Glider dive log

Shilshole 06Jan15 * SG156 * Dive index * Mission links * Dive 6 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 156 HD_C 9.8500004e-06 ROLL_MAX 3800 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 6 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 6 ESCAPE_HEADING 50 C_ROLL_DIVE 270 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 25 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 270 ALTIM_PING_DEPTH 100

D_SURF 2 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 180 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 56.75 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 170 TGT_DEFAULT_LON -7.25 ROLL_TIMEOUT 15 ALTIM_PULSE 5

D_ABORT 1020 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 19 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 260 R_STBD_OVSHOOT 43 XPDR_VALID 1

D_BOOST 0 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 6 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 0 VBD_MIN 451 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 3 VBD_MAX 3959 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 C_VBD 1638 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE -1 VBD_DBAND 2 DEVICE2 20

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.25119999 DEVICE3 35

T_DIVE 63 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 101

T_MISSION 85 CALL_WAIT 30 PITCH_VBD_SHIFT 0.00030000001 DEVICE5 -1

T_ABORT 720 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 600 CAPMAXSIZE 400000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 1 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 15 UNCOM_BLEED 50 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 40 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY -6 T_GPS_CHARGE -905944.12 DBDW 0 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 2 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 20 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 150 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 100 XPDR_DEVICE 24

APOGEE_PITCH -7 PITCH_MIN 160 MINV_24V 17 SIM_W 0

MAX_BUOY 300 PITCH_MAX 3877 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2264 FG_AHR_10V 0 SEABIRD_T_G 0.0043990691

GLIDE_SLOPE 15 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00065709552

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 3.75727e-05

RHO 1.0276999 P_OVSHOOT 0.039999999 PRESSURE_YINT -17.360556 SEABIRD_T_J 5.2690598e-06

MASS 51793 PITCH_GAIN 31 PRESSURE_SLOPE 0.00011457827 SEABIRD_C_G -10.168411

MASS_COMP 0 PITCH_TIMEOUT 16 AD7714Ch0Gain 128 SEABIRD_C_H 1.1470841

NAV_MODE 1 PITCH_AD_RATE 100 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.001554661

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00020326475

KALMAN_USE 1 PITCH_ADJ_GAIN 0 COMPASS_USE 4

HD_A 0.0038360001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.010078 ROLL_MIN 221 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 260

AH0_10V 100 D_PITCH 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PITCH_AD_RATE 100 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_TGT 170 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 50 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 31 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 100 FERRY_MAX 45 PITCH_MAX 3877 TCM_ROLL_OFFSET 0

ALTIM_PULSE 5 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MIN 160 TGT_DEFAULT_LAT 56.75

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 16 TGT_DEFAULT_LON -7.25

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00030000001 T_ABORT 720

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 15 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -7 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 63

CALL_NDIVES 1 HD_A 0.0038360001 PRESSURE_SLOPE 0.00011457827 T_EPIRB 0

CALL_TRIES 5 HD_B 0.010078 PRESSURE_YINT -17.360556 T_GPS 15

CALL_WAIT 30 HD_C 9.8500004e-06 PROTOCOL 0 T_GPS_ALMANAC 0

CAPMAXSIZE 400000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -905944.12

CAPUPLOAD 1 HEAD_ERRBAND 180 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 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 156 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 2

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 600

COMPASS_USE 4 INT_PRESSURE_YINT 0 RHO 1.0276999 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2264 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_ROLL_CLIMB 270 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 270 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY -6

C_VBD 1638 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3800 VBD_BLEED_AD_RATE 1

DEEPGLIDER 0 MASS 51793 ROLL_MAXERRORS 2 VBD_CNV -0.25119999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 221 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 300 ROLL_TIMEOUT 15 VBD_MAX 3959

DEVICE2 20 MINV_10V 8 R_PORT_OVSHOOT 19 VBD_MAXERRORS 1

DEVICE3 35 MINV_24V 17 R_STBD_OVSHOOT 43 VBD_MIN 451

DEVICE4 101 MISSION 6 SEABIRD_C_G -10.168411 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1470841 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.001554661 VBD_TIMEOUT 720

DIVE 6 NOCOMM_ACTION 0 SEABIRD_C_J 0.00020326475 W_ADJ_DBAND 0

D_ABORT 1020 N_DIVES 25 SEABIRD_T_G 0.0043990691 XPDR_DEVICE 24

D_BOOST 0 N_FILEKB 4 SEABIRD_T_H 0.00065709552 XPDR_INHIBIT 90

D_CALL 0 N_GPS 40 SEABIRD_T_I 3.75727e-05 XPDR_VALID 1

D_FINISH 6 N_NOCOMM 3 SEABIRD_T_J 5.2690598e-06

D_FLARE 3 N_NOSURFACE -1 SIM_PITCH 0

D_NO_BLEED 500 PHONE_DEVICE 48 SIM_W 0

Pre-dive calculations and measurements:

GPS1 070115,005323,4743.556,-12224.742,14,1.8,36,18.2 TGT_NAME NORTH

_CALLS 1 TGT_LATLONG 4744.500,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.072,0.331

_SM_DEPTHo 0.99 KALMAN_X -467.5,-145.9,-60.7,394.7,-98.0

_SM_ANGLEo -69.0 KALMAN_Y -950.1,-209.4,-69.0,2102.6,-351.4

GPS2 070115,010300,4743.557,-12224.769,15,1.1,15,18.2 MHEAD_RNG_PITCHd_Wd 354.0,1778,-11.2,-8.995,-14.88,4941

SPEED_LIMITS 0.336,0.338 D_GRID 175

Post-dive calculations and measurements:

FINISH 0.5,1.022076 _24V_AH 24.2,0.652

SM_CCo 4158,0.00,0.000,0,0,450,298.43 _10V_AH 10.4,0.439

SM_GC 1.06,5.85,0.00,0.00,0.044,0.000,0.000,144,260,450,-6.54,-0.28,298.43,0,0,0,0,0,0,26.39,28.83,28.83 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4722.92,-12225.08,060115,232320 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026964,0.026964 MEM 323184

HUMID 30.70 DATA_FILE_SIZE 60419,762

INTERNAL_PRESSURE 9.31676 CAP_FILE_SIZE 76313,0

TCM_TEMP 19.90 CFSIZE 260165632,257576960

XPDR_PINGS 234 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

ALTIM_BOTTOM_PING 150.3,43.0 GPS 070115,021407,4743.375,-12224.916,13,2.0,13,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 235 81.82 SBE_CT 509 23 295.64

Roll_motor 3 57 4.41 SBE_O2 408 5 59.28

VBD_pump_during_apogee 467 631 7145.20 WL_BB2FLVMG 695 105 1767.21

VBD_pump_during_surface 0 0 0.00 AA4330 628 41 637.96

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 58 34.63 nil 0 0 0.00

Iridium_during_connect 40 160 157.99 nil 0 0 0.00

Iridium_during_xfer 350 223 1889.09 nil 0 0 0.00

Transponder_ping 61 420 627.63 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 29 4.87

TT8 1570 12 203.54

LPSleep 788 2 17.95

TT8_Active 525 12 68.03

TT8_Sampling 1592 35 590.88

TT8_CF8 256 42 113.02

TT8_Kalman 33 58 20.08

Analog_circuits 1190 16 198.13

GPS_charging 0 0 0.00

Compass 1142 16 195.90

RAFOS 0 0 0.00

Transponder 24 30 7.52

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

18 -0.45 -291.9 158 270 518 684 0.0 0.0 0 80 0.00 0.00 -59.90 0.000 16386 0.000 0.000 158 270 1884 1928 1840 0 0 0 0 0 0 28.83 28.83 28.83

85 -0.45 -291.9 158 270 1928 1844 3.0 -3.9 11 120 7.60 0.00 -23.00 0.000 18438 0.236 0.000 2115 259 2804 2887 2721 0 0 0 0 0 0 25.52 28.83 26.13

185 -0.45 -291.9 2115 259 2887 2722 14.7 -9.1 29 191 0.00 0.00 0.00 0.000 6 0.000 0.000 2115 259 2804 2886 2722 0 0 0 0 0 0 28.83 28.83 28.83

255 -0.45 -291.9 2115 260 2887 2722 21.6 -9.8 42 261 0.00 0.00 0.00 0.000 6 0.000 0.000 2115 259 2804 2887 2722 0 0 0 0 0 0 28.83 28.83 28.83

325 -0.45 -291.9 2115 259 2887 2722 28.4 -9.6 55 331 0.00 0.00 0.00 0.000 6 0.000 0.000 2115 259 2804 2887 2722 0 0 0 0 0 0 28.83 28.83 28.83

395 -0.45 -291.9 2115 259 2887 2722 35.1 -9.5 68 401 0.00 0.00 0.00 0.000 6 0.000 0.000 2115 259 2804 2886 2722 0 0 0 0 0 0 28.83 28.83 28.83

465 -0.45 -291.9 2115 259 2887 2722 41.4 -8.6 81 471 0.00 0.00 0.00 0.000 6 0.000 0.000 2115 259 2804 2887 2722 0 0 0 0 0 0 28.83 28.83 28.83

595 -0.45 -291.9 2115 259 2887 2722 52.2 -7.9 106 601 0.00 0.00 0.00 0.000 6 0.000 0.000 2115 259 2804 2886 2722 0 0 0 0 0 0 28.83 28.83 28.83

725 -0.45 -291.9 2115 259 2886 2722 63.1 -8.8 131 731 0.00 0.00 0.00 0.000 6 0.000 0.000 2115 259 2804 2886 2722 0 0 0 0 0 0 28.83 28.83 28.83

857 -0.45 -291.9 2115 259 2887 2722 75.4 -8.8 156 863 0.00 0.00 0.00 0.000 6 0.000 0.000 2115 259 2804 2886 2722 0 0 0 0 0 0 28.83 28.83 28.83

987 -0.45 -291.9 2115 259 2887 2722 87.3 -8.2 181 993 0.00 0.00 0.00 0.000 6 0.000 0.000 2115 259 2804 2886 2722 0 0 0 0 0 0 28.83 28.83 28.83

1117 -0.45 -291.9 2115 260 2885 2722 99.3 -9.5 206 1122 0.00 0.00 0.00 0.000 6 0.000 0.000 2115 260 2804 2886 2722 0 0 0 0 0 0 28.83 28.83 28.83

1251 -0.45 -291.9 2114 259 2886 2722 110.5 -9.5 231 1256 0.00 0.00 0.00 0.000 6 0.000 0.000 2115 260 2804 2886 2722 0 0 0 0 0 0 28.83 28.83 28.83

1383 -0.45 -291.9 1280 259 2843 2714 122.9 -10.1 256 1389 0.00 0.00 0.00 0.000 6 0.000 0.000 2115 259 2804 2886 2722 0 0 0 0 0 0 28.83 28.83 28.83

1515 -0.45 -291.9 2115 259 2886 2722 135.0 -9.2 281 1524 0.00 0.00 0.00 0.000 6 0.000 0.000 2115 259 2804 2886 2722 0 0 0 0 0 0 28.83 28.83 28.83

1652 -0.45 -291.9 2115 258 2887 2722 148.6 -10.4 306 1658 0.00 0.00 0.00 0.000 6 0.000 0.000 2115 259 2804 2887 2722 0 0 0 0 0 0 28.83 28.83 28.83

1786 -0.45 -291.9 2115 259 2886 2722 162.4 -10.1 331 1792 0.00 0.00 0.00 0.000 6 0.000 0.000 2115 259 2804 2887 2722 0 0 0 0 0 0 28.83 28.83 28.83

1852 end dive: TARGET_DEPTH_EXCEEDED

state 1852 begin apogee

1860 -0.23 0.0 2114 259 2887 2722 170.2 -9.6 344 2088 0.20 0.00 218.43 0.631 10246 0.126 0.000 2185 259 1639 1638 1640 0 0 0 0 0 0 26.32 28.83 24.20

2089 end apogee: CONTROL_FINISHED_OK

state 2089 begin climb

2093 0.45 291.9 2185 259 1637 1638 185.4 0.0 385 2354 0.70 0.00 243.35 0.595 10246 0.121 0.000 2406 259 474 417 532 0 0 0 0 2 0 24.77 28.83 24.15

2480 0.47 363.9 1496 259 416 529 162.1 7.5 456 2492 0.00 0.00 6.05 0.471 8198 0.000 0.000 2406 259 450 398 502 0 0 0 0 0 0 28.83 28.83 24.86

2619 0.49 417.7 2406 259 398 500 152.0 7.9 482 2625 0.00 0.00 0.00 0.000 6 0.000 0.000 2406 259 449 398 501 0 0 0 0 0 0 28.83 28.83 28.83

2749 0.50 462.0 2406 259 398 500 141.6 8.1 507 2755 0.00 0.00 0.00 0.000 6 0.000 0.000 2406 259 448 397 500 0 0 0 0 0 0 28.83 28.83 28.83

2879 0.50 462.0 2405 259 398 500 129.8 10.5 532 2884 0.00 0.00 0.00 0.000 6 0.000 0.000 2406 259 449 398 500 0 0 0 0 0 0 28.83 28.83 28.83

3009 0.50 462.0 2406 259 398 500 114.4 11.6 557 3014 0.00 0.00 0.00 0.000 6 0.000 0.000 2406 259 449 398 500 0 0 0 0 0 0 28.83 28.83 28.83

3138 0.50 462.0 1504 259 398 500 100.1 12.5 582 3143 0.00 0.00 0.00 0.000 6 0.000 0.000 2406 259 449 398 500 0 0 0 0 0 0 28.83 28.83 28.83

3267 0.50 462.0 2406 259 398 500 85.8 11.9 607 3273 0.00 0.00 0.00 0.000 6 0.000 0.000 2406 259 449 398 500 0 0 0 0 0 0 28.83 28.83 28.83

3397 0.51 477.1 2406 259 398 500 73.3 8.7 632 3403 0.00 0.00 0.00 0.000 6 0.000 0.000 2406 259 449 398 500 0 0 0 0 0 0 28.83 28.83 28.83

3527 0.51 477.1 2406 259 398 500 60.9 9.1 657 3533 0.00 0.00 0.00 0.000 6 0.000 0.000 2406 259 449 398 500 0 0 0 0 0 0 28.83 28.83 28.83

3656 0.51 477.1 1504 259 398 500 47.5 9.5 682 3662 0.00 0.00 0.00 0.000 6 0.000 0.000 2406 259 449 399 500 0 0 0 0 0 0 28.83 28.83 28.83

3786 0.51 477.1 2406 259 399 500 33.3 10.1 707 3792 0.00 0.00 0.00 0.000 6 0.000 0.000 2406 259 449 399 500 0 0 0 0 0 0 28.83 28.83 28.83

3857 0.51 477.1 2406 259 399 500 25.1 12.6 720 3863 0.00 0.00 0.00 0.000 6 0.000 0.000 2406 259 449 399 500 0 0 0 0 0 0 28.83 28.83 28.83

3927 0.51 477.1 2406 259 399 500 17.2 10.8 733 3933 0.00 0.00 0.00 0.000 6 0.000 0.000 2406 260 449 399 500 0 0 0 0 0 0 28.83 28.83 28.83

3996 0.51 477.1 1496 260 399 500 9.4 11.6 746 4002 0.00 0.00 0.00 0.000 6 0.000 0.000 2406 260 449 399 500 0 0 0 0 0 0 28.83 28.83 28.83

4063 end climb: SURFACE_DEPTH_REACHED

state 4063 begin surface coast

4079 end surface coast: CONTROL_FINISHED_OK

state 4079 begin surface

ID	156	HD_C	9.8500004e-06	ROLL_MAX	3800	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	6	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	6	ESCAPE_HEADING	50	C_ROLL_DIVE	270	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	25	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	270	ALTIM_PING_DEPTH	100
D_SURF	2	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	180	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	56.75	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	170	TGT_DEFAULT_LON	-7.25	ROLL_TIMEOUT	15	ALTIM_PULSE	5
D_ABORT	1020	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	19	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	260	R_STBD_OVSHOOT	43	XPDR_VALID	1
D_BOOST	0	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	6	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	0	VBD_MIN	451	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	3	VBD_MAX	3959	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	C_VBD	1638	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	-1	VBD_DBAND	2	DEVICE2	20
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.25119999	DEVICE3	35
T_DIVE	63	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	101
T_MISSION	85	CALL_WAIT	30	PITCH_VBD_SHIFT	0.00030000001	DEVICE5	-1
T_ABORT	720	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	600	CAPMAXSIZE	400000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	1	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	15	UNCOM_BLEED	50	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	40	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	-6	T_GPS_CHARGE	-905944.12	DBDW	0	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	2	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	20	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	150	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	100	XPDR_DEVICE	24
APOGEE_PITCH	-7	PITCH_MIN	160	MINV_24V	17	SIM_W	0
MAX_BUOY	300	PITCH_MAX	3877	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2264	FG_AHR_10V	0	SEABIRD_T_G	0.0043990691
GLIDE_SLOPE	15	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00065709552
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	3.75727e-05
RHO	1.0276999	P_OVSHOOT	0.039999999	PRESSURE_YINT	-17.360556	SEABIRD_T_J	5.2690598e-06
MASS	51793	PITCH_GAIN	31	PRESSURE_SLOPE	0.00011457827	SEABIRD_C_G	-10.168411
MASS_COMP	0	PITCH_TIMEOUT	16	AD7714Ch0Gain	128	SEABIRD_C_H	1.1470841
NAV_MODE	1	PITCH_AD_RATE	100	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.001554661
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00020326475
KALMAN_USE	1	PITCH_ADJ_GAIN	0	COMPASS_USE	4
HD_A	0.0038360001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.010078	ROLL_MIN	221	ALTIM_TOP_PING_RANGE	0

GPS1	070115,005323,4743.556,-12224.742,14,1.8,36,18.2	TGT_NAME	NORTH
_CALLS	1	TGT_LATLONG	4744.500,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.072,0.331
_SM_DEPTHo	0.99	KALMAN_X	-467.5,-145.9,-60.7,394.7,-98.0
_SM_ANGLEo	-69.0	KALMAN_Y	-950.1,-209.4,-69.0,2102.6,-351.4
GPS2	070115,010300,4743.557,-12224.769,15,1.1,15,18.2	MHEAD_RNG_PITCHd_Wd	354.0,1778,-11.2,-8.995,-14.88,4941
SPEED_LIMITS	0.336,0.338	D_GRID	175

FINISH	0.5,1.022076	_24V_AH	24.2,0.652
SM_CCo	4158,0.00,0.000,0,0,450,298.43	_10V_AH	10.4,0.439
SM_GC	1.06,5.85,0.00,0.00,0.044,0.000,0.000,144,260,450,-6.54,-0.28,298.43,0,0,0,0,0,0,26.39,28.83,28.83	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4722.92,-12225.08,060115,232320	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026964,0.026964	MEM	323184
HUMID	30.70	DATA_FILE_SIZE	60419,762
INTERNAL_PRESSURE	9.31676	CAP_FILE_SIZE	76313,0
TCM_TEMP	19.90	CFSIZE	260165632,257576960
XPDR_PINGS	234	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
ALTIM_BOTTOM_PING	150.3,43.0	GPS	070115,021407,4743.375,-12224.916,13,2.0,13,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	235	81.82	SBE_CT	509	23	295.64
Roll_motor	3	57	4.41	SBE_O2	408	5	59.28
VBD_pump_during_apogee	467	631	7145.20	WL_BB2FLVMG	695	105	1767.21
VBD_pump_during_surface	0	0	0.00	AA4330	628	41	637.96
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	58	34.63	nil	0	0	0.00
Iridium_during_connect	40	160	157.99	nil	0	0	0.00
Iridium_during_xfer	350	223	1889.09	nil	0	0	0.00
Transponder_ping	61	420	627.63	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	29	4.87
TT8	1570	12	203.54
LPSleep	788	2	17.95
TT8_Active	525	12	68.03
TT8_Sampling	1592	35	590.88
TT8_CF8	256	42	113.02
TT8_Kalman	33	58	20.08
Analog_circuits	1190	16	198.13
GPS_charging	0	0	0.00
Compass	1142	16	195.90
RAFOS	0	0	0.00
Transponder	24	30	7.52

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
18	-0.45	-291.9	158	270	518	684	0.0	0.0	0	80	0.00	0.00	-59.90	0.000	16386	0.000	0.000	158	270	1884	1928	1840	0	0	0	0	0	0	28.83	28.83	28.83
85	-0.45	-291.9	158	270	1928	1844	3.0	-3.9	11	120	7.60	0.00	-23.00	0.000	18438	0.236	0.000	2115	259	2804	2887	2721	0	0	0	0	0	0	25.52	28.83	26.13
185	-0.45	-291.9	2115	259	2887	2722	14.7	-9.1	29	191	0.00	0.00	0.00	0.000	6	0.000	0.000	2115	259	2804	2886	2722	0	0	0	0	0	0	28.83	28.83	28.83
255	-0.45	-291.9	2115	260	2887	2722	21.6	-9.8	42	261	0.00	0.00	0.00	0.000	6	0.000	0.000	2115	259	2804	2887	2722	0	0	0	0	0	0	28.83	28.83	28.83
325	-0.45	-291.9	2115	259	2887	2722	28.4	-9.6	55	331	0.00	0.00	0.00	0.000	6	0.000	0.000	2115	259	2804	2887	2722	0	0	0	0	0	0	28.83	28.83	28.83
395	-0.45	-291.9	2115	259	2887	2722	35.1	-9.5	68	401	0.00	0.00	0.00	0.000	6	0.000	0.000	2115	259	2804	2886	2722	0	0	0	0	0	0	28.83	28.83	28.83
465	-0.45	-291.9	2115	259	2887	2722	41.4	-8.6	81	471	0.00	0.00	0.00	0.000	6	0.000	0.000	2115	259	2804	2887	2722	0	0	0	0	0	0	28.83	28.83	28.83
595	-0.45	-291.9	2115	259	2887	2722	52.2	-7.9	106	601	0.00	0.00	0.00	0.000	6	0.000	0.000	2115	259	2804	2886	2722	0	0	0	0	0	0	28.83	28.83	28.83
725	-0.45	-291.9	2115	259	2886	2722	63.1	-8.8	131	731	0.00	0.00	0.00	0.000	6	0.000	0.000	2115	259	2804	2886	2722	0	0	0	0	0	0	28.83	28.83	28.83
857	-0.45	-291.9	2115	259	2887	2722	75.4	-8.8	156	863	0.00	0.00	0.00	0.000	6	0.000	0.000	2115	259	2804	2886	2722	0	0	0	0	0	0	28.83	28.83	28.83
987	-0.45	-291.9	2115	259	2887	2722	87.3	-8.2	181	993	0.00	0.00	0.00	0.000	6	0.000	0.000	2115	259	2804	2886	2722	0	0	0	0	0	0	28.83	28.83	28.83
1117	-0.45	-291.9	2115	260	2885	2722	99.3	-9.5	206	1122	0.00	0.00	0.00	0.000	6	0.000	0.000	2115	260	2804	2886	2722	0	0	0	0	0	0	28.83	28.83	28.83
1251	-0.45	-291.9	2114	259	2886	2722	110.5	-9.5	231	1256	0.00	0.00	0.00	0.000	6	0.000	0.000	2115	260	2804	2886	2722	0	0	0	0	0	0	28.83	28.83	28.83
1383	-0.45	-291.9	1280	259	2843	2714	122.9	-10.1	256	1389	0.00	0.00	0.00	0.000	6	0.000	0.000	2115	259	2804	2886	2722	0	0	0	0	0	0	28.83	28.83	28.83
1515	-0.45	-291.9	2115	259	2886	2722	135.0	-9.2	281	1524	0.00	0.00	0.00	0.000	6	0.000	0.000	2115	259	2804	2886	2722	0	0	0	0	0	0	28.83	28.83	28.83
1652	-0.45	-291.9	2115	258	2887	2722	148.6	-10.4	306	1658	0.00	0.00	0.00	0.000	6	0.000	0.000	2115	259	2804	2887	2722	0	0	0	0	0	0	28.83	28.83	28.83
1786	-0.45	-291.9	2115	259	2886	2722	162.4	-10.1	331	1792	0.00	0.00	0.00	0.000	6	0.000	0.000	2115	259	2804	2887	2722	0	0	0	0	0	0	28.83	28.83	28.83
1852	end dive: TARGET_DEPTH_EXCEEDED
state	1852	begin apogee
1860	-0.23	0.0	2114	259	2887	2722	170.2	-9.6	344	2088	0.20	0.00	218.43	0.631	10246	0.126	0.000	2185	259	1639	1638	1640	0	0	0	0	0	0	26.32	28.83	24.20
2089	end apogee: CONTROL_FINISHED_OK
state	2089	begin climb
2093	0.45	291.9	2185	259	1637	1638	185.4	0.0	385	2354	0.70	0.00	243.35	0.595	10246	0.121	0.000	2406	259	474	417	532	0	0	0	0	2	0	24.77	28.83	24.15
2480	0.47	363.9	1496	259	416	529	162.1	7.5	456	2492	0.00	0.00	6.05	0.471	8198	0.000	0.000	2406	259	450	398	502	0	0	0	0	0	0	28.83	28.83	24.86
2619	0.49	417.7	2406	259	398	500	152.0	7.9	482	2625	0.00	0.00	0.00	0.000	6	0.000	0.000	2406	259	449	398	501	0	0	0	0	0	0	28.83	28.83	28.83
2749	0.50	462.0	2406	259	398	500	141.6	8.1	507	2755	0.00	0.00	0.00	0.000	6	0.000	0.000	2406	259	448	397	500	0	0	0	0	0	0	28.83	28.83	28.83
2879	0.50	462.0	2405	259	398	500	129.8	10.5	532	2884	0.00	0.00	0.00	0.000	6	0.000	0.000	2406	259	449	398	500	0	0	0	0	0	0	28.83	28.83	28.83
3009	0.50	462.0	2406	259	398	500	114.4	11.6	557	3014	0.00	0.00	0.00	0.000	6	0.000	0.000	2406	259	449	398	500	0	0	0	0	0	0	28.83	28.83	28.83
3138	0.50	462.0	1504	259	398	500	100.1	12.5	582	3143	0.00	0.00	0.00	0.000	6	0.000	0.000	2406	259	449	398	500	0	0	0	0	0	0	28.83	28.83	28.83
3267	0.50	462.0	2406	259	398	500	85.8	11.9	607	3273	0.00	0.00	0.00	0.000	6	0.000	0.000	2406	259	449	398	500	0	0	0	0	0	0	28.83	28.83	28.83
3397	0.51	477.1	2406	259	398	500	73.3	8.7	632	3403	0.00	0.00	0.00	0.000	6	0.000	0.000	2406	259	449	398	500	0	0	0	0	0	0	28.83	28.83	28.83
3527	0.51	477.1	2406	259	398	500	60.9	9.1	657	3533	0.00	0.00	0.00	0.000	6	0.000	0.000	2406	259	449	398	500	0	0	0	0	0	0	28.83	28.83	28.83
3656	0.51	477.1	1504	259	398	500	47.5	9.5	682	3662	0.00	0.00	0.00	0.000	6	0.000	0.000	2406	259	449	399	500	0	0	0	0	0	0	28.83	28.83	28.83
3786	0.51	477.1	2406	259	399	500	33.3	10.1	707	3792	0.00	0.00	0.00	0.000	6	0.000	0.000	2406	259	449	399	500	0	0	0	0	0	0	28.83	28.83	28.83
3857	0.51	477.1	2406	259	399	500	25.1	12.6	720	3863	0.00	0.00	0.00	0.000	6	0.000	0.000	2406	259	449	399	500	0	0	0	0	0	0	28.83	28.83	28.83
3927	0.51	477.1	2406	259	399	500	17.2	10.8	733	3933	0.00	0.00	0.00	0.000	6	0.000	0.000	2406	260	449	399	500	0	0	0	0	0	0	28.83	28.83	28.83
3996	0.51	477.1	1496	260	399	500	9.4	11.6	746	4002	0.00	0.00	0.00	0.000	6	0.000	0.000	2406	260	449	399	500	0	0	0	0	0	0	28.83	28.83	28.83
4063	end climb: SURFACE_DEPTH_REACHED
state	4063	begin surface coast
4079	end surface coast: CONTROL_FINISHED_OK
state	4079	begin surface