Glider dive log

SAGE 17Apr15 * SG573 * Dive index * Mission links * Dive 516 * 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 516 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 -15069.949 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 515

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 515 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 -15069.949

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 516 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 200515,182936,-3434.701,2525.509,32,1.1,32,-27.8 TGT_NAME WP_NORTH

_CALLS 2 TGT_LATLONG -3423.880,2522.020

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.229,0.204

_SM_DEPTHo 1.92 KALMAN_X -18488.8,-8625.5,-2647.6,-6374.3,-1020.9

_SM_ANGLEo -65.9 KALMAN_Y -14362.4,-6812.0,-2167.9,-3593.3,-569.5

GPS2 200515,184105,-3435.052,2524.965,27,1.7,27,-27.8 MHEAD_RNG_PITCHd_Wd 60.5,21175,-16.9,-10.010

SPEED_LIMITS 0.173,0.279 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.3,1.010764 _10V_AH 10.0,40.551

SM_CCo 11533,99.00,0.044,0,0,406,611.52 FG_AHR_24Vo 0.000

SM_GC 1.81,0.00,0.00,99.00,0.000,0.000,0.044,71,1979,406,-9.26,1.70,611.52 FG_AHR_10Vo 0.000

IRIDIUM_FIX -3419.93,2528.36,160308,070707 MEM 330704

TT8_MAMPS 0.026964 DATA_FILE_SIZE 67174,977

HUMID 56.61 CAP_FILE_SIZE 140054,0

INTERNAL_PRESSURE 9.39179 CFSIZE 2097086464,2037907456

TCM_TEMP 21.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2

XPDR_PINGS 3 CURRENT 0.405,244.8,1

ALTIM_BOTTOM_PING 610.8,21.1 GPS 200515,215635,-3435.346,2523.555,36,1.2,36,-27.8

_24V_AH 22.9,51.296

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 248 137.78 SBE_CT 668 23 355.35

Roll_motor 127 125 365.09 AA4330 1616 17 637.71

VBD_pump_during_apogee 482 978 10821.62 WL_BB2F 857 105 2061.00

VBD_pump_during_surface 99 44 100.59 QSP2150 325 17 128.52

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 50 91 105.35 nil 0 0 0.00

Iridium_during_connect 125 160 459.50 nil 0 0 0.00

Iridium_during_xfer 284 223 1452.30 nil 0 0 0.00

Transponder_ping 15 420 149.08 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 30 27 8.57

TT8 2546 13 353.69

LPSleep 5817 2 127.41

TT8_Active 681 13 94.68

TT8_Sampling 3006 40 1228.06

TT8_CF8 268 50 135.79

TT8_Kalman 0 0 0.00

Analog_circuits 1732 15 265.37

GPS_charging 0 0 0.00

Compass 2385 15 375.20

RAFOS 0 0 0.00

Transponder 96 30 28.85

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 0 108 0.00 0.00 -80.18 0.000 2 0.000 0.000 90 1927 2454 0 0 0 0 0 0

111 -1.05 -170.3 3.2 -3.6 9 163 11.35 2.50 -28.98 0.000 4 0.249 0.106 2677 3348 3600 0 0 0 0 0 0

184 -0.82 -170.3 13.7 -21.4 18 195 0.28 2.55 0.00 0.000 6 0.165 0.095 2757 1922 3601 0 0 0 0 0 0

247 -0.71 -170.3 25.8 -18.0 27 254 0.17 2.45 0.00 0.000 4 0.212 0.083 2789 3354 3602 0 0 0 0 0 0

335 -0.71 -170.3 37.8 -11.8 41 342 0.00 2.50 0.00 0.000 6 0.000 0.089 2789 1916 3603 0 0 0 0 0 0

482 -0.71 -170.3 58.1 -14.3 66 491 0.00 2.50 0.00 0.000 4 0.000 0.099 2789 488 3604 0 0 0 0 0 0

499 -0.71 -170.3 60.7 -14.9 68 506 0.10 2.75 0.00 0.000 6 0.234 0.125 2798 1926 3603 0 0 0 0 0 0

854 -0.75 -170.3 101.2 -9.8 128 858 0.00 2.42 0.00 0.000 4 0.000 0.098 2787 3352 3606 0 0 0 0 0 0

963 -0.81 -170.3 113.3 -10.7 137 968 0.00 2.53 0.00 0.000 6 0.000 0.096 2788 1911 3606 0 0 0 0 0 0

1289 -0.86 -170.3 147.2 -10.4 167 1294 0.10 2.42 0.00 0.000 4 0.102 0.096 2747 484 3607 0 0 0 0 0 0

1333 -0.82 -170.3 153.3 -13.8 170 1342 0.10 2.45 0.00 0.000 6 0.187 0.077 2761 1925 3607 0 0 0 0 0 0

1662 -0.82 -170.3 198.1 -14.2 201 1667 0.00 2.47 0.00 0.000 4 0.000 0.109 2751 3341 3607 0 0 0 0 0 0

1872 -0.82 -170.3 225.9 -12.0 219 1878 0.05 2.58 0.00 0.000 6 0.158 0.110 2762 1925 3606 0 0 0 0 0 0

2200 -0.82 -170.3 268.9 -14.2 249 2204 0.00 2.45 0.00 0.000 4 0.000 0.093 2762 471 3605 0 0 0 0 0 0

2248 -0.82 -170.3 276.6 -14.2 253 2256 0.00 2.45 0.00 0.000 6 0.000 0.073 2754 1918 3605 0 0 0 0 0 0

2574 -0.82 -170.3 318.9 -12.4 284 2578 0.00 2.53 0.00 0.000 4 0.000 0.111 2743 3349 3604 0 0 0 0 0 0

2784 -0.82 -170.3 344.0 -12.4 302 2789 0.10 2.58 0.00 0.000 6 0.154 0.107 2764 1919 3603 0 0 0 0 0 0

3110 -0.82 -170.3 380.3 -10.9 332 3114 0.00 2.45 0.00 0.000 4 0.000 0.096 2764 481 3603 0 0 0 0 0 0

3130 -0.82 -170.3 382.5 -11.4 333 3134 0.00 2.45 0.00 0.000 6 0.000 0.077 2756 1922 3603 0 0 0 0 0 0

3461 -0.82 -170.3 424.6 -12.9 355 3465 0.00 2.58 0.00 0.000 4 0.000 0.116 2745 3346 3601 0 0 0 0 0 0

3612 -0.82 -170.3 443.3 -12.0 362 3617 0.08 2.60 0.00 0.000 6 0.160 0.112 2759 1919 3600 0 0 0 0 0 0

3939 -0.82 -170.3 482.7 -12.2 378 3943 0.00 2.45 0.00 0.000 4 0.000 0.093 2760 483 3599 0 0 0 0 0 0

3988 -0.82 -170.3 489.2 -12.3 380 3993 0.05 2.42 0.00 0.000 6 0.233 0.070 2760 1922 3599 0 0 0 0 0 0

4312 -0.82 -170.3 531.8 -13.5 396 4316 0.00 2.62 0.00 0.000 4 0.000 0.125 2751 3336 3597 0 0 0 0 0 0

4429 -0.84 -170.3 547.3 -12.6 401 4434 0.00 2.70 0.00 0.000 6 0.000 0.125 2751 1908 3596 0 0 0 0 0 0

4747 -0.84 -170.3 585.9 -12.3 416 4751 0.00 2.38 0.00 0.000 4 0.000 0.085 2751 488 3595 0 0 0 0 0 0

4835 -0.84 -170.3 597.0 -12.3 420 4840 0.08 2.35 0.00 0.000 6 0.198 0.057 2756 1922 3595 0 0 0 0 0 0

5016 end dive: BOTTOM_OBSTACLE_DETECTED

state 5016 begin apogee

5023 -0.25 0.0 617.9 11.5 429 5164 0.70 0.00 137.50 0.978 6 0.182 0.000 2948 1715 2902 0 0 0 0 0 0

5165 end apogee: CONTROL_FINISHED_OK

state 5165 begin climb

5167 1.05 170.3 625.0 0.0 436 5322 1.30 2.38 146.30 0.950 4 0.104 0.054 3374 375 2207 0 0 0 0 0 0

5574 0.90 170.3 600.3 10.5 454 5579 0.17 2.22 0.00 0.000 6 0.164 0.036 3329 1767 2204 0 0 0 0 0 0

5892 0.89 227.3 574.1 7.8 469 5946 0.00 2.30 48.70 0.937 4 0.000 0.046 3338 364 1974 0 0 0 0 0 0

6187 0.82 227.3 544.8 11.0 482 6192 0.15 2.22 0.00 0.000 6 0.161 0.036 3299 1764 1970 0 0 0 0 0 0

6504 0.86 261.3 517.2 8.7 497 6535 0.00 0.00 29.50 0.907 6 0.000 0.000 3299 1764 1835 0 0 0 0 0 0

6833 0.88 275.4 487.1 9.5 513 6855 0.00 2.30 13.10 0.822 4 0.000 0.051 3308 371 1779 0 0 0 0 0 0

6912 0.88 275.4 479.1 10.4 516 6916 0.00 2.22 0.00 0.000 6 0.000 0.038 3308 1756 1777 0 0 0 0 0 0

7230 0.88 275.4 445.3 11.5 531 7231 0.00 0.00 0.00 0.000 6 0.000 0.000 3308 1756 1776 0 0 0 0 0 0

7537 0.88 275.4 412.7 10.3 546 7541 0.00 2.40 0.00 0.000 4 0.000 0.091 3308 3169 1775 0 0 0 0 0 0

7580 0.88 275.4 407.9 11.0 548 7585 0.00 2.45 0.00 0.000 6 0.000 0.103 3317 1795 1774 0 0 0 0 0 0

7907 0.86 275.4 371.3 11.6 575 7911 0.00 2.40 0.00 0.000 4 0.000 0.064 3328 323 1774 0 0 0 0 0 0

8050 0.82 275.4 355.6 10.5 587 8055 0.12 2.28 0.00 0.000 6 0.158 0.038 3296 1756 1773 0 0 0 0 0 0

8378 0.84 298.1 326.1 9.1 617 8405 0.00 2.42 20.45 0.806 4 0.000 0.076 3296 3185 1686 0 0 0 0 0 0

8508 0.88 325.3 313.7 8.9 628 8540 0.00 2.58 24.70 0.783 6 0.000 0.099 3304 1756 1575 0 0 0 0 0 0

8859 0.89 334.8 281.2 9.6 661 8874 0.00 2.38 8.48 0.663 4 0.000 0.061 3316 327 1537 0 0 0 0 0 0

8996 0.89 334.8 266.6 10.7 673 9001 0.00 2.30 0.00 0.000 6 0.000 0.037 3315 1767 1536 0 0 0 0 0 0

9322 0.89 334.8 230.8 11.8 703 9326 0.00 2.40 0.00 0.000 4 0.000 0.093 3316 3171 1536 0 0 0 0 0 0

9352 0.89 334.8 227.5 12.3 705 9357 0.00 2.55 0.00 0.000 6 0.000 0.105 3324 1756 1535 0 0 0 0 0 0

9678 0.89 334.8 187.0 12.1 735 9682 0.00 2.30 0.00 0.000 4 0.000 0.060 3336 321 1535 0 0 0 0 0 0

9824 0.86 334.8 168.8 12.4 747 9832 0.10 2.28 0.00 0.000 6 0.157 0.038 3310 1759 1535 0 0 0 0 0 0

10149 0.86 334.8 133.6 10.6 778 10153 0.00 2.33 0.00 0.000 4 0.000 0.073 3309 3177 1534 0 0 0 0 0 0

10177 0.86 334.8 130.7 10.6 780 10182 0.00 2.53 0.00 0.000 6 0.000 0.097 3318 1747 1534 0 0 0 0 0 0

10504 0.90 367.8 97.5 8.7 812 10541 0.00 2.28 29.30 0.643 4 0.000 0.058 3330 332 1402 0 0 0 0 0 0

10800 0.95 383.1 69.4 9.4 862 10822 0.00 2.30 13.15 0.575 6 0.000 0.044 3330 1759 1340 0 0 0 0 0 0

11173 1.03 396.5 35.0 9.5 925 11190 0.10 2.38 11.80 0.562 4 0.098 0.055 3399 328 1285 0 0 0 0 0 0

11205 1.03 396.5 31.5 10.3 929 11212 0.12 2.30 0.00 0.000 6 0.146 0.044 3365 1759 1284 0 0 0 0 0 0

11363 1.06 396.5 16.3 10.3 954 11372 0.00 2.38 0.00 0.000 4 0.000 0.074 3365 3186 1283 0 0 0 0 0 0

11424 1.06 396.5 9.6 11.1 963 11433 0.00 2.53 0.00 0.000 6 0.000 0.096 3374 1764 1283 0 0 0 0 0 0

11483 end climb: SURFACE_DEPTH_REACHED

state 11483 begin surface coast

11515 end surface coast: CONTROL_FINISHED_OK

state 11515 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	516	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	-15069.949	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	515

GPS1	200515,182936,-3434.701,2525.509,32,1.1,32,-27.8	TGT_NAME	WP_NORTH
_CALLS	2	TGT_LATLONG	-3423.880,2522.020
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.229,0.204
_SM_DEPTHo	1.92	KALMAN_X	-18488.8,-8625.5,-2647.6,-6374.3,-1020.9
_SM_ANGLEo	-65.9	KALMAN_Y	-14362.4,-6812.0,-2167.9,-3593.3,-569.5
GPS2	200515,184105,-3435.052,2524.965,27,1.7,27,-27.8	MHEAD_RNG_PITCHd_Wd	60.5,21175,-16.9,-10.010
SPEED_LIMITS	0.173,0.279	D_GRID	1000

FINISH	1.3,1.010764	_10V_AH	10.0,40.551
SM_CCo	11533,99.00,0.044,0,0,406,611.52	FG_AHR_24Vo	0.000
SM_GC	1.81,0.00,0.00,99.00,0.000,0.000,0.044,71,1979,406,-9.26,1.70,611.52	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-3419.93,2528.36,160308,070707	MEM	330704
TT8_MAMPS	0.026964	DATA_FILE_SIZE	67174,977
HUMID	56.61	CAP_FILE_SIZE	140054,0
INTERNAL_PRESSURE	9.39179	CFSIZE	2097086464,2037907456
TCM_TEMP	21.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
XPDR_PINGS	3	CURRENT	0.405,244.8,1
ALTIM_BOTTOM_PING	610.8,21.1	GPS	200515,215635,-3435.346,2523.555,36,1.2,36,-27.8
_24V_AH	22.9,51.296

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	248	137.78	SBE_CT	668	23	355.35
Roll_motor	127	125	365.09	AA4330	1616	17	637.71
VBD_pump_during_apogee	482	978	10821.62	WL_BB2F	857	105	2061.00
VBD_pump_during_surface	99	44	100.59	QSP2150	325	17	128.52
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	50	91	105.35	nil	0	0	0.00
Iridium_during_connect	125	160	459.50	nil	0	0	0.00
Iridium_during_xfer	284	223	1452.30	nil	0	0	0.00
Transponder_ping	15	420	149.08	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	30	27	8.57
TT8	2546	13	353.69
LPSleep	5817	2	127.41
TT8_Active	681	13	94.68
TT8_Sampling	3006	40	1228.06
TT8_CF8	268	50	135.79
TT8_Kalman	0	0	0.00
Analog_circuits	1732	15	265.37
GPS_charging	0	0	0.00
Compass	2385	15	375.20
RAFOS	0	0	0.00
Transponder	96	30	28.85

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	108	0.00	0.00	-80.18	0.000	2	0.000	0.000	90	1927	2454	0	0	0	0	0	0
111	-1.05	-170.3	3.2	-3.6	9	163	11.35	2.50	-28.98	0.000	4	0.249	0.106	2677	3348	3600	0	0	0	0	0	0
184	-0.82	-170.3	13.7	-21.4	18	195	0.28	2.55	0.00	0.000	6	0.165	0.095	2757	1922	3601	0	0	0	0	0	0
247	-0.71	-170.3	25.8	-18.0	27	254	0.17	2.45	0.00	0.000	4	0.212	0.083	2789	3354	3602	0	0	0	0	0	0
335	-0.71	-170.3	37.8	-11.8	41	342	0.00	2.50	0.00	0.000	6	0.000	0.089	2789	1916	3603	0	0	0	0	0	0
482	-0.71	-170.3	58.1	-14.3	66	491	0.00	2.50	0.00	0.000	4	0.000	0.099	2789	488	3604	0	0	0	0	0	0
499	-0.71	-170.3	60.7	-14.9	68	506	0.10	2.75	0.00	0.000	6	0.234	0.125	2798	1926	3603	0	0	0	0	0	0
854	-0.75	-170.3	101.2	-9.8	128	858	0.00	2.42	0.00	0.000	4	0.000	0.098	2787	3352	3606	0	0	0	0	0	0
963	-0.81	-170.3	113.3	-10.7	137	968	0.00	2.53	0.00	0.000	6	0.000	0.096	2788	1911	3606	0	0	0	0	0	0
1289	-0.86	-170.3	147.2	-10.4	167	1294	0.10	2.42	0.00	0.000	4	0.102	0.096	2747	484	3607	0	0	0	0	0	0
1333	-0.82	-170.3	153.3	-13.8	170	1342	0.10	2.45	0.00	0.000	6	0.187	0.077	2761	1925	3607	0	0	0	0	0	0
1662	-0.82	-170.3	198.1	-14.2	201	1667	0.00	2.47	0.00	0.000	4	0.000	0.109	2751	3341	3607	0	0	0	0	0	0
1872	-0.82	-170.3	225.9	-12.0	219	1878	0.05	2.58	0.00	0.000	6	0.158	0.110	2762	1925	3606	0	0	0	0	0	0
2200	-0.82	-170.3	268.9	-14.2	249	2204	0.00	2.45	0.00	0.000	4	0.000	0.093	2762	471	3605	0	0	0	0	0	0
2248	-0.82	-170.3	276.6	-14.2	253	2256	0.00	2.45	0.00	0.000	6	0.000	0.073	2754	1918	3605	0	0	0	0	0	0
2574	-0.82	-170.3	318.9	-12.4	284	2578	0.00	2.53	0.00	0.000	4	0.000	0.111	2743	3349	3604	0	0	0	0	0	0
2784	-0.82	-170.3	344.0	-12.4	302	2789	0.10	2.58	0.00	0.000	6	0.154	0.107	2764	1919	3603	0	0	0	0	0	0
3110	-0.82	-170.3	380.3	-10.9	332	3114	0.00	2.45	0.00	0.000	4	0.000	0.096	2764	481	3603	0	0	0	0	0	0
3130	-0.82	-170.3	382.5	-11.4	333	3134	0.00	2.45	0.00	0.000	6	0.000	0.077	2756	1922	3603	0	0	0	0	0	0
3461	-0.82	-170.3	424.6	-12.9	355	3465	0.00	2.58	0.00	0.000	4	0.000	0.116	2745	3346	3601	0	0	0	0	0	0
3612	-0.82	-170.3	443.3	-12.0	362	3617	0.08	2.60	0.00	0.000	6	0.160	0.112	2759	1919	3600	0	0	0	0	0	0
3939	-0.82	-170.3	482.7	-12.2	378	3943	0.00	2.45	0.00	0.000	4	0.000	0.093	2760	483	3599	0	0	0	0	0	0
3988	-0.82	-170.3	489.2	-12.3	380	3993	0.05	2.42	0.00	0.000	6	0.233	0.070	2760	1922	3599	0	0	0	0	0	0
4312	-0.82	-170.3	531.8	-13.5	396	4316	0.00	2.62	0.00	0.000	4	0.000	0.125	2751	3336	3597	0	0	0	0	0	0
4429	-0.84	-170.3	547.3	-12.6	401	4434	0.00	2.70	0.00	0.000	6	0.000	0.125	2751	1908	3596	0	0	0	0	0	0
4747	-0.84	-170.3	585.9	-12.3	416	4751	0.00	2.38	0.00	0.000	4	0.000	0.085	2751	488	3595	0	0	0	0	0	0
4835	-0.84	-170.3	597.0	-12.3	420	4840	0.08	2.35	0.00	0.000	6	0.198	0.057	2756	1922	3595	0	0	0	0	0	0
5016	end dive: BOTTOM_OBSTACLE_DETECTED
state	5016	begin apogee
5023	-0.25	0.0	617.9	11.5	429	5164	0.70	0.00	137.50	0.978	6	0.182	0.000	2948	1715	2902	0	0	0	0	0	0
5165	end apogee: CONTROL_FINISHED_OK
state	5165	begin climb
5167	1.05	170.3	625.0	0.0	436	5322	1.30	2.38	146.30	0.950	4	0.104	0.054	3374	375	2207	0	0	0	0	0	0
5574	0.90	170.3	600.3	10.5	454	5579	0.17	2.22	0.00	0.000	6	0.164	0.036	3329	1767	2204	0	0	0	0	0	0
5892	0.89	227.3	574.1	7.8	469	5946	0.00	2.30	48.70	0.937	4	0.000	0.046	3338	364	1974	0	0	0	0	0	0
6187	0.82	227.3	544.8	11.0	482	6192	0.15	2.22	0.00	0.000	6	0.161	0.036	3299	1764	1970	0	0	0	0	0	0
6504	0.86	261.3	517.2	8.7	497	6535	0.00	0.00	29.50	0.907	6	0.000	0.000	3299	1764	1835	0	0	0	0	0	0
6833	0.88	275.4	487.1	9.5	513	6855	0.00	2.30	13.10	0.822	4	0.000	0.051	3308	371	1779	0	0	0	0	0	0
6912	0.88	275.4	479.1	10.4	516	6916	0.00	2.22	0.00	0.000	6	0.000	0.038	3308	1756	1777	0	0	0	0	0	0
7230	0.88	275.4	445.3	11.5	531	7231	0.00	0.00	0.00	0.000	6	0.000	0.000	3308	1756	1776	0	0	0	0	0	0
7537	0.88	275.4	412.7	10.3	546	7541	0.00	2.40	0.00	0.000	4	0.000	0.091	3308	3169	1775	0	0	0	0	0	0
7580	0.88	275.4	407.9	11.0	548	7585	0.00	2.45	0.00	0.000	6	0.000	0.103	3317	1795	1774	0	0	0	0	0	0
7907	0.86	275.4	371.3	11.6	575	7911	0.00	2.40	0.00	0.000	4	0.000	0.064	3328	323	1774	0	0	0	0	0	0
8050	0.82	275.4	355.6	10.5	587	8055	0.12	2.28	0.00	0.000	6	0.158	0.038	3296	1756	1773	0	0	0	0	0	0
8378	0.84	298.1	326.1	9.1	617	8405	0.00	2.42	20.45	0.806	4	0.000	0.076	3296	3185	1686	0	0	0	0	0	0
8508	0.88	325.3	313.7	8.9	628	8540	0.00	2.58	24.70	0.783	6	0.000	0.099	3304	1756	1575	0	0	0	0	0	0
8859	0.89	334.8	281.2	9.6	661	8874	0.00	2.38	8.48	0.663	4	0.000	0.061	3316	327	1537	0	0	0	0	0	0
8996	0.89	334.8	266.6	10.7	673	9001	0.00	2.30	0.00	0.000	6	0.000	0.037	3315	1767	1536	0	0	0	0	0	0
9322	0.89	334.8	230.8	11.8	703	9326	0.00	2.40	0.00	0.000	4	0.000	0.093	3316	3171	1536	0	0	0	0	0	0
9352	0.89	334.8	227.5	12.3	705	9357	0.00	2.55	0.00	0.000	6	0.000	0.105	3324	1756	1535	0	0	0	0	0	0
9678	0.89	334.8	187.0	12.1	735	9682	0.00	2.30	0.00	0.000	4	0.000	0.060	3336	321	1535	0	0	0	0	0	0
9824	0.86	334.8	168.8	12.4	747	9832	0.10	2.28	0.00	0.000	6	0.157	0.038	3310	1759	1535	0	0	0	0	0	0
10149	0.86	334.8	133.6	10.6	778	10153	0.00	2.33	0.00	0.000	4	0.000	0.073	3309	3177	1534	0	0	0	0	0	0
10177	0.86	334.8	130.7	10.6	780	10182	0.00	2.53	0.00	0.000	6	0.000	0.097	3318	1747	1534	0	0	0	0	0	0
10504	0.90	367.8	97.5	8.7	812	10541	0.00	2.28	29.30	0.643	4	0.000	0.058	3330	332	1402	0	0	0	0	0	0
10800	0.95	383.1	69.4	9.4	862	10822	0.00	2.30	13.15	0.575	6	0.000	0.044	3330	1759	1340	0	0	0	0	0	0
11173	1.03	396.5	35.0	9.5	925	11190	0.10	2.38	11.80	0.562	4	0.098	0.055	3399	328	1285	0	0	0	0	0	0
11205	1.03	396.5	31.5	10.3	929	11212	0.12	2.30	0.00	0.000	6	0.146	0.044	3365	1759	1284	0	0	0	0	0	0
11363	1.06	396.5	16.3	10.3	954	11372	0.00	2.38	0.00	0.000	4	0.000	0.074	3365	3186	1283	0	0	0	0	0	0
11424	1.06	396.5	9.6	11.1	963	11433	0.00	2.53	0.00	0.000	6	0.000	0.096	3374	1764	1283	0	0	0	0	0	0
11483	end climb: SURFACE_DEPTH_REACHED
state	11483	begin surface coast
11515	end surface coast: CONTROL_FINISHED_OK
state	11515	begin surface