Glider dive log

SOSCEx 24Jul16 * SG574 * Dive index * Mission links * Dive 7 * 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 7 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 17 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 150 R_STBD_OVSHOOT 24 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 -2360692.8 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 -2360692.8

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 17 VBD_MAXERRORS 1

DEVICE3 147 MINV_24V 19 R_STBD_OVSHOOT 24 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 7 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 240716,152624,-4700.350,437.684,577,2.0,577,-23.5 TGT_NAME TARGET

_CALLS 5 TGT_LATLONG -4700.000,340.000

_XMS_NAKs 2 TGT_RADIUS 500.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.06 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -78.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240716,155458,-4700.361,437.899,74,2.8,94,-23.5 MHEAD_RNG_PITCHd_Wd 309.4,73133,-21.3,-9.980,-23.89,1645

SPEED_LIMITS 0.173,0.225 D_GRID 500

Post-dive calculations and measurements:

FINISH 0.8,1.022963 _10V_AH 10.2,3.324

SM_CCo 6100,17.23,0.061,0,0,1743,150.12 FG_AHR_24Vo 0.000

SM_GC 4.78,8.02,0.00,17.23,0.060,0.000,0.061,129,2094,1743,-8.46,-0.82,150.12,0,0,0,0,0,0,26.27,28.83,26.23 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4638.64,441.10,210509,050516 MEM 353380

TT8_MAMPS 0.026215,0.026215 DATA_FILE_SIZE 40322,603

HUMID 59.60 CAP_FILE_SIZE 88706,0

INTERNAL_PRESSURE 9.02378 CFSIZE 2097086464,2093187072

TCM_TEMP 6.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

XPDR_PINGS 0 CURRENT 0.147, 97.0,1

_24V_AH 23.6,4.808 GPS 240716,174057,-4700.073,437.656,181,1.0,181,-23.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 355 174.83 SBE_CT 444 54 573.74

Roll_motor 70 82 136.63 QSP2150 326 6 51.91

VBD_pump_during_apogee 174 995 4092.24 WL_BB2FL 376 105 933.14

VBD_pump_during_surface 17 61 24.88 AA4330 779 43 799.63

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 134 91 289.33 nil 0 0 0.00

Iridium_during_connect 213 160 808.05 nil 0 0 0.00

Iridium_during_xfer 824 223 4340.12 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 98 32 32.96

TT8 1557 13 215.61

LPSleep 2966 2 66.25

TT8_Active 293 13 40.56

TT8_Sampling 2966 41 1249.08

TT8_CF8 65 48 32.13

TT8_Kalman 0 0 0.00

Analog_circuits 886 15 141.50

GPS_charging 0 0 0.00

Compass 1555 19 308.82

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 -107.1 130 2108 1773 1702 0.0 0.0 0 54 0.00 0.00 -37.75 0.000 16386 0.000 0.000 130 2108 2760 2750 2770 0 0 0 0 0 0 28.83 28.83 28.83

56 -0.61 -107.1 130 2108 2750 2770 3.0 -3.0 4 77 11.00 2.30 -0.68 0.000 18948 0.263 0.060 2658 699 2793 2790 2797 0 0 0 0 0 0 25.25 25.51 25.70

114 -0.61 -107.1 2657 699 2797 2794 21.4 -27.8 11 124 0.00 2.42 0.00 0.000 1030 0.000 0.061 2649 2117 2795 2799 2791 0 0 0 0 0 0 28.83 25.53 28.83

273 -0.61 -107.1 2648 2117 2804 2788 54.6 -20.5 36 283 0.00 2.40 0.00 0.000 260 0.000 0.070 2638 3537 2795 2803 2788 0 0 0 0 0 0 28.83 25.65 28.83

351 -0.61 -107.1 2638 3537 2803 2787 69.2 -19.4 49 358 0.00 2.35 0.00 0.000 1030 0.000 0.065 2638 2121 2795 2803 2787 0 0 0 0 0 0 28.83 25.71 28.83

677 -0.61 -107.1 2638 2118 2804 2786 138.5 -20.2 93 686 0.00 2.35 0.00 0.000 260 0.000 0.073 2628 3537 2795 2805 2786 0 0 0 0 0 0 28.83 25.86 28.83

764 -0.61 -107.1 2627 3536 2804 2786 155.2 -18.6 101 774 0.08 2.30 0.00 0.000 3078 0.190 0.067 2651 2129 2795 2805 2786 0 0 0 0 0 0 25.79 25.90 28.83

1070 -0.61 -107.1 2650 2126 2805 2786 212.8 -18.0 132 1075 0.00 2.35 0.00 0.000 260 0.000 0.075 2642 3543 2795 2805 2786 0 0 0 0 0 0 28.83 25.98 28.83

1109 -0.61 -107.1 2642 3543 2805 2785 219.5 -17.9 135 1113 0.00 2.35 0.00 0.000 1030 0.000 0.068 2642 2117 2795 2805 2785 0 0 0 0 0 0 28.83 26.00 28.83

1417 -0.61 -107.1 2641 2114 2806 2785 274.1 -17.6 165 1426 0.00 2.33 0.00 0.000 260 0.000 0.076 2632 3527 2795 2806 2785 0 0 0 0 0 0 28.83 26.06 28.83

1493 -0.61 -107.1 2631 3527 2805 2785 287.3 -16.4 172 1504 0.00 2.35 0.00 0.000 1030 0.000 0.069 2632 2126 2795 2806 2785 0 0 0 0 0 0 28.83 26.06 28.83

1800 -0.61 -107.1 2632 2123 2806 2786 345.9 -18.7 203 1804 0.00 2.33 0.00 0.000 260 0.000 0.079 2622 3531 2795 2806 2785 0 0 0 0 0 0 28.83 26.11 28.83

1848 -0.61 -107.1 2622 3531 2806 2785 354.5 -18.1 207 1853 0.12 2.33 0.00 0.000 3078 0.212 0.072 2651 2121 2795 2806 2785 0 0 0 0 0 0 26.01 26.13 28.83

2163 -0.61 -107.1 2651 2118 2805 2785 408.2 -17.0 236 2167 0.00 2.35 0.00 0.000 260 0.000 0.079 2642 3532 2795 2806 2785 0 0 0 0 0 0 28.83 26.16 28.83

2233 -0.61 -107.1 2642 3532 2806 2785 417.3 -16.7 239 2240 0.00 2.33 0.00 0.000 1030 0.000 0.073 2642 2123 2795 2806 2785 0 0 0 0 0 0 28.83 26.16 28.83

2539 -0.61 -107.1 2642 2119 2806 2784 474.1 -18.0 255 2543 0.00 2.38 0.00 0.000 260 0.000 0.083 2632 3543 2795 2806 2785 0 0 0 0 0 0 28.83 26.19 28.83

2558 -0.61 -107.1 2632 3543 2806 2784 476.8 -17.8 256 2562 0.00 2.40 0.00 0.000 1030 0.000 0.075 2632 2120 2795 2806 2785 0 0 0 0 0 0 28.83 26.20 28.83

2694 end dive: TARGET_DEPTH_EXCEEDED

state 2694 begin apogee

2697 -0.11 0.0 2632 2117 2806 2784 502.5 -18.5 263 2785 0.65 0.00 84.65 0.995 10246 0.192 0.000 2814 2117 2355 2389 2322 0 0 0 0 0 0 26.10 28.83 24.04

2786 end apogee: CONTROL_FINISHED_OK

state 2786 begin climb

2787 0.61 107.1 2814 2117 2390 2322 507.0 0.0 267 2884 0.70 2.50 89.57 0.972 10756 0.096 0.051 3051 678 1918 1975 1862 0 0 0 0 0 0 24.72 24.30 23.63

2931 0.61 107.1 3051 678 1969 1861 494.0 13.5 275 2936 0.00 2.42 0.00 0.000 1030 0.000 0.050 3051 2109 1915 1969 1861 0 0 0 0 0 0 28.83 24.80 28.83

3247 0.61 107.1 3051 2109 1967 1857 442.7 16.1 291 3251 0.00 2.35 0.00 0.000 516 0.000 0.051 3061 676 1912 1967 1857 0 0 0 0 0 0 28.83 25.51 28.83

3297 0.61 107.1 3062 676 1963 1856 436.9 15.9 293 3305 0.00 2.33 0.00 0.000 1030 0.000 0.051 3062 2100 1909 1963 1856 0 0 0 0 0 0 28.83 25.58 28.83

3606 0.61 107.1 3062 2100 1963 1855 383.4 17.1 313 3613 0.00 0.00 0.00 0.000 6 0.000 0.000 3062 2100 1909 1963 1856 0 0 0 0 0 0 28.83 28.83 28.83

3913 0.61 107.1 3062 2100 1963 1855 329.2 17.5 344 3917 0.00 2.30 0.00 0.000 516 0.000 0.052 3072 673 1908 1962 1855 0 0 0 0 0 0 28.83 25.92 28.83

3932 0.61 107.1 3072 673 1960 1854 326.6 17.0 345 3941 0.00 2.28 0.00 0.000 1030 0.000 0.050 3072 2095 1907 1961 1854 0 0 0 0 0 0 28.83 25.94 28.83

4239 0.61 107.1 3072 2094 1961 1854 273.5 17.0 376 4240 0.00 0.00 0.00 0.000 6 0.000 0.000 3072 2094 1907 1961 1854 0 0 0 0 0 0 28.83 28.83 28.83

4540 0.61 107.1 3072 2094 1961 1854 222.5 17.0 406 4548 0.00 2.28 0.00 0.000 516 0.000 0.053 3082 673 1907 1960 1854 0 0 0 0 0 0 28.83 26.08 28.83

4573 0.61 107.1 3082 673 1959 1853 217.2 17.2 409 4583 0.10 2.25 0.00 0.000 5126 0.288 0.050 3060 2091 1906 1960 1853 0 0 0 0 0 0 25.85 26.10 28.83

4880 0.61 107.1 3059 2092 1960 1853 170.6 14.8 440 4884 0.00 2.28 0.00 0.000 516 0.000 0.052 3069 669 1906 1960 1853 0 0 0 0 0 0 28.83 26.14 28.83

4943 0.61 107.1 3069 669 1959 1853 162.0 14.5 445 4952 0.00 2.33 0.00 0.000 1030 0.000 0.050 3069 2093 1906 1959 1853 0 0 0 0 0 0 28.83 26.16 28.83

5251 0.61 107.1 3069 2093 1960 1852 118.1 14.0 476 5252 0.00 0.00 0.00 0.000 6 0.000 0.000 3069 2093 1906 1960 1853 0 0 0 0 0 0 28.83 28.83 28.83

5564 0.61 107.1 2112 2092 1927 1848 76.1 13.5 522 5574 0.00 2.30 0.00 0.000 516 0.000 0.052 3079 677 1905 1959 1852 0 0 0 0 0 0 28.83 26.23 28.83

5590 0.61 107.1 3079 677 1958 1852 72.5 13.6 526 5597 0.00 2.28 0.00 0.000 1030 0.000 0.050 3079 2108 1906 1959 1853 0 0 0 0 0 0 28.83 26.23 28.83

5958 0.61 107.1 3079 2111 1959 1852 18.5 13.8 587 5967 0.00 0.00 0.00 0.000 6 0.000 0.000 3079 2111 1905 1959 1852 0 0 0 0 0 0 28.83 28.83 28.83

6026 0.61 107.1 3079 2111 1959 1852 7.5 16.7 596 6035 0.00 2.33 0.00 0.000 516 0.000 0.054 3090 678 1905 1957 1853 0 0 0 0 0 0 28.83 26.26 28.83

6045 0.61 107.1 3090 678 1957 1854 4.0 17.7 598 6055 0.15 2.28 0.00 0.000 5126 0.356 0.048 3057 2095 1905 1959 1852 0 0 0 0 0 0 25.97 26.28 28.83

6063 end climb: SURFACE_DEPTH_REACHED

state 6063 begin surface coast

6086 end surface coast: CONTROL_FINISHED_OK

state 6086 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	7	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	17	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	150	R_STBD_OVSHOOT	24	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	-2360692.8	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	240716,152624,-4700.350,437.684,577,2.0,577,-23.5	TGT_NAME	TARGET
_CALLS	5	TGT_LATLONG	-4700.000,340.000
_XMS_NAKs	2	TGT_RADIUS	500.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.06	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-78.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240716,155458,-4700.361,437.899,74,2.8,94,-23.5	MHEAD_RNG_PITCHd_Wd	309.4,73133,-21.3,-9.980,-23.89,1645
SPEED_LIMITS	0.173,0.225	D_GRID	500

FINISH	0.8,1.022963	_10V_AH	10.2,3.324
SM_CCo	6100,17.23,0.061,0,0,1743,150.12	FG_AHR_24Vo	0.000
SM_GC	4.78,8.02,0.00,17.23,0.060,0.000,0.061,129,2094,1743,-8.46,-0.82,150.12,0,0,0,0,0,0,26.27,28.83,26.23	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4638.64,441.10,210509,050516	MEM	353380
TT8_MAMPS	0.026215,0.026215	DATA_FILE_SIZE	40322,603
HUMID	59.60	CAP_FILE_SIZE	88706,0
INTERNAL_PRESSURE	9.02378	CFSIZE	2097086464,2093187072
TCM_TEMP	6.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS	0	CURRENT	0.147, 97.0,1
_24V_AH	23.6,4.808	GPS	240716,174057,-4700.073,437.656,181,1.0,181,-23.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	355	174.83	SBE_CT	444	54	573.74
Roll_motor	70	82	136.63	QSP2150	326	6	51.91
VBD_pump_during_apogee	174	995	4092.24	WL_BB2FL	376	105	933.14
VBD_pump_during_surface	17	61	24.88	AA4330	779	43	799.63
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	134	91	289.33	nil	0	0	0.00
Iridium_during_connect	213	160	808.05	nil	0	0	0.00
Iridium_during_xfer	824	223	4340.12	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	98	32	32.96
TT8	1557	13	215.61
LPSleep	2966	2	66.25
TT8_Active	293	13	40.56
TT8_Sampling	2966	41	1249.08
TT8_CF8	65	48	32.13
TT8_Kalman	0	0	0.00
Analog_circuits	886	15	141.50
GPS_charging	0	0	0.00
Compass	1555	19	308.82
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	130	2108	1773	1702	0.0	0.0	0	54	0.00	0.00	-37.75	0.000	16386	0.000	0.000	130	2108	2760	2750	2770	0	0	0	0	0	0	28.83	28.83	28.83
56	-0.61	-107.1	130	2108	2750	2770	3.0	-3.0	4	77	11.00	2.30	-0.68	0.000	18948	0.263	0.060	2658	699	2793	2790	2797	0	0	0	0	0	0	25.25	25.51	25.70
114	-0.61	-107.1	2657	699	2797	2794	21.4	-27.8	11	124	0.00	2.42	0.00	0.000	1030	0.000	0.061	2649	2117	2795	2799	2791	0	0	0	0	0	0	28.83	25.53	28.83
273	-0.61	-107.1	2648	2117	2804	2788	54.6	-20.5	36	283	0.00	2.40	0.00	0.000	260	0.000	0.070	2638	3537	2795	2803	2788	0	0	0	0	0	0	28.83	25.65	28.83
351	-0.61	-107.1	2638	3537	2803	2787	69.2	-19.4	49	358	0.00	2.35	0.00	0.000	1030	0.000	0.065	2638	2121	2795	2803	2787	0	0	0	0	0	0	28.83	25.71	28.83
677	-0.61	-107.1	2638	2118	2804	2786	138.5	-20.2	93	686	0.00	2.35	0.00	0.000	260	0.000	0.073	2628	3537	2795	2805	2786	0	0	0	0	0	0	28.83	25.86	28.83
764	-0.61	-107.1	2627	3536	2804	2786	155.2	-18.6	101	774	0.08	2.30	0.00	0.000	3078	0.190	0.067	2651	2129	2795	2805	2786	0	0	0	0	0	0	25.79	25.90	28.83
1070	-0.61	-107.1	2650	2126	2805	2786	212.8	-18.0	132	1075	0.00	2.35	0.00	0.000	260	0.000	0.075	2642	3543	2795	2805	2786	0	0	0	0	0	0	28.83	25.98	28.83
1109	-0.61	-107.1	2642	3543	2805	2785	219.5	-17.9	135	1113	0.00	2.35	0.00	0.000	1030	0.000	0.068	2642	2117	2795	2805	2785	0	0	0	0	0	0	28.83	26.00	28.83
1417	-0.61	-107.1	2641	2114	2806	2785	274.1	-17.6	165	1426	0.00	2.33	0.00	0.000	260	0.000	0.076	2632	3527	2795	2806	2785	0	0	0	0	0	0	28.83	26.06	28.83
1493	-0.61	-107.1	2631	3527	2805	2785	287.3	-16.4	172	1504	0.00	2.35	0.00	0.000	1030	0.000	0.069	2632	2126	2795	2806	2785	0	0	0	0	0	0	28.83	26.06	28.83
1800	-0.61	-107.1	2632	2123	2806	2786	345.9	-18.7	203	1804	0.00	2.33	0.00	0.000	260	0.000	0.079	2622	3531	2795	2806	2785	0	0	0	0	0	0	28.83	26.11	28.83
1848	-0.61	-107.1	2622	3531	2806	2785	354.5	-18.1	207	1853	0.12	2.33	0.00	0.000	3078	0.212	0.072	2651	2121	2795	2806	2785	0	0	0	0	0	0	26.01	26.13	28.83
2163	-0.61	-107.1	2651	2118	2805	2785	408.2	-17.0	236	2167	0.00	2.35	0.00	0.000	260	0.000	0.079	2642	3532	2795	2806	2785	0	0	0	0	0	0	28.83	26.16	28.83
2233	-0.61	-107.1	2642	3532	2806	2785	417.3	-16.7	239	2240	0.00	2.33	0.00	0.000	1030	0.000	0.073	2642	2123	2795	2806	2785	0	0	0	0	0	0	28.83	26.16	28.83
2539	-0.61	-107.1	2642	2119	2806	2784	474.1	-18.0	255	2543	0.00	2.38	0.00	0.000	260	0.000	0.083	2632	3543	2795	2806	2785	0	0	0	0	0	0	28.83	26.19	28.83
2558	-0.61	-107.1	2632	3543	2806	2784	476.8	-17.8	256	2562	0.00	2.40	0.00	0.000	1030	0.000	0.075	2632	2120	2795	2806	2785	0	0	0	0	0	0	28.83	26.20	28.83
2694	end dive: TARGET_DEPTH_EXCEEDED
state	2694	begin apogee
2697	-0.11	0.0	2632	2117	2806	2784	502.5	-18.5	263	2785	0.65	0.00	84.65	0.995	10246	0.192	0.000	2814	2117	2355	2389	2322	0	0	0	0	0	0	26.10	28.83	24.04
2786	end apogee: CONTROL_FINISHED_OK
state	2786	begin climb
2787	0.61	107.1	2814	2117	2390	2322	507.0	0.0	267	2884	0.70	2.50	89.57	0.972	10756	0.096	0.051	3051	678	1918	1975	1862	0	0	0	0	0	0	24.72	24.30	23.63
2931	0.61	107.1	3051	678	1969	1861	494.0	13.5	275	2936	0.00	2.42	0.00	0.000	1030	0.000	0.050	3051	2109	1915	1969	1861	0	0	0	0	0	0	28.83	24.80	28.83
3247	0.61	107.1	3051	2109	1967	1857	442.7	16.1	291	3251	0.00	2.35	0.00	0.000	516	0.000	0.051	3061	676	1912	1967	1857	0	0	0	0	0	0	28.83	25.51	28.83
3297	0.61	107.1	3062	676	1963	1856	436.9	15.9	293	3305	0.00	2.33	0.00	0.000	1030	0.000	0.051	3062	2100	1909	1963	1856	0	0	0	0	0	0	28.83	25.58	28.83
3606	0.61	107.1	3062	2100	1963	1855	383.4	17.1	313	3613	0.00	0.00	0.00	0.000	6	0.000	0.000	3062	2100	1909	1963	1856	0	0	0	0	0	0	28.83	28.83	28.83
3913	0.61	107.1	3062	2100	1963	1855	329.2	17.5	344	3917	0.00	2.30	0.00	0.000	516	0.000	0.052	3072	673	1908	1962	1855	0	0	0	0	0	0	28.83	25.92	28.83
3932	0.61	107.1	3072	673	1960	1854	326.6	17.0	345	3941	0.00	2.28	0.00	0.000	1030	0.000	0.050	3072	2095	1907	1961	1854	0	0	0	0	0	0	28.83	25.94	28.83
4239	0.61	107.1	3072	2094	1961	1854	273.5	17.0	376	4240	0.00	0.00	0.00	0.000	6	0.000	0.000	3072	2094	1907	1961	1854	0	0	0	0	0	0	28.83	28.83	28.83
4540	0.61	107.1	3072	2094	1961	1854	222.5	17.0	406	4548	0.00	2.28	0.00	0.000	516	0.000	0.053	3082	673	1907	1960	1854	0	0	0	0	0	0	28.83	26.08	28.83
4573	0.61	107.1	3082	673	1959	1853	217.2	17.2	409	4583	0.10	2.25	0.00	0.000	5126	0.288	0.050	3060	2091	1906	1960	1853	0	0	0	0	0	0	25.85	26.10	28.83
4880	0.61	107.1	3059	2092	1960	1853	170.6	14.8	440	4884	0.00	2.28	0.00	0.000	516	0.000	0.052	3069	669	1906	1960	1853	0	0	0	0	0	0	28.83	26.14	28.83
4943	0.61	107.1	3069	669	1959	1853	162.0	14.5	445	4952	0.00	2.33	0.00	0.000	1030	0.000	0.050	3069	2093	1906	1959	1853	0	0	0	0	0	0	28.83	26.16	28.83
5251	0.61	107.1	3069	2093	1960	1852	118.1	14.0	476	5252	0.00	0.00	0.00	0.000	6	0.000	0.000	3069	2093	1906	1960	1853	0	0	0	0	0	0	28.83	28.83	28.83
5564	0.61	107.1	2112	2092	1927	1848	76.1	13.5	522	5574	0.00	2.30	0.00	0.000	516	0.000	0.052	3079	677	1905	1959	1852	0	0	0	0	0	0	28.83	26.23	28.83
5590	0.61	107.1	3079	677	1958	1852	72.5	13.6	526	5597	0.00	2.28	0.00	0.000	1030	0.000	0.050	3079	2108	1906	1959	1853	0	0	0	0	0	0	28.83	26.23	28.83
5958	0.61	107.1	3079	2111	1959	1852	18.5	13.8	587	5967	0.00	0.00	0.00	0.000	6	0.000	0.000	3079	2111	1905	1959	1852	0	0	0	0	0	0	28.83	28.83	28.83
6026	0.61	107.1	3079	2111	1959	1852	7.5	16.7	596	6035	0.00	2.33	0.00	0.000	516	0.000	0.054	3090	678	1905	1957	1853	0	0	0	0	0	0	28.83	26.26	28.83
6045	0.61	107.1	3090	678	1957	1854	4.0	17.7	598	6055	0.15	2.28	0.00	0.000	5126	0.356	0.048	3057	2095	1905	1959	1852	0	0	0	0	0	0	25.97	26.28	28.83
6063	end climb: SURFACE_DEPTH_REACHED
state	6063	begin surface coast
6086	end surface coast: CONTROL_FINISHED_OK
state	6086	begin surface