Glider dive log

Shilshole 14Mar17 * SG401 * Dive index * Mission links * Dive 18 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 401 HD_B 0.0168193 ROLL_DEG 60 ALTIM_TOP_PING_RANGE 20

MISSION 19 HD_C 5.8179498e-06 C_ROLL_DIVE 1900 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 18 HEADING -1 C_ROLL_CLIMB 1900 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 30 ESCAPE_HEADING 0 HEAD_ERRBAND 20 ALTIM_TOP_MIN_OBSTACLE 1

STOP_T 0 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.04555 ALTIM_PING_DEPTH 100

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

D_FLARE 2 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 19 ALTIM_FREQUENCY 11

D_TGT 150 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 28 ALTIM_PULSE 1

D_ABORT 200 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 300 ALTIM_SENSITIVITY 4

D_NO_BLEED 500 SM_CC 300 ROLL_MAXERRORS 2 XPDR_VALID 4

D_BOOST 0 N_FILEKB 4 ROLL_ADJ_GAIN 1 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_ADJ_DBAND 0.029999999 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 VBD_MIN 53 INT_PRESSURE_YINT -1.1

D_PITCH 0 COMM_SEQ 0 VBD_MAX 4044 DEEPGLIDER 2

D_SAFE 0 PROTOCOL 9 C_VBD 2082 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_DBAND 2 DEVICE1 2

SURFACE_URGENCY 0 NOCOMM_ACTION 0 VBD_CNV -0.85860002 DEVICE2 101

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_LP_IGNORE 2 DEVICE3 115

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 180 DEVICE4 134

T_DIVE 50 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0016 DEVICE5 151

T_MISSION 65 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN 225 CAPMAXSIZE 200000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_TURN_SAMPINT 6 HEAPDBG 0 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_NO_W 60 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_LOITER 0 N_GPS 50945 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_SLOITER 0 T_RSLEEP 3 DBDW 0 COMPASS_DEVICE 33

T_EPIRB 0 STROBE 0 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_BATHY -6 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 PHONE_DEVICE 49

USE_ICE 0 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 AH0_24V 150 RAFOS_DEVICE -1

D_OFFGRID 100 PITCH_MIN 220 AH0_10V 100 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3693 MINV_24V 19 SIM_W 0

RELAUNCH 1 C_PITCH 2530 MINV_10V 8 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 MAXI_24V 0.60000002 SEABIRD_T_G 0.0044078007

MAX_BUOY 175 PITCH_CNV 0.00312576 MAXI_10V 0.80000001 SEABIRD_T_H 0.00063626393

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.4955199e-05

GLIDE_SLOPE 45 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 2.9785231e-06

SPEED_FACTOR 1 PITCH_GAIN 12 PHONE_SUPPLY 2 SEABIRD_C_G -9.7071199

RHO 1.023 PITCH_TIMEOUT 50 PRESSURE_YINT -50.554909 SEABIRD_C_H 1.1284475

MASS 73414 PITCH_AD_RATE 70 PRESSURE_SLOPE 3.2755801e-05 SEABIRD_C_I -0.0014307383

MASS_COMP 0 PITCH_MAXERRORS 1 AD7714Ch0Gain 32 SEABIRD_C_J 0.00018278907

NAV_MODE 1 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SEABIRD_C_Z 2936.3699

FERRY_MAX 45 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0

KALMAN_USE 1 ROLL_MIN 200 COMPASS_USE -10236

HD_A 0.00357857 ROLL_MAX 3888 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 32 D_SAFE 0 PITCH_ADJ_DBAND 0 SM_CC 300

AH0_10V 100 D_SURF 2 PITCH_ADJ_GAIN 0 SPEED_FACTOR 1

AH0_24V 150 D_TGT 150 PITCH_AD_RATE 70 STOP_T 0

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.00312576 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_FREQUENCY 11 FERRY_MAX 45 PITCH_GAIN 12 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_MAX 3693 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 100 FG_AHR_24V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_PULSE 1 FILEMGR 0 PITCH_MIN 220 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 50 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 45 PITCH_VBD_SHIFT 0.0016 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 20 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.00357857 PITCH_W_GAIN 0 T_ABORT 1440

APOGEE_PITCH -5 HD_B 0.0168193 PRESSURE_SLOPE 3.2755801e-05 T_BOOST 0

CALL_NDIVES 1 HD_C 5.8179498e-06 PRESSURE_YINT -50.554909 T_DIVE 50

CALL_TRIES 5 HEADING -1 PROTOCOL 9 T_EPIRB 0

CALL_WAIT 60 HEAD_ERRBAND 20 P_OVSHOOT 0.039999999 T_GPS 5

CAPMAXSIZE 200000 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_LOITER 0

CAPUPLOAD 1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_MISSION 65

CF8_MAXERRORS 2 ID 401 RAFOS_DEVICE -1 T_NO_W 60

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -1.1 RAFOS_PEAK_OFFSET 1.5 T_SLOITER 0

COMPASS_DEVICE 33 KALMAN_USE 1 RELAUNCH 1 T_TURN 225

COMPASS_USE -10236 LOGGERDEVICE1 -1 RHO 1.023 T_TURN_SAMPINT 6

COURSE_BIAS 0 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0.029999999 T_WATCHDOG 10

C_PITCH 2530 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 1 UNCOM_BLEED 60

C_ROLL_CLIMB 1900 LOGGERDEVICE4 -1 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 1900 LOGGERS 0 ROLL_CNV 0.04555 USE_BATHY -6

C_VBD 2082 MASS 73414 ROLL_DEG 60 USE_ICE 0

DBDW 0 MASS_COMP 0 ROLL_MAX 3888 VBD_BLEED_AD_RATE 8

DEEPGLIDER 2 MAXI_10V 0.80000001 ROLL_MAXERRORS 2 VBD_CNV -0.85860002

DEVICE1 2 MAXI_24V 0.60000002 ROLL_MIN 200 VBD_DBAND 2

DEVICE2 101 MAX_BUOY 175 ROLL_TIMEOUT 15 VBD_LP_IGNORE 2

DEVICE3 115 MINV_10V 8 R_PORT_OVSHOOT 19 VBD_MAX 4044

DEVICE4 134 MINV_24V 19 R_STBD_OVSHOOT 28 VBD_MAXERRORS 1

DEVICE5 151 MISSION 19 SEABIRD_C_G -9.7071199 VBD_MIN 53

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1284475 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 18 NAV_MODE 1 SEABIRD_C_I -0.0014307383 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 200 NOCOMM_ACTION 0 SEABIRD_C_J 0.00018278907 VBD_TIMEOUT 180

D_BOOST 0 N_DIVES 30 SEABIRD_C_Z 2936.3699 W_ADJ_DBAND 0

D_CALL 0 N_FILEKB 4 SEABIRD_T_G 0.0044078007 XPDR_DEVICE 24

D_FINISH 0 N_GPS 50945 SEABIRD_T_H 0.00063626393 XPDR_INHIBIT 90

D_FLARE 2 N_NOCOMM 1 SEABIRD_T_I 2.4955199e-05 XPDR_VALID 4

D_NO_BLEED 500 N_NOSURFACE 0 SEABIRD_T_J 2.9785231e-06

D_OFFGRID 100 PHONE_DEVICE 49 SIM_PITCH 0

D_PITCH 0 PHONE_SUPPLY 2 SIM_W 0

Pre-dive calculations and measurements:

GPS1 150317,082731,4744.0547,-12225.1494,45,0.8,57,16.3,0.0,0.0,10,4.6 TGT_NAME NW

_CALLS 5 TGT_LATLONG 4744.000,-12224.800

_XMS_NAKs 0 TGT_RADIUS 300.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.106705,-0.140676

_SM_DEPTHo 1.85 KALMAN_X 1123.447998,29.619062,350.154053,-1969.885620,38.205719

_SM_ANGLEo -56.9 KALMAN_Y 1545.517456,138.020218,789.637024,-1978.381714,201.067093

GPS2 150317,083943,4744.1177,-12225.0879,4,0.8,16,16.3,0.0,0.0,10,4.6 MHEAD_RNG_PITCHd_Wd 126.5,420,-25.6,-10.000,-29.53,1673

SPEED_LIMITS 0.100,0.221 D_GRID 187

Post-dive calculations and measurements:

FINISH 0.8,1.021380 _24V_AH 23.65,5.141

SM_CCo 2183,6.57,0.488,0,0,1729,300.51 _10V_AH 9.35,6.137

SM_GC 4.02,31.60,3.25,6.57,0.034,0.032,0.488,242,1917,1729,-7.14,-1.69,300.51,0,0,0,0,0,0,26.45,26.51,25.43 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4748.51,-12337.82,150317,082828 FG_AHR_10Vo 0.000

TT8_MAMPS 0.05243,0.255409 MEM 322236

HUMID 35.86 DATA_FILE_SIZE 17785,193

INTERNAL_PRESSURE 10.1309 CAP_FILE_SIZE 49267,8

TCM_TEMP 7.30 CFSIZE 1024409600,1018216448

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

ALTIM_TOP_PING 18.6,4.6 GPS 150317,091823,4743.856,-12224.901,18,0.9,69,16.3,0.9,302.2,11,4.9

ALTIM_BOTTOM_PING 102.1,2.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 67 128 204.79 SBE_CT 130 24 73.98

Roll_motor 41 79 77.38 AA4330 247 33 193.37

VBD_pump_during_apogee 27 1848 1190.03 WL_blue_red_Chl 414 105 1030.25

VBD_pump_during_surface 6 488 75.89 SAT1000 1019 17 428.98

VBD_valve 0 0 0.00 SAT1001 1787 17 752.45

Iridium_during_init 122 103 298.18 nil 0 0 0.00

Iridium_during_connect 139 160 528.55 nil 0 0 0.00

Iridium_during_xfer 145 223 767.92 nil 0 0 0.00

Transponder_ping 1 420 12.42 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 50 8.23

TT8 0 0 0.00

LPSleep 240 2 4.92

TT8_Active 262 19 48.54

TT8_Sampling 2319 39 863.23

TT8_CF8 103 45 44.50

TT8_Kalman 33 81 25.74

Analog_circuits 678 12 76.16

GPS_charging 0 0 0.00

Compass 1824 15 255.85

RAFOS 0 0 0.00

Transponder 7 30 2.00

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

13 -2.31 -109.5 243 1876 1729 4095 0.0 0.0 0 31 0.00 0.00 -3.47 0.000 16390 0.000 0.000 243 1875 2214 2214 4094 0 0 0 0 0 0 26.39 24.65 26.39 10.23 36.41

32 -2.31 -109.5 243 1876 2215 4095 1.9 0.0 1 61 19.52 3.65 0.00 0.000 2308 0.129 0.063 1778 3192 2216 2216 4094 0 0 0 0 0 0 25.60 25.64 25.70 10.34 36.61

179 -2.31 -109.5 1778 3193 2223 4094 36.2 -19.4 15 197 0.00 3.33 0.00 0.000 1030 0.000 0.031 1778 1901 2223 2223 4094 0 0 0 0 0 0 26.01 25.97 26.05 10.34 36.76

249 -2.31 -109.5 1778 1902 2226 4094 49.5 -19.0 21 266 0.00 0.00 0.00 0.000 6 0.000 0.000 1778 1901 2226 2226 4094 0 0 0 0 0 0 26.36 26.39 26.38 10.35 35.94

317 -2.31 -109.5 1778 1902 2229 4094 63.1 -20.0 27 330 0.00 0.00 0.00 0.000 6 0.000 0.000 1778 1901 2228 2228 4094 0 0 0 0 0 0 26.43 26.44 26.44 10.35 36.13

381 -2.31 -109.5 1778 1901 2231 4095 75.3 -18.9 33 398 0.00 0.00 0.00 0.000 6 0.000 0.000 1778 1901 2231 2231 4094 0 0 0 0 0 0 26.47 26.48 26.48 10.35 35.62

449 -2.31 -109.5 1778 1901 2234 4095 88.1 -17.9 39 463 0.00 0.00 0.00 0.000 6 0.000 0.000 1778 1902 2233 2233 4094 0 0 0 0 0 0 26.52 26.53 26.53 10.35 35.78

514 -2.31 -109.5 1778 1902 2236 4094 100.0 -18.4 45 533 0.00 0.00 0.00 0.000 6 0.000 0.000 1778 1901 2236 2236 4094 0 0 0 0 0 0 26.55 26.57 26.56 10.36 35.66

583 -2.31 -109.5 1778 1901 2239 4095 113.7 -20.6 51 598 0.00 3.55 0.00 0.000 516 0.000 0.073 1778 589 2240 2240 4094 0 0 0 0 0 0 26.59 26.09 26.60 10.35 35.23

659 -2.31 -109.5 1778 591 2244 4095 130.8 -22.9 58 677 0.00 3.33 0.00 0.000 1030 0.000 0.034 1778 1915 2243 2243 4094 0 0 0 0 0 0 26.32 26.27 26.36 10.36 35.31

728 -2.31 -109.5 1778 1915 2247 4095 144.8 -19.4 64 741 0.00 0.00 0.00 0.000 6 0.000 0.000 1778 1915 2246 2246 4094 0 0 0 0 0 0 26.64 26.65 26.65 10.36 35.27

762 end dive: TARGET_DEPTH_EXCEEDED

state 762 begin apogee

765 -0.42 0.0 1778 1916 2248 4094 151.4 -19.0 67 794 6.93 0.00 10.27 1.848 10244 0.086 0.000 2384 1916 2080 2080 4094 0 0 0 0 0 0 26.22 25.09 23.88 10.36 35.58

794 end apogee: CONTROL_FINISHED_OK

state 794 begin climb

795 2.31 109.5 2385 1916 2081 4095 155.4 0.0 69 823 9.10 0.00 8.30 1.743 11270 0.037 0.000 3250 1916 1953 1953 4094 0 0 0 0 0 0 25.98 26.18 23.65 10.33 35.27

874 2.37 145.0 3250 1916 1952 4095 150.8 7.8 76 889 0.10 0.00 3.95 1.096 10246 0.080 0.000 3265 1916 1913 1913 4094 0 0 0 0 0 0 25.90 24.94 23.77 10.30 35.62

940 2.42 176.4 3266 1916 1912 4095 145.8 8.1 82 955 0.12 0.00 3.72 1.017 10246 0.071 0.000 3283 1917 1877 1877 4094 0 0 0 0 0 0 25.94 25.01 23.87 10.29 34.95

1005 2.42 176.4 3283 1918 1877 4094 139.3 10.6 88 1019 0.00 3.67 0.00 0.000 516 0.000 0.077 3283 595 1875 1875 4094 0 0 0 0 0 0 26.20 25.75 26.22 10.29 35.07

1050 2.42 176.4 3283 597 1876 4094 133.7 12.2 92 1065 0.00 3.28 0.00 0.000 1030 0.000 0.031 3283 1901 1874 1874 4094 0 0 0 0 0 0 26.01 25.98 26.04 10.28 35.86

1115 2.42 176.4 3283 1901 1873 4095 126.4 10.7 98 1133 0.00 0.00 0.00 0.000 6 0.000 0.000 3284 1901 1872 1872 4094 0 0 0 0 0 0 26.34 26.35 26.35 10.28 35.90

1183 2.42 176.4 3283 1901 1873 4095 119.2 10.5 104 1200 0.00 0.00 0.00 0.000 6 0.000 0.000 3283 1902 1871 1871 4094 0 0 0 0 0 0 26.40 26.41 26.41 10.28 34.99

1251 2.43 184.8 3283 1902 1871 4094 112.8 9.5 110 1265 0.00 0.00 0.98 0.003 8198 0.000 0.000 3283 1901 1870 1870 4094 0 0 0 0 0 0 26.45 26.47 26.44 10.28 35.35

1316 2.43 184.8 3284 1901 1869 4095 106.1 10.5 116 1333 0.00 0.00 0.00 0.000 6 0.000 0.000 3283 1901 1868 1868 4094 0 0 0 0 0 0 26.49 26.51 26.51 10.28 35.35

1384 2.43 184.8 3283 1902 1868 4094 98.4 11.4 122 1399 0.00 3.60 0.00 0.000 516 0.000 0.077 3283 593 1866 1866 4094 0 0 0 0 0 0 26.53 26.03 26.55 10.27 35.27

1546 2.43 184.8 3283 594 1863 4094 76.5 14.0 138 1560 0.00 3.20 0.00 0.000 1030 0.000 0.031 3283 1893 1861 1861 4094 0 0 0 0 0 0 26.36 26.33 26.38 10.27 35.58

1610 2.43 184.8 3283 1893 1861 4095 68.4 12.3 144 1624 0.00 0.00 0.00 0.000 6 0.000 0.000 3283 1893 1860 1860 4094 0 0 0 0 0 0 26.64 26.65 26.65 10.27 35.98

1674 2.43 184.8 3284 1893 1858 4095 60.1 12.7 150 1688 0.00 0.00 0.00 0.000 6 0.000 0.000 3283 1892 1857 1857 4094 0 0 0 0 0 0 26.65 26.67 26.67 10.27 35.66

1738 2.43 184.8 3283 1894 1857 4094 51.9 13.0 156 1756 0.00 0.00 0.00 0.000 6 0.000 0.000 3284 1893 1855 1855 4094 0 0 0 0 0 0 26.67 26.70 26.69 10.27 35.62

1806 2.43 184.8 3283 1894 1854 4095 43.1 12.7 162 1820 0.00 0.00 0.00 0.000 6 0.000 0.000 3283 1893 1853 1853 4094 0 0 0 0 0 0 26.70 26.72 26.71 10.27 36.21

1870 2.43 184.8 3283 1894 1852 4094 35.0 13.0 168 1884 0.00 0.00 0.00 0.000 6 0.000 0.000 3283 1893 1851 1851 4094 0 0 0 0 0 0 26.72 26.73 26.73 10.27 35.70

1935 2.43 184.8 3283 1894 1851 4094 26.5 12.8 174 1949 0.00 3.45 0.00 0.000 260 0.000 0.060 3283 3189 1849 1849 4094 0 0 0 0 0 0 26.73 26.26 26.74 10.27 36.06

2003 2.43 184.8 3283 3190 1849 4094 17.0 14.9 180 2017 0.00 3.25 0.00 0.000 1030 0.000 0.033 3283 1909 1848 1848 4094 0 0 0 0 0 0 26.44 26.38 26.46 10.26 35.43

2068 2.43 184.8 3284 1909 1846 4095 7.7 13.1 186 2082 0.00 3.58 0.00 0.000 516 0.000 0.080 3283 594 1845 1845 4095 0 0 0 0 0 0 26.76 26.23 26.77 10.27 35.62

2132 end climb: SURFACE_DEPTH_REACHED

state 2132 begin surface coast

2142 end surface coast: CONTROL_FINISHED_OK

state 2142 begin surface

ID	401	HD_B	0.0168193	ROLL_DEG	60	ALTIM_TOP_PING_RANGE	20
MISSION	19	HD_C	5.8179498e-06	C_ROLL_DIVE	1900	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	18	HEADING	-1	C_ROLL_CLIMB	1900	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	30	ESCAPE_HEADING	0	HEAD_ERRBAND	20	ALTIM_TOP_MIN_OBSTACLE	1
STOP_T	0	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.04555	ALTIM_PING_DEPTH	100
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5
D_FLARE	2	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	19	ALTIM_FREQUENCY	11
D_TGT	150	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	28	ALTIM_PULSE	1
D_ABORT	200	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	300	ALTIM_SENSITIVITY	4
D_NO_BLEED	500	SM_CC	300	ROLL_MAXERRORS	2	XPDR_VALID	4
D_BOOST	0	N_FILEKB	4	ROLL_ADJ_GAIN	1	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_ADJ_DBAND	0.029999999	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	VBD_MIN	53	INT_PRESSURE_YINT	-1.1
D_PITCH	0	COMM_SEQ	0	VBD_MAX	4044	DEEPGLIDER	2
D_SAFE	0	PROTOCOL	9	C_VBD	2082	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_DBAND	2	DEVICE1	2
SURFACE_URGENCY	0	NOCOMM_ACTION	0	VBD_CNV	-0.85860002	DEVICE2	101
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_LP_IGNORE	2	DEVICE3	115
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	180	DEVICE4	134
T_DIVE	50	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0016	DEVICE5	151
T_MISSION	65	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN	225	CAPMAXSIZE	200000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_TURN_SAMPINT	6	HEAPDBG	0	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_NO_W	60	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_LOITER	0	N_GPS	50945	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_SLOITER	0	T_RSLEEP	3	DBDW	0	COMPASS_DEVICE	33
T_EPIRB	0	STROBE	0	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_BATHY	-6	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	PHONE_DEVICE	49
USE_ICE	0	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	AH0_24V	150	RAFOS_DEVICE	-1
D_OFFGRID	100	PITCH_MIN	220	AH0_10V	100	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3693	MINV_24V	19	SIM_W	0
RELAUNCH	1	C_PITCH	2530	MINV_10V	8	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	MAXI_24V	0.60000002	SEABIRD_T_G	0.0044078007
MAX_BUOY	175	PITCH_CNV	0.00312576	MAXI_10V	0.80000001	SEABIRD_T_H	0.00063626393
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.4955199e-05
GLIDE_SLOPE	45	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	2.9785231e-06
SPEED_FACTOR	1	PITCH_GAIN	12	PHONE_SUPPLY	2	SEABIRD_C_G	-9.7071199
RHO	1.023	PITCH_TIMEOUT	50	PRESSURE_YINT	-50.554909	SEABIRD_C_H	1.1284475
MASS	73414	PITCH_AD_RATE	70	PRESSURE_SLOPE	3.2755801e-05	SEABIRD_C_I	-0.0014307383
MASS_COMP	0	PITCH_MAXERRORS	1	AD7714Ch0Gain	32	SEABIRD_C_J	0.00018278907
NAV_MODE	1	PITCH_ADJ_GAIN	0	TCM_PITCH_OFFSET	0	SEABIRD_C_Z	2936.3699
FERRY_MAX	45	PITCH_ADJ_DBAND	0	TCM_ROLL_OFFSET	0
KALMAN_USE	1	ROLL_MIN	200	COMPASS_USE	-10236
HD_A	0.00357857	ROLL_MAX	3888	ALTIM_BOTTOM_PING_RANGE	0

GPS1	150317,082731,4744.0547,-12225.1494,45,0.8,57,16.3,0.0,0.0,10,4.6	TGT_NAME	NW
_CALLS	5	TGT_LATLONG	4744.000,-12224.800
_XMS_NAKs	0	TGT_RADIUS	300.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.106705,-0.140676
_SM_DEPTHo	1.85	KALMAN_X	1123.447998,29.619062,350.154053,-1969.885620,38.205719
_SM_ANGLEo	-56.9	KALMAN_Y	1545.517456,138.020218,789.637024,-1978.381714,201.067093
GPS2	150317,083943,4744.1177,-12225.0879,4,0.8,16,16.3,0.0,0.0,10,4.6	MHEAD_RNG_PITCHd_Wd	126.5,420,-25.6,-10.000,-29.53,1673
SPEED_LIMITS	0.100,0.221	D_GRID	187

FINISH	0.8,1.021380	_24V_AH	23.65,5.141
SM_CCo	2183,6.57,0.488,0,0,1729,300.51	_10V_AH	9.35,6.137
SM_GC	4.02,31.60,3.25,6.57,0.034,0.032,0.488,242,1917,1729,-7.14,-1.69,300.51,0,0,0,0,0,0,26.45,26.51,25.43	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4748.51,-12337.82,150317,082828	FG_AHR_10Vo	0.000
TT8_MAMPS	0.05243,0.255409	MEM	322236
HUMID	35.86	DATA_FILE_SIZE	17785,193
INTERNAL_PRESSURE	10.1309	CAP_FILE_SIZE	49267,8
TCM_TEMP	7.30	CFSIZE	1024409600,1018216448
XPDR_PINGS	2	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_TOP_PING	18.6,4.6	GPS	150317,091823,4743.856,-12224.901,18,0.9,69,16.3,0.9,302.2,11,4.9
ALTIM_BOTTOM_PING	102.1,2.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	67	128	204.79	SBE_CT	130	24	73.98
Roll_motor	41	79	77.38	AA4330	247	33	193.37
VBD_pump_during_apogee	27	1848	1190.03	WL_blue_red_Chl	414	105	1030.25
VBD_pump_during_surface	6	488	75.89	SAT1000	1019	17	428.98
VBD_valve	0	0	0.00	SAT1001	1787	17	752.45
Iridium_during_init	122	103	298.18	nil	0	0	0.00
Iridium_during_connect	139	160	528.55	nil	0	0	0.00
Iridium_during_xfer	145	223	767.92	nil	0	0	0.00
Transponder_ping	1	420	12.42	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	50	8.23
TT8	0	0	0.00
LPSleep	240	2	4.92
TT8_Active	262	19	48.54
TT8_Sampling	2319	39	863.23
TT8_CF8	103	45	44.50
TT8_Kalman	33	81	25.74
Analog_circuits	678	12	76.16
GPS_charging	0	0	0.00
Compass	1824	15	255.85
RAFOS	0	0	0.00
Transponder	7	30	2.00

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
13	-2.31	-109.5	243	1876	1729	4095	0.0	0.0	0	31	0.00	0.00	-3.47	0.000	16390	0.000	0.000	243	1875	2214	2214	4094	0	0	0	0	0	0	26.39	24.65	26.39	10.23	36.41
32	-2.31	-109.5	243	1876	2215	4095	1.9	0.0	1	61	19.52	3.65	0.00	0.000	2308	0.129	0.063	1778	3192	2216	2216	4094	0	0	0	0	0	0	25.60	25.64	25.70	10.34	36.61
179	-2.31	-109.5	1778	3193	2223	4094	36.2	-19.4	15	197	0.00	3.33	0.00	0.000	1030	0.000	0.031	1778	1901	2223	2223	4094	0	0	0	0	0	0	26.01	25.97	26.05	10.34	36.76
249	-2.31	-109.5	1778	1902	2226	4094	49.5	-19.0	21	266	0.00	0.00	0.00	0.000	6	0.000	0.000	1778	1901	2226	2226	4094	0	0	0	0	0	0	26.36	26.39	26.38	10.35	35.94
317	-2.31	-109.5	1778	1902	2229	4094	63.1	-20.0	27	330	0.00	0.00	0.00	0.000	6	0.000	0.000	1778	1901	2228	2228	4094	0	0	0	0	0	0	26.43	26.44	26.44	10.35	36.13
381	-2.31	-109.5	1778	1901	2231	4095	75.3	-18.9	33	398	0.00	0.00	0.00	0.000	6	0.000	0.000	1778	1901	2231	2231	4094	0	0	0	0	0	0	26.47	26.48	26.48	10.35	35.62
449	-2.31	-109.5	1778	1901	2234	4095	88.1	-17.9	39	463	0.00	0.00	0.00	0.000	6	0.000	0.000	1778	1902	2233	2233	4094	0	0	0	0	0	0	26.52	26.53	26.53	10.35	35.78
514	-2.31	-109.5	1778	1902	2236	4094	100.0	-18.4	45	533	0.00	0.00	0.00	0.000	6	0.000	0.000	1778	1901	2236	2236	4094	0	0	0	0	0	0	26.55	26.57	26.56	10.36	35.66
583	-2.31	-109.5	1778	1901	2239	4095	113.7	-20.6	51	598	0.00	3.55	0.00	0.000	516	0.000	0.073	1778	589	2240	2240	4094	0	0	0	0	0	0	26.59	26.09	26.60	10.35	35.23
659	-2.31	-109.5	1778	591	2244	4095	130.8	-22.9	58	677	0.00	3.33	0.00	0.000	1030	0.000	0.034	1778	1915	2243	2243	4094	0	0	0	0	0	0	26.32	26.27	26.36	10.36	35.31
728	-2.31	-109.5	1778	1915	2247	4095	144.8	-19.4	64	741	0.00	0.00	0.00	0.000	6	0.000	0.000	1778	1915	2246	2246	4094	0	0	0	0	0	0	26.64	26.65	26.65	10.36	35.27
762	end dive: TARGET_DEPTH_EXCEEDED
state	762	begin apogee
765	-0.42	0.0	1778	1916	2248	4094	151.4	-19.0	67	794	6.93	0.00	10.27	1.848	10244	0.086	0.000	2384	1916	2080	2080	4094	0	0	0	0	0	0	26.22	25.09	23.88	10.36	35.58
794	end apogee: CONTROL_FINISHED_OK
state	794	begin climb
795	2.31	109.5	2385	1916	2081	4095	155.4	0.0	69	823	9.10	0.00	8.30	1.743	11270	0.037	0.000	3250	1916	1953	1953	4094	0	0	0	0	0	0	25.98	26.18	23.65	10.33	35.27
874	2.37	145.0	3250	1916	1952	4095	150.8	7.8	76	889	0.10	0.00	3.95	1.096	10246	0.080	0.000	3265	1916	1913	1913	4094	0	0	0	0	0	0	25.90	24.94	23.77	10.30	35.62
940	2.42	176.4	3266	1916	1912	4095	145.8	8.1	82	955	0.12	0.00	3.72	1.017	10246	0.071	0.000	3283	1917	1877	1877	4094	0	0	0	0	0	0	25.94	25.01	23.87	10.29	34.95
1005	2.42	176.4	3283	1918	1877	4094	139.3	10.6	88	1019	0.00	3.67	0.00	0.000	516	0.000	0.077	3283	595	1875	1875	4094	0	0	0	0	0	0	26.20	25.75	26.22	10.29	35.07
1050	2.42	176.4	3283	597	1876	4094	133.7	12.2	92	1065	0.00	3.28	0.00	0.000	1030	0.000	0.031	3283	1901	1874	1874	4094	0	0	0	0	0	0	26.01	25.98	26.04	10.28	35.86
1115	2.42	176.4	3283	1901	1873	4095	126.4	10.7	98	1133	0.00	0.00	0.00	0.000	6	0.000	0.000	3284	1901	1872	1872	4094	0	0	0	0	0	0	26.34	26.35	26.35	10.28	35.90
1183	2.42	176.4	3283	1901	1873	4095	119.2	10.5	104	1200	0.00	0.00	0.00	0.000	6	0.000	0.000	3283	1902	1871	1871	4094	0	0	0	0	0	0	26.40	26.41	26.41	10.28	34.99
1251	2.43	184.8	3283	1902	1871	4094	112.8	9.5	110	1265	0.00	0.00	0.98	0.003	8198	0.000	0.000	3283	1901	1870	1870	4094	0	0	0	0	0	0	26.45	26.47	26.44	10.28	35.35
1316	2.43	184.8	3284	1901	1869	4095	106.1	10.5	116	1333	0.00	0.00	0.00	0.000	6	0.000	0.000	3283	1901	1868	1868	4094	0	0	0	0	0	0	26.49	26.51	26.51	10.28	35.35
1384	2.43	184.8	3283	1902	1868	4094	98.4	11.4	122	1399	0.00	3.60	0.00	0.000	516	0.000	0.077	3283	593	1866	1866	4094	0	0	0	0	0	0	26.53	26.03	26.55	10.27	35.27
1546	2.43	184.8	3283	594	1863	4094	76.5	14.0	138	1560	0.00	3.20	0.00	0.000	1030	0.000	0.031	3283	1893	1861	1861	4094	0	0	0	0	0	0	26.36	26.33	26.38	10.27	35.58
1610	2.43	184.8	3283	1893	1861	4095	68.4	12.3	144	1624	0.00	0.00	0.00	0.000	6	0.000	0.000	3283	1893	1860	1860	4094	0	0	0	0	0	0	26.64	26.65	26.65	10.27	35.98
1674	2.43	184.8	3284	1893	1858	4095	60.1	12.7	150	1688	0.00	0.00	0.00	0.000	6	0.000	0.000	3283	1892	1857	1857	4094	0	0	0	0	0	0	26.65	26.67	26.67	10.27	35.66
1738	2.43	184.8	3283	1894	1857	4094	51.9	13.0	156	1756	0.00	0.00	0.00	0.000	6	0.000	0.000	3284	1893	1855	1855	4094	0	0	0	0	0	0	26.67	26.70	26.69	10.27	35.62
1806	2.43	184.8	3283	1894	1854	4095	43.1	12.7	162	1820	0.00	0.00	0.00	0.000	6	0.000	0.000	3283	1893	1853	1853	4094	0	0	0	0	0	0	26.70	26.72	26.71	10.27	36.21
1870	2.43	184.8	3283	1894	1852	4094	35.0	13.0	168	1884	0.00	0.00	0.00	0.000	6	0.000	0.000	3283	1893	1851	1851	4094	0	0	0	0	0	0	26.72	26.73	26.73	10.27	35.70
1935	2.43	184.8	3283	1894	1851	4094	26.5	12.8	174	1949	0.00	3.45	0.00	0.000	260	0.000	0.060	3283	3189	1849	1849	4094	0	0	0	0	0	0	26.73	26.26	26.74	10.27	36.06
2003	2.43	184.8	3283	3190	1849	4094	17.0	14.9	180	2017	0.00	3.25	0.00	0.000	1030	0.000	0.033	3283	1909	1848	1848	4094	0	0	0	0	0	0	26.44	26.38	26.46	10.26	35.43
2068	2.43	184.8	3284	1909	1846	4095	7.7	13.1	186	2082	0.00	3.58	0.00	0.000	516	0.000	0.080	3283	594	1845	1845	4095	0	0	0	0	0	0	26.76	26.23	26.77	10.27	35.62
2132	end climb: SURFACE_DEPTH_REACHED
state	2132	begin surface coast
2142	end surface coast: CONTROL_FINISHED_OK
state	2142	begin surface