Glider dive log

Shilshole 02Jun15 * SG157 * Dive index * Mission links * Dive 10 * 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 10 ESCAPE_HEADING 0 C_ROLL_DIVE 1550 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 25 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1730 ALTIM_PING_DEPTH 110

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 5

D_ABORT 1050 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 28 ALTIM_SENSITIVITY 4

D_NO_BLEED 45 SM_CC 235 R_STBD_OVSHOOT 29 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 75 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 85 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 -1486822.5 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 2948 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 30.799999 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 235

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 30.799999 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 110 FERRY_MAX 45 PITCH_MAX 3873 TCM_ROLL_OFFSET 0

ALTIM_PULSE 5 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 75

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 -1486822.5

CAPUPLOAD 1 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 5 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 85

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 2948 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 1730 LOGGERDEVICE2 -1 ROLL_AD_RATE 250 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 1550 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 28 VBD_MAXERRORS 1

DEVICE3 83 MINV_24V 19 R_STBD_OVSHOOT 29 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 10 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 030615,031306,4744.251,-12224.562,39,0.9,39,16.3 TGT_NAME NW

_CALLS 2 TGT_LATLONG 4743.900,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.202,-0.130

_SM_DEPTHo 1.65 KALMAN_X 1280.3,-148.5,-338.2,-112.5,571.1

_SM_ANGLEo -72.6 KALMAN_Y -3065.9,-696.9,-455.1,6404.9,-2.6

GPS2 030615,032340,4744.295,-12224.476,5,0.8,5,16.3 MHEAD_RNG_PITCHd_Wd 221.1,835,-14.0,-8.000,-18.40,2768

SPEED_LIMITS 0.139,0.240 D_GRID 175

Post-dive calculations and measurements:

FINISH 0.9,1.010199 _24V_AH 24.4,0.879

SM_CCo 3185,39.08,0.513,0,0,807,235.12 _10V_AH 10.4,0.805

SM_GC 2.09,7.75,0.17,39.08,0.055,0.073,0.513,164,1553,807,-8.60,-0.85,235.12,0,0,0,0,0,0,26.45,26.49,25.62 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4716.56,-12006.88,290308,161616 FG_AHR_10Vo 0.000

TT8_MAMPS 0.024717,0.024717 MEM 323116

HUMID 44.68 DATA_FILE_SIZE 40480,582

INTERNAL_PRESSURE 8.78818 CAP_FILE_SIZE 66482,0

TCM_TEMP 20.30 CFSIZE 260165632,257495040

XPDR_PINGS 13 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

ALTIM_BOTTOM_PING 120.6,75.1 GPS 030615,041913,4744.259,-12224.925,3,0.9,3,16.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 257 121.88 SBE_CT 395 23 231.39

Roll_motor 57 76 106.63 AA4330 468 20 231.13

VBD_pump_during_apogee 248 696 4214.24 WL_BBFL2VMT 473 62 718.97

VBD_pump_during_surface 39 513 489.41 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 65 63 102.14 nil 0 0 0.00

Iridium_during_connect 134 160 523.58 nil 0 0 0.00

Iridium_during_xfer 239 223 1302.13 nil 0 0 0.00

Transponder_ping 4 420 46.12 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 32 2.19

TT8 1302 12 172.31

LPSleep 631 2 14.39

TT8_Active 376 12 49.81

TT8_Sampling 1293 38 523.67

TT8_CF8 263 45 125.31

TT8_Kalman 33 65 22.76

Analog_circuits 870 10 95.08

GPS_charging 0 0 0.00

Compass 862 16 147.88

RAFOS 0 0 0.00

Transponder 11 30 3.65

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

18 -0.54 -146.6 176 1563 741 872 0.0 0.0 0 63 0.00 0.00 -42.72 0.000 16386 0.000 0.000 172 1550 1939 2005 1873 0 0 0 0 0 0 28.83 28.83 28.83

67 -0.54 -146.6 172 1550 2005 1874 3.2 -5.6 8 92 10.45 1.98 -8.77 0.000 18692 0.258 0.057 2766 2727 2332 2494 2171 0 0 0 0 0 0 25.76 26.03 26.32

282 -0.54 -146.6 1760 2725 2434 2166 33.7 -11.1 49 289 0.00 1.88 0.00 0.000 1030 0.000 0.031 2770 1560 2335 2495 2175 0 0 0 0 0 0 28.83 26.23 28.83

353 -0.54 -146.6 2770 1559 2495 2175 41.9 -12.2 62 359 0.00 1.90 0.00 0.000 260 0.000 0.041 2764 2728 2335 2495 2175 0 0 0 0 0 0 28.83 26.27 28.83

393 -0.54 -146.6 2764 2728 2495 2175 46.0 -9.9 69 400 0.00 1.90 0.00 0.000 1030 0.000 0.041 2764 1547 2334 2495 2174 0 0 0 0 0 0 28.83 26.29 28.83

523 -0.54 -146.6 1760 1546 2434 2167 62.4 -12.6 94 529 0.00 0.00 0.00 0.000 6 0.000 0.000 2764 1547 2335 2495 2175 0 0 0 0 0 0 28.83 28.83 28.83

653 -0.54 -146.6 2764 1547 2495 2175 80.7 -14.7 119 659 0.00 1.92 0.00 0.000 260 0.000 0.042 2755 2742 2335 2495 2175 0 0 0 0 0 0 28.83 26.41 28.83

718 -0.54 -146.6 1760 2741 2434 2166 90.2 -13.0 131 724 0.00 1.90 0.00 0.000 1030 0.000 0.031 2755 1547 2335 2495 2175 0 0 0 0 0 0 28.83 26.44 28.83

848 -0.54 -146.6 1760 1546 2434 2166 106.9 -11.9 156 854 0.00 2.40 0.00 0.000 516 0.000 0.047 2755 363 2335 2495 2175 0 0 0 0 0 0 28.83 26.46 28.83

888 -0.54 -146.6 2755 362 2495 2175 112.0 -12.6 163 895 0.00 2.35 0.00 0.000 1030 0.000 0.031 2749 1540 2335 2495 2175 0 0 0 0 0 0 28.83 26.49 28.83

1026 -0.54 -146.6 2749 1540 2495 2175 130.2 -13.6 188 1032 0.00 1.92 0.00 0.000 260 0.000 0.044 2749 2754 2335 2495 2175 0 0 0 0 0 0 28.83 26.51 28.83

1198 -0.54 -146.6 2749 2753 2495 2175 151.3 -12.8 221 1204 0.00 1.90 0.00 0.000 1030 0.000 0.030 2749 1546 2334 2494 2175 0 0 0 0 0 0 28.83 26.56 28.83

1331 -0.54 -146.6 2749 1547 2495 2175 171.3 -18.5 246 1338 0.00 2.38 0.00 0.000 516 0.000 0.047 2749 368 2335 2495 2175 0 0 0 0 0 0 28.83 26.55 28.83

1347 -0.54 -146.6 2749 369 2495 2175 174.1 -16.7 248 1354 0.00 2.38 0.00 0.000 1030 0.000 0.031 2749 1550 2335 2495 2175 0 0 0 0 0 0 28.83 26.58 28.83

1359 end dive: TARGET_DEPTH_EXCEEDED

state 1359 begin apogee

1367 -0.16 0.0 2749 1756 2494 2175 176.5 -15.4 250 1495 0.47 0.03 118.07 0.696 10246 0.163 0.076 2900 1736 1744 1783 1705 0 0 0 0 0 0 26.41 25.06 24.68

1498 end apogee: CONTROL_FINISHED_OK

state 1499 begin climb

1502 0.54 146.6 2899 1736 1783 1705 179.4 0.0 273 1630 0.70 3.03 119.95 0.666 11012 0.132 0.061 3129 550 1160 1137 1183 0 0 0 0 0 0 25.25 24.94 24.44

1687 0.54 146.6 2128 550 1123 1181 162.3 14.0 306 1694 0.00 2.78 0.00 0.000 1030 0.000 0.032 3129 1717 1159 1137 1182 0 0 0 0 0 0 28.83 25.46 28.83

1820 0.54 146.6 3129 1717 1137 1182 146.1 11.5 331 1827 0.00 2.80 0.00 0.000 516 0.000 0.053 3129 550 1159 1137 1182 0 0 0 0 0 0 28.83 25.82 28.83

1866 0.54 146.6 3128 550 1137 1182 141.3 9.3 339 1873 0.00 2.75 0.00 0.000 1030 0.000 0.033 3129 1732 1159 1137 1182 0 0 0 0 0 0 28.83 25.94 28.83

2001 0.54 146.6 3128 1732 1137 1181 128.1 12.0 364 2007 0.00 0.00 0.00 0.000 6 0.000 0.000 3129 1732 1159 1137 1181 0 0 0 0 0 0 28.83 28.83 28.83

2131 0.54 146.6 3128 1732 1137 1181 113.0 10.5 389 2138 0.00 2.80 0.00 0.000 516 0.000 0.054 3129 553 1159 1137 1181 0 0 0 0 0 0 28.83 26.17 28.83

2217 0.54 146.6 2112 551 1123 1179 105.9 8.1 405 2224 0.00 2.72 0.00 0.000 1030 0.000 0.041 3128 1738 1159 1137 1181 0 0 0 0 0 0 28.83 26.27 28.83

2351 0.54 146.6 3129 1738 1137 1181 91.6 10.8 430 2357 0.00 0.00 0.00 0.000 6 0.000 0.000 3129 1738 1159 1137 1181 0 0 0 0 0 0 28.83 28.83 28.83

2481 0.54 146.6 3128 1738 1137 1181 77.6 9.4 455 2487 0.00 2.78 0.00 0.000 516 0.000 0.056 3129 552 1159 1137 1181 0 0 0 0 0 0 28.83 26.36 28.83

2586 0.54 146.6 3129 552 1138 1181 66.4 10.5 475 2593 0.00 2.70 0.00 0.000 1030 0.000 0.038 3129 1737 1159 1137 1181 0 0 0 0 0 0 28.83 26.44 28.83

2720 0.54 146.6 3128 1737 1137 1181 49.6 13.8 500 2726 0.00 1.52 0.00 0.000 260 0.000 0.053 3129 2922 1158 1137 1180 0 0 0 0 0 0 28.83 26.46 28.83

2765 0.54 146.6 3128 2922 1137 1181 43.2 13.5 508 2772 0.00 1.60 0.00 0.000 1030 0.000 0.032 3129 1707 1159 1137 1181 0 0 0 0 0 0 28.83 26.51 28.83

2899 0.54 146.6 3128 1707 1137 1181 25.2 14.9 533 2905 0.00 2.65 0.00 0.000 516 0.000 0.051 3129 570 1159 1137 1181 0 0 0 0 0 0 28.83 26.48 28.83

3042 0.54 146.6 3128 570 1137 1181 10.0 9.1 560 3049 0.00 2.67 0.00 0.000 1030 0.000 0.039 3129 1734 1158 1137 1180 0 0 0 0 0 0 28.83 26.55 28.83

3113 0.55 165.7 2128 1734 1123 1178 4.1 7.3 573 3126 0.00 0.75 10.07 0.474 8707 0.000 0.047 3129 1484 1083 1059 1108 0 0 0 0 0 0 28.83 28.83 25.98

3127 end climb: SURFACE_DEPTH_REACHED

state 3127 begin surface coast

3163 end surface coast: CONTROL_FINISHED_OK

state 3163 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	10	ESCAPE_HEADING	0	C_ROLL_DIVE	1550	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	25	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1730	ALTIM_PING_DEPTH	110
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	5
D_ABORT	1050	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	28	ALTIM_SENSITIVITY	4
D_NO_BLEED	45	SM_CC	235	R_STBD_OVSHOOT	29	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	75	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	85	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	-1486822.5	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	2948	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	30.799999	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	030615,031306,4744.251,-12224.562,39,0.9,39,16.3	TGT_NAME	NW
_CALLS	2	TGT_LATLONG	4743.900,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.202,-0.130
_SM_DEPTHo	1.65	KALMAN_X	1280.3,-148.5,-338.2,-112.5,571.1
_SM_ANGLEo	-72.6	KALMAN_Y	-3065.9,-696.9,-455.1,6404.9,-2.6
GPS2	030615,032340,4744.295,-12224.476,5,0.8,5,16.3	MHEAD_RNG_PITCHd_Wd	221.1,835,-14.0,-8.000,-18.40,2768
SPEED_LIMITS	0.139,0.240	D_GRID	175

FINISH	0.9,1.010199	_24V_AH	24.4,0.879
SM_CCo	3185,39.08,0.513,0,0,807,235.12	_10V_AH	10.4,0.805
SM_GC	2.09,7.75,0.17,39.08,0.055,0.073,0.513,164,1553,807,-8.60,-0.85,235.12,0,0,0,0,0,0,26.45,26.49,25.62	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4716.56,-12006.88,290308,161616	FG_AHR_10Vo	0.000
TT8_MAMPS	0.024717,0.024717	MEM	323116
HUMID	44.68	DATA_FILE_SIZE	40480,582
INTERNAL_PRESSURE	8.78818	CAP_FILE_SIZE	66482,0
TCM_TEMP	20.30	CFSIZE	260165632,257495040
XPDR_PINGS	13	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	120.6,75.1	GPS	030615,041913,4744.259,-12224.925,3,0.9,3,16.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	257	121.88	SBE_CT	395	23	231.39
Roll_motor	57	76	106.63	AA4330	468	20	231.13
VBD_pump_during_apogee	248	696	4214.24	WL_BBFL2VMT	473	62	718.97
VBD_pump_during_surface	39	513	489.41	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	65	63	102.14	nil	0	0	0.00
Iridium_during_connect	134	160	523.58	nil	0	0	0.00
Iridium_during_xfer	239	223	1302.13	nil	0	0	0.00
Transponder_ping	4	420	46.12	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	32	2.19
TT8	1302	12	172.31
LPSleep	631	2	14.39
TT8_Active	376	12	49.81
TT8_Sampling	1293	38	523.67
TT8_CF8	263	45	125.31
TT8_Kalman	33	65	22.76
Analog_circuits	870	10	95.08
GPS_charging	0	0	0.00
Compass	862	16	147.88
RAFOS	0	0	0.00
Transponder	11	30	3.65

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
18	-0.54	-146.6	176	1563	741	872	0.0	0.0	0	63	0.00	0.00	-42.72	0.000	16386	0.000	0.000	172	1550	1939	2005	1873	0	0	0	0	0	0	28.83	28.83	28.83
67	-0.54	-146.6	172	1550	2005	1874	3.2	-5.6	8	92	10.45	1.98	-8.77	0.000	18692	0.258	0.057	2766	2727	2332	2494	2171	0	0	0	0	0	0	25.76	26.03	26.32
282	-0.54	-146.6	1760	2725	2434	2166	33.7	-11.1	49	289	0.00	1.88	0.00	0.000	1030	0.000	0.031	2770	1560	2335	2495	2175	0	0	0	0	0	0	28.83	26.23	28.83
353	-0.54	-146.6	2770	1559	2495	2175	41.9	-12.2	62	359	0.00	1.90	0.00	0.000	260	0.000	0.041	2764	2728	2335	2495	2175	0	0	0	0	0	0	28.83	26.27	28.83
393	-0.54	-146.6	2764	2728	2495	2175	46.0	-9.9	69	400	0.00	1.90	0.00	0.000	1030	0.000	0.041	2764	1547	2334	2495	2174	0	0	0	0	0	0	28.83	26.29	28.83
523	-0.54	-146.6	1760	1546	2434	2167	62.4	-12.6	94	529	0.00	0.00	0.00	0.000	6	0.000	0.000	2764	1547	2335	2495	2175	0	0	0	0	0	0	28.83	28.83	28.83
653	-0.54	-146.6	2764	1547	2495	2175	80.7	-14.7	119	659	0.00	1.92	0.00	0.000	260	0.000	0.042	2755	2742	2335	2495	2175	0	0	0	0	0	0	28.83	26.41	28.83
718	-0.54	-146.6	1760	2741	2434	2166	90.2	-13.0	131	724	0.00	1.90	0.00	0.000	1030	0.000	0.031	2755	1547	2335	2495	2175	0	0	0	0	0	0	28.83	26.44	28.83
848	-0.54	-146.6	1760	1546	2434	2166	106.9	-11.9	156	854	0.00	2.40	0.00	0.000	516	0.000	0.047	2755	363	2335	2495	2175	0	0	0	0	0	0	28.83	26.46	28.83
888	-0.54	-146.6	2755	362	2495	2175	112.0	-12.6	163	895	0.00	2.35	0.00	0.000	1030	0.000	0.031	2749	1540	2335	2495	2175	0	0	0	0	0	0	28.83	26.49	28.83
1026	-0.54	-146.6	2749	1540	2495	2175	130.2	-13.6	188	1032	0.00	1.92	0.00	0.000	260	0.000	0.044	2749	2754	2335	2495	2175	0	0	0	0	0	0	28.83	26.51	28.83
1198	-0.54	-146.6	2749	2753	2495	2175	151.3	-12.8	221	1204	0.00	1.90	0.00	0.000	1030	0.000	0.030	2749	1546	2334	2494	2175	0	0	0	0	0	0	28.83	26.56	28.83
1331	-0.54	-146.6	2749	1547	2495	2175	171.3	-18.5	246	1338	0.00	2.38	0.00	0.000	516	0.000	0.047	2749	368	2335	2495	2175	0	0	0	0	0	0	28.83	26.55	28.83
1347	-0.54	-146.6	2749	369	2495	2175	174.1	-16.7	248	1354	0.00	2.38	0.00	0.000	1030	0.000	0.031	2749	1550	2335	2495	2175	0	0	0	0	0	0	28.83	26.58	28.83
1359	end dive: TARGET_DEPTH_EXCEEDED
state	1359	begin apogee
1367	-0.16	0.0	2749	1756	2494	2175	176.5	-15.4	250	1495	0.47	0.03	118.07	0.696	10246	0.163	0.076	2900	1736	1744	1783	1705	0	0	0	0	0	0	26.41	25.06	24.68
1498	end apogee: CONTROL_FINISHED_OK
state	1499	begin climb
1502	0.54	146.6	2899	1736	1783	1705	179.4	0.0	273	1630	0.70	3.03	119.95	0.666	11012	0.132	0.061	3129	550	1160	1137	1183	0	0	0	0	0	0	25.25	24.94	24.44
1687	0.54	146.6	2128	550	1123	1181	162.3	14.0	306	1694	0.00	2.78	0.00	0.000	1030	0.000	0.032	3129	1717	1159	1137	1182	0	0	0	0	0	0	28.83	25.46	28.83
1820	0.54	146.6	3129	1717	1137	1182	146.1	11.5	331	1827	0.00	2.80	0.00	0.000	516	0.000	0.053	3129	550	1159	1137	1182	0	0	0	0	0	0	28.83	25.82	28.83
1866	0.54	146.6	3128	550	1137	1182	141.3	9.3	339	1873	0.00	2.75	0.00	0.000	1030	0.000	0.033	3129	1732	1159	1137	1182	0	0	0	0	0	0	28.83	25.94	28.83
2001	0.54	146.6	3128	1732	1137	1181	128.1	12.0	364	2007	0.00	0.00	0.00	0.000	6	0.000	0.000	3129	1732	1159	1137	1181	0	0	0	0	0	0	28.83	28.83	28.83
2131	0.54	146.6	3128	1732	1137	1181	113.0	10.5	389	2138	0.00	2.80	0.00	0.000	516	0.000	0.054	3129	553	1159	1137	1181	0	0	0	0	0	0	28.83	26.17	28.83
2217	0.54	146.6	2112	551	1123	1179	105.9	8.1	405	2224	0.00	2.72	0.00	0.000	1030	0.000	0.041	3128	1738	1159	1137	1181	0	0	0	0	0	0	28.83	26.27	28.83
2351	0.54	146.6	3129	1738	1137	1181	91.6	10.8	430	2357	0.00	0.00	0.00	0.000	6	0.000	0.000	3129	1738	1159	1137	1181	0	0	0	0	0	0	28.83	28.83	28.83
2481	0.54	146.6	3128	1738	1137	1181	77.6	9.4	455	2487	0.00	2.78	0.00	0.000	516	0.000	0.056	3129	552	1159	1137	1181	0	0	0	0	0	0	28.83	26.36	28.83
2586	0.54	146.6	3129	552	1138	1181	66.4	10.5	475	2593	0.00	2.70	0.00	0.000	1030	0.000	0.038	3129	1737	1159	1137	1181	0	0	0	0	0	0	28.83	26.44	28.83
2720	0.54	146.6	3128	1737	1137	1181	49.6	13.8	500	2726	0.00	1.52	0.00	0.000	260	0.000	0.053	3129	2922	1158	1137	1180	0	0	0	0	0	0	28.83	26.46	28.83
2765	0.54	146.6	3128	2922	1137	1181	43.2	13.5	508	2772	0.00	1.60	0.00	0.000	1030	0.000	0.032	3129	1707	1159	1137	1181	0	0	0	0	0	0	28.83	26.51	28.83
2899	0.54	146.6	3128	1707	1137	1181	25.2	14.9	533	2905	0.00	2.65	0.00	0.000	516	0.000	0.051	3129	570	1159	1137	1181	0	0	0	0	0	0	28.83	26.48	28.83
3042	0.54	146.6	3128	570	1137	1181	10.0	9.1	560	3049	0.00	2.67	0.00	0.000	1030	0.000	0.039	3129	1734	1158	1137	1180	0	0	0	0	0	0	28.83	26.55	28.83
3113	0.55	165.7	2128	1734	1123	1178	4.1	7.3	573	3126	0.00	0.75	10.07	0.474	8707	0.000	0.047	3129	1484	1083	1059	1108	0	0	0	0	0	0	28.83	28.83	25.98
3127	end climb: SURFACE_DEPTH_REACHED
state	3127	begin surface coast
3163	end surface coast: CONTROL_FINISHED_OK
state	3163	begin surface