Glider dive log

NANOOS Jun14 * SG187 * Dive index * Mission links * Dive 39 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 187 ESCAPE_HEADING 0 C_ROLL_CLIMB 2700 ALTIM_FREQUENCY 13

MISSION 4 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 4

DIVE 39 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

N_DIVES 0 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 XPDR_VALID 1

D_SURF 4 TGT_DEFAULT_LON -12218 R_PORT_OVSHOOT 11 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 16 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 990 SM_CC 350 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.69999999

D_ABORT 1010 N_FILEKB 8 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_NO_BLEED 200 FILEMGR 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_BOOST 20 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 DEVICE1 -1

T_BOOST 5 COMM_SEQ 0 VBD_MIN 470 DEVICE2 -1

D_FINISH 0 PROTOCOL 9 VBD_MAX 3900 DEVICE3 -1

D_PITCH 0 N_NOCOMM 1 C_VBD 2892 DEVICE4 -1

D_SAFE 0 NOCOMM_ACTION 163 VBD_DBAND 2 DEVICE5 -1

D_CALL 0 N_NOSURFACE 0 VBD_CNV -0.24529999 DEVICE6 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 LOGGERS 3

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.001 LOGGERDEVICE1 53

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 83

T_DIVE 330 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_MISSION 370 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 50 COMPASS_DEVICE 97

T_TURN 225 T_GPS 15 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 N_GPS 20 W_ADJ_DBAND 0 PHONE_DEVICE 49

T_NO_W 120 T_GPS_ALMANAC 0 DBDW 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -1593229.9 PITCH_W_GAIN 0 RAFOS_DEVICE -1

T_EPIRB 0 T_RSLEEP 2 PITCH_W_DBAND 0 XPDR_DEVICE 24

USE_BATHY -1 STROBE 0 CF8_MAXERRORS 20 SIM_W 0

USE_ICE 0 RAFOS_PEAK_OFFSET 1.5 AH0_24V 350 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 AH0_10V 0 SEABIRD_T_G 0.0043206038

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MINV_24V 11 SEABIRD_T_H 0.00062367308

T_WATCHDOG 10 PITCH_MIN 400 MINV_10V 11 SEABIRD_T_I 2.3111006e-05

RELAUNCH 1 PITCH_MAX 3700 FG_AHR_10V 0 SEABIRD_T_J 2.4313138e-06

APOGEE_PITCH -7 C_PITCH 3360 FG_AHR_24V 0 SEABIRD_C_G -10.199382

MAX_BUOY 140 PITCH_DBAND 0.1 PHONE_SUPPLY -2 SEABIRD_C_H 1.1587334

COURSE_BIAS 0 PITCH_CNV 0.003125763 PRESSURE_YINT -63.106686 SEABIRD_C_I -0.0027609179

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001138132 SEABIRD_C_J 0.00029025986

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 AD7714Ch0Gain 128 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_GAIN 22 TCM_PITCH_OFFSET 0 SC_PROFILE 3.0

MASS 53474 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_AD_RATE 165 COMPASS_USE 4 PM_RECORDABOVE 2000.0

NAV_MODE 10 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 PM_PROFILE 1.0

FERRY_MAX 45 PITCH_ADJ_GAIN 0.0049999999 ALTIM_TOP_PING_RANGE 0 PM_XMITPROFILE 3.0

KALMAN_USE 2 PITCH_ADJ_DBAND 2 ALTIM_BOTTOM_TURN_MARGIN 0 PM_XMITRAW 0.0

HD_A 0.0016 ROLL_MIN 440 ALTIM_TOP_TURN_MARGIN 0 PM_NDIVE 1.0

HD_B 0.0099999998 ROLL_MAX 4000 ALTIM_TOP_MIN_OBSTACLE 0 PM_MOTORS 1.0

HD_C 1.4e-05 ROLL_DEG 40 ALTIM_PING_DEPTH 0

HEADING -1 C_ROLL_DIVE 2400 ALTIM_PING_DELTA 0

AD7714Ch0Gain 128 D_SURF 4 PITCH_DBAND 0.1 SEABIRD_T_J 2.4313138e-06

AH0_10V 0 D_TGT 990 PITCH_GAIN 22 SIM_PITCH 0

AH0_24V 350 ESCAPE_HEADING 0 PITCH_MAX 3700 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_MIN 400 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_TIMEOUT 17 STROBE 0

ALTIM_PING_DELTA 0 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.001 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 FILEMGR 0 PITCH_W_DBAND 0 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 4 FIX_MISSING_TIMEOUT 0 PITCH_W_GAIN 0 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 GLIDE_SLOPE 30 PM_MOTORS 1.0 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 GPS_DEVICE 32 PM_NDIVE 1.0 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0016 PM_PROFILE 1.0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0099999998 PM_RECORDABOVE 2000.0 TGT_DEFAULT_LAT 4736

APOGEE_PITCH -7 HD_C 1.4e-05 PM_XMITPROFILE 3.0 TGT_DEFAULT_LON -12218

CALL_NDIVES 1 HEADING -1 PM_XMITRAW 0.0 T_ABORT 1440

CALL_TRIES 5 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.0001138132 T_BOOST 5

CALL_WAIT 60 HEAPDBG 0 PRESSURE_YINT -63.106686 T_DIVE 330

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 9 T_EPIRB 0

CAPUPLOAD 0 ID 187 P_OVSHOOT 0.039999999 T_GPS 15

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT_WITHG 0 T_GPS_ALMANAC 0

COMM_SEQ 0 INT_PRESSURE_YINT 0.69999999 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -1593229.9

COMPASS2_DEVICE -1 KALMAN_USE 2 RAFOS_DEVICE -1 T_LOITER 0

COMPASS_DEVICE 97 LOGGERDEVICE1 53 RAFOS_HIT_WINDOW 3600 T_MISSION 370

COMPASS_USE 4 LOGGERDEVICE2 83 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COURSE_BIAS 0 LOGGERDEVICE3 -1 RELAUNCH 1 T_RSLEEP 2

C_PITCH 3360 LOGGERDEVICE4 -1 RHO 1.0275 T_TURN 225

C_ROLL_CLIMB 2700 LOGGERS 3 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT -5

C_ROLL_DIVE 2400 MASS 53474 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_VBD 2892 MASS_COMP 0 ROLL_AD_RATE 350 UNCOM_BLEED 50

DBDW 0 MAX_BUOY 140 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MINV_10V 11 ROLL_DEG 40 USE_BATHY -1

DEVICE1 -1 MINV_24V 11 ROLL_MAX 4000 USE_ICE 0

DEVICE2 -1 MISSION 4 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MOTHERBOARD 4 ROLL_MIN 440 VBD_CNV -0.24529999

DEVICE4 -1 NAV_MODE 10 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE5 -1 NOCOMM_ACTION 163 R_PORT_OVSHOOT 11 VBD_MAX 3900

DEVICE6 -1 N_DIVES 0 R_STBD_OVSHOOT 16 VBD_MAXERRORS 1

DIVE 39 N_FILEKB 8 SC_PROFILE 3.0 VBD_MIN 470

D_ABORT 1010 N_GPS 20 SC_RECORDABOVE 2000.0 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 20 N_NOCOMM 1 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 N_NOSURFACE 0 SEABIRD_C_G -10.199382 VBD_TIMEOUT 720

D_FINISH 0 PHONE_DEVICE 49 SEABIRD_C_H 1.1587334 W_ADJ_DBAND 0

D_FLARE 3 PHONE_SUPPLY -2 SEABIRD_C_I -0.0027609179 XPDR_DEVICE 24

D_NO_BLEED 200 PITCH_ADJ_DBAND 2 SEABIRD_C_J 0.00029025986 XPDR_INHIBIT 90

D_OFFGRID 1000 PITCH_ADJ_GAIN 0.0049999999 SEABIRD_T_G 0.0043206038 XPDR_VALID 1

D_PITCH 0 PITCH_AD_RATE 165 SEABIRD_T_H 0.00062367308

D_SAFE 0 PITCH_CNV 0.003125763 SEABIRD_T_I 2.3111006e-05

Pre-dive calculations and measurements:

GPS1 270614,051013,4751.411,-12513.179,45,1.9,45,18.7 SPEED_LIMITS 0.173,0.237

_CALLS 2 TGT_NAME OFFSHORE

_XMS_NAKs 0 TGT_LATLONG 4700.000,-12700.000

_XMS_TOUTs 0 TGT_RADIUS 2500.000

_SM_DEPTHo 1.25 MHEAD_RNG_PITCHd_Wd 202.0,165175,-15.7,-10.000,-22.91,1951

_SM_ANGLEo -73.2 D_GRID 312

GPS2 270614,051931,4751.418,-12513.147,13,1.9,13,18.7

Post-dive calculations and measurements:

FINISH 0.4,1.023727 _10V_AH 13.1,0.000

SM_CCo 5857,8.70,0.107,0,0,1465,350.04 FG_AHR_24Vo 0.000

SM_GC 3.07,9.27,0.60,8.70,0.084,0.119,0.107,397,2390,1465,-9.21,0.31,350.04,0,0,0,0,0,0,14.45,14.44,14.45 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4732.49,-12521.83,230407,181848 MEM 290860

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 20046,585

HUMID 48.93 CAP_FILE_SIZE 104140,0

INTERNAL_PRESSURE 8.9425 CFSIZE 260034560,254455808

TCM_TEMP 18.50 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 INTR 0,5494.06,0x2378ba,7,5

SC_FREEKB 3925536 EKF 5975,2870.932129,-7513.761230,0.393224,-0.008580,-0.011236,-0.060880,0.002727,0.006056,0.002290,0.009388,0.009388,0.000127

PM_FREEKB 61880000 CURRENT 0.065,288.0,1

_24V_AH 13.5,6.674 GPS 270614,065935,4750.997,-12514.063,51,1.0,56,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 424 139.86 nil 0 0 0.00

Roll_motor 52 158 112.61 nil 0 0 0.00

VBD_pump_during_apogee 353 1072 5123.45 nil 0 0 0.00

VBD_pump_during_surface 8 107 12.58 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 5838 7 594.25

Iridium_during_xfer 297 162 654.43 PMAR 2821 4 157.82

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 22 4.15

TT8 1772 10 237.33

LPSleep 2451 2 70.33

TT8_Active 517 10 69.23

TT8_Sampling 1324 28 502.47

TT8_CF8 364 35 170.24

TT8_Kalman 0 0 0.00

Analog_circuits 1427 10 187.06

GPS_charging 0 0 0.00

Compass 901 0 8.86

RAFOS 0 0 0.00

Transponder 0 5 0.04

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

27 -0.85 -136.3 395 2403 1585 1345 0.0 0.0 0 92 0.00 0.00 -61.03 0.000 16386 0.000 0.000 394 2400 3063 3097 3030 0 0 0 0 0 0 28.83 28.83 28.83

97 -0.85 -136.3 394 2403 3097 3030 3.3 -4.5 6 128 12.73 2.55 -6.55 0.000 18948 0.425 0.135 3073 977 3450 3470 3431 0 0 0 0 0 0 14.21 14.36 14.59

167 -0.81 -136.3 3073 976 3471 3428 25.2 -19.5 16 177 0.00 2.50 0.00 0.000 1030 0.000 0.099 3074 2403 3452 3471 3434 0 0 0 0 0 0 28.83 14.38 28.83

367 -0.79 -136.3 3074 2403 3472 3436 59.4 -16.0 36 379 0.12 0.00 0.00 0.000 2054 0.298 0.000 3106 2403 3454 3473 3436 0 0 0 0 0 0 14.37 28.83 28.83

560 -0.78 -136.3 3107 2403 3473 3436 87.5 -12.9 55 569 0.00 0.00 0.00 0.000 6 0.000 0.000 3106 2403 3454 3473 3436 0 0 0 0 0 0 28.83 28.83 28.83

749 -0.78 -136.3 3106 2403 3474 3436 110.6 -12.3 74 758 0.00 0.00 0.00 0.000 6 0.000 0.000 3103 2403 3453 3474 3433 0 0 0 0 0 0 28.83 28.83 28.83

942 -0.78 -136.3 3108 2403 3475 3442 133.2 -11.6 93 951 0.00 0.00 0.00 0.000 6 0.000 0.000 3106 2403 3455 3474 3436 0 0 0 0 0 0 28.83 28.83 28.83

1131 -0.78 -136.3 3106 2403 3480 3436 154.6 -10.9 112 1142 0.00 0.00 0.00 0.000 6 0.000 0.000 3106 2403 3455 3474 3436 0 0 0 0 0 0 28.83 28.83 28.83

1322 -0.78 -136.3 3106 2404 3474 3436 175.0 -10.8 131 1331 0.00 0.00 0.00 0.000 6 0.000 0.000 3106 2403 3455 3474 3436 0 0 0 0 0 0 28.83 28.83 28.83

1512 -0.78 -136.3 3107 2403 3473 3433 194.3 -10.0 150 1521 0.00 2.50 0.00 0.000 516 0.000 0.112 3107 978 3455 3474 3436 0 0 0 0 0 0 28.83 14.55 28.83

1615 -0.78 -136.3 3107 977 3474 3436 205.2 -11.3 168 1626 0.00 2.47 0.00 0.000 1030 0.000 0.102 3107 2404 3455 3474 3436 0 0 0 0 0 0 28.83 14.57 28.83

1816 -0.78 -136.3 3107 2403 3473 3436 226.8 -10.3 188 1827 0.00 0.00 0.00 0.000 6 0.000 0.000 3107 2403 3454 3473 3436 0 0 0 0 0 0 28.83 28.83 28.83

2008 -0.78 -136.3 3106 2403 3473 3436 247.0 -10.8 207 2016 0.00 0.00 0.00 0.000 6 0.000 0.000 3106 2403 3455 3474 3436 0 0 0 0 0 0 28.83 28.83 28.83

2218 -0.78 -136.3 3106 2403 3473 3435 269.3 -10.5 216 2221 0.00 0.00 0.00 0.000 6 0.000 0.000 3107 2403 3454 3473 3435 0 0 0 0 0 0 28.83 28.83 28.83

2518 -0.78 -136.3 3107 2401 3473 3439 299.2 -9.9 226 2521 0.00 0.00 0.00 0.000 6 0.000 0.000 3106 2403 3453 3474 3433 0 0 0 0 0 0 28.83 28.83 28.83

2664 end dive: TARGET_DEPTH_EXCEEDED

state 2665 begin apogee

2673 -0.32 0.0 3107 2701 3480 3432 313.7 -9.6 231 2788 0.50 0.00 106.07 1.073 10246 0.230 0.000 3249 2701 2890 2958 2823 0 0 0 0 0 0 14.54 28.83 13.69

2791 end apogee: CONTROL_FINISHED_OK

state 2791 begin climb

2795 0.85 136.3 3250 2701 2957 2820 318.2 0.0 235 2923 1.20 2.47 108.25 1.047 10500 0.160 0.123 3622 3991 2331 2477 2186 0 0 0 0 0 0 14.09 13.84 13.49

2990 0.79 136.3 3623 3991 2475 2186 300.1 16.1 266 3000 0.00 2.38 0.00 0.000 1030 0.000 0.112 3629 2700 2330 2475 2185 0 0 0 0 0 0 28.83 14.07 28.83

3329 0.74 136.3 3627 2698 2475 2180 254.4 13.5 281 3340 0.12 2.60 0.00 0.000 4612 0.320 0.134 3601 1281 2327 2471 2184 0 0 0 0 0 0 14.28 14.36 28.83

3399 0.71 136.3 3601 1281 2475 2180 245.6 12.0 292 3413 0.00 2.58 0.00 0.000 1030 0.000 0.116 3601 2700 2327 2475 2180 0 0 0 0 0 0 28.83 14.38 28.83

3594 0.67 136.3 3602 2700 2474 2178 221.7 12.1 311 3605 0.00 0.00 0.00 0.000 6 0.000 0.000 3601 2700 2327 2475 2179 0 0 0 0 0 0 28.83 28.83 28.83

3785 0.63 136.3 3602 2699 2474 2177 198.9 11.4 330 3797 0.15 2.62 0.00 0.000 4612 0.304 0.147 3572 1288 2326 2475 2177 0 0 0 0 0 0 14.41 14.44 28.83

3896 0.61 136.3 3573 1288 2475 2177 187.1 11.0 349 3908 0.00 2.55 0.00 0.000 1030 0.000 0.118 3572 2711 2325 2474 2176 0 0 0 0 0 0 28.83 14.50 28.83

4088 0.58 136.3 3572 2711 2474 2176 164.4 12.2 368 4101 0.00 2.65 0.00 0.000 516 0.000 0.153 3580 1290 2323 2474 2173 0 0 0 0 0 0 28.83 14.45 28.83

4160 0.55 136.3 3580 1290 2474 2175 156.6 10.6 379 4173 0.17 2.55 0.00 0.000 5126 0.288 0.121 3540 2697 2325 2474 2176 0 0 0 0 0 0 14.44 14.49 28.83

4354 0.58 181.5 3540 2697 2474 2175 140.1 7.6 398 4399 0.00 2.72 34.55 0.884 8708 0.000 0.154 3544 1290 2149 2307 1992 0 0 0 0 0 0 28.83 14.32 14.06

4482 0.62 214.9 3548 1290 2307 1992 130.0 8.2 419 4521 0.00 2.58 26.88 0.868 9222 0.000 0.119 3548 2715 2013 2173 1853 0 0 0 0 0 0 28.83 14.38 13.97

4702 0.62 222.8 3547 2714 2172 1851 109.8 9.6 442 4721 0.00 2.80 7.75 0.851 8708 0.000 0.158 3548 1284 1979 2140 1819 0 0 0 0 0 0 28.83 14.29 14.02

4830 0.62 222.8 3548 1283 2140 1819 97.1 10.2 464 4843 0.00 2.58 0.00 0.000 1030 0.000 0.117 3548 2709 1979 2140 1819 0 0 0 0 0 0 28.83 14.38 28.83

5034 0.63 233.7 3548 2714 2140 1817 76.3 9.4 484 5048 0.00 0.00 8.77 0.832 8198 0.000 0.000 3548 2709 1942 2097 1787 0 0 0 0 0 0 28.83 28.83 14.10

5229 0.63 233.7 3548 2709 2092 1785 56.8 10.0 503 5239 0.00 2.62 0.00 0.000 516 0.000 0.142 3548 1281 1938 2092 1785 0 0 0 0 0 0 28.83 14.39 28.83

5325 0.67 273.6 3548 1281 2091 1785 48.9 7.9 519 5371 0.00 2.53 31.02 0.776 9222 0.000 0.112 3548 2697 1770 1935 1605 0 0 0 0 0 0 28.83 14.50 14.05

5551 0.70 295.4 3548 2697 1935 1610 28.4 8.9 543 5578 0.12 2.72 15.93 0.765 10756 0.167 0.148 3603 1284 1684 1853 1516 0 0 0 0 0 0 14.48 14.28 14.08

5745 0.73 330.4 3604 1284 1854 1512 8.2 8.2 576 5772 0.00 2.55 14.62 0.131 9222 0.000 0.112 3604 2708 1548 1711 1385 0 0 0 0 0 0 28.83 14.42 14.41

5791 end climb: SURFACE_DEPTH_REACHED

state 5791 begin surface coast

5831 end surface coast: CONTROL_FINISHED_OK

state 5831 begin surface

ID	187	ESCAPE_HEADING	0	C_ROLL_CLIMB	2700	ALTIM_FREQUENCY	13
MISSION	4	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	4
DIVE	39	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
N_DIVES	0	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	XPDR_VALID	1
D_SURF	4	TGT_DEFAULT_LON	-12218	R_PORT_OVSHOOT	11	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	16	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	990	SM_CC	350	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.69999999
D_ABORT	1010	N_FILEKB	8	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_NO_BLEED	200	FILEMGR	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_BOOST	20	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	DEVICE1	-1
T_BOOST	5	COMM_SEQ	0	VBD_MIN	470	DEVICE2	-1
D_FINISH	0	PROTOCOL	9	VBD_MAX	3900	DEVICE3	-1
D_PITCH	0	N_NOCOMM	1	C_VBD	2892	DEVICE4	-1
D_SAFE	0	NOCOMM_ACTION	163	VBD_DBAND	2	DEVICE5	-1
D_CALL	0	N_NOSURFACE	0	VBD_CNV	-0.24529999	DEVICE6	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	LOGGERS	3
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.001	LOGGERDEVICE1	53
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	83
T_DIVE	330	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_MISSION	370	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	50	COMPASS_DEVICE	97
T_TURN	225	T_GPS	15	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	N_GPS	20	W_ADJ_DBAND	0	PHONE_DEVICE	49
T_NO_W	120	T_GPS_ALMANAC	0	DBDW	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-1593229.9	PITCH_W_GAIN	0	RAFOS_DEVICE	-1
T_EPIRB	0	T_RSLEEP	2	PITCH_W_DBAND	0	XPDR_DEVICE	24
USE_BATHY	-1	STROBE	0	CF8_MAXERRORS	20	SIM_W	0
USE_ICE	0	RAFOS_PEAK_OFFSET	1.5	AH0_24V	350	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.30000001	RAFOS_CORR_THRESH	60	AH0_10V	0	SEABIRD_T_G	0.0043206038
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MINV_24V	11	SEABIRD_T_H	0.00062367308
T_WATCHDOG	10	PITCH_MIN	400	MINV_10V	11	SEABIRD_T_I	2.3111006e-05
RELAUNCH	1	PITCH_MAX	3700	FG_AHR_10V	0	SEABIRD_T_J	2.4313138e-06
APOGEE_PITCH	-7	C_PITCH	3360	FG_AHR_24V	0	SEABIRD_C_G	-10.199382
MAX_BUOY	140	PITCH_DBAND	0.1	PHONE_SUPPLY	-2	SEABIRD_C_H	1.1587334
COURSE_BIAS	0	PITCH_CNV	0.003125763	PRESSURE_YINT	-63.106686	SEABIRD_C_I	-0.0027609179
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001138132	SEABIRD_C_J	0.00029025986
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	AD7714Ch0Gain	128	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_GAIN	22	TCM_PITCH_OFFSET	0	SC_PROFILE	3.0
MASS	53474	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_AD_RATE	165	COMPASS_USE	4	PM_RECORDABOVE	2000.0
NAV_MODE	10	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	PM_PROFILE	1.0
FERRY_MAX	45	PITCH_ADJ_GAIN	0.0049999999	ALTIM_TOP_PING_RANGE	0	PM_XMITPROFILE	3.0
KALMAN_USE	2	PITCH_ADJ_DBAND	2	ALTIM_BOTTOM_TURN_MARGIN	0	PM_XMITRAW	0.0
HD_A	0.0016	ROLL_MIN	440	ALTIM_TOP_TURN_MARGIN	0	PM_NDIVE	1.0
HD_B	0.0099999998	ROLL_MAX	4000	ALTIM_TOP_MIN_OBSTACLE	0	PM_MOTORS	1.0
HD_C	1.4e-05	ROLL_DEG	40	ALTIM_PING_DEPTH	0
HEADING	-1	C_ROLL_DIVE	2400	ALTIM_PING_DELTA	0

GPS1	270614,051013,4751.411,-12513.179,45,1.9,45,18.7	SPEED_LIMITS	0.173,0.237
_CALLS	2	TGT_NAME	OFFSHORE
_XMS_NAKs	0	TGT_LATLONG	4700.000,-12700.000
_XMS_TOUTs	0	TGT_RADIUS	2500.000
_SM_DEPTHo	1.25	MHEAD_RNG_PITCHd_Wd	202.0,165175,-15.7,-10.000,-22.91,1951
_SM_ANGLEo	-73.2	D_GRID	312
GPS2	270614,051931,4751.418,-12513.147,13,1.9,13,18.7

FINISH	0.4,1.023727	_10V_AH	13.1,0.000
SM_CCo	5857,8.70,0.107,0,0,1465,350.04	FG_AHR_24Vo	0.000
SM_GC	3.07,9.27,0.60,8.70,0.084,0.119,0.107,397,2390,1465,-9.21,0.31,350.04,0,0,0,0,0,0,14.45,14.44,14.45	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4732.49,-12521.83,230407,181848	MEM	290860
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	20046,585
HUMID	48.93	CAP_FILE_SIZE	104140,0
INTERNAL_PRESSURE	8.9425	CFSIZE	260034560,254455808
TCM_TEMP	18.50	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	INTR	0,5494.06,0x2378ba,7,5
SC_FREEKB	3925536	EKF	5975,2870.932129,-7513.761230,0.393224,-0.008580,-0.011236,-0.060880,0.002727,0.006056,0.002290,0.009388,0.009388,0.000127
PM_FREEKB	61880000	CURRENT	0.065,288.0,1
_24V_AH	13.5,6.674	GPS	270614,065935,4750.997,-12514.063,51,1.0,56,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	424	139.86	nil	0	0	0.00
Roll_motor	52	158	112.61	nil	0	0	0.00
VBD_pump_during_apogee	353	1072	5123.45	nil	0	0	0.00
VBD_pump_during_surface	8	107	12.58	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	5838	7	594.25
Iridium_during_xfer	297	162	654.43	PMAR	2821	4	157.82
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	22	4.15
TT8	1772	10	237.33
LPSleep	2451	2	70.33
TT8_Active	517	10	69.23
TT8_Sampling	1324	28	502.47
TT8_CF8	364	35	170.24
TT8_Kalman	0	0	0.00
Analog_circuits	1427	10	187.06
GPS_charging	0	0	0.00
Compass	901	0	8.86
RAFOS	0	0	0.00
Transponder	0	5	0.04

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	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	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
27	-0.85	-136.3	395	2403	1585	1345	0.0	0.0	0	92	0.00	0.00	-61.03	0.000	16386	0.000	0.000	394	2400	3063	3097	3030	0	0	0	0	0	0	28.83	28.83	28.83
97	-0.85	-136.3	394	2403	3097	3030	3.3	-4.5	6	128	12.73	2.55	-6.55	0.000	18948	0.425	0.135	3073	977	3450	3470	3431	0	0	0	0	0	0	14.21	14.36	14.59
167	-0.81	-136.3	3073	976	3471	3428	25.2	-19.5	16	177	0.00	2.50	0.00	0.000	1030	0.000	0.099	3074	2403	3452	3471	3434	0	0	0	0	0	0	28.83	14.38	28.83
367	-0.79	-136.3	3074	2403	3472	3436	59.4	-16.0	36	379	0.12	0.00	0.00	0.000	2054	0.298	0.000	3106	2403	3454	3473	3436	0	0	0	0	0	0	14.37	28.83	28.83
560	-0.78	-136.3	3107	2403	3473	3436	87.5	-12.9	55	569	0.00	0.00	0.00	0.000	6	0.000	0.000	3106	2403	3454	3473	3436	0	0	0	0	0	0	28.83	28.83	28.83
749	-0.78	-136.3	3106	2403	3474	3436	110.6	-12.3	74	758	0.00	0.00	0.00	0.000	6	0.000	0.000	3103	2403	3453	3474	3433	0	0	0	0	0	0	28.83	28.83	28.83
942	-0.78	-136.3	3108	2403	3475	3442	133.2	-11.6	93	951	0.00	0.00	0.00	0.000	6	0.000	0.000	3106	2403	3455	3474	3436	0	0	0	0	0	0	28.83	28.83	28.83
1131	-0.78	-136.3	3106	2403	3480	3436	154.6	-10.9	112	1142	0.00	0.00	0.00	0.000	6	0.000	0.000	3106	2403	3455	3474	3436	0	0	0	0	0	0	28.83	28.83	28.83
1322	-0.78	-136.3	3106	2404	3474	3436	175.0	-10.8	131	1331	0.00	0.00	0.00	0.000	6	0.000	0.000	3106	2403	3455	3474	3436	0	0	0	0	0	0	28.83	28.83	28.83
1512	-0.78	-136.3	3107	2403	3473	3433	194.3	-10.0	150	1521	0.00	2.50	0.00	0.000	516	0.000	0.112	3107	978	3455	3474	3436	0	0	0	0	0	0	28.83	14.55	28.83
1615	-0.78	-136.3	3107	977	3474	3436	205.2	-11.3	168	1626	0.00	2.47	0.00	0.000	1030	0.000	0.102	3107	2404	3455	3474	3436	0	0	0	0	0	0	28.83	14.57	28.83
1816	-0.78	-136.3	3107	2403	3473	3436	226.8	-10.3	188	1827	0.00	0.00	0.00	0.000	6	0.000	0.000	3107	2403	3454	3473	3436	0	0	0	0	0	0	28.83	28.83	28.83
2008	-0.78	-136.3	3106	2403	3473	3436	247.0	-10.8	207	2016	0.00	0.00	0.00	0.000	6	0.000	0.000	3106	2403	3455	3474	3436	0	0	0	0	0	0	28.83	28.83	28.83
2218	-0.78	-136.3	3106	2403	3473	3435	269.3	-10.5	216	2221	0.00	0.00	0.00	0.000	6	0.000	0.000	3107	2403	3454	3473	3435	0	0	0	0	0	0	28.83	28.83	28.83
2518	-0.78	-136.3	3107	2401	3473	3439	299.2	-9.9	226	2521	0.00	0.00	0.00	0.000	6	0.000	0.000	3106	2403	3453	3474	3433	0	0	0	0	0	0	28.83	28.83	28.83
2664	end dive: TARGET_DEPTH_EXCEEDED
state	2665	begin apogee
2673	-0.32	0.0	3107	2701	3480	3432	313.7	-9.6	231	2788	0.50	0.00	106.07	1.073	10246	0.230	0.000	3249	2701	2890	2958	2823	0	0	0	0	0	0	14.54	28.83	13.69
2791	end apogee: CONTROL_FINISHED_OK
state	2791	begin climb
2795	0.85	136.3	3250	2701	2957	2820	318.2	0.0	235	2923	1.20	2.47	108.25	1.047	10500	0.160	0.123	3622	3991	2331	2477	2186	0	0	0	0	0	0	14.09	13.84	13.49
2990	0.79	136.3	3623	3991	2475	2186	300.1	16.1	266	3000	0.00	2.38	0.00	0.000	1030	0.000	0.112	3629	2700	2330	2475	2185	0	0	0	0	0	0	28.83	14.07	28.83
3329	0.74	136.3	3627	2698	2475	2180	254.4	13.5	281	3340	0.12	2.60	0.00	0.000	4612	0.320	0.134	3601	1281	2327	2471	2184	0	0	0	0	0	0	14.28	14.36	28.83
3399	0.71	136.3	3601	1281	2475	2180	245.6	12.0	292	3413	0.00	2.58	0.00	0.000	1030	0.000	0.116	3601	2700	2327	2475	2180	0	0	0	0	0	0	28.83	14.38	28.83
3594	0.67	136.3	3602	2700	2474	2178	221.7	12.1	311	3605	0.00	0.00	0.00	0.000	6	0.000	0.000	3601	2700	2327	2475	2179	0	0	0	0	0	0	28.83	28.83	28.83
3785	0.63	136.3	3602	2699	2474	2177	198.9	11.4	330	3797	0.15	2.62	0.00	0.000	4612	0.304	0.147	3572	1288	2326	2475	2177	0	0	0	0	0	0	14.41	14.44	28.83
3896	0.61	136.3	3573	1288	2475	2177	187.1	11.0	349	3908	0.00	2.55	0.00	0.000	1030	0.000	0.118	3572	2711	2325	2474	2176	0	0	0	0	0	0	28.83	14.50	28.83
4088	0.58	136.3	3572	2711	2474	2176	164.4	12.2	368	4101	0.00	2.65	0.00	0.000	516	0.000	0.153	3580	1290	2323	2474	2173	0	0	0	0	0	0	28.83	14.45	28.83
4160	0.55	136.3	3580	1290	2474	2175	156.6	10.6	379	4173	0.17	2.55	0.00	0.000	5126	0.288	0.121	3540	2697	2325	2474	2176	0	0	0	0	0	0	14.44	14.49	28.83
4354	0.58	181.5	3540	2697	2474	2175	140.1	7.6	398	4399	0.00	2.72	34.55	0.884	8708	0.000	0.154	3544	1290	2149	2307	1992	0	0	0	0	0	0	28.83	14.32	14.06
4482	0.62	214.9	3548	1290	2307	1992	130.0	8.2	419	4521	0.00	2.58	26.88	0.868	9222	0.000	0.119	3548	2715	2013	2173	1853	0	0	0	0	0	0	28.83	14.38	13.97
4702	0.62	222.8	3547	2714	2172	1851	109.8	9.6	442	4721	0.00	2.80	7.75	0.851	8708	0.000	0.158	3548	1284	1979	2140	1819	0	0	0	0	0	0	28.83	14.29	14.02
4830	0.62	222.8	3548	1283	2140	1819	97.1	10.2	464	4843	0.00	2.58	0.00	0.000	1030	0.000	0.117	3548	2709	1979	2140	1819	0	0	0	0	0	0	28.83	14.38	28.83
5034	0.63	233.7	3548	2714	2140	1817	76.3	9.4	484	5048	0.00	0.00	8.77	0.832	8198	0.000	0.000	3548	2709	1942	2097	1787	0	0	0	0	0	0	28.83	28.83	14.10
5229	0.63	233.7	3548	2709	2092	1785	56.8	10.0	503	5239	0.00	2.62	0.00	0.000	516	0.000	0.142	3548	1281	1938	2092	1785	0	0	0	0	0	0	28.83	14.39	28.83
5325	0.67	273.6	3548	1281	2091	1785	48.9	7.9	519	5371	0.00	2.53	31.02	0.776	9222	0.000	0.112	3548	2697	1770	1935	1605	0	0	0	0	0	0	28.83	14.50	14.05
5551	0.70	295.4	3548	2697	1935	1610	28.4	8.9	543	5578	0.12	2.72	15.93	0.765	10756	0.167	0.148	3603	1284	1684	1853	1516	0	0	0	0	0	0	14.48	14.28	14.08
5745	0.73	330.4	3604	1284	1854	1512	8.2	8.2	576	5772	0.00	2.55	14.62	0.131	9222	0.000	0.112	3604	2708	1548	1711	1385	0	0	0	0	0	0	28.83	14.42	14.41
5791	end climb: SURFACE_DEPTH_REACHED
state	5791	begin surface coast
5831	end surface coast: CONTROL_FINISHED_OK
state	5831	begin surface