Glider dive log

Shilshole 02Jun15 * SG205 * Dive index * Mission links * Dive 17 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 205 HD_C 9.9999997e-06 ROLL_MAX 3984 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 6 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 17 ESCAPE_HEADING 0 C_ROLL_DIVE 2060 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 25 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1990 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 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 35 SM_CC 235 R_STBD_OVSHOOT 59 XPDR_VALID 1

D_BOOST 0 N_FILEKB 4 ROLL_AD_RATE 250 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -0.98000002

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 9 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 C_VBD 2328 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 147

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.25119999 DEVICE3 -1

T_DIVE 75 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

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

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 300 CAPMAXSIZE 200000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 4 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 15 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY -6 T_GPS_CHARGE -2671.4919 DBDW 0 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 3 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 49

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 5 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 150 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 97 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 207 MINV_24V 19 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3915 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2888 FG_AHR_10V 0 SEABIRD_T_G 0.0043419907

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.000621902

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.2352948e-05

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

MASS 53045 PITCH_GAIN 18.1 PRESSURE_SLOPE 0.0001159995 SEABIRD_C_G -9.6916523

MASS_COMP 0 PITCH_TIMEOUT 17 AD7714Ch0Gain 128 SEABIRD_C_H 1.1209148

NAV_MODE 1 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0012442283

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.0001684351

KALMAN_USE 1 PITCH_ADJ_GAIN 0 COMPASS_USE 4

HD_A 0.0038000001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 293 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 235

AH0_10V 97 D_PITCH 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 180 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 18.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3915 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_MIN 207 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12218

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 9.9999997e-05 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 75

CALL_NDIVES 1 HD_A 0.0038000001 PRESSURE_SLOPE 0.0001159995 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -60.397808 T_GPS 15

CALL_WAIT 45 HD_C 9.9999997e-06 PROTOCOL 9 T_GPS_ALMANAC 0

CAPMAXSIZE 200000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -2671.4919

CAPUPLOAD 1 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 5 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 80

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 205 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 300

COMPASS_USE 4 INT_PRESSURE_YINT -0.98000002 RHO 1.023 T_TURN_SAMPINT 4

COURSE_BIAS 0 KALMAN_USE 1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2888 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 1990 LOGGERDEVICE2 -1 ROLL_AD_RATE 250 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2060 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY -6

C_VBD 2328 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3984 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 53045 ROLL_MAXERRORS 1 VBD_CNV -0.25119999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 293 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 147 MINV_10V 8 R_PORT_OVSHOOT 50 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 59 VBD_MIN 500

DEVICE4 -1 MISSION 6 SEABIRD_C_G -9.6916523 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1209148 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0012442283 VBD_TIMEOUT 720

DIVE 17 NOCOMM_ACTION 0 SEABIRD_C_J 0.0001684351 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 25 SEABIRD_T_G 0.0043419907 XPDR_DEVICE 24

D_BOOST 0 N_FILEKB 4 SEABIRD_T_H 0.000621902 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.2352948e-05 XPDR_VALID 1

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 2.3392056e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 35 PHONE_DEVICE 49 SIM_W 0

Pre-dive calculations and measurements:

GPS1 030615,115827,4742.639,-12224.608,36,1.0,36,16.3 TGT_NAME NW

_CALLS 2 TGT_LATLONG 4743.900,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.085,0.227

_SM_DEPTHo 1.17 KALMAN_X -3740.3,-336.1,-171.0,4660.9,-373.1

_SM_ANGLEo -66.6 KALMAN_Y -12232.7,411.1,207.8,11076.8,-1000.4

GPS2 030615,120759,4742.641,-12224.680,6,1.0,6,16.3 MHEAD_RNG_PITCHd_Wd 4.3,2337,-14.9,-8.000,-18.27,2786

SPEED_LIMITS 0.139,0.242 D_GRID 175

Post-dive calculations and measurements:

FINISH 0.0,1.021539 _10V_AH 10.0,34.521

SM_CCo 3849,19.35,0.737,0,0,1385,235.12 FG_AHR_24Vo 0.000

SM_GC 2.95,7.78,2.03,19.35,0.036,0.028,0.737,191,2052,1385,-8.35,1.27,235.12,0,0,0,0,0,0,26.53,26.61,25.36 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4722.92,-12222.38,300308,010117 MEM 322204

TT8_MAMPS 0.029211,0.029211 DATA_FILE_SIZE 36778,743

HUMID 46.81 CAP_FILE_SIZE 79167,0

INTERNAL_PRESSURE 9.00085 CFSIZE 1024393216,1020133376

TCM_TEMP 15.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 GPS 030615,131403,4742.984,-12224.459,3,1.0,3,16.3

_24V_AH 23.2,41.534

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 237 108.74 SBE_CT 501 23 270.03

Roll_motor 55 54 70.09 WL_BBFL2 1018 105 2481.54

VBD_pump_during_apogee 243 1444 8148.36 nil 0 0 0.00

VBD_pump_during_surface 19 736 330.72 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 61 9 14.25 nil 0 0 0.00

Iridium_during_connect 85 160 315.83 nil 0 0 0.00

Iridium_during_xfer 278 223 1439.49 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 28 1.95

TT8 1639 17 286.08

LPSleep 421 2 9.24

TT8_Active 350 17 61.10

TT8_Sampling 1907 42 804.34

TT8_CF8 132 58 77.61

TT8_Kalman 33 64 21.47

Analog_circuits 995 20 199.14

GPS_charging 0 0 0.00

Compass 1492 3 55.83

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.84 -146.6 194 2048 1507 1270 0.0 0.0 0 61 0.00 0.00 -43.65 0.000 16386 0.000 0.000 195 2049 2681 2694 2668 0 0 0 0 0 0 28.83 28.83 28.83

64 -0.84 -146.6 194 2049 2695 2669 3.1 -6.4 7 86 10.10 2.25 -5.20 0.000 19204 0.238 0.054 2602 3447 2913 2938 2889 0 0 0 0 0 0 25.63 26.25 26.67

310 -0.84 -146.6 2602 3446 2939 2889 31.5 -10.9 58 317 0.00 2.10 0.00 0.000 1030 0.000 0.027 2602 2053 2914 2940 2889 0 0 0 0 0 0 28.83 26.50 28.83

380 -0.84 -146.6 1568 2050 2900 2881 38.7 -9.4 71 386 0.00 0.00 0.00 0.000 6 0.000 0.000 2602 2053 2914 2939 2889 0 0 0 0 0 0 28.83 28.83 28.83

449 -0.84 -146.6 1568 2050 2899 2881 45.4 -9.5 84 456 0.00 2.17 0.00 0.000 516 0.000 0.039 2602 660 2914 2939 2889 0 0 0 0 0 0 28.83 26.41 28.83

577 -0.84 -146.6 1568 660 2900 2881 61.2 -12.6 112 585 0.00 2.12 0.00 0.000 1030 0.000 0.026 2593 2060 2914 2940 2889 0 0 0 0 0 0 28.83 26.61 28.83

709 -0.84 -146.6 2593 2060 2940 2889 76.3 -10.4 137 715 0.00 2.12 0.00 0.000 516 0.000 0.037 2593 668 2914 2940 2889 0 0 0 0 0 0 28.83 26.49 28.83

803 -0.84 -146.6 1568 668 2900 2881 87.1 -11.6 158 811 0.10 2.10 0.00 0.000 3078 0.140 0.026 2616 2056 2914 2940 2889 0 0 0 0 0 0 26.26 26.66 28.83

936 -0.84 -146.6 2615 2056 2940 2888 100.6 -9.8 183 942 0.00 0.00 0.00 0.000 6 0.000 0.000 2616 2056 2914 2940 2889 0 0 0 0 0 0 28.83 28.83 28.83

1065 -0.84 -146.6 2616 2057 2940 2889 112.6 -8.3 208 1072 0.00 2.17 0.00 0.000 516 0.000 0.038 2616 661 2914 2940 2889 0 0 0 0 0 0 28.83 26.54 28.83

1106 -0.84 -146.6 2616 661 2940 2889 115.9 -8.0 216 1113 0.00 2.10 0.00 0.000 1030 0.000 0.026 2608 2049 2914 2940 2889 0 0 0 0 0 0 28.83 26.70 28.83

1239 -0.84 -146.6 2608 2049 2941 2889 126.6 -8.2 241 1246 0.00 2.12 0.00 0.000 260 0.000 0.041 2598 3456 2914 2940 2889 0 0 0 0 0 0 28.83 26.55 28.83

1431 -0.84 -146.6 1568 3454 2900 2872 144.6 -9.3 284 1438 0.00 2.10 0.00 0.000 1030 0.000 0.028 2598 2052 2790 2940 2641 0 0 0 0 0 0 28.83 26.72 28.83

1562 -0.84 -146.6 2598 2052 2940 2889 157.7 -9.5 309 1568 0.00 0.00 0.00 0.000 6 0.000 0.000 2598 2052 2914 2940 2889 0 0 0 0 0 0 28.83 28.83 28.83

1690 -0.84 -146.6 2597 2052 2940 2888 171.5 -10.9 334 1698 0.00 2.17 0.00 0.000 260 0.000 0.041 2588 3458 2914 2940 2889 0 0 0 0 0 0 28.83 26.57 28.83

1719 end dive: TARGET_DEPTH_EXCEEDED

state 1720 begin apogee

1726 -0.28 0.0 2588 1984 2940 2889 175.1 -12.4 340 1844 0.62 0.00 113.38 1.444 10246 0.126 0.000 2789 1983 2327 2420 2235 0 0 0 0 0 0 25.96 28.83 23.75

1845 end apogee: CONTROL_FINISHED_OK

state 1845 begin climb

1846 0.84 146.6 2788 1983 2424 2236 180.8 0.0 360 1970 1.10 0.00 117.70 1.401 10758 0.083 0.000 3152 1983 1746 1898 1594 0 0 0 0 0 0 24.91 28.83 23.18

2095 0.84 146.6 3152 1983 1898 1594 158.0 11.1 405 2100 0.00 0.00 0.00 0.000 6 0.000 0.000 3152 1983 1746 1898 1594 0 0 0 0 0 0 28.83 28.83 28.83

2223 0.84 146.6 3152 1983 1897 1594 144.3 10.9 430 2231 0.00 2.22 0.00 0.000 260 0.000 0.039 3152 3387 1745 1897 1594 0 0 0 0 0 0 28.83 25.98 28.83

2276 0.84 146.6 2112 3386 1851 1586 138.7 11.4 441 2283 0.00 2.10 0.00 0.000 1030 0.000 0.028 3152 1998 1745 1897 1594 0 0 0 0 0 0 28.83 26.14 28.83

2407 0.84 146.6 3152 1998 1896 1594 126.0 10.1 466 2413 0.00 0.00 0.00 0.000 6 0.000 0.000 3152 1998 1745 1896 1594 0 0 0 0 0 0 28.83 28.83 28.83

2538 0.84 146.6 3152 1998 1896 1594 114.3 9.0 491 2544 0.00 2.12 0.00 0.000 260 0.000 0.038 3152 3390 1745 1896 1594 0 0 0 0 0 0 28.83 26.34 28.83

2573 0.84 146.6 3152 3390 1896 1594 110.9 9.1 498 2580 0.00 2.15 0.00 0.000 1030 0.000 0.029 3154 1986 1745 1896 1594 0 0 0 0 0 0 28.83 26.44 28.83

2706 0.84 146.6 3153 1986 1895 1594 99.2 8.9 523 2713 0.00 2.17 0.00 0.000 516 0.000 0.043 3154 584 1745 1896 1594 0 0 0 0 0 0 28.83 26.39 28.83

2836 0.84 146.6 2088 584 1850 1586 87.6 9.4 552 2844 0.00 2.15 0.00 0.000 1030 0.000 0.026 3155 1997 1745 1896 1594 0 0 0 0 0 0 28.83 26.58 28.83

2969 0.84 146.6 3154 1997 1896 1594 75.1 9.0 577 2975 0.00 2.17 0.00 0.000 516 0.000 0.041 3155 591 1745 1896 1594 0 0 0 0 0 0 28.83 26.48 28.83

3062 0.84 146.6 2144 591 1852 1586 66.1 9.1 597 3069 0.00 2.08 0.00 0.000 1030 0.000 0.026 3154 1991 1745 1896 1594 0 0 0 0 0 0 28.83 26.65 28.83

3192 0.84 146.6 3154 1991 1896 1594 54.4 9.5 622 3198 0.00 0.00 0.00 0.000 6 0.000 0.000 3155 1991 1744 1895 1594 0 0 0 0 0 0 28.83 28.83 28.83

3321 0.84 146.6 2096 1989 1849 1584 42.6 8.7 647 3328 0.00 0.00 0.00 0.000 6 0.000 0.000 3154 1991 1745 1896 1594 0 0 0 0 0 0 28.83 28.83 28.83

3391 0.84 146.6 2096 1989 1849 1584 35.9 10.0 660 3397 0.00 0.00 0.00 0.000 6 0.000 0.000 3154 1991 1744 1895 1594 0 0 0 0 0 0 28.83 28.83 28.83

3460 0.84 146.6 2096 1989 1850 1585 30.2 8.6 673 3466 0.00 0.00 0.00 0.000 6 0.000 0.000 3155 1991 1744 1895 1594 0 0 0 0 0 0 28.83 28.83 28.83

3528 0.84 146.6 2096 1989 1849 1582 24.6 8.4 686 3536 0.00 2.12 0.00 0.000 260 0.000 0.040 3154 3378 1745 1896 1594 0 0 0 0 0 0 28.83 26.59 28.83

3593 0.84 146.6 3155 3378 1895 1572 19.0 8.5 699 3601 0.00 2.10 0.00 0.000 1030 0.000 0.029 3154 1985 1693 1895 1492 0 0 0 0 0 0 28.83 26.71 28.83

3664 0.84 155.5 2088 1983 1849 1557 13.4 7.7 712 3671 0.00 2.17 0.00 0.000 516 0.000 0.042 3155 596 1680 1895 1466 0 0 0 0 0 0 28.83 26.55 28.83

3701 0.84 155.5 3154 596 1895 1572 10.2 8.4 719 3709 0.00 2.10 0.00 0.000 1030 0.000 0.027 3154 1990 1693 1895 1491 0 0 0 0 0 0 28.83 26.74 28.83

3772 0.84 180.7 2112 1988 1850 1575 4.9 7.1 732 3792 0.00 2.15 12.10 0.716 8452 0.000 0.040 3155 3377 1566 1765 1368 0 0 0 0 0 0 28.83 26.60 25.52

3807 end climb: SURFACE_DEPTH_REACHED

state 3807 begin surface coast

3832 end surface coast: CONTROL_FINISHED_OK

state 3832 begin surface

ID	205	HD_C	9.9999997e-06	ROLL_MAX	3984	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	6	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	17	ESCAPE_HEADING	0	C_ROLL_DIVE	2060	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	25	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1990	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	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	35	SM_CC	235	R_STBD_OVSHOOT	59	XPDR_VALID	1
D_BOOST	0	N_FILEKB	4	ROLL_AD_RATE	250	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.98000002
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	9	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	C_VBD	2328	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	147
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.25119999	DEVICE3	-1
T_DIVE	75	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	80	CALL_WAIT	45	PITCH_VBD_SHIFT	9.9999997e-05	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	300	CAPMAXSIZE	200000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	4	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	15	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	-6	T_GPS_CHARGE	-2671.4919	DBDW	0	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	3	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	49
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	5	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	150	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	97	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	207	MINV_24V	19	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3915	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2888	FG_AHR_10V	0	SEABIRD_T_G	0.0043419907
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.000621902
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.2352948e-05
RHO	1.023	P_OVSHOOT	0.039999999	PRESSURE_YINT	-60.397808	SEABIRD_T_J	2.3392056e-06
MASS	53045	PITCH_GAIN	18.1	PRESSURE_SLOPE	0.0001159995	SEABIRD_C_G	-9.6916523
MASS_COMP	0	PITCH_TIMEOUT	17	AD7714Ch0Gain	128	SEABIRD_C_H	1.1209148
NAV_MODE	1	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0012442283
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.0001684351
KALMAN_USE	1	PITCH_ADJ_GAIN	0	COMPASS_USE	4
HD_A	0.0038000001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	293	ALTIM_TOP_PING_RANGE	0

GPS1	030615,115827,4742.639,-12224.608,36,1.0,36,16.3	TGT_NAME	NW
_CALLS	2	TGT_LATLONG	4743.900,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.085,0.227
_SM_DEPTHo	1.17	KALMAN_X	-3740.3,-336.1,-171.0,4660.9,-373.1
_SM_ANGLEo	-66.6	KALMAN_Y	-12232.7,411.1,207.8,11076.8,-1000.4
GPS2	030615,120759,4742.641,-12224.680,6,1.0,6,16.3	MHEAD_RNG_PITCHd_Wd	4.3,2337,-14.9,-8.000,-18.27,2786
SPEED_LIMITS	0.139,0.242	D_GRID	175

FINISH	0.0,1.021539	_10V_AH	10.0,34.521
SM_CCo	3849,19.35,0.737,0,0,1385,235.12	FG_AHR_24Vo	0.000
SM_GC	2.95,7.78,2.03,19.35,0.036,0.028,0.737,191,2052,1385,-8.35,1.27,235.12,0,0,0,0,0,0,26.53,26.61,25.36	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4722.92,-12222.38,300308,010117	MEM	322204
TT8_MAMPS	0.029211,0.029211	DATA_FILE_SIZE	36778,743
HUMID	46.81	CAP_FILE_SIZE	79167,0
INTERNAL_PRESSURE	9.00085	CFSIZE	1024393216,1020133376
TCM_TEMP	15.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	GPS	030615,131403,4742.984,-12224.459,3,1.0,3,16.3
_24V_AH	23.2,41.534

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	237	108.74	SBE_CT	501	23	270.03
Roll_motor	55	54	70.09	WL_BBFL2	1018	105	2481.54
VBD_pump_during_apogee	243	1444	8148.36	nil	0	0	0.00
VBD_pump_during_surface	19	736	330.72	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	61	9	14.25	nil	0	0	0.00
Iridium_during_connect	85	160	315.83	nil	0	0	0.00
Iridium_during_xfer	278	223	1439.49	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	28	1.95
TT8	1639	17	286.08
LPSleep	421	2	9.24
TT8_Active	350	17	61.10
TT8_Sampling	1907	42	804.34
TT8_CF8	132	58	77.61
TT8_Kalman	33	64	21.47
Analog_circuits	995	20	199.14
GPS_charging	0	0	0.00
Compass	1492	3	55.83
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.84	-146.6	194	2048	1507	1270	0.0	0.0	0	61	0.00	0.00	-43.65	0.000	16386	0.000	0.000	195	2049	2681	2694	2668	0	0	0	0	0	0	28.83	28.83	28.83
64	-0.84	-146.6	194	2049	2695	2669	3.1	-6.4	7	86	10.10	2.25	-5.20	0.000	19204	0.238	0.054	2602	3447	2913	2938	2889	0	0	0	0	0	0	25.63	26.25	26.67
310	-0.84	-146.6	2602	3446	2939	2889	31.5	-10.9	58	317	0.00	2.10	0.00	0.000	1030	0.000	0.027	2602	2053	2914	2940	2889	0	0	0	0	0	0	28.83	26.50	28.83
380	-0.84	-146.6	1568	2050	2900	2881	38.7	-9.4	71	386	0.00	0.00	0.00	0.000	6	0.000	0.000	2602	2053	2914	2939	2889	0	0	0	0	0	0	28.83	28.83	28.83
449	-0.84	-146.6	1568	2050	2899	2881	45.4	-9.5	84	456	0.00	2.17	0.00	0.000	516	0.000	0.039	2602	660	2914	2939	2889	0	0	0	0	0	0	28.83	26.41	28.83
577	-0.84	-146.6	1568	660	2900	2881	61.2	-12.6	112	585	0.00	2.12	0.00	0.000	1030	0.000	0.026	2593	2060	2914	2940	2889	0	0	0	0	0	0	28.83	26.61	28.83
709	-0.84	-146.6	2593	2060	2940	2889	76.3	-10.4	137	715	0.00	2.12	0.00	0.000	516	0.000	0.037	2593	668	2914	2940	2889	0	0	0	0	0	0	28.83	26.49	28.83
803	-0.84	-146.6	1568	668	2900	2881	87.1	-11.6	158	811	0.10	2.10	0.00	0.000	3078	0.140	0.026	2616	2056	2914	2940	2889	0	0	0	0	0	0	26.26	26.66	28.83
936	-0.84	-146.6	2615	2056	2940	2888	100.6	-9.8	183	942	0.00	0.00	0.00	0.000	6	0.000	0.000	2616	2056	2914	2940	2889	0	0	0	0	0	0	28.83	28.83	28.83
1065	-0.84	-146.6	2616	2057	2940	2889	112.6	-8.3	208	1072	0.00	2.17	0.00	0.000	516	0.000	0.038	2616	661	2914	2940	2889	0	0	0	0	0	0	28.83	26.54	28.83
1106	-0.84	-146.6	2616	661	2940	2889	115.9	-8.0	216	1113	0.00	2.10	0.00	0.000	1030	0.000	0.026	2608	2049	2914	2940	2889	0	0	0	0	0	0	28.83	26.70	28.83
1239	-0.84	-146.6	2608	2049	2941	2889	126.6	-8.2	241	1246	0.00	2.12	0.00	0.000	260	0.000	0.041	2598	3456	2914	2940	2889	0	0	0	0	0	0	28.83	26.55	28.83
1431	-0.84	-146.6	1568	3454	2900	2872	144.6	-9.3	284	1438	0.00	2.10	0.00	0.000	1030	0.000	0.028	2598	2052	2790	2940	2641	0	0	0	0	0	0	28.83	26.72	28.83
1562	-0.84	-146.6	2598	2052	2940	2889	157.7	-9.5	309	1568	0.00	0.00	0.00	0.000	6	0.000	0.000	2598	2052	2914	2940	2889	0	0	0	0	0	0	28.83	28.83	28.83
1690	-0.84	-146.6	2597	2052	2940	2888	171.5	-10.9	334	1698	0.00	2.17	0.00	0.000	260	0.000	0.041	2588	3458	2914	2940	2889	0	0	0	0	0	0	28.83	26.57	28.83
1719	end dive: TARGET_DEPTH_EXCEEDED
state	1720	begin apogee
1726	-0.28	0.0	2588	1984	2940	2889	175.1	-12.4	340	1844	0.62	0.00	113.38	1.444	10246	0.126	0.000	2789	1983	2327	2420	2235	0	0	0	0	0	0	25.96	28.83	23.75
1845	end apogee: CONTROL_FINISHED_OK
state	1845	begin climb
1846	0.84	146.6	2788	1983	2424	2236	180.8	0.0	360	1970	1.10	0.00	117.70	1.401	10758	0.083	0.000	3152	1983	1746	1898	1594	0	0	0	0	0	0	24.91	28.83	23.18
2095	0.84	146.6	3152	1983	1898	1594	158.0	11.1	405	2100	0.00	0.00	0.00	0.000	6	0.000	0.000	3152	1983	1746	1898	1594	0	0	0	0	0	0	28.83	28.83	28.83
2223	0.84	146.6	3152	1983	1897	1594	144.3	10.9	430	2231	0.00	2.22	0.00	0.000	260	0.000	0.039	3152	3387	1745	1897	1594	0	0	0	0	0	0	28.83	25.98	28.83
2276	0.84	146.6	2112	3386	1851	1586	138.7	11.4	441	2283	0.00	2.10	0.00	0.000	1030	0.000	0.028	3152	1998	1745	1897	1594	0	0	0	0	0	0	28.83	26.14	28.83
2407	0.84	146.6	3152	1998	1896	1594	126.0	10.1	466	2413	0.00	0.00	0.00	0.000	6	0.000	0.000	3152	1998	1745	1896	1594	0	0	0	0	0	0	28.83	28.83	28.83
2538	0.84	146.6	3152	1998	1896	1594	114.3	9.0	491	2544	0.00	2.12	0.00	0.000	260	0.000	0.038	3152	3390	1745	1896	1594	0	0	0	0	0	0	28.83	26.34	28.83
2573	0.84	146.6	3152	3390	1896	1594	110.9	9.1	498	2580	0.00	2.15	0.00	0.000	1030	0.000	0.029	3154	1986	1745	1896	1594	0	0	0	0	0	0	28.83	26.44	28.83
2706	0.84	146.6	3153	1986	1895	1594	99.2	8.9	523	2713	0.00	2.17	0.00	0.000	516	0.000	0.043	3154	584	1745	1896	1594	0	0	0	0	0	0	28.83	26.39	28.83
2836	0.84	146.6	2088	584	1850	1586	87.6	9.4	552	2844	0.00	2.15	0.00	0.000	1030	0.000	0.026	3155	1997	1745	1896	1594	0	0	0	0	0	0	28.83	26.58	28.83
2969	0.84	146.6	3154	1997	1896	1594	75.1	9.0	577	2975	0.00	2.17	0.00	0.000	516	0.000	0.041	3155	591	1745	1896	1594	0	0	0	0	0	0	28.83	26.48	28.83
3062	0.84	146.6	2144	591	1852	1586	66.1	9.1	597	3069	0.00	2.08	0.00	0.000	1030	0.000	0.026	3154	1991	1745	1896	1594	0	0	0	0	0	0	28.83	26.65	28.83
3192	0.84	146.6	3154	1991	1896	1594	54.4	9.5	622	3198	0.00	0.00	0.00	0.000	6	0.000	0.000	3155	1991	1744	1895	1594	0	0	0	0	0	0	28.83	28.83	28.83
3321	0.84	146.6	2096	1989	1849	1584	42.6	8.7	647	3328	0.00	0.00	0.00	0.000	6	0.000	0.000	3154	1991	1745	1896	1594	0	0	0	0	0	0	28.83	28.83	28.83
3391	0.84	146.6	2096	1989	1849	1584	35.9	10.0	660	3397	0.00	0.00	0.00	0.000	6	0.000	0.000	3154	1991	1744	1895	1594	0	0	0	0	0	0	28.83	28.83	28.83
3460	0.84	146.6	2096	1989	1850	1585	30.2	8.6	673	3466	0.00	0.00	0.00	0.000	6	0.000	0.000	3155	1991	1744	1895	1594	0	0	0	0	0	0	28.83	28.83	28.83
3528	0.84	146.6	2096	1989	1849	1582	24.6	8.4	686	3536	0.00	2.12	0.00	0.000	260	0.000	0.040	3154	3378	1745	1896	1594	0	0	0	0	0	0	28.83	26.59	28.83
3593	0.84	146.6	3155	3378	1895	1572	19.0	8.5	699	3601	0.00	2.10	0.00	0.000	1030	0.000	0.029	3154	1985	1693	1895	1492	0	0	0	0	0	0	28.83	26.71	28.83
3664	0.84	155.5	2088	1983	1849	1557	13.4	7.7	712	3671	0.00	2.17	0.00	0.000	516	0.000	0.042	3155	596	1680	1895	1466	0	0	0	0	0	0	28.83	26.55	28.83
3701	0.84	155.5	3154	596	1895	1572	10.2	8.4	719	3709	0.00	2.10	0.00	0.000	1030	0.000	0.027	3154	1990	1693	1895	1491	0	0	0	0	0	0	28.83	26.74	28.83
3772	0.84	180.7	2112	1988	1850	1575	4.9	7.1	732	3792	0.00	2.15	12.10	0.716	8452	0.000	0.040	3155	3377	1566	1765	1368	0	0	0	0	0	0	28.83	26.60	25.52
3807	end climb: SURFACE_DEPTH_REACHED
state	3807	begin surface coast
3832	end surface coast: CONTROL_FINISHED_OK
state	3832	begin surface