Glider dive log

Shilshole 12Mar14 * SG216 * Dive index * Mission links * Dive 18 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 216 HD_C 9.9999997e-06 ROLL_MAX 3798 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 1 HEADING -1 ROLL_DEG 30 ALTIM_TOP_TURN_MARGIN 0

DIVE 18 ESCAPE_HEADING 0 C_ROLL_DIVE 2600 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2500 ALTIM_PING_DEPTH 100

D_SURF 5 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 200 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 4

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 53 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 580 R_STBD_OVSHOOT 46 XPDR_VALID 3

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 -1.7

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 3640 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 80 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 150

T_MISSION 100 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 540 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 -1848.4927 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 250 MINV_24V 19 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3894 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2930 FG_AHR_10V 0 SEABIRD_T_G 0.0044112769

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00064360519

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.7643726e-05

RHO 1.023 P_OVSHOOT 0.039999999 PRESSURE_YINT -68.664078 SEABIRD_T_J 3.499646e-06

MASS 53229 PITCH_GAIN 27 PRESSURE_SLOPE 0.0001158948 SEABIRD_C_G -9.8276262

MASS_COMP 10000 PITCH_TIMEOUT 18 AD7714Ch0Gain 128 SEABIRD_C_H 1.1381998

NAV_MODE 1 PITCH_AD_RATE 165 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.00154063

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00011825228

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 219 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 580

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 5 PITCH_AD_RATE 165 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_TGT 200 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 27 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 100 FERRY_MAX 45 PITCH_MAX 3894 TCM_ROLL_OFFSET 0

ALTIM_PULSE 4 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MIN 250 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 80

CALL_NDIVES 1 HD_A 0.0038000001 PRESSURE_SLOPE 0.0001158948 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -68.664078 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 -1848.4927

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 120

COMPASS2_DEVICE -1 ID 216 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 540

COMPASS_USE 4 INT_PRESSURE_YINT -1.7 RHO 1.023 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2930 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 2500 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2600 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 3640 LOGGERDEVICE4 -1 ROLL_DEG 30 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3798 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 53229 ROLL_MAXERRORS 2 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 10000 ROLL_MIN 219 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 101 MINV_10V 8 R_PORT_OVSHOOT 53 VBD_MAXERRORS 1

DEVICE3 131 MINV_24V 19 R_STBD_OVSHOOT 46 VBD_MIN 500

DEVICE4 150 MISSION 1 SEABIRD_C_G -9.8276262 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1381998 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.00154063 VBD_TIMEOUT 720

DIVE 18 NOCOMM_ACTION 0 SEABIRD_C_J 0.00011825228 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0044112769 XPDR_DEVICE 24

D_BOOST 100 N_FILEKB 4 SEABIRD_T_H 0.00064360519 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.7643726e-05 XPDR_VALID 3

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 3.499646e-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 130314,133557,4743.891,-12224.855,3,1.1,3,16.3 TGT_NAME SW

_CALLS 1 TGT_LATLONG 4742.700,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.080,-0.232

_SM_DEPTHo 2.12 KALMAN_X -3814.6,326.0,50.7,3465.3,-347.0

_SM_ANGLEo -72.8 KALMAN_Y -7684.3,326.0,-146.9,9799.8,-529.1

GPS2 130314,134240,4743.832,-12224.836,5,1.1,5,16.3 MHEAD_RNG_PITCHd_Wd 144.6,2097,-15.4,-8.333,-18.73,2676

SPEED_LIMITS 0.144,0.246 D_GRID 200

Post-dive calculations and measurements:

SM_CCo 3972,175.12,0.138,0,0,497,770.24 _10V_AH 10.3,1.434

SM_GC 1.75,7.72,1.77,0.00,0.048,0.045,0.000,241,2608,495,-8.34,-0.82,771.47,0,0,0,0,0,0,26.34,26.34,28.83 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12223.37,130314,131358 FG_AHR_10Vo 0.000

TT8_MAMPS 0.029211,0.029211 MEM 322364

HUMID 40.66 DATA_FILE_SIZE 54029,661

INTERNAL_PRESSURE 8.69102 CAP_FILE_SIZE 76092,0

TCM_TEMP 11.20 CFSIZE 1024409600,1021591552

XPDR_PINGS 18 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

ALTIM_BOTTOM_PING 120.6,72.2 GPS 130314,145507,4743.646,-12224.640,3,1.7,3,16.3

_24V_AH 24.8,1.134

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 256 121.55 SBE_CT 446 23 256.83

Roll_motor 44 120 131.28 AA4330 547 9 132.14

VBD_pump_during_apogee 244 553 3350.66 WL_BB3 886 48 1069.76

VBD_pump_during_surface 175 137 598.04 WL_FL3 1358 44 1488.49

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 12 8.30 nil 0 0 0.00

Iridium_during_connect 41 160 164.02 nil 0 0 0.00

Iridium_during_xfer 255 223 1414.58 nil 0 0 0.00

Transponder_ping 6 420 62.50 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 8 27 2.39

TT8 1491 14 225.94

LPSleep 477 2 10.78

TT8_Active 499 14 75.69

TT8_Sampling 2138 40 901.15

TT8_CF8 61 59 37.49

TT8_Kalman 33 66 22.71

Analog_circuits 1142 16 188.23

GPS_charging 0 0 0.00

Compass 1799 7 138.84

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

15 -0.63 -146.6 246 2615 1293 1248 0.0 0.0 0 78 0.00 0.00 -61.30 0.000 16386 0.000 0.000 246 2615 3090 3135 3045 0 0 0 0 0 0 28.83 28.83 28.83

81 -0.63 -146.6 246 2615 3135 3045 3.4 -2.2 8 120 10.07 1.62 -21.17 0.000 18948 0.256 0.064 2724 1553 3960 3884 4037 0 0 0 0 0 0 26.08 26.29 26.60

481 -0.63 -146.6 2724 1553 3885 4037 46.7 -12.8 76 490 0.00 1.58 0.00 0.000 1030 0.000 0.050 2716 2580 3960 3885 4036 0 0 0 0 0 0 28.83 26.54 28.83

629 -0.63 -146.6 2716 2580 3885 4037 65.0 -11.9 101 636 0.00 1.60 0.00 0.000 260 0.000 0.057 2708 3662 3961 3885 4037 0 0 0 0 0 0 28.83 26.58 28.83

746 -0.63 -146.6 2708 3662 3884 4037 79.1 -12.1 121 753 0.00 1.50 0.00 0.000 1030 0.000 0.037 2709 2595 3961 3885 4037 0 0 0 0 0 0 28.83 26.68 28.83

890 -0.63 -146.6 2708 2595 3885 4037 94.2 -9.4 146 898 0.00 1.55 0.00 0.000 516 0.000 0.047 2708 1557 3960 3885 4036 0 0 0 0 0 0 28.83 26.65 28.83

958 -0.63 -146.6 2708 1557 3885 4037 100.9 -9.9 157 964 0.00 1.55 0.00 0.000 1030 0.000 0.049 2701 2608 3961 3885 4037 0 0 0 0 0 0 28.83 26.68 28.83

1099 -0.63 -146.6 1664 2606 3883 4036 116.5 -11.0 182 1107 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2609 3961 3885 4037 0 0 0 0 0 0 28.83 28.83 28.83

1247 -0.63 -146.6 2700 2609 3885 4036 133.0 -11.4 207 1254 0.00 1.52 0.00 0.000 516 0.000 0.046 2700 1566 3961 3885 4037 0 0 0 0 0 0 28.83 26.71 28.83

1274 -0.63 -146.6 2700 1565 3885 4037 135.9 -11.3 211 1281 0.12 1.52 0.00 0.000 3078 0.177 0.049 2726 2600 3961 3885 4037 0 0 0 0 0 0 26.62 26.74 28.83

1418 -0.63 -146.6 2726 2600 3885 4037 152.2 -10.9 236 1427 0.00 1.60 0.00 0.000 260 0.000 0.059 2718 3656 3961 3885 4037 0 0 0 0 0 0 28.83 26.74 28.83

1463 -0.63 -146.6 2718 3656 3885 4037 157.2 -11.7 243 1470 0.00 1.50 0.00 0.000 1030 0.000 0.038 2718 2584 3960 3885 4036 0 0 0 0 0 0 28.83 26.82 28.83

1607 -0.63 -146.6 2718 2584 3885 4037 172.2 -10.7 268 1615 0.00 1.62 0.00 0.000 260 0.000 0.059 2710 3648 3960 3885 4036 0 0 0 0 0 0 28.83 26.79 28.83

1630 -0.63 -146.6 2710 3648 3885 4037 174.3 -10.2 271 1636 0.00 1.50 0.00 0.000 1030 0.000 0.037 2710 2575 3961 3885 4037 0 0 0 0 0 0 28.83 26.84 28.83

1667 end dive: BOTTOM_OBSTACLE_DETECTED

state 1668 begin apogee

1671 -0.19 0.0 2709 2501 3884 4037 178.4 -10.6 277 1763 0.45 0.00 83.25 0.529 10246 0.139 0.000 2862 2501 3634 3668 3600 0 0 0 0 0 0 26.68 28.83 25.48

1764 end apogee: CONTROL_FINISHED_OK

state 1764 begin climb

1765 0.63 146.6 2862 2501 3667 3598 182.6 0.0 291 1884 0.75 1.65 107.80 0.553 10756 0.096 0.047 3134 1471 3031 3088 2974 0 0 0 0 0 0 25.88 25.26 24.83

1913 0.65 191.3 3134 1471 3085 2971 177.8 6.6 314 1954 0.00 1.62 33.67 0.539 9222 0.000 0.045 3134 2496 2851 2911 2792 0 0 0 0 0 0 28.83 25.55 24.90

2092 0.65 191.3 3134 2496 2902 2788 162.5 8.9 344 2099 0.00 0.00 0.00 0.000 6 0.000 0.000 3134 2496 2844 2901 2788 0 0 0 0 0 0 28.83 28.83 28.83

2238 0.65 191.3 3133 2496 2901 2787 149.0 8.5 369 2245 0.00 1.60 0.00 0.000 260 0.000 0.057 3134 3556 2844 2901 2787 0 0 0 0 0 0 28.83 26.14 28.83

2277 0.65 191.3 3134 3556 2901 2787 145.6 9.7 375 2283 0.00 1.52 0.00 0.000 1030 0.000 0.037 3142 2493 2844 2901 2787 0 0 0 0 0 0 28.83 26.25 28.83

2420 0.65 191.3 3142 2493 2901 2788 133.0 8.9 400 2428 0.00 0.00 0.00 0.000 6 0.000 0.000 3142 2494 2844 2901 2787 0 0 0 0 0 0 28.83 28.83 28.83

2567 0.65 191.3 3142 2493 2902 2787 119.4 10.2 425 2574 0.00 1.52 0.00 0.000 516 0.000 0.051 3150 1465 2844 2901 2787 0 0 0 0 0 0 28.83 26.43 28.83

2594 0.65 191.3 3149 1465 2901 2787 116.8 9.5 429 2601 0.00 1.55 0.00 0.000 1030 0.000 0.047 3150 2508 2843 2900 2787 0 0 0 0 0 0 28.83 26.44 28.83

2738 0.65 191.3 3149 2508 2901 2787 100.7 11.3 454 2746 0.00 1.60 0.00 0.000 516 0.000 0.050 3157 1467 2844 2901 2788 0 0 0 0 0 0 28.83 26.51 28.83

2783 0.65 191.3 3156 1467 2901 2788 96.4 9.7 461 2789 0.00 1.52 0.00 0.000 1030 0.000 0.047 3156 2502 2844 2901 2787 0 0 0 0 0 0 28.83 26.53 28.83

2926 0.65 191.3 3156 2502 2901 2788 83.3 8.5 486 2934 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2502 2844 2901 2787 0 0 0 0 0 0 28.83 28.83 28.83

3073 0.65 191.3 3156 2502 2901 2787 69.3 10.6 511 3080 0.00 1.55 0.00 0.000 516 0.000 0.050 3163 1457 2844 2901 2787 0 0 0 0 0 0 28.83 26.63 28.83

3091 0.65 191.3 3163 1457 2901 2787 67.1 11.1 514 3099 0.00 1.58 0.00 0.000 1030 0.000 0.048 3159 2496 2844 2901 2787 0 0 0 0 0 0 28.83 26.63 28.83

3239 0.65 191.3 3159 2496 2900 2787 53.8 8.5 539 3245 0.00 1.58 0.00 0.000 260 0.000 0.057 3159 3565 2844 2901 2787 0 0 0 0 0 0 28.83 26.65 28.83

3436 0.65 191.3 3158 3564 2901 2788 35.1 11.4 573 3445 0.00 1.55 0.00 0.000 1030 0.000 0.037 3166 2490 2843 2900 2787 0 0 0 0 0 0 28.83 26.76 28.83

3516 0.67 243.0 3166 2490 2900 2787 29.6 6.4 586 3540 0.00 1.55 15.85 0.189 8708 0.000 0.048 3174 1462 2648 2711 2585 0 0 0 0 0 0 28.83 26.65 26.48

3565 0.67 244.9 3174 1462 2729 2586 25.5 8.3 593 3575 0.00 1.58 1.45 0.181 9222 0.000 0.047 3173 2500 2641 2706 2576 0 0 0 0 0 0 28.83 26.67 26.49

3646 0.67 244.9 3173 2501 2730 2579 17.4 11.3 606 3655 0.00 0.00 1.25 0.221 8198 0.000 0.000 3173 2500 2641 2710 2573 0 0 0 0 0 0 28.83 28.83 26.53

3725 0.67 244.9 3173 2500 2729 2576 9.0 12.1 619 3735 0.00 1.58 1.00 0.213 8708 0.000 0.049 3181 1466 2639 2706 2573 0 0 0 0 0 0 28.83 26.70 26.56

3970 end climb: NO_VERTICAL_VELOCITY

state 3970 begin surface

ID	216	HD_C	9.9999997e-06	ROLL_MAX	3798	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	1	HEADING	-1	ROLL_DEG	30	ALTIM_TOP_TURN_MARGIN	0
DIVE	18	ESCAPE_HEADING	0	C_ROLL_DIVE	2600	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2500	ALTIM_PING_DEPTH	100
D_SURF	5	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	200	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	4
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	53	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	580	R_STBD_OVSHOOT	46	XPDR_VALID	3
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	-1.7
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	3640	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	80	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	150
T_MISSION	100	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	540	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	-1848.4927	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	250	MINV_24V	19	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3894	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2930	FG_AHR_10V	0	SEABIRD_T_G	0.0044112769
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00064360519
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.7643726e-05
RHO	1.023	P_OVSHOOT	0.039999999	PRESSURE_YINT	-68.664078	SEABIRD_T_J	3.499646e-06
MASS	53229	PITCH_GAIN	27	PRESSURE_SLOPE	0.0001158948	SEABIRD_C_G	-9.8276262
MASS_COMP	10000	PITCH_TIMEOUT	18	AD7714Ch0Gain	128	SEABIRD_C_H	1.1381998
NAV_MODE	1	PITCH_AD_RATE	165	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.00154063
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00011825228
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	219	ALTIM_TOP_PING_RANGE	0

GPS1	130314,133557,4743.891,-12224.855,3,1.1,3,16.3	TGT_NAME	SW
_CALLS	1	TGT_LATLONG	4742.700,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.080,-0.232
_SM_DEPTHo	2.12	KALMAN_X	-3814.6,326.0,50.7,3465.3,-347.0
_SM_ANGLEo	-72.8	KALMAN_Y	-7684.3,326.0,-146.9,9799.8,-529.1
GPS2	130314,134240,4743.832,-12224.836,5,1.1,5,16.3	MHEAD_RNG_PITCHd_Wd	144.6,2097,-15.4,-8.333,-18.73,2676
SPEED_LIMITS	0.144,0.246	D_GRID	200

SM_CCo	3972,175.12,0.138,0,0,497,770.24	_10V_AH	10.3,1.434
SM_GC	1.75,7.72,1.77,0.00,0.048,0.045,0.000,241,2608,495,-8.34,-0.82,771.47,0,0,0,0,0,0,26.34,26.34,28.83	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12223.37,130314,131358	FG_AHR_10Vo	0.000
TT8_MAMPS	0.029211,0.029211	MEM	322364
HUMID	40.66	DATA_FILE_SIZE	54029,661
INTERNAL_PRESSURE	8.69102	CAP_FILE_SIZE	76092,0
TCM_TEMP	11.20	CFSIZE	1024409600,1021591552
XPDR_PINGS	18	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	120.6,72.2	GPS	130314,145507,4743.646,-12224.640,3,1.7,3,16.3
_24V_AH	24.8,1.134

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	256	121.55	SBE_CT	446	23	256.83
Roll_motor	44	120	131.28	AA4330	547	9	132.14
VBD_pump_during_apogee	244	553	3350.66	WL_BB3	886	48	1069.76
VBD_pump_during_surface	175	137	598.04	WL_FL3	1358	44	1488.49
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	12	8.30	nil	0	0	0.00
Iridium_during_connect	41	160	164.02	nil	0	0	0.00
Iridium_during_xfer	255	223	1414.58	nil	0	0	0.00
Transponder_ping	6	420	62.50	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	8	27	2.39
TT8	1491	14	225.94
LPSleep	477	2	10.78
TT8_Active	499	14	75.69
TT8_Sampling	2138	40	901.15
TT8_CF8	61	59	37.49
TT8_Kalman	33	66	22.71
Analog_circuits	1142	16	188.23
GPS_charging	0	0	0.00
Compass	1799	7	138.84
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
15	-0.63	-146.6	246	2615	1293	1248	0.0	0.0	0	78	0.00	0.00	-61.30	0.000	16386	0.000	0.000	246	2615	3090	3135	3045	0	0	0	0	0	0	28.83	28.83	28.83
81	-0.63	-146.6	246	2615	3135	3045	3.4	-2.2	8	120	10.07	1.62	-21.17	0.000	18948	0.256	0.064	2724	1553	3960	3884	4037	0	0	0	0	0	0	26.08	26.29	26.60
481	-0.63	-146.6	2724	1553	3885	4037	46.7	-12.8	76	490	0.00	1.58	0.00	0.000	1030	0.000	0.050	2716	2580	3960	3885	4036	0	0	0	0	0	0	28.83	26.54	28.83
629	-0.63	-146.6	2716	2580	3885	4037	65.0	-11.9	101	636	0.00	1.60	0.00	0.000	260	0.000	0.057	2708	3662	3961	3885	4037	0	0	0	0	0	0	28.83	26.58	28.83
746	-0.63	-146.6	2708	3662	3884	4037	79.1	-12.1	121	753	0.00	1.50	0.00	0.000	1030	0.000	0.037	2709	2595	3961	3885	4037	0	0	0	0	0	0	28.83	26.68	28.83
890	-0.63	-146.6	2708	2595	3885	4037	94.2	-9.4	146	898	0.00	1.55	0.00	0.000	516	0.000	0.047	2708	1557	3960	3885	4036	0	0	0	0	0	0	28.83	26.65	28.83
958	-0.63	-146.6	2708	1557	3885	4037	100.9	-9.9	157	964	0.00	1.55	0.00	0.000	1030	0.000	0.049	2701	2608	3961	3885	4037	0	0	0	0	0	0	28.83	26.68	28.83
1099	-0.63	-146.6	1664	2606	3883	4036	116.5	-11.0	182	1107	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2609	3961	3885	4037	0	0	0	0	0	0	28.83	28.83	28.83
1247	-0.63	-146.6	2700	2609	3885	4036	133.0	-11.4	207	1254	0.00	1.52	0.00	0.000	516	0.000	0.046	2700	1566	3961	3885	4037	0	0	0	0	0	0	28.83	26.71	28.83
1274	-0.63	-146.6	2700	1565	3885	4037	135.9	-11.3	211	1281	0.12	1.52	0.00	0.000	3078	0.177	0.049	2726	2600	3961	3885	4037	0	0	0	0	0	0	26.62	26.74	28.83
1418	-0.63	-146.6	2726	2600	3885	4037	152.2	-10.9	236	1427	0.00	1.60	0.00	0.000	260	0.000	0.059	2718	3656	3961	3885	4037	0	0	0	0	0	0	28.83	26.74	28.83
1463	-0.63	-146.6	2718	3656	3885	4037	157.2	-11.7	243	1470	0.00	1.50	0.00	0.000	1030	0.000	0.038	2718	2584	3960	3885	4036	0	0	0	0	0	0	28.83	26.82	28.83
1607	-0.63	-146.6	2718	2584	3885	4037	172.2	-10.7	268	1615	0.00	1.62	0.00	0.000	260	0.000	0.059	2710	3648	3960	3885	4036	0	0	0	0	0	0	28.83	26.79	28.83
1630	-0.63	-146.6	2710	3648	3885	4037	174.3	-10.2	271	1636	0.00	1.50	0.00	0.000	1030	0.000	0.037	2710	2575	3961	3885	4037	0	0	0	0	0	0	28.83	26.84	28.83
1667	end dive: BOTTOM_OBSTACLE_DETECTED
state	1668	begin apogee
1671	-0.19	0.0	2709	2501	3884	4037	178.4	-10.6	277	1763	0.45	0.00	83.25	0.529	10246	0.139	0.000	2862	2501	3634	3668	3600	0	0	0	0	0	0	26.68	28.83	25.48
1764	end apogee: CONTROL_FINISHED_OK
state	1764	begin climb
1765	0.63	146.6	2862	2501	3667	3598	182.6	0.0	291	1884	0.75	1.65	107.80	0.553	10756	0.096	0.047	3134	1471	3031	3088	2974	0	0	0	0	0	0	25.88	25.26	24.83
1913	0.65	191.3	3134	1471	3085	2971	177.8	6.6	314	1954	0.00	1.62	33.67	0.539	9222	0.000	0.045	3134	2496	2851	2911	2792	0	0	0	0	0	0	28.83	25.55	24.90
2092	0.65	191.3	3134	2496	2902	2788	162.5	8.9	344	2099	0.00	0.00	0.00	0.000	6	0.000	0.000	3134	2496	2844	2901	2788	0	0	0	0	0	0	28.83	28.83	28.83
2238	0.65	191.3	3133	2496	2901	2787	149.0	8.5	369	2245	0.00	1.60	0.00	0.000	260	0.000	0.057	3134	3556	2844	2901	2787	0	0	0	0	0	0	28.83	26.14	28.83
2277	0.65	191.3	3134	3556	2901	2787	145.6	9.7	375	2283	0.00	1.52	0.00	0.000	1030	0.000	0.037	3142	2493	2844	2901	2787	0	0	0	0	0	0	28.83	26.25	28.83
2420	0.65	191.3	3142	2493	2901	2788	133.0	8.9	400	2428	0.00	0.00	0.00	0.000	6	0.000	0.000	3142	2494	2844	2901	2787	0	0	0	0	0	0	28.83	28.83	28.83
2567	0.65	191.3	3142	2493	2902	2787	119.4	10.2	425	2574	0.00	1.52	0.00	0.000	516	0.000	0.051	3150	1465	2844	2901	2787	0	0	0	0	0	0	28.83	26.43	28.83
2594	0.65	191.3	3149	1465	2901	2787	116.8	9.5	429	2601	0.00	1.55	0.00	0.000	1030	0.000	0.047	3150	2508	2843	2900	2787	0	0	0	0	0	0	28.83	26.44	28.83
2738	0.65	191.3	3149	2508	2901	2787	100.7	11.3	454	2746	0.00	1.60	0.00	0.000	516	0.000	0.050	3157	1467	2844	2901	2788	0	0	0	0	0	0	28.83	26.51	28.83
2783	0.65	191.3	3156	1467	2901	2788	96.4	9.7	461	2789	0.00	1.52	0.00	0.000	1030	0.000	0.047	3156	2502	2844	2901	2787	0	0	0	0	0	0	28.83	26.53	28.83
2926	0.65	191.3	3156	2502	2901	2788	83.3	8.5	486	2934	0.00	0.00	0.00	0.000	6	0.000	0.000	3156	2502	2844	2901	2787	0	0	0	0	0	0	28.83	28.83	28.83
3073	0.65	191.3	3156	2502	2901	2787	69.3	10.6	511	3080	0.00	1.55	0.00	0.000	516	0.000	0.050	3163	1457	2844	2901	2787	0	0	0	0	0	0	28.83	26.63	28.83
3091	0.65	191.3	3163	1457	2901	2787	67.1	11.1	514	3099	0.00	1.58	0.00	0.000	1030	0.000	0.048	3159	2496	2844	2901	2787	0	0	0	0	0	0	28.83	26.63	28.83
3239	0.65	191.3	3159	2496	2900	2787	53.8	8.5	539	3245	0.00	1.58	0.00	0.000	260	0.000	0.057	3159	3565	2844	2901	2787	0	0	0	0	0	0	28.83	26.65	28.83
3436	0.65	191.3	3158	3564	2901	2788	35.1	11.4	573	3445	0.00	1.55	0.00	0.000	1030	0.000	0.037	3166	2490	2843	2900	2787	0	0	0	0	0	0	28.83	26.76	28.83
3516	0.67	243.0	3166	2490	2900	2787	29.6	6.4	586	3540	0.00	1.55	15.85	0.189	8708	0.000	0.048	3174	1462	2648	2711	2585	0	0	0	0	0	0	28.83	26.65	26.48
3565	0.67	244.9	3174	1462	2729	2586	25.5	8.3	593	3575	0.00	1.58	1.45	0.181	9222	0.000	0.047	3173	2500	2641	2706	2576	0	0	0	0	0	0	28.83	26.67	26.49
3646	0.67	244.9	3173	2501	2730	2579	17.4	11.3	606	3655	0.00	0.00	1.25	0.221	8198	0.000	0.000	3173	2500	2641	2710	2573	0	0	0	0	0	0	28.83	28.83	26.53
3725	0.67	244.9	3173	2500	2729	2576	9.0	12.1	619	3735	0.00	1.58	1.00	0.213	8708	0.000	0.049	3181	1466	2639	2706	2573	0	0	0	0	0	0	28.83	26.70	26.56
3970	end climb: NO_VERTICAL_VELOCITY
state	3970	begin surface