Glider dive log

SAGE 17Apr15 * SG573 * Dive index * Mission links * Dive 12 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 573 HD_B 0.010078 ROLL_MIN 150 ALTIM_TOP_TURN_MARGIN 0

MISSION 9 HD_C 9.8500004e-06 ROLL_MAX 3785 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 12 HEADING -1 ROLL_DEG 40 ALTIM_PING_DEPTH 100

D_SURF 3 ESCAPE_HEADING 0 C_ROLL_DIVE 2200 ALTIM_PING_DELTA 10

D_FLARE 3 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1800 ALTIM_FREQUENCY 13

D_TGT 300 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_ABORT 500 TGT_DEFAULT_LAT -3415 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 4

D_NO_BLEED 500 TGT_DEFAULT_LON 2600 ROLL_TIMEOUT 15 XPDR_VALID 5

D_BOOST 0 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 20 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 450 R_STBD_OVSHOOT 11 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST_BLACKOUT 0 N_FILEKB 4 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.55000001

D_FINISH 0 FILEMGR 0 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 KERMIT 0 ROLL_GAIN_P 0 DEVICE1 2

SURFACE_URGENCY 0 N_NOCOMM 1 VBD_MIN 409 DEVICE2 101

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MAX 3959 DEVICE3 35

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 C_VBD 2862 DEVICE4 135

T_DIVE 90 CALL_TRIES 5 VBD_DBAND 2 DEVICE5 -1

T_MISSION 110 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE6 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_TIMEOUT 720 LOGGERS 1

T_TURN 225 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012000001 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 -1

T_NO_W 120 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_LOITER 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_ALMANAC 0 UNCOM_BLEED 60 COMPASS_DEVICE 33

USE_ICE 0 T_GPS_CHARGE -13401.365 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 1 CF8_MAXERRORS 20 PHONE_DEVICE 48

D_OFFGRID 100 STROBE 0 AH0_24V 150 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 RAFOS_DEVICE -1

RELAUNCH 0 RAFOS_CORR_THRESH 60 MINV_24V 20 XPDR_DEVICE 24

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_10V 8 SIM_W 0

MAX_BUOY 200 PITCH_MIN 100 FG_AHR_10V 0 SIM_PITCH 0

COURSE_BIAS 0 PITCH_MAX 3858 FG_AHR_24V 0 SEABIRD_T_G 0.0042828661

GLIDE_SLOPE 30 C_PITCH 3050 PHONE_SUPPLY 2 SEABIRD_T_H 0.00061930995

SPEED_FACTOR 1 PITCH_DBAND 0.0099999998 PRESSURE_YINT -86.704987 SEABIRD_T_I 2.1971719e-05

RHO 1.0278 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011693723 SEABIRD_T_J 2.301111e-06

MASS 52922 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_C_G -9.9469662

LENGTH 1.8 PITCH_GAIN 20 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.155618

NAV_MODE 1 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0016006827

DIRECT_CONTROL 0 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_J 0.00019558761

FERRY_MAX 45 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 EBE_ENABLE 0

KALMAN_USE 1 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 0 GC_WINDOW 0

HD_A 0.0038360001 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 20 GC_LAST_COLLECTION 11

AD7714Ch0Gain 128 D_NO_BLEED 500 N_GPS 20 SEABIRD_T_J 2.301111e-06

AH0_10V 100 D_OFFGRID 100 N_NOCOMM 1 SIM_PITCH 0

AH0_24V 150 D_PITCH 0 N_NOSURFACE 0 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PHONE_DEVICE 48 SM_CC 450

ALTIM_BOTTOM_TURN_MARGIN 20 D_SURF 3 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_TGT 300 PITCH_ADJ_DBAND 1 STROBE 0

ALTIM_PING_DELTA 10 EBE_ENABLE 0 PITCH_ADJ_GAIN 0.02 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 100 ESCAPE_HEADING 0 PITCH_AD_RATE 175 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 4 FERRY_MAX 45 PITCH_DBAND 0.0099999998 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_GAIN 20 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_MAX 3858 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -3415

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PITCH_MIN 100 TGT_DEFAULT_LON 2600

CALL_NDIVES 1 GC_LAST_COLLECTION 11 PITCH_TIMEOUT 16 T_ABORT 1440

CALL_TRIES 5 GC_WINDOW 0 PITCH_VBD_SHIFT 0.0012000001 T_BOOST 0

CALL_WAIT 60 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011693723 T_BOOST_BLACKOUT 0

CAPMAXSIZE 100000 GPS_DEVICE 32 PRESSURE_YINT -86.704987 T_DIVE 90

CAPUPLOAD 0 HD_A 0.0038360001 P_OVSHOOT 0.039999999 T_GPS 15

CF8_MAXERRORS 20 HD_B 0.010078 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

COMM_SEQ 0 HD_C 9.8500004e-06 RAFOS_DEVICE -1 T_GPS_CHARGE -13401.365

COMPASS2_DEVICE -1 HEADING -1 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS_DEVICE 33 HEAD_ERRBAND 10 RAFOS_PEAK_OFFSET 1.5 T_MISSION 110

COMPASS_USE 0 HEAPDBG 0 RELAUNCH 0 T_NO_W 120

COURSE_BIAS 0 ICE_FREEZE_MARGIN 0.30000001 RHO 1.0278 T_RSLEEP 1

C_PITCH 3050 ID 573 ROLL_ADJ_DBAND 0 T_TURN 225

C_ROLL_CLIMB 1800 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_DIVE 2200 INT_PRESSURE_YINT -0.55000001 ROLL_AD_RATE 350 T_WATCHDOG 10

C_VBD 2862 KALMAN_USE 1 ROLL_CNV 0.028270001 UNCOM_BLEED 60

DEEPGLIDER 0 KERMIT 0 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 LENGTH 1.8 ROLL_GAIN_P 0 USE_BATHY 0

DEVICE1 2 LOGGERDEVICE1 -1 ROLL_MAX 3785 USE_ICE 0

DEVICE2 101 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE3 35 LOGGERDEVICE3 -1 ROLL_MIN 150 VBD_CNV -0.245296

DEVICE4 135 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE5 -1 LOGGERS 1 R_PORT_OVSHOOT 20 VBD_MAX 3959

DEVICE6 -1 MASS 52922 R_STBD_OVSHOOT 11 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 200 SEABIRD_C_G -9.9469662 VBD_MIN 409

DIVE 12 MINV_10V 8 SEABIRD_C_H 1.155618 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 500 MINV_24V 20 SEABIRD_C_I -0.0016006827 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 0 MISSION 9 SEABIRD_C_J 0.00019558761 VBD_TIMEOUT 720

D_CALL 0 MOTHERBOARD 4 SEABIRD_T_G 0.0042828661 XPDR_DEVICE 24

D_FINISH 0 NAV_MODE 1 SEABIRD_T_H 0.00061930995 XPDR_INHIBIT 90

D_FLARE 3 N_FILEKB 4 SEABIRD_T_I 2.1971719e-05 XPDR_VALID 5

Pre-dive calculations and measurements:

GPS1 220415,171648,-3431.179,2606.792,13,1.1,14,-28.1 TGT_NAME WP_SOUTH

_CALLS 1 TGT_LATLONG -3430.000,2600.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.229,0.204

_SM_DEPTHo 1.12 KALMAN_X -18488.8,-8625.5,-2647.6,-6374.3,-1020.9

_SM_ANGLEo -60.4 KALMAN_Y -14362.4,-6812.0,-2167.9,-3593.3,-569.5

GPS2 220415,172130,-3431.308,2606.543,23,1.5,24,-28.1 MHEAD_RNG_PITCHd_Wd 339.8,10276,-17.2,-11.111

SPEED_LIMITS 0.192,0.307 D_GRID 300

Post-dive calculations and measurements:

FINISH 0.8,1.021028 _10V_AH 10.4,2.293

SM_CCo 5449,0.00,0.000,0,0,993,458.70 FG_AHR_24Vo 0.000

SM_GC 1.57,8.82,0.00,0.00,0.043,0.000,0.000,84,2209,993,-9.19,0.25,458.70 FG_AHR_10Vo 0.000

IRIDIUM_FIX -3414.71,2610.52,170208,060639 MEM 331396

TT8_MAMPS 0.026215 DATA_FILE_SIZE 67111,887

HUMID 67.79 CAP_FILE_SIZE 122338,0

INTERNAL_PRESSURE 9.50898 CFSIZE 2097086464,2090860544

TCM_TEMP 19.90 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,2

XPDR_PINGS 0 GPS 220415,185423,-3431.478,2604.507,38,1.5,38,-28.1

_24V_AH 24.5,4.061

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 252 144.42 SBE_CT 597 23 340.13

Roll_motor 101 115 285.91 AA4330 2300 17 971.22

VBD_pump_during_apogee 499 762 9324.92 WL_BB2F 1580 105 4064.57

VBD_pump_during_surface 0 0 0.00 QSP2150 2482 17 1048.06

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 5 420 54.02 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 27 7.63

TT8 1917 13 276.94

LPSleep 577 2 13.16

TT8_Active 408 13 59.00

TT8_Sampling 2528 40 1074.15

TT8_CF8 96 50 50.52

TT8_Kalman 33 65 22.73

Analog_circuits 1404 15 223.71

GPS_charging 0 0 0.00

Compass 2265 15 370.69

RAFOS 0 0 0.00

Transponder 34 30 10.62

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

24 -1.09 -194.6 0.0 0.0 0 106 0.00 0.00 -80.15 0.000 2 0.000 0.000 88 2203 2959 0 0 0 0 0 0

108 -1.09 -194.6 3.3 -4.3 13 142 10.70 2.42 -13.32 0.000 4 0.250 0.102 2689 794 3658 0 0 0 0 0 0

223 -0.93 -194.6 31.8 -24.7 31 229 0.25 2.50 0.00 0.000 6 0.183 0.109 2747 2207 3661 0 0 0 0 0 0

335 -0.88 -194.6 49.3 -13.4 50 343 0.08 2.40 0.00 0.000 4 0.211 0.096 2753 3613 3662 0 0 0 0 0 0

485 -0.88 -194.6 68.8 -13.0 75 491 0.00 2.28 0.00 0.000 6 0.000 0.070 2753 2208 3663 0 0 0 0 0 0

596 -0.86 -194.6 83.9 -13.3 94 604 0.08 2.38 0.00 0.000 4 0.183 0.087 2770 779 3664 0 0 0 0 0 0

629 -0.86 -194.6 88.2 -13.8 99 635 0.00 2.47 0.00 0.000 6 0.000 0.102 2761 2203 3664 0 0 0 0 0 0

740 -0.86 -194.6 101.6 -11.5 118 747 0.00 2.38 0.00 0.000 4 0.000 0.092 2751 3619 3664 0 0 0 0 0 0

856 -0.88 -194.6 113.2 -9.8 137 861 0.00 2.30 0.00 0.000 6 0.000 0.068 2751 2187 3664 0 0 0 0 0 0

968 -0.88 -194.6 126.8 -12.5 156 974 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2186 3664 0 0 0 0 0 0

1083 -0.88 -194.6 140.3 -12.1 175 1089 0.03 2.38 0.00 0.000 4 0.252 0.092 2751 3620 3665 0 0 0 0 0 0

1125 -0.91 -194.6 145.3 -11.5 182 1132 0.00 2.35 0.00 0.000 6 0.000 0.076 2751 2201 3665 0 0 0 0 0 0

1240 -0.91 -194.6 158.9 -12.3 201 1246 0.00 2.38 0.00 0.000 4 0.000 0.093 2751 764 3665 0 0 0 0 0 0

1290 -0.91 -194.6 165.4 -13.1 209 1295 0.00 2.50 0.00 0.000 6 0.000 0.105 2741 2200 3665 0 0 0 0 0 0

1404 -0.91 -194.6 180.4 -12.9 228 1411 0.00 2.45 0.00 0.000 4 0.000 0.104 2731 3622 3665 0 0 0 0 0 0

1460 -0.91 -194.6 187.6 -12.6 237 1466 0.10 2.30 0.00 0.000 6 0.164 0.071 2756 2191 3665 0 0 0 0 0 0

1574 -0.94 -194.6 201.5 -11.5 256 1581 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 2191 3665 0 0 0 0 0 0

1690 -0.96 -194.6 214.6 -11.4 275 1695 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 2191 3665 0 0 0 0 0 0

1803 -0.99 -194.6 228.4 -11.6 294 1811 0.08 2.35 0.00 0.000 4 0.119 0.092 2714 788 3665 0 0 0 0 0 0

1828 -0.99 -194.6 231.9 -13.3 298 1836 0.08 2.45 0.00 0.000 6 0.172 0.098 2727 2198 3664 0 0 0 0 0 0

1944 -0.97 -194.6 247.9 -13.9 317 1950 0.00 2.40 0.00 0.000 4 0.000 0.101 2717 3628 3664 0 0 0 0 0 0

1974 -0.97 -194.6 252.5 -14.3 322 1982 0.05 2.35 0.00 0.000 6 0.153 0.077 2734 2208 3664 0 0 0 0 0 0

2090 -0.97 -194.6 267.9 -14.0 341 2095 0.00 2.38 0.00 0.000 4 0.000 0.090 2734 762 3663 0 0 0 0 0 0

2126 -0.97 -194.6 273.0 -13.7 347 2131 0.00 2.45 0.00 0.000 6 0.000 0.093 2724 2205 3663 0 0 0 0 0 0

2237 -0.94 -194.6 289.2 -14.5 366 2245 0.08 2.47 0.00 0.000 4 0.220 0.111 2730 3626 3662 0 0 0 0 0 0

2270 -0.94 -194.6 293.6 -14.1 371 2276 0.05 2.35 0.00 0.000 6 0.194 0.082 2742 2194 3662 0 0 0 0 0 0

2324 end dive: TARGET_DEPTH_EXCEEDED

state 2324 begin apogee

2328 -0.25 0.0 300.7 13.1 380 2480 0.68 0.00 146.23 0.763 6 0.139 0.000 2960 1789 2861 0 0 0 0 0 0

2481 end apogee: CONTROL_FINISHED_OK

state 2481 begin climb

2482 1.09 194.6 309.0 0.0 407 2643 1.27 2.40 152.35 0.737 4 0.086 0.063 3405 376 2068 0 0 0 0 0 0

2843 0.92 194.6 282.4 13.3 470 2851 0.17 2.35 0.00 0.000 6 0.151 0.053 3351 1822 2062 0 0 0 0 0 0

2958 0.83 201.5 270.1 10.8 489 2971 0.12 0.00 5.53 0.569 6 0.182 0.000 3319 1822 2042 0 0 0 0 0 0

3080 0.81 227.5 257.8 10.1 509 3108 0.00 2.42 22.50 0.711 4 0.000 0.070 3329 374 1934 0 0 0 0 0 0

3133 0.76 236.1 252.0 10.8 518 3152 0.10 2.33 8.45 0.630 6 0.145 0.050 3297 1789 1899 0 0 0 0 0 0

3261 0.79 261.7 239.6 10.1 539 3284 0.00 0.00 21.62 0.704 6 0.000 0.000 3296 1789 1795 0 0 0 0 0 0

3393 0.82 287.2 226.5 10.1 561 3421 0.00 2.40 21.40 0.697 4 0.000 0.073 3306 379 1690 0 0 0 0 0 0

3453 0.84 298.2 220.4 10.7 571 3470 0.00 2.33 10.27 0.643 6 0.000 0.052 3306 1810 1645 0 0 0 0 0 0

3576 0.85 307.0 207.1 10.8 592 3587 0.00 0.00 8.20 0.623 6 0.000 0.000 3306 1810 1609 0 0 0 0 0 0

3694 0.91 337.1 195.1 10.0 612 3724 0.10 0.00 25.67 0.696 6 0.097 0.000 3360 1810 1487 0 0 0 0 0 0

3832 0.88 337.1 178.4 12.7 635 3838 0.10 2.33 0.00 0.000 4 0.161 0.080 3335 3213 1483 0 0 0 0 0 0

3860 0.85 337.1 175.0 12.7 639 3866 0.08 2.35 0.00 0.000 6 0.190 0.072 3328 1782 1482 0 0 0 0 0 0

3972 0.85 337.1 161.2 11.6 658 3980 0.00 2.33 0.00 0.000 4 0.000 0.073 3338 392 1481 0 0 0 0 0 0

4052 0.83 337.1 151.8 12.2 671 4058 0.08 2.28 0.00 0.000 6 0.181 0.057 3320 1796 1480 0 0 0 0 0 0

4166 0.83 343.1 139.2 10.9 690 4174 0.00 0.00 5.00 0.535 6 0.000 0.000 3320 1796 1463 0 0 0 0 0 0

4282 0.84 347.5 126.7 10.9 709 4294 0.00 0.00 5.25 0.541 6 0.000 0.000 3320 1796 1445 0 0 0 0 0 0

4402 0.86 367.9 114.3 10.3 729 4425 0.00 0.00 18.35 0.661 6 0.000 0.000 3320 1796 1361 0 0 0 0 0 0

4534 0.92 385.0 101.2 10.5 751 4558 0.08 2.47 14.55 0.642 4 0.115 0.096 3366 3212 1292 0 0 0 0 0 0

4678 0.89 385.0 81.6 13.9 775 4684 0.12 2.30 0.00 0.000 6 0.158 0.068 3341 1797 1289 0 0 0 0 0 0

4790 0.91 385.0 68.3 11.7 794 4798 0.00 2.35 0.00 0.000 4 0.000 0.073 3352 384 1288 0 0 0 0 0 0

4841 0.91 385.0 62.2 12.9 802 4848 0.00 2.33 0.00 0.000 6 0.000 0.057 3352 1801 1287 0 0 0 0 0 0

4956 0.91 385.0 49.1 11.4 821 4961 0.00 2.35 0.00 0.000 4 0.000 0.090 3352 3212 1286 0 0 0 0 0 0

5020 0.91 385.0 41.4 11.7 832 5028 0.03 2.33 0.00 0.000 6 0.167 0.070 3350 1797 1286 0 0 0 0 0 0

5138 0.96 398.4 27.3 10.6 851 5152 0.00 2.42 6.62 0.516 4 0.000 0.093 3350 3207 1237 0 0 0 0 0 0

5185 0.98 398.4 21.6 12.7 858 5192 0.00 2.30 0.00 0.000 6 0.000 0.065 3360 1797 1236 0 0 0 0 0 0

5267 1.01 398.4 12.0 11.7 871 5274 0.00 2.33 0.00 0.000 4 0.000 0.071 3370 389 1234 0 0 0 0 0 0

5313 1.10 456.4 7.4 8.9 878 5346 0.05 2.33 27.02 0.514 6 0.068 0.063 3413 1805 1000 0 0 0 0 0 0

5353 end climb: SURFACE_DEPTH_REACHED

state 5353 begin surface coast

5374 end surface coast: CONTROL_FINISHED_OK

state 5374 begin surface

ID	573	HD_B	0.010078	ROLL_MIN	150	ALTIM_TOP_TURN_MARGIN	0
MISSION	9	HD_C	9.8500004e-06	ROLL_MAX	3785	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	12	HEADING	-1	ROLL_DEG	40	ALTIM_PING_DEPTH	100
D_SURF	3	ESCAPE_HEADING	0	C_ROLL_DIVE	2200	ALTIM_PING_DELTA	10
D_FLARE	3	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1800	ALTIM_FREQUENCY	13
D_TGT	300	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_ABORT	500	TGT_DEFAULT_LAT	-3415	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	4
D_NO_BLEED	500	TGT_DEFAULT_LON	2600	ROLL_TIMEOUT	15	XPDR_VALID	5
D_BOOST	0	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	20	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	450	R_STBD_OVSHOOT	11	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST_BLACKOUT	0	N_FILEKB	4	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.55000001
D_FINISH	0	FILEMGR	0	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	KERMIT	0	ROLL_GAIN_P	0	DEVICE1	2
SURFACE_URGENCY	0	N_NOCOMM	1	VBD_MIN	409	DEVICE2	101
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MAX	3959	DEVICE3	35
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	C_VBD	2862	DEVICE4	135
T_DIVE	90	CALL_TRIES	5	VBD_DBAND	2	DEVICE5	-1
T_MISSION	110	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE6	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_TIMEOUT	720	LOGGERS	1
T_TURN	225	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012000001	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	-1
T_NO_W	120	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_LOITER	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_ALMANAC	0	UNCOM_BLEED	60	COMPASS_DEVICE	33
USE_ICE	0	T_GPS_CHARGE	-13401.365	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	1	CF8_MAXERRORS	20	PHONE_DEVICE	48
D_OFFGRID	100	STROBE	0	AH0_24V	150	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	RAFOS_DEVICE	-1
RELAUNCH	0	RAFOS_CORR_THRESH	60	MINV_24V	20	XPDR_DEVICE	24
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	8	SIM_W	0
MAX_BUOY	200	PITCH_MIN	100	FG_AHR_10V	0	SIM_PITCH	0
COURSE_BIAS	0	PITCH_MAX	3858	FG_AHR_24V	0	SEABIRD_T_G	0.0042828661
GLIDE_SLOPE	30	C_PITCH	3050	PHONE_SUPPLY	2	SEABIRD_T_H	0.00061930995
SPEED_FACTOR	1	PITCH_DBAND	0.0099999998	PRESSURE_YINT	-86.704987	SEABIRD_T_I	2.1971719e-05
RHO	1.0278	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011693723	SEABIRD_T_J	2.301111e-06
MASS	52922	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_C_G	-9.9469662
LENGTH	1.8	PITCH_GAIN	20	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.155618
NAV_MODE	1	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0016006827
DIRECT_CONTROL	0	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_J	0.00019558761
FERRY_MAX	45	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	EBE_ENABLE	0
KALMAN_USE	1	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	0	GC_WINDOW	0
HD_A	0.0038360001	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	20	GC_LAST_COLLECTION	11

GPS1	220415,171648,-3431.179,2606.792,13,1.1,14,-28.1	TGT_NAME	WP_SOUTH
_CALLS	1	TGT_LATLONG	-3430.000,2600.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.229,0.204
_SM_DEPTHo	1.12	KALMAN_X	-18488.8,-8625.5,-2647.6,-6374.3,-1020.9
_SM_ANGLEo	-60.4	KALMAN_Y	-14362.4,-6812.0,-2167.9,-3593.3,-569.5
GPS2	220415,172130,-3431.308,2606.543,23,1.5,24,-28.1	MHEAD_RNG_PITCHd_Wd	339.8,10276,-17.2,-11.111
SPEED_LIMITS	0.192,0.307	D_GRID	300

FINISH	0.8,1.021028	_10V_AH	10.4,2.293
SM_CCo	5449,0.00,0.000,0,0,993,458.70	FG_AHR_24Vo	0.000
SM_GC	1.57,8.82,0.00,0.00,0.043,0.000,0.000,84,2209,993,-9.19,0.25,458.70	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-3414.71,2610.52,170208,060639	MEM	331396
TT8_MAMPS	0.026215	DATA_FILE_SIZE	67111,887
HUMID	67.79	CAP_FILE_SIZE	122338,0
INTERNAL_PRESSURE	9.50898	CFSIZE	2097086464,2090860544
TCM_TEMP	19.90	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
XPDR_PINGS	0	GPS	220415,185423,-3431.478,2604.507,38,1.5,38,-28.1
_24V_AH	24.5,4.061

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	252	144.42	SBE_CT	597	23	340.13
Roll_motor	101	115	285.91	AA4330	2300	17	971.22
VBD_pump_during_apogee	499	762	9324.92	WL_BB2F	1580	105	4064.57
VBD_pump_during_surface	0	0	0.00	QSP2150	2482	17	1048.06
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	5	420	54.02	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	27	7.63
TT8	1917	13	276.94
LPSleep	577	2	13.16
TT8_Active	408	13	59.00
TT8_Sampling	2528	40	1074.15
TT8_CF8	96	50	50.52
TT8_Kalman	33	65	22.73
Analog_circuits	1404	15	223.71
GPS_charging	0	0	0.00
Compass	2265	15	370.69
RAFOS	0	0	0.00
Transponder	34	30	10.62

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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
24	-1.09	-194.6	0.0	0.0	0	106	0.00	0.00	-80.15	0.000	2	0.000	0.000	88	2203	2959	0	0	0	0	0	0
108	-1.09	-194.6	3.3	-4.3	13	142	10.70	2.42	-13.32	0.000	4	0.250	0.102	2689	794	3658	0	0	0	0	0	0
223	-0.93	-194.6	31.8	-24.7	31	229	0.25	2.50	0.00	0.000	6	0.183	0.109	2747	2207	3661	0	0	0	0	0	0
335	-0.88	-194.6	49.3	-13.4	50	343	0.08	2.40	0.00	0.000	4	0.211	0.096	2753	3613	3662	0	0	0	0	0	0
485	-0.88	-194.6	68.8	-13.0	75	491	0.00	2.28	0.00	0.000	6	0.000	0.070	2753	2208	3663	0	0	0	0	0	0
596	-0.86	-194.6	83.9	-13.3	94	604	0.08	2.38	0.00	0.000	4	0.183	0.087	2770	779	3664	0	0	0	0	0	0
629	-0.86	-194.6	88.2	-13.8	99	635	0.00	2.47	0.00	0.000	6	0.000	0.102	2761	2203	3664	0	0	0	0	0	0
740	-0.86	-194.6	101.6	-11.5	118	747	0.00	2.38	0.00	0.000	4	0.000	0.092	2751	3619	3664	0	0	0	0	0	0
856	-0.88	-194.6	113.2	-9.8	137	861	0.00	2.30	0.00	0.000	6	0.000	0.068	2751	2187	3664	0	0	0	0	0	0
968	-0.88	-194.6	126.8	-12.5	156	974	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2186	3664	0	0	0	0	0	0
1083	-0.88	-194.6	140.3	-12.1	175	1089	0.03	2.38	0.00	0.000	4	0.252	0.092	2751	3620	3665	0	0	0	0	0	0
1125	-0.91	-194.6	145.3	-11.5	182	1132	0.00	2.35	0.00	0.000	6	0.000	0.076	2751	2201	3665	0	0	0	0	0	0
1240	-0.91	-194.6	158.9	-12.3	201	1246	0.00	2.38	0.00	0.000	4	0.000	0.093	2751	764	3665	0	0	0	0	0	0
1290	-0.91	-194.6	165.4	-13.1	209	1295	0.00	2.50	0.00	0.000	6	0.000	0.105	2741	2200	3665	0	0	0	0	0	0
1404	-0.91	-194.6	180.4	-12.9	228	1411	0.00	2.45	0.00	0.000	4	0.000	0.104	2731	3622	3665	0	0	0	0	0	0
1460	-0.91	-194.6	187.6	-12.6	237	1466	0.10	2.30	0.00	0.000	6	0.164	0.071	2756	2191	3665	0	0	0	0	0	0
1574	-0.94	-194.6	201.5	-11.5	256	1581	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	2191	3665	0	0	0	0	0	0
1690	-0.96	-194.6	214.6	-11.4	275	1695	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	2191	3665	0	0	0	0	0	0
1803	-0.99	-194.6	228.4	-11.6	294	1811	0.08	2.35	0.00	0.000	4	0.119	0.092	2714	788	3665	0	0	0	0	0	0
1828	-0.99	-194.6	231.9	-13.3	298	1836	0.08	2.45	0.00	0.000	6	0.172	0.098	2727	2198	3664	0	0	0	0	0	0
1944	-0.97	-194.6	247.9	-13.9	317	1950	0.00	2.40	0.00	0.000	4	0.000	0.101	2717	3628	3664	0	0	0	0	0	0
1974	-0.97	-194.6	252.5	-14.3	322	1982	0.05	2.35	0.00	0.000	6	0.153	0.077	2734	2208	3664	0	0	0	0	0	0
2090	-0.97	-194.6	267.9	-14.0	341	2095	0.00	2.38	0.00	0.000	4	0.000	0.090	2734	762	3663	0	0	0	0	0	0
2126	-0.97	-194.6	273.0	-13.7	347	2131	0.00	2.45	0.00	0.000	6	0.000	0.093	2724	2205	3663	0	0	0	0	0	0
2237	-0.94	-194.6	289.2	-14.5	366	2245	0.08	2.47	0.00	0.000	4	0.220	0.111	2730	3626	3662	0	0	0	0	0	0
2270	-0.94	-194.6	293.6	-14.1	371	2276	0.05	2.35	0.00	0.000	6	0.194	0.082	2742	2194	3662	0	0	0	0	0	0
2324	end dive: TARGET_DEPTH_EXCEEDED
state	2324	begin apogee
2328	-0.25	0.0	300.7	13.1	380	2480	0.68	0.00	146.23	0.763	6	0.139	0.000	2960	1789	2861	0	0	0	0	0	0
2481	end apogee: CONTROL_FINISHED_OK
state	2481	begin climb
2482	1.09	194.6	309.0	0.0	407	2643	1.27	2.40	152.35	0.737	4	0.086	0.063	3405	376	2068	0	0	0	0	0	0
2843	0.92	194.6	282.4	13.3	470	2851	0.17	2.35	0.00	0.000	6	0.151	0.053	3351	1822	2062	0	0	0	0	0	0
2958	0.83	201.5	270.1	10.8	489	2971	0.12	0.00	5.53	0.569	6	0.182	0.000	3319	1822	2042	0	0	0	0	0	0
3080	0.81	227.5	257.8	10.1	509	3108	0.00	2.42	22.50	0.711	4	0.000	0.070	3329	374	1934	0	0	0	0	0	0
3133	0.76	236.1	252.0	10.8	518	3152	0.10	2.33	8.45	0.630	6	0.145	0.050	3297	1789	1899	0	0	0	0	0	0
3261	0.79	261.7	239.6	10.1	539	3284	0.00	0.00	21.62	0.704	6	0.000	0.000	3296	1789	1795	0	0	0	0	0	0
3393	0.82	287.2	226.5	10.1	561	3421	0.00	2.40	21.40	0.697	4	0.000	0.073	3306	379	1690	0	0	0	0	0	0
3453	0.84	298.2	220.4	10.7	571	3470	0.00	2.33	10.27	0.643	6	0.000	0.052	3306	1810	1645	0	0	0	0	0	0
3576	0.85	307.0	207.1	10.8	592	3587	0.00	0.00	8.20	0.623	6	0.000	0.000	3306	1810	1609	0	0	0	0	0	0
3694	0.91	337.1	195.1	10.0	612	3724	0.10	0.00	25.67	0.696	6	0.097	0.000	3360	1810	1487	0	0	0	0	0	0
3832	0.88	337.1	178.4	12.7	635	3838	0.10	2.33	0.00	0.000	4	0.161	0.080	3335	3213	1483	0	0	0	0	0	0
3860	0.85	337.1	175.0	12.7	639	3866	0.08	2.35	0.00	0.000	6	0.190	0.072	3328	1782	1482	0	0	0	0	0	0
3972	0.85	337.1	161.2	11.6	658	3980	0.00	2.33	0.00	0.000	4	0.000	0.073	3338	392	1481	0	0	0	0	0	0
4052	0.83	337.1	151.8	12.2	671	4058	0.08	2.28	0.00	0.000	6	0.181	0.057	3320	1796	1480	0	0	0	0	0	0
4166	0.83	343.1	139.2	10.9	690	4174	0.00	0.00	5.00	0.535	6	0.000	0.000	3320	1796	1463	0	0	0	0	0	0
4282	0.84	347.5	126.7	10.9	709	4294	0.00	0.00	5.25	0.541	6	0.000	0.000	3320	1796	1445	0	0	0	0	0	0
4402	0.86	367.9	114.3	10.3	729	4425	0.00	0.00	18.35	0.661	6	0.000	0.000	3320	1796	1361	0	0	0	0	0	0
4534	0.92	385.0	101.2	10.5	751	4558	0.08	2.47	14.55	0.642	4	0.115	0.096	3366	3212	1292	0	0	0	0	0	0
4678	0.89	385.0	81.6	13.9	775	4684	0.12	2.30	0.00	0.000	6	0.158	0.068	3341	1797	1289	0	0	0	0	0	0
4790	0.91	385.0	68.3	11.7	794	4798	0.00	2.35	0.00	0.000	4	0.000	0.073	3352	384	1288	0	0	0	0	0	0
4841	0.91	385.0	62.2	12.9	802	4848	0.00	2.33	0.00	0.000	6	0.000	0.057	3352	1801	1287	0	0	0	0	0	0
4956	0.91	385.0	49.1	11.4	821	4961	0.00	2.35	0.00	0.000	4	0.000	0.090	3352	3212	1286	0	0	0	0	0	0
5020	0.91	385.0	41.4	11.7	832	5028	0.03	2.33	0.00	0.000	6	0.167	0.070	3350	1797	1286	0	0	0	0	0	0
5138	0.96	398.4	27.3	10.6	851	5152	0.00	2.42	6.62	0.516	4	0.000	0.093	3350	3207	1237	0	0	0	0	0	0
5185	0.98	398.4	21.6	12.7	858	5192	0.00	2.30	0.00	0.000	6	0.000	0.065	3360	1797	1236	0	0	0	0	0	0
5267	1.01	398.4	12.0	11.7	871	5274	0.00	2.33	0.00	0.000	4	0.000	0.071	3370	389	1234	0	0	0	0	0	0
5313	1.10	456.4	7.4	8.9	878	5346	0.05	2.33	27.02	0.514	6	0.068	0.063	3413	1805	1000	0	0	0	0	0	0
5353	end climb: SURFACE_DEPTH_REACHED
state	5353	begin surface coast
5374	end surface coast: CONTROL_FINISHED_OK
state	5374	begin surface