Glider dive log

SAGE 17Apr15 * SG573 * Dive index * Mission links * Dive 357 * 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 357 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 6 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 -14661.39 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 356

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 356 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 -14661.39

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 6 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 175 SEABIRD_C_G -9.9469662 VBD_MIN 409

DIVE 357 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 090515,071953,-3435.056,2526.880,42,1.2,43,-27.8 TGT_NAME WP_NORTH

_CALLS 1 TGT_LATLONG -3423.880,2522.020

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.229,0.204

_SM_DEPTHo 1.75 KALMAN_X -18488.8,-8625.5,-2647.6,-6374.3,-1020.9

_SM_ANGLEo -58.3 KALMAN_Y -14362.4,-6812.0,-2167.9,-3593.3,-569.5

GPS2 090515,072737,-3435.186,2526.604,28,1.4,30,-27.8 MHEAD_RNG_PITCHd_Wd 50.1,22080,-16.9,-10.010

SPEED_LIMITS 0.173,0.279 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.0,1.015380 _10V_AH 10.2,29.145

SM_CCo 12184,103.85,0.046,0,0,408,611.52 FG_AHR_24Vo 0.000

SM_GC 1.68,0.00,0.00,103.85,0.000,0.000,0.046,68,1910,408,-9.27,-0.25,611.52 FG_AHR_10Vo 0.000

IRIDIUM_FIX -3422.54,2526.00,040308,171750 MEM 330864

TT8_MAMPS 0.026964 DATA_FILE_SIZE 67130,989

HUMID 55.67 CAP_FILE_SIZE 137873,0

INTERNAL_PRESSURE 9.37226 CFSIZE 2097086464,2055077888

TCM_TEMP 20.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2

XPDR_PINGS 0 CURRENT 0.149,264.6,1

ALTIM_BOTTOM_PING 661.6,26.4 GPS 090515,105405,-3433.778,2526.526,39,1.5,39,-27.8

_24V_AH 23.0,35.076

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 244 133.44 SBE_CT 678 23 362.19

Roll_motor 121 133 374.42 AA4330 1665 17 660.16

VBD_pump_during_apogee 465 1029 11032.66 WL_BB2F 817 105 1974.76

VBD_pump_during_surface 103 45 109.63 QSP2150 297 17 117.77

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 91 57.31 nil 0 0 0.00

Iridium_during_connect 19 160 71.26 nil 0 0 0.00

Iridium_during_xfer 264 223 1359.02 nil 0 0 0.00

Transponder_ping 15 420 152.15 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 32 27 9.24

TT8 2563 13 363.26

LPSleep 6507 2 145.37

TT8_Active 662 13 93.93

TT8_Sampling 2802 40 1167.63

TT8_CF8 215 50 111.31

TT8_Kalman 0 0 0.00

Analog_circuits 1695 15 264.95

GPS_charging 0 0 0.00

Compass 2325 15 373.07

RAFOS 0 0 0.00

Transponder 101 30 30.95

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 -1.05 -170.3 0.0 0.0 0 101 0.00 0.00 -74.40 0.000 2 0.000 0.000 71 1935 2293 0 0 0 0 0 0

104 -1.05 -170.3 3.0 -3.5 9 164 11.15 2.60 -38.38 0.000 4 0.245 0.115 2688 506 3599 0 0 0 0 0 0

282 -0.87 -170.3 36.9 -22.7 35 289 0.28 2.62 0.00 0.000 6 0.207 0.108 2747 1929 3601 0 0 0 0 0 0

431 -0.79 -170.3 64.5 -15.6 60 441 0.12 2.47 0.00 0.000 4 0.192 0.098 2766 3344 3602 0 0 0 0 0 0

550 -0.79 -170.3 78.4 -11.3 80 557 0.00 2.47 0.00 0.000 6 0.000 0.091 2766 1919 3603 0 0 0 0 0 0

889 -0.79 -170.3 123.7 -12.1 124 893 0.00 2.45 0.00 0.000 4 0.000 0.093 2758 3346 3606 0 0 0 0 0 0

953 -0.79 -170.3 130.8 -10.9 129 958 0.08 2.47 0.00 0.000 6 0.148 0.091 2774 1918 3606 0 0 0 0 0 0

1278 -0.79 -170.3 168.3 -10.4 159 1279 0.00 0.00 0.00 0.000 6 0.000 0.000 2774 1918 3606 0 0 0 0 0 0

1598 -0.79 -170.3 202.8 -11.3 189 1600 0.00 0.00 0.00 0.000 6 0.000 0.000 2774 1918 3607 0 0 0 0 0 0

1915 -0.79 -170.3 241.0 -12.3 219 1920 0.00 2.45 0.00 0.000 4 0.000 0.098 2775 480 3607 0 0 0 0 0 0

1949 -0.79 -170.3 245.5 -12.6 221 1956 0.00 2.45 0.00 0.000 6 0.000 0.076 2765 1925 3606 0 0 0 0 0 0

2274 -0.79 -170.3 284.4 -11.7 252 2278 0.00 2.47 0.00 0.000 4 0.000 0.106 2754 3353 3606 0 0 0 0 0 0

2426 -0.79 -170.3 302.3 -12.1 265 2431 0.10 2.55 0.00 0.000 6 0.154 0.104 2778 1919 3604 0 0 0 0 0 0

2752 -0.81 -170.3 339.4 -11.7 295 2756 0.00 2.47 0.00 0.000 4 0.000 0.097 2778 465 3603 0 0 0 0 0 0

2789 -0.81 -170.3 344.3 -12.8 298 2798 0.00 2.50 0.00 0.000 6 0.000 0.076 2768 1917 3603 0 0 0 0 0 0

3117 -0.81 -170.3 383.5 -12.4 329 3121 0.00 2.55 0.00 0.000 4 0.000 0.115 2757 3343 3602 0 0 0 0 0 0

3252 -0.83 -170.3 400.1 -12.2 340 3261 0.00 2.62 0.00 0.000 6 0.000 0.117 2758 1925 3601 0 0 0 0 0 0

3567 -0.83 -170.3 438.8 -12.2 356 3571 0.00 2.40 0.00 0.000 4 0.000 0.085 2757 483 3600 0 0 0 0 0 0

3617 -0.81 -170.3 445.8 -14.2 358 3623 0.10 2.42 0.00 0.000 6 0.191 0.067 2770 1931 3600 0 0 0 0 0 0

3933 -0.81 -170.3 486.0 -12.6 373 3937 0.00 2.58 0.00 0.000 4 0.000 0.125 2759 3334 3598 0 0 0 0 0 0

4077 -0.83 -170.3 503.9 -12.8 379 4084 0.00 2.62 0.00 0.000 6 0.000 0.120 2759 1913 3597 0 0 0 0 0 0

4393 -0.83 -170.3 543.3 -12.3 395 4397 0.00 2.38 0.00 0.000 4 0.000 0.084 2759 488 3596 0 0 0 0 0 0

4455 -0.83 -170.3 551.3 -12.7 398 4460 0.00 2.38 0.00 0.000 6 0.000 0.063 2750 1922 3596 0 0 0 0 0 0

4783 -0.83 -170.3 592.5 -12.1 414 4787 0.00 2.50 0.00 0.000 4 0.000 0.108 2739 3332 3595 0 0 0 0 0 0

4944 -0.83 -170.3 613.6 -13.5 421 4949 0.05 2.55 0.00 0.000 6 0.122 0.105 2756 1925 3593 0 0 0 0 0 0

5266 -0.83 -170.3 656.4 -12.7 437 5267 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 1925 3592 0 0 0 0 0 0

5410 end dive: BOTTOM_OBSTACLE_DETECTED

state 5410 begin apogee

5415 -0.25 0.0 674.6 12.6 444 5555 0.68 0.00 136.55 1.030 6 0.174 0.000 2947 1748 2902 0 0 0 0 0 0

5556 end apogee: CONTROL_FINISHED_OK

state 5556 begin climb

5558 1.05 170.3 682.7 0.0 451 5712 1.30 2.53 146.55 1.001 4 0.100 0.053 3376 325 2207 0 0 0 0 0 0

5950 0.90 181.6 663.3 9.6 469 5966 0.17 2.33 10.60 0.879 6 0.164 0.034 3331 1762 2161 0 0 0 0 0 0

6277 0.88 228.3 636.6 8.2 484 6324 0.00 2.42 41.45 0.983 4 0.000 0.079 3331 3170 1970 0 0 0 0 0 0

6407 0.80 228.3 624.1 10.5 490 6412 0.17 2.53 0.00 0.000 6 0.172 0.090 3295 1749 1966 0 0 0 0 0 0

6728 0.85 266.1 596.5 8.5 506 6766 0.00 2.38 33.03 0.964 4 0.000 0.057 3305 332 1817 0 0 0 0 0 0

6850 0.89 304.3 585.7 8.5 510 6890 0.00 2.35 34.35 0.942 6 0.000 0.036 3306 1773 1660 0 0 0 0 0 0

7205 0.89 304.3 549.9 10.7 528 7209 0.00 2.38 0.00 0.000 4 0.000 0.055 3315 333 1655 0 0 0 0 0 0

7238 0.89 304.3 546.5 10.2 529 7245 0.00 2.28 0.00 0.000 6 0.000 0.037 3315 1759 1654 0 0 0 0 0 0

7554 0.89 304.3 513.0 10.8 545 7558 0.00 2.33 0.00 0.000 4 0.000 0.056 3324 327 1652 0 0 0 0 0 0

7580 0.89 304.3 509.9 11.5 546 7585 0.00 2.33 0.00 0.000 6 0.000 0.038 3324 1759 1651 0 0 0 0 0 0

7902 0.89 304.3 473.8 11.2 562 7903 0.00 0.00 0.00 0.000 6 0.000 0.000 3324 1759 1652 0 0 0 0 0 0

8212 0.89 304.3 438.2 11.8 577 8213 0.00 0.00 0.00 0.000 6 0.000 0.000 3324 1759 1651 0 0 0 0 0 0

8521 0.89 304.3 401.5 11.8 592 8525 0.00 2.30 0.00 0.000 4 0.000 0.055 3333 332 1651 0 0 0 0 0 0

8577 0.86 304.3 394.6 12.8 596 8587 0.05 2.30 0.00 0.000 6 0.142 0.039 3316 1761 1650 0 0 0 0 0 0

8902 0.86 304.3 356.4 12.1 627 8904 0.00 0.00 0.00 0.000 6 0.000 0.000 3316 1761 1650 0 0 0 0 0 0

9224 0.86 304.3 318.2 12.1 657 9228 0.00 2.28 0.00 0.000 4 0.000 0.050 3325 332 1649 0 0 0 0 0 0

9263 0.84 304.3 313.0 12.2 660 9268 0.08 2.28 0.00 0.000 6 0.174 0.039 3307 1767 1650 0 0 0 0 0 0

9588 0.84 304.3 278.0 10.1 690 9592 0.00 2.30 0.00 0.000 4 0.000 0.073 3307 3171 1649 0 0 0 0 0 0

9616 0.84 304.3 274.9 10.7 692 9620 0.00 2.47 0.00 0.000 6 0.000 0.096 3316 1756 1648 0 0 0 0 0 0

9941 0.84 304.3 238.4 11.4 722 9945 0.00 2.28 0.00 0.000 4 0.000 0.060 3327 332 1649 0 0 0 0 0 0

10108 0.81 304.3 218.2 12.0 736 10118 0.08 2.28 0.00 0.000 6 0.133 0.037 3300 1759 1649 0 0 0 0 0 0

10434 0.83 304.3 186.0 10.0 767 10438 0.00 2.30 0.00 0.000 4 0.000 0.073 3301 3177 1649 0 0 0 0 0 0

10464 0.83 304.3 183.1 10.5 769 10468 0.00 2.47 0.00 0.000 6 0.000 0.097 3310 1759 1649 0 0 0 0 0 0

10789 0.83 304.3 146.0 12.5 799 10793 0.00 2.33 0.00 0.000 4 0.000 0.061 3321 321 1649 0 0 0 0 0 0

10885 0.83 304.3 133.6 13.8 807 10890 0.08 2.28 0.00 0.000 6 0.172 0.040 3304 1762 1648 0 0 0 0 0 0

11213 0.95 375.1 104.3 7.2 837 11283 0.10 2.47 58.70 0.689 4 0.097 0.088 3366 3175 1371 0 0 0 0 0 0

11314 0.91 375.1 92.0 14.2 849 11324 0.15 2.55 0.00 0.000 6 0.139 0.095 3329 1760 1368 0 0 0 0 0 0

11670 0.94 375.1 48.3 11.8 910 11678 0.00 2.35 0.00 0.000 4 0.000 0.063 3340 327 1362 0 0 0 0 0 0

11693 0.98 375.1 45.8 10.7 913 11700 0.00 2.33 0.00 0.000 6 0.000 0.046 3339 1751 1362 0 0 0 0 0 0

12064 1.03 386.4 13.0 9.6 974 12076 0.08 2.42 4.62 0.406 4 0.114 0.080 3403 3188 1326 0 0 0 0 0 0

12138 end climb: SURFACE_DEPTH_REACHED

state 12138 begin surface coast

12165 end surface coast: CONTROL_FINISHED_OK

state 12165 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	357	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	6	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	-14661.39	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	356

GPS1	090515,071953,-3435.056,2526.880,42,1.2,43,-27.8	TGT_NAME	WP_NORTH
_CALLS	1	TGT_LATLONG	-3423.880,2522.020
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.229,0.204
_SM_DEPTHo	1.75	KALMAN_X	-18488.8,-8625.5,-2647.6,-6374.3,-1020.9
_SM_ANGLEo	-58.3	KALMAN_Y	-14362.4,-6812.0,-2167.9,-3593.3,-569.5
GPS2	090515,072737,-3435.186,2526.604,28,1.4,30,-27.8	MHEAD_RNG_PITCHd_Wd	50.1,22080,-16.9,-10.010
SPEED_LIMITS	0.173,0.279	D_GRID	1000

FINISH	1.0,1.015380	_10V_AH	10.2,29.145
SM_CCo	12184,103.85,0.046,0,0,408,611.52	FG_AHR_24Vo	0.000
SM_GC	1.68,0.00,0.00,103.85,0.000,0.000,0.046,68,1910,408,-9.27,-0.25,611.52	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-3422.54,2526.00,040308,171750	MEM	330864
TT8_MAMPS	0.026964	DATA_FILE_SIZE	67130,989
HUMID	55.67	CAP_FILE_SIZE	137873,0
INTERNAL_PRESSURE	9.37226	CFSIZE	2097086464,2055077888
TCM_TEMP	20.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
XPDR_PINGS	0	CURRENT	0.149,264.6,1
ALTIM_BOTTOM_PING	661.6,26.4	GPS	090515,105405,-3433.778,2526.526,39,1.5,39,-27.8
_24V_AH	23.0,35.076

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	244	133.44	SBE_CT	678	23	362.19
Roll_motor	121	133	374.42	AA4330	1665	17	660.16
VBD_pump_during_apogee	465	1029	11032.66	WL_BB2F	817	105	1974.76
VBD_pump_during_surface	103	45	109.63	QSP2150	297	17	117.77
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	91	57.31	nil	0	0	0.00
Iridium_during_connect	19	160	71.26	nil	0	0	0.00
Iridium_during_xfer	264	223	1359.02	nil	0	0	0.00
Transponder_ping	15	420	152.15	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	32	27	9.24
TT8	2563	13	363.26
LPSleep	6507	2	145.37
TT8_Active	662	13	93.93
TT8_Sampling	2802	40	1167.63
TT8_CF8	215	50	111.31
TT8_Kalman	0	0	0.00
Analog_circuits	1695	15	264.95
GPS_charging	0	0	0.00
Compass	2325	15	373.07
RAFOS	0	0	0.00
Transponder	101	30	30.95

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	-1.05	-170.3	0.0	0.0	0	101	0.00	0.00	-74.40	0.000	2	0.000	0.000	71	1935	2293	0	0	0	0	0	0
104	-1.05	-170.3	3.0	-3.5	9	164	11.15	2.60	-38.38	0.000	4	0.245	0.115	2688	506	3599	0	0	0	0	0	0
282	-0.87	-170.3	36.9	-22.7	35	289	0.28	2.62	0.00	0.000	6	0.207	0.108	2747	1929	3601	0	0	0	0	0	0
431	-0.79	-170.3	64.5	-15.6	60	441	0.12	2.47	0.00	0.000	4	0.192	0.098	2766	3344	3602	0	0	0	0	0	0
550	-0.79	-170.3	78.4	-11.3	80	557	0.00	2.47	0.00	0.000	6	0.000	0.091	2766	1919	3603	0	0	0	0	0	0
889	-0.79	-170.3	123.7	-12.1	124	893	0.00	2.45	0.00	0.000	4	0.000	0.093	2758	3346	3606	0	0	0	0	0	0
953	-0.79	-170.3	130.8	-10.9	129	958	0.08	2.47	0.00	0.000	6	0.148	0.091	2774	1918	3606	0	0	0	0	0	0
1278	-0.79	-170.3	168.3	-10.4	159	1279	0.00	0.00	0.00	0.000	6	0.000	0.000	2774	1918	3606	0	0	0	0	0	0
1598	-0.79	-170.3	202.8	-11.3	189	1600	0.00	0.00	0.00	0.000	6	0.000	0.000	2774	1918	3607	0	0	0	0	0	0
1915	-0.79	-170.3	241.0	-12.3	219	1920	0.00	2.45	0.00	0.000	4	0.000	0.098	2775	480	3607	0	0	0	0	0	0
1949	-0.79	-170.3	245.5	-12.6	221	1956	0.00	2.45	0.00	0.000	6	0.000	0.076	2765	1925	3606	0	0	0	0	0	0
2274	-0.79	-170.3	284.4	-11.7	252	2278	0.00	2.47	0.00	0.000	4	0.000	0.106	2754	3353	3606	0	0	0	0	0	0
2426	-0.79	-170.3	302.3	-12.1	265	2431	0.10	2.55	0.00	0.000	6	0.154	0.104	2778	1919	3604	0	0	0	0	0	0
2752	-0.81	-170.3	339.4	-11.7	295	2756	0.00	2.47	0.00	0.000	4	0.000	0.097	2778	465	3603	0	0	0	0	0	0
2789	-0.81	-170.3	344.3	-12.8	298	2798	0.00	2.50	0.00	0.000	6	0.000	0.076	2768	1917	3603	0	0	0	0	0	0
3117	-0.81	-170.3	383.5	-12.4	329	3121	0.00	2.55	0.00	0.000	4	0.000	0.115	2757	3343	3602	0	0	0	0	0	0
3252	-0.83	-170.3	400.1	-12.2	340	3261	0.00	2.62	0.00	0.000	6	0.000	0.117	2758	1925	3601	0	0	0	0	0	0
3567	-0.83	-170.3	438.8	-12.2	356	3571	0.00	2.40	0.00	0.000	4	0.000	0.085	2757	483	3600	0	0	0	0	0	0
3617	-0.81	-170.3	445.8	-14.2	358	3623	0.10	2.42	0.00	0.000	6	0.191	0.067	2770	1931	3600	0	0	0	0	0	0
3933	-0.81	-170.3	486.0	-12.6	373	3937	0.00	2.58	0.00	0.000	4	0.000	0.125	2759	3334	3598	0	0	0	0	0	0
4077	-0.83	-170.3	503.9	-12.8	379	4084	0.00	2.62	0.00	0.000	6	0.000	0.120	2759	1913	3597	0	0	0	0	0	0
4393	-0.83	-170.3	543.3	-12.3	395	4397	0.00	2.38	0.00	0.000	4	0.000	0.084	2759	488	3596	0	0	0	0	0	0
4455	-0.83	-170.3	551.3	-12.7	398	4460	0.00	2.38	0.00	0.000	6	0.000	0.063	2750	1922	3596	0	0	0	0	0	0
4783	-0.83	-170.3	592.5	-12.1	414	4787	0.00	2.50	0.00	0.000	4	0.000	0.108	2739	3332	3595	0	0	0	0	0	0
4944	-0.83	-170.3	613.6	-13.5	421	4949	0.05	2.55	0.00	0.000	6	0.122	0.105	2756	1925	3593	0	0	0	0	0	0
5266	-0.83	-170.3	656.4	-12.7	437	5267	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	1925	3592	0	0	0	0	0	0
5410	end dive: BOTTOM_OBSTACLE_DETECTED
state	5410	begin apogee
5415	-0.25	0.0	674.6	12.6	444	5555	0.68	0.00	136.55	1.030	6	0.174	0.000	2947	1748	2902	0	0	0	0	0	0
5556	end apogee: CONTROL_FINISHED_OK
state	5556	begin climb
5558	1.05	170.3	682.7	0.0	451	5712	1.30	2.53	146.55	1.001	4	0.100	0.053	3376	325	2207	0	0	0	0	0	0
5950	0.90	181.6	663.3	9.6	469	5966	0.17	2.33	10.60	0.879	6	0.164	0.034	3331	1762	2161	0	0	0	0	0	0
6277	0.88	228.3	636.6	8.2	484	6324	0.00	2.42	41.45	0.983	4	0.000	0.079	3331	3170	1970	0	0	0	0	0	0
6407	0.80	228.3	624.1	10.5	490	6412	0.17	2.53	0.00	0.000	6	0.172	0.090	3295	1749	1966	0	0	0	0	0	0
6728	0.85	266.1	596.5	8.5	506	6766	0.00	2.38	33.03	0.964	4	0.000	0.057	3305	332	1817	0	0	0	0	0	0
6850	0.89	304.3	585.7	8.5	510	6890	0.00	2.35	34.35	0.942	6	0.000	0.036	3306	1773	1660	0	0	0	0	0	0
7205	0.89	304.3	549.9	10.7	528	7209	0.00	2.38	0.00	0.000	4	0.000	0.055	3315	333	1655	0	0	0	0	0	0
7238	0.89	304.3	546.5	10.2	529	7245	0.00	2.28	0.00	0.000	6	0.000	0.037	3315	1759	1654	0	0	0	0	0	0
7554	0.89	304.3	513.0	10.8	545	7558	0.00	2.33	0.00	0.000	4	0.000	0.056	3324	327	1652	0	0	0	0	0	0
7580	0.89	304.3	509.9	11.5	546	7585	0.00	2.33	0.00	0.000	6	0.000	0.038	3324	1759	1651	0	0	0	0	0	0
7902	0.89	304.3	473.8	11.2	562	7903	0.00	0.00	0.00	0.000	6	0.000	0.000	3324	1759	1652	0	0	0	0	0	0
8212	0.89	304.3	438.2	11.8	577	8213	0.00	0.00	0.00	0.000	6	0.000	0.000	3324	1759	1651	0	0	0	0	0	0
8521	0.89	304.3	401.5	11.8	592	8525	0.00	2.30	0.00	0.000	4	0.000	0.055	3333	332	1651	0	0	0	0	0	0
8577	0.86	304.3	394.6	12.8	596	8587	0.05	2.30	0.00	0.000	6	0.142	0.039	3316	1761	1650	0	0	0	0	0	0
8902	0.86	304.3	356.4	12.1	627	8904	0.00	0.00	0.00	0.000	6	0.000	0.000	3316	1761	1650	0	0	0	0	0	0
9224	0.86	304.3	318.2	12.1	657	9228	0.00	2.28	0.00	0.000	4	0.000	0.050	3325	332	1649	0	0	0	0	0	0
9263	0.84	304.3	313.0	12.2	660	9268	0.08	2.28	0.00	0.000	6	0.174	0.039	3307	1767	1650	0	0	0	0	0	0
9588	0.84	304.3	278.0	10.1	690	9592	0.00	2.30	0.00	0.000	4	0.000	0.073	3307	3171	1649	0	0	0	0	0	0
9616	0.84	304.3	274.9	10.7	692	9620	0.00	2.47	0.00	0.000	6	0.000	0.096	3316	1756	1648	0	0	0	0	0	0
9941	0.84	304.3	238.4	11.4	722	9945	0.00	2.28	0.00	0.000	4	0.000	0.060	3327	332	1649	0	0	0	0	0	0
10108	0.81	304.3	218.2	12.0	736	10118	0.08	2.28	0.00	0.000	6	0.133	0.037	3300	1759	1649	0	0	0	0	0	0
10434	0.83	304.3	186.0	10.0	767	10438	0.00	2.30	0.00	0.000	4	0.000	0.073	3301	3177	1649	0	0	0	0	0	0
10464	0.83	304.3	183.1	10.5	769	10468	0.00	2.47	0.00	0.000	6	0.000	0.097	3310	1759	1649	0	0	0	0	0	0
10789	0.83	304.3	146.0	12.5	799	10793	0.00	2.33	0.00	0.000	4	0.000	0.061	3321	321	1649	0	0	0	0	0	0
10885	0.83	304.3	133.6	13.8	807	10890	0.08	2.28	0.00	0.000	6	0.172	0.040	3304	1762	1648	0	0	0	0	0	0
11213	0.95	375.1	104.3	7.2	837	11283	0.10	2.47	58.70	0.689	4	0.097	0.088	3366	3175	1371	0	0	0	0	0	0
11314	0.91	375.1	92.0	14.2	849	11324	0.15	2.55	0.00	0.000	6	0.139	0.095	3329	1760	1368	0	0	0	0	0	0
11670	0.94	375.1	48.3	11.8	910	11678	0.00	2.35	0.00	0.000	4	0.000	0.063	3340	327	1362	0	0	0	0	0	0
11693	0.98	375.1	45.8	10.7	913	11700	0.00	2.33	0.00	0.000	6	0.000	0.046	3339	1751	1362	0	0	0	0	0	0
12064	1.03	386.4	13.0	9.6	974	12076	0.08	2.42	4.62	0.406	4	0.114	0.080	3403	3188	1326	0	0	0	0	0	0
12138	end climb: SURFACE_DEPTH_REACHED
state	12138	begin surface coast
12165	end surface coast: CONTROL_FINISHED_OK
state	12165	begin surface