Glider dive log

SAGE 17Apr15 * SG573 * Dive index * Mission links * Dive 169 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 573 HD_B 0.010078 ROLL_MIN 150 ALTIM_TOP_TURN_MARGIN 0

MISSION 9 HD_C 9.8500004e-06 ROLL_MAX 3785 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 169 HEADING -1 ROLL_DEG 40 ALTIM_PING_DEPTH 50

D_SURF 3 ESCAPE_HEADING 0 C_ROLL_DIVE 1919 ALTIM_PING_DELTA 10

D_FLARE 3 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1758 ALTIM_FREQUENCY 13

D_TGT 1000 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_ABORT 1050 TGT_DEFAULT_LAT -3415 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 TGT_DEFAULT_LON 2600 ROLL_TIMEOUT 15 XPDR_VALID 5

D_BOOST 0 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 14 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 300 R_STBD_OVSHOOT 43 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST_BLACKOUT 0 N_FILEKB 4 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.55000001

D_FINISH 0 FILEMGR 0 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 KERMIT 0 ROLL_GAIN_P 0 DEVICE1 2

SURFACE_URGENCY 0 N_NOCOMM 1 VBD_MIN 409 DEVICE2 101

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MAX 3959 DEVICE3 35

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 C_VBD 2864 DEVICE4 135

T_DIVE 333 CALL_TRIES 5 VBD_DBAND 2 DEVICE5 -1

T_MISSION 348 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE6 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_TIMEOUT 720 LOGGERS 1

T_TURN 225 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012000001 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 -1

T_NO_W 120 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_LOITER 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_ALMANAC 0 UNCOM_BLEED 60 COMPASS_DEVICE 33

USE_ICE 0 T_GPS_CHARGE -14051.422 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 1 CF8_MAXERRORS 20 PHONE_DEVICE 48

D_OFFGRID 100 STROBE 0 AH0_24V 150 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 RAFOS_DEVICE -1

RELAUNCH 0 RAFOS_CORR_THRESH 60 MINV_24V 20 XPDR_DEVICE 24

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_10V 8 SIM_W 0

MAX_BUOY 200 PITCH_MIN 100 FG_AHR_10V 0 SIM_PITCH 0

COURSE_BIAS 0 PITCH_MAX 3858 FG_AHR_24V 0 SEABIRD_T_G 0.0042828661

GLIDE_SLOPE 30 C_PITCH 3020 PHONE_SUPPLY 2 SEABIRD_T_H 0.00061930995

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

RHO 1.0278 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011693723 SEABIRD_T_J 2.301111e-06

MASS 52922 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_C_G -9.9469662

LENGTH 1.8 PITCH_GAIN 20 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.155618

NAV_MODE 2 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0016006827

DIRECT_CONTROL 0 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_J 0.00019558761

FERRY_MAX 45 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 EBE_ENABLE 0

KALMAN_USE 2 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 0 GC_WINDOW 0

HD_A 0.0038360001 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 15 GC_LAST_COLLECTION 168

AD7714Ch0Gain 128 D_NO_BLEED 500 N_GPS 20 SEABIRD_T_J 2.301111e-06

AH0_10V 100 D_OFFGRID 100 N_NOCOMM 1 SIM_PITCH 0

AH0_24V 150 D_PITCH 0 N_NOSURFACE 0 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PHONE_DEVICE 48 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_TGT 1000 PITCH_ADJ_DBAND 1 STROBE 0

ALTIM_PING_DELTA 10 EBE_ENABLE 0 PITCH_ADJ_GAIN 0.02 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 50 ESCAPE_HEADING 0 PITCH_AD_RATE 175 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 FERRY_MAX 45 PITCH_DBAND 0.0099999998 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_GAIN 20 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_MAX 3858 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -3415

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PITCH_MIN 100 TGT_DEFAULT_LON 2600

CALL_NDIVES 1 GC_LAST_COLLECTION 168 PITCH_TIMEOUT 16 T_ABORT 1440

CALL_TRIES 5 GC_WINDOW 0 PITCH_VBD_SHIFT 0.0012000001 T_BOOST 0

CALL_WAIT 60 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011693723 T_BOOST_BLACKOUT 0

CAPMAXSIZE 100000 GPS_DEVICE 32 PRESSURE_YINT -86.704987 T_DIVE 333

CAPUPLOAD 0 HD_A 0.0038360001 P_OVSHOOT 0.039999999 T_GPS 15

CF8_MAXERRORS 20 HD_B 0.010078 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

COMM_SEQ 0 HD_C 9.8500004e-06 RAFOS_DEVICE -1 T_GPS_CHARGE -14051.422

COMPASS2_DEVICE -1 HEADING -1 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS_DEVICE 33 HEAD_ERRBAND 10 RAFOS_PEAK_OFFSET 1.5 T_MISSION 348

COMPASS_USE 0 HEAPDBG 0 RELAUNCH 0 T_NO_W 120

COURSE_BIAS 0 ICE_FREEZE_MARGIN 0.30000001 RHO 1.0278 T_RSLEEP 1

C_PITCH 3020 ID 573 ROLL_ADJ_DBAND 0 T_TURN 225

C_ROLL_CLIMB 1758 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_DIVE 1919 INT_PRESSURE_YINT -0.55000001 ROLL_AD_RATE 350 T_WATCHDOG 10

C_VBD 2864 KALMAN_USE 2 ROLL_CNV 0.028270001 UNCOM_BLEED 60

DEEPGLIDER 0 KERMIT 0 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 LENGTH 1.8 ROLL_GAIN_P 0 USE_BATHY 0

DEVICE1 2 LOGGERDEVICE1 -1 ROLL_MAX 3785 USE_ICE 0

DEVICE2 101 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE3 35 LOGGERDEVICE3 -1 ROLL_MIN 150 VBD_CNV -0.245296

DEVICE4 135 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE5 -1 LOGGERS 1 R_PORT_OVSHOOT 14 VBD_MAX 3959

DEVICE6 -1 MASS 52922 R_STBD_OVSHOOT 43 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 200 SEABIRD_C_G -9.9469662 VBD_MIN 409

DIVE 169 MINV_10V 8 SEABIRD_C_H 1.155618 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1050 MINV_24V 20 SEABIRD_C_I -0.0016006827 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 0 MISSION 9 SEABIRD_C_J 0.00019558761 VBD_TIMEOUT 720

D_CALL 0 MOTHERBOARD 4 SEABIRD_T_G 0.0042828661 XPDR_DEVICE 24

D_FINISH 0 NAV_MODE 2 SEABIRD_T_H 0.00061930995 XPDR_INHIBIT 90

D_FLARE 3 N_FILEKB 4 SEABIRD_T_I 2.1971719e-05 XPDR_VALID 5

Pre-dive calculations and measurements:

GPS1 290415,005936,-3425.428,2547.310,27,1.2,28,-27.8 TGT_NAME DEPLOY

_CALLS 2 TGT_LATLONG -3435.580,2528.620

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.229,0.204

_SM_DEPTHo 1.94 KALMAN_X -18488.8,-8625.5,-2647.6,-6374.3,-1020.9

_SM_ANGLEo -69.8 KALMAN_Y -14362.4,-6812.0,-2167.9,-3593.3,-569.5

GPS2 290415,011053,-3425.504,2547.399,48,1.0,48,-27.8 MHEAD_RNG_PITCHd_Wd 275.2,34175,-15.7,-10.010

SPEED_LIMITS 0.173,0.296 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.1,1.017179 _10V_AH 10.2,13.979

SM_CCo 5147,0.00,0.000,0,0,1320,378.49 FG_AHR_24Vo 0.000

SM_GC 1.95,8.88,0.00,0.00,0.052,0.000,0.000,76,1932,1320,-9.08,0.37,378.49 FG_AHR_10Vo 0.000

IRIDIUM_FIX -3409.50,2548.35,230208,121223 MEM 331532

TT8_MAMPS 0.026215 DATA_FILE_SIZE 60318,804

HUMID 61.34 CAP_FILE_SIZE 101029,0

INTERNAL_PRESSURE 9.34296 CFSIZE 2097086464,2074869760

TCM_TEMP 16.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 CURRENT 0.174, 67.5,1

ALTIM_BOTTOM_PING 240.1,27.6 GPS 290415,023822,-3425.546,2547.060,49,1.0,49,-27.8

_24V_AH 24.0,18.039

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 260 145.45 SBE_CT 546 23 304.58

Roll_motor 76 104 192.02 AA4330 2092 17 865.13

VBD_pump_during_apogee 441 747 7920.40 WL_BB2F 1441 105 3633.20

VBD_pump_during_surface 0 0 0.00 QSP2150 2258 17 933.99

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 50 91 110.47 nil 0 0 0.00

Iridium_during_connect 39 160 152.64 nil 0 0 0.00

Iridium_during_xfer 354 223 1897.47 nil 0 0 0.00

Transponder_ping 5 420 52.92 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 50 27 14.24

TT8 1889 13 267.65

LPSleep 469 2 10.50

TT8_Active 521 13 73.82

TT8_Sampling 2810 40 1171.08

TT8_CF8 136 50 70.46

TT8_Kalman 0 0 0.00

Analog_circuits 1367 15 213.72

GPS_charging 0 0 0.00

Compass 2063 15 331.06

RAFOS 0 0 0.00

Transponder 34 30 10.53

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

24 -1.02 -194.6 0.0 0.0 0 78 0.00 0.00 -51.05 0.000 2 0.000 0.000 72 1968 2634 0 0 0 0 0 0

80 -1.02 -194.6 3.0 -3.2 6 133 11.38 2.35 -31.70 0.000 4 0.260 0.104 2672 3307 3658 0 0 0 0 0 0

192 -0.78 -194.6 18.0 -22.6 21 202 0.30 2.40 0.00 0.000 6 0.174 0.080 2759 1914 3661 0 0 0 0 0 0

277 -0.70 -194.6 32.4 -14.1 34 286 0.12 0.00 0.00 0.000 6 0.209 0.000 2788 1914 3663 0 0 0 0 0 0

392 -0.68 -194.6 47.3 -12.3 53 399 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 1914 3663 0 0 0 0 0 0

508 -0.68 -194.6 62.8 -12.4 72 517 0.00 2.42 0.00 0.000 4 0.000 0.095 2779 3307 3664 0 0 0 0 0 0

558 -0.68 -194.6 68.4 -11.1 80 568 0.05 2.45 0.00 0.000 6 0.158 0.096 2794 1919 3664 0 0 0 0 0 0

676 -0.68 -194.6 80.7 -11.0 99 684 0.00 2.38 0.00 0.000 4 0.000 0.096 2785 3313 3665 0 0 0 0 0 0

767 -0.68 -194.6 91.1 -11.3 114 776 0.00 2.45 0.00 0.000 6 0.000 0.096 2785 1922 3665 0 0 0 0 0 0

883 -0.68 -194.6 104.4 -11.4 133 890 0.00 2.50 0.00 0.000 4 0.000 0.103 2785 476 3666 0 0 0 0 0 0

909 -0.68 -194.6 107.4 -11.7 137 917 0.10 2.50 0.00 0.000 6 0.217 0.100 2797 1889 3666 0 0 0 0 0 0

1022 -0.68 -194.6 120.0 -10.8 156 1035 0.00 2.50 0.00 0.000 4 0.000 0.098 2786 3343 3667 0 0 0 0 0 0

1153 -0.68 -194.6 133.0 -9.6 177 1160 0.00 2.47 0.00 0.000 6 0.000 0.095 2786 1903 3668 0 0 0 0 0 0

1267 -0.68 -194.6 145.0 -10.3 196 1275 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 1903 3668 0 0 0 0 0 0

1380 -0.68 -194.6 156.6 -10.6 215 1388 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 1903 3668 0 0 0 0 0 0

1493 -0.68 -194.6 168.4 -10.5 234 1502 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 1903 3668 0 0 0 0 0 0

1608 -0.68 -194.6 180.8 -11.3 253 1615 0.00 2.40 0.00 0.000 4 0.000 0.096 2786 482 3668 0 0 0 0 0 0

1635 -0.68 -194.6 184.1 -12.2 257 1643 0.10 2.47 0.00 0.000 6 0.223 0.088 2797 1923 3668 0 0 0 0 0 0

1749 -0.68 -194.6 196.6 -10.4 276 1758 0.00 2.42 0.00 0.000 4 0.000 0.099 2786 3334 3668 0 0 0 0 0 0

1834 -0.70 -194.6 204.9 -9.6 290 1843 0.00 2.53 0.00 0.000 6 0.000 0.104 2787 1910 3668 0 0 0 0 0 0

1949 -0.70 -194.6 216.7 -10.5 309 1956 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 1911 3667 0 0 0 0 0 0

2061 -0.70 -194.6 228.4 -10.3 328 2069 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 1910 3667 0 0 0 0 0 0

2179 -0.70 -194.6 240.1 -9.6 347 2187 0.00 2.40 0.00 0.000 4 0.000 0.095 2786 487 3667 0 0 0 0 0 0

2207 -0.70 -194.6 243.5 -10.5 351 2216 0.05 2.45 0.00 0.000 6 0.257 0.085 2785 1923 3666 0 0 0 0 0 0

2293 end dive: BOTTOM_OBSTACLE_DETECTED

state 2293 begin apogee

2297 -0.25 0.0 253.1 11.4 365 2454 0.47 0.00 151.75 0.747 6 0.168 0.000 2930 1722 2864 0 0 0 0 0 0

2455 end apogee: CONTROL_FINISHED_OK

state 2455 begin climb

2456 1.02 194.6 261.1 0.0 386 2620 1.27 2.38 154.32 0.721 4 0.112 0.052 3346 359 2068 0 0 0 0 0 0

2806 0.92 194.6 231.0 11.1 440 2815 0.08 2.30 0.00 0.000 6 0.137 0.034 3322 1775 2063 0 0 0 0 0 0

2922 0.88 199.1 219.3 9.9 459 2931 0.08 0.00 4.05 0.490 6 0.197 0.000 3304 1775 2052 0 0 0 0 0 0

3036 0.88 223.8 207.9 9.2 478 3060 0.00 0.00 22.40 0.689 6 0.000 0.000 3304 1775 1951 0 0 0 0 0 0

3167 0.88 223.8 194.9 10.4 499 3174 0.00 0.00 0.00 0.000 6 0.000 0.000 3304 1776 1946 0 0 0 0 0 0

3279 0.88 223.8 183.4 10.1 518 3287 0.00 0.00 0.00 0.000 6 0.000 0.000 3304 1775 1946 0 0 0 0 0 0

3395 0.88 223.8 172.1 10.2 537 3401 0.00 0.00 0.00 0.000 6 0.000 0.000 3304 1775 1945 0 0 0 0 0 0

3508 0.88 228.3 160.8 9.9 556 3517 0.00 0.00 4.18 0.502 6 0.000 0.000 3304 1775 1933 0 0 0 0 0 0

3623 0.88 228.3 149.4 10.4 575 3630 0.00 0.00 0.00 0.000 6 0.000 0.000 3304 1775 1932 0 0 0 0 0 0

3735 0.90 240.3 138.2 9.6 594 3751 0.00 0.00 11.73 0.629 6 0.000 0.000 3304 1776 1884 0 0 0 0 0 0

3856 0.90 240.3 126.3 10.0 614 3865 0.00 2.30 0.00 0.000 4 0.000 0.053 3314 365 1881 0 0 0 0 0 0

3890 0.90 240.3 122.9 10.5 619 3898 0.00 2.20 0.00 0.000 6 0.000 0.040 3314 1756 1881 0 0 0 0 0 0

4003 0.92 258.7 111.9 9.4 638 4028 0.00 2.30 16.62 0.661 4 0.000 0.067 3314 3174 1808 0 0 0 0 0 0

4048 0.92 258.7 107.7 10.5 644 4057 0.00 2.33 0.00 0.000 6 0.000 0.066 3323 1785 1806 0 0 0 0 0 0

4164 0.89 258.7 95.1 11.2 663 4172 0.05 2.35 0.00 0.000 4 0.234 0.060 3323 336 1805 0 0 0 0 0 0

4216 0.87 258.7 89.3 10.9 671 4225 0.10 2.28 0.00 0.000 6 0.164 0.037 3297 1755 1804 0 0 0 0 0 0

4330 0.89 278.9 78.0 9.3 690 4355 0.00 2.30 18.08 0.644 4 0.000 0.059 3297 3183 1725 0 0 0 0 0 0

4380 0.89 278.9 72.8 11.5 697 4387 0.00 2.38 0.00 0.000 6 0.000 0.070 3306 1755 1723 0 0 0 0 0 0

4492 0.89 278.9 60.1 11.5 716 4501 0.00 2.35 0.00 0.000 4 0.000 0.068 3307 3173 1722 0 0 0 0 0 0

4507 0.89 278.9 58.2 11.4 718 4516 0.00 2.38 0.00 0.000 6 0.000 0.070 3316 1756 1721 0 0 0 0 0 0

4621 0.89 278.9 45.9 10.3 737 4628 0.00 0.00 0.00 0.000 6 0.000 0.000 3316 1756 1720 0 0 0 0 0 0

4736 0.93 308.6 35.7 9.0 756 4767 0.00 2.38 24.77 0.630 4 0.000 0.058 3327 336 1603 0 0 0 0 0 0

4830 0.97 342.0 28.0 8.9 770 4857 0.00 2.33 17.40 0.585 6 0.000 0.041 3327 1756 1468 0 0 0 0 0 0

4934 1.05 375.0 18.4 8.9 785 4962 0.10 2.35 16.25 0.549 4 0.096 0.059 3387 3180 1332 0 0 0 0 0 0

5014 0.98 375.0 7.6 15.2 796 5024 0.17 2.33 0.00 0.000 6 0.131 0.050 3341 1758 1327 0 0 0 0 0 0

5049 end climb: SURFACE_DEPTH_REACHED

state 5049 begin surface coast

5070 end surface coast: CONTROL_FINISHED_OK

state 5071 begin surface

ID	573	HD_B	0.010078	ROLL_MIN	150	ALTIM_TOP_TURN_MARGIN	0
MISSION	9	HD_C	9.8500004e-06	ROLL_MAX	3785	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	169	HEADING	-1	ROLL_DEG	40	ALTIM_PING_DEPTH	50
D_SURF	3	ESCAPE_HEADING	0	C_ROLL_DIVE	1919	ALTIM_PING_DELTA	10
D_FLARE	3	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1758	ALTIM_FREQUENCY	13
D_TGT	1000	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_ABORT	1050	TGT_DEFAULT_LAT	-3415	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	TGT_DEFAULT_LON	2600	ROLL_TIMEOUT	15	XPDR_VALID	5
D_BOOST	0	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	14	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	300	R_STBD_OVSHOOT	43	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST_BLACKOUT	0	N_FILEKB	4	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.55000001
D_FINISH	0	FILEMGR	0	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	KERMIT	0	ROLL_GAIN_P	0	DEVICE1	2
SURFACE_URGENCY	0	N_NOCOMM	1	VBD_MIN	409	DEVICE2	101
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MAX	3959	DEVICE3	35
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	C_VBD	2864	DEVICE4	135
T_DIVE	333	CALL_TRIES	5	VBD_DBAND	2	DEVICE5	-1
T_MISSION	348	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE6	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_TIMEOUT	720	LOGGERS	1
T_TURN	225	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012000001	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	-1
T_NO_W	120	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_LOITER	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_ALMANAC	0	UNCOM_BLEED	60	COMPASS_DEVICE	33
USE_ICE	0	T_GPS_CHARGE	-14051.422	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	1	CF8_MAXERRORS	20	PHONE_DEVICE	48
D_OFFGRID	100	STROBE	0	AH0_24V	150	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	RAFOS_DEVICE	-1
RELAUNCH	0	RAFOS_CORR_THRESH	60	MINV_24V	20	XPDR_DEVICE	24
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	8	SIM_W	0
MAX_BUOY	200	PITCH_MIN	100	FG_AHR_10V	0	SIM_PITCH	0
COURSE_BIAS	0	PITCH_MAX	3858	FG_AHR_24V	0	SEABIRD_T_G	0.0042828661
GLIDE_SLOPE	30	C_PITCH	3020	PHONE_SUPPLY	2	SEABIRD_T_H	0.00061930995
SPEED_FACTOR	1	PITCH_DBAND	0.0099999998	PRESSURE_YINT	-86.704987	SEABIRD_T_I	2.1971719e-05
RHO	1.0278	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011693723	SEABIRD_T_J	2.301111e-06
MASS	52922	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_C_G	-9.9469662
LENGTH	1.8	PITCH_GAIN	20	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.155618
NAV_MODE	2	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0016006827
DIRECT_CONTROL	0	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_J	0.00019558761
FERRY_MAX	45	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	EBE_ENABLE	0
KALMAN_USE	2	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	0	GC_WINDOW	0
HD_A	0.0038360001	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	15	GC_LAST_COLLECTION	168

GPS1	290415,005936,-3425.428,2547.310,27,1.2,28,-27.8	TGT_NAME	DEPLOY
_CALLS	2	TGT_LATLONG	-3435.580,2528.620
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.229,0.204
_SM_DEPTHo	1.94	KALMAN_X	-18488.8,-8625.5,-2647.6,-6374.3,-1020.9
_SM_ANGLEo	-69.8	KALMAN_Y	-14362.4,-6812.0,-2167.9,-3593.3,-569.5
GPS2	290415,011053,-3425.504,2547.399,48,1.0,48,-27.8	MHEAD_RNG_PITCHd_Wd	275.2,34175,-15.7,-10.010
SPEED_LIMITS	0.173,0.296	D_GRID	1000

FINISH	1.1,1.017179	_10V_AH	10.2,13.979
SM_CCo	5147,0.00,0.000,0,0,1320,378.49	FG_AHR_24Vo	0.000
SM_GC	1.95,8.88,0.00,0.00,0.052,0.000,0.000,76,1932,1320,-9.08,0.37,378.49	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-3409.50,2548.35,230208,121223	MEM	331532
TT8_MAMPS	0.026215	DATA_FILE_SIZE	60318,804
HUMID	61.34	CAP_FILE_SIZE	101029,0
INTERNAL_PRESSURE	9.34296	CFSIZE	2097086464,2074869760
TCM_TEMP	16.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	CURRENT	0.174, 67.5,1
ALTIM_BOTTOM_PING	240.1,27.6	GPS	290415,023822,-3425.546,2547.060,49,1.0,49,-27.8
_24V_AH	24.0,18.039

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	260	145.45	SBE_CT	546	23	304.58
Roll_motor	76	104	192.02	AA4330	2092	17	865.13
VBD_pump_during_apogee	441	747	7920.40	WL_BB2F	1441	105	3633.20
VBD_pump_during_surface	0	0	0.00	QSP2150	2258	17	933.99
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	50	91	110.47	nil	0	0	0.00
Iridium_during_connect	39	160	152.64	nil	0	0	0.00
Iridium_during_xfer	354	223	1897.47	nil	0	0	0.00
Transponder_ping	5	420	52.92	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	50	27	14.24
TT8	1889	13	267.65
LPSleep	469	2	10.50
TT8_Active	521	13	73.82
TT8_Sampling	2810	40	1171.08
TT8_CF8	136	50	70.46
TT8_Kalman	0	0	0.00
Analog_circuits	1367	15	213.72
GPS_charging	0	0	0.00
Compass	2063	15	331.06
RAFOS	0	0	0.00
Transponder	34	30	10.53

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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
24	-1.02	-194.6	0.0	0.0	0	78	0.00	0.00	-51.05	0.000	2	0.000	0.000	72	1968	2634	0	0	0	0	0	0
80	-1.02	-194.6	3.0	-3.2	6	133	11.38	2.35	-31.70	0.000	4	0.260	0.104	2672	3307	3658	0	0	0	0	0	0
192	-0.78	-194.6	18.0	-22.6	21	202	0.30	2.40	0.00	0.000	6	0.174	0.080	2759	1914	3661	0	0	0	0	0	0
277	-0.70	-194.6	32.4	-14.1	34	286	0.12	0.00	0.00	0.000	6	0.209	0.000	2788	1914	3663	0	0	0	0	0	0
392	-0.68	-194.6	47.3	-12.3	53	399	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	1914	3663	0	0	0	0	0	0
508	-0.68	-194.6	62.8	-12.4	72	517	0.00	2.42	0.00	0.000	4	0.000	0.095	2779	3307	3664	0	0	0	0	0	0
558	-0.68	-194.6	68.4	-11.1	80	568	0.05	2.45	0.00	0.000	6	0.158	0.096	2794	1919	3664	0	0	0	0	0	0
676	-0.68	-194.6	80.7	-11.0	99	684	0.00	2.38	0.00	0.000	4	0.000	0.096	2785	3313	3665	0	0	0	0	0	0
767	-0.68	-194.6	91.1	-11.3	114	776	0.00	2.45	0.00	0.000	6	0.000	0.096	2785	1922	3665	0	0	0	0	0	0
883	-0.68	-194.6	104.4	-11.4	133	890	0.00	2.50	0.00	0.000	4	0.000	0.103	2785	476	3666	0	0	0	0	0	0
909	-0.68	-194.6	107.4	-11.7	137	917	0.10	2.50	0.00	0.000	6	0.217	0.100	2797	1889	3666	0	0	0	0	0	0
1022	-0.68	-194.6	120.0	-10.8	156	1035	0.00	2.50	0.00	0.000	4	0.000	0.098	2786	3343	3667	0	0	0	0	0	0
1153	-0.68	-194.6	133.0	-9.6	177	1160	0.00	2.47	0.00	0.000	6	0.000	0.095	2786	1903	3668	0	0	0	0	0	0
1267	-0.68	-194.6	145.0	-10.3	196	1275	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	1903	3668	0	0	0	0	0	0
1380	-0.68	-194.6	156.6	-10.6	215	1388	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	1903	3668	0	0	0	0	0	0
1493	-0.68	-194.6	168.4	-10.5	234	1502	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	1903	3668	0	0	0	0	0	0
1608	-0.68	-194.6	180.8	-11.3	253	1615	0.00	2.40	0.00	0.000	4	0.000	0.096	2786	482	3668	0	0	0	0	0	0
1635	-0.68	-194.6	184.1	-12.2	257	1643	0.10	2.47	0.00	0.000	6	0.223	0.088	2797	1923	3668	0	0	0	0	0	0
1749	-0.68	-194.6	196.6	-10.4	276	1758	0.00	2.42	0.00	0.000	4	0.000	0.099	2786	3334	3668	0	0	0	0	0	0
1834	-0.70	-194.6	204.9	-9.6	290	1843	0.00	2.53	0.00	0.000	6	0.000	0.104	2787	1910	3668	0	0	0	0	0	0
1949	-0.70	-194.6	216.7	-10.5	309	1956	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	1911	3667	0	0	0	0	0	0
2061	-0.70	-194.6	228.4	-10.3	328	2069	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	1910	3667	0	0	0	0	0	0
2179	-0.70	-194.6	240.1	-9.6	347	2187	0.00	2.40	0.00	0.000	4	0.000	0.095	2786	487	3667	0	0	0	0	0	0
2207	-0.70	-194.6	243.5	-10.5	351	2216	0.05	2.45	0.00	0.000	6	0.257	0.085	2785	1923	3666	0	0	0	0	0	0
2293	end dive: BOTTOM_OBSTACLE_DETECTED
state	2293	begin apogee
2297	-0.25	0.0	253.1	11.4	365	2454	0.47	0.00	151.75	0.747	6	0.168	0.000	2930	1722	2864	0	0	0	0	0	0
2455	end apogee: CONTROL_FINISHED_OK
state	2455	begin climb
2456	1.02	194.6	261.1	0.0	386	2620	1.27	2.38	154.32	0.721	4	0.112	0.052	3346	359	2068	0	0	0	0	0	0
2806	0.92	194.6	231.0	11.1	440	2815	0.08	2.30	0.00	0.000	6	0.137	0.034	3322	1775	2063	0	0	0	0	0	0
2922	0.88	199.1	219.3	9.9	459	2931	0.08	0.00	4.05	0.490	6	0.197	0.000	3304	1775	2052	0	0	0	0	0	0
3036	0.88	223.8	207.9	9.2	478	3060	0.00	0.00	22.40	0.689	6	0.000	0.000	3304	1775	1951	0	0	0	0	0	0
3167	0.88	223.8	194.9	10.4	499	3174	0.00	0.00	0.00	0.000	6	0.000	0.000	3304	1776	1946	0	0	0	0	0	0
3279	0.88	223.8	183.4	10.1	518	3287	0.00	0.00	0.00	0.000	6	0.000	0.000	3304	1775	1946	0	0	0	0	0	0
3395	0.88	223.8	172.1	10.2	537	3401	0.00	0.00	0.00	0.000	6	0.000	0.000	3304	1775	1945	0	0	0	0	0	0
3508	0.88	228.3	160.8	9.9	556	3517	0.00	0.00	4.18	0.502	6	0.000	0.000	3304	1775	1933	0	0	0	0	0	0
3623	0.88	228.3	149.4	10.4	575	3630	0.00	0.00	0.00	0.000	6	0.000	0.000	3304	1775	1932	0	0	0	0	0	0
3735	0.90	240.3	138.2	9.6	594	3751	0.00	0.00	11.73	0.629	6	0.000	0.000	3304	1776	1884	0	0	0	0	0	0
3856	0.90	240.3	126.3	10.0	614	3865	0.00	2.30	0.00	0.000	4	0.000	0.053	3314	365	1881	0	0	0	0	0	0
3890	0.90	240.3	122.9	10.5	619	3898	0.00	2.20	0.00	0.000	6	0.000	0.040	3314	1756	1881	0	0	0	0	0	0
4003	0.92	258.7	111.9	9.4	638	4028	0.00	2.30	16.62	0.661	4	0.000	0.067	3314	3174	1808	0	0	0	0	0	0
4048	0.92	258.7	107.7	10.5	644	4057	0.00	2.33	0.00	0.000	6	0.000	0.066	3323	1785	1806	0	0	0	0	0	0
4164	0.89	258.7	95.1	11.2	663	4172	0.05	2.35	0.00	0.000	4	0.234	0.060	3323	336	1805	0	0	0	0	0	0
4216	0.87	258.7	89.3	10.9	671	4225	0.10	2.28	0.00	0.000	6	0.164	0.037	3297	1755	1804	0	0	0	0	0	0
4330	0.89	278.9	78.0	9.3	690	4355	0.00	2.30	18.08	0.644	4	0.000	0.059	3297	3183	1725	0	0	0	0	0	0
4380	0.89	278.9	72.8	11.5	697	4387	0.00	2.38	0.00	0.000	6	0.000	0.070	3306	1755	1723	0	0	0	0	0	0
4492	0.89	278.9	60.1	11.5	716	4501	0.00	2.35	0.00	0.000	4	0.000	0.068	3307	3173	1722	0	0	0	0	0	0
4507	0.89	278.9	58.2	11.4	718	4516	0.00	2.38	0.00	0.000	6	0.000	0.070	3316	1756	1721	0	0	0	0	0	0
4621	0.89	278.9	45.9	10.3	737	4628	0.00	0.00	0.00	0.000	6	0.000	0.000	3316	1756	1720	0	0	0	0	0	0
4736	0.93	308.6	35.7	9.0	756	4767	0.00	2.38	24.77	0.630	4	0.000	0.058	3327	336	1603	0	0	0	0	0	0
4830	0.97	342.0	28.0	8.9	770	4857	0.00	2.33	17.40	0.585	6	0.000	0.041	3327	1756	1468	0	0	0	0	0	0
4934	1.05	375.0	18.4	8.9	785	4962	0.10	2.35	16.25	0.549	4	0.096	0.059	3387	3180	1332	0	0	0	0	0	0
5014	0.98	375.0	7.6	15.2	796	5024	0.17	2.33	0.00	0.000	6	0.131	0.050	3341	1758	1327	0	0	0	0	0	0
5049	end climb: SURFACE_DEPTH_REACHED
state	5049	begin surface coast
5070	end surface coast: CONTROL_FINISHED_OK
state	5071	begin surface