Glider dive log

SOSCEx 24Jul16 * SG574 * Dive index * Mission links * Dive 8 * 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 8 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 14 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 200 R_STBD_OVSHOOT 28 XPDR_VALID 2

D_BOOST 5 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 0 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3961 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 C_VBD 2356 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 134

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.245296 DEVICE3 147

T_DIVE 167 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 165

T_MISSION 177 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_ABORT 720 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 500 CAPMAXSIZE 400000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 15 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -2361029.8 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 200

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 -2361029.8

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 14 VBD_MAXERRORS 1

DEVICE3 147 MINV_24V 19 R_STBD_OVSHOOT 28 VBD_MIN 500

DEVICE4 165 MISSION 20 SEABIRD_C_G -9.9136524 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1456692 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 2 SEABIRD_C_I -0.00078246131 VBD_TIMEOUT 720

DIVE 8 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 240716,174057,-4700.073,437.656,181,1.0,181,-23.5 TGT_NAME TARGET

_CALLS 1 TGT_LATLONG -4700.000,340.000

_XMS_NAKs 15 TGT_RADIUS 500.000

_XMS_TOUTs 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.07 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -77.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240716,175443,-4700.038,437.816,126,8.7,146,-23.5 MHEAD_RNG_PITCHd_Wd 298.1,73026,-21.3,-9.980,-23.89,1645

SPEED_LIMITS 0.173,0.225 D_GRID 500

Post-dive calculations and measurements:

FINISH 0.9,1.011894 _10V_AH 10.2,3.408

SM_CCo 6190,40.53,0.058,0,0,1539,200.16 FG_AHR_24Vo 0.000

SM_GC 1.91,7.93,0.00,40.53,0.051,0.000,0.058,132,2105,1539,-8.44,-0.54,200.16,0,0,0,0,0,0,26.29,28.83,26.23 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4638.64,522.23,210509,050539 MEM 353408

TT8_MAMPS 0.026215,0.026215 DATA_FILE_SIZE 40444,615

HUMID 59.37 CAP_FILE_SIZE 78997,0

INTERNAL_PRESSURE 9.00425 CFSIZE 2097086464,2093088768

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 0.152,131.7,1

_24V_AH 23.6,4.893 GPS 240716,194322,-4700.214,437.345,227,1.0,227,-23.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 279 136.74 SBE_CT 456 54 588.96

Roll_motor 69 175 287.96 QSP2150 334 6 53.15

VBD_pump_during_apogee 173 998 4091.86 WL_BB2FL 411 105 1018.82

VBD_pump_during_surface 40 58 55.60 AA4330 817 43 837.92

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 91 64.53 nil 0 0 0.00

Iridium_during_connect 58 160 222.66 nil 0 0 0.00

Iridium_during_xfer 504 223 2657.17 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 149 32 50.40

TT8 1599 13 221.41

LPSleep 2722 2 60.81

TT8_Active 314 13 43.49

TT8_Sampling 2375 41 1000.30

TT8_CF8 61 48 29.93

TT8_Kalman 0 0 0.00

Analog_circuits 894 15 142.64

GPS_charging 0 0 0.00

Compass 1606 19 319.00

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 -107.1 129 2097 1774 1700 0.0 0.0 0 55 0.00 0.00 -38.47 0.000 16386 0.000 0.000 129 2097 2788 2780 2796 0 0 0 0 0 0 28.83 28.83 28.83

57 -0.61 -107.1 129 2097 2780 2797 3.4 -4.5 4 76 11.10 2.38 0.00 0.000 2308 0.269 0.059 2641 3541 2790 2786 2795 0 0 0 0 0 0 25.35 25.60 28.83

134 -0.61 -107.1 2641 3541 2794 2788 25.7 -21.7 14 145 0.00 2.40 0.00 0.000 1030 0.000 0.066 2641 2125 2790 2796 2785 0 0 0 0 0 0 28.83 25.63 28.83

293 -0.61 -107.1 2641 2121 2798 2785 57.7 -20.5 39 300 0.00 2.38 0.00 0.000 260 0.000 0.072 2631 3535 2791 2798 2785 0 0 0 0 0 0 28.83 25.74 28.83

331 -0.61 -107.1 2631 3534 2798 2784 65.6 -21.8 45 338 0.00 2.35 0.00 0.000 1030 0.000 0.063 2631 2115 2791 2798 2784 0 0 0 0 0 0 28.83 25.77 28.83

655 -0.61 -107.1 2631 2112 2799 2783 136.7 -21.5 90 659 0.00 2.35 0.00 0.000 260 0.000 0.072 2623 3528 2791 2799 2784 0 0 0 0 0 0 28.83 25.90 28.83

738 -0.61 -107.1 2622 3528 2799 2783 152.7 -19.6 97 746 0.10 2.35 0.00 0.000 3078 0.187 0.063 2653 2124 2791 2799 2783 0 0 0 0 0 0 25.82 25.94 28.83

1046 -0.61 -107.1 2653 2121 2800 2782 211.1 -18.0 128 1050 0.00 2.33 0.00 0.000 260 0.000 0.073 2644 3528 2791 2801 2782 0 0 0 0 0 0 28.83 26.01 28.83

1084 -0.61 -107.1 2644 3528 2800 2782 217.5 -16.8 131 1093 0.00 2.30 0.00 0.000 1030 0.000 0.064 2644 2120 2791 2800 2782 0 0 0 0 0 0 28.83 26.03 28.83

1394 -0.61 -107.1 2644 2117 2801 2782 273.9 -18.1 162 1398 0.00 2.33 0.00 0.000 260 0.000 0.074 2634 3525 2791 2801 2782 0 0 0 0 0 0 28.83 26.08 28.83

1454 -0.61 -107.1 1825 3524 2776 2777 284.2 -16.9 167 1462 0.00 2.33 0.00 0.000 1030 0.000 0.067 2635 2129 2791 2801 2781 0 0 0 0 0 0 28.83 26.10 28.83

1762 -0.61 -107.1 2634 2126 2801 2781 343.1 -18.8 198 1766 0.00 2.33 0.00 0.000 260 0.000 0.076 2624 3531 2791 2801 2781 0 0 0 0 0 0 28.83 26.14 28.83

1803 -0.61 -107.1 2624 3530 2802 2781 349.7 -19.0 201 1811 0.10 2.38 0.00 0.000 3078 0.187 0.070 2655 2116 2791 2801 2781 0 0 0 0 0 0 26.03 26.17 28.83

2110 -0.61 -107.1 2655 2113 2802 2781 401.7 -16.9 232 2114 0.00 2.33 0.00 0.000 260 0.000 0.077 2646 3525 2791 2802 2781 0 0 0 0 0 0 28.83 26.17 28.83

2159 -0.61 -107.1 2646 3525 2802 2781 407.7 -17.2 234 2167 0.00 2.35 0.00 0.000 1030 0.000 0.070 2646 2123 2791 2801 2781 0 0 0 0 0 0 28.83 26.18 28.83

2466 -0.61 -107.1 2646 2120 2802 2781 464.7 -17.9 250 2470 0.00 2.33 0.00 0.000 260 0.000 0.080 2636 3524 2791 2802 2780 0 0 0 0 0 0 28.83 26.20 28.83

2564 -0.61 -107.1 1830 3523 2776 2775 480.6 -16.1 255 2569 0.00 2.35 0.00 0.000 1030 0.000 0.072 2636 2126 2791 2802 2780 0 0 0 0 0 0 28.83 26.22 28.83

2682 end dive: TARGET_DEPTH_EXCEEDED

state 2682 begin apogee

2686 -0.11 0.0 2635 2094 2802 2780 501.6 -18.1 261 2773 0.62 0.00 83.88 0.998 10246 0.182 0.000 2811 2093 2356 2390 2322 0 0 0 0 0 0 26.13 28.83 24.05

2774 end apogee: CONTROL_FINISHED_OK

state 2774 begin climb

2775 0.61 107.1 2811 2093 2390 2322 506.6 0.0 265 2872 0.73 2.45 89.80 0.978 10756 0.097 0.050 3052 679 1920 1977 1864 0 0 0 0 0 0 24.73 24.30 23.63

2902 0.61 107.1 3052 679 1971 1863 497.0 10.8 272 2906 0.00 2.45 0.00 0.000 1030 0.000 0.049 3052 2090 1917 1971 1863 0 0 0 0 0 0 28.83 24.70 28.83

3219 0.61 107.1 3053 2089 1969 1858 442.4 16.6 288 3220 0.00 0.00 0.00 0.000 6 0.000 0.000 3053 2090 1913 1969 1858 0 0 0 0 0 0 28.83 28.83 28.83

3522 0.61 107.1 3052 2089 1968 1857 392.0 17.3 305 3530 0.00 2.28 0.00 0.000 260 0.000 0.057 3053 3511 1913 1968 1858 0 0 0 0 0 0 28.83 25.75 28.83

3565 0.61 107.1 3052 3511 1967 1858 384.4 17.9 309 3573 0.00 2.25 0.00 0.000 1030 0.000 0.047 3063 2094 1912 1967 1858 0 0 0 0 0 0 28.83 25.78 28.83

3872 0.61 107.1 3063 2092 1965 1857 329.3 17.8 340 3876 0.00 2.28 0.00 0.000 516 0.000 0.053 3074 677 1911 1966 1857 0 0 0 0 0 0 28.83 25.91 28.83

3933 0.61 107.1 3074 677 1962 1856 318.9 17.7 345 3942 0.00 2.28 0.00 0.000 1030 0.000 0.050 3074 2099 1909 1962 1856 0 0 0 0 0 0 28.83 25.94 28.83

4240 0.61 107.1 3073 2100 1963 1856 266.0 16.6 376 4244 0.00 2.25 0.00 0.000 260 0.000 0.057 3074 3508 1909 1963 1856 0 0 0 0 0 0 28.83 26.02 28.83

4259 0.61 107.1 3074 3508 1962 1857 263.4 16.7 377 4268 0.10 2.22 0.00 0.000 5126 0.279 0.047 3062 2090 1909 1962 1856 0 0 0 0 0 0 25.82 26.03 28.83

4566 0.61 107.1 3061 2089 1962 1856 214.1 15.7 408 4567 0.00 0.00 0.00 0.000 6 0.000 0.000 3062 2089 1909 1962 1856 0 0 0 0 0 0 28.83 28.83 28.83

4866 0.61 107.1 3062 2089 1962 1856 171.6 12.8 438 4870 0.00 2.25 0.00 0.000 516 0.000 0.054 3071 678 1909 1962 1856 0 0 0 0 0 0 28.83 26.14 28.83

4934 0.61 107.1 3071 678 1960 1856 162.7 13.2 444 4938 0.00 2.28 0.00 0.000 1030 0.000 0.050 3071 2104 1908 1960 1856 0 0 0 0 0 0 28.83 26.15 28.83

5239 0.61 107.1 3071 2104 1961 1855 121.8 13.2 474 5243 0.00 2.28 0.00 0.000 516 0.000 0.051 3082 677 1908 1961 1855 0 0 0 0 0 0 28.83 26.19 28.83

5280 0.61 107.1 3081 676 1960 1855 116.9 13.5 477 5288 0.08 2.33 0.00 0.000 5126 0.278 0.050 3065 2104 1907 1960 1855 0 0 0 0 0 0 25.99 26.20 28.83

5606 0.61 107.1 3064 2104 1962 1855 74.3 13.9 526 5613 0.00 2.25 0.00 0.000 516 0.000 0.052 3073 685 1908 1961 1855 0 0 0 0 0 0 28.83 26.22 28.83

5638 0.61 107.1 3073 685 1960 1854 69.8 14.2 531 5644 0.00 2.25 0.00 0.000 1030 0.000 0.050 3073 2102 1907 1960 1855 0 0 0 0 0 0 28.83 26.24 28.83

6009 0.61 107.1 3073 2106 1961 1855 22.3 14.2 592 6018 0.00 0.00 0.00 0.000 6 0.000 0.000 3073 2105 1908 1961 1855 0 0 0 0 0 0 28.83 28.83 28.83

6153 end climb: SURFACE_DEPTH_REACHED

state 6153 begin surface coast

6176 end surface coast: CONTROL_FINISHED_OK

state 6177 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	8	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	14	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	200	R_STBD_OVSHOOT	28	XPDR_VALID	2
D_BOOST	5	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	0	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3961	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	C_VBD	2356	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	134
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.245296	DEVICE3	147
T_DIVE	167	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	165
T_MISSION	177	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_ABORT	720	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	500	CAPMAXSIZE	400000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	15	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-2361029.8	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	240716,174057,-4700.073,437.656,181,1.0,181,-23.5	TGT_NAME	TARGET
_CALLS	1	TGT_LATLONG	-4700.000,340.000
_XMS_NAKs	15	TGT_RADIUS	500.000
_XMS_TOUTs	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.07	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-77.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240716,175443,-4700.038,437.816,126,8.7,146,-23.5	MHEAD_RNG_PITCHd_Wd	298.1,73026,-21.3,-9.980,-23.89,1645
SPEED_LIMITS	0.173,0.225	D_GRID	500

FINISH	0.9,1.011894	_10V_AH	10.2,3.408
SM_CCo	6190,40.53,0.058,0,0,1539,200.16	FG_AHR_24Vo	0.000
SM_GC	1.91,7.93,0.00,40.53,0.051,0.000,0.058,132,2105,1539,-8.44,-0.54,200.16,0,0,0,0,0,0,26.29,28.83,26.23	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4638.64,522.23,210509,050539	MEM	353408
TT8_MAMPS	0.026215,0.026215	DATA_FILE_SIZE	40444,615
HUMID	59.37	CAP_FILE_SIZE	78997,0
INTERNAL_PRESSURE	9.00425	CFSIZE	2097086464,2093088768
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	0.152,131.7,1
_24V_AH	23.6,4.893	GPS	240716,194322,-4700.214,437.345,227,1.0,227,-23.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	279	136.74	SBE_CT	456	54	588.96
Roll_motor	69	175	287.96	QSP2150	334	6	53.15
VBD_pump_during_apogee	173	998	4091.86	WL_BB2FL	411	105	1018.82
VBD_pump_during_surface	40	58	55.60	AA4330	817	43	837.92
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	91	64.53	nil	0	0	0.00
Iridium_during_connect	58	160	222.66	nil	0	0	0.00
Iridium_during_xfer	504	223	2657.17	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	149	32	50.40
TT8	1599	13	221.41
LPSleep	2722	2	60.81
TT8_Active	314	13	43.49
TT8_Sampling	2375	41	1000.30
TT8_CF8	61	48	29.93
TT8_Kalman	0	0	0.00
Analog_circuits	894	15	142.64
GPS_charging	0	0	0.00
Compass	1606	19	319.00
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	129	2097	1774	1700	0.0	0.0	0	55	0.00	0.00	-38.47	0.000	16386	0.000	0.000	129	2097	2788	2780	2796	0	0	0	0	0	0	28.83	28.83	28.83
57	-0.61	-107.1	129	2097	2780	2797	3.4	-4.5	4	76	11.10	2.38	0.00	0.000	2308	0.269	0.059	2641	3541	2790	2786	2795	0	0	0	0	0	0	25.35	25.60	28.83
134	-0.61	-107.1	2641	3541	2794	2788	25.7	-21.7	14	145	0.00	2.40	0.00	0.000	1030	0.000	0.066	2641	2125	2790	2796	2785	0	0	0	0	0	0	28.83	25.63	28.83
293	-0.61	-107.1	2641	2121	2798	2785	57.7	-20.5	39	300	0.00	2.38	0.00	0.000	260	0.000	0.072	2631	3535	2791	2798	2785	0	0	0	0	0	0	28.83	25.74	28.83
331	-0.61	-107.1	2631	3534	2798	2784	65.6	-21.8	45	338	0.00	2.35	0.00	0.000	1030	0.000	0.063	2631	2115	2791	2798	2784	0	0	0	0	0	0	28.83	25.77	28.83
655	-0.61	-107.1	2631	2112	2799	2783	136.7	-21.5	90	659	0.00	2.35	0.00	0.000	260	0.000	0.072	2623	3528	2791	2799	2784	0	0	0	0	0	0	28.83	25.90	28.83
738	-0.61	-107.1	2622	3528	2799	2783	152.7	-19.6	97	746	0.10	2.35	0.00	0.000	3078	0.187	0.063	2653	2124	2791	2799	2783	0	0	0	0	0	0	25.82	25.94	28.83
1046	-0.61	-107.1	2653	2121	2800	2782	211.1	-18.0	128	1050	0.00	2.33	0.00	0.000	260	0.000	0.073	2644	3528	2791	2801	2782	0	0	0	0	0	0	28.83	26.01	28.83
1084	-0.61	-107.1	2644	3528	2800	2782	217.5	-16.8	131	1093	0.00	2.30	0.00	0.000	1030	0.000	0.064	2644	2120	2791	2800	2782	0	0	0	0	0	0	28.83	26.03	28.83
1394	-0.61	-107.1	2644	2117	2801	2782	273.9	-18.1	162	1398	0.00	2.33	0.00	0.000	260	0.000	0.074	2634	3525	2791	2801	2782	0	0	0	0	0	0	28.83	26.08	28.83
1454	-0.61	-107.1	1825	3524	2776	2777	284.2	-16.9	167	1462	0.00	2.33	0.00	0.000	1030	0.000	0.067	2635	2129	2791	2801	2781	0	0	0	0	0	0	28.83	26.10	28.83
1762	-0.61	-107.1	2634	2126	2801	2781	343.1	-18.8	198	1766	0.00	2.33	0.00	0.000	260	0.000	0.076	2624	3531	2791	2801	2781	0	0	0	0	0	0	28.83	26.14	28.83
1803	-0.61	-107.1	2624	3530	2802	2781	349.7	-19.0	201	1811	0.10	2.38	0.00	0.000	3078	0.187	0.070	2655	2116	2791	2801	2781	0	0	0	0	0	0	26.03	26.17	28.83
2110	-0.61	-107.1	2655	2113	2802	2781	401.7	-16.9	232	2114	0.00	2.33	0.00	0.000	260	0.000	0.077	2646	3525	2791	2802	2781	0	0	0	0	0	0	28.83	26.17	28.83
2159	-0.61	-107.1	2646	3525	2802	2781	407.7	-17.2	234	2167	0.00	2.35	0.00	0.000	1030	0.000	0.070	2646	2123	2791	2801	2781	0	0	0	0	0	0	28.83	26.18	28.83
2466	-0.61	-107.1	2646	2120	2802	2781	464.7	-17.9	250	2470	0.00	2.33	0.00	0.000	260	0.000	0.080	2636	3524	2791	2802	2780	0	0	0	0	0	0	28.83	26.20	28.83
2564	-0.61	-107.1	1830	3523	2776	2775	480.6	-16.1	255	2569	0.00	2.35	0.00	0.000	1030	0.000	0.072	2636	2126	2791	2802	2780	0	0	0	0	0	0	28.83	26.22	28.83
2682	end dive: TARGET_DEPTH_EXCEEDED
state	2682	begin apogee
2686	-0.11	0.0	2635	2094	2802	2780	501.6	-18.1	261	2773	0.62	0.00	83.88	0.998	10246	0.182	0.000	2811	2093	2356	2390	2322	0	0	0	0	0	0	26.13	28.83	24.05
2774	end apogee: CONTROL_FINISHED_OK
state	2774	begin climb
2775	0.61	107.1	2811	2093	2390	2322	506.6	0.0	265	2872	0.73	2.45	89.80	0.978	10756	0.097	0.050	3052	679	1920	1977	1864	0	0	0	0	0	0	24.73	24.30	23.63
2902	0.61	107.1	3052	679	1971	1863	497.0	10.8	272	2906	0.00	2.45	0.00	0.000	1030	0.000	0.049	3052	2090	1917	1971	1863	0	0	0	0	0	0	28.83	24.70	28.83
3219	0.61	107.1	3053	2089	1969	1858	442.4	16.6	288	3220	0.00	0.00	0.00	0.000	6	0.000	0.000	3053	2090	1913	1969	1858	0	0	0	0	0	0	28.83	28.83	28.83
3522	0.61	107.1	3052	2089	1968	1857	392.0	17.3	305	3530	0.00	2.28	0.00	0.000	260	0.000	0.057	3053	3511	1913	1968	1858	0	0	0	0	0	0	28.83	25.75	28.83
3565	0.61	107.1	3052	3511	1967	1858	384.4	17.9	309	3573	0.00	2.25	0.00	0.000	1030	0.000	0.047	3063	2094	1912	1967	1858	0	0	0	0	0	0	28.83	25.78	28.83
3872	0.61	107.1	3063	2092	1965	1857	329.3	17.8	340	3876	0.00	2.28	0.00	0.000	516	0.000	0.053	3074	677	1911	1966	1857	0	0	0	0	0	0	28.83	25.91	28.83
3933	0.61	107.1	3074	677	1962	1856	318.9	17.7	345	3942	0.00	2.28	0.00	0.000	1030	0.000	0.050	3074	2099	1909	1962	1856	0	0	0	0	0	0	28.83	25.94	28.83
4240	0.61	107.1	3073	2100	1963	1856	266.0	16.6	376	4244	0.00	2.25	0.00	0.000	260	0.000	0.057	3074	3508	1909	1963	1856	0	0	0	0	0	0	28.83	26.02	28.83
4259	0.61	107.1	3074	3508	1962	1857	263.4	16.7	377	4268	0.10	2.22	0.00	0.000	5126	0.279	0.047	3062	2090	1909	1962	1856	0	0	0	0	0	0	25.82	26.03	28.83
4566	0.61	107.1	3061	2089	1962	1856	214.1	15.7	408	4567	0.00	0.00	0.00	0.000	6	0.000	0.000	3062	2089	1909	1962	1856	0	0	0	0	0	0	28.83	28.83	28.83
4866	0.61	107.1	3062	2089	1962	1856	171.6	12.8	438	4870	0.00	2.25	0.00	0.000	516	0.000	0.054	3071	678	1909	1962	1856	0	0	0	0	0	0	28.83	26.14	28.83
4934	0.61	107.1	3071	678	1960	1856	162.7	13.2	444	4938	0.00	2.28	0.00	0.000	1030	0.000	0.050	3071	2104	1908	1960	1856	0	0	0	0	0	0	28.83	26.15	28.83
5239	0.61	107.1	3071	2104	1961	1855	121.8	13.2	474	5243	0.00	2.28	0.00	0.000	516	0.000	0.051	3082	677	1908	1961	1855	0	0	0	0	0	0	28.83	26.19	28.83
5280	0.61	107.1	3081	676	1960	1855	116.9	13.5	477	5288	0.08	2.33	0.00	0.000	5126	0.278	0.050	3065	2104	1907	1960	1855	0	0	0	0	0	0	25.99	26.20	28.83
5606	0.61	107.1	3064	2104	1962	1855	74.3	13.9	526	5613	0.00	2.25	0.00	0.000	516	0.000	0.052	3073	685	1908	1961	1855	0	0	0	0	0	0	28.83	26.22	28.83
5638	0.61	107.1	3073	685	1960	1854	69.8	14.2	531	5644	0.00	2.25	0.00	0.000	1030	0.000	0.050	3073	2102	1907	1960	1855	0	0	0	0	0	0	28.83	26.24	28.83
6009	0.61	107.1	3073	2106	1961	1855	22.3	14.2	592	6018	0.00	0.00	0.00	0.000	6	0.000	0.000	3073	2105	1908	1961	1855	0	0	0	0	0	0	28.83	28.83	28.83
6153	end climb: SURFACE_DEPTH_REACHED
state	6153	begin surface coast
6176	end surface coast: CONTROL_FINISHED_OK
state	6177	begin surface