Glider dive log

SOSCEx 01Dec13 * SG543 * Dive index * Mission links * Dive 91 * 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 91 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 31 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 -12676.316 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 -12676.316

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 31 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 91 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 151213,045936,-4259.867,830.961,35,1.0,35,-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 1.80 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 151213,050647,-4259.853,830.989,22,1.0,22,-25.0 MHEAD_RNG_PITCHd_Wd 283.5,1366,-27.2,-9.429

SPEED_LIMITS 0.163,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.026037 _10V_AH 10.1,10.118

SM_CCo 12136,46.78,0.810,0,0,1553,225.18 FG_AHR_24Vo 0.000

SM_GC 1.49,0.00,0.00,46.78,0.000,0.000,0.810,59,3325,1553,-5.11,0.14,225.18 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4244.98,831.12,151213,010119 MEM 355188

TT8_MAMPS 0.026215 DATA_FILE_SIZE 60405,889

HUMID 61.97 CAP_FILE_SIZE 120677,0

INTERNAL_PRESSURE 9.54255 CFSIZE 259252224,252137472

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

XPDR_PINGS 0 GPS 151213,083123,-4259.944,830.259,39,1.3,39,-25.0

_24V_AH 22.7,15.003

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 234 66.82 SBE_CT 616 24 336.14

Roll_motor 60 62 86.26 AA4330 1545 33 1157.82

VBD_pump_during_apogee 205 1869 8702.58 WL_BB2F 644 105 1536.61

VBD_pump_during_surface 46 810 860.20 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 61.21 nil 0 0 0.00

Iridium_during_connect 20 160 75.58 nil 0 0 0.00

Iridium_during_xfer 269 223 1363.87 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 25 26 6.94

TT8 2283 14 344.97

LPSleep 7174 2 158.70

TT8_Active 332 14 47.69

TT8_Sampling 2689 37 1016.89

TT8_CF8 135 47 64.55

TT8_Kalman 0 0 0.00

Analog_circuits 1299 12 157.54

GPS_charging 0 0 0.00

Compass 2261 15 359.25

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 -48.72 0.000 2 0.000 0.000 60 3340 2687 0 0 0 0 0 0

67 -0.64 -103.7 3.3 -4.4 6 85 5.75 2.20 -5.60 0.000 4 0.234 0.044 1482 1902 2900 0 0 0 0 0 0

135 -0.64 -103.7 18.2 -20.2 16 143 0.00 2.33 0.00 0.000 6 0.000 0.054 1473 3309 2903 0 0 0 0 0 0

192 -0.64 -103.7 29.5 -20.8 25 198 0.00 1.02 0.00 0.000 4 0.000 0.058 1468 3948 2903 0 0 0 0 0 0

355 -0.64 -103.7 68.2 -24.7 53 362 0.00 0.95 0.00 0.000 6 0.000 0.035 1468 3322 2904 0 0 0 0 0 0

689 -0.64 -103.7 142.9 -21.1 96 693 0.00 1.00 0.00 0.000 4 0.000 0.058 1463 3951 2906 0 0 0 0 0 0

860 -0.64 -103.7 181.3 -22.0 111 863 0.00 0.95 0.00 0.000 6 0.000 0.035 1463 3316 2906 0 0 0 0 0 0

1189 -0.64 -103.7 250.4 -20.5 142 1193 0.00 1.00 0.00 0.000 4 0.000 0.059 1459 3948 2907 0 0 0 0 0 0

1415 -0.64 -103.7 299.4 -21.9 162 1419 0.00 0.95 0.00 0.000 6 0.000 0.035 1459 3312 2907 0 0 0 0 0 0

1747 -0.64 -103.7 367.1 -20.8 193 1751 0.00 1.00 0.00 0.000 4 0.000 0.059 1454 3944 2907 0 0 0 0 0 0

2004 -0.64 -103.7 422.7 -21.8 211 2010 0.12 0.95 0.00 0.000 6 0.199 0.035 1483 3322 2907 0 0 0 0 0 0

2326 -0.64 -103.7 480.6 -18.1 227 2330 0.00 1.00 0.00 0.000 4 0.000 0.060 1480 3954 2907 0 0 0 0 0 0

2538 -0.64 -103.7 521.3 -18.6 236 2542 0.00 0.98 0.00 0.000 6 0.000 0.036 1479 3314 2907 0 0 0 0 0 0

2861 -0.64 -103.7 578.5 -17.6 252 2864 0.00 1.02 0.00 0.000 4 0.000 0.060 1475 3956 2907 0 0 0 0 0 0

2983 -0.64 -103.7 601.8 -18.7 257 2987 0.00 0.98 0.00 0.000 6 0.000 0.036 1475 3317 2907 0 0 0 0 0 0

3306 -0.64 -103.7 658.1 -17.5 273 3309 0.00 1.00 0.00 0.000 4 0.000 0.062 1470 3948 2907 0 0 0 0 0 0

3562 -0.64 -103.7 706.7 -18.4 284 3567 0.00 0.98 0.00 0.000 6 0.000 0.037 1470 3312 2906 0 0 0 0 0 0

3884 -0.64 -103.7 761.6 -17.3 300 3888 0.00 1.00 0.00 0.000 4 0.000 0.062 1465 3943 2905 0 0 0 0 0 0

4118 -0.64 -103.7 806.1 -18.7 310 4123 0.00 0.95 0.00 0.000 6 0.000 0.037 1466 3319 2905 0 0 0 0 0 0

4441 -0.64 -103.7 862.7 -17.7 326 4445 0.00 1.00 0.00 0.000 4 0.000 0.063 1461 3951 2905 0 0 0 0 0 0

4603 -0.64 -103.7 893.9 -18.9 333 4607 0.00 0.95 0.00 0.000 6 0.000 0.037 1461 3323 2904 0 0 0 0 0 0

4932 -0.64 -103.7 950.3 -17.3 349 4935 0.00 1.00 0.00 0.000 4 0.000 0.063 1456 3954 2903 0 0 0 0 0 0

5037 -0.64 -103.7 970.4 -18.1 353 5045 0.12 0.98 0.00 0.000 6 0.194 0.037 1485 3319 2903 0 0 0 0 0 0

5187 end dive: TARGET_DEPTH_EXCEEDED

state 5187 begin apogee

5191 -0.11 0.0 992.7 14.6 361 5295 0.55 0.00 100.90 1.870 6 0.155 0.000 1652 3176 2473 0 0 0 0 0 0

5296 end apogee: CONTROL_FINISHED_OK

state 5296 begin climb

5297 0.64 103.7 996.9 0.0 366 5409 0.77 2.42 104.15 1.821 4 0.099 0.034 1907 1772 2049 0 0 0 0 0 0

5466 0.64 103.7 980.5 13.7 374 5470 0.00 2.45 0.00 0.000 6 0.000 0.051 1907 3185 2044 0 0 0 0 0 0

5792 0.64 103.7 926.6 16.9 390 5795 0.00 1.27 0.00 0.000 4 0.000 0.059 1907 3950 2037 0 0 0 0 0 0

5863 0.64 103.7 912.7 18.7 393 5868 0.00 1.25 0.00 0.000 6 0.000 0.036 1913 3169 2037 0 0 0 0 0 0

6192 0.64 103.7 856.6 17.1 409 6195 0.00 1.27 0.00 0.000 4 0.000 0.060 1913 3940 2035 0 0 0 0 0 0

6263 0.64 103.7 842.8 19.3 412 6268 0.00 1.23 0.00 0.000 6 0.000 0.037 1919 3169 2034 0 0 0 0 0 0

6590 0.64 103.7 788.0 16.5 428 6594 0.00 1.27 0.00 0.000 4 0.000 0.062 1919 3946 2033 0 0 0 0 0 0

6662 0.64 103.7 774.6 18.8 431 6667 0.00 1.20 0.00 0.000 6 0.000 0.038 1925 3180 2033 0 0 0 0 0 0

6989 0.64 103.7 719.9 16.4 447 6990 0.00 0.00 0.00 0.000 6 0.000 0.000 1925 3179 2032 0 0 0 0 0 0

7298 0.64 103.7 670.9 15.3 462 7302 0.00 1.25 0.00 0.000 4 0.000 0.062 1925 3945 2031 0 0 0 0 0 0

7461 0.64 103.7 643.5 16.7 469 7464 0.00 1.17 0.00 0.000 6 0.000 0.039 1931 3182 2031 0 0 0 0 0 0

7787 0.64 103.7 593.3 15.4 485 7790 0.00 1.25 0.00 0.000 4 0.000 0.060 1930 3954 2030 0 0 0 0 0 0

7877 0.64 103.7 578.3 17.8 489 7881 0.10 1.17 0.00 0.000 6 0.197 0.037 1908 3181 2030 0 0 0 0 0 0

8208 0.64 103.7 531.9 14.0 505 8209 0.00 0.00 0.00 0.000 6 0.000 0.000 1908 3181 2029 0 0 0 0 0 0

8517 0.64 103.7 490.3 13.3 520 8521 0.00 1.23 0.00 0.000 4 0.000 0.060 1908 3942 2029 0 0 0 0 0 0

8654 0.64 103.7 469.9 15.0 526 8657 0.00 1.15 0.00 0.000 6 0.000 0.037 1913 3188 2029 0 0 0 0 0 0

8985 0.64 103.7 424.8 13.6 542 8989 0.00 1.23 0.00 0.000 4 0.000 0.060 1913 3946 2028 0 0 0 0 0 0

9101 0.64 103.7 406.7 15.1 547 9106 0.00 1.20 0.00 0.000 6 0.000 0.037 1919 3167 2028 0 0 0 0 0 0

9426 0.64 103.7 362.1 13.9 575 9430 0.00 1.25 0.00 0.000 4 0.000 0.060 1919 3945 2028 0 0 0 0 0 0

9483 0.64 103.7 353.5 15.4 580 9486 0.00 1.15 0.00 0.000 6 0.000 0.037 1925 3188 2028 0 0 0 0 0 0

9813 0.64 103.7 305.6 14.3 611 9816 0.00 1.23 0.00 0.000 4 0.000 0.060 1925 3948 2028 0 0 0 0 0 0

9914 0.64 103.7 289.5 17.3 620 9918 0.00 1.17 0.00 0.000 6 0.000 0.037 1930 3173 2028 0 0 0 0 0 0

10244 0.64 103.7 241.5 14.5 651 10248 0.00 1.25 0.00 0.000 4 0.000 0.061 1930 3951 2027 0 0 0 0 0 0

10369 0.64 103.7 221.6 16.4 662 10373 0.10 1.17 0.00 0.000 6 0.195 0.037 1908 3170 2027 0 0 0 0 0 0

10700 0.64 103.7 178.6 13.1 693 10704 0.00 1.25 0.00 0.000 4 0.000 0.060 1908 3953 2027 0 0 0 0 0 0

10779 0.64 103.7 166.9 15.2 700 10783 0.00 1.15 0.00 0.000 6 0.000 0.037 1913 3187 2027 0 0 0 0 0 0

11109 0.64 103.7 124.3 12.9 731 11110 0.00 0.00 0.00 0.000 6 0.000 0.000 1913 3186 2027 0 0 0 0 0 0

11438 0.64 103.7 82.5 14.1 772 11445 0.00 1.23 0.00 0.000 4 0.000 0.061 1913 3950 2027 0 0 0 0 0 0

11701 0.64 103.7 46.9 13.4 818 11708 0.00 1.15 0.00 0.000 6 0.000 0.037 1918 3183 2027 0 0 0 0 0 0

12058 0.64 103.7 6.4 10.0 879 12067 0.00 1.23 0.00 0.000 4 0.000 0.060 1919 3945 2028 0 0 0 0 0 0

12091 end climb: SURFACE_DEPTH_REACHED

state 12092 begin surface coast

12123 end surface coast: CONTROL_FINISHED_OK

state 12123 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	91	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	31	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	-12676.316	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	151213,045936,-4259.867,830.961,35,1.0,35,-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	1.80	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	151213,050647,-4259.853,830.989,22,1.0,22,-25.0	MHEAD_RNG_PITCHd_Wd	283.5,1366,-27.2,-9.429
SPEED_LIMITS	0.163,0.255	D_GRID	990

FINISH	0.7,1.026037	_10V_AH	10.1,10.118
SM_CCo	12136,46.78,0.810,0,0,1553,225.18	FG_AHR_24Vo	0.000
SM_GC	1.49,0.00,0.00,46.78,0.000,0.000,0.810,59,3325,1553,-5.11,0.14,225.18	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4244.98,831.12,151213,010119	MEM	355188
TT8_MAMPS	0.026215	DATA_FILE_SIZE	60405,889
HUMID	61.97	CAP_FILE_SIZE	120677,0
INTERNAL_PRESSURE	9.54255	CFSIZE	259252224,252137472
TCM_TEMP	13.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	151213,083123,-4259.944,830.259,39,1.3,39,-25.0
_24V_AH	22.7,15.003

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	234	66.82	SBE_CT	616	24	336.14
Roll_motor	60	62	86.26	AA4330	1545	33	1157.82
VBD_pump_during_apogee	205	1869	8702.58	WL_BB2F	644	105	1536.61
VBD_pump_during_surface	46	810	860.20	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	61.21	nil	0	0	0.00
Iridium_during_connect	20	160	75.58	nil	0	0	0.00
Iridium_during_xfer	269	223	1363.87	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	25	26	6.94
TT8	2283	14	344.97
LPSleep	7174	2	158.70
TT8_Active	332	14	47.69
TT8_Sampling	2689	37	1016.89
TT8_CF8	135	47	64.55
TT8_Kalman	0	0	0.00
Analog_circuits	1299	12	157.54
GPS_charging	0	0	0.00
Compass	2261	15	359.25
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	-48.72	0.000	2	0.000	0.000	60	3340	2687	0	0	0	0	0	0
67	-0.64	-103.7	3.3	-4.4	6	85	5.75	2.20	-5.60	0.000	4	0.234	0.044	1482	1902	2900	0	0	0	0	0	0
135	-0.64	-103.7	18.2	-20.2	16	143	0.00	2.33	0.00	0.000	6	0.000	0.054	1473	3309	2903	0	0	0	0	0	0
192	-0.64	-103.7	29.5	-20.8	25	198	0.00	1.02	0.00	0.000	4	0.000	0.058	1468	3948	2903	0	0	0	0	0	0
355	-0.64	-103.7	68.2	-24.7	53	362	0.00	0.95	0.00	0.000	6	0.000	0.035	1468	3322	2904	0	0	0	0	0	0
689	-0.64	-103.7	142.9	-21.1	96	693	0.00	1.00	0.00	0.000	4	0.000	0.058	1463	3951	2906	0	0	0	0	0	0
860	-0.64	-103.7	181.3	-22.0	111	863	0.00	0.95	0.00	0.000	6	0.000	0.035	1463	3316	2906	0	0	0	0	0	0
1189	-0.64	-103.7	250.4	-20.5	142	1193	0.00	1.00	0.00	0.000	4	0.000	0.059	1459	3948	2907	0	0	0	0	0	0
1415	-0.64	-103.7	299.4	-21.9	162	1419	0.00	0.95	0.00	0.000	6	0.000	0.035	1459	3312	2907	0	0	0	0	0	0
1747	-0.64	-103.7	367.1	-20.8	193	1751	0.00	1.00	0.00	0.000	4	0.000	0.059	1454	3944	2907	0	0	0	0	0	0
2004	-0.64	-103.7	422.7	-21.8	211	2010	0.12	0.95	0.00	0.000	6	0.199	0.035	1483	3322	2907	0	0	0	0	0	0
2326	-0.64	-103.7	480.6	-18.1	227	2330	0.00	1.00	0.00	0.000	4	0.000	0.060	1480	3954	2907	0	0	0	0	0	0
2538	-0.64	-103.7	521.3	-18.6	236	2542	0.00	0.98	0.00	0.000	6	0.000	0.036	1479	3314	2907	0	0	0	0	0	0
2861	-0.64	-103.7	578.5	-17.6	252	2864	0.00	1.02	0.00	0.000	4	0.000	0.060	1475	3956	2907	0	0	0	0	0	0
2983	-0.64	-103.7	601.8	-18.7	257	2987	0.00	0.98	0.00	0.000	6	0.000	0.036	1475	3317	2907	0	0	0	0	0	0
3306	-0.64	-103.7	658.1	-17.5	273	3309	0.00	1.00	0.00	0.000	4	0.000	0.062	1470	3948	2907	0	0	0	0	0	0
3562	-0.64	-103.7	706.7	-18.4	284	3567	0.00	0.98	0.00	0.000	6	0.000	0.037	1470	3312	2906	0	0	0	0	0	0
3884	-0.64	-103.7	761.6	-17.3	300	3888	0.00	1.00	0.00	0.000	4	0.000	0.062	1465	3943	2905	0	0	0	0	0	0
4118	-0.64	-103.7	806.1	-18.7	310	4123	0.00	0.95	0.00	0.000	6	0.000	0.037	1466	3319	2905	0	0	0	0	0	0
4441	-0.64	-103.7	862.7	-17.7	326	4445	0.00	1.00	0.00	0.000	4	0.000	0.063	1461	3951	2905	0	0	0	0	0	0
4603	-0.64	-103.7	893.9	-18.9	333	4607	0.00	0.95	0.00	0.000	6	0.000	0.037	1461	3323	2904	0	0	0	0	0	0
4932	-0.64	-103.7	950.3	-17.3	349	4935	0.00	1.00	0.00	0.000	4	0.000	0.063	1456	3954	2903	0	0	0	0	0	0
5037	-0.64	-103.7	970.4	-18.1	353	5045	0.12	0.98	0.00	0.000	6	0.194	0.037	1485	3319	2903	0	0	0	0	0	0
5187	end dive: TARGET_DEPTH_EXCEEDED
state	5187	begin apogee
5191	-0.11	0.0	992.7	14.6	361	5295	0.55	0.00	100.90	1.870	6	0.155	0.000	1652	3176	2473	0	0	0	0	0	0
5296	end apogee: CONTROL_FINISHED_OK
state	5296	begin climb
5297	0.64	103.7	996.9	0.0	366	5409	0.77	2.42	104.15	1.821	4	0.099	0.034	1907	1772	2049	0	0	0	0	0	0
5466	0.64	103.7	980.5	13.7	374	5470	0.00	2.45	0.00	0.000	6	0.000	0.051	1907	3185	2044	0	0	0	0	0	0
5792	0.64	103.7	926.6	16.9	390	5795	0.00	1.27	0.00	0.000	4	0.000	0.059	1907	3950	2037	0	0	0	0	0	0
5863	0.64	103.7	912.7	18.7	393	5868	0.00	1.25	0.00	0.000	6	0.000	0.036	1913	3169	2037	0	0	0	0	0	0
6192	0.64	103.7	856.6	17.1	409	6195	0.00	1.27	0.00	0.000	4	0.000	0.060	1913	3940	2035	0	0	0	0	0	0
6263	0.64	103.7	842.8	19.3	412	6268	0.00	1.23	0.00	0.000	6	0.000	0.037	1919	3169	2034	0	0	0	0	0	0
6590	0.64	103.7	788.0	16.5	428	6594	0.00	1.27	0.00	0.000	4	0.000	0.062	1919	3946	2033	0	0	0	0	0	0
6662	0.64	103.7	774.6	18.8	431	6667	0.00	1.20	0.00	0.000	6	0.000	0.038	1925	3180	2033	0	0	0	0	0	0
6989	0.64	103.7	719.9	16.4	447	6990	0.00	0.00	0.00	0.000	6	0.000	0.000	1925	3179	2032	0	0	0	0	0	0
7298	0.64	103.7	670.9	15.3	462	7302	0.00	1.25	0.00	0.000	4	0.000	0.062	1925	3945	2031	0	0	0	0	0	0
7461	0.64	103.7	643.5	16.7	469	7464	0.00	1.17	0.00	0.000	6	0.000	0.039	1931	3182	2031	0	0	0	0	0	0
7787	0.64	103.7	593.3	15.4	485	7790	0.00	1.25	0.00	0.000	4	0.000	0.060	1930	3954	2030	0	0	0	0	0	0
7877	0.64	103.7	578.3	17.8	489	7881	0.10	1.17	0.00	0.000	6	0.197	0.037	1908	3181	2030	0	0	0	0	0	0
8208	0.64	103.7	531.9	14.0	505	8209	0.00	0.00	0.00	0.000	6	0.000	0.000	1908	3181	2029	0	0	0	0	0	0
8517	0.64	103.7	490.3	13.3	520	8521	0.00	1.23	0.00	0.000	4	0.000	0.060	1908	3942	2029	0	0	0	0	0	0
8654	0.64	103.7	469.9	15.0	526	8657	0.00	1.15	0.00	0.000	6	0.000	0.037	1913	3188	2029	0	0	0	0	0	0
8985	0.64	103.7	424.8	13.6	542	8989	0.00	1.23	0.00	0.000	4	0.000	0.060	1913	3946	2028	0	0	0	0	0	0
9101	0.64	103.7	406.7	15.1	547	9106	0.00	1.20	0.00	0.000	6	0.000	0.037	1919	3167	2028	0	0	0	0	0	0
9426	0.64	103.7	362.1	13.9	575	9430	0.00	1.25	0.00	0.000	4	0.000	0.060	1919	3945	2028	0	0	0	0	0	0
9483	0.64	103.7	353.5	15.4	580	9486	0.00	1.15	0.00	0.000	6	0.000	0.037	1925	3188	2028	0	0	0	0	0	0
9813	0.64	103.7	305.6	14.3	611	9816	0.00	1.23	0.00	0.000	4	0.000	0.060	1925	3948	2028	0	0	0	0	0	0
9914	0.64	103.7	289.5	17.3	620	9918	0.00	1.17	0.00	0.000	6	0.000	0.037	1930	3173	2028	0	0	0	0	0	0
10244	0.64	103.7	241.5	14.5	651	10248	0.00	1.25	0.00	0.000	4	0.000	0.061	1930	3951	2027	0	0	0	0	0	0
10369	0.64	103.7	221.6	16.4	662	10373	0.10	1.17	0.00	0.000	6	0.195	0.037	1908	3170	2027	0	0	0	0	0	0
10700	0.64	103.7	178.6	13.1	693	10704	0.00	1.25	0.00	0.000	4	0.000	0.060	1908	3953	2027	0	0	0	0	0	0
10779	0.64	103.7	166.9	15.2	700	10783	0.00	1.15	0.00	0.000	6	0.000	0.037	1913	3187	2027	0	0	0	0	0	0
11109	0.64	103.7	124.3	12.9	731	11110	0.00	0.00	0.00	0.000	6	0.000	0.000	1913	3186	2027	0	0	0	0	0	0
11438	0.64	103.7	82.5	14.1	772	11445	0.00	1.23	0.00	0.000	4	0.000	0.061	1913	3950	2027	0	0	0	0	0	0
11701	0.64	103.7	46.9	13.4	818	11708	0.00	1.15	0.00	0.000	6	0.000	0.037	1918	3183	2027	0	0	0	0	0	0
12058	0.64	103.7	6.4	10.0	879	12067	0.00	1.23	0.00	0.000	4	0.000	0.060	1919	3945	2028	0	0	0	0	0	0
12091	end climb: SURFACE_DEPTH_REACHED
state	12092	begin surface coast
12123	end surface coast: CONTROL_FINISHED_OK
state	12123	begin surface