Glider dive log

SAGE 17Apr15 * SG573 * Dive index * Mission links * Dive 177 * 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 177 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 16 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 300 R_STBD_OVSHOOT 37 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 -14078.886 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 176

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 176 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 -14078.886

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 16 VBD_MAX 3959

DEVICE6 -1 MASS 52922 R_STBD_OVSHOOT 37 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 175 SEABIRD_C_G -9.9469662 VBD_MIN 409

DIVE 177 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 290415,152759,-3426.439,2543.501,39,1.0,40,-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 2.05 KALMAN_X -18488.8,-8625.5,-2647.6,-6374.3,-1020.9

_SM_ANGLEo -63.8 KALMAN_Y -14362.4,-6812.0,-2167.9,-3593.3,-569.5

GPS2 290415,153553,-3426.450,2543.540,42,1.6,43,-27.8 MHEAD_RNG_PITCHd_Wd 295.6,33229,-16.9,-10.010

SPEED_LIMITS 0.173,0.279 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.4,1.022045 _10V_AH 10.3,15.123

SM_CCo 5983,8.50,0.051,0,0,1639,300.24 FG_AHR_24Vo 0.000

SM_GC 3.18,0.00,0.00,8.50,0.000,0.000,0.051,75,1961,1639,-9.21,1.19,300.24 FG_AHR_10Vo 0.000

IRIDIUM_FIX -3412.10,2540.16,240208,030356 MEM 331424

TT8_MAMPS 0.027713 DATA_FILE_SIZE 67038,930

HUMID 61.49 CAP_FILE_SIZE 113542,0

INTERNAL_PRESSURE 9.33319 CFSIZE 2097086464,2073886720

TCM_TEMP 16.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2

XPDR_PINGS 0 CURRENT 0.271, 81.0,1

ALTIM_BOTTOM_PING 280.5,35.5 GPS 290415,171723,-3426.254,2543.538,40,1.1,41,-27.8

_24V_AH 24.0,18.932

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 265 148.92 SBE_CT 634 23 353.73

Roll_motor 85 115 238.08 AA4330 2404 17 994.24

VBD_pump_during_apogee 369 792 7030.62 WL_BB2F 1645 105 4146.64

VBD_pump_during_surface 8 51 10.46 QSP2150 2598 17 1074.65

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 91 58.16 nil 0 0 0.00

Iridium_during_connect 18 160 72.41 nil 0 0 0.00

Iridium_during_xfer 283 223 1515.35 nil 0 0 0.00

Transponder_ping 6 420 63.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 45 27 12.90

TT8 2219 13 317.61

LPSleep 573 2 12.94

TT8_Active 520 13 74.40

TT8_Sampling 3006 40 1264.82

TT8_CF8 148 50 77.27

TT8_Kalman 0 0 0.00

Analog_circuits 1452 15 229.25

GPS_charging 0 0 0.00

Compass 2366 15 383.48

RAFOS 0 0 0.00

Transponder 40 30 12.52

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

25 -1.05 -170.3 0.0 0.0 0 71 0.00 0.00 -43.33 0.000 2 0.000 0.000 69 1948 2664 0 0 0 0 0 0

73 -1.05 -170.3 3.2 -2.6 5 118 11.52 2.58 -26.12 0.000 4 0.265 0.116 2677 500 3563 0 0 0 0 0 0

202 -0.81 -170.3 23.7 -22.7 23 212 0.30 2.53 0.00 0.000 6 0.201 0.099 2749 1890 3566 0 0 0 0 0 0

286 -0.74 -170.3 37.4 -13.4 36 296 0.10 2.50 0.00 0.000 4 0.200 0.087 2762 3354 3566 0 0 0 0 0 0

409 -0.74 -170.3 50.3 -9.8 55 417 0.05 2.42 0.00 0.000 6 0.188 0.083 2773 1925 3567 0 0 0 0 0 0

526 -0.74 -170.3 62.8 -10.9 74 535 0.00 0.00 0.00 0.000 6 0.000 0.000 2772 1925 3568 0 0 0 0 0 0

647 -0.74 -170.3 75.5 -10.3 93 654 0.00 0.00 0.00 0.000 6 0.000 0.000 2772 1925 3569 0 0 0 0 0 0

761 -0.74 -170.3 87.7 -10.9 112 770 0.00 2.53 0.00 0.000 4 0.000 0.105 2773 493 3570 0 0 0 0 0 0

791 -0.74 -170.3 91.0 -11.1 116 800 0.00 2.50 0.00 0.000 6 0.000 0.088 2764 1920 3570 0 0 0 0 0 0

912 -0.72 -170.3 104.7 -10.9 135 920 0.10 2.38 0.00 0.000 4 0.212 0.093 2775 3346 3571 0 0 0 0 0 0

1015 -0.72 -170.3 115.3 -10.5 151 1022 0.00 2.47 0.00 0.000 6 0.000 0.094 2774 1908 3571 0 0 0 0 0 0

1130 -0.72 -170.3 127.7 -10.4 170 1140 0.00 2.50 0.00 0.000 4 0.000 0.104 2775 483 3572 0 0 0 0 0 0

1153 -0.72 -170.3 129.9 -10.6 173 1162 0.10 2.45 0.00 0.000 6 0.213 0.083 2786 1921 3572 0 0 0 0 0 0

1275 -0.72 -170.3 142.6 -10.0 192 1283 0.00 2.42 0.00 0.000 4 0.000 0.093 2775 3342 3572 0 0 0 0 0 0

1362 -0.74 -170.3 151.1 -9.5 206 1371 0.00 2.50 0.00 0.000 6 0.000 0.097 2775 1918 3572 0 0 0 0 0 0

1482 -0.74 -170.3 162.3 -9.8 225 1488 0.00 0.00 0.00 0.000 6 0.000 0.000 2775 1918 3572 0 0 0 0 0 0

1597 -0.74 -170.3 173.8 -9.9 244 1606 0.00 0.00 0.00 0.000 6 0.000 0.000 2775 1918 3572 0 0 0 0 0 0

1715 -0.74 -170.3 185.8 -10.7 263 1722 0.00 0.00 0.00 0.000 6 0.000 0.000 2775 1918 3572 0 0 0 0 0 0

1830 -0.74 -170.3 197.9 -11.2 282 1839 0.00 0.00 0.00 0.000 6 0.000 0.000 2775 1918 3572 0 0 0 0 0 0

1951 -0.74 -170.3 210.2 -10.3 301 1958 0.00 0.00 0.00 0.000 6 0.000 0.000 2775 1918 3571 0 0 0 0 0 0

2066 -0.74 -170.3 221.8 -10.1 320 2074 0.00 0.00 0.00 0.000 6 0.000 0.000 2775 1918 3571 0 0 0 0 0 0

2184 -0.74 -170.3 233.5 -9.9 339 2190 0.00 0.00 0.00 0.000 6 0.000 0.000 2775 1918 3571 0 0 0 0 0 0

2299 -0.74 -170.3 245.6 -10.1 358 2309 0.00 0.00 0.00 0.000 6 0.000 0.000 2775 1918 3571 0 0 0 0 0 0

2419 -0.74 -170.3 257.9 -10.8 377 2426 0.00 2.45 0.00 0.000 4 0.000 0.100 2766 3343 3571 0 0 0 0 0 0

2459 -0.74 -170.3 262.4 -11.9 383 2466 0.00 2.50 0.00 0.000 6 0.000 0.103 2766 1911 3571 0 0 0 0 0 0

2576 -0.74 -170.3 276.5 -12.2 402 2585 0.00 0.00 0.00 0.000 6 0.000 0.000 2766 1911 3571 0 0 0 0 0 0

2698 -0.74 -170.3 291.2 -12.4 421 2705 0.00 2.42 0.00 0.000 4 0.000 0.097 2766 481 3571 0 0 0 0 0 0

2744 -0.71 -170.3 297.4 -14.4 428 2753 0.08 2.42 0.00 0.000 6 0.195 0.071 2778 1920 3570 0 0 0 0 0 0

2772 end dive: BOTTOM_OBSTACLE_DETECTED

state 2772 begin apogee

2776 -0.25 0.0 301.2 12.6 432 2919 0.50 0.00 134.77 0.793 6 0.174 0.000 2927 1723 2862 0 0 0 0 0 0

2920 end apogee: CONTROL_FINISHED_OK

state 2920 begin climb

2921 1.05 170.3 310.8 0.0 451 3070 1.33 2.35 135.88 0.768 4 0.109 0.053 3362 365 2168 0 0 0 0 0 0

3197 0.94 170.3 292.7 10.3 492 3207 0.10 2.30 0.00 0.000 6 0.142 0.033 3331 1778 2164 0 0 0 0 0 0

3319 0.92 198.4 281.9 8.9 511 3350 0.05 2.42 23.95 0.735 4 0.236 0.052 3331 362 2053 0 0 0 0 0 0

3389 0.86 198.4 274.7 10.7 521 3397 0.12 2.25 0.00 0.000 6 0.161 0.034 3299 1770 2051 0 0 0 0 0 0

3508 0.89 226.1 263.4 8.9 540 3538 0.00 0.00 23.95 0.731 6 0.000 0.000 3299 1770 1941 0 0 0 0 0 0

3646 0.89 226.1 250.2 10.0 562 3655 0.00 0.00 0.00 0.000 6 0.000 0.000 3299 1769 1938 0 0 0 0 0 0

3764 0.89 226.1 238.6 10.2 581 3771 0.00 0.00 0.00 0.000 6 0.000 0.000 3299 1770 1937 0 0 0 0 0 0

3879 0.90 236.1 226.8 9.6 600 3894 0.00 0.00 9.12 0.667 6 0.000 0.000 3299 1770 1901 0 0 0 0 0 0

4003 0.93 236.1 214.8 10.1 620 4011 0.00 0.00 0.00 0.000 6 0.000 0.000 3299 1770 1899 0 0 0 0 0 0

4122 0.96 243.8 203.8 9.7 639 4138 0.10 2.30 8.15 0.650 4 0.096 0.052 3362 360 1869 0 0 0 0 0 0

4164 0.89 243.8 198.9 12.3 645 4172 0.20 2.20 0.00 0.000 6 0.149 0.034 3307 1764 1868 0 0 0 0 0 0

4281 0.89 243.8 185.9 10.4 664 4289 0.00 0.00 0.00 0.000 6 0.000 0.000 3306 1764 1867 0 0 0 0 0 0

4399 0.89 243.8 173.9 10.6 683 4405 0.00 0.00 0.00 0.000 6 0.000 0.000 3306 1764 1866 0 0 0 0 0 0

4513 0.89 243.8 161.9 10.3 702 4523 0.00 0.00 0.00 0.000 6 0.000 0.000 3306 1763 1867 0 0 0 0 0 0

4632 0.89 246.7 150.1 9.9 721 4639 0.00 2.25 0.00 0.000 4 0.000 0.054 3316 359 1866 0 0 0 0 0 0

4664 0.89 246.7 146.7 10.2 726 4674 0.00 2.22 0.00 0.000 6 0.000 0.035 3315 1758 1865 0 0 0 0 0 0

4784 0.89 246.7 134.6 10.2 745 4791 0.00 2.22 0.00 0.000 4 0.000 0.059 3316 3174 1865 0 0 0 0 0 0

4815 0.89 246.7 131.0 10.8 750 4826 0.05 2.28 0.00 0.000 6 0.145 0.060 3307 1781 1865 0 0 0 0 0 0

4936 0.92 264.6 119.0 9.3 769 4967 0.00 2.38 19.20 0.673 4 0.000 0.059 3318 346 1782 0 0 0 0 0 0

5017 0.92 264.6 110.4 10.3 781 5024 0.00 2.22 0.00 0.000 6 0.000 0.037 3318 1758 1780 0 0 0 0 0 0

5133 0.92 269.0 98.4 9.8 800 5142 0.00 0.00 4.28 0.506 6 0.000 0.000 3318 1758 1767 0 0 0 0 0 0

5253 0.93 278.7 86.9 9.6 819 5267 0.00 0.00 10.32 0.610 6 0.000 0.000 3318 1758 1725 0 0 0 0 0 0

5378 0.96 278.7 73.7 11.1 839 5385 0.00 2.30 0.00 0.000 4 0.000 0.054 3328 334 1723 0 0 0 0 0 0

5418 0.96 278.7 68.9 12.3 845 5425 0.00 2.28 0.00 0.000 6 0.000 0.037 3327 1758 1723 0 0 0 0 0 0

5533 0.96 278.7 55.0 12.3 864 5542 0.00 2.30 0.00 0.000 4 0.000 0.062 3327 3171 1721 0 0 0 0 0 0

5560 0.96 278.7 51.3 13.4 868 5569 0.00 2.33 0.00 0.000 6 0.000 0.059 3337 1751 1721 0 0 0 0 0 0

5680 0.96 278.7 34.3 15.4 887 5687 0.00 2.28 0.00 0.000 4 0.000 0.059 3348 334 1721 0 0 0 0 0 0

5739 0.96 278.7 24.8 16.8 896 5748 0.05 2.28 0.00 0.000 6 0.133 0.039 3330 1753 1720 0 0 0 0 0 0

5826 0.99 278.7 14.4 10.7 909 5835 0.00 2.28 0.00 0.000 4 0.000 0.057 3329 3175 1719 0 0 0 0 0 0

5869 0.99 278.7 10.0 10.9 915 5878 0.00 2.30 0.00 0.000 6 0.000 0.060 3339 1767 1719 0 0 0 0 0 0

5934 end climb: SURFACE_DEPTH_REACHED

state 5934 begin surface coast

5967 end surface coast: CONTROL_FINISHED_OK

state 5967 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	177	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	16	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	300	R_STBD_OVSHOOT	37	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	-14078.886	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	176

GPS1	290415,152759,-3426.439,2543.501,39,1.0,40,-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	2.05	KALMAN_X	-18488.8,-8625.5,-2647.6,-6374.3,-1020.9
_SM_ANGLEo	-63.8	KALMAN_Y	-14362.4,-6812.0,-2167.9,-3593.3,-569.5
GPS2	290415,153553,-3426.450,2543.540,42,1.6,43,-27.8	MHEAD_RNG_PITCHd_Wd	295.6,33229,-16.9,-10.010
SPEED_LIMITS	0.173,0.279	D_GRID	1000

FINISH	1.4,1.022045	_10V_AH	10.3,15.123
SM_CCo	5983,8.50,0.051,0,0,1639,300.24	FG_AHR_24Vo	0.000
SM_GC	3.18,0.00,0.00,8.50,0.000,0.000,0.051,75,1961,1639,-9.21,1.19,300.24	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-3412.10,2540.16,240208,030356	MEM	331424
TT8_MAMPS	0.027713	DATA_FILE_SIZE	67038,930
HUMID	61.49	CAP_FILE_SIZE	113542,0
INTERNAL_PRESSURE	9.33319	CFSIZE	2097086464,2073886720
TCM_TEMP	16.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
XPDR_PINGS	0	CURRENT	0.271, 81.0,1
ALTIM_BOTTOM_PING	280.5,35.5	GPS	290415,171723,-3426.254,2543.538,40,1.1,41,-27.8
_24V_AH	24.0,18.932

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	265	148.92	SBE_CT	634	23	353.73
Roll_motor	85	115	238.08	AA4330	2404	17	994.24
VBD_pump_during_apogee	369	792	7030.62	WL_BB2F	1645	105	4146.64
VBD_pump_during_surface	8	51	10.46	QSP2150	2598	17	1074.65
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	91	58.16	nil	0	0	0.00
Iridium_during_connect	18	160	72.41	nil	0	0	0.00
Iridium_during_xfer	283	223	1515.35	nil	0	0	0.00
Transponder_ping	6	420	63.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	45	27	12.90
TT8	2219	13	317.61
LPSleep	573	2	12.94
TT8_Active	520	13	74.40
TT8_Sampling	3006	40	1264.82
TT8_CF8	148	50	77.27
TT8_Kalman	0	0	0.00
Analog_circuits	1452	15	229.25
GPS_charging	0	0	0.00
Compass	2366	15	383.48
RAFOS	0	0	0.00
Transponder	40	30	12.52

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
25	-1.05	-170.3	0.0	0.0	0	71	0.00	0.00	-43.33	0.000	2	0.000	0.000	69	1948	2664	0	0	0	0	0	0
73	-1.05	-170.3	3.2	-2.6	5	118	11.52	2.58	-26.12	0.000	4	0.265	0.116	2677	500	3563	0	0	0	0	0	0
202	-0.81	-170.3	23.7	-22.7	23	212	0.30	2.53	0.00	0.000	6	0.201	0.099	2749	1890	3566	0	0	0	0	0	0
286	-0.74	-170.3	37.4	-13.4	36	296	0.10	2.50	0.00	0.000	4	0.200	0.087	2762	3354	3566	0	0	0	0	0	0
409	-0.74	-170.3	50.3	-9.8	55	417	0.05	2.42	0.00	0.000	6	0.188	0.083	2773	1925	3567	0	0	0	0	0	0
526	-0.74	-170.3	62.8	-10.9	74	535	0.00	0.00	0.00	0.000	6	0.000	0.000	2772	1925	3568	0	0	0	0	0	0
647	-0.74	-170.3	75.5	-10.3	93	654	0.00	0.00	0.00	0.000	6	0.000	0.000	2772	1925	3569	0	0	0	0	0	0
761	-0.74	-170.3	87.7	-10.9	112	770	0.00	2.53	0.00	0.000	4	0.000	0.105	2773	493	3570	0	0	0	0	0	0
791	-0.74	-170.3	91.0	-11.1	116	800	0.00	2.50	0.00	0.000	6	0.000	0.088	2764	1920	3570	0	0	0	0	0	0
912	-0.72	-170.3	104.7	-10.9	135	920	0.10	2.38	0.00	0.000	4	0.212	0.093	2775	3346	3571	0	0	0	0	0	0
1015	-0.72	-170.3	115.3	-10.5	151	1022	0.00	2.47	0.00	0.000	6	0.000	0.094	2774	1908	3571	0	0	0	0	0	0
1130	-0.72	-170.3	127.7	-10.4	170	1140	0.00	2.50	0.00	0.000	4	0.000	0.104	2775	483	3572	0	0	0	0	0	0
1153	-0.72	-170.3	129.9	-10.6	173	1162	0.10	2.45	0.00	0.000	6	0.213	0.083	2786	1921	3572	0	0	0	0	0	0
1275	-0.72	-170.3	142.6	-10.0	192	1283	0.00	2.42	0.00	0.000	4	0.000	0.093	2775	3342	3572	0	0	0	0	0	0
1362	-0.74	-170.3	151.1	-9.5	206	1371	0.00	2.50	0.00	0.000	6	0.000	0.097	2775	1918	3572	0	0	0	0	0	0
1482	-0.74	-170.3	162.3	-9.8	225	1488	0.00	0.00	0.00	0.000	6	0.000	0.000	2775	1918	3572	0	0	0	0	0	0
1597	-0.74	-170.3	173.8	-9.9	244	1606	0.00	0.00	0.00	0.000	6	0.000	0.000	2775	1918	3572	0	0	0	0	0	0
1715	-0.74	-170.3	185.8	-10.7	263	1722	0.00	0.00	0.00	0.000	6	0.000	0.000	2775	1918	3572	0	0	0	0	0	0
1830	-0.74	-170.3	197.9	-11.2	282	1839	0.00	0.00	0.00	0.000	6	0.000	0.000	2775	1918	3572	0	0	0	0	0	0
1951	-0.74	-170.3	210.2	-10.3	301	1958	0.00	0.00	0.00	0.000	6	0.000	0.000	2775	1918	3571	0	0	0	0	0	0
2066	-0.74	-170.3	221.8	-10.1	320	2074	0.00	0.00	0.00	0.000	6	0.000	0.000	2775	1918	3571	0	0	0	0	0	0
2184	-0.74	-170.3	233.5	-9.9	339	2190	0.00	0.00	0.00	0.000	6	0.000	0.000	2775	1918	3571	0	0	0	0	0	0
2299	-0.74	-170.3	245.6	-10.1	358	2309	0.00	0.00	0.00	0.000	6	0.000	0.000	2775	1918	3571	0	0	0	0	0	0
2419	-0.74	-170.3	257.9	-10.8	377	2426	0.00	2.45	0.00	0.000	4	0.000	0.100	2766	3343	3571	0	0	0	0	0	0
2459	-0.74	-170.3	262.4	-11.9	383	2466	0.00	2.50	0.00	0.000	6	0.000	0.103	2766	1911	3571	0	0	0	0	0	0
2576	-0.74	-170.3	276.5	-12.2	402	2585	0.00	0.00	0.00	0.000	6	0.000	0.000	2766	1911	3571	0	0	0	0	0	0
2698	-0.74	-170.3	291.2	-12.4	421	2705	0.00	2.42	0.00	0.000	4	0.000	0.097	2766	481	3571	0	0	0	0	0	0
2744	-0.71	-170.3	297.4	-14.4	428	2753	0.08	2.42	0.00	0.000	6	0.195	0.071	2778	1920	3570	0	0	0	0	0	0
2772	end dive: BOTTOM_OBSTACLE_DETECTED
state	2772	begin apogee
2776	-0.25	0.0	301.2	12.6	432	2919	0.50	0.00	134.77	0.793	6	0.174	0.000	2927	1723	2862	0	0	0	0	0	0
2920	end apogee: CONTROL_FINISHED_OK
state	2920	begin climb
2921	1.05	170.3	310.8	0.0	451	3070	1.33	2.35	135.88	0.768	4	0.109	0.053	3362	365	2168	0	0	0	0	0	0
3197	0.94	170.3	292.7	10.3	492	3207	0.10	2.30	0.00	0.000	6	0.142	0.033	3331	1778	2164	0	0	0	0	0	0
3319	0.92	198.4	281.9	8.9	511	3350	0.05	2.42	23.95	0.735	4	0.236	0.052	3331	362	2053	0	0	0	0	0	0
3389	0.86	198.4	274.7	10.7	521	3397	0.12	2.25	0.00	0.000	6	0.161	0.034	3299	1770	2051	0	0	0	0	0	0
3508	0.89	226.1	263.4	8.9	540	3538	0.00	0.00	23.95	0.731	6	0.000	0.000	3299	1770	1941	0	0	0	0	0	0
3646	0.89	226.1	250.2	10.0	562	3655	0.00	0.00	0.00	0.000	6	0.000	0.000	3299	1769	1938	0	0	0	0	0	0
3764	0.89	226.1	238.6	10.2	581	3771	0.00	0.00	0.00	0.000	6	0.000	0.000	3299	1770	1937	0	0	0	0	0	0
3879	0.90	236.1	226.8	9.6	600	3894	0.00	0.00	9.12	0.667	6	0.000	0.000	3299	1770	1901	0	0	0	0	0	0
4003	0.93	236.1	214.8	10.1	620	4011	0.00	0.00	0.00	0.000	6	0.000	0.000	3299	1770	1899	0	0	0	0	0	0
4122	0.96	243.8	203.8	9.7	639	4138	0.10	2.30	8.15	0.650	4	0.096	0.052	3362	360	1869	0	0	0	0	0	0
4164	0.89	243.8	198.9	12.3	645	4172	0.20	2.20	0.00	0.000	6	0.149	0.034	3307	1764	1868	0	0	0	0	0	0
4281	0.89	243.8	185.9	10.4	664	4289	0.00	0.00	0.00	0.000	6	0.000	0.000	3306	1764	1867	0	0	0	0	0	0
4399	0.89	243.8	173.9	10.6	683	4405	0.00	0.00	0.00	0.000	6	0.000	0.000	3306	1764	1866	0	0	0	0	0	0
4513	0.89	243.8	161.9	10.3	702	4523	0.00	0.00	0.00	0.000	6	0.000	0.000	3306	1763	1867	0	0	0	0	0	0
4632	0.89	246.7	150.1	9.9	721	4639	0.00	2.25	0.00	0.000	4	0.000	0.054	3316	359	1866	0	0	0	0	0	0
4664	0.89	246.7	146.7	10.2	726	4674	0.00	2.22	0.00	0.000	6	0.000	0.035	3315	1758	1865	0	0	0	0	0	0
4784	0.89	246.7	134.6	10.2	745	4791	0.00	2.22	0.00	0.000	4	0.000	0.059	3316	3174	1865	0	0	0	0	0	0
4815	0.89	246.7	131.0	10.8	750	4826	0.05	2.28	0.00	0.000	6	0.145	0.060	3307	1781	1865	0	0	0	0	0	0
4936	0.92	264.6	119.0	9.3	769	4967	0.00	2.38	19.20	0.673	4	0.000	0.059	3318	346	1782	0	0	0	0	0	0
5017	0.92	264.6	110.4	10.3	781	5024	0.00	2.22	0.00	0.000	6	0.000	0.037	3318	1758	1780	0	0	0	0	0	0
5133	0.92	269.0	98.4	9.8	800	5142	0.00	0.00	4.28	0.506	6	0.000	0.000	3318	1758	1767	0	0	0	0	0	0
5253	0.93	278.7	86.9	9.6	819	5267	0.00	0.00	10.32	0.610	6	0.000	0.000	3318	1758	1725	0	0	0	0	0	0
5378	0.96	278.7	73.7	11.1	839	5385	0.00	2.30	0.00	0.000	4	0.000	0.054	3328	334	1723	0	0	0	0	0	0
5418	0.96	278.7	68.9	12.3	845	5425	0.00	2.28	0.00	0.000	6	0.000	0.037	3327	1758	1723	0	0	0	0	0	0
5533	0.96	278.7	55.0	12.3	864	5542	0.00	2.30	0.00	0.000	4	0.000	0.062	3327	3171	1721	0	0	0	0	0	0
5560	0.96	278.7	51.3	13.4	868	5569	0.00	2.33	0.00	0.000	6	0.000	0.059	3337	1751	1721	0	0	0	0	0	0
5680	0.96	278.7	34.3	15.4	887	5687	0.00	2.28	0.00	0.000	4	0.000	0.059	3348	334	1721	0	0	0	0	0	0
5739	0.96	278.7	24.8	16.8	896	5748	0.05	2.28	0.00	0.000	6	0.133	0.039	3330	1753	1720	0	0	0	0	0	0
5826	0.99	278.7	14.4	10.7	909	5835	0.00	2.28	0.00	0.000	4	0.000	0.057	3329	3175	1719	0	0	0	0	0	0
5869	0.99	278.7	10.0	10.9	915	5878	0.00	2.30	0.00	0.000	6	0.000	0.060	3339	1767	1719	0	0	0	0	0	0
5934	end climb: SURFACE_DEPTH_REACHED
state	5934	begin surface coast
5967	end surface coast: CONTROL_FINISHED_OK
state	5967	begin surface