Glider dive log

Shilshole 04Mar14.01 * SG214 * Dive index * Mission links * Dive 20 * 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 0

MISSION 1 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 20 ESCAPE_HEADING 0 C_ROLL_DIVE 2800 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2800 ALTIM_PING_DEPTH 120

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 28 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 250 R_STBD_OVSHOOT 23 XPDR_VALID 1

D_BOOST 50 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 2638 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 75 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 150

T_MISSION 90 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 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 -6 T_GPS_CHARGE -608.49554 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 2565 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 -63.143688 SEABIRD_T_J 2.8292754e-06

MASS 53556 PITCH_GAIN 20 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 250

AH0_10V 97 D_PITCH 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 180 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 20 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 120 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 0.0012300001 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 75

CALL_NDIVES 1 HD_A 0.0038000001 PRESSURE_SLOPE 0.0001163525 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -63.143688 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 -608.49554

CAPUPLOAD 1 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 90

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 2565 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 2800 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2800 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY -6

C_VBD 2638 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3849 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 53556 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 28 VBD_MAXERRORS 1

DEVICE3 131 MINV_24V 19 R_STBD_OVSHOOT 23 VBD_MIN 500

DEVICE4 150 MISSION 1 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 20 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 50 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 050314,094728,4744.042,-12225.281,97,1.5,97,16.3 TGT_NAME NW

_CALLS 2 TGT_LATLONG 4743.900,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.182,-0.160

_SM_DEPTHo 1.80 KALMAN_X 3541.2,-186.2,669.6,-5005.7,-170.3

_SM_ANGLEo -65.1 KALMAN_Y 4450.7,-2518.3,1828.2,-1866.8,369.7

GPS2 050314,095622,4744.171,-12225.544,12,1.2,12,16.3 MHEAD_RNG_PITCHd_Wd 115.1,1054,-14.9,-8.000,-18.27,2786

SPEED_LIMITS 0.139,0.242 D_GRID 253

Post-dive calculations and measurements:

FINISH 0.8,1.022056 _24V_AH 24.7,1.055

SM_CCo 3071,31.83,0.135,0,0,1614,250.21 _10V_AH 10.3,1.136

SM_GC 3.83,7.47,2.30,31.83,0.099,0.059,0.135,196,2802,1614,-7.34,-0.76,250.21,0,0,0,0,0,0,26.58,26.60,26.39 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12223.37,050314,090937 FG_AHR_10Vo 0.000

TT8_MAMPS 0.033705,0.033705 MEM 322216

HUMID 34.76 DATA_FILE_SIZE 43827,557

INTERNAL_PRESSURE 9.03049 CAP_FILE_SIZE 84473,0

TCM_TEMP 14.50 CFSIZE 1024393216,1021362176

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

ALTIM_BOTTOM_PING 160.2,83.8 GPS 050314,105121,4743.501,-12225.288,104,1.0,104,16.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 250 109.08 SBE_CT 375 23 215.55

Roll_motor 54 71 97.02 AA4330 447 9 107.57

VBD_pump_during_apogee 214 534 2834.76 WL_BB3 518 43 556.32

VBD_pump_during_surface 31 135 106.44 WL_FL3 772 44 843.04

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 52 12 15.93 nil 0 0 0.00

Iridium_during_connect 76 160 303.79 nil 0 0 0.00

Iridium_during_xfer 249 223 1373.27 nil 0 0 0.00

Transponder_ping 2 420 25.93 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 28 3.83

TT8 1272 17 232.14

LPSleep 441 2 9.95

TT8_Active 321 17 58.60

TT8_Sampling 1564 47 768.01

TT8_CF8 51 64 34.14

TT8_Kalman 33 71 24.50

Analog_circuits 836 16 137.82

GPS_charging 0 0 0.00

Compass 1146 8 97.32

RAFOS 0 0 0.00

Transponder 18 30 5.69

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 -0.92 -146.5 196 2809 1681 1559 0.0 0.0 0 65 0.00 0.00 -48.92 0.000 16386 0.000 0.000 196 2810 3062 3087 3038 0 0 0 0 0 0 28.83 28.83 28.83

68 -0.92 -146.5 196 2810 3087 3038 3.1 -3.5 6 87 8.12 2.25 -3.83 0.000 18948 0.251 0.063 2260 1380 3236 3281 3192 0 0 0 0 0 0 26.02 26.24 26.52

188 -0.92 -146.5 1328 1378 3268 3187 24.3 -16.2 27 195 0.00 2.30 0.00 0.000 1030 0.000 0.057 2251 2795 3234 3279 3190 0 0 0 0 0 0 28.83 26.28 28.83

263 -0.92 -146.5 1312 2798 3269 3186 36.9 -17.0 40 270 0.00 1.70 0.00 0.000 260 0.000 0.068 2243 3847 3237 3284 3190 0 0 0 0 0 0 28.83 26.32 28.83

314 -0.92 -146.5 2243 3846 3284 3189 45.6 -17.0 49 321 0.00 1.62 0.00 0.000 1030 0.000 0.054 2243 2801 3240 3284 3196 0 0 0 0 0 0 28.83 26.39 28.83

445 -0.92 -146.5 2243 2801 3284 3190 66.0 -16.3 74 452 0.00 2.22 0.00 0.000 516 0.000 0.054 2243 1390 3236 3284 3189 0 0 0 0 0 0 28.83 26.46 28.83

468 -0.92 -146.5 2243 1390 3284 3189 69.9 -15.9 78 476 0.08 2.28 0.00 0.000 3078 0.167 0.059 2268 2791 3236 3284 3189 0 0 0 0 0 0 26.31 26.44 28.83

601 -0.92 -146.5 2267 2791 3281 3189 88.3 -13.8 103 607 0.00 1.67 0.00 0.000 260 0.000 0.069 2260 3862 3237 3286 3188 0 0 0 0 0 0 28.83 26.45 28.83

649 -0.92 -146.5 2260 3862 3286 3189 95.3 -14.7 112 656 0.00 1.70 0.00 0.000 1030 0.000 0.055 2259 2798 3237 3285 3189 0 0 0 0 0 0 28.83 26.51 28.83

781 -0.92 -146.5 2260 2798 3286 3188 114.2 -13.9 137 787 0.00 2.17 0.00 0.000 516 0.000 0.054 2260 1384 3236 3285 3188 0 0 0 0 0 0 28.83 26.52 28.83

839 -0.92 -146.5 2260 1384 3286 3188 122.9 -14.4 148 846 0.00 2.30 0.00 0.000 1030 0.000 0.061 2251 2801 3237 3286 3188 0 0 0 0 0 0 28.83 26.51 28.83

975 -0.92 -146.5 2250 2800 3286 3188 141.9 -14.3 173 981 0.00 1.65 0.00 0.000 260 0.000 0.071 2242 3852 3236 3285 3188 0 0 0 0 0 0 28.83 26.55 28.83

1083 -0.92 -146.5 2242 3851 3286 3188 157.7 -15.0 193 1090 0.00 1.62 0.00 0.000 1030 0.000 0.054 2243 2797 3237 3286 3188 0 0 0 0 0 0 28.83 26.61 28.83

1215 -0.92 -146.5 2242 2797 3286 3188 177.6 -16.7 218 1222 0.00 0.00 0.00 0.000 6 0.000 0.000 2243 2797 3237 3286 3188 0 0 0 0 0 0 28.83 28.83 28.83

1234 end dive: TARGET_DEPTH_EXCEEDED

state 1235 begin apogee

1237 -0.25 0.0 2242 2796 3286 3188 180.8 -16.0 221 1351 0.73 0.00 106.90 0.535 10246 0.148 0.000 2484 2797 2631 2709 2553 0 0 0 0 0 0 26.50 28.83 25.11

1352 end apogee: CONTROL_FINISHED_OK

state 1352 begin climb

1353 0.92 146.5 2482 2797 2707 2549 186.6 0.0 240 1473 1.08 2.40 107.72 0.514 10756 0.094 0.059 2867 1389 2027 2135 1920 0 0 0 0 0 0 25.53 25.14 24.71

1541 0.92 146.5 2867 1390 2131 1916 174.6 10.0 273 1548 0.00 2.33 0.00 0.000 1030 0.000 0.060 2868 2795 2026 2130 1923 0 0 0 0 0 0 28.83 25.56 28.83

1674 0.92 146.5 2868 2795 2131 1914 160.6 9.4 298 1681 0.00 2.35 0.00 0.000 516 0.000 0.063 2877 1389 2023 2131 1916 0 0 0 0 0 0 28.83 25.89 28.83

1749 0.92 146.5 2878 1385 2131 1916 153.8 9.4 311 1756 0.00 2.30 0.00 0.000 1030 0.000 0.061 2878 2800 2023 2131 1916 0 0 0 0 0 0 28.83 26.00 28.83

1884 0.92 146.5 2881 2799 2130 1916 138.4 12.2 336 1894 0.00 2.33 0.00 0.000 516 0.000 0.064 2888 1394 2023 2131 1916 0 0 0 0 0 0 28.83 26.15 28.83

1946 0.92 146.5 2893 1394 2130 1916 131.3 11.2 347 1953 0.00 2.28 0.00 0.000 1030 0.000 0.060 2888 2805 2022 2130 1915 0 0 0 0 0 0 28.83 26.20 28.83

2076 0.92 146.5 2888 2806 2130 1915 115.3 12.3 372 2084 0.00 2.33 0.00 0.000 516 0.000 0.062 2899 1388 2023 2130 1916 0 0 0 0 0 0 28.83 26.29 28.83

2137 0.92 146.5 2899 1388 2130 1916 107.5 13.2 383 2144 0.12 2.28 0.00 0.000 5126 0.179 0.063 2868 2799 2023 2130 1916 0 0 0 0 0 0 26.20 26.31 28.83

2267 0.92 146.5 2868 2799 2130 1916 91.0 13.0 408 2274 0.00 2.33 0.00 0.000 516 0.000 0.065 2878 1384 2024 2130 1919 0 0 0 0 0 0 28.83 26.38 28.83

2421 0.92 146.5 2878 1384 2130 1916 71.7 12.4 437 2428 0.00 2.28 0.00 0.000 1030 0.000 0.062 2879 2806 2023 2130 1916 0 0 0 0 0 0 28.83 26.44 28.83

2556 0.92 146.5 2878 2806 2129 1916 55.0 11.8 462 2563 0.00 1.70 0.00 0.000 260 0.000 0.072 2879 3848 2023 2130 1916 0 0 0 0 0 0 28.83 26.47 28.83

2724 0.92 146.5 1824 3847 2090 1911 32.8 11.7 494 2731 0.00 1.67 0.00 0.000 1030 0.000 0.058 2888 2805 2023 2130 1916 0 0 0 0 0 0 28.83 26.55 28.83

2795 0.92 146.5 1808 2803 2090 1911 25.2 11.1 507 2801 0.00 0.00 0.00 0.000 6 0.000 0.000 2887 2805 2022 2129 1916 0 0 0 0 0 0 28.83 28.83 28.83

2863 0.92 146.5 1824 2803 2093 1911 18.1 9.7 520 2871 0.00 2.28 0.00 0.000 516 0.000 0.063 2898 1388 2022 2129 1916 0 0 0 0 0 0 28.83 26.56 28.83

3038 end climb: SURFACE_DEPTH_REACHED

state 3039 begin surface coast

3055 end surface coast: CONTROL_FINISHED_OK

state 3055 begin surface

ID	214	HD_C	9.9999997e-06	ROLL_MAX	3849	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	1	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	20	ESCAPE_HEADING	0	C_ROLL_DIVE	2800	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2800	ALTIM_PING_DEPTH	120
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	28	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	250	R_STBD_OVSHOOT	23	XPDR_VALID	1
D_BOOST	50	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	2638	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	75	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	150
T_MISSION	90	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	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	-6	T_GPS_CHARGE	-608.49554	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	2565	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	-63.143688	SEABIRD_T_J	2.8292754e-06
MASS	53556	PITCH_GAIN	20	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	050314,094728,4744.042,-12225.281,97,1.5,97,16.3	TGT_NAME	NW
_CALLS	2	TGT_LATLONG	4743.900,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.182,-0.160
_SM_DEPTHo	1.80	KALMAN_X	3541.2,-186.2,669.6,-5005.7,-170.3
_SM_ANGLEo	-65.1	KALMAN_Y	4450.7,-2518.3,1828.2,-1866.8,369.7
GPS2	050314,095622,4744.171,-12225.544,12,1.2,12,16.3	MHEAD_RNG_PITCHd_Wd	115.1,1054,-14.9,-8.000,-18.27,2786
SPEED_LIMITS	0.139,0.242	D_GRID	253

FINISH	0.8,1.022056	_24V_AH	24.7,1.055
SM_CCo	3071,31.83,0.135,0,0,1614,250.21	_10V_AH	10.3,1.136
SM_GC	3.83,7.47,2.30,31.83,0.099,0.059,0.135,196,2802,1614,-7.34,-0.76,250.21,0,0,0,0,0,0,26.58,26.60,26.39	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12223.37,050314,090937	FG_AHR_10Vo	0.000
TT8_MAMPS	0.033705,0.033705	MEM	322216
HUMID	34.76	DATA_FILE_SIZE	43827,557
INTERNAL_PRESSURE	9.03049	CAP_FILE_SIZE	84473,0
TCM_TEMP	14.50	CFSIZE	1024393216,1021362176
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	160.2,83.8	GPS	050314,105121,4743.501,-12225.288,104,1.0,104,16.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	250	109.08	SBE_CT	375	23	215.55
Roll_motor	54	71	97.02	AA4330	447	9	107.57
VBD_pump_during_apogee	214	534	2834.76	WL_BB3	518	43	556.32
VBD_pump_during_surface	31	135	106.44	WL_FL3	772	44	843.04
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	52	12	15.93	nil	0	0	0.00
Iridium_during_connect	76	160	303.79	nil	0	0	0.00
Iridium_during_xfer	249	223	1373.27	nil	0	0	0.00
Transponder_ping	2	420	25.93	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	28	3.83
TT8	1272	17	232.14
LPSleep	441	2	9.95
TT8_Active	321	17	58.60
TT8_Sampling	1564	47	768.01
TT8_CF8	51	64	34.14
TT8_Kalman	33	71	24.50
Analog_circuits	836	16	137.82
GPS_charging	0	0	0.00
Compass	1146	8	97.32
RAFOS	0	0	0.00
Transponder	18	30	5.69

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	-0.92	-146.5	196	2809	1681	1559	0.0	0.0	0	65	0.00	0.00	-48.92	0.000	16386	0.000	0.000	196	2810	3062	3087	3038	0	0	0	0	0	0	28.83	28.83	28.83
68	-0.92	-146.5	196	2810	3087	3038	3.1	-3.5	6	87	8.12	2.25	-3.83	0.000	18948	0.251	0.063	2260	1380	3236	3281	3192	0	0	0	0	0	0	26.02	26.24	26.52
188	-0.92	-146.5	1328	1378	3268	3187	24.3	-16.2	27	195	0.00	2.30	0.00	0.000	1030	0.000	0.057	2251	2795	3234	3279	3190	0	0	0	0	0	0	28.83	26.28	28.83
263	-0.92	-146.5	1312	2798	3269	3186	36.9	-17.0	40	270	0.00	1.70	0.00	0.000	260	0.000	0.068	2243	3847	3237	3284	3190	0	0	0	0	0	0	28.83	26.32	28.83
314	-0.92	-146.5	2243	3846	3284	3189	45.6	-17.0	49	321	0.00	1.62	0.00	0.000	1030	0.000	0.054	2243	2801	3240	3284	3196	0	0	0	0	0	0	28.83	26.39	28.83
445	-0.92	-146.5	2243	2801	3284	3190	66.0	-16.3	74	452	0.00	2.22	0.00	0.000	516	0.000	0.054	2243	1390	3236	3284	3189	0	0	0	0	0	0	28.83	26.46	28.83
468	-0.92	-146.5	2243	1390	3284	3189	69.9	-15.9	78	476	0.08	2.28	0.00	0.000	3078	0.167	0.059	2268	2791	3236	3284	3189	0	0	0	0	0	0	26.31	26.44	28.83
601	-0.92	-146.5	2267	2791	3281	3189	88.3	-13.8	103	607	0.00	1.67	0.00	0.000	260	0.000	0.069	2260	3862	3237	3286	3188	0	0	0	0	0	0	28.83	26.45	28.83
649	-0.92	-146.5	2260	3862	3286	3189	95.3	-14.7	112	656	0.00	1.70	0.00	0.000	1030	0.000	0.055	2259	2798	3237	3285	3189	0	0	0	0	0	0	28.83	26.51	28.83
781	-0.92	-146.5	2260	2798	3286	3188	114.2	-13.9	137	787	0.00	2.17	0.00	0.000	516	0.000	0.054	2260	1384	3236	3285	3188	0	0	0	0	0	0	28.83	26.52	28.83
839	-0.92	-146.5	2260	1384	3286	3188	122.9	-14.4	148	846	0.00	2.30	0.00	0.000	1030	0.000	0.061	2251	2801	3237	3286	3188	0	0	0	0	0	0	28.83	26.51	28.83
975	-0.92	-146.5	2250	2800	3286	3188	141.9	-14.3	173	981	0.00	1.65	0.00	0.000	260	0.000	0.071	2242	3852	3236	3285	3188	0	0	0	0	0	0	28.83	26.55	28.83
1083	-0.92	-146.5	2242	3851	3286	3188	157.7	-15.0	193	1090	0.00	1.62	0.00	0.000	1030	0.000	0.054	2243	2797	3237	3286	3188	0	0	0	0	0	0	28.83	26.61	28.83
1215	-0.92	-146.5	2242	2797	3286	3188	177.6	-16.7	218	1222	0.00	0.00	0.00	0.000	6	0.000	0.000	2243	2797	3237	3286	3188	0	0	0	0	0	0	28.83	28.83	28.83
1234	end dive: TARGET_DEPTH_EXCEEDED
state	1235	begin apogee
1237	-0.25	0.0	2242	2796	3286	3188	180.8	-16.0	221	1351	0.73	0.00	106.90	0.535	10246	0.148	0.000	2484	2797	2631	2709	2553	0	0	0	0	0	0	26.50	28.83	25.11
1352	end apogee: CONTROL_FINISHED_OK
state	1352	begin climb
1353	0.92	146.5	2482	2797	2707	2549	186.6	0.0	240	1473	1.08	2.40	107.72	0.514	10756	0.094	0.059	2867	1389	2027	2135	1920	0	0	0	0	0	0	25.53	25.14	24.71
1541	0.92	146.5	2867	1390	2131	1916	174.6	10.0	273	1548	0.00	2.33	0.00	0.000	1030	0.000	0.060	2868	2795	2026	2130	1923	0	0	0	0	0	0	28.83	25.56	28.83
1674	0.92	146.5	2868	2795	2131	1914	160.6	9.4	298	1681	0.00	2.35	0.00	0.000	516	0.000	0.063	2877	1389	2023	2131	1916	0	0	0	0	0	0	28.83	25.89	28.83
1749	0.92	146.5	2878	1385	2131	1916	153.8	9.4	311	1756	0.00	2.30	0.00	0.000	1030	0.000	0.061	2878	2800	2023	2131	1916	0	0	0	0	0	0	28.83	26.00	28.83
1884	0.92	146.5	2881	2799	2130	1916	138.4	12.2	336	1894	0.00	2.33	0.00	0.000	516	0.000	0.064	2888	1394	2023	2131	1916	0	0	0	0	0	0	28.83	26.15	28.83
1946	0.92	146.5	2893	1394	2130	1916	131.3	11.2	347	1953	0.00	2.28	0.00	0.000	1030	0.000	0.060	2888	2805	2022	2130	1915	0	0	0	0	0	0	28.83	26.20	28.83
2076	0.92	146.5	2888	2806	2130	1915	115.3	12.3	372	2084	0.00	2.33	0.00	0.000	516	0.000	0.062	2899	1388	2023	2130	1916	0	0	0	0	0	0	28.83	26.29	28.83
2137	0.92	146.5	2899	1388	2130	1916	107.5	13.2	383	2144	0.12	2.28	0.00	0.000	5126	0.179	0.063	2868	2799	2023	2130	1916	0	0	0	0	0	0	26.20	26.31	28.83
2267	0.92	146.5	2868	2799	2130	1916	91.0	13.0	408	2274	0.00	2.33	0.00	0.000	516	0.000	0.065	2878	1384	2024	2130	1919	0	0	0	0	0	0	28.83	26.38	28.83
2421	0.92	146.5	2878	1384	2130	1916	71.7	12.4	437	2428	0.00	2.28	0.00	0.000	1030	0.000	0.062	2879	2806	2023	2130	1916	0	0	0	0	0	0	28.83	26.44	28.83
2556	0.92	146.5	2878	2806	2129	1916	55.0	11.8	462	2563	0.00	1.70	0.00	0.000	260	0.000	0.072	2879	3848	2023	2130	1916	0	0	0	0	0	0	28.83	26.47	28.83
2724	0.92	146.5	1824	3847	2090	1911	32.8	11.7	494	2731	0.00	1.67	0.00	0.000	1030	0.000	0.058	2888	2805	2023	2130	1916	0	0	0	0	0	0	28.83	26.55	28.83
2795	0.92	146.5	1808	2803	2090	1911	25.2	11.1	507	2801	0.00	0.00	0.00	0.000	6	0.000	0.000	2887	2805	2022	2129	1916	0	0	0	0	0	0	28.83	28.83	28.83
2863	0.92	146.5	1824	2803	2093	1911	18.1	9.7	520	2871	0.00	2.28	0.00	0.000	516	0.000	0.063	2898	1388	2022	2129	1916	0	0	0	0	0	0	28.83	26.56	28.83
3038	end climb: SURFACE_DEPTH_REACHED
state	3039	begin surface coast
3055	end surface coast: CONTROL_FINISHED_OK
state	3055	begin surface