Glider dive log

Shilshole 06Jan15 * SG156 * Dive index * Mission links * Dive 8 * 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 8 ESCAPE_HEADING 50 C_ROLL_DIVE 2040 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 25 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1940 ALTIM_PING_DEPTH 100

D_SURF 2 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 56.75 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 180 TGT_DEFAULT_LON -7.25 ROLL_TIMEOUT 15 ALTIM_PULSE 5

D_ABORT 1020 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 31 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 260 R_STBD_OVSHOOT 20 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 75 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 101

T_MISSION 90 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 -905974.06 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 120 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 40 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 180 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 40 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -7 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 75

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 -905974.06

CAPUPLOAD 1 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 90

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 1940 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2040 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 120 ROLL_TIMEOUT 15 VBD_MAX 3959

DEVICE2 20 MINV_10V 8 R_PORT_OVSHOOT 31 VBD_MAXERRORS 1

DEVICE3 35 MINV_24V 17 R_STBD_OVSHOOT 20 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 8 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 070115,035438,4743.648,-12224.864,12,1.3,12,18.2 TGT_NAME NORTH

_CALLS 1 TGT_LATLONG 4744.500,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.060,0.210

_SM_DEPTHo 0.96 KALMAN_X -950.8,-153.1,-35.4,736.4,-125.6

_SM_ANGLEo -67.2 KALMAN_Y -2388.2,-279.6,-210.0,3979.3,-470.3

GPS2 070115,035907,4743.684,-12224.869,14,1.3,14,18.2 MHEAD_RNG_PITCHd_Wd 357.7,1579,-16.9,-8.000,-20.10,2233

SPEED_LIMITS 0.095,0.219 D_GRID 175

Post-dive calculations and measurements:

FINISH 0.3,1.020962 _24V_AH 24.2,0.877

SM_CCo 3581,111.03,0.519,1,0,602,260.24 _10V_AH 10.4,0.574

SM_GC 0.90,6.05,0.17,111.03,0.050,0.070,0.519,142,2067,602,-6.54,-0.62,260.24,0,0,0,0,1,0,26.32,26.34,24.68 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12224.09,070115,030314 FG_AHR_10Vo 0.000

TT8_MAMPS 0.027713,0.027713 MEM 323276

HUMID 29.60 DATA_FILE_SIZE 50475,653

INTERNAL_PRESSURE 9.31676 CAP_FILE_SIZE 90519,0

TCM_TEMP 19.70 CFSIZE 260165632,257474560

XPDR_PINGS 203 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0

ALTIM_BOTTOM_PING 161.1,36.1 GPS 070115,050305,4744.395,-12224.713,15,1.1,37,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 243 89.04 SBE_CT 440 23 255.51

Roll_motor 61 70 104.15 SBE_O2 360 5 52.24

VBD_pump_during_apogee 198 643 3087.81 WL_BB2FLVMG 612 105 1556.64

VBD_pump_during_surface 111 518 1393.57 AA4330 551 41 559.84

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 0 0 0.00 nil 0 0 0.00

Transponder_ping 54 420 551.40 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 29 4.61

TT8 1474 12 191.01

LPSleep 647 2 14.76

TT8_Active 448 12 58.17

TT8_Sampling 1020 35 378.53

TT8_CF8 184 42 81.46

TT8_Kalman 33 58 20.10

Analog_circuits 996 16 165.87

GPS_charging 0 0 0.00

Compass 982 16 168.44

RAFOS 0 0 0.00

Transponder 27 30 8.44

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

18 -0.58 -116.8 163 2020 520 682 0.0 0.0 0 80 0.00 0.00 -60.00 0.000 16386 0.000 0.000 163 2021 1885 1933 1837 0 0 0 0 0 0 28.83 28.83 28.83

85 -0.58 -116.8 163 2019 1934 1843 3.4 -6.9 11 104 7.45 2.45 -5.60 0.000 18692 0.243 0.069 2062 3458 2107 2179 2035 0 0 0 0 0 0 25.67 25.89 26.23

235 -0.58 -116.8 1280 3455 2130 2034 24.6 -12.4 39 242 0.00 2.28 0.00 0.000 1030 0.000 0.045 2062 2051 2111 2181 2042 0 0 0 0 0 0 28.83 26.02 28.83

306 -0.58 -116.8 2062 2048 2181 2041 33.4 -11.8 52 312 0.00 2.40 0.00 0.000 516 0.000 0.060 2062 623 2111 2182 2041 0 0 0 0 0 0 28.83 26.04 28.83

416 -0.58 -116.8 2062 624 2182 2041 47.1 -13.2 73 423 0.00 2.38 0.00 0.000 1030 0.000 0.046 2052 2041 2111 2182 2041 0 0 0 0 0 0 28.83 26.11 28.83

547 -0.58 -116.8 2051 2039 2182 2041 63.0 -10.9 98 553 0.00 2.28 0.00 0.000 260 0.000 0.057 2040 3467 2111 2181 2041 0 0 0 0 0 0 28.83 26.14 28.83

592 -0.58 -116.8 1256 3465 2130 2034 67.9 -10.4 106 599 0.15 2.28 0.00 0.000 3078 0.161 0.043 2081 2036 2111 2181 2041 0 0 0 0 0 0 26.06 26.17 28.83

726 -0.58 -116.8 2080 2033 2182 2041 80.7 -10.6 131 732 0.00 0.00 0.00 0.000 6 0.000 0.000 2081 2033 2111 2182 2041 0 0 0 0 0 0 28.83 28.83 28.83

855 -0.58 -116.8 1280 2029 2130 2034 96.5 -12.5 156 862 0.00 2.35 0.00 0.000 516 0.000 0.060 2081 626 2111 2181 2041 0 0 0 0 0 0 28.83 26.22 28.83

921 -0.58 -116.8 2081 626 2181 2041 104.2 -11.7 168 930 0.00 2.35 0.00 0.000 1030 0.000 0.044 2071 2043 2111 2182 2041 0 0 0 0 0 0 28.83 26.26 28.83

1059 -0.58 -116.8 2071 2041 2181 2041 119.3 -11.3 193 1067 0.00 2.40 0.00 0.000 516 0.000 0.058 2072 632 2111 2181 2041 0 0 0 0 0 0 28.83 26.26 28.83

1165 -0.58 -116.8 2071 632 2181 2041 131.4 -11.9 212 1171 0.00 2.35 0.00 0.000 1030 0.000 0.043 2061 2046 2111 2181 2041 0 0 0 0 0 0 28.83 26.30 28.83

1299 -0.58 -116.8 2061 2044 2181 2041 146.7 -9.8 237 1305 0.00 0.00 0.00 0.000 6 0.000 0.000 2061 2044 2111 2181 2041 0 0 0 0 0 0 28.83 28.83 28.83

1433 -0.58 -116.8 1248 2041 2128 2033 159.9 -9.7 262 1444 0.00 0.00 0.00 0.000 6 0.000 0.000 2061 2044 2111 2182 2041 0 0 0 0 0 0 28.83 28.83 28.83

1554 end dive: TARGET_DEPTH_EXCEEDED

state 1554 begin apogee

1566 -0.23 0.0 2061 1916 2181 2041 175.2 -14.2 285 1666 0.38 0.00 94.20 0.643 10246 0.144 0.000 2183 1916 1637 1661 1614 0 0 0 0 0 0 26.23 28.83 24.49

1667 end apogee: CONTROL_FINISHED_OK

state 1667 begin climb

1671 0.58 116.8 2183 1916 1661 1613 182.1 0.0 303 1777 0.80 2.53 94.72 0.615 10500 0.111 0.051 2444 3353 1173 1139 1207 0 0 0 0 0 0 25.04 24.71 24.16

1797 0.58 116.8 2444 3353 1138 1207 175.8 10.1 325 1804 0.00 2.38 0.00 0.000 1030 0.000 0.044 2456 1947 1172 1138 1206 0 0 0 0 0 0 28.83 25.03 28.83

1931 0.58 116.8 2455 1942 1138 1206 163.1 11.3 350 1937 0.00 2.45 0.00 0.000 516 0.000 0.064 2466 527 1172 1138 1207 0 0 0 0 0 0 28.83 25.53 28.83

1956 0.58 116.8 1544 527 1126 1202 159.9 11.2 354 1962 0.00 2.40 0.00 0.000 1030 0.000 0.039 2466 1950 1171 1138 1204 0 0 0 0 0 0 28.83 25.63 28.83

2089 0.58 116.8 2466 1952 1138 1204 143.9 12.6 379 2096 0.00 2.25 0.00 0.000 260 0.000 0.050 2466 3348 1170 1138 1203 0 0 0 0 0 0 28.83 25.80 28.83

2135 0.58 116.8 2466 3347 1138 1203 138.4 11.1 387 2142 0.00 2.30 0.00 0.000 1030 0.000 0.044 2477 1940 1171 1138 1204 0 0 0 0 0 0 28.83 25.86 28.83

2268 0.58 116.8 2477 1935 1138 1203 124.0 11.0 412 2274 0.00 0.00 0.00 0.000 6 0.000 0.000 2477 1935 1170 1138 1203 0 0 0 0 0 0 28.83 28.83 28.83

2398 0.58 116.8 2477 1935 1138 1204 109.2 10.9 437 2405 0.00 2.38 0.00 0.000 516 0.000 0.061 2488 530 1170 1138 1203 0 0 0 0 0 0 28.83 26.03 28.83

2428 0.58 116.8 1568 530 1126 1199 105.8 11.6 442 2436 0.15 2.35 0.00 0.000 5126 0.165 0.040 2450 1953 1169 1138 1201 0 0 0 0 0 0 25.94 26.08 28.83

2561 0.58 116.8 1536 1949 1126 1199 93.3 8.9 467 2566 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 1951 1169 1138 1201 0 0 0 0 0 0 28.83 28.83 28.83

2690 0.58 116.8 2449 1951 1138 1201 81.8 8.8 492 2696 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 1951 1169 1138 1200 0 0 0 0 0 0 28.83 28.83 28.83

2820 0.58 116.8 2450 1951 1138 1201 69.6 10.0 517 2827 0.00 2.20 0.00 0.000 260 0.000 0.049 2450 3343 1169 1138 1201 0 0 0 0 0 0 28.83 26.20 28.83

2881 0.58 116.8 2449 3341 1138 1201 63.1 11.0 528 2887 0.00 2.25 0.00 0.000 1030 0.000 0.044 2459 1939 1169 1138 1201 0 0 0 0 0 0 28.83 26.24 28.83

3014 0.58 116.8 2458 1936 1138 1201 49.6 10.2 553 3020 0.00 0.00 0.00 0.000 6 0.000 0.000 2458 1936 1169 1138 1201 0 0 0 0 0 0 28.83 28.83 28.83

3145 0.58 127.4 1512 1933 1125 1199 38.3 7.5 578 3157 0.00 0.00 9.40 0.508 8198 0.000 0.000 2459 1936 1129 1095 1164 0 0 0 0 0 0 28.83 28.83 25.62

3223 0.58 127.4 2458 1936 1094 1164 32.2 8.2 592 3229 0.00 2.35 0.00 0.000 516 0.000 0.061 2470 528 1129 1094 1164 0 0 0 0 0 0 28.83 26.17 28.83

3273 0.58 127.4 1544 528 1084 1162 27.8 8.1 601 3280 0.00 2.30 0.00 0.000 1030 0.000 0.039 2470 1937 1128 1094 1163 0 0 0 0 0 0 28.83 26.23 28.83

3345 0.58 127.4 2470 1935 1094 1163 21.3 8.6 614 3352 0.00 2.22 0.00 0.000 260 0.000 0.048 2470 3346 1128 1094 1163 0 0 0 0 0 0 28.83 26.23 28.83

3406 0.58 127.4 2470 3345 1094 1163 14.6 10.8 625 3413 0.00 2.25 0.00 0.000 1030 0.000 0.043 2480 1939 1128 1094 1163 0 0 0 0 0 0 28.83 26.27 28.83

3477 0.58 127.4 2480 1939 1094 1163 7.5 9.9 638 3483 0.00 2.35 0.00 0.000 516 0.000 0.060 2492 526 1128 1094 1163 0 0 0 0 0 0 28.83 26.26 28.83

3508 0.58 127.4 2492 526 1095 1162 4.4 10.1 643 3515 0.15 2.33 0.00 0.000 5126 0.164 0.039 2453 1948 1128 1094 1163 0 0 0 0 0 0 26.16 26.30 28.83

3536 end climb: SURFACE_DEPTH_REACHED

state 3536 begin surface coast

3562 end surface coast: CONTROL_FINISHED_OK

state 3562 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	8	ESCAPE_HEADING	50	C_ROLL_DIVE	2040	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	25	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1940	ALTIM_PING_DEPTH	100
D_SURF	2	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	56.75	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	180	TGT_DEFAULT_LON	-7.25	ROLL_TIMEOUT	15	ALTIM_PULSE	5
D_ABORT	1020	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	31	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	260	R_STBD_OVSHOOT	20	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	75	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	101
T_MISSION	90	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	-905974.06	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	120	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	40	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	070115,035438,4743.648,-12224.864,12,1.3,12,18.2	TGT_NAME	NORTH
_CALLS	1	TGT_LATLONG	4744.500,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.060,0.210
_SM_DEPTHo	0.96	KALMAN_X	-950.8,-153.1,-35.4,736.4,-125.6
_SM_ANGLEo	-67.2	KALMAN_Y	-2388.2,-279.6,-210.0,3979.3,-470.3
GPS2	070115,035907,4743.684,-12224.869,14,1.3,14,18.2	MHEAD_RNG_PITCHd_Wd	357.7,1579,-16.9,-8.000,-20.10,2233
SPEED_LIMITS	0.095,0.219	D_GRID	175

FINISH	0.3,1.020962	_24V_AH	24.2,0.877
SM_CCo	3581,111.03,0.519,1,0,602,260.24	_10V_AH	10.4,0.574
SM_GC	0.90,6.05,0.17,111.03,0.050,0.070,0.519,142,2067,602,-6.54,-0.62,260.24,0,0,0,0,1,0,26.32,26.34,24.68	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12224.09,070115,030314	FG_AHR_10Vo	0.000
TT8_MAMPS	0.027713,0.027713	MEM	323276
HUMID	29.60	DATA_FILE_SIZE	50475,653
INTERNAL_PRESSURE	9.31676	CAP_FILE_SIZE	90519,0
TCM_TEMP	19.70	CFSIZE	260165632,257474560
XPDR_PINGS	203	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0
ALTIM_BOTTOM_PING	161.1,36.1	GPS	070115,050305,4744.395,-12224.713,15,1.1,37,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	243	89.04	SBE_CT	440	23	255.51
Roll_motor	61	70	104.15	SBE_O2	360	5	52.24
VBD_pump_during_apogee	198	643	3087.81	WL_BB2FLVMG	612	105	1556.64
VBD_pump_during_surface	111	518	1393.57	AA4330	551	41	559.84
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	0	0	0.00	nil	0	0	0.00
Transponder_ping	54	420	551.40	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	29	4.61
TT8	1474	12	191.01
LPSleep	647	2	14.76
TT8_Active	448	12	58.17
TT8_Sampling	1020	35	378.53
TT8_CF8	184	42	81.46
TT8_Kalman	33	58	20.10
Analog_circuits	996	16	165.87
GPS_charging	0	0	0.00
Compass	982	16	168.44
RAFOS	0	0	0.00
Transponder	27	30	8.44

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
18	-0.58	-116.8	163	2020	520	682	0.0	0.0	0	80	0.00	0.00	-60.00	0.000	16386	0.000	0.000	163	2021	1885	1933	1837	0	0	0	0	0	0	28.83	28.83	28.83
85	-0.58	-116.8	163	2019	1934	1843	3.4	-6.9	11	104	7.45	2.45	-5.60	0.000	18692	0.243	0.069	2062	3458	2107	2179	2035	0	0	0	0	0	0	25.67	25.89	26.23
235	-0.58	-116.8	1280	3455	2130	2034	24.6	-12.4	39	242	0.00	2.28	0.00	0.000	1030	0.000	0.045	2062	2051	2111	2181	2042	0	0	0	0	0	0	28.83	26.02	28.83
306	-0.58	-116.8	2062	2048	2181	2041	33.4	-11.8	52	312	0.00	2.40	0.00	0.000	516	0.000	0.060	2062	623	2111	2182	2041	0	0	0	0	0	0	28.83	26.04	28.83
416	-0.58	-116.8	2062	624	2182	2041	47.1	-13.2	73	423	0.00	2.38	0.00	0.000	1030	0.000	0.046	2052	2041	2111	2182	2041	0	0	0	0	0	0	28.83	26.11	28.83
547	-0.58	-116.8	2051	2039	2182	2041	63.0	-10.9	98	553	0.00	2.28	0.00	0.000	260	0.000	0.057	2040	3467	2111	2181	2041	0	0	0	0	0	0	28.83	26.14	28.83
592	-0.58	-116.8	1256	3465	2130	2034	67.9	-10.4	106	599	0.15	2.28	0.00	0.000	3078	0.161	0.043	2081	2036	2111	2181	2041	0	0	0	0	0	0	26.06	26.17	28.83
726	-0.58	-116.8	2080	2033	2182	2041	80.7	-10.6	131	732	0.00	0.00	0.00	0.000	6	0.000	0.000	2081	2033	2111	2182	2041	0	0	0	0	0	0	28.83	28.83	28.83
855	-0.58	-116.8	1280	2029	2130	2034	96.5	-12.5	156	862	0.00	2.35	0.00	0.000	516	0.000	0.060	2081	626	2111	2181	2041	0	0	0	0	0	0	28.83	26.22	28.83
921	-0.58	-116.8	2081	626	2181	2041	104.2	-11.7	168	930	0.00	2.35	0.00	0.000	1030	0.000	0.044	2071	2043	2111	2182	2041	0	0	0	0	0	0	28.83	26.26	28.83
1059	-0.58	-116.8	2071	2041	2181	2041	119.3	-11.3	193	1067	0.00	2.40	0.00	0.000	516	0.000	0.058	2072	632	2111	2181	2041	0	0	0	0	0	0	28.83	26.26	28.83
1165	-0.58	-116.8	2071	632	2181	2041	131.4	-11.9	212	1171	0.00	2.35	0.00	0.000	1030	0.000	0.043	2061	2046	2111	2181	2041	0	0	0	0	0	0	28.83	26.30	28.83
1299	-0.58	-116.8	2061	2044	2181	2041	146.7	-9.8	237	1305	0.00	0.00	0.00	0.000	6	0.000	0.000	2061	2044	2111	2181	2041	0	0	0	0	0	0	28.83	28.83	28.83
1433	-0.58	-116.8	1248	2041	2128	2033	159.9	-9.7	262	1444	0.00	0.00	0.00	0.000	6	0.000	0.000	2061	2044	2111	2182	2041	0	0	0	0	0	0	28.83	28.83	28.83
1554	end dive: TARGET_DEPTH_EXCEEDED
state	1554	begin apogee
1566	-0.23	0.0	2061	1916	2181	2041	175.2	-14.2	285	1666	0.38	0.00	94.20	0.643	10246	0.144	0.000	2183	1916	1637	1661	1614	0	0	0	0	0	0	26.23	28.83	24.49
1667	end apogee: CONTROL_FINISHED_OK
state	1667	begin climb
1671	0.58	116.8	2183	1916	1661	1613	182.1	0.0	303	1777	0.80	2.53	94.72	0.615	10500	0.111	0.051	2444	3353	1173	1139	1207	0	0	0	0	0	0	25.04	24.71	24.16
1797	0.58	116.8	2444	3353	1138	1207	175.8	10.1	325	1804	0.00	2.38	0.00	0.000	1030	0.000	0.044	2456	1947	1172	1138	1206	0	0	0	0	0	0	28.83	25.03	28.83
1931	0.58	116.8	2455	1942	1138	1206	163.1	11.3	350	1937	0.00	2.45	0.00	0.000	516	0.000	0.064	2466	527	1172	1138	1207	0	0	0	0	0	0	28.83	25.53	28.83
1956	0.58	116.8	1544	527	1126	1202	159.9	11.2	354	1962	0.00	2.40	0.00	0.000	1030	0.000	0.039	2466	1950	1171	1138	1204	0	0	0	0	0	0	28.83	25.63	28.83
2089	0.58	116.8	2466	1952	1138	1204	143.9	12.6	379	2096	0.00	2.25	0.00	0.000	260	0.000	0.050	2466	3348	1170	1138	1203	0	0	0	0	0	0	28.83	25.80	28.83
2135	0.58	116.8	2466	3347	1138	1203	138.4	11.1	387	2142	0.00	2.30	0.00	0.000	1030	0.000	0.044	2477	1940	1171	1138	1204	0	0	0	0	0	0	28.83	25.86	28.83
2268	0.58	116.8	2477	1935	1138	1203	124.0	11.0	412	2274	0.00	0.00	0.00	0.000	6	0.000	0.000	2477	1935	1170	1138	1203	0	0	0	0	0	0	28.83	28.83	28.83
2398	0.58	116.8	2477	1935	1138	1204	109.2	10.9	437	2405	0.00	2.38	0.00	0.000	516	0.000	0.061	2488	530	1170	1138	1203	0	0	0	0	0	0	28.83	26.03	28.83
2428	0.58	116.8	1568	530	1126	1199	105.8	11.6	442	2436	0.15	2.35	0.00	0.000	5126	0.165	0.040	2450	1953	1169	1138	1201	0	0	0	0	0	0	25.94	26.08	28.83
2561	0.58	116.8	1536	1949	1126	1199	93.3	8.9	467	2566	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	1951	1169	1138	1201	0	0	0	0	0	0	28.83	28.83	28.83
2690	0.58	116.8	2449	1951	1138	1201	81.8	8.8	492	2696	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	1951	1169	1138	1200	0	0	0	0	0	0	28.83	28.83	28.83
2820	0.58	116.8	2450	1951	1138	1201	69.6	10.0	517	2827	0.00	2.20	0.00	0.000	260	0.000	0.049	2450	3343	1169	1138	1201	0	0	0	0	0	0	28.83	26.20	28.83
2881	0.58	116.8	2449	3341	1138	1201	63.1	11.0	528	2887	0.00	2.25	0.00	0.000	1030	0.000	0.044	2459	1939	1169	1138	1201	0	0	0	0	0	0	28.83	26.24	28.83
3014	0.58	116.8	2458	1936	1138	1201	49.6	10.2	553	3020	0.00	0.00	0.00	0.000	6	0.000	0.000	2458	1936	1169	1138	1201	0	0	0	0	0	0	28.83	28.83	28.83
3145	0.58	127.4	1512	1933	1125	1199	38.3	7.5	578	3157	0.00	0.00	9.40	0.508	8198	0.000	0.000	2459	1936	1129	1095	1164	0	0	0	0	0	0	28.83	28.83	25.62
3223	0.58	127.4	2458	1936	1094	1164	32.2	8.2	592	3229	0.00	2.35	0.00	0.000	516	0.000	0.061	2470	528	1129	1094	1164	0	0	0	0	0	0	28.83	26.17	28.83
3273	0.58	127.4	1544	528	1084	1162	27.8	8.1	601	3280	0.00	2.30	0.00	0.000	1030	0.000	0.039	2470	1937	1128	1094	1163	0	0	0	0	0	0	28.83	26.23	28.83
3345	0.58	127.4	2470	1935	1094	1163	21.3	8.6	614	3352	0.00	2.22	0.00	0.000	260	0.000	0.048	2470	3346	1128	1094	1163	0	0	0	0	0	0	28.83	26.23	28.83
3406	0.58	127.4	2470	3345	1094	1163	14.6	10.8	625	3413	0.00	2.25	0.00	0.000	1030	0.000	0.043	2480	1939	1128	1094	1163	0	0	0	0	0	0	28.83	26.27	28.83
3477	0.58	127.4	2480	1939	1094	1163	7.5	9.9	638	3483	0.00	2.35	0.00	0.000	516	0.000	0.060	2492	526	1128	1094	1163	0	0	0	0	0	0	28.83	26.26	28.83
3508	0.58	127.4	2492	526	1095	1162	4.4	10.1	643	3515	0.15	2.33	0.00	0.000	5126	0.164	0.039	2453	1948	1128	1094	1163	0	0	0	0	0	0	26.16	26.30	28.83
3536	end climb: SURFACE_DEPTH_REACHED
state	3536	begin surface coast
3562	end surface coast: CONTROL_FINISHED_OK
state	3562	begin surface