Glider dive log

SAGE 17Apr15 * SG573 * Dive index * Mission links * Dive 451 * 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 451 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 13 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 611.52295 R_STBD_OVSHOOT 10 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 -14903.773 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 450

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 450 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 -14903.773

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 13 VBD_MAX 3959

DEVICE6 -1 MASS 52922 R_STBD_OVSHOOT 10 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 175 SEABIRD_C_G -9.9469662 VBD_MIN 409

DIVE 451 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 170515,042853,-3440.456,2515.748,41,1.1,41,-27.9 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 2.02 KALMAN_X -18488.8,-8625.5,-2647.6,-6374.3,-1020.9

_SM_ANGLEo -69.4 KALMAN_Y -14362.4,-6812.0,-2167.9,-3593.3,-569.5

GPS2 170515,043735,-3440.638,2515.375,41,1.1,41,-27.9 MHEAD_RNG_PITCHd_Wd 91.0,32654,-16.9,-10.010

SPEED_LIMITS 0.173,0.279 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.5,1.010625 _10V_AH 10.1,36.419

SM_CCo 11929,110.30,0.045,0,0,407,611.52 FG_AHR_24Vo 0.000

SM_GC 2.16,0.00,0.00,110.30,0.000,0.000,0.045,68,1945,407,-9.27,0.74,611.52 FG_AHR_10Vo 0.000

IRIDIUM_FIX -3425.16,2513.04,120308,141404 MEM 330804

TT8_MAMPS 0.026964 DATA_FILE_SIZE 70323,994

HUMID 55.67 CAP_FILE_SIZE 142073,0

INTERNAL_PRESSURE 9.35272 CFSIZE 2097086464,2044657664

TCM_TEMP 20.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2

XPDR_PINGS 0 CURRENT 0.360,255.0,1

ALTIM_BOTTOM_PING 641.5,27.2 GPS 170515,080035,-3440.776,2514.308,80,0.8,80,-27.8

_24V_AH 22.8,45.325

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 263 144.87 SBE_CT 680 23 360.32

Roll_motor 127 141 411.49 AA4330 1644 17 645.91

VBD_pump_during_apogee 465 999 10603.17 WL_BB2F 857 105 2052.06

VBD_pump_during_surface 110 45 113.51 QSP2150 324 17 127.63

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 91 52.76 nil 0 0 0.00

Iridium_during_connect 40 160 146.50 nil 0 0 0.00

Iridium_during_xfer 282 223 1435.13 nil 0 0 0.00

Transponder_ping 15 420 146.03 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 43 27 12.10

TT8 2594 13 364.01

LPSleep 6075 2 134.38

TT8_Active 690 13 96.92

TT8_Sampling 2942 40 1214.22

TT8_CF8 254 50 130.23

TT8_Kalman 0 0 0.00

Analog_circuits 1763 15 272.92

GPS_charging 0 0 0.00

Compass 2421 15 384.74

RAFOS 0 0 0.00

Transponder 97 30 29.64

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 95 0.00 0.00 -67.45 0.000 2 0.000 0.000 73 1933 2126 0 0 0 0 0 0

98 -1.05 -170.3 3.1 -2.7 8 166 11.18 2.42 -45.05 0.000 4 0.245 0.093 2674 3345 3599 0 0 0 0 0 0

220 -0.85 -170.3 19.8 -23.8 24 229 0.28 2.55 0.00 0.000 6 0.171 0.096 2753 1922 3601 0 0 0 0 0 0

280 -0.76 -170.3 30.8 -14.6 33 288 0.12 2.47 0.00 0.000 4 0.196 0.093 2782 481 3602 0 0 0 0 0 0

301 -0.71 -170.3 34.3 -14.9 36 311 0.08 2.83 0.00 0.000 6 0.198 0.134 2793 1913 3602 0 0 0 0 0 0

455 -0.71 -170.3 54.1 -12.9 61 462 0.00 2.40 0.00 0.000 4 0.000 0.083 2782 3356 3603 0 0 0 0 0 0

562 -0.71 -170.3 67.7 -12.7 79 569 0.08 2.55 0.00 0.000 6 0.172 0.097 2799 1913 3603 0 0 0 0 0 0

911 -0.76 -170.3 105.4 -9.8 135 915 0.00 2.42 0.00 0.000 4 0.000 0.080 2790 3361 3604 0 0 0 0 0 0

943 -0.83 -170.3 109.2 -9.8 137 951 0.08 2.62 0.00 0.000 6 0.112 0.113 2758 1922 3605 0 0 0 0 0 0

1268 -0.83 -170.3 145.6 -11.6 168 1273 0.00 2.53 0.00 0.000 4 0.000 0.100 2749 3367 3607 0 0 0 0 0 0

1303 -0.83 -170.3 149.9 -12.7 170 1312 0.08 2.58 0.00 0.000 6 0.136 0.100 2766 1910 3606 0 0 0 0 0 0

1630 -0.83 -170.3 190.7 -12.1 201 1634 0.00 2.40 0.00 0.000 4 0.000 0.083 2765 478 3606 0 0 0 0 0 0

1705 -0.83 -170.3 200.2 -12.3 207 1709 0.00 2.47 0.00 0.000 6 0.000 0.076 2757 1928 3607 0 0 0 0 0 0

2032 -0.83 -170.3 242.5 -13.2 237 2036 0.00 2.40 0.00 0.000 4 0.000 0.094 2746 3349 3606 0 0 0 0 0 0

2294 -0.83 -170.3 272.9 -11.7 260 2299 0.08 2.55 0.00 0.000 6 0.142 0.102 2762 1917 3604 0 0 0 0 0 0

2619 -0.83 -170.3 314.0 -12.8 290 2623 0.00 2.40 0.00 0.000 4 0.000 0.086 2762 482 3603 0 0 0 0 0 0

2692 -0.83 -170.3 323.6 -12.6 296 2697 0.00 2.45 0.00 0.000 6 0.000 0.072 2754 1928 3603 0 0 0 0 0 0

3017 -0.83 -170.3 366.9 -13.1 326 3021 0.00 2.45 0.00 0.000 4 0.000 0.098 2743 3345 3602 0 0 0 0 0 0

3238 -0.83 -170.3 395.4 -12.9 345 3243 0.08 2.53 0.00 0.000 6 0.141 0.102 2760 1917 3601 0 0 0 0 0 0

3564 -0.83 -170.3 437.9 -13.0 362 3569 0.00 2.42 0.00 0.000 4 0.000 0.091 2760 482 3600 0 0 0 0 0 0

3628 -0.83 -170.3 446.5 -13.4 365 3633 0.03 2.40 0.00 0.000 6 0.264 0.064 2760 1928 3599 0 0 0 0 0 0

3955 -0.83 -170.3 491.5 -14.4 381 3960 0.00 2.55 0.00 0.000 4 0.000 0.121 2751 3334 3598 0 0 0 0 0 0

4121 -0.85 -170.3 513.6 -12.9 388 4128 0.00 2.62 0.00 0.000 6 0.000 0.119 2751 1913 3596 0 0 0 0 0 0

4437 -0.85 -170.3 556.1 -14.1 404 4441 0.00 2.38 0.00 0.000 4 0.000 0.076 2751 478 3596 0 0 0 0 0 0

4481 -0.85 -170.3 562.8 -13.9 406 4486 0.03 2.42 0.00 0.000 6 0.174 0.063 2750 1922 3595 0 0 0 0 0 0

4808 -0.85 -170.3 607.2 -12.8 422 4812 0.00 2.60 0.00 0.000 4 0.000 0.123 2740 3333 3595 0 0 0 0 0 0

4885 -0.85 -170.3 617.2 -12.5 425 4893 0.08 2.58 0.00 0.000 6 0.151 0.109 2756 1920 3594 0 0 0 0 0 0

5182 end dive: BOTTOM_OBSTACLE_DETECTED

state 5182 begin apogee

5187 -0.25 0.0 654.6 12.4 440 5328 0.73 0.00 136.95 0.999 6 0.192 0.000 2949 1751 2902 0 0 0 0 0 0

5328 end apogee: CONTROL_FINISHED_OK

state 5328 begin climb

5331 1.05 170.3 659.8 0.0 447 5486 1.25 2.80 146.80 0.968 4 0.096 0.106 3357 3174 2207 0 0 0 0 0 0

5738 0.90 170.3 631.5 11.6 465 5746 0.15 2.55 0.00 0.000 6 0.174 0.093 3329 1744 2202 0 0 0 0 0 0

6055 0.90 248.3 606.6 6.9 481 6127 0.00 2.65 66.60 0.963 4 0.000 0.094 3329 3176 1889 0 0 0 0 0 0

6302 0.84 248.3 584.6 10.6 492 6307 0.12 2.53 0.00 0.000 6 0.182 0.095 3308 1757 1884 0 0 0 0 0 0

6625 0.80 248.3 551.9 10.7 508 6630 0.05 2.30 0.00 0.000 4 0.243 0.055 3308 325 1882 0 0 0 0 0 0

6815 0.81 283.1 534.6 8.6 516 6851 0.00 2.28 30.00 0.928 6 0.000 0.035 3308 1767 1746 0 0 0 0 0 0

7179 0.84 307.5 502.7 9.0 534 7206 0.00 2.40 21.88 0.882 4 0.000 0.090 3307 3171 1647 0 0 0 0 0 0

7241 0.84 307.5 496.9 10.3 537 7245 0.00 2.53 0.00 0.000 6 0.000 0.096 3317 1751 1646 0 0 0 0 0 0

7567 0.84 307.5 462.5 11.1 553 7571 0.00 2.30 0.00 0.000 4 0.000 0.057 3328 329 1644 0 0 0 0 0 0

7707 0.80 307.5 446.2 11.9 559 7712 0.12 2.25 0.00 0.000 6 0.154 0.034 3294 1768 1643 0 0 0 0 0 0

8029 0.81 315.9 414.4 9.7 575 8043 0.00 2.35 7.60 0.711 4 0.000 0.072 3294 3173 1614 0 0 0 0 0 0

8059 0.81 315.9 410.9 11.1 576 8063 0.00 2.42 0.00 0.000 6 0.000 0.086 3303 1751 1615 0 0 0 0 0 0

8389 0.81 315.9 376.1 10.2 602 8393 0.00 2.28 0.00 0.000 4 0.000 0.057 3314 332 1614 0 0 0 0 0 0

8500 0.81 315.9 363.7 11.0 611 8508 0.05 2.25 0.00 0.000 6 0.137 0.033 3297 1754 1615 0 0 0 0 0 0

8826 0.84 322.5 331.8 9.7 642 8840 0.00 2.40 7.38 0.660 4 0.000 0.079 3296 3174 1586 0 0 0 0 0 0

8869 0.84 322.5 327.5 10.1 645 8876 0.00 2.42 0.00 0.000 6 0.000 0.087 3305 1757 1588 0 0 0 0 0 0

9194 0.84 323.2 294.5 10.0 676 9198 0.00 2.25 0.00 0.000 4 0.000 0.057 3317 333 1588 0 0 0 0 0 0

9279 0.86 335.2 286.0 9.5 683 9304 0.00 2.22 13.23 0.756 6 0.000 0.033 3316 1759 1534 0 0 0 0 0 0

9620 0.86 338.3 250.1 9.9 715 9630 0.00 0.00 3.90 0.518 6 0.000 0.000 3317 1759 1521 0 0 0 0 0 0

9948 0.86 338.3 214.3 11.4 746 9949 0.00 0.00 0.00 0.000 6 0.000 0.000 3316 1759 1523 0 0 0 0 0 0

10268 0.86 338.3 177.8 11.9 776 10272 0.00 2.35 0.00 0.000 4 0.000 0.080 3317 3174 1522 0 0 0 0 0 0

10301 0.86 338.3 173.7 12.3 778 10309 0.00 2.42 0.00 0.000 6 0.000 0.081 3326 1747 1523 0 0 0 0 0 0

10629 0.86 338.3 136.0 11.2 809 10633 0.00 2.25 0.00 0.000 4 0.000 0.054 3337 333 1523 0 0 0 0 0 0

10703 0.83 338.3 126.2 13.0 815 10708 0.12 2.22 0.00 0.000 6 0.151 0.032 3303 1762 1523 0 0 0 0 0 0

11034 0.91 372.7 94.4 8.7 850 11078 0.08 2.38 31.15 0.666 4 0.116 0.078 3357 3168 1382 0 0 0 0 0 0

11269 0.88 372.7 66.8 12.4 889 11277 0.17 2.42 0.00 0.000 6 0.150 0.085 3318 1757 1378 0 0 0 0 0 0

11627 0.94 372.7 28.4 10.0 950 11637 0.05 2.35 0.00 0.000 4 0.158 0.059 3390 329 1376 0 0 0 0 0 0

11854 0.94 372.7 3.2 10.9 986 11865 0.15 2.30 0.00 0.000 6 0.126 0.044 3341 1747 1374 0 0 0 0 0 0

11873 end climb: SURFACE_DEPTH_REACHED

state 11873 begin surface coast

11911 end surface coast: CONTROL_FINISHED_OK

state 11911 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	451	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	13	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	611.52295	R_STBD_OVSHOOT	10	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	-14903.773	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	450

GPS1	170515,042853,-3440.456,2515.748,41,1.1,41,-27.9	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	2.02	KALMAN_X	-18488.8,-8625.5,-2647.6,-6374.3,-1020.9
_SM_ANGLEo	-69.4	KALMAN_Y	-14362.4,-6812.0,-2167.9,-3593.3,-569.5
GPS2	170515,043735,-3440.638,2515.375,41,1.1,41,-27.9	MHEAD_RNG_PITCHd_Wd	91.0,32654,-16.9,-10.010
SPEED_LIMITS	0.173,0.279	D_GRID	1000

FINISH	1.5,1.010625	_10V_AH	10.1,36.419
SM_CCo	11929,110.30,0.045,0,0,407,611.52	FG_AHR_24Vo	0.000
SM_GC	2.16,0.00,0.00,110.30,0.000,0.000,0.045,68,1945,407,-9.27,0.74,611.52	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-3425.16,2513.04,120308,141404	MEM	330804
TT8_MAMPS	0.026964	DATA_FILE_SIZE	70323,994
HUMID	55.67	CAP_FILE_SIZE	142073,0
INTERNAL_PRESSURE	9.35272	CFSIZE	2097086464,2044657664
TCM_TEMP	20.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
XPDR_PINGS	0	CURRENT	0.360,255.0,1
ALTIM_BOTTOM_PING	641.5,27.2	GPS	170515,080035,-3440.776,2514.308,80,0.8,80,-27.8
_24V_AH	22.8,45.325

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	263	144.87	SBE_CT	680	23	360.32
Roll_motor	127	141	411.49	AA4330	1644	17	645.91
VBD_pump_during_apogee	465	999	10603.17	WL_BB2F	857	105	2052.06
VBD_pump_during_surface	110	45	113.51	QSP2150	324	17	127.63
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	91	52.76	nil	0	0	0.00
Iridium_during_connect	40	160	146.50	nil	0	0	0.00
Iridium_during_xfer	282	223	1435.13	nil	0	0	0.00
Transponder_ping	15	420	146.03	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	43	27	12.10
TT8	2594	13	364.01
LPSleep	6075	2	134.38
TT8_Active	690	13	96.92
TT8_Sampling	2942	40	1214.22
TT8_CF8	254	50	130.23
TT8_Kalman	0	0	0.00
Analog_circuits	1763	15	272.92
GPS_charging	0	0	0.00
Compass	2421	15	384.74
RAFOS	0	0	0.00
Transponder	97	30	29.64

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	95	0.00	0.00	-67.45	0.000	2	0.000	0.000	73	1933	2126	0	0	0	0	0	0
98	-1.05	-170.3	3.1	-2.7	8	166	11.18	2.42	-45.05	0.000	4	0.245	0.093	2674	3345	3599	0	0	0	0	0	0
220	-0.85	-170.3	19.8	-23.8	24	229	0.28	2.55	0.00	0.000	6	0.171	0.096	2753	1922	3601	0	0	0	0	0	0
280	-0.76	-170.3	30.8	-14.6	33	288	0.12	2.47	0.00	0.000	4	0.196	0.093	2782	481	3602	0	0	0	0	0	0
301	-0.71	-170.3	34.3	-14.9	36	311	0.08	2.83	0.00	0.000	6	0.198	0.134	2793	1913	3602	0	0	0	0	0	0
455	-0.71	-170.3	54.1	-12.9	61	462	0.00	2.40	0.00	0.000	4	0.000	0.083	2782	3356	3603	0	0	0	0	0	0
562	-0.71	-170.3	67.7	-12.7	79	569	0.08	2.55	0.00	0.000	6	0.172	0.097	2799	1913	3603	0	0	0	0	0	0
911	-0.76	-170.3	105.4	-9.8	135	915	0.00	2.42	0.00	0.000	4	0.000	0.080	2790	3361	3604	0	0	0	0	0	0
943	-0.83	-170.3	109.2	-9.8	137	951	0.08	2.62	0.00	0.000	6	0.112	0.113	2758	1922	3605	0	0	0	0	0	0
1268	-0.83	-170.3	145.6	-11.6	168	1273	0.00	2.53	0.00	0.000	4	0.000	0.100	2749	3367	3607	0	0	0	0	0	0
1303	-0.83	-170.3	149.9	-12.7	170	1312	0.08	2.58	0.00	0.000	6	0.136	0.100	2766	1910	3606	0	0	0	0	0	0
1630	-0.83	-170.3	190.7	-12.1	201	1634	0.00	2.40	0.00	0.000	4	0.000	0.083	2765	478	3606	0	0	0	0	0	0
1705	-0.83	-170.3	200.2	-12.3	207	1709	0.00	2.47	0.00	0.000	6	0.000	0.076	2757	1928	3607	0	0	0	0	0	0
2032	-0.83	-170.3	242.5	-13.2	237	2036	0.00	2.40	0.00	0.000	4	0.000	0.094	2746	3349	3606	0	0	0	0	0	0
2294	-0.83	-170.3	272.9	-11.7	260	2299	0.08	2.55	0.00	0.000	6	0.142	0.102	2762	1917	3604	0	0	0	0	0	0
2619	-0.83	-170.3	314.0	-12.8	290	2623	0.00	2.40	0.00	0.000	4	0.000	0.086	2762	482	3603	0	0	0	0	0	0
2692	-0.83	-170.3	323.6	-12.6	296	2697	0.00	2.45	0.00	0.000	6	0.000	0.072	2754	1928	3603	0	0	0	0	0	0
3017	-0.83	-170.3	366.9	-13.1	326	3021	0.00	2.45	0.00	0.000	4	0.000	0.098	2743	3345	3602	0	0	0	0	0	0
3238	-0.83	-170.3	395.4	-12.9	345	3243	0.08	2.53	0.00	0.000	6	0.141	0.102	2760	1917	3601	0	0	0	0	0	0
3564	-0.83	-170.3	437.9	-13.0	362	3569	0.00	2.42	0.00	0.000	4	0.000	0.091	2760	482	3600	0	0	0	0	0	0
3628	-0.83	-170.3	446.5	-13.4	365	3633	0.03	2.40	0.00	0.000	6	0.264	0.064	2760	1928	3599	0	0	0	0	0	0
3955	-0.83	-170.3	491.5	-14.4	381	3960	0.00	2.55	0.00	0.000	4	0.000	0.121	2751	3334	3598	0	0	0	0	0	0
4121	-0.85	-170.3	513.6	-12.9	388	4128	0.00	2.62	0.00	0.000	6	0.000	0.119	2751	1913	3596	0	0	0	0	0	0
4437	-0.85	-170.3	556.1	-14.1	404	4441	0.00	2.38	0.00	0.000	4	0.000	0.076	2751	478	3596	0	0	0	0	0	0
4481	-0.85	-170.3	562.8	-13.9	406	4486	0.03	2.42	0.00	0.000	6	0.174	0.063	2750	1922	3595	0	0	0	0	0	0
4808	-0.85	-170.3	607.2	-12.8	422	4812	0.00	2.60	0.00	0.000	4	0.000	0.123	2740	3333	3595	0	0	0	0	0	0
4885	-0.85	-170.3	617.2	-12.5	425	4893	0.08	2.58	0.00	0.000	6	0.151	0.109	2756	1920	3594	0	0	0	0	0	0
5182	end dive: BOTTOM_OBSTACLE_DETECTED
state	5182	begin apogee
5187	-0.25	0.0	654.6	12.4	440	5328	0.73	0.00	136.95	0.999	6	0.192	0.000	2949	1751	2902	0	0	0	0	0	0
5328	end apogee: CONTROL_FINISHED_OK
state	5328	begin climb
5331	1.05	170.3	659.8	0.0	447	5486	1.25	2.80	146.80	0.968	4	0.096	0.106	3357	3174	2207	0	0	0	0	0	0
5738	0.90	170.3	631.5	11.6	465	5746	0.15	2.55	0.00	0.000	6	0.174	0.093	3329	1744	2202	0	0	0	0	0	0
6055	0.90	248.3	606.6	6.9	481	6127	0.00	2.65	66.60	0.963	4	0.000	0.094	3329	3176	1889	0	0	0	0	0	0
6302	0.84	248.3	584.6	10.6	492	6307	0.12	2.53	0.00	0.000	6	0.182	0.095	3308	1757	1884	0	0	0	0	0	0
6625	0.80	248.3	551.9	10.7	508	6630	0.05	2.30	0.00	0.000	4	0.243	0.055	3308	325	1882	0	0	0	0	0	0
6815	0.81	283.1	534.6	8.6	516	6851	0.00	2.28	30.00	0.928	6	0.000	0.035	3308	1767	1746	0	0	0	0	0	0
7179	0.84	307.5	502.7	9.0	534	7206	0.00	2.40	21.88	0.882	4	0.000	0.090	3307	3171	1647	0	0	0	0	0	0
7241	0.84	307.5	496.9	10.3	537	7245	0.00	2.53	0.00	0.000	6	0.000	0.096	3317	1751	1646	0	0	0	0	0	0
7567	0.84	307.5	462.5	11.1	553	7571	0.00	2.30	0.00	0.000	4	0.000	0.057	3328	329	1644	0	0	0	0	0	0
7707	0.80	307.5	446.2	11.9	559	7712	0.12	2.25	0.00	0.000	6	0.154	0.034	3294	1768	1643	0	0	0	0	0	0
8029	0.81	315.9	414.4	9.7	575	8043	0.00	2.35	7.60	0.711	4	0.000	0.072	3294	3173	1614	0	0	0	0	0	0
8059	0.81	315.9	410.9	11.1	576	8063	0.00	2.42	0.00	0.000	6	0.000	0.086	3303	1751	1615	0	0	0	0	0	0
8389	0.81	315.9	376.1	10.2	602	8393	0.00	2.28	0.00	0.000	4	0.000	0.057	3314	332	1614	0	0	0	0	0	0
8500	0.81	315.9	363.7	11.0	611	8508	0.05	2.25	0.00	0.000	6	0.137	0.033	3297	1754	1615	0	0	0	0	0	0
8826	0.84	322.5	331.8	9.7	642	8840	0.00	2.40	7.38	0.660	4	0.000	0.079	3296	3174	1586	0	0	0	0	0	0
8869	0.84	322.5	327.5	10.1	645	8876	0.00	2.42	0.00	0.000	6	0.000	0.087	3305	1757	1588	0	0	0	0	0	0
9194	0.84	323.2	294.5	10.0	676	9198	0.00	2.25	0.00	0.000	4	0.000	0.057	3317	333	1588	0	0	0	0	0	0
9279	0.86	335.2	286.0	9.5	683	9304	0.00	2.22	13.23	0.756	6	0.000	0.033	3316	1759	1534	0	0	0	0	0	0
9620	0.86	338.3	250.1	9.9	715	9630	0.00	0.00	3.90	0.518	6	0.000	0.000	3317	1759	1521	0	0	0	0	0	0
9948	0.86	338.3	214.3	11.4	746	9949	0.00	0.00	0.00	0.000	6	0.000	0.000	3316	1759	1523	0	0	0	0	0	0
10268	0.86	338.3	177.8	11.9	776	10272	0.00	2.35	0.00	0.000	4	0.000	0.080	3317	3174	1522	0	0	0	0	0	0
10301	0.86	338.3	173.7	12.3	778	10309	0.00	2.42	0.00	0.000	6	0.000	0.081	3326	1747	1523	0	0	0	0	0	0
10629	0.86	338.3	136.0	11.2	809	10633	0.00	2.25	0.00	0.000	4	0.000	0.054	3337	333	1523	0	0	0	0	0	0
10703	0.83	338.3	126.2	13.0	815	10708	0.12	2.22	0.00	0.000	6	0.151	0.032	3303	1762	1523	0	0	0	0	0	0
11034	0.91	372.7	94.4	8.7	850	11078	0.08	2.38	31.15	0.666	4	0.116	0.078	3357	3168	1382	0	0	0	0	0	0
11269	0.88	372.7	66.8	12.4	889	11277	0.17	2.42	0.00	0.000	6	0.150	0.085	3318	1757	1378	0	0	0	0	0	0
11627	0.94	372.7	28.4	10.0	950	11637	0.05	2.35	0.00	0.000	4	0.158	0.059	3390	329	1376	0	0	0	0	0	0
11854	0.94	372.7	3.2	10.9	986	11865	0.15	2.30	0.00	0.000	6	0.126	0.044	3341	1747	1374	0	0	0	0	0	0
11873	end climb: SURFACE_DEPTH_REACHED
state	11873	begin surface coast
11911	end surface coast: CONTROL_FINISHED_OK
state	11911	begin surface