Glider dive log

NANOOS Sep12 * SG187 * Dive index * Mission links * Dive 841 * 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 841 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 4 R_PORT_OVSHOOT 46 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 23 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 3 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 470 UPLOAD_DIVES_MAX -1 C_VBD 2794 DEVICE3 83

T_MISSION 520 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 10 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 -1590044 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 20 RAFOS_DEVICE -1

APOGEE_PITCH -7 RAFOS_HIT_WINDOW 3600 MINV_10V 9.5 XPDR_DEVICE 24

MAX_BUOY 140 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 470

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 -1590044

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 520

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 10

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 140 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 83 MINV_10V 9.5 R_PORT_OVSHOOT 46 VBD_DBAND 2

DEVICE4 -1 MINV_24V 20 R_STBD_OVSHOOT 23 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 841 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 4 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 3 SEABIRD_T_J 2.4402393e-06 XPDR_VALID 1

Pre-dive calculations and measurements:

GPS1 200413,194613,4749.214,-12515.363,46,2.5,66,18.7 TGT_NAME PARKING

_CALLS 1 TGT_LATLONG 4749.600,-12515.250

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.160,-0.151

_SM_DEPTHo 2.24 KALMAN_X 28840.3,-242.5,2380.9,-124483.9,-7867.0

_SM_ANGLEo -77.3 KALMAN_Y 16218.2,688.6,-1323.7,-71650.8,4158.7

GPS2 200413,195233,4749.197,-12515.275,10,2.2,29,18.7 MHEAD_RNG_PITCHd_Wd 298.7,747,-26.8,-7.021,-30.00

SPEED_LIMITS 0.122,0.210 D_GRID 482

Post-dive calculations and measurements:

FINISH 1.2,1.023893 _10V_AH 9.8,86.691

SM_CCo 9902,54.88,0.451,3,0,1570,300.00 FG_AHR_24Vo 0.000

SM_GC 2.94,8.73,0.20,54.88,0.024,0.072,0.451,104,2194,1570,-9.47,0.93,300.00,0,0,0,0,3,0,25.72,25.75,23.99 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4732.49,-12517.37,200413,171701 MEM 296732

TT8_MAMPS 0.027713,0.027713 DATA_FILE_SIZE 46842,862

HUMID 48.46 CAP_FILE_SIZE 101466,0

INTERNAL_PRESSURE 9.10853 CFSIZE 260165632,187813888

TCM_TEMP 19.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 4 CURRENT 0.084,102.9,1

_24V_AH 23.4,116.474 GPS 200413,224136,4749.521,-12515.373,98,0.9,99,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 216 113.10 SBE_CT 591 24 332.32

Roll_motor 91 75 162.87 SBE_O2 548 19 243.94

VBD_pump_during_apogee 267 846 5291.97 WL_BBFL2VMT 0 0 0.00

VBD_pump_during_surface 54 451 579.57 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 61.22 nil 0 0 0.00

Iridium_during_connect 40 160 150.16 nil 0 0 0.00

Iridium_during_xfer 165 223 865.59 nil 0 0 0.00

Transponder_ping 1 420 9.83 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 31 50 15.31

TT8 2183 19 423.63

LPSleep 5784 2 124.14

TT8_Active 474 19 92.04

TT8_Sampling 1651 39 644.06

TT8_CF8 264 45 118.91

TT8_Kalman 0 0 0.00

Analog_circuits 1222 12 143.81

GPS_charging 0 0 0.00

Compass 1393 15 204.85

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 14 begin dive

17 -0.85 -36.8 0.0 0.0 0 66 0.00 0.00 -46.88 0.000 2 0.000 0.000 107 2191 2620 0 0 0 0 0 0 28.83 28.83 28.83

70 -0.86 -62.3 3.4 -3.7 8 96 11.20 2.28 -9.27 0.000 4 0.216 0.061 2908 797 3051 0 0 0 0 0 0 24.54 25.37 26.16

182 -0.86 -62.3 34.0 -24.3 28 189 0.00 2.20 0.00 0.000 6 0.000 0.048 2899 2203 3053 0 0 0 0 0 0 28.83 25.27 28.83

494 -0.86 -62.3 100.2 -18.2 89 501 0.00 2.28 0.00 0.000 4 0.000 0.058 2888 3615 3054 0 0 0 0 0 0 28.83 25.03 28.83

539 -0.86 -62.3 109.1 -19.5 97 546 0.00 2.20 0.00 0.000 6 0.000 0.042 2888 2200 3055 0 0 0 0 0 0 28.83 25.37 28.83

862 -0.86 -62.3 165.9 -16.7 126 869 0.00 2.20 0.00 0.000 4 0.000 0.049 2888 793 3055 0 0 0 0 0 0 28.83 25.13 28.83

1009 -0.86 -62.3 191.4 -16.0 141 1018 0.15 2.30 0.00 0.000 6 0.169 0.049 2913 2208 3055 0 0 0 0 0 0 24.73 25.11 28.83

1325 -0.86 -62.3 238.8 -14.6 158 1326 0.00 0.00 0.00 0.000 6 0.000 0.000 2913 2208 3055 0 0 0 0 0 0 28.83 28.83 28.83

1624 -0.86 -62.3 282.5 -14.0 173 1629 0.00 2.30 0.00 0.000 4 0.000 0.048 2913 786 3055 0 0 0 0 0 0 28.83 25.06 28.83

1745 -0.86 -62.3 299.8 -14.5 179 1749 0.00 2.28 0.00 0.000 6 0.000 0.050 2904 2198 3055 0 0 0 0 0 0 28.83 25.06 28.83

2064 -0.86 -62.3 346.4 -14.7 195 2069 0.00 2.28 0.00 0.000 4 0.000 0.047 2904 791 3055 0 0 0 0 0 0 28.83 25.05 28.83

2184 -0.86 -62.3 363.8 -14.5 201 2189 0.00 2.30 0.00 0.000 6 0.000 0.050 2894 2200 3055 0 0 0 0 0 0 28.83 25.02 28.83

2505 -0.86 -62.3 411.4 -14.7 216 2509 0.00 2.30 0.00 0.000 4 0.000 0.060 2883 3612 3055 0 0 0 0 0 0 28.83 24.81 28.83

2542 -0.86 -62.3 416.3 -15.1 217 2546 0.12 2.28 0.00 0.000 6 0.172 0.041 2910 2198 3054 0 0 0 0 0 0 24.89 25.25 28.83

2855 -0.86 -62.3 463.1 -13.9 228 2860 0.00 2.38 0.00 0.000 4 0.000 0.061 2902 3612 3055 0 0 0 0 0 0 28.83 24.77 28.83

2954 -0.86 -62.3 476.8 -14.9 231 2959 0.00 2.30 0.00 0.000 6 0.000 0.043 2902 2191 3055 0 0 0 0 0 0 28.83 25.22 28.83

3002 end dive: TARGET_DEPTH_EXCEEDED

state 3002 begin apogee

3009 -0.22 0.0 485.5 -15.0 233 3070 0.70 0.00 55.95 0.847 6 0.135 0.000 3114 2336 2794 0 0 0 0 0 0 24.25 28.83 23.66

3071 end apogee: CONTROL_FINISHED_OK

state 3071 begin climb

3074 0.86 62.3 488.9 0.0 235 3135 1.05 0.00 57.65 0.807 6 0.078 0.000 3472 2336 2540 0 0 0 0 0 0 24.81 28.83 23.41

3426 0.86 62.3 464.8 7.6 247 3431 0.00 2.30 0.00 0.000 4 0.000 0.063 3472 3723 2533 0 0 0 0 0 0 28.83 25.29 28.83

3666 0.86 62.3 444.8 8.4 255 3670 0.00 2.25 0.00 0.000 6 0.000 0.046 3483 2326 2531 0 0 0 0 0 0 28.83 25.46 28.83

3996 0.87 69.8 423.2 6.0 266 4007 0.00 2.38 6.55 0.653 4 0.000 0.063 3483 3727 2509 0 0 0 0 0 0 28.83 25.37 24.05

4236 0.87 69.8 404.1 9.4 274 4242 0.00 2.28 0.00 0.000 6 0.000 0.045 3495 2324 2507 0 0 0 0 0 0 28.83 25.44 28.83

4547 0.87 69.8 376.4 8.4 289 4552 0.00 2.35 0.00 0.000 4 0.000 0.064 3495 3722 2506 0 0 0 0 0 0 28.83 25.02 28.83

4786 0.87 69.8 354.6 9.1 301 4792 0.10 2.28 0.00 0.000 6 0.168 0.046 3478 2322 2506 0 0 0 0 0 0 24.86 25.31 28.83

5106 0.87 69.8 330.3 7.5 317 5111 0.00 2.28 0.00 0.000 4 0.000 0.052 3486 920 2506 0 0 0 0 0 0 28.83 25.06 28.83

5347 0.87 73.9 313.8 6.5 329 5357 0.00 2.22 4.88 0.552 6 0.000 0.053 3486 2314 2492 0 0 0 0 0 0 28.83 25.04 24.08

5656 0.87 76.4 292.9 6.7 344 5665 0.00 2.30 3.92 0.480 4 0.000 0.052 3497 920 2482 0 0 0 0 0 0 28.83 25.39 24.09

5707 0.87 80.3 289.6 6.5 346 5717 0.00 2.28 5.45 0.568 6 0.000 0.054 3497 2323 2466 0 0 0 0 0 0 28.83 25.32 24.08

6016 0.87 80.3 265.2 8.0 361 6021 0.00 2.28 0.00 0.000 4 0.000 0.052 3508 923 2465 0 0 0 0 0 0 28.83 25.13 28.83

6205 0.87 80.3 250.8 7.8 370 6214 0.12 2.33 0.00 0.000 6 0.179 0.053 3480 2335 2464 0 0 0 0 0 0 24.76 25.05 28.83

6516 0.87 86.8 228.7 6.2 386 6528 0.00 2.38 7.43 0.601 4 0.000 0.064 3480 3739 2440 0 0 0 0 0 0 28.83 25.25 24.09

6547 0.88 91.7 226.6 6.4 387 6558 0.00 2.28 6.40 0.572 6 0.000 0.046 3489 2326 2420 0 0 0 0 0 0 28.83 25.49 24.03

6857 0.88 91.7 202.3 7.9 402 6862 0.00 2.35 0.00 0.000 4 0.000 0.064 3489 3730 2417 0 0 0 0 0 0 28.83 25.03 28.83

6987 0.88 91.7 190.7 9.4 413 6995 0.00 2.28 0.00 0.000 6 0.000 0.046 3501 2323 2416 0 0 0 0 0 0 28.83 25.29 28.83

7298 0.88 91.7 162.9 9.3 434 7305 0.00 2.38 0.00 0.000 4 0.000 0.063 3501 3733 2416 0 0 0 0 0 0 28.83 24.84 28.83

7466 0.88 91.7 146.6 9.1 451 7476 0.15 2.30 0.00 0.000 6 0.181 0.045 3477 2324 2416 0 0 0 0 0 0 24.72 25.20 28.83

7780 0.88 96.8 125.4 6.4 472 7788 0.00 0.00 5.70 0.513 6 0.000 0.000 3477 2324 2399 0 0 0 0 0 0 28.83 28.83 24.13

8089 0.88 104.7 105.2 6.0 521 8104 0.00 2.25 8.75 0.560 4 0.000 0.053 3486 921 2366 0 0 0 0 0 0 28.83 25.34 24.13

8133 0.88 111.2 102.7 6.2 528 8148 0.00 2.25 7.82 0.540 6 0.000 0.054 3486 2333 2339 0 0 0 0 0 0 28.83 25.38 24.06

8454 0.89 121.4 82.7 5.7 590 8466 0.00 0.00 10.12 0.555 6 0.000 0.000 3486 2333 2298 0 0 0 0 0 0 28.83 28.83 24.13

8772 0.90 143.8 65.1 4.1 652 8798 0.00 2.38 20.80 0.580 4 0.000 0.063 3486 3741 2207 0 0 0 0 0 0 28.83 25.29 24.13

8847 0.90 144.1 61.0 7.0 665 8854 0.00 2.22 0.00 0.000 6 0.000 0.046 3497 2323 2204 0 0 0 0 0 0 28.83 25.51 28.83

9159 0.90 151.8 42.6 6.0 726 9173 0.00 2.40 7.82 0.502 4 0.000 0.063 3497 3741 2175 0 0 0 0 0 0 28.83 25.34 24.15

9333 0.90 152.2 30.0 7.0 759 9340 0.00 2.22 0.00 0.000 6 0.000 0.045 3509 2324 2173 0 0 0 0 0 0 28.83 25.41 28.83

9647 0.91 186.8 12.5 2.5 820 9686 0.00 2.22 31.05 0.551 4 0.000 0.050 3519 924 2028 0 0 0 0 0 0 28.83 25.32 24.10

9700 0.93 217.8 11.2 2.9 828 9732 0.00 2.22 26.75 0.529 6 0.000 0.053 3520 2326 1906 0 0 0 0 0 0 28.83 25.33 23.96

9817 end climb: SURFACE_DEPTH_REACHED

state 9820 begin surface coast

9881 end surface coast: CONTROL_FINISHED_OK

state 9882 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	841	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	4	R_PORT_OVSHOOT	46	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	23	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	3	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	470	UPLOAD_DIVES_MAX	-1	C_VBD	2794	DEVICE3	83
T_MISSION	520	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	10	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	-1590044	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	20	RAFOS_DEVICE	-1
APOGEE_PITCH	-7	RAFOS_HIT_WINDOW	3600	MINV_10V	9.5	XPDR_DEVICE	24
MAX_BUOY	140	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	200413,194613,4749.214,-12515.363,46,2.5,66,18.7	TGT_NAME	PARKING
_CALLS	1	TGT_LATLONG	4749.600,-12515.250
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.160,-0.151
_SM_DEPTHo	2.24	KALMAN_X	28840.3,-242.5,2380.9,-124483.9,-7867.0
_SM_ANGLEo	-77.3	KALMAN_Y	16218.2,688.6,-1323.7,-71650.8,4158.7
GPS2	200413,195233,4749.197,-12515.275,10,2.2,29,18.7	MHEAD_RNG_PITCHd_Wd	298.7,747,-26.8,-7.021,-30.00
SPEED_LIMITS	0.122,0.210	D_GRID	482

FINISH	1.2,1.023893	_10V_AH	9.8,86.691
SM_CCo	9902,54.88,0.451,3,0,1570,300.00	FG_AHR_24Vo	0.000
SM_GC	2.94,8.73,0.20,54.88,0.024,0.072,0.451,104,2194,1570,-9.47,0.93,300.00,0,0,0,0,3,0,25.72,25.75,23.99	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4732.49,-12517.37,200413,171701	MEM	296732
TT8_MAMPS	0.027713,0.027713	DATA_FILE_SIZE	46842,862
HUMID	48.46	CAP_FILE_SIZE	101466,0
INTERNAL_PRESSURE	9.10853	CFSIZE	260165632,187813888
TCM_TEMP	19.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	4	CURRENT	0.084,102.9,1
_24V_AH	23.4,116.474	GPS	200413,224136,4749.521,-12515.373,98,0.9,99,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	216	113.10	SBE_CT	591	24	332.32
Roll_motor	91	75	162.87	SBE_O2	548	19	243.94
VBD_pump_during_apogee	267	846	5291.97	WL_BBFL2VMT	0	0	0.00
VBD_pump_during_surface	54	451	579.57	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	61.22	nil	0	0	0.00
Iridium_during_connect	40	160	150.16	nil	0	0	0.00
Iridium_during_xfer	165	223	865.59	nil	0	0	0.00
Transponder_ping	1	420	9.83	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	31	50	15.31
TT8	2183	19	423.63
LPSleep	5784	2	124.14
TT8_Active	474	19	92.04
TT8_Sampling	1651	39	644.06
TT8_CF8	264	45	118.91
TT8_Kalman	0	0	0.00
Analog_circuits	1222	12	143.81
GPS_charging	0	0	0.00
Compass	1393	15	204.85
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	14	begin dive
17	-0.85	-36.8	0.0	0.0	0	66	0.00	0.00	-46.88	0.000	2	0.000	0.000	107	2191	2620	0	0	0	0	0	0	28.83	28.83	28.83
70	-0.86	-62.3	3.4	-3.7	8	96	11.20	2.28	-9.27	0.000	4	0.216	0.061	2908	797	3051	0	0	0	0	0	0	24.54	25.37	26.16
182	-0.86	-62.3	34.0	-24.3	28	189	0.00	2.20	0.00	0.000	6	0.000	0.048	2899	2203	3053	0	0	0	0	0	0	28.83	25.27	28.83
494	-0.86	-62.3	100.2	-18.2	89	501	0.00	2.28	0.00	0.000	4	0.000	0.058	2888	3615	3054	0	0	0	0	0	0	28.83	25.03	28.83
539	-0.86	-62.3	109.1	-19.5	97	546	0.00	2.20	0.00	0.000	6	0.000	0.042	2888	2200	3055	0	0	0	0	0	0	28.83	25.37	28.83
862	-0.86	-62.3	165.9	-16.7	126	869	0.00	2.20	0.00	0.000	4	0.000	0.049	2888	793	3055	0	0	0	0	0	0	28.83	25.13	28.83
1009	-0.86	-62.3	191.4	-16.0	141	1018	0.15	2.30	0.00	0.000	6	0.169	0.049	2913	2208	3055	0	0	0	0	0	0	24.73	25.11	28.83
1325	-0.86	-62.3	238.8	-14.6	158	1326	0.00	0.00	0.00	0.000	6	0.000	0.000	2913	2208	3055	0	0	0	0	0	0	28.83	28.83	28.83
1624	-0.86	-62.3	282.5	-14.0	173	1629	0.00	2.30	0.00	0.000	4	0.000	0.048	2913	786	3055	0	0	0	0	0	0	28.83	25.06	28.83
1745	-0.86	-62.3	299.8	-14.5	179	1749	0.00	2.28	0.00	0.000	6	0.000	0.050	2904	2198	3055	0	0	0	0	0	0	28.83	25.06	28.83
2064	-0.86	-62.3	346.4	-14.7	195	2069	0.00	2.28	0.00	0.000	4	0.000	0.047	2904	791	3055	0	0	0	0	0	0	28.83	25.05	28.83
2184	-0.86	-62.3	363.8	-14.5	201	2189	0.00	2.30	0.00	0.000	6	0.000	0.050	2894	2200	3055	0	0	0	0	0	0	28.83	25.02	28.83
2505	-0.86	-62.3	411.4	-14.7	216	2509	0.00	2.30	0.00	0.000	4	0.000	0.060	2883	3612	3055	0	0	0	0	0	0	28.83	24.81	28.83
2542	-0.86	-62.3	416.3	-15.1	217	2546	0.12	2.28	0.00	0.000	6	0.172	0.041	2910	2198	3054	0	0	0	0	0	0	24.89	25.25	28.83
2855	-0.86	-62.3	463.1	-13.9	228	2860	0.00	2.38	0.00	0.000	4	0.000	0.061	2902	3612	3055	0	0	0	0	0	0	28.83	24.77	28.83
2954	-0.86	-62.3	476.8	-14.9	231	2959	0.00	2.30	0.00	0.000	6	0.000	0.043	2902	2191	3055	0	0	0	0	0	0	28.83	25.22	28.83
3002	end dive: TARGET_DEPTH_EXCEEDED
state	3002	begin apogee
3009	-0.22	0.0	485.5	-15.0	233	3070	0.70	0.00	55.95	0.847	6	0.135	0.000	3114	2336	2794	0	0	0	0	0	0	24.25	28.83	23.66
3071	end apogee: CONTROL_FINISHED_OK
state	3071	begin climb
3074	0.86	62.3	488.9	0.0	235	3135	1.05	0.00	57.65	0.807	6	0.078	0.000	3472	2336	2540	0	0	0	0	0	0	24.81	28.83	23.41
3426	0.86	62.3	464.8	7.6	247	3431	0.00	2.30	0.00	0.000	4	0.000	0.063	3472	3723	2533	0	0	0	0	0	0	28.83	25.29	28.83
3666	0.86	62.3	444.8	8.4	255	3670	0.00	2.25	0.00	0.000	6	0.000	0.046	3483	2326	2531	0	0	0	0	0	0	28.83	25.46	28.83
3996	0.87	69.8	423.2	6.0	266	4007	0.00	2.38	6.55	0.653	4	0.000	0.063	3483	3727	2509	0	0	0	0	0	0	28.83	25.37	24.05
4236	0.87	69.8	404.1	9.4	274	4242	0.00	2.28	0.00	0.000	6	0.000	0.045	3495	2324	2507	0	0	0	0	0	0	28.83	25.44	28.83
4547	0.87	69.8	376.4	8.4	289	4552	0.00	2.35	0.00	0.000	4	0.000	0.064	3495	3722	2506	0	0	0	0	0	0	28.83	25.02	28.83
4786	0.87	69.8	354.6	9.1	301	4792	0.10	2.28	0.00	0.000	6	0.168	0.046	3478	2322	2506	0	0	0	0	0	0	24.86	25.31	28.83
5106	0.87	69.8	330.3	7.5	317	5111	0.00	2.28	0.00	0.000	4	0.000	0.052	3486	920	2506	0	0	0	0	0	0	28.83	25.06	28.83
5347	0.87	73.9	313.8	6.5	329	5357	0.00	2.22	4.88	0.552	6	0.000	0.053	3486	2314	2492	0	0	0	0	0	0	28.83	25.04	24.08
5656	0.87	76.4	292.9	6.7	344	5665	0.00	2.30	3.92	0.480	4	0.000	0.052	3497	920	2482	0	0	0	0	0	0	28.83	25.39	24.09
5707	0.87	80.3	289.6	6.5	346	5717	0.00	2.28	5.45	0.568	6	0.000	0.054	3497	2323	2466	0	0	0	0	0	0	28.83	25.32	24.08
6016	0.87	80.3	265.2	8.0	361	6021	0.00	2.28	0.00	0.000	4	0.000	0.052	3508	923	2465	0	0	0	0	0	0	28.83	25.13	28.83
6205	0.87	80.3	250.8	7.8	370	6214	0.12	2.33	0.00	0.000	6	0.179	0.053	3480	2335	2464	0	0	0	0	0	0	24.76	25.05	28.83
6516	0.87	86.8	228.7	6.2	386	6528	0.00	2.38	7.43	0.601	4	0.000	0.064	3480	3739	2440	0	0	0	0	0	0	28.83	25.25	24.09
6547	0.88	91.7	226.6	6.4	387	6558	0.00	2.28	6.40	0.572	6	0.000	0.046	3489	2326	2420	0	0	0	0	0	0	28.83	25.49	24.03
6857	0.88	91.7	202.3	7.9	402	6862	0.00	2.35	0.00	0.000	4	0.000	0.064	3489	3730	2417	0	0	0	0	0	0	28.83	25.03	28.83
6987	0.88	91.7	190.7	9.4	413	6995	0.00	2.28	0.00	0.000	6	0.000	0.046	3501	2323	2416	0	0	0	0	0	0	28.83	25.29	28.83
7298	0.88	91.7	162.9	9.3	434	7305	0.00	2.38	0.00	0.000	4	0.000	0.063	3501	3733	2416	0	0	0	0	0	0	28.83	24.84	28.83
7466	0.88	91.7	146.6	9.1	451	7476	0.15	2.30	0.00	0.000	6	0.181	0.045	3477	2324	2416	0	0	0	0	0	0	24.72	25.20	28.83
7780	0.88	96.8	125.4	6.4	472	7788	0.00	0.00	5.70	0.513	6	0.000	0.000	3477	2324	2399	0	0	0	0	0	0	28.83	28.83	24.13
8089	0.88	104.7	105.2	6.0	521	8104	0.00	2.25	8.75	0.560	4	0.000	0.053	3486	921	2366	0	0	0	0	0	0	28.83	25.34	24.13
8133	0.88	111.2	102.7	6.2	528	8148	0.00	2.25	7.82	0.540	6	0.000	0.054	3486	2333	2339	0	0	0	0	0	0	28.83	25.38	24.06
8454	0.89	121.4	82.7	5.7	590	8466	0.00	0.00	10.12	0.555	6	0.000	0.000	3486	2333	2298	0	0	0	0	0	0	28.83	28.83	24.13
8772	0.90	143.8	65.1	4.1	652	8798	0.00	2.38	20.80	0.580	4	0.000	0.063	3486	3741	2207	0	0	0	0	0	0	28.83	25.29	24.13
8847	0.90	144.1	61.0	7.0	665	8854	0.00	2.22	0.00	0.000	6	0.000	0.046	3497	2323	2204	0	0	0	0	0	0	28.83	25.51	28.83
9159	0.90	151.8	42.6	6.0	726	9173	0.00	2.40	7.82	0.502	4	0.000	0.063	3497	3741	2175	0	0	0	0	0	0	28.83	25.34	24.15
9333	0.90	152.2	30.0	7.0	759	9340	0.00	2.22	0.00	0.000	6	0.000	0.045	3509	2324	2173	0	0	0	0	0	0	28.83	25.41	28.83
9647	0.91	186.8	12.5	2.5	820	9686	0.00	2.22	31.05	0.551	4	0.000	0.050	3519	924	2028	0	0	0	0	0	0	28.83	25.32	24.10
9700	0.93	217.8	11.2	2.9	828	9732	0.00	2.22	26.75	0.529	6	0.000	0.053	3520	2326	1906	0	0	0	0	0	0	28.83	25.33	23.96
9817	end climb: SURFACE_DEPTH_REACHED
state	9820	begin surface coast
9881	end surface coast: CONTROL_FINISHED_OK
state	9882	begin surface