Glider dive log

Shilshole 12Mar14 * SG214 * Dive index * Mission links * Dive 8 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 214 HD_C 9.9999997e-06 ROLL_MAX 3849 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 2 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 8 ESCAPE_HEADING 0 C_ROLL_DIVE 2800 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2600 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 30 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 550 R_STBD_OVSHOOT 24 XPDR_VALID 1

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 -1.8

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 3292 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 -1

T_DIVE 60 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 150

T_MISSION 75 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 600 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 -955.53296 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 203 MINV_24V 19 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3954 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2583 FG_AHR_10V 0 SEABIRD_T_G 0.0043900511

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00063215959

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.4258828e-05

RHO 1.0236 P_OVSHOOT 0.039999999 PRESSURE_YINT -63.391636 SEABIRD_T_J 2.8292754e-06

MASS 53169 PITCH_GAIN 25 PRESSURE_SLOPE 0.0001163525 SEABIRD_C_G -9.7247963

MASS_COMP 0 PITCH_TIMEOUT 18 AD7714Ch0Gain 128 SEABIRD_C_H 1.117072

NAV_MODE 1 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.00093423709

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00013718182

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 239 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 550

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 15 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 25 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 100 FERRY_MAX 45 PITCH_MAX 3954 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 203 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 60

CALL_NDIVES 1 HD_A 0.0038000001 PRESSURE_SLOPE 0.0001163525 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -63.391636 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 -955.53296

CAPUPLOAD 1 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 75

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 214 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 600

COMPASS_USE 4 INT_PRESSURE_YINT -1.8 RHO 1.0236 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2583 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 2600 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2800 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 3292 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3849 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 53169 ROLL_MAXERRORS 2 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 239 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 101 MINV_10V 8 R_PORT_OVSHOOT 30 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 24 VBD_MIN 500

DEVICE4 150 MISSION 2 SEABIRD_C_G -9.7247963 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.117072 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.00093423709 VBD_TIMEOUT 720

DIVE 8 NOCOMM_ACTION 0 SEABIRD_C_J 0.00013718182 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0043900511 XPDR_DEVICE 24

D_BOOST 100 N_FILEKB 4 SEABIRD_T_H 0.00063215959 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.4258828e-05 XPDR_VALID 1

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 2.8292754e-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 120314,235409,4742.809,-12224.728,3,1.5,3,16.3 TGT_NAME NW

_CALLS 1 TGT_LATLONG 4743.900,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.031,0.260

_SM_DEPTHo 1.15 KALMAN_X -778.4,-434.5,17.6,1347.8,67.1

_SM_ANGLEo -67.9 KALMAN_Y -2173.6,-744.9,63.3,3118.1,-139.9

GPS2 120314,235949,4742.817,-12224.708,4,1.5,5,16.3 MHEAD_RNG_PITCHd_Wd 337.0,2009,-18.1,-10.000,-20.93,2235

SPEED_LIMITS 0.173,0.261 D_GRID 180

Post-dive calculations and measurements:

FINISH 2.0,1.019014 _24V_AH 24.8,2.016

SM_CCo 3302,127.22,0.123,0,0,499,684.88 _10V_AH 10.3,2.947

SM_GC 1.17,6.88,0.32,0.00,0.048,0.074,0.000,185,2805,513,-7.41,-0.68,681.93,0,0,0,0,0,0,26.27,26.25,28.83 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4729.30,-12222.38,120314,222255 FG_AHR_10Vo 0.000

TT8_MAMPS 0.030709,0.030709 MEM 321852

HUMID 34.44 DATA_FILE_SIZE 40447,610

INTERNAL_PRESSURE 8.85471 CAP_FILE_SIZE 70857,0

TCM_TEMP 14.50 CFSIZE 1024393216,1022033920

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

ALTIM_BOTTOM_PING 120.7,71.7 GPS 130314,010014,4743.373,-12224.659,3,1.3,3,16.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 254 107.87 SBE_CT 410 23 236.41

Roll_motor 45 87 98.89 AA4330 498 9 120.35

VBD_pump_during_apogee 290 515 3713.38 nil 0 0 0.00

VBD_pump_during_surface 127 123 388.61 WL_FL3 806 44 883.53

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 12 7.63 nil 0 0 0.00

Iridium_during_connect 41 160 163.58 nil 0 0 0.00

Iridium_during_xfer 203 223 1123.81 nil 0 0 0.00

Transponder_ping 1 420 15.62 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 28 1.72

TT8 1345 17 245.46

LPSleep 507 2 11.44

TT8_Active 492 17 89.83

TT8_Sampling 1489 47 731.01

TT8_CF8 52 64 34.41

TT8_Kalman 33 71 24.52

Analog_circuits 1062 16 175.04

GPS_charging 0 0 0.00

Compass 1204 8 102.22

RAFOS 0 0 0.00

Transponder 11 30 3.68

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

14 -0.78 -146.5 189 2804 610 449 0.0 0.0 0 94 0.00 0.00 -76.80 0.000 16386 0.000 0.000 189 2804 2905 2941 2870 0 0 0 0 0 0 28.83 28.83 28.83

96 -0.78 -146.5 189 2804 2941 2870 3.4 -5.4 12 136 8.50 1.70 -22.55 0.000 18692 0.255 0.087 2313 3843 3891 3947 3836 0 0 0 0 0 0 25.96 26.19 26.53

333 -0.78 -146.5 1348 3842 3945 3835 38.5 -17.8 57 340 0.00 1.65 0.00 0.000 1030 0.000 0.050 2313 2803 3891 3947 3836 0 0 0 0 0 0 28.83 26.39 28.83

402 -0.78 -146.5 2311 2803 3947 3835 50.1 -15.8 70 409 0.00 2.22 0.00 0.000 516 0.000 0.052 2313 1391 3891 3947 3836 0 0 0 0 0 0 28.83 26.39 28.83

523 -0.78 -146.5 2312 1391 3947 3836 68.0 -14.7 93 529 0.00 2.25 0.00 0.000 1030 0.000 0.058 2303 2804 3891 3947 3835 0 0 0 0 0 0 28.83 26.42 28.83

652 -0.78 -146.5 2302 2804 3947 3836 87.3 -14.6 118 659 0.00 1.67 0.00 0.000 260 0.000 0.067 2295 3845 3891 3947 3835 0 0 0 0 0 0 28.83 26.46 28.83

686 -0.78 -146.5 2295 3845 3947 3835 92.5 -15.7 124 694 0.10 1.65 0.00 0.000 3078 0.161 0.051 2328 2806 3891 3947 3836 0 0 0 0 0 0 26.34 26.52 28.83

820 -0.78 -146.5 2328 2806 3947 3835 109.9 -12.5 149 827 0.00 0.00 0.00 0.000 6 0.000 0.000 2328 2806 3891 3947 3836 0 0 0 0 0 0 28.83 28.83 28.83

954 -0.78 -146.5 2328 2806 3947 3836 127.0 -12.7 174 961 0.00 0.00 0.00 0.000 6 0.000 0.000 2328 2806 3891 3947 3836 0 0 0 0 0 0 28.83 28.83 28.83

1087 -0.78 -146.5 2328 2806 3947 3836 142.7 -12.1 199 1093 0.00 1.65 0.00 0.000 260 0.000 0.067 2321 3849 3891 3947 3836 0 0 0 0 0 0 28.83 26.55 28.83

1131 -0.78 -146.5 2321 3850 3947 3835 148.5 -13.1 207 1138 0.00 1.62 0.00 0.000 1030 0.000 0.050 2321 2790 3891 3947 3835 0 0 0 0 0 0 28.83 26.62 28.83

1260 -0.78 -146.5 2321 2790 3947 3836 165.2 -13.4 232 1267 0.00 0.00 0.00 0.000 6 0.000 0.000 2321 2791 3890 3946 3835 0 0 0 0 0 0 28.83 28.83 28.83

1359 end dive: BOTTOM_OBSTACLE_DETECTED

state 1360 begin apogee

1363 -0.20 0.0 2321 2588 3947 3835 177.9 -12.9 251 1476 0.57 0.00 107.72 0.516 10246 0.136 0.000 2516 2587 3287 3364 3210 0 0 0 0 0 0 26.53 28.83 25.19

1477 end apogee: CONTROL_FINISHED_OK

state 1477 begin climb

1478 0.78 146.5 2516 2588 3356 3201 182.3 0.0 270 1593 0.88 2.20 106.40 0.494 10500 0.092 0.065 2827 3844 2681 2765 2597 0 0 0 0 0 0 25.58 25.15 24.77

1626 0.79 156.7 2827 3844 2759 2589 175.3 9.5 295 1634 0.00 2.03 1.92 0.165 9222 0.000 0.052 2838 2604 2649 2735 2564 0 0 0 0 0 0 28.83 25.45 25.32

1756 0.80 175.3 2838 2604 2757 2585 162.6 9.1 320 1782 0.00 2.38 21.00 0.477 8708 0.000 0.058 2848 1190 2567 2656 2478 0 0 0 0 0 0 28.83 25.65 25.27

1871 0.80 175.3 2847 1190 2650 2467 150.7 10.9 341 1878 0.00 2.30 0.00 0.000 1030 0.000 0.055 2848 2608 2559 2650 2468 0 0 0 0 0 0 28.83 25.88 28.83

2000 0.80 175.3 2848 2608 2650 2468 135.3 12.2 366 2008 0.00 2.05 0.00 0.000 260 0.000 0.068 2848 3845 2559 2650 2468 0 0 0 0 0 0 28.83 26.03 28.83

2075 0.80 175.3 2848 3845 2650 2468 125.3 14.1 380 2082 0.00 2.03 0.00 0.000 1030 0.000 0.054 2858 2599 2559 2650 2468 0 0 0 0 0 0 28.83 26.16 28.83

2206 0.80 175.3 2858 2599 2650 2467 108.9 13.0 405 2213 0.00 2.25 0.00 0.000 516 0.000 0.060 2868 1185 2558 2650 2467 0 0 0 0 0 0 28.83 26.24 28.83

2250 0.80 175.3 2868 1185 2650 2468 103.5 12.8 413 2257 0.00 2.28 0.00 0.000 1030 0.000 0.057 2868 2604 2558 2649 2467 0 0 0 0 0 0 28.83 26.27 28.83

2380 0.80 175.3 2868 2604 2650 2467 87.6 13.0 438 2387 0.00 2.03 0.00 0.000 260 0.000 0.069 2868 3842 2558 2649 2467 0 0 0 0 0 0 28.83 26.32 28.83

2410 0.80 175.3 2868 3842 2649 2468 83.7 13.2 443 2417 0.15 1.98 0.00 0.000 5126 0.182 0.057 2839 2594 2559 2650 2468 0 0 0 0 0 0 26.23 26.37 28.83

2540 0.80 196.9 2839 2594 2649 2467 69.9 9.0 468 2548 0.00 0.00 5.70 0.246 8198 0.000 0.000 2839 2594 2487 2579 2396 0 0 0 0 0 0 28.83 28.83 26.12

2672 0.80 196.9 2839 2594 2611 2422 56.0 10.0 493 2679 0.00 0.00 2.25 0.182 8198 0.000 0.000 2839 2594 2489 2583 2396 0 0 0 0 0 0 28.83 28.83 26.22

2801 0.82 223.3 2839 2594 2609 2421 43.9 8.8 518 2822 0.00 2.28 10.45 0.215 8708 0.000 0.057 2849 1190 2383 2477 2290 0 0 0 0 0 0 28.83 26.43 26.22

2929 0.82 223.3 1792 1189 2455 2303 31.3 11.2 542 2938 0.00 2.28 1.75 0.159 9222 0.000 0.055 2849 2599 2380 2475 2285 0 0 0 0 0 0 28.83 26.46 26.32

2999 0.82 223.3 1792 2596 2453 2297 23.7 11.1 555 3007 0.00 0.00 1.52 0.192 8198 0.000 0.000 2849 2599 2381 2476 2286 0 0 0 0 0 0 28.83 28.83 26.34

3069 0.82 223.3 1792 2597 2452 2297 16.6 10.8 568 3076 0.00 0.00 1.38 0.197 8198 0.000 0.000 2849 2599 2380 2476 2285 0 0 0 0 0 0 28.83 28.83 26.36

3138 0.83 267.7 1792 2597 2454 2298 10.1 8.0 581 3159 0.00 2.33 15.55 0.148 8708 0.000 0.057 2859 1183 2197 2297 2097 0 0 0 0 0 0 28.83 26.46 26.36

3197 0.85 310.7 1808 1182 2269 2098 5.4 8.0 591 3217 0.00 2.30 14.75 0.132 9222 0.000 0.056 2860 2603 2018 2122 1915 0 0 0 0 0 0 28.83 26.48 26.34

3263 end climb: SURFACE_DEPTH_REACHED

state 3263 begin surface coast

3300 end surface coast: CONTROL_FINISHED_OK

state 3300 begin surface

ID	214	HD_C	9.9999997e-06	ROLL_MAX	3849	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	2	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	8	ESCAPE_HEADING	0	C_ROLL_DIVE	2800	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2600	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	30	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	550	R_STBD_OVSHOOT	24	XPDR_VALID	1
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	-1.8
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	3292	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	-1
T_DIVE	60	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	150
T_MISSION	75	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	600	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	-955.53296	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	203	MINV_24V	19	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3954	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2583	FG_AHR_10V	0	SEABIRD_T_G	0.0043900511
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00063215959
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.4258828e-05
RHO	1.0236	P_OVSHOOT	0.039999999	PRESSURE_YINT	-63.391636	SEABIRD_T_J	2.8292754e-06
MASS	53169	PITCH_GAIN	25	PRESSURE_SLOPE	0.0001163525	SEABIRD_C_G	-9.7247963
MASS_COMP	0	PITCH_TIMEOUT	18	AD7714Ch0Gain	128	SEABIRD_C_H	1.117072
NAV_MODE	1	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.00093423709
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00013718182
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	239	ALTIM_TOP_PING_RANGE	0

GPS1	120314,235409,4742.809,-12224.728,3,1.5,3,16.3	TGT_NAME	NW
_CALLS	1	TGT_LATLONG	4743.900,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.031,0.260
_SM_DEPTHo	1.15	KALMAN_X	-778.4,-434.5,17.6,1347.8,67.1
_SM_ANGLEo	-67.9	KALMAN_Y	-2173.6,-744.9,63.3,3118.1,-139.9
GPS2	120314,235949,4742.817,-12224.708,4,1.5,5,16.3	MHEAD_RNG_PITCHd_Wd	337.0,2009,-18.1,-10.000,-20.93,2235
SPEED_LIMITS	0.173,0.261	D_GRID	180

FINISH	2.0,1.019014	_24V_AH	24.8,2.016
SM_CCo	3302,127.22,0.123,0,0,499,684.88	_10V_AH	10.3,2.947
SM_GC	1.17,6.88,0.32,0.00,0.048,0.074,0.000,185,2805,513,-7.41,-0.68,681.93,0,0,0,0,0,0,26.27,26.25,28.83	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4729.30,-12222.38,120314,222255	FG_AHR_10Vo	0.000
TT8_MAMPS	0.030709,0.030709	MEM	321852
HUMID	34.44	DATA_FILE_SIZE	40447,610
INTERNAL_PRESSURE	8.85471	CAP_FILE_SIZE	70857,0
TCM_TEMP	14.50	CFSIZE	1024393216,1022033920
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	120.7,71.7	GPS	130314,010014,4743.373,-12224.659,3,1.3,3,16.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	254	107.87	SBE_CT	410	23	236.41
Roll_motor	45	87	98.89	AA4330	498	9	120.35
VBD_pump_during_apogee	290	515	3713.38	nil	0	0	0.00
VBD_pump_during_surface	127	123	388.61	WL_FL3	806	44	883.53
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	12	7.63	nil	0	0	0.00
Iridium_during_connect	41	160	163.58	nil	0	0	0.00
Iridium_during_xfer	203	223	1123.81	nil	0	0	0.00
Transponder_ping	1	420	15.62	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	28	1.72
TT8	1345	17	245.46
LPSleep	507	2	11.44
TT8_Active	492	17	89.83
TT8_Sampling	1489	47	731.01
TT8_CF8	52	64	34.41
TT8_Kalman	33	71	24.52
Analog_circuits	1062	16	175.04
GPS_charging	0	0	0.00
Compass	1204	8	102.22
RAFOS	0	0	0.00
Transponder	11	30	3.68

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
14	-0.78	-146.5	189	2804	610	449	0.0	0.0	0	94	0.00	0.00	-76.80	0.000	16386	0.000	0.000	189	2804	2905	2941	2870	0	0	0	0	0	0	28.83	28.83	28.83
96	-0.78	-146.5	189	2804	2941	2870	3.4	-5.4	12	136	8.50	1.70	-22.55	0.000	18692	0.255	0.087	2313	3843	3891	3947	3836	0	0	0	0	0	0	25.96	26.19	26.53
333	-0.78	-146.5	1348	3842	3945	3835	38.5	-17.8	57	340	0.00	1.65	0.00	0.000	1030	0.000	0.050	2313	2803	3891	3947	3836	0	0	0	0	0	0	28.83	26.39	28.83
402	-0.78	-146.5	2311	2803	3947	3835	50.1	-15.8	70	409	0.00	2.22	0.00	0.000	516	0.000	0.052	2313	1391	3891	3947	3836	0	0	0	0	0	0	28.83	26.39	28.83
523	-0.78	-146.5	2312	1391	3947	3836	68.0	-14.7	93	529	0.00	2.25	0.00	0.000	1030	0.000	0.058	2303	2804	3891	3947	3835	0	0	0	0	0	0	28.83	26.42	28.83
652	-0.78	-146.5	2302	2804	3947	3836	87.3	-14.6	118	659	0.00	1.67	0.00	0.000	260	0.000	0.067	2295	3845	3891	3947	3835	0	0	0	0	0	0	28.83	26.46	28.83
686	-0.78	-146.5	2295	3845	3947	3835	92.5	-15.7	124	694	0.10	1.65	0.00	0.000	3078	0.161	0.051	2328	2806	3891	3947	3836	0	0	0	0	0	0	26.34	26.52	28.83
820	-0.78	-146.5	2328	2806	3947	3835	109.9	-12.5	149	827	0.00	0.00	0.00	0.000	6	0.000	0.000	2328	2806	3891	3947	3836	0	0	0	0	0	0	28.83	28.83	28.83
954	-0.78	-146.5	2328	2806	3947	3836	127.0	-12.7	174	961	0.00	0.00	0.00	0.000	6	0.000	0.000	2328	2806	3891	3947	3836	0	0	0	0	0	0	28.83	28.83	28.83
1087	-0.78	-146.5	2328	2806	3947	3836	142.7	-12.1	199	1093	0.00	1.65	0.00	0.000	260	0.000	0.067	2321	3849	3891	3947	3836	0	0	0	0	0	0	28.83	26.55	28.83
1131	-0.78	-146.5	2321	3850	3947	3835	148.5	-13.1	207	1138	0.00	1.62	0.00	0.000	1030	0.000	0.050	2321	2790	3891	3947	3835	0	0	0	0	0	0	28.83	26.62	28.83
1260	-0.78	-146.5	2321	2790	3947	3836	165.2	-13.4	232	1267	0.00	0.00	0.00	0.000	6	0.000	0.000	2321	2791	3890	3946	3835	0	0	0	0	0	0	28.83	28.83	28.83
1359	end dive: BOTTOM_OBSTACLE_DETECTED
state	1360	begin apogee
1363	-0.20	0.0	2321	2588	3947	3835	177.9	-12.9	251	1476	0.57	0.00	107.72	0.516	10246	0.136	0.000	2516	2587	3287	3364	3210	0	0	0	0	0	0	26.53	28.83	25.19
1477	end apogee: CONTROL_FINISHED_OK
state	1477	begin climb
1478	0.78	146.5	2516	2588	3356	3201	182.3	0.0	270	1593	0.88	2.20	106.40	0.494	10500	0.092	0.065	2827	3844	2681	2765	2597	0	0	0	0	0	0	25.58	25.15	24.77
1626	0.79	156.7	2827	3844	2759	2589	175.3	9.5	295	1634	0.00	2.03	1.92	0.165	9222	0.000	0.052	2838	2604	2649	2735	2564	0	0	0	0	0	0	28.83	25.45	25.32
1756	0.80	175.3	2838	2604	2757	2585	162.6	9.1	320	1782	0.00	2.38	21.00	0.477	8708	0.000	0.058	2848	1190	2567	2656	2478	0	0	0	0	0	0	28.83	25.65	25.27
1871	0.80	175.3	2847	1190	2650	2467	150.7	10.9	341	1878	0.00	2.30	0.00	0.000	1030	0.000	0.055	2848	2608	2559	2650	2468	0	0	0	0	0	0	28.83	25.88	28.83
2000	0.80	175.3	2848	2608	2650	2468	135.3	12.2	366	2008	0.00	2.05	0.00	0.000	260	0.000	0.068	2848	3845	2559	2650	2468	0	0	0	0	0	0	28.83	26.03	28.83
2075	0.80	175.3	2848	3845	2650	2468	125.3	14.1	380	2082	0.00	2.03	0.00	0.000	1030	0.000	0.054	2858	2599	2559	2650	2468	0	0	0	0	0	0	28.83	26.16	28.83
2206	0.80	175.3	2858	2599	2650	2467	108.9	13.0	405	2213	0.00	2.25	0.00	0.000	516	0.000	0.060	2868	1185	2558	2650	2467	0	0	0	0	0	0	28.83	26.24	28.83
2250	0.80	175.3	2868	1185	2650	2468	103.5	12.8	413	2257	0.00	2.28	0.00	0.000	1030	0.000	0.057	2868	2604	2558	2649	2467	0	0	0	0	0	0	28.83	26.27	28.83
2380	0.80	175.3	2868	2604	2650	2467	87.6	13.0	438	2387	0.00	2.03	0.00	0.000	260	0.000	0.069	2868	3842	2558	2649	2467	0	0	0	0	0	0	28.83	26.32	28.83
2410	0.80	175.3	2868	3842	2649	2468	83.7	13.2	443	2417	0.15	1.98	0.00	0.000	5126	0.182	0.057	2839	2594	2559	2650	2468	0	0	0	0	0	0	26.23	26.37	28.83
2540	0.80	196.9	2839	2594	2649	2467	69.9	9.0	468	2548	0.00	0.00	5.70	0.246	8198	0.000	0.000	2839	2594	2487	2579	2396	0	0	0	0	0	0	28.83	28.83	26.12
2672	0.80	196.9	2839	2594	2611	2422	56.0	10.0	493	2679	0.00	0.00	2.25	0.182	8198	0.000	0.000	2839	2594	2489	2583	2396	0	0	0	0	0	0	28.83	28.83	26.22
2801	0.82	223.3	2839	2594	2609	2421	43.9	8.8	518	2822	0.00	2.28	10.45	0.215	8708	0.000	0.057	2849	1190	2383	2477	2290	0	0	0	0	0	0	28.83	26.43	26.22
2929	0.82	223.3	1792	1189	2455	2303	31.3	11.2	542	2938	0.00	2.28	1.75	0.159	9222	0.000	0.055	2849	2599	2380	2475	2285	0	0	0	0	0	0	28.83	26.46	26.32
2999	0.82	223.3	1792	2596	2453	2297	23.7	11.1	555	3007	0.00	0.00	1.52	0.192	8198	0.000	0.000	2849	2599	2381	2476	2286	0	0	0	0	0	0	28.83	28.83	26.34
3069	0.82	223.3	1792	2597	2452	2297	16.6	10.8	568	3076	0.00	0.00	1.38	0.197	8198	0.000	0.000	2849	2599	2380	2476	2285	0	0	0	0	0	0	28.83	28.83	26.36
3138	0.83	267.7	1792	2597	2454	2298	10.1	8.0	581	3159	0.00	2.33	15.55	0.148	8708	0.000	0.057	2859	1183	2197	2297	2097	0	0	0	0	0	0	28.83	26.46	26.36
3197	0.85	310.7	1808	1182	2269	2098	5.4	8.0	591	3217	0.00	2.30	14.75	0.132	9222	0.000	0.056	2860	2603	2018	2122	1915	0	0	0	0	0	0	28.83	26.48	26.34
3263	end climb: SURFACE_DEPTH_REACHED
state	3263	begin surface coast
3300	end surface coast: CONTROL_FINISHED_OK
state	3300	begin surface