Glider dive log

Shilshole 18Dec13 * SG130 * Dive index * Mission links * Dive 17 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 130 HD_C 1.6100001e-05 ROLL_MAX 3700 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 19 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 17 ESCAPE_HEADING 0 C_ROLL_DIVE 1800 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1750 ALTIM_PING_DEPTH 100

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 2 TGT_DEFAULT_LAT 44.380001 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 180 TGT_DEFAULT_LON -125.01 ROLL_TIMEOUT 15 ALTIM_PULSE 2

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT -10 ALTIM_SENSITIVITY 5

D_NO_BLEED 500 SM_CC 220 R_STBD_OVSHOOT -10 XPDR_VALID 2

D_BOOST 4 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0.89999998

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 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 C_VBD 2050 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 20

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 131

T_DIVE 75 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 80 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 500 CAPMAXSIZE 200000 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 15 UNCOM_BLEED 50 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 0 T_GPS_CHARGE -118571.28 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 48

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 92 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 97 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 650 MINV_24V 19 SIM_W 0

MAX_BUOY 90 PITCH_MAX 3725 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2993 FG_AHR_10V 0 SEABIRD_T_G 0.004404821

GLIDE_SLOPE 35 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00064488029

SPEED_FACTOR 1 PITCH_CNV 0.0046000001 PHONE_SUPPLY 2 SEABIRD_T_I 2.8507879e-05

RHO 1.023 P_OVSHOOT 0.039999999 PRESSURE_YINT -9.3370571 SEABIRD_T_J 3.3644449e-06

MASS 51967 PITCH_GAIN 14 PRESSURE_SLOPE 0.0001159091 SEABIRD_C_G -9.8029137

MASS_COMP 0 PITCH_TIMEOUT 16 AD7714Ch0Gain 128 SEABIRD_C_H 1.1050078

NAV_MODE 0 PITCH_AD_RATE 175 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0015785076

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00020331096

KALMAN_USE 2 PITCH_ADJ_GAIN 0 COMPASS_USE 0

HD_A 0.0028580001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0089408001 ROLL_MIN 240 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 220

AH0_10V 97 D_PITCH 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

AH0_24V 92 D_SAFE 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 180 PITCH_CNV 0.0046000001 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 14 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 100 FERRY_MAX 45 PITCH_MAX 3725 TCM_ROLL_OFFSET 0

ALTIM_PULSE 2 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 5 FG_AHR_24V 0 PITCH_MIN 650 TGT_DEFAULT_LAT 44.380001

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 16 TGT_DEFAULT_LON -125.01

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 35 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 0.0028580001 PRESSURE_SLOPE 0.0001159091 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0089408001 PRESSURE_YINT -9.3370571 T_GPS 15

CALL_WAIT 60 HD_C 1.6100001e-05 PROTOCOL 0 T_GPS_ALMANAC 0

CAPMAXSIZE 200000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -118571.28

CAPUPLOAD 1 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 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 130 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 500

COMPASS_USE 0 INT_PRESSURE_YINT 0.89999998 RHO 1.023 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2993 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_ROLL_CLIMB 1750 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 1800 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 2050 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3700 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 51967 ROLL_MAXERRORS 2 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 240 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 90 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 20 MINV_10V 8 R_PORT_OVSHOOT -10 VBD_MAXERRORS 1

DEVICE3 131 MINV_24V 19 R_STBD_OVSHOOT -10 VBD_MIN 500

DEVICE4 -1 MISSION 19 SEABIRD_C_G -9.8029137 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1050078 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 0 SEABIRD_C_I -0.0015785076 VBD_TIMEOUT 720

DIVE 17 NOCOMM_ACTION 0 SEABIRD_C_J 0.00020331096 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.004404821 XPDR_DEVICE 24

D_BOOST 4 N_FILEKB 4 SEABIRD_T_H 0.00064488029 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.8507879e-05 XPDR_VALID 2

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 3.3644449e-06

D_FLARE 2 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 500 PHONE_DEVICE 48 SIM_W 0

Pre-dive calculations and measurements:

GPS1 191213,095543,4742.903,-12225.005,10,1.5,10,18.2 TGT_NAME NW

_CALLS 1 TGT_LATLONG 4743.900,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.36 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 191213,100413,4742.813,-12225.055,10,1.7,10,18.2 MHEAD_RNG_PITCHd_Wd 350.8,2037,-18.1,-8.000,-21.82,1655

SPEED_LIMITS 0.114,0.200 D_GRID 180

Post-dive calculations and measurements:

FINISH 0.4,1.005340 _10V_AH 10.4,0.951

SM_CCo 3640,65.70,0.284,1,0,1153,220.03 FG_AHR_24Vo 0.000

SM_GC 1.30,11.68,0.00,65.70,0.035,0.000,0.284,647,1785,1153,-10.74,-0.42,220.03,0,0,0,0,1,0,24.70,28.83,23.98 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4729.30,-12242.77,191213,080817 MEM 353964

TT8_MAMPS 0.023968,0.023968 DATA_FILE_SIZE 30207,680

HUMID 32.31 CAP_FILE_SIZE 78225,0

INTERNAL_PRESSURE 8.96672 CFSIZE 260165632,257859584

TCM_TEMP 19.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 0 GPS 191213,110733,4742.750,-12225.347,8,5.1,28,18.2

_24V_AH 23.8,1.106

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 166 105.08 SBE_CT 484 24 285.13

Roll_motor 60 227 329.32 SBE_O2 311 5 44.37

VBD_pump_during_apogee 154 485 1778.81 WL_BBFL2 514 68 843.67

VBD_pump_during_surface 65 283 443.79 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 57 40.08 nil 0 0 0.00

Iridium_during_connect 42 160 162.14 nil 0 0 0.00

Iridium_during_xfer 315 223 1674.03 nil 0 0 0.00

Transponder_ping 4 420 42.48 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 12 29 3.75

TT8 1531 11 178.70

LPSleep 764 2 17.41

TT8_Active 361 11 42.15

TT8_Sampling 1391 36 530.70

TT8_CF8 177 42 78.60

TT8_Kalman 0 0 0.00

Analog_circuits 908 15 141.69

GPS_charging 0 0 0.00

Compass 982 15 160.81

RAFOS 0 0 0.00

Transponder 27 30 8.62

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

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -1.40 -88.0 646 1785 1208 1084 0.0 0.0 0 50 0.00 0.00 -32.50 0.000 16386 0.000 0.000 647 1785 2146 2182 2111 0 0 0 0 0 0 28.83 28.83 28.83

54 -1.40 -88.0 647 1785 2182 2111 2.6 -5.0 6 78 11.80 2.65 -6.38 0.000 18948 0.167 0.082 2678 383 2409 2465 2354 0 0 0 0 0 0 24.37 24.46 24.80

207 -1.40 -88.0 2677 383 2464 2355 21.6 -13.8 35 213 0.00 2.45 0.00 0.000 1030 0.000 0.039 2677 1829 2410 2465 2355 0 0 0 0 0 0 28.83 24.63 28.83

278 -1.40 -88.0 2677 1829 2465 2354 29.8 -11.7 48 283 0.00 0.00 0.00 0.000 6 0.000 0.000 2677 1830 2409 2465 2354 0 0 0 0 0 0 28.83 28.83 28.83

346 -1.40 -88.0 2677 1829 2465 2355 36.9 -10.4 61 353 0.00 2.62 0.00 0.000 516 0.000 0.067 2678 378 2409 2465 2354 0 0 0 0 0 0 28.83 24.56 28.83

400 -1.40 -88.0 1664 378 2397 2344 43.2 -12.6 71 406 0.00 2.45 0.00 0.000 1030 0.000 0.038 2677 1832 2410 2465 2355 0 0 0 0 0 0 28.83 24.65 28.83

469 -1.40 -88.0 2677 1831 2465 2355 51.4 -11.4 84 475 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 1832 2410 2465 2355 0 0 0 0 0 0 28.83 28.83 28.83

598 -1.40 -88.0 2677 1832 2465 2355 65.9 -11.4 109 604 0.00 2.60 0.00 0.000 516 0.000 0.067 2677 383 2410 2465 2355 0 0 0 0 0 0 28.83 24.59 28.83

667 -1.40 -88.0 2677 384 2465 2355 74.7 -13.2 122 674 0.00 2.45 0.00 0.000 1030 0.000 0.038 2677 1842 2410 2465 2355 0 0 0 0 0 0 28.83 24.68 28.83

796 -1.40 -88.0 1648 1840 2396 2344 87.8 -8.5 147 802 0.00 0.00 0.00 0.000 6 0.000 0.000 2677 1841 2410 2465 2355 0 0 0 0 0 0 28.83 28.83 28.83

925 -1.40 -88.0 2677 1841 2465 2355 99.6 -8.6 172 933 0.00 0.00 0.00 0.000 6 0.000 0.000 2677 1841 2410 2465 2355 0 0 0 0 0 0 28.83 28.83 28.83

1058 -1.40 -88.0 2677 1842 2465 2355 112.1 -10.7 197 1063 0.00 0.00 0.00 0.000 6 0.000 0.000 2677 1842 2410 2465 2355 0 0 0 0 0 0 28.83 28.83 28.83

1190 -1.40 -88.0 2677 1843 2465 2355 127.9 -11.8 222 1196 0.00 0.00 0.00 0.000 6 0.000 0.000 2677 1842 2410 2465 2355 0 0 0 0 0 0 28.83 28.83 28.83

1320 -1.40 -88.0 2677 1843 2464 2355 141.2 -9.1 247 1327 0.00 2.62 0.00 0.000 516 0.000 0.067 2677 383 2410 2465 2355 0 0 0 0 0 0 28.83 24.65 28.83

1458 -1.40 -88.0 2677 382 2465 2355 157.1 -12.7 273 1464 0.00 2.42 0.00 0.000 1030 0.000 0.039 2677 1830 2410 2465 2355 0 0 0 0 0 0 28.83 24.75 28.83

1589 -1.40 -88.0 2677 1831 2465 2355 172.1 -11.1 298 1596 0.00 2.60 0.00 0.000 516 0.000 0.067 2677 381 2410 2465 2355 0 0 0 0 0 0 28.83 24.66 28.83

1649 -1.40 -88.0 2677 381 2465 2355 177.8 -9.5 309 1655 0.00 2.45 0.00 0.000 1030 0.000 0.040 2677 1840 2410 2465 2355 0 0 0 0 0 0 28.83 24.75 28.83

1676 end dive: TARGET_DEPTH_EXCEEDED

state 1676 begin apogee

1683 -0.36 0.0 2677 1726 2465 2355 180.3 -8.3 314 1760 1.15 0.05 67.60 0.485 10246 0.107 0.078 2906 1771 2048 2126 1971 0 0 0 0 0 0 24.64 24.17 23.85

1761 end apogee: CONTROL_FINISHED_OK

state 1761 begin climb

1763 1.40 88.0 2906 1770 2126 1971 182.5 0.0 328 1841 1.85 2.67 67.78 0.476 10756 0.083 0.069 3296 333 1689 1772 1607 0 0 0 0 0 0 24.32 24.16 23.83

1879 1.40 88.0 3296 333 1772 1607 174.5 10.7 349 1886 0.00 2.47 0.00 0.000 1030 0.000 0.039 3296 1786 1689 1772 1606 0 0 0 0 0 0 28.83 24.46 28.83

2010 1.40 88.0 3296 1787 1772 1603 162.0 8.2 374 2017 0.00 2.65 0.00 0.000 516 0.000 0.070 3296 337 1687 1772 1603 0 0 0 0 0 0 28.83 24.46 28.83

2125 1.40 88.0 3296 337 1772 1603 149.7 10.8 396 2131 0.00 2.45 0.00 0.000 1030 0.000 0.039 3297 1780 1687 1772 1602 0 0 0 0 0 0 28.83 24.58 28.83

2256 1.40 88.0 3296 1780 1772 1601 136.6 9.8 421 2262 0.00 0.00 0.00 0.000 6 0.000 0.000 3296 1780 1686 1772 1601 0 0 0 0 0 0 28.83 28.83 28.83

2384 1.40 88.0 3296 1780 1772 1601 123.1 10.9 446 2390 0.00 0.00 0.00 0.000 6 0.000 0.000 3296 1780 1686 1772 1601 0 0 0 0 0 0 28.83 28.83 28.83

2513 1.40 88.0 3296 1780 1772 1601 108.7 11.7 471 2519 0.00 2.40 0.00 0.000 260 0.000 0.047 3296 3179 1686 1772 1601 0 0 0 0 0 0 28.83 24.60 28.83

2543 1.40 90.1 3296 3179 1772 1600 106.1 7.9 476 2549 0.00 2.53 0.00 0.000 1030 0.000 0.049 3296 1735 1685 1771 1600 0 0 0 0 0 0 28.83 24.60 28.83

2674 1.41 96.9 3296 1735 1771 1600 95.6 7.6 501 2687 0.00 2.62 7.62 0.362 8708 0.000 0.070 3296 337 1654 1741 1568 0 0 0 0 0 0 28.83 24.46 24.16

2730 1.41 96.9 3296 337 1741 1568 90.9 8.9 511 2736 0.00 2.45 0.00 0.000 1030 0.000 0.038 3296 1783 1654 1741 1568 0 0 0 0 0 0 28.83 24.62 28.83

2862 1.43 109.3 3296 1783 1741 1568 81.6 7.2 536 2880 0.00 2.42 11.10 0.382 8452 0.000 0.047 3297 3182 1603 1692 1515 0 0 0 0 0 0 28.83 24.48 24.13

2994 1.43 109.3 3296 3180 1692 1515 69.4 10.2 561 3001 0.00 2.53 0.00 0.000 1030 0.000 0.050 3295 1737 1603 1692 1514 0 0 0 0 0 0 28.83 24.60 28.83

3124 1.43 109.3 3296 1737 1691 1514 55.1 11.3 586 3130 0.00 2.55 0.00 0.000 516 0.000 0.070 3296 336 1602 1691 1514 0 0 0 0 0 0 28.83 24.56 28.83

3208 1.43 109.3 2304 336 1647 1509 43.7 14.2 602 3214 0.00 2.45 0.00 0.000 1030 0.000 0.039 3296 1787 1602 1691 1514 0 0 0 0 0 0 28.83 24.68 28.83

3277 1.43 109.3 3296 1787 1691 1514 35.0 11.9 615 3284 0.00 2.65 0.00 0.000 516 0.000 0.070 3296 329 1603 1692 1514 0 0 0 0 0 0 28.83 24.58 28.83

3428 1.43 109.3 3296 329 1691 1514 17.1 11.7 644 3435 0.00 2.45 0.00 0.000 1030 0.000 0.039 3296 1785 1602 1691 1514 0 0 0 0 0 0 28.83 24.70 28.83

3498 1.43 109.3 3296 1785 1691 1514 10.1 9.3 657 3503 0.00 0.00 0.00 0.000 6 0.000 0.000 3296 1785 1603 1692 1514 0 0 0 0 0 0 28.83 28.83 28.83

3567 1.43 109.3 3296 1785 1691 1514 4.1 9.3 670 3572 0.00 0.00 0.00 0.000 6 0.000 0.000 3296 1785 1602 1691 1514 0 0 0 0 0 0 28.83 28.83 28.83

3582 end climb: SURFACE_DEPTH_REACHED

state 3582 begin surface coast

3619 end surface coast: CONTROL_FINISHED_OK

state 3619 begin surface

ID	130	HD_C	1.6100001e-05	ROLL_MAX	3700	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	19	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	17	ESCAPE_HEADING	0	C_ROLL_DIVE	1800	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1750	ALTIM_PING_DEPTH	100
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	2	TGT_DEFAULT_LAT	44.380001	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	180	TGT_DEFAULT_LON	-125.01	ROLL_TIMEOUT	15	ALTIM_PULSE	2
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	-10	ALTIM_SENSITIVITY	5
D_NO_BLEED	500	SM_CC	220	R_STBD_OVSHOOT	-10	XPDR_VALID	2
D_BOOST	4	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0.89999998
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	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	C_VBD	2050	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	20
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	131
T_DIVE	75	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	80	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	500	CAPMAXSIZE	200000	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	15	UNCOM_BLEED	50	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	0	T_GPS_CHARGE	-118571.28	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	48
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	92	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	97	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	650	MINV_24V	19	SIM_W	0
MAX_BUOY	90	PITCH_MAX	3725	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2993	FG_AHR_10V	0	SEABIRD_T_G	0.004404821
GLIDE_SLOPE	35	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00064488029
SPEED_FACTOR	1	PITCH_CNV	0.0046000001	PHONE_SUPPLY	2	SEABIRD_T_I	2.8507879e-05
RHO	1.023	P_OVSHOOT	0.039999999	PRESSURE_YINT	-9.3370571	SEABIRD_T_J	3.3644449e-06
MASS	51967	PITCH_GAIN	14	PRESSURE_SLOPE	0.0001159091	SEABIRD_C_G	-9.8029137
MASS_COMP	0	PITCH_TIMEOUT	16	AD7714Ch0Gain	128	SEABIRD_C_H	1.1050078
NAV_MODE	0	PITCH_AD_RATE	175	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0015785076
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00020331096
KALMAN_USE	2	PITCH_ADJ_GAIN	0	COMPASS_USE	0
HD_A	0.0028580001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0089408001	ROLL_MIN	240	ALTIM_TOP_PING_RANGE	0

GPS1	191213,095543,4742.903,-12225.005,10,1.5,10,18.2	TGT_NAME	NW
_CALLS	1	TGT_LATLONG	4743.900,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.36	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	191213,100413,4742.813,-12225.055,10,1.7,10,18.2	MHEAD_RNG_PITCHd_Wd	350.8,2037,-18.1,-8.000,-21.82,1655
SPEED_LIMITS	0.114,0.200	D_GRID	180

FINISH	0.4,1.005340	_10V_AH	10.4,0.951
SM_CCo	3640,65.70,0.284,1,0,1153,220.03	FG_AHR_24Vo	0.000
SM_GC	1.30,11.68,0.00,65.70,0.035,0.000,0.284,647,1785,1153,-10.74,-0.42,220.03,0,0,0,0,1,0,24.70,28.83,23.98	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4729.30,-12242.77,191213,080817	MEM	353964
TT8_MAMPS	0.023968,0.023968	DATA_FILE_SIZE	30207,680
HUMID	32.31	CAP_FILE_SIZE	78225,0
INTERNAL_PRESSURE	8.96672	CFSIZE	260165632,257859584
TCM_TEMP	19.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	GPS	191213,110733,4742.750,-12225.347,8,5.1,28,18.2
_24V_AH	23.8,1.106

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	166	105.08	SBE_CT	484	24	285.13
Roll_motor	60	227	329.32	SBE_O2	311	5	44.37
VBD_pump_during_apogee	154	485	1778.81	WL_BBFL2	514	68	843.67
VBD_pump_during_surface	65	283	443.79	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	57	40.08	nil	0	0	0.00
Iridium_during_connect	42	160	162.14	nil	0	0	0.00
Iridium_during_xfer	315	223	1674.03	nil	0	0	0.00
Transponder_ping	4	420	42.48	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	12	29	3.75
TT8	1531	11	178.70
LPSleep	764	2	17.41
TT8_Active	361	11	42.15
TT8_Sampling	1391	36	530.70
TT8_CF8	177	42	78.60
TT8_Kalman	0	0	0.00
Analog_circuits	908	15	141.69
GPS_charging	0	0	0.00
Compass	982	15	160.81
RAFOS	0	0	0.00
Transponder	27	30	8.62

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
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-1.40	-88.0	646	1785	1208	1084	0.0	0.0	0	50	0.00	0.00	-32.50	0.000	16386	0.000	0.000	647	1785	2146	2182	2111	0	0	0	0	0	0	28.83	28.83	28.83
54	-1.40	-88.0	647	1785	2182	2111	2.6	-5.0	6	78	11.80	2.65	-6.38	0.000	18948	0.167	0.082	2678	383	2409	2465	2354	0	0	0	0	0	0	24.37	24.46	24.80
207	-1.40	-88.0	2677	383	2464	2355	21.6	-13.8	35	213	0.00	2.45	0.00	0.000	1030	0.000	0.039	2677	1829	2410	2465	2355	0	0	0	0	0	0	28.83	24.63	28.83
278	-1.40	-88.0	2677	1829	2465	2354	29.8	-11.7	48	283	0.00	0.00	0.00	0.000	6	0.000	0.000	2677	1830	2409	2465	2354	0	0	0	0	0	0	28.83	28.83	28.83
346	-1.40	-88.0	2677	1829	2465	2355	36.9	-10.4	61	353	0.00	2.62	0.00	0.000	516	0.000	0.067	2678	378	2409	2465	2354	0	0	0	0	0	0	28.83	24.56	28.83
400	-1.40	-88.0	1664	378	2397	2344	43.2	-12.6	71	406	0.00	2.45	0.00	0.000	1030	0.000	0.038	2677	1832	2410	2465	2355	0	0	0	0	0	0	28.83	24.65	28.83
469	-1.40	-88.0	2677	1831	2465	2355	51.4	-11.4	84	475	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	1832	2410	2465	2355	0	0	0	0	0	0	28.83	28.83	28.83
598	-1.40	-88.0	2677	1832	2465	2355	65.9	-11.4	109	604	0.00	2.60	0.00	0.000	516	0.000	0.067	2677	383	2410	2465	2355	0	0	0	0	0	0	28.83	24.59	28.83
667	-1.40	-88.0	2677	384	2465	2355	74.7	-13.2	122	674	0.00	2.45	0.00	0.000	1030	0.000	0.038	2677	1842	2410	2465	2355	0	0	0	0	0	0	28.83	24.68	28.83
796	-1.40	-88.0	1648	1840	2396	2344	87.8	-8.5	147	802	0.00	0.00	0.00	0.000	6	0.000	0.000	2677	1841	2410	2465	2355	0	0	0	0	0	0	28.83	28.83	28.83
925	-1.40	-88.0	2677	1841	2465	2355	99.6	-8.6	172	933	0.00	0.00	0.00	0.000	6	0.000	0.000	2677	1841	2410	2465	2355	0	0	0	0	0	0	28.83	28.83	28.83
1058	-1.40	-88.0	2677	1842	2465	2355	112.1	-10.7	197	1063	0.00	0.00	0.00	0.000	6	0.000	0.000	2677	1842	2410	2465	2355	0	0	0	0	0	0	28.83	28.83	28.83
1190	-1.40	-88.0	2677	1843	2465	2355	127.9	-11.8	222	1196	0.00	0.00	0.00	0.000	6	0.000	0.000	2677	1842	2410	2465	2355	0	0	0	0	0	0	28.83	28.83	28.83
1320	-1.40	-88.0	2677	1843	2464	2355	141.2	-9.1	247	1327	0.00	2.62	0.00	0.000	516	0.000	0.067	2677	383	2410	2465	2355	0	0	0	0	0	0	28.83	24.65	28.83
1458	-1.40	-88.0	2677	382	2465	2355	157.1	-12.7	273	1464	0.00	2.42	0.00	0.000	1030	0.000	0.039	2677	1830	2410	2465	2355	0	0	0	0	0	0	28.83	24.75	28.83
1589	-1.40	-88.0	2677	1831	2465	2355	172.1	-11.1	298	1596	0.00	2.60	0.00	0.000	516	0.000	0.067	2677	381	2410	2465	2355	0	0	0	0	0	0	28.83	24.66	28.83
1649	-1.40	-88.0	2677	381	2465	2355	177.8	-9.5	309	1655	0.00	2.45	0.00	0.000	1030	0.000	0.040	2677	1840	2410	2465	2355	0	0	0	0	0	0	28.83	24.75	28.83
1676	end dive: TARGET_DEPTH_EXCEEDED
state	1676	begin apogee
1683	-0.36	0.0	2677	1726	2465	2355	180.3	-8.3	314	1760	1.15	0.05	67.60	0.485	10246	0.107	0.078	2906	1771	2048	2126	1971	0	0	0	0	0	0	24.64	24.17	23.85
1761	end apogee: CONTROL_FINISHED_OK
state	1761	begin climb
1763	1.40	88.0	2906	1770	2126	1971	182.5	0.0	328	1841	1.85	2.67	67.78	0.476	10756	0.083	0.069	3296	333	1689	1772	1607	0	0	0	0	0	0	24.32	24.16	23.83
1879	1.40	88.0	3296	333	1772	1607	174.5	10.7	349	1886	0.00	2.47	0.00	0.000	1030	0.000	0.039	3296	1786	1689	1772	1606	0	0	0	0	0	0	28.83	24.46	28.83
2010	1.40	88.0	3296	1787	1772	1603	162.0	8.2	374	2017	0.00	2.65	0.00	0.000	516	0.000	0.070	3296	337	1687	1772	1603	0	0	0	0	0	0	28.83	24.46	28.83
2125	1.40	88.0	3296	337	1772	1603	149.7	10.8	396	2131	0.00	2.45	0.00	0.000	1030	0.000	0.039	3297	1780	1687	1772	1602	0	0	0	0	0	0	28.83	24.58	28.83
2256	1.40	88.0	3296	1780	1772	1601	136.6	9.8	421	2262	0.00	0.00	0.00	0.000	6	0.000	0.000	3296	1780	1686	1772	1601	0	0	0	0	0	0	28.83	28.83	28.83
2384	1.40	88.0	3296	1780	1772	1601	123.1	10.9	446	2390	0.00	0.00	0.00	0.000	6	0.000	0.000	3296	1780	1686	1772	1601	0	0	0	0	0	0	28.83	28.83	28.83
2513	1.40	88.0	3296	1780	1772	1601	108.7	11.7	471	2519	0.00	2.40	0.00	0.000	260	0.000	0.047	3296	3179	1686	1772	1601	0	0	0	0	0	0	28.83	24.60	28.83
2543	1.40	90.1	3296	3179	1772	1600	106.1	7.9	476	2549	0.00	2.53	0.00	0.000	1030	0.000	0.049	3296	1735	1685	1771	1600	0	0	0	0	0	0	28.83	24.60	28.83
2674	1.41	96.9	3296	1735	1771	1600	95.6	7.6	501	2687	0.00	2.62	7.62	0.362	8708	0.000	0.070	3296	337	1654	1741	1568	0	0	0	0	0	0	28.83	24.46	24.16
2730	1.41	96.9	3296	337	1741	1568	90.9	8.9	511	2736	0.00	2.45	0.00	0.000	1030	0.000	0.038	3296	1783	1654	1741	1568	0	0	0	0	0	0	28.83	24.62	28.83
2862	1.43	109.3	3296	1783	1741	1568	81.6	7.2	536	2880	0.00	2.42	11.10	0.382	8452	0.000	0.047	3297	3182	1603	1692	1515	0	0	0	0	0	0	28.83	24.48	24.13
2994	1.43	109.3	3296	3180	1692	1515	69.4	10.2	561	3001	0.00	2.53	0.00	0.000	1030	0.000	0.050	3295	1737	1603	1692	1514	0	0	0	0	0	0	28.83	24.60	28.83
3124	1.43	109.3	3296	1737	1691	1514	55.1	11.3	586	3130	0.00	2.55	0.00	0.000	516	0.000	0.070	3296	336	1602	1691	1514	0	0	0	0	0	0	28.83	24.56	28.83
3208	1.43	109.3	2304	336	1647	1509	43.7	14.2	602	3214	0.00	2.45	0.00	0.000	1030	0.000	0.039	3296	1787	1602	1691	1514	0	0	0	0	0	0	28.83	24.68	28.83
3277	1.43	109.3	3296	1787	1691	1514	35.0	11.9	615	3284	0.00	2.65	0.00	0.000	516	0.000	0.070	3296	329	1603	1692	1514	0	0	0	0	0	0	28.83	24.58	28.83
3428	1.43	109.3	3296	329	1691	1514	17.1	11.7	644	3435	0.00	2.45	0.00	0.000	1030	0.000	0.039	3296	1785	1602	1691	1514	0	0	0	0	0	0	28.83	24.70	28.83
3498	1.43	109.3	3296	1785	1691	1514	10.1	9.3	657	3503	0.00	0.00	0.00	0.000	6	0.000	0.000	3296	1785	1603	1692	1514	0	0	0	0	0	0	28.83	28.83	28.83
3567	1.43	109.3	3296	1785	1691	1514	4.1	9.3	670	3572	0.00	0.00	0.00	0.000	6	0.000	0.000	3296	1785	1602	1691	1514	0	0	0	0	0	0	28.83	28.83	28.83
3582	end climb: SURFACE_DEPTH_REACHED
state	3582	begin surface coast
3619	end surface coast: CONTROL_FINISHED_OK
state	3619	begin surface