Glider dive log

SAGE 17Apr15 * SG543 * Dive index * Mission links * Dive 156 * 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 156 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 60 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 29 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 -15736.225 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 -15736.225

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 60 VBD_MAX 3960

DEVICE2 20 MASS 52780 R_STBD_OVSHOOT 29 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 156 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 260415,020224,-3429.316,2557.652,22,1.0,22,-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 1.30 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260415,020954,-3429.323,2557.580,26,0.8,26,-28.0 MHEAD_RNG_PITCHd_Wd 310.5,37873,-11.4,-7.246

SPEED_LIMITS 0.126,0.247 D_GRID 500

Post-dive calculations and measurements:

FINISH 0.3,1.012568 _10V_AH 10.4,7.064

SM_CCo 10573,24.15,0.135,0,0,778,250.20 FG_AHR_24Vo 0.000

SM_GC 1.14,0.00,0.00,24.15,0.000,0.000,0.135,62,3211,778,-5.65,0.31,250.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -3409.50,2600.03,200208,090916 MEM 332500

TT8_MAMPS 0.026964 DATA_FILE_SIZE 60284,1035

HUMID 55.63 CAP_FILE_SIZE 114221,0

INTERNAL_PRESSURE 11.32 CFSIZE 259252224,253448192

TCM_TEMP 19.70 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.122, 50.1,1

_24V_AH 23.2,17.865 GPS 260415,050805,-3428.606,2556.639,33,1.2,33,-27.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 221 65.37 SBE_CT 716 24 399.13

Roll_motor 53 71 88.50 SBE_O2 622 19 274.44

VBD_pump_during_apogee 317 1457 10740.57 QSP2150 188 4 19.15

VBD_pump_during_surface 24 134 75.44 WL_BB2FLVMT 479 105 1167.29

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 34 103 81.79 nil 0 0 0.00

Iridium_during_connect 43 160 159.85 nil 0 0 0.00

Iridium_during_xfer 252 223 1305.88 nil 0 0 0.00

Transponder_ping 7 420 75.52 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 29 26 8.25

TT8 2602 14 404.96

LPSleep 5533 2 126.03

TT8_Active 452 14 66.86

TT8_Sampling 2324 37 904.75

TT8_CF8 142 47 70.04

TT8_Kalman 0 0 0.00

Analog_circuits 1348 12 168.26

GPS_charging 0 0 0.00

Compass 1936 15 316.84

RAFOS 0 0 0.00

Transponder 53 30 16.67

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

15 -0.35 -170.4 0.0 0.0 0 82 0.00 0.00 -62.92 0.000 6 0.000 0.000 56 3184 2495 0 0 0 0 0 0

84 -0.35 -170.4 3.7 -3.6 8 102 6.65 1.33 0.00 0.000 4 0.222 0.032 1751 2309 2499 0 0 0 0 0 0

135 -0.35 -170.4 20.5 -32.0 15 141 0.00 1.42 0.00 0.000 6 0.000 0.050 1747 3195 2502 0 0 0 0 0 0

283 -0.35 -170.4 40.7 -10.8 40 292 0.00 1.17 0.00 0.000 4 0.000 0.056 1741 3939 2503 0 0 0 0 0 0

327 -0.35 -170.4 45.6 -11.5 47 333 0.00 1.10 0.00 0.000 6 0.000 0.033 1741 3197 2503 0 0 0 0 0 0

668 -0.35 -170.4 79.0 -9.1 108 676 0.00 0.00 0.00 0.000 6 0.000 0.000 1741 3198 2506 0 0 0 0 0 0

1011 -0.35 -170.4 107.7 -7.4 161 1015 0.00 1.17 0.00 0.000 4 0.000 0.056 1736 3941 2507 0 0 0 0 0 0

1182 -0.35 -170.4 122.1 -8.7 176 1190 0.00 1.10 0.00 0.000 6 0.000 0.033 1736 3198 2508 0 0 0 0 0 0

1508 -0.35 -170.4 147.4 -7.9 207 1512 0.00 1.30 0.00 0.000 4 0.000 0.031 1736 2304 2508 0 0 0 0 0 0

1553 -0.35 -170.4 150.9 -7.3 211 1557 0.00 1.42 0.00 0.000 6 0.000 0.050 1729 3204 2508 0 0 0 0 0 0

1883 -0.35 -170.4 180.5 -9.2 242 1884 0.00 0.00 0.00 0.000 6 0.000 0.000 1729 3203 2508 0 0 0 0 0 0

2203 -0.35 -170.4 208.9 -9.4 272 2204 0.00 0.00 0.00 0.000 6 0.000 0.000 1729 3203 2508 0 0 0 0 0 0

2521 -0.35 -170.4 237.3 -8.7 302 2524 0.00 1.15 0.00 0.000 4 0.000 0.058 1723 3941 2507 0 0 0 0 0 0

2567 -0.35 -170.4 241.5 -9.5 306 2571 0.08 1.08 0.00 0.000 6 0.135 0.037 1750 3219 2507 0 0 0 0 0 0

2896 -0.35 -170.4 265.1 -7.1 337 2900 0.00 1.33 0.00 0.000 4 0.000 0.033 1750 2301 2507 0 0 0 0 0 0

2930 -0.35 -170.4 267.5 -6.7 340 2934 0.00 1.42 0.00 0.000 6 0.000 0.053 1745 3198 2507 0 0 0 0 0 0

3261 -0.35 -170.4 292.2 -7.6 371 3262 0.00 0.00 0.00 0.000 6 0.000 0.000 1745 3198 2506 0 0 0 0 0 0

3579 -0.35 -170.4 317.3 -7.8 401 3582 0.00 1.17 0.00 0.000 4 0.000 0.060 1739 3949 2504 0 0 0 0 0 0

3634 -0.35 -170.4 321.9 -8.3 406 3638 0.00 1.12 0.00 0.000 6 0.000 0.038 1739 3192 2504 0 0 0 0 0 0

3964 -0.35 -170.4 348.8 -8.2 437 3965 0.00 0.00 0.00 0.000 6 0.000 0.000 1739 3192 2504 0 0 0 0 0 0

4284 -0.35 -170.4 376.4 -8.4 467 4287 0.00 1.30 0.00 0.000 4 0.000 0.034 1739 2298 2503 0 0 0 0 0 0

4310 -0.35 -170.4 378.8 -8.5 469 4318 0.00 1.45 0.00 0.000 6 0.000 0.054 1733 3200 2502 0 0 0 0 0 0

4633 -0.35 -170.4 407.3 -8.7 496 4636 0.00 1.17 0.00 0.000 4 0.000 0.060 1727 3950 2502 0 0 0 0 0 0

4670 -0.35 -170.4 410.9 -9.1 497 4678 0.00 1.15 0.00 0.000 6 0.000 0.038 1727 3190 2502 0 0 0 0 0 0

4986 -0.35 -170.4 439.5 -9.0 513 4988 0.00 0.00 0.00 0.000 6 0.000 0.000 1727 3190 2501 0 0 0 0 0 0

5296 -0.35 -170.4 466.1 -8.4 528 5297 0.00 0.00 0.00 0.000 6 0.000 0.000 1727 3190 2500 0 0 0 0 0 0

5606 -0.35 -170.4 491.9 -8.4 543 5609 0.00 1.20 0.00 0.000 4 0.000 0.063 1722 3948 2499 0 0 0 0 0 0

5628 -0.35 -170.4 494.0 -9.0 544 5632 0.10 1.12 0.00 0.000 6 0.138 0.040 1754 3201 2499 0 0 0 0 0 0

5732 end dive: TARGET_DEPTH_EXCEEDED

state 5732 begin apogee

5736 -0.11 0.0 501.0 6.4 549 5898 0.25 0.00 158.35 1.457 6 0.126 0.000 1835 3050 1799 0 0 0 0 0 0

5899 end apogee: CONTROL_FINISHED_OK

state 5899 begin climb

5900 0.35 170.4 503.5 0.0 557 6058 0.43 1.55 151.12 1.408 4 0.103 0.057 1972 3929 1104 0 0 0 0 0 0

6096 0.35 170.4 489.4 8.2 566 6100 0.00 1.45 0.00 0.000 6 0.000 0.036 1979 3051 1104 0 0 0 0 0 0

6418 0.35 170.4 458.4 9.8 582 6419 0.00 0.00 0.00 0.000 6 0.000 0.000 1979 3051 1101 0 0 0 0 0 0

6727 0.35 170.4 428.3 9.6 597 6730 0.00 1.42 0.00 0.000 4 0.000 0.061 1979 3920 1100 0 0 0 0 0 0

6772 0.35 170.4 423.3 12.0 599 6776 0.00 1.35 0.00 0.000 6 0.000 0.038 1985 3050 1099 0 0 0 0 0 0

7097 0.35 170.4 389.5 10.5 619 7101 0.00 1.45 0.00 0.000 4 0.000 0.061 1986 3925 1098 0 0 0 0 0 0

7135 0.35 170.4 384.6 13.2 622 7144 0.00 1.38 0.00 0.000 6 0.000 0.037 1992 3043 1099 0 0 0 0 0 0

7461 0.35 170.4 347.0 12.2 653 7464 0.00 1.45 0.00 0.000 4 0.000 0.061 1993 3937 1098 0 0 0 0 0 0

7487 0.35 170.4 343.3 13.7 655 7495 0.00 1.38 0.00 0.000 6 0.000 0.038 1999 3049 1098 0 0 0 0 0 0

7812 0.35 170.4 301.5 12.9 686 7813 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 3050 1098 0 0 0 0 0 0

8132 0.35 170.4 260.1 13.0 716 8135 0.00 1.42 0.00 0.000 4 0.000 0.060 1999 3935 1098 0 0 0 0 0 0

8158 0.35 170.4 256.2 14.1 718 8167 0.00 1.38 0.00 0.000 6 0.000 0.037 2006 3041 1098 0 0 0 0 0 0

8483 0.35 170.4 215.0 13.0 749 8487 0.00 1.42 0.00 0.000 4 0.000 0.061 2006 3924 1098 0 0 0 0 0 0

8543 0.35 170.4 205.8 15.8 754 8552 0.00 1.35 0.00 0.000 6 0.000 0.037 2013 3048 1097 0 0 0 0 0 0

8869 0.35 170.4 159.6 13.7 785 8870 0.00 0.00 0.00 0.000 6 0.000 0.000 2013 3048 1097 0 0 0 0 0 0

9190 0.35 170.4 117.5 12.5 815 9194 0.00 1.42 0.00 0.000 4 0.000 0.061 2013 3925 1097 0 0 0 0 0 0

9239 0.35 170.4 110.2 15.6 819 9247 0.10 1.35 0.00 0.000 6 0.162 0.037 1989 3038 1097 0 0 0 0 0 0

9573 0.35 170.4 77.6 9.5 870 9581 0.00 1.42 0.00 0.000 4 0.000 0.060 1989 3924 1096 0 0 0 0 0 0

9639 0.35 170.4 71.2 10.1 881 9646 0.00 1.33 0.00 0.000 6 0.000 0.037 1994 3046 1096 0 0 0 0 0 0

9980 0.35 170.4 45.1 7.2 942 9987 0.00 0.00 0.00 0.000 6 0.000 0.000 1994 3046 1095 0 0 0 0 0 0

10341 0.35 170.4 16.8 7.9 1003 10349 0.00 1.40 0.00 0.000 4 0.000 0.060 1994 3922 1094 0 0 0 0 0 0

10364 0.35 174.6 15.2 7.1 1006 10374 0.00 1.30 0.00 0.000 6 0.000 0.035 2001 3052 1094 0 0 0 0 0 0

10424 0.35 174.6 10.8 7.4 1015 10433 0.00 1.30 0.00 0.000 4 0.000 0.034 2007 2159 1094 0 0 0 0 0 0

10466 0.36 192.2 7.8 6.7 1021 10484 0.00 1.40 8.20 0.665 6 0.000 0.051 2007 3052 1013 0 0 0 0 0 0

10522 end climb: SURFACE_DEPTH_REACHED

state 10522 begin surface coast

10561 end surface coast: CONTROL_FINISHED_OK

state 10561 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	156	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	60	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	29	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	-15736.225	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	260415,020224,-3429.316,2557.652,22,1.0,22,-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	1.30	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260415,020954,-3429.323,2557.580,26,0.8,26,-28.0	MHEAD_RNG_PITCHd_Wd	310.5,37873,-11.4,-7.246
SPEED_LIMITS	0.126,0.247	D_GRID	500

FINISH	0.3,1.012568	_10V_AH	10.4,7.064
SM_CCo	10573,24.15,0.135,0,0,778,250.20	FG_AHR_24Vo	0.000
SM_GC	1.14,0.00,0.00,24.15,0.000,0.000,0.135,62,3211,778,-5.65,0.31,250.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-3409.50,2600.03,200208,090916	MEM	332500
TT8_MAMPS	0.026964	DATA_FILE_SIZE	60284,1035
HUMID	55.63	CAP_FILE_SIZE	114221,0
INTERNAL_PRESSURE	11.32	CFSIZE	259252224,253448192
TCM_TEMP	19.70	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.122, 50.1,1
_24V_AH	23.2,17.865	GPS	260415,050805,-3428.606,2556.639,33,1.2,33,-27.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	221	65.37	SBE_CT	716	24	399.13
Roll_motor	53	71	88.50	SBE_O2	622	19	274.44
VBD_pump_during_apogee	317	1457	10740.57	QSP2150	188	4	19.15
VBD_pump_during_surface	24	134	75.44	WL_BB2FLVMT	479	105	1167.29
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	34	103	81.79	nil	0	0	0.00
Iridium_during_connect	43	160	159.85	nil	0	0	0.00
Iridium_during_xfer	252	223	1305.88	nil	0	0	0.00
Transponder_ping	7	420	75.52	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	29	26	8.25
TT8	2602	14	404.96
LPSleep	5533	2	126.03
TT8_Active	452	14	66.86
TT8_Sampling	2324	37	904.75
TT8_CF8	142	47	70.04
TT8_Kalman	0	0	0.00
Analog_circuits	1348	12	168.26
GPS_charging	0	0	0.00
Compass	1936	15	316.84
RAFOS	0	0	0.00
Transponder	53	30	16.67

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
15	-0.35	-170.4	0.0	0.0	0	82	0.00	0.00	-62.92	0.000	6	0.000	0.000	56	3184	2495	0	0	0	0	0	0
84	-0.35	-170.4	3.7	-3.6	8	102	6.65	1.33	0.00	0.000	4	0.222	0.032	1751	2309	2499	0	0	0	0	0	0
135	-0.35	-170.4	20.5	-32.0	15	141	0.00	1.42	0.00	0.000	6	0.000	0.050	1747	3195	2502	0	0	0	0	0	0
283	-0.35	-170.4	40.7	-10.8	40	292	0.00	1.17	0.00	0.000	4	0.000	0.056	1741	3939	2503	0	0	0	0	0	0
327	-0.35	-170.4	45.6	-11.5	47	333	0.00	1.10	0.00	0.000	6	0.000	0.033	1741	3197	2503	0	0	0	0	0	0
668	-0.35	-170.4	79.0	-9.1	108	676	0.00	0.00	0.00	0.000	6	0.000	0.000	1741	3198	2506	0	0	0	0	0	0
1011	-0.35	-170.4	107.7	-7.4	161	1015	0.00	1.17	0.00	0.000	4	0.000	0.056	1736	3941	2507	0	0	0	0	0	0
1182	-0.35	-170.4	122.1	-8.7	176	1190	0.00	1.10	0.00	0.000	6	0.000	0.033	1736	3198	2508	0	0	0	0	0	0
1508	-0.35	-170.4	147.4	-7.9	207	1512	0.00	1.30	0.00	0.000	4	0.000	0.031	1736	2304	2508	0	0	0	0	0	0
1553	-0.35	-170.4	150.9	-7.3	211	1557	0.00	1.42	0.00	0.000	6	0.000	0.050	1729	3204	2508	0	0	0	0	0	0
1883	-0.35	-170.4	180.5	-9.2	242	1884	0.00	0.00	0.00	0.000	6	0.000	0.000	1729	3203	2508	0	0	0	0	0	0
2203	-0.35	-170.4	208.9	-9.4	272	2204	0.00	0.00	0.00	0.000	6	0.000	0.000	1729	3203	2508	0	0	0	0	0	0
2521	-0.35	-170.4	237.3	-8.7	302	2524	0.00	1.15	0.00	0.000	4	0.000	0.058	1723	3941	2507	0	0	0	0	0	0
2567	-0.35	-170.4	241.5	-9.5	306	2571	0.08	1.08	0.00	0.000	6	0.135	0.037	1750	3219	2507	0	0	0	0	0	0
2896	-0.35	-170.4	265.1	-7.1	337	2900	0.00	1.33	0.00	0.000	4	0.000	0.033	1750	2301	2507	0	0	0	0	0	0
2930	-0.35	-170.4	267.5	-6.7	340	2934	0.00	1.42	0.00	0.000	6	0.000	0.053	1745	3198	2507	0	0	0	0	0	0
3261	-0.35	-170.4	292.2	-7.6	371	3262	0.00	0.00	0.00	0.000	6	0.000	0.000	1745	3198	2506	0	0	0	0	0	0
3579	-0.35	-170.4	317.3	-7.8	401	3582	0.00	1.17	0.00	0.000	4	0.000	0.060	1739	3949	2504	0	0	0	0	0	0
3634	-0.35	-170.4	321.9	-8.3	406	3638	0.00	1.12	0.00	0.000	6	0.000	0.038	1739	3192	2504	0	0	0	0	0	0
3964	-0.35	-170.4	348.8	-8.2	437	3965	0.00	0.00	0.00	0.000	6	0.000	0.000	1739	3192	2504	0	0	0	0	0	0
4284	-0.35	-170.4	376.4	-8.4	467	4287	0.00	1.30	0.00	0.000	4	0.000	0.034	1739	2298	2503	0	0	0	0	0	0
4310	-0.35	-170.4	378.8	-8.5	469	4318	0.00	1.45	0.00	0.000	6	0.000	0.054	1733	3200	2502	0	0	0	0	0	0
4633	-0.35	-170.4	407.3	-8.7	496	4636	0.00	1.17	0.00	0.000	4	0.000	0.060	1727	3950	2502	0	0	0	0	0	0
4670	-0.35	-170.4	410.9	-9.1	497	4678	0.00	1.15	0.00	0.000	6	0.000	0.038	1727	3190	2502	0	0	0	0	0	0
4986	-0.35	-170.4	439.5	-9.0	513	4988	0.00	0.00	0.00	0.000	6	0.000	0.000	1727	3190	2501	0	0	0	0	0	0
5296	-0.35	-170.4	466.1	-8.4	528	5297	0.00	0.00	0.00	0.000	6	0.000	0.000	1727	3190	2500	0	0	0	0	0	0
5606	-0.35	-170.4	491.9	-8.4	543	5609	0.00	1.20	0.00	0.000	4	0.000	0.063	1722	3948	2499	0	0	0	0	0	0
5628	-0.35	-170.4	494.0	-9.0	544	5632	0.10	1.12	0.00	0.000	6	0.138	0.040	1754	3201	2499	0	0	0	0	0	0
5732	end dive: TARGET_DEPTH_EXCEEDED
state	5732	begin apogee
5736	-0.11	0.0	501.0	6.4	549	5898	0.25	0.00	158.35	1.457	6	0.126	0.000	1835	3050	1799	0	0	0	0	0	0
5899	end apogee: CONTROL_FINISHED_OK
state	5899	begin climb
5900	0.35	170.4	503.5	0.0	557	6058	0.43	1.55	151.12	1.408	4	0.103	0.057	1972	3929	1104	0	0	0	0	0	0
6096	0.35	170.4	489.4	8.2	566	6100	0.00	1.45	0.00	0.000	6	0.000	0.036	1979	3051	1104	0	0	0	0	0	0
6418	0.35	170.4	458.4	9.8	582	6419	0.00	0.00	0.00	0.000	6	0.000	0.000	1979	3051	1101	0	0	0	0	0	0
6727	0.35	170.4	428.3	9.6	597	6730	0.00	1.42	0.00	0.000	4	0.000	0.061	1979	3920	1100	0	0	0	0	0	0
6772	0.35	170.4	423.3	12.0	599	6776	0.00	1.35	0.00	0.000	6	0.000	0.038	1985	3050	1099	0	0	0	0	0	0
7097	0.35	170.4	389.5	10.5	619	7101	0.00	1.45	0.00	0.000	4	0.000	0.061	1986	3925	1098	0	0	0	0	0	0
7135	0.35	170.4	384.6	13.2	622	7144	0.00	1.38	0.00	0.000	6	0.000	0.037	1992	3043	1099	0	0	0	0	0	0
7461	0.35	170.4	347.0	12.2	653	7464	0.00	1.45	0.00	0.000	4	0.000	0.061	1993	3937	1098	0	0	0	0	0	0
7487	0.35	170.4	343.3	13.7	655	7495	0.00	1.38	0.00	0.000	6	0.000	0.038	1999	3049	1098	0	0	0	0	0	0
7812	0.35	170.4	301.5	12.9	686	7813	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	3050	1098	0	0	0	0	0	0
8132	0.35	170.4	260.1	13.0	716	8135	0.00	1.42	0.00	0.000	4	0.000	0.060	1999	3935	1098	0	0	0	0	0	0
8158	0.35	170.4	256.2	14.1	718	8167	0.00	1.38	0.00	0.000	6	0.000	0.037	2006	3041	1098	0	0	0	0	0	0
8483	0.35	170.4	215.0	13.0	749	8487	0.00	1.42	0.00	0.000	4	0.000	0.061	2006	3924	1098	0	0	0	0	0	0
8543	0.35	170.4	205.8	15.8	754	8552	0.00	1.35	0.00	0.000	6	0.000	0.037	2013	3048	1097	0	0	0	0	0	0
8869	0.35	170.4	159.6	13.7	785	8870	0.00	0.00	0.00	0.000	6	0.000	0.000	2013	3048	1097	0	0	0	0	0	0
9190	0.35	170.4	117.5	12.5	815	9194	0.00	1.42	0.00	0.000	4	0.000	0.061	2013	3925	1097	0	0	0	0	0	0
9239	0.35	170.4	110.2	15.6	819	9247	0.10	1.35	0.00	0.000	6	0.162	0.037	1989	3038	1097	0	0	0	0	0	0
9573	0.35	170.4	77.6	9.5	870	9581	0.00	1.42	0.00	0.000	4	0.000	0.060	1989	3924	1096	0	0	0	0	0	0
9639	0.35	170.4	71.2	10.1	881	9646	0.00	1.33	0.00	0.000	6	0.000	0.037	1994	3046	1096	0	0	0	0	0	0
9980	0.35	170.4	45.1	7.2	942	9987	0.00	0.00	0.00	0.000	6	0.000	0.000	1994	3046	1095	0	0	0	0	0	0
10341	0.35	170.4	16.8	7.9	1003	10349	0.00	1.40	0.00	0.000	4	0.000	0.060	1994	3922	1094	0	0	0	0	0	0
10364	0.35	174.6	15.2	7.1	1006	10374	0.00	1.30	0.00	0.000	6	0.000	0.035	2001	3052	1094	0	0	0	0	0	0
10424	0.35	174.6	10.8	7.4	1015	10433	0.00	1.30	0.00	0.000	4	0.000	0.034	2007	2159	1094	0	0	0	0	0	0
10466	0.36	192.2	7.8	6.7	1021	10484	0.00	1.40	8.20	0.665	6	0.000	0.051	2007	3052	1013	0	0	0	0	0	0
10522	end climb: SURFACE_DEPTH_REACHED
state	10522	begin surface coast
10561	end surface coast: CONTROL_FINISHED_OK
state	10561	begin surface