Glider dive log

SAGE 17Apr15 * SG573 * Dive index * Mission links * Dive 170 * 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 170 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 20 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 300 R_STBD_OVSHOOT 12 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 -14054.819 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 169

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 169 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 -14054.819

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 20 VBD_MAX 3959

DEVICE6 -1 MASS 52922 R_STBD_OVSHOOT 12 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 200 SEABIRD_C_G -9.9469662 VBD_MIN 409

DIVE 170 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 290415,023822,-3425.546,2547.060,49,1.0,49,-27.8 TGT_NAME DEPLOY

_CALLS 1 TGT_LATLONG -3435.580,2528.620

_XMS_NAKs 6 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.229,0.204

_SM_DEPTHo 1.89 KALMAN_X -18488.8,-8625.5,-2647.6,-6374.3,-1020.9

_SM_ANGLEo -65.4 KALMAN_Y -14362.4,-6812.0,-2167.9,-3593.3,-569.5

GPS2 290415,024635,-3425.562,2547.149,41,1.1,42,-27.8 MHEAD_RNG_PITCHd_Wd 270.7,33796,-15.7,-10.010

SPEED_LIMITS 0.173,0.296 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.2,1.011727 _10V_AH 10.2,14.106

SM_CCo 5272,0.00,0.000,0,0,1403,358.38 FG_AHR_24Vo 0.000

SM_GC 1.92,8.85,0.00,0.00,0.052,0.000,0.000,70,1932,1403,-9.09,0.37,358.38 FG_AHR_10Vo 0.000

IRIDIUM_FIX -3409.50,2546.00,230208,141423 MEM 331516

TT8_MAMPS 0.026964 DATA_FILE_SIZE 60428,821

HUMID 61.65 CAP_FILE_SIZE 101006,0

INTERNAL_PRESSURE 9.34296 CFSIZE 2097086464,2074771456

TCM_TEMP 16.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2

XPDR_PINGS 0 CURRENT 0.160, 67.1,1

ALTIM_BOTTOM_PING 240.1,31.5 GPS 290415,041606,-3425.677,2546.761,44,1.7,45,-27.8

_24V_AH 24.0,18.151

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 263 149.05 SBE_CT 558 23 311.00

Roll_motor 67 117 188.84 AA4330 2131 17 881.32

VBD_pump_during_apogee 446 753 8068.90 WL_BB2F 1464 105 3690.70

VBD_pump_during_surface 0 0 0.00 QSP2150 2301 17 951.56

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 91 58.22 nil 0 0 0.00

Iridium_during_connect 45 160 176.33 nil 0 0 0.00

Iridium_during_xfer 282 223 1511.69 nil 0 0 0.00

Transponder_ping 5 420 52.92 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 44 27 12.52

TT8 1924 13 272.71

LPSleep 428 2 9.57

TT8_Active 541 13 76.73

TT8_Sampling 2729 40 1137.34

TT8_CF8 142 50 73.77

TT8_Kalman 0 0 0.00

Analog_circuits 1403 15 219.30

GPS_charging 0 0 0.00

Compass 2101 15 337.21

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

24 -1.02 -194.6 0.0 0.0 0 86 0.00 0.00 -59.50 0.000 2 0.000 0.000 75 1932 2717 0 0 0 0 0 0

88 -1.02 -194.6 3.1 -3.5 7 133 11.45 0.00 -26.42 0.000 6 0.263 0.000 2683 1931 3660 0 0 0 0 0 0

210 -0.79 -194.6 23.3 -21.9 24 219 0.28 2.45 0.00 0.000 4 0.207 0.088 2748 3345 3664 0 0 0 0 0 0

234 -0.63 -194.6 27.6 -18.6 27 245 0.20 2.45 0.00 0.000 6 0.161 0.082 2808 1931 3664 0 0 0 0 0 0

315 -0.63 -194.6 38.1 -10.9 40 324 0.00 2.58 0.00 0.000 4 0.000 0.105 2808 484 3665 0 0 0 0 0 0

408 -0.63 -194.6 48.0 -10.9 55 416 0.05 2.65 0.00 0.000 6 0.246 0.117 2808 1921 3665 0 0 0 0 0 0

525 -0.66 -194.6 60.8 -11.4 74 534 0.00 2.42 0.00 0.000 4 0.000 0.090 2798 3348 3666 0 0 0 0 0 0

706 -0.69 -194.6 82.1 -11.7 104 714 0.00 2.53 0.00 0.000 6 0.000 0.098 2799 1919 3667 0 0 0 0 0 0

823 -0.71 -194.6 96.0 -11.2 123 830 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 1919 3668 0 0 0 0 0 0

937 -0.73 -194.6 108.2 -10.1 142 945 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 1919 3669 0 0 0 0 0 0

1055 -0.76 -194.6 119.8 -10.5 161 1065 0.08 2.42 0.00 0.000 4 0.120 0.094 2738 3357 3669 0 0 0 0 0 0

1097 -0.70 -194.6 124.7 -12.4 167 1106 0.17 2.45 0.00 0.000 6 0.163 0.086 2785 1907 3670 0 0 0 0 0 0

1213 -0.70 -194.6 137.2 -9.9 186 1222 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 1907 3669 0 0 0 0 0 0

1329 -0.70 -194.6 148.8 -9.7 205 1335 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 1907 3669 0 0 0 0 0 0

1444 -0.70 -194.6 161.1 -10.8 224 1452 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 1907 3669 0 0 0 0 0 0

1560 -0.70 -194.6 173.3 -11.2 243 1567 0.00 2.45 0.00 0.000 4 0.000 0.095 2776 3352 3670 0 0 0 0 0 0

1593 -0.70 -194.6 177.2 -11.1 248 1602 0.03 2.53 0.00 0.000 6 0.136 0.104 2785 1930 3670 0 0 0 0 0 0

1711 -0.70 -194.6 189.8 -11.0 267 1719 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 1930 3669 0 0 0 0 0 0

1827 -0.70 -194.6 202.6 -10.6 286 1835 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 1930 3669 0 0 0 0 0 0

1944 -0.70 -194.6 215.7 -11.2 305 1951 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 1930 3669 0 0 0 0 0 0

2057 -0.70 -194.6 228.3 -11.1 324 2065 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 1930 3669 0 0 0 0 0 0

2175 -0.70 -194.6 241.0 -10.8 343 2182 0.00 0.00 0.00 0.000 6 0.000 0.000 2784 1930 3669 0 0 0 0 0 0

2287 -0.70 -194.6 252.6 -9.9 362 2296 0.00 2.47 0.00 0.000 4 0.000 0.095 2785 485 3669 0 0 0 0 0 0

2321 -0.70 -194.6 256.1 -11.1 367 2330 0.05 2.45 0.00 0.000 6 0.261 0.082 2784 1928 3669 0 0 0 0 0 0

2337 end dive: BOTTOM_OBSTACLE_DETECTED

state 2337 begin apogee

2341 -0.25 0.0 258.0 11.1 369 2503 0.50 0.00 152.38 0.754 6 0.170 0.000 2935 1716 2863 0 0 0 0 0 0

2503 end apogee: CONTROL_FINISHED_OK

state 2504 begin climb

2505 1.02 194.6 265.5 0.0 391 2669 1.25 2.35 154.45 0.727 4 0.109 0.050 3347 362 2069 0 0 0 0 0 0

2805 0.92 194.6 242.6 10.4 436 2815 0.08 2.30 0.00 0.000 6 0.135 0.032 3323 1776 2063 0 0 0 0 0 0

2922 0.88 206.6 231.0 9.6 455 2938 0.08 0.00 10.12 0.647 6 0.198 0.000 3306 1777 2023 0 0 0 0 0 0

3046 0.88 224.6 219.6 9.4 475 3068 0.00 0.00 17.10 0.682 6 0.000 0.000 3306 1777 1946 0 0 0 0 0 0

3173 0.88 226.9 207.3 9.9 496 3181 0.00 0.00 0.00 0.000 6 0.000 0.000 3306 1777 1943 0 0 0 0 0 0

3288 0.91 249.1 196.6 9.2 515 3317 0.00 0.00 21.42 0.689 6 0.000 0.000 3306 1777 1846 0 0 0 0 0 0

3424 0.91 249.1 183.4 10.0 537 3431 0.00 2.30 0.00 0.000 4 0.000 0.050 3316 360 1842 0 0 0 0 0 0

3455 0.91 249.1 179.9 10.8 542 3464 0.00 2.25 0.00 0.000 6 0.000 0.037 3316 1752 1841 0 0 0 0 0 0

3571 0.91 249.1 168.2 10.3 561 3577 0.00 0.00 0.00 0.000 6 0.000 0.000 3316 1752 1841 0 0 0 0 0 0

3684 0.91 251.2 156.7 9.9 580 3692 0.00 0.00 0.00 0.000 6 0.000 0.000 3316 1752 1841 0 0 0 0 0 0

3797 0.91 251.2 145.4 10.4 599 3805 0.00 2.28 0.00 0.000 4 0.000 0.063 3316 3174 1840 0 0 0 0 0 0

3825 0.88 251.2 142.4 10.7 603 3834 0.08 2.25 0.00 0.000 6 0.191 0.060 3308 1774 1840 0 0 0 0 0 0

3941 0.88 251.2 130.3 10.6 622 3949 0.00 2.35 0.00 0.000 4 0.000 0.056 3319 335 1840 0 0 0 0 0 0

4033 0.85 251.2 120.3 10.8 637 4041 0.10 2.22 0.00 0.000 6 0.157 0.035 3293 1760 1840 0 0 0 0 0 0

4146 0.88 271.8 109.3 9.3 656 4177 0.00 2.30 19.85 0.669 4 0.000 0.060 3293 3168 1753 0 0 0 0 0 0

4202 0.88 271.8 103.8 10.3 664 4211 0.00 2.35 0.00 0.000 6 0.000 0.067 3301 1765 1750 0 0 0 0 0 0

4317 0.88 271.8 92.2 10.7 683 4325 0.00 2.30 0.00 0.000 4 0.000 0.058 3312 333 1749 0 0 0 0 0 0

4369 0.88 271.8 86.8 11.0 691 4377 0.00 2.25 0.00 0.000 6 0.000 0.040 3312 1753 1749 0 0 0 0 0 0

4481 0.88 271.8 75.4 10.1 710 4491 0.00 2.33 0.00 0.000 4 0.000 0.068 3313 3171 1748 0 0 0 0 0 0

4517 0.88 271.8 72.2 10.4 715 4526 0.08 2.30 0.00 0.000 6 0.190 0.062 3305 1750 1748 0 0 0 0 0 0

4632 0.95 327.3 61.9 8.1 734 4685 0.00 0.00 46.60 0.654 6 0.000 0.000 3305 1750 1530 0 0 0 0 0 0

4792 1.02 354.7 48.4 9.1 759 4823 0.12 0.00 24.25 0.625 6 0.080 0.000 3385 1749 1418 0 0 0 0 0 0

4931 0.98 354.7 30.6 12.2 781 4939 0.17 2.30 0.00 0.000 4 0.149 0.057 3348 338 1411 0 0 0 0 0 0

4998 1.00 354.7 23.0 11.1 791 5008 0.00 2.33 0.00 0.000 6 0.000 0.044 3348 1750 1410 0 0 0 0 0 0

5085 1.00 354.7 13.1 10.3 804 5093 0.00 0.00 0.00 0.000 6 0.000 0.000 3348 1749 1408 0 0 0 0 0 0

5169 end climb: SURFACE_DEPTH_REACHED

state 5169 begin surface coast

5195 end surface coast: CONTROL_FINISHED_OK

state 5196 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	170	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	20	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	300	R_STBD_OVSHOOT	12	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	-14054.819	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	169

GPS1	290415,023822,-3425.546,2547.060,49,1.0,49,-27.8	TGT_NAME	DEPLOY
_CALLS	1	TGT_LATLONG	-3435.580,2528.620
_XMS_NAKs	6	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.229,0.204
_SM_DEPTHo	1.89	KALMAN_X	-18488.8,-8625.5,-2647.6,-6374.3,-1020.9
_SM_ANGLEo	-65.4	KALMAN_Y	-14362.4,-6812.0,-2167.9,-3593.3,-569.5
GPS2	290415,024635,-3425.562,2547.149,41,1.1,42,-27.8	MHEAD_RNG_PITCHd_Wd	270.7,33796,-15.7,-10.010
SPEED_LIMITS	0.173,0.296	D_GRID	1000

FINISH	1.2,1.011727	_10V_AH	10.2,14.106
SM_CCo	5272,0.00,0.000,0,0,1403,358.38	FG_AHR_24Vo	0.000
SM_GC	1.92,8.85,0.00,0.00,0.052,0.000,0.000,70,1932,1403,-9.09,0.37,358.38	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-3409.50,2546.00,230208,141423	MEM	331516
TT8_MAMPS	0.026964	DATA_FILE_SIZE	60428,821
HUMID	61.65	CAP_FILE_SIZE	101006,0
INTERNAL_PRESSURE	9.34296	CFSIZE	2097086464,2074771456
TCM_TEMP	16.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
XPDR_PINGS	0	CURRENT	0.160, 67.1,1
ALTIM_BOTTOM_PING	240.1,31.5	GPS	290415,041606,-3425.677,2546.761,44,1.7,45,-27.8
_24V_AH	24.0,18.151

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	263	149.05	SBE_CT	558	23	311.00
Roll_motor	67	117	188.84	AA4330	2131	17	881.32
VBD_pump_during_apogee	446	753	8068.90	WL_BB2F	1464	105	3690.70
VBD_pump_during_surface	0	0	0.00	QSP2150	2301	17	951.56
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	91	58.22	nil	0	0	0.00
Iridium_during_connect	45	160	176.33	nil	0	0	0.00
Iridium_during_xfer	282	223	1511.69	nil	0	0	0.00
Transponder_ping	5	420	52.92	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	44	27	12.52
TT8	1924	13	272.71
LPSleep	428	2	9.57
TT8_Active	541	13	76.73
TT8_Sampling	2729	40	1137.34
TT8_CF8	142	50	73.77
TT8_Kalman	0	0	0.00
Analog_circuits	1403	15	219.30
GPS_charging	0	0	0.00
Compass	2101	15	337.21
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
24	-1.02	-194.6	0.0	0.0	0	86	0.00	0.00	-59.50	0.000	2	0.000	0.000	75	1932	2717	0	0	0	0	0	0
88	-1.02	-194.6	3.1	-3.5	7	133	11.45	0.00	-26.42	0.000	6	0.263	0.000	2683	1931	3660	0	0	0	0	0	0
210	-0.79	-194.6	23.3	-21.9	24	219	0.28	2.45	0.00	0.000	4	0.207	0.088	2748	3345	3664	0	0	0	0	0	0
234	-0.63	-194.6	27.6	-18.6	27	245	0.20	2.45	0.00	0.000	6	0.161	0.082	2808	1931	3664	0	0	0	0	0	0
315	-0.63	-194.6	38.1	-10.9	40	324	0.00	2.58	0.00	0.000	4	0.000	0.105	2808	484	3665	0	0	0	0	0	0
408	-0.63	-194.6	48.0	-10.9	55	416	0.05	2.65	0.00	0.000	6	0.246	0.117	2808	1921	3665	0	0	0	0	0	0
525	-0.66	-194.6	60.8	-11.4	74	534	0.00	2.42	0.00	0.000	4	0.000	0.090	2798	3348	3666	0	0	0	0	0	0
706	-0.69	-194.6	82.1	-11.7	104	714	0.00	2.53	0.00	0.000	6	0.000	0.098	2799	1919	3667	0	0	0	0	0	0
823	-0.71	-194.6	96.0	-11.2	123	830	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	1919	3668	0	0	0	0	0	0
937	-0.73	-194.6	108.2	-10.1	142	945	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	1919	3669	0	0	0	0	0	0
1055	-0.76	-194.6	119.8	-10.5	161	1065	0.08	2.42	0.00	0.000	4	0.120	0.094	2738	3357	3669	0	0	0	0	0	0
1097	-0.70	-194.6	124.7	-12.4	167	1106	0.17	2.45	0.00	0.000	6	0.163	0.086	2785	1907	3670	0	0	0	0	0	0
1213	-0.70	-194.6	137.2	-9.9	186	1222	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	1907	3669	0	0	0	0	0	0
1329	-0.70	-194.6	148.8	-9.7	205	1335	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	1907	3669	0	0	0	0	0	0
1444	-0.70	-194.6	161.1	-10.8	224	1452	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	1907	3669	0	0	0	0	0	0
1560	-0.70	-194.6	173.3	-11.2	243	1567	0.00	2.45	0.00	0.000	4	0.000	0.095	2776	3352	3670	0	0	0	0	0	0
1593	-0.70	-194.6	177.2	-11.1	248	1602	0.03	2.53	0.00	0.000	6	0.136	0.104	2785	1930	3670	0	0	0	0	0	0
1711	-0.70	-194.6	189.8	-11.0	267	1719	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	1930	3669	0	0	0	0	0	0
1827	-0.70	-194.6	202.6	-10.6	286	1835	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	1930	3669	0	0	0	0	0	0
1944	-0.70	-194.6	215.7	-11.2	305	1951	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	1930	3669	0	0	0	0	0	0
2057	-0.70	-194.6	228.3	-11.1	324	2065	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	1930	3669	0	0	0	0	0	0
2175	-0.70	-194.6	241.0	-10.8	343	2182	0.00	0.00	0.00	0.000	6	0.000	0.000	2784	1930	3669	0	0	0	0	0	0
2287	-0.70	-194.6	252.6	-9.9	362	2296	0.00	2.47	0.00	0.000	4	0.000	0.095	2785	485	3669	0	0	0	0	0	0
2321	-0.70	-194.6	256.1	-11.1	367	2330	0.05	2.45	0.00	0.000	6	0.261	0.082	2784	1928	3669	0	0	0	0	0	0
2337	end dive: BOTTOM_OBSTACLE_DETECTED
state	2337	begin apogee
2341	-0.25	0.0	258.0	11.1	369	2503	0.50	0.00	152.38	0.754	6	0.170	0.000	2935	1716	2863	0	0	0	0	0	0
2503	end apogee: CONTROL_FINISHED_OK
state	2504	begin climb
2505	1.02	194.6	265.5	0.0	391	2669	1.25	2.35	154.45	0.727	4	0.109	0.050	3347	362	2069	0	0	0	0	0	0
2805	0.92	194.6	242.6	10.4	436	2815	0.08	2.30	0.00	0.000	6	0.135	0.032	3323	1776	2063	0	0	0	0	0	0
2922	0.88	206.6	231.0	9.6	455	2938	0.08	0.00	10.12	0.647	6	0.198	0.000	3306	1777	2023	0	0	0	0	0	0
3046	0.88	224.6	219.6	9.4	475	3068	0.00	0.00	17.10	0.682	6	0.000	0.000	3306	1777	1946	0	0	0	0	0	0
3173	0.88	226.9	207.3	9.9	496	3181	0.00	0.00	0.00	0.000	6	0.000	0.000	3306	1777	1943	0	0	0	0	0	0
3288	0.91	249.1	196.6	9.2	515	3317	0.00	0.00	21.42	0.689	6	0.000	0.000	3306	1777	1846	0	0	0	0	0	0
3424	0.91	249.1	183.4	10.0	537	3431	0.00	2.30	0.00	0.000	4	0.000	0.050	3316	360	1842	0	0	0	0	0	0
3455	0.91	249.1	179.9	10.8	542	3464	0.00	2.25	0.00	0.000	6	0.000	0.037	3316	1752	1841	0	0	0	0	0	0
3571	0.91	249.1	168.2	10.3	561	3577	0.00	0.00	0.00	0.000	6	0.000	0.000	3316	1752	1841	0	0	0	0	0	0
3684	0.91	251.2	156.7	9.9	580	3692	0.00	0.00	0.00	0.000	6	0.000	0.000	3316	1752	1841	0	0	0	0	0	0
3797	0.91	251.2	145.4	10.4	599	3805	0.00	2.28	0.00	0.000	4	0.000	0.063	3316	3174	1840	0	0	0	0	0	0
3825	0.88	251.2	142.4	10.7	603	3834	0.08	2.25	0.00	0.000	6	0.191	0.060	3308	1774	1840	0	0	0	0	0	0
3941	0.88	251.2	130.3	10.6	622	3949	0.00	2.35	0.00	0.000	4	0.000	0.056	3319	335	1840	0	0	0	0	0	0
4033	0.85	251.2	120.3	10.8	637	4041	0.10	2.22	0.00	0.000	6	0.157	0.035	3293	1760	1840	0	0	0	0	0	0
4146	0.88	271.8	109.3	9.3	656	4177	0.00	2.30	19.85	0.669	4	0.000	0.060	3293	3168	1753	0	0	0	0	0	0
4202	0.88	271.8	103.8	10.3	664	4211	0.00	2.35	0.00	0.000	6	0.000	0.067	3301	1765	1750	0	0	0	0	0	0
4317	0.88	271.8	92.2	10.7	683	4325	0.00	2.30	0.00	0.000	4	0.000	0.058	3312	333	1749	0	0	0	0	0	0
4369	0.88	271.8	86.8	11.0	691	4377	0.00	2.25	0.00	0.000	6	0.000	0.040	3312	1753	1749	0	0	0	0	0	0
4481	0.88	271.8	75.4	10.1	710	4491	0.00	2.33	0.00	0.000	4	0.000	0.068	3313	3171	1748	0	0	0	0	0	0
4517	0.88	271.8	72.2	10.4	715	4526	0.08	2.30	0.00	0.000	6	0.190	0.062	3305	1750	1748	0	0	0	0	0	0
4632	0.95	327.3	61.9	8.1	734	4685	0.00	0.00	46.60	0.654	6	0.000	0.000	3305	1750	1530	0	0	0	0	0	0
4792	1.02	354.7	48.4	9.1	759	4823	0.12	0.00	24.25	0.625	6	0.080	0.000	3385	1749	1418	0	0	0	0	0	0
4931	0.98	354.7	30.6	12.2	781	4939	0.17	2.30	0.00	0.000	4	0.149	0.057	3348	338	1411	0	0	0	0	0	0
4998	1.00	354.7	23.0	11.1	791	5008	0.00	2.33	0.00	0.000	6	0.000	0.044	3348	1750	1410	0	0	0	0	0	0
5085	1.00	354.7	13.1	10.3	804	5093	0.00	0.00	0.00	0.000	6	0.000	0.000	3348	1749	1408	0	0	0	0	0	0
5169	end climb: SURFACE_DEPTH_REACHED
state	5169	begin surface coast
5195	end surface coast: CONTROL_FINISHED_OK
state	5196	begin surface