Glider dive log

SAGE 17Apr15 * SG573 * Dive index * Mission links * Dive 353 * 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 353 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 12 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 611.52295 R_STBD_OVSHOOT 8 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 2902 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 -14650.305 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 3034 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 160 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 352

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 611.52295

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 160 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 352 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 -14650.305

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 3034 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 2902 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 12 VBD_MAX 3959

DEVICE6 -1 MASS 52922 R_STBD_OVSHOOT 8 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 175 SEABIRD_C_G -9.9469662 VBD_MIN 409

DIVE 353 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 080515,164459,-3435.243,2526.741,40,2.0,41,-27.8 TGT_NAME WP_SOUTH

_CALLS 1 TGT_LATLONG -3435.580,2528.620

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.229,0.204

_SM_DEPTHo 1.83 KALMAN_X -18488.8,-8625.5,-2647.6,-6374.3,-1020.9

_SM_ANGLEo -64.4 KALMAN_Y -14362.4,-6812.0,-2167.9,-3593.3,-569.5

GPS2 080515,165253,-3435.330,2526.471,45,1.4,46,-27.8 MHEAD_RNG_PITCHd_Wd 130.1,3309,-18.4,-10.010

SPEED_LIMITS 0.173,0.279 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.2,1.008826 _10V_AH 10.2,28.714

SM_CCo 13637,90.93,0.047,0,0,407,611.52 FG_AHR_24Vo 0.000

SM_GC 1.77,0.00,0.00,90.93,0.000,0.000,0.047,71,1934,407,-9.26,0.45,611.52 FG_AHR_10Vo 0.000

IRIDIUM_FIX -3419.93,2527.24,040308,030355 MEM 330924

TT8_MAMPS 0.026964 DATA_FILE_SIZE 73692,1064

HUMID 55.39 CAP_FILE_SIZE 145637,0

INTERNAL_PRESSURE 9.34296 CFSIZE 2097086464,2055602176

TCM_TEMP 20.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2

XPDR_PINGS 0 CURRENT 0.106,273.7,1

_24V_AH 22.8,34.499 GPS 080515,204329,-3436.019,2527.784,39,1.2,40,-27.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 251 139.01 SBE_CT 730 23 386.64

Roll_motor 122 120 335.66 AA4330 1756 17 689.91

VBD_pump_during_apogee 500 1100 12560.19 WL_BB2F 804 105 1926.98

VBD_pump_during_surface 90 47 98.33 QSP2150 290 17 114.10

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 91 52.34 nil 0 0 0.00

Iridium_during_connect 42 160 156.14 nil 0 0 0.00

Iridium_during_xfer 245 223 1246.59 nil 0 0 0.00

Transponder_ping 19 420 186.73 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 48 27 13.57

TT8 2748 13 389.35

LPSleep 7634 2 170.54

TT8_Active 694 13 98.39

TT8_Sampling 2920 40 1216.78

TT8_CF8 216 50 111.67

TT8_Kalman 0 0 0.00

Analog_circuits 1771 15 276.78

GPS_charging 0 0 0.00

Compass 2402 15 385.51

RAFOS 0 0 0.00

Transponder 127 30 38.87

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 -1.09 -144.6 0.0 0.0 0 111 0.00 0.00 -83.72 0.000 2 0.000 0.000 67 1942 2542 0 0 0 0 0 0

114 -1.12 -170.3 3.2 -3.4 10 159 11.27 2.58 -25.95 0.000 4 0.252 0.103 2659 496 3599 0 0 0 0 0 0

214 -0.89 -170.3 24.1 -29.2 24 224 0.32 2.60 0.00 0.000 6 0.210 0.098 2735 1922 3602 0 0 0 0 0 0

368 -0.80 -170.3 51.0 -17.1 49 375 0.15 2.50 0.00 0.000 4 0.190 0.103 2762 3349 3603 0 0 0 0 0 0

417 -0.80 -170.3 58.7 -13.8 57 426 0.00 2.47 0.00 0.000 6 0.000 0.084 2762 1925 3603 0 0 0 0 0 0

776 -0.84 -170.3 106.0 -10.6 114 781 0.00 2.58 0.00 0.000 4 0.000 0.112 2762 483 3606 0 0 0 0 0 0

820 -0.84 -170.3 111.4 -11.7 117 828 0.00 2.55 0.00 0.000 6 0.000 0.088 2752 1919 3606 0 0 0 0 0 0

1146 -0.84 -170.3 151.8 -13.2 148 1150 0.00 2.45 0.00 0.000 4 0.000 0.099 2741 3354 3608 0 0 0 0 0 0

1278 -0.84 -170.3 169.2 -13.1 159 1283 0.05 2.53 0.00 0.000 6 0.112 0.099 2757 1917 3607 0 0 0 0 0 0

1608 -0.84 -170.3 214.3 -13.9 190 1612 0.00 2.50 0.00 0.000 4 0.000 0.099 2757 471 3608 0 0 0 0 0 0

1639 -0.84 -170.3 219.1 -14.7 192 1649 0.00 2.50 0.00 0.000 6 0.000 0.078 2748 1918 3608 0 0 0 0 0 0

1965 -0.84 -170.3 265.3 -13.1 223 1970 0.05 2.53 0.00 0.000 4 0.246 0.113 2748 3343 3607 0 0 0 0 0 0

2133 -0.86 -170.3 286.1 -13.3 237 2137 0.00 2.47 0.00 0.000 6 0.000 0.093 2748 1917 3606 0 0 0 0 0 0

2458 -0.86 -170.3 327.6 -12.9 267 2462 0.00 2.45 0.00 0.000 4 0.000 0.094 2748 483 3605 0 0 0 0 0 0

2489 -0.86 -170.3 331.6 -14.4 269 2494 0.08 2.45 0.00 0.000 6 0.214 0.077 2753 1923 3606 0 0 0 0 0 0

2814 -0.86 -170.3 372.0 -12.3 299 2819 0.00 2.53 0.00 0.000 4 0.000 0.115 2743 3335 3605 0 0 0 0 0 0

3035 -0.89 -170.3 397.8 -11.7 318 3039 0.00 2.53 0.00 0.000 6 0.000 0.103 2743 1907 3603 0 0 0 0 0 0

3351 -0.89 -170.3 437.3 -13.0 334 3353 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 1907 3602 0 0 0 0 0 0

3660 -0.89 -170.3 479.3 -13.8 349 3665 0.00 2.42 0.00 0.000 4 0.000 0.092 2743 484 3601 0 0 0 0 0 0

3705 -0.89 -170.3 486.0 -14.9 351 3710 0.00 2.42 0.00 0.000 6 0.000 0.071 2733 1923 3601 0 0 0 0 0 0

4034 -0.89 -170.3 536.1 -15.0 367 4038 0.00 2.55 0.00 0.000 4 0.000 0.116 2722 3336 3599 0 0 0 0 0 0

4185 -0.89 -170.3 559.4 -15.0 374 4190 0.05 2.53 0.00 0.000 6 0.156 0.106 2738 1920 3598 0 0 0 0 0 0

4517 -0.89 -170.3 606.2 -14.0 390 4521 0.00 2.42 0.00 0.000 4 0.000 0.084 2739 480 3598 0 0 0 0 0 0

4572 -0.89 -170.3 614.4 -14.2 392 4580 0.08 2.42 0.00 0.000 6 0.223 0.067 2743 1917 3598 0 0 0 0 0 0

4890 -0.89 -170.3 657.3 -13.4 408 4894 0.00 2.53 0.00 0.000 4 0.000 0.115 2733 3336 3597 0 0 0 0 0 0

5033 -0.89 -170.3 677.4 -13.2 414 5042 0.00 2.55 0.00 0.000 6 0.000 0.105 2733 1926 3596 0 0 0 0 0 0

5350 -0.89 -170.3 719.9 -13.7 430 5355 0.00 2.45 0.00 0.000 4 0.000 0.092 2733 468 3596 0 0 0 0 0 0

5410 -0.89 -170.3 728.7 -14.3 432 5418 0.10 2.42 0.00 0.000 6 0.220 0.063 2744 1931 3595 0 0 0 0 0 0

5726 -0.89 -170.3 769.5 -12.6 448 5735 0.00 2.50 0.00 0.000 4 0.000 0.120 2734 3322 3594 0 0 0 0 0 0

5887 end dive: NO_VERTICAL_VELOCITY

state 5887 begin apogee

5894 -0.25 0.0 770.8 0.0 455 6035 0.70 0.00 137.20 1.101 6 0.145 0.000 2947 1753 2903 0 0 0 0 0 0

6036 end apogee: CONTROL_FINISHED_OK

state 6036 begin climb

6038 1.12 170.3 770.7 0.0 462 6196 1.40 2.55 148.73 1.062 4 0.109 0.053 3396 334 2207 0 0 0 0 0 0

6280 0.96 170.3 758.7 11.5 473 6286 0.20 2.40 0.00 0.000 6 0.164 0.034 3346 1766 2204 0 0 0 0 0 0

6603 0.92 201.0 730.9 8.6 489 6638 0.08 2.47 27.17 1.027 4 0.226 0.050 3342 326 2081 0 0 0 0 0 0

6678 0.86 211.9 724.2 9.5 492 6695 0.12 2.35 11.07 0.934 6 0.181 0.038 3312 1756 2037 0 0 0 0 0 0

7016 0.89 235.9 695.1 8.9 509 7041 0.00 0.00 22.33 0.997 6 0.000 0.000 3312 1756 1939 0 0 0 0 0 0

7346 0.92 259.2 664.2 8.9 525 7369 0.00 0.00 21.30 0.982 6 0.000 0.000 3312 1756 1845 0 0 0 0 0 0

7675 0.92 259.8 632.4 10.0 541 7676 0.00 0.00 0.00 0.000 6 0.000 0.000 3312 1756 1842 0 0 0 0 0 0

7984 0.92 259.8 599.8 10.5 556 7988 0.00 2.30 0.00 0.000 4 0.000 0.051 3322 328 1841 0 0 0 0 0 0

8017 0.92 259.8 596.2 10.5 557 8021 0.00 2.33 0.00 0.000 6 0.000 0.038 3321 1759 1842 0 0 0 0 0 0

8339 0.92 259.8 562.7 10.7 573 8343 0.00 2.35 0.00 0.000 4 0.000 0.056 3331 319 1841 0 0 0 0 0 0

8371 0.90 259.8 558.9 11.6 574 8380 0.00 2.33 0.00 0.000 6 0.000 0.043 3331 1765 1841 0 0 0 0 0 0

8687 0.90 259.8 524.3 10.9 590 8688 0.00 0.00 0.00 0.000 6 0.000 0.000 3331 1765 1841 0 0 0 0 0 0

8997 0.90 259.8 490.1 11.4 605 9001 0.00 2.35 0.00 0.000 4 0.000 0.057 3340 323 1840 0 0 0 0 0 0

9046 0.86 259.8 484.0 12.6 607 9051 0.10 2.30 0.00 0.000 6 0.171 0.043 3314 1759 1840 0 0 0 0 0 0

9368 0.86 259.8 449.7 10.6 623 9369 0.00 0.00 0.00 0.000 6 0.000 0.000 3314 1759 1840 0 0 0 0 0 0

9677 0.86 259.8 417.3 10.4 638 9681 0.00 2.30 0.00 0.000 4 0.000 0.051 3324 319 1839 0 0 0 0 0 0

9742 0.86 259.8 410.4 10.2 641 9747 0.03 2.33 0.00 0.000 6 0.168 0.041 3315 1761 1839 0 0 0 0 0 0

10065 0.87 272.0 379.1 9.4 666 10082 0.00 2.30 11.73 0.795 4 0.000 0.051 3325 328 1792 0 0 0 0 0 0

10110 0.87 272.0 374.5 10.7 669 10117 0.00 2.30 0.00 0.000 6 0.000 0.043 3325 1758 1793 0 0 0 0 0 0

10435 0.91 298.6 343.8 8.8 700 10467 0.00 0.00 24.20 0.830 6 0.000 0.000 3325 1758 1684 0 0 0 0 0 0

10786 0.93 316.8 312.1 9.2 733 10806 0.00 0.00 17.02 0.803 6 0.000 0.000 3325 1758 1609 0 0 0 0 0 0

11126 0.97 330.3 280.3 9.4 765 11141 0.05 0.00 13.20 0.768 6 0.162 0.000 3362 1758 1555 0 0 0 0 0 0

11456 0.97 330.3 240.8 12.2 796 11457 0.00 0.00 0.00 0.000 6 0.000 0.000 3362 1757 1553 0 0 0 0 0 0

11776 0.97 330.3 203.9 11.4 826 11780 0.00 2.30 0.00 0.000 4 0.000 0.055 3371 328 1551 0 0 0 0 0 0

11830 0.93 330.3 196.8 13.4 830 11839 0.12 2.30 0.00 0.000 6 0.158 0.041 3338 1766 1551 0 0 0 0 0 0

12158 0.93 330.3 162.2 11.2 861 12159 0.00 0.00 0.00 0.000 6 0.000 0.000 3338 1766 1551 0 0 0 0 0 0

12475 0.93 330.3 124.8 12.5 891 12480 0.00 2.35 0.00 0.000 4 0.000 0.057 3348 328 1551 0 0 0 0 0 0

12573 0.93 330.3 112.0 12.9 899 12577 0.05 2.33 0.00 0.000 6 0.205 0.047 3337 1765 1551 0 0 0 0 0 0

12917 0.96 330.3 75.2 10.9 949 12923 0.00 2.35 0.00 0.000 4 0.000 0.081 3337 3192 1550 0 0 0 0 0 0

12965 0.96 330.3 69.4 12.3 957 12974 0.00 2.53 0.00 0.000 6 0.000 0.090 3346 1751 1550 0 0 0 0 0 0

13322 1.09 413.2 37.3 6.2 1018 13395 0.10 2.38 66.47 0.627 4 0.096 0.060 3423 325 1215 0 0 0 0 0 0

13589 end climb: SURFACE_DEPTH_REACHED

state 13590 begin surface coast

13617 end surface coast: CONTROL_FINISHED_OK

state 13617 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	353	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	12	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	611.52295	R_STBD_OVSHOOT	8	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	2902	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	-14650.305	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	3034	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	160	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	352

GPS1	080515,164459,-3435.243,2526.741,40,2.0,41,-27.8	TGT_NAME	WP_SOUTH
_CALLS	1	TGT_LATLONG	-3435.580,2528.620
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.229,0.204
_SM_DEPTHo	1.83	KALMAN_X	-18488.8,-8625.5,-2647.6,-6374.3,-1020.9
_SM_ANGLEo	-64.4	KALMAN_Y	-14362.4,-6812.0,-2167.9,-3593.3,-569.5
GPS2	080515,165253,-3435.330,2526.471,45,1.4,46,-27.8	MHEAD_RNG_PITCHd_Wd	130.1,3309,-18.4,-10.010
SPEED_LIMITS	0.173,0.279	D_GRID	1000

FINISH	1.2,1.008826	_10V_AH	10.2,28.714
SM_CCo	13637,90.93,0.047,0,0,407,611.52	FG_AHR_24Vo	0.000
SM_GC	1.77,0.00,0.00,90.93,0.000,0.000,0.047,71,1934,407,-9.26,0.45,611.52	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-3419.93,2527.24,040308,030355	MEM	330924
TT8_MAMPS	0.026964	DATA_FILE_SIZE	73692,1064
HUMID	55.39	CAP_FILE_SIZE	145637,0
INTERNAL_PRESSURE	9.34296	CFSIZE	2097086464,2055602176
TCM_TEMP	20.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
XPDR_PINGS	0	CURRENT	0.106,273.7,1
_24V_AH	22.8,34.499	GPS	080515,204329,-3436.019,2527.784,39,1.2,40,-27.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	251	139.01	SBE_CT	730	23	386.64
Roll_motor	122	120	335.66	AA4330	1756	17	689.91
VBD_pump_during_apogee	500	1100	12560.19	WL_BB2F	804	105	1926.98
VBD_pump_during_surface	90	47	98.33	QSP2150	290	17	114.10
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	91	52.34	nil	0	0	0.00
Iridium_during_connect	42	160	156.14	nil	0	0	0.00
Iridium_during_xfer	245	223	1246.59	nil	0	0	0.00
Transponder_ping	19	420	186.73	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	48	27	13.57
TT8	2748	13	389.35
LPSleep	7634	2	170.54
TT8_Active	694	13	98.39
TT8_Sampling	2920	40	1216.78
TT8_CF8	216	50	111.67
TT8_Kalman	0	0	0.00
Analog_circuits	1771	15	276.78
GPS_charging	0	0	0.00
Compass	2402	15	385.51
RAFOS	0	0	0.00
Transponder	127	30	38.87

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	-1.09	-144.6	0.0	0.0	0	111	0.00	0.00	-83.72	0.000	2	0.000	0.000	67	1942	2542	0	0	0	0	0	0
114	-1.12	-170.3	3.2	-3.4	10	159	11.27	2.58	-25.95	0.000	4	0.252	0.103	2659	496	3599	0	0	0	0	0	0
214	-0.89	-170.3	24.1	-29.2	24	224	0.32	2.60	0.00	0.000	6	0.210	0.098	2735	1922	3602	0	0	0	0	0	0
368	-0.80	-170.3	51.0	-17.1	49	375	0.15	2.50	0.00	0.000	4	0.190	0.103	2762	3349	3603	0	0	0	0	0	0
417	-0.80	-170.3	58.7	-13.8	57	426	0.00	2.47	0.00	0.000	6	0.000	0.084	2762	1925	3603	0	0	0	0	0	0
776	-0.84	-170.3	106.0	-10.6	114	781	0.00	2.58	0.00	0.000	4	0.000	0.112	2762	483	3606	0	0	0	0	0	0
820	-0.84	-170.3	111.4	-11.7	117	828	0.00	2.55	0.00	0.000	6	0.000	0.088	2752	1919	3606	0	0	0	0	0	0
1146	-0.84	-170.3	151.8	-13.2	148	1150	0.00	2.45	0.00	0.000	4	0.000	0.099	2741	3354	3608	0	0	0	0	0	0
1278	-0.84	-170.3	169.2	-13.1	159	1283	0.05	2.53	0.00	0.000	6	0.112	0.099	2757	1917	3607	0	0	0	0	0	0
1608	-0.84	-170.3	214.3	-13.9	190	1612	0.00	2.50	0.00	0.000	4	0.000	0.099	2757	471	3608	0	0	0	0	0	0
1639	-0.84	-170.3	219.1	-14.7	192	1649	0.00	2.50	0.00	0.000	6	0.000	0.078	2748	1918	3608	0	0	0	0	0	0
1965	-0.84	-170.3	265.3	-13.1	223	1970	0.05	2.53	0.00	0.000	4	0.246	0.113	2748	3343	3607	0	0	0	0	0	0
2133	-0.86	-170.3	286.1	-13.3	237	2137	0.00	2.47	0.00	0.000	6	0.000	0.093	2748	1917	3606	0	0	0	0	0	0
2458	-0.86	-170.3	327.6	-12.9	267	2462	0.00	2.45	0.00	0.000	4	0.000	0.094	2748	483	3605	0	0	0	0	0	0
2489	-0.86	-170.3	331.6	-14.4	269	2494	0.08	2.45	0.00	0.000	6	0.214	0.077	2753	1923	3606	0	0	0	0	0	0
2814	-0.86	-170.3	372.0	-12.3	299	2819	0.00	2.53	0.00	0.000	4	0.000	0.115	2743	3335	3605	0	0	0	0	0	0
3035	-0.89	-170.3	397.8	-11.7	318	3039	0.00	2.53	0.00	0.000	6	0.000	0.103	2743	1907	3603	0	0	0	0	0	0
3351	-0.89	-170.3	437.3	-13.0	334	3353	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	1907	3602	0	0	0	0	0	0
3660	-0.89	-170.3	479.3	-13.8	349	3665	0.00	2.42	0.00	0.000	4	0.000	0.092	2743	484	3601	0	0	0	0	0	0
3705	-0.89	-170.3	486.0	-14.9	351	3710	0.00	2.42	0.00	0.000	6	0.000	0.071	2733	1923	3601	0	0	0	0	0	0
4034	-0.89	-170.3	536.1	-15.0	367	4038	0.00	2.55	0.00	0.000	4	0.000	0.116	2722	3336	3599	0	0	0	0	0	0
4185	-0.89	-170.3	559.4	-15.0	374	4190	0.05	2.53	0.00	0.000	6	0.156	0.106	2738	1920	3598	0	0	0	0	0	0
4517	-0.89	-170.3	606.2	-14.0	390	4521	0.00	2.42	0.00	0.000	4	0.000	0.084	2739	480	3598	0	0	0	0	0	0
4572	-0.89	-170.3	614.4	-14.2	392	4580	0.08	2.42	0.00	0.000	6	0.223	0.067	2743	1917	3598	0	0	0	0	0	0
4890	-0.89	-170.3	657.3	-13.4	408	4894	0.00	2.53	0.00	0.000	4	0.000	0.115	2733	3336	3597	0	0	0	0	0	0
5033	-0.89	-170.3	677.4	-13.2	414	5042	0.00	2.55	0.00	0.000	6	0.000	0.105	2733	1926	3596	0	0	0	0	0	0
5350	-0.89	-170.3	719.9	-13.7	430	5355	0.00	2.45	0.00	0.000	4	0.000	0.092	2733	468	3596	0	0	0	0	0	0
5410	-0.89	-170.3	728.7	-14.3	432	5418	0.10	2.42	0.00	0.000	6	0.220	0.063	2744	1931	3595	0	0	0	0	0	0
5726	-0.89	-170.3	769.5	-12.6	448	5735	0.00	2.50	0.00	0.000	4	0.000	0.120	2734	3322	3594	0	0	0	0	0	0
5887	end dive: NO_VERTICAL_VELOCITY
state	5887	begin apogee
5894	-0.25	0.0	770.8	0.0	455	6035	0.70	0.00	137.20	1.101	6	0.145	0.000	2947	1753	2903	0	0	0	0	0	0
6036	end apogee: CONTROL_FINISHED_OK
state	6036	begin climb
6038	1.12	170.3	770.7	0.0	462	6196	1.40	2.55	148.73	1.062	4	0.109	0.053	3396	334	2207	0	0	0	0	0	0
6280	0.96	170.3	758.7	11.5	473	6286	0.20	2.40	0.00	0.000	6	0.164	0.034	3346	1766	2204	0	0	0	0	0	0
6603	0.92	201.0	730.9	8.6	489	6638	0.08	2.47	27.17	1.027	4	0.226	0.050	3342	326	2081	0	0	0	0	0	0
6678	0.86	211.9	724.2	9.5	492	6695	0.12	2.35	11.07	0.934	6	0.181	0.038	3312	1756	2037	0	0	0	0	0	0
7016	0.89	235.9	695.1	8.9	509	7041	0.00	0.00	22.33	0.997	6	0.000	0.000	3312	1756	1939	0	0	0	0	0	0
7346	0.92	259.2	664.2	8.9	525	7369	0.00	0.00	21.30	0.982	6	0.000	0.000	3312	1756	1845	0	0	0	0	0	0
7675	0.92	259.8	632.4	10.0	541	7676	0.00	0.00	0.00	0.000	6	0.000	0.000	3312	1756	1842	0	0	0	0	0	0
7984	0.92	259.8	599.8	10.5	556	7988	0.00	2.30	0.00	0.000	4	0.000	0.051	3322	328	1841	0	0	0	0	0	0
8017	0.92	259.8	596.2	10.5	557	8021	0.00	2.33	0.00	0.000	6	0.000	0.038	3321	1759	1842	0	0	0	0	0	0
8339	0.92	259.8	562.7	10.7	573	8343	0.00	2.35	0.00	0.000	4	0.000	0.056	3331	319	1841	0	0	0	0	0	0
8371	0.90	259.8	558.9	11.6	574	8380	0.00	2.33	0.00	0.000	6	0.000	0.043	3331	1765	1841	0	0	0	0	0	0
8687	0.90	259.8	524.3	10.9	590	8688	0.00	0.00	0.00	0.000	6	0.000	0.000	3331	1765	1841	0	0	0	0	0	0
8997	0.90	259.8	490.1	11.4	605	9001	0.00	2.35	0.00	0.000	4	0.000	0.057	3340	323	1840	0	0	0	0	0	0
9046	0.86	259.8	484.0	12.6	607	9051	0.10	2.30	0.00	0.000	6	0.171	0.043	3314	1759	1840	0	0	0	0	0	0
9368	0.86	259.8	449.7	10.6	623	9369	0.00	0.00	0.00	0.000	6	0.000	0.000	3314	1759	1840	0	0	0	0	0	0
9677	0.86	259.8	417.3	10.4	638	9681	0.00	2.30	0.00	0.000	4	0.000	0.051	3324	319	1839	0	0	0	0	0	0
9742	0.86	259.8	410.4	10.2	641	9747	0.03	2.33	0.00	0.000	6	0.168	0.041	3315	1761	1839	0	0	0	0	0	0
10065	0.87	272.0	379.1	9.4	666	10082	0.00	2.30	11.73	0.795	4	0.000	0.051	3325	328	1792	0	0	0	0	0	0
10110	0.87	272.0	374.5	10.7	669	10117	0.00	2.30	0.00	0.000	6	0.000	0.043	3325	1758	1793	0	0	0	0	0	0
10435	0.91	298.6	343.8	8.8	700	10467	0.00	0.00	24.20	0.830	6	0.000	0.000	3325	1758	1684	0	0	0	0	0	0
10786	0.93	316.8	312.1	9.2	733	10806	0.00	0.00	17.02	0.803	6	0.000	0.000	3325	1758	1609	0	0	0	0	0	0
11126	0.97	330.3	280.3	9.4	765	11141	0.05	0.00	13.20	0.768	6	0.162	0.000	3362	1758	1555	0	0	0	0	0	0
11456	0.97	330.3	240.8	12.2	796	11457	0.00	0.00	0.00	0.000	6	0.000	0.000	3362	1757	1553	0	0	0	0	0	0
11776	0.97	330.3	203.9	11.4	826	11780	0.00	2.30	0.00	0.000	4	0.000	0.055	3371	328	1551	0	0	0	0	0	0
11830	0.93	330.3	196.8	13.4	830	11839	0.12	2.30	0.00	0.000	6	0.158	0.041	3338	1766	1551	0	0	0	0	0	0
12158	0.93	330.3	162.2	11.2	861	12159	0.00	0.00	0.00	0.000	6	0.000	0.000	3338	1766	1551	0	0	0	0	0	0
12475	0.93	330.3	124.8	12.5	891	12480	0.00	2.35	0.00	0.000	4	0.000	0.057	3348	328	1551	0	0	0	0	0	0
12573	0.93	330.3	112.0	12.9	899	12577	0.05	2.33	0.00	0.000	6	0.205	0.047	3337	1765	1551	0	0	0	0	0	0
12917	0.96	330.3	75.2	10.9	949	12923	0.00	2.35	0.00	0.000	4	0.000	0.081	3337	3192	1550	0	0	0	0	0	0
12965	0.96	330.3	69.4	12.3	957	12974	0.00	2.53	0.00	0.000	6	0.000	0.090	3346	1751	1550	0	0	0	0	0	0
13322	1.09	413.2	37.3	6.2	1018	13395	0.10	2.38	66.47	0.627	4	0.096	0.060	3423	325	1215	0	0	0	0	0	0
13589	end climb: SURFACE_DEPTH_REACHED
state	13590	begin surface coast
13617	end surface coast: CONTROL_FINISHED_OK
state	13617	begin surface