Glider dive log

Shilshole 30Jun11 * SG503 * Dive index * Mission links * Dive 13 * 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 13 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 65 XPDR_INHIBIT 90

D_BOOST 4 N_FILEKB 8 R_STBD_OVSHOOT 51 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 -22253.305 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 -22253.305

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 65 VBD_MAX 3956

DEVICE3 39 MINV_10V 8 R_STBD_OVSHOOT 51 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 13 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 010711,042301,4744.109,-12224.624,34,1.6,34,18.2 TGT_NAME NW

_CALLS 1 TGT_LATLONG 4743.900,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.217,-0.104

_SM_DEPTHo 0.81 KALMAN_X 1534.5,-150.1,-20.5,-1844.0,1153.7

_SM_ANGLEo -70.9 KALMAN_Y -1854.1,-456.1,-228.2,3362.4,644.7

GPS2 010711,043032,4744.165,-12224.577,12,1.4,12,18.2 MHEAD_RNG_PITCHd_Wd 198.2,564,-18.4,-8.032

SPEED_LIMITS 0.139,0.241 D_GRID 200

Post-dive calculations and measurements:

FREEZE 1.20,12.388,-1.512,0,1,0 _24V_AH 24.4,1.041

FINISH 1.2,1.020885 _10V_AH 10.3,1.433

SM_CCo 3645,73.20,0.077,0,0,935,320.11 FG_AHR_24Vo 0.000

SM_GC 0.84,0.00,0.00,73.20,0.000,0.000,0.077,179,1961,935,-7.08,0.31,320.11 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4726.11,-12229.50,010711,030312 MEM 323532

TT8_MAMPS 0.026964 DATA_FILE_SIZE 20385,301

HUMID 46.96 CAP_FILE_SIZE 92259,0

INTERNAL_PRESSURE 9.23864 CFSIZE 260165632,208445440

TCM_TEMP 19.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 3 CURRENT 0.052, 28.6,1

ALTIM_BOTTOM_PING 110.2,79.7 GPS 010711,053432,4744.017,-12224.768,12,1.7,12,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 208 84.92 SBE_CT 203 24 119.13

Roll_motor 96 133 313.75 AA4330 459 33 369.61

VBD_pump_during_apogee 241 712 4204.35 WL_BB2F 845 105 2165.08

VBD_pump_during_surface 73 77 138.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 77.22 nil 0 0 0.00

Iridium_during_connect 31 160 124.12 nil 0 0 0.00

Iridium_during_xfer 237 223 1290.28 nil 0 0 0.00

Transponder_ping 1 420 12.81 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 50 8.06

TT8 963 19 196.45

LPSleep 1009 2 22.78

TT8_Active 393 19 80.21

TT8_Sampling 1526 39 625.90

TT8_CF8 293 45 138.55

TT8_Kalman 33 81 28.08

Analog_circuits 966 12 119.46

GPS_charging 0 0 0.00

Compass 789 15 122.04

RAFOS 0 0 0.00

Transponder 5 30 1.74

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

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

17 -0.69 -92.1 0.0 0.0 0 87 0.00 0.00 -66.78 0.000 6 0.000 0.000 179 1938 2616 0 0 0 0 0 0

90 -0.76 -146.0 2.0 -2.3 6 108 7.32 2.10 -5.45 0.000 4 0.208 0.041 2193 549 2836 0 0 0 0 0 0

357 -0.62 -146.0 42.1 -10.9 29 366 0.17 2.10 0.00 0.000 6 0.119 0.021 2246 1957 2838 0 0 0 0 0 0

399 -0.57 -146.0 45.5 -9.1 33 402 0.00 2.10 0.00 0.000 4 0.000 0.028 2247 548 2839 0 0 0 0 0 0

409 -0.57 -146.0 46.6 -8.0 33 417 0.00 2.17 0.00 0.000 6 0.000 0.022 2239 2005 2839 0 0 0 0 0 0

451 -0.55 -146.0 48.4 -4.6 37 455 0.00 2.03 0.00 0.000 4 0.000 0.032 2236 3343 2839 0 0 0 0 0 0

708 -0.57 -146.0 69.4 -8.2 60 712 0.00 2.00 0.00 0.000 6 0.000 0.021 2236 1984 2838 0 0 0 0 0 0

757 -0.57 -146.0 73.9 -9.5 64 761 0.00 2.12 0.00 0.000 4 0.000 0.029 2236 552 2838 0 0 0 0 0 0

1011 -0.55 -146.0 94.4 -7.0 86 1015 0.15 2.05 0.00 0.000 6 0.140 0.021 2272 1966 2838 0 0 0 0 0 0

1054 -0.59 -146.0 97.2 -6.6 89 1058 0.00 2.12 0.00 0.000 4 0.000 0.030 2273 552 2838 0 0 0 0 0 0

1311 -0.65 -146.0 115.6 -6.5 111 1320 0.08 2.08 0.00 0.000 6 0.060 0.021 2218 1954 2838 0 0 0 0 0 0

1351 -0.65 -146.0 118.2 -7.0 115 1355 0.00 2.08 0.00 0.000 4 0.000 0.030 2210 3348 2838 0 0 0 0 0 0

1604 -0.65 -146.0 141.5 -9.0 137 1612 0.00 2.08 0.00 0.000 6 0.000 0.020 2210 1954 2839 0 0 0 0 0 0

1645 -0.65 -146.0 144.8 -9.0 141 1649 0.00 2.10 0.00 0.000 4 0.000 0.030 2210 3348 2838 0 0 0 0 0 0

1745 -0.65 -146.0 154.2 -9.7 149 1753 0.00 2.08 0.00 0.000 6 0.000 0.021 2210 1953 2838 0 0 0 0 0 0

1786 -0.65 -146.0 157.7 -9.6 153 1790 0.00 2.10 0.00 0.000 4 0.000 0.030 2210 3348 2838 0 0 0 0 0 0

1805 -0.65 -146.0 159.7 -9.8 154 1809 0.00 2.00 0.00 0.000 6 0.000 0.020 2210 1973 2839 0 0 0 0 0 0

1851 -0.65 -146.0 164.5 -10.6 158 1855 0.00 2.08 0.00 0.000 4 0.000 0.030 2210 3342 2838 0 0 0 0 0 0

1922 -0.65 -146.0 171.8 -10.3 164 1925 0.00 1.90 0.00 0.000 6 0.000 0.020 2210 2032 2838 0 0 0 0 0 0

1968 -0.65 -146.0 176.7 -10.0 168 1976 0.00 0.00 0.00 0.000 6 0.000 0.000 2210 2031 2838 0 0 0 0 0 0

2007 end dive: BOTTOM_OBSTACLE_DETECTED

state 2007 begin apogee

2014 -0.16 0.0 180.6 9.5 172 2133 0.50 0.00 111.80 0.713 4 0.099 0.000 2391 1944 2240 0 0 0 0 0 0

2134 end apogee: CONTROL_FINISHED_OK

state 2134 begin climb

2137 0.76 146.0 182.1 0.0 181 2264 0.75 0.00 118.60 0.673 6 0.058 0.000 2683 1944 1644 0 0 0 0 0 0

2296 0.65 146.0 159.6 18.2 194 2300 0.00 2.20 0.00 0.000 4 0.000 0.027 2683 3346 1642 0 0 0 0 0 0

2349 0.52 146.0 149.6 19.6 198 2353 0.25 2.08 0.00 0.000 6 0.140 0.021 2617 2011 1640 0 0 0 0 0 0

2391 0.47 146.0 142.6 17.0 201 2399 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2011 1638 0 0 0 0 0 0

2433 0.49 146.0 136.9 13.6 205 2440 0.00 0.00 0.00 0.000 6 0.000 0.000 2616 2011 1638 0 0 0 0 0 0

2474 0.51 146.0 132.0 11.6 209 2478 0.00 2.25 0.00 0.000 4 0.000 0.032 2617 562 1638 0 0 0 0 0 0

2526 0.55 146.0 126.2 10.9 213 2530 0.00 2.10 0.00 0.000 6 0.000 0.021 2616 1986 1636 0 0 0 0 0 0

2569 0.58 146.0 121.5 11.4 216 2573 0.00 2.08 0.00 0.000 4 0.000 0.028 2616 3341 1636 0 0 0 0 0 0

2591 0.58 146.0 118.5 11.3 217 2599 0.00 2.15 0.00 0.000 6 0.000 0.023 2617 1952 1635 0 0 0 0 0 0

2632 0.60 146.0 114.3 11.2 221 2636 0.00 2.17 0.00 0.000 4 0.000 0.033 2616 541 1635 0 0 0 0 0 0

2686 0.65 146.0 108.6 9.7 225 2695 0.08 2.03 0.00 0.000 6 0.057 0.021 2683 1889 1635 0 0 0 0 0 0

2728 0.62 146.0 103.5 13.8 229 2733 0.12 2.20 0.00 0.000 4 0.151 0.028 2646 3343 1635 0 0 0 0 0 0

2760 0.56 146.0 98.6 16.0 231 2764 0.00 2.22 0.00 0.000 6 0.000 0.023 2653 1888 1635 0 0 0 0 0 0

2802 0.51 146.0 92.2 14.8 234 2807 0.15 2.03 0.00 0.000 4 0.142 0.033 2611 548 1635 0 0 0 0 0 0

2847 0.58 146.0 86.0 11.9 237 2855 0.00 2.00 0.00 0.000 6 0.000 0.021 2612 1885 1634 0 0 0 0 0 0

2889 0.63 146.0 81.9 10.6 241 2894 0.10 2.20 0.00 0.000 4 0.099 0.028 2682 3339 1634 0 0 0 0 0 0

2932 0.53 146.0 74.9 16.7 244 2941 0.20 2.17 0.00 0.000 6 0.117 0.023 2619 1923 1634 0 0 0 0 0 0

2975 0.50 146.0 70.6 11.4 248 2979 0.00 2.10 0.00 0.000 4 0.000 0.032 2625 546 1633 0 0 0 0 0 0

3052 0.55 146.0 61.6 11.7 254 3059 0.00 1.92 0.00 0.000 6 0.000 0.021 2625 1839 1634 0 0 0 0 0 0

3092 0.58 146.0 57.0 12.6 258 3096 0.00 2.28 0.00 0.000 4 0.000 0.028 2625 3350 1634 0 0 0 0 0 0

3148 0.58 146.0 50.3 11.1 262 3156 0.00 2.22 0.00 0.000 6 0.000 0.023 2625 1898 1633 0 0 0 0 0 0

3188 0.58 146.0 45.7 11.9 266 3192 0.00 2.05 0.00 0.000 4 0.000 0.033 2625 548 1633 0 0 0 0 0 0

3227 0.64 146.0 40.8 10.9 269 3235 0.00 2.00 0.00 0.000 6 0.000 0.021 2625 1891 1633 0 0 0 0 0 0

3269 0.69 146.0 36.9 10.6 273 3274 0.12 2.17 0.00 0.000 4 0.085 0.028 2706 3343 1633 0 0 0 0 0 0

3311 0.55 146.0 30.6 17.9 276 3316 0.28 2.17 0.00 0.000 6 0.135 0.023 2622 1905 1633 0 0 0 0 0 0

3352 0.52 146.0 24.8 13.8 279 3355 0.00 2.03 0.00 0.000 4 0.000 0.034 2622 550 1633 0 0 0 0 0 0

3381 0.59 146.0 21.4 11.0 281 3389 0.00 2.03 0.00 0.000 6 0.000 0.022 2622 1910 1632 0 0 0 0 0 0

3422 0.66 146.0 17.5 10.5 285 3427 0.10 2.15 0.00 0.000 4 0.099 0.028 2690 3344 1633 0 0 0 0 0 0

3444 0.66 146.0 14.8 10.6 286 3452 0.10 2.20 0.00 0.000 6 0.130 0.023 2659 1905 1633 0 0 0 0 0 0

3485 0.63 146.0 11.4 9.0 290 3489 0.00 2.05 0.00 0.000 4 0.000 0.033 2659 547 1633 0 0 0 0 0 0

3599 0.69 167.5 3.6 6.8 299 3615 0.00 1.98 11.27 0.081 2 0.000 0.021 2659 1878 1560 0 0 0 0 0 0

3616 end climb: SURFACE_DEPTH_REACHED

state 3616 begin surface coast

3626 end surface coast: CONTROL_FINISHED_OK

state 3627 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	13	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	65	XPDR_INHIBIT	90
D_BOOST	4	N_FILEKB	8	R_STBD_OVSHOOT	51	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	-22253.305	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	010711,042301,4744.109,-12224.624,34,1.6,34,18.2	TGT_NAME	NW
_CALLS	1	TGT_LATLONG	4743.900,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.217,-0.104
_SM_DEPTHo	0.81	KALMAN_X	1534.5,-150.1,-20.5,-1844.0,1153.7
_SM_ANGLEo	-70.9	KALMAN_Y	-1854.1,-456.1,-228.2,3362.4,644.7
GPS2	010711,043032,4744.165,-12224.577,12,1.4,12,18.2	MHEAD_RNG_PITCHd_Wd	198.2,564,-18.4,-8.032
SPEED_LIMITS	0.139,0.241	D_GRID	200

FREEZE	1.20,12.388,-1.512,0,1,0	_24V_AH	24.4,1.041
FINISH	1.2,1.020885	_10V_AH	10.3,1.433
SM_CCo	3645,73.20,0.077,0,0,935,320.11	FG_AHR_24Vo	0.000
SM_GC	0.84,0.00,0.00,73.20,0.000,0.000,0.077,179,1961,935,-7.08,0.31,320.11	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4726.11,-12229.50,010711,030312	MEM	323532
TT8_MAMPS	0.026964	DATA_FILE_SIZE	20385,301
HUMID	46.96	CAP_FILE_SIZE	92259,0
INTERNAL_PRESSURE	9.23864	CFSIZE	260165632,208445440
TCM_TEMP	19.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	3	CURRENT	0.052, 28.6,1
ALTIM_BOTTOM_PING	110.2,79.7	GPS	010711,053432,4744.017,-12224.768,12,1.7,12,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	208	84.92	SBE_CT	203	24	119.13
Roll_motor	96	133	313.75	AA4330	459	33	369.61
VBD_pump_during_apogee	241	712	4204.35	WL_BB2F	845	105	2165.08
VBD_pump_during_surface	73	77	138.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	77.22	nil	0	0	0.00
Iridium_during_connect	31	160	124.12	nil	0	0	0.00
Iridium_during_xfer	237	223	1290.28	nil	0	0	0.00
Transponder_ping	1	420	12.81	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	50	8.06
TT8	963	19	196.45
LPSleep	1009	2	22.78
TT8_Active	393	19	80.21
TT8_Sampling	1526	39	625.90
TT8_CF8	293	45	138.55
TT8_Kalman	33	81	28.08
Analog_circuits	966	12	119.46
GPS_charging	0	0	0.00
Compass	789	15	122.04
RAFOS	0	0	0.00
Transponder	5	30	1.74

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
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
17	-0.69	-92.1	0.0	0.0	0	87	0.00	0.00	-66.78	0.000	6	0.000	0.000	179	1938	2616	0	0	0	0	0	0
90	-0.76	-146.0	2.0	-2.3	6	108	7.32	2.10	-5.45	0.000	4	0.208	0.041	2193	549	2836	0	0	0	0	0	0
357	-0.62	-146.0	42.1	-10.9	29	366	0.17	2.10	0.00	0.000	6	0.119	0.021	2246	1957	2838	0	0	0	0	0	0
399	-0.57	-146.0	45.5	-9.1	33	402	0.00	2.10	0.00	0.000	4	0.000	0.028	2247	548	2839	0	0	0	0	0	0
409	-0.57	-146.0	46.6	-8.0	33	417	0.00	2.17	0.00	0.000	6	0.000	0.022	2239	2005	2839	0	0	0	0	0	0
451	-0.55	-146.0	48.4	-4.6	37	455	0.00	2.03	0.00	0.000	4	0.000	0.032	2236	3343	2839	0	0	0	0	0	0
708	-0.57	-146.0	69.4	-8.2	60	712	0.00	2.00	0.00	0.000	6	0.000	0.021	2236	1984	2838	0	0	0	0	0	0
757	-0.57	-146.0	73.9	-9.5	64	761	0.00	2.12	0.00	0.000	4	0.000	0.029	2236	552	2838	0	0	0	0	0	0
1011	-0.55	-146.0	94.4	-7.0	86	1015	0.15	2.05	0.00	0.000	6	0.140	0.021	2272	1966	2838	0	0	0	0	0	0
1054	-0.59	-146.0	97.2	-6.6	89	1058	0.00	2.12	0.00	0.000	4	0.000	0.030	2273	552	2838	0	0	0	0	0	0
1311	-0.65	-146.0	115.6	-6.5	111	1320	0.08	2.08	0.00	0.000	6	0.060	0.021	2218	1954	2838	0	0	0	0	0	0
1351	-0.65	-146.0	118.2	-7.0	115	1355	0.00	2.08	0.00	0.000	4	0.000	0.030	2210	3348	2838	0	0	0	0	0	0
1604	-0.65	-146.0	141.5	-9.0	137	1612	0.00	2.08	0.00	0.000	6	0.000	0.020	2210	1954	2839	0	0	0	0	0	0
1645	-0.65	-146.0	144.8	-9.0	141	1649	0.00	2.10	0.00	0.000	4	0.000	0.030	2210	3348	2838	0	0	0	0	0	0
1745	-0.65	-146.0	154.2	-9.7	149	1753	0.00	2.08	0.00	0.000	6	0.000	0.021	2210	1953	2838	0	0	0	0	0	0
1786	-0.65	-146.0	157.7	-9.6	153	1790	0.00	2.10	0.00	0.000	4	0.000	0.030	2210	3348	2838	0	0	0	0	0	0
1805	-0.65	-146.0	159.7	-9.8	154	1809	0.00	2.00	0.00	0.000	6	0.000	0.020	2210	1973	2839	0	0	0	0	0	0
1851	-0.65	-146.0	164.5	-10.6	158	1855	0.00	2.08	0.00	0.000	4	0.000	0.030	2210	3342	2838	0	0	0	0	0	0
1922	-0.65	-146.0	171.8	-10.3	164	1925	0.00	1.90	0.00	0.000	6	0.000	0.020	2210	2032	2838	0	0	0	0	0	0
1968	-0.65	-146.0	176.7	-10.0	168	1976	0.00	0.00	0.00	0.000	6	0.000	0.000	2210	2031	2838	0	0	0	0	0	0
2007	end dive: BOTTOM_OBSTACLE_DETECTED
state	2007	begin apogee
2014	-0.16	0.0	180.6	9.5	172	2133	0.50	0.00	111.80	0.713	4	0.099	0.000	2391	1944	2240	0	0	0	0	0	0
2134	end apogee: CONTROL_FINISHED_OK
state	2134	begin climb
2137	0.76	146.0	182.1	0.0	181	2264	0.75	0.00	118.60	0.673	6	0.058	0.000	2683	1944	1644	0	0	0	0	0	0
2296	0.65	146.0	159.6	18.2	194	2300	0.00	2.20	0.00	0.000	4	0.000	0.027	2683	3346	1642	0	0	0	0	0	0
2349	0.52	146.0	149.6	19.6	198	2353	0.25	2.08	0.00	0.000	6	0.140	0.021	2617	2011	1640	0	0	0	0	0	0
2391	0.47	146.0	142.6	17.0	201	2399	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2011	1638	0	0	0	0	0	0
2433	0.49	146.0	136.9	13.6	205	2440	0.00	0.00	0.00	0.000	6	0.000	0.000	2616	2011	1638	0	0	0	0	0	0
2474	0.51	146.0	132.0	11.6	209	2478	0.00	2.25	0.00	0.000	4	0.000	0.032	2617	562	1638	0	0	0	0	0	0
2526	0.55	146.0	126.2	10.9	213	2530	0.00	2.10	0.00	0.000	6	0.000	0.021	2616	1986	1636	0	0	0	0	0	0
2569	0.58	146.0	121.5	11.4	216	2573	0.00	2.08	0.00	0.000	4	0.000	0.028	2616	3341	1636	0	0	0	0	0	0
2591	0.58	146.0	118.5	11.3	217	2599	0.00	2.15	0.00	0.000	6	0.000	0.023	2617	1952	1635	0	0	0	0	0	0
2632	0.60	146.0	114.3	11.2	221	2636	0.00	2.17	0.00	0.000	4	0.000	0.033	2616	541	1635	0	0	0	0	0	0
2686	0.65	146.0	108.6	9.7	225	2695	0.08	2.03	0.00	0.000	6	0.057	0.021	2683	1889	1635	0	0	0	0	0	0
2728	0.62	146.0	103.5	13.8	229	2733	0.12	2.20	0.00	0.000	4	0.151	0.028	2646	3343	1635	0	0	0	0	0	0
2760	0.56	146.0	98.6	16.0	231	2764	0.00	2.22	0.00	0.000	6	0.000	0.023	2653	1888	1635	0	0	0	0	0	0
2802	0.51	146.0	92.2	14.8	234	2807	0.15	2.03	0.00	0.000	4	0.142	0.033	2611	548	1635	0	0	0	0	0	0
2847	0.58	146.0	86.0	11.9	237	2855	0.00	2.00	0.00	0.000	6	0.000	0.021	2612	1885	1634	0	0	0	0	0	0
2889	0.63	146.0	81.9	10.6	241	2894	0.10	2.20	0.00	0.000	4	0.099	0.028	2682	3339	1634	0	0	0	0	0	0
2932	0.53	146.0	74.9	16.7	244	2941	0.20	2.17	0.00	0.000	6	0.117	0.023	2619	1923	1634	0	0	0	0	0	0
2975	0.50	146.0	70.6	11.4	248	2979	0.00	2.10	0.00	0.000	4	0.000	0.032	2625	546	1633	0	0	0	0	0	0
3052	0.55	146.0	61.6	11.7	254	3059	0.00	1.92	0.00	0.000	6	0.000	0.021	2625	1839	1634	0	0	0	0	0	0
3092	0.58	146.0	57.0	12.6	258	3096	0.00	2.28	0.00	0.000	4	0.000	0.028	2625	3350	1634	0	0	0	0	0	0
3148	0.58	146.0	50.3	11.1	262	3156	0.00	2.22	0.00	0.000	6	0.000	0.023	2625	1898	1633	0	0	0	0	0	0
3188	0.58	146.0	45.7	11.9	266	3192	0.00	2.05	0.00	0.000	4	0.000	0.033	2625	548	1633	0	0	0	0	0	0
3227	0.64	146.0	40.8	10.9	269	3235	0.00	2.00	0.00	0.000	6	0.000	0.021	2625	1891	1633	0	0	0	0	0	0
3269	0.69	146.0	36.9	10.6	273	3274	0.12	2.17	0.00	0.000	4	0.085	0.028	2706	3343	1633	0	0	0	0	0	0
3311	0.55	146.0	30.6	17.9	276	3316	0.28	2.17	0.00	0.000	6	0.135	0.023	2622	1905	1633	0	0	0	0	0	0
3352	0.52	146.0	24.8	13.8	279	3355	0.00	2.03	0.00	0.000	4	0.000	0.034	2622	550	1633	0	0	0	0	0	0
3381	0.59	146.0	21.4	11.0	281	3389	0.00	2.03	0.00	0.000	6	0.000	0.022	2622	1910	1632	0	0	0	0	0	0
3422	0.66	146.0	17.5	10.5	285	3427	0.10	2.15	0.00	0.000	4	0.099	0.028	2690	3344	1633	0	0	0	0	0	0
3444	0.66	146.0	14.8	10.6	286	3452	0.10	2.20	0.00	0.000	6	0.130	0.023	2659	1905	1633	0	0	0	0	0	0
3485	0.63	146.0	11.4	9.0	290	3489	0.00	2.05	0.00	0.000	4	0.000	0.033	2659	547	1633	0	0	0	0	0	0
3599	0.69	167.5	3.6	6.8	299	3615	0.00	1.98	11.27	0.081	2	0.000	0.021	2659	1878	1560	0	0	0	0	0	0
3616	end climb: SURFACE_DEPTH_REACHED
state	3616	begin surface coast
3626	end surface coast: CONTROL_FINISHED_OK
state	3627	begin surface