Glider dive log

Shilshole 02Jun15 * SG205 * Dive index * Mission links * Dive 12 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 205 HD_C 9.9999997e-06 ROLL_MAX 3984 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 6 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 12 ESCAPE_HEADING 0 C_ROLL_DIVE 2060 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 25 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1990 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 180 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 34 ALTIM_SENSITIVITY 4

D_NO_BLEED 35 SM_CC 235 R_STBD_OVSHOOT 48 XPDR_VALID 1

D_BOOST 0 N_FILEKB 4 ROLL_AD_RATE 250 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 -0.98000002

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 9 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 C_VBD 2328 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 147

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.25119999 DEVICE3 -1

T_DIVE 75 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 80 CALL_WAIT 45 PITCH_VBD_SHIFT 9.9999997e-05 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 300 CAPMAXSIZE 200000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 4 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 -6 T_GPS_CHARGE -2665.2119 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 49

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 5 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 207 MINV_24V 19 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3915 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2888 FG_AHR_10V 0 SEABIRD_T_G 0.0043419907

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.000621902

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.2352948e-05

RHO 1.023 P_OVSHOOT 0.039999999 PRESSURE_YINT -60.397808 SEABIRD_T_J 2.3392056e-06

MASS 53045 PITCH_GAIN 18.1 PRESSURE_SLOPE 0.0001159995 SEABIRD_C_G -9.6916523

MASS_COMP 0 PITCH_TIMEOUT 17 AD7714Ch0Gain 128 SEABIRD_C_H 1.1209148

NAV_MODE 1 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0012442283

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.0001684351

KALMAN_USE 1 PITCH_ADJ_GAIN 0 COMPASS_USE 4

HD_A 0.0038000001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 293 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 235

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 2 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 180 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 5 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 18.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3915 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 207 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12218

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 9.9999997e-05 T_ABORT 1440

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 75

CALL_NDIVES 1 HD_A 0.0038000001 PRESSURE_SLOPE 0.0001159995 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -60.397808 T_GPS 15

CALL_WAIT 45 HD_C 9.9999997e-06 PROTOCOL 9 T_GPS_ALMANAC 0

CAPMAXSIZE 200000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -2665.2119

CAPUPLOAD 1 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 5 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 80

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 205 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 300

COMPASS_USE 4 INT_PRESSURE_YINT -0.98000002 RHO 1.023 T_TURN_SAMPINT 4

COURSE_BIAS 0 KALMAN_USE 1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2888 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 1990 LOGGERDEVICE2 -1 ROLL_AD_RATE 250 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2060 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY -6

C_VBD 2328 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3984 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 53045 ROLL_MAXERRORS 1 VBD_CNV -0.25119999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 293 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 147 MINV_10V 8 R_PORT_OVSHOOT 34 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 48 VBD_MIN 500

DEVICE4 -1 MISSION 6 SEABIRD_C_G -9.6916523 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1209148 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0012442283 VBD_TIMEOUT 720

DIVE 12 NOCOMM_ACTION 0 SEABIRD_C_J 0.0001684351 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 25 SEABIRD_T_G 0.0043419907 XPDR_DEVICE 24

D_BOOST 0 N_FILEKB 4 SEABIRD_T_H 0.000621902 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.2352948e-05 XPDR_VALID 1

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 2.3392056e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 35 PHONE_DEVICE 49 SIM_W 0

Pre-dive calculations and measurements:

GPS1 030615,055304,4743.325,-12225.134,3,0.9,3,16.3 TGT_NAME NW

_CALLS 1 TGT_LATLONG 4743.900,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.079,0.229

_SM_DEPTHo 1.01 KALMAN_X -1926.6,-11.7,-38.5,1816.3,-191.4

_SM_ANGLEo -58.3 KALMAN_Y -8518.8,-225.3,-97.9,9604.2,-632.4

GPS2 030615,055949,4743.336,-12225.146,6,0.8,6,16.3 MHEAD_RNG_PITCHd_Wd 2.7,1130,-14.9,-8.000,-18.27,2786

SPEED_LIMITS 0.139,0.242 D_GRID 181

Post-dive calculations and measurements:

FINISH 0.0,1.020626 _10V_AH 10.0,34.151

SM_CCo 3948,9.18,0.677,0,0,1388,235.12 FG_AHR_24Vo 0.000

SM_GC 2.70,7.72,2.03,9.18,0.033,0.028,0.677,186,2052,1388,-8.35,1.36,235.12,0,0,0,0,0,0,26.57,26.60,25.41 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4726.11,-12226.80,290308,191949 MEM 322252

TT8_MAMPS 0.029211,0.029211 DATA_FILE_SIZE 36834,755

HUMID 47.75 CAP_FILE_SIZE 77825,0

INTERNAL_PRESSURE 9.01062 CFSIZE 1024393216,1020477440

TCM_TEMP 15.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 GPS 030615,070724,4743.767,-12224.861,3,1.3,3,16.3

_24V_AH 23.2,40.974

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 247 114.58 SBE_CT 508 23 274.06

Roll_motor 49 109 126.39 WL_BBFL2 1033 105 2518.44

VBD_pump_during_apogee 250 1386 8067.18 nil 0 0 0.00

VBD_pump_during_surface 9 677 144.11 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 36 9 8.51 nil 0 0 0.00

Iridium_during_connect 48 160 181.42 nil 0 0 0.00

Iridium_during_xfer 224 223 1162.66 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 28 1.96

TT8 1653 17 288.50

LPSleep 418 2 9.16

TT8_Active 363 17 63.36

TT8_Sampling 1811 42 763.89

TT8_CF8 127 58 74.74

TT8_Kalman 33 64 21.47

Analog_circuits 1025 20 205.12

GPS_charging 0 0 0.00

Compass 1515 3 56.69

RAFOS 0 0 0.00

Transponder 0 5 0.03

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 -0.84 -146.6 181 2067 671 300 0.0 0.0 0 92 0.00 0.00 -74.32 0.000 16386 0.000 0.000 181 2068 2650 2673 2628 0 0 0 0 0 0 28.83 28.83 28.83

95 -0.84 -146.6 181 2068 2672 2628 3.0 -6.3 12 116 10.43 0.00 -5.95 0.000 18438 0.248 0.000 2611 2069 2913 2944 2883 0 0 0 0 0 0 25.70 28.83 26.77

178 -0.84 -146.6 1568 2067 2906 2875 14.3 -12.5 27 185 0.00 0.00 0.00 0.000 6 0.000 0.000 2611 2069 2914 2945 2883 0 0 0 0 0 0 28.83 28.83 28.83

247 -0.84 -146.6 1568 2066 2906 2875 22.4 -11.5 40 254 0.00 2.17 0.00 0.000 260 0.000 0.042 2603 3463 2914 2946 2883 0 0 0 0 0 0 28.83 26.38 28.83

303 -0.84 -146.6 2602 3463 2946 2883 29.2 -12.4 51 310 0.00 2.15 0.00 0.000 1030 0.000 0.027 2603 2031 2914 2946 2883 0 0 0 0 0 0 28.83 26.53 28.83

372 -0.84 -146.6 1568 2029 2907 2876 37.0 -9.7 64 379 0.00 0.00 0.00 0.000 6 0.000 0.000 2602 2031 2914 2946 2883 0 0 0 0 0 0 28.83 28.83 28.83

442 -0.84 -146.6 1568 2029 2908 2875 43.0 -7.4 77 449 0.00 2.12 0.00 0.000 516 0.000 0.040 2603 671 2914 2946 2883 0 0 0 0 0 0 28.83 26.44 28.83

570 -0.84 -146.6 1584 671 2908 2875 53.1 -8.2 104 577 0.00 2.12 0.00 0.000 1030 0.000 0.027 2593 2063 2914 2946 2882 0 0 0 0 0 0 28.83 26.62 28.83

703 -0.84 -146.6 2592 2063 2946 2883 66.1 -12.5 129 709 0.00 0.00 0.00 0.000 6 0.000 0.000 2593 2063 2914 2946 2882 0 0 0 0 0 0 28.83 28.83 28.83

832 -0.84 -146.6 2593 2063 2946 2882 84.4 -13.3 154 838 0.00 0.00 0.00 0.000 6 0.000 0.000 2593 2063 2915 2947 2883 0 0 0 0 0 0 28.83 28.83 28.83

963 -0.84 -146.6 2593 2063 2948 2883 99.7 -10.4 179 969 0.00 2.12 0.00 0.000 260 0.000 0.041 2583 3466 2914 2947 2882 0 0 0 0 0 0 28.83 26.53 28.83

1049 -0.84 -146.6 1552 3466 2908 2875 108.7 -10.3 198 1057 0.10 2.10 0.00 0.000 3078 0.132 0.027 2616 2053 2915 2947 2883 0 0 0 0 0 0 26.34 26.71 28.83

1182 -0.84 -146.6 2616 2053 2945 2883 118.9 -7.1 223 1189 0.00 2.10 0.00 0.000 516 0.000 0.040 2616 671 2915 2947 2883 0 0 0 0 0 0 28.83 26.55 28.83

1296 -0.84 -146.6 2616 671 2947 2883 127.4 -8.4 248 1303 0.00 2.12 0.00 0.000 1030 0.000 0.027 2609 2067 2915 2947 2883 0 0 0 0 0 0 28.83 26.73 28.83

1427 -0.84 -146.6 2608 2068 2947 2883 139.8 -10.4 273 1433 0.00 0.00 0.00 0.000 6 0.000 0.000 2609 2068 2915 2947 2883 0 0 0 0 0 0 28.83 28.83 28.83

1556 -0.84 -146.6 2608 2068 2947 2883 153.7 -10.2 298 1563 0.00 2.15 0.00 0.000 260 0.000 0.042 2599 3460 2915 2947 2883 0 0 0 0 0 0 28.83 26.57 28.83

1656 -0.84 -146.6 2598 3460 2947 2883 165.3 -11.0 320 1663 0.00 2.08 0.00 0.000 1030 0.000 0.028 2598 2066 2914 2947 2882 0 0 0 0 0 0 28.83 26.74 28.83

1777 end dive: TARGET_DEPTH_EXCEEDED

state 1777 begin apogee

1782 -0.28 0.0 2598 1980 2947 2883 180.1 -12.7 343 1900 0.60 0.00 111.57 1.359 10246 0.119 0.000 2794 1979 2328 2423 2234 0 0 0 0 0 0 26.05 28.83 23.85

1901 end apogee: CONTROL_FINISHED_OK

state 1901 begin climb

1903 0.84 146.6 2794 1979 2423 2234 185.1 0.0 363 2025 1.08 0.00 116.68 1.386 10502 0.083 0.000 3151 1979 1744 1889 1599 0 0 0 0 0 0 25.03 28.83 23.25

2148 0.84 146.6 3150 1978 1889 1599 167.4 8.9 408 2155 0.00 2.25 0.00 0.000 516 0.000 0.042 3151 608 1744 1889 1599 0 0 0 0 0 0 28.83 25.53 28.83

2231 0.84 146.6 2112 607 1844 1594 159.4 10.7 426 2239 0.00 2.17 0.00 0.000 1030 0.000 0.026 3150 1996 1744 1889 1599 0 0 0 0 0 0 28.83 25.94 28.83

2365 0.84 146.6 3150 1996 1889 1599 147.7 9.3 451 2371 0.00 0.00 0.00 0.000 6 0.000 0.000 3150 1997 1744 1889 1599 0 0 0 0 0 0 28.83 28.83 28.83

2494 0.84 146.6 3150 1996 1888 1599 134.6 10.0 476 2500 0.00 0.00 0.00 0.000 6 0.000 0.000 3151 1996 1743 1887 1599 0 0 0 0 0 0 28.83 28.83 28.83

2625 0.84 146.6 3150 1996 1888 1599 122.6 8.8 501 2631 0.00 0.00 0.00 0.000 6 0.000 0.000 3151 1996 1744 1889 1599 0 0 0 0 0 0 28.83 28.83 28.83

2754 0.84 152.2 3150 1996 1888 1599 111.2 7.8 526 2761 0.00 0.00 2.22 0.589 8198 0.000 0.000 3151 1996 1722 1866 1578 0 0 0 0 0 0 28.83 28.83 24.71

2886 0.84 152.6 3150 1996 1865 1578 100.1 8.0 551 2892 0.00 0.00 0.00 0.000 6 0.000 0.000 3151 1996 1721 1865 1578 0 0 0 0 0 0 28.83 28.83 28.83

3015 0.84 152.6 3150 1996 1865 1579 87.9 10.4 576 3022 0.00 2.15 0.00 0.000 260 0.000 0.040 3150 3390 1722 1866 1578 0 0 0 0 0 0 28.83 26.48 28.83

3052 0.84 152.6 3150 3390 1866 1578 83.8 12.0 583 3059 0.00 2.08 0.00 0.000 1030 0.000 0.028 3151 1985 1722 1865 1579 0 0 0 0 0 0 28.83 26.60 28.83

3182 0.84 152.6 3150 1985 1865 1578 68.1 13.1 608 3188 0.00 0.00 0.00 0.000 6 0.000 0.000 3150 1985 1721 1865 1578 0 0 0 0 0 0 28.83 28.83 28.83

3312 0.84 152.6 3150 1985 1865 1578 54.4 9.0 633 3318 0.00 2.15 0.00 0.000 516 0.000 0.043 3151 592 1721 1865 1578 0 0 0 0 0 0 28.83 26.50 28.83

3449 0.84 172.4 2080 592 1821 1573 44.1 7.3 662 3463 0.00 2.12 7.43 0.795 9222 0.000 0.027 3151 1996 1639 1787 1492 0 0 0 0 0 0 28.83 26.70 25.38

3526 0.84 208.4 2080 1994 1746 1487 39.2 6.7 676 3546 0.00 2.22 12.95 0.835 8708 0.000 0.041 3151 589 1495 1654 1337 0 0 0 0 0 0 28.83 26.39 25.35

3609 0.84 208.4 3150 589 1654 1337 32.2 8.7 692 3616 0.00 2.15 0.00 0.000 1030 0.000 0.027 3151 1996 1495 1654 1337 0 0 0 0 0 0 28.83 26.49 28.83

3679 0.84 208.4 2112 1995 1618 1333 25.4 10.7 705 3686 0.00 2.15 0.00 0.000 260 0.000 0.041 3151 3385 1495 1654 1337 0 0 0 0 0 0 28.83 26.43 28.83

3703 0.84 208.4 3150 3385 1654 1337 22.8 10.8 709 3710 0.00 2.12 0.00 0.000 1030 0.000 0.028 3150 1984 1495 1654 1337 0 0 0 0 0 0 28.83 26.53 28.83

3773 0.84 208.4 2080 1982 1618 1333 15.7 10.9 722 3780 0.00 2.17 0.00 0.000 260 0.000 0.040 3151 3384 1495 1654 1337 0 0 0 0 0 0 28.83 26.46 28.83

3906 end climb: SURFACE_DEPTH_REACHED

state 3906 begin surface coast

3930 end surface coast: CONTROL_FINISHED_OK

state 3930 begin surface

ID	205	HD_C	9.9999997e-06	ROLL_MAX	3984	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	6	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	12	ESCAPE_HEADING	0	C_ROLL_DIVE	2060	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	25	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1990	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	180	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	34	ALTIM_SENSITIVITY	4
D_NO_BLEED	35	SM_CC	235	R_STBD_OVSHOOT	48	XPDR_VALID	1
D_BOOST	0	N_FILEKB	4	ROLL_AD_RATE	250	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	-0.98000002
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	9	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	C_VBD	2328	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	147
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.25119999	DEVICE3	-1
T_DIVE	75	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	80	CALL_WAIT	45	PITCH_VBD_SHIFT	9.9999997e-05	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	300	CAPMAXSIZE	200000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	4	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	-6	T_GPS_CHARGE	-2665.2119	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	49
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	5	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	207	MINV_24V	19	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3915	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2888	FG_AHR_10V	0	SEABIRD_T_G	0.0043419907
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.000621902
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.2352948e-05
RHO	1.023	P_OVSHOOT	0.039999999	PRESSURE_YINT	-60.397808	SEABIRD_T_J	2.3392056e-06
MASS	53045	PITCH_GAIN	18.1	PRESSURE_SLOPE	0.0001159995	SEABIRD_C_G	-9.6916523
MASS_COMP	0	PITCH_TIMEOUT	17	AD7714Ch0Gain	128	SEABIRD_C_H	1.1209148
NAV_MODE	1	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0012442283
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.0001684351
KALMAN_USE	1	PITCH_ADJ_GAIN	0	COMPASS_USE	4
HD_A	0.0038000001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	293	ALTIM_TOP_PING_RANGE	0

GPS1	030615,055304,4743.325,-12225.134,3,0.9,3,16.3	TGT_NAME	NW
_CALLS	1	TGT_LATLONG	4743.900,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.079,0.229
_SM_DEPTHo	1.01	KALMAN_X	-1926.6,-11.7,-38.5,1816.3,-191.4
_SM_ANGLEo	-58.3	KALMAN_Y	-8518.8,-225.3,-97.9,9604.2,-632.4
GPS2	030615,055949,4743.336,-12225.146,6,0.8,6,16.3	MHEAD_RNG_PITCHd_Wd	2.7,1130,-14.9,-8.000,-18.27,2786
SPEED_LIMITS	0.139,0.242	D_GRID	181

FINISH	0.0,1.020626	_10V_AH	10.0,34.151
SM_CCo	3948,9.18,0.677,0,0,1388,235.12	FG_AHR_24Vo	0.000
SM_GC	2.70,7.72,2.03,9.18,0.033,0.028,0.677,186,2052,1388,-8.35,1.36,235.12,0,0,0,0,0,0,26.57,26.60,25.41	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4726.11,-12226.80,290308,191949	MEM	322252
TT8_MAMPS	0.029211,0.029211	DATA_FILE_SIZE	36834,755
HUMID	47.75	CAP_FILE_SIZE	77825,0
INTERNAL_PRESSURE	9.01062	CFSIZE	1024393216,1020477440
TCM_TEMP	15.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	GPS	030615,070724,4743.767,-12224.861,3,1.3,3,16.3
_24V_AH	23.2,40.974

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	247	114.58	SBE_CT	508	23	274.06
Roll_motor	49	109	126.39	WL_BBFL2	1033	105	2518.44
VBD_pump_during_apogee	250	1386	8067.18	nil	0	0	0.00
VBD_pump_during_surface	9	677	144.11	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	36	9	8.51	nil	0	0	0.00
Iridium_during_connect	48	160	181.42	nil	0	0	0.00
Iridium_during_xfer	224	223	1162.66	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	28	1.96
TT8	1653	17	288.50
LPSleep	418	2	9.16
TT8_Active	363	17	63.36
TT8_Sampling	1811	42	763.89
TT8_CF8	127	58	74.74
TT8_Kalman	33	64	21.47
Analog_circuits	1025	20	205.12
GPS_charging	0	0	0.00
Compass	1515	3	56.69
RAFOS	0	0	0.00
Transponder	0	5	0.03

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	-0.84	-146.6	181	2067	671	300	0.0	0.0	0	92	0.00	0.00	-74.32	0.000	16386	0.000	0.000	181	2068	2650	2673	2628	0	0	0	0	0	0	28.83	28.83	28.83
95	-0.84	-146.6	181	2068	2672	2628	3.0	-6.3	12	116	10.43	0.00	-5.95	0.000	18438	0.248	0.000	2611	2069	2913	2944	2883	0	0	0	0	0	0	25.70	28.83	26.77
178	-0.84	-146.6	1568	2067	2906	2875	14.3	-12.5	27	185	0.00	0.00	0.00	0.000	6	0.000	0.000	2611	2069	2914	2945	2883	0	0	0	0	0	0	28.83	28.83	28.83
247	-0.84	-146.6	1568	2066	2906	2875	22.4	-11.5	40	254	0.00	2.17	0.00	0.000	260	0.000	0.042	2603	3463	2914	2946	2883	0	0	0	0	0	0	28.83	26.38	28.83
303	-0.84	-146.6	2602	3463	2946	2883	29.2	-12.4	51	310	0.00	2.15	0.00	0.000	1030	0.000	0.027	2603	2031	2914	2946	2883	0	0	0	0	0	0	28.83	26.53	28.83
372	-0.84	-146.6	1568	2029	2907	2876	37.0	-9.7	64	379	0.00	0.00	0.00	0.000	6	0.000	0.000	2602	2031	2914	2946	2883	0	0	0	0	0	0	28.83	28.83	28.83
442	-0.84	-146.6	1568	2029	2908	2875	43.0	-7.4	77	449	0.00	2.12	0.00	0.000	516	0.000	0.040	2603	671	2914	2946	2883	0	0	0	0	0	0	28.83	26.44	28.83
570	-0.84	-146.6	1584	671	2908	2875	53.1	-8.2	104	577	0.00	2.12	0.00	0.000	1030	0.000	0.027	2593	2063	2914	2946	2882	0	0	0	0	0	0	28.83	26.62	28.83
703	-0.84	-146.6	2592	2063	2946	2883	66.1	-12.5	129	709	0.00	0.00	0.00	0.000	6	0.000	0.000	2593	2063	2914	2946	2882	0	0	0	0	0	0	28.83	28.83	28.83
832	-0.84	-146.6	2593	2063	2946	2882	84.4	-13.3	154	838	0.00	0.00	0.00	0.000	6	0.000	0.000	2593	2063	2915	2947	2883	0	0	0	0	0	0	28.83	28.83	28.83
963	-0.84	-146.6	2593	2063	2948	2883	99.7	-10.4	179	969	0.00	2.12	0.00	0.000	260	0.000	0.041	2583	3466	2914	2947	2882	0	0	0	0	0	0	28.83	26.53	28.83
1049	-0.84	-146.6	1552	3466	2908	2875	108.7	-10.3	198	1057	0.10	2.10	0.00	0.000	3078	0.132	0.027	2616	2053	2915	2947	2883	0	0	0	0	0	0	26.34	26.71	28.83
1182	-0.84	-146.6	2616	2053	2945	2883	118.9	-7.1	223	1189	0.00	2.10	0.00	0.000	516	0.000	0.040	2616	671	2915	2947	2883	0	0	0	0	0	0	28.83	26.55	28.83
1296	-0.84	-146.6	2616	671	2947	2883	127.4	-8.4	248	1303	0.00	2.12	0.00	0.000	1030	0.000	0.027	2609	2067	2915	2947	2883	0	0	0	0	0	0	28.83	26.73	28.83
1427	-0.84	-146.6	2608	2068	2947	2883	139.8	-10.4	273	1433	0.00	0.00	0.00	0.000	6	0.000	0.000	2609	2068	2915	2947	2883	0	0	0	0	0	0	28.83	28.83	28.83
1556	-0.84	-146.6	2608	2068	2947	2883	153.7	-10.2	298	1563	0.00	2.15	0.00	0.000	260	0.000	0.042	2599	3460	2915	2947	2883	0	0	0	0	0	0	28.83	26.57	28.83
1656	-0.84	-146.6	2598	3460	2947	2883	165.3	-11.0	320	1663	0.00	2.08	0.00	0.000	1030	0.000	0.028	2598	2066	2914	2947	2882	0	0	0	0	0	0	28.83	26.74	28.83
1777	end dive: TARGET_DEPTH_EXCEEDED
state	1777	begin apogee
1782	-0.28	0.0	2598	1980	2947	2883	180.1	-12.7	343	1900	0.60	0.00	111.57	1.359	10246	0.119	0.000	2794	1979	2328	2423	2234	0	0	0	0	0	0	26.05	28.83	23.85
1901	end apogee: CONTROL_FINISHED_OK
state	1901	begin climb
1903	0.84	146.6	2794	1979	2423	2234	185.1	0.0	363	2025	1.08	0.00	116.68	1.386	10502	0.083	0.000	3151	1979	1744	1889	1599	0	0	0	0	0	0	25.03	28.83	23.25
2148	0.84	146.6	3150	1978	1889	1599	167.4	8.9	408	2155	0.00	2.25	0.00	0.000	516	0.000	0.042	3151	608	1744	1889	1599	0	0	0	0	0	0	28.83	25.53	28.83
2231	0.84	146.6	2112	607	1844	1594	159.4	10.7	426	2239	0.00	2.17	0.00	0.000	1030	0.000	0.026	3150	1996	1744	1889	1599	0	0	0	0	0	0	28.83	25.94	28.83
2365	0.84	146.6	3150	1996	1889	1599	147.7	9.3	451	2371	0.00	0.00	0.00	0.000	6	0.000	0.000	3150	1997	1744	1889	1599	0	0	0	0	0	0	28.83	28.83	28.83
2494	0.84	146.6	3150	1996	1888	1599	134.6	10.0	476	2500	0.00	0.00	0.00	0.000	6	0.000	0.000	3151	1996	1743	1887	1599	0	0	0	0	0	0	28.83	28.83	28.83
2625	0.84	146.6	3150	1996	1888	1599	122.6	8.8	501	2631	0.00	0.00	0.00	0.000	6	0.000	0.000	3151	1996	1744	1889	1599	0	0	0	0	0	0	28.83	28.83	28.83
2754	0.84	152.2	3150	1996	1888	1599	111.2	7.8	526	2761	0.00	0.00	2.22	0.589	8198	0.000	0.000	3151	1996	1722	1866	1578	0	0	0	0	0	0	28.83	28.83	24.71
2886	0.84	152.6	3150	1996	1865	1578	100.1	8.0	551	2892	0.00	0.00	0.00	0.000	6	0.000	0.000	3151	1996	1721	1865	1578	0	0	0	0	0	0	28.83	28.83	28.83
3015	0.84	152.6	3150	1996	1865	1579	87.9	10.4	576	3022	0.00	2.15	0.00	0.000	260	0.000	0.040	3150	3390	1722	1866	1578	0	0	0	0	0	0	28.83	26.48	28.83
3052	0.84	152.6	3150	3390	1866	1578	83.8	12.0	583	3059	0.00	2.08	0.00	0.000	1030	0.000	0.028	3151	1985	1722	1865	1579	0	0	0	0	0	0	28.83	26.60	28.83
3182	0.84	152.6	3150	1985	1865	1578	68.1	13.1	608	3188	0.00	0.00	0.00	0.000	6	0.000	0.000	3150	1985	1721	1865	1578	0	0	0	0	0	0	28.83	28.83	28.83
3312	0.84	152.6	3150	1985	1865	1578	54.4	9.0	633	3318	0.00	2.15	0.00	0.000	516	0.000	0.043	3151	592	1721	1865	1578	0	0	0	0	0	0	28.83	26.50	28.83
3449	0.84	172.4	2080	592	1821	1573	44.1	7.3	662	3463	0.00	2.12	7.43	0.795	9222	0.000	0.027	3151	1996	1639	1787	1492	0	0	0	0	0	0	28.83	26.70	25.38
3526	0.84	208.4	2080	1994	1746	1487	39.2	6.7	676	3546	0.00	2.22	12.95	0.835	8708	0.000	0.041	3151	589	1495	1654	1337	0	0	0	0	0	0	28.83	26.39	25.35
3609	0.84	208.4	3150	589	1654	1337	32.2	8.7	692	3616	0.00	2.15	0.00	0.000	1030	0.000	0.027	3151	1996	1495	1654	1337	0	0	0	0	0	0	28.83	26.49	28.83
3679	0.84	208.4	2112	1995	1618	1333	25.4	10.7	705	3686	0.00	2.15	0.00	0.000	260	0.000	0.041	3151	3385	1495	1654	1337	0	0	0	0	0	0	28.83	26.43	28.83
3703	0.84	208.4	3150	3385	1654	1337	22.8	10.8	709	3710	0.00	2.12	0.00	0.000	1030	0.000	0.028	3150	1984	1495	1654	1337	0	0	0	0	0	0	28.83	26.53	28.83
3773	0.84	208.4	2080	1982	1618	1333	15.7	10.9	722	3780	0.00	2.17	0.00	0.000	260	0.000	0.040	3151	3384	1495	1654	1337	0	0	0	0	0	0	28.83	26.46	28.83
3906	end climb: SURFACE_DEPTH_REACHED
state	3906	begin surface coast
3930	end surface coast: CONTROL_FINISHED_OK
state	3930	begin surface