Glider dive log

Shilshole 30Jun11 * SG503 * Dive index * Mission links * Dive 11 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 503 HD_C 9.9999997e-06 ROLL_MIN 187 ALTIM_TOP_TURN_MARGIN 0

MISSION 9 HEADING -1 ROLL_MAX 3764 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 11 ESCAPE_HEADING 45 ROLL_DEG 40 ALTIM_PING_DEPTH 110

N_DIVES 923 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 1950 ALTIM_PING_DELTA 5

D_SURF 3 FIX_MISSING_TIMEOUT 4 C_ROLL_CLIMB 1950 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -7700 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 200 TGT_DEFAULT_LON 17100 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 5

D_NO_BLEED 200 SM_CC 320 R_PORT_OVSHOOT 51 XPDR_INHIBIT 90

D_BOOST 4 N_FILEKB 8 R_STBD_OVSHOOT 64 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 400 INT_PRESSURE_YINT 0

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_GAIN 1.5 DEEPGLIDERMB 0

D_SAFE 400 PROTOCOL 0 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 1 VBD_MIN 445 DEVICE1 2

SURFACE_URGENCY 2 N_NOSURFACE 0 VBD_MAX 3956 DEVICE2 101

SURFACE_URGENCY_TRY 2 UPLOAD_DIVES_MAX 5 C_VBD 2240 DEVICE3 39

SURFACE_URGENCY_FORCE 4 CALL_TRIES 10 VBD_DBAND 2 DEVICE4 -1

T_DIVE 83 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 90 CAPUPLOAD 1 VBD_TIMEOUT 360 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 4 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -22250.789 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.0099999998 STROBE 0 AH0_24V 145 PHONE_DEVICE 49

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 203 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3889 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2445 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043296744

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -51.829041 SEABIRD_T_H 0.0006251334

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011732637 SEABIRD_T_I 2.4134433e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.6666371e-06

MASS 51780 PITCH_GAIN 32 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.186432

NAV_MODE 2 PITCH_TIMEOUT 15 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1667659

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.0018490647

KALMAN_USE 1 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021933243

HD_A 0.003 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 49 SIM_W 0

AH0_10V 100 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 320

AH0_24V 145 D_PITCH 1.75 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 400 PITCH_ADJ_GAIN 0.02 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 2

ALTIM_FREQUENCY 13 D_TGT 200 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 4

ALTIM_PING_DELTA 5 ESCAPE_HEADING 45 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 2

ALTIM_PING_DEPTH 110 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 32 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3889 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 0 PITCH_MIN 203 TGT_DEFAULT_LAT -7700

ALTIM_TOP_PING_RANGE 0 FILEMGR 2 PITCH_TIMEOUT 15 TGT_DEFAULT_LON 17100

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 4 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011732637 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -51.829041 T_DIVE 83

CALL_TRIES 10 HD_A 0.003 PROTOCOL 0 T_GPS 4

CALL_WAIT 60 HD_B 0.0099999998 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -22250.789

CAPUPLOAD 1 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 90

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.0099999998 RELAUNCH 1 T_RSLEEP 3

COMPASS_DEVICE 33 ID 503 RHO 1.0275 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.029999999 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 1.5 T_WATCHDOG 10

C_PITCH 2445 KALMAN_USE 1 ROLL_AD_RATE 400 UNCOM_BLEED 50

C_ROLL_CLIMB 1950 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 1950 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY 0

C_VBD 2240 LOGGERDEVICE3 -1 ROLL_MAX 3764 USE_ICE 0

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 187 VBD_CNV -0.245296

DEVICE1 2 MASS 51780 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 101 MAX_BUOY 150 R_PORT_OVSHOOT 51 VBD_MAX 3956

DEVICE3 39 MINV_10V 8 R_STBD_OVSHOOT 64 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -10.186432 VBD_MIN 445

DEVICE5 -1 MISSION 9 SEABIRD_C_H 1.1667659 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.0018490647 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 11 NAV_MODE 2 SEABIRD_C_J 0.00021933243 VBD_TIMEOUT 360

D_ABORT 1070 N_DIVES 923 SEABIRD_T_G 0.0043296744 XPDR_DEVICE 24

D_BOOST 4 N_FILEKB 8 SEABIRD_T_H 0.0006251334 XPDR_INHIBIT 90

D_CALL 3 N_GPS 20 SEABIRD_T_I 2.4134433e-05 XPDR_VALID 5

D_FINISH 9 N_NOCOMM 1 SEABIRD_T_J 2.6666371e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 010711,021805,4744.094,-12224.704,9,1.4,25,18.2 TGT_NAME NW

_CALLS 2 TGT_LATLONG 4743.900,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.121,-0.069

_SM_DEPTHo 0.75 KALMAN_X -249.2,-114.5,-14.8,-236.9,111.0

_SM_ANGLEo -66.5 KALMAN_Y -2547.4,-540.8,-297.9,4141.3,-275.3

GPS2 010711,022925,4744.128,-12224.687,8,1.6,8,18.2 MHEAD_RNG_PITCHd_Wd 167.9,445,-26.9,-8.032

SPEED_LIMITS 0.139,0.241 D_GRID 200

Post-dive calculations and measurements:

FREEZE 1.51,12.347,-1.516,0,1,0 _24V_AH 24.4,0.910

FINISH 1.5,1.020945 _10V_AH 10.3,1.309

SM_CCo 2986,86.95,0.076,0,0,935,320.11 FG_AHR_24Vo 0.000

SM_GC 0.72,0.00,0.00,86.95,0.000,0.000,0.076,181,1978,935,-7.08,0.79,320.11 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4726.11,-12227.78,010711,020206 MEM 323516

TT8_MAMPS 0.026964 DATA_FILE_SIZE 17011,250

HUMID 46.88 CAP_FILE_SIZE 82172,0

INTERNAL_PRESSURE 9.23864 CFSIZE 260165632,208527360

TCM_TEMP 19.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 3 CURRENT 0.056, 25.2,1

ALTIM_BOTTOM_PING 120.3,73.5 GPS 010711,032252,4744.058,-12224.609,11,2.7,30,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 206 87.57 SBE_CT 168 24 98.52

Roll_motor 66 62 101.56 AA4330 382 33 308.08

VBD_pump_during_apogee 212 714 3706.48 WL_BB2F 702 105 1798.89

VBD_pump_during_surface 86 76 162.30 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 59 103 149.95 nil 0 0 0.00

Iridium_during_connect 103 160 403.40 nil 0 0 0.00

Iridium_during_xfer 266 223 1449.17 nil 0 0 0.00

Transponder_ping 2 420 20.50 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 11 50 5.67

TT8 779 19 159.03

LPSleep 876 2 19.76

TT8_Active 399 19 81.41

TT8_Sampling 1398 39 573.24

TT8_CF8 278 45 131.53

TT8_Kalman 33 81 28.08

Analog_circuits 882 12 109.02

GPS_charging 0 0 0.00

Compass 607 15 93.91

RAFOS 0 0 0.00

Transponder 11 30 3.61

Guidance and control:

st_secs pitch_ctl vbd_ctl 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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -0.90 -45.4 0.0 0.0 0 96 0.00 0.00 -72.28 0.000 6 0.000 0.000 172 1886 2427 0 0 0 0 0 0

100 -0.95 -90.2 1.8 -2.7 6 117 7.10 2.03 -5.30 0.000 4 0.207 0.041 2128 539 2608 0 0 0 0 0 0

365 -0.83 -90.2 37.5 -13.1 29 374 0.15 2.10 0.00 0.000 6 0.142 0.021 2170 1949 2609 0 0 0 0 0 0

407 -0.78 -90.2 41.8 -11.1 33 411 0.00 2.12 0.00 0.000 4 0.000 0.028 2170 542 2609 0 0 0 0 0 0

450 -0.74 -90.2 46.5 -10.3 36 460 0.12 2.20 0.00 0.000 6 0.135 0.021 2203 2015 2609 0 0 0 0 0 0

491 -0.77 -94.1 49.3 -7.6 40 496 0.00 2.03 -0.20 0.000 4 0.000 0.042 2194 3348 2629 0 0 0 0 0 0

589 -0.84 -94.1 56.4 -9.4 48 593 0.00 1.90 0.00 0.000 6 0.000 0.020 2194 2054 2629 0 0 0 0 0 0

636 -0.90 -94.1 61.0 -9.2 52 637 0.12 0.00 0.00 0.000 6 0.086 0.000 2124 2052 2629 0 0 0 0 0 0

668 -0.90 -94.1 64.5 -10.7 55 676 0.12 0.00 0.00 0.000 6 0.164 0.000 2157 2053 2629 0 0 0 0 0 0

709 -0.90 -94.1 69.4 -11.8 59 713 0.00 2.28 0.00 0.000 4 0.000 0.028 2157 537 2629 0 0 0 0 0 0

819 -0.84 -94.1 81.9 -10.3 68 827 0.00 2.20 0.00 0.000 6 0.000 0.021 2149 2024 2629 0 0 0 0 0 0

861 -0.80 -94.1 85.7 -10.2 72 870 0.12 0.00 0.00 0.000 6 0.167 0.000 2183 2025 2630 0 0 0 0 0 0

902 -0.83 -94.1 89.7 -9.5 76 906 0.00 2.00 0.00 0.000 4 0.000 0.030 2182 3350 2629 0 0 0 0 0 0

972 -0.89 -94.1 96.4 -9.0 82 976 0.00 1.92 0.00 0.000 6 0.000 0.020 2182 2026 2630 0 0 0 0 0 0

1020 -0.94 -94.1 100.6 -8.9 86 1028 0.12 0.00 0.00 0.000 6 0.083 0.000 2109 2025 2629 0 0 0 0 0 0

1062 -0.90 -94.1 104.6 -9.4 90 1067 0.15 2.25 0.00 0.000 4 0.158 0.028 2151 536 2629 0 0 0 0 0 0

1082 -0.83 -94.1 106.7 -10.1 91 1087 0.12 2.22 0.00 0.000 6 0.171 0.021 2176 2053 2629 0 0 0 0 0 0

1125 -0.83 -95.5 110.0 -7.9 94 1133 0.00 0.00 0.00 0.000 6 0.000 0.000 2176 2052 2629 0 0 0 0 0 0

1167 -0.88 -101.2 113.3 -7.4 98 1175 0.00 0.00 -0.20 0.000 6 0.000 0.000 2176 2052 2658 0 0 0 0 0 0

1208 -0.92 -104.8 116.3 -7.6 102 1216 0.00 0.00 -0.12 0.000 6 0.000 0.000 2176 2052 2675 0 0 0 0 0 0

1249 -0.98 -105.3 119.7 -8.0 106 1261 0.12 0.00 0.00 0.000 6 0.086 0.000 2108 2054 2676 0 0 0 0 0 0

1292 -0.95 -105.3 123.7 -9.6 110 1300 0.12 0.00 0.00 0.000 6 0.161 0.000 2142 2054 2676 0 0 0 0 0 0

1333 -0.91 -105.3 127.7 -9.6 114 1334 0.00 0.00 0.00 0.000 6 0.000 0.000 2142 2054 2676 0 0 0 0 0 0

1365 -0.91 -105.3 131.1 -10.4 117 1373 0.00 0.00 0.00 0.000 6 0.000 0.000 2142 2054 2676 0 0 0 0 0 0

1406 -0.91 -105.3 135.0 -9.5 121 1410 0.00 1.95 0.00 0.000 4 0.000 0.028 2134 3355 2676 0 0 0 0 0 0

1420 -0.91 -105.3 136.5 -9.7 122 1424 0.00 1.98 0.00 0.000 6 0.000 0.020 2134 2034 2676 0 0 0 0 0 0

1468 -0.89 -105.3 140.8 -9.6 126 1472 0.00 1.95 0.00 0.000 4 0.000 0.028 2124 3348 2676 0 0 0 0 0 0

1528 -0.86 -105.3 147.2 -10.0 131 1537 0.10 1.90 0.00 0.000 6 0.129 0.020 2159 2066 2676 0 0 0 0 0 0

1569 -0.86 -105.3 150.4 -8.4 135 1570 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2066 2676 0 0 0 0 0 0

1602 -0.90 -113.6 152.5 -7.1 138 1610 0.00 0.00 -0.22 0.000 6 0.000 0.000 2159 2066 2714 0 0 0 0 0 0

1643 -0.94 -122.2 155.6 -7.0 142 1647 0.00 1.92 -0.20 0.000 4 0.000 0.043 2152 3354 2746 0 0 0 0 0 0

1699 -1.00 -126.4 160.0 -7.5 146 1707 0.00 1.95 0.00 0.000 6 0.000 0.020 2152 2041 2749 0 0 0 0 0 0

1741 -1.05 -132.6 162.8 -7.3 150 1746 0.12 1.95 -0.20 0.000 4 0.087 0.044 2073 3348 2789 0 0 0 0 0 0

1783 -0.97 -132.6 166.8 -10.9 153 1788 0.20 1.88 0.00 0.000 6 0.148 0.020 2132 2065 2790 0 0 0 0 0 0

1824 -0.95 -132.6 170.7 -9.2 156 1833 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2064 2790 0 0 0 0 0 0

1866 -0.95 -132.6 174.4 -8.9 160 1870 0.00 2.28 0.00 0.000 4 0.000 0.028 2132 539 2790 0 0 0 0 0 0

1887 -0.95 -132.6 177.3 -10.8 161 1896 0.00 2.28 0.00 0.000 6 0.000 0.021 2123 2072 2790 0 0 0 0 0 0

1929 -0.93 -132.6 181.4 -11.3 165 1933 0.00 1.88 0.00 0.000 4 0.000 0.030 2115 3345 2790 0 0 0 0 0 0

1953 end dive: BOTTOM_OBSTACLE_DETECTED

state 1953 begin apogee

1962 -0.16 0.0 184.4 11.1 167 2076 0.80 0.00 103.55 0.715 4 0.124 0.000 2385 1931 2240 0 0 0 0 0 0

2079 end apogee: CONTROL_FINISHED_OK

state 2079 begin climb

2082 1.00 132.6 188.2 0.0 176 2202 1.10 2.15 109.05 0.678 4 0.076 0.031 2772 561 1698 0 0 0 0 0 0

2424 0.93 132.6 110.6 22.5 205 2428 0.00 2.05 0.00 0.000 6 0.000 0.021 2772 1954 1691 0 0 0 0 0 0

2466 0.85 132.6 101.3 22.8 208 2470 0.17 2.12 0.00 0.000 4 0.161 0.031 2733 557 1690 0 0 0 0 0 0

2721 0.85 132.6 46.1 17.8 230 2729 0.00 2.10 0.00 0.000 6 0.000 0.021 2733 1960 1688 0 0 0 0 0 0

2763 0.85 132.6 39.7 17.2 234 2767 0.00 2.12 0.00 0.000 4 0.000 0.032 2739 560 1687 0 0 0 0 0 0

2838 0.85 132.6 25.2 20.2 240 2842 0.00 1.90 0.00 0.000 6 0.000 0.021 2739 1855 1686 0 0 0 0 0 0

2884 0.85 132.6 15.9 19.9 244 2888 0.00 2.25 0.00 0.000 4 0.000 0.026 2739 3344 1686 0 0 0 0 0 0

2918 0.85 132.6 9.6 20.3 246 2923 0.00 2.25 0.00 0.000 6 0.000 0.021 2748 1840 1685 0 0 0 0 0 0

2958 end climb: SURFACE_DEPTH_REACHED

state 2958 begin surface coast

2968 end surface coast: CONTROL_FINISHED_OK

state 2968 begin surface

ID	503	HD_C	9.9999997e-06	ROLL_MIN	187	ALTIM_TOP_TURN_MARGIN	0
MISSION	9	HEADING	-1	ROLL_MAX	3764	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	11	ESCAPE_HEADING	45	ROLL_DEG	40	ALTIM_PING_DEPTH	110
N_DIVES	923	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	1950	ALTIM_PING_DELTA	5
D_SURF	3	FIX_MISSING_TIMEOUT	4	C_ROLL_CLIMB	1950	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-7700	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	200	TGT_DEFAULT_LON	17100	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	5
D_NO_BLEED	200	SM_CC	320	R_PORT_OVSHOOT	51	XPDR_INHIBIT	90
D_BOOST	4	N_FILEKB	8	R_STBD_OVSHOOT	64	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	400	INT_PRESSURE_YINT	0
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_GAIN	1.5	DEEPGLIDERMB	0
D_SAFE	400	PROTOCOL	0	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	1	VBD_MIN	445	DEVICE1	2
SURFACE_URGENCY	2	N_NOSURFACE	0	VBD_MAX	3956	DEVICE2	101
SURFACE_URGENCY_TRY	2	UPLOAD_DIVES_MAX	5	C_VBD	2240	DEVICE3	39
SURFACE_URGENCY_FORCE	4	CALL_TRIES	10	VBD_DBAND	2	DEVICE4	-1
T_DIVE	83	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	90	CAPUPLOAD	1	VBD_TIMEOUT	360	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	4	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-22250.789	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.0099999998	STROBE	0	AH0_24V	145	PHONE_DEVICE	49
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	203	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3889	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2445	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043296744
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-51.829041	SEABIRD_T_H	0.0006251334
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011732637	SEABIRD_T_I	2.4134433e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.6666371e-06
MASS	51780	PITCH_GAIN	32	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.186432
NAV_MODE	2	PITCH_TIMEOUT	15	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1667659
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.0018490647
KALMAN_USE	1	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021933243
HD_A	0.003	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	010711,021805,4744.094,-12224.704,9,1.4,25,18.2	TGT_NAME	NW
_CALLS	2	TGT_LATLONG	4743.900,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.121,-0.069
_SM_DEPTHo	0.75	KALMAN_X	-249.2,-114.5,-14.8,-236.9,111.0
_SM_ANGLEo	-66.5	KALMAN_Y	-2547.4,-540.8,-297.9,4141.3,-275.3
GPS2	010711,022925,4744.128,-12224.687,8,1.6,8,18.2	MHEAD_RNG_PITCHd_Wd	167.9,445,-26.9,-8.032
SPEED_LIMITS	0.139,0.241	D_GRID	200

FREEZE	1.51,12.347,-1.516,0,1,0	_24V_AH	24.4,0.910
FINISH	1.5,1.020945	_10V_AH	10.3,1.309
SM_CCo	2986,86.95,0.076,0,0,935,320.11	FG_AHR_24Vo	0.000
SM_GC	0.72,0.00,0.00,86.95,0.000,0.000,0.076,181,1978,935,-7.08,0.79,320.11	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4726.11,-12227.78,010711,020206	MEM	323516
TT8_MAMPS	0.026964	DATA_FILE_SIZE	17011,250
HUMID	46.88	CAP_FILE_SIZE	82172,0
INTERNAL_PRESSURE	9.23864	CFSIZE	260165632,208527360
TCM_TEMP	19.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	3	CURRENT	0.056, 25.2,1
ALTIM_BOTTOM_PING	120.3,73.5	GPS	010711,032252,4744.058,-12224.609,11,2.7,30,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	206	87.57	SBE_CT	168	24	98.52
Roll_motor	66	62	101.56	AA4330	382	33	308.08
VBD_pump_during_apogee	212	714	3706.48	WL_BB2F	702	105	1798.89
VBD_pump_during_surface	86	76	162.30	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	59	103	149.95	nil	0	0	0.00
Iridium_during_connect	103	160	403.40	nil	0	0	0.00
Iridium_during_xfer	266	223	1449.17	nil	0	0	0.00
Transponder_ping	2	420	20.50	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	11	50	5.67
TT8	779	19	159.03
LPSleep	876	2	19.76
TT8_Active	399	19	81.41
TT8_Sampling	1398	39	573.24
TT8_CF8	278	45	131.53
TT8_Kalman	33	81	28.08
Analog_circuits	882	12	109.02
GPS_charging	0	0	0.00
Compass	607	15	93.91
RAFOS	0	0	0.00
Transponder	11	30	3.61

st_secs	pitch_ctl	vbd_ctl	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	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-0.90	-45.4	0.0	0.0	0	96	0.00	0.00	-72.28	0.000	6	0.000	0.000	172	1886	2427	0	0	0	0	0	0
100	-0.95	-90.2	1.8	-2.7	6	117	7.10	2.03	-5.30	0.000	4	0.207	0.041	2128	539	2608	0	0	0	0	0	0
365	-0.83	-90.2	37.5	-13.1	29	374	0.15	2.10	0.00	0.000	6	0.142	0.021	2170	1949	2609	0	0	0	0	0	0
407	-0.78	-90.2	41.8	-11.1	33	411	0.00	2.12	0.00	0.000	4	0.000	0.028	2170	542	2609	0	0	0	0	0	0
450	-0.74	-90.2	46.5	-10.3	36	460	0.12	2.20	0.00	0.000	6	0.135	0.021	2203	2015	2609	0	0	0	0	0	0
491	-0.77	-94.1	49.3	-7.6	40	496	0.00	2.03	-0.20	0.000	4	0.000	0.042	2194	3348	2629	0	0	0	0	0	0
589	-0.84	-94.1	56.4	-9.4	48	593	0.00	1.90	0.00	0.000	6	0.000	0.020	2194	2054	2629	0	0	0	0	0	0
636	-0.90	-94.1	61.0	-9.2	52	637	0.12	0.00	0.00	0.000	6	0.086	0.000	2124	2052	2629	0	0	0	0	0	0
668	-0.90	-94.1	64.5	-10.7	55	676	0.12	0.00	0.00	0.000	6	0.164	0.000	2157	2053	2629	0	0	0	0	0	0
709	-0.90	-94.1	69.4	-11.8	59	713	0.00	2.28	0.00	0.000	4	0.000	0.028	2157	537	2629	0	0	0	0	0	0
819	-0.84	-94.1	81.9	-10.3	68	827	0.00	2.20	0.00	0.000	6	0.000	0.021	2149	2024	2629	0	0	0	0	0	0
861	-0.80	-94.1	85.7	-10.2	72	870	0.12	0.00	0.00	0.000	6	0.167	0.000	2183	2025	2630	0	0	0	0	0	0
902	-0.83	-94.1	89.7	-9.5	76	906	0.00	2.00	0.00	0.000	4	0.000	0.030	2182	3350	2629	0	0	0	0	0	0
972	-0.89	-94.1	96.4	-9.0	82	976	0.00	1.92	0.00	0.000	6	0.000	0.020	2182	2026	2630	0	0	0	0	0	0
1020	-0.94	-94.1	100.6	-8.9	86	1028	0.12	0.00	0.00	0.000	6	0.083	0.000	2109	2025	2629	0	0	0	0	0	0
1062	-0.90	-94.1	104.6	-9.4	90	1067	0.15	2.25	0.00	0.000	4	0.158	0.028	2151	536	2629	0	0	0	0	0	0
1082	-0.83	-94.1	106.7	-10.1	91	1087	0.12	2.22	0.00	0.000	6	0.171	0.021	2176	2053	2629	0	0	0	0	0	0
1125	-0.83	-95.5	110.0	-7.9	94	1133	0.00	0.00	0.00	0.000	6	0.000	0.000	2176	2052	2629	0	0	0	0	0	0
1167	-0.88	-101.2	113.3	-7.4	98	1175	0.00	0.00	-0.20	0.000	6	0.000	0.000	2176	2052	2658	0	0	0	0	0	0
1208	-0.92	-104.8	116.3	-7.6	102	1216	0.00	0.00	-0.12	0.000	6	0.000	0.000	2176	2052	2675	0	0	0	0	0	0
1249	-0.98	-105.3	119.7	-8.0	106	1261	0.12	0.00	0.00	0.000	6	0.086	0.000	2108	2054	2676	0	0	0	0	0	0
1292	-0.95	-105.3	123.7	-9.6	110	1300	0.12	0.00	0.00	0.000	6	0.161	0.000	2142	2054	2676	0	0	0	0	0	0
1333	-0.91	-105.3	127.7	-9.6	114	1334	0.00	0.00	0.00	0.000	6	0.000	0.000	2142	2054	2676	0	0	0	0	0	0
1365	-0.91	-105.3	131.1	-10.4	117	1373	0.00	0.00	0.00	0.000	6	0.000	0.000	2142	2054	2676	0	0	0	0	0	0
1406	-0.91	-105.3	135.0	-9.5	121	1410	0.00	1.95	0.00	0.000	4	0.000	0.028	2134	3355	2676	0	0	0	0	0	0
1420	-0.91	-105.3	136.5	-9.7	122	1424	0.00	1.98	0.00	0.000	6	0.000	0.020	2134	2034	2676	0	0	0	0	0	0
1468	-0.89	-105.3	140.8	-9.6	126	1472	0.00	1.95	0.00	0.000	4	0.000	0.028	2124	3348	2676	0	0	0	0	0	0
1528	-0.86	-105.3	147.2	-10.0	131	1537	0.10	1.90	0.00	0.000	6	0.129	0.020	2159	2066	2676	0	0	0	0	0	0
1569	-0.86	-105.3	150.4	-8.4	135	1570	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2066	2676	0	0	0	0	0	0
1602	-0.90	-113.6	152.5	-7.1	138	1610	0.00	0.00	-0.22	0.000	6	0.000	0.000	2159	2066	2714	0	0	0	0	0	0
1643	-0.94	-122.2	155.6	-7.0	142	1647	0.00	1.92	-0.20	0.000	4	0.000	0.043	2152	3354	2746	0	0	0	0	0	0
1699	-1.00	-126.4	160.0	-7.5	146	1707	0.00	1.95	0.00	0.000	6	0.000	0.020	2152	2041	2749	0	0	0	0	0	0
1741	-1.05	-132.6	162.8	-7.3	150	1746	0.12	1.95	-0.20	0.000	4	0.087	0.044	2073	3348	2789	0	0	0	0	0	0
1783	-0.97	-132.6	166.8	-10.9	153	1788	0.20	1.88	0.00	0.000	6	0.148	0.020	2132	2065	2790	0	0	0	0	0	0
1824	-0.95	-132.6	170.7	-9.2	156	1833	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2064	2790	0	0	0	0	0	0
1866	-0.95	-132.6	174.4	-8.9	160	1870	0.00	2.28	0.00	0.000	4	0.000	0.028	2132	539	2790	0	0	0	0	0	0
1887	-0.95	-132.6	177.3	-10.8	161	1896	0.00	2.28	0.00	0.000	6	0.000	0.021	2123	2072	2790	0	0	0	0	0	0
1929	-0.93	-132.6	181.4	-11.3	165	1933	0.00	1.88	0.00	0.000	4	0.000	0.030	2115	3345	2790	0	0	0	0	0	0
1953	end dive: BOTTOM_OBSTACLE_DETECTED
state	1953	begin apogee
1962	-0.16	0.0	184.4	11.1	167	2076	0.80	0.00	103.55	0.715	4	0.124	0.000	2385	1931	2240	0	0	0	0	0	0
2079	end apogee: CONTROL_FINISHED_OK
state	2079	begin climb
2082	1.00	132.6	188.2	0.0	176	2202	1.10	2.15	109.05	0.678	4	0.076	0.031	2772	561	1698	0	0	0	0	0	0
2424	0.93	132.6	110.6	22.5	205	2428	0.00	2.05	0.00	0.000	6	0.000	0.021	2772	1954	1691	0	0	0	0	0	0
2466	0.85	132.6	101.3	22.8	208	2470	0.17	2.12	0.00	0.000	4	0.161	0.031	2733	557	1690	0	0	0	0	0	0
2721	0.85	132.6	46.1	17.8	230	2729	0.00	2.10	0.00	0.000	6	0.000	0.021	2733	1960	1688	0	0	0	0	0	0
2763	0.85	132.6	39.7	17.2	234	2767	0.00	2.12	0.00	0.000	4	0.000	0.032	2739	560	1687	0	0	0	0	0	0
2838	0.85	132.6	25.2	20.2	240	2842	0.00	1.90	0.00	0.000	6	0.000	0.021	2739	1855	1686	0	0	0	0	0	0
2884	0.85	132.6	15.9	19.9	244	2888	0.00	2.25	0.00	0.000	4	0.000	0.026	2739	3344	1686	0	0	0	0	0	0
2918	0.85	132.6	9.6	20.3	246	2923	0.00	2.25	0.00	0.000	6	0.000	0.021	2748	1840	1685	0	0	0	0	0	0
2958	end climb: SURFACE_DEPTH_REACHED
state	2958	begin surface coast
2968	end surface coast: CONTROL_FINISHED_OK
state	2968	begin surface