Glider dive log

SAGE 17Apr15 * SG573 * Dive index * Mission links * Dive 171 * 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 171 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 18 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 -14058.241 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 170

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 170 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 -14058.241

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 18 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 171 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 290415,041606,-3425.677,2546.761,44,1.7,45,-27.8 TGT_NAME DEPLOY

_CALLS 1 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 -62.6 KALMAN_Y -14362.4,-6812.0,-2167.9,-3593.3,-569.5

GPS2 290415,042334,-3425.683,2546.871,44,1.2,50,-27.8 MHEAD_RNG_PITCHd_Wd 270.1,33320,-15.7,-10.010

SPEED_LIMITS 0.173,0.296 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.2,1.022015 _10V_AH 10.2,14.234

SM_CCo 5415,0.00,0.000,0,0,1301,383.40 FG_AHR_24Vo 0.000

SM_GC 1.87,8.93,0.00,0.00,0.057,0.000,0.000,80,1941,1301,-9.08,0.62,383.40 FG_AHR_10Vo 0.000

IRIDIUM_FIX -3412.10,2600.03,230208,161615 MEM 331608

TT8_MAMPS 0.026964 DATA_FILE_SIZE 60271,825

HUMID 60.55 CAP_FILE_SIZE 102319,0

INTERNAL_PRESSURE 9.34296 CFSIZE 2097086464,2074673152

TCM_TEMP 17.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 CURRENT 0.138, 62.2,1

ALTIM_BOTTOM_PING 250.7,28.5 GPS 290415,055523,-3425.863,2546.392,41,1.1,42,-27.8

_24V_AH 24.0,18.265

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 261 146.77 SBE_CT 560 23 312.20

Roll_motor 72 133 231.53 AA4330 2146 17 887.64

VBD_pump_during_apogee 474 760 8654.53 WL_BB2F 1480 105 3732.02

VBD_pump_during_surface 0 0 0.00 QSP2150 2319 17 959.30

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 91 58.82 nil 0 0 0.00

Iridium_during_connect 43 160 165.96 nil 0 0 0.00

Iridium_during_xfer 232 223 1244.82 nil 0 0 0.00

Transponder_ping 5 420 55.44 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 52 27 14.80

TT8 1920 13 272.07

LPSleep 540 2 12.07

TT8_Active 561 13 79.53

TT8_Sampling 2706 40 1127.66

TT8_CF8 134 50 69.57

TT8_Kalman 0 0 0.00

Analog_circuits 1439 15 224.92

GPS_charging 0 0 0.00

Compass 2116 15 339.51

RAFOS 0 0 0.00

Transponder 35 30 10.99

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 23 begin dive

24 -1.02 -194.6 0.0 0.0 0 87 0.00 0.00 -60.58 0.000 2 0.000 0.000 70 1933 2853 0 0 0 0 0 0

89 -1.02 -194.6 3.4 -4.7 7 126 11.43 2.60 -19.12 0.000 4 0.262 0.112 2684 491 3661 0 0 0 0 0 0

141 -0.72 -194.6 11.7 -16.7 13 151 0.38 2.67 0.00 0.000 6 0.203 0.114 2775 1919 3664 0 0 0 0 0 0

228 -0.64 -194.6 24.8 -13.6 26 238 0.15 0.00 0.00 0.000 6 0.218 0.000 2810 1919 3666 0 0 0 0 0 0

314 -0.62 -194.6 36.1 -13.4 39 321 0.00 2.42 0.00 0.000 4 0.000 0.090 2799 3355 3666 0 0 0 0 0 0

395 -0.65 -194.6 45.1 -9.7 52 404 0.00 2.55 0.00 0.000 6 0.000 0.101 2799 1929 3667 0 0 0 0 0 0

515 -0.68 -194.6 54.7 -8.2 71 522 0.00 2.42 0.00 0.000 4 0.000 0.090 2791 3361 3667 0 0 0 0 0 0

567 -0.71 -194.6 59.3 -8.5 79 575 0.00 2.50 0.00 0.000 6 0.000 0.096 2791 1916 3668 0 0 0 0 0 0

687 -0.71 -194.6 70.9 -9.2 98 696 0.00 2.50 0.00 0.000 4 0.000 0.096 2782 3352 3669 0 0 0 0 0 0

746 -0.71 -194.6 76.9 -10.2 107 753 0.00 2.47 0.00 0.000 6 0.000 0.092 2783 1910 3669 0 0 0 0 0 0

863 -0.71 -194.6 89.3 -10.9 126 872 0.00 0.00 0.00 0.000 6 0.000 0.000 2782 1910 3670 0 0 0 0 0 0

983 -0.71 -194.6 102.0 -10.7 145 989 0.00 0.00 0.00 0.000 6 0.000 0.000 2782 1910 3670 0 0 0 0 0 0

1100 -0.71 -194.6 115.1 -11.1 164 1108 0.00 0.00 0.00 0.000 6 0.000 0.000 2782 1910 3671 0 0 0 0 0 0

1219 -0.71 -194.6 127.5 -10.8 183 1225 0.00 0.00 0.00 0.000 6 0.000 0.000 2782 1910 3671 0 0 0 0 0 0

1336 -0.71 -194.6 140.3 -11.0 202 1345 0.00 0.00 0.00 0.000 6 0.000 0.000 2782 1911 3672 0 0 0 0 0 0

1455 -0.71 -194.6 153.1 -10.8 221 1462 0.00 0.00 0.00 0.000 6 0.000 0.000 2782 1910 3672 0 0 0 0 0 0

1571 -0.71 -194.6 166.1 -11.2 240 1579 0.00 0.00 0.00 0.000 6 0.000 0.000 2782 1911 3672 0 0 0 0 0 0

1690 -0.71 -194.6 179.1 -11.0 259 1699 0.00 0.00 0.00 0.000 6 0.000 0.000 2782 1910 3672 0 0 0 0 0 0

1808 -0.71 -194.6 192.5 -10.7 278 1817 0.00 0.00 0.00 0.000 6 0.000 0.000 2782 1910 3671 0 0 0 0 0 0

1928 -0.71 -194.6 205.9 -11.6 297 1935 0.00 0.00 0.00 0.000 6 0.000 0.000 2782 1910 3671 0 0 0 0 0 0

2043 -0.71 -194.6 219.4 -11.5 316 2053 0.00 0.00 0.00 0.000 6 0.000 0.000 2782 1910 3671 0 0 0 0 0 0

2164 -0.71 -194.6 232.9 -11.2 335 2171 0.00 2.40 0.00 0.000 4 0.000 0.092 2782 483 3671 0 0 0 0 0 0

2191 -0.71 -194.6 236.2 -12.3 339 2199 0.08 2.47 0.00 0.000 6 0.220 0.090 2787 1921 3671 0 0 0 0 0 0

2310 -0.71 -194.6 249.7 -11.4 358 2325 0.00 2.45 0.00 0.000 4 0.000 0.101 2776 3344 3670 0 0 0 0 0 0

2399 -0.71 -194.6 259.6 -11.1 371 2406 0.00 2.47 0.00 0.000 6 0.000 0.100 2777 1920 3670 0 0 0 0 0 0

2442 end dive: BOTTOM_OBSTACLE_DETECTED

state 2442 begin apogee

2446 -0.25 0.0 264.4 10.4 378 2605 0.50 0.00 152.93 0.760 6 0.161 0.000 2930 1743 2863 0 0 0 0 0 0

2605 end apogee: CONTROL_FINISHED_OK

state 2605 begin climb

2607 1.02 194.6 272.0 0.0 399 2775 1.27 2.45 155.02 0.732 4 0.109 0.051 3348 330 2068 0 0 0 0 0 0

2833 0.92 194.6 257.1 12.1 431 2841 0.12 2.35 0.00 0.000 6 0.156 0.033 3316 1780 2064 0 0 0 0 0 0

2950 0.88 205.0 245.3 9.7 450 2967 0.00 0.00 9.40 0.640 6 0.000 0.000 3316 1780 2027 0 0 0 0 0 0

3076 0.86 217.7 233.4 9.6 470 3092 0.08 0.00 11.88 0.663 6 0.194 0.000 3300 1781 1975 0 0 0 0 0 0

3201 0.90 249.3 222.2 8.9 490 3232 0.00 0.00 27.92 0.702 6 0.000 0.000 3300 1781 1846 0 0 0 0 0 0

3341 0.91 261.6 209.4 9.6 512 3357 0.00 0.00 11.60 0.656 6 0.000 0.000 3299 1781 1796 0 0 0 0 0 0

3465 0.92 268.5 197.8 9.8 532 3481 0.00 2.42 7.10 0.604 4 0.000 0.051 3309 330 1768 0 0 0 0 0 0

3506 0.93 274.9 193.8 9.8 538 3523 0.00 2.33 7.32 0.605 6 0.000 0.038 3309 1750 1741 0 0 0 0 0 0

3632 0.94 289.0 181.5 9.5 558 3648 0.00 0.00 13.57 0.663 6 0.000 0.000 3309 1750 1685 0 0 0 0 0 0

3757 0.95 290.1 169.6 10.0 578 3766 0.00 2.38 0.00 0.000 4 0.000 0.066 3309 3181 1680 0 0 0 0 0 0

3786 0.95 290.1 166.5 10.7 582 3796 0.00 2.40 0.00 0.000 6 0.000 0.066 3319 1755 1680 0 0 0 0 0 0

3905 0.95 290.1 153.7 10.8 601 3912 0.00 2.30 0.00 0.000 4 0.000 0.057 3330 332 1680 0 0 0 0 0 0

3981 0.92 290.1 144.8 11.7 613 3989 0.05 2.28 0.00 0.000 6 0.195 0.037 3318 1772 1679 0 0 0 0 0 0

4097 0.92 290.1 131.8 10.6 632 4106 0.00 0.00 0.00 0.000 6 0.000 0.000 3319 1772 1678 0 0 0 0 0 0

4216 0.92 290.1 119.0 10.6 651 4222 0.00 0.00 0.00 0.000 6 0.000 0.000 3318 1772 1679 0 0 0 0 0 0

4330 0.92 290.1 106.2 10.7 670 4339 0.00 0.00 0.00 0.000 6 0.000 0.000 3318 1773 1678 0 0 0 0 0 0

4449 0.92 290.1 93.6 11.1 689 4456 0.00 2.22 0.00 0.000 4 0.000 0.063 3319 3174 1677 0 0 0 0 0 0

4469 0.92 290.1 91.1 11.4 692 4478 0.00 2.35 0.00 0.000 6 0.000 0.066 3327 1751 1677 0 0 0 0 0 0

4588 0.92 290.1 77.0 11.9 711 4595 0.00 2.25 0.00 0.000 4 0.000 0.057 3338 338 1676 0 0 0 0 0 0

4627 0.89 290.1 71.7 13.4 717 4635 0.12 2.22 0.00 0.000 6 0.157 0.034 3304 1769 1676 0 0 0 0 0 0

4744 0.91 314.2 59.5 9.2 736 4775 0.00 2.28 21.83 0.650 4 0.000 0.060 3305 3162 1581 0 0 0 0 0 0

4812 0.92 317.2 52.7 9.9 746 4821 0.00 2.35 0.00 0.000 6 0.000 0.065 3312 1752 1578 0 0 0 0 0 0

4932 1.02 378.9 42.9 7.9 765 4998 0.10 2.40 55.65 0.640 4 0.095 0.054 3386 338 1316 0 0 0 0 0 0

5046 0.98 378.9 32.2 10.6 781 5054 0.17 2.28 0.00 0.000 6 0.145 0.034 3338 1758 1312 0 0 0 0 0 0

5168 0.98 378.9 20.1 10.6 800 5176 0.00 0.00 0.00 0.000 6 0.000 0.000 3338 1758 1308 0 0 0 0 0 0

5253 1.00 378.9 10.6 11.7 813 5262 0.00 2.35 0.00 0.000 4 0.000 0.054 3348 337 1306 0 0 0 0 0 0

5296 1.00 378.9 5.1 12.9 819 5305 0.00 2.33 0.00 0.000 6 0.000 0.045 3348 1752 1305 0 0 0 0 0 0

5312 end climb: SURFACE_DEPTH_REACHED

state 5312 begin surface coast

5339 end surface coast: CONTROL_FINISHED_OK

state 5339 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	171	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	18	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	-14058.241	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	170

GPS1	290415,041606,-3425.677,2546.761,44,1.7,45,-27.8	TGT_NAME	DEPLOY
_CALLS	1	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	-62.6	KALMAN_Y	-14362.4,-6812.0,-2167.9,-3593.3,-569.5
GPS2	290415,042334,-3425.683,2546.871,44,1.2,50,-27.8	MHEAD_RNG_PITCHd_Wd	270.1,33320,-15.7,-10.010
SPEED_LIMITS	0.173,0.296	D_GRID	1000

FINISH	1.2,1.022015	_10V_AH	10.2,14.234
SM_CCo	5415,0.00,0.000,0,0,1301,383.40	FG_AHR_24Vo	0.000
SM_GC	1.87,8.93,0.00,0.00,0.057,0.000,0.000,80,1941,1301,-9.08,0.62,383.40	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-3412.10,2600.03,230208,161615	MEM	331608
TT8_MAMPS	0.026964	DATA_FILE_SIZE	60271,825
HUMID	60.55	CAP_FILE_SIZE	102319,0
INTERNAL_PRESSURE	9.34296	CFSIZE	2097086464,2074673152
TCM_TEMP	17.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	CURRENT	0.138, 62.2,1
ALTIM_BOTTOM_PING	250.7,28.5	GPS	290415,055523,-3425.863,2546.392,41,1.1,42,-27.8
_24V_AH	24.0,18.265

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	261	146.77	SBE_CT	560	23	312.20
Roll_motor	72	133	231.53	AA4330	2146	17	887.64
VBD_pump_during_apogee	474	760	8654.53	WL_BB2F	1480	105	3732.02
VBD_pump_during_surface	0	0	0.00	QSP2150	2319	17	959.30
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	91	58.82	nil	0	0	0.00
Iridium_during_connect	43	160	165.96	nil	0	0	0.00
Iridium_during_xfer	232	223	1244.82	nil	0	0	0.00
Transponder_ping	5	420	55.44	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	52	27	14.80
TT8	1920	13	272.07
LPSleep	540	2	12.07
TT8_Active	561	13	79.53
TT8_Sampling	2706	40	1127.66
TT8_CF8	134	50	69.57
TT8_Kalman	0	0	0.00
Analog_circuits	1439	15	224.92
GPS_charging	0	0	0.00
Compass	2116	15	339.51
RAFOS	0	0	0.00
Transponder	35	30	10.99

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	23	begin dive
24	-1.02	-194.6	0.0	0.0	0	87	0.00	0.00	-60.58	0.000	2	0.000	0.000	70	1933	2853	0	0	0	0	0	0
89	-1.02	-194.6	3.4	-4.7	7	126	11.43	2.60	-19.12	0.000	4	0.262	0.112	2684	491	3661	0	0	0	0	0	0
141	-0.72	-194.6	11.7	-16.7	13	151	0.38	2.67	0.00	0.000	6	0.203	0.114	2775	1919	3664	0	0	0	0	0	0
228	-0.64	-194.6	24.8	-13.6	26	238	0.15	0.00	0.00	0.000	6	0.218	0.000	2810	1919	3666	0	0	0	0	0	0
314	-0.62	-194.6	36.1	-13.4	39	321	0.00	2.42	0.00	0.000	4	0.000	0.090	2799	3355	3666	0	0	0	0	0	0
395	-0.65	-194.6	45.1	-9.7	52	404	0.00	2.55	0.00	0.000	6	0.000	0.101	2799	1929	3667	0	0	0	0	0	0
515	-0.68	-194.6	54.7	-8.2	71	522	0.00	2.42	0.00	0.000	4	0.000	0.090	2791	3361	3667	0	0	0	0	0	0
567	-0.71	-194.6	59.3	-8.5	79	575	0.00	2.50	0.00	0.000	6	0.000	0.096	2791	1916	3668	0	0	0	0	0	0
687	-0.71	-194.6	70.9	-9.2	98	696	0.00	2.50	0.00	0.000	4	0.000	0.096	2782	3352	3669	0	0	0	0	0	0
746	-0.71	-194.6	76.9	-10.2	107	753	0.00	2.47	0.00	0.000	6	0.000	0.092	2783	1910	3669	0	0	0	0	0	0
863	-0.71	-194.6	89.3	-10.9	126	872	0.00	0.00	0.00	0.000	6	0.000	0.000	2782	1910	3670	0	0	0	0	0	0
983	-0.71	-194.6	102.0	-10.7	145	989	0.00	0.00	0.00	0.000	6	0.000	0.000	2782	1910	3670	0	0	0	0	0	0
1100	-0.71	-194.6	115.1	-11.1	164	1108	0.00	0.00	0.00	0.000	6	0.000	0.000	2782	1910	3671	0	0	0	0	0	0
1219	-0.71	-194.6	127.5	-10.8	183	1225	0.00	0.00	0.00	0.000	6	0.000	0.000	2782	1910	3671	0	0	0	0	0	0
1336	-0.71	-194.6	140.3	-11.0	202	1345	0.00	0.00	0.00	0.000	6	0.000	0.000	2782	1911	3672	0	0	0	0	0	0
1455	-0.71	-194.6	153.1	-10.8	221	1462	0.00	0.00	0.00	0.000	6	0.000	0.000	2782	1910	3672	0	0	0	0	0	0
1571	-0.71	-194.6	166.1	-11.2	240	1579	0.00	0.00	0.00	0.000	6	0.000	0.000	2782	1911	3672	0	0	0	0	0	0
1690	-0.71	-194.6	179.1	-11.0	259	1699	0.00	0.00	0.00	0.000	6	0.000	0.000	2782	1910	3672	0	0	0	0	0	0
1808	-0.71	-194.6	192.5	-10.7	278	1817	0.00	0.00	0.00	0.000	6	0.000	0.000	2782	1910	3671	0	0	0	0	0	0
1928	-0.71	-194.6	205.9	-11.6	297	1935	0.00	0.00	0.00	0.000	6	0.000	0.000	2782	1910	3671	0	0	0	0	0	0
2043	-0.71	-194.6	219.4	-11.5	316	2053	0.00	0.00	0.00	0.000	6	0.000	0.000	2782	1910	3671	0	0	0	0	0	0
2164	-0.71	-194.6	232.9	-11.2	335	2171	0.00	2.40	0.00	0.000	4	0.000	0.092	2782	483	3671	0	0	0	0	0	0
2191	-0.71	-194.6	236.2	-12.3	339	2199	0.08	2.47	0.00	0.000	6	0.220	0.090	2787	1921	3671	0	0	0	0	0	0
2310	-0.71	-194.6	249.7	-11.4	358	2325	0.00	2.45	0.00	0.000	4	0.000	0.101	2776	3344	3670	0	0	0	0	0	0
2399	-0.71	-194.6	259.6	-11.1	371	2406	0.00	2.47	0.00	0.000	6	0.000	0.100	2777	1920	3670	0	0	0	0	0	0
2442	end dive: BOTTOM_OBSTACLE_DETECTED
state	2442	begin apogee
2446	-0.25	0.0	264.4	10.4	378	2605	0.50	0.00	152.93	0.760	6	0.161	0.000	2930	1743	2863	0	0	0	0	0	0
2605	end apogee: CONTROL_FINISHED_OK
state	2605	begin climb
2607	1.02	194.6	272.0	0.0	399	2775	1.27	2.45	155.02	0.732	4	0.109	0.051	3348	330	2068	0	0	0	0	0	0
2833	0.92	194.6	257.1	12.1	431	2841	0.12	2.35	0.00	0.000	6	0.156	0.033	3316	1780	2064	0	0	0	0	0	0
2950	0.88	205.0	245.3	9.7	450	2967	0.00	0.00	9.40	0.640	6	0.000	0.000	3316	1780	2027	0	0	0	0	0	0
3076	0.86	217.7	233.4	9.6	470	3092	0.08	0.00	11.88	0.663	6	0.194	0.000	3300	1781	1975	0	0	0	0	0	0
3201	0.90	249.3	222.2	8.9	490	3232	0.00	0.00	27.92	0.702	6	0.000	0.000	3300	1781	1846	0	0	0	0	0	0
3341	0.91	261.6	209.4	9.6	512	3357	0.00	0.00	11.60	0.656	6	0.000	0.000	3299	1781	1796	0	0	0	0	0	0
3465	0.92	268.5	197.8	9.8	532	3481	0.00	2.42	7.10	0.604	4	0.000	0.051	3309	330	1768	0	0	0	0	0	0
3506	0.93	274.9	193.8	9.8	538	3523	0.00	2.33	7.32	0.605	6	0.000	0.038	3309	1750	1741	0	0	0	0	0	0
3632	0.94	289.0	181.5	9.5	558	3648	0.00	0.00	13.57	0.663	6	0.000	0.000	3309	1750	1685	0	0	0	0	0	0
3757	0.95	290.1	169.6	10.0	578	3766	0.00	2.38	0.00	0.000	4	0.000	0.066	3309	3181	1680	0	0	0	0	0	0
3786	0.95	290.1	166.5	10.7	582	3796	0.00	2.40	0.00	0.000	6	0.000	0.066	3319	1755	1680	0	0	0	0	0	0
3905	0.95	290.1	153.7	10.8	601	3912	0.00	2.30	0.00	0.000	4	0.000	0.057	3330	332	1680	0	0	0	0	0	0
3981	0.92	290.1	144.8	11.7	613	3989	0.05	2.28	0.00	0.000	6	0.195	0.037	3318	1772	1679	0	0	0	0	0	0
4097	0.92	290.1	131.8	10.6	632	4106	0.00	0.00	0.00	0.000	6	0.000	0.000	3319	1772	1678	0	0	0	0	0	0
4216	0.92	290.1	119.0	10.6	651	4222	0.00	0.00	0.00	0.000	6	0.000	0.000	3318	1772	1679	0	0	0	0	0	0
4330	0.92	290.1	106.2	10.7	670	4339	0.00	0.00	0.00	0.000	6	0.000	0.000	3318	1773	1678	0	0	0	0	0	0
4449	0.92	290.1	93.6	11.1	689	4456	0.00	2.22	0.00	0.000	4	0.000	0.063	3319	3174	1677	0	0	0	0	0	0
4469	0.92	290.1	91.1	11.4	692	4478	0.00	2.35	0.00	0.000	6	0.000	0.066	3327	1751	1677	0	0	0	0	0	0
4588	0.92	290.1	77.0	11.9	711	4595	0.00	2.25	0.00	0.000	4	0.000	0.057	3338	338	1676	0	0	0	0	0	0
4627	0.89	290.1	71.7	13.4	717	4635	0.12	2.22	0.00	0.000	6	0.157	0.034	3304	1769	1676	0	0	0	0	0	0
4744	0.91	314.2	59.5	9.2	736	4775	0.00	2.28	21.83	0.650	4	0.000	0.060	3305	3162	1581	0	0	0	0	0	0
4812	0.92	317.2	52.7	9.9	746	4821	0.00	2.35	0.00	0.000	6	0.000	0.065	3312	1752	1578	0	0	0	0	0	0
4932	1.02	378.9	42.9	7.9	765	4998	0.10	2.40	55.65	0.640	4	0.095	0.054	3386	338	1316	0	0	0	0	0	0
5046	0.98	378.9	32.2	10.6	781	5054	0.17	2.28	0.00	0.000	6	0.145	0.034	3338	1758	1312	0	0	0	0	0	0
5168	0.98	378.9	20.1	10.6	800	5176	0.00	0.00	0.00	0.000	6	0.000	0.000	3338	1758	1308	0	0	0	0	0	0
5253	1.00	378.9	10.6	11.7	813	5262	0.00	2.35	0.00	0.000	4	0.000	0.054	3348	337	1306	0	0	0	0	0	0
5296	1.00	378.9	5.1	12.9	819	5305	0.00	2.33	0.00	0.000	6	0.000	0.045	3348	1752	1305	0	0	0	0	0	0
5312	end climb: SURFACE_DEPTH_REACHED
state	5312	begin surface coast
5339	end surface coast: CONTROL_FINISHED_OK
state	5339	begin surface