Glider dive log

NANOOS Sep12 * SG187 * Dive index * Mission links * Dive 842 * 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 842 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 34 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 25 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 -1590045.2 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 -1590045.2

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 34 VBD_DBAND 2

DEVICE4 -1 MINV_24V 20 R_STBD_OVSHOOT 25 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 842 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 200413,224136,4749.521,-12515.373,98,0.9,99,18.7 TGT_NAME PARKING

_CALLS 1 TGT_LATLONG 4749.600,-12515.250

_XMS_NAKs 3 TGT_RADIUS 3000.000

_XMS_TOUTs 2 KALMAN_CONTROL -0.160,-0.151

_SM_DEPTHo 2.11 KALMAN_X 28840.3,-242.5,2380.9,-124483.9,-7867.0

_SM_ANGLEo -77.8 KALMAN_Y 16218.2,688.6,-1323.7,-71650.8,4158.7

GPS2 200413,224907,4749.476,-12515.269,15,1.4,15,18.7 MHEAD_RNG_PITCHd_Wd 303.5,231,-26.8,-7.021,-30.00

SPEED_LIMITS 0.122,0.210 D_GRID 482

Post-dive calculations and measurements:

FINISH 1.2,1.023826 _10V_AH 9.7,86.751

SM_CCo 9714,66.57,0.460,4,0,1570,300.00 FG_AHR_24Vo 0.000

SM_GC 2.46,8.85,0.17,66.57,0.031,0.076,0.460,106,2193,1570,-9.47,1.27,300.00,0,0,0,0,4,0,25.76,25.86,23.98 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4732.49,-12503.20,200413,191913 MEM 296732

TT8_MAMPS 0.028462,0.028462 DATA_FILE_SIZE 47031,882

HUMID 48.38 CAP_FILE_SIZE 101127,0

INTERNAL_PRESSURE 9.11829 CFSIZE 260165632,187756544

TCM_TEMP 19.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

XPDR_PINGS 2 CURRENT 0.074, 78.3,1

_24V_AH 23.4,116.551 GPS 210413,013520,4749.988,-12515.656,76,4.9,96,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 219 115.60 SBE_CT 605 24 340.22

Roll_motor 92 81 177.27 SBE_O2 571 19 254.19

VBD_pump_during_apogee 248 844 4906.09 WL_BBFL2VMT 0 0 0.00

VBD_pump_during_surface 66 459 716.25 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 67.88 nil 0 0 0.00

Iridium_during_connect 40 160 151.46 nil 0 0 0.00

Iridium_during_xfer 245 223 1281.76 nil 0 0 0.00

Transponder_ping 0 420 4.91 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.69

TT8 2218 19 426.09

LPSleep 5544 2 117.77

TT8_Active 497 19 95.54

TT8_Sampling 1726 39 666.40

TT8_CF8 272 45 121.06

TT8_Kalman 0 0 0.00

Analog_circuits 1251 12 145.70

GPS_charging 0 0 0.00

Compass 1404 15 204.41

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 63 0.00 0.00 -44.22 0.000 2 0.000 0.000 104 2195 2559 0 0 0 0 0 0 28.83 28.83 28.83

67 -0.86 -65.1 3.3 -3.3 8 99 11.27 2.28 -11.43 0.000 4 0.220 0.063 2908 790 3062 0 0 0 0 0 0 24.54 25.38 26.16

147 -0.86 -65.1 23.5 -23.8 22 154 0.00 2.22 0.00 0.000 6 0.000 0.049 2899 2202 3063 0 0 0 0 0 0 28.83 25.28 28.83

461 -0.86 -65.1 94.7 -20.1 83 468 0.00 2.22 0.00 0.000 4 0.000 0.048 2898 787 3064 0 0 0 0 0 0 28.83 25.16 28.83

547 -0.86 -65.1 110.5 -16.8 99 555 0.00 2.22 0.00 0.000 6 0.000 0.049 2889 2201 3065 0 0 0 0 0 0 28.83 25.15 28.83

860 -0.86 -65.1 162.9 -16.3 126 867 0.00 2.22 0.00 0.000 4 0.000 0.047 2888 780 3065 0 0 0 0 0 0 28.83 25.13 28.83

949 -0.86 -65.1 177.9 -16.7 135 958 0.12 2.30 0.00 0.000 6 0.154 0.049 2914 2204 3065 0 0 0 0 0 0 24.66 25.10 28.83

1274 -0.86 -65.1 227.7 -14.6 154 1276 0.00 0.00 0.00 0.000 6 0.000 0.000 2913 2204 3066 0 0 0 0 0 0 28.83 28.83 28.83

1573 -0.86 -65.1 271.1 -14.4 169 1579 0.00 2.30 0.00 0.000 4 0.000 0.047 2913 784 3066 0 0 0 0 0 0 28.83 25.06 28.83

1644 -0.86 -65.1 279.7 -14.4 172 1652 0.00 2.30 0.00 0.000 6 0.000 0.049 2905 2201 3065 0 0 0 0 0 0 28.83 25.05 28.83

1953 -0.86 -65.1 327.9 -15.3 188 1959 0.00 2.28 0.00 0.000 4 0.000 0.047 2905 787 3065 0 0 0 0 0 0 28.83 25.04 28.83

2041 -0.86 -65.1 340.4 -15.7 192 2045 0.00 2.33 0.00 0.000 6 0.000 0.050 2894 2206 3065 0 0 0 0 0 0 28.83 25.00 28.83

2344 -0.86 -65.1 387.8 -15.2 207 2349 0.00 2.33 0.00 0.000 4 0.000 0.060 2883 3606 3065 0 0 0 0 0 0 28.83 24.80 28.83

2434 -0.86 -65.1 401.9 -15.8 212 2439 0.10 2.28 0.00 0.000 6 0.153 0.042 2912 2186 3065 0 0 0 0 0 0 24.81 25.24 28.83

2763 -0.86 -65.1 446.4 -12.8 223 2769 0.00 2.25 0.00 0.000 4 0.000 0.049 2912 801 3065 0 0 0 0 0 0 28.83 24.98 28.83

2892 -0.86 -65.1 462.2 -13.1 227 2898 0.00 2.30 0.00 0.000 6 0.000 0.050 2903 2204 3065 0 0 0 0 0 0 28.83 24.97 28.83

3031 end dive: TARGET_DEPTH_EXCEEDED

state 3031 begin apogee

3038 -0.22 0.0 482.3 -13.5 232 3100 0.70 0.00 58.20 0.845 6 0.134 0.000 3115 2345 2794 0 0 0 0 0 0 24.23 28.83 23.63

3100 end apogee: CONTROL_FINISHED_OK

state 3101 begin climb

3105 0.86 65.1 486.1 0.0 234 3173 1.02 2.33 60.08 0.806 4 0.077 0.061 3470 3731 2529 0 0 0 0 0 0 24.78 24.77 23.39

3211 0.87 76.8 481.9 5.5 238 3233 0.00 2.33 12.48 0.750 6 0.000 0.045 3482 2317 2478 0 0 0 0 0 0 28.83 25.20 23.53

3533 0.87 76.8 451.6 10.1 249 3539 0.00 2.28 0.00 0.000 4 0.000 0.052 3493 921 2474 0 0 0 0 0 0 28.83 25.36 28.83

3612 0.87 76.8 445.8 9.8 251 3622 0.00 2.28 0.00 0.000 6 0.000 0.052 3493 2312 2473 0 0 0 0 0 0 28.83 25.33 28.83

3923 0.87 76.8 414.9 9.1 262 3929 0.00 2.38 0.00 0.000 4 0.000 0.063 3494 3736 2472 0 0 0 0 0 0 28.83 25.09 28.83

3941 0.87 76.8 414.9 9.1 262 3945 0.00 2.30 0.00 0.000 6 0.000 0.046 3504 2321 2471 0 0 0 0 0 0 28.83 25.39 28.83

4254 0.87 76.8 385.5 8.6 275 4259 0.00 2.38 0.00 0.000 4 0.000 0.064 3504 3734 2471 0 0 0 0 0 0 28.83 25.01 28.83

4493 0.87 76.8 361.3 10.3 287 4499 0.15 2.30 0.00 0.000 6 0.184 0.045 3480 2324 2470 0 0 0 0 0 0 24.83 25.31 28.83

4814 0.87 76.8 335.4 7.7 303 4818 0.00 2.38 0.00 0.000 4 0.000 0.064 3480 3731 2469 0 0 0 0 0 0 28.83 24.89 28.83

5053 0.87 76.8 313.8 9.2 315 5059 0.00 2.30 0.00 0.000 6 0.000 0.045 3490 2323 2468 0 0 0 0 0 0 28.83 25.25 28.83

5373 0.87 76.8 286.4 8.7 331 5379 0.00 2.40 0.00 0.000 4 0.000 0.063 3490 3738 2468 0 0 0 0 0 0 28.83 24.83 28.83

5614 0.87 76.8 263.3 9.4 343 5619 0.00 2.30 0.00 0.000 6 0.000 0.046 3501 2322 2468 0 0 0 0 0 0 28.83 25.21 28.83

5935 0.87 77.3 239.0 7.0 359 5939 0.00 2.35 0.00 0.000 4 0.000 0.063 3501 3734 2468 0 0 0 0 0 0 28.83 24.78 28.83

6052 0.87 77.3 229.9 8.5 364 6062 0.15 2.33 0.00 0.000 6 0.183 0.046 3478 2314 2467 0 0 0 0 0 0 24.70 25.19 28.83

6365 0.87 77.3 207.3 7.4 380 6369 0.00 2.40 0.00 0.000 4 0.000 0.064 3478 3742 2467 0 0 0 0 0 0 28.83 24.75 28.83

6544 0.87 77.3 192.7 8.1 392 6552 0.00 2.25 0.00 0.000 6 0.000 0.046 3487 2322 2467 0 0 0 0 0 0 28.83 25.17 28.83

6853 0.87 87.2 172.9 5.7 413 6866 0.00 2.42 8.35 0.584 4 0.000 0.063 3487 3742 2438 0 0 0 0 0 0 28.83 25.14 24.06

6945 0.87 87.2 165.6 9.2 422 6953 0.00 2.30 0.00 0.000 6 0.000 0.046 3499 2324 2437 0 0 0 0 0 0 28.83 25.41 28.83

7256 0.88 93.1 143.1 6.2 443 7268 0.00 2.40 7.05 0.546 4 0.000 0.064 3499 3734 2414 0 0 0 0 0 0 28.83 25.24 24.09

7497 0.88 93.1 123.1 8.5 467 7508 0.12 2.30 0.00 0.000 6 0.187 0.045 3483 2321 2413 0 0 0 0 0 0 24.94 25.32 28.83

7811 0.88 101.5 104.2 5.9 522 7824 0.00 0.00 9.02 0.555 6 0.000 0.000 3482 2321 2380 0 0 0 0 0 0 28.83 28.83 24.12

8132 0.88 111.6 85.1 5.7 584 8150 0.00 2.28 10.35 0.559 4 0.000 0.054 3491 919 2339 0 0 0 0 0 0 28.83 25.37 24.11

8201 0.89 125.8 81.3 5.2 596 8226 0.00 2.22 14.20 0.576 6 0.000 0.053 3491 2326 2279 0 0 0 0 0 0 28.83 25.38 24.04

8534 0.90 145.4 59.7 4.4 660 8559 0.00 2.38 17.92 0.572 4 0.000 0.063 3491 3734 2200 0 0 0 0 0 0 28.83 25.29 24.12

8673 0.90 145.4 50.2 8.5 686 8679 0.00 2.22 0.00 0.000 6 0.000 0.046 3502 2318 2197 0 0 0 0 0 0 28.83 25.45 28.83

8987 0.90 157.0 31.5 5.5 747 9001 0.00 0.00 11.15 0.530 6 0.000 0.000 3502 2317 2154 0 0 0 0 0 0 28.83 28.83 24.15

9306 0.92 202.7 16.4 1.0 809 9354 0.00 2.35 39.45 0.558 4 0.000 0.063 3502 3741 1965 0 0 0 0 0 0 28.83 25.22 24.07

9588 0.92 204.9 6.3 6.7 862 9594 0.00 2.22 0.00 0.000 6 0.000 0.045 3513 2324 1959 0 0 0 0 0 0 28.83 25.40 28.83

9624 end climb: SURFACE_DEPTH_REACHED

state 9624 begin surface coast

9694 end surface coast: CONTROL_FINISHED_OK

state 9694 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	842	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	34	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	25	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	-1590045.2	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	200413,224136,4749.521,-12515.373,98,0.9,99,18.7	TGT_NAME	PARKING
_CALLS	1	TGT_LATLONG	4749.600,-12515.250
_XMS_NAKs	3	TGT_RADIUS	3000.000
_XMS_TOUTs	2	KALMAN_CONTROL	-0.160,-0.151
_SM_DEPTHo	2.11	KALMAN_X	28840.3,-242.5,2380.9,-124483.9,-7867.0
_SM_ANGLEo	-77.8	KALMAN_Y	16218.2,688.6,-1323.7,-71650.8,4158.7
GPS2	200413,224907,4749.476,-12515.269,15,1.4,15,18.7	MHEAD_RNG_PITCHd_Wd	303.5,231,-26.8,-7.021,-30.00
SPEED_LIMITS	0.122,0.210	D_GRID	482

FINISH	1.2,1.023826	_10V_AH	9.7,86.751
SM_CCo	9714,66.57,0.460,4,0,1570,300.00	FG_AHR_24Vo	0.000
SM_GC	2.46,8.85,0.17,66.57,0.031,0.076,0.460,106,2193,1570,-9.47,1.27,300.00,0,0,0,0,4,0,25.76,25.86,23.98	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4732.49,-12503.20,200413,191913	MEM	296732
TT8_MAMPS	0.028462,0.028462	DATA_FILE_SIZE	47031,882
HUMID	48.38	CAP_FILE_SIZE	101127,0
INTERNAL_PRESSURE	9.11829	CFSIZE	260165632,187756544
TCM_TEMP	19.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
XPDR_PINGS	2	CURRENT	0.074, 78.3,1
_24V_AH	23.4,116.551	GPS	210413,013520,4749.988,-12515.656,76,4.9,96,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	219	115.60	SBE_CT	605	24	340.22
Roll_motor	92	81	177.27	SBE_O2	571	19	254.19
VBD_pump_during_apogee	248	844	4906.09	WL_BBFL2VMT	0	0	0.00
VBD_pump_during_surface	66	459	716.25	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	67.88	nil	0	0	0.00
Iridium_during_connect	40	160	151.46	nil	0	0	0.00
Iridium_during_xfer	245	223	1281.76	nil	0	0	0.00
Transponder_ping	0	420	4.91	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.69
TT8	2218	19	426.09
LPSleep	5544	2	117.77
TT8_Active	497	19	95.54
TT8_Sampling	1726	39	666.40
TT8_CF8	272	45	121.06
TT8_Kalman	0	0	0.00
Analog_circuits	1251	12	145.70
GPS_charging	0	0	0.00
Compass	1404	15	204.41
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	63	0.00	0.00	-44.22	0.000	2	0.000	0.000	104	2195	2559	0	0	0	0	0	0	28.83	28.83	28.83
67	-0.86	-65.1	3.3	-3.3	8	99	11.27	2.28	-11.43	0.000	4	0.220	0.063	2908	790	3062	0	0	0	0	0	0	24.54	25.38	26.16
147	-0.86	-65.1	23.5	-23.8	22	154	0.00	2.22	0.00	0.000	6	0.000	0.049	2899	2202	3063	0	0	0	0	0	0	28.83	25.28	28.83
461	-0.86	-65.1	94.7	-20.1	83	468	0.00	2.22	0.00	0.000	4	0.000	0.048	2898	787	3064	0	0	0	0	0	0	28.83	25.16	28.83
547	-0.86	-65.1	110.5	-16.8	99	555	0.00	2.22	0.00	0.000	6	0.000	0.049	2889	2201	3065	0	0	0	0	0	0	28.83	25.15	28.83
860	-0.86	-65.1	162.9	-16.3	126	867	0.00	2.22	0.00	0.000	4	0.000	0.047	2888	780	3065	0	0	0	0	0	0	28.83	25.13	28.83
949	-0.86	-65.1	177.9	-16.7	135	958	0.12	2.30	0.00	0.000	6	0.154	0.049	2914	2204	3065	0	0	0	0	0	0	24.66	25.10	28.83
1274	-0.86	-65.1	227.7	-14.6	154	1276	0.00	0.00	0.00	0.000	6	0.000	0.000	2913	2204	3066	0	0	0	0	0	0	28.83	28.83	28.83
1573	-0.86	-65.1	271.1	-14.4	169	1579	0.00	2.30	0.00	0.000	4	0.000	0.047	2913	784	3066	0	0	0	0	0	0	28.83	25.06	28.83
1644	-0.86	-65.1	279.7	-14.4	172	1652	0.00	2.30	0.00	0.000	6	0.000	0.049	2905	2201	3065	0	0	0	0	0	0	28.83	25.05	28.83
1953	-0.86	-65.1	327.9	-15.3	188	1959	0.00	2.28	0.00	0.000	4	0.000	0.047	2905	787	3065	0	0	0	0	0	0	28.83	25.04	28.83
2041	-0.86	-65.1	340.4	-15.7	192	2045	0.00	2.33	0.00	0.000	6	0.000	0.050	2894	2206	3065	0	0	0	0	0	0	28.83	25.00	28.83
2344	-0.86	-65.1	387.8	-15.2	207	2349	0.00	2.33	0.00	0.000	4	0.000	0.060	2883	3606	3065	0	0	0	0	0	0	28.83	24.80	28.83
2434	-0.86	-65.1	401.9	-15.8	212	2439	0.10	2.28	0.00	0.000	6	0.153	0.042	2912	2186	3065	0	0	0	0	0	0	24.81	25.24	28.83
2763	-0.86	-65.1	446.4	-12.8	223	2769	0.00	2.25	0.00	0.000	4	0.000	0.049	2912	801	3065	0	0	0	0	0	0	28.83	24.98	28.83
2892	-0.86	-65.1	462.2	-13.1	227	2898	0.00	2.30	0.00	0.000	6	0.000	0.050	2903	2204	3065	0	0	0	0	0	0	28.83	24.97	28.83
3031	end dive: TARGET_DEPTH_EXCEEDED
state	3031	begin apogee
3038	-0.22	0.0	482.3	-13.5	232	3100	0.70	0.00	58.20	0.845	6	0.134	0.000	3115	2345	2794	0	0	0	0	0	0	24.23	28.83	23.63
3100	end apogee: CONTROL_FINISHED_OK
state	3101	begin climb
3105	0.86	65.1	486.1	0.0	234	3173	1.02	2.33	60.08	0.806	4	0.077	0.061	3470	3731	2529	0	0	0	0	0	0	24.78	24.77	23.39
3211	0.87	76.8	481.9	5.5	238	3233	0.00	2.33	12.48	0.750	6	0.000	0.045	3482	2317	2478	0	0	0	0	0	0	28.83	25.20	23.53
3533	0.87	76.8	451.6	10.1	249	3539	0.00	2.28	0.00	0.000	4	0.000	0.052	3493	921	2474	0	0	0	0	0	0	28.83	25.36	28.83
3612	0.87	76.8	445.8	9.8	251	3622	0.00	2.28	0.00	0.000	6	0.000	0.052	3493	2312	2473	0	0	0	0	0	0	28.83	25.33	28.83
3923	0.87	76.8	414.9	9.1	262	3929	0.00	2.38	0.00	0.000	4	0.000	0.063	3494	3736	2472	0	0	0	0	0	0	28.83	25.09	28.83
3941	0.87	76.8	414.9	9.1	262	3945	0.00	2.30	0.00	0.000	6	0.000	0.046	3504	2321	2471	0	0	0	0	0	0	28.83	25.39	28.83
4254	0.87	76.8	385.5	8.6	275	4259	0.00	2.38	0.00	0.000	4	0.000	0.064	3504	3734	2471	0	0	0	0	0	0	28.83	25.01	28.83
4493	0.87	76.8	361.3	10.3	287	4499	0.15	2.30	0.00	0.000	6	0.184	0.045	3480	2324	2470	0	0	0	0	0	0	24.83	25.31	28.83
4814	0.87	76.8	335.4	7.7	303	4818	0.00	2.38	0.00	0.000	4	0.000	0.064	3480	3731	2469	0	0	0	0	0	0	28.83	24.89	28.83
5053	0.87	76.8	313.8	9.2	315	5059	0.00	2.30	0.00	0.000	6	0.000	0.045	3490	2323	2468	0	0	0	0	0	0	28.83	25.25	28.83
5373	0.87	76.8	286.4	8.7	331	5379	0.00	2.40	0.00	0.000	4	0.000	0.063	3490	3738	2468	0	0	0	0	0	0	28.83	24.83	28.83
5614	0.87	76.8	263.3	9.4	343	5619	0.00	2.30	0.00	0.000	6	0.000	0.046	3501	2322	2468	0	0	0	0	0	0	28.83	25.21	28.83
5935	0.87	77.3	239.0	7.0	359	5939	0.00	2.35	0.00	0.000	4	0.000	0.063	3501	3734	2468	0	0	0	0	0	0	28.83	24.78	28.83
6052	0.87	77.3	229.9	8.5	364	6062	0.15	2.33	0.00	0.000	6	0.183	0.046	3478	2314	2467	0	0	0	0	0	0	24.70	25.19	28.83
6365	0.87	77.3	207.3	7.4	380	6369	0.00	2.40	0.00	0.000	4	0.000	0.064	3478	3742	2467	0	0	0	0	0	0	28.83	24.75	28.83
6544	0.87	77.3	192.7	8.1	392	6552	0.00	2.25	0.00	0.000	6	0.000	0.046	3487	2322	2467	0	0	0	0	0	0	28.83	25.17	28.83
6853	0.87	87.2	172.9	5.7	413	6866	0.00	2.42	8.35	0.584	4	0.000	0.063	3487	3742	2438	0	0	0	0	0	0	28.83	25.14	24.06
6945	0.87	87.2	165.6	9.2	422	6953	0.00	2.30	0.00	0.000	6	0.000	0.046	3499	2324	2437	0	0	0	0	0	0	28.83	25.41	28.83
7256	0.88	93.1	143.1	6.2	443	7268	0.00	2.40	7.05	0.546	4	0.000	0.064	3499	3734	2414	0	0	0	0	0	0	28.83	25.24	24.09
7497	0.88	93.1	123.1	8.5	467	7508	0.12	2.30	0.00	0.000	6	0.187	0.045	3483	2321	2413	0	0	0	0	0	0	24.94	25.32	28.83
7811	0.88	101.5	104.2	5.9	522	7824	0.00	0.00	9.02	0.555	6	0.000	0.000	3482	2321	2380	0	0	0	0	0	0	28.83	28.83	24.12
8132	0.88	111.6	85.1	5.7	584	8150	0.00	2.28	10.35	0.559	4	0.000	0.054	3491	919	2339	0	0	0	0	0	0	28.83	25.37	24.11
8201	0.89	125.8	81.3	5.2	596	8226	0.00	2.22	14.20	0.576	6	0.000	0.053	3491	2326	2279	0	0	0	0	0	0	28.83	25.38	24.04
8534	0.90	145.4	59.7	4.4	660	8559	0.00	2.38	17.92	0.572	4	0.000	0.063	3491	3734	2200	0	0	0	0	0	0	28.83	25.29	24.12
8673	0.90	145.4	50.2	8.5	686	8679	0.00	2.22	0.00	0.000	6	0.000	0.046	3502	2318	2197	0	0	0	0	0	0	28.83	25.45	28.83
8987	0.90	157.0	31.5	5.5	747	9001	0.00	0.00	11.15	0.530	6	0.000	0.000	3502	2317	2154	0	0	0	0	0	0	28.83	28.83	24.15
9306	0.92	202.7	16.4	1.0	809	9354	0.00	2.35	39.45	0.558	4	0.000	0.063	3502	3741	1965	0	0	0	0	0	0	28.83	25.22	24.07
9588	0.92	204.9	6.3	6.7	862	9594	0.00	2.22	0.00	0.000	6	0.000	0.045	3513	2324	1959	0	0	0	0	0	0	28.83	25.40	28.83
9624	end climb: SURFACE_DEPTH_REACHED
state	9624	begin surface coast
9694	end surface coast: CONTROL_FINISHED_OK
state	9694	begin surface