Glider dive log

SAGE 17Apr15 * SG573 * Dive index * Mission links * Dive 448 * 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 448 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 14 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 611.52295 R_STBD_OVSHOOT 12 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 -14896.629 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 447

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 447 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 -14896.629

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 14 VBD_MAX 3959

DEVICE6 -1 MASS 52922 R_STBD_OVSHOOT 12 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 175 SEABIRD_C_G -9.9469662 VBD_MIN 409

DIVE 448 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 160515,162459,-3439.657,2517.318,42,1.9,43,-27.8 TGT_NAME WP_SOUTH

_CALLS 2 TGT_LATLONG -3440.000,2520.000

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.229,0.204

_SM_DEPTHo 1.97 KALMAN_X -18488.8,-8625.5,-2647.6,-6374.3,-1020.9

_SM_ANGLEo -56.4 KALMAN_Y -14362.4,-6812.0,-2167.9,-3593.3,-569.5

GPS2 160515,163805,-3439.771,2517.219,49,1.1,49,-27.8 MHEAD_RNG_PITCHd_Wd 87.5,4258,-18.0,-10.010

SPEED_LIMITS 0.173,0.279 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.3,1.009479 _10V_AH 10.0,36.069

SM_CCo 13122,113.03,0.047,0,0,408,611.52 FG_AHR_24Vo 0.000

SM_GC 1.97,0.00,0.00,113.03,0.000,0.000,0.047,68,1974,408,-9.27,1.58,611.52 FG_AHR_10Vo 0.000

IRIDIUM_FIX -3425.16,2515.41,120308,050558 MEM 330684

TT8_MAMPS 0.026964 DATA_FILE_SIZE 70297,1005

HUMID 57.83 CAP_FILE_SIZE 150574,2

INTERNAL_PRESSURE 9.33319 CFSIZE 2097086464,2045050880

TCM_TEMP 19.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,2,0,0,1

XPDR_PINGS 33 CURRENT 0.228,235.9,1

ALTIM_BOTTOM_PING 761.5,27.4 GPS 160515,202035,-3440.062,2517.551,42,1.0,42,-27.9

_24V_AH 22.7,44.852

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 260 145.38 SBE_CT 691 23 364.56

Roll_motor 126 119 342.35 AA4330 1659 17 649.19

VBD_pump_during_apogee 446 1097 11128.14 WL_BB2F 771 105 1839.78

VBD_pump_during_surface 113 47 121.69 QSP2150 291 17 113.87

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 54 91 112.21 nil 0 0 0.00

Iridium_during_connect 98 160 357.78 nil 0 0 0.00

Iridium_during_xfer 361 223 1827.95 nil 0 0 0.00

Transponder_ping 26 420 252.65 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 51 27 14.25

TT8 2674 13 371.53

LPSleep 7306 2 160.02

TT8_Active 670 13 93.08

TT8_Sampling 3094 40 1264.21

TT8_CF8 275 50 139.28

TT8_Kalman 0 0 0.00

Analog_circuits 1752 15 268.45

GPS_charging 0 0 0.00

Compass 2387 15 375.63

RAFOS 0 0 0.00

Transponder 114 30 34.40

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 -1.08 -149.7 0.0 0.0 0 111 0.00 0.00 -83.22 0.000 2 0.000 0.000 66 1939 2579 0 0 0 0 0 0

114 -1.11 -170.3 3.6 -3.3 10 158 11.68 2.50 -21.40 0.000 4 0.261 0.109 2657 3351 3601 2 0 0 0 0 0

424 -0.95 -170.3 70.5 -22.1 60 435 0.22 2.53 0.00 0.000 6 0.183 0.091 2720 1920 3604 0 0 0 0 0 0

774 -0.90 -170.3 124.0 -14.7 107 779 0.08 2.50 0.00 0.000 4 0.229 0.100 2727 3343 3607 0 0 0 0 0 0

819 -0.90 -170.3 130.7 -14.2 110 826 0.05 2.47 0.00 0.000 6 0.182 0.092 2739 1914 3607 0 0 0 0 0 0

1146 -0.90 -170.3 175.8 -13.8 141 1150 0.00 2.45 0.00 0.000 4 0.000 0.095 2739 484 3608 0 0 0 0 0 0

1186 -0.87 -170.3 181.9 -14.0 144 1191 0.08 2.50 0.00 0.000 6 0.210 0.086 2744 1923 3608 0 0 0 0 0 0

1511 -0.87 -170.3 225.9 -13.5 174 1515 0.00 2.50 0.00 0.000 4 0.000 0.112 2734 3343 3608 0 0 0 0 0 0

1726 -0.87 -170.3 253.7 -12.9 192 1737 0.03 2.53 0.00 0.000 6 0.108 0.096 2745 1919 3607 0 0 0 0 0 0

2052 -0.87 -170.3 295.6 -13.7 223 2056 0.00 2.47 0.00 0.000 4 0.000 0.094 2745 475 3605 0 0 0 0 0 0

2103 -0.87 -170.3 302.0 -12.3 227 2108 0.05 2.47 0.00 0.000 6 0.236 0.079 2745 1922 3605 0 0 0 0 0 0

2433 -0.87 -170.3 350.6 -16.0 257 2437 0.00 2.55 0.00 0.000 4 0.000 0.117 2734 3335 3604 0 0 0 0 0 0

2578 -0.90 -170.3 371.9 -14.5 269 2583 0.00 2.50 0.00 0.000 6 0.000 0.103 2735 1920 3602 0 0 0 0 0 0

2912 -0.90 -170.3 418.6 -14.4 294 2916 0.00 2.45 0.00 0.000 4 0.000 0.090 2734 479 3601 0 0 0 0 0 0

2966 -0.90 -170.3 427.2 -14.5 296 2975 0.03 2.47 0.00 0.000 6 0.213 0.074 2732 1916 3601 0 0 0 0 0 0

3283 -0.87 -170.3 473.2 -14.7 312 3288 0.08 2.58 0.00 0.000 4 0.236 0.119 2737 3338 3599 0 0 0 0 0 0

3444 -0.89 -170.3 495.4 -13.4 319 3449 0.00 2.55 0.00 0.000 6 0.000 0.103 2736 1910 3598 0 0 0 0 0 0

3762 -0.89 -170.3 538.8 -14.1 334 3766 0.00 2.40 0.00 0.000 4 0.000 0.089 2737 487 3597 0 0 0 0 0 0

3885 -0.87 -170.3 559.2 -18.2 339 3896 0.10 2.40 0.00 0.000 6 0.207 0.067 2749 1922 3597 0 0 0 0 0 0

4204 -0.87 -170.3 601.6 -13.2 355 4208 0.00 2.55 0.00 0.000 4 0.000 0.119 2739 3333 3595 0 0 0 0 0 0

4387 -0.90 -170.3 623.8 -11.4 363 4391 0.00 2.47 0.00 0.000 6 0.000 0.097 2739 1921 3594 0 0 0 0 0 0

4705 -0.93 -170.3 659.1 -10.8 378 4709 0.00 2.47 0.00 0.000 4 0.000 0.098 2739 478 3594 0 0 0 0 0 0

4753 -0.93 -170.3 665.3 -11.9 380 4758 0.00 2.45 0.00 0.000 6 0.000 0.069 2729 1913 3593 0 0 0 0 0 0

5076 -0.93 -170.3 704.8 -12.6 396 5080 0.00 2.55 0.00 0.000 4 0.000 0.112 2718 3336 3592 0 0 0 0 0 0

5205 -0.93 -170.3 721.2 -12.5 402 5210 0.00 2.55 0.00 0.000 6 0.000 0.102 2718 1915 3591 0 0 0 0 0 0

5533 -0.93 -170.3 764.2 -13.3 418 5538 0.05 2.42 0.00 0.000 4 0.190 0.083 2729 485 3591 0 0 0 0 0 0

5560 -0.93 -170.3 768.4 -14.7 419 5564 0.00 2.40 0.00 0.000 6 0.000 0.063 2719 1914 3591 0 0 0 0 0 0

5612 end dive: BOTTOM_OBSTACLE_DETECTED

state 5612 begin apogee

5618 -0.25 0.0 775.8 14.2 422 5761 0.82 0.00 139.50 1.097 6 0.172 0.000 2950 1712 2902 0 0 0 0 0 0

5761 end apogee: CONTROL_FINISHED_OK

state 5762 begin climb

5764 1.11 170.3 784.6 0.0 429 5924 1.35 2.42 150.10 1.059 4 0.103 0.053 3390 370 2206 0 0 0 0 0 0

6177 0.99 203.6 762.1 8.5 447 6214 0.15 2.25 29.80 1.024 6 0.165 0.034 3352 1772 2071 0 0 0 0 0 0

6536 0.91 203.6 725.6 10.5 465 6538 0.10 0.00 0.00 0.000 6 0.203 0.000 3329 1773 2067 0 0 0 0 0 0

6845 0.85 203.6 693.7 10.3 480 6850 0.08 2.28 0.00 0.000 4 0.213 0.047 3321 358 2065 0 0 0 0 0 0

6900 0.80 204.4 688.1 10.0 482 6908 0.10 2.20 0.00 0.000 6 0.186 0.035 3297 1756 2065 0 0 0 0 0 0

7217 0.80 204.4 658.1 10.5 498 7218 0.00 0.00 0.00 0.000 6 0.000 0.000 3297 1756 2065 0 0 0 0 0 0

7526 0.87 257.4 629.4 7.6 513 7578 0.00 2.33 46.42 1.014 4 0.000 0.050 3306 374 1851 0 0 0 0 0 0

7735 0.89 277.4 610.6 9.1 522 7761 0.00 2.22 18.23 0.939 6 0.000 0.037 3306 1758 1771 0 0 0 0 0 0

8079 0.95 307.7 580.3 8.6 539 8109 0.10 0.00 27.60 0.954 6 0.101 0.000 3352 1758 1646 0 0 0 0 0 0

8407 0.93 307.7 544.6 11.5 555 8411 0.08 2.25 0.00 0.000 4 0.165 0.052 3344 369 1642 0 0 0 0 0 0

8461 0.90 307.7 537.6 12.2 557 8466 0.08 2.22 0.00 0.000 6 0.183 0.040 3327 1758 1641 0 0 0 0 0 0

8783 0.90 307.7 501.2 11.9 573 8784 0.00 0.00 0.00 0.000 6 0.000 0.000 3326 1759 1641 0 0 0 0 0 0

9092 0.90 307.7 463.0 12.8 588 9093 0.00 0.00 0.00 0.000 6 0.000 0.000 3327 1759 1639 0 0 0 0 0 0

9401 0.90 307.7 420.6 13.4 603 9405 0.00 2.22 0.00 0.000 4 0.000 0.050 3336 364 1639 0 0 0 0 0 0

9501 0.90 307.7 405.3 15.3 607 9505 0.00 2.22 0.00 0.000 6 0.000 0.039 3336 1765 1639 0 0 0 0 0 0

9832 0.90 307.7 361.8 12.2 636 9836 0.00 2.42 0.00 0.000 4 0.000 0.095 3336 3173 1639 0 0 0 0 0 0

9865 0.90 307.7 357.1 13.3 638 9873 0.10 2.45 0.00 0.000 6 0.189 0.102 3322 1789 1638 0 0 0 0 0 0

10192 0.90 307.7 318.3 11.9 669 10197 0.00 2.38 0.00 0.000 4 0.000 0.063 3333 330 1638 0 0 0 0 0 0

10314 0.90 307.7 303.4 12.2 679 10321 0.00 2.30 0.00 0.000 6 0.000 0.039 3333 1762 1638 0 0 0 0 0 0

10640 0.90 307.7 267.1 12.0 710 10644 0.00 2.47 0.00 0.000 4 0.000 0.099 3333 3181 1638 0 0 0 0 0 0

10713 0.90 307.7 258.5 11.5 716 10718 0.08 2.53 0.00 0.000 6 0.199 0.101 3326 1756 1638 0 0 0 0 0 0

11038 0.90 307.7 222.3 12.6 746 11043 0.00 2.33 0.00 0.000 4 0.000 0.061 3337 323 1638 0 0 0 0 0 0

11112 0.90 307.7 213.3 11.6 752 11117 0.03 2.28 0.00 0.000 6 0.249 0.037 3327 1761 1638 0 0 0 0 0 0

11438 0.90 307.7 179.3 10.7 782 11439 0.00 0.00 0.00 0.000 6 0.000 0.000 3327 1762 1637 0 0 0 0 0 0

11757 0.90 307.7 144.0 11.2 812 11762 0.00 2.40 0.00 0.000 4 0.000 0.085 3327 3181 1637 0 0 0 0 0 0

11779 0.90 307.7 141.1 11.4 813 11787 0.00 2.53 0.00 0.000 6 0.000 0.100 3336 1752 1637 0 0 0 0 0 0

12104 0.90 307.7 101.0 12.9 844 12108 0.00 2.30 0.00 0.000 4 0.000 0.059 3347 330 1638 0 0 0 0 0 0

12124 0.90 307.7 98.7 13.1 845 12132 0.10 2.28 0.00 0.000 6 0.161 0.041 3321 1759 1637 0 0 0 0 0 0

12479 0.93 307.7 60.3 10.2 906 12488 0.00 2.38 0.00 0.000 4 0.000 0.077 3321 3175 1637 0 0 0 0 0 0

12750 0.98 328.9 33.0 9.1 952 12775 0.03 2.53 15.10 0.580 6 0.099 0.099 3376 1762 1562 0 0 0 0 0 0

12922 0.98 330.3 16.4 9.9 979 12932 0.10 2.40 0.00 0.000 4 0.167 0.074 3349 3177 1559 0 0 0 0 0 0

12978 1.02 367.4 11.4 8.3 987 13004 0.00 2.53 20.12 0.521 6 0.000 0.097 3358 1757 1403 0 0 0 0 0 0

13057 1.05 367.4 4.0 11.3 998 13065 0.00 0.00 0.00 0.000 6 0.000 0.000 3359 1757 1399 0 0 0 0 0 0

13071 end climb: SURFACE_DEPTH_REACHED

state 13071 begin surface coast

13104 end surface coast: CONTROL_FINISHED_OK

state 13104 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	448	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	14	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	611.52295	R_STBD_OVSHOOT	12	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	-14896.629	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	447

GPS1	160515,162459,-3439.657,2517.318,42,1.9,43,-27.8	TGT_NAME	WP_SOUTH
_CALLS	2	TGT_LATLONG	-3440.000,2520.000
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.229,0.204
_SM_DEPTHo	1.97	KALMAN_X	-18488.8,-8625.5,-2647.6,-6374.3,-1020.9
_SM_ANGLEo	-56.4	KALMAN_Y	-14362.4,-6812.0,-2167.9,-3593.3,-569.5
GPS2	160515,163805,-3439.771,2517.219,49,1.1,49,-27.8	MHEAD_RNG_PITCHd_Wd	87.5,4258,-18.0,-10.010
SPEED_LIMITS	0.173,0.279	D_GRID	1000

FINISH	1.3,1.009479	_10V_AH	10.0,36.069
SM_CCo	13122,113.03,0.047,0,0,408,611.52	FG_AHR_24Vo	0.000
SM_GC	1.97,0.00,0.00,113.03,0.000,0.000,0.047,68,1974,408,-9.27,1.58,611.52	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-3425.16,2515.41,120308,050558	MEM	330684
TT8_MAMPS	0.026964	DATA_FILE_SIZE	70297,1005
HUMID	57.83	CAP_FILE_SIZE	150574,2
INTERNAL_PRESSURE	9.33319	CFSIZE	2097086464,2045050880
TCM_TEMP	19.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,2,0,0,1
XPDR_PINGS	33	CURRENT	0.228,235.9,1
ALTIM_BOTTOM_PING	761.5,27.4	GPS	160515,202035,-3440.062,2517.551,42,1.0,42,-27.9
_24V_AH	22.7,44.852

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	260	145.38	SBE_CT	691	23	364.56
Roll_motor	126	119	342.35	AA4330	1659	17	649.19
VBD_pump_during_apogee	446	1097	11128.14	WL_BB2F	771	105	1839.78
VBD_pump_during_surface	113	47	121.69	QSP2150	291	17	113.87
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	54	91	112.21	nil	0	0	0.00
Iridium_during_connect	98	160	357.78	nil	0	0	0.00
Iridium_during_xfer	361	223	1827.95	nil	0	0	0.00
Transponder_ping	26	420	252.65	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	51	27	14.25
TT8	2674	13	371.53
LPSleep	7306	2	160.02
TT8_Active	670	13	93.08
TT8_Sampling	3094	40	1264.21
TT8_CF8	275	50	139.28
TT8_Kalman	0	0	0.00
Analog_circuits	1752	15	268.45
GPS_charging	0	0	0.00
Compass	2387	15	375.63
RAFOS	0	0	0.00
Transponder	114	30	34.40

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	-1.08	-149.7	0.0	0.0	0	111	0.00	0.00	-83.22	0.000	2	0.000	0.000	66	1939	2579	0	0	0	0	0	0
114	-1.11	-170.3	3.6	-3.3	10	158	11.68	2.50	-21.40	0.000	4	0.261	0.109	2657	3351	3601	2	0	0	0	0	0
424	-0.95	-170.3	70.5	-22.1	60	435	0.22	2.53	0.00	0.000	6	0.183	0.091	2720	1920	3604	0	0	0	0	0	0
774	-0.90	-170.3	124.0	-14.7	107	779	0.08	2.50	0.00	0.000	4	0.229	0.100	2727	3343	3607	0	0	0	0	0	0
819	-0.90	-170.3	130.7	-14.2	110	826	0.05	2.47	0.00	0.000	6	0.182	0.092	2739	1914	3607	0	0	0	0	0	0
1146	-0.90	-170.3	175.8	-13.8	141	1150	0.00	2.45	0.00	0.000	4	0.000	0.095	2739	484	3608	0	0	0	0	0	0
1186	-0.87	-170.3	181.9	-14.0	144	1191	0.08	2.50	0.00	0.000	6	0.210	0.086	2744	1923	3608	0	0	0	0	0	0
1511	-0.87	-170.3	225.9	-13.5	174	1515	0.00	2.50	0.00	0.000	4	0.000	0.112	2734	3343	3608	0	0	0	0	0	0
1726	-0.87	-170.3	253.7	-12.9	192	1737	0.03	2.53	0.00	0.000	6	0.108	0.096	2745	1919	3607	0	0	0	0	0	0
2052	-0.87	-170.3	295.6	-13.7	223	2056	0.00	2.47	0.00	0.000	4	0.000	0.094	2745	475	3605	0	0	0	0	0	0
2103	-0.87	-170.3	302.0	-12.3	227	2108	0.05	2.47	0.00	0.000	6	0.236	0.079	2745	1922	3605	0	0	0	0	0	0
2433	-0.87	-170.3	350.6	-16.0	257	2437	0.00	2.55	0.00	0.000	4	0.000	0.117	2734	3335	3604	0	0	0	0	0	0
2578	-0.90	-170.3	371.9	-14.5	269	2583	0.00	2.50	0.00	0.000	6	0.000	0.103	2735	1920	3602	0	0	0	0	0	0
2912	-0.90	-170.3	418.6	-14.4	294	2916	0.00	2.45	0.00	0.000	4	0.000	0.090	2734	479	3601	0	0	0	0	0	0
2966	-0.90	-170.3	427.2	-14.5	296	2975	0.03	2.47	0.00	0.000	6	0.213	0.074	2732	1916	3601	0	0	0	0	0	0
3283	-0.87	-170.3	473.2	-14.7	312	3288	0.08	2.58	0.00	0.000	4	0.236	0.119	2737	3338	3599	0	0	0	0	0	0
3444	-0.89	-170.3	495.4	-13.4	319	3449	0.00	2.55	0.00	0.000	6	0.000	0.103	2736	1910	3598	0	0	0	0	0	0
3762	-0.89	-170.3	538.8	-14.1	334	3766	0.00	2.40	0.00	0.000	4	0.000	0.089	2737	487	3597	0	0	0	0	0	0
3885	-0.87	-170.3	559.2	-18.2	339	3896	0.10	2.40	0.00	0.000	6	0.207	0.067	2749	1922	3597	0	0	0	0	0	0
4204	-0.87	-170.3	601.6	-13.2	355	4208	0.00	2.55	0.00	0.000	4	0.000	0.119	2739	3333	3595	0	0	0	0	0	0
4387	-0.90	-170.3	623.8	-11.4	363	4391	0.00	2.47	0.00	0.000	6	0.000	0.097	2739	1921	3594	0	0	0	0	0	0
4705	-0.93	-170.3	659.1	-10.8	378	4709	0.00	2.47	0.00	0.000	4	0.000	0.098	2739	478	3594	0	0	0	0	0	0
4753	-0.93	-170.3	665.3	-11.9	380	4758	0.00	2.45	0.00	0.000	6	0.000	0.069	2729	1913	3593	0	0	0	0	0	0
5076	-0.93	-170.3	704.8	-12.6	396	5080	0.00	2.55	0.00	0.000	4	0.000	0.112	2718	3336	3592	0	0	0	0	0	0
5205	-0.93	-170.3	721.2	-12.5	402	5210	0.00	2.55	0.00	0.000	6	0.000	0.102	2718	1915	3591	0	0	0	0	0	0
5533	-0.93	-170.3	764.2	-13.3	418	5538	0.05	2.42	0.00	0.000	4	0.190	0.083	2729	485	3591	0	0	0	0	0	0
5560	-0.93	-170.3	768.4	-14.7	419	5564	0.00	2.40	0.00	0.000	6	0.000	0.063	2719	1914	3591	0	0	0	0	0	0
5612	end dive: BOTTOM_OBSTACLE_DETECTED
state	5612	begin apogee
5618	-0.25	0.0	775.8	14.2	422	5761	0.82	0.00	139.50	1.097	6	0.172	0.000	2950	1712	2902	0	0	0	0	0	0
5761	end apogee: CONTROL_FINISHED_OK
state	5762	begin climb
5764	1.11	170.3	784.6	0.0	429	5924	1.35	2.42	150.10	1.059	4	0.103	0.053	3390	370	2206	0	0	0	0	0	0
6177	0.99	203.6	762.1	8.5	447	6214	0.15	2.25	29.80	1.024	6	0.165	0.034	3352	1772	2071	0	0	0	0	0	0
6536	0.91	203.6	725.6	10.5	465	6538	0.10	0.00	0.00	0.000	6	0.203	0.000	3329	1773	2067	0	0	0	0	0	0
6845	0.85	203.6	693.7	10.3	480	6850	0.08	2.28	0.00	0.000	4	0.213	0.047	3321	358	2065	0	0	0	0	0	0
6900	0.80	204.4	688.1	10.0	482	6908	0.10	2.20	0.00	0.000	6	0.186	0.035	3297	1756	2065	0	0	0	0	0	0
7217	0.80	204.4	658.1	10.5	498	7218	0.00	0.00	0.00	0.000	6	0.000	0.000	3297	1756	2065	0	0	0	0	0	0
7526	0.87	257.4	629.4	7.6	513	7578	0.00	2.33	46.42	1.014	4	0.000	0.050	3306	374	1851	0	0	0	0	0	0
7735	0.89	277.4	610.6	9.1	522	7761	0.00	2.22	18.23	0.939	6	0.000	0.037	3306	1758	1771	0	0	0	0	0	0
8079	0.95	307.7	580.3	8.6	539	8109	0.10	0.00	27.60	0.954	6	0.101	0.000	3352	1758	1646	0	0	0	0	0	0
8407	0.93	307.7	544.6	11.5	555	8411	0.08	2.25	0.00	0.000	4	0.165	0.052	3344	369	1642	0	0	0	0	0	0
8461	0.90	307.7	537.6	12.2	557	8466	0.08	2.22	0.00	0.000	6	0.183	0.040	3327	1758	1641	0	0	0	0	0	0
8783	0.90	307.7	501.2	11.9	573	8784	0.00	0.00	0.00	0.000	6	0.000	0.000	3326	1759	1641	0	0	0	0	0	0
9092	0.90	307.7	463.0	12.8	588	9093	0.00	0.00	0.00	0.000	6	0.000	0.000	3327	1759	1639	0	0	0	0	0	0
9401	0.90	307.7	420.6	13.4	603	9405	0.00	2.22	0.00	0.000	4	0.000	0.050	3336	364	1639	0	0	0	0	0	0
9501	0.90	307.7	405.3	15.3	607	9505	0.00	2.22	0.00	0.000	6	0.000	0.039	3336	1765	1639	0	0	0	0	0	0
9832	0.90	307.7	361.8	12.2	636	9836	0.00	2.42	0.00	0.000	4	0.000	0.095	3336	3173	1639	0	0	0	0	0	0
9865	0.90	307.7	357.1	13.3	638	9873	0.10	2.45	0.00	0.000	6	0.189	0.102	3322	1789	1638	0	0	0	0	0	0
10192	0.90	307.7	318.3	11.9	669	10197	0.00	2.38	0.00	0.000	4	0.000	0.063	3333	330	1638	0	0	0	0	0	0
10314	0.90	307.7	303.4	12.2	679	10321	0.00	2.30	0.00	0.000	6	0.000	0.039	3333	1762	1638	0	0	0	0	0	0
10640	0.90	307.7	267.1	12.0	710	10644	0.00	2.47	0.00	0.000	4	0.000	0.099	3333	3181	1638	0	0	0	0	0	0
10713	0.90	307.7	258.5	11.5	716	10718	0.08	2.53	0.00	0.000	6	0.199	0.101	3326	1756	1638	0	0	0	0	0	0
11038	0.90	307.7	222.3	12.6	746	11043	0.00	2.33	0.00	0.000	4	0.000	0.061	3337	323	1638	0	0	0	0	0	0
11112	0.90	307.7	213.3	11.6	752	11117	0.03	2.28	0.00	0.000	6	0.249	0.037	3327	1761	1638	0	0	0	0	0	0
11438	0.90	307.7	179.3	10.7	782	11439	0.00	0.00	0.00	0.000	6	0.000	0.000	3327	1762	1637	0	0	0	0	0	0
11757	0.90	307.7	144.0	11.2	812	11762	0.00	2.40	0.00	0.000	4	0.000	0.085	3327	3181	1637	0	0	0	0	0	0
11779	0.90	307.7	141.1	11.4	813	11787	0.00	2.53	0.00	0.000	6	0.000	0.100	3336	1752	1637	0	0	0	0	0	0
12104	0.90	307.7	101.0	12.9	844	12108	0.00	2.30	0.00	0.000	4	0.000	0.059	3347	330	1638	0	0	0	0	0	0
12124	0.90	307.7	98.7	13.1	845	12132	0.10	2.28	0.00	0.000	6	0.161	0.041	3321	1759	1637	0	0	0	0	0	0
12479	0.93	307.7	60.3	10.2	906	12488	0.00	2.38	0.00	0.000	4	0.000	0.077	3321	3175	1637	0	0	0	0	0	0
12750	0.98	328.9	33.0	9.1	952	12775	0.03	2.53	15.10	0.580	6	0.099	0.099	3376	1762	1562	0	0	0	0	0	0
12922	0.98	330.3	16.4	9.9	979	12932	0.10	2.40	0.00	0.000	4	0.167	0.074	3349	3177	1559	0	0	0	0	0	0
12978	1.02	367.4	11.4	8.3	987	13004	0.00	2.53	20.12	0.521	6	0.000	0.097	3358	1757	1403	0	0	0	0	0	0
13057	1.05	367.4	4.0	11.3	998	13065	0.00	0.00	0.00	0.000	6	0.000	0.000	3359	1757	1399	0	0	0	0	0	0
13071	end climb: SURFACE_DEPTH_REACHED
state	13071	begin surface coast
13104	end surface coast: CONTROL_FINISHED_OK
state	13104	begin surface