Glider dive log

Shilshole 07Aug13 * SG201 * Dive index * Mission links * Dive 10 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 201 HD_C 9.9999997e-06 ROLL_MAX 3758 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 1 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 10 ESCAPE_HEADING 0 C_ROLL_DIVE 2000 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2000 ALTIM_PING_DEPTH 110

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 2 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 50 ALTIM_SENSITIVITY 4

D_NO_BLEED 500 SM_CC 280 R_STBD_OVSHOOT 46 XPDR_VALID 1

D_BOOST 20 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 1 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 1.5 INT_PRESSURE_YINT -1.28

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0.029999999 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 9 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 5 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 C_VBD 3101 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 -1

T_DIVE 75 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 80 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 5 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 30 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY -6 T_GPS_CHARGE -478.8392 DBDW 0 COMPASS_DEVICE 97

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 1001 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 97 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 207 MINV_24V 19 SIM_W 0

MAX_BUOY 100 PITCH_MAX 3915 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2983 FG_AHR_10V 0 SEABIRD_T_G 0.0043948898

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.000640176

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.7039805e-05

RHO 1.023 P_OVSHOOT 0.039999999 PRESSURE_YINT -68.747383 SEABIRD_T_J 3.3535807e-06

MASS 51667 PITCH_GAIN 19.5 PRESSURE_SLOPE 0.000115772 SEABIRD_C_G -9.7607336

MASS_COMP 0 PITCH_TIMEOUT 17 AD7714Ch0Gain 128 SEABIRD_C_H 1.1271561

NAV_MODE 1 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0014806761

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00019408599

KALMAN_USE 1 PITCH_ADJ_GAIN 0 COMPASS_USE 0

HD_A 0.0038379999 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.01025 ROLL_MIN 224 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 1001 PHONE_SUPPLY 2 SM_CC 280

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 3 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 19.5 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 110 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 0.0012300001 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 T_BOOST 1

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 75

CALL_NDIVES 1 HD_A 0.0038379999 PRESSURE_SLOPE 0.000115772 T_EPIRB 0

CALL_TRIES 5 HD_B 0.01025 PRESSURE_YINT -68.747383 T_GPS 15

CALL_WAIT 60 HD_C 9.9999997e-06 PROTOCOL 9 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -478.8392

CAPUPLOAD 1 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 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 201 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_YINT -1.28 RHO 1.023 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 1 ROLL_ADJ_DBAND 0.029999999 T_WATCHDOG 10

C_PITCH 2983 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 1.5 UNCOM_BLEED 60

C_ROLL_CLIMB 2000 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2000 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY -6

C_VBD 3101 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3758 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 51667 ROLL_MAXERRORS 2 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 224 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 100 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 -1 MINV_10V 8 R_PORT_OVSHOOT 50 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 46 VBD_MIN 500

DEVICE4 -1 MISSION 1 SEABIRD_C_G -9.7607336 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1271561 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0014806761 VBD_TIMEOUT 720

DIVE 10 NOCOMM_ACTION 0 SEABIRD_C_J 0.00019408599 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0043948898 XPDR_DEVICE 24

D_BOOST 20 N_FILEKB 4 SEABIRD_T_H 0.000640176 XPDR_INHIBIT 90

D_CALL 0 N_GPS 30 SEABIRD_T_I 2.7039805e-05 XPDR_VALID 1

D_FINISH 0 N_NOCOMM 5 SEABIRD_T_J 3.3535807e-06

D_FLARE 2 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 500 PHONE_DEVICE 49 SIM_W 0

Pre-dive calculations and measurements:

GPS1 080813,014808,4743.230,-12224.688,3,1.9,3,16.3 TGT_NAME NE

_CALLS 1 TGT_LATLONG 4744.200,-12223.500

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.087,0.180

_SM_DEPTHo 1.23 KALMAN_X -870.9,129.7,-73.8,954.1,-291.8

_SM_ANGLEo -66.5 KALMAN_Y -3549.4,-195.9,-604.0,5137.9,-677.1

GPS2 080813,015251,4743.178,-12224.714,6,1.9,6,16.3 MHEAD_RNG_PITCHd_Wd 9.6,2422,-18.7,-8.000,-21.79,1862

SPEED_LIMITS 0.139,0.200 D_GRID 177

Post-dive calculations and measurements:

FINISH 0.4,1.009255 _24V_AH 25.3,0.592

SM_CCo 3495,58.17,0.135,0,0,1956,280.13 _10V_AH 10.6,0.446

SM_GC 1.90,8.10,0.00,58.17,0.050,0.000,0.135,191,2010,1956,-8.65,0.28,280.13,0,0,0,0,0,0,26.97,28.83,26.65 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12223.37,080813,000012 FG_AHR_10Vo 0.000

TT8_MAMPS 0.024717,0.024717 MEM 323068

HUMID 51.53 DATA_FILE_SIZE 20111,661

INTERNAL_PRESSURE 8.85711 CAP_FILE_SIZE 74682,0

TCM_TEMP 18.60 CFSIZE 260034560,256417792

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

ALTIM_BOTTOM_PING 130.3,60.6 GPS 080813,025404,4743.452,-12224.482,29,1.0,29,16.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 224 111.57 SBE_CT 441 23 259.32

Roll_motor 54 56 77.59 nil 0 0 0.00

VBD_pump_during_apogee 153 509 1983.79 nil 0 0 0.00

VBD_pump_during_surface 58 134 198.17 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 12 9.05 nil 0 0 0.00

Iridium_during_connect 32 160 129.77 nil 0 0 0.00

Iridium_during_xfer 153 223 867.40 nil 0 0 0.00

Transponder_ping 2 420 23.91 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 28 2.07

TT8 1488 15 247.94

LPSleep 762 2 17.70

TT8_Active 360 15 59.99

TT8_Sampling 1187 44 565.61

TT8_CF8 51 50 27.32

TT8_Kalman 33 67 23.74

Analog_circuits 899 15 143.06

GPS_charging 0 0 0.00

Compass 949 8 82.96

RAFOS 0 0 0.00

Transponder 20 30 6.57

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

15 -1.08 -97.8 195 2001 1970 1957 0.0 0.0 0 46 0.00 0.00 -28.85 0.000 16386 0.000 0.000 195 2001 2717 2735 2699 0 0 0 0 0 0 28.83 28.83 28.83

48 -1.08 -97.8 196 2001 2735 2699 2.1 -4.4 5 90 9.12 2.12 -24.90 0.000 18948 0.224 0.057 2628 595 3498 3532 3464 0 0 0 0 0 0 26.32 26.55 26.88

116 -1.08 -97.8 2628 594 3532 3465 6.8 -11.2 17 123 0.00 2.08 0.00 0.000 1030 0.000 0.032 2621 2003 3498 3532 3465 0 0 0 0 0 0 28.83 26.61 28.83

185 -1.08 -97.8 2620 2003 3533 3465 14.0 -10.8 30 191 0.00 2.12 0.00 0.000 260 0.000 0.049 2610 3397 3499 3533 3465 0 0 0 0 0 0 28.83 26.62 28.83

279 -1.08 -97.8 2609 3397 3532 3465 26.7 -14.6 48 286 0.00 2.05 0.00 0.000 1030 0.000 0.034 2610 2011 3498 3532 3465 0 0 0 0 0 0 28.83 26.71 28.83

347 -1.08 -97.8 2610 2009 3532 3465 37.1 -15.4 61 353 0.00 0.00 0.00 0.000 6 0.000 0.000 2610 2009 3499 3533 3465 0 0 0 0 0 0 28.83 28.83 28.83

414 -1.08 -97.8 2610 2009 3533 3465 47.4 -14.4 74 420 0.00 0.00 0.00 0.000 6 0.000 0.000 2610 2009 3499 3533 3465 0 0 0 0 0 0 28.83 28.83 28.83

543 -1.08 -97.8 2610 2009 3533 3466 66.2 -15.3 99 550 0.00 2.12 0.00 0.000 260 0.000 0.050 2599 3396 3499 3532 3466 0 0 0 0 0 0 28.83 26.77 28.83

776 -1.08 -97.8 2599 3397 3532 3466 94.6 -10.2 145 784 0.12 2.00 0.00 0.000 3078 0.164 0.033 2632 2033 3499 3533 3466 0 0 0 0 0 0 26.72 26.89 28.83

906 -1.08 -97.8 2631 2032 3533 3466 106.6 -8.9 170 912 0.00 2.08 0.00 0.000 260 0.000 0.050 2623 3396 3499 3532 3466 0 0 0 0 0 0 28.83 26.87 28.83

1007 -1.08 -97.8 1632 3395 3525 3464 117.4 -12.2 189 1013 0.00 1.98 0.00 0.000 1030 0.000 0.034 2623 2050 3499 3532 3466 0 0 0 0 0 0 28.83 26.94 28.83

1143 -1.08 -97.8 2623 2050 3532 3466 131.6 -9.9 214 1148 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2050 3499 3532 3466 0 0 0 0 0 0 28.83 28.83 28.83

1270 -1.08 -97.8 2623 2050 3533 3466 146.1 -11.8 239 1277 0.00 2.05 0.00 0.000 260 0.000 0.050 2613 3397 3500 3533 3467 0 0 0 0 0 0 28.83 26.94 28.83

1308 -1.08 -97.8 2613 3397 3533 3466 150.1 -10.6 246 1315 0.00 1.98 0.00 0.000 1030 0.000 0.034 2613 2049 3499 3532 3466 0 0 0 0 0 0 28.83 26.99 28.83

1437 -1.08 -97.8 2613 2046 3533 3466 163.7 -8.2 271 1442 0.00 0.00 0.00 0.000 6 0.000 0.000 2613 2046 3499 3532 3466 0 0 0 0 0 0 28.83 28.83 28.83

1565 -1.08 -97.8 2613 2046 3533 3466 175.9 -11.4 296 1571 0.00 0.00 0.00 0.000 6 0.000 0.000 2613 2046 3499 3533 3466 0 0 0 0 0 0 28.83 28.83 28.83

1575 end dive: TARGET_DEPTH_EXCEEDED

state 1576 begin apogee

1579 -0.26 0.0 2613 2046 3533 3467 177.1 -10.6 298 1658 0.82 0.00 71.72 0.500 10244 0.127 0.000 2892 2045 3093 3143 3044 0 0 0 0 0 0 26.85 28.83 25.79

1658 end apogee: CONTROL_FINISHED_OK

state 1659 begin climb

1660 1.08 97.8 2892 2045 3140 3042 180.3 0.0 312 1739 1.25 2.22 70.00 0.509 10756 0.088 0.045 3332 594 2695 2728 2662 0 0 0 0 0 0 26.22 26.29 25.34

1745 1.10 113.3 3332 594 2722 2657 176.6 7.1 327 1764 0.00 2.15 12.18 0.474 9222 0.000 0.032 3332 2013 2634 2672 2596 0 0 0 0 0 0 28.83 25.90 25.36

1887 1.10 113.3 3332 2013 2666 2587 162.3 12.0 354 1893 0.00 2.17 0.00 0.000 260 0.000 0.050 3332 3406 2626 2666 2587 0 0 0 0 0 0 28.83 26.22 28.83

1944 1.10 113.3 2384 3405 2622 2580 155.8 10.8 365 1951 0.00 2.12 0.00 0.000 1030 0.000 0.034 3341 1997 2626 2666 2587 0 0 0 0 0 0 28.83 26.37 28.83

2074 1.10 113.3 3341 1997 2666 2586 142.9 9.3 390 2080 0.00 0.00 0.00 0.000 6 0.000 0.000 3341 1997 2626 2666 2587 0 0 0 0 0 0 28.83 28.83 28.83

2201 1.10 113.3 3341 1997 2665 2586 130.4 9.5 415 2208 0.00 2.17 0.00 0.000 260 0.000 0.050 3341 3396 2626 2666 2586 0 0 0 0 0 0 28.83 26.59 28.83

2264 1.10 113.3 3341 3397 2666 2586 123.3 11.6 427 2271 0.00 2.08 0.00 0.000 1030 0.000 0.034 3352 2001 2625 2665 2586 0 0 0 0 0 0 28.83 26.67 28.83

2393 1.10 113.3 3351 2001 2666 2585 108.9 10.8 452 2399 0.00 2.08 0.00 0.000 516 0.000 0.047 3361 604 2626 2666 2586 0 0 0 0 0 0 28.83 26.70 28.83

2521 1.10 113.3 3361 604 2665 2586 93.4 12.5 477 2528 0.00 2.08 0.00 0.000 1030 0.000 0.033 3362 2014 2626 2666 2586 0 0 0 0 0 0 28.83 26.79 28.83

2650 1.10 113.3 3362 2014 2665 2586 78.2 11.5 502 2656 0.00 0.00 0.00 0.000 6 0.000 0.000 3362 2014 2625 2665 2586 0 0 0 0 0 0 28.83 28.83 28.83

2778 1.10 113.3 3362 2014 2665 2586 63.8 9.8 527 2785 0.00 2.10 0.00 0.000 260 0.000 0.049 3362 3397 2625 2666 2585 0 0 0 0 0 0 28.83 26.83 28.83

2801 1.10 113.3 2432 3395 2622 2579 61.3 11.4 531 2808 0.12 2.05 0.00 0.000 5126 0.200 0.034 3342 2001 2626 2666 2586 0 0 0 0 0 0 26.68 26.88 28.83

2930 1.10 113.3 3341 2002 2665 2585 49.1 9.4 556 2937 0.00 2.08 0.00 0.000 516 0.000 0.047 3350 599 2625 2665 2586 0 0 0 0 0 0 28.83 26.87 28.83

2993 1.10 113.3 2400 599 2622 2579 42.9 10.1 568 2999 0.00 2.05 0.00 0.000 1030 0.000 0.032 3350 2004 2625 2665 2586 0 0 0 0 0 0 28.83 26.92 28.83

3121 1.10 113.3 3349 2004 2665 2586 32.2 8.2 593 3128 0.00 2.10 0.00 0.000 260 0.000 0.049 3349 3394 2626 2666 2586 0 0 0 0 0 0 28.83 26.90 28.83

3184 1.10 113.3 3349 3394 2665 2586 26.8 9.0 605 3191 0.00 2.05 0.00 0.000 1030 0.000 0.034 3359 1992 2625 2665 2586 0 0 0 0 0 0 28.83 26.96 28.83

3253 1.10 113.3 3359 1992 2666 2586 20.9 8.9 618 3258 0.00 0.00 0.00 0.000 6 0.000 0.000 3360 1992 2625 2665 2586 0 0 0 0 0 0 28.83 28.83 28.83

3321 1.10 113.3 3359 1992 2665 2586 14.9 9.0 631 3327 0.00 0.00 0.00 0.000 6 0.000 0.000 3359 1992 2625 2665 2586 0 0 0 0 0 0 28.83 28.83 28.83

3388 1.10 113.3 3359 1992 2665 2586 8.6 8.5 644 3395 0.00 2.05 0.00 0.000 516 0.000 0.047 3367 601 2625 2665 2585 0 0 0 0 0 0 28.83 26.96 28.83

3416 1.10 113.3 3367 601 2665 2586 5.9 9.9 649 3424 0.12 2.05 0.00 0.000 5126 0.186 0.032 3337 2007 2624 2664 2585 0 0 0 0 0 0 26.79 26.98 28.83

3448 end climb: SURFACE_DEPTH_REACHED

state 3448 begin surface coast

3480 end surface coast: CONTROL_FINISHED_OK

state 3481 begin surface

ID	201	HD_C	9.9999997e-06	ROLL_MAX	3758	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	1	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	10	ESCAPE_HEADING	0	C_ROLL_DIVE	2000	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2000	ALTIM_PING_DEPTH	110
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	2	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	50	ALTIM_SENSITIVITY	4
D_NO_BLEED	500	SM_CC	280	R_STBD_OVSHOOT	46	XPDR_VALID	1
D_BOOST	20	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	1	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	1.5	INT_PRESSURE_YINT	-1.28
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0.029999999	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	9	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	5	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	C_VBD	3101	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	-1
T_DIVE	75	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	80	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	5	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	30	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	-6	T_GPS_CHARGE	-478.8392	DBDW	0	COMPASS_DEVICE	97
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	1001	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	97	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	207	MINV_24V	19	SIM_W	0
MAX_BUOY	100	PITCH_MAX	3915	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2983	FG_AHR_10V	0	SEABIRD_T_G	0.0043948898
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.000640176
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.7039805e-05
RHO	1.023	P_OVSHOOT	0.039999999	PRESSURE_YINT	-68.747383	SEABIRD_T_J	3.3535807e-06
MASS	51667	PITCH_GAIN	19.5	PRESSURE_SLOPE	0.000115772	SEABIRD_C_G	-9.7607336
MASS_COMP	0	PITCH_TIMEOUT	17	AD7714Ch0Gain	128	SEABIRD_C_H	1.1271561
NAV_MODE	1	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0014806761
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00019408599
KALMAN_USE	1	PITCH_ADJ_GAIN	0	COMPASS_USE	0
HD_A	0.0038379999	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.01025	ROLL_MIN	224	ALTIM_TOP_PING_RANGE	0

GPS1	080813,014808,4743.230,-12224.688,3,1.9,3,16.3	TGT_NAME	NE
_CALLS	1	TGT_LATLONG	4744.200,-12223.500
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.087,0.180
_SM_DEPTHo	1.23	KALMAN_X	-870.9,129.7,-73.8,954.1,-291.8
_SM_ANGLEo	-66.5	KALMAN_Y	-3549.4,-195.9,-604.0,5137.9,-677.1
GPS2	080813,015251,4743.178,-12224.714,6,1.9,6,16.3	MHEAD_RNG_PITCHd_Wd	9.6,2422,-18.7,-8.000,-21.79,1862
SPEED_LIMITS	0.139,0.200	D_GRID	177

FINISH	0.4,1.009255	_24V_AH	25.3,0.592
SM_CCo	3495,58.17,0.135,0,0,1956,280.13	_10V_AH	10.6,0.446
SM_GC	1.90,8.10,0.00,58.17,0.050,0.000,0.135,191,2010,1956,-8.65,0.28,280.13,0,0,0,0,0,0,26.97,28.83,26.65	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12223.37,080813,000012	FG_AHR_10Vo	0.000
TT8_MAMPS	0.024717,0.024717	MEM	323068
HUMID	51.53	DATA_FILE_SIZE	20111,661
INTERNAL_PRESSURE	8.85711	CAP_FILE_SIZE	74682,0
TCM_TEMP	18.60	CFSIZE	260034560,256417792
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	130.3,60.6	GPS	080813,025404,4743.452,-12224.482,29,1.0,29,16.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	224	111.57	SBE_CT	441	23	259.32
Roll_motor	54	56	77.59	nil	0	0	0.00
VBD_pump_during_apogee	153	509	1983.79	nil	0	0	0.00
VBD_pump_during_surface	58	134	198.17	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	12	9.05	nil	0	0	0.00
Iridium_during_connect	32	160	129.77	nil	0	0	0.00
Iridium_during_xfer	153	223	867.40	nil	0	0	0.00
Transponder_ping	2	420	23.91	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	28	2.07
TT8	1488	15	247.94
LPSleep	762	2	17.70
TT8_Active	360	15	59.99
TT8_Sampling	1187	44	565.61
TT8_CF8	51	50	27.32
TT8_Kalman	33	67	23.74
Analog_circuits	899	15	143.06
GPS_charging	0	0	0.00
Compass	949	8	82.96
RAFOS	0	0	0.00
Transponder	20	30	6.57

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
15	-1.08	-97.8	195	2001	1970	1957	0.0	0.0	0	46	0.00	0.00	-28.85	0.000	16386	0.000	0.000	195	2001	2717	2735	2699	0	0	0	0	0	0	28.83	28.83	28.83
48	-1.08	-97.8	196	2001	2735	2699	2.1	-4.4	5	90	9.12	2.12	-24.90	0.000	18948	0.224	0.057	2628	595	3498	3532	3464	0	0	0	0	0	0	26.32	26.55	26.88
116	-1.08	-97.8	2628	594	3532	3465	6.8	-11.2	17	123	0.00	2.08	0.00	0.000	1030	0.000	0.032	2621	2003	3498	3532	3465	0	0	0	0	0	0	28.83	26.61	28.83
185	-1.08	-97.8	2620	2003	3533	3465	14.0	-10.8	30	191	0.00	2.12	0.00	0.000	260	0.000	0.049	2610	3397	3499	3533	3465	0	0	0	0	0	0	28.83	26.62	28.83
279	-1.08	-97.8	2609	3397	3532	3465	26.7	-14.6	48	286	0.00	2.05	0.00	0.000	1030	0.000	0.034	2610	2011	3498	3532	3465	0	0	0	0	0	0	28.83	26.71	28.83
347	-1.08	-97.8	2610	2009	3532	3465	37.1	-15.4	61	353	0.00	0.00	0.00	0.000	6	0.000	0.000	2610	2009	3499	3533	3465	0	0	0	0	0	0	28.83	28.83	28.83
414	-1.08	-97.8	2610	2009	3533	3465	47.4	-14.4	74	420	0.00	0.00	0.00	0.000	6	0.000	0.000	2610	2009	3499	3533	3465	0	0	0	0	0	0	28.83	28.83	28.83
543	-1.08	-97.8	2610	2009	3533	3466	66.2	-15.3	99	550	0.00	2.12	0.00	0.000	260	0.000	0.050	2599	3396	3499	3532	3466	0	0	0	0	0	0	28.83	26.77	28.83
776	-1.08	-97.8	2599	3397	3532	3466	94.6	-10.2	145	784	0.12	2.00	0.00	0.000	3078	0.164	0.033	2632	2033	3499	3533	3466	0	0	0	0	0	0	26.72	26.89	28.83
906	-1.08	-97.8	2631	2032	3533	3466	106.6	-8.9	170	912	0.00	2.08	0.00	0.000	260	0.000	0.050	2623	3396	3499	3532	3466	0	0	0	0	0	0	28.83	26.87	28.83
1007	-1.08	-97.8	1632	3395	3525	3464	117.4	-12.2	189	1013	0.00	1.98	0.00	0.000	1030	0.000	0.034	2623	2050	3499	3532	3466	0	0	0	0	0	0	28.83	26.94	28.83
1143	-1.08	-97.8	2623	2050	3532	3466	131.6	-9.9	214	1148	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2050	3499	3532	3466	0	0	0	0	0	0	28.83	28.83	28.83
1270	-1.08	-97.8	2623	2050	3533	3466	146.1	-11.8	239	1277	0.00	2.05	0.00	0.000	260	0.000	0.050	2613	3397	3500	3533	3467	0	0	0	0	0	0	28.83	26.94	28.83
1308	-1.08	-97.8	2613	3397	3533	3466	150.1	-10.6	246	1315	0.00	1.98	0.00	0.000	1030	0.000	0.034	2613	2049	3499	3532	3466	0	0	0	0	0	0	28.83	26.99	28.83
1437	-1.08	-97.8	2613	2046	3533	3466	163.7	-8.2	271	1442	0.00	0.00	0.00	0.000	6	0.000	0.000	2613	2046	3499	3532	3466	0	0	0	0	0	0	28.83	28.83	28.83
1565	-1.08	-97.8	2613	2046	3533	3466	175.9	-11.4	296	1571	0.00	0.00	0.00	0.000	6	0.000	0.000	2613	2046	3499	3533	3466	0	0	0	0	0	0	28.83	28.83	28.83
1575	end dive: TARGET_DEPTH_EXCEEDED
state	1576	begin apogee
1579	-0.26	0.0	2613	2046	3533	3467	177.1	-10.6	298	1658	0.82	0.00	71.72	0.500	10244	0.127	0.000	2892	2045	3093	3143	3044	0	0	0	0	0	0	26.85	28.83	25.79
1658	end apogee: CONTROL_FINISHED_OK
state	1659	begin climb
1660	1.08	97.8	2892	2045	3140	3042	180.3	0.0	312	1739	1.25	2.22	70.00	0.509	10756	0.088	0.045	3332	594	2695	2728	2662	0	0	0	0	0	0	26.22	26.29	25.34
1745	1.10	113.3	3332	594	2722	2657	176.6	7.1	327	1764	0.00	2.15	12.18	0.474	9222	0.000	0.032	3332	2013	2634	2672	2596	0	0	0	0	0	0	28.83	25.90	25.36
1887	1.10	113.3	3332	2013	2666	2587	162.3	12.0	354	1893	0.00	2.17	0.00	0.000	260	0.000	0.050	3332	3406	2626	2666	2587	0	0	0	0	0	0	28.83	26.22	28.83
1944	1.10	113.3	2384	3405	2622	2580	155.8	10.8	365	1951	0.00	2.12	0.00	0.000	1030	0.000	0.034	3341	1997	2626	2666	2587	0	0	0	0	0	0	28.83	26.37	28.83
2074	1.10	113.3	3341	1997	2666	2586	142.9	9.3	390	2080	0.00	0.00	0.00	0.000	6	0.000	0.000	3341	1997	2626	2666	2587	0	0	0	0	0	0	28.83	28.83	28.83
2201	1.10	113.3	3341	1997	2665	2586	130.4	9.5	415	2208	0.00	2.17	0.00	0.000	260	0.000	0.050	3341	3396	2626	2666	2586	0	0	0	0	0	0	28.83	26.59	28.83
2264	1.10	113.3	3341	3397	2666	2586	123.3	11.6	427	2271	0.00	2.08	0.00	0.000	1030	0.000	0.034	3352	2001	2625	2665	2586	0	0	0	0	0	0	28.83	26.67	28.83
2393	1.10	113.3	3351	2001	2666	2585	108.9	10.8	452	2399	0.00	2.08	0.00	0.000	516	0.000	0.047	3361	604	2626	2666	2586	0	0	0	0	0	0	28.83	26.70	28.83
2521	1.10	113.3	3361	604	2665	2586	93.4	12.5	477	2528	0.00	2.08	0.00	0.000	1030	0.000	0.033	3362	2014	2626	2666	2586	0	0	0	0	0	0	28.83	26.79	28.83
2650	1.10	113.3	3362	2014	2665	2586	78.2	11.5	502	2656	0.00	0.00	0.00	0.000	6	0.000	0.000	3362	2014	2625	2665	2586	0	0	0	0	0	0	28.83	28.83	28.83
2778	1.10	113.3	3362	2014	2665	2586	63.8	9.8	527	2785	0.00	2.10	0.00	0.000	260	0.000	0.049	3362	3397	2625	2666	2585	0	0	0	0	0	0	28.83	26.83	28.83
2801	1.10	113.3	2432	3395	2622	2579	61.3	11.4	531	2808	0.12	2.05	0.00	0.000	5126	0.200	0.034	3342	2001	2626	2666	2586	0	0	0	0	0	0	26.68	26.88	28.83
2930	1.10	113.3	3341	2002	2665	2585	49.1	9.4	556	2937	0.00	2.08	0.00	0.000	516	0.000	0.047	3350	599	2625	2665	2586	0	0	0	0	0	0	28.83	26.87	28.83
2993	1.10	113.3	2400	599	2622	2579	42.9	10.1	568	2999	0.00	2.05	0.00	0.000	1030	0.000	0.032	3350	2004	2625	2665	2586	0	0	0	0	0	0	28.83	26.92	28.83
3121	1.10	113.3	3349	2004	2665	2586	32.2	8.2	593	3128	0.00	2.10	0.00	0.000	260	0.000	0.049	3349	3394	2626	2666	2586	0	0	0	0	0	0	28.83	26.90	28.83
3184	1.10	113.3	3349	3394	2665	2586	26.8	9.0	605	3191	0.00	2.05	0.00	0.000	1030	0.000	0.034	3359	1992	2625	2665	2586	0	0	0	0	0	0	28.83	26.96	28.83
3253	1.10	113.3	3359	1992	2666	2586	20.9	8.9	618	3258	0.00	0.00	0.00	0.000	6	0.000	0.000	3360	1992	2625	2665	2586	0	0	0	0	0	0	28.83	28.83	28.83
3321	1.10	113.3	3359	1992	2665	2586	14.9	9.0	631	3327	0.00	0.00	0.00	0.000	6	0.000	0.000	3359	1992	2625	2665	2586	0	0	0	0	0	0	28.83	28.83	28.83
3388	1.10	113.3	3359	1992	2665	2586	8.6	8.5	644	3395	0.00	2.05	0.00	0.000	516	0.000	0.047	3367	601	2625	2665	2585	0	0	0	0	0	0	28.83	26.96	28.83
3416	1.10	113.3	3367	601	2665	2586	5.9	9.9	649	3424	0.12	2.05	0.00	0.000	5126	0.186	0.032	3337	2007	2624	2664	2585	0	0	0	0	0	0	26.79	26.98	28.83
3448	end climb: SURFACE_DEPTH_REACHED
state	3448	begin surface coast
3480	end surface coast: CONTROL_FINISHED_OK
state	3481	begin surface