Glider dive log

Shilshole 04Nov15 * SG158 * Dive index * Mission links * Dive 7 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 158 HD_C 9.8500004e-06 ROLL_MAX 3794 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 13 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 7 ESCAPE_HEADING 0 C_ROLL_DIVE 3580 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 3580 ALTIM_PING_DEPTH 120

D_SURF 2 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 180 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 3200 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 200 TGT_DEFAULT_LON -7306 ROLL_TIMEOUT 15 ALTIM_PULSE 6

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 32 ALTIM_SENSITIVITY 3

D_NO_BLEED 100 SM_CC 280 R_STBD_OVSHOOT 12 XPDR_VALID 6

D_BOOST 3 N_FILEKB 4 ROLL_AD_RATE 250 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 1.4

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 1 VBD_MIN 600 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 2 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 C_VBD 2106 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 38

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.25119999 DEVICE3 -1

T_DIVE 90 CALL_TRIES 7 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 95 CALL_WAIT 60 PITCH_VBD_SHIFT 0.00089999998 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 1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 15 UNCOM_BLEED 50 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 -721911.38 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 3 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 150 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 100 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 138 MINV_24V 19 SIM_W 0

MAX_BUOY 200 PITCH_MAX 3933 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2562 FG_AHR_10V 0 SEABIRD_T_G 0.004317278

GLIDE_SLOPE 20 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00062907452

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.22976e-05

RHO 1.0233001 P_OVSHOOT 0.02 PRESSURE_YINT -162.90207 SEABIRD_T_J 2.1565418e-06

MASS 51610 PITCH_GAIN 28 PRESSURE_SLOPE 0.000137996 SEABIRD_C_G -9.7708368

MASS_COMP 0 PITCH_TIMEOUT 20 AD7714Ch0Gain 32 SEABIRD_C_H 1.113179

NAV_MODE 2 PITCH_AD_RATE 145 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.001699872

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.0002155289

KALMAN_USE 2 PITCH_ADJ_GAIN 0 COMPASS_USE 4

HD_A 0.0038360001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 236 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 32 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 280

AH0_10V 100 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 145 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_TGT 200 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 28 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 120 FERRY_MAX 45 PITCH_MAX 3933 TCM_ROLL_OFFSET 0

ALTIM_PULSE 6 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MIN 138 TGT_DEFAULT_LAT 3200

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -7306

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00089999998 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 20 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 90

CALL_NDIVES 1 HD_A 0.0038360001 PRESSURE_SLOPE 0.000137996 T_EPIRB 0

CALL_TRIES 7 HD_B 0.0099999998 PRESSURE_YINT -162.90207 T_GPS 15

CALL_WAIT 60 HD_C 9.8500004e-06 PROTOCOL 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.02 T_GPS_CHARGE -721911.38

CAPUPLOAD 1 HEAD_ERRBAND 180 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 3 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 95

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 158 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 1.4 RHO 1.0233001 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2562 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_ROLL_CLIMB 3580 LOGGERDEVICE2 -1 ROLL_AD_RATE 250 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 3580 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 2106 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 1 ROLL_MAX 3794 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 51610 ROLL_MAXERRORS 2 VBD_CNV -0.25119999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 236 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 200 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 38 MINV_10V 8 R_PORT_OVSHOOT 32 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 12 VBD_MIN 600

DEVICE4 -1 MISSION 13 SEABIRD_C_G -9.7708368 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.113179 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 2 SEABIRD_C_I -0.001699872 VBD_TIMEOUT 720

DIVE 7 NOCOMM_ACTION 0 SEABIRD_C_J 0.0002155289 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.004317278 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.00062907452 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.22976e-05 XPDR_VALID 6

D_FINISH 0 N_NOCOMM 2 SEABIRD_T_J 2.1565418e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 100 PHONE_DEVICE 49 SIM_W 0

Pre-dive calculations and measurements:

GPS1 051115,013936,4744.630,-12224.312,13,1.5,13,18.2 TGT_NAME SOUTH

_CALLS 2 TGT_LATLONG 4743.000,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.85 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -74.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 051115,014908,4744.648,-12224.368,11,2.5,31,18.2 MHEAD_RNG_PITCHd_Wd 163.1,3057,-11.6,-7.407,-15.53,3998

SPEED_LIMITS 0.204,0.267 D_GRID 200

Post-dive calculations and measurements:

FINISH 0.2,1.007805 _10V_AH 10.5,0.391

SM_CCo 3883,0.00,0.000,0,0,639,368.76 FG_AHR_24Vo 0.000

SM_GC 2.11,7.22,0.00,0.00,0.050,0.000,0.000,126,3598,639,-7.55,0.51,368.76,0,0,0,0,0,0,25.94,28.83,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4726.11,-12226.80,310808,151553 MEM 323316

TT8_MAMPS 0.020223,0.020223 DATA_FILE_SIZE 36886,717

HUMID 49.05 CAP_FILE_SIZE 69861,0

INTERNAL_PRESSURE 8.77333 CFSIZE 260165632,257302528

TCM_TEMP 20.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.027,265.2,1

ALTIM_BOTTOM_PING 125.4,67.5 GPS 051115,025535,4744.672,-12224.357,34,1.7,34,18.2

_24V_AH 24.3,0.620

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 250 107.62 SBE_CT 482 23 280.76

Roll_motor 5 164 22.08 WL_BB2FLVMG 531 105 1355.79

VBD_pump_during_apogee 373 653 5929.87 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 51 55 70.16 nil 0 0 0.00

Iridium_during_connect 98 160 382.28 nil 0 0 0.00

Iridium_during_xfer 216 223 1172.19 nil 0 0 0.00

Transponder_ping 0 420 7.65 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 32 30 10.46

TT8 1609 11 193.62

LPSleep 809 2 18.62

TT8_Active 448 11 54.00

TT8_Sampling 1439 39 592.28

TT8_CF8 165 45 79.60

TT8_Kalman 0 0 0.00

Analog_circuits 1046 17 186.85

GPS_charging 0 0 0.00

Compass 1037 15 171.32

RAFOS 0 0 0.00

Transponder 7 30 2.27

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

16 -0.59 -195.4 98 3556 729 738 0.0 0.0 0 52 0.00 0.00 -34.00 0.000 16386 0.000 0.000 97 3557 1749 1736 1762 0 0 0 0 0 0 28.83 28.83 28.83

55 -0.59 -195.4 98 3557 1737 1762 3.1 -5.3 6 92 9.15 0.00 -22.98 0.000 18438 0.251 0.000 2372 3560 2887 2877 2897 0 0 0 0 0 0 25.61 28.83 26.20

155 -0.59 -195.4 2372 3560 2879 2897 17.2 -13.0 24 161 0.00 0.00 0.00 0.000 6 0.000 0.000 2372 3560 2888 2879 2897 0 0 0 0 0 0 28.83 28.83 28.83

223 -0.59 -195.4 2372 3560 2882 2897 26.7 -13.3 37 229 0.00 0.00 0.00 0.000 6 0.000 0.000 2371 3560 2889 2881 2897 0 0 0 0 0 0 28.83 28.83 28.83

292 -0.59 -195.4 2372 3560 2882 2897 35.5 -13.4 50 298 0.00 0.00 0.00 0.000 6 0.000 0.000 2372 3560 2889 2882 2897 0 0 0 0 0 0 28.83 28.83 28.83

360 -0.59 -195.4 1472 3559 2827 2890 44.2 -11.7 63 366 0.00 0.00 0.00 0.000 6 0.000 0.000 2372 3560 2889 2882 2897 0 0 0 0 0 0 28.83 28.83 28.83

490 -0.59 -195.4 2372 3560 2882 2897 59.5 -11.3 88 495 0.00 0.00 0.00 0.000 6 0.000 0.000 2372 3560 2889 2882 2897 0 0 0 0 0 0 28.83 28.83 28.83

618 -0.59 -195.4 1472 3559 2828 2890 73.8 -10.5 113 623 0.00 0.00 0.00 0.000 6 0.000 0.000 2372 3560 2889 2882 2897 0 0 0 0 0 0 28.83 28.83 28.83

746 -0.59 -195.4 2371 3560 2882 2897 88.2 -10.9 138 752 0.00 0.00 0.00 0.000 6 0.000 0.000 2372 3560 2889 2882 2897 0 0 0 0 0 0 28.83 28.83 28.83

874 -0.59 -195.4 1472 3558 2828 2890 102.6 -10.7 163 880 0.00 0.00 0.00 0.000 6 0.000 0.000 2372 3560 2889 2882 2897 0 0 0 0 0 0 28.83 28.83 28.83

1004 -0.59 -195.4 2372 3560 2882 2897 115.2 -9.3 188 1009 0.00 0.00 0.00 0.000 6 0.000 0.000 2372 3560 2889 2882 2897 0 0 0 0 0 0 28.83 28.83 28.83

1136 -0.59 -195.4 1440 3559 2825 2890 129.0 -10.8 213 1142 0.00 0.00 0.00 0.000 6 0.000 0.000 2372 3560 2889 2882 2897 0 0 0 0 0 0 28.83 28.83 28.83

1265 -0.59 -195.4 2372 3560 2882 2897 143.8 -11.9 238 1270 0.00 0.00 0.00 0.000 6 0.000 0.000 2373 3560 2889 2882 2897 0 0 0 0 0 0 28.83 28.83 28.83

1393 -0.59 -195.4 1472 3559 2827 2890 160.4 -12.6 263 1400 0.00 0.00 0.00 0.000 6 0.000 0.000 2372 3560 2889 2883 2896 0 0 0 0 0 0 28.83 28.83 28.83

1523 -0.59 -195.4 2372 3560 2882 2897 176.0 -12.4 288 1529 0.00 0.00 0.00 0.000 6 0.000 0.000 2372 3560 2890 2882 2898 0 0 0 0 0 0 28.83 28.83 28.83

1539 end dive: BOTTOM_OBSTACLE_DETECTED

state 1539 begin apogee

1546 -0.18 0.0 2372 3598 2882 2897 178.3 -12.2 291 1699 0.38 0.00 144.93 0.653 10246 0.131 0.000 2502 3598 2104 2149 2060 0 0 0 0 0 0 26.37 28.83 24.48

1701 end apogee: CONTROL_FINISHED_OK

state 1702 begin climb

1704 0.59 195.4 2502 3598 2148 2059 186.6 0.0 318 1860 0.75 0.00 150.70 0.640 10246 0.097 0.000 2756 3598 1327 1373 1282 0 0 0 0 0 0 25.08 28.83 24.32

1985 0.59 195.4 2756 3598 1368 1274 166.6 10.4 369 1991 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 3598 1321 1368 1274 0 0 0 0 0 0 28.83 28.83 28.83

2113 0.59 195.4 2756 3598 1367 1273 153.0 10.6 394 2119 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 3598 1320 1367 1273 0 0 0 0 0 0 28.83 28.83 28.83

2242 0.59 195.4 2756 3597 1367 1273 137.7 11.4 419 2248 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 3597 1320 1367 1273 0 0 0 0 0 0 28.83 28.83 28.83

2370 0.59 195.4 1768 3597 1339 1270 123.5 10.3 444 2376 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 3598 1320 1367 1273 0 0 0 0 0 0 28.83 28.83 28.83

2500 0.59 195.4 2756 3598 1367 1273 110.1 10.1 469 2506 0.00 0.00 0.00 0.000 6 0.000 0.000 2757 3598 1320 1367 1273 0 0 0 0 0 0 28.83 28.83 28.83

2629 0.59 195.4 2756 3598 1366 1273 96.3 9.8 494 2635 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 3598 1320 1367 1273 0 0 0 0 0 0 28.83 28.83 28.83

2757 0.59 195.4 2756 3598 1366 1273 84.4 8.9 519 2763 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 3598 1319 1367 1272 0 0 0 0 0 0 28.83 28.83 28.83

2886 0.59 195.4 2756 3598 1367 1272 72.4 9.1 544 2892 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 3598 1320 1367 1273 0 0 0 0 0 0 28.83 28.83 28.83

3016 0.59 195.4 2756 3598 1366 1272 60.4 8.9 569 3022 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 3597 1319 1366 1273 0 0 0 0 0 0 28.83 28.83 28.83

3144 0.59 195.4 1792 3596 1338 1270 47.9 9.9 594 3150 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 3598 1319 1367 1272 0 0 0 0 0 0 28.83 28.83 28.83

3273 0.59 195.4 2756 3598 1367 1272 36.8 8.3 619 3279 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 3598 1319 1366 1272 0 0 0 0 0 0 28.83 28.83 28.83

3341 0.60 200.0 1760 3597 1338 1269 31.6 7.3 632 3349 0.00 0.00 3.85 0.385 8198 0.000 0.000 2756 3598 1308 1355 1262 0 0 0 0 0 0 28.83 28.83 25.82

3412 0.60 200.0 2756 3598 1355 1262 25.6 9.1 645 3418 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 3598 1308 1355 1262 0 0 0 0 0 0 28.83 28.83 28.83

3481 0.60 200.0 2756 3598 1356 1262 19.5 9.5 658 3486 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 3598 1309 1356 1262 0 0 0 0 0 0 28.83 28.83 28.83

3549 0.60 200.0 2756 3598 1355 1262 13.7 7.6 671 3555 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 3598 1308 1355 1262 0 0 0 0 0 0 28.83 28.83 28.83

3618 0.63 236.0 2756 3598 1355 1262 8.9 6.5 684 3637 0.00 0.00 17.08 0.448 8198 0.000 0.000 2756 3598 1166 1211 1121 0 0 0 0 0 0 28.83 28.83 25.82

3700 0.78 407.4 1760 3596 1187 1114 4.4 3.0 699 3760 0.15 0.00 56.97 0.442 10242 0.083 0.000 2837 3597 644 643 646 0 0 0 0 0 0 26.36 28.83 28.83

3761 end climb: SURFACE_DEPTH_REACHED

state 3762 begin surface coast

3805 end surface coast: CONTROL_FINISHED_OK

state 3806 begin surface

ID	158	HD_C	9.8500004e-06	ROLL_MAX	3794	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	13	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	7	ESCAPE_HEADING	0	C_ROLL_DIVE	3580	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	3580	ALTIM_PING_DEPTH	120
D_SURF	2	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	180	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	3200	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	200	TGT_DEFAULT_LON	-7306	ROLL_TIMEOUT	15	ALTIM_PULSE	6
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	32	ALTIM_SENSITIVITY	3
D_NO_BLEED	100	SM_CC	280	R_STBD_OVSHOOT	12	XPDR_VALID	6
D_BOOST	3	N_FILEKB	4	ROLL_AD_RATE	250	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	1.4
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	1	VBD_MIN	600	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	2	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	C_VBD	2106	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	38
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.25119999	DEVICE3	-1
T_DIVE	90	CALL_TRIES	7	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	95	CALL_WAIT	60	PITCH_VBD_SHIFT	0.00089999998	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	1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	15	UNCOM_BLEED	50	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	-721911.38	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	3	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	150	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	100	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	138	MINV_24V	19	SIM_W	0
MAX_BUOY	200	PITCH_MAX	3933	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2562	FG_AHR_10V	0	SEABIRD_T_G	0.004317278
GLIDE_SLOPE	20	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00062907452
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.22976e-05
RHO	1.0233001	P_OVSHOOT	0.02	PRESSURE_YINT	-162.90207	SEABIRD_T_J	2.1565418e-06
MASS	51610	PITCH_GAIN	28	PRESSURE_SLOPE	0.000137996	SEABIRD_C_G	-9.7708368
MASS_COMP	0	PITCH_TIMEOUT	20	AD7714Ch0Gain	32	SEABIRD_C_H	1.113179
NAV_MODE	2	PITCH_AD_RATE	145	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.001699872
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.0002155289
KALMAN_USE	2	PITCH_ADJ_GAIN	0	COMPASS_USE	4
HD_A	0.0038360001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	236	ALTIM_TOP_PING_RANGE	0

GPS1	051115,013936,4744.630,-12224.312,13,1.5,13,18.2	TGT_NAME	SOUTH
_CALLS	2	TGT_LATLONG	4743.000,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.85	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-74.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	051115,014908,4744.648,-12224.368,11,2.5,31,18.2	MHEAD_RNG_PITCHd_Wd	163.1,3057,-11.6,-7.407,-15.53,3998
SPEED_LIMITS	0.204,0.267	D_GRID	200

FINISH	0.2,1.007805	_10V_AH	10.5,0.391
SM_CCo	3883,0.00,0.000,0,0,639,368.76	FG_AHR_24Vo	0.000
SM_GC	2.11,7.22,0.00,0.00,0.050,0.000,0.000,126,3598,639,-7.55,0.51,368.76,0,0,0,0,0,0,25.94,28.83,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4726.11,-12226.80,310808,151553	MEM	323316
TT8_MAMPS	0.020223,0.020223	DATA_FILE_SIZE	36886,717
HUMID	49.05	CAP_FILE_SIZE	69861,0
INTERNAL_PRESSURE	8.77333	CFSIZE	260165632,257302528
TCM_TEMP	20.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.027,265.2,1
ALTIM_BOTTOM_PING	125.4,67.5	GPS	051115,025535,4744.672,-12224.357,34,1.7,34,18.2
_24V_AH	24.3,0.620

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	250	107.62	SBE_CT	482	23	280.76
Roll_motor	5	164	22.08	WL_BB2FLVMG	531	105	1355.79
VBD_pump_during_apogee	373	653	5929.87	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	51	55	70.16	nil	0	0	0.00
Iridium_during_connect	98	160	382.28	nil	0	0	0.00
Iridium_during_xfer	216	223	1172.19	nil	0	0	0.00
Transponder_ping	0	420	7.65	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	32	30	10.46
TT8	1609	11	193.62
LPSleep	809	2	18.62
TT8_Active	448	11	54.00
TT8_Sampling	1439	39	592.28
TT8_CF8	165	45	79.60
TT8_Kalman	0	0	0.00
Analog_circuits	1046	17	186.85
GPS_charging	0	0	0.00
Compass	1037	15	171.32
RAFOS	0	0	0.00
Transponder	7	30	2.27

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
16	-0.59	-195.4	98	3556	729	738	0.0	0.0	0	52	0.00	0.00	-34.00	0.000	16386	0.000	0.000	97	3557	1749	1736	1762	0	0	0	0	0	0	28.83	28.83	28.83
55	-0.59	-195.4	98	3557	1737	1762	3.1	-5.3	6	92	9.15	0.00	-22.98	0.000	18438	0.251	0.000	2372	3560	2887	2877	2897	0	0	0	0	0	0	25.61	28.83	26.20
155	-0.59	-195.4	2372	3560	2879	2897	17.2	-13.0	24	161	0.00	0.00	0.00	0.000	6	0.000	0.000	2372	3560	2888	2879	2897	0	0	0	0	0	0	28.83	28.83	28.83
223	-0.59	-195.4	2372	3560	2882	2897	26.7	-13.3	37	229	0.00	0.00	0.00	0.000	6	0.000	0.000	2371	3560	2889	2881	2897	0	0	0	0	0	0	28.83	28.83	28.83
292	-0.59	-195.4	2372	3560	2882	2897	35.5	-13.4	50	298	0.00	0.00	0.00	0.000	6	0.000	0.000	2372	3560	2889	2882	2897	0	0	0	0	0	0	28.83	28.83	28.83
360	-0.59	-195.4	1472	3559	2827	2890	44.2	-11.7	63	366	0.00	0.00	0.00	0.000	6	0.000	0.000	2372	3560	2889	2882	2897	0	0	0	0	0	0	28.83	28.83	28.83
490	-0.59	-195.4	2372	3560	2882	2897	59.5	-11.3	88	495	0.00	0.00	0.00	0.000	6	0.000	0.000	2372	3560	2889	2882	2897	0	0	0	0	0	0	28.83	28.83	28.83
618	-0.59	-195.4	1472	3559	2828	2890	73.8	-10.5	113	623	0.00	0.00	0.00	0.000	6	0.000	0.000	2372	3560	2889	2882	2897	0	0	0	0	0	0	28.83	28.83	28.83
746	-0.59	-195.4	2371	3560	2882	2897	88.2	-10.9	138	752	0.00	0.00	0.00	0.000	6	0.000	0.000	2372	3560	2889	2882	2897	0	0	0	0	0	0	28.83	28.83	28.83
874	-0.59	-195.4	1472	3558	2828	2890	102.6	-10.7	163	880	0.00	0.00	0.00	0.000	6	0.000	0.000	2372	3560	2889	2882	2897	0	0	0	0	0	0	28.83	28.83	28.83
1004	-0.59	-195.4	2372	3560	2882	2897	115.2	-9.3	188	1009	0.00	0.00	0.00	0.000	6	0.000	0.000	2372	3560	2889	2882	2897	0	0	0	0	0	0	28.83	28.83	28.83
1136	-0.59	-195.4	1440	3559	2825	2890	129.0	-10.8	213	1142	0.00	0.00	0.00	0.000	6	0.000	0.000	2372	3560	2889	2882	2897	0	0	0	0	0	0	28.83	28.83	28.83
1265	-0.59	-195.4	2372	3560	2882	2897	143.8	-11.9	238	1270	0.00	0.00	0.00	0.000	6	0.000	0.000	2373	3560	2889	2882	2897	0	0	0	0	0	0	28.83	28.83	28.83
1393	-0.59	-195.4	1472	3559	2827	2890	160.4	-12.6	263	1400	0.00	0.00	0.00	0.000	6	0.000	0.000	2372	3560	2889	2883	2896	0	0	0	0	0	0	28.83	28.83	28.83
1523	-0.59	-195.4	2372	3560	2882	2897	176.0	-12.4	288	1529	0.00	0.00	0.00	0.000	6	0.000	0.000	2372	3560	2890	2882	2898	0	0	0	0	0	0	28.83	28.83	28.83
1539	end dive: BOTTOM_OBSTACLE_DETECTED
state	1539	begin apogee
1546	-0.18	0.0	2372	3598	2882	2897	178.3	-12.2	291	1699	0.38	0.00	144.93	0.653	10246	0.131	0.000	2502	3598	2104	2149	2060	0	0	0	0	0	0	26.37	28.83	24.48
1701	end apogee: CONTROL_FINISHED_OK
state	1702	begin climb
1704	0.59	195.4	2502	3598	2148	2059	186.6	0.0	318	1860	0.75	0.00	150.70	0.640	10246	0.097	0.000	2756	3598	1327	1373	1282	0	0	0	0	0	0	25.08	28.83	24.32
1985	0.59	195.4	2756	3598	1368	1274	166.6	10.4	369	1991	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	3598	1321	1368	1274	0	0	0	0	0	0	28.83	28.83	28.83
2113	0.59	195.4	2756	3598	1367	1273	153.0	10.6	394	2119	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	3598	1320	1367	1273	0	0	0	0	0	0	28.83	28.83	28.83
2242	0.59	195.4	2756	3597	1367	1273	137.7	11.4	419	2248	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	3597	1320	1367	1273	0	0	0	0	0	0	28.83	28.83	28.83
2370	0.59	195.4	1768	3597	1339	1270	123.5	10.3	444	2376	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	3598	1320	1367	1273	0	0	0	0	0	0	28.83	28.83	28.83
2500	0.59	195.4	2756	3598	1367	1273	110.1	10.1	469	2506	0.00	0.00	0.00	0.000	6	0.000	0.000	2757	3598	1320	1367	1273	0	0	0	0	0	0	28.83	28.83	28.83
2629	0.59	195.4	2756	3598	1366	1273	96.3	9.8	494	2635	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	3598	1320	1367	1273	0	0	0	0	0	0	28.83	28.83	28.83
2757	0.59	195.4	2756	3598	1366	1273	84.4	8.9	519	2763	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	3598	1319	1367	1272	0	0	0	0	0	0	28.83	28.83	28.83
2886	0.59	195.4	2756	3598	1367	1272	72.4	9.1	544	2892	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	3598	1320	1367	1273	0	0	0	0	0	0	28.83	28.83	28.83
3016	0.59	195.4	2756	3598	1366	1272	60.4	8.9	569	3022	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	3597	1319	1366	1273	0	0	0	0	0	0	28.83	28.83	28.83
3144	0.59	195.4	1792	3596	1338	1270	47.9	9.9	594	3150	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	3598	1319	1367	1272	0	0	0	0	0	0	28.83	28.83	28.83
3273	0.59	195.4	2756	3598	1367	1272	36.8	8.3	619	3279	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	3598	1319	1366	1272	0	0	0	0	0	0	28.83	28.83	28.83
3341	0.60	200.0	1760	3597	1338	1269	31.6	7.3	632	3349	0.00	0.00	3.85	0.385	8198	0.000	0.000	2756	3598	1308	1355	1262	0	0	0	0	0	0	28.83	28.83	25.82
3412	0.60	200.0	2756	3598	1355	1262	25.6	9.1	645	3418	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	3598	1308	1355	1262	0	0	0	0	0	0	28.83	28.83	28.83
3481	0.60	200.0	2756	3598	1356	1262	19.5	9.5	658	3486	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	3598	1309	1356	1262	0	0	0	0	0	0	28.83	28.83	28.83
3549	0.60	200.0	2756	3598	1355	1262	13.7	7.6	671	3555	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	3598	1308	1355	1262	0	0	0	0	0	0	28.83	28.83	28.83
3618	0.63	236.0	2756	3598	1355	1262	8.9	6.5	684	3637	0.00	0.00	17.08	0.448	8198	0.000	0.000	2756	3598	1166	1211	1121	0	0	0	0	0	0	28.83	28.83	25.82
3700	0.78	407.4	1760	3596	1187	1114	4.4	3.0	699	3760	0.15	0.00	56.97	0.442	10242	0.083	0.000	2837	3597	644	643	646	0	0	0	0	0	0	26.36	28.83	28.83
3761	end climb: SURFACE_DEPTH_REACHED
state	3762	begin surface coast
3805	end surface coast: CONTROL_FINISHED_OK
state	3806	begin surface