Glider dive log

SAGE 17Apr15 * SG573 * Dive index * Mission links * Dive 517 * 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 517 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 60 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 -15072.507 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 516

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 516 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 -15072.507

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 60 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 175 SEABIRD_C_G -9.9469662 VBD_MIN 409

DIVE 517 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 200515,215635,-3435.346,2523.555,36,1.2,36,-27.8 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 1.94 KALMAN_X -18488.8,-8625.5,-2647.6,-6374.3,-1020.9

_SM_ANGLEo -63.4 KALMAN_Y -14362.4,-6812.0,-2167.9,-3593.3,-569.5

GPS2 200515,220505,-3435.518,2523.212,42,1.3,42,-27.8 MHEAD_RNG_PITCHd_Wd 68.0,21630,-16.9,-10.010

SPEED_LIMITS 0.173,0.279 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.2,1.010869 _10V_AH 10.1,40.657

SM_CCo 10736,82.22,0.044,0,0,407,611.52 FG_AHR_24Vo 0.000

SM_GC 1.84,0.00,0.00,82.22,0.000,0.000,0.044,73,1942,407,-9.26,0.68,611.52 FG_AHR_10Vo 0.000

IRIDIUM_FIX -3422.54,2522.51,160308,080859 MEM 330800

TT8_MAMPS 0.026964 DATA_FILE_SIZE 63938,926

HUMID 56.41 CAP_FILE_SIZE 127508,0

INTERNAL_PRESSURE 9.39179 CFSIZE 2097086464,2037841920

TCM_TEMP 21.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2

XPDR_PINGS 1 CURRENT 0.427,244.2,1

ALTIM_BOTTOM_PING 562.2,23.1 GPS 210515,010705,-3435.682,2521.573,40,1.0,40,-27.8

_24V_AH 23.0,51.434

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 241 135.80 SBE_CT 633 23 338.14

Roll_motor 108 142 354.35 AA4330 1546 17 612.71

VBD_pump_during_apogee 480 950 10494.90 WL_BB2F 840 105 2030.00

VBD_pump_during_surface 82 44 83.91 QSP2150 304 17 120.53

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 91 53.56 nil 0 0 0.00

Iridium_during_connect 21 160 79.88 nil 0 0 0.00

Iridium_during_xfer 281 223 1441.52 nil 0 0 0.00

Transponder_ping 13 420 130.41 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 45 27 12.65

TT8 2383 13 334.45

LPSleep 5340 2 118.12

TT8_Active 649 13 91.07

TT8_Sampling 2700 40 1114.03

TT8_CF8 254 50 129.96

TT8_Kalman 0 0 0.00

Analog_circuits 1618 15 250.37

GPS_charging 0 0 0.00

Compass 2210 15 351.14

RAFOS 0 0 0.00

Transponder 83 30 25.18

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 0 104 0.00 0.00 -76.60 0.000 2 0.000 0.000 71 1980 2333 0 0 0 0 0 0

107 -1.05 -170.3 3.3 -3.5 9 160 11.15 2.33 -35.17 0.000 4 0.242 0.097 2673 3309 3600 0 0 0 0 0 0

373 -0.89 -170.3 51.5 -19.6 51 383 0.22 2.45 0.00 0.000 6 0.172 0.091 2739 1919 3602 0 0 0 0 0 0

726 -0.83 -170.3 106.3 -13.4 108 728 0.10 0.00 0.00 0.000 6 0.187 0.000 2763 1919 3604 0 0 0 0 0 0

1043 -0.83 -170.3 146.6 -12.8 138 1048 0.00 2.40 0.00 0.000 4 0.000 0.099 2756 3293 3606 0 0 0 0 0 0

1065 -0.83 -170.3 149.5 -12.8 139 1073 0.00 2.42 0.00 0.000 6 0.000 0.100 2756 1920 3606 0 0 0 0 0 0

1392 -0.83 -170.3 190.2 -12.7 170 1396 0.00 2.47 0.00 0.000 4 0.000 0.108 2747 3293 3607 0 0 0 0 0 0

1446 -0.83 -170.3 197.7 -12.9 174 1455 0.05 2.42 0.00 0.000 6 0.183 0.098 2757 1916 3606 0 0 0 0 0 0

1774 -0.83 -170.3 237.1 -12.6 205 1776 0.00 0.00 0.00 0.000 6 0.000 0.000 2757 1916 3606 0 0 0 0 0 0

2091 -0.83 -170.3 275.9 -12.6 235 2095 0.00 2.42 0.00 0.000 4 0.000 0.089 2757 481 3605 0 0 0 0 0 0

2142 -0.83 -170.3 282.8 -13.2 239 2146 0.00 2.33 0.00 0.000 6 0.000 0.067 2749 1874 3605 0 0 0 0 0 0

2473 -0.81 -170.3 325.7 -13.4 270 2478 0.10 2.65 0.00 0.000 4 0.213 0.118 2760 3339 3605 0 0 0 0 0 0

2663 -0.84 -170.3 348.7 -11.8 286 2670 0.00 2.58 0.00 0.000 6 0.000 0.109 2760 1910 3604 0 0 0 0 0 0

2990 -0.84 -170.3 388.8 -12.2 317 2994 0.00 2.40 0.00 0.000 4 0.000 0.089 2760 481 3603 0 0 0 0 0 0

3045 -0.84 -170.3 396.6 -12.9 321 3054 0.00 2.42 0.00 0.000 6 0.000 0.071 2750 1920 3603 0 0 0 0 0 0

3376 -0.84 -170.3 437.2 -11.4 339 3380 0.00 2.55 0.00 0.000 4 0.000 0.112 2739 3338 3602 0 0 0 0 0 0

3528 -0.84 -170.3 452.9 -10.5 346 3533 0.10 2.60 0.00 0.000 6 0.154 0.112 2762 1920 3600 0 0 0 0 0 0

3856 -0.84 -170.3 487.4 -11.3 362 3861 0.00 2.45 0.00 0.000 4 0.000 0.096 2762 481 3599 0 0 0 0 0 0

3942 -0.84 -170.3 497.9 -12.4 366 3946 0.00 2.45 0.00 0.000 6 0.000 0.073 2753 1923 3599 0 0 0 0 0 0

4270 -0.84 -170.3 537.2 -11.5 382 4274 0.00 2.60 0.00 0.000 4 0.000 0.119 2742 3343 3598 0 0 0 0 0 0

4369 -0.84 -170.3 549.7 -12.4 386 4378 0.08 2.67 0.00 0.000 6 0.152 0.122 2757 1918 3597 0 0 0 0 0 0

4560 end dive: BOTTOM_OBSTACLE_DETECTED

state 4560 begin apogee

4566 -0.25 0.0 572.1 11.9 396 4705 0.68 0.00 135.40 0.950 6 0.170 0.000 2949 1748 2902 0 0 0 0 0 0

4706 end apogee: CONTROL_FINISHED_OK

state 4706 begin climb

4708 1.05 170.3 579.3 0.0 403 4863 1.30 2.88 144.55 0.918 4 0.104 0.109 3365 3179 2206 0 0 0 0 0 0

5114 0.91 174.7 556.8 9.8 421 5128 0.17 2.62 4.32 0.604 6 0.171 0.112 3329 1744 2189 0 0 0 0 0 0

5439 0.87 209.3 528.9 8.6 437 5476 0.05 2.53 31.02 0.897 4 0.242 0.086 3319 3180 2047 0 0 0 0 0 0

5534 0.81 209.3 519.7 10.2 440 5539 0.12 2.55 0.00 0.000 6 0.187 0.101 3298 1754 2046 0 0 0 0 0 0

5851 0.82 240.5 492.2 8.8 455 5885 0.00 2.42 27.35 0.883 4 0.000 0.065 3309 327 1921 0 0 0 0 0 0

6010 0.79 240.5 475.6 10.7 462 6015 0.08 2.33 0.00 0.000 6 0.180 0.040 3293 1767 1919 0 0 0 0 0 0

6332 0.83 268.2 447.2 8.9 478 6359 0.00 0.00 24.65 0.864 6 0.000 0.000 3293 1766 1808 0 0 0 0 0 0

6661 0.87 304.5 418.0 8.6 494 6699 0.05 2.38 31.88 0.855 4 0.160 0.053 3338 323 1659 0 0 0 0 0 0

6724 0.84 304.5 411.8 10.4 496 6729 0.12 2.33 0.00 0.000 6 0.154 0.038 3305 1761 1658 0 0 0 0 0 0

7049 0.84 304.7 379.8 10.0 521 7053 0.00 2.33 0.00 0.000 4 0.000 0.080 3305 3169 1655 0 0 0 0 0 0

7104 0.84 304.7 373.6 10.6 525 7112 0.00 2.50 0.00 0.000 6 0.000 0.099 3314 1756 1654 0 0 0 0 0 0

7429 0.84 304.7 337.0 11.3 556 7433 0.00 2.33 0.00 0.000 4 0.000 0.063 3325 329 1653 0 0 0 0 0 0

7650 0.82 304.7 311.7 10.5 575 7654 0.10 2.28 0.00 0.000 6 0.162 0.037 3300 1767 1652 0 0 0 0 0 0

7977 0.82 304.7 278.9 10.0 605 7978 0.00 0.00 0.00 0.000 6 0.000 0.000 3299 1767 1652 0 0 0 0 0 0

8295 0.84 304.7 247.1 10.2 635 8299 0.00 2.30 0.00 0.000 4 0.000 0.051 3309 326 1651 0 0 0 0 0 0

8316 0.84 304.7 244.5 10.6 636 8325 0.00 2.30 0.00 0.000 6 0.000 0.040 3309 1756 1651 0 0 0 0 0 0

8642 0.84 307.1 212.5 9.9 667 8646 0.00 2.42 0.00 0.000 4 0.000 0.088 3309 3185 1651 0 0 0 0 0 0

8696 0.84 307.1 206.6 10.7 671 8703 0.00 2.53 0.00 0.000 6 0.000 0.097 3318 1755 1650 0 0 0 0 0 0

9022 0.84 307.1 171.0 11.1 702 9026 0.00 2.33 0.00 0.000 4 0.000 0.063 3330 323 1651 0 0 0 0 0 0

9109 0.82 307.1 161.0 11.7 709 9114 0.12 2.28 0.00 0.000 6 0.151 0.039 3296 1761 1650 0 0 0 0 0 0

9435 0.85 307.7 128.2 10.0 739 9439 0.00 2.33 0.00 0.000 4 0.000 0.076 3296 3180 1650 0 0 0 0 0 0

9468 0.88 315.4 124.7 9.7 741 9486 0.00 2.50 8.68 0.571 6 0.000 0.096 3304 1758 1616 0 0 0 0 0 0

9810 0.93 320.7 91.7 9.8 780 9827 0.08 2.35 6.55 0.553 4 0.116 0.062 3381 328 1594 0 0 0 0 0 0

10013 0.87 320.7 66.2 11.7 814 10021 0.22 2.30 0.00 0.000 6 0.145 0.045 3317 1755 1594 0 0 0 0 0 0

10371 0.95 360.2 35.3 8.4 875 10409 0.08 2.45 30.88 0.592 4 0.116 0.082 3379 3186 1432 0 0 0 0 0 0

10568 0.92 360.2 12.1 10.7 906 10578 0.17 2.60 0.00 0.000 6 0.137 0.106 3334 1762 1428 0 0 0 0 0 0

10631 1.05 432.3 7.5 7.2 915 10674 0.10 2.35 34.97 0.483 4 0.093 0.060 3409 323 1136 0 0 0 0 0 0

10681 end climb: SURFACE_DEPTH_REACHED

state 10681 begin surface coast

10715 end surface coast: CONTROL_FINISHED_OK

state 10715 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	517	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	60	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	-15072.507	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	516

GPS1	200515,215635,-3435.346,2523.555,36,1.2,36,-27.8	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	1.94	KALMAN_X	-18488.8,-8625.5,-2647.6,-6374.3,-1020.9
_SM_ANGLEo	-63.4	KALMAN_Y	-14362.4,-6812.0,-2167.9,-3593.3,-569.5
GPS2	200515,220505,-3435.518,2523.212,42,1.3,42,-27.8	MHEAD_RNG_PITCHd_Wd	68.0,21630,-16.9,-10.010
SPEED_LIMITS	0.173,0.279	D_GRID	1000

FINISH	1.2,1.010869	_10V_AH	10.1,40.657
SM_CCo	10736,82.22,0.044,0,0,407,611.52	FG_AHR_24Vo	0.000
SM_GC	1.84,0.00,0.00,82.22,0.000,0.000,0.044,73,1942,407,-9.26,0.68,611.52	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-3422.54,2522.51,160308,080859	MEM	330800
TT8_MAMPS	0.026964	DATA_FILE_SIZE	63938,926
HUMID	56.41	CAP_FILE_SIZE	127508,0
INTERNAL_PRESSURE	9.39179	CFSIZE	2097086464,2037841920
TCM_TEMP	21.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
XPDR_PINGS	1	CURRENT	0.427,244.2,1
ALTIM_BOTTOM_PING	562.2,23.1	GPS	210515,010705,-3435.682,2521.573,40,1.0,40,-27.8
_24V_AH	23.0,51.434

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	241	135.80	SBE_CT	633	23	338.14
Roll_motor	108	142	354.35	AA4330	1546	17	612.71
VBD_pump_during_apogee	480	950	10494.90	WL_BB2F	840	105	2030.00
VBD_pump_during_surface	82	44	83.91	QSP2150	304	17	120.53
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	91	53.56	nil	0	0	0.00
Iridium_during_connect	21	160	79.88	nil	0	0	0.00
Iridium_during_xfer	281	223	1441.52	nil	0	0	0.00
Transponder_ping	13	420	130.41	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	45	27	12.65
TT8	2383	13	334.45
LPSleep	5340	2	118.12
TT8_Active	649	13	91.07
TT8_Sampling	2700	40	1114.03
TT8_CF8	254	50	129.96
TT8_Kalman	0	0	0.00
Analog_circuits	1618	15	250.37
GPS_charging	0	0	0.00
Compass	2210	15	351.14
RAFOS	0	0	0.00
Transponder	83	30	25.18

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	104	0.00	0.00	-76.60	0.000	2	0.000	0.000	71	1980	2333	0	0	0	0	0	0
107	-1.05	-170.3	3.3	-3.5	9	160	11.15	2.33	-35.17	0.000	4	0.242	0.097	2673	3309	3600	0	0	0	0	0	0
373	-0.89	-170.3	51.5	-19.6	51	383	0.22	2.45	0.00	0.000	6	0.172	0.091	2739	1919	3602	0	0	0	0	0	0
726	-0.83	-170.3	106.3	-13.4	108	728	0.10	0.00	0.00	0.000	6	0.187	0.000	2763	1919	3604	0	0	0	0	0	0
1043	-0.83	-170.3	146.6	-12.8	138	1048	0.00	2.40	0.00	0.000	4	0.000	0.099	2756	3293	3606	0	0	0	0	0	0
1065	-0.83	-170.3	149.5	-12.8	139	1073	0.00	2.42	0.00	0.000	6	0.000	0.100	2756	1920	3606	0	0	0	0	0	0
1392	-0.83	-170.3	190.2	-12.7	170	1396	0.00	2.47	0.00	0.000	4	0.000	0.108	2747	3293	3607	0	0	0	0	0	0
1446	-0.83	-170.3	197.7	-12.9	174	1455	0.05	2.42	0.00	0.000	6	0.183	0.098	2757	1916	3606	0	0	0	0	0	0
1774	-0.83	-170.3	237.1	-12.6	205	1776	0.00	0.00	0.00	0.000	6	0.000	0.000	2757	1916	3606	0	0	0	0	0	0
2091	-0.83	-170.3	275.9	-12.6	235	2095	0.00	2.42	0.00	0.000	4	0.000	0.089	2757	481	3605	0	0	0	0	0	0
2142	-0.83	-170.3	282.8	-13.2	239	2146	0.00	2.33	0.00	0.000	6	0.000	0.067	2749	1874	3605	0	0	0	0	0	0
2473	-0.81	-170.3	325.7	-13.4	270	2478	0.10	2.65	0.00	0.000	4	0.213	0.118	2760	3339	3605	0	0	0	0	0	0
2663	-0.84	-170.3	348.7	-11.8	286	2670	0.00	2.58	0.00	0.000	6	0.000	0.109	2760	1910	3604	0	0	0	0	0	0
2990	-0.84	-170.3	388.8	-12.2	317	2994	0.00	2.40	0.00	0.000	4	0.000	0.089	2760	481	3603	0	0	0	0	0	0
3045	-0.84	-170.3	396.6	-12.9	321	3054	0.00	2.42	0.00	0.000	6	0.000	0.071	2750	1920	3603	0	0	0	0	0	0
3376	-0.84	-170.3	437.2	-11.4	339	3380	0.00	2.55	0.00	0.000	4	0.000	0.112	2739	3338	3602	0	0	0	0	0	0
3528	-0.84	-170.3	452.9	-10.5	346	3533	0.10	2.60	0.00	0.000	6	0.154	0.112	2762	1920	3600	0	0	0	0	0	0
3856	-0.84	-170.3	487.4	-11.3	362	3861	0.00	2.45	0.00	0.000	4	0.000	0.096	2762	481	3599	0	0	0	0	0	0
3942	-0.84	-170.3	497.9	-12.4	366	3946	0.00	2.45	0.00	0.000	6	0.000	0.073	2753	1923	3599	0	0	0	0	0	0
4270	-0.84	-170.3	537.2	-11.5	382	4274	0.00	2.60	0.00	0.000	4	0.000	0.119	2742	3343	3598	0	0	0	0	0	0
4369	-0.84	-170.3	549.7	-12.4	386	4378	0.08	2.67	0.00	0.000	6	0.152	0.122	2757	1918	3597	0	0	0	0	0	0
4560	end dive: BOTTOM_OBSTACLE_DETECTED
state	4560	begin apogee
4566	-0.25	0.0	572.1	11.9	396	4705	0.68	0.00	135.40	0.950	6	0.170	0.000	2949	1748	2902	0	0	0	0	0	0
4706	end apogee: CONTROL_FINISHED_OK
state	4706	begin climb
4708	1.05	170.3	579.3	0.0	403	4863	1.30	2.88	144.55	0.918	4	0.104	0.109	3365	3179	2206	0	0	0	0	0	0
5114	0.91	174.7	556.8	9.8	421	5128	0.17	2.62	4.32	0.604	6	0.171	0.112	3329	1744	2189	0	0	0	0	0	0
5439	0.87	209.3	528.9	8.6	437	5476	0.05	2.53	31.02	0.897	4	0.242	0.086	3319	3180	2047	0	0	0	0	0	0
5534	0.81	209.3	519.7	10.2	440	5539	0.12	2.55	0.00	0.000	6	0.187	0.101	3298	1754	2046	0	0	0	0	0	0
5851	0.82	240.5	492.2	8.8	455	5885	0.00	2.42	27.35	0.883	4	0.000	0.065	3309	327	1921	0	0	0	0	0	0
6010	0.79	240.5	475.6	10.7	462	6015	0.08	2.33	0.00	0.000	6	0.180	0.040	3293	1767	1919	0	0	0	0	0	0
6332	0.83	268.2	447.2	8.9	478	6359	0.00	0.00	24.65	0.864	6	0.000	0.000	3293	1766	1808	0	0	0	0	0	0
6661	0.87	304.5	418.0	8.6	494	6699	0.05	2.38	31.88	0.855	4	0.160	0.053	3338	323	1659	0	0	0	0	0	0
6724	0.84	304.5	411.8	10.4	496	6729	0.12	2.33	0.00	0.000	6	0.154	0.038	3305	1761	1658	0	0	0	0	0	0
7049	0.84	304.7	379.8	10.0	521	7053	0.00	2.33	0.00	0.000	4	0.000	0.080	3305	3169	1655	0	0	0	0	0	0
7104	0.84	304.7	373.6	10.6	525	7112	0.00	2.50	0.00	0.000	6	0.000	0.099	3314	1756	1654	0	0	0	0	0	0
7429	0.84	304.7	337.0	11.3	556	7433	0.00	2.33	0.00	0.000	4	0.000	0.063	3325	329	1653	0	0	0	0	0	0
7650	0.82	304.7	311.7	10.5	575	7654	0.10	2.28	0.00	0.000	6	0.162	0.037	3300	1767	1652	0	0	0	0	0	0
7977	0.82	304.7	278.9	10.0	605	7978	0.00	0.00	0.00	0.000	6	0.000	0.000	3299	1767	1652	0	0	0	0	0	0
8295	0.84	304.7	247.1	10.2	635	8299	0.00	2.30	0.00	0.000	4	0.000	0.051	3309	326	1651	0	0	0	0	0	0
8316	0.84	304.7	244.5	10.6	636	8325	0.00	2.30	0.00	0.000	6	0.000	0.040	3309	1756	1651	0	0	0	0	0	0
8642	0.84	307.1	212.5	9.9	667	8646	0.00	2.42	0.00	0.000	4	0.000	0.088	3309	3185	1651	0	0	0	0	0	0
8696	0.84	307.1	206.6	10.7	671	8703	0.00	2.53	0.00	0.000	6	0.000	0.097	3318	1755	1650	0	0	0	0	0	0
9022	0.84	307.1	171.0	11.1	702	9026	0.00	2.33	0.00	0.000	4	0.000	0.063	3330	323	1651	0	0	0	0	0	0
9109	0.82	307.1	161.0	11.7	709	9114	0.12	2.28	0.00	0.000	6	0.151	0.039	3296	1761	1650	0	0	0	0	0	0
9435	0.85	307.7	128.2	10.0	739	9439	0.00	2.33	0.00	0.000	4	0.000	0.076	3296	3180	1650	0	0	0	0	0	0
9468	0.88	315.4	124.7	9.7	741	9486	0.00	2.50	8.68	0.571	6	0.000	0.096	3304	1758	1616	0	0	0	0	0	0
9810	0.93	320.7	91.7	9.8	780	9827	0.08	2.35	6.55	0.553	4	0.116	0.062	3381	328	1594	0	0	0	0	0	0
10013	0.87	320.7	66.2	11.7	814	10021	0.22	2.30	0.00	0.000	6	0.145	0.045	3317	1755	1594	0	0	0	0	0	0
10371	0.95	360.2	35.3	8.4	875	10409	0.08	2.45	30.88	0.592	4	0.116	0.082	3379	3186	1432	0	0	0	0	0	0
10568	0.92	360.2	12.1	10.7	906	10578	0.17	2.60	0.00	0.000	6	0.137	0.106	3334	1762	1428	0	0	0	0	0	0
10631	1.05	432.3	7.5	7.2	915	10674	0.10	2.35	34.97	0.483	4	0.093	0.060	3409	323	1136	0	0	0	0	0	0
10681	end climb: SURFACE_DEPTH_REACHED
state	10681	begin surface coast
10715	end surface coast: CONTROL_FINISHED_OK
state	10715	begin surface