Glider dive log

Shilshole 18Dec13 * SG130 * Dive index * Mission links * Dive 19 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 130 HD_C 1.6100001e-05 ROLL_MAX 3700 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 19 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 19 ESCAPE_HEADING 0 C_ROLL_DIVE 1800 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1750 ALTIM_PING_DEPTH 100

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 2

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT -10 ALTIM_SENSITIVITY 5

D_NO_BLEED 500 SM_CC 220 R_STBD_OVSHOOT -10 XPDR_VALID 2

D_BOOST 4 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 2050 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 20

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 131

T_DIVE 75 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 80 CALL_WAIT 60 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 0 T_GPS_CHARGE -118573.79 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 20 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 650 MINV_24V 19 SIM_W 0

MAX_BUOY 90 PITCH_MAX 3725 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2993 FG_AHR_10V 0 SEABIRD_T_G 0.004404821

GLIDE_SLOPE 35 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00064488029

SPEED_FACTOR 1 PITCH_CNV 0.0046000001 PHONE_SUPPLY 2 SEABIRD_T_I 2.8507879e-05

RHO 1.023 P_OVSHOOT 0.039999999 PRESSURE_YINT -9.3370571 SEABIRD_T_J 3.3644449e-06

MASS 51967 PITCH_GAIN 14 PRESSURE_SLOPE 0.0001159091 SEABIRD_C_G -9.8029137

MASS_COMP 0 PITCH_TIMEOUT 16 AD7714Ch0Gain 128 SEABIRD_C_H 1.1050078

NAV_MODE 0 PITCH_AD_RATE 175 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0015785076

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00020331096

KALMAN_USE 2 PITCH_ADJ_GAIN 0 COMPASS_USE 0

HD_A 0.0028580001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0089408001 ROLL_MIN 240 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 220

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 175 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 14 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 100 FERRY_MAX 45 PITCH_MAX 3725 TCM_ROLL_OFFSET 0

ALTIM_PULSE 2 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 5 FG_AHR_24V 0 PITCH_MIN 650 TGT_DEFAULT_LAT 44.380001

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 16 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 0.0028580001 PRESSURE_SLOPE 0.0001159091 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0089408001 PRESSURE_YINT -9.3370571 T_GPS 15

CALL_WAIT 60 HD_C 1.6100001e-05 PROTOCOL 0 T_GPS_ALMANAC 0

CAPMAXSIZE 200000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -118573.79

CAPUPLOAD 1 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 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 130 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 500

COMPASS_USE 0 INT_PRESSURE_YINT 0.89999998 RHO 1.023 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2993 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_ROLL_CLIMB 1750 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 1800 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 2050 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3700 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 51967 ROLL_MAXERRORS 2 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 240 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 90 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 20 MINV_10V 8 R_PORT_OVSHOOT -10 VBD_MAXERRORS 1

DEVICE3 131 MINV_24V 19 R_STBD_OVSHOOT -10 VBD_MIN 500

DEVICE4 -1 MISSION 19 SEABIRD_C_G -9.8029137 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1050078 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 0 SEABIRD_C_I -0.0015785076 VBD_TIMEOUT 720

DIVE 19 NOCOMM_ACTION 0 SEABIRD_C_J 0.00020331096 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.004404821 XPDR_DEVICE 24

D_BOOST 4 N_FILEKB 4 SEABIRD_T_H 0.00064488029 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.8507879e-05 XPDR_VALID 2

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 3.3644449e-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 191213,122335,4742.550,-12225.621,14,1.2,24,18.2 TGT_NAME NW

_CALLS 1 TGT_LATLONG 4743.900,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.38 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 191213,123218,4742.447,-12225.670,10,1.2,15,18.2 MHEAD_RNG_PITCHd_Wd 3.7,2901,-18.1,-8.000,-21.82,1655

SPEED_LIMITS 0.114,0.200 D_GRID 180

Post-dive calculations and measurements:

FINISH 0.5,1.006103 _24V_AH 23.8,1.208

SM_CCo 3835,55.22,0.268,1,0,1153,220.03 _10V_AH 10.4,1.047

SM_GC 1.31,11.68,2.60,55.22,0.036,0.040,0.268,647,1837,1153,-10.74,-0.25,220.03,1,0,0,0,1,0,24.69,24.70,24.00 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4729.30,-12245.46,191213,111114 FG_AHR_10Vo 0.000

TT8_MAMPS 0.024717,0.024717 MEM 353888

HUMID 32.98 DATA_FILE_SIZE 33417,718

INTERNAL_PRESSURE 8.96672 CAP_FILE_SIZE 79355,0

TCM_TEMP 19.40 CFSIZE 260165632,257773568

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,1,0,0

ALTIM_BOTTOM_PING 180.1,27.5 GPS 191213,133845,4742.446,-12225.795,11,2.7,31,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 162 102.38 SBE_CT 511 24 301.07

Roll_motor 55 168 222.81 SBE_O2 336 5 47.98

VBD_pump_during_apogee 167 488 1948.89 WL_BBFL2 547 68 897.58

VBD_pump_during_surface 55 267 351.92 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 57 37.19 nil 0 0 0.00

Iridium_during_connect 42 160 163.18 nil 0 0 0.00

Iridium_during_xfer 327 223 1735.89 nil 0 0 0.00

Transponder_ping 4 420 44.98 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 29 5.35

TT8 1612 11 188.12

LPSleep 818 2 18.63

TT8_Active 356 11 41.60

TT8_Sampling 1458 36 556.54

TT8_CF8 176 42 78.45

TT8_Kalman 0 0 0.00

Analog_circuits 928 15 144.81

GPS_charging 0 0 0.00

Compass 1034 15 169.17

RAFOS 0 0 0.00

Transponder 32 30 10.07

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

16 -1.40 -88.0 647 1782 1204 1088 0.0 0.0 0 46 0.00 0.00 -27.95 0.000 16386 0.000 0.000 647 1783 2006 2044 1969 0 0 0 0 0 0 28.83 28.83 28.83

49 -1.40 -88.0 647 1783 2045 1969 2.3 -4.0 5 79 11.73 2.55 -10.98 0.000 18948 0.163 0.078 2679 384 2408 2464 2353 0 0 0 0 0 0 24.35 24.45 24.82

193 -1.40 -88.0 2679 384 2464 2353 16.0 -11.3 32 200 0.00 2.45 0.00 0.000 1030 0.000 0.039 2679 1830 2408 2464 2353 0 0 0 0 0 0 28.83 24.60 28.83

263 -1.40 -88.0 2679 1830 2464 2353 23.0 -9.0 45 268 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 1830 2408 2464 2353 0 0 0 0 0 0 28.83 28.83 28.83

331 -1.40 -88.0 2679 1830 2464 2353 29.7 -10.2 58 337 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 1830 2408 2464 2353 0 0 0 0 0 0 28.83 28.83 28.83

401 -1.40 -88.0 2679 1830 2464 2353 36.5 -10.3 71 407 0.00 2.62 0.00 0.000 516 0.000 0.067 2679 378 2408 2464 2353 0 0 0 0 0 0 28.83 24.54 28.83

500 -1.40 -88.0 2679 378 2464 2353 48.3 -12.9 90 507 0.00 2.45 0.00 0.000 1030 0.000 0.037 2679 1833 2408 2464 2353 0 0 0 0 0 0 28.83 24.65 28.83

570 -1.40 -88.0 2679 1833 2464 2353 56.5 -11.8 103 575 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 1833 2408 2464 2353 0 0 0 0 0 0 28.83 28.83 28.83

698 -1.40 -88.0 2679 1833 2464 2353 72.8 -12.3 128 704 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 1833 2408 2463 2353 0 0 0 0 0 0 28.83 28.83 28.83

827 -1.40 -88.0 2679 1833 2464 2353 88.8 -11.9 153 833 0.00 2.62 0.00 0.000 516 0.000 0.067 2679 380 2408 2464 2353 0 0 0 0 0 0 28.83 24.59 28.83

989 -1.40 -88.0 2679 379 2464 2353 108.4 -11.2 184 996 0.00 2.45 0.00 0.000 1030 0.000 0.038 2679 1832 2408 2464 2353 0 0 0 0 0 0 28.83 24.70 28.83

1119 -1.40 -88.0 2679 1833 2464 2353 121.4 -10.4 209 1124 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 1833 2408 2464 2353 0 0 0 0 0 0 28.83 28.83 28.83

1251 -1.40 -88.0 2679 1833 2464 2353 133.8 -9.2 234 1256 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 1833 2408 2464 2353 0 0 0 0 0 0 28.83 28.83 28.83

1382 -1.40 -88.0 2679 1833 2464 2353 146.5 -9.8 259 1388 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 1833 2408 2464 2353 0 0 0 0 0 0 28.83 28.83 28.83

1513 -1.40 -88.0 2679 1833 2464 2353 162.1 -12.1 284 1519 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 1833 2408 2464 2353 0 0 0 0 0 0 28.83 28.83 28.83

1643 -1.40 -88.0 2679 1833 2464 2353 178.0 -13.0 309 1650 0.00 2.62 0.00 0.000 516 0.000 0.068 2679 378 2408 2464 2353 0 0 0 0 0 0 28.83 24.65 28.83

1658 end dive: TARGET_DEPTH_EXCEEDED

state 1658 begin apogee

1666 -0.36 0.0 2679 1779 2464 2353 180.1 -12.7 311 1739 1.15 0.08 67.30 0.488 10246 0.111 0.131 2906 1736 2050 2127 1973 0 0 0 0 0 0 24.60 24.18 23.84

1740 end apogee: CONTROL_FINISHED_OK

state 1740 begin climb

1742 1.40 88.0 2905 1736 2127 1973 185.1 0.0 324 1818 1.85 0.00 68.10 0.480 10502 0.080 0.000 3296 1736 1690 1773 1607 0 0 0 0 0 0 24.27 28.83 23.82

1942 1.40 88.0 3296 1736 1773 1603 172.6 8.3 362 1948 0.00 2.55 0.00 0.000 516 0.000 0.069 3296 337 1688 1773 1603 0 0 0 0 0 0 28.83 24.43 28.83

1991 1.40 88.0 3296 337 1773 1603 168.3 8.9 371 1998 0.00 2.45 0.00 0.000 1030 0.000 0.038 3296 1779 1687 1773 1602 0 0 0 0 0 0 28.83 24.55 28.83

2122 1.40 88.0 3296 1779 1773 1602 157.8 8.4 396 2128 0.00 0.00 0.00 0.000 6 0.000 0.000 3296 1779 1687 1773 1602 0 0 0 0 0 0 28.83 28.83 28.83

2251 1.43 114.0 3296 1779 1773 1601 148.2 6.4 421 2274 0.00 0.00 20.75 0.438 8198 0.000 0.000 3296 1779 1585 1672 1498 0 0 0 0 0 0 28.83 28.83 23.95

2400 1.43 114.0 3296 1779 1672 1497 133.5 10.8 449 2406 0.00 0.00 0.00 0.000 6 0.000 0.000 3296 1779 1584 1672 1497 0 0 0 0 0 0 28.83 28.83 28.83

2529 1.43 114.0 3296 1779 1672 1496 120.9 8.7 474 2535 0.00 2.62 0.00 0.000 516 0.000 0.070 3296 337 1584 1672 1496 0 0 0 0 0 0 28.83 24.51 28.83

2598 1.43 114.0 3295 337 1672 1496 114.8 9.2 487 2605 0.00 2.45 0.00 0.000 1030 0.000 0.038 3296 1782 1584 1672 1496 0 0 0 0 0 0 28.83 24.63 28.83

2730 1.45 127.5 3296 1781 1672 1495 105.9 7.2 512 2747 0.00 0.00 11.62 0.396 8198 0.000 0.000 3296 1782 1530 1621 1439 0 0 0 0 0 0 28.83 28.83 24.09

2873 1.45 127.5 3296 1782 1620 1439 95.2 8.2 539 2880 0.00 2.62 0.00 0.000 516 0.000 0.069 3296 337 1529 1620 1439 0 0 0 0 0 0 28.83 24.53 28.83

2952 1.45 127.5 2304 338 1579 1434 86.7 10.8 554 2958 0.00 2.45 0.00 0.000 1030 0.000 0.038 3296 1779 1529 1620 1439 0 0 0 0 0 0 28.83 24.63 28.83

3081 1.45 127.5 3296 1783 1621 1439 73.5 9.2 579 3088 0.00 2.62 0.00 0.000 516 0.000 0.070 3296 337 1529 1620 1439 0 0 0 0 0 0 28.83 24.56 28.83

3161 1.45 127.5 3296 337 1620 1439 65.2 10.3 594 3167 0.00 2.45 0.00 0.000 1030 0.000 0.038 3296 1780 1529 1620 1439 0 0 0 0 0 0 28.83 24.66 28.83

3290 1.45 127.5 3296 1784 1620 1439 52.6 10.0 619 3296 0.00 0.00 0.00 0.000 6 0.000 0.000 3296 1784 1529 1620 1439 0 0 0 0 0 0 28.83 28.83 28.83

3419 1.45 127.5 3296 1784 1620 1439 40.2 9.3 644 3425 0.00 2.62 0.00 0.000 516 0.000 0.070 3296 337 1529 1620 1439 0 0 0 0 0 0 28.83 24.59 28.83

3570 1.45 127.5 3296 337 1620 1438 23.3 11.3 673 3576 0.00 2.45 0.00 0.000 1030 0.000 0.038 3296 1788 1529 1620 1439 0 0 0 0 0 0 28.83 24.69 28.83

3639 1.45 127.5 3296 1788 1620 1438 16.2 9.3 686 3646 0.00 2.38 0.00 0.000 260 0.000 0.049 3296 3174 1529 1620 1438 0 0 0 0 0 0 28.83 24.65 28.83

3693 1.45 127.5 2304 3172 1578 1433 11.0 9.5 696 3699 0.00 2.50 0.00 0.000 1030 0.000 0.050 3296 1739 1528 1620 1437 0 0 0 0 0 0 28.83 24.67 28.83

3762 1.45 127.5 3296 1739 1620 1438 4.4 8.9 709 3769 0.00 2.53 0.00 0.000 516 0.000 0.070 3296 337 1528 1620 1437 0 0 0 0 0 0 28.83 24.61 28.83

3779 end climb: SURFACE_DEPTH_REACHED

state 3779 begin surface coast

3810 end surface coast: CONTROL_FINISHED_OK

state 3810 begin surface

ID	130	HD_C	1.6100001e-05	ROLL_MAX	3700	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	19	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	19	ESCAPE_HEADING	0	C_ROLL_DIVE	1800	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1750	ALTIM_PING_DEPTH	100
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	2
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	-10	ALTIM_SENSITIVITY	5
D_NO_BLEED	500	SM_CC	220	R_STBD_OVSHOOT	-10	XPDR_VALID	2
D_BOOST	4	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	2050	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	20
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	131
T_DIVE	75	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	80	CALL_WAIT	60	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	0	T_GPS_CHARGE	-118573.79	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	20	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	650	MINV_24V	19	SIM_W	0
MAX_BUOY	90	PITCH_MAX	3725	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2993	FG_AHR_10V	0	SEABIRD_T_G	0.004404821
GLIDE_SLOPE	35	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00064488029
SPEED_FACTOR	1	PITCH_CNV	0.0046000001	PHONE_SUPPLY	2	SEABIRD_T_I	2.8507879e-05
RHO	1.023	P_OVSHOOT	0.039999999	PRESSURE_YINT	-9.3370571	SEABIRD_T_J	3.3644449e-06
MASS	51967	PITCH_GAIN	14	PRESSURE_SLOPE	0.0001159091	SEABIRD_C_G	-9.8029137
MASS_COMP	0	PITCH_TIMEOUT	16	AD7714Ch0Gain	128	SEABIRD_C_H	1.1050078
NAV_MODE	0	PITCH_AD_RATE	175	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0015785076
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00020331096
KALMAN_USE	2	PITCH_ADJ_GAIN	0	COMPASS_USE	0
HD_A	0.0028580001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0089408001	ROLL_MIN	240	ALTIM_TOP_PING_RANGE	0

GPS1	191213,122335,4742.550,-12225.621,14,1.2,24,18.2	TGT_NAME	NW
_CALLS	1	TGT_LATLONG	4743.900,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.38	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	191213,123218,4742.447,-12225.670,10,1.2,15,18.2	MHEAD_RNG_PITCHd_Wd	3.7,2901,-18.1,-8.000,-21.82,1655
SPEED_LIMITS	0.114,0.200	D_GRID	180

FINISH	0.5,1.006103	_24V_AH	23.8,1.208
SM_CCo	3835,55.22,0.268,1,0,1153,220.03	_10V_AH	10.4,1.047
SM_GC	1.31,11.68,2.60,55.22,0.036,0.040,0.268,647,1837,1153,-10.74,-0.25,220.03,1,0,0,0,1,0,24.69,24.70,24.00	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4729.30,-12245.46,191213,111114	FG_AHR_10Vo	0.000
TT8_MAMPS	0.024717,0.024717	MEM	353888
HUMID	32.98	DATA_FILE_SIZE	33417,718
INTERNAL_PRESSURE	8.96672	CAP_FILE_SIZE	79355,0
TCM_TEMP	19.40	CFSIZE	260165632,257773568
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,1,0,0
ALTIM_BOTTOM_PING	180.1,27.5	GPS	191213,133845,4742.446,-12225.795,11,2.7,31,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	162	102.38	SBE_CT	511	24	301.07
Roll_motor	55	168	222.81	SBE_O2	336	5	47.98
VBD_pump_during_apogee	167	488	1948.89	WL_BBFL2	547	68	897.58
VBD_pump_during_surface	55	267	351.92	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	57	37.19	nil	0	0	0.00
Iridium_during_connect	42	160	163.18	nil	0	0	0.00
Iridium_during_xfer	327	223	1735.89	nil	0	0	0.00
Transponder_ping	4	420	44.98	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	29	5.35
TT8	1612	11	188.12
LPSleep	818	2	18.63
TT8_Active	356	11	41.60
TT8_Sampling	1458	36	556.54
TT8_CF8	176	42	78.45
TT8_Kalman	0	0	0.00
Analog_circuits	928	15	144.81
GPS_charging	0	0	0.00
Compass	1034	15	169.17
RAFOS	0	0	0.00
Transponder	32	30	10.07

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
16	-1.40	-88.0	647	1782	1204	1088	0.0	0.0	0	46	0.00	0.00	-27.95	0.000	16386	0.000	0.000	647	1783	2006	2044	1969	0	0	0	0	0	0	28.83	28.83	28.83
49	-1.40	-88.0	647	1783	2045	1969	2.3	-4.0	5	79	11.73	2.55	-10.98	0.000	18948	0.163	0.078	2679	384	2408	2464	2353	0	0	0	0	0	0	24.35	24.45	24.82
193	-1.40	-88.0	2679	384	2464	2353	16.0	-11.3	32	200	0.00	2.45	0.00	0.000	1030	0.000	0.039	2679	1830	2408	2464	2353	0	0	0	0	0	0	28.83	24.60	28.83
263	-1.40	-88.0	2679	1830	2464	2353	23.0	-9.0	45	268	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	1830	2408	2464	2353	0	0	0	0	0	0	28.83	28.83	28.83
331	-1.40	-88.0	2679	1830	2464	2353	29.7	-10.2	58	337	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	1830	2408	2464	2353	0	0	0	0	0	0	28.83	28.83	28.83
401	-1.40	-88.0	2679	1830	2464	2353	36.5	-10.3	71	407	0.00	2.62	0.00	0.000	516	0.000	0.067	2679	378	2408	2464	2353	0	0	0	0	0	0	28.83	24.54	28.83
500	-1.40	-88.0	2679	378	2464	2353	48.3	-12.9	90	507	0.00	2.45	0.00	0.000	1030	0.000	0.037	2679	1833	2408	2464	2353	0	0	0	0	0	0	28.83	24.65	28.83
570	-1.40	-88.0	2679	1833	2464	2353	56.5	-11.8	103	575	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	1833	2408	2464	2353	0	0	0	0	0	0	28.83	28.83	28.83
698	-1.40	-88.0	2679	1833	2464	2353	72.8	-12.3	128	704	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	1833	2408	2463	2353	0	0	0	0	0	0	28.83	28.83	28.83
827	-1.40	-88.0	2679	1833	2464	2353	88.8	-11.9	153	833	0.00	2.62	0.00	0.000	516	0.000	0.067	2679	380	2408	2464	2353	0	0	0	0	0	0	28.83	24.59	28.83
989	-1.40	-88.0	2679	379	2464	2353	108.4	-11.2	184	996	0.00	2.45	0.00	0.000	1030	0.000	0.038	2679	1832	2408	2464	2353	0	0	0	0	0	0	28.83	24.70	28.83
1119	-1.40	-88.0	2679	1833	2464	2353	121.4	-10.4	209	1124	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	1833	2408	2464	2353	0	0	0	0	0	0	28.83	28.83	28.83
1251	-1.40	-88.0	2679	1833	2464	2353	133.8	-9.2	234	1256	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	1833	2408	2464	2353	0	0	0	0	0	0	28.83	28.83	28.83
1382	-1.40	-88.0	2679	1833	2464	2353	146.5	-9.8	259	1388	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	1833	2408	2464	2353	0	0	0	0	0	0	28.83	28.83	28.83
1513	-1.40	-88.0	2679	1833	2464	2353	162.1	-12.1	284	1519	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	1833	2408	2464	2353	0	0	0	0	0	0	28.83	28.83	28.83
1643	-1.40	-88.0	2679	1833	2464	2353	178.0	-13.0	309	1650	0.00	2.62	0.00	0.000	516	0.000	0.068	2679	378	2408	2464	2353	0	0	0	0	0	0	28.83	24.65	28.83
1658	end dive: TARGET_DEPTH_EXCEEDED
state	1658	begin apogee
1666	-0.36	0.0	2679	1779	2464	2353	180.1	-12.7	311	1739	1.15	0.08	67.30	0.488	10246	0.111	0.131	2906	1736	2050	2127	1973	0	0	0	0	0	0	24.60	24.18	23.84
1740	end apogee: CONTROL_FINISHED_OK
state	1740	begin climb
1742	1.40	88.0	2905	1736	2127	1973	185.1	0.0	324	1818	1.85	0.00	68.10	0.480	10502	0.080	0.000	3296	1736	1690	1773	1607	0	0	0	0	0	0	24.27	28.83	23.82
1942	1.40	88.0	3296	1736	1773	1603	172.6	8.3	362	1948	0.00	2.55	0.00	0.000	516	0.000	0.069	3296	337	1688	1773	1603	0	0	0	0	0	0	28.83	24.43	28.83
1991	1.40	88.0	3296	337	1773	1603	168.3	8.9	371	1998	0.00	2.45	0.00	0.000	1030	0.000	0.038	3296	1779	1687	1773	1602	0	0	0	0	0	0	28.83	24.55	28.83
2122	1.40	88.0	3296	1779	1773	1602	157.8	8.4	396	2128	0.00	0.00	0.00	0.000	6	0.000	0.000	3296	1779	1687	1773	1602	0	0	0	0	0	0	28.83	28.83	28.83
2251	1.43	114.0	3296	1779	1773	1601	148.2	6.4	421	2274	0.00	0.00	20.75	0.438	8198	0.000	0.000	3296	1779	1585	1672	1498	0	0	0	0	0	0	28.83	28.83	23.95
2400	1.43	114.0	3296	1779	1672	1497	133.5	10.8	449	2406	0.00	0.00	0.00	0.000	6	0.000	0.000	3296	1779	1584	1672	1497	0	0	0	0	0	0	28.83	28.83	28.83
2529	1.43	114.0	3296	1779	1672	1496	120.9	8.7	474	2535	0.00	2.62	0.00	0.000	516	0.000	0.070	3296	337	1584	1672	1496	0	0	0	0	0	0	28.83	24.51	28.83
2598	1.43	114.0	3295	337	1672	1496	114.8	9.2	487	2605	0.00	2.45	0.00	0.000	1030	0.000	0.038	3296	1782	1584	1672	1496	0	0	0	0	0	0	28.83	24.63	28.83
2730	1.45	127.5	3296	1781	1672	1495	105.9	7.2	512	2747	0.00	0.00	11.62	0.396	8198	0.000	0.000	3296	1782	1530	1621	1439	0	0	0	0	0	0	28.83	28.83	24.09
2873	1.45	127.5	3296	1782	1620	1439	95.2	8.2	539	2880	0.00	2.62	0.00	0.000	516	0.000	0.069	3296	337	1529	1620	1439	0	0	0	0	0	0	28.83	24.53	28.83
2952	1.45	127.5	2304	338	1579	1434	86.7	10.8	554	2958	0.00	2.45	0.00	0.000	1030	0.000	0.038	3296	1779	1529	1620	1439	0	0	0	0	0	0	28.83	24.63	28.83
3081	1.45	127.5	3296	1783	1621	1439	73.5	9.2	579	3088	0.00	2.62	0.00	0.000	516	0.000	0.070	3296	337	1529	1620	1439	0	0	0	0	0	0	28.83	24.56	28.83
3161	1.45	127.5	3296	337	1620	1439	65.2	10.3	594	3167	0.00	2.45	0.00	0.000	1030	0.000	0.038	3296	1780	1529	1620	1439	0	0	0	0	0	0	28.83	24.66	28.83
3290	1.45	127.5	3296	1784	1620	1439	52.6	10.0	619	3296	0.00	0.00	0.00	0.000	6	0.000	0.000	3296	1784	1529	1620	1439	0	0	0	0	0	0	28.83	28.83	28.83
3419	1.45	127.5	3296	1784	1620	1439	40.2	9.3	644	3425	0.00	2.62	0.00	0.000	516	0.000	0.070	3296	337	1529	1620	1439	0	0	0	0	0	0	28.83	24.59	28.83
3570	1.45	127.5	3296	337	1620	1438	23.3	11.3	673	3576	0.00	2.45	0.00	0.000	1030	0.000	0.038	3296	1788	1529	1620	1439	0	0	0	0	0	0	28.83	24.69	28.83
3639	1.45	127.5	3296	1788	1620	1438	16.2	9.3	686	3646	0.00	2.38	0.00	0.000	260	0.000	0.049	3296	3174	1529	1620	1438	0	0	0	0	0	0	28.83	24.65	28.83
3693	1.45	127.5	2304	3172	1578	1433	11.0	9.5	696	3699	0.00	2.50	0.00	0.000	1030	0.000	0.050	3296	1739	1528	1620	1437	0	0	0	0	0	0	28.83	24.67	28.83
3762	1.45	127.5	3296	1739	1620	1438	4.4	8.9	709	3769	0.00	2.53	0.00	0.000	516	0.000	0.070	3296	337	1528	1620	1437	0	0	0	0	0	0	28.83	24.61	28.83
3779	end climb: SURFACE_DEPTH_REACHED
state	3779	begin surface coast
3810	end surface coast: CONTROL_FINISHED_OK
state	3810	begin surface