Glider dive log

Shilshole 14Jan14 * SG601 * Dive index * Mission links * Dive 21 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 601 HD_C 9.9999997e-06 ROLL_MAX 3866 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 2 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 21 ESCAPE_HEADING 0 C_ROLL_DIVE 2250 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2165 ALTIM_PING_DEPTH 80

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 4743 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 120 TGT_DEFAULT_LON -12223.5 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 300 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 35 ALTIM_SENSITIVITY 2

D_NO_BLEED 200 SM_CC 250 R_STBD_OVSHOOT 50 XPDR_VALID 2

D_BOOST 3 N_FILEKB 4 ROLL_AD_RATE 350 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 -0.25799999

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 2857 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 -1

T_DIVE 57 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 70 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_ABORT 180 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 60 T_GPS 5 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 0 T_GPS_CHARGE -1525.3201 DBDW 0 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 3 PITCH_W_GAIN 20 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 145 RAFOS_DEVICE -1

RELAUNCH 0 RAFOS_HIT_WINDOW 3600 AH0_10V 95 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 203 MINV_24V 19 SIM_W 0

MAX_BUOY 200 PITCH_MAX 3948 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 3385 FG_AHR_10V 0 SEABIRD_T_G 0.0043827128

GLIDE_SLOPE 15 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00062866701

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.5612169e-05

RHO 1.0237 P_OVSHOOT 0.079999998 PRESSURE_YINT -49.106464 SEABIRD_T_J 3.209283e-06

MASS 51614 PITCH_GAIN 40.5 PRESSURE_SLOPE 0.0001161203 SEABIRD_C_G -9.733285

MASS_COMP 0 PITCH_TIMEOUT 17 AD7714Ch0Gain 128 SEABIRD_C_H 1.1253656

NAV_MODE 2 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0011628612

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00016996283

KALMAN_USE 0 PITCH_ADJ_GAIN 0 COMPASS_USE 4

HD_A 0.003 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 232 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 250

AH0_10V 95 D_PITCH 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

AH0_24V 145 D_SAFE 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 120 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 40.5 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 80 FERRY_MAX 45 PITCH_MAX 3948 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 203 TGT_DEFAULT_LAT 4743

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12223.5

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 180

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 15 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 20 T_DIVE 57

CALL_NDIVES 1 HD_A 0.003 PRESSURE_SLOPE 0.0001161203 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -49.106464 T_GPS 5

CALL_WAIT 60 HD_C 9.9999997e-06 PROTOCOL 0 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.079999998 T_GPS_CHARGE -1525.3201

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 70

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 60

COMPASS2_DEVICE -1 ID 601 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 0 T_TURN 225

COMPASS_USE 4 INT_PRESSURE_YINT -0.25799999 RHO 1.0237 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 0 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 3385 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 2165 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2250 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 2857 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3866 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 51614 ROLL_MAXERRORS 1 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 232 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 200 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 -1 MINV_10V 8 R_PORT_OVSHOOT 35 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 50 VBD_MIN 500

DEVICE4 -1 MISSION 2 SEABIRD_C_G -9.733285 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1253656 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 2 SEABIRD_C_I -0.0011628612 VBD_TIMEOUT 720

DIVE 21 NOCOMM_ACTION 0 SEABIRD_C_J 0.00016996283 W_ADJ_DBAND 0

D_ABORT 300 N_DIVES 0 SEABIRD_T_G 0.0043827128 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.00062866701 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.5612169e-05 XPDR_VALID 2

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 3.209283e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 200 PHONE_DEVICE 48 SIM_W 0

Pre-dive calculations and measurements:

GPS1 150114,143252,4743.164,-12224.363,24,1.1,41,16.6 TGT_NAME NW

_CALLS 2 TGT_LATLONG 4743.900,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.075,0.261

_SM_DEPTHo 1.32 KALMAN_X -6814.1,-743.0,363.1,7663.2,-300.8

_SM_ANGLEo -81.7 KALMAN_Y -5393.2,300.5,287.0,5375.5,-788.9

GPS2 150114,143937,4743.111,-12224.314,5,1.1,5,16.6 MHEAD_RNG_PITCHd_Wd 327.3,1582,-9.0,-7.018,-14.47,4731

SPEED_LIMITS 0.262,0.272 D_GRID 120

Post-dive calculations and measurements:

FINISH 0.4,1.010225 _10V_AH 10.5,0.638

SM_CCo 2496,0.00,0.000,0,0,1782,263.70 FG_AHR_24Vo 0.000

SM_GC 1.59,8.95,0.10,0.00,0.044,0.102,0.000,202,2285,1782,-9.87,-1.22,263.70,0,0,0,0,0,0,26.20,26.23,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4751.72,-12340.51,150114,141452 MEM 323568

TT8_MAMPS 0.02996,0.02996 DATA_FILE_SIZE 13504,391

HUMID 42.16 CAP_FILE_SIZE 64198,1

INTERNAL_PRESSURE 8.94157 CFSIZE 2097086464,2090467328

TCM_TEMP 17.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 CURRENT 0.039, 80.1,1

ALTIM_BOTTOM_PING 105.8,7.4 GPS 150114,152335,4743.483,-12224.360,28,0.9,28,16.6

_24V_AH 24.3,1.410

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 237 126.35 SBE_CT 257 24 150.38

Roll_motor 52 101 129.99 nil 0 0 0.00

VBD_pump_during_apogee 359 689 6020.90 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 50 103 126.11 nil 0 0 0.00

Iridium_during_connect 83 160 324.17 nil 0 0 0.00

Iridium_during_xfer 134 223 727.84 nil 0 0 0.00

Transponder_ping 2 420 20.41 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 26 1.69

TT8 931 14 146.34

LPSleep 591 2 13.61

TT8_Active 452 14 67.47

TT8_Sampling 930 37 365.86

TT8_CF8 34 47 17.09

TT8_Kalman 33 59 20.62

Analog_circuits 895 12 112.88

GPS_charging 0 0 0.00

Compass 625 15 103.37

RAFOS 0 0 0.00

Transponder 17 30 5.43

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 -0.46 -195.4 203 2284 1852 1785 0.0 0.0 0 67 0.00 0.00 -49.62 0.000 16386 0.000 0.000 204 2283 3052 2975 3129 0 0 0 0 0 0 28.83 28.83 28.83

69 -0.46 -195.4 203 2284 2975 3130 3.0 -7.6 9 105 11.77 2.25 -15.77 0.000 18948 0.237 0.064 3208 843 3655 3551 3760 0 0 0 0 0 0 25.82 26.05 26.35

261 -0.46 -195.4 3208 842 3551 3761 30.5 -15.0 46 269 0.10 2.15 0.00 0.000 3078 0.185 0.046 3223 2229 3655 3550 3761 0 0 0 0 0 0 26.07 26.17 28.83

301 -0.46 -195.4 3223 2230 3550 3761 36.3 -15.1 53 306 0.00 0.00 0.00 0.000 6 0.000 0.000 3223 2230 3656 3551 3761 0 0 0 0 0 0 28.83 28.83 28.83

338 -0.46 -195.4 3223 2230 3551 3761 41.6 -13.5 60 344 0.00 0.00 0.00 0.000 6 0.000 0.000 3223 2230 3656 3551 3761 0 0 0 0 0 0 28.83 28.83 28.83

375 -0.46 -195.4 3223 2230 3551 3761 46.5 -12.2 67 381 0.00 0.00 0.00 0.000 6 0.000 0.000 3223 2230 3656 3551 3761 0 0 0 0 0 0 28.83 28.83 28.83

412 -0.46 -195.4 2272 2229 3546 3760 51.2 -12.4 74 417 0.00 0.00 0.00 0.000 6 0.000 0.000 3223 2231 3656 3551 3761 0 0 0 0 0 0 28.83 28.83 28.83

479 -0.46 -195.4 3223 2231 3549 3761 59.2 -12.2 87 485 0.00 2.22 0.00 0.000 260 0.000 0.057 3214 3656 3656 3551 3761 0 0 0 0 0 0 28.83 26.25 28.83

522 -0.46 -195.4 3214 3655 3552 3761 64.7 -13.5 95 528 0.00 2.15 0.00 0.000 1030 0.000 0.037 3214 2252 3655 3550 3761 0 0 0 0 0 0 28.83 26.29 28.83

590 -0.46 -195.4 3213 2252 3551 3761 74.0 -13.2 108 597 0.00 2.12 0.00 0.000 516 0.000 0.046 3214 834 3656 3551 3761 0 0 0 0 0 0 28.83 26.31 28.83

663 -0.46 -195.4 2256 834 3546 3760 84.0 -13.0 122 669 0.00 2.17 0.00 0.000 1030 0.000 0.044 3206 2251 3656 3551 3762 0 0 0 0 0 0 28.83 26.34 28.83

731 -0.46 -195.4 3206 2252 3550 3761 93.3 -13.7 135 737 0.00 2.17 0.00 0.000 260 0.000 0.055 3196 3657 3655 3550 3761 0 0 0 0 0 0 28.83 26.32 28.83

764 -0.46 -195.4 3196 3657 3551 3761 98.1 -14.3 141 771 0.10 2.15 0.00 0.000 3078 0.168 0.037 3219 2250 3656 3551 3762 0 0 0 0 0 0 26.27 26.37 28.83

833 -0.46 -195.4 3219 2250 3551 3761 107.2 -12.8 149 842 0.00 2.10 0.00 0.000 516 0.000 0.042 3219 836 3656 3551 3761 0 0 0 0 0 0 28.83 26.36 28.83

867 -0.46 -195.4 3219 835 3550 3761 111.3 -13.3 152 875 0.00 2.22 0.00 0.000 1030 0.000 0.042 3213 2255 3656 3551 3761 0 0 0 0 0 0 28.83 26.38 28.83

942 end dive: TARGET_DEPTH_EXCEEDED

state 942 begin apogee

946 -0.12 0.0 3213 2137 3551 3761 121.2 -12.2 160 1097 0.35 0.00 144.35 0.689 10246 0.138 0.000 3327 2136 2857 2834 2880 0 0 0 0 0 0 26.29 28.83 24.44

1098 end apogee: CONTROL_FINISHED_OK

state 1098 begin climb

1100 0.46 195.4 3326 2136 2835 2880 127.0 0.0 175 1266 0.57 2.25 154.90 0.664 10756 0.115 0.050 3516 773 2058 2121 1996 0 0 0 0 0 0 24.93 24.75 24.25

1297 0.46 195.4 3516 772 2118 1991 112.2 8.2 195 1301 0.00 2.22 0.00 0.000 1030 0.000 0.035 3516 2174 2054 2118 1991 0 0 0 0 0 0 28.83 25.13 28.83

1422 0.46 195.4 3516 2173 2117 1990 102.0 8.1 207 1423 0.00 0.00 0.00 0.000 6 0.000 0.000 3516 2173 2053 2117 1990 0 0 0 0 0 0 28.83 28.83 28.83

1543 0.48 207.3 3516 2173 2116 1990 93.7 6.8 228 1561 0.00 2.28 10.12 0.578 8708 0.000 0.050 3520 778 2012 2077 1947 0 0 0 0 0 0 28.83 25.69 25.18

1583 0.50 230.3 3520 778 2076 1947 90.9 6.5 235 1614 0.00 2.15 21.38 0.624 9222 0.000 0.035 3521 2169 1916 1987 1846 0 0 0 0 0 0 28.83 25.76 25.02

1676 0.51 236.7 3520 2169 1986 1844 85.4 6.9 252 1688 0.00 0.00 6.50 0.507 8198 0.000 0.000 3521 2169 1890 1963 1818 0 0 0 0 0 0 28.83 28.83 25.11

1750 0.54 260.6 2704 2167 1932 1815 80.7 6.5 266 1780 0.08 2.25 22.23 0.639 10756 0.138 0.048 3560 773 1793 1871 1716 0 0 0 0 0 0 25.80 25.49 25.01

1806 0.54 260.6 2768 773 1841 1711 75.9 8.4 276 1814 0.00 2.17 0.00 0.000 1030 0.000 0.034 3560 2174 1791 1869 1714 0 0 0 0 0 0 28.83 25.61 28.83

1876 0.54 260.6 3559 2175 1869 1714 68.8 10.9 289 1882 0.00 0.00 0.00 0.000 6 0.000 0.000 3559 2175 1791 1869 1714 0 0 0 0 0 0 28.83 28.83 28.83

1942 0.54 260.6 2768 2173 1840 1711 61.5 10.8 302 1949 0.00 2.20 0.00 0.000 516 0.000 0.046 3567 764 1790 1868 1713 0 0 0 0 0 0 28.83 25.84 28.83

1985 0.54 260.6 3567 764 1866 1712 57.2 9.7 310 1991 0.00 2.15 0.00 0.000 1030 0.000 0.034 3567 2169 1788 1865 1712 0 0 0 0 0 0 28.83 25.91 28.83

2053 0.54 260.6 3567 2171 1866 1712 49.8 11.8 323 2058 0.00 0.00 0.00 0.000 6 0.000 0.000 3567 2171 1789 1866 1712 0 0 0 0 0 0 28.83 28.83 28.83

2089 0.54 260.6 2768 2169 1837 1708 45.3 12.8 330 2095 0.00 0.00 0.00 0.000 6 0.000 0.000 3567 2170 1789 1866 1712 0 0 0 0 0 0 28.83 28.83 28.83

2127 0.54 260.6 3567 2170 1866 1712 40.6 12.7 337 2132 0.00 0.00 0.00 0.000 6 0.000 0.000 3567 2171 1788 1866 1711 0 0 0 0 0 0 28.83 28.83 28.83

2164 0.54 260.6 3567 2170 1866 1712 36.0 12.8 344 2170 0.00 0.00 0.00 0.000 6 0.000 0.000 3567 2171 1789 1866 1712 0 0 0 0 0 0 28.83 28.83 28.83

2201 0.54 260.6 3567 2170 1866 1712 31.4 12.3 351 2208 0.00 2.17 0.00 0.000 516 0.000 0.047 3572 766 1789 1866 1712 0 0 0 0 0 0 28.83 26.07 28.83

2224 0.54 260.6 3571 766 1864 1712 28.4 13.2 355 2231 0.00 2.12 0.00 0.000 1030 0.000 0.035 3572 2163 1787 1864 1711 0 0 0 0 0 0 28.83 26.10 28.83

2262 0.54 260.6 3571 2164 1864 1711 23.3 14.1 362 2269 0.00 2.17 0.00 0.000 260 0.000 0.049 3571 3572 1787 1864 1711 0 0 0 0 0 0 28.83 26.09 28.83

2281 0.54 260.6 3571 3572 1864 1710 20.5 14.9 365 2287 0.00 2.12 0.00 0.000 1030 0.000 0.034 3576 2180 1787 1864 1711 0 0 0 0 0 0 28.83 26.14 28.83

2319 0.54 260.6 3576 2181 1864 1711 14.7 15.5 372 2326 0.00 2.15 0.00 0.000 516 0.000 0.046 3585 758 1787 1864 1711 0 0 0 0 0 0 28.83 26.13 28.83

2378 0.54 260.6 3585 757 1863 1709 5.4 14.0 383 2384 0.00 2.15 0.00 0.000 1030 0.000 0.035 3586 2172 1786 1863 1710 0 0 0 0 0 0 28.83 26.18 28.83

2399 end climb: SURFACE_DEPTH_REACHED

state 2400 begin surface coast

2421 end surface coast: CONTROL_FINISHED_OK

state 2421 begin surface

ID	601	HD_C	9.9999997e-06	ROLL_MAX	3866	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	2	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	21	ESCAPE_HEADING	0	C_ROLL_DIVE	2250	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2165	ALTIM_PING_DEPTH	80
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	4743	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	120	TGT_DEFAULT_LON	-12223.5	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	300	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	35	ALTIM_SENSITIVITY	2
D_NO_BLEED	200	SM_CC	250	R_STBD_OVSHOOT	50	XPDR_VALID	2
D_BOOST	3	N_FILEKB	4	ROLL_AD_RATE	350	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	-0.25799999
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	2857	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	-1
T_DIVE	57	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	70	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_ABORT	180	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	60	T_GPS	5	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	0	T_GPS_CHARGE	-1525.3201	DBDW	0	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	3	PITCH_W_GAIN	20	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	145	RAFOS_DEVICE	-1
RELAUNCH	0	RAFOS_HIT_WINDOW	3600	AH0_10V	95	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	203	MINV_24V	19	SIM_W	0
MAX_BUOY	200	PITCH_MAX	3948	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	3385	FG_AHR_10V	0	SEABIRD_T_G	0.0043827128
GLIDE_SLOPE	15	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00062866701
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.5612169e-05
RHO	1.0237	P_OVSHOOT	0.079999998	PRESSURE_YINT	-49.106464	SEABIRD_T_J	3.209283e-06
MASS	51614	PITCH_GAIN	40.5	PRESSURE_SLOPE	0.0001161203	SEABIRD_C_G	-9.733285
MASS_COMP	0	PITCH_TIMEOUT	17	AD7714Ch0Gain	128	SEABIRD_C_H	1.1253656
NAV_MODE	2	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0011628612
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00016996283
KALMAN_USE	0	PITCH_ADJ_GAIN	0	COMPASS_USE	4
HD_A	0.003	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	232	ALTIM_TOP_PING_RANGE	0

GPS1	150114,143252,4743.164,-12224.363,24,1.1,41,16.6	TGT_NAME	NW
_CALLS	2	TGT_LATLONG	4743.900,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.075,0.261
_SM_DEPTHo	1.32	KALMAN_X	-6814.1,-743.0,363.1,7663.2,-300.8
_SM_ANGLEo	-81.7	KALMAN_Y	-5393.2,300.5,287.0,5375.5,-788.9
GPS2	150114,143937,4743.111,-12224.314,5,1.1,5,16.6	MHEAD_RNG_PITCHd_Wd	327.3,1582,-9.0,-7.018,-14.47,4731
SPEED_LIMITS	0.262,0.272	D_GRID	120

FINISH	0.4,1.010225	_10V_AH	10.5,0.638
SM_CCo	2496,0.00,0.000,0,0,1782,263.70	FG_AHR_24Vo	0.000
SM_GC	1.59,8.95,0.10,0.00,0.044,0.102,0.000,202,2285,1782,-9.87,-1.22,263.70,0,0,0,0,0,0,26.20,26.23,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4751.72,-12340.51,150114,141452	MEM	323568
TT8_MAMPS	0.02996,0.02996	DATA_FILE_SIZE	13504,391
HUMID	42.16	CAP_FILE_SIZE	64198,1
INTERNAL_PRESSURE	8.94157	CFSIZE	2097086464,2090467328
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	CURRENT	0.039, 80.1,1
ALTIM_BOTTOM_PING	105.8,7.4	GPS	150114,152335,4743.483,-12224.360,28,0.9,28,16.6
_24V_AH	24.3,1.410

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	237	126.35	SBE_CT	257	24	150.38
Roll_motor	52	101	129.99	nil	0	0	0.00
VBD_pump_during_apogee	359	689	6020.90	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	50	103	126.11	nil	0	0	0.00
Iridium_during_connect	83	160	324.17	nil	0	0	0.00
Iridium_during_xfer	134	223	727.84	nil	0	0	0.00
Transponder_ping	2	420	20.41	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	26	1.69
TT8	931	14	146.34
LPSleep	591	2	13.61
TT8_Active	452	14	67.47
TT8_Sampling	930	37	365.86
TT8_CF8	34	47	17.09
TT8_Kalman	33	59	20.62
Analog_circuits	895	12	112.88
GPS_charging	0	0	0.00
Compass	625	15	103.37
RAFOS	0	0	0.00
Transponder	17	30	5.43

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	-0.46	-195.4	203	2284	1852	1785	0.0	0.0	0	67	0.00	0.00	-49.62	0.000	16386	0.000	0.000	204	2283	3052	2975	3129	0	0	0	0	0	0	28.83	28.83	28.83
69	-0.46	-195.4	203	2284	2975	3130	3.0	-7.6	9	105	11.77	2.25	-15.77	0.000	18948	0.237	0.064	3208	843	3655	3551	3760	0	0	0	0	0	0	25.82	26.05	26.35
261	-0.46	-195.4	3208	842	3551	3761	30.5	-15.0	46	269	0.10	2.15	0.00	0.000	3078	0.185	0.046	3223	2229	3655	3550	3761	0	0	0	0	0	0	26.07	26.17	28.83
301	-0.46	-195.4	3223	2230	3550	3761	36.3	-15.1	53	306	0.00	0.00	0.00	0.000	6	0.000	0.000	3223	2230	3656	3551	3761	0	0	0	0	0	0	28.83	28.83	28.83
338	-0.46	-195.4	3223	2230	3551	3761	41.6	-13.5	60	344	0.00	0.00	0.00	0.000	6	0.000	0.000	3223	2230	3656	3551	3761	0	0	0	0	0	0	28.83	28.83	28.83
375	-0.46	-195.4	3223	2230	3551	3761	46.5	-12.2	67	381	0.00	0.00	0.00	0.000	6	0.000	0.000	3223	2230	3656	3551	3761	0	0	0	0	0	0	28.83	28.83	28.83
412	-0.46	-195.4	2272	2229	3546	3760	51.2	-12.4	74	417	0.00	0.00	0.00	0.000	6	0.000	0.000	3223	2231	3656	3551	3761	0	0	0	0	0	0	28.83	28.83	28.83
479	-0.46	-195.4	3223	2231	3549	3761	59.2	-12.2	87	485	0.00	2.22	0.00	0.000	260	0.000	0.057	3214	3656	3656	3551	3761	0	0	0	0	0	0	28.83	26.25	28.83
522	-0.46	-195.4	3214	3655	3552	3761	64.7	-13.5	95	528	0.00	2.15	0.00	0.000	1030	0.000	0.037	3214	2252	3655	3550	3761	0	0	0	0	0	0	28.83	26.29	28.83
590	-0.46	-195.4	3213	2252	3551	3761	74.0	-13.2	108	597	0.00	2.12	0.00	0.000	516	0.000	0.046	3214	834	3656	3551	3761	0	0	0	0	0	0	28.83	26.31	28.83
663	-0.46	-195.4	2256	834	3546	3760	84.0	-13.0	122	669	0.00	2.17	0.00	0.000	1030	0.000	0.044	3206	2251	3656	3551	3762	0	0	0	0	0	0	28.83	26.34	28.83
731	-0.46	-195.4	3206	2252	3550	3761	93.3	-13.7	135	737	0.00	2.17	0.00	0.000	260	0.000	0.055	3196	3657	3655	3550	3761	0	0	0	0	0	0	28.83	26.32	28.83
764	-0.46	-195.4	3196	3657	3551	3761	98.1	-14.3	141	771	0.10	2.15	0.00	0.000	3078	0.168	0.037	3219	2250	3656	3551	3762	0	0	0	0	0	0	26.27	26.37	28.83
833	-0.46	-195.4	3219	2250	3551	3761	107.2	-12.8	149	842	0.00	2.10	0.00	0.000	516	0.000	0.042	3219	836	3656	3551	3761	0	0	0	0	0	0	28.83	26.36	28.83
867	-0.46	-195.4	3219	835	3550	3761	111.3	-13.3	152	875	0.00	2.22	0.00	0.000	1030	0.000	0.042	3213	2255	3656	3551	3761	0	0	0	0	0	0	28.83	26.38	28.83
942	end dive: TARGET_DEPTH_EXCEEDED
state	942	begin apogee
946	-0.12	0.0	3213	2137	3551	3761	121.2	-12.2	160	1097	0.35	0.00	144.35	0.689	10246	0.138	0.000	3327	2136	2857	2834	2880	0	0	0	0	0	0	26.29	28.83	24.44
1098	end apogee: CONTROL_FINISHED_OK
state	1098	begin climb
1100	0.46	195.4	3326	2136	2835	2880	127.0	0.0	175	1266	0.57	2.25	154.90	0.664	10756	0.115	0.050	3516	773	2058	2121	1996	0	0	0	0	0	0	24.93	24.75	24.25
1297	0.46	195.4	3516	772	2118	1991	112.2	8.2	195	1301	0.00	2.22	0.00	0.000	1030	0.000	0.035	3516	2174	2054	2118	1991	0	0	0	0	0	0	28.83	25.13	28.83
1422	0.46	195.4	3516	2173	2117	1990	102.0	8.1	207	1423	0.00	0.00	0.00	0.000	6	0.000	0.000	3516	2173	2053	2117	1990	0	0	0	0	0	0	28.83	28.83	28.83
1543	0.48	207.3	3516	2173	2116	1990	93.7	6.8	228	1561	0.00	2.28	10.12	0.578	8708	0.000	0.050	3520	778	2012	2077	1947	0	0	0	0	0	0	28.83	25.69	25.18
1583	0.50	230.3	3520	778	2076	1947	90.9	6.5	235	1614	0.00	2.15	21.38	0.624	9222	0.000	0.035	3521	2169	1916	1987	1846	0	0	0	0	0	0	28.83	25.76	25.02
1676	0.51	236.7	3520	2169	1986	1844	85.4	6.9	252	1688	0.00	0.00	6.50	0.507	8198	0.000	0.000	3521	2169	1890	1963	1818	0	0	0	0	0	0	28.83	28.83	25.11
1750	0.54	260.6	2704	2167	1932	1815	80.7	6.5	266	1780	0.08	2.25	22.23	0.639	10756	0.138	0.048	3560	773	1793	1871	1716	0	0	0	0	0	0	25.80	25.49	25.01
1806	0.54	260.6	2768	773	1841	1711	75.9	8.4	276	1814	0.00	2.17	0.00	0.000	1030	0.000	0.034	3560	2174	1791	1869	1714	0	0	0	0	0	0	28.83	25.61	28.83
1876	0.54	260.6	3559	2175	1869	1714	68.8	10.9	289	1882	0.00	0.00	0.00	0.000	6	0.000	0.000	3559	2175	1791	1869	1714	0	0	0	0	0	0	28.83	28.83	28.83
1942	0.54	260.6	2768	2173	1840	1711	61.5	10.8	302	1949	0.00	2.20	0.00	0.000	516	0.000	0.046	3567	764	1790	1868	1713	0	0	0	0	0	0	28.83	25.84	28.83
1985	0.54	260.6	3567	764	1866	1712	57.2	9.7	310	1991	0.00	2.15	0.00	0.000	1030	0.000	0.034	3567	2169	1788	1865	1712	0	0	0	0	0	0	28.83	25.91	28.83
2053	0.54	260.6	3567	2171	1866	1712	49.8	11.8	323	2058	0.00	0.00	0.00	0.000	6	0.000	0.000	3567	2171	1789	1866	1712	0	0	0	0	0	0	28.83	28.83	28.83
2089	0.54	260.6	2768	2169	1837	1708	45.3	12.8	330	2095	0.00	0.00	0.00	0.000	6	0.000	0.000	3567	2170	1789	1866	1712	0	0	0	0	0	0	28.83	28.83	28.83
2127	0.54	260.6	3567	2170	1866	1712	40.6	12.7	337	2132	0.00	0.00	0.00	0.000	6	0.000	0.000	3567	2171	1788	1866	1711	0	0	0	0	0	0	28.83	28.83	28.83
2164	0.54	260.6	3567	2170	1866	1712	36.0	12.8	344	2170	0.00	0.00	0.00	0.000	6	0.000	0.000	3567	2171	1789	1866	1712	0	0	0	0	0	0	28.83	28.83	28.83
2201	0.54	260.6	3567	2170	1866	1712	31.4	12.3	351	2208	0.00	2.17	0.00	0.000	516	0.000	0.047	3572	766	1789	1866	1712	0	0	0	0	0	0	28.83	26.07	28.83
2224	0.54	260.6	3571	766	1864	1712	28.4	13.2	355	2231	0.00	2.12	0.00	0.000	1030	0.000	0.035	3572	2163	1787	1864	1711	0	0	0	0	0	0	28.83	26.10	28.83
2262	0.54	260.6	3571	2164	1864	1711	23.3	14.1	362	2269	0.00	2.17	0.00	0.000	260	0.000	0.049	3571	3572	1787	1864	1711	0	0	0	0	0	0	28.83	26.09	28.83
2281	0.54	260.6	3571	3572	1864	1710	20.5	14.9	365	2287	0.00	2.12	0.00	0.000	1030	0.000	0.034	3576	2180	1787	1864	1711	0	0	0	0	0	0	28.83	26.14	28.83
2319	0.54	260.6	3576	2181	1864	1711	14.7	15.5	372	2326	0.00	2.15	0.00	0.000	516	0.000	0.046	3585	758	1787	1864	1711	0	0	0	0	0	0	28.83	26.13	28.83
2378	0.54	260.6	3585	757	1863	1709	5.4	14.0	383	2384	0.00	2.15	0.00	0.000	1030	0.000	0.035	3586	2172	1786	1863	1710	0	0	0	0	0	0	28.83	26.18	28.83
2399	end climb: SURFACE_DEPTH_REACHED
state	2400	begin surface coast
2421	end surface coast: CONTROL_FINISHED_OK
state	2421	begin surface