Glider dive log

SOSCEx 01Dec13 * SG543 * Dive index * Mission links * Dive 96 * 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 96 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 43 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 21 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 -12692.012 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 -12692.012

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 43 VBD_MAX 3960

DEVICE2 101 MASS 52459 R_STBD_OVSHOOT 21 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 96 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 151213,225603,-4300.068,830.270,27,1.0,27,-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 1.73 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 151213,230254,-4300.099,830.387,15,1.4,15,-25.0 MHEAD_RNG_PITCHd_Wd 314.3,555,-27.2,-9.429

SPEED_LIMITS 0.163,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.4,1.026137 _10V_AH 10.0,10.615

SM_CCo 12052,46.45,0.796,0,0,1555,225.18 FG_AHR_24Vo 0.000

SM_GC 1.24,0.00,0.00,46.45,0.000,0.000,0.796,69,3336,1555,-5.08,0.45,225.18 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4244.98,828.21,151213,191923 MEM 355212

TT8_MAMPS 0.026215 DATA_FILE_SIZE 60378,880

HUMID 61.93 CAP_FILE_SIZE 122069,0

INTERNAL_PRESSURE 9.54255 CFSIZE 259252224,251809792

TCM_TEMP 13.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 161213,022549,-4259.521,829.638,22,0.7,22,-25.0

_24V_AH 22.6,15.677

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 232 65.30 SBE_CT 609 24 330.84

Roll_motor 63 62 89.78 AA4330 1520 33 1134.20

VBD_pump_during_apogee 208 1895 8928.30 WL_BB2F 630 105 1497.15

VBD_pump_during_surface 46 795 835.20 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 58.32 nil 0 0 0.00

Iridium_during_connect 19 160 69.49 nil 0 0 0.00

Iridium_during_xfer 257 223 1298.90 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 5.01

TT8 2256 14 337.61

LPSleep 7031 2 153.98

TT8_Active 363 14 51.70

TT8_Sampling 2728 37 1021.33

TT8_CF8 131 47 62.13

TT8_Kalman 0 0 0.00

Analog_circuits 1364 12 163.74

GPS_charging 0 0 0.00

Compass 2316 15 364.32

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 66 3327 2672 0 0 0 0 0 0

67 -0.64 -105.1 3.3 -4.2 6 84 5.70 0.00 -6.35 0.000 6 0.233 0.000 1480 3328 2905 0 0 0 0 0 0

134 -0.64 -105.1 17.9 -22.2 16 142 0.00 0.00 0.00 0.000 6 0.000 0.000 1480 3328 2909 0 0 0 0 0 0

190 -0.64 -105.1 29.4 -20.7 25 197 0.00 1.00 0.00 0.000 4 0.000 0.060 1477 3945 2909 0 0 0 0 0 0

296 -0.64 -105.1 53.0 -22.3 43 302 0.00 0.98 0.00 0.000 6 0.000 0.037 1478 3312 2909 0 0 0 0 0 0

640 -0.64 -105.1 125.1 -20.3 94 644 0.00 1.02 0.00 0.000 4 0.000 0.060 1475 3943 2911 0 0 0 0 0 0

880 -0.64 -105.1 176.4 -21.5 115 888 0.00 0.98 0.00 0.000 6 0.000 0.035 1475 3310 2912 0 0 0 0 0 0

1205 -0.64 -105.1 242.2 -20.3 146 1209 0.00 1.02 0.00 0.000 4 0.000 0.060 1470 3956 2913 0 0 0 0 0 0

1341 -0.64 -105.1 270.8 -21.0 158 1345 0.00 0.95 0.00 0.000 6 0.000 0.037 1470 3323 2913 0 0 0 0 0 0

1673 -0.64 -105.1 333.5 -18.5 189 1677 0.00 1.00 0.00 0.000 4 0.000 0.060 1466 3956 2913 0 0 0 0 0 0

1880 -0.64 -105.1 376.3 -20.3 207 1888 0.00 0.98 0.00 0.000 6 0.000 0.035 1466 3316 2913 0 0 0 0 0 0

2210 -0.64 -105.1 441.1 -19.7 229 2213 0.00 1.00 0.00 0.000 4 0.000 0.060 1461 3950 2913 0 0 0 0 0 0

2404 -0.64 -105.1 482.6 -21.0 237 2412 0.00 0.98 0.00 0.000 6 0.000 0.036 1461 3311 2913 0 0 0 0 0 0

2721 -0.64 -105.1 546.2 -20.2 253 2724 0.00 1.00 0.00 0.000 4 0.000 0.060 1456 3943 2913 0 0 0 0 0 0

2915 -0.64 -105.1 588.6 -21.5 261 2924 0.12 0.95 0.00 0.000 6 0.197 0.037 1485 3323 2913 0 0 0 0 0 0

3233 -0.64 -105.1 644.3 -17.4 277 3237 0.00 1.00 0.00 0.000 4 0.000 0.061 1482 3955 2913 0 0 0 0 0 0

3332 -0.64 -105.1 663.3 -18.8 281 3337 0.00 0.98 0.00 0.000 6 0.000 0.037 1482 3316 2913 0 0 0 0 0 0

3654 -0.64 -105.1 718.2 -17.3 297 3658 0.00 1.00 0.00 0.000 4 0.000 0.063 1477 3945 2912 0 0 0 0 0 0

3837 -0.64 -105.1 751.5 -17.3 305 3842 0.00 0.98 0.00 0.000 6 0.000 0.038 1477 3312 2912 0 0 0 0 0 0

4165 -0.64 -105.1 805.4 -16.0 321 4168 0.00 1.00 0.00 0.000 4 0.000 0.063 1472 3941 2911 0 0 0 0 0 0

4323 -0.64 -105.1 832.9 -17.5 328 4327 0.00 0.95 0.00 0.000 6 0.000 0.039 1472 3316 2911 0 0 0 0 0 0

4655 -0.64 -105.1 887.2 -15.8 344 4658 0.00 1.00 0.00 0.000 4 0.000 0.062 1467 3947 2910 0 0 0 0 0 0

4822 -0.64 -105.1 916.8 -17.4 351 4826 0.00 0.98 0.00 0.000 6 0.000 0.039 1467 3301 2909 0 0 0 0 0 0

5144 -0.64 -105.1 970.5 -16.9 367 5147 0.00 1.02 0.00 0.000 4 0.000 0.063 1463 3946 2908 0 0 0 0 0 0

5247 end dive: TARGET_DEPTH_EXCEEDED

state 5248 begin apogee

5252 -0.11 0.0 990.0 17.4 371 5360 0.62 0.00 102.60 1.896 6 0.167 0.000 1650 3169 2473 0 0 0 0 0 0

5361 end apogee: CONTROL_FINISHED_OK

state 5361 begin climb

5362 0.64 105.1 995.5 0.0 377 5477 0.77 2.45 105.80 1.852 4 0.100 0.036 1906 1777 2044 0 0 0 0 0 0

5566 0.64 105.1 976.3 12.1 386 5570 0.00 2.45 0.00 0.000 6 0.000 0.052 1906 3182 2037 0 0 0 0 0 0

5888 0.64 105.1 928.3 15.1 402 5891 0.00 1.27 0.00 0.000 4 0.000 0.060 1906 3950 2031 0 0 0 0 0 0

6023 0.64 105.1 904.5 17.4 408 6026 0.00 1.23 0.00 0.000 6 0.000 0.037 1911 3170 2030 0 0 0 0 0 0

6355 0.64 105.1 849.8 16.3 424 6358 0.00 1.27 0.00 0.000 4 0.000 0.060 1911 3947 2028 0 0 0 0 0 0

6538 0.64 105.1 815.8 18.9 432 6543 0.00 1.23 0.00 0.000 6 0.000 0.037 1917 3167 2028 0 0 0 0 0 0

6866 0.64 105.1 762.5 15.9 448 6869 0.00 1.27 0.00 0.000 4 0.000 0.060 1917 3951 2027 0 0 0 0 0 0

6937 0.64 105.1 749.5 18.6 451 6942 0.00 1.20 0.00 0.000 6 0.000 0.037 1923 3180 2027 0 0 0 0 0 0

7265 0.64 105.1 696.6 16.1 467 7268 0.00 1.25 0.00 0.000 4 0.000 0.061 1923 3947 2026 0 0 0 0 0 0

7403 0.64 105.1 671.6 18.3 473 7408 0.00 1.20 0.00 0.000 6 0.000 0.037 1929 3176 2026 0 0 0 0 0 0

7732 0.64 105.1 619.0 15.8 489 7736 0.00 1.25 0.00 0.000 4 0.000 0.060 1929 3947 2025 0 0 0 0 0 0

7845 0.64 105.1 599.5 17.0 494 7849 0.10 1.17 0.00 0.000 6 0.193 0.038 1906 3180 2025 0 0 0 0 0 0

8176 0.64 105.1 554.2 13.3 510 8180 0.00 1.25 0.00 0.000 4 0.000 0.061 1906 3951 2024 0 0 0 0 0 0

8253 0.64 105.1 542.6 14.8 513 8258 0.00 1.20 0.00 0.000 6 0.000 0.037 1911 3179 2024 0 0 0 0 0 0

8575 0.64 105.1 499.2 13.7 529 8579 0.00 1.25 0.00 0.000 4 0.000 0.061 1911 3955 2024 0 0 0 0 0 0

8781 0.64 105.1 465.9 16.6 538 8786 0.00 1.20 0.00 0.000 6 0.000 0.037 1917 3179 2024 0 0 0 0 0 0

9108 0.64 105.1 418.5 14.5 554 9112 0.00 1.25 0.00 0.000 4 0.000 0.061 1917 3953 2024 0 0 0 0 0 0

9230 0.64 105.1 398.2 17.4 559 9235 0.00 1.20 0.00 0.000 6 0.000 0.037 1923 3175 2023 0 0 0 0 0 0

9561 0.64 105.1 348.1 14.8 590 9565 0.00 1.25 0.00 0.000 4 0.000 0.061 1922 3958 2023 0 0 0 0 0 0

9667 0.64 105.1 330.2 16.8 599 9675 0.00 1.20 0.00 0.000 6 0.000 0.037 1929 3179 2023 0 0 0 0 0 0

9992 0.64 105.1 281.5 15.2 630 9996 0.00 1.25 0.00 0.000 4 0.000 0.060 1929 3955 2022 0 0 0 0 0 0

10165 0.64 105.1 252.4 17.2 645 10174 0.12 1.20 0.00 0.000 6 0.213 0.036 1906 3172 2022 0 0 0 0 0 0

10491 0.64 105.1 207.7 13.6 676 10494 0.00 1.25 0.00 0.000 4 0.000 0.060 1904 3956 2023 0 0 0 0 0 0

10597 0.64 105.1 191.3 16.6 685 10605 0.00 1.20 0.00 0.000 6 0.000 0.036 1909 3169 2022 0 0 0 0 0 0

10922 0.64 105.1 146.7 13.1 716 10926 0.00 1.25 0.00 0.000 4 0.000 0.060 1909 3947 2022 0 0 0 0 0 0

11081 0.64 105.1 123.1 14.9 730 11085 0.00 1.15 0.00 0.000 6 0.000 0.036 1915 3183 2022 0 0 0 0 0 0

11415 0.64 105.1 79.1 13.2 774 11424 0.00 1.23 0.00 0.000 4 0.000 0.060 1915 3947 2022 0 0 0 0 0 0

11600 0.64 105.1 53.3 13.7 806 11607 0.00 1.15 0.00 0.000 6 0.000 0.036 1921 3182 2022 0 0 0 0 0 0

11955 0.64 105.1 9.6 10.5 867 11964 0.00 2.15 0.00 0.000 4 0.000 0.035 1931 1777 2022 0 0 0 0 0 0

12024 end climb: SURFACE_DEPTH_REACHED

state 12024 begin surface coast

12038 end surface coast: CONTROL_FINISHED_OK

state 12038 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	96	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	43	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	21	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	-12692.012	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	151213,225603,-4300.068,830.270,27,1.0,27,-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	1.73	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	151213,230254,-4300.099,830.387,15,1.4,15,-25.0	MHEAD_RNG_PITCHd_Wd	314.3,555,-27.2,-9.429
SPEED_LIMITS	0.163,0.255	D_GRID	990

FINISH	1.4,1.026137	_10V_AH	10.0,10.615
SM_CCo	12052,46.45,0.796,0,0,1555,225.18	FG_AHR_24Vo	0.000
SM_GC	1.24,0.00,0.00,46.45,0.000,0.000,0.796,69,3336,1555,-5.08,0.45,225.18	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4244.98,828.21,151213,191923	MEM	355212
TT8_MAMPS	0.026215	DATA_FILE_SIZE	60378,880
HUMID	61.93	CAP_FILE_SIZE	122069,0
INTERNAL_PRESSURE	9.54255	CFSIZE	259252224,251809792
TCM_TEMP	13.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	161213,022549,-4259.521,829.638,22,0.7,22,-25.0
_24V_AH	22.6,15.677

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	232	65.30	SBE_CT	609	24	330.84
Roll_motor	63	62	89.78	AA4330	1520	33	1134.20
VBD_pump_during_apogee	208	1895	8928.30	WL_BB2F	630	105	1497.15
VBD_pump_during_surface	46	795	835.20	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	58.32	nil	0	0	0.00
Iridium_during_connect	19	160	69.49	nil	0	0	0.00
Iridium_during_xfer	257	223	1298.90	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	5.01
TT8	2256	14	337.61
LPSleep	7031	2	153.98
TT8_Active	363	14	51.70
TT8_Sampling	2728	37	1021.33
TT8_CF8	131	47	62.13
TT8_Kalman	0	0	0.00
Analog_circuits	1364	12	163.74
GPS_charging	0	0	0.00
Compass	2316	15	364.32
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	66	3327	2672	0	0	0	0	0	0
67	-0.64	-105.1	3.3	-4.2	6	84	5.70	0.00	-6.35	0.000	6	0.233	0.000	1480	3328	2905	0	0	0	0	0	0
134	-0.64	-105.1	17.9	-22.2	16	142	0.00	0.00	0.00	0.000	6	0.000	0.000	1480	3328	2909	0	0	0	0	0	0
190	-0.64	-105.1	29.4	-20.7	25	197	0.00	1.00	0.00	0.000	4	0.000	0.060	1477	3945	2909	0	0	0	0	0	0
296	-0.64	-105.1	53.0	-22.3	43	302	0.00	0.98	0.00	0.000	6	0.000	0.037	1478	3312	2909	0	0	0	0	0	0
640	-0.64	-105.1	125.1	-20.3	94	644	0.00	1.02	0.00	0.000	4	0.000	0.060	1475	3943	2911	0	0	0	0	0	0
880	-0.64	-105.1	176.4	-21.5	115	888	0.00	0.98	0.00	0.000	6	0.000	0.035	1475	3310	2912	0	0	0	0	0	0
1205	-0.64	-105.1	242.2	-20.3	146	1209	0.00	1.02	0.00	0.000	4	0.000	0.060	1470	3956	2913	0	0	0	0	0	0
1341	-0.64	-105.1	270.8	-21.0	158	1345	0.00	0.95	0.00	0.000	6	0.000	0.037	1470	3323	2913	0	0	0	0	0	0
1673	-0.64	-105.1	333.5	-18.5	189	1677	0.00	1.00	0.00	0.000	4	0.000	0.060	1466	3956	2913	0	0	0	0	0	0
1880	-0.64	-105.1	376.3	-20.3	207	1888	0.00	0.98	0.00	0.000	6	0.000	0.035	1466	3316	2913	0	0	0	0	0	0
2210	-0.64	-105.1	441.1	-19.7	229	2213	0.00	1.00	0.00	0.000	4	0.000	0.060	1461	3950	2913	0	0	0	0	0	0
2404	-0.64	-105.1	482.6	-21.0	237	2412	0.00	0.98	0.00	0.000	6	0.000	0.036	1461	3311	2913	0	0	0	0	0	0
2721	-0.64	-105.1	546.2	-20.2	253	2724	0.00	1.00	0.00	0.000	4	0.000	0.060	1456	3943	2913	0	0	0	0	0	0
2915	-0.64	-105.1	588.6	-21.5	261	2924	0.12	0.95	0.00	0.000	6	0.197	0.037	1485	3323	2913	0	0	0	0	0	0
3233	-0.64	-105.1	644.3	-17.4	277	3237	0.00	1.00	0.00	0.000	4	0.000	0.061	1482	3955	2913	0	0	0	0	0	0
3332	-0.64	-105.1	663.3	-18.8	281	3337	0.00	0.98	0.00	0.000	6	0.000	0.037	1482	3316	2913	0	0	0	0	0	0
3654	-0.64	-105.1	718.2	-17.3	297	3658	0.00	1.00	0.00	0.000	4	0.000	0.063	1477	3945	2912	0	0	0	0	0	0
3837	-0.64	-105.1	751.5	-17.3	305	3842	0.00	0.98	0.00	0.000	6	0.000	0.038	1477	3312	2912	0	0	0	0	0	0
4165	-0.64	-105.1	805.4	-16.0	321	4168	0.00	1.00	0.00	0.000	4	0.000	0.063	1472	3941	2911	0	0	0	0	0	0
4323	-0.64	-105.1	832.9	-17.5	328	4327	0.00	0.95	0.00	0.000	6	0.000	0.039	1472	3316	2911	0	0	0	0	0	0
4655	-0.64	-105.1	887.2	-15.8	344	4658	0.00	1.00	0.00	0.000	4	0.000	0.062	1467	3947	2910	0	0	0	0	0	0
4822	-0.64	-105.1	916.8	-17.4	351	4826	0.00	0.98	0.00	0.000	6	0.000	0.039	1467	3301	2909	0	0	0	0	0	0
5144	-0.64	-105.1	970.5	-16.9	367	5147	0.00	1.02	0.00	0.000	4	0.000	0.063	1463	3946	2908	0	0	0	0	0	0
5247	end dive: TARGET_DEPTH_EXCEEDED
state	5248	begin apogee
5252	-0.11	0.0	990.0	17.4	371	5360	0.62	0.00	102.60	1.896	6	0.167	0.000	1650	3169	2473	0	0	0	0	0	0
5361	end apogee: CONTROL_FINISHED_OK
state	5361	begin climb
5362	0.64	105.1	995.5	0.0	377	5477	0.77	2.45	105.80	1.852	4	0.100	0.036	1906	1777	2044	0	0	0	0	0	0
5566	0.64	105.1	976.3	12.1	386	5570	0.00	2.45	0.00	0.000	6	0.000	0.052	1906	3182	2037	0	0	0	0	0	0
5888	0.64	105.1	928.3	15.1	402	5891	0.00	1.27	0.00	0.000	4	0.000	0.060	1906	3950	2031	0	0	0	0	0	0
6023	0.64	105.1	904.5	17.4	408	6026	0.00	1.23	0.00	0.000	6	0.000	0.037	1911	3170	2030	0	0	0	0	0	0
6355	0.64	105.1	849.8	16.3	424	6358	0.00	1.27	0.00	0.000	4	0.000	0.060	1911	3947	2028	0	0	0	0	0	0
6538	0.64	105.1	815.8	18.9	432	6543	0.00	1.23	0.00	0.000	6	0.000	0.037	1917	3167	2028	0	0	0	0	0	0
6866	0.64	105.1	762.5	15.9	448	6869	0.00	1.27	0.00	0.000	4	0.000	0.060	1917	3951	2027	0	0	0	0	0	0
6937	0.64	105.1	749.5	18.6	451	6942	0.00	1.20	0.00	0.000	6	0.000	0.037	1923	3180	2027	0	0	0	0	0	0
7265	0.64	105.1	696.6	16.1	467	7268	0.00	1.25	0.00	0.000	4	0.000	0.061	1923	3947	2026	0	0	0	0	0	0
7403	0.64	105.1	671.6	18.3	473	7408	0.00	1.20	0.00	0.000	6	0.000	0.037	1929	3176	2026	0	0	0	0	0	0
7732	0.64	105.1	619.0	15.8	489	7736	0.00	1.25	0.00	0.000	4	0.000	0.060	1929	3947	2025	0	0	0	0	0	0
7845	0.64	105.1	599.5	17.0	494	7849	0.10	1.17	0.00	0.000	6	0.193	0.038	1906	3180	2025	0	0	0	0	0	0
8176	0.64	105.1	554.2	13.3	510	8180	0.00	1.25	0.00	0.000	4	0.000	0.061	1906	3951	2024	0	0	0	0	0	0
8253	0.64	105.1	542.6	14.8	513	8258	0.00	1.20	0.00	0.000	6	0.000	0.037	1911	3179	2024	0	0	0	0	0	0
8575	0.64	105.1	499.2	13.7	529	8579	0.00	1.25	0.00	0.000	4	0.000	0.061	1911	3955	2024	0	0	0	0	0	0
8781	0.64	105.1	465.9	16.6	538	8786	0.00	1.20	0.00	0.000	6	0.000	0.037	1917	3179	2024	0	0	0	0	0	0
9108	0.64	105.1	418.5	14.5	554	9112	0.00	1.25	0.00	0.000	4	0.000	0.061	1917	3953	2024	0	0	0	0	0	0
9230	0.64	105.1	398.2	17.4	559	9235	0.00	1.20	0.00	0.000	6	0.000	0.037	1923	3175	2023	0	0	0	0	0	0
9561	0.64	105.1	348.1	14.8	590	9565	0.00	1.25	0.00	0.000	4	0.000	0.061	1922	3958	2023	0	0	0	0	0	0
9667	0.64	105.1	330.2	16.8	599	9675	0.00	1.20	0.00	0.000	6	0.000	0.037	1929	3179	2023	0	0	0	0	0	0
9992	0.64	105.1	281.5	15.2	630	9996	0.00	1.25	0.00	0.000	4	0.000	0.060	1929	3955	2022	0	0	0	0	0	0
10165	0.64	105.1	252.4	17.2	645	10174	0.12	1.20	0.00	0.000	6	0.213	0.036	1906	3172	2022	0	0	0	0	0	0
10491	0.64	105.1	207.7	13.6	676	10494	0.00	1.25	0.00	0.000	4	0.000	0.060	1904	3956	2023	0	0	0	0	0	0
10597	0.64	105.1	191.3	16.6	685	10605	0.00	1.20	0.00	0.000	6	0.000	0.036	1909	3169	2022	0	0	0	0	0	0
10922	0.64	105.1	146.7	13.1	716	10926	0.00	1.25	0.00	0.000	4	0.000	0.060	1909	3947	2022	0	0	0	0	0	0
11081	0.64	105.1	123.1	14.9	730	11085	0.00	1.15	0.00	0.000	6	0.000	0.036	1915	3183	2022	0	0	0	0	0	0
11415	0.64	105.1	79.1	13.2	774	11424	0.00	1.23	0.00	0.000	4	0.000	0.060	1915	3947	2022	0	0	0	0	0	0
11600	0.64	105.1	53.3	13.7	806	11607	0.00	1.15	0.00	0.000	6	0.000	0.036	1921	3182	2022	0	0	0	0	0	0
11955	0.64	105.1	9.6	10.5	867	11964	0.00	2.15	0.00	0.000	4	0.000	0.035	1931	1777	2022	0	0	0	0	0	0
12024	end climb: SURFACE_DEPTH_REACHED
state	12024	begin surface coast
12038	end surface coast: CONTROL_FINISHED_OK
state	12038	begin surface