Glider dive log

SAGE 17Apr15 * SG573 * Dive index * Mission links * Dive 420 * 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 420 HEADING 330 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 16 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 -14827.442 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 0 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 419

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 419 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 -14827.442

COMPASS2_DEVICE -1 HEADING 330 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 16 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 175 SEABIRD_C_G -9.9469662 VBD_MIN 409

DIVE 420 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 0 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 140515,050805,-3443.833,2511.479,34,1.1,35,-27.9 TGT_NAME HEADING

_CALLS 3 TGT_LATLONG -3434.806,2504.279

_XMS_NAKs 0 TGT_RADIUS 1852.000

_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 -55.7 KALMAN_Y -14362.4,-6812.0,-2167.9,-3593.3,-569.5

GPS2 140515,052535,-3444.158,2510.837,40,0.9,40,-27.9 MHEAD_RNG_PITCHd_Wd 357.9,20000,-16.9,-10.010

SPEED_LIMITS 0.173,0.279 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.2,1.008446 _24V_AH 23.1,41.553

SM_CCo 10236,83.03,0.045,0,0,407,611.52 _10V_AH 10.1,33.673

SM_GC 2.01,0.00,0.00,83.03,0.000,0.000,0.045,82,1938,407,-9.23,0.54,611.52 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3430.39,2508.30,090308,181837 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026215 MEM 330776

HUMID 56.49 DATA_FILE_SIZE 63701,900

INTERNAL_PRESSURE 9.37226 CAP_FILE_SIZE 131436,0

TCM_TEMP 20.50 CFSIZE 2097086464,2048327680

XPDR_PINGS 1 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2

ALTIM_BOTTOM_PING 591.6,23.3 GPS 140515,081905,-3443.894,2510.116,33,1.0,33,-27.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 247 137.13 SBE_CT 614 23 329.40

Roll_motor 102 137 326.12 AA4330 1494 17 595.02

VBD_pump_during_apogee 491 966 10975.73 WL_BB2F 834 105 2023.91

VBD_pump_during_surface 83 45 86.56 QSP2150 316 17 126.08

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 78 91 164.23 nil 0 0 0.00

Iridium_during_connect 91 160 339.68 nil 0 0 0.00

Iridium_during_xfer 529 223 2730.16 nil 0 0 0.00

Transponder_ping 14 420 138.25 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 43 27 12.10

TT8 2196 13 308.12

LPSleep 5211 2 115.27

TT8_Active 587 13 82.48

TT8_Sampling 3134 40 1293.16

TT8_CF8 237 50 121.39

TT8_Kalman 0 0 0.00

Analog_circuits 1592 15 246.37

GPS_charging 0 0 0.00

Compass 2229 15 354.14

RAFOS 0 0 0.00

Transponder 87 30 26.57

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

26 -1.05 -170.3 0.0 0.0 0 101 0.00 0.00 -72.55 0.000 2 0.000 0.000 68 1915 2263 0 0 0 0 0 0

103 -1.05 -170.3 3.1 -3.7 12 161 11.27 2.50 -39.88 0.000 4 0.248 0.111 2690 501 3598 0 0 0 0 0 0

238 -0.82 -170.3 23.1 -26.8 33 243 0.32 2.65 0.00 0.000 6 0.199 0.115 2763 1922 3601 0 0 0 0 0 0

387 -0.76 -170.3 47.9 -14.7 58 393 0.10 2.42 0.00 0.000 4 0.220 0.093 2773 3346 3602 0 0 0 0 0 0

565 -0.76 -170.3 72.7 -14.3 89 571 0.05 2.58 0.00 0.000 6 0.184 0.107 2783 1914 3602 0 0 0 0 0 0

906 -0.76 -170.3 115.7 -12.3 137 910 0.00 2.45 0.00 0.000 4 0.000 0.091 2774 3346 3603 0 0 0 0 0 0

1070 -0.79 -170.3 138.4 -12.1 151 1075 0.00 2.53 0.00 0.000 6 0.000 0.107 2774 1923 3604 0 0 0 0 0 0

1397 -0.79 -170.3 172.8 -10.7 181 1402 0.00 2.45 0.00 0.000 4 0.000 0.089 2774 469 3606 0 0 0 0 0 0

1441 -0.79 -170.3 177.6 -9.7 184 1449 0.00 2.53 0.00 0.000 6 0.000 0.086 2765 1913 3605 0 0 0 0 0 0

1767 -0.79 -170.3 213.2 -8.8 215 1771 0.00 2.47 0.00 0.000 4 0.000 0.099 2754 3358 3605 0 0 0 0 0 0

1887 -0.79 -170.3 223.8 -11.0 225 1892 0.08 2.58 0.00 0.000 6 0.164 0.106 2770 1916 3604 0 0 0 0 0 0

2212 -0.79 -170.3 266.3 -13.5 255 2216 0.00 2.50 0.00 0.000 4 0.000 0.104 2762 3340 3602 0 0 0 0 0 0

2246 -0.79 -170.3 271.5 -14.5 257 2252 0.00 2.62 0.00 0.000 6 0.000 0.120 2762 1920 3602 0 0 0 0 0 0

2572 -0.82 -170.3 332.5 -19.0 288 2577 0.00 2.40 0.00 0.000 4 0.000 0.083 2762 480 3601 0 0 0 0 0 0

2606 -0.82 -170.3 339.7 -21.3 290 2613 0.08 2.42 0.00 0.000 6 0.202 0.072 2766 1926 3600 0 0 0 0 0 0

2934 -0.82 -170.3 401.2 -15.6 321 2939 0.00 2.50 0.00 0.000 4 0.000 0.116 2757 3334 3599 0 0 0 0 0 0

3059 -0.82 -170.3 420.5 -14.4 326 3064 0.00 2.65 0.00 0.000 6 0.000 0.128 2757 1918 3598 0 0 0 0 0 0

3374 -0.82 -170.3 465.1 -13.2 342 3375 0.00 0.00 0.00 0.000 6 0.000 0.000 2757 1918 3597 0 0 0 0 0 0

3684 -0.82 -170.3 514.1 -15.3 357 3688 0.00 2.40 0.00 0.000 4 0.000 0.082 2757 480 3595 0 0 0 0 0 0

3755 -0.82 -170.3 527.3 -18.7 360 3760 0.10 2.38 0.00 0.000 6 0.192 0.058 2768 1919 3595 0 0 0 0 0 0

4078 -0.82 -170.3 569.4 -9.3 376 4083 0.00 2.58 0.00 0.000 4 0.000 0.121 2759 3330 3593 0 0 0 0 0 0

4150 -0.82 -170.3 579.1 -13.7 379 4154 0.00 2.67 0.00 0.000 6 0.000 0.126 2758 1907 3593 0 0 0 0 0 0

4326 end dive: BOTTOM_OBSTACLE_DETECTED

state 4326 begin apogee

4331 -0.25 0.0 600.3 14.0 388 4469 0.68 0.00 134.77 0.967 6 0.181 0.000 2945 1758 2902 0 0 0 0 0 0

4470 end apogee: CONTROL_FINISHED_OK

state 4470 begin climb

4472 1.05 170.3 607.5 0.0 395 4625 1.25 2.47 144.25 0.933 4 0.090 0.051 3371 327 2206 0 0 0 0 0 0

4880 0.90 170.3 576.9 15.3 414 4886 0.17 2.30 0.00 0.000 6 0.161 0.033 3325 1763 2202 0 0 0 0 0 0

5209 0.82 170.3 543.2 10.6 430 5213 0.10 2.30 0.00 0.000 4 0.196 0.049 3311 318 2200 0 0 0 0 0 0

5421 0.74 170.3 519.6 14.6 439 5427 0.15 2.25 0.00 0.000 6 0.171 0.031 3272 1766 2199 0 0 0 0 0 0

5739 0.68 170.3 485.5 11.3 455 5744 0.08 2.30 0.00 0.000 4 0.208 0.048 3265 325 2198 0 0 0 0 0 0

5900 0.68 170.3 457.8 16.9 462 5904 0.00 2.30 0.00 0.000 6 0.000 0.042 3265 1747 2198 0 0 0 0 0 0

6222 0.78 253.2 425.4 6.7 478 6297 0.05 2.62 68.43 0.877 4 0.162 0.103 3298 3183 1868 0 0 0 0 0 0

6421 0.88 330.0 409.0 7.0 487 6493 0.00 2.55 65.40 0.841 6 0.000 0.099 3308 1750 1556 0 0 0 0 0 0

6811 0.88 330.0 372.8 12.3 518 6815 0.00 2.30 0.00 0.000 4 0.000 0.060 3319 325 1547 0 0 0 0 0 0

7034 0.88 330.0 340.9 14.4 537 7038 0.00 2.28 0.00 0.000 6 0.000 0.034 3319 1785 1545 0 0 0 0 0 0

7359 0.88 330.0 302.7 10.0 567 7360 0.00 0.00 0.00 0.000 6 0.000 0.000 3319 1786 1544 0 0 0 0 0 0

7681 0.88 330.0 268.0 11.2 597 7685 0.00 2.35 0.00 0.000 4 0.000 0.095 3319 3167 1544 0 0 0 0 0 0

7709 0.88 330.0 265.1 10.2 599 7713 0.00 2.45 0.00 0.000 6 0.000 0.095 3328 1751 1543 0 0 0 0 0 0

8036 0.88 330.0 232.1 11.0 629 8040 0.00 2.28 0.00 0.000 4 0.000 0.059 3339 333 1543 0 0 0 0 0 0

8181 0.84 330.0 214.4 11.7 641 8186 0.12 2.20 0.00 0.000 6 0.154 0.034 3306 1756 1542 0 0 0 0 0 0

8506 0.89 354.2 184.9 9.1 671 8531 0.00 2.33 20.02 0.705 4 0.000 0.073 3305 3170 1457 0 0 0 0 0 0

8622 0.91 354.2 173.8 10.5 681 8626 0.00 2.47 0.00 0.000 6 0.000 0.098 3314 1752 1455 0 0 0 0 0 0

8947 0.94 354.2 139.2 10.6 711 8952 0.05 2.30 0.00 0.000 4 0.163 0.057 3370 329 1453 0 0 0 0 0 0

8978 0.90 354.2 135.6 12.8 713 8982 0.15 2.22 0.00 0.000 6 0.151 0.035 3328 1759 1452 0 0 0 0 0 0

9306 0.90 354.2 96.3 11.7 745 9311 0.00 2.33 0.00 0.000 4 0.000 0.073 3329 3182 1452 0 0 0 0 0 0

9517 0.97 413.1 78.0 7.7 782 9576 0.00 2.47 48.47 0.645 6 0.000 0.093 3338 1755 1217 0 0 0 0 0 0

9924 1.00 413.1 34.3 12.6 853 9929 0.00 2.30 0.00 0.000 4 0.000 0.057 3349 327 1211 0 0 0 0 0 0

10044 1.09 432.9 20.8 9.2 873 10064 0.10 2.28 10.02 0.513 6 0.093 0.040 3410 1755 1136 0 0 0 0 0 0

10115 1.06 432.9 11.8 14.3 884 10122 0.12 0.00 0.00 0.000 6 0.146 0.000 3376 1755 1135 0 0 0 0 0 0

10173 1.09 432.9 4.4 12.4 893 10180 0.00 0.00 0.00 0.000 6 0.000 0.000 3375 1755 1134 0 0 0 0 0 0

10186 end climb: SURFACE_DEPTH_REACHED

state 10186 begin surface coast

10218 end surface coast: CONTROL_FINISHED_OK

state 10218 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	420	HEADING	330	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	16	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	-14827.442	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	0	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	419

GPS1	140515,050805,-3443.833,2511.479,34,1.1,35,-27.9	TGT_NAME	HEADING
_CALLS	3	TGT_LATLONG	-3434.806,2504.279
_XMS_NAKs	0	TGT_RADIUS	1852.000
_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	-55.7	KALMAN_Y	-14362.4,-6812.0,-2167.9,-3593.3,-569.5
GPS2	140515,052535,-3444.158,2510.837,40,0.9,40,-27.9	MHEAD_RNG_PITCHd_Wd	357.9,20000,-16.9,-10.010
SPEED_LIMITS	0.173,0.279	D_GRID	1000

FINISH	1.2,1.008446	_24V_AH	23.1,41.553
SM_CCo	10236,83.03,0.045,0,0,407,611.52	_10V_AH	10.1,33.673
SM_GC	2.01,0.00,0.00,83.03,0.000,0.000,0.045,82,1938,407,-9.23,0.54,611.52	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3430.39,2508.30,090308,181837	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026215	MEM	330776
HUMID	56.49	DATA_FILE_SIZE	63701,900
INTERNAL_PRESSURE	9.37226	CAP_FILE_SIZE	131436,0
TCM_TEMP	20.50	CFSIZE	2097086464,2048327680
XPDR_PINGS	1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
ALTIM_BOTTOM_PING	591.6,23.3	GPS	140515,081905,-3443.894,2510.116,33,1.0,33,-27.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	247	137.13	SBE_CT	614	23	329.40
Roll_motor	102	137	326.12	AA4330	1494	17	595.02
VBD_pump_during_apogee	491	966	10975.73	WL_BB2F	834	105	2023.91
VBD_pump_during_surface	83	45	86.56	QSP2150	316	17	126.08
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	78	91	164.23	nil	0	0	0.00
Iridium_during_connect	91	160	339.68	nil	0	0	0.00
Iridium_during_xfer	529	223	2730.16	nil	0	0	0.00
Transponder_ping	14	420	138.25	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	43	27	12.10
TT8	2196	13	308.12
LPSleep	5211	2	115.27
TT8_Active	587	13	82.48
TT8_Sampling	3134	40	1293.16
TT8_CF8	237	50	121.39
TT8_Kalman	0	0	0.00
Analog_circuits	1592	15	246.37
GPS_charging	0	0	0.00
Compass	2229	15	354.14
RAFOS	0	0	0.00
Transponder	87	30	26.57

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
26	-1.05	-170.3	0.0	0.0	0	101	0.00	0.00	-72.55	0.000	2	0.000	0.000	68	1915	2263	0	0	0	0	0	0
103	-1.05	-170.3	3.1	-3.7	12	161	11.27	2.50	-39.88	0.000	4	0.248	0.111	2690	501	3598	0	0	0	0	0	0
238	-0.82	-170.3	23.1	-26.8	33	243	0.32	2.65	0.00	0.000	6	0.199	0.115	2763	1922	3601	0	0	0	0	0	0
387	-0.76	-170.3	47.9	-14.7	58	393	0.10	2.42	0.00	0.000	4	0.220	0.093	2773	3346	3602	0	0	0	0	0	0
565	-0.76	-170.3	72.7	-14.3	89	571	0.05	2.58	0.00	0.000	6	0.184	0.107	2783	1914	3602	0	0	0	0	0	0
906	-0.76	-170.3	115.7	-12.3	137	910	0.00	2.45	0.00	0.000	4	0.000	0.091	2774	3346	3603	0	0	0	0	0	0
1070	-0.79	-170.3	138.4	-12.1	151	1075	0.00	2.53	0.00	0.000	6	0.000	0.107	2774	1923	3604	0	0	0	0	0	0
1397	-0.79	-170.3	172.8	-10.7	181	1402	0.00	2.45	0.00	0.000	4	0.000	0.089	2774	469	3606	0	0	0	0	0	0
1441	-0.79	-170.3	177.6	-9.7	184	1449	0.00	2.53	0.00	0.000	6	0.000	0.086	2765	1913	3605	0	0	0	0	0	0
1767	-0.79	-170.3	213.2	-8.8	215	1771	0.00	2.47	0.00	0.000	4	0.000	0.099	2754	3358	3605	0	0	0	0	0	0
1887	-0.79	-170.3	223.8	-11.0	225	1892	0.08	2.58	0.00	0.000	6	0.164	0.106	2770	1916	3604	0	0	0	0	0	0
2212	-0.79	-170.3	266.3	-13.5	255	2216	0.00	2.50	0.00	0.000	4	0.000	0.104	2762	3340	3602	0	0	0	0	0	0
2246	-0.79	-170.3	271.5	-14.5	257	2252	0.00	2.62	0.00	0.000	6	0.000	0.120	2762	1920	3602	0	0	0	0	0	0
2572	-0.82	-170.3	332.5	-19.0	288	2577	0.00	2.40	0.00	0.000	4	0.000	0.083	2762	480	3601	0	0	0	0	0	0
2606	-0.82	-170.3	339.7	-21.3	290	2613	0.08	2.42	0.00	0.000	6	0.202	0.072	2766	1926	3600	0	0	0	0	0	0
2934	-0.82	-170.3	401.2	-15.6	321	2939	0.00	2.50	0.00	0.000	4	0.000	0.116	2757	3334	3599	0	0	0	0	0	0
3059	-0.82	-170.3	420.5	-14.4	326	3064	0.00	2.65	0.00	0.000	6	0.000	0.128	2757	1918	3598	0	0	0	0	0	0
3374	-0.82	-170.3	465.1	-13.2	342	3375	0.00	0.00	0.00	0.000	6	0.000	0.000	2757	1918	3597	0	0	0	0	0	0
3684	-0.82	-170.3	514.1	-15.3	357	3688	0.00	2.40	0.00	0.000	4	0.000	0.082	2757	480	3595	0	0	0	0	0	0
3755	-0.82	-170.3	527.3	-18.7	360	3760	0.10	2.38	0.00	0.000	6	0.192	0.058	2768	1919	3595	0	0	0	0	0	0
4078	-0.82	-170.3	569.4	-9.3	376	4083	0.00	2.58	0.00	0.000	4	0.000	0.121	2759	3330	3593	0	0	0	0	0	0
4150	-0.82	-170.3	579.1	-13.7	379	4154	0.00	2.67	0.00	0.000	6	0.000	0.126	2758	1907	3593	0	0	0	0	0	0
4326	end dive: BOTTOM_OBSTACLE_DETECTED
state	4326	begin apogee
4331	-0.25	0.0	600.3	14.0	388	4469	0.68	0.00	134.77	0.967	6	0.181	0.000	2945	1758	2902	0	0	0	0	0	0
4470	end apogee: CONTROL_FINISHED_OK
state	4470	begin climb
4472	1.05	170.3	607.5	0.0	395	4625	1.25	2.47	144.25	0.933	4	0.090	0.051	3371	327	2206	0	0	0	0	0	0
4880	0.90	170.3	576.9	15.3	414	4886	0.17	2.30	0.00	0.000	6	0.161	0.033	3325	1763	2202	0	0	0	0	0	0
5209	0.82	170.3	543.2	10.6	430	5213	0.10	2.30	0.00	0.000	4	0.196	0.049	3311	318	2200	0	0	0	0	0	0
5421	0.74	170.3	519.6	14.6	439	5427	0.15	2.25	0.00	0.000	6	0.171	0.031	3272	1766	2199	0	0	0	0	0	0
5739	0.68	170.3	485.5	11.3	455	5744	0.08	2.30	0.00	0.000	4	0.208	0.048	3265	325	2198	0	0	0	0	0	0
5900	0.68	170.3	457.8	16.9	462	5904	0.00	2.30	0.00	0.000	6	0.000	0.042	3265	1747	2198	0	0	0	0	0	0
6222	0.78	253.2	425.4	6.7	478	6297	0.05	2.62	68.43	0.877	4	0.162	0.103	3298	3183	1868	0	0	0	0	0	0
6421	0.88	330.0	409.0	7.0	487	6493	0.00	2.55	65.40	0.841	6	0.000	0.099	3308	1750	1556	0	0	0	0	0	0
6811	0.88	330.0	372.8	12.3	518	6815	0.00	2.30	0.00	0.000	4	0.000	0.060	3319	325	1547	0	0	0	0	0	0
7034	0.88	330.0	340.9	14.4	537	7038	0.00	2.28	0.00	0.000	6	0.000	0.034	3319	1785	1545	0	0	0	0	0	0
7359	0.88	330.0	302.7	10.0	567	7360	0.00	0.00	0.00	0.000	6	0.000	0.000	3319	1786	1544	0	0	0	0	0	0
7681	0.88	330.0	268.0	11.2	597	7685	0.00	2.35	0.00	0.000	4	0.000	0.095	3319	3167	1544	0	0	0	0	0	0
7709	0.88	330.0	265.1	10.2	599	7713	0.00	2.45	0.00	0.000	6	0.000	0.095	3328	1751	1543	0	0	0	0	0	0
8036	0.88	330.0	232.1	11.0	629	8040	0.00	2.28	0.00	0.000	4	0.000	0.059	3339	333	1543	0	0	0	0	0	0
8181	0.84	330.0	214.4	11.7	641	8186	0.12	2.20	0.00	0.000	6	0.154	0.034	3306	1756	1542	0	0	0	0	0	0
8506	0.89	354.2	184.9	9.1	671	8531	0.00	2.33	20.02	0.705	4	0.000	0.073	3305	3170	1457	0	0	0	0	0	0
8622	0.91	354.2	173.8	10.5	681	8626	0.00	2.47	0.00	0.000	6	0.000	0.098	3314	1752	1455	0	0	0	0	0	0
8947	0.94	354.2	139.2	10.6	711	8952	0.05	2.30	0.00	0.000	4	0.163	0.057	3370	329	1453	0	0	0	0	0	0
8978	0.90	354.2	135.6	12.8	713	8982	0.15	2.22	0.00	0.000	6	0.151	0.035	3328	1759	1452	0	0	0	0	0	0
9306	0.90	354.2	96.3	11.7	745	9311	0.00	2.33	0.00	0.000	4	0.000	0.073	3329	3182	1452	0	0	0	0	0	0
9517	0.97	413.1	78.0	7.7	782	9576	0.00	2.47	48.47	0.645	6	0.000	0.093	3338	1755	1217	0	0	0	0	0	0
9924	1.00	413.1	34.3	12.6	853	9929	0.00	2.30	0.00	0.000	4	0.000	0.057	3349	327	1211	0	0	0	0	0	0
10044	1.09	432.9	20.8	9.2	873	10064	0.10	2.28	10.02	0.513	6	0.093	0.040	3410	1755	1136	0	0	0	0	0	0
10115	1.06	432.9	11.8	14.3	884	10122	0.12	0.00	0.00	0.000	6	0.146	0.000	3376	1755	1135	0	0	0	0	0	0
10173	1.09	432.9	4.4	12.4	893	10180	0.00	0.00	0.00	0.000	6	0.000	0.000	3375	1755	1134	0	0	0	0	0	0
10186	end climb: SURFACE_DEPTH_REACHED
state	10186	begin surface coast
10218	end surface coast: CONTROL_FINISHED_OK
state	10218	begin surface