Glider dive log

SOSCEx 01Dec13 * SG543 * Dive index * Mission links * Dive 153 * 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 153 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 3420 ALTIM_PING_DELTA 15

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 3280 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -4300 HEAD_ERRBAND 10 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 42 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 19 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 131

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 118

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 -12999.32 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 125 PITCH_MAX 3908 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1720 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 58 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 58 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 -12999.32

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 10 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 1720 KALMAN_USE 2 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 3280 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 3420 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 42 VBD_MAX 3960

DEVICE2 101 MASS 52459 R_STBD_OVSHOOT 19 VBD_MAXERRORS 1

DEVICE3 131 MAX_BUOY 125 SEABIRD_C_G -10.305622 VBD_MIN 507

DEVICE4 118 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 153 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 251213,043600,-4257.883,829.948,39,0.9,39,-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 1.50 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 251213,044413,-4257.965,830.115,17,0.9,19,-25.0 MHEAD_RNG_PITCHd_Wd 207.4,3772,-24.7,-9.429

SPEED_LIMITS 0.163,0.235 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.022399 _10V_AH 10.0,16.558

SM_CCo 14250,41.92,0.799,0,0,1554,225.18 FG_AHR_24Vo 0.000

SM_GC 1.42,0.00,0.00,41.92,0.000,0.000,0.799,62,3413,1554,-5.18,-0.17,225.18 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4244.98,831.12,251213,000039 MEM 354416

TT8_MAMPS 0.026215 DATA_FILE_SIZE 73880,1043

HUMID 62.79 CAP_FILE_SIZE 122158,0

INTERNAL_PRESSURE 9.55232 CFSIZE 259252224,247844864

TCM_TEMP 13.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2

XPDR_PINGS 0 GPS 251213,084403,-4259.115,830.782,36,1.1,38,-25.0

_24V_AH 22.4,23.540

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 244 68.74 SBE_CT 724 24 389.29

Roll_motor 43 92 91.08 AA4330 1777 33 1313.88

VBD_pump_during_apogee 235 1847 9761.32 WL_BB2FLVMT 716 105 1684.46

VBD_pump_during_surface 41 799 750.76 QSP2150 356 4 34.95

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 58.80 nil 0 0 0.00

Iridium_during_connect 45 160 163.37 nil 0 0 0.00

Iridium_during_xfer 300 223 1501.80 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 26 5.78

TT8 2574 14 385.12

LPSleep 8864 2 194.13

TT8_Active 363 14 51.68

TT8_Sampling 2819 37 1055.20

TT8_CF8 166 47 78.41

TT8_Kalman 0 0 0.00

Analog_circuits 1326 12 159.20

GPS_charging 0 0 0.00

Compass 2315 15 364.15

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

14 -0.47 -69.5 0.0 0.0 0 66 0.00 0.00 -49.58 0.000 2 0.000 0.000 62 3423 2670 0 0 0 0 0 0

68 -0.50 -121.7 3.3 -4.6 6 87 6.25 0.90 -7.78 0.000 4 0.244 0.093 1547 3960 2973 0 0 0 0 0 0

351 -0.50 -121.7 58.9 -17.2 53 357 0.00 0.82 0.00 0.000 6 0.000 0.037 1546 3419 2978 0 0 0 0 0 0

695 -0.50 -121.7 111.3 -15.1 107 699 0.00 0.85 0.00 0.000 4 0.000 0.062 1543 3947 2980 0 0 0 0 0 0

945 -0.50 -121.7 149.1 -14.9 129 948 0.00 0.80 0.00 0.000 6 0.000 0.038 1543 3419 2981 0 0 0 0 0 0

1275 -0.50 -121.7 200.8 -15.5 160 1276 0.00 0.00 0.00 0.000 6 0.000 0.000 1543 3419 2981 0 0 0 0 0 0

1594 -0.50 -121.7 251.2 -16.2 190 1595 0.00 0.00 0.00 0.000 6 0.000 0.000 1543 3419 2981 0 0 0 0 0 0

1913 -0.50 -121.7 299.5 -14.5 220 1914 0.00 0.00 0.00 0.000 6 0.000 0.000 1543 3419 2981 0 0 0 0 0 0

2231 -0.50 -121.7 347.4 -14.8 250 2232 0.00 0.00 0.00 0.000 6 0.000 0.000 1543 3419 2981 0 0 0 0 0 0

2550 -0.50 -121.7 394.5 -14.7 280 2551 0.00 0.00 0.00 0.000 6 0.000 0.000 1543 3419 2981 0 0 0 0 0 0

2860 -0.50 -121.7 441.3 -15.3 297 2861 0.00 0.00 0.00 0.000 6 0.000 0.000 1543 3419 2981 0 0 0 0 0 0

3169 -0.50 -121.7 488.4 -14.9 312 3170 0.00 0.00 0.00 0.000 6 0.000 0.000 1543 3419 2981 0 0 0 0 0 0

3478 -0.50 -121.7 533.0 -14.2 327 3480 0.00 0.00 0.00 0.000 6 0.000 0.000 1543 3419 2981 0 0 0 0 0 0

3788 -0.50 -121.7 576.3 -14.1 342 3789 0.00 0.00 0.00 0.000 6 0.000 0.000 1543 3419 2981 0 0 0 0 0 0

4097 -0.50 -121.7 618.8 -13.7 357 4101 0.00 2.12 0.00 0.000 4 0.000 0.034 1543 2002 2980 0 0 0 0 0 0

4118 -0.50 -121.7 621.8 -13.6 358 4123 0.00 2.30 0.00 0.000 6 0.000 0.056 1532 3423 2980 0 0 0 0 0 0

4447 -0.50 -121.7 668.2 -14.1 374 4451 0.00 0.85 0.00 0.000 4 0.000 0.063 1528 3958 2979 0 0 0 0 0 0

4530 -0.50 -121.7 681.3 -14.9 377 4537 0.00 0.82 0.00 0.000 6 0.000 0.040 1528 3420 2979 0 0 0 0 0 0

4846 -0.50 -121.7 725.6 -13.5 393 4847 0.00 0.00 0.00 0.000 6 0.000 0.000 1528 3421 2978 0 0 0 0 0 0

5155 -0.50 -121.7 767.9 -13.6 408 5156 0.00 0.00 0.00 0.000 6 0.000 0.000 1528 3421 2978 0 0 0 0 0 0

5465 -0.50 -121.7 809.9 -13.6 423 5469 0.00 2.15 0.00 0.000 4 0.000 0.035 1528 1995 2976 0 0 0 0 0 0

5491 -0.50 -121.7 813.6 -13.3 424 5496 0.10 2.30 0.00 0.000 6 0.133 0.057 1550 3418 2976 0 0 0 0 0 0

5815 -0.50 -121.7 849.0 -11.0 440 5816 0.00 0.00 0.00 0.000 6 0.000 0.000 1550 3417 2976 0 0 0 0 0 0

6122 -0.50 -121.7 880.4 -10.1 455 6126 0.00 0.82 0.00 0.000 4 0.000 0.063 1547 3942 2976 0 0 0 0 0 0

6176 -0.50 -121.7 886.8 -11.0 457 6181 0.00 0.80 0.00 0.000 6 0.000 0.039 1547 3419 2976 0 0 0 0 0 0

6498 -0.50 -121.7 921.4 -11.0 473 6500 0.00 0.00 0.00 0.000 6 0.000 0.000 1546 3418 2975 0 0 0 0 0 0

6809 -0.50 -121.7 956.2 -11.4 488 6810 0.00 0.00 0.00 0.000 6 0.000 0.000 1547 3418 2975 0 0 0 0 0 0

7117 -0.50 -121.7 990.0 -10.6 503 7118 0.00 0.00 0.00 0.000 6 0.000 0.000 1548 3418 2975 0 0 0 0 0 0

7136 end dive: TARGET_DEPTH_EXCEEDED

state 7136 begin apogee

7141 -0.09 0.0 992.3 10.7 504 7259 0.47 0.00 113.88 1.847 6 0.147 0.000 1690 3286 2475 0 0 0 0 0 0

7260 end apogee: CONTROL_FINISHED_OK

state 7260 begin climb

7262 0.50 121.7 996.1 0.0 510 7393 0.55 2.50 122.00 1.817 4 0.049 0.033 1900 1860 1976 0 0 0 0 0 0

7454 0.50 121.7 980.7 13.3 519 7459 0.00 2.47 0.00 0.000 6 0.000 0.050 1900 3280 1971 0 0 0 0 0 0

7783 0.50 121.7 927.5 16.4 535 7786 0.00 1.12 0.00 0.000 4 0.000 0.059 1900 3958 1966 0 0 0 0 0 0

8039 0.50 121.7 879.9 17.8 546 8044 0.00 1.08 0.00 0.000 6 0.000 0.036 1905 3273 1964 0 0 0 0 0 0

8363 0.50 121.7 829.4 15.2 562 8367 0.00 1.12 0.00 0.000 4 0.000 0.060 1906 3958 1963 0 0 0 0 0 0

8521 0.50 121.7 802.6 15.6 569 8525 0.00 1.05 0.00 0.000 6 0.000 0.037 1911 3276 1963 0 0 0 0 0 0

8855 0.50 121.7 750.2 16.0 585 8856 0.00 0.00 0.00 0.000 6 0.000 0.000 1911 3276 1962 0 0 0 0 0 0

9163 0.50 121.7 701.6 15.2 600 9166 0.00 1.10 0.00 0.000 4 0.000 0.060 1911 3954 1961 0 0 0 0 0 0

9344 0.50 121.7 671.0 16.8 608 9348 0.10 1.02 0.00 0.000 6 0.201 0.037 1889 3279 1961 0 0 0 0 0 0

9676 0.50 121.7 623.8 14.1 624 9677 0.00 0.00 0.00 0.000 6 0.000 0.000 1889 3279 1960 0 0 0 0 0 0

9986 0.50 121.7 579.5 14.2 639 9987 0.00 0.00 0.00 0.000 6 0.000 0.000 1889 3279 1959 0 0 0 0 0 0

10294 0.50 121.7 535.7 14.1 654 10295 0.00 0.00 0.00 0.000 6 0.000 0.000 1889 3279 1959 0 0 0 0 0 0

10604 0.50 121.7 492.4 13.8 669 10607 0.00 1.08 0.00 0.000 4 0.000 0.060 1888 3950 1959 0 0 0 0 0 0

10821 0.50 121.7 458.8 15.5 678 10829 0.00 1.05 0.00 0.000 6 0.000 0.037 1892 3267 1959 0 0 0 0 0 0

11137 0.50 121.7 415.9 13.7 694 11138 0.00 0.00 0.00 0.000 6 0.000 0.000 1892 3267 1958 0 0 0 0 0 0

11452 0.50 121.7 373.6 13.1 718 11456 0.00 1.10 0.00 0.000 4 0.000 0.060 1892 3948 1958 0 0 0 0 0 0

11512 0.50 121.7 364.7 14.7 723 11520 0.00 1.02 0.00 0.000 6 0.000 0.037 1897 3280 1958 0 0 0 0 0 0

11838 0.50 121.7 319.9 13.8 754 11841 0.00 1.08 0.00 0.000 4 0.000 0.060 1897 3956 1958 0 0 0 0 0 0

11921 0.50 121.7 306.7 16.1 761 11929 0.00 1.05 0.00 0.000 6 0.000 0.036 1902 3269 1958 0 0 0 0 0 0

12247 0.50 121.7 258.0 15.2 792 12250 0.00 1.10 0.00 0.000 4 0.000 0.060 1902 3955 1958 0 0 0 0 0 0

12486 0.50 121.7 219.6 15.6 813 12489 0.00 1.02 0.00 0.000 6 0.000 0.037 1908 3273 1958 0 0 0 0 0 0

12816 0.50 121.7 172.2 13.9 844 12819 0.00 1.10 0.00 0.000 4 0.000 0.058 1908 3955 1958 0 0 0 0 0 0

12921 0.50 121.7 155.0 16.2 853 12930 0.12 1.05 0.00 0.000 6 0.212 0.035 1885 3268 1958 0 0 0 0 0 0

13247 0.50 121.7 113.4 12.4 884 13251 0.00 1.10 0.00 0.000 4 0.000 0.059 1885 3953 1958 0 0 0 0 0 0

13319 0.50 121.7 103.3 14.1 890 13327 0.00 1.02 0.00 0.000 6 0.000 0.034 1888 3280 1958 0 0 0 0 0 0

13672 0.50 121.7 62.3 11.1 949 13678 0.00 1.08 0.00 0.000 4 0.000 0.060 1888 3951 1958 0 0 0 0 0 0

13939 0.50 121.7 31.8 9.8 995 13946 0.00 1.00 0.00 0.000 6 0.000 0.036 1893 3285 1958 0 0 0 0 0 0

14091 0.50 121.7 16.3 10.1 1020 14101 0.00 1.08 0.00 0.000 4 0.000 0.059 1893 3953 1958 0 0 0 0 0 0

14204 end climb: SURFACE_DEPTH_REACHED

state 14205 begin surface coast

14237 end surface coast: CONTROL_FINISHED_OK

state 14238 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	153	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	3420	ALTIM_PING_DELTA	15
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	3280	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-4300	HEAD_ERRBAND	10	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	42	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	19	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	131
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	118
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	-12999.32	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	125	PITCH_MAX	3908	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1720	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	58	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	251213,043600,-4257.883,829.948,39,0.9,39,-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	1.50	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	251213,044413,-4257.965,830.115,17,0.9,19,-25.0	MHEAD_RNG_PITCHd_Wd	207.4,3772,-24.7,-9.429
SPEED_LIMITS	0.163,0.235	D_GRID	990

FINISH	0.5,1.022399	_10V_AH	10.0,16.558
SM_CCo	14250,41.92,0.799,0,0,1554,225.18	FG_AHR_24Vo	0.000
SM_GC	1.42,0.00,0.00,41.92,0.000,0.000,0.799,62,3413,1554,-5.18,-0.17,225.18	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4244.98,831.12,251213,000039	MEM	354416
TT8_MAMPS	0.026215	DATA_FILE_SIZE	73880,1043
HUMID	62.79	CAP_FILE_SIZE	122158,0
INTERNAL_PRESSURE	9.55232	CFSIZE	259252224,247844864
TCM_TEMP	13.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
XPDR_PINGS	0	GPS	251213,084403,-4259.115,830.782,36,1.1,38,-25.0
_24V_AH	22.4,23.540

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	244	68.74	SBE_CT	724	24	389.29
Roll_motor	43	92	91.08	AA4330	1777	33	1313.88
VBD_pump_during_apogee	235	1847	9761.32	WL_BB2FLVMT	716	105	1684.46
VBD_pump_during_surface	41	799	750.76	QSP2150	356	4	34.95
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	58.80	nil	0	0	0.00
Iridium_during_connect	45	160	163.37	nil	0	0	0.00
Iridium_during_xfer	300	223	1501.80	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	26	5.78
TT8	2574	14	385.12
LPSleep	8864	2	194.13
TT8_Active	363	14	51.68
TT8_Sampling	2819	37	1055.20
TT8_CF8	166	47	78.41
TT8_Kalman	0	0	0.00
Analog_circuits	1326	12	159.20
GPS_charging	0	0	0.00
Compass	2315	15	364.15
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
14	-0.47	-69.5	0.0	0.0	0	66	0.00	0.00	-49.58	0.000	2	0.000	0.000	62	3423	2670	0	0	0	0	0	0
68	-0.50	-121.7	3.3	-4.6	6	87	6.25	0.90	-7.78	0.000	4	0.244	0.093	1547	3960	2973	0	0	0	0	0	0
351	-0.50	-121.7	58.9	-17.2	53	357	0.00	0.82	0.00	0.000	6	0.000	0.037	1546	3419	2978	0	0	0	0	0	0
695	-0.50	-121.7	111.3	-15.1	107	699	0.00	0.85	0.00	0.000	4	0.000	0.062	1543	3947	2980	0	0	0	0	0	0
945	-0.50	-121.7	149.1	-14.9	129	948	0.00	0.80	0.00	0.000	6	0.000	0.038	1543	3419	2981	0	0	0	0	0	0
1275	-0.50	-121.7	200.8	-15.5	160	1276	0.00	0.00	0.00	0.000	6	0.000	0.000	1543	3419	2981	0	0	0	0	0	0
1594	-0.50	-121.7	251.2	-16.2	190	1595	0.00	0.00	0.00	0.000	6	0.000	0.000	1543	3419	2981	0	0	0	0	0	0
1913	-0.50	-121.7	299.5	-14.5	220	1914	0.00	0.00	0.00	0.000	6	0.000	0.000	1543	3419	2981	0	0	0	0	0	0
2231	-0.50	-121.7	347.4	-14.8	250	2232	0.00	0.00	0.00	0.000	6	0.000	0.000	1543	3419	2981	0	0	0	0	0	0
2550	-0.50	-121.7	394.5	-14.7	280	2551	0.00	0.00	0.00	0.000	6	0.000	0.000	1543	3419	2981	0	0	0	0	0	0
2860	-0.50	-121.7	441.3	-15.3	297	2861	0.00	0.00	0.00	0.000	6	0.000	0.000	1543	3419	2981	0	0	0	0	0	0
3169	-0.50	-121.7	488.4	-14.9	312	3170	0.00	0.00	0.00	0.000	6	0.000	0.000	1543	3419	2981	0	0	0	0	0	0
3478	-0.50	-121.7	533.0	-14.2	327	3480	0.00	0.00	0.00	0.000	6	0.000	0.000	1543	3419	2981	0	0	0	0	0	0
3788	-0.50	-121.7	576.3	-14.1	342	3789	0.00	0.00	0.00	0.000	6	0.000	0.000	1543	3419	2981	0	0	0	0	0	0
4097	-0.50	-121.7	618.8	-13.7	357	4101	0.00	2.12	0.00	0.000	4	0.000	0.034	1543	2002	2980	0	0	0	0	0	0
4118	-0.50	-121.7	621.8	-13.6	358	4123	0.00	2.30	0.00	0.000	6	0.000	0.056	1532	3423	2980	0	0	0	0	0	0
4447	-0.50	-121.7	668.2	-14.1	374	4451	0.00	0.85	0.00	0.000	4	0.000	0.063	1528	3958	2979	0	0	0	0	0	0
4530	-0.50	-121.7	681.3	-14.9	377	4537	0.00	0.82	0.00	0.000	6	0.000	0.040	1528	3420	2979	0	0	0	0	0	0
4846	-0.50	-121.7	725.6	-13.5	393	4847	0.00	0.00	0.00	0.000	6	0.000	0.000	1528	3421	2978	0	0	0	0	0	0
5155	-0.50	-121.7	767.9	-13.6	408	5156	0.00	0.00	0.00	0.000	6	0.000	0.000	1528	3421	2978	0	0	0	0	0	0
5465	-0.50	-121.7	809.9	-13.6	423	5469	0.00	2.15	0.00	0.000	4	0.000	0.035	1528	1995	2976	0	0	0	0	0	0
5491	-0.50	-121.7	813.6	-13.3	424	5496	0.10	2.30	0.00	0.000	6	0.133	0.057	1550	3418	2976	0	0	0	0	0	0
5815	-0.50	-121.7	849.0	-11.0	440	5816	0.00	0.00	0.00	0.000	6	0.000	0.000	1550	3417	2976	0	0	0	0	0	0
6122	-0.50	-121.7	880.4	-10.1	455	6126	0.00	0.82	0.00	0.000	4	0.000	0.063	1547	3942	2976	0	0	0	0	0	0
6176	-0.50	-121.7	886.8	-11.0	457	6181	0.00	0.80	0.00	0.000	6	0.000	0.039	1547	3419	2976	0	0	0	0	0	0
6498	-0.50	-121.7	921.4	-11.0	473	6500	0.00	0.00	0.00	0.000	6	0.000	0.000	1546	3418	2975	0	0	0	0	0	0
6809	-0.50	-121.7	956.2	-11.4	488	6810	0.00	0.00	0.00	0.000	6	0.000	0.000	1547	3418	2975	0	0	0	0	0	0
7117	-0.50	-121.7	990.0	-10.6	503	7118	0.00	0.00	0.00	0.000	6	0.000	0.000	1548	3418	2975	0	0	0	0	0	0
7136	end dive: TARGET_DEPTH_EXCEEDED
state	7136	begin apogee
7141	-0.09	0.0	992.3	10.7	504	7259	0.47	0.00	113.88	1.847	6	0.147	0.000	1690	3286	2475	0	0	0	0	0	0
7260	end apogee: CONTROL_FINISHED_OK
state	7260	begin climb
7262	0.50	121.7	996.1	0.0	510	7393	0.55	2.50	122.00	1.817	4	0.049	0.033	1900	1860	1976	0	0	0	0	0	0
7454	0.50	121.7	980.7	13.3	519	7459	0.00	2.47	0.00	0.000	6	0.000	0.050	1900	3280	1971	0	0	0	0	0	0
7783	0.50	121.7	927.5	16.4	535	7786	0.00	1.12	0.00	0.000	4	0.000	0.059	1900	3958	1966	0	0	0	0	0	0
8039	0.50	121.7	879.9	17.8	546	8044	0.00	1.08	0.00	0.000	6	0.000	0.036	1905	3273	1964	0	0	0	0	0	0
8363	0.50	121.7	829.4	15.2	562	8367	0.00	1.12	0.00	0.000	4	0.000	0.060	1906	3958	1963	0	0	0	0	0	0
8521	0.50	121.7	802.6	15.6	569	8525	0.00	1.05	0.00	0.000	6	0.000	0.037	1911	3276	1963	0	0	0	0	0	0
8855	0.50	121.7	750.2	16.0	585	8856	0.00	0.00	0.00	0.000	6	0.000	0.000	1911	3276	1962	0	0	0	0	0	0
9163	0.50	121.7	701.6	15.2	600	9166	0.00	1.10	0.00	0.000	4	0.000	0.060	1911	3954	1961	0	0	0	0	0	0
9344	0.50	121.7	671.0	16.8	608	9348	0.10	1.02	0.00	0.000	6	0.201	0.037	1889	3279	1961	0	0	0	0	0	0
9676	0.50	121.7	623.8	14.1	624	9677	0.00	0.00	0.00	0.000	6	0.000	0.000	1889	3279	1960	0	0	0	0	0	0
9986	0.50	121.7	579.5	14.2	639	9987	0.00	0.00	0.00	0.000	6	0.000	0.000	1889	3279	1959	0	0	0	0	0	0
10294	0.50	121.7	535.7	14.1	654	10295	0.00	0.00	0.00	0.000	6	0.000	0.000	1889	3279	1959	0	0	0	0	0	0
10604	0.50	121.7	492.4	13.8	669	10607	0.00	1.08	0.00	0.000	4	0.000	0.060	1888	3950	1959	0	0	0	0	0	0
10821	0.50	121.7	458.8	15.5	678	10829	0.00	1.05	0.00	0.000	6	0.000	0.037	1892	3267	1959	0	0	0	0	0	0
11137	0.50	121.7	415.9	13.7	694	11138	0.00	0.00	0.00	0.000	6	0.000	0.000	1892	3267	1958	0	0	0	0	0	0
11452	0.50	121.7	373.6	13.1	718	11456	0.00	1.10	0.00	0.000	4	0.000	0.060	1892	3948	1958	0	0	0	0	0	0
11512	0.50	121.7	364.7	14.7	723	11520	0.00	1.02	0.00	0.000	6	0.000	0.037	1897	3280	1958	0	0	0	0	0	0
11838	0.50	121.7	319.9	13.8	754	11841	0.00	1.08	0.00	0.000	4	0.000	0.060	1897	3956	1958	0	0	0	0	0	0
11921	0.50	121.7	306.7	16.1	761	11929	0.00	1.05	0.00	0.000	6	0.000	0.036	1902	3269	1958	0	0	0	0	0	0
12247	0.50	121.7	258.0	15.2	792	12250	0.00	1.10	0.00	0.000	4	0.000	0.060	1902	3955	1958	0	0	0	0	0	0
12486	0.50	121.7	219.6	15.6	813	12489	0.00	1.02	0.00	0.000	6	0.000	0.037	1908	3273	1958	0	0	0	0	0	0
12816	0.50	121.7	172.2	13.9	844	12819	0.00	1.10	0.00	0.000	4	0.000	0.058	1908	3955	1958	0	0	0	0	0	0
12921	0.50	121.7	155.0	16.2	853	12930	0.12	1.05	0.00	0.000	6	0.212	0.035	1885	3268	1958	0	0	0	0	0	0
13247	0.50	121.7	113.4	12.4	884	13251	0.00	1.10	0.00	0.000	4	0.000	0.059	1885	3953	1958	0	0	0	0	0	0
13319	0.50	121.7	103.3	14.1	890	13327	0.00	1.02	0.00	0.000	6	0.000	0.034	1888	3280	1958	0	0	0	0	0	0
13672	0.50	121.7	62.3	11.1	949	13678	0.00	1.08	0.00	0.000	4	0.000	0.060	1888	3951	1958	0	0	0	0	0	0
13939	0.50	121.7	31.8	9.8	995	13946	0.00	1.00	0.00	0.000	6	0.000	0.036	1893	3285	1958	0	0	0	0	0	0
14091	0.50	121.7	16.3	10.1	1020	14101	0.00	1.08	0.00	0.000	4	0.000	0.059	1893	3953	1958	0	0	0	0	0	0
14204	end climb: SURFACE_DEPTH_REACHED
state	14205	begin surface coast
14237	end surface coast: CONTROL_FINISHED_OK
state	14238	begin surface