Glider dive log

SAGE 17Apr15 * SG573 * Dive index * Mission links * Dive 30 * 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 30 HEADING -1 ROLL_DEG 40 ALTIM_PING_DEPTH 100

D_SURF 3 ESCAPE_HEADING 0 C_ROLL_DIVE 2090 ALTIM_PING_DELTA 10

D_FLARE 3 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1620 ALTIM_FREQUENCY 13

D_TGT 390 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_ABORT 450 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 0 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 31 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 300 R_STBD_OVSHOOT 17 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 2762 DEVICE4 135

T_DIVE 130 CALL_TRIES 5 VBD_DBAND 2 DEVICE5 -1

T_MISSION 145 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 -13582.495 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 200 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 3050 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 20 GC_LAST_COLLECTION 29

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 20 D_SURF 3 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_TGT 390 PITCH_ADJ_DBAND 1 STROBE 0

ALTIM_PING_DELTA 10 EBE_ENABLE 0 PITCH_ADJ_GAIN 0.02 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 100 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 29 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 130

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 -13582.495

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 145

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 3050 ID 573 ROLL_ADJ_DBAND 0 T_TURN 225

C_ROLL_CLIMB 1620 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_DIVE 2090 INT_PRESSURE_YINT -0.55000001 ROLL_AD_RATE 350 T_WATCHDOG 10

C_VBD 2762 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 31 VBD_MAX 3959

DEVICE6 -1 MASS 52922 R_STBD_OVSHOOT 17 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 200 SEABIRD_C_G -9.9469662 VBD_MIN 409

DIVE 30 MINV_10V 8 SEABIRD_C_H 1.155618 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 450 MINV_24V 20 SEABIRD_C_I -0.0016006827 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 0 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 240415,093905,-3425.871,2548.551,31,1.2,31,-27.8 TGT_NAME DEPLOY

_CALLS 1 TGT_LATLONG -3421.000,2542.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.229,0.204

_SM_DEPTHo 2.03 KALMAN_X -18488.8,-8625.5,-2647.6,-6374.3,-1020.9

_SM_ANGLEo -66.7 KALMAN_Y -14362.4,-6812.0,-2167.9,-3593.3,-569.5

GPS2 240415,094723,-3425.873,2548.505,40,1.2,41,-27.8 MHEAD_RNG_PITCHd_Wd 334.7,13431,-15.7,-10.000

SPEED_LIMITS 0.173,0.296 D_GRID 390

Post-dive calculations and measurements:

FINISH 1.3,1.004959 _10V_AH 10.3,5.342

SM_CCo 5364,0.00,0.000,0,0,1372,340.96 FG_AHR_24Vo 0.000

SM_GC 2.10,8.52,0.00,0.00,0.036,0.000,0.000,81,2081,1372,-9.18,-0.25,340.96 FG_AHR_10Vo 0.000

IRIDIUM_FIX -3414.71,2549.49,180208,232340 MEM 331568

TT8_MAMPS 0.026964 DATA_FILE_SIZE 63757,837

HUMID 59.52 CAP_FILE_SIZE 111025,0

INTERNAL_PRESSURE 9.32343 CFSIZE 2097086464,2088566784

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

XPDR_PINGS 0 CURRENT 0.028,101.5,1

ALTIM_BOTTOM_PING 240.1,45.0 GPS 240415,111829,-3425.304,2548.006,46,0.9,47,-27.8

_24V_AH 24.0,6.646

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 260 147.60 SBE_CT 568 23 316.93

Roll_motor 114 97 267.39 AA4330 2178 17 900.94

VBD_pump_during_apogee 416 758 7578.57 WL_BB2F 1503 105 3789.97

VBD_pump_during_surface 0 0 0.00 QSP2150 2350 17 971.89

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 91 69.88 nil 0 0 0.00

Iridium_during_connect 45 160 175.25 nil 0 0 0.00

Iridium_during_xfer 287 223 1536.66 nil 0 0 0.00

Transponder_ping 4 420 42.84 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 43 27 12.36

TT8 1985 13 284.01

LPSleep 428 2 9.67

TT8_Active 547 13 78.34

TT8_Sampling 2794 40 1175.77

TT8_CF8 105 50 54.96

TT8_Kalman 0 0 0.00

Analog_circuits 1434 15 226.35

GPS_charging 0 0 0.00

Compass 2148 15 348.13

RAFOS 0 0 0.00

Transponder 30 30 9.40

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

24 -1.02 -194.6 0.0 0.0 0 81 0.00 0.00 -54.75 0.000 2 0.000 0.000 83 2081 2545 0 0 0 0 0 0

83 -1.02 -194.6 3.0 -2.6 6 135 11.32 2.38 -31.58 0.000 4 0.261 0.080 2692 3511 3559 0 0 0 0 0 0

326 -0.90 -194.6 41.4 -14.7 43 334 0.22 2.30 0.00 0.000 6 0.161 0.064 2754 2106 3562 0 0 0 0 0 0

439 -0.86 -194.6 54.4 -11.1 62 449 0.08 2.33 0.00 0.000 4 0.210 0.069 2762 3504 3563 0 0 0 0 0 0

486 -0.86 -194.6 59.3 -10.3 69 493 0.00 2.35 0.00 0.000 6 0.000 0.076 2762 2094 3564 0 0 0 0 0 0

599 -0.84 -194.6 70.5 -9.9 88 609 0.05 2.45 0.00 0.000 4 0.194 0.093 2773 664 3565 0 0 0 0 0 0

615 -0.84 -194.6 72.1 -9.9 90 625 0.05 2.47 0.00 0.000 6 0.177 0.088 2778 2082 3565 0 0 0 0 0 0

731 -0.84 -194.6 81.9 -8.8 109 738 0.00 2.35 0.00 0.000 4 0.000 0.078 2768 3517 3565 0 0 0 0 0 0

798 -0.84 -194.6 87.8 -9.9 120 807 0.00 2.42 0.00 0.000 6 0.000 0.079 2768 2088 3566 0 0 0 0 0 0

913 -0.84 -194.6 97.8 -8.4 139 921 0.00 2.42 0.00 0.000 4 0.000 0.096 2768 652 3566 0 0 0 0 0 0

942 -0.84 -194.6 100.5 -9.7 143 950 0.08 2.45 0.00 0.000 6 0.213 0.085 2773 2095 3566 0 0 0 0 0 0

1058 -0.84 -194.6 111.0 -8.7 162 1067 0.00 2.35 0.00 0.000 4 0.000 0.079 2762 3513 3567 0 0 0 0 0 0

1145 -0.84 -194.6 118.6 -8.9 176 1154 0.03 2.40 0.00 0.000 6 0.127 0.079 2773 2093 3567 0 0 0 0 0 0

1261 -0.84 -194.6 129.5 -9.6 195 1269 0.00 0.00 0.00 0.000 6 0.000 0.000 2772 2094 3568 0 0 0 0 0 0

1376 -0.84 -194.6 141.0 -10.1 214 1385 0.00 2.47 0.00 0.000 4 0.000 0.097 2772 652 3567 0 0 0 0 0 0

1421 -0.82 -194.6 145.4 -10.6 221 1429 0.10 2.42 0.00 0.000 6 0.216 0.084 2784 2089 3568 0 0 0 0 0 0

1537 -0.82 -194.6 156.4 -8.8 240 1546 0.00 2.35 0.00 0.000 4 0.000 0.081 2773 3505 3568 0 0 0 0 0 0

1594 -0.82 -194.6 161.7 -9.7 249 1601 0.00 2.38 0.00 0.000 6 0.000 0.082 2774 2083 3568 0 0 0 0 0 0

1707 -0.82 -194.6 172.4 -9.8 268 1716 0.00 2.45 0.00 0.000 4 0.000 0.096 2774 651 3568 0 0 0 0 0 0

1740 -0.82 -194.6 175.7 -10.4 273 1748 0.08 2.42 0.00 0.000 6 0.226 0.084 2778 2089 3568 0 0 0 0 0 0

1853 -0.82 -194.6 187.2 -10.0 292 1862 0.00 2.35 0.00 0.000 4 0.000 0.083 2768 3502 3567 0 0 0 0 0 0

1899 -0.82 -194.6 191.8 -10.6 299 1907 0.08 2.38 0.00 0.000 6 0.181 0.082 2783 2080 3567 0 0 0 0 0 0

2014 -0.82 -194.6 203.6 -9.8 318 2022 0.00 2.42 0.00 0.000 4 0.000 0.095 2783 657 3568 0 0 0 0 0 0

2035 -0.82 -194.6 205.8 -10.7 321 2043 0.00 2.45 0.00 0.000 6 0.000 0.089 2774 2090 3567 0 0 0 0 0 0

2149 -0.82 -194.6 218.5 -11.8 340 2158 0.00 2.35 0.00 0.000 4 0.000 0.082 2764 3507 3567 0 0 0 0 0 0

2199 -0.82 -194.6 224.7 -11.4 348 2209 0.03 2.45 0.00 0.000 6 0.130 0.091 2773 2087 3567 0 0 0 0 0 0

2320 -0.82 -194.6 238.9 -12.5 367 2331 0.00 2.42 0.00 0.000 4 0.000 0.097 2773 645 3566 0 0 0 0 0 0

2362 -0.82 -194.6 244.4 -13.7 373 2370 0.08 2.42 0.00 0.000 6 0.231 0.083 2778 2090 3567 0 0 0 0 0 0

2476 -0.82 -194.6 259.1 -13.1 392 2485 0.00 2.38 0.00 0.000 4 0.000 0.086 2768 3511 3567 0 0 0 0 0 0

2525 end dive: BOTTOM_OBSTACLE_DETECTED

state 2526 begin apogee

2532 -0.25 0.0 265.4 12.3 400 2692 0.62 0.00 151.65 0.758 6 0.146 0.000 2966 1604 2761 0 0 0 0 0 0

2693 end apogee: CONTROL_FINISHED_OK

state 2693 begin climb

2694 1.02 194.6 274.3 0.0 422 2865 1.23 2.45 156.52 0.733 4 0.093 0.054 3382 200 1966 0 0 0 0 0 0

3042 0.86 194.6 242.8 12.7 475 3050 0.20 2.30 0.00 0.000 6 0.163 0.034 3329 1661 1961 0 0 0 0 0 0

3155 0.79 194.6 230.3 11.5 494 3164 0.10 0.00 0.00 0.000 6 0.187 0.000 3305 1666 1960 0 0 0 0 0 0

3270 0.74 194.6 218.7 10.1 513 3278 0.05 2.38 0.00 0.000 4 0.229 0.055 3305 196 1960 0 0 0 0 0 0

3298 0.69 194.6 215.4 11.9 517 3306 0.10 2.22 0.00 0.000 6 0.171 0.035 3279 1624 1959 0 0 0 0 0 0

3411 0.71 208.4 204.3 9.5 536 3426 0.00 0.00 11.62 0.670 6 0.000 0.000 3278 1625 1912 0 0 0 0 0 0

3531 0.71 208.4 192.0 11.4 556 3540 0.00 2.25 0.00 0.000 4 0.000 0.059 3278 3012 1909 0 0 0 0 0 0

3560 0.71 208.4 188.8 12.3 560 3569 0.00 2.33 0.00 0.000 6 0.000 0.062 3286 1602 1908 0 0 0 0 0 0

3675 0.71 208.4 175.9 11.3 579 3683 0.00 0.00 0.00 0.000 6 0.000 0.000 3287 1602 1908 0 0 0 0 0 0

3788 0.71 208.4 162.6 12.4 598 3796 0.00 0.00 0.00 0.000 6 0.000 0.000 3286 1602 1908 0 0 0 0 0 0

3903 0.71 208.4 149.5 11.0 617 3910 0.00 2.25 0.00 0.000 4 0.000 0.057 3298 203 1907 0 0 0 0 0 0

3953 0.68 208.4 143.9 11.6 625 3961 0.10 2.20 0.00 0.000 6 0.163 0.036 3271 1618 1907 0 0 0 0 0 0

4065 0.71 234.1 133.3 9.1 644 4096 0.00 2.28 22.33 0.685 4 0.000 0.057 3271 3037 1805 0 0 0 0 0 0

4128 0.73 251.2 127.6 9.4 653 4151 0.00 2.30 15.23 0.656 6 0.000 0.058 3280 1613 1736 0 0 0 0 0 0

4256 0.79 284.4 115.9 8.9 674 4295 0.08 2.38 28.50 0.669 4 0.120 0.057 3332 208 1600 0 0 0 0 0 0

4320 0.75 284.4 109.1 11.4 683 4329 0.15 2.25 0.00 0.000 6 0.147 0.034 3292 1625 1597 0 0 0 0 0 0

4435 0.79 294.4 97.6 9.7 702 4452 0.00 2.28 9.12 0.604 4 0.000 0.055 3292 3032 1561 0 0 0 0 0 0

4488 0.79 294.4 92.0 10.8 710 4497 0.00 2.33 0.00 0.000 6 0.000 0.055 3301 1622 1560 0 0 0 0 0 0

4604 0.79 294.4 79.3 10.9 729 4611 0.00 2.28 0.00 0.000 4 0.000 0.057 3312 209 1558 0 0 0 0 0 0

4642 0.79 294.4 74.5 12.7 735 4650 0.00 2.25 0.00 0.000 6 0.000 0.037 3312 1614 1558 0 0 0 0 0 0

4755 0.79 294.4 60.4 13.0 754 4764 0.00 2.30 0.00 0.000 4 0.000 0.062 3312 3020 1557 0 0 0 0 0 0

4813 0.77 294.4 53.2 13.4 763 4821 0.10 2.25 0.00 0.000 6 0.164 0.054 3295 1612 1556 0 0 0 0 0 0

4927 0.79 294.4 39.3 11.5 782 4935 0.00 2.30 0.00 0.000 4 0.000 0.058 3305 209 1556 0 0 0 0 0 0

4972 0.79 294.4 33.8 12.7 789 4979 0.00 2.22 0.00 0.000 6 0.000 0.038 3305 1630 1556 0 0 0 0 0 0

5092 0.88 337.0 21.1 8.5 808 5118 0.08 0.00 21.55 0.581 6 0.120 0.000 3351 1631 1387 0 0 0 0 0 0

5195 0.88 337.0 9.1 12.1 823 5205 0.08 0.00 0.00 0.000 6 0.167 0.000 3333 1632 1380 0 0 0 0 0 0

5255 end climb: SURFACE_DEPTH_REACHED

state 5255 begin surface coast

5289 end surface coast: CONTROL_FINISHED_OK

state 5289 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	30	HEADING	-1	ROLL_DEG	40	ALTIM_PING_DEPTH	100
D_SURF	3	ESCAPE_HEADING	0	C_ROLL_DIVE	2090	ALTIM_PING_DELTA	10
D_FLARE	3	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1620	ALTIM_FREQUENCY	13
D_TGT	390	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_ABORT	450	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	0	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	31	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	300	R_STBD_OVSHOOT	17	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	2762	DEVICE4	135
T_DIVE	130	CALL_TRIES	5	VBD_DBAND	2	DEVICE5	-1
T_MISSION	145	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	-13582.495	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	200	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	3050	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	20	GC_LAST_COLLECTION	29

GPS1	240415,093905,-3425.871,2548.551,31,1.2,31,-27.8	TGT_NAME	DEPLOY
_CALLS	1	TGT_LATLONG	-3421.000,2542.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.229,0.204
_SM_DEPTHo	2.03	KALMAN_X	-18488.8,-8625.5,-2647.6,-6374.3,-1020.9
_SM_ANGLEo	-66.7	KALMAN_Y	-14362.4,-6812.0,-2167.9,-3593.3,-569.5
GPS2	240415,094723,-3425.873,2548.505,40,1.2,41,-27.8	MHEAD_RNG_PITCHd_Wd	334.7,13431,-15.7,-10.000
SPEED_LIMITS	0.173,0.296	D_GRID	390

FINISH	1.3,1.004959	_10V_AH	10.3,5.342
SM_CCo	5364,0.00,0.000,0,0,1372,340.96	FG_AHR_24Vo	0.000
SM_GC	2.10,8.52,0.00,0.00,0.036,0.000,0.000,81,2081,1372,-9.18,-0.25,340.96	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-3414.71,2549.49,180208,232340	MEM	331568
TT8_MAMPS	0.026964	DATA_FILE_SIZE	63757,837
HUMID	59.52	CAP_FILE_SIZE	111025,0
INTERNAL_PRESSURE	9.32343	CFSIZE	2097086464,2088566784
TCM_TEMP	16.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	CURRENT	0.028,101.5,1
ALTIM_BOTTOM_PING	240.1,45.0	GPS	240415,111829,-3425.304,2548.006,46,0.9,47,-27.8
_24V_AH	24.0,6.646

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	260	147.60	SBE_CT	568	23	316.93
Roll_motor	114	97	267.39	AA4330	2178	17	900.94
VBD_pump_during_apogee	416	758	7578.57	WL_BB2F	1503	105	3789.97
VBD_pump_during_surface	0	0	0.00	QSP2150	2350	17	971.89
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	91	69.88	nil	0	0	0.00
Iridium_during_connect	45	160	175.25	nil	0	0	0.00
Iridium_during_xfer	287	223	1536.66	nil	0	0	0.00
Transponder_ping	4	420	42.84	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	43	27	12.36
TT8	1985	13	284.01
LPSleep	428	2	9.67
TT8_Active	547	13	78.34
TT8_Sampling	2794	40	1175.77
TT8_CF8	105	50	54.96
TT8_Kalman	0	0	0.00
Analog_circuits	1434	15	226.35
GPS_charging	0	0	0.00
Compass	2148	15	348.13
RAFOS	0	0	0.00
Transponder	30	30	9.40

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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
24	-1.02	-194.6	0.0	0.0	0	81	0.00	0.00	-54.75	0.000	2	0.000	0.000	83	2081	2545	0	0	0	0	0	0
83	-1.02	-194.6	3.0	-2.6	6	135	11.32	2.38	-31.58	0.000	4	0.261	0.080	2692	3511	3559	0	0	0	0	0	0
326	-0.90	-194.6	41.4	-14.7	43	334	0.22	2.30	0.00	0.000	6	0.161	0.064	2754	2106	3562	0	0	0	0	0	0
439	-0.86	-194.6	54.4	-11.1	62	449	0.08	2.33	0.00	0.000	4	0.210	0.069	2762	3504	3563	0	0	0	0	0	0
486	-0.86	-194.6	59.3	-10.3	69	493	0.00	2.35	0.00	0.000	6	0.000	0.076	2762	2094	3564	0	0	0	0	0	0
599	-0.84	-194.6	70.5	-9.9	88	609	0.05	2.45	0.00	0.000	4	0.194	0.093	2773	664	3565	0	0	0	0	0	0
615	-0.84	-194.6	72.1	-9.9	90	625	0.05	2.47	0.00	0.000	6	0.177	0.088	2778	2082	3565	0	0	0	0	0	0
731	-0.84	-194.6	81.9	-8.8	109	738	0.00	2.35	0.00	0.000	4	0.000	0.078	2768	3517	3565	0	0	0	0	0	0
798	-0.84	-194.6	87.8	-9.9	120	807	0.00	2.42	0.00	0.000	6	0.000	0.079	2768	2088	3566	0	0	0	0	0	0
913	-0.84	-194.6	97.8	-8.4	139	921	0.00	2.42	0.00	0.000	4	0.000	0.096	2768	652	3566	0	0	0	0	0	0
942	-0.84	-194.6	100.5	-9.7	143	950	0.08	2.45	0.00	0.000	6	0.213	0.085	2773	2095	3566	0	0	0	0	0	0
1058	-0.84	-194.6	111.0	-8.7	162	1067	0.00	2.35	0.00	0.000	4	0.000	0.079	2762	3513	3567	0	0	0	0	0	0
1145	-0.84	-194.6	118.6	-8.9	176	1154	0.03	2.40	0.00	0.000	6	0.127	0.079	2773	2093	3567	0	0	0	0	0	0
1261	-0.84	-194.6	129.5	-9.6	195	1269	0.00	0.00	0.00	0.000	6	0.000	0.000	2772	2094	3568	0	0	0	0	0	0
1376	-0.84	-194.6	141.0	-10.1	214	1385	0.00	2.47	0.00	0.000	4	0.000	0.097	2772	652	3567	0	0	0	0	0	0
1421	-0.82	-194.6	145.4	-10.6	221	1429	0.10	2.42	0.00	0.000	6	0.216	0.084	2784	2089	3568	0	0	0	0	0	0
1537	-0.82	-194.6	156.4	-8.8	240	1546	0.00	2.35	0.00	0.000	4	0.000	0.081	2773	3505	3568	0	0	0	0	0	0
1594	-0.82	-194.6	161.7	-9.7	249	1601	0.00	2.38	0.00	0.000	6	0.000	0.082	2774	2083	3568	0	0	0	0	0	0
1707	-0.82	-194.6	172.4	-9.8	268	1716	0.00	2.45	0.00	0.000	4	0.000	0.096	2774	651	3568	0	0	0	0	0	0
1740	-0.82	-194.6	175.7	-10.4	273	1748	0.08	2.42	0.00	0.000	6	0.226	0.084	2778	2089	3568	0	0	0	0	0	0
1853	-0.82	-194.6	187.2	-10.0	292	1862	0.00	2.35	0.00	0.000	4	0.000	0.083	2768	3502	3567	0	0	0	0	0	0
1899	-0.82	-194.6	191.8	-10.6	299	1907	0.08	2.38	0.00	0.000	6	0.181	0.082	2783	2080	3567	0	0	0	0	0	0
2014	-0.82	-194.6	203.6	-9.8	318	2022	0.00	2.42	0.00	0.000	4	0.000	0.095	2783	657	3568	0	0	0	0	0	0
2035	-0.82	-194.6	205.8	-10.7	321	2043	0.00	2.45	0.00	0.000	6	0.000	0.089	2774	2090	3567	0	0	0	0	0	0
2149	-0.82	-194.6	218.5	-11.8	340	2158	0.00	2.35	0.00	0.000	4	0.000	0.082	2764	3507	3567	0	0	0	0	0	0
2199	-0.82	-194.6	224.7	-11.4	348	2209	0.03	2.45	0.00	0.000	6	0.130	0.091	2773	2087	3567	0	0	0	0	0	0
2320	-0.82	-194.6	238.9	-12.5	367	2331	0.00	2.42	0.00	0.000	4	0.000	0.097	2773	645	3566	0	0	0	0	0	0
2362	-0.82	-194.6	244.4	-13.7	373	2370	0.08	2.42	0.00	0.000	6	0.231	0.083	2778	2090	3567	0	0	0	0	0	0
2476	-0.82	-194.6	259.1	-13.1	392	2485	0.00	2.38	0.00	0.000	4	0.000	0.086	2768	3511	3567	0	0	0	0	0	0
2525	end dive: BOTTOM_OBSTACLE_DETECTED
state	2526	begin apogee
2532	-0.25	0.0	265.4	12.3	400	2692	0.62	0.00	151.65	0.758	6	0.146	0.000	2966	1604	2761	0	0	0	0	0	0
2693	end apogee: CONTROL_FINISHED_OK
state	2693	begin climb
2694	1.02	194.6	274.3	0.0	422	2865	1.23	2.45	156.52	0.733	4	0.093	0.054	3382	200	1966	0	0	0	0	0	0
3042	0.86	194.6	242.8	12.7	475	3050	0.20	2.30	0.00	0.000	6	0.163	0.034	3329	1661	1961	0	0	0	0	0	0
3155	0.79	194.6	230.3	11.5	494	3164	0.10	0.00	0.00	0.000	6	0.187	0.000	3305	1666	1960	0	0	0	0	0	0
3270	0.74	194.6	218.7	10.1	513	3278	0.05	2.38	0.00	0.000	4	0.229	0.055	3305	196	1960	0	0	0	0	0	0
3298	0.69	194.6	215.4	11.9	517	3306	0.10	2.22	0.00	0.000	6	0.171	0.035	3279	1624	1959	0	0	0	0	0	0
3411	0.71	208.4	204.3	9.5	536	3426	0.00	0.00	11.62	0.670	6	0.000	0.000	3278	1625	1912	0	0	0	0	0	0
3531	0.71	208.4	192.0	11.4	556	3540	0.00	2.25	0.00	0.000	4	0.000	0.059	3278	3012	1909	0	0	0	0	0	0
3560	0.71	208.4	188.8	12.3	560	3569	0.00	2.33	0.00	0.000	6	0.000	0.062	3286	1602	1908	0	0	0	0	0	0
3675	0.71	208.4	175.9	11.3	579	3683	0.00	0.00	0.00	0.000	6	0.000	0.000	3287	1602	1908	0	0	0	0	0	0
3788	0.71	208.4	162.6	12.4	598	3796	0.00	0.00	0.00	0.000	6	0.000	0.000	3286	1602	1908	0	0	0	0	0	0
3903	0.71	208.4	149.5	11.0	617	3910	0.00	2.25	0.00	0.000	4	0.000	0.057	3298	203	1907	0	0	0	0	0	0
3953	0.68	208.4	143.9	11.6	625	3961	0.10	2.20	0.00	0.000	6	0.163	0.036	3271	1618	1907	0	0	0	0	0	0
4065	0.71	234.1	133.3	9.1	644	4096	0.00	2.28	22.33	0.685	4	0.000	0.057	3271	3037	1805	0	0	0	0	0	0
4128	0.73	251.2	127.6	9.4	653	4151	0.00	2.30	15.23	0.656	6	0.000	0.058	3280	1613	1736	0	0	0	0	0	0
4256	0.79	284.4	115.9	8.9	674	4295	0.08	2.38	28.50	0.669	4	0.120	0.057	3332	208	1600	0	0	0	0	0	0
4320	0.75	284.4	109.1	11.4	683	4329	0.15	2.25	0.00	0.000	6	0.147	0.034	3292	1625	1597	0	0	0	0	0	0
4435	0.79	294.4	97.6	9.7	702	4452	0.00	2.28	9.12	0.604	4	0.000	0.055	3292	3032	1561	0	0	0	0	0	0
4488	0.79	294.4	92.0	10.8	710	4497	0.00	2.33	0.00	0.000	6	0.000	0.055	3301	1622	1560	0	0	0	0	0	0
4604	0.79	294.4	79.3	10.9	729	4611	0.00	2.28	0.00	0.000	4	0.000	0.057	3312	209	1558	0	0	0	0	0	0
4642	0.79	294.4	74.5	12.7	735	4650	0.00	2.25	0.00	0.000	6	0.000	0.037	3312	1614	1558	0	0	0	0	0	0
4755	0.79	294.4	60.4	13.0	754	4764	0.00	2.30	0.00	0.000	4	0.000	0.062	3312	3020	1557	0	0	0	0	0	0
4813	0.77	294.4	53.2	13.4	763	4821	0.10	2.25	0.00	0.000	6	0.164	0.054	3295	1612	1556	0	0	0	0	0	0
4927	0.79	294.4	39.3	11.5	782	4935	0.00	2.30	0.00	0.000	4	0.000	0.058	3305	209	1556	0	0	0	0	0	0
4972	0.79	294.4	33.8	12.7	789	4979	0.00	2.22	0.00	0.000	6	0.000	0.038	3305	1630	1556	0	0	0	0	0	0
5092	0.88	337.0	21.1	8.5	808	5118	0.08	0.00	21.55	0.581	6	0.120	0.000	3351	1631	1387	0	0	0	0	0	0
5195	0.88	337.0	9.1	12.1	823	5205	0.08	0.00	0.00	0.000	6	0.167	0.000	3333	1632	1380	0	0	0	0	0	0
5255	end climb: SURFACE_DEPTH_REACHED
state	5255	begin surface coast
5289	end surface coast: CONTROL_FINISHED_OK
state	5289	begin surface