Glider dive log

NANOOS Sep12 * SG187 * Dive index * Mission links * Dive 845 * 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 845 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 45 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 -1590049 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 -1590049

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 45 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 845 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 210413,074036,4749.303,-12514.847,98,1.3,99,18.7 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 2.17 KALMAN_X 28840.3,-242.5,2380.9,-124483.9,-7867.0

_SM_ANGLEo -78.2 KALMAN_Y 16218.2,688.6,-1323.7,-71650.8,4158.7

GPS2 210413,074725,4749.293,-12514.781,14,1.5,14,18.7 MHEAD_RNG_PITCHd_Wd 262.9,814,-21.0,-7.021,-24.80

SPEED_LIMITS 0.122,0.210 D_GRID 482

Post-dive calculations and measurements:

FINISH 1.2,1.015102 _10V_AH 9.9,86.935

SM_CCo 9370,47.67,0.439,3,0,1570,300.00 FG_AHR_24Vo 0.000

SM_GC 2.84,8.57,0.20,47.67,0.026,0.071,0.439,105,2189,1570,-9.48,1.05,300.00,0,0,0,0,3,0,25.77,25.85,24.04 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4732.49,-12519.22,210413,040411 MEM 296728

TT8_MAMPS 0.027713,0.027713 DATA_FILE_SIZE 46970,845

HUMID 49.05 CAP_FILE_SIZE 96600,0

INTERNAL_PRESSURE 9.11829 CFSIZE 260165632,187584512

TCM_TEMP 19.10 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 0 CURRENT 0.107,126.0,1

_24V_AH 23.3,116.785 GPS 210413,102654,4749.058,-12515.666,50,1.9,51,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 218 112.14 SBE_CT 580 24 324.48

Roll_motor 92 78 168.17 SBE_O2 550 19 243.66

VBD_pump_during_apogee 307 839 6006.34 WL_BBFL2VMT 0 0 0.00

VBD_pump_during_surface 47 439 487.78 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 66.79 nil 0 0 0.00

Iridium_during_connect 39 160 148.42 nil 0 0 0.00

Iridium_during_xfer 202 223 1052.62 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.46

TT8 2125 19 416.73

LPSleep 5334 2 115.65

TT8_Active 534 19 104.85

TT8_Sampling 1590 39 626.68

TT8_CF8 272 45 123.72

TT8_Kalman 0 0 0.00

Analog_circuits 1248 12 148.28

GPS_charging 0 0 0.00

Compass 1316 15 195.48

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 13 begin dive

17 -0.68 -59.7 0.0 0.0 0 63 0.00 0.00 -44.35 0.000 2 0.000 0.000 109 2194 2550 0 0 0 0 0 0 28.83 28.83 28.83

67 -0.70 -120.3 3.1 -2.0 8 104 11.43 2.38 -16.70 0.000 4 0.218 0.074 2951 3608 3289 0 0 0 0 0 0 24.56 25.27 26.18

219 -0.70 -120.3 38.1 -21.6 36 225 0.00 2.20 0.00 0.000 6 0.000 0.043 2951 2198 3291 0 0 0 0 0 0 28.83 25.38 28.83

532 -0.70 -120.3 100.9 -18.4 97 537 0.00 0.00 0.00 0.000 6 0.000 0.000 2951 2191 3292 0 0 0 0 0 0 28.83 28.83 28.83

851 -0.70 -120.3 149.7 -14.7 134 860 0.00 2.25 0.00 0.000 4 0.000 0.048 2951 798 3292 0 0 0 0 0 0 28.83 25.08 28.83

961 -0.70 -120.3 165.8 -14.3 145 970 0.00 2.30 0.00 0.000 6 0.000 0.049 2940 2209 3292 0 0 0 0 0 0 28.83 25.06 28.83

1272 -0.70 -120.3 210.4 -14.2 165 1277 0.00 2.33 0.00 0.000 4 0.000 0.060 2930 3604 3293 0 0 0 0 0 0 28.83 24.84 28.83

1291 -0.70 -120.3 213.3 -14.4 166 1298 0.15 2.28 0.00 0.000 6 0.148 0.041 2968 2194 3292 0 0 0 0 0 0 24.91 25.28 28.83

1611 -0.70 -120.3 256.7 -13.5 182 1617 0.00 2.25 0.00 0.000 4 0.000 0.048 2967 801 3292 0 0 0 0 0 0 28.83 25.02 28.83

1660 -0.70 -120.3 262.1 -13.4 184 1669 0.00 2.30 0.00 0.000 6 0.000 0.049 2960 2208 3292 0 0 0 0 0 0 28.83 25.01 28.83

1971 -0.70 -120.3 304.2 -13.3 200 1977 0.00 2.30 0.00 0.000 4 0.000 0.049 2960 801 3292 0 0 0 0 0 0 28.83 24.99 28.83

2039 -0.70 -120.3 312.2 -13.5 203 2043 0.00 2.30 0.00 0.000 6 0.000 0.049 2949 2208 3293 0 0 0 0 0 0 28.83 24.99 28.83

2342 -0.70 -120.3 355.6 -14.2 218 2347 0.00 2.28 0.00 0.000 4 0.000 0.049 2949 802 3292 0 0 0 0 0 0 28.83 24.98 28.83

2401 -0.70 -120.3 364.3 -14.5 221 2407 0.00 2.30 0.00 0.000 6 0.000 0.050 2939 2206 3292 0 0 0 0 0 0 28.83 24.97 28.83

2721 -0.70 -120.3 408.2 -13.1 236 2727 0.00 2.30 0.00 0.000 4 0.000 0.047 2939 790 3292 0 0 0 0 0 0 28.83 24.98 28.83

2752 -0.70 -120.3 412.2 -13.1 237 2758 0.10 2.30 0.00 0.000 6 0.132 0.050 2960 2198 3292 0 0 0 0 0 0 24.65 24.95 28.83

3081 -0.70 -120.3 451.8 -12.2 248 3087 0.00 2.38 0.00 0.000 4 0.000 0.062 2951 3618 3292 0 0 0 0 0 0 28.83 24.68 28.83

3159 -0.70 -120.3 459.0 -12.2 250 3163 0.00 2.30 0.00 0.000 6 0.000 0.043 2951 2197 3292 0 0 0 0 0 0 28.83 25.20 28.83

3338 end dive: TARGET_DEPTH_EXCEEDED

state 3338 begin apogee

3347 -0.22 0.0 483.6 -12.3 256 3454 0.52 0.00 104.28 0.839 6 0.119 0.000 3119 2340 2794 0 0 0 0 0 0 24.68 28.83 23.49

3455 end apogee: CONTROL_FINISHED_OK

state 3455 begin climb

3458 0.70 120.3 488.1 0.0 259 3572 0.90 0.00 109.05 0.808 6 0.077 0.000 3423 2340 2302 0 0 0 0 0 0 24.68 28.83 23.33

3872 0.70 120.3 454.1 10.5 273 3877 0.00 2.30 0.00 0.000 4 0.000 0.064 3423 3720 2295 0 0 0 0 0 0 28.83 25.25 28.83

3969 0.70 120.3 443.7 11.3 276 3973 0.00 2.28 0.00 0.000 6 0.000 0.045 3434 2320 2294 0 0 0 0 0 0 28.83 25.46 28.83

4282 0.70 120.3 414.9 8.2 287 4287 0.00 2.35 0.00 0.000 4 0.000 0.064 3434 3719 2294 0 0 0 0 0 0 28.83 25.10 28.83

4509 0.70 120.3 389.0 12.7 296 4514 0.00 2.28 0.00 0.000 6 0.000 0.045 3445 2324 2292 0 0 0 0 0 0 28.83 25.35 28.83

4812 0.70 120.3 352.5 11.3 311 4817 0.00 2.30 0.00 0.000 4 0.000 0.054 3456 919 2292 0 0 0 0 0 0 28.83 25.11 28.83

4871 0.70 120.3 345.8 11.2 314 4878 0.12 2.30 0.00 0.000 6 0.167 0.054 3426 2316 2292 0 0 0 0 0 0 24.87 25.10 28.83

5192 0.70 120.3 316.6 8.8 330 5197 0.00 2.38 0.00 0.000 4 0.000 0.065 3426 3728 2291 0 0 0 0 0 0 28.83 24.90 28.83

5231 0.70 120.3 312.8 9.0 332 5237 0.00 2.30 0.00 0.000 6 0.000 0.046 3435 2323 2290 0 0 0 0 0 0 28.83 25.27 28.83

5552 0.70 120.3 282.4 9.3 348 5554 0.00 0.00 0.00 0.000 6 0.000 0.000 3436 2321 2290 0 0 0 0 0 0 28.83 28.83 28.83

5852 0.70 120.3 255.1 8.9 363 5857 0.00 2.30 0.00 0.000 4 0.000 0.054 3447 922 2290 0 0 0 0 0 0 28.83 24.99 28.83

5879 0.70 120.3 253.3 9.0 364 5883 0.00 2.33 0.00 0.000 6 0.000 0.054 3447 2327 2289 0 0 0 0 0 0 28.83 24.98 28.83

6183 0.70 120.3 224.7 9.7 379 6187 0.00 2.35 0.00 0.000 4 0.000 0.066 3446 3745 2289 0 0 0 0 0 0 28.83 24.77 28.83

6391 0.70 120.3 200.7 11.6 389 6397 0.15 2.33 0.00 0.000 6 0.167 0.045 3416 2322 2289 0 0 0 0 0 0 24.73 25.19 28.83

6713 0.70 120.3 174.4 7.8 410 6721 0.00 2.38 0.00 0.000 4 0.000 0.065 3416 3745 2288 0 0 0 0 0 0 28.83 24.74 28.83

6781 0.70 120.3 168.1 9.4 417 6790 0.00 2.33 0.00 0.000 6 0.000 0.046 3426 2323 2288 0 0 0 0 0 0 28.83 25.18 28.83

7091 0.70 120.3 140.2 9.0 438 7101 0.00 2.33 0.00 0.000 4 0.000 0.053 3436 916 2288 0 0 0 0 0 0 28.83 24.93 28.83

7152 0.70 120.3 134.7 9.2 444 7160 0.00 2.30 0.00 0.000 6 0.000 0.054 3436 2321 2288 0 0 0 0 0 0 28.83 24.93 28.83

7464 0.71 130.4 109.1 6.2 483 7477 0.00 2.40 7.70 0.539 4 0.000 0.064 3436 3734 2262 0 0 0 0 0 0 28.83 25.13 24.10

7682 0.71 130.4 93.9 7.2 525 7689 0.00 2.22 0.00 0.000 6 0.000 0.046 3447 2323 2260 0 0 0 0 0 0 28.83 25.33 28.83

7995 0.72 149.9 74.6 5.4 586 8022 0.00 2.40 18.33 0.581 4 0.000 0.064 3447 3736 2181 0 0 0 0 0 0 28.83 25.15 24.10

8065 0.72 149.9 69.0 8.9 598 8073 0.12 2.22 0.00 0.000 6 0.167 0.046 3428 2323 2179 0 0 0 0 0 0 25.15 25.44 28.83

8380 0.73 182.6 51.3 4.3 659 8416 0.00 2.33 28.62 0.578 4 0.000 0.063 3428 3734 2049 0 0 0 0 0 0 28.83 25.19 24.03

8596 0.73 182.6 36.3 7.1 700 8602 0.00 2.22 0.00 0.000 6 0.000 0.045 3437 2318 2044 0 0 0 0 0 0 28.83 25.41 28.83

8908 0.74 203.2 16.7 5.3 761 8933 0.00 2.22 18.05 0.543 4 0.000 0.051 3447 921 1963 0 0 0 0 0 0 28.83 25.36 24.15

8971 0.75 226.8 13.6 5.1 772 9001 0.00 2.22 21.15 0.539 6 0.000 0.053 3447 2328 1867 0 0 0 0 0 0 28.83 25.37 24.03

9230 end climb: SURFACE_DEPTH_REACHED

state 9230 begin surface coast

9349 end surface coast: CONTROL_FINISHED_OK

state 9349 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	845	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	45	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	-1590049	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	210413,074036,4749.303,-12514.847,98,1.3,99,18.7	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	2.17	KALMAN_X	28840.3,-242.5,2380.9,-124483.9,-7867.0
_SM_ANGLEo	-78.2	KALMAN_Y	16218.2,688.6,-1323.7,-71650.8,4158.7
GPS2	210413,074725,4749.293,-12514.781,14,1.5,14,18.7	MHEAD_RNG_PITCHd_Wd	262.9,814,-21.0,-7.021,-24.80
SPEED_LIMITS	0.122,0.210	D_GRID	482

FINISH	1.2,1.015102	_10V_AH	9.9,86.935
SM_CCo	9370,47.67,0.439,3,0,1570,300.00	FG_AHR_24Vo	0.000
SM_GC	2.84,8.57,0.20,47.67,0.026,0.071,0.439,105,2189,1570,-9.48,1.05,300.00,0,0,0,0,3,0,25.77,25.85,24.04	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4732.49,-12519.22,210413,040411	MEM	296728
TT8_MAMPS	0.027713,0.027713	DATA_FILE_SIZE	46970,845
HUMID	49.05	CAP_FILE_SIZE	96600,0
INTERNAL_PRESSURE	9.11829	CFSIZE	260165632,187584512
TCM_TEMP	19.10	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	0	CURRENT	0.107,126.0,1
_24V_AH	23.3,116.785	GPS	210413,102654,4749.058,-12515.666,50,1.9,51,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	218	112.14	SBE_CT	580	24	324.48
Roll_motor	92	78	168.17	SBE_O2	550	19	243.66
VBD_pump_during_apogee	307	839	6006.34	WL_BBFL2VMT	0	0	0.00
VBD_pump_during_surface	47	439	487.78	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	66.79	nil	0	0	0.00
Iridium_during_connect	39	160	148.42	nil	0	0	0.00
Iridium_during_xfer	202	223	1052.62	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.46
TT8	2125	19	416.73
LPSleep	5334	2	115.65
TT8_Active	534	19	104.85
TT8_Sampling	1590	39	626.68
TT8_CF8	272	45	123.72
TT8_Kalman	0	0	0.00
Analog_circuits	1248	12	148.28
GPS_charging	0	0	0.00
Compass	1316	15	195.48
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	13	begin dive
17	-0.68	-59.7	0.0	0.0	0	63	0.00	0.00	-44.35	0.000	2	0.000	0.000	109	2194	2550	0	0	0	0	0	0	28.83	28.83	28.83
67	-0.70	-120.3	3.1	-2.0	8	104	11.43	2.38	-16.70	0.000	4	0.218	0.074	2951	3608	3289	0	0	0	0	0	0	24.56	25.27	26.18
219	-0.70	-120.3	38.1	-21.6	36	225	0.00	2.20	0.00	0.000	6	0.000	0.043	2951	2198	3291	0	0	0	0	0	0	28.83	25.38	28.83
532	-0.70	-120.3	100.9	-18.4	97	537	0.00	0.00	0.00	0.000	6	0.000	0.000	2951	2191	3292	0	0	0	0	0	0	28.83	28.83	28.83
851	-0.70	-120.3	149.7	-14.7	134	860	0.00	2.25	0.00	0.000	4	0.000	0.048	2951	798	3292	0	0	0	0	0	0	28.83	25.08	28.83
961	-0.70	-120.3	165.8	-14.3	145	970	0.00	2.30	0.00	0.000	6	0.000	0.049	2940	2209	3292	0	0	0	0	0	0	28.83	25.06	28.83
1272	-0.70	-120.3	210.4	-14.2	165	1277	0.00	2.33	0.00	0.000	4	0.000	0.060	2930	3604	3293	0	0	0	0	0	0	28.83	24.84	28.83
1291	-0.70	-120.3	213.3	-14.4	166	1298	0.15	2.28	0.00	0.000	6	0.148	0.041	2968	2194	3292	0	0	0	0	0	0	24.91	25.28	28.83
1611	-0.70	-120.3	256.7	-13.5	182	1617	0.00	2.25	0.00	0.000	4	0.000	0.048	2967	801	3292	0	0	0	0	0	0	28.83	25.02	28.83
1660	-0.70	-120.3	262.1	-13.4	184	1669	0.00	2.30	0.00	0.000	6	0.000	0.049	2960	2208	3292	0	0	0	0	0	0	28.83	25.01	28.83
1971	-0.70	-120.3	304.2	-13.3	200	1977	0.00	2.30	0.00	0.000	4	0.000	0.049	2960	801	3292	0	0	0	0	0	0	28.83	24.99	28.83
2039	-0.70	-120.3	312.2	-13.5	203	2043	0.00	2.30	0.00	0.000	6	0.000	0.049	2949	2208	3293	0	0	0	0	0	0	28.83	24.99	28.83
2342	-0.70	-120.3	355.6	-14.2	218	2347	0.00	2.28	0.00	0.000	4	0.000	0.049	2949	802	3292	0	0	0	0	0	0	28.83	24.98	28.83
2401	-0.70	-120.3	364.3	-14.5	221	2407	0.00	2.30	0.00	0.000	6	0.000	0.050	2939	2206	3292	0	0	0	0	0	0	28.83	24.97	28.83
2721	-0.70	-120.3	408.2	-13.1	236	2727	0.00	2.30	0.00	0.000	4	0.000	0.047	2939	790	3292	0	0	0	0	0	0	28.83	24.98	28.83
2752	-0.70	-120.3	412.2	-13.1	237	2758	0.10	2.30	0.00	0.000	6	0.132	0.050	2960	2198	3292	0	0	0	0	0	0	24.65	24.95	28.83
3081	-0.70	-120.3	451.8	-12.2	248	3087	0.00	2.38	0.00	0.000	4	0.000	0.062	2951	3618	3292	0	0	0	0	0	0	28.83	24.68	28.83
3159	-0.70	-120.3	459.0	-12.2	250	3163	0.00	2.30	0.00	0.000	6	0.000	0.043	2951	2197	3292	0	0	0	0	0	0	28.83	25.20	28.83
3338	end dive: TARGET_DEPTH_EXCEEDED
state	3338	begin apogee
3347	-0.22	0.0	483.6	-12.3	256	3454	0.52	0.00	104.28	0.839	6	0.119	0.000	3119	2340	2794	0	0	0	0	0	0	24.68	28.83	23.49
3455	end apogee: CONTROL_FINISHED_OK
state	3455	begin climb
3458	0.70	120.3	488.1	0.0	259	3572	0.90	0.00	109.05	0.808	6	0.077	0.000	3423	2340	2302	0	0	0	0	0	0	24.68	28.83	23.33
3872	0.70	120.3	454.1	10.5	273	3877	0.00	2.30	0.00	0.000	4	0.000	0.064	3423	3720	2295	0	0	0	0	0	0	28.83	25.25	28.83
3969	0.70	120.3	443.7	11.3	276	3973	0.00	2.28	0.00	0.000	6	0.000	0.045	3434	2320	2294	0	0	0	0	0	0	28.83	25.46	28.83
4282	0.70	120.3	414.9	8.2	287	4287	0.00	2.35	0.00	0.000	4	0.000	0.064	3434	3719	2294	0	0	0	0	0	0	28.83	25.10	28.83
4509	0.70	120.3	389.0	12.7	296	4514	0.00	2.28	0.00	0.000	6	0.000	0.045	3445	2324	2292	0	0	0	0	0	0	28.83	25.35	28.83
4812	0.70	120.3	352.5	11.3	311	4817	0.00	2.30	0.00	0.000	4	0.000	0.054	3456	919	2292	0	0	0	0	0	0	28.83	25.11	28.83
4871	0.70	120.3	345.8	11.2	314	4878	0.12	2.30	0.00	0.000	6	0.167	0.054	3426	2316	2292	0	0	0	0	0	0	24.87	25.10	28.83
5192	0.70	120.3	316.6	8.8	330	5197	0.00	2.38	0.00	0.000	4	0.000	0.065	3426	3728	2291	0	0	0	0	0	0	28.83	24.90	28.83
5231	0.70	120.3	312.8	9.0	332	5237	0.00	2.30	0.00	0.000	6	0.000	0.046	3435	2323	2290	0	0	0	0	0	0	28.83	25.27	28.83
5552	0.70	120.3	282.4	9.3	348	5554	0.00	0.00	0.00	0.000	6	0.000	0.000	3436	2321	2290	0	0	0	0	0	0	28.83	28.83	28.83
5852	0.70	120.3	255.1	8.9	363	5857	0.00	2.30	0.00	0.000	4	0.000	0.054	3447	922	2290	0	0	0	0	0	0	28.83	24.99	28.83
5879	0.70	120.3	253.3	9.0	364	5883	0.00	2.33	0.00	0.000	6	0.000	0.054	3447	2327	2289	0	0	0	0	0	0	28.83	24.98	28.83
6183	0.70	120.3	224.7	9.7	379	6187	0.00	2.35	0.00	0.000	4	0.000	0.066	3446	3745	2289	0	0	0	0	0	0	28.83	24.77	28.83
6391	0.70	120.3	200.7	11.6	389	6397	0.15	2.33	0.00	0.000	6	0.167	0.045	3416	2322	2289	0	0	0	0	0	0	24.73	25.19	28.83
6713	0.70	120.3	174.4	7.8	410	6721	0.00	2.38	0.00	0.000	4	0.000	0.065	3416	3745	2288	0	0	0	0	0	0	28.83	24.74	28.83
6781	0.70	120.3	168.1	9.4	417	6790	0.00	2.33	0.00	0.000	6	0.000	0.046	3426	2323	2288	0	0	0	0	0	0	28.83	25.18	28.83
7091	0.70	120.3	140.2	9.0	438	7101	0.00	2.33	0.00	0.000	4	0.000	0.053	3436	916	2288	0	0	0	0	0	0	28.83	24.93	28.83
7152	0.70	120.3	134.7	9.2	444	7160	0.00	2.30	0.00	0.000	6	0.000	0.054	3436	2321	2288	0	0	0	0	0	0	28.83	24.93	28.83
7464	0.71	130.4	109.1	6.2	483	7477	0.00	2.40	7.70	0.539	4	0.000	0.064	3436	3734	2262	0	0	0	0	0	0	28.83	25.13	24.10
7682	0.71	130.4	93.9	7.2	525	7689	0.00	2.22	0.00	0.000	6	0.000	0.046	3447	2323	2260	0	0	0	0	0	0	28.83	25.33	28.83
7995	0.72	149.9	74.6	5.4	586	8022	0.00	2.40	18.33	0.581	4	0.000	0.064	3447	3736	2181	0	0	0	0	0	0	28.83	25.15	24.10
8065	0.72	149.9	69.0	8.9	598	8073	0.12	2.22	0.00	0.000	6	0.167	0.046	3428	2323	2179	0	0	0	0	0	0	25.15	25.44	28.83
8380	0.73	182.6	51.3	4.3	659	8416	0.00	2.33	28.62	0.578	4	0.000	0.063	3428	3734	2049	0	0	0	0	0	0	28.83	25.19	24.03
8596	0.73	182.6	36.3	7.1	700	8602	0.00	2.22	0.00	0.000	6	0.000	0.045	3437	2318	2044	0	0	0	0	0	0	28.83	25.41	28.83
8908	0.74	203.2	16.7	5.3	761	8933	0.00	2.22	18.05	0.543	4	0.000	0.051	3447	921	1963	0	0	0	0	0	0	28.83	25.36	24.15
8971	0.75	226.8	13.6	5.1	772	9001	0.00	2.22	21.15	0.539	6	0.000	0.053	3447	2328	1867	0	0	0	0	0	0	28.83	25.37	24.03
9230	end climb: SURFACE_DEPTH_REACHED
state	9230	begin surface coast
9349	end surface coast: CONTROL_FINISHED_OK
state	9349	begin surface