Glider dive log

SOSCEx 01Dec13 * SG543 * Dive index * Mission links * Dive 54 * 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 54 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 24 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 -12563.488 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 -12563.488

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 24 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 54 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 091213,175434,-4300.095,830.149,30,0.9,30,-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 1.95 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 091213,180143,-4300.109,830.262,14,0.8,15,-25.0 MHEAD_RNG_PITCHd_Wd 324.6,409,-27.2,-9.429

SPEED_LIMITS 0.163,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.012428 _10V_AH 10.1,6.492

SM_CCo 11593,44.08,0.793,0,0,1554,225.18 FG_AHR_24Vo 0.000

SM_GC 1.32,0.00,0.00,44.08,0.000,0.000,0.793,65,3315,1554,-5.10,-0.17,225.18 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4242.04,830.68,091213,141419 MEM 355192

TT8_MAMPS 0.026964 DATA_FILE_SIZE 56916,853

HUMID 61.38 CAP_FILE_SIZE 115466,0

INTERNAL_PRESSURE 9.54255 CFSIZE 259252224,254525440

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

XPDR_PINGS 0 GPS 091213,211705,-4259.140,830.043,30,1.0,30,-25.0

_24V_AH 22.9,9.954

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 247 71.16 SBE_CT 591 24 324.82

Roll_motor 53 81 100.10 AA4330 1478 33 1117.23

VBD_pump_during_apogee 215 1836 9084.32 WL_BB2F 607 105 1460.52

VBD_pump_during_surface 44 792 799.92 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 67.69 nil 0 0 0.00

Iridium_during_connect 46 160 171.65 nil 0 0 0.00

Iridium_during_xfer 251 223 1285.86 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 4.97

TT8 2171 14 328.06

LPSleep 6827 2 151.03

TT8_Active 358 14 51.41

TT8_Sampling 2597 37 981.83

TT8_CF8 115 47 55.00

TT8_Kalman 0 0 0.00

Analog_circuits 1301 12 157.71

GPS_charging 0 0 0.00

Compass 2165 15 344.01

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 -48.65 0.000 2 0.000 0.000 66 3324 2706 0 0 0 0 0 0

67 -0.65 -110.8 3.3 -3.6 6 85 5.88 0.98 -5.60 0.000 4 0.247 0.082 1474 3955 2926 0 0 0 0 0 0

190 -0.65 -110.8 34.9 -22.6 26 199 0.00 0.98 0.00 0.000 6 0.000 0.037 1476 3322 2930 0 0 0 0 0 0

336 -0.65 -110.8 68.7 -23.0 51 344 0.00 1.00 0.00 0.000 4 0.000 0.060 1473 3940 2931 0 0 0 0 0 0

441 -0.65 -110.8 92.9 -23.5 69 450 0.00 0.95 0.00 0.000 6 0.000 0.037 1475 3319 2931 0 0 0 0 0 0

776 -0.65 -110.8 163.1 -21.8 103 780 0.00 1.00 0.00 0.000 4 0.000 0.060 1472 3946 2932 0 0 0 0 0 0

981 -0.65 -110.8 209.0 -23.0 121 985 0.00 0.95 0.00 0.000 6 0.000 0.037 1472 3314 2932 0 0 0 0 0 0

1311 -0.65 -110.8 279.3 -21.5 152 1314 0.00 1.00 0.00 0.000 4 0.000 0.060 1468 3944 2933 0 0 0 0 0 0

1481 -0.65 -110.8 316.0 -22.5 167 1484 0.00 0.95 0.00 0.000 6 0.000 0.037 1468 3315 2933 0 0 0 0 0 0

1811 -0.65 -110.8 383.0 -19.4 198 1814 0.00 1.00 0.00 0.000 4 0.000 0.060 1463 3945 2933 0 0 0 0 0 0

1905 -0.65 -110.8 402.7 -21.2 206 1909 0.00 0.98 0.00 0.000 6 0.000 0.036 1463 3311 2933 0 0 0 0 0 0

2232 -0.65 -110.8 466.8 -19.7 222 2236 0.00 1.00 0.00 0.000 4 0.000 0.061 1459 3939 2933 0 0 0 0 0 0

2449 -0.65 -110.8 512.3 -21.8 231 2457 0.00 0.95 0.00 0.000 6 0.000 0.037 1458 3319 2933 0 0 0 0 0 0

2765 -0.65 -110.8 574.6 -19.8 247 2769 0.00 1.00 0.00 0.000 4 0.000 0.060 1454 3950 2933 0 0 0 0 0 0

2887 -0.65 -110.8 600.8 -21.2 252 2893 0.12 0.98 0.00 0.000 6 0.210 0.037 1481 3316 2933 0 0 0 0 0 0

3209 -0.65 -110.8 658.4 -18.2 268 3213 0.00 1.00 0.00 0.000 4 0.000 0.063 1478 3943 2932 0 0 0 0 0 0

3466 -0.65 -110.8 707.8 -18.7 279 3470 0.00 0.98 0.00 0.000 6 0.000 0.037 1478 3310 2933 0 0 0 0 0 0

3787 -0.65 -110.8 764.0 -17.1 295 3791 0.00 1.00 0.00 0.000 4 0.000 0.063 1474 3939 2932 0 0 0 0 0 0

3836 -0.65 -110.8 773.4 -19.3 297 3841 0.00 0.95 0.00 0.000 6 0.000 0.038 1473 3318 2932 0 0 0 0 0 0

4163 -0.65 -110.8 831.5 -17.6 313 4167 0.00 1.00 0.00 0.000 4 0.000 0.063 1469 3949 2931 0 0 0 0 0 0

4420 -0.65 -110.8 881.9 -18.6 324 4424 0.00 0.98 0.00 0.000 6 0.000 0.038 1469 3314 2931 0 0 0 0 0 0

4741 -0.65 -110.8 936.6 -16.7 340 4745 0.00 1.00 0.00 0.000 4 0.000 0.064 1464 3943 2930 0 0 0 0 0 0

4998 -0.65 -110.8 982.8 -17.8 351 5003 0.00 0.98 0.00 0.000 6 0.000 0.039 1464 3312 2929 0 0 0 0 0 0

5050 end dive: TARGET_DEPTH_EXCEEDED

state 5050 begin apogee

5054 -0.11 0.0 991.2 16.7 354 5164 0.65 0.00 106.57 1.837 6 0.175 0.000 1651 3182 2474 0 0 0 0 0 0

5164 end apogee: CONTROL_FINISHED_OK

state 5165 begin climb

5166 0.65 110.8 995.2 0.0 359 5285 0.77 2.47 109.40 1.786 4 0.104 0.037 1904 1775 2021 0 0 0 0 0 0

5323 0.65 110.8 979.3 14.5 366 5328 0.00 2.47 0.00 0.000 6 0.000 0.052 1904 3179 2015 0 0 0 0 0 0

5645 0.65 110.8 925.4 16.9 382 5649 0.00 1.30 0.00 0.000 4 0.000 0.062 1904 3951 2009 0 0 0 0 0 0

5727 0.65 110.8 909.6 19.4 385 5735 0.00 1.25 0.00 0.000 6 0.000 0.038 1910 3174 2008 0 0 0 0 0 0

6043 0.65 110.8 856.2 16.2 401 6047 0.00 1.27 0.00 0.000 4 0.000 0.061 1910 3945 2006 0 0 0 0 0 0

6137 0.65 110.8 839.1 18.5 405 6142 0.00 1.23 0.00 0.000 6 0.000 0.037 1916 3168 2005 0 0 0 0 0 0

6466 0.65 110.8 786.0 16.3 421 6469 0.00 1.27 0.00 0.000 4 0.000 0.061 1916 3951 2004 0 0 0 0 0 0

6638 0.65 110.8 752.6 18.9 428 6646 0.00 1.20 0.00 0.000 6 0.000 0.037 1922 3181 2004 0 0 0 0 0 0

6956 0.65 110.8 699.4 17.1 444 6959 0.00 1.25 0.00 0.000 4 0.000 0.060 1922 3955 2003 0 0 0 0 0 0

7090 0.65 110.8 673.8 19.0 450 7094 0.00 1.20 0.00 0.000 6 0.000 0.038 1927 3175 2003 0 0 0 0 0 0

7422 0.65 110.8 618.0 16.5 466 7426 0.00 1.25 0.00 0.000 4 0.000 0.061 1927 3949 2002 0 0 0 0 0 0

7493 0.65 110.8 604.5 19.6 469 7498 0.00 1.20 0.00 0.000 6 0.000 0.038 1933 3178 2002 0 0 0 0 0 0

7821 0.65 110.8 547.4 17.5 485 7822 0.00 0.00 0.00 0.000 6 0.000 0.000 1933 3177 2002 0 0 0 0 0 0

8130 0.65 110.8 493.9 17.3 500 8134 0.00 1.25 0.00 0.000 4 0.000 0.062 1933 3950 2002 0 0 0 0 0 0

8386 0.65 110.8 444.8 18.4 511 8392 0.15 1.20 0.00 0.000 6 0.219 0.038 1904 3177 2001 0 0 0 0 0 0

8708 0.65 110.8 397.6 14.6 527 8709 0.00 0.00 0.00 0.000 6 0.000 0.000 1904 3176 2000 0 0 0 0 0 0

9029 0.65 110.8 351.8 13.5 557 9031 0.00 0.00 0.00 0.000 6 0.000 0.000 1904 3176 2000 0 0 0 0 0 0

9346 0.65 110.8 308.3 13.3 587 9349 0.00 1.25 0.00 0.000 4 0.000 0.062 1904 3948 2000 0 0 0 0 0 0

9417 0.65 110.8 296.8 16.7 593 9425 0.00 1.20 0.00 0.000 6 0.000 0.037 1908 3170 2000 0 0 0 0 0 0

9743 0.65 110.8 251.7 13.5 624 9744 0.00 0.00 0.00 0.000 6 0.000 0.000 1909 3170 2000 0 0 0 0 0 0

10062 0.65 110.8 210.2 13.0 654 10065 0.00 1.25 0.00 0.000 4 0.000 0.062 1909 3942 2000 0 0 0 0 0 0

10233 0.65 110.8 183.7 16.4 669 10237 0.00 1.15 0.00 0.000 6 0.000 0.037 1914 3186 2000 0 0 0 0 0 0

10563 0.65 110.8 137.0 13.6 700 10566 0.00 1.23 0.00 0.000 4 0.000 0.061 1914 3952 2000 0 0 0 0 0 0

10634 0.65 110.8 125.9 15.3 706 10642 0.00 1.20 0.00 0.000 6 0.000 0.036 1921 3166 2000 0 0 0 0 0 0

10970 0.65 110.8 80.7 13.5 750 10978 0.00 0.00 0.00 0.000 6 0.000 0.000 1921 3166 2000 0 0 0 0 0 0

11321 0.65 110.8 34.5 12.6 811 11328 0.00 1.25 0.00 0.000 4 0.000 0.060 1921 3949 2000 0 0 0 0 0 0

11470 0.65 110.8 10.6 17.4 836 11478 0.00 1.15 0.00 0.000 6 0.000 0.037 1926 3187 2000 0 0 0 0 0 0

11528 0.65 116.6 4.3 8.8 845 11537 0.00 1.20 0.00 0.000 4 0.000 0.061 1926 3940 2000 0 0 0 0 0 0

11544 end climb: SURFACE_DEPTH_REACHED

state 11544 begin surface coast

11581 end surface coast: CONTROL_FINISHED_OK

state 11581 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	54	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	24	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	-12563.488	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	091213,175434,-4300.095,830.149,30,0.9,30,-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	1.95	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	091213,180143,-4300.109,830.262,14,0.8,15,-25.0	MHEAD_RNG_PITCHd_Wd	324.6,409,-27.2,-9.429
SPEED_LIMITS	0.163,0.255	D_GRID	990

FINISH	0.7,1.012428	_10V_AH	10.1,6.492
SM_CCo	11593,44.08,0.793,0,0,1554,225.18	FG_AHR_24Vo	0.000
SM_GC	1.32,0.00,0.00,44.08,0.000,0.000,0.793,65,3315,1554,-5.10,-0.17,225.18	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4242.04,830.68,091213,141419	MEM	355192
TT8_MAMPS	0.026964	DATA_FILE_SIZE	56916,853
HUMID	61.38	CAP_FILE_SIZE	115466,0
INTERNAL_PRESSURE	9.54255	CFSIZE	259252224,254525440
TCM_TEMP	13.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	091213,211705,-4259.140,830.043,30,1.0,30,-25.0
_24V_AH	22.9,9.954

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	247	71.16	SBE_CT	591	24	324.82
Roll_motor	53	81	100.10	AA4330	1478	33	1117.23
VBD_pump_during_apogee	215	1836	9084.32	WL_BB2F	607	105	1460.52
VBD_pump_during_surface	44	792	799.92	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	67.69	nil	0	0	0.00
Iridium_during_connect	46	160	171.65	nil	0	0	0.00
Iridium_during_xfer	251	223	1285.86	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	4.97
TT8	2171	14	328.06
LPSleep	6827	2	151.03
TT8_Active	358	14	51.41
TT8_Sampling	2597	37	981.83
TT8_CF8	115	47	55.00
TT8_Kalman	0	0	0.00
Analog_circuits	1301	12	157.71
GPS_charging	0	0	0.00
Compass	2165	15	344.01
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	-48.65	0.000	2	0.000	0.000	66	3324	2706	0	0	0	0	0	0
67	-0.65	-110.8	3.3	-3.6	6	85	5.88	0.98	-5.60	0.000	4	0.247	0.082	1474	3955	2926	0	0	0	0	0	0
190	-0.65	-110.8	34.9	-22.6	26	199	0.00	0.98	0.00	0.000	6	0.000	0.037	1476	3322	2930	0	0	0	0	0	0
336	-0.65	-110.8	68.7	-23.0	51	344	0.00	1.00	0.00	0.000	4	0.000	0.060	1473	3940	2931	0	0	0	0	0	0
441	-0.65	-110.8	92.9	-23.5	69	450	0.00	0.95	0.00	0.000	6	0.000	0.037	1475	3319	2931	0	0	0	0	0	0
776	-0.65	-110.8	163.1	-21.8	103	780	0.00	1.00	0.00	0.000	4	0.000	0.060	1472	3946	2932	0	0	0	0	0	0
981	-0.65	-110.8	209.0	-23.0	121	985	0.00	0.95	0.00	0.000	6	0.000	0.037	1472	3314	2932	0	0	0	0	0	0
1311	-0.65	-110.8	279.3	-21.5	152	1314	0.00	1.00	0.00	0.000	4	0.000	0.060	1468	3944	2933	0	0	0	0	0	0
1481	-0.65	-110.8	316.0	-22.5	167	1484	0.00	0.95	0.00	0.000	6	0.000	0.037	1468	3315	2933	0	0	0	0	0	0
1811	-0.65	-110.8	383.0	-19.4	198	1814	0.00	1.00	0.00	0.000	4	0.000	0.060	1463	3945	2933	0	0	0	0	0	0
1905	-0.65	-110.8	402.7	-21.2	206	1909	0.00	0.98	0.00	0.000	6	0.000	0.036	1463	3311	2933	0	0	0	0	0	0
2232	-0.65	-110.8	466.8	-19.7	222	2236	0.00	1.00	0.00	0.000	4	0.000	0.061	1459	3939	2933	0	0	0	0	0	0
2449	-0.65	-110.8	512.3	-21.8	231	2457	0.00	0.95	0.00	0.000	6	0.000	0.037	1458	3319	2933	0	0	0	0	0	0
2765	-0.65	-110.8	574.6	-19.8	247	2769	0.00	1.00	0.00	0.000	4	0.000	0.060	1454	3950	2933	0	0	0	0	0	0
2887	-0.65	-110.8	600.8	-21.2	252	2893	0.12	0.98	0.00	0.000	6	0.210	0.037	1481	3316	2933	0	0	0	0	0	0
3209	-0.65	-110.8	658.4	-18.2	268	3213	0.00	1.00	0.00	0.000	4	0.000	0.063	1478	3943	2932	0	0	0	0	0	0
3466	-0.65	-110.8	707.8	-18.7	279	3470	0.00	0.98	0.00	0.000	6	0.000	0.037	1478	3310	2933	0	0	0	0	0	0
3787	-0.65	-110.8	764.0	-17.1	295	3791	0.00	1.00	0.00	0.000	4	0.000	0.063	1474	3939	2932	0	0	0	0	0	0
3836	-0.65	-110.8	773.4	-19.3	297	3841	0.00	0.95	0.00	0.000	6	0.000	0.038	1473	3318	2932	0	0	0	0	0	0
4163	-0.65	-110.8	831.5	-17.6	313	4167	0.00	1.00	0.00	0.000	4	0.000	0.063	1469	3949	2931	0	0	0	0	0	0
4420	-0.65	-110.8	881.9	-18.6	324	4424	0.00	0.98	0.00	0.000	6	0.000	0.038	1469	3314	2931	0	0	0	0	0	0
4741	-0.65	-110.8	936.6	-16.7	340	4745	0.00	1.00	0.00	0.000	4	0.000	0.064	1464	3943	2930	0	0	0	0	0	0
4998	-0.65	-110.8	982.8	-17.8	351	5003	0.00	0.98	0.00	0.000	6	0.000	0.039	1464	3312	2929	0	0	0	0	0	0
5050	end dive: TARGET_DEPTH_EXCEEDED
state	5050	begin apogee
5054	-0.11	0.0	991.2	16.7	354	5164	0.65	0.00	106.57	1.837	6	0.175	0.000	1651	3182	2474	0	0	0	0	0	0
5164	end apogee: CONTROL_FINISHED_OK
state	5165	begin climb
5166	0.65	110.8	995.2	0.0	359	5285	0.77	2.47	109.40	1.786	4	0.104	0.037	1904	1775	2021	0	0	0	0	0	0
5323	0.65	110.8	979.3	14.5	366	5328	0.00	2.47	0.00	0.000	6	0.000	0.052	1904	3179	2015	0	0	0	0	0	0
5645	0.65	110.8	925.4	16.9	382	5649	0.00	1.30	0.00	0.000	4	0.000	0.062	1904	3951	2009	0	0	0	0	0	0
5727	0.65	110.8	909.6	19.4	385	5735	0.00	1.25	0.00	0.000	6	0.000	0.038	1910	3174	2008	0	0	0	0	0	0
6043	0.65	110.8	856.2	16.2	401	6047	0.00	1.27	0.00	0.000	4	0.000	0.061	1910	3945	2006	0	0	0	0	0	0
6137	0.65	110.8	839.1	18.5	405	6142	0.00	1.23	0.00	0.000	6	0.000	0.037	1916	3168	2005	0	0	0	0	0	0
6466	0.65	110.8	786.0	16.3	421	6469	0.00	1.27	0.00	0.000	4	0.000	0.061	1916	3951	2004	0	0	0	0	0	0
6638	0.65	110.8	752.6	18.9	428	6646	0.00	1.20	0.00	0.000	6	0.000	0.037	1922	3181	2004	0	0	0	0	0	0
6956	0.65	110.8	699.4	17.1	444	6959	0.00	1.25	0.00	0.000	4	0.000	0.060	1922	3955	2003	0	0	0	0	0	0
7090	0.65	110.8	673.8	19.0	450	7094	0.00	1.20	0.00	0.000	6	0.000	0.038	1927	3175	2003	0	0	0	0	0	0
7422	0.65	110.8	618.0	16.5	466	7426	0.00	1.25	0.00	0.000	4	0.000	0.061	1927	3949	2002	0	0	0	0	0	0
7493	0.65	110.8	604.5	19.6	469	7498	0.00	1.20	0.00	0.000	6	0.000	0.038	1933	3178	2002	0	0	0	0	0	0
7821	0.65	110.8	547.4	17.5	485	7822	0.00	0.00	0.00	0.000	6	0.000	0.000	1933	3177	2002	0	0	0	0	0	0
8130	0.65	110.8	493.9	17.3	500	8134	0.00	1.25	0.00	0.000	4	0.000	0.062	1933	3950	2002	0	0	0	0	0	0
8386	0.65	110.8	444.8	18.4	511	8392	0.15	1.20	0.00	0.000	6	0.219	0.038	1904	3177	2001	0	0	0	0	0	0
8708	0.65	110.8	397.6	14.6	527	8709	0.00	0.00	0.00	0.000	6	0.000	0.000	1904	3176	2000	0	0	0	0	0	0
9029	0.65	110.8	351.8	13.5	557	9031	0.00	0.00	0.00	0.000	6	0.000	0.000	1904	3176	2000	0	0	0	0	0	0
9346	0.65	110.8	308.3	13.3	587	9349	0.00	1.25	0.00	0.000	4	0.000	0.062	1904	3948	2000	0	0	0	0	0	0
9417	0.65	110.8	296.8	16.7	593	9425	0.00	1.20	0.00	0.000	6	0.000	0.037	1908	3170	2000	0	0	0	0	0	0
9743	0.65	110.8	251.7	13.5	624	9744	0.00	0.00	0.00	0.000	6	0.000	0.000	1909	3170	2000	0	0	0	0	0	0
10062	0.65	110.8	210.2	13.0	654	10065	0.00	1.25	0.00	0.000	4	0.000	0.062	1909	3942	2000	0	0	0	0	0	0
10233	0.65	110.8	183.7	16.4	669	10237	0.00	1.15	0.00	0.000	6	0.000	0.037	1914	3186	2000	0	0	0	0	0	0
10563	0.65	110.8	137.0	13.6	700	10566	0.00	1.23	0.00	0.000	4	0.000	0.061	1914	3952	2000	0	0	0	0	0	0
10634	0.65	110.8	125.9	15.3	706	10642	0.00	1.20	0.00	0.000	6	0.000	0.036	1921	3166	2000	0	0	0	0	0	0
10970	0.65	110.8	80.7	13.5	750	10978	0.00	0.00	0.00	0.000	6	0.000	0.000	1921	3166	2000	0	0	0	0	0	0
11321	0.65	110.8	34.5	12.6	811	11328	0.00	1.25	0.00	0.000	4	0.000	0.060	1921	3949	2000	0	0	0	0	0	0
11470	0.65	110.8	10.6	17.4	836	11478	0.00	1.15	0.00	0.000	6	0.000	0.037	1926	3187	2000	0	0	0	0	0	0
11528	0.65	116.6	4.3	8.8	845	11537	0.00	1.20	0.00	0.000	4	0.000	0.061	1926	3940	2000	0	0	0	0	0	0
11544	end climb: SURFACE_DEPTH_REACHED
state	11544	begin surface coast
11581	end surface coast: CONTROL_FINISHED_OK
state	11581	begin surface