Glider dive log

HoodCanal Jan18 * SG194 * Dive index * Mission links * Dive 169 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 194 HD_B 0.0099999998 ROLL_MAX 3873 ALTIM_BOTTOM_PING_RANGE 0

MISSION 12 HD_C 9.9999997e-06 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 20

DIVE 169 HEADING -1 C_ROLL_DIVE 2082 ALTIM_BOTTOM_TURN_MARGIN 10

N_DIVES 0 ESCAPE_HEADING 0 C_ROLL_CLIMB 2082 ALTIM_TOP_TURN_MARGIN 0

STOP_T 0 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 100

D_FLARE 2 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

D_TGT 180 TGT_DEFAULT_LON -12218 R_PORT_OVSHOOT 51 ALTIM_FREQUENCY 13

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 72 ALTIM_PULSE 3

D_NO_BLEED 50 SM_CC 410 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 3

D_BOOST 3 N_FILEKB 4 ROLL_MAXERRORS 1 XPDR_VALID 3

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 375 INT_PRESSURE_YINT 1.223

D_SAFE 0 PROTOCOL 9 VBD_MAX 3900 DEEPGLIDER 0

D_CALL 0 N_NOCOMM 1 C_VBD 2065 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 VBD_DBAND 2 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_CNV -0.24529999 DEVICE2 101

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_LP_IGNORE 0 DEVICE3 35

T_DIVE 60 CALL_TRIES 20 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 90 CALL_WAIT 60 PITCH_VBD_SHIFT 0.001 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 290 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 5 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 50840 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_SLOITER 0 T_RSLEEP 2 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

T_EPIRB 0 STROBE 0 DBDW 0 COMPASS_DEVICE 33

USE_BATHY 0 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_ICE 0 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 1 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 GPS_DEVICE 32

D_OFFGRID 100 RAFOS_MMODEM 0 AH0_24V 142 RAFOS_DEVICE -1

T_WATCHDOG 10 PITCH_MIN 199 AH0_10V 95 XPDR_DEVICE 24

RELAUNCH 1 PITCH_MAX 3894 MINV_24V 19 SIM_W 0

APOGEE_PITCH -5 C_PITCH 3153 MINV_10V 8 SIM_PITCH 0

MAX_BUOY 250 PITCH_DBAND 0.1 MAXI_24V 0.80000001 SEABIRD_T_G 0.0043142368

COURSE_BIAS 0 PITCH_CNV 0.003125763 MAXI_10V 0.60000002 SEABIRD_T_H 0.00062992517

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.3677077e-05

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0.1 FG_AHR_24V 0 SEABIRD_T_J 2.5192039e-06

RHO 1.023 PITCH_GAIN 23 PHONE_SUPPLY -2 SEABIRD_C_G -10.019496

MASS 59218 PITCH_TIMEOUT 17 PRESSURE_YINT -56.168804 SEABIRD_C_H 1.1237694

MASS_COMP 3867 PITCH_AD_RATE 160 PRESSURE_SLOPE 0.0001158091 SEABIRD_C_I -0.0014884615

NAV_MODE 1 PITCH_MAXERRORS 1 AD7714Ch0Gain 128 SEABIRD_C_J 0.00020148222

FERRY_MAX 45 PITCH_ADJ_GAIN 0.02 TCM_PITCH_OFFSET 0 SEABIRD_C_Z 2989.49

KALMAN_USE 1 PITCH_ADJ_DBAND 2.5 TCM_ROLL_OFFSET 0

HD_A 0.003 ROLL_MIN 291 COMPASS_USE 4

AD7714Ch0Gain 128 D_SAFE 0 PITCH_ADJ_DBAND 2.5 SIM_W 0

AH0_10V 95 D_SURF 3 PITCH_ADJ_GAIN 0.02 SM_CC 410

AH0_24V 142 D_TGT 180 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 10 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 STROBE 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_GAIN 23 SURFACE_URGENCY 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_MAX 3894 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 100 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FILEMGR 0 PITCH_MIN 199 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.001 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 GPS_DEVICE 32 PITCH_W_DBAND 1 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.003 PITCH_W_GAIN 0 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 HD_B 0.0099999998 PRESSURE_SLOPE 0.0001158091 T_ABORT 1440

CALL_NDIVES 1 HD_C 9.9999997e-06 PRESSURE_YINT -56.168804 T_BOOST 0

CALL_TRIES 20 HEADING -1 PROTOCOL 9 T_DIVE 60

CALL_WAIT 60 HEAD_ERRBAND 10 P_OVSHOOT 0.039999999 T_EPIRB 0

CAPMAXSIZE 100000 HEAPDBG 0 P_OVSHOOT_WITHG 0.1 T_GPS 5

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 ID 194 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 1.223 RAFOS_MMODEM 0 T_RSLEEP 2

COMPASS_DEVICE 33 KALMAN_USE 1 RAFOS_PEAK_OFFSET 1.5 T_SLOITER 0

COMPASS_USE 4 LOGGERDEVICE1 -1 RELAUNCH 1 T_TURN 290

COURSE_BIAS 0 LOGGERDEVICE2 -1 RHO 1.023 T_TURN_SAMPINT 5

C_PITCH 3153 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_CLIMB 2082 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_DIVE 2082 LOGGERS 0 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_VBD 2065 MASS 59218 ROLL_CNV 0.028270001 USE_BATHY 0

DBDW 0 MASS_COMP 3867 ROLL_DEG 40 USE_ICE 0

DEEPGLIDER 0 MAXI_10V 0.60000002 ROLL_MAX 3873 VBD_BLEED_AD_RATE 8

DEVICE1 2 MAXI_24V 0.80000001 ROLL_MAXERRORS 1 VBD_CNV -0.24529999

DEVICE2 101 MAX_BUOY 250 ROLL_MIN 291 VBD_DBAND 2

DEVICE3 35 MINV_10V 8 ROLL_TIMEOUT 15 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 19 R_PORT_OVSHOOT 51 VBD_MAX 3900

DEVICE5 -1 MISSION 12 R_STBD_OVSHOOT 72 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -10.019496 VBD_MIN 375

DIVE 169 NAV_MODE 1 SEABIRD_C_H 1.1237694 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1090 NOCOMM_ACTION 163 SEABIRD_C_I -0.0014884615 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 3 N_DIVES 0 SEABIRD_C_J 0.00020148222 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_Z 2989.49 W_ADJ_DBAND 2

D_FINISH 0 N_GPS 50840 SEABIRD_T_G 0.0043142368 XPDR_DEVICE 24

D_FLARE 2 N_NOCOMM 1 SEABIRD_T_H 0.00062992517 XPDR_INHIBIT 90

D_NO_BLEED 50 N_NOSURFACE 0 SEABIRD_T_I 2.3677077e-05 XPDR_VALID 3

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_J 2.5192039e-06

D_PITCH 0 PHONE_SUPPLY -2 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 070218,092632,4738.5005,-12253.6162,10,0.9,24,16.4,0.2,0.0,9,4.6 TGT_NAME NW1

_CALLS 3 TGT_LATLONG 4738.657,-12253.412

_XMS_NAKs 0 TGT_RADIUS 250.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.167628,0.043598

_SM_DEPTHo 5.68 KALMAN_X 22550.296875,372.103210,-53.123367,-24157.298828,363.193237

_SM_ANGLEo -73.9 KALMAN_Y 9212.740234,122.501328,-52.179924,-10451.794922,206.934067

GPS2 070218,093554,4738.5171,-12253.5479,5,0.7,18,16.4,0.0,0.0,11,4.9 MHEAD_RNG_PITCHd_Wd 268.2,310,-27.2,-10.000,-30.00,962

SPEED_LIMITS 0.173,0.325 D_GRID 180

Post-dive calculations and measurements:

SM_CCo 4052,0.00,0.000,0,0,372,415.29 _24V_AH 24.46,11.739

SM_GC 5.60,10.25,2.12,0.00,0.072,0.024,0.000,214,2078,372,-9.14,1.47,415.29,0,0,0,0,0,0,25.92,26.01,26.01 _10V_AH 10.28,4.733

IRIDIUM_FIX 4739.67,-12257.95,070218,093024 FG_AHR_24Vo 0.000

TT8_MAMPS 0.026215,0.279377 FG_AHR_10Vo 0.000

HUMID 39.72 MEM 312680

INTERNAL_PRESSURE 8.03967 DATA_FILE_SIZE 31517,449

TCM_TEMP 10.10 CAP_FILE_SIZE 68712,0

XPDR_PINGS 0 CFSIZE 2097872896,2077884416

ALTIM_TOP_PING 19.4,14.6 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

ALTIM_BOTTOM_PING 115.7,57.0 GPS 070218,104550,4738.638,-12253.692,5,0.9,33,16.4,0.0,0.0,9,5.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 248 144.13 SBE_CT 305 23 179.32

Roll_motor 59 51 74.44 AA4330 594 0 10.90

VBD_pump_during_apogee 295 753 5450.11 WL_blue_red_Chl_old_fw 600 0 11.01

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 265 223 1450.47 nil 0 0 0.00

Transponder_ping 1 420 15.41 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 30 6.34

TT8 1062 14 163.40

LPSleep 1831 2 41.23

TT8_Active 409 14 63.05

TT8_Sampling 1179 43 526.37

TT8_CF8 151 53 82.59

TT8_Kalman 33 69 23.95

Analog_circuits 1257 15 193.84

GPS_charging 0 0 0.00

Compass 826 8 76.39

RAFOS 0 0 0.00

Transponder 13 30 4.26

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

5 end surface: CONTROL_FINISHED_OK

state 6 begin dive

9 -1.25 -63.1 214 2066 360 382 0.0 0.0 0 17 0.00 0.00 -5.82 0.000 16386 0.000 0.000 214 2067 540 526 555 0 0 0 0 0 0 26.34 28.83 26.34 8.07 39.25

20 -1.25 -63.1 214 2067 526 556 5.7 0.0 1 101 10.48 2.17 -64.25 0.000 18948 0.249 0.051 2748 687 2324 2352 2297 0 0 0 0 0 0 25.66 24.70 25.95 8.09 39.68

286 -1.12 -63.1 2747 687 2352 2293 37.4 -14.6 40 295 0.12 2.05 0.00 0.000 3078 0.194 0.026 2783 2066 2322 2352 2293 0 0 0 0 0 0 25.89 26.17 26.02 8.24 39.72

415 -1.12 -63.1 2783 2066 2351 2292 54.5 -13.7 53 424 0.00 2.20 0.00 0.000 260 0.000 0.042 2783 3485 2321 2351 2292 0 0 0 0 0 0 26.51 26.17 26.51 8.24 39.48

580 -1.12 -63.1 2783 3485 2352 2292 77.0 -13.5 69 587 0.00 2.08 0.00 0.000 1030 0.000 0.023 2783 2070 2321 2352 2291 0 0 0 0 0 0 26.36 26.29 26.37 8.25 40.39

707 -1.12 -63.1 2783 2069 2352 2290 94.5 -13.0 82 716 0.00 2.12 0.00 0.000 516 0.000 0.039 2783 689 2321 2352 2290 0 0 0 0 0 0 26.59 26.28 26.60 8.26 40.03

729 -1.12 -63.1 2783 689 2352 2290 97.5 -13.1 84 738 0.00 2.08 0.00 0.000 1030 0.000 0.025 2784 2090 2320 2351 2290 0 0 0 0 0 0 26.39 26.31 26.40 8.25 40.19

861 -1.12 -63.1 2783 2090 2352 2289 114.5 -13.1 97 872 0.00 2.15 0.00 0.000 516 0.000 0.039 2784 688 2320 2352 2289 0 0 0 0 0 0 26.63 26.31 26.64 8.26 40.35

905 -1.12 -63.1 2783 688 2352 2289 120.9 -13.9 101 914 0.00 2.08 0.00 0.000 1030 0.000 0.025 2783 2090 2320 2352 2289 0 0 0 0 0 0 26.42 26.34 26.44 8.26 40.19

1095 -1.12 -63.1 2783 2090 2352 2289 145.7 -12.7 120 1104 0.00 2.17 0.00 0.000 516 0.000 0.039 2784 683 2320 2352 2289 0 0 0 0 0 0 26.67 26.35 26.68 8.27 40.23

1170 -1.12 -63.1 2783 683 2352 2289 155.5 -13.8 127 1177 0.00 2.05 0.00 0.000 1030 0.000 0.025 2783 2080 2320 2352 2289 0 0 0 0 0 0 26.47 26.39 26.48 8.27 40.07

1225 end dive: BOTTOM_OBSTACLE_DETECTED

state 1225 begin apogee

1231 -0.22 0.0 2783 2080 2352 2289 163.4 -13.1 133 1288 0.88 0.00 52.95 0.754 10246 0.130 0.000 3076 2080 2064 2099 2030 0 0 0 0 0 0 26.19 25.52 24.92 8.27 40.39

1289 end apogee: CONTROL_FINISHED_OK

state 1289 begin climb

1292 1.25 63.1 3076 2080 2099 2029 164.2 0.0 139 1357 1.38 0.00 56.90 0.742 10246 0.118 0.000 3526 2080 1807 1849 1766 0 0 0 0 0 0 25.49 24.84 24.46 8.25 39.68

1537 1.25 63.1 3526 2080 1849 1770 150.9 8.7 164 1546 0.00 2.20 0.00 0.000 516 0.000 0.040 3537 691 1810 1849 1771 0 0 0 0 0 0 26.02 25.72 26.03 8.23 39.84

1589 1.25 63.1 3536 691 1849 1771 145.7 10.1 169 1593 0.00 2.10 0.00 0.000 1030 0.000 0.024 3537 2098 1809 1849 1770 0 0 0 0 0 0 25.90 25.84 25.92 8.23 39.64

1781 1.25 63.1 3536 2099 1849 1771 126.1 10.3 188 1785 0.00 2.20 0.00 0.000 516 0.000 0.040 3548 687 1810 1849 1771 0 0 0 0 0 0 26.29 25.98 26.29 8.23 40.23

1967 1.19 63.1 3547 687 1849 1771 106.8 10.0 206 1974 0.00 2.08 0.00 0.000 1030 0.000 0.025 3548 2090 1810 1849 1771 0 0 0 0 0 0 26.21 26.15 26.22 8.23 40.23

2154 1.19 63.1 3547 2090 1849 1771 87.2 10.3 225 2163 0.00 2.17 0.00 0.000 516 0.000 0.040 3559 691 1809 1849 1770 0 0 0 0 0 0 26.49 26.17 26.50 8.23 39.88

2227 1.12 63.1 3558 691 1849 1771 79.8 10.2 232 2236 0.15 2.03 0.00 0.000 5126 0.161 0.025 3514 2084 1809 1849 1770 0 0 0 0 0 0 26.01 26.25 26.13 8.23 39.64

2356 1.12 63.1 3514 2084 1849 1770 68.2 8.4 245 2365 0.00 2.17 0.00 0.000 516 0.000 0.040 3522 685 1809 1849 1770 0 0 0 0 0 0 26.56 26.25 26.57 8.23 39.95

2460 1.12 63.1 3522 685 1849 1770 59.0 8.6 255 2468 0.00 2.03 0.00 0.000 1030 0.000 0.025 3523 2075 1809 1849 1770 0 0 0 0 0 0 26.35 26.32 26.36 8.23 39.88

2589 1.14 83.6 3522 2075 1849 1770 48.6 7.8 268 2617 0.00 2.15 18.77 0.662 8452 0.000 0.036 3523 3469 1722 1761 1683 0 0 0 0 0 0 26.62 25.78 25.37 8.23 40.43

2713 1.14 83.6 3522 3469 1762 1686 37.3 10.3 280 2722 0.00 2.03 0.00 0.000 1030 0.000 0.023 3533 2086 1724 1762 1687 0 0 0 0 0 0 26.20 26.17 26.21 8.23 39.76

2841 1.14 83.6 3533 2087 1762 1687 24.8 8.5 293 2849 0.00 2.12 0.00 0.000 260 0.000 0.037 3533 3469 1724 1762 1687 0 0 0 0 0 0 26.48 26.18 26.49 8.22 39.52

2950 1.17 114.3 3533 3470 1762 1688 16.9 6.7 307 2974 0.00 2.05 16.80 0.568 9222 0.000 0.023 3544 2069 1597 1638 1556 0 0 0 0 0 0 26.33 26.27 25.39 8.22 39.68

3038 1.23 176.4 3544 2069 1638 1558 12.9 3.4 323 3079 0.00 2.20 32.22 0.558 8708 0.000 0.041 3554 690 1342 1386 1299 0 0 0 0 0 0 26.38 25.68 25.15 8.20 39.21

3375 1.32 269.3 3554 690 1386 1300 8.0 0.1 388 3427 0.00 2.05 45.88 0.537 9222 0.000 0.024 3554 2090 964 1006 923 0 0 0 0 0 0 26.17 26.11 25.03 8.18 39.36

3493 1.59 372.7 3553 2090 1006 925 5.7 -1.0 409 3552 0.22 2.30 51.40 0.519 10756 0.045 0.041 3701 692 542 544 541 0 0 0 0 0 0 25.84 25.29 24.82 8.14 39.13

3612 1.80 463.8 3700 692 545 541 4.5 0.3 430 3642 0.00 2.08 20.77 0.493 9222 0.000 0.024 3701 2081 371 347 396 0 0 0 0 0 0 25.68 25.63 24.90 8.10 39.28

3708 2.08 557.8 3700 2081 348 396 4.5 0.0 447 3715 0.22 2.15 0.00 0.000 2308 0.044 0.035 3835 3460 372 348 396 0 0 0 0 0 0 25.72 25.63 25.73 8.09 38.69

3720 end climb: NO_VERTICAL_VELOCITY

state 3720 begin surface

ID	194	HD_B	0.0099999998	ROLL_MAX	3873	ALTIM_BOTTOM_PING_RANGE	0
MISSION	12	HD_C	9.9999997e-06	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	20
DIVE	169	HEADING	-1	C_ROLL_DIVE	2082	ALTIM_BOTTOM_TURN_MARGIN	10
N_DIVES	0	ESCAPE_HEADING	0	C_ROLL_CLIMB	2082	ALTIM_TOP_TURN_MARGIN	0
STOP_T	0	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	100
D_FLARE	2	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5
D_TGT	180	TGT_DEFAULT_LON	-12218	R_PORT_OVSHOOT	51	ALTIM_FREQUENCY	13
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	72	ALTIM_PULSE	3
D_NO_BLEED	50	SM_CC	410	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	3
D_BOOST	3	N_FILEKB	4	ROLL_MAXERRORS	1	XPDR_VALID	3
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	375	INT_PRESSURE_YINT	1.223
D_SAFE	0	PROTOCOL	9	VBD_MAX	3900	DEEPGLIDER	0
D_CALL	0	N_NOCOMM	1	C_VBD	2065	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	VBD_DBAND	2	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_CNV	-0.24529999	DEVICE2	101
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_LP_IGNORE	0	DEVICE3	35
T_DIVE	60	CALL_TRIES	20	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	90	CALL_WAIT	60	PITCH_VBD_SHIFT	0.001	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	290	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	5	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	50840	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_SLOITER	0	T_RSLEEP	2	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
T_EPIRB	0	STROBE	0	DBDW	0	COMPASS_DEVICE	33
USE_BATHY	0	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_ICE	0	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	1	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	GPS_DEVICE	32
D_OFFGRID	100	RAFOS_MMODEM	0	AH0_24V	142	RAFOS_DEVICE	-1
T_WATCHDOG	10	PITCH_MIN	199	AH0_10V	95	XPDR_DEVICE	24
RELAUNCH	1	PITCH_MAX	3894	MINV_24V	19	SIM_W	0
APOGEE_PITCH	-5	C_PITCH	3153	MINV_10V	8	SIM_PITCH	0
MAX_BUOY	250	PITCH_DBAND	0.1	MAXI_24V	0.80000001	SEABIRD_T_G	0.0043142368
COURSE_BIAS	0	PITCH_CNV	0.003125763	MAXI_10V	0.60000002	SEABIRD_T_H	0.00062992517
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.3677077e-05
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0.1	FG_AHR_24V	0	SEABIRD_T_J	2.5192039e-06
RHO	1.023	PITCH_GAIN	23	PHONE_SUPPLY	-2	SEABIRD_C_G	-10.019496
MASS	59218	PITCH_TIMEOUT	17	PRESSURE_YINT	-56.168804	SEABIRD_C_H	1.1237694
MASS_COMP	3867	PITCH_AD_RATE	160	PRESSURE_SLOPE	0.0001158091	SEABIRD_C_I	-0.0014884615
NAV_MODE	1	PITCH_MAXERRORS	1	AD7714Ch0Gain	128	SEABIRD_C_J	0.00020148222
FERRY_MAX	45	PITCH_ADJ_GAIN	0.02	TCM_PITCH_OFFSET	0	SEABIRD_C_Z	2989.49
KALMAN_USE	1	PITCH_ADJ_DBAND	2.5	TCM_ROLL_OFFSET	0
HD_A	0.003	ROLL_MIN	291	COMPASS_USE	4

GPS1	070218,092632,4738.5005,-12253.6162,10,0.9,24,16.4,0.2,0.0,9,4.6	TGT_NAME	NW1
_CALLS	3	TGT_LATLONG	4738.657,-12253.412
_XMS_NAKs	0	TGT_RADIUS	250.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.167628,0.043598
_SM_DEPTHo	5.68	KALMAN_X	22550.296875,372.103210,-53.123367,-24157.298828,363.193237
_SM_ANGLEo	-73.9	KALMAN_Y	9212.740234,122.501328,-52.179924,-10451.794922,206.934067
GPS2	070218,093554,4738.5171,-12253.5479,5,0.7,18,16.4,0.0,0.0,11,4.9	MHEAD_RNG_PITCHd_Wd	268.2,310,-27.2,-10.000,-30.00,962
SPEED_LIMITS	0.173,0.325	D_GRID	180

SM_CCo	4052,0.00,0.000,0,0,372,415.29	_24V_AH	24.46,11.739
SM_GC	5.60,10.25,2.12,0.00,0.072,0.024,0.000,214,2078,372,-9.14,1.47,415.29,0,0,0,0,0,0,25.92,26.01,26.01	_10V_AH	10.28,4.733
IRIDIUM_FIX	4739.67,-12257.95,070218,093024	FG_AHR_24Vo	0.000
TT8_MAMPS	0.026215,0.279377	FG_AHR_10Vo	0.000
HUMID	39.72	MEM	312680
INTERNAL_PRESSURE	8.03967	DATA_FILE_SIZE	31517,449
TCM_TEMP	10.10	CAP_FILE_SIZE	68712,0
XPDR_PINGS	0	CFSIZE	2097872896,2077884416
ALTIM_TOP_PING	19.4,14.6	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	115.7,57.0	GPS	070218,104550,4738.638,-12253.692,5,0.9,33,16.4,0.0,0.0,9,5.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	248	144.13	SBE_CT	305	23	179.32
Roll_motor	59	51	74.44	AA4330	594	0	10.90
VBD_pump_during_apogee	295	753	5450.11	WL_blue_red_Chl_old_fw	600	0	11.01
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	265	223	1450.47	nil	0	0	0.00
Transponder_ping	1	420	15.41	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	30	6.34
TT8	1062	14	163.40
LPSleep	1831	2	41.23
TT8_Active	409	14	63.05
TT8_Sampling	1179	43	526.37
TT8_CF8	151	53	82.59
TT8_Kalman	33	69	23.95
Analog_circuits	1257	15	193.84
GPS_charging	0	0	0.00
Compass	826	8	76.39
RAFOS	0	0	0.00
Transponder	13	30	4.26

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
5	end surface: CONTROL_FINISHED_OK
state	6	begin dive
9	-1.25	-63.1	214	2066	360	382	0.0	0.0	0	17	0.00	0.00	-5.82	0.000	16386	0.000	0.000	214	2067	540	526	555	0	0	0	0	0	0	26.34	28.83	26.34	8.07	39.25
20	-1.25	-63.1	214	2067	526	556	5.7	0.0	1	101	10.48	2.17	-64.25	0.000	18948	0.249	0.051	2748	687	2324	2352	2297	0	0	0	0	0	0	25.66	24.70	25.95	8.09	39.68
286	-1.12	-63.1	2747	687	2352	2293	37.4	-14.6	40	295	0.12	2.05	0.00	0.000	3078	0.194	0.026	2783	2066	2322	2352	2293	0	0	0	0	0	0	25.89	26.17	26.02	8.24	39.72
415	-1.12	-63.1	2783	2066	2351	2292	54.5	-13.7	53	424	0.00	2.20	0.00	0.000	260	0.000	0.042	2783	3485	2321	2351	2292	0	0	0	0	0	0	26.51	26.17	26.51	8.24	39.48
580	-1.12	-63.1	2783	3485	2352	2292	77.0	-13.5	69	587	0.00	2.08	0.00	0.000	1030	0.000	0.023	2783	2070	2321	2352	2291	0	0	0	0	0	0	26.36	26.29	26.37	8.25	40.39
707	-1.12	-63.1	2783	2069	2352	2290	94.5	-13.0	82	716	0.00	2.12	0.00	0.000	516	0.000	0.039	2783	689	2321	2352	2290	0	0	0	0	0	0	26.59	26.28	26.60	8.26	40.03
729	-1.12	-63.1	2783	689	2352	2290	97.5	-13.1	84	738	0.00	2.08	0.00	0.000	1030	0.000	0.025	2784	2090	2320	2351	2290	0	0	0	0	0	0	26.39	26.31	26.40	8.25	40.19
861	-1.12	-63.1	2783	2090	2352	2289	114.5	-13.1	97	872	0.00	2.15	0.00	0.000	516	0.000	0.039	2784	688	2320	2352	2289	0	0	0	0	0	0	26.63	26.31	26.64	8.26	40.35
905	-1.12	-63.1	2783	688	2352	2289	120.9	-13.9	101	914	0.00	2.08	0.00	0.000	1030	0.000	0.025	2783	2090	2320	2352	2289	0	0	0	0	0	0	26.42	26.34	26.44	8.26	40.19
1095	-1.12	-63.1	2783	2090	2352	2289	145.7	-12.7	120	1104	0.00	2.17	0.00	0.000	516	0.000	0.039	2784	683	2320	2352	2289	0	0	0	0	0	0	26.67	26.35	26.68	8.27	40.23
1170	-1.12	-63.1	2783	683	2352	2289	155.5	-13.8	127	1177	0.00	2.05	0.00	0.000	1030	0.000	0.025	2783	2080	2320	2352	2289	0	0	0	0	0	0	26.47	26.39	26.48	8.27	40.07
1225	end dive: BOTTOM_OBSTACLE_DETECTED
state	1225	begin apogee
1231	-0.22	0.0	2783	2080	2352	2289	163.4	-13.1	133	1288	0.88	0.00	52.95	0.754	10246	0.130	0.000	3076	2080	2064	2099	2030	0	0	0	0	0	0	26.19	25.52	24.92	8.27	40.39
1289	end apogee: CONTROL_FINISHED_OK
state	1289	begin climb
1292	1.25	63.1	3076	2080	2099	2029	164.2	0.0	139	1357	1.38	0.00	56.90	0.742	10246	0.118	0.000	3526	2080	1807	1849	1766	0	0	0	0	0	0	25.49	24.84	24.46	8.25	39.68
1537	1.25	63.1	3526	2080	1849	1770	150.9	8.7	164	1546	0.00	2.20	0.00	0.000	516	0.000	0.040	3537	691	1810	1849	1771	0	0	0	0	0	0	26.02	25.72	26.03	8.23	39.84
1589	1.25	63.1	3536	691	1849	1771	145.7	10.1	169	1593	0.00	2.10	0.00	0.000	1030	0.000	0.024	3537	2098	1809	1849	1770	0	0	0	0	0	0	25.90	25.84	25.92	8.23	39.64
1781	1.25	63.1	3536	2099	1849	1771	126.1	10.3	188	1785	0.00	2.20	0.00	0.000	516	0.000	0.040	3548	687	1810	1849	1771	0	0	0	0	0	0	26.29	25.98	26.29	8.23	40.23
1967	1.19	63.1	3547	687	1849	1771	106.8	10.0	206	1974	0.00	2.08	0.00	0.000	1030	0.000	0.025	3548	2090	1810	1849	1771	0	0	0	0	0	0	26.21	26.15	26.22	8.23	40.23
2154	1.19	63.1	3547	2090	1849	1771	87.2	10.3	225	2163	0.00	2.17	0.00	0.000	516	0.000	0.040	3559	691	1809	1849	1770	0	0	0	0	0	0	26.49	26.17	26.50	8.23	39.88
2227	1.12	63.1	3558	691	1849	1771	79.8	10.2	232	2236	0.15	2.03	0.00	0.000	5126	0.161	0.025	3514	2084	1809	1849	1770	0	0	0	0	0	0	26.01	26.25	26.13	8.23	39.64
2356	1.12	63.1	3514	2084	1849	1770	68.2	8.4	245	2365	0.00	2.17	0.00	0.000	516	0.000	0.040	3522	685	1809	1849	1770	0	0	0	0	0	0	26.56	26.25	26.57	8.23	39.95
2460	1.12	63.1	3522	685	1849	1770	59.0	8.6	255	2468	0.00	2.03	0.00	0.000	1030	0.000	0.025	3523	2075	1809	1849	1770	0	0	0	0	0	0	26.35	26.32	26.36	8.23	39.88
2589	1.14	83.6	3522	2075	1849	1770	48.6	7.8	268	2617	0.00	2.15	18.77	0.662	8452	0.000	0.036	3523	3469	1722	1761	1683	0	0	0	0	0	0	26.62	25.78	25.37	8.23	40.43
2713	1.14	83.6	3522	3469	1762	1686	37.3	10.3	280	2722	0.00	2.03	0.00	0.000	1030	0.000	0.023	3533	2086	1724	1762	1687	0	0	0	0	0	0	26.20	26.17	26.21	8.23	39.76
2841	1.14	83.6	3533	2087	1762	1687	24.8	8.5	293	2849	0.00	2.12	0.00	0.000	260	0.000	0.037	3533	3469	1724	1762	1687	0	0	0	0	0	0	26.48	26.18	26.49	8.22	39.52
2950	1.17	114.3	3533	3470	1762	1688	16.9	6.7	307	2974	0.00	2.05	16.80	0.568	9222	0.000	0.023	3544	2069	1597	1638	1556	0	0	0	0	0	0	26.33	26.27	25.39	8.22	39.68
3038	1.23	176.4	3544	2069	1638	1558	12.9	3.4	323	3079	0.00	2.20	32.22	0.558	8708	0.000	0.041	3554	690	1342	1386	1299	0	0	0	0	0	0	26.38	25.68	25.15	8.20	39.21
3375	1.32	269.3	3554	690	1386	1300	8.0	0.1	388	3427	0.00	2.05	45.88	0.537	9222	0.000	0.024	3554	2090	964	1006	923	0	0	0	0	0	0	26.17	26.11	25.03	8.18	39.36
3493	1.59	372.7	3553	2090	1006	925	5.7	-1.0	409	3552	0.22	2.30	51.40	0.519	10756	0.045	0.041	3701	692	542	544	541	0	0	0	0	0	0	25.84	25.29	24.82	8.14	39.13
3612	1.80	463.8	3700	692	545	541	4.5	0.3	430	3642	0.00	2.08	20.77	0.493	9222	0.000	0.024	3701	2081	371	347	396	0	0	0	0	0	0	25.68	25.63	24.90	8.10	39.28
3708	2.08	557.8	3700	2081	348	396	4.5	0.0	447	3715	0.22	2.15	0.00	0.000	2308	0.044	0.035	3835	3460	372	348	396	0	0	0	0	0	0	25.72	25.63	25.73	8.09	38.69
3720	end climb: NO_VERTICAL_VELOCITY
state	3720	begin surface