Glider dive log

NANOOS Sep12 * SG187 * Dive index * Mission links * Dive 846 * 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 846 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 43 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 24 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 -1590050.2 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 -1590050.2

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 43 VBD_DBAND 2

DEVICE4 -1 MINV_24V 20 R_STBD_OVSHOOT 24 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 846 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 210413,102654,4749.058,-12515.666,50,1.9,51,18.7 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 2.12 KALMAN_X 28840.3,-242.5,2380.9,-124483.9,-7867.0

_SM_ANGLEo -79.9 KALMAN_Y 16218.2,688.6,-1323.7,-71650.8,4158.7

GPS2 210413,103355,4749.017,-12515.646,15,1.9,15,18.7 MHEAD_RNG_PITCHd_Wd 322.5,1186,-20.8,-7.021,-24.60

SPEED_LIMITS 0.122,0.210 D_GRID 462

Post-dive calculations and measurements:

FINISH 1.0,1.024208 _10V_AH 9.9,86.992

SM_CCo 9560,47.12,0.453,2,0,1570,300.00 FG_AHR_24Vo 0.000

SM_GC 2.80,8.62,0.20,47.12,0.031,0.070,0.453,107,2196,1570,-9.46,1.07,300.00,0,0,0,0,2,0,25.73,25.86,24.06 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4732.49,-12519.22,210413,070742 MEM 296768

TT8_MAMPS 0.026964,0.026964 DATA_FILE_SIZE 46897,864

HUMID 49.48 CAP_FILE_SIZE 96598,0

INTERNAL_PRESSURE 9.11829 CFSIZE 260165632,187527168

TCM_TEMP 19.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 1 CURRENT 0.062,119.5,1

_24V_AH 23.4,116.870 GPS 210413,131623,4749.758,-12515.880,46,1.9,47,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 218 112.62 SBE_CT 592 24 332.79

Roll_motor 83 77 150.83 SBE_O2 562 19 250.08

VBD_pump_during_apogee 299 823 5772.73 WL_BBFL2VMT 0 0 0.00

VBD_pump_during_surface 47 452 499.40 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 60.04 nil 0 0 0.00

Iridium_during_connect 36 160 136.53 nil 0 0 0.00

Iridium_during_xfer 223 223 1166.39 nil 0 0 0.00

Transponder_ping 0 420 2.46 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 7.96

TT8 2165 19 424.57

LPSleep 5497 2 119.19

TT8_Active 513 19 100.65

TT8_Sampling 1624 39 640.09

TT8_CF8 254 45 115.28

TT8_Kalman 0 0 0.00

Analog_circuits 1234 12 146.67

GPS_charging 0 0 0.00

Compass 1331 15 197.79

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 -0.67 -61.0 0.0 0.0 0 63 0.00 0.00 -44.25 0.000 2 0.000 0.000 105 2189 2557 0 0 0 0 0 0 28.83 28.83 28.83

67 -0.69 -110.8 3.3 -3.0 8 99 11.45 2.28 -15.18 0.000 4 0.218 0.060 2962 795 3249 0 0 0 0 0 0 24.57 25.39 26.18

127 -0.69 -110.8 20.3 -25.2 18 135 0.00 2.25 0.00 0.000 6 0.000 0.051 2954 2208 3251 0 0 0 0 0 0 28.83 25.27 28.83

440 -0.69 -110.8 85.4 -19.8 79 447 0.00 2.25 0.00 0.000 4 0.000 0.049 2954 790 3252 0 0 0 0 0 0 28.83 25.13 28.83

471 -0.69 -110.8 90.9 -17.8 84 478 0.00 2.25 0.00 0.000 6 0.000 0.050 2944 2211 3252 0 0 0 0 0 0 28.83 25.11 28.83

793 -0.69 -110.8 145.5 -15.9 127 794 0.00 0.00 0.00 0.000 6 0.000 0.000 2944 2211 3253 0 0 0 0 0 0 28.83 28.83 28.83

1094 -0.69 -110.8 191.9 -15.0 147 1101 0.00 2.25 0.00 0.000 4 0.000 0.049 2943 797 3253 0 0 0 0 0 0 28.83 25.04 28.83

1212 -0.69 -110.8 209.6 -14.2 156 1219 0.15 2.30 0.00 0.000 6 0.148 0.050 2972 2201 3253 0 0 0 0 0 0 24.75 25.03 28.83

1532 -0.69 -110.8 247.1 -11.7 172 1533 0.00 0.00 0.00 0.000 6 0.000 0.000 2972 2201 3253 0 0 0 0 0 0 28.83 28.83 28.83

1834 -0.69 -110.8 284.5 -12.6 187 1838 0.00 2.22 0.00 0.000 4 0.000 0.048 2972 796 3253 0 0 0 0 0 0 28.83 25.00 28.83

1892 -0.69 -110.8 292.0 -12.7 190 1898 0.00 2.30 0.00 0.000 6 0.000 0.049 2964 2200 3253 0 0 0 0 0 0 28.83 24.98 28.83

2212 -0.69 -110.8 333.1 -13.2 206 2218 0.00 2.28 0.00 0.000 4 0.000 0.047 2964 801 3253 0 0 0 0 0 0 28.83 24.99 28.83

2243 -0.69 -110.8 335.9 -13.3 207 2251 0.00 2.28 0.00 0.000 6 0.000 0.050 2954 2201 3253 0 0 0 0 0 0 28.83 24.96 28.83

2553 -0.69 -110.8 379.1 -13.2 223 2558 0.00 2.28 0.00 0.000 4 0.000 0.048 2954 798 3253 0 0 0 0 0 0 28.83 24.98 28.83

2612 -0.69 -110.8 387.4 -13.7 226 2618 0.00 2.33 0.00 0.000 6 0.000 0.050 2943 2211 3253 0 0 0 0 0 0 28.83 24.92 28.83

2924 -0.69 -110.8 431.0 -14.1 238 2928 0.00 2.35 0.00 0.000 4 0.000 0.063 2933 3603 3253 0 0 0 0 0 0 28.83 24.68 28.83

2960 -0.69 -110.8 435.5 -14.3 239 2965 0.15 2.28 0.00 0.000 6 0.147 0.042 2970 2203 3253 0 0 0 0 0 0 24.82 25.19 28.83

3181 end dive: TARGET_DEPTH_EXCEEDED

state 3181 begin apogee

3188 -0.22 0.0 462.3 -10.8 247 3290 0.45 0.00 96.93 0.824 6 0.113 0.000 3119 2345 2794 0 0 0 0 0 0 24.86 28.83 23.53

3291 end apogee: CONTROL_FINISHED_OK

state 3291 begin climb

3295 0.69 110.8 466.1 0.0 250 3399 0.88 0.00 100.65 0.793 6 0.077 0.000 3416 2345 2342 0 0 0 0 0 0 24.72 28.83 23.37

3694 0.69 110.8 438.9 7.9 264 3699 0.00 2.33 0.00 0.000 4 0.000 0.064 3416 3729 2333 0 0 0 0 0 0 28.83 25.25 28.83

3792 0.69 110.8 430.9 8.7 267 3798 0.00 2.30 0.00 0.000 6 0.000 0.045 3426 2318 2331 0 0 0 0 0 0 28.83 25.46 28.83

4113 0.69 110.8 403.3 8.2 278 4119 0.00 2.38 0.00 0.000 4 0.000 0.063 3427 3721 2331 0 0 0 0 0 0 28.83 25.09 28.83

4353 0.69 110.8 378.2 11.0 289 4359 0.00 2.28 0.00 0.000 6 0.000 0.045 3437 2327 2330 0 0 0 0 0 0 28.83 25.35 28.83

4674 0.69 110.8 350.3 8.7 305 4679 0.00 2.30 0.00 0.000 4 0.000 0.054 3449 921 2329 0 0 0 0 0 0 28.83 25.10 28.83

4693 0.69 110.8 348.7 8.6 306 4699 0.00 2.30 0.00 0.000 6 0.000 0.054 3449 2317 2329 0 0 0 0 0 0 28.83 25.10 28.83

5015 0.69 110.8 320.4 9.4 322 5019 0.00 2.35 0.00 0.000 4 0.000 0.065 3449 3734 2329 0 0 0 0 0 0 28.83 24.89 28.83

5114 0.69 110.8 309.5 11.0 327 5120 0.12 2.28 0.00 0.000 6 0.150 0.045 3422 2331 2328 0 0 0 0 0 0 24.79 25.28 28.83

5433 0.69 110.8 283.9 8.0 343 5434 0.00 0.00 0.00 0.000 6 0.000 0.000 3422 2325 2328 0 0 0 0 0 0 28.83 28.83 28.83

5734 0.69 110.8 258.9 8.4 358 5739 0.00 2.38 0.00 0.000 4 0.000 0.065 3422 3729 2327 0 0 0 0 0 0 28.83 24.81 28.83

5793 0.69 110.8 253.0 9.6 361 5799 0.00 2.33 0.00 0.000 6 0.000 0.046 3431 2311 2327 0 0 0 0 0 0 28.83 25.20 28.83

6113 0.69 110.8 224.3 9.0 377 6119 0.00 2.42 0.00 0.000 4 0.000 0.065 3431 3733 2327 0 0 0 0 0 0 28.83 24.77 28.83

6204 0.69 110.8 216.6 9.7 381 6212 0.00 2.28 0.00 0.000 6 0.000 0.046 3442 2329 2326 0 0 0 0 0 0 28.83 25.18 28.83

6513 0.69 110.8 189.3 8.2 399 6523 0.00 2.38 0.00 0.000 4 0.000 0.064 3442 3729 2326 0 0 0 0 0 0 28.83 24.75 28.83

6564 0.69 110.8 184.7 9.1 404 6572 0.00 2.28 0.00 0.000 6 0.000 0.046 3453 2328 2326 0 0 0 0 0 0 28.83 25.18 28.83

6874 0.69 110.8 159.1 7.2 425 6883 0.12 2.40 0.00 0.000 4 0.166 0.063 3422 3734 2326 0 0 0 0 0 0 25.74 24.72 28.83

6923 0.69 110.8 155.5 7.3 430 6932 0.00 2.33 0.00 0.000 6 0.000 0.046 3431 2317 2326 0 0 0 0 0 0 28.83 25.16 28.83

7235 0.70 118.8 135.7 6.4 451 7248 0.00 0.00 5.55 0.506 6 0.000 0.000 3431 2317 2309 0 0 0 0 0 0 28.83 28.83 24.10

7550 0.70 124.4 114.3 6.6 482 7565 0.00 2.42 7.03 0.529 4 0.000 0.063 3431 3741 2285 0 0 0 0 0 0 28.83 25.22 24.11

7629 0.70 124.4 108.4 7.6 496 7636 0.00 2.25 0.00 0.000 6 0.000 0.046 3442 2313 2284 0 0 0 0 0 0 28.83 25.46 28.83

7940 0.70 124.4 87.5 7.0 557 7946 0.00 0.00 0.00 0.000 6 0.000 0.000 3442 2312 2284 0 0 0 0 0 0 28.83 28.83 28.83

8252 0.71 157.8 67.3 4.3 618 8289 0.00 0.00 29.90 0.589 6 0.000 0.000 3442 2312 2148 0 0 0 0 0 0 28.83 28.83 24.05

8596 0.72 178.7 49.5 5.3 684 8622 0.00 2.42 18.65 0.562 4 0.000 0.064 3442 3738 2064 0 0 0 0 0 0 28.83 25.27 24.10

8700 0.72 178.7 42.4 7.6 703 8708 0.00 2.22 0.00 0.000 6 0.000 0.046 3453 2322 2061 0 0 0 0 0 0 28.83 25.46 28.83

9015 0.73 204.0 23.2 5.0 764 9046 0.00 2.30 21.70 0.550 4 0.000 0.053 3464 921 1961 0 0 0 0 0 0 28.83 25.35 24.13

9125 0.74 225.0 17.3 5.3 784 9151 0.12 2.22 19.02 0.537 6 0.143 0.052 3431 2331 1875 0 0 0 0 0 0 25.19 25.34 24.06

9435 end climb: SURFACE_DEPTH_REACHED

state 9437 begin surface coast

9538 end surface coast: CONTROL_FINISHED_OK

state 9538 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	846	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	43	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	24	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	-1590050.2	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	210413,102654,4749.058,-12515.666,50,1.9,51,18.7	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	2.12	KALMAN_X	28840.3,-242.5,2380.9,-124483.9,-7867.0
_SM_ANGLEo	-79.9	KALMAN_Y	16218.2,688.6,-1323.7,-71650.8,4158.7
GPS2	210413,103355,4749.017,-12515.646,15,1.9,15,18.7	MHEAD_RNG_PITCHd_Wd	322.5,1186,-20.8,-7.021,-24.60
SPEED_LIMITS	0.122,0.210	D_GRID	462

FINISH	1.0,1.024208	_10V_AH	9.9,86.992
SM_CCo	9560,47.12,0.453,2,0,1570,300.00	FG_AHR_24Vo	0.000
SM_GC	2.80,8.62,0.20,47.12,0.031,0.070,0.453,107,2196,1570,-9.46,1.07,300.00,0,0,0,0,2,0,25.73,25.86,24.06	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4732.49,-12519.22,210413,070742	MEM	296768
TT8_MAMPS	0.026964,0.026964	DATA_FILE_SIZE	46897,864
HUMID	49.48	CAP_FILE_SIZE	96598,0
INTERNAL_PRESSURE	9.11829	CFSIZE	260165632,187527168
TCM_TEMP	19.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	1	CURRENT	0.062,119.5,1
_24V_AH	23.4,116.870	GPS	210413,131623,4749.758,-12515.880,46,1.9,47,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	218	112.62	SBE_CT	592	24	332.79
Roll_motor	83	77	150.83	SBE_O2	562	19	250.08
VBD_pump_during_apogee	299	823	5772.73	WL_BBFL2VMT	0	0	0.00
VBD_pump_during_surface	47	452	499.40	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	60.04	nil	0	0	0.00
Iridium_during_connect	36	160	136.53	nil	0	0	0.00
Iridium_during_xfer	223	223	1166.39	nil	0	0	0.00
Transponder_ping	0	420	2.46	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	7.96
TT8	2165	19	424.57
LPSleep	5497	2	119.19
TT8_Active	513	19	100.65
TT8_Sampling	1624	39	640.09
TT8_CF8	254	45	115.28
TT8_Kalman	0	0	0.00
Analog_circuits	1234	12	146.67
GPS_charging	0	0	0.00
Compass	1331	15	197.79
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	-0.67	-61.0	0.0	0.0	0	63	0.00	0.00	-44.25	0.000	2	0.000	0.000	105	2189	2557	0	0	0	0	0	0	28.83	28.83	28.83
67	-0.69	-110.8	3.3	-3.0	8	99	11.45	2.28	-15.18	0.000	4	0.218	0.060	2962	795	3249	0	0	0	0	0	0	24.57	25.39	26.18
127	-0.69	-110.8	20.3	-25.2	18	135	0.00	2.25	0.00	0.000	6	0.000	0.051	2954	2208	3251	0	0	0	0	0	0	28.83	25.27	28.83
440	-0.69	-110.8	85.4	-19.8	79	447	0.00	2.25	0.00	0.000	4	0.000	0.049	2954	790	3252	0	0	0	0	0	0	28.83	25.13	28.83
471	-0.69	-110.8	90.9	-17.8	84	478	0.00	2.25	0.00	0.000	6	0.000	0.050	2944	2211	3252	0	0	0	0	0	0	28.83	25.11	28.83
793	-0.69	-110.8	145.5	-15.9	127	794	0.00	0.00	0.00	0.000	6	0.000	0.000	2944	2211	3253	0	0	0	0	0	0	28.83	28.83	28.83
1094	-0.69	-110.8	191.9	-15.0	147	1101	0.00	2.25	0.00	0.000	4	0.000	0.049	2943	797	3253	0	0	0	0	0	0	28.83	25.04	28.83
1212	-0.69	-110.8	209.6	-14.2	156	1219	0.15	2.30	0.00	0.000	6	0.148	0.050	2972	2201	3253	0	0	0	0	0	0	24.75	25.03	28.83
1532	-0.69	-110.8	247.1	-11.7	172	1533	0.00	0.00	0.00	0.000	6	0.000	0.000	2972	2201	3253	0	0	0	0	0	0	28.83	28.83	28.83
1834	-0.69	-110.8	284.5	-12.6	187	1838	0.00	2.22	0.00	0.000	4	0.000	0.048	2972	796	3253	0	0	0	0	0	0	28.83	25.00	28.83
1892	-0.69	-110.8	292.0	-12.7	190	1898	0.00	2.30	0.00	0.000	6	0.000	0.049	2964	2200	3253	0	0	0	0	0	0	28.83	24.98	28.83
2212	-0.69	-110.8	333.1	-13.2	206	2218	0.00	2.28	0.00	0.000	4	0.000	0.047	2964	801	3253	0	0	0	0	0	0	28.83	24.99	28.83
2243	-0.69	-110.8	335.9	-13.3	207	2251	0.00	2.28	0.00	0.000	6	0.000	0.050	2954	2201	3253	0	0	0	0	0	0	28.83	24.96	28.83
2553	-0.69	-110.8	379.1	-13.2	223	2558	0.00	2.28	0.00	0.000	4	0.000	0.048	2954	798	3253	0	0	0	0	0	0	28.83	24.98	28.83
2612	-0.69	-110.8	387.4	-13.7	226	2618	0.00	2.33	0.00	0.000	6	0.000	0.050	2943	2211	3253	0	0	0	0	0	0	28.83	24.92	28.83
2924	-0.69	-110.8	431.0	-14.1	238	2928	0.00	2.35	0.00	0.000	4	0.000	0.063	2933	3603	3253	0	0	0	0	0	0	28.83	24.68	28.83
2960	-0.69	-110.8	435.5	-14.3	239	2965	0.15	2.28	0.00	0.000	6	0.147	0.042	2970	2203	3253	0	0	0	0	0	0	24.82	25.19	28.83
3181	end dive: TARGET_DEPTH_EXCEEDED
state	3181	begin apogee
3188	-0.22	0.0	462.3	-10.8	247	3290	0.45	0.00	96.93	0.824	6	0.113	0.000	3119	2345	2794	0	0	0	0	0	0	24.86	28.83	23.53
3291	end apogee: CONTROL_FINISHED_OK
state	3291	begin climb
3295	0.69	110.8	466.1	0.0	250	3399	0.88	0.00	100.65	0.793	6	0.077	0.000	3416	2345	2342	0	0	0	0	0	0	24.72	28.83	23.37
3694	0.69	110.8	438.9	7.9	264	3699	0.00	2.33	0.00	0.000	4	0.000	0.064	3416	3729	2333	0	0	0	0	0	0	28.83	25.25	28.83
3792	0.69	110.8	430.9	8.7	267	3798	0.00	2.30	0.00	0.000	6	0.000	0.045	3426	2318	2331	0	0	0	0	0	0	28.83	25.46	28.83
4113	0.69	110.8	403.3	8.2	278	4119	0.00	2.38	0.00	0.000	4	0.000	0.063	3427	3721	2331	0	0	0	0	0	0	28.83	25.09	28.83
4353	0.69	110.8	378.2	11.0	289	4359	0.00	2.28	0.00	0.000	6	0.000	0.045	3437	2327	2330	0	0	0	0	0	0	28.83	25.35	28.83
4674	0.69	110.8	350.3	8.7	305	4679	0.00	2.30	0.00	0.000	4	0.000	0.054	3449	921	2329	0	0	0	0	0	0	28.83	25.10	28.83
4693	0.69	110.8	348.7	8.6	306	4699	0.00	2.30	0.00	0.000	6	0.000	0.054	3449	2317	2329	0	0	0	0	0	0	28.83	25.10	28.83
5015	0.69	110.8	320.4	9.4	322	5019	0.00	2.35	0.00	0.000	4	0.000	0.065	3449	3734	2329	0	0	0	0	0	0	28.83	24.89	28.83
5114	0.69	110.8	309.5	11.0	327	5120	0.12	2.28	0.00	0.000	6	0.150	0.045	3422	2331	2328	0	0	0	0	0	0	24.79	25.28	28.83
5433	0.69	110.8	283.9	8.0	343	5434	0.00	0.00	0.00	0.000	6	0.000	0.000	3422	2325	2328	0	0	0	0	0	0	28.83	28.83	28.83
5734	0.69	110.8	258.9	8.4	358	5739	0.00	2.38	0.00	0.000	4	0.000	0.065	3422	3729	2327	0	0	0	0	0	0	28.83	24.81	28.83
5793	0.69	110.8	253.0	9.6	361	5799	0.00	2.33	0.00	0.000	6	0.000	0.046	3431	2311	2327	0	0	0	0	0	0	28.83	25.20	28.83
6113	0.69	110.8	224.3	9.0	377	6119	0.00	2.42	0.00	0.000	4	0.000	0.065	3431	3733	2327	0	0	0	0	0	0	28.83	24.77	28.83
6204	0.69	110.8	216.6	9.7	381	6212	0.00	2.28	0.00	0.000	6	0.000	0.046	3442	2329	2326	0	0	0	0	0	0	28.83	25.18	28.83
6513	0.69	110.8	189.3	8.2	399	6523	0.00	2.38	0.00	0.000	4	0.000	0.064	3442	3729	2326	0	0	0	0	0	0	28.83	24.75	28.83
6564	0.69	110.8	184.7	9.1	404	6572	0.00	2.28	0.00	0.000	6	0.000	0.046	3453	2328	2326	0	0	0	0	0	0	28.83	25.18	28.83
6874	0.69	110.8	159.1	7.2	425	6883	0.12	2.40	0.00	0.000	4	0.166	0.063	3422	3734	2326	0	0	0	0	0	0	25.74	24.72	28.83
6923	0.69	110.8	155.5	7.3	430	6932	0.00	2.33	0.00	0.000	6	0.000	0.046	3431	2317	2326	0	0	0	0	0	0	28.83	25.16	28.83
7235	0.70	118.8	135.7	6.4	451	7248	0.00	0.00	5.55	0.506	6	0.000	0.000	3431	2317	2309	0	0	0	0	0	0	28.83	28.83	24.10
7550	0.70	124.4	114.3	6.6	482	7565	0.00	2.42	7.03	0.529	4	0.000	0.063	3431	3741	2285	0	0	0	0	0	0	28.83	25.22	24.11
7629	0.70	124.4	108.4	7.6	496	7636	0.00	2.25	0.00	0.000	6	0.000	0.046	3442	2313	2284	0	0	0	0	0	0	28.83	25.46	28.83
7940	0.70	124.4	87.5	7.0	557	7946	0.00	0.00	0.00	0.000	6	0.000	0.000	3442	2312	2284	0	0	0	0	0	0	28.83	28.83	28.83
8252	0.71	157.8	67.3	4.3	618	8289	0.00	0.00	29.90	0.589	6	0.000	0.000	3442	2312	2148	0	0	0	0	0	0	28.83	28.83	24.05
8596	0.72	178.7	49.5	5.3	684	8622	0.00	2.42	18.65	0.562	4	0.000	0.064	3442	3738	2064	0	0	0	0	0	0	28.83	25.27	24.10
8700	0.72	178.7	42.4	7.6	703	8708	0.00	2.22	0.00	0.000	6	0.000	0.046	3453	2322	2061	0	0	0	0	0	0	28.83	25.46	28.83
9015	0.73	204.0	23.2	5.0	764	9046	0.00	2.30	21.70	0.550	4	0.000	0.053	3464	921	1961	0	0	0	0	0	0	28.83	25.35	24.13
9125	0.74	225.0	17.3	5.3	784	9151	0.12	2.22	19.02	0.537	6	0.143	0.052	3431	2331	1875	0	0	0	0	0	0	25.19	25.34	24.06
9435	end climb: SURFACE_DEPTH_REACHED
state	9437	begin surface coast
9538	end surface coast: CONTROL_FINISHED_OK
state	9538	begin surface