Glider dive log

Shilshole 06Jan15 * SG156 * Dive index * Mission links * Dive 12 * 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 12 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 32 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 260 R_STBD_OVSHOOT 28 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 -905979.06 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 -905979.06

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 32 VBD_MAXERRORS 1

DEVICE3 35 MINV_24V 17 R_STBD_OVSHOOT 28 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 12 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 070115,084800,4743.833,-12224.551,8,1.6,13,18.2 TGT_NAME SOUTH

_CALLS 1 TGT_LATLONG 4743.000,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.005,-0.214

_SM_DEPTHo 0.99 KALMAN_X -1472.8,-36.0,-24.4,1548.6,-0.4

_SM_ANGLEo -68.3 KALMAN_Y -1369.3,63.9,505.8,2085.7,214.4

GPS2 070115,085819,4743.775,-12224.530,15,1.5,15,18.2 MHEAD_RNG_PITCHd_Wd 160.6,1437,-15.9,-7.500,-19.32,2379

SPEED_LIMITS 0.089,0.214 D_GRID 173

Post-dive calculations and measurements:

FINISH 0.6,1.021861 _24V_AH 24.2,1.221

SM_CCo 3612,120.53,0.511,2,0,602,260.24 _10V_AH 10.4,0.832

SM_GC 1.01,6.07,2.12,120.53,0.054,0.037,0.511,136,2036,602,-6.55,0.79,260.24,0,0,0,0,2,0,26.36,26.37,24.68 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12222.38,070115,070721 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026964,0.026964 MEM 323172

HUMID 29.83 DATA_FILE_SIZE 47004,655

INTERNAL_PRESSURE 9.31676 CAP_FILE_SIZE 82658,0

TCM_TEMP 19.80 CFSIZE 260165632,257269760

XPDR_PINGS 200 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,2,0,0

ALTIM_BOTTOM_PING 160.4,26.3 GPS 070115,100306,4743.056,-12224.659,41,1.1,41,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 245 91.96 SBE_CT 441 23 256.18

Roll_motor 73 114 203.83 SBE_O2 362 5 52.51

VBD_pump_during_apogee 188 639 2920.87 WL_BB2FLVMG 613 105 1558.62

VBD_pump_during_surface 120 511 1490.49 AA4330 552 41 560.77

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 58 41.16 nil 0 0 0.00

Iridium_during_connect 45 160 176.39 nil 0 0 0.00

Iridium_during_xfer 378 223 2043.19 nil 0 0 0.00

Transponder_ping 53 420 546.32 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 29 5.08

TT8 1490 12 193.15

LPSleep 644 2 14.69

TT8_Active 464 12 60.15

TT8_Sampling 1471 35 546.02

TT8_CF8 293 42 129.58

TT8_Kalman 33 58 20.10

Analog_circuits 1022 16 170.17

GPS_charging 0 0 0.00

Compass 986 16 169.06

RAFOS 0 0 0.00

Transponder 29 30 9.33

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 -116.8 139 2014 516 687 0.0 0.0 0 85 0.00 0.00 -65.85 0.000 16386 0.000 0.000 140 2015 2010 2052 1968 0 0 0 0 0 0 28.83 28.83 28.83

90 -0.55 -116.8 139 2022 2052 1973 3.4 -5.3 12 109 7.75 2.38 -2.35 0.000 18692 0.246 0.065 2073 3447 2106 2168 2045 0 0 0 0 0 0 25.50 25.72 26.01

418 -0.55 -116.8 2073 3447 2175 2045 47.4 -12.0 75 425 0.00 2.22 0.00 0.000 1030 0.000 0.039 2073 2042 2110 2175 2045 0 0 0 0 0 0 28.83 26.05 28.83

549 -0.55 -116.8 2073 2038 2175 2044 62.4 -11.0 100 555 0.00 0.00 0.00 0.000 6 0.000 0.000 2073 2038 2109 2175 2044 0 0 0 0 0 0 28.83 28.83 28.83

679 -0.55 -116.8 2073 2037 2175 2043 76.5 -10.8 125 685 0.00 2.35 0.00 0.000 516 0.000 0.054 2073 629 2108 2175 2042 0 0 0 0 0 0 28.83 26.14 28.83

724 -0.55 -116.8 2072 630 2175 2041 81.5 -11.8 133 731 0.00 2.35 0.00 0.000 1030 0.000 0.041 2062 2044 2108 2175 2041 0 0 0 0 0 0 28.83 26.18 28.83

858 -0.55 -116.8 2062 2042 2175 2041 96.2 -11.1 158 864 0.00 2.20 0.00 0.000 260 0.000 0.050 2052 3456 2108 2175 2041 0 0 0 0 0 0 28.83 26.19 28.83

946 -0.55 -116.8 1264 3454 2125 2034 107.4 -12.6 174 953 0.12 2.22 0.00 0.000 3078 0.158 0.038 2084 2041 2108 2175 2041 0 0 0 0 0 0 26.13 26.24 28.83

1081 -0.55 -116.8 2085 2036 2175 2041 121.0 -9.2 199 1087 0.00 2.33 0.00 0.000 516 0.000 0.054 2085 631 2108 2175 2041 0 0 0 0 0 0 28.83 26.24 28.83

1213 -0.55 -116.8 2084 631 2175 2040 134.4 -9.7 224 1222 0.00 2.35 0.00 0.000 1030 0.000 0.041 2075 2045 2107 2175 2040 0 0 0 0 0 0 28.83 26.29 28.83

1351 -0.55 -116.8 2075 2043 2175 2040 147.2 -9.7 249 1356 0.00 0.00 0.00 0.000 6 0.000 0.000 2075 2043 2107 2175 2040 0 0 0 0 0 0 28.83 28.83 28.83

1484 -0.55 -116.8 2075 2043 2175 2040 159.2 -9.1 274 1492 0.00 0.00 0.00 0.000 6 0.000 0.000 2075 2043 2107 2175 2040 0 0 0 0 0 0 28.83 28.83 28.83

1616 end dive: BOTTOM_OBSTACLE_DETECTED

state 1616 begin apogee

1625 -0.23 0.0 2075 1900 2174 2040 171.9 -8.9 299 1726 0.32 0.08 93.70 0.640 10246 0.142 0.115 2182 1969 1637 1661 1614 0 0 0 0 0 0 26.23 24.98 24.50

1730 end apogee: CONTROL_FINISHED_OK

state 1730 begin climb

1734 0.55 116.8 2182 1969 1661 1612 176.8 0.0 317 1840 0.77 2.35 95.03 0.613 10500 0.110 0.047 2436 3323 1172 1134 1210 0 0 1 0 0 0 25.07 24.67 24.15

1855 0.55 116.8 2436 3323 1133 1210 170.2 8.3 338 1861 0.00 2.25 0.00 0.000 1030 0.000 0.038 2446 1979 1172 1134 1210 0 0 0 0 0 0 28.83 24.98 28.83

1988 0.55 116.8 2446 1979 1133 1210 158.5 8.9 363 1995 0.00 2.50 0.00 0.000 516 0.000 0.057 2458 522 1172 1134 1210 0 0 0 0 0 0 28.83 25.51 28.83

2014 0.55 116.8 2458 521 1134 1207 155.8 9.1 367 2020 0.00 2.35 0.00 0.000 1030 0.000 0.036 2458 1924 1170 1134 1207 0 0 0 0 0 0 28.83 25.60 28.83

2146 0.55 116.8 1504 1919 1120 1204 142.8 9.8 392 2153 0.00 2.28 0.00 0.000 260 0.000 0.047 2458 3341 1170 1134 1207 0 0 0 0 0 0 28.83 25.78 28.83

2197 0.55 116.8 2458 3341 1134 1206 136.8 11.4 401 2204 0.00 2.28 0.00 0.000 1030 0.000 0.038 2468 1929 1170 1134 1206 0 0 0 0 0 0 28.83 25.86 28.83

2331 0.55 116.8 2468 1930 1134 1207 123.0 9.5 426 2336 0.00 0.00 0.00 0.000 6 0.000 0.000 2468 1930 1170 1134 1206 0 0 0 0 0 0 28.83 28.83 28.83

2460 0.55 116.8 2468 1928 1134 1206 109.6 10.6 451 2467 0.00 2.35 0.00 0.000 516 0.000 0.054 2479 521 1170 1134 1206 0 0 0 0 0 0 28.83 26.03 28.83

2491 0.55 116.8 2479 521 1134 1205 106.1 11.3 456 2498 0.15 2.35 0.00 0.000 5126 0.162 0.037 2440 1943 1168 1133 1204 0 0 0 0 0 0 25.94 26.07 28.83

2624 0.55 116.8 1504 1939 1121 1202 94.4 8.3 481 2630 0.00 2.22 0.00 0.000 260 0.000 0.047 2440 3357 1169 1134 1204 0 0 0 0 0 0 28.83 26.11 28.83

2664 0.55 116.8 2440 3356 1134 1204 90.6 10.0 488 2671 0.00 2.28 0.00 0.000 1030 0.000 0.039 2449 1922 1169 1134 1204 0 0 0 0 0 0 28.83 26.14 28.83

2799 0.55 116.8 2449 1917 1134 1204 77.4 11.2 513 2806 0.00 2.30 0.00 0.000 260 0.000 0.048 2450 3358 1169 1134 1204 0 0 0 0 0 0 28.83 26.17 28.83

2830 0.55 116.8 2449 3358 1134 1204 73.9 10.3 518 2836 0.00 2.25 0.00 0.000 1030 0.000 0.039 2460 1936 1168 1134 1203 0 0 0 0 0 0 28.83 26.20 28.83

2963 0.55 116.8 2460 1932 1134 1203 60.4 10.9 543 2969 0.00 2.25 0.00 0.000 260 0.000 0.047 2460 3350 1169 1134 1204 0 0 0 0 0 0 28.83 26.22 28.83

2994 0.55 116.8 2460 3349 1134 1204 56.5 11.5 548 3000 0.00 2.22 0.00 0.000 1030 0.000 0.039 2471 1939 1169 1134 1204 0 0 0 0 0 0 28.83 26.23 28.83

3127 0.55 116.8 2470 1940 1134 1204 41.5 11.2 573 3134 0.00 2.25 0.00 0.000 260 0.000 0.047 2471 3351 1169 1134 1204 0 0 0 0 0 0 28.83 26.25 28.83

3159 0.55 116.8 2470 3350 1135 1204 37.8 11.2 578 3167 0.15 2.22 0.00 0.000 5126 0.169 0.038 2442 1945 1169 1134 1204 0 0 0 0 0 0 26.14 26.29 28.83

3231 0.55 116.8 2442 1944 1134 1204 31.5 7.5 591 3238 0.00 2.35 0.00 0.000 516 0.000 0.054 2452 525 1168 1133 1203 0 0 0 0 0 0 28.83 26.27 28.83

3257 0.55 116.8 2451 526 1134 1203 29.3 8.6 595 3263 0.00 2.30 0.00 0.000 1030 0.000 0.035 2452 1948 1168 1134 1202 0 0 0 0 0 0 28.83 26.32 28.83

3328 0.55 116.8 2451 1946 1134 1202 23.1 9.0 608 3334 0.00 2.20 0.00 0.000 260 0.000 0.047 2452 3348 1168 1134 1202 0 0 0 0 0 0 28.83 26.29 28.83

3343 0.55 116.8 2452 3347 1134 1202 21.7 8.6 610 3350 0.00 2.25 0.00 0.000 1030 0.000 0.038 2462 1928 1168 1134 1202 0 0 0 0 0 0 28.83 26.32 28.83

3413 0.55 116.8 1536 1925 1122 1200 15.2 9.3 623 3420 0.00 2.30 0.00 0.000 516 0.000 0.054 2474 533 1168 1135 1202 0 0 0 0 0 0 28.83 26.30 28.83

3455 0.55 116.8 2473 533 1134 1202 11.4 9.4 630 3463 0.12 2.30 0.00 0.000 5126 0.162 0.036 2441 1945 1168 1135 1201 0 0 0 0 0 0 26.22 26.34 28.83

3527 0.55 116.8 2441 1943 1135 1200 5.4 7.7 643 3534 0.00 2.20 0.00 0.000 260 0.000 0.046 2441 3357 1168 1135 1201 0 0 0 0 0 0 28.83 26.33 28.83

3574 end climb: SURFACE_DEPTH_REACHED

state 3574 begin surface coast

3590 end surface coast: CONTROL_FINISHED_OK

state 3590 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	12	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	32	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	260	R_STBD_OVSHOOT	28	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	-905979.06	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	070115,084800,4743.833,-12224.551,8,1.6,13,18.2	TGT_NAME	SOUTH
_CALLS	1	TGT_LATLONG	4743.000,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.005,-0.214
_SM_DEPTHo	0.99	KALMAN_X	-1472.8,-36.0,-24.4,1548.6,-0.4
_SM_ANGLEo	-68.3	KALMAN_Y	-1369.3,63.9,505.8,2085.7,214.4
GPS2	070115,085819,4743.775,-12224.530,15,1.5,15,18.2	MHEAD_RNG_PITCHd_Wd	160.6,1437,-15.9,-7.500,-19.32,2379
SPEED_LIMITS	0.089,0.214	D_GRID	173

FINISH	0.6,1.021861	_24V_AH	24.2,1.221
SM_CCo	3612,120.53,0.511,2,0,602,260.24	_10V_AH	10.4,0.832
SM_GC	1.01,6.07,2.12,120.53,0.054,0.037,0.511,136,2036,602,-6.55,0.79,260.24,0,0,0,0,2,0,26.36,26.37,24.68	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12222.38,070115,070721	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026964,0.026964	MEM	323172
HUMID	29.83	DATA_FILE_SIZE	47004,655
INTERNAL_PRESSURE	9.31676	CAP_FILE_SIZE	82658,0
TCM_TEMP	19.80	CFSIZE	260165632,257269760
XPDR_PINGS	200	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,2,0,0
ALTIM_BOTTOM_PING	160.4,26.3	GPS	070115,100306,4743.056,-12224.659,41,1.1,41,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	245	91.96	SBE_CT	441	23	256.18
Roll_motor	73	114	203.83	SBE_O2	362	5	52.51
VBD_pump_during_apogee	188	639	2920.87	WL_BB2FLVMG	613	105	1558.62
VBD_pump_during_surface	120	511	1490.49	AA4330	552	41	560.77
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	58	41.16	nil	0	0	0.00
Iridium_during_connect	45	160	176.39	nil	0	0	0.00
Iridium_during_xfer	378	223	2043.19	nil	0	0	0.00
Transponder_ping	53	420	546.32	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	29	5.08
TT8	1490	12	193.15
LPSleep	644	2	14.69
TT8_Active	464	12	60.15
TT8_Sampling	1471	35	546.02
TT8_CF8	293	42	129.58
TT8_Kalman	33	58	20.10
Analog_circuits	1022	16	170.17
GPS_charging	0	0	0.00
Compass	986	16	169.06
RAFOS	0	0	0.00
Transponder	29	30	9.33

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	139	2014	516	687	0.0	0.0	0	85	0.00	0.00	-65.85	0.000	16386	0.000	0.000	140	2015	2010	2052	1968	0	0	0	0	0	0	28.83	28.83	28.83
90	-0.55	-116.8	139	2022	2052	1973	3.4	-5.3	12	109	7.75	2.38	-2.35	0.000	18692	0.246	0.065	2073	3447	2106	2168	2045	0	0	0	0	0	0	25.50	25.72	26.01
418	-0.55	-116.8	2073	3447	2175	2045	47.4	-12.0	75	425	0.00	2.22	0.00	0.000	1030	0.000	0.039	2073	2042	2110	2175	2045	0	0	0	0	0	0	28.83	26.05	28.83
549	-0.55	-116.8	2073	2038	2175	2044	62.4	-11.0	100	555	0.00	0.00	0.00	0.000	6	0.000	0.000	2073	2038	2109	2175	2044	0	0	0	0	0	0	28.83	28.83	28.83
679	-0.55	-116.8	2073	2037	2175	2043	76.5	-10.8	125	685	0.00	2.35	0.00	0.000	516	0.000	0.054	2073	629	2108	2175	2042	0	0	0	0	0	0	28.83	26.14	28.83
724	-0.55	-116.8	2072	630	2175	2041	81.5	-11.8	133	731	0.00	2.35	0.00	0.000	1030	0.000	0.041	2062	2044	2108	2175	2041	0	0	0	0	0	0	28.83	26.18	28.83
858	-0.55	-116.8	2062	2042	2175	2041	96.2	-11.1	158	864	0.00	2.20	0.00	0.000	260	0.000	0.050	2052	3456	2108	2175	2041	0	0	0	0	0	0	28.83	26.19	28.83
946	-0.55	-116.8	1264	3454	2125	2034	107.4	-12.6	174	953	0.12	2.22	0.00	0.000	3078	0.158	0.038	2084	2041	2108	2175	2041	0	0	0	0	0	0	26.13	26.24	28.83
1081	-0.55	-116.8	2085	2036	2175	2041	121.0	-9.2	199	1087	0.00	2.33	0.00	0.000	516	0.000	0.054	2085	631	2108	2175	2041	0	0	0	0	0	0	28.83	26.24	28.83
1213	-0.55	-116.8	2084	631	2175	2040	134.4	-9.7	224	1222	0.00	2.35	0.00	0.000	1030	0.000	0.041	2075	2045	2107	2175	2040	0	0	0	0	0	0	28.83	26.29	28.83
1351	-0.55	-116.8	2075	2043	2175	2040	147.2	-9.7	249	1356	0.00	0.00	0.00	0.000	6	0.000	0.000	2075	2043	2107	2175	2040	0	0	0	0	0	0	28.83	28.83	28.83
1484	-0.55	-116.8	2075	2043	2175	2040	159.2	-9.1	274	1492	0.00	0.00	0.00	0.000	6	0.000	0.000	2075	2043	2107	2175	2040	0	0	0	0	0	0	28.83	28.83	28.83
1616	end dive: BOTTOM_OBSTACLE_DETECTED
state	1616	begin apogee
1625	-0.23	0.0	2075	1900	2174	2040	171.9	-8.9	299	1726	0.32	0.08	93.70	0.640	10246	0.142	0.115	2182	1969	1637	1661	1614	0	0	0	0	0	0	26.23	24.98	24.50
1730	end apogee: CONTROL_FINISHED_OK
state	1730	begin climb
1734	0.55	116.8	2182	1969	1661	1612	176.8	0.0	317	1840	0.77	2.35	95.03	0.613	10500	0.110	0.047	2436	3323	1172	1134	1210	0	0	1	0	0	0	25.07	24.67	24.15
1855	0.55	116.8	2436	3323	1133	1210	170.2	8.3	338	1861	0.00	2.25	0.00	0.000	1030	0.000	0.038	2446	1979	1172	1134	1210	0	0	0	0	0	0	28.83	24.98	28.83
1988	0.55	116.8	2446	1979	1133	1210	158.5	8.9	363	1995	0.00	2.50	0.00	0.000	516	0.000	0.057	2458	522	1172	1134	1210	0	0	0	0	0	0	28.83	25.51	28.83
2014	0.55	116.8	2458	521	1134	1207	155.8	9.1	367	2020	0.00	2.35	0.00	0.000	1030	0.000	0.036	2458	1924	1170	1134	1207	0	0	0	0	0	0	28.83	25.60	28.83
2146	0.55	116.8	1504	1919	1120	1204	142.8	9.8	392	2153	0.00	2.28	0.00	0.000	260	0.000	0.047	2458	3341	1170	1134	1207	0	0	0	0	0	0	28.83	25.78	28.83
2197	0.55	116.8	2458	3341	1134	1206	136.8	11.4	401	2204	0.00	2.28	0.00	0.000	1030	0.000	0.038	2468	1929	1170	1134	1206	0	0	0	0	0	0	28.83	25.86	28.83
2331	0.55	116.8	2468	1930	1134	1207	123.0	9.5	426	2336	0.00	0.00	0.00	0.000	6	0.000	0.000	2468	1930	1170	1134	1206	0	0	0	0	0	0	28.83	28.83	28.83
2460	0.55	116.8	2468	1928	1134	1206	109.6	10.6	451	2467	0.00	2.35	0.00	0.000	516	0.000	0.054	2479	521	1170	1134	1206	0	0	0	0	0	0	28.83	26.03	28.83
2491	0.55	116.8	2479	521	1134	1205	106.1	11.3	456	2498	0.15	2.35	0.00	0.000	5126	0.162	0.037	2440	1943	1168	1133	1204	0	0	0	0	0	0	25.94	26.07	28.83
2624	0.55	116.8	1504	1939	1121	1202	94.4	8.3	481	2630	0.00	2.22	0.00	0.000	260	0.000	0.047	2440	3357	1169	1134	1204	0	0	0	0	0	0	28.83	26.11	28.83
2664	0.55	116.8	2440	3356	1134	1204	90.6	10.0	488	2671	0.00	2.28	0.00	0.000	1030	0.000	0.039	2449	1922	1169	1134	1204	0	0	0	0	0	0	28.83	26.14	28.83
2799	0.55	116.8	2449	1917	1134	1204	77.4	11.2	513	2806	0.00	2.30	0.00	0.000	260	0.000	0.048	2450	3358	1169	1134	1204	0	0	0	0	0	0	28.83	26.17	28.83
2830	0.55	116.8	2449	3358	1134	1204	73.9	10.3	518	2836	0.00	2.25	0.00	0.000	1030	0.000	0.039	2460	1936	1168	1134	1203	0	0	0	0	0	0	28.83	26.20	28.83
2963	0.55	116.8	2460	1932	1134	1203	60.4	10.9	543	2969	0.00	2.25	0.00	0.000	260	0.000	0.047	2460	3350	1169	1134	1204	0	0	0	0	0	0	28.83	26.22	28.83
2994	0.55	116.8	2460	3349	1134	1204	56.5	11.5	548	3000	0.00	2.22	0.00	0.000	1030	0.000	0.039	2471	1939	1169	1134	1204	0	0	0	0	0	0	28.83	26.23	28.83
3127	0.55	116.8	2470	1940	1134	1204	41.5	11.2	573	3134	0.00	2.25	0.00	0.000	260	0.000	0.047	2471	3351	1169	1134	1204	0	0	0	0	0	0	28.83	26.25	28.83
3159	0.55	116.8	2470	3350	1135	1204	37.8	11.2	578	3167	0.15	2.22	0.00	0.000	5126	0.169	0.038	2442	1945	1169	1134	1204	0	0	0	0	0	0	26.14	26.29	28.83
3231	0.55	116.8	2442	1944	1134	1204	31.5	7.5	591	3238	0.00	2.35	0.00	0.000	516	0.000	0.054	2452	525	1168	1133	1203	0	0	0	0	0	0	28.83	26.27	28.83
3257	0.55	116.8	2451	526	1134	1203	29.3	8.6	595	3263	0.00	2.30	0.00	0.000	1030	0.000	0.035	2452	1948	1168	1134	1202	0	0	0	0	0	0	28.83	26.32	28.83
3328	0.55	116.8	2451	1946	1134	1202	23.1	9.0	608	3334	0.00	2.20	0.00	0.000	260	0.000	0.047	2452	3348	1168	1134	1202	0	0	0	0	0	0	28.83	26.29	28.83
3343	0.55	116.8	2452	3347	1134	1202	21.7	8.6	610	3350	0.00	2.25	0.00	0.000	1030	0.000	0.038	2462	1928	1168	1134	1202	0	0	0	0	0	0	28.83	26.32	28.83
3413	0.55	116.8	1536	1925	1122	1200	15.2	9.3	623	3420	0.00	2.30	0.00	0.000	516	0.000	0.054	2474	533	1168	1135	1202	0	0	0	0	0	0	28.83	26.30	28.83
3455	0.55	116.8	2473	533	1134	1202	11.4	9.4	630	3463	0.12	2.30	0.00	0.000	5126	0.162	0.036	2441	1945	1168	1135	1201	0	0	0	0	0	0	26.22	26.34	28.83
3527	0.55	116.8	2441	1943	1135	1200	5.4	7.7	643	3534	0.00	2.20	0.00	0.000	260	0.000	0.046	2441	3357	1168	1135	1201	0	0	0	0	0	0	28.83	26.33	28.83
3574	end climb: SURFACE_DEPTH_REACHED
state	3574	begin surface coast
3590	end surface coast: CONTROL_FINISHED_OK
state	3590	begin surface