Glider dive log

SOSCEx Dec16 * SG573 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 573 HD_C 9.8500004e-06 ROLL_MAX 3785 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 15 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 5 ESCAPE_HEADING 0 C_ROLL_DIVE 1967 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1967 ALTIM_PING_DEPTH 5

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT -4300 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 300 TGT_DEFAULT_LON 800 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 350 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 24 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 733.68036 R_STBD_OVSHOOT 18 XPDR_VALID 5

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 -0.55000001

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 0 VBD_MIN 409 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3959 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 C_VBD 3200 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 20

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.245296 DEVICE3 131

T_DIVE 100 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 151

T_MISSION 115 CALL_WAIT 60 PITCH_VBD_SHIFT 0.00060000003 DEVICE5 -1

T_ABORT 140 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

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 -31601.271 DBDW 0 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 1 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 150 RAFOS_DEVICE -1

RELAUNCH 0 RAFOS_HIT_WINDOW 3600 AH0_10V 100 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 250 MINV_24V 20 SIM_W 0

MAX_BUOY 350 PITCH_MAX 3858 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2954 FG_AHR_10V 0 SEABIRD_T_G 0.0042828661

GLIDE_SLOPE 30 PITCH_DBAND 0.0099999998 FG_AHR_24V 0 SEABIRD_T_H 0.00061930995

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.1971719e-05

RHO 1.0278 P_OVSHOOT 0.039999999 PRESSURE_YINT -87.331184 SEABIRD_T_J 2.301111e-06

MASS 52758 PITCH_GAIN 26 PRESSURE_SLOPE 0.00011693723 SEABIRD_C_G -9.9469662

MASS_COMP 0 PITCH_TIMEOUT 16 AD7714Ch0Gain 128 SEABIRD_C_H 1.155618

NAV_MODE 1 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0016006827

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00019558761

KALMAN_USE 2 PITCH_ADJ_GAIN 0.029999999 COMPASS_USE 0

HD_A 0.0038360001 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.010078 ROLL_MIN 150 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 733.68036

AH0_10V 100 D_PITCH 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0.029999999 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_TGT 300 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.0099999998 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 26 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 5 FERRY_MAX 45 PITCH_MAX 3858 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 250 TGT_DEFAULT_LAT -4300

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 16 TGT_DEFAULT_LON 800

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00060000003 T_ABORT 140

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 100

CALL_NDIVES 1 HD_A 0.0038360001 PRESSURE_SLOPE 0.00011693723 T_EPIRB 0

CALL_TRIES 5 HD_B 0.010078 PRESSURE_YINT -87.331184 T_GPS 15

CALL_WAIT 60 HD_C 9.8500004e-06 PROTOCOL 0 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -31601.271

CAPUPLOAD 1 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 115

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 573 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 1

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 0 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_YINT -0.55000001 RHO 1.0278 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2954 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 1967 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 1967 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 3200 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 1 ROLL_MAX 3785 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 52758 ROLL_MAXERRORS 1 VBD_CNV -0.245296

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 150 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 350 ROLL_TIMEOUT 15 VBD_MAX 3959

DEVICE2 20 MINV_10V 8 R_PORT_OVSHOOT 24 VBD_MAXERRORS 1

DEVICE3 131 MINV_24V 20 R_STBD_OVSHOOT 18 VBD_MIN 409

DEVICE4 151 MISSION 15 SEABIRD_C_G -9.9469662 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.155618 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0016006827 VBD_TIMEOUT 720

DIVE 5 NOCOMM_ACTION 0 SEABIRD_C_J 0.00019558761 W_ADJ_DBAND 0

D_ABORT 350 N_DIVES 0 SEABIRD_T_G 0.0042828661 XPDR_DEVICE 24

D_BOOST 5 N_FILEKB 4 SEABIRD_T_H 0.00061930995 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.1971719e-05 XPDR_VALID 5

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 2.301111e-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 041216,145105,-4528.307,607.802,26,0.8,26,-24.2 TGT_NAME SOUTH

_CALLS 1 TGT_LATLONG -4620.000,470.000

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.39 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -54.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 041216,150057,-4528.312,607.949,65,0.8,65,-24.2 MHEAD_RNG_PITCHd_Wd 241.9,121055,-11.5,-10.000,-14.90,5188

SPEED_LIMITS 0.173,0.376 D_GRID 300

Post-dive calculations and measurements:

FINISH 0.9,1.001264 _10V_AH 10.3,1.410

SM_CCo 6369,0.00,0.000,0,0,409,684.62 FG_AHR_24Vo 0.000

SM_GC 1.43,7.88,0.00,0.00,0.048,0.000,0.000,231,1974,409,-8.42,0.20,684.62,0,0,0,0,0,0,26.02,28.83,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4508.77,605.84,011009,020210 MEM 353680

TT8_MAMPS 0.026964,0.026964 DATA_FILE_SIZE 33628,569

HUMID 51.85 CAP_FILE_SIZE 90755,0

INTERNAL_PRESSURE 8.86442 CFSIZE 2097086464,2091024384

TCM_TEMP 13.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 GPS 041216,164818,-4528.086,608.473,13,0.9,14,-24.2

_24V_AH 23.6,2.107

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 266 133.89 SBE_CT 404 23 228.96

Roll_motor 71 97 164.31 SBE_O2 318 5 44.98

VBD_pump_during_apogee 547 853 11025.63 WL_BB2FL 737 39 690.61

VBD_pump_during_surface 98 55 128.66 QSP2150 123 6 19.62

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 91 53.47 nil 0 0 0.00

Iridium_during_connect 40 160 151.91 nil 0 0 0.00

Iridium_during_xfer 383 223 2018.78 nil 0 0 0.00

Transponder_ping 6 420 64.43 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 66 30 21.13

TT8 1355 14 198.47

LPSleep 2945 2 66.44

TT8_Active 729 13 101.19

TT8_Sampling 1883 40 784.47

TT8_CF8 61 47 30.59

TT8_Kalman 0 0 0.00

Analog_circuits 1411 15 218.02

GPS_charging 0 0 0.00

Compass 1332 15 205.87

RAFOS 0 0 0.00

Transponder 39 30 12.23

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 -0.65 -340.5 199 1975 469 325 0.0 0.0 0 181 0.00 0.00 -162.82 0.000 16386 0.000 0.000 199 1976 3803 3901 3706 0 0 0 0 0 0 28.83 28.83 28.83

183 -0.65 -340.5 199 1976 3902 3705 3.3 -4.1 26 205 10.93 2.42 -3.60 0.000 18692 0.267 0.098 2729 3382 3960 4008 3912 0 0 0 0 0 0 25.40 25.60 25.94

273 -0.73 -340.5 1736 3381 4007 3915 16.0 -8.8 42 281 0.00 2.35 0.00 0.000 5126 0.000 0.061 2729 1971 3962 4008 3916 0 0 0 0 0 0 28.83 25.70 28.83

325 -0.78 -340.5 1728 1969 4007 3915 19.5 -7.0 51 333 0.10 2.40 0.00 0.000 4612 0.104 0.079 2683 554 3962 4008 3916 0 0 0 0 0 0 25.83 25.68 28.83

371 -0.68 -340.5 2683 554 4008 3917 22.4 -5.9 59 379 0.20 2.38 0.00 0.000 3078 0.161 0.065 2729 1981 3962 4008 3917 0 0 0 0 0 0 25.67 25.74 28.83

502 -0.72 -340.5 1736 1978 4007 3916 30.5 -6.2 84 508 0.00 0.00 0.00 0.000 4102 0.000 0.000 2729 1980 3962 4008 3917 0 0 0 0 0 0 28.83 28.83 28.83

633 -0.75 -340.5 1744 1978 4007 3917 39.1 -6.1 109 640 0.00 0.00 0.00 0.000 4102 0.000 0.000 2729 1980 3963 4009 3917 0 0 0 0 0 0 28.83 28.83 28.83

764 -0.79 -340.5 2729 1981 4008 3917 48.3 -7.2 134 771 0.10 2.42 0.00 0.000 4612 0.107 0.076 2689 542 3962 4008 3917 0 0 0 0 0 0 26.05 25.92 28.83

809 -0.71 -340.5 2688 542 4008 3918 52.3 -8.6 142 816 0.15 2.35 0.00 0.000 3078 0.165 0.063 2719 1967 3963 4009 3917 0 0 0 0 0 0 25.87 25.95 28.83

1119 -0.71 -340.5 2719 1967 4009 3917 76.2 -7.5 203 1126 0.00 2.38 0.00 0.000 2308 0.000 0.089 2709 3377 3963 4008 3918 0 0 0 0 0 0 28.83 26.01 28.83

1153 -0.75 -340.5 2708 3377 4008 3917 78.6 -8.1 209 1159 0.00 2.30 0.00 0.000 3078 0.000 0.060 2709 1952 3962 4008 3917 0 0 0 0 0 0 28.83 26.05 28.83

1476 -0.75 -340.5 2709 1952 4008 3918 103.7 -8.1 228 1482 0.00 2.30 0.00 0.000 2564 0.000 0.075 2709 556 3963 4008 3918 0 0 0 0 0 0 28.83 26.09 28.83

1558 -0.75 -340.5 2709 556 4008 3918 110.6 -8.5 232 1563 0.00 2.33 0.00 0.000 3078 0.000 0.062 2700 1977 3963 4009 3918 0 0 0 0 0 0 28.83 26.13 28.83

1876 -0.75 -340.5 2699 1978 4008 3918 136.5 -8.3 248 1881 0.00 2.35 0.00 0.000 2564 0.000 0.075 2700 558 3963 4008 3918 0 0 0 0 0 0 28.83 26.14 28.83

1915 -0.75 -340.5 2700 558 4008 3918 139.9 -8.4 250 1921 0.08 2.30 0.00 0.000 3078 0.197 0.062 2708 1967 3963 4008 3918 0 0 0 0 0 0 26.10 26.17 28.83

2237 -0.75 -340.5 2707 1967 4008 3918 165.7 -8.3 266 2238 0.00 0.00 0.00 0.000 2054 0.000 0.000 2708 1967 3963 4008 3918 0 0 0 0 0 0 28.83 28.83 28.83

2535 -0.75 -340.5 2707 1967 4008 3918 189.1 -7.6 281 2537 0.00 0.00 0.00 0.000 2054 0.000 0.000 2708 1967 3963 4008 3918 0 0 0 0 0 0 28.83 28.83 28.83

2835 -0.75 -340.5 2707 1967 4008 3918 211.2 -7.4 296 2839 0.00 2.35 0.00 0.000 2564 0.000 0.074 2708 556 3963 4009 3918 0 0 0 0 0 0 28.83 26.24 28.83

2879 -0.75 -340.5 2708 556 4008 3918 214.1 -7.6 298 2883 0.00 2.33 0.00 0.000 3078 0.000 0.062 2699 1965 3963 4008 3919 0 0 0 0 0 0 28.83 26.27 28.83

3191 -0.75 -340.5 2698 1966 4008 3918 237.6 -7.4 314 3197 0.00 2.33 0.00 0.000 2564 0.000 0.076 2699 556 3963 4008 3918 0 0 0 0 0 0 28.83 26.25 28.83

3239 -0.75 -340.5 2698 556 4008 3918 240.7 -7.7 316 3244 0.10 2.30 0.00 0.000 3078 0.178 0.063 2715 1967 3963 4008 3918 0 0 0 0 0 0 26.22 26.28 28.83

3465 end dive: HALF_MISSION_TIME_EXCEEDED

state 3465 begin apogee

3468 -0.19 0.0 2715 1967 4008 3918 257.9 -7.3 327 3617 0.55 0.00 145.25 0.854 10246 0.126 0.000 2890 1967 3199 3292 3107 0 0 0 0 0 0 26.22 28.83 23.75

3618 end apogee: CONTROL_FINISHED_OK

state 3618 begin climb

3619 0.65 340.5 2889 1967 3292 3107 263.7 0.0 334 3908 0.77 2.60 279.08 0.804 10756 0.069 0.075 3167 553 1810 1890 1731 0 0 0 0 0 0 24.48 24.13 23.56

4091 0.51 340.5 3167 553 1880 1727 218.8 12.4 358 4098 0.17 2.42 0.00 0.000 5126 0.135 0.061 3118 1974 1803 1880 1727 0 0 0 0 0 0 25.12 25.17 28.83

4410 0.51 340.5 3118 1975 1877 1727 187.0 10.4 374 4415 0.00 2.38 0.00 0.000 260 0.000 0.086 3118 3374 1802 1878 1727 0 0 0 0 0 0 28.83 25.59 28.83

4527 0.48 340.5 3118 3375 1876 1727 174.2 11.2 380 4534 0.08 2.30 0.00 0.000 5126 0.177 0.059 3110 1970 1801 1876 1727 0 0 0 0 0 0 25.65 25.70 28.83

4847 0.52 411.3 3110 1970 1876 1727 144.9 8.6 396 4911 0.00 2.53 58.05 0.775 10500 0.000 0.086 3110 3382 1523 1615 1432 0 0 0 0 0 0 28.83 24.87 24.29

4949 0.59 475.3 3110 3382 1607 1431 136.2 8.7 401 5009 0.05 2.38 54.05 0.751 11270 0.078 0.060 3157 1965 1261 1358 1165 0 0 0 0 0 0 25.10 25.11 23.95

5308 0.59 475.3 3156 1964 1345 1164 99.9 10.1 419 5314 0.00 2.45 0.00 0.000 4356 0.000 0.084 3157 3381 1254 1345 1164 0 0 0 0 0 0 28.83 25.48 28.83

5331 0.59 475.3 3157 3381 1343 1164 97.9 10.0 420 5336 0.08 2.35 0.00 0.000 5126 0.172 0.057 3148 1957 1254 1344 1164 0 0 0 0 0 0 25.48 25.54 28.83

5637 0.59 475.3 2208 1955 1325 1162 67.5 10.1 452 5644 0.00 2.40 0.00 0.000 4356 0.000 0.083 3148 3382 1252 1342 1163 0 0 0 0 0 0 28.83 25.76 28.83

5681 0.60 488.5 3148 3382 1341 1163 63.2 9.7 460 5700 0.00 2.30 10.80 0.659 13318 0.000 0.058 3155 1965 1207 1297 1118 0 0 0 0 0 0 28.83 25.82 25.00

6003 0.60 488.5 2176 1963 1278 1116 28.5 12.0 523 6010 0.00 2.40 0.00 0.000 4356 0.000 0.084 3155 3379 1206 1294 1118 0 0 0 0 0 0 28.83 25.82 28.83

6037 0.60 488.5 3155 3379 1294 1118 24.6 11.4 529 6045 0.03 2.30 0.00 0.000 5126 0.173 0.057 3154 1972 1205 1294 1117 0 0 0 0 0 0 25.79 25.87 28.83

6167 0.60 488.5 2152 1970 1277 1116 9.7 11.2 554 6174 0.00 2.40 0.00 0.000 4612 0.000 0.080 3162 562 1205 1294 1117 0 0 0 0 0 0 28.83 25.89 28.83

6201 0.63 488.5 2192 562 1277 1115 5.5 12.1 560 6209 0.00 2.33 0.00 0.000 5126 0.000 0.060 3162 1963 1205 1294 1116 0 0 0 0 0 0 28.83 25.93 28.83

6224 end climb: SURFACE_DEPTH_REACHED

state 6224 begin surface coast

6252 end surface coast: CONTROL_FINISHED_OK

state 6252 begin surface

ID	573	HD_C	9.8500004e-06	ROLL_MAX	3785	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	15	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	5	ESCAPE_HEADING	0	C_ROLL_DIVE	1967	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1967	ALTIM_PING_DEPTH	5
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	-4300	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	300	TGT_DEFAULT_LON	800	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	350	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	24	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	733.68036	R_STBD_OVSHOOT	18	XPDR_VALID	5
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	-0.55000001
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	0	VBD_MIN	409	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3959	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	C_VBD	3200	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	20
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.245296	DEVICE3	131
T_DIVE	100	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	151
T_MISSION	115	CALL_WAIT	60	PITCH_VBD_SHIFT	0.00060000003	DEVICE5	-1
T_ABORT	140	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
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	-31601.271	DBDW	0	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	1	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	150	RAFOS_DEVICE	-1
RELAUNCH	0	RAFOS_HIT_WINDOW	3600	AH0_10V	100	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	250	MINV_24V	20	SIM_W	0
MAX_BUOY	350	PITCH_MAX	3858	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2954	FG_AHR_10V	0	SEABIRD_T_G	0.0042828661
GLIDE_SLOPE	30	PITCH_DBAND	0.0099999998	FG_AHR_24V	0	SEABIRD_T_H	0.00061930995
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.1971719e-05
RHO	1.0278	P_OVSHOOT	0.039999999	PRESSURE_YINT	-87.331184	SEABIRD_T_J	2.301111e-06
MASS	52758	PITCH_GAIN	26	PRESSURE_SLOPE	0.00011693723	SEABIRD_C_G	-9.9469662
MASS_COMP	0	PITCH_TIMEOUT	16	AD7714Ch0Gain	128	SEABIRD_C_H	1.155618
NAV_MODE	1	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0016006827
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00019558761
KALMAN_USE	2	PITCH_ADJ_GAIN	0.029999999	COMPASS_USE	0
HD_A	0.0038360001	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.010078	ROLL_MIN	150	ALTIM_TOP_PING_RANGE	0

GPS1	041216,145105,-4528.307,607.802,26,0.8,26,-24.2	TGT_NAME	SOUTH
_CALLS	1	TGT_LATLONG	-4620.000,470.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.39	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-54.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	041216,150057,-4528.312,607.949,65,0.8,65,-24.2	MHEAD_RNG_PITCHd_Wd	241.9,121055,-11.5,-10.000,-14.90,5188
SPEED_LIMITS	0.173,0.376	D_GRID	300

FINISH	0.9,1.001264	_10V_AH	10.3,1.410
SM_CCo	6369,0.00,0.000,0,0,409,684.62	FG_AHR_24Vo	0.000
SM_GC	1.43,7.88,0.00,0.00,0.048,0.000,0.000,231,1974,409,-8.42,0.20,684.62,0,0,0,0,0,0,26.02,28.83,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4508.77,605.84,011009,020210	MEM	353680
TT8_MAMPS	0.026964,0.026964	DATA_FILE_SIZE	33628,569
HUMID	51.85	CAP_FILE_SIZE	90755,0
INTERNAL_PRESSURE	8.86442	CFSIZE	2097086464,2091024384
TCM_TEMP	13.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	GPS	041216,164818,-4528.086,608.473,13,0.9,14,-24.2
_24V_AH	23.6,2.107

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	266	133.89	SBE_CT	404	23	228.96
Roll_motor	71	97	164.31	SBE_O2	318	5	44.98
VBD_pump_during_apogee	547	853	11025.63	WL_BB2FL	737	39	690.61
VBD_pump_during_surface	98	55	128.66	QSP2150	123	6	19.62
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	91	53.47	nil	0	0	0.00
Iridium_during_connect	40	160	151.91	nil	0	0	0.00
Iridium_during_xfer	383	223	2018.78	nil	0	0	0.00
Transponder_ping	6	420	64.43	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	66	30	21.13
TT8	1355	14	198.47
LPSleep	2945	2	66.44
TT8_Active	729	13	101.19
TT8_Sampling	1883	40	784.47
TT8_CF8	61	47	30.59
TT8_Kalman	0	0	0.00
Analog_circuits	1411	15	218.02
GPS_charging	0	0	0.00
Compass	1332	15	205.87
RAFOS	0	0	0.00
Transponder	39	30	12.23

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	-0.65	-340.5	199	1975	469	325	0.0	0.0	0	181	0.00	0.00	-162.82	0.000	16386	0.000	0.000	199	1976	3803	3901	3706	0	0	0	0	0	0	28.83	28.83	28.83
183	-0.65	-340.5	199	1976	3902	3705	3.3	-4.1	26	205	10.93	2.42	-3.60	0.000	18692	0.267	0.098	2729	3382	3960	4008	3912	0	0	0	0	0	0	25.40	25.60	25.94
273	-0.73	-340.5	1736	3381	4007	3915	16.0	-8.8	42	281	0.00	2.35	0.00	0.000	5126	0.000	0.061	2729	1971	3962	4008	3916	0	0	0	0	0	0	28.83	25.70	28.83
325	-0.78	-340.5	1728	1969	4007	3915	19.5	-7.0	51	333	0.10	2.40	0.00	0.000	4612	0.104	0.079	2683	554	3962	4008	3916	0	0	0	0	0	0	25.83	25.68	28.83
371	-0.68	-340.5	2683	554	4008	3917	22.4	-5.9	59	379	0.20	2.38	0.00	0.000	3078	0.161	0.065	2729	1981	3962	4008	3917	0	0	0	0	0	0	25.67	25.74	28.83
502	-0.72	-340.5	1736	1978	4007	3916	30.5	-6.2	84	508	0.00	0.00	0.00	0.000	4102	0.000	0.000	2729	1980	3962	4008	3917	0	0	0	0	0	0	28.83	28.83	28.83
633	-0.75	-340.5	1744	1978	4007	3917	39.1	-6.1	109	640	0.00	0.00	0.00	0.000	4102	0.000	0.000	2729	1980	3963	4009	3917	0	0	0	0	0	0	28.83	28.83	28.83
764	-0.79	-340.5	2729	1981	4008	3917	48.3	-7.2	134	771	0.10	2.42	0.00	0.000	4612	0.107	0.076	2689	542	3962	4008	3917	0	0	0	0	0	0	26.05	25.92	28.83
809	-0.71	-340.5	2688	542	4008	3918	52.3	-8.6	142	816	0.15	2.35	0.00	0.000	3078	0.165	0.063	2719	1967	3963	4009	3917	0	0	0	0	0	0	25.87	25.95	28.83
1119	-0.71	-340.5	2719	1967	4009	3917	76.2	-7.5	203	1126	0.00	2.38	0.00	0.000	2308	0.000	0.089	2709	3377	3963	4008	3918	0	0	0	0	0	0	28.83	26.01	28.83
1153	-0.75	-340.5	2708	3377	4008	3917	78.6	-8.1	209	1159	0.00	2.30	0.00	0.000	3078	0.000	0.060	2709	1952	3962	4008	3917	0	0	0	0	0	0	28.83	26.05	28.83
1476	-0.75	-340.5	2709	1952	4008	3918	103.7	-8.1	228	1482	0.00	2.30	0.00	0.000	2564	0.000	0.075	2709	556	3963	4008	3918	0	0	0	0	0	0	28.83	26.09	28.83
1558	-0.75	-340.5	2709	556	4008	3918	110.6	-8.5	232	1563	0.00	2.33	0.00	0.000	3078	0.000	0.062	2700	1977	3963	4009	3918	0	0	0	0	0	0	28.83	26.13	28.83
1876	-0.75	-340.5	2699	1978	4008	3918	136.5	-8.3	248	1881	0.00	2.35	0.00	0.000	2564	0.000	0.075	2700	558	3963	4008	3918	0	0	0	0	0	0	28.83	26.14	28.83
1915	-0.75	-340.5	2700	558	4008	3918	139.9	-8.4	250	1921	0.08	2.30	0.00	0.000	3078	0.197	0.062	2708	1967	3963	4008	3918	0	0	0	0	0	0	26.10	26.17	28.83
2237	-0.75	-340.5	2707	1967	4008	3918	165.7	-8.3	266	2238	0.00	0.00	0.00	0.000	2054	0.000	0.000	2708	1967	3963	4008	3918	0	0	0	0	0	0	28.83	28.83	28.83
2535	-0.75	-340.5	2707	1967	4008	3918	189.1	-7.6	281	2537	0.00	0.00	0.00	0.000	2054	0.000	0.000	2708	1967	3963	4008	3918	0	0	0	0	0	0	28.83	28.83	28.83
2835	-0.75	-340.5	2707	1967	4008	3918	211.2	-7.4	296	2839	0.00	2.35	0.00	0.000	2564	0.000	0.074	2708	556	3963	4009	3918	0	0	0	0	0	0	28.83	26.24	28.83
2879	-0.75	-340.5	2708	556	4008	3918	214.1	-7.6	298	2883	0.00	2.33	0.00	0.000	3078	0.000	0.062	2699	1965	3963	4008	3919	0	0	0	0	0	0	28.83	26.27	28.83
3191	-0.75	-340.5	2698	1966	4008	3918	237.6	-7.4	314	3197	0.00	2.33	0.00	0.000	2564	0.000	0.076	2699	556	3963	4008	3918	0	0	0	0	0	0	28.83	26.25	28.83
3239	-0.75	-340.5	2698	556	4008	3918	240.7	-7.7	316	3244	0.10	2.30	0.00	0.000	3078	0.178	0.063	2715	1967	3963	4008	3918	0	0	0	0	0	0	26.22	26.28	28.83
3465	end dive: HALF_MISSION_TIME_EXCEEDED
state	3465	begin apogee
3468	-0.19	0.0	2715	1967	4008	3918	257.9	-7.3	327	3617	0.55	0.00	145.25	0.854	10246	0.126	0.000	2890	1967	3199	3292	3107	0	0	0	0	0	0	26.22	28.83	23.75
3618	end apogee: CONTROL_FINISHED_OK
state	3618	begin climb
3619	0.65	340.5	2889	1967	3292	3107	263.7	0.0	334	3908	0.77	2.60	279.08	0.804	10756	0.069	0.075	3167	553	1810	1890	1731	0	0	0	0	0	0	24.48	24.13	23.56
4091	0.51	340.5	3167	553	1880	1727	218.8	12.4	358	4098	0.17	2.42	0.00	0.000	5126	0.135	0.061	3118	1974	1803	1880	1727	0	0	0	0	0	0	25.12	25.17	28.83
4410	0.51	340.5	3118	1975	1877	1727	187.0	10.4	374	4415	0.00	2.38	0.00	0.000	260	0.000	0.086	3118	3374	1802	1878	1727	0	0	0	0	0	0	28.83	25.59	28.83
4527	0.48	340.5	3118	3375	1876	1727	174.2	11.2	380	4534	0.08	2.30	0.00	0.000	5126	0.177	0.059	3110	1970	1801	1876	1727	0	0	0	0	0	0	25.65	25.70	28.83
4847	0.52	411.3	3110	1970	1876	1727	144.9	8.6	396	4911	0.00	2.53	58.05	0.775	10500	0.000	0.086	3110	3382	1523	1615	1432	0	0	0	0	0	0	28.83	24.87	24.29
4949	0.59	475.3	3110	3382	1607	1431	136.2	8.7	401	5009	0.05	2.38	54.05	0.751	11270	0.078	0.060	3157	1965	1261	1358	1165	0	0	0	0	0	0	25.10	25.11	23.95
5308	0.59	475.3	3156	1964	1345	1164	99.9	10.1	419	5314	0.00	2.45	0.00	0.000	4356	0.000	0.084	3157	3381	1254	1345	1164	0	0	0	0	0	0	28.83	25.48	28.83
5331	0.59	475.3	3157	3381	1343	1164	97.9	10.0	420	5336	0.08	2.35	0.00	0.000	5126	0.172	0.057	3148	1957	1254	1344	1164	0	0	0	0	0	0	25.48	25.54	28.83
5637	0.59	475.3	2208	1955	1325	1162	67.5	10.1	452	5644	0.00	2.40	0.00	0.000	4356	0.000	0.083	3148	3382	1252	1342	1163	0	0	0	0	0	0	28.83	25.76	28.83
5681	0.60	488.5	3148	3382	1341	1163	63.2	9.7	460	5700	0.00	2.30	10.80	0.659	13318	0.000	0.058	3155	1965	1207	1297	1118	0	0	0	0	0	0	28.83	25.82	25.00
6003	0.60	488.5	2176	1963	1278	1116	28.5	12.0	523	6010	0.00	2.40	0.00	0.000	4356	0.000	0.084	3155	3379	1206	1294	1118	0	0	0	0	0	0	28.83	25.82	28.83
6037	0.60	488.5	3155	3379	1294	1118	24.6	11.4	529	6045	0.03	2.30	0.00	0.000	5126	0.173	0.057	3154	1972	1205	1294	1117	0	0	0	0	0	0	25.79	25.87	28.83
6167	0.60	488.5	2152	1970	1277	1116	9.7	11.2	554	6174	0.00	2.40	0.00	0.000	4612	0.000	0.080	3162	562	1205	1294	1117	0	0	0	0	0	0	28.83	25.89	28.83
6201	0.63	488.5	2192	562	1277	1115	5.5	12.1	560	6209	0.00	2.33	0.00	0.000	5126	0.000	0.060	3162	1963	1205	1294	1116	0	0	0	0	0	0	28.83	25.93	28.83
6224	end climb: SURFACE_DEPTH_REACHED
state	6224	begin surface coast
6252	end surface coast: CONTROL_FINISHED_OK
state	6252	begin surface