Glider dive log

SOSCEx 01Dec13 * SG543 * Dive index * Mission links * Dive 74 * 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 74 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 30 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 -12623.867 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 -12623.867

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 30 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 74 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 121213,164603,-4259.449,831.271,32,1.2,32,-25.1 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 1.57 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 121213,165354,-4259.390,831.234,13,0.9,14,-25.0 MHEAD_RNG_PITCHd_Wd 260.9,2017,-27.2,-9.429

SPEED_LIMITS 0.163,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.024855 _10V_AH 10.1,8.443

SM_CCo 12864,40.25,0.786,0,0,1554,225.18 FG_AHR_24Vo 0.000

SM_GC 1.12,0.00,0.00,40.25,0.000,0.000,0.786,63,3327,1554,-5.09,0.20,225.18 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4242.04,830.68,121213,090922 MEM 355388

TT8_MAMPS 0.026215 DATA_FILE_SIZE 63505,949

HUMID 60.98 CAP_FILE_SIZE 124417,0

INTERNAL_PRESSURE 9.54255 CFSIZE 259252224,253222912

TCM_TEMP 14.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 121213,203031,-4259.679,831.116,38,0.8,38,-25.0

_24V_AH 23.0,12.663

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 234 66.44 SBE_CT 657 24 363.15

Roll_motor 55 78 101.26 AA4330 1652 33 1253.95

VBD_pump_during_apogee 194 1858 8308.53 WL_BB2F 703 105 1698.25

VBD_pump_during_surface 40 785 727.32 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 77.22 nil 0 0 0.00

Iridium_during_connect 40 160 149.11 nil 0 0 0.00

Iridium_during_xfer 290 223 1490.38 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 26 4.60

TT8 2406 14 363.67

LPSleep 7607 2 168.28

TT8_Active 327 14 46.97

TT8_Sampling 2893 37 1093.86

TT8_CF8 142 47 67.72

TT8_Kalman 0 0 0.00

Analog_circuits 1349 12 163.62

GPS_charging 0 0 0.00

Compass 2422 15 384.87

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 -0.61 -57.7 0.0 0.0 0 57 0.00 0.00 -40.50 0.000 2 0.000 0.000 70 3338 2467 0 0 0 0 0 0

59 -0.64 -93.0 3.1 -5.6 5 85 5.72 2.25 -11.00 0.000 4 0.235 0.047 1480 1906 2856 0 0 0 0 0 0

244 -0.64 -93.0 32.7 -14.3 35 251 0.00 2.30 0.00 0.000 6 0.000 0.054 1471 3319 2860 0 0 0 0 0 0

388 -0.64 -93.0 61.0 -20.5 60 397 0.00 1.00 0.00 0.000 4 0.000 0.060 1466 3945 2860 0 0 0 0 0 0

654 -0.64 -93.0 119.2 -21.1 99 657 0.00 0.95 0.00 0.000 6 0.000 0.037 1466 3317 2862 0 0 0 0 0 0

983 -0.64 -93.0 186.1 -20.6 130 987 0.00 1.00 0.00 0.000 4 0.000 0.060 1462 3944 2862 0 0 0 0 0 0

1188 -0.64 -93.0 231.3 -22.0 148 1191 0.00 0.95 0.00 0.000 6 0.000 0.037 1462 3314 2863 0 0 0 0 0 0

1518 -0.64 -93.0 297.6 -19.6 179 1521 0.00 1.00 0.00 0.000 4 0.000 0.060 1457 3944 2863 0 0 0 0 0 0

1776 -0.64 -93.0 353.6 -21.5 202 1780 0.08 0.95 0.00 0.000 6 0.188 0.037 1478 3317 2863 0 0 0 0 0 0

2113 -0.64 -93.0 415.8 -18.2 230 2117 0.00 1.00 0.00 0.000 4 0.000 0.061 1476 3947 2863 0 0 0 0 0 0

2319 -0.64 -93.0 456.6 -19.8 239 2324 0.00 0.98 0.00 0.000 6 0.000 0.037 1476 3311 2864 0 0 0 0 0 0

2647 -0.64 -93.0 517.3 -18.6 255 2650 0.00 1.00 0.00 0.000 4 0.000 0.062 1471 3939 2864 0 0 0 0 0 0

2903 -0.64 -93.0 567.8 -19.2 266 2908 0.00 0.95 0.00 0.000 6 0.000 0.038 1471 3321 2863 0 0 0 0 0 0

3225 -0.64 -93.0 624.7 -18.0 282 3228 0.00 1.02 0.00 0.000 4 0.000 0.063 1466 3950 2863 0 0 0 0 0 0

3392 -0.64 -93.0 656.4 -18.6 289 3397 0.00 0.95 0.00 0.000 6 0.000 0.038 1466 3323 2863 0 0 0 0 0 0

3713 -0.64 -93.0 711.7 -17.3 305 3716 0.00 1.00 0.00 0.000 4 0.000 0.063 1461 3955 2862 0 0 0 0 0 0

3851 -0.64 -93.0 737.5 -18.1 311 3856 0.00 0.98 0.00 0.000 6 0.000 0.040 1461 3317 2862 0 0 0 0 0 0

4180 -0.64 -93.0 792.4 -16.4 327 4184 0.00 1.00 0.00 0.000 4 0.000 0.064 1457 3948 2861 0 0 0 0 0 0

4437 -0.64 -93.0 838.0 -17.2 338 4442 0.12 0.98 0.00 0.000 6 0.200 0.040 1485 3317 2860 0 0 0 0 0 0

4760 -0.64 -93.0 882.3 -13.8 354 4764 0.00 1.00 0.00 0.000 4 0.000 0.065 1482 3947 2860 0 0 0 0 0 0

5017 -0.64 -93.0 923.3 -15.1 365 5021 0.00 0.98 0.00 0.000 6 0.000 0.041 1482 3316 2860 0 0 0 0 0 0

5339 -0.64 -93.0 967.6 -13.9 381 5342 0.00 1.00 0.00 0.000 4 0.000 0.066 1477 3941 2859 0 0 0 0 0 0

5476 end dive: TARGET_DEPTH_EXCEEDED

state 5476 begin apogee

5481 -0.11 0.0 990.4 16.5 387 5579 0.57 0.00 90.62 1.859 6 0.166 0.000 1650 3166 2474 0 0 0 0 0 0

5580 end apogee: CONTROL_FINISHED_OK

state 5580 begin climb

5581 0.64 93.0 994.9 0.0 392 5682 0.75 2.38 93.35 1.811 4 0.103 0.036 1899 1768 2094 0 0 0 0 0 0

5731 0.64 93.0 982.5 12.3 398 5737 0.00 2.47 0.00 0.000 6 0.000 0.054 1899 3180 2089 0 0 0 0 0 0

6059 0.64 93.0 934.8 14.9 414 6062 0.00 1.27 0.00 0.000 4 0.000 0.062 1899 3947 2082 0 0 0 0 0 0

6254 0.64 93.0 901.1 17.2 422 6262 0.00 1.25 0.00 0.000 6 0.000 0.038 1905 3161 2081 0 0 0 0 0 0

6571 0.64 93.0 853.8 15.2 438 6572 0.00 0.00 0.00 0.000 6 0.000 0.000 1905 3161 2079 0 0 0 0 0 0

6879 0.64 93.0 807.9 15.0 453 6883 0.00 1.30 0.00 0.000 4 0.000 0.062 1905 3953 2078 0 0 0 0 0 0

7037 0.64 93.0 782.0 16.2 460 7041 0.00 1.20 0.00 0.000 6 0.000 0.039 1911 3179 2078 0 0 0 0 0 0

7369 0.64 93.0 733.4 14.5 476 7373 0.00 1.25 0.00 0.000 4 0.000 0.063 1911 3948 2077 0 0 0 0 0 0

7463 0.64 93.0 717.9 16.7 480 7467 0.00 1.20 0.00 0.000 6 0.000 0.039 1917 3178 2077 0 0 0 0 0 0

7790 0.64 93.0 670.4 14.3 496 7791 0.00 0.00 0.00 0.000 6 0.000 0.000 1917 3179 2076 0 0 0 0 0 0

8101 0.64 93.0 625.6 14.6 511 8102 0.00 0.00 0.00 0.000 6 0.000 0.000 1917 3178 2075 0 0 0 0 0 0

8409 0.64 93.0 581.9 14.2 526 8410 0.00 0.00 0.00 0.000 6 0.000 0.000 1917 3178 2075 0 0 0 0 0 0

8718 0.64 93.0 539.1 14.2 541 8722 0.00 1.25 0.00 0.000 4 0.000 0.063 1917 3948 2074 0 0 0 0 0 0

8935 0.64 93.0 505.6 15.9 550 8943 0.00 1.20 0.00 0.000 6 0.000 0.039 1923 3174 2074 0 0 0 0 0 0

9251 0.64 93.0 462.4 13.8 566 9253 0.00 0.00 0.00 0.000 6 0.000 0.000 1923 3174 2073 0 0 0 0 0 0

9560 0.64 93.0 419.4 14.0 581 9562 0.00 0.00 0.00 0.000 6 0.000 0.000 1923 3174 2073 0 0 0 0 0 0

9875 0.64 93.0 376.3 13.5 604 9878 0.00 1.25 0.00 0.000 4 0.000 0.063 1923 3945 2073 0 0 0 0 0 0

9958 0.64 93.0 363.6 15.0 611 9966 0.00 1.20 0.00 0.000 6 0.000 0.039 1929 3175 2072 0 0 0 0 0 0

10283 0.64 93.0 318.1 13.5 642 10287 0.00 1.25 0.00 0.000 4 0.000 0.063 1929 3951 2072 0 0 0 0 0 0

10389 0.64 93.0 301.7 16.0 651 10397 0.12 1.20 0.00 0.000 6 0.216 0.038 1906 3175 2073 0 0 0 0 0 0

10714 0.64 93.0 259.9 12.8 682 10718 0.00 1.25 0.00 0.000 4 0.000 0.063 1904 3953 2072 0 0 0 0 0 0

10930 0.64 93.0 229.1 14.5 701 10934 0.00 1.17 0.00 0.000 6 0.000 0.038 1909 3180 2072 0 0 0 0 0 0

11260 0.64 93.0 186.9 12.7 732 11263 0.00 1.23 0.00 0.000 4 0.000 0.063 1909 3945 2072 0 0 0 0 0 0

11412 0.64 93.0 165.2 14.9 745 11419 0.00 1.17 0.00 0.000 6 0.000 0.037 1915 3175 2072 0 0 0 0 0 0

11737 0.64 93.0 124.8 12.7 776 11738 0.00 0.00 0.00 0.000 6 0.000 0.000 1915 3175 2072 0 0 0 0 0 0

12063 0.64 93.0 87.0 10.6 816 12071 0.00 2.15 0.00 0.000 4 0.000 0.037 1926 1777 2071 0 0 0 0 0 0

12090 0.64 93.0 84.1 11.4 820 12098 0.00 2.22 0.00 0.000 6 0.000 0.053 1926 3194 2072 0 0 0 0 0 0

12439 0.64 93.0 44.6 10.8 881 12445 0.00 1.20 0.00 0.000 4 0.000 0.060 1926 3947 2072 0 0 0 0 0 0

12709 0.64 99.5 11.7 8.7 927 12719 0.08 1.15 0.00 0.000 6 0.197 0.038 1911 3183 2072 0 0 0 0 0 0

12768 0.65 123.8 7.5 6.8 936 12785 0.00 0.00 10.35 0.777 6 0.000 0.000 1910 3183 1966 0 0 0 0 0 0

12821 end climb: SURFACE_DEPTH_REACHED

state 12821 begin surface coast

12852 end surface coast: CONTROL_FINISHED_OK

state 12852 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	74	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	30	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	-12623.867	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	121213,164603,-4259.449,831.271,32,1.2,32,-25.1	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	1.57	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	121213,165354,-4259.390,831.234,13,0.9,14,-25.0	MHEAD_RNG_PITCHd_Wd	260.9,2017,-27.2,-9.429
SPEED_LIMITS	0.163,0.255	D_GRID	990

FINISH	0.7,1.024855	_10V_AH	10.1,8.443
SM_CCo	12864,40.25,0.786,0,0,1554,225.18	FG_AHR_24Vo	0.000
SM_GC	1.12,0.00,0.00,40.25,0.000,0.000,0.786,63,3327,1554,-5.09,0.20,225.18	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4242.04,830.68,121213,090922	MEM	355388
TT8_MAMPS	0.026215	DATA_FILE_SIZE	63505,949
HUMID	60.98	CAP_FILE_SIZE	124417,0
INTERNAL_PRESSURE	9.54255	CFSIZE	259252224,253222912
TCM_TEMP	14.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	121213,203031,-4259.679,831.116,38,0.8,38,-25.0
_24V_AH	23.0,12.663

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	234	66.44	SBE_CT	657	24	363.15
Roll_motor	55	78	101.26	AA4330	1652	33	1253.95
VBD_pump_during_apogee	194	1858	8308.53	WL_BB2F	703	105	1698.25
VBD_pump_during_surface	40	785	727.32	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	77.22	nil	0	0	0.00
Iridium_during_connect	40	160	149.11	nil	0	0	0.00
Iridium_during_xfer	290	223	1490.38	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	26	4.60
TT8	2406	14	363.67
LPSleep	7607	2	168.28
TT8_Active	327	14	46.97
TT8_Sampling	2893	37	1093.86
TT8_CF8	142	47	67.72
TT8_Kalman	0	0	0.00
Analog_circuits	1349	12	163.62
GPS_charging	0	0	0.00
Compass	2422	15	384.87
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	-0.61	-57.7	0.0	0.0	0	57	0.00	0.00	-40.50	0.000	2	0.000	0.000	70	3338	2467	0	0	0	0	0	0
59	-0.64	-93.0	3.1	-5.6	5	85	5.72	2.25	-11.00	0.000	4	0.235	0.047	1480	1906	2856	0	0	0	0	0	0
244	-0.64	-93.0	32.7	-14.3	35	251	0.00	2.30	0.00	0.000	6	0.000	0.054	1471	3319	2860	0	0	0	0	0	0
388	-0.64	-93.0	61.0	-20.5	60	397	0.00	1.00	0.00	0.000	4	0.000	0.060	1466	3945	2860	0	0	0	0	0	0
654	-0.64	-93.0	119.2	-21.1	99	657	0.00	0.95	0.00	0.000	6	0.000	0.037	1466	3317	2862	0	0	0	0	0	0
983	-0.64	-93.0	186.1	-20.6	130	987	0.00	1.00	0.00	0.000	4	0.000	0.060	1462	3944	2862	0	0	0	0	0	0
1188	-0.64	-93.0	231.3	-22.0	148	1191	0.00	0.95	0.00	0.000	6	0.000	0.037	1462	3314	2863	0	0	0	0	0	0
1518	-0.64	-93.0	297.6	-19.6	179	1521	0.00	1.00	0.00	0.000	4	0.000	0.060	1457	3944	2863	0	0	0	0	0	0
1776	-0.64	-93.0	353.6	-21.5	202	1780	0.08	0.95	0.00	0.000	6	0.188	0.037	1478	3317	2863	0	0	0	0	0	0
2113	-0.64	-93.0	415.8	-18.2	230	2117	0.00	1.00	0.00	0.000	4	0.000	0.061	1476	3947	2863	0	0	0	0	0	0
2319	-0.64	-93.0	456.6	-19.8	239	2324	0.00	0.98	0.00	0.000	6	0.000	0.037	1476	3311	2864	0	0	0	0	0	0
2647	-0.64	-93.0	517.3	-18.6	255	2650	0.00	1.00	0.00	0.000	4	0.000	0.062	1471	3939	2864	0	0	0	0	0	0
2903	-0.64	-93.0	567.8	-19.2	266	2908	0.00	0.95	0.00	0.000	6	0.000	0.038	1471	3321	2863	0	0	0	0	0	0
3225	-0.64	-93.0	624.7	-18.0	282	3228	0.00	1.02	0.00	0.000	4	0.000	0.063	1466	3950	2863	0	0	0	0	0	0
3392	-0.64	-93.0	656.4	-18.6	289	3397	0.00	0.95	0.00	0.000	6	0.000	0.038	1466	3323	2863	0	0	0	0	0	0
3713	-0.64	-93.0	711.7	-17.3	305	3716	0.00	1.00	0.00	0.000	4	0.000	0.063	1461	3955	2862	0	0	0	0	0	0
3851	-0.64	-93.0	737.5	-18.1	311	3856	0.00	0.98	0.00	0.000	6	0.000	0.040	1461	3317	2862	0	0	0	0	0	0
4180	-0.64	-93.0	792.4	-16.4	327	4184	0.00	1.00	0.00	0.000	4	0.000	0.064	1457	3948	2861	0	0	0	0	0	0
4437	-0.64	-93.0	838.0	-17.2	338	4442	0.12	0.98	0.00	0.000	6	0.200	0.040	1485	3317	2860	0	0	0	0	0	0
4760	-0.64	-93.0	882.3	-13.8	354	4764	0.00	1.00	0.00	0.000	4	0.000	0.065	1482	3947	2860	0	0	0	0	0	0
5017	-0.64	-93.0	923.3	-15.1	365	5021	0.00	0.98	0.00	0.000	6	0.000	0.041	1482	3316	2860	0	0	0	0	0	0
5339	-0.64	-93.0	967.6	-13.9	381	5342	0.00	1.00	0.00	0.000	4	0.000	0.066	1477	3941	2859	0	0	0	0	0	0
5476	end dive: TARGET_DEPTH_EXCEEDED
state	5476	begin apogee
5481	-0.11	0.0	990.4	16.5	387	5579	0.57	0.00	90.62	1.859	6	0.166	0.000	1650	3166	2474	0	0	0	0	0	0
5580	end apogee: CONTROL_FINISHED_OK
state	5580	begin climb
5581	0.64	93.0	994.9	0.0	392	5682	0.75	2.38	93.35	1.811	4	0.103	0.036	1899	1768	2094	0	0	0	0	0	0
5731	0.64	93.0	982.5	12.3	398	5737	0.00	2.47	0.00	0.000	6	0.000	0.054	1899	3180	2089	0	0	0	0	0	0
6059	0.64	93.0	934.8	14.9	414	6062	0.00	1.27	0.00	0.000	4	0.000	0.062	1899	3947	2082	0	0	0	0	0	0
6254	0.64	93.0	901.1	17.2	422	6262	0.00	1.25	0.00	0.000	6	0.000	0.038	1905	3161	2081	0	0	0	0	0	0
6571	0.64	93.0	853.8	15.2	438	6572	0.00	0.00	0.00	0.000	6	0.000	0.000	1905	3161	2079	0	0	0	0	0	0
6879	0.64	93.0	807.9	15.0	453	6883	0.00	1.30	0.00	0.000	4	0.000	0.062	1905	3953	2078	0	0	0	0	0	0
7037	0.64	93.0	782.0	16.2	460	7041	0.00	1.20	0.00	0.000	6	0.000	0.039	1911	3179	2078	0	0	0	0	0	0
7369	0.64	93.0	733.4	14.5	476	7373	0.00	1.25	0.00	0.000	4	0.000	0.063	1911	3948	2077	0	0	0	0	0	0
7463	0.64	93.0	717.9	16.7	480	7467	0.00	1.20	0.00	0.000	6	0.000	0.039	1917	3178	2077	0	0	0	0	0	0
7790	0.64	93.0	670.4	14.3	496	7791	0.00	0.00	0.00	0.000	6	0.000	0.000	1917	3179	2076	0	0	0	0	0	0
8101	0.64	93.0	625.6	14.6	511	8102	0.00	0.00	0.00	0.000	6	0.000	0.000	1917	3178	2075	0	0	0	0	0	0
8409	0.64	93.0	581.9	14.2	526	8410	0.00	0.00	0.00	0.000	6	0.000	0.000	1917	3178	2075	0	0	0	0	0	0
8718	0.64	93.0	539.1	14.2	541	8722	0.00	1.25	0.00	0.000	4	0.000	0.063	1917	3948	2074	0	0	0	0	0	0
8935	0.64	93.0	505.6	15.9	550	8943	0.00	1.20	0.00	0.000	6	0.000	0.039	1923	3174	2074	0	0	0	0	0	0
9251	0.64	93.0	462.4	13.8	566	9253	0.00	0.00	0.00	0.000	6	0.000	0.000	1923	3174	2073	0	0	0	0	0	0
9560	0.64	93.0	419.4	14.0	581	9562	0.00	0.00	0.00	0.000	6	0.000	0.000	1923	3174	2073	0	0	0	0	0	0
9875	0.64	93.0	376.3	13.5	604	9878	0.00	1.25	0.00	0.000	4	0.000	0.063	1923	3945	2073	0	0	0	0	0	0
9958	0.64	93.0	363.6	15.0	611	9966	0.00	1.20	0.00	0.000	6	0.000	0.039	1929	3175	2072	0	0	0	0	0	0
10283	0.64	93.0	318.1	13.5	642	10287	0.00	1.25	0.00	0.000	4	0.000	0.063	1929	3951	2072	0	0	0	0	0	0
10389	0.64	93.0	301.7	16.0	651	10397	0.12	1.20	0.00	0.000	6	0.216	0.038	1906	3175	2073	0	0	0	0	0	0
10714	0.64	93.0	259.9	12.8	682	10718	0.00	1.25	0.00	0.000	4	0.000	0.063	1904	3953	2072	0	0	0	0	0	0
10930	0.64	93.0	229.1	14.5	701	10934	0.00	1.17	0.00	0.000	6	0.000	0.038	1909	3180	2072	0	0	0	0	0	0
11260	0.64	93.0	186.9	12.7	732	11263	0.00	1.23	0.00	0.000	4	0.000	0.063	1909	3945	2072	0	0	0	0	0	0
11412	0.64	93.0	165.2	14.9	745	11419	0.00	1.17	0.00	0.000	6	0.000	0.037	1915	3175	2072	0	0	0	0	0	0
11737	0.64	93.0	124.8	12.7	776	11738	0.00	0.00	0.00	0.000	6	0.000	0.000	1915	3175	2072	0	0	0	0	0	0
12063	0.64	93.0	87.0	10.6	816	12071	0.00	2.15	0.00	0.000	4	0.000	0.037	1926	1777	2071	0	0	0	0	0	0
12090	0.64	93.0	84.1	11.4	820	12098	0.00	2.22	0.00	0.000	6	0.000	0.053	1926	3194	2072	0	0	0	0	0	0
12439	0.64	93.0	44.6	10.8	881	12445	0.00	1.20	0.00	0.000	4	0.000	0.060	1926	3947	2072	0	0	0	0	0	0
12709	0.64	99.5	11.7	8.7	927	12719	0.08	1.15	0.00	0.000	6	0.197	0.038	1911	3183	2072	0	0	0	0	0	0
12768	0.65	123.8	7.5	6.8	936	12785	0.00	0.00	10.35	0.777	6	0.000	0.000	1910	3183	1966	0	0	0	0	0	0
12821	end climb: SURFACE_DEPTH_REACHED
state	12821	begin surface coast
12852	end surface coast: CONTROL_FINISHED_OK
state	12852	begin surface