Glider dive log

NANOOS Sep12 * SG187 * Dive index * Mission links * Dive 844 * 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 844 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 39 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 -1590047.8 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 -1590047.8

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 39 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 844 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 210413,044206,4749.672,-12514.815,74,1.1,75,18.7 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 2.14 KALMAN_X 28840.3,-242.5,2380.9,-124483.9,-7867.0

_SM_ANGLEo -78.9 KALMAN_Y 16218.2,688.6,-1323.7,-71650.8,4158.7

GPS2 210413,044901,4749.639,-12514.808,17,1.4,17,18.7 MHEAD_RNG_PITCHd_Wd 230.6,554,-26.2,-7.021,-29.45

SPEED_LIMITS 0.122,0.210 D_GRID 482

Post-dive calculations and measurements:

FINISH 1.1,1.023580 _10V_AH 9.9,86.877

SM_CCo 10038,54.83,0.454,3,0,1571,300.00 FG_AHR_24Vo 0.000

SM_GC 3.05,8.80,0.17,54.83,0.033,0.076,0.454,110,2195,1571,-9.46,1.30,300.00,0,0,0,0,3,0,25.80,25.84,24.00 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4732.49,-12519.22,210413,010134 MEM 296760

TT8_MAMPS 0.027713,0.027713 DATA_FILE_SIZE 50224,898

HUMID 48.66 CAP_FILE_SIZE 102008,0

INTERNAL_PRESSURE 9.11829 CFSIZE 260165632,187633664

TCM_TEMP 19.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 0 CURRENT 0.107, 83.9,1

_24V_AH 23.4,116.699 GPS 210413,074036,4749.303,-12514.847,98,1.3,99,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 216 113.10 SBE_CT 616 24 346.50

Roll_motor 87 76 156.77 SBE_O2 580 19 258.03

VBD_pump_during_apogee 260 846 5163.16 WL_BBFL2VMT 0 0 0.00

VBD_pump_during_surface 54 454 582.96 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 65.83 nil 0 0 0.00

Iridium_during_connect 39 160 147.11 nil 0 0 0.00

Iridium_during_xfer 205 223 1071.37 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 50 9.07

TT8 2273 19 445.59

LPSleep 5786 2 125.46

TT8_Active 475 19 93.13

TT8_Sampling 1730 39 681.73

TT8_CF8 276 45 125.54

TT8_Kalman 0 0 0.00

Analog_circuits 1247 12 148.21

GPS_charging 0 0 0.00

Compass 1447 15 214.95

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -0.84 -38.6 0.0 0.0 0 63 0.00 0.00 -44.05 0.000 2 0.000 0.000 109 2188 2559 0 0 0 0 0 0 28.83 28.83 28.83

67 -0.85 -65.6 3.3 -3.6 8 99 11.20 2.38 -11.27 0.000 4 0.216 0.071 2905 3615 3064 0 0 0 0 0 0 24.54 25.30 26.17

116 -0.85 -65.6 18.0 -29.3 16 123 0.00 2.22 0.00 0.000 6 0.000 0.042 2905 2197 3066 0 0 0 0 0 0 28.83 25.46 28.83

429 -0.85 -65.6 90.1 -20.0 77 435 0.00 0.00 0.00 0.000 6 0.000 0.000 2905 2191 3067 0 0 0 0 0 0 28.83 28.83 28.83

744 -0.85 -65.6 146.8 -17.9 119 745 0.00 0.00 0.00 0.000 6 0.000 0.000 2905 2191 3068 0 0 0 0 0 0 28.83 28.83 28.83

1044 -0.85 -65.6 196.4 -16.0 139 1052 0.00 2.25 0.00 0.000 4 0.000 0.048 2905 791 3068 0 0 0 0 0 0 28.83 25.08 28.83

1165 -0.85 -65.6 215.5 -15.9 147 1169 0.00 2.25 0.00 0.000 6 0.000 0.050 2895 2214 3068 0 0 0 0 0 0 28.83 25.06 28.83

1484 -0.85 -65.6 264.3 -15.7 163 1489 0.00 2.28 0.00 0.000 4 0.000 0.048 2894 802 3068 0 0 0 0 0 0 28.83 25.06 28.83

1551 -0.85 -65.6 273.9 -15.8 166 1556 0.15 2.28 0.00 0.000 6 0.168 0.049 2920 2199 3068 0 0 0 0 0 0 24.67 25.04 28.83

1854 -0.85 -65.6 316.5 -13.1 181 1859 0.00 2.33 0.00 0.000 4 0.000 0.060 2911 3603 3068 0 0 0 0 0 0 28.83 24.81 28.83

1881 -0.85 -65.6 319.4 -13.2 182 1885 0.00 2.28 0.00 0.000 6 0.000 0.042 2911 2194 3068 0 0 0 0 0 0 28.83 25.25 28.83

2183 -0.85 -65.6 363.8 -14.1 197 2189 0.00 2.25 0.00 0.000 4 0.000 0.049 2911 800 3068 0 0 0 0 0 0 28.83 25.01 28.83

2332 -0.85 -65.6 384.0 -14.4 204 2341 0.00 2.30 0.00 0.000 6 0.000 0.049 2900 2207 3068 0 0 0 0 0 0 28.83 24.99 28.83

2653 -0.85 -65.6 431.8 -14.3 217 2659 0.00 2.30 0.00 0.000 4 0.000 0.048 2901 797 3067 0 0 0 0 0 0 28.83 24.97 28.83

2691 -0.85 -65.6 436.3 -14.3 218 2696 0.12 2.30 0.00 0.000 6 0.181 0.050 2918 2200 3067 0 0 0 0 0 0 24.65 24.97 28.83

3005 -0.85 -65.6 481.6 -13.9 229 3010 0.00 2.35 0.00 0.000 4 0.000 0.061 2909 3606 3067 0 0 0 0 0 0 28.83 24.72 28.83

3031 end dive: TARGET_DEPTH_EXCEEDED

state 3032 begin apogee

3040 -0.22 0.0 485.7 -13.8 230 3102 0.70 0.00 58.58 0.847 6 0.139 0.000 3118 2318 2794 0 0 0 0 0 0 24.12 28.83 23.65

3103 end apogee: CONTROL_FINISHED_OK

state 3103 begin climb

3107 0.85 65.6 489.9 0.0 232 3176 0.98 2.38 60.55 0.812 4 0.073 0.051 3473 918 2525 0 0 0 0 0 0 24.84 24.79 23.38

3204 0.85 75.9 485.6 5.7 236 3221 0.00 2.33 10.90 0.736 6 0.000 0.053 3473 2323 2483 0 0 0 0 0 0 28.83 25.04 23.46

3535 0.85 75.9 456.2 9.2 247 3540 0.00 2.35 0.00 0.000 4 0.000 0.064 3473 3733 2478 0 0 0 0 0 0 28.83 25.26 28.83

3776 0.85 75.9 430.5 11.1 255 3780 0.00 2.22 0.00 0.000 6 0.000 0.046 3484 2328 2476 0 0 0 0 0 0 28.83 25.41 28.83

4094 0.85 75.9 397.7 9.7 266 4100 0.00 2.38 0.00 0.000 4 0.000 0.063 3484 3736 2475 0 0 0 0 0 0 28.83 25.04 28.83

4335 0.85 75.9 373.4 10.0 278 4340 0.00 2.30 0.00 0.000 6 0.000 0.046 3496 2321 2474 0 0 0 0 0 0 28.83 25.32 28.83

4654 0.85 75.9 345.2 8.5 294 4660 0.00 2.33 0.00 0.000 4 0.000 0.052 3507 914 2473 0 0 0 0 0 0 28.83 25.07 28.83

4895 0.85 75.9 325.4 8.5 306 4901 0.12 2.30 0.00 0.000 6 0.156 0.053 3471 2323 2473 0 0 0 0 0 0 24.62 25.05 28.83

5216 0.85 75.9 301.5 7.1 322 5220 0.00 2.35 0.00 0.000 4 0.000 0.064 3471 3744 2473 0 0 0 0 0 0 28.83 24.82 28.83

5455 0.85 75.9 283.4 7.3 334 5460 0.00 2.30 0.00 0.000 6 0.000 0.045 3479 2323 2471 0 0 0 0 0 0 28.83 25.22 28.83

5774 0.85 77.1 262.0 6.9 350 5780 0.00 2.30 0.00 0.000 4 0.000 0.053 3491 916 2472 0 0 0 0 0 0 28.83 24.96 28.83

5914 0.85 77.1 251.9 7.4 357 5920 0.00 2.35 0.00 0.000 6 0.000 0.054 3491 2333 2472 0 0 0 0 0 0 28.83 24.92 28.83

6235 0.85 77.1 226.4 8.1 373 6240 0.00 2.35 0.00 0.000 4 0.000 0.063 3491 3730 2471 0 0 0 0 0 0 28.83 24.75 28.83

6414 0.85 77.1 211.9 7.9 382 6420 0.12 2.30 0.00 0.000 6 0.187 0.046 3474 2324 2471 0 0 0 0 0 0 24.75 25.15 28.83

6736 0.85 80.4 192.2 6.6 400 6737 0.00 0.00 0.00 0.000 6 0.000 0.000 3474 2322 2471 0 0 0 0 0 0 28.83 28.83 28.83

7034 0.85 87.0 173.1 6.2 420 7053 0.00 2.42 9.02 0.593 4 0.000 0.064 3475 3744 2438 0 0 0 0 0 0 28.83 25.13 24.06

7105 0.85 87.0 168.3 7.5 427 7113 0.00 2.30 0.00 0.000 6 0.000 0.046 3484 2320 2437 0 0 0 0 0 0 28.83 25.42 28.83

7416 0.86 103.2 150.1 5.0 448 7434 0.00 0.00 16.15 0.627 6 0.000 0.000 3484 2320 2373 0 0 0 0 0 0 28.83 28.83 24.06

7729 0.86 103.2 128.0 7.7 469 7738 0.00 2.38 0.00 0.000 4 0.000 0.063 3484 3737 2370 0 0 0 0 0 0 28.83 25.03 28.83

7800 0.86 103.2 121.8 9.4 476 7808 0.00 2.28 0.00 0.000 6 0.000 0.046 3495 2325 2369 0 0 0 0 0 0 28.83 25.30 28.83

8113 0.86 109.3 97.2 6.3 535 8126 0.00 2.25 6.82 0.523 4 0.000 0.051 3507 916 2347 0 0 0 0 0 0 28.83 25.34 24.11

8232 0.86 112.9 89.1 6.6 557 8246 0.12 2.25 4.75 0.458 6 0.170 0.053 3477 2334 2333 0 0 0 0 0 0 25.02 25.26 24.11

8557 0.88 149.4 76.5 2.4 619 8599 0.00 2.35 32.55 0.600 4 0.000 0.064 3477 3732 2183 0 0 0 0 0 0 28.83 25.20 24.01

8662 0.88 149.4 70.8 7.8 638 8670 0.00 2.25 0.00 0.000 6 0.000 0.046 3486 2317 2181 0 0 0 0 0 0 28.83 25.43 28.83

8976 0.88 151.3 50.5 6.8 699 8983 0.00 2.35 0.00 0.000 4 0.000 0.064 3487 3741 2179 0 0 0 0 0 0 28.83 25.01 28.83

9213 0.88 154.1 33.4 6.7 745 9227 0.00 2.22 4.93 0.437 6 0.000 0.045 3498 2323 2164 0 0 0 0 0 0 28.83 25.29 24.18

9536 0.90 204.4 19.1 0.7 807 9585 0.00 0.00 43.20 0.561 6 0.000 0.000 3498 2323 1959 0 0 0 0 0 0 28.83 28.83 24.06

9894 0.91 219.5 6.5 5.1 875 9911 0.00 0.00 13.10 0.517 6 0.000 0.000 3498 2323 1898 0 0 0 0 0 0 28.83 28.83 24.13

9937 end climb: SURFACE_DEPTH_REACHED

state 9937 begin surface coast

10018 end surface coast: CONTROL_FINISHED_OK

state 10018 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	844	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	39	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	-1590047.8	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	210413,044206,4749.672,-12514.815,74,1.1,75,18.7	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	2.14	KALMAN_X	28840.3,-242.5,2380.9,-124483.9,-7867.0
_SM_ANGLEo	-78.9	KALMAN_Y	16218.2,688.6,-1323.7,-71650.8,4158.7
GPS2	210413,044901,4749.639,-12514.808,17,1.4,17,18.7	MHEAD_RNG_PITCHd_Wd	230.6,554,-26.2,-7.021,-29.45
SPEED_LIMITS	0.122,0.210	D_GRID	482

FINISH	1.1,1.023580	_10V_AH	9.9,86.877
SM_CCo	10038,54.83,0.454,3,0,1571,300.00	FG_AHR_24Vo	0.000
SM_GC	3.05,8.80,0.17,54.83,0.033,0.076,0.454,110,2195,1571,-9.46,1.30,300.00,0,0,0,0,3,0,25.80,25.84,24.00	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4732.49,-12519.22,210413,010134	MEM	296760
TT8_MAMPS	0.027713,0.027713	DATA_FILE_SIZE	50224,898
HUMID	48.66	CAP_FILE_SIZE	102008,0
INTERNAL_PRESSURE	9.11829	CFSIZE	260165632,187633664
TCM_TEMP	19.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	0	CURRENT	0.107, 83.9,1
_24V_AH	23.4,116.699	GPS	210413,074036,4749.303,-12514.847,98,1.3,99,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	216	113.10	SBE_CT	616	24	346.50
Roll_motor	87	76	156.77	SBE_O2	580	19	258.03
VBD_pump_during_apogee	260	846	5163.16	WL_BBFL2VMT	0	0	0.00
VBD_pump_during_surface	54	454	582.96	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	65.83	nil	0	0	0.00
Iridium_during_connect	39	160	147.11	nil	0	0	0.00
Iridium_during_xfer	205	223	1071.37	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	50	9.07
TT8	2273	19	445.59
LPSleep	5786	2	125.46
TT8_Active	475	19	93.13
TT8_Sampling	1730	39	681.73
TT8_CF8	276	45	125.54
TT8_Kalman	0	0	0.00
Analog_circuits	1247	12	148.21
GPS_charging	0	0	0.00
Compass	1447	15	214.95
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-0.84	-38.6	0.0	0.0	0	63	0.00	0.00	-44.05	0.000	2	0.000	0.000	109	2188	2559	0	0	0	0	0	0	28.83	28.83	28.83
67	-0.85	-65.6	3.3	-3.6	8	99	11.20	2.38	-11.27	0.000	4	0.216	0.071	2905	3615	3064	0	0	0	0	0	0	24.54	25.30	26.17
116	-0.85	-65.6	18.0	-29.3	16	123	0.00	2.22	0.00	0.000	6	0.000	0.042	2905	2197	3066	0	0	0	0	0	0	28.83	25.46	28.83
429	-0.85	-65.6	90.1	-20.0	77	435	0.00	0.00	0.00	0.000	6	0.000	0.000	2905	2191	3067	0	0	0	0	0	0	28.83	28.83	28.83
744	-0.85	-65.6	146.8	-17.9	119	745	0.00	0.00	0.00	0.000	6	0.000	0.000	2905	2191	3068	0	0	0	0	0	0	28.83	28.83	28.83
1044	-0.85	-65.6	196.4	-16.0	139	1052	0.00	2.25	0.00	0.000	4	0.000	0.048	2905	791	3068	0	0	0	0	0	0	28.83	25.08	28.83
1165	-0.85	-65.6	215.5	-15.9	147	1169	0.00	2.25	0.00	0.000	6	0.000	0.050	2895	2214	3068	0	0	0	0	0	0	28.83	25.06	28.83
1484	-0.85	-65.6	264.3	-15.7	163	1489	0.00	2.28	0.00	0.000	4	0.000	0.048	2894	802	3068	0	0	0	0	0	0	28.83	25.06	28.83
1551	-0.85	-65.6	273.9	-15.8	166	1556	0.15	2.28	0.00	0.000	6	0.168	0.049	2920	2199	3068	0	0	0	0	0	0	24.67	25.04	28.83
1854	-0.85	-65.6	316.5	-13.1	181	1859	0.00	2.33	0.00	0.000	4	0.000	0.060	2911	3603	3068	0	0	0	0	0	0	28.83	24.81	28.83
1881	-0.85	-65.6	319.4	-13.2	182	1885	0.00	2.28	0.00	0.000	6	0.000	0.042	2911	2194	3068	0	0	0	0	0	0	28.83	25.25	28.83
2183	-0.85	-65.6	363.8	-14.1	197	2189	0.00	2.25	0.00	0.000	4	0.000	0.049	2911	800	3068	0	0	0	0	0	0	28.83	25.01	28.83
2332	-0.85	-65.6	384.0	-14.4	204	2341	0.00	2.30	0.00	0.000	6	0.000	0.049	2900	2207	3068	0	0	0	0	0	0	28.83	24.99	28.83
2653	-0.85	-65.6	431.8	-14.3	217	2659	0.00	2.30	0.00	0.000	4	0.000	0.048	2901	797	3067	0	0	0	0	0	0	28.83	24.97	28.83
2691	-0.85	-65.6	436.3	-14.3	218	2696	0.12	2.30	0.00	0.000	6	0.181	0.050	2918	2200	3067	0	0	0	0	0	0	24.65	24.97	28.83
3005	-0.85	-65.6	481.6	-13.9	229	3010	0.00	2.35	0.00	0.000	4	0.000	0.061	2909	3606	3067	0	0	0	0	0	0	28.83	24.72	28.83
3031	end dive: TARGET_DEPTH_EXCEEDED
state	3032	begin apogee
3040	-0.22	0.0	485.7	-13.8	230	3102	0.70	0.00	58.58	0.847	6	0.139	0.000	3118	2318	2794	0	0	0	0	0	0	24.12	28.83	23.65
3103	end apogee: CONTROL_FINISHED_OK
state	3103	begin climb
3107	0.85	65.6	489.9	0.0	232	3176	0.98	2.38	60.55	0.812	4	0.073	0.051	3473	918	2525	0	0	0	0	0	0	24.84	24.79	23.38
3204	0.85	75.9	485.6	5.7	236	3221	0.00	2.33	10.90	0.736	6	0.000	0.053	3473	2323	2483	0	0	0	0	0	0	28.83	25.04	23.46
3535	0.85	75.9	456.2	9.2	247	3540	0.00	2.35	0.00	0.000	4	0.000	0.064	3473	3733	2478	0	0	0	0	0	0	28.83	25.26	28.83
3776	0.85	75.9	430.5	11.1	255	3780	0.00	2.22	0.00	0.000	6	0.000	0.046	3484	2328	2476	0	0	0	0	0	0	28.83	25.41	28.83
4094	0.85	75.9	397.7	9.7	266	4100	0.00	2.38	0.00	0.000	4	0.000	0.063	3484	3736	2475	0	0	0	0	0	0	28.83	25.04	28.83
4335	0.85	75.9	373.4	10.0	278	4340	0.00	2.30	0.00	0.000	6	0.000	0.046	3496	2321	2474	0	0	0	0	0	0	28.83	25.32	28.83
4654	0.85	75.9	345.2	8.5	294	4660	0.00	2.33	0.00	0.000	4	0.000	0.052	3507	914	2473	0	0	0	0	0	0	28.83	25.07	28.83
4895	0.85	75.9	325.4	8.5	306	4901	0.12	2.30	0.00	0.000	6	0.156	0.053	3471	2323	2473	0	0	0	0	0	0	24.62	25.05	28.83
5216	0.85	75.9	301.5	7.1	322	5220	0.00	2.35	0.00	0.000	4	0.000	0.064	3471	3744	2473	0	0	0	0	0	0	28.83	24.82	28.83
5455	0.85	75.9	283.4	7.3	334	5460	0.00	2.30	0.00	0.000	6	0.000	0.045	3479	2323	2471	0	0	0	0	0	0	28.83	25.22	28.83
5774	0.85	77.1	262.0	6.9	350	5780	0.00	2.30	0.00	0.000	4	0.000	0.053	3491	916	2472	0	0	0	0	0	0	28.83	24.96	28.83
5914	0.85	77.1	251.9	7.4	357	5920	0.00	2.35	0.00	0.000	6	0.000	0.054	3491	2333	2472	0	0	0	0	0	0	28.83	24.92	28.83
6235	0.85	77.1	226.4	8.1	373	6240	0.00	2.35	0.00	0.000	4	0.000	0.063	3491	3730	2471	0	0	0	0	0	0	28.83	24.75	28.83
6414	0.85	77.1	211.9	7.9	382	6420	0.12	2.30	0.00	0.000	6	0.187	0.046	3474	2324	2471	0	0	0	0	0	0	24.75	25.15	28.83
6736	0.85	80.4	192.2	6.6	400	6737	0.00	0.00	0.00	0.000	6	0.000	0.000	3474	2322	2471	0	0	0	0	0	0	28.83	28.83	28.83
7034	0.85	87.0	173.1	6.2	420	7053	0.00	2.42	9.02	0.593	4	0.000	0.064	3475	3744	2438	0	0	0	0	0	0	28.83	25.13	24.06
7105	0.85	87.0	168.3	7.5	427	7113	0.00	2.30	0.00	0.000	6	0.000	0.046	3484	2320	2437	0	0	0	0	0	0	28.83	25.42	28.83
7416	0.86	103.2	150.1	5.0	448	7434	0.00	0.00	16.15	0.627	6	0.000	0.000	3484	2320	2373	0	0	0	0	0	0	28.83	28.83	24.06
7729	0.86	103.2	128.0	7.7	469	7738	0.00	2.38	0.00	0.000	4	0.000	0.063	3484	3737	2370	0	0	0	0	0	0	28.83	25.03	28.83
7800	0.86	103.2	121.8	9.4	476	7808	0.00	2.28	0.00	0.000	6	0.000	0.046	3495	2325	2369	0	0	0	0	0	0	28.83	25.30	28.83
8113	0.86	109.3	97.2	6.3	535	8126	0.00	2.25	6.82	0.523	4	0.000	0.051	3507	916	2347	0	0	0	0	0	0	28.83	25.34	24.11
8232	0.86	112.9	89.1	6.6	557	8246	0.12	2.25	4.75	0.458	6	0.170	0.053	3477	2334	2333	0	0	0	0	0	0	25.02	25.26	24.11
8557	0.88	149.4	76.5	2.4	619	8599	0.00	2.35	32.55	0.600	4	0.000	0.064	3477	3732	2183	0	0	0	0	0	0	28.83	25.20	24.01
8662	0.88	149.4	70.8	7.8	638	8670	0.00	2.25	0.00	0.000	6	0.000	0.046	3486	2317	2181	0	0	0	0	0	0	28.83	25.43	28.83
8976	0.88	151.3	50.5	6.8	699	8983	0.00	2.35	0.00	0.000	4	0.000	0.064	3487	3741	2179	0	0	0	0	0	0	28.83	25.01	28.83
9213	0.88	154.1	33.4	6.7	745	9227	0.00	2.22	4.93	0.437	6	0.000	0.045	3498	2323	2164	0	0	0	0	0	0	28.83	25.29	24.18
9536	0.90	204.4	19.1	0.7	807	9585	0.00	0.00	43.20	0.561	6	0.000	0.000	3498	2323	1959	0	0	0	0	0	0	28.83	28.83	24.06
9894	0.91	219.5	6.5	5.1	875	9911	0.00	0.00	13.10	0.517	6	0.000	0.000	3498	2323	1898	0	0	0	0	0	0	28.83	28.83	24.13
9937	end climb: SURFACE_DEPTH_REACHED
state	9937	begin surface coast
10018	end surface coast: CONTROL_FINISHED_OK
state	10018	begin surface