Glider dive log

Shilshole 30Oct17 * SG157 * Dive index * Mission links * Dive 13 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 157 HD_B 0.0082269898 ROLL_MAX 3867 ALTIM_BOTTOM_PING_RANGE 0

MISSION 18 HD_C 3.24089e-06 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

DIVE 13 HEADING -1 C_ROLL_DIVE 2150 ALTIM_BOTTOM_TURN_MARGIN 15

N_DIVES 0 ESCAPE_HEADING 0 C_ROLL_CLIMB 2050 ALTIM_TOP_TURN_MARGIN 0

STOP_T 0 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 15 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 100

D_FLARE 2 TGT_DEFAULT_LAT 41.058334 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

D_TGT 180 TGT_DEFAULT_LON -124.43333 R_PORT_OVSHOOT 44 ALTIM_FREQUENCY 13

D_ABORT 1050 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 37 ALTIM_PULSE 5

D_NO_BLEED 500 SM_CC 290 ROLL_AD_RATE 200 ALTIM_SENSITIVITY 3

D_BOOST 3 N_FILEKB 4 ROLL_MAXERRORS 2 XPDR_VALID 6

T_BOOST 0 FILEMGR 0 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 COMM_SEQ 0 VBD_MIN 485 INT_PRESSURE_YINT 1.2

D_SAFE 0 PROTOCOL 9 VBD_MAX 3960 DEEPGLIDER 0

D_CALL 0 N_NOCOMM 0 C_VBD 1888 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 VBD_DBAND 2 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_CNV -0.25119999 DEVICE2 101

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_LP_IGNORE 0 DEVICE3 83

T_DIVE 60 CALL_TRIES 10 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 70 CALL_WAIT 45 PITCH_VBD_SHIFT 0.00055 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 500 CAPMAXSIZE 200000 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 100840 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_SLOITER 0 T_RSLEEP 3 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_EPIRB 0 STROBE 0 DBDW 0 COMPASS_DEVICE 33

USE_BATHY 0 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_ICE 0 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 GPS_DEVICE 32

D_OFFGRID 100 RAFOS_MMODEM 0 AH0_24V 150 RAFOS_DEVICE -1

T_WATCHDOG 10 PITCH_MIN 195 AH0_10V 100 XPDR_DEVICE 24

RELAUNCH 1 PITCH_MAX 3873 MINV_24V 19 SIM_W 0

APOGEE_PITCH -5 C_PITCH 2920 MINV_10V 8 SIM_PITCH 0

MAX_BUOY 60 PITCH_DBAND 0.1 MAXI_24V 0.80000001 SEABIRD_T_G 0.0042755376

COURSE_BIAS 0 PITCH_CNV 0.003125763 MAXI_10V 1 SEABIRD_T_H 0.00061792543

GLIDE_SLOPE 45 P_OVSHOOT 0.0099999998 FG_AHR_10V 0 SEABIRD_T_I 2.1266471e-05

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 2.1233338e-06

RHO 1.023 PITCH_GAIN 26 PHONE_SUPPLY 2 SEABIRD_C_G -10.171201

MASS 52192 PITCH_TIMEOUT 18 PRESSURE_YINT -59.556149 SEABIRD_C_H 1.1543965

MASS_COMP 0 PITCH_AD_RATE 160 PRESSURE_SLOPE 0.0001158973 SEABIRD_C_I -0.001885508

NAV_MODE 2 PITCH_MAXERRORS 1 AD7714Ch0Gain 128 SEABIRD_C_J 0.00023849163

FERRY_MAX 45 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SEABIRD_C_Z 2972.8101

KALMAN_USE 1 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0

HD_A 0.00318893 ROLL_MIN 268 COMPASS_USE 4

AD7714Ch0Gain 128 D_SAFE 0 PITCH_ADJ_DBAND 0 SIM_W 0

AH0_10V 100 D_SURF 2 PITCH_ADJ_GAIN 0 SM_CC 290

AH0_24V 150 D_TGT 180 PITCH_AD_RATE 160 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 STOP_T 0

ALTIM_BOTTOM_TURN_MARGIN 15 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 STROBE 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_GAIN 26 SURFACE_URGENCY 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_MAX 3873 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 100 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 FILEMGR 0 PITCH_MIN 195 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 18 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 45 PITCH_VBD_SHIFT 0.00055 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 41.058334

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.00318893 PITCH_W_GAIN 0 TGT_DEFAULT_LON -124.43333

APOGEE_PITCH -5 HD_B 0.0082269898 PRESSURE_SLOPE 0.0001158973 T_ABORT 1440

CALL_NDIVES 1 HD_C 3.24089e-06 PRESSURE_YINT -59.556149 T_BOOST 0

CALL_TRIES 10 HEADING -1 PROTOCOL 9 T_DIVE 60

CALL_WAIT 45 HEAD_ERRBAND 15 P_OVSHOOT 0.0099999998 T_EPIRB 0

CAPMAXSIZE 200000 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_GPS 15

CAPUPLOAD 1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 2 ID 157 RAFOS_DEVICE -1 T_MISSION 70

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 1.2 RAFOS_MMODEM 0 T_RSLEEP 3

COMPASS_DEVICE 33 KALMAN_USE 1 RAFOS_PEAK_OFFSET 1.5 T_SLOITER 0

COMPASS_USE 4 LOGGERDEVICE1 -1 RELAUNCH 1 T_TURN 500

COURSE_BIAS 0 LOGGERDEVICE2 -1 RHO 1.023 T_TURN_SAMPINT 5

C_PITCH 2920 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_CLIMB 2050 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_DIVE 2150 LOGGERS 0 ROLL_AD_RATE 200 UPLOAD_DIVES_MAX -1

C_VBD 1888 MASS 52192 ROLL_CNV 0.028270001 USE_BATHY 0

DBDW 0 MASS_COMP 0 ROLL_DEG 40 USE_ICE 0

DEEPGLIDER 0 MAXI_10V 1 ROLL_MAX 3867 VBD_BLEED_AD_RATE 8

DEVICE1 2 MAXI_24V 0.80000001 ROLL_MAXERRORS 2 VBD_CNV -0.25119999

DEVICE2 101 MAX_BUOY 60 ROLL_MIN 268 VBD_DBAND 2

DEVICE3 83 MINV_10V 8 ROLL_TIMEOUT 15 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 19 R_PORT_OVSHOOT 44 VBD_MAX 3960

DEVICE5 -1 MISSION 18 R_STBD_OVSHOOT 37 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -10.171201 VBD_MIN 485

DIVE 13 NAV_MODE 2 SEABIRD_C_H 1.1543965 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1050 NOCOMM_ACTION 0 SEABIRD_C_I -0.001885508 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 3 N_DIVES 0 SEABIRD_C_J 0.00023849163 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_Z 2972.8101 W_ADJ_DBAND 0

D_FINISH 0 N_GPS 100840 SEABIRD_T_G 0.0042755376 XPDR_DEVICE 24

D_FLARE 2 N_NOCOMM 0 SEABIRD_T_H 0.00061792543 XPDR_INHIBIT 90

D_NO_BLEED 500 N_NOSURFACE 0 SEABIRD_T_I 2.1266471e-05 XPDR_VALID 6

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_J 2.1233338e-06

D_PITCH 0 PHONE_SUPPLY 2 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 311017,070335,4743.3511,-12224.5400,7,0.9,11,16.3,0.0,0.0,9,10.0 TGT_NAME NORTH

_CALLS 1 TGT_LATLONG 4744.500,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.022708,0.184472

_SM_DEPTHo 1.43 KALMAN_X 1813.542236,143.712372,389.477417,-2242.369873,-83.688477

_SM_ANGLEo -73.3 KALMAN_Y -4334.881348,-128.750046,136.925140,5587.247559,-711.447449

GPS2 311017,071137,4743.2402,-12224.5781,5,0.8,13,16.3,0.5,197.5,10,9.8 MHEAD_RNG_PITCHd_Wd 360.0,2335,-26.1,-10.000,-28.28,899

SPEED_LIMITS 0.100,0.186 D_GRID 180

Post-dive calculations and measurements:

FINISH 1.3,1.020968 _10V_AH 10.48,0.537

SM_CCo 3073,124.03,0.055,0,0,731,290.14 FG_AHR_24Vo 0.000

SM_GC 1.22,8.43,0.12,124.03,0.081,0.080,0.055,199,2139,731,-8.43,-1.30,290.14,0,0,0,0,0,0,26.41,26.46,26.32 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4745.83,-12224.09,311017,060659 MEM 312888

TT8_MAMPS 0.024717,0.199983 DATA_FILE_SIZE 41964,577

HUMID 43.54 CAP_FILE_SIZE 70685,0

INTERNAL_PRESSURE 8.79795 CFSIZE 260034560,257716224

TCM_TEMP 13.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 14 CURRENT 0.142,199.38,1

ALTIM_BOTTOM_PING 105.2,89.2 GPS 311017,080701,4743.255,-12224.580,7,1.0,25,16.3,0.0,188.9,8,9.0

_24V_AH 24.82,1.011

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 245 122.36 SBE_CT 396 23 236.06

Roll_motor 65 146 239.51 AA4330 456 20 228.99

VBD_pump_during_apogee 119 731 2170.96 WL_red_Chl_CDOM 460 61 701.59

VBD_pump_during_surface 124 55 169.55 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 61 35.62 nil 0 0 0.00

Iridium_during_connect 43 160 172.31 nil 0 0 0.00

Iridium_during_xfer 330 223 1830.04 nil 0 0 0.00

Transponder_ping 4 420 44.30 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 29 4.57

TT8 1439 10 154.18

LPSleep 556 2 12.78

TT8_Active 386 10 41.42

TT8_Sampling 1257 34 450.57

TT8_CF8 62 40 26.32

TT8_Kalman 33 57 20.11

Analog_circuits 856 16 143.59

GPS_charging 0 0 0.00

Compass 841 16 145.31

RAFOS 0 0 0.00

Transponder 7 30 2.42

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 int_press humidity

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

7 -1.04 -58.7 189 2138 833 944 0.0 0.0 0 35 0.00 0.00 -25.48 0.000 16386 0.000 0.000 189 2139 1594 1609 1579 0 0 0 0 0 0 26.34 28.83 26.36 8.87 44.95

36 -1.04 -58.7 189 2139 1609 1579 2.4 -4.8 4 68 9.38 0.00 -17.12 0.000 18438 0.246 0.000 2592 2137 2124 2240 2009 0 0 0 0 0 0 25.82 25.16 26.08 8.93 45.70

130 -1.04 -58.7 2591 2138 2244 2010 9.3 -13.9 21 138 0.00 2.40 0.00 0.000 260 0.000 0.041 2582 3553 2127 2244 2010 0 0 0 0 0 0 26.39 26.10 26.40 8.99 44.29

164 -1.04 -58.7 2581 3552 2244 2010 13.8 -13.7 27 171 0.00 2.20 0.00 0.000 1030 0.000 0.029 2582 2165 2127 2244 2010 0 0 0 0 0 0 26.24 26.17 26.25 8.99 44.13

232 -1.04 -58.7 2581 2165 2244 2010 23.1 -14.8 40 239 0.00 2.50 0.00 0.000 516 0.000 0.040 2582 711 2127 2244 2010 0 0 0 0 0 0 26.48 26.22 26.50 8.99 44.01

251 -1.04 -58.7 2582 711 2244 2010 26.0 -16.0 43 258 0.00 2.33 0.00 0.000 1030 0.000 0.029 2573 2134 2127 2244 2010 0 0 0 0 0 0 26.32 26.25 26.33 9.00 43.89

320 -1.04 -58.7 2572 2132 2244 2010 36.1 -14.3 56 325 0.00 0.00 0.00 0.000 6 0.000 0.000 2573 2132 2127 2244 2010 0 0 0 0 0 0 26.54 26.56 26.55 8.99 44.32

386 -1.04 -58.7 2572 2132 2244 2010 44.7 -12.3 69 394 0.00 2.40 0.00 0.000 516 0.000 0.037 2573 692 2127 2244 2010 0 0 0 0 0 0 26.59 26.32 26.60 8.99 44.40

496 -1.04 -58.7 2572 693 2244 2010 58.3 -12.5 90 503 0.00 2.38 0.00 0.000 1030 0.000 0.025 2562 2152 2127 2244 2010 0 0 0 0 0 0 26.46 26.40 26.48 8.99 44.13

624 -1.04 -58.7 2561 2149 2244 2010 75.1 -12.9 115 631 0.00 2.42 0.00 0.000 516 0.000 0.041 2562 707 2127 2244 2010 0 0 0 0 0 0 26.70 26.44 26.71 8.99 43.73

703 -1.04 -58.7 2561 708 2244 2010 85.5 -12.6 130 710 0.15 2.35 0.00 0.000 3078 0.194 0.032 2591 2151 2127 2244 2010 0 0 0 0 0 0 26.27 26.46 26.45 9.00 43.89

833 -1.04 -58.7 2590 2148 2244 2010 100.5 -11.8 155 839 0.00 0.00 0.00 0.000 6 0.000 0.000 2591 2148 2127 2244 2010 0 0 0 0 0 0 26.74 26.76 26.75 8.99 43.93

963 -1.04 -58.7 2590 2148 2244 2010 116.5 -12.4 180 969 0.00 2.42 0.00 0.000 516 0.000 0.040 2591 700 2127 2244 2010 0 0 0 0 0 0 26.80 26.53 26.82 8.99 44.05

1026 -1.04 -58.7 2590 699 2244 2010 124.5 -11.9 192 1032 0.00 2.35 0.00 0.000 1030 0.000 0.025 2582 2152 2127 2244 2010 0 0 0 0 0 0 26.63 26.57 26.65 8.99 43.97

1156 -1.04 -58.7 2581 2149 2244 2010 138.3 -9.9 217 1163 0.00 2.35 0.00 0.000 260 0.000 0.046 2570 3579 2127 2244 2010 0 0 0 0 0 0 26.84 26.56 26.85 8.99 44.09

1272 -1.04 -58.7 2570 3580 2244 2010 151.1 -11.4 239 1278 0.00 2.25 0.00 0.000 1030 0.000 0.031 2570 2148 2127 2244 2010 0 0 0 0 0 0 26.67 26.62 26.70 8.98 44.64

1400 -1.04 -58.7 2570 2149 2244 2010 166.0 -12.0 264 1407 0.00 2.42 0.00 0.000 516 0.000 0.039 2570 703 2127 2244 2010 0 0 0 0 0 0 26.88 26.61 26.89 8.98 44.68

1503 end dive: BOTTOM_OBSTACLE_DETECTED

state 1503 begin apogee

1509 -0.19 0.0 2560 2092 2244 2010 179.8 -12.8 284 1565 0.95 0.05 49.88 0.731 10246 0.173 0.147 2858 2033 1886 1957 1816 0 0 0 0 0 0 26.43 25.77 25.28 8.98 43.81

1566 end apogee: CONTROL_FINISHED_OK

state 1566 begin climb

1567 1.04 58.7 2858 2033 1957 1816 182.6 0.0 293 1629 1.05 2.53 49.78 0.700 10500 0.088 0.037 3238 3432 1653 1678 1628 0 0 0 0 0 0 25.83 25.35 24.82 8.97 44.40

1656 1.04 58.7 3237 3428 1678 1628 175.3 12.5 308 1663 0.00 2.35 0.00 0.000 1030 0.000 0.028 3248 2041 1653 1678 1628 0 0 0 0 0 0 25.70 25.63 25.72 8.94 42.99

1785 1.04 58.7 3247 2042 1678 1628 158.8 13.4 333 1792 0.00 2.33 0.00 0.000 516 0.000 0.041 3254 627 1652 1677 1628 0 0 0 0 0 0 26.22 25.96 26.24 8.93 43.62

1983 1.04 58.7 3254 627 1678 1628 130.1 14.5 372 1990 0.00 2.20 0.00 0.000 1030 0.000 0.023 3254 2041 1652 1678 1627 0 0 0 0 0 0 26.31 26.26 26.32 8.93 44.99

2113 1.04 58.7 3254 2041 1678 1626 112.5 13.8 397 2120 0.00 2.50 0.00 0.000 260 0.000 0.038 3254 3457 1652 1678 1626 0 0 0 0 0 0 26.58 26.29 26.59 8.92 44.48

2147 1.04 58.7 3254 3456 1678 1626 107.4 14.5 403 2154 0.00 2.40 0.00 0.000 1030 0.000 0.027 3266 2045 1652 1678 1626 0 0 0 0 0 0 26.41 26.35 26.42 8.93 44.84

2276 1.04 58.7 3266 2047 1678 1626 89.6 13.3 428 2282 0.00 2.28 0.00 0.000 516 0.000 0.040 3277 636 1652 1678 1626 0 0 0 0 0 0 26.66 26.39 26.67 8.92 44.88

2375 1.04 58.7 3277 635 1678 1626 75.8 12.9 447 2381 0.00 2.20 0.00 0.000 1030 0.000 0.023 3278 2071 1652 1678 1626 0 0 0 0 0 0 26.52 26.46 26.53 8.93 45.31

2503 1.04 58.7 3277 2068 1678 1626 60.6 10.8 472 2510 0.00 2.33 0.00 0.000 516 0.000 0.040 3285 619 1652 1678 1626 0 0 0 0 0 0 26.74 26.48 26.76 8.92 45.31

2757 1.04 58.7 3284 620 1677 1626 27.6 12.1 522 2765 0.12 2.17 0.00 0.000 5126 0.194 0.022 3250 2044 1652 1678 1626 0 0 0 0 0 0 26.38 26.60 26.55 8.92 45.19

2828 1.04 58.7 3249 2043 1678 1625 20.4 10.0 535 2834 0.00 2.42 0.00 0.000 260 0.000 0.038 3250 3451 1651 1678 1624 0 0 0 0 0 0 26.83 26.55 26.84 8.93 45.15

2861 1.04 58.7 3249 3448 1678 1624 16.9 10.6 541 2868 0.00 2.33 0.00 0.000 1030 0.000 0.028 3259 2050 1651 1678 1624 0 0 0 0 0 0 26.66 26.60 26.67 8.92 45.31

2930 1.04 58.7 3259 2051 1678 1625 9.4 11.3 554 2937 0.00 2.28 0.00 0.000 516 0.000 0.041 3270 618 1651 1678 1624 0 0 0 0 0 0 26.85 26.58 26.86 8.92 45.03

2969 1.05 90.6 3270 618 1678 1624 6.5 6.4 561 2995 0.00 2.20 19.95 0.481 9222 0.000 0.022 3270 2061 1524 1540 1509 0 0 0 0 0 0 26.68 26.63 25.89 8.93 45.27

3036 end climb: SURFACE_DEPTH_REACHED

state 3036 begin surface coast

3058 end surface coast: CONTROL_FINISHED_OK

state 3058 begin surface

ID	157	HD_B	0.0082269898	ROLL_MAX	3867	ALTIM_BOTTOM_PING_RANGE	0
MISSION	18	HD_C	3.24089e-06	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
DIVE	13	HEADING	-1	C_ROLL_DIVE	2150	ALTIM_BOTTOM_TURN_MARGIN	15
N_DIVES	0	ESCAPE_HEADING	0	C_ROLL_CLIMB	2050	ALTIM_TOP_TURN_MARGIN	0
STOP_T	0	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	15	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	100
D_FLARE	2	TGT_DEFAULT_LAT	41.058334	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5
D_TGT	180	TGT_DEFAULT_LON	-124.43333	R_PORT_OVSHOOT	44	ALTIM_FREQUENCY	13
D_ABORT	1050	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	37	ALTIM_PULSE	5
D_NO_BLEED	500	SM_CC	290	ROLL_AD_RATE	200	ALTIM_SENSITIVITY	3
D_BOOST	3	N_FILEKB	4	ROLL_MAXERRORS	2	XPDR_VALID	6
T_BOOST	0	FILEMGR	0	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	COMM_SEQ	0	VBD_MIN	485	INT_PRESSURE_YINT	1.2
D_SAFE	0	PROTOCOL	9	VBD_MAX	3960	DEEPGLIDER	0
D_CALL	0	N_NOCOMM	0	C_VBD	1888	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	VBD_DBAND	2	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_CNV	-0.25119999	DEVICE2	101
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_LP_IGNORE	0	DEVICE3	83
T_DIVE	60	CALL_TRIES	10	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	70	CALL_WAIT	45	PITCH_VBD_SHIFT	0.00055	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	500	CAPMAXSIZE	200000	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	100840	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_SLOITER	0	T_RSLEEP	3	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_EPIRB	0	STROBE	0	DBDW	0	COMPASS_DEVICE	33
USE_BATHY	0	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_ICE	0	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	GPS_DEVICE	32
D_OFFGRID	100	RAFOS_MMODEM	0	AH0_24V	150	RAFOS_DEVICE	-1
T_WATCHDOG	10	PITCH_MIN	195	AH0_10V	100	XPDR_DEVICE	24
RELAUNCH	1	PITCH_MAX	3873	MINV_24V	19	SIM_W	0
APOGEE_PITCH	-5	C_PITCH	2920	MINV_10V	8	SIM_PITCH	0
MAX_BUOY	60	PITCH_DBAND	0.1	MAXI_24V	0.80000001	SEABIRD_T_G	0.0042755376
COURSE_BIAS	0	PITCH_CNV	0.003125763	MAXI_10V	1	SEABIRD_T_H	0.00061792543
GLIDE_SLOPE	45	P_OVSHOOT	0.0099999998	FG_AHR_10V	0	SEABIRD_T_I	2.1266471e-05
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	2.1233338e-06
RHO	1.023	PITCH_GAIN	26	PHONE_SUPPLY	2	SEABIRD_C_G	-10.171201
MASS	52192	PITCH_TIMEOUT	18	PRESSURE_YINT	-59.556149	SEABIRD_C_H	1.1543965
MASS_COMP	0	PITCH_AD_RATE	160	PRESSURE_SLOPE	0.0001158973	SEABIRD_C_I	-0.001885508
NAV_MODE	2	PITCH_MAXERRORS	1	AD7714Ch0Gain	128	SEABIRD_C_J	0.00023849163
FERRY_MAX	45	PITCH_ADJ_GAIN	0	TCM_PITCH_OFFSET	0	SEABIRD_C_Z	2972.8101
KALMAN_USE	1	PITCH_ADJ_DBAND	0	TCM_ROLL_OFFSET	0
HD_A	0.00318893	ROLL_MIN	268	COMPASS_USE	4

GPS1	311017,070335,4743.3511,-12224.5400,7,0.9,11,16.3,0.0,0.0,9,10.0	TGT_NAME	NORTH
_CALLS	1	TGT_LATLONG	4744.500,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.022708,0.184472
_SM_DEPTHo	1.43	KALMAN_X	1813.542236,143.712372,389.477417,-2242.369873,-83.688477
_SM_ANGLEo	-73.3	KALMAN_Y	-4334.881348,-128.750046,136.925140,5587.247559,-711.447449
GPS2	311017,071137,4743.2402,-12224.5781,5,0.8,13,16.3,0.5,197.5,10,9.8	MHEAD_RNG_PITCHd_Wd	360.0,2335,-26.1,-10.000,-28.28,899
SPEED_LIMITS	0.100,0.186	D_GRID	180

FINISH	1.3,1.020968	_10V_AH	10.48,0.537
SM_CCo	3073,124.03,0.055,0,0,731,290.14	FG_AHR_24Vo	0.000
SM_GC	1.22,8.43,0.12,124.03,0.081,0.080,0.055,199,2139,731,-8.43,-1.30,290.14,0,0,0,0,0,0,26.41,26.46,26.32	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4745.83,-12224.09,311017,060659	MEM	312888
TT8_MAMPS	0.024717,0.199983	DATA_FILE_SIZE	41964,577
HUMID	43.54	CAP_FILE_SIZE	70685,0
INTERNAL_PRESSURE	8.79795	CFSIZE	260034560,257716224
TCM_TEMP	13.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	14	CURRENT	0.142,199.38,1
ALTIM_BOTTOM_PING	105.2,89.2	GPS	311017,080701,4743.255,-12224.580,7,1.0,25,16.3,0.0,188.9,8,9.0
_24V_AH	24.82,1.011

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	245	122.36	SBE_CT	396	23	236.06
Roll_motor	65	146	239.51	AA4330	456	20	228.99
VBD_pump_during_apogee	119	731	2170.96	WL_red_Chl_CDOM	460	61	701.59
VBD_pump_during_surface	124	55	169.55	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	61	35.62	nil	0	0	0.00
Iridium_during_connect	43	160	172.31	nil	0	0	0.00
Iridium_during_xfer	330	223	1830.04	nil	0	0	0.00
Transponder_ping	4	420	44.30	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	29	4.57
TT8	1439	10	154.18
LPSleep	556	2	12.78
TT8_Active	386	10	41.42
TT8_Sampling	1257	34	450.57
TT8_CF8	62	40	26.32
TT8_Kalman	33	57	20.11
Analog_circuits	856	16	143.59
GPS_charging	0	0	0.00
Compass	841	16	145.31
RAFOS	0	0	0.00
Transponder	7	30	2.42

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	int_press	humidity
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
7	-1.04	-58.7	189	2138	833	944	0.0	0.0	0	35	0.00	0.00	-25.48	0.000	16386	0.000	0.000	189	2139	1594	1609	1579	0	0	0	0	0	0	26.34	28.83	26.36	8.87	44.95
36	-1.04	-58.7	189	2139	1609	1579	2.4	-4.8	4	68	9.38	0.00	-17.12	0.000	18438	0.246	0.000	2592	2137	2124	2240	2009	0	0	0	0	0	0	25.82	25.16	26.08	8.93	45.70
130	-1.04	-58.7	2591	2138	2244	2010	9.3	-13.9	21	138	0.00	2.40	0.00	0.000	260	0.000	0.041	2582	3553	2127	2244	2010	0	0	0	0	0	0	26.39	26.10	26.40	8.99	44.29
164	-1.04	-58.7	2581	3552	2244	2010	13.8	-13.7	27	171	0.00	2.20	0.00	0.000	1030	0.000	0.029	2582	2165	2127	2244	2010	0	0	0	0	0	0	26.24	26.17	26.25	8.99	44.13
232	-1.04	-58.7	2581	2165	2244	2010	23.1	-14.8	40	239	0.00	2.50	0.00	0.000	516	0.000	0.040	2582	711	2127	2244	2010	0	0	0	0	0	0	26.48	26.22	26.50	8.99	44.01
251	-1.04	-58.7	2582	711	2244	2010	26.0	-16.0	43	258	0.00	2.33	0.00	0.000	1030	0.000	0.029	2573	2134	2127	2244	2010	0	0	0	0	0	0	26.32	26.25	26.33	9.00	43.89
320	-1.04	-58.7	2572	2132	2244	2010	36.1	-14.3	56	325	0.00	0.00	0.00	0.000	6	0.000	0.000	2573	2132	2127	2244	2010	0	0	0	0	0	0	26.54	26.56	26.55	8.99	44.32
386	-1.04	-58.7	2572	2132	2244	2010	44.7	-12.3	69	394	0.00	2.40	0.00	0.000	516	0.000	0.037	2573	692	2127	2244	2010	0	0	0	0	0	0	26.59	26.32	26.60	8.99	44.40
496	-1.04	-58.7	2572	693	2244	2010	58.3	-12.5	90	503	0.00	2.38	0.00	0.000	1030	0.000	0.025	2562	2152	2127	2244	2010	0	0	0	0	0	0	26.46	26.40	26.48	8.99	44.13
624	-1.04	-58.7	2561	2149	2244	2010	75.1	-12.9	115	631	0.00	2.42	0.00	0.000	516	0.000	0.041	2562	707	2127	2244	2010	0	0	0	0	0	0	26.70	26.44	26.71	8.99	43.73
703	-1.04	-58.7	2561	708	2244	2010	85.5	-12.6	130	710	0.15	2.35	0.00	0.000	3078	0.194	0.032	2591	2151	2127	2244	2010	0	0	0	0	0	0	26.27	26.46	26.45	9.00	43.89
833	-1.04	-58.7	2590	2148	2244	2010	100.5	-11.8	155	839	0.00	0.00	0.00	0.000	6	0.000	0.000	2591	2148	2127	2244	2010	0	0	0	0	0	0	26.74	26.76	26.75	8.99	43.93
963	-1.04	-58.7	2590	2148	2244	2010	116.5	-12.4	180	969	0.00	2.42	0.00	0.000	516	0.000	0.040	2591	700	2127	2244	2010	0	0	0	0	0	0	26.80	26.53	26.82	8.99	44.05
1026	-1.04	-58.7	2590	699	2244	2010	124.5	-11.9	192	1032	0.00	2.35	0.00	0.000	1030	0.000	0.025	2582	2152	2127	2244	2010	0	0	0	0	0	0	26.63	26.57	26.65	8.99	43.97
1156	-1.04	-58.7	2581	2149	2244	2010	138.3	-9.9	217	1163	0.00	2.35	0.00	0.000	260	0.000	0.046	2570	3579	2127	2244	2010	0	0	0	0	0	0	26.84	26.56	26.85	8.99	44.09
1272	-1.04	-58.7	2570	3580	2244	2010	151.1	-11.4	239	1278	0.00	2.25	0.00	0.000	1030	0.000	0.031	2570	2148	2127	2244	2010	0	0	0	0	0	0	26.67	26.62	26.70	8.98	44.64
1400	-1.04	-58.7	2570	2149	2244	2010	166.0	-12.0	264	1407	0.00	2.42	0.00	0.000	516	0.000	0.039	2570	703	2127	2244	2010	0	0	0	0	0	0	26.88	26.61	26.89	8.98	44.68
1503	end dive: BOTTOM_OBSTACLE_DETECTED
state	1503	begin apogee
1509	-0.19	0.0	2560	2092	2244	2010	179.8	-12.8	284	1565	0.95	0.05	49.88	0.731	10246	0.173	0.147	2858	2033	1886	1957	1816	0	0	0	0	0	0	26.43	25.77	25.28	8.98	43.81
1566	end apogee: CONTROL_FINISHED_OK
state	1566	begin climb
1567	1.04	58.7	2858	2033	1957	1816	182.6	0.0	293	1629	1.05	2.53	49.78	0.700	10500	0.088	0.037	3238	3432	1653	1678	1628	0	0	0	0	0	0	25.83	25.35	24.82	8.97	44.40
1656	1.04	58.7	3237	3428	1678	1628	175.3	12.5	308	1663	0.00	2.35	0.00	0.000	1030	0.000	0.028	3248	2041	1653	1678	1628	0	0	0	0	0	0	25.70	25.63	25.72	8.94	42.99
1785	1.04	58.7	3247	2042	1678	1628	158.8	13.4	333	1792	0.00	2.33	0.00	0.000	516	0.000	0.041	3254	627	1652	1677	1628	0	0	0	0	0	0	26.22	25.96	26.24	8.93	43.62
1983	1.04	58.7	3254	627	1678	1628	130.1	14.5	372	1990	0.00	2.20	0.00	0.000	1030	0.000	0.023	3254	2041	1652	1678	1627	0	0	0	0	0	0	26.31	26.26	26.32	8.93	44.99
2113	1.04	58.7	3254	2041	1678	1626	112.5	13.8	397	2120	0.00	2.50	0.00	0.000	260	0.000	0.038	3254	3457	1652	1678	1626	0	0	0	0	0	0	26.58	26.29	26.59	8.92	44.48
2147	1.04	58.7	3254	3456	1678	1626	107.4	14.5	403	2154	0.00	2.40	0.00	0.000	1030	0.000	0.027	3266	2045	1652	1678	1626	0	0	0	0	0	0	26.41	26.35	26.42	8.93	44.84
2276	1.04	58.7	3266	2047	1678	1626	89.6	13.3	428	2282	0.00	2.28	0.00	0.000	516	0.000	0.040	3277	636	1652	1678	1626	0	0	0	0	0	0	26.66	26.39	26.67	8.92	44.88
2375	1.04	58.7	3277	635	1678	1626	75.8	12.9	447	2381	0.00	2.20	0.00	0.000	1030	0.000	0.023	3278	2071	1652	1678	1626	0	0	0	0	0	0	26.52	26.46	26.53	8.93	45.31
2503	1.04	58.7	3277	2068	1678	1626	60.6	10.8	472	2510	0.00	2.33	0.00	0.000	516	0.000	0.040	3285	619	1652	1678	1626	0	0	0	0	0	0	26.74	26.48	26.76	8.92	45.31
2757	1.04	58.7	3284	620	1677	1626	27.6	12.1	522	2765	0.12	2.17	0.00	0.000	5126	0.194	0.022	3250	2044	1652	1678	1626	0	0	0	0	0	0	26.38	26.60	26.55	8.92	45.19
2828	1.04	58.7	3249	2043	1678	1625	20.4	10.0	535	2834	0.00	2.42	0.00	0.000	260	0.000	0.038	3250	3451	1651	1678	1624	0	0	0	0	0	0	26.83	26.55	26.84	8.93	45.15
2861	1.04	58.7	3249	3448	1678	1624	16.9	10.6	541	2868	0.00	2.33	0.00	0.000	1030	0.000	0.028	3259	2050	1651	1678	1624	0	0	0	0	0	0	26.66	26.60	26.67	8.92	45.31
2930	1.04	58.7	3259	2051	1678	1625	9.4	11.3	554	2937	0.00	2.28	0.00	0.000	516	0.000	0.041	3270	618	1651	1678	1624	0	0	0	0	0	0	26.85	26.58	26.86	8.92	45.03
2969	1.05	90.6	3270	618	1678	1624	6.5	6.4	561	2995	0.00	2.20	19.95	0.481	9222	0.000	0.022	3270	2061	1524	1540	1509	0	0	0	0	0	0	26.68	26.63	25.89	8.93	45.27
3036	end climb: SURFACE_DEPTH_REACHED
state	3036	begin surface coast
3058	end surface coast: CONTROL_FINISHED_OK
state	3058	begin surface