Glider dive log

NANOOS Sep12 * SG187 * Dive index * Mission links * Dive 308 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 187 HD_B 0.0093 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 4.5000001e-05 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 12

DIVE 308 HEADING -1 ROLL_MIN 236 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 0 ROLL_MAX 3800 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 4 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_PING_DEPTH 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2200 ALTIM_PING_DELTA 5

D_TGT 990 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 2325 ALTIM_FREQUENCY 13

D_ABORT 1040 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 10 ALTIM_PULSE 4

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_BOOST 4 SM_CC 300 ROLL_TIMEOUT 15 XPDR_VALID 1

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 43 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 27 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.69999999

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_CALL 0 PROTOCOL 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 163 VBD_MIN 470 DEVICE1 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

T_DIVE 450 UPLOAD_DIVES_MAX -1 C_VBD 2794 DEVICE3 83

T_MISSION 500 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_ABORT 1440 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_TURN 225 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00039999999 LOGGERS 0

T_NO_W 120 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 6 LOGGERDEVICE1 -1

T_LOITER 0 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

USE_BATHY -1 T_GPS_ALMANAC 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -1588146.1 VBD_MAXERRORS 1 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

D_OFFGRID 1000 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 MINV_24V 22 RAFOS_DEVICE -1

APOGEE_PITCH -7 RAFOS_HIT_WINDOW 3600 MINV_10V 9.5 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 155 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3970 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 3195 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043543722

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -61.06522 SEABIRD_T_H 0.00062483409

RHO 1.0275 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.0001138132 SEABIRD_T_I 2.3277114e-05

MASS 51761 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.4402393e-06

NAV_MODE 2 PITCH_GAIN 32 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.9786949

FERRY_MAX 45 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1107863

KALMAN_USE 2 PITCH_AD_RATE 165 COMPASS_USE 4 SEABIRD_C_I -0.0017547003

HD_A 0.0031000001 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.0002234884

AD7714Ch0Gain 128 D_NO_BLEED 200 N_NOSURFACE 0 SIM_PITCH 0

AH0_10V 100 D_OFFGRID 1000 PHONE_DEVICE 48 SIM_W 0

AH0_24V 150 D_PITCH 0 PHONE_SUPPLY 2 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 12 D_SURF 4 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_AD_RATE 165 SURFACE_URGENCY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_GAIN 32 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAX 3970 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_MIN 155 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12218

APOGEE_PITCH -7 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.00039999999 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_SLOPE 0.0001138132 T_BOOST 0

CALL_TRIES 5 HD_A 0.0031000001 PRESSURE_YINT -61.06522 T_DIVE 450

CALL_WAIT 60 HD_B 0.0093 PROTOCOL 0 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 4.5000001e-05 P_OVSHOOT 0.039999999 T_GPS 15

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_DEVICE -1 T_GPS_CHARGE -1588146.1

COMM_SEQ 0 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 T_MISSION 500

COMPASS_DEVICE 33 ID 187 RELAUNCH 1 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.0275 T_RSLEEP 3

COURSE_BIAS 0 INT_PRESSURE_YINT 0.69999999 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 3195 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2325 LOGGERDEVICE1 -1 ROLL_AD_RATE 350 T_WATCHDOG 10

C_ROLL_DIVE 2200 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 50

C_VBD 2794 LOGGERDEVICE3 -1 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3800 USE_BATHY -1

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 1 USE_ICE 0

DEVICE1 2 MASS 51761 ROLL_MIN 236 VBD_BLEED_AD_RATE 8

DEVICE2 20 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 83 MINV_10V 9.5 R_PORT_OVSHOOT 43 VBD_DBAND 2

DEVICE4 -1 MINV_24V 22 R_STBD_OVSHOOT 27 VBD_MAX 3960

DEVICE5 -1 MISSION 2 SEABIRD_C_G -9.9786949 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1107863 VBD_MIN 470

DIVE 308 NAV_MODE 2 SEABIRD_C_I -0.0017547003 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1040 NOCOMM_ACTION 163 SEABIRD_C_J 0.0002234884 VBD_PUMP_AD_RATE_SURFACE 6

D_BOOST 4 N_DIVES 0 SEABIRD_T_G 0.0043543722 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 8 SEABIRD_T_H 0.00062483409 XPDR_DEVICE 24

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.3277114e-05 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_J 2.4402393e-06 XPDR_VALID 1

Pre-dive calculations and measurements:

GPS1 241112,033005,4751.434,-12515.079,13,1.5,29,18.7 TGT_NAME OFFSHORE

_CALLS 1 TGT_LATLONG 4700.000,-12700.000

_XMS_NAKs 0 TGT_RADIUS 2500.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.160,-0.151

_SM_DEPTHo 1.95 KALMAN_X 28840.3,-242.5,2380.9,-124483.9,-7867.0

_SM_ANGLEo -76.7 KALMAN_Y 16218.2,688.6,-1323.7,-71650.8,4158.7

GPS2 241112,033543,4751.470,-12515.108,13,1.6,13,18.7 MHEAD_RNG_PITCHd_Wd 170.6,163213,-13.4,-7.333,-18.42

SPEED_LIMITS 0.127,0.220 D_GRID 392

Post-dive calculations and measurements:

FINISH 1.0,1.001678 _10V_AH 10.1,35.523

SM_CCo 9001,0.00,0.000,0,0,1207,389.29 FG_AHR_24Vo 0.000

SM_GC 2.02,8.38,2.45,0.00,0.030,0.042,0.000,105,2186,1207,-9.48,1.05,389.29,0,0,0,0,0,0,25.89,25.76,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4735.69,-12513.98,241112,010124 MEM 296760

TT8_MAMPS 0.026964,0.026964 DATA_FILE_SIZE 46911,815

HUMID 45.55 CAP_FILE_SIZE 90608,0

INTERNAL_PRESSURE 9.11829 CFSIZE 260165632,232497152

TCM_TEMP 16.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 2 CURRENT 0.277,357.1,1

_24V_AH 23.8,42.936 GPS 241112,060800,4751.272,-12515.777,68,1.0,69,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 214 106.54 SBE_CT 556 24 317.70

Roll_motor 66 85 135.81 SBE_O2 540 19 244.22

VBD_pump_during_apogee 446 792 8423.50 WL_BBFL2VMT 511 105 1277.35

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 64.08 nil 0 0 0.00

Iridium_during_connect 36 160 137.20 nil 0 0 0.00

Iridium_during_xfer 158 223 839.14 nil 0 0 0.00

Transponder_ping 0 420 5.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 50 7.20

TT8 1982 19 396.46

LPSleep 4868 2 107.69

TT8_Active 494 19 98.82

TT8_Sampling 1767 39 710.61

TT8_CF8 230 45 106.58

TT8_Kalman 0 0 0.00

Analog_circuits 1268 12 153.77

GPS_charging 0 0 0.00

Compass 1551 15 235.09

RAFOS 0 0 0.00

Transponder 0 5 0.03

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 pitch_volts roll_volts vbd_volts

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

17 -0.48 -146.0 0.0 0.0 0 79 0.00 0.00 -59.67 0.000 2 0.000 0.000 105 2193 2714 0 0 0 0 0 0 28.83 28.83 28.83

83 -0.48 -146.0 3.1 -3.3 10 118 11.27 2.28 -15.38 0.000 4 0.215 0.070 3025 3609 3392 0 0 0 0 0 0 25.08 25.60 26.17

270 -0.48 -146.0 38.7 -17.0 43 277 0.00 2.17 0.00 0.000 6 0.000 0.041 3025 2193 3393 0 0 0 0 0 0 28.83 25.79 28.83

592 -0.48 -146.0 82.0 -11.4 104 600 0.00 2.17 0.00 0.000 4 0.000 0.047 3024 799 3395 0 0 0 0 0 0 28.83 25.80 28.83

647 -0.48 -146.0 88.5 -12.1 114 656 0.00 2.15 0.00 0.000 6 0.000 0.047 3015 2201 3395 0 0 0 0 0 0 28.83 25.82 28.83

963 -0.48 -146.0 125.3 -11.3 169 965 0.00 0.00 0.00 0.000 6 0.000 0.000 3015 2201 3395 0 0 0 0 0 0 28.83 28.83 28.83

1264 -0.48 -146.0 160.3 -12.0 189 1266 0.00 0.00 0.00 0.000 6 0.000 0.000 3015 2201 3396 0 0 0 0 0 0 28.83 28.83 28.83

1563 -0.48 -146.0 196.3 -12.1 209 1569 0.00 2.15 0.00 0.000 4 0.000 0.047 3015 788 3396 0 0 0 0 0 0 28.83 25.91 28.83

1606 -0.48 -146.0 201.3 -12.3 212 1611 0.12 2.17 0.00 0.000 6 0.139 0.049 3042 2201 3396 0 0 0 0 0 0 25.77 25.91 28.83

1920 -0.48 -146.0 230.6 -8.6 228 1925 0.00 2.20 0.00 0.000 4 0.000 0.061 3033 3606 3395 0 0 0 0 0 0 28.83 25.82 28.83

1952 -0.48 -146.0 232.4 -8.7 229 1959 0.00 2.15 0.00 0.000 6 0.000 0.041 3033 2188 3396 0 0 0 0 0 0 28.83 26.02 28.83

2259 -0.48 -146.0 260.9 -8.5 245 2265 0.00 2.12 0.00 0.000 4 0.000 0.048 3033 793 3395 0 0 0 0 0 0 28.83 25.91 28.83

2302 -0.48 -146.0 264.5 -8.7 247 2306 0.00 2.17 0.00 0.000 6 0.000 0.050 3025 2208 3395 0 0 0 0 0 0 28.83 25.91 28.83

2615 -0.48 -146.0 295.4 -10.7 263 2616 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 2207 3395 0 0 0 0 0 0 28.83 28.83 28.83

2915 -0.48 -146.0 325.3 -10.1 278 2916 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 2207 3395 0 0 0 0 0 0 28.83 28.83 28.83

3214 -0.48 -146.0 355.5 -10.1 293 3215 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 2207 3395 0 0 0 0 0 0 28.83 28.83 28.83

3514 -0.48 -146.0 385.1 -9.7 308 3515 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 2207 3395 0 0 0 0 0 0 28.83 28.83 28.83

3591 end dive: TARGET_DEPTH_EXCEEDED

state 3591 begin apogee

3599 -0.22 0.0 392.8 -9.6 312 3725 0.28 0.00 120.07 0.793 6 0.113 0.000 3119 2336 2794 0 0 0 0 0 0 25.84 28.83 24.10

3728 end apogee: CONTROL_FINISHED_OK

state 3728 begin climb

3731 0.48 146.0 398.9 0.0 318 3859 0.65 0.00 124.75 0.778 6 0.085 0.000 3343 2338 2198 0 0 0 0 0 0 24.94 28.83 23.77

4157 0.49 176.6 378.3 6.2 340 4193 0.00 2.33 26.23 0.743 4 0.000 0.050 3348 928 2071 0 0 0 0 0 0 28.83 25.26 24.37

4257 0.50 205.7 371.9 6.2 345 4288 0.00 2.20 25.00 0.738 6 0.000 0.050 3348 2312 1954 0 0 0 0 0 0 28.83 25.40 24.27

4599 0.51 219.8 348.3 6.8 362 4617 0.00 2.38 12.55 0.697 4 0.000 0.063 3348 3736 1896 0 0 0 0 0 0 28.83 25.56 24.60

4643 0.51 227.8 345.1 7.0 364 4660 0.00 2.20 8.23 0.642 6 0.000 0.044 3356 2324 1865 0 0 0 0 0 0 28.83 25.63 24.49

4961 0.51 227.8 320.4 8.4 380 4966 0.00 2.17 0.00 0.000 4 0.000 0.052 3366 925 1860 0 0 0 0 0 0 28.83 25.72 28.83

5003 0.51 227.8 317.1 8.3 382 5007 0.00 2.20 0.00 0.000 6 0.000 0.052 3366 2331 1859 0 0 0 0 0 0 28.83 25.73 28.83

5315 0.51 227.8 290.4 8.6 398 5321 0.00 2.25 0.00 0.000 4 0.000 0.064 3366 3737 1859 0 0 0 0 0 0 28.83 25.75 28.83

5363 0.51 227.8 286.5 9.2 400 5368 0.00 2.17 0.00 0.000 6 0.000 0.045 3372 2331 1859 0 0 0 0 0 0 28.83 25.90 28.83

5670 0.51 227.8 255.7 10.2 415 5674 0.00 2.17 0.00 0.000 4 0.000 0.052 3382 920 1858 0 0 0 0 0 0 28.83 25.85 28.83

5765 0.51 227.8 247.6 9.9 419 5773 0.00 2.20 0.00 0.000 6 0.000 0.051 3382 2337 1857 0 0 0 0 0 0 28.83 25.86 28.83

6072 0.51 227.8 216.6 9.2 435 6073 0.00 0.00 0.00 0.000 6 0.000 0.000 3382 2337 1857 0 0 0 0 0 0 28.83 28.83 28.83

6377 0.51 227.8 190.4 8.6 452 6378 0.00 0.00 0.00 0.000 6 0.000 0.000 3382 2337 1857 0 0 0 0 0 0 28.83 28.83 28.83

6678 0.51 227.8 164.8 8.1 472 6683 0.00 2.17 0.00 0.000 4 0.000 0.050 3392 920 1857 0 0 0 0 0 0 28.83 25.91 28.83

6724 0.51 227.8 161.1 8.2 475 6729 0.12 2.17 0.00 0.000 6 0.135 0.051 3357 2325 1856 0 0 0 0 0 0 25.79 25.91 28.83

7035 0.51 227.8 138.8 7.4 495 7036 0.00 0.00 0.00 0.000 6 0.000 0.000 3357 2325 1856 0 0 0 0 0 0 28.83 28.83 28.83

7333 0.51 227.8 117.3 7.4 519 7340 0.00 2.20 0.00 0.000 4 0.000 0.052 3364 918 1856 0 0 0 0 0 0 28.83 25.91 28.83

7380 0.51 227.8 113.9 8.0 527 7387 0.00 2.17 0.00 0.000 6 0.000 0.051 3364 2326 1856 0 0 0 0 0 0 28.83 25.91 28.83

7693 0.51 227.8 90.5 7.6 588 7699 0.00 0.00 0.00 0.000 6 0.000 0.000 3364 2326 1855 0 0 0 0 0 0 28.83 28.83 28.83

8005 0.51 234.1 69.6 7.1 649 8019 0.00 2.20 5.82 0.483 4 0.000 0.050 3369 918 1838 0 0 0 0 0 0 28.83 25.99 24.63

8043 0.52 246.7 66.9 6.8 655 8063 0.00 2.17 12.15 0.559 6 0.000 0.051 3369 2327 1787 0 0 0 0 0 0 28.83 25.94 24.93

8377 0.55 336.2 47.4 3.9 718 8459 0.00 2.30 71.72 0.585 4 0.000 0.049 3369 915 1421 0 0 0 0 0 0 28.83 25.35 24.63

8488 0.57 386.0 42.0 5.4 736 8534 0.00 2.28 40.05 0.563 6 0.000 0.050 3369 2324 1218 0 0 0 0 0 0 28.83 25.39 24.47

8853 0.57 386.0 6.4 9.1 803 8860 0.00 2.28 0.00 0.000 4 0.000 0.065 3369 3735 1211 0 0 0 0 0 0 28.83 25.53 28.83

8876 end climb: SURFACE_DEPTH_REACHED

state 8876 begin surface coast

8919 end surface coast: CONTROL_FINISHED_OK

state 8919 begin surface

ID	187	HD_B	0.0093	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	4.5000001e-05	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	12
DIVE	308	HEADING	-1	ROLL_MIN	236	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	0	ROLL_MAX	3800	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	4	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_PING_DEPTH	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2200	ALTIM_PING_DELTA	5
D_TGT	990	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	2325	ALTIM_FREQUENCY	13
D_ABORT	1040	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	10	ALTIM_PULSE	4
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_BOOST	4	SM_CC	300	ROLL_TIMEOUT	15	XPDR_VALID	1
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	43	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	27	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.69999999
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_CALL	0	PROTOCOL	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	163	VBD_MIN	470	DEVICE1	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
T_DIVE	450	UPLOAD_DIVES_MAX	-1	C_VBD	2794	DEVICE3	83
T_MISSION	500	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_ABORT	1440	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_TURN	225	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00039999999	LOGGERS	0
T_NO_W	120	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	6	LOGGERDEVICE1	-1
T_LOITER	0	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
USE_BATHY	-1	T_GPS_ALMANAC	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-1588146.1	VBD_MAXERRORS	1	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
D_OFFGRID	1000	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	MINV_24V	22	RAFOS_DEVICE	-1
APOGEE_PITCH	-7	RAFOS_HIT_WINDOW	3600	MINV_10V	9.5	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	155	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3970	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	3195	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043543722
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-61.06522	SEABIRD_T_H	0.00062483409
RHO	1.0275	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.0001138132	SEABIRD_T_I	2.3277114e-05
MASS	51761	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.4402393e-06
NAV_MODE	2	PITCH_GAIN	32	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.9786949
FERRY_MAX	45	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1107863
KALMAN_USE	2	PITCH_AD_RATE	165	COMPASS_USE	4	SEABIRD_C_I	-0.0017547003
HD_A	0.0031000001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.0002234884

GPS1	241112,033005,4751.434,-12515.079,13,1.5,29,18.7	TGT_NAME	OFFSHORE
_CALLS	1	TGT_LATLONG	4700.000,-12700.000
_XMS_NAKs	0	TGT_RADIUS	2500.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.160,-0.151
_SM_DEPTHo	1.95	KALMAN_X	28840.3,-242.5,2380.9,-124483.9,-7867.0
_SM_ANGLEo	-76.7	KALMAN_Y	16218.2,688.6,-1323.7,-71650.8,4158.7
GPS2	241112,033543,4751.470,-12515.108,13,1.6,13,18.7	MHEAD_RNG_PITCHd_Wd	170.6,163213,-13.4,-7.333,-18.42
SPEED_LIMITS	0.127,0.220	D_GRID	392

FINISH	1.0,1.001678	_10V_AH	10.1,35.523
SM_CCo	9001,0.00,0.000,0,0,1207,389.29	FG_AHR_24Vo	0.000
SM_GC	2.02,8.38,2.45,0.00,0.030,0.042,0.000,105,2186,1207,-9.48,1.05,389.29,0,0,0,0,0,0,25.89,25.76,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4735.69,-12513.98,241112,010124	MEM	296760
TT8_MAMPS	0.026964,0.026964	DATA_FILE_SIZE	46911,815
HUMID	45.55	CAP_FILE_SIZE	90608,0
INTERNAL_PRESSURE	9.11829	CFSIZE	260165632,232497152
TCM_TEMP	16.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	2	CURRENT	0.277,357.1,1
_24V_AH	23.8,42.936	GPS	241112,060800,4751.272,-12515.777,68,1.0,69,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	214	106.54	SBE_CT	556	24	317.70
Roll_motor	66	85	135.81	SBE_O2	540	19	244.22
VBD_pump_during_apogee	446	792	8423.50	WL_BBFL2VMT	511	105	1277.35
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	64.08	nil	0	0	0.00
Iridium_during_connect	36	160	137.20	nil	0	0	0.00
Iridium_during_xfer	158	223	839.14	nil	0	0	0.00
Transponder_ping	0	420	5.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	50	7.20
TT8	1982	19	396.46
LPSleep	4868	2	107.69
TT8_Active	494	19	98.82
TT8_Sampling	1767	39	710.61
TT8_CF8	230	45	106.58
TT8_Kalman	0	0	0.00
Analog_circuits	1268	12	153.77
GPS_charging	0	0	0.00
Compass	1551	15	235.09
RAFOS	0	0	0.00
Transponder	0	5	0.03

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	pitch_volts	roll_volts	vbd_volts
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
17	-0.48	-146.0	0.0	0.0	0	79	0.00	0.00	-59.67	0.000	2	0.000	0.000	105	2193	2714	0	0	0	0	0	0	28.83	28.83	28.83
83	-0.48	-146.0	3.1	-3.3	10	118	11.27	2.28	-15.38	0.000	4	0.215	0.070	3025	3609	3392	0	0	0	0	0	0	25.08	25.60	26.17
270	-0.48	-146.0	38.7	-17.0	43	277	0.00	2.17	0.00	0.000	6	0.000	0.041	3025	2193	3393	0	0	0	0	0	0	28.83	25.79	28.83
592	-0.48	-146.0	82.0	-11.4	104	600	0.00	2.17	0.00	0.000	4	0.000	0.047	3024	799	3395	0	0	0	0	0	0	28.83	25.80	28.83
647	-0.48	-146.0	88.5	-12.1	114	656	0.00	2.15	0.00	0.000	6	0.000	0.047	3015	2201	3395	0	0	0	0	0	0	28.83	25.82	28.83
963	-0.48	-146.0	125.3	-11.3	169	965	0.00	0.00	0.00	0.000	6	0.000	0.000	3015	2201	3395	0	0	0	0	0	0	28.83	28.83	28.83
1264	-0.48	-146.0	160.3	-12.0	189	1266	0.00	0.00	0.00	0.000	6	0.000	0.000	3015	2201	3396	0	0	0	0	0	0	28.83	28.83	28.83
1563	-0.48	-146.0	196.3	-12.1	209	1569	0.00	2.15	0.00	0.000	4	0.000	0.047	3015	788	3396	0	0	0	0	0	0	28.83	25.91	28.83
1606	-0.48	-146.0	201.3	-12.3	212	1611	0.12	2.17	0.00	0.000	6	0.139	0.049	3042	2201	3396	0	0	0	0	0	0	25.77	25.91	28.83
1920	-0.48	-146.0	230.6	-8.6	228	1925	0.00	2.20	0.00	0.000	4	0.000	0.061	3033	3606	3395	0	0	0	0	0	0	28.83	25.82	28.83
1952	-0.48	-146.0	232.4	-8.7	229	1959	0.00	2.15	0.00	0.000	6	0.000	0.041	3033	2188	3396	0	0	0	0	0	0	28.83	26.02	28.83
2259	-0.48	-146.0	260.9	-8.5	245	2265	0.00	2.12	0.00	0.000	4	0.000	0.048	3033	793	3395	0	0	0	0	0	0	28.83	25.91	28.83
2302	-0.48	-146.0	264.5	-8.7	247	2306	0.00	2.17	0.00	0.000	6	0.000	0.050	3025	2208	3395	0	0	0	0	0	0	28.83	25.91	28.83
2615	-0.48	-146.0	295.4	-10.7	263	2616	0.00	0.00	0.00	0.000	6	0.000	0.000	3025	2207	3395	0	0	0	0	0	0	28.83	28.83	28.83
2915	-0.48	-146.0	325.3	-10.1	278	2916	0.00	0.00	0.00	0.000	6	0.000	0.000	3025	2207	3395	0	0	0	0	0	0	28.83	28.83	28.83
3214	-0.48	-146.0	355.5	-10.1	293	3215	0.00	0.00	0.00	0.000	6	0.000	0.000	3025	2207	3395	0	0	0	0	0	0	28.83	28.83	28.83
3514	-0.48	-146.0	385.1	-9.7	308	3515	0.00	0.00	0.00	0.000	6	0.000	0.000	3025	2207	3395	0	0	0	0	0	0	28.83	28.83	28.83
3591	end dive: TARGET_DEPTH_EXCEEDED
state	3591	begin apogee
3599	-0.22	0.0	392.8	-9.6	312	3725	0.28	0.00	120.07	0.793	6	0.113	0.000	3119	2336	2794	0	0	0	0	0	0	25.84	28.83	24.10
3728	end apogee: CONTROL_FINISHED_OK
state	3728	begin climb
3731	0.48	146.0	398.9	0.0	318	3859	0.65	0.00	124.75	0.778	6	0.085	0.000	3343	2338	2198	0	0	0	0	0	0	24.94	28.83	23.77
4157	0.49	176.6	378.3	6.2	340	4193	0.00	2.33	26.23	0.743	4	0.000	0.050	3348	928	2071	0	0	0	0	0	0	28.83	25.26	24.37
4257	0.50	205.7	371.9	6.2	345	4288	0.00	2.20	25.00	0.738	6	0.000	0.050	3348	2312	1954	0	0	0	0	0	0	28.83	25.40	24.27
4599	0.51	219.8	348.3	6.8	362	4617	0.00	2.38	12.55	0.697	4	0.000	0.063	3348	3736	1896	0	0	0	0	0	0	28.83	25.56	24.60
4643	0.51	227.8	345.1	7.0	364	4660	0.00	2.20	8.23	0.642	6	0.000	0.044	3356	2324	1865	0	0	0	0	0	0	28.83	25.63	24.49
4961	0.51	227.8	320.4	8.4	380	4966	0.00	2.17	0.00	0.000	4	0.000	0.052	3366	925	1860	0	0	0	0	0	0	28.83	25.72	28.83
5003	0.51	227.8	317.1	8.3	382	5007	0.00	2.20	0.00	0.000	6	0.000	0.052	3366	2331	1859	0	0	0	0	0	0	28.83	25.73	28.83
5315	0.51	227.8	290.4	8.6	398	5321	0.00	2.25	0.00	0.000	4	0.000	0.064	3366	3737	1859	0	0	0	0	0	0	28.83	25.75	28.83
5363	0.51	227.8	286.5	9.2	400	5368	0.00	2.17	0.00	0.000	6	0.000	0.045	3372	2331	1859	0	0	0	0	0	0	28.83	25.90	28.83
5670	0.51	227.8	255.7	10.2	415	5674	0.00	2.17	0.00	0.000	4	0.000	0.052	3382	920	1858	0	0	0	0	0	0	28.83	25.85	28.83
5765	0.51	227.8	247.6	9.9	419	5773	0.00	2.20	0.00	0.000	6	0.000	0.051	3382	2337	1857	0	0	0	0	0	0	28.83	25.86	28.83
6072	0.51	227.8	216.6	9.2	435	6073	0.00	0.00	0.00	0.000	6	0.000	0.000	3382	2337	1857	0	0	0	0	0	0	28.83	28.83	28.83
6377	0.51	227.8	190.4	8.6	452	6378	0.00	0.00	0.00	0.000	6	0.000	0.000	3382	2337	1857	0	0	0	0	0	0	28.83	28.83	28.83
6678	0.51	227.8	164.8	8.1	472	6683	0.00	2.17	0.00	0.000	4	0.000	0.050	3392	920	1857	0	0	0	0	0	0	28.83	25.91	28.83
6724	0.51	227.8	161.1	8.2	475	6729	0.12	2.17	0.00	0.000	6	0.135	0.051	3357	2325	1856	0	0	0	0	0	0	25.79	25.91	28.83
7035	0.51	227.8	138.8	7.4	495	7036	0.00	0.00	0.00	0.000	6	0.000	0.000	3357	2325	1856	0	0	0	0	0	0	28.83	28.83	28.83
7333	0.51	227.8	117.3	7.4	519	7340	0.00	2.20	0.00	0.000	4	0.000	0.052	3364	918	1856	0	0	0	0	0	0	28.83	25.91	28.83
7380	0.51	227.8	113.9	8.0	527	7387	0.00	2.17	0.00	0.000	6	0.000	0.051	3364	2326	1856	0	0	0	0	0	0	28.83	25.91	28.83
7693	0.51	227.8	90.5	7.6	588	7699	0.00	0.00	0.00	0.000	6	0.000	0.000	3364	2326	1855	0	0	0	0	0	0	28.83	28.83	28.83
8005	0.51	234.1	69.6	7.1	649	8019	0.00	2.20	5.82	0.483	4	0.000	0.050	3369	918	1838	0	0	0	0	0	0	28.83	25.99	24.63
8043	0.52	246.7	66.9	6.8	655	8063	0.00	2.17	12.15	0.559	6	0.000	0.051	3369	2327	1787	0	0	0	0	0	0	28.83	25.94	24.93
8377	0.55	336.2	47.4	3.9	718	8459	0.00	2.30	71.72	0.585	4	0.000	0.049	3369	915	1421	0	0	0	0	0	0	28.83	25.35	24.63
8488	0.57	386.0	42.0	5.4	736	8534	0.00	2.28	40.05	0.563	6	0.000	0.050	3369	2324	1218	0	0	0	0	0	0	28.83	25.39	24.47
8853	0.57	386.0	6.4	9.1	803	8860	0.00	2.28	0.00	0.000	4	0.000	0.065	3369	3735	1211	0	0	0	0	0	0	28.83	25.53	28.83
8876	end climb: SURFACE_DEPTH_REACHED
state	8876	begin surface coast
8919	end surface coast: CONTROL_FINISHED_OK
state	8919	begin surface