Glider dive log

Shilshole 19Feb15 * SG130 * Dive index * Mission links * Dive 16 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 130 HD_C 2.7118101e-06 ROLL_MAX 3700 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 24 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 16 ESCAPE_HEADING 0 C_ROLL_DIVE 2110 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1930 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 2 TGT_DEFAULT_LAT 44.380001 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 180 TGT_DEFAULT_LON -125.01 ROLL_TIMEOUT 15 ALTIM_PULSE 6

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT -10 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 300 R_STBD_OVSHOOT -10 XPDR_VALID 2

D_BOOST 3 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0.89999998

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 0 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 C_VBD 2300 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 101

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 131

T_DIVE 75 CALL_TRIES 10 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 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 50 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 -173084.11 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 48

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 2 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 92 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 97 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 600 MINV_24V 18 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3702 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2624 FG_AHR_10V 0 SEABIRD_T_G 0.0044035749

GLIDE_SLOPE 35 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00064291171

SPEED_FACTOR 1 PITCH_CNV 0.0046000001 PHONE_SUPPLY 2 SEABIRD_T_I 2.7386095e-05

RHO 1.023 P_OVSHOOT 0.039999999 PRESSURE_YINT -10.099391 SEABIRD_T_J 3.1457723e-06

MASS 51861 PITCH_GAIN 16.5 PRESSURE_SLOPE 0.0001159091 SEABIRD_C_G -9.7818193

MASS_COMP 0 PITCH_TIMEOUT 18 AD7714Ch0Gain 128 SEABIRD_C_H 1.0996603

NAV_MODE 1 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.00026411601

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00011607879

KALMAN_USE 1 PITCH_ADJ_GAIN 0 COMPASS_USE 4

HD_A 0.0021100601 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0121726 ROLL_MIN 240 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 300

AH0_10V 97 D_PITCH 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

AH0_24V 92 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 0.0046000001 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 16.5 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3702 TCM_ROLL_OFFSET 0

ALTIM_PULSE 6 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MIN 600 TGT_DEFAULT_LAT 44.380001

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 18 TGT_DEFAULT_LON -125.01

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 35 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 0.0021100601 PRESSURE_SLOPE 0.0001159091 T_EPIRB 0

CALL_TRIES 10 HD_B 0.0121726 PRESSURE_YINT -10.099391 T_GPS 15

CALL_WAIT 45 HD_C 2.7118101e-06 PROTOCOL 0 T_GPS_ALMANAC 0

CAPMAXSIZE 200000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -173084.11

CAPUPLOAD 1 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 2 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 130 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 500

COMPASS_USE 4 INT_PRESSURE_YINT 0.89999998 RHO 1.023 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2624 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_ROLL_CLIMB 1930 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2110 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY -6

C_VBD 2300 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3700 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 51861 ROLL_MAXERRORS 2 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 240 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 101 MINV_10V 8 R_PORT_OVSHOOT -10 VBD_MAXERRORS 1

DEVICE3 131 MINV_24V 18 R_STBD_OVSHOOT -10 VBD_MIN 500

DEVICE4 -1 MISSION 24 SEABIRD_C_G -9.7818193 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.0996603 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.00026411601 VBD_TIMEOUT 720

DIVE 16 NOCOMM_ACTION 0 SEABIRD_C_J 0.00011607879 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0044035749 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.00064291171 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.7386095e-05 XPDR_VALID 2

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 3.1457723e-06

D_FLARE 2 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 500 PHONE_DEVICE 48 SIM_W 0

Pre-dive calculations and measurements:

GPS1 200215,145926,4742.774,-12225.594,24,2.7,45,18.2 TGT_NAME SOUTH

_CALLS 1 TGT_LATLONG 4743.000,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.216,0.053

_SM_DEPTHo 0.82 KALMAN_X -2928.0,-173.0,-536.4,2001.4,-290.6

_SM_ANGLEo -65.9 KALMAN_Y -4745.5,600.0,-959.7,4752.3,-77.0

GPS2 200215,150931,4742.839,-12225.535,11,1.7,11,18.2 MHEAD_RNG_PITCHd_Wd 58.1,1324,-12.7,-8.000,-19.81,2788

SPEED_LIMITS 0.114,0.222 D_GRID 190

Post-dive calculations and measurements:

FINISH -0.0,1.009694 _10V_AH 10.4,1.056

SM_CCo 4377,44.88,0.053,0,0,1076,300.00 FG_AHR_24Vo 0.000

SM_GC 0.75,10.23,0.30,44.88,0.043,0.051,0.053,597,2149,1076,-9.28,-0.25,300.00,0,0,0,0,0,0,24.43,24.47,24.41 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4726.11,-12240.07,200215,151525 MEM 323272

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 56972,822

HUMID 48.93 CAP_FILE_SIZE 87127,0

INTERNAL_PRESSURE 9.15227 CFSIZE 260165632,258580480

TCM_TEMP 19.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 GPS 200215,162500,4743.143,-12224.815,10,1.7,15,18.2

_24V_AH 23.6,1.375

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 156 84.20 SBE_CT 580 24 338.89

Roll_motor 75 110 197.13 AA4330 695 11 184.56

VBD_pump_during_apogee 275 592 3850.91 WL_BBFL2 701 68 1128.13

VBD_pump_during_surface 44 52 55.90 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 34 54 44.43 nil 0 0 0.00

Iridium_during_connect 59 160 225.04 nil 0 0 0.00

Iridium_during_xfer 383 223 2020.84 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 30 4.27

TT8 1812 12 227.32

LPSleep 877 2 19.99

TT8_Active 438 12 54.98

TT8_Sampling 1703 38 678.10

TT8_CF8 194 45 90.95

TT8_Kalman 33 64 22.31

Analog_circuits 1099 14 170.44

GPS_charging 0 0 0.00

Compass 1214 14 189.14

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -0.95 -146.6 597 2076 1124 1014 0.0 0.0 0 63 0.00 0.00 -44.10 0.000 16386 0.000 0.000 597 2076 2342 2378 2307 0 0 0 0 0 0 28.83 28.83 28.83

67 -0.95 -146.6 597 2076 2379 2308 2.1 -5.8 8 102 10.32 2.62 -15.30 0.000 18692 0.157 0.066 2411 3525 2900 2948 2852 0 0 0 0 0 0 24.26 24.37 24.73

115 -0.95 -146.6 2410 3525 2948 2853 5.6 -8.7 16 122 0.00 2.47 0.00 0.000 1030 0.000 0.037 2411 2089 2900 2948 2852 0 0 0 0 0 0 28.83 24.45 28.83

245 -0.95 -146.6 2411 2088 2948 2853 22.2 -12.3 41 251 0.00 2.55 0.00 0.000 260 0.000 0.054 2411 3527 2900 2948 2853 0 0 0 0 0 0 28.83 24.42 28.83

284 -0.95 -146.6 2410 3526 2948 2853 26.3 -10.5 48 291 0.00 2.45 0.00 0.000 1030 0.000 0.036 2411 2096 2900 2948 2853 0 0 0 0 0 0 28.83 24.50 28.83

416 -0.95 -146.6 2411 2095 2948 2853 36.9 -6.5 73 423 0.00 2.47 0.00 0.000 516 0.000 0.053 2411 682 2900 2948 2853 0 0 0 0 0 0 28.83 24.48 28.83

460 -0.95 -146.6 1440 682 2898 2844 40.2 -7.9 81 467 0.00 2.47 0.00 0.000 1030 0.000 0.036 2411 2134 2900 2948 2853 0 0 0 0 0 0 28.83 24.52 28.83

592 -0.95 -146.6 2410 2134 2949 2853 49.3 -7.4 106 599 0.00 2.45 0.00 0.000 260 0.000 0.055 2411 3527 2901 2949 2853 0 0 0 0 0 0 28.83 24.46 28.83

827 -0.95 -146.6 2410 3527 2949 2853 70.1 -9.2 152 833 0.00 2.45 0.00 0.000 1030 0.000 0.036 2410 2094 2900 2948 2853 0 0 0 0 0 0 28.83 24.56 28.83

1017 -0.95 -146.6 2410 2094 2949 2853 86.8 -7.7 189 1024 0.00 2.53 0.00 0.000 260 0.000 0.054 2410 3529 2900 2948 2853 0 0 0 0 0 0 28.83 24.50 28.83

1052 -0.95 -146.6 2410 3529 2949 2853 89.7 -8.4 195 1059 0.00 2.45 0.00 0.000 1030 0.000 0.037 2411 2092 2901 2949 2853 0 0 0 0 0 0 28.83 24.58 28.83

1242 -0.95 -146.6 2410 2092 2949 2853 105.7 -9.7 232 1248 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 2092 2901 2949 2853 0 0 0 0 0 0 28.83 28.83 28.83

1431 -0.95 -146.6 2410 2092 2949 2853 122.2 -6.7 269 1437 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 2092 2901 2949 2853 0 0 0 0 0 0 28.83 28.83 28.83

1621 -0.95 -146.6 2410 2092 2949 2853 136.8 -7.2 306 1628 0.00 2.45 0.00 0.000 516 0.000 0.054 2411 684 2901 2949 2853 0 0 0 0 0 0 28.83 24.58 28.83

1676 -0.95 -146.6 2410 684 2949 2853 141.5 -8.4 316 1682 0.00 2.45 0.00 0.000 1030 0.000 0.034 2410 2134 2901 2949 2853 0 0 0 0 0 0 28.83 24.63 28.83

1866 -0.95 -146.6 2410 2133 2949 2853 157.3 -7.4 353 1872 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 2134 2901 2949 2853 0 0 0 0 0 0 28.83 28.83 28.83

2056 -0.95 -146.6 2410 2134 2949 2853 171.2 -6.5 390 2063 0.00 2.53 0.00 0.000 516 0.000 0.052 2411 687 2900 2948 2853 0 0 0 0 0 0 28.83 24.60 28.83

2096 -0.95 -146.6 2410 687 2949 2853 174.2 -7.7 397 2103 0.00 2.42 0.00 0.000 1030 0.000 0.034 2411 2133 2901 2949 2853 0 0 0 0 0 0 28.83 24.66 28.83

2183 end dive: TARGET_DEPTH_EXCEEDED

state 2183 begin apogee

2189 -0.30 0.0 2410 1899 2949 2853 180.1 -6.4 414 2307 0.70 0.08 109.50 0.593 10246 0.110 0.110 2549 1959 2299 2368 2231 0 0 0 0 0 0 24.56 24.04 23.66

2310 end apogee: CONTROL_FINISHED_OK

state 2310 begin climb

2312 0.95 146.6 2550 1959 2369 2231 183.1 0.0 435 2433 1.38 2.65 110.95 0.578 10756 0.090 0.056 2828 507 1702 1784 1621 0 0 0 0 0 0 24.17 24.05 23.63

2473 0.95 146.6 2827 507 1782 1621 171.3 10.7 464 2480 0.00 2.47 0.00 0.000 1030 0.000 0.034 2827 1952 1701 1782 1621 0 0 0 0 0 0 28.83 24.32 28.83

2663 0.95 146.6 2827 1953 1780 1616 152.9 9.0 501 2669 0.00 2.58 0.00 0.000 516 0.000 0.057 2827 507 1698 1780 1616 0 0 0 0 0 0 28.83 24.36 28.83

2712 0.95 146.6 2827 507 1780 1616 148.0 10.0 510 2719 0.00 2.47 0.00 0.000 1030 0.000 0.034 2827 1958 1698 1780 1616 0 0 0 0 0 0 28.83 24.42 28.83

2904 0.95 146.6 2827 1958 1779 1615 130.2 10.4 547 2911 0.00 2.58 0.00 0.000 516 0.000 0.057 2828 509 1696 1779 1614 0 0 0 0 0 0 28.83 24.40 28.83

2959 0.95 146.6 2827 509 1779 1614 124.0 11.0 557 2965 0.00 2.45 0.00 0.000 1030 0.000 0.034 2827 1953 1696 1779 1614 0 0 0 0 0 0 28.83 24.46 28.83

3149 0.95 146.6 1792 1951 1728 1607 105.8 9.1 594 3156 0.00 2.58 0.00 0.000 516 0.000 0.057 2828 504 1696 1779 1614 0 0 0 0 0 0 28.83 24.43 28.83

3173 0.95 146.6 1792 504 1728 1607 103.4 10.0 598 3180 0.00 2.45 0.00 0.000 1030 0.000 0.034 2828 1949 1696 1779 1613 0 0 0 0 0 0 28.83 24.49 28.83

3364 0.95 146.6 2827 1949 1778 1613 84.4 10.0 635 3370 0.00 2.55 0.00 0.000 516 0.000 0.057 2827 511 1695 1778 1613 0 0 0 0 0 0 28.83 24.46 28.83

3393 0.95 146.6 1792 511 1728 1607 81.2 11.6 640 3399 0.00 2.45 0.00 0.000 1030 0.000 0.034 2827 1952 1695 1778 1613 0 0 0 0 0 0 28.83 24.51 28.83

3583 0.95 146.6 2827 1953 1778 1613 62.8 10.0 677 3589 0.00 0.00 0.00 0.000 6 0.000 0.000 2828 1953 1695 1778 1613 0 0 0 0 0 0 28.83 28.83 28.83

3773 0.95 146.6 2828 1953 1778 1613 44.2 9.3 714 3779 0.00 2.42 0.00 0.000 260 0.000 0.051 2827 3348 1695 1778 1613 0 0 0 0 0 0 28.83 24.50 28.83

3807 0.95 146.6 1792 3346 1726 1605 41.0 9.5 720 3813 0.00 2.47 0.00 0.000 1030 0.000 0.041 2828 1916 1694 1777 1612 0 0 0 0 0 0 28.83 24.52 28.83

3936 0.95 146.6 2827 1916 1777 1612 28.8 8.6 745 3943 0.00 2.50 0.00 0.000 516 0.000 0.057 2828 503 1694 1777 1612 0 0 0 0 0 0 28.83 24.51 28.83

3956 0.95 146.6 2827 503 1777 1611 27.2 8.4 748 3963 0.00 2.45 0.00 0.000 1030 0.000 0.034 2828 1955 1694 1777 1612 0 0 0 0 0 0 28.83 24.57 28.83

4088 0.97 164.0 2827 1955 1777 1611 17.1 7.4 773 4107 0.00 2.65 13.50 0.467 8708 0.000 0.056 2828 512 1630 1714 1547 0 0 0 0 0 0 28.83 24.32 23.95

4136 1.01 194.5 2828 512 1714 1547 13.7 6.9 781 4170 0.00 2.45 25.02 0.480 9222 0.000 0.034 2827 1950 1506 1590 1422 0 0 0 0 0 0 28.83 24.46 23.80

4294 1.05 227.5 2827 1950 1590 1419 4.2 6.8 811 4314 0.12 0.00 16.25 0.457 10498 0.077 0.000 2863 1950 1424 1510 1338 0 0 0 0 0 0 24.54 28.83 28.83

4314 end climb: SURFACE_DEPTH_REACHED

state 4315 begin surface coast

4356 end surface coast: CONTROL_FINISHED_OK

state 4356 begin surface

ID	130	HD_C	2.7118101e-06	ROLL_MAX	3700	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	24	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	16	ESCAPE_HEADING	0	C_ROLL_DIVE	2110	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1930	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	2	TGT_DEFAULT_LAT	44.380001	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	180	TGT_DEFAULT_LON	-125.01	ROLL_TIMEOUT	15	ALTIM_PULSE	6
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	-10	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	300	R_STBD_OVSHOOT	-10	XPDR_VALID	2
D_BOOST	3	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0.89999998
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	0	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	C_VBD	2300	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	101
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	131
T_DIVE	75	CALL_TRIES	10	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	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	50	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	-173084.11	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	48
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	2	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	92	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	97	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	600	MINV_24V	18	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3702	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2624	FG_AHR_10V	0	SEABIRD_T_G	0.0044035749
GLIDE_SLOPE	35	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00064291171
SPEED_FACTOR	1	PITCH_CNV	0.0046000001	PHONE_SUPPLY	2	SEABIRD_T_I	2.7386095e-05
RHO	1.023	P_OVSHOOT	0.039999999	PRESSURE_YINT	-10.099391	SEABIRD_T_J	3.1457723e-06
MASS	51861	PITCH_GAIN	16.5	PRESSURE_SLOPE	0.0001159091	SEABIRD_C_G	-9.7818193
MASS_COMP	0	PITCH_TIMEOUT	18	AD7714Ch0Gain	128	SEABIRD_C_H	1.0996603
NAV_MODE	1	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.00026411601
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00011607879
KALMAN_USE	1	PITCH_ADJ_GAIN	0	COMPASS_USE	4
HD_A	0.0021100601	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0121726	ROLL_MIN	240	ALTIM_TOP_PING_RANGE	0

GPS1	200215,145926,4742.774,-12225.594,24,2.7,45,18.2	TGT_NAME	SOUTH
_CALLS	1	TGT_LATLONG	4743.000,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.216,0.053
_SM_DEPTHo	0.82	KALMAN_X	-2928.0,-173.0,-536.4,2001.4,-290.6
_SM_ANGLEo	-65.9	KALMAN_Y	-4745.5,600.0,-959.7,4752.3,-77.0
GPS2	200215,150931,4742.839,-12225.535,11,1.7,11,18.2	MHEAD_RNG_PITCHd_Wd	58.1,1324,-12.7,-8.000,-19.81,2788
SPEED_LIMITS	0.114,0.222	D_GRID	190

FINISH	-0.0,1.009694	_10V_AH	10.4,1.056
SM_CCo	4377,44.88,0.053,0,0,1076,300.00	FG_AHR_24Vo	0.000
SM_GC	0.75,10.23,0.30,44.88,0.043,0.051,0.053,597,2149,1076,-9.28,-0.25,300.00,0,0,0,0,0,0,24.43,24.47,24.41	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4726.11,-12240.07,200215,151525	MEM	323272
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	56972,822
HUMID	48.93	CAP_FILE_SIZE	87127,0
INTERNAL_PRESSURE	9.15227	CFSIZE	260165632,258580480
TCM_TEMP	19.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	200215,162500,4743.143,-12224.815,10,1.7,15,18.2
_24V_AH	23.6,1.375

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	156	84.20	SBE_CT	580	24	338.89
Roll_motor	75	110	197.13	AA4330	695	11	184.56
VBD_pump_during_apogee	275	592	3850.91	WL_BBFL2	701	68	1128.13
VBD_pump_during_surface	44	52	55.90	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	34	54	44.43	nil	0	0	0.00
Iridium_during_connect	59	160	225.04	nil	0	0	0.00
Iridium_during_xfer	383	223	2020.84	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	30	4.27
TT8	1812	12	227.32
LPSleep	877	2	19.99
TT8_Active	438	12	54.98
TT8_Sampling	1703	38	678.10
TT8_CF8	194	45	90.95
TT8_Kalman	33	64	22.31
Analog_circuits	1099	14	170.44
GPS_charging	0	0	0.00
Compass	1214	14	189.14
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-0.95	-146.6	597	2076	1124	1014	0.0	0.0	0	63	0.00	0.00	-44.10	0.000	16386	0.000	0.000	597	2076	2342	2378	2307	0	0	0	0	0	0	28.83	28.83	28.83
67	-0.95	-146.6	597	2076	2379	2308	2.1	-5.8	8	102	10.32	2.62	-15.30	0.000	18692	0.157	0.066	2411	3525	2900	2948	2852	0	0	0	0	0	0	24.26	24.37	24.73
115	-0.95	-146.6	2410	3525	2948	2853	5.6	-8.7	16	122	0.00	2.47	0.00	0.000	1030	0.000	0.037	2411	2089	2900	2948	2852	0	0	0	0	0	0	28.83	24.45	28.83
245	-0.95	-146.6	2411	2088	2948	2853	22.2	-12.3	41	251	0.00	2.55	0.00	0.000	260	0.000	0.054	2411	3527	2900	2948	2853	0	0	0	0	0	0	28.83	24.42	28.83
284	-0.95	-146.6	2410	3526	2948	2853	26.3	-10.5	48	291	0.00	2.45	0.00	0.000	1030	0.000	0.036	2411	2096	2900	2948	2853	0	0	0	0	0	0	28.83	24.50	28.83
416	-0.95	-146.6	2411	2095	2948	2853	36.9	-6.5	73	423	0.00	2.47	0.00	0.000	516	0.000	0.053	2411	682	2900	2948	2853	0	0	0	0	0	0	28.83	24.48	28.83
460	-0.95	-146.6	1440	682	2898	2844	40.2	-7.9	81	467	0.00	2.47	0.00	0.000	1030	0.000	0.036	2411	2134	2900	2948	2853	0	0	0	0	0	0	28.83	24.52	28.83
592	-0.95	-146.6	2410	2134	2949	2853	49.3	-7.4	106	599	0.00	2.45	0.00	0.000	260	0.000	0.055	2411	3527	2901	2949	2853	0	0	0	0	0	0	28.83	24.46	28.83
827	-0.95	-146.6	2410	3527	2949	2853	70.1	-9.2	152	833	0.00	2.45	0.00	0.000	1030	0.000	0.036	2410	2094	2900	2948	2853	0	0	0	0	0	0	28.83	24.56	28.83
1017	-0.95	-146.6	2410	2094	2949	2853	86.8	-7.7	189	1024	0.00	2.53	0.00	0.000	260	0.000	0.054	2410	3529	2900	2948	2853	0	0	0	0	0	0	28.83	24.50	28.83
1052	-0.95	-146.6	2410	3529	2949	2853	89.7	-8.4	195	1059	0.00	2.45	0.00	0.000	1030	0.000	0.037	2411	2092	2901	2949	2853	0	0	0	0	0	0	28.83	24.58	28.83
1242	-0.95	-146.6	2410	2092	2949	2853	105.7	-9.7	232	1248	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	2092	2901	2949	2853	0	0	0	0	0	0	28.83	28.83	28.83
1431	-0.95	-146.6	2410	2092	2949	2853	122.2	-6.7	269	1437	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	2092	2901	2949	2853	0	0	0	0	0	0	28.83	28.83	28.83
1621	-0.95	-146.6	2410	2092	2949	2853	136.8	-7.2	306	1628	0.00	2.45	0.00	0.000	516	0.000	0.054	2411	684	2901	2949	2853	0	0	0	0	0	0	28.83	24.58	28.83
1676	-0.95	-146.6	2410	684	2949	2853	141.5	-8.4	316	1682	0.00	2.45	0.00	0.000	1030	0.000	0.034	2410	2134	2901	2949	2853	0	0	0	0	0	0	28.83	24.63	28.83
1866	-0.95	-146.6	2410	2133	2949	2853	157.3	-7.4	353	1872	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	2134	2901	2949	2853	0	0	0	0	0	0	28.83	28.83	28.83
2056	-0.95	-146.6	2410	2134	2949	2853	171.2	-6.5	390	2063	0.00	2.53	0.00	0.000	516	0.000	0.052	2411	687	2900	2948	2853	0	0	0	0	0	0	28.83	24.60	28.83
2096	-0.95	-146.6	2410	687	2949	2853	174.2	-7.7	397	2103	0.00	2.42	0.00	0.000	1030	0.000	0.034	2411	2133	2901	2949	2853	0	0	0	0	0	0	28.83	24.66	28.83
2183	end dive: TARGET_DEPTH_EXCEEDED
state	2183	begin apogee
2189	-0.30	0.0	2410	1899	2949	2853	180.1	-6.4	414	2307	0.70	0.08	109.50	0.593	10246	0.110	0.110	2549	1959	2299	2368	2231	0	0	0	0	0	0	24.56	24.04	23.66
2310	end apogee: CONTROL_FINISHED_OK
state	2310	begin climb
2312	0.95	146.6	2550	1959	2369	2231	183.1	0.0	435	2433	1.38	2.65	110.95	0.578	10756	0.090	0.056	2828	507	1702	1784	1621	0	0	0	0	0	0	24.17	24.05	23.63
2473	0.95	146.6	2827	507	1782	1621	171.3	10.7	464	2480	0.00	2.47	0.00	0.000	1030	0.000	0.034	2827	1952	1701	1782	1621	0	0	0	0	0	0	28.83	24.32	28.83
2663	0.95	146.6	2827	1953	1780	1616	152.9	9.0	501	2669	0.00	2.58	0.00	0.000	516	0.000	0.057	2827	507	1698	1780	1616	0	0	0	0	0	0	28.83	24.36	28.83
2712	0.95	146.6	2827	507	1780	1616	148.0	10.0	510	2719	0.00	2.47	0.00	0.000	1030	0.000	0.034	2827	1958	1698	1780	1616	0	0	0	0	0	0	28.83	24.42	28.83
2904	0.95	146.6	2827	1958	1779	1615	130.2	10.4	547	2911	0.00	2.58	0.00	0.000	516	0.000	0.057	2828	509	1696	1779	1614	0	0	0	0	0	0	28.83	24.40	28.83
2959	0.95	146.6	2827	509	1779	1614	124.0	11.0	557	2965	0.00	2.45	0.00	0.000	1030	0.000	0.034	2827	1953	1696	1779	1614	0	0	0	0	0	0	28.83	24.46	28.83
3149	0.95	146.6	1792	1951	1728	1607	105.8	9.1	594	3156	0.00	2.58	0.00	0.000	516	0.000	0.057	2828	504	1696	1779	1614	0	0	0	0	0	0	28.83	24.43	28.83
3173	0.95	146.6	1792	504	1728	1607	103.4	10.0	598	3180	0.00	2.45	0.00	0.000	1030	0.000	0.034	2828	1949	1696	1779	1613	0	0	0	0	0	0	28.83	24.49	28.83
3364	0.95	146.6	2827	1949	1778	1613	84.4	10.0	635	3370	0.00	2.55	0.00	0.000	516	0.000	0.057	2827	511	1695	1778	1613	0	0	0	0	0	0	28.83	24.46	28.83
3393	0.95	146.6	1792	511	1728	1607	81.2	11.6	640	3399	0.00	2.45	0.00	0.000	1030	0.000	0.034	2827	1952	1695	1778	1613	0	0	0	0	0	0	28.83	24.51	28.83
3583	0.95	146.6	2827	1953	1778	1613	62.8	10.0	677	3589	0.00	0.00	0.00	0.000	6	0.000	0.000	2828	1953	1695	1778	1613	0	0	0	0	0	0	28.83	28.83	28.83
3773	0.95	146.6	2828	1953	1778	1613	44.2	9.3	714	3779	0.00	2.42	0.00	0.000	260	0.000	0.051	2827	3348	1695	1778	1613	0	0	0	0	0	0	28.83	24.50	28.83
3807	0.95	146.6	1792	3346	1726	1605	41.0	9.5	720	3813	0.00	2.47	0.00	0.000	1030	0.000	0.041	2828	1916	1694	1777	1612	0	0	0	0	0	0	28.83	24.52	28.83
3936	0.95	146.6	2827	1916	1777	1612	28.8	8.6	745	3943	0.00	2.50	0.00	0.000	516	0.000	0.057	2828	503	1694	1777	1612	0	0	0	0	0	0	28.83	24.51	28.83
3956	0.95	146.6	2827	503	1777	1611	27.2	8.4	748	3963	0.00	2.45	0.00	0.000	1030	0.000	0.034	2828	1955	1694	1777	1612	0	0	0	0	0	0	28.83	24.57	28.83
4088	0.97	164.0	2827	1955	1777	1611	17.1	7.4	773	4107	0.00	2.65	13.50	0.467	8708	0.000	0.056	2828	512	1630	1714	1547	0	0	0	0	0	0	28.83	24.32	23.95
4136	1.01	194.5	2828	512	1714	1547	13.7	6.9	781	4170	0.00	2.45	25.02	0.480	9222	0.000	0.034	2827	1950	1506	1590	1422	0	0	0	0	0	0	28.83	24.46	23.80
4294	1.05	227.5	2827	1950	1590	1419	4.2	6.8	811	4314	0.12	0.00	16.25	0.457	10498	0.077	0.000	2863	1950	1424	1510	1338	0	0	0	0	0	0	24.54	28.83	28.83
4314	end climb: SURFACE_DEPTH_REACHED
state	4315	begin surface coast
4356	end surface coast: CONTROL_FINISHED_OK
state	4356	begin surface