Glider dive log

Shilshole 23Feb17 * SG401 * Dive index * Mission links * Dive 19 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 401 HD_B 0.017689999 ROLL_DEG 45 ALTIM_TOP_PING_RANGE 20

MISSION 18 HD_C 5.7000002e-06 C_ROLL_DIVE 1990 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 19 HEADING -1 C_ROLL_CLIMB 1990 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 30 ESCAPE_HEADING 0 HEAD_ERRBAND 20 ALTIM_TOP_MIN_OBSTACLE 1

STOP_T 0 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.04555 ALTIM_PING_DEPTH 100

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

D_FLARE 2 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 14 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 18 ALTIM_PULSE 1

D_ABORT 220 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 300 ALTIM_SENSITIVITY 4

D_NO_BLEED 500 SM_CC 300 ROLL_MAXERRORS 2 XPDR_VALID 4

D_BOOST 0 N_FILEKB 4 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 VBD_MIN 53 INT_PRESSURE_YINT -1.1

D_PITCH 0 COMM_SEQ 0 VBD_MAX 4044 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 9 C_VBD 2520 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_DBAND 2 DEVICE1 2

SURFACE_URGENCY 0 NOCOMM_ACTION 0 VBD_CNV -0.85860002 DEVICE2 101

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_LP_IGNORE 2 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 180 DEVICE4 134

T_DIVE 50 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0020000001 DEVICE5 151

T_MISSION 65 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN 225 CAPMAXSIZE 200000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_TURN_SAMPINT 6 HEAPDBG 0 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_NO_W 60 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_LOITER 0 N_GPS 50945 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_SLOITER 0 T_RSLEEP 3 DBDW 0 COMPASS_DEVICE 33

T_EPIRB 0 STROBE 0 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_BATHY -6 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 PHONE_DEVICE 49

USE_ICE 0 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 AH0_24V 150 RAFOS_DEVICE -1

D_OFFGRID 100 PITCH_MIN 220 AH0_10V 100 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3693 MINV_24V 19 SIM_W 0

RELAUNCH 1 C_PITCH 2479 MINV_10V 8 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 MAXI_24V 0.60000002 SEABIRD_T_G 0.0044078007

MAX_BUOY 250 PITCH_CNV 0.00312576 MAXI_10V 0.80000001 SEABIRD_T_H 0.00063626393

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.4955199e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 2.9785231e-06

SPEED_FACTOR 1 PITCH_GAIN 15 PHONE_SUPPLY 2 SEABIRD_C_G -9.7071199

RHO 1.023 PITCH_TIMEOUT 50 PRESSURE_YINT -50.917877 SEABIRD_C_H 1.1284475

MASS 74087 PITCH_AD_RATE 70 PRESSURE_SLOPE 3.2755801e-05 SEABIRD_C_I -0.0014307383

MASS_COMP 0 PITCH_MAXERRORS 1 AD7714Ch0Gain 32 SEABIRD_C_J 0.00018278907

NAV_MODE 1 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SEABIRD_C_Z 2936.3699

FERRY_MAX 45 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0

KALMAN_USE 1 ROLL_MIN 200 COMPASS_USE 4

HD_A 0.0020000001 ROLL_MAX 3888 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 32 D_SAFE 0 PITCH_ADJ_DBAND 0 SM_CC 300

AH0_10V 100 D_SURF 2 PITCH_ADJ_GAIN 0 SPEED_FACTOR 1

AH0_24V 150 D_TGT 150 PITCH_AD_RATE 70 STOP_T 0

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.00312576 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_GAIN 15 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_MAX 3693 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 100 FG_AHR_24V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_PULSE 1 FILEMGR 0 PITCH_MIN 220 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 50 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0020000001 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 20 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0020000001 PITCH_W_GAIN 0 T_ABORT 1440

APOGEE_PITCH -5 HD_B 0.017689999 PRESSURE_SLOPE 3.2755801e-05 T_BOOST 0

CALL_NDIVES 1 HD_C 5.7000002e-06 PRESSURE_YINT -50.917877 T_DIVE 50

CALL_TRIES 5 HEADING -1 PROTOCOL 9 T_EPIRB 0

CALL_WAIT 60 HEAD_ERRBAND 20 P_OVSHOOT 0.039999999 T_GPS 5

CAPMAXSIZE 200000 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_LOITER 0

CAPUPLOAD 1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_MISSION 65

CF8_MAXERRORS 2 ID 401 RAFOS_DEVICE -1 T_NO_W 60

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -1.1 RAFOS_PEAK_OFFSET 1.5 T_SLOITER 0

COMPASS_DEVICE 33 KALMAN_USE 1 RELAUNCH 1 T_TURN 225

COMPASS_USE 4 LOGGERDEVICE1 -1 RHO 1.023 T_TURN_SAMPINT 6

COURSE_BIAS 0 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2479 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 1990 LOGGERDEVICE4 -1 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 1990 LOGGERS 0 ROLL_CNV 0.04555 USE_BATHY -6

C_VBD 2520 MASS 74087 ROLL_DEG 45 USE_ICE 0

DBDW 0 MASS_COMP 0 ROLL_MAX 3888 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MAXI_10V 0.80000001 ROLL_MAXERRORS 2 VBD_CNV -0.85860002

DEVICE1 2 MAXI_24V 0.60000002 ROLL_MIN 200 VBD_DBAND 2

DEVICE2 101 MAX_BUOY 250 ROLL_TIMEOUT 15 VBD_LP_IGNORE 2

DEVICE3 -1 MINV_10V 8 R_PORT_OVSHOOT 14 VBD_MAX 4044

DEVICE4 134 MINV_24V 19 R_STBD_OVSHOOT 18 VBD_MAXERRORS 1

DEVICE5 151 MISSION 18 SEABIRD_C_G -9.7071199 VBD_MIN 53

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1284475 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 19 NAV_MODE 1 SEABIRD_C_I -0.0014307383 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 220 NOCOMM_ACTION 0 SEABIRD_C_J 0.00018278907 VBD_TIMEOUT 180

D_BOOST 0 N_DIVES 30 SEABIRD_C_Z 2936.3699 W_ADJ_DBAND 0

D_CALL 0 N_FILEKB 4 SEABIRD_T_G 0.0044078007 XPDR_DEVICE 24

D_FINISH 0 N_GPS 50945 SEABIRD_T_H 0.00063626393 XPDR_INHIBIT 90

D_FLARE 2 N_NOCOMM 1 SEABIRD_T_I 2.4955199e-05 XPDR_VALID 4

D_NO_BLEED 500 N_NOSURFACE 0 SEABIRD_T_J 2.9785231e-06

D_OFFGRID 100 PHONE_DEVICE 49 SIM_PITCH 0

D_PITCH 0 PHONE_SUPPLY 2 SIM_W 0

Pre-dive calculations and measurements:

GPS1 240217,104457,4742.3560,-12224.9297,3,0.8,33,16.3,0.0,0.0,10,5.0 TGT_NAME NW

_CALLS 3 TGT_LATLONG 4744.000,-12224.800

_XMS_NAKs 0 TGT_RADIUS 300.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.053034,0.242734

_SM_DEPTHo 1.40 KALMAN_X -185.565659,399.863495,-908.116333,748.133789,-141.774246

_SM_ANGLEo -61.8 KALMAN_Y 1328.214966,812.990234,-1452.233887,-867.503662,-242.961121

GPS2 240217,105301,4742.3560,-12224.8848,5,0.9,26,16.3,0.0,0.0,10,4.1 MHEAD_RNG_PITCHd_Wd 356.0,3047,-12.3,-10.000,-21.92,3652

SPEED_LIMITS 0.173,0.248 D_GRID 154

Post-dive calculations and measurements:

FINISH 0.2,1.019459 _24V_AH 23.67,3.929

SM_CCo 2621,0.00,0.000,0,0,1682,719.51 _10V_AH 9.59,4.207

SM_GC 1.18,30.45,0.00,0.00,0.029,0.000,0.000,231,1998,1682,-7.02,0.32,719.51,0,0,0,0,0,0,26.03,26.65,26.29 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4748.51,-12337.82,240217,095952 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026215,0.214214 MEM 322228

HUMID 30.70 DATA_FILE_SIZE 17754,201

INTERNAL_PRESSURE 9.23243 CAP_FILE_SIZE 47387,0

TCM_TEMP 7.00 CFSIZE 1024409600,1017266176

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

ALTIM_TOP_PING 19.2,5.2 GPS 240217,113829,4742.601,-12224.969,3,0.9,15,16.3,0.0,0.0,10,4.5

ALTIM_BOTTOM_PING 101.2,4.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 65 135 209.61 SBE_CT 135 24 76.85

Roll_motor 25 70 42.69 AA4330 257 33 201.50

VBD_pump_during_apogee 63 2034 3039.34 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 SAT1000 1044 17 439.95

VBD_valve 0 0 0.00 SAT1001 1845 17 777.37

Iridium_during_init 70 103 172.37 nil 0 0 0.00

Iridium_during_connect 70 160 267.21 nil 0 0 0.00

Iridium_during_xfer 132 223 699.58 nil 0 0 0.00

Transponder_ping 0 420 7.46 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 27 50 13.41

TT8 554 19 105.23

LPSleep 180 2 3.80

TT8_Active 174 19 33.22

TT8_Sampling 2184 39 833.64

TT8_CF8 34 45 15.30

TT8_Kalman 33 81 26.23

Analog_circuits 673 12 77.52

GPS_charging 0 0 0.00

Compass 308 15 44.43

RAFOS 0 0 0.00

Transponder 7 30 2.07

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

15 -1.31 -244.4 241 1992 1890 4094 0.0 0.0 0 33 0.00 0.00 -6.12 0.000 16390 0.000 0.000 242 1992 2808 2808 4095 0 0 0 0 0 0 26.46 25.67 26.48 9.33 31.76

35 -1.31 -244.4 242 1992 2809 4094 1.4 0.0 1 64 23.08 2.67 0.00 0.000 2564 0.135 0.063 2048 1004 2812 2812 4094 0 0 1 0 0 0 25.79 25.82 25.94 9.52 31.84

263 -1.31 -244.4 2047 1004 2819 4094 53.0 -16.0 20 278 0.00 2.47 0.00 0.000 1030 0.000 0.034 2047 1984 2819 2819 4094 0 0 0 0 0 0 26.18 26.13 26.21 9.53 31.68

338 -1.31 -244.4 2047 1984 2821 4094 66.5 -17.6 26 352 0.00 0.00 0.00 0.000 6 0.000 0.000 2048 1984 2822 2822 4094 0 0 0 0 0 0 26.49 26.51 26.51 9.54 31.33

412 -1.31 -244.4 2047 1984 2824 4094 78.5 -15.8 32 426 0.00 2.65 0.00 0.000 260 0.000 0.067 2048 2963 2825 2825 4094 0 0 0 0 0 0 26.54 26.15 26.55 9.54 31.45

463 -1.31 -244.4 2047 2963 2825 4094 86.0 -14.6 36 478 0.00 2.50 0.00 0.000 1030 0.000 0.035 2048 1988 2826 2826 4094 0 0 0 0 0 0 26.29 26.25 26.33 9.53 31.84

539 -1.31 -244.4 2047 1988 2827 4094 96.4 -13.9 42 554 0.00 2.62 0.00 0.000 516 0.000 0.070 2047 1009 2828 2828 4094 0 0 0 0 0 0 26.60 26.22 26.61 9.54 31.05

595 -1.31 -244.4 2047 1010 2830 4094 105.9 -16.8 46 609 0.00 2.47 0.00 0.000 1030 0.000 0.037 2048 1986 2830 2830 4094 0 0 0 0 0 0 26.35 26.30 26.39 9.54 31.65

670 -1.31 -244.4 2047 1987 2833 4094 119.2 -17.7 52 683 0.00 0.00 0.00 0.000 6 0.000 0.000 2048 1991 2834 2834 4094 0 0 0 0 0 0 26.65 26.67 26.66 9.54 31.05

743 -1.31 -244.4 2047 1990 2835 4094 129.4 -14.0 58 757 0.00 0.00 0.00 0.000 6 0.000 0.000 2048 1991 2835 2835 4094 0 0 0 0 0 0 26.67 26.70 26.69 9.54 31.17

817 -1.31 -244.4 2047 1989 2837 4094 139.0 -11.8 64 831 0.00 0.00 0.00 0.000 6 0.000 0.000 2048 1989 2838 2838 4095 0 0 0 0 0 0 26.70 26.72 26.71 9.54 31.17

890 end dive: TARGET_DEPTH_EXCEEDED

state 891 begin apogee

894 -0.33 0.0 2047 1990 2840 4094 151.3 -17.9 70 922 3.40 0.00 17.23 2.034 10246 0.072 0.000 2358 1990 2523 2523 4094 0 0 0 0 0 0 26.39 25.22 24.15 9.54 30.98

923 end apogee: CONTROL_FINISHED_OK

state 923 begin climb

925 1.31 244.4 2358 1990 2523 4094 155.2 0.0 72 952 5.62 0.00 16.25 2.023 10246 0.050 0.000 2878 1990 2235 2235 4094 0 0 0 0 0 0 25.77 24.68 23.67 9.48 30.70

1013 1.50 336.3 2877 1990 2234 4094 151.9 7.4 79 1028 0.57 0.00 7.25 1.642 10246 0.039 0.000 2938 1990 2126 2126 4094 0 0 0 0 0 0 25.63 24.88 23.88 9.43 30.94

1088 1.50 336.3 2937 1990 2125 4094 143.2 12.6 85 1102 0.00 0.00 0.00 0.000 6 0.000 0.000 2938 1990 2124 2124 4094 0 0 0 0 0 0 25.93 25.94 25.94 9.40 30.62

1162 1.50 336.3 2937 1990 2122 4094 133.4 13.1 91 1176 0.00 0.00 0.00 0.000 6 0.000 0.000 2938 1990 2122 2122 4094 0 0 0 0 0 0 26.10 26.12 26.12 9.40 31.33

1236 1.50 336.3 2937 1989 2120 4094 123.7 13.1 97 1251 0.00 2.67 0.00 0.000 516 0.000 0.069 2938 1013 2120 2120 4094 0 0 0 0 0 0 26.23 25.86 26.24 9.40 30.86

1299 1.50 336.3 2938 1013 2118 4094 115.1 14.2 102 1314 0.00 2.47 0.00 0.000 1030 0.000 0.033 2938 1988 2117 2117 4094 0 0 0 0 0 0 26.06 26.01 26.08 9.40 30.66

1374 1.50 336.3 2938 1988 2115 4094 105.3 12.8 108 1388 0.00 0.00 0.00 0.000 6 0.000 0.000 2938 1989 2115 2115 4094 0 0 0 0 0 0 26.38 26.39 26.39 9.40 30.90

1448 1.50 336.3 2937 1988 2114 4094 96.5 12.0 114 1462 0.00 0.00 0.00 0.000 6 0.000 0.000 2938 1989 2113 2113 4095 0 0 0 0 0 0 26.44 26.46 26.45 9.39 30.86

1522 1.50 336.3 2938 1988 2111 4094 87.6 12.4 120 1536 0.00 0.00 0.00 0.000 6 0.000 0.000 2938 1988 2111 2111 4094 0 0 0 0 0 0 26.49 26.51 26.51 9.39 30.62

1596 1.50 336.3 2937 1988 2109 4094 78.2 12.8 126 1610 0.00 0.00 0.00 0.000 6 0.000 0.000 2938 1988 2109 2109 4094 0 0 0 0 0 0 26.53 26.55 26.55 9.39 31.13

1670 1.50 336.3 2937 1989 2107 4094 68.7 12.6 132 1684 0.00 0.00 0.00 0.000 6 0.000 0.000 2938 1988 2107 2107 4094 0 0 0 0 0 0 26.58 26.59 26.59 9.39 31.05

1744 1.50 336.3 2938 1988 2105 4094 59.8 11.8 138 1758 0.00 0.00 0.00 0.000 6 0.000 0.000 2938 1988 2105 2105 4094 0 0 0 0 0 0 26.61 26.63 26.62 9.40 30.66

1818 1.50 336.3 2937 1988 2103 4094 51.4 11.5 144 1831 0.00 0.00 0.00 0.000 6 0.000 0.000 2938 1988 2103 2103 4094 0 0 0 0 0 0 26.64 26.65 26.65 9.39 30.74

1891 1.50 336.3 2937 1988 2101 4094 42.3 12.3 150 1905 0.00 0.00 0.00 0.000 6 0.000 0.000 2938 1989 2100 2100 4094 0 0 0 0 0 0 26.67 26.68 26.68 9.39 30.90

1965 1.50 336.3 2937 1989 2099 4094 33.3 12.1 156 1979 0.00 0.00 0.00 0.000 6 0.000 0.000 2938 1989 2098 2098 4094 0 0 0 0 0 0 26.69 26.71 26.70 9.39 31.68

2039 1.50 336.3 2938 1989 2097 4094 25.4 10.4 162 2053 0.00 0.00 0.00 0.000 6 0.000 0.000 2938 1989 2096 2096 4094 0 0 0 0 0 0 26.71 26.73 26.72 9.39 30.94

2114 1.52 346.6 2938 1989 2095 4094 18.0 9.7 168 2128 0.00 0.00 0.00 0.000 6 0.000 0.000 2938 1989 2095 2095 4094 0 0 0 0 0 0 26.73 26.74 26.74 9.39 31.25

2188 1.60 387.7 2938 1989 2093 4094 11.4 8.8 174 2203 0.20 0.00 3.03 0.278 10246 0.051 0.000 2965 1989 2066 2066 4094 0 0 0 0 0 0 26.53 26.09 25.63 9.39 30.90

2264 1.66 417.1 2964 1989 2064 4094 4.2 9.2 180 2280 0.20 2.65 3.28 0.289 10756 0.050 0.070 2993 1008 2030 2030 4094 0 0 0 0 0 0 26.53 26.11 25.69 9.38 30.82

2352 2.26 717.3 2992 1008 2030 4094 2.1 1.6 187 2381 1.88 2.42 16.10 0.595 11270 0.028 0.030 3184 1997 1683 1683 4094 0 0 0 0 0 0 26.52 26.48 25.59 9.37 31.29

2394 end climb: SURFACE_DEPTH_REACHED

state 2394 begin surface coast

2524 end surface coast: NO_VERTICAL_VELOCITY

state 2524 begin surface

ID	401	HD_B	0.017689999	ROLL_DEG	45	ALTIM_TOP_PING_RANGE	20
MISSION	18	HD_C	5.7000002e-06	C_ROLL_DIVE	1990	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	19	HEADING	-1	C_ROLL_CLIMB	1990	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	30	ESCAPE_HEADING	0	HEAD_ERRBAND	20	ALTIM_TOP_MIN_OBSTACLE	1
STOP_T	0	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.04555	ALTIM_PING_DEPTH	100
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5
D_FLARE	2	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	14	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	18	ALTIM_PULSE	1
D_ABORT	220	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	300	ALTIM_SENSITIVITY	4
D_NO_BLEED	500	SM_CC	300	ROLL_MAXERRORS	2	XPDR_VALID	4
D_BOOST	0	N_FILEKB	4	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	VBD_MIN	53	INT_PRESSURE_YINT	-1.1
D_PITCH	0	COMM_SEQ	0	VBD_MAX	4044	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	9	C_VBD	2520	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_DBAND	2	DEVICE1	2
SURFACE_URGENCY	0	NOCOMM_ACTION	0	VBD_CNV	-0.85860002	DEVICE2	101
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_LP_IGNORE	2	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	180	DEVICE4	134
T_DIVE	50	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0020000001	DEVICE5	151
T_MISSION	65	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN	225	CAPMAXSIZE	200000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_TURN_SAMPINT	6	HEAPDBG	0	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_NO_W	60	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_LOITER	0	N_GPS	50945	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_SLOITER	0	T_RSLEEP	3	DBDW	0	COMPASS_DEVICE	33
T_EPIRB	0	STROBE	0	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_BATHY	-6	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	PHONE_DEVICE	49
USE_ICE	0	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	AH0_24V	150	RAFOS_DEVICE	-1
D_OFFGRID	100	PITCH_MIN	220	AH0_10V	100	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3693	MINV_24V	19	SIM_W	0
RELAUNCH	1	C_PITCH	2479	MINV_10V	8	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	MAXI_24V	0.60000002	SEABIRD_T_G	0.0044078007
MAX_BUOY	250	PITCH_CNV	0.00312576	MAXI_10V	0.80000001	SEABIRD_T_H	0.00063626393
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.4955199e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	2.9785231e-06
SPEED_FACTOR	1	PITCH_GAIN	15	PHONE_SUPPLY	2	SEABIRD_C_G	-9.7071199
RHO	1.023	PITCH_TIMEOUT	50	PRESSURE_YINT	-50.917877	SEABIRD_C_H	1.1284475
MASS	74087	PITCH_AD_RATE	70	PRESSURE_SLOPE	3.2755801e-05	SEABIRD_C_I	-0.0014307383
MASS_COMP	0	PITCH_MAXERRORS	1	AD7714Ch0Gain	32	SEABIRD_C_J	0.00018278907
NAV_MODE	1	PITCH_ADJ_GAIN	0	TCM_PITCH_OFFSET	0	SEABIRD_C_Z	2936.3699
FERRY_MAX	45	PITCH_ADJ_DBAND	0	TCM_ROLL_OFFSET	0
KALMAN_USE	1	ROLL_MIN	200	COMPASS_USE	4
HD_A	0.0020000001	ROLL_MAX	3888	ALTIM_BOTTOM_PING_RANGE	0

GPS1	240217,104457,4742.3560,-12224.9297,3,0.8,33,16.3,0.0,0.0,10,5.0	TGT_NAME	NW
_CALLS	3	TGT_LATLONG	4744.000,-12224.800
_XMS_NAKs	0	TGT_RADIUS	300.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.053034,0.242734
_SM_DEPTHo	1.40	KALMAN_X	-185.565659,399.863495,-908.116333,748.133789,-141.774246
_SM_ANGLEo	-61.8	KALMAN_Y	1328.214966,812.990234,-1452.233887,-867.503662,-242.961121
GPS2	240217,105301,4742.3560,-12224.8848,5,0.9,26,16.3,0.0,0.0,10,4.1	MHEAD_RNG_PITCHd_Wd	356.0,3047,-12.3,-10.000,-21.92,3652
SPEED_LIMITS	0.173,0.248	D_GRID	154

FINISH	0.2,1.019459	_24V_AH	23.67,3.929
SM_CCo	2621,0.00,0.000,0,0,1682,719.51	_10V_AH	9.59,4.207
SM_GC	1.18,30.45,0.00,0.00,0.029,0.000,0.000,231,1998,1682,-7.02,0.32,719.51,0,0,0,0,0,0,26.03,26.65,26.29	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4748.51,-12337.82,240217,095952	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026215,0.214214	MEM	322228
HUMID	30.70	DATA_FILE_SIZE	17754,201
INTERNAL_PRESSURE	9.23243	CAP_FILE_SIZE	47387,0
TCM_TEMP	7.00	CFSIZE	1024409600,1017266176
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
ALTIM_TOP_PING	19.2,5.2	GPS	240217,113829,4742.601,-12224.969,3,0.9,15,16.3,0.0,0.0,10,4.5
ALTIM_BOTTOM_PING	101.2,4.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	65	135	209.61	SBE_CT	135	24	76.85
Roll_motor	25	70	42.69	AA4330	257	33	201.50
VBD_pump_during_apogee	63	2034	3039.34	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	SAT1000	1044	17	439.95
VBD_valve	0	0	0.00	SAT1001	1845	17	777.37
Iridium_during_init	70	103	172.37	nil	0	0	0.00
Iridium_during_connect	70	160	267.21	nil	0	0	0.00
Iridium_during_xfer	132	223	699.58	nil	0	0	0.00
Transponder_ping	0	420	7.46	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	27	50	13.41
TT8	554	19	105.23
LPSleep	180	2	3.80
TT8_Active	174	19	33.22
TT8_Sampling	2184	39	833.64
TT8_CF8	34	45	15.30
TT8_Kalman	33	81	26.23
Analog_circuits	673	12	77.52
GPS_charging	0	0	0.00
Compass	308	15	44.43
RAFOS	0	0	0.00
Transponder	7	30	2.07

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
15	-1.31	-244.4	241	1992	1890	4094	0.0	0.0	0	33	0.00	0.00	-6.12	0.000	16390	0.000	0.000	242	1992	2808	2808	4095	0	0	0	0	0	0	26.46	25.67	26.48	9.33	31.76
35	-1.31	-244.4	242	1992	2809	4094	1.4	0.0	1	64	23.08	2.67	0.00	0.000	2564	0.135	0.063	2048	1004	2812	2812	4094	0	0	1	0	0	0	25.79	25.82	25.94	9.52	31.84
263	-1.31	-244.4	2047	1004	2819	4094	53.0	-16.0	20	278	0.00	2.47	0.00	0.000	1030	0.000	0.034	2047	1984	2819	2819	4094	0	0	0	0	0	0	26.18	26.13	26.21	9.53	31.68
338	-1.31	-244.4	2047	1984	2821	4094	66.5	-17.6	26	352	0.00	0.00	0.00	0.000	6	0.000	0.000	2048	1984	2822	2822	4094	0	0	0	0	0	0	26.49	26.51	26.51	9.54	31.33
412	-1.31	-244.4	2047	1984	2824	4094	78.5	-15.8	32	426	0.00	2.65	0.00	0.000	260	0.000	0.067	2048	2963	2825	2825	4094	0	0	0	0	0	0	26.54	26.15	26.55	9.54	31.45
463	-1.31	-244.4	2047	2963	2825	4094	86.0	-14.6	36	478	0.00	2.50	0.00	0.000	1030	0.000	0.035	2048	1988	2826	2826	4094	0	0	0	0	0	0	26.29	26.25	26.33	9.53	31.84
539	-1.31	-244.4	2047	1988	2827	4094	96.4	-13.9	42	554	0.00	2.62	0.00	0.000	516	0.000	0.070	2047	1009	2828	2828	4094	0	0	0	0	0	0	26.60	26.22	26.61	9.54	31.05
595	-1.31	-244.4	2047	1010	2830	4094	105.9	-16.8	46	609	0.00	2.47	0.00	0.000	1030	0.000	0.037	2048	1986	2830	2830	4094	0	0	0	0	0	0	26.35	26.30	26.39	9.54	31.65
670	-1.31	-244.4	2047	1987	2833	4094	119.2	-17.7	52	683	0.00	0.00	0.00	0.000	6	0.000	0.000	2048	1991	2834	2834	4094	0	0	0	0	0	0	26.65	26.67	26.66	9.54	31.05
743	-1.31	-244.4	2047	1990	2835	4094	129.4	-14.0	58	757	0.00	0.00	0.00	0.000	6	0.000	0.000	2048	1991	2835	2835	4094	0	0	0	0	0	0	26.67	26.70	26.69	9.54	31.17
817	-1.31	-244.4	2047	1989	2837	4094	139.0	-11.8	64	831	0.00	0.00	0.00	0.000	6	0.000	0.000	2048	1989	2838	2838	4095	0	0	0	0	0	0	26.70	26.72	26.71	9.54	31.17
890	end dive: TARGET_DEPTH_EXCEEDED
state	891	begin apogee
894	-0.33	0.0	2047	1990	2840	4094	151.3	-17.9	70	922	3.40	0.00	17.23	2.034	10246	0.072	0.000	2358	1990	2523	2523	4094	0	0	0	0	0	0	26.39	25.22	24.15	9.54	30.98
923	end apogee: CONTROL_FINISHED_OK
state	923	begin climb
925	1.31	244.4	2358	1990	2523	4094	155.2	0.0	72	952	5.62	0.00	16.25	2.023	10246	0.050	0.000	2878	1990	2235	2235	4094	0	0	0	0	0	0	25.77	24.68	23.67	9.48	30.70
1013	1.50	336.3	2877	1990	2234	4094	151.9	7.4	79	1028	0.57	0.00	7.25	1.642	10246	0.039	0.000	2938	1990	2126	2126	4094	0	0	0	0	0	0	25.63	24.88	23.88	9.43	30.94
1088	1.50	336.3	2937	1990	2125	4094	143.2	12.6	85	1102	0.00	0.00	0.00	0.000	6	0.000	0.000	2938	1990	2124	2124	4094	0	0	0	0	0	0	25.93	25.94	25.94	9.40	30.62
1162	1.50	336.3	2937	1990	2122	4094	133.4	13.1	91	1176	0.00	0.00	0.00	0.000	6	0.000	0.000	2938	1990	2122	2122	4094	0	0	0	0	0	0	26.10	26.12	26.12	9.40	31.33
1236	1.50	336.3	2937	1989	2120	4094	123.7	13.1	97	1251	0.00	2.67	0.00	0.000	516	0.000	0.069	2938	1013	2120	2120	4094	0	0	0	0	0	0	26.23	25.86	26.24	9.40	30.86
1299	1.50	336.3	2938	1013	2118	4094	115.1	14.2	102	1314	0.00	2.47	0.00	0.000	1030	0.000	0.033	2938	1988	2117	2117	4094	0	0	0	0	0	0	26.06	26.01	26.08	9.40	30.66
1374	1.50	336.3	2938	1988	2115	4094	105.3	12.8	108	1388	0.00	0.00	0.00	0.000	6	0.000	0.000	2938	1989	2115	2115	4094	0	0	0	0	0	0	26.38	26.39	26.39	9.40	30.90
1448	1.50	336.3	2937	1988	2114	4094	96.5	12.0	114	1462	0.00	0.00	0.00	0.000	6	0.000	0.000	2938	1989	2113	2113	4095	0	0	0	0	0	0	26.44	26.46	26.45	9.39	30.86
1522	1.50	336.3	2938	1988	2111	4094	87.6	12.4	120	1536	0.00	0.00	0.00	0.000	6	0.000	0.000	2938	1988	2111	2111	4094	0	0	0	0	0	0	26.49	26.51	26.51	9.39	30.62
1596	1.50	336.3	2937	1988	2109	4094	78.2	12.8	126	1610	0.00	0.00	0.00	0.000	6	0.000	0.000	2938	1988	2109	2109	4094	0	0	0	0	0	0	26.53	26.55	26.55	9.39	31.13
1670	1.50	336.3	2937	1989	2107	4094	68.7	12.6	132	1684	0.00	0.00	0.00	0.000	6	0.000	0.000	2938	1988	2107	2107	4094	0	0	0	0	0	0	26.58	26.59	26.59	9.39	31.05
1744	1.50	336.3	2938	1988	2105	4094	59.8	11.8	138	1758	0.00	0.00	0.00	0.000	6	0.000	0.000	2938	1988	2105	2105	4094	0	0	0	0	0	0	26.61	26.63	26.62	9.40	30.66
1818	1.50	336.3	2937	1988	2103	4094	51.4	11.5	144	1831	0.00	0.00	0.00	0.000	6	0.000	0.000	2938	1988	2103	2103	4094	0	0	0	0	0	0	26.64	26.65	26.65	9.39	30.74
1891	1.50	336.3	2937	1988	2101	4094	42.3	12.3	150	1905	0.00	0.00	0.00	0.000	6	0.000	0.000	2938	1989	2100	2100	4094	0	0	0	0	0	0	26.67	26.68	26.68	9.39	30.90
1965	1.50	336.3	2937	1989	2099	4094	33.3	12.1	156	1979	0.00	0.00	0.00	0.000	6	0.000	0.000	2938	1989	2098	2098	4094	0	0	0	0	0	0	26.69	26.71	26.70	9.39	31.68
2039	1.50	336.3	2938	1989	2097	4094	25.4	10.4	162	2053	0.00	0.00	0.00	0.000	6	0.000	0.000	2938	1989	2096	2096	4094	0	0	0	0	0	0	26.71	26.73	26.72	9.39	30.94
2114	1.52	346.6	2938	1989	2095	4094	18.0	9.7	168	2128	0.00	0.00	0.00	0.000	6	0.000	0.000	2938	1989	2095	2095	4094	0	0	0	0	0	0	26.73	26.74	26.74	9.39	31.25
2188	1.60	387.7	2938	1989	2093	4094	11.4	8.8	174	2203	0.20	0.00	3.03	0.278	10246	0.051	0.000	2965	1989	2066	2066	4094	0	0	0	0	0	0	26.53	26.09	25.63	9.39	30.90
2264	1.66	417.1	2964	1989	2064	4094	4.2	9.2	180	2280	0.20	2.65	3.28	0.289	10756	0.050	0.070	2993	1008	2030	2030	4094	0	0	0	0	0	0	26.53	26.11	25.69	9.38	30.82
2352	2.26	717.3	2992	1008	2030	4094	2.1	1.6	187	2381	1.88	2.42	16.10	0.595	11270	0.028	0.030	3184	1997	1683	1683	4094	0	0	0	0	0	0	26.52	26.48	25.59	9.37	31.29
2394	end climb: SURFACE_DEPTH_REACHED
state	2394	begin surface coast
2524	end surface coast: NO_VERTICAL_VELOCITY
state	2524	begin surface