Glider dive log

SOSCEx 24Jul16 * SG574 * Dive index * Mission links * Dive 14 * 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 14 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 14 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 200 R_STBD_OVSHOOT 20 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 -2361497.2 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 -2361497.2

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 14 VBD_MAXERRORS 1

DEVICE3 147 MINV_24V 19 R_STBD_OVSHOOT 20 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 14 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 250716,050537,-4659.568,436.846,7,0.8,7,-23.5 TGT_NAME TARGET

_CALLS 1 TGT_LATLONG -4700.000,340.000

_XMS_NAKs 14 TGT_RADIUS 500.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.01 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -79.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250716,051337,-4659.467,437.019,8,0.9,8,-23.5 MHEAD_RNG_PITCHd_Wd 307.3,72026,-21.3,-9.980,-23.89,1645

SPEED_LIMITS 0.173,0.225 D_GRID 500

Post-dive calculations and measurements:

FINISH 0.9,1.022973 _10V_AH 10.2,3.843

SM_CCo 5484,25.98,0.060,0,0,1539,200.16 FG_AHR_24Vo 0.000

SM_GC 2.41,7.90,0.00,25.98,0.046,0.000,0.060,128,2096,1539,-8.44,-0.85,200.16,0,0,0,0,0,0,26.21,28.83,26.17 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4641.78,431.67,210509,161651 MEM 353328

TT8_MAMPS 0.026215,0.026215 DATA_FILE_SIZE 33699,538

HUMID 59.33 CAP_FILE_SIZE 71289,0

INTERNAL_PRESSURE 9.00425 CFSIZE 2097086464,2092498944

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 0.208,116.5,1

_24V_AH 23.6,5.379 GPS 250716,064803,-4659.405,436.865,95,0.8,95,-23.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 262 126.64 SBE_CT 398 54 514.40

Roll_motor 60 81 117.74 QSP2150 291 6 46.39

VBD_pump_during_apogee 203 1002 4805.83 WL_BB2FL 339 105 840.61

VBD_pump_during_surface 25 60 37.05 AA4330 702 43 720.16

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 91 63.50 nil 0 0 0.00

Iridium_during_connect 50 160 190.32 nil 0 0 0.00

Iridium_during_xfer 312 223 1647.22 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 12 32 4.09

TT8 1397 13 193.50

LPSleep 2408 2 53.80

TT8_Active 314 13 43.58

TT8_Sampling 1831 41 771.32

TT8_CF8 53 48 26.11

TT8_Kalman 0 0 0.00

Analog_circuits 856 15 136.67

GPS_charging 0 0 0.00

Compass 1410 19 280.08

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 -107.1 129 2101 1555 1490 0.0 0.0 0 63 0.00 0.00 -45.90 0.000 16386 0.000 0.000 128 2101 2726 2712 2741 0 0 0 0 0 0 28.83 28.83 28.83

65 -0.61 -107.1 129 2101 2713 2741 3.2 -2.8 5 86 10.82 2.40 -1.40 0.000 18692 0.262 0.068 2639 3546 2792 2788 2796 0 0 0 0 0 0 25.37 25.59 25.84

172 -0.61 -107.1 2639 3546 2797 2790 29.2 -18.9 19 182 0.00 2.40 0.00 0.000 1030 0.000 0.064 2639 2127 2794 2799 2789 0 0 0 0 0 0 28.83 25.67 28.83

323 -0.61 -107.1 2638 2124 2800 2787 62.9 -22.9 44 330 0.00 0.00 0.00 0.000 6 0.000 0.000 2639 2123 2794 2801 2788 0 0 0 0 0 0 28.83 28.83 28.83

650 -0.61 -107.1 2638 2124 2800 2787 134.8 -21.6 90 659 0.00 2.33 0.00 0.000 260 0.000 0.072 2629 3539 2794 2801 2787 0 0 0 0 0 0 28.83 25.91 28.83

748 -0.61 -107.1 1792 3538 2774 2782 154.7 -19.7 99 757 0.08 2.38 0.00 0.000 3078 0.180 0.066 2651 2125 2794 2802 2786 0 0 0 0 0 0 25.85 25.94 28.83

1056 -0.61 -107.1 2650 2121 2804 2785 216.2 -18.1 130 1061 0.00 2.33 0.00 0.000 516 0.000 0.066 2657 699 2794 2804 2785 0 0 0 0 0 0 28.83 26.03 28.83

1075 -0.61 -107.1 1816 699 2778 2781 219.1 -18.2 131 1083 0.00 2.38 0.00 0.000 1030 0.000 0.063 2648 2118 2794 2804 2785 0 0 0 0 0 0 28.83 26.04 28.83

1383 -0.61 -107.1 2648 2118 2806 2785 273.9 -17.6 162 1391 0.00 2.33 0.00 0.000 260 0.000 0.073 2637 3538 2795 2805 2785 0 0 0 0 0 0 28.83 26.09 28.83

1521 -0.61 -107.1 2637 3538 2805 2785 296.7 -16.1 175 1525 0.00 2.33 0.00 0.000 1030 0.000 0.070 2637 2121 2795 2805 2785 0 0 0 0 0 0 28.83 26.11 28.83

1829 -0.61 -107.1 2636 2118 2805 2785 354.1 -18.5 205 1838 0.00 2.33 0.00 0.000 260 0.000 0.077 2627 3534 2795 2805 2785 0 0 0 0 0 0 28.83 26.17 28.83

1874 -0.61 -107.1 2627 3533 2805 2785 362.2 -18.5 209 1884 0.08 2.38 0.00 0.000 3078 0.190 0.071 2649 2120 2794 2805 2784 0 0 0 0 0 0 26.06 26.15 28.83

2192 -0.61 -107.1 2649 2117 2805 2785 419.2 -17.8 236 2196 0.00 2.35 0.00 0.000 260 0.000 0.079 2640 3536 2794 2805 2784 0 0 0 0 0 0 28.83 26.19 28.83

2267 -0.61 -107.1 2640 3536 2805 2785 432.2 -17.2 240 2272 0.00 2.33 0.00 0.000 1030 0.000 0.075 2640 2122 2794 2805 2784 0 0 0 0 0 0 28.83 26.20 28.83

2583 -0.61 -107.1 2640 2120 2806 2784 491.7 -18.8 256 2588 0.00 2.35 0.00 0.000 260 0.000 0.082 2630 3535 2795 2806 2784 0 0 0 0 0 0 28.83 26.22 28.83

2599 -0.61 -107.1 2630 3535 2805 2784 494.8 -18.9 257 2603 0.00 2.33 0.00 0.000 1030 0.000 0.076 2630 2124 2794 2805 2784 0 0 0 0 0 0 28.83 26.22 28.83

2634 end dive: TARGET_DEPTH_EXCEEDED

state 2634 begin apogee

2637 -0.11 0.0 2630 2121 2805 2784 501.7 -19.4 259 2725 0.65 0.00 84.40 1.002 10246 0.180 0.000 2814 2121 2356 2389 2323 0 0 0 0 0 0 26.12 28.83 24.04

2726 end apogee: CONTROL_FINISHED_OK

state 2726 begin climb

2727 0.61 107.1 2813 2121 2390 2323 506.9 0.0 263 2824 0.75 2.53 90.30 0.978 10756 0.090 0.049 3061 671 1918 1974 1862 0 0 0 0 0 0 24.72 24.29 23.61

2835 0.65 138.8 3061 671 1970 1862 500.7 8.0 269 2872 0.00 2.45 28.50 0.942 9222 0.000 0.046 3061 2106 1788 1861 1715 0 0 0 0 0 0 28.83 24.51 23.68

3172 0.65 138.8 3060 2107 1856 1709 438.5 18.8 286 3178 0.00 2.38 0.00 0.000 516 0.000 0.050 3071 673 1781 1855 1708 0 0 0 0 0 0 28.83 25.42 28.83

3219 0.65 138.8 3071 673 1850 1708 430.9 19.0 288 3223 0.00 2.35 0.00 0.000 1030 0.000 0.047 3071 2111 1778 1849 1708 0 0 0 0 0 0 28.83 25.48 28.83

3531 0.65 138.8 3071 2111 1850 1708 368.0 20.6 312 3533 0.00 0.00 0.00 0.000 6 0.000 0.000 3071 2111 1779 1851 1708 0 0 0 0 0 0 28.83 28.83 28.83

3833 0.65 138.8 3071 2111 1849 1707 307.6 20.4 342 3834 0.00 0.00 0.00 0.000 6 0.000 0.000 3071 2111 1778 1849 1707 0 0 0 0 0 0 28.83 28.83 28.83

4132 0.65 138.8 3070 2111 1847 1707 246.2 20.8 372 4136 0.00 2.30 0.00 0.000 516 0.000 0.050 3082 678 1776 1847 1706 0 0 0 0 0 0 28.83 25.98 28.83

4160 0.65 138.8 3082 678 1845 1706 240.3 21.1 374 4164 0.00 2.28 0.00 0.000 1030 0.000 0.049 3082 2100 1775 1845 1706 0 0 0 0 0 0 28.83 26.00 28.83

4465 0.65 138.8 3082 2103 1846 1707 177.9 19.4 404 4469 0.00 2.30 0.00 0.000 516 0.000 0.052 3093 668 1776 1846 1707 0 0 0 0 0 0 28.83 26.06 28.83

4601 0.65 138.8 2240 667 1816 1703 152.4 18.5 416 4612 0.08 2.33 0.00 0.000 5126 0.240 0.048 3074 2096 1775 1843 1707 0 0 0 0 0 0 25.91 26.10 28.83

4909 0.65 138.8 3074 2096 1844 1707 98.9 17.3 447 4915 0.00 2.28 0.00 0.000 516 0.000 0.050 3083 677 1775 1844 1707 0 0 0 0 0 0 28.83 26.14 28.83

4960 0.65 138.8 3083 676 1841 1707 90.2 17.1 456 4969 0.00 2.30 0.00 0.000 1030 0.000 0.048 3083 2096 1774 1842 1707 0 0 0 0 0 0 28.83 26.16 28.83

5312 0.65 138.8 3083 2096 1843 1707 28.6 18.2 517 5322 0.00 2.30 0.00 0.000 516 0.000 0.050 3094 676 1774 1841 1707 0 0 0 0 0 0 28.83 26.20 28.83

5394 0.65 138.8 3094 676 1840 1707 12.8 18.9 528 5404 0.10 2.28 0.00 0.000 5126 0.248 0.047 3069 2092 1773 1840 1706 0 0 0 0 0 0 26.02 26.22 28.83

5448 end climb: SURFACE_DEPTH_REACHED

state 5448 begin surface coast

5471 end surface coast: CONTROL_FINISHED_OK

state 5471 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	14	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	14	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	200	R_STBD_OVSHOOT	20	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	-2361497.2	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	250716,050537,-4659.568,436.846,7,0.8,7,-23.5	TGT_NAME	TARGET
_CALLS	1	TGT_LATLONG	-4700.000,340.000
_XMS_NAKs	14	TGT_RADIUS	500.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.01	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-79.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250716,051337,-4659.467,437.019,8,0.9,8,-23.5	MHEAD_RNG_PITCHd_Wd	307.3,72026,-21.3,-9.980,-23.89,1645
SPEED_LIMITS	0.173,0.225	D_GRID	500

FINISH	0.9,1.022973	_10V_AH	10.2,3.843
SM_CCo	5484,25.98,0.060,0,0,1539,200.16	FG_AHR_24Vo	0.000
SM_GC	2.41,7.90,0.00,25.98,0.046,0.000,0.060,128,2096,1539,-8.44,-0.85,200.16,0,0,0,0,0,0,26.21,28.83,26.17	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4641.78,431.67,210509,161651	MEM	353328
TT8_MAMPS	0.026215,0.026215	DATA_FILE_SIZE	33699,538
HUMID	59.33	CAP_FILE_SIZE	71289,0
INTERNAL_PRESSURE	9.00425	CFSIZE	2097086464,2092498944
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	0.208,116.5,1
_24V_AH	23.6,5.379	GPS	250716,064803,-4659.405,436.865,95,0.8,95,-23.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	262	126.64	SBE_CT	398	54	514.40
Roll_motor	60	81	117.74	QSP2150	291	6	46.39
VBD_pump_during_apogee	203	1002	4805.83	WL_BB2FL	339	105	840.61
VBD_pump_during_surface	25	60	37.05	AA4330	702	43	720.16
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	91	63.50	nil	0	0	0.00
Iridium_during_connect	50	160	190.32	nil	0	0	0.00
Iridium_during_xfer	312	223	1647.22	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	12	32	4.09
TT8	1397	13	193.50
LPSleep	2408	2	53.80
TT8_Active	314	13	43.58
TT8_Sampling	1831	41	771.32
TT8_CF8	53	48	26.11
TT8_Kalman	0	0	0.00
Analog_circuits	856	15	136.67
GPS_charging	0	0	0.00
Compass	1410	19	280.08
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	129	2101	1555	1490	0.0	0.0	0	63	0.00	0.00	-45.90	0.000	16386	0.000	0.000	128	2101	2726	2712	2741	0	0	0	0	0	0	28.83	28.83	28.83
65	-0.61	-107.1	129	2101	2713	2741	3.2	-2.8	5	86	10.82	2.40	-1.40	0.000	18692	0.262	0.068	2639	3546	2792	2788	2796	0	0	0	0	0	0	25.37	25.59	25.84
172	-0.61	-107.1	2639	3546	2797	2790	29.2	-18.9	19	182	0.00	2.40	0.00	0.000	1030	0.000	0.064	2639	2127	2794	2799	2789	0	0	0	0	0	0	28.83	25.67	28.83
323	-0.61	-107.1	2638	2124	2800	2787	62.9	-22.9	44	330	0.00	0.00	0.00	0.000	6	0.000	0.000	2639	2123	2794	2801	2788	0	0	0	0	0	0	28.83	28.83	28.83
650	-0.61	-107.1	2638	2124	2800	2787	134.8	-21.6	90	659	0.00	2.33	0.00	0.000	260	0.000	0.072	2629	3539	2794	2801	2787	0	0	0	0	0	0	28.83	25.91	28.83
748	-0.61	-107.1	1792	3538	2774	2782	154.7	-19.7	99	757	0.08	2.38	0.00	0.000	3078	0.180	0.066	2651	2125	2794	2802	2786	0	0	0	0	0	0	25.85	25.94	28.83
1056	-0.61	-107.1	2650	2121	2804	2785	216.2	-18.1	130	1061	0.00	2.33	0.00	0.000	516	0.000	0.066	2657	699	2794	2804	2785	0	0	0	0	0	0	28.83	26.03	28.83
1075	-0.61	-107.1	1816	699	2778	2781	219.1	-18.2	131	1083	0.00	2.38	0.00	0.000	1030	0.000	0.063	2648	2118	2794	2804	2785	0	0	0	0	0	0	28.83	26.04	28.83
1383	-0.61	-107.1	2648	2118	2806	2785	273.9	-17.6	162	1391	0.00	2.33	0.00	0.000	260	0.000	0.073	2637	3538	2795	2805	2785	0	0	0	0	0	0	28.83	26.09	28.83
1521	-0.61	-107.1	2637	3538	2805	2785	296.7	-16.1	175	1525	0.00	2.33	0.00	0.000	1030	0.000	0.070	2637	2121	2795	2805	2785	0	0	0	0	0	0	28.83	26.11	28.83
1829	-0.61	-107.1	2636	2118	2805	2785	354.1	-18.5	205	1838	0.00	2.33	0.00	0.000	260	0.000	0.077	2627	3534	2795	2805	2785	0	0	0	0	0	0	28.83	26.17	28.83
1874	-0.61	-107.1	2627	3533	2805	2785	362.2	-18.5	209	1884	0.08	2.38	0.00	0.000	3078	0.190	0.071	2649	2120	2794	2805	2784	0	0	0	0	0	0	26.06	26.15	28.83
2192	-0.61	-107.1	2649	2117	2805	2785	419.2	-17.8	236	2196	0.00	2.35	0.00	0.000	260	0.000	0.079	2640	3536	2794	2805	2784	0	0	0	0	0	0	28.83	26.19	28.83
2267	-0.61	-107.1	2640	3536	2805	2785	432.2	-17.2	240	2272	0.00	2.33	0.00	0.000	1030	0.000	0.075	2640	2122	2794	2805	2784	0	0	0	0	0	0	28.83	26.20	28.83
2583	-0.61	-107.1	2640	2120	2806	2784	491.7	-18.8	256	2588	0.00	2.35	0.00	0.000	260	0.000	0.082	2630	3535	2795	2806	2784	0	0	0	0	0	0	28.83	26.22	28.83
2599	-0.61	-107.1	2630	3535	2805	2784	494.8	-18.9	257	2603	0.00	2.33	0.00	0.000	1030	0.000	0.076	2630	2124	2794	2805	2784	0	0	0	0	0	0	28.83	26.22	28.83
2634	end dive: TARGET_DEPTH_EXCEEDED
state	2634	begin apogee
2637	-0.11	0.0	2630	2121	2805	2784	501.7	-19.4	259	2725	0.65	0.00	84.40	1.002	10246	0.180	0.000	2814	2121	2356	2389	2323	0	0	0	0	0	0	26.12	28.83	24.04
2726	end apogee: CONTROL_FINISHED_OK
state	2726	begin climb
2727	0.61	107.1	2813	2121	2390	2323	506.9	0.0	263	2824	0.75	2.53	90.30	0.978	10756	0.090	0.049	3061	671	1918	1974	1862	0	0	0	0	0	0	24.72	24.29	23.61
2835	0.65	138.8	3061	671	1970	1862	500.7	8.0	269	2872	0.00	2.45	28.50	0.942	9222	0.000	0.046	3061	2106	1788	1861	1715	0	0	0	0	0	0	28.83	24.51	23.68
3172	0.65	138.8	3060	2107	1856	1709	438.5	18.8	286	3178	0.00	2.38	0.00	0.000	516	0.000	0.050	3071	673	1781	1855	1708	0	0	0	0	0	0	28.83	25.42	28.83
3219	0.65	138.8	3071	673	1850	1708	430.9	19.0	288	3223	0.00	2.35	0.00	0.000	1030	0.000	0.047	3071	2111	1778	1849	1708	0	0	0	0	0	0	28.83	25.48	28.83
3531	0.65	138.8	3071	2111	1850	1708	368.0	20.6	312	3533	0.00	0.00	0.00	0.000	6	0.000	0.000	3071	2111	1779	1851	1708	0	0	0	0	0	0	28.83	28.83	28.83
3833	0.65	138.8	3071	2111	1849	1707	307.6	20.4	342	3834	0.00	0.00	0.00	0.000	6	0.000	0.000	3071	2111	1778	1849	1707	0	0	0	0	0	0	28.83	28.83	28.83
4132	0.65	138.8	3070	2111	1847	1707	246.2	20.8	372	4136	0.00	2.30	0.00	0.000	516	0.000	0.050	3082	678	1776	1847	1706	0	0	0	0	0	0	28.83	25.98	28.83
4160	0.65	138.8	3082	678	1845	1706	240.3	21.1	374	4164	0.00	2.28	0.00	0.000	1030	0.000	0.049	3082	2100	1775	1845	1706	0	0	0	0	0	0	28.83	26.00	28.83
4465	0.65	138.8	3082	2103	1846	1707	177.9	19.4	404	4469	0.00	2.30	0.00	0.000	516	0.000	0.052	3093	668	1776	1846	1707	0	0	0	0	0	0	28.83	26.06	28.83
4601	0.65	138.8	2240	667	1816	1703	152.4	18.5	416	4612	0.08	2.33	0.00	0.000	5126	0.240	0.048	3074	2096	1775	1843	1707	0	0	0	0	0	0	25.91	26.10	28.83
4909	0.65	138.8	3074	2096	1844	1707	98.9	17.3	447	4915	0.00	2.28	0.00	0.000	516	0.000	0.050	3083	677	1775	1844	1707	0	0	0	0	0	0	28.83	26.14	28.83
4960	0.65	138.8	3083	676	1841	1707	90.2	17.1	456	4969	0.00	2.30	0.00	0.000	1030	0.000	0.048	3083	2096	1774	1842	1707	0	0	0	0	0	0	28.83	26.16	28.83
5312	0.65	138.8	3083	2096	1843	1707	28.6	18.2	517	5322	0.00	2.30	0.00	0.000	516	0.000	0.050	3094	676	1774	1841	1707	0	0	0	0	0	0	28.83	26.20	28.83
5394	0.65	138.8	3094	676	1840	1707	12.8	18.9	528	5404	0.10	2.28	0.00	0.000	5126	0.248	0.047	3069	2092	1773	1840	1706	0	0	0	0	0	0	26.02	26.22	28.83
5448	end climb: SURFACE_DEPTH_REACHED
state	5448	begin surface coast
5471	end surface coast: CONTROL_FINISHED_OK
state	5471	begin surface