Glider dive log

SAGE 17Apr15 * SG573 * Dive index * Mission links * Dive 515 * 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 515 HEADING -1 ROLL_DEG 40 ALTIM_PING_DEPTH 50

D_SURF 3 ESCAPE_HEADING 0 C_ROLL_DIVE 1919 ALTIM_PING_DELTA 10

D_FLARE 3 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1758 ALTIM_FREQUENCY 13

D_TGT 1000 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_ABORT 1050 TGT_DEFAULT_LAT -3415 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 TGT_DEFAULT_LON 2600 ROLL_TIMEOUT 15 XPDR_VALID 5

D_BOOST 5 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 12 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 611.52295 R_STBD_OVSHOOT 19 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 -15066.022 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 514

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 514 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 -15066.022

COMPASS2_DEVICE -1 HEADING -1 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS_DEVICE 33 HEAD_ERRBAND 10 RAFOS_PEAK_OFFSET 1.5 T_MISSION 348

COMPASS_USE 0 HEAPDBG 0 RELAUNCH 0 T_NO_W 120

COURSE_BIAS 0 ICE_FREEZE_MARGIN 0.30000001 RHO 1.0278 T_RSLEEP 1

C_PITCH 3034 ID 573 ROLL_ADJ_DBAND 0 T_TURN 225

C_ROLL_CLIMB 1758 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_DIVE 1919 INT_PRESSURE_YINT -0.55000001 ROLL_AD_RATE 350 T_WATCHDOG 10

C_VBD 2902 KALMAN_USE 2 ROLL_CNV 0.028270001 UNCOM_BLEED 60

DEEPGLIDER 0 KERMIT 0 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 LENGTH 1.8 ROLL_GAIN_P 0 USE_BATHY 0

DEVICE1 2 LOGGERDEVICE1 -1 ROLL_MAX 3785 USE_ICE 0

DEVICE2 101 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE3 35 LOGGERDEVICE3 -1 ROLL_MIN 150 VBD_CNV -0.245296

DEVICE4 135 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE5 -1 LOGGERS 1 R_PORT_OVSHOOT 12 VBD_MAX 3959

DEVICE6 -1 MASS 52922 R_STBD_OVSHOOT 19 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 175 SEABIRD_C_G -9.9469662 VBD_MIN 409

DIVE 515 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 200515,145505,-3434.519,2527.219,32,1.2,32,-27.8 TGT_NAME WP_NORTH

_CALLS 1 TGT_LATLONG -3423.880,2522.020

_XMS_NAKs 16 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.229,0.204

_SM_DEPTHo 1.90 KALMAN_X -18488.8,-8625.5,-2647.6,-6374.3,-1020.9

_SM_ANGLEo -64.2 KALMAN_Y -14362.4,-6812.0,-2167.9,-3593.3,-569.5

GPS2 200515,150435,-3434.750,2526.711,29,2.0,29,-27.8 MHEAD_RNG_PITCHd_Wd 53.2,21370,-16.9,-10.010

SPEED_LIMITS 0.173,0.279 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.2,1.009713 _10V_AH 10.1,40.439

SM_CCo 12103,105.55,0.045,0,0,408,611.52 FG_AHR_24Vo 0.000

SM_GC 1.90,0.00,0.00,105.55,0.000,0.000,0.045,91,1927,408,-9.20,0.23,611.52 FG_AHR_10Vo 0.000

IRIDIUM_FIX -3419.93,2524.88,160308,000058 MEM 330704

TT8_MAMPS 0.026215 DATA_FILE_SIZE 67147,971

HUMID 56.10 CAP_FILE_SIZE 145126,0

INTERNAL_PRESSURE 9.38202 CFSIZE 2097086464,2038038528

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

XPDR_PINGS 0 CURRENT 0.341,240.0,1

ALTIM_BOTTOM_PING 662.3,31.2 GPS 200515,182936,-3434.701,2525.509,32,1.1,32,-27.8

_24V_AH 22.7,51.144

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 244 131.43 SBE_CT 664 23 350.36

Roll_motor 137 135 421.25 AA4330 1602 17 626.82

VBD_pump_during_apogee 478 1028 11175.41 WL_BB2F 804 105 1917.77

VBD_pump_during_surface 105 45 108.14 QSP2150 296 17 115.86

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 91 49.84 nil 0 0 0.00

Iridium_during_connect 23 160 87.01 nil 0 0 0.00

Iridium_during_xfer 350 223 1772.12 nil 0 0 0.00

Transponder_ping 15 420 150.16 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 31 27 8.93

TT8 2545 13 357.16

LPSleep 6332 2 140.06

TT8_Active 684 13 96.03

TT8_Sampling 2942 40 1214.15

TT8_CF8 270 50 138.02

TT8_Kalman 0 0 0.00

Analog_circuits 1751 15 270.97

GPS_charging 0 0 0.00

Compass 2378 15 377.86

RAFOS 0 0 0.00

Transponder 98 30 29.80

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 24 begin dive

26 -1.05 -170.3 0.0 0.0 0 104 0.00 0.00 -75.43 0.000 2 0.000 0.000 81 1920 2294 0 0 0 0 0 0

107 -1.05 -170.3 3.0 -2.7 9 166 11.20 2.47 -35.62 0.000 4 0.244 0.096 2677 3337 3600 0 0 0 0 0 0

320 -0.90 -170.3 40.0 -19.8 41 327 0.22 2.47 0.00 0.000 6 0.160 0.091 2739 1917 3602 0 0 0 0 0 0

674 -0.86 -170.3 96.0 -14.3 102 683 0.05 2.50 0.00 0.000 4 0.241 0.091 2742 3342 3604 0 0 0 0 0 0

764 -0.86 -170.3 108.7 -13.1 111 771 0.00 2.53 0.00 0.000 6 0.000 0.094 2742 1919 3604 0 0 0 0 0 0

1090 -0.83 -170.3 154.0 -15.1 142 1095 0.08 2.40 0.00 0.000 4 0.181 0.086 2760 477 3607 0 0 0 0 0 0

1119 -0.81 -170.3 158.3 -15.0 144 1124 0.08 2.45 0.00 0.000 6 0.213 0.076 2766 1911 3607 0 0 0 0 0 0

1444 -0.81 -170.3 202.6 -13.1 174 1448 0.00 2.55 0.00 0.000 4 0.000 0.109 2756 3353 3607 0 0 0 0 0 0

1604 -0.81 -170.3 222.2 -12.0 187 1611 0.08 2.62 0.00 0.000 6 0.168 0.112 2771 1911 3606 0 0 0 0 0 0

1929 -0.81 -170.3 260.4 -11.9 218 1934 0.00 2.42 0.00 0.000 4 0.000 0.092 2771 478 3606 0 0 0 0 0 0

1974 -0.81 -170.3 266.6 -12.7 221 1982 0.00 2.50 0.00 0.000 6 0.000 0.084 2762 1922 3606 0 0 0 0 0 0

2300 -0.81 -170.3 311.5 -13.8 252 2304 0.00 2.50 0.00 0.000 4 0.000 0.103 2751 3352 3605 0 0 0 0 0 0

2504 -0.81 -170.3 335.6 -11.9 269 2509 0.08 2.60 0.00 0.000 6 0.169 0.111 2766 1923 3604 0 0 0 0 0 0

2829 -0.81 -170.3 375.1 -12.3 299 2833 0.00 2.45 0.00 0.000 4 0.000 0.090 2766 475 3603 0 0 0 0 0 0

2873 -0.81 -170.3 381.4 -13.5 302 2881 0.05 2.47 0.00 0.000 6 0.230 0.078 2766 1918 3603 0 0 0 0 0 0

3204 -0.81 -170.3 427.9 -13.7 325 3209 0.00 2.60 0.00 0.000 4 0.000 0.119 2756 3340 3602 0 0 0 0 0 0

3366 -0.83 -170.3 449.1 -12.0 332 3370 0.00 2.67 0.00 0.000 6 0.000 0.122 2756 1917 3601 0 0 0 0 0 0

3682 -0.83 -170.3 486.8 -12.1 347 3686 0.00 2.42 0.00 0.000 4 0.000 0.086 2756 481 3601 0 0 0 0 0 0

3736 -0.83 -170.3 494.4 -13.3 349 3744 0.08 2.42 0.00 0.000 6 0.212 0.065 2760 1929 3600 0 0 0 0 0 0

4055 -0.83 -170.3 535.1 -12.6 365 4059 0.00 2.62 0.00 0.000 4 0.000 0.127 2750 3333 3599 0 0 0 0 0 0

4164 -0.85 -170.3 549.2 -12.2 370 4169 0.00 2.67 0.00 0.000 6 0.000 0.122 2750 1911 3598 0 0 0 0 0 0

4487 -0.85 -170.3 587.7 -12.0 386 4491 0.00 2.42 0.00 0.000 4 0.000 0.090 2750 481 3597 0 0 0 0 0 0

4571 -0.85 -170.3 599.3 -14.3 390 4579 0.08 2.38 0.00 0.000 6 0.200 0.059 2756 1922 3597 0 0 0 0 0 0

4906 -0.85 -170.3 643.0 -11.9 406 4911 0.00 2.65 0.00 0.000 4 0.000 0.129 2746 3328 3595 0 0 0 0 0 0

5015 -0.85 -170.3 655.6 -12.0 411 5019 0.00 2.72 0.00 0.000 6 0.000 0.135 2746 1920 3594 0 0 0 0 0 0

5216 end dive: BOTTOM_OBSTACLE_DETECTED

state 5216 begin apogee

5222 -0.25 0.0 679.6 12.0 421 5363 0.73 0.00 138.27 1.028 6 0.169 0.000 2950 1753 2902 0 0 0 0 0 0

5364 end apogee: CONTROL_FINISHED_OK

state 5364 begin climb

5366 1.05 170.3 687.1 0.0 428 5526 1.30 2.80 148.80 0.992 4 0.104 0.105 3363 3167 2206 0 0 0 0 0 0

5779 0.92 178.6 663.2 9.7 446 5794 0.15 2.55 7.82 0.819 6 0.184 0.098 3336 1750 2173 0 0 0 0 0 0

6118 0.86 209.0 633.5 8.8 463 6153 0.10 2.40 27.65 0.962 4 0.196 0.058 3322 326 2050 0 0 0 0 0 0

6318 0.81 219.3 614.6 9.6 472 6334 0.10 2.30 10.05 0.863 6 0.168 0.036 3297 1765 2007 0 0 0 0 0 0

6645 0.87 262.4 587.8 8.3 487 6690 0.00 2.42 38.50 0.958 4 0.000 0.050 3307 332 1831 0 0 0 0 0 0

6729 0.90 294.8 580.6 8.7 490 6765 0.00 2.30 29.33 0.929 6 0.000 0.035 3307 1759 1699 0 0 0 0 0 0

7087 0.90 294.8 544.6 11.2 508 7091 0.00 2.33 0.00 0.000 4 0.000 0.053 3316 331 1694 0 0 0 0 0 0

7120 0.90 294.8 540.6 12.2 509 7127 0.00 2.28 0.00 0.000 6 0.000 0.037 3316 1759 1693 0 0 0 0 0 0

7437 0.90 294.8 504.7 11.2 525 7441 0.00 2.33 0.00 0.000 4 0.000 0.054 3325 328 1692 0 0 0 0 0 0

7486 0.88 294.8 498.7 11.9 527 7490 0.00 2.28 0.00 0.000 6 0.000 0.038 3326 1757 1692 0 0 0 0 0 0

7802 0.88 294.8 465.9 10.1 542 7806 0.00 2.50 0.00 0.000 4 0.000 0.106 3325 3171 1691 0 0 0 0 0 0

7834 0.88 294.8 462.4 10.7 543 7842 0.08 2.47 0.00 0.000 6 0.206 0.095 3319 1755 1691 0 0 0 0 0 0

8150 0.89 300.0 432.5 9.8 559 8160 0.00 2.35 4.15 0.532 4 0.000 0.065 3330 332 1678 0 0 0 0 0 0

8295 0.85 300.0 417.2 10.7 565 8300 0.08 2.25 0.00 0.000 6 0.172 0.037 3312 1759 1679 0 0 0 0 0 0

8619 0.88 322.4 388.8 9.1 585 8645 0.00 2.38 21.73 0.849 4 0.000 0.083 3312 3173 1587 0 0 0 0 0 0

8672 0.89 329.6 383.7 9.7 589 8685 0.00 2.53 7.65 0.731 6 0.000 0.101 3320 1754 1558 0 0 0 0 0 0

9002 0.89 329.6 346.9 11.6 620 9006 0.00 2.33 0.00 0.000 4 0.000 0.060 3332 324 1556 0 0 0 0 0 0

9179 0.86 329.6 323.5 13.9 635 9184 0.08 2.30 0.00 0.000 6 0.170 0.038 3314 1766 1554 0 0 0 0 0 0

9507 0.86 329.6 284.7 12.2 665 9511 0.00 2.30 0.00 0.000 4 0.000 0.049 3323 323 1554 0 0 0 0 0 0

9547 0.86 329.6 279.4 12.8 668 9551 0.00 2.28 0.00 0.000 6 0.000 0.037 3323 1756 1554 0 0 0 0 0 0

9872 0.86 329.6 240.5 11.8 698 9876 0.00 2.38 0.00 0.000 4 0.000 0.086 3323 3175 1554 0 0 0 0 0 0

9904 0.86 329.6 236.5 12.3 700 9915 0.05 2.53 0.00 0.000 6 0.164 0.094 3317 1753 1554 0 0 0 0 0 0

10230 0.86 329.6 199.4 11.4 731 10234 0.00 2.30 0.00 0.000 4 0.000 0.059 3328 330 1554 0 0 0 0 0 0

10362 0.86 329.6 183.2 12.2 742 10366 0.05 2.25 0.00 0.000 6 0.194 0.037 3316 1759 1553 0 0 0 0 0 0

10695 0.86 329.6 146.8 10.2 773 10699 0.00 2.28 0.00 0.000 4 0.000 0.051 3325 329 1553 0 0 0 0 0 0

10727 0.86 329.6 142.9 11.6 775 10734 0.00 2.28 0.00 0.000 6 0.000 0.038 3325 1752 1553 0 0 0 0 0 0

11052 0.86 329.6 108.4 10.5 806 11056 0.00 2.28 0.00 0.000 4 0.000 0.051 3334 328 1553 0 0 0 0 0 0

11070 0.86 329.6 106.4 10.8 807 11075 0.08 2.28 0.00 0.000 6 0.169 0.038 3316 1769 1553 0 0 0 0 0 0

11417 0.94 356.0 73.9 9.0 862 11446 0.00 2.38 23.35 0.620 4 0.000 0.075 3316 3177 1450 0 0 0 0 0 0

11634 1.01 380.4 52.4 9.0 899 11663 0.10 2.47 21.52 0.607 6 0.089 0.090 3392 1756 1350 0 0 0 0 0 0

12027 0.99 382.0 5.7 9.9 963 12036 0.15 2.33 0.00 0.000 4 0.144 0.057 3359 333 1346 0 0 0 0 0 0

12049 end climb: SURFACE_DEPTH_REACHED

state 12050 begin surface coast

12082 end surface coast: CONTROL_FINISHED_OK

state 12082 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	515	HEADING	-1	ROLL_DEG	40	ALTIM_PING_DEPTH	50
D_SURF	3	ESCAPE_HEADING	0	C_ROLL_DIVE	1919	ALTIM_PING_DELTA	10
D_FLARE	3	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1758	ALTIM_FREQUENCY	13
D_TGT	1000	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_ABORT	1050	TGT_DEFAULT_LAT	-3415	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	TGT_DEFAULT_LON	2600	ROLL_TIMEOUT	15	XPDR_VALID	5
D_BOOST	5	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	12	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	611.52295	R_STBD_OVSHOOT	19	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	-15066.022	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	514

GPS1	200515,145505,-3434.519,2527.219,32,1.2,32,-27.8	TGT_NAME	WP_NORTH
_CALLS	1	TGT_LATLONG	-3423.880,2522.020
_XMS_NAKs	16	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.229,0.204
_SM_DEPTHo	1.90	KALMAN_X	-18488.8,-8625.5,-2647.6,-6374.3,-1020.9
_SM_ANGLEo	-64.2	KALMAN_Y	-14362.4,-6812.0,-2167.9,-3593.3,-569.5
GPS2	200515,150435,-3434.750,2526.711,29,2.0,29,-27.8	MHEAD_RNG_PITCHd_Wd	53.2,21370,-16.9,-10.010
SPEED_LIMITS	0.173,0.279	D_GRID	1000

FINISH	1.2,1.009713	_10V_AH	10.1,40.439
SM_CCo	12103,105.55,0.045,0,0,408,611.52	FG_AHR_24Vo	0.000
SM_GC	1.90,0.00,0.00,105.55,0.000,0.000,0.045,91,1927,408,-9.20,0.23,611.52	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-3419.93,2524.88,160308,000058	MEM	330704
TT8_MAMPS	0.026215	DATA_FILE_SIZE	67147,971
HUMID	56.10	CAP_FILE_SIZE	145126,0
INTERNAL_PRESSURE	9.38202	CFSIZE	2097086464,2038038528
TCM_TEMP	20.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
XPDR_PINGS	0	CURRENT	0.341,240.0,1
ALTIM_BOTTOM_PING	662.3,31.2	GPS	200515,182936,-3434.701,2525.509,32,1.1,32,-27.8
_24V_AH	22.7,51.144

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	244	131.43	SBE_CT	664	23	350.36
Roll_motor	137	135	421.25	AA4330	1602	17	626.82
VBD_pump_during_apogee	478	1028	11175.41	WL_BB2F	804	105	1917.77
VBD_pump_during_surface	105	45	108.14	QSP2150	296	17	115.86
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	91	49.84	nil	0	0	0.00
Iridium_during_connect	23	160	87.01	nil	0	0	0.00
Iridium_during_xfer	350	223	1772.12	nil	0	0	0.00
Transponder_ping	15	420	150.16	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	31	27	8.93
TT8	2545	13	357.16
LPSleep	6332	2	140.06
TT8_Active	684	13	96.03
TT8_Sampling	2942	40	1214.15
TT8_CF8	270	50	138.02
TT8_Kalman	0	0	0.00
Analog_circuits	1751	15	270.97
GPS_charging	0	0	0.00
Compass	2378	15	377.86
RAFOS	0	0	0.00
Transponder	98	30	29.80

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	24	begin dive
26	-1.05	-170.3	0.0	0.0	0	104	0.00	0.00	-75.43	0.000	2	0.000	0.000	81	1920	2294	0	0	0	0	0	0
107	-1.05	-170.3	3.0	-2.7	9	166	11.20	2.47	-35.62	0.000	4	0.244	0.096	2677	3337	3600	0	0	0	0	0	0
320	-0.90	-170.3	40.0	-19.8	41	327	0.22	2.47	0.00	0.000	6	0.160	0.091	2739	1917	3602	0	0	0	0	0	0
674	-0.86	-170.3	96.0	-14.3	102	683	0.05	2.50	0.00	0.000	4	0.241	0.091	2742	3342	3604	0	0	0	0	0	0
764	-0.86	-170.3	108.7	-13.1	111	771	0.00	2.53	0.00	0.000	6	0.000	0.094	2742	1919	3604	0	0	0	0	0	0
1090	-0.83	-170.3	154.0	-15.1	142	1095	0.08	2.40	0.00	0.000	4	0.181	0.086	2760	477	3607	0	0	0	0	0	0
1119	-0.81	-170.3	158.3	-15.0	144	1124	0.08	2.45	0.00	0.000	6	0.213	0.076	2766	1911	3607	0	0	0	0	0	0
1444	-0.81	-170.3	202.6	-13.1	174	1448	0.00	2.55	0.00	0.000	4	0.000	0.109	2756	3353	3607	0	0	0	0	0	0
1604	-0.81	-170.3	222.2	-12.0	187	1611	0.08	2.62	0.00	0.000	6	0.168	0.112	2771	1911	3606	0	0	0	0	0	0
1929	-0.81	-170.3	260.4	-11.9	218	1934	0.00	2.42	0.00	0.000	4	0.000	0.092	2771	478	3606	0	0	0	0	0	0
1974	-0.81	-170.3	266.6	-12.7	221	1982	0.00	2.50	0.00	0.000	6	0.000	0.084	2762	1922	3606	0	0	0	0	0	0
2300	-0.81	-170.3	311.5	-13.8	252	2304	0.00	2.50	0.00	0.000	4	0.000	0.103	2751	3352	3605	0	0	0	0	0	0
2504	-0.81	-170.3	335.6	-11.9	269	2509	0.08	2.60	0.00	0.000	6	0.169	0.111	2766	1923	3604	0	0	0	0	0	0
2829	-0.81	-170.3	375.1	-12.3	299	2833	0.00	2.45	0.00	0.000	4	0.000	0.090	2766	475	3603	0	0	0	0	0	0
2873	-0.81	-170.3	381.4	-13.5	302	2881	0.05	2.47	0.00	0.000	6	0.230	0.078	2766	1918	3603	0	0	0	0	0	0
3204	-0.81	-170.3	427.9	-13.7	325	3209	0.00	2.60	0.00	0.000	4	0.000	0.119	2756	3340	3602	0	0	0	0	0	0
3366	-0.83	-170.3	449.1	-12.0	332	3370	0.00	2.67	0.00	0.000	6	0.000	0.122	2756	1917	3601	0	0	0	0	0	0
3682	-0.83	-170.3	486.8	-12.1	347	3686	0.00	2.42	0.00	0.000	4	0.000	0.086	2756	481	3601	0	0	0	0	0	0
3736	-0.83	-170.3	494.4	-13.3	349	3744	0.08	2.42	0.00	0.000	6	0.212	0.065	2760	1929	3600	0	0	0	0	0	0
4055	-0.83	-170.3	535.1	-12.6	365	4059	0.00	2.62	0.00	0.000	4	0.000	0.127	2750	3333	3599	0	0	0	0	0	0
4164	-0.85	-170.3	549.2	-12.2	370	4169	0.00	2.67	0.00	0.000	6	0.000	0.122	2750	1911	3598	0	0	0	0	0	0
4487	-0.85	-170.3	587.7	-12.0	386	4491	0.00	2.42	0.00	0.000	4	0.000	0.090	2750	481	3597	0	0	0	0	0	0
4571	-0.85	-170.3	599.3	-14.3	390	4579	0.08	2.38	0.00	0.000	6	0.200	0.059	2756	1922	3597	0	0	0	0	0	0
4906	-0.85	-170.3	643.0	-11.9	406	4911	0.00	2.65	0.00	0.000	4	0.000	0.129	2746	3328	3595	0	0	0	0	0	0
5015	-0.85	-170.3	655.6	-12.0	411	5019	0.00	2.72	0.00	0.000	6	0.000	0.135	2746	1920	3594	0	0	0	0	0	0
5216	end dive: BOTTOM_OBSTACLE_DETECTED
state	5216	begin apogee
5222	-0.25	0.0	679.6	12.0	421	5363	0.73	0.00	138.27	1.028	6	0.169	0.000	2950	1753	2902	0	0	0	0	0	0
5364	end apogee: CONTROL_FINISHED_OK
state	5364	begin climb
5366	1.05	170.3	687.1	0.0	428	5526	1.30	2.80	148.80	0.992	4	0.104	0.105	3363	3167	2206	0	0	0	0	0	0
5779	0.92	178.6	663.2	9.7	446	5794	0.15	2.55	7.82	0.819	6	0.184	0.098	3336	1750	2173	0	0	0	0	0	0
6118	0.86	209.0	633.5	8.8	463	6153	0.10	2.40	27.65	0.962	4	0.196	0.058	3322	326	2050	0	0	0	0	0	0
6318	0.81	219.3	614.6	9.6	472	6334	0.10	2.30	10.05	0.863	6	0.168	0.036	3297	1765	2007	0	0	0	0	0	0
6645	0.87	262.4	587.8	8.3	487	6690	0.00	2.42	38.50	0.958	4	0.000	0.050	3307	332	1831	0	0	0	0	0	0
6729	0.90	294.8	580.6	8.7	490	6765	0.00	2.30	29.33	0.929	6	0.000	0.035	3307	1759	1699	0	0	0	0	0	0
7087	0.90	294.8	544.6	11.2	508	7091	0.00	2.33	0.00	0.000	4	0.000	0.053	3316	331	1694	0	0	0	0	0	0
7120	0.90	294.8	540.6	12.2	509	7127	0.00	2.28	0.00	0.000	6	0.000	0.037	3316	1759	1693	0	0	0	0	0	0
7437	0.90	294.8	504.7	11.2	525	7441	0.00	2.33	0.00	0.000	4	0.000	0.054	3325	328	1692	0	0	0	0	0	0
7486	0.88	294.8	498.7	11.9	527	7490	0.00	2.28	0.00	0.000	6	0.000	0.038	3326	1757	1692	0	0	0	0	0	0
7802	0.88	294.8	465.9	10.1	542	7806	0.00	2.50	0.00	0.000	4	0.000	0.106	3325	3171	1691	0	0	0	0	0	0
7834	0.88	294.8	462.4	10.7	543	7842	0.08	2.47	0.00	0.000	6	0.206	0.095	3319	1755	1691	0	0	0	0	0	0
8150	0.89	300.0	432.5	9.8	559	8160	0.00	2.35	4.15	0.532	4	0.000	0.065	3330	332	1678	0	0	0	0	0	0
8295	0.85	300.0	417.2	10.7	565	8300	0.08	2.25	0.00	0.000	6	0.172	0.037	3312	1759	1679	0	0	0	0	0	0
8619	0.88	322.4	388.8	9.1	585	8645	0.00	2.38	21.73	0.849	4	0.000	0.083	3312	3173	1587	0	0	0	0	0	0
8672	0.89	329.6	383.7	9.7	589	8685	0.00	2.53	7.65	0.731	6	0.000	0.101	3320	1754	1558	0	0	0	0	0	0
9002	0.89	329.6	346.9	11.6	620	9006	0.00	2.33	0.00	0.000	4	0.000	0.060	3332	324	1556	0	0	0	0	0	0
9179	0.86	329.6	323.5	13.9	635	9184	0.08	2.30	0.00	0.000	6	0.170	0.038	3314	1766	1554	0	0	0	0	0	0
9507	0.86	329.6	284.7	12.2	665	9511	0.00	2.30	0.00	0.000	4	0.000	0.049	3323	323	1554	0	0	0	0	0	0
9547	0.86	329.6	279.4	12.8	668	9551	0.00	2.28	0.00	0.000	6	0.000	0.037	3323	1756	1554	0	0	0	0	0	0
9872	0.86	329.6	240.5	11.8	698	9876	0.00	2.38	0.00	0.000	4	0.000	0.086	3323	3175	1554	0	0	0	0	0	0
9904	0.86	329.6	236.5	12.3	700	9915	0.05	2.53	0.00	0.000	6	0.164	0.094	3317	1753	1554	0	0	0	0	0	0
10230	0.86	329.6	199.4	11.4	731	10234	0.00	2.30	0.00	0.000	4	0.000	0.059	3328	330	1554	0	0	0	0	0	0
10362	0.86	329.6	183.2	12.2	742	10366	0.05	2.25	0.00	0.000	6	0.194	0.037	3316	1759	1553	0	0	0	0	0	0
10695	0.86	329.6	146.8	10.2	773	10699	0.00	2.28	0.00	0.000	4	0.000	0.051	3325	329	1553	0	0	0	0	0	0
10727	0.86	329.6	142.9	11.6	775	10734	0.00	2.28	0.00	0.000	6	0.000	0.038	3325	1752	1553	0	0	0	0	0	0
11052	0.86	329.6	108.4	10.5	806	11056	0.00	2.28	0.00	0.000	4	0.000	0.051	3334	328	1553	0	0	0	0	0	0
11070	0.86	329.6	106.4	10.8	807	11075	0.08	2.28	0.00	0.000	6	0.169	0.038	3316	1769	1553	0	0	0	0	0	0
11417	0.94	356.0	73.9	9.0	862	11446	0.00	2.38	23.35	0.620	4	0.000	0.075	3316	3177	1450	0	0	0	0	0	0
11634	1.01	380.4	52.4	9.0	899	11663	0.10	2.47	21.52	0.607	6	0.089	0.090	3392	1756	1350	0	0	0	0	0	0
12027	0.99	382.0	5.7	9.9	963	12036	0.15	2.33	0.00	0.000	4	0.144	0.057	3359	333	1346	0	0	0	0	0	0
12049	end climb: SURFACE_DEPTH_REACHED
state	12050	begin surface coast
12082	end surface coast: CONTROL_FINISHED_OK
state	12082	begin surface