Glider dive log

Shilshole 30Apr19 * SG037 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 37 HD_B 0.013 ROLL_MAX 3923 ALTIM_BOTTOM_PING_RANGE 0

MISSION 23 HD_C 2.4999999e-06 ROLL_DEG 45 ALTIM_TOP_PING_RANGE 20

DIVE 5 HEADING -1 C_ROLL_DIVE 190 ALTIM_BOTTOM_TURN_MARGIN 15

N_DIVES 0 ESCAPE_HEADING 0 C_ROLL_CLIMB 3900 ALTIM_TOP_TURN_MARGIN 0

STOP_T 0 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 180 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 100

D_FLARE 3 TGT_DEFAULT_LAT 2630 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

D_TGT 180 TGT_DEFAULT_LON -7630 R_PORT_OVSHOOT 35 ALTIM_FREQUENCY 12

D_ABORT 6000 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 24 ALTIM_PULSE 3

D_NO_BLEED 50 SM_CC 570 ROLL_AD_RATE 200 ALTIM_SENSITIVITY 1

D_BOOST 0 N_FILEKB 4 ROLL_MAXERRORS 2 XPDR_VALID 6

T_BOOST 0 FILEMGR 0 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 COMM_SEQ 0 VBD_MIN 140 INT_PRESSURE_YINT 1.2

D_SAFE 0 PROTOCOL 9 VBD_MAX 3900 DEEPGLIDER 1

D_CALL 0 N_NOCOMM 1 C_VBD 2107 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 384 VBD_DBAND 2 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_CNV -0.29049 DEVICE2 101

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_LP_IGNORE 0 DEVICE3 -1

T_DIVE 80 CALL_TRIES 10 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 90 CALL_WAIT 60 PITCH_VBD_SHIFT 0.00026999999 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 3 DEVICE6 -1

T_TURN 540 CAPMAXSIZE 200000 VBD_PUMP_AD_RATE_APOGEE 2.5 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 3 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS -15 UNCOM_BLEED 50 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 50840 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_SLOITER 60 T_RSLEEP 2 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

T_EPIRB 0 STROBE 0 DBDW 0 COMPASS_DEVICE 33

USE_BATHY -6 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_ICE 0 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 GPS_DEVICE 48

D_OFFGRID 100 RAFOS_MMODEM 0 AH0_24V 150 RAFOS_DEVICE -1

T_WATCHDOG 10 PITCH_MIN 136 AH0_10V 100 XPDR_DEVICE 24

RELAUNCH 0 PITCH_MAX 3906 MINV_24V 17 SIM_W 0

APOGEE_PITCH -5 C_PITCH 3519 MINV_10V 8 SIM_PITCH 0

MAX_BUOY 250 PITCH_DBAND 0.1 MAXI_24V 0.80000001 SEABIRD_T_G 0.004395098

COURSE_BIAS 0 PITCH_CNV 0.003125763 MAXI_10V 0.60000002 SEABIRD_T_H 0.00063361513

GLIDE_SLOPE 35 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.5651329e-05

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 3.1717634e-06

RHO 1.023 PITCH_GAIN 15 PHONE_SUPPLY 2 SEABIRD_C_G -9.9017992

MASS 78590 PITCH_TIMEOUT 20 PRESSURE_YINT -23.743544 SEABIRD_C_H 1.1589037

MASS_COMP 8995.7998 PITCH_AD_RATE 160 PRESSURE_SLOPE 0 SEABIRD_C_I -0.0017859261

NAV_MODE 2 PITCH_MAXERRORS 1 AD7714Ch0Gain 32 SEABIRD_C_J 0.00021709637

FERRY_MAX 45 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SEABIRD_C_Z 2927.29

KALMAN_USE 2 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0

HD_A 0.0035481339 ROLL_MIN 178 COMPASS_USE 4

AD7714Ch0Gain 32 D_SAFE 0 PITCH_ADJ_DBAND 0 SIM_W 0

AH0_10V 100 D_SURF 3 PITCH_ADJ_GAIN 0 SM_CC 570

AH0_24V 150 D_TGT 180 PITCH_AD_RATE 160 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 STOP_T 0

ALTIM_BOTTOM_TURN_MARGIN 15 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 STROBE 0

ALTIM_FREQUENCY 12 FERRY_MAX 45 PITCH_GAIN 15 SURFACE_URGENCY 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_MAX 3906 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 100 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FILEMGR 0 PITCH_MIN 136 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 1 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 GLIDE_SLOPE 35 PITCH_VBD_SHIFT 0.00026999999 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 GPS_DEVICE 48 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 2630

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0035481339 PITCH_W_GAIN 0 TGT_DEFAULT_LON -7630

APOGEE_PITCH -5 HD_B 0.013 PRESSURE_SLOPE 0 T_ABORT 1440

CALL_NDIVES 1 HD_C 2.4999999e-06 PRESSURE_YINT -23.743544 T_BOOST 0

CALL_TRIES 10 HEADING -1 PROTOCOL 9 T_DIVE 80

CALL_WAIT 60 HEAD_ERRBAND 180 P_OVSHOOT 0.039999999 T_EPIRB 0

CAPMAXSIZE 200000 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_GPS -15

CAPUPLOAD 1 ICE_FREEZE_MARGIN 0 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 2 ID 37 RAFOS_DEVICE -1 T_MISSION 90

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 1.2 RAFOS_MMODEM 0 T_RSLEEP 2

COMPASS_DEVICE 33 KALMAN_USE 2 RAFOS_PEAK_OFFSET 1.5 T_SLOITER 60

COMPASS_USE 4 LOGGERDEVICE1 -1 RELAUNCH 0 T_TURN 540

COURSE_BIAS 0 LOGGERDEVICE2 -1 RHO 1.023 T_TURN_SAMPINT 5

C_PITCH 3519 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_CLIMB 3900 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_ROLL_DIVE 190 LOGGERS 0 ROLL_AD_RATE 200 UPLOAD_DIVES_MAX -1

C_VBD 2107 MASS 78590 ROLL_CNV 0.028270001 USE_BATHY -6

DBDW 0 MASS_COMP 8995.7998 ROLL_DEG 45 USE_ICE 0

DEEPGLIDER 1 MAXI_10V 0.60000002 ROLL_MAX 3923 VBD_BLEED_AD_RATE 3

DEVICE1 2 MAXI_24V 0.80000001 ROLL_MAXERRORS 2 VBD_CNV -0.29049

DEVICE2 101 MAX_BUOY 250 ROLL_MIN 178 VBD_DBAND 2

DEVICE3 -1 MINV_10V 8 ROLL_TIMEOUT 15 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 17 R_PORT_OVSHOOT 35 VBD_MAX 3900

DEVICE5 -1 MISSION 23 R_STBD_OVSHOOT 24 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -9.9017992 VBD_MIN 140

DIVE 5 NAV_MODE 2 SEABIRD_C_H 1.1589037 VBD_PUMP_AD_RATE_APOGEE 2.5

D_ABORT 6000 NOCOMM_ACTION 384 SEABIRD_C_I -0.0017859261 VBD_PUMP_AD_RATE_SURFACE 3

D_BOOST 0 N_DIVES 0 SEABIRD_C_J 0.00021709637 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_Z 2927.29 W_ADJ_DBAND 2

D_FINISH 0 N_GPS 50840 SEABIRD_T_G 0.004395098 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_H 0.00063361513 XPDR_INHIBIT 90

D_NO_BLEED 50 N_NOSURFACE 0 SEABIRD_T_I 2.5651329e-05 XPDR_VALID 6

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_J 3.1717634e-06

D_PITCH 0 PHONE_SUPPLY 2 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 300419,222509,4742.3809,-12225.2295,5,0.9,20,16.3,0.3,208.7,9,5.0 TGT_NAME NORTH

_CALLS 1 TGT_LATLONG 4744.500,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 1.15 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -68.9 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 300419,223128,4742.3472,-12225.2842,7,0.9,24,16.3,0.3,0.0,9,5.0 MHEAD_RNG_PITCHd_Wd 6.9,4105,-10.5,-7.500,-15.75,4978

SPEED_LIMITS 0.107,0.266 D_GRID 170

Post-dive calculations and measurements:

FINISH 1.9,1.020710 _24V_AH 24.25,90.166

SM_CCo 4161,255.65,0.757,0,0,143,570.23 _10V_AH 10.36,48.325

SM_GC 1.43,10.35,5.90,255.65,0.139,0.084,0.757,148,185,143,-10.50,0.68,570.23,0,0,0,0,0,0,26.43,26.57,24.46 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4743.51,-12226.80,300419,213008 FG_AHR_10Vo 0.000

TT8_MAMPS 0.02247,0.195489 MEM 312844

HUMID 28.93 DATA_FILE_SIZE 31393,453

INTERNAL_PRESSURE 8.17292 CAP_FILE_SIZE 67410,0

TCM_TEMP 13.30 CFSIZE 2047311872,2042494976

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

ALTIM_TOP_PING 19.9,19.4 CURRENT 0.073,179.30,1

ALTIM_BOTTOM_PING 150.9,50.8 GPS 300419,234737,4742.354,-12225.301,6,1.2,28,16.3,0.4,155.3,8,5.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 310 193.81 SBE_CT 304 23 171.43

Roll_motor 17 84 36.44 AA4330 627 32 501.34

VBD_pump_during_apogee 353 893 7666.47 nil 0 0 0.00

VBD_pump_during_surface 255 757 4694.98 nil 0 0 0.00

VBD_valve 274 109 725.99 nil 0 0 0.00

Iridium_during_init 24 12 7.43 nil 0 0 0.00

Iridium_during_connect 17 160 67.07 nil 0 0 0.00

Iridium_during_xfer 230 223 1247.71 nil 0 0 0.00

Transponder_ping 16 420 170.60 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 24 28 7.30

TT8 1248 13 180.67

LPSleep 1486 2 33.73

TT8_Active 869 13 125.78

TT8_Sampling 1054 40 438.80

TT8_CF8 212 61 136.56

TT8_Kalman 0 0 0.00

Analog_circuits 1315 10 136.24

GPS_charging 0 0 0.00

Compass 726 7 56.34

RAFOS 0 0 0.00

Transponder 162 30 50.43

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 int_press humidity

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

74 -0.77 -244.4 172 164 257 31 1.4 -0.2 12 283 0.00 0.00 -204.40 0.107 16386 0.000 0.000 172 165 1862 1939 1786 0 0 0 0 0 0 26.55 28.83 26.57 8.23 31.57

287 -0.77 -244.4 171 165 1939 1787 3.3 -0.8 42 380 13.80 0.00 -69.62 0.109 18438 0.310 0.000 3267 164 2947 3006 2889 0 0 0 0 0 0 25.67 26.03 25.96 8.40 29.64

447 -0.77 -244.4 3266 164 3008 2888 18.8 -8.8 67 453 0.00 0.00 0.00 0.000 6 0.000 0.000 3267 164 2947 3007 2888 0 0 0 0 0 0 26.48 26.50 26.49 8.50 26.68

521 -0.77 -244.4 3266 164 3007 2888 27.9 -10.8 75 522 0.00 0.00 0.00 0.000 6 0.000 0.000 3267 164 2948 3007 2889 0 0 0 0 0 0 26.57 26.58 26.58 8.50 28.34

643 -0.77 -244.4 3266 164 3007 2889 41.8 -11.7 87 650 0.00 0.00 0.00 0.000 6 0.000 0.000 3267 164 2948 3007 2889 0 0 0 0 0 0 26.67 26.68 26.68 8.50 30.11

771 -0.77 -244.4 3266 164 3007 2889 58.0 -11.9 100 772 0.00 0.00 0.00 0.000 6 0.000 0.000 3267 164 2948 3007 2889 0 0 0 0 0 0 26.74 26.76 26.76 8.50 30.70

893 -0.77 -244.4 3266 164 3007 2889 72.5 -12.2 112 900 0.00 0.00 0.00 0.000 6 0.000 0.000 3267 164 2947 3007 2888 0 0 0 0 0 0 26.79 26.82 26.81 8.50 31.09

1021 -0.77 -244.4 3266 164 3007 2889 88.7 -12.3 125 1022 0.00 0.00 0.00 0.000 6 0.000 0.000 3267 164 2947 3007 2888 0 0 0 0 0 0 26.84 26.86 26.86 8.50 30.70

1147 -0.77 -244.4 3267 164 3007 2889 103.3 -12.1 137 1149 0.00 0.00 0.00 0.000 6 0.000 0.000 3267 164 2948 3007 2889 0 0 0 0 0 0 26.87 26.89 26.89 8.49 31.49

1286 -0.77 -244.4 3266 164 3007 2889 118.8 -11.5 149 1288 0.00 0.00 0.00 0.000 6 0.000 0.000 3267 164 2948 3007 2889 0 0 0 0 0 0 26.90 26.91 26.91 8.49 31.61

1425 -0.77 -244.4 3266 164 3007 2889 133.3 -11.0 161 1426 0.00 0.00 0.00 0.000 6 0.000 0.000 3267 164 2948 3007 2889 0 0 0 0 0 0 26.92 26.94 26.93 8.49 31.61

1564 -0.77 -244.4 3266 164 3007 2888 147.1 -10.3 173 1565 0.00 0.00 0.00 0.000 6 0.000 0.000 3267 164 2948 3007 2889 0 0 0 0 0 0 26.93 26.95 26.95 8.49 31.96

1689 -0.77 -244.4 3266 164 3007 2888 160.2 -10.0 185 1690 0.00 0.00 0.00 0.000 6 0.000 0.000 3267 164 2947 3007 2888 0 0 0 0 0 0 26.96 26.97 26.97 8.48 31.88

1768 end dive: TARGET_DEPTH_EXCEEDED

state 1768 begin apogee

1779 -0.33 0.0 3241 3913 3010 2886 170.1 -10.7 193 1960 0.52 0.00 175.23 0.894 10246 0.206 0.000 3403 3912 2107 2197 2017 0 0 0 0 0 0 26.27 24.95 24.37 8.49 32.16

1961 end apogee: CONTROL_FINISHED_OK

state 1961 begin climb

1963 0.77 244.4 3403 3913 2197 2017 181.5 0.0 212 2150 1.08 0.00 178.45 0.857 10246 0.174 0.000 3740 3912 1265 1368 1162 0 0 0 0 0 0 25.05 24.80 24.25 8.40 30.94

2269 0.77 244.4 3739 3913 1367 1162 158.2 8.2 243 2270 0.00 0.00 0.00 0.000 6 0.000 0.000 3740 3912 1264 1368 1161 0 0 0 0 0 0 26.03 26.05 26.05 8.32 28.14

2389 0.77 244.4 3739 3913 1367 1161 146.1 10.1 255 2390 0.00 0.00 0.00 0.000 6 0.000 0.000 3740 3913 1264 1367 1161 0 0 0 0 0 0 26.32 26.34 26.34 8.33 30.03

2511 0.77 244.4 3739 3913 1367 1161 135.4 9.7 267 2518 0.00 0.00 0.00 0.000 6 0.000 0.000 3740 3912 1264 1367 1161 0 0 0 0 0 0 26.50 26.51 26.51 8.32 30.70

2639 0.77 244.4 3739 3913 1368 1161 123.5 9.3 280 2640 0.00 0.00 0.00 0.000 6 0.000 0.000 3740 3912 1264 1368 1161 0 0 0 0 0 0 26.61 26.63 26.63 8.32 30.86

2761 0.77 244.4 3739 3913 1367 1161 112.6 9.1 292 2767 0.00 0.00 0.00 0.000 6 0.000 0.000 3740 3913 1264 1367 1161 0 0 0 0 0 0 26.70 26.71 26.70 8.32 31.29

2889 0.77 244.4 3739 3913 1367 1161 101.8 8.6 305 2890 0.00 0.00 0.00 0.000 6 0.000 0.000 3740 3912 1264 1367 1161 0 0 0 0 0 0 26.76 26.77 26.77 8.32 31.29

3011 0.77 244.4 3739 3913 1367 1161 90.1 8.9 317 3018 0.00 0.00 0.00 0.000 6 0.000 0.000 3740 3913 1264 1368 1161 0 0 0 0 0 0 26.80 26.82 26.82 8.31 32.28

3139 0.77 244.4 3740 3913 1368 1161 78.3 9.4 330 3140 0.00 0.00 0.00 0.000 6 0.000 0.000 3740 3912 1264 1368 1161 0 0 0 0 0 0 26.85 26.86 26.86 8.31 31.49

3261 0.77 244.4 3739 3912 1368 1161 67.9 9.1 342 3268 0.00 0.00 0.00 0.000 6 0.000 0.000 3740 3912 1264 1367 1161 0 0 0 0 0 0 26.88 26.90 26.89 8.31 31.53

3389 0.77 244.4 3739 3913 1367 1160 56.8 8.6 355 3390 0.00 0.00 0.00 0.000 6 0.000 0.000 3740 3913 1263 1367 1160 0 0 0 0 0 0 26.91 26.93 26.92 8.31 31.57

3511 0.77 244.4 3740 3913 1367 1160 48.2 7.9 367 3517 0.00 0.00 0.00 0.000 6 0.000 0.000 3740 3913 1263 1367 1160 0 0 0 0 0 0 26.93 26.95 26.94 8.30 31.88

3639 0.77 244.4 3739 3913 1367 1160 38.4 7.4 380 3640 0.00 0.00 0.00 0.000 6 0.000 0.000 3740 3912 1263 1367 1160 0 0 0 0 0 0 26.96 26.97 26.96 8.31 31.61

3761 0.77 244.4 3739 3912 1368 1160 29.2 7.6 392 3768 0.00 0.00 0.00 0.000 6 0.000 0.000 3740 3912 1264 1368 1160 0 0 0 0 0 0 26.97 26.99 26.98 8.30 32.39

3890 0.77 244.4 3739 3913 1367 1160 18.1 8.0 407 3897 0.00 0.00 0.00 0.000 6 0.000 0.000 3740 3913 1264 1368 1160 0 0 0 0 0 0 26.98 27.01 27.00 8.30 32.04

3960 0.77 244.4 3739 3913 1367 1160 12.7 8.3 420 3966 0.00 0.00 0.00 0.000 6 0.000 0.000 3740 3913 1263 1367 1160 0 0 0 0 0 0 27.00 27.01 27.01 8.30 32.28

4028 0.77 244.4 3739 3913 1368 1160 6.7 8.2 433 4036 0.00 0.00 0.00 0.000 6 0.000 0.000 3740 3913 1264 1368 1160 0 0 0 0 0 0 27.01 27.02 27.02 8.30 32.16

4098 end climb: SURFACE_DEPTH_REACHED

state 4098 begin surface coast

4136 end surface coast: CONTROL_FINISHED_OK

state 4136 begin surface

ID	37	HD_B	0.013	ROLL_MAX	3923	ALTIM_BOTTOM_PING_RANGE	0
MISSION	23	HD_C	2.4999999e-06	ROLL_DEG	45	ALTIM_TOP_PING_RANGE	20
DIVE	5	HEADING	-1	C_ROLL_DIVE	190	ALTIM_BOTTOM_TURN_MARGIN	15
N_DIVES	0	ESCAPE_HEADING	0	C_ROLL_CLIMB	3900	ALTIM_TOP_TURN_MARGIN	0
STOP_T	0	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	180	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	100
D_FLARE	3	TGT_DEFAULT_LAT	2630	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5
D_TGT	180	TGT_DEFAULT_LON	-7630	R_PORT_OVSHOOT	35	ALTIM_FREQUENCY	12
D_ABORT	6000	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	24	ALTIM_PULSE	3
D_NO_BLEED	50	SM_CC	570	ROLL_AD_RATE	200	ALTIM_SENSITIVITY	1
D_BOOST	0	N_FILEKB	4	ROLL_MAXERRORS	2	XPDR_VALID	6
T_BOOST	0	FILEMGR	0	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	COMM_SEQ	0	VBD_MIN	140	INT_PRESSURE_YINT	1.2
D_SAFE	0	PROTOCOL	9	VBD_MAX	3900	DEEPGLIDER	1
D_CALL	0	N_NOCOMM	1	C_VBD	2107	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	384	VBD_DBAND	2	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_CNV	-0.29049	DEVICE2	101
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_LP_IGNORE	0	DEVICE3	-1
T_DIVE	80	CALL_TRIES	10	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	90	CALL_WAIT	60	PITCH_VBD_SHIFT	0.00026999999	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	3	DEVICE6	-1
T_TURN	540	CAPMAXSIZE	200000	VBD_PUMP_AD_RATE_APOGEE	2.5	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	3	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	-15	UNCOM_BLEED	50	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	50840	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_SLOITER	60	T_RSLEEP	2	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
T_EPIRB	0	STROBE	0	DBDW	0	COMPASS_DEVICE	33
USE_BATHY	-6	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_ICE	0	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	GPS_DEVICE	48
D_OFFGRID	100	RAFOS_MMODEM	0	AH0_24V	150	RAFOS_DEVICE	-1
T_WATCHDOG	10	PITCH_MIN	136	AH0_10V	100	XPDR_DEVICE	24
RELAUNCH	0	PITCH_MAX	3906	MINV_24V	17	SIM_W	0
APOGEE_PITCH	-5	C_PITCH	3519	MINV_10V	8	SIM_PITCH	0
MAX_BUOY	250	PITCH_DBAND	0.1	MAXI_24V	0.80000001	SEABIRD_T_G	0.004395098
COURSE_BIAS	0	PITCH_CNV	0.003125763	MAXI_10V	0.60000002	SEABIRD_T_H	0.00063361513
GLIDE_SLOPE	35	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.5651329e-05
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	3.1717634e-06
RHO	1.023	PITCH_GAIN	15	PHONE_SUPPLY	2	SEABIRD_C_G	-9.9017992
MASS	78590	PITCH_TIMEOUT	20	PRESSURE_YINT	-23.743544	SEABIRD_C_H	1.1589037
MASS_COMP	8995.7998	PITCH_AD_RATE	160	PRESSURE_SLOPE	0	SEABIRD_C_I	-0.0017859261
NAV_MODE	2	PITCH_MAXERRORS	1	AD7714Ch0Gain	32	SEABIRD_C_J	0.00021709637
FERRY_MAX	45	PITCH_ADJ_GAIN	0	TCM_PITCH_OFFSET	0	SEABIRD_C_Z	2927.29
KALMAN_USE	2	PITCH_ADJ_DBAND	0	TCM_ROLL_OFFSET	0
HD_A	0.0035481339	ROLL_MIN	178	COMPASS_USE	4

GPS1	300419,222509,4742.3809,-12225.2295,5,0.9,20,16.3,0.3,208.7,9,5.0	TGT_NAME	NORTH
_CALLS	1	TGT_LATLONG	4744.500,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	1.15	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-68.9	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	300419,223128,4742.3472,-12225.2842,7,0.9,24,16.3,0.3,0.0,9,5.0	MHEAD_RNG_PITCHd_Wd	6.9,4105,-10.5,-7.500,-15.75,4978
SPEED_LIMITS	0.107,0.266	D_GRID	170

FINISH	1.9,1.020710	_24V_AH	24.25,90.166
SM_CCo	4161,255.65,0.757,0,0,143,570.23	_10V_AH	10.36,48.325
SM_GC	1.43,10.35,5.90,255.65,0.139,0.084,0.757,148,185,143,-10.50,0.68,570.23,0,0,0,0,0,0,26.43,26.57,24.46	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4743.51,-12226.80,300419,213008	FG_AHR_10Vo	0.000
TT8_MAMPS	0.02247,0.195489	MEM	312844
HUMID	28.93	DATA_FILE_SIZE	31393,453
INTERNAL_PRESSURE	8.17292	CAP_FILE_SIZE	67410,0
TCM_TEMP	13.30	CFSIZE	2047311872,2042494976
XPDR_PINGS	2	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_TOP_PING	19.9,19.4	CURRENT	0.073,179.30,1
ALTIM_BOTTOM_PING	150.9,50.8	GPS	300419,234737,4742.354,-12225.301,6,1.2,28,16.3,0.4,155.3,8,5.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	310	193.81	SBE_CT	304	23	171.43
Roll_motor	17	84	36.44	AA4330	627	32	501.34
VBD_pump_during_apogee	353	893	7666.47	nil	0	0	0.00
VBD_pump_during_surface	255	757	4694.98	nil	0	0	0.00
VBD_valve	274	109	725.99	nil	0	0	0.00
Iridium_during_init	24	12	7.43	nil	0	0	0.00
Iridium_during_connect	17	160	67.07	nil	0	0	0.00
Iridium_during_xfer	230	223	1247.71	nil	0	0	0.00
Transponder_ping	16	420	170.60	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	24	28	7.30
TT8	1248	13	180.67
LPSleep	1486	2	33.73
TT8_Active	869	13	125.78
TT8_Sampling	1054	40	438.80
TT8_CF8	212	61	136.56
TT8_Kalman	0	0	0.00
Analog_circuits	1315	10	136.24
GPS_charging	0	0	0.00
Compass	726	7	56.34
RAFOS	0	0	0.00
Transponder	162	30	50.43

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	int_press	humidity
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
74	-0.77	-244.4	172	164	257	31	1.4	-0.2	12	283	0.00	0.00	-204.40	0.107	16386	0.000	0.000	172	165	1862	1939	1786	0	0	0	0	0	0	26.55	28.83	26.57	8.23	31.57
287	-0.77	-244.4	171	165	1939	1787	3.3	-0.8	42	380	13.80	0.00	-69.62	0.109	18438	0.310	0.000	3267	164	2947	3006	2889	0	0	0	0	0	0	25.67	26.03	25.96	8.40	29.64
447	-0.77	-244.4	3266	164	3008	2888	18.8	-8.8	67	453	0.00	0.00	0.00	0.000	6	0.000	0.000	3267	164	2947	3007	2888	0	0	0	0	0	0	26.48	26.50	26.49	8.50	26.68
521	-0.77	-244.4	3266	164	3007	2888	27.9	-10.8	75	522	0.00	0.00	0.00	0.000	6	0.000	0.000	3267	164	2948	3007	2889	0	0	0	0	0	0	26.57	26.58	26.58	8.50	28.34
643	-0.77	-244.4	3266	164	3007	2889	41.8	-11.7	87	650	0.00	0.00	0.00	0.000	6	0.000	0.000	3267	164	2948	3007	2889	0	0	0	0	0	0	26.67	26.68	26.68	8.50	30.11
771	-0.77	-244.4	3266	164	3007	2889	58.0	-11.9	100	772	0.00	0.00	0.00	0.000	6	0.000	0.000	3267	164	2948	3007	2889	0	0	0	0	0	0	26.74	26.76	26.76	8.50	30.70
893	-0.77	-244.4	3266	164	3007	2889	72.5	-12.2	112	900	0.00	0.00	0.00	0.000	6	0.000	0.000	3267	164	2947	3007	2888	0	0	0	0	0	0	26.79	26.82	26.81	8.50	31.09
1021	-0.77	-244.4	3266	164	3007	2889	88.7	-12.3	125	1022	0.00	0.00	0.00	0.000	6	0.000	0.000	3267	164	2947	3007	2888	0	0	0	0	0	0	26.84	26.86	26.86	8.50	30.70
1147	-0.77	-244.4	3267	164	3007	2889	103.3	-12.1	137	1149	0.00	0.00	0.00	0.000	6	0.000	0.000	3267	164	2948	3007	2889	0	0	0	0	0	0	26.87	26.89	26.89	8.49	31.49
1286	-0.77	-244.4	3266	164	3007	2889	118.8	-11.5	149	1288	0.00	0.00	0.00	0.000	6	0.000	0.000	3267	164	2948	3007	2889	0	0	0	0	0	0	26.90	26.91	26.91	8.49	31.61
1425	-0.77	-244.4	3266	164	3007	2889	133.3	-11.0	161	1426	0.00	0.00	0.00	0.000	6	0.000	0.000	3267	164	2948	3007	2889	0	0	0	0	0	0	26.92	26.94	26.93	8.49	31.61
1564	-0.77	-244.4	3266	164	3007	2888	147.1	-10.3	173	1565	0.00	0.00	0.00	0.000	6	0.000	0.000	3267	164	2948	3007	2889	0	0	0	0	0	0	26.93	26.95	26.95	8.49	31.96
1689	-0.77	-244.4	3266	164	3007	2888	160.2	-10.0	185	1690	0.00	0.00	0.00	0.000	6	0.000	0.000	3267	164	2947	3007	2888	0	0	0	0	0	0	26.96	26.97	26.97	8.48	31.88
1768	end dive: TARGET_DEPTH_EXCEEDED
state	1768	begin apogee
1779	-0.33	0.0	3241	3913	3010	2886	170.1	-10.7	193	1960	0.52	0.00	175.23	0.894	10246	0.206	0.000	3403	3912	2107	2197	2017	0	0	0	0	0	0	26.27	24.95	24.37	8.49	32.16
1961	end apogee: CONTROL_FINISHED_OK
state	1961	begin climb
1963	0.77	244.4	3403	3913	2197	2017	181.5	0.0	212	2150	1.08	0.00	178.45	0.857	10246	0.174	0.000	3740	3912	1265	1368	1162	0	0	0	0	0	0	25.05	24.80	24.25	8.40	30.94
2269	0.77	244.4	3739	3913	1367	1162	158.2	8.2	243	2270	0.00	0.00	0.00	0.000	6	0.000	0.000	3740	3912	1264	1368	1161	0	0	0	0	0	0	26.03	26.05	26.05	8.32	28.14
2389	0.77	244.4	3739	3913	1367	1161	146.1	10.1	255	2390	0.00	0.00	0.00	0.000	6	0.000	0.000	3740	3913	1264	1367	1161	0	0	0	0	0	0	26.32	26.34	26.34	8.33	30.03
2511	0.77	244.4	3739	3913	1367	1161	135.4	9.7	267	2518	0.00	0.00	0.00	0.000	6	0.000	0.000	3740	3912	1264	1367	1161	0	0	0	0	0	0	26.50	26.51	26.51	8.32	30.70
2639	0.77	244.4	3739	3913	1368	1161	123.5	9.3	280	2640	0.00	0.00	0.00	0.000	6	0.000	0.000	3740	3912	1264	1368	1161	0	0	0	0	0	0	26.61	26.63	26.63	8.32	30.86
2761	0.77	244.4	3739	3913	1367	1161	112.6	9.1	292	2767	0.00	0.00	0.00	0.000	6	0.000	0.000	3740	3913	1264	1367	1161	0	0	0	0	0	0	26.70	26.71	26.70	8.32	31.29
2889	0.77	244.4	3739	3913	1367	1161	101.8	8.6	305	2890	0.00	0.00	0.00	0.000	6	0.000	0.000	3740	3912	1264	1367	1161	0	0	0	0	0	0	26.76	26.77	26.77	8.32	31.29
3011	0.77	244.4	3739	3913	1367	1161	90.1	8.9	317	3018	0.00	0.00	0.00	0.000	6	0.000	0.000	3740	3913	1264	1368	1161	0	0	0	0	0	0	26.80	26.82	26.82	8.31	32.28
3139	0.77	244.4	3740	3913	1368	1161	78.3	9.4	330	3140	0.00	0.00	0.00	0.000	6	0.000	0.000	3740	3912	1264	1368	1161	0	0	0	0	0	0	26.85	26.86	26.86	8.31	31.49
3261	0.77	244.4	3739	3912	1368	1161	67.9	9.1	342	3268	0.00	0.00	0.00	0.000	6	0.000	0.000	3740	3912	1264	1367	1161	0	0	0	0	0	0	26.88	26.90	26.89	8.31	31.53
3389	0.77	244.4	3739	3913	1367	1160	56.8	8.6	355	3390	0.00	0.00	0.00	0.000	6	0.000	0.000	3740	3913	1263	1367	1160	0	0	0	0	0	0	26.91	26.93	26.92	8.31	31.57
3511	0.77	244.4	3740	3913	1367	1160	48.2	7.9	367	3517	0.00	0.00	0.00	0.000	6	0.000	0.000	3740	3913	1263	1367	1160	0	0	0	0	0	0	26.93	26.95	26.94	8.30	31.88
3639	0.77	244.4	3739	3913	1367	1160	38.4	7.4	380	3640	0.00	0.00	0.00	0.000	6	0.000	0.000	3740	3912	1263	1367	1160	0	0	0	0	0	0	26.96	26.97	26.96	8.31	31.61
3761	0.77	244.4	3739	3912	1368	1160	29.2	7.6	392	3768	0.00	0.00	0.00	0.000	6	0.000	0.000	3740	3912	1264	1368	1160	0	0	0	0	0	0	26.97	26.99	26.98	8.30	32.39
3890	0.77	244.4	3739	3913	1367	1160	18.1	8.0	407	3897	0.00	0.00	0.00	0.000	6	0.000	0.000	3740	3913	1264	1368	1160	0	0	0	0	0	0	26.98	27.01	27.00	8.30	32.04
3960	0.77	244.4	3739	3913	1367	1160	12.7	8.3	420	3966	0.00	0.00	0.00	0.000	6	0.000	0.000	3740	3913	1263	1367	1160	0	0	0	0	0	0	27.00	27.01	27.01	8.30	32.28
4028	0.77	244.4	3739	3913	1368	1160	6.7	8.2	433	4036	0.00	0.00	0.00	0.000	6	0.000	0.000	3740	3913	1264	1368	1160	0	0	0	0	0	0	27.01	27.02	27.02	8.30	32.16
4098	end climb: SURFACE_DEPTH_REACHED
state	4098	begin surface coast
4136	end surface coast: CONTROL_FINISHED_OK
state	4136	begin surface