Glider dive log

Shilshole 06Jan15 * SG156 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 156 HD_C 9.8500004e-06 ROLL_MAX 3800 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 6 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 5 ESCAPE_HEADING 50 C_ROLL_DIVE 2040 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 25 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1940 ALTIM_PING_DEPTH 100

D_SURF 2 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 56.75 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 180 TGT_DEFAULT_LON -7.25 ROLL_TIMEOUT 15 ALTIM_PULSE 5

D_ABORT 1020 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 18 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 260 R_STBD_OVSHOOT 22 XPDR_VALID 1

D_BOOST 0 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 6 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 0 VBD_MIN 451 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 3 VBD_MAX 3959 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 C_VBD 1638 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE -1 VBD_DBAND 2 DEVICE2 20

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.25119999 DEVICE3 35

T_DIVE 75 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 101

T_MISSION 85 CALL_WAIT 30 PITCH_VBD_SHIFT 0.00030000001 DEVICE5 -1

T_ABORT 720 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 600 CAPMAXSIZE 400000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 1 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 15 UNCOM_BLEED 50 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 40 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY -6 T_GPS_CHARGE -905942.75 DBDW 0 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 2 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 150 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 100 XPDR_DEVICE 24

APOGEE_PITCH -7 PITCH_MIN 160 MINV_24V 17 SIM_W 0

MAX_BUOY 100 PITCH_MAX 3877 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2264 FG_AHR_10V 0 SEABIRD_T_G 0.0043990691

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00065709552

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 3.75727e-05

RHO 1.0276999 P_OVSHOOT 0.039999999 PRESSURE_YINT -17.360556 SEABIRD_T_J 5.2690598e-06

MASS 51793 PITCH_GAIN 31 PRESSURE_SLOPE 0.00011457827 SEABIRD_C_G -10.168411

MASS_COMP 0 PITCH_TIMEOUT 16 AD7714Ch0Gain 128 SEABIRD_C_H 1.1470841

NAV_MODE 1 PITCH_AD_RATE 100 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.001554661

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00020326475

KALMAN_USE 1 PITCH_ADJ_GAIN 0 COMPASS_USE 4

HD_A 0.0038360001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.010078 ROLL_MIN 221 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 260

AH0_10V 100 D_PITCH 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PITCH_AD_RATE 100 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_TGT 180 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 50 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 31 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 100 FERRY_MAX 45 PITCH_MAX 3877 TCM_ROLL_OFFSET 0

ALTIM_PULSE 5 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MIN 160 TGT_DEFAULT_LAT 56.75

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 16 TGT_DEFAULT_LON -7.25

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00030000001 T_ABORT 720

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -7 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 75

CALL_NDIVES 1 HD_A 0.0038360001 PRESSURE_SLOPE 0.00011457827 T_EPIRB 0

CALL_TRIES 5 HD_B 0.010078 PRESSURE_YINT -17.360556 T_GPS 15

CALL_WAIT 30 HD_C 9.8500004e-06 PROTOCOL 0 T_GPS_ALMANAC 0

CAPMAXSIZE 400000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -905942.75

CAPUPLOAD 1 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 85

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 156 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 2

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 600

COMPASS_USE 4 INT_PRESSURE_YINT 0 RHO 1.0276999 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2264 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_ROLL_CLIMB 1940 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2040 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY -6

C_VBD 1638 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3800 VBD_BLEED_AD_RATE 1

DEEPGLIDER 0 MASS 51793 ROLL_MAXERRORS 2 VBD_CNV -0.25119999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 221 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 100 ROLL_TIMEOUT 15 VBD_MAX 3959

DEVICE2 20 MINV_10V 8 R_PORT_OVSHOOT 18 VBD_MAXERRORS 1

DEVICE3 35 MINV_24V 17 R_STBD_OVSHOOT 22 VBD_MIN 451

DEVICE4 101 MISSION 6 SEABIRD_C_G -10.168411 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1470841 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.001554661 VBD_TIMEOUT 720

DIVE 5 NOCOMM_ACTION 0 SEABIRD_C_J 0.00020326475 W_ADJ_DBAND 0

D_ABORT 1020 N_DIVES 25 SEABIRD_T_G 0.0043990691 XPDR_DEVICE 24

D_BOOST 0 N_FILEKB 4 SEABIRD_T_H 0.00065709552 XPDR_INHIBIT 90

D_CALL 0 N_GPS 40 SEABIRD_T_I 3.75727e-05 XPDR_VALID 1

D_FINISH 6 N_NOCOMM 3 SEABIRD_T_J 5.2690598e-06

D_FLARE 3 N_NOSURFACE -1 SIM_PITCH 0

D_NO_BLEED 500 PHONE_DEVICE 48 SIM_W 0

Pre-dive calculations and measurements:

GPS1 060115,234537,4743.410,-12224.790,12,1.2,12,18.2 TGT_NAME NORTH

_CALLS 1 TGT_LATLONG 4744.500,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.053,0.194

_SM_DEPTHo 0.95 KALMAN_X -324.8,-103.3,-63.2,166.8,-142.3

_SM_ANGLEo -68.5 KALMAN_Y -544.3,-104.5,-23.4,1269.0,-374.6

GPS2 060115,234955,4743.405,-12224.806,12,1.5,12,18.2 MHEAD_RNG_PITCHd_Wd 357.0,2064,-18.6,-8.000,-21.66,1863

SPEED_LIMITS 0.139,0.201 D_GRID 175

Post-dive calculations and measurements:

FINISH 0.3,1.021419 _24V_AH 24.2,0.541

SM_CCo 3523,135.23,0.514,2,0,602,260.24 _10V_AH 10.4,0.368

SM_GC 0.91,6.20,0.15,135.23,0.057,0.075,0.514,145,2064,602,-6.54,-0.76,260.24,0,0,0,0,2,0,26.40,26.44,24.63 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4735.69,-13052.11,060115,232349 FG_AHR_10Vo 0.000

TT8_MAMPS 0.027713,0.027713 MEM 323272

HUMID 29.76 DATA_FILE_SIZE 47037,648

INTERNAL_PRESSURE 9.32653 CAP_FILE_SIZE 90535,0

TCM_TEMP 19.90 CFSIZE 260165632,257626112

XPDR_PINGS 208 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,2,0,0

ALTIM_BOTTOM_PING 135.7,58.2 GPS 070115,005323,4743.556,-12224.742,14,1.8,36,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 238 87.22 SBE_CT 438 23 254.16

Roll_motor 56 74 102.01 SBE_O2 358 5 51.99

VBD_pump_during_apogee 157 642 2445.38 WL_BB2FLVMG 608 105 1545.78

VBD_pump_during_surface 135 514 1682.30 AA4330 549 41 557.53

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 54 420 551.40 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 29 4.06

TT8 1468 12 190.35

LPSleep 662 2 15.08

TT8_Active 439 12 56.96

TT8_Sampling 1007 35 373.97

TT8_CF8 166 42 73.35

TT8_Kalman 33 58 20.09

Analog_circuits 971 16 161.62

GPS_charging 0 0 0.00

Compass 974 16 167.09

RAFOS 0 0 0.00

Transponder 16 30 5.15

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

17 -0.63 -97.3 149 2041 518 683 0.0 0.0 0 85 0.00 0.00 -65.62 0.000 16386 0.000 0.000 149 2041 1991 2027 1955 0 0 0 0 0 0 28.83 28.83 28.83

89 -0.63 -97.3 149 2042 2027 1960 3.5 -7.1 12 104 7.35 2.47 -0.88 0.000 18948 0.239 0.071 2068 615 2027 2065 1989 0 0 0 0 0 0 25.76 25.98 26.25

418 -0.63 -97.3 2067 615 2066 1989 45.2 -10.8 75 424 0.00 2.38 0.00 0.000 1030 0.000 0.042 2058 2051 2027 2065 1989 0 0 0 0 0 0 28.83 26.21 28.83

547 -0.63 -97.3 1280 2047 2016 1981 59.1 -11.0 100 554 0.00 2.45 0.00 0.000 516 0.000 0.062 2058 620 2027 2066 1989 0 0 0 0 0 0 28.83 26.18 28.83

598 -0.63 -97.3 2058 620 2066 1989 64.5 -11.1 109 605 0.00 2.35 0.00 0.000 1030 0.000 0.041 2048 2046 2027 2065 1989 0 0 0 0 0 0 28.83 26.25 28.83

728 -0.63 -97.3 1264 2042 2016 1982 78.5 -10.4 134 735 0.00 2.20 0.00 0.000 260 0.000 0.050 2036 3460 2027 2066 1989 0 0 0 0 0 0 28.83 26.25 28.83

773 -0.63 -97.3 1252 3457 2017 1981 83.7 -11.8 142 780 0.00 2.28 0.00 0.000 1030 0.000 0.044 2036 2036 2028 2067 1989 0 0 0 0 0 0 28.83 26.27 28.83

904 -0.63 -97.3 2036 2029 2067 1989 99.8 -12.5 167 911 0.00 2.28 0.00 0.000 260 0.000 0.051 2026 3455 2028 2068 1989 0 0 0 0 0 0 28.83 26.27 28.83

970 -0.63 -97.3 2025 3454 2068 1989 109.5 -13.9 179 981 0.12 2.25 0.00 0.000 3078 0.176 0.044 2057 2039 2028 2068 1989 0 0 0 0 0 0 26.16 26.29 28.83

1110 -0.63 -97.3 2057 2035 2068 1988 124.8 -10.9 204 1117 0.00 2.35 0.00 0.000 516 0.000 0.062 2058 625 2027 2068 1987 0 0 0 0 0 0 28.83 26.29 28.83

1192 -0.63 -97.3 2058 625 2068 1986 134.8 -11.8 219 1203 0.00 2.33 0.00 0.000 1030 0.000 0.041 2049 2042 2027 2068 1986 0 0 0 0 0 0 28.83 26.34 28.83

1329 -0.63 -97.3 2048 2041 2068 1985 150.1 -9.5 244 1335 0.00 2.42 0.00 0.000 516 0.000 0.060 2049 622 2027 2068 1986 0 0 0 0 0 0 28.83 26.32 28.83

1394 -0.63 -97.3 1264 622 2018 1978 156.4 -9.9 256 1401 0.00 2.35 0.00 0.000 1030 0.000 0.041 2037 2048 2026 2068 1985 0 0 0 0 0 0 28.83 26.36 28.83

1529 -0.63 -97.3 2037 2046 2068 1985 168.9 -11.4 281 1534 0.00 0.00 0.00 0.000 6 0.000 0.000 2037 2046 2026 2068 1985 0 0 0 0 0 0 28.83 28.83 28.83

1584 end dive: TARGET_DEPTH_EXCEEDED

state 1584 begin apogee

1593 -0.23 0.0 2037 1907 2068 1985 175.3 -10.7 292 1677 0.47 0.00 78.38 0.643 10246 0.149 0.000 2186 1907 1637 1658 1616 0 0 0 0 0 0 26.23 28.83 24.64

1678 end apogee: CONTROL_FINISHED_OK

state 1678 begin climb

1681 0.63 97.3 2185 1907 1658 1615 180.4 0.0 307 1771 0.82 2.50 78.88 0.617 10500 0.111 0.050 2457 3345 1250 1238 1262 0 0 0 0 0 0 25.20 24.82 24.25

1812 0.63 97.3 1536 3343 1220 1259 172.7 12.1 330 1818 0.00 2.30 0.00 0.000 1030 0.000 0.047 2468 1980 1249 1237 1261 0 0 0 0 0 0 28.83 25.24 28.83

1945 0.63 97.3 2467 1976 1236 1261 160.6 9.7 355 1951 0.00 0.00 0.00 0.000 6 0.000 0.000 2468 1976 1249 1237 1262 0 0 0 0 0 0 28.83 28.83 28.83

2074 0.63 97.3 2467 1976 1236 1261 146.5 11.1 380 2080 0.00 0.00 0.00 0.000 6 0.000 0.000 2468 1976 1249 1236 1262 0 0 0 0 0 0 28.83 28.83 28.83

2205 0.63 97.3 2467 1976 1236 1262 131.8 11.0 405 2211 0.00 2.22 0.00 0.000 260 0.000 0.049 2467 3350 1249 1236 1262 0 0 0 0 0 0 28.83 25.97 28.83

2250 0.63 97.3 2467 3349 1234 1261 126.8 10.9 413 2257 0.00 2.33 0.00 0.000 1030 0.000 0.046 2478 1922 1247 1234 1261 0 0 0 0 0 0 28.83 26.02 28.83

2383 0.63 97.3 2478 1922 1234 1261 113.5 10.1 438 2389 0.00 0.00 0.00 0.000 6 0.000 0.000 2478 1922 1248 1234 1262 0 0 0 0 0 0 28.83 28.83 28.83

2513 0.63 97.3 2478 1922 1234 1261 99.9 11.0 463 2520 0.00 2.35 0.00 0.000 516 0.000 0.065 2490 531 1248 1234 1262 0 0 0 0 0 0 28.83 26.13 28.83

2584 0.63 97.3 2489 531 1235 1258 93.1 10.2 476 2590 0.00 2.33 0.00 0.000 1030 0.000 0.040 2489 1947 1246 1235 1258 0 0 0 0 0 0 28.83 26.20 28.83

2717 0.63 97.3 2489 1955 1234 1258 78.7 11.9 501 2723 0.00 2.20 0.00 0.000 260 0.000 0.049 2490 3351 1246 1234 1258 0 0 0 0 0 0 28.83 26.21 28.83

2767 0.63 97.3 2490 3351 1234 1258 71.8 13.3 510 2775 0.12 2.30 0.00 0.000 5126 0.183 0.046 2470 1930 1246 1234 1258 0 0 0 0 0 0 26.09 26.24 28.83

2902 0.63 97.3 2470 1930 1234 1258 57.4 10.1 535 2907 0.00 0.00 0.00 0.000 6 0.000 0.000 2471 1930 1246 1234 1258 0 0 0 0 0 0 28.83 28.83 28.83

3031 0.63 97.3 2470 1929 1234 1258 45.4 9.5 560 3037 0.00 0.00 0.00 0.000 6 0.000 0.000 2470 1929 1246 1235 1258 0 0 0 0 0 0 28.83 28.83 28.83

3162 0.63 97.3 2470 1929 1235 1258 33.5 8.1 585 3169 0.00 2.28 0.00 0.000 260 0.000 0.048 2469 3353 1246 1234 1258 0 0 0 0 0 0 28.83 26.32 28.83

3238 0.63 97.3 2469 3352 1234 1258 25.6 10.9 599 3245 0.00 2.28 0.00 0.000 1030 0.000 0.046 2477 1937 1246 1234 1258 0 0 0 0 0 0 28.83 26.34 28.83

3309 0.63 97.3 2478 1937 1234 1258 18.6 9.8 612 3316 0.00 2.38 0.00 0.000 516 0.000 0.064 2489 527 1246 1235 1258 0 0 0 0 0 0 28.83 26.32 28.83

3370 0.63 97.3 2489 527 1235 1256 12.4 10.2 623 3377 0.00 2.33 0.00 0.000 1030 0.000 0.039 2489 1947 1245 1234 1257 0 0 0 0 0 0 28.83 26.39 28.83

3441 0.63 97.3 2489 1946 1235 1256 5.8 8.9 636 3447 0.00 0.00 0.00 0.000 6 0.000 0.000 2489 1946 1245 1234 1256 0 0 0 0 0 0 28.83 28.83 28.83

3481 end climb: SURFACE_DEPTH_REACHED

state 3482 begin surface coast

3503 end surface coast: CONTROL_FINISHED_OK

state 3504 begin surface

ID	156	HD_C	9.8500004e-06	ROLL_MAX	3800	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	6	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	5	ESCAPE_HEADING	50	C_ROLL_DIVE	2040	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	25	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1940	ALTIM_PING_DEPTH	100
D_SURF	2	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	56.75	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	180	TGT_DEFAULT_LON	-7.25	ROLL_TIMEOUT	15	ALTIM_PULSE	5
D_ABORT	1020	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	18	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	260	R_STBD_OVSHOOT	22	XPDR_VALID	1
D_BOOST	0	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	6	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	0	VBD_MIN	451	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	3	VBD_MAX	3959	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	C_VBD	1638	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	-1	VBD_DBAND	2	DEVICE2	20
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.25119999	DEVICE3	35
T_DIVE	75	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	101
T_MISSION	85	CALL_WAIT	30	PITCH_VBD_SHIFT	0.00030000001	DEVICE5	-1
T_ABORT	720	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	600	CAPMAXSIZE	400000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	1	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	15	UNCOM_BLEED	50	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	40	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	-6	T_GPS_CHARGE	-905942.75	DBDW	0	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	2	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	150	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	100	XPDR_DEVICE	24
APOGEE_PITCH	-7	PITCH_MIN	160	MINV_24V	17	SIM_W	0
MAX_BUOY	100	PITCH_MAX	3877	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2264	FG_AHR_10V	0	SEABIRD_T_G	0.0043990691
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00065709552
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	3.75727e-05
RHO	1.0276999	P_OVSHOOT	0.039999999	PRESSURE_YINT	-17.360556	SEABIRD_T_J	5.2690598e-06
MASS	51793	PITCH_GAIN	31	PRESSURE_SLOPE	0.00011457827	SEABIRD_C_G	-10.168411
MASS_COMP	0	PITCH_TIMEOUT	16	AD7714Ch0Gain	128	SEABIRD_C_H	1.1470841
NAV_MODE	1	PITCH_AD_RATE	100	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.001554661
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00020326475
KALMAN_USE	1	PITCH_ADJ_GAIN	0	COMPASS_USE	4
HD_A	0.0038360001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.010078	ROLL_MIN	221	ALTIM_TOP_PING_RANGE	0

GPS1	060115,234537,4743.410,-12224.790,12,1.2,12,18.2	TGT_NAME	NORTH
_CALLS	1	TGT_LATLONG	4744.500,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.053,0.194
_SM_DEPTHo	0.95	KALMAN_X	-324.8,-103.3,-63.2,166.8,-142.3
_SM_ANGLEo	-68.5	KALMAN_Y	-544.3,-104.5,-23.4,1269.0,-374.6
GPS2	060115,234955,4743.405,-12224.806,12,1.5,12,18.2	MHEAD_RNG_PITCHd_Wd	357.0,2064,-18.6,-8.000,-21.66,1863
SPEED_LIMITS	0.139,0.201	D_GRID	175

FINISH	0.3,1.021419	_24V_AH	24.2,0.541
SM_CCo	3523,135.23,0.514,2,0,602,260.24	_10V_AH	10.4,0.368
SM_GC	0.91,6.20,0.15,135.23,0.057,0.075,0.514,145,2064,602,-6.54,-0.76,260.24,0,0,0,0,2,0,26.40,26.44,24.63	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4735.69,-13052.11,060115,232349	FG_AHR_10Vo	0.000
TT8_MAMPS	0.027713,0.027713	MEM	323272
HUMID	29.76	DATA_FILE_SIZE	47037,648
INTERNAL_PRESSURE	9.32653	CAP_FILE_SIZE	90535,0
TCM_TEMP	19.90	CFSIZE	260165632,257626112
XPDR_PINGS	208	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,2,0,0
ALTIM_BOTTOM_PING	135.7,58.2	GPS	070115,005323,4743.556,-12224.742,14,1.8,36,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	238	87.22	SBE_CT	438	23	254.16
Roll_motor	56	74	102.01	SBE_O2	358	5	51.99
VBD_pump_during_apogee	157	642	2445.38	WL_BB2FLVMG	608	105	1545.78
VBD_pump_during_surface	135	514	1682.30	AA4330	549	41	557.53
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	54	420	551.40	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	29	4.06
TT8	1468	12	190.35
LPSleep	662	2	15.08
TT8_Active	439	12	56.96
TT8_Sampling	1007	35	373.97
TT8_CF8	166	42	73.35
TT8_Kalman	33	58	20.09
Analog_circuits	971	16	161.62
GPS_charging	0	0	0.00
Compass	974	16	167.09
RAFOS	0	0	0.00
Transponder	16	30	5.15

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
17	-0.63	-97.3	149	2041	518	683	0.0	0.0	0	85	0.00	0.00	-65.62	0.000	16386	0.000	0.000	149	2041	1991	2027	1955	0	0	0	0	0	0	28.83	28.83	28.83
89	-0.63	-97.3	149	2042	2027	1960	3.5	-7.1	12	104	7.35	2.47	-0.88	0.000	18948	0.239	0.071	2068	615	2027	2065	1989	0	0	0	0	0	0	25.76	25.98	26.25
418	-0.63	-97.3	2067	615	2066	1989	45.2	-10.8	75	424	0.00	2.38	0.00	0.000	1030	0.000	0.042	2058	2051	2027	2065	1989	0	0	0	0	0	0	28.83	26.21	28.83
547	-0.63	-97.3	1280	2047	2016	1981	59.1	-11.0	100	554	0.00	2.45	0.00	0.000	516	0.000	0.062	2058	620	2027	2066	1989	0	0	0	0	0	0	28.83	26.18	28.83
598	-0.63	-97.3	2058	620	2066	1989	64.5	-11.1	109	605	0.00	2.35	0.00	0.000	1030	0.000	0.041	2048	2046	2027	2065	1989	0	0	0	0	0	0	28.83	26.25	28.83
728	-0.63	-97.3	1264	2042	2016	1982	78.5	-10.4	134	735	0.00	2.20	0.00	0.000	260	0.000	0.050	2036	3460	2027	2066	1989	0	0	0	0	0	0	28.83	26.25	28.83
773	-0.63	-97.3	1252	3457	2017	1981	83.7	-11.8	142	780	0.00	2.28	0.00	0.000	1030	0.000	0.044	2036	2036	2028	2067	1989	0	0	0	0	0	0	28.83	26.27	28.83
904	-0.63	-97.3	2036	2029	2067	1989	99.8	-12.5	167	911	0.00	2.28	0.00	0.000	260	0.000	0.051	2026	3455	2028	2068	1989	0	0	0	0	0	0	28.83	26.27	28.83
970	-0.63	-97.3	2025	3454	2068	1989	109.5	-13.9	179	981	0.12	2.25	0.00	0.000	3078	0.176	0.044	2057	2039	2028	2068	1989	0	0	0	0	0	0	26.16	26.29	28.83
1110	-0.63	-97.3	2057	2035	2068	1988	124.8	-10.9	204	1117	0.00	2.35	0.00	0.000	516	0.000	0.062	2058	625	2027	2068	1987	0	0	0	0	0	0	28.83	26.29	28.83
1192	-0.63	-97.3	2058	625	2068	1986	134.8	-11.8	219	1203	0.00	2.33	0.00	0.000	1030	0.000	0.041	2049	2042	2027	2068	1986	0	0	0	0	0	0	28.83	26.34	28.83
1329	-0.63	-97.3	2048	2041	2068	1985	150.1	-9.5	244	1335	0.00	2.42	0.00	0.000	516	0.000	0.060	2049	622	2027	2068	1986	0	0	0	0	0	0	28.83	26.32	28.83
1394	-0.63	-97.3	1264	622	2018	1978	156.4	-9.9	256	1401	0.00	2.35	0.00	0.000	1030	0.000	0.041	2037	2048	2026	2068	1985	0	0	0	0	0	0	28.83	26.36	28.83
1529	-0.63	-97.3	2037	2046	2068	1985	168.9	-11.4	281	1534	0.00	0.00	0.00	0.000	6	0.000	0.000	2037	2046	2026	2068	1985	0	0	0	0	0	0	28.83	28.83	28.83
1584	end dive: TARGET_DEPTH_EXCEEDED
state	1584	begin apogee
1593	-0.23	0.0	2037	1907	2068	1985	175.3	-10.7	292	1677	0.47	0.00	78.38	0.643	10246	0.149	0.000	2186	1907	1637	1658	1616	0	0	0	0	0	0	26.23	28.83	24.64
1678	end apogee: CONTROL_FINISHED_OK
state	1678	begin climb
1681	0.63	97.3	2185	1907	1658	1615	180.4	0.0	307	1771	0.82	2.50	78.88	0.617	10500	0.111	0.050	2457	3345	1250	1238	1262	0	0	0	0	0	0	25.20	24.82	24.25
1812	0.63	97.3	1536	3343	1220	1259	172.7	12.1	330	1818	0.00	2.30	0.00	0.000	1030	0.000	0.047	2468	1980	1249	1237	1261	0	0	0	0	0	0	28.83	25.24	28.83
1945	0.63	97.3	2467	1976	1236	1261	160.6	9.7	355	1951	0.00	0.00	0.00	0.000	6	0.000	0.000	2468	1976	1249	1237	1262	0	0	0	0	0	0	28.83	28.83	28.83
2074	0.63	97.3	2467	1976	1236	1261	146.5	11.1	380	2080	0.00	0.00	0.00	0.000	6	0.000	0.000	2468	1976	1249	1236	1262	0	0	0	0	0	0	28.83	28.83	28.83
2205	0.63	97.3	2467	1976	1236	1262	131.8	11.0	405	2211	0.00	2.22	0.00	0.000	260	0.000	0.049	2467	3350	1249	1236	1262	0	0	0	0	0	0	28.83	25.97	28.83
2250	0.63	97.3	2467	3349	1234	1261	126.8	10.9	413	2257	0.00	2.33	0.00	0.000	1030	0.000	0.046	2478	1922	1247	1234	1261	0	0	0	0	0	0	28.83	26.02	28.83
2383	0.63	97.3	2478	1922	1234	1261	113.5	10.1	438	2389	0.00	0.00	0.00	0.000	6	0.000	0.000	2478	1922	1248	1234	1262	0	0	0	0	0	0	28.83	28.83	28.83
2513	0.63	97.3	2478	1922	1234	1261	99.9	11.0	463	2520	0.00	2.35	0.00	0.000	516	0.000	0.065	2490	531	1248	1234	1262	0	0	0	0	0	0	28.83	26.13	28.83
2584	0.63	97.3	2489	531	1235	1258	93.1	10.2	476	2590	0.00	2.33	0.00	0.000	1030	0.000	0.040	2489	1947	1246	1235	1258	0	0	0	0	0	0	28.83	26.20	28.83
2717	0.63	97.3	2489	1955	1234	1258	78.7	11.9	501	2723	0.00	2.20	0.00	0.000	260	0.000	0.049	2490	3351	1246	1234	1258	0	0	0	0	0	0	28.83	26.21	28.83
2767	0.63	97.3	2490	3351	1234	1258	71.8	13.3	510	2775	0.12	2.30	0.00	0.000	5126	0.183	0.046	2470	1930	1246	1234	1258	0	0	0	0	0	0	26.09	26.24	28.83
2902	0.63	97.3	2470	1930	1234	1258	57.4	10.1	535	2907	0.00	0.00	0.00	0.000	6	0.000	0.000	2471	1930	1246	1234	1258	0	0	0	0	0	0	28.83	28.83	28.83
3031	0.63	97.3	2470	1929	1234	1258	45.4	9.5	560	3037	0.00	0.00	0.00	0.000	6	0.000	0.000	2470	1929	1246	1235	1258	0	0	0	0	0	0	28.83	28.83	28.83
3162	0.63	97.3	2470	1929	1235	1258	33.5	8.1	585	3169	0.00	2.28	0.00	0.000	260	0.000	0.048	2469	3353	1246	1234	1258	0	0	0	0	0	0	28.83	26.32	28.83
3238	0.63	97.3	2469	3352	1234	1258	25.6	10.9	599	3245	0.00	2.28	0.00	0.000	1030	0.000	0.046	2477	1937	1246	1234	1258	0	0	0	0	0	0	28.83	26.34	28.83
3309	0.63	97.3	2478	1937	1234	1258	18.6	9.8	612	3316	0.00	2.38	0.00	0.000	516	0.000	0.064	2489	527	1246	1235	1258	0	0	0	0	0	0	28.83	26.32	28.83
3370	0.63	97.3	2489	527	1235	1256	12.4	10.2	623	3377	0.00	2.33	0.00	0.000	1030	0.000	0.039	2489	1947	1245	1234	1257	0	0	0	0	0	0	28.83	26.39	28.83
3441	0.63	97.3	2489	1946	1235	1256	5.8	8.9	636	3447	0.00	0.00	0.00	0.000	6	0.000	0.000	2489	1946	1245	1234	1256	0	0	0	0	0	0	28.83	28.83	28.83
3481	end climb: SURFACE_DEPTH_REACHED
state	3482	begin surface coast
3503	end surface coast: CONTROL_FINISHED_OK
state	3504	begin surface