Glider dive log

SAGE 17Apr15 * SG573 * Dive index * Mission links * Dive 179 * 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 179 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 19 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 300 R_STBD_OVSHOOT 39 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 -14085.724 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 178

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 178 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 -14085.724

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 19 VBD_MAX 3959

DEVICE6 -1 MASS 52922 R_STBD_OVSHOOT 39 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 175 SEABIRD_C_G -9.9469662 VBD_MIN 409

DIVE 179 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 290415,185629,-3426.105,2543.651,41,1.7,42,-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 2.09 KALMAN_X -18488.8,-8625.5,-2647.6,-6374.3,-1020.9

_SM_ANGLEo -68.1 KALMAN_Y -14362.4,-6812.0,-2167.9,-3593.3,-569.5

GPS2 290415,190405,-3426.157,2543.732,46,1.1,46,-27.8 MHEAD_RNG_PITCHd_Wd 280.7,33446,-16.9,-10.010

SPEED_LIMITS 0.173,0.279 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.6,1.022090 _10V_AH 10.3,15.380

SM_CCo 5418,0.00,0.000,0,0,1636,301.22 FG_AHR_24Vo 0.000

SM_GC 2.18,8.80,0.00,0.00,0.060,0.000,0.000,80,1952,1636,-9.08,0.90,301.22 FG_AHR_10Vo 0.000

IRIDIUM_FIX -3412.10,2542.51,240208,060617 MEM 331368

TT8_MAMPS 0.026964 DATA_FILE_SIZE 60513,831

HUMID 60.82 CAP_FILE_SIZE 99658,0

INTERNAL_PRESSURE 9.35272 CFSIZE 2097086464,2073690112

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

XPDR_PINGS 0 CURRENT 0.316, 70.3,1

ALTIM_BOTTOM_PING 260.5,27.0 GPS 290415,203559,-3426.028,2543.871,40,1.3,41,-27.8

_24V_AH 24.0,19.129

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 263 147.59 SBE_CT 566 23 315.48

Roll_motor 68 148 242.29 AA4330 2159 17 893.00

VBD_pump_during_apogee 378 771 7010.41 WL_BB2F 1487 105 3748.01

VBD_pump_during_surface 0 0 0.00 QSP2150 2333 17 964.87

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 91 58.55 nil 0 0 0.00

Iridium_during_connect 45 160 176.02 nil 0 0 0.00

Iridium_during_xfer 239 223 1283.32 nil 0 0 0.00

Transponder_ping 5 420 57.96 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 48 27 13.72

TT8 1965 13 281.24

LPSleep 555 2 12.53

TT8_Active 493 13 70.63

TT8_Sampling 2724 40 1146.51

TT8_CF8 137 50 71.62

TT8_Kalman 0 0 0.00

Analog_circuits 1340 15 211.56

GPS_charging 0 0 0.00

Compass 2129 15 345.05

RAFOS 0 0 0.00

Transponder 38 30 11.75

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 70 0.00 0.00 -43.72 0.000 2 0.000 0.000 75 1950 2667 0 0 0 0 0 0

72 -1.05 -170.3 3.2 -3.0 5 116 11.40 0.00 -24.75 0.000 6 0.264 0.000 2669 1946 3560 0 0 0 0 0 0

193 -0.85 -170.3 22.3 -18.5 22 202 0.25 2.35 0.00 0.000 4 0.203 0.083 2729 3317 3564 0 0 0 0 0 0

314 -0.79 -170.3 39.6 -13.6 41 322 0.12 2.35 0.00 0.000 6 0.172 0.079 2759 1921 3566 0 0 0 0 0 0

434 -0.76 -170.3 52.2 -10.2 60 443 0.00 2.53 0.00 0.000 4 0.000 0.104 2760 493 3567 0 0 0 0 0 0

470 -0.72 -170.3 56.3 -12.1 65 478 0.12 2.47 0.00 0.000 6 0.197 0.096 2780 1895 3567 0 0 0 0 0 0

585 -0.72 -170.3 69.4 -11.3 84 598 0.00 2.50 0.00 0.000 4 0.000 0.094 2770 3352 3568 0 0 0 0 0 0

647 -0.72 -170.3 76.0 -10.7 93 655 0.05 2.47 0.00 0.000 6 0.187 0.093 2780 1916 3568 0 0 0 0 0 0

765 -0.72 -170.3 89.2 -11.0 112 775 0.00 2.50 0.00 0.000 4 0.000 0.103 2780 493 3570 0 0 0 0 0 0

806 -0.72 -170.3 93.7 -12.0 118 815 0.00 2.58 0.00 0.000 6 0.000 0.101 2772 1920 3570 0 0 0 0 0 0

926 -0.72 -170.3 107.3 -11.8 137 933 0.00 2.38 0.00 0.000 4 0.000 0.090 2760 3351 3570 0 0 0 0 0 0

1049 -0.72 -170.3 123.1 -12.3 157 1057 0.10 2.45 0.00 0.000 6 0.174 0.092 2783 1920 3570 0 0 0 0 0 0

1168 -0.72 -170.3 136.4 -10.3 176 1177 0.00 0.00 0.00 0.000 6 0.000 0.000 2783 1920 3570 0 0 0 0 0 0

1287 -0.72 -170.3 148.5 -10.7 195 1293 0.00 0.00 0.00 0.000 6 0.000 0.000 2783 1920 3571 0 0 0 0 0 0

1402 -0.72 -170.3 160.8 -11.5 214 1412 0.00 2.45 0.00 0.000 4 0.000 0.090 2775 3350 3571 0 0 0 0 0 0

1454 -0.72 -170.3 166.5 -10.8 222 1463 0.00 2.47 0.00 0.000 6 0.000 0.093 2775 1927 3571 0 0 0 0 0 0

1573 -0.72 -170.3 179.1 -10.4 241 1583 0.00 0.00 0.00 0.000 6 0.000 0.000 2775 1927 3571 0 0 0 0 0 0

1692 -0.72 -170.3 192.3 -11.2 260 1701 0.00 0.00 0.00 0.000 6 0.000 0.000 2775 1927 3571 0 0 0 0 0 0

1810 -0.72 -170.3 205.0 -10.6 279 1816 0.00 0.00 0.00 0.000 6 0.000 0.000 2774 1926 3570 0 0 0 0 0 0

1927 -0.72 -170.3 217.8 -10.3 298 1935 0.00 0.00 0.00 0.000 6 0.000 0.000 2775 1927 3570 0 0 0 0 0 0

2047 -0.72 -170.3 230.2 -11.1 317 2053 0.00 0.00 0.00 0.000 6 0.000 0.000 2774 1927 3570 0 0 0 0 0 0

2163 -0.72 -170.3 243.8 -10.6 336 2173 0.00 2.50 0.00 0.000 4 0.000 0.098 2774 478 3570 0 0 0 0 0 0

2193 -0.72 -170.3 247.2 -11.2 340 2203 0.05 2.47 0.00 0.000 6 0.194 0.078 2778 1926 3570 0 0 0 0 0 0

2316 -0.72 -170.3 261.7 -12.4 359 2323 0.00 2.45 0.00 0.000 4 0.000 0.107 2768 3354 3570 0 0 0 0 0 0

2368 -0.72 -170.3 267.8 -11.5 367 2376 0.08 2.47 0.00 0.000 6 0.181 0.094 2782 1907 3570 0 0 0 0 0 0

2407 end dive: BOTTOM_OBSTACLE_DETECTED

state 2408 begin apogee

2412 -0.25 0.0 272.7 11.5 373 2551 0.50 0.00 134.07 0.771 6 0.173 0.000 2933 1754 2864 0 0 0 0 0 0

2552 end apogee: CONTROL_FINISHED_OK

state 2552 begin climb

2553 1.05 170.3 279.0 0.0 392 2702 1.30 2.45 135.43 0.744 4 0.106 0.051 3362 333 2168 0 0 0 0 0 0

2747 0.93 170.3 269.5 10.1 419 2755 0.15 2.35 0.00 0.000 6 0.156 0.034 3324 1787 2164 0 0 0 0 0 0

2865 0.95 231.0 259.0 7.6 438 2925 0.00 2.50 50.75 0.727 4 0.000 0.050 3334 335 1919 0 0 0 0 0 0

2962 0.91 231.0 249.4 11.8 452 2973 0.05 2.35 0.00 0.000 6 0.156 0.036 3317 1754 1916 0 0 0 0 0 0

3082 0.91 231.0 236.5 11.3 471 3089 0.00 0.00 0.00 0.000 6 0.000 0.000 3318 1754 1915 0 0 0 0 0 0

3197 0.93 246.5 224.6 9.4 490 3213 0.00 0.00 13.70 0.682 6 0.000 0.000 3318 1754 1859 0 0 0 0 0 0

3322 0.93 246.5 211.6 10.1 510 3331 0.00 0.00 0.00 0.000 6 0.000 0.000 3318 1754 1855 0 0 0 0 0 0

3441 0.93 246.5 199.6 11.1 529 3448 0.00 0.00 0.00 0.000 6 0.000 0.000 3318 1754 1854 0 0 0 0 0 0

3556 0.93 246.5 186.6 11.3 548 3565 0.00 0.00 0.00 0.000 6 0.000 0.000 3318 1754 1854 0 0 0 0 0 0

3674 0.93 246.5 174.1 10.2 567 3680 0.00 0.00 0.00 0.000 6 0.000 0.000 3318 1754 1854 0 0 0 0 0 0

3789 0.93 246.5 162.0 10.3 586 3797 0.00 0.00 0.00 0.000 6 0.000 0.000 3318 1754 1853 0 0 0 0 0 0

3907 0.93 246.5 150.4 10.3 605 3914 0.00 0.00 0.00 0.000 6 0.000 0.000 3317 1754 1853 0 0 0 0 0 0

4024 0.95 261.2 139.0 9.4 624 4040 0.00 0.00 13.38 0.669 6 0.000 0.000 3318 1754 1798 0 0 0 0 0 0

4149 0.99 297.2 127.8 8.6 644 4188 0.05 0.00 31.48 0.685 6 0.159 0.000 3360 1755 1652 0 0 0 0 0 0

4299 0.97 297.2 112.2 11.1 667 4305 0.10 0.00 0.00 0.000 6 0.158 0.000 3334 1755 1647 0 0 0 0 0 0

4414 0.97 297.2 99.7 10.5 686 4422 0.00 0.00 0.00 0.000 6 0.000 0.000 3333 1755 1647 0 0 0 0 0 0

4532 0.97 297.2 87.7 10.3 705 4539 0.00 2.30 0.00 0.000 4 0.000 0.054 3344 331 1645 0 0 0 0 0 0

4572 0.97 297.2 83.2 11.3 711 4579 0.00 2.25 0.00 0.000 6 0.000 0.038 3344 1755 1645 0 0 0 0 0 0

4687 0.97 297.2 69.8 11.0 730 4697 0.00 2.35 0.00 0.000 4 0.000 0.053 3354 328 1645 0 0 0 0 0 0

4712 0.97 297.2 67.4 10.6 733 4719 0.08 2.28 0.00 0.000 6 0.175 0.039 3336 1767 1644 0 0 0 0 0 0

4829 0.97 297.2 55.3 10.2 752 4839 0.00 2.35 0.00 0.000 4 0.000 0.053 3345 333 1644 0 0 0 0 0 0

4877 0.97 297.2 50.6 10.2 759 4884 0.00 2.25 0.00 0.000 6 0.000 0.039 3345 1758 1643 0 0 0 0 0 0

4993 0.97 297.2 37.8 12.1 778 5001 0.00 0.00 0.00 0.000 6 0.000 0.000 3345 1759 1643 0 0 0 0 0 0

5113 0.97 297.2 22.8 11.5 797 5122 0.00 0.00 0.00 0.000 6 0.000 0.000 3345 1759 1642 0 0 0 0 0 0

5198 0.97 297.2 13.6 10.4 810 5207 0.00 2.30 0.00 0.000 4 0.000 0.065 3345 3178 1641 0 0 0 0 0 0

5290 0.93 297.2 3.9 10.6 824 5301 0.10 2.33 0.00 0.000 6 0.143 0.062 3322 1756 1639 0 0 0 0 0 0

5308 end climb: SURFACE_DEPTH_REACHED

state 5308 begin surface coast

5342 end surface coast: CONTROL_FINISHED_OK

state 5342 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	179	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	19	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	300	R_STBD_OVSHOOT	39	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	-14085.724	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	178

GPS1	290415,185629,-3426.105,2543.651,41,1.7,42,-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	2.09	KALMAN_X	-18488.8,-8625.5,-2647.6,-6374.3,-1020.9
_SM_ANGLEo	-68.1	KALMAN_Y	-14362.4,-6812.0,-2167.9,-3593.3,-569.5
GPS2	290415,190405,-3426.157,2543.732,46,1.1,46,-27.8	MHEAD_RNG_PITCHd_Wd	280.7,33446,-16.9,-10.010
SPEED_LIMITS	0.173,0.279	D_GRID	1000

FINISH	1.6,1.022090	_10V_AH	10.3,15.380
SM_CCo	5418,0.00,0.000,0,0,1636,301.22	FG_AHR_24Vo	0.000
SM_GC	2.18,8.80,0.00,0.00,0.060,0.000,0.000,80,1952,1636,-9.08,0.90,301.22	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-3412.10,2542.51,240208,060617	MEM	331368
TT8_MAMPS	0.026964	DATA_FILE_SIZE	60513,831
HUMID	60.82	CAP_FILE_SIZE	99658,0
INTERNAL_PRESSURE	9.35272	CFSIZE	2097086464,2073690112
TCM_TEMP	16.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
XPDR_PINGS	0	CURRENT	0.316, 70.3,1
ALTIM_BOTTOM_PING	260.5,27.0	GPS	290415,203559,-3426.028,2543.871,40,1.3,41,-27.8
_24V_AH	24.0,19.129

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	263	147.59	SBE_CT	566	23	315.48
Roll_motor	68	148	242.29	AA4330	2159	17	893.00
VBD_pump_during_apogee	378	771	7010.41	WL_BB2F	1487	105	3748.01
VBD_pump_during_surface	0	0	0.00	QSP2150	2333	17	964.87
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	91	58.55	nil	0	0	0.00
Iridium_during_connect	45	160	176.02	nil	0	0	0.00
Iridium_during_xfer	239	223	1283.32	nil	0	0	0.00
Transponder_ping	5	420	57.96	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	48	27	13.72
TT8	1965	13	281.24
LPSleep	555	2	12.53
TT8_Active	493	13	70.63
TT8_Sampling	2724	40	1146.51
TT8_CF8	137	50	71.62
TT8_Kalman	0	0	0.00
Analog_circuits	1340	15	211.56
GPS_charging	0	0	0.00
Compass	2129	15	345.05
RAFOS	0	0	0.00
Transponder	38	30	11.75

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	70	0.00	0.00	-43.72	0.000	2	0.000	0.000	75	1950	2667	0	0	0	0	0	0
72	-1.05	-170.3	3.2	-3.0	5	116	11.40	0.00	-24.75	0.000	6	0.264	0.000	2669	1946	3560	0	0	0	0	0	0
193	-0.85	-170.3	22.3	-18.5	22	202	0.25	2.35	0.00	0.000	4	0.203	0.083	2729	3317	3564	0	0	0	0	0	0
314	-0.79	-170.3	39.6	-13.6	41	322	0.12	2.35	0.00	0.000	6	0.172	0.079	2759	1921	3566	0	0	0	0	0	0
434	-0.76	-170.3	52.2	-10.2	60	443	0.00	2.53	0.00	0.000	4	0.000	0.104	2760	493	3567	0	0	0	0	0	0
470	-0.72	-170.3	56.3	-12.1	65	478	0.12	2.47	0.00	0.000	6	0.197	0.096	2780	1895	3567	0	0	0	0	0	0
585	-0.72	-170.3	69.4	-11.3	84	598	0.00	2.50	0.00	0.000	4	0.000	0.094	2770	3352	3568	0	0	0	0	0	0
647	-0.72	-170.3	76.0	-10.7	93	655	0.05	2.47	0.00	0.000	6	0.187	0.093	2780	1916	3568	0	0	0	0	0	0
765	-0.72	-170.3	89.2	-11.0	112	775	0.00	2.50	0.00	0.000	4	0.000	0.103	2780	493	3570	0	0	0	0	0	0
806	-0.72	-170.3	93.7	-12.0	118	815	0.00	2.58	0.00	0.000	6	0.000	0.101	2772	1920	3570	0	0	0	0	0	0
926	-0.72	-170.3	107.3	-11.8	137	933	0.00	2.38	0.00	0.000	4	0.000	0.090	2760	3351	3570	0	0	0	0	0	0
1049	-0.72	-170.3	123.1	-12.3	157	1057	0.10	2.45	0.00	0.000	6	0.174	0.092	2783	1920	3570	0	0	0	0	0	0
1168	-0.72	-170.3	136.4	-10.3	176	1177	0.00	0.00	0.00	0.000	6	0.000	0.000	2783	1920	3570	0	0	0	0	0	0
1287	-0.72	-170.3	148.5	-10.7	195	1293	0.00	0.00	0.00	0.000	6	0.000	0.000	2783	1920	3571	0	0	0	0	0	0
1402	-0.72	-170.3	160.8	-11.5	214	1412	0.00	2.45	0.00	0.000	4	0.000	0.090	2775	3350	3571	0	0	0	0	0	0
1454	-0.72	-170.3	166.5	-10.8	222	1463	0.00	2.47	0.00	0.000	6	0.000	0.093	2775	1927	3571	0	0	0	0	0	0
1573	-0.72	-170.3	179.1	-10.4	241	1583	0.00	0.00	0.00	0.000	6	0.000	0.000	2775	1927	3571	0	0	0	0	0	0
1692	-0.72	-170.3	192.3	-11.2	260	1701	0.00	0.00	0.00	0.000	6	0.000	0.000	2775	1927	3571	0	0	0	0	0	0
1810	-0.72	-170.3	205.0	-10.6	279	1816	0.00	0.00	0.00	0.000	6	0.000	0.000	2774	1926	3570	0	0	0	0	0	0
1927	-0.72	-170.3	217.8	-10.3	298	1935	0.00	0.00	0.00	0.000	6	0.000	0.000	2775	1927	3570	0	0	0	0	0	0
2047	-0.72	-170.3	230.2	-11.1	317	2053	0.00	0.00	0.00	0.000	6	0.000	0.000	2774	1927	3570	0	0	0	0	0	0
2163	-0.72	-170.3	243.8	-10.6	336	2173	0.00	2.50	0.00	0.000	4	0.000	0.098	2774	478	3570	0	0	0	0	0	0
2193	-0.72	-170.3	247.2	-11.2	340	2203	0.05	2.47	0.00	0.000	6	0.194	0.078	2778	1926	3570	0	0	0	0	0	0
2316	-0.72	-170.3	261.7	-12.4	359	2323	0.00	2.45	0.00	0.000	4	0.000	0.107	2768	3354	3570	0	0	0	0	0	0
2368	-0.72	-170.3	267.8	-11.5	367	2376	0.08	2.47	0.00	0.000	6	0.181	0.094	2782	1907	3570	0	0	0	0	0	0
2407	end dive: BOTTOM_OBSTACLE_DETECTED
state	2408	begin apogee
2412	-0.25	0.0	272.7	11.5	373	2551	0.50	0.00	134.07	0.771	6	0.173	0.000	2933	1754	2864	0	0	0	0	0	0
2552	end apogee: CONTROL_FINISHED_OK
state	2552	begin climb
2553	1.05	170.3	279.0	0.0	392	2702	1.30	2.45	135.43	0.744	4	0.106	0.051	3362	333	2168	0	0	0	0	0	0
2747	0.93	170.3	269.5	10.1	419	2755	0.15	2.35	0.00	0.000	6	0.156	0.034	3324	1787	2164	0	0	0	0	0	0
2865	0.95	231.0	259.0	7.6	438	2925	0.00	2.50	50.75	0.727	4	0.000	0.050	3334	335	1919	0	0	0	0	0	0
2962	0.91	231.0	249.4	11.8	452	2973	0.05	2.35	0.00	0.000	6	0.156	0.036	3317	1754	1916	0	0	0	0	0	0
3082	0.91	231.0	236.5	11.3	471	3089	0.00	0.00	0.00	0.000	6	0.000	0.000	3318	1754	1915	0	0	0	0	0	0
3197	0.93	246.5	224.6	9.4	490	3213	0.00	0.00	13.70	0.682	6	0.000	0.000	3318	1754	1859	0	0	0	0	0	0
3322	0.93	246.5	211.6	10.1	510	3331	0.00	0.00	0.00	0.000	6	0.000	0.000	3318	1754	1855	0	0	0	0	0	0
3441	0.93	246.5	199.6	11.1	529	3448	0.00	0.00	0.00	0.000	6	0.000	0.000	3318	1754	1854	0	0	0	0	0	0
3556	0.93	246.5	186.6	11.3	548	3565	0.00	0.00	0.00	0.000	6	0.000	0.000	3318	1754	1854	0	0	0	0	0	0
3674	0.93	246.5	174.1	10.2	567	3680	0.00	0.00	0.00	0.000	6	0.000	0.000	3318	1754	1854	0	0	0	0	0	0
3789	0.93	246.5	162.0	10.3	586	3797	0.00	0.00	0.00	0.000	6	0.000	0.000	3318	1754	1853	0	0	0	0	0	0
3907	0.93	246.5	150.4	10.3	605	3914	0.00	0.00	0.00	0.000	6	0.000	0.000	3317	1754	1853	0	0	0	0	0	0
4024	0.95	261.2	139.0	9.4	624	4040	0.00	0.00	13.38	0.669	6	0.000	0.000	3318	1754	1798	0	0	0	0	0	0
4149	0.99	297.2	127.8	8.6	644	4188	0.05	0.00	31.48	0.685	6	0.159	0.000	3360	1755	1652	0	0	0	0	0	0
4299	0.97	297.2	112.2	11.1	667	4305	0.10	0.00	0.00	0.000	6	0.158	0.000	3334	1755	1647	0	0	0	0	0	0
4414	0.97	297.2	99.7	10.5	686	4422	0.00	0.00	0.00	0.000	6	0.000	0.000	3333	1755	1647	0	0	0	0	0	0
4532	0.97	297.2	87.7	10.3	705	4539	0.00	2.30	0.00	0.000	4	0.000	0.054	3344	331	1645	0	0	0	0	0	0
4572	0.97	297.2	83.2	11.3	711	4579	0.00	2.25	0.00	0.000	6	0.000	0.038	3344	1755	1645	0	0	0	0	0	0
4687	0.97	297.2	69.8	11.0	730	4697	0.00	2.35	0.00	0.000	4	0.000	0.053	3354	328	1645	0	0	0	0	0	0
4712	0.97	297.2	67.4	10.6	733	4719	0.08	2.28	0.00	0.000	6	0.175	0.039	3336	1767	1644	0	0	0	0	0	0
4829	0.97	297.2	55.3	10.2	752	4839	0.00	2.35	0.00	0.000	4	0.000	0.053	3345	333	1644	0	0	0	0	0	0
4877	0.97	297.2	50.6	10.2	759	4884	0.00	2.25	0.00	0.000	6	0.000	0.039	3345	1758	1643	0	0	0	0	0	0
4993	0.97	297.2	37.8	12.1	778	5001	0.00	0.00	0.00	0.000	6	0.000	0.000	3345	1759	1643	0	0	0	0	0	0
5113	0.97	297.2	22.8	11.5	797	5122	0.00	0.00	0.00	0.000	6	0.000	0.000	3345	1759	1642	0	0	0	0	0	0
5198	0.97	297.2	13.6	10.4	810	5207	0.00	2.30	0.00	0.000	4	0.000	0.065	3345	3178	1641	0	0	0	0	0	0
5290	0.93	297.2	3.9	10.6	824	5301	0.10	2.33	0.00	0.000	6	0.143	0.062	3322	1756	1639	0	0	0	0	0	0
5308	end climb: SURFACE_DEPTH_REACHED
state	5308	begin surface coast
5342	end surface coast: CONTROL_FINISHED_OK
state	5342	begin surface