Glider dive log

SOSCEx 01Dec13 * SG543 * Dive index * Mission links * Dive 112 * 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 112 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 47 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 21 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 -12743.252 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 -12743.252

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 47 VBD_MAX 3960

DEVICE2 101 MASS 52459 R_STBD_OVSHOOT 21 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 112 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 181213,072329,-4300.147,830.119,67,0.9,67,-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 1.72 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -55.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 181213,073106,-4300.129,830.213,20,1.1,20,-25.0 MHEAD_RNG_PITCHd_Wd 334.7,375,-27.2,-9.429

SPEED_LIMITS 0.163,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.026184 _10V_AH 10.0,12.193

SM_CCo 12092,45.00,0.799,0,0,1552,225.18 FG_AHR_24Vo 0.000

SM_GC 1.66,0.00,0.00,45.00,0.000,0.000,0.799,74,3331,1552,-5.06,0.31,225.18 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4244.98,827.77,181213,030310 MEM 355212

TT8_MAMPS 0.025466 DATA_FILE_SIZE 57025,875

HUMID 61.73 CAP_FILE_SIZE 116900,0

INTERNAL_PRESSURE 9.54255 CFSIZE 259252224,250773504

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

XPDR_PINGS 0 GPS 181213,105458,-4258.925,829.844,40,1.1,40,-25.0

_24V_AH 22.5,17.854

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 232 64.49 SBE_CT 606 24 327.56

Roll_motor 55 62 78.55 AA4330 1520 33 1129.06

VBD_pump_during_apogee 213 1872 9003.45 WL_BB2F 610 105 1442.58

VBD_pump_during_surface 45 798 808.64 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 62.65 nil 0 0 0.00

Iridium_during_connect 43 160 156.88 nil 0 0 0.00

Iridium_during_xfer 271 223 1360.98 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 23 26 6.33

TT8 2217 14 331.67

LPSleep 7224 2 158.22

TT8_Active 361 14 51.32

TT8_Sampling 2644 37 989.90

TT8_CF8 147 47 69.63

TT8_Kalman 0 0 0.00

Analog_circuits 1314 12 157.72

GPS_charging 0 0 0.00

Compass 2198 15 345.79

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 65 0.00 0.00 -48.55 0.000 2 0.000 0.000 62 3327 2648 0 0 0 0 0 0

67 -0.64 -108.6 3.3 -3.9 6 85 5.72 0.00 -7.30 0.000 6 0.233 0.000 1481 3328 2918 0 0 0 0 0 0

134 -0.64 -108.6 19.6 -27.0 16 143 0.00 1.00 0.00 0.000 4 0.000 0.059 1478 3940 2922 0 0 0 0 0 0

149 -0.64 -108.6 24.0 -25.9 18 158 0.00 0.95 0.00 0.000 6 0.000 0.035 1478 3325 2922 0 0 0 0 0 0

297 -0.64 -108.6 57.3 -23.2 43 303 0.00 0.00 0.00 0.000 6 0.000 0.000 1478 3325 2923 0 0 0 0 0 0

633 -0.64 -108.6 128.1 -20.1 91 637 0.00 1.00 0.00 0.000 4 0.000 0.058 1475 3953 2924 0 0 0 0 0 0

716 -0.64 -108.6 146.7 -21.9 98 724 0.00 0.98 0.00 0.000 6 0.000 0.034 1475 3314 2924 0 0 0 0 0 0

1044 -0.64 -108.6 214.0 -20.7 129 1048 0.00 1.00 0.00 0.000 4 0.000 0.059 1470 3943 2926 0 0 0 0 0 0

1258 -0.64 -108.6 260.1 -20.5 148 1262 0.00 0.95 0.00 0.000 6 0.000 0.036 1470 3315 2926 0 0 0 0 0 0

1588 -0.64 -108.6 324.7 -19.3 179 1592 0.00 1.00 0.00 0.000 4 0.000 0.059 1466 3951 2926 0 0 0 0 0 0

1762 -0.64 -108.6 361.0 -19.9 194 1769 0.00 0.98 0.00 0.000 6 0.000 0.035 1466 3311 2926 0 0 0 0 0 0

2095 -0.64 -108.6 426.0 -19.6 220 2098 0.00 1.00 0.00 0.000 4 0.000 0.060 1461 3939 2926 0 0 0 0 0 0

2346 -0.64 -108.6 480.7 -20.7 231 2350 0.00 0.95 0.00 0.000 6 0.000 0.036 1461 3318 2926 0 0 0 0 0 0

2673 -0.64 -108.6 545.9 -19.8 247 2677 0.00 1.00 0.00 0.000 4 0.000 0.060 1456 3948 2926 0 0 0 0 0 0

2840 -0.64 -108.6 582.2 -21.2 254 2845 0.12 0.98 0.00 0.000 6 0.193 0.037 1485 3315 2925 0 0 0 0 0 0

3162 -0.64 -108.6 637.5 -16.8 270 3166 0.00 1.00 0.00 0.000 4 0.000 0.062 1482 3949 2926 0 0 0 0 0 0

3368 -0.64 -108.6 675.1 -18.1 279 3373 0.00 0.98 0.00 0.000 6 0.000 0.037 1482 3314 2925 0 0 0 0 0 0

3696 -0.64 -108.6 729.4 -16.4 295 3699 0.00 1.00 0.00 0.000 4 0.000 0.062 1478 3943 2924 0 0 0 0 0 0

3913 -0.64 -108.6 768.9 -19.0 304 3921 0.00 0.98 0.00 0.000 6 0.000 0.037 1477 3312 2924 0 0 0 0 0 0

4229 -0.64 -108.6 822.0 -16.3 320 4233 0.00 1.00 0.00 0.000 4 0.000 0.061 1473 3942 2924 0 0 0 0 0 0

4319 -0.64 -108.6 837.2 -17.2 324 4323 0.00 0.95 0.00 0.000 6 0.000 0.039 1473 3317 2923 0 0 0 0 0 0

4651 -0.64 -108.6 889.5 -15.4 340 4655 0.00 1.00 0.00 0.000 4 0.000 0.063 1468 3949 2923 0 0 0 0 0 0

4908 -0.64 -108.6 934.9 -18.0 351 4913 0.00 0.98 0.00 0.000 6 0.000 0.037 1468 3315 2922 0 0 0 0 0 0

5231 -0.64 -108.6 989.4 -17.2 367 5235 0.00 1.00 0.00 0.000 4 0.000 0.062 1464 3945 2922 0 0 0 0 0 0

5240 end dive: TARGET_DEPTH_EXCEEDED

state 5240 begin apogee

5245 -0.11 0.0 991.8 17.2 367 5357 0.62 0.00 104.82 1.873 6 0.165 0.000 1650 3171 2475 0 0 0 0 0 0

5358 end apogee: CONTROL_FINISHED_OK

state 5358 begin climb

5360 0.64 108.6 997.4 0.0 373 5476 0.77 2.38 108.85 1.824 4 0.099 0.033 1907 1784 2030 0 0 0 0 0 0

5577 0.64 108.6 977.3 12.0 383 5581 0.00 2.42 0.00 0.000 6 0.000 0.050 1907 3181 2023 0 0 0 0 0 0

5904 0.64 108.6 929.8 14.8 399 5907 0.00 1.27 0.00 0.000 4 0.000 0.059 1907 3948 2017 0 0 0 0 0 0

5958 0.64 108.6 920.6 16.8 401 5963 0.00 1.23 0.00 0.000 6 0.000 0.035 1913 3179 2017 0 0 0 0 0 0

6280 0.64 108.6 871.1 15.2 417 6284 0.00 1.27 0.00 0.000 4 0.000 0.059 1913 3955 2015 0 0 0 0 0 0

6379 0.64 108.6 853.5 17.9 421 6384 0.00 1.23 0.00 0.000 6 0.000 0.036 1919 3177 2015 0 0 0 0 0 0

6703 0.64 108.6 802.1 15.9 437 6704 0.00 0.00 0.00 0.000 6 0.000 0.000 1919 3178 2013 0 0 0 0 0 0

7011 0.64 108.6 755.1 15.1 452 7014 0.00 1.25 0.00 0.000 4 0.000 0.060 1919 3947 2013 0 0 0 0 0 0

7093 0.64 108.6 740.7 17.4 455 7101 0.00 1.20 0.00 0.000 6 0.000 0.035 1924 3174 2013 0 0 0 0 0 0

7410 0.64 108.6 691.4 15.2 471 7411 0.00 0.00 0.00 0.000 6 0.000 0.000 1925 3175 2012 0 0 0 0 0 0

7719 0.64 108.6 643.3 15.5 486 7722 0.00 1.25 0.00 0.000 4 0.000 0.060 1924 3944 2012 0 0 0 0 0 0

7899 0.64 108.6 611.5 18.3 494 7902 0.00 1.17 0.00 0.000 6 0.000 0.037 1930 3180 2012 0 0 0 0 0 0

8232 0.64 108.6 557.8 15.8 510 8233 0.00 0.00 0.00 0.000 6 0.000 0.000 1930 3180 2011 0 0 0 0 0 0

8540 0.64 108.6 508.6 15.8 525 8541 0.00 0.00 0.00 0.000 6 0.000 0.000 1930 3180 2010 0 0 0 0 0 0

8850 0.64 108.6 460.8 15.3 540 8853 0.00 1.25 0.00 0.000 4 0.000 0.060 1930 3957 2010 0 0 0 0 0 0

8963 0.64 108.6 441.9 17.3 545 8967 0.10 1.17 0.00 0.000 6 0.192 0.037 1907 3186 2010 0 0 0 0 0 0

9294 0.64 108.6 397.3 13.0 561 9298 0.00 1.23 0.00 0.000 4 0.000 0.060 1908 3949 2009 0 0 0 0 0 0

9411 0.64 108.6 380.1 15.5 571 9419 0.00 1.20 0.00 0.000 6 0.000 0.037 1912 3173 2010 0 0 0 0 0 0

9737 0.64 108.6 336.2 13.1 602 9740 0.00 1.25 0.00 0.000 4 0.000 0.060 1912 3951 2009 0 0 0 0 0 0

9850 0.64 108.6 319.2 15.1 612 9854 0.00 1.17 0.00 0.000 6 0.000 0.037 1919 3175 2009 0 0 0 0 0 0

10180 0.64 108.6 274.3 13.9 643 10184 0.00 1.25 0.00 0.000 4 0.000 0.061 1918 3950 2009 0 0 0 0 0 0

10343 0.64 108.6 249.3 15.4 657 10351 0.00 1.20 0.00 0.000 6 0.000 0.035 1924 3166 2009 0 0 0 0 0 0

10668 0.64 108.6 204.8 13.7 688 10672 0.00 1.25 0.00 0.000 4 0.000 0.060 1924 3942 2009 0 0 0 0 0 0

10809 0.64 108.6 182.6 15.8 700 10819 0.00 1.15 0.00 0.000 6 0.000 0.035 1930 3183 2009 0 0 0 0 0 0

11134 0.64 108.6 135.1 15.0 731 11135 0.00 0.00 0.00 0.000 6 0.000 0.000 1930 3182 2008 0 0 0 0 0 0

11459 0.64 108.6 84.0 14.6 770 11466 0.00 1.23 0.00 0.000 4 0.000 0.059 1930 3947 2009 0 0 0 0 0 0

11670 0.64 108.6 50.2 15.9 807 11679 0.10 1.17 0.00 0.000 6 0.191 0.036 1908 3167 2009 0 0 0 0 0 0

12031 0.64 108.6 4.8 12.7 868 12040 0.00 2.12 0.00 0.000 4 0.000 0.033 1917 1780 2008 0 0 0 0 0 0

12047 end climb: SURFACE_DEPTH_REACHED

state 12047 begin surface coast

12078 end surface coast: CONTROL_FINISHED_OK

state 12078 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	112	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	47	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	21	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	-12743.252	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	181213,072329,-4300.147,830.119,67,0.9,67,-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	1.72	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-55.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	181213,073106,-4300.129,830.213,20,1.1,20,-25.0	MHEAD_RNG_PITCHd_Wd	334.7,375,-27.2,-9.429
SPEED_LIMITS	0.163,0.255	D_GRID	990

FINISH	0.5,1.026184	_10V_AH	10.0,12.193
SM_CCo	12092,45.00,0.799,0,0,1552,225.18	FG_AHR_24Vo	0.000
SM_GC	1.66,0.00,0.00,45.00,0.000,0.000,0.799,74,3331,1552,-5.06,0.31,225.18	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4244.98,827.77,181213,030310	MEM	355212
TT8_MAMPS	0.025466	DATA_FILE_SIZE	57025,875
HUMID	61.73	CAP_FILE_SIZE	116900,0
INTERNAL_PRESSURE	9.54255	CFSIZE	259252224,250773504
TCM_TEMP	13.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	181213,105458,-4258.925,829.844,40,1.1,40,-25.0
_24V_AH	22.5,17.854

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	232	64.49	SBE_CT	606	24	327.56
Roll_motor	55	62	78.55	AA4330	1520	33	1129.06
VBD_pump_during_apogee	213	1872	9003.45	WL_BB2F	610	105	1442.58
VBD_pump_during_surface	45	798	808.64	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	62.65	nil	0	0	0.00
Iridium_during_connect	43	160	156.88	nil	0	0	0.00
Iridium_during_xfer	271	223	1360.98	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	23	26	6.33
TT8	2217	14	331.67
LPSleep	7224	2	158.22
TT8_Active	361	14	51.32
TT8_Sampling	2644	37	989.90
TT8_CF8	147	47	69.63
TT8_Kalman	0	0	0.00
Analog_circuits	1314	12	157.72
GPS_charging	0	0	0.00
Compass	2198	15	345.79
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	65	0.00	0.00	-48.55	0.000	2	0.000	0.000	62	3327	2648	0	0	0	0	0	0
67	-0.64	-108.6	3.3	-3.9	6	85	5.72	0.00	-7.30	0.000	6	0.233	0.000	1481	3328	2918	0	0	0	0	0	0
134	-0.64	-108.6	19.6	-27.0	16	143	0.00	1.00	0.00	0.000	4	0.000	0.059	1478	3940	2922	0	0	0	0	0	0
149	-0.64	-108.6	24.0	-25.9	18	158	0.00	0.95	0.00	0.000	6	0.000	0.035	1478	3325	2922	0	0	0	0	0	0
297	-0.64	-108.6	57.3	-23.2	43	303	0.00	0.00	0.00	0.000	6	0.000	0.000	1478	3325	2923	0	0	0	0	0	0
633	-0.64	-108.6	128.1	-20.1	91	637	0.00	1.00	0.00	0.000	4	0.000	0.058	1475	3953	2924	0	0	0	0	0	0
716	-0.64	-108.6	146.7	-21.9	98	724	0.00	0.98	0.00	0.000	6	0.000	0.034	1475	3314	2924	0	0	0	0	0	0
1044	-0.64	-108.6	214.0	-20.7	129	1048	0.00	1.00	0.00	0.000	4	0.000	0.059	1470	3943	2926	0	0	0	0	0	0
1258	-0.64	-108.6	260.1	-20.5	148	1262	0.00	0.95	0.00	0.000	6	0.000	0.036	1470	3315	2926	0	0	0	0	0	0
1588	-0.64	-108.6	324.7	-19.3	179	1592	0.00	1.00	0.00	0.000	4	0.000	0.059	1466	3951	2926	0	0	0	0	0	0
1762	-0.64	-108.6	361.0	-19.9	194	1769	0.00	0.98	0.00	0.000	6	0.000	0.035	1466	3311	2926	0	0	0	0	0	0
2095	-0.64	-108.6	426.0	-19.6	220	2098	0.00	1.00	0.00	0.000	4	0.000	0.060	1461	3939	2926	0	0	0	0	0	0
2346	-0.64	-108.6	480.7	-20.7	231	2350	0.00	0.95	0.00	0.000	6	0.000	0.036	1461	3318	2926	0	0	0	0	0	0
2673	-0.64	-108.6	545.9	-19.8	247	2677	0.00	1.00	0.00	0.000	4	0.000	0.060	1456	3948	2926	0	0	0	0	0	0
2840	-0.64	-108.6	582.2	-21.2	254	2845	0.12	0.98	0.00	0.000	6	0.193	0.037	1485	3315	2925	0	0	0	0	0	0
3162	-0.64	-108.6	637.5	-16.8	270	3166	0.00	1.00	0.00	0.000	4	0.000	0.062	1482	3949	2926	0	0	0	0	0	0
3368	-0.64	-108.6	675.1	-18.1	279	3373	0.00	0.98	0.00	0.000	6	0.000	0.037	1482	3314	2925	0	0	0	0	0	0
3696	-0.64	-108.6	729.4	-16.4	295	3699	0.00	1.00	0.00	0.000	4	0.000	0.062	1478	3943	2924	0	0	0	0	0	0
3913	-0.64	-108.6	768.9	-19.0	304	3921	0.00	0.98	0.00	0.000	6	0.000	0.037	1477	3312	2924	0	0	0	0	0	0
4229	-0.64	-108.6	822.0	-16.3	320	4233	0.00	1.00	0.00	0.000	4	0.000	0.061	1473	3942	2924	0	0	0	0	0	0
4319	-0.64	-108.6	837.2	-17.2	324	4323	0.00	0.95	0.00	0.000	6	0.000	0.039	1473	3317	2923	0	0	0	0	0	0
4651	-0.64	-108.6	889.5	-15.4	340	4655	0.00	1.00	0.00	0.000	4	0.000	0.063	1468	3949	2923	0	0	0	0	0	0
4908	-0.64	-108.6	934.9	-18.0	351	4913	0.00	0.98	0.00	0.000	6	0.000	0.037	1468	3315	2922	0	0	0	0	0	0
5231	-0.64	-108.6	989.4	-17.2	367	5235	0.00	1.00	0.00	0.000	4	0.000	0.062	1464	3945	2922	0	0	0	0	0	0
5240	end dive: TARGET_DEPTH_EXCEEDED
state	5240	begin apogee
5245	-0.11	0.0	991.8	17.2	367	5357	0.62	0.00	104.82	1.873	6	0.165	0.000	1650	3171	2475	0	0	0	0	0	0
5358	end apogee: CONTROL_FINISHED_OK
state	5358	begin climb
5360	0.64	108.6	997.4	0.0	373	5476	0.77	2.38	108.85	1.824	4	0.099	0.033	1907	1784	2030	0	0	0	0	0	0
5577	0.64	108.6	977.3	12.0	383	5581	0.00	2.42	0.00	0.000	6	0.000	0.050	1907	3181	2023	0	0	0	0	0	0
5904	0.64	108.6	929.8	14.8	399	5907	0.00	1.27	0.00	0.000	4	0.000	0.059	1907	3948	2017	0	0	0	0	0	0
5958	0.64	108.6	920.6	16.8	401	5963	0.00	1.23	0.00	0.000	6	0.000	0.035	1913	3179	2017	0	0	0	0	0	0
6280	0.64	108.6	871.1	15.2	417	6284	0.00	1.27	0.00	0.000	4	0.000	0.059	1913	3955	2015	0	0	0	0	0	0
6379	0.64	108.6	853.5	17.9	421	6384	0.00	1.23	0.00	0.000	6	0.000	0.036	1919	3177	2015	0	0	0	0	0	0
6703	0.64	108.6	802.1	15.9	437	6704	0.00	0.00	0.00	0.000	6	0.000	0.000	1919	3178	2013	0	0	0	0	0	0
7011	0.64	108.6	755.1	15.1	452	7014	0.00	1.25	0.00	0.000	4	0.000	0.060	1919	3947	2013	0	0	0	0	0	0
7093	0.64	108.6	740.7	17.4	455	7101	0.00	1.20	0.00	0.000	6	0.000	0.035	1924	3174	2013	0	0	0	0	0	0
7410	0.64	108.6	691.4	15.2	471	7411	0.00	0.00	0.00	0.000	6	0.000	0.000	1925	3175	2012	0	0	0	0	0	0
7719	0.64	108.6	643.3	15.5	486	7722	0.00	1.25	0.00	0.000	4	0.000	0.060	1924	3944	2012	0	0	0	0	0	0
7899	0.64	108.6	611.5	18.3	494	7902	0.00	1.17	0.00	0.000	6	0.000	0.037	1930	3180	2012	0	0	0	0	0	0
8232	0.64	108.6	557.8	15.8	510	8233	0.00	0.00	0.00	0.000	6	0.000	0.000	1930	3180	2011	0	0	0	0	0	0
8540	0.64	108.6	508.6	15.8	525	8541	0.00	0.00	0.00	0.000	6	0.000	0.000	1930	3180	2010	0	0	0	0	0	0
8850	0.64	108.6	460.8	15.3	540	8853	0.00	1.25	0.00	0.000	4	0.000	0.060	1930	3957	2010	0	0	0	0	0	0
8963	0.64	108.6	441.9	17.3	545	8967	0.10	1.17	0.00	0.000	6	0.192	0.037	1907	3186	2010	0	0	0	0	0	0
9294	0.64	108.6	397.3	13.0	561	9298	0.00	1.23	0.00	0.000	4	0.000	0.060	1908	3949	2009	0	0	0	0	0	0
9411	0.64	108.6	380.1	15.5	571	9419	0.00	1.20	0.00	0.000	6	0.000	0.037	1912	3173	2010	0	0	0	0	0	0
9737	0.64	108.6	336.2	13.1	602	9740	0.00	1.25	0.00	0.000	4	0.000	0.060	1912	3951	2009	0	0	0	0	0	0
9850	0.64	108.6	319.2	15.1	612	9854	0.00	1.17	0.00	0.000	6	0.000	0.037	1919	3175	2009	0	0	0	0	0	0
10180	0.64	108.6	274.3	13.9	643	10184	0.00	1.25	0.00	0.000	4	0.000	0.061	1918	3950	2009	0	0	0	0	0	0
10343	0.64	108.6	249.3	15.4	657	10351	0.00	1.20	0.00	0.000	6	0.000	0.035	1924	3166	2009	0	0	0	0	0	0
10668	0.64	108.6	204.8	13.7	688	10672	0.00	1.25	0.00	0.000	4	0.000	0.060	1924	3942	2009	0	0	0	0	0	0
10809	0.64	108.6	182.6	15.8	700	10819	0.00	1.15	0.00	0.000	6	0.000	0.035	1930	3183	2009	0	0	0	0	0	0
11134	0.64	108.6	135.1	15.0	731	11135	0.00	0.00	0.00	0.000	6	0.000	0.000	1930	3182	2008	0	0	0	0	0	0
11459	0.64	108.6	84.0	14.6	770	11466	0.00	1.23	0.00	0.000	4	0.000	0.059	1930	3947	2009	0	0	0	0	0	0
11670	0.64	108.6	50.2	15.9	807	11679	0.10	1.17	0.00	0.000	6	0.191	0.036	1908	3167	2009	0	0	0	0	0	0
12031	0.64	108.6	4.8	12.7	868	12040	0.00	2.12	0.00	0.000	4	0.000	0.033	1917	1780	2008	0	0	0	0	0	0
12047	end climb: SURFACE_DEPTH_REACHED
state	12047	begin surface coast
12078	end surface coast: CONTROL_FINISHED_OK
state	12078	begin surface