Glider dive log

Shilshole 04Mar14.01 * SG213 * Dive index * Mission links * Dive 18 * 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 18 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 34 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 220 R_STBD_OVSHOOT 34 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 -434.77133 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 -434.77133

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 34 VBD_MAXERRORS 1

DEVICE3 131 MINV_24V 19 R_STBD_OVSHOOT 34 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 18 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 050314,115904,4742.795,-12224.720,31,1.0,31,16.3 TGT_NAME SW

_CALLS 3 TGT_LATLONG 4742.700,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.179,0.141

_SM_DEPTHo 1.61 KALMAN_X -3875.7,1248.0,593.4,2291.2,-1414.1

_SM_ANGLEo -69.2 KALMAN_Y -2777.5,835.0,331.3,214.1,-1254.0

GPS2 050314,121010,4742.745,-12224.859,5,0.9,5,16.3 MHEAD_RNG_PITCHd_Wd 35.5,111,-12.6,-7.229,-17.58,3010

SPEED_LIMITS 0.125,0.228 D_GRID 180

Post-dive calculations and measurements:

FINISH 0.3,1.021914 _24V_AH 24.5,1.211

SM_CCo 3362,25.05,0.136,0,0,1100,220.03 _10V_AH 10.3,1.125

SM_GC 2.84,7.65,2.15,25.05,0.048,0.048,0.136,169,2284,1100,-8.16,-0.85,220.03,0,0,0,0,0,0,26.95,26.95,26.75 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12220.67,050314,121200 FG_AHR_10Vo 0.000

TT8_MAMPS 0.02996,0.02996 MEM 322388

HUMID 42.67 DATA_FILE_SIZE 40463,556

INTERNAL_PRESSURE 8.61747 CAP_FILE_SIZE 67890,0

TCM_TEMP 12.20 CFSIZE 1024393216,1021968384

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

ALTIM_BOTTOM_PING 140.3,55.9 GPS 050314,130813,4742.638,-12224.760,3,1.3,3,16.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 244 111.51 SBE_CT 374 23 219.84

Roll_motor 55 68 93.15 AA4330 439 8 96.86

VBD_pump_during_apogee 229 1017 5720.24 WL_BB3 718 45 804.43

VBD_pump_during_surface 25 136 83.57 WL_FL3 1099 44 1190.89

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 79 13 25.28 nil 0 0 0.00

Iridium_during_connect 154 160 604.36 nil 0 0 0.00

Iridium_during_xfer 226 223 1238.72 nil 0 0 0.00

Transponder_ping 3 420 33.44 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 26 1.58

TT8 1253 15 199.64

LPSleep 463 2 10.45

TT8_Active 317 15 50.63

TT8_Sampling 1982 41 850.76

TT8_CF8 52 63 34.56

TT8_Kalman 33 67 23.22

Analog_circuits 873 16 143.90

GPS_charging 0 0 0.00

Compass 1489 7 114.88

RAFOS 0 0 0.00

Transponder 23 30 7.40

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 -146.6 176 2264 1106 1100 0.0 0.0 0 62 0.00 0.00 -45.92 0.000 16386 0.000 0.000 177 2264 2531 2485 2577 0 0 0 0 0 0 28.83 28.83 28.83

64 -0.81 -146.6 177 2264 2485 2576 3.6 -6.1 6 82 9.43 2.17 -1.30 0.000 18692 0.244 0.069 2519 3688 2598 2568 2628 0 0 0 0 0 0 26.37 26.55 26.80

153 -0.81 -146.6 2519 3688 2575 2622 19.2 -12.7 20 161 0.00 2.15 0.00 0.000 1030 0.000 0.044 2519 2264 2599 2576 2622 0 0 0 0 0 0 28.83 26.63 28.83

233 -0.81 -146.6 2518 2264 2576 2622 28.6 -11.9 33 241 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2264 2599 2576 2622 0 0 0 0 0 0 28.83 28.83 28.83

312 -0.81 -146.6 2519 2263 2576 2622 38.4 -12.9 46 319 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2264 2599 2577 2622 0 0 0 0 0 0 28.83 28.83 28.83

390 -0.81 -146.6 2518 2264 2576 2622 48.5 -12.2 59 396 0.00 2.17 0.00 0.000 260 0.000 0.062 2519 3693 2599 2576 2622 0 0 0 0 0 0 28.83 26.74 28.83

453 -0.81 -146.6 2518 3693 2578 2619 56.6 -12.1 70 462 0.00 2.12 0.00 0.000 1030 0.000 0.044 2519 2271 2598 2578 2619 0 0 0 0 0 0 28.83 26.79 28.83

601 -0.81 -146.6 2518 2272 2578 2619 72.9 -10.5 95 607 0.00 2.08 0.00 0.000 516 0.000 0.054 2519 874 2598 2578 2619 0 0 0 0 0 0 28.83 26.82 28.83

649 -0.81 -146.6 2518 874 2578 2619 78.1 -9.9 103 655 0.00 2.08 0.00 0.000 1030 0.000 0.048 2519 2278 2598 2578 2619 0 0 0 0 0 0 28.83 26.86 28.83

792 -0.81 -146.6 2518 2278 2578 2619 93.5 -10.8 128 800 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2278 2598 2578 2619 0 0 0 0 0 0 28.83 28.83 28.83

941 -0.81 -146.6 2518 2278 2578 2619 109.3 -11.8 153 948 0.00 2.10 0.00 0.000 260 0.000 0.061 2519 3685 2598 2578 2619 0 0 0 0 0 0 28.83 26.91 28.83

1058 -0.81 -146.6 2519 3685 2579 2618 122.0 -10.9 173 1064 0.00 2.05 0.00 0.000 1030 0.000 0.043 2518 2272 2598 2579 2618 0 0 0 0 0 0 28.83 26.96 28.83

1205 -0.81 -146.6 2518 2271 2580 2618 137.5 -10.7 198 1214 0.00 2.10 0.00 0.000 516 0.000 0.054 2518 877 2599 2580 2618 0 0 0 0 0 0 28.83 26.95 28.83

1285 -0.81 -146.6 2518 876 2578 2618 147.0 -13.0 211 1291 0.00 2.08 0.00 0.000 1030 0.000 0.049 2519 2287 2598 2579 2618 0 0 0 0 0 0 28.83 26.99 28.83

1429 -0.81 -146.6 2518 2288 2580 2618 163.9 -11.0 236 1437 0.00 2.12 0.00 0.000 260 0.000 0.063 2519 3683 2598 2579 2618 0 0 0 0 0 0 28.83 27.01 28.83

1485 -0.81 -146.6 2518 3683 2580 2618 169.8 -10.9 245 1491 0.00 2.05 0.00 0.000 1030 0.000 0.044 2519 2269 2598 2579 2618 0 0 0 0 0 0 28.83 27.01 28.83

1547 end dive: BOTTOM_OBSTACLE_DETECTED

state 1547 begin apogee

1550 -0.25 0.0 2519 2270 2580 2618 176.6 -9.8 256 1675 0.57 0.00 111.38 1.017 10246 0.123 0.000 2715 2269 2006 2024 1988 0 0 0 0 1 0 26.94 28.83 24.49

1676 end apogee: CONTROL_FINISHED_OK

state 1676 begin climb

1677 0.81 146.6 2715 2269 2026 1990 180.9 0.0 275 1800 1.00 0.00 118.10 0.552 10502 0.073 0.000 3059 2269 1399 1437 1362 0 0 0 0 0 0 25.29 28.83 24.89

1937 0.81 146.6 3058 2269 1423 1349 160.5 11.6 318 1945 0.00 2.25 0.00 0.000 260 0.000 0.060 3058 3681 1385 1422 1349 0 0 0 0 0 0 28.83 26.03 28.83

1974 0.81 146.6 3058 3680 1422 1349 155.9 13.0 324 1982 0.00 2.15 0.00 0.000 1030 0.000 0.044 3059 2289 1385 1421 1349 0 0 0 0 0 0 28.83 26.13 28.83

2122 0.81 146.6 3058 2289 1421 1348 139.4 11.9 349 2128 0.00 2.17 0.00 0.000 516 0.000 0.057 3059 869 1384 1420 1349 0 0 0 0 0 0 28.83 26.34 28.83

2285 0.81 146.6 3058 870 1419 1349 122.5 11.7 377 2291 0.00 2.10 0.00 0.000 1030 0.000 0.047 3059 2279 1383 1419 1348 0 0 0 0 0 0 28.83 26.55 28.83

2429 0.81 146.6 3058 2279 1419 1349 105.4 11.0 402 2437 0.00 2.17 0.00 0.000 260 0.000 0.060 3059 3682 1383 1418 1348 0 0 0 0 0 0 28.83 26.63 28.83

2496 0.81 146.6 3059 3682 1417 1348 96.4 13.5 413 2503 0.00 2.08 0.00 0.000 1030 0.000 0.044 3058 2272 1383 1418 1348 0 0 0 0 0 0 28.83 26.67 28.83

2640 0.81 146.6 3058 2270 1416 1348 77.2 13.3 438 2648 0.00 2.17 0.00 0.000 260 0.000 0.059 3059 3678 1383 1418 1348 0 0 0 0 0 0 28.83 26.74 28.83

2684 0.81 146.6 3058 3678 1417 1349 71.3 14.1 445 2691 0.00 2.08 0.00 0.000 1030 0.000 0.044 3059 2270 1383 1418 1348 0 0 0 0 0 0 28.83 26.76 28.83

2828 0.81 146.6 3059 2269 1417 1348 52.3 11.9 470 2837 0.00 2.15 0.00 0.000 516 0.000 0.057 3059 872 1382 1417 1348 0 0 0 0 0 0 28.83 26.77 28.83

2953 0.81 146.6 3058 872 1417 1348 40.9 8.0 491 2959 0.00 2.08 0.00 0.000 1030 0.000 0.047 3059 2281 1382 1416 1348 0 0 0 0 0 0 28.83 26.86 28.83

3098 0.81 146.6 3058 2281 1417 1348 27.0 10.5 516 3106 0.00 0.00 0.00 0.000 6 0.000 0.000 3059 2281 1382 1416 1348 0 0 0 0 0 0 28.83 28.83 28.83

3176 0.81 146.6 3059 2281 1416 1348 18.5 11.1 529 3185 0.00 2.15 0.00 0.000 260 0.000 0.060 3059 3684 1382 1417 1348 0 0 0 0 0 0 28.83 26.89 28.83

3233 0.81 146.6 3059 3683 1416 1348 11.7 12.4 538 3241 0.00 2.10 0.00 0.000 1030 0.000 0.044 3059 2278 1382 1417 1348 0 0 0 0 0 0 28.83 26.91 28.83

3312 0.81 146.6 3058 2278 1416 1348 3.5 10.5 551 3320 0.00 2.15 0.00 0.000 516 0.000 0.057 3059 873 1382 1416 1348 0 0 0 0 0 0 28.83 26.91 28.83

3327 end climb: SURFACE_DEPTH_REACHED

state 3327 begin surface coast

3346 end surface coast: CONTROL_FINISHED_OK

state 3346 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	18	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	34	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	220	R_STBD_OVSHOOT	34	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	-434.77133	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	050314,115904,4742.795,-12224.720,31,1.0,31,16.3	TGT_NAME	SW
_CALLS	3	TGT_LATLONG	4742.700,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.179,0.141
_SM_DEPTHo	1.61	KALMAN_X	-3875.7,1248.0,593.4,2291.2,-1414.1
_SM_ANGLEo	-69.2	KALMAN_Y	-2777.5,835.0,331.3,214.1,-1254.0
GPS2	050314,121010,4742.745,-12224.859,5,0.9,5,16.3	MHEAD_RNG_PITCHd_Wd	35.5,111,-12.6,-7.229,-17.58,3010
SPEED_LIMITS	0.125,0.228	D_GRID	180

FINISH	0.3,1.021914	_24V_AH	24.5,1.211
SM_CCo	3362,25.05,0.136,0,0,1100,220.03	_10V_AH	10.3,1.125
SM_GC	2.84,7.65,2.15,25.05,0.048,0.048,0.136,169,2284,1100,-8.16,-0.85,220.03,0,0,0,0,0,0,26.95,26.95,26.75	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12220.67,050314,121200	FG_AHR_10Vo	0.000
TT8_MAMPS	0.02996,0.02996	MEM	322388
HUMID	42.67	DATA_FILE_SIZE	40463,556
INTERNAL_PRESSURE	8.61747	CAP_FILE_SIZE	67890,0
TCM_TEMP	12.20	CFSIZE	1024393216,1021968384
XPDR_PINGS	1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
ALTIM_BOTTOM_PING	140.3,55.9	GPS	050314,130813,4742.638,-12224.760,3,1.3,3,16.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	244	111.51	SBE_CT	374	23	219.84
Roll_motor	55	68	93.15	AA4330	439	8	96.86
VBD_pump_during_apogee	229	1017	5720.24	WL_BB3	718	45	804.43
VBD_pump_during_surface	25	136	83.57	WL_FL3	1099	44	1190.89
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	79	13	25.28	nil	0	0	0.00
Iridium_during_connect	154	160	604.36	nil	0	0	0.00
Iridium_during_xfer	226	223	1238.72	nil	0	0	0.00
Transponder_ping	3	420	33.44	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	26	1.58
TT8	1253	15	199.64
LPSleep	463	2	10.45
TT8_Active	317	15	50.63
TT8_Sampling	1982	41	850.76
TT8_CF8	52	63	34.56
TT8_Kalman	33	67	23.22
Analog_circuits	873	16	143.90
GPS_charging	0	0	0.00
Compass	1489	7	114.88
RAFOS	0	0	0.00
Transponder	23	30	7.40

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	176	2264	1106	1100	0.0	0.0	0	62	0.00	0.00	-45.92	0.000	16386	0.000	0.000	177	2264	2531	2485	2577	0	0	0	0	0	0	28.83	28.83	28.83
64	-0.81	-146.6	177	2264	2485	2576	3.6	-6.1	6	82	9.43	2.17	-1.30	0.000	18692	0.244	0.069	2519	3688	2598	2568	2628	0	0	0	0	0	0	26.37	26.55	26.80
153	-0.81	-146.6	2519	3688	2575	2622	19.2	-12.7	20	161	0.00	2.15	0.00	0.000	1030	0.000	0.044	2519	2264	2599	2576	2622	0	0	0	0	0	0	28.83	26.63	28.83
233	-0.81	-146.6	2518	2264	2576	2622	28.6	-11.9	33	241	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2264	2599	2576	2622	0	0	0	0	0	0	28.83	28.83	28.83
312	-0.81	-146.6	2519	2263	2576	2622	38.4	-12.9	46	319	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2264	2599	2577	2622	0	0	0	0	0	0	28.83	28.83	28.83
390	-0.81	-146.6	2518	2264	2576	2622	48.5	-12.2	59	396	0.00	2.17	0.00	0.000	260	0.000	0.062	2519	3693	2599	2576	2622	0	0	0	0	0	0	28.83	26.74	28.83
453	-0.81	-146.6	2518	3693	2578	2619	56.6	-12.1	70	462	0.00	2.12	0.00	0.000	1030	0.000	0.044	2519	2271	2598	2578	2619	0	0	0	0	0	0	28.83	26.79	28.83
601	-0.81	-146.6	2518	2272	2578	2619	72.9	-10.5	95	607	0.00	2.08	0.00	0.000	516	0.000	0.054	2519	874	2598	2578	2619	0	0	0	0	0	0	28.83	26.82	28.83
649	-0.81	-146.6	2518	874	2578	2619	78.1	-9.9	103	655	0.00	2.08	0.00	0.000	1030	0.000	0.048	2519	2278	2598	2578	2619	0	0	0	0	0	0	28.83	26.86	28.83
792	-0.81	-146.6	2518	2278	2578	2619	93.5	-10.8	128	800	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2278	2598	2578	2619	0	0	0	0	0	0	28.83	28.83	28.83
941	-0.81	-146.6	2518	2278	2578	2619	109.3	-11.8	153	948	0.00	2.10	0.00	0.000	260	0.000	0.061	2519	3685	2598	2578	2619	0	0	0	0	0	0	28.83	26.91	28.83
1058	-0.81	-146.6	2519	3685	2579	2618	122.0	-10.9	173	1064	0.00	2.05	0.00	0.000	1030	0.000	0.043	2518	2272	2598	2579	2618	0	0	0	0	0	0	28.83	26.96	28.83
1205	-0.81	-146.6	2518	2271	2580	2618	137.5	-10.7	198	1214	0.00	2.10	0.00	0.000	516	0.000	0.054	2518	877	2599	2580	2618	0	0	0	0	0	0	28.83	26.95	28.83
1285	-0.81	-146.6	2518	876	2578	2618	147.0	-13.0	211	1291	0.00	2.08	0.00	0.000	1030	0.000	0.049	2519	2287	2598	2579	2618	0	0	0	0	0	0	28.83	26.99	28.83
1429	-0.81	-146.6	2518	2288	2580	2618	163.9	-11.0	236	1437	0.00	2.12	0.00	0.000	260	0.000	0.063	2519	3683	2598	2579	2618	0	0	0	0	0	0	28.83	27.01	28.83
1485	-0.81	-146.6	2518	3683	2580	2618	169.8	-10.9	245	1491	0.00	2.05	0.00	0.000	1030	0.000	0.044	2519	2269	2598	2579	2618	0	0	0	0	0	0	28.83	27.01	28.83
1547	end dive: BOTTOM_OBSTACLE_DETECTED
state	1547	begin apogee
1550	-0.25	0.0	2519	2270	2580	2618	176.6	-9.8	256	1675	0.57	0.00	111.38	1.017	10246	0.123	0.000	2715	2269	2006	2024	1988	0	0	0	0	1	0	26.94	28.83	24.49
1676	end apogee: CONTROL_FINISHED_OK
state	1676	begin climb
1677	0.81	146.6	2715	2269	2026	1990	180.9	0.0	275	1800	1.00	0.00	118.10	0.552	10502	0.073	0.000	3059	2269	1399	1437	1362	0	0	0	0	0	0	25.29	28.83	24.89
1937	0.81	146.6	3058	2269	1423	1349	160.5	11.6	318	1945	0.00	2.25	0.00	0.000	260	0.000	0.060	3058	3681	1385	1422	1349	0	0	0	0	0	0	28.83	26.03	28.83
1974	0.81	146.6	3058	3680	1422	1349	155.9	13.0	324	1982	0.00	2.15	0.00	0.000	1030	0.000	0.044	3059	2289	1385	1421	1349	0	0	0	0	0	0	28.83	26.13	28.83
2122	0.81	146.6	3058	2289	1421	1348	139.4	11.9	349	2128	0.00	2.17	0.00	0.000	516	0.000	0.057	3059	869	1384	1420	1349	0	0	0	0	0	0	28.83	26.34	28.83
2285	0.81	146.6	3058	870	1419	1349	122.5	11.7	377	2291	0.00	2.10	0.00	0.000	1030	0.000	0.047	3059	2279	1383	1419	1348	0	0	0	0	0	0	28.83	26.55	28.83
2429	0.81	146.6	3058	2279	1419	1349	105.4	11.0	402	2437	0.00	2.17	0.00	0.000	260	0.000	0.060	3059	3682	1383	1418	1348	0	0	0	0	0	0	28.83	26.63	28.83
2496	0.81	146.6	3059	3682	1417	1348	96.4	13.5	413	2503	0.00	2.08	0.00	0.000	1030	0.000	0.044	3058	2272	1383	1418	1348	0	0	0	0	0	0	28.83	26.67	28.83
2640	0.81	146.6	3058	2270	1416	1348	77.2	13.3	438	2648	0.00	2.17	0.00	0.000	260	0.000	0.059	3059	3678	1383	1418	1348	0	0	0	0	0	0	28.83	26.74	28.83
2684	0.81	146.6	3058	3678	1417	1349	71.3	14.1	445	2691	0.00	2.08	0.00	0.000	1030	0.000	0.044	3059	2270	1383	1418	1348	0	0	0	0	0	0	28.83	26.76	28.83
2828	0.81	146.6	3059	2269	1417	1348	52.3	11.9	470	2837	0.00	2.15	0.00	0.000	516	0.000	0.057	3059	872	1382	1417	1348	0	0	0	0	0	0	28.83	26.77	28.83
2953	0.81	146.6	3058	872	1417	1348	40.9	8.0	491	2959	0.00	2.08	0.00	0.000	1030	0.000	0.047	3059	2281	1382	1416	1348	0	0	0	0	0	0	28.83	26.86	28.83
3098	0.81	146.6	3058	2281	1417	1348	27.0	10.5	516	3106	0.00	0.00	0.00	0.000	6	0.000	0.000	3059	2281	1382	1416	1348	0	0	0	0	0	0	28.83	28.83	28.83
3176	0.81	146.6	3059	2281	1416	1348	18.5	11.1	529	3185	0.00	2.15	0.00	0.000	260	0.000	0.060	3059	3684	1382	1417	1348	0	0	0	0	0	0	28.83	26.89	28.83
3233	0.81	146.6	3059	3683	1416	1348	11.7	12.4	538	3241	0.00	2.10	0.00	0.000	1030	0.000	0.044	3059	2278	1382	1417	1348	0	0	0	0	0	0	28.83	26.91	28.83
3312	0.81	146.6	3058	2278	1416	1348	3.5	10.5	551	3320	0.00	2.15	0.00	0.000	516	0.000	0.057	3059	873	1382	1416	1348	0	0	0	0	0	0	28.83	26.91	28.83
3327	end climb: SURFACE_DEPTH_REACHED
state	3327	begin surface coast
3346	end surface coast: CONTROL_FINISHED_OK
state	3346	begin surface