Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 79 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 574 HD_C 9.8500004e-06 C_ROLL_DIVE 1812 ALTIM_BOTTOM_TURN_MARGIN 10

MISSION 3 HEADING 270 C_ROLL_CLIMB 1800 ALTIM_TOP_TURN_MARGIN 0

DIVE 79 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 50

STOP_T 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

D_SURF 3 TGT_DEFAULT_LAT 4743.3999 R_PORT_OVSHOOT 32 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 57 ALTIM_PULSE 3

D_TGT 500 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 2

D_ABORT 1020 SM_CC 515.36688 ROLL_MAXERRORS 1 XPDR_VALID 2

D_NO_BLEED 29 N_FILEKB 4 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_BOOST 0 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097655999

T_BOOST 0 CALL_NDIVES 1 VBD_MIN 600 INT_PRESSURE_YINT 3.1600001

D_FINISH 20 COMM_SEQ 0 VBD_MAX 3960 DEEPGLIDER 0

D_PITCH 0 PROTOCOL 9 C_VBD 2701 MOTHERBOARD 4

D_SAFE 0 N_NOCOMM 2 VBD_DBAND 2 DEVICE1 -1

D_CALL 0 NOCOMM_ACTION 259 VBD_CNV -0.245296 DEVICE2 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_DIVE 167 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_MISSION 182 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_ABORT 197 CAPMAXSIZE 400000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN 500 HEAPDBG 0 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_NO_W 120 N_GPS 100840 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_LOITER 0 T_RSLEEP 2 DBDW 0 COMPASS_DEVICE 17

T_EPIRB 0 STROBE 0 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_BATHY 0 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 PHONE_DEVICE 49

USE_ICE 0 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 AH0_24V 310 RAFOS_DEVICE -1

D_OFFGRID 100 PITCH_MIN 117 AH0_10V 0 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3869 MINV_24V 11.5 SIM_W 0

RELAUNCH 0 C_PITCH 2759 MINV_10V 10 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_DBAND 0.0099999998 MAXI_24V 3 SEABIRD_T_G 0.0042907312

MAX_BUOY 95 PITCH_CNV 0.003125763 MAXI_10V 2 SEABIRD_T_H 0.00061813911

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.1013675e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 2.0586713e-06

SPEED_FACTOR 1 PITCH_GAIN 30 PHONE_SUPPLY 2 SEABIRD_C_G -9.7689371

RHO 1.0275 PITCH_TIMEOUT 25 PRESSURE_YINT -148.54955 SEABIRD_C_H 1.1415389

MASS 53998 PITCH_AD_RATE 125 PRESSURE_SLOPE 0.0001058 SEABIRD_C_I -0.0022330475

MASS_COMP 0 PITCH_MAXERRORS 1 AD7714Ch0Gain 1 SEABIRD_C_J 0.00024789109

NAV_MODE 3 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 301 COMPASS_USE 0 SC_XMITPROFILE 3.0

HD_A 0.0038360001 ROLL_MAX 3936 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0101 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 1 D_SAFE 0 PITCH_ADJ_DBAND 0 SIM_PITCH 0

AH0_10V 0 D_SURF 3 PITCH_ADJ_GAIN 0 SIM_W 0

AH0_24V 310 D_TGT 500 PITCH_AD_RATE 125 SM_CC 515.36688

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.0099999998 STOP_T 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_GAIN 30 STROBE 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_MAX 3869 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 50 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FILEMGR 0 PITCH_MIN 117 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 25 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0038360001 PITCH_W_GAIN 0 TGT_DEFAULT_LAT 4743.3999

APOGEE_PITCH -5 HD_B 0.0101 PRESSURE_SLOPE 0.0001058 TGT_DEFAULT_LON -12224.2

CALL_NDIVES 1 HD_C 9.8500004e-06 PRESSURE_YINT -148.54955 T_ABORT 197

CALL_TRIES 5 HEADING 270 PROTOCOL 9 T_BOOST 0

CALL_WAIT 60 HEAD_ERRBAND 10 P_OVSHOOT 0.039999999 T_DIVE 167

CAPMAXSIZE 400000 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_EPIRB 0

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_GPS 15

CF8_MAXERRORS 20 ID 574 RAFOS_DEVICE -1 T_LOITER 0

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097655999 RAFOS_HIT_WINDOW 3600 T_MISSION 182

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 3.1600001 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS_DEVICE 17 KALMAN_USE 2 RELAUNCH 0 T_RSLEEP 2

COMPASS_USE 0 LOGGERDEVICE1 53 RHO 1.0275 T_TURN 500

COURSE_BIAS 0 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

C_PITCH 2759 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_ROLL_CLIMB 1800 LOGGERDEVICE4 -1 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_ROLL_DIVE 1812 LOGGERS 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_VBD 2701 MASS 53998 ROLL_DEG 40 USE_BATHY 0

DBDW 0 MASS_COMP 0 ROLL_MAX 3936 USE_ICE 0

DEEPGLIDER 0 MAXI_10V 2 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MAXI_24V 3 ROLL_MIN 301 VBD_CNV -0.245296

DEVICE2 -1 MAX_BUOY 95 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MINV_10V 10 R_PORT_OVSHOOT 32 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 57 VBD_MAX 3960

DEVICE5 -1 MISSION 3 SC_PROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MIN 600

DIVE 79 NAV_MODE 3 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1020 NOCOMM_ACTION 259 SEABIRD_C_G -9.7689371 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 0 N_DIVES 0 SEABIRD_C_H 1.1415389 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_I -0.0022330475 W_ADJ_DBAND 0

D_FINISH 20 N_GPS 100840 SEABIRD_C_J 0.00024789109 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 2 SEABIRD_T_G 0.0042907312 XPDR_INHIBIT 90

D_NO_BLEED 29 N_NOSURFACE 0 SEABIRD_T_H 0.00061813911 XPDR_VALID 2

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_I 2.1013675e-05

D_PITCH 0 PHONE_SUPPLY 2 SEABIRD_T_J 2.0586713e-06

Pre-dive calculations and measurements:

GPS1 200319,213855,-2952.5959,3112.3787,7,0.9,37,-24.9,0.3,322.1,10,4.9 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG -2943.448,3105.549

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.81 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -66.9 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 200319,214930,-2952.4189,3112.4709,6,0.8,16,-24.9,1.0,80.4,11,9.8 MHEAD_RNG_PITCHd_Wd 351.1,20000,-23.0,-9.980,-25.43,1422

SPEED_LIMITS 0.173,0.210 D_GRID 500

Post-dive calculations and measurements:

FINISH 0.4,1.012313 _24V_AH 13.97,50.000

SM_CCo 3018,193.90,0.799,0,0,599,515.37 _10V_AH 14.05,0.000

SM_GC 0.75,13.62,2.35,193.90,0.046,0.040,0.799,118,1801,599,-8.18,-1.61,515.37,0,0,0,0,0,0,15.02,15.01,14.23 FG_AHR_24Vo 0.000

IRIDIUM_FIX -2942.59,3113.17,200319,214136 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.76398 MEM 340904

HUMID 41.80 DATA_FILE_SIZE 13440,556

INTERNAL_PRESSURE 9.48811 CAP_FILE_SIZE 104888,0

TCM_TEMP 21.40 CFSIZE 2097086464,2080112640

XPDR_PINGS 19 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

ALTIM_BOTTOM_PING 150.6,35.8 CURRENT 0.114,87.63,1

SC_FREEKB 3881952 GPS 200319,224416,-2952.160,3112.485,6,0.8,15,-24.9,1.3,27.1,10,9.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 301 127.90 nil 0 0 0.00

Roll_motor 56 78 61.73 nil 0 0 0.00

VBD_pump_during_apogee 224 980 3073.77 nil 0 0 0.00

VBD_pump_during_surface 193 798 2163.40 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 49 16 11.40 nil 0 0 0.00

Iridium_during_connect 60 160 135.88 SciCon 3050 36 1558.41

Iridium_during_xfer 265 223 826.81 nil 0 0 0.00

Transponder_ping 10 420 60.14 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 11 2.74

TT8 1275 9 172.22

LPSleep 545 2 16.79

TT8_Active 575 9 77.69

TT8_Sampling 1367 28 544.58

TT8_CF8 90 36 46.54

TT8_Kalman 0 0 0.00

Analog_circuits 1073 12 182.63

GPS_charging 0 0 0.00

Compass 840 17 212.24

RAFOS 0 0 0.00

Transponder 35 30 15.16

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

20 -0.88 -92.5 70 1816 628 549 0.0 0.0 0 112 0.00 0.00 -89.30 0.000 16386 0.000 0.000 66 1817 2941 2915 2968 0 0 0 0 0 0 15.09 28.83 15.10

115 -0.88 -92.5 66 1817 2915 2968 3.3 -5.9 16 141 13.85 2.38 -2.53 0.000 18948 0.301 0.079 2467 408 3080 3069 3091 0 0 0 0 0 0 14.75 13.97 14.96

329 -0.88 -92.5 2467 407 3073 3088 51.0 -16.5 57 335 0.00 2.25 0.00 0.000 3078 0.000 0.038 2464 1798 3080 3074 3087 0 0 0 0 0 0 15.06 14.98 15.07

399 -0.88 -92.5 2464 1801 3077 3085 63.3 -19.2 70 406 0.00 0.00 0.00 0.000 2054 0.000 0.000 2464 1801 3081 3077 3085 0 0 0 0 0 0 15.18 15.18 15.18

469 -0.88 -92.5 2464 1801 3077 3085 74.1 -15.3 83 474 0.00 0.00 0.00 0.000 2054 0.000 0.000 2464 1801 3081 3077 3085 0 0 0 0 0 0 15.19 15.20 15.19

535 -0.88 -92.5 2464 1801 3077 3085 82.6 -11.8 96 542 0.00 2.35 0.00 0.000 2564 0.000 0.060 2464 399 3081 3077 3085 0 0 0 0 0 0 15.19 14.95 15.20

575 -0.88 -92.5 2461 399 3078 3085 87.9 -13.4 103 582 0.00 2.30 0.00 0.000 3078 0.000 0.039 2462 1814 3081 3077 3085 0 0 0 0 0 0 15.04 14.97 15.04

644 -0.88 -92.5 2463 1817 3078 3085 98.2 -14.3 116 651 0.00 2.30 0.00 0.000 2308 0.000 0.056 2464 3218 3081 3078 3085 0 0 0 0 0 0 15.20 15.01 15.21

748 -0.88 -92.5 2464 3218 3078 3084 114.3 -14.8 136 756 0.00 2.30 0.00 0.000 3078 0.000 0.044 2464 1807 3081 3078 3084 0 0 0 0 0 0 15.11 15.02 15.12

819 -0.88 -92.5 2464 1807 3078 3084 126.1 -16.4 149 825 0.00 2.35 0.00 0.000 2308 0.000 0.054 2457 3226 3081 3078 3084 0 0 0 0 0 0 15.21 15.02 15.21

908 -0.88 -92.5 2457 3226 3078 3084 138.9 -12.7 166 916 0.08 2.33 0.00 0.000 3078 0.270 0.044 2472 1801 3080 3077 3084 0 0 0 0 0 0 14.94 15.03 15.07

978 -0.88 -92.5 2472 1802 3078 3084 148.8 -15.0 179 985 0.00 2.35 0.00 0.000 2308 0.000 0.054 2465 3222 3081 3078 3084 0 0 0 0 0 0 15.26 15.02 15.25

1069 -0.88 -92.5 2462 3222 3078 3084 161.5 -12.9 196 1076 0.00 2.30 0.00 0.000 3078 0.000 0.044 2465 1814 3080 3078 3083 0 0 0 0 0 0 15.12 15.04 15.13

1139 -0.88 -92.5 2464 1819 3078 3083 171.2 -14.6 209 1145 0.00 0.00 0.00 0.000 2054 0.000 0.000 2465 1814 3080 3078 3083 0 0 0 0 0 0 15.23 15.23 15.23

1174 end dive: BOTTOM_OBSTACLE_DETECTED

state 1175 begin apogee

1178 -0.17 0.0 2465 1814 3078 3083 176.7 -15.4 216 1253 1.17 0.00 67.90 0.981 10246 0.174 0.000 2696 1813 2701 2715 2687 0 0 0 0 0 0 14.93 14.73 14.32

1255 end apogee: CONTROL_FINISHED_OK

state 1256 begin climb

1257 0.88 92.5 2696 1813 2715 2687 180.6 0.0 229 1340 1.52 2.42 73.60 0.981 10500 0.075 0.048 3031 3216 2321 2341 2301 0 0 0 0 0 0 14.74 14.55 14.14

1402 0.89 97.7 3031 3216 2335 2302 174.3 9.6 254 1415 0.00 2.38 4.72 0.662 11270 0.000 0.047 3033 1800 2301 2320 2283 0 0 0 0 0 0 14.77 14.70 14.26

1478 0.89 102.5 3032 1800 2319 2283 166.9 9.6 268 1485 0.00 0.00 5.25 0.693 10246 0.000 0.000 3033 1800 2284 2304 2265 0 0 0 0 0 0 15.00 14.81 14.39

1547 0.90 105.7 3033 1797 2301 2263 160.2 9.7 281 1554 0.00 0.00 4.30 0.609 10246 0.000 0.000 3033 1800 2268 2288 2248 0 0 0 0 0 0 15.04 14.85 14.37

1617 0.90 105.7 3033 1800 2287 2248 153.2 10.0 294 1624 0.00 2.35 0.00 0.000 2308 0.000 0.050 3034 3212 2267 2287 2248 0 0 0 0 0 0 15.07 14.85 15.08

1836 0.90 109.7 3033 3212 2284 2246 131.6 9.7 337 1850 0.00 2.35 4.35 0.609 11270 0.000 0.048 3033 1794 2252 2272 2232 0 0 0 0 0 0 15.05 14.97 14.45

1912 0.92 121.0 3033 1794 2272 2232 124.4 9.2 351 1930 0.00 2.35 10.88 0.844 10500 0.000 0.050 3033 3211 2204 2225 2183 0 0 0 0 0 0 15.16 14.81 14.40

2072 0.92 121.0 3033 3211 2224 2182 107.5 10.5 382 2079 0.00 2.35 0.00 0.000 3078 0.000 0.050 3033 1797 2203 2224 2182 0 0 0 0 0 0 15.00 14.92 15.02

2142 0.92 121.0 3033 1797 2224 2181 100.8 10.3 395 2148 0.00 0.00 0.00 0.000 2054 0.000 0.000 3033 1797 2202 2224 2181 0 0 0 0 0 0 15.17 15.18 15.18

2209 0.92 121.0 3037 1797 2224 2181 93.6 10.0 408 2215 0.00 0.00 0.00 0.000 2054 0.000 0.000 3033 1797 2202 2224 2181 0 0 0 0 0 0 15.19 15.20 15.19

2277 0.92 121.0 3033 1797 2223 2177 85.9 10.9 421 2283 0.00 0.00 0.00 0.000 2054 0.000 0.000 3033 1797 2201 2223 2180 0 0 0 0 0 0 15.19 15.19 15.19

2344 0.92 121.0 3033 1800 2222 2180 78.0 11.8 434 2350 0.00 0.00 0.00 0.000 2054 0.000 0.000 3033 1797 2201 2222 2180 0 0 0 0 0 0 15.21 15.21 15.21

2413 0.95 148.0 3033 1797 2222 2180 71.6 8.0 447 2443 0.00 2.35 22.17 0.864 10756 0.000 0.069 3033 395 2092 2117 2068 0 0 0 0 0 0 15.21 14.90 14.48

2465 1.00 187.5 3033 395 2115 2068 67.9 7.1 456 2507 0.12 2.30 31.17 0.868 11270 0.145 0.037 3074 1818 1932 1961 1904 0 0 0 0 0 0 14.92 14.95 14.38

2570 1.00 187.5 3074 1818 1959 1901 54.2 15.9 475 2576 0.00 2.28 0.00 0.000 2308 0.000 0.051 3074 3193 1930 1959 1901 0 0 0 0 0 0 15.06 14.86 15.06

2608 1.00 187.5 3074 3192 1957 1901 47.6 16.8 482 2615 0.00 2.33 0.00 0.000 1030 0.000 0.050 3077 1802 1928 1956 1900 0 0 0 0 0 0 14.92 14.85 14.93

2678 1.00 187.5 3075 1802 1956 1899 37.1 14.7 495 2685 0.00 2.40 0.00 0.000 516 0.000 0.071 3077 391 1927 1955 1900 0 0 0 0 0 0 15.10 14.88 15.11

2796 1.00 187.5 3077 390 1951 1898 19.2 13.0 518 2804 0.00 2.28 0.00 0.000 1030 0.000 0.035 3077 1800 1926 1951 1902 0 0 0 0 0 0 15.04 14.98 15.06

2867 1.00 187.5 3077 1801 1951 1897 11.6 12.2 531 2873 0.00 2.40 0.00 0.000 516 0.000 0.069 3077 387 1923 1951 1896 0 0 0 0 0 0 15.16 14.90 15.16

2954 end climb: SURFACE_DEPTH_REACHED

state 2954 begin surface coast

2994 end surface coast: CONTROL_FINISHED_OK

state 2994 begin surface

ID	574	HD_C	9.8500004e-06	C_ROLL_DIVE	1812	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	3	HEADING	270	C_ROLL_CLIMB	1800	ALTIM_TOP_TURN_MARGIN	0
DIVE	79	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	50
STOP_T	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5
D_SURF	3	TGT_DEFAULT_LAT	4743.3999	R_PORT_OVSHOOT	32	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	57	ALTIM_PULSE	3
D_TGT	500	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	2
D_ABORT	1020	SM_CC	515.36688	ROLL_MAXERRORS	1	XPDR_VALID	2
D_NO_BLEED	29	N_FILEKB	4	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_BOOST	0	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097655999
T_BOOST	0	CALL_NDIVES	1	VBD_MIN	600	INT_PRESSURE_YINT	3.1600001
D_FINISH	20	COMM_SEQ	0	VBD_MAX	3960	DEEPGLIDER	0
D_PITCH	0	PROTOCOL	9	C_VBD	2701	MOTHERBOARD	4
D_SAFE	0	N_NOCOMM	2	VBD_DBAND	2	DEVICE1	-1
D_CALL	0	NOCOMM_ACTION	259	VBD_CNV	-0.245296	DEVICE2	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_DIVE	167	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_MISSION	182	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_ABORT	197	CAPMAXSIZE	400000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN	500	HEAPDBG	0	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_NO_W	120	N_GPS	100840	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_LOITER	0	T_RSLEEP	2	DBDW	0	COMPASS_DEVICE	17
T_EPIRB	0	STROBE	0	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_BATHY	0	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	PHONE_DEVICE	49
USE_ICE	0	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	AH0_24V	310	RAFOS_DEVICE	-1
D_OFFGRID	100	PITCH_MIN	117	AH0_10V	0	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3869	MINV_24V	11.5	SIM_W	0
RELAUNCH	0	C_PITCH	2759	MINV_10V	10	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_DBAND	0.0099999998	MAXI_24V	3	SEABIRD_T_G	0.0042907312
MAX_BUOY	95	PITCH_CNV	0.003125763	MAXI_10V	2	SEABIRD_T_H	0.00061813911
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.1013675e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	2.0586713e-06
SPEED_FACTOR	1	PITCH_GAIN	30	PHONE_SUPPLY	2	SEABIRD_C_G	-9.7689371
RHO	1.0275	PITCH_TIMEOUT	25	PRESSURE_YINT	-148.54955	SEABIRD_C_H	1.1415389
MASS	53998	PITCH_AD_RATE	125	PRESSURE_SLOPE	0.0001058	SEABIRD_C_I	-0.0022330475
MASS_COMP	0	PITCH_MAXERRORS	1	AD7714Ch0Gain	1	SEABIRD_C_J	0.00024789109
NAV_MODE	3	PITCH_ADJ_GAIN	0	TCM_PITCH_OFFSET	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	TCM_ROLL_OFFSET	0	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	301	COMPASS_USE	0	SC_XMITPROFILE	3.0
HD_A	0.0038360001	ROLL_MAX	3936	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0101	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0

GPS1	200319,213855,-2952.5959,3112.3787,7,0.9,37,-24.9,0.3,322.1,10,4.9	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	-2943.448,3105.549
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.81	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-66.9	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	200319,214930,-2952.4189,3112.4709,6,0.8,16,-24.9,1.0,80.4,11,9.8	MHEAD_RNG_PITCHd_Wd	351.1,20000,-23.0,-9.980,-25.43,1422
SPEED_LIMITS	0.173,0.210	D_GRID	500

FINISH	0.4,1.012313	_24V_AH	13.97,50.000
SM_CCo	3018,193.90,0.799,0,0,599,515.37	_10V_AH	14.05,0.000
SM_GC	0.75,13.62,2.35,193.90,0.046,0.040,0.799,118,1801,599,-8.18,-1.61,515.37,0,0,0,0,0,0,15.02,15.01,14.23	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-2942.59,3113.17,200319,214136	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.76398	MEM	340904
HUMID	41.80	DATA_FILE_SIZE	13440,556
INTERNAL_PRESSURE	9.48811	CAP_FILE_SIZE	104888,0
TCM_TEMP	21.40	CFSIZE	2097086464,2080112640
XPDR_PINGS	19	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	150.6,35.8	CURRENT	0.114,87.63,1
SC_FREEKB	3881952	GPS	200319,224416,-2952.160,3112.485,6,0.8,15,-24.9,1.3,27.1,10,9.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	301	127.90	nil	0	0	0.00
Roll_motor	56	78	61.73	nil	0	0	0.00
VBD_pump_during_apogee	224	980	3073.77	nil	0	0	0.00
VBD_pump_during_surface	193	798	2163.40	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	49	16	11.40	nil	0	0	0.00
Iridium_during_connect	60	160	135.88	SciCon	3050	36	1558.41
Iridium_during_xfer	265	223	826.81	nil	0	0	0.00
Transponder_ping	10	420	60.14	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	11	2.74
TT8	1275	9	172.22
LPSleep	545	2	16.79
TT8_Active	575	9	77.69
TT8_Sampling	1367	28	544.58
TT8_CF8	90	36	46.54
TT8_Kalman	0	0	0.00
Analog_circuits	1073	12	182.63
GPS_charging	0	0	0.00
Compass	840	17	212.24
RAFOS	0	0	0.00
Transponder	35	30	15.16

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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
20	-0.88	-92.5	70	1816	628	549	0.0	0.0	0	112	0.00	0.00	-89.30	0.000	16386	0.000	0.000	66	1817	2941	2915	2968	0	0	0	0	0	0	15.09	28.83	15.10
115	-0.88	-92.5	66	1817	2915	2968	3.3	-5.9	16	141	13.85	2.38	-2.53	0.000	18948	0.301	0.079	2467	408	3080	3069	3091	0	0	0	0	0	0	14.75	13.97	14.96
329	-0.88	-92.5	2467	407	3073	3088	51.0	-16.5	57	335	0.00	2.25	0.00	0.000	3078	0.000	0.038	2464	1798	3080	3074	3087	0	0	0	0	0	0	15.06	14.98	15.07
399	-0.88	-92.5	2464	1801	3077	3085	63.3	-19.2	70	406	0.00	0.00	0.00	0.000	2054	0.000	0.000	2464	1801	3081	3077	3085	0	0	0	0	0	0	15.18	15.18	15.18
469	-0.88	-92.5	2464	1801	3077	3085	74.1	-15.3	83	474	0.00	0.00	0.00	0.000	2054	0.000	0.000	2464	1801	3081	3077	3085	0	0	0	0	0	0	15.19	15.20	15.19
535	-0.88	-92.5	2464	1801	3077	3085	82.6	-11.8	96	542	0.00	2.35	0.00	0.000	2564	0.000	0.060	2464	399	3081	3077	3085	0	0	0	0	0	0	15.19	14.95	15.20
575	-0.88	-92.5	2461	399	3078	3085	87.9	-13.4	103	582	0.00	2.30	0.00	0.000	3078	0.000	0.039	2462	1814	3081	3077	3085	0	0	0	0	0	0	15.04	14.97	15.04
644	-0.88	-92.5	2463	1817	3078	3085	98.2	-14.3	116	651	0.00	2.30	0.00	0.000	2308	0.000	0.056	2464	3218	3081	3078	3085	0	0	0	0	0	0	15.20	15.01	15.21
748	-0.88	-92.5	2464	3218	3078	3084	114.3	-14.8	136	756	0.00	2.30	0.00	0.000	3078	0.000	0.044	2464	1807	3081	3078	3084	0	0	0	0	0	0	15.11	15.02	15.12
819	-0.88	-92.5	2464	1807	3078	3084	126.1	-16.4	149	825	0.00	2.35	0.00	0.000	2308	0.000	0.054	2457	3226	3081	3078	3084	0	0	0	0	0	0	15.21	15.02	15.21
908	-0.88	-92.5	2457	3226	3078	3084	138.9	-12.7	166	916	0.08	2.33	0.00	0.000	3078	0.270	0.044	2472	1801	3080	3077	3084	0	0	0	0	0	0	14.94	15.03	15.07
978	-0.88	-92.5	2472	1802	3078	3084	148.8	-15.0	179	985	0.00	2.35	0.00	0.000	2308	0.000	0.054	2465	3222	3081	3078	3084	0	0	0	0	0	0	15.26	15.02	15.25
1069	-0.88	-92.5	2462	3222	3078	3084	161.5	-12.9	196	1076	0.00	2.30	0.00	0.000	3078	0.000	0.044	2465	1814	3080	3078	3083	0	0	0	0	0	0	15.12	15.04	15.13
1139	-0.88	-92.5	2464	1819	3078	3083	171.2	-14.6	209	1145	0.00	0.00	0.00	0.000	2054	0.000	0.000	2465	1814	3080	3078	3083	0	0	0	0	0	0	15.23	15.23	15.23
1174	end dive: BOTTOM_OBSTACLE_DETECTED
state	1175	begin apogee
1178	-0.17	0.0	2465	1814	3078	3083	176.7	-15.4	216	1253	1.17	0.00	67.90	0.981	10246	0.174	0.000	2696	1813	2701	2715	2687	0	0	0	0	0	0	14.93	14.73	14.32
1255	end apogee: CONTROL_FINISHED_OK
state	1256	begin climb
1257	0.88	92.5	2696	1813	2715	2687	180.6	0.0	229	1340	1.52	2.42	73.60	0.981	10500	0.075	0.048	3031	3216	2321	2341	2301	0	0	0	0	0	0	14.74	14.55	14.14
1402	0.89	97.7	3031	3216	2335	2302	174.3	9.6	254	1415	0.00	2.38	4.72	0.662	11270	0.000	0.047	3033	1800	2301	2320	2283	0	0	0	0	0	0	14.77	14.70	14.26
1478	0.89	102.5	3032	1800	2319	2283	166.9	9.6	268	1485	0.00	0.00	5.25	0.693	10246	0.000	0.000	3033	1800	2284	2304	2265	0	0	0	0	0	0	15.00	14.81	14.39
1547	0.90	105.7	3033	1797	2301	2263	160.2	9.7	281	1554	0.00	0.00	4.30	0.609	10246	0.000	0.000	3033	1800	2268	2288	2248	0	0	0	0	0	0	15.04	14.85	14.37
1617	0.90	105.7	3033	1800	2287	2248	153.2	10.0	294	1624	0.00	2.35	0.00	0.000	2308	0.000	0.050	3034	3212	2267	2287	2248	0	0	0	0	0	0	15.07	14.85	15.08
1836	0.90	109.7	3033	3212	2284	2246	131.6	9.7	337	1850	0.00	2.35	4.35	0.609	11270	0.000	0.048	3033	1794	2252	2272	2232	0	0	0	0	0	0	15.05	14.97	14.45
1912	0.92	121.0	3033	1794	2272	2232	124.4	9.2	351	1930	0.00	2.35	10.88	0.844	10500	0.000	0.050	3033	3211	2204	2225	2183	0	0	0	0	0	0	15.16	14.81	14.40
2072	0.92	121.0	3033	3211	2224	2182	107.5	10.5	382	2079	0.00	2.35	0.00	0.000	3078	0.000	0.050	3033	1797	2203	2224	2182	0	0	0	0	0	0	15.00	14.92	15.02
2142	0.92	121.0	3033	1797	2224	2181	100.8	10.3	395	2148	0.00	0.00	0.00	0.000	2054	0.000	0.000	3033	1797	2202	2224	2181	0	0	0	0	0	0	15.17	15.18	15.18
2209	0.92	121.0	3037	1797	2224	2181	93.6	10.0	408	2215	0.00	0.00	0.00	0.000	2054	0.000	0.000	3033	1797	2202	2224	2181	0	0	0	0	0	0	15.19	15.20	15.19
2277	0.92	121.0	3033	1797	2223	2177	85.9	10.9	421	2283	0.00	0.00	0.00	0.000	2054	0.000	0.000	3033	1797	2201	2223	2180	0	0	0	0	0	0	15.19	15.19	15.19
2344	0.92	121.0	3033	1800	2222	2180	78.0	11.8	434	2350	0.00	0.00	0.00	0.000	2054	0.000	0.000	3033	1797	2201	2222	2180	0	0	0	0	0	0	15.21	15.21	15.21
2413	0.95	148.0	3033	1797	2222	2180	71.6	8.0	447	2443	0.00	2.35	22.17	0.864	10756	0.000	0.069	3033	395	2092	2117	2068	0	0	0	0	0	0	15.21	14.90	14.48
2465	1.00	187.5	3033	395	2115	2068	67.9	7.1	456	2507	0.12	2.30	31.17	0.868	11270	0.145	0.037	3074	1818	1932	1961	1904	0	0	0	0	0	0	14.92	14.95	14.38
2570	1.00	187.5	3074	1818	1959	1901	54.2	15.9	475	2576	0.00	2.28	0.00	0.000	2308	0.000	0.051	3074	3193	1930	1959	1901	0	0	0	0	0	0	15.06	14.86	15.06
2608	1.00	187.5	3074	3192	1957	1901	47.6	16.8	482	2615	0.00	2.33	0.00	0.000	1030	0.000	0.050	3077	1802	1928	1956	1900	0	0	0	0	0	0	14.92	14.85	14.93
2678	1.00	187.5	3075	1802	1956	1899	37.1	14.7	495	2685	0.00	2.40	0.00	0.000	516	0.000	0.071	3077	391	1927	1955	1900	0	0	0	0	0	0	15.10	14.88	15.11
2796	1.00	187.5	3077	390	1951	1898	19.2	13.0	518	2804	0.00	2.28	0.00	0.000	1030	0.000	0.035	3077	1800	1926	1951	1902	0	0	0	0	0	0	15.04	14.98	15.06
2867	1.00	187.5	3077	1801	1951	1897	11.6	12.2	531	2873	0.00	2.40	0.00	0.000	516	0.000	0.069	3077	387	1923	1951	1896	0	0	0	0	0	0	15.16	14.90	15.16
2954	end climb: SURFACE_DEPTH_REACHED
state	2954	begin surface coast
2994	end surface coast: CONTROL_FINISHED_OK
state	2994	begin surface