Glider dive log

SOSCEx 01Dec13 * SG543 * Dive index * Mission links * Dive 77 * 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 77 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 51 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 29 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 -12633.098 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 -12633.098

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 51 VBD_MAX 3960

DEVICE2 101 MASS 52459 R_STBD_OVSHOOT 29 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 77 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 131213,033234,-4259.860,830.269,34,1.2,34,-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 1.63 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 131213,033930,-4259.880,830.349,15,2.0,15,-25.0 MHEAD_RNG_PITCHd_Wd 269.9,523,-27.2,-9.429

SPEED_LIMITS 0.163,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.020384 _10V_AH 10.1,8.736

SM_CCo 12250,46.92,0.802,0,0,1554,225.18 FG_AHR_24Vo 0.000

SM_GC 1.51,0.00,0.00,46.92,0.000,0.000,0.802,72,3324,1554,-5.07,0.11,225.18 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4244.98,834.03,131213,000004 MEM 355220

TT8_MAMPS 0.026215 DATA_FILE_SIZE 60305,910

HUMID 61.26 CAP_FILE_SIZE 119788,0

INTERNAL_PRESSURE 9.54255 CFSIZE 259252224,253038592

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

XPDR_PINGS 0 GPS 131213,070606,-4300.146,829.888,45,1.4,45,-25.0

_24V_AH 22.8,13.068

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 240 68.46 SBE_CT 630 24 345.20

Roll_motor 60 64 88.05 AA4330 1577 33 1186.59

VBD_pump_during_apogee 204 1859 8673.23 WL_BB2F 670 105 1604.47

VBD_pump_during_surface 46 802 858.57 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 59.52 nil 0 0 0.00

Iridium_during_connect 19 160 72.38 nil 0 0 0.00

Iridium_during_xfer 266 223 1352.53 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 5.00

TT8 2306 14 348.50

LPSleep 7217 2 159.65

TT8_Active 345 14 49.64

TT8_Sampling 2704 37 1022.46

TT8_CF8 141 47 67.38

TT8_Kalman 0 0 0.00

Analog_circuits 1318 12 159.81

GPS_charging 0 0 0.00

Compass 2295 15 364.62

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 -48.90 0.000 2 0.000 0.000 64 3340 2677 0 0 0 0 0 0

67 -0.64 -104.1 3.3 -4.3 6 85 5.82 2.22 -6.00 0.000 4 0.240 0.046 1492 1917 2900 0 0 0 0 0 0

198 -0.64 -104.1 28.0 -14.0 27 205 0.00 2.28 0.00 0.000 6 0.000 0.054 1483 3314 2904 0 0 0 0 0 0

345 -0.64 -104.1 56.1 -20.3 52 352 0.00 1.02 0.00 0.000 4 0.000 0.060 1478 3954 2904 0 0 0 0 0 0

511 -0.64 -104.1 93.3 -21.0 81 520 0.00 0.95 0.00 0.000 6 0.000 0.037 1478 3327 2905 0 0 0 0 0 0

840 -0.64 -104.1 158.9 -20.0 114 843 0.00 1.00 0.00 0.000 4 0.000 0.061 1474 3953 2907 0 0 0 0 0 0

1102 -0.64 -104.1 213.7 -20.9 137 1106 0.00 0.95 0.00 0.000 6 0.000 0.036 1474 3317 2907 0 0 0 0 0 0

1432 -0.64 -104.1 280.2 -20.0 168 1435 0.00 1.00 0.00 0.000 4 0.000 0.060 1469 3947 2907 0 0 0 0 0 0

1591 -0.64 -104.1 314.0 -21.2 182 1595 0.00 0.95 0.00 0.000 6 0.000 0.037 1469 3317 2908 0 0 0 0 0 0

1923 -0.64 -104.1 379.0 -19.4 213 1927 0.00 1.00 0.00 0.000 4 0.000 0.061 1464 3949 2908 0 0 0 0 0 0

2158 -0.64 -104.1 430.3 -21.8 228 2162 0.00 0.98 0.00 0.000 6 0.000 0.037 1464 3313 2908 0 0 0 0 0 0

2479 -0.64 -104.1 493.6 -19.7 244 2483 0.00 1.00 0.00 0.000 4 0.000 0.061 1460 3942 2908 0 0 0 0 0 0

2736 -0.64 -104.1 546.7 -19.9 255 2740 0.00 0.98 0.00 0.000 6 0.000 0.037 1460 3310 2908 0 0 0 0 0 0

3058 -0.64 -104.1 606.7 -18.7 271 3061 0.00 1.02 0.00 0.000 4 0.000 0.063 1455 3953 2908 0 0 0 0 0 0

3269 -0.64 -104.1 650.2 -19.8 280 3274 0.12 0.98 0.00 0.000 6 0.200 0.037 1483 3319 2907 0 0 0 0 0 0

3591 -0.64 -104.1 703.6 -16.3 296 3595 0.00 1.00 0.00 0.000 4 0.000 0.063 1480 3947 2907 0 0 0 0 0 0

3741 -0.64 -104.1 730.0 -17.3 302 3749 0.00 0.98 0.00 0.000 6 0.000 0.038 1479 3314 2907 0 0 0 0 0 0

4059 -0.64 -104.1 780.6 -15.6 318 4062 0.00 1.00 0.00 0.000 4 0.000 0.063 1475 3942 2906 0 0 0 0 0 0

4203 -0.64 -104.1 806.1 -17.1 324 4208 0.00 0.98 0.00 0.000 6 0.000 0.039 1475 3312 2906 0 0 0 0 0 0

4525 -0.64 -104.1 857.1 -16.0 340 4528 0.00 1.00 0.00 0.000 4 0.000 0.063 1471 3942 2905 0 0 0 0 0 0

4619 -0.64 -104.1 873.7 -17.0 344 4623 0.00 0.98 0.00 0.000 6 0.000 0.039 1471 3313 2905 0 0 0 0 0 0

4946 -0.64 -104.1 925.1 -15.7 360 4950 0.00 1.00 0.00 0.000 4 0.000 0.064 1466 3939 2904 0 0 0 0 0 0

5059 -0.64 -104.1 944.5 -17.0 365 5062 0.00 0.95 0.00 0.000 6 0.000 0.041 1466 3316 2904 0 0 0 0 0 0

5327 end dive: TARGET_DEPTH_EXCEEDED

state 5327 begin apogee

5331 -0.11 0.0 990.0 16.7 378 5435 0.65 0.00 100.95 1.860 6 0.163 0.000 1657 3173 2473 0 0 0 0 0 0

5436 end apogee: CONTROL_FINISHED_OK

state 5436 begin climb

5438 0.64 104.1 995.2 0.0 383 5549 0.75 2.40 103.60 1.815 4 0.098 0.035 1907 1778 2048 0 0 0 0 0 0

5598 0.64 104.1 982.2 12.3 390 5606 0.00 2.45 0.00 0.000 6 0.000 0.050 1908 3180 2043 0 0 0 0 0 0

5915 0.64 104.1 934.6 15.8 406 5916 0.00 0.00 0.00 0.000 6 0.000 0.000 1908 3179 2037 0 0 0 0 0 0

6224 0.64 104.1 887.4 15.4 421 6227 0.00 1.27 0.00 0.000 4 0.000 0.061 1908 3953 2035 0 0 0 0 0 0

6323 0.64 104.1 870.2 17.9 425 6328 0.00 1.23 0.00 0.000 6 0.000 0.037 1913 3175 2034 0 0 0 0 0 0

6645 0.64 104.1 820.1 15.7 441 6646 0.00 0.00 0.00 0.000 6 0.000 0.000 1913 3175 2033 0 0 0 0 0 0

6954 0.64 104.1 771.8 15.5 456 6958 0.00 1.27 0.00 0.000 4 0.000 0.060 1913 3955 2031 0 0 0 0 0 0

7031 0.64 104.1 757.8 18.7 459 7036 0.00 1.20 0.00 0.000 6 0.000 0.037 1919 3175 2032 0 0 0 0 0 0

7353 0.64 104.1 707.8 15.6 475 7356 0.00 1.25 0.00 0.000 4 0.000 0.060 1919 3947 2030 0 0 0 0 0 0

7480 0.64 104.1 685.1 18.3 480 7488 0.00 1.20 0.00 0.000 6 0.000 0.037 1925 3174 2031 0 0 0 0 0 0

7796 0.64 104.1 635.4 16.1 496 7800 0.00 1.25 0.00 0.000 4 0.000 0.059 1925 3945 2029 0 0 0 0 0 0

7912 0.64 104.1 614.4 17.9 501 7917 0.00 1.20 0.00 0.000 6 0.000 0.037 1931 3170 2029 0 0 0 0 0 0

8240 0.64 104.1 561.9 16.2 517 8241 0.00 0.00 0.00 0.000 6 0.000 0.000 1930 3170 2029 0 0 0 0 0 0

8551 0.64 104.1 512.1 16.3 532 8554 0.00 1.25 0.00 0.000 4 0.000 0.060 1930 3947 2028 0 0 0 0 0 0

8686 0.64 104.1 487.2 18.3 538 8690 0.10 1.17 0.00 0.000 6 0.200 0.037 1909 3178 2028 0 0 0 0 0 0

9017 0.64 104.1 440.1 13.6 554 9021 0.00 1.25 0.00 0.000 4 0.000 0.060 1908 3953 2028 0 0 0 0 0 0

9219 0.64 104.1 407.8 16.8 563 9223 0.00 1.17 0.00 0.000 6 0.000 0.038 1913 3181 2028 0 0 0 0 0 0

9549 0.64 104.1 361.0 14.1 591 9552 0.00 1.23 0.00 0.000 4 0.000 0.061 1913 3947 2028 0 0 0 0 0 0

9696 0.64 104.1 337.7 17.3 604 9699 0.00 1.17 0.00 0.000 6 0.000 0.037 1919 3174 2028 0 0 0 0 0 0

10025 0.64 104.1 290.0 14.4 635 10027 0.00 0.00 0.00 0.000 6 0.000 0.000 1919 3174 2027 0 0 0 0 0 0

10347 0.64 104.1 244.6 14.4 665 10351 0.00 1.25 0.00 0.000 4 0.000 0.060 1919 3952 2027 0 0 0 0 0 0

10475 0.64 104.1 223.1 16.9 676 10485 0.00 1.20 0.00 0.000 6 0.000 0.036 1925 3167 2027 0 0 0 0 0 0

10801 0.64 104.1 176.9 13.7 707 10804 0.00 1.25 0.00 0.000 4 0.000 0.060 1925 3946 2027 0 0 0 0 0 0

10903 0.64 104.1 160.9 16.1 716 10906 0.00 1.15 0.00 0.000 6 0.000 0.037 1931 3184 2027 0 0 0 0 0 0

11233 0.64 104.1 116.3 13.6 747 11236 0.00 1.23 0.00 0.000 4 0.000 0.060 1931 3949 2027 0 0 0 0 0 0

11281 0.64 104.1 108.7 15.7 751 11290 0.12 1.17 0.00 0.000 6 0.220 0.036 1908 3178 2027 0 0 0 0 0 0

11626 0.64 104.1 68.4 11.5 806 11633 0.00 2.12 0.00 0.000 4 0.000 0.036 1918 1771 2027 0 0 0 0 0 0

11658 0.64 104.1 65.3 10.3 811 11665 0.00 2.25 0.00 0.000 6 0.000 0.050 1918 3195 2027 0 0 0 0 0 0

12007 0.64 104.1 25.4 14.5 872 12016 0.00 1.17 0.00 0.000 4 0.000 0.059 1918 3932 2027 0 0 0 0 0 0

12206 end climb: SURFACE_DEPTH_REACHED

state 12207 begin surface coast

12237 end surface coast: CONTROL_FINISHED_OK

state 12238 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	77	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	51	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	29	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	-12633.098	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	131213,033234,-4259.860,830.269,34,1.2,34,-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	1.63	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	131213,033930,-4259.880,830.349,15,2.0,15,-25.0	MHEAD_RNG_PITCHd_Wd	269.9,523,-27.2,-9.429
SPEED_LIMITS	0.163,0.255	D_GRID	990

FINISH	0.7,1.020384	_10V_AH	10.1,8.736
SM_CCo	12250,46.92,0.802,0,0,1554,225.18	FG_AHR_24Vo	0.000
SM_GC	1.51,0.00,0.00,46.92,0.000,0.000,0.802,72,3324,1554,-5.07,0.11,225.18	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4244.98,834.03,131213,000004	MEM	355220
TT8_MAMPS	0.026215	DATA_FILE_SIZE	60305,910
HUMID	61.26	CAP_FILE_SIZE	119788,0
INTERNAL_PRESSURE	9.54255	CFSIZE	259252224,253038592
TCM_TEMP	14.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	131213,070606,-4300.146,829.888,45,1.4,45,-25.0
_24V_AH	22.8,13.068

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	240	68.46	SBE_CT	630	24	345.20
Roll_motor	60	64	88.05	AA4330	1577	33	1186.59
VBD_pump_during_apogee	204	1859	8673.23	WL_BB2F	670	105	1604.47
VBD_pump_during_surface	46	802	858.57	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	59.52	nil	0	0	0.00
Iridium_during_connect	19	160	72.38	nil	0	0	0.00
Iridium_during_xfer	266	223	1352.53	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	5.00
TT8	2306	14	348.50
LPSleep	7217	2	159.65
TT8_Active	345	14	49.64
TT8_Sampling	2704	37	1022.46
TT8_CF8	141	47	67.38
TT8_Kalman	0	0	0.00
Analog_circuits	1318	12	159.81
GPS_charging	0	0	0.00
Compass	2295	15	364.62
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	-48.90	0.000	2	0.000	0.000	64	3340	2677	0	0	0	0	0	0
67	-0.64	-104.1	3.3	-4.3	6	85	5.82	2.22	-6.00	0.000	4	0.240	0.046	1492	1917	2900	0	0	0	0	0	0
198	-0.64	-104.1	28.0	-14.0	27	205	0.00	2.28	0.00	0.000	6	0.000	0.054	1483	3314	2904	0	0	0	0	0	0
345	-0.64	-104.1	56.1	-20.3	52	352	0.00	1.02	0.00	0.000	4	0.000	0.060	1478	3954	2904	0	0	0	0	0	0
511	-0.64	-104.1	93.3	-21.0	81	520	0.00	0.95	0.00	0.000	6	0.000	0.037	1478	3327	2905	0	0	0	0	0	0
840	-0.64	-104.1	158.9	-20.0	114	843	0.00	1.00	0.00	0.000	4	0.000	0.061	1474	3953	2907	0	0	0	0	0	0
1102	-0.64	-104.1	213.7	-20.9	137	1106	0.00	0.95	0.00	0.000	6	0.000	0.036	1474	3317	2907	0	0	0	0	0	0
1432	-0.64	-104.1	280.2	-20.0	168	1435	0.00	1.00	0.00	0.000	4	0.000	0.060	1469	3947	2907	0	0	0	0	0	0
1591	-0.64	-104.1	314.0	-21.2	182	1595	0.00	0.95	0.00	0.000	6	0.000	0.037	1469	3317	2908	0	0	0	0	0	0
1923	-0.64	-104.1	379.0	-19.4	213	1927	0.00	1.00	0.00	0.000	4	0.000	0.061	1464	3949	2908	0	0	0	0	0	0
2158	-0.64	-104.1	430.3	-21.8	228	2162	0.00	0.98	0.00	0.000	6	0.000	0.037	1464	3313	2908	0	0	0	0	0	0
2479	-0.64	-104.1	493.6	-19.7	244	2483	0.00	1.00	0.00	0.000	4	0.000	0.061	1460	3942	2908	0	0	0	0	0	0
2736	-0.64	-104.1	546.7	-19.9	255	2740	0.00	0.98	0.00	0.000	6	0.000	0.037	1460	3310	2908	0	0	0	0	0	0
3058	-0.64	-104.1	606.7	-18.7	271	3061	0.00	1.02	0.00	0.000	4	0.000	0.063	1455	3953	2908	0	0	0	0	0	0
3269	-0.64	-104.1	650.2	-19.8	280	3274	0.12	0.98	0.00	0.000	6	0.200	0.037	1483	3319	2907	0	0	0	0	0	0
3591	-0.64	-104.1	703.6	-16.3	296	3595	0.00	1.00	0.00	0.000	4	0.000	0.063	1480	3947	2907	0	0	0	0	0	0
3741	-0.64	-104.1	730.0	-17.3	302	3749	0.00	0.98	0.00	0.000	6	0.000	0.038	1479	3314	2907	0	0	0	0	0	0
4059	-0.64	-104.1	780.6	-15.6	318	4062	0.00	1.00	0.00	0.000	4	0.000	0.063	1475	3942	2906	0	0	0	0	0	0
4203	-0.64	-104.1	806.1	-17.1	324	4208	0.00	0.98	0.00	0.000	6	0.000	0.039	1475	3312	2906	0	0	0	0	0	0
4525	-0.64	-104.1	857.1	-16.0	340	4528	0.00	1.00	0.00	0.000	4	0.000	0.063	1471	3942	2905	0	0	0	0	0	0
4619	-0.64	-104.1	873.7	-17.0	344	4623	0.00	0.98	0.00	0.000	6	0.000	0.039	1471	3313	2905	0	0	0	0	0	0
4946	-0.64	-104.1	925.1	-15.7	360	4950	0.00	1.00	0.00	0.000	4	0.000	0.064	1466	3939	2904	0	0	0	0	0	0
5059	-0.64	-104.1	944.5	-17.0	365	5062	0.00	0.95	0.00	0.000	6	0.000	0.041	1466	3316	2904	0	0	0	0	0	0
5327	end dive: TARGET_DEPTH_EXCEEDED
state	5327	begin apogee
5331	-0.11	0.0	990.0	16.7	378	5435	0.65	0.00	100.95	1.860	6	0.163	0.000	1657	3173	2473	0	0	0	0	0	0
5436	end apogee: CONTROL_FINISHED_OK
state	5436	begin climb
5438	0.64	104.1	995.2	0.0	383	5549	0.75	2.40	103.60	1.815	4	0.098	0.035	1907	1778	2048	0	0	0	0	0	0
5598	0.64	104.1	982.2	12.3	390	5606	0.00	2.45	0.00	0.000	6	0.000	0.050	1908	3180	2043	0	0	0	0	0	0
5915	0.64	104.1	934.6	15.8	406	5916	0.00	0.00	0.00	0.000	6	0.000	0.000	1908	3179	2037	0	0	0	0	0	0
6224	0.64	104.1	887.4	15.4	421	6227	0.00	1.27	0.00	0.000	4	0.000	0.061	1908	3953	2035	0	0	0	0	0	0
6323	0.64	104.1	870.2	17.9	425	6328	0.00	1.23	0.00	0.000	6	0.000	0.037	1913	3175	2034	0	0	0	0	0	0
6645	0.64	104.1	820.1	15.7	441	6646	0.00	0.00	0.00	0.000	6	0.000	0.000	1913	3175	2033	0	0	0	0	0	0
6954	0.64	104.1	771.8	15.5	456	6958	0.00	1.27	0.00	0.000	4	0.000	0.060	1913	3955	2031	0	0	0	0	0	0
7031	0.64	104.1	757.8	18.7	459	7036	0.00	1.20	0.00	0.000	6	0.000	0.037	1919	3175	2032	0	0	0	0	0	0
7353	0.64	104.1	707.8	15.6	475	7356	0.00	1.25	0.00	0.000	4	0.000	0.060	1919	3947	2030	0	0	0	0	0	0
7480	0.64	104.1	685.1	18.3	480	7488	0.00	1.20	0.00	0.000	6	0.000	0.037	1925	3174	2031	0	0	0	0	0	0
7796	0.64	104.1	635.4	16.1	496	7800	0.00	1.25	0.00	0.000	4	0.000	0.059	1925	3945	2029	0	0	0	0	0	0
7912	0.64	104.1	614.4	17.9	501	7917	0.00	1.20	0.00	0.000	6	0.000	0.037	1931	3170	2029	0	0	0	0	0	0
8240	0.64	104.1	561.9	16.2	517	8241	0.00	0.00	0.00	0.000	6	0.000	0.000	1930	3170	2029	0	0	0	0	0	0
8551	0.64	104.1	512.1	16.3	532	8554	0.00	1.25	0.00	0.000	4	0.000	0.060	1930	3947	2028	0	0	0	0	0	0
8686	0.64	104.1	487.2	18.3	538	8690	0.10	1.17	0.00	0.000	6	0.200	0.037	1909	3178	2028	0	0	0	0	0	0
9017	0.64	104.1	440.1	13.6	554	9021	0.00	1.25	0.00	0.000	4	0.000	0.060	1908	3953	2028	0	0	0	0	0	0
9219	0.64	104.1	407.8	16.8	563	9223	0.00	1.17	0.00	0.000	6	0.000	0.038	1913	3181	2028	0	0	0	0	0	0
9549	0.64	104.1	361.0	14.1	591	9552	0.00	1.23	0.00	0.000	4	0.000	0.061	1913	3947	2028	0	0	0	0	0	0
9696	0.64	104.1	337.7	17.3	604	9699	0.00	1.17	0.00	0.000	6	0.000	0.037	1919	3174	2028	0	0	0	0	0	0
10025	0.64	104.1	290.0	14.4	635	10027	0.00	0.00	0.00	0.000	6	0.000	0.000	1919	3174	2027	0	0	0	0	0	0
10347	0.64	104.1	244.6	14.4	665	10351	0.00	1.25	0.00	0.000	4	0.000	0.060	1919	3952	2027	0	0	0	0	0	0
10475	0.64	104.1	223.1	16.9	676	10485	0.00	1.20	0.00	0.000	6	0.000	0.036	1925	3167	2027	0	0	0	0	0	0
10801	0.64	104.1	176.9	13.7	707	10804	0.00	1.25	0.00	0.000	4	0.000	0.060	1925	3946	2027	0	0	0	0	0	0
10903	0.64	104.1	160.9	16.1	716	10906	0.00	1.15	0.00	0.000	6	0.000	0.037	1931	3184	2027	0	0	0	0	0	0
11233	0.64	104.1	116.3	13.6	747	11236	0.00	1.23	0.00	0.000	4	0.000	0.060	1931	3949	2027	0	0	0	0	0	0
11281	0.64	104.1	108.7	15.7	751	11290	0.12	1.17	0.00	0.000	6	0.220	0.036	1908	3178	2027	0	0	0	0	0	0
11626	0.64	104.1	68.4	11.5	806	11633	0.00	2.12	0.00	0.000	4	0.000	0.036	1918	1771	2027	0	0	0	0	0	0
11658	0.64	104.1	65.3	10.3	811	11665	0.00	2.25	0.00	0.000	6	0.000	0.050	1918	3195	2027	0	0	0	0	0	0
12007	0.64	104.1	25.4	14.5	872	12016	0.00	1.17	0.00	0.000	4	0.000	0.059	1918	3932	2027	0	0	0	0	0	0
12206	end climb: SURFACE_DEPTH_REACHED
state	12207	begin surface coast
12237	end surface coast: CONTROL_FINISHED_OK
state	12238	begin surface