Glider dive log

SAGE 17Apr15 * SG573 * Dive index * Mission links * Dive 408 * 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 408 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 21 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 611.52295 R_STBD_OVSHOOT 15 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 -14798.283 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 407

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 407 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 -14798.283

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 21 VBD_MAX 3959

DEVICE6 -1 MASS 52922 R_STBD_OVSHOOT 15 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 175 SEABIRD_C_G -9.9469662 VBD_MIN 409

DIVE 408 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 110515,200535,-3435.418,2527.841,37,0.9,37,-27.9 TGT_NAME WP_SOUTH

_CALLS 5 TGT_LATLONG -3435.580,2528.620

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.229,0.204

_SM_DEPTHo 1.93 KALMAN_X -18488.8,-8625.5,-2647.6,-6374.3,-1020.9

_SM_ANGLEo -63.0 KALMAN_Y -14362.4,-6812.0,-2167.9,-3593.3,-569.5

GPS2 110515,202859,-3435.685,2527.558,44,1.1,44,-27.9 MHEAD_RNG_PITCHd_Wd 66.1,1631,-27.8,-10.010

SPEED_LIMITS 0.173,0.279 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.2,1.009770 _10V_AH 10.1,32.147

SM_CCo 11098,166.43,0.047,0,0,408,611.52 FG_AHR_24Vo 0.000

SM_GC 1.95,0.00,0.00,166.43,0.000,0.000,0.047,79,1917,408,-9.23,-0.06,611.52 FG_AHR_10Vo 0.000

IRIDIUM_FIX -3419.93,2526.00,070308,090929 MEM 330796

TT8_MAMPS 0.027713 DATA_FILE_SIZE 60305,868

HUMID 54.84 CAP_FILE_SIZE 129949,0

INTERNAL_PRESSURE 9.35272 CFSIZE 2097086464,2049966080

TCM_TEMP 20.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2

XPDR_PINGS 0 CURRENT 0.239,191.9,1

ALTIM_BOTTOM_PING 812.1,21.8 GPS 110515,233829,-3436.229,2528.430,43,1.1,44,-27.9

_24V_AH 23.0,39.391

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 286 164.18 SBE_CT 596 23 318.54

Roll_motor 94 117 255.25 AA4330 1405 17 556.98

VBD_pump_during_apogee 319 1126 8262.05 WL_BB2F 712 105 1720.54

VBD_pump_during_surface 166 46 178.62 QSP2150 301 17 119.29

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 126 91 264.49 nil 0 0 0.00

Iridium_during_connect 254 160 935.59 nil 0 0 0.00

Iridium_during_xfer 521 223 2675.11 nil 0 0 0.00

Transponder_ping 19 420 188.37 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 46 27 12.93

TT8 2278 13 319.67

LPSleep 6418 2 141.96

TT8_Active 613 13 86.00

TT8_Sampling 3101 40 1279.43

TT8_CF8 247 50 126.53

TT8_Kalman 0 0 0.00

Analog_circuits 1468 15 227.24

GPS_charging 0 0 0.00

Compass 1985 15 315.43

RAFOS 0 0 0.00

Transponder 123 30 37.37

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

25 end surface: CONTROL_FINISHED_OK

state 25 begin dive

27 -1.47 -63.2 0.0 0.0 0 106 0.00 0.00 -76.35 0.000 2 0.000 0.000 68 1934 2366 0 0 0 0 0 0

108 -1.55 -133.7 3.1 -2.5 9 160 10.77 2.42 -31.95 0.000 4 0.253 0.098 2515 3349 3446 0 0 0 0 0 0

429 -1.44 -133.7 88.4 -20.0 60 443 0.17 2.55 0.00 0.000 6 0.194 0.097 2561 1923 3449 0 0 0 0 0 0

771 -1.38 -133.7 162.6 -22.7 95 776 0.10 2.45 0.00 0.000 4 0.234 0.086 2572 3351 3451 0 0 0 0 0 0

991 -1.34 -133.7 215.1 -24.6 113 999 0.10 2.47 0.00 0.000 6 0.201 0.086 2594 1908 3451 0 0 0 0 0 0

1316 -1.34 -133.7 294.2 -25.1 144 1320 0.00 2.53 0.00 0.000 4 0.000 0.102 2585 3343 3451 0 0 0 0 0 0

1392 -1.34 -133.7 312.8 -24.8 150 1397 0.05 2.55 0.00 0.000 6 0.207 0.106 2594 1921 3451 0 0 0 0 0 0

1717 -1.34 -133.7 385.8 -21.9 180 1721 0.00 2.53 0.00 0.000 4 0.000 0.111 2585 3330 3450 0 0 0 0 0 0

1760 -1.34 -133.7 395.5 -22.0 183 1769 0.05 2.53 0.00 0.000 6 0.208 0.106 2594 1921 3449 0 0 0 0 0 0

2078 -1.34 -133.7 461.2 -20.4 200 2079 0.00 0.00 0.00 0.000 6 0.000 0.000 2594 1921 3448 0 0 0 0 0 0

2388 -1.34 -133.7 526.2 -20.4 215 2389 0.00 0.00 0.00 0.000 6 0.000 0.000 2594 1921 3446 0 0 0 0 0 0

2699 -1.34 -133.7 595.3 -22.5 230 2700 0.00 0.00 0.00 0.000 6 0.000 0.000 2594 1920 3445 0 0 0 0 0 0

3009 -1.34 -133.7 664.2 -21.5 245 3013 0.00 2.33 0.00 0.000 4 0.000 0.068 2594 485 3443 0 0 0 0 0 0

3026 -1.34 -133.7 668.6 -19.9 246 3031 0.05 2.33 0.00 0.000 6 0.286 0.056 2593 1920 3443 0 0 0 0 0 0

3352 -1.34 -133.7 734.9 -20.1 262 3357 0.00 2.58 0.00 0.000 4 0.000 0.118 2583 3336 3442 0 0 0 0 0 0

3483 -1.34 -133.7 760.9 -20.1 268 3488 0.08 2.58 0.00 0.000 6 0.202 0.109 2597 1911 3441 0 0 0 0 0 0

3787 end dive: BOTTOM_OBSTACLE_DETECTED

state 3787 begin apogee

3793 -0.25 0.0 819.5 18.3 283 3911 1.35 0.00 108.57 1.126 6 0.206 0.000 2948 1750 2903 0 0 0 0 0 0

3911 end apogee: CONTROL_FINISHED_OK

state 3912 begin climb

3914 1.55 133.7 823.9 0.0 289 4039 1.75 2.47 116.80 1.088 4 0.090 0.044 3539 335 2356 0 0 0 0 0 0

4052 1.44 171.8 821.7 6.0 295 4095 0.17 2.40 35.40 1.041 6 0.198 0.026 3500 1808 2201 0 0 0 0 0 0

4411 1.36 171.8 771.6 13.7 313 4413 0.12 0.00 0.00 0.000 6 0.222 0.000 3473 1809 2197 0 0 0 0 0 0

4720 1.32 171.8 727.2 14.3 328 4725 0.05 2.38 0.00 0.000 4 0.264 0.045 3475 331 2194 0 0 0 0 0 0

4977 1.25 171.8 695.3 11.6 339 4985 0.15 2.20 0.00 0.000 6 0.194 0.029 3438 1759 2193 0 0 0 0 0 0

5293 1.25 171.8 662.0 11.0 355 5297 0.00 2.28 0.00 0.000 4 0.000 0.045 3448 326 2192 0 0 0 0 0 0

5383 1.22 171.8 651.3 12.5 359 5387 0.10 2.20 0.00 0.000 6 0.204 0.030 3426 1752 2192 0 0 0 0 0 0

5715 1.22 171.8 615.3 10.2 375 5719 0.00 2.25 0.00 0.000 4 0.000 0.045 3435 325 2190 0 0 0 0 0 0

5758 1.19 171.8 610.1 11.7 377 5763 0.08 2.22 0.00 0.000 6 0.207 0.030 3420 1780 2191 0 0 0 0 0 0

6086 1.19 171.8 571.5 11.8 393 6090 0.00 2.28 0.00 0.000 4 0.000 0.044 3430 329 2189 0 0 0 0 0 0

6129 1.19 171.8 564.8 14.6 395 6134 0.03 2.20 0.00 0.000 6 0.194 0.029 3423 1747 2190 0 0 0 0 0 0

6456 1.19 171.8 524.1 11.7 411 6460 0.00 2.25 0.00 0.000 4 0.000 0.046 3431 332 2189 0 0 0 0 0 0

6500 1.16 171.8 518.8 12.4 413 6504 0.10 2.22 0.00 0.000 6 0.192 0.031 3409 1767 2189 0 0 0 0 0 0

6829 1.19 173.6 488.4 9.8 429 6830 0.00 0.00 0.00 0.000 6 0.000 0.000 3409 1768 2189 0 0 0 0 0 0

7136 1.22 173.6 454.0 11.9 444 7140 0.00 2.30 0.00 0.000 4 0.000 0.045 3419 321 2188 0 0 0 0 0 0

7269 1.22 173.6 438.9 11.7 450 7273 0.00 2.25 0.00 0.000 6 0.000 0.031 3419 1760 2189 0 0 0 0 0 0

7587 1.22 173.6 396.5 13.5 466 7591 0.00 2.28 0.00 0.000 4 0.000 0.047 3428 323 2188 0 0 0 0 0 0

7653 1.22 173.6 386.5 15.5 471 7661 0.00 2.25 0.00 0.000 6 0.000 0.031 3428 1756 2188 0 0 0 0 0 0

7979 1.22 180.5 344.3 9.3 502 7991 0.00 2.45 6.32 0.719 4 0.000 0.090 3428 3176 2166 0 0 0 0 0 0

8063 1.22 180.5 336.2 10.6 509 8067 0.00 2.42 0.00 0.000 6 0.000 0.081 3438 1751 2166 0 0 0 0 0 0

8387 1.22 180.5 296.8 13.3 539 8389 0.00 0.00 0.00 0.000 6 0.000 0.000 3438 1751 2166 0 0 0 0 0 0

8710 1.22 180.5 252.0 14.3 569 8714 0.00 2.28 0.00 0.000 4 0.000 0.052 3450 323 2166 0 0 0 0 0 0

8795 1.20 180.5 239.1 14.3 576 8800 0.10 2.22 0.00 0.000 6 0.186 0.031 3426 1771 2166 0 0 0 0 0 0

9121 1.22 180.5 195.4 13.4 606 9125 0.00 2.25 0.00 0.000 4 0.000 0.070 3426 3162 2166 0 0 0 0 0 0

9162 1.22 180.5 190.1 13.0 609 9167 0.00 2.38 0.00 0.000 6 0.000 0.083 3435 1757 2166 0 0 0 0 0 0

9487 1.22 180.5 153.0 11.5 639 9488 0.00 0.00 0.00 0.000 6 0.000 0.000 3434 1757 2166 0 0 0 0 0 0

9810 1.22 180.5 118.1 12.2 669 9814 0.00 2.28 0.00 0.000 4 0.000 0.051 3446 326 2166 0 0 0 0 0 0

9884 1.22 180.5 108.3 12.8 675 9889 0.08 2.20 0.00 0.000 6 0.193 0.031 3430 1753 2166 0 0 0 0 0 0

10230 1.28 200.6 75.7 7.9 729 10260 0.00 2.33 18.23 0.672 4 0.000 0.070 3430 3171 2083 0 0 0 0 0 0

10520 1.35 231.7 50.4 6.7 778 10554 0.08 2.40 26.55 0.635 6 0.117 0.079 3478 1753 1956 0 0 0 0 0 0

10915 1.40 245.9 13.2 8.5 843 10934 0.00 2.33 7.12 0.477 4 0.000 0.063 3478 3166 1897 0 0 0 0 0 0

11039 end climb: SURFACE_DEPTH_REACHED

state 11040 begin surface coast

11078 end surface coast: CONTROL_FINISHED_OK

state 11078 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	408	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	21	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	611.52295	R_STBD_OVSHOOT	15	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	-14798.283	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	407

GPS1	110515,200535,-3435.418,2527.841,37,0.9,37,-27.9	TGT_NAME	WP_SOUTH
_CALLS	5	TGT_LATLONG	-3435.580,2528.620
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.229,0.204
_SM_DEPTHo	1.93	KALMAN_X	-18488.8,-8625.5,-2647.6,-6374.3,-1020.9
_SM_ANGLEo	-63.0	KALMAN_Y	-14362.4,-6812.0,-2167.9,-3593.3,-569.5
GPS2	110515,202859,-3435.685,2527.558,44,1.1,44,-27.9	MHEAD_RNG_PITCHd_Wd	66.1,1631,-27.8,-10.010
SPEED_LIMITS	0.173,0.279	D_GRID	1000

FINISH	1.2,1.009770	_10V_AH	10.1,32.147
SM_CCo	11098,166.43,0.047,0,0,408,611.52	FG_AHR_24Vo	0.000
SM_GC	1.95,0.00,0.00,166.43,0.000,0.000,0.047,79,1917,408,-9.23,-0.06,611.52	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-3419.93,2526.00,070308,090929	MEM	330796
TT8_MAMPS	0.027713	DATA_FILE_SIZE	60305,868
HUMID	54.84	CAP_FILE_SIZE	129949,0
INTERNAL_PRESSURE	9.35272	CFSIZE	2097086464,2049966080
TCM_TEMP	20.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
XPDR_PINGS	0	CURRENT	0.239,191.9,1
ALTIM_BOTTOM_PING	812.1,21.8	GPS	110515,233829,-3436.229,2528.430,43,1.1,44,-27.9
_24V_AH	23.0,39.391

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	286	164.18	SBE_CT	596	23	318.54
Roll_motor	94	117	255.25	AA4330	1405	17	556.98
VBD_pump_during_apogee	319	1126	8262.05	WL_BB2F	712	105	1720.54
VBD_pump_during_surface	166	46	178.62	QSP2150	301	17	119.29
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	126	91	264.49	nil	0	0	0.00
Iridium_during_connect	254	160	935.59	nil	0	0	0.00
Iridium_during_xfer	521	223	2675.11	nil	0	0	0.00
Transponder_ping	19	420	188.37	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	46	27	12.93
TT8	2278	13	319.67
LPSleep	6418	2	141.96
TT8_Active	613	13	86.00
TT8_Sampling	3101	40	1279.43
TT8_CF8	247	50	126.53
TT8_Kalman	0	0	0.00
Analog_circuits	1468	15	227.24
GPS_charging	0	0	0.00
Compass	1985	15	315.43
RAFOS	0	0	0.00
Transponder	123	30	37.37

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
25	end surface: CONTROL_FINISHED_OK
state	25	begin dive
27	-1.47	-63.2	0.0	0.0	0	106	0.00	0.00	-76.35	0.000	2	0.000	0.000	68	1934	2366	0	0	0	0	0	0
108	-1.55	-133.7	3.1	-2.5	9	160	10.77	2.42	-31.95	0.000	4	0.253	0.098	2515	3349	3446	0	0	0	0	0	0
429	-1.44	-133.7	88.4	-20.0	60	443	0.17	2.55	0.00	0.000	6	0.194	0.097	2561	1923	3449	0	0	0	0	0	0
771	-1.38	-133.7	162.6	-22.7	95	776	0.10	2.45	0.00	0.000	4	0.234	0.086	2572	3351	3451	0	0	0	0	0	0
991	-1.34	-133.7	215.1	-24.6	113	999	0.10	2.47	0.00	0.000	6	0.201	0.086	2594	1908	3451	0	0	0	0	0	0
1316	-1.34	-133.7	294.2	-25.1	144	1320	0.00	2.53	0.00	0.000	4	0.000	0.102	2585	3343	3451	0	0	0	0	0	0
1392	-1.34	-133.7	312.8	-24.8	150	1397	0.05	2.55	0.00	0.000	6	0.207	0.106	2594	1921	3451	0	0	0	0	0	0
1717	-1.34	-133.7	385.8	-21.9	180	1721	0.00	2.53	0.00	0.000	4	0.000	0.111	2585	3330	3450	0	0	0	0	0	0
1760	-1.34	-133.7	395.5	-22.0	183	1769	0.05	2.53	0.00	0.000	6	0.208	0.106	2594	1921	3449	0	0	0	0	0	0
2078	-1.34	-133.7	461.2	-20.4	200	2079	0.00	0.00	0.00	0.000	6	0.000	0.000	2594	1921	3448	0	0	0	0	0	0
2388	-1.34	-133.7	526.2	-20.4	215	2389	0.00	0.00	0.00	0.000	6	0.000	0.000	2594	1921	3446	0	0	0	0	0	0
2699	-1.34	-133.7	595.3	-22.5	230	2700	0.00	0.00	0.00	0.000	6	0.000	0.000	2594	1920	3445	0	0	0	0	0	0
3009	-1.34	-133.7	664.2	-21.5	245	3013	0.00	2.33	0.00	0.000	4	0.000	0.068	2594	485	3443	0	0	0	0	0	0
3026	-1.34	-133.7	668.6	-19.9	246	3031	0.05	2.33	0.00	0.000	6	0.286	0.056	2593	1920	3443	0	0	0	0	0	0
3352	-1.34	-133.7	734.9	-20.1	262	3357	0.00	2.58	0.00	0.000	4	0.000	0.118	2583	3336	3442	0	0	0	0	0	0
3483	-1.34	-133.7	760.9	-20.1	268	3488	0.08	2.58	0.00	0.000	6	0.202	0.109	2597	1911	3441	0	0	0	0	0	0
3787	end dive: BOTTOM_OBSTACLE_DETECTED
state	3787	begin apogee
3793	-0.25	0.0	819.5	18.3	283	3911	1.35	0.00	108.57	1.126	6	0.206	0.000	2948	1750	2903	0	0	0	0	0	0
3911	end apogee: CONTROL_FINISHED_OK
state	3912	begin climb
3914	1.55	133.7	823.9	0.0	289	4039	1.75	2.47	116.80	1.088	4	0.090	0.044	3539	335	2356	0	0	0	0	0	0
4052	1.44	171.8	821.7	6.0	295	4095	0.17	2.40	35.40	1.041	6	0.198	0.026	3500	1808	2201	0	0	0	0	0	0
4411	1.36	171.8	771.6	13.7	313	4413	0.12	0.00	0.00	0.000	6	0.222	0.000	3473	1809	2197	0	0	0	0	0	0
4720	1.32	171.8	727.2	14.3	328	4725	0.05	2.38	0.00	0.000	4	0.264	0.045	3475	331	2194	0	0	0	0	0	0
4977	1.25	171.8	695.3	11.6	339	4985	0.15	2.20	0.00	0.000	6	0.194	0.029	3438	1759	2193	0	0	0	0	0	0
5293	1.25	171.8	662.0	11.0	355	5297	0.00	2.28	0.00	0.000	4	0.000	0.045	3448	326	2192	0	0	0	0	0	0
5383	1.22	171.8	651.3	12.5	359	5387	0.10	2.20	0.00	0.000	6	0.204	0.030	3426	1752	2192	0	0	0	0	0	0
5715	1.22	171.8	615.3	10.2	375	5719	0.00	2.25	0.00	0.000	4	0.000	0.045	3435	325	2190	0	0	0	0	0	0
5758	1.19	171.8	610.1	11.7	377	5763	0.08	2.22	0.00	0.000	6	0.207	0.030	3420	1780	2191	0	0	0	0	0	0
6086	1.19	171.8	571.5	11.8	393	6090	0.00	2.28	0.00	0.000	4	0.000	0.044	3430	329	2189	0	0	0	0	0	0
6129	1.19	171.8	564.8	14.6	395	6134	0.03	2.20	0.00	0.000	6	0.194	0.029	3423	1747	2190	0	0	0	0	0	0
6456	1.19	171.8	524.1	11.7	411	6460	0.00	2.25	0.00	0.000	4	0.000	0.046	3431	332	2189	0	0	0	0	0	0
6500	1.16	171.8	518.8	12.4	413	6504	0.10	2.22	0.00	0.000	6	0.192	0.031	3409	1767	2189	0	0	0	0	0	0
6829	1.19	173.6	488.4	9.8	429	6830	0.00	0.00	0.00	0.000	6	0.000	0.000	3409	1768	2189	0	0	0	0	0	0
7136	1.22	173.6	454.0	11.9	444	7140	0.00	2.30	0.00	0.000	4	0.000	0.045	3419	321	2188	0	0	0	0	0	0
7269	1.22	173.6	438.9	11.7	450	7273	0.00	2.25	0.00	0.000	6	0.000	0.031	3419	1760	2189	0	0	0	0	0	0
7587	1.22	173.6	396.5	13.5	466	7591	0.00	2.28	0.00	0.000	4	0.000	0.047	3428	323	2188	0	0	0	0	0	0
7653	1.22	173.6	386.5	15.5	471	7661	0.00	2.25	0.00	0.000	6	0.000	0.031	3428	1756	2188	0	0	0	0	0	0
7979	1.22	180.5	344.3	9.3	502	7991	0.00	2.45	6.32	0.719	4	0.000	0.090	3428	3176	2166	0	0	0	0	0	0
8063	1.22	180.5	336.2	10.6	509	8067	0.00	2.42	0.00	0.000	6	0.000	0.081	3438	1751	2166	0	0	0	0	0	0
8387	1.22	180.5	296.8	13.3	539	8389	0.00	0.00	0.00	0.000	6	0.000	0.000	3438	1751	2166	0	0	0	0	0	0
8710	1.22	180.5	252.0	14.3	569	8714	0.00	2.28	0.00	0.000	4	0.000	0.052	3450	323	2166	0	0	0	0	0	0
8795	1.20	180.5	239.1	14.3	576	8800	0.10	2.22	0.00	0.000	6	0.186	0.031	3426	1771	2166	0	0	0	0	0	0
9121	1.22	180.5	195.4	13.4	606	9125	0.00	2.25	0.00	0.000	4	0.000	0.070	3426	3162	2166	0	0	0	0	0	0
9162	1.22	180.5	190.1	13.0	609	9167	0.00	2.38	0.00	0.000	6	0.000	0.083	3435	1757	2166	0	0	0	0	0	0
9487	1.22	180.5	153.0	11.5	639	9488	0.00	0.00	0.00	0.000	6	0.000	0.000	3434	1757	2166	0	0	0	0	0	0
9810	1.22	180.5	118.1	12.2	669	9814	0.00	2.28	0.00	0.000	4	0.000	0.051	3446	326	2166	0	0	0	0	0	0
9884	1.22	180.5	108.3	12.8	675	9889	0.08	2.20	0.00	0.000	6	0.193	0.031	3430	1753	2166	0	0	0	0	0	0
10230	1.28	200.6	75.7	7.9	729	10260	0.00	2.33	18.23	0.672	4	0.000	0.070	3430	3171	2083	0	0	0	0	0	0
10520	1.35	231.7	50.4	6.7	778	10554	0.08	2.40	26.55	0.635	6	0.117	0.079	3478	1753	1956	0	0	0	0	0	0
10915	1.40	245.9	13.2	8.5	843	10934	0.00	2.33	7.12	0.477	4	0.000	0.063	3478	3166	1897	0	0	0	0	0	0
11039	end climb: SURFACE_DEPTH_REACHED
state	11040	begin surface coast
11078	end surface coast: CONTROL_FINISHED_OK
state	11078	begin surface