Glider dive log

SAGE 17Apr15 * SG573 * Dive index * Mission links * Dive 201 * 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 201 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 200 TGT_DEFAULT_LON 2600 ROLL_TIMEOUT 15 XPDR_VALID 5

D_BOOST 5 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 22 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 300 R_STBD_OVSHOOT 11 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 -14163.145 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 200

AD7714Ch0Gain 128 D_NO_BLEED 200 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 200 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 -14163.145

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 22 VBD_MAX 3959

DEVICE6 -1 MASS 52922 R_STBD_OVSHOOT 11 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 175 SEABIRD_C_G -9.9469662 VBD_MIN 409

DIVE 201 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 010515,195504,-3427.193,2538.068,41,1.2,47,-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 2.23 KALMAN_X -18488.8,-8625.5,-2647.6,-6374.3,-1020.9

_SM_ANGLEo -66.4 KALMAN_Y -14362.4,-6812.0,-2167.9,-3593.3,-569.5

GPS2 010515,200335,-3427.178,2538.157,43,1.6,44,-27.8 MHEAD_RNG_PITCHd_Wd 310.3,25404,-16.9,-10.010

SPEED_LIMITS 0.173,0.279 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.5,1.022249 _10V_AH 10.2,19.218

SM_CCo 5136,0.00,0.000,0,0,1591,312.26 FG_AHR_24Vo 0.000

SM_GC 2.17,8.70,0.00,0.00,0.047,0.000,0.000,75,1933,1591,-9.08,0.40,312.26 FG_AHR_10Vo 0.000

IRIDIUM_FIX -3412.10,2540.16,260208,050524 MEM 331376

TT8_MAMPS 0.026215 DATA_FILE_SIZE 57000,780

HUMID 59.17 CAP_FILE_SIZE 101181,0

INTERNAL_PRESSURE 9.34296 CFSIZE 2097086464,2070904832

TCM_TEMP 16.60 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,2

XPDR_PINGS 0 CURRENT 0.086, 48.6,1

ALTIM_BOTTOM_PING 251.0,29.4 GPS 010515,213053,-3426.754,2537.544,46,0.8,47,-27.8

_24V_AH 24.0,21.711

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 257 143.86 SBE_CT 530 23 295.68

Roll_motor 92 118 262.45 AA4330 2034 17 841.26

VBD_pump_during_apogee 385 761 7044.90 WL_BB2F 1402 105 3533.75

VBD_pump_during_surface 0 0 0.00 QSP2150 2195 17 908.01

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 91 65.01 nil 0 0 0.00

Iridium_during_connect 48 160 185.31 nil 0 0 0.00

Iridium_during_xfer 279 223 1497.01 nil 0 0 0.00

Transponder_ping 5 420 55.44 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 46 27 13.14

TT8 1853 13 262.56

LPSleep 525 2 11.74

TT8_Active 489 13 69.37

TT8_Sampling 2626 40 1094.36

TT8_CF8 149 50 77.30

TT8_Kalman 0 0 0.00

Analog_circuits 1308 15 204.53

GPS_charging 0 0 0.00

Compass 2005 15 321.79

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 70 0.00 0.00 -43.65 0.000 2 0.000 0.000 76 1931 2639 0 0 0 0 0 0

73 -1.05 -170.3 3.3 -3.0 5 117 11.25 2.58 -28.12 0.000 4 0.258 0.107 2668 497 3562 0 0 0 0 0 0

164 -0.84 -170.3 15.2 -21.7 17 174 0.30 2.58 0.00 0.000 6 0.210 0.093 2738 1923 3565 0 0 0 0 0 0

249 -0.72 -170.3 31.3 -17.1 30 259 0.17 2.50 0.00 0.000 4 0.198 0.099 2770 3348 3567 0 0 0 0 0 0

297 -0.72 -170.3 37.8 -12.6 37 305 0.05 2.55 0.00 0.000 6 0.181 0.106 2781 1926 3567 0 0 0 0 0 0

416 -0.72 -170.3 50.1 -10.8 56 425 0.00 2.55 0.00 0.000 4 0.000 0.105 2781 491 3568 0 0 0 0 0 0

439 -0.72 -170.3 53.0 -11.6 59 447 0.00 2.58 0.00 0.000 6 0.000 0.103 2772 1923 3568 0 0 0 0 0 0

556 -0.70 -170.3 67.9 -13.5 78 566 0.08 2.42 0.00 0.000 4 0.226 0.093 2775 3343 3569 0 0 0 0 0 0

619 -0.70 -170.3 76.0 -12.2 88 630 0.03 2.55 0.00 0.000 6 0.133 0.102 2783 1917 3569 0 0 0 0 0 0

741 -0.70 -170.3 89.8 -11.2 107 748 0.00 0.00 0.00 0.000 6 0.000 0.000 2783 1917 3570 0 0 0 0 0 0

857 -0.70 -170.3 102.5 -11.1 126 866 0.00 0.00 0.00 0.000 6 0.000 0.000 2783 1917 3571 0 0 0 0 0 0

977 -0.70 -170.3 115.1 -10.4 145 983 0.00 0.00 0.00 0.000 6 0.000 0.000 2783 1917 3571 0 0 0 0 0 0

1092 -0.70 -170.3 127.9 -10.9 164 1101 0.00 0.00 0.00 0.000 6 0.000 0.000 2783 1917 3571 0 0 0 0 0 0

1212 -0.70 -170.3 140.8 -11.3 183 1219 0.00 0.00 0.00 0.000 6 0.000 0.000 2783 1917 3572 0 0 0 0 0 0

1331 -0.70 -170.3 154.1 -10.6 202 1339 0.00 0.00 0.00 0.000 6 0.000 0.000 2783 1917 3572 0 0 0 0 0 0

1451 -0.70 -170.3 166.7 -10.5 221 1458 0.00 2.45 0.00 0.000 4 0.000 0.098 2783 479 3572 0 0 0 0 0 0

1478 -0.70 -170.3 170.0 -11.6 225 1487 0.08 2.50 0.00 0.000 6 0.243 0.090 2787 1921 3572 0 0 0 0 0 0

1597 -0.70 -170.3 183.2 -11.5 244 1607 0.00 2.45 0.00 0.000 4 0.000 0.099 2777 3340 3572 0 0 0 0 0 0

1658 -0.72 -170.3 190.1 -11.7 253 1665 0.00 2.58 0.00 0.000 6 0.000 0.119 2777 1918 3572 0 0 0 0 0 0

1776 -0.72 -170.3 204.2 -12.4 272 1785 0.00 2.45 0.00 0.000 4 0.000 0.092 2777 487 3571 0 0 0 0 0 0

1812 -0.72 -170.3 208.8 -13.5 277 1819 0.08 2.45 0.00 0.000 6 0.236 0.085 2780 1919 3572 0 0 0 0 0 0

1930 -0.72 -170.3 224.5 -13.7 296 1940 0.00 2.47 0.00 0.000 4 0.000 0.107 2769 3338 3571 0 0 0 0 0 0

1992 -0.72 -170.3 232.3 -12.7 305 2000 0.05 2.53 0.00 0.000 6 0.189 0.109 2779 1913 3571 0 0 0 0 0 0

2109 -0.72 -170.3 248.5 -14.6 324 2119 0.00 2.45 0.00 0.000 4 0.000 0.096 2780 491 3571 0 0 0 0 0 0

2138 -0.72 -170.3 252.9 -14.8 328 2148 0.00 2.50 0.00 0.000 6 0.000 0.088 2771 1916 3571 0 0 0 0 0 0

2221 end dive: BOTTOM_OBSTACLE_DETECTED

state 2221 begin apogee

2225 -0.25 0.0 265.5 13.3 341 2365 0.55 0.00 134.27 0.762 6 0.181 0.000 2931 1717 2863 0 0 0 0 0 0

2366 end apogee: CONTROL_FINISHED_OK

state 2366 begin climb

2367 1.05 170.3 273.0 0.0 360 2514 1.30 2.33 135.38 0.734 4 0.109 0.053 3357 368 2167 0 0 0 0 0 0

2742 0.95 170.3 235.2 11.9 418 2752 0.08 2.28 0.00 0.000 6 0.138 0.034 3332 1764 2163 0 0 0 0 0 0

2863 0.90 170.3 222.7 10.1 437 2870 0.10 0.00 0.00 0.000 6 0.183 0.000 3307 1765 2162 0 0 0 0 0 0

2979 0.88 174.5 211.5 9.8 456 2989 0.00 0.00 3.47 0.451 6 0.000 0.000 3307 1765 2154 0 0 0 0 0 0

3098 0.88 177.3 199.9 9.9 475 3114 0.00 2.30 4.38 0.520 4 0.000 0.047 3316 362 2141 0 0 0 0 0 0

3166 0.85 180.8 193.5 9.9 485 3182 0.10 2.22 4.68 0.486 6 0.161 0.036 3291 1772 2127 0 0 0 0 0 0

3294 0.85 186.5 181.7 9.8 505 3310 0.00 0.00 6.57 0.603 6 0.000 0.000 3291 1772 2103 0 0 0 0 0 0

3420 0.91 236.0 171.6 8.1 525 3472 0.08 2.33 42.40 0.702 4 0.115 0.051 3349 367 1899 0 0 0 0 0 0

3535 0.86 236.0 158.9 12.6 542 3545 0.15 2.25 0.00 0.000 6 0.129 0.036 3300 1746 1895 0 0 0 0 0 0

3656 0.86 236.0 146.3 10.1 561 3663 0.00 2.33 0.00 0.000 4 0.000 0.063 3300 3187 1894 0 0 0 0 0 0

3685 0.86 236.0 143.4 10.6 565 3692 0.00 2.38 0.00 0.000 6 0.000 0.076 3309 1778 1893 0 0 0 0 0 0

3801 0.86 239.7 131.4 9.9 584 3811 0.00 2.38 0.00 0.000 4 0.000 0.057 3319 333 1893 0 0 0 0 0 0

3876 0.86 239.7 123.2 10.8 596 3887 0.05 2.30 0.00 0.000 6 0.134 0.038 3303 1759 1892 0 0 0 0 0 0

3996 0.87 246.5 111.7 9.7 615 4012 0.00 0.00 9.20 0.620 6 0.000 0.000 3303 1759 1857 0 0 0 0 0 0

4123 0.91 259.0 99.5 9.5 635 4140 0.00 2.40 12.27 0.636 4 0.000 0.053 3312 328 1806 0 0 0 0 0 0

4170 0.91 259.0 94.6 10.1 642 4180 0.00 2.33 0.00 0.000 6 0.000 0.041 3312 1753 1803 0 0 0 0 0 0

4291 0.95 275.9 82.8 9.3 661 4313 0.00 2.35 15.10 0.636 4 0.000 0.067 3312 3186 1739 0 0 0 0 0 0

4358 0.95 275.9 75.8 11.4 671 4365 0.00 2.40 0.00 0.000 6 0.000 0.073 3321 1757 1736 0 0 0 0 0 0

4474 0.95 275.9 63.5 10.5 690 4483 0.00 2.33 0.00 0.000 4 0.000 0.059 3333 338 1735 0 0 0 0 0 0

4533 0.95 275.9 57.4 10.8 699 4541 0.00 2.30 0.00 0.000 6 0.000 0.036 3333 1787 1735 0 0 0 0 0 0

4649 0.95 275.9 44.3 11.3 718 4658 0.00 2.30 0.00 0.000 4 0.000 0.073 3333 3179 1734 0 0 0 0 0 0

4686 0.95 275.9 40.2 12.8 723 4693 0.08 2.38 0.00 0.000 6 0.191 0.073 3326 1750 1733 0 0 0 0 0 0

4806 1.01 309.0 28.0 8.7 742 4833 0.00 2.35 17.52 0.599 4 0.000 0.060 3337 332 1603 0 0 0 0 0 0

4947 1.03 309.0 11.7 11.4 763 4956 0.00 2.33 0.00 0.000 6 0.000 0.041 3337 1762 1598 0 0 0 0 0 0

5032 end climb: SURFACE_DEPTH_REACHED

state 5032 begin surface coast

5059 end surface coast: CONTROL_FINISHED_OK

state 5060 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	201	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	200	TGT_DEFAULT_LON	2600	ROLL_TIMEOUT	15	XPDR_VALID	5
D_BOOST	5	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	22	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	300	R_STBD_OVSHOOT	11	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	-14163.145	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	200

GPS1	010515,195504,-3427.193,2538.068,41,1.2,47,-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	2.23	KALMAN_X	-18488.8,-8625.5,-2647.6,-6374.3,-1020.9
_SM_ANGLEo	-66.4	KALMAN_Y	-14362.4,-6812.0,-2167.9,-3593.3,-569.5
GPS2	010515,200335,-3427.178,2538.157,43,1.6,44,-27.8	MHEAD_RNG_PITCHd_Wd	310.3,25404,-16.9,-10.010
SPEED_LIMITS	0.173,0.279	D_GRID	1000

FINISH	1.5,1.022249	_10V_AH	10.2,19.218
SM_CCo	5136,0.00,0.000,0,0,1591,312.26	FG_AHR_24Vo	0.000
SM_GC	2.17,8.70,0.00,0.00,0.047,0.000,0.000,75,1933,1591,-9.08,0.40,312.26	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-3412.10,2540.16,260208,050524	MEM	331376
TT8_MAMPS	0.026215	DATA_FILE_SIZE	57000,780
HUMID	59.17	CAP_FILE_SIZE	101181,0
INTERNAL_PRESSURE	9.34296	CFSIZE	2097086464,2070904832
TCM_TEMP	16.60	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
XPDR_PINGS	0	CURRENT	0.086, 48.6,1
ALTIM_BOTTOM_PING	251.0,29.4	GPS	010515,213053,-3426.754,2537.544,46,0.8,47,-27.8
_24V_AH	24.0,21.711

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	257	143.86	SBE_CT	530	23	295.68
Roll_motor	92	118	262.45	AA4330	2034	17	841.26
VBD_pump_during_apogee	385	761	7044.90	WL_BB2F	1402	105	3533.75
VBD_pump_during_surface	0	0	0.00	QSP2150	2195	17	908.01
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	91	65.01	nil	0	0	0.00
Iridium_during_connect	48	160	185.31	nil	0	0	0.00
Iridium_during_xfer	279	223	1497.01	nil	0	0	0.00
Transponder_ping	5	420	55.44	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	46	27	13.14
TT8	1853	13	262.56
LPSleep	525	2	11.74
TT8_Active	489	13	69.37
TT8_Sampling	2626	40	1094.36
TT8_CF8	149	50	77.30
TT8_Kalman	0	0	0.00
Analog_circuits	1308	15	204.53
GPS_charging	0	0	0.00
Compass	2005	15	321.79
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	70	0.00	0.00	-43.65	0.000	2	0.000	0.000	76	1931	2639	0	0	0	0	0	0
73	-1.05	-170.3	3.3	-3.0	5	117	11.25	2.58	-28.12	0.000	4	0.258	0.107	2668	497	3562	0	0	0	0	0	0
164	-0.84	-170.3	15.2	-21.7	17	174	0.30	2.58	0.00	0.000	6	0.210	0.093	2738	1923	3565	0	0	0	0	0	0
249	-0.72	-170.3	31.3	-17.1	30	259	0.17	2.50	0.00	0.000	4	0.198	0.099	2770	3348	3567	0	0	0	0	0	0
297	-0.72	-170.3	37.8	-12.6	37	305	0.05	2.55	0.00	0.000	6	0.181	0.106	2781	1926	3567	0	0	0	0	0	0
416	-0.72	-170.3	50.1	-10.8	56	425	0.00	2.55	0.00	0.000	4	0.000	0.105	2781	491	3568	0	0	0	0	0	0
439	-0.72	-170.3	53.0	-11.6	59	447	0.00	2.58	0.00	0.000	6	0.000	0.103	2772	1923	3568	0	0	0	0	0	0
556	-0.70	-170.3	67.9	-13.5	78	566	0.08	2.42	0.00	0.000	4	0.226	0.093	2775	3343	3569	0	0	0	0	0	0
619	-0.70	-170.3	76.0	-12.2	88	630	0.03	2.55	0.00	0.000	6	0.133	0.102	2783	1917	3569	0	0	0	0	0	0
741	-0.70	-170.3	89.8	-11.2	107	748	0.00	0.00	0.00	0.000	6	0.000	0.000	2783	1917	3570	0	0	0	0	0	0
857	-0.70	-170.3	102.5	-11.1	126	866	0.00	0.00	0.00	0.000	6	0.000	0.000	2783	1917	3571	0	0	0	0	0	0
977	-0.70	-170.3	115.1	-10.4	145	983	0.00	0.00	0.00	0.000	6	0.000	0.000	2783	1917	3571	0	0	0	0	0	0
1092	-0.70	-170.3	127.9	-10.9	164	1101	0.00	0.00	0.00	0.000	6	0.000	0.000	2783	1917	3571	0	0	0	0	0	0
1212	-0.70	-170.3	140.8	-11.3	183	1219	0.00	0.00	0.00	0.000	6	0.000	0.000	2783	1917	3572	0	0	0	0	0	0
1331	-0.70	-170.3	154.1	-10.6	202	1339	0.00	0.00	0.00	0.000	6	0.000	0.000	2783	1917	3572	0	0	0	0	0	0
1451	-0.70	-170.3	166.7	-10.5	221	1458	0.00	2.45	0.00	0.000	4	0.000	0.098	2783	479	3572	0	0	0	0	0	0
1478	-0.70	-170.3	170.0	-11.6	225	1487	0.08	2.50	0.00	0.000	6	0.243	0.090	2787	1921	3572	0	0	0	0	0	0
1597	-0.70	-170.3	183.2	-11.5	244	1607	0.00	2.45	0.00	0.000	4	0.000	0.099	2777	3340	3572	0	0	0	0	0	0
1658	-0.72	-170.3	190.1	-11.7	253	1665	0.00	2.58	0.00	0.000	6	0.000	0.119	2777	1918	3572	0	0	0	0	0	0
1776	-0.72	-170.3	204.2	-12.4	272	1785	0.00	2.45	0.00	0.000	4	0.000	0.092	2777	487	3571	0	0	0	0	0	0
1812	-0.72	-170.3	208.8	-13.5	277	1819	0.08	2.45	0.00	0.000	6	0.236	0.085	2780	1919	3572	0	0	0	0	0	0
1930	-0.72	-170.3	224.5	-13.7	296	1940	0.00	2.47	0.00	0.000	4	0.000	0.107	2769	3338	3571	0	0	0	0	0	0
1992	-0.72	-170.3	232.3	-12.7	305	2000	0.05	2.53	0.00	0.000	6	0.189	0.109	2779	1913	3571	0	0	0	0	0	0
2109	-0.72	-170.3	248.5	-14.6	324	2119	0.00	2.45	0.00	0.000	4	0.000	0.096	2780	491	3571	0	0	0	0	0	0
2138	-0.72	-170.3	252.9	-14.8	328	2148	0.00	2.50	0.00	0.000	6	0.000	0.088	2771	1916	3571	0	0	0	0	0	0
2221	end dive: BOTTOM_OBSTACLE_DETECTED
state	2221	begin apogee
2225	-0.25	0.0	265.5	13.3	341	2365	0.55	0.00	134.27	0.762	6	0.181	0.000	2931	1717	2863	0	0	0	0	0	0
2366	end apogee: CONTROL_FINISHED_OK
state	2366	begin climb
2367	1.05	170.3	273.0	0.0	360	2514	1.30	2.33	135.38	0.734	4	0.109	0.053	3357	368	2167	0	0	0	0	0	0
2742	0.95	170.3	235.2	11.9	418	2752	0.08	2.28	0.00	0.000	6	0.138	0.034	3332	1764	2163	0	0	0	0	0	0
2863	0.90	170.3	222.7	10.1	437	2870	0.10	0.00	0.00	0.000	6	0.183	0.000	3307	1765	2162	0	0	0	0	0	0
2979	0.88	174.5	211.5	9.8	456	2989	0.00	0.00	3.47	0.451	6	0.000	0.000	3307	1765	2154	0	0	0	0	0	0
3098	0.88	177.3	199.9	9.9	475	3114	0.00	2.30	4.38	0.520	4	0.000	0.047	3316	362	2141	0	0	0	0	0	0
3166	0.85	180.8	193.5	9.9	485	3182	0.10	2.22	4.68	0.486	6	0.161	0.036	3291	1772	2127	0	0	0	0	0	0
3294	0.85	186.5	181.7	9.8	505	3310	0.00	0.00	6.57	0.603	6	0.000	0.000	3291	1772	2103	0	0	0	0	0	0
3420	0.91	236.0	171.6	8.1	525	3472	0.08	2.33	42.40	0.702	4	0.115	0.051	3349	367	1899	0	0	0	0	0	0
3535	0.86	236.0	158.9	12.6	542	3545	0.15	2.25	0.00	0.000	6	0.129	0.036	3300	1746	1895	0	0	0	0	0	0
3656	0.86	236.0	146.3	10.1	561	3663	0.00	2.33	0.00	0.000	4	0.000	0.063	3300	3187	1894	0	0	0	0	0	0
3685	0.86	236.0	143.4	10.6	565	3692	0.00	2.38	0.00	0.000	6	0.000	0.076	3309	1778	1893	0	0	0	0	0	0
3801	0.86	239.7	131.4	9.9	584	3811	0.00	2.38	0.00	0.000	4	0.000	0.057	3319	333	1893	0	0	0	0	0	0
3876	0.86	239.7	123.2	10.8	596	3887	0.05	2.30	0.00	0.000	6	0.134	0.038	3303	1759	1892	0	0	0	0	0	0
3996	0.87	246.5	111.7	9.7	615	4012	0.00	0.00	9.20	0.620	6	0.000	0.000	3303	1759	1857	0	0	0	0	0	0
4123	0.91	259.0	99.5	9.5	635	4140	0.00	2.40	12.27	0.636	4	0.000	0.053	3312	328	1806	0	0	0	0	0	0
4170	0.91	259.0	94.6	10.1	642	4180	0.00	2.33	0.00	0.000	6	0.000	0.041	3312	1753	1803	0	0	0	0	0	0
4291	0.95	275.9	82.8	9.3	661	4313	0.00	2.35	15.10	0.636	4	0.000	0.067	3312	3186	1739	0	0	0	0	0	0
4358	0.95	275.9	75.8	11.4	671	4365	0.00	2.40	0.00	0.000	6	0.000	0.073	3321	1757	1736	0	0	0	0	0	0
4474	0.95	275.9	63.5	10.5	690	4483	0.00	2.33	0.00	0.000	4	0.000	0.059	3333	338	1735	0	0	0	0	0	0
4533	0.95	275.9	57.4	10.8	699	4541	0.00	2.30	0.00	0.000	6	0.000	0.036	3333	1787	1735	0	0	0	0	0	0
4649	0.95	275.9	44.3	11.3	718	4658	0.00	2.30	0.00	0.000	4	0.000	0.073	3333	3179	1734	0	0	0	0	0	0
4686	0.95	275.9	40.2	12.8	723	4693	0.08	2.38	0.00	0.000	6	0.191	0.073	3326	1750	1733	0	0	0	0	0	0
4806	1.01	309.0	28.0	8.7	742	4833	0.00	2.35	17.52	0.599	4	0.000	0.060	3337	332	1603	0	0	0	0	0	0
4947	1.03	309.0	11.7	11.4	763	4956	0.00	2.33	0.00	0.000	6	0.000	0.041	3337	1762	1598	0	0	0	0	0	0
5032	end climb: SURFACE_DEPTH_REACHED
state	5032	begin surface coast
5059	end surface coast: CONTROL_FINISHED_OK
state	5060	begin surface