Glider dive log

Shilshole 02Jun15 * SG205 * Dive index * Mission links * Dive 8 * 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 8 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 41 ALTIM_SENSITIVITY 4

D_NO_BLEED 35 SM_CC 240 R_STBD_OVSHOOT 58 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 -2660.1897 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 -2660.1897

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 41 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 58 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 8 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 030615,010834,4743.206,-12225.191,35,0.9,35,16.3 TGT_NAME NW

_CALLS 1 TGT_LATLONG 4743.900,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.099,0.234

_SM_DEPTHo 1.12 KALMAN_X -926.4,-41.2,-149.1,946.9,-353.6

_SM_ANGLEo -64.1 KALMAN_Y -3925.0,-821.0,-315.2,5570.3,-814.4

GPS2 030615,011430,4743.201,-12225.148,5,1.0,5,16.3 MHEAD_RNG_PITCHd_Wd 6.7,1365,-16.9,-9.231,-19.93,2419

SPEED_LIMITS 0.160,0.255 D_GRID 181

Post-dive calculations and measurements:

FINISH -0.0,1.010957 _24V_AH 23.3,40.447

SM_CCo 3477,13.43,0.713,0,0,1370,240.15 _10V_AH 10.1,33.860

SM_GC 2.72,7.82,2.15,13.43,0.033,0.026,0.713,196,1989,1370,-8.34,-1.75,240.15,0,0,0,0,0,0,26.53,26.58,25.41 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12226.80,290308,141409 FG_AHR_10Vo 0.000

TT8_MAMPS 0.028462,0.028462 MEM 322256

HUMID 48.22 DATA_FILE_SIZE 33502,684

INTERNAL_PRESSURE 9.00085 CAP_FILE_SIZE 71726,0

TCM_TEMP 15.10 CFSIZE 1024393216,1020739584

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

ALTIM_BOTTOM_PING 135.2,68.8 GPS 030615,021418,4743.299,-12224.869,3,1.2,3,16.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 238 110.39 SBE_CT 461 23 249.47

Roll_motor 56 52 69.03 WL_BBFL2 919 105 2250.32

VBD_pump_during_apogee 254 1432 8480.70 nil 0 0 0.00

VBD_pump_during_surface 13 712 223.02 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 9 6.19 nil 0 0 0.00

Iridium_during_connect 40 160 150.44 nil 0 0 0.00

Iridium_during_xfer 199 223 1035.63 nil 0 0 0.00

Transponder_ping 2 420 22.02 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 28 1.95

TT8 1511 17 266.31

LPSleep 273 2 6.05

TT8_Active 330 17 58.26

TT8_Sampling 1627 42 693.20

TT8_CF8 118 58 70.46

TT8_Kalman 33 64 21.69

Analog_circuits 925 20 187.03

GPS_charging 0 0 0.00

Compass 1367 3 51.65

RAFOS 0 0 0.00

Transponder 16 30 5.03

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 -146.6 191 1997 1486 1250 0.0 0.0 0 67 0.00 0.00 -50.20 0.000 16386 0.000 0.000 191 1997 2877 2876 2878 0 0 0 0 0 0 28.83 28.83 28.83

70 -0.94 -146.6 191 1997 2875 2878 3.6 -7.7 8 92 9.98 2.25 -0.75 0.000 18948 0.239 0.053 2578 591 2912 2923 2902 0 0 0 0 0 0 25.65 26.27 26.55

131 -0.94 -146.6 2578 591 2925 2902 16.1 -14.6 19 138 0.00 2.15 0.00 0.000 1030 0.000 0.028 2570 1983 2913 2925 2902 0 0 0 0 0 0 28.83 26.38 28.83

201 -0.94 -146.6 1536 1981 2883 2894 26.2 -15.9 32 207 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 1983 2914 2926 2902 0 0 0 0 0 0 28.83 28.83 28.83

270 -0.94 -146.6 1536 1981 2884 2895 35.8 -13.0 45 277 0.00 2.22 0.00 0.000 516 0.000 0.041 2570 585 2914 2926 2902 0 0 0 0 0 0 28.83 26.32 28.83

449 -0.94 -146.6 1544 585 2884 2895 58.8 -12.1 84 456 0.00 2.15 0.00 0.000 1030 0.000 0.028 2560 1988 2914 2926 2902 0 0 0 0 0 0 28.83 26.53 28.83

581 -0.94 -146.6 2560 1989 2926 2902 75.0 -12.8 109 588 0.00 2.12 0.00 0.000 260 0.000 0.041 2550 3389 2914 2926 2902 0 0 0 0 0 0 28.83 26.43 28.83

682 -0.94 -146.6 2550 3389 2926 2902 87.3 -12.0 131 689 0.15 2.08 0.00 0.000 3078 0.151 0.028 2589 1978 2914 2926 2902 0 0 0 0 0 0 26.18 26.58 28.83

813 -0.94 -146.6 2589 1978 2927 2902 102.4 -11.5 156 820 0.00 2.17 0.00 0.000 516 0.000 0.041 2589 591 2914 2927 2902 0 0 0 0 0 0 28.83 26.46 28.83

886 -0.94 -146.6 2588 591 2926 2902 110.9 -12.4 171 892 0.00 2.10 0.00 0.000 1030 0.000 0.027 2580 1997 2914 2926 2902 0 0 0 0 0 0 28.83 26.63 28.83

1018 -0.94 -146.6 2580 1997 2927 2902 126.3 -11.1 196 1025 0.00 2.15 0.00 0.000 260 0.000 0.041 2569 3389 2914 2927 2902 0 0 0 0 0 0 28.83 26.48 28.83

1181 -0.94 -146.6 1536 3387 2885 2895 144.1 -8.6 231 1187 0.00 2.08 0.00 0.000 1030 0.000 0.029 2570 1981 2914 2927 2902 0 0 0 0 0 0 28.83 26.64 28.83

1311 -0.94 -146.6 2569 1981 2927 2902 156.7 -9.3 256 1319 0.00 2.17 0.00 0.000 516 0.000 0.040 2570 588 2914 2927 2902 0 0 0 0 0 0 28.83 26.50 28.83

1490 -0.94 -146.6 1536 588 2886 2895 178.1 -11.3 296 1498 0.00 2.12 0.00 0.000 1030 0.000 0.028 2560 1990 2914 2927 2902 0 0 0 0 0 0 28.83 26.69 28.83

1509 end dive: TARGET_DEPTH_EXCEEDED

state 1509 begin apogee

1513 -0.27 0.0 2559 1990 2927 2902 180.1 -11.1 299 1630 0.73 0.00 112.88 1.433 10246 0.125 0.000 2792 1990 2328 2419 2238 0 0 0 0 0 0 25.86 28.83 23.76

1631 end apogee: CONTROL_FINISHED_OK

state 1631 begin climb

1633 0.94 146.6 2792 1990 2422 2238 184.7 0.0 319 1756 1.17 0.00 116.97 1.405 10758 0.077 0.000 3186 1992 1745 1893 1597 0 0 0 0 0 0 24.95 28.83 23.28

1878 0.94 153.5 3186 1992 1893 1598 163.8 8.9 364 1892 0.00 2.30 7.05 1.147 8708 0.000 0.047 3188 597 1718 1864 1572 0 0 0 0 0 0 28.83 25.46 24.10

2123 0.94 153.5 2128 596 1820 1567 135.0 10.6 419 2129 0.00 2.12 0.00 0.000 1030 0.000 0.028 3189 1995 1718 1864 1573 0 0 0 0 0 0 28.83 26.21 28.83

2253 0.94 153.5 3188 1995 1864 1573 122.2 9.7 444 2260 0.00 2.17 0.00 0.000 260 0.000 0.041 3189 3389 1718 1864 1573 0 0 0 0 0 0 28.83 26.26 28.83

2310 0.94 153.5 2176 3387 1822 1568 116.0 11.2 456 2317 0.00 2.15 0.00 0.000 1030 0.000 0.030 3189 1984 1718 1864 1573 0 0 0 0 0 0 28.83 26.39 28.83

2444 0.94 153.5 3188 1984 1864 1573 101.6 9.9 481 2450 0.00 2.17 0.00 0.000 516 0.000 0.044 3189 586 1718 1863 1573 0 0 0 0 0 0 28.83 26.34 28.83

2626 0.94 153.5 2160 586 1821 1567 80.6 11.8 522 2633 0.00 2.15 0.00 0.000 1030 0.000 0.028 3188 1995 1718 1864 1572 0 0 0 0 0 0 28.83 26.53 28.83

2759 0.94 153.5 3188 1995 1864 1573 66.8 11.7 547 2766 0.00 2.10 0.00 0.000 260 0.000 0.041 3189 3382 1717 1863 1572 0 0 0 0 0 0 28.83 26.45 28.83

2842 0.94 153.5 2144 3381 1820 1568 57.8 10.0 565 2849 0.00 2.08 0.00 0.000 1030 0.000 0.030 3189 1984 1718 1863 1573 0 0 0 0 0 0 28.83 26.58 28.83

2974 0.94 153.5 2144 1982 1820 1567 45.0 9.6 590 2981 0.00 2.20 0.00 0.000 516 0.000 0.043 3189 589 1718 1863 1573 0 0 0 0 0 0 28.83 26.46 28.83

3011 0.94 153.5 3188 589 1863 1573 41.2 10.0 597 3018 0.00 2.12 0.00 0.000 1030 0.000 0.028 3188 1989 1718 1863 1573 0 0 0 0 0 0 28.83 26.63 28.83

3081 0.94 163.7 2144 1986 1819 1567 34.9 8.8 610 3090 0.00 2.25 3.95 0.653 8708 0.000 0.043 3189 590 1674 1821 1528 0 0 0 0 0 0 28.83 26.60 25.21

3231 0.94 163.7 3188 589 1821 1528 20.1 10.2 641 3238 0.00 2.12 0.00 0.000 1030 0.000 0.028 3189 1991 1674 1821 1528 0 0 0 0 0 0 28.83 26.65 28.83

3301 0.94 189.0 2144 1990 1778 1523 14.4 8.2 654 3315 0.00 0.00 8.95 0.724 8198 0.000 0.000 3189 1992 1571 1727 1416 0 0 0 0 0 0 28.83 28.83 25.48

3377 0.95 201.0 2128 1990 1687 1412 7.5 8.7 668 3392 0.00 2.25 4.22 0.568 8708 0.000 0.044 3189 588 1523 1682 1365 0 0 0 0 0 0 28.83 26.51 25.32

3434 end climb: SURFACE_DEPTH_REACHED

state 3434 begin surface coast

3460 end surface coast: CONTROL_FINISHED_OK

state 3460 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	8	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	41	ALTIM_SENSITIVITY	4
D_NO_BLEED	35	SM_CC	240	R_STBD_OVSHOOT	58	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	-2660.1897	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	030615,010834,4743.206,-12225.191,35,0.9,35,16.3	TGT_NAME	NW
_CALLS	1	TGT_LATLONG	4743.900,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.099,0.234
_SM_DEPTHo	1.12	KALMAN_X	-926.4,-41.2,-149.1,946.9,-353.6
_SM_ANGLEo	-64.1	KALMAN_Y	-3925.0,-821.0,-315.2,5570.3,-814.4
GPS2	030615,011430,4743.201,-12225.148,5,1.0,5,16.3	MHEAD_RNG_PITCHd_Wd	6.7,1365,-16.9,-9.231,-19.93,2419
SPEED_LIMITS	0.160,0.255	D_GRID	181

FINISH	-0.0,1.010957	_24V_AH	23.3,40.447
SM_CCo	3477,13.43,0.713,0,0,1370,240.15	_10V_AH	10.1,33.860
SM_GC	2.72,7.82,2.15,13.43,0.033,0.026,0.713,196,1989,1370,-8.34,-1.75,240.15,0,0,0,0,0,0,26.53,26.58,25.41	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12226.80,290308,141409	FG_AHR_10Vo	0.000
TT8_MAMPS	0.028462,0.028462	MEM	322256
HUMID	48.22	DATA_FILE_SIZE	33502,684
INTERNAL_PRESSURE	9.00085	CAP_FILE_SIZE	71726,0
TCM_TEMP	15.10	CFSIZE	1024393216,1020739584
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	135.2,68.8	GPS	030615,021418,4743.299,-12224.869,3,1.2,3,16.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	238	110.39	SBE_CT	461	23	249.47
Roll_motor	56	52	69.03	WL_BBFL2	919	105	2250.32
VBD_pump_during_apogee	254	1432	8480.70	nil	0	0	0.00
VBD_pump_during_surface	13	712	223.02	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	9	6.19	nil	0	0	0.00
Iridium_during_connect	40	160	150.44	nil	0	0	0.00
Iridium_during_xfer	199	223	1035.63	nil	0	0	0.00
Transponder_ping	2	420	22.02	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	28	1.95
TT8	1511	17	266.31
LPSleep	273	2	6.05
TT8_Active	330	17	58.26
TT8_Sampling	1627	42	693.20
TT8_CF8	118	58	70.46
TT8_Kalman	33	64	21.69
Analog_circuits	925	20	187.03
GPS_charging	0	0	0.00
Compass	1367	3	51.65
RAFOS	0	0	0.00
Transponder	16	30	5.03

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	191	1997	1486	1250	0.0	0.0	0	67	0.00	0.00	-50.20	0.000	16386	0.000	0.000	191	1997	2877	2876	2878	0	0	0	0	0	0	28.83	28.83	28.83
70	-0.94	-146.6	191	1997	2875	2878	3.6	-7.7	8	92	9.98	2.25	-0.75	0.000	18948	0.239	0.053	2578	591	2912	2923	2902	0	0	0	0	0	0	25.65	26.27	26.55
131	-0.94	-146.6	2578	591	2925	2902	16.1	-14.6	19	138	0.00	2.15	0.00	0.000	1030	0.000	0.028	2570	1983	2913	2925	2902	0	0	0	0	0	0	28.83	26.38	28.83
201	-0.94	-146.6	1536	1981	2883	2894	26.2	-15.9	32	207	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	1983	2914	2926	2902	0	0	0	0	0	0	28.83	28.83	28.83
270	-0.94	-146.6	1536	1981	2884	2895	35.8	-13.0	45	277	0.00	2.22	0.00	0.000	516	0.000	0.041	2570	585	2914	2926	2902	0	0	0	0	0	0	28.83	26.32	28.83
449	-0.94	-146.6	1544	585	2884	2895	58.8	-12.1	84	456	0.00	2.15	0.00	0.000	1030	0.000	0.028	2560	1988	2914	2926	2902	0	0	0	0	0	0	28.83	26.53	28.83
581	-0.94	-146.6	2560	1989	2926	2902	75.0	-12.8	109	588	0.00	2.12	0.00	0.000	260	0.000	0.041	2550	3389	2914	2926	2902	0	0	0	0	0	0	28.83	26.43	28.83
682	-0.94	-146.6	2550	3389	2926	2902	87.3	-12.0	131	689	0.15	2.08	0.00	0.000	3078	0.151	0.028	2589	1978	2914	2926	2902	0	0	0	0	0	0	26.18	26.58	28.83
813	-0.94	-146.6	2589	1978	2927	2902	102.4	-11.5	156	820	0.00	2.17	0.00	0.000	516	0.000	0.041	2589	591	2914	2927	2902	0	0	0	0	0	0	28.83	26.46	28.83
886	-0.94	-146.6	2588	591	2926	2902	110.9	-12.4	171	892	0.00	2.10	0.00	0.000	1030	0.000	0.027	2580	1997	2914	2926	2902	0	0	0	0	0	0	28.83	26.63	28.83
1018	-0.94	-146.6	2580	1997	2927	2902	126.3	-11.1	196	1025	0.00	2.15	0.00	0.000	260	0.000	0.041	2569	3389	2914	2927	2902	0	0	0	0	0	0	28.83	26.48	28.83
1181	-0.94	-146.6	1536	3387	2885	2895	144.1	-8.6	231	1187	0.00	2.08	0.00	0.000	1030	0.000	0.029	2570	1981	2914	2927	2902	0	0	0	0	0	0	28.83	26.64	28.83
1311	-0.94	-146.6	2569	1981	2927	2902	156.7	-9.3	256	1319	0.00	2.17	0.00	0.000	516	0.000	0.040	2570	588	2914	2927	2902	0	0	0	0	0	0	28.83	26.50	28.83
1490	-0.94	-146.6	1536	588	2886	2895	178.1	-11.3	296	1498	0.00	2.12	0.00	0.000	1030	0.000	0.028	2560	1990	2914	2927	2902	0	0	0	0	0	0	28.83	26.69	28.83
1509	end dive: TARGET_DEPTH_EXCEEDED
state	1509	begin apogee
1513	-0.27	0.0	2559	1990	2927	2902	180.1	-11.1	299	1630	0.73	0.00	112.88	1.433	10246	0.125	0.000	2792	1990	2328	2419	2238	0	0	0	0	0	0	25.86	28.83	23.76
1631	end apogee: CONTROL_FINISHED_OK
state	1631	begin climb
1633	0.94	146.6	2792	1990	2422	2238	184.7	0.0	319	1756	1.17	0.00	116.97	1.405	10758	0.077	0.000	3186	1992	1745	1893	1597	0	0	0	0	0	0	24.95	28.83	23.28
1878	0.94	153.5	3186	1992	1893	1598	163.8	8.9	364	1892	0.00	2.30	7.05	1.147	8708	0.000	0.047	3188	597	1718	1864	1572	0	0	0	0	0	0	28.83	25.46	24.10
2123	0.94	153.5	2128	596	1820	1567	135.0	10.6	419	2129	0.00	2.12	0.00	0.000	1030	0.000	0.028	3189	1995	1718	1864	1573	0	0	0	0	0	0	28.83	26.21	28.83
2253	0.94	153.5	3188	1995	1864	1573	122.2	9.7	444	2260	0.00	2.17	0.00	0.000	260	0.000	0.041	3189	3389	1718	1864	1573	0	0	0	0	0	0	28.83	26.26	28.83
2310	0.94	153.5	2176	3387	1822	1568	116.0	11.2	456	2317	0.00	2.15	0.00	0.000	1030	0.000	0.030	3189	1984	1718	1864	1573	0	0	0	0	0	0	28.83	26.39	28.83
2444	0.94	153.5	3188	1984	1864	1573	101.6	9.9	481	2450	0.00	2.17	0.00	0.000	516	0.000	0.044	3189	586	1718	1863	1573	0	0	0	0	0	0	28.83	26.34	28.83
2626	0.94	153.5	2160	586	1821	1567	80.6	11.8	522	2633	0.00	2.15	0.00	0.000	1030	0.000	0.028	3188	1995	1718	1864	1572	0	0	0	0	0	0	28.83	26.53	28.83
2759	0.94	153.5	3188	1995	1864	1573	66.8	11.7	547	2766	0.00	2.10	0.00	0.000	260	0.000	0.041	3189	3382	1717	1863	1572	0	0	0	0	0	0	28.83	26.45	28.83
2842	0.94	153.5	2144	3381	1820	1568	57.8	10.0	565	2849	0.00	2.08	0.00	0.000	1030	0.000	0.030	3189	1984	1718	1863	1573	0	0	0	0	0	0	28.83	26.58	28.83
2974	0.94	153.5	2144	1982	1820	1567	45.0	9.6	590	2981	0.00	2.20	0.00	0.000	516	0.000	0.043	3189	589	1718	1863	1573	0	0	0	0	0	0	28.83	26.46	28.83
3011	0.94	153.5	3188	589	1863	1573	41.2	10.0	597	3018	0.00	2.12	0.00	0.000	1030	0.000	0.028	3188	1989	1718	1863	1573	0	0	0	0	0	0	28.83	26.63	28.83
3081	0.94	163.7	2144	1986	1819	1567	34.9	8.8	610	3090	0.00	2.25	3.95	0.653	8708	0.000	0.043	3189	590	1674	1821	1528	0	0	0	0	0	0	28.83	26.60	25.21
3231	0.94	163.7	3188	589	1821	1528	20.1	10.2	641	3238	0.00	2.12	0.00	0.000	1030	0.000	0.028	3189	1991	1674	1821	1528	0	0	0	0	0	0	28.83	26.65	28.83
3301	0.94	189.0	2144	1990	1778	1523	14.4	8.2	654	3315	0.00	0.00	8.95	0.724	8198	0.000	0.000	3189	1992	1571	1727	1416	0	0	0	0	0	0	28.83	28.83	25.48
3377	0.95	201.0	2128	1990	1687	1412	7.5	8.7	668	3392	0.00	2.25	4.22	0.568	8708	0.000	0.044	3189	588	1523	1682	1365	0	0	0	0	0	0	28.83	26.51	25.32
3434	end climb: SURFACE_DEPTH_REACHED
state	3434	begin surface coast
3460	end surface coast: CONTROL_FINISHED_OK
state	3460	begin surface