Glider dive log

Shilshole 14Jan14 * SG189 * Dive index * Mission links * Dive 12 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 189 HD_C 1.176e-05 ROLL_MAX 3924 ALTIM_BOTTOM_TURN_MARGIN 10

MISSION 29 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 12 ESCAPE_HEADING 90 C_ROLL_DIVE 2247 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2247 ALTIM_PING_DEPTH 75

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 15 ALTIM_PING_DELTA 5

D_FLARE 2 TGT_DEFAULT_LAT 4809 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 180 TGT_DEFAULT_LON -12540 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT -20 ALTIM_SENSITIVITY 4

D_NO_BLEED 100 SM_CC 250 R_STBD_OVSHOOT -20 XPDR_VALID 4

D_BOOST 100 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 95

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -1

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 5 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2678 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 35

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 101

T_DIVE 90 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 110 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 6 DEVICE6 -1

T_TURN 290 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 3

T_TURN_SAMPINT 10 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 720 T_GPS 15 UNCOM_BLEED 50 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 30 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -57107.078 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 1001 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 97 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 165 MINV_24V 19 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3928 MINV_10V 7.9000001 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2580 FG_AHR_10V 0 SEABIRD_T_G 0.0043091727

GLIDE_SLOPE 45 PITCH_DBAND 0 FG_AHR_24V 0 SEABIRD_T_H 0.00062247959

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.1807595e-05

RHO 1.0233001 P_OVSHOOT 0.025006104 PRESSURE_YINT -80.87886 SEABIRD_T_J 2.0889163e-06

MASS 57433 PITCH_GAIN 29 PRESSURE_SLOPE 0.0001182519 SEABIRD_C_G -10.02883

MASS_COMP 4067.7 PITCH_TIMEOUT 18 AD7714Ch0Gain 128 SEABIRD_C_H 1.1489301

NAV_MODE 1 PITCH_AD_RATE 165 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0012180988

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00017992272

KALMAN_USE 1 PITCH_ADJ_GAIN 0 COMPASS_USE 4

HD_A 0.0030066001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 359 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 128 D_OFFGRID 1001 PHONE_SUPPLY 2 SM_CC 250

AH0_10V 97 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 3 PITCH_AD_RATE 165 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_TGT 180 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 90 PITCH_DBAND 0 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 29 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 75 FERRY_MAX 45 PITCH_MAX 3928 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_MIN 165 TGT_DEFAULT_LAT 4809

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 18 TGT_DEFAULT_LON -12540

ALTIM_TOP_PING_RANGE 20 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 90

CALL_NDIVES 1 HD_A 0.0030066001 PRESSURE_SLOPE 0.0001182519 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -80.87886 T_GPS 15

CALL_WAIT 60 HD_C 1.176e-05 PROTOCOL 0 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.025006104 T_GPS_CHARGE -57107.078

CAPUPLOAD 1 HEAD_ERRBAND 15 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 110

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 720

COMPASS2_DEVICE -1 ID 189 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 2

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 290

COMPASS_USE 4 INT_PRESSURE_YINT -1 RHO 1.0233001 T_TURN_SAMPINT 10

COURSE_BIAS 0 KALMAN_USE 1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2580 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_ROLL_CLIMB 2247 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2247 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 2678 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 3 ROLL_MAX 3924 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 57433 ROLL_MAXERRORS 2 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 4067.7 ROLL_MIN 359 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 35 MINV_10V 7.9000001 R_PORT_OVSHOOT -20 VBD_MAXERRORS 1

DEVICE3 101 MINV_24V 19 R_STBD_OVSHOOT -20 VBD_MIN 500

DEVICE4 -1 MISSION 29 SEABIRD_C_G -10.02883 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1489301 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0012180988 VBD_TIMEOUT 720

DIVE 12 NOCOMM_ACTION 163 SEABIRD_C_J 0.00017992272 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0043091727 XPDR_DEVICE 24

D_BOOST 100 N_FILEKB 4 SEABIRD_T_H 0.00062247959 XPDR_INHIBIT 95

D_CALL 0 N_GPS 30 SEABIRD_T_I 2.1807595e-05 XPDR_VALID 4

D_FINISH 0 N_NOCOMM 5 SEABIRD_T_J 2.0889163e-06

D_FLARE 2 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 100 PHONE_DEVICE 48 SIM_W 0

Pre-dive calculations and measurements:

GPS1 150114,071854,4744.071,-12224.098,17,1.1,18,16.6 TGT_NAME SOUTH

_CALLS 2 TGT_LATLONG 4743.000,-12224.500

_XMS_NAKs 3 TGT_RADIUS 750.000

_XMS_TOUTs 2 KALMAN_CONTROL -0.009,-0.223

_SM_DEPTHo 1.38 KALMAN_X -2175.9,100.9,46.7,2850.2,-218.6

_SM_ANGLEo -73.1 KALMAN_Y 835.3,422.6,358.0,671.1,201.6

GPS2 150114,072959,4744.037,-12224.090,18,1.2,19,16.6 MHEAD_RNG_PITCHd_Wd 165.6,1987,-11.4,-6.667,-16.61,3287

SPEED_LIMITS 0.067,0.223 D_GRID 180

Post-dive calculations and measurements:

FINISH 0.4,1.019365 _24V_AH 23.4,2.535

SM_CCo 3764,38.33,0.150,0,0,1654,250.21 _10V_AH 10.1,2.473

SM_GC 1.86,7.00,0.08,38.33,0.047,0.106,0.150,149,2221,1654,-7.54,0.57,250.21,0,0,0,0,0,0,26.10,26.20,25.86 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4729.30,-12210.84,150114,070724 FG_AHR_10Vo 0.000

TT8_MAMPS 0.025466,0.025466 MEM 323332

HUMID 49.05 DATA_FILE_SIZE 26996,408

INTERNAL_PRESSURE 8.47302 CAP_FILE_SIZE 66615,0

TCM_TEMP 17.70 CFSIZE 260165632,253132800

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

ALTIM_TOP_PING 18.8,18.1 GPS 150114,083511,4743.226,-12224.290,19,0.8,19,16.6

ALTIM_BOTTOM_PING 135.4,48.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 215 84.68 SBE_CT 279 24 156.69

Roll_motor 50 106 124.85 WL_BB2FLVMG 876 105 2152.94

VBD_pump_during_apogee 232 1127 6145.98 AA4330 630 33 486.61

VBD_pump_during_surface 38 149 134.47 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 54 103 130.86 nil 0 0 0.00

Iridium_during_connect 91 160 344.00 nil 0 0 0.00

Iridium_during_xfer 344 223 1796.07 nil 0 0 0.00

Transponder_ping 4 420 39.31 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 50 10.20

TT8 982 19 196.46

LPSleep 1548 2 34.26

TT8_Active 399 19 79.92

TT8_Sampling 1423 39 572.05

TT8_CF8 121 45 56.37

TT8_Kalman 33 81 27.45

Analog_circuits 810 12 98.20

GPS_charging 0 0 0.00

Compass 699 15 106.04

RAFOS 0 0 0.00

Transponder 28 30 8.65

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

16 -0.57 -146.6 155 2265 1709 1571 0.0 0.0 0 50 0.00 0.00 -32.42 0.000 16386 0.000 0.000 155 2265 2593 2613 2573 0 0 0 0 0 0 28.83 28.83 28.83

53 -0.57 -146.6 155 2265 2613 2572 2.2 -3.1 5 88 8.43 2.33 -19.25 0.000 19204 0.216 0.060 2380 3675 3276 3334 3218 0 0 0 0 0 0 25.54 25.75 26.03

136 -0.57 -146.6 1472 3674 3320 3213 7.2 -8.4 19 143 0.05 2.25 0.00 0.000 3078 0.188 0.031 2395 2207 3277 3338 3216 0 0 0 0 0 0 25.72 25.82 28.83

206 -0.57 -146.6 1456 2204 3321 3210 13.3 -8.9 32 214 0.00 2.22 0.00 0.000 2564 0.000 0.043 2395 817 3278 3341 3215 0 0 0 0 0 0 28.83 25.86 28.83

342 -0.57 -146.6 2395 817 3340 3215 26.0 -9.7 52 352 0.00 2.30 0.00 0.000 3078 0.000 0.036 2386 2264 3278 3341 3215 0 0 0 0 0 0 28.83 25.94 28.83

472 -0.57 -146.6 2386 2264 3340 3215 38.0 -9.2 65 473 0.00 0.00 0.00 0.000 2054 0.000 0.000 2386 2265 3278 3341 3215 0 0 0 0 0 0 28.83 28.83 28.83

592 -0.57 -146.6 2386 2264 3341 3215 48.4 -8.9 77 593 0.00 0.00 0.00 0.000 2054 0.000 0.000 2386 2264 3278 3341 3215 0 0 0 0 0 0 28.83 28.83 28.83

712 -0.57 -146.6 2386 2264 3341 3215 60.2 -10.1 89 714 0.00 0.00 0.00 0.000 2054 0.000 0.000 2386 2264 3278 3341 3215 0 0 0 0 0 0 28.83 28.83 28.83

832 -0.57 -146.6 2386 2264 3341 3215 71.5 -9.6 101 842 0.00 2.30 0.00 0.000 2564 0.000 0.042 2386 816 3278 3341 3215 0 0 0 0 0 0 28.83 26.13 28.83

892 -0.57 -146.6 2386 815 3341 3215 77.6 -10.2 107 902 0.05 2.28 0.00 0.000 3078 0.145 0.037 2394 2264 3278 3341 3215 0 0 0 0 0 0 26.03 26.15 28.83

1023 -0.57 -146.6 2393 2264 3341 3214 89.1 -8.5 120 1024 0.00 0.00 0.00 0.000 2054 0.000 0.000 2394 2264 3278 3341 3215 0 0 0 0 0 0 28.83 28.83 28.83

1142 -0.57 -146.6 2394 2264 3341 3215 98.2 -7.3 132 1143 0.00 0.00 0.00 0.000 2054 0.000 0.000 2394 2264 3278 3341 3215 0 0 0 0 0 0 28.83 28.83 28.83

1262 -0.57 -146.6 2394 2264 3342 3215 107.6 -7.7 144 1272 0.00 2.28 0.00 0.000 2564 0.000 0.042 2394 824 3277 3341 3214 0 0 0 0 0 0 28.83 26.21 28.83

1372 -0.57 -146.6 2394 824 3340 3214 117.1 -8.5 155 1382 0.00 2.28 0.00 0.000 3078 0.000 0.036 2386 2273 3277 3341 3214 0 0 0 0 0 0 28.83 26.24 28.83

1502 -0.57 -146.6 2385 2272 3341 3214 128.1 -8.9 168 1503 0.00 0.00 0.00 0.000 2054 0.000 0.000 2386 2272 3277 3341 3214 0 0 0 0 0 0 28.83 28.83 28.83

1622 -0.57 -146.6 2385 2272 3340 3214 137.5 -7.3 180 1632 0.00 2.28 0.00 0.000 2564 0.000 0.041 2386 824 3277 3341 3214 0 0 0 0 0 0 28.83 26.27 28.83

1682 -0.57 -146.6 2385 824 3341 3214 142.5 -8.5 186 1692 0.08 2.28 0.00 0.000 3078 0.163 0.035 2401 2276 3277 3341 3214 0 0 0 0 0 0 26.17 26.28 28.83

1813 -0.57 -146.6 2400 2276 3341 3214 151.4 -6.5 199 1822 0.00 2.20 0.00 0.000 4356 0.000 0.045 2392 3666 3277 3340 3214 0 0 0 0 0 0 28.83 26.28 28.83

1862 -0.57 -146.6 2392 3667 3341 3213 154.7 -6.9 204 1872 0.00 2.22 0.00 0.000 3078 0.000 0.029 2392 2212 3277 3341 3214 0 0 0 0 0 0 28.83 26.31 28.83

1993 -0.57 -146.6 2391 2212 3341 3214 164.2 -7.3 217 2002 0.00 2.17 0.00 0.000 2564 0.000 0.043 2392 818 3277 3341 3213 0 0 0 0 0 0 28.83 26.31 28.83

2082 -0.57 -146.6 2391 818 3341 3213 171.8 -8.4 226 2092 0.03 2.25 0.00 0.000 3078 0.168 0.036 2392 2267 3277 3341 3213 0 0 0 0 0 0 26.22 26.32 28.83

2121 end dive: BOTTOM_OBSTACLE_DETECTED

state 2121 begin apogee

2126 -0.17 0.0 2392 2266 3341 3213 174.9 -7.5 230 2243 0.35 0.00 113.03 1.128 10246 0.117 0.000 2520 2266 2678 2764 2593 0 0 0 0 0 0 26.22 28.83 23.57

2244 end apogee: CONTROL_FINISHED_OK

state 2244 begin climb

2246 0.57 146.6 2520 2266 2765 2593 177.4 0.0 242 2373 0.70 0.00 119.90 1.106 10758 0.080 0.000 2764 2266 2079 2179 1980 0 0 0 0 0 0 24.43 28.83 23.38

2494 0.57 146.6 2764 2266 2175 1979 153.0 12.4 267 2502 0.00 2.40 0.00 0.000 4612 0.000 0.044 2775 820 2077 2175 1979 0 0 0 0 0 0 28.83 25.15 28.83

2542 0.57 146.6 2775 820 2175 1979 146.6 13.1 272 2552 0.03 2.35 0.00 0.000 5126 0.164 0.034 2767 2269 2076 2174 1979 0 0 0 0 0 0 25.20 25.29 28.83

2672 0.57 146.6 2766 2269 2173 1979 130.3 12.4 285 2682 0.00 2.30 0.00 0.000 4356 0.000 0.042 2766 3674 2076 2173 1979 0 0 0 0 0 0 28.83 25.52 28.83

2702 0.57 146.6 2766 3674 2172 1979 126.4 13.0 288 2712 0.00 2.33 0.00 0.000 5126 0.000 0.033 2776 2216 2075 2172 1979 0 0 0 0 0 0 28.83 25.56 28.83

2832 0.57 146.6 2776 2216 2172 1979 109.3 13.2 301 2842 0.00 2.25 0.00 0.000 4612 0.000 0.044 2787 822 2075 2171 1979 0 0 0 0 0 0 28.83 25.70 28.83

2942 0.57 146.6 2786 822 2170 1979 93.4 14.9 312 2953 0.08 2.30 0.00 0.000 5126 0.161 0.034 2758 2266 2074 2170 1979 0 0 0 0 0 0 25.70 25.80 28.83

3072 0.57 146.6 2758 2266 2170 1979 76.1 13.1 325 3074 0.00 0.00 0.00 0.000 2054 0.000 0.000 2758 2265 2074 2170 1978 0 0 0 0 0 0 28.83 28.83 28.83

3192 0.57 146.6 2758 2266 2171 1979 61.6 11.3 337 3193 0.00 0.00 0.00 0.000 2054 0.000 0.000 2758 2266 2074 2170 1979 0 0 0 0 0 0 28.83 28.83 28.83

3312 0.57 146.6 2758 2265 2170 1979 48.1 11.2 349 3314 0.00 0.00 0.00 0.000 2054 0.000 0.000 2758 2265 2074 2170 1979 0 0 0 0 0 0 28.83 28.83 28.83

3432 0.57 146.6 2758 2266 2170 1979 34.6 11.6 361 3433 0.00 0.00 0.00 0.000 2054 0.000 0.000 2758 2266 2074 2170 1979 0 0 0 0 0 0 28.83 28.83 28.83

3552 0.57 146.6 2758 2265 2170 1979 21.0 11.3 373 3562 0.00 2.30 0.00 0.000 2564 0.000 0.044 2767 819 2074 2170 1979 0 0 0 0 0 0 28.83 26.07 28.83

3639 0.57 146.6 1744 818 2113 1971 11.3 10.8 388 3646 0.00 2.25 0.00 0.000 5126 0.000 0.036 2767 2283 2074 2169 1979 0 0 0 0 0 0 28.83 26.10 28.83

3709 0.57 146.6 1744 2280 2114 1971 3.8 10.5 401 3716 0.00 0.00 0.00 0.000 4102 0.000 0.000 2768 2283 2074 2169 1979 0 0 0 0 0 0 28.83 28.83 28.83

3721 end climb: SURFACE_DEPTH_REACHED

state 3721 begin surface coast

3748 end surface coast: CONTROL_FINISHED_OK

state 3748 begin surface

ID	189	HD_C	1.176e-05	ROLL_MAX	3924	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	29	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	12	ESCAPE_HEADING	90	C_ROLL_DIVE	2247	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2247	ALTIM_PING_DEPTH	75
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	15	ALTIM_PING_DELTA	5
D_FLARE	2	TGT_DEFAULT_LAT	4809	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	180	TGT_DEFAULT_LON	-12540	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	-20	ALTIM_SENSITIVITY	4
D_NO_BLEED	100	SM_CC	250	R_STBD_OVSHOOT	-20	XPDR_VALID	4
D_BOOST	100	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	95
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-1
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	5	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2678	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	35
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	101
T_DIVE	90	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	110	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	6	DEVICE6	-1
T_TURN	290	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	3
T_TURN_SAMPINT	10	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	720	T_GPS	15	UNCOM_BLEED	50	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	30	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-57107.078	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	1001	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	97	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	165	MINV_24V	19	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3928	MINV_10V	7.9000001	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2580	FG_AHR_10V	0	SEABIRD_T_G	0.0043091727
GLIDE_SLOPE	45	PITCH_DBAND	0	FG_AHR_24V	0	SEABIRD_T_H	0.00062247959
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.1807595e-05
RHO	1.0233001	P_OVSHOOT	0.025006104	PRESSURE_YINT	-80.87886	SEABIRD_T_J	2.0889163e-06
MASS	57433	PITCH_GAIN	29	PRESSURE_SLOPE	0.0001182519	SEABIRD_C_G	-10.02883
MASS_COMP	4067.7	PITCH_TIMEOUT	18	AD7714Ch0Gain	128	SEABIRD_C_H	1.1489301
NAV_MODE	1	PITCH_AD_RATE	165	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0012180988
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00017992272
KALMAN_USE	1	PITCH_ADJ_GAIN	0	COMPASS_USE	4
HD_A	0.0030066001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	359	ALTIM_TOP_PING_RANGE	20

GPS1	150114,071854,4744.071,-12224.098,17,1.1,18,16.6	TGT_NAME	SOUTH
_CALLS	2	TGT_LATLONG	4743.000,-12224.500
_XMS_NAKs	3	TGT_RADIUS	750.000
_XMS_TOUTs	2	KALMAN_CONTROL	-0.009,-0.223
_SM_DEPTHo	1.38	KALMAN_X	-2175.9,100.9,46.7,2850.2,-218.6
_SM_ANGLEo	-73.1	KALMAN_Y	835.3,422.6,358.0,671.1,201.6
GPS2	150114,072959,4744.037,-12224.090,18,1.2,19,16.6	MHEAD_RNG_PITCHd_Wd	165.6,1987,-11.4,-6.667,-16.61,3287
SPEED_LIMITS	0.067,0.223	D_GRID	180

FINISH	0.4,1.019365	_24V_AH	23.4,2.535
SM_CCo	3764,38.33,0.150,0,0,1654,250.21	_10V_AH	10.1,2.473
SM_GC	1.86,7.00,0.08,38.33,0.047,0.106,0.150,149,2221,1654,-7.54,0.57,250.21,0,0,0,0,0,0,26.10,26.20,25.86	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4729.30,-12210.84,150114,070724	FG_AHR_10Vo	0.000
TT8_MAMPS	0.025466,0.025466	MEM	323332
HUMID	49.05	DATA_FILE_SIZE	26996,408
INTERNAL_PRESSURE	8.47302	CAP_FILE_SIZE	66615,0
TCM_TEMP	17.70	CFSIZE	260165632,253132800
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_TOP_PING	18.8,18.1	GPS	150114,083511,4743.226,-12224.290,19,0.8,19,16.6
ALTIM_BOTTOM_PING	135.4,48.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	215	84.68	SBE_CT	279	24	156.69
Roll_motor	50	106	124.85	WL_BB2FLVMG	876	105	2152.94
VBD_pump_during_apogee	232	1127	6145.98	AA4330	630	33	486.61
VBD_pump_during_surface	38	149	134.47	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	54	103	130.86	nil	0	0	0.00
Iridium_during_connect	91	160	344.00	nil	0	0	0.00
Iridium_during_xfer	344	223	1796.07	nil	0	0	0.00
Transponder_ping	4	420	39.31	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	50	10.20
TT8	982	19	196.46
LPSleep	1548	2	34.26
TT8_Active	399	19	79.92
TT8_Sampling	1423	39	572.05
TT8_CF8	121	45	56.37
TT8_Kalman	33	81	27.45
Analog_circuits	810	12	98.20
GPS_charging	0	0	0.00
Compass	699	15	106.04
RAFOS	0	0	0.00
Transponder	28	30	8.65

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
16	-0.57	-146.6	155	2265	1709	1571	0.0	0.0	0	50	0.00	0.00	-32.42	0.000	16386	0.000	0.000	155	2265	2593	2613	2573	0	0	0	0	0	0	28.83	28.83	28.83
53	-0.57	-146.6	155	2265	2613	2572	2.2	-3.1	5	88	8.43	2.33	-19.25	0.000	19204	0.216	0.060	2380	3675	3276	3334	3218	0	0	0	0	0	0	25.54	25.75	26.03
136	-0.57	-146.6	1472	3674	3320	3213	7.2	-8.4	19	143	0.05	2.25	0.00	0.000	3078	0.188	0.031	2395	2207	3277	3338	3216	0	0	0	0	0	0	25.72	25.82	28.83
206	-0.57	-146.6	1456	2204	3321	3210	13.3	-8.9	32	214	0.00	2.22	0.00	0.000	2564	0.000	0.043	2395	817	3278	3341	3215	0	0	0	0	0	0	28.83	25.86	28.83
342	-0.57	-146.6	2395	817	3340	3215	26.0	-9.7	52	352	0.00	2.30	0.00	0.000	3078	0.000	0.036	2386	2264	3278	3341	3215	0	0	0	0	0	0	28.83	25.94	28.83
472	-0.57	-146.6	2386	2264	3340	3215	38.0	-9.2	65	473	0.00	0.00	0.00	0.000	2054	0.000	0.000	2386	2265	3278	3341	3215	0	0	0	0	0	0	28.83	28.83	28.83
592	-0.57	-146.6	2386	2264	3341	3215	48.4	-8.9	77	593	0.00	0.00	0.00	0.000	2054	0.000	0.000	2386	2264	3278	3341	3215	0	0	0	0	0	0	28.83	28.83	28.83
712	-0.57	-146.6	2386	2264	3341	3215	60.2	-10.1	89	714	0.00	0.00	0.00	0.000	2054	0.000	0.000	2386	2264	3278	3341	3215	0	0	0	0	0	0	28.83	28.83	28.83
832	-0.57	-146.6	2386	2264	3341	3215	71.5	-9.6	101	842	0.00	2.30	0.00	0.000	2564	0.000	0.042	2386	816	3278	3341	3215	0	0	0	0	0	0	28.83	26.13	28.83
892	-0.57	-146.6	2386	815	3341	3215	77.6	-10.2	107	902	0.05	2.28	0.00	0.000	3078	0.145	0.037	2394	2264	3278	3341	3215	0	0	0	0	0	0	26.03	26.15	28.83
1023	-0.57	-146.6	2393	2264	3341	3214	89.1	-8.5	120	1024	0.00	0.00	0.00	0.000	2054	0.000	0.000	2394	2264	3278	3341	3215	0	0	0	0	0	0	28.83	28.83	28.83
1142	-0.57	-146.6	2394	2264	3341	3215	98.2	-7.3	132	1143	0.00	0.00	0.00	0.000	2054	0.000	0.000	2394	2264	3278	3341	3215	0	0	0	0	0	0	28.83	28.83	28.83
1262	-0.57	-146.6	2394	2264	3342	3215	107.6	-7.7	144	1272	0.00	2.28	0.00	0.000	2564	0.000	0.042	2394	824	3277	3341	3214	0	0	0	0	0	0	28.83	26.21	28.83
1372	-0.57	-146.6	2394	824	3340	3214	117.1	-8.5	155	1382	0.00	2.28	0.00	0.000	3078	0.000	0.036	2386	2273	3277	3341	3214	0	0	0	0	0	0	28.83	26.24	28.83
1502	-0.57	-146.6	2385	2272	3341	3214	128.1	-8.9	168	1503	0.00	0.00	0.00	0.000	2054	0.000	0.000	2386	2272	3277	3341	3214	0	0	0	0	0	0	28.83	28.83	28.83
1622	-0.57	-146.6	2385	2272	3340	3214	137.5	-7.3	180	1632	0.00	2.28	0.00	0.000	2564	0.000	0.041	2386	824	3277	3341	3214	0	0	0	0	0	0	28.83	26.27	28.83
1682	-0.57	-146.6	2385	824	3341	3214	142.5	-8.5	186	1692	0.08	2.28	0.00	0.000	3078	0.163	0.035	2401	2276	3277	3341	3214	0	0	0	0	0	0	26.17	26.28	28.83
1813	-0.57	-146.6	2400	2276	3341	3214	151.4	-6.5	199	1822	0.00	2.20	0.00	0.000	4356	0.000	0.045	2392	3666	3277	3340	3214	0	0	0	0	0	0	28.83	26.28	28.83
1862	-0.57	-146.6	2392	3667	3341	3213	154.7	-6.9	204	1872	0.00	2.22	0.00	0.000	3078	0.000	0.029	2392	2212	3277	3341	3214	0	0	0	0	0	0	28.83	26.31	28.83
1993	-0.57	-146.6	2391	2212	3341	3214	164.2	-7.3	217	2002	0.00	2.17	0.00	0.000	2564	0.000	0.043	2392	818	3277	3341	3213	0	0	0	0	0	0	28.83	26.31	28.83
2082	-0.57	-146.6	2391	818	3341	3213	171.8	-8.4	226	2092	0.03	2.25	0.00	0.000	3078	0.168	0.036	2392	2267	3277	3341	3213	0	0	0	0	0	0	26.22	26.32	28.83
2121	end dive: BOTTOM_OBSTACLE_DETECTED
state	2121	begin apogee
2126	-0.17	0.0	2392	2266	3341	3213	174.9	-7.5	230	2243	0.35	0.00	113.03	1.128	10246	0.117	0.000	2520	2266	2678	2764	2593	0	0	0	0	0	0	26.22	28.83	23.57
2244	end apogee: CONTROL_FINISHED_OK
state	2244	begin climb
2246	0.57	146.6	2520	2266	2765	2593	177.4	0.0	242	2373	0.70	0.00	119.90	1.106	10758	0.080	0.000	2764	2266	2079	2179	1980	0	0	0	0	0	0	24.43	28.83	23.38
2494	0.57	146.6	2764	2266	2175	1979	153.0	12.4	267	2502	0.00	2.40	0.00	0.000	4612	0.000	0.044	2775	820	2077	2175	1979	0	0	0	0	0	0	28.83	25.15	28.83
2542	0.57	146.6	2775	820	2175	1979	146.6	13.1	272	2552	0.03	2.35	0.00	0.000	5126	0.164	0.034	2767	2269	2076	2174	1979	0	0	0	0	0	0	25.20	25.29	28.83
2672	0.57	146.6	2766	2269	2173	1979	130.3	12.4	285	2682	0.00	2.30	0.00	0.000	4356	0.000	0.042	2766	3674	2076	2173	1979	0	0	0	0	0	0	28.83	25.52	28.83
2702	0.57	146.6	2766	3674	2172	1979	126.4	13.0	288	2712	0.00	2.33	0.00	0.000	5126	0.000	0.033	2776	2216	2075	2172	1979	0	0	0	0	0	0	28.83	25.56	28.83
2832	0.57	146.6	2776	2216	2172	1979	109.3	13.2	301	2842	0.00	2.25	0.00	0.000	4612	0.000	0.044	2787	822	2075	2171	1979	0	0	0	0	0	0	28.83	25.70	28.83
2942	0.57	146.6	2786	822	2170	1979	93.4	14.9	312	2953	0.08	2.30	0.00	0.000	5126	0.161	0.034	2758	2266	2074	2170	1979	0	0	0	0	0	0	25.70	25.80	28.83
3072	0.57	146.6	2758	2266	2170	1979	76.1	13.1	325	3074	0.00	0.00	0.00	0.000	2054	0.000	0.000	2758	2265	2074	2170	1978	0	0	0	0	0	0	28.83	28.83	28.83
3192	0.57	146.6	2758	2266	2171	1979	61.6	11.3	337	3193	0.00	0.00	0.00	0.000	2054	0.000	0.000	2758	2266	2074	2170	1979	0	0	0	0	0	0	28.83	28.83	28.83
3312	0.57	146.6	2758	2265	2170	1979	48.1	11.2	349	3314	0.00	0.00	0.00	0.000	2054	0.000	0.000	2758	2265	2074	2170	1979	0	0	0	0	0	0	28.83	28.83	28.83
3432	0.57	146.6	2758	2266	2170	1979	34.6	11.6	361	3433	0.00	0.00	0.00	0.000	2054	0.000	0.000	2758	2266	2074	2170	1979	0	0	0	0	0	0	28.83	28.83	28.83
3552	0.57	146.6	2758	2265	2170	1979	21.0	11.3	373	3562	0.00	2.30	0.00	0.000	2564	0.000	0.044	2767	819	2074	2170	1979	0	0	0	0	0	0	28.83	26.07	28.83
3639	0.57	146.6	1744	818	2113	1971	11.3	10.8	388	3646	0.00	2.25	0.00	0.000	5126	0.000	0.036	2767	2283	2074	2169	1979	0	0	0	0	0	0	28.83	26.10	28.83
3709	0.57	146.6	1744	2280	2114	1971	3.8	10.5	401	3716	0.00	0.00	0.00	0.000	4102	0.000	0.000	2768	2283	2074	2169	1979	0	0	0	0	0	0	28.83	28.83	28.83
3721	end climb: SURFACE_DEPTH_REACHED
state	3721	begin surface coast
3748	end surface coast: CONTROL_FINISHED_OK
state	3748	begin surface