Glider dive log

SAGE 17Apr15 * SG543 * Dive index * Mission links * Dive 252 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 543 HEADING 315 ROLL_MAX 3944 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 11 ESCAPE_HEADING 0 ROLL_DEG 25 ALTIM_PING_DEPTH 50

DIVE 252 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 3200 ALTIM_PING_DELTA 10

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 3050 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -3415 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 1000 TGT_DEFAULT_LON 2600 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 2

D_NO_BLEED 200 SM_CC 250 R_PORT_OVSHOOT 49 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 26 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.050000001

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 KERMIT 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 507 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2147 DEVICE3 117

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 131

T_DIVE 333 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 348 CAPUPLOAD 0 VBD_TIMEOUT 800 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00056000001 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 60 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -16023.641 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 1 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 86 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 175 PITCH_MAX 3908 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1870 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043512532

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -54.899082 SEABIRD_T_H 0.00062429422

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011638312 SEABIRD_T_I 2.2835797e-05

RHO 1.027 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.3805812e-06

MASS 52780 PITCH_GAIN 45 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.305622

NAV_MODE 0 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1763667

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.0018977363

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00012677554

HD_A 0.003 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 15

HD_C 9.9999997e-06 ROLL_MIN 394 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SM_CC 250

AH0_10V 100 D_OFFGRID 250 PHONE_SUPPLY 2 SPEED_FACTOR 1

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_TGT 1000 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 50 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 45 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3908 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -3415

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 0 PITCH_MIN 86 TGT_DEFAULT_LON 2600

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 16 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00056000001 T_BOOST 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011638312 T_DIVE 333

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -54.899082 T_GPS 15

CALL_TRIES 5 HD_A 0.003 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -16023.641

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HEADING 315 RAFOS_HIT_WINDOW 3600 T_MISSION 348

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 RELAUNCH 1 T_RSLEEP 1

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RHO 1.027 T_TURN 225

COMPASS_DEVICE 33 ID 543 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_YINT 0.050000001 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_PITCH 1870 KALMAN_USE 2 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 3050 KERMIT 0 ROLL_DEG 25 USE_BATHY 0

C_ROLL_DIVE 3200 LOGGERDEVICE1 -1 ROLL_MAX 3944 USE_ICE 0

C_VBD 2147 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_MIN 394 VBD_CNV -0.245296

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 49 VBD_MAX 3960

DEVICE2 20 MASS 52780 R_STBD_OVSHOOT 26 VBD_MAXERRORS 1

DEVICE3 117 MAX_BUOY 175 SEABIRD_C_G -10.305622 VBD_MIN 507

DEVICE4 131 MINV_10V 8 SEABIRD_C_H 1.1763667 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.0018977363 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MISSION 11 SEABIRD_C_J 0.00012677554 VBD_TIMEOUT 800

DIVE 252 MOTHERBOARD 4 SEABIRD_T_G 0.0043512532 XPDR_DEVICE 24

D_ABORT 1050 NAV_MODE 0 SEABIRD_T_H 0.00062429422 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 SEABIRD_T_I 2.2835797e-05 XPDR_VALID 2

D_CALL 0 N_GPS 20 SEABIRD_T_J 2.3805812e-06

D_FINISH 0 N_NOCOMM 1 SIM_PITCH 0

D_FLARE 3 N_NOSURFACE 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 010515,161834,-3428.152,2557.765,25,1.6,25,-28.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3420.770,2548.186

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.38 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 010515,162617,-3428.406,2557.434,15,1.6,15,-28.0 MHEAD_RNG_PITCHd_Wd 343.0,20000,-16.1,-10.010

SPEED_LIMITS 0.173,0.278 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.4,1.021416 _24V_AH 22.8,30.282

SM_CCo 10710,0.00,0.000,0,0,1081,261.49 _10V_AH 10.3,11.504

SM_GC 1.58,5.15,0.00,0.00,0.037,0.000,0.000,77,3175,1081,-5.54,-0.71,261.49 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3406.89,2945.34,260208,010115 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026964 MEM 332472

HUMID 57.67 DATA_FILE_SIZE 53510,900

INTERNAL_PRESSURE 11.3004 CAP_FILE_SIZE 117794,0

TCM_TEMP 18.20 CFSIZE 259252224,249835520

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

ALTIM_BOTTOM_PING 650.5,27.4 GPS 010515,192652,-3427.990,2554.704,69,1.0,69,-27.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 214 63.35 SBE_CT 622 24 340.60

Roll_motor 64 60 89.32 SBE_O2 558 19 241.76

VBD_pump_during_apogee 354 1562 12626.91 QSP2150 142 4 14.19

VBD_pump_during_surface 0 0 0.00 WL_BB2FLVMT 393 105 941.73

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 59.59 nil 0 0 0.00

Iridium_during_connect 41 160 150.52 nil 0 0 0.00

Iridium_during_xfer 276 223 1404.36 nil 0 0 0.00

Transponder_ping 15 420 148.43 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 26 4.97

TT8 2207 14 340.15

LPSleep 6118 2 138.02

TT8_Active 436 14 63.92

TT8_Sampling 2243 37 865.01

TT8_CF8 166 47 81.12

TT8_Kalman 0 0 0.00

Analog_circuits 1323 12 163.60

GPS_charging 0 0 0.00

Compass 1837 15 297.76

RAFOS 0 0 0.00

Transponder 98 30 30.51

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -0.45 -170.4 0.0 0.0 0 88 0.00 0.00 -71.85 0.000 2 0.000 0.000 63 3217 2574 0 0 0 0 0 0

91 -0.45 -170.4 4.2 -7.8 9 109 6.45 1.33 -4.93 0.000 4 0.215 0.047 1722 2300 2844 0 0 0 0 0 0

146 -0.45 -170.4 25.0 -24.2 17 153 0.00 1.48 0.00 0.000 6 0.000 0.051 1717 3206 2848 0 0 0 0 0 0

292 -0.45 -170.4 29.7 -5.5 42 300 0.00 1.20 0.00 0.000 4 0.000 0.054 1712 3958 2849 0 0 0 0 0 0

474 -0.45 -170.4 53.2 -17.9 73 480 0.00 1.12 0.00 0.000 6 0.000 0.031 1711 3191 2851 0 0 0 0 0 0

819 -0.45 -170.4 118.0 -17.5 126 823 0.00 1.20 0.00 0.000 4 0.000 0.054 1706 3951 2854 0 0 0 0 0 0

955 -0.45 -170.4 141.4 -16.3 138 958 0.00 1.10 0.00 0.000 6 0.000 0.032 1706 3200 2855 0 0 0 0 0 0

1285 -0.45 -170.4 194.1 -15.9 169 1289 0.00 1.17 0.00 0.000 4 0.000 0.057 1700 3947 2857 0 0 0 0 0 0

1319 -0.45 -170.4 199.4 -15.9 172 1324 0.00 1.10 0.00 0.000 6 0.000 0.033 1700 3197 2857 0 0 0 0 0 0

1649 -0.45 -170.4 246.9 -12.9 203 1652 0.00 1.27 0.00 0.000 4 0.000 0.031 1700 2309 2857 0 0 0 0 0 0

1676 -0.45 -170.4 250.3 -12.1 205 1683 0.00 1.42 0.00 0.000 6 0.000 0.050 1694 3208 2856 0 0 0 0 0 0

2001 -0.45 -170.4 291.4 -12.4 236 2004 0.00 1.15 0.00 0.000 4 0.000 0.057 1688 3944 2856 0 0 0 0 0 0

2072 -0.45 -170.4 301.2 -13.8 242 2081 0.10 1.12 0.00 0.000 6 0.167 0.034 1720 3196 2855 0 0 0 0 0 0

2398 -0.45 -170.4 332.9 -9.8 273 2402 0.00 1.17 0.00 0.000 4 0.000 0.058 1716 3942 2854 0 0 0 0 0 0

2421 -0.45 -170.4 335.3 -10.4 275 2425 0.00 1.10 0.00 0.000 6 0.000 0.036 1715 3203 2854 0 0 0 0 0 0

2751 -0.45 -170.4 368.6 -10.5 306 2752 0.00 0.00 0.00 0.000 6 0.000 0.000 1716 3204 2853 0 0 0 0 0 0

3080 -0.45 -170.4 402.2 -10.7 336 3083 0.00 1.17 0.00 0.000 4 0.000 0.058 1710 3950 2851 0 0 0 0 0 0

3106 -0.45 -170.4 405.4 -11.5 337 3111 0.00 1.15 0.00 0.000 6 0.000 0.036 1710 3191 2850 0 0 0 0 0 0

3434 -0.45 -170.4 439.2 -10.7 353 3438 0.00 1.20 0.00 0.000 4 0.000 0.060 1705 3951 2849 0 0 0 0 0 0

3483 -0.45 -170.4 444.8 -10.7 355 3488 0.00 1.15 0.00 0.000 6 0.000 0.036 1705 3192 2849 0 0 0 0 0 0

3813 -0.45 -170.4 480.2 -10.7 371 3817 0.00 1.20 0.00 0.000 4 0.000 0.060 1699 3948 2848 0 0 0 0 0 0

3839 -0.45 -170.4 483.8 -12.2 372 3844 0.00 1.15 0.00 0.000 6 0.000 0.037 1699 3191 2848 0 0 0 0 0 0

4168 -0.45 -170.4 522.1 -11.5 388 4172 0.00 1.30 0.00 0.000 4 0.000 0.034 1699 2305 2846 0 0 0 0 0 0

4196 -0.45 -170.4 525.5 -11.4 389 4201 0.08 1.42 0.00 0.000 6 0.132 0.054 1718 3195 2846 0 0 0 0 0 0

4524 -0.45 -170.4 557.6 -10.1 405 4527 0.00 1.17 0.00 0.000 4 0.000 0.060 1714 3940 2845 0 0 0 0 0 0

4569 -0.45 -170.4 562.3 -10.2 407 4573 0.00 1.10 0.00 0.000 6 0.000 0.039 1714 3210 2844 0 0 0 0 0 0

4902 -0.45 -170.4 598.6 -11.8 423 4905 0.00 1.33 0.00 0.000 4 0.000 0.034 1714 2308 2843 0 0 0 0 0 0

4939 -0.45 -170.4 603.1 -10.8 424 4947 0.00 1.42 0.00 0.000 6 0.000 0.054 1708 3194 2843 0 0 0 0 0 0

5256 -0.45 -170.4 639.3 -11.3 440 5260 0.00 1.17 0.00 0.000 4 0.000 0.058 1703 3945 2842 0 0 0 0 0 0

5385 -0.45 -170.4 652.7 -10.0 445 5392 0.00 1.12 0.00 0.000 6 0.000 0.037 1703 3197 2841 0 0 0 0 0 0

5493 end dive: BOTTOM_OBSTACLE_DETECTED

state 5493 begin apogee

5498 -0.11 0.0 663.7 10.2 451 5660 0.40 0.00 159.05 1.563 6 0.127 0.000 1828 3045 2145 0 0 0 0 0 0

5661 end apogee: CONTROL_FINISHED_OK

state 5661 begin climb

5663 0.45 170.4 671.2 0.0 459 5829 0.55 1.60 157.73 1.517 4 0.062 0.057 2021 3921 1450 0 0 0 0 0 0

5912 0.45 170.4 650.4 16.2 471 5917 0.00 1.42 0.00 0.000 6 0.000 0.034 2028 3038 1447 0 0 0 0 0 0

6239 0.45 170.4 608.7 12.1 487 6243 0.00 1.48 0.00 0.000 4 0.000 0.057 2028 3927 1444 0 0 0 0 0 0

6420 0.45 170.4 582.0 14.9 495 6423 0.00 1.35 0.00 0.000 6 0.000 0.035 2035 3050 1442 0 0 0 0 0 0

6752 0.45 170.4 537.5 13.2 511 6756 0.00 1.42 0.00 0.000 4 0.000 0.059 2035 3925 1441 0 0 0 0 0 0

6784 0.45 170.4 532.6 15.5 512 6789 0.00 1.38 0.00 0.000 6 0.000 0.035 2041 3042 1441 0 0 0 0 0 0

7106 0.45 170.4 487.8 14.3 528 7107 0.00 0.00 0.00 0.000 6 0.000 0.000 2041 3041 1441 0 0 0 0 0 0

7415 0.45 170.4 443.3 14.6 543 7419 0.00 1.45 0.00 0.000 4 0.000 0.057 2041 3937 1440 0 0 0 0 0 0

7550 0.45 170.4 420.5 17.3 549 7555 0.10 1.35 0.00 0.000 6 0.188 0.037 2019 3046 1440 0 0 0 0 0 0

7877 0.45 170.4 377.2 13.0 572 7880 0.00 1.42 0.00 0.000 4 0.000 0.057 2019 3928 1440 0 0 0 0 0 0

7970 0.45 170.4 362.9 14.7 580 7978 0.00 1.35 0.00 0.000 6 0.000 0.035 2025 3042 1439 0 0 0 0 0 0

8296 0.45 170.4 317.9 14.3 611 8300 0.00 1.42 0.00 0.000 4 0.000 0.058 2025 3930 1439 0 0 0 0 0 0

8386 0.45 170.4 303.7 16.6 619 8390 0.00 1.33 0.00 0.000 6 0.000 0.037 2032 3057 1439 0 0 0 0 0 0

8716 0.45 170.4 255.6 14.7 650 8720 0.00 1.40 0.00 0.000 4 0.000 0.057 2032 3926 1439 0 0 0 0 0 0

8751 0.45 170.4 250.2 16.9 653 8755 0.00 1.35 0.00 0.000 6 0.000 0.037 2038 3041 1439 0 0 0 0 0 0

9082 0.45 170.4 200.6 14.9 684 9085 0.00 1.45 0.00 0.000 4 0.000 0.059 2038 3937 1439 0 0 0 0 0 0

9127 0.45 170.4 193.0 17.3 688 9130 0.00 1.35 0.00 0.000 6 0.000 0.035 2045 3044 1439 0 0 0 0 0 0

9457 0.45 170.4 142.0 15.5 719 9460 0.00 1.42 0.00 0.000 4 0.000 0.058 2045 3925 1439 0 0 0 0 0 0

9528 0.45 170.4 129.0 19.6 725 9536 0.10 1.33 0.00 0.000 6 0.193 0.035 2023 3046 1439 0 0 0 0 0 0

9862 0.45 170.4 80.4 13.6 768 9871 0.00 1.42 0.00 0.000 4 0.000 0.059 2023 3934 1439 0 0 0 0 0 0

10127 0.50 258.1 56.7 6.5 814 10173 0.00 1.33 37.58 0.936 6 0.000 0.036 2029 3054 1091 0 0 0 0 0 0

10518 0.50 258.1 11.9 13.5 881 10527 0.00 1.42 0.00 0.000 4 0.000 0.056 2029 3939 1085 0 0 0 0 0 0

10599 end climb: SURFACE_DEPTH_REACHED

state 10599 begin surface coast

10637 end surface coast: CONTROL_FINISHED_OK

state 10637 begin surface

ID	543	HEADING	315	ROLL_MAX	3944	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	11	ESCAPE_HEADING	0	ROLL_DEG	25	ALTIM_PING_DEPTH	50
DIVE	252	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	3200	ALTIM_PING_DELTA	10
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	3050	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-3415	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	1000	TGT_DEFAULT_LON	2600	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	2
D_NO_BLEED	200	SM_CC	250	R_PORT_OVSHOOT	49	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	26	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.050000001
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	KERMIT	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	507	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2147	DEVICE3	117
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	131
T_DIVE	333	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	348	CAPUPLOAD	0	VBD_TIMEOUT	800	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00056000001	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	60	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-16023.641	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	1	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	86	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	175	PITCH_MAX	3908	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1870	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043512532
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-54.899082	SEABIRD_T_H	0.00062429422
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011638312	SEABIRD_T_I	2.2835797e-05
RHO	1.027	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.3805812e-06
MASS	52780	PITCH_GAIN	45	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.305622
NAV_MODE	0	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1763667
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.0018977363
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00012677554
HD_A	0.003	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	15
HD_C	9.9999997e-06	ROLL_MIN	394	ALTIM_TOP_TURN_MARGIN	0

GPS1	010515,161834,-3428.152,2557.765,25,1.6,25,-28.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3420.770,2548.186
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.38	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	010515,162617,-3428.406,2557.434,15,1.6,15,-28.0	MHEAD_RNG_PITCHd_Wd	343.0,20000,-16.1,-10.010
SPEED_LIMITS	0.173,0.278	D_GRID	1000

FINISH	0.4,1.021416	_24V_AH	22.8,30.282
SM_CCo	10710,0.00,0.000,0,0,1081,261.49	_10V_AH	10.3,11.504
SM_GC	1.58,5.15,0.00,0.00,0.037,0.000,0.000,77,3175,1081,-5.54,-0.71,261.49	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3406.89,2945.34,260208,010115	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026964	MEM	332472
HUMID	57.67	DATA_FILE_SIZE	53510,900
INTERNAL_PRESSURE	11.3004	CAP_FILE_SIZE	117794,0
TCM_TEMP	18.20	CFSIZE	259252224,249835520
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
ALTIM_BOTTOM_PING	650.5,27.4	GPS	010515,192652,-3427.990,2554.704,69,1.0,69,-27.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	214	63.35	SBE_CT	622	24	340.60
Roll_motor	64	60	89.32	SBE_O2	558	19	241.76
VBD_pump_during_apogee	354	1562	12626.91	QSP2150	142	4	14.19
VBD_pump_during_surface	0	0	0.00	WL_BB2FLVMT	393	105	941.73
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	59.59	nil	0	0	0.00
Iridium_during_connect	41	160	150.52	nil	0	0	0.00
Iridium_during_xfer	276	223	1404.36	nil	0	0	0.00
Transponder_ping	15	420	148.43	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	26	4.97
TT8	2207	14	340.15
LPSleep	6118	2	138.02
TT8_Active	436	14	63.92
TT8_Sampling	2243	37	865.01
TT8_CF8	166	47	81.12
TT8_Kalman	0	0	0.00
Analog_circuits	1323	12	163.60
GPS_charging	0	0	0.00
Compass	1837	15	297.76
RAFOS	0	0	0.00
Transponder	98	30	30.51

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-0.45	-170.4	0.0	0.0	0	88	0.00	0.00	-71.85	0.000	2	0.000	0.000	63	3217	2574	0	0	0	0	0	0
91	-0.45	-170.4	4.2	-7.8	9	109	6.45	1.33	-4.93	0.000	4	0.215	0.047	1722	2300	2844	0	0	0	0	0	0
146	-0.45	-170.4	25.0	-24.2	17	153	0.00	1.48	0.00	0.000	6	0.000	0.051	1717	3206	2848	0	0	0	0	0	0
292	-0.45	-170.4	29.7	-5.5	42	300	0.00	1.20	0.00	0.000	4	0.000	0.054	1712	3958	2849	0	0	0	0	0	0
474	-0.45	-170.4	53.2	-17.9	73	480	0.00	1.12	0.00	0.000	6	0.000	0.031	1711	3191	2851	0	0	0	0	0	0
819	-0.45	-170.4	118.0	-17.5	126	823	0.00	1.20	0.00	0.000	4	0.000	0.054	1706	3951	2854	0	0	0	0	0	0
955	-0.45	-170.4	141.4	-16.3	138	958	0.00	1.10	0.00	0.000	6	0.000	0.032	1706	3200	2855	0	0	0	0	0	0
1285	-0.45	-170.4	194.1	-15.9	169	1289	0.00	1.17	0.00	0.000	4	0.000	0.057	1700	3947	2857	0	0	0	0	0	0
1319	-0.45	-170.4	199.4	-15.9	172	1324	0.00	1.10	0.00	0.000	6	0.000	0.033	1700	3197	2857	0	0	0	0	0	0
1649	-0.45	-170.4	246.9	-12.9	203	1652	0.00	1.27	0.00	0.000	4	0.000	0.031	1700	2309	2857	0	0	0	0	0	0
1676	-0.45	-170.4	250.3	-12.1	205	1683	0.00	1.42	0.00	0.000	6	0.000	0.050	1694	3208	2856	0	0	0	0	0	0
2001	-0.45	-170.4	291.4	-12.4	236	2004	0.00	1.15	0.00	0.000	4	0.000	0.057	1688	3944	2856	0	0	0	0	0	0
2072	-0.45	-170.4	301.2	-13.8	242	2081	0.10	1.12	0.00	0.000	6	0.167	0.034	1720	3196	2855	0	0	0	0	0	0
2398	-0.45	-170.4	332.9	-9.8	273	2402	0.00	1.17	0.00	0.000	4	0.000	0.058	1716	3942	2854	0	0	0	0	0	0
2421	-0.45	-170.4	335.3	-10.4	275	2425	0.00	1.10	0.00	0.000	6	0.000	0.036	1715	3203	2854	0	0	0	0	0	0
2751	-0.45	-170.4	368.6	-10.5	306	2752	0.00	0.00	0.00	0.000	6	0.000	0.000	1716	3204	2853	0	0	0	0	0	0
3080	-0.45	-170.4	402.2	-10.7	336	3083	0.00	1.17	0.00	0.000	4	0.000	0.058	1710	3950	2851	0	0	0	0	0	0
3106	-0.45	-170.4	405.4	-11.5	337	3111	0.00	1.15	0.00	0.000	6	0.000	0.036	1710	3191	2850	0	0	0	0	0	0
3434	-0.45	-170.4	439.2	-10.7	353	3438	0.00	1.20	0.00	0.000	4	0.000	0.060	1705	3951	2849	0	0	0	0	0	0
3483	-0.45	-170.4	444.8	-10.7	355	3488	0.00	1.15	0.00	0.000	6	0.000	0.036	1705	3192	2849	0	0	0	0	0	0
3813	-0.45	-170.4	480.2	-10.7	371	3817	0.00	1.20	0.00	0.000	4	0.000	0.060	1699	3948	2848	0	0	0	0	0	0
3839	-0.45	-170.4	483.8	-12.2	372	3844	0.00	1.15	0.00	0.000	6	0.000	0.037	1699	3191	2848	0	0	0	0	0	0
4168	-0.45	-170.4	522.1	-11.5	388	4172	0.00	1.30	0.00	0.000	4	0.000	0.034	1699	2305	2846	0	0	0	0	0	0
4196	-0.45	-170.4	525.5	-11.4	389	4201	0.08	1.42	0.00	0.000	6	0.132	0.054	1718	3195	2846	0	0	0	0	0	0
4524	-0.45	-170.4	557.6	-10.1	405	4527	0.00	1.17	0.00	0.000	4	0.000	0.060	1714	3940	2845	0	0	0	0	0	0
4569	-0.45	-170.4	562.3	-10.2	407	4573	0.00	1.10	0.00	0.000	6	0.000	0.039	1714	3210	2844	0	0	0	0	0	0
4902	-0.45	-170.4	598.6	-11.8	423	4905	0.00	1.33	0.00	0.000	4	0.000	0.034	1714	2308	2843	0	0	0	0	0	0
4939	-0.45	-170.4	603.1	-10.8	424	4947	0.00	1.42	0.00	0.000	6	0.000	0.054	1708	3194	2843	0	0	0	0	0	0
5256	-0.45	-170.4	639.3	-11.3	440	5260	0.00	1.17	0.00	0.000	4	0.000	0.058	1703	3945	2842	0	0	0	0	0	0
5385	-0.45	-170.4	652.7	-10.0	445	5392	0.00	1.12	0.00	0.000	6	0.000	0.037	1703	3197	2841	0	0	0	0	0	0
5493	end dive: BOTTOM_OBSTACLE_DETECTED
state	5493	begin apogee
5498	-0.11	0.0	663.7	10.2	451	5660	0.40	0.00	159.05	1.563	6	0.127	0.000	1828	3045	2145	0	0	0	0	0	0
5661	end apogee: CONTROL_FINISHED_OK
state	5661	begin climb
5663	0.45	170.4	671.2	0.0	459	5829	0.55	1.60	157.73	1.517	4	0.062	0.057	2021	3921	1450	0	0	0	0	0	0
5912	0.45	170.4	650.4	16.2	471	5917	0.00	1.42	0.00	0.000	6	0.000	0.034	2028	3038	1447	0	0	0	0	0	0
6239	0.45	170.4	608.7	12.1	487	6243	0.00	1.48	0.00	0.000	4	0.000	0.057	2028	3927	1444	0	0	0	0	0	0
6420	0.45	170.4	582.0	14.9	495	6423	0.00	1.35	0.00	0.000	6	0.000	0.035	2035	3050	1442	0	0	0	0	0	0
6752	0.45	170.4	537.5	13.2	511	6756	0.00	1.42	0.00	0.000	4	0.000	0.059	2035	3925	1441	0	0	0	0	0	0
6784	0.45	170.4	532.6	15.5	512	6789	0.00	1.38	0.00	0.000	6	0.000	0.035	2041	3042	1441	0	0	0	0	0	0
7106	0.45	170.4	487.8	14.3	528	7107	0.00	0.00	0.00	0.000	6	0.000	0.000	2041	3041	1441	0	0	0	0	0	0
7415	0.45	170.4	443.3	14.6	543	7419	0.00	1.45	0.00	0.000	4	0.000	0.057	2041	3937	1440	0	0	0	0	0	0
7550	0.45	170.4	420.5	17.3	549	7555	0.10	1.35	0.00	0.000	6	0.188	0.037	2019	3046	1440	0	0	0	0	0	0
7877	0.45	170.4	377.2	13.0	572	7880	0.00	1.42	0.00	0.000	4	0.000	0.057	2019	3928	1440	0	0	0	0	0	0
7970	0.45	170.4	362.9	14.7	580	7978	0.00	1.35	0.00	0.000	6	0.000	0.035	2025	3042	1439	0	0	0	0	0	0
8296	0.45	170.4	317.9	14.3	611	8300	0.00	1.42	0.00	0.000	4	0.000	0.058	2025	3930	1439	0	0	0	0	0	0
8386	0.45	170.4	303.7	16.6	619	8390	0.00	1.33	0.00	0.000	6	0.000	0.037	2032	3057	1439	0	0	0	0	0	0
8716	0.45	170.4	255.6	14.7	650	8720	0.00	1.40	0.00	0.000	4	0.000	0.057	2032	3926	1439	0	0	0	0	0	0
8751	0.45	170.4	250.2	16.9	653	8755	0.00	1.35	0.00	0.000	6	0.000	0.037	2038	3041	1439	0	0	0	0	0	0
9082	0.45	170.4	200.6	14.9	684	9085	0.00	1.45	0.00	0.000	4	0.000	0.059	2038	3937	1439	0	0	0	0	0	0
9127	0.45	170.4	193.0	17.3	688	9130	0.00	1.35	0.00	0.000	6	0.000	0.035	2045	3044	1439	0	0	0	0	0	0
9457	0.45	170.4	142.0	15.5	719	9460	0.00	1.42	0.00	0.000	4	0.000	0.058	2045	3925	1439	0	0	0	0	0	0
9528	0.45	170.4	129.0	19.6	725	9536	0.10	1.33	0.00	0.000	6	0.193	0.035	2023	3046	1439	0	0	0	0	0	0
9862	0.45	170.4	80.4	13.6	768	9871	0.00	1.42	0.00	0.000	4	0.000	0.059	2023	3934	1439	0	0	0	0	0	0
10127	0.50	258.1	56.7	6.5	814	10173	0.00	1.33	37.58	0.936	6	0.000	0.036	2029	3054	1091	0	0	0	0	0	0
10518	0.50	258.1	11.9	13.5	881	10527	0.00	1.42	0.00	0.000	4	0.000	0.056	2029	3939	1085	0	0	0	0	0	0
10599	end climb: SURFACE_DEPTH_REACHED
state	10599	begin surface coast
10637	end surface coast: CONTROL_FINISHED_OK
state	10637	begin surface