Glider dive log

Shilshole 12Mar14 * SG216 * Dive index * Mission links * Dive 17 * 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 17 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 52 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 580 R_STBD_OVSHOOT 34 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 -1830.8011 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 -1830.8011

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 52 VBD_MAXERRORS 1

DEVICE3 131 MINV_24V 19 R_STBD_OVSHOOT 34 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 17 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 130314,121833,4743.530,-12225.181,34,1.6,34,16.3 TGT_NAME NW

_CALLS 1 TGT_LATLONG 4743.900,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.129,0.209

_SM_DEPTHo 1.95 KALMAN_X -3852.4,613.4,-56.7,2857.0,-472.5

_SM_ANGLEo -66.2 KALMAN_Y -7518.4,824.3,-531.7,8813.2,-763.5

GPS2 130314,122511,4743.451,-12225.211,5,1.3,5,16.3 MHEAD_RNG_PITCHd_Wd 15.4,977,-15.4,-8.333,-18.73,2676

SPEED_LIMITS 0.144,0.246 D_GRID 200

Post-dive calculations and measurements:

FINISH 2.5,1.017377 _24V_AH 24.6,1.072

SM_CCo 4112,37.70,0.133,0,0,1270,580.38 _10V_AH 10.3,1.357

SM_GC 2.69,7.80,0.15,37.70,0.063,0.098,0.133,246,2615,1270,-8.35,-1.05,580.38,0,0,0,0,0,0,26.54,26.62,26.39 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12223.37,130314,121235 FG_AHR_10Vo 0.000

TT8_MAMPS 0.029211,0.029211 MEM 322284

HUMID 41.41 DATA_FILE_SIZE 53891,680

INTERNAL_PRESSURE 8.75939 CAP_FILE_SIZE 76309,0

TCM_TEMP 11.60 CFSIZE 1024409600,1021689856

XPDR_PINGS 14 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0

ALTIM_BOTTOM_PING 135.3,68.5 GPS 130314,133557,4743.891,-12224.855,3,1.1,3,16.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 267 129.59 SBE_CT 458 23 261.80

Roll_motor 47 97 113.76 AA4330 566 9 135.78

VBD_pump_during_apogee 305 1100 8267.69 WL_BB3 918 48 1099.94

VBD_pump_during_surface 37 133 123.45 WL_FL3 1407 44 1530.26

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 12 8.55 nil 0 0 0.00

Iridium_during_connect 36 160 144.67 nil 0 0 0.00

Iridium_during_xfer 255 223 1402.49 nil 0 0 0.00

Transponder_ping 5 420 59.41 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 8 27 2.37

TT8 1514 14 229.52

LPSleep 399 2 9.02

TT8_Active 392 14 59.53

TT8_Sampling 2196 40 925.83

TT8_CF8 56 59 34.94

TT8_Kalman 33 66 22.71

Analog_circuits 1070 16 176.47

GPS_charging 0 0 0.00

Compass 1855 7 143.17

RAFOS 0 0 0.00

Transponder 16 30 5.12

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 -0.63 -146.6 247 2601 1299 1245 0.0 0.0 0 86 0.00 0.00 -68.50 0.000 16386 0.000 0.000 247 2602 3281 3323 3239 0 0 0 0 0 0 28.83 28.83 28.83

88 -0.63 -146.6 247 2602 3324 3239 3.5 -3.4 9 120 10.43 1.67 -16.00 0.000 19204 0.268 0.079 2711 3658 3962 3885 4039 0 0 0 0 0 0 26.04 26.27 26.60

324 -0.63 -146.6 2711 3658 3885 4038 32.7 -13.1 48 333 0.00 1.55 0.00 0.000 1030 0.000 0.037 2716 2599 3961 3885 4037 0 0 0 0 0 0 28.83 26.50 28.83

403 -0.63 -146.6 2715 2599 3885 4038 42.1 -11.8 61 410 0.00 1.52 0.00 0.000 516 0.000 0.047 2716 1557 3961 3885 4037 0 0 0 0 0 0 28.83 26.47 28.83

661 -0.63 -146.6 2715 1557 3885 4037 71.6 -11.1 106 669 0.00 1.60 0.00 0.000 1030 0.000 0.048 2708 2605 3961 3886 4037 0 0 0 0 0 0 28.83 26.59 28.83

809 -0.63 -146.6 2708 2604 3885 4037 87.7 -11.4 131 815 0.00 1.55 0.00 0.000 260 0.000 0.058 2700 3653 3961 3885 4037 0 0 0 0 0 0 28.83 26.62 28.83

891 -0.63 -146.6 2700 3653 3887 4037 98.0 -12.2 145 898 0.00 1.50 0.00 0.000 1030 0.000 0.037 2700 2588 3961 3886 4037 0 0 0 0 0 0 28.83 26.71 28.83

1036 -0.63 -146.6 2699 2588 3885 4037 114.9 -11.6 170 1047 0.00 1.52 0.00 0.000 516 0.000 0.047 2700 1567 3961 3885 4037 0 0 0 0 0 0 28.83 26.67 28.83

1128 -0.63 -146.6 2699 1567 3886 4037 124.4 -10.3 185 1136 0.12 1.52 0.00 0.000 3078 0.181 0.048 2725 2602 3961 3885 4037 0 0 0 0 0 0 26.58 26.71 28.83

1275 -0.63 -146.6 2725 2601 3885 4037 137.0 -8.7 210 1284 0.00 1.60 0.00 0.000 260 0.000 0.058 2717 3657 3961 3885 4037 0 0 0 0 0 0 28.83 26.71 28.83

1335 -0.63 -146.6 2716 3657 3886 4037 143.1 -10.9 220 1343 0.00 1.52 0.00 0.000 1030 0.000 0.037 2717 2602 3961 3885 4037 0 0 0 0 0 0 28.83 26.79 28.83

1483 -0.63 -146.6 2716 2602 3885 4037 158.5 -11.4 245 1489 0.00 1.52 0.00 0.000 516 0.000 0.047 2717 1551 3961 3886 4037 0 0 0 0 0 0 28.83 26.74 28.83

1531 -0.63 -146.6 2716 1550 3885 4037 163.8 -10.7 253 1537 0.00 1.55 0.00 0.000 1030 0.000 0.048 2709 2602 3961 3885 4037 0 0 0 0 0 0 28.83 26.77 28.83

1675 -0.63 -146.6 2709 2602 3886 4037 179.3 -9.7 278 1683 0.00 1.60 0.00 0.000 260 0.000 0.058 2701 3661 3961 3885 4037 0 0 0 0 0 0 28.83 26.77 28.83

1757 end dive: BOTTOM_OBSTACLE_DETECTED

state 1757 begin apogee

1762 -0.19 0.0 2700 2495 3886 4037 189.0 -10.8 292 1835 0.47 0.00 60.08 1.101 10246 0.143 0.000 2860 2495 3645 3677 3613 0 0 0 0 1 0 26.67 28.83 24.61

1836 end apogee: CONTROL_FINISHED_OK

state 1836 begin climb

1837 0.63 146.6 2860 2494 3681 3615 191.8 0.0 303 1961 0.77 1.67 113.32 0.556 10756 0.091 0.048 3135 1460 3031 3088 2975 0 0 0 0 0 0 25.47 25.17 24.73

1982 0.65 207.3 3135 1460 3085 2972 186.8 6.0 325 2036 0.00 1.62 45.62 0.551 9222 0.000 0.045 3135 2507 2784 2841 2728 0 0 0 0 0 0 28.83 25.43 24.79

2175 0.65 207.3 3135 2507 2835 2723 168.6 9.2 357 2182 0.00 1.60 0.00 0.000 260 0.000 0.057 3135 3556 2779 2835 2723 0 0 0 0 0 0 28.83 25.86 28.83

2250 0.65 207.3 3134 3556 2835 2723 160.6 11.1 370 2259 0.00 1.60 0.00 0.000 1030 0.000 0.037 3144 2478 2779 2835 2723 0 0 0 0 0 0 28.83 26.08 28.83

2398 0.65 207.3 3143 2477 2835 2723 145.1 11.3 395 2404 0.00 0.00 0.00 0.000 6 0.000 0.000 3144 2477 2779 2835 2723 0 0 0 0 0 0 28.83 28.83 28.83

2541 0.65 207.3 3143 2478 2835 2723 130.1 9.9 420 2549 0.00 1.55 0.00 0.000 516 0.000 0.050 3151 1465 2778 2834 2723 0 0 0 0 0 0 28.83 26.34 28.83

2597 0.65 207.3 3151 1465 2834 2723 124.4 10.3 429 2604 0.00 1.55 0.00 0.000 1030 0.000 0.047 3150 2506 2778 2834 2723 0 0 0 0 0 0 28.83 26.39 28.83

2741 0.65 207.3 3150 2506 2834 2723 108.5 11.6 454 2749 0.00 1.60 0.00 0.000 260 0.000 0.057 3151 3552 2778 2834 2723 0 0 0 0 0 0 28.83 26.46 28.83

2823 0.65 207.3 3150 3552 2834 2723 97.5 12.8 468 2832 0.00 1.55 0.00 0.000 1030 0.000 0.037 3159 2488 2779 2835 2723 0 0 0 0 0 0 28.83 26.55 28.83

2971 0.65 207.3 3159 2488 2834 2723 80.4 11.6 493 2977 0.00 1.50 0.00 0.000 516 0.000 0.051 3166 1467 2778 2834 2723 0 0 0 0 0 0 28.83 26.55 28.83

3008 0.65 207.3 3165 1467 2834 2723 76.1 11.2 499 3014 0.00 1.52 0.00 0.000 1030 0.000 0.047 3164 2501 2778 2834 2723 0 0 0 0 0 0 28.83 26.57 28.83

3151 0.65 207.3 3164 2501 2834 2723 60.0 10.5 524 3159 0.00 1.60 0.00 0.000 260 0.000 0.057 3164 3552 2778 2834 2723 0 0 0 0 0 0 28.83 26.61 28.83

3211 0.65 207.3 3164 3552 2834 2723 53.8 10.1 534 3220 0.08 1.52 0.00 0.000 5126 0.163 0.038 3147 2498 2778 2834 2723 0 0 0 0 0 0 26.51 26.68 28.83

3360 0.66 229.6 3147 2498 2834 2723 42.7 7.5 559 3374 0.00 1.55 6.07 0.213 8708 0.000 0.048 3154 1472 2707 2769 2645 0 0 0 0 0 0 28.83 26.64 26.43

3554 0.66 229.6 3154 1472 2796 2648 25.9 9.1 592 3563 0.00 1.55 1.65 0.168 9222 0.000 0.047 3154 2498 2703 2769 2638 0 0 0 0 0 0 28.83 26.69 26.51

3634 0.66 229.6 3154 2499 2793 2642 18.2 9.8 605 3644 0.00 1.60 1.23 0.201 8452 0.000 0.055 3154 3555 2705 2773 2638 0 0 0 0 0 0 28.83 26.68 26.56

3783 0.72 374.7 3154 3554 2792 2642 7.3 2.8 630 3837 0.00 1.52 47.28 0.141 9222 0.000 0.038 3162 2501 2107 2164 2050 0 0 0 0 0 0 28.83 26.77 26.46

3909 0.80 581.8 3162 2501 2177 2050 6.0 0.4 649 3941 0.00 0.00 30.05 0.141 8706 0.000 0.000 3162 2501 1736 1796 1677 0 0 0 0 0 0 28.83 28.83 28.83

3942 end climb: SURFACE_DEPTH_REACHED

state 3942 begin surface coast

4098 end surface coast: CONTROL_FINISHED_OK

state 4098 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	17	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	52	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	580	R_STBD_OVSHOOT	34	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	-1830.8011	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	130314,121833,4743.530,-12225.181,34,1.6,34,16.3	TGT_NAME	NW
_CALLS	1	TGT_LATLONG	4743.900,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.129,0.209
_SM_DEPTHo	1.95	KALMAN_X	-3852.4,613.4,-56.7,2857.0,-472.5
_SM_ANGLEo	-66.2	KALMAN_Y	-7518.4,824.3,-531.7,8813.2,-763.5
GPS2	130314,122511,4743.451,-12225.211,5,1.3,5,16.3	MHEAD_RNG_PITCHd_Wd	15.4,977,-15.4,-8.333,-18.73,2676
SPEED_LIMITS	0.144,0.246	D_GRID	200

FINISH	2.5,1.017377	_24V_AH	24.6,1.072
SM_CCo	4112,37.70,0.133,0,0,1270,580.38	_10V_AH	10.3,1.357
SM_GC	2.69,7.80,0.15,37.70,0.063,0.098,0.133,246,2615,1270,-8.35,-1.05,580.38,0,0,0,0,0,0,26.54,26.62,26.39	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12223.37,130314,121235	FG_AHR_10Vo	0.000
TT8_MAMPS	0.029211,0.029211	MEM	322284
HUMID	41.41	DATA_FILE_SIZE	53891,680
INTERNAL_PRESSURE	8.75939	CAP_FILE_SIZE	76309,0
TCM_TEMP	11.60	CFSIZE	1024409600,1021689856
XPDR_PINGS	14	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
ALTIM_BOTTOM_PING	135.3,68.5	GPS	130314,133557,4743.891,-12224.855,3,1.1,3,16.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	267	129.59	SBE_CT	458	23	261.80
Roll_motor	47	97	113.76	AA4330	566	9	135.78
VBD_pump_during_apogee	305	1100	8267.69	WL_BB3	918	48	1099.94
VBD_pump_during_surface	37	133	123.45	WL_FL3	1407	44	1530.26
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	12	8.55	nil	0	0	0.00
Iridium_during_connect	36	160	144.67	nil	0	0	0.00
Iridium_during_xfer	255	223	1402.49	nil	0	0	0.00
Transponder_ping	5	420	59.41	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	8	27	2.37
TT8	1514	14	229.52
LPSleep	399	2	9.02
TT8_Active	392	14	59.53
TT8_Sampling	2196	40	925.83
TT8_CF8	56	59	34.94
TT8_Kalman	33	66	22.71
Analog_circuits	1070	16	176.47
GPS_charging	0	0	0.00
Compass	1855	7	143.17
RAFOS	0	0	0.00
Transponder	16	30	5.12

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	-0.63	-146.6	247	2601	1299	1245	0.0	0.0	0	86	0.00	0.00	-68.50	0.000	16386	0.000	0.000	247	2602	3281	3323	3239	0	0	0	0	0	0	28.83	28.83	28.83
88	-0.63	-146.6	247	2602	3324	3239	3.5	-3.4	9	120	10.43	1.67	-16.00	0.000	19204	0.268	0.079	2711	3658	3962	3885	4039	0	0	0	0	0	0	26.04	26.27	26.60
324	-0.63	-146.6	2711	3658	3885	4038	32.7	-13.1	48	333	0.00	1.55	0.00	0.000	1030	0.000	0.037	2716	2599	3961	3885	4037	0	0	0	0	0	0	28.83	26.50	28.83
403	-0.63	-146.6	2715	2599	3885	4038	42.1	-11.8	61	410	0.00	1.52	0.00	0.000	516	0.000	0.047	2716	1557	3961	3885	4037	0	0	0	0	0	0	28.83	26.47	28.83
661	-0.63	-146.6	2715	1557	3885	4037	71.6	-11.1	106	669	0.00	1.60	0.00	0.000	1030	0.000	0.048	2708	2605	3961	3886	4037	0	0	0	0	0	0	28.83	26.59	28.83
809	-0.63	-146.6	2708	2604	3885	4037	87.7	-11.4	131	815	0.00	1.55	0.00	0.000	260	0.000	0.058	2700	3653	3961	3885	4037	0	0	0	0	0	0	28.83	26.62	28.83
891	-0.63	-146.6	2700	3653	3887	4037	98.0	-12.2	145	898	0.00	1.50	0.00	0.000	1030	0.000	0.037	2700	2588	3961	3886	4037	0	0	0	0	0	0	28.83	26.71	28.83
1036	-0.63	-146.6	2699	2588	3885	4037	114.9	-11.6	170	1047	0.00	1.52	0.00	0.000	516	0.000	0.047	2700	1567	3961	3885	4037	0	0	0	0	0	0	28.83	26.67	28.83
1128	-0.63	-146.6	2699	1567	3886	4037	124.4	-10.3	185	1136	0.12	1.52	0.00	0.000	3078	0.181	0.048	2725	2602	3961	3885	4037	0	0	0	0	0	0	26.58	26.71	28.83
1275	-0.63	-146.6	2725	2601	3885	4037	137.0	-8.7	210	1284	0.00	1.60	0.00	0.000	260	0.000	0.058	2717	3657	3961	3885	4037	0	0	0	0	0	0	28.83	26.71	28.83
1335	-0.63	-146.6	2716	3657	3886	4037	143.1	-10.9	220	1343	0.00	1.52	0.00	0.000	1030	0.000	0.037	2717	2602	3961	3885	4037	0	0	0	0	0	0	28.83	26.79	28.83
1483	-0.63	-146.6	2716	2602	3885	4037	158.5	-11.4	245	1489	0.00	1.52	0.00	0.000	516	0.000	0.047	2717	1551	3961	3886	4037	0	0	0	0	0	0	28.83	26.74	28.83
1531	-0.63	-146.6	2716	1550	3885	4037	163.8	-10.7	253	1537	0.00	1.55	0.00	0.000	1030	0.000	0.048	2709	2602	3961	3885	4037	0	0	0	0	0	0	28.83	26.77	28.83
1675	-0.63	-146.6	2709	2602	3886	4037	179.3	-9.7	278	1683	0.00	1.60	0.00	0.000	260	0.000	0.058	2701	3661	3961	3885	4037	0	0	0	0	0	0	28.83	26.77	28.83
1757	end dive: BOTTOM_OBSTACLE_DETECTED
state	1757	begin apogee
1762	-0.19	0.0	2700	2495	3886	4037	189.0	-10.8	292	1835	0.47	0.00	60.08	1.101	10246	0.143	0.000	2860	2495	3645	3677	3613	0	0	0	0	1	0	26.67	28.83	24.61
1836	end apogee: CONTROL_FINISHED_OK
state	1836	begin climb
1837	0.63	146.6	2860	2494	3681	3615	191.8	0.0	303	1961	0.77	1.67	113.32	0.556	10756	0.091	0.048	3135	1460	3031	3088	2975	0	0	0	0	0	0	25.47	25.17	24.73
1982	0.65	207.3	3135	1460	3085	2972	186.8	6.0	325	2036	0.00	1.62	45.62	0.551	9222	0.000	0.045	3135	2507	2784	2841	2728	0	0	0	0	0	0	28.83	25.43	24.79
2175	0.65	207.3	3135	2507	2835	2723	168.6	9.2	357	2182	0.00	1.60	0.00	0.000	260	0.000	0.057	3135	3556	2779	2835	2723	0	0	0	0	0	0	28.83	25.86	28.83
2250	0.65	207.3	3134	3556	2835	2723	160.6	11.1	370	2259	0.00	1.60	0.00	0.000	1030	0.000	0.037	3144	2478	2779	2835	2723	0	0	0	0	0	0	28.83	26.08	28.83
2398	0.65	207.3	3143	2477	2835	2723	145.1	11.3	395	2404	0.00	0.00	0.00	0.000	6	0.000	0.000	3144	2477	2779	2835	2723	0	0	0	0	0	0	28.83	28.83	28.83
2541	0.65	207.3	3143	2478	2835	2723	130.1	9.9	420	2549	0.00	1.55	0.00	0.000	516	0.000	0.050	3151	1465	2778	2834	2723	0	0	0	0	0	0	28.83	26.34	28.83
2597	0.65	207.3	3151	1465	2834	2723	124.4	10.3	429	2604	0.00	1.55	0.00	0.000	1030	0.000	0.047	3150	2506	2778	2834	2723	0	0	0	0	0	0	28.83	26.39	28.83
2741	0.65	207.3	3150	2506	2834	2723	108.5	11.6	454	2749	0.00	1.60	0.00	0.000	260	0.000	0.057	3151	3552	2778	2834	2723	0	0	0	0	0	0	28.83	26.46	28.83
2823	0.65	207.3	3150	3552	2834	2723	97.5	12.8	468	2832	0.00	1.55	0.00	0.000	1030	0.000	0.037	3159	2488	2779	2835	2723	0	0	0	0	0	0	28.83	26.55	28.83
2971	0.65	207.3	3159	2488	2834	2723	80.4	11.6	493	2977	0.00	1.50	0.00	0.000	516	0.000	0.051	3166	1467	2778	2834	2723	0	0	0	0	0	0	28.83	26.55	28.83
3008	0.65	207.3	3165	1467	2834	2723	76.1	11.2	499	3014	0.00	1.52	0.00	0.000	1030	0.000	0.047	3164	2501	2778	2834	2723	0	0	0	0	0	0	28.83	26.57	28.83
3151	0.65	207.3	3164	2501	2834	2723	60.0	10.5	524	3159	0.00	1.60	0.00	0.000	260	0.000	0.057	3164	3552	2778	2834	2723	0	0	0	0	0	0	28.83	26.61	28.83
3211	0.65	207.3	3164	3552	2834	2723	53.8	10.1	534	3220	0.08	1.52	0.00	0.000	5126	0.163	0.038	3147	2498	2778	2834	2723	0	0	0	0	0	0	26.51	26.68	28.83
3360	0.66	229.6	3147	2498	2834	2723	42.7	7.5	559	3374	0.00	1.55	6.07	0.213	8708	0.000	0.048	3154	1472	2707	2769	2645	0	0	0	0	0	0	28.83	26.64	26.43
3554	0.66	229.6	3154	1472	2796	2648	25.9	9.1	592	3563	0.00	1.55	1.65	0.168	9222	0.000	0.047	3154	2498	2703	2769	2638	0	0	0	0	0	0	28.83	26.69	26.51
3634	0.66	229.6	3154	2499	2793	2642	18.2	9.8	605	3644	0.00	1.60	1.23	0.201	8452	0.000	0.055	3154	3555	2705	2773	2638	0	0	0	0	0	0	28.83	26.68	26.56
3783	0.72	374.7	3154	3554	2792	2642	7.3	2.8	630	3837	0.00	1.52	47.28	0.141	9222	0.000	0.038	3162	2501	2107	2164	2050	0	0	0	0	0	0	28.83	26.77	26.46
3909	0.80	581.8	3162	2501	2177	2050	6.0	0.4	649	3941	0.00	0.00	30.05	0.141	8706	0.000	0.000	3162	2501	1736	1796	1677	0	0	0	0	0	0	28.83	28.83	28.83
3942	end climb: SURFACE_DEPTH_REACHED
state	3942	begin surface coast
4098	end surface coast: CONTROL_FINISHED_OK
state	4098	begin surface