Glider dive log

Shilshole 06Jan15 * SG156 * Dive index * Mission links * Dive 9 * 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 9 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 24 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 260 R_STBD_OVSHOOT 44 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 -905975.31 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 -905975.31

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 24 VBD_MAXERRORS 1

DEVICE3 35 MINV_24V 17 R_STBD_OVSHOOT 44 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 9 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 070115,050305,4744.395,-12224.713,15,1.1,37,18.2 TGT_NAME SOUTH

_CALLS 1 TGT_LATLONG 4743.000,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.054,-0.212

_SM_DEPTHo 0.98 KALMAN_X -1119.1,-136.8,-43.4,994.2,-122.5

_SM_ANGLEo -67.4 KALMAN_Y -1884.3,-387.4,-202.9,4992.2,58.8

GPS2 070115,051406,4744.455,-12224.789,11,1.7,16,18.2 MHEAD_RNG_PITCHd_Wd 147.4,2718,-16.9,-8.000,-20.10,2233

SPEED_LIMITS 0.095,0.219 D_GRID 178

Post-dive calculations and measurements:

FINISH 0.1,1.021002 _24V_AH 24.1,0.964

SM_CCo 3347,82.20,0.513,2,0,602,260.24 _10V_AH 10.4,0.635

SM_GC 1.03,6.12,0.20,82.20,0.049,0.061,0.513,135,2063,602,-6.56,-0.88,260.24,0,0,0,0,2,0,26.34,26.39,24.92 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4722.92,-12226.80,070115,030317 FG_AHR_10Vo 0.000

TT8_MAMPS 0.027713,0.027713 MEM 323256

HUMID 29.36 DATA_FILE_SIZE 47142,611

INTERNAL_PRESSURE 9.31676 CAP_FILE_SIZE 75036,0

TCM_TEMP 19.70 CFSIZE 260165632,257437696

XPDR_PINGS 187 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,2,0,0

ALTIM_BOTTOM_PING 140.7,56.0 GPS 070115,061354,4744.388,-12224.721,44,1.7,44,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 244 90.12 SBE_CT 411 23 237.53

Roll_motor 51 143 176.17 SBE_O2 336 5 48.57

VBD_pump_during_apogee 229 644 3559.93 WL_BB2FLVMG 570 105 1444.90

VBD_pump_during_surface 82 512 1015.37 AA4330 515 41 520.85

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 58 40.00 nil 0 0 0.00

Iridium_during_connect 38 160 149.36 nil 0 0 0.00

Iridium_during_xfer 428 223 2304.22 nil 0 0 0.00

Transponder_ping 49 420 498.51 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 29 5.41

TT8 1367 12 177.24

LPSleep 594 2 13.54

TT8_Active 435 12 56.41

TT8_Sampling 1427 35 529.73

TT8_CF8 279 42 123.48

TT8_Kalman 33 58 20.09

Analog_circuits 959 16 159.64

GPS_charging 0 0 0.00

Compass 921 16 157.94

RAFOS 0 0 0.00

Transponder 18 30 5.65

Guidance and control:

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

17 -0.58 -116.8 141 2061 515 688 0.0 0.0 0 74 0.00 0.00 -54.95 0.000 16386 0.000 0.000 141 2061 1744 1805 1683 0 0 0 0 0 0 28.83 28.83 28.83

79 -0.58 -116.8 142 2061 1805 1687 3.0 -6.6 10 104 7.68 2.50 -10.27 0.000 18948 0.245 0.067 2071 628 2104 2195 2014 0 0 0 0 0 0 25.50 25.75 26.07

442 -0.58 -116.8 2070 628 2194 2015 50.9 -13.3 80 448 0.00 2.33 0.00 0.000 1030 0.000 0.041 2062 2025 2105 2195 2015 0 0 0 0 0 0 28.83 26.08 28.83

572 -0.58 -116.8 2061 2023 2195 2015 66.6 -11.0 105 578 0.00 0.00 0.00 0.000 6 0.000 0.000 2061 2023 2105 2195 2015 0 0 0 0 0 0 28.83 28.83 28.83

702 -0.58 -116.8 2061 2022 2195 2015 81.3 -11.5 130 708 0.00 0.00 0.00 0.000 6 0.000 0.000 2062 2022 2104 2195 2014 0 0 0 0 0 0 28.83 28.83 28.83

832 -0.58 -116.8 2061 2022 2195 2015 96.6 -11.8 155 838 0.00 2.38 0.00 0.000 516 0.000 0.056 2061 622 2105 2195 2015 0 0 0 0 0 0 28.83 26.19 28.83

892 -0.58 -116.8 1280 622 2144 2007 104.4 -13.6 166 899 0.00 2.35 0.00 0.000 1030 0.000 0.041 2051 2037 2105 2195 2015 0 0 0 0 0 0 28.83 26.23 28.83

1029 -0.58 -116.8 2051 2034 2195 2015 122.1 -13.5 191 1035 0.00 0.00 0.00 0.000 6 0.000 0.000 2051 2035 2105 2195 2015 0 0 0 0 0 0 28.83 28.83 28.83

1163 -0.58 -116.8 1232 2032 2140 2007 139.5 -12.7 216 1174 0.00 0.00 0.00 0.000 6 0.000 0.000 2051 2034 2105 2195 2015 0 0 0 0 0 0 28.83 28.83 28.83

1300 -0.58 -116.8 2051 2034 2195 2015 156.9 -12.6 241 1306 0.00 0.00 0.00 0.000 6 0.000 0.000 2051 2034 2105 2195 2015 0 0 0 0 0 0 28.83 28.83 28.83

1429 -0.58 -116.8 1280 2031 2144 2007 172.9 -14.8 266 1435 0.00 0.00 0.00 0.000 6 0.000 0.000 2051 2034 2104 2195 2014 0 0 0 0 0 0 28.83 28.83 28.83

1462 end dive: TARGET_DEPTH_EXCEEDED

state 1462 begin apogee

1470 -0.23 0.0 2051 1902 2195 2014 178.4 -14.6 272 1571 0.43 0.05 93.82 0.644 10246 0.145 0.143 2188 1959 1637 1669 1606 0 0 0 0 0 0 26.20 24.94 24.48

1575 end apogee: CONTROL_FINISHED_OK

state 1575 begin climb

1578 0.58 116.8 2187 1960 1669 1603 185.9 0.0 290 1685 0.80 2.40 94.62 0.620 11012 0.109 0.047 2448 3327 1172 1137 1208 0 0 0 0 0 0 25.06 24.70 24.15

1696 0.59 165.9 2448 3327 1137 1208 182.6 5.7 310 1747 0.00 2.28 40.88 0.602 9222 0.000 0.041 2458 1973 976 932 1021 0 0 0 0 0 0 28.83 24.95 24.21

1873 0.59 165.9 2458 1970 932 1018 164.4 11.7 343 1879 0.00 0.00 0.00 0.000 6 0.000 0.000 2458 1970 975 932 1018 0 0 0 0 0 0 28.83 28.83 28.83

2002 0.59 165.9 2458 1970 932 1017 150.4 11.1 368 2008 0.00 0.00 0.00 0.000 6 0.000 0.000 2458 1970 974 932 1017 0 0 0 0 0 0 28.83 28.83 28.83

2132 0.59 165.9 2458 1970 932 1017 134.9 12.5 393 2139 0.00 2.22 0.00 0.000 260 0.000 0.050 2458 3340 974 932 1016 0 0 0 0 0 0 28.83 25.86 28.83

2158 0.59 165.9 2458 3339 933 1015 131.4 13.6 397 2164 0.00 2.28 0.00 0.000 1030 0.000 0.042 2468 1932 973 932 1015 0 0 0 0 0 0 28.83 25.91 28.83

2291 0.59 165.9 2468 1932 932 1015 114.9 13.2 422 2298 0.00 2.38 0.00 0.000 516 0.000 0.060 2480 524 973 932 1015 0 0 0 0 0 0 28.83 25.98 28.83

2317 0.59 165.9 2480 524 932 1015 111.4 12.2 426 2323 0.00 2.33 0.00 0.000 1030 0.000 0.039 2480 1930 973 932 1014 0 0 0 0 0 0 28.83 26.03 28.83

2450 0.59 165.9 2480 1928 932 1013 95.8 12.6 451 2457 0.00 2.25 0.00 0.000 260 0.000 0.049 2480 3344 972 932 1013 0 0 0 0 0 0 28.83 26.07 28.83

2486 0.59 165.9 2479 3343 932 1012 90.7 13.5 457 2493 0.12 2.28 0.00 0.000 5126 0.175 0.043 2460 1923 972 932 1012 0 0 0 0 0 0 25.98 26.10 28.83

2620 0.59 165.9 2460 1921 932 1012 76.9 9.4 482 2627 0.00 2.33 0.00 0.000 516 0.000 0.058 2470 533 972 932 1012 0 0 0 0 0 0 28.83 26.13 28.83

2635 0.59 165.9 2469 533 932 1012 75.1 9.6 484 2642 0.00 2.33 0.00 0.000 1030 0.000 0.038 2470 1943 972 932 1012 0 0 0 0 0 0 28.83 26.17 28.83

2769 0.59 165.9 2470 1941 932 1012 60.1 11.5 509 2775 0.00 2.20 0.00 0.000 260 0.000 0.049 2470 3351 972 932 1012 0 0 0 0 0 0 28.83 26.19 28.83

2830 0.59 165.9 1536 3349 926 1010 52.7 11.9 520 2837 0.00 2.25 0.00 0.000 1030 0.000 0.041 2480 1938 971 932 1011 0 0 0 0 0 0 28.83 26.22 28.83

2964 0.59 165.9 2480 1938 932 1011 37.9 10.5 545 2970 0.00 2.28 0.00 0.000 260 0.000 0.048 2480 3355 971 932 1011 0 0 0 0 0 0 28.83 26.23 28.83

2999 0.59 165.9 1552 3355 926 1010 33.8 11.0 551 3006 0.12 2.28 0.00 0.000 5126 0.176 0.043 2460 1934 971 932 1011 0 0 0 0 0 0 26.13 26.25 28.83

3071 0.59 165.9 2460 1934 932 1011 26.8 9.2 564 3077 0.00 2.33 0.00 0.000 516 0.000 0.057 2470 531 971 932 1011 0 0 0 0 0 0 28.83 26.25 28.83

3143 0.59 165.9 2470 531 932 1011 19.9 9.4 577 3149 0.00 2.30 0.00 0.000 1030 0.000 0.037 2470 1946 971 932 1011 0 0 0 0 0 0 28.83 26.31 28.83

3213 0.59 165.9 2470 1944 932 1011 12.6 10.9 590 3220 0.00 2.20 0.00 0.000 260 0.000 0.048 2470 3347 971 932 1010 0 0 0 0 0 0 28.83 26.29 28.83

3249 0.59 165.9 1536 3345 926 1008 8.1 11.8 596 3256 0.00 2.25 0.00 0.000 1030 0.000 0.041 2480 1929 971 932 1010 0 0 0 0 0 0 28.83 26.31 28.83

3306 end climb: SURFACE_DEPTH_REACHED

state 3306 begin surface coast

3328 end surface coast: CONTROL_FINISHED_OK

state 3328 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	9	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	24	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	260	R_STBD_OVSHOOT	44	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	-905975.31	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	070115,050305,4744.395,-12224.713,15,1.1,37,18.2	TGT_NAME	SOUTH
_CALLS	1	TGT_LATLONG	4743.000,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.054,-0.212
_SM_DEPTHo	0.98	KALMAN_X	-1119.1,-136.8,-43.4,994.2,-122.5
_SM_ANGLEo	-67.4	KALMAN_Y	-1884.3,-387.4,-202.9,4992.2,58.8
GPS2	070115,051406,4744.455,-12224.789,11,1.7,16,18.2	MHEAD_RNG_PITCHd_Wd	147.4,2718,-16.9,-8.000,-20.10,2233
SPEED_LIMITS	0.095,0.219	D_GRID	178

FINISH	0.1,1.021002	_24V_AH	24.1,0.964
SM_CCo	3347,82.20,0.513,2,0,602,260.24	_10V_AH	10.4,0.635
SM_GC	1.03,6.12,0.20,82.20,0.049,0.061,0.513,135,2063,602,-6.56,-0.88,260.24,0,0,0,0,2,0,26.34,26.39,24.92	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4722.92,-12226.80,070115,030317	FG_AHR_10Vo	0.000
TT8_MAMPS	0.027713,0.027713	MEM	323256
HUMID	29.36	DATA_FILE_SIZE	47142,611
INTERNAL_PRESSURE	9.31676	CAP_FILE_SIZE	75036,0
TCM_TEMP	19.70	CFSIZE	260165632,257437696
XPDR_PINGS	187	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,2,0,0
ALTIM_BOTTOM_PING	140.7,56.0	GPS	070115,061354,4744.388,-12224.721,44,1.7,44,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	244	90.12	SBE_CT	411	23	237.53
Roll_motor	51	143	176.17	SBE_O2	336	5	48.57
VBD_pump_during_apogee	229	644	3559.93	WL_BB2FLVMG	570	105	1444.90
VBD_pump_during_surface	82	512	1015.37	AA4330	515	41	520.85
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	58	40.00	nil	0	0	0.00
Iridium_during_connect	38	160	149.36	nil	0	0	0.00
Iridium_during_xfer	428	223	2304.22	nil	0	0	0.00
Transponder_ping	49	420	498.51	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	29	5.41
TT8	1367	12	177.24
LPSleep	594	2	13.54
TT8_Active	435	12	56.41
TT8_Sampling	1427	35	529.73
TT8_CF8	279	42	123.48
TT8_Kalman	33	58	20.09
Analog_circuits	959	16	159.64
GPS_charging	0	0	0.00
Compass	921	16	157.94
RAFOS	0	0	0.00
Transponder	18	30	5.65

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
17	-0.58	-116.8	141	2061	515	688	0.0	0.0	0	74	0.00	0.00	-54.95	0.000	16386	0.000	0.000	141	2061	1744	1805	1683	0	0	0	0	0	0	28.83	28.83	28.83
79	-0.58	-116.8	142	2061	1805	1687	3.0	-6.6	10	104	7.68	2.50	-10.27	0.000	18948	0.245	0.067	2071	628	2104	2195	2014	0	0	0	0	0	0	25.50	25.75	26.07
442	-0.58	-116.8	2070	628	2194	2015	50.9	-13.3	80	448	0.00	2.33	0.00	0.000	1030	0.000	0.041	2062	2025	2105	2195	2015	0	0	0	0	0	0	28.83	26.08	28.83
572	-0.58	-116.8	2061	2023	2195	2015	66.6	-11.0	105	578	0.00	0.00	0.00	0.000	6	0.000	0.000	2061	2023	2105	2195	2015	0	0	0	0	0	0	28.83	28.83	28.83
702	-0.58	-116.8	2061	2022	2195	2015	81.3	-11.5	130	708	0.00	0.00	0.00	0.000	6	0.000	0.000	2062	2022	2104	2195	2014	0	0	0	0	0	0	28.83	28.83	28.83
832	-0.58	-116.8	2061	2022	2195	2015	96.6	-11.8	155	838	0.00	2.38	0.00	0.000	516	0.000	0.056	2061	622	2105	2195	2015	0	0	0	0	0	0	28.83	26.19	28.83
892	-0.58	-116.8	1280	622	2144	2007	104.4	-13.6	166	899	0.00	2.35	0.00	0.000	1030	0.000	0.041	2051	2037	2105	2195	2015	0	0	0	0	0	0	28.83	26.23	28.83
1029	-0.58	-116.8	2051	2034	2195	2015	122.1	-13.5	191	1035	0.00	0.00	0.00	0.000	6	0.000	0.000	2051	2035	2105	2195	2015	0	0	0	0	0	0	28.83	28.83	28.83
1163	-0.58	-116.8	1232	2032	2140	2007	139.5	-12.7	216	1174	0.00	0.00	0.00	0.000	6	0.000	0.000	2051	2034	2105	2195	2015	0	0	0	0	0	0	28.83	28.83	28.83
1300	-0.58	-116.8	2051	2034	2195	2015	156.9	-12.6	241	1306	0.00	0.00	0.00	0.000	6	0.000	0.000	2051	2034	2105	2195	2015	0	0	0	0	0	0	28.83	28.83	28.83
1429	-0.58	-116.8	1280	2031	2144	2007	172.9	-14.8	266	1435	0.00	0.00	0.00	0.000	6	0.000	0.000	2051	2034	2104	2195	2014	0	0	0	0	0	0	28.83	28.83	28.83
1462	end dive: TARGET_DEPTH_EXCEEDED
state	1462	begin apogee
1470	-0.23	0.0	2051	1902	2195	2014	178.4	-14.6	272	1571	0.43	0.05	93.82	0.644	10246	0.145	0.143	2188	1959	1637	1669	1606	0	0	0	0	0	0	26.20	24.94	24.48
1575	end apogee: CONTROL_FINISHED_OK
state	1575	begin climb
1578	0.58	116.8	2187	1960	1669	1603	185.9	0.0	290	1685	0.80	2.40	94.62	0.620	11012	0.109	0.047	2448	3327	1172	1137	1208	0	0	0	0	0	0	25.06	24.70	24.15
1696	0.59	165.9	2448	3327	1137	1208	182.6	5.7	310	1747	0.00	2.28	40.88	0.602	9222	0.000	0.041	2458	1973	976	932	1021	0	0	0	0	0	0	28.83	24.95	24.21
1873	0.59	165.9	2458	1970	932	1018	164.4	11.7	343	1879	0.00	0.00	0.00	0.000	6	0.000	0.000	2458	1970	975	932	1018	0	0	0	0	0	0	28.83	28.83	28.83
2002	0.59	165.9	2458	1970	932	1017	150.4	11.1	368	2008	0.00	0.00	0.00	0.000	6	0.000	0.000	2458	1970	974	932	1017	0	0	0	0	0	0	28.83	28.83	28.83
2132	0.59	165.9	2458	1970	932	1017	134.9	12.5	393	2139	0.00	2.22	0.00	0.000	260	0.000	0.050	2458	3340	974	932	1016	0	0	0	0	0	0	28.83	25.86	28.83
2158	0.59	165.9	2458	3339	933	1015	131.4	13.6	397	2164	0.00	2.28	0.00	0.000	1030	0.000	0.042	2468	1932	973	932	1015	0	0	0	0	0	0	28.83	25.91	28.83
2291	0.59	165.9	2468	1932	932	1015	114.9	13.2	422	2298	0.00	2.38	0.00	0.000	516	0.000	0.060	2480	524	973	932	1015	0	0	0	0	0	0	28.83	25.98	28.83
2317	0.59	165.9	2480	524	932	1015	111.4	12.2	426	2323	0.00	2.33	0.00	0.000	1030	0.000	0.039	2480	1930	973	932	1014	0	0	0	0	0	0	28.83	26.03	28.83
2450	0.59	165.9	2480	1928	932	1013	95.8	12.6	451	2457	0.00	2.25	0.00	0.000	260	0.000	0.049	2480	3344	972	932	1013	0	0	0	0	0	0	28.83	26.07	28.83
2486	0.59	165.9	2479	3343	932	1012	90.7	13.5	457	2493	0.12	2.28	0.00	0.000	5126	0.175	0.043	2460	1923	972	932	1012	0	0	0	0	0	0	25.98	26.10	28.83
2620	0.59	165.9	2460	1921	932	1012	76.9	9.4	482	2627	0.00	2.33	0.00	0.000	516	0.000	0.058	2470	533	972	932	1012	0	0	0	0	0	0	28.83	26.13	28.83
2635	0.59	165.9	2469	533	932	1012	75.1	9.6	484	2642	0.00	2.33	0.00	0.000	1030	0.000	0.038	2470	1943	972	932	1012	0	0	0	0	0	0	28.83	26.17	28.83
2769	0.59	165.9	2470	1941	932	1012	60.1	11.5	509	2775	0.00	2.20	0.00	0.000	260	0.000	0.049	2470	3351	972	932	1012	0	0	0	0	0	0	28.83	26.19	28.83
2830	0.59	165.9	1536	3349	926	1010	52.7	11.9	520	2837	0.00	2.25	0.00	0.000	1030	0.000	0.041	2480	1938	971	932	1011	0	0	0	0	0	0	28.83	26.22	28.83
2964	0.59	165.9	2480	1938	932	1011	37.9	10.5	545	2970	0.00	2.28	0.00	0.000	260	0.000	0.048	2480	3355	971	932	1011	0	0	0	0	0	0	28.83	26.23	28.83
2999	0.59	165.9	1552	3355	926	1010	33.8	11.0	551	3006	0.12	2.28	0.00	0.000	5126	0.176	0.043	2460	1934	971	932	1011	0	0	0	0	0	0	26.13	26.25	28.83
3071	0.59	165.9	2460	1934	932	1011	26.8	9.2	564	3077	0.00	2.33	0.00	0.000	516	0.000	0.057	2470	531	971	932	1011	0	0	0	0	0	0	28.83	26.25	28.83
3143	0.59	165.9	2470	531	932	1011	19.9	9.4	577	3149	0.00	2.30	0.00	0.000	1030	0.000	0.037	2470	1946	971	932	1011	0	0	0	0	0	0	28.83	26.31	28.83
3213	0.59	165.9	2470	1944	932	1011	12.6	10.9	590	3220	0.00	2.20	0.00	0.000	260	0.000	0.048	2470	3347	971	932	1010	0	0	0	0	0	0	28.83	26.29	28.83
3249	0.59	165.9	1536	3345	926	1008	8.1	11.8	596	3256	0.00	2.25	0.00	0.000	1030	0.000	0.041	2480	1929	971	932	1010	0	0	0	0	0	0	28.83	26.31	28.83
3306	end climb: SURFACE_DEPTH_REACHED
state	3306	begin surface coast
3328	end surface coast: CONTROL_FINISHED_OK
state	3328	begin surface