Glider dive log

SOSCEx Dec16 * SG573 * Dive index * Mission links * Dive 6 * 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 6 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 24 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 -31602.621 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 -31602.621

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 24 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 6 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 041216,164818,-4528.086,608.473,13,0.9,14,-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 1.43 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -55.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 041216,165714,-4528.106,608.661,17,0.9,18,-24.2 MHEAD_RNG_PITCHd_Wd 242.2,121916,-11.5,-10.000,-14.90,5188

SPEED_LIMITS 0.173,0.376 D_GRID 300

Post-dive calculations and measurements:

FINISH 1.0,1.023366 _10V_AH 10.4,1.464

SM_CCo 6192,0.08,0.194,0,0,409,684.62 FG_AHR_24Vo 0.000

SM_GC 1.59,7.97,0.00,0.08,0.043,0.000,0.194,234,1967,409,-8.41,0.00,684.62,0,0,0,0,0,0,25.62,28.83,25.55 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4508.77,615.33,011009,040436 MEM 353700

TT8_MAMPS 0.027713,0.027713 DATA_FILE_SIZE 33693,565

HUMID 51.14 CAP_FILE_SIZE 89129,0

INTERNAL_PRESSURE 8.86442 CFSIZE 2097086464,2090926080

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 041216,184204,-4527.837,609.303,39,1.0,39,-24.2

_24V_AH 23.5,2.252

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 272 133.92 SBE_CT 404 23 227.72

Roll_motor 70 97 161.82 SBE_O2 310 5 43.75

VBD_pump_during_apogee 522 840 10328.11 WL_BB2FL 730 39 681.80

VBD_pump_during_surface 103 194 471.58 QSP2150 120 6 19.13

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 91 58.83 nil 0 0 0.00

Iridium_during_connect 19 160 72.18 nil 0 0 0.00

Iridium_during_xfer 391 223 2051.56 nil 0 0 0.00

Transponder_ping 6 420 59.22 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 30 6.43

TT8 1336 14 197.49

LPSleep 2830 2 64.47

TT8_Active 707 13 99.04

TT8_Sampling 1808 40 760.52

TT8_CF8 60 47 30.20

TT8_Kalman 0 0 0.00

Analog_circuits 1385 15 216.06

GPS_charging 0 0 0.00

Compass 1318 15 205.65

RAFOS 0 0 0.00

Transponder 36 30 11.35

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 -340.5 205 1973 468 323 0.0 0.0 0 181 0.00 0.00 -162.98 0.000 16386 0.000 0.000 206 1968 3796 3894 3698 0 0 0 0 0 0 28.83 28.83 28.83

183 -0.65 -340.5 205 1968 3895 3698 3.4 -4.7 26 205 11.10 2.42 -3.75 0.000 18692 0.272 0.097 2726 3376 3960 4008 3913 0 0 0 0 0 0 25.35 25.52 25.88

263 -0.71 -340.5 1736 3375 4007 3916 14.2 -7.1 40 271 0.00 2.35 0.00 0.000 1030 0.000 0.060 2726 1962 3962 4008 3917 0 0 0 0 0 0 28.83 25.63 28.83

314 -0.74 -340.5 1760 1960 4007 3916 18.5 -8.8 49 321 0.00 2.35 0.00 0.000 4612 0.000 0.073 2726 551 3962 4008 3917 0 0 0 0 0 0 28.83 25.63 28.83

348 -0.74 -340.5 1760 551 4007 3917 21.0 -7.4 55 356 0.00 2.38 0.00 0.000 1030 0.000 0.060 2717 1990 3963 4009 3917 0 0 0 0 0 0 28.83 25.68 28.83

480 -0.74 -340.5 1728 1989 4007 3917 31.0 -7.8 80 486 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 1991 3963 4009 3917 0 0 0 0 0 0 28.83 28.83 28.83

610 -0.74 -340.5 2716 1991 4008 3918 40.9 -6.0 105 617 0.00 2.40 0.00 0.000 516 0.000 0.072 2717 555 3963 4009 3918 0 0 0 0 0 0 28.83 25.81 28.83

654 -0.74 -340.5 1760 555 4007 3917 44.0 -7.9 113 660 0.00 2.33 0.00 0.000 3078 0.000 0.059 2708 1965 3963 4008 3918 0 0 0 0 0 0 28.83 25.85 28.83

963 -0.74 -340.5 2707 1966 4009 3918 66.7 -7.9 174 970 0.00 2.35 0.00 0.000 2564 0.000 0.071 2708 543 3963 4008 3918 0 0 0 0 0 0 28.83 25.95 28.83

1028 -0.71 -340.5 2708 544 4008 3918 71.8 -7.6 186 1036 0.10 2.35 0.00 0.000 3078 0.175 0.059 2723 1967 3963 4008 3918 0 0 0 0 0 0 25.92 25.99 28.83

1344 -0.71 -340.5 2723 1967 4008 3919 91.4 -6.4 221 1345 0.00 0.00 0.00 0.000 2054 0.000 0.000 2723 1967 3963 4008 3919 0 0 0 0 0 0 28.83 28.83 28.83

1645 -0.71 -340.5 2723 1967 4008 3919 109.3 -5.8 236 1646 0.00 0.00 0.00 0.000 2054 0.000 0.000 2723 1967 3964 4009 3919 0 0 0 0 0 0 28.83 28.83 28.83

1944 -0.71 -340.5 2723 1967 4008 3920 129.1 -6.8 251 1950 0.00 2.35 0.00 0.000 2564 0.000 0.071 2723 554 3964 4009 3920 0 0 0 0 0 0 28.83 26.15 28.83

1986 -0.71 -340.5 2723 554 4008 3920 132.0 -7.1 253 1991 0.00 2.28 0.00 0.000 3078 0.000 0.058 2714 1965 3964 4008 3920 0 0 0 0 0 0 28.83 26.18 28.83

2305 -0.71 -340.5 2714 1965 4008 3919 156.3 -7.8 269 2311 0.00 2.30 0.00 0.000 2564 0.000 0.070 2715 555 3964 4008 3920 0 0 0 0 0 0 28.83 26.17 28.83

2351 -0.71 -340.5 2714 555 4008 3920 159.8 -8.2 271 2357 0.08 2.30 0.00 0.000 3078 0.184 0.058 2722 1975 3964 4008 3920 0 0 0 0 0 0 26.15 26.21 28.83

2659 -0.74 -340.5 2722 1975 4008 3920 183.9 -7.5 286 2665 0.00 2.33 0.00 0.000 4612 0.000 0.070 2723 557 3963 4008 3919 0 0 0 0 0 0 28.83 26.22 28.83

2702 -0.74 -340.5 2722 556 4008 3919 187.1 -7.6 288 2707 0.00 2.33 0.00 0.000 1030 0.000 0.059 2713 2002 3964 4008 3920 0 0 0 0 0 0 28.83 26.24 28.83

3020 -0.74 -340.5 2713 2002 4008 3920 210.8 -6.9 304 3025 0.00 2.38 0.00 0.000 516 0.000 0.071 2714 557 3963 4008 3919 0 0 0 0 0 0 28.83 26.23 28.83

3054 -0.74 -340.5 2713 557 4008 3920 212.2 -6.9 305 3060 0.00 2.28 0.00 0.000 3078 0.000 0.060 2704 1965 3963 4008 3919 0 0 0 0 0 0 28.83 26.26 28.83

3360 -0.74 -340.5 2704 1965 4009 3920 233.5 -6.5 321 3366 0.00 2.28 0.00 0.000 2564 0.000 0.070 2704 558 3964 4008 3920 0 0 0 0 0 0 28.83 26.25 28.83

3408 -0.74 -340.5 2704 558 4008 3920 236.4 -6.7 323 3413 0.05 2.30 0.00 0.000 3078 0.216 0.060 2708 1973 3964 4008 3920 0 0 0 0 0 0 26.22 26.27 28.83

3459 end dive: HALF_MISSION_TIME_EXCEEDED

state 3459 begin apogee

3462 -0.19 0.0 2708 1973 4008 3919 240.6 -7.0 326 3611 0.57 0.00 145.62 0.841 10246 0.127 0.000 2889 1973 3200 3293 3107 0 0 0 0 0 0 26.20 28.83 23.73

3612 end apogee: CONTROL_FINISHED_OK

state 3612 begin climb

3613 0.65 340.5 2889 1972 3293 3107 245.4 0.0 333 3902 0.80 2.58 278.48 0.795 10756 0.080 0.073 3166 557 1810 1890 1731 0 0 0 0 0 0 24.44 24.09 23.51

4127 0.51 340.5 3165 556 1878 1727 195.0 12.5 359 4133 0.12 2.38 0.00 0.000 5126 0.118 0.059 3124 1966 1802 1878 1727 0 0 0 0 0 0 25.16 25.22 28.83

4447 0.53 361.2 3124 1967 1877 1726 163.5 9.6 375 4469 0.00 2.42 17.15 0.732 8452 0.000 0.083 3124 3376 1727 1810 1644 0 0 0 0 0 0 28.83 25.27 24.68

4574 0.49 361.2 3124 3377 1805 1644 150.8 11.2 381 4582 0.08 2.33 0.00 0.000 5126 0.174 0.057 3115 1966 1724 1805 1644 0 0 0 0 0 0 25.44 25.50 28.83

4882 0.50 378.3 3115 1966 1803 1644 119.5 9.7 397 4903 0.00 2.50 15.35 0.718 8452 0.000 0.082 3115 3380 1656 1741 1572 0 0 0 0 0 0 28.83 25.45 24.84

4973 0.50 378.3 3115 3380 1737 1571 111.0 10.3 401 4977 0.00 2.35 0.00 0.000 5126 0.000 0.057 3123 1957 1654 1737 1571 0 0 0 0 0 0 28.83 25.59 28.83

5286 0.51 387.6 3123 1957 1734 1572 78.7 9.8 417 5300 0.00 2.47 8.75 0.639 12548 0.000 0.080 3123 3375 1617 1700 1535 0 0 0 0 0 0 28.83 25.64 25.01

5362 0.51 387.6 3123 3376 1701 1535 70.8 10.1 431 5369 0.00 2.30 0.00 0.000 5126 0.000 0.057 3132 1962 1618 1701 1536 0 0 0 0 0 0 28.83 25.75 28.83

5671 0.51 399.1 3131 1961 1698 1535 39.8 9.8 492 5692 0.00 2.45 11.07 0.654 12548 0.000 0.080 3132 3377 1571 1655 1488 0 0 0 0 0 0 28.83 25.68 25.06

5760 0.52 477.4 2152 3375 1623 1485 31.5 8.4 508 5812 0.03 2.30 46.33 0.707 13318 0.174 0.057 3130 1972 1252 1351 1153 0 0 0 0 0 0 25.71 25.79 24.46

5936 0.60 477.4 2128 1970 1321 1151 16.2 10.6 540 5943 0.00 2.45 0.00 0.000 2308 0.000 0.084 3129 3380 1246 1340 1152 0 0 0 0 0 0 28.83 25.36 28.83

6026 0.65 477.4 2144 3378 1318 1151 6.1 11.3 557 6034 0.03 2.33 0.00 0.000 3078 0.047 0.056 3182 1972 1244 1336 1153 0 0 0 0 0 0 25.53 25.54 28.83

6049 end climb: SURFACE_DEPTH_REACHED

state 6049 begin surface coast

6071 end surface coast: CONTROL_FINISHED_OK

state 6071 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	6	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	24	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	-31602.621	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	041216,164818,-4528.086,608.473,13,0.9,14,-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	1.43	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-55.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	041216,165714,-4528.106,608.661,17,0.9,18,-24.2	MHEAD_RNG_PITCHd_Wd	242.2,121916,-11.5,-10.000,-14.90,5188
SPEED_LIMITS	0.173,0.376	D_GRID	300

FINISH	1.0,1.023366	_10V_AH	10.4,1.464
SM_CCo	6192,0.08,0.194,0,0,409,684.62	FG_AHR_24Vo	0.000
SM_GC	1.59,7.97,0.00,0.08,0.043,0.000,0.194,234,1967,409,-8.41,0.00,684.62,0,0,0,0,0,0,25.62,28.83,25.55	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4508.77,615.33,011009,040436	MEM	353700
TT8_MAMPS	0.027713,0.027713	DATA_FILE_SIZE	33693,565
HUMID	51.14	CAP_FILE_SIZE	89129,0
INTERNAL_PRESSURE	8.86442	CFSIZE	2097086464,2090926080
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	041216,184204,-4527.837,609.303,39,1.0,39,-24.2
_24V_AH	23.5,2.252

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	272	133.92	SBE_CT	404	23	227.72
Roll_motor	70	97	161.82	SBE_O2	310	5	43.75
VBD_pump_during_apogee	522	840	10328.11	WL_BB2FL	730	39	681.80
VBD_pump_during_surface	103	194	471.58	QSP2150	120	6	19.13
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	91	58.83	nil	0	0	0.00
Iridium_during_connect	19	160	72.18	nil	0	0	0.00
Iridium_during_xfer	391	223	2051.56	nil	0	0	0.00
Transponder_ping	6	420	59.22	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	30	6.43
TT8	1336	14	197.49
LPSleep	2830	2	64.47
TT8_Active	707	13	99.04
TT8_Sampling	1808	40	760.52
TT8_CF8	60	47	30.20
TT8_Kalman	0	0	0.00
Analog_circuits	1385	15	216.06
GPS_charging	0	0	0.00
Compass	1318	15	205.65
RAFOS	0	0	0.00
Transponder	36	30	11.35

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	205	1973	468	323	0.0	0.0	0	181	0.00	0.00	-162.98	0.000	16386	0.000	0.000	206	1968	3796	3894	3698	0	0	0	0	0	0	28.83	28.83	28.83
183	-0.65	-340.5	205	1968	3895	3698	3.4	-4.7	26	205	11.10	2.42	-3.75	0.000	18692	0.272	0.097	2726	3376	3960	4008	3913	0	0	0	0	0	0	25.35	25.52	25.88
263	-0.71	-340.5	1736	3375	4007	3916	14.2	-7.1	40	271	0.00	2.35	0.00	0.000	1030	0.000	0.060	2726	1962	3962	4008	3917	0	0	0	0	0	0	28.83	25.63	28.83
314	-0.74	-340.5	1760	1960	4007	3916	18.5	-8.8	49	321	0.00	2.35	0.00	0.000	4612	0.000	0.073	2726	551	3962	4008	3917	0	0	0	0	0	0	28.83	25.63	28.83
348	-0.74	-340.5	1760	551	4007	3917	21.0	-7.4	55	356	0.00	2.38	0.00	0.000	1030	0.000	0.060	2717	1990	3963	4009	3917	0	0	0	0	0	0	28.83	25.68	28.83
480	-0.74	-340.5	1728	1989	4007	3917	31.0	-7.8	80	486	0.00	0.00	0.00	0.000	6	0.000	0.000	2717	1991	3963	4009	3917	0	0	0	0	0	0	28.83	28.83	28.83
610	-0.74	-340.5	2716	1991	4008	3918	40.9	-6.0	105	617	0.00	2.40	0.00	0.000	516	0.000	0.072	2717	555	3963	4009	3918	0	0	0	0	0	0	28.83	25.81	28.83
654	-0.74	-340.5	1760	555	4007	3917	44.0	-7.9	113	660	0.00	2.33	0.00	0.000	3078	0.000	0.059	2708	1965	3963	4008	3918	0	0	0	0	0	0	28.83	25.85	28.83
963	-0.74	-340.5	2707	1966	4009	3918	66.7	-7.9	174	970	0.00	2.35	0.00	0.000	2564	0.000	0.071	2708	543	3963	4008	3918	0	0	0	0	0	0	28.83	25.95	28.83
1028	-0.71	-340.5	2708	544	4008	3918	71.8	-7.6	186	1036	0.10	2.35	0.00	0.000	3078	0.175	0.059	2723	1967	3963	4008	3918	0	0	0	0	0	0	25.92	25.99	28.83
1344	-0.71	-340.5	2723	1967	4008	3919	91.4	-6.4	221	1345	0.00	0.00	0.00	0.000	2054	0.000	0.000	2723	1967	3963	4008	3919	0	0	0	0	0	0	28.83	28.83	28.83
1645	-0.71	-340.5	2723	1967	4008	3919	109.3	-5.8	236	1646	0.00	0.00	0.00	0.000	2054	0.000	0.000	2723	1967	3964	4009	3919	0	0	0	0	0	0	28.83	28.83	28.83
1944	-0.71	-340.5	2723	1967	4008	3920	129.1	-6.8	251	1950	0.00	2.35	0.00	0.000	2564	0.000	0.071	2723	554	3964	4009	3920	0	0	0	0	0	0	28.83	26.15	28.83
1986	-0.71	-340.5	2723	554	4008	3920	132.0	-7.1	253	1991	0.00	2.28	0.00	0.000	3078	0.000	0.058	2714	1965	3964	4008	3920	0	0	0	0	0	0	28.83	26.18	28.83
2305	-0.71	-340.5	2714	1965	4008	3919	156.3	-7.8	269	2311	0.00	2.30	0.00	0.000	2564	0.000	0.070	2715	555	3964	4008	3920	0	0	0	0	0	0	28.83	26.17	28.83
2351	-0.71	-340.5	2714	555	4008	3920	159.8	-8.2	271	2357	0.08	2.30	0.00	0.000	3078	0.184	0.058	2722	1975	3964	4008	3920	0	0	0	0	0	0	26.15	26.21	28.83
2659	-0.74	-340.5	2722	1975	4008	3920	183.9	-7.5	286	2665	0.00	2.33	0.00	0.000	4612	0.000	0.070	2723	557	3963	4008	3919	0	0	0	0	0	0	28.83	26.22	28.83
2702	-0.74	-340.5	2722	556	4008	3919	187.1	-7.6	288	2707	0.00	2.33	0.00	0.000	1030	0.000	0.059	2713	2002	3964	4008	3920	0	0	0	0	0	0	28.83	26.24	28.83
3020	-0.74	-340.5	2713	2002	4008	3920	210.8	-6.9	304	3025	0.00	2.38	0.00	0.000	516	0.000	0.071	2714	557	3963	4008	3919	0	0	0	0	0	0	28.83	26.23	28.83
3054	-0.74	-340.5	2713	557	4008	3920	212.2	-6.9	305	3060	0.00	2.28	0.00	0.000	3078	0.000	0.060	2704	1965	3963	4008	3919	0	0	0	0	0	0	28.83	26.26	28.83
3360	-0.74	-340.5	2704	1965	4009	3920	233.5	-6.5	321	3366	0.00	2.28	0.00	0.000	2564	0.000	0.070	2704	558	3964	4008	3920	0	0	0	0	0	0	28.83	26.25	28.83
3408	-0.74	-340.5	2704	558	4008	3920	236.4	-6.7	323	3413	0.05	2.30	0.00	0.000	3078	0.216	0.060	2708	1973	3964	4008	3920	0	0	0	0	0	0	26.22	26.27	28.83
3459	end dive: HALF_MISSION_TIME_EXCEEDED
state	3459	begin apogee
3462	-0.19	0.0	2708	1973	4008	3919	240.6	-7.0	326	3611	0.57	0.00	145.62	0.841	10246	0.127	0.000	2889	1973	3200	3293	3107	0	0	0	0	0	0	26.20	28.83	23.73
3612	end apogee: CONTROL_FINISHED_OK
state	3612	begin climb
3613	0.65	340.5	2889	1972	3293	3107	245.4	0.0	333	3902	0.80	2.58	278.48	0.795	10756	0.080	0.073	3166	557	1810	1890	1731	0	0	0	0	0	0	24.44	24.09	23.51
4127	0.51	340.5	3165	556	1878	1727	195.0	12.5	359	4133	0.12	2.38	0.00	0.000	5126	0.118	0.059	3124	1966	1802	1878	1727	0	0	0	0	0	0	25.16	25.22	28.83
4447	0.53	361.2	3124	1967	1877	1726	163.5	9.6	375	4469	0.00	2.42	17.15	0.732	8452	0.000	0.083	3124	3376	1727	1810	1644	0	0	0	0	0	0	28.83	25.27	24.68
4574	0.49	361.2	3124	3377	1805	1644	150.8	11.2	381	4582	0.08	2.33	0.00	0.000	5126	0.174	0.057	3115	1966	1724	1805	1644	0	0	0	0	0	0	25.44	25.50	28.83
4882	0.50	378.3	3115	1966	1803	1644	119.5	9.7	397	4903	0.00	2.50	15.35	0.718	8452	0.000	0.082	3115	3380	1656	1741	1572	0	0	0	0	0	0	28.83	25.45	24.84
4973	0.50	378.3	3115	3380	1737	1571	111.0	10.3	401	4977	0.00	2.35	0.00	0.000	5126	0.000	0.057	3123	1957	1654	1737	1571	0	0	0	0	0	0	28.83	25.59	28.83
5286	0.51	387.6	3123	1957	1734	1572	78.7	9.8	417	5300	0.00	2.47	8.75	0.639	12548	0.000	0.080	3123	3375	1617	1700	1535	0	0	0	0	0	0	28.83	25.64	25.01
5362	0.51	387.6	3123	3376	1701	1535	70.8	10.1	431	5369	0.00	2.30	0.00	0.000	5126	0.000	0.057	3132	1962	1618	1701	1536	0	0	0	0	0	0	28.83	25.75	28.83
5671	0.51	399.1	3131	1961	1698	1535	39.8	9.8	492	5692	0.00	2.45	11.07	0.654	12548	0.000	0.080	3132	3377	1571	1655	1488	0	0	0	0	0	0	28.83	25.68	25.06
5760	0.52	477.4	2152	3375	1623	1485	31.5	8.4	508	5812	0.03	2.30	46.33	0.707	13318	0.174	0.057	3130	1972	1252	1351	1153	0	0	0	0	0	0	25.71	25.79	24.46
5936	0.60	477.4	2128	1970	1321	1151	16.2	10.6	540	5943	0.00	2.45	0.00	0.000	2308	0.000	0.084	3129	3380	1246	1340	1152	0	0	0	0	0	0	28.83	25.36	28.83
6026	0.65	477.4	2144	3378	1318	1151	6.1	11.3	557	6034	0.03	2.33	0.00	0.000	3078	0.047	0.056	3182	1972	1244	1336	1153	0	0	0	0	0	0	25.53	25.54	28.83
6049	end climb: SURFACE_DEPTH_REACHED
state	6049	begin surface coast
6071	end surface coast: CONTROL_FINISHED_OK
state	6071	begin surface