Glider dive log

SAGE 17Apr15 * SG543 * Dive index * Mission links * Dive 158 * 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 158 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 700 TGT_DEFAULT_LON 2600 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 800 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 2

D_NO_BLEED 200 SM_CC 250 R_PORT_OVSHOOT 47 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 30 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 240 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 255 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 -15742.478 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 700 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 240

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 -15742.478

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

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 255

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 47 VBD_MAX 3960

DEVICE2 20 MASS 52780 R_STBD_OVSHOOT 30 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 158 MOTHERBOARD 4 SEABIRD_T_G 0.0043512532 XPDR_DEVICE 24

D_ABORT 800 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 260415,081825,-3427.944,2555.583,28,1.9,28,-27.9 TGT_NAME WP_SOUTH

_CALLS 1 TGT_LATLONG -3420.460,2553.260

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.27 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260415,082627,-3428.016,2555.370,28,1.3,42,-27.9 MHEAD_RNG_PITCHd_Wd 350.3,14361,-15.6,-9.722

SPEED_LIMITS 0.168,0.275 D_GRID 700

Post-dive calculations and measurements:

FINISH 0.5,1.024999 _10V_AH 10.4,7.218

SM_CCo 10710,32.62,0.140,0,0,776,250.20 FG_AHR_24Vo 0.000

SM_GC 1.38,0.00,0.00,32.62,0.000,0.000,0.140,66,3216,776,-5.63,0.45,250.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -3425.16,2556.41,200208,181801 MEM 332452

TT8_MAMPS 0.026964 DATA_FILE_SIZE 53621,925

HUMID 58.97 CAP_FILE_SIZE 114335,0

INTERNAL_PRESSURE 11.2516 CFSIZE 259252224,253325312

TCM_TEMP 16.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.203, 61.6,1

ALTIM_BOTTOM_PING 630.8,43.0 GPS 260415,112709,-3426.541,2555.544,19,4.7,38,-27.9

_24V_AH 22.9,18.174

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 218 64.13 SBE_CT 640 24 352.00

Roll_motor 59 62 84.75 SBE_O2 579 19 252.07

VBD_pump_during_apogee 317 1563 11366.30 QSP2150 147 4 14.82

VBD_pump_during_surface 32 139 104.59 WL_BB2FLVMT 370 105 890.15

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 88.06 nil 0 0 0.00

Iridium_during_connect 41 160 150.85 nil 0 0 0.00

Iridium_during_xfer 263 223 1343.25 nil 0 0 0.00

Transponder_ping 11 420 110.61 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 44 26 12.50

TT8 2377 14 369.86

LPSleep 6040 2 137.57

TT8_Active 442 14 65.37

TT8_Sampling 2240 37 872.29

TT8_CF8 130 47 64.24

TT8_Kalman 0 0 0.00

Analog_circuits 1310 12 163.61

GPS_charging 0 0 0.00

Compass 1803 15 295.07

RAFOS 0 0 0.00

Transponder 80 30 25.10

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -0.44 -170.4 0.0 0.0 0 83 0.00 0.00 -63.47 0.000 6 0.000 0.000 61 3197 2495 0 0 0 0 0 0

85 -0.44 -170.4 4.1 -5.5 8 95 6.47 1.38 0.00 0.000 4 0.219 0.030 1724 2310 2496 0 0 0 0 0 0

248 -0.44 -170.4 37.4 -11.2 35 255 0.00 1.45 0.00 0.000 6 0.000 0.050 1719 3193 2502 0 0 0 0 0 0

391 -0.44 -170.4 54.1 -10.9 60 400 0.00 1.20 0.00 0.000 4 0.000 0.055 1713 3952 2502 0 0 0 0 0 0

484 -0.44 -170.4 63.9 -11.0 76 493 0.00 1.12 0.00 0.000 6 0.000 0.034 1714 3190 2503 0 0 0 0 0 0

829 -0.44 -170.4 94.4 -9.2 137 837 0.00 1.20 0.00 0.000 4 0.000 0.056 1708 3953 2506 0 0 0 0 0 0

1013 -0.44 -170.4 113.7 -10.8 158 1016 0.00 1.10 0.00 0.000 6 0.000 0.033 1708 3203 2507 0 0 0 0 0 0

1342 -0.44 -170.4 149.1 -10.9 189 1344 0.00 0.00 0.00 0.000 6 0.000 0.000 1708 3203 2507 0 0 0 0 0 0

1662 -0.44 -170.4 182.8 -10.1 219 1663 0.00 0.00 0.00 0.000 6 0.000 0.000 1708 3203 2507 0 0 0 0 0 0

1980 -0.44 -170.4 215.7 -10.6 249 1983 0.00 1.30 0.00 0.000 4 0.000 0.032 1708 2308 2507 0 0 0 0 0 0

2006 -0.44 -170.4 218.7 -10.8 251 2014 0.00 1.45 0.00 0.000 6 0.000 0.050 1701 3211 2507 0 0 0 0 0 0

2332 -0.44 -170.4 254.3 -11.4 282 2333 0.00 0.00 0.00 0.000 6 0.000 0.000 1701 3211 2507 0 0 0 0 0 0

2650 -0.44 -170.4 289.8 -11.0 312 2655 0.00 1.33 0.00 0.000 4 0.000 0.033 1701 2305 2506 0 0 0 0 0 0

2709 -0.44 -170.4 296.1 -10.0 317 2719 0.12 1.45 0.00 0.000 6 0.164 0.052 1733 3205 2506 0 0 0 0 0 0

3035 -0.44 -170.4 322.4 -8.6 348 3039 0.00 1.30 0.00 0.000 4 0.000 0.034 1733 2313 2506 0 0 0 0 0 0

3069 -0.44 -170.4 325.0 -7.8 351 3073 0.00 1.42 0.00 0.000 6 0.000 0.054 1728 3207 2506 0 0 0 0 0 0

3400 -0.44 -170.4 351.6 -8.1 382 3404 0.00 1.15 0.00 0.000 4 0.000 0.060 1723 3944 2504 0 0 0 0 0 0

3472 -0.44 -170.4 358.0 -8.9 388 3479 0.00 1.12 0.00 0.000 6 0.000 0.037 1722 3199 2504 0 0 0 0 0 0

3797 -0.44 -170.4 388.9 -9.4 419 3801 0.00 1.17 0.00 0.000 4 0.000 0.060 1717 3941 2503 0 0 0 0 0 0

3868 -0.44 -170.4 396.6 -10.4 425 3877 0.00 1.12 0.00 0.000 6 0.000 0.037 1717 3198 2503 0 0 0 0 0 0

4197 -0.44 -170.4 436.5 -15.2 443 4200 0.00 1.17 0.00 0.000 4 0.000 0.059 1712 3946 2502 0 0 0 0 0 0

4273 -0.44 -170.4 448.0 -13.7 446 4278 0.00 1.12 0.00 0.000 6 0.000 0.037 1712 3203 2502 0 0 0 0 0 0

4596 -0.44 -170.4 494.9 -15.7 462 4600 0.00 1.17 0.00 0.000 4 0.000 0.060 1706 3948 2502 0 0 0 0 0 0

4687 -0.44 -170.4 508.9 -14.8 466 4690 0.00 1.12 0.00 0.000 6 0.000 0.038 1706 3197 2502 0 0 0 0 0 0

5020 -0.44 -170.4 549.7 -10.3 482 5029 0.00 1.30 0.00 0.000 4 0.000 0.035 1707 2309 2501 0 0 0 0 0 0

5038 -0.44 -170.4 551.9 -10.2 482 5046 0.00 1.45 0.00 0.000 6 0.000 0.054 1699 3211 2501 0 0 0 0 0 0

5355 -0.44 -170.4 573.2 -5.1 498 5359 0.00 1.33 0.00 0.000 4 0.000 0.036 1700 2314 2500 0 0 0 0 0 0

5388 -0.44 -170.4 574.3 -2.7 499 5393 0.08 1.42 0.00 0.000 6 0.143 0.054 1718 3203 2499 0 0 0 0 0 0

5709 -0.44 -170.4 579.0 -1.9 515 5710 0.00 0.00 0.00 0.000 6 0.000 0.000 1719 3203 2499 0 0 0 0 0 0

6019 -0.44 -170.4 595.1 -8.6 530 6020 0.00 0.00 0.00 0.000 6 0.000 0.000 1719 3203 2499 0 0 0 0 0 0

6327 -0.44 -170.4 628.1 -11.2 545 6328 0.00 0.00 0.00 0.000 6 0.000 0.000 1718 3203 2498 0 0 0 0 0 0

6532 end dive: BOTTOM_OBSTACLE_DETECTED

state 6532 begin apogee

6537 -0.11 0.0 654.5 13.6 555 6703 0.38 0.00 162.98 1.564 6 0.146 0.000 1833 3058 1798 0 0 0 0 0 0

6704 end apogee: CONTROL_FINISHED_OK

state 6704 begin climb

6705 0.44 170.4 654.2 0.0 563 6868 0.52 1.60 154.45 1.509 4 0.097 0.062 2005 3923 1104 0 0 0 0 0 0

7122 0.44 170.4 597.4 18.1 582 7125 0.00 1.40 0.00 0.000 6 0.000 0.038 2012 3045 1099 0 0 0 0 0 0

7454 0.44 170.4 529.3 20.7 598 7458 0.00 1.45 0.00 0.000 4 0.000 0.061 2012 3924 1098 0 0 0 0 0 0

7477 0.44 170.4 524.5 20.7 599 7480 0.00 1.38 0.00 0.000 6 0.000 0.039 2018 3046 1098 0 0 0 0 0 0

7809 0.44 170.4 459.7 18.2 615 7812 0.00 1.45 0.00 0.000 4 0.000 0.060 2019 3935 1098 0 0 0 0 0 0

7846 0.44 170.4 452.8 18.5 616 7854 0.00 1.40 0.00 0.000 6 0.000 0.038 2026 3042 1098 0 0 0 0 0 0

8162 0.44 170.4 399.5 16.1 632 8166 0.00 1.45 0.00 0.000 4 0.000 0.060 2026 3931 1098 0 0 0 0 0 0

8196 0.44 170.4 394.1 17.4 635 8200 0.00 1.38 0.00 0.000 6 0.000 0.040 2033 3044 1098 0 0 0 0 0 0

8526 0.44 170.4 337.2 18.1 666 8530 0.00 1.45 0.00 0.000 4 0.000 0.063 2032 3933 1098 0 0 0 0 0 0

8629 0.44 170.4 317.0 21.5 675 8633 0.00 1.35 0.00 0.000 6 0.000 0.038 2040 3052 1097 0 0 0 0 0 0

8959 0.44 170.4 259.7 17.9 706 8963 0.00 1.42 0.00 0.000 4 0.000 0.062 2040 3933 1097 0 0 0 0 0 0

9038 0.44 170.4 243.6 21.7 713 9042 0.10 1.35 0.00 0.000 6 0.187 0.038 2017 3048 1096 0 0 0 0 0 0

9367 0.44 170.4 192.6 14.7 744 9371 0.00 1.45 0.00 0.000 4 0.000 0.061 2017 3943 1096 0 0 0 0 0 0

9390 0.44 170.4 189.2 16.2 746 9394 0.00 1.35 0.00 0.000 6 0.000 0.039 2022 3056 1096 0 0 0 0 0 0

9720 0.44 170.4 137.9 15.9 777 9721 0.00 0.00 0.00 0.000 6 0.000 0.000 2022 3055 1096 0 0 0 0 0 0

10043 0.44 170.4 85.7 15.2 815 10049 0.00 1.42 0.00 0.000 4 0.000 0.062 2022 3929 1096 0 0 0 0 0 0

10102 0.44 170.4 75.6 18.3 825 10109 0.00 1.35 0.00 0.000 6 0.000 0.037 2029 3042 1096 0 0 0 0 0 0

10451 0.44 170.4 29.2 10.6 886 10459 0.00 1.45 0.00 0.000 4 0.000 0.061 2029 3936 1095 0 0 0 0 0 0

10572 0.44 170.4 14.2 14.8 906 10580 0.00 1.35 0.00 0.000 6 0.000 0.038 2036 3046 1094 0 0 0 0 0 0

10631 0.44 170.4 7.3 11.4 915 10640 0.00 1.30 0.00 0.000 4 0.000 0.036 2043 2167 1094 0 0 0 0 0 0

10671 end climb: SURFACE_DEPTH_REACHED

state 10671 begin surface coast

10697 end surface coast: CONTROL_FINISHED_OK

state 10697 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	158	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	700	TGT_DEFAULT_LON	2600	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	800	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	2
D_NO_BLEED	200	SM_CC	250	R_PORT_OVSHOOT	47	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	30	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	240	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	255	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	-15742.478	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	260415,081825,-3427.944,2555.583,28,1.9,28,-27.9	TGT_NAME	WP_SOUTH
_CALLS	1	TGT_LATLONG	-3420.460,2553.260
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.27	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260415,082627,-3428.016,2555.370,28,1.3,42,-27.9	MHEAD_RNG_PITCHd_Wd	350.3,14361,-15.6,-9.722
SPEED_LIMITS	0.168,0.275	D_GRID	700

FINISH	0.5,1.024999	_10V_AH	10.4,7.218
SM_CCo	10710,32.62,0.140,0,0,776,250.20	FG_AHR_24Vo	0.000
SM_GC	1.38,0.00,0.00,32.62,0.000,0.000,0.140,66,3216,776,-5.63,0.45,250.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-3425.16,2556.41,200208,181801	MEM	332452
TT8_MAMPS	0.026964	DATA_FILE_SIZE	53621,925
HUMID	58.97	CAP_FILE_SIZE	114335,0
INTERNAL_PRESSURE	11.2516	CFSIZE	259252224,253325312
TCM_TEMP	16.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.203, 61.6,1
ALTIM_BOTTOM_PING	630.8,43.0	GPS	260415,112709,-3426.541,2555.544,19,4.7,38,-27.9
_24V_AH	22.9,18.174

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	218	64.13	SBE_CT	640	24	352.00
Roll_motor	59	62	84.75	SBE_O2	579	19	252.07
VBD_pump_during_apogee	317	1563	11366.30	QSP2150	147	4	14.82
VBD_pump_during_surface	32	139	104.59	WL_BB2FLVMT	370	105	890.15
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	88.06	nil	0	0	0.00
Iridium_during_connect	41	160	150.85	nil	0	0	0.00
Iridium_during_xfer	263	223	1343.25	nil	0	0	0.00
Transponder_ping	11	420	110.61	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	44	26	12.50
TT8	2377	14	369.86
LPSleep	6040	2	137.57
TT8_Active	442	14	65.37
TT8_Sampling	2240	37	872.29
TT8_CF8	130	47	64.24
TT8_Kalman	0	0	0.00
Analog_circuits	1310	12	163.61
GPS_charging	0	0	0.00
Compass	1803	15	295.07
RAFOS	0	0	0.00
Transponder	80	30	25.10

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-0.44	-170.4	0.0	0.0	0	83	0.00	0.00	-63.47	0.000	6	0.000	0.000	61	3197	2495	0	0	0	0	0	0
85	-0.44	-170.4	4.1	-5.5	8	95	6.47	1.38	0.00	0.000	4	0.219	0.030	1724	2310	2496	0	0	0	0	0	0
248	-0.44	-170.4	37.4	-11.2	35	255	0.00	1.45	0.00	0.000	6	0.000	0.050	1719	3193	2502	0	0	0	0	0	0
391	-0.44	-170.4	54.1	-10.9	60	400	0.00	1.20	0.00	0.000	4	0.000	0.055	1713	3952	2502	0	0	0	0	0	0
484	-0.44	-170.4	63.9	-11.0	76	493	0.00	1.12	0.00	0.000	6	0.000	0.034	1714	3190	2503	0	0	0	0	0	0
829	-0.44	-170.4	94.4	-9.2	137	837	0.00	1.20	0.00	0.000	4	0.000	0.056	1708	3953	2506	0	0	0	0	0	0
1013	-0.44	-170.4	113.7	-10.8	158	1016	0.00	1.10	0.00	0.000	6	0.000	0.033	1708	3203	2507	0	0	0	0	0	0
1342	-0.44	-170.4	149.1	-10.9	189	1344	0.00	0.00	0.00	0.000	6	0.000	0.000	1708	3203	2507	0	0	0	0	0	0
1662	-0.44	-170.4	182.8	-10.1	219	1663	0.00	0.00	0.00	0.000	6	0.000	0.000	1708	3203	2507	0	0	0	0	0	0
1980	-0.44	-170.4	215.7	-10.6	249	1983	0.00	1.30	0.00	0.000	4	0.000	0.032	1708	2308	2507	0	0	0	0	0	0
2006	-0.44	-170.4	218.7	-10.8	251	2014	0.00	1.45	0.00	0.000	6	0.000	0.050	1701	3211	2507	0	0	0	0	0	0
2332	-0.44	-170.4	254.3	-11.4	282	2333	0.00	0.00	0.00	0.000	6	0.000	0.000	1701	3211	2507	0	0	0	0	0	0
2650	-0.44	-170.4	289.8	-11.0	312	2655	0.00	1.33	0.00	0.000	4	0.000	0.033	1701	2305	2506	0	0	0	0	0	0
2709	-0.44	-170.4	296.1	-10.0	317	2719	0.12	1.45	0.00	0.000	6	0.164	0.052	1733	3205	2506	0	0	0	0	0	0
3035	-0.44	-170.4	322.4	-8.6	348	3039	0.00	1.30	0.00	0.000	4	0.000	0.034	1733	2313	2506	0	0	0	0	0	0
3069	-0.44	-170.4	325.0	-7.8	351	3073	0.00	1.42	0.00	0.000	6	0.000	0.054	1728	3207	2506	0	0	0	0	0	0
3400	-0.44	-170.4	351.6	-8.1	382	3404	0.00	1.15	0.00	0.000	4	0.000	0.060	1723	3944	2504	0	0	0	0	0	0
3472	-0.44	-170.4	358.0	-8.9	388	3479	0.00	1.12	0.00	0.000	6	0.000	0.037	1722	3199	2504	0	0	0	0	0	0
3797	-0.44	-170.4	388.9	-9.4	419	3801	0.00	1.17	0.00	0.000	4	0.000	0.060	1717	3941	2503	0	0	0	0	0	0
3868	-0.44	-170.4	396.6	-10.4	425	3877	0.00	1.12	0.00	0.000	6	0.000	0.037	1717	3198	2503	0	0	0	0	0	0
4197	-0.44	-170.4	436.5	-15.2	443	4200	0.00	1.17	0.00	0.000	4	0.000	0.059	1712	3946	2502	0	0	0	0	0	0
4273	-0.44	-170.4	448.0	-13.7	446	4278	0.00	1.12	0.00	0.000	6	0.000	0.037	1712	3203	2502	0	0	0	0	0	0
4596	-0.44	-170.4	494.9	-15.7	462	4600	0.00	1.17	0.00	0.000	4	0.000	0.060	1706	3948	2502	0	0	0	0	0	0
4687	-0.44	-170.4	508.9	-14.8	466	4690	0.00	1.12	0.00	0.000	6	0.000	0.038	1706	3197	2502	0	0	0	0	0	0
5020	-0.44	-170.4	549.7	-10.3	482	5029	0.00	1.30	0.00	0.000	4	0.000	0.035	1707	2309	2501	0	0	0	0	0	0
5038	-0.44	-170.4	551.9	-10.2	482	5046	0.00	1.45	0.00	0.000	6	0.000	0.054	1699	3211	2501	0	0	0	0	0	0
5355	-0.44	-170.4	573.2	-5.1	498	5359	0.00	1.33	0.00	0.000	4	0.000	0.036	1700	2314	2500	0	0	0	0	0	0
5388	-0.44	-170.4	574.3	-2.7	499	5393	0.08	1.42	0.00	0.000	6	0.143	0.054	1718	3203	2499	0	0	0	0	0	0
5709	-0.44	-170.4	579.0	-1.9	515	5710	0.00	0.00	0.00	0.000	6	0.000	0.000	1719	3203	2499	0	0	0	0	0	0
6019	-0.44	-170.4	595.1	-8.6	530	6020	0.00	0.00	0.00	0.000	6	0.000	0.000	1719	3203	2499	0	0	0	0	0	0
6327	-0.44	-170.4	628.1	-11.2	545	6328	0.00	0.00	0.00	0.000	6	0.000	0.000	1718	3203	2498	0	0	0	0	0	0
6532	end dive: BOTTOM_OBSTACLE_DETECTED
state	6532	begin apogee
6537	-0.11	0.0	654.5	13.6	555	6703	0.38	0.00	162.98	1.564	6	0.146	0.000	1833	3058	1798	0	0	0	0	0	0
6704	end apogee: CONTROL_FINISHED_OK
state	6704	begin climb
6705	0.44	170.4	654.2	0.0	563	6868	0.52	1.60	154.45	1.509	4	0.097	0.062	2005	3923	1104	0	0	0	0	0	0
7122	0.44	170.4	597.4	18.1	582	7125	0.00	1.40	0.00	0.000	6	0.000	0.038	2012	3045	1099	0	0	0	0	0	0
7454	0.44	170.4	529.3	20.7	598	7458	0.00	1.45	0.00	0.000	4	0.000	0.061	2012	3924	1098	0	0	0	0	0	0
7477	0.44	170.4	524.5	20.7	599	7480	0.00	1.38	0.00	0.000	6	0.000	0.039	2018	3046	1098	0	0	0	0	0	0
7809	0.44	170.4	459.7	18.2	615	7812	0.00	1.45	0.00	0.000	4	0.000	0.060	2019	3935	1098	0	0	0	0	0	0
7846	0.44	170.4	452.8	18.5	616	7854	0.00	1.40	0.00	0.000	6	0.000	0.038	2026	3042	1098	0	0	0	0	0	0
8162	0.44	170.4	399.5	16.1	632	8166	0.00	1.45	0.00	0.000	4	0.000	0.060	2026	3931	1098	0	0	0	0	0	0
8196	0.44	170.4	394.1	17.4	635	8200	0.00	1.38	0.00	0.000	6	0.000	0.040	2033	3044	1098	0	0	0	0	0	0
8526	0.44	170.4	337.2	18.1	666	8530	0.00	1.45	0.00	0.000	4	0.000	0.063	2032	3933	1098	0	0	0	0	0	0
8629	0.44	170.4	317.0	21.5	675	8633	0.00	1.35	0.00	0.000	6	0.000	0.038	2040	3052	1097	0	0	0	0	0	0
8959	0.44	170.4	259.7	17.9	706	8963	0.00	1.42	0.00	0.000	4	0.000	0.062	2040	3933	1097	0	0	0	0	0	0
9038	0.44	170.4	243.6	21.7	713	9042	0.10	1.35	0.00	0.000	6	0.187	0.038	2017	3048	1096	0	0	0	0	0	0
9367	0.44	170.4	192.6	14.7	744	9371	0.00	1.45	0.00	0.000	4	0.000	0.061	2017	3943	1096	0	0	0	0	0	0
9390	0.44	170.4	189.2	16.2	746	9394	0.00	1.35	0.00	0.000	6	0.000	0.039	2022	3056	1096	0	0	0	0	0	0
9720	0.44	170.4	137.9	15.9	777	9721	0.00	0.00	0.00	0.000	6	0.000	0.000	2022	3055	1096	0	0	0	0	0	0
10043	0.44	170.4	85.7	15.2	815	10049	0.00	1.42	0.00	0.000	4	0.000	0.062	2022	3929	1096	0	0	0	0	0	0
10102	0.44	170.4	75.6	18.3	825	10109	0.00	1.35	0.00	0.000	6	0.000	0.037	2029	3042	1096	0	0	0	0	0	0
10451	0.44	170.4	29.2	10.6	886	10459	0.00	1.45	0.00	0.000	4	0.000	0.061	2029	3936	1095	0	0	0	0	0	0
10572	0.44	170.4	14.2	14.8	906	10580	0.00	1.35	0.00	0.000	6	0.000	0.038	2036	3046	1094	0	0	0	0	0	0
10631	0.44	170.4	7.3	11.4	915	10640	0.00	1.30	0.00	0.000	4	0.000	0.036	2043	2167	1094	0	0	0	0	0	0
10671	end climb: SURFACE_DEPTH_REACHED
state	10671	begin surface coast
10697	end surface coast: CONTROL_FINISHED_OK
state	10697	begin surface