Glider dive log

Shilshole 02Jun15 * SG157 * Dive index * Mission links * Dive 8 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 157 HD_C 9.9999997e-06 ROLL_MAX 3867 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 13 HEADING -1 ROLL_DEG 33 ALTIM_TOP_TURN_MARGIN 0

DIVE 8 ESCAPE_HEADING 0 C_ROLL_DIVE 1580 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 25 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1580 ALTIM_PING_DEPTH 100

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 15

D_TGT 180 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 6

D_ABORT 1050 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 22 ALTIM_SENSITIVITY 4

D_NO_BLEED 45 SM_CC 250 R_STBD_OVSHOOT 15 XPDR_VALID 5

D_BOOST 0 N_FILEKB 4 ROLL_AD_RATE 250 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 1.2

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 9 VBD_MIN 485 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 1 C_VBD 1745 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 101

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.25119999 DEVICE3 83

T_DIVE 65 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 75 CALL_WAIT 45 PITCH_VBD_SHIFT 0.00055 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 300 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 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 -6 T_GPS_CHARGE -1486820 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 49

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 5 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 -5 PITCH_MIN 195 MINV_24V 19 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3873 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2950 FG_AHR_10V 0 SEABIRD_T_G 0.0042746845

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00061961456

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.2130595e-05

RHO 1.023 P_OVSHOOT 0.0099999998 PRESSURE_YINT -59.120026 SEABIRD_T_J 2.2584688e-06

MASS 52229 PITCH_GAIN 33 PRESSURE_SLOPE 0.0001158973 SEABIRD_C_G -10.171194

MASS_COMP 0 PITCH_TIMEOUT 18 AD7714Ch0Gain 128 SEABIRD_C_H 1.1508522

NAV_MODE 1 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0016472058

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00021877296

KALMAN_USE 1 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 268 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 250

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 3 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 180 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 15 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 33 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 100 FERRY_MAX 45 PITCH_MAX 3873 TCM_ROLL_OFFSET 0

ALTIM_PULSE 6 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_MIN 195 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 18 TGT_DEFAULT_LON -12218

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00055 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 65

CALL_NDIVES 1 HD_A 0.003 PRESSURE_SLOPE 0.0001158973 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -59.120026 T_GPS 15

CALL_WAIT 45 HD_C 9.9999997e-06 PROTOCOL 9 T_GPS_ALMANAC 0

CAPMAXSIZE 200000 HEADING -1 P_OVSHOOT 0.0099999998 T_GPS_CHARGE -1486820

CAPUPLOAD 1 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 5 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 75

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 157 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 300

COMPASS_USE 4 INT_PRESSURE_YINT 1.2 RHO 1.023 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2950 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 1580 LOGGERDEVICE2 -1 ROLL_AD_RATE 250 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 1580 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY -6

C_VBD 1745 LOGGERDEVICE4 -1 ROLL_DEG 33 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3867 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 52229 ROLL_MAXERRORS 2 VBD_CNV -0.25119999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 268 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 101 MINV_10V 8 R_PORT_OVSHOOT 22 VBD_MAXERRORS 1

DEVICE3 83 MINV_24V 19 R_STBD_OVSHOOT 15 VBD_MIN 485

DEVICE4 -1 MISSION 13 SEABIRD_C_G -10.171194 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1508522 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0016472058 VBD_TIMEOUT 720

DIVE 8 NOCOMM_ACTION 1 SEABIRD_C_J 0.00021877296 W_ADJ_DBAND 0

D_ABORT 1050 N_DIVES 25 SEABIRD_T_G 0.0042746845 XPDR_DEVICE 24

D_BOOST 0 N_FILEKB 4 SEABIRD_T_H 0.00061961456 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.2130595e-05 XPDR_VALID 5

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 2.2584688e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 45 PHONE_DEVICE 49 SIM_W 0

Pre-dive calculations and measurements:

GPS1 030615,010513,4743.601,-12224.894,2,1.1,3,16.3 TGT_NAME NW

_CALLS 1 TGT_LATLONG 4743.900,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.065,0.244

_SM_DEPTHo 1.59 KALMAN_X -168.5,302.1,-110.4,182.7,-215.3

_SM_ANGLEo -72.0 KALMAN_Y -3227.5,-397.8,-203.6,4755.1,-702.4

GPS2 030615,011243,4743.610,-12224.858,5,1.0,5,16.3 MHEAD_RNG_PITCHd_Wd 358.6,542,-16.2,-9.231,-20.04,2407

SPEED_LIMITS 0.160,0.253 D_GRID 175

Post-dive calculations and measurements:

FINISH 0.8,1.018385 _24V_AH 24.4,0.730

SM_CCo 3317,47.70,0.513,0,0,747,250.20 _10V_AH 10.4,0.716

SM_GC 1.56,7.78,0.00,47.70,0.056,0.000,0.513,177,1585,747,-8.60,0.14,250.20,0,0,0,0,0,0,26.46,28.83,25.54 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12226.80,290308,141442 FG_AHR_10Vo 0.000

TT8_MAMPS 0.024717,0.024717 MEM 323084

HUMID 45.35 DATA_FILE_SIZE 43533,599

INTERNAL_PRESSURE 8.78818 CAP_FILE_SIZE 72947,0

TCM_TEMP 20.40 CFSIZE 260165632,257576960

XPDR_PINGS 11 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0

ALTIM_BOTTOM_PING 120.6,72.6 GPS 030615,021040,4743.816,-12224.530,2,1.7,2,16.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 257 121.83 SBE_CT 406 23 237.70

Roll_motor 70 55 96.13 AA4330 478 20 236.23

VBD_pump_during_apogee 253 699 4322.79 WL_BBFL2VMT 485 62 736.00

VBD_pump_during_surface 47 513 597.44 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 63 44.08 nil 0 0 0.00

Iridium_during_connect 40 160 156.16 nil 0 0 0.00

Iridium_during_xfer 238 223 1299.10 nil 0 0 0.00

Transponder_ping 4 420 43.55 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 32 2.20

TT8 1341 12 177.50

LPSleep 598 2 13.64

TT8_Active 417 12 55.20

TT8_Sampling 1172 38 474.65

TT8_CF8 296 45 140.69

TT8_Kalman 33 65 22.78

Analog_circuits 940 10 102.66

GPS_charging 0 0 0.00

Compass 886 16 151.87

RAFOS 0 0 0.00

Transponder 14 30 4.58

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 -0.57 -146.6 171 1574 670 771 0.0 0.0 0 68 0.00 0.00 -48.53 0.000 16386 0.000 0.000 171 1575 2029 2114 1944 0 0 0 0 0 0 28.83 28.83 28.83

72 -0.57 -146.6 171 1574 2114 1945 3.5 -6.1 9 97 10.43 2.45 -6.30 0.000 18948 0.257 0.053 2773 404 2331 2484 2179 0 0 0 0 0 0 25.78 26.06 26.35

184 -0.57 -146.6 2773 404 2485 2181 23.5 -14.0 29 190 0.00 2.45 0.00 0.000 1030 0.000 0.031 2764 1578 2333 2485 2181 0 0 0 0 0 0 28.83 26.17 28.83

254 -0.57 -146.6 2763 1578 2487 2181 32.1 -12.6 42 261 0.00 1.88 0.00 0.000 260 0.000 0.042 2756 2778 2334 2487 2181 0 0 0 0 0 0 28.83 26.22 28.83

275 -0.57 -146.6 2755 2779 2487 2181 35.0 -13.2 45 281 0.00 1.90 0.00 0.000 1030 0.000 0.031 2756 1578 2334 2487 2182 0 0 0 0 0 0 28.83 26.24 28.83

345 -0.57 -146.6 2755 1577 2487 2181 43.4 -11.8 58 352 0.00 2.45 0.00 0.000 516 0.000 0.047 2755 396 2334 2487 2181 0 0 0 0 0 0 28.83 26.26 28.83

410 -0.57 -146.6 1760 395 2427 2172 51.7 -13.7 70 417 0.00 2.45 0.00 0.000 1030 0.000 0.031 2750 1583 2334 2487 2181 0 0 0 0 0 0 28.83 26.32 28.83

541 -0.57 -146.6 2749 1582 2487 2181 68.8 -12.9 95 547 0.00 1.83 0.00 0.000 260 0.000 0.044 2750 2770 2334 2487 2181 0 0 0 0 0 0 28.83 26.37 28.83

684 -0.57 -146.6 2749 2769 2487 2181 85.9 -11.7 122 690 0.00 1.85 0.00 0.000 1030 0.000 0.031 2749 1582 2334 2486 2182 0 0 0 0 0 0 28.83 26.44 28.83

817 -0.57 -146.6 2749 1582 2487 2181 102.3 -12.2 147 824 0.00 2.42 0.00 0.000 516 0.000 0.047 2749 393 2334 2487 2181 0 0 0 0 0 0 28.83 26.46 28.83

842 -0.57 -146.6 2749 393 2487 2181 105.7 -11.7 151 849 0.00 2.42 0.00 0.000 1030 0.000 0.031 2749 1579 2334 2487 2181 0 0 0 0 0 0 28.83 26.48 28.83

979 -0.57 -146.6 2748 1579 2487 2182 122.6 -13.4 176 986 0.00 1.88 0.00 0.000 260 0.000 0.044 2749 2788 2334 2487 2181 0 0 0 0 0 0 28.83 26.50 28.83

1127 -0.57 -146.6 1728 2786 2424 2172 140.6 -12.2 204 1133 0.00 1.88 0.00 0.000 1030 0.000 0.031 2749 1578 2334 2487 2181 0 0 0 0 0 0 28.83 26.55 28.83

1260 -0.57 -146.6 2748 1577 2487 2181 157.4 -12.2 229 1267 0.00 2.40 0.00 0.000 516 0.000 0.048 2749 397 2334 2487 2181 0 0 0 0 0 0 28.83 26.54 28.83

1336 -0.57 -146.6 2748 397 2487 2181 166.9 -11.4 243 1343 0.00 2.40 0.00 0.000 1030 0.000 0.029 2737 1583 2334 2486 2182 0 0 0 0 0 0 28.83 26.58 28.83

1403 end dive: TARGET_DEPTH_EXCEEDED

state 1403 begin apogee

1411 -0.15 0.0 2737 1583 2487 2181 175.5 -11.8 256 1533 0.52 0.00 117.45 0.700 10246 0.162 0.000 2904 1583 1744 1784 1705 0 0 0 0 0 0 26.44 28.83 24.68

1534 end apogee: CONTROL_FINISHED_OK

state 1534 begin climb

1540 0.57 146.6 2903 1583 1784 1704 179.6 0.0 278 1672 0.70 2.70 120.10 0.669 10756 0.120 0.050 3136 401 1160 1138 1182 0 0 1 0 0 0 25.23 24.97 24.45

1710 0.57 146.6 3136 401 1138 1182 166.7 10.5 308 1716 0.00 2.53 0.00 0.000 1030 0.000 0.036 3136 1576 1160 1138 1182 0 0 0 0 0 0 28.83 25.41 28.83

1843 0.57 146.6 3136 1576 1137 1182 151.8 12.0 333 1850 0.00 2.55 0.00 0.000 516 0.000 0.056 3140 395 1160 1138 1182 0 0 0 0 0 0 28.83 25.82 28.83

1884 0.57 146.6 3140 396 1138 1182 146.7 11.1 340 1890 0.00 2.50 0.00 0.000 1030 0.000 0.031 3140 1583 1160 1138 1182 0 0 0 0 0 0 28.83 25.92 28.83

2017 0.57 146.6 3140 1583 1138 1182 132.0 12.6 365 2023 0.00 0.00 0.00 0.000 6 0.000 0.000 3140 1582 1160 1138 1182 0 0 0 0 0 0 28.83 28.83 28.83

2147 0.57 146.6 3140 1582 1138 1182 117.5 10.3 390 2154 0.00 1.85 0.00 0.000 260 0.000 0.043 3140 2774 1159 1138 1181 0 0 0 0 0 0 28.83 26.21 28.83

2188 0.57 146.6 3140 2773 1138 1182 112.9 11.4 397 2194 0.00 1.88 0.00 0.000 1030 0.000 0.036 3141 1586 1160 1138 1182 0 0 0 0 0 0 28.83 26.23 28.83

2320 0.57 146.6 2112 1585 1123 1179 99.1 10.0 422 2327 0.00 2.47 0.00 0.000 516 0.000 0.052 3142 402 1160 1138 1182 0 0 0 0 0 0 28.83 26.29 28.83

2361 0.57 146.6 3141 402 1137 1181 94.3 10.9 429 2367 0.00 2.42 0.00 0.000 1030 0.000 0.031 3142 1580 1160 1138 1182 0 0 0 0 0 0 28.83 26.34 28.83

2494 0.57 146.6 3142 1581 1138 1181 79.5 11.6 454 2501 0.00 1.85 0.00 0.000 260 0.000 0.043 3142 2779 1159 1137 1181 0 0 0 0 0 0 28.83 26.39 28.83

2525 0.57 146.6 3142 2779 1137 1181 75.7 11.3 459 2532 0.00 1.88 0.00 0.000 1030 0.000 0.036 3141 1575 1159 1138 1181 0 0 0 0 0 0 28.83 26.40 28.83

2659 0.57 146.6 3142 1575 1138 1181 61.6 10.3 484 2664 0.00 0.00 0.00 0.000 6 0.000 0.000 3142 1575 1159 1138 1181 0 0 0 0 0 0 28.83 28.83 28.83

2790 0.57 148.2 3141 1575 1137 1181 48.5 9.2 509 2797 0.00 1.90 0.00 0.000 260 0.000 0.045 3142 2789 1159 1138 1181 0 0 0 0 0 0 28.83 26.49 28.83

2811 0.57 150.7 3141 2789 1137 1181 46.4 9.1 512 2823 0.00 1.90 4.38 0.466 9222 0.000 0.035 3142 1581 1143 1125 1161 0 0 0 0 0 0 28.83 26.49 25.85

2950 0.57 150.7 3141 1581 1126 1162 32.7 9.9 538 2957 0.00 2.45 0.00 0.000 516 0.000 0.053 3142 402 1143 1125 1162 0 0 0 0 0 0 28.83 26.46 28.83

2993 0.58 155.0 3142 402 1125 1162 28.6 9.0 545 3005 0.00 2.42 5.38 0.496 9222 0.000 0.037 3142 1582 1125 1106 1145 0 0 0 0 0 0 28.83 26.51 25.88

3069 0.58 155.0 3141 1581 1106 1145 20.8 10.3 559 3076 0.00 1.85 0.00 0.000 260 0.000 0.048 3142 2779 1126 1107 1145 0 0 0 0 0 0 28.83 26.46 28.83

3090 0.58 155.0 3141 2779 1106 1145 18.2 12.6 562 3097 0.00 1.90 0.00 0.000 1030 0.000 0.035 3142 1574 1125 1106 1145 0 0 0 0 0 0 28.83 26.47 28.83

3161 0.58 156.5 3142 1574 1106 1145 11.1 9.2 575 3167 0.00 2.42 0.00 0.000 516 0.000 0.053 3142 409 1125 1106 1145 0 0 0 0 0 0 28.83 26.46 28.83

3181 0.58 156.5 3142 408 1106 1145 9.2 9.6 578 3188 0.00 2.42 0.00 0.000 1030 0.000 0.031 3142 1584 1126 1108 1144 0 0 0 0 0 0 28.83 26.51 28.83

3252 0.59 180.3 3142 1584 1107 1145 3.2 8.2 591 3260 0.00 0.00 5.80 0.424 8450 0.000 0.000 3141 1584 1083 1060 1107 0 0 0 0 0 0 28.83 28.83 28.83

3261 end climb: SURFACE_DEPTH_REACHED

state 3261 begin surface coast

3297 end surface coast: CONTROL_FINISHED_OK

state 3297 begin surface

ID	157	HD_C	9.9999997e-06	ROLL_MAX	3867	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	13	HEADING	-1	ROLL_DEG	33	ALTIM_TOP_TURN_MARGIN	0
DIVE	8	ESCAPE_HEADING	0	C_ROLL_DIVE	1580	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	25	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1580	ALTIM_PING_DEPTH	100
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	15
D_TGT	180	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	6
D_ABORT	1050	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	22	ALTIM_SENSITIVITY	4
D_NO_BLEED	45	SM_CC	250	R_STBD_OVSHOOT	15	XPDR_VALID	5
D_BOOST	0	N_FILEKB	4	ROLL_AD_RATE	250	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	1.2
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	9	VBD_MIN	485	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	1	C_VBD	1745	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	101
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.25119999	DEVICE3	83
T_DIVE	65	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	75	CALL_WAIT	45	PITCH_VBD_SHIFT	0.00055	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	300	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	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	-6	T_GPS_CHARGE	-1486820	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	49
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	5	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	-5	PITCH_MIN	195	MINV_24V	19	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3873	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2950	FG_AHR_10V	0	SEABIRD_T_G	0.0042746845
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00061961456
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.2130595e-05
RHO	1.023	P_OVSHOOT	0.0099999998	PRESSURE_YINT	-59.120026	SEABIRD_T_J	2.2584688e-06
MASS	52229	PITCH_GAIN	33	PRESSURE_SLOPE	0.0001158973	SEABIRD_C_G	-10.171194
MASS_COMP	0	PITCH_TIMEOUT	18	AD7714Ch0Gain	128	SEABIRD_C_H	1.1508522
NAV_MODE	1	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0016472058
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00021877296
KALMAN_USE	1	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	268	ALTIM_TOP_PING_RANGE	0

GPS1	030615,010513,4743.601,-12224.894,2,1.1,3,16.3	TGT_NAME	NW
_CALLS	1	TGT_LATLONG	4743.900,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.065,0.244
_SM_DEPTHo	1.59	KALMAN_X	-168.5,302.1,-110.4,182.7,-215.3
_SM_ANGLEo	-72.0	KALMAN_Y	-3227.5,-397.8,-203.6,4755.1,-702.4
GPS2	030615,011243,4743.610,-12224.858,5,1.0,5,16.3	MHEAD_RNG_PITCHd_Wd	358.6,542,-16.2,-9.231,-20.04,2407
SPEED_LIMITS	0.160,0.253	D_GRID	175

FINISH	0.8,1.018385	_24V_AH	24.4,0.730
SM_CCo	3317,47.70,0.513,0,0,747,250.20	_10V_AH	10.4,0.716
SM_GC	1.56,7.78,0.00,47.70,0.056,0.000,0.513,177,1585,747,-8.60,0.14,250.20,0,0,0,0,0,0,26.46,28.83,25.54	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12226.80,290308,141442	FG_AHR_10Vo	0.000
TT8_MAMPS	0.024717,0.024717	MEM	323084
HUMID	45.35	DATA_FILE_SIZE	43533,599
INTERNAL_PRESSURE	8.78818	CAP_FILE_SIZE	72947,0
TCM_TEMP	20.40	CFSIZE	260165632,257576960
XPDR_PINGS	11	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
ALTIM_BOTTOM_PING	120.6,72.6	GPS	030615,021040,4743.816,-12224.530,2,1.7,2,16.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	257	121.83	SBE_CT	406	23	237.70
Roll_motor	70	55	96.13	AA4330	478	20	236.23
VBD_pump_during_apogee	253	699	4322.79	WL_BBFL2VMT	485	62	736.00
VBD_pump_during_surface	47	513	597.44	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	63	44.08	nil	0	0	0.00
Iridium_during_connect	40	160	156.16	nil	0	0	0.00
Iridium_during_xfer	238	223	1299.10	nil	0	0	0.00
Transponder_ping	4	420	43.55	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	32	2.20
TT8	1341	12	177.50
LPSleep	598	2	13.64
TT8_Active	417	12	55.20
TT8_Sampling	1172	38	474.65
TT8_CF8	296	45	140.69
TT8_Kalman	33	65	22.78
Analog_circuits	940	10	102.66
GPS_charging	0	0	0.00
Compass	886	16	151.87
RAFOS	0	0	0.00
Transponder	14	30	4.58

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	-0.57	-146.6	171	1574	670	771	0.0	0.0	0	68	0.00	0.00	-48.53	0.000	16386	0.000	0.000	171	1575	2029	2114	1944	0	0	0	0	0	0	28.83	28.83	28.83
72	-0.57	-146.6	171	1574	2114	1945	3.5	-6.1	9	97	10.43	2.45	-6.30	0.000	18948	0.257	0.053	2773	404	2331	2484	2179	0	0	0	0	0	0	25.78	26.06	26.35
184	-0.57	-146.6	2773	404	2485	2181	23.5	-14.0	29	190	0.00	2.45	0.00	0.000	1030	0.000	0.031	2764	1578	2333	2485	2181	0	0	0	0	0	0	28.83	26.17	28.83
254	-0.57	-146.6	2763	1578	2487	2181	32.1	-12.6	42	261	0.00	1.88	0.00	0.000	260	0.000	0.042	2756	2778	2334	2487	2181	0	0	0	0	0	0	28.83	26.22	28.83
275	-0.57	-146.6	2755	2779	2487	2181	35.0	-13.2	45	281	0.00	1.90	0.00	0.000	1030	0.000	0.031	2756	1578	2334	2487	2182	0	0	0	0	0	0	28.83	26.24	28.83
345	-0.57	-146.6	2755	1577	2487	2181	43.4	-11.8	58	352	0.00	2.45	0.00	0.000	516	0.000	0.047	2755	396	2334	2487	2181	0	0	0	0	0	0	28.83	26.26	28.83
410	-0.57	-146.6	1760	395	2427	2172	51.7	-13.7	70	417	0.00	2.45	0.00	0.000	1030	0.000	0.031	2750	1583	2334	2487	2181	0	0	0	0	0	0	28.83	26.32	28.83
541	-0.57	-146.6	2749	1582	2487	2181	68.8	-12.9	95	547	0.00	1.83	0.00	0.000	260	0.000	0.044	2750	2770	2334	2487	2181	0	0	0	0	0	0	28.83	26.37	28.83
684	-0.57	-146.6	2749	2769	2487	2181	85.9	-11.7	122	690	0.00	1.85	0.00	0.000	1030	0.000	0.031	2749	1582	2334	2486	2182	0	0	0	0	0	0	28.83	26.44	28.83
817	-0.57	-146.6	2749	1582	2487	2181	102.3	-12.2	147	824	0.00	2.42	0.00	0.000	516	0.000	0.047	2749	393	2334	2487	2181	0	0	0	0	0	0	28.83	26.46	28.83
842	-0.57	-146.6	2749	393	2487	2181	105.7	-11.7	151	849	0.00	2.42	0.00	0.000	1030	0.000	0.031	2749	1579	2334	2487	2181	0	0	0	0	0	0	28.83	26.48	28.83
979	-0.57	-146.6	2748	1579	2487	2182	122.6	-13.4	176	986	0.00	1.88	0.00	0.000	260	0.000	0.044	2749	2788	2334	2487	2181	0	0	0	0	0	0	28.83	26.50	28.83
1127	-0.57	-146.6	1728	2786	2424	2172	140.6	-12.2	204	1133	0.00	1.88	0.00	0.000	1030	0.000	0.031	2749	1578	2334	2487	2181	0	0	0	0	0	0	28.83	26.55	28.83
1260	-0.57	-146.6	2748	1577	2487	2181	157.4	-12.2	229	1267	0.00	2.40	0.00	0.000	516	0.000	0.048	2749	397	2334	2487	2181	0	0	0	0	0	0	28.83	26.54	28.83
1336	-0.57	-146.6	2748	397	2487	2181	166.9	-11.4	243	1343	0.00	2.40	0.00	0.000	1030	0.000	0.029	2737	1583	2334	2486	2182	0	0	0	0	0	0	28.83	26.58	28.83
1403	end dive: TARGET_DEPTH_EXCEEDED
state	1403	begin apogee
1411	-0.15	0.0	2737	1583	2487	2181	175.5	-11.8	256	1533	0.52	0.00	117.45	0.700	10246	0.162	0.000	2904	1583	1744	1784	1705	0	0	0	0	0	0	26.44	28.83	24.68
1534	end apogee: CONTROL_FINISHED_OK
state	1534	begin climb
1540	0.57	146.6	2903	1583	1784	1704	179.6	0.0	278	1672	0.70	2.70	120.10	0.669	10756	0.120	0.050	3136	401	1160	1138	1182	0	0	1	0	0	0	25.23	24.97	24.45
1710	0.57	146.6	3136	401	1138	1182	166.7	10.5	308	1716	0.00	2.53	0.00	0.000	1030	0.000	0.036	3136	1576	1160	1138	1182	0	0	0	0	0	0	28.83	25.41	28.83
1843	0.57	146.6	3136	1576	1137	1182	151.8	12.0	333	1850	0.00	2.55	0.00	0.000	516	0.000	0.056	3140	395	1160	1138	1182	0	0	0	0	0	0	28.83	25.82	28.83
1884	0.57	146.6	3140	396	1138	1182	146.7	11.1	340	1890	0.00	2.50	0.00	0.000	1030	0.000	0.031	3140	1583	1160	1138	1182	0	0	0	0	0	0	28.83	25.92	28.83
2017	0.57	146.6	3140	1583	1138	1182	132.0	12.6	365	2023	0.00	0.00	0.00	0.000	6	0.000	0.000	3140	1582	1160	1138	1182	0	0	0	0	0	0	28.83	28.83	28.83
2147	0.57	146.6	3140	1582	1138	1182	117.5	10.3	390	2154	0.00	1.85	0.00	0.000	260	0.000	0.043	3140	2774	1159	1138	1181	0	0	0	0	0	0	28.83	26.21	28.83
2188	0.57	146.6	3140	2773	1138	1182	112.9	11.4	397	2194	0.00	1.88	0.00	0.000	1030	0.000	0.036	3141	1586	1160	1138	1182	0	0	0	0	0	0	28.83	26.23	28.83
2320	0.57	146.6	2112	1585	1123	1179	99.1	10.0	422	2327	0.00	2.47	0.00	0.000	516	0.000	0.052	3142	402	1160	1138	1182	0	0	0	0	0	0	28.83	26.29	28.83
2361	0.57	146.6	3141	402	1137	1181	94.3	10.9	429	2367	0.00	2.42	0.00	0.000	1030	0.000	0.031	3142	1580	1160	1138	1182	0	0	0	0	0	0	28.83	26.34	28.83
2494	0.57	146.6	3142	1581	1138	1181	79.5	11.6	454	2501	0.00	1.85	0.00	0.000	260	0.000	0.043	3142	2779	1159	1137	1181	0	0	0	0	0	0	28.83	26.39	28.83
2525	0.57	146.6	3142	2779	1137	1181	75.7	11.3	459	2532	0.00	1.88	0.00	0.000	1030	0.000	0.036	3141	1575	1159	1138	1181	0	0	0	0	0	0	28.83	26.40	28.83
2659	0.57	146.6	3142	1575	1138	1181	61.6	10.3	484	2664	0.00	0.00	0.00	0.000	6	0.000	0.000	3142	1575	1159	1138	1181	0	0	0	0	0	0	28.83	28.83	28.83
2790	0.57	148.2	3141	1575	1137	1181	48.5	9.2	509	2797	0.00	1.90	0.00	0.000	260	0.000	0.045	3142	2789	1159	1138	1181	0	0	0	0	0	0	28.83	26.49	28.83
2811	0.57	150.7	3141	2789	1137	1181	46.4	9.1	512	2823	0.00	1.90	4.38	0.466	9222	0.000	0.035	3142	1581	1143	1125	1161	0	0	0	0	0	0	28.83	26.49	25.85
2950	0.57	150.7	3141	1581	1126	1162	32.7	9.9	538	2957	0.00	2.45	0.00	0.000	516	0.000	0.053	3142	402	1143	1125	1162	0	0	0	0	0	0	28.83	26.46	28.83
2993	0.58	155.0	3142	402	1125	1162	28.6	9.0	545	3005	0.00	2.42	5.38	0.496	9222	0.000	0.037	3142	1582	1125	1106	1145	0	0	0	0	0	0	28.83	26.51	25.88
3069	0.58	155.0	3141	1581	1106	1145	20.8	10.3	559	3076	0.00	1.85	0.00	0.000	260	0.000	0.048	3142	2779	1126	1107	1145	0	0	0	0	0	0	28.83	26.46	28.83
3090	0.58	155.0	3141	2779	1106	1145	18.2	12.6	562	3097	0.00	1.90	0.00	0.000	1030	0.000	0.035	3142	1574	1125	1106	1145	0	0	0	0	0	0	28.83	26.47	28.83
3161	0.58	156.5	3142	1574	1106	1145	11.1	9.2	575	3167	0.00	2.42	0.00	0.000	516	0.000	0.053	3142	409	1125	1106	1145	0	0	0	0	0	0	28.83	26.46	28.83
3181	0.58	156.5	3142	408	1106	1145	9.2	9.6	578	3188	0.00	2.42	0.00	0.000	1030	0.000	0.031	3142	1584	1126	1108	1144	0	0	0	0	0	0	28.83	26.51	28.83
3252	0.59	180.3	3142	1584	1107	1145	3.2	8.2	591	3260	0.00	0.00	5.80	0.424	8450	0.000	0.000	3141	1584	1083	1060	1107	0	0	0	0	0	0	28.83	28.83	28.83
3261	end climb: SURFACE_DEPTH_REACHED
state	3261	begin surface coast
3297	end surface coast: CONTROL_FINISHED_OK
state	3297	begin surface