Glider dive log

Shilshole 14Jan14 * SG204 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 204 HD_C 9.9999997e-06 ROLL_MAX 3704 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 7 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 4 ESCAPE_HEADING 0 C_ROLL_DIVE 2040 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2005 ALTIM_PING_DEPTH 110

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 200 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 36 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 260 R_STBD_OVSHOOT 33 XPDR_VALID 2

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 0.60000002

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 2850 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 -1

T_DIVE 83 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

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 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 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 -565.13098 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 210 MINV_24V 19 SIM_W 0

MAX_BUOY 110 PITCH_MAX 3900 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 3061 FG_AHR_10V 0 SEABIRD_T_G 0.0043959874

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00063999143

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.6240119e-05

RHO 1.023 P_OVSHOOT 0.039999999 PRESSURE_YINT -73.463333 SEABIRD_T_J 3.2438568e-06

MASS 51746 PITCH_GAIN 20 PRESSURE_SLOPE 0.0001157966 SEABIRD_C_G -9.8023682

MASS_COMP 0 PITCH_TIMEOUT 17 AD7714Ch0Gain 128 SEABIRD_C_H 1.1326066

NAV_MODE 1 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0012119424

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00017415492

KALMAN_USE 1 PITCH_ADJ_GAIN 0 COMPASS_USE 4

HD_A 0.003 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 236 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 260

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 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 20 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 110 FERRY_MAX 45 PITCH_MAX 3900 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 210 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 17 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 0.0001157966 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -73.463333 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 -565.13098

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 204 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 225

COMPASS_USE 4 INT_PRESSURE_YINT 0.60000002 RHO 1.023 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 3061 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 2005 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2040 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY -6

C_VBD 2850 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3704 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 51746 ROLL_MAXERRORS 2 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 236 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 110 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 -1 MINV_10V 8 R_PORT_OVSHOOT 36 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 33 VBD_MIN 500

DEVICE4 -1 MISSION 7 SEABIRD_C_G -9.8023682 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1326066 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0012119424 VBD_TIMEOUT 720

DIVE 4 NOCOMM_ACTION 0 SEABIRD_C_J 0.00017415492 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0043959874 XPDR_DEVICE 24

D_BOOST 100 N_FILEKB 4 SEABIRD_T_H 0.00063999143 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.6240119e-05 XPDR_VALID 2

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 3.2438568e-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 140114,200240,4743.291,-12224.882,3,1.1,3,16.3 TGT_NAME NW

_CALLS 4 TGT_LATLONG 4743.900,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.016,0.210

_SM_DEPTHo 1.35 KALMAN_X 15.1,31.2,61.1,-472.1,-21.9

_SM_ANGLEo -69.3 KALMAN_Y -254.8,-244.5,-117.9,1374.8,-278.4

GPS2 140114,201537,4743.270,-12224.870,5,1.1,5,16.3 MHEAD_RNG_PITCHd_Wd 348.0,1171,-16.9,-8.032,-20.91,2029

SPEED_LIMITS 0.139,0.210 D_GRID 177

Post-dive calculations and measurements:

FINISH 0.5,0.999805 _24V_AH 24.7,5.886

SM_CCo 3664,39.25,0.133,0,0,1787,260.02 _10V_AH 10.3,3.100

SM_GC 1.31,9.85,2.12,39.25,0.126,0.042,0.133,190,2040,1787,-8.89,1.07,260.02,0,0,0,0,0,0,26.81,26.80,26.47 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4722.92,-12226.07,140114,202030 FG_AHR_10Vo 0.000

TT8_MAMPS 0.029211,0.029211 MEM 323024

HUMID 32.87 DATA_FILE_SIZE 26780,701

INTERNAL_PRESSURE 8.75461 CAP_FILE_SIZE 75538,0

TCM_TEMP 17.00 CFSIZE 1024393216,1020674048

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

ALTIM_BOTTOM_PING 115.2,80.1 GPS 140114,211858,4743.378,-12224.839,3,1.2,3,16.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 283 169.12 SBE_CT 471 23 270.33

Roll_motor 43 68 74.61 nil 0 0 0.00

VBD_pump_during_apogee 194 745 3575.00 nil 0 0 0.00

VBD_pump_during_surface 39 133 129.05 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 92 12 27.85 nil 0 0 0.00

Iridium_during_connect 221 160 874.00 nil 0 0 0.00

Iridium_during_xfer 187 223 1033.63 nil 0 0 0.00

Transponder_ping 0 420 7.78 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 8 26 2.26

TT8 1565 18 301.71

LPSleep 983 2 22.19

TT8_Active 344 18 66.45

TT8_Sampling 1566 44 724.79

TT8_CF8 44 61 27.92

TT8_Kalman 32 68 22.86

Analog_circuits 904 15 139.68

GPS_charging 0 0 0.00

Compass 1006 8 85.39

RAFOS 0 0 0.00

Transponder 7 30 2.31

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 -0.98 -107.5 192 2049 1766 1800 0.0 0.0 0 72 0.00 0.00 -54.88 0.000 16386 0.000 0.000 192 2049 3257 3205 3310 0 0 0 0 0 0 28.83 28.83 28.83

74 -0.98 -107.5 192 2049 3205 3310 3.3 -3.2 10 93 11.88 2.30 -0.68 0.000 18948 0.284 0.069 2741 631 3289 3248 3331 0 0 0 0 0 0 25.95 26.36 26.61

321 -0.98 -107.5 1728 631 3236 3325 38.4 -12.0 58 327 0.00 2.15 0.00 0.000 1030 0.000 0.043 2732 2041 3290 3253 3328 0 0 0 0 0 0 28.83 26.58 28.83

389 -0.98 -107.5 2731 2041 3253 3327 46.5 -11.5 71 395 0.00 2.20 0.00 0.000 516 0.000 0.057 2739 632 3290 3253 3327 0 0 0 0 0 0 28.83 26.56 28.83

561 -0.98 -107.5 2740 632 3253 3327 67.9 -12.0 105 568 0.00 2.15 0.00 0.000 1030 0.000 0.043 2729 2046 3289 3253 3326 0 0 0 0 0 0 28.83 26.68 28.83

690 -0.98 -107.5 2730 2046 3253 3326 82.8 -11.8 130 696 0.00 2.20 0.00 0.000 516 0.000 0.056 2739 628 3289 3253 3326 0 0 0 0 0 0 28.83 26.67 28.83

774 -0.98 -107.5 2739 628 3254 3326 92.4 -11.7 146 780 0.00 2.15 0.00 0.000 1030 0.000 0.043 2730 2046 3289 3253 3326 0 0 0 0 0 0 28.83 26.74 28.83

902 -0.98 -107.5 2729 2046 3254 3326 107.1 -11.7 171 907 0.00 0.00 0.00 0.000 6 0.000 0.000 2730 2046 3289 3254 3325 0 0 0 0 0 0 28.83 28.83 28.83

1031 -0.98 -107.5 2730 2046 3254 3326 120.6 -9.7 196 1038 0.00 2.15 0.00 0.000 260 0.000 0.057 2719 3440 3290 3254 3326 0 0 0 0 0 0 28.83 26.74 28.83

1169 -0.98 -107.5 2719 3441 3253 3326 134.6 -11.5 223 1176 0.00 2.10 0.00 0.000 1030 0.000 0.042 2721 2037 3290 3254 3326 0 0 0 0 0 0 28.83 26.83 28.83

1298 -0.98 -107.5 2721 2033 3253 3326 147.7 -9.3 248 1304 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 2034 3289 3254 3325 0 0 0 0 0 0 28.83 28.83 28.83

1425 -0.98 -107.5 2721 2034 3254 3326 160.2 -9.7 273 1431 0.00 2.12 0.00 0.000 516 0.000 0.055 2732 640 3290 3254 3326 0 0 0 0 0 0 28.83 26.81 28.83

1548 -0.98 -107.5 1744 639 3238 3323 173.0 -10.6 297 1554 0.00 2.12 0.00 0.000 1030 0.000 0.043 2723 2047 3290 3254 3326 0 0 0 0 0 0 28.83 26.87 28.83

1589 end dive: TARGET_DEPTH_EXCEEDED

state 1589 begin apogee

1592 -0.25 0.0 2723 2047 3253 3325 177.4 -10.5 305 1680 0.93 0.00 81.75 0.746 10246 0.216 0.000 2967 2049 2845 2824 2867 0 0 0 0 0 0 26.34 28.83 25.01

1681 end apogee: CONTROL_FINISHED_OK

state 1681 begin climb

1682 0.98 107.5 2967 2049 2823 2865 181.0 0.0 321 1770 1.48 2.47 80.40 0.630 10756 0.191 0.056 3371 602 2405 2396 2415 0 0 0 0 0 0 25.46 25.37 24.74

1796 0.98 107.5 2464 602 2353 2404 175.7 8.9 342 1803 0.00 2.22 0.00 0.000 1030 0.000 0.043 3362 2003 2402 2394 2411 0 0 0 0 0 0 28.83 25.69 28.83

1925 0.98 107.5 3362 2004 2393 2409 163.5 9.5 367 1930 0.00 0.00 0.00 0.000 6 0.000 0.000 3362 2004 2401 2394 2409 0 0 0 0 0 0 28.83 28.83 28.83

2052 1.00 124.2 3362 2003 2394 2409 153.0 7.2 392 2071 0.00 2.33 13.48 0.625 8708 0.000 0.057 3371 605 2337 2331 2344 0 0 0 0 0 0 28.83 26.08 25.48

2167 1.00 124.2 2448 605 2286 2333 142.5 10.9 414 2173 0.00 2.17 0.00 0.000 1030 0.000 0.044 3362 2009 2334 2328 2340 0 0 0 0 0 0 28.83 26.31 28.83

2295 1.00 124.2 3362 2009 2328 2340 128.7 10.6 439 2301 0.00 0.00 0.00 0.000 6 0.000 0.000 3362 2009 2334 2328 2340 0 0 0 0 0 0 28.83 28.83 28.83

2422 1.00 124.2 3362 2009 2328 2340 116.0 9.0 464 2428 0.00 0.00 0.00 0.000 6 0.000 0.000 3362 2010 2333 2328 2339 0 0 0 0 0 0 28.83 28.83 28.83

2549 1.00 124.2 3362 2009 2328 2340 103.3 10.1 489 2555 0.00 0.00 0.00 0.000 6 0.000 0.000 3362 2009 2334 2328 2340 0 0 0 0 0 0 28.83 28.83 28.83

2676 1.00 124.2 3362 2010 2328 2340 92.1 8.3 514 2683 0.00 2.20 0.00 0.000 260 0.000 0.059 3351 3418 2334 2328 2340 0 0 0 0 0 0 28.83 26.60 28.83

2714 1.03 147.3 3351 3417 2328 2340 89.3 6.9 521 2727 0.00 2.15 7.62 0.306 9222 0.000 0.043 3360 1994 2248 2243 2254 0 0 0 0 0 0 28.83 26.65 26.13

2848 1.03 147.3 2448 1992 2223 2263 75.8 10.5 547 2854 0.00 0.00 1.50 0.202 8198 0.000 0.000 3360 1994 2252 2249 2255 0 0 0 0 0 0 28.83 28.83 26.32

2976 1.03 147.3 2432 1992 2222 2263 62.8 10.2 572 2983 0.00 2.25 1.48 0.203 8708 0.000 0.057 3371 596 2253 2250 2256 0 0 0 0 0 0 28.83 26.65 26.34

3050 1.03 147.3 3371 597 2264 2267 55.4 10.3 586 3057 0.00 2.15 1.55 0.207 9222 0.000 0.044 3362 2008 2250 2249 2252 0 0 0 0 0 0 28.83 26.70 26.33

3179 1.03 147.3 3362 2008 2263 2267 43.4 9.2 611 3185 0.00 0.00 1.45 0.203 8198 0.000 0.000 3362 2008 2251 2249 2254 0 0 0 0 0 0 28.83 28.83 26.41

3307 1.03 147.3 3361 2008 2262 2266 31.7 9.4 636 3313 0.00 0.00 1.33 0.204 8198 0.000 0.000 3362 2008 2251 2249 2253 0 0 0 0 0 0 28.83 28.83 26.46

3376 1.03 147.3 3362 2008 2261 2265 25.1 9.0 649 3382 0.00 0.00 1.33 0.205 8198 0.000 0.000 3362 2008 2250 2249 2251 0 0 0 0 0 0 28.83 28.83 26.48

3443 1.03 147.3 3362 2008 2258 2262 18.5 9.9 662 3450 0.00 0.00 1.10 0.214 8198 0.000 0.000 3362 2009 2248 2247 2250 0 0 0 0 0 0 28.83 28.83 26.53

3511 1.03 147.3 3362 2008 2258 2262 12.1 9.1 675 3518 0.00 0.00 1.08 0.213 8198 0.000 0.000 3362 2008 2247 2245 2249 0 0 0 0 0 0 28.83 28.83 26.55

3579 1.03 147.3 3362 2008 2255 2259 5.8 9.4 688 3585 0.00 2.15 0.00 0.000 260 0.000 0.058 3352 3410 2257 2255 2259 0 0 0 0 0 0 28.83 26.74 28.83

3626 end climb: SURFACE_DEPTH_REACHED

state 3626 begin surface coast

3646 end surface coast: CONTROL_FINISHED_OK

state 3646 begin surface

ID	204	HD_C	9.9999997e-06	ROLL_MAX	3704	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	7	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	4	ESCAPE_HEADING	0	C_ROLL_DIVE	2040	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2005	ALTIM_PING_DEPTH	110
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	200	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	36	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	260	R_STBD_OVSHOOT	33	XPDR_VALID	2
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	0.60000002
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	2850	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	-1
T_DIVE	83	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
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	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	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	-565.13098	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	210	MINV_24V	19	SIM_W	0
MAX_BUOY	110	PITCH_MAX	3900	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	3061	FG_AHR_10V	0	SEABIRD_T_G	0.0043959874
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00063999143
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.6240119e-05
RHO	1.023	P_OVSHOOT	0.039999999	PRESSURE_YINT	-73.463333	SEABIRD_T_J	3.2438568e-06
MASS	51746	PITCH_GAIN	20	PRESSURE_SLOPE	0.0001157966	SEABIRD_C_G	-9.8023682
MASS_COMP	0	PITCH_TIMEOUT	17	AD7714Ch0Gain	128	SEABIRD_C_H	1.1326066
NAV_MODE	1	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0012119424
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00017415492
KALMAN_USE	1	PITCH_ADJ_GAIN	0	COMPASS_USE	4
HD_A	0.003	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	236	ALTIM_TOP_PING_RANGE	0

GPS1	140114,200240,4743.291,-12224.882,3,1.1,3,16.3	TGT_NAME	NW
_CALLS	4	TGT_LATLONG	4743.900,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.016,0.210
_SM_DEPTHo	1.35	KALMAN_X	15.1,31.2,61.1,-472.1,-21.9
_SM_ANGLEo	-69.3	KALMAN_Y	-254.8,-244.5,-117.9,1374.8,-278.4
GPS2	140114,201537,4743.270,-12224.870,5,1.1,5,16.3	MHEAD_RNG_PITCHd_Wd	348.0,1171,-16.9,-8.032,-20.91,2029
SPEED_LIMITS	0.139,0.210	D_GRID	177

FINISH	0.5,0.999805	_24V_AH	24.7,5.886
SM_CCo	3664,39.25,0.133,0,0,1787,260.02	_10V_AH	10.3,3.100
SM_GC	1.31,9.85,2.12,39.25,0.126,0.042,0.133,190,2040,1787,-8.89,1.07,260.02,0,0,0,0,0,0,26.81,26.80,26.47	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4722.92,-12226.07,140114,202030	FG_AHR_10Vo	0.000
TT8_MAMPS	0.029211,0.029211	MEM	323024
HUMID	32.87	DATA_FILE_SIZE	26780,701
INTERNAL_PRESSURE	8.75461	CAP_FILE_SIZE	75538,0
TCM_TEMP	17.00	CFSIZE	1024393216,1020674048
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	115.2,80.1	GPS	140114,211858,4743.378,-12224.839,3,1.2,3,16.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	283	169.12	SBE_CT	471	23	270.33
Roll_motor	43	68	74.61	nil	0	0	0.00
VBD_pump_during_apogee	194	745	3575.00	nil	0	0	0.00
VBD_pump_during_surface	39	133	129.05	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	92	12	27.85	nil	0	0	0.00
Iridium_during_connect	221	160	874.00	nil	0	0	0.00
Iridium_during_xfer	187	223	1033.63	nil	0	0	0.00
Transponder_ping	0	420	7.78	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	8	26	2.26
TT8	1565	18	301.71
LPSleep	983	2	22.19
TT8_Active	344	18	66.45
TT8_Sampling	1566	44	724.79
TT8_CF8	44	61	27.92
TT8_Kalman	32	68	22.86
Analog_circuits	904	15	139.68
GPS_charging	0	0	0.00
Compass	1006	8	85.39
RAFOS	0	0	0.00
Transponder	7	30	2.31

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	-0.98	-107.5	192	2049	1766	1800	0.0	0.0	0	72	0.00	0.00	-54.88	0.000	16386	0.000	0.000	192	2049	3257	3205	3310	0	0	0	0	0	0	28.83	28.83	28.83
74	-0.98	-107.5	192	2049	3205	3310	3.3	-3.2	10	93	11.88	2.30	-0.68	0.000	18948	0.284	0.069	2741	631	3289	3248	3331	0	0	0	0	0	0	25.95	26.36	26.61
321	-0.98	-107.5	1728	631	3236	3325	38.4	-12.0	58	327	0.00	2.15	0.00	0.000	1030	0.000	0.043	2732	2041	3290	3253	3328	0	0	0	0	0	0	28.83	26.58	28.83
389	-0.98	-107.5	2731	2041	3253	3327	46.5	-11.5	71	395	0.00	2.20	0.00	0.000	516	0.000	0.057	2739	632	3290	3253	3327	0	0	0	0	0	0	28.83	26.56	28.83
561	-0.98	-107.5	2740	632	3253	3327	67.9	-12.0	105	568	0.00	2.15	0.00	0.000	1030	0.000	0.043	2729	2046	3289	3253	3326	0	0	0	0	0	0	28.83	26.68	28.83
690	-0.98	-107.5	2730	2046	3253	3326	82.8	-11.8	130	696	0.00	2.20	0.00	0.000	516	0.000	0.056	2739	628	3289	3253	3326	0	0	0	0	0	0	28.83	26.67	28.83
774	-0.98	-107.5	2739	628	3254	3326	92.4	-11.7	146	780	0.00	2.15	0.00	0.000	1030	0.000	0.043	2730	2046	3289	3253	3326	0	0	0	0	0	0	28.83	26.74	28.83
902	-0.98	-107.5	2729	2046	3254	3326	107.1	-11.7	171	907	0.00	0.00	0.00	0.000	6	0.000	0.000	2730	2046	3289	3254	3325	0	0	0	0	0	0	28.83	28.83	28.83
1031	-0.98	-107.5	2730	2046	3254	3326	120.6	-9.7	196	1038	0.00	2.15	0.00	0.000	260	0.000	0.057	2719	3440	3290	3254	3326	0	0	0	0	0	0	28.83	26.74	28.83
1169	-0.98	-107.5	2719	3441	3253	3326	134.6	-11.5	223	1176	0.00	2.10	0.00	0.000	1030	0.000	0.042	2721	2037	3290	3254	3326	0	0	0	0	0	0	28.83	26.83	28.83
1298	-0.98	-107.5	2721	2033	3253	3326	147.7	-9.3	248	1304	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	2034	3289	3254	3325	0	0	0	0	0	0	28.83	28.83	28.83
1425	-0.98	-107.5	2721	2034	3254	3326	160.2	-9.7	273	1431	0.00	2.12	0.00	0.000	516	0.000	0.055	2732	640	3290	3254	3326	0	0	0	0	0	0	28.83	26.81	28.83
1548	-0.98	-107.5	1744	639	3238	3323	173.0	-10.6	297	1554	0.00	2.12	0.00	0.000	1030	0.000	0.043	2723	2047	3290	3254	3326	0	0	0	0	0	0	28.83	26.87	28.83
1589	end dive: TARGET_DEPTH_EXCEEDED
state	1589	begin apogee
1592	-0.25	0.0	2723	2047	3253	3325	177.4	-10.5	305	1680	0.93	0.00	81.75	0.746	10246	0.216	0.000	2967	2049	2845	2824	2867	0	0	0	0	0	0	26.34	28.83	25.01
1681	end apogee: CONTROL_FINISHED_OK
state	1681	begin climb
1682	0.98	107.5	2967	2049	2823	2865	181.0	0.0	321	1770	1.48	2.47	80.40	0.630	10756	0.191	0.056	3371	602	2405	2396	2415	0	0	0	0	0	0	25.46	25.37	24.74
1796	0.98	107.5	2464	602	2353	2404	175.7	8.9	342	1803	0.00	2.22	0.00	0.000	1030	0.000	0.043	3362	2003	2402	2394	2411	0	0	0	0	0	0	28.83	25.69	28.83
1925	0.98	107.5	3362	2004	2393	2409	163.5	9.5	367	1930	0.00	0.00	0.00	0.000	6	0.000	0.000	3362	2004	2401	2394	2409	0	0	0	0	0	0	28.83	28.83	28.83
2052	1.00	124.2	3362	2003	2394	2409	153.0	7.2	392	2071	0.00	2.33	13.48	0.625	8708	0.000	0.057	3371	605	2337	2331	2344	0	0	0	0	0	0	28.83	26.08	25.48
2167	1.00	124.2	2448	605	2286	2333	142.5	10.9	414	2173	0.00	2.17	0.00	0.000	1030	0.000	0.044	3362	2009	2334	2328	2340	0	0	0	0	0	0	28.83	26.31	28.83
2295	1.00	124.2	3362	2009	2328	2340	128.7	10.6	439	2301	0.00	0.00	0.00	0.000	6	0.000	0.000	3362	2009	2334	2328	2340	0	0	0	0	0	0	28.83	28.83	28.83
2422	1.00	124.2	3362	2009	2328	2340	116.0	9.0	464	2428	0.00	0.00	0.00	0.000	6	0.000	0.000	3362	2010	2333	2328	2339	0	0	0	0	0	0	28.83	28.83	28.83
2549	1.00	124.2	3362	2009	2328	2340	103.3	10.1	489	2555	0.00	0.00	0.00	0.000	6	0.000	0.000	3362	2009	2334	2328	2340	0	0	0	0	0	0	28.83	28.83	28.83
2676	1.00	124.2	3362	2010	2328	2340	92.1	8.3	514	2683	0.00	2.20	0.00	0.000	260	0.000	0.059	3351	3418	2334	2328	2340	0	0	0	0	0	0	28.83	26.60	28.83
2714	1.03	147.3	3351	3417	2328	2340	89.3	6.9	521	2727	0.00	2.15	7.62	0.306	9222	0.000	0.043	3360	1994	2248	2243	2254	0	0	0	0	0	0	28.83	26.65	26.13
2848	1.03	147.3	2448	1992	2223	2263	75.8	10.5	547	2854	0.00	0.00	1.50	0.202	8198	0.000	0.000	3360	1994	2252	2249	2255	0	0	0	0	0	0	28.83	28.83	26.32
2976	1.03	147.3	2432	1992	2222	2263	62.8	10.2	572	2983	0.00	2.25	1.48	0.203	8708	0.000	0.057	3371	596	2253	2250	2256	0	0	0	0	0	0	28.83	26.65	26.34
3050	1.03	147.3	3371	597	2264	2267	55.4	10.3	586	3057	0.00	2.15	1.55	0.207	9222	0.000	0.044	3362	2008	2250	2249	2252	0	0	0	0	0	0	28.83	26.70	26.33
3179	1.03	147.3	3362	2008	2263	2267	43.4	9.2	611	3185	0.00	0.00	1.45	0.203	8198	0.000	0.000	3362	2008	2251	2249	2254	0	0	0	0	0	0	28.83	28.83	26.41
3307	1.03	147.3	3361	2008	2262	2266	31.7	9.4	636	3313	0.00	0.00	1.33	0.204	8198	0.000	0.000	3362	2008	2251	2249	2253	0	0	0	0	0	0	28.83	28.83	26.46
3376	1.03	147.3	3362	2008	2261	2265	25.1	9.0	649	3382	0.00	0.00	1.33	0.205	8198	0.000	0.000	3362	2008	2250	2249	2251	0	0	0	0	0	0	28.83	28.83	26.48
3443	1.03	147.3	3362	2008	2258	2262	18.5	9.9	662	3450	0.00	0.00	1.10	0.214	8198	0.000	0.000	3362	2009	2248	2247	2250	0	0	0	0	0	0	28.83	28.83	26.53
3511	1.03	147.3	3362	2008	2258	2262	12.1	9.1	675	3518	0.00	0.00	1.08	0.213	8198	0.000	0.000	3362	2008	2247	2245	2249	0	0	0	0	0	0	28.83	28.83	26.55
3579	1.03	147.3	3362	2008	2255	2259	5.8	9.4	688	3585	0.00	2.15	0.00	0.000	260	0.000	0.058	3352	3410	2257	2255	2259	0	0	0	0	0	0	28.83	26.74	28.83
3626	end climb: SURFACE_DEPTH_REACHED
state	3626	begin surface coast
3646	end surface coast: CONTROL_FINISHED_OK
state	3646	begin surface