Glider dive log

SAGE 17Apr15 * SG573 * Dive index * Mission links * Dive 176 * 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 176 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 5 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 18 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 300 R_STBD_OVSHOOT 14 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 -14075.466 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 175 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 175

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 175 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 -14075.466

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 14 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 175 SEABIRD_C_G -9.9469662 VBD_MIN 409

DIVE 176 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 5 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 290415,133952,-3426.566,2543.742,26,1.7,42,-27.8 TGT_NAME WP_NORTH

_CALLS 1 TGT_LATLONG -3423.880,2522.020

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.229,0.204

_SM_DEPTHo 2.01 KALMAN_X -18488.8,-8625.5,-2647.6,-6374.3,-1020.9

_SM_ANGLEo -63.4 KALMAN_Y -14362.4,-6812.0,-2167.9,-3593.3,-569.5

GPS2 290415,134823,-3426.562,2543.792,43,1.5,44,-27.8 MHEAD_RNG_PITCHd_Wd 298.0,33639,-16.9,-10.010

SPEED_LIMITS 0.173,0.279 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.3,1.021981 _10V_AH 10.3,14.981

SM_CCo 5876,0.90,0.063,0,0,1640,300.24 FG_AHR_24Vo 0.000

SM_GC 2.76,0.00,0.00,0.90,0.000,0.000,0.063,70,1947,1640,-9.22,0.79,300.24 FG_AHR_10Vo 0.000

IRIDIUM_FIX -3412.10,2546.00,240208,010108 MEM 331356

TT8_MAMPS 0.026964 DATA_FILE_SIZE 67242,933

HUMID 61.10 CAP_FILE_SIZE 116744,0

INTERNAL_PRESSURE 9.33319 CFSIZE 2097086464,2074017792

TCM_TEMP 16.40 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,2

XPDR_PINGS 0 CURRENT 0.216, 84.7,1

ALTIM_BOTTOM_PING 300.0,35.0 GPS 290415,152759,-3426.439,2543.501,39,1.0,40,-27.8

_24V_AH 23.9,18.832

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 261 147.26 SBE_CT 636 23 353.12

Roll_motor 91 149 325.69 AA4330 2416 17 995.02

VBD_pump_during_apogee 382 801 7320.50 WL_BB2F 1652 105 4146.17

VBD_pump_during_surface 0 62 1.35 QSP2150 2610 17 1075.04

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 91 53.59 nil 0 0 0.00

Iridium_during_connect 44 160 170.87 nil 0 0 0.00

Iridium_during_xfer 284 223 1516.75 nil 0 0 0.00

Transponder_ping 6 420 67.76 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 47 27 13.46

TT8 2215 13 316.90

LPSleep 420 2 9.49

TT8_Active 539 13 77.21

TT8_Sampling 3050 40 1283.59

TT8_CF8 161 50 84.37

TT8_Kalman 0 0 0.00

Analog_circuits 1486 15 234.55

GPS_charging 0 0 0.00

Compass 2379 15 385.49

RAFOS 0 0 0.00

Transponder 43 30 13.45

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 -1.05 -170.3 0.0 0.0 0 77 0.00 0.00 -51.33 0.000 2 0.000 0.000 77 1931 2609 0 0 0 0 0 0

80 -1.05 -170.3 3.0 -3.2 6 133 11.35 2.53 -29.75 0.000 4 0.262 0.103 2670 497 3563 0 0 0 0 0 0

236 -0.81 -170.3 28.1 -23.5 28 245 0.32 2.50 0.00 0.000 6 0.194 0.087 2750 1916 3566 0 0 0 0 0 0

317 -0.75 -170.3 39.2 -10.7 41 325 0.10 2.38 0.00 0.000 4 0.195 0.081 2763 3352 3567 0 0 0 0 0 0

471 -0.75 -170.3 55.6 -10.5 67 479 0.00 2.40 0.00 0.000 6 0.000 0.076 2764 1918 3568 0 0 0 0 0 0

585 -0.75 -170.3 68.9 -12.1 86 594 0.00 2.47 0.00 0.000 4 0.000 0.095 2763 488 3569 0 0 0 0 0 0

602 -0.73 -170.3 70.9 -11.8 88 612 0.08 2.50 0.00 0.000 6 0.184 0.088 2776 1909 3569 0 0 0 0 0 0

720 -0.73 -170.3 86.0 -12.9 107 728 0.00 2.38 0.00 0.000 4 0.000 0.084 2765 3346 3571 0 0 0 0 0 0

748 -0.73 -170.3 89.7 -12.6 111 758 0.08 2.42 0.00 0.000 6 0.168 0.086 2781 1922 3571 0 0 0 0 0 0

864 -0.73 -170.3 103.0 -10.4 130 873 0.00 2.42 0.00 0.000 4 0.000 0.082 2772 3354 3571 0 0 0 0 0 0

922 -0.73 -170.3 109.6 -11.3 139 931 0.00 2.50 0.00 0.000 6 0.000 0.096 2772 1907 3571 0 0 0 0 0 0

1038 -0.73 -170.3 122.7 -10.7 158 1046 0.00 2.53 0.00 0.000 4 0.000 0.108 2772 483 3572 0 0 0 0 0 0

1084 -0.70 -170.3 128.0 -12.3 165 1091 0.10 2.45 0.00 0.000 6 0.210 0.080 2784 1925 3572 0 0 0 0 0 0

1198 -0.70 -170.3 141.8 -11.7 184 1207 0.00 2.42 0.00 0.000 4 0.000 0.092 2773 3349 3572 0 0 0 0 0 0

1289 -0.70 -170.3 152.3 -11.6 199 1298 0.08 2.47 0.00 0.000 6 0.181 0.095 2789 1915 3573 0 0 0 0 0 0

1406 -0.70 -170.3 165.4 -10.7 218 1414 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 1915 3572 0 0 0 0 0 0

1521 -0.70 -170.3 178.6 -11.1 237 1527 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 1915 3572 0 0 0 0 0 0

1635 -0.72 -170.3 191.9 -11.5 256 1643 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 1915 3572 0 0 0 0 0 0

1749 -0.72 -170.3 205.0 -11.3 275 1757 0.00 2.40 0.00 0.000 4 0.000 0.091 2780 3343 3572 0 0 0 0 0 0

1782 -0.75 -170.3 209.1 -11.5 280 1791 0.00 2.53 0.00 0.000 6 0.000 0.105 2780 1922 3572 0 0 0 0 0 0

1898 -0.75 -170.3 222.5 -11.6 299 1905 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 1922 3572 0 0 0 0 0 0

2010 -0.75 -170.3 235.9 -12.0 318 2019 0.00 2.50 0.00 0.000 4 0.000 0.103 2780 488 3572 0 0 0 0 0 0

2033 -0.75 -170.3 238.5 -12.2 321 2040 0.00 2.42 0.00 0.000 6 0.000 0.078 2771 1924 3572 0 0 0 0 0 0

2149 -0.75 -170.3 253.1 -12.4 340 2158 0.00 2.40 0.00 0.000 4 0.000 0.091 2760 3344 3572 0 0 0 0 0 0

2220 -0.75 -170.3 261.6 -12.1 351 2229 0.08 2.50 0.00 0.000 6 0.178 0.105 2776 1913 3571 0 0 0 0 0 0

2335 -0.75 -170.3 275.9 -12.2 370 2343 0.00 0.00 0.00 0.000 6 0.000 0.000 2776 1913 3570 0 0 0 0 0 0

2449 -0.75 -170.3 289.8 -12.4 389 2456 0.00 0.00 0.00 0.000 6 0.000 0.000 2776 1913 3571 0 0 0 0 0 0

2564 -0.75 -170.3 304.0 -12.1 408 2573 0.00 0.00 0.00 0.000 6 0.000 0.000 2776 1913 3570 0 0 0 0 0 0

2679 -0.75 -170.3 317.3 -11.8 427 2686 0.00 0.00 0.00 0.000 6 0.000 0.000 2776 1913 3570 0 0 0 0 0 0

2705 end dive: BOTTOM_OBSTACLE_DETECTED

state 2705 begin apogee

2709 -0.25 0.0 320.3 10.8 431 2852 0.52 0.00 135.70 0.802 6 0.175 0.000 2932 1760 2863 0 0 0 0 0 0

2853 end apogee: CONTROL_FINISHED_OK

state 2853 begin climb

2855 1.05 170.3 327.9 0.0 450 3003 1.30 2.50 136.32 0.774 4 0.107 0.057 3361 331 2168 0 0 0 0 0 0

3028 0.97 179.4 318.8 9.7 474 3045 0.08 2.40 8.88 0.660 6 0.138 0.033 3337 1773 2131 0 0 0 0 0 0

3151 0.92 183.4 306.3 9.9 494 3161 0.08 0.00 4.20 0.521 6 0.199 0.000 3321 1776 2116 0 0 0 0 0 0

3270 0.90 198.5 295.5 9.4 513 3291 0.00 0.00 14.65 0.716 6 0.000 0.000 3320 1776 2053 0 0 0 0 0 0

3398 0.89 216.1 282.7 9.3 534 3423 0.00 2.45 15.82 0.719 4 0.000 0.054 3330 331 1981 0 0 0 0 0 0

3460 0.86 223.4 276.7 9.7 543 3478 0.12 2.28 7.45 0.641 6 0.157 0.034 3298 1762 1953 0 0 0 0 0 0

3585 0.90 259.5 265.6 8.6 563 3623 0.00 0.00 32.03 0.742 6 0.000 0.000 3298 1762 1805 0 0 0 0 0 0

3729 0.97 285.9 252.8 9.0 586 3759 0.10 0.00 23.40 0.728 6 0.094 0.000 3350 1762 1697 0 0 0 0 0 0

3865 0.97 285.9 237.5 11.7 608 3874 0.08 0.00 0.00 0.000 6 0.168 0.000 3332 1762 1693 0 0 0 0 0 0

3980 0.97 285.9 224.7 11.4 627 3988 0.00 2.35 0.00 0.000 4 0.000 0.057 3341 328 1691 0 0 0 0 0 0

4013 0.97 285.9 220.8 12.2 632 4022 0.00 2.30 0.00 0.000 6 0.000 0.036 3342 1756 1691 0 0 0 0 0 0

4127 0.97 285.9 207.7 11.5 651 4134 0.00 0.00 0.00 0.000 6 0.000 0.000 3342 1756 1691 0 0 0 0 0 0

4238 0.97 285.9 194.5 12.0 670 4247 0.00 0.00 0.00 0.000 6 0.000 0.000 3342 1756 1690 0 0 0 0 0 0

4352 0.97 285.9 181.7 11.3 689 4358 0.00 0.00 0.00 0.000 6 0.000 0.000 3342 1756 1690 0 0 0 0 0 0

4463 0.97 285.9 168.7 11.4 708 4472 0.00 0.00 0.00 0.000 6 0.000 0.000 3342 1756 1690 0 0 0 0 0 0

4578 0.97 285.9 155.5 11.6 727 4585 0.00 0.00 0.00 0.000 6 0.000 0.000 3342 1756 1690 0 0 0 0 0 0

4691 0.97 285.9 141.5 12.7 746 4700 0.00 2.35 0.00 0.000 4 0.000 0.057 3352 330 1689 0 0 0 0 0 0

4731 0.94 285.9 136.2 13.5 752 4741 0.08 2.28 0.00 0.000 6 0.132 0.036 3325 1768 1689 0 0 0 0 0 0

4847 0.94 285.9 122.1 11.8 771 4855 0.00 2.33 0.00 0.000 4 0.000 0.056 3335 328 1688 0 0 0 0 0 0

4880 0.94 285.9 117.8 12.9 776 4889 0.03 2.28 0.00 0.000 6 0.162 0.037 3326 1760 1688 0 0 0 0 0 0

4996 0.94 285.9 103.9 12.0 795 5004 0.00 2.22 0.00 0.000 4 0.000 0.057 3326 3179 1687 0 0 0 0 0 0

5036 0.94 285.9 98.9 12.8 801 5043 0.00 2.30 0.00 0.000 6 0.000 0.060 3336 1746 1687 0 0 0 0 0 0

5148 0.94 285.9 84.6 12.5 820 5158 0.00 2.30 0.00 0.000 4 0.000 0.061 3346 337 1687 0 0 0 0 0 0

5253 0.91 285.9 71.3 12.7 837 5261 0.12 2.22 0.00 0.000 6 0.154 0.036 3312 1769 1686 0 0 0 0 0 0

5367 0.94 285.9 58.6 11.5 856 5375 0.00 0.00 0.00 0.000 6 0.000 0.000 3312 1770 1686 0 0 0 0 0 0

5481 0.97 285.9 45.5 12.0 875 5489 0.05 0.00 0.00 0.000 6 0.159 0.000 3351 1770 1686 0 0 0 0 0 0

5593 0.97 285.9 30.3 14.3 894 5603 0.08 2.33 0.00 0.000 4 0.173 0.057 3342 343 1686 0 0 0 0 0 0

5630 0.97 285.9 25.8 12.8 899 5640 0.00 2.25 0.00 0.000 6 0.000 0.039 3341 1756 1685 0 0 0 0 0 0

5718 1.01 295.8 16.7 9.6 912 5728 0.00 2.25 3.60 0.386 4 0.000 0.060 3342 3183 1656 0 0 0 0 0 0

5773 1.01 295.8 10.3 10.2 920 5783 0.00 2.30 0.00 0.000 6 0.000 0.059 3352 1766 1655 0 0 0 0 0 0

5833 end climb: SURFACE_DEPTH_REACHED

state 5833 begin surface coast

5860 end surface coast: CONTROL_FINISHED_OK

state 5860 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	176	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	5	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	18	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	300	R_STBD_OVSHOOT	14	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	-14075.466	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	175	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	175

GPS1	290415,133952,-3426.566,2543.742,26,1.7,42,-27.8	TGT_NAME	WP_NORTH
_CALLS	1	TGT_LATLONG	-3423.880,2522.020
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.229,0.204
_SM_DEPTHo	2.01	KALMAN_X	-18488.8,-8625.5,-2647.6,-6374.3,-1020.9
_SM_ANGLEo	-63.4	KALMAN_Y	-14362.4,-6812.0,-2167.9,-3593.3,-569.5
GPS2	290415,134823,-3426.562,2543.792,43,1.5,44,-27.8	MHEAD_RNG_PITCHd_Wd	298.0,33639,-16.9,-10.010
SPEED_LIMITS	0.173,0.279	D_GRID	1000

FINISH	1.3,1.021981	_10V_AH	10.3,14.981
SM_CCo	5876,0.90,0.063,0,0,1640,300.24	FG_AHR_24Vo	0.000
SM_GC	2.76,0.00,0.00,0.90,0.000,0.000,0.063,70,1947,1640,-9.22,0.79,300.24	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-3412.10,2546.00,240208,010108	MEM	331356
TT8_MAMPS	0.026964	DATA_FILE_SIZE	67242,933
HUMID	61.10	CAP_FILE_SIZE	116744,0
INTERNAL_PRESSURE	9.33319	CFSIZE	2097086464,2074017792
TCM_TEMP	16.40	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
XPDR_PINGS	0	CURRENT	0.216, 84.7,1
ALTIM_BOTTOM_PING	300.0,35.0	GPS	290415,152759,-3426.439,2543.501,39,1.0,40,-27.8
_24V_AH	23.9,18.832

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	261	147.26	SBE_CT	636	23	353.12
Roll_motor	91	149	325.69	AA4330	2416	17	995.02
VBD_pump_during_apogee	382	801	7320.50	WL_BB2F	1652	105	4146.17
VBD_pump_during_surface	0	62	1.35	QSP2150	2610	17	1075.04
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	91	53.59	nil	0	0	0.00
Iridium_during_connect	44	160	170.87	nil	0	0	0.00
Iridium_during_xfer	284	223	1516.75	nil	0	0	0.00
Transponder_ping	6	420	67.76	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	47	27	13.46
TT8	2215	13	316.90
LPSleep	420	2	9.49
TT8_Active	539	13	77.21
TT8_Sampling	3050	40	1283.59
TT8_CF8	161	50	84.37
TT8_Kalman	0	0	0.00
Analog_circuits	1486	15	234.55
GPS_charging	0	0	0.00
Compass	2379	15	385.49
RAFOS	0	0	0.00
Transponder	43	30	13.45

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	-1.05	-170.3	0.0	0.0	0	77	0.00	0.00	-51.33	0.000	2	0.000	0.000	77	1931	2609	0	0	0	0	0	0
80	-1.05	-170.3	3.0	-3.2	6	133	11.35	2.53	-29.75	0.000	4	0.262	0.103	2670	497	3563	0	0	0	0	0	0
236	-0.81	-170.3	28.1	-23.5	28	245	0.32	2.50	0.00	0.000	6	0.194	0.087	2750	1916	3566	0	0	0	0	0	0
317	-0.75	-170.3	39.2	-10.7	41	325	0.10	2.38	0.00	0.000	4	0.195	0.081	2763	3352	3567	0	0	0	0	0	0
471	-0.75	-170.3	55.6	-10.5	67	479	0.00	2.40	0.00	0.000	6	0.000	0.076	2764	1918	3568	0	0	0	0	0	0
585	-0.75	-170.3	68.9	-12.1	86	594	0.00	2.47	0.00	0.000	4	0.000	0.095	2763	488	3569	0	0	0	0	0	0
602	-0.73	-170.3	70.9	-11.8	88	612	0.08	2.50	0.00	0.000	6	0.184	0.088	2776	1909	3569	0	0	0	0	0	0
720	-0.73	-170.3	86.0	-12.9	107	728	0.00	2.38	0.00	0.000	4	0.000	0.084	2765	3346	3571	0	0	0	0	0	0
748	-0.73	-170.3	89.7	-12.6	111	758	0.08	2.42	0.00	0.000	6	0.168	0.086	2781	1922	3571	0	0	0	0	0	0
864	-0.73	-170.3	103.0	-10.4	130	873	0.00	2.42	0.00	0.000	4	0.000	0.082	2772	3354	3571	0	0	0	0	0	0
922	-0.73	-170.3	109.6	-11.3	139	931	0.00	2.50	0.00	0.000	6	0.000	0.096	2772	1907	3571	0	0	0	0	0	0
1038	-0.73	-170.3	122.7	-10.7	158	1046	0.00	2.53	0.00	0.000	4	0.000	0.108	2772	483	3572	0	0	0	0	0	0
1084	-0.70	-170.3	128.0	-12.3	165	1091	0.10	2.45	0.00	0.000	6	0.210	0.080	2784	1925	3572	0	0	0	0	0	0
1198	-0.70	-170.3	141.8	-11.7	184	1207	0.00	2.42	0.00	0.000	4	0.000	0.092	2773	3349	3572	0	0	0	0	0	0
1289	-0.70	-170.3	152.3	-11.6	199	1298	0.08	2.47	0.00	0.000	6	0.181	0.095	2789	1915	3573	0	0	0	0	0	0
1406	-0.70	-170.3	165.4	-10.7	218	1414	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	1915	3572	0	0	0	0	0	0
1521	-0.70	-170.3	178.6	-11.1	237	1527	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	1915	3572	0	0	0	0	0	0
1635	-0.72	-170.3	191.9	-11.5	256	1643	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	1915	3572	0	0	0	0	0	0
1749	-0.72	-170.3	205.0	-11.3	275	1757	0.00	2.40	0.00	0.000	4	0.000	0.091	2780	3343	3572	0	0	0	0	0	0
1782	-0.75	-170.3	209.1	-11.5	280	1791	0.00	2.53	0.00	0.000	6	0.000	0.105	2780	1922	3572	0	0	0	0	0	0
1898	-0.75	-170.3	222.5	-11.6	299	1905	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	1922	3572	0	0	0	0	0	0
2010	-0.75	-170.3	235.9	-12.0	318	2019	0.00	2.50	0.00	0.000	4	0.000	0.103	2780	488	3572	0	0	0	0	0	0
2033	-0.75	-170.3	238.5	-12.2	321	2040	0.00	2.42	0.00	0.000	6	0.000	0.078	2771	1924	3572	0	0	0	0	0	0
2149	-0.75	-170.3	253.1	-12.4	340	2158	0.00	2.40	0.00	0.000	4	0.000	0.091	2760	3344	3572	0	0	0	0	0	0
2220	-0.75	-170.3	261.6	-12.1	351	2229	0.08	2.50	0.00	0.000	6	0.178	0.105	2776	1913	3571	0	0	0	0	0	0
2335	-0.75	-170.3	275.9	-12.2	370	2343	0.00	0.00	0.00	0.000	6	0.000	0.000	2776	1913	3570	0	0	0	0	0	0
2449	-0.75	-170.3	289.8	-12.4	389	2456	0.00	0.00	0.00	0.000	6	0.000	0.000	2776	1913	3571	0	0	0	0	0	0
2564	-0.75	-170.3	304.0	-12.1	408	2573	0.00	0.00	0.00	0.000	6	0.000	0.000	2776	1913	3570	0	0	0	0	0	0
2679	-0.75	-170.3	317.3	-11.8	427	2686	0.00	0.00	0.00	0.000	6	0.000	0.000	2776	1913	3570	0	0	0	0	0	0
2705	end dive: BOTTOM_OBSTACLE_DETECTED
state	2705	begin apogee
2709	-0.25	0.0	320.3	10.8	431	2852	0.52	0.00	135.70	0.802	6	0.175	0.000	2932	1760	2863	0	0	0	0	0	0
2853	end apogee: CONTROL_FINISHED_OK
state	2853	begin climb
2855	1.05	170.3	327.9	0.0	450	3003	1.30	2.50	136.32	0.774	4	0.107	0.057	3361	331	2168	0	0	0	0	0	0
3028	0.97	179.4	318.8	9.7	474	3045	0.08	2.40	8.88	0.660	6	0.138	0.033	3337	1773	2131	0	0	0	0	0	0
3151	0.92	183.4	306.3	9.9	494	3161	0.08	0.00	4.20	0.521	6	0.199	0.000	3321	1776	2116	0	0	0	0	0	0
3270	0.90	198.5	295.5	9.4	513	3291	0.00	0.00	14.65	0.716	6	0.000	0.000	3320	1776	2053	0	0	0	0	0	0
3398	0.89	216.1	282.7	9.3	534	3423	0.00	2.45	15.82	0.719	4	0.000	0.054	3330	331	1981	0	0	0	0	0	0
3460	0.86	223.4	276.7	9.7	543	3478	0.12	2.28	7.45	0.641	6	0.157	0.034	3298	1762	1953	0	0	0	0	0	0
3585	0.90	259.5	265.6	8.6	563	3623	0.00	0.00	32.03	0.742	6	0.000	0.000	3298	1762	1805	0	0	0	0	0	0
3729	0.97	285.9	252.8	9.0	586	3759	0.10	0.00	23.40	0.728	6	0.094	0.000	3350	1762	1697	0	0	0	0	0	0
3865	0.97	285.9	237.5	11.7	608	3874	0.08	0.00	0.00	0.000	6	0.168	0.000	3332	1762	1693	0	0	0	0	0	0
3980	0.97	285.9	224.7	11.4	627	3988	0.00	2.35	0.00	0.000	4	0.000	0.057	3341	328	1691	0	0	0	0	0	0
4013	0.97	285.9	220.8	12.2	632	4022	0.00	2.30	0.00	0.000	6	0.000	0.036	3342	1756	1691	0	0	0	0	0	0
4127	0.97	285.9	207.7	11.5	651	4134	0.00	0.00	0.00	0.000	6	0.000	0.000	3342	1756	1691	0	0	0	0	0	0
4238	0.97	285.9	194.5	12.0	670	4247	0.00	0.00	0.00	0.000	6	0.000	0.000	3342	1756	1690	0	0	0	0	0	0
4352	0.97	285.9	181.7	11.3	689	4358	0.00	0.00	0.00	0.000	6	0.000	0.000	3342	1756	1690	0	0	0	0	0	0
4463	0.97	285.9	168.7	11.4	708	4472	0.00	0.00	0.00	0.000	6	0.000	0.000	3342	1756	1690	0	0	0	0	0	0
4578	0.97	285.9	155.5	11.6	727	4585	0.00	0.00	0.00	0.000	6	0.000	0.000	3342	1756	1690	0	0	0	0	0	0
4691	0.97	285.9	141.5	12.7	746	4700	0.00	2.35	0.00	0.000	4	0.000	0.057	3352	330	1689	0	0	0	0	0	0
4731	0.94	285.9	136.2	13.5	752	4741	0.08	2.28	0.00	0.000	6	0.132	0.036	3325	1768	1689	0	0	0	0	0	0
4847	0.94	285.9	122.1	11.8	771	4855	0.00	2.33	0.00	0.000	4	0.000	0.056	3335	328	1688	0	0	0	0	0	0
4880	0.94	285.9	117.8	12.9	776	4889	0.03	2.28	0.00	0.000	6	0.162	0.037	3326	1760	1688	0	0	0	0	0	0
4996	0.94	285.9	103.9	12.0	795	5004	0.00	2.22	0.00	0.000	4	0.000	0.057	3326	3179	1687	0	0	0	0	0	0
5036	0.94	285.9	98.9	12.8	801	5043	0.00	2.30	0.00	0.000	6	0.000	0.060	3336	1746	1687	0	0	0	0	0	0
5148	0.94	285.9	84.6	12.5	820	5158	0.00	2.30	0.00	0.000	4	0.000	0.061	3346	337	1687	0	0	0	0	0	0
5253	0.91	285.9	71.3	12.7	837	5261	0.12	2.22	0.00	0.000	6	0.154	0.036	3312	1769	1686	0	0	0	0	0	0
5367	0.94	285.9	58.6	11.5	856	5375	0.00	0.00	0.00	0.000	6	0.000	0.000	3312	1770	1686	0	0	0	0	0	0
5481	0.97	285.9	45.5	12.0	875	5489	0.05	0.00	0.00	0.000	6	0.159	0.000	3351	1770	1686	0	0	0	0	0	0
5593	0.97	285.9	30.3	14.3	894	5603	0.08	2.33	0.00	0.000	4	0.173	0.057	3342	343	1686	0	0	0	0	0	0
5630	0.97	285.9	25.8	12.8	899	5640	0.00	2.25	0.00	0.000	6	0.000	0.039	3341	1756	1685	0	0	0	0	0	0
5718	1.01	295.8	16.7	9.6	912	5728	0.00	2.25	3.60	0.386	4	0.000	0.060	3342	3183	1656	0	0	0	0	0	0
5773	1.01	295.8	10.3	10.2	920	5783	0.00	2.30	0.00	0.000	6	0.000	0.059	3352	1766	1655	0	0	0	0	0	0
5833	end climb: SURFACE_DEPTH_REACHED
state	5833	begin surface coast
5860	end surface coast: CONTROL_FINISHED_OK
state	5860	begin surface