Glider dive log

Totten 28Dec14 * SG017 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 17 HD_C 2.8e-05 ROLL_MAX 3877 ALTIM_TOP_PING_RANGE 0

MISSION 17 HEADING -1 ROLL_DEG 33 ALTIM_BOTTOM_TURN_MARGIN 20

DIVE 3 ESCAPE_HEADING 0 C_ROLL_DIVE 2380 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 3 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2100 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 2 FIX_MISSING_TIMEOUT 0.5 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0

D_FLARE 3 TGT_DEFAULT_LAT 66 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 0

D_TGT 300 TGT_DEFAULT_LON 6 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13

D_ABORT 350 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 19 ALTIM_PULSE 3

D_NO_BLEED 100 SM_CC 350 R_STBD_OVSHOOT 15 ALTIM_SENSITIVITY 3

D_BOOST 2 N_FILEKB 8 ROLL_AD_RATE 320 XPDR_VALID 0

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 2 XPDR_INHIBIT 90

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 0

D_SAFE 0 PROTOCOL 9 VBD_MIN 550 DEEPGLIDER 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3735 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2520 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 37

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX 2 VBD_CNV -0.24529999 DEVICE3 -1

T_DIVE 100 CALL_TRIES 3 VBD_LP_IGNORE 1 DEVICE4 -1

T_MISSION 125 CALL_WAIT 60 VBD_TIMEOUT 540 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.001 DEVICE6 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 0

T_TURN_SAMPINT -5 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 5 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 UNCOM_BLEED 20 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

USE_BATHY -1 T_RSLEEP 3 W_ADJ_DBAND 0 COMPASS_DEVICE 97

USE_ICE 0 STROBE 0 DBDW 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 PHONE_DEVICE 49

D_OFFGRID 300 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 0 RAFOS_DEVICE 16

RELAUNCH 1 PITCH_MIN 584 AH0_24V 90 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MAX 3731 AH0_10V 78 SIM_W 0

MAX_BUOY 200 C_PITCH 2580 MINV_24V 22 SIM_PITCH 0

COURSE_BIAS 0 PITCH_DBAND 0.1 MINV_10V 9.5 SEABIRD_T_G 0.004332595

GLIDE_SLOPE 30 PITCH_CNV 0.0046000001 FG_AHR_10V 0 SEABIRD_T_H 0.00063243619

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 FG_AHR_24V 0 SEABIRD_T_I 2.4193625e-05

RHO 1.02775 P_OVSHOOT_WITHG 0 PHONE_SUPPLY -2 SEABIRD_T_J 2.5746874e-06

MASS 52210 PITCH_GAIN 20 PRESSURE_YINT -4.7807236 SEABIRD_C_G -9.8293695

MASS_COMP 0 PITCH_TIMEOUT 16 PRESSURE_SLOPE 9.1207337e-05 SEABIRD_C_H 1.1005322

NAV_MODE 2 PITCH_AD_RATE 130 AD7714Ch0Gain 64 SEABIRD_C_I -0.0015286342

FERRY_MAX 60 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 SEABIRD_C_J 0.0002052265

KALMAN_USE 2 PITCH_ADJ_GAIN 0.029999999 TCM_ROLL_OFFSET 0

HD_A 0.003 PITCH_ADJ_DBAND 1 COMPASS_USE 4

HD_B 0.0099999998 ROLL_MIN 233 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 64 D_PITCH 0 PITCH_ADJ_DBAND 1 SM_CC 350

AH0_10V 78 D_SAFE 0 PITCH_ADJ_GAIN 0.029999999 SPEED_FACTOR 1

AH0_24V 90 D_SURF 2 PITCH_AD_RATE 130 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 300 PITCH_CNV 0.0046000001 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 20 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 20 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 0 FERRY_MAX 60 PITCH_MAX 3731 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 0 FG_AHR_10V 0 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_24V 0 PITCH_MIN 584 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FILEMGR 0 PITCH_TIMEOUT 16 TGT_DEFAULT_LAT 66

ALTIM_TOP_MIN_OBSTACLE 0 FIX_MISSING_TIMEOUT 0.5 PITCH_VBD_SHIFT 0.001 TGT_DEFAULT_LON 6

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 32 PITCH_W_GAIN 0 T_BOOST 0

APOGEE_PITCH -5 HD_A 0.003 PRESSURE_SLOPE 9.1207337e-05 T_DIVE 100

CALL_NDIVES 1 HD_B 0.0099999998 PRESSURE_YINT -4.7807236 T_EPIRB 0

CALL_TRIES 3 HD_C 2.8e-05 PROTOCOL 9 T_GPS 5

CALL_WAIT 60 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEAD_ERRBAND 10 P_OVSHOOT_WITHG 0 T_LOITER 0

CAPUPLOAD 0 HEAPDBG 0 RAFOS_CORR_THRESH 60 T_MISSION 125

CF8_MAXERRORS 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_DEVICE 16 T_NO_W 120

COMM_SEQ 0 ID 17 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_PEAK_OFFSET 1.5 T_TURN 225

COMPASS_DEVICE 97 INT_PRESSURE_YINT 0 RELAUNCH 1 T_TURN_SAMPINT -5

COMPASS_USE 4 KALMAN_USE 2 RHO 1.02775 T_WATCHDOG 10

COURSE_BIAS 0 LOGGERDEVICE1 -1 ROLL_ADJ_DBAND 0 UNCOM_BLEED 20

C_PITCH 2580 LOGGERDEVICE2 -1 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX 2

C_ROLL_CLIMB 2100 LOGGERDEVICE3 -1 ROLL_AD_RATE 320 USE_BATHY -1

C_ROLL_DIVE 2380 LOGGERDEVICE4 -1 ROLL_CNV 0.028270001 USE_ICE 0

C_VBD 2520 LOGGERS 0 ROLL_DEG 33 VBD_BLEED_AD_RATE 8

DBDW 0 MASS 52210 ROLL_MAX 3877 VBD_CNV -0.24529999

DEEPGLIDER 0 MASS_COMP 0 ROLL_MAXERRORS 2 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 200 ROLL_MIN 233 VBD_LP_IGNORE 1

DEVICE2 37 MINV_10V 9.5 ROLL_TIMEOUT 15 VBD_MAX 3735

DEVICE3 -1 MINV_24V 22 R_PORT_OVSHOOT 19 VBD_MAXERRORS 1

DEVICE4 -1 MISSION 17 R_STBD_OVSHOOT 15 VBD_MIN 550

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_G -9.8293695 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 NAV_MODE 2 SEABIRD_C_H 1.1005322 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 3 NOCOMM_ACTION 163 SEABIRD_C_I -0.0015286342 VBD_TIMEOUT 540

D_ABORT 350 N_DIVES 3 SEABIRD_C_J 0.0002052265 W_ADJ_DBAND 0

D_BOOST 2 N_FILEKB 8 SEABIRD_T_G 0.004332595 XPDR_DEVICE 24

D_CALL 0 N_GPS 20 SEABIRD_T_H 0.00063243619 XPDR_INHIBIT 90

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_I 2.4193625e-05 XPDR_VALID 0

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_J 2.5746874e-06

D_NO_BLEED 100 PHONE_DEVICE 49 SIM_PITCH 0

D_OFFGRID 300 PHONE_SUPPLY -2 SIM_W 0

Pre-dive calculations and measurements:

GPS1 281214,131024,-6624.228,11959.393,145,1.9,145,-106.4 SPEED_LIMITS 0.173,0.285

_CALLS 1 TGT_NAME CENTRAL

_XMS_NAKs 0 TGT_LATLONG -6625.000,12007.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 1.22 MHEAD_RNG_PITCHd_Wd 211.9,5829,-15.3,-10.000,-19.34,2862

_SM_ANGLEo -64.2 D_GRID 680

GPS2 281214,131536,-6624.234,11959.370,74,1.2,74,-106.4

Post-dive calculations and measurements:

FINISH 0.3,1.027481 _10V_AH 9.87,3.010

SM_CCo 6128,42.60,0.741,1,0,1093,350.04 FG_AHR_24Vo 0.000

SM_GC 1.27,10.48,0.52,42.60,0.057,0.060,0.741,579,2388,1093,-9.15,-0.45,350.04,0,0,0,0,1,0,24.66,24.68,23.52 FG_AHR_10Vo 0.000

RAFOS_CLK 349 MEM 301052

RAFOS 0,1419775274,14.033333,14.020555,192,59,58,0,0,0,619,146,196,0,0,0 DATA_FILE_SIZE 50120,1046

RAFOS_FIX -6623.178711,11958.005859,281214,121216,2,120,0.79 CAP_FILE_SIZE 95352,0

IRIDIUM_FIX -6558.99,12023.55,281214,111609 CFSIZE 256368640,251432960

TT8_MAMPS 0.020972,0.020972 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0

HUMID 71.18 INTR 0,6980.16,0x23777a,7,5

INTERNAL_PRESSURE 8.67221 SOUNDSPEED 1465.0

TCM_TEMP 12.80 CURRENT 0.078,207.88,1

XPDR_PINGS 0 GPS 281214,150133,-6624.696,12001.337,84,9.7,104,-106.5

_24V_AH 23.32,5.042

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 239 141.41 SBE_CT 686 23 383.47

Roll_motor 34 106 85.74 WL_BB2FLVMG 407 105 998.07

VBD_pump_during_apogee 396 1038 9587.21 nil 0 0 0.00

VBD_pump_during_surface 42 741 736.42 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 159 130 485.58 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 75 36 27.32

TT8 2381 13 319.00

LPSleep 1606 2 36.63

TT8_Active 625 12 79.16

TT8_Sampling 1742 41 710.15

TT8_CF8 144 51 72.53

TT8_Kalman 0 0 0.00

Analog_circuits 1600 10 164.26

GPS_charging 0 0 0.00

Compass 1499 5 73.99

RAFOS 480 1 7.11

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

16 -0.96 -194.6 584 2388 857 1076 0.0 0.0 0 171 0.00 0.00 -152.52 0.000 16386 0.000 0.000 585 2389 3010 1027 3010 0 0 0 0 0 0 28.83 28.83 28.83

174 -0.96 -194.6 585 2389 947 3010 3.9 -8.1 25 201 12.15 0.00 -8.88 0.000 18950 0.239 0.000 2363 2388 3316 1155 3316 0 0 0 0 0 0 24.31 28.83 24.83

385 -0.92 -194.6 2362 2388 540 3316 36.3 -12.6 65 391 0.00 2.12 0.00 0.000 516 0.000 0.083 2363 1217 3316 644 3316 0 0 0 0 0 0 28.83 24.54 28.83

440 -0.92 -194.6 2363 1216 556 3316 42.9 -11.6 75 446 0.00 2.00 0.00 0.000 1030 0.000 0.050 2363 2383 3316 659 3316 0 0 0 0 0 0 28.83 24.59 28.83

630 -0.88 -194.6 2362 2384 534 3316 65.9 -12.1 112 636 0.12 0.00 0.00 0.000 2054 0.135 0.000 2386 2384 3316 637 3316 0 0 0 0 0 0 24.59 28.83 28.83

819 -0.88 -194.6 2386 2384 550 3316 86.0 -10.5 149 825 0.00 0.00 0.00 0.000 6 0.000 0.000 2386 2384 3316 652 3316 0 0 0 0 0 0 28.83 28.83 28.83

1008 -0.88 -194.6 2386 2384 547 3316 105.5 -9.7 186 1015 0.00 0.00 0.00 0.000 6 0.000 0.000 2386 2384 3316 667 3316 0 0 0 0 0 0 28.83 28.83 28.83

1199 -0.88 -194.6 2386 2384 529 3316 125.2 -10.5 223 1205 0.00 0.00 0.00 0.000 6 0.000 0.000 2386 2384 3316 634 3316 0 0 0 0 0 0 28.83 28.83 28.83

1387 -0.88 -194.6 2386 2384 522 3316 144.5 -10.1 260 1393 0.00 2.12 0.00 0.000 516 0.000 0.085 2386 1214 3316 629 3316 0 0 0 0 0 0 28.83 24.61 28.83

1436 -0.92 -194.6 2386 1213 575 3316 149.5 -10.1 269 1443 0.00 2.00 0.00 0.000 1030 0.000 0.050 2386 2381 3316 679 3316 0 0 0 0 0 0 28.83 24.65 28.83

1626 -0.92 -194.6 2386 2381 549 3316 168.9 -10.3 306 1632 0.00 0.00 0.00 0.000 6 0.000 0.000 2386 2381 3316 667 3316 0 0 0 0 0 0 28.83 28.83 28.83

1816 -0.92 -194.6 2386 2381 553 3316 188.9 -10.5 343 1822 0.00 0.00 0.00 0.000 6 0.000 0.000 2386 2381 3316 655 3316 0 0 0 0 0 0 28.83 28.83 28.83

2004 -0.92 -194.6 2386 2381 526 3316 208.4 -10.1 380 2010 0.00 0.00 0.00 0.000 6 0.000 0.000 2386 2381 3316 632 3316 0 0 0 0 0 0 28.83 28.83 28.83

2193 -0.95 -194.6 2386 2381 527 3316 227.0 -9.7 417 2200 0.00 2.10 0.00 0.000 516 0.000 0.084 2386 1221 3316 633 3316 0 0 0 0 0 0 28.83 24.64 28.83

2238 -1.00 -194.6 2386 1221 605 3316 231.5 -9.8 425 2246 0.12 1.98 0.00 0.000 5126 0.075 0.050 2358 2381 3316 704 3316 0 0 0 0 0 0 24.73 24.68 28.83

2445 -0.97 -194.6 2358 2381 336 3316 255.0 -11.5 459 2446 0.00 0.00 0.00 0.000 6 0.000 0.000 2359 2381 3316 344 3316 0 0 0 0 0 0 28.83 28.83 28.83

2624 -0.93 -194.6 2358 2381 314 3316 275.8 -11.5 468 2628 0.00 2.10 0.00 0.000 260 0.000 0.087 2358 3542 3316 371 3316 0 0 0 0 0 0 28.83 24.60 28.83

2669 -0.93 -194.6 2358 3542 369 3316 281.3 -12.0 477 2673 0.00 2.08 0.00 0.000 1030 0.000 0.076 2359 2384 3316 425 3316 0 0 0 0 0 0 28.83 24.65 28.83

2844 end dive: TARGET_DEPTH_EXCEEDED

state 2844 begin apogee

2850 -0.25 0.0 2358 2094 337 3316 301.5 -11.6 488 3008 0.85 0.00 153.77 1.031 10246 0.123 0.000 2518 2094 2519 1621 2519 0 0 0 0 0 0 24.65 28.83 23.35

3009 end apogee: CONTROL_FINISHED_OK

state 3009 begin climb

3011 0.96 194.6 2518 2094 948 2517 309.0 0.0 496 3180 1.35 0.00 156.98 0.978 10758 0.090 0.000 2786 2094 1724 1736 1724 0 0 0 0 0 0 24.10 28.83 23.32

3368 1.06 260.9 2785 2094 314 1713 288.7 7.6 541 3431 0.12 2.22 55.58 1.038 10500 0.086 0.076 2814 3263 1455 1299 1455 0 0 0 0 0 0 24.53 23.97 23.33

3582 1.06 260.9 2814 3263 598 1447 267.0 10.3 584 3589 0.00 2.12 0.00 0.000 1030 0.000 0.083 2814 2104 1447 712 1447 0 0 0 0 0 0 28.83 24.46 28.83

3769 1.06 264.6 2814 2104 314 1445 248.6 9.9 594 3776 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 2103 1445 468 1445 0 0 0 0 0 0 28.83 28.83 28.83

3959 1.06 264.6 2814 2103 461 1443 230.2 10.0 631 3965 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 2103 1443 583 1443 0 0 0 0 0 0 28.83 28.83 28.83

4148 1.07 276.0 2814 2103 524 1442 212.0 9.6 668 4167 0.00 2.33 12.65 0.944 8708 0.000 0.106 2814 933 1393 880 1393 0 0 0 0 0 0 28.83 24.16 23.59

4185 1.07 276.0 2814 933 566 1392 208.3 10.1 674 4193 0.00 2.00 0.00 0.000 1030 0.000 0.041 2814 2108 1392 701 1392 0 0 0 0 0 0 28.83 24.38 28.83

4379 1.12 286.7 2814 2107 540 1389 189.8 9.6 711 4392 0.00 0.00 10.23 0.921 8198 0.000 0.000 2814 2107 1351 778 1351 0 0 0 0 0 0 28.83 28.83 23.61

4575 1.16 289.6 2814 2107 528 1347 170.4 9.9 749 4581 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 2108 1347 645 1347 0 0 0 0 0 0 28.83 28.83 28.83

4765 1.20 293.3 2814 2108 559 1346 151.5 9.9 786 4780 0.12 2.22 6.82 0.838 10756 0.090 0.097 2843 935 1324 809 1324 0 0 0 0 0 0 24.63 24.32 23.72

4808 1.16 293.3 2843 934 797 1324 146.5 12.5 793 4815 0.00 1.98 0.00 0.000 1030 0.000 0.042 2843 2099 1324 891 1324 0 0 0 0 0 0 28.83 24.48 28.83

4998 1.16 293.3 2843 2100 543 1323 124.3 11.6 830 5005 0.00 0.00 0.00 0.000 6 0.000 0.000 2844 2100 1323 677 1323 0 0 0 0 0 0 28.83 28.83 28.83

5188 1.16 293.3 2843 2100 532 1322 102.5 11.4 867 5193 0.00 0.00 0.00 0.000 6 0.000 0.000 2844 2099 1323 649 1323 0 0 0 0 0 0 28.83 28.83 28.83

5376 1.16 293.3 2843 2100 536 1322 81.5 11.1 904 5383 0.00 2.05 0.00 0.000 260 0.000 0.074 2844 3266 1322 655 1322 0 0 0 0 0 0 28.83 24.58 28.83

5400 1.16 293.3 2843 3265 597 1322 78.9 11.7 908 5406 0.00 2.10 0.00 0.000 1030 0.000 0.080 2843 2099 1322 712 1322 0 0 0 0 0 0 28.83 24.58 28.83

5589 1.16 293.3 2843 2099 531 1322 57.6 11.1 945 5595 0.00 0.00 0.00 0.000 6 0.000 0.000 2844 2099 1322 648 1322 0 0 0 0 0 0 28.83 28.83 28.83

5779 1.16 293.3 2843 2099 570 1322 36.9 10.4 982 5785 0.00 0.00 0.00 0.000 6 0.000 0.000 2844 2099 1322 702 1322 0 0 0 0 0 0 28.83 28.83 28.83

5969 1.16 293.3 2843 2099 558 1322 15.7 11.8 1019 5975 0.00 0.00 0.00 0.000 6 0.000 0.000 2844 2099 1322 674 1322 0 0 0 0 0 0 28.83 28.83 28.83

6091 end climb: SURFACE_DEPTH_REACHED

state 6091 begin surface coast

6108 end surface coast: CONTROL_FINISHED_OK

state 6108 begin surface

ID	17	HD_C	2.8e-05	ROLL_MAX	3877	ALTIM_TOP_PING_RANGE	0
MISSION	17	HEADING	-1	ROLL_DEG	33	ALTIM_BOTTOM_TURN_MARGIN	20
DIVE	3	ESCAPE_HEADING	0	C_ROLL_DIVE	2380	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	3	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2100	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	2	FIX_MISSING_TIMEOUT	0.5	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0
D_FLARE	3	TGT_DEFAULT_LAT	66	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	0
D_TGT	300	TGT_DEFAULT_LON	6	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13
D_ABORT	350	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	19	ALTIM_PULSE	3
D_NO_BLEED	100	SM_CC	350	R_STBD_OVSHOOT	15	ALTIM_SENSITIVITY	3
D_BOOST	2	N_FILEKB	8	ROLL_AD_RATE	320	XPDR_VALID	0
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	2	XPDR_INHIBIT	90
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	0
D_SAFE	0	PROTOCOL	9	VBD_MIN	550	DEEPGLIDER	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3735	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2520	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	37
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	2	VBD_CNV	-0.24529999	DEVICE3	-1
T_DIVE	100	CALL_TRIES	3	VBD_LP_IGNORE	1	DEVICE4	-1
T_MISSION	125	CALL_WAIT	60	VBD_TIMEOUT	540	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.001	DEVICE6	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	0
T_TURN_SAMPINT	-5	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	5	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	UNCOM_BLEED	20	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
USE_BATHY	-1	T_RSLEEP	3	W_ADJ_DBAND	0	COMPASS_DEVICE	97
USE_ICE	0	STROBE	0	DBDW	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	PHONE_DEVICE	49
D_OFFGRID	300	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	0	RAFOS_DEVICE	16
RELAUNCH	1	PITCH_MIN	584	AH0_24V	90	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MAX	3731	AH0_10V	78	SIM_W	0
MAX_BUOY	200	C_PITCH	2580	MINV_24V	22	SIM_PITCH	0
COURSE_BIAS	0	PITCH_DBAND	0.1	MINV_10V	9.5	SEABIRD_T_G	0.004332595
GLIDE_SLOPE	30	PITCH_CNV	0.0046000001	FG_AHR_10V	0	SEABIRD_T_H	0.00063243619
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	FG_AHR_24V	0	SEABIRD_T_I	2.4193625e-05
RHO	1.02775	P_OVSHOOT_WITHG	0	PHONE_SUPPLY	-2	SEABIRD_T_J	2.5746874e-06
MASS	52210	PITCH_GAIN	20	PRESSURE_YINT	-4.7807236	SEABIRD_C_G	-9.8293695
MASS_COMP	0	PITCH_TIMEOUT	16	PRESSURE_SLOPE	9.1207337e-05	SEABIRD_C_H	1.1005322
NAV_MODE	2	PITCH_AD_RATE	130	AD7714Ch0Gain	64	SEABIRD_C_I	-0.0015286342
FERRY_MAX	60	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	SEABIRD_C_J	0.0002052265
KALMAN_USE	2	PITCH_ADJ_GAIN	0.029999999	TCM_ROLL_OFFSET	0
HD_A	0.003	PITCH_ADJ_DBAND	1	COMPASS_USE	4
HD_B	0.0099999998	ROLL_MIN	233	ALTIM_BOTTOM_PING_RANGE	0

GPS1	281214,131024,-6624.228,11959.393,145,1.9,145,-106.4	SPEED_LIMITS	0.173,0.285
_CALLS	1	TGT_NAME	CENTRAL
_XMS_NAKs	0	TGT_LATLONG	-6625.000,12007.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	1.22	MHEAD_RNG_PITCHd_Wd	211.9,5829,-15.3,-10.000,-19.34,2862
_SM_ANGLEo	-64.2	D_GRID	680
GPS2	281214,131536,-6624.234,11959.370,74,1.2,74,-106.4

FINISH	0.3,1.027481	_10V_AH	9.87,3.010
SM_CCo	6128,42.60,0.741,1,0,1093,350.04	FG_AHR_24Vo	0.000
SM_GC	1.27,10.48,0.52,42.60,0.057,0.060,0.741,579,2388,1093,-9.15,-0.45,350.04,0,0,0,0,1,0,24.66,24.68,23.52	FG_AHR_10Vo	0.000
RAFOS_CLK	349	MEM	301052
RAFOS	0,1419775274,14.033333,14.020555,192,59,58,0,0,0,619,146,196,0,0,0	DATA_FILE_SIZE	50120,1046
RAFOS_FIX	-6623.178711,11958.005859,281214,121216,2,120,0.79	CAP_FILE_SIZE	95352,0
IRIDIUM_FIX	-6558.99,12023.55,281214,111609	CFSIZE	256368640,251432960
TT8_MAMPS	0.020972,0.020972	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
HUMID	71.18	INTR	0,6980.16,0x23777a,7,5
INTERNAL_PRESSURE	8.67221	SOUNDSPEED	1465.0
TCM_TEMP	12.80	CURRENT	0.078,207.88,1
XPDR_PINGS	0	GPS	281214,150133,-6624.696,12001.337,84,9.7,104,-106.5
_24V_AH	23.32,5.042

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	239	141.41	SBE_CT	686	23	383.47
Roll_motor	34	106	85.74	WL_BB2FLVMG	407	105	998.07
VBD_pump_during_apogee	396	1038	9587.21	nil	0	0	0.00
VBD_pump_during_surface	42	741	736.42	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	159	130	485.58	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	75	36	27.32
TT8	2381	13	319.00
LPSleep	1606	2	36.63
TT8_Active	625	12	79.16
TT8_Sampling	1742	41	710.15
TT8_CF8	144	51	72.53
TT8_Kalman	0	0	0.00
Analog_circuits	1600	10	164.26
GPS_charging	0	0	0.00
Compass	1499	5	73.99
RAFOS	480	1	7.11
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
16	-0.96	-194.6	584	2388	857	1076	0.0	0.0	0	171	0.00	0.00	-152.52	0.000	16386	0.000	0.000	585	2389	3010	1027	3010	0	0	0	0	0	0	28.83	28.83	28.83
174	-0.96	-194.6	585	2389	947	3010	3.9	-8.1	25	201	12.15	0.00	-8.88	0.000	18950	0.239	0.000	2363	2388	3316	1155	3316	0	0	0	0	0	0	24.31	28.83	24.83
385	-0.92	-194.6	2362	2388	540	3316	36.3	-12.6	65	391	0.00	2.12	0.00	0.000	516	0.000	0.083	2363	1217	3316	644	3316	0	0	0	0	0	0	28.83	24.54	28.83
440	-0.92	-194.6	2363	1216	556	3316	42.9	-11.6	75	446	0.00	2.00	0.00	0.000	1030	0.000	0.050	2363	2383	3316	659	3316	0	0	0	0	0	0	28.83	24.59	28.83
630	-0.88	-194.6	2362	2384	534	3316	65.9	-12.1	112	636	0.12	0.00	0.00	0.000	2054	0.135	0.000	2386	2384	3316	637	3316	0	0	0	0	0	0	24.59	28.83	28.83
819	-0.88	-194.6	2386	2384	550	3316	86.0	-10.5	149	825	0.00	0.00	0.00	0.000	6	0.000	0.000	2386	2384	3316	652	3316	0	0	0	0	0	0	28.83	28.83	28.83
1008	-0.88	-194.6	2386	2384	547	3316	105.5	-9.7	186	1015	0.00	0.00	0.00	0.000	6	0.000	0.000	2386	2384	3316	667	3316	0	0	0	0	0	0	28.83	28.83	28.83
1199	-0.88	-194.6	2386	2384	529	3316	125.2	-10.5	223	1205	0.00	0.00	0.00	0.000	6	0.000	0.000	2386	2384	3316	634	3316	0	0	0	0	0	0	28.83	28.83	28.83
1387	-0.88	-194.6	2386	2384	522	3316	144.5	-10.1	260	1393	0.00	2.12	0.00	0.000	516	0.000	0.085	2386	1214	3316	629	3316	0	0	0	0	0	0	28.83	24.61	28.83
1436	-0.92	-194.6	2386	1213	575	3316	149.5	-10.1	269	1443	0.00	2.00	0.00	0.000	1030	0.000	0.050	2386	2381	3316	679	3316	0	0	0	0	0	0	28.83	24.65	28.83
1626	-0.92	-194.6	2386	2381	549	3316	168.9	-10.3	306	1632	0.00	0.00	0.00	0.000	6	0.000	0.000	2386	2381	3316	667	3316	0	0	0	0	0	0	28.83	28.83	28.83
1816	-0.92	-194.6	2386	2381	553	3316	188.9	-10.5	343	1822	0.00	0.00	0.00	0.000	6	0.000	0.000	2386	2381	3316	655	3316	0	0	0	0	0	0	28.83	28.83	28.83
2004	-0.92	-194.6	2386	2381	526	3316	208.4	-10.1	380	2010	0.00	0.00	0.00	0.000	6	0.000	0.000	2386	2381	3316	632	3316	0	0	0	0	0	0	28.83	28.83	28.83
2193	-0.95	-194.6	2386	2381	527	3316	227.0	-9.7	417	2200	0.00	2.10	0.00	0.000	516	0.000	0.084	2386	1221	3316	633	3316	0	0	0	0	0	0	28.83	24.64	28.83
2238	-1.00	-194.6	2386	1221	605	3316	231.5	-9.8	425	2246	0.12	1.98	0.00	0.000	5126	0.075	0.050	2358	2381	3316	704	3316	0	0	0	0	0	0	24.73	24.68	28.83
2445	-0.97	-194.6	2358	2381	336	3316	255.0	-11.5	459	2446	0.00	0.00	0.00	0.000	6	0.000	0.000	2359	2381	3316	344	3316	0	0	0	0	0	0	28.83	28.83	28.83
2624	-0.93	-194.6	2358	2381	314	3316	275.8	-11.5	468	2628	0.00	2.10	0.00	0.000	260	0.000	0.087	2358	3542	3316	371	3316	0	0	0	0	0	0	28.83	24.60	28.83
2669	-0.93	-194.6	2358	3542	369	3316	281.3	-12.0	477	2673	0.00	2.08	0.00	0.000	1030	0.000	0.076	2359	2384	3316	425	3316	0	0	0	0	0	0	28.83	24.65	28.83
2844	end dive: TARGET_DEPTH_EXCEEDED
state	2844	begin apogee
2850	-0.25	0.0	2358	2094	337	3316	301.5	-11.6	488	3008	0.85	0.00	153.77	1.031	10246	0.123	0.000	2518	2094	2519	1621	2519	0	0	0	0	0	0	24.65	28.83	23.35
3009	end apogee: CONTROL_FINISHED_OK
state	3009	begin climb
3011	0.96	194.6	2518	2094	948	2517	309.0	0.0	496	3180	1.35	0.00	156.98	0.978	10758	0.090	0.000	2786	2094	1724	1736	1724	0	0	0	0	0	0	24.10	28.83	23.32
3368	1.06	260.9	2785	2094	314	1713	288.7	7.6	541	3431	0.12	2.22	55.58	1.038	10500	0.086	0.076	2814	3263	1455	1299	1455	0	0	0	0	0	0	24.53	23.97	23.33
3582	1.06	260.9	2814	3263	598	1447	267.0	10.3	584	3589	0.00	2.12	0.00	0.000	1030	0.000	0.083	2814	2104	1447	712	1447	0	0	0	0	0	0	28.83	24.46	28.83
3769	1.06	264.6	2814	2104	314	1445	248.6	9.9	594	3776	0.00	0.00	0.00	0.000	6	0.000	0.000	2814	2103	1445	468	1445	0	0	0	0	0	0	28.83	28.83	28.83
3959	1.06	264.6	2814	2103	461	1443	230.2	10.0	631	3965	0.00	0.00	0.00	0.000	6	0.000	0.000	2814	2103	1443	583	1443	0	0	0	0	0	0	28.83	28.83	28.83
4148	1.07	276.0	2814	2103	524	1442	212.0	9.6	668	4167	0.00	2.33	12.65	0.944	8708	0.000	0.106	2814	933	1393	880	1393	0	0	0	0	0	0	28.83	24.16	23.59
4185	1.07	276.0	2814	933	566	1392	208.3	10.1	674	4193	0.00	2.00	0.00	0.000	1030	0.000	0.041	2814	2108	1392	701	1392	0	0	0	0	0	0	28.83	24.38	28.83
4379	1.12	286.7	2814	2107	540	1389	189.8	9.6	711	4392	0.00	0.00	10.23	0.921	8198	0.000	0.000	2814	2107	1351	778	1351	0	0	0	0	0	0	28.83	28.83	23.61
4575	1.16	289.6	2814	2107	528	1347	170.4	9.9	749	4581	0.00	0.00	0.00	0.000	6	0.000	0.000	2814	2108	1347	645	1347	0	0	0	0	0	0	28.83	28.83	28.83
4765	1.20	293.3	2814	2108	559	1346	151.5	9.9	786	4780	0.12	2.22	6.82	0.838	10756	0.090	0.097	2843	935	1324	809	1324	0	0	0	0	0	0	24.63	24.32	23.72
4808	1.16	293.3	2843	934	797	1324	146.5	12.5	793	4815	0.00	1.98	0.00	0.000	1030	0.000	0.042	2843	2099	1324	891	1324	0	0	0	0	0	0	28.83	24.48	28.83
4998	1.16	293.3	2843	2100	543	1323	124.3	11.6	830	5005	0.00	0.00	0.00	0.000	6	0.000	0.000	2844	2100	1323	677	1323	0	0	0	0	0	0	28.83	28.83	28.83
5188	1.16	293.3	2843	2100	532	1322	102.5	11.4	867	5193	0.00	0.00	0.00	0.000	6	0.000	0.000	2844	2099	1323	649	1323	0	0	0	0	0	0	28.83	28.83	28.83
5376	1.16	293.3	2843	2100	536	1322	81.5	11.1	904	5383	0.00	2.05	0.00	0.000	260	0.000	0.074	2844	3266	1322	655	1322	0	0	0	0	0	0	28.83	24.58	28.83
5400	1.16	293.3	2843	3265	597	1322	78.9	11.7	908	5406	0.00	2.10	0.00	0.000	1030	0.000	0.080	2843	2099	1322	712	1322	0	0	0	0	0	0	28.83	24.58	28.83
5589	1.16	293.3	2843	2099	531	1322	57.6	11.1	945	5595	0.00	0.00	0.00	0.000	6	0.000	0.000	2844	2099	1322	648	1322	0	0	0	0	0	0	28.83	28.83	28.83
5779	1.16	293.3	2843	2099	570	1322	36.9	10.4	982	5785	0.00	0.00	0.00	0.000	6	0.000	0.000	2844	2099	1322	702	1322	0	0	0	0	0	0	28.83	28.83	28.83
5969	1.16	293.3	2843	2099	558	1322	15.7	11.8	1019	5975	0.00	0.00	0.00	0.000	6	0.000	0.000	2844	2099	1322	674	1322	0	0	0	0	0	0	28.83	28.83	28.83
6091	end climb: SURFACE_DEPTH_REACHED
state	6091	begin surface coast
6108	end surface coast: CONTROL_FINISHED_OK
state	6108	begin surface