Glider dive log

SAGE 17Apr15 * SG573 * Dive index * Mission links * Dive 355 * 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 355 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 11 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST_BLACKOUT 0 N_FILEKB 4 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.55000001

D_FINISH 0 FILEMGR 0 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 KERMIT 0 ROLL_GAIN_P 0 DEVICE1 2

SURFACE_URGENCY 0 N_NOCOMM 1 VBD_MIN 409 DEVICE2 101

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MAX 3959 DEVICE3 35

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 C_VBD 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 -14655.542 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 354

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 354 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 -14655.542

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 11 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 175 SEABIRD_C_G -9.9469662 VBD_MIN 409

DIVE 355 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 080515,235605,-3436.562,2527.407,34,1.4,35,-27.9 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 1.84 KALMAN_X -18488.8,-8625.5,-2647.6,-6374.3,-1020.9

_SM_ANGLEo -66.0 KALMAN_Y -14362.4,-6812.0,-2167.9,-3593.3,-569.5

GPS2 090515,000404,-3436.807,2526.983,42,1.1,47,-27.9 MHEAD_RNG_PITCHd_Wd 98.8,3376,-16.9,-10.010

SPEED_LIMITS 0.173,0.279 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.0,1.019468 _10V_AH 10.2,28.928

SM_CCo 13337,95.93,0.046,0,0,407,611.52 FG_AHR_24Vo 0.000

SM_GC 1.74,0.00,0.00,95.93,0.000,0.000,0.046,67,1942,407,-9.27,0.65,611.52 FG_AHR_10Vo 0.000

IRIDIUM_FIX -3422.54,2526.00,040308,101045 MEM 330640

TT8_MAMPS 0.026964 DATA_FILE_SIZE 73869,1051

HUMID 54.29 CAP_FILE_SIZE 146496,0

INTERNAL_PRESSURE 9.38202 CFSIZE 2097086464,2055340032

TCM_TEMP 21.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2

XPDR_PINGS 0 CURRENT 0.199,278.2,1

ALTIM_BOTTOM_PING 730.5,7.1 GPS 090515,034935,-3436.115,2527.581,38,1.7,39,-27.9

_24V_AH 22.9,34.779

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 286 157.01 SBE_CT 721 23 383.43

Roll_motor 127 142 415.29 AA4330 1736 17 685.05

VBD_pump_during_apogee 476 1077 11761.39 WL_BB2F 811 105 1950.29

VBD_pump_during_surface 95 45 100.83 QSP2150 306 17 121.08

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 91 56.33 nil 0 0 0.00

Iridium_during_connect 43 160 157.70 nil 0 0 0.00

Iridium_during_xfer 246 223 1257.96 nil 0 0 0.00

Transponder_ping 17 420 168.31 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 49 27 13.96

TT8 2724 13 385.97

LPSleep 7334 2 163.85

TT8_Active 687 13 97.37

TT8_Sampling 2944 40 1226.74

TT8_CF8 223 50 115.46

TT8_Kalman 0 0 0.00

Analog_circuits 1783 15 278.63

GPS_charging 0 0 0.00

Compass 2432 15 390.33

RAFOS 0 0 0.00

Transponder 109 30 33.63

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

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

26 -1.05 -170.3 0.0 0.0 0 111 0.00 0.00 -81.80 0.000 2 0.000 0.000 70 1931 2530 0 0 0 0 0 0

113 -1.05 -170.3 3.2 -4.4 10 157 11.10 2.47 -25.00 0.000 4 0.244 0.108 2673 3349 3598 0 0 0 0 0 0

336 -0.88 -170.3 50.1 -18.0 45 346 0.22 2.50 0.00 0.000 6 0.164 0.086 2740 1918 3602 0 0 0 0 0 0

698 -0.80 -170.3 103.4 -15.4 105 705 0.12 0.00 0.00 0.000 6 0.177 0.000 2772 1917 3604 0 0 0 0 0 0

1023 -0.80 -170.3 141.9 -12.2 136 1024 0.00 0.00 0.00 0.000 6 0.000 0.000 2772 1918 3606 0 0 0 0 0 0

1342 -0.80 -170.3 180.5 -12.1 166 1344 0.00 0.00 0.00 0.000 6 0.000 0.000 2772 1918 3607 0 0 0 0 0 0

1661 -0.80 -170.3 220.1 -12.7 196 1665 0.00 2.47 0.00 0.000 4 0.000 0.102 2763 3338 3607 0 0 0 0 0 0

1701 -0.80 -170.3 225.1 -12.9 199 1705 0.00 2.50 0.00 0.000 6 0.000 0.102 2763 1914 3606 0 0 0 0 0 0

2028 -0.80 -170.3 265.3 -12.4 229 2032 0.00 2.40 0.00 0.000 4 0.000 0.090 2763 481 3606 0 0 0 0 0 0

2081 -0.80 -170.3 272.3 -13.1 233 2086 0.08 2.42 0.00 0.000 6 0.200 0.072 2768 1922 3606 0 0 0 0 0 0

2406 -0.80 -170.3 314.5 -12.5 263 2410 0.00 2.53 0.00 0.000 4 0.000 0.112 2758 3343 3604 0 0 0 0 0 0

2564 -0.80 -170.3 334.0 -12.4 276 2574 0.03 2.60 0.00 0.000 6 0.101 0.113 2769 1925 3603 0 0 0 0 0 0

2889 -0.80 -170.3 372.9 -12.2 307 2893 0.00 2.47 0.00 0.000 4 0.000 0.095 2769 479 3602 0 0 0 0 0 0

2944 -0.80 -170.3 379.7 -11.7 311 2955 0.00 2.45 0.00 0.000 6 0.000 0.070 2760 1916 3602 0 0 0 0 0 0

3265 -0.80 -170.3 419.7 -12.9 335 3270 0.05 2.53 0.00 0.000 4 0.242 0.118 2759 3334 3600 0 0 0 0 0 0

3454 -0.80 -170.3 442.1 -11.4 343 3460 0.03 2.70 0.00 0.000 6 0.106 0.129 2770 1917 3599 0 0 0 0 0 0

3777 -0.80 -170.3 478.7 -11.4 359 3781 0.00 2.45 0.00 0.000 4 0.000 0.090 2770 472 3598 0 0 0 0 0 0

3831 -0.80 -170.3 485.4 -12.0 361 3838 0.00 2.42 0.00 0.000 6 0.000 0.067 2761 1921 3598 0 0 0 0 0 0

4149 -0.80 -170.3 523.3 -12.3 377 4154 0.03 2.60 0.00 0.000 4 0.287 0.123 2758 3333 3597 0 0 0 0 0 0

4280 -0.82 -170.3 538.0 -11.0 383 4285 0.00 2.72 0.00 0.000 6 0.000 0.139 2758 1916 3596 0 0 0 0 0 0

4607 -0.82 -170.3 575.6 -11.2 399 4611 0.00 2.38 0.00 0.000 4 0.000 0.085 2758 487 3595 0 0 0 0 0 0

4691 -0.82 -170.3 585.9 -13.0 403 4696 0.08 2.33 0.00 0.000 6 0.195 0.057 2764 1925 3594 0 0 0 0 0 0

5017 -0.82 -170.3 625.1 -11.8 419 5022 0.00 2.58 0.00 0.000 4 0.000 0.125 2753 3334 3593 0 0 0 0 0 0

5172 -0.82 -170.3 643.0 -11.0 426 5177 0.00 2.75 0.00 0.000 6 0.000 0.142 2753 1908 3591 0 0 0 0 0 0

5502 -0.82 -170.3 680.9 -11.9 442 5506 0.00 2.38 0.00 0.000 4 0.000 0.080 2753 488 3590 0 0 0 0 0 0

5579 -0.82 -170.3 691.2 -13.1 445 5587 0.05 2.38 0.00 0.000 6 0.168 0.059 2758 1916 3590 0 0 0 0 0 0

5897 -0.82 -170.3 729.6 -11.9 461 5906 0.00 2.60 0.00 0.000 4 0.000 0.123 2748 3334 3589 0 0 0 0 0 0

5909 end dive: BOTTOM_OBSTACLE_DETECTED

state 5909 begin apogee

5917 -0.25 0.0 731.7 11.7 461 6058 0.70 0.00 138.35 1.077 6 0.174 0.000 2948 1753 2902 0 0 0 0 0 0

6059 end apogee: CONTROL_FINISHED_OK

state 6059 begin climb

6061 1.05 170.3 738.8 0.0 468 6219 1.30 2.72 147.65 1.039 4 0.099 0.093 3365 3169 2208 0 0 0 0 0 0

6403 0.89 170.3 718.9 11.9 484 6408 0.20 2.55 0.00 0.000 6 0.170 0.087 3325 1746 2203 0 0 0 0 0 0

6726 0.84 201.7 688.9 8.8 500 6759 0.08 2.33 27.83 1.005 4 0.212 0.054 3319 333 2078 0 0 0 0 0 0

6888 0.77 201.7 672.9 10.3 507 6893 0.12 2.33 0.00 0.000 6 0.161 0.037 3287 1768 2076 0 0 0 0 0 0

7209 0.82 247.0 645.3 8.2 523 7254 0.00 2.47 39.92 1.001 4 0.000 0.053 3297 327 1893 0 0 0 0 0 0

7300 0.82 247.0 637.0 10.7 527 7304 0.00 2.35 0.00 0.000 6 0.000 0.038 3297 1771 1891 0 0 0 0 0 0

7626 0.85 264.7 606.5 9.3 543 7647 0.00 0.00 16.10 0.945 6 0.000 0.000 3297 1771 1822 0 0 0 0 0 0

7956 0.86 278.0 575.7 9.5 559 7978 0.00 2.40 12.80 0.913 4 0.000 0.054 3306 342 1767 0 0 0 0 0 0

8011 0.86 278.0 570.0 10.7 561 8015 0.00 2.30 0.00 0.000 6 0.000 0.039 3306 1747 1766 0 0 0 0 0 0

8334 0.87 282.0 537.6 9.9 577 8343 0.00 2.33 4.38 0.592 4 0.000 0.057 3315 326 1752 0 0 0 0 0 0

8371 0.84 282.0 533.5 10.7 578 8378 0.00 2.30 0.00 0.000 6 0.000 0.039 3315 1756 1753 0 0 0 0 0 0

8687 0.84 282.0 499.5 10.4 594 8691 0.00 2.33 0.00 0.000 4 0.000 0.058 3325 335 1752 0 0 0 0 0 0

8755 0.80 282.0 492.1 11.4 597 8760 0.12 2.28 0.00 0.000 6 0.156 0.040 3291 1762 1752 0 0 0 0 0 0

9084 0.85 302.9 461.1 9.2 613 9110 0.00 2.38 20.10 0.902 4 0.000 0.054 3301 336 1666 0 0 0 0 0 0

9133 0.87 315.4 456.0 9.5 615 9150 0.00 2.33 12.20 0.819 6 0.000 0.042 3301 1768 1615 0 0 0 0 0 0

9473 0.92 336.3 423.4 9.2 632 9500 0.10 2.42 19.85 0.871 4 0.099 0.057 3362 332 1529 0 0 0 0 0 0

9522 0.86 336.3 417.4 12.4 634 9527 0.17 2.33 0.00 0.000 6 0.153 0.039 3315 1764 1528 0 0 0 0 0 0

9844 0.86 336.3 383.9 10.8 656 9848 0.00 2.33 0.00 0.000 4 0.000 0.052 3325 335 1525 0 0 0 0 0 0

9898 0.86 336.3 376.9 12.1 660 9909 0.00 2.30 0.00 0.000 6 0.000 0.038 3325 1757 1524 0 0 0 0 0 0

10224 0.86 336.3 338.9 11.9 691 10225 0.00 0.00 0.00 0.000 6 0.000 0.000 3324 1757 1524 0 0 0 0 0 0

10546 0.86 336.3 301.4 11.1 721 10552 0.00 0.00 0.00 0.000 6 0.000 0.000 3325 1757 1524 0 0 0 0 0 0

10872 0.86 336.3 263.1 11.7 752 10873 0.00 0.00 0.00 0.000 6 0.000 0.000 3325 1757 1524 0 0 0 0 0 0

11191 0.86 336.3 225.1 12.1 782 11192 0.00 0.00 0.00 0.000 6 0.000 0.000 3324 1757 1523 0 0 0 0 0 0

11510 0.86 336.3 187.1 11.3 812 11511 0.00 0.00 0.00 0.000 6 0.000 0.000 3325 1757 1523 0 0 0 0 0 0

11828 0.86 336.3 152.7 10.2 842 11832 0.00 2.33 0.00 0.000 4 0.000 0.078 3325 3178 1523 0 0 0 0 0 0

11849 0.86 336.3 149.8 11.4 843 11858 0.05 2.47 0.00 0.000 6 0.162 0.089 3318 1757 1522 0 0 0 0 0 0

12175 0.86 336.3 113.3 10.9 874 12179 0.00 2.28 0.00 0.000 4 0.000 0.062 3328 332 1522 0 0 0 0 0 0

12319 0.86 336.3 97.3 11.6 888 12329 0.03 2.28 0.00 0.000 6 0.149 0.041 3318 1746 1521 0 0 0 0 0 0

12675 0.89 336.3 60.5 11.0 949 12682 0.00 2.33 0.00 0.000 4 0.000 0.072 3318 3182 1521 0 0 0 0 0 0

12786 0.96 350.2 47.6 9.5 968 12802 0.00 2.40 11.68 0.584 6 0.000 0.083 3327 1757 1473 0 0 0 0 0 0

13161 1.08 400.3 19.0 8.0 1030 13197 0.15 2.35 25.98 0.555 4 0.068 0.064 3415 3180 1270 0 0 0 0 0 0

13230 1.03 400.3 10.6 13.6 1039 13240 0.15 2.47 0.00 0.000 6 0.141 0.085 3377 1756 1267 0 0 0 0 0 0

13292 1.03 400.3 3.5 11.7 1048 13302 0.00 2.35 0.00 0.000 4 0.000 0.062 3387 332 1265 0 0 0 0 0 0

13310 end climb: SURFACE_DEPTH_REACHED

state 13310 begin surface coast

13318 end surface coast: CONTROL_FINISHED_OK

state 13318 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	355	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	11	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST_BLACKOUT	0	N_FILEKB	4	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.55000001
D_FINISH	0	FILEMGR	0	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	KERMIT	0	ROLL_GAIN_P	0	DEVICE1	2
SURFACE_URGENCY	0	N_NOCOMM	1	VBD_MIN	409	DEVICE2	101
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MAX	3959	DEVICE3	35
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	C_VBD	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	-14655.542	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	354

GPS1	080515,235605,-3436.562,2527.407,34,1.4,35,-27.9	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	1.84	KALMAN_X	-18488.8,-8625.5,-2647.6,-6374.3,-1020.9
_SM_ANGLEo	-66.0	KALMAN_Y	-14362.4,-6812.0,-2167.9,-3593.3,-569.5
GPS2	090515,000404,-3436.807,2526.983,42,1.1,47,-27.9	MHEAD_RNG_PITCHd_Wd	98.8,3376,-16.9,-10.010
SPEED_LIMITS	0.173,0.279	D_GRID	1000

FINISH	1.0,1.019468	_10V_AH	10.2,28.928
SM_CCo	13337,95.93,0.046,0,0,407,611.52	FG_AHR_24Vo	0.000
SM_GC	1.74,0.00,0.00,95.93,0.000,0.000,0.046,67,1942,407,-9.27,0.65,611.52	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-3422.54,2526.00,040308,101045	MEM	330640
TT8_MAMPS	0.026964	DATA_FILE_SIZE	73869,1051
HUMID	54.29	CAP_FILE_SIZE	146496,0
INTERNAL_PRESSURE	9.38202	CFSIZE	2097086464,2055340032
TCM_TEMP	21.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
XPDR_PINGS	0	CURRENT	0.199,278.2,1
ALTIM_BOTTOM_PING	730.5,7.1	GPS	090515,034935,-3436.115,2527.581,38,1.7,39,-27.9
_24V_AH	22.9,34.779

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	286	157.01	SBE_CT	721	23	383.43
Roll_motor	127	142	415.29	AA4330	1736	17	685.05
VBD_pump_during_apogee	476	1077	11761.39	WL_BB2F	811	105	1950.29
VBD_pump_during_surface	95	45	100.83	QSP2150	306	17	121.08
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	91	56.33	nil	0	0	0.00
Iridium_during_connect	43	160	157.70	nil	0	0	0.00
Iridium_during_xfer	246	223	1257.96	nil	0	0	0.00
Transponder_ping	17	420	168.31	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	49	27	13.96
TT8	2724	13	385.97
LPSleep	7334	2	163.85
TT8_Active	687	13	97.37
TT8_Sampling	2944	40	1226.74
TT8_CF8	223	50	115.46
TT8_Kalman	0	0	0.00
Analog_circuits	1783	15	278.63
GPS_charging	0	0	0.00
Compass	2432	15	390.33
RAFOS	0	0	0.00
Transponder	109	30	33.63

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
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
26	-1.05	-170.3	0.0	0.0	0	111	0.00	0.00	-81.80	0.000	2	0.000	0.000	70	1931	2530	0	0	0	0	0	0
113	-1.05	-170.3	3.2	-4.4	10	157	11.10	2.47	-25.00	0.000	4	0.244	0.108	2673	3349	3598	0	0	0	0	0	0
336	-0.88	-170.3	50.1	-18.0	45	346	0.22	2.50	0.00	0.000	6	0.164	0.086	2740	1918	3602	0	0	0	0	0	0
698	-0.80	-170.3	103.4	-15.4	105	705	0.12	0.00	0.00	0.000	6	0.177	0.000	2772	1917	3604	0	0	0	0	0	0
1023	-0.80	-170.3	141.9	-12.2	136	1024	0.00	0.00	0.00	0.000	6	0.000	0.000	2772	1918	3606	0	0	0	0	0	0
1342	-0.80	-170.3	180.5	-12.1	166	1344	0.00	0.00	0.00	0.000	6	0.000	0.000	2772	1918	3607	0	0	0	0	0	0
1661	-0.80	-170.3	220.1	-12.7	196	1665	0.00	2.47	0.00	0.000	4	0.000	0.102	2763	3338	3607	0	0	0	0	0	0
1701	-0.80	-170.3	225.1	-12.9	199	1705	0.00	2.50	0.00	0.000	6	0.000	0.102	2763	1914	3606	0	0	0	0	0	0
2028	-0.80	-170.3	265.3	-12.4	229	2032	0.00	2.40	0.00	0.000	4	0.000	0.090	2763	481	3606	0	0	0	0	0	0
2081	-0.80	-170.3	272.3	-13.1	233	2086	0.08	2.42	0.00	0.000	6	0.200	0.072	2768	1922	3606	0	0	0	0	0	0
2406	-0.80	-170.3	314.5	-12.5	263	2410	0.00	2.53	0.00	0.000	4	0.000	0.112	2758	3343	3604	0	0	0	0	0	0
2564	-0.80	-170.3	334.0	-12.4	276	2574	0.03	2.60	0.00	0.000	6	0.101	0.113	2769	1925	3603	0	0	0	0	0	0
2889	-0.80	-170.3	372.9	-12.2	307	2893	0.00	2.47	0.00	0.000	4	0.000	0.095	2769	479	3602	0	0	0	0	0	0
2944	-0.80	-170.3	379.7	-11.7	311	2955	0.00	2.45	0.00	0.000	6	0.000	0.070	2760	1916	3602	0	0	0	0	0	0
3265	-0.80	-170.3	419.7	-12.9	335	3270	0.05	2.53	0.00	0.000	4	0.242	0.118	2759	3334	3600	0	0	0	0	0	0
3454	-0.80	-170.3	442.1	-11.4	343	3460	0.03	2.70	0.00	0.000	6	0.106	0.129	2770	1917	3599	0	0	0	0	0	0
3777	-0.80	-170.3	478.7	-11.4	359	3781	0.00	2.45	0.00	0.000	4	0.000	0.090	2770	472	3598	0	0	0	0	0	0
3831	-0.80	-170.3	485.4	-12.0	361	3838	0.00	2.42	0.00	0.000	6	0.000	0.067	2761	1921	3598	0	0	0	0	0	0
4149	-0.80	-170.3	523.3	-12.3	377	4154	0.03	2.60	0.00	0.000	4	0.287	0.123	2758	3333	3597	0	0	0	0	0	0
4280	-0.82	-170.3	538.0	-11.0	383	4285	0.00	2.72	0.00	0.000	6	0.000	0.139	2758	1916	3596	0	0	0	0	0	0
4607	-0.82	-170.3	575.6	-11.2	399	4611	0.00	2.38	0.00	0.000	4	0.000	0.085	2758	487	3595	0	0	0	0	0	0
4691	-0.82	-170.3	585.9	-13.0	403	4696	0.08	2.33	0.00	0.000	6	0.195	0.057	2764	1925	3594	0	0	0	0	0	0
5017	-0.82	-170.3	625.1	-11.8	419	5022	0.00	2.58	0.00	0.000	4	0.000	0.125	2753	3334	3593	0	0	0	0	0	0
5172	-0.82	-170.3	643.0	-11.0	426	5177	0.00	2.75	0.00	0.000	6	0.000	0.142	2753	1908	3591	0	0	0	0	0	0
5502	-0.82	-170.3	680.9	-11.9	442	5506	0.00	2.38	0.00	0.000	4	0.000	0.080	2753	488	3590	0	0	0	0	0	0
5579	-0.82	-170.3	691.2	-13.1	445	5587	0.05	2.38	0.00	0.000	6	0.168	0.059	2758	1916	3590	0	0	0	0	0	0
5897	-0.82	-170.3	729.6	-11.9	461	5906	0.00	2.60	0.00	0.000	4	0.000	0.123	2748	3334	3589	0	0	0	0	0	0
5909	end dive: BOTTOM_OBSTACLE_DETECTED
state	5909	begin apogee
5917	-0.25	0.0	731.7	11.7	461	6058	0.70	0.00	138.35	1.077	6	0.174	0.000	2948	1753	2902	0	0	0	0	0	0
6059	end apogee: CONTROL_FINISHED_OK
state	6059	begin climb
6061	1.05	170.3	738.8	0.0	468	6219	1.30	2.72	147.65	1.039	4	0.099	0.093	3365	3169	2208	0	0	0	0	0	0
6403	0.89	170.3	718.9	11.9	484	6408	0.20	2.55	0.00	0.000	6	0.170	0.087	3325	1746	2203	0	0	0	0	0	0
6726	0.84	201.7	688.9	8.8	500	6759	0.08	2.33	27.83	1.005	4	0.212	0.054	3319	333	2078	0	0	0	0	0	0
6888	0.77	201.7	672.9	10.3	507	6893	0.12	2.33	0.00	0.000	6	0.161	0.037	3287	1768	2076	0	0	0	0	0	0
7209	0.82	247.0	645.3	8.2	523	7254	0.00	2.47	39.92	1.001	4	0.000	0.053	3297	327	1893	0	0	0	0	0	0
7300	0.82	247.0	637.0	10.7	527	7304	0.00	2.35	0.00	0.000	6	0.000	0.038	3297	1771	1891	0	0	0	0	0	0
7626	0.85	264.7	606.5	9.3	543	7647	0.00	0.00	16.10	0.945	6	0.000	0.000	3297	1771	1822	0	0	0	0	0	0
7956	0.86	278.0	575.7	9.5	559	7978	0.00	2.40	12.80	0.913	4	0.000	0.054	3306	342	1767	0	0	0	0	0	0
8011	0.86	278.0	570.0	10.7	561	8015	0.00	2.30	0.00	0.000	6	0.000	0.039	3306	1747	1766	0	0	0	0	0	0
8334	0.87	282.0	537.6	9.9	577	8343	0.00	2.33	4.38	0.592	4	0.000	0.057	3315	326	1752	0	0	0	0	0	0
8371	0.84	282.0	533.5	10.7	578	8378	0.00	2.30	0.00	0.000	6	0.000	0.039	3315	1756	1753	0	0	0	0	0	0
8687	0.84	282.0	499.5	10.4	594	8691	0.00	2.33	0.00	0.000	4	0.000	0.058	3325	335	1752	0	0	0	0	0	0
8755	0.80	282.0	492.1	11.4	597	8760	0.12	2.28	0.00	0.000	6	0.156	0.040	3291	1762	1752	0	0	0	0	0	0
9084	0.85	302.9	461.1	9.2	613	9110	0.00	2.38	20.10	0.902	4	0.000	0.054	3301	336	1666	0	0	0	0	0	0
9133	0.87	315.4	456.0	9.5	615	9150	0.00	2.33	12.20	0.819	6	0.000	0.042	3301	1768	1615	0	0	0	0	0	0
9473	0.92	336.3	423.4	9.2	632	9500	0.10	2.42	19.85	0.871	4	0.099	0.057	3362	332	1529	0	0	0	0	0	0
9522	0.86	336.3	417.4	12.4	634	9527	0.17	2.33	0.00	0.000	6	0.153	0.039	3315	1764	1528	0	0	0	0	0	0
9844	0.86	336.3	383.9	10.8	656	9848	0.00	2.33	0.00	0.000	4	0.000	0.052	3325	335	1525	0	0	0	0	0	0
9898	0.86	336.3	376.9	12.1	660	9909	0.00	2.30	0.00	0.000	6	0.000	0.038	3325	1757	1524	0	0	0	0	0	0
10224	0.86	336.3	338.9	11.9	691	10225	0.00	0.00	0.00	0.000	6	0.000	0.000	3324	1757	1524	0	0	0	0	0	0
10546	0.86	336.3	301.4	11.1	721	10552	0.00	0.00	0.00	0.000	6	0.000	0.000	3325	1757	1524	0	0	0	0	0	0
10872	0.86	336.3	263.1	11.7	752	10873	0.00	0.00	0.00	0.000	6	0.000	0.000	3325	1757	1524	0	0	0	0	0	0
11191	0.86	336.3	225.1	12.1	782	11192	0.00	0.00	0.00	0.000	6	0.000	0.000	3324	1757	1523	0	0	0	0	0	0
11510	0.86	336.3	187.1	11.3	812	11511	0.00	0.00	0.00	0.000	6	0.000	0.000	3325	1757	1523	0	0	0	0	0	0
11828	0.86	336.3	152.7	10.2	842	11832	0.00	2.33	0.00	0.000	4	0.000	0.078	3325	3178	1523	0	0	0	0	0	0
11849	0.86	336.3	149.8	11.4	843	11858	0.05	2.47	0.00	0.000	6	0.162	0.089	3318	1757	1522	0	0	0	0	0	0
12175	0.86	336.3	113.3	10.9	874	12179	0.00	2.28	0.00	0.000	4	0.000	0.062	3328	332	1522	0	0	0	0	0	0
12319	0.86	336.3	97.3	11.6	888	12329	0.03	2.28	0.00	0.000	6	0.149	0.041	3318	1746	1521	0	0	0	0	0	0
12675	0.89	336.3	60.5	11.0	949	12682	0.00	2.33	0.00	0.000	4	0.000	0.072	3318	3182	1521	0	0	0	0	0	0
12786	0.96	350.2	47.6	9.5	968	12802	0.00	2.40	11.68	0.584	6	0.000	0.083	3327	1757	1473	0	0	0	0	0	0
13161	1.08	400.3	19.0	8.0	1030	13197	0.15	2.35	25.98	0.555	4	0.068	0.064	3415	3180	1270	0	0	0	0	0	0
13230	1.03	400.3	10.6	13.6	1039	13240	0.15	2.47	0.00	0.000	6	0.141	0.085	3377	1756	1267	0	0	0	0	0	0
13292	1.03	400.3	3.5	11.7	1048	13302	0.00	2.35	0.00	0.000	4	0.000	0.062	3387	332	1265	0	0	0	0	0	0
13310	end climb: SURFACE_DEPTH_REACHED
state	13310	begin surface coast
13318	end surface coast: CONTROL_FINISHED_OK
state	13318	begin surface