Glider dive log

Shilshole 30Jun11 * SG503 * Dive index * Mission links * Dive 8 * 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 8 ESCAPE_HEADING 45 ROLL_DEG 40 ALTIM_PING_DEPTH 90

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 150 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 400 R_PORT_OVSHOOT 52 XPDR_INHIBIT 90

D_BOOST 4 N_FILEKB 8 R_STBD_OVSHOOT 85 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 50 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 60 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 -6 T_GPS_CHARGE -22247.021 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 0

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 49 SIM_W 0

AH0_10V 100 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 400

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 0 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 2

ALTIM_FREQUENCY 13 D_TGT 150 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 90 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 50

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 -22247.021

CAPUPLOAD 1 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 60

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 -6

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 52 VBD_MAX 3956

DEVICE3 39 MINV_10V 8 R_STBD_OVSHOOT 85 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 8 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 300611,225850,4743.567,-12224.876,12,1.4,12,18.2 TGT_NAME NW

_CALLS 1 TGT_LATLONG 4743.900,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.055,0.254

_SM_DEPTHo 0.70 KALMAN_X -376.8,-76.6,4.2,-351.8,-136.4

_SM_ANGLEo -66.0 KALMAN_Y -1454.2,-365.3,3.1,1622.8,-426.2

GPS2 300611,230636,4743.608,-12224.838,13,1.7,29,18.2 MHEAD_RNG_PITCHd_Wd 4.5,543,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 175

Post-dive calculations and measurements:

FREEZE -0.05,12.550,-1.488,0,1,0 _24V_AH 24.5,0.698

FINISH -0.1,1.020540 _10V_AH 10.2,1.120

SM_CCo 3090,89.85,0.076,0,0,608,400.08 FG_AHR_24Vo 0.000

SM_GC 0.64,0.00,0.00,89.85,0.000,0.000,0.076,182,1950,608,-7.07,0.00,400.08 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4729.30,-12222.38,300611,212152 MEM 323520

TT8_MAMPS 0.026964 DATA_FILE_SIZE 17045,264

HUMID 48.03 CAP_FILE_SIZE 83177,0

INTERNAL_PRESSURE 9.2191 CFSIZE 260165632,208658432

TCM_TEMP 19.30 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 3 CURRENT 0.212,207.7,1

ALTIM_BOTTOM_PING 130.9,64.7 GPS 010711,000126,4743.604,-12224.794,7,1.9,7,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 208 81.23 SBE_CT 176 24 103.76

Roll_motor 54 32 42.63 AA4330 402 33 325.41

VBD_pump_during_apogee 271 691 4592.46 WL_BB2F 741 105 1906.54

VBD_pump_during_surface 89 75 166.72 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 59.71 nil 0 0 0.00

Iridium_during_connect 35 160 140.53 nil 0 0 0.00

Iridium_during_xfer 241 223 1316.89 nil 0 0 0.00

Transponder_ping 3 420 33.44 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 32 50 16.46

TT8 785 19 158.70

LPSleep 821 2 18.36

TT8_Active 469 19 94.82

TT8_Sampling 1297 39 526.90

TT8_CF8 281 45 131.39

TT8_Kalman 33 81 27.80

Analog_circuits 989 12 121.12

GPS_charging 0 0 0.00

Compass 593 15 90.79

RAFOS 0 0 0.00

Transponder 18 30 5.52

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.73 -146.0 0.0 0.0 0 108 0.00 0.00 -85.38 0.000 6 0.000 0.000 178 1975 2837 0 0 0 0 0 0

112 -0.73 -146.0 3.7 -7.5 7 125 7.35 2.03 0.00 0.000 4 0.209 0.019 2192 3337 2838 0 0 0 0 0 0

375 -0.64 -146.0 42.8 -10.3 30 384 0.12 2.10 0.00 0.000 6 0.112 0.020 2238 1931 2839 0 0 0 0 0 0

417 -0.61 -146.0 46.1 -9.1 34 421 0.00 2.10 0.00 0.000 4 0.000 0.029 2238 3320 2839 0 0 0 0 0 0

672 -0.63 -146.0 66.8 -6.9 56 681 0.00 2.05 0.00 0.000 6 0.000 0.021 2237 1952 2839 0 0 0 0 0 0

713 -0.63 -146.0 69.2 -6.4 60 717 0.00 2.05 0.00 0.000 4 0.000 0.029 2236 3320 2839 0 0 0 0 0 0

758 -0.67 -146.0 72.6 -7.4 63 766 0.00 2.08 0.00 0.000 6 0.000 0.021 2236 1935 2839 0 0 0 0 0 0

799 -0.67 -146.0 75.4 -7.5 67 806 0.00 0.00 0.00 0.000 6 0.000 0.000 2236 1935 2839 0 0 0 0 0 0

839 -0.67 -146.0 78.4 -7.2 71 843 0.00 2.05 0.00 0.000 4 0.000 0.030 2236 546 2839 0 0 0 0 0 0

883 -0.67 -146.0 81.9 -7.7 74 891 0.00 1.98 0.00 0.000 6 0.000 0.021 2227 1886 2839 0 0 0 0 0 0

926 -0.67 -146.0 84.7 -7.4 78 930 0.00 2.15 0.00 0.000 4 0.000 0.030 2223 3324 2838 0 0 0 0 0 0

1002 -0.67 -146.0 90.3 -7.1 84 1006 0.00 2.05 0.00 0.000 6 0.000 0.021 2223 1926 2839 0 0 0 0 0 0

1048 -0.67 -146.0 93.6 -7.0 88 1057 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1925 2839 0 0 0 0 0 0

1090 -0.67 -146.0 96.5 -7.0 92 1098 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1925 2839 0 0 0 0 0 0

1131 -0.67 -146.0 99.6 -7.5 96 1140 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1926 2839 0 0 0 0 0 0

1171 -0.67 -146.0 102.8 -7.9 100 1172 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1926 2839 0 0 0 0 0 0

1203 -0.67 -146.0 105.4 -8.1 103 1211 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1926 2839 0 0 0 0 0 0

1245 -0.67 -146.0 108.7 -7.9 107 1252 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1926 2839 0 0 0 0 0 0

1286 -0.67 -146.0 111.9 -7.7 111 1287 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1925 2839 0 0 0 0 0 0

1317 -0.67 -146.0 114.3 -7.6 114 1318 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1925 2839 0 0 0 0 0 0

1349 -0.67 -146.0 117.1 -8.8 117 1356 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1926 2839 0 0 0 0 0 0

1392 -0.67 -146.0 120.1 -7.0 121 1396 0.00 2.12 0.00 0.000 4 0.000 0.029 2223 3325 2839 0 0 0 0 0 0

1515 -0.69 -146.0 129.8 -7.8 131 1521 0.00 2.05 0.00 0.000 6 0.000 0.021 2223 1933 2839 0 0 0 0 0 0

1565 -0.69 -146.0 134.2 -8.5 135 1572 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1932 2839 0 0 0 0 0 0

1606 -0.69 -146.0 138.1 -8.9 139 1610 0.00 2.10 0.00 0.000 4 0.000 0.030 2223 3320 2839 0 0 0 0 0 0

1729 -0.72 -146.0 148.8 -8.8 149 1733 0.00 1.98 0.00 0.000 6 0.000 0.021 2223 1961 2839 0 0 0 0 0 0

1741 end dive: TARGET_DEPTH_EXCEEDED

state 1741 begin apogee

1748 -0.16 0.0 150.5 9.6 150 1866 0.47 0.00 112.15 0.692 4 0.097 0.000 2395 1960 2240 0 0 0 0 0 0

1867 end apogee: CONTROL_FINISHED_OK

state 1867 begin climb

1870 0.73 146.0 152.7 0.0 159 1999 0.75 0.00 117.43 0.653 6 0.057 0.000 2686 1960 1643 0 0 0 0 0 0

2030 0.59 146.0 130.5 17.7 172 2039 0.17 0.00 0.00 0.000 6 0.151 0.000 2637 1960 1641 0 0 0 0 0 0

2071 0.50 146.0 124.0 15.6 176 2072 0.00 0.00 0.00 0.000 6 0.000 0.000 2637 1960 1640 0 0 0 0 0 0

2103 0.47 146.0 120.0 13.0 179 2111 0.15 0.00 0.00 0.000 6 0.135 0.000 2589 1960 1639 0 0 0 0 0 0

2144 0.47 146.0 115.4 11.3 183 2152 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 1960 1639 0 0 0 0 0 0

2185 0.54 154.5 111.4 9.6 187 2199 0.00 2.17 6.93 0.537 4 0.000 0.031 2589 559 1610 0 0 0 0 0 0

2217 0.64 176.8 108.3 9.0 189 2241 0.15 2.10 19.00 0.609 6 0.041 0.021 2676 1939 1519 0 0 0 0 0 0

2285 0.56 176.8 99.4 15.8 195 2294 0.17 0.00 0.00 0.000 6 0.132 0.000 2623 1938 1519 0 0 0 0 0 0

2325 0.53 176.8 93.4 14.2 199 2326 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 1939 1519 0 0 0 0 0 0

2357 0.56 176.8 89.7 11.6 202 2361 0.00 2.10 0.00 0.000 4 0.000 0.032 2625 565 1518 0 0 0 0 0 0

2379 0.58 176.8 86.6 12.4 203 2387 0.00 2.12 0.00 0.000 6 0.000 0.021 2625 1971 1518 0 0 0 0 0 0

2420 0.58 176.8 82.1 11.9 207 2428 0.00 0.00 0.00 0.000 6 0.000 0.000 2625 1971 1518 0 0 0 0 0 0

2461 0.58 176.8 77.0 12.6 211 2462 0.00 0.00 0.00 0.000 6 0.000 0.000 2625 1972 1518 0 0 0 0 0 0

2492 0.60 176.8 73.2 12.0 214 2493 0.00 0.00 0.00 0.000 6 0.000 0.000 2625 1971 1517 0 0 0 0 0 0

2525 0.62 176.8 69.3 12.3 217 2529 0.00 2.15 0.00 0.000 4 0.000 0.032 2625 561 1517 0 0 0 0 0 0

2548 0.64 176.8 65.8 13.2 218 2556 0.00 2.10 0.00 0.000 6 0.000 0.021 2625 1958 1517 0 0 0 0 0 0

2589 0.67 176.8 60.6 13.4 222 2597 0.10 0.00 0.00 0.000 6 0.098 0.000 2699 1960 1517 0 0 0 0 0 0

2630 0.62 176.8 54.0 16.2 226 2638 0.17 0.00 0.00 0.000 6 0.139 0.000 2646 1960 1517 0 0 0 0 0 0

2671 0.57 176.8 47.1 16.9 230 2679 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 1960 1517 0 0 0 0 0 0

2712 0.57 176.8 40.6 15.4 234 2716 0.00 2.12 0.00 0.000 4 0.000 0.032 2646 555 1517 0 0 0 0 0 0

2722 0.57 176.8 38.6 14.9 234 2730 0.00 2.10 0.00 0.000 6 0.000 0.021 2645 1959 1516 0 0 0 0 0 0

2763 0.57 176.8 33.4 14.0 238 2770 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 1960 1516 0 0 0 0 0 0

2804 0.57 176.8 28.0 13.2 242 2808 0.00 2.10 0.00 0.000 4 0.000 0.032 2646 562 1517 0 0 0 0 0 0

2837 0.57 176.8 23.1 13.6 244 2847 0.00 2.08 0.00 0.000 6 0.000 0.021 2645 1954 1516 0 0 0 0 0 0

2878 0.57 176.8 18.4 12.9 248 2879 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 1955 1516 0 0 0 0 0 0

2909 0.57 176.8 14.4 12.7 251 2913 0.00 2.10 0.00 0.000 4 0.000 0.032 2646 558 1516 0 0 0 0 0 0

2964 0.61 191.1 8.9 9.3 255 2982 0.00 2.03 11.90 0.565 6 0.000 0.021 2645 1948 1459 0 0 0 0 0 0

3026 0.67 212.7 3.4 9.0 260 3032 0.00 0.00 3.65 0.083 2 0.000 0.000 2645 1948 1438 0 0 0 0 0 0

3033 end climb: SURFACE_DEPTH_REACHED

state 3033 begin surface coast

3073 end surface coast: CONTROL_FINISHED_OK

state 3073 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	8	ESCAPE_HEADING	45	ROLL_DEG	40	ALTIM_PING_DEPTH	90
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	150	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	400	R_PORT_OVSHOOT	52	XPDR_INHIBIT	90
D_BOOST	4	N_FILEKB	8	R_STBD_OVSHOOT	85	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	50	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	60	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	-6	T_GPS_CHARGE	-22247.021	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	0

GPS1	300611,225850,4743.567,-12224.876,12,1.4,12,18.2	TGT_NAME	NW
_CALLS	1	TGT_LATLONG	4743.900,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.055,0.254
_SM_DEPTHo	0.70	KALMAN_X	-376.8,-76.6,4.2,-351.8,-136.4
_SM_ANGLEo	-66.0	KALMAN_Y	-1454.2,-365.3,3.1,1622.8,-426.2
GPS2	300611,230636,4743.608,-12224.838,13,1.7,29,18.2	MHEAD_RNG_PITCHd_Wd	4.5,543,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	175

FREEZE	-0.05,12.550,-1.488,0,1,0	_24V_AH	24.5,0.698
FINISH	-0.1,1.020540	_10V_AH	10.2,1.120
SM_CCo	3090,89.85,0.076,0,0,608,400.08	FG_AHR_24Vo	0.000
SM_GC	0.64,0.00,0.00,89.85,0.000,0.000,0.076,182,1950,608,-7.07,0.00,400.08	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4729.30,-12222.38,300611,212152	MEM	323520
TT8_MAMPS	0.026964	DATA_FILE_SIZE	17045,264
HUMID	48.03	CAP_FILE_SIZE	83177,0
INTERNAL_PRESSURE	9.2191	CFSIZE	260165632,208658432
TCM_TEMP	19.30	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	3	CURRENT	0.212,207.7,1
ALTIM_BOTTOM_PING	130.9,64.7	GPS	010711,000126,4743.604,-12224.794,7,1.9,7,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	208	81.23	SBE_CT	176	24	103.76
Roll_motor	54	32	42.63	AA4330	402	33	325.41
VBD_pump_during_apogee	271	691	4592.46	WL_BB2F	741	105	1906.54
VBD_pump_during_surface	89	75	166.72	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	59.71	nil	0	0	0.00
Iridium_during_connect	35	160	140.53	nil	0	0	0.00
Iridium_during_xfer	241	223	1316.89	nil	0	0	0.00
Transponder_ping	3	420	33.44	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	32	50	16.46
TT8	785	19	158.70
LPSleep	821	2	18.36
TT8_Active	469	19	94.82
TT8_Sampling	1297	39	526.90
TT8_CF8	281	45	131.39
TT8_Kalman	33	81	27.80
Analog_circuits	989	12	121.12
GPS_charging	0	0	0.00
Compass	593	15	90.79
RAFOS	0	0	0.00
Transponder	18	30	5.52

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.73	-146.0	0.0	0.0	0	108	0.00	0.00	-85.38	0.000	6	0.000	0.000	178	1975	2837	0	0	0	0	0	0
112	-0.73	-146.0	3.7	-7.5	7	125	7.35	2.03	0.00	0.000	4	0.209	0.019	2192	3337	2838	0	0	0	0	0	0
375	-0.64	-146.0	42.8	-10.3	30	384	0.12	2.10	0.00	0.000	6	0.112	0.020	2238	1931	2839	0	0	0	0	0	0
417	-0.61	-146.0	46.1	-9.1	34	421	0.00	2.10	0.00	0.000	4	0.000	0.029	2238	3320	2839	0	0	0	0	0	0
672	-0.63	-146.0	66.8	-6.9	56	681	0.00	2.05	0.00	0.000	6	0.000	0.021	2237	1952	2839	0	0	0	0	0	0
713	-0.63	-146.0	69.2	-6.4	60	717	0.00	2.05	0.00	0.000	4	0.000	0.029	2236	3320	2839	0	0	0	0	0	0
758	-0.67	-146.0	72.6	-7.4	63	766	0.00	2.08	0.00	0.000	6	0.000	0.021	2236	1935	2839	0	0	0	0	0	0
799	-0.67	-146.0	75.4	-7.5	67	806	0.00	0.00	0.00	0.000	6	0.000	0.000	2236	1935	2839	0	0	0	0	0	0
839	-0.67	-146.0	78.4	-7.2	71	843	0.00	2.05	0.00	0.000	4	0.000	0.030	2236	546	2839	0	0	0	0	0	0
883	-0.67	-146.0	81.9	-7.7	74	891	0.00	1.98	0.00	0.000	6	0.000	0.021	2227	1886	2839	0	0	0	0	0	0
926	-0.67	-146.0	84.7	-7.4	78	930	0.00	2.15	0.00	0.000	4	0.000	0.030	2223	3324	2838	0	0	0	0	0	0
1002	-0.67	-146.0	90.3	-7.1	84	1006	0.00	2.05	0.00	0.000	6	0.000	0.021	2223	1926	2839	0	0	0	0	0	0
1048	-0.67	-146.0	93.6	-7.0	88	1057	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1925	2839	0	0	0	0	0	0
1090	-0.67	-146.0	96.5	-7.0	92	1098	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1925	2839	0	0	0	0	0	0
1131	-0.67	-146.0	99.6	-7.5	96	1140	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1926	2839	0	0	0	0	0	0
1171	-0.67	-146.0	102.8	-7.9	100	1172	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1926	2839	0	0	0	0	0	0
1203	-0.67	-146.0	105.4	-8.1	103	1211	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1926	2839	0	0	0	0	0	0
1245	-0.67	-146.0	108.7	-7.9	107	1252	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1926	2839	0	0	0	0	0	0
1286	-0.67	-146.0	111.9	-7.7	111	1287	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1925	2839	0	0	0	0	0	0
1317	-0.67	-146.0	114.3	-7.6	114	1318	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1925	2839	0	0	0	0	0	0
1349	-0.67	-146.0	117.1	-8.8	117	1356	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1926	2839	0	0	0	0	0	0
1392	-0.67	-146.0	120.1	-7.0	121	1396	0.00	2.12	0.00	0.000	4	0.000	0.029	2223	3325	2839	0	0	0	0	0	0
1515	-0.69	-146.0	129.8	-7.8	131	1521	0.00	2.05	0.00	0.000	6	0.000	0.021	2223	1933	2839	0	0	0	0	0	0
1565	-0.69	-146.0	134.2	-8.5	135	1572	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1932	2839	0	0	0	0	0	0
1606	-0.69	-146.0	138.1	-8.9	139	1610	0.00	2.10	0.00	0.000	4	0.000	0.030	2223	3320	2839	0	0	0	0	0	0
1729	-0.72	-146.0	148.8	-8.8	149	1733	0.00	1.98	0.00	0.000	6	0.000	0.021	2223	1961	2839	0	0	0	0	0	0
1741	end dive: TARGET_DEPTH_EXCEEDED
state	1741	begin apogee
1748	-0.16	0.0	150.5	9.6	150	1866	0.47	0.00	112.15	0.692	4	0.097	0.000	2395	1960	2240	0	0	0	0	0	0
1867	end apogee: CONTROL_FINISHED_OK
state	1867	begin climb
1870	0.73	146.0	152.7	0.0	159	1999	0.75	0.00	117.43	0.653	6	0.057	0.000	2686	1960	1643	0	0	0	0	0	0
2030	0.59	146.0	130.5	17.7	172	2039	0.17	0.00	0.00	0.000	6	0.151	0.000	2637	1960	1641	0	0	0	0	0	0
2071	0.50	146.0	124.0	15.6	176	2072	0.00	0.00	0.00	0.000	6	0.000	0.000	2637	1960	1640	0	0	0	0	0	0
2103	0.47	146.0	120.0	13.0	179	2111	0.15	0.00	0.00	0.000	6	0.135	0.000	2589	1960	1639	0	0	0	0	0	0
2144	0.47	146.0	115.4	11.3	183	2152	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	1960	1639	0	0	0	0	0	0
2185	0.54	154.5	111.4	9.6	187	2199	0.00	2.17	6.93	0.537	4	0.000	0.031	2589	559	1610	0	0	0	0	0	0
2217	0.64	176.8	108.3	9.0	189	2241	0.15	2.10	19.00	0.609	6	0.041	0.021	2676	1939	1519	0	0	0	0	0	0
2285	0.56	176.8	99.4	15.8	195	2294	0.17	0.00	0.00	0.000	6	0.132	0.000	2623	1938	1519	0	0	0	0	0	0
2325	0.53	176.8	93.4	14.2	199	2326	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	1939	1519	0	0	0	0	0	0
2357	0.56	176.8	89.7	11.6	202	2361	0.00	2.10	0.00	0.000	4	0.000	0.032	2625	565	1518	0	0	0	0	0	0
2379	0.58	176.8	86.6	12.4	203	2387	0.00	2.12	0.00	0.000	6	0.000	0.021	2625	1971	1518	0	0	0	0	0	0
2420	0.58	176.8	82.1	11.9	207	2428	0.00	0.00	0.00	0.000	6	0.000	0.000	2625	1971	1518	0	0	0	0	0	0
2461	0.58	176.8	77.0	12.6	211	2462	0.00	0.00	0.00	0.000	6	0.000	0.000	2625	1972	1518	0	0	0	0	0	0
2492	0.60	176.8	73.2	12.0	214	2493	0.00	0.00	0.00	0.000	6	0.000	0.000	2625	1971	1517	0	0	0	0	0	0
2525	0.62	176.8	69.3	12.3	217	2529	0.00	2.15	0.00	0.000	4	0.000	0.032	2625	561	1517	0	0	0	0	0	0
2548	0.64	176.8	65.8	13.2	218	2556	0.00	2.10	0.00	0.000	6	0.000	0.021	2625	1958	1517	0	0	0	0	0	0
2589	0.67	176.8	60.6	13.4	222	2597	0.10	0.00	0.00	0.000	6	0.098	0.000	2699	1960	1517	0	0	0	0	0	0
2630	0.62	176.8	54.0	16.2	226	2638	0.17	0.00	0.00	0.000	6	0.139	0.000	2646	1960	1517	0	0	0	0	0	0
2671	0.57	176.8	47.1	16.9	230	2679	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	1960	1517	0	0	0	0	0	0
2712	0.57	176.8	40.6	15.4	234	2716	0.00	2.12	0.00	0.000	4	0.000	0.032	2646	555	1517	0	0	0	0	0	0
2722	0.57	176.8	38.6	14.9	234	2730	0.00	2.10	0.00	0.000	6	0.000	0.021	2645	1959	1516	0	0	0	0	0	0
2763	0.57	176.8	33.4	14.0	238	2770	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	1960	1516	0	0	0	0	0	0
2804	0.57	176.8	28.0	13.2	242	2808	0.00	2.10	0.00	0.000	4	0.000	0.032	2646	562	1517	0	0	0	0	0	0
2837	0.57	176.8	23.1	13.6	244	2847	0.00	2.08	0.00	0.000	6	0.000	0.021	2645	1954	1516	0	0	0	0	0	0
2878	0.57	176.8	18.4	12.9	248	2879	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	1955	1516	0	0	0	0	0	0
2909	0.57	176.8	14.4	12.7	251	2913	0.00	2.10	0.00	0.000	4	0.000	0.032	2646	558	1516	0	0	0	0	0	0
2964	0.61	191.1	8.9	9.3	255	2982	0.00	2.03	11.90	0.565	6	0.000	0.021	2645	1948	1459	0	0	0	0	0	0
3026	0.67	212.7	3.4	9.0	260	3032	0.00	0.00	3.65	0.083	2	0.000	0.000	2645	1948	1438	0	0	0	0	0	0
3033	end climb: SURFACE_DEPTH_REACHED
state	3033	begin surface coast
3073	end surface coast: CONTROL_FINISHED_OK
state	3073	begin surface