Glider dive log

SAGE 17Apr15 * SG543 * Dive index * Mission links * Dive 155 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 543 HEADING -1 ROLL_MAX 3944 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 11 ESCAPE_HEADING 0 ROLL_DEG 25 ALTIM_PING_DEPTH 200

DIVE 155 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 3200 ALTIM_PING_DELTA 10

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 3050 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -3415 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 500 TGT_DEFAULT_LON 2600 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 650 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 2

D_NO_BLEED 200 SM_CC 250 R_PORT_OVSHOOT 56 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 32 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.050000001

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 KERMIT 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 507 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 1800 DEVICE3 117

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 131

T_DIVE 230 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 245 CAPUPLOAD 0 VBD_TIMEOUT 800 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00056000001 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 15 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 60 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -15732.925 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 1 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 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 86 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 175 PITCH_MAX 3908 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1870 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043512532

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -54.899082 SEABIRD_T_H 0.00062429422

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011638312 SEABIRD_T_I 2.2835797e-05

RHO 1.027 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.3805812e-06

MASS 52780 PITCH_GAIN 45 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.305622

NAV_MODE 2 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1763667

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.0018977363

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00012677554

HD_A 0.003 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 20

HD_C 9.9999997e-06 ROLL_MIN 394 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SM_CC 250

AH0_10V 100 D_OFFGRID 250 PHONE_SUPPLY 2 SPEED_FACTOR 1

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 20 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_TGT 500 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 200 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 45 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3908 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -3415

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 0 PITCH_MIN 86 TGT_DEFAULT_LON 2600

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 16 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00056000001 T_BOOST 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011638312 T_DIVE 230

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -54.899082 T_GPS 15

CALL_TRIES 5 HD_A 0.003 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -15732.925

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 245

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 RELAUNCH 1 T_RSLEEP 1

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RHO 1.027 T_TURN 225

COMPASS_DEVICE 33 ID 543 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_YINT 0.050000001 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_PITCH 1870 KALMAN_USE 2 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 3050 KERMIT 0 ROLL_DEG 25 USE_BATHY 0

C_ROLL_DIVE 3200 LOGGERDEVICE1 -1 ROLL_MAX 3944 USE_ICE 0

C_VBD 1800 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_MIN 394 VBD_CNV -0.245296

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 56 VBD_MAX 3960

DEVICE2 20 MASS 52780 R_STBD_OVSHOOT 32 VBD_MAXERRORS 1

DEVICE3 117 MAX_BUOY 175 SEABIRD_C_G -10.305622 VBD_MIN 507

DEVICE4 131 MINV_10V 8 SEABIRD_C_H 1.1763667 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.0018977363 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MISSION 11 SEABIRD_C_J 0.00012677554 VBD_TIMEOUT 800

DIVE 155 MOTHERBOARD 4 SEABIRD_T_G 0.0043512532 XPDR_DEVICE 24

D_ABORT 650 NAV_MODE 2 SEABIRD_T_H 0.00062429422 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 SEABIRD_T_I 2.2835797e-05 XPDR_VALID 2

D_CALL 0 N_GPS 20 SEABIRD_T_J 2.3805812e-06

D_FINISH 0 N_NOCOMM 1 SIM_PITCH 0

D_FLARE 3 N_NOSURFACE 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 250415,225346,-3430.013,2558.942,40,0.8,40,-28.0 TGT_NAME WP_SOUTH

_CALLS 1 TGT_LATLONG -3420.460,2535.260

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.34 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250415,230135,-3430.058,2558.833,72,0.9,72,-28.0 MHEAD_RNG_PITCHd_Wd 322.5,40192,-11.4,-7.246

SPEED_LIMITS 0.126,0.247 D_GRID 500

Post-dive calculations and measurements:

FINISH 0.6,1.024666 _10V_AH 10.4,6.985

SM_CCo 10728,33.55,0.388,1,0,777,250.20 FG_AHR_24Vo 0.000

SM_GC 1.18,0.00,0.00,33.55,0.000,0.000,0.388,56,3183,777,-5.67,-0.45,250.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -3409.50,2600.03,200208,090916 MEM 332448

TT8_MAMPS 0.026964 DATA_FILE_SIZE 60193,1043

HUMID 55.07 CAP_FILE_SIZE 112938,0

INTERNAL_PRESSURE 11.3395 CFSIZE 259252224,253505536

TCM_TEMP 20.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 CURRENT 0.060, 45.3,1

_24V_AH 23.2,17.719 GPS 260415,020224,-3429.316,2557.652,22,1.0,22,-28.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 221 65.40 SBE_CT 723 24 402.89

Roll_motor 50 61 72.17 SBE_O2 625 19 275.67

VBD_pump_during_apogee 317 1463 10791.62 QSP2150 190 4 19.34

VBD_pump_during_surface 33 387 301.89 WL_BB2FLVMT 482 105 1175.10

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 68.73 nil 0 0 0.00

Iridium_during_connect 43 160 159.82 nil 0 0 0.00

Iridium_during_xfer 235 223 1216.16 nil 0 0 0.00

Transponder_ping 7 420 75.52 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 75 26 21.10

TT8 2621 14 407.79

LPSleep 5706 2 129.97

TT8_Active 453 14 67.08

TT8_Sampling 2326 37 905.59

TT8_CF8 136 47 67.18

TT8_Kalman 0 0 0.00

Analog_circuits 1325 12 165.47

GPS_charging 0 0 0.00

Compass 1917 15 313.68

RAFOS 0 0 0.00

Transponder 53 30 16.68

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

14 -0.35 -170.4 0.0 0.0 0 80 0.00 0.00 -61.97 0.000 6 0.000 0.000 62 3221 2496 0 0 0 0 0 0

83 -0.35 -170.4 3.8 -3.7 8 92 6.62 0.00 0.00 0.000 6 0.221 0.000 1751 3221 2497 0 0 0 0 0 0

142 -0.35 -170.4 22.1 -24.2 17 149 0.00 1.35 0.00 0.000 4 0.000 0.030 1751 2298 2503 0 0 0 0 0 0

255 -0.35 -170.4 35.7 -11.2 36 264 0.00 1.45 0.00 0.000 6 0.000 0.050 1746 3199 2504 0 0 0 0 0 0

404 -0.35 -170.4 51.7 -10.5 61 411 0.00 1.17 0.00 0.000 4 0.000 0.054 1741 3952 2505 0 0 0 0 0 0

618 -0.35 -170.4 72.2 -8.5 99 625 0.00 1.10 0.00 0.000 6 0.000 0.032 1741 3195 2506 0 0 0 0 0 0

964 -0.35 -170.4 103.2 -8.7 158 965 0.00 0.00 0.00 0.000 6 0.000 0.000 1741 3195 2508 0 0 0 0 0 0

1284 -0.35 -170.4 129.7 -8.1 188 1285 0.00 0.00 0.00 0.000 6 0.000 0.000 1741 3195 2509 0 0 0 0 0 0

1602 -0.35 -170.4 156.3 -8.4 218 1606 0.00 1.17 0.00 0.000 4 0.000 0.057 1736 3943 2509 0 0 0 0 0 0

1670 -0.35 -170.4 162.3 -9.0 224 1673 0.00 1.08 0.00 0.000 6 0.000 0.034 1735 3204 2509 0 0 0 0 0 0

2000 -0.35 -170.4 190.3 -8.2 255 2004 0.00 1.30 0.00 0.000 4 0.000 0.031 1735 2305 2509 0 0 0 0 0 0

2034 -0.35 -170.4 193.1 -8.1 258 2037 0.00 1.40 0.00 0.000 6 0.000 0.051 1729 3194 2509 0 0 0 0 0 0

2364 -0.35 -170.4 223.2 -9.4 289 2367 0.00 1.15 0.00 0.000 4 0.000 0.057 1723 3935 2508 0 0 0 0 0 0

2397 -0.35 -170.4 226.5 -10.4 292 2402 0.08 1.08 0.00 0.000 6 0.139 0.036 1749 3207 2508 0 0 0 0 0 0

2727 -0.35 -170.4 251.4 -7.6 323 2731 0.00 1.15 0.00 0.000 4 0.000 0.060 1745 3941 2508 0 0 0 0 0 0

2753 -0.35 -170.4 253.7 -8.4 325 2761 0.00 1.12 0.00 0.000 6 0.000 0.035 1745 3188 2507 0 0 0 0 0 0

3079 -0.35 -170.4 278.9 -7.9 356 3082 0.00 1.27 0.00 0.000 4 0.000 0.034 1745 2306 2506 0 0 0 0 0 0

3101 -0.35 -170.4 280.5 -7.3 358 3105 0.00 1.42 0.00 0.000 6 0.000 0.052 1738 3208 2506 0 0 0 0 0 0

3431 -0.35 -170.4 308.4 -8.4 389 3432 0.00 0.00 0.00 0.000 6 0.000 0.000 1738 3208 2505 0 0 0 0 0 0

3750 -0.35 -170.4 335.9 -8.5 419 3754 0.00 1.30 0.00 0.000 4 0.000 0.034 1738 2315 2504 0 0 0 0 0 0

3775 -0.35 -170.4 338.1 -8.6 421 3783 0.00 1.42 0.00 0.000 6 0.000 0.053 1732 3202 2504 0 0 0 0 0 0

4101 -0.35 -170.4 366.6 -8.7 452 4102 0.00 0.00 0.00 0.000 6 0.000 0.000 1732 3202 2503 0 0 0 0 0 0

4420 -0.35 -170.4 394.3 -8.5 482 4421 0.00 0.00 0.00 0.000 6 0.000 0.000 1732 3202 2502 0 0 0 0 0 0

4742 -0.35 -170.4 422.0 -8.7 501 4743 0.00 0.00 0.00 0.000 6 0.000 0.000 1732 3202 2502 0 0 0 0 0 0

5051 -0.35 -170.4 448.5 -8.4 516 5052 0.00 0.00 0.00 0.000 6 0.000 0.000 1732 3202 2501 0 0 0 0 0 0

5361 -0.35 -170.4 474.8 -8.4 531 5364 0.00 1.17 0.00 0.000 4 0.000 0.061 1726 3949 2500 0 0 0 0 0 0

5409 -0.35 -170.4 479.4 -9.3 533 5415 0.10 1.12 0.00 0.000 6 0.167 0.039 1752 3210 2500 0 0 0 0 0 0

5716 end dive: TARGET_DEPTH_EXCEEDED

state 5716 begin apogee

5720 -0.11 0.0 500.8 7.2 548 5882 0.25 0.00 158.50 1.463 6 0.128 0.000 1832 3045 1799 0 0 0 0 0 0

5882 end apogee: CONTROL_FINISHED_OK

state 5882 begin climb

5884 0.35 170.4 503.9 0.0 556 6044 0.45 1.60 151.38 1.414 4 0.106 0.059 1977 3925 1105 0 0 0 0 0 0

6088 0.35 170.4 489.9 8.5 565 6096 0.00 1.45 0.00 0.000 6 0.000 0.037 1984 3047 1104 0 0 0 0 0 0

6404 0.35 170.4 460.4 9.1 581 6405 0.00 0.00 0.00 0.000 6 0.000 0.000 1984 3047 1102 0 0 0 0 0 0

6713 0.35 170.4 432.0 9.6 596 6717 0.00 1.45 0.00 0.000 4 0.000 0.062 1984 3928 1101 0 0 0 0 0 0

6758 0.35 170.4 427.0 11.3 598 6762 0.00 1.38 0.00 0.000 6 0.000 0.038 1991 3041 1099 0 0 0 0 0 0

7081 0.35 170.4 393.3 10.4 616 7082 0.00 0.00 0.00 0.000 6 0.000 0.000 1991 3040 1099 0 0 0 0 0 0

7402 0.35 170.4 360.4 10.4 646 7406 0.00 1.45 0.00 0.000 4 0.000 0.062 1991 3932 1098 0 0 0 0 0 0

7447 0.35 170.4 354.7 13.2 650 7451 0.00 1.35 0.00 0.000 6 0.000 0.038 1997 3049 1098 0 0 0 0 0 0

7777 0.35 170.4 315.8 12.3 681 7778 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 3048 1098 0 0 0 0 0 0

8097 0.35 170.4 277.6 12.2 711 8100 0.00 1.42 0.00 0.000 4 0.000 0.062 1997 3928 1098 0 0 0 0 0 0

8130 0.35 170.4 272.8 14.6 714 8134 0.00 1.35 0.00 0.000 6 0.000 0.039 2005 3044 1098 0 0 0 0 0 0

8460 0.35 170.4 232.6 11.8 745 8464 0.00 1.42 0.00 0.000 4 0.000 0.062 2004 3923 1098 0 0 0 0 0 0

8486 0.35 170.4 229.0 14.0 747 8494 0.00 1.35 0.00 0.000 6 0.000 0.037 2011 3045 1097 0 0 0 0 0 0

8811 0.35 170.4 186.2 13.9 778 8815 0.00 1.42 0.00 0.000 4 0.000 0.061 2011 3930 1098 0 0 0 0 0 0

8860 0.35 170.4 178.2 17.0 782 8869 0.12 1.35 0.00 0.000 6 0.189 0.037 1987 3049 1098 0 0 0 0 0 0

9186 0.35 170.4 141.8 10.8 813 9187 0.00 0.00 0.00 0.000 6 0.000 0.000 1987 3048 1097 0 0 0 0 0 0

9505 0.35 170.4 105.9 11.4 843 9509 0.00 1.42 0.00 0.000 4 0.000 0.060 1987 3929 1097 0 0 0 0 0 0

9588 0.35 170.4 95.1 13.8 853 9595 0.00 1.33 0.00 0.000 6 0.000 0.038 1992 3054 1097 0 0 0 0 0 0

9933 0.35 170.4 62.0 8.5 914 9940 0.00 1.40 0.00 0.000 4 0.000 0.060 1992 3923 1096 0 0 0 0 0 0

9991 0.35 170.4 56.1 10.5 924 9999 0.00 1.33 0.00 0.000 6 0.000 0.037 1999 3044 1096 0 0 0 0 0 0

10342 0.35 170.4 28.9 8.8 985 10348 0.00 1.42 0.00 0.000 4 0.000 0.060 1998 3926 1095 0 0 0 0 0 0

10369 0.35 170.4 26.4 10.0 989 10376 0.00 1.33 0.00 0.000 6 0.000 0.037 2006 3045 1094 0 0 0 0 0 0

10522 0.35 170.4 15.0 8.7 1014 10531 0.00 0.00 0.00 0.000 6 0.000 0.000 2006 3045 1094 0 0 0 0 0 0

10581 0.36 186.7 11.1 6.8 1023 10591 0.00 0.00 6.18 0.657 6 0.000 0.000 2006 3045 1032 0 0 0 0 0 0

10642 0.36 191.7 6.3 7.1 1032 10651 0.00 1.40 1.80 0.213 4 0.000 0.052 2006 3927 1013 0 0 0 0 0 0

10676 end climb: SURFACE_DEPTH_REACHED

state 10676 begin surface coast

10715 end surface coast: CONTROL_FINISHED_OK

state 10715 begin surface

ID	543	HEADING	-1	ROLL_MAX	3944	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	11	ESCAPE_HEADING	0	ROLL_DEG	25	ALTIM_PING_DEPTH	200
DIVE	155	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	3200	ALTIM_PING_DELTA	10
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	3050	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-3415	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	500	TGT_DEFAULT_LON	2600	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	650	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	2
D_NO_BLEED	200	SM_CC	250	R_PORT_OVSHOOT	56	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	32	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.050000001
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	KERMIT	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	507	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	1800	DEVICE3	117
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	131
T_DIVE	230	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	245	CAPUPLOAD	0	VBD_TIMEOUT	800	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00056000001	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	15	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	60	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-15732.925	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	1	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	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	86	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	175	PITCH_MAX	3908	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1870	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043512532
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-54.899082	SEABIRD_T_H	0.00062429422
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011638312	SEABIRD_T_I	2.2835797e-05
RHO	1.027	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.3805812e-06
MASS	52780	PITCH_GAIN	45	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.305622
NAV_MODE	2	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1763667
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.0018977363
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00012677554
HD_A	0.003	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	20
HD_C	9.9999997e-06	ROLL_MIN	394	ALTIM_TOP_TURN_MARGIN	0

GPS1	250415,225346,-3430.013,2558.942,40,0.8,40,-28.0	TGT_NAME	WP_SOUTH
_CALLS	1	TGT_LATLONG	-3420.460,2535.260
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.34	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250415,230135,-3430.058,2558.833,72,0.9,72,-28.0	MHEAD_RNG_PITCHd_Wd	322.5,40192,-11.4,-7.246
SPEED_LIMITS	0.126,0.247	D_GRID	500

FINISH	0.6,1.024666	_10V_AH	10.4,6.985
SM_CCo	10728,33.55,0.388,1,0,777,250.20	FG_AHR_24Vo	0.000
SM_GC	1.18,0.00,0.00,33.55,0.000,0.000,0.388,56,3183,777,-5.67,-0.45,250.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-3409.50,2600.03,200208,090916	MEM	332448
TT8_MAMPS	0.026964	DATA_FILE_SIZE	60193,1043
HUMID	55.07	CAP_FILE_SIZE	112938,0
INTERNAL_PRESSURE	11.3395	CFSIZE	259252224,253505536
TCM_TEMP	20.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	CURRENT	0.060, 45.3,1
_24V_AH	23.2,17.719	GPS	260415,020224,-3429.316,2557.652,22,1.0,22,-28.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	221	65.40	SBE_CT	723	24	402.89
Roll_motor	50	61	72.17	SBE_O2	625	19	275.67
VBD_pump_during_apogee	317	1463	10791.62	QSP2150	190	4	19.34
VBD_pump_during_surface	33	387	301.89	WL_BB2FLVMT	482	105	1175.10
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	68.73	nil	0	0	0.00
Iridium_during_connect	43	160	159.82	nil	0	0	0.00
Iridium_during_xfer	235	223	1216.16	nil	0	0	0.00
Transponder_ping	7	420	75.52	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	75	26	21.10
TT8	2621	14	407.79
LPSleep	5706	2	129.97
TT8_Active	453	14	67.08
TT8_Sampling	2326	37	905.59
TT8_CF8	136	47	67.18
TT8_Kalman	0	0	0.00
Analog_circuits	1325	12	165.47
GPS_charging	0	0	0.00
Compass	1917	15	313.68
RAFOS	0	0	0.00
Transponder	53	30	16.68

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
14	-0.35	-170.4	0.0	0.0	0	80	0.00	0.00	-61.97	0.000	6	0.000	0.000	62	3221	2496	0	0	0	0	0	0
83	-0.35	-170.4	3.8	-3.7	8	92	6.62	0.00	0.00	0.000	6	0.221	0.000	1751	3221	2497	0	0	0	0	0	0
142	-0.35	-170.4	22.1	-24.2	17	149	0.00	1.35	0.00	0.000	4	0.000	0.030	1751	2298	2503	0	0	0	0	0	0
255	-0.35	-170.4	35.7	-11.2	36	264	0.00	1.45	0.00	0.000	6	0.000	0.050	1746	3199	2504	0	0	0	0	0	0
404	-0.35	-170.4	51.7	-10.5	61	411	0.00	1.17	0.00	0.000	4	0.000	0.054	1741	3952	2505	0	0	0	0	0	0
618	-0.35	-170.4	72.2	-8.5	99	625	0.00	1.10	0.00	0.000	6	0.000	0.032	1741	3195	2506	0	0	0	0	0	0
964	-0.35	-170.4	103.2	-8.7	158	965	0.00	0.00	0.00	0.000	6	0.000	0.000	1741	3195	2508	0	0	0	0	0	0
1284	-0.35	-170.4	129.7	-8.1	188	1285	0.00	0.00	0.00	0.000	6	0.000	0.000	1741	3195	2509	0	0	0	0	0	0
1602	-0.35	-170.4	156.3	-8.4	218	1606	0.00	1.17	0.00	0.000	4	0.000	0.057	1736	3943	2509	0	0	0	0	0	0
1670	-0.35	-170.4	162.3	-9.0	224	1673	0.00	1.08	0.00	0.000	6	0.000	0.034	1735	3204	2509	0	0	0	0	0	0
2000	-0.35	-170.4	190.3	-8.2	255	2004	0.00	1.30	0.00	0.000	4	0.000	0.031	1735	2305	2509	0	0	0	0	0	0
2034	-0.35	-170.4	193.1	-8.1	258	2037	0.00	1.40	0.00	0.000	6	0.000	0.051	1729	3194	2509	0	0	0	0	0	0
2364	-0.35	-170.4	223.2	-9.4	289	2367	0.00	1.15	0.00	0.000	4	0.000	0.057	1723	3935	2508	0	0	0	0	0	0
2397	-0.35	-170.4	226.5	-10.4	292	2402	0.08	1.08	0.00	0.000	6	0.139	0.036	1749	3207	2508	0	0	0	0	0	0
2727	-0.35	-170.4	251.4	-7.6	323	2731	0.00	1.15	0.00	0.000	4	0.000	0.060	1745	3941	2508	0	0	0	0	0	0
2753	-0.35	-170.4	253.7	-8.4	325	2761	0.00	1.12	0.00	0.000	6	0.000	0.035	1745	3188	2507	0	0	0	0	0	0
3079	-0.35	-170.4	278.9	-7.9	356	3082	0.00	1.27	0.00	0.000	4	0.000	0.034	1745	2306	2506	0	0	0	0	0	0
3101	-0.35	-170.4	280.5	-7.3	358	3105	0.00	1.42	0.00	0.000	6	0.000	0.052	1738	3208	2506	0	0	0	0	0	0
3431	-0.35	-170.4	308.4	-8.4	389	3432	0.00	0.00	0.00	0.000	6	0.000	0.000	1738	3208	2505	0	0	0	0	0	0
3750	-0.35	-170.4	335.9	-8.5	419	3754	0.00	1.30	0.00	0.000	4	0.000	0.034	1738	2315	2504	0	0	0	0	0	0
3775	-0.35	-170.4	338.1	-8.6	421	3783	0.00	1.42	0.00	0.000	6	0.000	0.053	1732	3202	2504	0	0	0	0	0	0
4101	-0.35	-170.4	366.6	-8.7	452	4102	0.00	0.00	0.00	0.000	6	0.000	0.000	1732	3202	2503	0	0	0	0	0	0
4420	-0.35	-170.4	394.3	-8.5	482	4421	0.00	0.00	0.00	0.000	6	0.000	0.000	1732	3202	2502	0	0	0	0	0	0
4742	-0.35	-170.4	422.0	-8.7	501	4743	0.00	0.00	0.00	0.000	6	0.000	0.000	1732	3202	2502	0	0	0	0	0	0
5051	-0.35	-170.4	448.5	-8.4	516	5052	0.00	0.00	0.00	0.000	6	0.000	0.000	1732	3202	2501	0	0	0	0	0	0
5361	-0.35	-170.4	474.8	-8.4	531	5364	0.00	1.17	0.00	0.000	4	0.000	0.061	1726	3949	2500	0	0	0	0	0	0
5409	-0.35	-170.4	479.4	-9.3	533	5415	0.10	1.12	0.00	0.000	6	0.167	0.039	1752	3210	2500	0	0	0	0	0	0
5716	end dive: TARGET_DEPTH_EXCEEDED
state	5716	begin apogee
5720	-0.11	0.0	500.8	7.2	548	5882	0.25	0.00	158.50	1.463	6	0.128	0.000	1832	3045	1799	0	0	0	0	0	0
5882	end apogee: CONTROL_FINISHED_OK
state	5882	begin climb
5884	0.35	170.4	503.9	0.0	556	6044	0.45	1.60	151.38	1.414	4	0.106	0.059	1977	3925	1105	0	0	0	0	0	0
6088	0.35	170.4	489.9	8.5	565	6096	0.00	1.45	0.00	0.000	6	0.000	0.037	1984	3047	1104	0	0	0	0	0	0
6404	0.35	170.4	460.4	9.1	581	6405	0.00	0.00	0.00	0.000	6	0.000	0.000	1984	3047	1102	0	0	0	0	0	0
6713	0.35	170.4	432.0	9.6	596	6717	0.00	1.45	0.00	0.000	4	0.000	0.062	1984	3928	1101	0	0	0	0	0	0
6758	0.35	170.4	427.0	11.3	598	6762	0.00	1.38	0.00	0.000	6	0.000	0.038	1991	3041	1099	0	0	0	0	0	0
7081	0.35	170.4	393.3	10.4	616	7082	0.00	0.00	0.00	0.000	6	0.000	0.000	1991	3040	1099	0	0	0	0	0	0
7402	0.35	170.4	360.4	10.4	646	7406	0.00	1.45	0.00	0.000	4	0.000	0.062	1991	3932	1098	0	0	0	0	0	0
7447	0.35	170.4	354.7	13.2	650	7451	0.00	1.35	0.00	0.000	6	0.000	0.038	1997	3049	1098	0	0	0	0	0	0
7777	0.35	170.4	315.8	12.3	681	7778	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	3048	1098	0	0	0	0	0	0
8097	0.35	170.4	277.6	12.2	711	8100	0.00	1.42	0.00	0.000	4	0.000	0.062	1997	3928	1098	0	0	0	0	0	0
8130	0.35	170.4	272.8	14.6	714	8134	0.00	1.35	0.00	0.000	6	0.000	0.039	2005	3044	1098	0	0	0	0	0	0
8460	0.35	170.4	232.6	11.8	745	8464	0.00	1.42	0.00	0.000	4	0.000	0.062	2004	3923	1098	0	0	0	0	0	0
8486	0.35	170.4	229.0	14.0	747	8494	0.00	1.35	0.00	0.000	6	0.000	0.037	2011	3045	1097	0	0	0	0	0	0
8811	0.35	170.4	186.2	13.9	778	8815	0.00	1.42	0.00	0.000	4	0.000	0.061	2011	3930	1098	0	0	0	0	0	0
8860	0.35	170.4	178.2	17.0	782	8869	0.12	1.35	0.00	0.000	6	0.189	0.037	1987	3049	1098	0	0	0	0	0	0
9186	0.35	170.4	141.8	10.8	813	9187	0.00	0.00	0.00	0.000	6	0.000	0.000	1987	3048	1097	0	0	0	0	0	0
9505	0.35	170.4	105.9	11.4	843	9509	0.00	1.42	0.00	0.000	4	0.000	0.060	1987	3929	1097	0	0	0	0	0	0
9588	0.35	170.4	95.1	13.8	853	9595	0.00	1.33	0.00	0.000	6	0.000	0.038	1992	3054	1097	0	0	0	0	0	0
9933	0.35	170.4	62.0	8.5	914	9940	0.00	1.40	0.00	0.000	4	0.000	0.060	1992	3923	1096	0	0	0	0	0	0
9991	0.35	170.4	56.1	10.5	924	9999	0.00	1.33	0.00	0.000	6	0.000	0.037	1999	3044	1096	0	0	0	0	0	0
10342	0.35	170.4	28.9	8.8	985	10348	0.00	1.42	0.00	0.000	4	0.000	0.060	1998	3926	1095	0	0	0	0	0	0
10369	0.35	170.4	26.4	10.0	989	10376	0.00	1.33	0.00	0.000	6	0.000	0.037	2006	3045	1094	0	0	0	0	0	0
10522	0.35	170.4	15.0	8.7	1014	10531	0.00	0.00	0.00	0.000	6	0.000	0.000	2006	3045	1094	0	0	0	0	0	0
10581	0.36	186.7	11.1	6.8	1023	10591	0.00	0.00	6.18	0.657	6	0.000	0.000	2006	3045	1032	0	0	0	0	0	0
10642	0.36	191.7	6.3	7.1	1032	10651	0.00	1.40	1.80	0.213	4	0.000	0.052	2006	3927	1013	0	0	0	0	0	0
10676	end climb: SURFACE_DEPTH_REACHED
state	10676	begin surface coast
10715	end surface coast: CONTROL_FINISHED_OK
state	10715	begin surface