Glider dive log

Shilshole 25Apr18 * SG038 * Dive index * Mission links * Dive 16 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 38 HD_B 0.013 ROLL_MAX 3925 ALTIM_BOTTOM_PING_RANGE 0

MISSION 12 HD_C 2.4999999e-05 ROLL_DEG 45 ALTIM_TOP_PING_RANGE 20

DIVE 16 HEADING -1 C_ROLL_DIVE 2251 ALTIM_BOTTOM_TURN_MARGIN 20

N_DIVES 25 ESCAPE_HEADING 0 C_ROLL_CLIMB 2251 ALTIM_TOP_TURN_MARGIN 0

STOP_T 0 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 90

D_FLARE 3 TGT_DEFAULT_LAT 2630 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 2

D_TGT 200 TGT_DEFAULT_LON -7630 R_PORT_OVSHOOT 46 ALTIM_FREQUENCY 12

D_ABORT 6000 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 32 ALTIM_PULSE 3

D_NO_BLEED 50 SM_CC 400 ROLL_AD_RATE 300 ALTIM_SENSITIVITY 1

D_BOOST 0 N_FILEKB 4 ROLL_MAXERRORS 2 XPDR_VALID 2

T_BOOST 0 FILEMGR 0 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 COMM_SEQ 0 VBD_MIN 200 INT_PRESSURE_YINT 1.2

D_SAFE 0 PROTOCOL 9 VBD_MAX 3900 DEEPGLIDER 1

D_CALL 0 N_NOCOMM 1 C_VBD 1910 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 384 VBD_DBAND 2 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_CNV -0.29049 DEVICE2 101

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_LP_IGNORE 0 DEVICE3 -1

T_DIVE 83 CALL_TRIES 10 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 90 CALL_WAIT 60 PITCH_VBD_SHIFT 0.00059000001 DEVICE5 -1

T_ABORT 120 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 3 DEVICE6 -1

T_TURN 540 CAPMAXSIZE 200000 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 2 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS -15 UNCOM_BLEED 50 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 50840 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_SLOITER 0 T_RSLEEP 3 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

T_EPIRB 0 STROBE 0 DBDW 0 COMPASS_DEVICE 33

USE_BATHY -6 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_ICE 0 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 GPS_DEVICE 32

D_OFFGRID 100 RAFOS_MMODEM 0 AH0_24V 150 RAFOS_DEVICE -1

T_WATCHDOG 10 PITCH_MIN 150 AH0_10V 100 XPDR_DEVICE 24

RELAUNCH 0 PITCH_MAX 3880 MINV_24V 17 SIM_W 0

APOGEE_PITCH -5 C_PITCH 3415 MINV_10V 8 SIM_PITCH 0

MAX_BUOY 350 PITCH_DBAND 0.1 MAXI_24V 0.80000001 SEABIRD_T_G 0.0043154242

COURSE_BIAS 0 PITCH_CNV 0.003125763 MAXI_10V 0.60000002 SEABIRD_T_H 0.00062410574

GLIDE_SLOPE 25 P_OVSHOOT 0.026000001 FG_AHR_10V 0 SEABIRD_T_I 2.302181e-05

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0.1286 FG_AHR_24V 0 SEABIRD_T_J 2.4339581e-06

RHO 1.023 PITCH_GAIN 17 PHONE_SUPPLY 2 SEABIRD_C_G -9.7676115

MASS 80313 PITCH_TIMEOUT 20 PRESSURE_YINT -21.153936 SEABIRD_C_H 1.1309991

MASS_COMP 11240.1 PITCH_AD_RATE 160 PRESSURE_SLOPE 0 SEABIRD_C_I -0.0018490348

NAV_MODE 2 PITCH_MAXERRORS 1 AD7714Ch0Gain 32 SEABIRD_C_J 0.00021460596

FERRY_MAX 45 PITCH_ADJ_GAIN 0.02 TCM_PITCH_OFFSET 0 SEABIRD_C_Z 2943.3999

KALMAN_USE 2 PITCH_ADJ_DBAND 2.5 TCM_ROLL_OFFSET 0

HD_A 0.0049999999 ROLL_MIN 150 COMPASS_USE 4

AD7714Ch0Gain 32 D_SAFE 0 PITCH_ADJ_DBAND 2.5 SIM_W 0

AH0_10V 100 D_SURF 2 PITCH_ADJ_GAIN 0.02 SM_CC 400

AH0_24V 150 D_TGT 200 PITCH_AD_RATE 160 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 STOP_T 0

ALTIM_BOTTOM_TURN_MARGIN 20 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 STROBE 0

ALTIM_FREQUENCY 12 FERRY_MAX 45 PITCH_GAIN 17 SURFACE_URGENCY 0

ALTIM_PING_DELTA 2 FG_AHR_10V 0 PITCH_MAX 3880 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 90 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FILEMGR 0 PITCH_MIN 150 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 1 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 GLIDE_SLOPE 25 PITCH_VBD_SHIFT 0.00059000001 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 2630

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0049999999 PITCH_W_GAIN 0 TGT_DEFAULT_LON -7630

APOGEE_PITCH -5 HD_B 0.013 PRESSURE_SLOPE 0 T_ABORT 120

CALL_NDIVES 1 HD_C 2.4999999e-05 PRESSURE_YINT -21.153936 T_BOOST 0

CALL_TRIES 10 HEADING -1 PROTOCOL 9 T_DIVE 83

CALL_WAIT 60 HEAD_ERRBAND 10 P_OVSHOOT 0.026000001 T_EPIRB 0

CAPMAXSIZE 200000 HEAPDBG 0 P_OVSHOOT_WITHG 0.1286 T_GPS -15

CAPUPLOAD 1 ICE_FREEZE_MARGIN 0 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 2 ID 38 RAFOS_DEVICE -1 T_MISSION 90

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 1.2 RAFOS_MMODEM 0 T_RSLEEP 3

COMPASS_DEVICE 33 KALMAN_USE 2 RAFOS_PEAK_OFFSET 1.5 T_SLOITER 0

COMPASS_USE 4 LOGGERDEVICE1 -1 RELAUNCH 0 T_TURN 540

COURSE_BIAS 0 LOGGERDEVICE2 -1 RHO 1.023 T_TURN_SAMPINT 5

C_PITCH 3415 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_CLIMB 2251 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_ROLL_DIVE 2251 LOGGERS 0 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX -1

C_VBD 1910 MASS 80313 ROLL_CNV 0.028270001 USE_BATHY -6

DBDW 0 MASS_COMP 11240.1 ROLL_DEG 45 USE_ICE 0

DEEPGLIDER 1 MAXI_10V 0.60000002 ROLL_MAX 3925 VBD_BLEED_AD_RATE 2

DEVICE1 2 MAXI_24V 0.80000001 ROLL_MAXERRORS 2 VBD_CNV -0.29049

DEVICE2 101 MAX_BUOY 350 ROLL_MIN 150 VBD_DBAND 2

DEVICE3 -1 MINV_10V 8 ROLL_TIMEOUT 15 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 17 R_PORT_OVSHOOT 46 VBD_MAX 3900

DEVICE5 -1 MISSION 12 R_STBD_OVSHOOT 32 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -9.7676115 VBD_MIN 200

DIVE 16 NAV_MODE 2 SEABIRD_C_H 1.1309991 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 6000 NOCOMM_ACTION 384 SEABIRD_C_I -0.0018490348 VBD_PUMP_AD_RATE_SURFACE 3

D_BOOST 0 N_DIVES 25 SEABIRD_C_J 0.00021460596 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_Z 2943.3999 W_ADJ_DBAND 2

D_FINISH 0 N_GPS 50840 SEABIRD_T_G 0.0043154242 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_H 0.00062410574 XPDR_INHIBIT 90

D_NO_BLEED 50 N_NOSURFACE 0 SEABIRD_T_I 2.302181e-05 XPDR_VALID 2

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_J 2.4339581e-06

D_PITCH 0 PHONE_SUPPLY 2 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 260418,112855,4743.4409,-12224.4492,6,1.0,17,16.3,0.2,274.6,11,4.9 TGT_NAME NORTH

_CALLS 1 TGT_LATLONG 4744.500,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 1.77 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -67.7 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 260418,113641,4743.3945,-12224.4453,5,0.9,19,16.3,0.2,0.0,11,5.0 MHEAD_RNG_PITCHd_Wd 1.5,2048,-10.7,-8.032,-14.71,6340

SPEED_LIMITS 0.172,0.306 D_GRID 174

Post-dive calculations and measurements:

FINISH 0.6,1.012999 _24V_AH 23.13,21.140

SM_CCo 4359,0.00,0.000,0,0,260,479.31 _10V_AH 10.29,11.847

SM_GC 1.66,9.30,0.00,0.00,0.072,0.000,0.000,130,2250,260,-10.19,-0.03,479.31,0,0,0,0,0,0,25.35,25.64,25.41 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4744.97,-12226.80,260418,100948 FG_AHR_10Vo 0.000

TT8_MAMPS 0.02247,0.199983 MEM 312592

HUMID 29.56 DATA_FILE_SIZE 34841,467

INTERNAL_PRESSURE 7.42094 CAP_FILE_SIZE 67684,0

TCM_TEMP 9.40 CFSIZE 2047311872,2038792192

XPDR_PINGS 2 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

ALTIM_TOP_PING 19.6,19.4 CURRENT 0.059,334.94,1

ALTIM_BOTTOM_PING 90.5,92.4 GPS 260418,125102,4744.023,-12224.120,5,1.2,27,16.3,0.0,283.0,10,4.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 310 176.96 SBE_CT 309 23 166.49

Roll_motor 55 109 140.06 AA4330 617 13 192.65

VBD_pump_during_apogee 691 916 14652.38 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 252 896 5242.31 nil 0 0 0.00

Iridium_during_init 23 126 68.42 nil 0 0 0.00

Iridium_during_connect 42 160 156.82 nil 0 0 0.00

Iridium_during_xfer 306 223 1583.13 nil 0 0 0.00

Transponder_ping 1 420 12.14 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 26 5.73

TT8 1088 15 173.24

LPSleep 1563 2 35.24

TT8_Active 861 15 137.18

TT8_Sampling 1270 41 544.71

TT8_CF8 67 64 44.32

TT8_Kalman 0 0 0.00

Analog_circuits 1452 10 149.42

GPS_charging 0 0 0.00

Compass 863 8 73.25

RAFOS 0 0 0.00

Transponder 7 30 2.26

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 int_press humidity

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

6 -0.83 -342.1 176 2249 515 509 0.0 0.0 0 157 0.00 0.00 -147.50 0.144 16386 0.000 0.000 176 2249 1535 1562 1508 0 0 0 0 0 0 26.19 28.83 26.20 7.48 30.35

160 -0.83 -342.1 176 2249 1562 1508 3.6 -3.3 23 289 13.70 2.60 -105.07 0.144 18692 0.310 0.102 3131 3832 3088 3108 3069 0 0 0 0 0 0 24.93 25.46 25.16 7.59 29.68

354 -0.83 -342.1 3131 3832 3104 3064 23.3 -11.6 53 362 0.00 2.50 0.00 0.000 1030 0.000 0.072 3131 2258 3083 3103 3064 0 0 0 0 0 0 25.77 25.74 25.81 7.72 29.44

482 -0.77 -342.1 3131 2258 3096 3064 38.8 -12.7 66 487 0.10 2.50 0.00 0.000 2564 0.204 0.084 3167 668 3080 3096 3064 0 0 0 0 0 0 25.72 25.67 25.77 7.71 29.24

527 -0.77 -342.1 3166 668 3095 3064 43.2 -10.4 70 536 0.00 2.45 -0.28 0.896 17414 0.000 0.077 3157 2252 3091 3107 3075 0 0 0 0 0 0 25.87 25.72 23.67 7.72 29.83

655 -0.77 -342.1 3156 2252 3106 3075 57.2 -11.2 83 664 0.00 2.58 0.00 0.000 260 0.000 0.107 3145 3830 3091 3107 3075 0 0 0 0 0 0 26.39 25.65 26.40 7.71 29.44

718 -0.77 -342.1 3144 3829 3107 3075 64.2 -11.3 89 726 0.00 2.50 0.00 0.000 1030 0.000 0.074 3144 2243 3091 3107 3075 0 0 0 0 0 0 25.96 25.92 26.00 7.71 29.72

846 -0.77 -342.1 3144 2242 3106 3075 78.7 -11.3 102 851 0.00 2.45 0.00 0.000 516 0.000 0.087 3144 682 3090 3106 3075 0 0 0 0 0 0 26.46 25.77 26.47 7.71 29.72

898 -0.77 -342.1 3144 682 3106 3075 84.7 -12.1 107 907 0.00 2.45 0.00 0.000 1030 0.000 0.082 3136 2261 3089 3105 3074 0 0 0 0 0 0 25.96 25.79 26.01 7.70 29.64

1028 -0.77 -342.1 3136 2261 3105 3074 100.2 -12.3 120 1033 0.00 2.53 0.00 0.000 260 0.000 0.107 3125 3828 3090 3105 3075 0 0 0 0 0 0 26.51 25.75 26.52 7.71 29.87

1130 -0.77 -342.1 3125 3828 3105 3073 112.5 -12.1 130 1136 0.12 2.47 0.00 0.000 3078 0.181 0.077 3167 2236 3089 3106 3073 0 0 0 0 0 0 25.73 26.01 25.88 7.71 30.19

1383 -0.77 -342.1 3166 2235 3105 3073 135.9 -9.1 155 1392 0.00 2.60 0.00 0.000 260 0.000 0.107 3157 3830 3089 3106 3072 0 0 0 0 0 0 26.58 25.78 26.58 7.71 30.19

1424 -0.77 -342.1 3156 3830 3105 3072 139.8 -9.4 159 1434 0.00 2.45 0.00 0.000 1030 0.000 0.077 3156 2260 3088 3105 3072 0 0 0 0 0 0 26.17 26.06 26.20 7.71 30.15

1674 end dive: BOTTOM_OBSTACLE_DETECTED

state 1674 begin apogee

1678 -0.29 0.0 3156 2259 3104 3071 163.2 -9.7 184 1945 0.47 0.00 257.77 0.916 10246 0.181 0.000 3320 2256 1909 1936 1883 0 0 0 0 0 0 25.47 24.30 23.45 7.70 31.05

1946 end apogee: CONTROL_FINISHED_OK

state 1946 begin climb

1948 0.83 342.1 3319 2256 1936 1883 177.8 0.0 211 2268 0.95 2.72 309.35 0.889 10756 0.127 0.089 3662 671 729 729 730 0 0 0 0 0 0 24.56 24.01 23.13 7.62 29.01

2412 0.83 342.1 3661 672 718 723 150.4 8.9 257 2422 0.00 2.53 0.00 0.000 1030 0.000 0.082 3662 2259 720 718 723 0 0 0 0 0 0 25.47 25.33 25.51 7.51 28.89

2662 0.83 342.1 3661 2259 717 718 129.8 8.2 282 2672 0.00 2.58 0.00 0.000 260 0.000 0.107 3662 3833 717 717 718 0 0 0 0 0 0 26.24 25.69 26.25 7.51 30.07

2856 0.83 342.1 3661 3832 717 716 111.1 10.0 301 2865 0.00 2.47 0.00 0.000 1030 0.000 0.074 3666 2240 716 717 716 0 0 0 0 0 0 26.05 25.94 26.08 7.51 29.87

3106 0.83 342.1 3666 2239 717 716 89.7 8.1 326 3116 0.00 2.62 0.00 0.000 260 0.000 0.104 3665 3837 716 717 716 0 0 0 0 0 0 26.46 25.84 26.47 7.51 30.62

3150 0.83 342.1 3666 3837 717 716 85.9 9.1 330 3160 0.00 2.50 0.00 0.000 1030 0.000 0.074 3677 2247 716 717 716 0 0 0 0 0 0 26.06 26.01 26.10 7.50 30.42

3279 0.83 342.1 3677 2246 717 715 75.8 7.2 343 3280 0.00 0.00 0.00 0.000 6 0.000 0.000 3677 2246 716 717 715 0 0 0 0 0 0 26.51 26.51 26.51 7.51 29.83

3399 0.83 342.1 3676 2246 717 715 67.2 7.0 355 3400 0.00 0.00 0.00 0.000 6 0.000 0.000 3677 2246 716 717 715 0 0 0 0 0 0 26.53 26.54 26.54 7.50 30.27

3519 0.83 342.1 3676 2246 717 715 58.4 7.4 367 3528 0.00 2.47 0.00 0.000 516 0.000 0.092 3677 666 716 717 715 0 0 0 0 0 0 26.55 25.90 26.56 7.51 30.50

3550 0.83 342.1 3677 666 716 715 56.0 7.9 370 3561 0.00 2.45 0.00 0.000 1030 0.000 0.084 3677 2261 715 716 715 0 0 0 0 0 0 26.08 25.92 26.15 7.50 30.54

3681 0.83 342.1 3677 2261 716 715 45.6 8.3 383 3690 0.00 2.55 0.00 0.000 260 0.000 0.109 3677 3828 715 716 715 0 0 0 0 0 0 26.57 25.82 26.58 7.50 30.27

3737 0.83 342.1 3676 3828 716 715 40.7 9.9 388 3745 0.00 2.45 0.00 0.000 1030 0.000 0.077 3685 2251 715 716 715 0 0 0 0 0 0 26.19 26.08 26.23 7.50 30.19

3864 0.83 342.1 3685 2250 716 715 28.8 8.6 401 3865 0.00 0.00 0.00 0.000 6 0.000 0.000 3685 2250 715 716 715 0 0 0 0 0 0 26.59 26.60 26.60 7.50 30.07

3984 0.83 342.1 3684 2250 716 715 18.0 8.6 415 3990 0.00 0.00 0.00 0.000 6 0.000 0.000 3685 2250 715 715 715 0 0 0 0 0 0 26.60 26.61 26.61 7.50 30.19

4052 0.83 342.1 3684 2250 716 715 13.2 6.8 428 4059 0.00 0.00 0.00 0.000 6 0.000 0.000 3684 2250 715 716 715 0 0 0 0 0 0 26.60 26.62 26.62 7.50 30.82

4122 0.93 510.6 3684 2250 716 715 9.3 5.3 441 4249 0.00 0.00 124.28 0.800 8450 0.000 0.000 3684 2250 265 255 276 0 0 0 0 0 0 26.61 28.83 26.62 7.50 30.31

4250 end climb: SURFACE_DEPTH_REACHED

state 4250 begin surface coast

4282 end surface coast: CONTROL_FINISHED_OK

state 4283 begin surface

ID	38	HD_B	0.013	ROLL_MAX	3925	ALTIM_BOTTOM_PING_RANGE	0
MISSION	12	HD_C	2.4999999e-05	ROLL_DEG	45	ALTIM_TOP_PING_RANGE	20
DIVE	16	HEADING	-1	C_ROLL_DIVE	2251	ALTIM_BOTTOM_TURN_MARGIN	20
N_DIVES	25	ESCAPE_HEADING	0	C_ROLL_CLIMB	2251	ALTIM_TOP_TURN_MARGIN	0
STOP_T	0	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	90
D_FLARE	3	TGT_DEFAULT_LAT	2630	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	2
D_TGT	200	TGT_DEFAULT_LON	-7630	R_PORT_OVSHOOT	46	ALTIM_FREQUENCY	12
D_ABORT	6000	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	32	ALTIM_PULSE	3
D_NO_BLEED	50	SM_CC	400	ROLL_AD_RATE	300	ALTIM_SENSITIVITY	1
D_BOOST	0	N_FILEKB	4	ROLL_MAXERRORS	2	XPDR_VALID	2
T_BOOST	0	FILEMGR	0	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	COMM_SEQ	0	VBD_MIN	200	INT_PRESSURE_YINT	1.2
D_SAFE	0	PROTOCOL	9	VBD_MAX	3900	DEEPGLIDER	1
D_CALL	0	N_NOCOMM	1	C_VBD	1910	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	384	VBD_DBAND	2	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_CNV	-0.29049	DEVICE2	101
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_LP_IGNORE	0	DEVICE3	-1
T_DIVE	83	CALL_TRIES	10	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	90	CALL_WAIT	60	PITCH_VBD_SHIFT	0.00059000001	DEVICE5	-1
T_ABORT	120	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	3	DEVICE6	-1
T_TURN	540	CAPMAXSIZE	200000	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	2	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	-15	UNCOM_BLEED	50	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	50840	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_SLOITER	0	T_RSLEEP	3	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
T_EPIRB	0	STROBE	0	DBDW	0	COMPASS_DEVICE	33
USE_BATHY	-6	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_ICE	0	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	GPS_DEVICE	32
D_OFFGRID	100	RAFOS_MMODEM	0	AH0_24V	150	RAFOS_DEVICE	-1
T_WATCHDOG	10	PITCH_MIN	150	AH0_10V	100	XPDR_DEVICE	24
RELAUNCH	0	PITCH_MAX	3880	MINV_24V	17	SIM_W	0
APOGEE_PITCH	-5	C_PITCH	3415	MINV_10V	8	SIM_PITCH	0
MAX_BUOY	350	PITCH_DBAND	0.1	MAXI_24V	0.80000001	SEABIRD_T_G	0.0043154242
COURSE_BIAS	0	PITCH_CNV	0.003125763	MAXI_10V	0.60000002	SEABIRD_T_H	0.00062410574
GLIDE_SLOPE	25	P_OVSHOOT	0.026000001	FG_AHR_10V	0	SEABIRD_T_I	2.302181e-05
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0.1286	FG_AHR_24V	0	SEABIRD_T_J	2.4339581e-06
RHO	1.023	PITCH_GAIN	17	PHONE_SUPPLY	2	SEABIRD_C_G	-9.7676115
MASS	80313	PITCH_TIMEOUT	20	PRESSURE_YINT	-21.153936	SEABIRD_C_H	1.1309991
MASS_COMP	11240.1	PITCH_AD_RATE	160	PRESSURE_SLOPE	0	SEABIRD_C_I	-0.0018490348
NAV_MODE	2	PITCH_MAXERRORS	1	AD7714Ch0Gain	32	SEABIRD_C_J	0.00021460596
FERRY_MAX	45	PITCH_ADJ_GAIN	0.02	TCM_PITCH_OFFSET	0	SEABIRD_C_Z	2943.3999
KALMAN_USE	2	PITCH_ADJ_DBAND	2.5	TCM_ROLL_OFFSET	0
HD_A	0.0049999999	ROLL_MIN	150	COMPASS_USE	4

GPS1	260418,112855,4743.4409,-12224.4492,6,1.0,17,16.3,0.2,274.6,11,4.9	TGT_NAME	NORTH
_CALLS	1	TGT_LATLONG	4744.500,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	1.77	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-67.7	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	260418,113641,4743.3945,-12224.4453,5,0.9,19,16.3,0.2,0.0,11,5.0	MHEAD_RNG_PITCHd_Wd	1.5,2048,-10.7,-8.032,-14.71,6340
SPEED_LIMITS	0.172,0.306	D_GRID	174

FINISH	0.6,1.012999	_24V_AH	23.13,21.140
SM_CCo	4359,0.00,0.000,0,0,260,479.31	_10V_AH	10.29,11.847
SM_GC	1.66,9.30,0.00,0.00,0.072,0.000,0.000,130,2250,260,-10.19,-0.03,479.31,0,0,0,0,0,0,25.35,25.64,25.41	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4744.97,-12226.80,260418,100948	FG_AHR_10Vo	0.000
TT8_MAMPS	0.02247,0.199983	MEM	312592
HUMID	29.56	DATA_FILE_SIZE	34841,467
INTERNAL_PRESSURE	7.42094	CAP_FILE_SIZE	67684,0
TCM_TEMP	9.40	CFSIZE	2047311872,2038792192
XPDR_PINGS	2	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_TOP_PING	19.6,19.4	CURRENT	0.059,334.94,1
ALTIM_BOTTOM_PING	90.5,92.4	GPS	260418,125102,4744.023,-12224.120,5,1.2,27,16.3,0.0,283.0,10,4.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	310	176.96	SBE_CT	309	23	166.49
Roll_motor	55	109	140.06	AA4330	617	13	192.65
VBD_pump_during_apogee	691	916	14652.38	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	252	896	5242.31	nil	0	0	0.00
Iridium_during_init	23	126	68.42	nil	0	0	0.00
Iridium_during_connect	42	160	156.82	nil	0	0	0.00
Iridium_during_xfer	306	223	1583.13	nil	0	0	0.00
Transponder_ping	1	420	12.14	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	26	5.73
TT8	1088	15	173.24
LPSleep	1563	2	35.24
TT8_Active	861	15	137.18
TT8_Sampling	1270	41	544.71
TT8_CF8	67	64	44.32
TT8_Kalman	0	0	0.00
Analog_circuits	1452	10	149.42
GPS_charging	0	0	0.00
Compass	863	8	73.25
RAFOS	0	0	0.00
Transponder	7	30	2.26

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	int_press	humidity
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
6	-0.83	-342.1	176	2249	515	509	0.0	0.0	0	157	0.00	0.00	-147.50	0.144	16386	0.000	0.000	176	2249	1535	1562	1508	0	0	0	0	0	0	26.19	28.83	26.20	7.48	30.35
160	-0.83	-342.1	176	2249	1562	1508	3.6	-3.3	23	289	13.70	2.60	-105.07	0.144	18692	0.310	0.102	3131	3832	3088	3108	3069	0	0	0	0	0	0	24.93	25.46	25.16	7.59	29.68
354	-0.83	-342.1	3131	3832	3104	3064	23.3	-11.6	53	362	0.00	2.50	0.00	0.000	1030	0.000	0.072	3131	2258	3083	3103	3064	0	0	0	0	0	0	25.77	25.74	25.81	7.72	29.44
482	-0.77	-342.1	3131	2258	3096	3064	38.8	-12.7	66	487	0.10	2.50	0.00	0.000	2564	0.204	0.084	3167	668	3080	3096	3064	0	0	0	0	0	0	25.72	25.67	25.77	7.71	29.24
527	-0.77	-342.1	3166	668	3095	3064	43.2	-10.4	70	536	0.00	2.45	-0.28	0.896	17414	0.000	0.077	3157	2252	3091	3107	3075	0	0	0	0	0	0	25.87	25.72	23.67	7.72	29.83
655	-0.77	-342.1	3156	2252	3106	3075	57.2	-11.2	83	664	0.00	2.58	0.00	0.000	260	0.000	0.107	3145	3830	3091	3107	3075	0	0	0	0	0	0	26.39	25.65	26.40	7.71	29.44
718	-0.77	-342.1	3144	3829	3107	3075	64.2	-11.3	89	726	0.00	2.50	0.00	0.000	1030	0.000	0.074	3144	2243	3091	3107	3075	0	0	0	0	0	0	25.96	25.92	26.00	7.71	29.72
846	-0.77	-342.1	3144	2242	3106	3075	78.7	-11.3	102	851	0.00	2.45	0.00	0.000	516	0.000	0.087	3144	682	3090	3106	3075	0	0	0	0	0	0	26.46	25.77	26.47	7.71	29.72
898	-0.77	-342.1	3144	682	3106	3075	84.7	-12.1	107	907	0.00	2.45	0.00	0.000	1030	0.000	0.082	3136	2261	3089	3105	3074	0	0	0	0	0	0	25.96	25.79	26.01	7.70	29.64
1028	-0.77	-342.1	3136	2261	3105	3074	100.2	-12.3	120	1033	0.00	2.53	0.00	0.000	260	0.000	0.107	3125	3828	3090	3105	3075	0	0	0	0	0	0	26.51	25.75	26.52	7.71	29.87
1130	-0.77	-342.1	3125	3828	3105	3073	112.5	-12.1	130	1136	0.12	2.47	0.00	0.000	3078	0.181	0.077	3167	2236	3089	3106	3073	0	0	0	0	0	0	25.73	26.01	25.88	7.71	30.19
1383	-0.77	-342.1	3166	2235	3105	3073	135.9	-9.1	155	1392	0.00	2.60	0.00	0.000	260	0.000	0.107	3157	3830	3089	3106	3072	0	0	0	0	0	0	26.58	25.78	26.58	7.71	30.19
1424	-0.77	-342.1	3156	3830	3105	3072	139.8	-9.4	159	1434	0.00	2.45	0.00	0.000	1030	0.000	0.077	3156	2260	3088	3105	3072	0	0	0	0	0	0	26.17	26.06	26.20	7.71	30.15
1674	end dive: BOTTOM_OBSTACLE_DETECTED
state	1674	begin apogee
1678	-0.29	0.0	3156	2259	3104	3071	163.2	-9.7	184	1945	0.47	0.00	257.77	0.916	10246	0.181	0.000	3320	2256	1909	1936	1883	0	0	0	0	0	0	25.47	24.30	23.45	7.70	31.05
1946	end apogee: CONTROL_FINISHED_OK
state	1946	begin climb
1948	0.83	342.1	3319	2256	1936	1883	177.8	0.0	211	2268	0.95	2.72	309.35	0.889	10756	0.127	0.089	3662	671	729	729	730	0	0	0	0	0	0	24.56	24.01	23.13	7.62	29.01
2412	0.83	342.1	3661	672	718	723	150.4	8.9	257	2422	0.00	2.53	0.00	0.000	1030	0.000	0.082	3662	2259	720	718	723	0	0	0	0	0	0	25.47	25.33	25.51	7.51	28.89
2662	0.83	342.1	3661	2259	717	718	129.8	8.2	282	2672	0.00	2.58	0.00	0.000	260	0.000	0.107	3662	3833	717	717	718	0	0	0	0	0	0	26.24	25.69	26.25	7.51	30.07
2856	0.83	342.1	3661	3832	717	716	111.1	10.0	301	2865	0.00	2.47	0.00	0.000	1030	0.000	0.074	3666	2240	716	717	716	0	0	0	0	0	0	26.05	25.94	26.08	7.51	29.87
3106	0.83	342.1	3666	2239	717	716	89.7	8.1	326	3116	0.00	2.62	0.00	0.000	260	0.000	0.104	3665	3837	716	717	716	0	0	0	0	0	0	26.46	25.84	26.47	7.51	30.62
3150	0.83	342.1	3666	3837	717	716	85.9	9.1	330	3160	0.00	2.50	0.00	0.000	1030	0.000	0.074	3677	2247	716	717	716	0	0	0	0	0	0	26.06	26.01	26.10	7.50	30.42
3279	0.83	342.1	3677	2246	717	715	75.8	7.2	343	3280	0.00	0.00	0.00	0.000	6	0.000	0.000	3677	2246	716	717	715	0	0	0	0	0	0	26.51	26.51	26.51	7.51	29.83
3399	0.83	342.1	3676	2246	717	715	67.2	7.0	355	3400	0.00	0.00	0.00	0.000	6	0.000	0.000	3677	2246	716	717	715	0	0	0	0	0	0	26.53	26.54	26.54	7.50	30.27
3519	0.83	342.1	3676	2246	717	715	58.4	7.4	367	3528	0.00	2.47	0.00	0.000	516	0.000	0.092	3677	666	716	717	715	0	0	0	0	0	0	26.55	25.90	26.56	7.51	30.50
3550	0.83	342.1	3677	666	716	715	56.0	7.9	370	3561	0.00	2.45	0.00	0.000	1030	0.000	0.084	3677	2261	715	716	715	0	0	0	0	0	0	26.08	25.92	26.15	7.50	30.54
3681	0.83	342.1	3677	2261	716	715	45.6	8.3	383	3690	0.00	2.55	0.00	0.000	260	0.000	0.109	3677	3828	715	716	715	0	0	0	0	0	0	26.57	25.82	26.58	7.50	30.27
3737	0.83	342.1	3676	3828	716	715	40.7	9.9	388	3745	0.00	2.45	0.00	0.000	1030	0.000	0.077	3685	2251	715	716	715	0	0	0	0	0	0	26.19	26.08	26.23	7.50	30.19
3864	0.83	342.1	3685	2250	716	715	28.8	8.6	401	3865	0.00	0.00	0.00	0.000	6	0.000	0.000	3685	2250	715	716	715	0	0	0	0	0	0	26.59	26.60	26.60	7.50	30.07
3984	0.83	342.1	3684	2250	716	715	18.0	8.6	415	3990	0.00	0.00	0.00	0.000	6	0.000	0.000	3685	2250	715	715	715	0	0	0	0	0	0	26.60	26.61	26.61	7.50	30.19
4052	0.83	342.1	3684	2250	716	715	13.2	6.8	428	4059	0.00	0.00	0.00	0.000	6	0.000	0.000	3684	2250	715	716	715	0	0	0	0	0	0	26.60	26.62	26.62	7.50	30.82
4122	0.93	510.6	3684	2250	716	715	9.3	5.3	441	4249	0.00	0.00	124.28	0.800	8450	0.000	0.000	3684	2250	265	255	276	0	0	0	0	0	0	26.61	28.83	26.62	7.50	30.31
4250	end climb: SURFACE_DEPTH_REACHED
state	4250	begin surface coast
4282	end surface coast: CONTROL_FINISHED_OK
state	4283	begin surface