Glider dive log

Shilshole 25Apr18 * SG038 * Dive index * Mission links * Dive 17 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 38 HD_B 0.013 ROLL_MAX 3925 ALTIM_BOTTOM_PING_RANGE 0

MISSION 12 HD_C 2.4999999e-05 ROLL_DEG 45 ALTIM_TOP_PING_RANGE 20

DIVE 17 HEADING -1 C_ROLL_DIVE 2300 ALTIM_BOTTOM_TURN_MARGIN 20

N_DIVES 25 ESCAPE_HEADING 0 C_ROLL_CLIMB 2300 ALTIM_TOP_TURN_MARGIN 0

STOP_T 0 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 90

D_FLARE 3 TGT_DEFAULT_LAT 2630 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 2

D_TGT 200 TGT_DEFAULT_LON -7630 R_PORT_OVSHOOT 44 ALTIM_FREQUENCY 12

D_ABORT 6000 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 34 ALTIM_PULSE 3

D_NO_BLEED 50 SM_CC 400 ROLL_AD_RATE 300 ALTIM_SENSITIVITY 1

D_BOOST 0 N_FILEKB 4 ROLL_MAXERRORS 2 XPDR_VALID 2

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 200 INT_PRESSURE_YINT 1.2

D_SAFE 0 PROTOCOL 9 VBD_MAX 3900 DEEPGLIDER 1

D_CALL 0 N_NOCOMM 1 C_VBD 1910 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 384 VBD_DBAND 2 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_CNV -0.29049 DEVICE2 101

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_LP_IGNORE 0 DEVICE3 -1

T_DIVE 83 CALL_TRIES 10 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 90 CALL_WAIT 60 PITCH_VBD_SHIFT 0.00059000001 DEVICE5 -1

T_ABORT 120 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 3 DEVICE6 -1

T_TURN 540 CAPMAXSIZE 200000 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 2 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS -15 UNCOM_BLEED 50 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 50840 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_SLOITER 0 T_RSLEEP 3 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

T_EPIRB 0 STROBE 0 DBDW 0 COMPASS_DEVICE 33

USE_BATHY -6 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 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 150 AH0_10V 100 XPDR_DEVICE 24

RELAUNCH 0 PITCH_MAX 3880 MINV_24V 17 SIM_W 0

APOGEE_PITCH -5 C_PITCH 3420 MINV_10V 8 SIM_PITCH 0

MAX_BUOY 350 PITCH_DBAND 0.1 MAXI_24V 0.80000001 SEABIRD_T_G 0.0043154242

COURSE_BIAS 0 PITCH_CNV 0.003125763 MAXI_10V 0.60000002 SEABIRD_T_H 0.00062410574

GLIDE_SLOPE 25 P_OVSHOOT 0.026000001 FG_AHR_10V 0 SEABIRD_T_I 2.302181e-05

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0.1286 FG_AHR_24V 0 SEABIRD_T_J 2.4339581e-06

RHO 1.023 PITCH_GAIN 14.5 PHONE_SUPPLY 2 SEABIRD_C_G -9.7676115

MASS 80313 PITCH_TIMEOUT 20 PRESSURE_YINT -21.153936 SEABIRD_C_H 1.1309991

MASS_COMP 11240.1 PITCH_AD_RATE 160 PRESSURE_SLOPE 0 SEABIRD_C_I -0.0018490348

NAV_MODE 2 PITCH_MAXERRORS 1 AD7714Ch0Gain 32 SEABIRD_C_J 0.00021460596

FERRY_MAX 45 PITCH_ADJ_GAIN 0.02 TCM_PITCH_OFFSET 0 SEABIRD_C_Z 2943.3999

KALMAN_USE 2 PITCH_ADJ_DBAND 2.5 TCM_ROLL_OFFSET 0

HD_A 0.0049999999 ROLL_MIN 150 COMPASS_USE 4

AD7714Ch0Gain 32 D_SAFE 0 PITCH_ADJ_DBAND 2.5 SIM_W 0

AH0_10V 100 D_SURF 2 PITCH_ADJ_GAIN 0.02 SM_CC 400

AH0_24V 150 D_TGT 200 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 20 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 STROBE 0

ALTIM_FREQUENCY 12 FERRY_MAX 45 PITCH_GAIN 14.5 SURFACE_URGENCY 0

ALTIM_PING_DELTA 2 FG_AHR_10V 0 PITCH_MAX 3880 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 90 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FILEMGR 0 PITCH_MIN 150 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 1 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 GLIDE_SLOPE 25 PITCH_VBD_SHIFT 0.00059000001 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 2630

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0049999999 PITCH_W_GAIN 0 TGT_DEFAULT_LON -7630

APOGEE_PITCH -5 HD_B 0.013 PRESSURE_SLOPE 0 T_ABORT 120

CALL_NDIVES 1 HD_C 2.4999999e-05 PRESSURE_YINT -21.153936 T_BOOST 0

CALL_TRIES 10 HEADING -1 PROTOCOL 9 T_DIVE 83

CALL_WAIT 60 HEAD_ERRBAND 10 P_OVSHOOT 0.026000001 T_EPIRB 0

CAPMAXSIZE 200000 HEAPDBG 0 P_OVSHOOT_WITHG 0.1286 T_GPS -15

CAPUPLOAD 1 ICE_FREEZE_MARGIN 0 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 2 ID 38 RAFOS_DEVICE -1 T_MISSION 90

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 2 RAFOS_PEAK_OFFSET 1.5 T_SLOITER 0

COMPASS_USE 4 LOGGERDEVICE1 -1 RELAUNCH 0 T_TURN 540

COURSE_BIAS 0 LOGGERDEVICE2 -1 RHO 1.023 T_TURN_SAMPINT 5

C_PITCH 3420 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_CLIMB 2300 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_ROLL_DIVE 2300 LOGGERS 0 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX -1

C_VBD 1910 MASS 80313 ROLL_CNV 0.028270001 USE_BATHY -6

DBDW 0 MASS_COMP 11240.1 ROLL_DEG 45 USE_ICE 0

DEEPGLIDER 1 MAXI_10V 0.60000002 ROLL_MAX 3925 VBD_BLEED_AD_RATE 2

DEVICE1 2 MAXI_24V 0.80000001 ROLL_MAXERRORS 2 VBD_CNV -0.29049

DEVICE2 101 MAX_BUOY 350 ROLL_MIN 150 VBD_DBAND 2

DEVICE3 -1 MINV_10V 8 ROLL_TIMEOUT 15 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 17 R_PORT_OVSHOOT 44 VBD_MAX 3900

DEVICE5 -1 MISSION 12 R_STBD_OVSHOOT 34 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -9.7676115 VBD_MIN 200

DIVE 17 NAV_MODE 2 SEABIRD_C_H 1.1309991 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 6000 NOCOMM_ACTION 384 SEABIRD_C_I -0.0018490348 VBD_PUMP_AD_RATE_SURFACE 3

D_BOOST 0 N_DIVES 25 SEABIRD_C_J 0.00021460596 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_Z 2943.3999 W_ADJ_DBAND 2

D_FINISH 0 N_GPS 50840 SEABIRD_T_G 0.0043154242 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_H 0.00062410574 XPDR_INHIBIT 90

D_NO_BLEED 50 N_NOSURFACE 0 SEABIRD_T_I 2.302181e-05 XPDR_VALID 2

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_J 2.4339581e-06

D_PITCH 0 PHONE_SUPPLY 2 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 260418,125102,4744.0234,-12224.1201,5,1.2,27,16.3,0.0,283.0,10,4.8 TGT_NAME SOUTH

_CALLS 3 TGT_LATLONG 4743.000,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 1.58 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -70.4 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 260418,130325,4743.9883,-12224.1523,8,0.9,22,16.3,0.2,151.8,9,5.0 MHEAD_RNG_PITCHd_Wd 170.2,1881,-10.7,-8.032,-14.71,6340

SPEED_LIMITS 0.172,0.306 D_GRID 173

Post-dive calculations and measurements:

FINISH 1.7,1.018968 _24V_AH 23.12,21.333

SM_CCo 4024,49.62,0.807,0,0,533,400.00 _10V_AH 10.22,11.884

SM_GC 2.19,9.30,2.53,49.62,0.089,0.079,0.807,177,2308,533,-10.10,-0.71,400.00,0,0,0,0,0,0,25.78,25.98,24.37 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4745.83,-12224.09,260418,125408 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.191744 MEM 312596

HUMID 29.95 DATA_FILE_SIZE 31507,442

INTERNAL_PRESSURE 7.45024 CAP_FILE_SIZE 71152,0

TCM_TEMP 9.50 CFSIZE 2047311872,2038726656

XPDR_PINGS 2 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

ALTIM_TOP_PING 19.3,19.4 CURRENT 0.144,48.58,1

ALTIM_BOTTOM_PING 90.4,92.2 GPS 260418,141258,4743.677,-12224.176,9,0.8,21,16.3,0.2,141.0,10,4.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 297 167.57 SBE_CT 294 23 158.07

Roll_motor 65 141 215.07 AA4330 585 13 182.41

VBD_pump_during_apogee 564 913 11920.21 nil 0 0 0.00

VBD_pump_during_surface 49 806 925.87 nil 0 0 0.00

VBD_valve 277 144 924.46 nil 0 0 0.00

Iridium_during_init 75 126 219.63 nil 0 0 0.00

Iridium_during_connect 98 160 366.17 nil 0 0 0.00

Iridium_during_xfer 332 223 1713.65 nil 0 0 0.00

Transponder_ping 1 420 12.14 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 23 26 6.51

TT8 1071 15 169.38

LPSleep 1501 2 33.61

TT8_Active 831 15 131.53

TT8_Sampling 1375 41 585.79

TT8_CF8 66 64 43.68

TT8_Kalman 0 0 0.00

Analog_circuits 1385 10 141.60

GPS_charging 0 0 0.00

Compass 815 8 68.66

RAFOS 0 0 0.00

Transponder 7 30 2.25

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

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

6 -0.94 -342.1 130 2311 242 264 0.0 0.0 0 156 0.00 0.00 -146.38 0.144 16386 0.000 0.000 130 2312 1245 1275 1216 0 0 0 0 0 0 26.20 28.83 26.22 7.46 30.35

158 -0.94 -342.1 130 2312 1275 1216 3.5 -3.4 23 313 13.12 2.55 -131.27 0.144 19204 0.298 0.087 3113 714 3088 3113 3064 0 0 0 0 0 0 24.91 25.46 25.15 7.57 29.24

439 -0.88 -342.1 3112 714 3100 3064 32.6 -12.4 62 447 0.00 2.47 0.00 0.000 1030 0.000 0.082 3113 2297 3082 3100 3064 0 0 0 0 0 0 25.79 25.63 25.83 7.72 28.85

566 -0.80 -342.1 3112 2297 3099 3061 51.8 -15.3 75 572 0.15 2.58 0.00 0.000 2308 0.196 0.102 3153 3880 3079 3097 3061 0 0 0 0 0 0 25.61 25.65 25.69 7.71 29.40

609 -0.80 -342.1 3152 3880 3097 3059 58.2 -15.3 79 614 0.00 2.47 0.00 0.000 1030 0.000 0.074 3153 2304 3078 3097 3059 0 0 0 0 0 0 25.99 25.90 26.03 7.72 29.72

742 -0.80 -342.1 3152 2302 3095 3059 74.0 -10.0 92 751 0.00 2.47 0.00 0.000 516 0.000 0.084 3152 712 3077 3095 3059 0 0 0 0 0 0 26.41 25.75 26.43 7.71 29.79

767 -0.80 -342.1 3152 712 3094 3059 76.4 -10.0 94 774 0.00 2.47 0.00 0.000 1030 0.000 0.082 3142 2312 3076 3094 3059 0 0 0 0 0 0 25.95 25.79 25.99 7.71 29.68

896 -0.80 -342.1 3141 2312 3094 3058 90.4 -10.0 107 901 0.00 2.55 0.00 0.000 260 0.000 0.104 3130 3884 3076 3094 3058 0 0 0 0 0 0 26.43 25.75 26.44 7.71 29.60

970 -0.80 -342.1 3129 3884 3093 3057 98.5 -10.7 114 979 0.10 2.50 0.00 0.000 3078 0.181 0.074 3164 2306 3075 3094 3057 0 0 0 0 0 0 25.70 26.05 25.77 7.71 29.72

1098 -0.80 -342.1 3163 2306 3093 3057 110.6 -9.4 127 1099 0.00 0.00 0.00 0.000 6 0.000 0.000 3164 2306 3075 3094 3057 0 0 0 0 0 0 26.52 26.53 26.53 7.71 30.19

1338 -0.80 -342.1 3163 2306 3093 3056 135.0 -9.3 151 1339 0.00 0.00 0.00 0.000 6 0.000 0.000 3164 2306 3074 3093 3056 0 0 0 0 0 0 26.56 26.58 26.58 7.71 30.31

1578 -0.80 -342.1 3163 2306 3093 3056 158.4 -9.1 175 1583 0.00 2.58 0.00 0.000 260 0.000 0.102 3155 3883 3074 3093 3055 0 0 0 0 0 0 26.60 25.80 26.60 7.71 30.23

1623 -0.80 -342.1 3154 3883 3093 3053 162.5 -9.6 179 1631 0.00 2.47 0.00 0.000 1030 0.000 0.077 3155 2291 3073 3093 3054 0 0 0 0 0 0 26.20 26.12 26.23 7.71 30.39

1639 end dive: BOTTOM_OBSTACLE_DETECTED

state 1639 begin apogee

1643 -0.34 0.0 3154 2290 3093 3054 164.7 -9.9 181 1902 0.47 0.00 254.93 0.914 10246 0.169 0.000 3315 2288 1910 1938 1882 0 0 0 0 0 0 25.23 24.30 23.45 7.71 30.98

1904 end apogee: CONTROL_FINISHED_OK

state 1904 begin climb

1905 0.94 342.1 3314 2288 1938 1880 177.1 0.0 207 2226 1.08 2.67 309.33 0.886 10756 0.134 0.089 3694 721 730 730 730 0 0 0 0 0 0 24.49 24.00 23.12 7.62 29.48

2394 0.94 342.1 3693 721 718 722 141.2 10.4 256 2405 0.00 2.50 0.00 0.000 1030 0.000 0.084 3694 2297 720 718 722 0 0 0 0 0 0 25.56 25.43 25.60 7.51 29.48

2645 0.94 342.1 3693 2297 718 717 117.9 8.4 281 2655 0.00 2.58 0.00 0.000 260 0.000 0.107 3694 3879 717 718 717 0 0 0 0 0 0 26.26 25.71 26.27 7.50 29.91

2700 0.88 342.1 3693 3879 718 717 112.7 9.6 286 2708 0.00 2.50 0.00 0.000 1030 0.000 0.074 3705 2289 717 718 717 0 0 0 0 0 0 25.98 25.89 26.03 7.50 29.83

2948 0.88 342.1 3704 2289 718 717 87.4 10.2 311 2957 0.00 2.62 0.00 0.000 260 0.000 0.107 3704 3887 717 718 716 0 0 0 0 0 0 26.42 25.81 26.44 7.51 29.87

3011 0.80 342.1 3704 3887 718 717 80.4 11.6 317 3020 0.10 2.47 0.00 0.000 5126 0.179 0.077 3681 2300 717 718 716 0 0 0 0 0 0 25.72 26.01 25.82 7.51 30.54

3140 0.80 342.1 3680 2298 718 716 68.3 8.4 330 3150 0.00 2.60 0.00 0.000 260 0.000 0.107 3680 3882 717 718 716 0 0 0 0 0 0 26.48 25.84 26.49 7.50 30.07

3184 0.80 342.1 3680 3882 718 715 64.2 9.5 334 3193 0.00 2.50 0.00 0.000 1030 0.000 0.074 3689 2301 716 718 715 0 0 0 0 0 0 26.09 26.04 26.13 7.50 30.15

3313 0.80 342.1 3689 2300 718 715 52.6 8.4 347 3322 0.00 2.47 0.00 0.000 516 0.000 0.089 3691 718 716 718 715 0 0 0 0 0 0 26.51 25.89 26.53 7.50 29.95

3365 0.80 342.1 3690 718 717 715 48.1 7.9 352 3375 0.00 2.45 0.00 0.000 1030 0.000 0.084 3691 2306 716 717 715 0 0 0 0 0 0 26.09 25.94 26.15 7.51 29.87

3495 0.80 342.1 3690 2306 717 715 37.8 7.8 365 3505 0.00 2.55 0.00 0.000 260 0.000 0.107 3690 3876 716 717 715 0 0 0 0 0 0 26.55 25.85 26.55 7.50 30.11

3539 0.80 342.1 3690 3876 717 715 34.0 9.0 369 3547 0.00 2.50 0.00 0.000 1030 0.000 0.077 3699 2298 716 717 715 0 0 0 0 0 0 26.12 26.07 26.15 7.50 30.78

3667 0.80 342.1 3698 2298 717 715 22.9 8.5 382 3668 0.00 0.00 0.00 0.000 6 0.000 0.000 3699 2298 715 716 715 0 0 0 0 0 0 26.56 26.58 26.58 7.50 29.95

3790 0.80 342.1 3698 2298 716 715 14.0 7.1 402 3797 0.00 2.60 0.00 0.000 260 0.000 0.104 3699 3883 716 717 715 0 0 0 0 0 0 26.58 25.86 26.59 7.50 30.31

3859 0.80 342.1 3698 3884 717 714 9.1 6.9 415 3867 0.00 2.47 0.00 0.000 1030 0.000 0.077 3700 2296 715 717 714 0 0 0 0 0 0 26.22 26.13 26.26 7.50 30.27

3930 0.80 342.1 3699 2295 717 714 4.5 6.5 428 3937 0.00 2.47 0.00 0.000 516 0.000 0.089 3709 710 715 717 714 0 0 0 0 0 0 26.60 25.90 26.60 7.50 30.23

3983 end climb: SURFACE_DEPTH_REACHED

state 3983 begin surface coast

4005 end surface coast: CONTROL_FINISHED_OK

state 4005 begin surface

ID	38	HD_B	0.013	ROLL_MAX	3925	ALTIM_BOTTOM_PING_RANGE	0
MISSION	12	HD_C	2.4999999e-05	ROLL_DEG	45	ALTIM_TOP_PING_RANGE	20
DIVE	17	HEADING	-1	C_ROLL_DIVE	2300	ALTIM_BOTTOM_TURN_MARGIN	20
N_DIVES	25	ESCAPE_HEADING	0	C_ROLL_CLIMB	2300	ALTIM_TOP_TURN_MARGIN	0
STOP_T	0	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	90
D_FLARE	3	TGT_DEFAULT_LAT	2630	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	2
D_TGT	200	TGT_DEFAULT_LON	-7630	R_PORT_OVSHOOT	44	ALTIM_FREQUENCY	12
D_ABORT	6000	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	34	ALTIM_PULSE	3
D_NO_BLEED	50	SM_CC	400	ROLL_AD_RATE	300	ALTIM_SENSITIVITY	1
D_BOOST	0	N_FILEKB	4	ROLL_MAXERRORS	2	XPDR_VALID	2
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	200	INT_PRESSURE_YINT	1.2
D_SAFE	0	PROTOCOL	9	VBD_MAX	3900	DEEPGLIDER	1
D_CALL	0	N_NOCOMM	1	C_VBD	1910	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	384	VBD_DBAND	2	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_CNV	-0.29049	DEVICE2	101
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_LP_IGNORE	0	DEVICE3	-1
T_DIVE	83	CALL_TRIES	10	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	90	CALL_WAIT	60	PITCH_VBD_SHIFT	0.00059000001	DEVICE5	-1
T_ABORT	120	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	3	DEVICE6	-1
T_TURN	540	CAPMAXSIZE	200000	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	2	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	-15	UNCOM_BLEED	50	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	50840	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_SLOITER	0	T_RSLEEP	3	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
T_EPIRB	0	STROBE	0	DBDW	0	COMPASS_DEVICE	33
USE_BATHY	-6	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	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	150	AH0_10V	100	XPDR_DEVICE	24
RELAUNCH	0	PITCH_MAX	3880	MINV_24V	17	SIM_W	0
APOGEE_PITCH	-5	C_PITCH	3420	MINV_10V	8	SIM_PITCH	0
MAX_BUOY	350	PITCH_DBAND	0.1	MAXI_24V	0.80000001	SEABIRD_T_G	0.0043154242
COURSE_BIAS	0	PITCH_CNV	0.003125763	MAXI_10V	0.60000002	SEABIRD_T_H	0.00062410574
GLIDE_SLOPE	25	P_OVSHOOT	0.026000001	FG_AHR_10V	0	SEABIRD_T_I	2.302181e-05
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0.1286	FG_AHR_24V	0	SEABIRD_T_J	2.4339581e-06
RHO	1.023	PITCH_GAIN	14.5	PHONE_SUPPLY	2	SEABIRD_C_G	-9.7676115
MASS	80313	PITCH_TIMEOUT	20	PRESSURE_YINT	-21.153936	SEABIRD_C_H	1.1309991
MASS_COMP	11240.1	PITCH_AD_RATE	160	PRESSURE_SLOPE	0	SEABIRD_C_I	-0.0018490348
NAV_MODE	2	PITCH_MAXERRORS	1	AD7714Ch0Gain	32	SEABIRD_C_J	0.00021460596
FERRY_MAX	45	PITCH_ADJ_GAIN	0.02	TCM_PITCH_OFFSET	0	SEABIRD_C_Z	2943.3999
KALMAN_USE	2	PITCH_ADJ_DBAND	2.5	TCM_ROLL_OFFSET	0
HD_A	0.0049999999	ROLL_MIN	150	COMPASS_USE	4

GPS1	260418,125102,4744.0234,-12224.1201,5,1.2,27,16.3,0.0,283.0,10,4.8	TGT_NAME	SOUTH
_CALLS	3	TGT_LATLONG	4743.000,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	1.58	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-70.4	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	260418,130325,4743.9883,-12224.1523,8,0.9,22,16.3,0.2,151.8,9,5.0	MHEAD_RNG_PITCHd_Wd	170.2,1881,-10.7,-8.032,-14.71,6340
SPEED_LIMITS	0.172,0.306	D_GRID	173

FINISH	1.7,1.018968	_24V_AH	23.12,21.333
SM_CCo	4024,49.62,0.807,0,0,533,400.00	_10V_AH	10.22,11.884
SM_GC	2.19,9.30,2.53,49.62,0.089,0.079,0.807,177,2308,533,-10.10,-0.71,400.00,0,0,0,0,0,0,25.78,25.98,24.37	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4745.83,-12224.09,260418,125408	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.191744	MEM	312596
HUMID	29.95	DATA_FILE_SIZE	31507,442
INTERNAL_PRESSURE	7.45024	CAP_FILE_SIZE	71152,0
TCM_TEMP	9.50	CFSIZE	2047311872,2038726656
XPDR_PINGS	2	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_TOP_PING	19.3,19.4	CURRENT	0.144,48.58,1
ALTIM_BOTTOM_PING	90.4,92.2	GPS	260418,141258,4743.677,-12224.176,9,0.8,21,16.3,0.2,141.0,10,4.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	297	167.57	SBE_CT	294	23	158.07
Roll_motor	65	141	215.07	AA4330	585	13	182.41
VBD_pump_during_apogee	564	913	11920.21	nil	0	0	0.00
VBD_pump_during_surface	49	806	925.87	nil	0	0	0.00
VBD_valve	277	144	924.46	nil	0	0	0.00
Iridium_during_init	75	126	219.63	nil	0	0	0.00
Iridium_during_connect	98	160	366.17	nil	0	0	0.00
Iridium_during_xfer	332	223	1713.65	nil	0	0	0.00
Transponder_ping	1	420	12.14	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	23	26	6.51
TT8	1071	15	169.38
LPSleep	1501	2	33.61
TT8_Active	831	15	131.53
TT8_Sampling	1375	41	585.79
TT8_CF8	66	64	43.68
TT8_Kalman	0	0	0.00
Analog_circuits	1385	10	141.60
GPS_charging	0	0	0.00
Compass	815	8	68.66
RAFOS	0	0	0.00
Transponder	7	30	2.25

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
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
6	-0.94	-342.1	130	2311	242	264	0.0	0.0	0	156	0.00	0.00	-146.38	0.144	16386	0.000	0.000	130	2312	1245	1275	1216	0	0	0	0	0	0	26.20	28.83	26.22	7.46	30.35
158	-0.94	-342.1	130	2312	1275	1216	3.5	-3.4	23	313	13.12	2.55	-131.27	0.144	19204	0.298	0.087	3113	714	3088	3113	3064	0	0	0	0	0	0	24.91	25.46	25.15	7.57	29.24
439	-0.88	-342.1	3112	714	3100	3064	32.6	-12.4	62	447	0.00	2.47	0.00	0.000	1030	0.000	0.082	3113	2297	3082	3100	3064	0	0	0	0	0	0	25.79	25.63	25.83	7.72	28.85
566	-0.80	-342.1	3112	2297	3099	3061	51.8	-15.3	75	572	0.15	2.58	0.00	0.000	2308	0.196	0.102	3153	3880	3079	3097	3061	0	0	0	0	0	0	25.61	25.65	25.69	7.71	29.40
609	-0.80	-342.1	3152	3880	3097	3059	58.2	-15.3	79	614	0.00	2.47	0.00	0.000	1030	0.000	0.074	3153	2304	3078	3097	3059	0	0	0	0	0	0	25.99	25.90	26.03	7.72	29.72
742	-0.80	-342.1	3152	2302	3095	3059	74.0	-10.0	92	751	0.00	2.47	0.00	0.000	516	0.000	0.084	3152	712	3077	3095	3059	0	0	0	0	0	0	26.41	25.75	26.43	7.71	29.79
767	-0.80	-342.1	3152	712	3094	3059	76.4	-10.0	94	774	0.00	2.47	0.00	0.000	1030	0.000	0.082	3142	2312	3076	3094	3059	0	0	0	0	0	0	25.95	25.79	25.99	7.71	29.68
896	-0.80	-342.1	3141	2312	3094	3058	90.4	-10.0	107	901	0.00	2.55	0.00	0.000	260	0.000	0.104	3130	3884	3076	3094	3058	0	0	0	0	0	0	26.43	25.75	26.44	7.71	29.60
970	-0.80	-342.1	3129	3884	3093	3057	98.5	-10.7	114	979	0.10	2.50	0.00	0.000	3078	0.181	0.074	3164	2306	3075	3094	3057	0	0	0	0	0	0	25.70	26.05	25.77	7.71	29.72
1098	-0.80	-342.1	3163	2306	3093	3057	110.6	-9.4	127	1099	0.00	0.00	0.00	0.000	6	0.000	0.000	3164	2306	3075	3094	3057	0	0	0	0	0	0	26.52	26.53	26.53	7.71	30.19
1338	-0.80	-342.1	3163	2306	3093	3056	135.0	-9.3	151	1339	0.00	0.00	0.00	0.000	6	0.000	0.000	3164	2306	3074	3093	3056	0	0	0	0	0	0	26.56	26.58	26.58	7.71	30.31
1578	-0.80	-342.1	3163	2306	3093	3056	158.4	-9.1	175	1583	0.00	2.58	0.00	0.000	260	0.000	0.102	3155	3883	3074	3093	3055	0	0	0	0	0	0	26.60	25.80	26.60	7.71	30.23
1623	-0.80	-342.1	3154	3883	3093	3053	162.5	-9.6	179	1631	0.00	2.47	0.00	0.000	1030	0.000	0.077	3155	2291	3073	3093	3054	0	0	0	0	0	0	26.20	26.12	26.23	7.71	30.39
1639	end dive: BOTTOM_OBSTACLE_DETECTED
state	1639	begin apogee
1643	-0.34	0.0	3154	2290	3093	3054	164.7	-9.9	181	1902	0.47	0.00	254.93	0.914	10246	0.169	0.000	3315	2288	1910	1938	1882	0	0	0	0	0	0	25.23	24.30	23.45	7.71	30.98
1904	end apogee: CONTROL_FINISHED_OK
state	1904	begin climb
1905	0.94	342.1	3314	2288	1938	1880	177.1	0.0	207	2226	1.08	2.67	309.33	0.886	10756	0.134	0.089	3694	721	730	730	730	0	0	0	0	0	0	24.49	24.00	23.12	7.62	29.48
2394	0.94	342.1	3693	721	718	722	141.2	10.4	256	2405	0.00	2.50	0.00	0.000	1030	0.000	0.084	3694	2297	720	718	722	0	0	0	0	0	0	25.56	25.43	25.60	7.51	29.48
2645	0.94	342.1	3693	2297	718	717	117.9	8.4	281	2655	0.00	2.58	0.00	0.000	260	0.000	0.107	3694	3879	717	718	717	0	0	0	0	0	0	26.26	25.71	26.27	7.50	29.91
2700	0.88	342.1	3693	3879	718	717	112.7	9.6	286	2708	0.00	2.50	0.00	0.000	1030	0.000	0.074	3705	2289	717	718	717	0	0	0	0	0	0	25.98	25.89	26.03	7.50	29.83
2948	0.88	342.1	3704	2289	718	717	87.4	10.2	311	2957	0.00	2.62	0.00	0.000	260	0.000	0.107	3704	3887	717	718	716	0	0	0	0	0	0	26.42	25.81	26.44	7.51	29.87
3011	0.80	342.1	3704	3887	718	717	80.4	11.6	317	3020	0.10	2.47	0.00	0.000	5126	0.179	0.077	3681	2300	717	718	716	0	0	0	0	0	0	25.72	26.01	25.82	7.51	30.54
3140	0.80	342.1	3680	2298	718	716	68.3	8.4	330	3150	0.00	2.60	0.00	0.000	260	0.000	0.107	3680	3882	717	718	716	0	0	0	0	0	0	26.48	25.84	26.49	7.50	30.07
3184	0.80	342.1	3680	3882	718	715	64.2	9.5	334	3193	0.00	2.50	0.00	0.000	1030	0.000	0.074	3689	2301	716	718	715	0	0	0	0	0	0	26.09	26.04	26.13	7.50	30.15
3313	0.80	342.1	3689	2300	718	715	52.6	8.4	347	3322	0.00	2.47	0.00	0.000	516	0.000	0.089	3691	718	716	718	715	0	0	0	0	0	0	26.51	25.89	26.53	7.50	29.95
3365	0.80	342.1	3690	718	717	715	48.1	7.9	352	3375	0.00	2.45	0.00	0.000	1030	0.000	0.084	3691	2306	716	717	715	0	0	0	0	0	0	26.09	25.94	26.15	7.51	29.87
3495	0.80	342.1	3690	2306	717	715	37.8	7.8	365	3505	0.00	2.55	0.00	0.000	260	0.000	0.107	3690	3876	716	717	715	0	0	0	0	0	0	26.55	25.85	26.55	7.50	30.11
3539	0.80	342.1	3690	3876	717	715	34.0	9.0	369	3547	0.00	2.50	0.00	0.000	1030	0.000	0.077	3699	2298	716	717	715	0	0	0	0	0	0	26.12	26.07	26.15	7.50	30.78
3667	0.80	342.1	3698	2298	717	715	22.9	8.5	382	3668	0.00	0.00	0.00	0.000	6	0.000	0.000	3699	2298	715	716	715	0	0	0	0	0	0	26.56	26.58	26.58	7.50	29.95
3790	0.80	342.1	3698	2298	716	715	14.0	7.1	402	3797	0.00	2.60	0.00	0.000	260	0.000	0.104	3699	3883	716	717	715	0	0	0	0	0	0	26.58	25.86	26.59	7.50	30.31
3859	0.80	342.1	3698	3884	717	714	9.1	6.9	415	3867	0.00	2.47	0.00	0.000	1030	0.000	0.077	3700	2296	715	717	714	0	0	0	0	0	0	26.22	26.13	26.26	7.50	30.27
3930	0.80	342.1	3699	2295	717	714	4.5	6.5	428	3937	0.00	2.47	0.00	0.000	516	0.000	0.089	3709	710	715	717	714	0	0	0	0	0	0	26.60	25.90	26.60	7.50	30.23
3983	end climb: SURFACE_DEPTH_REACHED
state	3983	begin surface coast
4005	end surface coast: CONTROL_FINISHED_OK
state	4005	begin surface