Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 372 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 574 HD_C 9.8500004e-06 C_ROLL_DIVE 1812 ALTIM_BOTTOM_TURN_MARGIN 10

MISSION 3 HEADING 315 C_ROLL_CLIMB 1800 ALTIM_TOP_TURN_MARGIN 0

DIVE 372 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 50

STOP_T 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

D_SURF 3 TGT_DEFAULT_LAT 4743.3999 R_PORT_OVSHOOT 30 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 50 ALTIM_PULSE 3

D_TGT 1000 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 3

D_ABORT 1020 SM_CC 515.36688 ROLL_MAXERRORS 1 XPDR_VALID 2

D_NO_BLEED 29 N_FILEKB 4 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_BOOST 0 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097655999

T_BOOST 0 CALL_NDIVES 1 VBD_MIN 600 INT_PRESSURE_YINT 3.1600001

D_FINISH 20 COMM_SEQ 0 VBD_MAX 3960 DEEPGLIDER 0

D_PITCH 0 PROTOCOL 9 C_VBD 2701 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 333 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_MISSION 343 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_ABORT 358 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 117 AH0_10V 0 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3869 MINV_24V 11.5 SIM_W 0

RELAUNCH 0 C_PITCH 2759 MINV_10V 10 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_DBAND 0.0099999998 MAXI_24V 3 SEABIRD_T_G 0.0042907312

MAX_BUOY 200 PITCH_CNV 0.003125763 MAXI_10V 2 SEABIRD_T_H 0.00061813911

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.1013675e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 2.0586713e-06

SPEED_FACTOR 1 PITCH_GAIN 30 PHONE_SUPPLY 2 SEABIRD_C_G -9.7689371

RHO 1.0275 PITCH_TIMEOUT 25 PRESSURE_YINT -148.54955 SEABIRD_C_H 1.1415389

MASS 53998 PITCH_AD_RATE 125 PRESSURE_SLOPE 0.0001058 SEABIRD_C_I -0.0022330475

MASS_COMP 0 PITCH_MAXERRORS 1 AD7714Ch0Gain 1 SEABIRD_C_J 0.00024789109

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 301 COMPASS_USE 0 SC_XMITPROFILE 3.0

HD_A 0.0038360001 ROLL_MAX 3936 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0101 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

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 1000 PITCH_AD_RATE 125 SM_CC 515.36688

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.0099999998 STOP_T 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_GAIN 30 STROBE 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_MAX 3869 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 50 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FILEMGR 0 PITCH_MIN 117 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 0 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 0.0001058 TGT_DEFAULT_LON -12224.2

CALL_NDIVES 1 HD_C 9.8500004e-06 PRESSURE_YINT -148.54955 T_ABORT 358

CALL_TRIES 5 HEADING 315 PROTOCOL 9 T_BOOST 0

CALL_WAIT 60 HEAD_ERRBAND 10 P_OVSHOOT 0.039999999 T_DIVE 333

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 574 RAFOS_DEVICE -1 T_LOITER 0

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097655999 RAFOS_HIT_WINDOW 3600 T_MISSION 343

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 3.1600001 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS_DEVICE 17 KALMAN_USE 2 RELAUNCH 0 T_RSLEEP 2

COMPASS_USE 0 LOGGERDEVICE1 53 RHO 1.0275 T_TURN 500

COURSE_BIAS 0 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

C_PITCH 2759 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_ROLL_CLIMB 1800 LOGGERDEVICE4 -1 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_ROLL_DIVE 1812 LOGGERS 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_VBD 2701 MASS 53998 ROLL_DEG 40 USE_BATHY 0

DBDW 0 MASS_COMP 0 ROLL_MAX 3936 USE_ICE 0

DEEPGLIDER 0 MAXI_10V 2 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MAXI_24V 3 ROLL_MIN 301 VBD_CNV -0.245296

DEVICE2 -1 MAX_BUOY 200 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MINV_10V 10 R_PORT_OVSHOOT 30 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 50 VBD_MAX 3960

DEVICE5 -1 MISSION 3 SC_PROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MIN 600

DIVE 372 NAV_MODE 0 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1020 NOCOMM_ACTION 259 SEABIRD_C_G -9.7689371 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 0 N_DIVES 0 SEABIRD_C_H 1.1415389 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_I -0.0022330475 W_ADJ_DBAND 0

D_FINISH 20 N_GPS 100840 SEABIRD_C_J 0.00024789109 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 2 SEABIRD_T_G 0.0042907312 XPDR_INHIBIT 90

D_NO_BLEED 29 N_NOSURFACE 0 SEABIRD_T_H 0.00061813911 XPDR_VALID 2

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_I 2.1013675e-05

D_PITCH 0 PHONE_SUPPLY 2 SEABIRD_T_J 2.0586713e-06

Pre-dive calculations and measurements:

GPS1 150419,034001,-3423.2761,2557.2144,7,0.9,16,-28.1,0.6,114.3,10,9.6 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG -3415.632,2548.063

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.80 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -67.8 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 150419,035006,-3423.2681,2557.3020,7,1.0,16,-28.1,0.4,6.7,10,10.0 MHEAD_RNG_PITCHd_Wd 343.1,20000,-15.7,-10.010,-18.71,2973

SPEED_LIMITS 0.173,0.296 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.5,1.025442 _24V_AH 13.57,119.945

SM_CCo 2781,114.82,0.802,0,0,597,515.37 _10V_AH 13.64,0.000

SM_GC 0.84,13.85,0.00,114.82,0.039,0.000,0.802,115,1806,597,-8.18,-0.17,515.37,0,0,0,0,0,0,14.75,14.92,14.09 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3409.50,2556.54,150419,024156 FG_AHR_10Vo 0.000

TT8_MAMPS 0.020972,0.959469 MEM 340928

HUMID 44.95 DATA_FILE_SIZE 13447,499

INTERNAL_PRESSURE 9.27327 CAP_FILE_SIZE 94794,0

TCM_TEMP 18.70 CFSIZE 2097086464,2021752832

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

ALTIM_BOTTOM_PING 135.2,29.0 GPS 150419,044001,-3423.114,2557.246,7,1.0,30,-28.1,1.3,72.4,10,6.5

SC_FREEKB 3725696

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 364 154.49 nil 0 0 0.00

Roll_motor 47 87 57.03 nil 0 0 0.00

VBD_pump_during_apogee 407 1139 6295.38 nil 0 0 0.00

VBD_pump_during_surface 114 801 1249.22 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 57 16 12.79 nil 0 0 0.00

Iridium_during_connect 26 160 56.51 SciCon 2813 36 1383.98

Iridium_during_xfer 234 223 710.03 nil 0 0 0.00

Transponder_ping 4 420 27.07 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 11 2.67

TT8 996 9 130.66

LPSleep 487 2 14.55

TT8_Active 631 9 82.80

TT8_Sampling 1184 28 457.99

TT8_CF8 214 36 107.08

TT8_Kalman 0 0 0.00

Analog_circuits 1135 12 187.61

GPS_charging 0 0 0.00

Compass 760 17 186.49

RAFOS 0 0 0.00

Transponder 31 30 12.84

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

22 -0.76 -194.6 54 1806 621 547 0.0 0.0 0 128 0.00 0.00 -103.03 0.000 16386 0.000 0.000 54 1807 3158 3129 3188 0 0 0 0 0 0 14.95 28.83 14.97

132 -0.76 -194.6 53 1805 3131 3187 4.1 -10.3 19 163 14.52 2.45 -5.50 0.000 19204 0.302 0.088 2506 411 3497 3504 3491 0 0 0 0 0 0 14.53 13.57 14.78

222 -0.76 -194.6 2505 411 3507 3490 31.6 -17.7 35 228 0.00 2.33 0.00 0.000 3078 0.000 0.039 2501 1801 3497 3506 3489 0 0 0 0 0 0 14.90 14.81 14.91

293 -0.76 -194.6 2501 1803 3509 3486 44.2 -18.7 48 299 0.00 2.40 0.00 0.000 2308 0.000 0.055 2501 3219 3497 3509 3486 0 0 0 0 0 0 15.02 14.80 15.02

323 -0.76 -194.6 2501 3220 3510 3486 50.0 -18.1 53 330 0.00 2.38 0.00 0.000 3078 0.000 0.044 2501 1805 3498 3510 3486 0 0 0 0 0 0 14.92 14.82 14.94

393 -0.76 -194.6 2501 1805 3510 3486 60.4 -15.2 66 399 0.00 0.00 0.00 0.000 2054 0.000 0.000 2501 1805 3498 3510 3486 0 0 0 0 0 0 15.05 15.05 15.06

462 -0.76 -194.6 2501 1805 3510 3485 71.8 -15.8 79 468 0.00 0.00 0.00 0.000 2054 0.000 0.000 2501 1805 3497 3510 3485 0 0 0 0 0 0 15.07 15.07 15.06

530 -0.76 -194.6 2501 1804 3510 3485 80.8 -12.4 92 537 0.00 2.40 0.00 0.000 2308 0.000 0.053 2495 3218 3497 3509 3486 0 0 0 0 0 0 15.07 14.80 15.07

626 -0.76 -194.6 2495 3218 3511 3486 92.0 -11.3 110 633 0.05 2.38 0.00 0.000 3078 0.303 0.044 2507 1812 3498 3511 3485 0 0 0 0 0 0 14.71 14.82 14.89

698 -0.76 -194.6 2508 1812 3511 3485 100.1 -11.3 123 704 0.00 0.00 0.00 0.000 2054 0.000 0.000 2508 1812 3498 3511 3485 0 0 0 0 0 0 15.09 15.09 15.09

766 -0.76 -194.6 2507 1812 3511 3485 107.8 -11.1 136 772 0.00 2.40 0.00 0.000 2308 0.000 0.052 2505 3224 3498 3511 3485 0 0 0 0 0 0 15.09 14.85 15.10

796 -0.76 -194.6 2505 3224 3511 3485 111.0 -9.2 141 802 0.00 2.38 0.00 0.000 3078 0.000 0.043 2505 1810 3498 3511 3485 0 0 0 0 0 0 14.97 14.85 14.98

867 -0.76 -194.6 2505 1810 3511 3485 119.1 -12.4 154 875 0.00 0.00 0.00 0.000 2054 0.000 0.000 2505 1809 3498 3511 3485 0 0 0 0 0 0 15.09 15.09 15.09

939 -0.76 -194.6 2504 1810 3511 3485 128.4 -12.4 167 945 0.00 0.00 0.00 0.000 2054 0.000 0.000 2505 1810 3498 3511 3485 0 0 0 0 0 0 15.10 15.11 15.11

1013 -0.76 -194.6 2505 1809 3511 3481 137.4 -11.9 180 1019 0.00 0.00 0.00 0.000 2054 0.000 0.000 2505 1809 3498 3511 3485 0 0 0 0 0 0 15.10 15.09 15.10

1082 -0.76 -194.6 2504 1810 3511 3485 146.1 -11.9 193 1088 0.00 0.00 0.00 0.000 2054 0.000 0.000 2505 1809 3498 3511 3485 0 0 0 0 0 0 15.11 15.11 15.11

1148 end dive: BOTTOM_OBSTACLE_DETECTED

state 1150 begin apogee

1155 -0.17 0.0 2505 1809 3510 3485 154.3 -12.2 206 1310 0.98 0.00 146.05 1.140 10246 0.156 0.000 2697 1809 2700 2729 2671 0 0 0 0 0 0 14.64 14.42 13.92

1311 end apogee: CONTROL_FINISHED_OK

state 1311 begin climb

1314 0.76 194.6 2697 1809 2728 2670 163.3 0.0 234 1477 1.42 2.53 151.32 1.133 10756 0.050 0.069 3026 393 1903 1939 1867 0 0 0 0 0 0 14.45 14.32 13.83

1616 0.76 194.6 3026 394 1930 1862 139.9 15.1 289 1623 0.10 2.38 0.00 0.000 5126 0.252 0.034 3008 1816 1895 1930 1861 0 0 0 0 0 0 14.51 14.64 14.70

1686 0.76 194.6 3007 1819 1930 1859 129.5 14.3 302 1692 0.00 0.00 0.00 0.000 4102 0.000 0.000 3007 1819 1895 1930 1860 0 0 0 0 0 0 14.92 14.92 14.92

1755 0.76 194.6 3007 1819 1923 1858 119.8 14.1 315 1760 0.00 0.00 0.00 0.000 4102 0.000 0.000 3007 1819 1893 1929 1858 0 0 0 0 0 0 14.97 14.97 14.97

1823 0.76 194.6 3007 1819 1930 1858 110.1 14.5 328 1830 0.00 2.30 0.00 0.000 4356 0.000 0.048 3007 3197 1893 1929 1858 0 0 0 0 0 0 15.00 14.78 15.00

1873 0.76 194.6 3007 3197 1928 1858 102.8 14.8 337 1879 0.00 2.38 0.00 0.000 5126 0.000 0.050 3015 1798 1892 1928 1857 0 0 0 0 0 0 14.90 14.80 14.92

1944 0.76 194.6 3014 1798 1928 1857 92.0 15.5 350 1950 0.00 2.35 0.00 0.000 4356 0.000 0.047 3015 3196 1892 1927 1857 0 0 0 0 0 0 15.03 14.73 15.03

1968 0.76 194.6 3014 3197 1927 1858 88.6 12.6 354 1975 0.05 2.38 0.00 0.000 5126 0.365 0.050 3011 1796 1892 1927 1857 0 0 0 0 0 0 14.64 14.82 14.87

2039 0.76 194.6 3010 1796 1927 1857 80.3 11.7 367 2046 0.00 0.00 0.00 0.000 4102 0.000 0.000 3010 1796 1892 1927 1857 0 0 0 0 0 0 15.05 15.06 15.05

2108 0.76 194.6 3011 1796 1927 1856 72.0 11.8 380 2115 0.00 2.35 0.00 0.000 4356 0.000 0.048 3010 3198 1891 1926 1856 0 0 0 0 0 0 15.07 14.84 15.07

2190 0.76 194.6 3010 3198 1926 1857 63.4 10.7 395 2197 0.00 2.38 0.00 0.000 5126 0.000 0.049 3018 1798 1891 1926 1856 0 0 0 0 0 0 14.91 14.81 14.92

2261 0.76 194.6 3018 1798 1926 1856 54.8 12.0 408 2268 0.00 2.42 0.00 0.000 4612 0.000 0.069 3027 391 1891 1926 1856 0 0 0 0 0 0 15.07 14.83 15.09

2326 0.76 194.6 3026 391 1926 1855 47.0 11.4 420 2333 0.10 2.33 0.00 0.000 5126 0.253 0.033 3007 1805 1890 1925 1855 0 0 0 0 0 0 14.72 14.88 14.92

2398 0.81 232.6 3006 1806 1925 1854 40.6 8.7 433 2432 0.00 0.00 29.42 1.043 10246 0.000 0.000 3007 1806 1749 1789 1709 0 0 0 0 0 0 15.09 14.74 14.24

2495 0.84 260.6 3006 1806 1787 1706 32.2 9.0 451 2523 0.00 0.00 23.38 0.998 10246 0.000 0.000 3007 1806 1635 1677 1594 0 0 0 0 0 0 14.97 14.69 14.16

2587 0.94 341.7 3007 1806 1675 1590 24.4 7.2 468 2655 0.12 2.55 56.83 0.988 10756 0.129 0.072 3065 398 1303 1355 1251 0 0 0 0 0 0 14.66 14.47 14.09

2724 0.94 341.7 3064 398 1352 1248 6.2 14.9 493 2730 0.00 2.35 0.00 0.000 1030 0.000 0.034 3064 1803 1300 1352 1248 0 0 0 0 0 0 14.68 14.62 14.69

2741 end climb: SURFACE_DEPTH_REACHED

state 2741 begin surface coast

2757 end surface coast: CONTROL_FINISHED_OK

state 2757 begin surface

ID	574	HD_C	9.8500004e-06	C_ROLL_DIVE	1812	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	3	HEADING	315	C_ROLL_CLIMB	1800	ALTIM_TOP_TURN_MARGIN	0
DIVE	372	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	50
STOP_T	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5
D_SURF	3	TGT_DEFAULT_LAT	4743.3999	R_PORT_OVSHOOT	30	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	50	ALTIM_PULSE	3
D_TGT	1000	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	3
D_ABORT	1020	SM_CC	515.36688	ROLL_MAXERRORS	1	XPDR_VALID	2
D_NO_BLEED	29	N_FILEKB	4	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_BOOST	0	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097655999
T_BOOST	0	CALL_NDIVES	1	VBD_MIN	600	INT_PRESSURE_YINT	3.1600001
D_FINISH	20	COMM_SEQ	0	VBD_MAX	3960	DEEPGLIDER	0
D_PITCH	0	PROTOCOL	9	C_VBD	2701	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	333	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_MISSION	343	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_ABORT	358	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	117	AH0_10V	0	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3869	MINV_24V	11.5	SIM_W	0
RELAUNCH	0	C_PITCH	2759	MINV_10V	10	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_DBAND	0.0099999998	MAXI_24V	3	SEABIRD_T_G	0.0042907312
MAX_BUOY	200	PITCH_CNV	0.003125763	MAXI_10V	2	SEABIRD_T_H	0.00061813911
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.1013675e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	2.0586713e-06
SPEED_FACTOR	1	PITCH_GAIN	30	PHONE_SUPPLY	2	SEABIRD_C_G	-9.7689371
RHO	1.0275	PITCH_TIMEOUT	25	PRESSURE_YINT	-148.54955	SEABIRD_C_H	1.1415389
MASS	53998	PITCH_AD_RATE	125	PRESSURE_SLOPE	0.0001058	SEABIRD_C_I	-0.0022330475
MASS_COMP	0	PITCH_MAXERRORS	1	AD7714Ch0Gain	1	SEABIRD_C_J	0.00024789109
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	301	COMPASS_USE	0	SC_XMITPROFILE	3.0
HD_A	0.0038360001	ROLL_MAX	3936	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0101	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0

GPS1	150419,034001,-3423.2761,2557.2144,7,0.9,16,-28.1,0.6,114.3,10,9.6	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	-3415.632,2548.063
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.80	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-67.8	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	150419,035006,-3423.2681,2557.3020,7,1.0,16,-28.1,0.4,6.7,10,10.0	MHEAD_RNG_PITCHd_Wd	343.1,20000,-15.7,-10.010,-18.71,2973
SPEED_LIMITS	0.173,0.296	D_GRID	1000

FINISH	0.5,1.025442	_24V_AH	13.57,119.945
SM_CCo	2781,114.82,0.802,0,0,597,515.37	_10V_AH	13.64,0.000
SM_GC	0.84,13.85,0.00,114.82,0.039,0.000,0.802,115,1806,597,-8.18,-0.17,515.37,0,0,0,0,0,0,14.75,14.92,14.09	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3409.50,2556.54,150419,024156	FG_AHR_10Vo	0.000
TT8_MAMPS	0.020972,0.959469	MEM	340928
HUMID	44.95	DATA_FILE_SIZE	13447,499
INTERNAL_PRESSURE	9.27327	CAP_FILE_SIZE	94794,0
TCM_TEMP	18.70	CFSIZE	2097086464,2021752832
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	135.2,29.0	GPS	150419,044001,-3423.114,2557.246,7,1.0,30,-28.1,1.3,72.4,10,6.5
SC_FREEKB	3725696

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	364	154.49	nil	0	0	0.00
Roll_motor	47	87	57.03	nil	0	0	0.00
VBD_pump_during_apogee	407	1139	6295.38	nil	0	0	0.00
VBD_pump_during_surface	114	801	1249.22	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	57	16	12.79	nil	0	0	0.00
Iridium_during_connect	26	160	56.51	SciCon	2813	36	1383.98
Iridium_during_xfer	234	223	710.03	nil	0	0	0.00
Transponder_ping	4	420	27.07	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	11	2.67
TT8	996	9	130.66
LPSleep	487	2	14.55
TT8_Active	631	9	82.80
TT8_Sampling	1184	28	457.99
TT8_CF8	214	36	107.08
TT8_Kalman	0	0	0.00
Analog_circuits	1135	12	187.61
GPS_charging	0	0	0.00
Compass	760	17	186.49
RAFOS	0	0	0.00
Transponder	31	30	12.84

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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
22	-0.76	-194.6	54	1806	621	547	0.0	0.0	0	128	0.00	0.00	-103.03	0.000	16386	0.000	0.000	54	1807	3158	3129	3188	0	0	0	0	0	0	14.95	28.83	14.97
132	-0.76	-194.6	53	1805	3131	3187	4.1	-10.3	19	163	14.52	2.45	-5.50	0.000	19204	0.302	0.088	2506	411	3497	3504	3491	0	0	0	0	0	0	14.53	13.57	14.78
222	-0.76	-194.6	2505	411	3507	3490	31.6	-17.7	35	228	0.00	2.33	0.00	0.000	3078	0.000	0.039	2501	1801	3497	3506	3489	0	0	0	0	0	0	14.90	14.81	14.91
293	-0.76	-194.6	2501	1803	3509	3486	44.2	-18.7	48	299	0.00	2.40	0.00	0.000	2308	0.000	0.055	2501	3219	3497	3509	3486	0	0	0	0	0	0	15.02	14.80	15.02
323	-0.76	-194.6	2501	3220	3510	3486	50.0	-18.1	53	330	0.00	2.38	0.00	0.000	3078	0.000	0.044	2501	1805	3498	3510	3486	0	0	0	0	0	0	14.92	14.82	14.94
393	-0.76	-194.6	2501	1805	3510	3486	60.4	-15.2	66	399	0.00	0.00	0.00	0.000	2054	0.000	0.000	2501	1805	3498	3510	3486	0	0	0	0	0	0	15.05	15.05	15.06
462	-0.76	-194.6	2501	1805	3510	3485	71.8	-15.8	79	468	0.00	0.00	0.00	0.000	2054	0.000	0.000	2501	1805	3497	3510	3485	0	0	0	0	0	0	15.07	15.07	15.06
530	-0.76	-194.6	2501	1804	3510	3485	80.8	-12.4	92	537	0.00	2.40	0.00	0.000	2308	0.000	0.053	2495	3218	3497	3509	3486	0	0	0	0	0	0	15.07	14.80	15.07
626	-0.76	-194.6	2495	3218	3511	3486	92.0	-11.3	110	633	0.05	2.38	0.00	0.000	3078	0.303	0.044	2507	1812	3498	3511	3485	0	0	0	0	0	0	14.71	14.82	14.89
698	-0.76	-194.6	2508	1812	3511	3485	100.1	-11.3	123	704	0.00	0.00	0.00	0.000	2054	0.000	0.000	2508	1812	3498	3511	3485	0	0	0	0	0	0	15.09	15.09	15.09
766	-0.76	-194.6	2507	1812	3511	3485	107.8	-11.1	136	772	0.00	2.40	0.00	0.000	2308	0.000	0.052	2505	3224	3498	3511	3485	0	0	0	0	0	0	15.09	14.85	15.10
796	-0.76	-194.6	2505	3224	3511	3485	111.0	-9.2	141	802	0.00	2.38	0.00	0.000	3078	0.000	0.043	2505	1810	3498	3511	3485	0	0	0	0	0	0	14.97	14.85	14.98
867	-0.76	-194.6	2505	1810	3511	3485	119.1	-12.4	154	875	0.00	0.00	0.00	0.000	2054	0.000	0.000	2505	1809	3498	3511	3485	0	0	0	0	0	0	15.09	15.09	15.09
939	-0.76	-194.6	2504	1810	3511	3485	128.4	-12.4	167	945	0.00	0.00	0.00	0.000	2054	0.000	0.000	2505	1810	3498	3511	3485	0	0	0	0	0	0	15.10	15.11	15.11
1013	-0.76	-194.6	2505	1809	3511	3481	137.4	-11.9	180	1019	0.00	0.00	0.00	0.000	2054	0.000	0.000	2505	1809	3498	3511	3485	0	0	0	0	0	0	15.10	15.09	15.10
1082	-0.76	-194.6	2504	1810	3511	3485	146.1	-11.9	193	1088	0.00	0.00	0.00	0.000	2054	0.000	0.000	2505	1809	3498	3511	3485	0	0	0	0	0	0	15.11	15.11	15.11
1148	end dive: BOTTOM_OBSTACLE_DETECTED
state	1150	begin apogee
1155	-0.17	0.0	2505	1809	3510	3485	154.3	-12.2	206	1310	0.98	0.00	146.05	1.140	10246	0.156	0.000	2697	1809	2700	2729	2671	0	0	0	0	0	0	14.64	14.42	13.92
1311	end apogee: CONTROL_FINISHED_OK
state	1311	begin climb
1314	0.76	194.6	2697	1809	2728	2670	163.3	0.0	234	1477	1.42	2.53	151.32	1.133	10756	0.050	0.069	3026	393	1903	1939	1867	0	0	0	0	0	0	14.45	14.32	13.83
1616	0.76	194.6	3026	394	1930	1862	139.9	15.1	289	1623	0.10	2.38	0.00	0.000	5126	0.252	0.034	3008	1816	1895	1930	1861	0	0	0	0	0	0	14.51	14.64	14.70
1686	0.76	194.6	3007	1819	1930	1859	129.5	14.3	302	1692	0.00	0.00	0.00	0.000	4102	0.000	0.000	3007	1819	1895	1930	1860	0	0	0	0	0	0	14.92	14.92	14.92
1755	0.76	194.6	3007	1819	1923	1858	119.8	14.1	315	1760	0.00	0.00	0.00	0.000	4102	0.000	0.000	3007	1819	1893	1929	1858	0	0	0	0	0	0	14.97	14.97	14.97
1823	0.76	194.6	3007	1819	1930	1858	110.1	14.5	328	1830	0.00	2.30	0.00	0.000	4356	0.000	0.048	3007	3197	1893	1929	1858	0	0	0	0	0	0	15.00	14.78	15.00
1873	0.76	194.6	3007	3197	1928	1858	102.8	14.8	337	1879	0.00	2.38	0.00	0.000	5126	0.000	0.050	3015	1798	1892	1928	1857	0	0	0	0	0	0	14.90	14.80	14.92
1944	0.76	194.6	3014	1798	1928	1857	92.0	15.5	350	1950	0.00	2.35	0.00	0.000	4356	0.000	0.047	3015	3196	1892	1927	1857	0	0	0	0	0	0	15.03	14.73	15.03
1968	0.76	194.6	3014	3197	1927	1858	88.6	12.6	354	1975	0.05	2.38	0.00	0.000	5126	0.365	0.050	3011	1796	1892	1927	1857	0	0	0	0	0	0	14.64	14.82	14.87
2039	0.76	194.6	3010	1796	1927	1857	80.3	11.7	367	2046	0.00	0.00	0.00	0.000	4102	0.000	0.000	3010	1796	1892	1927	1857	0	0	0	0	0	0	15.05	15.06	15.05
2108	0.76	194.6	3011	1796	1927	1856	72.0	11.8	380	2115	0.00	2.35	0.00	0.000	4356	0.000	0.048	3010	3198	1891	1926	1856	0	0	0	0	0	0	15.07	14.84	15.07
2190	0.76	194.6	3010	3198	1926	1857	63.4	10.7	395	2197	0.00	2.38	0.00	0.000	5126	0.000	0.049	3018	1798	1891	1926	1856	0	0	0	0	0	0	14.91	14.81	14.92
2261	0.76	194.6	3018	1798	1926	1856	54.8	12.0	408	2268	0.00	2.42	0.00	0.000	4612	0.000	0.069	3027	391	1891	1926	1856	0	0	0	0	0	0	15.07	14.83	15.09
2326	0.76	194.6	3026	391	1926	1855	47.0	11.4	420	2333	0.10	2.33	0.00	0.000	5126	0.253	0.033	3007	1805	1890	1925	1855	0	0	0	0	0	0	14.72	14.88	14.92
2398	0.81	232.6	3006	1806	1925	1854	40.6	8.7	433	2432	0.00	0.00	29.42	1.043	10246	0.000	0.000	3007	1806	1749	1789	1709	0	0	0	0	0	0	15.09	14.74	14.24
2495	0.84	260.6	3006	1806	1787	1706	32.2	9.0	451	2523	0.00	0.00	23.38	0.998	10246	0.000	0.000	3007	1806	1635	1677	1594	0	0	0	0	0	0	14.97	14.69	14.16
2587	0.94	341.7	3007	1806	1675	1590	24.4	7.2	468	2655	0.12	2.55	56.83	0.988	10756	0.129	0.072	3065	398	1303	1355	1251	0	0	0	0	0	0	14.66	14.47	14.09
2724	0.94	341.7	3064	398	1352	1248	6.2	14.9	493	2730	0.00	2.35	0.00	0.000	1030	0.000	0.034	3064	1803	1300	1352	1248	0	0	0	0	0	0	14.68	14.62	14.69
2741	end climb: SURFACE_DEPTH_REACHED
state	2741	begin surface coast
2757	end surface coast: CONTROL_FINISHED_OK
state	2757	begin surface