Glider dive log

Shilshole 07May18.01 * SG401 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 401 HD_C 5.7000002e-06 C_ROLL_DIVE 2050 ALTIM_TOP_TURN_MARGIN 0

MISSION 28 HEADING -1 C_ROLL_CLIMB 1900 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 4 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 120

N_DIVES 5 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.04555 ALTIM_PING_DELTA 2

STOP_T 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13

D_SURF 2 TGT_DEFAULT_LAT 5650 R_PORT_OVSHOOT 20 ALTIM_PULSE 7

D_FLARE 2 TGT_DEFAULT_LON -16401 R_STBD_OVSHOOT 34 ALTIM_SENSITIVITY 3

D_TGT 180 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 250 XPDR_VALID 4

D_ABORT 200 SM_CC 350 ROLL_MAXERRORS 2 XPDR_INHIBIT 90

D_NO_BLEED 200 N_FILEKB 4 ROLL_ADJ_GAIN 1 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 0 FILEMGR 0 ROLL_ADJ_DBAND 0.029999999 INT_PRESSURE_YINT -1.1

T_BOOST 0 CALL_NDIVES 1 VBD_MIN 234 DEEPGLIDER 2

D_FINISH 0 COMM_SEQ 0 VBD_MAX 3400 MOTHERBOARD 4

D_PITCH 0 PROTOCOL 9 C_VBD 2500 DEVICE1 -1

D_SAFE 0 N_NOCOMM 1 VBD_DBAND 2 DEVICE2 -1

D_CALL 0 NOCOMM_ACTION 0 VBD_CNV -0.92339998 DEVICE3 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_LP_IGNORE 2 DEVICE4 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE5 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 10 PITCH_VBD_SHIFT 0.0015 DEVICE6 -1

T_DIVE 50 CALL_WAIT 45 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 1

T_MISSION 60 CAPUPLOAD 1 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 53

T_ABORT 1440 CAPMAXSIZE 200000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

T_TURN 225 HEAPDBG 0 UNCOM_BLEED 80 LOGGERDEVICE3 -1

T_TURN_SAMPINT 6 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

T_NO_W 120 N_GPS 50945 W_ADJ_DBAND 0 COMPASS_DEVICE 97

T_LOITER 0 T_RSLEEP 3 DBDW 0 COMPASS2_DEVICE -1

T_SLOITER 0 STROBE 0 PITCH_W_GAIN 0 PHONE_DEVICE 49

T_EPIRB 0 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 GPS_DEVICE 32

USE_BATHY -6 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 4 RAFOS_DEVICE -1

USE_ICE 0 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

ICE_FREEZE_MARGIN 0.30000001 RAFOS_MMODEM 0 AH0_10V 100 SIM_W 0

D_OFFGRID 100 PITCH_MIN 220 MINV_24V 19 SIM_PITCH 0

T_WATCHDOG 10 PITCH_MAX 3693 MINV_10V 8 SEABIRD_T_G 0.0044153114

RELAUNCH 0 C_PITCH 2490 MAXI_24V 0.60000002 SEABIRD_T_H 0.00064861565

APOGEE_PITCH -5 PITCH_DBAND 0.1 MAXI_10V 0.80000001 SEABIRD_T_I 2.6621732e-05

MAX_BUOY 350 PITCH_CNV 0.00312576 FG_AHR_10V 0 SEABIRD_T_J 3.3947326e-06

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_24V 0 SEABIRD_C_G -10.162049

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0.079999998 PHONE_SUPPLY 2 SEABIRD_C_H 1.142972

SPEED_FACTOR 1 PITCH_GAIN 13 PRESSURE_YINT -51.021927 SEABIRD_C_I -0.0032838252

RHO 1.023 PITCH_TIMEOUT 50 PRESSURE_SLOPE 2.5699999e-05 SEABIRD_C_J 0.00030784801

MASS 74293 PITCH_AD_RATE 70 AD7714Ch0Gain 1 SEABIRD_C_Z 2991.02

MASS_COMP 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 SC_RECORDABOVE 2000.0

NAV_MODE 1 PITCH_ADJ_GAIN 0 TCM_ROLL_OFFSET 0 SC_PROFILE 3.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 COMPASS_USE 4 SC_XMITPROFILE 3.0

KALMAN_USE 1 ROLL_MIN 200 ALTIM_BOTTOM_PING_RANGE 0 SC_NDIVE 1.0

HD_A 0.0040000002 ROLL_MAX 3888 ALTIM_TOP_PING_RANGE 15

HD_B 0.012 ROLL_DEG 45 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 1 D_SURF 2 PITCH_AD_RATE 70 SIM_PITCH 0

AH0_10V 100 D_TGT 180 PITCH_CNV 0.00312576 SIM_W 0

AH0_24V 150 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SM_CC 350

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 13 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_MAX 3693 STOP_T 0

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_MAXERRORS 1 STROBE 0

ALTIM_PING_DELTA 2 FG_AHR_24V 0 PITCH_MIN 220 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 120 FILEMGR 0 PITCH_TIMEOUT 50 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 7 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0015 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 GLIDE_SLOPE 30 PITCH_W_DBAND 0 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PITCH_W_GAIN 0 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 15 HD_A 0.0040000002 PRESSURE_SLOPE 2.5699999e-05 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.012 PRESSURE_YINT -51.021927 TGT_DEFAULT_LAT 5650

APOGEE_PITCH -5 HD_C 5.7000002e-06 PROTOCOL 9 TGT_DEFAULT_LON -16401

CALL_NDIVES 1 HEADING -1 P_OVSHOOT 0.039999999 T_ABORT 1440

CALL_TRIES 10 HEAD_ERRBAND 10 P_OVSHOOT_WITHG 0.079999998 T_BOOST 0

CALL_WAIT 45 HEAPDBG 0 RAFOS_CORR_THRESH 60 T_DIVE 50

CAPMAXSIZE 200000 ICE_FREEZE_MARGIN 0.30000001 RAFOS_DEVICE -1 T_EPIRB 0

CAPUPLOAD 1 ID 401 RAFOS_HIT_WINDOW 3600 T_GPS 5

CF8_MAXERRORS 4 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_MMODEM 0 T_LOITER 0

COMM_SEQ 0 INT_PRESSURE_YINT -1.1 RAFOS_PEAK_OFFSET 1.5 T_MISSION 60

COMPASS2_DEVICE -1 KALMAN_USE 1 RELAUNCH 0 T_NO_W 120

COMPASS_DEVICE 97 LOGGERDEVICE1 53 RHO 1.023 T_RSLEEP 3

COMPASS_USE 4 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0.029999999 T_SLOITER 0

COURSE_BIAS 0 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 1 T_TURN 225

C_PITCH 2490 LOGGERDEVICE4 -1 ROLL_AD_RATE 250 T_TURN_SAMPINT 6

C_ROLL_CLIMB 1900 LOGGERS 1 ROLL_CNV 0.04555 T_WATCHDOG 10

C_ROLL_DIVE 2050 MASS 74293 ROLL_DEG 45 UNCOM_BLEED 80

C_VBD 2500 MASS_COMP 0 ROLL_MAX 3888 UPLOAD_DIVES_MAX -1

DBDW 0 MAXI_10V 0.80000001 ROLL_MAXERRORS 2 USE_BATHY -6

DEEPGLIDER 2 MAXI_24V 0.60000002 ROLL_MIN 200 USE_ICE 0

DEVICE1 -1 MAX_BUOY 350 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 8 R_PORT_OVSHOOT 20 VBD_CNV -0.92339998

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 34 VBD_DBAND 2

DEVICE4 -1 MISSION 28 SC_NDIVE 1.0 VBD_LP_IGNORE 2

DEVICE5 -1 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_MAX 3400

DEVICE6 -1 NAV_MODE 1 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

DIVE 4 NOCOMM_ACTION 0 SC_XMITPROFILE 3.0 VBD_MIN 234

D_ABORT 200 N_DIVES 5 SEABIRD_C_G -10.162049 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 0 N_FILEKB 4 SEABIRD_C_H 1.142972 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 N_GPS 50945 SEABIRD_C_I -0.0032838252 VBD_TIMEOUT 720

D_FINISH 0 N_NOCOMM 1 SEABIRD_C_J 0.00030784801 W_ADJ_DBAND 0

D_FLARE 2 N_NOSURFACE 0 SEABIRD_C_Z 2991.02 XPDR_DEVICE 24

D_NO_BLEED 200 PHONE_DEVICE 49 SEABIRD_T_G 0.0044153114 XPDR_INHIBIT 90

D_OFFGRID 100 PHONE_SUPPLY 2 SEABIRD_T_H 0.00064861565 XPDR_VALID 4

D_PITCH 0 PITCH_ADJ_DBAND 0 SEABIRD_T_I 2.6621732e-05

D_SAFE 0 PITCH_ADJ_GAIN 0 SEABIRD_T_J 3.3947326e-06

Pre-dive calculations and measurements:

GPS1 070518,213204,4743.4741,-12223.9219,5,0.8,39,16.3,0.3,44.7,10,5.0 TGT_NAME SW

_CALLS 3 TGT_LATLONG 4742.500,-12224.800

_XMS_NAKs 0 TGT_RADIUS 300.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.235908,-0.291402

_SM_DEPTHo 1.15 KALMAN_X 456.553162,317.311279,288.120056,-577.193604,367.235809

_SM_ANGLEo -47.1 KALMAN_Y 440.303284,281.069244,259.017181,-852.402466,344.892517

GPS2 070518,214417,4743.5659,-12223.8105,6,0.9,16,16.3,0.0,0.0,9,5.0 MHEAD_RNG_PITCHd_Wd 202.7,2327,-14.6,-12.000,-17.75,4354

SPEED_LIMITS 0.208,0.375 D_GRID 168

Post-dive calculations and measurements:

SM_CCo 1975,0.00,0.000,0,0,1262,1143.17 _24V_AH 23.24,3.897

SM_GC 1.26,31.90,0.28,0.00,0.024,0.046,0.000,232,2068,1262,-7.05,-1.23,1143.17,0,0,0,0,0,0,26.28,26.53,26.48 _10V_AH 10.50,4.968

IRIDIUM_FIX 4808.40,-12337.82,070518,210228 FG_AHR_24Vo 0.000

TT8_MAMPS 0.047187,0.394723 FG_AHR_10Vo 0.000

HUMID 45.03 MEM 312928

INTERNAL_PRESSURE 10.2969 DATA_FILE_SIZE 7063,233

TCM_TEMP 10.60 CAP_FILE_SIZE 57044,0

XPDR_PINGS 0 CFSIZE 1023623168,1020379136

ALTIM_TOP_PING 13.9,12.0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,20,1,0

ALTIM_BOTTOM_PING 120.3,57.6 GPS 070518,221915,4743.173,-12223.940,5,1.2,50,16.3,0.3,55.9,7,3.1

SC_FREEKB 3908288

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 67 118 184.84 nil 0 0 0.00

Roll_motor 56 113 147.68 nil 0 0 0.00

VBD_pump_during_apogee 122 2391 6802.49 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 73 103 176.24 nil 0 0 0.00

Iridium_during_connect 52 160 194.70 SciCon 1894 66 2944.88

Iridium_during_xfer 414 223 2148.21 nil 0 0 0.00

Transponder_ping 0 420 7.32 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 50 9.22

TT8 0 0 0.00

LPSleep 1286 2 29.57

TT8_Active 331 19 68.95

TT8_Sampling 1059 39 442.92

TT8_CF8 41 45 20.20

TT8_Kalman 32 81 27.85

Analog_circuits 579 12 73.03

GPS_charging 0 0 0.00

Compass 341 5 17.95

RAFOS 0 0 0.00

Transponder 12 30 3.80

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts int_press humidity

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

7 -1.63 -342.1 245 2048 1245 1687 0.0 0.0 0 22 0.00 0.00 -13.75 0.000 16390 0.000 0.000 243 2048 2875 2875 2049 0 0 0 0 0 0 26.53 25.41 26.55 10.48 44.52

23 -1.63 -342.1 245 2048 2911 2049 1.5 0.0 1 48 20.58 2.55 0.00 0.000 2308 0.119 0.053 1950 3018 2914 2914 2046 0 0 0 0 0 0 26.22 26.22 26.33 10.94 45.23

71 -1.63 -342.1 1954 3019 2922 2046 25.3 -31.3 10 77 0.00 2.47 0.00 0.000 1030 0.000 0.033 1953 2054 2932 2932 2045 0 0 0 0 0 0 26.36 26.29 26.40 10.88 44.80

138 -1.63 -342.1 1953 2055 2921 2045 36.4 -16.8 17 143 0.00 2.65 0.00 0.000 516 0.000 0.072 1953 1071 2916 2916 2042 0 0 0 0 0 0 26.64 26.30 26.66 10.89 43.69

209 -1.63 -342.1 1954 1068 2932 2042 48.7 -16.8 29 215 0.00 2.42 0.00 0.000 1030 0.000 0.034 1958 2041 2931 2931 2045 0 0 0 0 0 0 26.51 26.50 26.55 10.88 43.89

275 -1.63 -342.1 1953 2045 2929 2045 59.2 -16.1 36 276 0.00 0.00 0.00 0.000 6 0.000 0.000 1955 2047 2929 2929 2046 0 0 0 0 0 0 26.77 26.79 26.78 10.87 44.01

335 -1.63 -342.1 1954 2043 2930 2046 68.7 -15.7 42 341 0.00 2.65 0.00 0.000 516 0.000 0.069 1954 1069 2930 2930 2041 0 0 0 0 0 0 26.81 26.46 26.82 10.87 43.77

389 -1.63 -342.1 1952 1066 2933 2041 77.4 -16.3 51 395 0.00 2.42 0.00 0.000 1030 0.000 0.034 1953 2040 2934 2934 2046 0 0 0 0 0 0 26.64 26.58 26.65 10.90 44.13

456 -1.63 -342.1 1953 2042 2937 2046 88.0 -16.1 58 456 0.00 0.00 0.00 0.000 6 0.000 0.000 1958 2039 2930 2930 2046 0 0 0 0 0 0 26.85 26.87 26.88 10.86 43.97

515 -1.63 -342.1 1954 2042 2935 2046 97.4 -15.4 64 521 0.00 2.62 0.00 0.000 516 0.000 0.072 1950 1078 2936 2936 2046 0 0 0 0 0 0 26.89 26.53 26.91 10.86 44.05

569 -1.63 -342.1 1953 1072 2935 2046 105.9 -15.4 73 575 0.00 2.38 0.00 0.000 1030 0.000 0.034 1953 2032 2941 2941 2052 0 0 0 0 0 0 26.72 26.65 26.74 10.86 44.52

636 -1.63 -342.1 1953 2033 2932 2052 115.7 -15.1 80 636 0.00 0.00 0.00 0.000 6 0.000 0.000 1953 2032 2934 2934 2046 0 0 0 0 0 0 26.93 26.94 26.94 10.85 44.76

695 -1.63 -342.1 1953 2033 2910 2046 124.8 -15.2 86 701 0.00 2.60 0.00 0.000 516 0.000 0.070 1953 1074 2914 2914 2046 0 0 0 0 0 0 26.94 26.59 26.96 10.84 44.48

755 -1.63 -342.1 1953 1069 2918 2046 134.1 -14.9 96 761 0.00 2.35 0.00 0.000 1030 0.000 0.034 1954 2022 2906 2906 2046 0 0 0 0 0 0 26.77 26.71 26.82 10.85 45.03

822 -1.63 -342.1 1953 2022 0 2046 144.3 -15.8 103 823 0.00 0.00 -0.73 0.000 16390 0.000 0.000 1958 2027 3336 3336 2046 0 0 0 0 0 0 26.97 25.82 26.89 10.84 44.92

882 -1.63 -342.1 1954 2023 0 2046 151.2 -10.5 109 1001 0.00 2.53 -114.25 0.000 16900 0.000 0.085 1955 1070 3405 3405 2046 0 0 0 0 20 0 26.99 25.78 26.96 10.97 45.62

1061 end dive: TARGET_DEPTH_EXCEEDED

state 1061 begin apogee

1065 -0.38 0.0 1952 1922 3396 2046 168.0 -9.2 139 1123 4.10 0.10 50.97 2.391 10244 0.042 0.113 2356 1893 2495 2495 2046 0 0 0 0 0 0 26.73 24.68 23.37 10.96 44.09

1124 end apogee: CONTROL_FINISHED_OK

state 1124 begin climb

1125 1.63 342.1 2357 1893 2381 2046 172.1 0.0 145 1158 6.75 0.00 22.08 2.274 11270 0.031 0.000 2994 1893 2128 2128 2046 0 0 0 0 0 0 25.13 25.11 23.24 10.72 44.40

1218 2.40 850.9 2994 1894 2130 2046 174.2 0.0 157 1257 2.53 2.67 32.03 2.341 10500 0.024 0.043 3240 2856 1579 1579 2046 0 0 0 0 0 0 25.69 24.58 23.31 10.63 43.66

1260 2.79 1111.8 3235 2856 1579 2046 172.1 5.9 162 1285 1.23 2.65 17.30 2.158 11270 0.029 0.045 3368 1905 1294 1294 2045 0 0 0 0 0 0 25.02 24.90 23.30 10.49 43.50

1344 2.79 1111.8 3363 1907 1296 2045 149.8 30.0 172 1350 0.00 2.80 0.00 0.000 516 0.000 0.078 3362 910 1297 1297 2046 0 0 0 0 0 0 25.80 25.48 25.82 10.41 43.22

1362 2.79 1111.8 3362 916 1296 2046 144.3 30.3 175 1368 0.00 2.50 0.03 0.011 9222 0.000 0.033 3362 1885 1294 1294 2045 0 0 0 0 0 0 25.75 25.70 25.77 10.40 43.66

1429 2.79 1111.8 3362 1886 1292 2045 124.9 29.5 182 1434 0.00 2.60 0.00 0.000 260 0.000 0.048 3361 2871 1290 1290 2045 0 0 0 0 0 0 26.18 25.89 26.20 10.40 43.50

1452 2.79 1111.8 3363 2872 1288 2045 117.4 31.0 186 1458 0.00 2.55 0.00 0.000 1030 0.000 0.039 3362 1909 1288 1288 2045 0 0 0 0 0 0 26.06 25.96 26.08 10.40 43.46

1518 2.79 1111.8 3363 1904 1284 2045 97.9 29.4 193 1519 0.00 0.00 0.00 0.000 6 0.000 0.000 3363 1904 1284 1284 2046 0 0 0 0 0 0 26.39 26.41 26.41 10.40 43.93

1578 2.79 1111.8 3362 1904 1281 2046 80.1 29.7 199 1579 0.00 0.00 0.00 0.000 6 0.000 0.000 3363 1904 1280 1280 2046 0 0 0 0 0 0 26.49 26.51 26.51 10.39 44.25

1638 2.79 1111.8 3363 1901 1275 2046 62.1 30.3 205 1639 0.00 0.00 0.00 0.000 6 0.000 0.000 3362 1904 1275 1275 2046 0 0 0 0 0 0 26.58 26.58 26.58 10.39 44.01

1698 2.79 1111.8 3362 1904 1273 2046 45.0 28.2 211 1704 0.00 2.58 0.00 0.000 260 0.000 0.049 3360 2877 1272 1272 2044 0 0 0 0 0 0 26.64 26.34 26.65 10.38 45.35

1722 2.79 1111.8 3363 2877 1270 2044 38.3 27.9 215 1728 0.00 2.50 0.00 0.000 1030 0.000 0.039 3362 1910 1270 1270 2045 0 0 0 0 0 0 26.45 26.36 26.48 10.39 45.15

1788 2.79 1111.8 3362 1911 1268 2045 20.5 27.0 222 1794 0.00 2.70 0.00 0.000 516 0.000 0.079 3359 920 1266 1266 2046 0 0 0 0 0 0 26.70 26.36 26.72 10.38 44.44

1813 2.79 1111.8 3362 920 1266 2046 13.9 27.8 226 1818 0.00 2.47 0.00 0.000 1030 0.000 0.034 3363 1920 1264 1264 2048 0 0 0 0 0 0 26.49 26.51 26.51 10.38 44.64

1867 end climb: SURFACE_DEPTH_REACHED

state 1867 begin surface coast

1877 end surface coast: CONTROL_FINISHED_OK

state 1877 begin surface

ID	401	HD_C	5.7000002e-06	C_ROLL_DIVE	2050	ALTIM_TOP_TURN_MARGIN	0
MISSION	28	HEADING	-1	C_ROLL_CLIMB	1900	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	4	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	120
N_DIVES	5	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.04555	ALTIM_PING_DELTA	2
STOP_T	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13
D_SURF	2	TGT_DEFAULT_LAT	5650	R_PORT_OVSHOOT	20	ALTIM_PULSE	7
D_FLARE	2	TGT_DEFAULT_LON	-16401	R_STBD_OVSHOOT	34	ALTIM_SENSITIVITY	3
D_TGT	180	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	250	XPDR_VALID	4
D_ABORT	200	SM_CC	350	ROLL_MAXERRORS	2	XPDR_INHIBIT	90
D_NO_BLEED	200	N_FILEKB	4	ROLL_ADJ_GAIN	1	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	0	FILEMGR	0	ROLL_ADJ_DBAND	0.029999999	INT_PRESSURE_YINT	-1.1
T_BOOST	0	CALL_NDIVES	1	VBD_MIN	234	DEEPGLIDER	2
D_FINISH	0	COMM_SEQ	0	VBD_MAX	3400	MOTHERBOARD	4
D_PITCH	0	PROTOCOL	9	C_VBD	2500	DEVICE1	-1
D_SAFE	0	N_NOCOMM	1	VBD_DBAND	2	DEVICE2	-1
D_CALL	0	NOCOMM_ACTION	0	VBD_CNV	-0.92339998	DEVICE3	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_LP_IGNORE	2	DEVICE4	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE5	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	10	PITCH_VBD_SHIFT	0.0015	DEVICE6	-1
T_DIVE	50	CALL_WAIT	45	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	1
T_MISSION	60	CAPUPLOAD	1	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	53
T_ABORT	1440	CAPMAXSIZE	200000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
T_TURN	225	HEAPDBG	0	UNCOM_BLEED	80	LOGGERDEVICE3	-1
T_TURN_SAMPINT	6	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
T_NO_W	120	N_GPS	50945	W_ADJ_DBAND	0	COMPASS_DEVICE	97
T_LOITER	0	T_RSLEEP	3	DBDW	0	COMPASS2_DEVICE	-1
T_SLOITER	0	STROBE	0	PITCH_W_GAIN	0	PHONE_DEVICE	49
T_EPIRB	0	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	GPS_DEVICE	32
USE_BATHY	-6	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	4	RAFOS_DEVICE	-1
USE_ICE	0	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
ICE_FREEZE_MARGIN	0.30000001	RAFOS_MMODEM	0	AH0_10V	100	SIM_W	0
D_OFFGRID	100	PITCH_MIN	220	MINV_24V	19	SIM_PITCH	0
T_WATCHDOG	10	PITCH_MAX	3693	MINV_10V	8	SEABIRD_T_G	0.0044153114
RELAUNCH	0	C_PITCH	2490	MAXI_24V	0.60000002	SEABIRD_T_H	0.00064861565
APOGEE_PITCH	-5	PITCH_DBAND	0.1	MAXI_10V	0.80000001	SEABIRD_T_I	2.6621732e-05
MAX_BUOY	350	PITCH_CNV	0.00312576	FG_AHR_10V	0	SEABIRD_T_J	3.3947326e-06
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_24V	0	SEABIRD_C_G	-10.162049
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0.079999998	PHONE_SUPPLY	2	SEABIRD_C_H	1.142972
SPEED_FACTOR	1	PITCH_GAIN	13	PRESSURE_YINT	-51.021927	SEABIRD_C_I	-0.0032838252
RHO	1.023	PITCH_TIMEOUT	50	PRESSURE_SLOPE	2.5699999e-05	SEABIRD_C_J	0.00030784801
MASS	74293	PITCH_AD_RATE	70	AD7714Ch0Gain	1	SEABIRD_C_Z	2991.02
MASS_COMP	0	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	SC_RECORDABOVE	2000.0
NAV_MODE	1	PITCH_ADJ_GAIN	0	TCM_ROLL_OFFSET	0	SC_PROFILE	3.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	COMPASS_USE	4	SC_XMITPROFILE	3.0
KALMAN_USE	1	ROLL_MIN	200	ALTIM_BOTTOM_PING_RANGE	0	SC_NDIVE	1.0
HD_A	0.0040000002	ROLL_MAX	3888	ALTIM_TOP_PING_RANGE	15
HD_B	0.012	ROLL_DEG	45	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	070518,213204,4743.4741,-12223.9219,5,0.8,39,16.3,0.3,44.7,10,5.0	TGT_NAME	SW
_CALLS	3	TGT_LATLONG	4742.500,-12224.800
_XMS_NAKs	0	TGT_RADIUS	300.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.235908,-0.291402
_SM_DEPTHo	1.15	KALMAN_X	456.553162,317.311279,288.120056,-577.193604,367.235809
_SM_ANGLEo	-47.1	KALMAN_Y	440.303284,281.069244,259.017181,-852.402466,344.892517
GPS2	070518,214417,4743.5659,-12223.8105,6,0.9,16,16.3,0.0,0.0,9,5.0	MHEAD_RNG_PITCHd_Wd	202.7,2327,-14.6,-12.000,-17.75,4354
SPEED_LIMITS	0.208,0.375	D_GRID	168

SM_CCo	1975,0.00,0.000,0,0,1262,1143.17	_24V_AH	23.24,3.897
SM_GC	1.26,31.90,0.28,0.00,0.024,0.046,0.000,232,2068,1262,-7.05,-1.23,1143.17,0,0,0,0,0,0,26.28,26.53,26.48	_10V_AH	10.50,4.968
IRIDIUM_FIX	4808.40,-12337.82,070518,210228	FG_AHR_24Vo	0.000
TT8_MAMPS	0.047187,0.394723	FG_AHR_10Vo	0.000
HUMID	45.03	MEM	312928
INTERNAL_PRESSURE	10.2969	DATA_FILE_SIZE	7063,233
TCM_TEMP	10.60	CAP_FILE_SIZE	57044,0
XPDR_PINGS	0	CFSIZE	1023623168,1020379136
ALTIM_TOP_PING	13.9,12.0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,20,1,0
ALTIM_BOTTOM_PING	120.3,57.6	GPS	070518,221915,4743.173,-12223.940,5,1.2,50,16.3,0.3,55.9,7,3.1
SC_FREEKB	3908288

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	67	118	184.84	nil	0	0	0.00
Roll_motor	56	113	147.68	nil	0	0	0.00
VBD_pump_during_apogee	122	2391	6802.49	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	73	103	176.24	nil	0	0	0.00
Iridium_during_connect	52	160	194.70	SciCon	1894	66	2944.88
Iridium_during_xfer	414	223	2148.21	nil	0	0	0.00
Transponder_ping	0	420	7.32	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	50	9.22
TT8	0	0	0.00
LPSleep	1286	2	29.57
TT8_Active	331	19	68.95
TT8_Sampling	1059	39	442.92
TT8_CF8	41	45	20.20
TT8_Kalman	32	81	27.85
Analog_circuits	579	12	73.03
GPS_charging	0	0	0.00
Compass	341	5	17.95
RAFOS	0	0	0.00
Transponder	12	30	3.80

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts	int_press	humidity
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
7	-1.63	-342.1	245	2048	1245	1687	0.0	0.0	0	22	0.00	0.00	-13.75	0.000	16390	0.000	0.000	243	2048	2875	2875	2049	0	0	0	0	0	0	26.53	25.41	26.55	10.48	44.52
23	-1.63	-342.1	245	2048	2911	2049	1.5	0.0	1	48	20.58	2.55	0.00	0.000	2308	0.119	0.053	1950	3018	2914	2914	2046	0	0	0	0	0	0	26.22	26.22	26.33	10.94	45.23
71	-1.63	-342.1	1954	3019	2922	2046	25.3	-31.3	10	77	0.00	2.47	0.00	0.000	1030	0.000	0.033	1953	2054	2932	2932	2045	0	0	0	0	0	0	26.36	26.29	26.40	10.88	44.80
138	-1.63	-342.1	1953	2055	2921	2045	36.4	-16.8	17	143	0.00	2.65	0.00	0.000	516	0.000	0.072	1953	1071	2916	2916	2042	0	0	0	0	0	0	26.64	26.30	26.66	10.89	43.69
209	-1.63	-342.1	1954	1068	2932	2042	48.7	-16.8	29	215	0.00	2.42	0.00	0.000	1030	0.000	0.034	1958	2041	2931	2931	2045	0	0	0	0	0	0	26.51	26.50	26.55	10.88	43.89
275	-1.63	-342.1	1953	2045	2929	2045	59.2	-16.1	36	276	0.00	0.00	0.00	0.000	6	0.000	0.000	1955	2047	2929	2929	2046	0	0	0	0	0	0	26.77	26.79	26.78	10.87	44.01
335	-1.63	-342.1	1954	2043	2930	2046	68.7	-15.7	42	341	0.00	2.65	0.00	0.000	516	0.000	0.069	1954	1069	2930	2930	2041	0	0	0	0	0	0	26.81	26.46	26.82	10.87	43.77
389	-1.63	-342.1	1952	1066	2933	2041	77.4	-16.3	51	395	0.00	2.42	0.00	0.000	1030	0.000	0.034	1953	2040	2934	2934	2046	0	0	0	0	0	0	26.64	26.58	26.65	10.90	44.13
456	-1.63	-342.1	1953	2042	2937	2046	88.0	-16.1	58	456	0.00	0.00	0.00	0.000	6	0.000	0.000	1958	2039	2930	2930	2046	0	0	0	0	0	0	26.85	26.87	26.88	10.86	43.97
515	-1.63	-342.1	1954	2042	2935	2046	97.4	-15.4	64	521	0.00	2.62	0.00	0.000	516	0.000	0.072	1950	1078	2936	2936	2046	0	0	0	0	0	0	26.89	26.53	26.91	10.86	44.05
569	-1.63	-342.1	1953	1072	2935	2046	105.9	-15.4	73	575	0.00	2.38	0.00	0.000	1030	0.000	0.034	1953	2032	2941	2941	2052	0	0	0	0	0	0	26.72	26.65	26.74	10.86	44.52
636	-1.63	-342.1	1953	2033	2932	2052	115.7	-15.1	80	636	0.00	0.00	0.00	0.000	6	0.000	0.000	1953	2032	2934	2934	2046	0	0	0	0	0	0	26.93	26.94	26.94	10.85	44.76
695	-1.63	-342.1	1953	2033	2910	2046	124.8	-15.2	86	701	0.00	2.60	0.00	0.000	516	0.000	0.070	1953	1074	2914	2914	2046	0	0	0	0	0	0	26.94	26.59	26.96	10.84	44.48
755	-1.63	-342.1	1953	1069	2918	2046	134.1	-14.9	96	761	0.00	2.35	0.00	0.000	1030	0.000	0.034	1954	2022	2906	2906	2046	0	0	0	0	0	0	26.77	26.71	26.82	10.85	45.03
822	-1.63	-342.1	1953	2022	0	2046	144.3	-15.8	103	823	0.00	0.00	-0.73	0.000	16390	0.000	0.000	1958	2027	3336	3336	2046	0	0	0	0	0	0	26.97	25.82	26.89	10.84	44.92
882	-1.63	-342.1	1954	2023	0	2046	151.2	-10.5	109	1001	0.00	2.53	-114.25	0.000	16900	0.000	0.085	1955	1070	3405	3405	2046	0	0	0	0	20	0	26.99	25.78	26.96	10.97	45.62
1061	end dive: TARGET_DEPTH_EXCEEDED
state	1061	begin apogee
1065	-0.38	0.0	1952	1922	3396	2046	168.0	-9.2	139	1123	4.10	0.10	50.97	2.391	10244	0.042	0.113	2356	1893	2495	2495	2046	0	0	0	0	0	0	26.73	24.68	23.37	10.96	44.09
1124	end apogee: CONTROL_FINISHED_OK
state	1124	begin climb
1125	1.63	342.1	2357	1893	2381	2046	172.1	0.0	145	1158	6.75	0.00	22.08	2.274	11270	0.031	0.000	2994	1893	2128	2128	2046	0	0	0	0	0	0	25.13	25.11	23.24	10.72	44.40
1218	2.40	850.9	2994	1894	2130	2046	174.2	0.0	157	1257	2.53	2.67	32.03	2.341	10500	0.024	0.043	3240	2856	1579	1579	2046	0	0	0	0	0	0	25.69	24.58	23.31	10.63	43.66
1260	2.79	1111.8	3235	2856	1579	2046	172.1	5.9	162	1285	1.23	2.65	17.30	2.158	11270	0.029	0.045	3368	1905	1294	1294	2045	0	0	0	0	0	0	25.02	24.90	23.30	10.49	43.50
1344	2.79	1111.8	3363	1907	1296	2045	149.8	30.0	172	1350	0.00	2.80	0.00	0.000	516	0.000	0.078	3362	910	1297	1297	2046	0	0	0	0	0	0	25.80	25.48	25.82	10.41	43.22
1362	2.79	1111.8	3362	916	1296	2046	144.3	30.3	175	1368	0.00	2.50	0.03	0.011	9222	0.000	0.033	3362	1885	1294	1294	2045	0	0	0	0	0	0	25.75	25.70	25.77	10.40	43.66
1429	2.79	1111.8	3362	1886	1292	2045	124.9	29.5	182	1434	0.00	2.60	0.00	0.000	260	0.000	0.048	3361	2871	1290	1290	2045	0	0	0	0	0	0	26.18	25.89	26.20	10.40	43.50
1452	2.79	1111.8	3363	2872	1288	2045	117.4	31.0	186	1458	0.00	2.55	0.00	0.000	1030	0.000	0.039	3362	1909	1288	1288	2045	0	0	0	0	0	0	26.06	25.96	26.08	10.40	43.46
1518	2.79	1111.8	3363	1904	1284	2045	97.9	29.4	193	1519	0.00	0.00	0.00	0.000	6	0.000	0.000	3363	1904	1284	1284	2046	0	0	0	0	0	0	26.39	26.41	26.41	10.40	43.93
1578	2.79	1111.8	3362	1904	1281	2046	80.1	29.7	199	1579	0.00	0.00	0.00	0.000	6	0.000	0.000	3363	1904	1280	1280	2046	0	0	0	0	0	0	26.49	26.51	26.51	10.39	44.25
1638	2.79	1111.8	3363	1901	1275	2046	62.1	30.3	205	1639	0.00	0.00	0.00	0.000	6	0.000	0.000	3362	1904	1275	1275	2046	0	0	0	0	0	0	26.58	26.58	26.58	10.39	44.01
1698	2.79	1111.8	3362	1904	1273	2046	45.0	28.2	211	1704	0.00	2.58	0.00	0.000	260	0.000	0.049	3360	2877	1272	1272	2044	0	0	0	0	0	0	26.64	26.34	26.65	10.38	45.35
1722	2.79	1111.8	3363	2877	1270	2044	38.3	27.9	215	1728	0.00	2.50	0.00	0.000	1030	0.000	0.039	3362	1910	1270	1270	2045	0	0	0	0	0	0	26.45	26.36	26.48	10.39	45.15
1788	2.79	1111.8	3362	1911	1268	2045	20.5	27.0	222	1794	0.00	2.70	0.00	0.000	516	0.000	0.079	3359	920	1266	1266	2046	0	0	0	0	0	0	26.70	26.36	26.72	10.38	44.44
1813	2.79	1111.8	3362	920	1266	2046	13.9	27.8	226	1818	0.00	2.47	0.00	0.000	1030	0.000	0.034	3363	1920	1264	1264	2048	0	0	0	0	0	0	26.49	26.51	26.51	10.38	44.64
1867	end climb: SURFACE_DEPTH_REACHED
state	1867	begin surface coast
1877	end surface coast: CONTROL_FINISHED_OK
state	1877	begin surface