Glider dive log

SAGE 17Apr15 * SG573 * Dive index * Mission links * Dive 183 * 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 183 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 -14099.333 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 182

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 182 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 -14099.333

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 183 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 300415,013605,-3426.037,2545.244,31,1.1,32,-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 1.94 KALMAN_X -18488.8,-8625.5,-2647.6,-6374.3,-1020.9

_SM_ANGLEo -54.8 KALMAN_Y -14362.4,-6812.0,-2167.9,-3593.3,-569.5

GPS2 300415,014427,-3425.943,2545.500,76,1.7,77,-27.8 MHEAD_RNG_PITCHd_Wd 278.9,36084,-16.9,-10.010

SPEED_LIMITS 0.173,0.279 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.2,1.022022 _10V_AH 10.3,15.903

SM_CCo 5599,0.00,0.000,0,0,1463,343.66 FG_AHR_24Vo 0.000

SM_GC 2.02,8.75,0.00,0.00,0.047,0.000,0.000,78,1933,1463,-9.09,0.40,343.66 FG_AHR_10Vo 0.000

IRIDIUM_FIX -3412.10,2543.64,240208,131317 MEM 331308

TT8_MAMPS 0.026964 DATA_FILE_SIZE 63802,880

HUMID 59.76 CAP_FILE_SIZE 105393,6

INTERNAL_PRESSURE 9.35272 CFSIZE 2097086464,2073296896

TCM_TEMP 16.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,6,0,0,2

XPDR_PINGS 47 CURRENT 0.423, 80.6,1

ALTIM_BOTTOM_PING 260.4,37.2 GPS 300415,031923,-3425.918,2546.071,41,1.0,42,-27.8

_24V_AH 24.0,19.555

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 290 172.15 SBE_CT 599 23 334.12

Roll_motor 63 121 185.01 AA4330 2288 17 946.31

VBD_pump_during_apogee 423 771 7845.07 WL_BB2F 1566 105 3948.04

VBD_pump_during_surface 0 0 0.00 QSP2150 2471 17 1021.88

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 91 56.82 nil 0 0 0.00

Iridium_during_connect 20 160 79.31 nil 0 0 0.00

Iridium_during_xfer 275 223 1474.94 nil 0 0 0.00

Transponder_ping 17 420 176.40 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 79 27 22.62

TT8 2076 13 297.09

LPSleep 448 2 10.13

TT8_Active 522 13 74.69

TT8_Sampling 2898 40 1219.66

TT8_CF8 157 50 81.89

TT8_Kalman 0 0 0.00

Analog_circuits 1405 15 221.75

GPS_charging 0 0 0.00

Compass 2254 15 365.32

RAFOS 0 0 0.00

Transponder 37 30 11.58

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 -43.40 0.000 2 0.000 0.000 79 1947 2657 0 0 0 0 0 0

73 -1.05 -170.3 3.2 -3.3 5 118 12.52 2.62 -25.58 0.000 4 0.291 0.115 2674 507 3561 6 0 0 0 0 0

127 -0.86 -170.3 6.7 -5.4 11 138 0.25 2.62 0.00 0.000 6 0.196 0.112 2733 1914 3563 0 0 0 0 0 0

215 -0.77 -170.3 18.8 -15.3 24 225 0.15 0.00 0.00 0.000 6 0.197 0.000 2770 1914 3565 0 0 0 0 0 0

302 -0.72 -170.3 31.5 -13.5 37 309 0.05 2.45 0.00 0.000 4 0.252 0.095 2769 3350 3566 0 0 0 0 0 0

319 -0.67 -170.3 33.4 -13.8 39 327 0.12 2.45 0.00 0.000 6 0.180 0.087 2799 1924 3566 0 0 0 0 0 0

434 -0.67 -170.3 46.7 -10.6 58 442 0.00 2.55 0.00 0.000 4 0.000 0.107 2799 498 3567 0 0 0 0 0 0

560 -0.70 -170.3 59.7 -10.9 79 569 0.00 2.65 0.00 0.000 6 0.000 0.122 2790 1924 3568 0 0 0 0 0 0

674 -0.70 -170.3 73.0 -11.2 98 683 0.00 2.42 0.00 0.000 4 0.000 0.095 2778 3340 3568 0 0 0 0 0 0

779 -0.70 -170.3 84.7 -10.4 115 788 0.05 2.47 0.00 0.000 6 0.186 0.098 2789 1920 3570 0 0 0 0 0 0

895 -0.70 -170.3 97.1 -11.4 134 904 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 1920 3570 0 0 0 0 0 0

1009 -0.70 -170.3 108.1 -9.9 153 1016 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 1921 3571 0 0 0 0 0 0

1122 -0.70 -170.3 119.4 -9.6 172 1133 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 1920 3571 0 0 0 0 0 0

1242 -0.70 -170.3 132.0 -10.2 191 1250 0.00 2.42 0.00 0.000 4 0.000 0.094 2780 3346 3572 0 0 0 0 0 0

1294 -0.72 -170.3 137.6 -10.8 199 1302 0.00 2.50 0.00 0.000 6 0.000 0.104 2781 1919 3572 0 0 0 0 0 0

1411 -0.72 -170.3 150.1 -11.1 218 1419 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 1919 3572 0 0 0 0 0 0

1527 -0.72 -170.3 162.9 -10.9 237 1534 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 1919 3572 0 0 0 0 0 0

1640 -0.72 -170.3 175.8 -11.6 256 1649 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 1919 3572 0 0 0 0 0 0

1755 -0.72 -170.3 188.4 -11.0 275 1763 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 1919 3572 0 0 0 0 0 0

1869 -0.72 -170.3 200.9 -11.3 294 1877 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 1920 3572 0 0 0 0 0 0

1983 -0.72 -170.3 213.1 -10.8 313 1989 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 1919 3572 0 0 0 0 0 0

2096 -0.72 -170.3 225.7 -10.8 332 2104 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 1919 3572 0 0 0 0 0 0

2210 -0.72 -170.3 237.8 -11.0 351 2217 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 1920 3572 0 0 0 0 0 0

2323 -0.72 -170.3 251.2 -11.5 370 2331 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 1919 3571 0 0 0 0 0 0

2441 -0.72 -170.3 265.0 -12.4 389 2447 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 1920 3571 0 0 0 0 0 0

2554 -0.72 -170.3 278.0 -10.6 408 2563 0.00 2.47 0.00 0.000 4 0.000 0.100 2780 488 3571 0 0 0 0 0 0

2589 -0.72 -170.3 281.9 -11.5 413 2597 0.05 2.45 0.00 0.000 6 0.250 0.084 2779 1929 3571 0 0 0 0 0 0

2605 end dive: BOTTOM_OBSTACLE_DETECTED

state 2605 begin apogee

2609 -0.25 0.0 284.1 13.1 415 2752 0.50 0.00 134.75 0.771 6 0.175 0.000 2929 1716 2863 0 0 0 0 0 0

2753 end apogee: CONTROL_FINISHED_OK

state 2753 begin climb

2754 1.05 170.3 293.1 0.0 434 2903 1.30 2.35 135.73 0.747 4 0.111 0.053 3356 358 2168 0 0 0 0 0 0

3073 0.95 170.3 270.2 10.4 483 3082 0.10 2.28 0.00 0.000 6 0.165 0.035 3331 1773 2163 0 0 0 0 0 0

3188 0.91 187.7 259.2 9.3 502 3213 0.08 0.00 15.10 0.697 6 0.207 0.000 3314 1774 2096 0 0 0 0 0 0

3320 0.89 187.7 246.3 10.1 523 3327 0.00 0.00 0.00 0.000 6 0.000 0.000 3315 1774 2094 0 0 0 0 0 0

3433 0.86 187.7 234.8 10.4 542 3442 0.08 0.00 0.00 0.000 6 0.198 0.000 3297 1773 2093 0 0 0 0 0 0

3547 0.89 211.3 224.0 9.1 561 3570 0.00 0.00 20.65 0.711 6 0.000 0.000 3297 1774 2001 0 0 0 0 0 0

3675 0.89 211.3 211.4 10.6 582 3683 0.00 0.00 0.00 0.000 6 0.000 0.000 3297 1774 1997 0 0 0 0 0 0

3789 0.91 230.6 199.9 9.2 601 3812 0.00 2.38 17.45 0.696 4 0.000 0.052 3306 359 1922 0 0 0 0 0 0

3837 0.92 240.7 194.9 9.6 608 3853 0.00 2.30 9.52 0.646 6 0.000 0.041 3307 1758 1882 0 0 0 0 0 0

3960 0.95 246.5 182.6 9.8 628 3976 0.03 2.40 6.25 0.590 4 0.238 0.073 3340 3180 1858 0 0 0 0 0 0

3996 0.92 246.5 178.4 12.3 633 4004 0.12 2.35 0.00 0.000 6 0.170 0.069 3318 1769 1857 0 0 0 0 0 0

4112 0.92 246.5 165.4 11.1 652 4121 0.00 2.38 0.00 0.000 4 0.000 0.060 3329 335 1856 0 0 0 0 0 0

4181 0.90 246.5 157.6 11.0 663 4190 0.08 2.28 0.00 0.000 6 0.171 0.037 3311 1767 1855 0 0 0 0 0 0

4295 0.91 258.2 146.1 9.5 682 4311 0.00 0.00 11.52 0.635 6 0.000 0.000 3311 1768 1810 0 0 0 0 0 0

4416 0.92 265.9 134.3 9.7 702 4432 0.00 0.00 8.15 0.618 6 0.000 0.000 3311 1768 1778 0 0 0 0 0 0

4539 0.96 283.3 123.1 9.3 722 4563 0.05 0.00 16.15 0.662 6 0.158 0.000 3350 1768 1708 0 0 0 0 0 0

4671 0.94 283.3 109.2 11.3 743 4679 0.10 0.00 0.00 0.000 6 0.161 0.000 3325 1768 1704 0 0 0 0 0 0

4783 0.94 283.3 96.7 10.9 762 4792 0.00 2.30 0.00 0.000 4 0.000 0.065 3324 3173 1703 0 0 0 0 0 0

4829 0.94 283.3 91.1 13.1 769 4836 0.00 2.35 0.00 0.000 6 0.000 0.070 3334 1753 1703 0 0 0 0 0 0

4941 0.94 283.3 76.0 12.9 788 4950 0.00 2.33 0.00 0.000 4 0.000 0.060 3345 339 1702 0 0 0 0 0 0

5023 0.92 283.3 64.5 13.6 801 5030 0.10 2.25 0.00 0.000 6 0.162 0.041 3319 1757 1702 0 0 0 0 0 0

5137 1.01 339.6 54.4 7.8 820 5197 0.08 2.40 48.62 0.650 4 0.118 0.053 3381 335 1476 0 0 0 0 0 0

5460 0.97 339.6 7.4 15.2 871 5471 0.12 2.33 0.00 0.000 6 0.134 0.044 3341 1753 1466 0 0 0 0 0 0

5496 end climb: SURFACE_DEPTH_REACHED

state 5497 begin surface coast

5523 end surface coast: CONTROL_FINISHED_OK

state 5523 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	183	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	-14099.333	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	182

GPS1	300415,013605,-3426.037,2545.244,31,1.1,32,-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	1.94	KALMAN_X	-18488.8,-8625.5,-2647.6,-6374.3,-1020.9
_SM_ANGLEo	-54.8	KALMAN_Y	-14362.4,-6812.0,-2167.9,-3593.3,-569.5
GPS2	300415,014427,-3425.943,2545.500,76,1.7,77,-27.8	MHEAD_RNG_PITCHd_Wd	278.9,36084,-16.9,-10.010
SPEED_LIMITS	0.173,0.279	D_GRID	1000

FINISH	1.2,1.022022	_10V_AH	10.3,15.903
SM_CCo	5599,0.00,0.000,0,0,1463,343.66	FG_AHR_24Vo	0.000
SM_GC	2.02,8.75,0.00,0.00,0.047,0.000,0.000,78,1933,1463,-9.09,0.40,343.66	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-3412.10,2543.64,240208,131317	MEM	331308
TT8_MAMPS	0.026964	DATA_FILE_SIZE	63802,880
HUMID	59.76	CAP_FILE_SIZE	105393,6
INTERNAL_PRESSURE	9.35272	CFSIZE	2097086464,2073296896
TCM_TEMP	16.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,6,0,0,2
XPDR_PINGS	47	CURRENT	0.423, 80.6,1
ALTIM_BOTTOM_PING	260.4,37.2	GPS	300415,031923,-3425.918,2546.071,41,1.0,42,-27.8
_24V_AH	24.0,19.555

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	290	172.15	SBE_CT	599	23	334.12
Roll_motor	63	121	185.01	AA4330	2288	17	946.31
VBD_pump_during_apogee	423	771	7845.07	WL_BB2F	1566	105	3948.04
VBD_pump_during_surface	0	0	0.00	QSP2150	2471	17	1021.88
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	91	56.82	nil	0	0	0.00
Iridium_during_connect	20	160	79.31	nil	0	0	0.00
Iridium_during_xfer	275	223	1474.94	nil	0	0	0.00
Transponder_ping	17	420	176.40	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	79	27	22.62
TT8	2076	13	297.09
LPSleep	448	2	10.13
TT8_Active	522	13	74.69
TT8_Sampling	2898	40	1219.66
TT8_CF8	157	50	81.89
TT8_Kalman	0	0	0.00
Analog_circuits	1405	15	221.75
GPS_charging	0	0	0.00
Compass	2254	15	365.32
RAFOS	0	0	0.00
Transponder	37	30	11.58

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	-43.40	0.000	2	0.000	0.000	79	1947	2657	0	0	0	0	0	0
73	-1.05	-170.3	3.2	-3.3	5	118	12.52	2.62	-25.58	0.000	4	0.291	0.115	2674	507	3561	6	0	0	0	0	0
127	-0.86	-170.3	6.7	-5.4	11	138	0.25	2.62	0.00	0.000	6	0.196	0.112	2733	1914	3563	0	0	0	0	0	0
215	-0.77	-170.3	18.8	-15.3	24	225	0.15	0.00	0.00	0.000	6	0.197	0.000	2770	1914	3565	0	0	0	0	0	0
302	-0.72	-170.3	31.5	-13.5	37	309	0.05	2.45	0.00	0.000	4	0.252	0.095	2769	3350	3566	0	0	0	0	0	0
319	-0.67	-170.3	33.4	-13.8	39	327	0.12	2.45	0.00	0.000	6	0.180	0.087	2799	1924	3566	0	0	0	0	0	0
434	-0.67	-170.3	46.7	-10.6	58	442	0.00	2.55	0.00	0.000	4	0.000	0.107	2799	498	3567	0	0	0	0	0	0
560	-0.70	-170.3	59.7	-10.9	79	569	0.00	2.65	0.00	0.000	6	0.000	0.122	2790	1924	3568	0	0	0	0	0	0
674	-0.70	-170.3	73.0	-11.2	98	683	0.00	2.42	0.00	0.000	4	0.000	0.095	2778	3340	3568	0	0	0	0	0	0
779	-0.70	-170.3	84.7	-10.4	115	788	0.05	2.47	0.00	0.000	6	0.186	0.098	2789	1920	3570	0	0	0	0	0	0
895	-0.70	-170.3	97.1	-11.4	134	904	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	1920	3570	0	0	0	0	0	0
1009	-0.70	-170.3	108.1	-9.9	153	1016	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	1921	3571	0	0	0	0	0	0
1122	-0.70	-170.3	119.4	-9.6	172	1133	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	1920	3571	0	0	0	0	0	0
1242	-0.70	-170.3	132.0	-10.2	191	1250	0.00	2.42	0.00	0.000	4	0.000	0.094	2780	3346	3572	0	0	0	0	0	0
1294	-0.72	-170.3	137.6	-10.8	199	1302	0.00	2.50	0.00	0.000	6	0.000	0.104	2781	1919	3572	0	0	0	0	0	0
1411	-0.72	-170.3	150.1	-11.1	218	1419	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	1919	3572	0	0	0	0	0	0
1527	-0.72	-170.3	162.9	-10.9	237	1534	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	1919	3572	0	0	0	0	0	0
1640	-0.72	-170.3	175.8	-11.6	256	1649	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	1919	3572	0	0	0	0	0	0
1755	-0.72	-170.3	188.4	-11.0	275	1763	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	1919	3572	0	0	0	0	0	0
1869	-0.72	-170.3	200.9	-11.3	294	1877	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	1920	3572	0	0	0	0	0	0
1983	-0.72	-170.3	213.1	-10.8	313	1989	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	1919	3572	0	0	0	0	0	0
2096	-0.72	-170.3	225.7	-10.8	332	2104	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	1919	3572	0	0	0	0	0	0
2210	-0.72	-170.3	237.8	-11.0	351	2217	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	1920	3572	0	0	0	0	0	0
2323	-0.72	-170.3	251.2	-11.5	370	2331	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	1919	3571	0	0	0	0	0	0
2441	-0.72	-170.3	265.0	-12.4	389	2447	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	1920	3571	0	0	0	0	0	0
2554	-0.72	-170.3	278.0	-10.6	408	2563	0.00	2.47	0.00	0.000	4	0.000	0.100	2780	488	3571	0	0	0	0	0	0
2589	-0.72	-170.3	281.9	-11.5	413	2597	0.05	2.45	0.00	0.000	6	0.250	0.084	2779	1929	3571	0	0	0	0	0	0
2605	end dive: BOTTOM_OBSTACLE_DETECTED
state	2605	begin apogee
2609	-0.25	0.0	284.1	13.1	415	2752	0.50	0.00	134.75	0.771	6	0.175	0.000	2929	1716	2863	0	0	0	0	0	0
2753	end apogee: CONTROL_FINISHED_OK
state	2753	begin climb
2754	1.05	170.3	293.1	0.0	434	2903	1.30	2.35	135.73	0.747	4	0.111	0.053	3356	358	2168	0	0	0	0	0	0
3073	0.95	170.3	270.2	10.4	483	3082	0.10	2.28	0.00	0.000	6	0.165	0.035	3331	1773	2163	0	0	0	0	0	0
3188	0.91	187.7	259.2	9.3	502	3213	0.08	0.00	15.10	0.697	6	0.207	0.000	3314	1774	2096	0	0	0	0	0	0
3320	0.89	187.7	246.3	10.1	523	3327	0.00	0.00	0.00	0.000	6	0.000	0.000	3315	1774	2094	0	0	0	0	0	0
3433	0.86	187.7	234.8	10.4	542	3442	0.08	0.00	0.00	0.000	6	0.198	0.000	3297	1773	2093	0	0	0	0	0	0
3547	0.89	211.3	224.0	9.1	561	3570	0.00	0.00	20.65	0.711	6	0.000	0.000	3297	1774	2001	0	0	0	0	0	0
3675	0.89	211.3	211.4	10.6	582	3683	0.00	0.00	0.00	0.000	6	0.000	0.000	3297	1774	1997	0	0	0	0	0	0
3789	0.91	230.6	199.9	9.2	601	3812	0.00	2.38	17.45	0.696	4	0.000	0.052	3306	359	1922	0	0	0	0	0	0
3837	0.92	240.7	194.9	9.6	608	3853	0.00	2.30	9.52	0.646	6	0.000	0.041	3307	1758	1882	0	0	0	0	0	0
3960	0.95	246.5	182.6	9.8	628	3976	0.03	2.40	6.25	0.590	4	0.238	0.073	3340	3180	1858	0	0	0	0	0	0
3996	0.92	246.5	178.4	12.3	633	4004	0.12	2.35	0.00	0.000	6	0.170	0.069	3318	1769	1857	0	0	0	0	0	0
4112	0.92	246.5	165.4	11.1	652	4121	0.00	2.38	0.00	0.000	4	0.000	0.060	3329	335	1856	0	0	0	0	0	0
4181	0.90	246.5	157.6	11.0	663	4190	0.08	2.28	0.00	0.000	6	0.171	0.037	3311	1767	1855	0	0	0	0	0	0
4295	0.91	258.2	146.1	9.5	682	4311	0.00	0.00	11.52	0.635	6	0.000	0.000	3311	1768	1810	0	0	0	0	0	0
4416	0.92	265.9	134.3	9.7	702	4432	0.00	0.00	8.15	0.618	6	0.000	0.000	3311	1768	1778	0	0	0	0	0	0
4539	0.96	283.3	123.1	9.3	722	4563	0.05	0.00	16.15	0.662	6	0.158	0.000	3350	1768	1708	0	0	0	0	0	0
4671	0.94	283.3	109.2	11.3	743	4679	0.10	0.00	0.00	0.000	6	0.161	0.000	3325	1768	1704	0	0	0	0	0	0
4783	0.94	283.3	96.7	10.9	762	4792	0.00	2.30	0.00	0.000	4	0.000	0.065	3324	3173	1703	0	0	0	0	0	0
4829	0.94	283.3	91.1	13.1	769	4836	0.00	2.35	0.00	0.000	6	0.000	0.070	3334	1753	1703	0	0	0	0	0	0
4941	0.94	283.3	76.0	12.9	788	4950	0.00	2.33	0.00	0.000	4	0.000	0.060	3345	339	1702	0	0	0	0	0	0
5023	0.92	283.3	64.5	13.6	801	5030	0.10	2.25	0.00	0.000	6	0.162	0.041	3319	1757	1702	0	0	0	0	0	0
5137	1.01	339.6	54.4	7.8	820	5197	0.08	2.40	48.62	0.650	4	0.118	0.053	3381	335	1476	0	0	0	0	0	0
5460	0.97	339.6	7.4	15.2	871	5471	0.12	2.33	0.00	0.000	6	0.134	0.044	3341	1753	1466	0	0	0	0	0	0
5496	end climb: SURFACE_DEPTH_REACHED
state	5497	begin surface coast
5523	end surface coast: CONTROL_FINISHED_OK
state	5523	begin surface