Glider dive log

SAGE 17Apr15 * SG573 * Dive index * Mission links * Dive 188 * 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 188 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 13 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 300 R_STBD_OVSHOOT 15 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 -14116.491 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 187

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 187 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 -14116.491

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 13 VBD_MAX 3959

DEVICE6 -1 MASS 52922 R_STBD_OVSHOOT 15 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 175 SEABIRD_C_G -9.9469662 VBD_MIN 409

DIVE 188 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 300415,093905,-3425.406,2549.711,30,1.1,30,-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 1.90 KALMAN_X -18488.8,-8625.5,-2647.6,-6374.3,-1020.9

_SM_ANGLEo -53.5 KALMAN_Y -14362.4,-6812.0,-2167.9,-3593.3,-569.5

GPS2 300415,094623,-3425.366,2549.816,39,1.9,40,-27.8 MHEAD_RNG_PITCHd_Wd 269.7,42565,-16.9,-10.010

SPEED_LIMITS 0.173,0.279 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.4,1.022084 _10V_AH 10.2,16.516

SM_CCo 5120,0.00,0.000,0,0,968,465.08 FG_AHR_24Vo 0.000

SM_GC 1.92,8.82,0.00,0.00,0.049,0.000,0.000,75,1930,968,-9.10,0.31,465.08 FG_AHR_10Vo 0.000

IRIDIUM_FIX -3412.10,2546.00,240208,212150 MEM 331420

TT8_MAMPS 0.026964 DATA_FILE_SIZE 57010,798

HUMID 61.10 CAP_FILE_SIZE 98305,0

INTERNAL_PRESSURE 9.30389 CFSIZE 2097086464,2072805376

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

XPDR_PINGS 0 CURRENT 0.479, 75.1,1

ALTIM_BOTTOM_PING 250.2,33.7 GPS 300415,111317,-3425.353,2550.520,28,1.2,39,-27.8

_24V_AH 24.0,20.106

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 261 150.23 SBE_CT 541 23 301.75

Roll_motor 67 133 216.68 AA4330 2066 17 854.57

VBD_pump_during_apogee 514 765 9451.07 WL_BB2F 1411 105 3558.18

VBD_pump_during_surface 0 0 0.00 QSP2150 2231 17 922.74

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 91 60.69 nil 0 0 0.00

Iridium_during_connect 42 160 162.16 nil 0 0 0.00

Iridium_during_xfer 230 223 1233.80 nil 0 0 0.00

Transponder_ping 5 420 55.44 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 42 27 11.89

TT8 1850 13 262.24

LPSleep 401 2 8.98

TT8_Active 567 13 80.41

TT8_Sampling 2608 40 1086.95

TT8_CF8 132 50 68.54

TT8_Kalman 0 0 0.00

Analog_circuits 1428 15 223.18

GPS_charging 0 0 0.00

Compass 2035 15 326.63

RAFOS 0 0 0.00

Transponder 35 30 10.99

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

25 -1.05 -170.3 0.0 0.0 0 95 0.00 0.00 -68.30 0.000 2 0.000 0.000 74 1934 2891 0 0 0 0 0 0

97 -1.05 -170.3 3.2 -2.1 8 133 11.32 2.42 -16.33 0.000 4 0.262 0.100 2659 3350 3561 0 0 0 0 0 0

155 -0.83 -170.3 12.7 -18.5 15 164 0.30 2.47 0.00 0.000 6 0.186 0.083 2743 1927 3562 0 0 0 0 0 0

241 -0.73 -170.3 29.2 -18.2 28 251 0.15 2.45 0.00 0.000 4 0.198 0.088 2771 3341 3564 0 0 0 0 0 0

277 -0.66 -170.3 34.7 -16.2 33 286 0.12 2.53 0.00 0.000 6 0.178 0.106 2798 1919 3565 0 0 0 0 0 0

392 -0.68 -170.3 49.5 -9.5 52 404 0.00 2.55 0.00 0.000 4 0.000 0.109 2799 494 3565 0 0 0 0 0 0

539 -0.71 -170.3 62.8 -11.2 76 548 0.00 2.67 0.00 0.000 6 0.000 0.122 2790 1912 3566 0 0 0 0 0 0

655 -0.71 -170.3 75.2 -11.2 95 662 0.00 2.45 0.00 0.000 4 0.000 0.100 2779 3354 3567 0 0 0 0 0 0

753 -0.73 -170.3 85.3 -9.7 111 760 0.00 2.55 0.00 0.000 6 0.000 0.106 2779 1911 3568 0 0 0 0 0 0

867 -0.73 -170.3 97.1 -10.4 130 875 0.00 0.00 0.00 0.000 6 0.000 0.000 2779 1910 3569 0 0 0 0 0 0

981 -0.73 -170.3 109.1 -10.9 149 988 0.00 0.00 0.00 0.000 6 0.000 0.000 2779 1910 3570 0 0 0 0 0 0

1093 -0.73 -170.3 121.6 -10.3 168 1101 0.00 0.00 0.00 0.000 6 0.000 0.000 2779 1911 3570 0 0 0 0 0 0

1208 -0.73 -170.3 133.3 -10.5 187 1215 0.00 0.00 0.00 0.000 6 0.000 0.000 2779 1910 3570 0 0 0 0 0 0

1321 -0.73 -170.3 145.2 -10.4 206 1329 0.00 2.50 0.00 0.000 4 0.000 0.103 2779 481 3570 0 0 0 0 0 0

1355 -0.73 -170.3 149.1 -11.8 211 1365 0.00 2.50 0.00 0.000 6 0.000 0.090 2770 1926 3571 0 0 0 0 0 0

1471 -0.73 -170.3 162.4 -11.3 230 1480 0.00 2.40 0.00 0.000 4 0.000 0.094 2759 3337 3571 0 0 0 0 0 0

1575 -0.73 -170.3 174.7 -11.7 247 1583 0.10 2.47 0.00 0.000 6 0.169 0.103 2781 1920 3570 0 0 0 0 0 0

1690 -0.73 -170.3 187.4 -9.7 266 1698 0.00 0.00 0.00 0.000 6 0.000 0.000 2781 1920 3570 0 0 0 0 0 0

1806 -0.73 -170.3 199.9 -12.2 285 1814 0.00 0.00 0.00 0.000 6 0.000 0.000 2781 1920 3570 0 0 0 0 0 0

1920 -0.73 -170.3 213.4 -13.4 304 1929 0.00 0.00 0.00 0.000 6 0.000 0.000 2781 1920 3569 0 0 0 0 0 0

2035 -0.73 -170.3 227.9 -13.2 323 2042 0.00 0.00 0.00 0.000 6 0.000 0.000 2781 1920 3570 0 0 0 0 0 0

2147 -0.73 -170.3 241.9 -11.4 342 2155 0.00 0.00 0.00 0.000 6 0.000 0.000 2781 1920 3569 0 0 0 0 0 0

2265 -0.73 -170.3 256.0 -13.1 361 2273 0.00 2.47 0.00 0.000 4 0.000 0.106 2781 483 3569 0 0 0 0 0 0

2298 -0.73 -170.3 260.8 -14.3 366 2307 0.00 2.53 0.00 0.000 6 0.000 0.090 2772 1923 3569 0 0 0 0 0 0

2365 end dive: BOTTOM_OBSTACLE_DETECTED

state 2366 begin apogee

2370 -0.25 0.0 268.9 11.0 377 2511 0.55 0.00 133.07 0.766 6 0.179 0.000 2934 1722 2864 0 0 0 0 0 0

2512 end apogee: CONTROL_FINISHED_OK

state 2512 begin climb

2513 1.05 170.3 277.9 0.0 396 2655 1.27 0.00 134.73 0.737 6 0.103 0.000 3348 1722 2169 0 0 0 0 0 0

2762 0.95 170.3 260.0 11.9 433 2770 0.08 2.25 0.00 0.000 4 0.187 0.054 3342 359 2163 0 0 0 0 0 0

2867 0.87 170.3 246.4 11.6 450 2877 0.10 2.33 0.00 0.000 6 0.142 0.040 3310 1773 2162 0 0 0 0 0 0

2984 0.85 170.3 232.9 13.1 469 2992 0.08 0.00 0.00 0.000 6 0.201 0.000 3294 1772 2162 0 0 0 0 0 0

3096 0.94 251.3 222.9 6.8 488 3166 0.10 0.00 66.07 0.720 6 0.096 0.000 3349 1773 1839 0 0 0 0 0 0

3271 0.91 251.3 206.1 10.0 515 3279 0.12 2.33 0.00 0.000 4 0.160 0.052 3327 362 1833 0 0 0 0 0 0

3311 0.89 251.3 202.2 10.8 521 3320 0.08 2.28 0.00 0.000 6 0.172 0.042 3309 1764 1832 0 0 0 0 0 0

3424 0.97 321.2 192.7 7.3 540 3494 0.08 0.00 59.38 0.703 6 0.116 0.000 3358 1765 1552 0 0 0 0 0 0

3601 0.98 327.1 175.9 9.8 567 3609 0.08 0.00 5.72 0.557 6 0.164 0.000 3340 1765 1530 0 0 0 0 0 0

3715 0.99 341.0 165.1 9.5 586 3738 0.00 0.00 13.93 0.636 6 0.000 0.000 3339 1765 1471 0 0 0 0 0 0

3842 1.07 408.0 155.5 7.4 607 3910 0.08 2.40 58.22 0.683 4 0.112 0.052 3398 367 1197 0 0 0 0 0 0

3976 1.02 408.0 139.2 13.5 627 3984 0.17 2.25 0.00 0.000 6 0.151 0.036 3351 1764 1191 0 0 0 0 0 0

4091 1.11 460.0 127.9 8.0 646 4143 0.08 0.00 43.12 0.666 6 0.112 0.000 3401 1765 986 0 0 0 0 0 0

4251 1.08 460.0 109.4 12.1 671 4258 0.12 2.30 0.00 0.000 4 0.156 0.055 3379 362 979 0 0 0 0 0 0

4336 1.08 460.0 99.3 11.9 685 4344 0.00 2.25 0.00 0.000 6 0.000 0.042 3379 1752 978 0 0 0 0 0 0

4448 1.08 460.0 85.7 11.9 704 4456 0.00 0.00 0.00 0.000 6 0.000 0.000 3379 1751 976 0 0 0 0 0 0

4562 1.08 460.0 69.7 14.3 723 4569 0.00 2.25 0.00 0.000 4 0.000 0.055 3389 366 976 0 0 0 0 0 0

4588 1.08 460.0 65.8 14.7 727 4596 0.08 2.22 0.00 0.000 6 0.175 0.041 3370 1759 975 0 0 0 0 0 0

4704 1.10 460.0 49.0 14.8 746 4713 0.00 2.35 0.00 0.000 4 0.000 0.071 3370 3183 974 0 0 0 0 0 0

4742 1.10 460.0 42.8 15.8 752 4751 0.00 2.35 0.00 0.000 6 0.000 0.071 3379 1788 974 0 0 0 0 0 0

4859 1.13 460.0 28.0 12.5 771 4868 0.00 2.40 0.00 0.000 4 0.000 0.065 3390 336 973 0 0 0 0 0 0

4914 1.13 460.0 18.9 18.1 779 4923 0.00 2.30 0.00 0.000 6 0.000 0.041 3390 1761 972 0 0 0 0 0 0

5000 1.10 460.0 3.6 19.5 792 5009 0.05 0.00 0.00 0.000 6 0.210 0.000 3378 1762 970 0 0 0 0 0 0

5017 end climb: SURFACE_DEPTH_REACHED

state 5017 begin surface coast

5044 end surface coast: CONTROL_FINISHED_OK

state 5044 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	188	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	13	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	300	R_STBD_OVSHOOT	15	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	-14116.491	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	187

GPS1	300415,093905,-3425.406,2549.711,30,1.1,30,-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	1.90	KALMAN_X	-18488.8,-8625.5,-2647.6,-6374.3,-1020.9
_SM_ANGLEo	-53.5	KALMAN_Y	-14362.4,-6812.0,-2167.9,-3593.3,-569.5
GPS2	300415,094623,-3425.366,2549.816,39,1.9,40,-27.8	MHEAD_RNG_PITCHd_Wd	269.7,42565,-16.9,-10.010
SPEED_LIMITS	0.173,0.279	D_GRID	1000

FINISH	1.4,1.022084	_10V_AH	10.2,16.516
SM_CCo	5120,0.00,0.000,0,0,968,465.08	FG_AHR_24Vo	0.000
SM_GC	1.92,8.82,0.00,0.00,0.049,0.000,0.000,75,1930,968,-9.10,0.31,465.08	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-3412.10,2546.00,240208,212150	MEM	331420
TT8_MAMPS	0.026964	DATA_FILE_SIZE	57010,798
HUMID	61.10	CAP_FILE_SIZE	98305,0
INTERNAL_PRESSURE	9.30389	CFSIZE	2097086464,2072805376
TCM_TEMP	16.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
XPDR_PINGS	0	CURRENT	0.479, 75.1,1
ALTIM_BOTTOM_PING	250.2,33.7	GPS	300415,111317,-3425.353,2550.520,28,1.2,39,-27.8
_24V_AH	24.0,20.106

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	261	150.23	SBE_CT	541	23	301.75
Roll_motor	67	133	216.68	AA4330	2066	17	854.57
VBD_pump_during_apogee	514	765	9451.07	WL_BB2F	1411	105	3558.18
VBD_pump_during_surface	0	0	0.00	QSP2150	2231	17	922.74
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	91	60.69	nil	0	0	0.00
Iridium_during_connect	42	160	162.16	nil	0	0	0.00
Iridium_during_xfer	230	223	1233.80	nil	0	0	0.00
Transponder_ping	5	420	55.44	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	42	27	11.89
TT8	1850	13	262.24
LPSleep	401	2	8.98
TT8_Active	567	13	80.41
TT8_Sampling	2608	40	1086.95
TT8_CF8	132	50	68.54
TT8_Kalman	0	0	0.00
Analog_circuits	1428	15	223.18
GPS_charging	0	0	0.00
Compass	2035	15	326.63
RAFOS	0	0	0.00
Transponder	35	30	10.99

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
25	-1.05	-170.3	0.0	0.0	0	95	0.00	0.00	-68.30	0.000	2	0.000	0.000	74	1934	2891	0	0	0	0	0	0
97	-1.05	-170.3	3.2	-2.1	8	133	11.32	2.42	-16.33	0.000	4	0.262	0.100	2659	3350	3561	0	0	0	0	0	0
155	-0.83	-170.3	12.7	-18.5	15	164	0.30	2.47	0.00	0.000	6	0.186	0.083	2743	1927	3562	0	0	0	0	0	0
241	-0.73	-170.3	29.2	-18.2	28	251	0.15	2.45	0.00	0.000	4	0.198	0.088	2771	3341	3564	0	0	0	0	0	0
277	-0.66	-170.3	34.7	-16.2	33	286	0.12	2.53	0.00	0.000	6	0.178	0.106	2798	1919	3565	0	0	0	0	0	0
392	-0.68	-170.3	49.5	-9.5	52	404	0.00	2.55	0.00	0.000	4	0.000	0.109	2799	494	3565	0	0	0	0	0	0
539	-0.71	-170.3	62.8	-11.2	76	548	0.00	2.67	0.00	0.000	6	0.000	0.122	2790	1912	3566	0	0	0	0	0	0
655	-0.71	-170.3	75.2	-11.2	95	662	0.00	2.45	0.00	0.000	4	0.000	0.100	2779	3354	3567	0	0	0	0	0	0
753	-0.73	-170.3	85.3	-9.7	111	760	0.00	2.55	0.00	0.000	6	0.000	0.106	2779	1911	3568	0	0	0	0	0	0
867	-0.73	-170.3	97.1	-10.4	130	875	0.00	0.00	0.00	0.000	6	0.000	0.000	2779	1910	3569	0	0	0	0	0	0
981	-0.73	-170.3	109.1	-10.9	149	988	0.00	0.00	0.00	0.000	6	0.000	0.000	2779	1910	3570	0	0	0	0	0	0
1093	-0.73	-170.3	121.6	-10.3	168	1101	0.00	0.00	0.00	0.000	6	0.000	0.000	2779	1911	3570	0	0	0	0	0	0
1208	-0.73	-170.3	133.3	-10.5	187	1215	0.00	0.00	0.00	0.000	6	0.000	0.000	2779	1910	3570	0	0	0	0	0	0
1321	-0.73	-170.3	145.2	-10.4	206	1329	0.00	2.50	0.00	0.000	4	0.000	0.103	2779	481	3570	0	0	0	0	0	0
1355	-0.73	-170.3	149.1	-11.8	211	1365	0.00	2.50	0.00	0.000	6	0.000	0.090	2770	1926	3571	0	0	0	0	0	0
1471	-0.73	-170.3	162.4	-11.3	230	1480	0.00	2.40	0.00	0.000	4	0.000	0.094	2759	3337	3571	0	0	0	0	0	0
1575	-0.73	-170.3	174.7	-11.7	247	1583	0.10	2.47	0.00	0.000	6	0.169	0.103	2781	1920	3570	0	0	0	0	0	0
1690	-0.73	-170.3	187.4	-9.7	266	1698	0.00	0.00	0.00	0.000	6	0.000	0.000	2781	1920	3570	0	0	0	0	0	0
1806	-0.73	-170.3	199.9	-12.2	285	1814	0.00	0.00	0.00	0.000	6	0.000	0.000	2781	1920	3570	0	0	0	0	0	0
1920	-0.73	-170.3	213.4	-13.4	304	1929	0.00	0.00	0.00	0.000	6	0.000	0.000	2781	1920	3569	0	0	0	0	0	0
2035	-0.73	-170.3	227.9	-13.2	323	2042	0.00	0.00	0.00	0.000	6	0.000	0.000	2781	1920	3570	0	0	0	0	0	0
2147	-0.73	-170.3	241.9	-11.4	342	2155	0.00	0.00	0.00	0.000	6	0.000	0.000	2781	1920	3569	0	0	0	0	0	0
2265	-0.73	-170.3	256.0	-13.1	361	2273	0.00	2.47	0.00	0.000	4	0.000	0.106	2781	483	3569	0	0	0	0	0	0
2298	-0.73	-170.3	260.8	-14.3	366	2307	0.00	2.53	0.00	0.000	6	0.000	0.090	2772	1923	3569	0	0	0	0	0	0
2365	end dive: BOTTOM_OBSTACLE_DETECTED
state	2366	begin apogee
2370	-0.25	0.0	268.9	11.0	377	2511	0.55	0.00	133.07	0.766	6	0.179	0.000	2934	1722	2864	0	0	0	0	0	0
2512	end apogee: CONTROL_FINISHED_OK
state	2512	begin climb
2513	1.05	170.3	277.9	0.0	396	2655	1.27	0.00	134.73	0.737	6	0.103	0.000	3348	1722	2169	0	0	0	0	0	0
2762	0.95	170.3	260.0	11.9	433	2770	0.08	2.25	0.00	0.000	4	0.187	0.054	3342	359	2163	0	0	0	0	0	0
2867	0.87	170.3	246.4	11.6	450	2877	0.10	2.33	0.00	0.000	6	0.142	0.040	3310	1773	2162	0	0	0	0	0	0
2984	0.85	170.3	232.9	13.1	469	2992	0.08	0.00	0.00	0.000	6	0.201	0.000	3294	1772	2162	0	0	0	0	0	0
3096	0.94	251.3	222.9	6.8	488	3166	0.10	0.00	66.07	0.720	6	0.096	0.000	3349	1773	1839	0	0	0	0	0	0
3271	0.91	251.3	206.1	10.0	515	3279	0.12	2.33	0.00	0.000	4	0.160	0.052	3327	362	1833	0	0	0	0	0	0
3311	0.89	251.3	202.2	10.8	521	3320	0.08	2.28	0.00	0.000	6	0.172	0.042	3309	1764	1832	0	0	0	0	0	0
3424	0.97	321.2	192.7	7.3	540	3494	0.08	0.00	59.38	0.703	6	0.116	0.000	3358	1765	1552	0	0	0	0	0	0
3601	0.98	327.1	175.9	9.8	567	3609	0.08	0.00	5.72	0.557	6	0.164	0.000	3340	1765	1530	0	0	0	0	0	0
3715	0.99	341.0	165.1	9.5	586	3738	0.00	0.00	13.93	0.636	6	0.000	0.000	3339	1765	1471	0	0	0	0	0	0
3842	1.07	408.0	155.5	7.4	607	3910	0.08	2.40	58.22	0.683	4	0.112	0.052	3398	367	1197	0	0	0	0	0	0
3976	1.02	408.0	139.2	13.5	627	3984	0.17	2.25	0.00	0.000	6	0.151	0.036	3351	1764	1191	0	0	0	0	0	0
4091	1.11	460.0	127.9	8.0	646	4143	0.08	0.00	43.12	0.666	6	0.112	0.000	3401	1765	986	0	0	0	0	0	0
4251	1.08	460.0	109.4	12.1	671	4258	0.12	2.30	0.00	0.000	4	0.156	0.055	3379	362	979	0	0	0	0	0	0
4336	1.08	460.0	99.3	11.9	685	4344	0.00	2.25	0.00	0.000	6	0.000	0.042	3379	1752	978	0	0	0	0	0	0
4448	1.08	460.0	85.7	11.9	704	4456	0.00	0.00	0.00	0.000	6	0.000	0.000	3379	1751	976	0	0	0	0	0	0
4562	1.08	460.0	69.7	14.3	723	4569	0.00	2.25	0.00	0.000	4	0.000	0.055	3389	366	976	0	0	0	0	0	0
4588	1.08	460.0	65.8	14.7	727	4596	0.08	2.22	0.00	0.000	6	0.175	0.041	3370	1759	975	0	0	0	0	0	0
4704	1.10	460.0	49.0	14.8	746	4713	0.00	2.35	0.00	0.000	4	0.000	0.071	3370	3183	974	0	0	0	0	0	0
4742	1.10	460.0	42.8	15.8	752	4751	0.00	2.35	0.00	0.000	6	0.000	0.071	3379	1788	974	0	0	0	0	0	0
4859	1.13	460.0	28.0	12.5	771	4868	0.00	2.40	0.00	0.000	4	0.000	0.065	3390	336	973	0	0	0	0	0	0
4914	1.13	460.0	18.9	18.1	779	4923	0.00	2.30	0.00	0.000	6	0.000	0.041	3390	1761	972	0	0	0	0	0	0
5000	1.10	460.0	3.6	19.5	792	5009	0.05	0.00	0.00	0.000	6	0.210	0.000	3378	1762	970	0	0	0	0	0	0
5017	end climb: SURFACE_DEPTH_REACHED
state	5017	begin surface coast
5044	end surface coast: CONTROL_FINISHED_OK
state	5044	begin surface