Glider dive log

SOSCEx 01Dec13 * SG543 * Dive index * Mission links * Dive 95 * 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 95 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 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 -12688.895 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 -12688.895

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 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 95 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 151213,193404,-4259.364,830.570,34,0.8,34,-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 1.66 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 151213,194124,-4259.368,830.605,16,1.4,16,-25.0 MHEAD_RNG_PITCHd_Wd 240.0,1429,-27.2,-9.429

SPEED_LIMITS 0.163,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.024185 _10V_AH 10.1,10.517

SM_CCo 11552,45.42,0.806,0,0,1555,225.18 FG_AHR_24Vo 0.000

SM_GC 1.17,0.00,0.00,45.42,0.000,0.000,0.806,66,3327,1555,-5.09,0.20,225.18 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4244.98,828.21,151213,151554 MEM 355192

TT8_MAMPS 0.026215 DATA_FILE_SIZE 57089,840

HUMID 62.16 CAP_FILE_SIZE 117748,0

INTERNAL_PRESSURE 9.54255 CFSIZE 259252224,251883520

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

XPDR_PINGS 0 GPS 151213,225603,-4300.068,830.270,27,1.0,27,-25.0

_24V_AH 22.6,15.539

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 236 66.65 SBE_CT 582 24 315.78

Roll_motor 58 81 107.44 AA4330 1455 33 1085.81

VBD_pump_during_apogee 212 1882 9024.48 WL_BB2F 601 105 1426.55

VBD_pump_during_surface 45 805 826.98 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 56.89 nil 0 0 0.00

Iridium_during_connect 40 160 147.58 nil 0 0 0.00

Iridium_during_xfer 268 223 1351.92 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 26 5.23

TT8 2163 14 326.96

LPSleep 6746 2 149.23

TT8_Active 357 14 51.33

TT8_Sampling 2641 37 998.45

TT8_CF8 130 47 62.28

TT8_Kalman 0 0 0.00

Analog_circuits 1315 12 159.47

GPS_charging 0 0 0.00

Compass 2202 15 349.87

RAFOS 0 0 0.00

Transponder 1 5 0.05

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

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 -48.97 0.000 2 0.000 0.000 67 3324 2686 0 0 0 0 0 0

67 -0.64 -107.6 3.3 -4.0 6 85 5.75 0.98 -6.00 0.000 4 0.236 0.081 1478 3958 2913 0 0 0 0 0 0

202 -0.64 -107.6 37.3 -24.0 28 211 0.00 0.98 0.00 0.000 6 0.000 0.037 1478 3322 2917 0 0 0 0 0 0

347 -0.64 -107.6 69.2 -21.3 53 354 0.00 1.00 0.00 0.000 4 0.000 0.058 1475 3949 2918 0 0 0 0 0 0

452 -0.64 -107.6 92.3 -21.4 71 459 0.00 0.95 0.00 0.000 6 0.000 0.036 1474 3321 2919 0 0 0 0 0 0

782 -0.64 -107.6 158.2 -20.1 105 786 0.00 1.00 0.00 0.000 4 0.000 0.058 1470 3951 2920 0 0 0 0 0 0

1019 -0.64 -107.6 211.3 -22.8 126 1022 0.00 0.95 0.00 0.000 6 0.000 0.036 1470 3318 2921 0 0 0 0 0 0

1351 -0.64 -107.6 282.4 -21.0 157 1354 0.00 1.00 0.00 0.000 4 0.000 0.059 1465 3949 2921 0 0 0 0 0 0

1610 -0.64 -107.6 341.5 -21.0 180 1614 0.00 0.95 0.00 0.000 6 0.000 0.037 1465 3315 2921 0 0 0 0 0 0

1940 -0.64 -107.6 409.9 -20.6 209 1944 0.00 1.00 0.00 0.000 4 0.000 0.059 1461 3948 2921 0 0 0 0 0 0

2198 -0.64 -107.6 465.6 -21.0 220 2202 0.00 0.95 0.00 0.000 6 0.000 0.037 1461 3313 2921 0 0 0 0 0 0

2519 -0.64 -107.6 528.7 -19.0 236 2523 0.00 1.00 0.00 0.000 4 0.000 0.060 1456 3946 2921 0 0 0 0 0 0

2747 -0.64 -107.6 575.7 -20.1 246 2752 0.00 0.98 0.00 0.000 6 0.000 0.037 1456 3310 2921 0 0 0 0 0 0

3074 -0.64 -107.6 638.3 -19.4 262 3079 0.12 1.02 0.00 0.000 4 0.197 0.060 1482 3949 2921 0 0 0 0 0 0

3331 -0.64 -107.6 685.8 -18.6 273 3336 0.00 0.98 0.00 0.000 6 0.000 0.038 1482 3313 2920 0 0 0 0 0 0

3653 -0.64 -107.6 740.7 -17.0 289 3657 0.00 1.00 0.00 0.000 4 0.000 0.062 1477 3947 2920 0 0 0 0 0 0

3821 -0.64 -107.6 771.7 -17.8 296 3825 0.00 0.95 0.00 0.000 6 0.000 0.038 1477 3320 2919 0 0 0 0 0 0

4142 -0.64 -107.6 825.5 -16.6 312 4146 0.00 1.00 0.00 0.000 4 0.000 0.063 1473 3950 2919 0 0 0 0 0 0

4399 -0.64 -107.6 872.6 -18.2 323 4404 0.00 0.98 0.00 0.000 6 0.000 0.038 1473 3315 2918 0 0 0 0 0 0

4720 -0.64 -107.6 928.0 -17.5 339 4724 0.00 1.00 0.00 0.000 4 0.000 0.063 1468 3945 2918 0 0 0 0 0 0

4977 -0.64 -107.6 975.8 -18.2 350 4982 0.00 0.98 0.00 0.000 6 0.000 0.039 1468 3313 2917 0 0 0 0 0 0

5072 end dive: TARGET_DEPTH_EXCEEDED

state 5072 begin apogee

5076 -0.11 0.0 991.7 17.1 355 5184 0.62 0.00 104.32 1.883 6 0.160 0.000 1653 3181 2473 0 0 0 0 0 0

5185 end apogee: CONTROL_FINISHED_OK

state 5185 begin climb

5186 0.64 107.6 997.2 0.0 360 5302 0.75 2.45 107.78 1.835 4 0.097 0.036 1903 1775 2034 0 0 0 0 0 0

5391 0.64 107.6 978.2 12.6 369 5399 0.00 2.45 0.00 0.000 6 0.000 0.051 1904 3179 2027 0 0 0 0 0 0

5709 0.64 107.6 929.0 16.1 385 5712 0.00 1.27 0.00 0.000 4 0.000 0.060 1903 3948 2023 0 0 0 0 0 0

5768 0.64 107.6 918.0 18.0 387 5777 0.00 1.25 0.00 0.000 6 0.000 0.036 1909 3163 2022 0 0 0 0 0 0

6085 0.64 107.6 866.4 16.6 403 6088 0.00 1.30 0.00 0.000 4 0.000 0.060 1909 3956 2019 0 0 0 0 0 0

6175 0.64 107.6 849.7 19.8 407 6178 0.00 1.20 0.00 0.000 6 0.000 0.037 1915 3181 2019 0 0 0 0 0 0

6507 0.64 107.6 794.1 16.4 423 6510 0.00 1.25 0.00 0.000 4 0.000 0.060 1915 3952 2018 0 0 0 0 0 0

6578 0.64 107.6 780.9 19.2 426 6583 0.00 1.23 0.00 0.000 6 0.000 0.037 1921 3168 2018 0 0 0 0 0 0

6906 0.64 107.6 725.4 17.0 442 6909 0.00 1.27 0.00 0.000 4 0.000 0.060 1920 3956 2017 0 0 0 0 0 0

6954 0.64 107.6 715.5 19.9 444 6959 0.00 1.20 0.00 0.000 6 0.000 0.037 1927 3180 2017 0 0 0 0 0 0

7284 0.64 107.6 657.3 17.5 460 7285 0.00 0.00 0.00 0.000 6 0.000 0.000 1927 3180 2016 0 0 0 0 0 0

7591 0.64 107.6 605.4 16.6 475 7595 0.00 1.23 0.00 0.000 4 0.000 0.060 1927 3941 2016 0 0 0 0 0 0

7793 0.64 107.6 567.4 18.5 484 7797 0.00 1.17 0.00 0.000 6 0.000 0.037 1932 3178 2016 0 0 0 0 0 0

8127 0.64 107.6 513.9 15.8 500 8130 0.00 1.25 0.00 0.000 4 0.000 0.060 1933 3954 2014 0 0 0 0 0 0

8209 0.64 107.6 498.9 18.3 503 8218 0.12 1.20 0.00 0.000 6 0.223 0.037 1910 3176 2015 0 0 0 0 0 0

8526 0.64 107.6 453.7 13.9 519 8529 0.00 1.25 0.00 0.000 4 0.000 0.060 1910 3954 2014 0 0 0 0 0 0

8593 0.64 107.6 442.5 17.3 522 8597 0.00 1.17 0.00 0.000 6 0.000 0.037 1915 3180 2013 0 0 0 0 0 0

8916 0.64 107.6 394.7 14.9 539 8919 0.00 1.23 0.00 0.000 4 0.000 0.060 1914 3947 2013 0 0 0 0 0 0

8987 0.64 107.6 382.7 16.8 545 8995 0.00 1.20 0.00 0.000 6 0.000 0.037 1921 3168 2014 0 0 0 0 0 0

9313 0.64 107.6 332.3 15.7 576 9316 0.00 1.25 0.00 0.000 4 0.000 0.060 1921 3944 2013 0 0 0 0 0 0

9396 0.64 107.6 317.8 17.1 583 9403 0.00 1.17 0.00 0.000 6 0.000 0.036 1927 3181 2013 0 0 0 0 0 0

9721 0.64 107.6 267.5 16.4 614 9725 0.00 1.23 0.00 0.000 4 0.000 0.060 1926 3950 2013 0 0 0 0 0 0

9867 0.64 107.6 241.0 18.2 627 9871 0.00 1.17 0.00 0.000 6 0.000 0.037 1932 3173 2013 0 0 0 0 0 0

10197 0.64 107.6 187.9 16.0 658 10201 0.00 1.25 0.00 0.000 4 0.000 0.060 1932 3954 2013 0 0 0 0 0 0

10314 0.64 107.6 167.4 18.1 668 10324 0.12 1.20 0.00 0.000 6 0.221 0.035 1910 3167 2013 0 0 0 0 0 0

10639 0.64 107.6 123.1 13.4 699 10642 0.00 1.25 0.00 0.000 4 0.000 0.060 1908 3947 2013 0 0 0 0 0 0

10744 0.64 107.6 106.6 16.5 708 10754 0.00 1.17 0.00 0.000 6 0.000 0.035 1913 3179 2013 0 0 0 0 0 0

11089 0.64 107.6 59.7 12.9 765 11098 0.00 1.23 0.00 0.000 4 0.000 0.060 1913 3947 2013 0 0 0 0 0 0

11301 0.64 107.6 27.7 15.8 801 11308 0.00 1.15 0.00 0.000 6 0.000 0.036 1919 3183 2013 0 0 0 0 0 0

11451 0.64 107.6 10.2 11.0 826 11460 0.00 1.23 0.00 0.000 4 0.000 0.060 1919 3944 2013 0 0 0 0 0 0

11514 end climb: SURFACE_DEPTH_REACHED

state 11514 begin surface coast

11539 end surface coast: CONTROL_FINISHED_OK

state 11539 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	95	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	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	-12688.895	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	151213,193404,-4259.364,830.570,34,0.8,34,-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	1.66	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	151213,194124,-4259.368,830.605,16,1.4,16,-25.0	MHEAD_RNG_PITCHd_Wd	240.0,1429,-27.2,-9.429
SPEED_LIMITS	0.163,0.255	D_GRID	990

FINISH	0.7,1.024185	_10V_AH	10.1,10.517
SM_CCo	11552,45.42,0.806,0,0,1555,225.18	FG_AHR_24Vo	0.000
SM_GC	1.17,0.00,0.00,45.42,0.000,0.000,0.806,66,3327,1555,-5.09,0.20,225.18	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4244.98,828.21,151213,151554	MEM	355192
TT8_MAMPS	0.026215	DATA_FILE_SIZE	57089,840
HUMID	62.16	CAP_FILE_SIZE	117748,0
INTERNAL_PRESSURE	9.54255	CFSIZE	259252224,251883520
TCM_TEMP	13.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	151213,225603,-4300.068,830.270,27,1.0,27,-25.0
_24V_AH	22.6,15.539

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	236	66.65	SBE_CT	582	24	315.78
Roll_motor	58	81	107.44	AA4330	1455	33	1085.81
VBD_pump_during_apogee	212	1882	9024.48	WL_BB2F	601	105	1426.55
VBD_pump_during_surface	45	805	826.98	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	56.89	nil	0	0	0.00
Iridium_during_connect	40	160	147.58	nil	0	0	0.00
Iridium_during_xfer	268	223	1351.92	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	26	5.23
TT8	2163	14	326.96
LPSleep	6746	2	149.23
TT8_Active	357	14	51.33
TT8_Sampling	2641	37	998.45
TT8_CF8	130	47	62.28
TT8_Kalman	0	0	0.00
Analog_circuits	1315	12	159.47
GPS_charging	0	0	0.00
Compass	2202	15	349.87
RAFOS	0	0	0.00
Transponder	1	5	0.05

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
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	-48.97	0.000	2	0.000	0.000	67	3324	2686	0	0	0	0	0	0
67	-0.64	-107.6	3.3	-4.0	6	85	5.75	0.98	-6.00	0.000	4	0.236	0.081	1478	3958	2913	0	0	0	0	0	0
202	-0.64	-107.6	37.3	-24.0	28	211	0.00	0.98	0.00	0.000	6	0.000	0.037	1478	3322	2917	0	0	0	0	0	0
347	-0.64	-107.6	69.2	-21.3	53	354	0.00	1.00	0.00	0.000	4	0.000	0.058	1475	3949	2918	0	0	0	0	0	0
452	-0.64	-107.6	92.3	-21.4	71	459	0.00	0.95	0.00	0.000	6	0.000	0.036	1474	3321	2919	0	0	0	0	0	0
782	-0.64	-107.6	158.2	-20.1	105	786	0.00	1.00	0.00	0.000	4	0.000	0.058	1470	3951	2920	0	0	0	0	0	0
1019	-0.64	-107.6	211.3	-22.8	126	1022	0.00	0.95	0.00	0.000	6	0.000	0.036	1470	3318	2921	0	0	0	0	0	0
1351	-0.64	-107.6	282.4	-21.0	157	1354	0.00	1.00	0.00	0.000	4	0.000	0.059	1465	3949	2921	0	0	0	0	0	0
1610	-0.64	-107.6	341.5	-21.0	180	1614	0.00	0.95	0.00	0.000	6	0.000	0.037	1465	3315	2921	0	0	0	0	0	0
1940	-0.64	-107.6	409.9	-20.6	209	1944	0.00	1.00	0.00	0.000	4	0.000	0.059	1461	3948	2921	0	0	0	0	0	0
2198	-0.64	-107.6	465.6	-21.0	220	2202	0.00	0.95	0.00	0.000	6	0.000	0.037	1461	3313	2921	0	0	0	0	0	0
2519	-0.64	-107.6	528.7	-19.0	236	2523	0.00	1.00	0.00	0.000	4	0.000	0.060	1456	3946	2921	0	0	0	0	0	0
2747	-0.64	-107.6	575.7	-20.1	246	2752	0.00	0.98	0.00	0.000	6	0.000	0.037	1456	3310	2921	0	0	0	0	0	0
3074	-0.64	-107.6	638.3	-19.4	262	3079	0.12	1.02	0.00	0.000	4	0.197	0.060	1482	3949	2921	0	0	0	0	0	0
3331	-0.64	-107.6	685.8	-18.6	273	3336	0.00	0.98	0.00	0.000	6	0.000	0.038	1482	3313	2920	0	0	0	0	0	0
3653	-0.64	-107.6	740.7	-17.0	289	3657	0.00	1.00	0.00	0.000	4	0.000	0.062	1477	3947	2920	0	0	0	0	0	0
3821	-0.64	-107.6	771.7	-17.8	296	3825	0.00	0.95	0.00	0.000	6	0.000	0.038	1477	3320	2919	0	0	0	0	0	0
4142	-0.64	-107.6	825.5	-16.6	312	4146	0.00	1.00	0.00	0.000	4	0.000	0.063	1473	3950	2919	0	0	0	0	0	0
4399	-0.64	-107.6	872.6	-18.2	323	4404	0.00	0.98	0.00	0.000	6	0.000	0.038	1473	3315	2918	0	0	0	0	0	0
4720	-0.64	-107.6	928.0	-17.5	339	4724	0.00	1.00	0.00	0.000	4	0.000	0.063	1468	3945	2918	0	0	0	0	0	0
4977	-0.64	-107.6	975.8	-18.2	350	4982	0.00	0.98	0.00	0.000	6	0.000	0.039	1468	3313	2917	0	0	0	0	0	0
5072	end dive: TARGET_DEPTH_EXCEEDED
state	5072	begin apogee
5076	-0.11	0.0	991.7	17.1	355	5184	0.62	0.00	104.32	1.883	6	0.160	0.000	1653	3181	2473	0	0	0	0	0	0
5185	end apogee: CONTROL_FINISHED_OK
state	5185	begin climb
5186	0.64	107.6	997.2	0.0	360	5302	0.75	2.45	107.78	1.835	4	0.097	0.036	1903	1775	2034	0	0	0	0	0	0
5391	0.64	107.6	978.2	12.6	369	5399	0.00	2.45	0.00	0.000	6	0.000	0.051	1904	3179	2027	0	0	0	0	0	0
5709	0.64	107.6	929.0	16.1	385	5712	0.00	1.27	0.00	0.000	4	0.000	0.060	1903	3948	2023	0	0	0	0	0	0
5768	0.64	107.6	918.0	18.0	387	5777	0.00	1.25	0.00	0.000	6	0.000	0.036	1909	3163	2022	0	0	0	0	0	0
6085	0.64	107.6	866.4	16.6	403	6088	0.00	1.30	0.00	0.000	4	0.000	0.060	1909	3956	2019	0	0	0	0	0	0
6175	0.64	107.6	849.7	19.8	407	6178	0.00	1.20	0.00	0.000	6	0.000	0.037	1915	3181	2019	0	0	0	0	0	0
6507	0.64	107.6	794.1	16.4	423	6510	0.00	1.25	0.00	0.000	4	0.000	0.060	1915	3952	2018	0	0	0	0	0	0
6578	0.64	107.6	780.9	19.2	426	6583	0.00	1.23	0.00	0.000	6	0.000	0.037	1921	3168	2018	0	0	0	0	0	0
6906	0.64	107.6	725.4	17.0	442	6909	0.00	1.27	0.00	0.000	4	0.000	0.060	1920	3956	2017	0	0	0	0	0	0
6954	0.64	107.6	715.5	19.9	444	6959	0.00	1.20	0.00	0.000	6	0.000	0.037	1927	3180	2017	0	0	0	0	0	0
7284	0.64	107.6	657.3	17.5	460	7285	0.00	0.00	0.00	0.000	6	0.000	0.000	1927	3180	2016	0	0	0	0	0	0
7591	0.64	107.6	605.4	16.6	475	7595	0.00	1.23	0.00	0.000	4	0.000	0.060	1927	3941	2016	0	0	0	0	0	0
7793	0.64	107.6	567.4	18.5	484	7797	0.00	1.17	0.00	0.000	6	0.000	0.037	1932	3178	2016	0	0	0	0	0	0
8127	0.64	107.6	513.9	15.8	500	8130	0.00	1.25	0.00	0.000	4	0.000	0.060	1933	3954	2014	0	0	0	0	0	0
8209	0.64	107.6	498.9	18.3	503	8218	0.12	1.20	0.00	0.000	6	0.223	0.037	1910	3176	2015	0	0	0	0	0	0
8526	0.64	107.6	453.7	13.9	519	8529	0.00	1.25	0.00	0.000	4	0.000	0.060	1910	3954	2014	0	0	0	0	0	0
8593	0.64	107.6	442.5	17.3	522	8597	0.00	1.17	0.00	0.000	6	0.000	0.037	1915	3180	2013	0	0	0	0	0	0
8916	0.64	107.6	394.7	14.9	539	8919	0.00	1.23	0.00	0.000	4	0.000	0.060	1914	3947	2013	0	0	0	0	0	0
8987	0.64	107.6	382.7	16.8	545	8995	0.00	1.20	0.00	0.000	6	0.000	0.037	1921	3168	2014	0	0	0	0	0	0
9313	0.64	107.6	332.3	15.7	576	9316	0.00	1.25	0.00	0.000	4	0.000	0.060	1921	3944	2013	0	0	0	0	0	0
9396	0.64	107.6	317.8	17.1	583	9403	0.00	1.17	0.00	0.000	6	0.000	0.036	1927	3181	2013	0	0	0	0	0	0
9721	0.64	107.6	267.5	16.4	614	9725	0.00	1.23	0.00	0.000	4	0.000	0.060	1926	3950	2013	0	0	0	0	0	0
9867	0.64	107.6	241.0	18.2	627	9871	0.00	1.17	0.00	0.000	6	0.000	0.037	1932	3173	2013	0	0	0	0	0	0
10197	0.64	107.6	187.9	16.0	658	10201	0.00	1.25	0.00	0.000	4	0.000	0.060	1932	3954	2013	0	0	0	0	0	0
10314	0.64	107.6	167.4	18.1	668	10324	0.12	1.20	0.00	0.000	6	0.221	0.035	1910	3167	2013	0	0	0	0	0	0
10639	0.64	107.6	123.1	13.4	699	10642	0.00	1.25	0.00	0.000	4	0.000	0.060	1908	3947	2013	0	0	0	0	0	0
10744	0.64	107.6	106.6	16.5	708	10754	0.00	1.17	0.00	0.000	6	0.000	0.035	1913	3179	2013	0	0	0	0	0	0
11089	0.64	107.6	59.7	12.9	765	11098	0.00	1.23	0.00	0.000	4	0.000	0.060	1913	3947	2013	0	0	0	0	0	0
11301	0.64	107.6	27.7	15.8	801	11308	0.00	1.15	0.00	0.000	6	0.000	0.036	1919	3183	2013	0	0	0	0	0	0
11451	0.64	107.6	10.2	11.0	826	11460	0.00	1.23	0.00	0.000	4	0.000	0.060	1919	3944	2013	0	0	0	0	0	0
11514	end climb: SURFACE_DEPTH_REACHED
state	11514	begin surface coast
11539	end surface coast: CONTROL_FINISHED_OK
state	11539	begin surface