Glider dive log

NANOOS Sep12 * SG187 * Dive index * Mission links * Dive 847 * 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 847 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 37 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 26 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 -1590051.5 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 -1590051.5

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 37 VBD_DBAND 2

DEVICE4 -1 MINV_24V 20 R_STBD_OVSHOOT 26 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 847 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 210413,131623,4749.758,-12515.880,46,1.9,47,18.7 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 -79.3 KALMAN_Y 16218.2,688.6,-1323.7,-71650.8,4158.7

GPS2 210413,132300,4749.736,-12515.860,12,1.3,17,18.7 MHEAD_RNG_PITCHd_Wd 84.1,800,-26.8,-7.021,-30.00

SPEED_LIMITS 0.122,0.210 D_GRID 482

Post-dive calculations and measurements:

FINISH 1.0,1.024077 _10V_AH 9.8,87.051

SM_CCo 9855,64.43,0.451,4,0,1570,300.00 FG_AHR_24Vo 0.000

SM_GC 2.14,8.90,0.17,64.43,0.035,0.076,0.451,105,2195,1570,-9.46,1.30,300.00,0,0,0,0,4,0,25.75,25.82,23.98 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4732.49,-12519.22,210413,101052 MEM 296760

TT8_MAMPS 0.027713,0.027713 DATA_FILE_SIZE 46930,874

HUMID 48.46 CAP_FILE_SIZE 97952,0

INTERNAL_PRESSURE 9.10853 CFSIZE 260165632,187469824

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

XPDR_PINGS 3 CURRENT 0.077, 74.7,1

_24V_AH 23.4,116.944 GPS 210413,161124,4749.813,-12514.199,91,1.8,92,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 215 112.82 SBE_CT 598 24 336.33

Roll_motor 87 76 156.50 SBE_O2 569 19 253.02

VBD_pump_during_apogee 258 845 5106.36 WL_BBFL2VMT 0 0 0.00

VBD_pump_during_surface 64 451 680.43 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 69.30 nil 0 0 0.00

Iridium_during_connect 38 160 144.96 nil 0 0 0.00

Iridium_during_xfer 192 223 1004.84 nil 0 0 0.00

Transponder_ping 0 420 7.37 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 50 9.18

TT8 2187 19 424.47

LPSleep 5718 2 122.72

TT8_Active 483 19 93.89

TT8_Sampling 1681 39 655.96

TT8_CF8 272 45 122.22

TT8_Kalman 0 0 0.00

Analog_circuits 1237 12 145.54

GPS_charging 0 0 0.00

Compass 1411 15 207.45

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 -0.85 -36.8 0.0 0.0 0 64 0.00 0.00 -44.55 0.000 2 0.000 0.000 106 2196 2554 0 0 0 0 0 0 28.83 28.83 28.83

67 -0.87 -69.1 3.1 -2.8 8 99 11.15 2.33 -12.20 0.000 4 0.216 0.072 2899 3615 3078 0 0 0 0 0 0 24.56 25.29 26.17

329 -0.87 -69.1 68.1 -22.7 58 335 0.00 2.20 0.00 0.000 6 0.000 0.040 2899 2195 3081 0 0 0 0 0 0 28.83 25.38 28.83

647 -0.87 -69.1 128.7 -17.9 114 655 0.00 2.22 0.00 0.000 4 0.000 0.048 2899 805 3082 0 0 0 0 0 0 28.83 25.11 28.83

766 -0.87 -69.1 149.2 -17.2 126 775 0.00 2.28 0.00 0.000 6 0.000 0.048 2889 2204 3082 0 0 0 0 0 0 28.83 25.09 28.83

1076 -0.87 -69.1 200.3 -15.9 147 1082 0.00 2.28 0.00 0.000 4 0.000 0.047 2889 801 3081 0 0 0 0 0 0 28.83 25.06 28.83

1137 -0.87 -69.1 210.5 -16.7 150 1142 0.10 2.25 0.00 0.000 6 0.152 0.049 2907 2198 3082 0 0 0 0 0 0 24.68 25.07 28.83

1456 -0.87 -69.1 260.2 -15.6 166 1462 0.00 2.28 0.00 0.000 4 0.000 0.047 2907 797 3082 0 0 0 0 0 0 28.83 25.05 28.83

1516 -0.87 -69.1 269.3 -15.4 169 1522 0.00 2.30 0.00 0.000 6 0.000 0.049 2899 2207 3082 0 0 0 0 0 0 28.83 25.02 28.83

1837 -0.87 -69.1 318.1 -15.0 185 1838 0.00 0.00 0.00 0.000 6 0.000 0.000 2899 2207 3082 0 0 0 0 0 0 28.83 28.83 28.83

2136 -0.87 -69.1 362.8 -14.6 200 2142 0.00 2.28 0.00 0.000 4 0.000 0.048 2899 799 3082 0 0 0 0 0 0 28.83 24.99 28.83

2284 -0.87 -69.1 383.8 -14.8 207 2288 0.00 2.30 0.00 0.000 6 0.000 0.049 2888 2206 3082 0 0 0 0 0 0 28.83 24.98 28.83

2587 -0.87 -69.1 429.2 -14.6 219 2588 0.00 0.00 0.00 0.000 6 0.000 0.000 2888 2205 3082 0 0 0 0 0 0 28.83 28.83 28.83

2886 -0.87 -69.1 473.9 -14.8 229 2892 0.00 2.35 0.00 0.000 4 0.000 0.060 2877 3611 3082 0 0 0 0 0 0 28.83 24.72 28.83

2943 end dive: TARGET_DEPTH_EXCEEDED

state 2943 begin apogee

2953 -0.22 0.0 483.0 -14.9 231 3019 0.80 0.00 61.75 0.845 6 0.140 0.000 3115 2322 2794 0 0 0 0 0 0 23.99 28.83 23.65

3020 end apogee: CONTROL_FINISHED_OK

state 3020 begin climb

3022 0.87 69.1 487.5 0.0 233 3093 1.02 2.42 63.80 0.806 4 0.076 0.063 3471 3743 2511 0 0 0 0 0 0 24.81 24.75 23.39

3154 0.87 69.8 480.8 6.9 238 3159 0.00 2.33 0.00 0.000 6 0.000 0.045 3482 2326 2507 0 0 0 0 0 0 28.83 25.28 28.83

3468 0.87 69.8 452.9 8.8 249 3472 0.00 2.35 0.00 0.000 4 0.000 0.063 3482 3735 2504 0 0 0 0 0 0 28.83 25.23 28.83

3706 0.87 69.8 427.6 10.7 257 3712 0.00 2.30 0.00 0.000 6 0.000 0.045 3494 2322 2502 0 0 0 0 0 0 28.83 25.42 28.83

4028 0.87 69.8 396.4 9.4 268 4033 0.00 2.38 0.00 0.000 4 0.000 0.064 3494 3734 2501 0 0 0 0 0 0 28.83 25.03 28.83

4267 0.87 69.8 371.8 10.3 280 4273 0.10 2.28 0.00 0.000 6 0.166 0.045 3476 2330 2500 0 0 0 0 0 0 24.87 25.32 28.83

4587 0.87 69.8 346.4 7.5 296 4592 0.00 2.38 0.00 0.000 4 0.000 0.063 3477 3736 2500 0 0 0 0 0 0 28.83 24.91 28.83

4828 0.87 69.8 327.3 7.4 308 4833 0.00 2.28 0.00 0.000 6 0.000 0.046 3486 2330 2499 0 0 0 0 0 0 28.83 25.27 28.83

5149 0.87 76.1 308.5 6.2 324 5159 0.00 2.40 5.45 0.578 4 0.000 0.063 3486 3743 2483 0 0 0 0 0 0 28.83 25.26 24.08

5390 0.87 76.1 292.0 7.2 335 5398 0.00 2.25 0.00 0.000 6 0.000 0.046 3497 2317 2482 0 0 0 0 0 0 28.83 25.34 28.83

5698 0.87 83.1 271.8 6.1 351 5710 0.00 2.40 7.82 0.623 4 0.000 0.063 3498 3733 2455 0 0 0 0 0 0 28.83 25.27 24.07

5932 0.87 83.1 254.5 7.5 362 5937 0.12 2.25 0.00 0.000 6 0.190 0.046 3480 2325 2453 0 0 0 0 0 0 24.97 25.36 28.83

6239 0.87 85.0 234.3 6.8 377 6245 0.00 2.38 0.00 0.000 4 0.000 0.063 3480 3736 2453 0 0 0 0 0 0 28.83 24.87 28.83

6368 0.87 85.0 224.4 8.4 383 6378 0.00 2.30 0.00 0.000 6 0.000 0.045 3490 2324 2452 0 0 0 0 0 0 28.83 25.22 28.83

6680 0.87 85.0 200.9 7.3 399 6681 0.00 0.00 0.00 0.000 6 0.000 0.000 3490 2324 2452 0 0 0 0 0 0 28.83 28.83 28.83

6984 0.87 85.0 177.0 7.8 419 6993 0.00 2.38 0.00 0.000 4 0.000 0.063 3490 3733 2452 0 0 0 0 0 0 28.83 24.73 28.83

7075 0.87 85.0 169.5 8.1 428 7082 0.00 2.25 0.00 0.000 6 0.000 0.046 3501 2320 2452 0 0 0 0 0 0 28.83 25.15 28.83

7384 0.87 85.0 144.7 8.3 449 7385 0.00 0.00 0.00 0.000 6 0.000 0.000 3501 2320 2452 0 0 0 0 0 0 28.83 28.83 28.83

7685 0.87 90.2 124.2 6.3 469 7702 0.00 2.33 7.78 0.550 4 0.000 0.052 3512 916 2426 0 0 0 0 0 0 28.83 25.22 24.10

7835 0.87 90.2 113.3 7.7 493 7842 0.15 2.25 0.00 0.000 6 0.170 0.053 3476 2325 2425 0 0 0 0 0 0 24.85 25.18 28.83

8149 0.88 96.7 92.7 6.2 554 8163 0.00 2.38 7.60 0.535 4 0.000 0.063 3476 3733 2398 0 0 0 0 0 0 28.83 25.23 24.12

8296 0.88 96.7 81.9 7.1 581 8303 0.00 2.22 0.00 0.000 6 0.000 0.046 3485 2316 2397 0 0 0 0 0 0 28.83 25.39 28.83

8611 0.89 133.5 68.9 2.2 642 8656 0.00 2.28 33.50 0.597 4 0.000 0.052 3496 930 2247 0 0 0 0 0 0 28.83 25.25 24.03

8860 0.89 133.5 54.0 8.0 689 8867 0.00 2.22 0.00 0.000 6 0.000 0.052 3496 2325 2244 0 0 0 0 0 0 28.83 25.24 28.83

9173 0.90 158.2 36.2 3.8 750 9203 0.00 2.30 21.55 0.562 4 0.000 0.052 3507 919 2146 0 0 0 0 0 0 28.83 25.34 24.12

9223 0.91 168.4 33.5 5.7 758 9242 0.00 2.22 10.32 0.518 6 0.000 0.052 3507 2324 2105 0 0 0 0 0 0 28.83 25.36 24.00

9549 0.92 204.2 15.1 2.3 821 9585 0.00 2.40 30.23 0.553 4 0.000 0.064 3507 3744 1960 0 0 0 0 0 0 28.83 25.26 24.07

9666 0.92 212.7 10.3 5.9 842 9680 0.00 2.22 8.35 0.487 6 0.000 0.045 3518 2323 1925 0 0 0 0 0 0 28.83 25.45 24.06

9761 end climb: SURFACE_DEPTH_REACHED

state 9761 begin surface coast

9834 end surface coast: CONTROL_FINISHED_OK

state 9834 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	847	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	37	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	26	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	-1590051.5	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	210413,131623,4749.758,-12515.880,46,1.9,47,18.7	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	-79.3	KALMAN_Y	16218.2,688.6,-1323.7,-71650.8,4158.7
GPS2	210413,132300,4749.736,-12515.860,12,1.3,17,18.7	MHEAD_RNG_PITCHd_Wd	84.1,800,-26.8,-7.021,-30.00
SPEED_LIMITS	0.122,0.210	D_GRID	482

FINISH	1.0,1.024077	_10V_AH	9.8,87.051
SM_CCo	9855,64.43,0.451,4,0,1570,300.00	FG_AHR_24Vo	0.000
SM_GC	2.14,8.90,0.17,64.43,0.035,0.076,0.451,105,2195,1570,-9.46,1.30,300.00,0,0,0,0,4,0,25.75,25.82,23.98	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4732.49,-12519.22,210413,101052	MEM	296760
TT8_MAMPS	0.027713,0.027713	DATA_FILE_SIZE	46930,874
HUMID	48.46	CAP_FILE_SIZE	97952,0
INTERNAL_PRESSURE	9.10853	CFSIZE	260165632,187469824
TCM_TEMP	19.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
XPDR_PINGS	3	CURRENT	0.077, 74.7,1
_24V_AH	23.4,116.944	GPS	210413,161124,4749.813,-12514.199,91,1.8,92,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	215	112.82	SBE_CT	598	24	336.33
Roll_motor	87	76	156.50	SBE_O2	569	19	253.02
VBD_pump_during_apogee	258	845	5106.36	WL_BBFL2VMT	0	0	0.00
VBD_pump_during_surface	64	451	680.43	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	69.30	nil	0	0	0.00
Iridium_during_connect	38	160	144.96	nil	0	0	0.00
Iridium_during_xfer	192	223	1004.84	nil	0	0	0.00
Transponder_ping	0	420	7.37	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	50	9.18
TT8	2187	19	424.47
LPSleep	5718	2	122.72
TT8_Active	483	19	93.89
TT8_Sampling	1681	39	655.96
TT8_CF8	272	45	122.22
TT8_Kalman	0	0	0.00
Analog_circuits	1237	12	145.54
GPS_charging	0	0	0.00
Compass	1411	15	207.45
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	-0.85	-36.8	0.0	0.0	0	64	0.00	0.00	-44.55	0.000	2	0.000	0.000	106	2196	2554	0	0	0	0	0	0	28.83	28.83	28.83
67	-0.87	-69.1	3.1	-2.8	8	99	11.15	2.33	-12.20	0.000	4	0.216	0.072	2899	3615	3078	0	0	0	0	0	0	24.56	25.29	26.17
329	-0.87	-69.1	68.1	-22.7	58	335	0.00	2.20	0.00	0.000	6	0.000	0.040	2899	2195	3081	0	0	0	0	0	0	28.83	25.38	28.83
647	-0.87	-69.1	128.7	-17.9	114	655	0.00	2.22	0.00	0.000	4	0.000	0.048	2899	805	3082	0	0	0	0	0	0	28.83	25.11	28.83
766	-0.87	-69.1	149.2	-17.2	126	775	0.00	2.28	0.00	0.000	6	0.000	0.048	2889	2204	3082	0	0	0	0	0	0	28.83	25.09	28.83
1076	-0.87	-69.1	200.3	-15.9	147	1082	0.00	2.28	0.00	0.000	4	0.000	0.047	2889	801	3081	0	0	0	0	0	0	28.83	25.06	28.83
1137	-0.87	-69.1	210.5	-16.7	150	1142	0.10	2.25	0.00	0.000	6	0.152	0.049	2907	2198	3082	0	0	0	0	0	0	24.68	25.07	28.83
1456	-0.87	-69.1	260.2	-15.6	166	1462	0.00	2.28	0.00	0.000	4	0.000	0.047	2907	797	3082	0	0	0	0	0	0	28.83	25.05	28.83
1516	-0.87	-69.1	269.3	-15.4	169	1522	0.00	2.30	0.00	0.000	6	0.000	0.049	2899	2207	3082	0	0	0	0	0	0	28.83	25.02	28.83
1837	-0.87	-69.1	318.1	-15.0	185	1838	0.00	0.00	0.00	0.000	6	0.000	0.000	2899	2207	3082	0	0	0	0	0	0	28.83	28.83	28.83
2136	-0.87	-69.1	362.8	-14.6	200	2142	0.00	2.28	0.00	0.000	4	0.000	0.048	2899	799	3082	0	0	0	0	0	0	28.83	24.99	28.83
2284	-0.87	-69.1	383.8	-14.8	207	2288	0.00	2.30	0.00	0.000	6	0.000	0.049	2888	2206	3082	0	0	0	0	0	0	28.83	24.98	28.83
2587	-0.87	-69.1	429.2	-14.6	219	2588	0.00	0.00	0.00	0.000	6	0.000	0.000	2888	2205	3082	0	0	0	0	0	0	28.83	28.83	28.83
2886	-0.87	-69.1	473.9	-14.8	229	2892	0.00	2.35	0.00	0.000	4	0.000	0.060	2877	3611	3082	0	0	0	0	0	0	28.83	24.72	28.83
2943	end dive: TARGET_DEPTH_EXCEEDED
state	2943	begin apogee
2953	-0.22	0.0	483.0	-14.9	231	3019	0.80	0.00	61.75	0.845	6	0.140	0.000	3115	2322	2794	0	0	0	0	0	0	23.99	28.83	23.65
3020	end apogee: CONTROL_FINISHED_OK
state	3020	begin climb
3022	0.87	69.1	487.5	0.0	233	3093	1.02	2.42	63.80	0.806	4	0.076	0.063	3471	3743	2511	0	0	0	0	0	0	24.81	24.75	23.39
3154	0.87	69.8	480.8	6.9	238	3159	0.00	2.33	0.00	0.000	6	0.000	0.045	3482	2326	2507	0	0	0	0	0	0	28.83	25.28	28.83
3468	0.87	69.8	452.9	8.8	249	3472	0.00	2.35	0.00	0.000	4	0.000	0.063	3482	3735	2504	0	0	0	0	0	0	28.83	25.23	28.83
3706	0.87	69.8	427.6	10.7	257	3712	0.00	2.30	0.00	0.000	6	0.000	0.045	3494	2322	2502	0	0	0	0	0	0	28.83	25.42	28.83
4028	0.87	69.8	396.4	9.4	268	4033	0.00	2.38	0.00	0.000	4	0.000	0.064	3494	3734	2501	0	0	0	0	0	0	28.83	25.03	28.83
4267	0.87	69.8	371.8	10.3	280	4273	0.10	2.28	0.00	0.000	6	0.166	0.045	3476	2330	2500	0	0	0	0	0	0	24.87	25.32	28.83
4587	0.87	69.8	346.4	7.5	296	4592	0.00	2.38	0.00	0.000	4	0.000	0.063	3477	3736	2500	0	0	0	0	0	0	28.83	24.91	28.83
4828	0.87	69.8	327.3	7.4	308	4833	0.00	2.28	0.00	0.000	6	0.000	0.046	3486	2330	2499	0	0	0	0	0	0	28.83	25.27	28.83
5149	0.87	76.1	308.5	6.2	324	5159	0.00	2.40	5.45	0.578	4	0.000	0.063	3486	3743	2483	0	0	0	0	0	0	28.83	25.26	24.08
5390	0.87	76.1	292.0	7.2	335	5398	0.00	2.25	0.00	0.000	6	0.000	0.046	3497	2317	2482	0	0	0	0	0	0	28.83	25.34	28.83
5698	0.87	83.1	271.8	6.1	351	5710	0.00	2.40	7.82	0.623	4	0.000	0.063	3498	3733	2455	0	0	0	0	0	0	28.83	25.27	24.07
5932	0.87	83.1	254.5	7.5	362	5937	0.12	2.25	0.00	0.000	6	0.190	0.046	3480	2325	2453	0	0	0	0	0	0	24.97	25.36	28.83
6239	0.87	85.0	234.3	6.8	377	6245	0.00	2.38	0.00	0.000	4	0.000	0.063	3480	3736	2453	0	0	0	0	0	0	28.83	24.87	28.83
6368	0.87	85.0	224.4	8.4	383	6378	0.00	2.30	0.00	0.000	6	0.000	0.045	3490	2324	2452	0	0	0	0	0	0	28.83	25.22	28.83
6680	0.87	85.0	200.9	7.3	399	6681	0.00	0.00	0.00	0.000	6	0.000	0.000	3490	2324	2452	0	0	0	0	0	0	28.83	28.83	28.83
6984	0.87	85.0	177.0	7.8	419	6993	0.00	2.38	0.00	0.000	4	0.000	0.063	3490	3733	2452	0	0	0	0	0	0	28.83	24.73	28.83
7075	0.87	85.0	169.5	8.1	428	7082	0.00	2.25	0.00	0.000	6	0.000	0.046	3501	2320	2452	0	0	0	0	0	0	28.83	25.15	28.83
7384	0.87	85.0	144.7	8.3	449	7385	0.00	0.00	0.00	0.000	6	0.000	0.000	3501	2320	2452	0	0	0	0	0	0	28.83	28.83	28.83
7685	0.87	90.2	124.2	6.3	469	7702	0.00	2.33	7.78	0.550	4	0.000	0.052	3512	916	2426	0	0	0	0	0	0	28.83	25.22	24.10
7835	0.87	90.2	113.3	7.7	493	7842	0.15	2.25	0.00	0.000	6	0.170	0.053	3476	2325	2425	0	0	0	0	0	0	24.85	25.18	28.83
8149	0.88	96.7	92.7	6.2	554	8163	0.00	2.38	7.60	0.535	4	0.000	0.063	3476	3733	2398	0	0	0	0	0	0	28.83	25.23	24.12
8296	0.88	96.7	81.9	7.1	581	8303	0.00	2.22	0.00	0.000	6	0.000	0.046	3485	2316	2397	0	0	0	0	0	0	28.83	25.39	28.83
8611	0.89	133.5	68.9	2.2	642	8656	0.00	2.28	33.50	0.597	4	0.000	0.052	3496	930	2247	0	0	0	0	0	0	28.83	25.25	24.03
8860	0.89	133.5	54.0	8.0	689	8867	0.00	2.22	0.00	0.000	6	0.000	0.052	3496	2325	2244	0	0	0	0	0	0	28.83	25.24	28.83
9173	0.90	158.2	36.2	3.8	750	9203	0.00	2.30	21.55	0.562	4	0.000	0.052	3507	919	2146	0	0	0	0	0	0	28.83	25.34	24.12
9223	0.91	168.4	33.5	5.7	758	9242	0.00	2.22	10.32	0.518	6	0.000	0.052	3507	2324	2105	0	0	0	0	0	0	28.83	25.36	24.00
9549	0.92	204.2	15.1	2.3	821	9585	0.00	2.40	30.23	0.553	4	0.000	0.064	3507	3744	1960	0	0	0	0	0	0	28.83	25.26	24.07
9666	0.92	212.7	10.3	5.9	842	9680	0.00	2.22	8.35	0.487	6	0.000	0.045	3518	2323	1925	0	0	0	0	0	0	28.83	25.45	24.06
9761	end climb: SURFACE_DEPTH_REACHED
state	9761	begin surface coast
9834	end surface coast: CONTROL_FINISHED_OK
state	9834	begin surface