Glider dive log

Shilshole 19Feb15 * SG130 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 130 HD_C 2.7118101e-06 ROLL_MAX 3700 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 24 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 4 ESCAPE_HEADING 0 C_ROLL_DIVE 2200 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1890 ALTIM_PING_DEPTH 100

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 2 TGT_DEFAULT_LAT 44.380001 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 180 TGT_DEFAULT_LON -125.01 ROLL_TIMEOUT 15 ALTIM_PULSE 6

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT -10 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 300 R_STBD_OVSHOOT -10 XPDR_VALID 2

D_BOOST 3 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0.89999998

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 0 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 C_VBD 2300 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 101

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 131

T_DIVE 75 CALL_TRIES 10 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 500 CAPMAXSIZE 200000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 15 UNCOM_BLEED 50 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY -6 T_GPS_CHARGE -172159.23 DBDW 0 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 3 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 48

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 2 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 92 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 97 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 600 MINV_24V 18 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3702 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2617 FG_AHR_10V 0 SEABIRD_T_G 0.0044035749

GLIDE_SLOPE 35 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00064291171

SPEED_FACTOR 1 PITCH_CNV 0.0046000001 PHONE_SUPPLY 2 SEABIRD_T_I 2.7386095e-05

RHO 1.023 P_OVSHOOT 0.039999999 PRESSURE_YINT -10.099391 SEABIRD_T_J 3.1457723e-06

MASS 51861 PITCH_GAIN 17 PRESSURE_SLOPE 0.0001159091 SEABIRD_C_G -9.7818193

MASS_COMP 0 PITCH_TIMEOUT 18 AD7714Ch0Gain 128 SEABIRD_C_H 1.0996603

NAV_MODE 1 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.00026411601

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00011607879

KALMAN_USE 1 PITCH_ADJ_GAIN 0 COMPASS_USE 4

HD_A 0.0021100601 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0121726 ROLL_MIN 240 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 300

AH0_10V 97 D_PITCH 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

AH0_24V 92 D_SAFE 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 180 PITCH_CNV 0.0046000001 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 17 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 100 FERRY_MAX 45 PITCH_MAX 3702 TCM_ROLL_OFFSET 0

ALTIM_PULSE 6 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MIN 600 TGT_DEFAULT_LAT 44.380001

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 18 TGT_DEFAULT_LON -125.01

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 35 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 75

CALL_NDIVES 1 HD_A 0.0021100601 PRESSURE_SLOPE 0.0001159091 T_EPIRB 0

CALL_TRIES 10 HD_B 0.0121726 PRESSURE_YINT -10.099391 T_GPS 15

CALL_WAIT 45 HD_C 2.7118101e-06 PROTOCOL 0 T_GPS_ALMANAC 0

CAPMAXSIZE 200000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -172159.23

CAPUPLOAD 1 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 2 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 130 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 500

COMPASS_USE 4 INT_PRESSURE_YINT 0.89999998 RHO 1.023 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2617 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_ROLL_CLIMB 1890 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2200 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY -6

C_VBD 2300 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3700 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 51861 ROLL_MAXERRORS 2 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 240 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 101 MINV_10V 8 R_PORT_OVSHOOT -10 VBD_MAXERRORS 1

DEVICE3 131 MINV_24V 18 R_STBD_OVSHOOT -10 VBD_MIN 500

DEVICE4 -1 MISSION 24 SEABIRD_C_G -9.7818193 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.0996603 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.00026411601 VBD_TIMEOUT 720

DIVE 4 NOCOMM_ACTION 0 SEABIRD_C_J 0.00011607879 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0044035749 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.00064291171 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.7386095e-05 XPDR_VALID 2

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 3.1457723e-06

D_FLARE 2 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 500 PHONE_DEVICE 48 SIM_W 0

Pre-dive calculations and measurements:

GPS1 190215,212207,4743.293,-12224.511,9,1.5,10,18.2 TGT_NAME NORTH

_CALLS 1 TGT_LATLONG 4744.500,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.034,0.220

_SM_DEPTHo 0.71 KALMAN_X -58.4,44.1,125.2,-565.4,-115.0

_SM_ANGLEo -66.9 KALMAN_Y -653.0,-446.4,-197.2,1641.3,-231.3

GPS2 190215,213154,4743.208,-12224.596,14,1.6,14,18.2 MHEAD_RNG_PITCHd_Wd 350.6,2395,-12.7,-8.000,-19.81,2788

SPEED_LIMITS 0.114,0.222 D_GRID 177

Post-dive calculations and measurements:

FINISH -0.1,1.004997 _24V_AH 23.6,0.480

SM_CCo 4604,76.93,0.053,0,0,1077,300.00 _10V_AH 10.4,0.325

SM_GC 0.96,9.98,0.50,76.93,0.045,0.046,0.053,598,2224,1077,-9.24,-0.40,300.00,0,0,0,0,0,0,24.56,24.60,24.47 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12219.67,190215,202050 FG_AHR_10Vo 0.000

TT8_MAMPS 0.024717,0.024717 MEM 323316

HUMID 49.21 DATA_FILE_SIZE 60542,869

INTERNAL_PRESSURE 9.15227 CAP_FILE_SIZE 90916,0

TCM_TEMP 19.30 CFSIZE 260165632,259186688

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

ALTIM_BOTTOM_PING 120.2,71.5 GPS 190215,225206,4743.281,-12224.668,39,1.2,40,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 157 82.94 SBE_CT 614 24 358.39

Roll_motor 76 123 222.28 AA4330 732 11 194.18

VBD_pump_during_apogee 227 618 3322.70 WL_BBFL2 736 68 1185.22

VBD_pump_during_surface 76 52 95.83 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 54 42.25 nil 0 0 0.00

Iridium_during_connect 47 160 180.11 nil 0 0 0.00

Iridium_during_xfer 369 223 1942.16 nil 0 0 0.00

Transponder_ping 1 420 14.87 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 30 5.70

TT8 1943 12 243.80

LPSleep 942 2 21.46

TT8_Active 434 12 54.45

TT8_Sampling 1750 38 696.87

TT8_CF8 193 45 90.43

TT8_Kalman 32 64 21.61

Analog_circuits 1112 14 172.37

GPS_charging 0 0 0.00

Compass 1278 14 199.20

RAFOS 0 0 0.00

Transponder 11 30 3.71

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 14 begin dive

16 -0.93 -146.6 596 2170 1125 1016 0.0 0.0 0 62 0.00 0.00 -43.58 0.000 16386 0.000 0.000 597 2170 2355 2387 2323 0 0 0 0 0 0 28.83 28.83 28.83

66 -0.93 -146.6 596 2170 2387 2323 2.3 -6.1 8 96 10.32 2.65 -13.73 0.000 18692 0.158 0.069 2408 3612 2899 2945 2854 0 0 0 0 0 0 24.26 24.32 24.72

134 -0.93 -146.6 1448 3611 2895 2846 8.6 -10.6 20 140 0.00 2.45 0.00 0.000 1030 0.000 0.038 2408 2186 2900 2946 2855 0 0 0 0 0 0 28.83 24.44 28.83

263 -0.93 -146.6 1440 2184 2895 2846 20.2 -9.0 45 269 0.00 2.55 0.00 0.000 260 0.000 0.057 2408 3613 2900 2946 2855 0 0 0 0 0 0 28.83 24.38 28.83

302 -0.93 -146.6 2408 3614 2946 2855 24.0 -9.4 52 309 0.00 2.45 0.00 0.000 1030 0.000 0.038 2408 2187 2900 2946 2855 0 0 0 0 0 0 28.83 24.48 28.83

432 -0.93 -146.6 2408 2187 2946 2855 35.6 -8.6 77 439 0.00 2.47 0.00 0.000 516 0.000 0.054 2408 780 2900 2946 2855 0 0 0 0 0 0 28.83 24.45 28.83

593 -0.93 -146.6 2408 780 2946 2855 49.4 -9.0 108 600 0.00 2.45 0.00 0.000 1030 0.000 0.037 2408 2210 2901 2946 2856 0 0 0 0 0 0 28.83 24.51 28.83

725 -0.93 -146.6 2408 2210 2946 2855 59.0 -7.5 133 731 0.00 2.47 0.00 0.000 260 0.000 0.057 2408 3618 2900 2946 2855 0 0 0 0 0 0 28.83 24.43 28.83

834 -0.93 -146.6 1440 3616 2894 2846 67.8 -7.9 154 841 0.00 2.45 0.00 0.000 1030 0.000 0.037 2408 2186 2900 2946 2855 0 0 0 0 0 0 28.83 24.54 28.83

1026 -0.93 -146.6 2408 2186 2946 2855 82.5 -8.2 191 1032 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2186 2900 2946 2855 0 0 0 0 0 0 28.83 28.83 28.83

1215 -0.93 -146.6 2408 2186 2946 2855 97.0 -7.7 228 1222 0.00 2.47 0.00 0.000 516 0.000 0.054 2408 771 2900 2946 2855 0 0 0 0 0 0 28.83 24.53 28.83

1250 -0.93 -146.6 2407 770 2946 2855 100.2 -8.6 234 1257 0.00 2.47 0.00 0.000 1030 0.000 0.037 2408 2218 2900 2946 2855 0 0 0 0 0 0 28.83 24.57 28.83

1441 -0.93 -146.6 2408 2219 2946 2855 115.4 -7.2 271 1447 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2219 2900 2946 2855 0 0 0 0 0 0 28.83 28.83 28.83

1633 -0.93 -146.6 2408 2219 2946 2855 131.8 -8.3 308 1640 0.00 2.53 0.00 0.000 516 0.000 0.054 2408 781 2900 2945 2856 0 0 0 0 0 0 28.83 24.56 28.83

1703 -0.93 -146.6 2408 781 2946 2855 138.3 -9.6 321 1709 0.00 2.42 0.00 0.000 1030 0.000 0.038 2408 2210 2900 2946 2855 0 0 0 0 0 0 28.83 24.60 28.83

1893 -0.93 -146.6 2408 2210 2946 2855 149.2 -6.5 358 1900 0.00 2.47 0.00 0.000 260 0.000 0.060 2408 3612 2900 2946 2855 0 0 0 0 0 0 28.83 24.51 28.83

2008 -0.93 -146.6 2408 3611 2947 2855 157.5 -7.5 380 2015 0.00 2.45 0.00 0.000 1030 0.000 0.039 2408 2181 2900 2946 2855 0 0 0 0 0 0 28.83 24.63 28.83

2199 -0.93 -146.6 2408 2181 2946 2855 170.0 -5.9 417 2206 0.00 2.42 0.00 0.000 516 0.000 0.054 2408 780 2900 2946 2855 0 0 0 0 0 0 28.83 24.60 28.83

2264 -0.93 -146.6 2408 781 2946 2855 174.2 -7.0 429 2271 0.00 2.42 0.00 0.000 1030 0.000 0.037 2408 2211 2900 2946 2855 0 0 0 0 0 0 28.83 24.64 28.83

2301 end dive: TARGET_DEPTH_EXCEEDED

state 2301 begin apogee

2307 -0.29 0.0 2408 1863 2946 2855 177.1 -6.4 436 2423 0.68 0.08 109.25 0.618 10246 0.098 0.110 2545 1918 2299 2364 2235 0 0 0 0 0 0 24.54 24.06 23.68

2426 end apogee: CONTROL_FINISHED_OK

state 2426 begin climb

2428 0.93 146.6 2545 1918 2364 2235 179.1 0.0 457 2550 1.33 2.67 110.82 0.588 11012 0.092 0.060 2813 467 1701 1781 1622 0 0 0 0 0 0 24.18 24.06 23.64

2574 0.93 146.6 2813 467 1780 1622 167.7 10.7 483 2581 0.00 2.47 0.00 0.000 1030 0.000 0.035 2813 1915 1700 1779 1622 0 0 0 0 0 0 28.83 24.29 28.83

2765 0.93 146.6 2812 1915 1778 1616 150.2 9.3 520 2771 0.00 2.45 0.00 0.000 260 0.000 0.050 2813 3319 1696 1778 1615 0 0 0 0 0 0 28.83 24.35 28.83

2786 0.93 146.6 2813 3318 1778 1614 148.3 9.3 523 2792 0.00 2.50 0.00 0.000 1030 0.000 0.044 2813 1879 1696 1778 1614 0 0 0 0 0 0 28.83 24.37 28.83

2975 0.93 146.6 1760 1877 1727 1607 131.2 9.2 560 2982 0.00 2.55 0.00 0.000 516 0.000 0.061 2813 466 1695 1777 1613 0 0 0 0 0 0 28.83 24.36 28.83

3000 0.93 146.6 2813 466 1777 1613 128.7 10.5 564 3006 0.00 2.47 0.00 0.000 1030 0.000 0.035 2813 1916 1695 1777 1613 0 0 0 0 0 0 28.83 24.43 28.83

3190 0.93 151.2 2813 1920 1778 1613 111.6 7.8 601 3197 0.00 0.00 4.22 0.369 8710 0.000 0.000 2813 1920 1682 1766 1599 0 0 0 0 0 0 28.83 28.83 23.96

3381 0.93 151.2 2813 1920 1766 1600 97.8 8.1 638 3387 0.00 2.60 0.00 0.000 516 0.000 0.060 2813 473 1682 1766 1599 0 0 0 0 0 0 28.83 24.41 28.83

3405 0.93 151.2 1760 472 1716 1593 95.8 8.6 642 3411 0.00 2.45 0.00 0.000 1030 0.000 0.035 2813 1910 1682 1766 1599 0 0 0 0 0 0 28.83 24.48 28.83

3595 0.93 151.2 2813 1910 1766 1599 79.3 9.2 679 3601 0.00 0.00 0.00 0.000 6 0.000 0.000 2813 1910 1682 1766 1599 0 0 0 0 0 0 28.83 28.83 28.83

3785 0.93 151.2 2813 1910 1766 1598 62.2 8.7 716 3791 0.00 2.58 0.00 0.000 516 0.000 0.060 2813 473 1682 1766 1599 0 0 0 0 0 0 28.83 24.46 28.83

3869 0.93 151.2 1760 473 1716 1592 54.6 9.0 732 3875 0.00 2.45 0.00 0.000 1030 0.000 0.035 2813 1913 1682 1766 1598 0 0 0 0 0 0 28.83 24.53 28.83

4059 0.93 151.2 1760 1912 1716 1592 39.7 8.5 769 4065 0.00 2.42 0.00 0.000 260 0.000 0.050 2813 3315 1682 1766 1598 0 0 0 0 0 0 28.83 24.51 28.83

4103 0.93 151.2 1760 3313 1716 1591 35.6 9.3 777 4109 0.00 2.50 0.00 0.000 1030 0.000 0.043 2813 1869 1682 1766 1598 0 0 0 0 0 0 28.83 24.53 28.83

4232 0.93 151.2 2813 1870 1767 1597 23.9 8.5 802 4238 0.00 0.00 0.00 0.000 6 0.000 0.000 2813 1870 1681 1766 1597 0 0 0 0 0 0 28.83 28.83 28.83

4363 0.94 153.6 2813 1870 1766 1597 14.2 7.9 827 4375 0.00 2.55 3.47 0.299 8708 0.000 0.060 2813 472 1673 1758 1588 0 0 0 0 0 0 28.83 24.48 24.10

4413 0.94 153.6 2813 472 1758 1588 9.3 10.0 836 4420 0.00 2.45 0.00 0.000 1030 0.000 0.034 2813 1919 1672 1757 1588 0 0 0 0 0 0 28.83 24.56 28.83

4511 end climb: SURFACE_DEPTH_REACHED

state 4512 begin surface coast

4584 end surface coast: CONTROL_FINISHED_OK

state 4584 begin surface

ID	130	HD_C	2.7118101e-06	ROLL_MAX	3700	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	24	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	4	ESCAPE_HEADING	0	C_ROLL_DIVE	2200	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1890	ALTIM_PING_DEPTH	100
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	2	TGT_DEFAULT_LAT	44.380001	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	180	TGT_DEFAULT_LON	-125.01	ROLL_TIMEOUT	15	ALTIM_PULSE	6
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	-10	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	300	R_STBD_OVSHOOT	-10	XPDR_VALID	2
D_BOOST	3	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0.89999998
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	0	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	C_VBD	2300	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	101
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	131
T_DIVE	75	CALL_TRIES	10	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	500	CAPMAXSIZE	200000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	15	UNCOM_BLEED	50	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	-6	T_GPS_CHARGE	-172159.23	DBDW	0	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	3	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	48
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	2	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	92	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	97	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	600	MINV_24V	18	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3702	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2617	FG_AHR_10V	0	SEABIRD_T_G	0.0044035749
GLIDE_SLOPE	35	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00064291171
SPEED_FACTOR	1	PITCH_CNV	0.0046000001	PHONE_SUPPLY	2	SEABIRD_T_I	2.7386095e-05
RHO	1.023	P_OVSHOOT	0.039999999	PRESSURE_YINT	-10.099391	SEABIRD_T_J	3.1457723e-06
MASS	51861	PITCH_GAIN	17	PRESSURE_SLOPE	0.0001159091	SEABIRD_C_G	-9.7818193
MASS_COMP	0	PITCH_TIMEOUT	18	AD7714Ch0Gain	128	SEABIRD_C_H	1.0996603
NAV_MODE	1	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.00026411601
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00011607879
KALMAN_USE	1	PITCH_ADJ_GAIN	0	COMPASS_USE	4
HD_A	0.0021100601	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0121726	ROLL_MIN	240	ALTIM_TOP_PING_RANGE	0

GPS1	190215,212207,4743.293,-12224.511,9,1.5,10,18.2	TGT_NAME	NORTH
_CALLS	1	TGT_LATLONG	4744.500,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.034,0.220
_SM_DEPTHo	0.71	KALMAN_X	-58.4,44.1,125.2,-565.4,-115.0
_SM_ANGLEo	-66.9	KALMAN_Y	-653.0,-446.4,-197.2,1641.3,-231.3
GPS2	190215,213154,4743.208,-12224.596,14,1.6,14,18.2	MHEAD_RNG_PITCHd_Wd	350.6,2395,-12.7,-8.000,-19.81,2788
SPEED_LIMITS	0.114,0.222	D_GRID	177

FINISH	-0.1,1.004997	_24V_AH	23.6,0.480
SM_CCo	4604,76.93,0.053,0,0,1077,300.00	_10V_AH	10.4,0.325
SM_GC	0.96,9.98,0.50,76.93,0.045,0.046,0.053,598,2224,1077,-9.24,-0.40,300.00,0,0,0,0,0,0,24.56,24.60,24.47	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12219.67,190215,202050	FG_AHR_10Vo	0.000
TT8_MAMPS	0.024717,0.024717	MEM	323316
HUMID	49.21	DATA_FILE_SIZE	60542,869
INTERNAL_PRESSURE	9.15227	CAP_FILE_SIZE	90916,0
TCM_TEMP	19.30	CFSIZE	260165632,259186688
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_BOTTOM_PING	120.2,71.5	GPS	190215,225206,4743.281,-12224.668,39,1.2,40,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	157	82.94	SBE_CT	614	24	358.39
Roll_motor	76	123	222.28	AA4330	732	11	194.18
VBD_pump_during_apogee	227	618	3322.70	WL_BBFL2	736	68	1185.22
VBD_pump_during_surface	76	52	95.83	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	54	42.25	nil	0	0	0.00
Iridium_during_connect	47	160	180.11	nil	0	0	0.00
Iridium_during_xfer	369	223	1942.16	nil	0	0	0.00
Transponder_ping	1	420	14.87	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	30	5.70
TT8	1943	12	243.80
LPSleep	942	2	21.46
TT8_Active	434	12	54.45
TT8_Sampling	1750	38	696.87
TT8_CF8	193	45	90.43
TT8_Kalman	32	64	21.61
Analog_circuits	1112	14	172.37
GPS_charging	0	0	0.00
Compass	1278	14	199.20
RAFOS	0	0	0.00
Transponder	11	30	3.71

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	14	begin dive
16	-0.93	-146.6	596	2170	1125	1016	0.0	0.0	0	62	0.00	0.00	-43.58	0.000	16386	0.000	0.000	597	2170	2355	2387	2323	0	0	0	0	0	0	28.83	28.83	28.83
66	-0.93	-146.6	596	2170	2387	2323	2.3	-6.1	8	96	10.32	2.65	-13.73	0.000	18692	0.158	0.069	2408	3612	2899	2945	2854	0	0	0	0	0	0	24.26	24.32	24.72
134	-0.93	-146.6	1448	3611	2895	2846	8.6	-10.6	20	140	0.00	2.45	0.00	0.000	1030	0.000	0.038	2408	2186	2900	2946	2855	0	0	0	0	0	0	28.83	24.44	28.83
263	-0.93	-146.6	1440	2184	2895	2846	20.2	-9.0	45	269	0.00	2.55	0.00	0.000	260	0.000	0.057	2408	3613	2900	2946	2855	0	0	0	0	0	0	28.83	24.38	28.83
302	-0.93	-146.6	2408	3614	2946	2855	24.0	-9.4	52	309	0.00	2.45	0.00	0.000	1030	0.000	0.038	2408	2187	2900	2946	2855	0	0	0	0	0	0	28.83	24.48	28.83
432	-0.93	-146.6	2408	2187	2946	2855	35.6	-8.6	77	439	0.00	2.47	0.00	0.000	516	0.000	0.054	2408	780	2900	2946	2855	0	0	0	0	0	0	28.83	24.45	28.83
593	-0.93	-146.6	2408	780	2946	2855	49.4	-9.0	108	600	0.00	2.45	0.00	0.000	1030	0.000	0.037	2408	2210	2901	2946	2856	0	0	0	0	0	0	28.83	24.51	28.83
725	-0.93	-146.6	2408	2210	2946	2855	59.0	-7.5	133	731	0.00	2.47	0.00	0.000	260	0.000	0.057	2408	3618	2900	2946	2855	0	0	0	0	0	0	28.83	24.43	28.83
834	-0.93	-146.6	1440	3616	2894	2846	67.8	-7.9	154	841	0.00	2.45	0.00	0.000	1030	0.000	0.037	2408	2186	2900	2946	2855	0	0	0	0	0	0	28.83	24.54	28.83
1026	-0.93	-146.6	2408	2186	2946	2855	82.5	-8.2	191	1032	0.00	0.00	0.00	0.000	6	0.000	0.000	2408	2186	2900	2946	2855	0	0	0	0	0	0	28.83	28.83	28.83
1215	-0.93	-146.6	2408	2186	2946	2855	97.0	-7.7	228	1222	0.00	2.47	0.00	0.000	516	0.000	0.054	2408	771	2900	2946	2855	0	0	0	0	0	0	28.83	24.53	28.83
1250	-0.93	-146.6	2407	770	2946	2855	100.2	-8.6	234	1257	0.00	2.47	0.00	0.000	1030	0.000	0.037	2408	2218	2900	2946	2855	0	0	0	0	0	0	28.83	24.57	28.83
1441	-0.93	-146.6	2408	2219	2946	2855	115.4	-7.2	271	1447	0.00	0.00	0.00	0.000	6	0.000	0.000	2408	2219	2900	2946	2855	0	0	0	0	0	0	28.83	28.83	28.83
1633	-0.93	-146.6	2408	2219	2946	2855	131.8	-8.3	308	1640	0.00	2.53	0.00	0.000	516	0.000	0.054	2408	781	2900	2945	2856	0	0	0	0	0	0	28.83	24.56	28.83
1703	-0.93	-146.6	2408	781	2946	2855	138.3	-9.6	321	1709	0.00	2.42	0.00	0.000	1030	0.000	0.038	2408	2210	2900	2946	2855	0	0	0	0	0	0	28.83	24.60	28.83
1893	-0.93	-146.6	2408	2210	2946	2855	149.2	-6.5	358	1900	0.00	2.47	0.00	0.000	260	0.000	0.060	2408	3612	2900	2946	2855	0	0	0	0	0	0	28.83	24.51	28.83
2008	-0.93	-146.6	2408	3611	2947	2855	157.5	-7.5	380	2015	0.00	2.45	0.00	0.000	1030	0.000	0.039	2408	2181	2900	2946	2855	0	0	0	0	0	0	28.83	24.63	28.83
2199	-0.93	-146.6	2408	2181	2946	2855	170.0	-5.9	417	2206	0.00	2.42	0.00	0.000	516	0.000	0.054	2408	780	2900	2946	2855	0	0	0	0	0	0	28.83	24.60	28.83
2264	-0.93	-146.6	2408	781	2946	2855	174.2	-7.0	429	2271	0.00	2.42	0.00	0.000	1030	0.000	0.037	2408	2211	2900	2946	2855	0	0	0	0	0	0	28.83	24.64	28.83
2301	end dive: TARGET_DEPTH_EXCEEDED
state	2301	begin apogee
2307	-0.29	0.0	2408	1863	2946	2855	177.1	-6.4	436	2423	0.68	0.08	109.25	0.618	10246	0.098	0.110	2545	1918	2299	2364	2235	0	0	0	0	0	0	24.54	24.06	23.68
2426	end apogee: CONTROL_FINISHED_OK
state	2426	begin climb
2428	0.93	146.6	2545	1918	2364	2235	179.1	0.0	457	2550	1.33	2.67	110.82	0.588	11012	0.092	0.060	2813	467	1701	1781	1622	0	0	0	0	0	0	24.18	24.06	23.64
2574	0.93	146.6	2813	467	1780	1622	167.7	10.7	483	2581	0.00	2.47	0.00	0.000	1030	0.000	0.035	2813	1915	1700	1779	1622	0	0	0	0	0	0	28.83	24.29	28.83
2765	0.93	146.6	2812	1915	1778	1616	150.2	9.3	520	2771	0.00	2.45	0.00	0.000	260	0.000	0.050	2813	3319	1696	1778	1615	0	0	0	0	0	0	28.83	24.35	28.83
2786	0.93	146.6	2813	3318	1778	1614	148.3	9.3	523	2792	0.00	2.50	0.00	0.000	1030	0.000	0.044	2813	1879	1696	1778	1614	0	0	0	0	0	0	28.83	24.37	28.83
2975	0.93	146.6	1760	1877	1727	1607	131.2	9.2	560	2982	0.00	2.55	0.00	0.000	516	0.000	0.061	2813	466	1695	1777	1613	0	0	0	0	0	0	28.83	24.36	28.83
3000	0.93	146.6	2813	466	1777	1613	128.7	10.5	564	3006	0.00	2.47	0.00	0.000	1030	0.000	0.035	2813	1916	1695	1777	1613	0	0	0	0	0	0	28.83	24.43	28.83
3190	0.93	151.2	2813	1920	1778	1613	111.6	7.8	601	3197	0.00	0.00	4.22	0.369	8710	0.000	0.000	2813	1920	1682	1766	1599	0	0	0	0	0	0	28.83	28.83	23.96
3381	0.93	151.2	2813	1920	1766	1600	97.8	8.1	638	3387	0.00	2.60	0.00	0.000	516	0.000	0.060	2813	473	1682	1766	1599	0	0	0	0	0	0	28.83	24.41	28.83
3405	0.93	151.2	1760	472	1716	1593	95.8	8.6	642	3411	0.00	2.45	0.00	0.000	1030	0.000	0.035	2813	1910	1682	1766	1599	0	0	0	0	0	0	28.83	24.48	28.83
3595	0.93	151.2	2813	1910	1766	1599	79.3	9.2	679	3601	0.00	0.00	0.00	0.000	6	0.000	0.000	2813	1910	1682	1766	1599	0	0	0	0	0	0	28.83	28.83	28.83
3785	0.93	151.2	2813	1910	1766	1598	62.2	8.7	716	3791	0.00	2.58	0.00	0.000	516	0.000	0.060	2813	473	1682	1766	1599	0	0	0	0	0	0	28.83	24.46	28.83
3869	0.93	151.2	1760	473	1716	1592	54.6	9.0	732	3875	0.00	2.45	0.00	0.000	1030	0.000	0.035	2813	1913	1682	1766	1598	0	0	0	0	0	0	28.83	24.53	28.83
4059	0.93	151.2	1760	1912	1716	1592	39.7	8.5	769	4065	0.00	2.42	0.00	0.000	260	0.000	0.050	2813	3315	1682	1766	1598	0	0	0	0	0	0	28.83	24.51	28.83
4103	0.93	151.2	1760	3313	1716	1591	35.6	9.3	777	4109	0.00	2.50	0.00	0.000	1030	0.000	0.043	2813	1869	1682	1766	1598	0	0	0	0	0	0	28.83	24.53	28.83
4232	0.93	151.2	2813	1870	1767	1597	23.9	8.5	802	4238	0.00	0.00	0.00	0.000	6	0.000	0.000	2813	1870	1681	1766	1597	0	0	0	0	0	0	28.83	28.83	28.83
4363	0.94	153.6	2813	1870	1766	1597	14.2	7.9	827	4375	0.00	2.55	3.47	0.299	8708	0.000	0.060	2813	472	1673	1758	1588	0	0	0	0	0	0	28.83	24.48	24.10
4413	0.94	153.6	2813	472	1758	1588	9.3	10.0	836	4420	0.00	2.45	0.00	0.000	1030	0.000	0.034	2813	1919	1672	1757	1588	0	0	0	0	0	0	28.83	24.56	28.83
4511	end climb: SURFACE_DEPTH_REACHED
state	4512	begin surface coast
4584	end surface coast: CONTROL_FINISHED_OK
state	4584	begin surface