Glider dive log

Shilshole 04Mar14.01 * SG213 * Dive index * Mission links * Dive 17 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 213 HD_C 1.6100001e-05 ROLL_MAX 3769 ALTIM_BOTTOM_TURN_MARGIN 20

MISSION 2 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 17 ESCAPE_HEADING 0 C_ROLL_DIVE 2276 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2276 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 36 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 220 R_STBD_OVSHOOT 35 XPDR_VALID 0

D_BOOST 50 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 2 FILEMGR 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -0.67000002

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 2000 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 101

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 131

T_DIVE 83 CALL_TRIES 5 VBD_TIMEOUT 360 DEVICE4 150

T_MISSION 100 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 225 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 60 T_GPS 5 UNCOM_BLEED 20 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 -433.5159 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 100 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 183 MINV_24V 19 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3870 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2803 FG_AHR_10V 0 SEABIRD_T_G 0.0044059665

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00063814322

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.5834664e-05

RHO 1.023 P_OVSHOOT 0.039999999 PRESSURE_YINT -62.665058 SEABIRD_T_J 3.1443233e-06

MASS 53651 PITCH_GAIN 20 PRESSURE_SLOPE 0.0001166174 SEABIRD_C_G -9.841713

MASS_COMP 0 PITCH_TIMEOUT 18 AD7714Ch0Gain 128 SEABIRD_C_H 1.1572895

NAV_MODE 1 PITCH_AD_RATE 165 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0012496368

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.0001680319

KALMAN_USE 1 PITCH_ADJ_GAIN 0 COMPASS_USE 0

HD_A 0.003 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 177 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 220

AH0_10V 100 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 165 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 20 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 20 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 100 FERRY_MAX 45 PITCH_MAX 3870 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MIN 183 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 0.0012300001 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 83

CALL_NDIVES 1 HD_A 0.003 PRESSURE_SLOPE 0.0001166174 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -62.665058 T_GPS 5

CALL_WAIT 60 HD_C 1.6100001e-05 PROTOCOL 9 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -433.5159

CAPUPLOAD 1 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 100

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 60

COMPASS2_DEVICE -1 ID 213 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_YINT -0.67000002 RHO 1.023 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2803 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 20

C_ROLL_CLIMB 2276 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2276 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 2000 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3769 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 53651 ROLL_MAXERRORS 1 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 177 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 101 MINV_10V 8 R_PORT_OVSHOOT 36 VBD_MAXERRORS 1

DEVICE3 131 MINV_24V 19 R_STBD_OVSHOOT 35 VBD_MIN 500

DEVICE4 150 MISSION 2 SEABIRD_C_G -9.841713 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1572895 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0012496368 VBD_TIMEOUT 360

DIVE 17 NOCOMM_ACTION 0 SEABIRD_C_J 0.0001680319 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0044059665 XPDR_DEVICE 24

D_BOOST 50 N_FILEKB 4 SEABIRD_T_H 0.00063814322 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.5834664e-05 XPDR_VALID 0

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 3.1443233e-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 050314,105300,4742.945,-12224.852,12,1.0,12,16.3 TGT_NAME SW

_CALLS 1 TGT_LATLONG 4742.700,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.190,0.126

_SM_DEPTHo 1.47 KALMAN_X -3143.9,1066.1,865.3,1357.2,-953.7

_SM_ANGLEo -69.2 KALMAN_Y -2559.4,767.1,1052.1,-385.2,-1104.3

GPS2 050314,105830,4742.892,-12224.951,11,1.0,11,16.3 MHEAD_RNG_PITCHd_Wd 40.3,402,-12.6,-7.229,-17.58,3010

SPEED_LIMITS 0.125,0.228 D_GRID 180

Post-dive calculations and measurements:

FINISH 0.3,1.005103 _24V_AH 24.6,1.138

SM_CCo 3486,24.80,0.136,0,0,1098,220.03 _10V_AH 10.3,1.059

SM_GC 2.71,7.65,2.15,24.80,0.047,0.046,0.136,177,2263,1098,-8.15,0.79,220.03,0,0,0,0,0,0,26.95,26.94,26.76 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12225.08,050314,101049 FG_AHR_10Vo 0.000

TT8_MAMPS 0.02996,0.02996 MEM 322360

HUMID 42.95 DATA_FILE_SIZE 40405,577

INTERNAL_PRESSURE 8.6077 CAP_FILE_SIZE 66262,0

TCM_TEMP 12.20 CFSIZE 1024393216,1022033920

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

ALTIM_BOTTOM_PING 140.3,54.8 GPS 050314,115904,4742.795,-12224.720,31,1.0,31,16.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 241 110.31 SBE_CT 388 23 229.07

Roll_motor 51 68 85.96 AA4330 454 8 100.42

VBD_pump_during_apogee 251 704 4362.54 WL_BB3 742 45 834.31

VBD_pump_during_surface 24 136 83.07 WL_FL3 1136 44 1235.22

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 13 8.16 nil 0 0 0.00

Iridium_during_connect 39 160 155.94 nil 0 0 0.00

Iridium_during_xfer 190 223 1044.36 nil 0 0 0.00

Transponder_ping 2 420 28.41 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 12 26 3.47

TT8 1290 15 205.52

LPSleep 367 2 8.28

TT8_Active 329 15 52.52

TT8_Sampling 1820 41 781.35

TT8_CF8 51 63 33.50

TT8_Kalman 33 67 23.21

Analog_circuits 911 16 150.20

GPS_charging 0 0 0.00

Compass 1543 7 119.11

RAFOS 0 0 0.00

Transponder 21 30 6.50

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 -0.81 -146.6 173 2261 1106 1106 0.0 0.0 0 56 0.00 0.00 -39.35 0.000 16386 0.000 0.000 174 2261 2304 2259 2350 0 0 0 0 0 0 28.83 28.83 28.83

58 -0.81 -146.6 174 2261 2259 2350 3.3 -6.2 5 83 9.38 2.15 -6.32 0.000 18948 0.242 0.068 2533 869 2598 2586 2611 0 0 0 0 0 0 26.39 26.55 26.89

102 -0.81 -146.6 2532 869 2586 2611 10.5 -12.5 11 110 0.00 2.15 0.00 0.000 1030 0.000 0.050 2533 2274 2599 2587 2611 0 0 0 0 0 0 28.83 26.63 28.83

181 -0.81 -146.6 2532 2274 2586 2612 19.4 -11.3 24 189 0.00 2.17 0.00 0.000 260 0.000 0.062 2533 3681 2599 2587 2611 0 0 0 0 0 0 28.83 26.65 28.83

221 -0.81 -146.6 2533 3681 2587 2612 24.0 -11.8 30 230 0.00 2.12 0.00 0.000 1030 0.000 0.043 2533 2268 2599 2587 2612 0 0 0 0 0 0 28.83 26.70 28.83

300 -0.81 -146.6 2532 2269 2587 2612 33.5 -11.9 43 308 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2269 2599 2587 2611 0 0 0 0 0 0 28.83 28.83 28.83

376 -0.81 -146.6 2532 2268 2586 2612 43.1 -12.0 56 385 0.00 2.12 0.00 0.000 516 0.000 0.054 2533 873 2599 2587 2611 0 0 0 0 0 0 28.83 26.74 28.83

410 -0.81 -146.6 2532 873 2587 2612 47.0 -13.3 61 416 0.00 2.10 0.00 0.000 1030 0.000 0.048 2533 2289 2599 2587 2611 0 0 0 0 0 0 28.83 26.79 28.83

553 -0.81 -146.6 2532 2290 2587 2612 64.1 -12.4 86 561 0.00 2.15 0.00 0.000 260 0.000 0.061 2532 3693 2599 2587 2612 0 0 0 0 0 0 28.83 26.82 28.83

647 -0.81 -146.6 2532 3692 2587 2612 75.9 -11.4 102 656 0.00 2.12 0.00 0.000 1030 0.000 0.043 2532 2269 2599 2587 2612 0 0 0 0 0 0 28.83 26.86 28.83

794 -0.81 -146.6 2532 2270 2587 2611 92.2 -10.9 127 801 0.00 2.08 0.00 0.000 516 0.000 0.054 2533 870 2599 2587 2612 0 0 0 0 0 0 28.83 26.87 28.83

843 -0.81 -146.6 2533 870 2587 2611 97.9 -11.7 135 850 0.00 2.08 0.00 0.000 1030 0.000 0.048 2532 2279 2599 2587 2611 0 0 0 0 0 0 28.83 26.92 28.83

986 -0.81 -146.6 2532 2280 2587 2611 113.8 -10.9 160 995 0.00 2.12 0.00 0.000 260 0.000 0.062 2533 3673 2598 2586 2611 0 0 0 0 0 0 28.83 26.93 28.83

1091 -0.81 -146.6 2532 3674 2586 2612 124.6 -9.8 178 1100 0.00 2.08 0.00 0.000 1030 0.000 0.042 2532 2270 2599 2587 2612 0 0 0 0 0 0 28.83 26.97 28.83

1242 -0.81 -146.6 2532 2270 2587 2612 138.9 -9.6 203 1248 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2270 2599 2587 2611 0 0 0 0 0 0 28.83 28.83 28.83

1388 -0.81 -146.6 2532 2270 2587 2612 153.3 -9.7 228 1395 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2270 2599 2587 2611 0 0 0 0 0 0 28.83 28.83 28.83

1534 -0.81 -146.6 2533 2270 2588 2611 167.4 -9.6 253 1540 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2270 2599 2588 2611 0 0 0 0 0 0 28.83 28.83 28.83

1607 end dive: BOTTOM_OBSTACLE_DETECTED

state 1607 begin apogee

1610 -0.25 0.0 2532 2270 2587 2611 175.5 -10.6 266 1754 0.52 0.00 133.02 0.705 10246 0.122 0.000 2714 2270 2003 2022 1984 0 0 0 0 1 0 26.96 28.83 24.65

1755 end apogee: CONTROL_FINISHED_OK

state 1755 begin climb

1756 0.81 146.6 2713 2270 2026 1989 180.7 0.0 288 1882 1.00 2.30 118.68 0.550 10756 0.074 0.056 3059 884 1392 1429 1356 0 0 0 0 0 0 25.43 25.30 24.91

1919 0.81 146.6 3059 883 1422 1350 170.2 11.1 313 1925 0.00 2.17 0.00 0.000 1030 0.000 0.047 3059 2285 1386 1422 1350 0 0 0 0 0 0 28.83 25.69 28.83

2063 0.81 146.6 3058 2285 1419 1348 153.0 12.0 338 2070 0.00 0.00 0.00 0.000 6 0.000 0.000 3059 2285 1384 1420 1348 0 0 0 0 0 0 28.83 28.83 28.83

2209 0.81 146.6 3059 2285 1418 1348 135.7 11.7 363 2215 0.00 0.00 0.00 0.000 6 0.000 0.000 3059 2285 1383 1418 1348 0 0 0 0 0 0 28.83 28.83 28.83

2351 0.81 146.6 3058 2285 1417 1348 118.7 11.4 388 2359 0.00 0.00 0.00 0.000 6 0.000 0.000 3058 2285 1382 1417 1348 0 0 0 0 0 0 28.83 28.83 28.83

2498 0.81 146.6 3058 2285 1416 1348 103.5 10.7 413 2504 0.00 2.12 0.00 0.000 260 0.000 0.060 3059 3686 1382 1417 1348 0 0 0 0 0 0 28.83 26.63 28.83

2573 0.81 146.6 3058 3686 1416 1348 94.2 12.5 426 2581 0.00 2.12 0.00 0.000 1030 0.000 0.046 3059 2284 1382 1416 1348 0 0 0 0 0 0 28.83 26.67 28.83

2721 0.81 146.6 3058 2284 1415 1348 77.7 10.8 451 2727 0.00 2.15 0.00 0.000 516 0.000 0.059 3059 865 1382 1416 1348 0 0 0 0 0 0 28.83 26.72 28.83

2967 0.81 146.6 3059 865 1414 1348 51.7 10.8 494 2975 0.00 2.15 0.00 0.000 1030 0.000 0.048 3058 2287 1381 1415 1348 0 0 0 0 0 0 28.83 26.86 28.83

3114 0.81 146.6 3059 2287 1414 1348 38.1 9.6 519 3123 0.00 2.15 0.00 0.000 260 0.000 0.060 3058 3687 1380 1414 1347 0 0 0 0 0 0 28.83 26.87 28.83

3176 0.81 146.6 3059 3687 1414 1348 31.4 11.6 529 3184 0.00 2.12 0.00 0.000 1030 0.000 0.047 3059 2274 1381 1414 1348 0 0 0 0 0 0 28.83 26.89 28.83

3255 0.81 146.6 3059 2274 1415 1347 23.0 11.2 542 3264 0.00 2.15 0.00 0.000 516 0.000 0.059 3059 872 1381 1414 1348 0 0 0 0 0 0 28.83 26.89 28.83

3306 0.81 146.6 3058 872 1414 1348 17.2 11.9 550 3314 0.00 2.12 0.00 0.000 1030 0.000 0.048 3059 2282 1380 1414 1347 0 0 0 0 0 0 28.83 26.93 28.83

3385 0.81 146.6 3058 2282 1414 1348 8.9 10.1 563 3393 0.00 2.15 0.00 0.000 260 0.000 0.060 3059 3686 1381 1414 1348 0 0 0 0 0 0 28.83 26.93 28.83

3451 end climb: SURFACE_DEPTH_REACHED

state 3451 begin surface coast

3470 end surface coast: CONTROL_FINISHED_OK

state 3470 begin surface

ID	213	HD_C	1.6100001e-05	ROLL_MAX	3769	ALTIM_BOTTOM_TURN_MARGIN	20
MISSION	2	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	17	ESCAPE_HEADING	0	C_ROLL_DIVE	2276	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2276	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	36	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	220	R_STBD_OVSHOOT	35	XPDR_VALID	0
D_BOOST	50	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	2	FILEMGR	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.67000002
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	2000	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	101
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	131
T_DIVE	83	CALL_TRIES	5	VBD_TIMEOUT	360	DEVICE4	150
T_MISSION	100	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	225	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	60	T_GPS	5	UNCOM_BLEED	20	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	-433.5159	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	100	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	183	MINV_24V	19	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3870	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2803	FG_AHR_10V	0	SEABIRD_T_G	0.0044059665
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00063814322
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.5834664e-05
RHO	1.023	P_OVSHOOT	0.039999999	PRESSURE_YINT	-62.665058	SEABIRD_T_J	3.1443233e-06
MASS	53651	PITCH_GAIN	20	PRESSURE_SLOPE	0.0001166174	SEABIRD_C_G	-9.841713
MASS_COMP	0	PITCH_TIMEOUT	18	AD7714Ch0Gain	128	SEABIRD_C_H	1.1572895
NAV_MODE	1	PITCH_AD_RATE	165	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0012496368
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.0001680319
KALMAN_USE	1	PITCH_ADJ_GAIN	0	COMPASS_USE	0
HD_A	0.003	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	177	ALTIM_TOP_PING_RANGE	0

GPS1	050314,105300,4742.945,-12224.852,12,1.0,12,16.3	TGT_NAME	SW
_CALLS	1	TGT_LATLONG	4742.700,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.190,0.126
_SM_DEPTHo	1.47	KALMAN_X	-3143.9,1066.1,865.3,1357.2,-953.7
_SM_ANGLEo	-69.2	KALMAN_Y	-2559.4,767.1,1052.1,-385.2,-1104.3
GPS2	050314,105830,4742.892,-12224.951,11,1.0,11,16.3	MHEAD_RNG_PITCHd_Wd	40.3,402,-12.6,-7.229,-17.58,3010
SPEED_LIMITS	0.125,0.228	D_GRID	180

FINISH	0.3,1.005103	_24V_AH	24.6,1.138
SM_CCo	3486,24.80,0.136,0,0,1098,220.03	_10V_AH	10.3,1.059
SM_GC	2.71,7.65,2.15,24.80,0.047,0.046,0.136,177,2263,1098,-8.15,0.79,220.03,0,0,0,0,0,0,26.95,26.94,26.76	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12225.08,050314,101049	FG_AHR_10Vo	0.000
TT8_MAMPS	0.02996,0.02996	MEM	322360
HUMID	42.95	DATA_FILE_SIZE	40405,577
INTERNAL_PRESSURE	8.6077	CAP_FILE_SIZE	66262,0
TCM_TEMP	12.20	CFSIZE	1024393216,1022033920
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
ALTIM_BOTTOM_PING	140.3,54.8	GPS	050314,115904,4742.795,-12224.720,31,1.0,31,16.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	241	110.31	SBE_CT	388	23	229.07
Roll_motor	51	68	85.96	AA4330	454	8	100.42
VBD_pump_during_apogee	251	704	4362.54	WL_BB3	742	45	834.31
VBD_pump_during_surface	24	136	83.07	WL_FL3	1136	44	1235.22
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	13	8.16	nil	0	0	0.00
Iridium_during_connect	39	160	155.94	nil	0	0	0.00
Iridium_during_xfer	190	223	1044.36	nil	0	0	0.00
Transponder_ping	2	420	28.41	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	12	26	3.47
TT8	1290	15	205.52
LPSleep	367	2	8.28
TT8_Active	329	15	52.52
TT8_Sampling	1820	41	781.35
TT8_CF8	51	63	33.50
TT8_Kalman	33	67	23.21
Analog_circuits	911	16	150.20
GPS_charging	0	0	0.00
Compass	1543	7	119.11
RAFOS	0	0	0.00
Transponder	21	30	6.50

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	-0.81	-146.6	173	2261	1106	1106	0.0	0.0	0	56	0.00	0.00	-39.35	0.000	16386	0.000	0.000	174	2261	2304	2259	2350	0	0	0	0	0	0	28.83	28.83	28.83
58	-0.81	-146.6	174	2261	2259	2350	3.3	-6.2	5	83	9.38	2.15	-6.32	0.000	18948	0.242	0.068	2533	869	2598	2586	2611	0	0	0	0	0	0	26.39	26.55	26.89
102	-0.81	-146.6	2532	869	2586	2611	10.5	-12.5	11	110	0.00	2.15	0.00	0.000	1030	0.000	0.050	2533	2274	2599	2587	2611	0	0	0	0	0	0	28.83	26.63	28.83
181	-0.81	-146.6	2532	2274	2586	2612	19.4	-11.3	24	189	0.00	2.17	0.00	0.000	260	0.000	0.062	2533	3681	2599	2587	2611	0	0	0	0	0	0	28.83	26.65	28.83
221	-0.81	-146.6	2533	3681	2587	2612	24.0	-11.8	30	230	0.00	2.12	0.00	0.000	1030	0.000	0.043	2533	2268	2599	2587	2612	0	0	0	0	0	0	28.83	26.70	28.83
300	-0.81	-146.6	2532	2269	2587	2612	33.5	-11.9	43	308	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2269	2599	2587	2611	0	0	0	0	0	0	28.83	28.83	28.83
376	-0.81	-146.6	2532	2268	2586	2612	43.1	-12.0	56	385	0.00	2.12	0.00	0.000	516	0.000	0.054	2533	873	2599	2587	2611	0	0	0	0	0	0	28.83	26.74	28.83
410	-0.81	-146.6	2532	873	2587	2612	47.0	-13.3	61	416	0.00	2.10	0.00	0.000	1030	0.000	0.048	2533	2289	2599	2587	2611	0	0	0	0	0	0	28.83	26.79	28.83
553	-0.81	-146.6	2532	2290	2587	2612	64.1	-12.4	86	561	0.00	2.15	0.00	0.000	260	0.000	0.061	2532	3693	2599	2587	2612	0	0	0	0	0	0	28.83	26.82	28.83
647	-0.81	-146.6	2532	3692	2587	2612	75.9	-11.4	102	656	0.00	2.12	0.00	0.000	1030	0.000	0.043	2532	2269	2599	2587	2612	0	0	0	0	0	0	28.83	26.86	28.83
794	-0.81	-146.6	2532	2270	2587	2611	92.2	-10.9	127	801	0.00	2.08	0.00	0.000	516	0.000	0.054	2533	870	2599	2587	2612	0	0	0	0	0	0	28.83	26.87	28.83
843	-0.81	-146.6	2533	870	2587	2611	97.9	-11.7	135	850	0.00	2.08	0.00	0.000	1030	0.000	0.048	2532	2279	2599	2587	2611	0	0	0	0	0	0	28.83	26.92	28.83
986	-0.81	-146.6	2532	2280	2587	2611	113.8	-10.9	160	995	0.00	2.12	0.00	0.000	260	0.000	0.062	2533	3673	2598	2586	2611	0	0	0	0	0	0	28.83	26.93	28.83
1091	-0.81	-146.6	2532	3674	2586	2612	124.6	-9.8	178	1100	0.00	2.08	0.00	0.000	1030	0.000	0.042	2532	2270	2599	2587	2612	0	0	0	0	0	0	28.83	26.97	28.83
1242	-0.81	-146.6	2532	2270	2587	2612	138.9	-9.6	203	1248	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2270	2599	2587	2611	0	0	0	0	0	0	28.83	28.83	28.83
1388	-0.81	-146.6	2532	2270	2587	2612	153.3	-9.7	228	1395	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2270	2599	2587	2611	0	0	0	0	0	0	28.83	28.83	28.83
1534	-0.81	-146.6	2533	2270	2588	2611	167.4	-9.6	253	1540	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2270	2599	2588	2611	0	0	0	0	0	0	28.83	28.83	28.83
1607	end dive: BOTTOM_OBSTACLE_DETECTED
state	1607	begin apogee
1610	-0.25	0.0	2532	2270	2587	2611	175.5	-10.6	266	1754	0.52	0.00	133.02	0.705	10246	0.122	0.000	2714	2270	2003	2022	1984	0	0	0	0	1	0	26.96	28.83	24.65
1755	end apogee: CONTROL_FINISHED_OK
state	1755	begin climb
1756	0.81	146.6	2713	2270	2026	1989	180.7	0.0	288	1882	1.00	2.30	118.68	0.550	10756	0.074	0.056	3059	884	1392	1429	1356	0	0	0	0	0	0	25.43	25.30	24.91
1919	0.81	146.6	3059	883	1422	1350	170.2	11.1	313	1925	0.00	2.17	0.00	0.000	1030	0.000	0.047	3059	2285	1386	1422	1350	0	0	0	0	0	0	28.83	25.69	28.83
2063	0.81	146.6	3058	2285	1419	1348	153.0	12.0	338	2070	0.00	0.00	0.00	0.000	6	0.000	0.000	3059	2285	1384	1420	1348	0	0	0	0	0	0	28.83	28.83	28.83
2209	0.81	146.6	3059	2285	1418	1348	135.7	11.7	363	2215	0.00	0.00	0.00	0.000	6	0.000	0.000	3059	2285	1383	1418	1348	0	0	0	0	0	0	28.83	28.83	28.83
2351	0.81	146.6	3058	2285	1417	1348	118.7	11.4	388	2359	0.00	0.00	0.00	0.000	6	0.000	0.000	3058	2285	1382	1417	1348	0	0	0	0	0	0	28.83	28.83	28.83
2498	0.81	146.6	3058	2285	1416	1348	103.5	10.7	413	2504	0.00	2.12	0.00	0.000	260	0.000	0.060	3059	3686	1382	1417	1348	0	0	0	0	0	0	28.83	26.63	28.83
2573	0.81	146.6	3058	3686	1416	1348	94.2	12.5	426	2581	0.00	2.12	0.00	0.000	1030	0.000	0.046	3059	2284	1382	1416	1348	0	0	0	0	0	0	28.83	26.67	28.83
2721	0.81	146.6	3058	2284	1415	1348	77.7	10.8	451	2727	0.00	2.15	0.00	0.000	516	0.000	0.059	3059	865	1382	1416	1348	0	0	0	0	0	0	28.83	26.72	28.83
2967	0.81	146.6	3059	865	1414	1348	51.7	10.8	494	2975	0.00	2.15	0.00	0.000	1030	0.000	0.048	3058	2287	1381	1415	1348	0	0	0	0	0	0	28.83	26.86	28.83
3114	0.81	146.6	3059	2287	1414	1348	38.1	9.6	519	3123	0.00	2.15	0.00	0.000	260	0.000	0.060	3058	3687	1380	1414	1347	0	0	0	0	0	0	28.83	26.87	28.83
3176	0.81	146.6	3059	3687	1414	1348	31.4	11.6	529	3184	0.00	2.12	0.00	0.000	1030	0.000	0.047	3059	2274	1381	1414	1348	0	0	0	0	0	0	28.83	26.89	28.83
3255	0.81	146.6	3059	2274	1415	1347	23.0	11.2	542	3264	0.00	2.15	0.00	0.000	516	0.000	0.059	3059	872	1381	1414	1348	0	0	0	0	0	0	28.83	26.89	28.83
3306	0.81	146.6	3058	872	1414	1348	17.2	11.9	550	3314	0.00	2.12	0.00	0.000	1030	0.000	0.048	3059	2282	1380	1414	1347	0	0	0	0	0	0	28.83	26.93	28.83
3385	0.81	146.6	3058	2282	1414	1348	8.9	10.1	563	3393	0.00	2.15	0.00	0.000	260	0.000	0.060	3059	3686	1381	1414	1348	0	0	0	0	0	0	28.83	26.93	28.83
3451	end climb: SURFACE_DEPTH_REACHED
state	3451	begin surface coast
3470	end surface coast: CONTROL_FINISHED_OK
state	3470	begin surface