Glider dive log

Shilshole 06Jan15 * SG156 * Dive index * Mission links * Dive 11 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 156 HD_C 9.8500004e-06 ROLL_MAX 3800 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 6 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 11 ESCAPE_HEADING 50 C_ROLL_DIVE 2040 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 25 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1940 ALTIM_PING_DEPTH 100

D_SURF 2 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 56.75 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 180 TGT_DEFAULT_LON -7.25 ROLL_TIMEOUT 15 ALTIM_PULSE 5

D_ABORT 1020 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 26 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 260 R_STBD_OVSHOOT 35 XPDR_VALID 1

D_BOOST 0 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 6 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 451 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 3 VBD_MAX 3959 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 C_VBD 1638 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE -1 VBD_DBAND 2 DEVICE2 20

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.25119999 DEVICE3 35

T_DIVE 80 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 101

T_MISSION 90 CALL_WAIT 30 PITCH_VBD_SHIFT 0.00030000001 DEVICE5 -1

T_ABORT 720 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 600 CAPMAXSIZE 400000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 1 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 15 UNCOM_BLEED 50 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 40 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY -6 T_GPS_CHARGE -905977.81 DBDW 0 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 2 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 48

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 150 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 100 XPDR_DEVICE 24

APOGEE_PITCH -7 PITCH_MIN 160 MINV_24V 17 SIM_W 0

MAX_BUOY 120 PITCH_MAX 3877 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2264 FG_AHR_10V 0 SEABIRD_T_G 0.0043990691

GLIDE_SLOPE 40 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00065709552

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 3.75727e-05

RHO 1.0276999 P_OVSHOOT 0.039999999 PRESSURE_YINT -17.360556 SEABIRD_T_J 5.2690598e-06

MASS 51793 PITCH_GAIN 31 PRESSURE_SLOPE 0.00011457827 SEABIRD_C_G -10.168411

MASS_COMP 0 PITCH_TIMEOUT 16 AD7714Ch0Gain 128 SEABIRD_C_H 1.1470841

NAV_MODE 1 PITCH_AD_RATE 100 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.001554661

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00020326475

KALMAN_USE 1 PITCH_ADJ_GAIN 0 COMPASS_USE 4

HD_A 0.0038360001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.010078 ROLL_MIN 221 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 260

AH0_10V 100 D_PITCH 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PITCH_AD_RATE 100 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_TGT 180 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 50 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 31 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 100 FERRY_MAX 45 PITCH_MAX 3877 TCM_ROLL_OFFSET 0

ALTIM_PULSE 5 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MIN 160 TGT_DEFAULT_LAT 56.75

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 16 TGT_DEFAULT_LON -7.25

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00030000001 T_ABORT 720

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 40 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -7 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 80

CALL_NDIVES 1 HD_A 0.0038360001 PRESSURE_SLOPE 0.00011457827 T_EPIRB 0

CALL_TRIES 5 HD_B 0.010078 PRESSURE_YINT -17.360556 T_GPS 15

CALL_WAIT 30 HD_C 9.8500004e-06 PROTOCOL 0 T_GPS_ALMANAC 0

CAPMAXSIZE 400000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -905977.81

CAPUPLOAD 1 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 90

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 156 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 2

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 600

COMPASS_USE 4 INT_PRESSURE_YINT 0 RHO 1.0276999 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2264 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_ROLL_CLIMB 1940 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2040 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY -6

C_VBD 1638 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3800 VBD_BLEED_AD_RATE 1

DEEPGLIDER 0 MASS 51793 ROLL_MAXERRORS 2 VBD_CNV -0.25119999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 221 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 120 ROLL_TIMEOUT 15 VBD_MAX 3959

DEVICE2 20 MINV_10V 8 R_PORT_OVSHOOT 26 VBD_MAXERRORS 1

DEVICE3 35 MINV_24V 17 R_STBD_OVSHOOT 35 VBD_MIN 451

DEVICE4 101 MISSION 6 SEABIRD_C_G -10.168411 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1470841 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.001554661 VBD_TIMEOUT 720

DIVE 11 NOCOMM_ACTION 0 SEABIRD_C_J 0.00020326475 W_ADJ_DBAND 0

D_ABORT 1020 N_DIVES 25 SEABIRD_T_G 0.0043990691 XPDR_DEVICE 24

D_BOOST 0 N_FILEKB 4 SEABIRD_T_H 0.00065709552 XPDR_INHIBIT 90

D_CALL 0 N_GPS 40 SEABIRD_T_I 3.75727e-05 XPDR_VALID 1

D_FINISH 6 N_NOCOMM 3 SEABIRD_T_J 5.2690598e-06

D_FLARE 3 N_NOSURFACE -1 SIM_PITCH 0

D_NO_BLEED 500 PHONE_DEVICE 48 SIM_W 0

Pre-dive calculations and measurements:

GPS1 070115,073155,4744.347,-12224.693,12,1.2,12,18.2 TGT_NAME SOUTH

_CALLS 1 TGT_LATLONG 4743.000,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.025,-0.212

_SM_DEPTHo 1.00 KALMAN_X -1444.4,-72.7,-35.0,1430.1,-103.3

_SM_ANGLEo -69.3 KALMAN_Y -840.5,-183.6,204.8,3087.7,805.3

GPS2 070115,074231,4744.311,-12224.640,13,1.8,13,18.2 MHEAD_RNG_PITCHd_Wd 155.1,2433,-15.9,-7.500,-19.32,2379

SPEED_LIMITS 0.089,0.214 D_GRID 175

Post-dive calculations and measurements:

FINISH 0.4,1.021029 _10V_AH 10.4,0.768

SM_CCo 3720,82.25,0.507,2,0,601,260.24 FG_AHR_24Vo 0.000

SM_GC 1.11,6.10,2.12,82.25,0.052,0.039,0.507,139,2038,601,-6.55,0.96,260.24,0,0,0,0,2,0,26.22,26.22,24.84 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4726.11,-12224.09,070115,060624 MEM 323260

TT8_MAMPS 0.026964,0.026964 DATA_FILE_SIZE 50433,679

HUMID 29.56 CAP_FILE_SIZE 83552,0

INTERNAL_PRESSURE 9.31676 CFSIZE 260165632,257323008

TCM_TEMP 19.70 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,2,2,0,0

XPDR_PINGS 209 INTR 0,1788.55,0x233ccc,1,24

_24V_AH 24.1,1.138 GPS 070115,084800,4743.833,-12224.551,8,1.6,13,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 246 91.27 SBE_CT 457 23 264.25

Roll_motor 69 115 192.09 SBE_O2 370 5 53.44

VBD_pump_during_apogee 229 643 3565.40 WL_BB2FLVMG 625 105 1583.78

VBD_pump_during_surface 82 507 1005.37 AA4330 565 41 571.15

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 22 58 32.00 nil 0 0 0.00

Iridium_during_connect 41 160 159.76 nil 0 0 0.00

Iridium_during_xfer 408 223 2192.88 nil 0 0 0.00

Transponder_ping 56 420 569.36 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 29 4.29

TT8 1531 12 198.44

LPSleep 668 2 15.23

TT8_Active 450 12 58.38

TT8_Sampling 1519 35 563.81

TT8_CF8 281 42 124.06

TT8_Kalman 33 58 20.10

Analog_circuits 1025 16 170.67

GPS_charging 0 0 0.00

Compass 1021 16 175.11

RAFOS 0 0 0.00

Transponder 26 30 8.13

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

17 -0.55 -116.8 155 2039 515 688 0.0 0.0 0 79 0.00 0.00 -60.15 0.000 16386 0.000 0.000 155 2039 1929 1978 1881 0 0 0 0 0 0 28.83 28.83 28.83

84 -0.55 -116.8 155 2039 1978 1884 3.5 -5.7 11 103 7.70 2.25 -4.32 0.000 18692 0.246 0.063 2073 3445 2105 2178 2033 0 0 0 0 0 0 25.47 25.72 26.03

398 -0.55 -116.8 1280 3442 2133 2028 46.6 -12.5 72 405 0.00 2.22 0.00 0.000 1030 0.000 0.041 2072 2040 2110 2184 2036 0 0 0 0 0 0 28.83 26.03 28.83

529 -0.55 -116.8 2072 2036 2184 2036 61.5 -10.5 97 535 0.00 2.35 0.00 0.000 516 0.000 0.054 2072 633 2109 2184 2035 0 0 0 0 0 0 28.83 26.08 28.83

569 -0.55 -116.8 1280 632 2133 2028 66.2 -12.3 104 575 0.00 2.35 0.00 0.000 1030 0.000 0.040 2062 2040 2109 2184 2035 0 0 0 0 0 0 28.83 26.12 28.83

702 -0.55 -116.8 2061 2038 2184 2035 81.6 -12.4 129 709 0.00 2.22 0.00 0.000 260 0.000 0.054 2051 3454 2109 2184 2035 0 0 0 0 0 0 28.83 26.13 28.83

763 -0.55 -116.8 2051 3454 2184 2035 89.9 -14.3 140 770 0.12 2.22 0.00 0.000 3078 0.160 0.039 2083 2040 2109 2184 2035 0 0 0 0 0 0 26.07 26.18 28.83

898 -0.55 -116.8 2083 2035 2184 2035 104.7 -11.8 165 906 0.00 2.33 0.00 0.000 516 0.000 0.054 2083 632 2109 2184 2035 0 0 0 0 0 0 28.83 26.20 28.83

970 -0.55 -116.8 2083 632 2184 2034 113.3 -10.7 178 977 0.00 2.35 0.00 0.000 1030 0.000 0.041 2074 2041 2109 2184 2034 0 0 0 0 0 0 28.83 26.24 28.83

1103 -0.55 -116.8 2074 2038 2184 2034 127.4 -10.9 203 1109 0.00 0.00 0.00 0.000 6 0.000 0.000 2074 2038 2109 2184 2034 0 0 0 0 0 0 28.83 28.83 28.83

1236 -0.55 -116.8 2074 2037 2184 2034 141.2 -10.1 228 1243 0.00 2.40 0.00 0.000 516 0.000 0.054 2074 624 2109 2184 2034 0 0 0 0 0 0 28.83 26.27 28.83

1343 -0.55 -116.8 2074 624 2184 2033 152.6 -10.1 248 1350 0.00 2.35 0.00 0.000 1030 0.000 0.040 2064 2045 2108 2184 2033 0 0 0 0 0 0 28.83 26.32 28.83

1479 -0.55 -116.8 1248 2040 2131 2026 165.8 -9.8 273 1484 0.00 0.00 0.00 0.000 6 0.000 0.000 2063 2042 2108 2184 2033 0 0 0 0 0 0 28.83 28.83 28.83

1572 end dive: TARGET_DEPTH_EXCEEDED

state 1572 begin apogee

1581 -0.23 0.0 2063 1898 2184 2034 175.4 -10.4 291 1682 0.38 0.08 93.97 0.643 10246 0.141 0.116 2185 1969 1636 1662 1611 0 0 0 0 0 0 26.22 24.97 24.49

1686 end apogee: CONTROL_FINISHED_OK

state 1686 begin climb

1689 0.55 116.8 2185 1968 1662 1610 180.7 0.0 309 1800 0.77 2.35 94.88 0.616 10500 0.111 0.048 2437 3317 1172 1134 1210 0 0 0 0 0 0 25.06 24.72 24.15

1834 0.55 116.8 2436 3316 1134 1210 171.5 10.7 334 1840 0.00 2.22 0.00 0.000 1030 0.000 0.040 2447 1984 1172 1134 1210 0 0 0 0 0 0 28.83 25.13 28.83

1967 0.55 116.8 2447 1983 1134 1210 158.7 9.9 359 1973 0.00 0.00 0.00 0.000 6 0.000 0.000 2447 1983 1171 1134 1209 0 0 0 0 0 0 28.83 28.83 28.83

2097 0.55 116.8 2447 1983 1134 1210 145.5 10.3 384 2103 0.00 0.00 0.00 0.000 6 0.000 0.000 2447 1983 1171 1133 1209 0 0 0 0 0 0 28.83 28.83 28.83

2226 0.55 116.8 2447 1983 1134 1210 133.3 9.2 409 2232 0.00 0.00 0.00 0.000 6 0.000 0.000 2447 1983 1172 1134 1210 0 0 0 0 0 0 28.83 28.83 28.83

2357 0.55 116.8 1512 1981 1121 1207 122.6 8.1 434 2363 0.00 2.45 0.00 0.000 516 0.000 0.056 2459 520 1171 1133 1210 0 0 0 0 0 0 28.83 26.00 28.83

2388 0.55 116.8 2459 520 1134 1206 120.0 7.7 439 2394 0.00 2.33 0.00 0.000 1030 0.000 0.037 2459 1935 1170 1134 1206 0 0 0 0 0 0 28.83 26.05 28.83

2521 0.55 116.8 2459 1932 1134 1206 108.6 7.9 464 2527 0.00 2.22 0.00 0.000 260 0.000 0.047 2459 3341 1170 1134 1206 0 0 0 0 0 0 28.83 26.08 28.83

2576 0.55 116.8 1536 3338 1121 1203 103.3 9.1 474 2583 0.00 2.25 0.00 0.000 1030 0.000 0.041 2470 1928 1169 1134 1205 0 0 0 0 0 0 28.83 26.13 28.83

2711 0.55 116.8 2469 1928 1134 1205 90.4 10.0 499 2717 0.00 2.25 0.00 0.000 260 0.000 0.047 2469 3341 1169 1134 1205 0 0 0 0 0 0 28.83 26.16 28.83

2746 0.55 116.8 2469 3341 1134 1205 86.3 11.1 505 2754 0.15 2.22 0.00 0.000 5126 0.168 0.040 2440 1932 1169 1134 1205 0 0 0 0 0 0 26.06 26.19 28.83

2880 0.56 162.8 1488 1928 1121 1203 76.4 5.5 530 2926 0.00 2.35 36.95 0.565 8452 0.000 0.047 2441 3342 987 935 1040 0 0 1 0 0 0 28.83 25.67 25.18

2969 0.56 162.8 1536 3340 928 1036 69.0 9.7 546 2976 0.00 2.25 0.00 0.000 1030 0.000 0.041 2450 1943 986 935 1037 0 0 0 0 0 0 28.83 25.80 28.83

3102 0.56 162.8 2449 1941 935 1037 56.7 8.9 571 3109 0.00 2.38 0.00 0.000 516 0.000 0.057 2461 533 986 935 1037 0 0 0 0 0 0 28.83 25.92 28.83

3143 0.56 162.8 2461 533 935 1036 52.7 9.0 578 3150 0.00 2.33 0.00 0.000 1030 0.000 0.037 2461 1933 985 935 1035 0 0 0 0 0 0 28.83 25.99 28.83

3277 0.56 162.8 2460 1929 935 1034 40.6 9.3 603 3284 0.00 2.22 0.00 0.000 260 0.000 0.047 2461 3345 984 935 1034 0 0 0 0 0 0 28.83 26.06 28.83

3328 0.56 162.8 2461 3344 935 1033 34.8 11.1 612 3334 0.00 2.25 0.00 0.000 1030 0.000 0.041 2471 1938 984 935 1033 0 0 0 0 0 0 28.83 26.09 28.83

3398 0.56 162.8 1544 1933 928 1032 27.3 10.6 625 3404 0.00 2.35 0.00 0.000 516 0.000 0.057 2483 530 984 935 1033 0 0 0 0 0 0 28.83 26.10 28.83

3463 0.56 162.8 1552 530 928 1032 20.2 11.6 637 3471 0.15 2.35 0.00 0.000 5126 0.158 0.037 2442 1946 984 935 1033 0 0 0 0 0 0 26.04 26.17 28.83

3535 0.56 162.8 2442 1944 935 1032 13.3 9.0 650 3541 0.00 2.20 0.00 0.000 260 0.000 0.047 2442 3353 983 935 1032 0 0 0 0 0 0 28.83 26.17 28.83

3565 0.56 162.8 2442 3352 935 1031 10.5 9.7 655 3572 0.00 2.25 0.00 0.000 1030 0.000 0.039 2451 1928 983 935 1031 0 0 0 0 0 0 28.83 26.20 28.83

3638 0.56 167.2 2451 1928 935 1031 4.7 7.3 668 3651 0.00 2.33 4.15 0.381 8452 0.000 0.047 2451 3347 972 929 1015 0 0 0 0 0 0 28.83 26.17 25.63

3671 end climb: SURFACE_DEPTH_REACHED

state 3671 begin surface coast

3698 end surface coast: CONTROL_FINISHED_OK

state 3698 begin surface

ID	156	HD_C	9.8500004e-06	ROLL_MAX	3800	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	6	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	11	ESCAPE_HEADING	50	C_ROLL_DIVE	2040	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	25	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1940	ALTIM_PING_DEPTH	100
D_SURF	2	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	56.75	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	180	TGT_DEFAULT_LON	-7.25	ROLL_TIMEOUT	15	ALTIM_PULSE	5
D_ABORT	1020	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	26	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	260	R_STBD_OVSHOOT	35	XPDR_VALID	1
D_BOOST	0	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	6	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	451	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	3	VBD_MAX	3959	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	C_VBD	1638	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	-1	VBD_DBAND	2	DEVICE2	20
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.25119999	DEVICE3	35
T_DIVE	80	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	101
T_MISSION	90	CALL_WAIT	30	PITCH_VBD_SHIFT	0.00030000001	DEVICE5	-1
T_ABORT	720	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	600	CAPMAXSIZE	400000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	1	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	15	UNCOM_BLEED	50	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	40	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	-6	T_GPS_CHARGE	-905977.81	DBDW	0	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	2	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	48
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	150	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	100	XPDR_DEVICE	24
APOGEE_PITCH	-7	PITCH_MIN	160	MINV_24V	17	SIM_W	0
MAX_BUOY	120	PITCH_MAX	3877	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2264	FG_AHR_10V	0	SEABIRD_T_G	0.0043990691
GLIDE_SLOPE	40	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00065709552
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	3.75727e-05
RHO	1.0276999	P_OVSHOOT	0.039999999	PRESSURE_YINT	-17.360556	SEABIRD_T_J	5.2690598e-06
MASS	51793	PITCH_GAIN	31	PRESSURE_SLOPE	0.00011457827	SEABIRD_C_G	-10.168411
MASS_COMP	0	PITCH_TIMEOUT	16	AD7714Ch0Gain	128	SEABIRD_C_H	1.1470841
NAV_MODE	1	PITCH_AD_RATE	100	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.001554661
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00020326475
KALMAN_USE	1	PITCH_ADJ_GAIN	0	COMPASS_USE	4
HD_A	0.0038360001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.010078	ROLL_MIN	221	ALTIM_TOP_PING_RANGE	0

GPS1	070115,073155,4744.347,-12224.693,12,1.2,12,18.2	TGT_NAME	SOUTH
_CALLS	1	TGT_LATLONG	4743.000,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.025,-0.212
_SM_DEPTHo	1.00	KALMAN_X	-1444.4,-72.7,-35.0,1430.1,-103.3
_SM_ANGLEo	-69.3	KALMAN_Y	-840.5,-183.6,204.8,3087.7,805.3
GPS2	070115,074231,4744.311,-12224.640,13,1.8,13,18.2	MHEAD_RNG_PITCHd_Wd	155.1,2433,-15.9,-7.500,-19.32,2379
SPEED_LIMITS	0.089,0.214	D_GRID	175

FINISH	0.4,1.021029	_10V_AH	10.4,0.768
SM_CCo	3720,82.25,0.507,2,0,601,260.24	FG_AHR_24Vo	0.000
SM_GC	1.11,6.10,2.12,82.25,0.052,0.039,0.507,139,2038,601,-6.55,0.96,260.24,0,0,0,0,2,0,26.22,26.22,24.84	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4726.11,-12224.09,070115,060624	MEM	323260
TT8_MAMPS	0.026964,0.026964	DATA_FILE_SIZE	50433,679
HUMID	29.56	CAP_FILE_SIZE	83552,0
INTERNAL_PRESSURE	9.31676	CFSIZE	260165632,257323008
TCM_TEMP	19.70	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,2,2,0,0
XPDR_PINGS	209	INTR	0,1788.55,0x233ccc,1,24
_24V_AH	24.1,1.138	GPS	070115,084800,4743.833,-12224.551,8,1.6,13,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	246	91.27	SBE_CT	457	23	264.25
Roll_motor	69	115	192.09	SBE_O2	370	5	53.44
VBD_pump_during_apogee	229	643	3565.40	WL_BB2FLVMG	625	105	1583.78
VBD_pump_during_surface	82	507	1005.37	AA4330	565	41	571.15
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	22	58	32.00	nil	0	0	0.00
Iridium_during_connect	41	160	159.76	nil	0	0	0.00
Iridium_during_xfer	408	223	2192.88	nil	0	0	0.00
Transponder_ping	56	420	569.36	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	29	4.29
TT8	1531	12	198.44
LPSleep	668	2	15.23
TT8_Active	450	12	58.38
TT8_Sampling	1519	35	563.81
TT8_CF8	281	42	124.06
TT8_Kalman	33	58	20.10
Analog_circuits	1025	16	170.67
GPS_charging	0	0	0.00
Compass	1021	16	175.11
RAFOS	0	0	0.00
Transponder	26	30	8.13

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
17	-0.55	-116.8	155	2039	515	688	0.0	0.0	0	79	0.00	0.00	-60.15	0.000	16386	0.000	0.000	155	2039	1929	1978	1881	0	0	0	0	0	0	28.83	28.83	28.83
84	-0.55	-116.8	155	2039	1978	1884	3.5	-5.7	11	103	7.70	2.25	-4.32	0.000	18692	0.246	0.063	2073	3445	2105	2178	2033	0	0	0	0	0	0	25.47	25.72	26.03
398	-0.55	-116.8	1280	3442	2133	2028	46.6	-12.5	72	405	0.00	2.22	0.00	0.000	1030	0.000	0.041	2072	2040	2110	2184	2036	0	0	0	0	0	0	28.83	26.03	28.83
529	-0.55	-116.8	2072	2036	2184	2036	61.5	-10.5	97	535	0.00	2.35	0.00	0.000	516	0.000	0.054	2072	633	2109	2184	2035	0	0	0	0	0	0	28.83	26.08	28.83
569	-0.55	-116.8	1280	632	2133	2028	66.2	-12.3	104	575	0.00	2.35	0.00	0.000	1030	0.000	0.040	2062	2040	2109	2184	2035	0	0	0	0	0	0	28.83	26.12	28.83
702	-0.55	-116.8	2061	2038	2184	2035	81.6	-12.4	129	709	0.00	2.22	0.00	0.000	260	0.000	0.054	2051	3454	2109	2184	2035	0	0	0	0	0	0	28.83	26.13	28.83
763	-0.55	-116.8	2051	3454	2184	2035	89.9	-14.3	140	770	0.12	2.22	0.00	0.000	3078	0.160	0.039	2083	2040	2109	2184	2035	0	0	0	0	0	0	26.07	26.18	28.83
898	-0.55	-116.8	2083	2035	2184	2035	104.7	-11.8	165	906	0.00	2.33	0.00	0.000	516	0.000	0.054	2083	632	2109	2184	2035	0	0	0	0	0	0	28.83	26.20	28.83
970	-0.55	-116.8	2083	632	2184	2034	113.3	-10.7	178	977	0.00	2.35	0.00	0.000	1030	0.000	0.041	2074	2041	2109	2184	2034	0	0	0	0	0	0	28.83	26.24	28.83
1103	-0.55	-116.8	2074	2038	2184	2034	127.4	-10.9	203	1109	0.00	0.00	0.00	0.000	6	0.000	0.000	2074	2038	2109	2184	2034	0	0	0	0	0	0	28.83	28.83	28.83
1236	-0.55	-116.8	2074	2037	2184	2034	141.2	-10.1	228	1243	0.00	2.40	0.00	0.000	516	0.000	0.054	2074	624	2109	2184	2034	0	0	0	0	0	0	28.83	26.27	28.83
1343	-0.55	-116.8	2074	624	2184	2033	152.6	-10.1	248	1350	0.00	2.35	0.00	0.000	1030	0.000	0.040	2064	2045	2108	2184	2033	0	0	0	0	0	0	28.83	26.32	28.83
1479	-0.55	-116.8	1248	2040	2131	2026	165.8	-9.8	273	1484	0.00	0.00	0.00	0.000	6	0.000	0.000	2063	2042	2108	2184	2033	0	0	0	0	0	0	28.83	28.83	28.83
1572	end dive: TARGET_DEPTH_EXCEEDED
state	1572	begin apogee
1581	-0.23	0.0	2063	1898	2184	2034	175.4	-10.4	291	1682	0.38	0.08	93.97	0.643	10246	0.141	0.116	2185	1969	1636	1662	1611	0	0	0	0	0	0	26.22	24.97	24.49
1686	end apogee: CONTROL_FINISHED_OK
state	1686	begin climb
1689	0.55	116.8	2185	1968	1662	1610	180.7	0.0	309	1800	0.77	2.35	94.88	0.616	10500	0.111	0.048	2437	3317	1172	1134	1210	0	0	0	0	0	0	25.06	24.72	24.15
1834	0.55	116.8	2436	3316	1134	1210	171.5	10.7	334	1840	0.00	2.22	0.00	0.000	1030	0.000	0.040	2447	1984	1172	1134	1210	0	0	0	0	0	0	28.83	25.13	28.83
1967	0.55	116.8	2447	1983	1134	1210	158.7	9.9	359	1973	0.00	0.00	0.00	0.000	6	0.000	0.000	2447	1983	1171	1134	1209	0	0	0	0	0	0	28.83	28.83	28.83
2097	0.55	116.8	2447	1983	1134	1210	145.5	10.3	384	2103	0.00	0.00	0.00	0.000	6	0.000	0.000	2447	1983	1171	1133	1209	0	0	0	0	0	0	28.83	28.83	28.83
2226	0.55	116.8	2447	1983	1134	1210	133.3	9.2	409	2232	0.00	0.00	0.00	0.000	6	0.000	0.000	2447	1983	1172	1134	1210	0	0	0	0	0	0	28.83	28.83	28.83
2357	0.55	116.8	1512	1981	1121	1207	122.6	8.1	434	2363	0.00	2.45	0.00	0.000	516	0.000	0.056	2459	520	1171	1133	1210	0	0	0	0	0	0	28.83	26.00	28.83
2388	0.55	116.8	2459	520	1134	1206	120.0	7.7	439	2394	0.00	2.33	0.00	0.000	1030	0.000	0.037	2459	1935	1170	1134	1206	0	0	0	0	0	0	28.83	26.05	28.83
2521	0.55	116.8	2459	1932	1134	1206	108.6	7.9	464	2527	0.00	2.22	0.00	0.000	260	0.000	0.047	2459	3341	1170	1134	1206	0	0	0	0	0	0	28.83	26.08	28.83
2576	0.55	116.8	1536	3338	1121	1203	103.3	9.1	474	2583	0.00	2.25	0.00	0.000	1030	0.000	0.041	2470	1928	1169	1134	1205	0	0	0	0	0	0	28.83	26.13	28.83
2711	0.55	116.8	2469	1928	1134	1205	90.4	10.0	499	2717	0.00	2.25	0.00	0.000	260	0.000	0.047	2469	3341	1169	1134	1205	0	0	0	0	0	0	28.83	26.16	28.83
2746	0.55	116.8	2469	3341	1134	1205	86.3	11.1	505	2754	0.15	2.22	0.00	0.000	5126	0.168	0.040	2440	1932	1169	1134	1205	0	0	0	0	0	0	26.06	26.19	28.83
2880	0.56	162.8	1488	1928	1121	1203	76.4	5.5	530	2926	0.00	2.35	36.95	0.565	8452	0.000	0.047	2441	3342	987	935	1040	0	0	1	0	0	0	28.83	25.67	25.18
2969	0.56	162.8	1536	3340	928	1036	69.0	9.7	546	2976	0.00	2.25	0.00	0.000	1030	0.000	0.041	2450	1943	986	935	1037	0	0	0	0	0	0	28.83	25.80	28.83
3102	0.56	162.8	2449	1941	935	1037	56.7	8.9	571	3109	0.00	2.38	0.00	0.000	516	0.000	0.057	2461	533	986	935	1037	0	0	0	0	0	0	28.83	25.92	28.83
3143	0.56	162.8	2461	533	935	1036	52.7	9.0	578	3150	0.00	2.33	0.00	0.000	1030	0.000	0.037	2461	1933	985	935	1035	0	0	0	0	0	0	28.83	25.99	28.83
3277	0.56	162.8	2460	1929	935	1034	40.6	9.3	603	3284	0.00	2.22	0.00	0.000	260	0.000	0.047	2461	3345	984	935	1034	0	0	0	0	0	0	28.83	26.06	28.83
3328	0.56	162.8	2461	3344	935	1033	34.8	11.1	612	3334	0.00	2.25	0.00	0.000	1030	0.000	0.041	2471	1938	984	935	1033	0	0	0	0	0	0	28.83	26.09	28.83
3398	0.56	162.8	1544	1933	928	1032	27.3	10.6	625	3404	0.00	2.35	0.00	0.000	516	0.000	0.057	2483	530	984	935	1033	0	0	0	0	0	0	28.83	26.10	28.83
3463	0.56	162.8	1552	530	928	1032	20.2	11.6	637	3471	0.15	2.35	0.00	0.000	5126	0.158	0.037	2442	1946	984	935	1033	0	0	0	0	0	0	26.04	26.17	28.83
3535	0.56	162.8	2442	1944	935	1032	13.3	9.0	650	3541	0.00	2.20	0.00	0.000	260	0.000	0.047	2442	3353	983	935	1032	0	0	0	0	0	0	28.83	26.17	28.83
3565	0.56	162.8	2442	3352	935	1031	10.5	9.7	655	3572	0.00	2.25	0.00	0.000	1030	0.000	0.039	2451	1928	983	935	1031	0	0	0	0	0	0	28.83	26.20	28.83
3638	0.56	167.2	2451	1928	935	1031	4.7	7.3	668	3651	0.00	2.33	4.15	0.381	8452	0.000	0.047	2451	3347	972	929	1015	0	0	0	0	0	0	28.83	26.17	25.63
3671	end climb: SURFACE_DEPTH_REACHED
state	3671	begin surface coast
3698	end surface coast: CONTROL_FINISHED_OK
state	3698	begin surface