Glider dive log

Shilshole 18Dec13 * SG130 * Dive index * Mission links * Dive 18 * 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 18 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 -118572.53 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 -118572.53

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 18 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 191213,110733,4742.750,-12225.347,8,5.1,28,18.2 TGT_NAME NW

_CALLS 2 TGT_LATLONG 4743.900,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.37 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 191213,111755,4742.629,-12225.407,12,1.1,12,18.2 MHEAD_RNG_PITCHd_Wd 359.6,2472,-18.1,-8.000,-21.82,1655

SPEED_LIMITS 0.114,0.200 D_GRID 180

Post-dive calculations and measurements:

FINISH 0.6,1.020354 _10V_AH 10.3,0.999

SM_CCo 3802,49.70,0.256,1,0,1152,220.03 FG_AHR_24Vo 0.000

SM_GC 1.76,11.75,0.05,49.70,0.038,0.149,0.256,648,1821,1152,-10.73,-0.48,220.03,0,0,0,0,1,0,24.65,24.75,24.01 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4732.49,-12232.94,191213,090932 MEM 353948

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 33533,710

HUMID 32.98 CAP_FILE_SIZE 81262,0

INTERNAL_PRESSURE 8.96672 CFSIZE 260165632,257814528

TCM_TEMP 18.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 0 GPS 191213,122335,4742.550,-12225.621,14,1.2,24,18.2

_24V_AH 23.8,1.158

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 169 107.33 SBE_CT 506 24 298.24

Roll_motor 60 149 215.60 SBE_O2 325 5 46.44

VBD_pump_during_apogee 181 486 2102.29 WL_BBFL2 542 68 889.43

VBD_pump_during_surface 49 255 302.23 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 46 57 63.48 nil 0 0 0.00

Iridium_during_connect 77 160 293.79 nil 0 0 0.00

Iridium_during_xfer 314 223 1668.97 nil 0 0 0.00

Transponder_ping 4 420 42.48 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 29 4.54

TT8 1588 11 183.63

LPSleep 859 2 19.40

TT8_Active 367 11 42.51

TT8_Sampling 1485 36 561.21

TT8_CF8 180 42 79.15

TT8_Kalman 0 0 0.00

Analog_circuits 941 15 145.47

GPS_charging 0 0 0.00

Compass 1027 15 166.46

RAFOS 0 0 0.00

Transponder 29 30 9.10

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.40 -88.0 646 1786 1203 1087 0.0 0.0 0 46 0.00 0.00 -27.48 0.000 16386 0.000 0.000 646 1786 1995 2034 1957 0 0 0 0 0 0 28.83 28.83 28.83

49 -1.40 -88.0 646 1786 2034 1957 2.3 -4.5 5 80 11.90 2.55 -11.45 0.000 18948 0.169 0.078 2678 383 2408 2464 2353 0 0 0 0 0 0 24.34 24.45 24.79

214 -1.40 -88.0 2678 383 2464 2354 21.2 -14.3 36 220 0.00 2.45 0.00 0.000 1030 0.000 0.039 2678 1828 2408 2464 2353 0 0 0 0 0 0 28.83 24.60 28.83

283 -1.40 -88.0 2678 1828 2465 2354 29.9 -12.1 49 288 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 1828 2409 2464 2354 0 0 0 0 0 0 28.83 28.83 28.83

353 -1.40 -88.0 2678 1828 2464 2354 38.0 -11.4 62 359 0.00 2.60 0.00 0.000 516 0.000 0.066 2678 383 2409 2464 2354 0 0 0 0 0 0 28.83 24.54 28.83

462 -1.40 -88.0 2678 383 2464 2354 51.7 -11.6 83 468 0.00 2.45 0.00 0.000 1030 0.000 0.039 2678 1836 2408 2464 2353 0 0 0 0 0 0 28.83 24.64 28.83

591 -1.40 -88.0 2678 1836 2464 2354 64.3 -9.2 108 597 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 1835 2409 2464 2354 0 0 0 0 0 0 28.83 28.83 28.83

720 -1.40 -88.0 2678 1835 2464 2354 75.9 -9.6 133 726 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 1835 2409 2464 2354 0 0 0 0 0 0 28.83 28.83 28.83

848 -1.40 -88.0 2678 1835 2464 2354 90.2 -11.2 158 854 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 1836 2409 2464 2354 0 0 0 0 0 0 28.83 28.83 28.83

977 -1.40 -88.0 2678 1835 2464 2354 105.0 -12.3 183 984 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 1835 2408 2464 2353 0 0 0 0 0 0 28.83 28.83 28.83

1110 -1.40 -88.0 1584 1834 2390 2342 120.5 -12.1 208 1117 0.00 2.62 0.00 0.000 516 0.000 0.066 2678 377 2409 2464 2354 0 0 0 0 0 0 28.83 24.61 28.83

1247 -1.40 -88.0 2678 377 2464 2354 139.3 -13.1 234 1254 0.00 2.45 0.00 0.000 1030 0.000 0.038 2678 1833 2408 2464 2353 0 0 0 0 0 0 28.83 24.72 28.83

1379 -1.40 -88.0 2678 1833 2464 2354 153.9 -11.0 259 1385 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 1833 2409 2464 2354 0 0 0 0 0 0 28.83 28.83 28.83

1510 -1.40 -88.0 1616 1831 2393 2342 169.4 -12.8 284 1517 0.00 2.42 0.00 0.000 260 0.000 0.050 2678 3229 2409 2464 2354 0 0 0 0 0 0 28.83 24.69 28.83

1598 end dive: TARGET_DEPTH_EXCEEDED

state 1598 begin apogee

1609 -0.36 0.0 2678 1741 2464 2354 180.1 -11.2 301 1685 1.17 0.00 67.38 0.487 10246 0.112 0.000 2909 1741 2049 2127 1972 0 0 0 0 0 0 24.60 28.83 23.84

1686 end apogee: CONTROL_FINISHED_OK

state 1686 begin climb

1689 1.40 88.0 2908 1741 2127 1971 184.0 0.0 315 1765 1.85 0.00 67.95 0.478 10246 0.083 0.000 3296 1742 1689 1772 1607 0 0 0 0 0 0 24.31 28.83 23.82

1889 1.41 100.1 3295 1742 1772 1603 172.2 7.3 353 1901 0.00 0.00 10.25 0.415 8198 0.000 0.000 3296 1742 1642 1728 1557 0 0 0 0 0 0 28.83 28.83 23.99

2027 1.41 100.1 3296 1742 1728 1555 161.0 9.3 379 2034 0.00 2.55 0.00 0.000 516 0.000 0.069 3296 337 1641 1728 1555 0 0 0 0 0 0 28.83 24.46 28.83

2052 1.42 105.2 3296 337 1728 1555 158.9 7.7 383 2065 0.00 2.45 5.78 0.357 9222 0.000 0.038 3296 1780 1620 1706 1534 0 0 0 0 0 0 28.83 24.56 24.07

2190 1.42 107.2 3296 1780 1706 1533 147.4 7.9 409 2195 0.00 0.00 0.00 0.000 6 0.000 0.000 3296 1780 1619 1706 1533 0 0 0 0 0 0 28.83 28.83 28.83

2318 1.42 107.2 3296 1780 1706 1533 136.0 9.4 434 2325 0.00 2.62 0.00 0.000 516 0.000 0.070 3296 337 1619 1705 1533 0 0 0 0 0 0 28.83 24.51 28.83

2368 1.42 107.2 3296 337 1706 1533 130.6 11.5 443 2374 0.00 2.45 0.00 0.000 1030 0.000 0.038 3296 1781 1619 1706 1532 0 0 0 0 0 0 28.83 24.61 28.83

2499 1.42 107.2 3296 1780 1705 1532 118.1 8.7 468 2504 0.00 0.00 0.00 0.000 6 0.000 0.000 3296 1780 1618 1705 1532 0 0 0 0 0 0 28.83 28.83 28.83

2627 1.42 107.2 3296 1780 1706 1531 105.1 10.4 493 2634 0.00 2.65 0.00 0.000 516 0.000 0.068 3296 330 1619 1706 1532 0 0 0 0 0 0 28.83 24.55 28.83

2707 1.42 107.2 3296 330 1705 1532 96.6 11.1 508 2713 0.00 2.45 0.00 0.000 1030 0.000 0.038 3296 1781 1618 1706 1531 0 0 0 0 0 0 28.83 24.65 28.83

2836 1.42 107.2 3296 1781 1706 1531 84.1 9.4 533 2843 0.00 2.62 0.00 0.000 516 0.000 0.069 3296 337 1618 1706 1531 0 0 0 0 0 0 28.83 24.57 28.83

2911 1.42 107.2 3296 336 1706 1531 76.5 11.2 547 2917 0.00 2.45 0.00 0.000 1030 0.000 0.038 3296 1784 1618 1706 1531 0 0 0 0 0 0 28.83 24.67 28.83

3042 1.42 107.2 3296 1784 1706 1531 64.4 9.0 572 3048 0.00 2.40 0.00 0.000 260 0.000 0.049 3296 3181 1618 1706 1531 0 0 0 0 0 0 28.83 24.64 28.83

3086 1.42 107.2 2304 3179 1661 1525 60.2 8.5 580 3092 0.00 2.53 0.00 0.000 1030 0.000 0.050 3296 1734 1617 1705 1530 0 0 0 0 0 0 28.83 24.65 28.83

3217 1.43 111.5 3296 1734 1706 1530 49.6 7.7 605 3230 0.00 2.55 5.88 0.323 8708 0.000 0.070 3296 337 1595 1684 1507 0 0 0 0 0 0 28.83 24.53 24.24

3293 1.43 111.5 3296 337 1684 1507 42.5 9.1 619 3299 0.00 2.45 0.00 0.000 1030 0.000 0.038 3296 1787 1595 1684 1507 0 0 0 0 0 0 28.83 24.68 28.83

3362 1.44 122.6 3296 1787 1684 1507 37.3 7.3 632 3380 0.00 2.67 10.20 0.356 8708 0.000 0.070 3296 334 1549 1638 1461 0 0 0 0 0 0 28.83 24.46 24.18

3443 1.44 122.6 3296 334 1638 1461 30.3 9.8 647 3450 0.00 2.45 0.00 0.000 1030 0.000 0.038 3296 1786 1549 1638 1461 0 0 0 0 0 0 28.83 24.64 28.83

3513 1.44 122.6 3296 1786 1638 1460 24.5 8.2 660 3518 0.00 0.00 0.00 0.000 6 0.000 0.000 3297 1786 1549 1638 1461 0 0 0 0 0 0 28.83 28.83 28.83

3582 1.46 138.9 3296 1786 1638 1460 19.3 7.0 673 3605 0.00 2.72 14.12 0.360 8708 0.000 0.070 3296 337 1482 1572 1392 0 0 0 0 0 0 28.83 24.43 24.15

3638 1.46 138.9 3296 337 1572 1392 14.2 10.4 683 3644 0.00 2.45 0.00 0.000 1030 0.000 0.038 3296 1780 1482 1572 1392 0 0 0 0 0 0 28.83 24.59 28.83

3707 1.46 138.9 3296 1780 1573 1392 7.4 8.7 696 3713 0.00 0.00 0.00 0.000 6 0.000 0.000 3296 1780 1482 1572 1392 0 0 0 0 0 0 28.83 28.83 28.83

3753 end climb: SURFACE_DEPTH_REACHED

state 3753 begin surface coast

3780 end surface coast: CONTROL_FINISHED_OK

state 3780 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	18	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	-118572.53	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	191213,110733,4742.750,-12225.347,8,5.1,28,18.2	TGT_NAME	NW
_CALLS	2	TGT_LATLONG	4743.900,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.37	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	191213,111755,4742.629,-12225.407,12,1.1,12,18.2	MHEAD_RNG_PITCHd_Wd	359.6,2472,-18.1,-8.000,-21.82,1655
SPEED_LIMITS	0.114,0.200	D_GRID	180

FINISH	0.6,1.020354	_10V_AH	10.3,0.999
SM_CCo	3802,49.70,0.256,1,0,1152,220.03	FG_AHR_24Vo	0.000
SM_GC	1.76,11.75,0.05,49.70,0.038,0.149,0.256,648,1821,1152,-10.73,-0.48,220.03,0,0,0,0,1,0,24.65,24.75,24.01	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4732.49,-12232.94,191213,090932	MEM	353948
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	33533,710
HUMID	32.98	CAP_FILE_SIZE	81262,0
INTERNAL_PRESSURE	8.96672	CFSIZE	260165632,257814528
TCM_TEMP	18.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	GPS	191213,122335,4742.550,-12225.621,14,1.2,24,18.2
_24V_AH	23.8,1.158

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	169	107.33	SBE_CT	506	24	298.24
Roll_motor	60	149	215.60	SBE_O2	325	5	46.44
VBD_pump_during_apogee	181	486	2102.29	WL_BBFL2	542	68	889.43
VBD_pump_during_surface	49	255	302.23	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	46	57	63.48	nil	0	0	0.00
Iridium_during_connect	77	160	293.79	nil	0	0	0.00
Iridium_during_xfer	314	223	1668.97	nil	0	0	0.00
Transponder_ping	4	420	42.48	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	29	4.54
TT8	1588	11	183.63
LPSleep	859	2	19.40
TT8_Active	367	11	42.51
TT8_Sampling	1485	36	561.21
TT8_CF8	180	42	79.15
TT8_Kalman	0	0	0.00
Analog_circuits	941	15	145.47
GPS_charging	0	0	0.00
Compass	1027	15	166.46
RAFOS	0	0	0.00
Transponder	29	30	9.10

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.40	-88.0	646	1786	1203	1087	0.0	0.0	0	46	0.00	0.00	-27.48	0.000	16386	0.000	0.000	646	1786	1995	2034	1957	0	0	0	0	0	0	28.83	28.83	28.83
49	-1.40	-88.0	646	1786	2034	1957	2.3	-4.5	5	80	11.90	2.55	-11.45	0.000	18948	0.169	0.078	2678	383	2408	2464	2353	0	0	0	0	0	0	24.34	24.45	24.79
214	-1.40	-88.0	2678	383	2464	2354	21.2	-14.3	36	220	0.00	2.45	0.00	0.000	1030	0.000	0.039	2678	1828	2408	2464	2353	0	0	0	0	0	0	28.83	24.60	28.83
283	-1.40	-88.0	2678	1828	2465	2354	29.9	-12.1	49	288	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	1828	2409	2464	2354	0	0	0	0	0	0	28.83	28.83	28.83
353	-1.40	-88.0	2678	1828	2464	2354	38.0	-11.4	62	359	0.00	2.60	0.00	0.000	516	0.000	0.066	2678	383	2409	2464	2354	0	0	0	0	0	0	28.83	24.54	28.83
462	-1.40	-88.0	2678	383	2464	2354	51.7	-11.6	83	468	0.00	2.45	0.00	0.000	1030	0.000	0.039	2678	1836	2408	2464	2353	0	0	0	0	0	0	28.83	24.64	28.83
591	-1.40	-88.0	2678	1836	2464	2354	64.3	-9.2	108	597	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	1835	2409	2464	2354	0	0	0	0	0	0	28.83	28.83	28.83
720	-1.40	-88.0	2678	1835	2464	2354	75.9	-9.6	133	726	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	1835	2409	2464	2354	0	0	0	0	0	0	28.83	28.83	28.83
848	-1.40	-88.0	2678	1835	2464	2354	90.2	-11.2	158	854	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	1836	2409	2464	2354	0	0	0	0	0	0	28.83	28.83	28.83
977	-1.40	-88.0	2678	1835	2464	2354	105.0	-12.3	183	984	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	1835	2408	2464	2353	0	0	0	0	0	0	28.83	28.83	28.83
1110	-1.40	-88.0	1584	1834	2390	2342	120.5	-12.1	208	1117	0.00	2.62	0.00	0.000	516	0.000	0.066	2678	377	2409	2464	2354	0	0	0	0	0	0	28.83	24.61	28.83
1247	-1.40	-88.0	2678	377	2464	2354	139.3	-13.1	234	1254	0.00	2.45	0.00	0.000	1030	0.000	0.038	2678	1833	2408	2464	2353	0	0	0	0	0	0	28.83	24.72	28.83
1379	-1.40	-88.0	2678	1833	2464	2354	153.9	-11.0	259	1385	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	1833	2409	2464	2354	0	0	0	0	0	0	28.83	28.83	28.83
1510	-1.40	-88.0	1616	1831	2393	2342	169.4	-12.8	284	1517	0.00	2.42	0.00	0.000	260	0.000	0.050	2678	3229	2409	2464	2354	0	0	0	0	0	0	28.83	24.69	28.83
1598	end dive: TARGET_DEPTH_EXCEEDED
state	1598	begin apogee
1609	-0.36	0.0	2678	1741	2464	2354	180.1	-11.2	301	1685	1.17	0.00	67.38	0.487	10246	0.112	0.000	2909	1741	2049	2127	1972	0	0	0	0	0	0	24.60	28.83	23.84
1686	end apogee: CONTROL_FINISHED_OK
state	1686	begin climb
1689	1.40	88.0	2908	1741	2127	1971	184.0	0.0	315	1765	1.85	0.00	67.95	0.478	10246	0.083	0.000	3296	1742	1689	1772	1607	0	0	0	0	0	0	24.31	28.83	23.82
1889	1.41	100.1	3295	1742	1772	1603	172.2	7.3	353	1901	0.00	0.00	10.25	0.415	8198	0.000	0.000	3296	1742	1642	1728	1557	0	0	0	0	0	0	28.83	28.83	23.99
2027	1.41	100.1	3296	1742	1728	1555	161.0	9.3	379	2034	0.00	2.55	0.00	0.000	516	0.000	0.069	3296	337	1641	1728	1555	0	0	0	0	0	0	28.83	24.46	28.83
2052	1.42	105.2	3296	337	1728	1555	158.9	7.7	383	2065	0.00	2.45	5.78	0.357	9222	0.000	0.038	3296	1780	1620	1706	1534	0	0	0	0	0	0	28.83	24.56	24.07
2190	1.42	107.2	3296	1780	1706	1533	147.4	7.9	409	2195	0.00	0.00	0.00	0.000	6	0.000	0.000	3296	1780	1619	1706	1533	0	0	0	0	0	0	28.83	28.83	28.83
2318	1.42	107.2	3296	1780	1706	1533	136.0	9.4	434	2325	0.00	2.62	0.00	0.000	516	0.000	0.070	3296	337	1619	1705	1533	0	0	0	0	0	0	28.83	24.51	28.83
2368	1.42	107.2	3296	337	1706	1533	130.6	11.5	443	2374	0.00	2.45	0.00	0.000	1030	0.000	0.038	3296	1781	1619	1706	1532	0	0	0	0	0	0	28.83	24.61	28.83
2499	1.42	107.2	3296	1780	1705	1532	118.1	8.7	468	2504	0.00	0.00	0.00	0.000	6	0.000	0.000	3296	1780	1618	1705	1532	0	0	0	0	0	0	28.83	28.83	28.83
2627	1.42	107.2	3296	1780	1706	1531	105.1	10.4	493	2634	0.00	2.65	0.00	0.000	516	0.000	0.068	3296	330	1619	1706	1532	0	0	0	0	0	0	28.83	24.55	28.83
2707	1.42	107.2	3296	330	1705	1532	96.6	11.1	508	2713	0.00	2.45	0.00	0.000	1030	0.000	0.038	3296	1781	1618	1706	1531	0	0	0	0	0	0	28.83	24.65	28.83
2836	1.42	107.2	3296	1781	1706	1531	84.1	9.4	533	2843	0.00	2.62	0.00	0.000	516	0.000	0.069	3296	337	1618	1706	1531	0	0	0	0	0	0	28.83	24.57	28.83
2911	1.42	107.2	3296	336	1706	1531	76.5	11.2	547	2917	0.00	2.45	0.00	0.000	1030	0.000	0.038	3296	1784	1618	1706	1531	0	0	0	0	0	0	28.83	24.67	28.83
3042	1.42	107.2	3296	1784	1706	1531	64.4	9.0	572	3048	0.00	2.40	0.00	0.000	260	0.000	0.049	3296	3181	1618	1706	1531	0	0	0	0	0	0	28.83	24.64	28.83
3086	1.42	107.2	2304	3179	1661	1525	60.2	8.5	580	3092	0.00	2.53	0.00	0.000	1030	0.000	0.050	3296	1734	1617	1705	1530	0	0	0	0	0	0	28.83	24.65	28.83
3217	1.43	111.5	3296	1734	1706	1530	49.6	7.7	605	3230	0.00	2.55	5.88	0.323	8708	0.000	0.070	3296	337	1595	1684	1507	0	0	0	0	0	0	28.83	24.53	24.24
3293	1.43	111.5	3296	337	1684	1507	42.5	9.1	619	3299	0.00	2.45	0.00	0.000	1030	0.000	0.038	3296	1787	1595	1684	1507	0	0	0	0	0	0	28.83	24.68	28.83
3362	1.44	122.6	3296	1787	1684	1507	37.3	7.3	632	3380	0.00	2.67	10.20	0.356	8708	0.000	0.070	3296	334	1549	1638	1461	0	0	0	0	0	0	28.83	24.46	24.18
3443	1.44	122.6	3296	334	1638	1461	30.3	9.8	647	3450	0.00	2.45	0.00	0.000	1030	0.000	0.038	3296	1786	1549	1638	1461	0	0	0	0	0	0	28.83	24.64	28.83
3513	1.44	122.6	3296	1786	1638	1460	24.5	8.2	660	3518	0.00	0.00	0.00	0.000	6	0.000	0.000	3297	1786	1549	1638	1461	0	0	0	0	0	0	28.83	28.83	28.83
3582	1.46	138.9	3296	1786	1638	1460	19.3	7.0	673	3605	0.00	2.72	14.12	0.360	8708	0.000	0.070	3296	337	1482	1572	1392	0	0	0	0	0	0	28.83	24.43	24.15
3638	1.46	138.9	3296	337	1572	1392	14.2	10.4	683	3644	0.00	2.45	0.00	0.000	1030	0.000	0.038	3296	1780	1482	1572	1392	0	0	0	0	0	0	28.83	24.59	28.83
3707	1.46	138.9	3296	1780	1573	1392	7.4	8.7	696	3713	0.00	0.00	0.00	0.000	6	0.000	0.000	3296	1780	1482	1572	1392	0	0	0	0	0	0	28.83	28.83	28.83
3753	end climb: SURFACE_DEPTH_REACHED
state	3753	begin surface coast
3780	end surface coast: CONTROL_FINISHED_OK
state	3780	begin surface