Glider dive log

SAGE 17Apr15 * SG543 * Dive index * Mission links * Dive 253 * 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 253 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 56 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 27 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 -16026.71 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 -16026.71

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 56 VBD_MAX 3960

DEVICE2 20 MASS 52780 R_STBD_OVSHOOT 27 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 253 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 010515,192652,-3427.990,2554.704,69,1.0,69,-27.9 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3420.559,2545.196

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.51 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -74.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 010515,193406,-3428.195,2554.445,16,1.2,16,-27.9 MHEAD_RNG_PITCHd_Wd 342.9,20000,-16.1,-10.010

SPEED_LIMITS 0.173,0.278 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.4,1.012080 _24V_AH 22.8,30.452

SM_CCo 10710,0.00,0.000,0,0,863,314.96 _10V_AH 10.3,11.577

SM_GC 1.62,5.28,0.00,0.00,0.042,0.000,0.000,75,3190,863,-5.55,-0.28,314.96 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3412.10,2557.68,260208,050531 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026215 MEM 332464

HUMID 56.53 DATA_FILE_SIZE 53551,911

INTERNAL_PRESSURE 11.3004 CAP_FILE_SIZE 115407,0

TCM_TEMP 18.20 CFSIZE 259252224,249778176

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

ALTIM_BOTTOM_PING 630.2,26.4 GPS 010515,223422,-3427.633,2551.887,51,0.9,51,-27.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 224 66.95 SBE_CT 628 24 344.14

Roll_motor 58 61 81.24 SBE_O2 566 19 245.45

VBD_pump_during_apogee 379 1559 13494.85 QSP2150 147 4 14.70

VBD_pump_during_surface 0 0 0.00 WL_BB2FLVMT 393 105 941.58

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 65.44 nil 0 0 0.00

Iridium_during_connect 21 160 76.89 nil 0 0 0.00

Iridium_during_xfer 267 223 1360.07 nil 0 0 0.00

Transponder_ping 15 420 143.64 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 26 5.19

TT8 2216 14 341.55

LPSleep 6147 2 138.67

TT8_Active 453 14 66.31

TT8_Sampling 2175 37 838.89

TT8_CF8 153 47 74.37

TT8_Kalman 0 0 0.00

Analog_circuits 1321 12 163.28

GPS_charging 0 0 0.00

Compass 1791 15 290.26

RAFOS 0 0 0.00

Transponder 93 30 28.99

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.45 -170.4 0.0 0.0 0 66 0.00 0.00 -48.65 0.000 2 0.000 0.000 63 3174 2414 0 0 0 0 0 0

68 -0.45 -170.4 3.3 -4.8 6 86 6.60 0.00 -8.23 0.000 6 0.224 0.000 1717 3174 2844 0 0 0 0 0 0

133 -0.45 -170.4 26.3 -23.1 16 142 0.00 1.23 0.00 0.000 4 0.000 0.054 1714 3942 2850 0 0 0 0 0 0

235 -0.45 -170.4 44.5 -16.5 33 242 0.00 1.10 0.00 0.000 6 0.000 0.032 1714 3200 2851 0 0 0 0 0 0

583 -0.45 -170.4 88.9 -9.3 94 590 0.00 1.17 0.00 0.000 4 0.000 0.056 1709 3942 2855 0 0 0 0 0 0

659 -0.45 -170.4 96.5 -10.6 107 666 0.00 1.10 0.00 0.000 6 0.000 0.031 1708 3191 2856 0 0 0 0 0 0

992 -0.45 -170.4 134.0 -11.1 141 995 0.00 1.20 0.00 0.000 4 0.000 0.054 1703 3957 2858 0 0 0 0 0 0

1018 -0.45 -170.4 137.4 -12.1 143 1026 0.00 1.12 0.00 0.000 6 0.000 0.031 1702 3200 2858 0 0 0 0 0 0

1344 -0.45 -170.4 177.8 -13.1 174 1347 0.00 1.17 0.00 0.000 4 0.000 0.056 1697 3950 2858 0 0 0 0 0 0

1372 -0.45 -170.4 181.7 -14.2 176 1378 0.00 1.10 0.00 0.000 6 0.000 0.032 1697 3201 2858 0 0 0 0 0 0

1696 -0.45 -170.4 225.9 -13.3 207 1699 0.00 1.27 0.00 0.000 4 0.000 0.029 1697 2309 2858 0 0 0 0 0 0

1711 -0.45 -170.4 228.3 -13.5 208 1719 0.08 1.42 0.00 0.000 6 0.132 0.048 1717 3210 2858 0 0 0 0 0 0

2037 -0.45 -170.4 263.9 -11.4 239 2040 0.00 1.15 0.00 0.000 4 0.000 0.056 1713 3946 2858 0 0 0 0 0 0

2063 -0.45 -170.4 267.2 -11.6 241 2071 0.00 1.12 0.00 0.000 6 0.000 0.033 1713 3191 2858 0 0 0 0 0 0

2389 -0.45 -170.4 304.8 -11.3 272 2392 0.00 1.17 0.00 0.000 4 0.000 0.057 1708 3934 2857 0 0 0 0 0 0

2422 -0.45 -170.4 308.6 -11.3 275 2426 0.00 1.10 0.00 0.000 6 0.000 0.034 1708 3194 2857 0 0 0 0 0 0

2752 -0.45 -170.4 347.0 -11.0 306 2754 0.00 0.00 0.00 0.000 6 0.000 0.000 1708 3194 2856 0 0 0 0 0 0

3073 -0.45 -170.4 380.9 -10.6 336 3075 0.00 0.00 0.00 0.000 6 0.000 0.000 1707 3194 2855 0 0 0 0 0 0

3397 -0.45 -170.4 416.3 -11.1 360 3400 0.00 1.17 0.00 0.000 4 0.000 0.059 1702 3934 2854 0 0 0 0 0 0

3446 -0.45 -170.4 422.4 -11.2 362 3450 0.00 1.10 0.00 0.000 6 0.000 0.034 1702 3197 2853 0 0 0 0 0 0

3773 -0.45 -170.4 459.3 -11.2 378 3774 0.00 0.00 0.00 0.000 6 0.000 0.000 1702 3197 2853 0 0 0 0 0 0

4083 -0.45 -170.4 493.9 -11.0 393 4084 0.00 0.00 0.00 0.000 6 0.000 0.000 1702 3197 2851 0 0 0 0 0 0

4392 -0.45 -170.4 526.1 -10.0 408 4395 0.00 1.17 0.00 0.000 4 0.000 0.059 1697 3936 2850 0 0 0 0 0 0

4424 -0.45 -170.4 529.5 -10.6 409 4429 0.00 1.12 0.00 0.000 6 0.000 0.035 1696 3196 2850 0 0 0 0 0 0

4748 -0.45 -170.4 562.1 -10.8 425 4751 0.00 1.17 0.00 0.000 4 0.000 0.060 1691 3940 2849 0 0 0 0 0 0

4838 -0.45 -170.4 572.3 -10.6 429 4842 0.08 1.10 0.00 0.000 6 0.142 0.035 1717 3204 2849 0 0 0 0 0 0

5170 -0.45 -170.4 597.8 -7.1 445 5174 0.00 1.17 0.00 0.000 4 0.000 0.060 1712 3946 2848 0 0 0 0 0 0

5238 -0.45 -170.4 603.2 -8.3 448 5242 0.00 1.12 0.00 0.000 6 0.000 0.036 1713 3191 2848 0 0 0 0 0 0

5572 -0.45 -170.4 629.7 -8.5 464 5578 0.00 1.17 0.00 0.000 4 0.000 0.060 1707 3931 2847 0 0 0 0 0 0

5589 -0.45 -170.4 631.5 -8.7 464 5596 0.00 1.10 0.00 0.000 6 0.000 0.036 1707 3197 2847 0 0 0 0 0 0

5697 end dive: BOTTOM_OBSTACLE_DETECTED

state 5697 begin apogee

5702 -0.11 0.0 642.7 10.5 470 5866 0.40 0.00 161.12 1.560 6 0.127 0.000 1832 3058 2146 0 0 0 0 0 0

5867 end apogee: CONTROL_FINISHED_OK

state 5867 begin climb

5869 0.45 170.4 648.6 0.0 478 6035 0.50 0.00 157.52 1.504 6 0.064 0.000 2013 3057 1450 0 0 0 0 0 0

6342 0.45 170.4 592.1 16.0 501 6346 0.00 1.45 0.00 0.000 4 0.000 0.057 2013 3927 1444 0 0 0 0 0 0

6486 0.45 170.4 566.9 16.8 507 6491 0.00 1.38 0.00 0.000 6 0.000 0.034 2020 3036 1443 0 0 0 0 0 0

6808 0.45 170.4 519.7 14.3 523 6812 0.00 1.45 0.00 0.000 4 0.000 0.057 2020 3921 1441 0 0 0 0 0 0

6936 0.45 170.4 499.4 15.6 528 6944 0.00 1.35 0.00 0.000 6 0.000 0.034 2027 3046 1441 0 0 0 0 0 0

7252 0.45 170.4 455.7 13.6 544 7256 0.00 1.42 0.00 0.000 4 0.000 0.057 2027 3925 1440 0 0 0 0 0 0

7320 0.45 170.4 445.3 15.8 547 7324 0.00 1.33 0.00 0.000 6 0.000 0.035 2034 3052 1440 0 0 0 0 0 0

7652 0.45 170.4 398.4 13.7 563 7656 0.00 1.40 0.00 0.000 4 0.000 0.056 2034 3921 1440 0 0 0 0 0 0

7709 0.45 170.4 389.5 16.2 568 7712 0.00 1.33 0.00 0.000 6 0.000 0.036 2041 3046 1440 0 0 0 0 0 0

8039 0.45 170.4 340.5 15.5 599 8043 0.00 1.42 0.00 0.000 4 0.000 0.057 2041 3934 1440 0 0 0 0 0 0

8190 0.45 170.4 313.3 18.8 612 8197 0.08 1.33 0.00 0.000 6 0.195 0.035 2025 3055 1440 0 0 0 0 0 0

8514 0.45 170.4 269.5 13.1 643 8518 0.00 1.33 0.00 0.000 4 0.000 0.033 2031 2163 1439 0 0 0 0 0 0

8541 0.45 170.4 266.0 12.3 645 8549 0.00 1.40 0.00 0.000 6 0.000 0.049 2031 3051 1439 0 0 0 0 0 0

8866 0.45 170.4 223.6 12.9 676 8870 0.00 1.40 0.00 0.000 4 0.000 0.055 2031 3928 1439 0 0 0 0 0 0

8973 0.45 170.4 207.5 16.1 685 8980 0.00 1.33 0.00 0.000 6 0.000 0.035 2037 3051 1439 0 0 0 0 0 0

9297 0.45 170.4 161.8 14.5 716 9301 0.00 1.42 0.00 0.000 4 0.000 0.056 2037 3939 1438 0 0 0 0 0 0

9354 0.45 170.4 152.3 17.9 721 9357 0.00 1.33 0.00 0.000 6 0.000 0.035 2044 3053 1439 0 0 0 0 0 0

9684 0.45 170.4 100.5 15.5 752 9687 0.00 1.42 0.00 0.000 4 0.000 0.057 2044 3940 1438 0 0 0 0 0 0

9734 0.45 170.4 90.8 20.1 760 9744 0.10 1.33 0.00 0.000 6 0.183 0.034 2021 3054 1438 0 0 0 0 0 0

10085 0.45 170.6 49.7 10.0 821 10092 0.00 1.40 0.00 0.000 4 0.000 0.057 2021 3925 1437 0 0 0 0 0 0

10352 0.47 208.9 22.9 8.5 867 10373 0.00 1.33 15.50 0.794 6 0.000 0.033 2027 3041 1291 0 0 0 0 0 0

10517 0.53 312.7 10.4 5.9 894 10573 0.00 1.50 45.30 0.737 4 0.000 0.054 2026 3938 867 0 0 0 0 0 0

10616 end climb: SURFACE_DEPTH_REACHED

state 10616 begin surface coast

10636 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	253	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	56	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	27	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	-16026.71	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	010515,192652,-3427.990,2554.704,69,1.0,69,-27.9	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3420.559,2545.196
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.51	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-74.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	010515,193406,-3428.195,2554.445,16,1.2,16,-27.9	MHEAD_RNG_PITCHd_Wd	342.9,20000,-16.1,-10.010
SPEED_LIMITS	0.173,0.278	D_GRID	1000

FINISH	0.4,1.012080	_24V_AH	22.8,30.452
SM_CCo	10710,0.00,0.000,0,0,863,314.96	_10V_AH	10.3,11.577
SM_GC	1.62,5.28,0.00,0.00,0.042,0.000,0.000,75,3190,863,-5.55,-0.28,314.96	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3412.10,2557.68,260208,050531	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026215	MEM	332464
HUMID	56.53	DATA_FILE_SIZE	53551,911
INTERNAL_PRESSURE	11.3004	CAP_FILE_SIZE	115407,0
TCM_TEMP	18.20	CFSIZE	259252224,249778176
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
ALTIM_BOTTOM_PING	630.2,26.4	GPS	010515,223422,-3427.633,2551.887,51,0.9,51,-27.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	224	66.95	SBE_CT	628	24	344.14
Roll_motor	58	61	81.24	SBE_O2	566	19	245.45
VBD_pump_during_apogee	379	1559	13494.85	QSP2150	147	4	14.70
VBD_pump_during_surface	0	0	0.00	WL_BB2FLVMT	393	105	941.58
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	65.44	nil	0	0	0.00
Iridium_during_connect	21	160	76.89	nil	0	0	0.00
Iridium_during_xfer	267	223	1360.07	nil	0	0	0.00
Transponder_ping	15	420	143.64	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	26	5.19
TT8	2216	14	341.55
LPSleep	6147	2	138.67
TT8_Active	453	14	66.31
TT8_Sampling	2175	37	838.89
TT8_CF8	153	47	74.37
TT8_Kalman	0	0	0.00
Analog_circuits	1321	12	163.28
GPS_charging	0	0	0.00
Compass	1791	15	290.26
RAFOS	0	0	0.00
Transponder	93	30	28.99

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.45	-170.4	0.0	0.0	0	66	0.00	0.00	-48.65	0.000	2	0.000	0.000	63	3174	2414	0	0	0	0	0	0
68	-0.45	-170.4	3.3	-4.8	6	86	6.60	0.00	-8.23	0.000	6	0.224	0.000	1717	3174	2844	0	0	0	0	0	0
133	-0.45	-170.4	26.3	-23.1	16	142	0.00	1.23	0.00	0.000	4	0.000	0.054	1714	3942	2850	0	0	0	0	0	0
235	-0.45	-170.4	44.5	-16.5	33	242	0.00	1.10	0.00	0.000	6	0.000	0.032	1714	3200	2851	0	0	0	0	0	0
583	-0.45	-170.4	88.9	-9.3	94	590	0.00	1.17	0.00	0.000	4	0.000	0.056	1709	3942	2855	0	0	0	0	0	0
659	-0.45	-170.4	96.5	-10.6	107	666	0.00	1.10	0.00	0.000	6	0.000	0.031	1708	3191	2856	0	0	0	0	0	0
992	-0.45	-170.4	134.0	-11.1	141	995	0.00	1.20	0.00	0.000	4	0.000	0.054	1703	3957	2858	0	0	0	0	0	0
1018	-0.45	-170.4	137.4	-12.1	143	1026	0.00	1.12	0.00	0.000	6	0.000	0.031	1702	3200	2858	0	0	0	0	0	0
1344	-0.45	-170.4	177.8	-13.1	174	1347	0.00	1.17	0.00	0.000	4	0.000	0.056	1697	3950	2858	0	0	0	0	0	0
1372	-0.45	-170.4	181.7	-14.2	176	1378	0.00	1.10	0.00	0.000	6	0.000	0.032	1697	3201	2858	0	0	0	0	0	0
1696	-0.45	-170.4	225.9	-13.3	207	1699	0.00	1.27	0.00	0.000	4	0.000	0.029	1697	2309	2858	0	0	0	0	0	0
1711	-0.45	-170.4	228.3	-13.5	208	1719	0.08	1.42	0.00	0.000	6	0.132	0.048	1717	3210	2858	0	0	0	0	0	0
2037	-0.45	-170.4	263.9	-11.4	239	2040	0.00	1.15	0.00	0.000	4	0.000	0.056	1713	3946	2858	0	0	0	0	0	0
2063	-0.45	-170.4	267.2	-11.6	241	2071	0.00	1.12	0.00	0.000	6	0.000	0.033	1713	3191	2858	0	0	0	0	0	0
2389	-0.45	-170.4	304.8	-11.3	272	2392	0.00	1.17	0.00	0.000	4	0.000	0.057	1708	3934	2857	0	0	0	0	0	0
2422	-0.45	-170.4	308.6	-11.3	275	2426	0.00	1.10	0.00	0.000	6	0.000	0.034	1708	3194	2857	0	0	0	0	0	0
2752	-0.45	-170.4	347.0	-11.0	306	2754	0.00	0.00	0.00	0.000	6	0.000	0.000	1708	3194	2856	0	0	0	0	0	0
3073	-0.45	-170.4	380.9	-10.6	336	3075	0.00	0.00	0.00	0.000	6	0.000	0.000	1707	3194	2855	0	0	0	0	0	0
3397	-0.45	-170.4	416.3	-11.1	360	3400	0.00	1.17	0.00	0.000	4	0.000	0.059	1702	3934	2854	0	0	0	0	0	0
3446	-0.45	-170.4	422.4	-11.2	362	3450	0.00	1.10	0.00	0.000	6	0.000	0.034	1702	3197	2853	0	0	0	0	0	0
3773	-0.45	-170.4	459.3	-11.2	378	3774	0.00	0.00	0.00	0.000	6	0.000	0.000	1702	3197	2853	0	0	0	0	0	0
4083	-0.45	-170.4	493.9	-11.0	393	4084	0.00	0.00	0.00	0.000	6	0.000	0.000	1702	3197	2851	0	0	0	0	0	0
4392	-0.45	-170.4	526.1	-10.0	408	4395	0.00	1.17	0.00	0.000	4	0.000	0.059	1697	3936	2850	0	0	0	0	0	0
4424	-0.45	-170.4	529.5	-10.6	409	4429	0.00	1.12	0.00	0.000	6	0.000	0.035	1696	3196	2850	0	0	0	0	0	0
4748	-0.45	-170.4	562.1	-10.8	425	4751	0.00	1.17	0.00	0.000	4	0.000	0.060	1691	3940	2849	0	0	0	0	0	0
4838	-0.45	-170.4	572.3	-10.6	429	4842	0.08	1.10	0.00	0.000	6	0.142	0.035	1717	3204	2849	0	0	0	0	0	0
5170	-0.45	-170.4	597.8	-7.1	445	5174	0.00	1.17	0.00	0.000	4	0.000	0.060	1712	3946	2848	0	0	0	0	0	0
5238	-0.45	-170.4	603.2	-8.3	448	5242	0.00	1.12	0.00	0.000	6	0.000	0.036	1713	3191	2848	0	0	0	0	0	0
5572	-0.45	-170.4	629.7	-8.5	464	5578	0.00	1.17	0.00	0.000	4	0.000	0.060	1707	3931	2847	0	0	0	0	0	0
5589	-0.45	-170.4	631.5	-8.7	464	5596	0.00	1.10	0.00	0.000	6	0.000	0.036	1707	3197	2847	0	0	0	0	0	0
5697	end dive: BOTTOM_OBSTACLE_DETECTED
state	5697	begin apogee
5702	-0.11	0.0	642.7	10.5	470	5866	0.40	0.00	161.12	1.560	6	0.127	0.000	1832	3058	2146	0	0	0	0	0	0
5867	end apogee: CONTROL_FINISHED_OK
state	5867	begin climb
5869	0.45	170.4	648.6	0.0	478	6035	0.50	0.00	157.52	1.504	6	0.064	0.000	2013	3057	1450	0	0	0	0	0	0
6342	0.45	170.4	592.1	16.0	501	6346	0.00	1.45	0.00	0.000	4	0.000	0.057	2013	3927	1444	0	0	0	0	0	0
6486	0.45	170.4	566.9	16.8	507	6491	0.00	1.38	0.00	0.000	6	0.000	0.034	2020	3036	1443	0	0	0	0	0	0
6808	0.45	170.4	519.7	14.3	523	6812	0.00	1.45	0.00	0.000	4	0.000	0.057	2020	3921	1441	0	0	0	0	0	0
6936	0.45	170.4	499.4	15.6	528	6944	0.00	1.35	0.00	0.000	6	0.000	0.034	2027	3046	1441	0	0	0	0	0	0
7252	0.45	170.4	455.7	13.6	544	7256	0.00	1.42	0.00	0.000	4	0.000	0.057	2027	3925	1440	0	0	0	0	0	0
7320	0.45	170.4	445.3	15.8	547	7324	0.00	1.33	0.00	0.000	6	0.000	0.035	2034	3052	1440	0	0	0	0	0	0
7652	0.45	170.4	398.4	13.7	563	7656	0.00	1.40	0.00	0.000	4	0.000	0.056	2034	3921	1440	0	0	0	0	0	0
7709	0.45	170.4	389.5	16.2	568	7712	0.00	1.33	0.00	0.000	6	0.000	0.036	2041	3046	1440	0	0	0	0	0	0
8039	0.45	170.4	340.5	15.5	599	8043	0.00	1.42	0.00	0.000	4	0.000	0.057	2041	3934	1440	0	0	0	0	0	0
8190	0.45	170.4	313.3	18.8	612	8197	0.08	1.33	0.00	0.000	6	0.195	0.035	2025	3055	1440	0	0	0	0	0	0
8514	0.45	170.4	269.5	13.1	643	8518	0.00	1.33	0.00	0.000	4	0.000	0.033	2031	2163	1439	0	0	0	0	0	0
8541	0.45	170.4	266.0	12.3	645	8549	0.00	1.40	0.00	0.000	6	0.000	0.049	2031	3051	1439	0	0	0	0	0	0
8866	0.45	170.4	223.6	12.9	676	8870	0.00	1.40	0.00	0.000	4	0.000	0.055	2031	3928	1439	0	0	0	0	0	0
8973	0.45	170.4	207.5	16.1	685	8980	0.00	1.33	0.00	0.000	6	0.000	0.035	2037	3051	1439	0	0	0	0	0	0
9297	0.45	170.4	161.8	14.5	716	9301	0.00	1.42	0.00	0.000	4	0.000	0.056	2037	3939	1438	0	0	0	0	0	0
9354	0.45	170.4	152.3	17.9	721	9357	0.00	1.33	0.00	0.000	6	0.000	0.035	2044	3053	1439	0	0	0	0	0	0
9684	0.45	170.4	100.5	15.5	752	9687	0.00	1.42	0.00	0.000	4	0.000	0.057	2044	3940	1438	0	0	0	0	0	0
9734	0.45	170.4	90.8	20.1	760	9744	0.10	1.33	0.00	0.000	6	0.183	0.034	2021	3054	1438	0	0	0	0	0	0
10085	0.45	170.6	49.7	10.0	821	10092	0.00	1.40	0.00	0.000	4	0.000	0.057	2021	3925	1437	0	0	0	0	0	0
10352	0.47	208.9	22.9	8.5	867	10373	0.00	1.33	15.50	0.794	6	0.000	0.033	2027	3041	1291	0	0	0	0	0	0
10517	0.53	312.7	10.4	5.9	894	10573	0.00	1.50	45.30	0.737	4	0.000	0.054	2026	3938	867	0	0	0	0	0	0
10616	end climb: SURFACE_DEPTH_REACHED
state	10616	begin surface coast
10636	end surface coast: CONTROL_FINISHED_OK
state	10637	begin surface