Glider dive log

Shilshole 01May13 * SG198 * Dive index * Mission links * Dive 9 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 198 HD_C 9.9999997e-06 ROLL_MAX 3790 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 2 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 9 ESCAPE_HEADING 0 C_ROLL_DIVE 2410 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2410 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 200 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 39 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 300 R_STBD_OVSHOOT 26 XPDR_VALID 2

D_BOOST 30 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -0.44999999

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 163 C_VBD 3093 DEVICE1 -1

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 78 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 84 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 1

T_TURN_SAMPINT 4 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

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 -1473.9523 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 350 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 0 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 212 MINV_24V 11 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3894 MINV_10V 11 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2635 FG_AHR_10V 0 SEABIRD_T_G 0.0043931045

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00063259818

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY -2 SEABIRD_T_I 2.5708419e-05

RHO 1.023 P_OVSHOOT 0.039999999 PRESSURE_YINT -84.69725 SEABIRD_T_J 3.1590957e-06

MASS 53056 PITCH_GAIN 24 PRESSURE_SLOPE 0.0001160319 SEABIRD_C_G -9.8238754

MASS_COMP 0 PITCH_TIMEOUT 25 AD7714Ch0Gain 128 SEABIRD_C_H 1.1280942

NAV_MODE 1 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0016420757

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00020143802

KALMAN_USE 1 PITCH_ADJ_GAIN 0 COMPASS_USE 4 SC_RECORDABOVE 2000.0

HD_A 0.003 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0 SC_PROFILE 3.0

HD_B 0.0099999998 ROLL_MIN 200 ALTIM_TOP_PING_RANGE 0 SC_XMITPROFILE 3.0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY -2 SEABIRD_T_J 3.1590957e-06

AH0_10V 0 D_PITCH 0 PITCH_ADJ_DBAND 0 SIM_PITCH 0

AH0_24V 350 D_SAFE 0 PITCH_ADJ_GAIN 0 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PITCH_AD_RATE 160 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 15 D_TGT 200 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 24 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 120 FERRY_MAX 45 PITCH_MAX 3894 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 212 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 25 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 4736

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 TGT_DEFAULT_LON -12218

CALL_NDIVES 1 HD_A 0.003 PRESSURE_SLOPE 0.0001160319 T_ABORT 1440

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -84.69725 T_BOOST 0

CALL_WAIT 60 HD_C 9.9999997e-06 PROTOCOL 9 T_DIVE 78

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_EPIRB 0

CAPUPLOAD 1 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_GPS 5

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_GPS_ALMANAC 0

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_GPS_CHARGE -1473.9523

COMPASS2_DEVICE -1 ID 198 RAFOS_PEAK_OFFSET 1.5 T_LOITER 0

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_MISSION 84

COMPASS_USE 4 INT_PRESSURE_YINT -0.44999999 RHO 1.023 T_NO_W 120

COURSE_BIAS 0 KALMAN_USE 1 ROLL_ADJ_DBAND 0 T_RSLEEP 3

C_PITCH 2635 LOGGERDEVICE1 53 ROLL_ADJ_GAIN 0 T_TURN 225

C_ROLL_CLIMB 2410 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 T_TURN_SAMPINT 4

C_ROLL_DIVE 2410 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 T_WATCHDOG 10

C_VBD 3093 LOGGERDEVICE4 -1 ROLL_DEG 40 UNCOM_BLEED 60

DBDW 0 LOGGERS 1 ROLL_MAX 3790 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MASS 53056 ROLL_MAXERRORS 1 USE_BATHY 0

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 200 USE_ICE 0

DEVICE1 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 11 R_PORT_OVSHOOT 39 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 11 R_STBD_OVSHOOT 26 VBD_DBAND 2

DEVICE4 -1 MISSION 2 SC_PROFILE 3.0 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 1 SC_XMITPROFILE 3.0 VBD_MIN 500

DIVE 9 NOCOMM_ACTION 163 SEABIRD_C_G -9.8238754 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1090 N_DIVES 0 SEABIRD_C_H 1.1280942 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 30 N_FILEKB 4 SEABIRD_C_I -0.0016420757 VBD_TIMEOUT 720

D_CALL 0 N_GPS 20 SEABIRD_C_J 0.00020143802 W_ADJ_DBAND 0

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_G 0.0043931045 XPDR_DEVICE 24

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_H 0.00063259818 XPDR_INHIBIT 90

D_NO_BLEED 500 PHONE_DEVICE 49 SEABIRD_T_I 2.5708419e-05 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 020513,053132,4743.202,-12225.882,6,0.9,6,16.3 TGT_NAME NW

_CALLS 1 TGT_LATLONG 4743.900,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.173,0.175

_SM_DEPTHo 1.37 KALMAN_X -2056.2,101.8,-361.5,984.8,-830.6

_SM_ANGLEo -70.2 KALMAN_Y -4264.5,-834.1,-276.7,5875.9,-850.4

GPS2 020513,053902,4742.967,-12225.738,9,0.8,9,16.3 MHEAD_RNG_PITCHd_Wd 28.4,2086,-15.0,-8.547,-19.14,2595

SPEED_LIMITS 0.148,0.246 D_GRID 200

Post-dive calculations and measurements:

FINISH 0.4,1.021158 _24V_AH 12.9,3.549

SM_CCo 3408,60.78,0.147,0,0,1869,300.00 _10V_AH 13.1,0.000

SM_GC 1.88,7.88,0.00,60.78,0.086,0.000,0.147,205,2404,1869,-7.53,-0.17,300.00,0,0,0,0,0,0,14.71,28.83,14.63 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4729.30,-12114.85,020513,040437 FG_AHR_10Vo 0.000

TT8_MAMPS 0.023219,0.023219 MEM 322844

HUMID 32.04 DATA_FILE_SIZE 26723,779

INTERNAL_PRESSURE 8.90583 CAP_FILE_SIZE 116646,0

TCM_TEMP 17.10 CFSIZE 2097872896,2093842432

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

ALTIM_BOTTOM_PING 120.4,87.8 GPS 020513,063903,4742.941,-12225.489,36,1.0,37,16.3

SC_FREEKB 4016800

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 427 110.61 nil 0 0 0.00

Roll_motor 46 107 65.16 nil 0 0 0.00

VBD_pump_during_apogee 284 3029 11131.73 nil 0 0 0.00

VBD_pump_during_surface 60 146 115.15 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 3419 30 1348.56

Iridium_during_xfer 317 187 767.95 nil 0 0 0.00

Transponder_ping 0 420 2.71 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 12 20 3.39

TT8 1668 9 207.03

LPSleep 175 2 5.04

TT8_Active 442 9 54.89

TT8_Sampling 1572 28 596.36

TT8_CF8 57 35 27.10

TT8_Kalman 33 46 20.10

Analog_circuits 1387 10 181.77

GPS_charging 0 0 0.00

Compass 1174 15 230.76

RAFOS 0 0 0.00

Transponder 5 30 2.32

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -0.81 -146.6 201 2419 2002 1929 0.0 0.0 0 75 0.00 0.00 -55.53 0.000 16386 0.000 0.000 202 2419 3432 3493 3372 0 0 0 0 0 0 28.83 28.83 28.83

77 -0.81 -146.6 201 2419 3494 3372 3.6 -7.3 10 96 10.32 0.00 -5.45 0.000 18950 0.428 0.000 2374 2419 3693 3793 3593 0 0 0 0 0 0 14.46 28.83 14.78

158 -0.81 -146.6 1428 2417 3774 3614 19.2 -15.6 28 164 0.00 0.00 0.00 0.000 6 0.000 0.000 2369 2419 3696 3777 3615 0 0 0 0 0 0 28.83 28.83 28.83

226 -0.81 -146.6 1424 2417 3774 3614 29.5 -15.0 44 233 0.00 2.40 0.00 0.000 516 0.000 0.092 2369 1005 3696 3776 3616 0 0 0 0 0 0 28.83 14.64 28.83

463 -0.81 -146.6 1424 1004 3773 3614 67.1 -14.9 102 470 0.00 2.38 0.00 0.000 1030 0.000 0.090 2361 2416 3696 3776 3616 0 0 0 0 0 0 28.83 14.71 28.83

592 -0.81 -146.6 1408 2414 3774 3614 85.2 -13.6 133 599 0.00 2.35 0.00 0.000 260 0.000 0.108 2360 3789 3696 3776 3616 0 0 0 0 0 0 28.83 14.73 28.83

629 -0.81 -146.6 1440 3788 3773 3615 90.7 -15.7 141 636 0.00 2.22 0.00 0.000 1030 0.000 0.063 2361 2402 3696 3776 3617 0 0 0 0 0 0 28.83 14.76 28.83

758 -0.81 -146.6 1408 2401 3773 3618 110.8 -15.5 172 764 0.00 0.00 0.00 0.000 6 0.000 0.000 2361 2403 3696 3776 3617 0 0 0 0 0 0 28.83 28.83 28.83

890 -0.81 -146.6 1408 2400 3773 3621 129.7 -14.6 203 896 0.00 0.00 0.00 0.000 6 0.000 0.000 2361 2402 3696 3776 3617 0 0 0 0 0 0 28.83 28.83 28.83

1018 -0.81 -146.6 1408 2400 3773 3615 147.3 -14.1 234 1024 0.00 0.00 0.00 0.000 6 0.000 0.000 2361 2402 3696 3776 3617 0 0 0 0 0 0 28.83 28.83 28.83

1146 -0.81 -146.6 1408 2400 3773 3615 165.6 -14.2 265 1152 0.00 0.00 0.00 0.000 6 0.000 0.000 2361 2403 3696 3776 3617 0 0 0 0 0 0 28.83 28.83 28.83

1274 -0.81 -146.6 1408 2400 3773 3613 183.2 -13.5 296 1280 0.00 0.00 0.00 0.000 6 0.000 0.000 2361 2402 3696 3776 3617 0 0 0 0 0 0 28.83 28.83 28.83

1349 end dive: BOTTOM_OBSTACLE_DETECTED

state 1349 begin apogee

1352 -0.21 0.0 2361 2402 3776 3617 193.7 -14.3 314 1492 0.70 0.00 131.98 2.961 10246 0.256 0.000 2556 2402 3095 3181 3009 0 0 0 0 0 0 14.75 28.83 12.97

1493 end apogee: CONTROL_FINISHED_OK

state 1493 begin climb

1494 0.81 146.6 2556 2402 3181 3009 199.4 0.0 339 1642 1.15 2.60 134.95 3.029 11012 0.194 0.103 2882 3779 2497 2572 2423 0 0 0 0 0 0 13.83 13.76 12.93

1693 0.81 146.6 1832 3778 2532 2416 186.1 10.5 377 1699 0.00 2.30 0.00 0.000 1030 0.000 0.063 2888 2417 2497 2572 2423 0 0 0 0 0 0 28.83 14.16 28.83

1821 0.81 146.6 1824 2415 2531 2416 171.7 11.9 408 1828 0.00 2.40 0.00 0.000 260 0.000 0.104 2888 3784 2497 2572 2422 0 0 0 0 0 0 28.83 14.40 28.83

1866 0.81 146.6 1840 3784 2532 2416 166.1 13.2 418 1873 0.00 2.28 0.00 0.000 1030 0.000 0.064 2890 2404 2497 2571 2423 0 0 0 0 0 0 28.83 14.47 28.83

1995 0.81 146.6 1824 2401 2531 2416 152.7 10.4 449 2001 0.00 0.00 0.00 0.000 6 0.000 0.000 2891 2403 2496 2571 2422 0 0 0 0 0 0 28.83 28.83 28.83

2123 0.81 146.6 1824 2401 2530 2416 138.4 11.6 480 2130 0.00 2.35 0.00 0.000 516 0.000 0.092 2899 1009 2497 2572 2423 0 0 0 0 0 0 28.83 14.62 28.83

2192 0.81 146.6 1856 1008 2531 2416 131.1 11.0 496 2199 0.00 2.35 0.00 0.000 1030 0.000 0.084 2899 2412 2497 2572 2423 0 0 0 0 0 0 28.83 14.64 28.83

2321 0.81 146.6 1840 2410 2529 2416 115.3 11.6 527 2328 0.00 2.35 0.00 0.000 260 0.000 0.103 2899 3790 2496 2571 2422 0 0 0 0 0 0 28.83 14.67 28.83

2442 0.81 146.6 1840 3789 2531 2416 98.8 12.9 556 2449 0.00 2.22 0.00 0.000 1030 0.000 0.063 2905 2409 2496 2571 2422 0 0 0 0 0 0 28.83 14.72 28.83

2571 0.81 146.6 1840 2407 2531 2416 83.4 11.7 587 2577 0.00 0.00 0.00 0.000 6 0.000 0.000 2905 2409 2496 2571 2422 0 0 0 0 0 0 28.83 28.83 28.83

2699 0.81 146.6 1840 2407 2530 2416 68.0 11.4 618 2706 0.00 2.35 0.00 0.000 516 0.000 0.093 2905 1006 2496 2571 2422 0 0 0 0 0 0 28.83 14.76 28.83

2728 0.81 146.6 1872 1005 2533 2417 65.1 10.6 624 2735 0.00 2.35 0.00 0.000 1030 0.000 0.085 2905 2411 2497 2572 2422 0 0 0 0 0 0 28.83 14.76 28.83

2857 0.81 146.6 1856 2409 2530 2416 52.5 9.1 655 2864 0.00 2.33 0.00 0.000 260 0.000 0.103 2906 3784 2496 2571 2422 0 0 0 0 0 0 28.83 14.75 28.83

2902 0.81 146.6 1856 3784 2532 2416 47.9 9.5 665 2909 0.00 2.22 0.00 0.000 1030 0.000 0.063 2911 2400 2496 2571 2422 0 0 0 0 0 0 28.83 14.78 28.83

3032 0.84 178.1 1856 2396 2530 2416 38.3 7.3 696 3056 0.00 2.42 17.92 1.848 8708 0.000 0.095 2917 1014 2365 2441 2290 0 0 0 0 0 0 28.83 14.59 14.07

3175 0.84 178.1 1856 1013 2400 2284 25.0 10.1 729 3181 0.00 2.35 0.00 0.000 1030 0.000 0.083 2917 2413 2366 2441 2291 0 0 0 0 0 0 28.83 14.63 28.83

3243 0.84 178.1 1864 2411 2400 2284 17.9 10.7 745 3250 0.00 2.35 0.00 0.000 260 0.000 0.103 2917 3787 2366 2441 2291 0 0 0 0 0 0 28.83 14.64 28.83

3268 0.84 178.1 1936 3786 2404 2285 15.0 11.9 750 3275 0.00 2.25 0.00 0.000 1030 0.000 0.064 2919 2404 2366 2441 2291 0 0 0 0 0 0 28.83 14.64 28.83

3337 0.84 178.1 1864 2401 2400 2284 7.2 12.1 766 3343 0.00 0.00 0.00 0.000 6 0.000 0.000 2919 2404 2366 2442 2291 0 0 0 0 0 0 28.83 28.83 28.83

3380 end climb: SURFACE_DEPTH_REACHED

state 3380 begin surface coast

3394 end surface coast: CONTROL_FINISHED_OK

state 3394 begin surface

ID	198	HD_C	9.9999997e-06	ROLL_MAX	3790	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	2	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	9	ESCAPE_HEADING	0	C_ROLL_DIVE	2410	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2410	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	200	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	39	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	300	R_STBD_OVSHOOT	26	XPDR_VALID	2
D_BOOST	30	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.44999999
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	163	C_VBD	3093	DEVICE1	-1
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	78	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	84	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	1
T_TURN_SAMPINT	4	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
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	-1473.9523	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	350	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	0	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	212	MINV_24V	11	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3894	MINV_10V	11	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2635	FG_AHR_10V	0	SEABIRD_T_G	0.0043931045
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00063259818
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	-2	SEABIRD_T_I	2.5708419e-05
RHO	1.023	P_OVSHOOT	0.039999999	PRESSURE_YINT	-84.69725	SEABIRD_T_J	3.1590957e-06
MASS	53056	PITCH_GAIN	24	PRESSURE_SLOPE	0.0001160319	SEABIRD_C_G	-9.8238754
MASS_COMP	0	PITCH_TIMEOUT	25	AD7714Ch0Gain	128	SEABIRD_C_H	1.1280942
NAV_MODE	1	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0016420757
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00020143802
KALMAN_USE	1	PITCH_ADJ_GAIN	0	COMPASS_USE	4	SC_RECORDABOVE	2000.0
HD_A	0.003	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0	SC_PROFILE	3.0
HD_B	0.0099999998	ROLL_MIN	200	ALTIM_TOP_PING_RANGE	0	SC_XMITPROFILE	3.0

GPS1	020513,053132,4743.202,-12225.882,6,0.9,6,16.3	TGT_NAME	NW
_CALLS	1	TGT_LATLONG	4743.900,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.173,0.175
_SM_DEPTHo	1.37	KALMAN_X	-2056.2,101.8,-361.5,984.8,-830.6
_SM_ANGLEo	-70.2	KALMAN_Y	-4264.5,-834.1,-276.7,5875.9,-850.4
GPS2	020513,053902,4742.967,-12225.738,9,0.8,9,16.3	MHEAD_RNG_PITCHd_Wd	28.4,2086,-15.0,-8.547,-19.14,2595
SPEED_LIMITS	0.148,0.246	D_GRID	200

FINISH	0.4,1.021158	_24V_AH	12.9,3.549
SM_CCo	3408,60.78,0.147,0,0,1869,300.00	_10V_AH	13.1,0.000
SM_GC	1.88,7.88,0.00,60.78,0.086,0.000,0.147,205,2404,1869,-7.53,-0.17,300.00,0,0,0,0,0,0,14.71,28.83,14.63	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4729.30,-12114.85,020513,040437	FG_AHR_10Vo	0.000
TT8_MAMPS	0.023219,0.023219	MEM	322844
HUMID	32.04	DATA_FILE_SIZE	26723,779
INTERNAL_PRESSURE	8.90583	CAP_FILE_SIZE	116646,0
TCM_TEMP	17.10	CFSIZE	2097872896,2093842432
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	120.4,87.8	GPS	020513,063903,4742.941,-12225.489,36,1.0,37,16.3
SC_FREEKB	4016800

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	427	110.61	nil	0	0	0.00
Roll_motor	46	107	65.16	nil	0	0	0.00
VBD_pump_during_apogee	284	3029	11131.73	nil	0	0	0.00
VBD_pump_during_surface	60	146	115.15	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	3419	30	1348.56
Iridium_during_xfer	317	187	767.95	nil	0	0	0.00
Transponder_ping	0	420	2.71	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	12	20	3.39
TT8	1668	9	207.03
LPSleep	175	2	5.04
TT8_Active	442	9	54.89
TT8_Sampling	1572	28	596.36
TT8_CF8	57	35	27.10
TT8_Kalman	33	46	20.10
Analog_circuits	1387	10	181.77
GPS_charging	0	0	0.00
Compass	1174	15	230.76
RAFOS	0	0	0.00
Transponder	5	30	2.32

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-0.81	-146.6	201	2419	2002	1929	0.0	0.0	0	75	0.00	0.00	-55.53	0.000	16386	0.000	0.000	202	2419	3432	3493	3372	0	0	0	0	0	0	28.83	28.83	28.83
77	-0.81	-146.6	201	2419	3494	3372	3.6	-7.3	10	96	10.32	0.00	-5.45	0.000	18950	0.428	0.000	2374	2419	3693	3793	3593	0	0	0	0	0	0	14.46	28.83	14.78
158	-0.81	-146.6	1428	2417	3774	3614	19.2	-15.6	28	164	0.00	0.00	0.00	0.000	6	0.000	0.000	2369	2419	3696	3777	3615	0	0	0	0	0	0	28.83	28.83	28.83
226	-0.81	-146.6	1424	2417	3774	3614	29.5	-15.0	44	233	0.00	2.40	0.00	0.000	516	0.000	0.092	2369	1005	3696	3776	3616	0	0	0	0	0	0	28.83	14.64	28.83
463	-0.81	-146.6	1424	1004	3773	3614	67.1	-14.9	102	470	0.00	2.38	0.00	0.000	1030	0.000	0.090	2361	2416	3696	3776	3616	0	0	0	0	0	0	28.83	14.71	28.83
592	-0.81	-146.6	1408	2414	3774	3614	85.2	-13.6	133	599	0.00	2.35	0.00	0.000	260	0.000	0.108	2360	3789	3696	3776	3616	0	0	0	0	0	0	28.83	14.73	28.83
629	-0.81	-146.6	1440	3788	3773	3615	90.7	-15.7	141	636	0.00	2.22	0.00	0.000	1030	0.000	0.063	2361	2402	3696	3776	3617	0	0	0	0	0	0	28.83	14.76	28.83
758	-0.81	-146.6	1408	2401	3773	3618	110.8	-15.5	172	764	0.00	0.00	0.00	0.000	6	0.000	0.000	2361	2403	3696	3776	3617	0	0	0	0	0	0	28.83	28.83	28.83
890	-0.81	-146.6	1408	2400	3773	3621	129.7	-14.6	203	896	0.00	0.00	0.00	0.000	6	0.000	0.000	2361	2402	3696	3776	3617	0	0	0	0	0	0	28.83	28.83	28.83
1018	-0.81	-146.6	1408	2400	3773	3615	147.3	-14.1	234	1024	0.00	0.00	0.00	0.000	6	0.000	0.000	2361	2402	3696	3776	3617	0	0	0	0	0	0	28.83	28.83	28.83
1146	-0.81	-146.6	1408	2400	3773	3615	165.6	-14.2	265	1152	0.00	0.00	0.00	0.000	6	0.000	0.000	2361	2403	3696	3776	3617	0	0	0	0	0	0	28.83	28.83	28.83
1274	-0.81	-146.6	1408	2400	3773	3613	183.2	-13.5	296	1280	0.00	0.00	0.00	0.000	6	0.000	0.000	2361	2402	3696	3776	3617	0	0	0	0	0	0	28.83	28.83	28.83
1349	end dive: BOTTOM_OBSTACLE_DETECTED
state	1349	begin apogee
1352	-0.21	0.0	2361	2402	3776	3617	193.7	-14.3	314	1492	0.70	0.00	131.98	2.961	10246	0.256	0.000	2556	2402	3095	3181	3009	0	0	0	0	0	0	14.75	28.83	12.97
1493	end apogee: CONTROL_FINISHED_OK
state	1493	begin climb
1494	0.81	146.6	2556	2402	3181	3009	199.4	0.0	339	1642	1.15	2.60	134.95	3.029	11012	0.194	0.103	2882	3779	2497	2572	2423	0	0	0	0	0	0	13.83	13.76	12.93
1693	0.81	146.6	1832	3778	2532	2416	186.1	10.5	377	1699	0.00	2.30	0.00	0.000	1030	0.000	0.063	2888	2417	2497	2572	2423	0	0	0	0	0	0	28.83	14.16	28.83
1821	0.81	146.6	1824	2415	2531	2416	171.7	11.9	408	1828	0.00	2.40	0.00	0.000	260	0.000	0.104	2888	3784	2497	2572	2422	0	0	0	0	0	0	28.83	14.40	28.83
1866	0.81	146.6	1840	3784	2532	2416	166.1	13.2	418	1873	0.00	2.28	0.00	0.000	1030	0.000	0.064	2890	2404	2497	2571	2423	0	0	0	0	0	0	28.83	14.47	28.83
1995	0.81	146.6	1824	2401	2531	2416	152.7	10.4	449	2001	0.00	0.00	0.00	0.000	6	0.000	0.000	2891	2403	2496	2571	2422	0	0	0	0	0	0	28.83	28.83	28.83
2123	0.81	146.6	1824	2401	2530	2416	138.4	11.6	480	2130	0.00	2.35	0.00	0.000	516	0.000	0.092	2899	1009	2497	2572	2423	0	0	0	0	0	0	28.83	14.62	28.83
2192	0.81	146.6	1856	1008	2531	2416	131.1	11.0	496	2199	0.00	2.35	0.00	0.000	1030	0.000	0.084	2899	2412	2497	2572	2423	0	0	0	0	0	0	28.83	14.64	28.83
2321	0.81	146.6	1840	2410	2529	2416	115.3	11.6	527	2328	0.00	2.35	0.00	0.000	260	0.000	0.103	2899	3790	2496	2571	2422	0	0	0	0	0	0	28.83	14.67	28.83
2442	0.81	146.6	1840	3789	2531	2416	98.8	12.9	556	2449	0.00	2.22	0.00	0.000	1030	0.000	0.063	2905	2409	2496	2571	2422	0	0	0	0	0	0	28.83	14.72	28.83
2571	0.81	146.6	1840	2407	2531	2416	83.4	11.7	587	2577	0.00	0.00	0.00	0.000	6	0.000	0.000	2905	2409	2496	2571	2422	0	0	0	0	0	0	28.83	28.83	28.83
2699	0.81	146.6	1840	2407	2530	2416	68.0	11.4	618	2706	0.00	2.35	0.00	0.000	516	0.000	0.093	2905	1006	2496	2571	2422	0	0	0	0	0	0	28.83	14.76	28.83
2728	0.81	146.6	1872	1005	2533	2417	65.1	10.6	624	2735	0.00	2.35	0.00	0.000	1030	0.000	0.085	2905	2411	2497	2572	2422	0	0	0	0	0	0	28.83	14.76	28.83
2857	0.81	146.6	1856	2409	2530	2416	52.5	9.1	655	2864	0.00	2.33	0.00	0.000	260	0.000	0.103	2906	3784	2496	2571	2422	0	0	0	0	0	0	28.83	14.75	28.83
2902	0.81	146.6	1856	3784	2532	2416	47.9	9.5	665	2909	0.00	2.22	0.00	0.000	1030	0.000	0.063	2911	2400	2496	2571	2422	0	0	0	0	0	0	28.83	14.78	28.83
3032	0.84	178.1	1856	2396	2530	2416	38.3	7.3	696	3056	0.00	2.42	17.92	1.848	8708	0.000	0.095	2917	1014	2365	2441	2290	0	0	0	0	0	0	28.83	14.59	14.07
3175	0.84	178.1	1856	1013	2400	2284	25.0	10.1	729	3181	0.00	2.35	0.00	0.000	1030	0.000	0.083	2917	2413	2366	2441	2291	0	0	0	0	0	0	28.83	14.63	28.83
3243	0.84	178.1	1864	2411	2400	2284	17.9	10.7	745	3250	0.00	2.35	0.00	0.000	260	0.000	0.103	2917	3787	2366	2441	2291	0	0	0	0	0	0	28.83	14.64	28.83
3268	0.84	178.1	1936	3786	2404	2285	15.0	11.9	750	3275	0.00	2.25	0.00	0.000	1030	0.000	0.064	2919	2404	2366	2441	2291	0	0	0	0	0	0	28.83	14.64	28.83
3337	0.84	178.1	1864	2401	2400	2284	7.2	12.1	766	3343	0.00	0.00	0.00	0.000	6	0.000	0.000	2919	2404	2366	2442	2291	0	0	0	0	0	0	28.83	28.83	28.83
3380	end climb: SURFACE_DEPTH_REACHED
state	3380	begin surface coast
3394	end surface coast: CONTROL_FINISHED_OK
state	3394	begin surface