Glider dive log

Shilshole 01May13 * SG199 * Dive index * Mission links * Dive 9 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 199 HD_C 9.9999997e-06 ROLL_MAX 3771 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 2350 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2340 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 28 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 350 R_STBD_OVSHOOT 22 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 1.6

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 2970 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 -20726.82 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 200 MINV_24V 11 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3900 MINV_10V 11 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2512 FG_AHR_10V 0 SEABIRD_T_G 0.0044001359

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00063958467

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY -2 SEABIRD_T_I 2.6420161e-05

RHO 1.023 P_OVSHOOT 0.039999999 PRESSURE_YINT -64.539497 SEABIRD_T_J 3.2747387e-06

MASS 53051 PITCH_GAIN 25 PRESSURE_SLOPE 0.0001159754 SEABIRD_C_G -9.7531748

MASS_COMP 0 PITCH_TIMEOUT 17 AD7714Ch0Gain 128 SEABIRD_C_H 1.1147131

NAV_MODE 1 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0015239087

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00019379995

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 218 ALTIM_TOP_PING_RANGE 0 SC_XMITPROFILE 3.0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY -2 SEABIRD_T_J 3.2747387e-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 350

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 25 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 120 FERRY_MAX 45 PITCH_MAX 3900 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 200 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 17 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 0.0001159754 T_ABORT 1440

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -64.539497 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 -20726.82

COMPASS2_DEVICE -1 ID 199 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 1.6 RHO 1.023 T_NO_W 120

COURSE_BIAS 0 KALMAN_USE 1 ROLL_ADJ_DBAND 0 T_RSLEEP 3

C_PITCH 2512 LOGGERDEVICE1 53 ROLL_ADJ_GAIN 0 T_TURN 225

C_ROLL_CLIMB 2340 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 T_TURN_SAMPINT 4

C_ROLL_DIVE 2350 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 T_WATCHDOG 10

C_VBD 2970 LOGGERDEVICE4 -1 ROLL_DEG 40 UNCOM_BLEED 60

DBDW 0 LOGGERS 1 ROLL_MAX 3771 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MASS 53051 ROLL_MAXERRORS 1 USE_BATHY 0

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 218 USE_ICE 0

DEVICE1 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 11 R_PORT_OVSHOOT 28 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 11 R_STBD_OVSHOOT 22 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 -9.7531748 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1090 N_DIVES 0 SEABIRD_C_H 1.1147131 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 30 N_FILEKB 4 SEABIRD_C_I -0.0015239087 VBD_TIMEOUT 720

D_CALL 0 N_GPS 20 SEABIRD_C_J 0.00019379995 W_ADJ_DBAND 0

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_G 0.0044001359 XPDR_DEVICE 24

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_H 0.00063958467 XPDR_INHIBIT 90

D_NO_BLEED 500 PHONE_DEVICE 49 SEABIRD_T_I 2.6420161e-05 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 020513,060000,4742.904,-12225.262,5,0.9,6,16.3 TGT_NAME NW

_CALLS 1 TGT_LATLONG 4743.900,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.083,0.232

_SM_DEPTHo 1.21 KALMAN_X -1539.2,-122.5,-247.2,1052.2,-378.4

_SM_ANGLEo -68.4 KALMAN_Y -4764.8,-624.9,-323.2,5973.4,-1049.9

GPS2 020513,060722,4742.784,-12225.232,10,0.9,10,16.3 MHEAD_RNG_PITCHd_Wd 3.4,2136,-15.0,-8.547,-19.14,2595

SPEED_LIMITS 0.148,0.246 D_GRID 200

Post-dive calculations and measurements:

FINISH 0.3,1.011097 _24V_AH 13.3,4.102

SM_CCo 3729,81.35,0.161,0,0,1541,350.04 _10V_AH 13.4,0.000

SM_GC 1.16,7.57,2.40,81.35,0.088,0.080,0.161,190,2341,1541,-7.20,0.71,350.04,0,0,0,0,0,0,14.69,14.69,14.59 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4748.51,-12231.73,020513,050527 FG_AHR_10Vo 0.000

TT8_MAMPS 0.025466,0.025466 MEM 322884

HUMID 31.45 DATA_FILE_SIZE 26728,856

INTERNAL_PRESSURE 9.07099 CAP_FILE_SIZE 121760,0

TCM_TEMP 16.70 CFSIZE 2097872896,2094006272

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

ALTIM_BOTTOM_PING 120.2,84.7 GPS 020513,071304,4743.108,-12225.246,37,0.9,37,16.3

SC_FREEKB 4015536

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 425 109.60 nil 0 0 0.00

Roll_motor 19 116 29.77 nil 0 0 0.00

VBD_pump_during_apogee 340 1683 7618.46 nil 0 0 0.00

VBD_pump_during_surface 81 160 173.82 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 3737 31 1554.83

Iridium_during_xfer 324 182 788.85 nil 0 0 0.00

Transponder_ping 0 420 2.79 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 11 20 3.29

TT8 1807 12 308.07

LPSleep 192 2 5.66

TT8_Active 507 12 86.55

TT8_Sampling 1696 31 715.08

TT8_CF8 61 38 31.29

TT8_Kalman 33 48 21.67

Analog_circuits 1516 9 182.90

GPS_charging 0 0 0.00

Compass 1287 15 258.69

RAFOS 0 0 0.00

Transponder 5 30 2.28

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 -0.78 -146.6 192 2344 1595 1481 0.0 0.0 0 91 0.00 0.00 -71.93 0.000 16386 0.000 0.000 192 2344 3412 3438 3386 0 0 0 0 0 0 28.83 28.83 28.83

93 -0.78 -146.6 192 2344 3438 3386 3.6 -7.6 13 112 10.02 0.00 -3.35 0.000 18950 0.425 0.000 2252 2341 3568 3618 3519 0 0 0 0 0 0 14.39 28.83 14.72

174 -0.78 -146.6 1344 2342 3613 3518 18.9 -14.4 31 180 0.00 0.00 0.00 0.000 6 0.000 0.000 2253 2344 3569 3618 3521 0 0 0 0 0 0 28.83 28.83 28.83

243 -0.78 -146.6 1344 2342 3612 3518 28.4 -14.7 47 248 0.00 0.00 0.00 0.000 6 0.000 0.000 2252 2344 3569 3618 3521 0 0 0 0 0 0 28.83 28.83 28.83

311 -0.78 -146.6 1344 2342 3613 3519 38.4 -14.5 63 316 0.00 0.00 0.00 0.000 6 0.000 0.000 2253 2344 3569 3618 3521 0 0 0 0 0 0 28.83 28.83 28.83

379 -0.78 -146.6 1344 2342 3613 3518 49.3 -13.9 79 385 0.00 2.38 0.00 0.000 516 0.000 0.092 2253 940 3569 3618 3521 0 0 0 0 0 0 28.83 14.59 28.83

523 -0.78 -146.6 1344 939 3613 3519 68.7 -13.5 114 530 0.00 2.38 0.00 0.000 1030 0.000 0.091 2244 2349 3570 3618 3522 0 0 0 0 0 0 28.83 14.65 28.83

652 -0.78 -146.6 1328 2346 3613 3519 84.9 -11.4 145 658 0.00 0.00 0.00 0.000 6 0.000 0.000 2244 2349 3570 3618 3522 0 0 0 0 0 0 28.83 28.83 28.83

780 -0.78 -146.6 1328 2346 3613 3522 99.5 -10.8 176 786 0.00 0.00 0.00 0.000 6 0.000 0.000 2244 2349 3570 3618 3522 0 0 0 0 0 0 28.83 28.83 28.83

909 -0.78 -146.6 1344 2347 3613 3519 114.6 -12.9 207 915 0.00 0.00 0.00 0.000 6 0.000 0.000 2244 2349 3570 3618 3522 0 0 0 0 0 0 28.83 28.83 28.83

1041 -0.78 -146.6 1328 2347 3613 3519 132.0 -12.0 238 1046 0.00 0.00 0.00 0.000 6 0.000 0.000 2249 2349 3569 3618 3521 0 0 0 0 0 0 28.83 28.83 28.83

1169 -0.78 -146.6 1344 2346 3613 3519 149.5 -12.3 269 1175 0.00 0.00 0.00 0.000 6 0.000 0.000 2244 2349 3570 3619 3522 0 0 0 0 0 0 28.83 28.83 28.83

1297 -0.78 -146.6 1328 2346 3614 3519 163.8 -12.1 300 1303 0.00 0.00 0.00 0.000 6 0.000 0.000 2244 2349 3570 3619 3522 0 0 0 0 0 0 28.83 28.83 28.83

1426 -0.78 -146.6 1332 2347 3614 3519 178.1 -10.7 331 1431 0.00 0.00 0.00 0.000 6 0.000 0.000 2244 2349 3570 3618 3522 0 0 0 0 0 0 28.83 28.83 28.83

1532 end dive: BOTTOM_OBSTACLE_DETECTED

state 1532 begin apogee

1536 -0.20 0.0 2244 2349 3618 3521 190.2 -12.3 357 1702 0.70 0.00 161.65 1.684 10246 0.243 0.000 2440 2349 2971 3049 2893 0 0 0 0 0 0 14.69 28.83 13.39

1704 end apogee: CONTROL_FINISHED_OK

state 1704 begin climb

1705 0.78 146.6 2440 2349 3049 2896 193.8 0.0 387 1885 1.08 0.00 165.65 1.626 10758 0.167 0.000 2755 2349 2373 2454 2292 0 0 0 0 1 0 13.92 28.83 13.35

2007 0.78 146.6 1712 2346 2412 2285 165.9 10.9 449 2013 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2354 2373 2454 2293 0 0 0 0 0 0 28.83 28.83 28.83

2135 0.78 146.6 1712 2347 2411 2285 151.6 11.5 480 2141 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2349 2373 2454 2292 0 0 0 0 0 0 28.83 28.83 28.83

2263 0.78 146.6 1712 2347 2411 2285 136.3 11.2 511 2269 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2349 2373 2454 2293 0 0 0 0 0 0 28.83 28.83 28.83

2391 0.78 146.6 1712 2347 2411 2285 122.6 9.9 542 2397 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2349 2373 2454 2293 0 0 0 0 0 0 28.83 28.83 28.83

2519 0.78 146.6 1712 2347 2410 2285 109.3 10.5 573 2525 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2349 2373 2454 2293 0 0 0 0 0 0 28.83 28.83 28.83

2647 0.78 146.6 1712 2346 2411 2285 96.1 9.5 604 2653 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2349 2372 2455 2289 0 0 0 0 0 0 28.83 28.83 28.83

2775 0.78 146.6 1712 2347 2411 2285 84.6 10.2 635 2781 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2349 2373 2454 2293 0 0 0 0 0 0 28.83 28.83 28.83

2903 0.78 146.6 1712 2347 2411 2285 71.9 9.5 666 2910 0.00 2.40 0.00 0.000 516 0.000 0.095 2765 926 2373 2454 2293 0 0 0 0 0 0 28.83 14.69 28.83

2965 0.78 146.6 1728 926 2412 2285 66.1 9.4 680 2972 0.00 2.38 0.00 0.000 1030 0.000 0.088 2764 2343 2373 2454 2293 0 0 0 0 0 0 28.83 14.71 28.83

3094 0.79 154.7 1712 2340 2411 2285 54.8 8.2 711 3101 0.00 0.00 4.53 0.907 8198 0.000 0.000 2765 2342 2338 2419 2257 0 0 0 0 0 0 28.83 28.83 14.27

3224 0.80 160.8 1712 2340 2376 2250 43.6 8.3 742 3232 0.00 2.45 3.28 0.739 8708 0.000 0.094 2773 934 2313 2395 2232 0 0 0 0 0 0 28.83 14.67 14.26

3395 0.80 165.8 1728 933 2351 2224 29.6 8.3 783 3403 0.00 2.38 2.70 0.288 9222 0.000 0.086 2773 2338 2291 2373 2209 0 0 0 0 0 0 28.83 14.69 14.60

3465 0.80 165.8 1736 2336 2331 2202 23.1 8.9 799 3471 0.00 0.00 0.00 0.000 6 0.000 0.000 2773 2338 2291 2373 2210 0 0 0 0 0 0 28.83 28.83 28.83

3533 0.80 165.8 1728 2336 2331 2202 16.5 8.8 815 3539 0.00 0.00 0.00 0.000 6 0.000 0.000 2773 2339 2291 2373 2210 0 0 0 0 0 0 28.83 28.83 28.83

3601 0.80 165.8 1728 2336 2331 2202 10.3 9.1 831 3607 0.00 0.00 0.00 0.000 6 0.000 0.000 2773 2338 2291 2372 2210 0 0 0 0 0 0 28.83 28.83 28.83

3670 0.81 171.4 1728 2336 2330 2202 4.3 8.3 847 3678 0.00 2.50 2.40 0.214 8452 0.000 0.116 2773 3749 2268 2351 2186 0 0 0 0 0 0 28.83 14.64 14.62

3691 end climb: SURFACE_DEPTH_REACHED

state 3691 begin surface coast

3712 end surface coast: CONTROL_FINISHED_OK

state 3712 begin surface

ID	199	HD_C	9.9999997e-06	ROLL_MAX	3771	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	2350	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2340	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	28	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	350	R_STBD_OVSHOOT	22	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	1.6
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	2970	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	-20726.82	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	200	MINV_24V	11	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3900	MINV_10V	11	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2512	FG_AHR_10V	0	SEABIRD_T_G	0.0044001359
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00063958467
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	-2	SEABIRD_T_I	2.6420161e-05
RHO	1.023	P_OVSHOOT	0.039999999	PRESSURE_YINT	-64.539497	SEABIRD_T_J	3.2747387e-06
MASS	53051	PITCH_GAIN	25	PRESSURE_SLOPE	0.0001159754	SEABIRD_C_G	-9.7531748
MASS_COMP	0	PITCH_TIMEOUT	17	AD7714Ch0Gain	128	SEABIRD_C_H	1.1147131
NAV_MODE	1	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0015239087
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00019379995
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	218	ALTIM_TOP_PING_RANGE	0	SC_XMITPROFILE	3.0

GPS1	020513,060000,4742.904,-12225.262,5,0.9,6,16.3	TGT_NAME	NW
_CALLS	1	TGT_LATLONG	4743.900,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.083,0.232
_SM_DEPTHo	1.21	KALMAN_X	-1539.2,-122.5,-247.2,1052.2,-378.4
_SM_ANGLEo	-68.4	KALMAN_Y	-4764.8,-624.9,-323.2,5973.4,-1049.9
GPS2	020513,060722,4742.784,-12225.232,10,0.9,10,16.3	MHEAD_RNG_PITCHd_Wd	3.4,2136,-15.0,-8.547,-19.14,2595
SPEED_LIMITS	0.148,0.246	D_GRID	200

FINISH	0.3,1.011097	_24V_AH	13.3,4.102
SM_CCo	3729,81.35,0.161,0,0,1541,350.04	_10V_AH	13.4,0.000
SM_GC	1.16,7.57,2.40,81.35,0.088,0.080,0.161,190,2341,1541,-7.20,0.71,350.04,0,0,0,0,0,0,14.69,14.69,14.59	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4748.51,-12231.73,020513,050527	FG_AHR_10Vo	0.000
TT8_MAMPS	0.025466,0.025466	MEM	322884
HUMID	31.45	DATA_FILE_SIZE	26728,856
INTERNAL_PRESSURE	9.07099	CAP_FILE_SIZE	121760,0
TCM_TEMP	16.70	CFSIZE	2097872896,2094006272
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
ALTIM_BOTTOM_PING	120.2,84.7	GPS	020513,071304,4743.108,-12225.246,37,0.9,37,16.3
SC_FREEKB	4015536

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	425	109.60	nil	0	0	0.00
Roll_motor	19	116	29.77	nil	0	0	0.00
VBD_pump_during_apogee	340	1683	7618.46	nil	0	0	0.00
VBD_pump_during_surface	81	160	173.82	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	3737	31	1554.83
Iridium_during_xfer	324	182	788.85	nil	0	0	0.00
Transponder_ping	0	420	2.79	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	11	20	3.29
TT8	1807	12	308.07
LPSleep	192	2	5.66
TT8_Active	507	12	86.55
TT8_Sampling	1696	31	715.08
TT8_CF8	61	38	31.29
TT8_Kalman	33	48	21.67
Analog_circuits	1516	9	182.90
GPS_charging	0	0	0.00
Compass	1287	15	258.69
RAFOS	0	0	0.00
Transponder	5	30	2.28

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	-0.78	-146.6	192	2344	1595	1481	0.0	0.0	0	91	0.00	0.00	-71.93	0.000	16386	0.000	0.000	192	2344	3412	3438	3386	0	0	0	0	0	0	28.83	28.83	28.83
93	-0.78	-146.6	192	2344	3438	3386	3.6	-7.6	13	112	10.02	0.00	-3.35	0.000	18950	0.425	0.000	2252	2341	3568	3618	3519	0	0	0	0	0	0	14.39	28.83	14.72
174	-0.78	-146.6	1344	2342	3613	3518	18.9	-14.4	31	180	0.00	0.00	0.00	0.000	6	0.000	0.000	2253	2344	3569	3618	3521	0	0	0	0	0	0	28.83	28.83	28.83
243	-0.78	-146.6	1344	2342	3612	3518	28.4	-14.7	47	248	0.00	0.00	0.00	0.000	6	0.000	0.000	2252	2344	3569	3618	3521	0	0	0	0	0	0	28.83	28.83	28.83
311	-0.78	-146.6	1344	2342	3613	3519	38.4	-14.5	63	316	0.00	0.00	0.00	0.000	6	0.000	0.000	2253	2344	3569	3618	3521	0	0	0	0	0	0	28.83	28.83	28.83
379	-0.78	-146.6	1344	2342	3613	3518	49.3	-13.9	79	385	0.00	2.38	0.00	0.000	516	0.000	0.092	2253	940	3569	3618	3521	0	0	0	0	0	0	28.83	14.59	28.83
523	-0.78	-146.6	1344	939	3613	3519	68.7	-13.5	114	530	0.00	2.38	0.00	0.000	1030	0.000	0.091	2244	2349	3570	3618	3522	0	0	0	0	0	0	28.83	14.65	28.83
652	-0.78	-146.6	1328	2346	3613	3519	84.9	-11.4	145	658	0.00	0.00	0.00	0.000	6	0.000	0.000	2244	2349	3570	3618	3522	0	0	0	0	0	0	28.83	28.83	28.83
780	-0.78	-146.6	1328	2346	3613	3522	99.5	-10.8	176	786	0.00	0.00	0.00	0.000	6	0.000	0.000	2244	2349	3570	3618	3522	0	0	0	0	0	0	28.83	28.83	28.83
909	-0.78	-146.6	1344	2347	3613	3519	114.6	-12.9	207	915	0.00	0.00	0.00	0.000	6	0.000	0.000	2244	2349	3570	3618	3522	0	0	0	0	0	0	28.83	28.83	28.83
1041	-0.78	-146.6	1328	2347	3613	3519	132.0	-12.0	238	1046	0.00	0.00	0.00	0.000	6	0.000	0.000	2249	2349	3569	3618	3521	0	0	0	0	0	0	28.83	28.83	28.83
1169	-0.78	-146.6	1344	2346	3613	3519	149.5	-12.3	269	1175	0.00	0.00	0.00	0.000	6	0.000	0.000	2244	2349	3570	3619	3522	0	0	0	0	0	0	28.83	28.83	28.83
1297	-0.78	-146.6	1328	2346	3614	3519	163.8	-12.1	300	1303	0.00	0.00	0.00	0.000	6	0.000	0.000	2244	2349	3570	3619	3522	0	0	0	0	0	0	28.83	28.83	28.83
1426	-0.78	-146.6	1332	2347	3614	3519	178.1	-10.7	331	1431	0.00	0.00	0.00	0.000	6	0.000	0.000	2244	2349	3570	3618	3522	0	0	0	0	0	0	28.83	28.83	28.83
1532	end dive: BOTTOM_OBSTACLE_DETECTED
state	1532	begin apogee
1536	-0.20	0.0	2244	2349	3618	3521	190.2	-12.3	357	1702	0.70	0.00	161.65	1.684	10246	0.243	0.000	2440	2349	2971	3049	2893	0	0	0	0	0	0	14.69	28.83	13.39
1704	end apogee: CONTROL_FINISHED_OK
state	1704	begin climb
1705	0.78	146.6	2440	2349	3049	2896	193.8	0.0	387	1885	1.08	0.00	165.65	1.626	10758	0.167	0.000	2755	2349	2373	2454	2292	0	0	0	0	1	0	13.92	28.83	13.35
2007	0.78	146.6	1712	2346	2412	2285	165.9	10.9	449	2013	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2354	2373	2454	2293	0	0	0	0	0	0	28.83	28.83	28.83
2135	0.78	146.6	1712	2347	2411	2285	151.6	11.5	480	2141	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2349	2373	2454	2292	0	0	0	0	0	0	28.83	28.83	28.83
2263	0.78	146.6	1712	2347	2411	2285	136.3	11.2	511	2269	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2349	2373	2454	2293	0	0	0	0	0	0	28.83	28.83	28.83
2391	0.78	146.6	1712	2347	2411	2285	122.6	9.9	542	2397	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2349	2373	2454	2293	0	0	0	0	0	0	28.83	28.83	28.83
2519	0.78	146.6	1712	2347	2410	2285	109.3	10.5	573	2525	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2349	2373	2454	2293	0	0	0	0	0	0	28.83	28.83	28.83
2647	0.78	146.6	1712	2346	2411	2285	96.1	9.5	604	2653	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2349	2372	2455	2289	0	0	0	0	0	0	28.83	28.83	28.83
2775	0.78	146.6	1712	2347	2411	2285	84.6	10.2	635	2781	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2349	2373	2454	2293	0	0	0	0	0	0	28.83	28.83	28.83
2903	0.78	146.6	1712	2347	2411	2285	71.9	9.5	666	2910	0.00	2.40	0.00	0.000	516	0.000	0.095	2765	926	2373	2454	2293	0	0	0	0	0	0	28.83	14.69	28.83
2965	0.78	146.6	1728	926	2412	2285	66.1	9.4	680	2972	0.00	2.38	0.00	0.000	1030	0.000	0.088	2764	2343	2373	2454	2293	0	0	0	0	0	0	28.83	14.71	28.83
3094	0.79	154.7	1712	2340	2411	2285	54.8	8.2	711	3101	0.00	0.00	4.53	0.907	8198	0.000	0.000	2765	2342	2338	2419	2257	0	0	0	0	0	0	28.83	28.83	14.27
3224	0.80	160.8	1712	2340	2376	2250	43.6	8.3	742	3232	0.00	2.45	3.28	0.739	8708	0.000	0.094	2773	934	2313	2395	2232	0	0	0	0	0	0	28.83	14.67	14.26
3395	0.80	165.8	1728	933	2351	2224	29.6	8.3	783	3403	0.00	2.38	2.70	0.288	9222	0.000	0.086	2773	2338	2291	2373	2209	0	0	0	0	0	0	28.83	14.69	14.60
3465	0.80	165.8	1736	2336	2331	2202	23.1	8.9	799	3471	0.00	0.00	0.00	0.000	6	0.000	0.000	2773	2338	2291	2373	2210	0	0	0	0	0	0	28.83	28.83	28.83
3533	0.80	165.8	1728	2336	2331	2202	16.5	8.8	815	3539	0.00	0.00	0.00	0.000	6	0.000	0.000	2773	2339	2291	2373	2210	0	0	0	0	0	0	28.83	28.83	28.83
3601	0.80	165.8	1728	2336	2331	2202	10.3	9.1	831	3607	0.00	0.00	0.00	0.000	6	0.000	0.000	2773	2338	2291	2372	2210	0	0	0	0	0	0	28.83	28.83	28.83
3670	0.81	171.4	1728	2336	2330	2202	4.3	8.3	847	3678	0.00	2.50	2.40	0.214	8452	0.000	0.116	2773	3749	2268	2351	2186	0	0	0	0	0	0	28.83	14.64	14.62
3691	end climb: SURFACE_DEPTH_REACHED
state	3691	begin surface coast
3712	end surface coast: CONTROL_FINISHED_OK
state	3712	begin surface