Glider dive log

NANOOS Jul10 * SG187 * Dive index * Mission links * Dive 583 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 187 HEADING -1 ROLL_MIN 236 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MAX 3800 ALTIM_TOP_TURN_MARGIN 0

DIVE 583 ESCAPE_HEADING_DELTA 10 ROLL_DEG 35 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2075 ALTIM_PING_DEPTH 0

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 2000 ALTIM_PING_DELTA 10

D_TGT 990 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 3

D_NO_BLEED 200 SM_CC 350 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 3

D_BOOST 3 N_FILEKB 4 R_PORT_OVSHOOT 27 XPDR_VALID 1

D_FINISH 5 FILEMGR 0 R_STBD_OVSHOOT 28 XPDR_INHIBIT 90

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 INT_PRESSURE_YINT 0.69999999

D_CALL 0 KERMIT 0 ROLL_ADJ_GAIN 2 DEEPGLIDER 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0.029999999 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MIN 470 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3960 DEVICE1 2

T_DIVE 540 CALL_TRIES 5 C_VBD 3150 DEVICE2 20

T_MISSION 600 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 83

T_ABORT 1440 CAPUPLOAD 0 VBD_CNV -0.24529999 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_TIMEOUT 720 DEVICE5 -1

T_TURN_SAMPINT 5 HEAPDBG 0 PITCH_VBD_SHIFT 0.00060000003 DEVICE6 -1

T_NO_W 300 T_GPS 15 VBD_PUMP_AD_RATE_SURFACE 6 LOGGERS 0

T_LOITER 0 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 -1

USE_BATHY -1 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 0 T_GPS_CHARGE -36110.465 UNCOM_BLEED 50 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 1000 STROBE 0 CF8_MAXERRORS 20 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_24V 150 GPS_DEVICE 32

RELAUNCH -7 RAFOS_CORR_THRESH 60 AH0_10V 100 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 115 PITCH_MIN 155 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3970 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2855 FG_AHR_24V 0 SEABIRD_T_G 0.0043543768

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.0006249955

RHO 1.023 PITCH_CNV 0.003125763 PRESSURE_YINT -61.597298 SEABIRD_T_I 2.3401506e-05

MASS 52000 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001138132 SEABIRD_T_J 2.4672308e-06

NAV_MODE 2 PITCH_GAIN 36 AD7714Ch0Gain 128 SEABIRD_C_G -9.9855604

FERRY_MAX 45 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1126566

KALMAN_USE 2 PITCH_AD_RATE 165 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0021479612

HD_A 0.0046000001 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.0002479906

HD_B 0.0099999998 PITCH_ADJ_GAIN 0.0049999999 ALTIM_BOTTOM_PING_RANGE 0

HD_C 1.34e-05 PITCH_ADJ_DBAND 2 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_FLARE 3 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_NO_BLEED 200 PHONE_SUPPLY 2 SM_CC 350

AH0_24V 150 D_OFFGRID 1000 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PITCH_ADJ_GAIN 0.0049999999 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 PITCH_AD_RATE 165 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SURF 3 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_TGT 990 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 PITCH_GAIN 36 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3970 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_MIN 155 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_VBD_SHIFT 0.00060000003 T_ABORT 1440

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PRESSURE_SLOPE 0.0001138132 T_DIVE 540

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -61.597298 T_GPS 15

CALL_TRIES 5 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.0046000001 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -36110.465

CAPMAXSIZE 100000 HD_B 0.0099999998 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HD_C 1.34e-05 RAFOS_HIT_WINDOW 3600 T_MISSION 600

CF8_MAXERRORS 20 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 300

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH -7 T_RSLEEP 3

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.023 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_ADJ_DBAND 0.029999999 T_TURN_SAMPINT 5

COMPASS_USE 0 ID 187 ROLL_ADJ_GAIN 2 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_PITCH 2855 INT_PRESSURE_YINT 0.69999999 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2000 KALMAN_USE 2 ROLL_DEG 35 USE_BATHY -1

C_ROLL_DIVE 2075 KERMIT 0 ROLL_MAX 3800 USE_ICE 0

C_VBD 3150 LOGGERDEVICE1 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 236 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 52000 R_PORT_OVSHOOT 27 VBD_MAX 3960

DEVICE2 20 MAX_BUOY 115 R_STBD_OVSHOOT 28 VBD_MAXERRORS 1

DEVICE3 83 MINV_10V 8 SEABIRD_C_G -9.9855604 VBD_MIN 470

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1126566 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 2 SEABIRD_C_I -0.0021479612 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.0002479906 VBD_TIMEOUT 720

DIVE 583 NAV_MODE 2 SEABIRD_T_G 0.0043543768 XPDR_DEVICE 24

D_ABORT 1070 N_FILEKB 4 SEABIRD_T_H 0.0006249955 XPDR_INHIBIT 90

D_BOOST 3 N_GPS 20 SEABIRD_T_I 2.3401506e-05 XPDR_VALID 1

D_CALL 0 N_NOCOMM 1 SEABIRD_T_J 2.4672308e-06

D_FINISH 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 064824,4750.835,-12513.557,75,1.2,93,18.7 TGT_NAME OFFSHORE

_CALLS 1 TGT_LATLONG 4700.000,-12700.000

_XMS_NAKs 0 TGT_RADIUS 2500.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.85 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -76.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 065643,4750.832,-12513.612,16,1.1,33,18.7 MHEAD_RNG_PITCHd_Wd 226.1,164070,-13.9,-6.111

SPEED_LIMITS 0.106,0.196 D_GRID 380

Post-dive calculations and measurements:

FINISH 1.0,1.022478 _10V_AH 10.0,58.236

SM_CCo 10570,0.00,0.000,0,0,1601,379.97 FG_AHR_24Vo 0.000

SM_GC 1.85,7.75,0.00,0.00,0.041,0.000,0.000,135,2075,1601,-8.41,0.00,379.97 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4738.89,-12515.83,241299,040455 MEM 298668

TT8_MAMPS 0.052923 DATA_FILE_SIZE 66428,1239

HUMID 41.88 CAP_FILE_SIZE 125245,0

INTERNAL_PRESSURE 9.02063 CFSIZE 260165632,219926528

TCM_TEMP 16.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.070, 71.4,1

_24V_AH 23.9,60.230 GPS 290910,095352,4750.380,-12514.878,14,2.2,34,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 231 108.78 SBE_CT 897 24 514.69

Roll_motor 71 128 217.81 SBE_O2 819 19 372.09

VBD_pump_during_apogee 404 828 8001.78 WL_BBFL2VMT 1540 105 3866.68

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 28 103 68.96 nil 0 0 0.00

Iridium_during_connect 48 160 185.62 nil 0 0 0.00

Iridium_during_xfer 276 223 1475.94

Transponder_ping 0 420 0.00

GUMSTIX_24V 0 0 0.00

GPS 34 50 17.00

TT8 0 19 0.00

LPSleep 7024 2 153.83

TT8_Active 424 19 83.97

TT8_Sampling 2961 39 1178.78

TT8_CF8 638 45 292.34

TT8_Kalman 0 0 0.00

Analog_circuits 1450 12 174.08

GPS_charging 0 0 0.00

Compass 2552 8 204.17

RAFOS 0 0 0.00

Transponder 0 30 0.16

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

11 end surface: CONTROL_FINISHED_OK

state 11 begin dive

14 -0.45 -112.4 0.0 0.0 0 71 0.00 0.00 -55.38 0.000 2 0.000 0.000 131 2060 3026 0 0 0 0 0 0

74 -0.45 -112.4 3.1 -2.4 10 102 10.40 2.03 -12.55 0.000 4 0.232 0.076 2691 3313 3607 0 0 0 0 0 0

140 -0.41 -112.4 18.5 -19.2 22 145 0.08 1.98 0.00 0.000 6 0.117 0.050 2718 2079 3610 0 0 0 0 0 0

466 -0.41 -112.4 51.1 -8.7 83 471 0.00 0.00 0.00 0.000 6 0.000 0.000 2718 2076 3612 0 0 0 0 0 0

791 -0.42 -112.4 78.3 -9.1 144 797 0.00 1.95 0.00 0.000 4 0.000 0.056 2718 843 3612 0 0 0 0 0 0

851 -0.43 -112.4 83.6 -8.9 155 857 0.00 1.95 0.00 0.000 6 0.000 0.054 2718 2071 3613 0 0 0 0 0 0

1180 -0.45 -112.4 105.7 -6.0 208 1183 0.00 2.00 0.00 0.000 4 0.000 0.064 2717 3312 3612 0 0 0 0 0 0

1233 -0.47 -112.4 109.1 -6.4 213 1236 0.00 1.92 0.00 0.000 6 0.000 0.050 2718 2072 3612 0 0 0 0 0 0

1554 -0.49 -112.4 131.7 -7.7 244 1555 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 2071 3612 0 0 0 0 0 0

1867 -0.50 -112.4 154.7 -6.6 274 1870 0.00 2.03 0.00 0.000 4 0.000 0.065 2717 3320 3612 0 0 0 0 0 0

1909 -0.53 -112.4 157.6 -7.0 278 1912 0.00 1.92 0.00 0.000 6 0.000 0.050 2716 2096 3611 0 0 0 0 0 0

2230 -0.55 -112.4 176.1 -5.3 309 2234 0.12 2.00 0.00 0.000 4 0.094 0.057 2651 848 3611 0 0 0 0 0 0

2267 -0.53 -112.4 179.4 -9.7 312 2273 0.10 1.98 0.00 0.000 6 0.126 0.054 2679 2094 3611 0 0 0 0 0 0

2582 -0.53 -112.4 207.7 -9.1 343 2583 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 2094 3611 0 0 0 0 0 0

2895 -0.53 -112.4 236.2 -9.0 373 2898 0.00 1.98 0.00 0.000 4 0.000 0.065 2673 3318 3610 0 0 0 0 0 0

2942 -0.53 -112.4 240.6 -9.2 377 2948 0.00 1.92 0.00 0.000 6 0.000 0.051 2673 2096 3610 0 0 0 0 0 0

3257 -0.53 -112.4 268.2 -8.2 408 3258 0.00 0.00 0.00 0.000 6 0.000 0.000 2672 2096 3610 0 0 0 0 0 0

3570 -0.53 -112.4 294.5 -8.6 438 3573 0.00 1.98 0.00 0.000 4 0.000 0.065 2665 3313 3609 0 0 0 0 0 0

3606 -0.53 -112.4 298.0 -9.2 441 3614 0.00 1.92 0.00 0.000 6 0.000 0.051 2665 2096 3609 0 0 0 0 0 0

3923 -0.53 -112.4 329.2 -10.1 472 3924 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2096 3609 0 0 0 0 0 0

4235 -0.53 -112.4 358.7 -9.3 502 4235 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2096 3608 0 0 0 0 0 0

4468 end dive: TARGET_DEPTH_EXCEEDED

state 4468 begin apogee

4474 -0.14 0.0 380.1 8.8 525 4566 0.45 0.00 89.60 0.828 6 0.114 0.000 2812 1985 3150 0 0 0 0 0 0

4566 end apogee: CONTROL_FINISHED_OK

state 4566 begin climb

4568 0.45 112.4 382.6 0.0 534 4668 0.52 2.05 91.95 0.800 4 0.075 0.059 3008 780 2690 0 0 0 0 0 0

4715 0.46 152.3 379.5 4.6 548 4757 0.00 2.03 33.92 0.775 6 0.000 0.053 3009 2007 2528 0 0 0 0 0 0

5067 0.44 152.3 353.7 7.3 582 5070 0.00 2.03 0.00 0.000 4 0.000 0.062 3008 3232 2524 0 0 0 0 0 0

5196 0.42 152.3 343.2 8.0 594 5199 0.00 1.92 0.00 0.000 6 0.000 0.052 3015 2019 2523 0 0 0 0 0 0

5517 0.40 152.3 319.6 7.2 625 5520 0.12 1.98 0.00 0.000 4 0.161 0.064 2981 3234 2522 0 0 0 0 0 0

5574 0.40 152.3 315.5 6.7 630 5581 0.00 1.92 0.00 0.000 6 0.000 0.052 2986 2028 2522 0 0 0 0 0 0

5891 0.41 175.6 297.6 5.3 661 5914 0.00 1.98 19.35 0.751 4 0.000 0.064 2986 3230 2434 0 0 0 0 0 0

5986 0.41 175.6 291.3 6.9 670 5989 0.00 1.92 0.00 0.000 6 0.000 0.054 2986 2032 2431 0 0 0 0 0 0

6306 0.41 175.6 270.6 6.7 701 6310 0.00 1.98 0.00 0.000 4 0.000 0.063 2986 3233 2431 0 0 0 0 0 0

6376 0.41 175.6 265.4 8.7 707 6381 0.00 1.90 0.00 0.000 6 0.000 0.052 2986 2042 2430 0 0 0 0 0 0

6691 0.41 175.6 245.0 6.4 738 6691 0.00 0.00 0.00 0.000 6 0.000 0.000 2986 2042 2430 0 0 0 0 0 0

7003 0.42 196.0 227.4 5.4 768 7025 0.00 1.98 17.48 0.715 4 0.000 0.065 2986 3233 2351 0 0 0 0 0 0

7072 0.42 196.0 223.1 6.7 774 7078 0.00 1.90 0.00 0.000 6 0.000 0.053 2986 2053 2349 0 0 0 0 0 0

7388 0.42 196.0 202.7 6.5 805 7389 0.00 0.00 0.00 0.000 6 0.000 0.000 2986 2052 2348 0 0 0 0 0 0

7700 0.43 214.2 183.9 5.4 835 7720 0.00 2.05 16.35 0.689 4 0.000 0.062 2986 764 2275 0 0 0 0 0 0

7764 0.46 234.3 180.2 5.4 841 7787 0.00 2.03 17.55 0.679 6 0.000 0.056 2986 2046 2194 0 0 0 0 0 0

8105 0.48 234.3 160.5 6.5 874 8108 0.00 1.92 0.00 0.000 4 0.000 0.065 2987 3232 2190 0 0 0 0 0 0

8147 0.48 234.3 157.7 7.1 878 8150 0.00 1.92 0.00 0.000 6 0.000 0.054 2986 2017 2189 0 0 0 0 0 0

8467 0.49 238.2 137.1 6.0 909 8472 0.00 0.00 4.03 0.484 6 0.000 0.000 2986 2016 2179 0 0 0 0 0 0

8778 0.51 247.6 118.2 5.8 939 8789 0.10 0.00 9.70 0.625 6 0.110 0.000 3036 2016 2140 0 0 0 0 0 0

9102 0.51 247.6 90.2 9.0 980 9108 0.00 2.00 0.00 0.000 4 0.000 0.064 3036 3229 2137 0 0 0 0 0 0

9167 0.50 247.6 83.9 9.6 992 9173 0.00 1.90 0.00 0.000 6 0.000 0.053 3041 2040 2136 0 0 0 0 0 0

9493 0.50 247.6 55.6 8.6 1053 9500 0.00 2.05 0.00 0.000 4 0.000 0.062 3042 774 2136 0 0 0 0 0 0

9574 0.50 247.6 49.6 7.2 1068 9580 0.00 1.98 0.00 0.000 6 0.000 0.054 3043 2021 2136 0 0 0 0 0 0

9900 0.50 247.6 29.1 6.9 1129 9906 0.00 0.00 0.00 0.000 6 0.000 0.000 3042 2021 2136 0 0 0 0 0 0

10227 0.57 342.7 11.9 2.6 1190 10311 0.00 2.00 75.88 0.597 4 0.000 0.064 3042 3223 1751 0 0 0 0 0 0

10377 0.63 377.7 5.4 4.8 1217 10411 0.00 1.95 28.38 0.569 6 0.000 0.053 3042 2023 1610 0 0 0 0 0 0

10425 end climb: SURFACE_DEPTH_REACHED

state 10425 begin surface coast

10495 end surface coast: CONTROL_FINISHED_OK

state 10495 begin surface

ID	187	HEADING	-1	ROLL_MIN	236	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MAX	3800	ALTIM_TOP_TURN_MARGIN	0
DIVE	583	ESCAPE_HEADING_DELTA	10	ROLL_DEG	35	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2075	ALTIM_PING_DEPTH	0
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	2000	ALTIM_PING_DELTA	10
D_TGT	990	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	3
D_NO_BLEED	200	SM_CC	350	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	3
D_BOOST	3	N_FILEKB	4	R_PORT_OVSHOOT	27	XPDR_VALID	1
D_FINISH	5	FILEMGR	0	R_STBD_OVSHOOT	28	XPDR_INHIBIT	90
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	0.69999999
D_CALL	0	KERMIT	0	ROLL_ADJ_GAIN	2	DEEPGLIDER	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0.029999999	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MIN	470	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3960	DEVICE1	2
T_DIVE	540	CALL_TRIES	5	C_VBD	3150	DEVICE2	20
T_MISSION	600	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	83
T_ABORT	1440	CAPUPLOAD	0	VBD_CNV	-0.24529999	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_TIMEOUT	720	DEVICE5	-1
T_TURN_SAMPINT	5	HEAPDBG	0	PITCH_VBD_SHIFT	0.00060000003	DEVICE6	-1
T_NO_W	300	T_GPS	15	VBD_PUMP_AD_RATE_SURFACE	6	LOGGERS	0
T_LOITER	0	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	-1
USE_BATHY	-1	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	0	T_GPS_CHARGE	-36110.465	UNCOM_BLEED	50	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	1000	STROBE	0	CF8_MAXERRORS	20	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_24V	150	GPS_DEVICE	32
RELAUNCH	-7	RAFOS_CORR_THRESH	60	AH0_10V	100	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	115	PITCH_MIN	155	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3970	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2855	FG_AHR_24V	0	SEABIRD_T_G	0.0043543768
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.0006249955
RHO	1.023	PITCH_CNV	0.003125763	PRESSURE_YINT	-61.597298	SEABIRD_T_I	2.3401506e-05
MASS	52000	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001138132	SEABIRD_T_J	2.4672308e-06
NAV_MODE	2	PITCH_GAIN	36	AD7714Ch0Gain	128	SEABIRD_C_G	-9.9855604
FERRY_MAX	45	PITCH_TIMEOUT	17	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1126566
KALMAN_USE	2	PITCH_AD_RATE	165	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0021479612
HD_A	0.0046000001	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.0002479906
HD_B	0.0099999998	PITCH_ADJ_GAIN	0.0049999999	ALTIM_BOTTOM_PING_RANGE	0
HD_C	1.34e-05	PITCH_ADJ_DBAND	2	ALTIM_TOP_PING_RANGE	0

GPS1	064824,4750.835,-12513.557,75,1.2,93,18.7	TGT_NAME	OFFSHORE
_CALLS	1	TGT_LATLONG	4700.000,-12700.000
_XMS_NAKs	0	TGT_RADIUS	2500.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.85	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-76.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	065643,4750.832,-12513.612,16,1.1,33,18.7	MHEAD_RNG_PITCHd_Wd	226.1,164070,-13.9,-6.111
SPEED_LIMITS	0.106,0.196	D_GRID	380

FINISH	1.0,1.022478	_10V_AH	10.0,58.236
SM_CCo	10570,0.00,0.000,0,0,1601,379.97	FG_AHR_24Vo	0.000
SM_GC	1.85,7.75,0.00,0.00,0.041,0.000,0.000,135,2075,1601,-8.41,0.00,379.97	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4738.89,-12515.83,241299,040455	MEM	298668
TT8_MAMPS	0.052923	DATA_FILE_SIZE	66428,1239
HUMID	41.88	CAP_FILE_SIZE	125245,0
INTERNAL_PRESSURE	9.02063	CFSIZE	260165632,219926528
TCM_TEMP	16.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.070, 71.4,1
_24V_AH	23.9,60.230	GPS	290910,095352,4750.380,-12514.878,14,2.2,34,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	231	108.78	SBE_CT	897	24	514.69
Roll_motor	71	128	217.81	SBE_O2	819	19	372.09
VBD_pump_during_apogee	404	828	8001.78	WL_BBFL2VMT	1540	105	3866.68
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	28	103	68.96	nil	0	0	0.00
Iridium_during_connect	48	160	185.62	nil	0	0	0.00
Iridium_during_xfer	276	223	1475.94
Transponder_ping	0	420	0.00
GUMSTIX_24V	0	0	0.00
GPS	34	50	17.00
TT8	0	19	0.00
LPSleep	7024	2	153.83
TT8_Active	424	19	83.97
TT8_Sampling	2961	39	1178.78
TT8_CF8	638	45	292.34
TT8_Kalman	0	0	0.00
Analog_circuits	1450	12	174.08
GPS_charging	0	0	0.00
Compass	2552	8	204.17
RAFOS	0	0	0.00
Transponder	0	30	0.16

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
11	end surface: CONTROL_FINISHED_OK
state	11	begin dive
14	-0.45	-112.4	0.0	0.0	0	71	0.00	0.00	-55.38	0.000	2	0.000	0.000	131	2060	3026	0	0	0	0	0	0
74	-0.45	-112.4	3.1	-2.4	10	102	10.40	2.03	-12.55	0.000	4	0.232	0.076	2691	3313	3607	0	0	0	0	0	0
140	-0.41	-112.4	18.5	-19.2	22	145	0.08	1.98	0.00	0.000	6	0.117	0.050	2718	2079	3610	0	0	0	0	0	0
466	-0.41	-112.4	51.1	-8.7	83	471	0.00	0.00	0.00	0.000	6	0.000	0.000	2718	2076	3612	0	0	0	0	0	0
791	-0.42	-112.4	78.3	-9.1	144	797	0.00	1.95	0.00	0.000	4	0.000	0.056	2718	843	3612	0	0	0	0	0	0
851	-0.43	-112.4	83.6	-8.9	155	857	0.00	1.95	0.00	0.000	6	0.000	0.054	2718	2071	3613	0	0	0	0	0	0
1180	-0.45	-112.4	105.7	-6.0	208	1183	0.00	2.00	0.00	0.000	4	0.000	0.064	2717	3312	3612	0	0	0	0	0	0
1233	-0.47	-112.4	109.1	-6.4	213	1236	0.00	1.92	0.00	0.000	6	0.000	0.050	2718	2072	3612	0	0	0	0	0	0
1554	-0.49	-112.4	131.7	-7.7	244	1555	0.00	0.00	0.00	0.000	6	0.000	0.000	2717	2071	3612	0	0	0	0	0	0
1867	-0.50	-112.4	154.7	-6.6	274	1870	0.00	2.03	0.00	0.000	4	0.000	0.065	2717	3320	3612	0	0	0	0	0	0
1909	-0.53	-112.4	157.6	-7.0	278	1912	0.00	1.92	0.00	0.000	6	0.000	0.050	2716	2096	3611	0	0	0	0	0	0
2230	-0.55	-112.4	176.1	-5.3	309	2234	0.12	2.00	0.00	0.000	4	0.094	0.057	2651	848	3611	0	0	0	0	0	0
2267	-0.53	-112.4	179.4	-9.7	312	2273	0.10	1.98	0.00	0.000	6	0.126	0.054	2679	2094	3611	0	0	0	0	0	0
2582	-0.53	-112.4	207.7	-9.1	343	2583	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	2094	3611	0	0	0	0	0	0
2895	-0.53	-112.4	236.2	-9.0	373	2898	0.00	1.98	0.00	0.000	4	0.000	0.065	2673	3318	3610	0	0	0	0	0	0
2942	-0.53	-112.4	240.6	-9.2	377	2948	0.00	1.92	0.00	0.000	6	0.000	0.051	2673	2096	3610	0	0	0	0	0	0
3257	-0.53	-112.4	268.2	-8.2	408	3258	0.00	0.00	0.00	0.000	6	0.000	0.000	2672	2096	3610	0	0	0	0	0	0
3570	-0.53	-112.4	294.5	-8.6	438	3573	0.00	1.98	0.00	0.000	4	0.000	0.065	2665	3313	3609	0	0	0	0	0	0
3606	-0.53	-112.4	298.0	-9.2	441	3614	0.00	1.92	0.00	0.000	6	0.000	0.051	2665	2096	3609	0	0	0	0	0	0
3923	-0.53	-112.4	329.2	-10.1	472	3924	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2096	3609	0	0	0	0	0	0
4235	-0.53	-112.4	358.7	-9.3	502	4235	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2096	3608	0	0	0	0	0	0
4468	end dive: TARGET_DEPTH_EXCEEDED
state	4468	begin apogee
4474	-0.14	0.0	380.1	8.8	525	4566	0.45	0.00	89.60	0.828	6	0.114	0.000	2812	1985	3150	0	0	0	0	0	0
4566	end apogee: CONTROL_FINISHED_OK
state	4566	begin climb
4568	0.45	112.4	382.6	0.0	534	4668	0.52	2.05	91.95	0.800	4	0.075	0.059	3008	780	2690	0	0	0	0	0	0
4715	0.46	152.3	379.5	4.6	548	4757	0.00	2.03	33.92	0.775	6	0.000	0.053	3009	2007	2528	0	0	0	0	0	0
5067	0.44	152.3	353.7	7.3	582	5070	0.00	2.03	0.00	0.000	4	0.000	0.062	3008	3232	2524	0	0	0	0	0	0
5196	0.42	152.3	343.2	8.0	594	5199	0.00	1.92	0.00	0.000	6	0.000	0.052	3015	2019	2523	0	0	0	0	0	0
5517	0.40	152.3	319.6	7.2	625	5520	0.12	1.98	0.00	0.000	4	0.161	0.064	2981	3234	2522	0	0	0	0	0	0
5574	0.40	152.3	315.5	6.7	630	5581	0.00	1.92	0.00	0.000	6	0.000	0.052	2986	2028	2522	0	0	0	0	0	0
5891	0.41	175.6	297.6	5.3	661	5914	0.00	1.98	19.35	0.751	4	0.000	0.064	2986	3230	2434	0	0	0	0	0	0
5986	0.41	175.6	291.3	6.9	670	5989	0.00	1.92	0.00	0.000	6	0.000	0.054	2986	2032	2431	0	0	0	0	0	0
6306	0.41	175.6	270.6	6.7	701	6310	0.00	1.98	0.00	0.000	4	0.000	0.063	2986	3233	2431	0	0	0	0	0	0
6376	0.41	175.6	265.4	8.7	707	6381	0.00	1.90	0.00	0.000	6	0.000	0.052	2986	2042	2430	0	0	0	0	0	0
6691	0.41	175.6	245.0	6.4	738	6691	0.00	0.00	0.00	0.000	6	0.000	0.000	2986	2042	2430	0	0	0	0	0	0
7003	0.42	196.0	227.4	5.4	768	7025	0.00	1.98	17.48	0.715	4	0.000	0.065	2986	3233	2351	0	0	0	0	0	0
7072	0.42	196.0	223.1	6.7	774	7078	0.00	1.90	0.00	0.000	6	0.000	0.053	2986	2053	2349	0	0	0	0	0	0
7388	0.42	196.0	202.7	6.5	805	7389	0.00	0.00	0.00	0.000	6	0.000	0.000	2986	2052	2348	0	0	0	0	0	0
7700	0.43	214.2	183.9	5.4	835	7720	0.00	2.05	16.35	0.689	4	0.000	0.062	2986	764	2275	0	0	0	0	0	0
7764	0.46	234.3	180.2	5.4	841	7787	0.00	2.03	17.55	0.679	6	0.000	0.056	2986	2046	2194	0	0	0	0	0	0
8105	0.48	234.3	160.5	6.5	874	8108	0.00	1.92	0.00	0.000	4	0.000	0.065	2987	3232	2190	0	0	0	0	0	0
8147	0.48	234.3	157.7	7.1	878	8150	0.00	1.92	0.00	0.000	6	0.000	0.054	2986	2017	2189	0	0	0	0	0	0
8467	0.49	238.2	137.1	6.0	909	8472	0.00	0.00	4.03	0.484	6	0.000	0.000	2986	2016	2179	0	0	0	0	0	0
8778	0.51	247.6	118.2	5.8	939	8789	0.10	0.00	9.70	0.625	6	0.110	0.000	3036	2016	2140	0	0	0	0	0	0
9102	0.51	247.6	90.2	9.0	980	9108	0.00	2.00	0.00	0.000	4	0.000	0.064	3036	3229	2137	0	0	0	0	0	0
9167	0.50	247.6	83.9	9.6	992	9173	0.00	1.90	0.00	0.000	6	0.000	0.053	3041	2040	2136	0	0	0	0	0	0
9493	0.50	247.6	55.6	8.6	1053	9500	0.00	2.05	0.00	0.000	4	0.000	0.062	3042	774	2136	0	0	0	0	0	0
9574	0.50	247.6	49.6	7.2	1068	9580	0.00	1.98	0.00	0.000	6	0.000	0.054	3043	2021	2136	0	0	0	0	0	0
9900	0.50	247.6	29.1	6.9	1129	9906	0.00	0.00	0.00	0.000	6	0.000	0.000	3042	2021	2136	0	0	0	0	0	0
10227	0.57	342.7	11.9	2.6	1190	10311	0.00	2.00	75.88	0.597	4	0.000	0.064	3042	3223	1751	0	0	0	0	0	0
10377	0.63	377.7	5.4	4.8	1217	10411	0.00	1.95	28.38	0.569	6	0.000	0.053	3042	2023	1610	0	0	0	0	0	0
10425	end climb: SURFACE_DEPTH_REACHED
state	10425	begin surface coast
10495	end surface coast: CONTROL_FINISHED_OK
state	10495	begin surface