Glider dive log

Shilshole 04Nov15 * SG158 * Dive index * Mission links * Dive 8 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 158 HD_C 9.8500004e-06 ROLL_MAX 3794 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 13 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 8 ESCAPE_HEADING 0 C_ROLL_DIVE 2000 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1800 ALTIM_PING_DEPTH 120

D_SURF 2 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 3200 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 200 TGT_DEFAULT_LON -7306 ROLL_TIMEOUT 15 ALTIM_PULSE 6

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 46 ALTIM_SENSITIVITY 3

D_NO_BLEED 100 SM_CC 280 R_STBD_OVSHOOT 27 XPDR_VALID 6

D_BOOST 3 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 1.4

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 1 VBD_MIN 600 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 2 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 C_VBD 2106 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 38

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.25119999 DEVICE3 -1

T_DIVE 90 CALL_TRIES 7 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 95 CALL_WAIT 60 PITCH_VBD_SHIFT 0.00089999998 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 600 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 15 UNCOM_BLEED 50 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -721912.62 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 3 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 138 MINV_24V 19 SIM_W 0

MAX_BUOY 90 PITCH_MAX 3933 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2562 FG_AHR_10V 0 SEABIRD_T_G 0.004317278

GLIDE_SLOPE 45 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00062907452

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.22976e-05

RHO 1.0233001 P_OVSHOOT 0.02 PRESSURE_YINT -162.90207 SEABIRD_T_J 2.1565418e-06

MASS 51610 PITCH_GAIN 28 PRESSURE_SLOPE 0.000137996 SEABIRD_C_G -9.7708368

MASS_COMP 0 PITCH_TIMEOUT 20 AD7714Ch0Gain 32 SEABIRD_C_H 1.113179

NAV_MODE 2 PITCH_AD_RATE 145 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.001699872

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.0002155289

KALMAN_USE 2 PITCH_ADJ_GAIN 0 COMPASS_USE 4

HD_A 0.0038360001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 236 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 32 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 280

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 145 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_TGT 200 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 28 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 120 FERRY_MAX 45 PITCH_MAX 3933 TCM_ROLL_OFFSET 0

ALTIM_PULSE 6 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MIN 138 TGT_DEFAULT_LAT 3200

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -7306

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00089999998 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 90

CALL_NDIVES 1 HD_A 0.0038360001 PRESSURE_SLOPE 0.000137996 T_EPIRB 0

CALL_TRIES 7 HD_B 0.0099999998 PRESSURE_YINT -162.90207 T_GPS 15

CALL_WAIT 60 HD_C 9.8500004e-06 PROTOCOL 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.02 T_GPS_CHARGE -721912.62

CAPUPLOAD 1 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 3 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 95

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 158 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 600

COMPASS_USE 4 INT_PRESSURE_YINT 1.4 RHO 1.0233001 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2562 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_ROLL_CLIMB 1800 LOGGERDEVICE2 -1 ROLL_AD_RATE 250 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2000 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 2106 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 1 ROLL_MAX 3794 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 51610 ROLL_MAXERRORS 2 VBD_CNV -0.25119999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 236 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 90 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 38 MINV_10V 8 R_PORT_OVSHOOT 46 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 27 VBD_MIN 600

DEVICE4 -1 MISSION 13 SEABIRD_C_G -9.7708368 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.113179 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 2 SEABIRD_C_I -0.001699872 VBD_TIMEOUT 720

DIVE 8 NOCOMM_ACTION 0 SEABIRD_C_J 0.0002155289 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.004317278 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.00062907452 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.22976e-05 XPDR_VALID 6

D_FINISH 0 N_NOCOMM 2 SEABIRD_T_J 2.1565418e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 100 PHONE_DEVICE 49 SIM_W 0

Pre-dive calculations and measurements:

GPS1 051115,025535,4744.672,-12224.357,34,1.7,34,18.2 TGT_NAME SOUTH

_CALLS 1 TGT_LATLONG 4743.000,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.67 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 051115,030224,4744.748,-12224.371,13,1.9,13,18.2 MHEAD_RNG_PITCHd_Wd 156.6,3241,-18.1,-7.407,-21.29,1849

SPEED_LIMITS 0.074,0.190 D_GRID 200

Post-dive calculations and measurements:

FINISH 0.1,1.008634 _10V_AH 10.5,0.443

SM_CCo 3825,0.00,0.000,0,0,856,313.75 FG_AHR_24Vo 0.000

SM_GC 3.23,7.30,0.40,0.00,0.044,0.044,0.000,129,2009,856,-7.55,-1.33,313.75,0,0,0,0,0,0,25.97,26.01,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4729.30,-12224.09,310808,151509 MEM 323344

TT8_MAMPS 0.020223,0.020223 DATA_FILE_SIZE 33430,697

HUMID 49.56 CAP_FILE_SIZE 78277,0

INTERNAL_PRESSURE 8.79286 CFSIZE 260165632,257257472

TCM_TEMP 20.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.035,187.0,1

ALTIM_BOTTOM_PING 120.6,72.0 GPS 051115,040802,4744.290,-12224.336,30,99.0,50,18.2

_24V_AH 24.5,0.676

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 244 107.51 SBE_CT 470 23 276.21

Roll_motor 68 117 196.63 WL_BB2FLVMG 530 105 1364.00

VBD_pump_during_apogee 242 644 3832.27 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 24 55 34.04 nil 0 0 0.00

Iridium_during_connect 40 160 158.03 nil 0 0 0.00

Iridium_during_xfer 224 223 1227.41 nil 0 0 0.00

Transponder_ping 0 420 5.14 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 30 4.56

TT8 1639 11 197.22

LPSleep 747 2 17.19

TT8_Active 368 11 44.33

TT8_Sampling 1294 39 532.75

TT8_CF8 192 45 92.61

TT8_Kalman 0 0 0.00

Analog_circuits 943 17 168.39

GPS_charging 0 0 0.00

Compass 1007 15 166.39

RAFOS 0 0 0.00

Transponder 5 30 1.77

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.73 -88.0 133 1986 634 636 0.0 0.0 0 59 0.00 0.00 -40.88 0.000 16386 0.000 0.000 133 1986 1882 1859 1906 0 0 0 0 0 0 28.83 28.83 28.83

62 -0.73 -88.0 133 1986 1859 1907 3.4 -6.3 7 93 8.65 2.20 -12.15 0.000 18948 0.245 0.058 2328 601 2460 2471 2449 0 0 0 0 0 0 25.64 25.91 26.21

272 -0.73 -88.0 1440 600 2407 2440 37.7 -16.4 47 278 0.00 2.15 0.00 0.000 1030 0.000 0.034 2320 2015 2462 2475 2449 0 0 0 0 0 0 28.83 26.11 28.83

341 -0.73 -88.0 2320 2015 2475 2449 49.1 -15.6 60 347 0.00 0.00 0.00 0.000 6 0.000 0.000 2320 2015 2461 2474 2449 0 0 0 0 0 0 28.83 28.83 28.83

470 -0.73 -88.0 2320 2014 2475 2449 70.0 -16.4 85 477 0.00 2.17 0.00 0.000 516 0.000 0.042 2320 597 2462 2475 2449 0 0 0 0 0 0 28.83 26.21 28.83

520 -0.73 -88.0 2319 597 2475 2449 78.8 -17.3 94 527 0.00 2.12 0.00 0.000 1030 0.000 0.033 2310 2004 2462 2475 2449 0 0 0 0 0 0 28.83 26.25 28.83

649 -0.73 -88.0 1416 2001 2407 2440 99.1 -15.7 119 656 0.00 2.15 0.00 0.000 260 0.000 0.045 2299 3412 2462 2475 2449 0 0 0 0 0 0 28.83 26.28 28.83

729 -0.73 -88.0 2299 3412 2474 2449 111.9 -16.6 134 735 0.00 2.12 0.00 0.000 1030 0.000 0.031 2299 1998 2462 2475 2449 0 0 0 0 0 0 28.83 26.34 28.83

861 -0.73 -88.0 2299 1995 2475 2449 133.2 -15.7 159 867 0.00 2.12 0.00 0.000 516 0.000 0.042 2299 588 2462 2475 2449 0 0 0 0 0 0 28.83 26.35 28.83

895 -0.73 -88.0 2299 588 2475 2449 139.0 -16.9 165 903 0.17 2.12 0.00 0.000 3078 0.177 0.034 2334 2002 2462 2475 2449 0 0 0 0 0 0 26.20 26.38 28.83

1028 -0.73 -88.0 2334 2003 2475 2449 156.9 -11.4 190 1035 0.00 2.15 0.00 0.000 516 0.000 0.041 2334 582 2462 2475 2449 0 0 0 0 0 0 28.83 26.39 28.83

1073 -0.73 -88.0 2334 582 2475 2449 162.9 -13.4 198 1080 0.00 2.12 0.00 0.000 1030 0.000 0.032 2326 2002 2462 2476 2449 0 0 0 0 0 0 28.83 26.42 28.83

1180 end dive: BOTTOM_OBSTACLE_DETECTED

state 1180 begin apogee

1188 -0.18 0.0 2325 1783 2475 2449 177.8 -14.1 219 1259 0.55 0.00 66.05 0.645 10246 0.139 0.000 2506 1783 2105 2142 2069 0 0 0 0 0 0 26.29 28.83 25.01

1260 end apogee: CONTROL_FINISHED_OK

state 1260 begin climb

1262 0.73 88.0 2506 1783 2142 2069 182.8 0.0 231 1343 0.82 2.30 70.35 0.636 10756 0.090 0.048 2806 410 1753 1797 1709 0 0 0 0 0 0 25.55 25.07 24.51

1407 0.75 112.3 1808 409 1739 1699 177.2 6.1 257 1431 0.00 2.17 19.98 0.607 9222 0.000 0.034 2806 1800 1658 1706 1610 0 0 0 0 0 0 28.83 25.51 24.74

1555 0.75 112.3 2806 1800 1701 1605 165.6 9.2 285 1562 0.00 2.20 0.00 0.000 260 0.000 0.044 2806 3208 1653 1701 1605 0 0 0 0 0 0 28.83 25.72 28.83

1595 0.75 112.3 2806 3208 1701 1605 161.8 9.3 292 1601 0.00 2.15 0.00 0.000 1030 0.000 0.035 2816 1820 1652 1701 1604 0 0 0 0 0 0 28.83 25.82 28.83

1725 0.75 112.3 1792 1817 1651 1598 151.6 8.1 317 1732 0.00 0.00 0.00 0.000 6 0.000 0.000 2816 1819 1651 1699 1603 0 0 0 0 0 0 28.83 28.83 28.83

1855 0.75 112.3 1808 1817 1652 1597 140.5 9.3 342 1862 0.00 2.22 0.00 0.000 516 0.000 0.048 2828 387 1650 1698 1602 0 0 0 0 0 0 28.83 26.08 28.83

1900 0.75 112.3 2828 386 1697 1602 136.2 9.7 350 1907 0.00 2.17 0.00 0.000 1030 0.000 0.034 2828 1812 1649 1697 1602 0 0 0 0 0 0 28.83 26.13 28.83

2031 0.75 112.3 1808 1811 1649 1596 124.4 9.2 375 2037 0.00 2.22 0.00 0.000 516 0.000 0.047 2838 389 1649 1696 1602 0 0 0 0 0 0 28.83 26.18 28.83

2091 0.75 112.3 2838 389 1696 1602 118.5 9.5 386 2098 0.15 2.15 0.00 0.000 5126 0.174 0.034 2800 1808 1649 1696 1602 0 0 0 0 0 0 26.07 26.24 28.83

2223 0.75 112.3 2799 1809 1696 1602 108.2 8.1 411 2229 0.00 0.00 0.00 0.000 6 0.000 0.000 2799 1809 1648 1696 1601 0 0 0 0 0 0 28.83 28.83 28.83

2352 0.75 112.3 2799 1809 1696 1601 98.2 7.5 436 2358 0.00 0.00 0.00 0.000 6 0.000 0.000 2800 1810 1648 1696 1601 0 0 0 0 0 0 28.83 28.83 28.83

2481 0.75 112.3 2799 1809 1696 1601 88.4 7.5 461 2488 0.00 2.12 0.00 0.000 260 0.000 0.044 2799 3205 1648 1696 1601 0 0 0 0 0 0 28.83 26.35 28.83

2633 0.75 112.3 2799 3205 1696 1601 75.1 8.8 490 2640 0.00 2.12 0.00 0.000 1030 0.000 0.034 2808 1793 1648 1696 1601 0 0 0 0 0 0 28.83 26.41 28.83

2764 0.75 112.3 2808 1793 1696 1601 63.8 8.8 515 2771 0.00 2.15 0.00 0.000 516 0.000 0.048 2819 395 1648 1696 1600 0 0 0 0 0 0 28.83 26.41 28.83

2844 0.75 112.3 2819 395 1696 1600 56.5 9.0 530 2851 0.00 2.12 0.00 0.000 1030 0.000 0.034 2820 1808 1647 1695 1600 0 0 0 0 0 0 28.83 26.46 28.83

2975 0.75 112.3 1792 1808 1648 1594 45.8 8.1 555 2981 0.00 2.20 0.00 0.000 516 0.000 0.047 2830 385 1647 1695 1600 0 0 0 0 0 0 28.83 26.45 28.83

3106 0.75 112.3 2830 385 1695 1599 34.8 8.4 580 3112 0.00 2.12 0.00 0.000 1030 0.000 0.034 2830 1801 1647 1695 1600 0 0 0 0 0 0 28.83 26.49 28.83

3175 0.75 112.3 2830 1802 1695 1600 29.1 7.8 593 3183 0.00 2.17 0.00 0.000 516 0.000 0.047 2840 397 1647 1695 1600 0 0 0 0 0 0 28.83 26.47 28.83

3236 0.75 112.3 2840 397 1695 1600 24.2 8.3 604 3243 0.15 2.10 0.00 0.000 5126 0.176 0.033 2802 1805 1647 1695 1600 0 0 0 0 0 0 26.34 26.51 28.83

3306 0.77 134.5 2802 1805 1695 1600 19.5 6.2 617 3325 0.00 2.22 10.38 0.467 8708 0.000 0.047 2812 399 1568 1616 1521 0 0 0 0 0 0 28.83 26.38 25.86

3358 0.77 134.5 2811 399 1611 1521 15.7 7.7 626 3365 0.00 2.10 0.00 0.000 1030 0.000 0.034 2811 1797 1566 1611 1521 0 0 0 0 0 0 28.83 26.41 28.83

3428 0.78 146.9 1808 1796 1569 1515 10.7 6.7 639 3441 0.00 2.15 5.30 0.373 8452 0.000 0.044 2811 3205 1519 1567 1471 0 0 0 0 0 0 28.83 26.36 25.87

3535 0.81 181.8 1792 3203 1526 1465 3.9 5.5 659 3554 0.00 2.12 15.07 0.422 9222 0.000 0.035 2821 1793 1382 1431 1333 0 0 0 0 0 0 28.83 26.42 25.82

3620 0.93 311.7 2821 1793 1424 1328 3.1 0.2 674 3679 0.12 0.08 55.42 0.436 10755 0.094 0.118 2887 1730 863 896 830 0 0 0 0 0 0 26.35 28.83 25.41

3680 end climb: SURFACE_DEPTH_REACHED

state 3680 begin surface coast

3747 end surface coast: CONTROL_FINISHED_OK

state 3747 begin surface

ID	158	HD_C	9.8500004e-06	ROLL_MAX	3794	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	13	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	8	ESCAPE_HEADING	0	C_ROLL_DIVE	2000	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1800	ALTIM_PING_DEPTH	120
D_SURF	2	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	3200	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	200	TGT_DEFAULT_LON	-7306	ROLL_TIMEOUT	15	ALTIM_PULSE	6
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	46	ALTIM_SENSITIVITY	3
D_NO_BLEED	100	SM_CC	280	R_STBD_OVSHOOT	27	XPDR_VALID	6
D_BOOST	3	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	1.4
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	1	VBD_MIN	600	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	2	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	C_VBD	2106	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	38
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.25119999	DEVICE3	-1
T_DIVE	90	CALL_TRIES	7	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	95	CALL_WAIT	60	PITCH_VBD_SHIFT	0.00089999998	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	600	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	15	UNCOM_BLEED	50	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-721912.62	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	3	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	138	MINV_24V	19	SIM_W	0
MAX_BUOY	90	PITCH_MAX	3933	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2562	FG_AHR_10V	0	SEABIRD_T_G	0.004317278
GLIDE_SLOPE	45	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00062907452
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.22976e-05
RHO	1.0233001	P_OVSHOOT	0.02	PRESSURE_YINT	-162.90207	SEABIRD_T_J	2.1565418e-06
MASS	51610	PITCH_GAIN	28	PRESSURE_SLOPE	0.000137996	SEABIRD_C_G	-9.7708368
MASS_COMP	0	PITCH_TIMEOUT	20	AD7714Ch0Gain	32	SEABIRD_C_H	1.113179
NAV_MODE	2	PITCH_AD_RATE	145	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.001699872
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.0002155289
KALMAN_USE	2	PITCH_ADJ_GAIN	0	COMPASS_USE	4
HD_A	0.0038360001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	236	ALTIM_TOP_PING_RANGE	0

GPS1	051115,025535,4744.672,-12224.357,34,1.7,34,18.2	TGT_NAME	SOUTH
_CALLS	1	TGT_LATLONG	4743.000,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.67	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	051115,030224,4744.748,-12224.371,13,1.9,13,18.2	MHEAD_RNG_PITCHd_Wd	156.6,3241,-18.1,-7.407,-21.29,1849
SPEED_LIMITS	0.074,0.190	D_GRID	200

FINISH	0.1,1.008634	_10V_AH	10.5,0.443
SM_CCo	3825,0.00,0.000,0,0,856,313.75	FG_AHR_24Vo	0.000
SM_GC	3.23,7.30,0.40,0.00,0.044,0.044,0.000,129,2009,856,-7.55,-1.33,313.75,0,0,0,0,0,0,25.97,26.01,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4729.30,-12224.09,310808,151509	MEM	323344
TT8_MAMPS	0.020223,0.020223	DATA_FILE_SIZE	33430,697
HUMID	49.56	CAP_FILE_SIZE	78277,0
INTERNAL_PRESSURE	8.79286	CFSIZE	260165632,257257472
TCM_TEMP	20.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.035,187.0,1
ALTIM_BOTTOM_PING	120.6,72.0	GPS	051115,040802,4744.290,-12224.336,30,99.0,50,18.2
_24V_AH	24.5,0.676

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	244	107.51	SBE_CT	470	23	276.21
Roll_motor	68	117	196.63	WL_BB2FLVMG	530	105	1364.00
VBD_pump_during_apogee	242	644	3832.27	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	24	55	34.04	nil	0	0	0.00
Iridium_during_connect	40	160	158.03	nil	0	0	0.00
Iridium_during_xfer	224	223	1227.41	nil	0	0	0.00
Transponder_ping	0	420	5.14	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	30	4.56
TT8	1639	11	197.22
LPSleep	747	2	17.19
TT8_Active	368	11	44.33
TT8_Sampling	1294	39	532.75
TT8_CF8	192	45	92.61
TT8_Kalman	0	0	0.00
Analog_circuits	943	17	168.39
GPS_charging	0	0	0.00
Compass	1007	15	166.39
RAFOS	0	0	0.00
Transponder	5	30	1.77

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.73	-88.0	133	1986	634	636	0.0	0.0	0	59	0.00	0.00	-40.88	0.000	16386	0.000	0.000	133	1986	1882	1859	1906	0	0	0	0	0	0	28.83	28.83	28.83
62	-0.73	-88.0	133	1986	1859	1907	3.4	-6.3	7	93	8.65	2.20	-12.15	0.000	18948	0.245	0.058	2328	601	2460	2471	2449	0	0	0	0	0	0	25.64	25.91	26.21
272	-0.73	-88.0	1440	600	2407	2440	37.7	-16.4	47	278	0.00	2.15	0.00	0.000	1030	0.000	0.034	2320	2015	2462	2475	2449	0	0	0	0	0	0	28.83	26.11	28.83
341	-0.73	-88.0	2320	2015	2475	2449	49.1	-15.6	60	347	0.00	0.00	0.00	0.000	6	0.000	0.000	2320	2015	2461	2474	2449	0	0	0	0	0	0	28.83	28.83	28.83
470	-0.73	-88.0	2320	2014	2475	2449	70.0	-16.4	85	477	0.00	2.17	0.00	0.000	516	0.000	0.042	2320	597	2462	2475	2449	0	0	0	0	0	0	28.83	26.21	28.83
520	-0.73	-88.0	2319	597	2475	2449	78.8	-17.3	94	527	0.00	2.12	0.00	0.000	1030	0.000	0.033	2310	2004	2462	2475	2449	0	0	0	0	0	0	28.83	26.25	28.83
649	-0.73	-88.0	1416	2001	2407	2440	99.1	-15.7	119	656	0.00	2.15	0.00	0.000	260	0.000	0.045	2299	3412	2462	2475	2449	0	0	0	0	0	0	28.83	26.28	28.83
729	-0.73	-88.0	2299	3412	2474	2449	111.9	-16.6	134	735	0.00	2.12	0.00	0.000	1030	0.000	0.031	2299	1998	2462	2475	2449	0	0	0	0	0	0	28.83	26.34	28.83
861	-0.73	-88.0	2299	1995	2475	2449	133.2	-15.7	159	867	0.00	2.12	0.00	0.000	516	0.000	0.042	2299	588	2462	2475	2449	0	0	0	0	0	0	28.83	26.35	28.83
895	-0.73	-88.0	2299	588	2475	2449	139.0	-16.9	165	903	0.17	2.12	0.00	0.000	3078	0.177	0.034	2334	2002	2462	2475	2449	0	0	0	0	0	0	26.20	26.38	28.83
1028	-0.73	-88.0	2334	2003	2475	2449	156.9	-11.4	190	1035	0.00	2.15	0.00	0.000	516	0.000	0.041	2334	582	2462	2475	2449	0	0	0	0	0	0	28.83	26.39	28.83
1073	-0.73	-88.0	2334	582	2475	2449	162.9	-13.4	198	1080	0.00	2.12	0.00	0.000	1030	0.000	0.032	2326	2002	2462	2476	2449	0	0	0	0	0	0	28.83	26.42	28.83
1180	end dive: BOTTOM_OBSTACLE_DETECTED
state	1180	begin apogee
1188	-0.18	0.0	2325	1783	2475	2449	177.8	-14.1	219	1259	0.55	0.00	66.05	0.645	10246	0.139	0.000	2506	1783	2105	2142	2069	0	0	0	0	0	0	26.29	28.83	25.01
1260	end apogee: CONTROL_FINISHED_OK
state	1260	begin climb
1262	0.73	88.0	2506	1783	2142	2069	182.8	0.0	231	1343	0.82	2.30	70.35	0.636	10756	0.090	0.048	2806	410	1753	1797	1709	0	0	0	0	0	0	25.55	25.07	24.51
1407	0.75	112.3	1808	409	1739	1699	177.2	6.1	257	1431	0.00	2.17	19.98	0.607	9222	0.000	0.034	2806	1800	1658	1706	1610	0	0	0	0	0	0	28.83	25.51	24.74
1555	0.75	112.3	2806	1800	1701	1605	165.6	9.2	285	1562	0.00	2.20	0.00	0.000	260	0.000	0.044	2806	3208	1653	1701	1605	0	0	0	0	0	0	28.83	25.72	28.83
1595	0.75	112.3	2806	3208	1701	1605	161.8	9.3	292	1601	0.00	2.15	0.00	0.000	1030	0.000	0.035	2816	1820	1652	1701	1604	0	0	0	0	0	0	28.83	25.82	28.83
1725	0.75	112.3	1792	1817	1651	1598	151.6	8.1	317	1732	0.00	0.00	0.00	0.000	6	0.000	0.000	2816	1819	1651	1699	1603	0	0	0	0	0	0	28.83	28.83	28.83
1855	0.75	112.3	1808	1817	1652	1597	140.5	9.3	342	1862	0.00	2.22	0.00	0.000	516	0.000	0.048	2828	387	1650	1698	1602	0	0	0	0	0	0	28.83	26.08	28.83
1900	0.75	112.3	2828	386	1697	1602	136.2	9.7	350	1907	0.00	2.17	0.00	0.000	1030	0.000	0.034	2828	1812	1649	1697	1602	0	0	0	0	0	0	28.83	26.13	28.83
2031	0.75	112.3	1808	1811	1649	1596	124.4	9.2	375	2037	0.00	2.22	0.00	0.000	516	0.000	0.047	2838	389	1649	1696	1602	0	0	0	0	0	0	28.83	26.18	28.83
2091	0.75	112.3	2838	389	1696	1602	118.5	9.5	386	2098	0.15	2.15	0.00	0.000	5126	0.174	0.034	2800	1808	1649	1696	1602	0	0	0	0	0	0	26.07	26.24	28.83
2223	0.75	112.3	2799	1809	1696	1602	108.2	8.1	411	2229	0.00	0.00	0.00	0.000	6	0.000	0.000	2799	1809	1648	1696	1601	0	0	0	0	0	0	28.83	28.83	28.83
2352	0.75	112.3	2799	1809	1696	1601	98.2	7.5	436	2358	0.00	0.00	0.00	0.000	6	0.000	0.000	2800	1810	1648	1696	1601	0	0	0	0	0	0	28.83	28.83	28.83
2481	0.75	112.3	2799	1809	1696	1601	88.4	7.5	461	2488	0.00	2.12	0.00	0.000	260	0.000	0.044	2799	3205	1648	1696	1601	0	0	0	0	0	0	28.83	26.35	28.83
2633	0.75	112.3	2799	3205	1696	1601	75.1	8.8	490	2640	0.00	2.12	0.00	0.000	1030	0.000	0.034	2808	1793	1648	1696	1601	0	0	0	0	0	0	28.83	26.41	28.83
2764	0.75	112.3	2808	1793	1696	1601	63.8	8.8	515	2771	0.00	2.15	0.00	0.000	516	0.000	0.048	2819	395	1648	1696	1600	0	0	0	0	0	0	28.83	26.41	28.83
2844	0.75	112.3	2819	395	1696	1600	56.5	9.0	530	2851	0.00	2.12	0.00	0.000	1030	0.000	0.034	2820	1808	1647	1695	1600	0	0	0	0	0	0	28.83	26.46	28.83
2975	0.75	112.3	1792	1808	1648	1594	45.8	8.1	555	2981	0.00	2.20	0.00	0.000	516	0.000	0.047	2830	385	1647	1695	1600	0	0	0	0	0	0	28.83	26.45	28.83
3106	0.75	112.3	2830	385	1695	1599	34.8	8.4	580	3112	0.00	2.12	0.00	0.000	1030	0.000	0.034	2830	1801	1647	1695	1600	0	0	0	0	0	0	28.83	26.49	28.83
3175	0.75	112.3	2830	1802	1695	1600	29.1	7.8	593	3183	0.00	2.17	0.00	0.000	516	0.000	0.047	2840	397	1647	1695	1600	0	0	0	0	0	0	28.83	26.47	28.83
3236	0.75	112.3	2840	397	1695	1600	24.2	8.3	604	3243	0.15	2.10	0.00	0.000	5126	0.176	0.033	2802	1805	1647	1695	1600	0	0	0	0	0	0	26.34	26.51	28.83
3306	0.77	134.5	2802	1805	1695	1600	19.5	6.2	617	3325	0.00	2.22	10.38	0.467	8708	0.000	0.047	2812	399	1568	1616	1521	0	0	0	0	0	0	28.83	26.38	25.86
3358	0.77	134.5	2811	399	1611	1521	15.7	7.7	626	3365	0.00	2.10	0.00	0.000	1030	0.000	0.034	2811	1797	1566	1611	1521	0	0	0	0	0	0	28.83	26.41	28.83
3428	0.78	146.9	1808	1796	1569	1515	10.7	6.7	639	3441	0.00	2.15	5.30	0.373	8452	0.000	0.044	2811	3205	1519	1567	1471	0	0	0	0	0	0	28.83	26.36	25.87
3535	0.81	181.8	1792	3203	1526	1465	3.9	5.5	659	3554	0.00	2.12	15.07	0.422	9222	0.000	0.035	2821	1793	1382	1431	1333	0	0	0	0	0	0	28.83	26.42	25.82
3620	0.93	311.7	2821	1793	1424	1328	3.1	0.2	674	3679	0.12	0.08	55.42	0.436	10755	0.094	0.118	2887	1730	863	896	830	0	0	0	0	0	0	26.35	28.83	25.41
3680	end climb: SURFACE_DEPTH_REACHED
state	3680	begin surface coast
3747	end surface coast: CONTROL_FINISHED_OK
state	3747	begin surface