Glider dive log

Shilshole 02Jun15 * SG206 * Dive index * Mission links * Dive 20 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 206 HD_C 9.9999997e-06 ROLL_MAX 3863 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 1 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 20 ESCAPE_HEADING 0 C_ROLL_DIVE 2099 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1809 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 180 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 51 ALTIM_SENSITIVITY 4

D_NO_BLEED 45 SM_CC 335 R_STBD_OVSHOOT 67 XPDR_VALID 1

D_BOOST 0 N_FILEKB 4 ROLL_AD_RATE 250 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -1.4

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 9 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 C_VBD 2341 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 131

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.25119999 DEVICE3 -1

T_DIVE 75 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 85 CALL_WAIT 45 PITCH_VBD_SHIFT 0.0012300001 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 5 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 -1324.689 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 97 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 203 MINV_24V 19 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3912 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2878 FG_AHR_10V 0 SEABIRD_T_G 0.0044039036

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.0006378853

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.5652185e-05

RHO 1.023 P_OVSHOOT 0.039999999 PRESSURE_YINT -43.092354 SEABIRD_T_J 3.0680867e-06

MASS 53113 PITCH_GAIN 19.1 PRESSURE_SLOPE 0.0001158948 SEABIRD_C_G -9.7477055

MASS_COMP 0 PITCH_TIMEOUT 17 AD7714Ch0Gain 128 SEABIRD_C_H 1.1309673

NAV_MODE 1 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0010514539

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00016674379

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 262 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 335

AH0_10V 97 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 2 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 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 19.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3912 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_MIN 203 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12218

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 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 0.0001158948 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -43.092354 T_GPS 5

CALL_WAIT 45 HD_C 9.9999997e-06 PROTOCOL 9 T_GPS_ALMANAC 0

CAPMAXSIZE 200000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -1324.689

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 206 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 -1.4 RHO 1.023 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2878 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 1809 LOGGERDEVICE2 -1 ROLL_AD_RATE 250 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2099 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY -6

C_VBD 2341 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3863 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 53113 ROLL_MAXERRORS 1 VBD_CNV -0.25119999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 262 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 131 MINV_10V 8 R_PORT_OVSHOOT 51 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 67 VBD_MIN 500

DEVICE4 -1 MISSION 1 SEABIRD_C_G -9.7477055 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1309673 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0010514539 VBD_TIMEOUT 720

DIVE 20 NOCOMM_ACTION 0 SEABIRD_C_J 0.00016674379 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0044039036 XPDR_DEVICE 24

D_BOOST 0 N_FILEKB 4 SEABIRD_T_H 0.0006378853 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.5652185e-05 XPDR_VALID 1

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 3.0680867e-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 030615,141347,4743.175,-12224.902,6,1.2,6,16.3 TGT_NAME SW

_CALLS 1 TGT_LATLONG 4742.700,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.070,-0.230

_SM_DEPTHo 1.22 KALMAN_X 124.0,-51.9,-620.4,668.5,395.2

_SM_ANGLEo -66.4 KALMAN_Y -7727.9,309.6,-717.8,8492.5,400.3

GPS2 030615,141930,4743.218,-12224.906,4,1.6,4,16.3 MHEAD_RNG_PITCHd_Wd 180.6,968,-14.0,-8.000,-18.40,2768

SPEED_LIMITS 0.139,0.240 D_GRID 177

Post-dive calculations and measurements:

FINISH 0.3,1.011592 _10V_AH 10.4,7.842

SM_CCo 3378,72.95,0.696,0,0,1005,335.10 FG_AHR_24Vo 0.000

SM_GC 1.27,7.95,0.40,72.95,0.047,0.040,0.696,192,2110,1005,-8.32,-1.64,335.10,0,0,0,0,0,0,26.56,26.63,24.98 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4726.11,-12222.38,300308,030305 MEM 322616

TT8_MAMPS 0.030709,0.030709 DATA_FILE_SIZE 30178,627

HUMID 46.37 CAP_FILE_SIZE 70939,0

INTERNAL_PRESSURE 9.00079 CFSIZE 1024393216,1018134528

TCM_TEMP 14.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 GPS 030615,151846,4743.095,-12224.959,11,0.8,11,16.3

_24V_AH 23.9,4.071

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 233 108.46 SBE_CT 419 23 240.29

Roll_motor 60 46 67.48 WL_BBFL2 845 39 802.58

VBD_pump_during_apogee 211 1201 6084.33 nil 0 0 0.00

VBD_pump_during_surface 72 696 1213.74 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 12 7.85 nil 0 0 0.00

Iridium_during_connect 45 160 172.84 nil 0 0 0.00

Iridium_during_xfer 190 223 1017.65 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 7 28 2.34

TT8 1409 20 299.67

LPSleep 440 2 10.03

TT8_Active 382 20 81.38

TT8_Sampling 1531 47 755.52

TT8_CF8 48 63 32.26

TT8_Kalman 33 73 25.43

Analog_circuits 945 14 137.62

GPS_charging 0 0 0.00

Compass 1248 8 106.99

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

14 -0.91 -146.6 190 2111 1393 1383 0.0 0.0 0 62 0.00 0.00 -45.28 0.000 16386 0.000 0.000 190 2111 2741 2791 2691 0 0 0 0 0 0 28.83 28.83 28.83

64 -0.91 -146.6 190 2111 2791 2692 3.3 -6.5 7 86 9.48 2.17 -4.12 0.000 18948 0.233 0.047 2577 691 2925 3001 2850 0 0 0 0 0 0 25.87 26.10 26.36

249 -0.91 -146.6 1536 691 2960 2845 27.6 -12.8 42 256 0.00 2.12 0.00 0.000 1030 0.000 0.024 2570 2078 2926 3001 2851 0 0 0 0 0 0 28.83 26.30 28.83

318 -0.91 -146.6 1536 2076 2961 2845 35.7 -11.5 55 325 0.00 2.22 0.00 0.000 260 0.000 0.043 2560 3498 2926 3002 2851 0 0 0 0 0 0 28.83 26.29 28.83

348 -0.91 -146.6 1536 3497 2964 2846 39.2 -11.6 60 356 0.00 2.12 0.00 0.000 1030 0.000 0.026 2560 2090 2927 3002 2852 0 0 0 0 0 0 28.83 26.36 28.83

417 -0.91 -146.6 1536 2088 2962 2846 47.5 -11.6 73 425 0.00 2.22 0.00 0.000 260 0.000 0.043 2551 3499 2927 3002 2852 0 0 0 0 0 0 28.83 26.34 28.83

504 -0.91 -146.6 2551 3499 3002 2852 57.4 -11.6 89 511 0.12 2.08 0.00 0.000 3078 0.171 0.025 2581 2081 2927 3002 2852 0 0 0 0 0 0 26.27 26.44 28.83

635 -0.91 -146.6 2581 2080 3002 2852 71.4 -9.8 114 643 0.00 2.08 0.00 0.000 516 0.000 0.036 2581 716 2927 3002 2852 0 0 0 0 0 0 28.83 26.45 28.83

685 -0.91 -146.6 2581 715 3002 2852 76.7 -10.2 123 692 0.00 2.08 0.00 0.000 1030 0.000 0.024 2575 2107 2927 3002 2852 0 0 0 0 0 0 28.83 26.50 28.83

815 -0.91 -146.6 2574 2107 3002 2852 88.7 -8.9 148 822 0.00 2.17 0.00 0.000 260 0.000 0.043 2566 3508 2927 3002 2852 0 0 0 0 0 0 28.83 26.48 28.83

885 -0.91 -146.6 2566 3508 3003 2852 95.6 -10.9 161 891 0.00 2.05 0.00 0.000 1030 0.000 0.025 2566 2104 2927 3002 2852 0 0 0 0 0 0 28.83 26.55 28.83

1014 -0.91 -146.6 2566 2103 3002 2852 109.7 -12.2 186 1020 0.00 0.00 0.00 0.000 6 0.000 0.000 2566 2103 2927 3002 2852 0 0 0 0 0 0 28.83 28.83 28.83

1146 -0.91 -146.6 2566 2102 3002 2852 124.6 -11.4 211 1152 0.00 2.15 0.00 0.000 260 0.000 0.042 2558 3508 2927 3002 2852 0 0 0 0 0 0 28.83 26.56 28.83

1180 -0.91 -146.6 2558 3508 3002 2853 128.7 -10.9 217 1186 0.00 2.08 0.00 0.000 1030 0.000 0.026 2558 2085 2927 3003 2852 0 0 0 0 0 0 28.83 26.63 28.83

1309 -0.91 -146.6 2559 2086 3002 2852 143.3 -10.5 242 1316 0.00 2.08 0.00 0.000 516 0.000 0.036 2558 711 2927 3002 2853 0 0 0 0 0 0 28.83 26.60 28.83

1342 -0.91 -146.6 2558 711 3002 2852 147.1 -11.5 248 1350 0.08 2.10 0.00 0.000 3078 0.149 0.024 2576 2100 2927 3002 2852 0 0 0 0 0 0 26.48 26.65 28.83

1474 -0.91 -146.6 2575 2100 3003 2853 160.2 -10.5 273 1480 0.00 2.12 0.00 0.000 260 0.000 0.043 2568 3504 2927 3003 2852 0 0 0 0 0 0 28.83 26.61 28.83

1549 -0.91 -146.6 2568 3504 3002 2852 168.6 -12.1 287 1555 0.00 2.05 0.00 0.000 1030 0.000 0.026 2568 2093 2927 3002 2852 0 0 0 0 0 0 28.83 26.67 28.83

1626 end dive: TARGET_DEPTH_EXCEEDED

state 1626 begin apogee

1629 -0.26 0.0 2568 1791 3003 2853 177.3 -10.9 302 1741 0.68 0.00 103.25 1.202 10246 0.132 0.000 2787 1791 2343 2404 2282 0 0 0 0 0 0 26.52 28.83 24.01

1742 end apogee: CONTROL_FINISHED_OK

state 1742 begin climb

1743 0.91 146.6 2787 1791 2404 2283 180.8 0.0 321 1862 1.15 2.38 108.57 1.191 10500 0.093 0.034 3166 3221 1757 1808 1706 0 0 0 0 0 0 25.01 24.77 23.88

1868 0.91 146.6 3166 3221 1808 1705 171.6 10.2 342 1875 0.00 2.25 0.00 0.000 1030 0.000 0.028 3171 1825 1756 1808 1704 0 0 0 0 0 0 28.83 25.05 28.83

1999 0.91 146.6 3171 1825 1807 1698 156.2 11.4 367 2005 0.00 0.00 0.00 0.000 6 0.000 0.000 3171 1825 1752 1807 1698 0 0 0 0 0 0 28.83 28.83 28.83

2127 0.91 146.6 3171 1825 1807 1697 142.0 10.8 392 2134 0.00 0.00 0.00 0.000 6 0.000 0.000 3171 1825 1751 1807 1696 0 0 0 0 0 0 28.83 28.83 28.83

2258 0.91 146.6 3171 1825 1807 1694 127.1 11.6 417 2264 0.00 2.17 0.00 0.000 516 0.000 0.041 3177 409 1751 1808 1694 0 0 0 0 0 0 28.83 26.13 28.83

2322 0.91 146.6 3177 409 1805 1694 119.3 12.2 429 2329 0.00 2.12 0.00 0.000 1030 0.000 0.023 3177 1845 1750 1806 1694 0 0 0 0 0 0 28.83 26.25 28.83

2451 0.91 146.6 3178 1847 1806 1694 104.7 10.7 454 2459 0.00 2.08 0.00 0.000 260 0.000 0.037 3177 3187 1749 1805 1694 0 0 0 0 0 0 28.83 26.29 28.83

2505 0.91 146.6 3177 3187 1806 1694 98.5 12.0 464 2512 0.00 2.10 0.00 0.000 1030 0.000 0.028 3178 1809 1749 1805 1694 0 0 0 0 0 0 28.83 26.35 28.83

2637 0.91 146.6 3178 1809 1805 1693 83.4 10.8 489 2643 0.00 2.15 0.00 0.000 516 0.000 0.042 3182 404 1749 1805 1693 0 0 0 0 0 0 28.83 26.37 28.83

2704 0.91 146.6 3182 404 1805 1693 75.3 11.6 502 2712 0.00 2.10 0.00 0.000 1030 0.000 0.024 3182 1808 1749 1804 1694 0 0 0 0 0 0 28.83 26.46 28.83

2835 0.91 146.6 3182 1810 1805 1693 60.1 11.1 527 2841 0.00 0.00 0.00 0.000 6 0.000 0.000 3182 1809 1749 1805 1693 0 0 0 0 0 0 28.83 28.83 28.83

2964 0.91 146.6 2112 1809 1761 1688 45.1 10.5 552 2971 0.00 2.12 0.00 0.000 260 0.000 0.037 3182 3191 1749 1805 1693 0 0 0 0 0 0 28.83 26.53 28.83

3125 0.91 146.6 2080 3190 1758 1688 25.6 11.8 583 3132 0.00 2.10 0.00 0.000 1030 0.000 0.028 3186 1803 1748 1804 1693 0 0 0 0 0 0 28.83 26.58 28.83

3194 0.91 146.6 2128 1801 1762 1688 17.3 12.0 596 3200 0.00 0.00 0.00 0.000 6 0.000 0.000 3186 1803 1749 1805 1693 0 0 0 0 0 0 28.83 28.83 28.83

3264 0.91 146.6 2112 1801 1760 1688 9.9 10.0 609 3271 0.00 2.15 0.00 0.000 516 0.000 0.044 3189 416 1749 1805 1693 0 0 0 0 0 0 28.83 26.56 28.83

3293 0.91 146.6 2176 416 1764 1688 6.6 10.6 614 3300 0.00 2.08 0.00 0.000 1030 0.000 0.024 3189 1812 1748 1805 1692 0 0 0 0 0 0 28.83 26.62 28.83

3342 end climb: SURFACE_DEPTH_REACHED

state 3342 begin surface coast

3364 end surface coast: CONTROL_FINISHED_OK

state 3364 begin surface

ID	206	HD_C	9.9999997e-06	ROLL_MAX	3863	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	1	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	20	ESCAPE_HEADING	0	C_ROLL_DIVE	2099	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1809	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	180	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	51	ALTIM_SENSITIVITY	4
D_NO_BLEED	45	SM_CC	335	R_STBD_OVSHOOT	67	XPDR_VALID	1
D_BOOST	0	N_FILEKB	4	ROLL_AD_RATE	250	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-1.4
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	9	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	C_VBD	2341	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	131
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.25119999	DEVICE3	-1
T_DIVE	75	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	85	CALL_WAIT	45	PITCH_VBD_SHIFT	0.0012300001	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	5	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	-1324.689	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	97	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	203	MINV_24V	19	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3912	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2878	FG_AHR_10V	0	SEABIRD_T_G	0.0044039036
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.0006378853
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.5652185e-05
RHO	1.023	P_OVSHOOT	0.039999999	PRESSURE_YINT	-43.092354	SEABIRD_T_J	3.0680867e-06
MASS	53113	PITCH_GAIN	19.1	PRESSURE_SLOPE	0.0001158948	SEABIRD_C_G	-9.7477055
MASS_COMP	0	PITCH_TIMEOUT	17	AD7714Ch0Gain	128	SEABIRD_C_H	1.1309673
NAV_MODE	1	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0010514539
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00016674379
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	262	ALTIM_TOP_PING_RANGE	0

GPS1	030615,141347,4743.175,-12224.902,6,1.2,6,16.3	TGT_NAME	SW
_CALLS	1	TGT_LATLONG	4742.700,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.070,-0.230
_SM_DEPTHo	1.22	KALMAN_X	124.0,-51.9,-620.4,668.5,395.2
_SM_ANGLEo	-66.4	KALMAN_Y	-7727.9,309.6,-717.8,8492.5,400.3
GPS2	030615,141930,4743.218,-12224.906,4,1.6,4,16.3	MHEAD_RNG_PITCHd_Wd	180.6,968,-14.0,-8.000,-18.40,2768
SPEED_LIMITS	0.139,0.240	D_GRID	177

FINISH	0.3,1.011592	_10V_AH	10.4,7.842
SM_CCo	3378,72.95,0.696,0,0,1005,335.10	FG_AHR_24Vo	0.000
SM_GC	1.27,7.95,0.40,72.95,0.047,0.040,0.696,192,2110,1005,-8.32,-1.64,335.10,0,0,0,0,0,0,26.56,26.63,24.98	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4726.11,-12222.38,300308,030305	MEM	322616
TT8_MAMPS	0.030709,0.030709	DATA_FILE_SIZE	30178,627
HUMID	46.37	CAP_FILE_SIZE	70939,0
INTERNAL_PRESSURE	9.00079	CFSIZE	1024393216,1018134528
TCM_TEMP	14.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	GPS	030615,151846,4743.095,-12224.959,11,0.8,11,16.3
_24V_AH	23.9,4.071

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	233	108.46	SBE_CT	419	23	240.29
Roll_motor	60	46	67.48	WL_BBFL2	845	39	802.58
VBD_pump_during_apogee	211	1201	6084.33	nil	0	0	0.00
VBD_pump_during_surface	72	696	1213.74	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	12	7.85	nil	0	0	0.00
Iridium_during_connect	45	160	172.84	nil	0	0	0.00
Iridium_during_xfer	190	223	1017.65	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	7	28	2.34
TT8	1409	20	299.67
LPSleep	440	2	10.03
TT8_Active	382	20	81.38
TT8_Sampling	1531	47	755.52
TT8_CF8	48	63	32.26
TT8_Kalman	33	73	25.43
Analog_circuits	945	14	137.62
GPS_charging	0	0	0.00
Compass	1248	8	106.99
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
14	-0.91	-146.6	190	2111	1393	1383	0.0	0.0	0	62	0.00	0.00	-45.28	0.000	16386	0.000	0.000	190	2111	2741	2791	2691	0	0	0	0	0	0	28.83	28.83	28.83
64	-0.91	-146.6	190	2111	2791	2692	3.3	-6.5	7	86	9.48	2.17	-4.12	0.000	18948	0.233	0.047	2577	691	2925	3001	2850	0	0	0	0	0	0	25.87	26.10	26.36
249	-0.91	-146.6	1536	691	2960	2845	27.6	-12.8	42	256	0.00	2.12	0.00	0.000	1030	0.000	0.024	2570	2078	2926	3001	2851	0	0	0	0	0	0	28.83	26.30	28.83
318	-0.91	-146.6	1536	2076	2961	2845	35.7	-11.5	55	325	0.00	2.22	0.00	0.000	260	0.000	0.043	2560	3498	2926	3002	2851	0	0	0	0	0	0	28.83	26.29	28.83
348	-0.91	-146.6	1536	3497	2964	2846	39.2	-11.6	60	356	0.00	2.12	0.00	0.000	1030	0.000	0.026	2560	2090	2927	3002	2852	0	0	0	0	0	0	28.83	26.36	28.83
417	-0.91	-146.6	1536	2088	2962	2846	47.5	-11.6	73	425	0.00	2.22	0.00	0.000	260	0.000	0.043	2551	3499	2927	3002	2852	0	0	0	0	0	0	28.83	26.34	28.83
504	-0.91	-146.6	2551	3499	3002	2852	57.4	-11.6	89	511	0.12	2.08	0.00	0.000	3078	0.171	0.025	2581	2081	2927	3002	2852	0	0	0	0	0	0	26.27	26.44	28.83
635	-0.91	-146.6	2581	2080	3002	2852	71.4	-9.8	114	643	0.00	2.08	0.00	0.000	516	0.000	0.036	2581	716	2927	3002	2852	0	0	0	0	0	0	28.83	26.45	28.83
685	-0.91	-146.6	2581	715	3002	2852	76.7	-10.2	123	692	0.00	2.08	0.00	0.000	1030	0.000	0.024	2575	2107	2927	3002	2852	0	0	0	0	0	0	28.83	26.50	28.83
815	-0.91	-146.6	2574	2107	3002	2852	88.7	-8.9	148	822	0.00	2.17	0.00	0.000	260	0.000	0.043	2566	3508	2927	3002	2852	0	0	0	0	0	0	28.83	26.48	28.83
885	-0.91	-146.6	2566	3508	3003	2852	95.6	-10.9	161	891	0.00	2.05	0.00	0.000	1030	0.000	0.025	2566	2104	2927	3002	2852	0	0	0	0	0	0	28.83	26.55	28.83
1014	-0.91	-146.6	2566	2103	3002	2852	109.7	-12.2	186	1020	0.00	0.00	0.00	0.000	6	0.000	0.000	2566	2103	2927	3002	2852	0	0	0	0	0	0	28.83	28.83	28.83
1146	-0.91	-146.6	2566	2102	3002	2852	124.6	-11.4	211	1152	0.00	2.15	0.00	0.000	260	0.000	0.042	2558	3508	2927	3002	2852	0	0	0	0	0	0	28.83	26.56	28.83
1180	-0.91	-146.6	2558	3508	3002	2853	128.7	-10.9	217	1186	0.00	2.08	0.00	0.000	1030	0.000	0.026	2558	2085	2927	3003	2852	0	0	0	0	0	0	28.83	26.63	28.83
1309	-0.91	-146.6	2559	2086	3002	2852	143.3	-10.5	242	1316	0.00	2.08	0.00	0.000	516	0.000	0.036	2558	711	2927	3002	2853	0	0	0	0	0	0	28.83	26.60	28.83
1342	-0.91	-146.6	2558	711	3002	2852	147.1	-11.5	248	1350	0.08	2.10	0.00	0.000	3078	0.149	0.024	2576	2100	2927	3002	2852	0	0	0	0	0	0	26.48	26.65	28.83
1474	-0.91	-146.6	2575	2100	3003	2853	160.2	-10.5	273	1480	0.00	2.12	0.00	0.000	260	0.000	0.043	2568	3504	2927	3003	2852	0	0	0	0	0	0	28.83	26.61	28.83
1549	-0.91	-146.6	2568	3504	3002	2852	168.6	-12.1	287	1555	0.00	2.05	0.00	0.000	1030	0.000	0.026	2568	2093	2927	3002	2852	0	0	0	0	0	0	28.83	26.67	28.83
1626	end dive: TARGET_DEPTH_EXCEEDED
state	1626	begin apogee
1629	-0.26	0.0	2568	1791	3003	2853	177.3	-10.9	302	1741	0.68	0.00	103.25	1.202	10246	0.132	0.000	2787	1791	2343	2404	2282	0	0	0	0	0	0	26.52	28.83	24.01
1742	end apogee: CONTROL_FINISHED_OK
state	1742	begin climb
1743	0.91	146.6	2787	1791	2404	2283	180.8	0.0	321	1862	1.15	2.38	108.57	1.191	10500	0.093	0.034	3166	3221	1757	1808	1706	0	0	0	0	0	0	25.01	24.77	23.88
1868	0.91	146.6	3166	3221	1808	1705	171.6	10.2	342	1875	0.00	2.25	0.00	0.000	1030	0.000	0.028	3171	1825	1756	1808	1704	0	0	0	0	0	0	28.83	25.05	28.83
1999	0.91	146.6	3171	1825	1807	1698	156.2	11.4	367	2005	0.00	0.00	0.00	0.000	6	0.000	0.000	3171	1825	1752	1807	1698	0	0	0	0	0	0	28.83	28.83	28.83
2127	0.91	146.6	3171	1825	1807	1697	142.0	10.8	392	2134	0.00	0.00	0.00	0.000	6	0.000	0.000	3171	1825	1751	1807	1696	0	0	0	0	0	0	28.83	28.83	28.83
2258	0.91	146.6	3171	1825	1807	1694	127.1	11.6	417	2264	0.00	2.17	0.00	0.000	516	0.000	0.041	3177	409	1751	1808	1694	0	0	0	0	0	0	28.83	26.13	28.83
2322	0.91	146.6	3177	409	1805	1694	119.3	12.2	429	2329	0.00	2.12	0.00	0.000	1030	0.000	0.023	3177	1845	1750	1806	1694	0	0	0	0	0	0	28.83	26.25	28.83
2451	0.91	146.6	3178	1847	1806	1694	104.7	10.7	454	2459	0.00	2.08	0.00	0.000	260	0.000	0.037	3177	3187	1749	1805	1694	0	0	0	0	0	0	28.83	26.29	28.83
2505	0.91	146.6	3177	3187	1806	1694	98.5	12.0	464	2512	0.00	2.10	0.00	0.000	1030	0.000	0.028	3178	1809	1749	1805	1694	0	0	0	0	0	0	28.83	26.35	28.83
2637	0.91	146.6	3178	1809	1805	1693	83.4	10.8	489	2643	0.00	2.15	0.00	0.000	516	0.000	0.042	3182	404	1749	1805	1693	0	0	0	0	0	0	28.83	26.37	28.83
2704	0.91	146.6	3182	404	1805	1693	75.3	11.6	502	2712	0.00	2.10	0.00	0.000	1030	0.000	0.024	3182	1808	1749	1804	1694	0	0	0	0	0	0	28.83	26.46	28.83
2835	0.91	146.6	3182	1810	1805	1693	60.1	11.1	527	2841	0.00	0.00	0.00	0.000	6	0.000	0.000	3182	1809	1749	1805	1693	0	0	0	0	0	0	28.83	28.83	28.83
2964	0.91	146.6	2112	1809	1761	1688	45.1	10.5	552	2971	0.00	2.12	0.00	0.000	260	0.000	0.037	3182	3191	1749	1805	1693	0	0	0	0	0	0	28.83	26.53	28.83
3125	0.91	146.6	2080	3190	1758	1688	25.6	11.8	583	3132	0.00	2.10	0.00	0.000	1030	0.000	0.028	3186	1803	1748	1804	1693	0	0	0	0	0	0	28.83	26.58	28.83
3194	0.91	146.6	2128	1801	1762	1688	17.3	12.0	596	3200	0.00	0.00	0.00	0.000	6	0.000	0.000	3186	1803	1749	1805	1693	0	0	0	0	0	0	28.83	28.83	28.83
3264	0.91	146.6	2112	1801	1760	1688	9.9	10.0	609	3271	0.00	2.15	0.00	0.000	516	0.000	0.044	3189	416	1749	1805	1693	0	0	0	0	0	0	28.83	26.56	28.83
3293	0.91	146.6	2176	416	1764	1688	6.6	10.6	614	3300	0.00	2.08	0.00	0.000	1030	0.000	0.024	3189	1812	1748	1805	1692	0	0	0	0	0	0	28.83	26.62	28.83
3342	end climb: SURFACE_DEPTH_REACHED
state	3342	begin surface coast
3364	end surface coast: CONTROL_FINISHED_OK
state	3364	begin surface