Glider dive log

Shilshole 04Mar14.01 * SG213 * Dive index * Mission links * Dive 14 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 213 HD_C 1.6100001e-05 ROLL_MAX 3769 ALTIM_BOTTOM_TURN_MARGIN 20

MISSION 2 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 14 ESCAPE_HEADING 0 C_ROLL_DIVE 2276 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2276 ALTIM_PING_DEPTH 100

D_SURF 2 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 3 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 31 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 220 R_STBD_OVSHOOT 36 XPDR_VALID 0

D_BOOST 50 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 2 FILEMGR 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -0.67000002

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 9 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 C_VBD 2000 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 101

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 131

T_DIVE 83 CALL_TRIES 5 VBD_TIMEOUT 360 DEVICE4 150

T_MISSION 100 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 60 T_GPS 5 UNCOM_BLEED 20 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 -429.73666 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 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 100 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 183 MINV_24V 19 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3870 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2803 FG_AHR_10V 0 SEABIRD_T_G 0.0044059665

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00063814322

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.5834664e-05

RHO 1.023 P_OVSHOOT 0.039999999 PRESSURE_YINT -62.665058 SEABIRD_T_J 3.1443233e-06

MASS 53651 PITCH_GAIN 20 PRESSURE_SLOPE 0.0001166174 SEABIRD_C_G -9.841713

MASS_COMP 0 PITCH_TIMEOUT 18 AD7714Ch0Gain 128 SEABIRD_C_H 1.1572895

NAV_MODE 1 PITCH_AD_RATE 165 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0012496368

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.0001680319

KALMAN_USE 1 PITCH_ADJ_GAIN 0 COMPASS_USE 0

HD_A 0.003 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 177 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 220

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 165 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 20 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 20 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 100 FERRY_MAX 45 PITCH_MAX 3870 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MIN 183 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 0.0012300001 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 T_BOOST 2

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 83

CALL_NDIVES 1 HD_A 0.003 PRESSURE_SLOPE 0.0001166174 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -62.665058 T_GPS 5

CALL_WAIT 60 HD_C 1.6100001e-05 PROTOCOL 9 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -429.73666

CAPUPLOAD 1 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 100

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 60

COMPASS2_DEVICE -1 ID 213 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_YINT -0.67000002 RHO 1.023 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2803 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 20

C_ROLL_CLIMB 2276 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2276 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 2000 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3769 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 53651 ROLL_MAXERRORS 1 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 177 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 101 MINV_10V 8 R_PORT_OVSHOOT 31 VBD_MAXERRORS 1

DEVICE3 131 MINV_24V 19 R_STBD_OVSHOOT 36 VBD_MIN 500

DEVICE4 150 MISSION 2 SEABIRD_C_G -9.841713 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1572895 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0012496368 VBD_TIMEOUT 360

DIVE 14 NOCOMM_ACTION 0 SEABIRD_C_J 0.0001680319 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0044059665 XPDR_DEVICE 24

D_BOOST 50 N_FILEKB 4 SEABIRD_T_H 0.00063814322 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.5834664e-05 XPDR_VALID 0

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 3.1443233e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 500 PHONE_DEVICE 49 SIM_W 0

Pre-dive calculations and measurements:

GPS1 050314,075239,4742.618,-12224.480,7,1.5,8,16.3 TGT_NAME SW

_CALLS 1 TGT_LATLONG 4742.700,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.127,-0.189

_SM_DEPTHo 1.51 KALMAN_X -1523.2,-39.0,122.3,2092.7,479.2

_SM_ANGLEo -68.7 KALMAN_Y -1145.1,-182.5,529.2,-448.9,832.2

GPS2 050314,075857,4742.824,-12224.543,9,1.1,10,16.3 MHEAD_RNG_PITCHd_Wd 197.6,393,-12.6,-7.229,-17.58,3010

SPEED_LIMITS 0.125,0.228 D_GRID 180

Post-dive calculations and measurements:

FINISH 0.4,1.021668 _24V_AH 24.6,0.982

SM_CCo 3162,24.62,0.138,0,0,1101,220.03 _10V_AH 10.3,0.879

SM_GC 4.91,7.68,2.12,24.62,0.050,0.047,0.138,177,2277,1101,-8.14,-1.22,220.03,0,0,0,0,0,0,26.93,26.94,26.73 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12227.78,050314,070732 FG_AHR_10Vo 0.000

TT8_MAMPS 0.02996,0.02996 MEM 322364

HUMID 42.63 DATA_FILE_SIZE 37094,523

INTERNAL_PRESSURE 8.6077 CAP_FILE_SIZE 62912,0

TCM_TEMP 12.10 CFSIZE 1024393216,1022246912

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

ALTIM_BOTTOM_PING 110.3,66.0 GPS 050314,085431,4742.458,-12224.499,55,1.1,55,16.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 245 112.96 SBE_CT 351 23 207.30

Roll_motor 60 66 98.24 AA4330 419 8 92.86

VBD_pump_during_apogee 248 783 4786.83 WL_BB3 686 45 771.47

VBD_pump_during_surface 24 138 83.88 WL_FL3 1050 44 1142.24

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 13 8.64 nil 0 0 0.00

Iridium_during_connect 41 160 162.99 nil 0 0 0.00

Iridium_during_xfer 234 223 1285.14 nil 0 0 0.00

Transponder_ping 1 420 10.33 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 10 26 2.93

TT8 1170 15 186.33

LPSleep 310 2 6.99

TT8_Active 322 15 51.39

TT8_Sampling 1728 41 742.03

TT8_CF8 49 63 32.51

TT8_Kalman 33 67 23.23

Analog_circuits 857 16 141.23

GPS_charging 0 0 0.00

Compass 1411 7 108.93

RAFOS 0 0 0.00

Transponder 8 30 2.71

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

15 -0.81 -146.6 172 2274 1104 1105 0.0 0.0 0 63 0.00 0.00 -46.30 0.000 16386 0.000 0.000 172 2274 2542 2495 2589 0 0 0 0 0 0 28.83 28.83 28.83

66 -0.81 -146.6 172 2274 2495 2590 3.7 -6.6 6 83 9.48 2.15 -1.05 0.000 18948 0.246 0.067 2530 861 2598 2565 2631 0 0 0 0 0 0 26.37 26.54 26.79

342 -0.81 -146.6 2530 861 2572 2626 45.7 -12.0 53 348 0.00 2.10 0.00 0.000 1030 0.000 0.050 2530 2276 2599 2575 2623 0 0 0 0 0 0 28.83 26.76 28.83

485 -0.81 -146.6 2530 2276 2577 2621 60.4 -8.8 78 493 0.00 2.15 0.00 0.000 516 0.000 0.057 2530 874 2599 2577 2621 0 0 0 0 0 0 28.83 26.77 28.83

556 -0.81 -146.6 2530 873 2577 2621 67.2 -9.9 90 564 0.00 2.12 0.00 0.000 1030 0.000 0.049 2530 2277 2598 2576 2621 0 0 0 0 0 0 28.83 26.84 28.83

703 -0.81 -146.6 2530 2277 2577 2620 80.2 -9.4 115 710 0.00 2.10 0.00 0.000 260 0.000 0.061 2530 3681 2598 2577 2620 0 0 0 0 0 0 28.83 26.86 28.83

789 -0.81 -146.6 2530 3682 2578 2619 88.0 -9.2 130 798 0.00 2.10 0.00 0.000 1030 0.000 0.044 2530 2273 2598 2578 2619 0 0 0 0 0 0 28.83 26.90 28.83

937 -0.81 -146.6 2530 2272 2578 2619 103.5 -12.2 155 944 0.00 2.12 0.00 0.000 260 0.000 0.061 2530 3691 2598 2578 2619 0 0 0 0 0 0 28.83 26.91 28.83

974 -0.81 -146.6 2530 3691 2578 2619 107.1 -9.6 161 980 0.00 2.08 0.00 0.000 1030 0.000 0.043 2530 2263 2598 2578 2619 0 0 0 0 0 0 28.83 26.94 28.83

1119 -0.81 -146.6 2530 2264 2578 2619 121.4 -11.0 186 1128 0.00 2.10 0.00 0.000 516 0.000 0.056 2530 878 2598 2579 2618 0 0 0 0 0 0 28.83 26.93 28.83

1190 -0.81 -146.6 2530 878 2578 2619 129.9 -10.4 198 1199 0.00 2.10 0.00 0.000 1030 0.000 0.050 2530 2275 2598 2578 2618 0 0 0 0 0 0 28.83 26.99 28.83

1338 -0.81 -146.6 2530 2275 2579 2619 145.7 -12.5 223 1345 0.00 2.10 0.00 0.000 260 0.000 0.063 2530 3682 2598 2578 2618 0 0 0 0 0 0 28.83 26.98 28.83

1379 -0.81 -146.6 2530 3682 2579 2618 151.5 -14.1 230 1388 0.00 2.10 0.00 0.000 1030 0.000 0.045 2530 2273 2598 2579 2618 0 0 0 0 0 0 28.83 26.99 28.83

1423 end dive: BOTTOM_OBSTACLE_DETECTED

state 1423 begin apogee

1426 -0.25 0.0 2530 2273 2579 2618 156.7 -11.0 237 1569 0.55 0.00 130.30 0.783 10246 0.125 0.000 2717 2273 2005 2023 1987 0 0 0 0 1 0 26.91 28.83 24.56

1570 end apogee: CONTROL_FINISHED_OK

state 1570 begin climb

1571 0.81 146.6 2717 2273 2024 1988 162.8 0.0 259 1702 1.00 2.30 118.10 0.539 10756 0.074 0.060 3059 884 1391 1428 1355 0 0 0 0 0 0 25.37 25.29 24.94

1716 0.81 146.6 3058 884 1423 1354 156.5 8.7 281 1723 0.00 2.17 0.00 0.000 1030 0.000 0.050 3059 2272 1388 1423 1353 0 0 0 0 0 0 28.83 25.58 28.83

1860 0.81 146.6 3058 2272 1421 1350 140.1 11.6 306 1868 0.00 2.25 0.00 0.000 260 0.000 0.063 3059 3683 1384 1420 1349 0 0 0 0 0 0 28.83 26.13 28.83

1897 0.81 146.6 3058 3684 1419 1349 135.3 13.0 312 1906 0.00 2.17 0.00 0.000 1030 0.000 0.047 3059 2288 1384 1419 1349 0 0 0 0 0 0 28.83 26.18 28.83

2045 0.81 146.6 3058 2287 1419 1349 118.1 13.0 337 2051 0.00 2.20 0.00 0.000 516 0.000 0.060 3059 862 1383 1418 1349 0 0 0 0 0 0 28.83 26.37 28.83

2097 0.81 146.6 3058 862 1417 1349 110.2 15.0 346 2106 0.00 2.17 0.00 0.000 1030 0.000 0.050 3058 2277 1383 1417 1349 0 0 0 0 0 0 28.83 26.49 28.83

2245 0.81 146.6 3058 2278 1417 1349 92.0 11.4 371 2251 0.00 2.15 0.00 0.000 260 0.000 0.061 3059 3689 1382 1416 1349 0 0 0 0 0 0 28.83 26.58 28.83

2293 0.81 146.6 3058 3689 1416 1349 85.2 13.1 379 2300 0.00 2.12 0.00 0.000 1030 0.000 0.047 3059 2266 1382 1416 1349 0 0 0 0 0 0 28.83 26.60 28.83

2437 0.81 146.6 3058 2265 1416 1349 68.6 11.0 404 2445 0.00 2.17 0.00 0.000 516 0.000 0.060 3059 867 1382 1416 1349 0 0 0 0 0 0 28.83 26.67 28.83

2504 0.81 146.6 3058 867 1415 1349 61.6 11.4 415 2511 0.00 2.10 0.00 0.000 1030 0.000 0.048 3059 2282 1382 1415 1349 0 0 0 0 0 0 28.83 26.75 28.83

2648 0.81 146.6 3058 2282 1415 1348 47.2 9.4 440 2656 0.00 2.20 0.00 0.000 516 0.000 0.060 3058 864 1382 1416 1349 0 0 0 0 0 0 28.83 26.77 28.83

2830 0.81 146.6 3058 864 1414 1349 29.7 9.3 471 2838 0.00 2.12 0.00 0.000 1030 0.000 0.047 3059 2277 1381 1415 1348 0 0 0 0 0 0 28.83 26.87 28.83

2909 0.81 146.6 3058 2277 1414 1349 22.1 9.3 484 2917 0.00 2.15 0.00 0.000 260 0.000 0.061 3059 3678 1382 1415 1349 0 0 0 0 0 0 28.83 26.86 28.83

3022 0.81 146.6 3059 3678 1414 1349 10.4 10.7 503 3031 0.00 2.10 0.00 0.000 1030 0.000 0.044 3059 2275 1381 1414 1349 0 0 0 0 0 0 28.83 26.89 28.83

3101 0.81 146.6 3058 2275 1414 1349 3.6 8.2 516 3110 0.00 2.15 0.00 0.000 516 0.000 0.060 3059 875 1381 1414 1349 0 0 0 0 0 0 28.83 26.89 28.83

3122 end climb: SURFACE_DEPTH_REACHED

state 3122 begin surface coast

3147 end surface coast: CONTROL_FINISHED_OK

state 3147 begin surface

ID	213	HD_C	1.6100001e-05	ROLL_MAX	3769	ALTIM_BOTTOM_TURN_MARGIN	20
MISSION	2	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	14	ESCAPE_HEADING	0	C_ROLL_DIVE	2276	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2276	ALTIM_PING_DEPTH	100
D_SURF	2	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	3	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	31	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	220	R_STBD_OVSHOOT	36	XPDR_VALID	0
D_BOOST	50	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	2	FILEMGR	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.67000002
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	9	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	C_VBD	2000	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	101
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	131
T_DIVE	83	CALL_TRIES	5	VBD_TIMEOUT	360	DEVICE4	150
T_MISSION	100	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	60	T_GPS	5	UNCOM_BLEED	20	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	-429.73666	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	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	100	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	183	MINV_24V	19	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3870	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2803	FG_AHR_10V	0	SEABIRD_T_G	0.0044059665
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00063814322
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.5834664e-05
RHO	1.023	P_OVSHOOT	0.039999999	PRESSURE_YINT	-62.665058	SEABIRD_T_J	3.1443233e-06
MASS	53651	PITCH_GAIN	20	PRESSURE_SLOPE	0.0001166174	SEABIRD_C_G	-9.841713
MASS_COMP	0	PITCH_TIMEOUT	18	AD7714Ch0Gain	128	SEABIRD_C_H	1.1572895
NAV_MODE	1	PITCH_AD_RATE	165	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0012496368
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.0001680319
KALMAN_USE	1	PITCH_ADJ_GAIN	0	COMPASS_USE	0
HD_A	0.003	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	177	ALTIM_TOP_PING_RANGE	0

GPS1	050314,075239,4742.618,-12224.480,7,1.5,8,16.3	TGT_NAME	SW
_CALLS	1	TGT_LATLONG	4742.700,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.127,-0.189
_SM_DEPTHo	1.51	KALMAN_X	-1523.2,-39.0,122.3,2092.7,479.2
_SM_ANGLEo	-68.7	KALMAN_Y	-1145.1,-182.5,529.2,-448.9,832.2
GPS2	050314,075857,4742.824,-12224.543,9,1.1,10,16.3	MHEAD_RNG_PITCHd_Wd	197.6,393,-12.6,-7.229,-17.58,3010
SPEED_LIMITS	0.125,0.228	D_GRID	180

FINISH	0.4,1.021668	_24V_AH	24.6,0.982
SM_CCo	3162,24.62,0.138,0,0,1101,220.03	_10V_AH	10.3,0.879
SM_GC	4.91,7.68,2.12,24.62,0.050,0.047,0.138,177,2277,1101,-8.14,-1.22,220.03,0,0,0,0,0,0,26.93,26.94,26.73	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12227.78,050314,070732	FG_AHR_10Vo	0.000
TT8_MAMPS	0.02996,0.02996	MEM	322364
HUMID	42.63	DATA_FILE_SIZE	37094,523
INTERNAL_PRESSURE	8.6077	CAP_FILE_SIZE	62912,0
TCM_TEMP	12.10	CFSIZE	1024393216,1022246912
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
ALTIM_BOTTOM_PING	110.3,66.0	GPS	050314,085431,4742.458,-12224.499,55,1.1,55,16.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	245	112.96	SBE_CT	351	23	207.30
Roll_motor	60	66	98.24	AA4330	419	8	92.86
VBD_pump_during_apogee	248	783	4786.83	WL_BB3	686	45	771.47
VBD_pump_during_surface	24	138	83.88	WL_FL3	1050	44	1142.24
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	13	8.64	nil	0	0	0.00
Iridium_during_connect	41	160	162.99	nil	0	0	0.00
Iridium_during_xfer	234	223	1285.14	nil	0	0	0.00
Transponder_ping	1	420	10.33	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	10	26	2.93
TT8	1170	15	186.33
LPSleep	310	2	6.99
TT8_Active	322	15	51.39
TT8_Sampling	1728	41	742.03
TT8_CF8	49	63	32.51
TT8_Kalman	33	67	23.23
Analog_circuits	857	16	141.23
GPS_charging	0	0	0.00
Compass	1411	7	108.93
RAFOS	0	0	0.00
Transponder	8	30	2.71

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
15	-0.81	-146.6	172	2274	1104	1105	0.0	0.0	0	63	0.00	0.00	-46.30	0.000	16386	0.000	0.000	172	2274	2542	2495	2589	0	0	0	0	0	0	28.83	28.83	28.83
66	-0.81	-146.6	172	2274	2495	2590	3.7	-6.6	6	83	9.48	2.15	-1.05	0.000	18948	0.246	0.067	2530	861	2598	2565	2631	0	0	0	0	0	0	26.37	26.54	26.79
342	-0.81	-146.6	2530	861	2572	2626	45.7	-12.0	53	348	0.00	2.10	0.00	0.000	1030	0.000	0.050	2530	2276	2599	2575	2623	0	0	0	0	0	0	28.83	26.76	28.83
485	-0.81	-146.6	2530	2276	2577	2621	60.4	-8.8	78	493	0.00	2.15	0.00	0.000	516	0.000	0.057	2530	874	2599	2577	2621	0	0	0	0	0	0	28.83	26.77	28.83
556	-0.81	-146.6	2530	873	2577	2621	67.2	-9.9	90	564	0.00	2.12	0.00	0.000	1030	0.000	0.049	2530	2277	2598	2576	2621	0	0	0	0	0	0	28.83	26.84	28.83
703	-0.81	-146.6	2530	2277	2577	2620	80.2	-9.4	115	710	0.00	2.10	0.00	0.000	260	0.000	0.061	2530	3681	2598	2577	2620	0	0	0	0	0	0	28.83	26.86	28.83
789	-0.81	-146.6	2530	3682	2578	2619	88.0	-9.2	130	798	0.00	2.10	0.00	0.000	1030	0.000	0.044	2530	2273	2598	2578	2619	0	0	0	0	0	0	28.83	26.90	28.83
937	-0.81	-146.6	2530	2272	2578	2619	103.5	-12.2	155	944	0.00	2.12	0.00	0.000	260	0.000	0.061	2530	3691	2598	2578	2619	0	0	0	0	0	0	28.83	26.91	28.83
974	-0.81	-146.6	2530	3691	2578	2619	107.1	-9.6	161	980	0.00	2.08	0.00	0.000	1030	0.000	0.043	2530	2263	2598	2578	2619	0	0	0	0	0	0	28.83	26.94	28.83
1119	-0.81	-146.6	2530	2264	2578	2619	121.4	-11.0	186	1128	0.00	2.10	0.00	0.000	516	0.000	0.056	2530	878	2598	2579	2618	0	0	0	0	0	0	28.83	26.93	28.83
1190	-0.81	-146.6	2530	878	2578	2619	129.9	-10.4	198	1199	0.00	2.10	0.00	0.000	1030	0.000	0.050	2530	2275	2598	2578	2618	0	0	0	0	0	0	28.83	26.99	28.83
1338	-0.81	-146.6	2530	2275	2579	2619	145.7	-12.5	223	1345	0.00	2.10	0.00	0.000	260	0.000	0.063	2530	3682	2598	2578	2618	0	0	0	0	0	0	28.83	26.98	28.83
1379	-0.81	-146.6	2530	3682	2579	2618	151.5	-14.1	230	1388	0.00	2.10	0.00	0.000	1030	0.000	0.045	2530	2273	2598	2579	2618	0	0	0	0	0	0	28.83	26.99	28.83
1423	end dive: BOTTOM_OBSTACLE_DETECTED
state	1423	begin apogee
1426	-0.25	0.0	2530	2273	2579	2618	156.7	-11.0	237	1569	0.55	0.00	130.30	0.783	10246	0.125	0.000	2717	2273	2005	2023	1987	0	0	0	0	1	0	26.91	28.83	24.56
1570	end apogee: CONTROL_FINISHED_OK
state	1570	begin climb
1571	0.81	146.6	2717	2273	2024	1988	162.8	0.0	259	1702	1.00	2.30	118.10	0.539	10756	0.074	0.060	3059	884	1391	1428	1355	0	0	0	0	0	0	25.37	25.29	24.94
1716	0.81	146.6	3058	884	1423	1354	156.5	8.7	281	1723	0.00	2.17	0.00	0.000	1030	0.000	0.050	3059	2272	1388	1423	1353	0	0	0	0	0	0	28.83	25.58	28.83
1860	0.81	146.6	3058	2272	1421	1350	140.1	11.6	306	1868	0.00	2.25	0.00	0.000	260	0.000	0.063	3059	3683	1384	1420	1349	0	0	0	0	0	0	28.83	26.13	28.83
1897	0.81	146.6	3058	3684	1419	1349	135.3	13.0	312	1906	0.00	2.17	0.00	0.000	1030	0.000	0.047	3059	2288	1384	1419	1349	0	0	0	0	0	0	28.83	26.18	28.83
2045	0.81	146.6	3058	2287	1419	1349	118.1	13.0	337	2051	0.00	2.20	0.00	0.000	516	0.000	0.060	3059	862	1383	1418	1349	0	0	0	0	0	0	28.83	26.37	28.83
2097	0.81	146.6	3058	862	1417	1349	110.2	15.0	346	2106	0.00	2.17	0.00	0.000	1030	0.000	0.050	3058	2277	1383	1417	1349	0	0	0	0	0	0	28.83	26.49	28.83
2245	0.81	146.6	3058	2278	1417	1349	92.0	11.4	371	2251	0.00	2.15	0.00	0.000	260	0.000	0.061	3059	3689	1382	1416	1349	0	0	0	0	0	0	28.83	26.58	28.83
2293	0.81	146.6	3058	3689	1416	1349	85.2	13.1	379	2300	0.00	2.12	0.00	0.000	1030	0.000	0.047	3059	2266	1382	1416	1349	0	0	0	0	0	0	28.83	26.60	28.83
2437	0.81	146.6	3058	2265	1416	1349	68.6	11.0	404	2445	0.00	2.17	0.00	0.000	516	0.000	0.060	3059	867	1382	1416	1349	0	0	0	0	0	0	28.83	26.67	28.83
2504	0.81	146.6	3058	867	1415	1349	61.6	11.4	415	2511	0.00	2.10	0.00	0.000	1030	0.000	0.048	3059	2282	1382	1415	1349	0	0	0	0	0	0	28.83	26.75	28.83
2648	0.81	146.6	3058	2282	1415	1348	47.2	9.4	440	2656	0.00	2.20	0.00	0.000	516	0.000	0.060	3058	864	1382	1416	1349	0	0	0	0	0	0	28.83	26.77	28.83
2830	0.81	146.6	3058	864	1414	1349	29.7	9.3	471	2838	0.00	2.12	0.00	0.000	1030	0.000	0.047	3059	2277	1381	1415	1348	0	0	0	0	0	0	28.83	26.87	28.83
2909	0.81	146.6	3058	2277	1414	1349	22.1	9.3	484	2917	0.00	2.15	0.00	0.000	260	0.000	0.061	3059	3678	1382	1415	1349	0	0	0	0	0	0	28.83	26.86	28.83
3022	0.81	146.6	3059	3678	1414	1349	10.4	10.7	503	3031	0.00	2.10	0.00	0.000	1030	0.000	0.044	3059	2275	1381	1414	1349	0	0	0	0	0	0	28.83	26.89	28.83
3101	0.81	146.6	3058	2275	1414	1349	3.6	8.2	516	3110	0.00	2.15	0.00	0.000	516	0.000	0.060	3059	875	1381	1414	1349	0	0	0	0	0	0	28.83	26.89	28.83
3122	end climb: SURFACE_DEPTH_REACHED
state	3122	begin surface coast
3147	end surface coast: CONTROL_FINISHED_OK
state	3147	begin surface