Glider dive log

SAGE 17Apr15 * SG543 * Dive index * Mission links * Dive 157 * 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 157 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 51 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 39 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 -15739.578 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 -15739.578

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 51 VBD_MAX 3960

DEVICE2 20 MASS 52780 R_STBD_OVSHOOT 39 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 157 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 260415,050805,-3428.606,2556.639,33,1.2,33,-27.9 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 -68.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260415,051530,-3428.606,2556.493,24,2.0,24,-27.9 MHEAD_RNG_PITCHd_Wd 296.3,35803,-11.4,-7.246

SPEED_LIMITS 0.126,0.247 D_GRID 500

Post-dive calculations and measurements:

FINISH 0.8,1.024881 _10V_AH 10.4,7.145

SM_CCo 10881,5.88,0.153,0,0,778,250.20 FG_AHR_24Vo 0.000

SM_GC 2.12,0.00,0.00,5.88,0.000,0.000,0.153,63,3197,778,-5.65,-0.08,250.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -3417.32,2556.47,200208,151518 MEM 332444

TT8_MAMPS 0.027713 DATA_FILE_SIZE 60155,1058

HUMID 56.53 CAP_FILE_SIZE 124851,0

INTERNAL_PRESSURE 11.3004 CFSIZE 259252224,253378560

TCM_TEMP 18.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.146, 38.6,1

_24V_AH 23.1,18.016 GPS 260415,081825,-3427.944,2555.583,28,1.9,28,-27.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 221 65.85 SBE_CT 734 24 407.19

Roll_motor 70 65 107.45 SBE_O2 641 19 281.54

VBD_pump_during_apogee 337 1461 11406.68 QSP2150 189 4 19.16

VBD_pump_during_surface 5 153 20.76 WL_BB2FLVMT 469 105 1138.14

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 66.90 nil 0 0 0.00

Iridium_during_connect 49 160 181.76 nil 0 0 0.00

Iridium_during_xfer 251 223 1294.98 nil 0 0 0.00

Transponder_ping 7 420 75.19 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 27 26 7.81

TT8 2688 14 418.30

LPSleep 5620 2 128.02

TT8_Active 456 14 67.50

TT8_Sampling 2424 37 943.88

TT8_CF8 148 47 72.91

TT8_Kalman 0 0 0.00

Analog_circuits 1424 12 177.73

GPS_charging 0 0 0.00

Compass 2040 15 333.75

RAFOS 0 0 0.00

Transponder 53 30 16.73

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 83 0.00 0.00 -63.50 0.000 6 0.000 0.000 61 3212 2495 0 0 0 0 0 0

86 -0.35 -170.4 3.7 -3.4 8 103 6.62 1.40 0.00 0.000 4 0.222 0.029 1749 2288 2498 0 0 0 0 0 0

288 -0.35 -170.4 39.1 -8.3 42 297 0.00 1.45 0.00 0.000 6 0.000 0.050 1744 3191 2503 0 0 0 0 0 0

431 -0.35 -170.4 52.5 -10.2 67 439 0.00 1.20 0.00 0.000 4 0.000 0.054 1738 3954 2503 0 0 0 0 0 0

559 -0.35 -170.4 66.4 -11.3 89 566 0.00 1.12 0.00 0.000 6 0.000 0.033 1738 3189 2504 0 0 0 0 0 0

902 -0.35 -170.4 96.1 -7.3 150 909 0.00 1.20 0.00 0.000 4 0.000 0.056 1733 3947 2506 0 0 0 0 0 0

1161 -0.35 -170.4 118.6 -9.3 178 1165 0.00 1.10 0.00 0.000 6 0.000 0.034 1733 3197 2508 0 0 0 0 0 0

1491 -0.35 -170.4 146.3 -8.3 209 1495 0.00 1.17 0.00 0.000 4 0.000 0.055 1727 3943 2508 0 0 0 0 0 0

1547 -0.35 -170.4 151.1 -8.8 214 1551 0.00 1.10 0.00 0.000 6 0.000 0.034 1728 3196 2508 0 0 0 0 0 0

1878 -0.35 -170.4 179.7 -9.0 245 1882 0.00 1.17 0.00 0.000 4 0.000 0.057 1722 3944 2508 0 0 0 0 0 0

1927 -0.35 -170.4 184.9 -9.8 249 1935 0.12 1.12 0.00 0.000 6 0.158 0.034 1755 3191 2507 0 0 0 0 0 0

2253 -0.35 -170.4 208.1 -7.4 280 2257 0.00 1.17 0.00 0.000 4 0.000 0.059 1751 3939 2507 0 0 0 0 0 0

2280 -0.35 -170.4 210.4 -8.0 282 2287 0.00 1.10 0.00 0.000 6 0.000 0.036 1751 3199 2507 0 0 0 0 0 0

2605 -0.35 -170.4 237.3 -8.7 313 2608 0.00 1.27 0.00 0.000 4 0.000 0.033 1752 2314 2507 0 0 0 0 0 0

2664 -0.35 -170.4 242.5 -8.1 318 2673 0.00 1.42 0.00 0.000 6 0.000 0.051 1745 3207 2507 0 0 0 0 0 0

2990 -0.35 -170.4 269.0 -7.8 349 2994 0.00 1.15 0.00 0.000 4 0.000 0.058 1740 3943 2506 0 0 0 0 0 0

3038 -0.35 -170.4 273.1 -8.5 353 3046 0.00 1.12 0.00 0.000 6 0.000 0.036 1740 3197 2506 0 0 0 0 0 0

3364 -0.35 -170.4 297.8 -7.6 384 3368 0.00 1.30 0.00 0.000 4 0.000 0.034 1740 2300 2505 0 0 0 0 0 0

3410 -0.35 -170.4 301.2 -7.3 388 3413 0.00 1.42 0.00 0.000 6 0.000 0.053 1733 3196 2505 0 0 0 0 0 0

3741 -0.35 -170.4 327.2 -7.8 419 3742 0.00 0.00 0.00 0.000 6 0.000 0.000 1733 3196 2504 0 0 0 0 0 0

4058 -0.35 -170.4 351.5 -7.5 449 4062 0.00 1.30 0.00 0.000 4 0.000 0.034 1733 2308 2504 0 0 0 0 0 0

4130 -0.35 -170.4 356.1 -6.0 455 4138 0.00 1.42 0.00 0.000 6 0.000 0.055 1726 3202 2503 0 0 0 0 0 0

4455 -0.35 -170.4 378.0 -7.4 486 4459 0.10 1.17 0.00 0.000 4 0.185 0.060 1746 3940 2502 0 0 0 0 0 0

4512 -0.35 -170.4 381.5 -5.4 491 4516 0.00 1.10 0.00 0.000 6 0.000 0.039 1747 3203 2502 0 0 0 0 0 0

4851 -0.35 -170.4 405.1 -7.9 520 4855 0.00 1.17 0.00 0.000 4 0.000 0.060 1741 3951 2502 0 0 0 0 0 0

4900 -0.35 -170.4 409.2 -8.4 522 4905 0.00 1.15 0.00 0.000 6 0.000 0.038 1741 3191 2501 0 0 0 0 0 0

5228 -0.35 -170.4 435.4 -8.2 538 5231 0.00 1.20 0.00 0.000 4 0.000 0.060 1736 3953 2501 0 0 0 0 0 0

5304 -0.35 -170.4 442.5 -8.8 541 5309 0.00 1.15 0.00 0.000 6 0.000 0.038 1736 3194 2501 0 0 0 0 0 0

5627 -0.35 -170.4 470.6 -8.6 557 5628 0.00 0.00 0.00 0.000 6 0.000 0.000 1736 3194 2500 0 0 0 0 0 0

5936 -0.35 -170.4 497.1 -8.4 572 5937 0.00 0.00 0.00 0.000 6 0.000 0.000 1736 3194 2500 0 0 0 0 0 0

5978 end dive: TARGET_DEPTH_EXCEEDED

state 5978 begin apogee

5982 -0.11 0.0 500.5 8.3 574 6145 0.30 0.00 160.00 1.461 6 0.130 0.000 1829 3060 1799 0 0 0 0 0 0

6146 end apogee: CONTROL_FINISHED_OK

state 6146 begin climb

6148 0.35 170.4 504.7 0.0 582 6305 0.45 1.52 151.45 1.411 4 0.112 0.057 1973 3937 1104 0 0 0 0 0 0

6343 0.35 170.4 491.4 8.4 591 6348 0.00 1.48 0.00 0.000 6 0.000 0.036 1980 3049 1103 0 0 0 0 0 0

6665 0.35 170.4 461.9 8.8 607 6669 0.00 1.38 0.00 0.000 4 0.000 0.036 1987 2153 1100 0 0 0 0 0 0

6691 0.35 170.4 459.6 8.9 608 6696 0.00 1.50 0.00 0.000 6 0.000 0.053 1986 3057 1099 0 0 0 0 0 0

7019 0.35 170.4 425.2 11.3 624 7022 0.00 1.42 0.00 0.000 4 0.000 0.060 1987 3937 1098 0 0 0 0 0 0

7101 0.35 170.4 417.1 10.0 627 7110 0.00 1.40 0.00 0.000 6 0.000 0.037 1993 3040 1098 0 0 0 0 0 0

7422 0.35 170.4 381.7 11.5 650 7426 0.00 1.45 0.00 0.000 4 0.000 0.063 1993 3926 1097 0 0 0 0 0 0

7490 0.35 170.4 372.2 15.0 656 7493 0.00 1.35 0.00 0.000 6 0.000 0.037 2000 3047 1097 0 0 0 0 0 0

7819 0.35 170.4 330.7 12.1 687 7823 0.00 1.33 0.00 0.000 4 0.000 0.037 2007 2165 1097 0 0 0 0 0 0

7867 0.35 170.4 325.1 11.0 691 7876 0.00 1.45 0.00 0.000 6 0.000 0.054 2007 3058 1098 0 0 0 0 0 0

8192 0.35 170.4 283.4 12.4 722 8196 0.00 1.40 0.00 0.000 4 0.000 0.060 2007 3926 1097 0 0 0 0 0 0

8249 0.35 170.4 275.3 15.2 727 8253 0.08 1.35 0.00 0.000 6 0.164 0.038 1990 3043 1097 0 0 0 0 0 0

8578 0.35 170.4 239.9 10.3 758 8582 0.00 1.45 0.00 0.000 4 0.000 0.061 1990 3934 1097 0 0 0 0 0 0

8601 0.35 170.4 237.3 12.0 760 8604 0.00 1.35 0.00 0.000 6 0.000 0.038 1995 3050 1096 0 0 0 0 0 0

8931 0.35 170.4 200.2 11.1 791 8934 0.00 1.33 0.00 0.000 4 0.000 0.037 2002 2160 1096 0 0 0 0 0 0

8953 0.35 170.4 197.8 10.0 793 8957 0.00 1.42 0.00 0.000 6 0.000 0.054 2002 3055 1096 0 0 0 0 0 0

9284 0.35 170.4 157.9 12.6 824 9288 0.00 1.40 0.00 0.000 4 0.000 0.060 2002 3927 1096 0 0 0 0 0 0

9333 0.35 170.4 150.1 15.5 828 9341 0.00 1.35 0.00 0.000 6 0.000 0.037 2009 3046 1096 0 0 0 0 0 0

9659 0.35 170.4 106.9 12.8 859 9662 0.00 1.42 0.00 0.000 4 0.000 0.060 2009 3932 1096 0 0 0 0 0 0

9716 0.35 170.4 98.3 15.8 864 9725 0.10 1.33 0.00 0.000 6 0.158 0.037 1985 3051 1096 0 0 0 0 0 0

10062 0.35 177.7 67.2 7.0 925 10070 0.00 1.45 2.38 0.502 4 0.000 0.060 1985 3935 1073 0 0 0 0 0 0

10148 0.35 177.7 59.2 9.2 940 10157 0.00 1.33 0.00 0.000 6 0.000 0.037 1990 3059 1073 0 0 0 0 0 0

10495 0.35 177.7 30.8 9.9 1001 10502 0.00 1.40 0.00 0.000 4 0.000 0.061 1990 3932 1071 0 0 0 0 0 0

10533 0.35 177.7 26.8 10.5 1007 10541 0.00 1.33 0.00 0.000 6 0.000 0.037 1996 3050 1071 0 0 0 0 0 0

10683 0.35 179.4 16.1 7.2 1032 10691 0.00 0.00 0.00 0.000 6 0.000 0.000 1996 3050 1071 0 0 0 0 0 0

10742 0.37 204.1 11.8 6.5 1041 10760 0.00 1.30 11.02 0.722 4 0.000 0.032 2004 2156 964 0 0 0 0 0 0

10774 0.37 204.1 9.0 8.0 1045 10783 0.00 1.40 0.00 0.000 6 0.000 0.048 2003 3050 964 0 0 0 0 0 0

10834 0.38 235.0 5.1 6.3 1054 10853 0.00 1.42 13.10 0.690 4 0.000 0.056 2003 3927 836 0 0 0 0 0 0

10860 end climb: SURFACE_DEPTH_REACHED

state 10860 begin surface coast

10868 end surface coast: CONTROL_FINISHED_OK

state 10868 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	157	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	51	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	39	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	-15739.578	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	260415,050805,-3428.606,2556.639,33,1.2,33,-27.9	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	-68.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260415,051530,-3428.606,2556.493,24,2.0,24,-27.9	MHEAD_RNG_PITCHd_Wd	296.3,35803,-11.4,-7.246
SPEED_LIMITS	0.126,0.247	D_GRID	500

FINISH	0.8,1.024881	_10V_AH	10.4,7.145
SM_CCo	10881,5.88,0.153,0,0,778,250.20	FG_AHR_24Vo	0.000
SM_GC	2.12,0.00,0.00,5.88,0.000,0.000,0.153,63,3197,778,-5.65,-0.08,250.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-3417.32,2556.47,200208,151518	MEM	332444
TT8_MAMPS	0.027713	DATA_FILE_SIZE	60155,1058
HUMID	56.53	CAP_FILE_SIZE	124851,0
INTERNAL_PRESSURE	11.3004	CFSIZE	259252224,253378560
TCM_TEMP	18.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.146, 38.6,1
_24V_AH	23.1,18.016	GPS	260415,081825,-3427.944,2555.583,28,1.9,28,-27.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	221	65.85	SBE_CT	734	24	407.19
Roll_motor	70	65	107.45	SBE_O2	641	19	281.54
VBD_pump_during_apogee	337	1461	11406.68	QSP2150	189	4	19.16
VBD_pump_during_surface	5	153	20.76	WL_BB2FLVMT	469	105	1138.14
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	66.90	nil	0	0	0.00
Iridium_during_connect	49	160	181.76	nil	0	0	0.00
Iridium_during_xfer	251	223	1294.98	nil	0	0	0.00
Transponder_ping	7	420	75.19	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	27	26	7.81
TT8	2688	14	418.30
LPSleep	5620	2	128.02
TT8_Active	456	14	67.50
TT8_Sampling	2424	37	943.88
TT8_CF8	148	47	72.91
TT8_Kalman	0	0	0.00
Analog_circuits	1424	12	177.73
GPS_charging	0	0	0.00
Compass	2040	15	333.75
RAFOS	0	0	0.00
Transponder	53	30	16.73

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	83	0.00	0.00	-63.50	0.000	6	0.000	0.000	61	3212	2495	0	0	0	0	0	0
86	-0.35	-170.4	3.7	-3.4	8	103	6.62	1.40	0.00	0.000	4	0.222	0.029	1749	2288	2498	0	0	0	0	0	0
288	-0.35	-170.4	39.1	-8.3	42	297	0.00	1.45	0.00	0.000	6	0.000	0.050	1744	3191	2503	0	0	0	0	0	0
431	-0.35	-170.4	52.5	-10.2	67	439	0.00	1.20	0.00	0.000	4	0.000	0.054	1738	3954	2503	0	0	0	0	0	0
559	-0.35	-170.4	66.4	-11.3	89	566	0.00	1.12	0.00	0.000	6	0.000	0.033	1738	3189	2504	0	0	0	0	0	0
902	-0.35	-170.4	96.1	-7.3	150	909	0.00	1.20	0.00	0.000	4	0.000	0.056	1733	3947	2506	0	0	0	0	0	0
1161	-0.35	-170.4	118.6	-9.3	178	1165	0.00	1.10	0.00	0.000	6	0.000	0.034	1733	3197	2508	0	0	0	0	0	0
1491	-0.35	-170.4	146.3	-8.3	209	1495	0.00	1.17	0.00	0.000	4	0.000	0.055	1727	3943	2508	0	0	0	0	0	0
1547	-0.35	-170.4	151.1	-8.8	214	1551	0.00	1.10	0.00	0.000	6	0.000	0.034	1728	3196	2508	0	0	0	0	0	0
1878	-0.35	-170.4	179.7	-9.0	245	1882	0.00	1.17	0.00	0.000	4	0.000	0.057	1722	3944	2508	0	0	0	0	0	0
1927	-0.35	-170.4	184.9	-9.8	249	1935	0.12	1.12	0.00	0.000	6	0.158	0.034	1755	3191	2507	0	0	0	0	0	0
2253	-0.35	-170.4	208.1	-7.4	280	2257	0.00	1.17	0.00	0.000	4	0.000	0.059	1751	3939	2507	0	0	0	0	0	0
2280	-0.35	-170.4	210.4	-8.0	282	2287	0.00	1.10	0.00	0.000	6	0.000	0.036	1751	3199	2507	0	0	0	0	0	0
2605	-0.35	-170.4	237.3	-8.7	313	2608	0.00	1.27	0.00	0.000	4	0.000	0.033	1752	2314	2507	0	0	0	0	0	0
2664	-0.35	-170.4	242.5	-8.1	318	2673	0.00	1.42	0.00	0.000	6	0.000	0.051	1745	3207	2507	0	0	0	0	0	0
2990	-0.35	-170.4	269.0	-7.8	349	2994	0.00	1.15	0.00	0.000	4	0.000	0.058	1740	3943	2506	0	0	0	0	0	0
3038	-0.35	-170.4	273.1	-8.5	353	3046	0.00	1.12	0.00	0.000	6	0.000	0.036	1740	3197	2506	0	0	0	0	0	0
3364	-0.35	-170.4	297.8	-7.6	384	3368	0.00	1.30	0.00	0.000	4	0.000	0.034	1740	2300	2505	0	0	0	0	0	0
3410	-0.35	-170.4	301.2	-7.3	388	3413	0.00	1.42	0.00	0.000	6	0.000	0.053	1733	3196	2505	0	0	0	0	0	0
3741	-0.35	-170.4	327.2	-7.8	419	3742	0.00	0.00	0.00	0.000	6	0.000	0.000	1733	3196	2504	0	0	0	0	0	0
4058	-0.35	-170.4	351.5	-7.5	449	4062	0.00	1.30	0.00	0.000	4	0.000	0.034	1733	2308	2504	0	0	0	0	0	0
4130	-0.35	-170.4	356.1	-6.0	455	4138	0.00	1.42	0.00	0.000	6	0.000	0.055	1726	3202	2503	0	0	0	0	0	0
4455	-0.35	-170.4	378.0	-7.4	486	4459	0.10	1.17	0.00	0.000	4	0.185	0.060	1746	3940	2502	0	0	0	0	0	0
4512	-0.35	-170.4	381.5	-5.4	491	4516	0.00	1.10	0.00	0.000	6	0.000	0.039	1747	3203	2502	0	0	0	0	0	0
4851	-0.35	-170.4	405.1	-7.9	520	4855	0.00	1.17	0.00	0.000	4	0.000	0.060	1741	3951	2502	0	0	0	0	0	0
4900	-0.35	-170.4	409.2	-8.4	522	4905	0.00	1.15	0.00	0.000	6	0.000	0.038	1741	3191	2501	0	0	0	0	0	0
5228	-0.35	-170.4	435.4	-8.2	538	5231	0.00	1.20	0.00	0.000	4	0.000	0.060	1736	3953	2501	0	0	0	0	0	0
5304	-0.35	-170.4	442.5	-8.8	541	5309	0.00	1.15	0.00	0.000	6	0.000	0.038	1736	3194	2501	0	0	0	0	0	0
5627	-0.35	-170.4	470.6	-8.6	557	5628	0.00	0.00	0.00	0.000	6	0.000	0.000	1736	3194	2500	0	0	0	0	0	0
5936	-0.35	-170.4	497.1	-8.4	572	5937	0.00	0.00	0.00	0.000	6	0.000	0.000	1736	3194	2500	0	0	0	0	0	0
5978	end dive: TARGET_DEPTH_EXCEEDED
state	5978	begin apogee
5982	-0.11	0.0	500.5	8.3	574	6145	0.30	0.00	160.00	1.461	6	0.130	0.000	1829	3060	1799	0	0	0	0	0	0
6146	end apogee: CONTROL_FINISHED_OK
state	6146	begin climb
6148	0.35	170.4	504.7	0.0	582	6305	0.45	1.52	151.45	1.411	4	0.112	0.057	1973	3937	1104	0	0	0	0	0	0
6343	0.35	170.4	491.4	8.4	591	6348	0.00	1.48	0.00	0.000	6	0.000	0.036	1980	3049	1103	0	0	0	0	0	0
6665	0.35	170.4	461.9	8.8	607	6669	0.00	1.38	0.00	0.000	4	0.000	0.036	1987	2153	1100	0	0	0	0	0	0
6691	0.35	170.4	459.6	8.9	608	6696	0.00	1.50	0.00	0.000	6	0.000	0.053	1986	3057	1099	0	0	0	0	0	0
7019	0.35	170.4	425.2	11.3	624	7022	0.00	1.42	0.00	0.000	4	0.000	0.060	1987	3937	1098	0	0	0	0	0	0
7101	0.35	170.4	417.1	10.0	627	7110	0.00	1.40	0.00	0.000	6	0.000	0.037	1993	3040	1098	0	0	0	0	0	0
7422	0.35	170.4	381.7	11.5	650	7426	0.00	1.45	0.00	0.000	4	0.000	0.063	1993	3926	1097	0	0	0	0	0	0
7490	0.35	170.4	372.2	15.0	656	7493	0.00	1.35	0.00	0.000	6	0.000	0.037	2000	3047	1097	0	0	0	0	0	0
7819	0.35	170.4	330.7	12.1	687	7823	0.00	1.33	0.00	0.000	4	0.000	0.037	2007	2165	1097	0	0	0	0	0	0
7867	0.35	170.4	325.1	11.0	691	7876	0.00	1.45	0.00	0.000	6	0.000	0.054	2007	3058	1098	0	0	0	0	0	0
8192	0.35	170.4	283.4	12.4	722	8196	0.00	1.40	0.00	0.000	4	0.000	0.060	2007	3926	1097	0	0	0	0	0	0
8249	0.35	170.4	275.3	15.2	727	8253	0.08	1.35	0.00	0.000	6	0.164	0.038	1990	3043	1097	0	0	0	0	0	0
8578	0.35	170.4	239.9	10.3	758	8582	0.00	1.45	0.00	0.000	4	0.000	0.061	1990	3934	1097	0	0	0	0	0	0
8601	0.35	170.4	237.3	12.0	760	8604	0.00	1.35	0.00	0.000	6	0.000	0.038	1995	3050	1096	0	0	0	0	0	0
8931	0.35	170.4	200.2	11.1	791	8934	0.00	1.33	0.00	0.000	4	0.000	0.037	2002	2160	1096	0	0	0	0	0	0
8953	0.35	170.4	197.8	10.0	793	8957	0.00	1.42	0.00	0.000	6	0.000	0.054	2002	3055	1096	0	0	0	0	0	0
9284	0.35	170.4	157.9	12.6	824	9288	0.00	1.40	0.00	0.000	4	0.000	0.060	2002	3927	1096	0	0	0	0	0	0
9333	0.35	170.4	150.1	15.5	828	9341	0.00	1.35	0.00	0.000	6	0.000	0.037	2009	3046	1096	0	0	0	0	0	0
9659	0.35	170.4	106.9	12.8	859	9662	0.00	1.42	0.00	0.000	4	0.000	0.060	2009	3932	1096	0	0	0	0	0	0
9716	0.35	170.4	98.3	15.8	864	9725	0.10	1.33	0.00	0.000	6	0.158	0.037	1985	3051	1096	0	0	0	0	0	0
10062	0.35	177.7	67.2	7.0	925	10070	0.00	1.45	2.38	0.502	4	0.000	0.060	1985	3935	1073	0	0	0	0	0	0
10148	0.35	177.7	59.2	9.2	940	10157	0.00	1.33	0.00	0.000	6	0.000	0.037	1990	3059	1073	0	0	0	0	0	0
10495	0.35	177.7	30.8	9.9	1001	10502	0.00	1.40	0.00	0.000	4	0.000	0.061	1990	3932	1071	0	0	0	0	0	0
10533	0.35	177.7	26.8	10.5	1007	10541	0.00	1.33	0.00	0.000	6	0.000	0.037	1996	3050	1071	0	0	0	0	0	0
10683	0.35	179.4	16.1	7.2	1032	10691	0.00	0.00	0.00	0.000	6	0.000	0.000	1996	3050	1071	0	0	0	0	0	0
10742	0.37	204.1	11.8	6.5	1041	10760	0.00	1.30	11.02	0.722	4	0.000	0.032	2004	2156	964	0	0	0	0	0	0
10774	0.37	204.1	9.0	8.0	1045	10783	0.00	1.40	0.00	0.000	6	0.000	0.048	2003	3050	964	0	0	0	0	0	0
10834	0.38	235.0	5.1	6.3	1054	10853	0.00	1.42	13.10	0.690	4	0.000	0.056	2003	3927	836	0	0	0	0	0	0
10860	end climb: SURFACE_DEPTH_REACHED
state	10860	begin surface coast
10868	end surface coast: CONTROL_FINISHED_OK
state	10868	begin surface