Glider dive log

Shilshole 23Apr14 * SG217 * Dive index * Mission links * Dive 6 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 217 HEADING -1 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 1 ESCAPE_HEADING 0 C_ROLL_DIVE 2100 ALTIM_PING_DEPTH 120

DIVE 6 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2030 ALTIM_PING_DELTA 5

N_DIVES 0 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_SURF 2 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_PULSE 2

D_FLARE 3 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 3

D_TGT 180 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 31 XPDR_VALID 1

D_ABORT 1090 SM_CC 290 R_STBD_OVSHOOT 33 XPDR_INHIBIT 90

D_NO_BLEED 500 N_FILEKB 4 ROLL_AD_RATE 350 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 25 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_YINT -0.1

T_BOOST 2 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

D_FINISH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

D_PITCH 0 PROTOCOL 9 VBD_MIN 500 MOTHERBOARD 4

D_SAFE 0 N_NOCOMM 1 VBD_MAX 3960 DEVICE1 -1

D_CALL 0 NOCOMM_ACTION 0 C_VBD 2749 DEVICE2 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE3 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE5 -1

T_DIVE 75 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_MISSION 85 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 1

T_ABORT 1440 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 53

T_TURN 540 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

T_TURN_SAMPINT 5 T_GPS 5 UNCOM_BLEED 60 LOGGERDEVICE3 -1

T_NO_W 120 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

T_LOITER 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 COMPASS_DEVICE 33

T_EPIRB 0 T_GPS_CHARGE -271.39249 DBDW 0 COMPASS2_DEVICE -1

USE_BATHY 0 T_RSLEEP 3 PITCH_W_GAIN 0 PHONE_DEVICE 49

USE_ICE 0 STROBE 0 PITCH_W_DBAND 0 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 RAFOS_DEVICE -1

D_OFFGRID 100 RAFOS_CORR_THRESH 60 AH0_24V 350 XPDR_DEVICE 24

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 AH0_10V 50 SIM_W 0

RELAUNCH 1 PITCH_MIN 200 MINV_24V 12 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_MAX 3880 MINV_10V 12 SEABIRD_T_G 0.0043902649

MAX_BUOY 150 C_PITCH 3106 FG_AHR_10V 0 SEABIRD_T_H 0.00063436845

COURSE_BIAS 0 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_I 2.5093383e-05

GLIDE_SLOPE 30 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_J 2.9521423e-06

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 PRESSURE_YINT -50.840004 SEABIRD_C_G -9.69524

RHO 1.023 P_OVSHOOT_WITHG 0.079999998 PRESSURE_SLOPE 0.0001155691 SEABIRD_C_H 1.1253856

MASS 51960 PITCH_GAIN 22.5 AD7714Ch0Gain 128 SEABIRD_C_I -0.0011212705

MASS_COMP 0 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET 0 SEABIRD_C_J 0.00015718494

NAV_MODE 1 PITCH_AD_RATE 160 TCM_ROLL_OFFSET 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_MAXERRORS 1 COMPASS_USE 0 SC_PROFILE 3.0

KALMAN_USE 1 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_PING_RANGE 0 SC_XMITPROFILE 3.0

HD_A 0.0038000001 PITCH_ADJ_DBAND 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 240 ALTIM_BOTTOM_TURN_MARGIN 15

HD_C 9.9999997e-06 ROLL_MAX 3790 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_PITCH 0 PITCH_ADJ_GAIN 0 SIM_W 0

AH0_10V 50 D_SAFE 0 PITCH_AD_RATE 160 SM_CC 290

AH0_24V 350 D_SURF 2 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 180 PITCH_DBAND 0.1 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 ESCAPE_HEADING 0 PITCH_GAIN 22.5 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3880 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 FERRY_MAX 45 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 120 FG_AHR_10V 0 PITCH_MIN 200 TCM_PITCH_OFFSET 0

ALTIM_PULSE 2 FG_AHR_24V 0 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 FILEMGR 0 PITCH_VBD_SHIFT 0.0012300001 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_W_GAIN 0 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 32 PRESSURE_SLOPE 0.0001155691 T_ABORT 1440

APOGEE_PITCH -5 HD_A 0.0038000001 PRESSURE_YINT -50.840004 T_BOOST 2

CALL_NDIVES 1 HD_B 0.0099999998 PROTOCOL 9 T_DIVE 75

CALL_TRIES 5 HD_C 9.9999997e-06 P_OVSHOOT 0.039999999 T_EPIRB 0

CALL_WAIT 60 HEADING -1 P_OVSHOOT_WITHG 0.079999998 T_GPS 5

CAPMAXSIZE 100000 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CAPUPLOAD 1 HEAPDBG 0 RAFOS_DEVICE -1 T_GPS_CHARGE -271.39249

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMM_SEQ 0 ID 217 RAFOS_PEAK_OFFSET 1.5 T_MISSION 85

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_NO_W 120

COMPASS_DEVICE 33 INT_PRESSURE_YINT -0.1 RHO 1.023 T_RSLEEP 3

COMPASS_USE 0 KALMAN_USE 1 ROLL_ADJ_DBAND 0 T_TURN 540

COURSE_BIAS 0 LOGGERDEVICE1 53 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_PITCH 3106 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 T_WATCHDOG 10

C_ROLL_CLIMB 2030 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 60

C_ROLL_DIVE 2100 LOGGERDEVICE4 -1 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

C_VBD 2749 LOGGERS 1 ROLL_MAX 3790 USE_BATHY 0

DBDW 0 MASS 51960 ROLL_MAXERRORS 2 USE_ICE 0

DEEPGLIDER 0 MASS_COMP 0 ROLL_MIN 240 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE1 -1 MINV_10V 12 R_PORT_OVSHOOT 31 VBD_DBAND 2

DEVICE2 -1 MINV_24V 12 R_STBD_OVSHOOT 33 VBD_MAX 3960

DEVICE3 -1 MISSION 1 SC_PROFILE 3.0 VBD_MAXERRORS 1

DEVICE4 -1 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MIN 500

DEVICE5 -1 NAV_MODE 1 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 NOCOMM_ACTION 0 SEABIRD_C_G -9.69524 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 6 N_DIVES 0 SEABIRD_C_H 1.1253856 VBD_TIMEOUT 720

D_ABORT 1090 N_FILEKB 4 SEABIRD_C_I -0.0011212705 W_ADJ_DBAND 0

D_BOOST 25 N_GPS 20 SEABIRD_C_J 0.00015718494 XPDR_DEVICE 24

D_CALL 0 N_NOCOMM 1 SEABIRD_T_G 0.0043902649 XPDR_INHIBIT 90

D_FINISH 0 N_NOSURFACE 0 SEABIRD_T_H 0.00063436845 XPDR_VALID 1

D_FLARE 3 PHONE_DEVICE 49 SEABIRD_T_I 2.5093383e-05

D_NO_BLEED 500 PHONE_SUPPLY 2 SEABIRD_T_J 2.9521423e-06

D_OFFGRID 100 PITCH_ADJ_DBAND 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 230414,213340,4744.306,-12224.871,11,0.8,11,16.3 TGT_NAME NW

_CALLS 2 TGT_LATLONG 4744.000,-12224.700

_XMS_NAKs 0 TGT_RADIUS 400.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.039,-0.133

_SM_DEPTHo 1.37 KALMAN_X -165.9,-318.4,-112.7,954.6,108.8

_SM_ANGLEo -75.9 KALMAN_Y -226.6,-442.3,-119.5,3605.5,2.7

GPS2 230414,214236,4744.284,-12224.664,18,0.8,18,16.3 MHEAD_RNG_PITCHd_Wd 180.0,528,-27.6,-8.000,-30.00,858

SPEED_LIMITS 0.139,0.242 D_GRID 180

Post-dive calculations and measurements:

FINISH 0.5,1.021690 _24V_AH 14.1,0.668

SM_CCo 3015,88.68,0.096,0,0,1566,290.19 _10V_AH 13.4,0.256

SM_GC 1.29,9.88,0.12,88.68,0.125,0.144,0.096,215,2119,1566,-8.99,-0.74,290.19,0,0,0,0,0,0,14.90,14.93,14.88 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12213.55,230414,212113 FG_AHR_10Vo 0.000

TT8_MAMPS 0.036701,0.036701 MEM 322824

HUMID 31.49 DATA_FILE_SIZE 13433,480

INTERNAL_PRESSURE 8.98238 CAP_FILE_SIZE 92499,0

TCM_TEMP 16.90 CFSIZE 1024409600,1021984768

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

ALTIM_BOTTOM_PING 140.8,60.0 GPS 230414,223628,4744.285,-12224.684,37,1.2,37,16.3

SC_FREEKB 4018144

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 445 158.00 nil 0 0 0.00

Roll_motor 67 163 155.18 nil 0 0 0.00

VBD_pump_during_apogee 125 994 1760.87 nil 0 0 0.00

VBD_pump_during_surface 88 96 120.52 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 50 18 13.13 nil 0 0 0.00

Iridium_during_connect 95 160 216.13 SciCon 2997 5 218.77

Iridium_during_xfer 208 223 655.83 nil 0 0 0.00

Transponder_ping 1 420 10.36 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 19 5.10

TT8 1136 21 330.35

LPSleep 927 2 27.23

TT8_Active 336 21 97.85

TT8_Sampling 1212 40 656.92

TT8_CF8 40 53 28.86

TT8_Kalman 33 56 25.33

Analog_circuits 779 15 156.67

GPS_charging 0 0 0.00

Compass 769 0 0.00

RAFOS 0 0 0.00

Transponder 14 30 5.95

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

15 end surface: CONTROL_FINISHED_OK

state 16 begin dive

17 -1.28 -44.9 206 2097 1604 1539 0.0 0.0 0 73 0.00 0.00 -50.95 0.000 16390 0.000 0.000 206 2097 2933 2941 2926 0 0 0 0 0 0 28.83 28.83 14.97

75 -1.32 -76.8 206 2097 2941 2926 2.8 -4.2 10 94 11.88 0.00 -2.83 0.000 19206 0.446 0.000 2675 2095 3061 3086 3036 0 0 0 0 0 0 14.57 28.83 14.95

155 -1.32 -76.8 2670 2096 3093 3034 18.7 -18.0 25 162 0.00 2.50 0.00 0.000 260 0.000 0.103 2664 3510 3063 3093 3034 0 0 0 0 0 0 28.83 14.76 28.83

253 -1.32 -76.8 2664 3510 3093 3034 37.6 -19.5 44 260 0.00 2.38 0.00 0.000 1030 0.000 0.067 2667 2091 3063 3093 3034 0 0 0 0 0 0 28.83 14.82 28.83

321 -1.32 -76.8 2667 2089 3094 3034 51.0 -19.6 57 328 0.00 2.50 0.00 0.000 260 0.000 0.101 2664 3501 3064 3094 3034 0 0 0 0 0 0 28.83 14.80 28.83

369 -1.32 -76.8 2664 3501 3095 3034 59.2 -16.2 66 375 0.00 2.35 0.00 0.000 1030 0.000 0.066 2664 2094 3063 3094 3033 0 0 0 0 0 0 28.83 14.85 28.83

497 -1.32 -76.8 2664 2092 3094 3034 80.5 -15.8 91 502 0.00 0.00 0.00 0.000 6 0.000 0.000 2664 2092 3064 3095 3034 0 0 0 0 0 0 28.83 28.83 28.83

624 -1.32 -76.8 2664 2091 3095 3033 102.5 -17.0 116 630 0.00 2.47 0.00 0.000 260 0.000 0.098 2653 3508 3064 3095 3033 0 0 0 0 0 0 28.83 14.86 28.83

636 -1.32 -76.8 2653 3508 3094 3033 104.6 -16.7 118 643 0.00 2.35 0.00 0.000 1030 0.000 0.065 2653 2096 3064 3095 3033 0 0 0 0 0 0 28.83 14.90 28.83

764 -1.32 -76.8 2653 2094 3095 3033 127.8 -17.9 139 770 0.00 2.47 0.00 0.000 260 0.000 0.100 2650 3508 3064 3095 3033 0 0 0 0 0 0 28.83 14.88 28.83

780 -1.32 -76.8 2650 3508 3095 3038 129.9 -18.0 140 788 0.12 2.35 0.00 0.000 3078 0.359 0.064 2675 2098 3064 3095 3033 0 0 0 0 0 0 14.74 14.90 28.83

966 -1.32 -76.8 2675 2095 3095 3033 163.2 -16.6 159 971 0.00 2.45 0.00 0.000 260 0.000 0.099 2664 3502 3064 3095 3033 0 0 0 0 0 0 28.83 14.90 28.83

1042 -1.32 -76.8 2664 3501 3095 3029 175.9 -17.9 166 1048 0.00 2.33 0.00 0.000 1030 0.000 0.067 2665 2099 3064 3095 3033 0 0 0 0 0 0 28.83 14.93 28.83

1067 end dive: TARGET_DEPTH_EXCEEDED

state 1067 begin apogee

1070 -0.22 0.0 2664 2017 3095 3033 180.9 -17.1 169 1133 1.35 0.00 57.83 0.995 10246 0.307 0.000 3023 2017 2747 2804 2691 0 0 0 0 0 0 14.78 28.83 14.25

1135 end apogee: CONTROL_FINISHED_OK

state 1135 begin climb

1136 1.32 76.8 3023 2017 2798 2686 184.2 0.0 175 1200 1.60 2.50 55.53 0.965 10756 0.194 0.090 3520 635 2429 2486 2372 0 0 0 0 0 0 14.57 14.43 14.07

1212 1.32 76.8 3520 635 2480 2371 178.5 9.0 183 1217 0.00 2.40 0.00 0.000 1030 0.000 0.071 3520 2029 2425 2479 2371 0 0 0 0 0 0 28.83 14.52 28.83

1404 1.32 76.8 3520 2029 2479 2369 156.3 11.6 202 1409 0.00 2.42 0.00 0.000 516 0.000 0.090 3531 634 2424 2479 2369 0 0 0 0 0 0 28.83 14.69 28.83

1429 1.32 76.8 3531 634 2480 2369 153.5 11.9 204 1436 0.00 2.38 0.00 0.000 1030 0.000 0.073 3530 2032 2423 2479 2368 0 0 0 0 0 0 28.83 14.70 28.83

1615 1.32 76.8 3531 2033 2479 2369 130.8 11.0 223 1617 0.00 0.00 0.00 0.000 6 0.000 0.000 3531 2032 2424 2480 2369 0 0 0 0 0 0 28.83 28.83 28.83

1795 1.32 76.8 3530 2033 2479 2369 109.8 12.5 249 1802 0.00 2.40 0.00 0.000 260 0.000 0.096 3531 3434 2424 2479 2369 0 0 0 0 0 0 28.83 14.83 28.83

1898 1.32 76.8 3531 3434 2479 2369 97.2 11.8 269 1905 0.00 2.35 0.00 0.000 1030 0.000 0.068 3544 2032 2423 2479 2368 0 0 0 0 0 0 28.83 14.88 28.83

2027 1.32 76.8 3542 2031 2479 2369 83.8 10.7 294 2033 0.00 2.38 0.00 0.000 516 0.000 0.090 3554 619 2423 2479 2368 0 0 0 0 0 0 28.83 14.88 28.83

2065 1.32 76.8 3554 620 2479 2369 79.7 10.9 301 2071 0.00 2.38 0.00 0.000 1030 0.000 0.073 3553 2035 2423 2479 2368 0 0 0 0 0 0 28.83 14.90 28.83

2193 1.32 76.8 3554 2036 2479 2369 66.5 10.2 326 2199 0.00 2.40 0.00 0.000 516 0.000 0.089 3565 622 2424 2479 2369 0 0 0 0 0 0 28.83 14.89 28.83

2211 1.32 76.8 3565 622 2479 2368 64.7 9.4 329 2218 0.15 2.35 0.00 0.000 5126 0.376 0.071 3535 2029 2424 2479 2369 0 0 0 0 0 0 14.74 14.91 28.83

2339 1.32 76.8 3535 2029 2479 2369 51.8 8.6 354 2345 0.00 2.40 0.00 0.000 260 0.000 0.095 3535 3438 2423 2478 2369 0 0 0 0 0 0 28.83 14.88 28.83

2446 1.32 76.8 3535 3438 2479 2368 41.8 9.8 375 2453 0.00 2.35 0.00 0.000 1030 0.000 0.067 3547 2020 2424 2479 2369 0 0 0 0 0 0 28.83 14.92 28.83

2516 1.32 79.5 3546 2020 2479 2369 36.3 7.7 388 2522 0.00 2.35 0.00 0.000 516 0.000 0.090 3558 634 2423 2478 2369 0 0 0 0 0 0 28.83 14.91 28.83

2564 1.32 79.5 3558 634 2478 2369 31.9 10.0 397 2570 0.00 2.33 0.00 0.000 1030 0.000 0.072 3558 2030 2424 2479 2369 0 0 0 0 0 0 28.83 14.91 28.83

2632 1.32 79.5 3557 2031 2479 2368 26.2 8.1 410 2638 0.00 2.40 0.00 0.000 516 0.000 0.090 3567 634 2424 2479 2369 0 0 0 0 0 0 28.83 14.91 28.83

2749 1.33 82.3 3569 633 2479 2369 16.3 7.7 433 2758 0.15 2.33 1.08 0.096 13318 0.376 0.073 3539 2028 2412 2471 2353 0 0 0 0 0 0 14.76 14.94 14.92

2819 1.35 99.9 3539 2029 2481 2365 11.2 5.9 446 2837 0.00 2.42 9.57 0.125 8452 0.000 0.096 3535 3438 2348 2407 2290 0 0 0 0 0 0 28.83 14.90 14.90

2934 1.35 99.9 3539 3438 2411 2300 3.0 8.4 468 2941 0.00 2.33 1.58 0.099 9222 0.000 0.067 3550 2033 2340 2398 2283 0 0 0 0 0 0 28.83 14.93 14.92

2956 end climb: SURFACE_DEPTH_REACHED

state 2957 begin surface coast

2998 end surface coast: CONTROL_FINISHED_OK

state 2998 begin surface

ID	217	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	1	ESCAPE_HEADING	0	C_ROLL_DIVE	2100	ALTIM_PING_DEPTH	120
DIVE	6	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2030	ALTIM_PING_DELTA	5
N_DIVES	0	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_SURF	2	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_PULSE	2
D_FLARE	3	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	3
D_TGT	180	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	31	XPDR_VALID	1
D_ABORT	1090	SM_CC	290	R_STBD_OVSHOOT	33	XPDR_INHIBIT	90
D_NO_BLEED	500	N_FILEKB	4	ROLL_AD_RATE	350	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	25	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_YINT	-0.1
T_BOOST	2	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
D_FINISH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
D_PITCH	0	PROTOCOL	9	VBD_MIN	500	MOTHERBOARD	4
D_SAFE	0	N_NOCOMM	1	VBD_MAX	3960	DEVICE1	-1
D_CALL	0	NOCOMM_ACTION	0	C_VBD	2749	DEVICE2	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE3	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE5	-1
T_DIVE	75	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_MISSION	85	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	1
T_ABORT	1440	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	53
T_TURN	540	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
T_TURN_SAMPINT	5	T_GPS	5	UNCOM_BLEED	60	LOGGERDEVICE3	-1
T_NO_W	120	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
T_LOITER	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	COMPASS_DEVICE	33
T_EPIRB	0	T_GPS_CHARGE	-271.39249	DBDW	0	COMPASS2_DEVICE	-1
USE_BATHY	0	T_RSLEEP	3	PITCH_W_GAIN	0	PHONE_DEVICE	49
USE_ICE	0	STROBE	0	PITCH_W_DBAND	0	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
D_OFFGRID	100	RAFOS_CORR_THRESH	60	AH0_24V	350	XPDR_DEVICE	24
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	AH0_10V	50	SIM_W	0
RELAUNCH	1	PITCH_MIN	200	MINV_24V	12	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_MAX	3880	MINV_10V	12	SEABIRD_T_G	0.0043902649
MAX_BUOY	150	C_PITCH	3106	FG_AHR_10V	0	SEABIRD_T_H	0.00063436845
COURSE_BIAS	0	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_I	2.5093383e-05
GLIDE_SLOPE	30	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_J	2.9521423e-06
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	PRESSURE_YINT	-50.840004	SEABIRD_C_G	-9.69524
RHO	1.023	P_OVSHOOT_WITHG	0.079999998	PRESSURE_SLOPE	0.0001155691	SEABIRD_C_H	1.1253856
MASS	51960	PITCH_GAIN	22.5	AD7714Ch0Gain	128	SEABIRD_C_I	-0.0011212705
MASS_COMP	0	PITCH_TIMEOUT	17	TCM_PITCH_OFFSET	0	SEABIRD_C_J	0.00015718494
NAV_MODE	1	PITCH_AD_RATE	160	TCM_ROLL_OFFSET	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_MAXERRORS	1	COMPASS_USE	0	SC_PROFILE	3.0
KALMAN_USE	1	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_PING_RANGE	0	SC_XMITPROFILE	3.0
HD_A	0.0038000001	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	240	ALTIM_BOTTOM_TURN_MARGIN	15
HD_C	9.9999997e-06	ROLL_MAX	3790	ALTIM_TOP_TURN_MARGIN	0

GPS1	230414,213340,4744.306,-12224.871,11,0.8,11,16.3	TGT_NAME	NW
_CALLS	2	TGT_LATLONG	4744.000,-12224.700
_XMS_NAKs	0	TGT_RADIUS	400.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.039,-0.133
_SM_DEPTHo	1.37	KALMAN_X	-165.9,-318.4,-112.7,954.6,108.8
_SM_ANGLEo	-75.9	KALMAN_Y	-226.6,-442.3,-119.5,3605.5,2.7
GPS2	230414,214236,4744.284,-12224.664,18,0.8,18,16.3	MHEAD_RNG_PITCHd_Wd	180.0,528,-27.6,-8.000,-30.00,858
SPEED_LIMITS	0.139,0.242	D_GRID	180

FINISH	0.5,1.021690	_24V_AH	14.1,0.668
SM_CCo	3015,88.68,0.096,0,0,1566,290.19	_10V_AH	13.4,0.256
SM_GC	1.29,9.88,0.12,88.68,0.125,0.144,0.096,215,2119,1566,-8.99,-0.74,290.19,0,0,0,0,0,0,14.90,14.93,14.88	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12213.55,230414,212113	FG_AHR_10Vo	0.000
TT8_MAMPS	0.036701,0.036701	MEM	322824
HUMID	31.49	DATA_FILE_SIZE	13433,480
INTERNAL_PRESSURE	8.98238	CAP_FILE_SIZE	92499,0
TCM_TEMP	16.90	CFSIZE	1024409600,1021984768
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	140.8,60.0	GPS	230414,223628,4744.285,-12224.684,37,1.2,37,16.3
SC_FREEKB	4018144

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	445	158.00	nil	0	0	0.00
Roll_motor	67	163	155.18	nil	0	0	0.00
VBD_pump_during_apogee	125	994	1760.87	nil	0	0	0.00
VBD_pump_during_surface	88	96	120.52	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	50	18	13.13	nil	0	0	0.00
Iridium_during_connect	95	160	216.13	SciCon	2997	5	218.77
Iridium_during_xfer	208	223	655.83	nil	0	0	0.00
Transponder_ping	1	420	10.36	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	19	5.10
TT8	1136	21	330.35
LPSleep	927	2	27.23
TT8_Active	336	21	97.85
TT8_Sampling	1212	40	656.92
TT8_CF8	40	53	28.86
TT8_Kalman	33	56	25.33
Analog_circuits	779	15	156.67
GPS_charging	0	0	0.00
Compass	769	0	0.00
RAFOS	0	0	0.00
Transponder	14	30	5.95

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
15	end surface: CONTROL_FINISHED_OK
state	16	begin dive
17	-1.28	-44.9	206	2097	1604	1539	0.0	0.0	0	73	0.00	0.00	-50.95	0.000	16390	0.000	0.000	206	2097	2933	2941	2926	0	0	0	0	0	0	28.83	28.83	14.97
75	-1.32	-76.8	206	2097	2941	2926	2.8	-4.2	10	94	11.88	0.00	-2.83	0.000	19206	0.446	0.000	2675	2095	3061	3086	3036	0	0	0	0	0	0	14.57	28.83	14.95
155	-1.32	-76.8	2670	2096	3093	3034	18.7	-18.0	25	162	0.00	2.50	0.00	0.000	260	0.000	0.103	2664	3510	3063	3093	3034	0	0	0	0	0	0	28.83	14.76	28.83
253	-1.32	-76.8	2664	3510	3093	3034	37.6	-19.5	44	260	0.00	2.38	0.00	0.000	1030	0.000	0.067	2667	2091	3063	3093	3034	0	0	0	0	0	0	28.83	14.82	28.83
321	-1.32	-76.8	2667	2089	3094	3034	51.0	-19.6	57	328	0.00	2.50	0.00	0.000	260	0.000	0.101	2664	3501	3064	3094	3034	0	0	0	0	0	0	28.83	14.80	28.83
369	-1.32	-76.8	2664	3501	3095	3034	59.2	-16.2	66	375	0.00	2.35	0.00	0.000	1030	0.000	0.066	2664	2094	3063	3094	3033	0	0	0	0	0	0	28.83	14.85	28.83
497	-1.32	-76.8	2664	2092	3094	3034	80.5	-15.8	91	502	0.00	0.00	0.00	0.000	6	0.000	0.000	2664	2092	3064	3095	3034	0	0	0	0	0	0	28.83	28.83	28.83
624	-1.32	-76.8	2664	2091	3095	3033	102.5	-17.0	116	630	0.00	2.47	0.00	0.000	260	0.000	0.098	2653	3508	3064	3095	3033	0	0	0	0	0	0	28.83	14.86	28.83
636	-1.32	-76.8	2653	3508	3094	3033	104.6	-16.7	118	643	0.00	2.35	0.00	0.000	1030	0.000	0.065	2653	2096	3064	3095	3033	0	0	0	0	0	0	28.83	14.90	28.83
764	-1.32	-76.8	2653	2094	3095	3033	127.8	-17.9	139	770	0.00	2.47	0.00	0.000	260	0.000	0.100	2650	3508	3064	3095	3033	0	0	0	0	0	0	28.83	14.88	28.83
780	-1.32	-76.8	2650	3508	3095	3038	129.9	-18.0	140	788	0.12	2.35	0.00	0.000	3078	0.359	0.064	2675	2098	3064	3095	3033	0	0	0	0	0	0	14.74	14.90	28.83
966	-1.32	-76.8	2675	2095	3095	3033	163.2	-16.6	159	971	0.00	2.45	0.00	0.000	260	0.000	0.099	2664	3502	3064	3095	3033	0	0	0	0	0	0	28.83	14.90	28.83
1042	-1.32	-76.8	2664	3501	3095	3029	175.9	-17.9	166	1048	0.00	2.33	0.00	0.000	1030	0.000	0.067	2665	2099	3064	3095	3033	0	0	0	0	0	0	28.83	14.93	28.83
1067	end dive: TARGET_DEPTH_EXCEEDED
state	1067	begin apogee
1070	-0.22	0.0	2664	2017	3095	3033	180.9	-17.1	169	1133	1.35	0.00	57.83	0.995	10246	0.307	0.000	3023	2017	2747	2804	2691	0	0	0	0	0	0	14.78	28.83	14.25
1135	end apogee: CONTROL_FINISHED_OK
state	1135	begin climb
1136	1.32	76.8	3023	2017	2798	2686	184.2	0.0	175	1200	1.60	2.50	55.53	0.965	10756	0.194	0.090	3520	635	2429	2486	2372	0	0	0	0	0	0	14.57	14.43	14.07
1212	1.32	76.8	3520	635	2480	2371	178.5	9.0	183	1217	0.00	2.40	0.00	0.000	1030	0.000	0.071	3520	2029	2425	2479	2371	0	0	0	0	0	0	28.83	14.52	28.83
1404	1.32	76.8	3520	2029	2479	2369	156.3	11.6	202	1409	0.00	2.42	0.00	0.000	516	0.000	0.090	3531	634	2424	2479	2369	0	0	0	0	0	0	28.83	14.69	28.83
1429	1.32	76.8	3531	634	2480	2369	153.5	11.9	204	1436	0.00	2.38	0.00	0.000	1030	0.000	0.073	3530	2032	2423	2479	2368	0	0	0	0	0	0	28.83	14.70	28.83
1615	1.32	76.8	3531	2033	2479	2369	130.8	11.0	223	1617	0.00	0.00	0.00	0.000	6	0.000	0.000	3531	2032	2424	2480	2369	0	0	0	0	0	0	28.83	28.83	28.83
1795	1.32	76.8	3530	2033	2479	2369	109.8	12.5	249	1802	0.00	2.40	0.00	0.000	260	0.000	0.096	3531	3434	2424	2479	2369	0	0	0	0	0	0	28.83	14.83	28.83
1898	1.32	76.8	3531	3434	2479	2369	97.2	11.8	269	1905	0.00	2.35	0.00	0.000	1030	0.000	0.068	3544	2032	2423	2479	2368	0	0	0	0	0	0	28.83	14.88	28.83
2027	1.32	76.8	3542	2031	2479	2369	83.8	10.7	294	2033	0.00	2.38	0.00	0.000	516	0.000	0.090	3554	619	2423	2479	2368	0	0	0	0	0	0	28.83	14.88	28.83
2065	1.32	76.8	3554	620	2479	2369	79.7	10.9	301	2071	0.00	2.38	0.00	0.000	1030	0.000	0.073	3553	2035	2423	2479	2368	0	0	0	0	0	0	28.83	14.90	28.83
2193	1.32	76.8	3554	2036	2479	2369	66.5	10.2	326	2199	0.00	2.40	0.00	0.000	516	0.000	0.089	3565	622	2424	2479	2369	0	0	0	0	0	0	28.83	14.89	28.83
2211	1.32	76.8	3565	622	2479	2368	64.7	9.4	329	2218	0.15	2.35	0.00	0.000	5126	0.376	0.071	3535	2029	2424	2479	2369	0	0	0	0	0	0	14.74	14.91	28.83
2339	1.32	76.8	3535	2029	2479	2369	51.8	8.6	354	2345	0.00	2.40	0.00	0.000	260	0.000	0.095	3535	3438	2423	2478	2369	0	0	0	0	0	0	28.83	14.88	28.83
2446	1.32	76.8	3535	3438	2479	2368	41.8	9.8	375	2453	0.00	2.35	0.00	0.000	1030	0.000	0.067	3547	2020	2424	2479	2369	0	0	0	0	0	0	28.83	14.92	28.83
2516	1.32	79.5	3546	2020	2479	2369	36.3	7.7	388	2522	0.00	2.35	0.00	0.000	516	0.000	0.090	3558	634	2423	2478	2369	0	0	0	0	0	0	28.83	14.91	28.83
2564	1.32	79.5	3558	634	2478	2369	31.9	10.0	397	2570	0.00	2.33	0.00	0.000	1030	0.000	0.072	3558	2030	2424	2479	2369	0	0	0	0	0	0	28.83	14.91	28.83
2632	1.32	79.5	3557	2031	2479	2368	26.2	8.1	410	2638	0.00	2.40	0.00	0.000	516	0.000	0.090	3567	634	2424	2479	2369	0	0	0	0	0	0	28.83	14.91	28.83
2749	1.33	82.3	3569	633	2479	2369	16.3	7.7	433	2758	0.15	2.33	1.08	0.096	13318	0.376	0.073	3539	2028	2412	2471	2353	0	0	0	0	0	0	14.76	14.94	14.92
2819	1.35	99.9	3539	2029	2481	2365	11.2	5.9	446	2837	0.00	2.42	9.57	0.125	8452	0.000	0.096	3535	3438	2348	2407	2290	0	0	0	0	0	0	28.83	14.90	14.90
2934	1.35	99.9	3539	3438	2411	2300	3.0	8.4	468	2941	0.00	2.33	1.58	0.099	9222	0.000	0.067	3550	2033	2340	2398	2283	0	0	0	0	0	0	28.83	14.93	14.92
2956	end climb: SURFACE_DEPTH_REACHED
state	2957	begin surface coast
2998	end surface coast: CONTROL_FINISHED_OK
state	2998	begin surface