Glider dive log

SOSCEx 01Dec13 * SG543 * Dive index * Mission links * Dive 102 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 543 HEADING -1 ROLL_MAX 3944 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 9 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 1050

DIVE 102 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 3320 ALTIM_PING_DELTA 15

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 3180 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -4300 HEAD_ERRBAND 15 ALTIM_PULSE 4

D_TGT 990 TGT_DEFAULT_LON -800 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1020 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 3

D_NO_BLEED 200 SM_CC 225 R_PORT_OVSHOOT 48 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 25 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.050000001

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 KERMIT 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 507 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 101

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2474 DEVICE3 35

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_DIVE 350 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 390 CAPUPLOAD 0 VBD_TIMEOUT 800 DEVICE6 -1

T_ABORT 720 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00061500003 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 60 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -12711.024 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 1 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 86 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3908 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1695 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043512532

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -59.073162 SEABIRD_T_H 0.00062429422

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011638312 SEABIRD_T_I 2.2835797e-05

RHO 1.027 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.3805812e-06

MASS 52459 PITCH_GAIN 47 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.305622

NAV_MODE 1 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1763667

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.0018977363

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00023287861

HD_A 0.003 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 20

HD_C 9.9999997e-06 ROLL_MIN 394 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SM_CC 225

AH0_10V 100 D_OFFGRID 250 PHONE_SUPPLY 2 SPEED_FACTOR 1

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 20 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 15 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 1050 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 47 TCM_ROLL_OFFSET 0

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_MAX 3908 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -4300

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 86 TGT_DEFAULT_LON -800

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 16 T_ABORT 720

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00061500003 T_BOOST 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011638312 T_DIVE 350

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -59.073162 T_GPS 15

CALL_TRIES 5 HD_A 0.003 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -12711.024

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 390

CF8_MAXERRORS 20 HEAD_ERRBAND 15 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 RELAUNCH 1 T_RSLEEP 1

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RHO 1.027 T_TURN 225

COMPASS_DEVICE 33 ID 543 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_YINT 0.050000001 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_PITCH 1695 KALMAN_USE 2 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 3180 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 3320 LOGGERDEVICE1 -1 ROLL_MAX 3944 USE_ICE 0

C_VBD 2474 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_MIN 394 VBD_CNV -0.245296

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 48 VBD_MAX 3960

DEVICE2 101 MASS 52459 R_STBD_OVSHOOT 25 VBD_MAXERRORS 1

DEVICE3 35 MAX_BUOY 150 SEABIRD_C_G -10.305622 VBD_MIN 507

DEVICE4 -1 MINV_10V 8 SEABIRD_C_H 1.1763667 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.0018977363 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MISSION 9 SEABIRD_C_J 0.00023287861 VBD_TIMEOUT 800

DIVE 102 MOTHERBOARD 4 SEABIRD_T_G 0.0043512532 XPDR_DEVICE 24

D_ABORT 1020 NAV_MODE 1 SEABIRD_T_H 0.00062429422 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 SEABIRD_T_I 2.2835797e-05 XPDR_VALID 3

D_CALL 0 N_GPS 20 SEABIRD_T_J 2.3805812e-06

D_FINISH 0 N_NOCOMM 1 SIM_PITCH 0

D_FLARE 3 N_NOSURFACE 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 161213,200622,-4259.776,831.025,38,0.9,38,-25.0 TGT_NAME SAZ

_CALLS 1 TGT_LATLONG -4300.000,830.000

_XMS_NAKs 0 TGT_RADIUS 500.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.73 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 161213,201407,-4259.743,831.128,15,1.3,16,-25.0 MHEAD_RNG_PITCHd_Wd 277.7,1601,-27.2,-9.429

SPEED_LIMITS 0.163,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.0,1.026178 _10V_AH 10.0,11.214

SM_CCo 12677,47.80,0.783,0,0,1553,225.18 FG_AHR_24Vo 0.000

SM_GC 1.57,0.00,0.00,47.80,0.000,0.000,0.783,66,3331,1553,-5.09,0.31,225.18 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4244.98,828.21,161213,161604 MEM 355224

TT8_MAMPS 0.025466 DATA_FILE_SIZE 63643,934

HUMID 61.97 CAP_FILE_SIZE 127841,0

INTERNAL_PRESSURE 9.54255 CFSIZE 259252224,251400192

TCM_TEMP 13.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2

XPDR_PINGS 0 GPS 161213,234735,-4259.653,830.307,29,1.3,29,-25.0

_24V_AH 22.9,16.481

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 236 66.99 SBE_CT 647 24 356.11

Roll_motor 65 64 96.20 AA4330 1636 33 1237.00

VBD_pump_during_apogee 186 1874 7992.84 WL_BB2F 696 105 1675.87

VBD_pump_during_surface 47 782 856.64 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 58.79 nil 0 0 0.00

Iridium_during_connect 45 160 167.68 nil 0 0 0.00

Iridium_during_xfer 285 223 1456.39 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 26 4.95

TT8 2398 14 358.87

LPSleep 7363 2 161.25

TT8_Active 338 14 48.06

TT8_Sampling 2929 37 1096.41

TT8_CF8 162 47 76.71

TT8_Kalman 0 0 0.00

Analog_circuits 1381 12 165.83

GPS_charging 0 0 0.00

Compass 2461 15 387.27

RAFOS 0 0 0.00

Transponder 1 5 0.05

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -0.61 -57.7 0.0 0.0 0 57 0.00 0.00 -41.17 0.000 2 0.000 0.000 62 3341 2475 0 0 0 0 0 0

59 -0.64 -92.9 3.1 -5.6 5 84 5.78 0.00 -11.07 0.000 6 0.236 0.000 1481 3342 2854 0 0 0 0 0 0

134 -0.64 -92.9 16.0 -21.3 16 142 0.00 2.25 0.00 0.000 4 0.000 0.035 1481 1907 2856 0 0 0 0 0 0

156 -0.64 -92.9 20.5 -20.7 19 163 0.00 2.30 0.00 0.000 6 0.000 0.052 1472 3317 2857 0 0 0 0 0 0

301 -0.64 -92.9 50.0 -20.9 44 308 0.00 1.00 0.00 0.000 4 0.000 0.057 1467 3942 2857 0 0 0 0 0 0

393 -0.64 -92.9 70.4 -22.5 60 402 0.00 0.95 0.00 0.000 6 0.000 0.036 1467 3320 2858 0 0 0 0 0 0

730 -0.64 -92.9 141.0 -20.2 103 733 0.00 1.02 0.00 0.000 4 0.000 0.060 1463 3945 2860 0 0 0 0 0 0

982 -0.64 -92.9 198.2 -22.6 125 990 0.00 0.98 0.00 0.000 6 0.000 0.035 1462 3312 2860 0 0 0 0 0 0

1308 -0.64 -92.9 264.9 -20.1 156 1311 0.00 1.00 0.00 0.000 4 0.000 0.058 1458 3943 2861 0 0 0 0 0 0

1533 -0.64 -92.9 314.1 -21.0 176 1537 0.08 0.95 0.00 0.000 6 0.182 0.037 1479 3316 2861 0 0 0 0 0 0

1863 -0.64 -92.9 374.4 -17.8 207 1867 0.00 1.00 0.00 0.000 4 0.000 0.060 1476 3948 2861 0 0 0 0 0 0

2035 -0.64 -92.9 407.4 -18.9 221 2043 0.00 0.98 0.00 0.000 6 0.000 0.035 1476 3309 2861 0 0 0 0 0 0

2352 -0.64 -92.9 463.4 -17.6 237 2355 0.00 1.00 0.00 0.000 4 0.000 0.060 1471 3937 2861 0 0 0 0 0 0

2576 -0.64 -92.9 506.2 -19.3 247 2579 0.00 0.93 0.00 0.000 6 0.000 0.037 1472 3322 2861 0 0 0 0 0 0

2908 -0.64 -92.9 565.3 -17.6 263 2911 0.00 1.00 0.00 0.000 4 0.000 0.061 1467 3951 2860 0 0 0 0 0 0

3046 -0.64 -92.9 592.4 -18.9 269 3051 0.00 0.98 0.00 0.000 6 0.000 0.037 1467 3315 2861 0 0 0 0 0 0

3374 -0.64 -92.9 650.5 -17.6 285 3377 0.00 1.00 0.00 0.000 4 0.000 0.060 1462 3946 2860 0 0 0 0 0 0

3620 -0.64 -92.9 697.8 -18.5 296 3624 0.00 0.95 0.00 0.000 6 0.000 0.038 1462 3319 2859 0 0 0 0 0 0

3952 -0.64 -92.9 756.9 -17.8 312 3956 0.00 1.00 0.00 0.000 4 0.000 0.062 1457 3947 2859 0 0 0 0 0 0

4209 -0.64 -92.9 806.7 -19.5 323 4214 0.12 0.98 0.00 0.000 6 0.197 0.037 1486 3314 2859 0 0 0 0 0 0

4531 -0.64 -92.9 855.8 -15.1 339 4535 0.00 1.00 0.00 0.000 4 0.000 0.062 1483 3947 2858 0 0 0 0 0 0

4787 -0.64 -92.9 898.5 -16.2 350 4792 0.00 0.98 0.00 0.000 6 0.000 0.038 1483 3313 2858 0 0 0 0 0 0

5111 -0.64 -92.9 946.5 -15.0 366 5114 0.00 1.00 0.00 0.000 4 0.000 0.063 1478 3942 2857 0 0 0 0 0 0

5283 -0.64 -92.9 974.5 -15.3 373 5291 0.00 0.98 0.00 0.000 6 0.000 0.038 1478 3311 2857 0 0 0 0 0 0

5393 end dive: TARGET_DEPTH_EXCEEDED

state 5393 begin apogee

5397 -0.11 0.0 990.0 14.2 379 5495 0.60 0.00 89.78 1.874 6 0.157 0.000 1656 3180 2474 0 0 0 0 0 0

5495 end apogee: CONTROL_FINISHED_OK

state 5496 begin climb

5497 0.64 92.9 993.5 0.0 384 5598 0.73 2.38 93.15 1.824 4 0.096 0.033 1901 1779 2094 0 0 0 0 0 0

5666 0.64 92.9 976.9 13.3 391 5670 0.00 2.42 0.00 0.000 6 0.000 0.051 1901 3186 2089 0 0 0 0 0 0

5993 0.64 92.9 926.3 15.6 407 5997 0.00 1.27 0.00 0.000 4 0.000 0.060 1901 3955 2082 0 0 0 0 0 0

6061 0.64 92.9 914.6 17.2 410 6064 0.00 1.23 0.00 0.000 6 0.000 0.037 1907 3177 2082 0 0 0 0 0 0

6392 0.64 92.9 863.7 14.8 426 6394 0.00 0.00 0.00 0.000 6 0.000 0.000 1907 3177 2080 0 0 0 0 0 0

6702 0.64 92.9 819.7 14.1 441 6706 0.00 1.25 0.00 0.000 4 0.000 0.061 1907 3941 2079 0 0 0 0 0 0

6841 0.64 92.9 797.5 15.7 447 6845 0.00 1.20 0.00 0.000 6 0.000 0.037 1913 3179 2079 0 0 0 0 0 0

7168 0.64 92.9 750.8 14.3 463 7172 0.00 1.25 0.00 0.000 4 0.000 0.060 1912 3950 2078 0 0 0 0 0 0

7284 0.64 92.9 731.6 17.2 468 7289 0.00 1.20 0.00 0.000 6 0.000 0.037 1919 3180 2078 0 0 0 0 0 0

7612 0.64 92.9 683.6 14.6 484 7616 0.00 1.25 0.00 0.000 4 0.000 0.060 1919 3952 2077 0 0 0 0 0 0

7846 0.64 92.9 645.7 16.2 494 7851 0.00 1.20 0.00 0.000 6 0.000 0.037 1924 3179 2076 0 0 0 0 0 0

8168 0.64 92.9 600.0 14.3 510 8171 0.00 1.25 0.00 0.000 4 0.000 0.060 1925 3954 2075 0 0 0 0 0 0

8262 0.64 92.9 585.1 16.2 514 8267 0.00 1.20 0.00 0.000 6 0.000 0.037 1930 3175 2075 0 0 0 0 0 0

8589 0.64 92.9 537.8 14.5 530 8590 0.00 0.00 0.00 0.000 6 0.000 0.000 1930 3174 2075 0 0 0 0 0 0

8899 0.64 92.9 493.7 14.5 545 8902 0.00 1.25 0.00 0.000 4 0.000 0.060 1930 3948 2074 0 0 0 0 0 0

9056 0.64 92.9 468.6 17.1 552 9060 0.10 1.17 0.00 0.000 6 0.195 0.037 1908 3180 2074 0 0 0 0 0 0

9388 0.64 92.9 423.9 13.5 568 9392 0.00 1.23 0.00 0.000 4 0.000 0.060 1908 3950 2073 0 0 0 0 0 0

9455 0.64 92.9 413.9 15.0 571 9458 0.00 1.17 0.00 0.000 6 0.000 0.038 1912 3179 2073 0 0 0 0 0 0

9786 0.64 92.9 367.6 14.5 597 9790 0.00 1.23 0.00 0.000 4 0.000 0.060 1912 3948 2073 0 0 0 0 0 0

9981 0.64 92.9 335.4 16.3 614 9989 0.00 1.20 0.00 0.000 6 0.000 0.037 1919 3170 2073 0 0 0 0 0 0

10309 0.64 92.9 289.6 13.9 645 10313 0.00 1.25 0.00 0.000 4 0.000 0.060 1919 3951 2073 0 0 0 0 0 0

10343 0.64 92.9 284.3 15.4 648 10347 0.00 1.17 0.00 0.000 6 0.000 0.037 1925 3176 2073 0 0 0 0 0 0

10673 0.64 92.9 239.1 13.9 679 10677 0.00 1.25 0.00 0.000 4 0.000 0.060 1925 3954 2073 0 0 0 0 0 0

10820 0.64 92.9 216.5 15.9 692 10824 0.00 1.17 0.00 0.000 6 0.000 0.037 1930 3175 2073 0 0 0 0 0 0

11150 0.64 92.9 172.0 13.2 723 11153 0.00 1.23 0.00 0.000 4 0.000 0.060 1930 3940 2073 0 0 0 0 0 0

11194 0.64 92.9 165.5 14.5 727 11199 0.10 1.15 0.00 0.000 6 0.191 0.037 1908 3181 2073 0 0 0 0 0 0

11524 0.64 92.9 126.3 11.6 758 11528 0.00 1.23 0.00 0.000 4 0.000 0.060 1907 3953 2073 0 0 0 0 0 0

11785 0.64 92.9 92.8 12.3 786 11794 0.00 1.17 0.00 0.000 6 0.000 0.036 1912 3170 2073 0 0 0 0 0 0

12139 0.64 92.9 53.0 11.2 847 12146 0.00 1.25 0.00 0.000 4 0.000 0.060 1912 3955 2073 0 0 0 0 0 0

12400 0.64 92.9 21.4 11.4 892 12409 0.00 1.15 0.00 0.000 6 0.000 0.035 1918 3187 2073 0 0 0 0 0 0

12555 0.64 106.1 9.1 8.0 917 12565 0.00 2.12 3.30 0.564 4 0.000 0.031 1929 1771 2036 0 0 0 0 0 0

12625 end climb: SURFACE_DEPTH_REACHED

state 12625 begin surface coast

12663 end surface coast: CONTROL_FINISHED_OK

state 12663 begin surface

ID	543	HEADING	-1	ROLL_MAX	3944	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	9	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	1050
DIVE	102	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	3320	ALTIM_PING_DELTA	15
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	3180	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-4300	HEAD_ERRBAND	15	ALTIM_PULSE	4
D_TGT	990	TGT_DEFAULT_LON	-800	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1020	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	3
D_NO_BLEED	200	SM_CC	225	R_PORT_OVSHOOT	48	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	25	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.050000001
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	KERMIT	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	507	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	101
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2474	DEVICE3	35
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_DIVE	350	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	390	CAPUPLOAD	0	VBD_TIMEOUT	800	DEVICE6	-1
T_ABORT	720	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00061500003	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	60	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-12711.024	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	1	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	86	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3908	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1695	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043512532
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-59.073162	SEABIRD_T_H	0.00062429422
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011638312	SEABIRD_T_I	2.2835797e-05
RHO	1.027	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.3805812e-06
MASS	52459	PITCH_GAIN	47	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.305622
NAV_MODE	1	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1763667
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.0018977363
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00023287861
HD_A	0.003	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	20
HD_C	9.9999997e-06	ROLL_MIN	394	ALTIM_TOP_TURN_MARGIN	0

GPS1	161213,200622,-4259.776,831.025,38,0.9,38,-25.0	TGT_NAME	SAZ
_CALLS	1	TGT_LATLONG	-4300.000,830.000
_XMS_NAKs	0	TGT_RADIUS	500.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.73	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	161213,201407,-4259.743,831.128,15,1.3,16,-25.0	MHEAD_RNG_PITCHd_Wd	277.7,1601,-27.2,-9.429
SPEED_LIMITS	0.163,0.255	D_GRID	990

FINISH	1.0,1.026178	_10V_AH	10.0,11.214
SM_CCo	12677,47.80,0.783,0,0,1553,225.18	FG_AHR_24Vo	0.000
SM_GC	1.57,0.00,0.00,47.80,0.000,0.000,0.783,66,3331,1553,-5.09,0.31,225.18	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4244.98,828.21,161213,161604	MEM	355224
TT8_MAMPS	0.025466	DATA_FILE_SIZE	63643,934
HUMID	61.97	CAP_FILE_SIZE	127841,0
INTERNAL_PRESSURE	9.54255	CFSIZE	259252224,251400192
TCM_TEMP	13.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
XPDR_PINGS	0	GPS	161213,234735,-4259.653,830.307,29,1.3,29,-25.0
_24V_AH	22.9,16.481

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	236	66.99	SBE_CT	647	24	356.11
Roll_motor	65	64	96.20	AA4330	1636	33	1237.00
VBD_pump_during_apogee	186	1874	7992.84	WL_BB2F	696	105	1675.87
VBD_pump_during_surface	47	782	856.64	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	58.79	nil	0	0	0.00
Iridium_during_connect	45	160	167.68	nil	0	0	0.00
Iridium_during_xfer	285	223	1456.39	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	26	4.95
TT8	2398	14	358.87
LPSleep	7363	2	161.25
TT8_Active	338	14	48.06
TT8_Sampling	2929	37	1096.41
TT8_CF8	162	47	76.71
TT8_Kalman	0	0	0.00
Analog_circuits	1381	12	165.83
GPS_charging	0	0	0.00
Compass	2461	15	387.27
RAFOS	0	0	0.00
Transponder	1	5	0.05

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-0.61	-57.7	0.0	0.0	0	57	0.00	0.00	-41.17	0.000	2	0.000	0.000	62	3341	2475	0	0	0	0	0	0
59	-0.64	-92.9	3.1	-5.6	5	84	5.78	0.00	-11.07	0.000	6	0.236	0.000	1481	3342	2854	0	0	0	0	0	0
134	-0.64	-92.9	16.0	-21.3	16	142	0.00	2.25	0.00	0.000	4	0.000	0.035	1481	1907	2856	0	0	0	0	0	0
156	-0.64	-92.9	20.5	-20.7	19	163	0.00	2.30	0.00	0.000	6	0.000	0.052	1472	3317	2857	0	0	0	0	0	0
301	-0.64	-92.9	50.0	-20.9	44	308	0.00	1.00	0.00	0.000	4	0.000	0.057	1467	3942	2857	0	0	0	0	0	0
393	-0.64	-92.9	70.4	-22.5	60	402	0.00	0.95	0.00	0.000	6	0.000	0.036	1467	3320	2858	0	0	0	0	0	0
730	-0.64	-92.9	141.0	-20.2	103	733	0.00	1.02	0.00	0.000	4	0.000	0.060	1463	3945	2860	0	0	0	0	0	0
982	-0.64	-92.9	198.2	-22.6	125	990	0.00	0.98	0.00	0.000	6	0.000	0.035	1462	3312	2860	0	0	0	0	0	0
1308	-0.64	-92.9	264.9	-20.1	156	1311	0.00	1.00	0.00	0.000	4	0.000	0.058	1458	3943	2861	0	0	0	0	0	0
1533	-0.64	-92.9	314.1	-21.0	176	1537	0.08	0.95	0.00	0.000	6	0.182	0.037	1479	3316	2861	0	0	0	0	0	0
1863	-0.64	-92.9	374.4	-17.8	207	1867	0.00	1.00	0.00	0.000	4	0.000	0.060	1476	3948	2861	0	0	0	0	0	0
2035	-0.64	-92.9	407.4	-18.9	221	2043	0.00	0.98	0.00	0.000	6	0.000	0.035	1476	3309	2861	0	0	0	0	0	0
2352	-0.64	-92.9	463.4	-17.6	237	2355	0.00	1.00	0.00	0.000	4	0.000	0.060	1471	3937	2861	0	0	0	0	0	0
2576	-0.64	-92.9	506.2	-19.3	247	2579	0.00	0.93	0.00	0.000	6	0.000	0.037	1472	3322	2861	0	0	0	0	0	0
2908	-0.64	-92.9	565.3	-17.6	263	2911	0.00	1.00	0.00	0.000	4	0.000	0.061	1467	3951	2860	0	0	0	0	0	0
3046	-0.64	-92.9	592.4	-18.9	269	3051	0.00	0.98	0.00	0.000	6	0.000	0.037	1467	3315	2861	0	0	0	0	0	0
3374	-0.64	-92.9	650.5	-17.6	285	3377	0.00	1.00	0.00	0.000	4	0.000	0.060	1462	3946	2860	0	0	0	0	0	0
3620	-0.64	-92.9	697.8	-18.5	296	3624	0.00	0.95	0.00	0.000	6	0.000	0.038	1462	3319	2859	0	0	0	0	0	0
3952	-0.64	-92.9	756.9	-17.8	312	3956	0.00	1.00	0.00	0.000	4	0.000	0.062	1457	3947	2859	0	0	0	0	0	0
4209	-0.64	-92.9	806.7	-19.5	323	4214	0.12	0.98	0.00	0.000	6	0.197	0.037	1486	3314	2859	0	0	0	0	0	0
4531	-0.64	-92.9	855.8	-15.1	339	4535	0.00	1.00	0.00	0.000	4	0.000	0.062	1483	3947	2858	0	0	0	0	0	0
4787	-0.64	-92.9	898.5	-16.2	350	4792	0.00	0.98	0.00	0.000	6	0.000	0.038	1483	3313	2858	0	0	0	0	0	0
5111	-0.64	-92.9	946.5	-15.0	366	5114	0.00	1.00	0.00	0.000	4	0.000	0.063	1478	3942	2857	0	0	0	0	0	0
5283	-0.64	-92.9	974.5	-15.3	373	5291	0.00	0.98	0.00	0.000	6	0.000	0.038	1478	3311	2857	0	0	0	0	0	0
5393	end dive: TARGET_DEPTH_EXCEEDED
state	5393	begin apogee
5397	-0.11	0.0	990.0	14.2	379	5495	0.60	0.00	89.78	1.874	6	0.157	0.000	1656	3180	2474	0	0	0	0	0	0
5495	end apogee: CONTROL_FINISHED_OK
state	5496	begin climb
5497	0.64	92.9	993.5	0.0	384	5598	0.73	2.38	93.15	1.824	4	0.096	0.033	1901	1779	2094	0	0	0	0	0	0
5666	0.64	92.9	976.9	13.3	391	5670	0.00	2.42	0.00	0.000	6	0.000	0.051	1901	3186	2089	0	0	0	0	0	0
5993	0.64	92.9	926.3	15.6	407	5997	0.00	1.27	0.00	0.000	4	0.000	0.060	1901	3955	2082	0	0	0	0	0	0
6061	0.64	92.9	914.6	17.2	410	6064	0.00	1.23	0.00	0.000	6	0.000	0.037	1907	3177	2082	0	0	0	0	0	0
6392	0.64	92.9	863.7	14.8	426	6394	0.00	0.00	0.00	0.000	6	0.000	0.000	1907	3177	2080	0	0	0	0	0	0
6702	0.64	92.9	819.7	14.1	441	6706	0.00	1.25	0.00	0.000	4	0.000	0.061	1907	3941	2079	0	0	0	0	0	0
6841	0.64	92.9	797.5	15.7	447	6845	0.00	1.20	0.00	0.000	6	0.000	0.037	1913	3179	2079	0	0	0	0	0	0
7168	0.64	92.9	750.8	14.3	463	7172	0.00	1.25	0.00	0.000	4	0.000	0.060	1912	3950	2078	0	0	0	0	0	0
7284	0.64	92.9	731.6	17.2	468	7289	0.00	1.20	0.00	0.000	6	0.000	0.037	1919	3180	2078	0	0	0	0	0	0
7612	0.64	92.9	683.6	14.6	484	7616	0.00	1.25	0.00	0.000	4	0.000	0.060	1919	3952	2077	0	0	0	0	0	0
7846	0.64	92.9	645.7	16.2	494	7851	0.00	1.20	0.00	0.000	6	0.000	0.037	1924	3179	2076	0	0	0	0	0	0
8168	0.64	92.9	600.0	14.3	510	8171	0.00	1.25	0.00	0.000	4	0.000	0.060	1925	3954	2075	0	0	0	0	0	0
8262	0.64	92.9	585.1	16.2	514	8267	0.00	1.20	0.00	0.000	6	0.000	0.037	1930	3175	2075	0	0	0	0	0	0
8589	0.64	92.9	537.8	14.5	530	8590	0.00	0.00	0.00	0.000	6	0.000	0.000	1930	3174	2075	0	0	0	0	0	0
8899	0.64	92.9	493.7	14.5	545	8902	0.00	1.25	0.00	0.000	4	0.000	0.060	1930	3948	2074	0	0	0	0	0	0
9056	0.64	92.9	468.6	17.1	552	9060	0.10	1.17	0.00	0.000	6	0.195	0.037	1908	3180	2074	0	0	0	0	0	0
9388	0.64	92.9	423.9	13.5	568	9392	0.00	1.23	0.00	0.000	4	0.000	0.060	1908	3950	2073	0	0	0	0	0	0
9455	0.64	92.9	413.9	15.0	571	9458	0.00	1.17	0.00	0.000	6	0.000	0.038	1912	3179	2073	0	0	0	0	0	0
9786	0.64	92.9	367.6	14.5	597	9790	0.00	1.23	0.00	0.000	4	0.000	0.060	1912	3948	2073	0	0	0	0	0	0
9981	0.64	92.9	335.4	16.3	614	9989	0.00	1.20	0.00	0.000	6	0.000	0.037	1919	3170	2073	0	0	0	0	0	0
10309	0.64	92.9	289.6	13.9	645	10313	0.00	1.25	0.00	0.000	4	0.000	0.060	1919	3951	2073	0	0	0	0	0	0
10343	0.64	92.9	284.3	15.4	648	10347	0.00	1.17	0.00	0.000	6	0.000	0.037	1925	3176	2073	0	0	0	0	0	0
10673	0.64	92.9	239.1	13.9	679	10677	0.00	1.25	0.00	0.000	4	0.000	0.060	1925	3954	2073	0	0	0	0	0	0
10820	0.64	92.9	216.5	15.9	692	10824	0.00	1.17	0.00	0.000	6	0.000	0.037	1930	3175	2073	0	0	0	0	0	0
11150	0.64	92.9	172.0	13.2	723	11153	0.00	1.23	0.00	0.000	4	0.000	0.060	1930	3940	2073	0	0	0	0	0	0
11194	0.64	92.9	165.5	14.5	727	11199	0.10	1.15	0.00	0.000	6	0.191	0.037	1908	3181	2073	0	0	0	0	0	0
11524	0.64	92.9	126.3	11.6	758	11528	0.00	1.23	0.00	0.000	4	0.000	0.060	1907	3953	2073	0	0	0	0	0	0
11785	0.64	92.9	92.8	12.3	786	11794	0.00	1.17	0.00	0.000	6	0.000	0.036	1912	3170	2073	0	0	0	0	0	0
12139	0.64	92.9	53.0	11.2	847	12146	0.00	1.25	0.00	0.000	4	0.000	0.060	1912	3955	2073	0	0	0	0	0	0
12400	0.64	92.9	21.4	11.4	892	12409	0.00	1.15	0.00	0.000	6	0.000	0.035	1918	3187	2073	0	0	0	0	0	0
12555	0.64	106.1	9.1	8.0	917	12565	0.00	2.12	3.30	0.564	4	0.000	0.031	1929	1771	2036	0	0	0	0	0	0
12625	end climb: SURFACE_DEPTH_REACHED
state	12625	begin surface coast
12663	end surface coast: CONTROL_FINISHED_OK
state	12663	begin surface