Glider dive log

SOSCEx 01Dec13 * SG543 * Dive index * Mission links * Dive 103 * 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 103 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 45 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 27 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 -12714.207 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 -12714.207

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 45 VBD_MAX 3960

DEVICE2 101 MASS 52459 R_STBD_OVSHOOT 27 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 103 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 161213,234735,-4259.653,830.307,29,1.3,29,-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 1.87 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 161213,235541,-4259.609,830.395,17,1.3,17,-25.0 MHEAD_RNG_PITCHd_Wd 241.5,900,-27.2,-9.429

SPEED_LIMITS 0.163,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.016770 _10V_AH 10.1,11.314

SM_CCo 12064,46.38,0.789,0,0,1554,225.18 FG_AHR_24Vo 0.000

SM_GC 1.48,0.00,0.00,46.38,0.000,0.000,0.789,63,3336,1554,-5.09,0.45,225.18 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4244.98,816.55,161213,202047 MEM 355368

TT8_MAMPS 0.026215 DATA_FILE_SIZE 60363,884

HUMID 62.12 CAP_FILE_SIZE 120430,0

INTERNAL_PRESSURE 9.55232 CFSIZE 259252224,251346944

TCM_TEMP 13.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 171213,031905,-4300.079,829.560,39,1.1,39,-25.0

_24V_AH 22.7,16.619

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 236 66.81 SBE_CT 613 24 334.03

Roll_motor 58 88 118.55 AA4330 1552 33 1162.97

VBD_pump_during_apogee 206 1856 8721.08 WL_BB2F 661 105 1576.13

VBD_pump_during_surface 46 789 831.10 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 66.32 nil 0 0 0.00

Iridium_during_connect 53 160 194.98 nil 0 0 0.00

Iridium_during_xfer 291 223 1476.85 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 26 5.60

TT8 2265 14 342.24

LPSleep 7062 2 156.21

TT8_Active 350 14 50.29

TT8_Sampling 2789 37 1054.49

TT8_CF8 129 47 61.90

TT8_Kalman 0 0 0.00

Analog_circuits 1337 12 162.06

GPS_charging 0 0 0.00

Compass 2308 15 366.82

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.61 -57.7 0.0 0.0 0 65 0.00 0.00 -48.22 0.000 2 0.000 0.000 63 3331 2665 0 0 0 0 0 0

67 -0.64 -105.1 3.3 -4.2 6 85 5.78 1.05 -6.53 0.000 4 0.236 0.089 1477 3956 2905 0 0 0 0 0 0

225 -0.64 -105.1 39.7 -21.8 32 234 0.00 0.98 0.00 0.000 6 0.000 0.035 1478 3319 2909 0 0 0 0 0 0

371 -0.64 -105.1 71.9 -22.3 57 379 0.00 1.00 0.00 0.000 4 0.000 0.058 1474 3941 2910 0 0 0 0 0 0

415 -0.64 -105.1 82.2 -24.0 64 423 0.00 0.95 0.00 0.000 6 0.000 0.035 1474 3319 2910 0 0 0 0 0 0

751 -0.64 -105.1 153.6 -20.6 102 755 0.00 1.00 0.00 0.000 4 0.000 0.059 1470 3944 2912 0 0 0 0 0 0

1013 -0.64 -105.1 211.0 -22.1 125 1017 0.00 0.95 0.00 0.000 6 0.000 0.035 1470 3316 2912 0 0 0 0 0 0

1343 -0.64 -105.1 278.8 -20.8 156 1347 0.00 1.00 0.00 0.000 4 0.000 0.059 1465 3946 2913 0 0 0 0 0 0

1603 -0.64 -105.1 336.9 -22.5 179 1607 0.00 0.95 0.00 0.000 6 0.000 0.036 1465 3314 2912 0 0 0 0 0 0

1943 -0.64 -105.1 406.2 -20.2 210 1947 0.00 1.00 0.00 0.000 4 0.000 0.060 1460 3945 2912 0 0 0 0 0 0

2200 -0.64 -105.1 462.7 -22.3 221 2204 0.00 0.98 0.00 0.000 6 0.000 0.035 1460 3306 2912 0 0 0 0 0 0

2522 -0.64 -105.1 529.9 -20.9 237 2525 0.00 1.00 0.00 0.000 4 0.000 0.061 1456 3935 2912 0 0 0 0 0 0

2778 -0.64 -105.1 586.4 -20.8 248 2784 0.12 0.95 0.00 0.000 6 0.197 0.037 1485 3319 2912 0 0 0 0 0 0

3100 -0.64 -105.1 641.3 -16.5 264 3104 0.00 1.00 0.00 0.000 4 0.000 0.062 1481 3948 2912 0 0 0 0 0 0

3357 -0.64 -105.1 686.2 -17.1 275 3362 0.00 0.98 0.00 0.000 6 0.000 0.037 1481 3314 2912 0 0 0 0 0 0

3679 -0.64 -105.1 738.5 -16.2 291 3683 0.00 1.00 0.00 0.000 4 0.000 0.062 1477 3941 2911 0 0 0 0 0 0

3882 -0.64 -105.1 774.5 -18.1 300 3885 0.00 0.95 0.00 0.000 6 0.000 0.038 1477 3315 2911 0 0 0 0 0 0

4215 -0.64 -105.1 829.7 -16.3 316 4218 0.00 1.00 0.00 0.000 4 0.000 0.062 1472 3950 2910 0 0 0 0 0 0

4455 -0.64 -105.1 872.2 -17.2 326 4462 0.00 0.98 0.00 0.000 6 0.000 0.038 1472 3313 2910 0 0 0 0 0 0

4771 -0.64 -105.1 921.3 -15.4 342 4775 0.00 1.00 0.00 0.000 4 0.000 0.063 1467 3942 2909 0 0 0 0 0 0

4973 -0.64 -105.1 954.6 -15.4 351 4977 0.00 0.95 0.00 0.000 6 0.000 0.039 1467 3316 2908 0 0 0 0 0 0

5221 end dive: TARGET_DEPTH_EXCEEDED

state 5222 begin apogee

5226 -0.11 0.0 991.8 14.8 363 5330 0.62 0.00 101.53 1.857 6 0.161 0.000 1651 3173 2473 0 0 0 0 0 0

5331 end apogee: CONTROL_FINISHED_OK

state 5331 begin climb

5333 0.64 105.1 994.8 0.0 368 5448 0.75 2.47 105.40 1.810 4 0.099 0.034 1901 1772 2044 0 0 0 0 0 0

5519 0.64 105.1 974.0 13.5 376 5528 0.00 2.45 0.00 0.000 6 0.000 0.050 1901 3175 2037 0 0 0 0 0 0

5837 0.64 105.1 923.0 15.8 392 5841 0.00 1.30 0.00 0.000 4 0.000 0.060 1901 3953 2031 0 0 0 0 0 0

5897 0.64 105.1 911.8 18.3 394 5905 0.00 1.25 0.00 0.000 6 0.000 0.036 1907 3172 2031 0 0 0 0 0 0

6214 0.64 105.1 862.7 15.3 410 6215 0.00 0.00 0.00 0.000 6 0.000 0.000 1906 3172 2029 0 0 0 0 0 0

6524 0.64 105.1 816.3 14.7 425 6528 0.00 1.27 0.00 0.000 4 0.000 0.061 1907 3947 2028 0 0 0 0 0 0

6686 0.64 105.1 788.9 17.1 432 6690 0.00 1.20 0.00 0.000 6 0.000 0.037 1912 3169 2028 0 0 0 0 0 0

7015 0.64 105.1 740.2 14.7 448 7018 0.00 1.27 0.00 0.000 4 0.000 0.060 1912 3953 2027 0 0 0 0 0 0

7108 0.64 105.1 724.6 16.4 452 7113 0.00 1.23 0.00 0.000 6 0.000 0.036 1918 3166 2027 0 0 0 0 0 0

7436 0.64 105.1 676.3 14.8 468 7439 0.00 1.27 0.00 0.000 4 0.000 0.060 1919 3953 2026 0 0 0 0 0 0

7558 0.64 105.1 655.7 17.0 473 7562 0.00 1.20 0.00 0.000 6 0.000 0.037 1924 3180 2026 0 0 0 0 0 0

7880 0.64 105.1 605.8 15.5 489 7881 0.00 0.00 0.00 0.000 6 0.000 0.000 1924 3180 2025 0 0 0 0 0 0

8190 0.64 105.1 556.4 16.0 504 8194 0.00 1.25 0.00 0.000 4 0.000 0.060 1924 3957 2025 0 0 0 0 0 0

8267 0.64 105.1 542.2 18.3 507 8272 0.00 1.23 0.00 0.000 6 0.000 0.037 1930 3168 2025 0 0 0 0 0 0

8589 0.64 105.1 490.3 15.9 523 8593 0.00 1.27 0.00 0.000 4 0.000 0.061 1930 3956 2025 0 0 0 0 0 0

8846 0.64 105.1 443.3 17.5 534 8851 0.12 1.20 0.00 0.000 6 0.217 0.037 1907 3181 2025 0 0 0 0 0 0

9168 0.64 105.1 395.4 14.7 551 9169 0.00 0.00 0.00 0.000 6 0.000 0.000 1907 3181 2024 0 0 0 0 0 0

9489 0.64 105.1 349.5 14.3 581 9493 0.00 1.25 0.00 0.000 4 0.000 0.061 1907 3957 2023 0 0 0 0 0 0

9606 0.64 105.1 330.5 15.7 591 9614 0.00 1.20 0.00 0.000 6 0.000 0.036 1912 3178 2023 0 0 0 0 0 0

9931 0.64 105.1 284.6 13.8 622 9935 0.00 1.25 0.00 0.000 4 0.000 0.060 1912 3955 2023 0 0 0 0 0 0

10057 0.64 105.1 266.2 14.7 633 10061 0.00 1.17 0.00 0.000 6 0.000 0.037 1918 3180 2023 0 0 0 0 0 0

10387 0.64 105.1 219.7 14.6 664 10391 0.00 1.23 0.00 0.000 4 0.000 0.059 1918 3949 2023 0 0 0 0 0 0

10467 0.64 105.1 207.0 16.0 671 10470 0.00 1.17 0.00 0.000 6 0.000 0.037 1924 3170 2023 0 0 0 0 0 0

10796 0.64 105.1 158.7 14.7 702 10800 0.00 1.25 0.00 0.000 4 0.000 0.060 1924 3950 2022 0 0 0 0 0 0

10898 0.64 105.1 142.1 15.8 711 10902 0.00 1.15 0.00 0.000 6 0.000 0.036 1930 3188 2022 0 0 0 0 0 0

11227 0.64 105.1 92.4 15.2 745 11234 0.00 1.23 0.00 0.000 4 0.000 0.059 1930 3956 2022 0 0 0 0 0 0

11291 0.64 105.1 82.3 15.3 756 11300 0.10 1.17 0.00 0.000 6 0.193 0.035 1907 3173 2022 0 0 0 0 0 0

11645 0.64 105.1 36.9 12.9 817 11652 0.00 1.25 0.00 0.000 4 0.000 0.060 1907 3953 2022 0 0 0 0 0 0

11717 0.64 105.1 27.9 12.3 829 11724 0.00 1.15 0.00 0.000 6 0.000 0.035 1912 3186 2022 0 0 0 0 0 0

11866 0.65 111.3 15.3 8.8 854 11875 0.00 2.15 0.00 0.000 4 0.000 0.033 1924 1772 2022 0 0 0 0 0 0

12006 end climb: SURFACE_DEPTH_REACHED

state 12006 begin surface coast

12050 end surface coast: CONTROL_FINISHED_OK

state 12050 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	103	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	45	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	27	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	-12714.207	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	161213,234735,-4259.653,830.307,29,1.3,29,-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	1.87	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	161213,235541,-4259.609,830.395,17,1.3,17,-25.0	MHEAD_RNG_PITCHd_Wd	241.5,900,-27.2,-9.429
SPEED_LIMITS	0.163,0.255	D_GRID	990

FINISH	0.8,1.016770	_10V_AH	10.1,11.314
SM_CCo	12064,46.38,0.789,0,0,1554,225.18	FG_AHR_24Vo	0.000
SM_GC	1.48,0.00,0.00,46.38,0.000,0.000,0.789,63,3336,1554,-5.09,0.45,225.18	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4244.98,816.55,161213,202047	MEM	355368
TT8_MAMPS	0.026215	DATA_FILE_SIZE	60363,884
HUMID	62.12	CAP_FILE_SIZE	120430,0
INTERNAL_PRESSURE	9.55232	CFSIZE	259252224,251346944
TCM_TEMP	13.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	171213,031905,-4300.079,829.560,39,1.1,39,-25.0
_24V_AH	22.7,16.619

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	236	66.81	SBE_CT	613	24	334.03
Roll_motor	58	88	118.55	AA4330	1552	33	1162.97
VBD_pump_during_apogee	206	1856	8721.08	WL_BB2F	661	105	1576.13
VBD_pump_during_surface	46	789	831.10	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	66.32	nil	0	0	0.00
Iridium_during_connect	53	160	194.98	nil	0	0	0.00
Iridium_during_xfer	291	223	1476.85	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	26	5.60
TT8	2265	14	342.24
LPSleep	7062	2	156.21
TT8_Active	350	14	50.29
TT8_Sampling	2789	37	1054.49
TT8_CF8	129	47	61.90
TT8_Kalman	0	0	0.00
Analog_circuits	1337	12	162.06
GPS_charging	0	0	0.00
Compass	2308	15	366.82
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.61	-57.7	0.0	0.0	0	65	0.00	0.00	-48.22	0.000	2	0.000	0.000	63	3331	2665	0	0	0	0	0	0
67	-0.64	-105.1	3.3	-4.2	6	85	5.78	1.05	-6.53	0.000	4	0.236	0.089	1477	3956	2905	0	0	0	0	0	0
225	-0.64	-105.1	39.7	-21.8	32	234	0.00	0.98	0.00	0.000	6	0.000	0.035	1478	3319	2909	0	0	0	0	0	0
371	-0.64	-105.1	71.9	-22.3	57	379	0.00	1.00	0.00	0.000	4	0.000	0.058	1474	3941	2910	0	0	0	0	0	0
415	-0.64	-105.1	82.2	-24.0	64	423	0.00	0.95	0.00	0.000	6	0.000	0.035	1474	3319	2910	0	0	0	0	0	0
751	-0.64	-105.1	153.6	-20.6	102	755	0.00	1.00	0.00	0.000	4	0.000	0.059	1470	3944	2912	0	0	0	0	0	0
1013	-0.64	-105.1	211.0	-22.1	125	1017	0.00	0.95	0.00	0.000	6	0.000	0.035	1470	3316	2912	0	0	0	0	0	0
1343	-0.64	-105.1	278.8	-20.8	156	1347	0.00	1.00	0.00	0.000	4	0.000	0.059	1465	3946	2913	0	0	0	0	0	0
1603	-0.64	-105.1	336.9	-22.5	179	1607	0.00	0.95	0.00	0.000	6	0.000	0.036	1465	3314	2912	0	0	0	0	0	0
1943	-0.64	-105.1	406.2	-20.2	210	1947	0.00	1.00	0.00	0.000	4	0.000	0.060	1460	3945	2912	0	0	0	0	0	0
2200	-0.64	-105.1	462.7	-22.3	221	2204	0.00	0.98	0.00	0.000	6	0.000	0.035	1460	3306	2912	0	0	0	0	0	0
2522	-0.64	-105.1	529.9	-20.9	237	2525	0.00	1.00	0.00	0.000	4	0.000	0.061	1456	3935	2912	0	0	0	0	0	0
2778	-0.64	-105.1	586.4	-20.8	248	2784	0.12	0.95	0.00	0.000	6	0.197	0.037	1485	3319	2912	0	0	0	0	0	0
3100	-0.64	-105.1	641.3	-16.5	264	3104	0.00	1.00	0.00	0.000	4	0.000	0.062	1481	3948	2912	0	0	0	0	0	0
3357	-0.64	-105.1	686.2	-17.1	275	3362	0.00	0.98	0.00	0.000	6	0.000	0.037	1481	3314	2912	0	0	0	0	0	0
3679	-0.64	-105.1	738.5	-16.2	291	3683	0.00	1.00	0.00	0.000	4	0.000	0.062	1477	3941	2911	0	0	0	0	0	0
3882	-0.64	-105.1	774.5	-18.1	300	3885	0.00	0.95	0.00	0.000	6	0.000	0.038	1477	3315	2911	0	0	0	0	0	0
4215	-0.64	-105.1	829.7	-16.3	316	4218	0.00	1.00	0.00	0.000	4	0.000	0.062	1472	3950	2910	0	0	0	0	0	0
4455	-0.64	-105.1	872.2	-17.2	326	4462	0.00	0.98	0.00	0.000	6	0.000	0.038	1472	3313	2910	0	0	0	0	0	0
4771	-0.64	-105.1	921.3	-15.4	342	4775	0.00	1.00	0.00	0.000	4	0.000	0.063	1467	3942	2909	0	0	0	0	0	0
4973	-0.64	-105.1	954.6	-15.4	351	4977	0.00	0.95	0.00	0.000	6	0.000	0.039	1467	3316	2908	0	0	0	0	0	0
5221	end dive: TARGET_DEPTH_EXCEEDED
state	5222	begin apogee
5226	-0.11	0.0	991.8	14.8	363	5330	0.62	0.00	101.53	1.857	6	0.161	0.000	1651	3173	2473	0	0	0	0	0	0
5331	end apogee: CONTROL_FINISHED_OK
state	5331	begin climb
5333	0.64	105.1	994.8	0.0	368	5448	0.75	2.47	105.40	1.810	4	0.099	0.034	1901	1772	2044	0	0	0	0	0	0
5519	0.64	105.1	974.0	13.5	376	5528	0.00	2.45	0.00	0.000	6	0.000	0.050	1901	3175	2037	0	0	0	0	0	0
5837	0.64	105.1	923.0	15.8	392	5841	0.00	1.30	0.00	0.000	4	0.000	0.060	1901	3953	2031	0	0	0	0	0	0
5897	0.64	105.1	911.8	18.3	394	5905	0.00	1.25	0.00	0.000	6	0.000	0.036	1907	3172	2031	0	0	0	0	0	0
6214	0.64	105.1	862.7	15.3	410	6215	0.00	0.00	0.00	0.000	6	0.000	0.000	1906	3172	2029	0	0	0	0	0	0
6524	0.64	105.1	816.3	14.7	425	6528	0.00	1.27	0.00	0.000	4	0.000	0.061	1907	3947	2028	0	0	0	0	0	0
6686	0.64	105.1	788.9	17.1	432	6690	0.00	1.20	0.00	0.000	6	0.000	0.037	1912	3169	2028	0	0	0	0	0	0
7015	0.64	105.1	740.2	14.7	448	7018	0.00	1.27	0.00	0.000	4	0.000	0.060	1912	3953	2027	0	0	0	0	0	0
7108	0.64	105.1	724.6	16.4	452	7113	0.00	1.23	0.00	0.000	6	0.000	0.036	1918	3166	2027	0	0	0	0	0	0
7436	0.64	105.1	676.3	14.8	468	7439	0.00	1.27	0.00	0.000	4	0.000	0.060	1919	3953	2026	0	0	0	0	0	0
7558	0.64	105.1	655.7	17.0	473	7562	0.00	1.20	0.00	0.000	6	0.000	0.037	1924	3180	2026	0	0	0	0	0	0
7880	0.64	105.1	605.8	15.5	489	7881	0.00	0.00	0.00	0.000	6	0.000	0.000	1924	3180	2025	0	0	0	0	0	0
8190	0.64	105.1	556.4	16.0	504	8194	0.00	1.25	0.00	0.000	4	0.000	0.060	1924	3957	2025	0	0	0	0	0	0
8267	0.64	105.1	542.2	18.3	507	8272	0.00	1.23	0.00	0.000	6	0.000	0.037	1930	3168	2025	0	0	0	0	0	0
8589	0.64	105.1	490.3	15.9	523	8593	0.00	1.27	0.00	0.000	4	0.000	0.061	1930	3956	2025	0	0	0	0	0	0
8846	0.64	105.1	443.3	17.5	534	8851	0.12	1.20	0.00	0.000	6	0.217	0.037	1907	3181	2025	0	0	0	0	0	0
9168	0.64	105.1	395.4	14.7	551	9169	0.00	0.00	0.00	0.000	6	0.000	0.000	1907	3181	2024	0	0	0	0	0	0
9489	0.64	105.1	349.5	14.3	581	9493	0.00	1.25	0.00	0.000	4	0.000	0.061	1907	3957	2023	0	0	0	0	0	0
9606	0.64	105.1	330.5	15.7	591	9614	0.00	1.20	0.00	0.000	6	0.000	0.036	1912	3178	2023	0	0	0	0	0	0
9931	0.64	105.1	284.6	13.8	622	9935	0.00	1.25	0.00	0.000	4	0.000	0.060	1912	3955	2023	0	0	0	0	0	0
10057	0.64	105.1	266.2	14.7	633	10061	0.00	1.17	0.00	0.000	6	0.000	0.037	1918	3180	2023	0	0	0	0	0	0
10387	0.64	105.1	219.7	14.6	664	10391	0.00	1.23	0.00	0.000	4	0.000	0.059	1918	3949	2023	0	0	0	0	0	0
10467	0.64	105.1	207.0	16.0	671	10470	0.00	1.17	0.00	0.000	6	0.000	0.037	1924	3170	2023	0	0	0	0	0	0
10796	0.64	105.1	158.7	14.7	702	10800	0.00	1.25	0.00	0.000	4	0.000	0.060	1924	3950	2022	0	0	0	0	0	0
10898	0.64	105.1	142.1	15.8	711	10902	0.00	1.15	0.00	0.000	6	0.000	0.036	1930	3188	2022	0	0	0	0	0	0
11227	0.64	105.1	92.4	15.2	745	11234	0.00	1.23	0.00	0.000	4	0.000	0.059	1930	3956	2022	0	0	0	0	0	0
11291	0.64	105.1	82.3	15.3	756	11300	0.10	1.17	0.00	0.000	6	0.193	0.035	1907	3173	2022	0	0	0	0	0	0
11645	0.64	105.1	36.9	12.9	817	11652	0.00	1.25	0.00	0.000	4	0.000	0.060	1907	3953	2022	0	0	0	0	0	0
11717	0.64	105.1	27.9	12.3	829	11724	0.00	1.15	0.00	0.000	6	0.000	0.035	1912	3186	2022	0	0	0	0	0	0
11866	0.65	111.3	15.3	8.8	854	11875	0.00	2.15	0.00	0.000	4	0.000	0.033	1924	1772	2022	0	0	0	0	0	0
12006	end climb: SURFACE_DEPTH_REACHED
state	12006	begin surface coast
12050	end surface coast: CONTROL_FINISHED_OK
state	12050	begin surface