Glider dive log

Shilshole 07Aug13 * SG201 * Dive index * Mission links * Dive 9 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 201 HD_C 9.9999997e-06 ROLL_MAX 3758 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 1 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 9 ESCAPE_HEADING 0 C_ROLL_DIVE 2000 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2000 ALTIM_PING_DEPTH 90

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 2 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 180 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 49 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 280 R_STBD_OVSHOOT 41 XPDR_VALID 1

D_BOOST 20 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 1 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 1.5 INT_PRESSURE_YINT -1.28

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0.029999999 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 9 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 5 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 C_VBD 3101 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 -1

T_DIVE 75 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 80 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 15 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 30 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY -6 T_GPS_CHARGE -477.58325 DBDW 0 COMPASS_DEVICE 97

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 1001 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 97 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 207 MINV_24V 19 SIM_W 0

MAX_BUOY 90 PITCH_MAX 3915 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2985 FG_AHR_10V 0 SEABIRD_T_G 0.0043948898

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.000640176

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.7039805e-05

RHO 1.023 P_OVSHOOT 0.039999999 PRESSURE_YINT -68.747383 SEABIRD_T_J 3.3535807e-06

MASS 51667 PITCH_GAIN 19.5 PRESSURE_SLOPE 0.000115772 SEABIRD_C_G -9.7607336

MASS_COMP 0 PITCH_TIMEOUT 17 AD7714Ch0Gain 128 SEABIRD_C_H 1.1271561

NAV_MODE 1 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0014806761

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00019408599

KALMAN_USE 1 PITCH_ADJ_GAIN 0 COMPASS_USE 0

HD_A 0.0038379999 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.01025 ROLL_MIN 224 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 1001 PHONE_SUPPLY 2 SM_CC 280

AH0_10V 97 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 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 19.5 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 90 FERRY_MAX 45 PITCH_MAX 3915 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 207 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12218

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 T_BOOST 1

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 75

CALL_NDIVES 1 HD_A 0.0038379999 PRESSURE_SLOPE 0.000115772 T_EPIRB 0

CALL_TRIES 5 HD_B 0.01025 PRESSURE_YINT -68.747383 T_GPS 15

CALL_WAIT 60 HD_C 9.9999997e-06 PROTOCOL 9 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -477.58325

CAPUPLOAD 1 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 80

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 201 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_YINT -1.28 RHO 1.023 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 1 ROLL_ADJ_DBAND 0.029999999 T_WATCHDOG 10

C_PITCH 2985 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 1.5 UNCOM_BLEED 60

C_ROLL_CLIMB 2000 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2000 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY -6

C_VBD 3101 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3758 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 51667 ROLL_MAXERRORS 2 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 224 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 90 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 -1 MINV_10V 8 R_PORT_OVSHOOT 49 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 41 VBD_MIN 500

DEVICE4 -1 MISSION 1 SEABIRD_C_G -9.7607336 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1271561 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0014806761 VBD_TIMEOUT 720

DIVE 9 NOCOMM_ACTION 0 SEABIRD_C_J 0.00019408599 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0043948898 XPDR_DEVICE 24

D_BOOST 20 N_FILEKB 4 SEABIRD_T_H 0.000640176 XPDR_INHIBIT 90

D_CALL 0 N_GPS 30 SEABIRD_T_I 2.7039805e-05 XPDR_VALID 1

D_FINISH 0 N_NOCOMM 5 SEABIRD_T_J 3.3535807e-06

D_FLARE 2 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 500 PHONE_DEVICE 49 SIM_W 0

Pre-dive calculations and measurements:

GPS1 080813,003825,4743.233,-12224.544,15,1.3,15,16.3 TGT_NAME NE

_CALLS 2 TGT_LATLONG 4744.200,-12223.500

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.012,0.190

_SM_DEPTHo 1.12 KALMAN_X -523.7,96.3,-82.5,902.7,-171.7

_SM_ANGLEo -66.8 KALMAN_Y -3287.3,46.7,-432.1,4296.0,-1039.1

GPS2 080813,004551,4743.088,-12224.508,4,1.4,4,16.3 MHEAD_RNG_PITCHd_Wd 347.2,2412,-19.8,-8.000,-22.77,1677

SPEED_LIMITS 0.139,0.191 D_GRID 177

Post-dive calculations and measurements:

FINISH 0.4,1.020422 _24V_AH 25.4,0.556

SM_CCo 3590,54.20,0.138,0,0,1956,280.13 _10V_AH 10.5,0.412

SM_GC 0.94,8.20,0.00,54.20,0.048,0.000,0.138,196,1998,1956,-8.64,-0.06,280.13,0,0,0,0,0,0,26.84,28.83,26.55 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12227.78,080813,000029 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026215,0.026215 MEM 323044

HUMID 52.36 DATA_FILE_SIZE 20086,679

INTERNAL_PRESSURE 8.85711 CAP_FILE_SIZE 78309,0

TCM_TEMP 18.60 CFSIZE 260034560,256454656

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

ALTIM_BOTTOM_PING 90.3,7.0 GPS 080813,014808,4743.230,-12224.688,3,1.9,3,16.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 224 112.40 SBE_CT 453 23 267.67

Roll_motor 54 65 89.77 nil 0 0 0.00

VBD_pump_during_apogee 168 517 2214.61 nil 0 0 0.00

VBD_pump_during_surface 54 137 189.57 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 49 12 15.40 nil 0 0 0.00

Iridium_during_connect 66 160 272.25 nil 0 0 0.00

Iridium_during_xfer 196 223 1114.01 nil 0 0 0.00

Transponder_ping 0 420 5.33 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 28 1.74

TT8 1538 15 253.79

LPSleep 850 2 19.56

TT8_Active 353 15 58.36

TT8_Sampling 1309 44 617.60

TT8_CF8 53 50 27.99

TT8_Kalman 33 67 23.50

Analog_circuits 901 15 141.95

GPS_charging 0 0 0.00

Compass 975 8 84.39

RAFOS 0 0 0.00

Transponder 5 30 1.72

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

15 -1.12 -88.0 199 2043 1964 1957 0.0 0.0 0 46 0.00 0.00 -28.75 0.000 16386 0.000 0.000 199 2044 2708 2726 2691 0 0 0 0 0 0 28.83 28.83 28.83

49 -1.12 -88.0 199 2044 2726 2691 2.1 -4.0 5 90 9.10 2.10 -24.23 0.000 18692 0.225 0.065 2612 3401 3460 3495 3426 0 0 0 0 0 0 26.33 26.55 26.89

106 -1.12 -88.0 2612 3401 3495 3426 5.6 -9.5 15 113 0.00 2.08 0.00 0.000 1030 0.000 0.034 2613 1992 3460 3494 3426 0 0 0 0 0 0 28.83 26.62 28.83

175 -1.12 -88.0 2613 1993 3495 3426 12.8 -10.0 28 181 0.00 2.08 0.00 0.000 516 0.000 0.045 2613 602 3460 3495 3426 0 0 0 0 0 0 28.83 26.63 28.83

243 -1.12 -88.0 2612 602 3495 3426 21.6 -14.0 41 249 0.00 2.08 0.00 0.000 1030 0.000 0.032 2603 2005 3460 3495 3426 0 0 0 0 0 0 28.83 26.70 28.83

312 -1.12 -88.0 2602 2005 3495 3427 31.5 -14.7 54 319 0.00 2.12 0.00 0.000 260 0.000 0.048 2592 3397 3460 3495 3426 0 0 0 0 0 0 28.83 26.68 28.83

395 -1.12 -88.0 2592 3397 3495 3427 43.9 -13.8 70 403 0.12 2.05 0.00 0.000 3078 0.167 0.033 2623 2006 3461 3495 3427 0 0 0 0 0 0 26.60 26.77 28.83

525 -1.12 -88.0 2623 2006 3495 3427 59.3 -11.1 95 531 0.00 2.08 0.00 0.000 516 0.000 0.044 2624 607 3461 3495 3427 0 0 0 0 0 0 28.83 26.78 28.83

597 -1.12 -88.0 1632 606 3486 3424 67.8 -12.8 109 604 0.00 2.08 0.00 0.000 1030 0.000 0.032 2615 2017 3461 3495 3427 0 0 0 0 0 0 28.83 26.84 28.83

727 -1.12 -88.0 2616 2017 3495 3427 84.3 -13.4 134 733 0.00 0.00 0.00 0.000 6 0.000 0.000 2616 2017 3461 3495 3427 0 0 0 0 0 0 28.83 28.83 28.83

856 -1.12 -88.0 2615 2017 3495 3427 100.8 -12.2 159 862 0.00 0.00 0.00 0.000 6 0.000 0.000 2616 2017 3461 3495 3427 0 0 0 0 0 0 28.83 28.83 28.83

985 -1.12 -88.0 2615 2017 3495 3427 118.1 -14.3 184 991 0.00 0.00 0.00 0.000 6 0.000 0.000 2616 2017 3460 3494 3427 0 0 0 0 0 0 28.83 28.83 28.83

1112 -1.12 -88.0 2615 2017 3495 3427 134.1 -10.7 209 1118 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2017 3461 3495 3427 0 0 0 0 0 0 28.83 28.83 28.83

1240 -1.12 -88.0 2615 2017 3495 3427 149.1 -11.5 234 1246 0.00 2.10 0.00 0.000 260 0.000 0.050 2605 3414 3461 3495 3427 0 0 0 0 0 0 28.83 26.93 28.83

1333 -1.12 -88.0 2604 3414 3495 3427 160.5 -13.2 252 1340 0.00 2.05 0.00 0.000 1030 0.000 0.034 2605 2009 3461 3495 3427 0 0 0 0 0 0 28.83 27.00 28.83

1462 -1.12 -88.0 2605 2009 3495 3427 176.2 -10.0 277 1468 0.00 2.08 0.00 0.000 516 0.000 0.045 2605 600 3461 3495 3427 0 0 0 0 0 0 28.83 26.97 28.83

1474 end dive: TARGET_DEPTH_EXCEEDED

state 1475 begin apogee

1480 -0.26 0.0 2594 2015 3495 3427 177.6 -10.3 279 1553 0.90 0.00 64.88 0.518 10244 0.132 0.000 2893 2016 3092 3142 3042 0 0 0 0 0 0 26.83 28.83 25.83

1554 end apogee: CONTROL_FINISHED_OK

state 1554 begin climb

1556 1.12 88.0 2894 2016 3139 3042 181.8 0.0 292 1623 1.23 0.00 62.85 0.505 11270 0.080 0.000 3345 2016 2739 2775 2703 0 0 0 0 0 0 26.27 28.83 25.39

1746 1.12 88.0 3344 2016 2763 2692 165.3 11.1 328 1752 0.00 0.00 0.00 0.000 6 0.000 0.000 3345 2016 2727 2763 2692 0 0 0 0 0 0 28.83 28.83 28.83

1874 1.12 88.0 3345 2016 2763 2691 152.7 10.0 353 1879 0.00 0.00 0.00 0.000 6 0.000 0.000 3345 2016 2727 2763 2692 0 0 0 0 0 0 28.83 28.83 28.83

2001 1.12 88.0 3345 2015 2763 2692 141.9 8.0 378 2007 0.00 0.00 0.00 0.000 6 0.000 0.000 3345 2016 2727 2763 2691 0 0 0 0 0 0 28.83 28.83 28.83

2128 1.12 88.0 3344 2016 2762 2691 131.5 8.8 403 2135 0.00 2.12 0.00 0.000 260 0.000 0.049 3345 3406 2726 2762 2691 0 0 0 0 0 0 28.83 26.65 28.83

2307 1.13 94.3 3345 3406 2762 2690 116.6 7.6 438 2314 0.00 2.10 1.25 0.190 9222 0.000 0.034 3355 1988 2714 2753 2676 0 0 0 0 0 0 28.83 26.78 26.60

2435 1.13 94.3 2432 1986 2725 2680 105.4 8.1 463 2443 0.00 2.08 1.02 0.207 8708 0.000 0.045 3356 596 2716 2756 2677 0 0 0 0 0 0 28.83 26.78 26.65

2474 1.14 99.9 3356 596 2764 2684 102.1 7.7 470 2482 0.00 2.05 3.10 0.451 9222 0.000 0.032 3356 1996 2694 2731 2657 0 0 0 0 0 0 28.83 26.83 26.16

2605 1.14 99.9 3356 1995 2757 2676 90.4 10.5 495 2613 0.00 2.17 2.22 0.296 8708 0.000 0.045 3365 596 2698 2739 2658 0 0 0 0 0 0 28.83 26.79 26.01

2680 1.14 99.9 3365 596 2754 2673 82.5 11.2 509 2688 0.00 2.03 1.92 0.192 9222 0.000 0.032 3365 1984 2694 2734 2655 0 0 0 0 0 0 28.83 26.85 26.53

2811 1.14 99.9 3365 1984 2755 2673 69.7 10.5 534 2818 0.00 2.20 1.85 0.192 8452 0.000 0.048 3365 3391 2699 2739 2659 0 0 0 0 0 0 28.83 26.83 26.58

2880 1.14 99.9 3365 3391 2754 2674 61.9 11.1 547 2888 0.00 2.05 1.88 0.192 9222 0.000 0.034 3375 1995 2693 2733 2654 0 0 0 0 0 0 28.83 26.89 26.58

3011 1.14 99.9 3375 1995 2754 2673 49.8 9.6 572 3019 0.00 2.12 1.75 0.190 8708 0.000 0.045 3385 606 2698 2739 2658 0 0 0 0 0 0 28.83 26.87 26.62

3136 1.14 99.9 3385 606 2754 2673 38.2 8.9 596 3144 0.12 2.03 1.83 0.188 13318 0.190 0.033 3355 1996 2693 2733 2653 0 0 0 0 0 0 26.73 26.94 26.63

3206 1.17 124.8 3355 1996 2753 2670 33.5 6.5 609 3236 0.00 2.20 23.80 0.410 8452 0.000 0.049 3355 3392 2582 2624 2541 0 0 0 0 0 0 28.83 26.68 26.28

3282 1.17 124.8 3355 3392 2620 2533 27.7 8.4 623 3289 0.00 2.08 0.00 0.000 1030 0.000 0.034 3364 1988 2576 2620 2533 0 0 0 0 0 0 28.83 26.77 28.83

3352 1.17 124.8 3363 1988 2619 2533 21.7 8.7 636 3358 0.00 0.00 0.00 0.000 6 0.000 0.000 3364 1988 2576 2619 2533 0 0 0 0 0 0 28.83 28.83 28.83

3419 1.17 124.8 3363 1988 2619 2533 15.2 10.0 649 3426 0.00 2.08 0.00 0.000 516 0.000 0.047 3372 597 2576 2619 2533 0 0 0 0 0 0 28.83 26.79 28.83

3492 1.17 124.8 3372 597 2619 2533 8.1 10.6 663 3499 0.00 2.05 0.00 0.000 1030 0.000 0.032 3373 1996 2576 2619 2533 0 0 0 0 0 0 28.83 26.85 28.83

3544 end climb: SURFACE_DEPTH_REACHED

state 3544 begin surface coast

3576 end surface coast: CONTROL_FINISHED_OK

state 3576 begin surface

ID	201	HD_C	9.9999997e-06	ROLL_MAX	3758	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	1	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	9	ESCAPE_HEADING	0	C_ROLL_DIVE	2000	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2000	ALTIM_PING_DEPTH	90
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	2	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	180	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	49	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	280	R_STBD_OVSHOOT	41	XPDR_VALID	1
D_BOOST	20	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	1	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	1.5	INT_PRESSURE_YINT	-1.28
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0.029999999	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	9	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	5	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	C_VBD	3101	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	-1
T_DIVE	75	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	80	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	15	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	30	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	-6	T_GPS_CHARGE	-477.58325	DBDW	0	COMPASS_DEVICE	97
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	1001	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	97	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	207	MINV_24V	19	SIM_W	0
MAX_BUOY	90	PITCH_MAX	3915	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2985	FG_AHR_10V	0	SEABIRD_T_G	0.0043948898
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.000640176
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.7039805e-05
RHO	1.023	P_OVSHOOT	0.039999999	PRESSURE_YINT	-68.747383	SEABIRD_T_J	3.3535807e-06
MASS	51667	PITCH_GAIN	19.5	PRESSURE_SLOPE	0.000115772	SEABIRD_C_G	-9.7607336
MASS_COMP	0	PITCH_TIMEOUT	17	AD7714Ch0Gain	128	SEABIRD_C_H	1.1271561
NAV_MODE	1	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0014806761
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00019408599
KALMAN_USE	1	PITCH_ADJ_GAIN	0	COMPASS_USE	0
HD_A	0.0038379999	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.01025	ROLL_MIN	224	ALTIM_TOP_PING_RANGE	0

GPS1	080813,003825,4743.233,-12224.544,15,1.3,15,16.3	TGT_NAME	NE
_CALLS	2	TGT_LATLONG	4744.200,-12223.500
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.012,0.190
_SM_DEPTHo	1.12	KALMAN_X	-523.7,96.3,-82.5,902.7,-171.7
_SM_ANGLEo	-66.8	KALMAN_Y	-3287.3,46.7,-432.1,4296.0,-1039.1
GPS2	080813,004551,4743.088,-12224.508,4,1.4,4,16.3	MHEAD_RNG_PITCHd_Wd	347.2,2412,-19.8,-8.000,-22.77,1677
SPEED_LIMITS	0.139,0.191	D_GRID	177

FINISH	0.4,1.020422	_24V_AH	25.4,0.556
SM_CCo	3590,54.20,0.138,0,0,1956,280.13	_10V_AH	10.5,0.412
SM_GC	0.94,8.20,0.00,54.20,0.048,0.000,0.138,196,1998,1956,-8.64,-0.06,280.13,0,0,0,0,0,0,26.84,28.83,26.55	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12227.78,080813,000029	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026215,0.026215	MEM	323044
HUMID	52.36	DATA_FILE_SIZE	20086,679
INTERNAL_PRESSURE	8.85711	CAP_FILE_SIZE	78309,0
TCM_TEMP	18.60	CFSIZE	260034560,256454656
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	90.3,7.0	GPS	080813,014808,4743.230,-12224.688,3,1.9,3,16.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	224	112.40	SBE_CT	453	23	267.67
Roll_motor	54	65	89.77	nil	0	0	0.00
VBD_pump_during_apogee	168	517	2214.61	nil	0	0	0.00
VBD_pump_during_surface	54	137	189.57	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	49	12	15.40	nil	0	0	0.00
Iridium_during_connect	66	160	272.25	nil	0	0	0.00
Iridium_during_xfer	196	223	1114.01	nil	0	0	0.00
Transponder_ping	0	420	5.33	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	28	1.74
TT8	1538	15	253.79
LPSleep	850	2	19.56
TT8_Active	353	15	58.36
TT8_Sampling	1309	44	617.60
TT8_CF8	53	50	27.99
TT8_Kalman	33	67	23.50
Analog_circuits	901	15	141.95
GPS_charging	0	0	0.00
Compass	975	8	84.39
RAFOS	0	0	0.00
Transponder	5	30	1.72

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
15	-1.12	-88.0	199	2043	1964	1957	0.0	0.0	0	46	0.00	0.00	-28.75	0.000	16386	0.000	0.000	199	2044	2708	2726	2691	0	0	0	0	0	0	28.83	28.83	28.83
49	-1.12	-88.0	199	2044	2726	2691	2.1	-4.0	5	90	9.10	2.10	-24.23	0.000	18692	0.225	0.065	2612	3401	3460	3495	3426	0	0	0	0	0	0	26.33	26.55	26.89
106	-1.12	-88.0	2612	3401	3495	3426	5.6	-9.5	15	113	0.00	2.08	0.00	0.000	1030	0.000	0.034	2613	1992	3460	3494	3426	0	0	0	0	0	0	28.83	26.62	28.83
175	-1.12	-88.0	2613	1993	3495	3426	12.8	-10.0	28	181	0.00	2.08	0.00	0.000	516	0.000	0.045	2613	602	3460	3495	3426	0	0	0	0	0	0	28.83	26.63	28.83
243	-1.12	-88.0	2612	602	3495	3426	21.6	-14.0	41	249	0.00	2.08	0.00	0.000	1030	0.000	0.032	2603	2005	3460	3495	3426	0	0	0	0	0	0	28.83	26.70	28.83
312	-1.12	-88.0	2602	2005	3495	3427	31.5	-14.7	54	319	0.00	2.12	0.00	0.000	260	0.000	0.048	2592	3397	3460	3495	3426	0	0	0	0	0	0	28.83	26.68	28.83
395	-1.12	-88.0	2592	3397	3495	3427	43.9	-13.8	70	403	0.12	2.05	0.00	0.000	3078	0.167	0.033	2623	2006	3461	3495	3427	0	0	0	0	0	0	26.60	26.77	28.83
525	-1.12	-88.0	2623	2006	3495	3427	59.3	-11.1	95	531	0.00	2.08	0.00	0.000	516	0.000	0.044	2624	607	3461	3495	3427	0	0	0	0	0	0	28.83	26.78	28.83
597	-1.12	-88.0	1632	606	3486	3424	67.8	-12.8	109	604	0.00	2.08	0.00	0.000	1030	0.000	0.032	2615	2017	3461	3495	3427	0	0	0	0	0	0	28.83	26.84	28.83
727	-1.12	-88.0	2616	2017	3495	3427	84.3	-13.4	134	733	0.00	0.00	0.00	0.000	6	0.000	0.000	2616	2017	3461	3495	3427	0	0	0	0	0	0	28.83	28.83	28.83
856	-1.12	-88.0	2615	2017	3495	3427	100.8	-12.2	159	862	0.00	0.00	0.00	0.000	6	0.000	0.000	2616	2017	3461	3495	3427	0	0	0	0	0	0	28.83	28.83	28.83
985	-1.12	-88.0	2615	2017	3495	3427	118.1	-14.3	184	991	0.00	0.00	0.00	0.000	6	0.000	0.000	2616	2017	3460	3494	3427	0	0	0	0	0	0	28.83	28.83	28.83
1112	-1.12	-88.0	2615	2017	3495	3427	134.1	-10.7	209	1118	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2017	3461	3495	3427	0	0	0	0	0	0	28.83	28.83	28.83
1240	-1.12	-88.0	2615	2017	3495	3427	149.1	-11.5	234	1246	0.00	2.10	0.00	0.000	260	0.000	0.050	2605	3414	3461	3495	3427	0	0	0	0	0	0	28.83	26.93	28.83
1333	-1.12	-88.0	2604	3414	3495	3427	160.5	-13.2	252	1340	0.00	2.05	0.00	0.000	1030	0.000	0.034	2605	2009	3461	3495	3427	0	0	0	0	0	0	28.83	27.00	28.83
1462	-1.12	-88.0	2605	2009	3495	3427	176.2	-10.0	277	1468	0.00	2.08	0.00	0.000	516	0.000	0.045	2605	600	3461	3495	3427	0	0	0	0	0	0	28.83	26.97	28.83
1474	end dive: TARGET_DEPTH_EXCEEDED
state	1475	begin apogee
1480	-0.26	0.0	2594	2015	3495	3427	177.6	-10.3	279	1553	0.90	0.00	64.88	0.518	10244	0.132	0.000	2893	2016	3092	3142	3042	0	0	0	0	0	0	26.83	28.83	25.83
1554	end apogee: CONTROL_FINISHED_OK
state	1554	begin climb
1556	1.12	88.0	2894	2016	3139	3042	181.8	0.0	292	1623	1.23	0.00	62.85	0.505	11270	0.080	0.000	3345	2016	2739	2775	2703	0	0	0	0	0	0	26.27	28.83	25.39
1746	1.12	88.0	3344	2016	2763	2692	165.3	11.1	328	1752	0.00	0.00	0.00	0.000	6	0.000	0.000	3345	2016	2727	2763	2692	0	0	0	0	0	0	28.83	28.83	28.83
1874	1.12	88.0	3345	2016	2763	2691	152.7	10.0	353	1879	0.00	0.00	0.00	0.000	6	0.000	0.000	3345	2016	2727	2763	2692	0	0	0	0	0	0	28.83	28.83	28.83
2001	1.12	88.0	3345	2015	2763	2692	141.9	8.0	378	2007	0.00	0.00	0.00	0.000	6	0.000	0.000	3345	2016	2727	2763	2691	0	0	0	0	0	0	28.83	28.83	28.83
2128	1.12	88.0	3344	2016	2762	2691	131.5	8.8	403	2135	0.00	2.12	0.00	0.000	260	0.000	0.049	3345	3406	2726	2762	2691	0	0	0	0	0	0	28.83	26.65	28.83
2307	1.13	94.3	3345	3406	2762	2690	116.6	7.6	438	2314	0.00	2.10	1.25	0.190	9222	0.000	0.034	3355	1988	2714	2753	2676	0	0	0	0	0	0	28.83	26.78	26.60
2435	1.13	94.3	2432	1986	2725	2680	105.4	8.1	463	2443	0.00	2.08	1.02	0.207	8708	0.000	0.045	3356	596	2716	2756	2677	0	0	0	0	0	0	28.83	26.78	26.65
2474	1.14	99.9	3356	596	2764	2684	102.1	7.7	470	2482	0.00	2.05	3.10	0.451	9222	0.000	0.032	3356	1996	2694	2731	2657	0	0	0	0	0	0	28.83	26.83	26.16
2605	1.14	99.9	3356	1995	2757	2676	90.4	10.5	495	2613	0.00	2.17	2.22	0.296	8708	0.000	0.045	3365	596	2698	2739	2658	0	0	0	0	0	0	28.83	26.79	26.01
2680	1.14	99.9	3365	596	2754	2673	82.5	11.2	509	2688	0.00	2.03	1.92	0.192	9222	0.000	0.032	3365	1984	2694	2734	2655	0	0	0	0	0	0	28.83	26.85	26.53
2811	1.14	99.9	3365	1984	2755	2673	69.7	10.5	534	2818	0.00	2.20	1.85	0.192	8452	0.000	0.048	3365	3391	2699	2739	2659	0	0	0	0	0	0	28.83	26.83	26.58
2880	1.14	99.9	3365	3391	2754	2674	61.9	11.1	547	2888	0.00	2.05	1.88	0.192	9222	0.000	0.034	3375	1995	2693	2733	2654	0	0	0	0	0	0	28.83	26.89	26.58
3011	1.14	99.9	3375	1995	2754	2673	49.8	9.6	572	3019	0.00	2.12	1.75	0.190	8708	0.000	0.045	3385	606	2698	2739	2658	0	0	0	0	0	0	28.83	26.87	26.62
3136	1.14	99.9	3385	606	2754	2673	38.2	8.9	596	3144	0.12	2.03	1.83	0.188	13318	0.190	0.033	3355	1996	2693	2733	2653	0	0	0	0	0	0	26.73	26.94	26.63
3206	1.17	124.8	3355	1996	2753	2670	33.5	6.5	609	3236	0.00	2.20	23.80	0.410	8452	0.000	0.049	3355	3392	2582	2624	2541	0	0	0	0	0	0	28.83	26.68	26.28
3282	1.17	124.8	3355	3392	2620	2533	27.7	8.4	623	3289	0.00	2.08	0.00	0.000	1030	0.000	0.034	3364	1988	2576	2620	2533	0	0	0	0	0	0	28.83	26.77	28.83
3352	1.17	124.8	3363	1988	2619	2533	21.7	8.7	636	3358	0.00	0.00	0.00	0.000	6	0.000	0.000	3364	1988	2576	2619	2533	0	0	0	0	0	0	28.83	28.83	28.83
3419	1.17	124.8	3363	1988	2619	2533	15.2	10.0	649	3426	0.00	2.08	0.00	0.000	516	0.000	0.047	3372	597	2576	2619	2533	0	0	0	0	0	0	28.83	26.79	28.83
3492	1.17	124.8	3372	597	2619	2533	8.1	10.6	663	3499	0.00	2.05	0.00	0.000	1030	0.000	0.032	3373	1996	2576	2619	2533	0	0	0	0	0	0	28.83	26.85	28.83
3544	end climb: SURFACE_DEPTH_REACHED
state	3544	begin surface coast
3576	end surface coast: CONTROL_FINISHED_OK
state	3576	begin surface