Glider dive log

Shilshole 02Jun15 * SG206 * Dive index * Mission links * Dive 14 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 206 HD_C 9.9999997e-06 ROLL_MAX 3863 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 1 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 14 ESCAPE_HEADING 0 C_ROLL_DIVE 2099 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 25 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1809 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 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 50 ALTIM_SENSITIVITY 4

D_NO_BLEED 45 SM_CC 235 R_STBD_OVSHOOT 37 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 -1.4

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 2341 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 131

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 85 CALL_WAIT 45 PITCH_VBD_SHIFT 0.0012300001 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 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 5 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 -1114.3838 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 203 MINV_24V 19 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3912 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2878 FG_AHR_10V 0 SEABIRD_T_G 0.0044039036

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.0006378853

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.5652185e-05

RHO 1.023 P_OVSHOOT 0.039999999 PRESSURE_YINT -43.092354 SEABIRD_T_J 3.0680867e-06

MASS 53113 PITCH_GAIN 19.1 PRESSURE_SLOPE 0.0001158948 SEABIRD_C_G -9.7477055

MASS_COMP 0 PITCH_TIMEOUT 17 AD7714Ch0Gain 128 SEABIRD_C_H 1.1309673

NAV_MODE 1 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0010514539

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00016674379

KALMAN_USE 1 PITCH_ADJ_GAIN 0 COMPASS_USE 4

HD_A 0.003 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 262 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 19.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3912 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 203 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 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 75

CALL_NDIVES 1 HD_A 0.003 PRESSURE_SLOPE 0.0001158948 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -43.092354 T_GPS 5

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 -1114.3838

CAPUPLOAD 1 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 5 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 85

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 206 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 -1.4 RHO 1.023 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2878 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 1809 LOGGERDEVICE2 -1 ROLL_AD_RATE 250 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2099 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY -6

C_VBD 2341 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3863 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 53113 ROLL_MAXERRORS 1 VBD_CNV -0.25119999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 262 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 131 MINV_10V 8 R_PORT_OVSHOOT 50 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 37 VBD_MIN 500

DEVICE4 -1 MISSION 1 SEABIRD_C_G -9.7477055 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1309673 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0010514539 VBD_TIMEOUT 720

DIVE 14 NOCOMM_ACTION 0 SEABIRD_C_J 0.00016674379 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 25 SEABIRD_T_G 0.0044039036 XPDR_DEVICE 24

D_BOOST 0 N_FILEKB 4 SEABIRD_T_H 0.0006378853 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.5652185e-05 XPDR_VALID 1

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 3.0680867e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 45 PHONE_DEVICE 49 SIM_W 0

Pre-dive calculations and measurements:

GPS1 030615,073128,4743.358,-12225.087,2,1.0,3,16.3 TGT_NAME SW

_CALLS 1 TGT_LATLONG 4742.700,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.039,-0.222

_SM_DEPTHo 1.27 KALMAN_X 642.2,268.0,552.6,-1648.7,260.4

_SM_ANGLEo -66.0 KALMAN_Y -6923.0,205.2,437.6,6912.1,-224.4

GPS2 030615,073719,4743.359,-12225.156,4,1.3,4,16.3 MHEAD_RNG_PITCHd_Wd 153.6,1299,-15.4,-8.000,-19.55,2384

SPEED_LIMITS 0.139,0.240 D_GRID 181

Post-dive calculations and measurements:

FINISH 0.2,1.010031 _10V_AH 10.4,7.522

SM_CCo 3376,36.00,0.684,0,0,1403,235.12 FG_AHR_24Vo 0.000

SM_GC 1.40,8.00,2.58,36.00,0.050,0.025,0.684,191,2093,1403,-8.33,-1.53,235.12,0,0,0,0,0,0,26.57,26.61,25.41 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4719.74,-12127.44,290308,202000 MEM 322664

TT8_MAMPS 0.030709,0.030709 DATA_FILE_SIZE 30195,626

HUMID 47.83 CAP_FILE_SIZE 72902,0

INTERNAL_PRESSURE 9.04962 CFSIZE 1024393216,1018527744

TCM_TEMP 15.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 GPS 030615,083623,4742.779,-12225.426,39,1.4,39,16.3

_24V_AH 23.9,3.534

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 234 108.82 SBE_CT 418 23 239.95

Roll_motor 69 48 79.62 WL_BBFL2 854 39 810.77

VBD_pump_during_apogee 205 1202 5906.41 nil 0 0 0.00

VBD_pump_during_surface 36 683 588.44 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 33 12 9.66 nil 0 0 0.00

Iridium_during_connect 60 160 230.90 nil 0 0 0.00

Iridium_during_xfer 183 223 978.93 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 7 28 2.34

TT8 1408 20 299.51

LPSleep 435 2 9.91

TT8_Active 347 20 73.92

TT8_Sampling 1538 47 758.90

TT8_CF8 48 63 32.52

TT8_Kalman 33 73 25.44

Analog_circuits 913 14 132.96

GPS_charging 0 0 0.00

Compass 1249 8 107.08

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 14 begin dive

15 -0.96 -126.1 195 2082 1407 1381 0.0 0.0 0 62 0.00 0.00 -44.88 0.000 16386 0.000 0.000 195 2082 2733 2783 2683 0 0 0 0 0 0 28.83 28.83 28.83

64 -0.98 -142.0 195 2082 2783 2684 3.3 -7.3 7 86 9.35 2.15 -3.83 0.000 18948 0.234 0.048 2557 687 2908 2981 2835 0 0 0 0 0 0 25.94 26.17 26.43

237 -0.98 -142.0 1504 687 2941 2829 25.4 -12.2 40 245 0.00 2.17 0.00 0.000 1030 0.000 0.024 2551 2103 2909 2983 2835 0 0 0 0 0 0 28.83 26.34 28.83

308 -0.98 -142.0 1504 2100 2942 2829 33.1 -11.0 53 315 0.00 2.20 0.00 0.000 260 0.000 0.044 2543 3505 2909 2983 2835 0 0 0 0 0 0 28.83 26.33 28.83

382 -0.98 -142.0 1504 3504 2943 2829 41.0 -10.2 67 389 0.00 2.12 0.00 0.000 1030 0.000 0.026 2543 2090 2909 2983 2835 0 0 0 0 0 0 28.83 26.44 28.83

451 -0.98 -142.0 1504 2087 2943 2829 48.9 -12.0 80 458 0.00 2.22 0.00 0.000 260 0.000 0.043 2536 3501 2909 2983 2835 0 0 0 0 0 0 28.83 26.41 28.83

622 -0.98 -142.0 2535 3501 2983 2836 68.7 -11.2 113 629 0.00 2.05 0.00 0.000 1030 0.000 0.026 2536 2097 2909 2983 2836 0 0 0 0 0 0 28.83 26.53 28.83

752 -0.98 -142.0 2535 2098 2983 2836 81.7 -10.6 138 758 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2097 2909 2983 2836 0 0 0 0 0 0 28.83 28.83 28.83

882 -0.98 -142.0 2535 2096 2983 2836 98.4 -13.2 163 888 0.00 2.17 0.00 0.000 260 0.000 0.042 2525 3515 2909 2983 2836 0 0 0 0 0 0 28.83 26.53 28.83

946 -0.98 -142.0 2525 3514 2983 2836 106.7 -12.2 175 953 0.15 2.08 0.00 0.000 3078 0.165 0.026 2564 2088 2909 2983 2836 0 0 0 0 0 0 26.44 26.61 28.83

1076 -0.98 -142.0 2564 2087 2983 2836 119.0 -9.2 200 1083 0.00 2.22 0.00 0.000 260 0.000 0.042 2557 3512 2910 2984 2836 0 0 0 0 0 0 28.83 26.58 28.83

1126 -0.98 -142.0 2556 3512 2983 2836 123.8 -10.1 209 1133 0.00 2.05 0.00 0.000 1030 0.000 0.026 2556 2104 2910 2984 2836 0 0 0 0 0 0 28.83 26.65 28.83

1255 -0.98 -142.0 2556 2103 2983 2836 137.1 -11.0 234 1262 0.00 0.00 0.00 0.000 6 0.000 0.000 2557 2103 2910 2984 2836 0 0 0 0 0 0 28.83 28.83 28.83

1386 -0.98 -142.0 2556 2102 2983 2836 151.6 -11.7 259 1392 0.00 2.15 0.00 0.000 260 0.000 0.043 2549 3511 2909 2983 2836 0 0 0 0 0 0 28.83 26.62 28.83

1470 -0.98 -142.0 2549 3511 2983 2836 161.9 -12.0 275 1477 0.00 2.05 0.00 0.000 1030 0.000 0.026 2549 2096 2910 2984 2836 0 0 0 0 0 0 28.83 26.70 28.83

1599 -0.98 -142.0 2549 2096 2984 2836 178.5 -12.7 300 1606 0.00 0.00 0.00 0.000 6 0.000 0.000 2549 2096 2910 2984 2836 0 0 0 0 0 0 28.83 28.83 28.83

1610 end dive: TARGET_DEPTH_EXCEEDED

state 1611 begin apogee

1614 -0.26 0.0 2549 1793 2983 2836 180.3 -13.7 302 1720 0.73 0.00 100.45 1.203 10246 0.131 0.000 2786 1794 2343 2404 2282 0 0 0 0 0 0 26.55 28.83 24.03

1721 end apogee: CONTROL_FINISHED_OK

state 1721 begin climb

1723 0.98 142.0 2785 1794 2404 2282 185.2 0.0 320 1836 1.23 2.30 105.05 1.195 10756 0.090 0.042 3190 437 1776 1830 1723 0 0 0 0 0 0 25.01 24.77 23.87

1858 0.98 142.0 3190 437 1828 1722 175.0 11.4 343 1865 0.00 2.17 0.00 0.000 1030 0.000 0.023 3190 1842 1774 1828 1721 0 0 0 0 0 0 28.83 25.26 28.83

1987 0.98 142.0 3189 1845 1828 1717 157.9 13.4 368 1995 0.00 2.12 0.00 0.000 260 0.000 0.037 3190 3193 1773 1829 1717 0 0 0 0 0 0 28.83 25.79 28.83

2010 0.98 142.0 3190 3193 1829 1717 155.0 13.0 372 2018 0.00 2.12 0.00 0.000 1030 0.000 0.028 3190 1831 1772 1829 1716 0 0 0 0 0 0 28.83 25.88 28.83

2142 0.98 142.0 3189 1831 1828 1715 138.8 11.4 397 2149 0.00 2.20 0.00 0.000 516 0.000 0.042 3190 409 1772 1829 1715 0 0 0 0 0 0 28.83 26.04 28.83

2177 0.98 142.0 3190 409 1827 1715 134.6 12.5 403 2184 0.00 2.10 0.00 0.000 1030 0.000 0.024 3191 1816 1771 1827 1715 0 0 0 0 0 0 28.83 26.15 28.83

2306 0.98 142.0 3190 1819 1827 1715 118.3 11.7 428 2313 0.00 2.12 0.00 0.000 260 0.000 0.037 3191 3192 1771 1827 1715 0 0 0 0 0 0 28.83 26.22 28.83

2336 0.98 142.0 3190 3191 1827 1715 114.6 13.1 433 2342 0.00 2.10 0.00 0.000 1030 0.000 0.028 3190 1795 1771 1827 1715 0 0 0 0 0 0 28.83 26.27 28.83

2465 0.98 142.0 3190 1795 1827 1715 98.3 12.6 458 2473 0.00 2.15 0.00 0.000 516 0.000 0.043 3191 414 1771 1827 1715 0 0 0 0 0 0 28.83 26.31 28.83

2515 0.98 142.0 3190 414 1827 1715 91.9 13.2 467 2522 0.00 2.08 0.00 0.000 1030 0.000 0.024 3190 1825 1771 1827 1715 0 0 0 0 0 0 28.83 26.39 28.83

2644 0.98 142.0 3190 1828 1827 1715 75.5 12.0 492 2652 0.00 2.10 0.00 0.000 260 0.000 0.037 3191 3194 1771 1827 1715 0 0 0 0 0 0 28.83 26.40 28.83

2704 0.98 142.0 3190 3194 1827 1715 68.9 10.7 503 2711 0.00 2.08 0.00 0.000 1030 0.000 0.028 3191 1802 1771 1827 1715 0 0 0 0 0 0 28.83 26.46 28.83

2834 0.98 142.0 3190 1802 1827 1715 56.6 10.2 528 2841 0.00 2.15 0.00 0.000 260 0.000 0.037 3191 3189 1771 1827 1715 0 0 0 0 0 0 28.83 26.48 28.83

2919 0.98 142.0 3190 3188 1827 1715 47.1 10.9 544 2926 0.00 2.10 0.00 0.000 1030 0.000 0.028 3191 1805 1771 1827 1715 0 0 0 0 0 0 28.83 26.53 28.83

2988 0.98 142.0 2120 1803 1782 1709 38.8 12.3 557 2995 0.00 2.15 0.00 0.000 260 0.000 0.037 3191 3193 1771 1827 1715 0 0 0 0 0 0 28.83 26.51 28.83

3092 0.98 142.0 2112 3191 1781 1709 26.5 11.5 577 3099 0.00 2.10 0.00 0.000 1030 0.000 0.028 3191 1808 1771 1827 1715 0 0 0 0 0 0 28.83 26.58 28.83

3162 0.98 142.0 2112 1806 1781 1709 19.1 10.8 590 3169 0.00 0.00 0.00 0.000 6 0.000 0.000 3191 1807 1770 1827 1714 0 0 0 0 0 0 28.83 28.83 28.83

3231 0.98 142.0 2128 1806 1783 1709 11.6 10.8 603 3238 0.00 2.12 0.00 0.000 260 0.000 0.037 3191 3185 1770 1827 1714 0 0 0 0 0 0 28.83 26.57 28.83

3255 0.98 142.0 2152 3184 1785 1709 8.7 11.9 607 3262 0.00 2.10 0.00 0.000 1030 0.000 0.029 3192 1797 1770 1827 1714 0 0 0 0 0 0 28.83 26.60 28.83

3325 0.98 142.0 2112 1795 1782 1708 2.2 8.7 620 3332 0.00 2.12 0.00 0.000 516 0.000 0.044 3193 417 1771 1828 1714 0 0 0 0 0 0 28.83 26.58 28.83

3338 end climb: SURFACE_DEPTH_REACHED

state 3338 begin surface coast

3359 end surface coast: CONTROL_FINISHED_OK

state 3359 begin surface

ID	206	HD_C	9.9999997e-06	ROLL_MAX	3863	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	1	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	14	ESCAPE_HEADING	0	C_ROLL_DIVE	2099	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	25	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1809	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	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	50	ALTIM_SENSITIVITY	4
D_NO_BLEED	45	SM_CC	235	R_STBD_OVSHOOT	37	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	-1.4
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	2341	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	131
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	85	CALL_WAIT	45	PITCH_VBD_SHIFT	0.0012300001	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	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	5	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	-1114.3838	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	203	MINV_24V	19	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3912	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2878	FG_AHR_10V	0	SEABIRD_T_G	0.0044039036
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.0006378853
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.5652185e-05
RHO	1.023	P_OVSHOOT	0.039999999	PRESSURE_YINT	-43.092354	SEABIRD_T_J	3.0680867e-06
MASS	53113	PITCH_GAIN	19.1	PRESSURE_SLOPE	0.0001158948	SEABIRD_C_G	-9.7477055
MASS_COMP	0	PITCH_TIMEOUT	17	AD7714Ch0Gain	128	SEABIRD_C_H	1.1309673
NAV_MODE	1	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0010514539
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00016674379
KALMAN_USE	1	PITCH_ADJ_GAIN	0	COMPASS_USE	4
HD_A	0.003	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	262	ALTIM_TOP_PING_RANGE	0

GPS1	030615,073128,4743.358,-12225.087,2,1.0,3,16.3	TGT_NAME	SW
_CALLS	1	TGT_LATLONG	4742.700,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.039,-0.222
_SM_DEPTHo	1.27	KALMAN_X	642.2,268.0,552.6,-1648.7,260.4
_SM_ANGLEo	-66.0	KALMAN_Y	-6923.0,205.2,437.6,6912.1,-224.4
GPS2	030615,073719,4743.359,-12225.156,4,1.3,4,16.3	MHEAD_RNG_PITCHd_Wd	153.6,1299,-15.4,-8.000,-19.55,2384
SPEED_LIMITS	0.139,0.240	D_GRID	181

FINISH	0.2,1.010031	_10V_AH	10.4,7.522
SM_CCo	3376,36.00,0.684,0,0,1403,235.12	FG_AHR_24Vo	0.000
SM_GC	1.40,8.00,2.58,36.00,0.050,0.025,0.684,191,2093,1403,-8.33,-1.53,235.12,0,0,0,0,0,0,26.57,26.61,25.41	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4719.74,-12127.44,290308,202000	MEM	322664
TT8_MAMPS	0.030709,0.030709	DATA_FILE_SIZE	30195,626
HUMID	47.83	CAP_FILE_SIZE	72902,0
INTERNAL_PRESSURE	9.04962	CFSIZE	1024393216,1018527744
TCM_TEMP	15.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	GPS	030615,083623,4742.779,-12225.426,39,1.4,39,16.3
_24V_AH	23.9,3.534

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	234	108.82	SBE_CT	418	23	239.95
Roll_motor	69	48	79.62	WL_BBFL2	854	39	810.77
VBD_pump_during_apogee	205	1202	5906.41	nil	0	0	0.00
VBD_pump_during_surface	36	683	588.44	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	33	12	9.66	nil	0	0	0.00
Iridium_during_connect	60	160	230.90	nil	0	0	0.00
Iridium_during_xfer	183	223	978.93	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	7	28	2.34
TT8	1408	20	299.51
LPSleep	435	2	9.91
TT8_Active	347	20	73.92
TT8_Sampling	1538	47	758.90
TT8_CF8	48	63	32.52
TT8_Kalman	33	73	25.44
Analog_circuits	913	14	132.96
GPS_charging	0	0	0.00
Compass	1249	8	107.08
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	14	begin dive
15	-0.96	-126.1	195	2082	1407	1381	0.0	0.0	0	62	0.00	0.00	-44.88	0.000	16386	0.000	0.000	195	2082	2733	2783	2683	0	0	0	0	0	0	28.83	28.83	28.83
64	-0.98	-142.0	195	2082	2783	2684	3.3	-7.3	7	86	9.35	2.15	-3.83	0.000	18948	0.234	0.048	2557	687	2908	2981	2835	0	0	0	0	0	0	25.94	26.17	26.43
237	-0.98	-142.0	1504	687	2941	2829	25.4	-12.2	40	245	0.00	2.17	0.00	0.000	1030	0.000	0.024	2551	2103	2909	2983	2835	0	0	0	0	0	0	28.83	26.34	28.83
308	-0.98	-142.0	1504	2100	2942	2829	33.1	-11.0	53	315	0.00	2.20	0.00	0.000	260	0.000	0.044	2543	3505	2909	2983	2835	0	0	0	0	0	0	28.83	26.33	28.83
382	-0.98	-142.0	1504	3504	2943	2829	41.0	-10.2	67	389	0.00	2.12	0.00	0.000	1030	0.000	0.026	2543	2090	2909	2983	2835	0	0	0	0	0	0	28.83	26.44	28.83
451	-0.98	-142.0	1504	2087	2943	2829	48.9	-12.0	80	458	0.00	2.22	0.00	0.000	260	0.000	0.043	2536	3501	2909	2983	2835	0	0	0	0	0	0	28.83	26.41	28.83
622	-0.98	-142.0	2535	3501	2983	2836	68.7	-11.2	113	629	0.00	2.05	0.00	0.000	1030	0.000	0.026	2536	2097	2909	2983	2836	0	0	0	0	0	0	28.83	26.53	28.83
752	-0.98	-142.0	2535	2098	2983	2836	81.7	-10.6	138	758	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2097	2909	2983	2836	0	0	0	0	0	0	28.83	28.83	28.83
882	-0.98	-142.0	2535	2096	2983	2836	98.4	-13.2	163	888	0.00	2.17	0.00	0.000	260	0.000	0.042	2525	3515	2909	2983	2836	0	0	0	0	0	0	28.83	26.53	28.83
946	-0.98	-142.0	2525	3514	2983	2836	106.7	-12.2	175	953	0.15	2.08	0.00	0.000	3078	0.165	0.026	2564	2088	2909	2983	2836	0	0	0	0	0	0	26.44	26.61	28.83
1076	-0.98	-142.0	2564	2087	2983	2836	119.0	-9.2	200	1083	0.00	2.22	0.00	0.000	260	0.000	0.042	2557	3512	2910	2984	2836	0	0	0	0	0	0	28.83	26.58	28.83
1126	-0.98	-142.0	2556	3512	2983	2836	123.8	-10.1	209	1133	0.00	2.05	0.00	0.000	1030	0.000	0.026	2556	2104	2910	2984	2836	0	0	0	0	0	0	28.83	26.65	28.83
1255	-0.98	-142.0	2556	2103	2983	2836	137.1	-11.0	234	1262	0.00	0.00	0.00	0.000	6	0.000	0.000	2557	2103	2910	2984	2836	0	0	0	0	0	0	28.83	28.83	28.83
1386	-0.98	-142.0	2556	2102	2983	2836	151.6	-11.7	259	1392	0.00	2.15	0.00	0.000	260	0.000	0.043	2549	3511	2909	2983	2836	0	0	0	0	0	0	28.83	26.62	28.83
1470	-0.98	-142.0	2549	3511	2983	2836	161.9	-12.0	275	1477	0.00	2.05	0.00	0.000	1030	0.000	0.026	2549	2096	2910	2984	2836	0	0	0	0	0	0	28.83	26.70	28.83
1599	-0.98	-142.0	2549	2096	2984	2836	178.5	-12.7	300	1606	0.00	0.00	0.00	0.000	6	0.000	0.000	2549	2096	2910	2984	2836	0	0	0	0	0	0	28.83	28.83	28.83
1610	end dive: TARGET_DEPTH_EXCEEDED
state	1611	begin apogee
1614	-0.26	0.0	2549	1793	2983	2836	180.3	-13.7	302	1720	0.73	0.00	100.45	1.203	10246	0.131	0.000	2786	1794	2343	2404	2282	0	0	0	0	0	0	26.55	28.83	24.03
1721	end apogee: CONTROL_FINISHED_OK
state	1721	begin climb
1723	0.98	142.0	2785	1794	2404	2282	185.2	0.0	320	1836	1.23	2.30	105.05	1.195	10756	0.090	0.042	3190	437	1776	1830	1723	0	0	0	0	0	0	25.01	24.77	23.87
1858	0.98	142.0	3190	437	1828	1722	175.0	11.4	343	1865	0.00	2.17	0.00	0.000	1030	0.000	0.023	3190	1842	1774	1828	1721	0	0	0	0	0	0	28.83	25.26	28.83
1987	0.98	142.0	3189	1845	1828	1717	157.9	13.4	368	1995	0.00	2.12	0.00	0.000	260	0.000	0.037	3190	3193	1773	1829	1717	0	0	0	0	0	0	28.83	25.79	28.83
2010	0.98	142.0	3190	3193	1829	1717	155.0	13.0	372	2018	0.00	2.12	0.00	0.000	1030	0.000	0.028	3190	1831	1772	1829	1716	0	0	0	0	0	0	28.83	25.88	28.83
2142	0.98	142.0	3189	1831	1828	1715	138.8	11.4	397	2149	0.00	2.20	0.00	0.000	516	0.000	0.042	3190	409	1772	1829	1715	0	0	0	0	0	0	28.83	26.04	28.83
2177	0.98	142.0	3190	409	1827	1715	134.6	12.5	403	2184	0.00	2.10	0.00	0.000	1030	0.000	0.024	3191	1816	1771	1827	1715	0	0	0	0	0	0	28.83	26.15	28.83
2306	0.98	142.0	3190	1819	1827	1715	118.3	11.7	428	2313	0.00	2.12	0.00	0.000	260	0.000	0.037	3191	3192	1771	1827	1715	0	0	0	0	0	0	28.83	26.22	28.83
2336	0.98	142.0	3190	3191	1827	1715	114.6	13.1	433	2342	0.00	2.10	0.00	0.000	1030	0.000	0.028	3190	1795	1771	1827	1715	0	0	0	0	0	0	28.83	26.27	28.83
2465	0.98	142.0	3190	1795	1827	1715	98.3	12.6	458	2473	0.00	2.15	0.00	0.000	516	0.000	0.043	3191	414	1771	1827	1715	0	0	0	0	0	0	28.83	26.31	28.83
2515	0.98	142.0	3190	414	1827	1715	91.9	13.2	467	2522	0.00	2.08	0.00	0.000	1030	0.000	0.024	3190	1825	1771	1827	1715	0	0	0	0	0	0	28.83	26.39	28.83
2644	0.98	142.0	3190	1828	1827	1715	75.5	12.0	492	2652	0.00	2.10	0.00	0.000	260	0.000	0.037	3191	3194	1771	1827	1715	0	0	0	0	0	0	28.83	26.40	28.83
2704	0.98	142.0	3190	3194	1827	1715	68.9	10.7	503	2711	0.00	2.08	0.00	0.000	1030	0.000	0.028	3191	1802	1771	1827	1715	0	0	0	0	0	0	28.83	26.46	28.83
2834	0.98	142.0	3190	1802	1827	1715	56.6	10.2	528	2841	0.00	2.15	0.00	0.000	260	0.000	0.037	3191	3189	1771	1827	1715	0	0	0	0	0	0	28.83	26.48	28.83
2919	0.98	142.0	3190	3188	1827	1715	47.1	10.9	544	2926	0.00	2.10	0.00	0.000	1030	0.000	0.028	3191	1805	1771	1827	1715	0	0	0	0	0	0	28.83	26.53	28.83
2988	0.98	142.0	2120	1803	1782	1709	38.8	12.3	557	2995	0.00	2.15	0.00	0.000	260	0.000	0.037	3191	3193	1771	1827	1715	0	0	0	0	0	0	28.83	26.51	28.83
3092	0.98	142.0	2112	3191	1781	1709	26.5	11.5	577	3099	0.00	2.10	0.00	0.000	1030	0.000	0.028	3191	1808	1771	1827	1715	0	0	0	0	0	0	28.83	26.58	28.83
3162	0.98	142.0	2112	1806	1781	1709	19.1	10.8	590	3169	0.00	0.00	0.00	0.000	6	0.000	0.000	3191	1807	1770	1827	1714	0	0	0	0	0	0	28.83	28.83	28.83
3231	0.98	142.0	2128	1806	1783	1709	11.6	10.8	603	3238	0.00	2.12	0.00	0.000	260	0.000	0.037	3191	3185	1770	1827	1714	0	0	0	0	0	0	28.83	26.57	28.83
3255	0.98	142.0	2152	3184	1785	1709	8.7	11.9	607	3262	0.00	2.10	0.00	0.000	1030	0.000	0.029	3192	1797	1770	1827	1714	0	0	0	0	0	0	28.83	26.60	28.83
3325	0.98	142.0	2112	1795	1782	1708	2.2	8.7	620	3332	0.00	2.12	0.00	0.000	516	0.000	0.044	3193	417	1771	1828	1714	0	0	0	0	0	0	28.83	26.58	28.83
3338	end climb: SURFACE_DEPTH_REACHED
state	3338	begin surface coast
3359	end surface coast: CONTROL_FINISHED_OK
state	3359	begin surface