Glider dive log

SOSCEx 01Dec13 * SG543 * Dive index * Mission links * Dive 99 * 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 99 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 33 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 -12701.464 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 -12701.464

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 33 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 99 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 161213,093522,-4259.704,830.588,37,0.9,37,-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 1.58 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 161213,094305,-4259.690,830.617,16,1.6,16,-25.0 MHEAD_RNG_PITCHd_Wd 260.5,1014,-27.2,-9.429

SPEED_LIMITS 0.163,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.026137 _10V_AH 10.0,10.915

SM_CCo 12084,46.40,0.791,0,0,1554,225.18 FG_AHR_24Vo 0.000

SM_GC 1.40,0.00,0.00,46.40,0.000,0.000,0.791,62,3320,1554,-5.10,0.03,225.18 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4244.98,831.12,161213,050530 MEM 355160

TT8_MAMPS 0.025466 DATA_FILE_SIZE 60363,890

HUMID 62.16 CAP_FILE_SIZE 122045,0

INTERNAL_PRESSURE 9.55232 CFSIZE 259252224,251609088

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

XPDR_PINGS 0 GPS 161213,130634,-4259.933,829.821,24,1.0,24,-25.0

_24V_AH 22.6,16.081

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 237 67.21 SBE_CT 617 24 334.76

Roll_motor 60 87 119.69 AA4330 1549 33 1155.56

VBD_pump_during_apogee 208 1892 8910.68 WL_BB2F 650 105 1543.84

VBD_pump_during_surface 46 791 829.48 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 60.42 nil 0 0 0.00

Iridium_during_connect 46 160 168.72 nil 0 0 0.00

Iridium_during_xfer 280 223 1415.83 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 2282 14 341.41

LPSleep 7014 2 153.62

TT8_Active 355 14 50.45

TT8_Sampling 2788 37 1043.63

TT8_CF8 154 47 72.76

TT8_Kalman 0 0 0.00

Analog_circuits 1352 12 162.31

GPS_charging 0 0 0.00

Compass 2331 15 366.81

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 13 begin dive

14 -0.61 -57.7 0.0 0.0 0 65 0.00 0.00 -48.28 0.000 2 0.000 0.000 66 3339 2658 0 0 0 0 0 0

67 -0.64 -105.2 3.1 -4.2 6 85 5.80 1.00 -6.78 0.000 4 0.238 0.087 1478 3941 2905 0 0 0 0 0 0

155 -0.64 -105.2 24.6 -24.2 20 164 0.00 0.95 0.00 0.000 6 0.000 0.035 1478 3326 2908 0 0 0 0 0 0

302 -0.64 -105.2 56.3 -21.7 45 311 0.00 0.98 0.00 0.000 4 0.000 0.058 1475 3927 2910 0 0 0 0 0 0

433 -0.64 -105.2 86.7 -24.3 67 440 0.00 0.95 0.00 0.000 6 0.000 0.036 1475 3310 2910 0 0 0 0 0 0

767 -0.64 -105.2 154.3 -20.1 103 771 0.00 1.00 0.00 0.000 4 0.000 0.059 1470 3927 2912 0 0 0 0 0 0

1026 -0.64 -105.2 211.8 -22.2 126 1030 0.00 0.93 0.00 0.000 6 0.000 0.035 1470 3315 2912 0 0 0 0 0 0

1359 -0.64 -105.2 280.6 -20.3 157 1362 0.00 1.00 0.00 0.000 4 0.000 0.059 1466 3941 2913 0 0 0 0 0 0

1617 -0.64 -105.2 338.4 -21.9 180 1621 0.00 0.95 0.00 0.000 6 0.000 0.035 1466 3311 2913 0 0 0 0 0 0

1946 -0.64 -105.2 405.2 -20.0 210 1950 0.00 1.00 0.00 0.000 4 0.000 0.060 1461 3937 2913 0 0 0 0 0 0

2203 -0.64 -105.2 460.3 -20.9 221 2207 0.00 0.95 0.00 0.000 6 0.000 0.036 1461 3318 2913 0 0 0 0 0 0

2525 -0.64 -105.2 524.5 -20.4 237 2528 0.00 0.98 0.00 0.000 4 0.000 0.060 1456 3928 2913 0 0 0 0 0 0

2781 -0.64 -105.2 580.5 -21.8 248 2786 0.12 0.95 0.00 0.000 6 0.197 0.037 1485 3315 2913 0 0 0 0 0 0

3102 -0.64 -105.2 636.9 -17.1 264 3106 0.00 0.98 0.00 0.000 4 0.000 0.062 1482 3930 2912 0 0 0 0 0 0

3359 -0.64 -105.2 684.3 -18.7 275 3363 0.00 0.95 0.00 0.000 6 0.000 0.037 1482 3314 2912 0 0 0 0 0 0

3683 -0.64 -105.2 737.4 -16.1 291 3686 0.00 0.98 0.00 0.000 4 0.000 0.062 1478 3926 2911 0 0 0 0 0 0

3939 -0.64 -105.2 780.9 -17.0 302 3943 0.00 0.95 0.00 0.000 6 0.000 0.037 1478 3310 2911 0 0 0 0 0 0

4262 -0.64 -105.2 831.0 -15.7 318 4266 0.00 1.00 0.00 0.000 4 0.000 0.062 1473 3936 2910 0 0 0 0 0 0

4519 -0.64 -105.2 875.2 -16.8 329 4523 0.00 0.95 0.00 0.000 6 0.000 0.037 1473 3320 2909 0 0 0 0 0 0

4840 -0.64 -105.2 928.6 -17.0 345 4844 0.00 0.98 0.00 0.000 4 0.000 0.063 1468 3930 2909 0 0 0 0 0 0

5097 -0.64 -105.2 974.5 -17.5 356 5101 0.00 0.95 0.00 0.000 6 0.000 0.038 1468 3317 2908 0 0 0 0 0 0

5211 end dive: TARGET_DEPTH_EXCEEDED

state 5211 begin apogee

5215 -0.11 0.0 993.2 16.2 362 5321 0.62 0.00 102.38 1.893 6 0.161 0.000 1652 3175 2473 0 0 0 0 0 0

5321 end apogee: CONTROL_FINISHED_OK

state 5321 begin climb

5323 0.64 105.2 997.6 0.0 367 5438 0.75 2.45 105.95 1.847 4 0.099 0.034 1902 1780 2044 0 0 0 0 0 0

5518 0.64 105.2 977.9 13.4 376 5522 0.00 2.40 0.00 0.000 6 0.000 0.050 1902 3172 2037 0 0 0 0 0 0

5843 0.64 105.2 926.2 15.9 392 5847 0.00 1.27 0.00 0.000 4 0.000 0.059 1902 3939 2032 0 0 0 0 0 0

5942 0.64 105.2 908.2 18.4 396 5947 0.00 1.23 0.00 0.000 6 0.000 0.036 1908 3173 2030 0 0 0 0 0 0

6266 0.64 105.2 855.9 16.6 412 6269 0.00 1.27 0.00 0.000 4 0.000 0.059 1908 3952 2029 0 0 0 0 0 0

6337 0.64 105.2 842.6 18.2 415 6341 0.00 1.23 0.00 0.000 6 0.000 0.036 1914 3173 2028 0 0 0 0 0 0

6665 0.64 105.2 788.2 16.7 431 6668 0.00 1.27 0.00 0.000 4 0.000 0.060 1914 3955 2027 0 0 0 0 0 0

6754 0.64 105.2 771.4 18.8 435 6758 0.00 1.20 0.00 0.000 6 0.000 0.037 1920 3176 2027 0 0 0 0 0 0

7088 0.64 105.2 713.7 17.2 451 7091 0.00 1.25 0.00 0.000 4 0.000 0.060 1920 3948 2026 0 0 0 0 0 0

7187 0.64 105.2 694.4 19.4 455 7192 0.00 1.20 0.00 0.000 6 0.000 0.036 1926 3177 2027 0 0 0 0 0 0

7509 0.64 105.2 641.6 16.7 471 7512 0.00 1.25 0.00 0.000 4 0.000 0.060 1926 3948 2026 0 0 0 0 0 0

7591 0.64 105.2 627.1 18.1 474 7599 0.00 1.20 0.00 0.000 6 0.000 0.037 1931 3173 2026 0 0 0 0 0 0

7909 0.64 105.2 577.5 15.4 490 7910 0.00 0.00 0.00 0.000 6 0.000 0.000 1931 3173 2025 0 0 0 0 0 0

8217 0.64 105.2 529.9 15.4 505 8220 0.00 1.25 0.00 0.000 4 0.000 0.060 1931 3947 2025 0 0 0 0 0 0

8271 0.64 105.2 520.7 17.2 507 8277 0.12 1.20 0.00 0.000 6 0.218 0.037 1908 3171 2025 0 0 0 0 0 0

8593 0.64 105.2 475.5 14.3 523 8597 0.00 1.25 0.00 0.000 4 0.000 0.060 1908 3946 2024 0 0 0 0 0 0

8728 0.64 105.2 453.9 16.8 529 8732 0.00 1.17 0.00 0.000 6 0.000 0.037 1913 3179 2024 0 0 0 0 0 0

9060 0.64 105.2 405.2 14.6 545 9061 0.00 0.00 0.00 0.000 6 0.000 0.000 1913 3179 2024 0 0 0 0 0 0

9380 0.64 105.2 359.2 14.6 573 9384 0.00 1.25 0.00 0.000 4 0.000 0.061 1913 3955 2023 0 0 0 0 0 0

9542 0.64 105.2 332.6 16.2 587 9550 0.00 1.20 0.00 0.000 6 0.000 0.036 1919 3171 2023 0 0 0 0 0 0

9868 0.64 105.2 287.4 13.6 618 9871 0.00 1.25 0.00 0.000 4 0.000 0.060 1919 3948 2024 0 0 0 0 0 0

10039 0.64 105.2 261.1 16.0 633 10042 0.00 1.15 0.00 0.000 6 0.000 0.037 1925 3188 2023 0 0 0 0 0 0

10368 0.64 105.2 212.9 14.1 664 10372 0.00 1.23 0.00 0.000 4 0.000 0.060 1925 3951 2023 0 0 0 0 0 0

10417 0.64 105.2 205.5 15.6 668 10428 0.00 1.20 0.00 0.000 6 0.000 0.036 1931 3167 2023 0 0 0 0 0 0

10743 0.64 105.2 159.9 14.3 699 10746 0.00 1.25 0.00 0.000 4 0.000 0.060 1931 3948 2023 0 0 0 0 0 0

10871 0.64 105.2 139.4 15.6 710 10879 0.12 1.17 0.00 0.000 6 0.215 0.035 1908 3180 2023 0 0 0 0 0 0

11199 0.64 105.2 97.7 13.0 742 11206 0.00 1.23 0.00 0.000 4 0.000 0.060 1907 3946 2023 0 0 0 0 0 0

11407 0.64 105.2 70.7 12.5 778 11414 0.00 1.15 0.00 0.000 6 0.000 0.036 1912 3184 2023 0 0 0 0 0 0

11758 0.64 105.2 32.9 12.4 839 11765 0.00 1.23 0.00 0.000 4 0.000 0.060 1912 3946 2023 0 0 0 0 0 0

11830 0.64 105.2 23.1 12.7 851 11837 0.00 1.15 0.00 0.000 6 0.000 0.035 1918 3181 2023 0 0 0 0 0 0

11982 0.64 105.2 8.4 10.1 876 11991 0.00 2.15 0.00 0.000 4 0.000 0.034 1929 1783 2022 0 0 0 0 0 0

12039 end climb: SURFACE_DEPTH_REACHED

state 12039 begin surface coast

12070 end surface coast: CONTROL_FINISHED_OK

state 12070 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	99	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	33	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	-12701.464	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	161213,093522,-4259.704,830.588,37,0.9,37,-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	1.58	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	161213,094305,-4259.690,830.617,16,1.6,16,-25.0	MHEAD_RNG_PITCHd_Wd	260.5,1014,-27.2,-9.429
SPEED_LIMITS	0.163,0.255	D_GRID	990

FINISH	0.7,1.026137	_10V_AH	10.0,10.915
SM_CCo	12084,46.40,0.791,0,0,1554,225.18	FG_AHR_24Vo	0.000
SM_GC	1.40,0.00,0.00,46.40,0.000,0.000,0.791,62,3320,1554,-5.10,0.03,225.18	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4244.98,831.12,161213,050530	MEM	355160
TT8_MAMPS	0.025466	DATA_FILE_SIZE	60363,890
HUMID	62.16	CAP_FILE_SIZE	122045,0
INTERNAL_PRESSURE	9.55232	CFSIZE	259252224,251609088
TCM_TEMP	13.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	161213,130634,-4259.933,829.821,24,1.0,24,-25.0
_24V_AH	22.6,16.081

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	237	67.21	SBE_CT	617	24	334.76
Roll_motor	60	87	119.69	AA4330	1549	33	1155.56
VBD_pump_during_apogee	208	1892	8910.68	WL_BB2F	650	105	1543.84
VBD_pump_during_surface	46	791	829.48	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	60.42	nil	0	0	0.00
Iridium_during_connect	46	160	168.72	nil	0	0	0.00
Iridium_during_xfer	280	223	1415.83	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	2282	14	341.41
LPSleep	7014	2	153.62
TT8_Active	355	14	50.45
TT8_Sampling	2788	37	1043.63
TT8_CF8	154	47	72.76
TT8_Kalman	0	0	0.00
Analog_circuits	1352	12	162.31
GPS_charging	0	0	0.00
Compass	2331	15	366.81
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	13	begin dive
14	-0.61	-57.7	0.0	0.0	0	65	0.00	0.00	-48.28	0.000	2	0.000	0.000	66	3339	2658	0	0	0	0	0	0
67	-0.64	-105.2	3.1	-4.2	6	85	5.80	1.00	-6.78	0.000	4	0.238	0.087	1478	3941	2905	0	0	0	0	0	0
155	-0.64	-105.2	24.6	-24.2	20	164	0.00	0.95	0.00	0.000	6	0.000	0.035	1478	3326	2908	0	0	0	0	0	0
302	-0.64	-105.2	56.3	-21.7	45	311	0.00	0.98	0.00	0.000	4	0.000	0.058	1475	3927	2910	0	0	0	0	0	0
433	-0.64	-105.2	86.7	-24.3	67	440	0.00	0.95	0.00	0.000	6	0.000	0.036	1475	3310	2910	0	0	0	0	0	0
767	-0.64	-105.2	154.3	-20.1	103	771	0.00	1.00	0.00	0.000	4	0.000	0.059	1470	3927	2912	0	0	0	0	0	0
1026	-0.64	-105.2	211.8	-22.2	126	1030	0.00	0.93	0.00	0.000	6	0.000	0.035	1470	3315	2912	0	0	0	0	0	0
1359	-0.64	-105.2	280.6	-20.3	157	1362	0.00	1.00	0.00	0.000	4	0.000	0.059	1466	3941	2913	0	0	0	0	0	0
1617	-0.64	-105.2	338.4	-21.9	180	1621	0.00	0.95	0.00	0.000	6	0.000	0.035	1466	3311	2913	0	0	0	0	0	0
1946	-0.64	-105.2	405.2	-20.0	210	1950	0.00	1.00	0.00	0.000	4	0.000	0.060	1461	3937	2913	0	0	0	0	0	0
2203	-0.64	-105.2	460.3	-20.9	221	2207	0.00	0.95	0.00	0.000	6	0.000	0.036	1461	3318	2913	0	0	0	0	0	0
2525	-0.64	-105.2	524.5	-20.4	237	2528	0.00	0.98	0.00	0.000	4	0.000	0.060	1456	3928	2913	0	0	0	0	0	0
2781	-0.64	-105.2	580.5	-21.8	248	2786	0.12	0.95	0.00	0.000	6	0.197	0.037	1485	3315	2913	0	0	0	0	0	0
3102	-0.64	-105.2	636.9	-17.1	264	3106	0.00	0.98	0.00	0.000	4	0.000	0.062	1482	3930	2912	0	0	0	0	0	0
3359	-0.64	-105.2	684.3	-18.7	275	3363	0.00	0.95	0.00	0.000	6	0.000	0.037	1482	3314	2912	0	0	0	0	0	0
3683	-0.64	-105.2	737.4	-16.1	291	3686	0.00	0.98	0.00	0.000	4	0.000	0.062	1478	3926	2911	0	0	0	0	0	0
3939	-0.64	-105.2	780.9	-17.0	302	3943	0.00	0.95	0.00	0.000	6	0.000	0.037	1478	3310	2911	0	0	0	0	0	0
4262	-0.64	-105.2	831.0	-15.7	318	4266	0.00	1.00	0.00	0.000	4	0.000	0.062	1473	3936	2910	0	0	0	0	0	0
4519	-0.64	-105.2	875.2	-16.8	329	4523	0.00	0.95	0.00	0.000	6	0.000	0.037	1473	3320	2909	0	0	0	0	0	0
4840	-0.64	-105.2	928.6	-17.0	345	4844	0.00	0.98	0.00	0.000	4	0.000	0.063	1468	3930	2909	0	0	0	0	0	0
5097	-0.64	-105.2	974.5	-17.5	356	5101	0.00	0.95	0.00	0.000	6	0.000	0.038	1468	3317	2908	0	0	0	0	0	0
5211	end dive: TARGET_DEPTH_EXCEEDED
state	5211	begin apogee
5215	-0.11	0.0	993.2	16.2	362	5321	0.62	0.00	102.38	1.893	6	0.161	0.000	1652	3175	2473	0	0	0	0	0	0
5321	end apogee: CONTROL_FINISHED_OK
state	5321	begin climb
5323	0.64	105.2	997.6	0.0	367	5438	0.75	2.45	105.95	1.847	4	0.099	0.034	1902	1780	2044	0	0	0	0	0	0
5518	0.64	105.2	977.9	13.4	376	5522	0.00	2.40	0.00	0.000	6	0.000	0.050	1902	3172	2037	0	0	0	0	0	0
5843	0.64	105.2	926.2	15.9	392	5847	0.00	1.27	0.00	0.000	4	0.000	0.059	1902	3939	2032	0	0	0	0	0	0
5942	0.64	105.2	908.2	18.4	396	5947	0.00	1.23	0.00	0.000	6	0.000	0.036	1908	3173	2030	0	0	0	0	0	0
6266	0.64	105.2	855.9	16.6	412	6269	0.00	1.27	0.00	0.000	4	0.000	0.059	1908	3952	2029	0	0	0	0	0	0
6337	0.64	105.2	842.6	18.2	415	6341	0.00	1.23	0.00	0.000	6	0.000	0.036	1914	3173	2028	0	0	0	0	0	0
6665	0.64	105.2	788.2	16.7	431	6668	0.00	1.27	0.00	0.000	4	0.000	0.060	1914	3955	2027	0	0	0	0	0	0
6754	0.64	105.2	771.4	18.8	435	6758	0.00	1.20	0.00	0.000	6	0.000	0.037	1920	3176	2027	0	0	0	0	0	0
7088	0.64	105.2	713.7	17.2	451	7091	0.00	1.25	0.00	0.000	4	0.000	0.060	1920	3948	2026	0	0	0	0	0	0
7187	0.64	105.2	694.4	19.4	455	7192	0.00	1.20	0.00	0.000	6	0.000	0.036	1926	3177	2027	0	0	0	0	0	0
7509	0.64	105.2	641.6	16.7	471	7512	0.00	1.25	0.00	0.000	4	0.000	0.060	1926	3948	2026	0	0	0	0	0	0
7591	0.64	105.2	627.1	18.1	474	7599	0.00	1.20	0.00	0.000	6	0.000	0.037	1931	3173	2026	0	0	0	0	0	0
7909	0.64	105.2	577.5	15.4	490	7910	0.00	0.00	0.00	0.000	6	0.000	0.000	1931	3173	2025	0	0	0	0	0	0
8217	0.64	105.2	529.9	15.4	505	8220	0.00	1.25	0.00	0.000	4	0.000	0.060	1931	3947	2025	0	0	0	0	0	0
8271	0.64	105.2	520.7	17.2	507	8277	0.12	1.20	0.00	0.000	6	0.218	0.037	1908	3171	2025	0	0	0	0	0	0
8593	0.64	105.2	475.5	14.3	523	8597	0.00	1.25	0.00	0.000	4	0.000	0.060	1908	3946	2024	0	0	0	0	0	0
8728	0.64	105.2	453.9	16.8	529	8732	0.00	1.17	0.00	0.000	6	0.000	0.037	1913	3179	2024	0	0	0	0	0	0
9060	0.64	105.2	405.2	14.6	545	9061	0.00	0.00	0.00	0.000	6	0.000	0.000	1913	3179	2024	0	0	0	0	0	0
9380	0.64	105.2	359.2	14.6	573	9384	0.00	1.25	0.00	0.000	4	0.000	0.061	1913	3955	2023	0	0	0	0	0	0
9542	0.64	105.2	332.6	16.2	587	9550	0.00	1.20	0.00	0.000	6	0.000	0.036	1919	3171	2023	0	0	0	0	0	0
9868	0.64	105.2	287.4	13.6	618	9871	0.00	1.25	0.00	0.000	4	0.000	0.060	1919	3948	2024	0	0	0	0	0	0
10039	0.64	105.2	261.1	16.0	633	10042	0.00	1.15	0.00	0.000	6	0.000	0.037	1925	3188	2023	0	0	0	0	0	0
10368	0.64	105.2	212.9	14.1	664	10372	0.00	1.23	0.00	0.000	4	0.000	0.060	1925	3951	2023	0	0	0	0	0	0
10417	0.64	105.2	205.5	15.6	668	10428	0.00	1.20	0.00	0.000	6	0.000	0.036	1931	3167	2023	0	0	0	0	0	0
10743	0.64	105.2	159.9	14.3	699	10746	0.00	1.25	0.00	0.000	4	0.000	0.060	1931	3948	2023	0	0	0	0	0	0
10871	0.64	105.2	139.4	15.6	710	10879	0.12	1.17	0.00	0.000	6	0.215	0.035	1908	3180	2023	0	0	0	0	0	0
11199	0.64	105.2	97.7	13.0	742	11206	0.00	1.23	0.00	0.000	4	0.000	0.060	1907	3946	2023	0	0	0	0	0	0
11407	0.64	105.2	70.7	12.5	778	11414	0.00	1.15	0.00	0.000	6	0.000	0.036	1912	3184	2023	0	0	0	0	0	0
11758	0.64	105.2	32.9	12.4	839	11765	0.00	1.23	0.00	0.000	4	0.000	0.060	1912	3946	2023	0	0	0	0	0	0
11830	0.64	105.2	23.1	12.7	851	11837	0.00	1.15	0.00	0.000	6	0.000	0.035	1918	3181	2023	0	0	0	0	0	0
11982	0.64	105.2	8.4	10.1	876	11991	0.00	2.15	0.00	0.000	4	0.000	0.034	1929	1783	2022	0	0	0	0	0	0
12039	end climb: SURFACE_DEPTH_REACHED
state	12039	begin surface coast
12070	end surface coast: CONTROL_FINISHED_OK
state	12070	begin surface