960 1854 0 0 0 0 0 0 28.83 26.19 28.83

5196 0.61 107.1 3076 3504 1960 1854 136.1 16.6 464 5209 0.15 2.22 0.00 0.000 5126 0.279 0.046 3058 2083 1906 1959 1854 0 0 0 0 0 0 25.98 26.20 28.83

5510 0.61 107.1 3058 2081 1959 1853 91.6 13.4 500 5517 0.00 2.25 0.00 0.000 516 0.000 0.051 3068 690 1905 1959 1852 0 0 0 0 0 0 28.83 26.22 28.83

5594 0.61 107.1 3068 690 1958 1853 79.8 13.3 515 5601 0.00 2.22 0.00 0.000 1030 0.000 0.048 3068 2098 1906 1959 1853 0 0 0 0 0 0 28.83 26.24 28.83

5940 0.61 107.1 2048 2096 1924 1847 32.9 13.7 576 5949 0.00 2.28 0.00 0.000 516 0.000 0.050 3077 690 1905 1959 1852 0 0 0 0 0 0 28.83 26.29 28.83

6028 0.61 107.1 3077 690 1958 1853 19.0 17.1 588 6038 0.00 2.28 0.00 0.000 1030 0.000 0.047 3078 2100 1905 1959 1852 0 0 0 0 0 0 28.83 26.28 28.83

6097 0.61 107.1 3077 2104 1960 1852 7.5 16.5 597 6106 0.00 2.28 0.00 0.000 516 0.000 0.049 3088 686 1905 1959 1852 0 0 0 0 0 0 28.83 26.28 28.83

6115 0.61 107.1 3088 683 1953 1854 3.9 18.1 599 6126 0.12 2.28 0.00 0.000 5126 0.262 0.050 3059 2094 1904 1958 1850 0 0 0 0 0 0 26.07 26.27 28.83

6134 end climb: SURFACE_DEPTH_REACHED

state 6134 begin surface coast

6158 end surface coast: CONTROL_FINISHED_OK

state 6158 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	11	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	22	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	200	R_STBD_OVSHOOT	14	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	-2361378.2	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	240716,232333,-4700.072,436.485,40,0.8,40,-23.5	TGT_NAME	TARGET
_CALLS	1	TGT_LATLONG	-4700.000,340.000
_XMS_NAKs	0	TGT_RADIUS	500.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.69	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240716,233106,-4700.107,436.530,5,0.7,5,-23.5	MHEAD_RNG_PITCHd_Wd	324.9,71401,-21.3,-9.980,-23.89,1645
SPEED_LIMITS	0.173,0.225	D_GRID	500

FINISH	0.8,1.022905	_10V_AH	10.2,3.627
SM_CCo	6172,39.95,0.058,0,0,1539,200.16	FG_AHR_24Vo	0.000
SM_GC	1.43,7.95,0.03,39.95,0.057,0.224,0.058,130,2118,1539,-8.44,-0.79,200.16,0,0,0,0,0,0,26.27,26.39,26.22	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4638.64,437.96,210509,111125	MEM	353396
TT8_MAMPS	0.026215,0.026215	DATA_FILE_SIZE	40426,604
HUMID	58.66	CAP_FILE_SIZE	76103,0
INTERNAL_PRESSURE	8.99449	CFSIZE	2097086464,2092793856
TCM_TEMP	6.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	CURRENT	0.173,127.5,1
_24V_AH	23.6,5.142	GPS	250716,011551,-4659.952,436.402,13,1.2,13,-23.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	279	136.24	SBE_CT	444	54	573.32
Roll_motor	64	224	343.04	QSP2150	325	6	51.80
VBD_pump_during_apogee	175	1002	4150.11	WL_BB2FL	389	105	965.56
VBD_pump_during_surface	39	58	54.82	AA4330	794	43	814.45
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	91	55.66	nil	0	0	0.00
Iridium_during_connect	23	160	89.73	nil	0	0	0.00
Iridium_during_xfer	322	223	1697.45	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	9	32	3.09
TT8	1550	13	214.55
LPSleep	2784	2	62.19
TT8_Active	353	13	48.90
TT8_Sampling	1935	41	814.81
TT8_CF8	59	48	29.28
TT8_Kalman	0	0	0.00
Analog_circuits	947	15	151.14
GPS_charging	0	0	0.00
Compass	1540	19	305.97
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
15	-0.61	-107.1	132	2124	509	426	0.0	0.0	0	105	0.00	0.00	-88.05	0.000	16390	0.000	0.000	133	2125	2794	2782	2806	0	0	0	0	0	0	28.83	28.83	25.96
107	-0.61	-107.1	132	2124	2785	2806	3.3	-3.1	10	127	10.88	2.35	0.00	0.000	2308	0.264	0.053	2637	3549	2796	2791	2802	0	0	0	0	0	0	25.40	25.61	28.83
171	-0.61	-107.1	2637	3549	2800	2793	23.3	-26.1	18	181	0.00	2.40	0.00	0.000	1030	0.000	0.061	2639	2124	2796	2802	2791	0	0	0	0	0	0	28.83	25.64	28.83
332	-0.61	-107.1	2639	2121	2805	2790	58.8	-22.1	43	339	0.00	2.38	0.00	0.000	260	0.000	0.069	2630	3549	2797	2805	2790	0	0	0	0	0	0	28.83	25.74	28.83
389	-0.61	-107.1	1680	3548	2773	2785	71.6	-21.5	53	396	0.00	2.35	0.00	0.000	1030	0.000	0.060	2631	2118	2797	2805	2790	0	0	0	0	0	0	28.83	25.78	28.83
706	-0.61	-107.1	2631	2115	2805	2790	142.8	-22.2	95	710	0.00	2.35	0.00	0.000	260	0.000	0.070	2622	3541	2797	2805	2790	0	0	0	0	0	0	28.83	25.91	28.83
779	-0.61	-107.1	2622	3541	2805	2790	157.3	-20.0	101	788	0.10	2.38	0.00	0.000	3078	0.184	0.063	2651	2124	2798	2806	2790	0	0	0	0	0	0	25.83	25.95	28.83
1087	-0.61	-107.1	2651	2120	2807	2790	215.7	-17.4	132	1099	0.00	2.35	0.00	0.000	260	0.000	0.072	2642	3546	2798	2807	2789	0	0	0	0	0	0	28.83	26.02	28.83
1242	-0.61	-107.1	2642	3546	2807	2789	241.0	-16.5	146	1249	0.00	2.33	0.00	0.000	1030	0.000	0.065	2642	2122	2798	2807	2789	0	0	0	0	0	0	28.83	26.06	28.83
1551	-0.61	-107.1	2642	2119	2808	2788	299.0	-19.0	177	1560	0.00	2.33	0.00	0.000	260	0.000	0.073	2632	3539	2798	2808	2788	0	0	0	0	0	0	28.83	26.11	28.83
1596	-0.61	-107.1	2631	3539	2808	2788	306.9	-18.4	181	1604	0.00	2.35	0.00	0.000	1030	0.000	0.067	2632	2133	2798	2808	2788	0	0	0	0	0	0	28.83	26.13	28.83
1904	-0.61	-107.1	2631	2130	2808	2788	369.1	-20.7	212	1908	0.00	2.33	0.00	0.000	260	0.000	0.076	2622	3539	2798	2808	2788	0	0	0	0	0	0	28.83	26.15	28.83
1953	-0.61	-107.1	2622	3539	2808	2788	378.8	-20.2	216	1966	0.15	2.33	0.00	0.000	3078	0.210	0.071	2656	2122	2798	2808	2788	0	0	0	0	0	0	26.05	26.16	28.83
2263	-0.61	-107.1	2656	2119	2809	2788	433.3	-17.6	238	2264	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2119	2798	2809	2788	0	0	0	0	0	0	28.83	28.83	28.83
2562	-0.61	-107.1	2656	2119	2809	2787	485.3	-17.0	253	2567	0.00	2.35	0.00	0.000	260	0.000	0.078	2647	3540	2798	2809	2787	0	0	0	0	0	0	28.83	26.22	28.83
2606	-0.61	-107.1	2647	3540	2809	2787	491.2	-16.8	255	2611	0.00	2.38	0.00	0.000	1030	0.000	0.073	2647	2128	2798	2809	2787	0	0	0	0	0	0	28.83	26.23	28.83
2657	end dive: TARGET_DEPTH_EXCEEDED
state	2657	begin apogee
2661	-0.11	0.0	2647	2093	2809	2787	501.2	-16.6	258	2749	0.57	0.00	85.00	1.002	10246	0.175	0.000	2811	2093	2355	2389	2322	0	0	0	0	0	0	26.12	28.83	24.03
2750	end apogee: CONTROL_FINISHED_OK
state	2750	begin climb
2751	0.61	107.1	2811	2093	2389	2321	506.6	0.0	262	2845	0.75	0.00	90.47	0.984	10246	0.103	0.000	3044	2093	1918	1975	1862	0	0	0	0	0	0	24.68	28.83	23.61
3138	0.61	107.1	3043	2093	1969	1857	459.4	14.5	282	3139	0.00	0.00	0.00	0.000	6	0.000	0.000	3044	2092	1913	1969	1857	0	0	0	0	0	0	28.83	28.83	28.83
3438	0.61	107.1	3044	2093	1968	1856	416.6	14.1	297	3442	0.00	2.30	0.00	0.000	516	0.000	0.051	3054	672	1912	1968	1856	0	0	0	0	0	0	28.83	25.70	28.83
3518	0.61	107.1	3054	672	1964	1855	405.6	14.4	301	3523	0.00	2.33	0.00	0.000	1030	0.000	0.047	3055	2112	1909	1964	1855	0	0	0	0	0	0	28.83	25.76	28.83
3829	0.61	107.1	3054	2112	1963	1855	358.1	15.0	330	3833	0.00	2.33	0.00	0.000	516	0.000	0.050	3065	669	1909	1964	1855	0	0	0	0	0	0	28.83	25.90	28.83
3877	0.61	107.1	3065	669	1962	1854	350.7	15.3	334	3881	0.00	2.30	0.00	0.000	1030	0.000	0.047	3065	2104	1907	1961	1854	0	0	0	0	0	0	28.83	25.93	28.83
4183	0.61	107.1	3065	2104	1962	1854	300.9	16.6	364	4184	0.00	0.00	0.00	0.000	6	0.000	0.000	3066	2104	1908	1962	1854	0	0	0	0	0	0	28.83	28.83	28.83
4482	0.61	107.1	3065	2104	1961	1854	251.1	16.5	394	4487	0.00	2.28	0.00	0.000	516	0.000	0.050	3076	677	1908	1962	1854	0	0	0	0	0	0	28.83	26.08	28.83
4511	0.61	107.1	2240	676	1933	1850	246.8	16.5	396	4522	0.00	2.33	0.00	0.000	1030	0.000	0.047	3076	2103	1906	1960	1853	0	0	0	0	0	0	28.83	26.10	28.83
4818	0.61	107.1	3076	2103	1960	1853	195.4	16.1	427	4819	0.00	0.00	0.00	0.000	6	0.000	0.000	3076	2103	1906	1960	1853	0	0	0	0	0	0	28.83	28.83	28.83
5123	0.61	107.1	3076	2102	1960	1853	148.8	17.0	457	5131	0.00	2.20	0.00	0.000	260	0.000	0.054	3076	3504	1907	1960	1854	0	0	0	0	0	0	28.83	26.19	28.83
5196	0.61	107.1	3076	3504	1960	1854	136.1	16.6	464	5209	0.15	2.22	0.00	0.000	5126	0.279	0.046	3058	2083	1906	1959	1854	0	0	0	0	0	0	25.98	26.20	28.83
5510	0.61	107.1	3058	2081	1959	1853	91.6	13.4	500	5517	0.00	2.25	0.00	0.000	516	0.000	0.051	3068	690	1905	1959	1852	0	0	0	0	0	0	28.83	26.22	28.83
5594	0.61	107.1	3068	690	1958	1853	79.8	13.3	515	5601	0.00	2.22	0.00	0.000	1030	0.000	0.048	3068	2098	1906	1959	1853	0	0	0	0	0	0	28.83	26.24	28.83
5940	0.61	107.1	2048	2096	1924	1847	32.9	13.7	576	5949	0.00	2.28	0.00	0.000	516	0.000	0.050	3077	690	1905	1959	1852	0	0	0	0	0	0	28.83	26.29	28.83
6028	0.61	107.1	3077	690	1958	1853	19.0	17.1	588	6038	0.00	2.28	0.00	0.000	1030	0.000	0.047	3078	2100	1905	1959	1852	0	0	0	0	0	0	28.83	26.28	28.83
6097	0.61	107.1	3077	2104	1960	1852	7.5	16.5	597	6106	0.00	2.28	0.00	0.000	516	0.000	0.049	3088	686	1905	1959	1852	0	0	0	0	0	0	28.83	26.28	28.83
6115	0.61	107.1	3088	683	1953	1854	3.9	18.1	599	6126	0.12	2.28	0.00	0.000	5126	0.262	0.050	3059	2094	1904	1958	1850	0	0	0	0	0	0	26.07	26.27	28.83
6134	end climb: SURFACE_DEPTH_REACHED
state	6134	begin surface coast
6158	end surface coast: CONTROL_FINISHED_OK
state	6158	begin surface