Glider dive log

SOSCEx 24Jul16 * SG574 * Dive index * Mission links * Dive 6 * 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 6 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 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 150 R_STBD_OVSHOOT 19 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 -2360011.8 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 -2360011.8

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 10 VBD_MAXERRORS 1

DEVICE3 147 MINV_24V 19 R_STBD_OVSHOOT 19 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 6 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 240716,132054,-4700.625,437.414,203,36.8,223,-23.5 TGT_NAME TARGET

_CALLS 1 TGT_LATLONG -4700.000,340.000

_XMS_NAKs 5 TGT_RADIUS 500.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.02 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -77.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240716,133236,-4700.626,437.480,149,6.0,169,-23.5 MHEAD_RNG_PITCHd_Wd 323.8,72610,-21.3,-9.980,-23.89,1645

SPEED_LIMITS 0.173,0.225 D_GRID 500

Post-dive calculations and measurements:

FINISH 1.0,1.022973 _10V_AH 10.2,3.227

SM_CCo 6174,17.17,0.060,0,0,1743,150.12 FG_AHR_24Vo 0.000

SM_GC 4.98,8.60,0.00,17.17,0.099,0.000,0.060,130,2109,1743,-8.45,-0.45,150.12,0,0,0,0,0,0,26.26,28.83,26.22 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4641.78,428.52,210509,010132 MEM 353396

TT8_MAMPS 0.025466,0.025466 DATA_FILE_SIZE 40409,610

HUMID 59.21 CAP_FILE_SIZE 75699,0

INTERNAL_PRESSURE 9.02378 CFSIZE 2097086464,2093285376

TCM_TEMP 7.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 CURRENT 0.198,108.1,1

_24V_AH 23.6,4.694 GPS 240716,152624,-4700.350,437.684,577,2.0,577,-23.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 288 145.32 SBE_CT 446 54 576.40

Roll_motor 65 74 115.18 QSP2150 330 6 52.57

VBD_pump_during_apogee 173 988 4056.93 WL_BB2FL 387 105 959.09

VBD_pump_during_surface 17 60 24.50 AA4330 794 43 814.67

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 91 65.03 nil 0 0 0.00

Iridium_during_connect 26 160 101.00 nil 0 0 0.00

Iridium_during_xfer 395 223 2080.21 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 172 32 58.14

TT8 1572 13 217.72

LPSleep 2783 2 62.18

TT8_Active 281 13 39.00

TT8_Sampling 2215 41 932.73

TT8_CF8 56 48 27.49

TT8_Kalman 0 0 0.00

Analog_circuits 886 15 141.41

GPS_charging 0 0 0.00

Compass 1569 19 311.64

RAFOS 0 0 0.00

Transponder 0 5 0.05

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.61 -107.1 127 2104 1776 1701 0.0 0.0 0 61 0.00 0.00 -38.92 0.000 16390 0.000 0.000 127 2103 2793 2783 2804 0 0 0 0 0 0 28.83 28.83 26.08

64 -0.61 -107.1 127 2103 2784 2804 4.5 -6.6 5 83 11.12 2.25 0.00 0.000 2564 0.272 0.036 2657 676 2795 2787 2803 0 0 0 0 0 0 25.44 25.72 28.83

92 -0.61 -107.1 2656 676 2792 2800 16.9 -35.5 8 102 0.00 2.40 0.00 0.000 1030 0.000 0.052 2648 2124 2796 2796 2796 0 0 0 0 0 0 28.83 25.71 28.83

160 -0.61 -107.1 2648 2124 2801 2791 32.4 -21.4 17 170 0.00 2.35 0.00 0.000 260 0.000 0.063 2637 3545 2795 2801 2790 0 0 0 0 0 0 28.83 25.75 28.83

210 -0.61 -107.1 2637 3545 2801 2790 42.5 -19.3 24 220 0.00 2.38 0.00 0.000 1030 0.000 0.058 2640 2117 2796 2802 2790 0 0 0 0 0 0 28.83 25.77 28.83

542 -0.61 -107.1 2639 2114 2804 2789 116.2 -21.8 79 546 0.00 2.35 0.00 0.000 260 0.000 0.069 2631 3542 2796 2803 2789 0 0 0 0 0 0 28.83 25.91 28.83

626 -0.61 -107.1 2631 3542 2804 2789 133.0 -20.3 86 633 0.00 2.35 0.00 0.000 1030 0.000 0.060 2631 2124 2796 2803 2789 0 0 0 0 0 0 28.83 25.96 28.83

936 -0.61 -107.1 2631 2120 2805 2789 199.2 -20.2 117 944 0.00 2.30 0.00 0.000 260 0.000 0.069 2622 3534 2797 2805 2789 0 0 0 0 0 0 28.83 26.03 28.83

1022 -0.61 -107.1 2622 3534 2805 2788 215.3 -17.9 125 1031 0.10 2.28 0.00 0.000 3078 0.187 0.063 2654 2124 2796 2805 2788 0 0 0 0 0 0 25.92 26.06 28.83

1329 -0.61 -107.1 2653 2121 2806 2788 268.3 -17.0 156 1341 0.00 2.33 0.00 0.000 260 0.000 0.072 2645 3538 2796 2806 2787 0 0 0 0 0 0 28.83 26.10 28.83

1386 -0.61 -107.1 2645 3538 2806 2787 277.1 -16.3 161 1394 0.00 2.28 0.00 0.000 1030 0.000 0.063 2645 2124 2796 2806 2787 0 0 0 0 0 0 28.83 26.12 28.83

1693 -0.61 -107.1 2644 2120 2806 2787 331.4 -17.6 192 1705 0.00 2.33 0.00 0.000 260 0.000 0.072 2635 3539 2796 2806 2786 0 0 0 0 0 0 28.83 26.15 28.83

1737 -0.61 -107.1 2634 3539 2806 2786 338.8 -16.8 196 1749 0.00 2.30 0.00 0.000 1030 0.000 0.065 2635 2122 2796 2806 2786 0 0 0 0 0 0 28.83 26.16 28.83

2046 -0.61 -107.1 2635 2119 2807 2786 393.7 -18.0 227 2050 0.00 2.33 0.00 0.000 260 0.000 0.073 2626 3535 2796 2807 2786 0 0 0 0 0 0 28.83 26.19 28.83

2117 -0.61 -107.1 2626 3535 2806 2786 403.9 -17.7 231 2126 0.08 2.35 0.00 0.000 3078 0.179 0.067 2658 2124 2796 2806 2786 0 0 0 0 0 0 26.08 26.20 28.83

2424 -0.61 -107.1 2658 2121 2807 2786 454.0 -15.1 247 2429 0.00 2.33 0.00 0.000 260 0.000 0.075 2649 3538 2796 2807 2786 0 0 0 0 0 0 28.83 26.22 28.83

2460 -0.61 -107.1 2649 3538 2807 2786 459.4 -15.2 249 2464 0.00 2.30 0.00 0.000 1030 0.000 0.068 2649 2125 2796 2807 2786 0 0 0 0 0 0 28.83 26.23 28.83

2735 end dive: TARGET_DEPTH_EXCEEDED

state 2735 begin apogee

2738 -0.11 0.0 2649 2121 2807 2786 502.4 -15.7 263 2826 0.57 0.00 84.55 0.988 10246 0.196 0.000 2810 2121 2356 2389 2323 0 0 0 0 0 0 26.14 28.83 24.08

2827 end apogee: CONTROL_FINISHED_OK

state 2827 begin climb

2828 0.61 107.1 2810 2121 2390 2323 505.8 0.0 267 2925 0.73 2.50 89.38 0.968 10756 0.105 0.051 3053 680 1918 1975 1862 0 0 0 0 0 0 24.74 24.31 23.65

2960 0.61 107.1 3053 680 1969 1861 494.5 12.1 274 2964 0.00 2.45 0.00 0.000 1030 0.000 0.050 3053 2092 1915 1969 1862 0 0 0 0 0 0 28.83 24.75 28.83

3272 0.61 107.1 3053 2092 1967 1857 437.5 17.6 290 3276 0.00 2.33 0.00 0.000 516 0.000 0.052 3063 676 1911 1966 1857 0 0 0 0 0 0 28.83 25.51 28.83

3316 0.61 107.1 3063 676 1964 1856 431.1 17.9 292 3320 0.00 2.38 0.00 0.000 1030 0.000 0.051 3063 2097 1909 1963 1856 0 0 0 0 0 0 28.83 25.56 28.83

3628 0.61 107.1 3063 2097 1963 1855 375.1 17.1 315 3629 0.00 0.00 0.00 0.000 6 0.000 0.000 3063 2097 1909 1963 1855 0 0 0 0 0 0 28.83 28.83 28.83

3932 0.61 107.1 3063 2097 1962 1854 324.2 16.6 345 3937 0.00 0.00 0.00 0.000 6 0.000 0.000 3063 2097 1908 1962 1855 0 0 0 0 0 0 28.83 28.83 28.83

4238 0.61 107.1 3063 2097 1961 1853 272.8 16.9 376 4239 0.00 0.00 0.00 0.000 6 0.000 0.000 3063 2097 1907 1961 1854 0 0 0 0 0 0 28.83 28.83 28.83

4538 0.61 107.1 3063 2097 1961 1853 223.5 16.1 406 4539 0.00 0.00 0.00 0.000 6 0.000 0.000 3063 2097 1907 1961 1854 0 0 0 0 0 0 28.83 28.83 28.83

4838 0.61 107.1 3063 2097 1961 1853 178.6 14.4 436 4842 0.00 2.28 0.00 0.000 516 0.000 0.053 3073 673 1907 1961 1853 0 0 0 0 0 0 28.83 26.14 28.83

4930 0.61 107.1 3073 673 1958 1853 165.7 14.0 444 4934 0.00 2.28 0.00 0.000 1030 0.000 0.051 3074 2100 1905 1958 1853 0 0 0 0 0 0 28.83 26.15 28.83

5235 0.61 107.1 3073 2100 1960 1853 122.3 14.0 474 5236 0.00 0.00 0.00 0.000 6 0.000 0.000 3073 2100 1905 1959 1852 0 0 0 0 0 0 28.83 28.83 28.83

5554 0.61 107.1 3073 2100 1959 1853 79.3 13.9 517 5561 0.00 2.28 0.00 0.000 516 0.000 0.052 3084 670 1905 1959 1852 0 0 0 0 0 0 28.83 26.23 28.83

5625 0.61 107.1 3083 670 1958 1852 69.1 14.1 529 5632 0.15 2.28 0.00 0.000 5126 0.288 0.051 3057 2099 1905 1958 1853 0 0 0 0 0 0 25.99 26.24 28.83

5998 0.61 107.1 3056 2103 1959 1852 20.0 14.5 590 6008 0.00 2.30 0.00 0.000 516 0.000 0.051 3065 679 1905 1959 1852 0 0 0 0 0 0 28.83 26.27 28.83

6025 0.61 107.1 3065 679 1958 1852 16.4 14.2 593 6034 0.00 2.30 0.00 0.000 1030 0.000 0.050 3066 2103 1905 1959 1852 0 0 0 0 0 0 28.83 26.28 28.83

6093 0.61 107.1 3065 2107 1960 1852 8.1 12.1 602 6102 0.00 2.28 0.00 0.000 516 0.000 0.047 3076 682 1904 1958 1851 0 0 0 0 0 0 28.83 26.27 28.83

6119 0.61 107.1 3075 682 1953 1854 4.6 13.4 605 6128 0.00 2.30 0.00 0.000 1030 0.000 0.050 3076 2104 1905 1957 1853 0 0 0 0 0 0 28.83 26.28 28.83

6136 end climb: SURFACE_DEPTH_REACHED

state 6136 begin surface coast

6159 end surface coast: CONTROL_FINISHED_OK

state 6159 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	6	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	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	150	R_STBD_OVSHOOT	19	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	-2360011.8	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	240716,132054,-4700.625,437.414,203,36.8,223,-23.5	TGT_NAME	TARGET
_CALLS	1	TGT_LATLONG	-4700.000,340.000
_XMS_NAKs	5	TGT_RADIUS	500.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.02	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-77.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240716,133236,-4700.626,437.480,149,6.0,169,-23.5	MHEAD_RNG_PITCHd_Wd	323.8,72610,-21.3,-9.980,-23.89,1645
SPEED_LIMITS	0.173,0.225	D_GRID	500

FINISH	1.0,1.022973	_10V_AH	10.2,3.227
SM_CCo	6174,17.17,0.060,0,0,1743,150.12	FG_AHR_24Vo	0.000
SM_GC	4.98,8.60,0.00,17.17,0.099,0.000,0.060,130,2109,1743,-8.45,-0.45,150.12,0,0,0,0,0,0,26.26,28.83,26.22	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4641.78,428.52,210509,010132	MEM	353396
TT8_MAMPS	0.025466,0.025466	DATA_FILE_SIZE	40409,610
HUMID	59.21	CAP_FILE_SIZE	75699,0
INTERNAL_PRESSURE	9.02378	CFSIZE	2097086464,2093285376
TCM_TEMP	7.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	CURRENT	0.198,108.1,1
_24V_AH	23.6,4.694	GPS	240716,152624,-4700.350,437.684,577,2.0,577,-23.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	288	145.32	SBE_CT	446	54	576.40
Roll_motor	65	74	115.18	QSP2150	330	6	52.57
VBD_pump_during_apogee	173	988	4056.93	WL_BB2FL	387	105	959.09
VBD_pump_during_surface	17	60	24.50	AA4330	794	43	814.67
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	91	65.03	nil	0	0	0.00
Iridium_during_connect	26	160	101.00	nil	0	0	0.00
Iridium_during_xfer	395	223	2080.21	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	172	32	58.14
TT8	1572	13	217.72
LPSleep	2783	2	62.18
TT8_Active	281	13	39.00
TT8_Sampling	2215	41	932.73
TT8_CF8	56	48	27.49
TT8_Kalman	0	0	0.00
Analog_circuits	886	15	141.41
GPS_charging	0	0	0.00
Compass	1569	19	311.64
RAFOS	0	0	0.00
Transponder	0	5	0.05

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.61	-107.1	127	2104	1776	1701	0.0	0.0	0	61	0.00	0.00	-38.92	0.000	16390	0.000	0.000	127	2103	2793	2783	2804	0	0	0	0	0	0	28.83	28.83	26.08
64	-0.61	-107.1	127	2103	2784	2804	4.5	-6.6	5	83	11.12	2.25	0.00	0.000	2564	0.272	0.036	2657	676	2795	2787	2803	0	0	0	0	0	0	25.44	25.72	28.83
92	-0.61	-107.1	2656	676	2792	2800	16.9	-35.5	8	102	0.00	2.40	0.00	0.000	1030	0.000	0.052	2648	2124	2796	2796	2796	0	0	0	0	0	0	28.83	25.71	28.83
160	-0.61	-107.1	2648	2124	2801	2791	32.4	-21.4	17	170	0.00	2.35	0.00	0.000	260	0.000	0.063	2637	3545	2795	2801	2790	0	0	0	0	0	0	28.83	25.75	28.83
210	-0.61	-107.1	2637	3545	2801	2790	42.5	-19.3	24	220	0.00	2.38	0.00	0.000	1030	0.000	0.058	2640	2117	2796	2802	2790	0	0	0	0	0	0	28.83	25.77	28.83
542	-0.61	-107.1	2639	2114	2804	2789	116.2	-21.8	79	546	0.00	2.35	0.00	0.000	260	0.000	0.069	2631	3542	2796	2803	2789	0	0	0	0	0	0	28.83	25.91	28.83
626	-0.61	-107.1	2631	3542	2804	2789	133.0	-20.3	86	633	0.00	2.35	0.00	0.000	1030	0.000	0.060	2631	2124	2796	2803	2789	0	0	0	0	0	0	28.83	25.96	28.83
936	-0.61	-107.1	2631	2120	2805	2789	199.2	-20.2	117	944	0.00	2.30	0.00	0.000	260	0.000	0.069	2622	3534	2797	2805	2789	0	0	0	0	0	0	28.83	26.03	28.83
1022	-0.61	-107.1	2622	3534	2805	2788	215.3	-17.9	125	1031	0.10	2.28	0.00	0.000	3078	0.187	0.063	2654	2124	2796	2805	2788	0	0	0	0	0	0	25.92	26.06	28.83
1329	-0.61	-107.1	2653	2121	2806	2788	268.3	-17.0	156	1341	0.00	2.33	0.00	0.000	260	0.000	0.072	2645	3538	2796	2806	2787	0	0	0	0	0	0	28.83	26.10	28.83
1386	-0.61	-107.1	2645	3538	2806	2787	277.1	-16.3	161	1394	0.00	2.28	0.00	0.000	1030	0.000	0.063	2645	2124	2796	2806	2787	0	0	0	0	0	0	28.83	26.12	28.83
1693	-0.61	-107.1	2644	2120	2806	2787	331.4	-17.6	192	1705	0.00	2.33	0.00	0.000	260	0.000	0.072	2635	3539	2796	2806	2786	0	0	0	0	0	0	28.83	26.15	28.83
1737	-0.61	-107.1	2634	3539	2806	2786	338.8	-16.8	196	1749	0.00	2.30	0.00	0.000	1030	0.000	0.065	2635	2122	2796	2806	2786	0	0	0	0	0	0	28.83	26.16	28.83
2046	-0.61	-107.1	2635	2119	2807	2786	393.7	-18.0	227	2050	0.00	2.33	0.00	0.000	260	0.000	0.073	2626	3535	2796	2807	2786	0	0	0	0	0	0	28.83	26.19	28.83
2117	-0.61	-107.1	2626	3535	2806	2786	403.9	-17.7	231	2126	0.08	2.35	0.00	0.000	3078	0.179	0.067	2658	2124	2796	2806	2786	0	0	0	0	0	0	26.08	26.20	28.83
2424	-0.61	-107.1	2658	2121	2807	2786	454.0	-15.1	247	2429	0.00	2.33	0.00	0.000	260	0.000	0.075	2649	3538	2796	2807	2786	0	0	0	0	0	0	28.83	26.22	28.83
2460	-0.61	-107.1	2649	3538	2807	2786	459.4	-15.2	249	2464	0.00	2.30	0.00	0.000	1030	0.000	0.068	2649	2125	2796	2807	2786	0	0	0	0	0	0	28.83	26.23	28.83
2735	end dive: TARGET_DEPTH_EXCEEDED
state	2735	begin apogee
2738	-0.11	0.0	2649	2121	2807	2786	502.4	-15.7	263	2826	0.57	0.00	84.55	0.988	10246	0.196	0.000	2810	2121	2356	2389	2323	0	0	0	0	0	0	26.14	28.83	24.08
2827	end apogee: CONTROL_FINISHED_OK
state	2827	begin climb
2828	0.61	107.1	2810	2121	2390	2323	505.8	0.0	267	2925	0.73	2.50	89.38	0.968	10756	0.105	0.051	3053	680	1918	1975	1862	0	0	0	0	0	0	24.74	24.31	23.65
2960	0.61	107.1	3053	680	1969	1861	494.5	12.1	274	2964	0.00	2.45	0.00	0.000	1030	0.000	0.050	3053	2092	1915	1969	1862	0	0	0	0	0	0	28.83	24.75	28.83
3272	0.61	107.1	3053	2092	1967	1857	437.5	17.6	290	3276	0.00	2.33	0.00	0.000	516	0.000	0.052	3063	676	1911	1966	1857	0	0	0	0	0	0	28.83	25.51	28.83
3316	0.61	107.1	3063	676	1964	1856	431.1	17.9	292	3320	0.00	2.38	0.00	0.000	1030	0.000	0.051	3063	2097	1909	1963	1856	0	0	0	0	0	0	28.83	25.56	28.83
3628	0.61	107.1	3063	2097	1963	1855	375.1	17.1	315	3629	0.00	0.00	0.00	0.000	6	0.000	0.000	3063	2097	1909	1963	1855	0	0	0	0	0	0	28.83	28.83	28.83
3932	0.61	107.1	3063	2097	1962	1854	324.2	16.6	345	3937	0.00	0.00	0.00	0.000	6	0.000	0.000	3063	2097	1908	1962	1855	0	0	0	0	0	0	28.83	28.83	28.83
4238	0.61	107.1	3063	2097	1961	1853	272.8	16.9	376	4239	0.00	0.00	0.00	0.000	6	0.000	0.000	3063	2097	1907	1961	1854	0	0	0	0	0	0	28.83	28.83	28.83
4538	0.61	107.1	3063	2097	1961	1853	223.5	16.1	406	4539	0.00	0.00	0.00	0.000	6	0.000	0.000	3063	2097	1907	1961	1854	0	0	0	0	0	0	28.83	28.83	28.83
4838	0.61	107.1	3063	2097	1961	1853	178.6	14.4	436	4842	0.00	2.28	0.00	0.000	516	0.000	0.053	3073	673	1907	1961	1853	0	0	0	0	0	0	28.83	26.14	28.83
4930	0.61	107.1	3073	673	1958	1853	165.7	14.0	444	4934	0.00	2.28	0.00	0.000	1030	0.000	0.051	3074	2100	1905	1958	1853	0	0	0	0	0	0	28.83	26.15	28.83
5235	0.61	107.1	3073	2100	1960	1853	122.3	14.0	474	5236	0.00	0.00	0.00	0.000	6	0.000	0.000	3073	2100	1905	1959	1852	0	0	0	0	0	0	28.83	28.83	28.83
5554	0.61	107.1	3073	2100	1959	1853	79.3	13.9	517	5561	0.00	2.28	0.00	0.000	516	0.000	0.052	3084	670	1905	1959	1852	0	0	0	0	0	0	28.83	26.23	28.83
5625	0.61	107.1	3083	670	1958	1852	69.1	14.1	529	5632	0.15	2.28	0.00	0.000	5126	0.288	0.051	3057	2099	1905	1958	1853	0	0	0	0	0	0	25.99	26.24	28.83
5998	0.61	107.1	3056	2103	1959	1852	20.0	14.5	590	6008	0.00	2.30	0.00	0.000	516	0.000	0.051	3065	679	1905	1959	1852	0	0	0	0	0	0	28.83	26.27	28.83
6025	0.61	107.1	3065	679	1958	1852	16.4	14.2	593	6034	0.00	2.30	0.00	0.000	1030	0.000	0.050	3066	2103	1905	1959	1852	0	0	0	0	0	0	28.83	26.28	28.83
6093	0.61	107.1	3065	2107	1960	1852	8.1	12.1	602	6102	0.00	2.28	0.00	0.000	516	0.000	0.047	3076	682	1904	1958	1851	0	0	0	0	0	0	28.83	26.27	28.83
6119	0.61	107.1	3075	682	1953	1854	4.6	13.4	605	6128	0.00	2.30	0.00	0.000	1030	0.000	0.050	3076	2104	1905	1957	1853	0	0	0	0	0	0	28.83	26.28	28.83
6136	end climb: SURFACE_DEPTH_REACHED
state	6136	begin surface coast
6159	end surface coast: CONTROL_FINISHED_OK
state	6159	begin surface