Glider dive log

SOSCEx 24Jul16 * SG574 * Dive index * Mission links * Dive 5 * 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 5 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 26 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 150 R_STBD_OVSHOOT 28 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 -2359609.5 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 150

AH0_10V 95 D_PITCH 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

AH0_24V 145 D_SAFE 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 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 -2359609.5

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 26 VBD_MAXERRORS 1

DEVICE3 147 MINV_24V 19 R_STBD_OVSHOOT 28 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 5 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 240716,113516,-4700.800,437.498,33,1.3,33,-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 1.25 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240716,114030,-4700.806,437.576,43,0.8,44,-23.5 MHEAD_RNG_PITCHd_Wd 328.4,72738,-21.3,-9.980,-23.89,1645

SPEED_LIMITS 0.173,0.225 D_GRID 500

Post-dive calculations and measurements:

FINISH 0.9,1.018071 _10V_AH 10.3,3.145

SM_CCo 5734,6.68,0.058,0,0,1744,150.12 FG_AHR_24Vo 0.000

SM_GC 3.69,8.52,0.00,6.68,0.090,0.000,0.058,127,2102,1744,-8.46,-0.62,150.12,0,0,0,0,0,0,26.24,28.83,26.22 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4644.93,435.32,210509,000038 MEM 353412

TT8_MAMPS 0.026215,0.026215 DATA_FILE_SIZE 37012,563

HUMID 59.92 CAP_FILE_SIZE 83143,0

INTERNAL_PRESSURE 9.02378 CFSIZE 2097086464,2093383680

TCM_TEMP 6.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 CURRENT 0.168,132.1,1

_24V_AH 23.7,4.618 GPS 240716,132054,-4700.625,437.414,203,36.8,223,-23.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 334 165.79 SBE_CT 415 54 539.07

Roll_motor 60 84 122.51 QSP2150 302 6 48.37

VBD_pump_during_apogee 194 989 4551.99 WL_BB2FL 364 105 906.44

VBD_pump_during_surface 6 58 9.20 AA4330 742 43 764.31

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 47 32 16.20

TT8 1434 13 200.49

LPSleep 2524 2 56.95

TT8_Active 309 13 43.26

TT8_Sampling 1526 41 649.08

TT8_CF8 49 48 24.50

TT8_Kalman 0 0 0.00

Analog_circuits 895 15 144.23

GPS_charging 0 0 0.00

Compass 1482 19 297.22

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

14 -0.61 -107.1 131 2142 522 426 0.0 0.0 0 112 0.00 0.00 -89.00 0.000 16390 0.000 0.000 131 2143 2792 2786 2798 0 0 0 0 0 0 28.83 28.83 26.08

115 -0.61 -107.1 131 2143 2786 2798 3.7 -5.3 11 134 10.77 2.33 0.00 0.000 2308 0.260 0.065 2642 3527 2793 2790 2796 0 0 0 0 0 0 25.46 25.70 28.83

178 -0.61 -107.1 2642 3527 2798 2790 24.4 -23.5 19 188 0.00 2.33 0.00 0.000 1030 0.000 0.061 2645 2139 2793 2800 2787 0 0 0 0 0 0 28.83 25.72 28.83

336 -0.61 -107.1 2644 2136 2801 2786 57.9 -21.4 44 343 0.00 0.00 0.00 0.000 6 0.000 0.000 2644 2136 2793 2801 2786 0 0 0 0 0 0 28.83 28.83 28.83

664 -0.61 -107.1 2644 2135 2802 2786 126.0 -21.4 93 674 0.00 2.28 0.00 0.000 260 0.000 0.073 2635 3521 2793 2802 2785 0 0 0 0 0 0 28.83 25.94 28.83

813 -0.61 -107.1 2635 3521 2802 2785 156.2 -18.3 107 817 0.00 2.30 0.00 0.000 1030 0.000 0.065 2635 2118 2794 2802 2786 0 0 0 0 0 0 28.83 25.98 28.83

1122 -0.61 -107.1 2635 2115 2804 2784 216.8 -19.7 137 1131 0.00 2.33 0.00 0.000 260 0.000 0.076 2625 3524 2794 2804 2784 0 0 0 0 0 0 28.83 26.05 28.83

1155 -0.61 -107.1 1792 3523 2776 2780 223.7 -19.9 140 1167 0.08 2.35 0.00 0.000 3078 0.184 0.067 2650 2123 2794 2804 2784 0 0 0 0 0 0 25.94 26.06 28.83

1463 -0.61 -107.1 2650 2120 2805 2784 279.0 -16.9 171 1468 0.00 2.35 0.00 0.000 260 0.000 0.077 2641 3533 2794 2805 2784 0 0 0 0 0 0 28.83 26.10 28.83

1546 -0.61 -107.1 1828 3532 2779 2779 292.2 -16.0 178 1554 0.00 2.38 0.00 0.000 1030 0.000 0.072 2641 2122 2794 2804 2784 0 0 0 0 0 0 28.83 26.11 28.83

1857 -0.61 -107.1 2641 2118 2805 2783 347.4 -17.6 209 1866 0.00 2.33 0.00 0.000 260 0.000 0.082 2632 3524 2794 2805 2783 0 0 0 0 0 0 28.83 26.15 28.83

1903 -0.61 -107.1 2632 3524 2805 2783 355.0 -17.5 213 1912 0.00 2.35 0.00 0.000 1030 0.000 0.073 2632 2129 2794 2805 2783 0 0 0 0 0 0 28.83 26.16 28.83

2211 -0.61 -107.1 2632 2126 2805 2783 411.6 -18.2 241 2217 0.00 2.35 0.00 0.000 260 0.000 0.084 2622 3528 2793 2805 2782 0 0 0 0 0 0 28.83 26.17 28.83

2274 -0.61 -107.1 2622 3528 2805 2782 421.9 -17.2 244 2279 0.12 2.35 0.00 0.000 3078 0.288 0.077 2652 2118 2793 2805 2782 0 0 0 0 0 0 25.97 26.18 28.83

2585 -0.61 -107.1 2651 2114 2805 2781 472.8 -16.3 260 2590 0.00 2.38 0.00 0.000 260 0.000 0.085 2643 3531 2793 2805 2781 0 0 0 0 0 0 28.83 26.20 28.83

2601 -0.61 -107.1 2643 3531 2805 2781 475.3 -16.5 261 2606 0.00 2.35 0.00 0.000 1030 0.000 0.078 2643 2117 2793 2805 2781 0 0 0 0 0 0 28.83 26.21 28.83

2756 end dive: TARGET_DEPTH_EXCEEDED

state 2756 begin apogee

2759 -0.11 0.0 2643 2114 2805 2781 502.1 -17.4 269 2846 0.62 0.00 84.07 0.990 10246 0.236 0.000 2816 2113 2355 2389 2322 0 0 0 0 0 0 26.11 28.83 24.08

2847 end apogee: CONTROL_FINISHED_OK

state 2847 begin climb

2849 0.61 107.1 2815 2113 2390 2322 506.1 0.0 273 2946 0.70 2.53 89.03 0.960 10756 0.106 0.051 3053 679 1918 1973 1864 0 0 0 0 0 0 24.75 24.32 23.66

2966 0.63 130.6 3053 679 1969 1863 498.3 8.5 279 2992 0.00 2.42 20.92 0.907 9222 0.000 0.050 3054 2097 1823 1887 1759 0 0 0 0 0 0 28.83 24.64 23.82

3293 0.63 130.6 3053 2097 1881 1752 435.5 18.9 295 3299 0.00 2.35 0.00 0.000 516 0.000 0.053 3064 673 1816 1881 1752 0 0 0 0 0 0 28.83 25.46 28.83

3366 0.63 130.6 3064 673 1877 1751 423.9 19.4 298 3374 0.00 2.38 0.00 0.000 1030 0.000 0.050 3064 2094 1814 1877 1751 0 0 0 0 0 0 28.83 25.55 28.83

3673 0.63 130.6 3064 2094 1877 1751 362.3 19.1 323 3682 0.00 2.33 0.00 0.000 516 0.000 0.052 3074 664 1813 1876 1751 0 0 0 0 0 0 28.83 25.77 28.83

3687 0.63 130.6 3074 664 1876 1751 360.8 19.0 324 3697 0.00 2.38 0.00 0.000 1030 0.000 0.050 3074 2100 1813 1876 1751 0 0 0 0 0 0 28.83 25.79 28.83

3994 0.63 130.6 3074 2100 1876 1750 300.7 18.9 355 4003 0.00 2.30 0.00 0.000 516 0.000 0.052 3085 672 1812 1875 1750 0 0 0 0 0 0 28.83 25.91 28.83

4018 0.63 130.6 3084 672 1874 1750 296.8 18.6 357 4026 0.00 2.28 0.00 0.000 1030 0.000 0.050 3085 2096 1812 1875 1750 0 0 0 0 0 0 28.83 25.94 28.83

4326 0.63 130.6 3085 2096 1875 1750 237.0 18.9 388 4327 0.00 0.00 0.00 0.000 6 0.000 0.000 3085 2096 1812 1875 1750 0 0 0 0 0 0 28.83 28.83 28.83

4625 0.63 130.6 3084 2098 1874 1749 182.3 18.3 418 4629 0.00 2.28 0.00 0.000 516 0.000 0.052 3096 672 1811 1874 1749 0 0 0 0 0 0 28.83 26.08 28.83

4728 0.63 130.6 2304 672 1846 1746 165.6 16.0 427 4737 0.10 2.33 0.00 0.000 5126 0.334 0.050 3073 2094 1811 1872 1750 0 0 0 0 0 0 25.80 26.12 28.83

5036 0.63 130.6 3073 2094 1873 1749 117.2 15.1 458 5037 0.00 0.00 0.00 0.000 6 0.000 0.000 3073 2094 1810 1873 1748 0 0 0 0 0 0 28.83 28.83 28.83

5357 0.63 130.6 3073 2094 1873 1749 64.1 16.6 507 5364 0.00 2.28 0.00 0.000 516 0.000 0.053 3082 668 1810 1872 1749 0 0 0 0 0 0 28.83 26.20 28.83

5440 0.63 130.6 3082 667 1870 1748 49.8 17.1 522 5451 0.00 2.33 0.00 0.000 1030 0.000 0.051 3082 2099 1809 1871 1748 0 0 0 0 0 0 28.83 26.22 28.83

5704 end climb: SURFACE_DEPTH_REACHED

state 5704 begin surface coast

5720 end surface coast: CONTROL_FINISHED_OK

state 5720 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	5	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	26	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	150	R_STBD_OVSHOOT	28	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	-2359609.5	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	240716,113516,-4700.800,437.498,33,1.3,33,-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	1.25	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240716,114030,-4700.806,437.576,43,0.8,44,-23.5	MHEAD_RNG_PITCHd_Wd	328.4,72738,-21.3,-9.980,-23.89,1645
SPEED_LIMITS	0.173,0.225	D_GRID	500

FINISH	0.9,1.018071	_10V_AH	10.3,3.145
SM_CCo	5734,6.68,0.058,0,0,1744,150.12	FG_AHR_24Vo	0.000
SM_GC	3.69,8.52,0.00,6.68,0.090,0.000,0.058,127,2102,1744,-8.46,-0.62,150.12,0,0,0,0,0,0,26.24,28.83,26.22	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4644.93,435.32,210509,000038	MEM	353412
TT8_MAMPS	0.026215,0.026215	DATA_FILE_SIZE	37012,563
HUMID	59.92	CAP_FILE_SIZE	83143,0
INTERNAL_PRESSURE	9.02378	CFSIZE	2097086464,2093383680
TCM_TEMP	6.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	CURRENT	0.168,132.1,1
_24V_AH	23.7,4.618	GPS	240716,132054,-4700.625,437.414,203,36.8,223,-23.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	334	165.79	SBE_CT	415	54	539.07
Roll_motor	60	84	122.51	QSP2150	302	6	48.37
VBD_pump_during_apogee	194	989	4551.99	WL_BB2FL	364	105	906.44
VBD_pump_during_surface	6	58	9.20	AA4330	742	43	764.31
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	47	32	16.20
TT8	1434	13	200.49
LPSleep	2524	2	56.95
TT8_Active	309	13	43.26
TT8_Sampling	1526	41	649.08
TT8_CF8	49	48	24.50
TT8_Kalman	0	0	0.00
Analog_circuits	895	15	144.23
GPS_charging	0	0	0.00
Compass	1482	19	297.22
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
14	-0.61	-107.1	131	2142	522	426	0.0	0.0	0	112	0.00	0.00	-89.00	0.000	16390	0.000	0.000	131	2143	2792	2786	2798	0	0	0	0	0	0	28.83	28.83	26.08
115	-0.61	-107.1	131	2143	2786	2798	3.7	-5.3	11	134	10.77	2.33	0.00	0.000	2308	0.260	0.065	2642	3527	2793	2790	2796	0	0	0	0	0	0	25.46	25.70	28.83
178	-0.61	-107.1	2642	3527	2798	2790	24.4	-23.5	19	188	0.00	2.33	0.00	0.000	1030	0.000	0.061	2645	2139	2793	2800	2787	0	0	0	0	0	0	28.83	25.72	28.83
336	-0.61	-107.1	2644	2136	2801	2786	57.9	-21.4	44	343	0.00	0.00	0.00	0.000	6	0.000	0.000	2644	2136	2793	2801	2786	0	0	0	0	0	0	28.83	28.83	28.83
664	-0.61	-107.1	2644	2135	2802	2786	126.0	-21.4	93	674	0.00	2.28	0.00	0.000	260	0.000	0.073	2635	3521	2793	2802	2785	0	0	0	0	0	0	28.83	25.94	28.83
813	-0.61	-107.1	2635	3521	2802	2785	156.2	-18.3	107	817	0.00	2.30	0.00	0.000	1030	0.000	0.065	2635	2118	2794	2802	2786	0	0	0	0	0	0	28.83	25.98	28.83
1122	-0.61	-107.1	2635	2115	2804	2784	216.8	-19.7	137	1131	0.00	2.33	0.00	0.000	260	0.000	0.076	2625	3524	2794	2804	2784	0	0	0	0	0	0	28.83	26.05	28.83
1155	-0.61	-107.1	1792	3523	2776	2780	223.7	-19.9	140	1167	0.08	2.35	0.00	0.000	3078	0.184	0.067	2650	2123	2794	2804	2784	0	0	0	0	0	0	25.94	26.06	28.83
1463	-0.61	-107.1	2650	2120	2805	2784	279.0	-16.9	171	1468	0.00	2.35	0.00	0.000	260	0.000	0.077	2641	3533	2794	2805	2784	0	0	0	0	0	0	28.83	26.10	28.83
1546	-0.61	-107.1	1828	3532	2779	2779	292.2	-16.0	178	1554	0.00	2.38	0.00	0.000	1030	0.000	0.072	2641	2122	2794	2804	2784	0	0	0	0	0	0	28.83	26.11	28.83
1857	-0.61	-107.1	2641	2118	2805	2783	347.4	-17.6	209	1866	0.00	2.33	0.00	0.000	260	0.000	0.082	2632	3524	2794	2805	2783	0	0	0	0	0	0	28.83	26.15	28.83
1903	-0.61	-107.1	2632	3524	2805	2783	355.0	-17.5	213	1912	0.00	2.35	0.00	0.000	1030	0.000	0.073	2632	2129	2794	2805	2783	0	0	0	0	0	0	28.83	26.16	28.83
2211	-0.61	-107.1	2632	2126	2805	2783	411.6	-18.2	241	2217	0.00	2.35	0.00	0.000	260	0.000	0.084	2622	3528	2793	2805	2782	0	0	0	0	0	0	28.83	26.17	28.83
2274	-0.61	-107.1	2622	3528	2805	2782	421.9	-17.2	244	2279	0.12	2.35	0.00	0.000	3078	0.288	0.077	2652	2118	2793	2805	2782	0	0	0	0	0	0	25.97	26.18	28.83
2585	-0.61	-107.1	2651	2114	2805	2781	472.8	-16.3	260	2590	0.00	2.38	0.00	0.000	260	0.000	0.085	2643	3531	2793	2805	2781	0	0	0	0	0	0	28.83	26.20	28.83
2601	-0.61	-107.1	2643	3531	2805	2781	475.3	-16.5	261	2606	0.00	2.35	0.00	0.000	1030	0.000	0.078	2643	2117	2793	2805	2781	0	0	0	0	0	0	28.83	26.21	28.83
2756	end dive: TARGET_DEPTH_EXCEEDED
state	2756	begin apogee
2759	-0.11	0.0	2643	2114	2805	2781	502.1	-17.4	269	2846	0.62	0.00	84.07	0.990	10246	0.236	0.000	2816	2113	2355	2389	2322	0	0	0	0	0	0	26.11	28.83	24.08
2847	end apogee: CONTROL_FINISHED_OK
state	2847	begin climb
2849	0.61	107.1	2815	2113	2390	2322	506.1	0.0	273	2946	0.70	2.53	89.03	0.960	10756	0.106	0.051	3053	679	1918	1973	1864	0	0	0	0	0	0	24.75	24.32	23.66
2966	0.63	130.6	3053	679	1969	1863	498.3	8.5	279	2992	0.00	2.42	20.92	0.907	9222	0.000	0.050	3054	2097	1823	1887	1759	0	0	0	0	0	0	28.83	24.64	23.82
3293	0.63	130.6	3053	2097	1881	1752	435.5	18.9	295	3299	0.00	2.35	0.00	0.000	516	0.000	0.053	3064	673	1816	1881	1752	0	0	0	0	0	0	28.83	25.46	28.83
3366	0.63	130.6	3064	673	1877	1751	423.9	19.4	298	3374	0.00	2.38	0.00	0.000	1030	0.000	0.050	3064	2094	1814	1877	1751	0	0	0	0	0	0	28.83	25.55	28.83
3673	0.63	130.6	3064	2094	1877	1751	362.3	19.1	323	3682	0.00	2.33	0.00	0.000	516	0.000	0.052	3074	664	1813	1876	1751	0	0	0	0	0	0	28.83	25.77	28.83
3687	0.63	130.6	3074	664	1876	1751	360.8	19.0	324	3697	0.00	2.38	0.00	0.000	1030	0.000	0.050	3074	2100	1813	1876	1751	0	0	0	0	0	0	28.83	25.79	28.83
3994	0.63	130.6	3074	2100	1876	1750	300.7	18.9	355	4003	0.00	2.30	0.00	0.000	516	0.000	0.052	3085	672	1812	1875	1750	0	0	0	0	0	0	28.83	25.91	28.83
4018	0.63	130.6	3084	672	1874	1750	296.8	18.6	357	4026	0.00	2.28	0.00	0.000	1030	0.000	0.050	3085	2096	1812	1875	1750	0	0	0	0	0	0	28.83	25.94	28.83
4326	0.63	130.6	3085	2096	1875	1750	237.0	18.9	388	4327	0.00	0.00	0.00	0.000	6	0.000	0.000	3085	2096	1812	1875	1750	0	0	0	0	0	0	28.83	28.83	28.83
4625	0.63	130.6	3084	2098	1874	1749	182.3	18.3	418	4629	0.00	2.28	0.00	0.000	516	0.000	0.052	3096	672	1811	1874	1749	0	0	0	0	0	0	28.83	26.08	28.83
4728	0.63	130.6	2304	672	1846	1746	165.6	16.0	427	4737	0.10	2.33	0.00	0.000	5126	0.334	0.050	3073	2094	1811	1872	1750	0	0	0	0	0	0	25.80	26.12	28.83
5036	0.63	130.6	3073	2094	1873	1749	117.2	15.1	458	5037	0.00	0.00	0.00	0.000	6	0.000	0.000	3073	2094	1810	1873	1748	0	0	0	0	0	0	28.83	28.83	28.83
5357	0.63	130.6	3073	2094	1873	1749	64.1	16.6	507	5364	0.00	2.28	0.00	0.000	516	0.000	0.053	3082	668	1810	1872	1749	0	0	0	0	0	0	28.83	26.20	28.83
5440	0.63	130.6	3082	667	1870	1748	49.8	17.1	522	5451	0.00	2.33	0.00	0.000	1030	0.000	0.051	3082	2099	1809	1871	1748	0	0	0	0	0	0	28.83	26.22	28.83
5704	end climb: SURFACE_DEPTH_REACHED
state	5704	begin surface coast
5720	end surface coast: CONTROL_FINISHED_OK
state	5720	begin surface