Glider dive log

Shilshole 02Jun15 * SG205 * Dive index * Mission links * Dive 7 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 205 HD_C 9.9999997e-06 ROLL_MAX 3984 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 6 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 7 ESCAPE_HEADING 0 C_ROLL_DIVE 1990 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 25 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1990 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 34 ALTIM_SENSITIVITY 4

D_NO_BLEED 35 SM_CC 240 R_STBD_OVSHOOT 48 XPDR_VALID 1

D_BOOST 0 N_FILEKB 4 ROLL_AD_RATE 250 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -0.98000002

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 2328 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 147

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.25119999 DEVICE3 -1

T_DIVE 65 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 70 CALL_WAIT 45 PITCH_VBD_SHIFT 9.9999997e-05 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 300 CAPMAXSIZE 200000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 4 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 15 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY -6 T_GPS_CHARGE -2658.8374 DBDW 0 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 3 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 49

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 5 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 150 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 97 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 207 MINV_24V 19 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3915 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2890 FG_AHR_10V 0 SEABIRD_T_G 0.0043419907

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.000621902

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.2352948e-05

RHO 1.023 P_OVSHOOT 0.039999999 PRESSURE_YINT -60.397808 SEABIRD_T_J 2.3392056e-06

MASS 53045 PITCH_GAIN 18.299999 PRESSURE_SLOPE 0.0001159995 SEABIRD_C_G -9.6916523

MASS_COMP 0 PITCH_TIMEOUT 17 AD7714Ch0Gain 128 SEABIRD_C_H 1.1209148

NAV_MODE 1 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0012442283

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.0001684351

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 293 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 240

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 2 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 180 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 18.299999 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 100 FERRY_MAX 45 PITCH_MAX 3915 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_MIN 207 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12218

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 9.9999997e-05 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 65

CALL_NDIVES 1 HD_A 0.0038000001 PRESSURE_SLOPE 0.0001159995 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -60.397808 T_GPS 15

CALL_WAIT 45 HD_C 9.9999997e-06 PROTOCOL 9 T_GPS_ALMANAC 0

CAPMAXSIZE 200000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -2658.8374

CAPUPLOAD 1 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 5 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 70

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 205 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 300

COMPASS_USE 4 INT_PRESSURE_YINT -0.98000002 RHO 1.023 T_TURN_SAMPINT 4

COURSE_BIAS 0 KALMAN_USE 1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2890 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 1990 LOGGERDEVICE2 -1 ROLL_AD_RATE 250 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 1990 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY -6

C_VBD 2328 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3984 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 53045 ROLL_MAXERRORS 1 VBD_CNV -0.25119999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 293 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 147 MINV_10V 8 R_PORT_OVSHOOT 34 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 48 VBD_MIN 500

DEVICE4 -1 MISSION 6 SEABIRD_C_G -9.6916523 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1209148 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0012442283 VBD_TIMEOUT 720

DIVE 7 NOCOMM_ACTION 0 SEABIRD_C_J 0.0001684351 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 25 SEABIRD_T_G 0.0043419907 XPDR_DEVICE 24

D_BOOST 0 N_FILEKB 4 SEABIRD_T_H 0.000621902 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.2352948e-05 XPDR_VALID 1

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 2.3392056e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 35 PHONE_DEVICE 49 SIM_W 0

Pre-dive calculations and measurements:

GPS1 020615,235951,4743.333,-12225.271,6,1.7,6,16.3 TGT_NAME NW

_CALLS 2 TGT_LATLONG 4743.900,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.097,0.235

_SM_DEPTHo 1.11 KALMAN_X -868.0,-9.1,4.7,558.5,-404.3

_SM_ANGLEo -66.1 KALMAN_Y -3049.7,-844.2,-48.5,4661.7,-966.3

GPS2 030615,000715,4743.316,-12225.271,9,1.6,9,16.3 MHEAD_RNG_PITCHd_Wd 6.1,1230,-16.9,-9.231,-19.93,2419

SPEED_LIMITS 0.160,0.255 D_GRID 181

Post-dive calculations and measurements:

FINISH 0.1,1.021734 _24V_AH 23.3,40.332

SM_CCo 3532,18.40,0.780,0,0,1369,240.15 _10V_AH 10.1,33.791

SM_GC 2.38,7.85,0.00,18.40,0.035,0.000,0.780,191,1995,1369,-8.35,0.14,240.15,0,0,0,0,0,0,26.53,28.83,25.34 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12226.80,290308,131352 FG_AHR_10Vo 0.000

TT8_MAMPS 0.029211,0.029211 MEM 322256

HUMID 49.25 DATA_FILE_SIZE 33521,678

INTERNAL_PRESSURE 9.01062 CAP_FILE_SIZE 73085,0

TCM_TEMP 15.10 CFSIZE 1024393216,1020805120

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

ALTIM_BOTTOM_PING 155.3,50.0 GPS 030615,010834,4743.206,-12225.191,35,0.9,35,16.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 237 109.62 SBE_CT 456 23 247.13

Roll_motor 56 55 73.78 WL_BBFL2 930 105 2276.61

VBD_pump_during_apogee 243 1412 8010.71 nil 0 0 0.00

VBD_pump_during_surface 18 780 334.53 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 60 9 14.01 nil 0 0 0.00

Iridium_during_connect 46 160 174.94 nil 0 0 0.00

Iridium_during_xfer 195 223 1016.17 nil 0 0 0.00

Transponder_ping 4 420 39.14 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 10 28 3.05

TT8 1499 17 264.19

LPSleep 368 2 8.15

TT8_Active 340 17 60.07

TT8_Sampling 1678 42 714.88

TT8_CF8 121 58 71.93

TT8_Kalman 33 64 21.70

Analog_circuits 938 20 189.57

GPS_charging 0 0 0.00

Compass 1367 3 51.67

RAFOS 0 0 0.00

Transponder 31 30 9.56

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 -0.94 -146.6 194 1995 1492 1244 0.0 0.0 0 66 0.00 0.00 -49.28 0.000 16386 0.000 0.000 194 1996 2839 2842 2836 0 0 0 0 0 0 28.83 28.83 28.83

69 -0.94 -146.6 194 1996 2842 2836 3.5 -7.7 8 90 9.93 2.30 -1.52 0.000 18948 0.238 0.056 2580 576 2913 2928 2898 0 0 0 0 0 0 25.68 26.27 26.65

438 -0.94 -146.6 2580 576 2930 2899 51.7 -14.1 86 446 0.00 2.17 0.00 0.000 1030 0.000 0.028 2571 1989 2914 2930 2898 0 0 0 0 0 0 28.83 26.53 28.83

570 -0.94 -146.6 2572 1989 2930 2898 67.2 -11.3 111 576 0.00 2.12 0.00 0.000 260 0.000 0.043 2562 3384 2914 2930 2898 0 0 0 0 0 0 28.83 26.41 28.83

652 -0.94 -146.6 1536 3382 2890 2891 76.8 -11.6 129 659 0.00 2.10 0.00 0.000 1030 0.000 0.029 2561 1970 2914 2930 2898 0 0 0 0 0 0 28.83 26.55 28.83

782 -0.94 -146.6 2561 1970 2931 2898 92.1 -12.2 154 789 0.00 0.00 0.00 0.000 6 0.000 0.000 2561 1970 2914 2931 2898 0 0 0 0 0 0 28.83 28.83 28.83

915 -0.94 -146.6 2561 1970 2931 2898 107.0 -10.5 179 920 0.00 0.00 0.00 0.000 6 0.000 0.000 2561 1970 2914 2931 2898 0 0 0 0 0 0 28.83 28.83 28.83

1046 -0.94 -146.6 2561 1970 2931 2898 123.9 -12.9 204 1053 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 1970 2914 2931 2898 0 0 0 0 0 0 28.83 28.83 28.83

1183 -0.94 -146.6 2561 1970 2931 2898 138.3 -9.9 229 1190 0.00 2.12 0.00 0.000 516 0.000 0.042 2561 589 2914 2931 2898 0 0 0 0 0 0 28.83 26.47 28.83

1224 -0.94 -146.6 2560 589 2931 2898 143.0 -12.5 237 1231 0.12 2.10 0.00 0.000 3078 0.176 0.028 2583 1994 2914 2931 2898 0 0 0 0 0 0 26.25 26.65 28.83

1361 -0.94 -146.6 2582 1995 2930 2898 156.7 -10.3 262 1368 0.00 2.15 0.00 0.000 260 0.000 0.043 2574 3380 2914 2931 2898 0 0 0 0 0 0 28.83 26.46 28.83

1401 -0.94 -146.6 2574 3380 2931 2898 161.0 -10.8 270 1409 0.00 2.10 0.00 0.000 1030 0.000 0.031 2574 1993 2914 2931 2898 0 0 0 0 0 0 28.83 26.63 28.83

1535 -0.94 -146.6 2574 1993 2931 2898 173.6 -9.5 295 1541 0.00 2.17 0.00 0.000 516 0.000 0.042 2574 585 2914 2930 2898 0 0 0 0 0 0 28.83 26.46 28.83

1590 end dive: TARGET_DEPTH_EXCEEDED

state 1590 begin apogee

1597 -0.27 0.0 2564 1989 2931 2898 180.0 -9.6 307 1716 0.73 0.00 112.28 1.405 10246 0.125 0.000 2795 1989 2329 2421 2238 0 0 0 0 0 0 25.83 28.83 23.80

1717 end apogee: CONTROL_FINISHED_OK

state 1717 begin climb

1719 0.94 146.6 2795 1989 2421 2238 184.3 0.0 327 1848 1.15 2.40 116.75 1.413 10500 0.076 0.041 3184 3385 1745 1893 1598 0 0 0 0 0 0 25.03 24.41 23.30

1855 0.94 146.6 3184 3385 1893 1599 174.4 12.2 350 1863 0.00 2.30 0.00 0.000 1030 0.000 0.029 3184 1996 1746 1893 1599 0 0 0 0 0 0 28.83 24.78 28.83

1988 0.94 146.6 3184 1996 1892 1598 160.6 9.6 375 1995 0.00 2.30 0.00 0.000 516 0.000 0.044 3184 566 1745 1893 1598 0 0 0 0 0 0 28.83 25.65 28.83

2110 0.94 146.6 2144 566 1847 1592 146.4 11.7 402 2118 0.00 2.25 0.00 0.000 1030 0.000 0.028 3184 2004 1746 1893 1599 0 0 0 0 0 0 28.83 26.10 28.83

2244 0.94 146.6 3184 2004 1893 1598 131.4 11.6 427 2250 0.00 2.28 0.00 0.000 516 0.000 0.044 3184 566 1745 1893 1598 0 0 0 0 0 0 28.83 26.16 28.83

2330 0.94 146.6 2144 565 1849 1593 119.9 13.0 446 2338 0.00 2.20 0.00 0.000 1030 0.000 0.028 3184 1992 1746 1893 1599 0 0 0 0 0 0 28.83 26.37 28.83

2463 0.94 146.6 3184 1993 1892 1598 104.9 10.0 471 2469 0.00 2.12 0.00 0.000 260 0.000 0.041 3184 3384 1745 1892 1599 0 0 0 0 0 0 28.83 26.33 28.83

2504 0.94 146.6 3184 3384 1892 1599 100.0 12.1 479 2510 0.00 2.12 0.00 0.000 1030 0.000 0.029 3184 1967 1745 1891 1599 0 0 0 0 0 0 28.83 26.46 28.83

2634 0.94 146.6 3184 1967 1892 1599 86.5 10.2 504 2641 0.00 2.20 0.00 0.000 516 0.000 0.044 3184 586 1745 1892 1599 0 0 0 0 0 0 28.83 26.38 28.83

2766 0.94 146.6 2128 586 1847 1592 73.5 9.8 533 2773 0.00 2.10 0.00 0.000 1030 0.000 0.028 3184 1989 1745 1892 1599 0 0 0 0 0 0 28.83 26.57 28.83

2896 0.94 146.6 3184 1990 1892 1599 59.2 9.8 558 2903 0.00 2.15 0.00 0.000 260 0.000 0.041 3184 3378 1745 1892 1599 0 0 0 0 0 0 28.83 26.48 28.83

2953 0.94 146.6 2160 3377 1848 1593 52.8 12.1 570 2960 0.00 2.12 0.00 0.000 1030 0.000 0.030 3184 1984 1745 1891 1599 0 0 0 0 0 0 28.83 26.59 28.83

3083 0.94 146.6 2120 1982 1846 1593 38.9 11.4 595 3090 0.00 2.17 0.00 0.000 260 0.000 0.042 3184 3380 1745 1892 1598 0 0 0 0 0 0 28.83 26.53 28.83

3134 0.94 146.6 3184 3380 1891 1599 32.9 11.9 605 3141 0.00 2.12 0.00 0.000 1030 0.000 0.031 3184 1984 1745 1891 1599 0 0 0 0 0 0 28.83 26.60 28.83

3204 0.94 146.6 2144 1982 1847 1593 25.8 9.9 618 3211 0.00 2.20 0.00 0.000 516 0.000 0.044 3184 591 1745 1891 1599 0 0 0 0 0 0 28.83 26.48 28.83

3321 0.94 187.2 3184 590 1891 1599 17.2 7.5 642 3341 0.00 2.12 14.30 0.816 9222 0.000 0.028 3184 1993 1579 1735 1424 0 0 0 0 0 0 28.83 26.68 25.44

3404 0.94 187.2 2128 1990 1696 1419 10.1 9.6 657 3411 0.00 0.00 0.00 0.000 6 0.000 0.000 3184 1993 1579 1735 1424 0 0 0 0 0 0 28.83 28.83 28.83

3473 0.94 187.2 2128 1990 1695 1419 3.8 10.2 670 3480 0.00 0.00 0.00 0.000 6 0.000 0.000 3185 1993 1579 1734 1424 0 0 0 0 0 0 28.83 28.83 28.83

3495 end climb: SURFACE_DEPTH_REACHED

state 3495 begin surface coast

3517 end surface coast: CONTROL_FINISHED_OK

state 3517 begin surface

ID	205	HD_C	9.9999997e-06	ROLL_MAX	3984	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	6	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	7	ESCAPE_HEADING	0	C_ROLL_DIVE	1990	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	25	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1990	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	34	ALTIM_SENSITIVITY	4
D_NO_BLEED	35	SM_CC	240	R_STBD_OVSHOOT	48	XPDR_VALID	1
D_BOOST	0	N_FILEKB	4	ROLL_AD_RATE	250	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.98000002
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	2328	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	147
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.25119999	DEVICE3	-1
T_DIVE	65	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	70	CALL_WAIT	45	PITCH_VBD_SHIFT	9.9999997e-05	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	300	CAPMAXSIZE	200000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	4	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	15	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	-6	T_GPS_CHARGE	-2658.8374	DBDW	0	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	3	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	49
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	5	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	150	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	97	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	207	MINV_24V	19	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3915	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2890	FG_AHR_10V	0	SEABIRD_T_G	0.0043419907
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.000621902
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.2352948e-05
RHO	1.023	P_OVSHOOT	0.039999999	PRESSURE_YINT	-60.397808	SEABIRD_T_J	2.3392056e-06
MASS	53045	PITCH_GAIN	18.299999	PRESSURE_SLOPE	0.0001159995	SEABIRD_C_G	-9.6916523
MASS_COMP	0	PITCH_TIMEOUT	17	AD7714Ch0Gain	128	SEABIRD_C_H	1.1209148
NAV_MODE	1	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0012442283
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.0001684351
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	293	ALTIM_TOP_PING_RANGE	0

GPS1	020615,235951,4743.333,-12225.271,6,1.7,6,16.3	TGT_NAME	NW
_CALLS	2	TGT_LATLONG	4743.900,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.097,0.235
_SM_DEPTHo	1.11	KALMAN_X	-868.0,-9.1,4.7,558.5,-404.3
_SM_ANGLEo	-66.1	KALMAN_Y	-3049.7,-844.2,-48.5,4661.7,-966.3
GPS2	030615,000715,4743.316,-12225.271,9,1.6,9,16.3	MHEAD_RNG_PITCHd_Wd	6.1,1230,-16.9,-9.231,-19.93,2419
SPEED_LIMITS	0.160,0.255	D_GRID	181

FINISH	0.1,1.021734	_24V_AH	23.3,40.332
SM_CCo	3532,18.40,0.780,0,0,1369,240.15	_10V_AH	10.1,33.791
SM_GC	2.38,7.85,0.00,18.40,0.035,0.000,0.780,191,1995,1369,-8.35,0.14,240.15,0,0,0,0,0,0,26.53,28.83,25.34	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12226.80,290308,131352	FG_AHR_10Vo	0.000
TT8_MAMPS	0.029211,0.029211	MEM	322256
HUMID	49.25	DATA_FILE_SIZE	33521,678
INTERNAL_PRESSURE	9.01062	CAP_FILE_SIZE	73085,0
TCM_TEMP	15.10	CFSIZE	1024393216,1020805120
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	155.3,50.0	GPS	030615,010834,4743.206,-12225.191,35,0.9,35,16.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	237	109.62	SBE_CT	456	23	247.13
Roll_motor	56	55	73.78	WL_BBFL2	930	105	2276.61
VBD_pump_during_apogee	243	1412	8010.71	nil	0	0	0.00
VBD_pump_during_surface	18	780	334.53	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	60	9	14.01	nil	0	0	0.00
Iridium_during_connect	46	160	174.94	nil	0	0	0.00
Iridium_during_xfer	195	223	1016.17	nil	0	0	0.00
Transponder_ping	4	420	39.14	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	10	28	3.05
TT8	1499	17	264.19
LPSleep	368	2	8.15
TT8_Active	340	17	60.07
TT8_Sampling	1678	42	714.88
TT8_CF8	121	58	71.93
TT8_Kalman	33	64	21.70
Analog_circuits	938	20	189.57
GPS_charging	0	0	0.00
Compass	1367	3	51.67
RAFOS	0	0	0.00
Transponder	31	30	9.56

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	-0.94	-146.6	194	1995	1492	1244	0.0	0.0	0	66	0.00	0.00	-49.28	0.000	16386	0.000	0.000	194	1996	2839	2842	2836	0	0	0	0	0	0	28.83	28.83	28.83
69	-0.94	-146.6	194	1996	2842	2836	3.5	-7.7	8	90	9.93	2.30	-1.52	0.000	18948	0.238	0.056	2580	576	2913	2928	2898	0	0	0	0	0	0	25.68	26.27	26.65
438	-0.94	-146.6	2580	576	2930	2899	51.7	-14.1	86	446	0.00	2.17	0.00	0.000	1030	0.000	0.028	2571	1989	2914	2930	2898	0	0	0	0	0	0	28.83	26.53	28.83
570	-0.94	-146.6	2572	1989	2930	2898	67.2	-11.3	111	576	0.00	2.12	0.00	0.000	260	0.000	0.043	2562	3384	2914	2930	2898	0	0	0	0	0	0	28.83	26.41	28.83
652	-0.94	-146.6	1536	3382	2890	2891	76.8	-11.6	129	659	0.00	2.10	0.00	0.000	1030	0.000	0.029	2561	1970	2914	2930	2898	0	0	0	0	0	0	28.83	26.55	28.83
782	-0.94	-146.6	2561	1970	2931	2898	92.1	-12.2	154	789	0.00	0.00	0.00	0.000	6	0.000	0.000	2561	1970	2914	2931	2898	0	0	0	0	0	0	28.83	28.83	28.83
915	-0.94	-146.6	2561	1970	2931	2898	107.0	-10.5	179	920	0.00	0.00	0.00	0.000	6	0.000	0.000	2561	1970	2914	2931	2898	0	0	0	0	0	0	28.83	28.83	28.83
1046	-0.94	-146.6	2561	1970	2931	2898	123.9	-12.9	204	1053	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	1970	2914	2931	2898	0	0	0	0	0	0	28.83	28.83	28.83
1183	-0.94	-146.6	2561	1970	2931	2898	138.3	-9.9	229	1190	0.00	2.12	0.00	0.000	516	0.000	0.042	2561	589	2914	2931	2898	0	0	0	0	0	0	28.83	26.47	28.83
1224	-0.94	-146.6	2560	589	2931	2898	143.0	-12.5	237	1231	0.12	2.10	0.00	0.000	3078	0.176	0.028	2583	1994	2914	2931	2898	0	0	0	0	0	0	26.25	26.65	28.83
1361	-0.94	-146.6	2582	1995	2930	2898	156.7	-10.3	262	1368	0.00	2.15	0.00	0.000	260	0.000	0.043	2574	3380	2914	2931	2898	0	0	0	0	0	0	28.83	26.46	28.83
1401	-0.94	-146.6	2574	3380	2931	2898	161.0	-10.8	270	1409	0.00	2.10	0.00	0.000	1030	0.000	0.031	2574	1993	2914	2931	2898	0	0	0	0	0	0	28.83	26.63	28.83
1535	-0.94	-146.6	2574	1993	2931	2898	173.6	-9.5	295	1541	0.00	2.17	0.00	0.000	516	0.000	0.042	2574	585	2914	2930	2898	0	0	0	0	0	0	28.83	26.46	28.83
1590	end dive: TARGET_DEPTH_EXCEEDED
state	1590	begin apogee
1597	-0.27	0.0	2564	1989	2931	2898	180.0	-9.6	307	1716	0.73	0.00	112.28	1.405	10246	0.125	0.000	2795	1989	2329	2421	2238	0	0	0	0	0	0	25.83	28.83	23.80
1717	end apogee: CONTROL_FINISHED_OK
state	1717	begin climb
1719	0.94	146.6	2795	1989	2421	2238	184.3	0.0	327	1848	1.15	2.40	116.75	1.413	10500	0.076	0.041	3184	3385	1745	1893	1598	0	0	0	0	0	0	25.03	24.41	23.30
1855	0.94	146.6	3184	3385	1893	1599	174.4	12.2	350	1863	0.00	2.30	0.00	0.000	1030	0.000	0.029	3184	1996	1746	1893	1599	0	0	0	0	0	0	28.83	24.78	28.83
1988	0.94	146.6	3184	1996	1892	1598	160.6	9.6	375	1995	0.00	2.30	0.00	0.000	516	0.000	0.044	3184	566	1745	1893	1598	0	0	0	0	0	0	28.83	25.65	28.83
2110	0.94	146.6	2144	566	1847	1592	146.4	11.7	402	2118	0.00	2.25	0.00	0.000	1030	0.000	0.028	3184	2004	1746	1893	1599	0	0	0	0	0	0	28.83	26.10	28.83
2244	0.94	146.6	3184	2004	1893	1598	131.4	11.6	427	2250	0.00	2.28	0.00	0.000	516	0.000	0.044	3184	566	1745	1893	1598	0	0	0	0	0	0	28.83	26.16	28.83
2330	0.94	146.6	2144	565	1849	1593	119.9	13.0	446	2338	0.00	2.20	0.00	0.000	1030	0.000	0.028	3184	1992	1746	1893	1599	0	0	0	0	0	0	28.83	26.37	28.83
2463	0.94	146.6	3184	1993	1892	1598	104.9	10.0	471	2469	0.00	2.12	0.00	0.000	260	0.000	0.041	3184	3384	1745	1892	1599	0	0	0	0	0	0	28.83	26.33	28.83
2504	0.94	146.6	3184	3384	1892	1599	100.0	12.1	479	2510	0.00	2.12	0.00	0.000	1030	0.000	0.029	3184	1967	1745	1891	1599	0	0	0	0	0	0	28.83	26.46	28.83
2634	0.94	146.6	3184	1967	1892	1599	86.5	10.2	504	2641	0.00	2.20	0.00	0.000	516	0.000	0.044	3184	586	1745	1892	1599	0	0	0	0	0	0	28.83	26.38	28.83
2766	0.94	146.6	2128	586	1847	1592	73.5	9.8	533	2773	0.00	2.10	0.00	0.000	1030	0.000	0.028	3184	1989	1745	1892	1599	0	0	0	0	0	0	28.83	26.57	28.83
2896	0.94	146.6	3184	1990	1892	1599	59.2	9.8	558	2903	0.00	2.15	0.00	0.000	260	0.000	0.041	3184	3378	1745	1892	1599	0	0	0	0	0	0	28.83	26.48	28.83
2953	0.94	146.6	2160	3377	1848	1593	52.8	12.1	570	2960	0.00	2.12	0.00	0.000	1030	0.000	0.030	3184	1984	1745	1891	1599	0	0	0	0	0	0	28.83	26.59	28.83
3083	0.94	146.6	2120	1982	1846	1593	38.9	11.4	595	3090	0.00	2.17	0.00	0.000	260	0.000	0.042	3184	3380	1745	1892	1598	0	0	0	0	0	0	28.83	26.53	28.83
3134	0.94	146.6	3184	3380	1891	1599	32.9	11.9	605	3141	0.00	2.12	0.00	0.000	1030	0.000	0.031	3184	1984	1745	1891	1599	0	0	0	0	0	0	28.83	26.60	28.83
3204	0.94	146.6	2144	1982	1847	1593	25.8	9.9	618	3211	0.00	2.20	0.00	0.000	516	0.000	0.044	3184	591	1745	1891	1599	0	0	0	0	0	0	28.83	26.48	28.83
3321	0.94	187.2	3184	590	1891	1599	17.2	7.5	642	3341	0.00	2.12	14.30	0.816	9222	0.000	0.028	3184	1993	1579	1735	1424	0	0	0	0	0	0	28.83	26.68	25.44
3404	0.94	187.2	2128	1990	1696	1419	10.1	9.6	657	3411	0.00	0.00	0.00	0.000	6	0.000	0.000	3184	1993	1579	1735	1424	0	0	0	0	0	0	28.83	28.83	28.83
3473	0.94	187.2	2128	1990	1695	1419	3.8	10.2	670	3480	0.00	0.00	0.00	0.000	6	0.000	0.000	3185	1993	1579	1734	1424	0	0	0	0	0	0	28.83	28.83	28.83
3495	end climb: SURFACE_DEPTH_REACHED
state	3495	begin surface coast
3517	end surface coast: CONTROL_FINISHED_OK
state	3517	begin surface