Glider dive log

Shilshole 02Jun15 * SG157 * Dive index * Mission links * Dive 20 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 157 HD_C 9.9999997e-06 ROLL_MAX 3867 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 13 HEADING -1 ROLL_DEG 33 ALTIM_TOP_TURN_MARGIN 0

DIVE 20 ESCAPE_HEADING 0 C_ROLL_DIVE 1550 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1730 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 15

D_TGT 180 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 5

D_ABORT 1050 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 37 ALTIM_SENSITIVITY 4

D_NO_BLEED 45 SM_CC 305 R_STBD_OVSHOOT 22 XPDR_VALID 5

D_BOOST 0 N_FILEKB 4 ROLL_AD_RATE 250 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 1.2

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 9 VBD_MIN 485 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 1 C_VBD 1745 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 101

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.25119999 DEVICE3 83

T_DIVE 75 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 85 CALL_WAIT 45 PITCH_VBD_SHIFT 0.00055 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 300 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 60 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 -6 T_GPS_CHARGE -1486835.2 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 49

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 5 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 150 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 100 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 195 MINV_24V 19 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3873 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2948 FG_AHR_10V 0 SEABIRD_T_G 0.0042746845

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00061961456

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.2130595e-05

RHO 1.023 P_OVSHOOT 0.0099999998 PRESSURE_YINT -59.120026 SEABIRD_T_J 2.2584688e-06

MASS 52229 PITCH_GAIN 30.799999 PRESSURE_SLOPE 0.0001158973 SEABIRD_C_G -10.171194

MASS_COMP 0 PITCH_TIMEOUT 18 AD7714Ch0Gain 128 SEABIRD_C_H 1.1508522

NAV_MODE 1 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0016472058

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00021877296

KALMAN_USE 1 PITCH_ADJ_GAIN 0 COMPASS_USE 4

HD_A 0.003 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 268 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 305

AH0_10V 100 D_PITCH 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 180 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 15 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 30.799999 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3873 TCM_ROLL_OFFSET 0

ALTIM_PULSE 5 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_MIN 195 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 18 TGT_DEFAULT_LON -12218

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00055 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 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 0.003 PRESSURE_SLOPE 0.0001158973 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -59.120026 T_GPS 15

CALL_WAIT 45 HD_C 9.9999997e-06 PROTOCOL 9 T_GPS_ALMANAC 0

CAPMAXSIZE 200000 HEADING -1 P_OVSHOOT 0.0099999998 T_GPS_CHARGE -1486835.2

CAPUPLOAD 1 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 5 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 85

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 157 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 300

COMPASS_USE 4 INT_PRESSURE_YINT 1.2 RHO 1.023 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2948 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 1730 LOGGERDEVICE2 -1 ROLL_AD_RATE 250 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 1550 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY -6

C_VBD 1745 LOGGERDEVICE4 -1 ROLL_DEG 33 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3867 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 52229 ROLL_MAXERRORS 2 VBD_CNV -0.25119999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 268 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 101 MINV_10V 8 R_PORT_OVSHOOT 37 VBD_MAXERRORS 1

DEVICE3 83 MINV_24V 19 R_STBD_OVSHOOT 22 VBD_MIN 485

DEVICE4 -1 MISSION 13 SEABIRD_C_G -10.171194 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1508522 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0016472058 VBD_TIMEOUT 720

DIVE 20 NOCOMM_ACTION 1 SEABIRD_C_J 0.00021877296 W_ADJ_DBAND 0

D_ABORT 1050 N_DIVES 0 SEABIRD_T_G 0.0042746845 XPDR_DEVICE 24

D_BOOST 0 N_FILEKB 4 SEABIRD_T_H 0.00061961456 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.2130595e-05 XPDR_VALID 5

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 2.2584688e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 45 PHONE_DEVICE 49 SIM_W 0

Pre-dive calculations and measurements:

GPS1 030615,141304,4742.775,-12224.645,31,0.9,31,16.3 TGT_NAME SW

_CALLS 3 TGT_LATLONG 4742.700,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.072,-0.229

_SM_DEPTHo 1.63 KALMAN_X 2231.2,-259.8,-609.7,-902.5,195.0

_SM_ANGLEo -74.5 KALMAN_Y -476.5,514.5,-1308.0,764.6,845.7

GPS2 030615,142531,4742.838,-12224.656,4,0.9,4,16.3 MHEAD_RNG_PITCHd_Wd 181.2,312,-14.0,-8.000,-18.40,2768

SPEED_LIMITS 0.139,0.240 D_GRID 180

Post-dive calculations and measurements:

FINISH 0.8,1.021556 _10V_AH 10.4,1.261

SM_CCo 3597,85.53,0.511,0,0,527,305.21 FG_AHR_24Vo 0.000

SM_GC 1.48,7.70,0.45,85.53,0.054,0.052,0.511,170,1571,527,-8.60,1.44,305.21,0,0,0,0,0,0,26.57,26.60,25.34 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4726.11,-12222.38,300308,030340 MEM 323048

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 47100,660

HUMID 43.58 CAP_FILE_SIZE 74522,0

INTERNAL_PRESSURE 8.76865 CFSIZE 260165632,257036288

TCM_TEMP 20.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,1,0

XPDR_PINGS 15 GPS 030615,152843,4742.666,-12224.652,2,1.0,3,16.3

_24V_AH 24.4,1.575

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 254 120.12 SBE_CT 449 23 262.72

Roll_motor 64 65 104.10 AA4330 529 20 261.14

VBD_pump_during_apogee 238 703 4102.99 WL_BBFL2VMT 535 62 812.83

VBD_pump_during_surface 85 511 1066.40 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 92 63 143.42 nil 0 0 0.00

Iridium_during_connect 196 160 767.92 nil 0 0 0.00

Iridium_during_xfer 223 223 1215.74 nil 0 0 0.00

Transponder_ping 3 420 38.43 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 32 1.71

TT8 1474 12 195.04

LPSleep 767 2 17.49

TT8_Active 446 12 59.01

TT8_Sampling 1468 38 594.74

TT8_CF8 285 45 135.37

TT8_Kalman 33 65 22.76

Analog_circuits 1002 10 109.43

GPS_charging 0 0 0.00

Compass 974 16 167.03

RAFOS 0 0 0.00

Transponder 0 5 0.03

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

17 -0.54 -146.6 168 1555 734 874 0.0 0.0 0 62 0.00 0.00 -42.78 0.000 16386 0.000 0.000 168 1555 1937 1998 1876 0 0 0 0 0 0 28.83 28.83 28.83

67 -0.54 -146.6 168 1555 1999 1877 3.1 -6.0 8 97 10.43 2.47 -9.35 0.000 18948 0.255 0.066 2774 397 2331 2495 2167 0 0 1 0 0 0 25.71 25.97 26.27

333 -0.54 -146.6 2774 397 2495 2170 38.5 -12.6 59 339 0.00 2.38 0.00 0.000 1030 0.000 0.030 2765 1549 2332 2495 2170 0 0 0 0 0 0 28.83 26.23 28.83

403 -0.54 -146.6 2764 1548 2495 2170 46.7 -11.5 72 410 0.00 1.92 0.00 0.000 260 0.000 0.042 2755 2749 2333 2495 2171 0 0 0 0 0 0 28.83 26.26 28.83

484 -0.54 -146.6 2755 2749 2494 2172 55.9 -12.8 87 490 0.00 1.88 0.00 0.000 1030 0.000 0.030 2755 1562 2333 2495 2172 0 0 0 0 0 0 28.83 26.32 28.83

614 -0.54 -146.6 1760 1561 2435 2164 73.7 -13.0 112 620 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 1562 2333 2495 2172 0 0 0 0 0 0 28.83 28.83 28.83

743 -0.54 -146.6 2755 1562 2495 2172 89.4 -11.8 137 750 0.00 1.90 0.00 0.000 260 0.000 0.041 2749 2748 2333 2495 2172 0 0 0 0 0 0 28.83 26.41 28.83

789 -0.54 -146.6 2749 2747 2495 2172 95.0 -12.5 145 795 0.00 1.90 0.00 0.000 1030 0.000 0.031 2749 1552 2333 2495 2172 0 0 0 0 0 0 28.83 26.44 28.83

922 -0.54 -146.6 2749 1551 2495 2172 111.9 -12.9 170 928 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 1552 2333 2495 2172 0 0 0 0 0 0 28.83 28.83 28.83

1052 -0.54 -146.6 2749 1551 2495 2172 128.3 -12.2 195 1058 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 1552 2333 2495 2172 0 0 0 0 0 0 28.83 28.83 28.83

1181 -0.54 -146.6 2749 1552 2495 2172 144.1 -11.8 220 1188 0.00 1.92 0.00 0.000 260 0.000 0.042 2741 2743 2333 2495 2172 0 0 0 0 0 0 28.83 26.53 28.83

1252 -0.54 -146.6 2741 2743 2495 2172 152.7 -12.3 233 1260 0.15 1.90 0.00 0.000 3078 0.193 0.032 2782 1546 2333 2495 2172 0 0 0 0 0 0 26.40 26.55 28.83

1385 -0.54 -146.6 1760 1545 2434 2164 165.9 -9.0 258 1390 0.00 0.00 0.00 0.000 6 0.000 0.000 2782 1547 2333 2495 2172 0 0 0 0 0 0 28.83 28.83 28.83

1514 -0.54 -146.6 1792 1546 2435 2164 179.0 -10.3 283 1519 0.00 0.00 0.00 0.000 6 0.000 0.000 2782 1546 2333 2495 2172 0 0 0 0 0 0 28.83 28.83 28.83

1524 end dive: TARGET_DEPTH_EXCEEDED

state 1524 begin apogee

1533 -0.16 0.0 2781 1755 2495 2172 180.3 -10.0 285 1659 0.35 0.00 118.38 0.704 10246 0.154 0.000 2896 1756 1744 1779 1709 0 0 0 0 0 0 26.46 28.83 24.67

1663 end apogee: CONTROL_FINISHED_OK

state 1663 begin climb

1667 0.54 146.6 2895 1756 1779 1709 184.9 0.0 308 1800 0.70 3.05 120.55 0.678 10756 0.122 0.052 3129 556 1160 1133 1188 0 0 0 0 0 0 25.22 24.91 24.40

1837 0.54 146.6 3128 555 1133 1188 173.4 8.6 338 1844 0.00 2.80 0.00 0.000 1030 0.000 0.036 3129 1720 1160 1133 1188 0 0 0 0 0 0 28.83 25.34 28.83

1972 0.54 146.6 3128 1719 1133 1186 159.7 10.8 363 1978 0.00 2.80 0.00 0.000 516 0.000 0.054 3128 556 1159 1133 1186 0 0 0 0 0 0 28.83 25.76 28.83

2042 0.54 146.6 2144 555 1119 1184 152.2 9.6 376 2049 0.00 2.78 0.00 0.000 1030 0.000 0.036 3129 1741 1159 1133 1186 0 0 0 0 0 0 28.83 25.91 28.83

2175 0.54 146.6 3129 1741 1133 1184 138.1 11.3 401 2182 0.00 1.52 0.00 0.000 260 0.000 0.046 3128 2923 1159 1133 1185 0 0 0 0 0 0 28.83 26.08 28.83

2221 0.54 146.6 3128 2923 1133 1185 132.5 11.3 409 2228 0.00 1.60 0.00 0.000 1030 0.000 0.031 3128 1710 1159 1133 1185 0 0 0 0 0 0 28.83 26.15 28.83

2354 0.54 146.6 2112 1709 1118 1182 119.4 10.0 434 2360 0.00 2.67 0.00 0.000 516 0.000 0.051 3129 576 1158 1133 1184 0 0 0 0 0 0 28.83 26.19 28.83

2444 0.54 146.6 3128 575 1133 1184 110.6 9.7 451 2451 0.00 2.67 0.00 0.000 1030 0.000 0.034 3128 1733 1158 1133 1184 0 0 0 0 0 0 28.83 26.28 28.83

2578 0.54 146.6 3128 1732 1133 1183 97.3 10.4 476 2584 0.00 2.72 0.00 0.000 516 0.000 0.050 3129 580 1158 1133 1183 0 0 1 0 0 0 28.83 26.30 28.83

2649 0.54 146.6 3128 578 1133 1183 89.5 11.6 489 2655 0.00 2.67 0.00 0.000 1030 0.000 0.034 3129 1739 1158 1133 1183 0 0 0 0 0 0 28.83 26.37 28.83

2781 0.54 146.6 2112 1738 1118 1180 74.9 10.4 514 2788 0.00 2.75 0.00 0.000 516 0.000 0.050 3129 578 1157 1133 1182 0 0 0 0 0 0 28.83 26.38 28.83

2842 0.54 146.6 3128 578 1133 1182 68.3 10.3 525 2848 0.00 2.65 0.00 0.000 1030 0.000 0.037 3129 1730 1157 1133 1182 0 0 0 0 0 0 28.83 26.44 28.83

2975 0.54 146.6 3128 1731 1133 1182 54.4 13.2 550 2982 0.00 1.52 0.00 0.000 260 0.000 0.044 3129 2913 1157 1133 1182 0 0 0 0 0 0 28.83 26.46 28.83

3026 0.54 146.6 3128 2913 1133 1182 48.9 8.9 559 3032 0.00 1.55 0.00 0.000 1030 0.000 0.031 3129 1718 1157 1133 1182 0 0 0 0 0 0 28.83 26.51 28.83

3159 0.54 146.6 3129 1718 1133 1182 37.1 8.6 584 3166 0.00 2.65 0.00 0.000 516 0.000 0.050 3129 581 1157 1133 1182 0 0 0 0 0 0 28.83 26.48 28.83

3250 0.54 146.6 3128 580 1133 1182 29.4 8.3 601 3257 0.00 2.65 0.00 0.000 1030 0.000 0.033 3128 1731 1157 1133 1182 0 0 0 0 0 0 28.83 26.53 28.83

3320 0.54 146.6 2144 1730 1119 1180 23.1 9.4 614 3326 0.00 0.00 0.00 0.000 6 0.000 0.000 3129 1731 1157 1133 1182 0 0 0 0 0 0 28.83 28.83 28.83

3390 0.54 146.6 3128 1731 1133 1182 16.8 9.4 627 3397 0.00 2.72 0.00 0.000 516 0.000 0.050 3129 577 1157 1133 1182 0 0 0 0 0 0 28.83 26.52 28.83

3430 0.54 146.6 3128 576 1133 1182 12.6 10.4 634 3437 0.00 2.67 0.00 0.000 1030 0.000 0.037 3129 1741 1157 1133 1182 0 0 0 0 0 0 28.83 26.56 28.83

3501 0.54 146.6 3128 1741 1133 1182 6.1 9.1 647 3508 0.00 1.50 0.00 0.000 260 0.000 0.044 3129 2913 1157 1133 1182 0 0 0 0 0 0 28.83 26.57 28.83

3532 0.54 146.6 3128 2913 1133 1181 3.3 9.0 652 3539 0.00 1.55 0.00 0.000 1030 0.000 0.032 3129 1727 1157 1133 1181 0 0 0 0 0 0 28.83 26.60 28.83

3543 end climb: SURFACE_DEPTH_REACHED

state 3544 begin surface coast

3575 end surface coast: CONTROL_FINISHED_OK

state 3575 begin surface

ID	157	HD_C	9.9999997e-06	ROLL_MAX	3867	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	13	HEADING	-1	ROLL_DEG	33	ALTIM_TOP_TURN_MARGIN	0
DIVE	20	ESCAPE_HEADING	0	C_ROLL_DIVE	1550	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1730	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	15
D_TGT	180	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	5
D_ABORT	1050	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	37	ALTIM_SENSITIVITY	4
D_NO_BLEED	45	SM_CC	305	R_STBD_OVSHOOT	22	XPDR_VALID	5
D_BOOST	0	N_FILEKB	4	ROLL_AD_RATE	250	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	1.2
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	9	VBD_MIN	485	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	1	C_VBD	1745	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	101
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.25119999	DEVICE3	83
T_DIVE	75	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	85	CALL_WAIT	45	PITCH_VBD_SHIFT	0.00055	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	300	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	60	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	-6	T_GPS_CHARGE	-1486835.2	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	49
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	5	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	150	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	100	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	195	MINV_24V	19	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3873	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2948	FG_AHR_10V	0	SEABIRD_T_G	0.0042746845
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00061961456
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.2130595e-05
RHO	1.023	P_OVSHOOT	0.0099999998	PRESSURE_YINT	-59.120026	SEABIRD_T_J	2.2584688e-06
MASS	52229	PITCH_GAIN	30.799999	PRESSURE_SLOPE	0.0001158973	SEABIRD_C_G	-10.171194
MASS_COMP	0	PITCH_TIMEOUT	18	AD7714Ch0Gain	128	SEABIRD_C_H	1.1508522
NAV_MODE	1	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0016472058
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00021877296
KALMAN_USE	1	PITCH_ADJ_GAIN	0	COMPASS_USE	4
HD_A	0.003	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	268	ALTIM_TOP_PING_RANGE	0

GPS1	030615,141304,4742.775,-12224.645,31,0.9,31,16.3	TGT_NAME	SW
_CALLS	3	TGT_LATLONG	4742.700,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.072,-0.229
_SM_DEPTHo	1.63	KALMAN_X	2231.2,-259.8,-609.7,-902.5,195.0
_SM_ANGLEo	-74.5	KALMAN_Y	-476.5,514.5,-1308.0,764.6,845.7
GPS2	030615,142531,4742.838,-12224.656,4,0.9,4,16.3	MHEAD_RNG_PITCHd_Wd	181.2,312,-14.0,-8.000,-18.40,2768
SPEED_LIMITS	0.139,0.240	D_GRID	180

FINISH	0.8,1.021556	_10V_AH	10.4,1.261
SM_CCo	3597,85.53,0.511,0,0,527,305.21	FG_AHR_24Vo	0.000
SM_GC	1.48,7.70,0.45,85.53,0.054,0.052,0.511,170,1571,527,-8.60,1.44,305.21,0,0,0,0,0,0,26.57,26.60,25.34	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4726.11,-12222.38,300308,030340	MEM	323048
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	47100,660
HUMID	43.58	CAP_FILE_SIZE	74522,0
INTERNAL_PRESSURE	8.76865	CFSIZE	260165632,257036288
TCM_TEMP	20.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,1,0
XPDR_PINGS	15	GPS	030615,152843,4742.666,-12224.652,2,1.0,3,16.3
_24V_AH	24.4,1.575

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	254	120.12	SBE_CT	449	23	262.72
Roll_motor	64	65	104.10	AA4330	529	20	261.14
VBD_pump_during_apogee	238	703	4102.99	WL_BBFL2VMT	535	62	812.83
VBD_pump_during_surface	85	511	1066.40	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	92	63	143.42	nil	0	0	0.00
Iridium_during_connect	196	160	767.92	nil	0	0	0.00
Iridium_during_xfer	223	223	1215.74	nil	0	0	0.00
Transponder_ping	3	420	38.43	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	32	1.71
TT8	1474	12	195.04
LPSleep	767	2	17.49
TT8_Active	446	12	59.01
TT8_Sampling	1468	38	594.74
TT8_CF8	285	45	135.37
TT8_Kalman	33	65	22.76
Analog_circuits	1002	10	109.43
GPS_charging	0	0	0.00
Compass	974	16	167.03
RAFOS	0	0	0.00
Transponder	0	5	0.03

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
17	-0.54	-146.6	168	1555	734	874	0.0	0.0	0	62	0.00	0.00	-42.78	0.000	16386	0.000	0.000	168	1555	1937	1998	1876	0	0	0	0	0	0	28.83	28.83	28.83
67	-0.54	-146.6	168	1555	1999	1877	3.1	-6.0	8	97	10.43	2.47	-9.35	0.000	18948	0.255	0.066	2774	397	2331	2495	2167	0	0	1	0	0	0	25.71	25.97	26.27
333	-0.54	-146.6	2774	397	2495	2170	38.5	-12.6	59	339	0.00	2.38	0.00	0.000	1030	0.000	0.030	2765	1549	2332	2495	2170	0	0	0	0	0	0	28.83	26.23	28.83
403	-0.54	-146.6	2764	1548	2495	2170	46.7	-11.5	72	410	0.00	1.92	0.00	0.000	260	0.000	0.042	2755	2749	2333	2495	2171	0	0	0	0	0	0	28.83	26.26	28.83
484	-0.54	-146.6	2755	2749	2494	2172	55.9	-12.8	87	490	0.00	1.88	0.00	0.000	1030	0.000	0.030	2755	1562	2333	2495	2172	0	0	0	0	0	0	28.83	26.32	28.83
614	-0.54	-146.6	1760	1561	2435	2164	73.7	-13.0	112	620	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	1562	2333	2495	2172	0	0	0	0	0	0	28.83	28.83	28.83
743	-0.54	-146.6	2755	1562	2495	2172	89.4	-11.8	137	750	0.00	1.90	0.00	0.000	260	0.000	0.041	2749	2748	2333	2495	2172	0	0	0	0	0	0	28.83	26.41	28.83
789	-0.54	-146.6	2749	2747	2495	2172	95.0	-12.5	145	795	0.00	1.90	0.00	0.000	1030	0.000	0.031	2749	1552	2333	2495	2172	0	0	0	0	0	0	28.83	26.44	28.83
922	-0.54	-146.6	2749	1551	2495	2172	111.9	-12.9	170	928	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	1552	2333	2495	2172	0	0	0	0	0	0	28.83	28.83	28.83
1052	-0.54	-146.6	2749	1551	2495	2172	128.3	-12.2	195	1058	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	1552	2333	2495	2172	0	0	0	0	0	0	28.83	28.83	28.83
1181	-0.54	-146.6	2749	1552	2495	2172	144.1	-11.8	220	1188	0.00	1.92	0.00	0.000	260	0.000	0.042	2741	2743	2333	2495	2172	0	0	0	0	0	0	28.83	26.53	28.83
1252	-0.54	-146.6	2741	2743	2495	2172	152.7	-12.3	233	1260	0.15	1.90	0.00	0.000	3078	0.193	0.032	2782	1546	2333	2495	2172	0	0	0	0	0	0	26.40	26.55	28.83
1385	-0.54	-146.6	1760	1545	2434	2164	165.9	-9.0	258	1390	0.00	0.00	0.00	0.000	6	0.000	0.000	2782	1547	2333	2495	2172	0	0	0	0	0	0	28.83	28.83	28.83
1514	-0.54	-146.6	1792	1546	2435	2164	179.0	-10.3	283	1519	0.00	0.00	0.00	0.000	6	0.000	0.000	2782	1546	2333	2495	2172	0	0	0	0	0	0	28.83	28.83	28.83
1524	end dive: TARGET_DEPTH_EXCEEDED
state	1524	begin apogee
1533	-0.16	0.0	2781	1755	2495	2172	180.3	-10.0	285	1659	0.35	0.00	118.38	0.704	10246	0.154	0.000	2896	1756	1744	1779	1709	0	0	0	0	0	0	26.46	28.83	24.67
1663	end apogee: CONTROL_FINISHED_OK
state	1663	begin climb
1667	0.54	146.6	2895	1756	1779	1709	184.9	0.0	308	1800	0.70	3.05	120.55	0.678	10756	0.122	0.052	3129	556	1160	1133	1188	0	0	0	0	0	0	25.22	24.91	24.40
1837	0.54	146.6	3128	555	1133	1188	173.4	8.6	338	1844	0.00	2.80	0.00	0.000	1030	0.000	0.036	3129	1720	1160	1133	1188	0	0	0	0	0	0	28.83	25.34	28.83
1972	0.54	146.6	3128	1719	1133	1186	159.7	10.8	363	1978	0.00	2.80	0.00	0.000	516	0.000	0.054	3128	556	1159	1133	1186	0	0	0	0	0	0	28.83	25.76	28.83
2042	0.54	146.6	2144	555	1119	1184	152.2	9.6	376	2049	0.00	2.78	0.00	0.000	1030	0.000	0.036	3129	1741	1159	1133	1186	0	0	0	0	0	0	28.83	25.91	28.83
2175	0.54	146.6	3129	1741	1133	1184	138.1	11.3	401	2182	0.00	1.52	0.00	0.000	260	0.000	0.046	3128	2923	1159	1133	1185	0	0	0	0	0	0	28.83	26.08	28.83
2221	0.54	146.6	3128	2923	1133	1185	132.5	11.3	409	2228	0.00	1.60	0.00	0.000	1030	0.000	0.031	3128	1710	1159	1133	1185	0	0	0	0	0	0	28.83	26.15	28.83
2354	0.54	146.6	2112	1709	1118	1182	119.4	10.0	434	2360	0.00	2.67	0.00	0.000	516	0.000	0.051	3129	576	1158	1133	1184	0	0	0	0	0	0	28.83	26.19	28.83
2444	0.54	146.6	3128	575	1133	1184	110.6	9.7	451	2451	0.00	2.67	0.00	0.000	1030	0.000	0.034	3128	1733	1158	1133	1184	0	0	0	0	0	0	28.83	26.28	28.83
2578	0.54	146.6	3128	1732	1133	1183	97.3	10.4	476	2584	0.00	2.72	0.00	0.000	516	0.000	0.050	3129	580	1158	1133	1183	0	0	1	0	0	0	28.83	26.30	28.83
2649	0.54	146.6	3128	578	1133	1183	89.5	11.6	489	2655	0.00	2.67	0.00	0.000	1030	0.000	0.034	3129	1739	1158	1133	1183	0	0	0	0	0	0	28.83	26.37	28.83
2781	0.54	146.6	2112	1738	1118	1180	74.9	10.4	514	2788	0.00	2.75	0.00	0.000	516	0.000	0.050	3129	578	1157	1133	1182	0	0	0	0	0	0	28.83	26.38	28.83
2842	0.54	146.6	3128	578	1133	1182	68.3	10.3	525	2848	0.00	2.65	0.00	0.000	1030	0.000	0.037	3129	1730	1157	1133	1182	0	0	0	0	0	0	28.83	26.44	28.83
2975	0.54	146.6	3128	1731	1133	1182	54.4	13.2	550	2982	0.00	1.52	0.00	0.000	260	0.000	0.044	3129	2913	1157	1133	1182	0	0	0	0	0	0	28.83	26.46	28.83
3026	0.54	146.6	3128	2913	1133	1182	48.9	8.9	559	3032	0.00	1.55	0.00	0.000	1030	0.000	0.031	3129	1718	1157	1133	1182	0	0	0	0	0	0	28.83	26.51	28.83
3159	0.54	146.6	3129	1718	1133	1182	37.1	8.6	584	3166	0.00	2.65	0.00	0.000	516	0.000	0.050	3129	581	1157	1133	1182	0	0	0	0	0	0	28.83	26.48	28.83
3250	0.54	146.6	3128	580	1133	1182	29.4	8.3	601	3257	0.00	2.65	0.00	0.000	1030	0.000	0.033	3128	1731	1157	1133	1182	0	0	0	0	0	0	28.83	26.53	28.83
3320	0.54	146.6	2144	1730	1119	1180	23.1	9.4	614	3326	0.00	0.00	0.00	0.000	6	0.000	0.000	3129	1731	1157	1133	1182	0	0	0	0	0	0	28.83	28.83	28.83
3390	0.54	146.6	3128	1731	1133	1182	16.8	9.4	627	3397	0.00	2.72	0.00	0.000	516	0.000	0.050	3129	577	1157	1133	1182	0	0	0	0	0	0	28.83	26.52	28.83
3430	0.54	146.6	3128	576	1133	1182	12.6	10.4	634	3437	0.00	2.67	0.00	0.000	1030	0.000	0.037	3129	1741	1157	1133	1182	0	0	0	0	0	0	28.83	26.56	28.83
3501	0.54	146.6	3128	1741	1133	1182	6.1	9.1	647	3508	0.00	1.50	0.00	0.000	260	0.000	0.044	3129	2913	1157	1133	1182	0	0	0	0	0	0	28.83	26.57	28.83
3532	0.54	146.6	3128	2913	1133	1181	3.3	9.0	652	3539	0.00	1.55	0.00	0.000	1030	0.000	0.032	3129	1727	1157	1133	1181	0	0	0	0	0	0	28.83	26.60	28.83
3543	end climb: SURFACE_DEPTH_REACHED
state	3544	begin surface coast
3575	end surface coast: CONTROL_FINISHED_OK
state	3575	begin surface