Glider dive log

Shilshole 06Jan15 * SG038 * Dive index * Mission links * Dive 9 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 38 HD_B 0.0099999998 PITCH_ADJ_DBAND 0 COMPASS_USE 4

MISSION 2 HD_C 9.9999997e-06 ROLL_MIN 250 ALTIM_BOTTOM_PING_RANGE 0

DIVE 9 HEADING -1 ROLL_MAX 3825 ALTIM_TOP_PING_RANGE 0

N_DIVES 0 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0

D_SURF 3 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2169 ALTIM_TOP_TURN_MARGIN 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2169 ALTIM_TOP_MIN_OBSTACLE 1

D_TGT 180 TGT_DEFAULT_LAT 4743 HEAD_ERRBAND 15 ALTIM_PING_DEPTH 110

D_ABORT 300 TGT_DEFAULT_LON -12224.5 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 5

D_NO_BLEED 50 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13

D_BOOST 0 SM_CC 290 R_PORT_OVSHOOT 48 ALTIM_PULSE 2

T_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 37 ALTIM_SENSITIVITY 3

D_FINISH 0 FILEMGR 0 ROLL_AD_RATE 300 XPDR_VALID 2

D_PITCH 0 CALL_NDIVES 1 ROLL_MAXERRORS 2 XPDR_INHIBIT 90

D_SAFE 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

D_CALL 0 PROTOCOL 1 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -2.4000001

SURFACE_URGENCY 0 N_NOCOMM 2 VBD_MIN 200 DEEPGLIDER 1

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 0 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 C_VBD 2627 DEVICE1 2

T_DIVE 80 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE2 101

T_MISSION 100 CALL_TRIES 5 VBD_CNV -0.29049 DEVICE3 -1

T_ABORT 120 CALL_WAIT 30 VBD_TIMEOUT 720 DEVICE4 -1

T_TURN 540 CAPUPLOAD 1 PITCH_VBD_SHIFT 0.00030000001 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 200000 VBD_PUMP_AD_RATE_SURFACE 4 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_LOITER 0 T_GPS 15 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_EPIRB 0 N_GPS 100740 UNCOM_BLEED 50 LOGGERDEVICE2 -1

USE_BATHY -6 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

USE_ICE 0 T_RSLEEP 3 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 DBDW 0 COMPASS_DEVICE 33

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 PHONE_DEVICE 49

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 GPS_DEVICE 32

APOGEE_PITCH -5 PITCH_MIN 150 AH0_24V 150 RAFOS_DEVICE -1

MAX_BUOY 150 PITCH_MAX 3830 AH0_10V 100 XPDR_DEVICE 24

COURSE_BIAS 0 C_PITCH 2996 MINV_24V 17 SIM_W 0

GLIDE_SLOPE 45 PITCH_DBAND 0.1 MINV_10V 8 SIM_PITCH 0

SPEED_FACTOR 1 PITCH_CNV 0.003125763 FG_AHR_10V 0 SEABIRD_T_G 0.004402326

RHO 1.0233001 P_OVSHOOT 0.026000001 FG_AHR_24V 0 SEABIRD_T_H 0.00064293214

MASS 78054 P_OVSHOOT_WITHG 0.089000002 PHONE_SUPPLY 2 SEABIRD_T_I 2.6613103e-05

MASS_COMP 9134.2002 PITCH_GAIN 19 PRESSURE_YINT -1022.0887 SEABIRD_T_J 3.266618e-06

NAV_MODE 1 PITCH_TIMEOUT 17 PRESSURE_SLOPE 0.00093318848 SEABIRD_C_G -9.6536341

FERRY_MAX 45 PITCH_AD_RATE 145 AD7714Ch0Gain 32 SEABIRD_C_H 1.1178679

KALMAN_USE 2 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0014615374

HD_A 0.003 PITCH_ADJ_GAIN 0 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00018686533

AD7714Ch0Gain 32 D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_J 3.266618e-06

AH0_10V 100 D_PITCH 0 PHONE_SUPPLY 2 SIM_PITCH 0

AH0_24V 150 D_SAFE 0 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_ADJ_GAIN 0 SM_CC 290

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 180 PITCH_AD_RATE 145 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 STROBE 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 110 FERRY_MAX 45 PITCH_GAIN 19 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 2 FG_AHR_10V 0 PITCH_MAX 3830 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_MIN 150 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 17 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 PITCH_VBD_SHIFT 0.00030000001 TGT_DEFAULT_LAT 4743

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_DEFAULT_LON -12224.5

CALL_NDIVES 1 HD_A 0.003 PITCH_W_GAIN 0 T_ABORT 120

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_SLOPE 0.00093318848 T_BOOST 0

CALL_WAIT 30 HD_C 9.9999997e-06 PRESSURE_YINT -1022.0887 T_DIVE 80

CAPMAXSIZE 200000 HEADING -1 PROTOCOL 1 T_EPIRB 0

CAPUPLOAD 1 HEAD_ERRBAND 15 P_OVSHOOT 0.026000001 T_GPS 15

CF8_MAXERRORS 2 HEAPDBG 0 P_OVSHOOT_WITHG 0.089000002 T_GPS_ALMANAC 0

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_LOITER 0

COMPASS2_DEVICE -1 ID 38 RAFOS_DEVICE -1 T_MISSION 100

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT -2.4000001 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COURSE_BIAS 0 KALMAN_USE 2 RELAUNCH 1 T_TURN 540

C_PITCH 2996 LOGGERDEVICE1 -1 RHO 1.0233001 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2169 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_DIVE 2169 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_VBD 2627 LOGGERDEVICE4 -1 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX -1

DBDW 0 LOGGERS 0 ROLL_CNV 0.028270001 USE_BATHY -6

DEEPGLIDER 1 MASS 78054 ROLL_DEG 40 USE_ICE 0

DEVICE1 2 MASS_COMP 9134.2002 ROLL_MAX 3825 VBD_BLEED_AD_RATE 8

DEVICE2 101 MAX_BUOY 150 ROLL_MAXERRORS 2 VBD_CNV -0.29049

DEVICE3 -1 MINV_10V 8 ROLL_MIN 250 VBD_DBAND 2

DEVICE4 -1 MINV_24V 17 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE5 -1 MISSION 2 R_PORT_OVSHOOT 48 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 R_STBD_OVSHOOT 37 VBD_MIN 200

DIVE 9 NAV_MODE 1 SEABIRD_C_G -9.6536341 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 300 NOCOMM_ACTION 0 SEABIRD_C_H 1.1178679 VBD_PUMP_AD_RATE_SURFACE 4

D_BOOST 0 N_DIVES 0 SEABIRD_C_I -0.0014615374 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_J 0.00018686533 W_ADJ_DBAND 2

D_FINISH 0 N_GPS 100740 SEABIRD_T_G 0.004402326 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 2 SEABIRD_T_H 0.00064293214 XPDR_INHIBIT 90

D_NO_BLEED 50 N_NOSURFACE 0 SEABIRD_T_I 2.6613103e-05 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 070115,055052,4744.1411,-12224.6611,34,0.9,35,16.3,0.0,0.0,7,8.4 TGT_NAME SOUTH

_CALLS 1 TGT_LATLONG 4743.000,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 1.50 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -66.8 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 070115,055657,4744.1953,-12224.7178,5,1.0,40,16.3,0.6,110.8,7,3.0 MHEAD_RNG_PITCHd_Wd 156.7,2230,-13.1,-7.500,-17.71,2947

SPEED_LIMITS 0.075,0.235 D_GRID 176

Post-dive calculations and measurements:

FINISH 2.0,1.020962 _10V_AH 10.55,0.539

SM_CCo 4737,43.97,0.760,0,0,1628,290.20 FG_AHR_24Vo 0.000

SM_GC 2.47,8.23,2.15,43.97,0.099,0.077,0.760,165,2172,1628,-8.80,-1.02,290.20,0,0,0,0,0,0,26.25,26.28,25.10 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4722.92,-12222.38,070115,042224 MEM 322892

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 30295,515

HUMID 46.61 CAP_FILE_SIZE 74486,0

INTERNAL_PRESSURE 9.00669 CFSIZE 1024409600,1020903424

TCM_TEMP 17.80 ERRORS 0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 INTR 2,2514.01,0x2356fe,1,24

ALTIM_BOTTOM_PING 115.4,81.4 GPS 070115,071748,4744.119,-12224.608,1,1.1,8,16.3,0.6,280.1,8,9.1

_24V_AH 24.41,1.478

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 268 129.44 SBE_CT 344 23 195.24

Roll_motor 42 96 99.93 AA4330 683 13 224.78

VBD_pump_during_apogee 267 881 5752.45 nil 0 0 0.00

VBD_pump_during_surface 43 759 815.59 nil 0 0 0.00

VBD_valve 141 161 556.67 nil 0 0 0.00

Iridium_during_init 26 126 82.35 nil 0 0 0.00

Iridium_during_connect 36 160 142.77 nil 0 0 0.00

Iridium_during_xfer 194 223 1058.60 nil 0 0 0.00

Transponder_ping 0 420 7.69 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 41 26 11.72

TT8 1224 15 199.92

LPSleep 2174 2 50.23

TT8_Active 443 15 72.39

TT8_Sampling 1274 41 560.21

TT8_CF8 48 64 32.78

TT8_Kalman 0 0 0.00

Analog_circuits 981 10 103.56

GPS_charging 0 0 0.00

Compass 960 8 83.45

RAFOS 0 0 0.00

Transponder 7 30 2.29

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

14 -0.73 -146.6 155 2183 1647 1608 0.0 0.0 0 132 0.00 0.00 -115.20 0.146 16386 0.000 0.000 155 2183 2694 2665 2723 0 0 0 0 0 0 26.39 28.83 26.42

135 -0.73 -146.6 156 2183 2666 2722 3.4 -3.2 21 181 10.07 2.22 -26.10 0.161 18948 0.268 0.089 2760 770 3134 3111 3157 0 0 0 0 0 0 25.79 25.98 25.91

582 -0.73 -146.6 2760 770 3112 3155 41.1 -8.3 84 586 0.00 2.08 0.00 0.000 1030 0.000 0.079 2750 2182 3133 3111 3156 0 0 0 0 0 0 26.51 26.42 26.52

707 -0.73 -146.6 2750 2182 3111 3155 52.0 -8.7 96 708 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2182 3133 3111 3156 0 0 0 0 0 0 26.75 26.77 26.77

827 -0.73 -146.6 2750 2182 3111 3155 63.1 -10.4 108 831 0.00 2.10 0.00 0.000 260 0.000 0.097 2740 3578 3133 3111 3155 0 0 0 0 0 0 26.81 26.51 26.82

996 -0.73 -146.6 2740 3578 3111 3156 75.1 -8.0 124 1003 0.00 2.10 0.00 0.000 1030 0.000 0.079 2740 2163 3133 3111 3156 0 0 0 0 0 0 26.65 26.60 26.66

1123 -0.73 -146.6 2739 2163 3111 3156 86.0 -8.0 137 1124 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2163 3133 3111 3156 0 0 0 0 0 0 26.90 26.92 26.91

1243 -0.73 -146.6 2740 2163 3111 3156 95.5 -7.8 149 1244 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2163 3133 3111 3156 0 0 0 0 0 0 26.94 26.96 26.95

1363 -0.73 -146.6 2740 2164 3111 3156 103.5 -6.6 161 1367 0.00 2.08 0.00 0.000 516 0.000 0.092 2739 763 3133 3111 3156 0 0 0 0 0 0 26.96 26.67 26.98

1428 -0.73 -146.6 2740 763 3111 3155 108.3 -7.7 167 1432 0.00 2.05 0.00 0.000 1030 0.000 0.077 2730 2176 3132 3110 3155 0 0 0 0 0 0 26.78 26.70 26.79

1553 -0.73 -146.6 2730 2176 3111 3155 117.2 -6.5 179 1554 0.00 0.00 0.00 0.000 6 0.000 0.000 2730 2176 3133 3111 3155 0 0 0 0 0 0 26.99 27.01 27.01

1673 -0.73 -146.6 2730 2176 3111 3155 126.9 -8.4 191 1674 0.00 0.00 0.00 0.000 6 0.000 0.000 2730 2176 3133 3111 3155 0 0 0 0 0 0 27.01 27.04 27.03

1793 -0.73 -146.6 2730 2176 3111 3155 137.3 -9.1 203 1794 0.00 0.00 0.00 0.000 6 0.000 0.000 2730 2176 3133 3111 3155 0 0 0 0 0 0 27.03 27.05 27.05

1915 -0.73 -146.6 2729 2176 3112 3155 147.6 -8.5 215 1916 0.00 0.00 0.00 0.000 6 0.000 0.000 2730 2176 3133 3111 3155 0 0 0 0 0 0 27.05 27.08 27.06

2033 -0.73 -146.6 2730 2176 3112 3155 157.2 -7.2 227 2038 0.08 2.10 0.00 0.000 2564 0.206 0.087 2763 757 3133 3111 3155 0 0 0 0 0 0 26.72 26.78 26.79

2243 -0.73 -146.6 2762 757 3111 3155 172.3 -7.1 247 2250 0.00 2.10 0.00 0.000 1030 0.000 0.077 2753 2173 3133 3112 3155 0 0 0 0 0 0 26.85 26.82 26.88

2298 end dive: TARGET_DEPTH_EXCEEDED

state 2298 begin apogee

2302 -0.26 0.0 2753 2173 3111 3154 176.7 -6.3 253 2411 0.45 0.00 104.65 0.881 10246 0.146 0.000 2913 2174 2627 2639 2615 0 0 0 0 0 0 26.74 25.22 24.66

2412 end apogee: CONTROL_FINISHED_OK

state 2412 begin climb

2413 0.73 146.6 2913 2173 2639 2615 179.6 0.0 264 2524 0.82 0.00 107.20 0.847 10246 0.122 0.000 3214 2174 2122 2134 2111 0 0 0 0 0 0 25.30 24.93 24.41

2641 0.73 146.6 3213 2173 2134 2111 165.9 7.8 287 2642 0.00 0.00 0.00 0.000 6 0.000 0.000 3214 2173 2122 2134 2111 0 0 0 0 0 0 26.05 26.07 26.07

2761 0.73 146.6 3214 2173 2133 2110 156.2 7.9 299 2762 0.00 0.00 0.00 0.000 6 0.000 0.000 3214 2173 2122 2134 2111 0 0 0 0 0 0 26.32 26.34 26.33

2881 0.73 146.6 3214 2173 2134 2111 146.5 8.2 311 2882 0.00 0.00 0.00 0.000 6 0.000 0.000 3214 2173 2122 2134 2111 0 0 0 0 0 0 26.48 26.51 26.50

3001 0.73 146.6 3214 2173 2134 2110 137.2 8.3 323 3005 0.00 2.15 0.00 0.000 516 0.000 0.092 3225 762 2122 2134 2111 0 0 0 0 0 0 26.59 26.32 26.60

3070 0.73 146.6 3224 762 2134 2110 131.9 8.3 329 3077 0.00 2.12 0.00 0.000 1030 0.000 0.079 3225 2164 2122 2134 2111 0 0 0 0 0 0 26.42 26.39 26.44

3196 0.73 146.6 3224 2164 2134 2110 121.9 7.9 342 3200 0.00 2.15 0.00 0.000 260 0.000 0.097 3225 3583 2122 2134 2111 0 0 0 0 0 0 26.72 26.42 26.73

3272 0.73 146.6 3225 3583 2133 2111 114.9 8.7 349 3276 0.00 2.08 0.00 0.000 1030 0.000 0.079 3236 2158 2122 2134 2111 0 0 0 0 0 0 26.56 26.48 26.58

3397 0.73 146.6 3235 2158 2134 2111 104.1 7.7 361 3398 0.00 0.00 0.00 0.000 6 0.000 0.000 3235 2158 2122 2134 2111 0 0 0 0 0 0 26.80 26.83 26.82

3517 0.73 146.6 3235 2158 2134 2111 93.7 8.3 373 3518 0.00 0.00 0.00 0.000 6 0.000 0.000 3236 2158 2122 2133 2111 0 0 0 0 0 0 26.85 26.87 26.86

3638 0.73 146.6 3235 2158 2134 2111 83.9 8.5 385 3647 0.00 2.10 0.00 0.000 516 0.000 0.094 3246 759 2122 2134 2111 0 0 0 0 0 0 26.89 26.60 26.91

3731 0.73 146.6 3246 759 2134 2111 76.9 8.1 394 3739 0.00 2.12 0.00 0.000 1030 0.000 0.079 3246 2173 2122 2134 2111 0 0 0 0 0 0 26.68 26.65 26.71

3858 0.73 146.6 3246 2173 2134 2111 66.2 8.5 407 3862 0.00 2.12 0.00 0.000 260 0.000 0.097 3246 3576 2122 2134 2111 0 0 0 0 0 0 26.94 26.65 26.96

4054 0.73 146.6 3246 3575 2133 2111 49.9 7.9 426 4058 0.00 2.05 0.00 0.000 1030 0.000 0.082 3256 2167 2122 2133 2111 0 0 0 0 0 0 26.79 26.70 26.80

4179 0.73 146.6 3256 2166 2135 2111 39.9 8.3 438 4183 0.00 2.12 0.00 0.000 516 0.000 0.094 3265 760 2122 2134 2110 0 0 0 0 0 0 27.01 26.71 27.02

4336 0.73 146.6 3265 760 2134 2111 27.6 7.6 453 4345 0.12 2.08 0.00 0.000 5126 0.176 0.079 3223 2174 2122 2134 2111 0 0 0 0 0 0 26.67 26.76 26.78

4465 0.76 225.5 3222 2174 2134 2111 19.9 4.8 466 4525 0.00 0.00 55.50 0.785 8198 0.000 0.000 3223 2174 1850 1862 1838 0 0 0 0 0 0 27.04 25.82 25.32

4587 0.76 225.5 3222 2173 1862 1838 11.3 7.5 489 4593 0.00 2.20 0.00 0.000 516 0.000 0.092 3227 762 1850 1862 1838 0 0 0 0 0 0 26.34 26.07 26.36

4709 end climb: SURFACE_DEPTH_REACHED

state 4709 begin surface coast

4720 end surface coast: CONTROL_FINISHED_OK

state 4720 begin surface

ID	38	HD_B	0.0099999998	PITCH_ADJ_DBAND	0	COMPASS_USE	4
MISSION	2	HD_C	9.9999997e-06	ROLL_MIN	250	ALTIM_BOTTOM_PING_RANGE	0
DIVE	9	HEADING	-1	ROLL_MAX	3825	ALTIM_TOP_PING_RANGE	0
N_DIVES	0	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0
D_SURF	3	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2169	ALTIM_TOP_TURN_MARGIN	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2169	ALTIM_TOP_MIN_OBSTACLE	1
D_TGT	180	TGT_DEFAULT_LAT	4743	HEAD_ERRBAND	15	ALTIM_PING_DEPTH	110
D_ABORT	300	TGT_DEFAULT_LON	-12224.5	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	5
D_NO_BLEED	50	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13
D_BOOST	0	SM_CC	290	R_PORT_OVSHOOT	48	ALTIM_PULSE	2
T_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	37	ALTIM_SENSITIVITY	3
D_FINISH	0	FILEMGR	0	ROLL_AD_RATE	300	XPDR_VALID	2
D_PITCH	0	CALL_NDIVES	1	ROLL_MAXERRORS	2	XPDR_INHIBIT	90
D_SAFE	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
D_CALL	0	PROTOCOL	1	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-2.4000001
SURFACE_URGENCY	0	N_NOCOMM	2	VBD_MIN	200	DEEPGLIDER	1
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	0	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	C_VBD	2627	DEVICE1	2
T_DIVE	80	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE2	101
T_MISSION	100	CALL_TRIES	5	VBD_CNV	-0.29049	DEVICE3	-1
T_ABORT	120	CALL_WAIT	30	VBD_TIMEOUT	720	DEVICE4	-1
T_TURN	540	CAPUPLOAD	1	PITCH_VBD_SHIFT	0.00030000001	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	200000	VBD_PUMP_AD_RATE_SURFACE	4	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_LOITER	0	T_GPS	15	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_EPIRB	0	N_GPS	100740	UNCOM_BLEED	50	LOGGERDEVICE2	-1
USE_BATHY	-6	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
USE_ICE	0	T_RSLEEP	3	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	DBDW	0	COMPASS_DEVICE	33
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	PHONE_DEVICE	49
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	GPS_DEVICE	32
APOGEE_PITCH	-5	PITCH_MIN	150	AH0_24V	150	RAFOS_DEVICE	-1
MAX_BUOY	150	PITCH_MAX	3830	AH0_10V	100	XPDR_DEVICE	24
COURSE_BIAS	0	C_PITCH	2996	MINV_24V	17	SIM_W	0
GLIDE_SLOPE	45	PITCH_DBAND	0.1	MINV_10V	8	SIM_PITCH	0
SPEED_FACTOR	1	PITCH_CNV	0.003125763	FG_AHR_10V	0	SEABIRD_T_G	0.004402326
RHO	1.0233001	P_OVSHOOT	0.026000001	FG_AHR_24V	0	SEABIRD_T_H	0.00064293214
MASS	78054	P_OVSHOOT_WITHG	0.089000002	PHONE_SUPPLY	2	SEABIRD_T_I	2.6613103e-05
MASS_COMP	9134.2002	PITCH_GAIN	19	PRESSURE_YINT	-1022.0887	SEABIRD_T_J	3.266618e-06
NAV_MODE	1	PITCH_TIMEOUT	17	PRESSURE_SLOPE	0.00093318848	SEABIRD_C_G	-9.6536341
FERRY_MAX	45	PITCH_AD_RATE	145	AD7714Ch0Gain	32	SEABIRD_C_H	1.1178679
KALMAN_USE	2	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0014615374
HD_A	0.003	PITCH_ADJ_GAIN	0	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00018686533

GPS1	070115,055052,4744.1411,-12224.6611,34,0.9,35,16.3,0.0,0.0,7,8.4	TGT_NAME	SOUTH
_CALLS	1	TGT_LATLONG	4743.000,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	1.50	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-66.8	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	070115,055657,4744.1953,-12224.7178,5,1.0,40,16.3,0.6,110.8,7,3.0	MHEAD_RNG_PITCHd_Wd	156.7,2230,-13.1,-7.500,-17.71,2947
SPEED_LIMITS	0.075,0.235	D_GRID	176

FINISH	2.0,1.020962	_10V_AH	10.55,0.539
SM_CCo	4737,43.97,0.760,0,0,1628,290.20	FG_AHR_24Vo	0.000
SM_GC	2.47,8.23,2.15,43.97,0.099,0.077,0.760,165,2172,1628,-8.80,-1.02,290.20,0,0,0,0,0,0,26.25,26.28,25.10	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4722.92,-12222.38,070115,042224	MEM	322892
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	30295,515
HUMID	46.61	CAP_FILE_SIZE	74486,0
INTERNAL_PRESSURE	9.00669	CFSIZE	1024409600,1020903424
TCM_TEMP	17.80	ERRORS	0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	INTR	2,2514.01,0x2356fe,1,24
ALTIM_BOTTOM_PING	115.4,81.4	GPS	070115,071748,4744.119,-12224.608,1,1.1,8,16.3,0.6,280.1,8,9.1
_24V_AH	24.41,1.478

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	268	129.44	SBE_CT	344	23	195.24
Roll_motor	42	96	99.93	AA4330	683	13	224.78
VBD_pump_during_apogee	267	881	5752.45	nil	0	0	0.00
VBD_pump_during_surface	43	759	815.59	nil	0	0	0.00
VBD_valve	141	161	556.67	nil	0	0	0.00
Iridium_during_init	26	126	82.35	nil	0	0	0.00
Iridium_during_connect	36	160	142.77	nil	0	0	0.00
Iridium_during_xfer	194	223	1058.60	nil	0	0	0.00
Transponder_ping	0	420	7.69	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	41	26	11.72
TT8	1224	15	199.92
LPSleep	2174	2	50.23
TT8_Active	443	15	72.39
TT8_Sampling	1274	41	560.21
TT8_CF8	48	64	32.78
TT8_Kalman	0	0	0.00
Analog_circuits	981	10	103.56
GPS_charging	0	0	0.00
Compass	960	8	83.45
RAFOS	0	0	0.00
Transponder	7	30	2.29

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
14	-0.73	-146.6	155	2183	1647	1608	0.0	0.0	0	132	0.00	0.00	-115.20	0.146	16386	0.000	0.000	155	2183	2694	2665	2723	0	0	0	0	0	0	26.39	28.83	26.42
135	-0.73	-146.6	156	2183	2666	2722	3.4	-3.2	21	181	10.07	2.22	-26.10	0.161	18948	0.268	0.089	2760	770	3134	3111	3157	0	0	0	0	0	0	25.79	25.98	25.91
582	-0.73	-146.6	2760	770	3112	3155	41.1	-8.3	84	586	0.00	2.08	0.00	0.000	1030	0.000	0.079	2750	2182	3133	3111	3156	0	0	0	0	0	0	26.51	26.42	26.52
707	-0.73	-146.6	2750	2182	3111	3155	52.0	-8.7	96	708	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2182	3133	3111	3156	0	0	0	0	0	0	26.75	26.77	26.77
827	-0.73	-146.6	2750	2182	3111	3155	63.1	-10.4	108	831	0.00	2.10	0.00	0.000	260	0.000	0.097	2740	3578	3133	3111	3155	0	0	0	0	0	0	26.81	26.51	26.82
996	-0.73	-146.6	2740	3578	3111	3156	75.1	-8.0	124	1003	0.00	2.10	0.00	0.000	1030	0.000	0.079	2740	2163	3133	3111	3156	0	0	0	0	0	0	26.65	26.60	26.66
1123	-0.73	-146.6	2739	2163	3111	3156	86.0	-8.0	137	1124	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2163	3133	3111	3156	0	0	0	0	0	0	26.90	26.92	26.91
1243	-0.73	-146.6	2740	2163	3111	3156	95.5	-7.8	149	1244	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2163	3133	3111	3156	0	0	0	0	0	0	26.94	26.96	26.95
1363	-0.73	-146.6	2740	2164	3111	3156	103.5	-6.6	161	1367	0.00	2.08	0.00	0.000	516	0.000	0.092	2739	763	3133	3111	3156	0	0	0	0	0	0	26.96	26.67	26.98
1428	-0.73	-146.6	2740	763	3111	3155	108.3	-7.7	167	1432	0.00	2.05	0.00	0.000	1030	0.000	0.077	2730	2176	3132	3110	3155	0	0	0	0	0	0	26.78	26.70	26.79
1553	-0.73	-146.6	2730	2176	3111	3155	117.2	-6.5	179	1554	0.00	0.00	0.00	0.000	6	0.000	0.000	2730	2176	3133	3111	3155	0	0	0	0	0	0	26.99	27.01	27.01
1673	-0.73	-146.6	2730	2176	3111	3155	126.9	-8.4	191	1674	0.00	0.00	0.00	0.000	6	0.000	0.000	2730	2176	3133	3111	3155	0	0	0	0	0	0	27.01	27.04	27.03
1793	-0.73	-146.6	2730	2176	3111	3155	137.3	-9.1	203	1794	0.00	0.00	0.00	0.000	6	0.000	0.000	2730	2176	3133	3111	3155	0	0	0	0	0	0	27.03	27.05	27.05
1915	-0.73	-146.6	2729	2176	3112	3155	147.6	-8.5	215	1916	0.00	0.00	0.00	0.000	6	0.000	0.000	2730	2176	3133	3111	3155	0	0	0	0	0	0	27.05	27.08	27.06
2033	-0.73	-146.6	2730	2176	3112	3155	157.2	-7.2	227	2038	0.08	2.10	0.00	0.000	2564	0.206	0.087	2763	757	3133	3111	3155	0	0	0	0	0	0	26.72	26.78	26.79
2243	-0.73	-146.6	2762	757	3111	3155	172.3	-7.1	247	2250	0.00	2.10	0.00	0.000	1030	0.000	0.077	2753	2173	3133	3112	3155	0	0	0	0	0	0	26.85	26.82	26.88
2298	end dive: TARGET_DEPTH_EXCEEDED
state	2298	begin apogee
2302	-0.26	0.0	2753	2173	3111	3154	176.7	-6.3	253	2411	0.45	0.00	104.65	0.881	10246	0.146	0.000	2913	2174	2627	2639	2615	0	0	0	0	0	0	26.74	25.22	24.66
2412	end apogee: CONTROL_FINISHED_OK
state	2412	begin climb
2413	0.73	146.6	2913	2173	2639	2615	179.6	0.0	264	2524	0.82	0.00	107.20	0.847	10246	0.122	0.000	3214	2174	2122	2134	2111	0	0	0	0	0	0	25.30	24.93	24.41
2641	0.73	146.6	3213	2173	2134	2111	165.9	7.8	287	2642	0.00	0.00	0.00	0.000	6	0.000	0.000	3214	2173	2122	2134	2111	0	0	0	0	0	0	26.05	26.07	26.07
2761	0.73	146.6	3214	2173	2133	2110	156.2	7.9	299	2762	0.00	0.00	0.00	0.000	6	0.000	0.000	3214	2173	2122	2134	2111	0	0	0	0	0	0	26.32	26.34	26.33
2881	0.73	146.6	3214	2173	2134	2111	146.5	8.2	311	2882	0.00	0.00	0.00	0.000	6	0.000	0.000	3214	2173	2122	2134	2111	0	0	0	0	0	0	26.48	26.51	26.50
3001	0.73	146.6	3214	2173	2134	2110	137.2	8.3	323	3005	0.00	2.15	0.00	0.000	516	0.000	0.092	3225	762	2122	2134	2111	0	0	0	0	0	0	26.59	26.32	26.60
3070	0.73	146.6	3224	762	2134	2110	131.9	8.3	329	3077	0.00	2.12	0.00	0.000	1030	0.000	0.079	3225	2164	2122	2134	2111	0	0	0	0	0	0	26.42	26.39	26.44
3196	0.73	146.6	3224	2164	2134	2110	121.9	7.9	342	3200	0.00	2.15	0.00	0.000	260	0.000	0.097	3225	3583	2122	2134	2111	0	0	0	0	0	0	26.72	26.42	26.73
3272	0.73	146.6	3225	3583	2133	2111	114.9	8.7	349	3276	0.00	2.08	0.00	0.000	1030	0.000	0.079	3236	2158	2122	2134	2111	0	0	0	0	0	0	26.56	26.48	26.58
3397	0.73	146.6	3235	2158	2134	2111	104.1	7.7	361	3398	0.00	0.00	0.00	0.000	6	0.000	0.000	3235	2158	2122	2134	2111	0	0	0	0	0	0	26.80	26.83	26.82
3517	0.73	146.6	3235	2158	2134	2111	93.7	8.3	373	3518	0.00	0.00	0.00	0.000	6	0.000	0.000	3236	2158	2122	2133	2111	0	0	0	0	0	0	26.85	26.87	26.86
3638	0.73	146.6	3235	2158	2134	2111	83.9	8.5	385	3647	0.00	2.10	0.00	0.000	516	0.000	0.094	3246	759	2122	2134	2111	0	0	0	0	0	0	26.89	26.60	26.91
3731	0.73	146.6	3246	759	2134	2111	76.9	8.1	394	3739	0.00	2.12	0.00	0.000	1030	0.000	0.079	3246	2173	2122	2134	2111	0	0	0	0	0	0	26.68	26.65	26.71
3858	0.73	146.6	3246	2173	2134	2111	66.2	8.5	407	3862	0.00	2.12	0.00	0.000	260	0.000	0.097	3246	3576	2122	2134	2111	0	0	0	0	0	0	26.94	26.65	26.96
4054	0.73	146.6	3246	3575	2133	2111	49.9	7.9	426	4058	0.00	2.05	0.00	0.000	1030	0.000	0.082	3256	2167	2122	2133	2111	0	0	0	0	0	0	26.79	26.70	26.80
4179	0.73	146.6	3256	2166	2135	2111	39.9	8.3	438	4183	0.00	2.12	0.00	0.000	516	0.000	0.094	3265	760	2122	2134	2110	0	0	0	0	0	0	27.01	26.71	27.02
4336	0.73	146.6	3265	760	2134	2111	27.6	7.6	453	4345	0.12	2.08	0.00	0.000	5126	0.176	0.079	3223	2174	2122	2134	2111	0	0	0	0	0	0	26.67	26.76	26.78
4465	0.76	225.5	3222	2174	2134	2111	19.9	4.8	466	4525	0.00	0.00	55.50	0.785	8198	0.000	0.000	3223	2174	1850	1862	1838	0	0	0	0	0	0	27.04	25.82	25.32
4587	0.76	225.5	3222	2173	1862	1838	11.3	7.5	489	4593	0.00	2.20	0.00	0.000	516	0.000	0.092	3227	762	1850	1862	1838	0	0	0	0	0	0	26.34	26.07	26.36
4709	end climb: SURFACE_DEPTH_REACHED
state	4709	begin surface coast
4720	end surface coast: CONTROL_FINISHED_OK
state	4720	begin surface