Glider dive log

Shilshole 12Mar14 * SG216 * Dive index * Mission links * Dive 16 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 216 HD_C 9.9999997e-06 ROLL_MAX 3798 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 1 HEADING -1 ROLL_DEG 30 ALTIM_TOP_TURN_MARGIN 0

DIVE 16 ESCAPE_HEADING 0 C_ROLL_DIVE 2600 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2500 ALTIM_PING_DEPTH 100

D_SURF 5 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 200 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 4

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 49 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 580 R_STBD_OVSHOOT 45 XPDR_VALID 3

D_BOOST 100 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 2 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -1.7

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 3640 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 80 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 150

T_MISSION 100 CALL_WAIT 60 PITCH_VBD_SHIFT 0.00039999999 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 540 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 5 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 0 T_GPS_CHARGE -1782.6997 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 97 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 250 MINV_24V 19 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3894 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2930 FG_AHR_10V 0 SEABIRD_T_G 0.0044112769

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00064360519

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.7643726e-05

RHO 1.023 P_OVSHOOT 0.039999999 PRESSURE_YINT -68.664078 SEABIRD_T_J 3.499646e-06

MASS 53229 PITCH_GAIN 27 PRESSURE_SLOPE 0.0001158948 SEABIRD_C_G -9.8276262

MASS_COMP 10000 PITCH_TIMEOUT 18 AD7714Ch0Gain 128 SEABIRD_C_H 1.1381998

NAV_MODE 1 PITCH_AD_RATE 165 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.00154063

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00011825228

KALMAN_USE 1 PITCH_ADJ_GAIN 0 COMPASS_USE 4

HD_A 0.0038000001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 219 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 580

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 5 PITCH_AD_RATE 165 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_TGT 200 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 27 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 100 FERRY_MAX 45 PITCH_MAX 3894 TCM_ROLL_OFFSET 0

ALTIM_PULSE 4 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MIN 250 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 0.00039999999 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 80

CALL_NDIVES 1 HD_A 0.0038000001 PRESSURE_SLOPE 0.0001158948 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -68.664078 T_GPS 5

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 -1782.6997

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 120

COMPASS2_DEVICE -1 ID 216 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 540

COMPASS_USE 4 INT_PRESSURE_YINT -1.7 RHO 1.023 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2930 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 2500 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2600 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 3640 LOGGERDEVICE4 -1 ROLL_DEG 30 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3798 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 53229 ROLL_MAXERRORS 2 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 10000 ROLL_MIN 219 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 101 MINV_10V 8 R_PORT_OVSHOOT 49 VBD_MAXERRORS 1

DEVICE3 131 MINV_24V 19 R_STBD_OVSHOOT 45 VBD_MIN 500

DEVICE4 150 MISSION 1 SEABIRD_C_G -9.8276262 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1381998 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.00154063 VBD_TIMEOUT 720

DIVE 16 NOCOMM_ACTION 0 SEABIRD_C_J 0.00011825228 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0044112769 XPDR_DEVICE 24

D_BOOST 100 N_FILEKB 4 SEABIRD_T_H 0.00064360519 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.7643726e-05 XPDR_VALID 3

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 3.499646e-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 130314,105157,4743.440,-12225.316,3,1.0,3,16.3 TGT_NAME NW

_CALLS 3 TGT_LATLONG 4743.900,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.102,0.223

_SM_DEPTHo 1.70 KALMAN_X -3696.0,834.4,-102.0,2371.3,-569.7

_SM_ANGLEo -72.4 KALMAN_Y -7268.0,1293.8,-602.2,7754.8,-1218.3

GPS2 130314,110455,4743.225,-12225.339,4,1.0,5,16.3 MHEAD_RNG_PITCHd_Wd 8.3,1420,-15.4,-8.333,-18.73,2676

SPEED_LIMITS 0.144,0.246 D_GRID 200

Post-dive calculations and measurements:

FINISH 2.6,1.017829 _24V_AH 24.8,1.005

SM_CCo 4194,97.65,0.130,0,0,1272,580.13 _10V_AH 10.3,1.279

SM_GC 2.17,7.93,1.40,97.65,0.076,0.038,0.130,248,2604,1272,-8.34,1.75,580.13,0,0,0,0,0,0,26.65,26.76,26.34 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12220.67,130314,101008 FG_AHR_10Vo 0.000

TT8_MAMPS 0.029211,0.029211 MEM 322212

HUMID 41.06 DATA_FILE_SIZE 57222,697

INTERNAL_PRESSURE 8.75939 CAP_FILE_SIZE 80609,0

TCM_TEMP 11.20 CFSIZE 1024409600,1021771776

XPDR_PINGS 11 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

ALTIM_BOTTOM_PING 150.4,60.3 GPS 130314,121833,4743.530,-12225.181,34,1.6,34,16.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 263 128.78 SBE_CT 470 23 270.83

Roll_motor 41 104 105.92 AA4330 558 9 135.00

VBD_pump_during_apogee 266 558 3692.64 WL_BB3 905 48 1093.11

VBD_pump_during_surface 97 130 314.94 WL_FL3 1387 44 1520.64

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 92 12 28.11 nil 0 0 0.00

Iridium_during_connect 154 160 611.21 nil 0 0 0.00

Iridium_during_xfer 305 223 1689.74 nil 0 0 0.00

Transponder_ping 5 420 59.89 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 8 27 2.37

TT8 1560 14 236.50

LPSleep 558 2 12.60

TT8_Active 434 14 65.86

TT8_Sampling 2469 40 1040.95

TT8_CF8 58 59 35.90

TT8_Kalman 33 66 22.71

Analog_circuits 1108 16 182.60

GPS_charging 0 0 0.00

Compass 1867 7 144.09

RAFOS 0 0 0.00

Transponder 21 30 6.58

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 -0.63 -146.6 247 2618 1295 1249 0.0 0.0 0 78 0.00 0.00 -61.60 0.000 16386 0.000 0.000 246 2618 3048 3094 3002 0 0 0 0 0 0 28.83 28.83 28.83

81 -0.63 -146.6 246 2618 3094 3002 3.0 -1.5 8 121 10.32 1.67 -23.10 0.000 18948 0.264 0.070 2720 1552 3961 3885 4038 0 0 0 0 0 0 26.01 26.25 26.58

191 -0.63 -146.6 2720 1550 3885 4036 14.6 -11.1 25 200 0.00 1.60 0.00 0.000 1030 0.000 0.049 2713 2589 3961 3885 4037 0 0 0 0 0 0 28.83 26.34 28.83

271 -0.63 -146.6 2713 2589 3885 4037 22.7 -11.0 38 280 0.00 1.65 0.00 0.000 260 0.000 0.058 2704 3664 3961 3885 4037 0 0 0 0 0 0 28.83 26.38 28.83

293 -0.63 -146.6 2705 3664 3884 4037 25.6 -12.3 41 302 0.00 1.58 0.00 0.000 1030 0.000 0.038 2705 2597 3961 3885 4037 0 0 0 0 0 0 28.83 26.45 28.83

372 -0.63 -146.6 2705 2597 3885 4037 35.5 -11.4 54 381 0.00 1.58 0.00 0.000 516 0.000 0.048 2704 1556 3961 3885 4037 0 0 0 0 0 0 28.83 26.43 28.83

657 -0.63 -146.6 2703 1556 3885 4037 69.4 -11.0 103 664 0.00 1.55 0.00 0.000 1030 0.000 0.048 2697 2604 3961 3885 4037 0 0 0 0 0 0 28.83 26.58 28.83

801 -0.63 -146.6 2697 2604 3885 4037 85.5 -10.2 128 809 0.00 1.60 0.00 0.000 260 0.000 0.057 2689 3655 3961 3885 4037 0 0 0 0 0 0 28.83 26.61 28.83

849 -0.63 -146.6 2688 3656 3885 4037 91.3 -12.6 136 858 0.10 1.55 0.00 0.000 3078 0.158 0.038 2722 2592 3960 3885 4036 0 0 0 0 0 0 26.49 26.68 28.83

997 -0.63 -146.6 1680 2590 3883 4036 106.0 -9.8 161 1002 0.00 0.00 0.00 0.000 6 0.000 0.000 2723 2592 3961 3885 4037 0 0 0 0 0 0 28.83 28.83 28.83

1137 -0.63 -146.6 2722 2592 3885 4037 119.4 -9.7 186 1146 0.00 1.62 0.00 0.000 260 0.000 0.058 2714 3653 3960 3885 4036 0 0 0 0 0 0 28.83 26.68 28.83

1217 -0.63 -146.6 2714 3653 3885 4037 127.7 -11.3 199 1224 0.00 1.50 0.00 0.000 1030 0.000 0.038 2714 2585 3961 3885 4037 0 0 0 0 0 0 28.83 26.76 28.83

1361 -0.63 -146.6 2714 2585 3884 4036 142.7 -9.3 224 1369 0.00 0.00 0.00 0.000 6 0.000 0.000 2714 2585 3960 3885 4036 0 0 0 0 0 0 28.83 28.83 28.83

1514 -0.63 -146.6 2714 2585 3884 4036 155.2 -8.1 249 1519 0.00 0.00 0.00 0.000 6 0.000 0.000 2714 2585 3960 3885 4036 0 0 0 0 0 0 28.83 28.83 28.83

1656 -0.63 -146.6 2714 2585 3885 4037 168.1 -9.3 274 1664 0.00 0.00 0.00 0.000 6 0.000 0.000 2714 2586 3961 3885 4037 0 0 0 0 0 0 28.83 28.83 28.83

1803 -0.63 -146.6 2714 2585 3884 4036 183.3 -11.9 299 1809 0.00 0.00 0.00 0.000 6 0.000 0.000 2714 2585 3961 3885 4037 0 0 0 0 0 0 28.83 28.83 28.83

1911 end dive: BOTTOM_OBSTACLE_DETECTED

state 1911 begin apogee

1915 -0.19 0.0 2714 2497 3885 4036 196.2 -10.7 318 2007 0.43 0.00 85.03 0.532 10246 0.139 0.000 2860 2497 3634 3667 3601 0 0 0 0 0 0 26.70 28.83 25.44

2008 end apogee: CONTROL_FINISHED_OK

state 2008 begin climb

2009 0.63 146.6 2860 2496 3666 3600 200.5 0.0 332 2127 0.77 1.67 107.90 0.558 10756 0.093 0.048 3139 1464 3030 3086 2975 0 0 0 0 0 0 25.86 25.26 24.79

2227 0.66 215.6 3139 1463 3083 2971 192.2 5.7 367 2286 0.00 1.58 51.42 0.549 9222 0.000 0.047 3139 2497 2750 2806 2694 0 0 0 0 0 0 28.83 25.81 24.94

2423 0.66 215.6 3139 2497 2796 2690 175.4 11.2 400 2432 0.00 1.65 0.00 0.000 260 0.000 0.057 3139 3553 2743 2796 2690 0 0 0 0 0 0 28.83 25.92 28.83

2457 0.66 215.6 3138 3553 2796 2689 171.4 13.3 405 2464 0.00 1.55 0.00 0.000 1030 0.000 0.038 3148 2485 2743 2796 2690 0 0 0 0 0 0 28.83 26.04 28.83

2601 0.66 215.6 3147 2484 2796 2690 153.2 12.0 430 2609 0.00 1.58 0.00 0.000 516 0.000 0.050 3155 1464 2742 2796 2689 0 0 0 0 0 0 28.83 26.20 28.83

2657 0.66 215.6 3154 1464 2795 2690 147.2 10.9 439 2663 0.00 1.55 0.00 0.000 1030 0.000 0.047 3154 2501 2743 2796 2690 0 0 0 0 0 0 28.83 26.26 28.83

2800 0.66 215.6 3154 2501 2796 2689 131.6 9.8 464 2809 0.00 1.62 0.00 0.000 260 0.000 0.057 3155 3556 2743 2796 2690 0 0 0 0 0 0 28.83 26.36 28.83

2880 0.66 215.6 3154 3556 2796 2690 123.3 10.0 477 2886 0.00 1.50 0.00 0.000 1030 0.000 0.038 3162 2499 2742 2795 2690 0 0 0 0 0 0 28.83 26.47 28.83

3023 0.66 215.6 3162 2499 2795 2690 109.3 9.2 502 3031 0.00 1.58 0.00 0.000 516 0.000 0.051 3170 1466 2742 2796 2689 0 0 0 0 0 0 28.83 26.50 28.83

3151 0.66 215.6 3169 1465 2796 2690 96.5 10.3 524 3160 0.00 1.58 0.00 0.000 1030 0.000 0.047 3168 2500 2742 2795 2690 0 0 0 0 0 0 28.83 26.55 28.83

3298 0.66 215.6 3167 2500 2795 2690 80.4 11.3 549 3304 0.00 0.00 0.00 0.000 6 0.000 0.000 3168 2500 2742 2795 2690 0 0 0 0 0 0 28.83 28.83 28.83

3441 0.66 215.6 3167 2500 2796 2690 63.6 11.9 574 3449 0.00 0.00 0.00 0.000 6 0.000 0.000 3168 2500 2742 2795 2689 0 0 0 0 0 0 28.83 28.83 28.83

3588 0.66 215.6 3167 2500 2795 2690 48.3 10.3 599 3594 0.00 1.58 0.00 0.000 260 0.000 0.057 3167 3567 2742 2795 2689 0 0 0 0 0 0 28.83 26.66 28.83

3648 0.66 215.6 3167 3568 2795 2690 41.5 11.4 609 3655 0.12 1.52 0.00 0.000 5126 0.189 0.038 3145 2484 2742 2795 2689 0 0 0 0 0 0 26.55 26.73 28.83

3795 0.66 227.6 3145 2484 2795 2689 29.5 7.9 634 3804 0.00 1.50 2.78 0.174 8708 0.000 0.047 3153 1466 2713 2774 2652 0 0 0 0 0 0 28.83 26.70 26.51

3921 0.67 241.2 3152 1466 2805 2657 19.2 7.8 655 3938 0.00 1.58 6.10 0.162 9222 0.000 0.047 3152 2507 2657 2722 2592 0 0 0 0 0 0 28.83 26.73 26.54

4009 0.68 279.5 3152 2507 2745 2593 12.8 6.9 669 4027 0.00 1.62 13.40 0.157 8452 0.000 0.057 3152 3558 2495 2555 2435 0 0 0 0 0 0 28.83 26.65 26.53

4114 end climb: SURFACE_DEPTH_REACHED

state 4114 begin surface coast

4179 end surface coast: CONTROL_FINISHED_OK

state 4179 begin surface

ID	216	HD_C	9.9999997e-06	ROLL_MAX	3798	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	1	HEADING	-1	ROLL_DEG	30	ALTIM_TOP_TURN_MARGIN	0
DIVE	16	ESCAPE_HEADING	0	C_ROLL_DIVE	2600	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2500	ALTIM_PING_DEPTH	100
D_SURF	5	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	200	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	4
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	49	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	580	R_STBD_OVSHOOT	45	XPDR_VALID	3
D_BOOST	100	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	2	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-1.7
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	3640	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	80	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	150
T_MISSION	100	CALL_WAIT	60	PITCH_VBD_SHIFT	0.00039999999	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	540	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	5	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	0	T_GPS_CHARGE	-1782.6997	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	97	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	250	MINV_24V	19	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3894	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2930	FG_AHR_10V	0	SEABIRD_T_G	0.0044112769
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00064360519
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.7643726e-05
RHO	1.023	P_OVSHOOT	0.039999999	PRESSURE_YINT	-68.664078	SEABIRD_T_J	3.499646e-06
MASS	53229	PITCH_GAIN	27	PRESSURE_SLOPE	0.0001158948	SEABIRD_C_G	-9.8276262
MASS_COMP	10000	PITCH_TIMEOUT	18	AD7714Ch0Gain	128	SEABIRD_C_H	1.1381998
NAV_MODE	1	PITCH_AD_RATE	165	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.00154063
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00011825228
KALMAN_USE	1	PITCH_ADJ_GAIN	0	COMPASS_USE	4
HD_A	0.0038000001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	219	ALTIM_TOP_PING_RANGE	0

GPS1	130314,105157,4743.440,-12225.316,3,1.0,3,16.3	TGT_NAME	NW
_CALLS	3	TGT_LATLONG	4743.900,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.102,0.223
_SM_DEPTHo	1.70	KALMAN_X	-3696.0,834.4,-102.0,2371.3,-569.7
_SM_ANGLEo	-72.4	KALMAN_Y	-7268.0,1293.8,-602.2,7754.8,-1218.3
GPS2	130314,110455,4743.225,-12225.339,4,1.0,5,16.3	MHEAD_RNG_PITCHd_Wd	8.3,1420,-15.4,-8.333,-18.73,2676
SPEED_LIMITS	0.144,0.246	D_GRID	200

FINISH	2.6,1.017829	_24V_AH	24.8,1.005
SM_CCo	4194,97.65,0.130,0,0,1272,580.13	_10V_AH	10.3,1.279
SM_GC	2.17,7.93,1.40,97.65,0.076,0.038,0.130,248,2604,1272,-8.34,1.75,580.13,0,0,0,0,0,0,26.65,26.76,26.34	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12220.67,130314,101008	FG_AHR_10Vo	0.000
TT8_MAMPS	0.029211,0.029211	MEM	322212
HUMID	41.06	DATA_FILE_SIZE	57222,697
INTERNAL_PRESSURE	8.75939	CAP_FILE_SIZE	80609,0
TCM_TEMP	11.20	CFSIZE	1024409600,1021771776
XPDR_PINGS	11	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	150.4,60.3	GPS	130314,121833,4743.530,-12225.181,34,1.6,34,16.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	263	128.78	SBE_CT	470	23	270.83
Roll_motor	41	104	105.92	AA4330	558	9	135.00
VBD_pump_during_apogee	266	558	3692.64	WL_BB3	905	48	1093.11
VBD_pump_during_surface	97	130	314.94	WL_FL3	1387	44	1520.64
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	92	12	28.11	nil	0	0	0.00
Iridium_during_connect	154	160	611.21	nil	0	0	0.00
Iridium_during_xfer	305	223	1689.74	nil	0	0	0.00
Transponder_ping	5	420	59.89	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	8	27	2.37
TT8	1560	14	236.50
LPSleep	558	2	12.60
TT8_Active	434	14	65.86
TT8_Sampling	2469	40	1040.95
TT8_CF8	58	59	35.90
TT8_Kalman	33	66	22.71
Analog_circuits	1108	16	182.60
GPS_charging	0	0	0.00
Compass	1867	7	144.09
RAFOS	0	0	0.00
Transponder	21	30	6.58

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	-0.63	-146.6	247	2618	1295	1249	0.0	0.0	0	78	0.00	0.00	-61.60	0.000	16386	0.000	0.000	246	2618	3048	3094	3002	0	0	0	0	0	0	28.83	28.83	28.83
81	-0.63	-146.6	246	2618	3094	3002	3.0	-1.5	8	121	10.32	1.67	-23.10	0.000	18948	0.264	0.070	2720	1552	3961	3885	4038	0	0	0	0	0	0	26.01	26.25	26.58
191	-0.63	-146.6	2720	1550	3885	4036	14.6	-11.1	25	200	0.00	1.60	0.00	0.000	1030	0.000	0.049	2713	2589	3961	3885	4037	0	0	0	0	0	0	28.83	26.34	28.83
271	-0.63	-146.6	2713	2589	3885	4037	22.7	-11.0	38	280	0.00	1.65	0.00	0.000	260	0.000	0.058	2704	3664	3961	3885	4037	0	0	0	0	0	0	28.83	26.38	28.83
293	-0.63	-146.6	2705	3664	3884	4037	25.6	-12.3	41	302	0.00	1.58	0.00	0.000	1030	0.000	0.038	2705	2597	3961	3885	4037	0	0	0	0	0	0	28.83	26.45	28.83
372	-0.63	-146.6	2705	2597	3885	4037	35.5	-11.4	54	381	0.00	1.58	0.00	0.000	516	0.000	0.048	2704	1556	3961	3885	4037	0	0	0	0	0	0	28.83	26.43	28.83
657	-0.63	-146.6	2703	1556	3885	4037	69.4	-11.0	103	664	0.00	1.55	0.00	0.000	1030	0.000	0.048	2697	2604	3961	3885	4037	0	0	0	0	0	0	28.83	26.58	28.83
801	-0.63	-146.6	2697	2604	3885	4037	85.5	-10.2	128	809	0.00	1.60	0.00	0.000	260	0.000	0.057	2689	3655	3961	3885	4037	0	0	0	0	0	0	28.83	26.61	28.83
849	-0.63	-146.6	2688	3656	3885	4037	91.3	-12.6	136	858	0.10	1.55	0.00	0.000	3078	0.158	0.038	2722	2592	3960	3885	4036	0	0	0	0	0	0	26.49	26.68	28.83
997	-0.63	-146.6	1680	2590	3883	4036	106.0	-9.8	161	1002	0.00	0.00	0.00	0.000	6	0.000	0.000	2723	2592	3961	3885	4037	0	0	0	0	0	0	28.83	28.83	28.83
1137	-0.63	-146.6	2722	2592	3885	4037	119.4	-9.7	186	1146	0.00	1.62	0.00	0.000	260	0.000	0.058	2714	3653	3960	3885	4036	0	0	0	0	0	0	28.83	26.68	28.83
1217	-0.63	-146.6	2714	3653	3885	4037	127.7	-11.3	199	1224	0.00	1.50	0.00	0.000	1030	0.000	0.038	2714	2585	3961	3885	4037	0	0	0	0	0	0	28.83	26.76	28.83
1361	-0.63	-146.6	2714	2585	3884	4036	142.7	-9.3	224	1369	0.00	0.00	0.00	0.000	6	0.000	0.000	2714	2585	3960	3885	4036	0	0	0	0	0	0	28.83	28.83	28.83
1514	-0.63	-146.6	2714	2585	3884	4036	155.2	-8.1	249	1519	0.00	0.00	0.00	0.000	6	0.000	0.000	2714	2585	3960	3885	4036	0	0	0	0	0	0	28.83	28.83	28.83
1656	-0.63	-146.6	2714	2585	3885	4037	168.1	-9.3	274	1664	0.00	0.00	0.00	0.000	6	0.000	0.000	2714	2586	3961	3885	4037	0	0	0	0	0	0	28.83	28.83	28.83
1803	-0.63	-146.6	2714	2585	3884	4036	183.3	-11.9	299	1809	0.00	0.00	0.00	0.000	6	0.000	0.000	2714	2585	3961	3885	4037	0	0	0	0	0	0	28.83	28.83	28.83
1911	end dive: BOTTOM_OBSTACLE_DETECTED
state	1911	begin apogee
1915	-0.19	0.0	2714	2497	3885	4036	196.2	-10.7	318	2007	0.43	0.00	85.03	0.532	10246	0.139	0.000	2860	2497	3634	3667	3601	0	0	0	0	0	0	26.70	28.83	25.44
2008	end apogee: CONTROL_FINISHED_OK
state	2008	begin climb
2009	0.63	146.6	2860	2496	3666	3600	200.5	0.0	332	2127	0.77	1.67	107.90	0.558	10756	0.093	0.048	3139	1464	3030	3086	2975	0	0	0	0	0	0	25.86	25.26	24.79
2227	0.66	215.6	3139	1463	3083	2971	192.2	5.7	367	2286	0.00	1.58	51.42	0.549	9222	0.000	0.047	3139	2497	2750	2806	2694	0	0	0	0	0	0	28.83	25.81	24.94
2423	0.66	215.6	3139	2497	2796	2690	175.4	11.2	400	2432	0.00	1.65	0.00	0.000	260	0.000	0.057	3139	3553	2743	2796	2690	0	0	0	0	0	0	28.83	25.92	28.83
2457	0.66	215.6	3138	3553	2796	2689	171.4	13.3	405	2464	0.00	1.55	0.00	0.000	1030	0.000	0.038	3148	2485	2743	2796	2690	0	0	0	0	0	0	28.83	26.04	28.83
2601	0.66	215.6	3147	2484	2796	2690	153.2	12.0	430	2609	0.00	1.58	0.00	0.000	516	0.000	0.050	3155	1464	2742	2796	2689	0	0	0	0	0	0	28.83	26.20	28.83
2657	0.66	215.6	3154	1464	2795	2690	147.2	10.9	439	2663	0.00	1.55	0.00	0.000	1030	0.000	0.047	3154	2501	2743	2796	2690	0	0	0	0	0	0	28.83	26.26	28.83
2800	0.66	215.6	3154	2501	2796	2689	131.6	9.8	464	2809	0.00	1.62	0.00	0.000	260	0.000	0.057	3155	3556	2743	2796	2690	0	0	0	0	0	0	28.83	26.36	28.83
2880	0.66	215.6	3154	3556	2796	2690	123.3	10.0	477	2886	0.00	1.50	0.00	0.000	1030	0.000	0.038	3162	2499	2742	2795	2690	0	0	0	0	0	0	28.83	26.47	28.83
3023	0.66	215.6	3162	2499	2795	2690	109.3	9.2	502	3031	0.00	1.58	0.00	0.000	516	0.000	0.051	3170	1466	2742	2796	2689	0	0	0	0	0	0	28.83	26.50	28.83
3151	0.66	215.6	3169	1465	2796	2690	96.5	10.3	524	3160	0.00	1.58	0.00	0.000	1030	0.000	0.047	3168	2500	2742	2795	2690	0	0	0	0	0	0	28.83	26.55	28.83
3298	0.66	215.6	3167	2500	2795	2690	80.4	11.3	549	3304	0.00	0.00	0.00	0.000	6	0.000	0.000	3168	2500	2742	2795	2690	0	0	0	0	0	0	28.83	28.83	28.83
3441	0.66	215.6	3167	2500	2796	2690	63.6	11.9	574	3449	0.00	0.00	0.00	0.000	6	0.000	0.000	3168	2500	2742	2795	2689	0	0	0	0	0	0	28.83	28.83	28.83
3588	0.66	215.6	3167	2500	2795	2690	48.3	10.3	599	3594	0.00	1.58	0.00	0.000	260	0.000	0.057	3167	3567	2742	2795	2689	0	0	0	0	0	0	28.83	26.66	28.83
3648	0.66	215.6	3167	3568	2795	2690	41.5	11.4	609	3655	0.12	1.52	0.00	0.000	5126	0.189	0.038	3145	2484	2742	2795	2689	0	0	0	0	0	0	26.55	26.73	28.83
3795	0.66	227.6	3145	2484	2795	2689	29.5	7.9	634	3804	0.00	1.50	2.78	0.174	8708	0.000	0.047	3153	1466	2713	2774	2652	0	0	0	0	0	0	28.83	26.70	26.51
3921	0.67	241.2	3152	1466	2805	2657	19.2	7.8	655	3938	0.00	1.58	6.10	0.162	9222	0.000	0.047	3152	2507	2657	2722	2592	0	0	0	0	0	0	28.83	26.73	26.54
4009	0.68	279.5	3152	2507	2745	2593	12.8	6.9	669	4027	0.00	1.62	13.40	0.157	8452	0.000	0.057	3152	3558	2495	2555	2435	0	0	0	0	0	0	28.83	26.65	26.53
4114	end climb: SURFACE_DEPTH_REACHED
state	4114	begin surface coast
4179	end surface coast: CONTROL_FINISHED_OK
state	4179	begin surface