Glider dive log

Shilshole 02Jun15 * SG205 * Dive index * Mission links * Dive 9 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 205 HD_C 9.9999997e-06 ROLL_MAX 3984 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 6 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 9 ESCAPE_HEADING 0 C_ROLL_DIVE 2060 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 25 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1990 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 180 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 180 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 47 ALTIM_SENSITIVITY 4

D_NO_BLEED 35 SM_CC 235 R_STBD_OVSHOOT 57 XPDR_VALID 1

D_BOOST 0 N_FILEKB 4 ROLL_AD_RATE 250 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -0.98000002

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 9 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 C_VBD 2328 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 147

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.25119999 DEVICE3 -1

T_DIVE 75 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 80 CALL_WAIT 45 PITCH_VBD_SHIFT 9.9999997e-05 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 300 CAPMAXSIZE 200000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 4 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 15 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY -6 T_GPS_CHARGE -2661.4431 DBDW 0 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 3 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 49

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 5 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 150 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 97 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 207 MINV_24V 19 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3915 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2888 FG_AHR_10V 0 SEABIRD_T_G 0.0043419907

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.000621902

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.2352948e-05

RHO 1.023 P_OVSHOOT 0.039999999 PRESSURE_YINT -60.397808 SEABIRD_T_J 2.3392056e-06

MASS 53045 PITCH_GAIN 18.1 PRESSURE_SLOPE 0.0001159995 SEABIRD_C_G -9.6916523

MASS_COMP 0 PITCH_TIMEOUT 17 AD7714Ch0Gain 128 SEABIRD_C_H 1.1209148

NAV_MODE 1 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0012442283

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.0001684351

KALMAN_USE 1 PITCH_ADJ_GAIN 0 COMPASS_USE 4

HD_A 0.0038000001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 293 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 235

AH0_10V 97 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 160 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 180 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 18.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3915 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_MIN 207 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12218

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 9.9999997e-05 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 75

CALL_NDIVES 1 HD_A 0.0038000001 PRESSURE_SLOPE 0.0001159995 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -60.397808 T_GPS 15

CALL_WAIT 45 HD_C 9.9999997e-06 PROTOCOL 9 T_GPS_ALMANAC 0

CAPMAXSIZE 200000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -2661.4431

CAPUPLOAD 1 HEAD_ERRBAND 180 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 5 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 80

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 205 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 300

COMPASS_USE 4 INT_PRESSURE_YINT -0.98000002 RHO 1.023 T_TURN_SAMPINT 4

COURSE_BIAS 0 KALMAN_USE 1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2888 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 1990 LOGGERDEVICE2 -1 ROLL_AD_RATE 250 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2060 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY -6

C_VBD 2328 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3984 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 53045 ROLL_MAXERRORS 1 VBD_CNV -0.25119999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 293 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 147 MINV_10V 8 R_PORT_OVSHOOT 47 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 57 VBD_MIN 500

DEVICE4 -1 MISSION 6 SEABIRD_C_G -9.6916523 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1209148 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0012442283 VBD_TIMEOUT 720

DIVE 9 NOCOMM_ACTION 0 SEABIRD_C_J 0.0001684351 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 25 SEABIRD_T_G 0.0043419907 XPDR_DEVICE 24

D_BOOST 0 N_FILEKB 4 SEABIRD_T_H 0.000621902 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.2352948e-05 XPDR_VALID 1

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 2.3392056e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 35 PHONE_DEVICE 49 SIM_W 0

Pre-dive calculations and measurements:

GPS1 030615,021418,4743.299,-12224.869,3,1.2,3,16.3 TGT_NAME NW

_CALLS 1 TGT_LATLONG 4743.900,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.008,0.242

_SM_DEPTHo 1.13 KALMAN_X -541.3,-221.6,-309.6,1356.8,-41.8

_SM_ANGLEo -62.8 KALMAN_Y -4528.0,-791.1,-480.8,6488.8,-623.5

GPS2 030615,022028,4743.300,-12224.781,5,1.2,5,16.3 MHEAD_RNG_PITCHd_Wd 345.6,1111,-14.9,-8.000,-18.27,2786

SPEED_LIMITS 0.139,0.242 D_GRID 176

Post-dive calculations and measurements:

FINISH 0.1,1.021801 _10V_AH 10.1,33.932

SM_CCo 3874,22.25,0.780,0,0,1389,235.12 FG_AHR_24Vo 0.000

SM_GC 2.63,7.70,0.10,22.25,0.031,0.086,0.780,183,2073,1389,-8.36,-1.41,235.12,0,0,0,0,0,0,26.65,26.91,25.41 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4722.92,-12225.08,290308,151555 MEM 322284

TT8_MAMPS 0.029211,0.029211 DATA_FILE_SIZE 36838,725

HUMID 48.22 CAP_FILE_SIZE 70938,0

INTERNAL_PRESSURE 9.02038 CFSIZE 1024393216,1020674048

TCM_TEMP 14.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 1 GPS 030615,032703,4743.045,-12225.252,4,1.5,5,16.3

_24V_AH 23.3,40.565

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 236 106.58 SBE_CT 488 23 264.38

Roll_motor 0 143 0.84 WL_BBFL2 990 105 2423.74

VBD_pump_during_apogee 250 1446 8456.03 nil 0 0 0.00

VBD_pump_during_surface 22 780 404.53 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 9 6.86 nil 0 0 0.00

Iridium_during_connect 43 160 161.08 nil 0 0 0.00

Iridium_during_xfer 205 223 1068.11 nil 0 0 0.00

Transponder_ping 0 420 2.45 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 28 1.92

TT8 1584 17 279.27

LPSleep 500 2 11.08

TT8_Active 352 17 62.14

TT8_Sampling 1726 42 735.14

TT8_CF8 116 58 68.75

TT8_Kalman 33 64 21.68

Analog_circuits 986 20 199.27

GPS_charging 0 0 0.00

Compass 1455 3 54.98

RAFOS 0 0 0.00

Transponder 0 5 0.03

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

15 -0.84 -146.6 195 2065 1488 1248 0.0 0.0 0 60 0.00 0.00 -43.30 0.000 16386 0.000 0.000 195 2065 2637 2649 2626 0 0 0 0 0 0 28.83 28.83 28.83

63 -0.84 -146.6 195 2065 2649 2626 3.1 -7.8 7 84 10.02 0.00 -6.15 0.000 18438 0.236 0.000 2609 2065 2913 2937 2890 0 0 0 0 0 0 25.65 28.83 26.68

147 -0.84 -146.6 2609 2065 2938 2889 13.7 -9.8 22 153 0.00 0.00 0.00 0.000 6 0.000 0.000 2609 2065 2914 2938 2890 0 0 0 0 0 0 28.83 28.83 28.83

216 -0.84 -146.6 1568 2063 2898 2882 20.0 -8.6 35 222 0.00 0.00 0.00 0.000 6 0.000 0.000 2609 2065 2913 2938 2889 0 0 0 0 0 0 28.83 28.83 28.83

285 -0.84 -146.6 1568 2063 2897 2882 26.2 -9.3 48 291 0.00 0.00 0.00 0.000 6 0.000 0.000 2609 2065 2913 2938 2889 0 0 0 0 0 0 28.83 28.83 28.83

354 -0.84 -146.6 1568 2063 2898 2882 32.2 -9.0 61 360 0.00 0.00 0.00 0.000 6 0.000 0.000 2609 2065 2914 2939 2890 0 0 0 0 0 0 28.83 28.83 28.83

422 -0.84 -146.6 1568 2063 2897 2882 38.6 -9.7 74 429 0.00 0.00 0.00 0.000 6 0.000 0.000 2609 2065 2914 2939 2889 0 0 0 0 0 0 28.83 28.83 28.83

492 -0.84 -146.6 1568 2063 2898 2882 45.3 -10.3 87 498 0.00 0.00 0.00 0.000 6 0.000 0.000 2609 2065 2914 2939 2889 0 0 0 0 0 0 28.83 28.83 28.83

560 -0.84 -146.6 2609 2065 2939 2889 52.3 -10.5 100 567 0.00 0.00 0.00 0.000 6 0.000 0.000 2608 2065 2914 2939 2890 0 0 0 0 0 0 28.83 28.83 28.83

691 -0.84 -146.6 2609 2065 2939 2890 65.2 -10.0 125 697 0.00 0.00 0.00 0.000 6 0.000 0.000 2609 2065 2914 2939 2890 0 0 0 0 0 0 28.83 28.83 28.83

820 -0.84 -146.6 2609 2065 2939 2890 78.7 -11.3 150 827 0.00 0.00 0.00 0.000 6 0.000 0.000 2609 2065 2914 2939 2890 0 0 0 0 0 0 28.83 28.83 28.83

952 -0.84 -146.6 2609 2065 2939 2889 92.7 -10.9 175 957 0.00 0.00 0.00 0.000 6 0.000 0.000 2609 2065 2914 2939 2890 0 0 0 0 0 0 28.83 28.83 28.83

1080 -0.84 -146.6 2609 2065 2939 2889 105.2 -10.5 200 1087 0.00 0.00 0.00 0.000 6 0.000 0.000 2609 2065 2914 2939 2889 0 0 0 0 0 0 28.83 28.83 28.83

1211 -0.84 -146.6 2609 2065 2939 2889 118.1 -10.0 225 1216 0.00 0.00 0.00 0.000 6 0.000 0.000 2609 2065 2914 2939 2889 0 0 0 0 0 0 28.83 28.83 28.83

1340 -0.84 -146.6 2609 2065 2939 2889 129.9 -9.4 250 1346 0.00 0.00 0.00 0.000 6 0.000 0.000 2609 2065 2914 2939 2889 0 0 0 0 0 0 28.83 28.83 28.83

1471 -0.84 -146.6 2609 2065 2939 2889 142.3 -9.8 275 1476 0.00 0.00 0.00 0.000 6 0.000 0.000 2609 2065 2914 2939 2890 0 0 0 0 0 0 28.83 28.83 28.83

1599 -0.84 -146.6 2609 2065 2940 2890 153.4 -8.6 300 1606 0.00 0.00 0.00 0.000 6 0.000 0.000 2609 2065 2914 2939 2890 0 0 0 0 0 0 28.83 28.83 28.83

1730 -0.84 -146.6 2609 2065 2939 2889 165.8 -10.5 325 1736 0.00 0.00 0.00 0.000 6 0.000 0.000 2609 2066 2914 2939 2889 0 0 0 0 0 0 28.83 28.83 28.83

1837 end dive: TARGET_DEPTH_EXCEEDED

state 1837 begin apogee

1842 -0.28 0.0 2609 1979 2939 2889 176.1 -9.5 346 1960 0.55 0.00 112.97 1.447 10246 0.114 0.000 2793 1979 2328 2420 2236 0 0 0 0 0 0 26.01 28.83 23.77

1961 end apogee: CONTROL_FINISHED_OK

state 1961 begin climb

1962 0.84 146.6 2793 1979 2423 2237 181.4 0.0 366 2086 1.08 0.00 116.68 1.379 10246 0.076 0.000 3154 1979 1745 1894 1596 0 0 0 0 0 0 24.96 28.83 23.27

2211 0.84 172.3 3154 1979 1894 1597 164.6 7.1 411 2236 0.00 0.00 21.23 1.273 8198 0.000 0.000 3154 1979 1643 1796 1490 0 0 0 0 0 0 28.83 28.83 23.96

2362 0.84 172.3 3154 1979 1796 1490 150.9 9.5 439 2368 0.00 0.00 0.00 0.000 6 0.000 0.000 3154 1979 1643 1796 1490 0 0 0 0 0 0 28.83 28.83 28.83

2491 0.84 172.3 3154 1979 1796 1490 137.9 11.3 464 2497 0.00 0.00 0.00 0.000 6 0.000 0.000 3154 1979 1643 1796 1491 0 0 0 0 0 0 28.83 28.83 28.83

2622 0.84 172.3 3154 1979 1796 1490 123.7 10.9 489 2628 0.00 0.00 0.00 0.000 6 0.000 0.000 3154 1979 1643 1796 1490 0 0 0 0 0 0 28.83 28.83 28.83

2751 0.84 172.3 3154 1979 1796 1490 110.1 9.5 514 2757 0.00 0.00 0.00 0.000 6 0.000 0.000 3154 1979 1643 1796 1491 0 0 0 0 0 0 28.83 28.83 28.83

2881 0.84 172.3 3154 1979 1796 1490 95.5 11.9 539 2887 0.00 0.00 0.00 0.000 6 0.000 0.000 3154 1979 1642 1795 1490 0 0 0 0 0 0 28.83 28.83 28.83

3010 0.84 172.3 3154 1979 1795 1490 82.0 10.3 564 3017 0.00 0.00 0.00 0.000 6 0.000 0.000 3154 1979 1642 1795 1490 0 0 0 0 0 0 28.83 28.83 28.83

3141 0.84 172.3 3154 1979 1795 1490 68.8 10.5 589 3147 0.00 0.00 0.00 0.000 6 0.000 0.000 3154 1979 1642 1795 1490 0 0 0 0 0 0 28.83 28.83 28.83

3270 0.84 172.3 3154 1979 1795 1490 55.8 9.8 614 3276 0.00 0.00 0.00 0.000 6 0.000 0.000 3154 1979 1642 1795 1490 0 0 0 0 0 0 28.83 28.83 28.83

3399 0.84 172.3 2096 1977 1754 1486 42.2 10.8 639 3406 0.00 0.00 0.00 0.000 6 0.000 0.000 3154 1979 1642 1795 1490 0 0 0 0 0 0 28.83 28.83 28.83

3468 0.84 172.3 2096 1977 1754 1486 35.4 9.4 652 3475 0.00 0.00 0.00 0.000 6 0.000 0.000 3154 1979 1642 1795 1490 0 0 0 0 0 0 28.83 28.83 28.83

3537 0.84 172.3 2144 1977 1757 1486 29.1 8.6 665 3544 0.00 0.00 0.00 0.000 6 0.000 0.000 3154 1979 1642 1795 1490 0 0 0 0 0 0 28.83 28.83 28.83

3607 0.84 172.3 2112 1977 1755 1486 23.0 8.6 678 3613 0.00 0.00 0.00 0.000 6 0.000 0.000 3154 1979 1642 1794 1490 0 0 0 0 0 0 28.83 28.83 28.83

3675 0.84 172.3 2096 1977 1752 1486 16.4 10.0 691 3682 0.00 0.00 0.00 0.000 6 0.000 0.000 3154 1979 1642 1794 1490 0 0 0 0 0 0 28.83 28.83 28.83

3745 0.84 172.3 2096 1977 1754 1486 9.4 9.1 704 3751 0.00 0.00 0.00 0.000 6 0.000 0.000 3154 1979 1642 1794 1490 0 0 0 0 0 0 28.83 28.83 28.83

3814 0.84 172.3 2096 1977 1754 1486 3.7 8.1 717 3821 0.00 0.00 0.00 0.000 6 0.000 0.000 3154 1979 1642 1794 1490 0 0 0 0 0 0 28.83 28.83 28.83

3836 end climb: SURFACE_DEPTH_REACHED

state 3836 begin surface coast

3858 end surface coast: CONTROL_FINISHED_OK

state 3858 begin surface

ID	205	HD_C	9.9999997e-06	ROLL_MAX	3984	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	6	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	9	ESCAPE_HEADING	0	C_ROLL_DIVE	2060	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	25	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1990	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	180	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	180	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	47	ALTIM_SENSITIVITY	4
D_NO_BLEED	35	SM_CC	235	R_STBD_OVSHOOT	57	XPDR_VALID	1
D_BOOST	0	N_FILEKB	4	ROLL_AD_RATE	250	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.98000002
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	9	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	C_VBD	2328	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	147
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.25119999	DEVICE3	-1
T_DIVE	75	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	80	CALL_WAIT	45	PITCH_VBD_SHIFT	9.9999997e-05	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	300	CAPMAXSIZE	200000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	4	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	15	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	-6	T_GPS_CHARGE	-2661.4431	DBDW	0	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	3	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	49
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	5	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	150	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	97	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	207	MINV_24V	19	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3915	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2888	FG_AHR_10V	0	SEABIRD_T_G	0.0043419907
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.000621902
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.2352948e-05
RHO	1.023	P_OVSHOOT	0.039999999	PRESSURE_YINT	-60.397808	SEABIRD_T_J	2.3392056e-06
MASS	53045	PITCH_GAIN	18.1	PRESSURE_SLOPE	0.0001159995	SEABIRD_C_G	-9.6916523
MASS_COMP	0	PITCH_TIMEOUT	17	AD7714Ch0Gain	128	SEABIRD_C_H	1.1209148
NAV_MODE	1	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0012442283
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.0001684351
KALMAN_USE	1	PITCH_ADJ_GAIN	0	COMPASS_USE	4
HD_A	0.0038000001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	293	ALTIM_TOP_PING_RANGE	0

GPS1	030615,021418,4743.299,-12224.869,3,1.2,3,16.3	TGT_NAME	NW
_CALLS	1	TGT_LATLONG	4743.900,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.008,0.242
_SM_DEPTHo	1.13	KALMAN_X	-541.3,-221.6,-309.6,1356.8,-41.8
_SM_ANGLEo	-62.8	KALMAN_Y	-4528.0,-791.1,-480.8,6488.8,-623.5
GPS2	030615,022028,4743.300,-12224.781,5,1.2,5,16.3	MHEAD_RNG_PITCHd_Wd	345.6,1111,-14.9,-8.000,-18.27,2786
SPEED_LIMITS	0.139,0.242	D_GRID	176

FINISH	0.1,1.021801	_10V_AH	10.1,33.932
SM_CCo	3874,22.25,0.780,0,0,1389,235.12	FG_AHR_24Vo	0.000
SM_GC	2.63,7.70,0.10,22.25,0.031,0.086,0.780,183,2073,1389,-8.36,-1.41,235.12,0,0,0,0,0,0,26.65,26.91,25.41	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4722.92,-12225.08,290308,151555	MEM	322284
TT8_MAMPS	0.029211,0.029211	DATA_FILE_SIZE	36838,725
HUMID	48.22	CAP_FILE_SIZE	70938,0
INTERNAL_PRESSURE	9.02038	CFSIZE	1024393216,1020674048
TCM_TEMP	14.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	1	GPS	030615,032703,4743.045,-12225.252,4,1.5,5,16.3
_24V_AH	23.3,40.565

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	236	106.58	SBE_CT	488	23	264.38
Roll_motor	0	143	0.84	WL_BBFL2	990	105	2423.74
VBD_pump_during_apogee	250	1446	8456.03	nil	0	0	0.00
VBD_pump_during_surface	22	780	404.53	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	9	6.86	nil	0	0	0.00
Iridium_during_connect	43	160	161.08	nil	0	0	0.00
Iridium_during_xfer	205	223	1068.11	nil	0	0	0.00
Transponder_ping	0	420	2.45	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	28	1.92
TT8	1584	17	279.27
LPSleep	500	2	11.08
TT8_Active	352	17	62.14
TT8_Sampling	1726	42	735.14
TT8_CF8	116	58	68.75
TT8_Kalman	33	64	21.68
Analog_circuits	986	20	199.27
GPS_charging	0	0	0.00
Compass	1455	3	54.98
RAFOS	0	0	0.00
Transponder	0	5	0.03

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
15	-0.84	-146.6	195	2065	1488	1248	0.0	0.0	0	60	0.00	0.00	-43.30	0.000	16386	0.000	0.000	195	2065	2637	2649	2626	0	0	0	0	0	0	28.83	28.83	28.83
63	-0.84	-146.6	195	2065	2649	2626	3.1	-7.8	7	84	10.02	0.00	-6.15	0.000	18438	0.236	0.000	2609	2065	2913	2937	2890	0	0	0	0	0	0	25.65	28.83	26.68
147	-0.84	-146.6	2609	2065	2938	2889	13.7	-9.8	22	153	0.00	0.00	0.00	0.000	6	0.000	0.000	2609	2065	2914	2938	2890	0	0	0	0	0	0	28.83	28.83	28.83
216	-0.84	-146.6	1568	2063	2898	2882	20.0	-8.6	35	222	0.00	0.00	0.00	0.000	6	0.000	0.000	2609	2065	2913	2938	2889	0	0	0	0	0	0	28.83	28.83	28.83
285	-0.84	-146.6	1568	2063	2897	2882	26.2	-9.3	48	291	0.00	0.00	0.00	0.000	6	0.000	0.000	2609	2065	2913	2938	2889	0	0	0	0	0	0	28.83	28.83	28.83
354	-0.84	-146.6	1568	2063	2898	2882	32.2	-9.0	61	360	0.00	0.00	0.00	0.000	6	0.000	0.000	2609	2065	2914	2939	2890	0	0	0	0	0	0	28.83	28.83	28.83
422	-0.84	-146.6	1568	2063	2897	2882	38.6	-9.7	74	429	0.00	0.00	0.00	0.000	6	0.000	0.000	2609	2065	2914	2939	2889	0	0	0	0	0	0	28.83	28.83	28.83
492	-0.84	-146.6	1568	2063	2898	2882	45.3	-10.3	87	498	0.00	0.00	0.00	0.000	6	0.000	0.000	2609	2065	2914	2939	2889	0	0	0	0	0	0	28.83	28.83	28.83
560	-0.84	-146.6	2609	2065	2939	2889	52.3	-10.5	100	567	0.00	0.00	0.00	0.000	6	0.000	0.000	2608	2065	2914	2939	2890	0	0	0	0	0	0	28.83	28.83	28.83
691	-0.84	-146.6	2609	2065	2939	2890	65.2	-10.0	125	697	0.00	0.00	0.00	0.000	6	0.000	0.000	2609	2065	2914	2939	2890	0	0	0	0	0	0	28.83	28.83	28.83
820	-0.84	-146.6	2609	2065	2939	2890	78.7	-11.3	150	827	0.00	0.00	0.00	0.000	6	0.000	0.000	2609	2065	2914	2939	2890	0	0	0	0	0	0	28.83	28.83	28.83
952	-0.84	-146.6	2609	2065	2939	2889	92.7	-10.9	175	957	0.00	0.00	0.00	0.000	6	0.000	0.000	2609	2065	2914	2939	2890	0	0	0	0	0	0	28.83	28.83	28.83
1080	-0.84	-146.6	2609	2065	2939	2889	105.2	-10.5	200	1087	0.00	0.00	0.00	0.000	6	0.000	0.000	2609	2065	2914	2939	2889	0	0	0	0	0	0	28.83	28.83	28.83
1211	-0.84	-146.6	2609	2065	2939	2889	118.1	-10.0	225	1216	0.00	0.00	0.00	0.000	6	0.000	0.000	2609	2065	2914	2939	2889	0	0	0	0	0	0	28.83	28.83	28.83
1340	-0.84	-146.6	2609	2065	2939	2889	129.9	-9.4	250	1346	0.00	0.00	0.00	0.000	6	0.000	0.000	2609	2065	2914	2939	2889	0	0	0	0	0	0	28.83	28.83	28.83
1471	-0.84	-146.6	2609	2065	2939	2889	142.3	-9.8	275	1476	0.00	0.00	0.00	0.000	6	0.000	0.000	2609	2065	2914	2939	2890	0	0	0	0	0	0	28.83	28.83	28.83
1599	-0.84	-146.6	2609	2065	2940	2890	153.4	-8.6	300	1606	0.00	0.00	0.00	0.000	6	0.000	0.000	2609	2065	2914	2939	2890	0	0	0	0	0	0	28.83	28.83	28.83
1730	-0.84	-146.6	2609	2065	2939	2889	165.8	-10.5	325	1736	0.00	0.00	0.00	0.000	6	0.000	0.000	2609	2066	2914	2939	2889	0	0	0	0	0	0	28.83	28.83	28.83
1837	end dive: TARGET_DEPTH_EXCEEDED
state	1837	begin apogee
1842	-0.28	0.0	2609	1979	2939	2889	176.1	-9.5	346	1960	0.55	0.00	112.97	1.447	10246	0.114	0.000	2793	1979	2328	2420	2236	0	0	0	0	0	0	26.01	28.83	23.77
1961	end apogee: CONTROL_FINISHED_OK
state	1961	begin climb
1962	0.84	146.6	2793	1979	2423	2237	181.4	0.0	366	2086	1.08	0.00	116.68	1.379	10246	0.076	0.000	3154	1979	1745	1894	1596	0	0	0	0	0	0	24.96	28.83	23.27
2211	0.84	172.3	3154	1979	1894	1597	164.6	7.1	411	2236	0.00	0.00	21.23	1.273	8198	0.000	0.000	3154	1979	1643	1796	1490	0	0	0	0	0	0	28.83	28.83	23.96
2362	0.84	172.3	3154	1979	1796	1490	150.9	9.5	439	2368	0.00	0.00	0.00	0.000	6	0.000	0.000	3154	1979	1643	1796	1490	0	0	0	0	0	0	28.83	28.83	28.83
2491	0.84	172.3	3154	1979	1796	1490	137.9	11.3	464	2497	0.00	0.00	0.00	0.000	6	0.000	0.000	3154	1979	1643	1796	1491	0	0	0	0	0	0	28.83	28.83	28.83
2622	0.84	172.3	3154	1979	1796	1490	123.7	10.9	489	2628	0.00	0.00	0.00	0.000	6	0.000	0.000	3154	1979	1643	1796	1490	0	0	0	0	0	0	28.83	28.83	28.83
2751	0.84	172.3	3154	1979	1796	1490	110.1	9.5	514	2757	0.00	0.00	0.00	0.000	6	0.000	0.000	3154	1979	1643	1796	1491	0	0	0	0	0	0	28.83	28.83	28.83
2881	0.84	172.3	3154	1979	1796	1490	95.5	11.9	539	2887	0.00	0.00	0.00	0.000	6	0.000	0.000	3154	1979	1642	1795	1490	0	0	0	0	0	0	28.83	28.83	28.83
3010	0.84	172.3	3154	1979	1795	1490	82.0	10.3	564	3017	0.00	0.00	0.00	0.000	6	0.000	0.000	3154	1979	1642	1795	1490	0	0	0	0	0	0	28.83	28.83	28.83
3141	0.84	172.3	3154	1979	1795	1490	68.8	10.5	589	3147	0.00	0.00	0.00	0.000	6	0.000	0.000	3154	1979	1642	1795	1490	0	0	0	0	0	0	28.83	28.83	28.83
3270	0.84	172.3	3154	1979	1795	1490	55.8	9.8	614	3276	0.00	0.00	0.00	0.000	6	0.000	0.000	3154	1979	1642	1795	1490	0	0	0	0	0	0	28.83	28.83	28.83
3399	0.84	172.3	2096	1977	1754	1486	42.2	10.8	639	3406	0.00	0.00	0.00	0.000	6	0.000	0.000	3154	1979	1642	1795	1490	0	0	0	0	0	0	28.83	28.83	28.83
3468	0.84	172.3	2096	1977	1754	1486	35.4	9.4	652	3475	0.00	0.00	0.00	0.000	6	0.000	0.000	3154	1979	1642	1795	1490	0	0	0	0	0	0	28.83	28.83	28.83
3537	0.84	172.3	2144	1977	1757	1486	29.1	8.6	665	3544	0.00	0.00	0.00	0.000	6	0.000	0.000	3154	1979	1642	1795	1490	0	0	0	0	0	0	28.83	28.83	28.83
3607	0.84	172.3	2112	1977	1755	1486	23.0	8.6	678	3613	0.00	0.00	0.00	0.000	6	0.000	0.000	3154	1979	1642	1794	1490	0	0	0	0	0	0	28.83	28.83	28.83
3675	0.84	172.3	2096	1977	1752	1486	16.4	10.0	691	3682	0.00	0.00	0.00	0.000	6	0.000	0.000	3154	1979	1642	1794	1490	0	0	0	0	0	0	28.83	28.83	28.83
3745	0.84	172.3	2096	1977	1754	1486	9.4	9.1	704	3751	0.00	0.00	0.00	0.000	6	0.000	0.000	3154	1979	1642	1794	1490	0	0	0	0	0	0	28.83	28.83	28.83
3814	0.84	172.3	2096	1977	1754	1486	3.7	8.1	717	3821	0.00	0.00	0.00	0.000	6	0.000	0.000	3154	1979	1642	1794	1490	0	0	0	0	0	0	28.83	28.83	28.83
3836	end climb: SURFACE_DEPTH_REACHED
state	3836	begin surface coast
3858	end surface coast: CONTROL_FINISHED_OK
state	3858	begin surface