Glider dive log

SOSCEx 01Dec13 * SG543 * Dive index * Mission links * Dive 76 * 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 76 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 20 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 -12630.043 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 -12630.043

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 20 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 76 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 131213,000433,-4259.707,830.847,28,1.7,37,-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 1.54 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 131213,001200,-4259.749,830.874,14,1.2,15,-25.0 MHEAD_RNG_PITCHd_Wd 273.5,1272,-27.2,-9.429

SPEED_LIMITS 0.163,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.015250 _10V_AH 10.1,8.636

SM_CCo 11900,45.00,0.802,0,0,1552,225.18 FG_AHR_24Vo 0.000

SM_GC 1.36,0.00,0.00,45.00,0.000,0.000,0.802,66,3339,1552,-5.09,0.54,225.18 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4244.98,755.73,121213,202055 MEM 355192

TT8_MAMPS 0.026215 DATA_FILE_SIZE 60195,872

HUMID 61.93 CAP_FILE_SIZE 113275,0

INTERNAL_PRESSURE 9.54255 CFSIZE 259252224,253108224

TCM_TEMP 13.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 131213,033234,-4259.860,830.269,34,1.2,34,-25.0

_24V_AH 22.8,12.934

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 238 67.48 SBE_CT 604 24 330.98

Roll_motor 53 76 93.10 AA4330 1517 33 1141.82

VBD_pump_during_apogee 214 1858 9093.99 WL_BB2F 627 105 1501.61

VBD_pump_during_surface 45 801 822.56 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 63.46 nil 0 0 0.00

Iridium_during_connect 50 160 184.35 nil 0 0 0.00

Iridium_during_xfer 261 223 1328.70 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 26 4.76

TT8 2198 14 332.25

LPSleep 7163 2 158.45

TT8_Active 345 14 49.56

TT8_Sampling 2558 37 967.35

TT8_CF8 127 47 60.65

TT8_Kalman 0 0 0.00

Analog_circuits 1250 12 151.55

GPS_charging 0 0 0.00

Compass 2117 15 336.43

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 -48.88 0.000 2 0.000 0.000 67 3320 2671 0 0 0 0 0 0

67 -0.65 -109.6 3.2 -3.7 6 85 5.78 2.25 -6.72 0.000 4 0.239 0.048 1489 1903 2924 0 0 0 0 0 0

245 -0.65 -109.6 37.5 -15.4 35 251 0.00 2.33 0.00 0.000 6 0.000 0.054 1480 3331 2928 0 0 0 0 0 0

388 -0.65 -109.6 67.7 -21.8 60 397 0.00 0.98 0.00 0.000 4 0.000 0.057 1475 3945 2928 0 0 0 0 0 0

510 -0.65 -109.6 95.1 -22.6 81 519 0.00 0.95 0.00 0.000 6 0.000 0.036 1475 3319 2928 0 0 0 0 0 0

844 -0.65 -109.6 165.1 -20.8 114 848 0.00 1.00 0.00 0.000 4 0.000 0.060 1470 3945 2929 0 0 0 0 0 0

1016 -0.65 -109.6 201.4 -20.9 129 1019 0.00 0.95 0.00 0.000 6 0.000 0.037 1470 3319 2930 0 0 0 0 0 0

1346 -0.65 -109.6 267.4 -19.2 160 1349 0.00 1.00 0.00 0.000 4 0.000 0.061 1465 3947 2930 0 0 0 0 0 0

1516 -0.65 -109.6 302.9 -20.3 175 1519 0.00 0.95 0.00 0.000 6 0.000 0.037 1465 3319 2930 0 0 0 0 0 0

1845 -0.65 -109.6 363.7 -17.9 206 1849 0.00 1.00 0.00 0.000 4 0.000 0.061 1461 3949 2931 0 0 0 0 0 0

2027 -0.65 -109.6 400.8 -20.9 222 2030 0.00 0.95 0.00 0.000 6 0.000 0.037 1461 3320 2930 0 0 0 0 0 0

2359 -0.65 -109.6 464.9 -19.3 238 2362 0.00 1.00 0.00 0.000 4 0.000 0.062 1456 3950 2930 0 0 0 0 0 0

2615 -0.65 -109.6 519.0 -20.7 249 2620 0.12 0.98 0.00 0.000 6 0.202 0.037 1485 3316 2930 0 0 0 0 0 0

2936 -0.65 -109.6 574.6 -17.4 265 2940 0.00 1.00 0.00 0.000 4 0.000 0.062 1481 3945 2930 0 0 0 0 0 0

3081 -0.65 -109.6 601.5 -18.5 271 3085 0.00 0.98 0.00 0.000 6 0.000 0.037 1481 3313 2930 0 0 0 0 0 0

3402 -0.65 -109.6 656.5 -17.1 287 3406 0.00 1.00 0.00 0.000 4 0.000 0.063 1477 3940 2930 0 0 0 0 0 0

3605 -0.65 -109.6 693.1 -18.8 296 3609 0.00 0.95 0.00 0.000 6 0.000 0.039 1477 3314 2930 0 0 0 0 0 0

3937 -0.65 -109.6 748.4 -16.5 312 3941 0.00 1.00 0.00 0.000 4 0.000 0.063 1472 3943 2929 0 0 0 0 0 0

4076 -0.65 -109.6 773.5 -17.5 318 4081 0.00 0.98 0.00 0.000 6 0.000 0.038 1472 3311 2929 0 0 0 0 0 0

4403 -0.65 -109.6 828.5 -16.5 334 4407 0.00 1.00 0.00 0.000 4 0.000 0.063 1467 3938 2928 0 0 0 0 0 0

4471 -0.65 -109.6 840.6 -18.8 337 4474 0.00 0.95 0.00 0.000 6 0.000 0.039 1467 3315 2928 0 0 0 0 0 0

4803 -0.65 -109.6 895.2 -15.9 353 4806 0.00 1.00 0.00 0.000 4 0.000 0.063 1463 3943 2927 0 0 0 0 0 0

4964 -0.65 -109.6 924.6 -17.9 360 4969 0.00 0.98 0.00 0.000 6 0.000 0.039 1462 3312 2926 0 0 0 0 0 0

5291 -0.65 -109.6 978.6 -16.2 376 5295 0.00 1.00 0.00 0.000 4 0.000 0.063 1458 3939 2926 0 0 0 0 0 0

5358 end dive: TARGET_DEPTH_EXCEEDED

state 5358 begin apogee

5362 -0.11 0.0 990.3 16.9 379 5472 0.68 0.00 106.12 1.858 6 0.169 0.000 1654 3162 2474 0 0 0 0 0 0

5472 end apogee: CONTROL_FINISHED_OK

state 5473 begin climb

5474 0.65 109.6 994.8 0.0 384 5590 0.77 2.38 108.53 1.805 4 0.099 0.035 1909 1773 2027 0 0 0 0 0 0

5651 0.65 109.6 976.6 13.4 392 5656 0.00 2.45 0.00 0.000 6 0.000 0.051 1909 3175 2022 0 0 0 0 0 0

5973 0.65 109.6 921.5 17.7 408 5974 0.00 0.00 0.00 0.000 6 0.000 0.000 1909 3175 2016 0 0 0 0 0 0

6283 0.65 109.6 868.0 17.3 423 6285 0.00 0.00 0.00 0.000 6 0.000 0.000 1909 3175 2014 0 0 0 0 0 0

6591 0.65 109.6 816.2 16.9 438 6595 0.00 1.25 0.00 0.000 4 0.000 0.060 1909 3945 2013 0 0 0 0 0 0

6674 0.65 109.6 800.0 19.7 441 6682 0.00 1.23 0.00 0.000 6 0.000 0.036 1915 3162 2012 0 0 0 0 0 0

6990 0.65 109.6 746.7 16.9 457 6991 0.00 0.00 0.00 0.000 6 0.000 0.000 1915 3162 2011 0 0 0 0 0 0

7299 0.65 109.6 695.1 16.3 472 7303 0.00 1.27 0.00 0.000 4 0.000 0.060 1915 3946 2010 0 0 0 0 0 0

7421 0.65 109.6 672.3 20.1 477 7426 0.00 1.20 0.00 0.000 6 0.000 0.037 1921 3172 2010 0 0 0 0 0 0

7743 0.65 109.6 621.3 15.6 493 7747 0.00 1.25 0.00 0.000 4 0.000 0.060 1921 3946 2010 0 0 0 0 0 0

7803 0.65 109.6 610.9 17.5 495 7811 0.00 1.20 0.00 0.000 6 0.000 0.037 1926 3171 2010 0 0 0 0 0 0

8119 0.65 109.6 561.6 15.2 511 8120 0.00 0.00 0.00 0.000 6 0.000 0.000 1926 3172 2009 0 0 0 0 0 0

8429 0.65 109.6 515.2 15.0 526 8432 0.00 1.25 0.00 0.000 4 0.000 0.060 1926 3947 2008 0 0 0 0 0 0

8522 0.65 109.6 498.7 17.1 530 8527 0.00 1.20 0.00 0.000 6 0.000 0.037 1933 3170 2009 0 0 0 0 0 0

8851 0.65 109.6 447.4 15.6 546 8855 0.00 1.25 0.00 0.000 4 0.000 0.060 1932 3943 2008 0 0 0 0 0 0

8905 0.65 109.6 437.6 17.7 548 8911 0.12 1.17 0.00 0.000 6 0.221 0.037 1910 3181 2008 0 0 0 0 0 0

9229 0.65 109.6 390.2 14.9 567 9230 0.00 0.00 0.00 0.000 6 0.000 0.000 1909 3181 2007 0 0 0 0 0 0

9550 0.65 109.6 343.4 14.3 597 9554 0.00 1.23 0.00 0.000 4 0.000 0.062 1909 3948 2007 0 0 0 0 0 0

9621 0.65 109.6 331.3 16.2 603 9629 0.00 1.17 0.00 0.000 6 0.000 0.037 1914 3179 2008 0 0 0 0 0 0

9947 0.65 109.6 283.4 15.1 634 9948 0.00 0.00 0.00 0.000 6 0.000 0.000 1914 3180 2007 0 0 0 0 0 0

10266 0.65 109.6 237.9 14.5 664 10270 0.00 1.25 0.00 0.000 4 0.000 0.061 1914 3954 2006 0 0 0 0 0 0

10370 0.65 109.6 220.5 18.3 673 10374 0.00 1.17 0.00 0.000 6 0.000 0.037 1920 3179 2006 0 0 0 0 0 0

10700 0.65 109.6 170.3 14.3 704 10703 0.00 1.25 0.00 0.000 4 0.000 0.060 1920 3956 2007 0 0 0 0 0 0

10772 0.65 109.6 158.2 17.3 710 10780 0.00 1.20 0.00 0.000 6 0.000 0.036 1926 3170 2006 0 0 0 0 0 0

11099 0.65 109.6 109.4 15.3 741 11103 0.00 1.25 0.00 0.000 4 0.000 0.060 1926 3949 2007 0 0 0 0 0 0

11178 0.65 109.6 96.1 17.4 750 11187 0.00 1.15 0.00 0.000 6 0.000 0.037 1932 3183 2007 0 0 0 0 0 0

11529 0.65 109.6 45.2 13.5 811 11535 0.00 0.00 0.00 0.000 6 0.000 0.000 1932 3184 2007 0 0 0 0 0 0

11856 end climb: SURFACE_DEPTH_REACHED

state 11856 begin surface coast

11888 end surface coast: CONTROL_FINISHED_OK

state 11888 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	76	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	20	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	-12630.043	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	131213,000433,-4259.707,830.847,28,1.7,37,-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	1.54	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	131213,001200,-4259.749,830.874,14,1.2,15,-25.0	MHEAD_RNG_PITCHd_Wd	273.5,1272,-27.2,-9.429
SPEED_LIMITS	0.163,0.255	D_GRID	990

FINISH	0.7,1.015250	_10V_AH	10.1,8.636
SM_CCo	11900,45.00,0.802,0,0,1552,225.18	FG_AHR_24Vo	0.000
SM_GC	1.36,0.00,0.00,45.00,0.000,0.000,0.802,66,3339,1552,-5.09,0.54,225.18	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4244.98,755.73,121213,202055	MEM	355192
TT8_MAMPS	0.026215	DATA_FILE_SIZE	60195,872
HUMID	61.93	CAP_FILE_SIZE	113275,0
INTERNAL_PRESSURE	9.54255	CFSIZE	259252224,253108224
TCM_TEMP	13.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	131213,033234,-4259.860,830.269,34,1.2,34,-25.0
_24V_AH	22.8,12.934

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	238	67.48	SBE_CT	604	24	330.98
Roll_motor	53	76	93.10	AA4330	1517	33	1141.82
VBD_pump_during_apogee	214	1858	9093.99	WL_BB2F	627	105	1501.61
VBD_pump_during_surface	45	801	822.56	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	63.46	nil	0	0	0.00
Iridium_during_connect	50	160	184.35	nil	0	0	0.00
Iridium_during_xfer	261	223	1328.70	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	26	4.76
TT8	2198	14	332.25
LPSleep	7163	2	158.45
TT8_Active	345	14	49.56
TT8_Sampling	2558	37	967.35
TT8_CF8	127	47	60.65
TT8_Kalman	0	0	0.00
Analog_circuits	1250	12	151.55
GPS_charging	0	0	0.00
Compass	2117	15	336.43
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	-48.88	0.000	2	0.000	0.000	67	3320	2671	0	0	0	0	0	0
67	-0.65	-109.6	3.2	-3.7	6	85	5.78	2.25	-6.72	0.000	4	0.239	0.048	1489	1903	2924	0	0	0	0	0	0
245	-0.65	-109.6	37.5	-15.4	35	251	0.00	2.33	0.00	0.000	6	0.000	0.054	1480	3331	2928	0	0	0	0	0	0
388	-0.65	-109.6	67.7	-21.8	60	397	0.00	0.98	0.00	0.000	4	0.000	0.057	1475	3945	2928	0	0	0	0	0	0
510	-0.65	-109.6	95.1	-22.6	81	519	0.00	0.95	0.00	0.000	6	0.000	0.036	1475	3319	2928	0	0	0	0	0	0
844	-0.65	-109.6	165.1	-20.8	114	848	0.00	1.00	0.00	0.000	4	0.000	0.060	1470	3945	2929	0	0	0	0	0	0
1016	-0.65	-109.6	201.4	-20.9	129	1019	0.00	0.95	0.00	0.000	6	0.000	0.037	1470	3319	2930	0	0	0	0	0	0
1346	-0.65	-109.6	267.4	-19.2	160	1349	0.00	1.00	0.00	0.000	4	0.000	0.061	1465	3947	2930	0	0	0	0	0	0
1516	-0.65	-109.6	302.9	-20.3	175	1519	0.00	0.95	0.00	0.000	6	0.000	0.037	1465	3319	2930	0	0	0	0	0	0
1845	-0.65	-109.6	363.7	-17.9	206	1849	0.00	1.00	0.00	0.000	4	0.000	0.061	1461	3949	2931	0	0	0	0	0	0
2027	-0.65	-109.6	400.8	-20.9	222	2030	0.00	0.95	0.00	0.000	6	0.000	0.037	1461	3320	2930	0	0	0	0	0	0
2359	-0.65	-109.6	464.9	-19.3	238	2362	0.00	1.00	0.00	0.000	4	0.000	0.062	1456	3950	2930	0	0	0	0	0	0
2615	-0.65	-109.6	519.0	-20.7	249	2620	0.12	0.98	0.00	0.000	6	0.202	0.037	1485	3316	2930	0	0	0	0	0	0
2936	-0.65	-109.6	574.6	-17.4	265	2940	0.00	1.00	0.00	0.000	4	0.000	0.062	1481	3945	2930	0	0	0	0	0	0
3081	-0.65	-109.6	601.5	-18.5	271	3085	0.00	0.98	0.00	0.000	6	0.000	0.037	1481	3313	2930	0	0	0	0	0	0
3402	-0.65	-109.6	656.5	-17.1	287	3406	0.00	1.00	0.00	0.000	4	0.000	0.063	1477	3940	2930	0	0	0	0	0	0
3605	-0.65	-109.6	693.1	-18.8	296	3609	0.00	0.95	0.00	0.000	6	0.000	0.039	1477	3314	2930	0	0	0	0	0	0
3937	-0.65	-109.6	748.4	-16.5	312	3941	0.00	1.00	0.00	0.000	4	0.000	0.063	1472	3943	2929	0	0	0	0	0	0
4076	-0.65	-109.6	773.5	-17.5	318	4081	0.00	0.98	0.00	0.000	6	0.000	0.038	1472	3311	2929	0	0	0	0	0	0
4403	-0.65	-109.6	828.5	-16.5	334	4407	0.00	1.00	0.00	0.000	4	0.000	0.063	1467	3938	2928	0	0	0	0	0	0
4471	-0.65	-109.6	840.6	-18.8	337	4474	0.00	0.95	0.00	0.000	6	0.000	0.039	1467	3315	2928	0	0	0	0	0	0
4803	-0.65	-109.6	895.2	-15.9	353	4806	0.00	1.00	0.00	0.000	4	0.000	0.063	1463	3943	2927	0	0	0	0	0	0
4964	-0.65	-109.6	924.6	-17.9	360	4969	0.00	0.98	0.00	0.000	6	0.000	0.039	1462	3312	2926	0	0	0	0	0	0
5291	-0.65	-109.6	978.6	-16.2	376	5295	0.00	1.00	0.00	0.000	4	0.000	0.063	1458	3939	2926	0	0	0	0	0	0
5358	end dive: TARGET_DEPTH_EXCEEDED
state	5358	begin apogee
5362	-0.11	0.0	990.3	16.9	379	5472	0.68	0.00	106.12	1.858	6	0.169	0.000	1654	3162	2474	0	0	0	0	0	0
5472	end apogee: CONTROL_FINISHED_OK
state	5473	begin climb
5474	0.65	109.6	994.8	0.0	384	5590	0.77	2.38	108.53	1.805	4	0.099	0.035	1909	1773	2027	0	0	0	0	0	0
5651	0.65	109.6	976.6	13.4	392	5656	0.00	2.45	0.00	0.000	6	0.000	0.051	1909	3175	2022	0	0	0	0	0	0
5973	0.65	109.6	921.5	17.7	408	5974	0.00	0.00	0.00	0.000	6	0.000	0.000	1909	3175	2016	0	0	0	0	0	0
6283	0.65	109.6	868.0	17.3	423	6285	0.00	0.00	0.00	0.000	6	0.000	0.000	1909	3175	2014	0	0	0	0	0	0
6591	0.65	109.6	816.2	16.9	438	6595	0.00	1.25	0.00	0.000	4	0.000	0.060	1909	3945	2013	0	0	0	0	0	0
6674	0.65	109.6	800.0	19.7	441	6682	0.00	1.23	0.00	0.000	6	0.000	0.036	1915	3162	2012	0	0	0	0	0	0
6990	0.65	109.6	746.7	16.9	457	6991	0.00	0.00	0.00	0.000	6	0.000	0.000	1915	3162	2011	0	0	0	0	0	0
7299	0.65	109.6	695.1	16.3	472	7303	0.00	1.27	0.00	0.000	4	0.000	0.060	1915	3946	2010	0	0	0	0	0	0
7421	0.65	109.6	672.3	20.1	477	7426	0.00	1.20	0.00	0.000	6	0.000	0.037	1921	3172	2010	0	0	0	0	0	0
7743	0.65	109.6	621.3	15.6	493	7747	0.00	1.25	0.00	0.000	4	0.000	0.060	1921	3946	2010	0	0	0	0	0	0
7803	0.65	109.6	610.9	17.5	495	7811	0.00	1.20	0.00	0.000	6	0.000	0.037	1926	3171	2010	0	0	0	0	0	0
8119	0.65	109.6	561.6	15.2	511	8120	0.00	0.00	0.00	0.000	6	0.000	0.000	1926	3172	2009	0	0	0	0	0	0
8429	0.65	109.6	515.2	15.0	526	8432	0.00	1.25	0.00	0.000	4	0.000	0.060	1926	3947	2008	0	0	0	0	0	0
8522	0.65	109.6	498.7	17.1	530	8527	0.00	1.20	0.00	0.000	6	0.000	0.037	1933	3170	2009	0	0	0	0	0	0
8851	0.65	109.6	447.4	15.6	546	8855	0.00	1.25	0.00	0.000	4	0.000	0.060	1932	3943	2008	0	0	0	0	0	0
8905	0.65	109.6	437.6	17.7	548	8911	0.12	1.17	0.00	0.000	6	0.221	0.037	1910	3181	2008	0	0	0	0	0	0
9229	0.65	109.6	390.2	14.9	567	9230	0.00	0.00	0.00	0.000	6	0.000	0.000	1909	3181	2007	0	0	0	0	0	0
9550	0.65	109.6	343.4	14.3	597	9554	0.00	1.23	0.00	0.000	4	0.000	0.062	1909	3948	2007	0	0	0	0	0	0
9621	0.65	109.6	331.3	16.2	603	9629	0.00	1.17	0.00	0.000	6	0.000	0.037	1914	3179	2008	0	0	0	0	0	0
9947	0.65	109.6	283.4	15.1	634	9948	0.00	0.00	0.00	0.000	6	0.000	0.000	1914	3180	2007	0	0	0	0	0	0
10266	0.65	109.6	237.9	14.5	664	10270	0.00	1.25	0.00	0.000	4	0.000	0.061	1914	3954	2006	0	0	0	0	0	0
10370	0.65	109.6	220.5	18.3	673	10374	0.00	1.17	0.00	0.000	6	0.000	0.037	1920	3179	2006	0	0	0	0	0	0
10700	0.65	109.6	170.3	14.3	704	10703	0.00	1.25	0.00	0.000	4	0.000	0.060	1920	3956	2007	0	0	0	0	0	0
10772	0.65	109.6	158.2	17.3	710	10780	0.00	1.20	0.00	0.000	6	0.000	0.036	1926	3170	2006	0	0	0	0	0	0
11099	0.65	109.6	109.4	15.3	741	11103	0.00	1.25	0.00	0.000	4	0.000	0.060	1926	3949	2007	0	0	0	0	0	0
11178	0.65	109.6	96.1	17.4	750	11187	0.00	1.15	0.00	0.000	6	0.000	0.037	1932	3183	2007	0	0	0	0	0	0
11529	0.65	109.6	45.2	13.5	811	11535	0.00	0.00	0.00	0.000	6	0.000	0.000	1932	3184	2007	0	0	0	0	0	0
11856	end climb: SURFACE_DEPTH_REACHED
state	11856	begin surface coast
11888	end surface coast: CONTROL_FINISHED_OK
state	11888	begin surface