Glider dive log

SOSCEx 01Dec13 * SG543 * Dive index * Mission links * Dive 93 * 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 93 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 53 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 24 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.050000001

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 KERMIT 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 507 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 101

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2474 DEVICE3 35

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_DIVE 350 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 390 CAPUPLOAD 0 VBD_TIMEOUT 800 DEVICE6 -1

T_ABORT 720 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00061500003 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 60 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -12682.593 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 -12682.593

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 53 VBD_MAX 3960

DEVICE2 101 MASS 52459 R_STBD_OVSHOOT 24 VBD_MAXERRORS 1

DEVICE3 35 MAX_BUOY 150 SEABIRD_C_G -10.305622 VBD_MIN 507

DEVICE4 -1 MINV_10V 8 SEABIRD_C_H 1.1763667 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.0018977363 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MISSION 9 SEABIRD_C_J 0.00023287861 VBD_TIMEOUT 800

DIVE 93 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 151213,121334,-4259.465,830.076,26,0.8,26,-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 -62.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 151213,122100,-4259.447,830.188,15,1.4,15,-25.0 MHEAD_RNG_PITCHd_Wd 219.0,1056,-27.2,-9.429

SPEED_LIMITS 0.163,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.022056 _10V_AH 10.1,10.327

SM_CCo 12906,51.47,0.803,0,0,1553,225.18 FG_AHR_24Vo 0.000

SM_GC 1.66,0.00,0.00,51.47,0.000,0.000,0.803,61,3319,1553,-5.11,-0.03,225.18 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4242.04,836.94,151213,080853 MEM 355196

TT8_MAMPS 0.026215 DATA_FILE_SIZE 63722,952

HUMID 61.22 CAP_FILE_SIZE 130334,0

INTERNAL_PRESSURE 9.54255 CFSIZE 259252224,251994112

TCM_TEMP 13.80 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 151213,155829,-4300.640,830.335,36,0.8,36,-25.0

_24V_AH 22.9,15.261

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 234 66.55 SBE_CT 660 24 362.96

Roll_motor 67 84 129.54 AA4330 1654 33 1250.44

VBD_pump_during_apogee 183 1885 7926.26 WL_BB2F 703 105 1691.80

VBD_pump_during_surface 51 803 946.85 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 34 103 80.67 nil 0 0 0.00

Iridium_during_connect 41 160 151.90 nil 0 0 0.00

Iridium_during_xfer 263 223 1345.08 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 26 4.97

TT8 2442 14 369.11

LPSleep 7514 2 166.22

TT8_Active 345 14 49.54

TT8_Sampling 2946 37 1114.04

TT8_CF8 154 47 73.84

TT8_Kalman 0 0 0.00

Analog_circuits 1406 12 170.51

GPS_charging 0 0 0.00

Compass 2498 15 396.97

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 57 0.00 0.00 -41.20 0.000 2 0.000 0.000 73 3325 2486 0 0 0 0 0 0

59 -0.63 -92.7 3.2 -5.6 5 85 5.72 1.02 -10.68 0.000 4 0.235 0.084 1482 3952 2854 0 0 0 0 0 0

324 -0.63 -92.7 56.5 -21.6 49 331 0.00 0.95 0.00 0.000 6 0.000 0.035 1482 3326 2858 0 0 0 0 0 0

669 -0.63 -92.7 122.2 -18.6 100 672 0.00 1.00 0.00 0.000 4 0.000 0.060 1478 3951 2860 0 0 0 0 0 0

820 -0.63 -92.7 152.9 -20.0 113 828 0.00 0.98 0.00 0.000 6 0.000 0.034 1477 3314 2860 0 0 0 0 0 0

1146 -0.63 -92.7 214.5 -18.0 144 1149 0.00 1.00 0.00 0.000 4 0.000 0.059 1473 3943 2862 0 0 0 0 0 0

1354 -0.63 -92.7 257.3 -21.1 162 1361 0.00 0.95 0.00 0.000 6 0.000 0.035 1473 3313 2862 0 0 0 0 0 0

1681 -0.63 -92.7 318.0 -18.8 193 1684 0.00 1.00 0.00 0.000 4 0.000 0.060 1468 3947 2862 0 0 0 0 0 0

1843 -0.63 -92.7 351.7 -19.8 207 1851 0.00 0.98 0.00 0.000 6 0.000 0.035 1468 3306 2862 0 0 0 0 0 0

2167 -0.63 -92.7 412.3 -18.5 235 2171 0.00 1.02 0.00 0.000 4 0.000 0.060 1464 3952 2862 0 0 0 0 0 0

2379 -0.63 -92.7 454.7 -20.2 244 2383 0.00 0.98 0.00 0.000 6 0.000 0.035 1463 3312 2862 0 0 0 0 0 0

2701 -0.63 -92.7 515.0 -19.0 260 2704 0.00 1.00 0.00 0.000 4 0.000 0.060 1459 3943 2862 0 0 0 0 0 0

2884 -0.63 -92.7 552.8 -20.0 268 2890 0.12 0.95 0.00 0.000 6 0.198 0.036 1488 3322 2861 0 0 0 0 0 0

3214 -0.63 -92.7 607.9 -16.6 284 3217 0.00 0.98 0.00 0.000 4 0.000 0.062 1484 3937 2861 0 0 0 0 0 0

3375 -0.63 -92.7 636.7 -17.0 291 3379 0.00 0.95 0.00 0.000 6 0.000 0.037 1484 3318 2861 0 0 0 0 0 0

3704 -0.63 -92.7 688.1 -15.2 307 3707 0.00 1.00 0.00 0.000 4 0.000 0.063 1480 3948 2860 0 0 0 0 0 0

3786 -0.63 -92.7 702.3 -16.4 310 3794 0.00 0.98 0.00 0.000 6 0.000 0.037 1480 3312 2860 0 0 0 0 0 0

4102 -0.63 -92.7 751.3 -15.7 326 4106 0.00 1.00 0.00 0.000 4 0.000 0.063 1475 3942 2859 0 0 0 0 0 0

4276 -0.63 -92.7 780.2 -16.9 333 4283 0.00 0.95 0.00 0.000 6 0.000 0.039 1475 3317 2859 0 0 0 0 0 0

4591 -0.63 -92.7 830.6 -15.9 349 4594 0.00 1.00 0.00 0.000 4 0.000 0.063 1470 3947 2858 0 0 0 0 0 0

4758 -0.63 -92.7 860.0 -17.2 356 4763 0.00 0.95 0.00 0.000 6 0.000 0.039 1471 3319 2858 0 0 0 0 0 0

5079 -0.63 -92.7 911.4 -15.8 372 5083 0.00 1.00 0.00 0.000 4 0.000 0.063 1466 3949 2858 0 0 0 0 0 0

5192 -0.63 -92.7 930.1 -16.5 377 5196 0.00 0.95 0.00 0.000 6 0.000 0.039 1466 3320 2857 0 0 0 0 0 0

5525 -0.63 -92.7 980.9 -14.8 393 5528 0.00 1.00 0.00 0.000 4 0.000 0.063 1461 3948 2857 0 0 0 0 0 0

5583 end dive: TARGET_DEPTH_EXCEEDED

state 5583 begin apogee

5589 -0.11 0.0 990.9 16.6 395 5683 0.62 0.00 90.43 1.886 6 0.167 0.000 1649 3171 2474 0 0 0 0 0 0

5683 end apogee: CONTROL_FINISHED_OK

state 5683 begin climb

5685 0.63 92.7 994.4 0.0 400 5786 0.75 2.38 93.12 1.831 4 0.102 0.034 1898 1785 2096 0 0 0 0 0 0

5809 0.63 92.7 983.7 12.2 405 5813 0.00 2.45 0.00 0.000 6 0.000 0.051 1899 3187 2093 0 0 0 0 0 0

6136 0.63 92.7 933.0 15.5 421 6140 0.00 1.27 0.00 0.000 4 0.000 0.060 1898 3950 2085 0 0 0 0 0 0

6241 0.63 92.7 914.2 17.9 425 6249 0.00 1.23 0.00 0.000 6 0.000 0.036 1904 3179 2085 0 0 0 0 0 0

6557 0.63 92.7 863.2 16.0 441 6561 0.00 1.25 0.00 0.000 4 0.000 0.060 1903 3944 2082 0 0 0 0 0 0

6656 0.63 92.7 845.1 18.1 445 6662 0.00 1.23 0.00 0.000 6 0.000 0.036 1910 3168 2082 0 0 0 0 0 0

6979 0.63 92.7 793.4 15.6 461 6982 0.00 1.27 0.00 0.000 4 0.000 0.060 1910 3950 2080 0 0 0 0 0 0

7207 0.63 92.7 753.6 16.7 471 7212 0.00 1.23 0.00 0.000 6 0.000 0.036 1916 3163 2080 0 0 0 0 0 0

7535 0.63 92.7 706.3 14.1 487 7538 0.00 1.27 0.00 0.000 4 0.000 0.060 1916 3949 2079 0 0 0 0 0 0

7714 0.63 92.7 677.9 16.4 495 7718 0.00 1.17 0.00 0.000 6 0.000 0.037 1922 3184 2079 0 0 0 0 0 0

8046 0.63 92.7 632.0 13.9 511 8049 0.00 1.25 0.00 0.000 4 0.000 0.060 1922 3952 2078 0 0 0 0 0 0

8113 0.63 92.7 621.7 15.9 514 8117 0.00 1.17 0.00 0.000 6 0.000 0.037 1928 3181 2078 0 0 0 0 0 0

8445 0.63 92.7 576.6 13.8 530 8449 0.00 1.23 0.00 0.000 4 0.000 0.061 1927 3936 2077 0 0 0 0 0 0

8573 0.63 92.7 556.7 14.6 535 8581 0.12 1.17 0.00 0.000 6 0.219 0.037 1905 3181 2077 0 0 0 0 0 0

8889 0.63 92.7 516.8 12.5 551 8893 0.00 1.25 0.00 0.000 4 0.000 0.060 1905 3955 2077 0 0 0 0 0 0

9140 0.63 92.7 479.5 15.0 562 9145 0.00 1.20 0.00 0.000 6 0.000 0.037 1910 3178 2077 0 0 0 0 0 0

9468 0.63 92.7 437.2 12.8 578 9471 0.00 1.25 0.00 0.000 4 0.000 0.060 1910 3954 2076 0 0 0 0 0 0

9584 0.63 92.7 419.9 15.2 583 9589 0.00 1.20 0.00 0.000 6 0.000 0.037 1916 3173 2076 0 0 0 0 0 0

9906 0.63 92.7 376.9 13.3 606 9909 0.00 1.25 0.00 0.000 4 0.000 0.060 1916 3950 2076 0 0 0 0 0 0

10097 0.63 92.7 348.8 14.1 623 10100 0.00 1.17 0.00 0.000 6 0.000 0.037 1922 3178 2076 0 0 0 0 0 0

10427 0.63 92.7 304.6 13.7 654 10430 0.00 1.23 0.00 0.000 4 0.000 0.060 1922 3940 2076 0 0 0 0 0 0

10598 0.63 92.7 279.3 15.7 669 10601 0.00 1.15 0.00 0.000 6 0.000 0.037 1928 3181 2075 0 0 0 0 0 0

10927 0.63 92.7 234.7 12.9 700 10931 0.00 1.23 0.00 0.000 4 0.000 0.060 1928 3943 2075 0 0 0 0 0 0

11131 0.63 92.7 204.6 15.3 718 11136 0.10 1.15 0.00 0.000 6 0.195 0.037 1905 3181 2075 0 0 0 0 0 0

11462 0.63 92.7 165.8 12.4 749 11466 0.00 1.23 0.00 0.000 4 0.000 0.060 1905 3942 2074 0 0 0 0 0 0

11557 0.63 92.7 152.1 14.3 757 11565 0.00 1.17 0.00 0.000 6 0.000 0.036 1909 3177 2074 0 0 0 0 0 0

11882 0.63 92.7 111.4 12.0 788 11886 0.00 1.23 0.00 0.000 4 0.000 0.060 1909 3942 2074 0 0 0 0 0 0

11927 0.63 92.7 105.5 12.3 792 11931 0.00 1.15 0.00 0.000 6 0.000 0.037 1915 3180 2075 0 0 0 0 0 0

12272 0.63 92.7 65.5 10.0 848 12278 0.00 1.23 0.00 0.000 4 0.000 0.059 1916 3952 2074 0 0 0 0 0 0

12492 0.63 92.7 39.7 12.0 886 12501 0.00 1.15 0.00 0.000 6 0.000 0.037 1922 3180 2074 0 0 0 0 0 0

12642 0.63 92.7 24.5 9.9 911 12648 0.00 0.00 0.00 0.000 6 0.000 0.000 1922 3180 2074 0 0 0 0 0 0

12792 0.63 92.7 8.1 11.5 936 12801 0.00 2.15 0.00 0.000 4 0.000 0.035 1933 1772 2074 0 0 0 0 0 0

12855 end climb: SURFACE_DEPTH_REACHED

state 12855 begin surface coast

12892 end surface coast: CONTROL_FINISHED_OK

state 12892 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	93	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	53	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	24	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.050000001
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	KERMIT	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	507	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	101
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2474	DEVICE3	35
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_DIVE	350	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	390	CAPUPLOAD	0	VBD_TIMEOUT	800	DEVICE6	-1
T_ABORT	720	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00061500003	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	60	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-12682.593	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	151213,121334,-4259.465,830.076,26,0.8,26,-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	-62.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	151213,122100,-4259.447,830.188,15,1.4,15,-25.0	MHEAD_RNG_PITCHd_Wd	219.0,1056,-27.2,-9.429
SPEED_LIMITS	0.163,0.255	D_GRID	990

FINISH	0.7,1.022056	_10V_AH	10.1,10.327
SM_CCo	12906,51.47,0.803,0,0,1553,225.18	FG_AHR_24Vo	0.000
SM_GC	1.66,0.00,0.00,51.47,0.000,0.000,0.803,61,3319,1553,-5.11,-0.03,225.18	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4242.04,836.94,151213,080853	MEM	355196
TT8_MAMPS	0.026215	DATA_FILE_SIZE	63722,952
HUMID	61.22	CAP_FILE_SIZE	130334,0
INTERNAL_PRESSURE	9.54255	CFSIZE	259252224,251994112
TCM_TEMP	13.80	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	151213,155829,-4300.640,830.335,36,0.8,36,-25.0
_24V_AH	22.9,15.261

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	234	66.55	SBE_CT	660	24	362.96
Roll_motor	67	84	129.54	AA4330	1654	33	1250.44
VBD_pump_during_apogee	183	1885	7926.26	WL_BB2F	703	105	1691.80
VBD_pump_during_surface	51	803	946.85	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	34	103	80.67	nil	0	0	0.00
Iridium_during_connect	41	160	151.90	nil	0	0	0.00
Iridium_during_xfer	263	223	1345.08	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	26	4.97
TT8	2442	14	369.11
LPSleep	7514	2	166.22
TT8_Active	345	14	49.54
TT8_Sampling	2946	37	1114.04
TT8_CF8	154	47	73.84
TT8_Kalman	0	0	0.00
Analog_circuits	1406	12	170.51
GPS_charging	0	0	0.00
Compass	2498	15	396.97
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	57	0.00	0.00	-41.20	0.000	2	0.000	0.000	73	3325	2486	0	0	0	0	0	0
59	-0.63	-92.7	3.2	-5.6	5	85	5.72	1.02	-10.68	0.000	4	0.235	0.084	1482	3952	2854	0	0	0	0	0	0
324	-0.63	-92.7	56.5	-21.6	49	331	0.00	0.95	0.00	0.000	6	0.000	0.035	1482	3326	2858	0	0	0	0	0	0
669	-0.63	-92.7	122.2	-18.6	100	672	0.00	1.00	0.00	0.000	4	0.000	0.060	1478	3951	2860	0	0	0	0	0	0
820	-0.63	-92.7	152.9	-20.0	113	828	0.00	0.98	0.00	0.000	6	0.000	0.034	1477	3314	2860	0	0	0	0	0	0
1146	-0.63	-92.7	214.5	-18.0	144	1149	0.00	1.00	0.00	0.000	4	0.000	0.059	1473	3943	2862	0	0	0	0	0	0
1354	-0.63	-92.7	257.3	-21.1	162	1361	0.00	0.95	0.00	0.000	6	0.000	0.035	1473	3313	2862	0	0	0	0	0	0
1681	-0.63	-92.7	318.0	-18.8	193	1684	0.00	1.00	0.00	0.000	4	0.000	0.060	1468	3947	2862	0	0	0	0	0	0
1843	-0.63	-92.7	351.7	-19.8	207	1851	0.00	0.98	0.00	0.000	6	0.000	0.035	1468	3306	2862	0	0	0	0	0	0
2167	-0.63	-92.7	412.3	-18.5	235	2171	0.00	1.02	0.00	0.000	4	0.000	0.060	1464	3952	2862	0	0	0	0	0	0
2379	-0.63	-92.7	454.7	-20.2	244	2383	0.00	0.98	0.00	0.000	6	0.000	0.035	1463	3312	2862	0	0	0	0	0	0
2701	-0.63	-92.7	515.0	-19.0	260	2704	0.00	1.00	0.00	0.000	4	0.000	0.060	1459	3943	2862	0	0	0	0	0	0
2884	-0.63	-92.7	552.8	-20.0	268	2890	0.12	0.95	0.00	0.000	6	0.198	0.036	1488	3322	2861	0	0	0	0	0	0
3214	-0.63	-92.7	607.9	-16.6	284	3217	0.00	0.98	0.00	0.000	4	0.000	0.062	1484	3937	2861	0	0	0	0	0	0
3375	-0.63	-92.7	636.7	-17.0	291	3379	0.00	0.95	0.00	0.000	6	0.000	0.037	1484	3318	2861	0	0	0	0	0	0
3704	-0.63	-92.7	688.1	-15.2	307	3707	0.00	1.00	0.00	0.000	4	0.000	0.063	1480	3948	2860	0	0	0	0	0	0
3786	-0.63	-92.7	702.3	-16.4	310	3794	0.00	0.98	0.00	0.000	6	0.000	0.037	1480	3312	2860	0	0	0	0	0	0
4102	-0.63	-92.7	751.3	-15.7	326	4106	0.00	1.00	0.00	0.000	4	0.000	0.063	1475	3942	2859	0	0	0	0	0	0
4276	-0.63	-92.7	780.2	-16.9	333	4283	0.00	0.95	0.00	0.000	6	0.000	0.039	1475	3317	2859	0	0	0	0	0	0
4591	-0.63	-92.7	830.6	-15.9	349	4594	0.00	1.00	0.00	0.000	4	0.000	0.063	1470	3947	2858	0	0	0	0	0	0
4758	-0.63	-92.7	860.0	-17.2	356	4763	0.00	0.95	0.00	0.000	6	0.000	0.039	1471	3319	2858	0	0	0	0	0	0
5079	-0.63	-92.7	911.4	-15.8	372	5083	0.00	1.00	0.00	0.000	4	0.000	0.063	1466	3949	2858	0	0	0	0	0	0
5192	-0.63	-92.7	930.1	-16.5	377	5196	0.00	0.95	0.00	0.000	6	0.000	0.039	1466	3320	2857	0	0	0	0	0	0
5525	-0.63	-92.7	980.9	-14.8	393	5528	0.00	1.00	0.00	0.000	4	0.000	0.063	1461	3948	2857	0	0	0	0	0	0
5583	end dive: TARGET_DEPTH_EXCEEDED
state	5583	begin apogee
5589	-0.11	0.0	990.9	16.6	395	5683	0.62	0.00	90.43	1.886	6	0.167	0.000	1649	3171	2474	0	0	0	0	0	0
5683	end apogee: CONTROL_FINISHED_OK
state	5683	begin climb
5685	0.63	92.7	994.4	0.0	400	5786	0.75	2.38	93.12	1.831	4	0.102	0.034	1898	1785	2096	0	0	0	0	0	0
5809	0.63	92.7	983.7	12.2	405	5813	0.00	2.45	0.00	0.000	6	0.000	0.051	1899	3187	2093	0	0	0	0	0	0
6136	0.63	92.7	933.0	15.5	421	6140	0.00	1.27	0.00	0.000	4	0.000	0.060	1898	3950	2085	0	0	0	0	0	0
6241	0.63	92.7	914.2	17.9	425	6249	0.00	1.23	0.00	0.000	6	0.000	0.036	1904	3179	2085	0	0	0	0	0	0
6557	0.63	92.7	863.2	16.0	441	6561	0.00	1.25	0.00	0.000	4	0.000	0.060	1903	3944	2082	0	0	0	0	0	0
6656	0.63	92.7	845.1	18.1	445	6662	0.00	1.23	0.00	0.000	6	0.000	0.036	1910	3168	2082	0	0	0	0	0	0
6979	0.63	92.7	793.4	15.6	461	6982	0.00	1.27	0.00	0.000	4	0.000	0.060	1910	3950	2080	0	0	0	0	0	0
7207	0.63	92.7	753.6	16.7	471	7212	0.00	1.23	0.00	0.000	6	0.000	0.036	1916	3163	2080	0	0	0	0	0	0
7535	0.63	92.7	706.3	14.1	487	7538	0.00	1.27	0.00	0.000	4	0.000	0.060	1916	3949	2079	0	0	0	0	0	0
7714	0.63	92.7	677.9	16.4	495	7718	0.00	1.17	0.00	0.000	6	0.000	0.037	1922	3184	2079	0	0	0	0	0	0
8046	0.63	92.7	632.0	13.9	511	8049	0.00	1.25	0.00	0.000	4	0.000	0.060	1922	3952	2078	0	0	0	0	0	0
8113	0.63	92.7	621.7	15.9	514	8117	0.00	1.17	0.00	0.000	6	0.000	0.037	1928	3181	2078	0	0	0	0	0	0
8445	0.63	92.7	576.6	13.8	530	8449	0.00	1.23	0.00	0.000	4	0.000	0.061	1927	3936	2077	0	0	0	0	0	0
8573	0.63	92.7	556.7	14.6	535	8581	0.12	1.17	0.00	0.000	6	0.219	0.037	1905	3181	2077	0	0	0	0	0	0
8889	0.63	92.7	516.8	12.5	551	8893	0.00	1.25	0.00	0.000	4	0.000	0.060	1905	3955	2077	0	0	0	0	0	0
9140	0.63	92.7	479.5	15.0	562	9145	0.00	1.20	0.00	0.000	6	0.000	0.037	1910	3178	2077	0	0	0	0	0	0
9468	0.63	92.7	437.2	12.8	578	9471	0.00	1.25	0.00	0.000	4	0.000	0.060	1910	3954	2076	0	0	0	0	0	0
9584	0.63	92.7	419.9	15.2	583	9589	0.00	1.20	0.00	0.000	6	0.000	0.037	1916	3173	2076	0	0	0	0	0	0
9906	0.63	92.7	376.9	13.3	606	9909	0.00	1.25	0.00	0.000	4	0.000	0.060	1916	3950	2076	0	0	0	0	0	0
10097	0.63	92.7	348.8	14.1	623	10100	0.00	1.17	0.00	0.000	6	0.000	0.037	1922	3178	2076	0	0	0	0	0	0
10427	0.63	92.7	304.6	13.7	654	10430	0.00	1.23	0.00	0.000	4	0.000	0.060	1922	3940	2076	0	0	0	0	0	0
10598	0.63	92.7	279.3	15.7	669	10601	0.00	1.15	0.00	0.000	6	0.000	0.037	1928	3181	2075	0	0	0	0	0	0
10927	0.63	92.7	234.7	12.9	700	10931	0.00	1.23	0.00	0.000	4	0.000	0.060	1928	3943	2075	0	0	0	0	0	0
11131	0.63	92.7	204.6	15.3	718	11136	0.10	1.15	0.00	0.000	6	0.195	0.037	1905	3181	2075	0	0	0	0	0	0
11462	0.63	92.7	165.8	12.4	749	11466	0.00	1.23	0.00	0.000	4	0.000	0.060	1905	3942	2074	0	0	0	0	0	0
11557	0.63	92.7	152.1	14.3	757	11565	0.00	1.17	0.00	0.000	6	0.000	0.036	1909	3177	2074	0	0	0	0	0	0
11882	0.63	92.7	111.4	12.0	788	11886	0.00	1.23	0.00	0.000	4	0.000	0.060	1909	3942	2074	0	0	0	0	0	0
11927	0.63	92.7	105.5	12.3	792	11931	0.00	1.15	0.00	0.000	6	0.000	0.037	1915	3180	2075	0	0	0	0	0	0
12272	0.63	92.7	65.5	10.0	848	12278	0.00	1.23	0.00	0.000	4	0.000	0.059	1916	3952	2074	0	0	0	0	0	0
12492	0.63	92.7	39.7	12.0	886	12501	0.00	1.15	0.00	0.000	6	0.000	0.037	1922	3180	2074	0	0	0	0	0	0
12642	0.63	92.7	24.5	9.9	911	12648	0.00	0.00	0.00	0.000	6	0.000	0.000	1922	3180	2074	0	0	0	0	0	0
12792	0.63	92.7	8.1	11.5	936	12801	0.00	2.15	0.00	0.000	4	0.000	0.035	1933	1772	2074	0	0	0	0	0	0
12855	end climb: SURFACE_DEPTH_REACHED
state	12855	begin surface coast
12892	end surface coast: CONTROL_FINISHED_OK
state	12892	begin surface